{ "schema_version": 1, "project": "RoboSkill Lab", "generated_at": "2026-09-15T01:59:46.906582+00:00", "engine": { "name": "MuJoCo", "version": "3.13.0", "timestep_s": 0.002 }, "runtime": { "python": "3.12.14", "numpy": "2.3.5", "platform": "Windows-11-10.0.26200-SP0" }, "planner": { "name": "rule", "llm_executed": false, "model": null }, "observation": "simulator-state", "episodes": [ { "id": "nominal-0-open_loop", "policy": "open_loop", "scenario": "nominal", "seed": 0, "task": { "object_name": "red_block", "goal": "right", "instruction": "빨간 블록을 오른쪽 목표로 밀어줘" }, "parameters": { "friction": 0.5, "mass": 0.08, "disturbance": false }, "success": false, "final_distance_m": 0.18469293901378134, "settled": false, "sim_time_s": 7.045999999999446, "wall_time_s": 0.1402964000008069, "timed_out": false, "termination_reason": "goal_not_stable", "contact_steps": 703, "peak_contact_point_force_n": 2.931247408842944, "unintended_contact_steps": 0, "distractor_displacement_m": 3.2394863623911035e-08, "workspace_violation": false, "replans": 0, "disturbance_applied": false, "trajectory": [ { "t": 0.05, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.02496 ], "blue_block": [ 0.12705, -0.17417, 0.02496 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.16151069, 0.0249616, 1.0, -2.3e-07, 0.0, -0.0, 0.12704868, -0.17417364, 0.0249616, 1.0, -2.3e-07, 0.0, -0.0 ] }, { "t": 0.1, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.0249973, 1.0, -1e-08, 0.0, -0.0, 0.12704868, -0.17417365, 0.0249973, 1.0, -1e-08, 0.0, -0.0 ] }, { "t": 0.15, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499816, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499816, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.2, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.25, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.3, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.35, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.4, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.45, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.5, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.55, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.6, "tool": [ -0.00417, -0.31782, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.00450931, -0.31763922, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.65, "tool": [ -0.01439, -0.31247, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.01484748, -0.31222684, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.7, "tool": [ -0.02626, -0.30625, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.02674899, -0.30599599, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.75, "tool": [ -0.03853, -0.29983, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.03902286, -0.2995702, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.8, "tool": [ -0.05089, -0.29336, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05138517, -0.29309811, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.85, "tool": [ -0.06327, -0.28687, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.06376849, -0.28661502, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.9, "tool": [ -0.07566, -0.28039, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.07615679, -0.28012932, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.95, "tool": [ -0.08805, -0.2739, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.08854627, -0.27364301, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.0, "tool": [ -0.10044, -0.26742, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.10093604, -0.26715654, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.05, "tool": [ -0.11283, -0.26093, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.11332587, -0.26067004, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.1, "tool": [ -0.12522, -0.25444, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.12571572, -0.25418353, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.15, "tool": [ -0.13761, -0.24796, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.13810558, -0.24769702, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.2, "tool": [ -0.15, -0.24147, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.15049543, -0.24121051, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.25, "tool": [ -0.16239, -0.23498, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.16288528, -0.234724, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.3, "tool": [ -0.17478, -0.2285, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.17527514, -0.22823749, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.35, "tool": [ -0.18717, -0.22201, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.18766499, -0.22175098, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.4, "tool": [ -0.19664, -0.21705, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.19683649, -0.21694938, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.45, "tool": [ -0.19937, -0.21562, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.19941398, -0.21559998, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.5, "tool": [ -0.20002, -0.21528, 0.15764 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20002861, -0.2152782, 0.15740243, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.55, "tool": [ -0.20017, -0.2152, 0.14984 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20017458, -0.21520178, 0.14948275, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.6, "tool": [ -0.20021, -0.21518, 0.14037 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20020925, -0.21518363, 0.13997882, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.65, "tool": [ -0.20022, -0.21518, 0.13049 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20021748, -0.21517932, 0.13009664, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.7, "tool": [ -0.20022, -0.21518, 0.12052 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20021943, -0.2151783, 0.12012462, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.75, "tool": [ -0.20022, -0.21518, 0.11053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.2002199, -0.21517805, 0.11013126, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.8, "tool": [ -0.20022, -0.21518, 0.10053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022001, -0.215178, 0.10013284, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.85, "tool": [ -0.20022, -0.21518, 0.09053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.09013322, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.9, "tool": [ -0.20022, -0.21518, 0.08053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.08013331, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.95, "tool": [ -0.20022, -0.21518, 0.07053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.07013333, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.0, "tool": [ -0.20022, -0.21518, 0.06053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.06013333, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.05, "tool": [ -0.20022, -0.21518, 0.05053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.05013333, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.1, "tool": [ -0.20022, -0.21518, 0.04184 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.04162799, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.15, "tool": [ -0.20022, -0.21518, 0.03892 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.03886724, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.2, "tool": [ -0.19946, -0.21446, 0.03822 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.19934901, -0.21435885, 0.03820598, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.25, "tool": [ -0.19533, -0.21058, 0.03805 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1951302, -0.21039145, 0.03804892, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.3, "tool": [ -0.18991, -0.20549, 0.03801 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.18968787, -0.20527344, 0.03801162, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.35, "tool": [ -0.18418, -0.2001, 0.038 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.18395171, -0.19987912, 0.03800276, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.4, "tool": [ -0.17857, -0.19474, 0.038 ], "objects": { "red_block": [ -0.1395, -0.15981, 0.02502 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17833255, -0.19451902, 0.03800504, -0.13928658, -0.15967862, 0.02506992, 0.99948144, 2.842e-05, -0.00027516, 0.03219886, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.45, "tool": [ -0.17273, -0.18927, 0.03802 ], "objects": { "red_block": [ -0.13362, -0.15598, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17249794, -0.18904689, 0.03802719, -0.13341077, -0.15583156, 0.02505353, 0.99837238, -0.00013894, -0.00016468, 0.05703117, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.5, "tool": [ -0.16691, -0.18378, 0.03804 ], "objects": { "red_block": [ -0.12801, -0.15226, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.16667505, -0.18355407, 0.03803741, -0.12784479, -0.15212079, 0.0250139, 0.99722188, 0.00045279, 0.0006548, 0.0744842, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.55, "tool": [ -0.16108, -0.1783, 0.03802 ], "objects": { "red_block": [ -0.12316, -0.14816, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.16084722, -0.17808842, 0.03802266, -0.12291527, -0.14797903, 0.02501616, 0.99516504, -0.00021324, -0.00050077, 0.09821535, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.6, "tool": [ -0.15525, -0.17283, 0.03803 ], "objects": { "red_block": [ -0.11795, -0.14387, 0.02504 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.15501867, -0.17260882, 0.0380254, -0.11775486, -0.14368827, 0.02501269, 0.99292581, 0.00041274, 0.00030909, 0.11873526, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.65, "tool": [ -0.14941, -0.16735, 0.03802 ], "objects": { "red_block": [ -0.11255, -0.13926, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14917515, -0.16712918, 0.03801731, -0.11236618, -0.13906019, 0.02502744, 0.99102151, -0.00036489, -0.00061815, 0.13370064, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.7, "tool": [ -0.14359, -0.16187, 0.03802 ], "objects": { "red_block": [ -0.10694, -0.13448, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14335776, -0.16164985, 0.03802304, -0.10668716, -0.13429475, 0.02498553, 0.98955187, -0.00168007, -0.0001807, 0.14416744, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.75, "tool": [ -0.13777, -0.15638, 0.03804 ], "objects": { "red_block": [ -0.10105, -0.12985, 0.02509 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13754231, -0.15615985, 0.03803594, -0.10081068, -0.12964475, 0.02508143, 0.98825045, -0.00140412, -0.0013817, 0.1528305, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.8, "tool": [ -0.13196, -0.1509, 0.03806 ], "objects": { "red_block": [ -0.09548, -0.12517, 0.02506 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1317281, -0.15068166, 0.03806155, -0.09526263, -0.12500104, 0.02507638, 0.9853032, -0.00088765, -0.00021229, 0.17081211, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.85, "tool": [ -0.12614, -0.14542, 0.03806 ], "objects": { "red_block": [ -0.08942, -0.12053, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12590207, -0.14519993, 0.03805664, -0.08918554, -0.12036225, 0.02496631, 0.98443907, -0.00034808, -0.0001775, 0.17572581, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.9, "tool": [ -0.1203, -0.13995, 0.03804 ], "objects": { "red_block": [ -0.08309, -0.11599, 0.02494 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12006025, -0.13972383, 0.03803437, -0.08286728, -0.11580901, 0.02494875, 0.98508625, -0.00068782, -0.000676, 0.17205854, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.95, "tool": [ -0.11445, -0.13446, 0.03801 ], "objects": { "red_block": [ -0.07687, -0.11156, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11421473, -0.13423485, 0.03800626, -0.07660657, -0.11141615, 0.02499245, 0.98590731, 0.00084887, 0.00018836, 0.16729025, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.0, "tool": [ -0.10862, -0.12898, 0.03802 ], "objects": { "red_block": [ -0.07075, -0.107, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1083946, -0.12875833, 0.03802144, -0.07051312, -0.10679992, 0.02503788, 0.98645267, -0.00094569, -0.00029575, 0.1640431, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.05, "tool": [ -0.10281, -0.1235, 0.03804 ], "objects": { "red_block": [ -0.06451, -0.10208, 0.02506 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.10257326, -0.12327761, 0.03803632, -0.06424819, -0.10189815, 0.02503162, 0.98803693, -0.00011644, 3.672e-05, 0.15421744, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.1, "tool": [ -0.09701, -0.11801, 0.03807 ], "objects": { "red_block": [ -0.05856, -0.09715, 0.02505 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.09677327, -0.11778576, 0.03806712, -0.05833527, -0.09694967, 0.02501963, 0.98774789, 0.00029453, 2.733e-05, 0.15605772, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.15, "tool": [ -0.09119, -0.11252, 0.03807 ], "objects": { "red_block": [ -0.05266, -0.0921, 0.02507 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.09095435, -0.11230455, 0.03807216, -0.05241231, -0.09190894, 0.02507956, 0.98709071, 0.00127078, 0.00018237, 0.16015706, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.2, "tool": [ -0.08533, -0.10705, 0.03804 ], "objects": { "red_block": [ -0.04641, -0.08741, 0.02511 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.08509965, -0.10683444, 0.03804006, -0.04614247, -0.08722356, 0.02513019, 0.98878092, 0.00116516, 0.00049819, 0.14936763, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.25, "tool": [ -0.07951, -0.10156, 0.03805 ], "objects": { "red_block": [ -0.04032, -0.08264, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07928784, -0.10134589, 0.03805384, -0.04008128, -0.0824324, 0.0250368, 0.9892127, -0.00029037, -6.152e-05, 0.14648597, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.3, "tool": [ -0.07369, -0.09607, 0.03804 ], "objects": { "red_block": [ -0.03422, -0.07797, 0.02506 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07345871, -0.09585338, 0.03803612, -0.03395558, -0.07778938, 0.02506938, 0.98936515, 0.00105378, 0.00065608, 0.14544781, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.35, "tool": [ -0.06786, -0.0906, 0.03803 ], "objects": { "red_block": [ -0.0281, -0.07336, 0.02509 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06763026, -0.0903786, 0.03803494, -0.02785009, -0.0731486, 0.02503891, 0.98986722, -0.00072325, -0.00028054, 0.14199397, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.4, "tool": [ -0.06205, -0.08511, 0.03807 ], "objects": { "red_block": [ -0.02225, -0.06828, 0.02504 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06181635, -0.08489675, 0.03806933, -0.02200173, -0.06809397, 0.02508979, 0.98855593, -0.00068297, 0.00074131, 0.15085145, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.45, "tool": [ -0.05622, -0.07962, 0.03807 ], "objects": { "red_block": [ -0.01608, -0.06391, 0.02505 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05598673, -0.07940446, 0.03806707, -0.01580789, -0.06376064, 0.02503885, 0.98921869, -0.00055428, -0.00027254, 0.14644451, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.5, "tool": [ -0.05038, -0.07416, 0.03804 ], "objects": { "red_block": [ -0.00973, -0.05958, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05014859, -0.07393705, 0.03804185, -0.00950735, -0.05938195, 0.02504046, 0.99167908, -0.00089525, 0.00109715, 0.12872682, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.55, "tool": [ -0.04456, -0.06867, 0.03804 ], "objects": { "red_block": [ -0.00392, -0.0543, 0.02507 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.04432761, -0.06844644, 0.03803627, -0.00366074, -0.0540886, 0.02500955, 0.9910505, -0.00061515, -0.00047678, 0.1334852, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.6, "tool": [ -0.0387, -0.06319, 0.03799 ], "objects": { "red_block": [ 0.00214, -0.04932, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.03846544, -0.06297562, 0.03799127, 0.00240934, -0.0491301, 0.02498134, 0.99222352, -0.0007949, -0.00017228, 0.12446619, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.65, "tool": [ -0.03289, -0.0577, 0.038 ], "objects": { "red_block": [ 0.00821, -0.04465, 0.02505 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.03265163, -0.05748349, 0.03800303, 0.00847149, -0.04445737, 0.02498522, 0.99321349, -0.00129822, -6.86e-06, 0.1162982, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.7, "tool": [ -0.0271, -0.05222, 0.03806 ], "objects": { "red_block": [ 0.01417, -0.03984, 0.02505 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.02686823, -0.05200157, 0.03805948, 0.01441286, -0.03963391, 0.0250841, 0.99334709, 1.047e-05, 0.00016747, 0.11515873, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.75, "tool": [ -0.02127, -0.04674, 0.03806 ], "objects": { "red_block": [ 0.02006, -0.03481, 0.0251 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.02103464, -0.0465238, 0.03806029, 0.02029063, -0.03459008, 0.02512355, 0.99309306, 2.49e-06, 0.00023554, 0.11732909, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.8, "tool": [ -0.01544, -0.04126, 0.03807 ], "objects": { "red_block": [ 0.02606, -0.02975, 0.02496 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.01520294, -0.04103778, 0.03807185, 0.02627479, -0.02958528, 0.02498924, 0.99363239, 0.00091747, 0.00026489, 0.11266659, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.85, "tool": [ -0.0096, -0.03577, 0.03804 ], "objects": { "red_block": [ 0.03223, -0.02556, 0.02509 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.0093726, -0.03555502, 0.03804126, 0.03247967, -0.02537815, 0.02506972, 0.99531481, 0.00055484, -9.002e-05, 0.09668566, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.9, "tool": [ -0.00378, -0.03029, 0.03804 ], "objects": { "red_block": [ 0.03833, -0.02127, 0.02503 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.00354493, -0.03007561, 0.03803537, 0.03858279, -0.02109738, 0.02506036, 0.996644, 0.00088422, 0.00012674, 0.0818532, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.95, "tool": [ 0.00204, -0.02481, 0.03805 ], "objects": { "red_block": [ 0.0444, -0.01688, 0.02508 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00227217, -0.02459531, 0.03805645, 0.04464822, -0.01669703, 0.02509402, 0.99814436, 0.00135073, 0.00030872, 0.06087619, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.0, "tool": [ 0.00788, -0.01932, 0.03803 ], "objects": { "red_block": [ 0.05047, -0.01253, 0.02503 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.0081142, -0.01910401, 0.03802515, 0.05069857, -0.01237413, 0.02502449, 0.99894613, -2.151e-05, 0.00040724, 0.0458962, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.05, "tool": [ 0.0137, -0.01384, 0.03803 ], "objects": { "red_block": [ 0.05643, -0.00858, 0.02505 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01393575, -0.01362475, 0.0380266, 0.05668536, -0.00840924, 0.02501898, 0.9994395, -0.00074635, 0.00060843, 0.03346273, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.1, "tool": [ 0.01951, -0.00835, 0.03804 ], "objects": { "red_block": [ 0.06235, -0.00424, 0.02506 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01974159, -0.00812971, 0.03804285, 0.06259926, -0.0040636, 0.02502968, 0.99954439, -0.00065119, 0.00081667, 0.03016485, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.15, "tool": [ 0.02532, -0.00286, 0.03808 ], "objects": { "red_block": [ 0.0682, 7e-05, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02555343, -0.00263964, 0.03807755, 0.06839915, 0.00024515, 0.02502843, 0.99958461, 0.00042322, 0.00024952, 0.02881624, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.2, "tool": [ 0.03117, 0.00262, 0.03804 ], "objects": { "red_block": [ 0.07414, 0.00411, 0.02502 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03139868, 0.00284301, 0.03803971, 0.07439343, 0.0042454, 0.02502344, 0.99989836, -0.00061588, 0.00015705, 0.014243, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.25, "tool": [ 0.03699, 0.00812, 0.03804 ], "objects": { "red_block": [ 0.07999, 0.00713, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03722707, 0.00833449, 0.03803913, 0.08020931, 0.00724059, 0.02496275, 0.99995734, 2.095e-05, -0.00031, -0.00923156, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.3, "tool": [ 0.0428, 0.01359, 0.03804 ], "objects": { "red_block": [ 0.08568, 0.01, 0.02513 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.04302952, 0.01381283, 0.03804322, 0.08592359, 0.01011662, 0.02512564, 0.99942525, 0.00186251, 0.00035363, -0.0338464, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.35, "tool": [ 0.04864, 0.01907, 0.03803 ], "objects": { "red_block": [ 0.09123, 0.01304, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.04887017, 0.01929452, 0.03803755, 0.09144557, 0.01313459, 0.02503969, 0.99825948, 0.00034235, 1e-08, -0.05897373, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.4, "tool": [ 0.05446, 0.02457, 0.03805 ], "objects": { "red_block": [ 0.09655, 0.01552, 0.0251 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.05469325, 0.024791, 0.03805315, 0.0967709, 0.01560079, 0.0250724, 0.99580942, 0.00065449, 7.876e-05, -0.09145035, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.45, "tool": [ 0.06029, 0.03005, 0.03806 ], "objects": { "red_block": [ 0.10155, 0.01769, 0.02507 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.06052475, 0.0302718, 0.03805873, 0.1017466, 0.01777734, 0.02505692, 0.99286606, 0.00149209, -0.00048416, -0.11922469, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.5, "tool": [ 0.06613, 0.03553, 0.03805 ], "objects": { "red_block": [ 0.10611, 0.01927, 0.02504 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.06636892, 0.03575025, 0.03804389, 0.10628092, 0.01932032, 0.02502474, 0.98810912, 0.00105034, 1.839e-05, -0.15375064, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.55, "tool": [ 0.07199, 0.04101, 0.03803 ], "objects": { "red_block": [ 0.11012, 0.02036, 0.02496 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07222786, 0.04122944, 0.03802952, 0.11020629, 0.02039236, 0.02497065, 0.98273461, -0.0003269, -0.00010942, -0.18502045, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.6, "tool": [ 0.07783, 0.04649, 0.03801 ], "objects": { "red_block": [ 0.11348, 0.02103, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07807031, 0.04670829, 0.0380137, 0.11358354, 0.02104909, 0.02496811, 0.97569841, -0.0002433, 0.00013597, -0.21911762, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.65, "tool": [ 0.08368, 0.05197, 0.038 ], "objects": { "red_block": [ 0.11589, 0.02122, 0.02503 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08391776, 0.0521938, 0.03800463, 0.11596436, 0.02120882, 0.02502423, 0.96843278, 0.00049993, -0.0008023, -0.24927306, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.7, "tool": [ 0.08953, 0.05746, 0.038 ], "objects": { "red_block": [ 0.11755, 0.02091, 0.02503 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08975777, 0.05768064, 0.03800128, 0.11762962, 0.02089991, 0.02504526, 0.96169665, 0.00047117, 0.00039447, -0.27411526, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.75, "tool": [ 0.09539, 0.06295, 0.038 ], "objects": { "red_block": [ 0.11883, 0.02077, 0.02491 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09562366, 0.06316405, 0.03800036, 0.11883514, 0.02077441, 0.02491924, 0.95629647, 0.00016162, -5.279e-05, -0.29239877, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.8, "tool": [ 0.10124, 0.06837, 0.038 ], "objects": { "red_block": [ 0.11971, 0.02108, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10147328, 0.06857935, 0.03800008, 0.11974543, 0.0211928, 0.0249665, 0.94993995, -4.305e-05, 0.00012308, -0.31243251, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.85, "tool": [ 0.10709, 0.07378, 0.038 ], "objects": { "red_block": [ 0.12049, 0.02415, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.1073256, 0.07400198, 0.03800403, 0.12051634, 0.02420873, 0.02498216, 0.93568236, -9.832e-05, -0.00039986, -0.35284325, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.9, "tool": [ 0.11297, 0.07934, 0.038 ], "objects": { "red_block": [ 0.12057, 0.02436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11320909, 0.07956536, 0.03800087, 0.12057177, 0.02435509, 0.02499669, 0.934942, -8.38e-06, 4.58e-06, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.95, "tool": [ 0.11882, 0.08485, 0.038 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11905412, 0.08506795, 0.03800021, 0.12057141, 0.02435479, 0.02499814, 0.934942, -2e-07, 1.1e-07, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.0, "tool": [ 0.12465, 0.09033, 0.038 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.12488596, 0.09055363, 0.03800005, 0.1205714, 0.02435478, 0.02499818, 0.934942, -0.0, 0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.05, "tool": [ 0.13048, 0.09582, 0.038 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13071463, 0.09603529, 0.03800001, 0.1205714, 0.02435478, 0.02499818, 0.934942, -0.0, 0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.1, "tool": [ 0.13631, 0.1013, 0.038 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13654255, 0.10151598, 0.038, 0.1205714, 0.02435478, 0.02499818, 0.934942, -0.0, 0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.15, "tool": [ 0.14214, 0.10678, 0.038 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14237029, 0.10699645, 0.038, 0.1205714, 0.02435478, 0.02499818, 0.934942, 0.0, -0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.2, "tool": [ 0.14796, 0.11226, 0.038 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14819799, 0.11247687, 0.038, 0.1205714, 0.02435478, 0.02499818, 0.934942, 0.0, -0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.25, "tool": [ 0.15379, 0.11774, 0.038 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15402569, 0.11795728, 0.038, 0.1205714, 0.02435478, 0.02499818, 0.934942, 0.0, -0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.3, "tool": [ 0.15962, 0.12322, 0.038 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15985337, 0.12343768, 0.038, 0.1205714, 0.02435478, 0.02499818, 0.934942, 0.0, -0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.35, "tool": [ 0.16545, 0.1287, 0.038 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.16568106, 0.12891808, 0.038, 0.1205714, 0.02435478, 0.02499818, 0.934942, 0.0, -0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.4, "tool": [ 0.17128, 0.13418, 0.038 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17150875, 0.13439848, 0.038, 0.1205714, 0.02435478, 0.02499818, 0.934942, 0.0, -0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.45, "tool": [ 0.17706, 0.13962, 0.038 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17727048, 0.13981685, 0.038, 0.1205714, 0.02435478, 0.02499818, 0.934942, 0.0, -0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.5, "tool": [ 0.18014, 0.14251, 0.038 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.18019313, 0.14256533, 0.038, 0.1205714, 0.02435478, 0.02499818, 0.934942, 0.0, -0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.55, "tool": [ 0.1809, 0.14323, 0.03808 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18091789, 0.1432469, 0.03812417, 0.1205714, 0.02435478, 0.02499818, 0.934942, 0.0, -0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.6, "tool": [ 0.18109, 0.14341, 0.04326 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1810902, 0.14340894, 0.0435932, 0.1205714, 0.02435478, 0.02499818, 0.934942, 0.0, -0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.65, "tool": [ 0.18113, 0.14345, 0.05279 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18113112, 0.14344742, 0.05319999, 0.1205714, 0.02435478, 0.02499818, 0.934942, 0.0, -0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.7, "tool": [ 0.18114, 0.14346, 0.06341 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114084, 0.14345656, 0.06384683, 0.1205714, 0.02435478, 0.02499818, 0.934942, 0.0, -0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.75, "tool": [ 0.18114, 0.14346, 0.0743 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114314, 0.14345873, 0.07474102, 0.1205714, 0.02435478, 0.02499818, 0.934942, -0.0, 0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.8, "tool": [ 0.18114, 0.14346, 0.08526 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114369, 0.14345925, 0.08569395, 0.1205714, 0.02435478, 0.02499818, 0.934942, 0.0, -0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.85, "tool": [ 0.18114, 0.14346, 0.09622 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114382, 0.14345937, 0.09666083, 0.1205714, 0.02435478, 0.02499818, 0.934942, -0.0, 0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.9, "tool": [ 0.18114, 0.14346, 0.10719 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114385, 0.1434594, 0.10763102, 0.1205714, 0.02435478, 0.02499818, 0.934942, -0.0, 0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.95, "tool": [ 0.18114, 0.14346, 0.11816 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114386, 0.1434594, 0.11860199, 0.1205714, 0.02435478, 0.02499818, 0.934942, -0.0, 0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.0, "tool": [ 0.18114, 0.14346, 0.12913 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114386, 0.14345941, 0.12957316, 0.1205714, 0.02435478, 0.02499818, 0.934942, -0.0, 0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.05, "tool": [ 0.18114, 0.14346, 0.14011 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114386, 0.14345941, 0.14054437, 0.1205714, 0.02435478, 0.02499818, 0.934942, -0.0, 0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.1, "tool": [ 0.18114, 0.14346, 0.15107 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114386, 0.14345941, 0.15149863, 0.1205714, 0.02435478, 0.02499818, 0.934942, -0.0, 0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.15, "tool": [ 0.18114, 0.14346, 0.15775 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114386, 0.14345941, 0.15787415, 0.1205714, 0.02435478, 0.02499818, 0.934942, 0.0, -0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.2, "tool": [ 0.18114, 0.14346, 0.15946 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18114386, 0.14345941, 0.15949449, 0.1205714, 0.02435478, 0.02499818, 0.934942, 0.0, 0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.25, "tool": [ 0.18114, 0.14346, 0.15987 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18114386, 0.14345941, 0.15987995, 0.1205714, 0.02435478, 0.02499818, 0.934942, 0.0, -0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.3, "tool": [ 0.18114, 0.14346, 0.15997 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18114386, 0.14345941, 0.15997149, 0.1205714, 0.02435478, 0.02499818, 0.934942, 0.0, -0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.35, "tool": [ 0.18114, 0.14346, 0.15999 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18114386, 0.14345941, 0.15999323, 0.1205714, 0.02435478, 0.02499818, 0.934942, 0.0, -0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.4, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.15999839, 0.1205714, 0.02435478, 0.02499818, 0.934942, -0.0, -0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.45, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.15999962, 0.1205714, 0.02435478, 0.02499818, 0.934942, -0.0, -0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.5, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.15999991, 0.1205714, 0.02435478, 0.02499818, 0.934942, -0.0, 0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.55, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.15999998, 0.1205714, 0.02435478, 0.02499818, 0.934942, -0.0, 0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.6, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.15999999, 0.1205714, 0.02435478, 0.02499818, 0.934942, 0.0, 0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.65, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.1205714, 0.02435478, 0.02499818, 0.934942, 0.0, 0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.7, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.1205714, 0.02435478, 0.02499818, 0.934942, 0.0, 0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.75, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.1205714, 0.02435478, 0.02499818, 0.934942, 0.0, -0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.8, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.1205714, 0.02435478, 0.02499818, 0.934942, 0.0, -0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.85, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.1205714, 0.02435478, 0.02499818, 0.934942, 0.0, -0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.9, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.1205714, 0.02435478, 0.02499818, 0.934942, -0.0, -0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.95, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.1205714, 0.02435478, 0.02499818, 0.934942, -0.0, 0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.0, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.1205714, 0.02435478, 0.02499818, 0.934942, 0.0, 0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 7.046, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.12057, 0.02435, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.1205714, 0.02435478, 0.02499818, 0.934942, 0.0, 0.0, -0.35480059, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] } ], "events": [ { "t": 0.3, "type": "start", "message": "open_loop: 빨간 블록을 오른쪽 목표로 밀어줘" }, { "t": 7.046, "type": "failure", "message": "최종 거리 0.1847 m · 정지 상태 False" } ] }, { "id": "nominal-0-closed_loop", "policy": "closed_loop", "scenario": "nominal", "seed": 0, "task": { "object_name": "red_block", "goal": "right", "instruction": "빨간 블록을 오른쪽 목표로 밀어줘" }, "parameters": { "friction": 0.5, "mass": 0.08, "disturbance": false }, "success": true, "final_distance_m": 0.005406849849005401, "settled": true, "sim_time_s": 18.81400000000045, "wall_time_s": 0.3310190999764018, "timed_out": false, "termination_reason": "success", "contact_steps": 1122, "peak_contact_point_force_n": 3.1148851873321, "unintended_contact_steps": 0, "distractor_displacement_m": 3.228190276464738e-08, "workspace_violation": false, "replans": 5, "disturbance_applied": false, "trajectory": [ { "t": 0.05, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.02496 ], "blue_block": [ 0.12705, -0.17417, 0.02496 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.16151069, 0.0249616, 1.0, -2.3e-07, 0.0, -0.0, 0.12704868, -0.17417364, 0.0249616, 1.0, -2.3e-07, 0.0, -0.0 ] }, { "t": 0.1, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.0249973, 1.0, -1e-08, 0.0, -0.0, 0.12704868, -0.17417365, 0.0249973, 1.0, -1e-08, 0.0, -0.0 ] }, { "t": 0.15, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499816, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499816, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.2, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.25, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.3, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.35, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.4, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.45, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.5, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.55, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.6, "tool": [ -0.00417, -0.31782, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.00450931, -0.31763922, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.65, "tool": [ -0.01439, -0.31247, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.01484748, -0.31222684, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.7, "tool": [ -0.02626, -0.30625, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.02674899, -0.30599599, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.75, "tool": [ -0.03853, -0.29983, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.03902286, -0.2995702, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.8, "tool": [ -0.05089, -0.29336, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05138517, -0.29309811, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.85, "tool": [ -0.06327, -0.28687, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.06376849, -0.28661502, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.9, "tool": [ -0.07566, -0.28039, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.07615679, -0.28012932, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.95, "tool": [ -0.08805, -0.2739, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.08854627, -0.27364301, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.0, "tool": [ -0.10044, -0.26742, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.10093604, -0.26715654, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.05, "tool": [ -0.11283, -0.26093, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.11332587, -0.26067004, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.1, "tool": [ -0.12522, -0.25444, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.12571572, -0.25418353, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.15, "tool": [ -0.13761, -0.24796, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.13810558, -0.24769702, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.2, "tool": [ -0.15, -0.24147, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.15049543, -0.24121051, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.25, "tool": [ -0.16239, -0.23498, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.16288528, -0.234724, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.3, "tool": [ -0.17478, -0.2285, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.17527514, -0.22823749, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.35, "tool": [ -0.18717, -0.22201, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.18766499, -0.22175098, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.4, "tool": [ -0.19664, -0.21705, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.19683649, -0.21694938, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.45, "tool": [ -0.19937, -0.21562, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.19941398, -0.21559998, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.5, "tool": [ -0.20002, -0.21528, 0.15764 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20002861, -0.2152782, 0.15740243, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.55, "tool": [ -0.20017, -0.2152, 0.14984 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20017458, -0.21520178, 0.14948275, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.6, "tool": [ -0.20021, -0.21518, 0.14037 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20020925, -0.21518363, 0.13997882, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.65, "tool": [ -0.20022, -0.21518, 0.13049 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20021748, -0.21517932, 0.13009664, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.7, "tool": [ -0.20022, -0.21518, 0.12052 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20021943, -0.2151783, 0.12012462, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.75, "tool": [ -0.20022, -0.21518, 0.11053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.2002199, -0.21517805, 0.11013126, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.8, "tool": [ -0.20022, -0.21518, 0.10053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022001, -0.215178, 0.10013284, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.85, "tool": [ -0.20022, -0.21518, 0.09053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.09013322, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.9, "tool": [ -0.20022, -0.21518, 0.08053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.08013331, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.95, "tool": [ -0.20022, -0.21518, 0.07053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.07013333, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.0, "tool": [ -0.20022, -0.21518, 0.06053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.06013333, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.05, "tool": [ -0.20022, -0.21518, 0.05053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.05013333, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.1, "tool": [ -0.20022, -0.21518, 0.04184 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.04162799, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.15, "tool": [ -0.20022, -0.21518, 0.03892 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.03886724, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.2, "tool": [ -0.19946, -0.21446, 0.03822 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.19934898, -0.21435883, 0.03820598, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.25, "tool": [ -0.19533, -0.21058, 0.03805 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.19513007, -0.21039133, 0.03804892, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.3, "tool": [ -0.18991, -0.20549, 0.03801 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1896876, -0.20527319, 0.03801162, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.35, "tool": [ -0.18418, -0.2001, 0.038 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1839513, -0.19987873, 0.03800276, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.4, "tool": [ -0.17857, -0.19474, 0.038 ], "objects": { "red_block": [ -0.13949, -0.15981, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17833721, -0.19452242, 0.03800405, -0.13921034, -0.15965157, 0.02501186, 0.99943753, -0.00028079, 0.00011061, 0.03353419, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.45, "tool": [ -0.17272, -0.18926, 0.03802 ], "objects": { "red_block": [ -0.13407, -0.15629, 0.02505 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1724817, -0.1890438, 0.03801675, -0.13387715, -0.15614664, 0.02498192, 0.99791269, -0.00038893, 0.00035758, 0.06457547, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.5, "tool": [ -0.16691, -0.18377, 0.03805 ], "objects": { "red_block": [ -0.12881, -0.15223, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.16667027, -0.18355194, 0.03804829, -0.12866825, -0.15210247, 0.02502648, 0.99583701, -0.00043688, 0.0001839, 0.09115058, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.55, "tool": [ -0.16107, -0.17831, 0.03802 ], "objects": { "red_block": [ -0.12402, -0.14798, 0.02503 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.16083061, -0.17808956, 0.03802034, -0.12382685, -0.14783391, 0.02498979, 0.99307103, 0.0008437, -0.00012243, 0.11751253, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.6, "tool": [ -0.15527, -0.17282, 0.03805 ], "objects": { "red_block": [ -0.11876, -0.14402, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.15503058, -0.17260295, 0.03805324, -0.11854844, -0.14388688, 0.02500323, 0.99022485, 0.00099303, -8.581e-05, 0.13947672, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.65, "tool": [ -0.14945, -0.16734, 0.03806 ], "objects": { "red_block": [ -0.11322, -0.13969, 0.02508 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14921371, -0.16712517, 0.03806184, -0.11298782, -0.13949729, 0.0250408, 0.98743932, -0.00047572, -0.00050136, 0.1579972, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.7, "tool": [ -0.14361, -0.16187, 0.03806 ], "objects": { "red_block": [ -0.10769, -0.13507, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14338031, -0.16164727, 0.03806567, -0.10748484, -0.13486904, 0.02504605, 0.98430112, -0.0005476, -0.0001483, 0.17649643, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.75, "tool": [ -0.13779, -0.15639, 0.03807 ], "objects": { "red_block": [ -0.10208, -0.12997, 0.02508 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13755092, -0.15616756, 0.03806839, -0.10187903, -0.12976021, 0.0250776, 0.98144707, -0.00026965, -0.00090888, 0.19173094, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.8, "tool": [ -0.13193, -0.15092, 0.03804 ], "objects": { "red_block": [ -0.09619, -0.1249, 0.02504 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13169734, -0.1506931, 0.03803639, -0.09596825, -0.1247042, 0.02500456, 0.9804932, 0.00025493, 0.0005445, 0.19655209, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.85, "tool": [ -0.12611, -0.14542, 0.03804 ], "objects": { "red_block": [ -0.09019, -0.11995, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12587748, -0.14519558, 0.03803535, -0.08996583, -0.11977943, 0.02499128, 0.97964083, 0.00032326, 6.69e-06, 0.20075791, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.9, "tool": [ -0.12028, -0.13995, 0.03802 ], "objects": { "red_block": [ -0.08418, -0.11493, 0.02506 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12004104, -0.13973023, 0.03801791, -0.08393305, -0.11471309, 0.02500689, 0.97929051, -0.00087527, -0.00045576, 0.20245768, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.95, "tool": [ -0.11517, -0.13515, 0.03801 ], "objects": { "red_block": [ -0.0791, -0.1103, 0.02503 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11504354, -0.135029, 0.03800763, -0.07896093, -0.1101604, 0.02499031, 0.97828336, -0.00013191, -0.00016496, 0.20727184, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.0, "tool": [ -0.11346, -0.13353, 0.03804 ], "objects": { "red_block": [ -0.07742, -0.10874, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11342885, -0.13350247, 0.03803818, -0.07739845, -0.10871366, 0.02498339, 0.97805344, 1.263e-05, 8.88e-05, 0.20835415, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.05, "tool": [ -0.11306, -0.13315, 0.03944 ], "objects": { "red_block": [ -0.07698, -0.10844, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.1130515, -0.13314468, 0.03964242, -0.07697243, -0.10843644, 0.02498488, 0.97761788, -0.00052096, -2.259e-05, 0.21038775, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.1, "tool": [ -0.11289, -0.13303, 0.04719 ], "objects": { "red_block": [ -0.0768, -0.10837, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11288795, -0.13302332, 0.04756893, -0.07679571, -0.10836536, 0.02498929, 0.97726732, 0.00013222, 3.667e-05, 0.21201077, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.15, "tool": [ -0.11285, -0.13299, 0.05739 ], "objects": { "red_block": [ -0.07662, -0.1083, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11284896, -0.13299449, 0.05781039, -0.07660996, -0.10830191, 0.02497479, 0.976935, 2.899e-05, -0.00014504, 0.21353683, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.2, "tool": [ -0.11282, -0.13298, 0.06818 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11281781, -0.13297767, 0.0686203, -0.07659121, -0.1082933, 0.02499729, 0.97692124, 4.28e-06, -8.68e-06, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.25, "tool": [ -0.11281, -0.13297, 0.07912 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280616, -0.13297174, 0.07955555, -0.07659083, -0.108293, 0.02499816, 0.97692124, 1e-07, -2.1e-07, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.3, "tool": [ -0.1128, -0.13297, 0.09008 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280336, -0.13297032, 0.09051824, -0.07659082, -0.108293, 0.02499818, 0.97692124, 0.0, -0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.35, "tool": [ -0.1128, -0.13297, 0.10105 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.1128027, -0.13296998, 0.10148744, -0.07659082, -0.108293, 0.02499818, 0.97692124, 0.0, -0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.4, "tool": [ -0.1128, -0.13297, 0.11202 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280254, -0.1329699, 0.11245818, -0.07659082, -0.108293, 0.02499818, 0.97692124, 0.0, -0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.45, "tool": [ -0.1128, -0.13297, 0.12299 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.1128025, -0.13296988, 0.12342929, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.5, "tool": [ -0.1128, -0.13297, 0.13396 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296988, 0.13440049, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.55, "tool": [ -0.1128, -0.13297, 0.14493 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296988, 0.1453717, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.6, "tool": [ -0.1128, -0.13297, 0.15502 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296988, 0.15528769, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.65, "tool": [ -0.1128, -0.13297, 0.1588 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296988, 0.15886949, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.7, "tool": [ -0.1128, -0.13297, 0.15972 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.11280249, -0.13296988, 0.15973146, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.75, "tool": [ -0.1128, -0.13297, 0.15993 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.11280249, -0.13296988, 0.15993623, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.8, "tool": [ -0.1128, -0.13297, 0.15998 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.11280249, -0.13296988, 0.15998486, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.85, "tool": [ -0.1128, -0.13297, 0.16 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.11280249, -0.13296988, 0.1599964, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.9, "tool": [ -0.1128, -0.13297, 0.16 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296988, 0.15999915, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.95, "tool": [ -0.1128, -0.13297, 0.16 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296988, 0.1599998, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.0, "tool": [ -0.1128, -0.13297, 0.16 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296988, 0.15999995, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.05, "tool": [ -0.1128, -0.13297, 0.16 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296988, 0.15999999, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.1, "tool": [ -0.1128, -0.13297, 0.16 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296988, 0.16, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.15, "tool": [ -0.11327, -0.13371, 0.16 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.11336383, -0.13385284, 0.16, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.2, "tool": [ -0.1171, -0.13972, 0.16 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.11729466, -0.14003591, 0.16, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.25, "tool": [ -0.12245, -0.14814, 0.16 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.1226723, -0.14849478, 0.16, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.3, "tool": [ -0.1277, -0.1564, 0.16 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.12783822, -0.1566206, 0.16, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.35, "tool": [ -0.12968, -0.15952, 0.16 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.1297177, -0.15957696, 0.16, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.4, "tool": [ -0.13016, -0.16028, 0.15919 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.13017008, -0.16028855, 0.15903818, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.45, "tool": [ -0.13028, -0.16045, 0.15264 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.13027755, -0.1604576, 0.1523029, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.5, "tool": [ -0.1303, -0.1605, 0.14347 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.13030307, -0.16049774, 0.14308856, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.55, "tool": [ -0.13031, -0.16051, 0.13367 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.13030913, -0.16050728, 0.13327521, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.6, "tool": [ -0.13031, -0.16051, 0.12372 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.13031057, -0.16050954, 0.12331953, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.65, "tool": [ -0.13031, -0.16051, 0.11373 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.13031091, -0.16051008, 0.11333006, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.7, "tool": [ -0.13031, -0.16051, 0.10373 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.130311, -0.16051021, 0.10333255, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.75, "tool": [ -0.13031, -0.16051, 0.09373 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.13031101, -0.16051024, 0.09333315, -0.07659082, -0.108293, 0.02499818, 0.97692124, 0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.8, "tool": [ -0.13031, -0.16051, 0.08373 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.13031102, -0.16051024, 0.08333329, -0.07659082, -0.108293, 0.02499818, 0.97692124, 0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.85, "tool": [ -0.13031, -0.16051, 0.07373 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.13031102, -0.16051024, 0.07333332, -0.07659082, -0.108293, 0.02499818, 0.97692124, 0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.9, "tool": [ -0.13031, -0.16051, 0.06373 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.13031102, -0.16051025, 0.06333333, -0.07659082, -0.108293, 0.02499818, 0.97692124, 0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.95, "tool": [ -0.13031, -0.16051, 0.05373 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.13031102, -0.16051025, 0.05333333, -0.07659082, -0.108293, 0.02499818, 0.97692124, 0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.0, "tool": [ -0.13031, -0.16051, 0.04398 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.13031102, -0.16051025, 0.04366159, -0.07659082, -0.108293, 0.02499818, 0.97692124, 0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.05, "tool": [ -0.13031, -0.16051, 0.03945 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.13031102, -0.16051025, 0.03937331, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, -0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.1, "tool": [ -0.13017, -0.16037, 0.03835 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13012272, -0.16032721, 0.03832631, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, -0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.15, "tool": [ -0.12703, -0.15732, 0.03808 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12684617, -0.15714233, 0.03807749, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.2, "tool": [ -0.12193, -0.15236, 0.03802 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12171025, -0.1521501, 0.0380184, -0.07659082, -0.108293, 0.02499818, 0.97692124, 0.0, 0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.25, "tool": [ -0.11634, -0.14693, 0.038 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11611646, -0.14671281, 0.03800437, -0.07659082, -0.108293, 0.02499818, 0.97692124, 0.0, -0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.3, "tool": [ -0.11064, -0.14139, 0.038 ], "objects": { "red_block": [ -0.07659, -0.10829, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11041382, -0.14116972, 0.03800104, -0.07659082, -0.108293, 0.02499818, 0.97692124, -0.0, -0.0, 0.21359985, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.35, "tool": [ -0.1051, -0.13597, 0.03804 ], "objects": { "red_block": [ -0.07242, -0.10456, 0.02505 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.10487293, -0.13574254, 0.03804034, -0.072163, -0.10434267, 0.02503688, 0.97485645, -9.108e-05, -0.00022488, 0.22283367, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.4, "tool": [ -0.09936, -0.13036, 0.03806 ], "objects": { "red_block": [ -0.06684, -0.09934, 0.02495 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.09913546, -0.13013837, 0.03805824, -0.06663054, -0.09914369, 0.02501917, 0.97274901, 0.00030247, 0.00020204, 0.23186038, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.45, "tool": [ -0.09362, -0.1248, 0.03804 ], "objects": { "red_block": [ -0.06127, -0.09428, 0.02506 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.09339118, -0.12457287, 0.03804479, -0.06103967, -0.09404588, 0.02503017, 0.96878256, -0.00026621, 0.00062952, 0.24791104, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.5, "tool": [ -0.08788, -0.11921, 0.03806 ], "objects": { "red_block": [ -0.05553, -0.08924, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.08765665, -0.11899174, 0.03805746, -0.05527819, -0.08899955, 0.02500072, 0.96604595, -0.00026054, 0.00046803, 0.25836977, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.55, "tool": [ -0.08214, -0.11365, 0.03805 ], "objects": { "red_block": [ -0.04992, -0.08382, 0.0251 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.08190934, -0.11342346, 0.03804686, -0.04968918, -0.083593, 0.0250817, 0.96360554, -0.00018606, 4.088e-05, 0.26732811, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.6, "tool": [ -0.07639, -0.10807, 0.03803 ], "objects": { "red_block": [ -0.04406, -0.07852, 0.02502 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07616407, -0.107845, 0.03802905, -0.04380982, -0.07832373, 0.02500219, 0.96195396, -0.00018631, -1.61e-05, 0.27321155, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.65, "tool": [ -0.07067, -0.10249, 0.03805 ], "objects": { "red_block": [ -0.03806, -0.07353, 0.02505 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07043521, -0.10226149, 0.03804929, -0.03781652, -0.07334793, 0.02500315, 0.96107712, 0.00053175, -0.00092957, 0.27627816, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.7, "tool": [ -0.06494, -0.09691, 0.03806 ], "objects": { "red_block": [ -0.03223, -0.06816, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06470595, -0.09668685, 0.03805988, -0.03199028, -0.06796567, 0.02495101, 0.95941852, 0.00076335, 0.00021128, 0.28198489, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.75, "tool": [ -0.0592, -0.09134, 0.03806 ], "objects": { "red_block": [ -0.02658, -0.0628, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05897726, -0.09111712, 0.03806285, -0.02632761, -0.06255862, 0.02502693, 0.95669093, 2.509e-05, -0.00062782, 0.2911049, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.8, "tool": [ -0.05344, -0.08576, 0.03802 ], "objects": { "red_block": [ -0.02092, -0.05721, 0.02502 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05320616, -0.08553894, 0.03802279, -0.0207214, -0.05700527, 0.02503529, 0.95393655, -0.0001758, -0.00055365, 0.30000787, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.85, "tool": [ -0.04784, -0.08031, 0.03804 ], "objects": { "red_block": [ -0.0153, -0.05186, 0.02502 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.04765222, -0.08013213, 0.0380394, -0.01514202, -0.05170082, 0.02504912, 0.95168377, 0.00023577, 0.00034363, 0.30707953, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.9, "tool": [ -0.04519, -0.07775, 0.03803 ], "objects": { "red_block": [ -0.01273, -0.04928, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.04514727, -0.07770604, 0.0380351, -0.01268558, -0.04923148, 0.02500936, 0.95087721, -1.335e-05, -2.974e-05, 0.30956831, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.95, "tool": [ -0.04459, -0.07715, 0.03831 ], "objects": { "red_block": [ -0.01211, -0.04871, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04457609, -0.07714403, 0.03839837, -0.0120911, -0.04868922, 0.02498089, 0.95075018, 5.739e-05, -0.00010403, 0.30995819, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.0, "tool": [ -0.04439, -0.07697, 0.04426 ], "objects": { "red_block": [ -0.01178, -0.04846, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.0443864, -0.07697056, 0.04460907, -0.0117793, -0.04845652, 0.02499392, 0.95037627, -0.0001758, 0.00010539, 0.31110272, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.05, "tool": [ -0.0443, -0.0769, 0.05402 ], "objects": { "red_block": [ -0.01178, -0.04846, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04429575, -0.07689612, 0.05444288, -0.01177916, -0.04846479, 0.02499799, 0.95037368, -1.14e-06, 9.6e-07, 0.31111069, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.1, "tool": [ -0.04427, -0.07688, 0.06471 ], "objects": { "red_block": [ -0.01178, -0.04846, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04427083, -0.07687596, 0.06514587, -0.01177919, -0.04846486, 0.02499817, 0.95037368, -3e-08, 2e-08, 0.31111069, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.15, "tool": [ -0.04428, -0.07688, 0.07561 ], "objects": { "red_block": [ -0.01166, -0.04837, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04427862, -0.07688122, 0.0760449, -0.01165399, -0.04836595, 0.02498827, 0.95026145, 3.884e-05, -0.00017392, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.2, "tool": [ -0.04427, -0.07687, 0.08657 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04426696, -0.07687257, 0.08700735, -0.01164642, -0.04836145, 0.02499794, 0.95026147, 9.3e-07, -4.16e-06, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.25, "tool": [ -0.04426, -0.07687, 0.09754 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04426398, -0.07687036, 0.09797663, -0.01164624, -0.04836134, 0.02499817, 0.95026147, 2e-08, -1e-07, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.3, "tool": [ -0.04426, -0.07687, 0.10851 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04426327, -0.07686983, 0.10894739, -0.01164624, -0.04836134, 0.02499818, 0.95026147, 0.0, -0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.35, "tool": [ -0.04426, -0.07687, 0.11948 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.0442631, -0.07686971, 0.1199185, -0.01164624, -0.04836134, 0.02499818, 0.95026147, 0.0, -0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.4, "tool": [ -0.04426, -0.07687, 0.13045 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04426306, -0.07686968, 0.1308897, -0.01164624, -0.04836134, 0.02499818, 0.95026147, -0.0, 0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.45, "tool": [ -0.04426, -0.07687, 0.14142 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04426305, -0.07686967, 0.14186091, -0.01164624, -0.04836134, 0.02499818, 0.95026147, -0.0, 0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.5, "tool": [ -0.04426, -0.07687, 0.15232 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04426305, -0.07686967, 0.15270796, -0.01164624, -0.04836134, 0.02499818, 0.95026147, -0.0, 0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.55, "tool": [ -0.04426, -0.07687, 0.1581 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04426305, -0.07686967, 0.15821015, -0.01164624, -0.04836134, 0.02499818, 0.95026147, 0.0, -0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.6, "tool": [ -0.04426, -0.07687, 0.15955 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.04426305, -0.07686967, 0.15957459, -0.01164624, -0.04836134, 0.02499818, 0.95026147, 0.0, -0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.65, "tool": [ -0.04426, -0.07687, 0.15989 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.04426305, -0.07686967, 0.15989897, -0.01164624, -0.04836134, 0.02499818, 0.95026147, 0.0, -0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.7, "tool": [ -0.04426, -0.07687, 0.15997 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.04426305, -0.07686967, 0.15997601, -0.01164624, -0.04836134, 0.02499818, 0.95026147, 0.0, -0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.75, "tool": [ -0.04426, -0.07687, 0.15999 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.04426305, -0.07686967, 0.1599943, -0.01164624, -0.04836134, 0.02499818, 0.95026147, 0.0, -0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.8, "tool": [ -0.04426, -0.07687, 0.16 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04426305, -0.07686967, 0.15999865, -0.01164624, -0.04836134, 0.02499818, 0.95026147, 0.0, -0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.85, "tool": [ -0.04426, -0.07687, 0.16 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04426305, -0.07686967, 0.15999968, -0.01164624, -0.04836134, 0.02499818, 0.95026147, 0.0, -0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.9, "tool": [ -0.04426, -0.07687, 0.16 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04426305, -0.07686967, 0.15999992, -0.01164624, -0.04836134, 0.02499818, 0.95026147, -0.0, 0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.95, "tool": [ -0.04426, -0.07687, 0.16 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04426305, -0.07686967, 0.15999998, -0.01164624, -0.04836134, 0.02499818, 0.95026147, -0.0, 0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.0, "tool": [ -0.04426, -0.07687, 0.16 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04426305, -0.07686967, 0.16, -0.01164624, -0.04836134, 0.02499818, 0.95026147, -0.0, 0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 7.05, "tool": [ -0.0443, -0.07692, 0.16 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.04433168, -0.07695108, 0.16, -0.01164624, -0.04836134, 0.02499818, 0.95026147, -0.0, 0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.1, "tool": [ -0.04717, -0.08032, 0.16 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.04735441, -0.08053677, 0.16, -0.01164624, -0.04836134, 0.02499818, 0.95026147, -0.0, 0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.15, "tool": [ -0.05244, -0.08656, 0.16 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05266409, -0.08683533, 0.16, -0.01164624, -0.04836134, 0.02499818, 0.95026147, -0.0, 0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 7.2, "tool": [ -0.05827, -0.09348, 0.16 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05847997, -0.09373437, 0.16, -0.01164624, -0.04836134, 0.02499818, 0.95026147, 0.0, 0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 7.25, "tool": [ -0.06142, -0.09722, 0.16 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.06147846, -0.0972913, 0.16, -0.01164624, -0.04836134, 0.02499818, 0.95026147, 0.0, -0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.3, "tool": [ -0.06221, -0.09816, 0.15993 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06222248, -0.09817388, 0.15988682, -0.01164624, -0.04836134, 0.02499818, 0.95026147, 0.0, -0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 7.35, "tool": [ -0.0624, -0.09838, 0.15521 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06239936, -0.09838371, 0.15490193, -0.01164624, -0.04836134, 0.02499818, 0.95026147, 0.0, -0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.4, "tool": [ -0.06244, -0.09843, 0.14652 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06244137, -0.09843354, 0.14614558, -0.01164624, -0.04836134, 0.02499818, 0.95026147, 0.0, -0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 7.45, "tool": [ -0.06245, -0.09845, 0.13684 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06245134, -0.09844537, 0.13644125, -0.01164624, -0.04836134, 0.02499818, 0.95026147, 0.0, -0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 7.5, "tool": [ -0.06245, -0.09845, 0.12691 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06245371, -0.09844818, 0.12651147, -0.01164624, -0.04836134, 0.02499818, 0.95026147, -0.0, -0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 7.55, "tool": [ -0.06245, -0.09845, 0.11693 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06245427, -0.09844885, 0.11652814, -0.01164624, -0.04836134, 0.02499818, 0.95026147, -0.0, -0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.6, "tool": [ -0.06245, -0.09845, 0.10693 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06245441, -0.09844901, 0.1065321, -0.01164624, -0.04836134, 0.02499818, 0.95026147, -0.0, -0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 7.65, "tool": [ -0.06245, -0.09845, 0.09693 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06245444, -0.09844905, 0.09653304, -0.01164624, -0.04836134, 0.02499818, 0.95026147, -0.0, -0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.7, "tool": [ -0.06245, -0.09845, 0.08693 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06245445, -0.09844906, 0.08653326, -0.01164624, -0.04836134, 0.02499818, 0.95026147, -0.0, -0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 7.75, "tool": [ -0.06245, -0.09845, 0.07693 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06245445, -0.09844906, 0.07653332, -0.01164624, -0.04836134, 0.02499818, 0.95026147, -0.0, 0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.8, "tool": [ -0.06245, -0.09845, 0.06693 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06245445, -0.09844906, 0.06653333, -0.01164624, -0.04836134, 0.02499818, 0.95026147, -0.0, 0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 7.85, "tool": [ -0.06245, -0.09845, 0.05693 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06245445, -0.09844906, 0.05653333, -0.01164624, -0.04836134, 0.02499818, 0.95026147, -0.0, 0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.9, "tool": [ -0.06245, -0.09845, 0.04693 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06245445, -0.09844906, 0.04653333, -0.01164624, -0.04836134, 0.02499818, 0.95026147, -0.0, 0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 7.95, "tool": [ -0.06245, -0.09845, 0.0403 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06245445, -0.09844906, 0.04017285, -0.01164624, -0.04836134, 0.02499818, 0.95026147, -0.0, 0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 8.0, "tool": [ -0.06245, -0.09845, 0.03855 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06245445, -0.09844906, 0.03851691, -0.01164624, -0.04836134, 0.02499818, 0.95026147, 0.0, 0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.05, "tool": [ -0.06054, -0.09656, 0.03813 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06038098, -0.09640499, 0.03812276, -0.01164624, -0.04836134, 0.02499818, 0.95026147, 0.0, 0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.1, "tool": [ -0.05584, -0.09193, 0.03803 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05562728, -0.0917187, 0.03802915, -0.01164624, -0.04836134, 0.02499818, 0.95026147, 0.0, 0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 8.15, "tool": [ -0.05038, -0.08654, 0.03801 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05015473, -0.08632375, 0.03800692, -0.01164624, -0.04836134, 0.02499818, 0.95026147, 0.0, -0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 8.2, "tool": [ -0.04474, -0.08098, 0.038 ], "objects": { "red_block": [ -0.01165, -0.04836, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.04451095, -0.08076001, 0.03800164, -0.01164624, -0.04836134, 0.02499818, 0.95026147, 0.0, -0.0, 0.31145327, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 8.25, "tool": [ -0.03922, -0.07553, 0.03802 ], "objects": { "red_block": [ -0.00813, -0.04513, 0.02494 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.03898594, -0.07530361, 0.03802343, -0.00792473, -0.04494193, 0.02495722, 0.95052008, -0.0008923, -6.755e-05, 0.31066184, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.3, "tool": [ -0.03353, -0.0699, 0.03805 ], "objects": { "red_block": [ -0.00231, -0.03969, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.03329527, -0.06967424, 0.03805219, -0.00209699, -0.03947622, 0.02498788, 0.95117293, -0.00023517, -9.816e-05, 0.30865836, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 8.35, "tool": [ -0.02783, -0.06428, 0.03805 ], "objects": { "red_block": [ 0.00343, -0.03413, 0.02505 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.02760266, -0.06405709, 0.03804728, 0.003661, -0.03389308, 0.0250339, 0.95056253, -0.00184217, -7.473e-05, 0.31052775, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.4, "tool": [ -0.02212, -0.05865, 0.03802 ], "objects": { "red_block": [ 0.00929, -0.02883, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.02189735, -0.05842999, 0.03801715, 0.00956161, -0.02859343, 0.02497402, 0.95062208, 0.00028168, -6.6e-06, 0.31035075, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.45, "tool": [ -0.01642, -0.05304, 0.03802 ], "objects": { "red_block": [ 0.01534, -0.02344, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.0161904, -0.05281825, 0.03801805, 0.01555518, -0.02323238, 0.02506289, 0.95340374, -0.0001074, 0.00032815, 0.3016972, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 8.5, "tool": [ -0.01072, -0.04743, 0.03801 ], "objects": { "red_block": [ 0.02102, -0.01791, 0.02503 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.01049245, -0.04720414, 0.03801336, 0.02124377, -0.01768742, 0.02501412, 0.95126955, 0.00017741, -0.00049812, 0.30836011, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.55, "tool": [ -0.00502, -0.04181, 0.03802 ], "objects": { "red_block": [ 0.02659, -0.01227, 0.02502 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.00478789, -0.04158785, 0.03802466, 0.02678222, -0.01204833, 0.02498757, 0.94832095, -0.00021069, -0.00014648, 0.31731263, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 8.6, "tool": [ 0.00066, -0.0362, 0.03807 ], "objects": { "red_block": [ 0.03229, -0.00673, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00088584, -0.03597534, 0.03806519, 0.03251751, -0.00650415, 0.02499543, 0.94772088, -3.547e-05, -0.00033185, 0.31910032, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 8.65, "tool": [ 0.00635, -0.03058, 0.03807 ], "objects": { "red_block": [ 0.03794, -0.00114, 0.02504 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00658205, -0.03036018, 0.03806967, 0.03817268, -0.00091497, 0.02502072, 0.94661355, 0.0009087, -0.00013102, 0.32236927, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 8.7, "tool": [ 0.01205, -0.02496, 0.03804 ], "objects": { "red_block": [ 0.04374, 0.00428, 0.02507 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01228199, -0.02473829, 0.03803391, 0.04399536, 0.00450761, 0.02502679, 0.94307647, -0.00038902, -0.00022551, 0.33257565, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.75, "tool": [ 0.01777, -0.01934, 0.038 ], "objects": { "red_block": [ 0.04961, 0.00969, 0.02504 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01799562, -0.01911714, 0.03800666, 0.0498635, 0.00992559, 0.02500829, 0.94447884, -0.00032815, 0.00085019, 0.32857097, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.8, "tool": [ 0.0216, -0.01557, 0.03801 ], "objects": { "red_block": [ 0.05359, 0.01335, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02167744, -0.01549325, 0.03801268, 0.05366457, 0.01343495, 0.02499126, 0.94500589, -0.00043095, 2.05e-06, 0.32705303, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.85, "tool": [ 0.02258, -0.0146, 0.03803 ], "objects": { "red_block": [ 0.05458, 0.01427, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02259676, -0.01458244, 0.03803577, 0.05459327, 0.01428181, 0.02498004, 0.94447081, 0.0001445, 0.00046608, 0.32859495, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.9, "tool": [ 0.02284, -0.01434, 0.04168 ], "objects": { "red_block": [ 0.05488, 0.01456, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02285055, -0.01433782, 0.04197949, 0.05487756, 0.01456141, 0.02497715, 0.9443018, -3.761e-05, 1.555e-05, 0.32908071, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.95, "tool": [ 0.02294, -0.01425, 0.05073 ], "objects": { "red_block": [ 0.05509, 0.01472, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02294571, -0.01425222, 0.0511313, 0.05509506, 0.01471565, 0.02499374, 0.9440162, 4.038e-05, -5.52e-05, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 9.0, "tool": [ 0.02299, -0.01422, 0.06125 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02298842, -0.01421593, 0.06168222, 0.05509698, 0.01471844, 0.02499807, 0.9440162, 9.7e-07, -1.32e-06, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 9.05, "tool": [ 0.023, -0.01421, 0.07212 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02299886, -0.01420708, 0.07255381, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 2e-08, -3e-08, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.1, "tool": [ 0.023, -0.01421, 0.08306 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02300134, -0.01420498, 0.08350137, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, -0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.15, "tool": [ 0.023, -0.0142, 0.09403 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02300193, -0.01420448, 0.09446698, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, -0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 9.2, "tool": [ 0.023, -0.0142, 0.105 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02300207, -0.01420436, 0.10543687, 0.05509703, 0.0147185, 0.02499818, 0.9440162, -0.0, 0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 9.25, "tool": [ 0.023, -0.0142, 0.11597 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02300211, -0.01420433, 0.11640777, 0.05509703, 0.0147185, 0.02499818, 0.9440162, -0.0, 0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.3, "tool": [ 0.023, -0.0142, 0.12694 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02300211, -0.01420433, 0.12737892, 0.05509703, 0.0147185, 0.02499818, 0.9440162, -0.0, 0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 9.35, "tool": [ 0.023, -0.0142, 0.13791 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02300212, -0.01420432, 0.13835013, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, -0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 9.4, "tool": [ 0.023, -0.0142, 0.14888 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02300212, -0.01420432, 0.14932134, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, -0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 9.45, "tool": [ 0.023, -0.0142, 0.157 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02300212, -0.01420432, 0.15717006, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, -0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 9.5, "tool": [ 0.023, -0.0142, 0.15929 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02300212, -0.01420432, 0.15932611, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, -0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.55, "tool": [ 0.023, -0.0142, 0.15983 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.02300212, -0.01420432, 0.15983996, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, -0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.6, "tool": [ 0.023, -0.0142, 0.15996 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.02300212, -0.01420432, 0.15996199, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, -0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 9.65, "tool": [ 0.023, -0.0142, 0.15999 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.02300212, -0.01420432, 0.15999097, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, -0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 9.7, "tool": [ 0.023, -0.0142, 0.16 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.02300212, -0.01420432, 0.15999786, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, -0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 9.75, "tool": [ 0.023, -0.0142, 0.16 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02300212, -0.01420432, 0.15999949, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, -0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 9.8, "tool": [ 0.023, -0.0142, 0.16 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02300212, -0.01420432, 0.15999988, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, -0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 9.85, "tool": [ 0.023, -0.0142, 0.16 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02300212, -0.01420432, 0.15999997, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, -0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 9.9, "tool": [ 0.023, -0.0142, 0.16 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02300212, -0.01420432, 0.15999999, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, -0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 9.95, "tool": [ 0.023, -0.0142, 0.16 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02300212, -0.01420432, 0.16, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, -0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 10.0, "tool": [ 0.02146, -0.01603, 0.16 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.02131064, -0.01620761, 0.16, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, -0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 10.05, "tool": [ 0.01675, -0.02161, 0.16 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.01653541, -0.0218631, 0.16, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, -0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 10.1, "tool": [ 0.0111, -0.0283, 0.16 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.01087059, -0.02857217, 0.16, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, -0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 10.15, "tool": [ 0.00677, -0.03342, 0.16 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.00668501, -0.03352932, 0.16, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, -0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 10.2, "tool": [ 0.00555, -0.03487, 0.16 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.00553276, -0.03489397, 0.16, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, -0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 10.25, "tool": [ 0.00526, -0.03521, 0.1574 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00525814, -0.03521922, 0.15715391, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, -0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 10.3, "tool": [ 0.00519, -0.0353, 0.14948 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00519291, -0.03529647, 0.1491191, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, -0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 10.35, "tool": [ 0.00518, -0.03531, 0.13998 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00517743, -0.03531481, 0.13958746, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, -0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 10.4, "tool": [ 0.00517, -0.03532, 0.1301 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00517375, -0.03531917, 0.12969869, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, -0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 10.45, "tool": [ 0.00517, -0.03532, 0.12012 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00517287, -0.0353202, 0.11972511, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, -0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 10.5, "tool": [ 0.00517, -0.03532, 0.11013 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00517267, -0.03532045, 0.10973138, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, -0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 10.55, "tool": [ 0.00517, -0.03532, 0.10013 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00517262, -0.0353205, 0.09973287, 0.05509703, 0.0147185, 0.02499818, 0.9440162, -0.0, 0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 10.6, "tool": [ 0.00517, -0.03532, 0.09013 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00517261, -0.03532052, 0.08973322, 0.05509703, 0.0147185, 0.02499818, 0.9440162, -0.0, 0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 10.65, "tool": [ 0.00517, -0.03532, 0.08013 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.0051726, -0.03532052, 0.07973331, 0.05509703, 0.0147185, 0.02499818, 0.9440162, -0.0, 0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 10.7, "tool": [ 0.00517, -0.03532, 0.07013 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.0051726, -0.03532052, 0.06973333, 0.05509703, 0.0147185, 0.02499818, 0.9440162, -0.0, 0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 10.75, "tool": [ 0.00517, -0.03532, 0.06013 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.0051726, -0.03532052, 0.05973333, 0.05509703, 0.0147185, 0.02499818, 0.9440162, -0.0, 0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 10.8, "tool": [ 0.00517, -0.03532, 0.05013 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.0051726, -0.03532052, 0.04973333, 0.05509703, 0.0147185, 0.02499818, 0.9440162, -0.0, 0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 10.85, "tool": [ 0.00517, -0.03532, 0.04163 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.0051726, -0.03532052, 0.04142838, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, 0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 10.9, "tool": [ 0.00517, -0.03532, 0.03887 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.0051726, -0.03532052, 0.03881879, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, 0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 10.95, "tool": [ 0.00602, -0.03447, 0.03821 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00613036, -0.03436056, 0.03819447, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, 0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 11.0, "tool": [ 0.01011, -0.03037, 0.03805 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01030622, -0.03017512, 0.03804618, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, 0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 11.05, "tool": [ 0.01538, -0.02509, 0.03801 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01560382, -0.02486536, 0.03801097, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, 0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 11.1, "tool": [ 0.02095, -0.01951, 0.038 ], "objects": { "red_block": [ 0.0551, 0.01472, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.0211704, -0.01928601, 0.0380026, 0.05509703, 0.0147185, 0.02499818, 0.9440162, 0.0, 0.0, 0.32989909, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 11.15, "tool": [ 0.02642, -0.01401, 0.03802 ], "objects": { "red_block": [ 0.057, 0.01659, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02664022, -0.01379051, 0.03802406, 0.05726119, 0.01680884, 0.0249887, 0.94331327, 0.00015745, 0.00035926, 0.33190348, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 11.2, "tool": [ 0.03206, -0.00834, 0.03802 ], "objects": { "red_block": [ 0.06284, 0.02192, 0.02504 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03228723, -0.00811493, 0.03802094, 0.06308509, 0.02214575, 0.02499988, 0.94169572, -0.00095537, -4.323e-05, 0.33646435, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 11.25, "tool": [ 0.03772, -0.00268, 0.03802 ], "objects": { "red_block": [ 0.06863, 0.0274, 0.02505 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03794571, -0.00245147, 0.03801718, 0.06887433, 0.02762747, 0.02505032, 0.94078531, -0.00036506, 0.00016981, 0.33900271, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 11.3, "tool": [ 0.04338, 0.00299, 0.038 ], "objects": { "red_block": [ 0.07438, 0.03293, 0.02506 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.04360593, 0.00321384, 0.03800441, 0.07462222, 0.03316905, 0.02507214, 0.94114736, -0.00066044, -1.729e-05, 0.33799586, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 11.35, "tool": [ 0.04904, 0.00865, 0.03801 ], "objects": { "red_block": [ 0.08011, 0.03855, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.04926473, 0.00887372, 0.03801084, 0.08032132, 0.03876949, 0.02499772, 0.94153443, 0.00011681, -0.00044814, 0.33691647, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 11.4, "tool": [ 0.05468, 0.0143, 0.03802 ], "objects": { "red_block": [ 0.08585, 0.04411, 0.02505 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.0549066, 0.01453118, 0.03801956, 0.0860844, 0.04434415, 0.02505099, 0.94167599, -0.00150663, -0.0003658, 0.33651735, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 11.45, "tool": [ 0.06032, 0.01997, 0.03804 ], "objects": { "red_block": [ 0.09162, 0.04966, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.06054819, 0.02020311, 0.03803739, 0.09181929, 0.04985751, 0.02505181, 0.94109932, -0.00091862, 0.00047505, 0.33812868, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 11.5, "tool": [ 0.06597, 0.02564, 0.03803 ], "objects": { "red_block": [ 0.09729, 0.05523, 0.02504 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.0661978, 0.02586791, 0.03803263, 0.09751788, 0.0554601, 0.02497554, 0.93967828, -0.00030722, 0.00036695, 0.3420592, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 11.55, "tool": [ 0.07163, 0.0313, 0.03801 ], "objects": { "red_block": [ 0.10319, 0.06067, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07185436, 0.03153216, 0.03801246, 0.10341273, 0.06087631, 0.02500175, 0.94057209, -0.00029616, -0.00022216, 0.33959388, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 11.6, "tool": [ 0.07727, 0.03696, 0.03804 ], "objects": { "red_block": [ 0.10893, 0.06614, 0.0251 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07749673, 0.0371897, 0.03803914, 0.10916732, 0.06636008, 0.02509965, 0.94136803, -0.00039813, 0.00032376, 0.33738103, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 11.65, "tool": [ 0.08293, 0.04262, 0.03803 ], "objects": { "red_block": [ 0.11477, 0.0717, 0.02505 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08315477, 0.04285106, 0.03802797, 0.11499871, 0.07191111, 0.02501525, 0.9412981, -0.00024855, 0.00078655, 0.33757547, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 11.7, "tool": [ 0.08778, 0.04748, 0.03802 ], "objects": { "red_block": [ 0.11959, 0.07649, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08789977, 0.04759842, 0.03802115, 0.11970554, 0.07658414, 0.0250245, 0.93939989, 0.00024993, -3.84e-06, 0.34282326, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 11.75, "tool": [ 0.08934, 0.04905, 0.03804 ], "objects": { "red_block": [ 0.12119, 0.07799, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08936449, 0.0490801, 0.03804353, 0.12121548, 0.07802306, 0.02498557, 0.93885087, -1.672e-05, -0.0001242, 0.34432402, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 11.8, "tool": [ 0.08971, 0.04943, 0.03963 ], "objects": { "red_block": [ 0.12159, 0.07838, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0897227, 0.04943867, 0.03984807, 0.12159001, 0.07837918, 0.02499123, 0.93886865, -2.36e-06, -0.00010094, 0.34427555, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 11.85, "tool": [ 0.08983, 0.04954, 0.04755 ], "objects": { "red_block": [ 0.12188, 0.07862, 0.02496 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08983133, 0.04954354, 0.04793336, 0.12189588, 0.0786275, 0.02495516, 0.93864216, -2.856e-05, 0.00028171, 0.34489248, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 11.9, "tool": [ 0.0899, 0.0496, 0.05782 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08990147, 0.04960601, 0.05824355, 0.12188776, 0.07862461, 0.02499663, 0.93863947, -2.77e-06, 1.583e-05, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 11.95, "tool": [ 0.08992, 0.04962, 0.06862 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08992174, 0.04962391, 0.06906013, 0.12188707, 0.07862421, 0.02499814, 0.93863947, -7e-08, 3.8e-07, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 12.0, "tool": [ 0.08993, 0.04963, 0.07956 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08992658, 0.04962818, 0.07999465, 0.12188706, 0.0786242, 0.02499818, 0.93863947, -0.0, 1e-08, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 12.05, "tool": [ 0.08993, 0.04963, 0.09052 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08992773, 0.0496292, 0.09095715, 0.12188706, 0.0786242, 0.02499818, 0.93863947, -0.0, 0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 12.1, "tool": [ 0.08993, 0.04963, 0.10149 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.089928, 0.04962944, 0.1019263, 0.12188706, 0.0786242, 0.02499818, 0.93863947, -0.0, 0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 12.15, "tool": [ 0.08993, 0.04963, 0.11246 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08992806, 0.04962949, 0.11289704, 0.12188706, 0.0786242, 0.02499818, 0.93863947, 0.0, -0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 12.2, "tool": [ 0.08993, 0.04963, 0.12343 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08992808, 0.04962951, 0.12386814, 0.12188706, 0.0786242, 0.02499818, 0.93863947, 0.0, -0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 12.25, "tool": [ 0.08993, 0.04963, 0.1344 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08992808, 0.04962951, 0.13483934, 0.12188706, 0.0786242, 0.02499818, 0.93863947, 0.0, -0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 12.3, "tool": [ 0.08993, 0.04963, 0.14537 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08992808, 0.04962951, 0.14581055, 0.12188706, 0.0786242, 0.02499818, 0.93863947, 0.0, -0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 12.35, "tool": [ 0.08993, 0.04963, 0.15529 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08992808, 0.04962951, 0.1555447, 0.12188706, 0.0786242, 0.02499818, 0.93863947, 0.0, -0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 12.4, "tool": [ 0.08993, 0.04963, 0.15887 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08992808, 0.04962951, 0.15893263, 0.12188706, 0.0786242, 0.02499818, 0.93863947, 0.0, -0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 12.45, "tool": [ 0.08993, 0.04963, 0.15973 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.08992808, 0.04962951, 0.15974647, 0.12188706, 0.0786242, 0.02499818, 0.93863947, 0.0, -0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 12.5, "tool": [ 0.08993, 0.04963, 0.15994 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.08992808, 0.04962951, 0.15993979, 0.12188706, 0.0786242, 0.02499818, 0.93863947, 0.0, -0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 12.55, "tool": [ 0.08993, 0.04963, 0.15998 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.08992808, 0.04962951, 0.1599857, 0.12188706, 0.0786242, 0.02499818, 0.93863947, 0.0, 0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 12.6, "tool": [ 0.08993, 0.04963, 0.16 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.08992808, 0.04962951, 0.1599966, 0.12188706, 0.0786242, 0.02499818, 0.93863947, 0.0, 0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 12.65, "tool": [ 0.08993, 0.04963, 0.16 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08992808, 0.04962951, 0.15999919, 0.12188706, 0.0786242, 0.02499818, 0.93863947, -0.0, 0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 12.7, "tool": [ 0.08993, 0.04963, 0.16 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08992808, 0.04962951, 0.15999981, 0.12188706, 0.0786242, 0.02499818, 0.93863947, -0.0, 0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 12.75, "tool": [ 0.08993, 0.04963, 0.16 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08992808, 0.04962951, 0.15999995, 0.12188706, 0.0786242, 0.02499818, 0.93863947, -0.0, 0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 12.8, "tool": [ 0.08993, 0.04963, 0.16 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08992808, 0.04962951, 0.15999999, 0.12188706, 0.0786242, 0.02499818, 0.93863947, -0.0, 0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 12.85, "tool": [ 0.08993, 0.04963, 0.16 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08992808, 0.04962951, 0.16, 0.12188706, 0.0786242, 0.02499818, 0.93863947, -0.0, 0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 12.9, "tool": [ 0.08938, 0.04894, 0.16 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.08929134, 0.04882023, 0.16, 0.12188706, 0.0786242, 0.02499818, 0.93863947, -0.0, 0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 12.95, "tool": [ 0.08558, 0.04411, 0.16 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.08538809, 0.04385933, 0.16, 0.12188706, 0.0786242, 0.02499818, 0.93863947, -0.0, 0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 13.0, "tool": [ 0.08038, 0.03749, 0.16 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.08015991, 0.03721449, 0.16, 0.12188706, 0.0786242, 0.02499818, 0.93863947, -0.0, 0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 13.05, "tool": [ 0.07538, 0.03114, 0.16 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.07524909, 0.03097299, 0.16, 0.12188706, 0.0786242, 0.02499818, 0.93863947, -0.0, 0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 13.1, "tool": [ 0.07356, 0.02883, 0.16 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.07352889, 0.02878669, 0.16, 0.12188706, 0.0786242, 0.02499818, 0.93863947, -0.0, 0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 13.15, "tool": [ 0.07312, 0.02827, 0.15904 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07311561, 0.02826141, 0.15887244, 0.12188706, 0.0786242, 0.02499818, 0.93863947, -0.0, -0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.2, "tool": [ 0.07302, 0.02814, 0.1523 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07301743, 0.02813664, 0.15196045, 0.12188706, 0.0786242, 0.02499818, 0.93863947, 0.0, -0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.25, "tool": [ 0.07299, 0.02811, 0.14309 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07299412, 0.028107, 0.14270224, 0.12188706, 0.0786242, 0.02499818, 0.93863947, 0.0, -0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 13.3, "tool": [ 0.07299, 0.0281, 0.13328 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07298858, 0.02809997, 0.13287845, 0.12188706, 0.0786242, 0.02499818, 0.93863947, 0.0, 0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 13.35, "tool": [ 0.07299, 0.0281, 0.12332 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07298727, 0.0280983, 0.1229203, 0.12188706, 0.0786242, 0.02499818, 0.93863947, 0.0, 0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 13.4, "tool": [ 0.07299, 0.0281, 0.11333 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07298695, 0.0280979, 0.11293024, 0.12188706, 0.0786242, 0.02499818, 0.93863947, -0.0, 0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 13.45, "tool": [ 0.07299, 0.0281, 0.10333 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07298688, 0.0280978, 0.1029326, 0.12188706, 0.0786242, 0.02499818, 0.93863947, -0.0, 0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 13.5, "tool": [ 0.07299, 0.0281, 0.09333 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07298686, 0.02809778, 0.09293316, 0.12188706, 0.0786242, 0.02499818, 0.93863947, -0.0, -0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 13.55, "tool": [ 0.07299, 0.0281, 0.08333 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07298686, 0.02809778, 0.08293329, 0.12188706, 0.0786242, 0.02499818, 0.93863947, -0.0, -0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 13.6, "tool": [ 0.07299, 0.0281, 0.07333 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07298686, 0.02809778, 0.07293332, 0.12188706, 0.0786242, 0.02499818, 0.93863947, -0.0, -0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.65, "tool": [ 0.07299, 0.0281, 0.06333 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07298686, 0.02809778, 0.06293333, 0.12188706, 0.0786242, 0.02499818, 0.93863947, 0.0, 0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.7, "tool": [ 0.07299, 0.0281, 0.05333 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07298686, 0.02809778, 0.05293333, 0.12188706, 0.0786242, 0.02499818, 0.93863947, -0.0, 0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.75, "tool": [ 0.07299, 0.0281, 0.04366 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07298686, 0.02809778, 0.04336114, 0.12188706, 0.0786242, 0.02499818, 0.93863947, -0.0, -0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 13.8, "tool": [ 0.07299, 0.0281, 0.03937 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07298686, 0.02809778, 0.03929667, 0.12188706, 0.0786242, 0.02499818, 0.93863947, 0.0, -0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 13.85, "tool": [ 0.07317, 0.02829, 0.03833 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07322487, 0.0283437, 0.03830807, 0.12188706, 0.0786242, 0.02499818, 0.93863947, 0.0, 0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.9, "tool": [ 0.07635, 0.03157, 0.03808 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07652715, 0.03175581, 0.03807316, 0.12188706, 0.0786242, 0.02499818, 0.93863947, -0.0, 0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 13.95, "tool": [ 0.08133, 0.03672, 0.03802 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08154073, 0.03693611, 0.03801737, 0.12188706, 0.0786242, 0.02499818, 0.93863947, -0.0, -0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 14.0, "tool": [ 0.08675, 0.04232, 0.038 ], "objects": { "red_block": [ 0.12189, 0.07862, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08697362, 0.04254968, 0.03800413, 0.12188706, 0.0786242, 0.02499818, 0.93863947, -0.0, -0.0, 0.34489991, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 14.05, "tool": [ 0.09224, 0.048, 0.03802 ], "objects": { "red_block": [ 0.12214, 0.07888, 0.02507 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09243845, 0.04820385, 0.03802779, 0.12232463, 0.0790756, 0.02506647, 0.93853979, -4.768e-05, 3.376e-05, 0.34517105, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 14.1, "tool": [ 0.09768, 0.05363, 0.03803 ], "objects": { "red_block": [ 0.12791, 0.08445, 0.02506 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09790316, 0.05385881, 0.03803296, 0.12813091, 0.08467889, 0.0250643, 0.93766241, -0.00068144, 0.00028506, 0.34754663, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 14.15, "tool": [ 0.10325, 0.05938, 0.03805 ], "objects": { "red_block": [ 0.13371, 0.09007, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10347132, 0.05961143, 0.03804945, 0.13392825, 0.09026378, 0.0250176, 0.93921224, 0.00080046, -0.00040347, 0.34333593, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 14.2, "tool": [ 0.10882, 0.06514, 0.03804 ], "objects": { "red_block": [ 0.13944, 0.09555, 0.02508 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10903887, 0.06536514, 0.03803798, 0.13968827, 0.09577523, 0.02505456, 0.94068113, 0.00076367, 0.00035223, 0.33929089, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 14.25, "tool": [ 0.11437, 0.07088, 0.03807 ], "objects": { "red_block": [ 0.14518, 0.10115, 0.02508 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11459233, 0.0711106, 0.03806701, 0.14540232, 0.10137242, 0.02509026, 0.94106237, 0.00044951, 9.769e-05, 0.33823276, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 14.3, "tool": [ 0.11995, 0.07664, 0.03803 ], "objects": { "red_block": [ 0.15078, 0.10674, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.12017022, 0.07687116, 0.03803036, 0.15100855, 0.10696033, 0.02500368, 0.93879823, -1.416e-05, -4.179e-05, 0.34446753, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 14.35, "tool": [ 0.1255, 0.08238, 0.03803 ], "objects": { "red_block": [ 0.15654, 0.11233, 0.02507 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.12572785, 0.08261402, 0.03802958, 0.15675766, 0.11256266, 0.02507498, 0.93895973, -0.00100279, -7.209e-05, 0.34402559, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 14.4, "tool": [ 0.13107, 0.08813, 0.03805 ], "objects": { "red_block": [ 0.16231, 0.11784, 0.02509 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13128998, 0.08835786, 0.03805049, 0.16253057, 0.11808198, 0.02508026, 0.94145762, -0.00155685, -0.00093103, 0.33712648, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 14.45, "tool": [ 0.13664, 0.09388, 0.03805 ], "objects": { "red_block": [ 0.16805, 0.12347, 0.02505 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13686226, 0.09410877, 0.03804548, 0.16826502, 0.12368637, 0.02502916, 0.94326869, 0.0007344, 0.00028634, 0.33202946, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 14.5, "tool": [ 0.1422, 0.09962, 0.03803 ], "objects": { "red_block": [ 0.17388, 0.12891, 0.02509 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14242583, 0.0998547, 0.03803065, 0.1741334, 0.12913988, 0.02506814, 0.94562593, 0.00034756, 0.00022639, 0.32525596, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 14.55, "tool": [ 0.14776, 0.10539, 0.03804 ], "objects": { "red_block": [ 0.17957, 0.1344, 0.02503 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14798469, 0.10561655, 0.03803449, 0.17981032, 0.1346323, 0.02498979, 0.94553769, -0.00025003, 0.00012634, 0.3255125, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 14.6, "tool": [ 0.15316, 0.11095, 0.03803 ], "objects": { "red_block": [ 0.18532, 0.13978, 0.02504 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15332523, 0.11112143, 0.03803256, 0.18552919, 0.13997163, 0.02500301, 0.94686508, 0.00067294, -0.00033166, 0.32163017, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 14.65, "tool": [ 0.1556, 0.11347, 0.03801 ], "objects": { "red_block": [ 0.18781, 0.14215, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15563739, 0.11350985, 0.03801562, 0.18784351, 0.1421901, 0.02498083, 0.94770772, 0.00016482, 2.654e-05, 0.31913954, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 14.7, "tool": [ 0.15614, 0.11405, 0.03838 ], "objects": { "red_block": [ 0.1884, 0.14269, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.15615518, 0.11405872, 0.03848614, 0.1884194, 0.14270637, 0.0249921, 0.94751082, 0.00024644, -9.151e-05, 0.3197236, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 14.75, "tool": [ 0.15632, 0.11422, 0.0446 ], "objects": { "red_block": [ 0.1887, 0.14295, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.15632465, 0.11422627, 0.04495685, 0.18872374, 0.14296703, 0.02497138, 0.9471703, -8.21e-06, -0.00059882, 0.32073052, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 14.8, "tool": [ 0.1564, 0.1143, 0.05444 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.15640667, 0.11429811, 0.05485812, 0.18878289, 0.14299927, 0.02499709, 0.94713282, 7.28e-06, -1.564e-05, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 14.85, "tool": [ 0.15643, 0.11432, 0.06514 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.15643254, 0.11432004, 0.0655791, 0.18878351, 0.14299986, 0.02499815, 0.94713282, 1.7e-07, -3.7e-07, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 14.9, "tool": [ 0.15644, 0.11433, 0.07605 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.15643872, 0.11432528, 0.07649092, 0.18878353, 0.14299987, 0.02499818, 0.94713282, 0.0, -1e-08, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 14.95, "tool": [ 0.15644, 0.11433, 0.08701 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.15644019, 0.11432653, 0.08744804, 0.18878353, 0.14299987, 0.02499818, 0.94713282, 0.0, -0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 15.0, "tool": [ 0.15644, 0.11433, 0.09798 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.15644054, 0.11432682, 0.09841591, 0.18878353, 0.14299987, 0.02499818, 0.94713282, 0.0, -0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.05, "tool": [ 0.15644, 0.11433, 0.10895 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.15644062, 0.11432689, 0.10938634, 0.18878353, 0.14299987, 0.02499818, 0.94713282, -0.0, 0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 15.1, "tool": [ 0.15644, 0.11433, 0.11992 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.15644064, 0.11432691, 0.12035737, 0.18878353, 0.14299987, 0.02499818, 0.94713282, -0.0, 0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 15.15, "tool": [ 0.15644, 0.11433, 0.13089 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.15644065, 0.11432691, 0.13132855, 0.18878353, 0.14299987, 0.02499818, 0.94713282, -0.0, 0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 15.2, "tool": [ 0.15644, 0.11433, 0.14186 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.15644065, 0.11432691, 0.14229976, 0.18878353, 0.14299987, 0.02499818, 0.94713282, 0.0, -0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.25, "tool": [ 0.15644, 0.11433, 0.15271 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.15644065, 0.11432691, 0.1530833, 0.18878353, 0.14299987, 0.02499818, 0.94713282, 0.0, -0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 15.3, "tool": [ 0.15644, 0.11433, 0.15821 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.15644065, 0.11432691, 0.15830998, 0.18878353, 0.14299987, 0.02499818, 0.94713282, 0.0, -0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 15.35, "tool": [ 0.15644, 0.11433, 0.15957 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.15644065, 0.11432691, 0.15959836, 0.18878353, 0.14299987, 0.02499818, 0.94713282, 0.0, -0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 15.4, "tool": [ 0.15644, 0.11433, 0.1599 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.15644065, 0.11432691, 0.15990462, 0.18878353, 0.14299987, 0.02499818, 0.94713282, 0.0, -0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 15.45, "tool": [ 0.15644, 0.11433, 0.15998 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.15644065, 0.11432691, 0.15997735, 0.18878353, 0.14299987, 0.02499818, 0.94713282, 0.0, -0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 15.5, "tool": [ 0.15644, 0.11433, 0.15999 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.15644065, 0.11432691, 0.15999462, 0.18878353, 0.14299987, 0.02499818, 0.94713282, 0.0, -0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 15.55, "tool": [ 0.15644, 0.11433, 0.16 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.15644065, 0.11432691, 0.15999872, 0.18878353, 0.14299987, 0.02499818, 0.94713282, 0.0, -0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.6, "tool": [ 0.15644, 0.11433, 0.16 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.15644065, 0.11432691, 0.1599997, 0.18878353, 0.14299987, 0.02499818, 0.94713282, -0.0, 0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.65, "tool": [ 0.15644, 0.11433, 0.16 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.15644065, 0.11432691, 0.15999993, 0.18878353, 0.14299987, 0.02499818, 0.94713282, -0.0, 0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 15.7, "tool": [ 0.15644, 0.11433, 0.16 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.15644065, 0.11432691, 0.15999998, 0.18878353, 0.14299987, 0.02499818, 0.94713282, -0.0, 0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 15.75, "tool": [ 0.15644, 0.11433, 0.16 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.15644065, 0.11432691, 0.16, 0.18878353, 0.14299987, 0.02499818, 0.94713282, -0.0, 0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 15.8, "tool": [ 0.15639, 0.11423, 0.16 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.15635742, 0.11417316, 0.16, 0.18878353, 0.14299987, 0.02499818, 0.94713282, -0.0, 0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 15.85, "tool": [ 0.15396, 0.10975, 0.16 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.15380992, 0.10946728, 0.16, 0.18878353, 0.14299987, 0.02499818, 0.94713282, -0.0, 0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 15.9, "tool": [ 0.1497, 0.10188, 0.16 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.14951592, 0.10153518, 0.16, 0.18878353, 0.14299987, 0.02499818, 0.94713282, -0.0, 0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.95, "tool": [ 0.14503, 0.09326, 0.16 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.14486962, 0.09295228, 0.16, 0.18878353, 0.14299987, 0.02499818, 0.94713282, -0.0, -0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 16.0, "tool": [ 0.14263, 0.08881, 0.16 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.14258402, 0.0887302, 0.16, 0.18878353, 0.14299987, 0.02499818, 0.94713282, -0.0, -0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 16.05, "tool": [ 0.14203, 0.08771, 0.15989 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.14202033, 0.08768892, 0.15982893, 0.18878353, 0.14299987, 0.02499818, 0.94713282, -0.0, -0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 16.1, "tool": [ 0.14189, 0.08745, 0.1549 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.14188634, 0.0874414, 0.15459292, 0.18878353, 0.14299987, 0.02499818, 0.94713282, -0.0, -0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 16.15, "tool": [ 0.14186, 0.08738, 0.14615 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.14185451, 0.08738261, 0.14576725, 0.18878353, 0.14299987, 0.02499818, 0.94713282, -0.0, -0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 16.2, "tool": [ 0.14185, 0.08737, 0.13644 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.14184696, 0.08736865, 0.1360464, 0.18878353, 0.14299987, 0.02499818, 0.94713282, 0.0, -0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 16.25, "tool": [ 0.14185, 0.08737, 0.12651 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.14184516, 0.08736534, 0.12611269, 0.18878353, 0.14299987, 0.02499818, 0.94713282, 0.0, -0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 16.3, "tool": [ 0.14184, 0.08736, 0.11653 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.14184474, 0.08736455, 0.11612843, 0.18878353, 0.14299987, 0.02499818, 0.94713282, 0.0, -0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 16.35, "tool": [ 0.14184, 0.08736, 0.10653 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.14184464, 0.08736437, 0.10613217, 0.18878353, 0.14299987, 0.02499818, 0.94713282, 0.0, 0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 16.4, "tool": [ 0.14184, 0.08736, 0.09653 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.14184461, 0.08736432, 0.09613306, 0.18878353, 0.14299987, 0.02499818, 0.94713282, -0.0, 0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 16.45, "tool": [ 0.14184, 0.08736, 0.08653 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.14184461, 0.08736431, 0.08613327, 0.18878353, 0.14299987, 0.02499818, 0.94713282, -0.0, 0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 16.5, "tool": [ 0.14184, 0.08736, 0.07653 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.1418446, 0.08736431, 0.07613332, 0.18878353, 0.14299987, 0.02499818, 0.94713282, -0.0, -0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 16.55, "tool": [ 0.14184, 0.08736, 0.06653 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.1418446, 0.08736431, 0.06613333, 0.18878353, 0.14299987, 0.02499818, 0.94713282, -0.0, -0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 16.6, "tool": [ 0.14184, 0.08736, 0.05653 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.1418446, 0.08736431, 0.05613333, 0.18878353, 0.14299987, 0.02499818, 0.94713282, -0.0, -0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 16.65, "tool": [ 0.14184, 0.08736, 0.04653 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.1418446, 0.08736431, 0.04613744, 0.18878353, 0.14299987, 0.02499818, 0.94713282, 0.0, -0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 16.7, "tool": [ 0.14184, 0.08736, 0.04017 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.1418446, 0.08736431, 0.04005192, 0.18878353, 0.14299987, 0.02499818, 0.94713282, 0.0, 0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 16.75, "tool": [ 0.14184, 0.08736, 0.03852 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14184672, 0.08736681, 0.03848803, 0.18878353, 0.14299987, 0.02499818, 0.94713282, 0.0, 0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 16.8, "tool": [ 0.14372, 0.08958, 0.03812 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14386087, 0.08975414, 0.0381159, 0.18878353, 0.14299987, 0.02499818, 0.94713282, -0.0, -0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 16.85, "tool": [ 0.14801, 0.09467, 0.03803 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14820157, 0.09489906, 0.03802752, 0.18878353, 0.14299987, 0.02499818, 0.94713282, -0.0, -0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 16.9, "tool": [ 0.15295, 0.10053, 0.03801 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15315548, 0.10077081, 0.03800654, 0.18878353, 0.14299987, 0.02499818, 0.94713282, 0.0, -0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 16.95, "tool": [ 0.15805, 0.10657, 0.038 ], "objects": { "red_block": [ 0.18878, 0.143, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15825539, 0.10681561, 0.03800155, 0.18878353, 0.14299987, 0.02499818, 0.94713282, 0.0, -0.0, 0.32084173, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 17.0, "tool": [ 0.16303, 0.1125, 0.03804 ], "objects": { "red_block": [ 0.19154, 0.14594, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.16323409, 0.11274441, 0.03803797, 0.19173645, 0.1461265, 0.02503576, 0.9459728, -0.00054424, -0.00070562, 0.32424476, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 17.05, "tool": [ 0.16819, 0.1186, 0.03802 ], "objects": { "red_block": [ 0.19698, 0.15164, 0.02493 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.16839787, 0.11885038, 0.03802409, 0.19718807, 0.15184845, 0.02491809, 0.94528988, -0.00036022, 0.00101539, 0.32622979, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 17.1, "tool": [ 0.17335, 0.12471, 0.03801 ], "objects": { "red_block": [ 0.20243, 0.15723, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17355938, 0.12495344, 0.03800924, 0.20260723, 0.15741858, 0.02503758, 0.94388704, -0.00016861, -0.00019151, 0.33026837, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 17.15, "tool": [ 0.17849, 0.1308, 0.03802 ], "objects": { "red_block": [ 0.20774, 0.16296, 0.02503 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17869819, 0.13104828, 0.03801558, 0.20795959, 0.16319393, 0.02501942, 0.94177379, -0.00080707, -0.0001449, 0.33624612, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 17.2, "tool": [ 0.18365, 0.1369, 0.03799 ], "objects": { "red_block": [ 0.21328, 0.1686, 0.02504 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.18385718, 0.13714805, 0.03799022, 0.21349155, 0.16881986, 0.02501511, 0.94226332, 0.00062182, -1.759e-05, 0.33487228, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 17.25, "tool": [ 0.18762, 0.14162, 0.038 ], "objects": { "red_block": [ 0.21762, 0.17297, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.18770584, 0.14172206, 0.03800451, 0.21770317, 0.17304715, 0.02496246, 0.94334638, -0.00023995, 0.00044864, 0.33180921, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 17.3, "tool": [ 0.18873, 0.14296, 0.03804 ], "objects": { "red_block": [ 0.21884, 0.17414, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.18874556, 0.14298301, 0.03804312, 0.21886018, 0.17415936, 0.02497594, 0.94338155, -5.786e-05, 2.14e-05, 0.33170958, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 17.35, "tool": [ 0.189, 0.14329, 0.04058 ], "objects": { "red_block": [ 0.21919, 0.17442, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18900453, 0.1432954, 0.04084209, 0.21921671, 0.17444706, 0.02499475, 0.9428924, -0.00023476, 1.725e-05, 0.33309737, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 17.4, "tool": [ 0.1891, 0.1434, 0.04912 ], "objects": { "red_block": [ 0.21947, 0.1746, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18910512, 0.14340216, 0.04951469, 0.21947773, 0.17460016, 0.02497419, 0.94235116, 0.00030245, -5.99e-05, 0.33462547, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 17.45, "tool": [ 0.18916, 0.14345, 0.05953 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18916047, 0.14345294, 0.05995781, 0.21947916, 0.17461786, 0.02499752, 0.94234636, 8.59e-06, -1.9e-06, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 17.5, "tool": [ 0.18918, 0.14347, 0.07037 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18917697, 0.14346771, 0.07080576, 0.21947911, 0.17461829, 0.02499816, 0.94234636, 2.1e-07, -5e-08, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 17.55, "tool": [ 0.18918, 0.14347, 0.08131 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18918091, 0.14347123, 0.08174772, 0.21947911, 0.1746183, 0.02499818, 0.94234636, 0.0, -0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 17.6, "tool": [ 0.18918, 0.14347, 0.09227 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18918184, 0.14347207, 0.092712, 0.21947911, 0.1746183, 0.02499818, 0.94234636, 0.0, -0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 17.65, "tool": [ 0.18918, 0.14347, 0.10324 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18918206, 0.14347227, 0.10368157, 0.21947911, 0.1746183, 0.02499818, 0.94234636, 0.0, -0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 17.7, "tool": [ 0.18918, 0.14347, 0.11421 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18918212, 0.14347232, 0.1146524, 0.21947911, 0.1746183, 0.02499818, 0.94234636, -0.0, 0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 17.75, "tool": [ 0.18918, 0.14347, 0.12518 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18918213, 0.14347233, 0.12562353, 0.21947911, 0.1746183, 0.02499818, 0.94234636, -0.0, 0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 17.8, "tool": [ 0.18918, 0.14347, 0.13616 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18918213, 0.14347233, 0.13659473, 0.21947911, 0.1746183, 0.02499818, 0.94234636, -0.0, 0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 17.85, "tool": [ 0.18918, 0.14347, 0.14713 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18918213, 0.14347233, 0.14756595, 0.21947911, 0.1746183, 0.02499818, 0.94234636, -0.0, 0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 17.9, "tool": [ 0.18918, 0.14347, 0.15624 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18918213, 0.14347233, 0.15644604, 0.21947911, 0.1746183, 0.02499818, 0.94234636, -0.0, 0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 17.95, "tool": [ 0.18918, 0.14347, 0.1591 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18918213, 0.14347233, 0.15915187, 0.21947911, 0.1746183, 0.02499818, 0.94234636, -0.0, 0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 18.0, "tool": [ 0.18918, 0.14347, 0.15979 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18918213, 0.14347233, 0.15979856, 0.21947911, 0.1746183, 0.02499818, 0.94234636, 0.0, -0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 18.05, "tool": [ 0.18918, 0.14347, 0.15995 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18918213, 0.14347233, 0.15995216, 0.21947911, 0.1746183, 0.02499818, 0.94234636, 0.0, -0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 18.1, "tool": [ 0.18918, 0.14347, 0.15999 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18918213, 0.14347233, 0.15998864, 0.21947911, 0.1746183, 0.02499818, 0.94234636, -0.0, 0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 18.15, "tool": [ 0.18918, 0.14347, 0.16 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18918213, 0.14347233, 0.1599973, 0.21947911, 0.1746183, 0.02499818, 0.94234636, 0.0, -0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 18.2, "tool": [ 0.18918, 0.14347, 0.16 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18918213, 0.14347233, 0.15999936, 0.21947911, 0.1746183, 0.02499818, 0.94234636, 0.0, -0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 18.25, "tool": [ 0.18918, 0.14347, 0.16 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18918213, 0.14347233, 0.15999985, 0.21947911, 0.1746183, 0.02499818, 0.94234636, 0.0, -0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 18.3, "tool": [ 0.18918, 0.14347, 0.16 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18918213, 0.14347233, 0.15999996, 0.21947911, 0.1746183, 0.02499818, 0.94234636, 0.0, -0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 18.35, "tool": [ 0.18918, 0.14347, 0.16 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18918213, 0.14347233, 0.15999999, 0.21947911, 0.1746183, 0.02499818, 0.94234636, 0.0, -0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 18.4, "tool": [ 0.18918, 0.14347, 0.16 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18918213, 0.14347233, 0.16, 0.21947911, 0.1746183, 0.02499818, 0.94234636, 0.0, -0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 18.45, "tool": [ 0.18918, 0.14347, 0.16 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18918213, 0.14347233, 0.16, 0.21947911, 0.1746183, 0.02499818, 0.94234636, 0.0, -0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 18.5, "tool": [ 0.18918, 0.14347, 0.16 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18918213, 0.14347233, 0.16, 0.21947911, 0.1746183, 0.02499818, 0.94234636, 0.0, -0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 18.55, "tool": [ 0.18918, 0.14347, 0.16 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18918213, 0.14347233, 0.16, 0.21947911, 0.1746183, 0.02499818, 0.94234636, 0.0, -0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 18.6, "tool": [ 0.18918, 0.14347, 0.16 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18918213, 0.14347233, 0.16, 0.21947911, 0.1746183, 0.02499818, 0.94234636, -0.0, 0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 18.65, "tool": [ 0.18918, 0.14347, 0.16 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18918213, 0.14347233, 0.16, 0.21947911, 0.1746183, 0.02499818, 0.94234636, -0.0, 0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 18.7, "tool": [ 0.18918, 0.14347, 0.16 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18918213, 0.14347233, 0.16, 0.21947911, 0.1746183, 0.02499818, 0.94234636, -0.0, -0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 18.75, "tool": [ 0.18918, 0.14347, 0.16 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18918213, 0.14347233, 0.16, 0.21947911, 0.1746183, 0.02499818, 0.94234636, -0.0, -0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 18.8, "tool": [ 0.18918, 0.14347, 0.16 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18918213, 0.14347233, 0.16, 0.21947911, 0.1746183, 0.02499818, 0.94234636, -0.0, -0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 18.814, "tool": [ 0.18918, 0.14347, 0.16 ], "objects": { "red_block": [ 0.21948, 0.17462, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18918213, 0.14347233, 0.16, 0.21947911, 0.1746183, 0.02499818, 0.94234636, -0.0, -0.0, 0.33463911, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] } ], "events": [ { "t": 0.3, "type": "start", "message": "closed_loop: 빨간 블록을 오른쪽 목표로 밀어줘" }, { "t": 3.874, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.414 m" }, { "t": 6.79, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.325 m" }, { "t": 9.706, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.233 m" }, { "t": 12.622, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.141 m" }, { "t": 15.538, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.048 m" }, { "t": 18.814, "type": "success", "message": "최종 거리 0.0054 m · 정지 상태 True" } ] }, { "id": "nominal-1-open_loop", "policy": "open_loop", "scenario": "nominal", "seed": 1, "task": { "object_name": "blue_block", "goal": "left", "instruction": "파란 블록을 왼쪽 목표로 밀어줘" }, "parameters": { "friction": 0.5, "mass": 0.08, "disturbance": false }, "success": true, "final_distance_m": 0.01783185829823143, "settled": true, "sim_time_s": 6.895999999999463, "wall_time_s": 0.12518420000560582, "timed_out": false, "termination_reason": "success", "contact_steps": 893, "peak_contact_point_force_n": 4.811869161497592, "unintended_contact_steps": 0, "distractor_displacement_m": 3.2103448504214385e-08, "workspace_violation": false, "replans": 0, "disturbance_applied": false, "trajectory": [ { "t": 0.05, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.02496 ], "blue_block": [ 0.13221, -0.12757, 0.02496 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747684, 0.0249616, 1.0, -2.3e-07, 0.0, -0.0, 0.13220798, -0.12756755, 0.0249616, 1.0, -2.3e-07, 0.0, -0.0 ] }, { "t": 0.1, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.0249973, 1.0, -1e-08, 0.0, -0.0, 0.13220798, -0.12756756, 0.0249973, 1.0, -1e-08, 0.0, -0.0 ] }, { "t": 0.15, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499816, 1.0, -0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499816, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.2, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.25, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.3, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.35, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.4, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.45, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.5, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.55, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.6, "tool": [ 0.00379, -0.31721, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.00409267, -0.31698249, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.65, "tool": [ 0.01306, -0.31037, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.01347565, -0.31006445, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.7, "tool": [ 0.02384, -0.30243, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.02427752, -0.30210027, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.75, "tool": [ 0.03497, -0.29422, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.03541735, -0.29388691, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.8, "tool": [ 0.04619, -0.28595, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.04663745, -0.28561437, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.85, "tool": [ 0.05743, -0.27766, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.05787661, -0.27732778, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.9, "tool": [ 0.06867, -0.26937, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.0691203, -0.26903785, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.95, "tool": [ 0.07992, -0.26108, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.08036506, -0.26074713, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.0, "tool": [ 0.09116, -0.25279, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.09161007, -0.25245622, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.05, "tool": [ 0.10241, -0.2445, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.10285515, -0.24416527, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.1, "tool": [ 0.11365, -0.23621, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.11410024, -0.2358743, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.15, "tool": [ 0.1249, -0.22791, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.12534534, -0.22758333, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.2, "tool": [ 0.13614, -0.21962, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.13659043, -0.21929236, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.25, "tool": [ 0.14739, -0.21133, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.14783553, -0.21100139, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.3, "tool": [ 0.15863, -0.20304, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.15908062, -0.20271042, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.35, "tool": [ 0.16988, -0.19475, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.17032572, -0.19441946, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.4, "tool": [ 0.18112, -0.18646, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.18157082, -0.18612849, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.45, "tool": [ 0.18858, -0.18096, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.18872324, -0.18085503, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.5, "tool": [ 0.19055, -0.17951, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.19058536, -0.1794821, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.55, "tool": [ 0.19102, -0.17916, 0.15663 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19102859, -0.17915531, 0.15636049, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.6, "tool": [ 0.19113, -0.17908, 0.14839 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19113385, -0.1790777, 0.14801642, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.65, "tool": [ 0.19116, -0.17906, 0.1388 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19115885, -0.17905927, 0.13841057, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.7, "tool": [ 0.19116, -0.17905, 0.1289 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116478, -0.17905489, 0.12850418, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.75, "tool": [ 0.19117, -0.17905, 0.11893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116619, -0.17905385, 0.11852641, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.8, "tool": [ 0.19117, -0.17905, 0.10893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116653, -0.1790536, 0.10853169, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.85, "tool": [ 0.19117, -0.17905, 0.09893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116661, -0.17905354, 0.09853294, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.9, "tool": [ 0.19117, -0.17905, 0.08893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116662, -0.17905353, 0.08853324, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.95, "tool": [ 0.19117, -0.17905, 0.07893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905353, 0.07853331, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.0, "tool": [ 0.19117, -0.17905, 0.06893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905353, 0.06853333, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.05, "tool": [ 0.19117, -0.17905, 0.05893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905353, 0.05853333, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.1, "tool": [ 0.19117, -0.17905, 0.04893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905353, 0.04853333, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.15, "tool": [ 0.19117, -0.17905, 0.04106 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905353, 0.04089108, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.2, "tool": [ 0.19117, -0.17905, 0.03873 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905353, 0.03868908, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.25, "tool": [ 0.18989, -0.17793, 0.03817 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.18974648, -0.17781337, 0.03816366, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.3, "tool": [ 0.18527, -0.1739, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.18504946, -0.17371168, 0.03803886, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.35, "tool": [ 0.17958, -0.16893, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.17934259, -0.16872812, 0.03800923, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.4, "tool": [ 0.17363, -0.16374, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.1733944, -0.16353383, 0.03800219, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.45, "tool": [ 0.16782, -0.15862, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.12759, -0.12483, 0.02503 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.16757622, -0.15840865, 0.03805035, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.12736079, -0.12469822, 0.02503839, 0.99979066, 0.00073421, 0.0001019, -0.02044734 ] }, { "t": 2.5, "tool": [ 0.16178, -0.15335, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.12155, -0.12079, 0.02512 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.16154649, -0.1531381, 0.03803195, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.12130093, -0.12063303, 0.02514344, 0.99949623, -0.00064987, 8.71e-05, -0.03173101 ] }, { "t": 2.55, "tool": [ 0.15577, -0.14808, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11567, -0.11704, 0.02504 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.15553014, -0.14787097, 0.03803899, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.11544082, -0.11690457, 0.02506042, 0.99887819, -0.00056964, -0.00030945, -0.04734911 ] }, { "t": 2.6, "tool": [ 0.14974, -0.1428, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11046, -0.11331, 0.02503 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.14950228, -0.1425964, 0.03803371, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.11027095, -0.11314369, 0.02506887, 0.99745782, -0.0004904, -0.00054894, -0.07125551 ] }, { "t": 2.65, "tool": [ 0.14374, -0.13755, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.10549, -0.10982, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.14349176, -0.13733672, 0.03804988, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.10533874, -0.1096971, 0.02497287, 0.99485481, 0.00044676, 0.00036968, -0.10130926 ] }, { "t": 2.7, "tool": [ 0.13774, -0.1323, 0.03807 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.10036, -0.10559, 0.02509 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.13750097, -0.13209172, 0.03806954, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.10010733, -0.10541755, 0.02509847, 0.99135769, -0.00018128, 0.00057554, -0.13118521 ] }, { "t": 2.75, "tool": [ 0.1317, -0.12706, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.09474, -0.10089, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.13145616, -0.12684654, 0.03803411, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.09449532, -0.10070452, 0.02508416, 0.98867971, -0.00045749, 0.0001657, -0.15004066 ] }, { "t": 2.8, "tool": [ 0.12566, -0.12177, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08888, -0.09631, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.12542006, -0.1215637, 0.03804149, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.08867373, -0.09612234, 0.02504231, 0.9867395, 0.00019692, 0.0002328, -0.16231163 ] }, { "t": 2.85, "tool": [ 0.11964, -0.11652, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08293, -0.09134, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.11940089, -0.11631107, 0.03804343, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.082668, -0.09113586, 0.02492769, 0.98540161, 0.00019347, 6.183e-05, -0.17024576 ] }, { "t": 2.9, "tool": [ 0.11363, -0.11125, 0.03806 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.07713, -0.08631, 0.02504 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.11338582, -0.11104196, 0.0380585, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.07690392, -0.08611385, 0.02501264, 0.9830283, -0.0002004, -0.00050744, -0.18345317 ] }, { "t": 2.95, "tool": [ 0.1076, -0.106, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.07137, -0.08121, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.1073495, -0.10578603, 0.03805129, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.07115851, -0.08102952, 0.02497254, 0.9799286, 0.00070838, 0.00033603, -0.19934726 ] }, { "t": 3.0, "tool": [ 0.10158, -0.10074, 0.03806 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06535, -0.07623, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.10133402, -0.10053057, 0.03806158, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.06512362, -0.07604015, 0.02500004, 0.97850412, -0.0004077, -7.125e-05, -0.20622683 ] }, { "t": 3.05, "tool": [ 0.09554, -0.09549, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05917, -0.07131, 0.02509 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.09529866, -0.09528084, 0.03804275, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.05891802, -0.07108781, 0.02506198, 0.97933932, -0.00108987, 0.0002335, -0.20222081 ] }, { "t": 3.1, "tool": [ 0.08952, -0.09023, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05301, -0.06632, 0.02507 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.08928097, -0.09001483, 0.03804569, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.05275179, -0.06608823, 0.02501034, 0.97947435, -0.00068102, 0.00016718, -0.20156761 ] }, { "t": 3.15, "tool": [ 0.08349, -0.08496, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.04685, -0.06149, 0.02503 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.08324533, -0.08475226, 0.03803362, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.04662636, -0.06127882, 0.02503508, 0.97838239, 0.00030443, 0.00061729, -0.20680288 ] }, { "t": 3.2, "tool": [ 0.07746, -0.07971, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.04096, -0.05609, 0.02495 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.07721167, -0.07949219, 0.0380122, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.04075798, -0.05589875, 0.02495858, 0.97637086, -0.00042379, -9.218e-05, -0.21610127 ] }, { "t": 3.25, "tool": [ 0.07144, -0.07445, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.03494, -0.05098, 0.02509 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.07119919, -0.07423356, 0.03802039, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.03472943, -0.05076111, 0.0251023, 0.97574825, -0.00017968, 0.00114298, -0.21889271 ] }, { "t": 3.3, "tool": [ 0.0654, -0.06918, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.02909, -0.04581, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.06516642, -0.06896851, 0.03801324, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.02883435, -0.04559706, 0.02500746, 0.97297997, 4.383e-05, -9.685e-05, -0.23088951 ] }, { "t": 3.35, "tool": [ 0.05941, -0.06393, 0.03806 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.02317, -0.04036, 0.02504 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.05916825, -0.06371806, 0.03805882, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.02292945, -0.04014931, 0.02505675, 0.97166665, -0.00019643, 0.00017582, -0.23635534 ] }, { "t": 3.4, "tool": [ 0.05337, -0.05867, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.01724, -0.03498, 0.02505 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.05313202, -0.0584589, 0.03803697, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.01699242, -0.03476237, 0.02503253, 0.97097473, 0.00050542, 0.00022006, -0.23918147 ] }, { "t": 3.45, "tool": [ 0.04735, -0.0534, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.01106, -0.02983, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.04710952, -0.05319227, 0.03804257, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.01082727, -0.02965343, 0.02503459, 0.97301574, 4.954e-05, -0.0002532, -0.2307386 ] }, { "t": 3.5, "tool": [ 0.04133, -0.04813, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.00488, -0.02491, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.04108724, -0.04792603, 0.03800776, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.00462818, -0.02469464, 0.0250398, 0.97240257, 0.00051261, -0.00061981, -0.23330792 ] }, { "t": 3.55, "tool": [ 0.03531, -0.04289, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00135, -0.01989, 0.02509 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.03507016, -0.04267396, 0.03803789, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.00158556, -0.01967532, 0.02506338, 0.97383458, -0.00085016, 0.00015917, -0.2272564 ] }, { "t": 3.6, "tool": [ 0.02931, -0.03762, 0.03808 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00746, -0.01478, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.02906484, -0.03741269, 0.03808072, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.00770769, -0.01459268, 0.02508757, 0.9752905, 0.00033476, -0.00036424, -0.22092578 ] }, { "t": 3.65, "tool": [ 0.02328, -0.03235, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01377, -0.01011, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.02303059, -0.03213799, 0.03804566, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.01399759, -0.00991413, 0.0249239, 0.97492496, -0.0001042, 0.00072763, -0.22253265 ] }, { "t": 3.7, "tool": [ 0.01725, -0.02711, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01968, -0.00467, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.01700796, -0.02689613, 0.03805074, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.0199406, -0.00446746, 0.02499622, 0.97473979, 0.0001974, -0.00034714, -0.22334321 ] }, { "t": 3.75, "tool": [ 0.0112, -0.02185, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.02576, 0.00053, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.01095968, -0.02163485, 0.03801991, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.02600753, 0.00072941, 0.02499335, 0.97442848, 0.00026385, -0.00075644, -0.22469645 ] }, { "t": 3.8, "tool": [ 0.00518, -0.01658, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.03174, 0.00559, 0.02505 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.00494443, -0.01636852, 0.03802678, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.03198474, 0.0057904, 0.02506173, 0.97174854, -0.00039678, 0.00014117, -0.23601823 ] }, { "t": 3.85, "tool": [ -0.00084, -0.01132, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.038, 0.01049, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.00107783, -0.01111188, 0.03802015, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.03826951, 0.01069467, 0.02502752, 0.9725785, 0.00031729, -0.00012775, -0.2325746 ] }, { "t": 3.9, "tool": [ -0.00687, -0.00607, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.04429, 0.01545, 0.02494 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.00711787, -0.0058538, 0.03801629, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.04449768, 0.01563957, 0.02494875, 0.97509111, -0.00035476, -0.00137069, -0.22180018 ] }, { "t": 3.95, "tool": [ -0.0129, -0.0008, 0.03799 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.05016, 0.02082, 0.02504 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.01314652, -0.00058373, 0.03798655, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.05040696, 0.02100775, 0.02503625, 0.97307302, -2.604e-05, 0.00026346, -0.2304969 ] }, { "t": 4.0, "tool": [ -0.0189, 0.00446, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.05599, 0.02635, 0.02507 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.01914341, 0.00466978, 0.03803494, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.05620092, 0.02657554, 0.02508511, 0.9713674, -1.42e-06, 0.00094002, -0.2375805 ] }, { "t": 4.05, "tool": [ -0.02492, 0.00971, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06192, 0.03176, 0.02508 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.02516123, 0.00992505, 0.03804692, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.06218862, 0.03198387, 0.02503074, 0.97157967, 0.000902, -0.00035511, -0.2367108 ] }, { "t": 4.1, "tool": [ -0.03096, 0.01497, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06805, 0.03684, 0.02507 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.03120453, 0.01518312, 0.03801438, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.06833062, 0.03705512, 0.02502352, 0.97328231, 0.00079739, -0.00056607, -0.22960963 ] }, { "t": 4.15, "tool": [ -0.03699, 0.02024, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.07427, 0.04195, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.03722352, 0.02044926, 0.03802427, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.07452877, 0.04215578, 0.0250037, 0.97485965, 0.00046541, 0.00016454, -0.22281926 ] }, { "t": 4.2, "tool": [ -0.043, 0.0255, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08053, 0.04669, 0.02505 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.04323721, 0.02571079, 0.03804414, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.08077646, 0.04687524, 0.02506771, 0.97599412, 0.00022788, -0.00035406, -0.21779648 ] }, { "t": 4.25, "tool": [ -0.04903, 0.03076, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08695, 0.05129, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.04926507, 0.03096383, 0.03801624, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.08719754, 0.0515126, 0.02502368, 0.9778769, -0.0006712, 2.568e-05, -0.20918011 ] }, { "t": 4.3, "tool": [ -0.05503, 0.03602, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.09308, 0.05637, 0.02512 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.05526834, 0.03622988, 0.03804796, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.09333244, 0.05658988, 0.02511454, 0.9789684, -0.0015265, 0.00021127, -0.20400612 ] }, { "t": 4.35, "tool": [ -0.06105, 0.04129, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.09927, 0.06126, 0.02504 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.06129097, 0.0414966, 0.03804207, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.09953739, 0.06144859, 0.0250628, 0.97907136, 0.00156001, 0.0002723, -0.20351111 ] }, { "t": 4.4, "tool": [ -0.06708, 0.04655, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.10542, 0.06617, 0.02509 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.06732142, 0.04675554, 0.03803336, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.10566577, 0.0663835, 0.02512348, 0.97925964, 2.743e-05, 0.00040511, -0.20260896 ] }, { "t": 4.45, "tool": [ -0.07311, 0.0518, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.11147, 0.07139, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.07334721, 0.05201355, 0.03804092, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.11170767, 0.0716009, 0.02501439, 0.97972062, -0.00016545, -0.00012821, -0.20036833 ] }, { "t": 4.5, "tool": [ -0.07914, 0.05707, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.11749, 0.07669, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.079382, 0.05728111, 0.03799904, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.11773454, 0.07690904, 0.02502002, 0.97898612, -0.00132955, 2.807e-05, -0.20392254 ] }, { "t": 4.55, "tool": [ -0.08516, 0.06233, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.12357, 0.08186, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.08539334, 0.06253543, 0.03799851, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.12381899, 0.08209777, 0.02506297, 0.97825805, -0.0003051, -0.0002172, -0.20739103 ] }, { "t": 4.6, "tool": [ -0.09118, 0.06758, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.12963, 0.08707, 0.02503 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.09142756, 0.06778715, 0.03803188, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.12985696, 0.08728983, 0.02499803, 0.97894526, 0.00084307, 7.575e-05, -0.2041212 ] }, { "t": 4.65, "tool": [ -0.0972, 0.07284, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13557, 0.09251, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.09744808, 0.07304527, 0.03803887, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.1358239, 0.09270574, 0.02501021, 0.9796105, 0.00040374, -0.00069795, -0.20090448 ] }, { "t": 4.7, "tool": [ -0.10322, 0.0781, 0.03806 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.14169, 0.09766, 0.02507 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.10345904, 0.07830918, 0.03806416, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.14191545, 0.09786112, 0.02504255, 0.98012319, -0.00021594, -0.0011585, -0.19838637 ] }, { "t": 4.75, "tool": [ -0.10927, 0.08337, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.14785, 0.1025, 0.02503 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.10950504, 0.08357891, 0.03801449, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.148117, 0.10267438, 0.02503017, 0.9809233, -0.00114084, -4.879e-05, -0.19439181 ] }, { "t": 4.8, "tool": [ -0.11527, 0.08862, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15396, 0.10757, 0.02507 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.11550757, 0.08883115, 0.03803061, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.15421343, 0.10778901, 0.02507367, 0.98127504, -0.00054544, 0.00054169, -0.19261022 ] }, { "t": 4.85, "tool": [ -0.1213, 0.09388, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16001, 0.11284, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.12154643, 0.09408955, 0.03800996, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.16026427, 0.11305718, 0.02503803, 0.98170054, 0.00015307, -0.00081998, -0.19042939 ] }, { "t": 4.9, "tool": [ -0.12734, 0.09915, 0.03799 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16603, 0.11814, 0.02503 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.1275849, 0.09936774, 0.03799061, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.16625091, 0.11830018, 0.02502794, 0.98079504, 0.00050692, -0.00038756, -0.19504019 ] }, { "t": 4.95, "tool": [ -0.13336, 0.10441, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.17236, 0.12285, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.13360263, 0.10461868, 0.03799865, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.17259917, 0.12302632, 0.02498911, 0.98278549, -5.692e-05, -0.00044096, -0.18474977 ] }, { "t": 5.0, "tool": [ -0.13937, 0.10967, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.17831, 0.12806, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.13960988, 0.10987668, 0.03801202, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.17852306, 0.12828737, 0.02503575, 0.98200411, -5.619e-05, 0.00041354, -0.18885907 ] }, { "t": 5.05, "tool": [ -0.1454, 0.11492, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18425, 0.13353, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.14564124, 0.11513205, 0.03801606, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.18449671, 0.13376238, 0.0250071, 0.98185647, -0.00098565, 0.0001872, -0.18962294 ] }, { "t": 5.1, "tool": [ -0.15143, 0.12019, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.19039, 0.13859, 0.02504 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.15167349, 0.12040179, 0.03800786, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.19064753, 0.13877507, 0.02502806, 0.98383463, 0.00058815, -4.024e-05, -0.17907842 ] }, { "t": 5.15, "tool": [ -0.15747, 0.12545, 0.03798 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.19646, 0.1438, 0.02504 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.1577069, 0.12565745, 0.03797838, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.19671313, 0.1440116, 0.02499791, 0.98463926, -0.00041917, -9.58e-05, -0.17460052 ] }, { "t": 5.2, "tool": [ -0.16346, 0.13071, 0.03799 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20275, 0.14867, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.16370393, 0.13092297, 0.03798877, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.20302156, 0.14885586, 0.02498965, 0.98523051, -0.00061431, 9.96e-05, -0.17123217 ] }, { "t": 5.25, "tool": [ -0.16949, 0.13598, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20887, 0.15348, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.16973349, 0.13618642, 0.03800004, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.20909389, 0.15366814, 0.02505956, 0.98604003, 0.00033353, -0.00019499, -0.16650799 ] }, { "t": 5.3, "tool": [ -0.17546, 0.1412, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21491, 0.15862, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.1756679, 0.14138838, 0.03802946, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.21513242, 0.15882473, 0.02502629, 0.98570074, -0.00140787, -0.00038558, -0.16849904 ] }, { "t": 5.35, "tool": [ -0.17872, 0.14401, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21824, 0.16137, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.17877158, 0.14405874, 0.03803137, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.21830262, 0.16142433, 0.02499375, 0.98665706, -0.00034607, -7.614e-05, -0.16281189 ] }, { "t": 5.4, "tool": [ -0.17947, 0.14469, 0.03811 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21904, 0.16193, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17948604, 0.14469877, 0.03815827, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.21905857, 0.16194076, 0.02497712, 0.98686234, 0.00022432, 0.00017971, -0.16156314 ] }, { "t": 5.45, "tool": [ -0.17973, 0.14488, 0.04325 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21931, 0.16208, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17973351, 0.14488038, 0.04358103, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.21930504, 0.1620778, 0.02498341, 0.98667612, 4.526e-05, -0.00010892, -0.1626967 ] }, { "t": 5.5, "tool": [ -0.17982, 0.14493, 0.05277 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17982169, 0.14493368, 0.05318792, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.21953163, 0.16217329, 0.02499509, 0.98645126, 1.479e-05, 2.789e-05, -0.16405462 ] }, { "t": 5.55, "tool": [ -0.17986, 0.14495, 0.06341 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17985997, 0.14495221, 0.06384391, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.21953287, 0.16217424, 0.0249981, 0.98645126, 3.5e-07, 6.7e-07, -0.16405462 ] }, { "t": 5.6, "tool": [ -0.17987, 0.14496, 0.0743 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17986917, 0.14495665, 0.07474032, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, 1e-08, 2e-08, -0.16405462 ] }, { "t": 5.65, "tool": [ -0.17987, 0.14496, 0.08526 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987136, 0.14495771, 0.08569378, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, 0.0, 0.0, -0.16405462 ] }, { "t": 5.7, "tool": [ -0.17987, 0.14496, 0.09622 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987188, 0.14495796, 0.09666079, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, 0.0, 0.0, -0.16405462 ] }, { "t": 5.75, "tool": [ -0.17987, 0.14496, 0.10719 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.179872, 0.14495802, 0.10763101, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, -0.0, -0.0, -0.16405462 ] }, { "t": 5.8, "tool": [ -0.17987, 0.14496, 0.11816 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987203, 0.14495803, 0.11860199, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, -0.0, -0.0, -0.16405462 ] }, { "t": 5.85, "tool": [ -0.17987, 0.14496, 0.12913 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987204, 0.14495804, 0.12957316, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, -0.0, -0.0, -0.16405462 ] }, { "t": 5.9, "tool": [ -0.17987, 0.14496, 0.14011 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987204, 0.14495804, 0.14054437, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, -0.0, -0.0, -0.16405462 ] }, { "t": 5.95, "tool": [ -0.17987, 0.14496, 0.15107 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987204, 0.14495804, 0.15149863, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, -0.0, -0.0, -0.16405462 ] }, { "t": 6.0, "tool": [ -0.17987, 0.14496, 0.15775 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987204, 0.14495804, 0.15787415, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, -0.0, -0.0, -0.16405462 ] }, { "t": 6.05, "tool": [ -0.17987, 0.14496, 0.15946 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17987204, 0.14495804, 0.15949449, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, -0.0, -0.0, -0.16405462 ] }, { "t": 6.1, "tool": [ -0.17987, 0.14496, 0.15987 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17987204, 0.14495804, 0.15987995, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, -0.0, -0.0, -0.16405462 ] }, { "t": 6.15, "tool": [ -0.17987, 0.14496, 0.15997 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17987204, 0.14495804, 0.15997149, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, -0.0, -0.0, -0.16405462 ] }, { "t": 6.2, "tool": [ -0.17987, 0.14496, 0.15999 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17987204, 0.14495804, 0.15999323, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, -0.0, -0.0, -0.16405462 ] }, { "t": 6.25, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.15999839, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, -0.0, -0.0, -0.16405462 ] }, { "t": 6.3, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.15999962, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, -0.0, -0.0, -0.16405462 ] }, { "t": 6.35, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.15999991, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, -0.0, -0.0, -0.16405462 ] }, { "t": 6.4, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.15999998, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, -0.0, -0.0, -0.16405462 ] }, { "t": 6.45, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.15999999, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, -0.0, -0.0, -0.16405462 ] }, { "t": 6.5, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, -0.0, -0.0, -0.16405462 ] }, { "t": 6.55, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, -0.0, -0.0, -0.16405462 ] }, { "t": 6.6, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, -0.0, -0.0, -0.16405462 ] }, { "t": 6.65, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, -0.0, -0.0, -0.16405462 ] }, { "t": 6.7, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, 0.0, 0.0, -0.16405462 ] }, { "t": 6.75, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, 0.0, 0.0, -0.16405462 ] }, { "t": 6.8, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, 0.0, 0.0, -0.16405462 ] }, { "t": 6.85, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, 0.0, 0.0, -0.16405462 ] }, { "t": 6.896, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21953, 0.16217, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.2195329, 0.16217426, 0.02499818, 0.98645126, 0.0, 0.0, -0.16405462 ] } ], "events": [ { "t": 0.3, "type": "start", "message": "open_loop: 파란 블록을 왼쪽 목표로 밀어줘" }, { "t": 6.896, "type": "success", "message": "최종 거리 0.0178 m · 정지 상태 True" } ] }, { "id": "nominal-1-closed_loop", "policy": "closed_loop", "scenario": "nominal", "seed": 1, "task": { "object_name": "blue_block", "goal": "left", "instruction": "파란 블록을 왼쪽 목표로 밀어줘" }, "parameters": { "friction": 0.5, "mass": 0.08, "disturbance": false }, "success": true, "final_distance_m": 0.014700244758278613, "settled": true, "sim_time_s": 16.230000000001883, "wall_time_s": 0.2794967000372708, "timed_out": false, "termination_reason": "success", "contact_steps": 1019, "peak_contact_point_force_n": 4.833354131484086, "unintended_contact_steps": 0, "distractor_displacement_m": 3.215204621890614e-08, "workspace_violation": false, "replans": 4, "disturbance_applied": false, "trajectory": [ { "t": 0.05, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.02496 ], "blue_block": [ 0.13221, -0.12757, 0.02496 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747684, 0.0249616, 1.0, -2.3e-07, 0.0, -0.0, 0.13220798, -0.12756755, 0.0249616, 1.0, -2.3e-07, 0.0, -0.0 ] }, { "t": 0.1, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.0249973, 1.0, -1e-08, 0.0, -0.0, 0.13220798, -0.12756756, 0.0249973, 1.0, -1e-08, 0.0, -0.0 ] }, { "t": 0.15, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499816, 1.0, -0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499816, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.2, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.25, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.3, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.35, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.4, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.45, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.5, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.55, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.6, "tool": [ 0.00379, -0.31721, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.00409267, -0.31698249, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.65, "tool": [ 0.01306, -0.31037, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.01347565, -0.31006445, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.7, "tool": [ 0.02384, -0.30243, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.02427752, -0.30210027, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.75, "tool": [ 0.03497, -0.29422, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.03541735, -0.29388691, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.8, "tool": [ 0.04619, -0.28595, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.04663745, -0.28561437, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.85, "tool": [ 0.05743, -0.27766, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.05787661, -0.27732778, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.9, "tool": [ 0.06867, -0.26937, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.0691203, -0.26903785, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.95, "tool": [ 0.07992, -0.26108, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.08036506, -0.26074713, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.0, "tool": [ 0.09116, -0.25279, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.09161007, -0.25245622, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.05, "tool": [ 0.10241, -0.2445, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.10285515, -0.24416527, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.1, "tool": [ 0.11365, -0.23621, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.11410024, -0.2358743, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.15, "tool": [ 0.1249, -0.22791, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.12534534, -0.22758333, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.2, "tool": [ 0.13614, -0.21962, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.13659043, -0.21929236, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.25, "tool": [ 0.14739, -0.21133, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.14783553, -0.21100139, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.3, "tool": [ 0.15863, -0.20304, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.15908062, -0.20271042, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.35, "tool": [ 0.16988, -0.19475, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.17032572, -0.19441946, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.4, "tool": [ 0.18112, -0.18646, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.18157082, -0.18612849, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.45, "tool": [ 0.18858, -0.18096, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.18872324, -0.18085503, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.5, "tool": [ 0.19055, -0.17951, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.19058536, -0.1794821, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.55, "tool": [ 0.19102, -0.17916, 0.15663 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19102859, -0.17915531, 0.15636049, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.6, "tool": [ 0.19113, -0.17908, 0.14839 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19113385, -0.1790777, 0.14801642, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.65, "tool": [ 0.19116, -0.17906, 0.1388 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19115885, -0.17905927, 0.13841057, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.7, "tool": [ 0.19116, -0.17905, 0.1289 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116478, -0.17905489, 0.12850418, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.75, "tool": [ 0.19117, -0.17905, 0.11893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116619, -0.17905385, 0.11852641, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.8, "tool": [ 0.19117, -0.17905, 0.10893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116653, -0.1790536, 0.10853169, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.85, "tool": [ 0.19117, -0.17905, 0.09893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116661, -0.17905354, 0.09853294, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.9, "tool": [ 0.19117, -0.17905, 0.08893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116662, -0.17905353, 0.08853324, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.95, "tool": [ 0.19117, -0.17905, 0.07893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905353, 0.07853331, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.0, "tool": [ 0.19117, -0.17905, 0.06893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905353, 0.06853333, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.05, "tool": [ 0.19117, -0.17905, 0.05893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905353, 0.05853333, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.1, "tool": [ 0.19117, -0.17905, 0.04893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905353, 0.04853333, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.15, "tool": [ 0.19117, -0.17905, 0.04106 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905353, 0.04089108, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.2, "tool": [ 0.19117, -0.17905, 0.03873 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905353, 0.03868908, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.25, "tool": [ 0.18988, -0.17793, 0.03817 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.18974589, -0.17781286, 0.03816366, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.3, "tool": [ 0.18526, -0.1739, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.18504696, -0.17370949, 0.03803886, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.35, "tool": [ 0.17957, -0.16893, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.17933775, -0.16872389, 0.03800923, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.4, "tool": [ 0.17363, -0.16374, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.17338713, -0.16352748, 0.03800219, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.45, "tool": [ 0.16782, -0.15862, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.1275, -0.12469, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.16757113, -0.15840917, 0.03804876, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.12729612, -0.12452574, 0.02508991, 0.99976684, -0.00058318, -1.62e-06, -0.02158541 ] }, { "t": 2.5, "tool": [ 0.16179, -0.15333, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.12189, -0.1208, 0.02509 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.16154771, -0.15312156, 0.03803688, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.12163662, -0.12064242, 0.02500362, 0.99858053, -0.00077846, -0.00040812, -0.05325552 ] }, { "t": 2.55, "tool": [ 0.15574, -0.14806, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11697, -0.11757, 0.02509 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.15549944, -0.14785299, 0.03802459, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.11675649, -0.11741695, 0.02509022, 0.99703155, -0.00122654, -3.799e-05, -0.07698428 ] }, { "t": 2.6, "tool": [ 0.14973, -0.14281, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11184, -0.11396, 0.02496 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.14948546, -0.14259477, 0.03803273, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.11169112, -0.1138272, 0.02499217, 0.99422319, 0.00124277, -0.00069888, -0.10732292 ] }, { "t": 2.65, "tool": [ 0.14371, -0.13757, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.10679, -0.1096, 0.02517 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.14346311, -0.13735613, 0.03802205, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.10654973, -0.10940847, 0.02512785, 0.99087198, -0.0004482, 0.00023977, -0.13480523 ] }, { "t": 2.7, "tool": [ 0.1377, -0.13229, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.10101, -0.10506, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.13745999, -0.13208099, 0.03804553, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.10073856, -0.10488428, 0.0250943, 0.98897961, -0.00076551, -0.00036579, -0.14804933 ] }, { "t": 2.75, "tool": [ 0.13166, -0.12701, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.0952, -0.10051, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.13142422, -0.12680348, 0.03805755, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.09498826, -0.10032705, 0.02506737, 0.98689316, -0.00026255, 0.00018617, -0.1613747 ] }, { "t": 2.8, "tool": [ 0.12564, -0.12176, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08934, -0.09558, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.12539765, -0.12154827, 0.03804099, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.08914124, -0.09538213, 0.02502841, 0.98489407, -0.00068977, 0.00045072, -0.17315597 ] }, { "t": 2.85, "tool": [ 0.11962, -0.11649, 0.03806 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08339, -0.0908, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.1193829, -0.11628455, 0.03805879, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.08312445, -0.09060986, 0.02504034, 0.98366334, -0.00077662, 0.0001948, -0.18001608 ] }, { "t": 2.9, "tool": [ 0.11357, -0.11122, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.07731, -0.08603, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.11333162, -0.11100953, 0.03803247, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.07711476, -0.08584489, 0.02504826, 0.98215349, 8.828e-05, 0.0003111, -0.18808088 ] }, { "t": 2.95, "tool": [ 0.10754, -0.10598, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.07139, -0.08098, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.10729902, -0.10576253, 0.03801538, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.07118972, -0.08077925, 0.02496726, 0.97932114, -0.00041494, -0.00060568, -0.20231058 ] }, { "t": 3.0, "tool": [ 0.10273, -0.10179, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06686, -0.07667, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.10262611, -0.10170415, 0.03800703, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.06677231, -0.07657902, 0.02499449, 0.9779315, 6.713e-05, -0.00021307, -0.20892564 ] }, { "t": 3.05, "tool": [ 0.10133, -0.10057, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.0655, -0.07544, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.10131268, -0.10054693, 0.03803039, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.06548742, -0.07542122, 0.0249812, 0.97777202, -3.981e-05, -0.0005588, -0.20967014 ] }, { "t": 3.1, "tool": [ 0.101, -0.10027, 0.04032 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06511, -0.07522, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10099272, -0.10026404, 0.04057607, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.06510749, -0.07520947, 0.02497524, 0.97727954, -0.00014024, -2.301e-05, -0.21195443 ] }, { "t": 3.15, "tool": [ 0.10086, -0.10017, 0.04873 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10085241, -0.10016617, 0.0491275, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.06491319, -0.0751587, 0.02499256, 0.97697263, 1.61e-05, 4.85e-06, -0.21336464 ] }, { "t": 3.2, "tool": [ 0.1008, -0.10013, 0.0591 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10079695, -0.10013285, 0.05953325, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.06491313, -0.07515787, 0.02499804, 0.97697263, 3.8e-07, 1.2e-07, -0.21336465 ] }, { "t": 3.25, "tool": [ 0.10078, -0.10012, 0.06993 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10078351, -0.10012482, 0.07037032, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, 1e-08, 0.0, -0.21336465 ] }, { "t": 3.3, "tool": [ 0.10078, -0.10012, 0.08087 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10078032, -0.10012291, 0.08130968, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, 0.0, 0.0, -0.21336465 ] }, { "t": 3.35, "tool": [ 0.10078, -0.10012, 0.09183 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077956, -0.10012246, 0.09227334, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, 0.0, 0.0, -0.21336465 ] }, { "t": 3.4, "tool": [ 0.10078, -0.10012, 0.1028 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077938, -0.10012235, 0.10324277, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, -0.0, -0.0, -0.21336465 ] }, { "t": 3.45, "tool": [ 0.10078, -0.10012, 0.11377 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077934, -0.10012232, 0.11421356, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, -0.0, -0.0, -0.21336465 ] }, { "t": 3.5, "tool": [ 0.10078, -0.10012, 0.12475 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012232, 0.12518468, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, -0.0, -0.0, -0.21336465 ] }, { "t": 3.55, "tool": [ 0.10078, -0.10012, 0.13572 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012232, 0.13615588, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, -0.0, -0.0, -0.21336465 ] }, { "t": 3.6, "tool": [ 0.10078, -0.10012, 0.14669 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012232, 0.1471271, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, -0.0, -0.0, -0.21336465 ] }, { "t": 3.65, "tool": [ 0.10078, -0.10012, 0.15602 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012232, 0.15623865, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, -0.0, -0.0, -0.21336465 ] }, { "t": 3.7, "tool": [ 0.10078, -0.10012, 0.15905 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012232, 0.15910169, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, -0.0, -0.0, -0.21336465 ] }, { "t": 3.75, "tool": [ 0.10078, -0.10012, 0.15977 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.10077933, -0.10012232, 0.15978664, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, -0.0, -0.0, -0.21336465 ] }, { "t": 3.8, "tool": [ 0.10078, -0.10012, 0.15995 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.10077933, -0.10012232, 0.15994933, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, 0.0, 0.0, -0.21336465 ] }, { "t": 3.85, "tool": [ 0.10078, -0.10012, 0.15999 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.10077933, -0.10012232, 0.15998797, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, 0.0, 0.0, -0.21336465 ] }, { "t": 3.9, "tool": [ 0.10078, -0.10012, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.10077933, -0.10012232, 0.15999714, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, -0.0, -0.0, -0.21336465 ] }, { "t": 3.95, "tool": [ 0.10078, -0.10012, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012232, 0.15999932, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, -0.0, -0.0, -0.21336465 ] }, { "t": 4.0, "tool": [ 0.10078, -0.10012, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012232, 0.15999984, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, 0.0, 0.0, -0.21336465 ] }, { "t": 4.05, "tool": [ 0.10078, -0.10012, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012232, 0.15999996, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, 0.0, 0.0, -0.21336465 ] }, { "t": 4.1, "tool": [ 0.10078, -0.10012, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012232, 0.15999999, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, 0.0, 0.0, -0.21336465 ] }, { "t": 4.15, "tool": [ 0.10078, -0.10012, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012232, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, 0.0, 0.0, -0.21336465 ] }, { "t": 4.2, "tool": [ 0.10175, -0.10135, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.10187914, -0.10151159, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, 0.0, 0.0, -0.21336465 ] }, { "t": 4.25, "tool": [ 0.10645, -0.10728, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.10667433, -0.10756885, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, 0.0, 0.0, -0.21336465 ] }, { "t": 4.3, "tool": [ 0.11251, -0.11493, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.11275763, -0.11525325, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, 0.0, 0.0, -0.21336465 ] }, { "t": 4.35, "tool": [ 0.11792, -0.12178, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.11804999, -0.12193853, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, 0.0, 0.0, -0.21336465 ] }, { "t": 4.4, "tool": [ 0.11969, -0.12401, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.11972034, -0.12404851, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, 0.0, 0.0, -0.21336465 ] }, { "t": 4.45, "tool": [ 0.12011, -0.12454, 0.15851 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12012, -0.12455335, 0.15830496, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, 0.0, 0.0, -0.21336465 ] }, { "t": 4.5, "tool": [ 0.12021, -0.12467, 0.15127 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12021493, -0.12467326, 0.15091454, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, 0.0, 0.0, -0.21336465 ] }, { "t": 4.55, "tool": [ 0.12024, -0.1247, 0.14193 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12023747, -0.12470174, 0.14153886, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, 0.0, 0.0, -0.21336465 ] }, { "t": 4.6, "tool": [ 0.12024, -0.12471, 0.13208 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12024282, -0.1247085, 0.13168715, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, -0.0, 0.0, -0.21336465 ] }, { "t": 4.65, "tool": [ 0.12024, -0.12471, 0.12212 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.1202441, -0.12471011, 0.12172237, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, -0.0, -0.0, -0.21336465 ] }, { "t": 4.7, "tool": [ 0.12024, -0.12471, 0.11213 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.1202444, -0.12471049, 0.11173073, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, -0.0, -0.0, -0.21336465 ] }, { "t": 4.75, "tool": [ 0.12024, -0.12471, 0.10213 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12024447, -0.12471058, 0.10173271, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, -0.0, -0.0, -0.21336465 ] }, { "t": 4.8, "tool": [ 0.12024, -0.12471, 0.09213 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12024449, -0.1247106, 0.09173319, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, 0.0, -0.0, -0.21336465 ] }, { "t": 4.85, "tool": [ 0.12024, -0.12471, 0.08213 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12024449, -0.12471061, 0.0817333, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, 0.0, 0.0, -0.21336465 ] }, { "t": 4.9, "tool": [ 0.12024, -0.12471, 0.07213 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12024449, -0.12471061, 0.07173333, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, 0.0, 0.0, -0.21336465 ] }, { "t": 4.95, "tool": [ 0.12024, -0.12471, 0.06213 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12024449, -0.12471061, 0.06173333, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, -0.0, 0.0, -0.21336465 ] }, { "t": 5.0, "tool": [ 0.12024, -0.12471, 0.05213 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12024449, -0.12471061, 0.05173333, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, -0.0, -0.0, -0.21336465 ] }, { "t": 5.05, "tool": [ 0.12024, -0.12471, 0.0428 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12024449, -0.12471061, 0.04254191, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, 0.0, -0.0, -0.21336465 ] }, { "t": 5.1, "tool": [ 0.12024, -0.12471, 0.03916 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12024449, -0.12471061, 0.03909138, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, 0.0, 0.0, -0.21336465 ] }, { "t": 5.15, "tool": [ 0.11985, -0.12435, 0.03827 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.11976262, -0.12427906, 0.03825926, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, -0.0, 0.0, -0.21336465 ] }, { "t": 5.2, "tool": [ 0.11606, -0.12096, 0.03807 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.11585948, -0.12078355, 0.03806157, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, 0.0, -0.0, -0.21336465 ] }, { "t": 5.25, "tool": [ 0.11063, -0.1161, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.1103959, -0.11589056, 0.03801462, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, 0.0, -0.0, -0.21336465 ] }, { "t": 5.3, "tool": [ 0.10479, -0.11087, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.10455423, -0.11065898, 0.03800347, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, 0.0, -0.0, -0.21336465 ] }, { "t": 5.35, "tool": [ 0.09886, -0.10556, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06491, -0.07516, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.09862273, -0.10534694, 0.03800082, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.06491313, -0.07515785, 0.02499818, 0.97697263, 0.0, 0.0, -0.21336465 ] }, { "t": 5.4, "tool": [ 0.09308, -0.10036, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05979, -0.07071, 0.02503 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.09284122, -0.10015044, 0.03802193, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.05954977, -0.07048236, 0.02499771, 0.97352573, -0.00023302, 0.00075076, -0.22857611 ] }, { "t": 5.45, "tool": [ 0.08709, -0.09502, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05382, -0.06558, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.08685535, -0.0948112, 0.0380105, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.05357793, -0.06538236, 0.02499915, 0.97299723, -0.0013851, 0.00061671, -0.23081182 ] }, { "t": 5.5, "tool": [ 0.08114, -0.08968, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.04782, -0.0604, 0.02503 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.08090417, -0.08946868, 0.03803265, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.0475838, -0.06018022, 0.02506122, 0.97266244, -0.0002036, 0.00012218, -0.23222342 ] }, { "t": 5.55, "tool": [ 0.07518, -0.08434, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.04176, -0.05522, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.07494403, -0.08412363, 0.03802912, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.04152271, -0.05503277, 0.02501704, 0.97239569, -0.00146413, -0.00013964, -0.23333337 ] }, { "t": 5.6, "tool": [ 0.06924, -0.07898, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.03545, -0.0506, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.06900088, -0.07876514, 0.03801482, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.03518795, -0.05040699, 0.02498768, 0.97243754, -0.00034506, -0.00036501, -0.23316299 ] }, { "t": 5.65, "tool": [ 0.06329, -0.07365, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.0294, -0.04552, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.06305439, -0.07344095, 0.03804048, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.02915828, -0.04530724, 0.0249787, 0.97188091, -0.00030519, -0.00015436, -0.23547266 ] }, { "t": 5.7, "tool": [ 0.05732, -0.06831, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.02366, -0.0403, 0.02509 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.0570817, -0.06810223, 0.03803296, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.02341691, -0.04007226, 0.02506319, 0.96950803, -0.00088552, -9.143e-05, -0.24505792 ] }, { "t": 5.75, "tool": [ 0.05136, -0.06298, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.01768, -0.03505, 0.02504 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.05112918, -0.06276783, 0.03802626, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.01744045, -0.03483591, 0.02509443, 0.96757036, -0.00123642, -0.0001928, -0.25259855 ] }, { "t": 5.8, "tool": [ 0.04541, -0.05764, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.01176, -0.02999, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.04517097, -0.05742995, 0.0380396, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.01150083, -0.02978892, 0.0250128, 0.96481392, 0.00067957, 0.00117468, -0.26293015 ] }, { "t": 5.85, "tool": [ 0.03943, -0.05231, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.00576, -0.0248, 0.02505 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.03919618, -0.05209428, 0.03800824, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.00550925, -0.0245859, 0.02504902, 0.9647227, -0.00145796, 0.00029142, -0.26326392 ] }, { "t": 5.9, "tool": [ 0.03383, -0.0473, 0.03799 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -2e-05, -0.02005, 0.02495 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.03367313, -0.04715822, 0.03799689, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.00017088, -0.01991879, 0.0249995, 0.96482261, -0.0008319, -0.00115234, -0.2628979 ] }, { "t": 5.95, "tool": [ 0.03164, -0.04533, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00216, -0.01802, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.03160178, -0.0453012, 0.03801957, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.00220525, -0.01799288, 0.02499734, 0.96473792, -0.00030513, -0.00019668, -0.26321212 ] }, { "t": 6.0, "tool": [ 0.03114, -0.04488, 0.03875 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.0027, -0.01763, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03112951, -0.04487096, 0.03889929, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.00272763, -0.01760974, 0.02500173, 0.96456744, -7.934e-05, -0.00014463, -0.26383637 ] }, { "t": 6.05, "tool": [ 0.03097, -0.04474, 0.04568 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00295, -0.01747, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0309624, -0.04473201, 0.04605128, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.0029471, -0.01747214, 0.02498375, 0.96395349, -0.00018038, 4.01e-05, -0.26607072 ] }, { "t": 6.1, "tool": [ 0.0309, -0.04469, 0.05569 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00308, -0.01742, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03090096, -0.04468612, 0.05611277, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.00310393, -0.0174027, 0.02500324, 0.96360799, -0.00051154, -9.183e-05, -0.26731886 ] }, { "t": 6.15, "tool": [ 0.03087, -0.04467, 0.06644 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03087007, -0.0446655, 0.06687734, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.00316344, -0.01736275, 0.02499611, 0.96339904, 2.302e-05, 1.555e-05, -0.26807142 ] }, { "t": 6.2, "tool": [ 0.03086, -0.04466, 0.07737 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03085654, -0.04465689, 0.0778031, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.00316388, -0.01736145, 0.02499813, 0.96339904, 5.5e-07, 3.7e-07, -0.26807142 ] }, { "t": 6.25, "tool": [ 0.03085, -0.04465, 0.08832 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03085329, -0.04465483, 0.08876355, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, 1e-08, 1e-08, -0.26807142 ] }, { "t": 6.3, "tool": [ 0.03085, -0.04465, 0.09929 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03085251, -0.04465434, 0.09973221, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, 0.0, 0.0, -0.26807142 ] }, { "t": 6.35, "tool": [ 0.03085, -0.04465, 0.11026 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03085233, -0.04465422, 0.11070283, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, 0.0, 0.0, -0.26807142 ] }, { "t": 6.4, "tool": [ 0.03085, -0.04465, 0.12124 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03085229, -0.04465419, 0.12167391, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, -0.0, -0.26807142 ] }, { "t": 6.45, "tool": [ 0.03085, -0.04465, 0.13221 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03085228, -0.04465419, 0.13264509, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, -0.0, -0.26807142 ] }, { "t": 6.5, "tool": [ 0.03085, -0.04465, 0.14318 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03085227, -0.04465418, 0.14361631, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, -0.0, -0.26807142 ] }, { "t": 6.55, "tool": [ 0.03085, -0.04465, 0.15379 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03085227, -0.04465418, 0.15411818, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, -0.0, -0.26807142 ] }, { "t": 6.6, "tool": [ 0.03085, -0.04465, 0.15849 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03085227, -0.04465418, 0.1585774, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, -0.0, -0.26807142 ] }, { "t": 6.65, "tool": [ 0.03085, -0.04465, 0.15964 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.03085227, -0.04465418, 0.159662, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, -0.0, -0.26807142 ] }, { "t": 6.7, "tool": [ 0.03085, -0.04465, 0.15991 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.03085227, -0.04465418, 0.15991973, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, -0.0, -0.26807142 ] }, { "t": 6.75, "tool": [ 0.03085, -0.04465, 0.15998 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.03085227, -0.04465418, 0.15998094, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, -0.0, -0.26807142 ] }, { "t": 6.8, "tool": [ 0.03085, -0.04465, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.03085227, -0.04465418, 0.15999547, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, -0.0, -0.26807142 ] }, { "t": 6.85, "tool": [ 0.03085, -0.04465, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03085227, -0.04465418, 0.15999893, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, -0.0, -0.26807142 ] }, { "t": 6.9, "tool": [ 0.03085, -0.04465, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03085227, -0.04465418, 0.15999974, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, -0.0, -0.26807142 ] }, { "t": 6.95, "tool": [ 0.03085, -0.04465, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03085227, -0.04465418, 0.15999994, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, -0.0, -0.26807142 ] }, { "t": 7.0, "tool": [ 0.03085, -0.04465, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03085227, -0.04465418, 0.15999999, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, -0.0, -0.26807142 ] }, { "t": 7.05, "tool": [ 0.03085, -0.04465, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03085227, -0.04465418, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, -0.0, -0.26807142 ] }, { "t": 7.1, "tool": [ 0.03107, -0.04489, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.03113054, -0.04495977, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, -0.0, -0.26807142 ] }, { "t": 7.15, "tool": [ 0.03478, -0.04897, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.03499132, -0.04919958, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, 0.0, -0.26807142 ] }, { "t": 7.2, "tool": [ 0.0406, -0.05536, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.04085281, -0.05563652, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, -0.0, -0.26807142 ] }, { "t": 7.25, "tool": [ 0.04673, -0.06209, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.04692627, -0.06230624, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, 0.0, -0.26807142 ] }, { "t": 7.3, "tool": [ 0.04948, -0.06512, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.04953373, -0.06516968, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, 0.0, 0.0, -0.26807142 ] }, { "t": 7.35, "tool": [ 0.05016, -0.06585, 0.15967 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05016814, -0.06586638, 0.1595722, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, 0.0, 0.0, -0.26807142 ] }, { "t": 7.4, "tool": [ 0.05032, -0.06603, 0.15396 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.0503189, -0.06603193, 0.15363667, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, 0.0, -0.0, -0.26807142 ] }, { "t": 7.45, "tool": [ 0.05035, -0.06607, 0.14501 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.0503547, -0.06607124, 0.14462526, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, 0.0, -0.0, -0.26807142 ] }, { "t": 7.5, "tool": [ 0.05036, -0.06608, 0.13526 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.0503632, -0.06608058, 0.13486017, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, -0.0, -0.26807142 ] }, { "t": 7.55, "tool": [ 0.05037, -0.06608, 0.12531 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05036522, -0.0660828, 0.12491596, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, -0.0, -0.26807142 ] }, { "t": 7.6, "tool": [ 0.05037, -0.06608, 0.11533 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.0503657, -0.06608333, 0.11492921, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, 0.0, -0.26807142 ] }, { "t": 7.65, "tool": [ 0.05037, -0.06608, 0.10533 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05036581, -0.06608345, 0.10493235, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, 0.0, -0.26807142 ] }, { "t": 7.7, "tool": [ 0.05037, -0.06608, 0.09533 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05036584, -0.06608348, 0.0949331, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, 0.0, -0.26807142 ] }, { "t": 7.75, "tool": [ 0.05037, -0.06608, 0.08533 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05036584, -0.06608349, 0.08493328, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, 0.0, 0.0, -0.26807142 ] }, { "t": 7.8, "tool": [ 0.05037, -0.06608, 0.07533 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05036585, -0.06608349, 0.07493332, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, 0.0, 0.0, -0.26807142 ] }, { "t": 7.85, "tool": [ 0.05037, -0.06608, 0.06533 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05036585, -0.06608349, 0.06493333, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, 0.0, -0.26807142 ] }, { "t": 7.9, "tool": [ 0.05037, -0.06608, 0.05533 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05036585, -0.06608349, 0.05493333, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, 0.0, -0.26807142 ] }, { "t": 7.95, "tool": [ 0.05037, -0.06608, 0.04537 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05036585, -0.06608349, 0.04500187, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, 0.0, 0.0, -0.26807142 ] }, { "t": 8.0, "tool": [ 0.05037, -0.06608, 0.03983 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05036585, -0.06608349, 0.03972773, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, 0.0, -0.0, -0.26807142 ] }, { "t": 8.05, "tool": [ 0.05034, -0.06606, 0.03844 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.0503253, -0.06604658, 0.0384107, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, -0.0, -0.26807142 ] }, { "t": 8.1, "tool": [ 0.04771, -0.06366, 0.0381 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.04752934, -0.06350174, 0.03809753, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, 0.0, -0.26807142 ] }, { "t": 8.15, "tool": [ 0.04261, -0.05903, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.04239224, -0.05882602, 0.03802316, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, 0.0, 0.0, -0.26807142 ] }, { "t": 8.2, "tool": [ 0.03689, -0.05382, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.03666123, -0.05360972, 0.0380055, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, 0.0, -0.0, -0.26807142 ] }, { "t": 8.25, "tool": [ 0.03102, -0.04848, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00316, -0.01736, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.03078894, -0.04826484, 0.03800131, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.00316389, -0.01736142, 0.02499818, 0.96339904, -0.0, -0.0, -0.26807142 ] }, { "t": 8.3, "tool": [ 0.02529, -0.04325, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00712, -0.01383, 0.0251 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.02505458, -0.04303425, 0.03802876, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.00739333, -0.01361926, 0.02505101, 0.96252101, 0.00126052, -0.00082298, -0.27120295 ] }, { "t": 8.35, "tool": [ 0.01937, -0.03784, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.0132, -0.00867, 0.02505 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.01913326, -0.03762502, 0.03802471, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.01343668, -0.00847434, 0.02502671, 0.96204349, -0.00067448, 0.00069403, -0.27289445 ] }, { "t": 8.4, "tool": [ 0.01346, -0.03246, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01909, -0.00335, 0.02503 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.01322121, -0.03223946, 0.03802489, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.01934058, -0.00311539, 0.0249684, 0.96085855, 0.00038187, 0.00025531, -0.27703906 ] }, { "t": 8.45, "tool": [ 0.00754, -0.02707, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.02484, 0.00203, 0.02508 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.00729998, -0.0268516, 0.0380246, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.02507946, 0.0022402, 0.02510392, 0.95920049, 0.00025211, -0.00027253, -0.28272652 ] }, { "t": 8.5, "tool": [ 0.00162, -0.02168, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.03066, 0.00748, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.00139181, -0.02147091, 0.0380434, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.03091427, 0.00771449, 0.02502877, 0.95813892, -0.0001734, -4.49e-06, -0.28630364 ] }, { "t": 8.55, "tool": [ -0.0043, -0.0163, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.03638, 0.01298, 0.02503 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.00454131, -0.01607903, 0.03802885, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.03658052, 0.01317957, 0.02504073, 0.95545691, 0.0009108, -0.00065568, -0.2951285 ] }, { "t": 8.6, "tool": [ -0.01022, -0.01091, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.04211, 0.0184, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.01045394, -0.01069491, 0.03801089, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.04232595, 0.01859399, 0.02502869, 0.95129403, -0.00019638, -0.00056457, -0.30828446 ] }, { "t": 8.65, "tool": [ -0.01613, -0.00554, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.04783, 0.02387, 0.02512 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.01636844, -0.00532182, 0.03802781, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.04807931, 0.02409496, 0.02511148, 0.94957294, 0.00031013, -0.00107809, -0.31354421 ] }, { "t": 8.7, "tool": [ -0.02205, -0.00014, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.05379, 0.02917, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.02228145, 7.53e-05, 0.03804604, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.05401574, 0.02938653, 0.02500103, 0.94783633, -0.00135375, 0.00027256, -0.31875442 ] }, { "t": 8.75, "tool": [ -0.02796, 0.00523, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.05965, 0.03458, 0.0251 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.02820167, 0.00544862, 0.0380418, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.05987948, 0.03480436, 0.02505894, 0.94724167, -0.00083382, 0.00054046, -0.32051868 ] }, { "t": 8.8, "tool": [ -0.03386, 0.01059, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06542, 0.04019, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.03407737, 0.01078857, 0.03804853, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.06564299, 0.0403966, 0.02497949, 0.94448812, -4.445e-05, -0.00116435, -0.32854352 ] }, { "t": 8.85, "tool": [ -0.03721, 0.01363, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06855, 0.04333, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.03727068, 0.01368586, 0.03802629, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.06860392, 0.04338205, 0.02500038, 0.94407996, 7.166e-05, -0.00017612, -0.32971652 ] }, { "t": 8.9, "tool": [ -0.03801, 0.01436, 0.03808 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06931, 0.04408, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.0380223, 0.0143783, 0.03811091, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.06932178, 0.04409172, 0.02497477, 0.94377312, -3.794e-05, -0.00015425, -0.33059381 ] }, { "t": 8.95, "tool": [ -0.03824, 0.01457, 0.04291 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06957, 0.04432, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03823826, 0.01457214, 0.04323813, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.06961971, 0.04434249, 0.02501687, 0.94345207, -0.00018342, -8.936e-05, -0.33150889 ] }, { "t": 9.0, "tool": [ -0.03833, 0.01465, 0.05236 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03833508, 0.01465427, 0.05277467, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.06972066, 0.04441907, 0.02499578, 0.94332909, 1.808e-05, 1.15e-05, -0.33185875 ] }, { "t": 9.05, "tool": [ -0.03837, 0.01468, 0.06298 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03836815, 0.01468184, 0.06341115, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.0697209, 0.0444201, 0.02499812, 0.94332909, 4.3e-07, 2.7e-07, -0.33185875 ] }, { "t": 9.1, "tool": [ -0.03838, 0.01469, 0.07387 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03837606, 0.01468844, 0.07430292, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, 1e-08, 1e-08, -0.33185875 ] }, { "t": 9.15, "tool": [ -0.03838, 0.01469, 0.08482 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03837794, 0.01469, 0.08525528, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, 0.0, 0.0, -0.33185875 ] }, { "t": 9.2, "tool": [ -0.03838, 0.01469, 0.09578 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03837839, 0.01469038, 0.09622202, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, 0.0, 0.0, -0.33185875 ] }, { "t": 9.25, "tool": [ -0.03838, 0.01469, 0.10675 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.0383785, 0.01469046, 0.10719218, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, -0.0, -0.0, -0.33185875 ] }, { "t": 9.3, "tool": [ -0.03838, 0.01469, 0.11772 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03837852, 0.01469048, 0.11816315, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, -0.0, -0.0, -0.33185875 ] }, { "t": 9.35, "tool": [ -0.03838, 0.01469, 0.1287 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03837853, 0.01469049, 0.12913431, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, -0.0, -0.0, -0.33185875 ] }, { "t": 9.4, "tool": [ -0.03838, 0.01469, 0.13967 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03837853, 0.01469049, 0.14010552, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, -0.0, -0.0, -0.33185875 ] }, { "t": 9.45, "tool": [ -0.03838, 0.01469, 0.15064 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03837853, 0.01469049, 0.15107223, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, -0.0, -0.0, -0.33185875 ] }, { "t": 9.5, "tool": [ -0.03838, 0.01469, 0.15762 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03837853, 0.01469049, 0.15774879, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, -0.0, -0.0, -0.33185875 ] }, { "t": 9.55, "tool": [ -0.03838, 0.01469, 0.15943 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.03837853, 0.01469049, 0.15946457, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, -0.0, -0.0, -0.33185875 ] }, { "t": 9.6, "tool": [ -0.03838, 0.01469, 0.15987 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.03837853, 0.01469049, 0.15987284, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, -0.0, -0.0, -0.33185875 ] }, { "t": 9.65, "tool": [ -0.03838, 0.01469, 0.15997 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.03837853, 0.01469049, 0.1599698, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, -0.0, -0.0, -0.33185875 ] }, { "t": 9.7, "tool": [ -0.03838, 0.01469, 0.15999 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.03837853, 0.01469049, 0.15999283, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, -0.0, -0.0, -0.33185875 ] }, { "t": 9.75, "tool": [ -0.03838, 0.01469, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03837853, 0.01469049, 0.1599983, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, -0.0, -0.0, -0.33185875 ] }, { "t": 9.8, "tool": [ -0.03838, 0.01469, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03837853, 0.01469049, 0.1599996, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, -0.0, -0.0, -0.33185875 ] }, { "t": 9.85, "tool": [ -0.03838, 0.01469, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03837853, 0.01469049, 0.1599999, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, -0.0, -0.0, -0.33185875 ] }, { "t": 9.9, "tool": [ -0.03838, 0.01469, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03837853, 0.01469049, 0.15999998, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, -0.0, -0.0, -0.33185875 ] }, { "t": 9.95, "tool": [ -0.03838, 0.01469, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03837853, 0.01469049, 0.15999999, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, -0.0, -0.0, -0.33185875 ] }, { "t": 10.0, "tool": [ -0.03838, 0.01469, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.03837576, 0.0146882, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, -0.0, -0.0, -0.33185875 ] }, { "t": 10.05, "tool": [ -0.03593, 0.01266, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.03574232, 0.01250192, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, -0.0, -0.0, -0.33185875 ] }, { "t": 10.1, "tool": [ -0.03032, 0.008, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.03006698, 0.00779028, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, -0.0, -0.0, -0.33185875 ] }, { "t": 10.15, "tool": [ -0.02385, 0.00263, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.02359266, 0.00241532, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, 0.0, 0.0, -0.33185875 ] }, { "t": 10.2, "tool": [ -0.01964, -0.00087, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.01955812, -0.00093415, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, 0.0, 0.0, -0.33185875 ] }, { "t": 10.25, "tool": [ -0.01854, -0.00178, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01852014, -0.00179587, 0.15999589, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, 0.0, 0.0, -0.33185875 ] }, { "t": 10.3, "tool": [ -0.01828, -0.002, 0.15636 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01827314, -0.00200093, 0.15608141, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, 0.0, 0.0, -0.33185875 ] }, { "t": 10.35, "tool": [ -0.01822, -0.00205, 0.14802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01821448, -0.00204962, 0.14764531, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, 0.0, -0.0, -0.33185875 ] }, { "t": 10.4, "tool": [ -0.0182, -0.00206, 0.13841 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01820055, -0.00206119, 0.13801743, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, 0.0, -0.0, -0.33185875 ] }, { "t": 10.45, "tool": [ -0.0182, -0.00206, 0.1285 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01819725, -0.00206394, 0.12810581, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, -0.0, 0.0, -0.33185875 ] }, { "t": 10.5, "tool": [ -0.0182, -0.00206, 0.11853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01819646, -0.00206459, 0.1181268, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, -0.0, 0.0, -0.33185875 ] }, { "t": 10.55, "tool": [ -0.0182, -0.00206, 0.10853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01819627, -0.00206474, 0.10813178, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, 0.0, 0.0, -0.33185875 ] }, { "t": 10.6, "tool": [ -0.0182, -0.00206, 0.09853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01819623, -0.00206478, 0.09813296, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, 0.0, -0.0, -0.33185875 ] }, { "t": 10.65, "tool": [ -0.0182, -0.00206, 0.08853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01819622, -0.00206479, 0.08813325, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, -0.0, -0.0, -0.33185875 ] }, { "t": 10.7, "tool": [ -0.0182, -0.00206, 0.07853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01819622, -0.00206479, 0.07813331, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, -0.0, 0.0, -0.33185875 ] }, { "t": 10.75, "tool": [ -0.0182, -0.00206, 0.06853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01819622, -0.00206479, 0.06813333, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, 0.0, 0.0, -0.33185875 ] }, { "t": 10.8, "tool": [ -0.0182, -0.00206, 0.05853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01819622, -0.00206479, 0.05813333, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, 0.0, 0.0, -0.33185875 ] }, { "t": 10.85, "tool": [ -0.0182, -0.00206, 0.04853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01819622, -0.00206479, 0.04813333, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, 0.0, -0.0, -0.33185875 ] }, { "t": 10.9, "tool": [ -0.0182, -0.00206, 0.04089 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01819622, -0.00206479, 0.0407309, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, 0.0, -0.0, -0.33185875 ] }, { "t": 10.95, "tool": [ -0.0182, -0.00206, 0.03869 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01819622, -0.00206479, 0.03865058, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, 0.0, -0.0, -0.33185875 ] }, { "t": 11.0, "tool": [ -0.0196, -0.0008, 0.03816 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.01973914, -0.00067278, 0.03815451, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, -0.0, -0.0, -0.33185875 ] }, { "t": 11.05, "tool": [ -0.02423, 0.00338, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.02444334, 0.00357129, 0.03803669, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, -0.0, -0.0, -0.33185875 ] }, { "t": 11.1, "tool": [ -0.02986, 0.00845, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.03008857, 0.00866434, 0.03800871, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, -0.0, 0.0, -0.33185875 ] }, { "t": 11.15, "tool": [ -0.03572, 0.01375, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06972, 0.04442, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.03595848, 0.0139601, 0.03800207, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.0697209, 0.04442012, 0.02499818, 0.94332909, -0.0, 0.0, -0.33185875 ] }, { "t": 11.2, "tool": [ -0.04148, 0.01895, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.07337, 0.04789, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.04171069, 0.01915822, 0.03802604, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.07359376, 0.04810822, 0.02506386, 0.94301786, -0.00050225, -1.076e-05, -0.33274174 ] }, { "t": 11.25, "tool": [ -0.04742, 0.02431, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.0791, 0.05349, 0.02504 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.04765281, 0.02452455, 0.03805087, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.07932723, 0.05371035, 0.02508602, 0.94264408, -0.00116437, 0.00043887, -0.33379724 ] }, { "t": 11.3, "tool": [ -0.05336, 0.02969, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08501, 0.0588, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.05359422, 0.02989671, 0.03802632, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.08527741, 0.05902503, 0.02504096, 0.94105493, -0.0006684, 4.167e-05, -0.33825311 ] }, { "t": 11.35, "tool": [ -0.0593, 0.03505, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.09099, 0.06418, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.05954005, 0.03526049, 0.03801275, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.09124139, 0.06437694, 0.02501912, 0.93833943, 0.00045568, 0.00033653, -0.34571491 ] }, { "t": 11.4, "tool": [ -0.06525, 0.04041, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.09665, 0.06978, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.06548873, 0.04062023, 0.03800113, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.09688762, 0.07001527, 0.02500001, 0.93536472, 0.00023088, 0.0002201, -0.35368452 ] }, { "t": 11.45, "tool": [ -0.0712, 0.04576, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.1024, 0.0754, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.07143849, 0.0459714, 0.03800157, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.10264307, 0.07560796, 0.0250113, 0.93553576, -0.00119993, -0.0008032, -0.35322904 ] }, { "t": 11.5, "tool": [ -0.07714, 0.05112, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.10822, 0.08088, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.07737447, 0.05133225, 0.03801151, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.10842688, 0.08108886, 0.02506353, 0.93600549, 4.739e-05, -0.0002812, -0.35198528 ] }, { "t": 11.55, "tool": [ -0.08307, 0.05647, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.11391, 0.08651, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.08330592, 0.05669008, 0.03802743, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.11415849, 0.08669162, 0.02498213, 0.93394223, 0.00107776, -4.636e-05, -0.35742238 ] }, { "t": 11.6, "tool": [ -0.089, 0.06183, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.11983, 0.09185, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.08924143, 0.06204534, 0.03802211, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.1200969, 0.09206926, 0.02503811, 0.93093114, 0.00079387, -1.03e-06, -0.3651939 ] }, { "t": 11.65, "tool": [ -0.09496, 0.06718, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.12563, 0.09741, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.09520003, 0.06739995, 0.03800717, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.12584203, 0.09761877, 0.02500829, 0.93159804, -0.00020914, -0.00013138, -0.36349007 ] }, { "t": 11.7, "tool": [ -0.10089, 0.07256, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.1316, 0.10278, 0.02504 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.10112975, 0.07277398, 0.03800777, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.1318317, 0.10297043, 0.02501758, 0.93397653, -0.00073605, -0.00074967, -0.3573328 ] }, { "t": 11.75, "tool": [ -0.1055, 0.0767, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13609, 0.10704, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.10559462, 0.07679265, 0.03800529, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.13616243, 0.10711418, 0.02498249, 0.93420448, 0.00012448, 0.00053203, -0.35673756 ] }, { "t": 11.8, "tool": [ -0.10678, 0.07786, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.1373, 0.10823, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.10680379, 0.0778789, 0.03804313, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.1373208, 0.10824742, 0.0249875, 0.93400773, -4.433e-05, 8.97e-06, -0.35725279 ] }, { "t": 11.85, "tool": [ -0.10711, 0.07815, 0.04058 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13761, 0.10856, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10711984, 0.07816206, 0.04084257, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.137613, 0.10856014, 0.02499045, 0.93398421, 6.879e-05, 3.647e-05, -0.35731428 ] }, { "t": 11.9, "tool": [ -0.10724, 0.07827, 0.04913 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13775, 0.10867, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10724002, 0.07826973, 0.04952836, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.13774673, 0.10866891, 0.02499744, 0.93383353, -7.93e-06, -4.13e-06, -0.35770791 ] }, { "t": 11.95, "tool": [ -0.10726, 0.07829, 0.05952 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10726605, 0.07829302, 0.05995277, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.13797375, 0.10884027, 0.02499116, 0.93353899, -1.725e-05, 1.429e-05, -0.35847589 ] }, { "t": 12.0, "tool": [ -0.10729, 0.07831, 0.07037 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10728763, 0.07831238, 0.07080448, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.13797471, 0.10883973, 0.02499801, 0.93353899, -4.1e-07, 3.4e-07, -0.35847589 ] }, { "t": 12.05, "tool": [ -0.10729, 0.07832, 0.08131 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.1072929, 0.07831711, 0.08174742, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.13797474, 0.10883972, 0.02499817, 0.93353899, -1e-08, 1e-08, -0.35847589 ] }, { "t": 12.1, "tool": [ -0.10729, 0.07832, 0.09227 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10729416, 0.07831823, 0.09271192, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, 0.0, -0.35847589 ] }, { "t": 12.15, "tool": [ -0.10729, 0.07832, 0.10324 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10729446, 0.0783185, 0.10368155, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, 0.0, -0.35847589 ] }, { "t": 12.2, "tool": [ -0.10729, 0.07832, 0.11421 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10729453, 0.07831856, 0.1146524, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, 0.0, -0.0, -0.35847589 ] }, { "t": 12.25, "tool": [ -0.10729, 0.07832, 0.12518 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10729454, 0.07831858, 0.12562353, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, 0.0, -0.0, -0.35847589 ] }, { "t": 12.3, "tool": [ -0.10729, 0.07832, 0.13616 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10729455, 0.07831858, 0.13659473, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, 0.0, -0.0, -0.35847589 ] }, { "t": 12.35, "tool": [ -0.10729, 0.07832, 0.14713 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10729455, 0.07831858, 0.14756595, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, 0.0, -0.0, -0.35847589 ] }, { "t": 12.4, "tool": [ -0.10729, 0.07832, 0.15624 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10729455, 0.07831858, 0.15644604, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, 0.0, -0.35847589 ] }, { "t": 12.45, "tool": [ -0.10729, 0.07832, 0.1591 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10729455, 0.07831858, 0.15915187, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, 0.0, -0.35847589 ] }, { "t": 12.5, "tool": [ -0.10729, 0.07832, 0.15979 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.10729455, 0.07831858, 0.15979856, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, 0.0, -0.35847589 ] }, { "t": 12.55, "tool": [ -0.10729, 0.07832, 0.15995 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.10729455, 0.07831858, 0.15995216, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, 0.0, -0.35847589 ] }, { "t": 12.6, "tool": [ -0.10729, 0.07832, 0.15999 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.10729455, 0.07831858, 0.15998864, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, 0.0, -0.35847589 ] }, { "t": 12.65, "tool": [ -0.10729, 0.07832, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.10729455, 0.07831858, 0.1599973, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, 0.0, -0.35847589 ] }, { "t": 12.7, "tool": [ -0.10729, 0.07832, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10729455, 0.07831858, 0.15999936, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, 0.0, -0.35847589 ] }, { "t": 12.75, "tool": [ -0.10729, 0.07832, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10729455, 0.07831858, 0.15999985, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, 0.0, -0.35847589 ] }, { "t": 12.8, "tool": [ -0.10729, 0.07832, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10729455, 0.07831858, 0.15999996, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, 0.0, -0.35847589 ] }, { "t": 12.85, "tool": [ -0.10729, 0.07832, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10729455, 0.07831858, 0.15999999, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, 0.0, -0.35847589 ] }, { "t": 12.9, "tool": [ -0.10729, 0.07832, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10729455, 0.07831858, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, 0.0, -0.35847589 ] }, { "t": 12.95, "tool": [ -0.10611, 0.07751, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.10595819, 0.07740733, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, 0.0, -0.35847589 ] }, { "t": 13.0, "tool": [ -0.10092, 0.07397, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.10067609, 0.07380548, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, 0.0, -0.35847589 ] }, { "t": 13.05, "tool": [ -0.09435, 0.06949, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.09407808, 0.06930631, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, 0.0, -0.35847589 ] }, { "t": 13.1, "tool": [ -0.08863, 0.06559, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.08850131, 0.06550353, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, 0.0, -0.35847589 ] }, { "t": 13.15, "tool": [ -0.08683, 0.06436, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.08679543, 0.06434029, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, 0.0, -0.35847589 ] }, { "t": 13.2, "tool": [ -0.0864, 0.06407, 0.1583 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08638769, 0.06406226, 0.15809399, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, 0.0, -0.35847589 ] }, { "t": 13.25, "tool": [ -0.08629, 0.064, 0.15091 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08629084, 0.06399622, 0.15056029, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, 0.0, -0.35847589 ] }, { "t": 13.3, "tool": [ -0.08627, 0.06398, 0.14154 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08626784, 0.06398053, 0.14114973, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, 0.0, -0.35847589 ] }, { "t": 13.35, "tool": [ -0.08626, 0.06398, 0.13169 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08626238, 0.06397681, 0.13128973, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, 0.0, -0.35847589 ] }, { "t": 13.4, "tool": [ -0.08626, 0.06398, 0.12172 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08626108, 0.06397593, 0.12132298, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, 0.0, -0.35847589 ] }, { "t": 13.45, "tool": [ -0.08626, 0.06398, 0.11173 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08626078, 0.06397572, 0.11133087, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, 0.0, -0.35847589 ] }, { "t": 13.5, "tool": [ -0.08626, 0.06398, 0.10173 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.0862607, 0.06397567, 0.10133275, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, 0.0, -0.35847589 ] }, { "t": 13.55, "tool": [ -0.08626, 0.06398, 0.09173 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08626069, 0.06397565, 0.09133319, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, 0.0, -0.35847589 ] }, { "t": 13.6, "tool": [ -0.08626, 0.06398, 0.08173 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08626068, 0.06397565, 0.0813333, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, -0.0, -0.35847589 ] }, { "t": 13.65, "tool": [ -0.08626, 0.06398, 0.07173 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08626068, 0.06397565, 0.07133333, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, -0.0, -0.35847589 ] }, { "t": 13.7, "tool": [ -0.08626, 0.06398, 0.06173 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08626068, 0.06397565, 0.06133333, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, -0.0, -0.35847589 ] }, { "t": 13.75, "tool": [ -0.08626, 0.06398, 0.05173 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08626068, 0.06397565, 0.05133333, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, -0.0, -0.35847589 ] }, { "t": 13.8, "tool": [ -0.08626, 0.06398, 0.04254 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08626068, 0.06397565, 0.04229516, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, -0.0, -0.35847589 ] }, { "t": 13.85, "tool": [ -0.08626, 0.06398, 0.03909 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08626068, 0.06397565, 0.03903044, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, -0.0, -0.0, -0.35847589 ] }, { "t": 13.9, "tool": [ -0.08675, 0.0644, 0.03826 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.0868419, 0.06447988, 0.03824477, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, 0.0, -0.0, -0.35847589 ] }, { "t": 13.95, "tool": [ -0.09071, 0.06783, 0.03806 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.09091196, 0.06801083, 0.03805813, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, 0.0, -0.0, -0.35847589 ] }, { "t": 14.0, "tool": [ -0.09625, 0.07264, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.09648009, 0.0728414, 0.0380138, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, 0.0, -0.0, -0.35847589 ] }, { "t": 14.05, "tool": [ -0.10217, 0.07778, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13797, 0.10884, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.1024102, 0.07798602, 0.03800328, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.13797474, 0.10883972, 0.02499818, 0.93353899, 0.0, 0.0, -0.35847589 ] }, { "t": 14.1, "tool": [ -0.10801, 0.08284, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.14051, 0.11121, 0.02503 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.10824933, 0.08305304, 0.03803503, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, -0.14072853, 0.11142484, 0.02506126, 0.93333648, 3.11e-06, 0.00022042, -0.35900273 ] }, { "t": 14.15, "tool": [ -0.11406, 0.0881, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.14627, 0.11658, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.11430797, 0.08831752, 0.03801428, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.14649169, 0.11679, 0.02497631, 0.93242335, 6.15e-06, -0.00041822, -0.36136756 ] }, { "t": 14.2, "tool": [ -0.12011, 0.09335, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15228, 0.122, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.12035269, 0.09356269, 0.03799975, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, -0.15252509, 0.12221946, 0.0249663, 0.93278043, 0.00070555, -1.717e-05, -0.36044442 ] }, { "t": 14.25, "tool": [ -0.12617, 0.09859, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15795, 0.12748, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.12640276, 0.09879911, 0.03800179, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.15819619, 0.12771611, 0.02508643, 0.93249609, 0.00030933, 0.00141137, -0.36117717 ] }, { "t": 14.3, "tool": [ -0.13221, 0.10383, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16374, 0.13316, 0.02504 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.13245243, 0.10404381, 0.03800257, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.16395397, 0.13336267, 0.02503797, 0.93256931, 0.00025442, 0.00118254, -0.36098894 ] }, { "t": 14.35, "tool": [ -0.13825, 0.10908, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16944, 0.13865, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.13849033, 0.1092844, 0.03801537, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.16966355, 0.13887622, 0.02507661, 0.93152993, 0.00030004, 0.00129851, -0.36366223 ] }, { "t": 14.4, "tool": [ -0.1443, 0.11432, 0.03799 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.17524, 0.14423, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.14454799, 0.11453637, 0.03799379, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.1754411, 0.14440534, 0.02501591, 0.93038879, 0.0010542, -0.00052929, -0.36657238 ] }, { "t": 14.45, "tool": [ -0.15034, 0.11957, 0.03799 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18107, 0.14965, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.15058633, 0.1197797, 0.03799133, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.18129752, 0.14984876, 0.02503057, 0.92977648, 0.00100382, 0.00028848, -0.3681231 ] }, { "t": 14.5, "tool": [ -0.15638, 0.1248, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18692, 0.15507, 0.02507 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.15662196, 0.12501138, 0.03800941, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.18716187, 0.15530593, 0.02503618, 0.93178376, -0.00045818, -6.146e-05, -0.36301352 ] }, { "t": 14.55, "tool": [ -0.16241, 0.13004, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.19264, 0.16068, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.16265422, 0.1302453, 0.03804119, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.1928676, 0.16090894, 0.02504988, 0.93038324, 8.121e-05, -0.00010957, -0.36658833 ] }, { "t": 14.6, "tool": [ -0.16847, 0.13528, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.19839, 0.16627, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.16871603, 0.13549436, 0.03802758, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.19856868, 0.16645655, 0.02501987, 0.92943042, -0.00111814, -6.1e-06, -0.36899573 ] }, { "t": 14.65, "tool": [ -0.17406, 0.14013, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2036, 0.17146, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.17421322, 0.14026391, 0.03799816, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.20374607, 0.17160712, 0.02499294, 0.9286585, 0.00069788, 0.00030979, -0.37093505 ] }, { "t": 14.7, "tool": [ -0.17616, 0.14197, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20557, 0.17341, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.17619831, 0.14199932, 0.03801011, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.20560411, 0.17344744, 0.02498098, 0.92813983, 7.044e-05, -1.68e-05, -0.37223172 ] }, { "t": 14.75, "tool": [ -0.17665, 0.14238, 0.03889 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20605, 0.17388, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17665377, 0.14238843, 0.03905175, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.20606542, 0.17389371, 0.02500771, 0.92797278, -8.394e-05, -4.464e-05, -0.37264798 ] }, { "t": 14.8, "tool": [ -0.17682, 0.14253, 0.04606 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20625, 0.17404, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17682054, 0.14253625, 0.0464279, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.20624628, 0.17404431, 0.02498863, 0.92788702, -1.868e-05, -3.961e-05, -0.37286146 ] }, { "t": 14.85, "tool": [ -0.17686, 0.14257, 0.05611 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17686385, 0.14257486, 0.05653579, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.20647727, 0.17422616, 0.02497995, 0.92759996, -2.369e-05, 7.023e-05, -0.37357505 ] }, { "t": 14.9, "tool": [ -0.17689, 0.1426, 0.06688 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17689406, 0.14260313, 0.06731571, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.20648094, 0.17422638, 0.02499774, 0.92759995, -5.7e-07, 1.66e-06, -0.37357507 ] }, { "t": 14.95, "tool": [ -0.1769, 0.14261, 0.0778 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17690174, 0.14261032, 0.07824186, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.20648103, 0.17422639, 0.02499817, 0.92759995, -1e-08, 4e-08, -0.37357507 ] }, { "t": 15.0, "tool": [ -0.1769, 0.14261, 0.08876 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17690356, 0.14261203, 0.08920237, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.20648103, 0.17422639, 0.02499818, 0.92759995, -0.0, 0.0, -0.37357507 ] }, { "t": 15.05, "tool": [ -0.1769, 0.14261, 0.09973 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.176904, 0.14261244, 0.10017106, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.20648103, 0.17422639, 0.02499818, 0.92759995, -0.0, 0.0, -0.37357507 ] }, { "t": 15.1, "tool": [ -0.1769, 0.14261, 0.1107 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.1769041, 0.14261254, 0.11114167, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.20648103, 0.17422639, 0.02499818, 0.92759995, -0.0, 0.0, -0.37357507 ] }, { "t": 15.15, "tool": [ -0.1769, 0.14261, 0.12167 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17690412, 0.14261256, 0.12211275, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.20648103, 0.17422639, 0.02499818, 0.92759995, 0.0, -0.0, -0.37357507 ] }, { "t": 15.2, "tool": [ -0.1769, 0.14261, 0.13265 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17690413, 0.14261256, 0.13308394, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.20648103, 0.17422639, 0.02499818, 0.92759995, 0.0, -0.0, -0.37357507 ] }, { "t": 15.25, "tool": [ -0.1769, 0.14261, 0.14362 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17690413, 0.14261257, 0.14405516, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.20648103, 0.17422639, 0.02499818, 0.92759995, 0.0, -0.0, -0.37357507 ] }, { "t": 15.3, "tool": [ -0.1769, 0.14261, 0.15412 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17690413, 0.14261257, 0.15443261, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.20648103, 0.17422639, 0.02499818, 0.92759995, 0.0, -0.0, -0.37357507 ] }, { "t": 15.35, "tool": [ -0.1769, 0.14261, 0.15858 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17690413, 0.14261257, 0.15865681, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.20648103, 0.17422639, 0.02499818, 0.92759995, 0.0, -0.0, -0.37357507 ] }, { "t": 15.4, "tool": [ -0.1769, 0.14261, 0.15966 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17690413, 0.14261257, 0.15968089, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.20648103, 0.17422639, 0.02499818, 0.92759995, -0.0, 0.0, -0.37357507 ] }, { "t": 15.45, "tool": [ -0.1769, 0.14261, 0.15992 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17690413, 0.14261257, 0.15992422, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.20648103, 0.17422639, 0.02499818, 0.92759995, -0.0, 0.0, -0.37357507 ] }, { "t": 15.5, "tool": [ -0.1769, 0.14261, 0.15998 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17690413, 0.14261257, 0.159982, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.20648103, 0.17422639, 0.02499818, 0.92759995, -0.0, 0.0, -0.37357507 ] }, { "t": 15.55, "tool": [ -0.1769, 0.14261, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17690413, 0.14261257, 0.15999573, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.20648103, 0.17422639, 0.02499818, 0.92759995, -0.0, 0.0, -0.37357507 ] }, { "t": 15.6, "tool": [ -0.1769, 0.14261, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17690413, 0.14261257, 0.15999899, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.20648103, 0.17422639, 0.02499818, 0.92759995, -0.0, 0.0, -0.37357507 ] }, { "t": 15.65, "tool": [ -0.1769, 0.14261, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17690413, 0.14261257, 0.15999976, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.20648103, 0.17422639, 0.02499818, 0.92759995, -0.0, 0.0, -0.37357507 ] }, { "t": 15.7, "tool": [ -0.1769, 0.14261, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17690413, 0.14261257, 0.15999994, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.20648103, 0.17422639, 0.02499818, 0.92759995, -0.0, 0.0, -0.37357507 ] }, { "t": 15.75, "tool": [ -0.1769, 0.14261, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17690413, 0.14261257, 0.15999999, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.20648103, 0.17422639, 0.02499818, 0.92759995, -0.0, 0.0, -0.37357507 ] }, { "t": 15.8, "tool": [ -0.1769, 0.14261, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17690413, 0.14261257, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.20648103, 0.17422639, 0.02499818, 0.92759995, -0.0, 0.0, -0.37357507 ] }, { "t": 15.85, "tool": [ -0.1769, 0.14261, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17690413, 0.14261257, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.20648103, 0.17422639, 0.02499818, 0.92759995, -0.0, 0.0, -0.37357507 ] }, { "t": 15.9, "tool": [ -0.1769, 0.14261, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17690413, 0.14261257, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.20648103, 0.17422639, 0.02499818, 0.92759995, -0.0, 0.0, -0.37357507 ] }, { "t": 15.95, "tool": [ -0.1769, 0.14261, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17690413, 0.14261257, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.20648103, 0.17422639, 0.02499818, 0.92759995, -0.0, 0.0, -0.37357507 ] }, { "t": 16.0, "tool": [ -0.1769, 0.14261, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17690413, 0.14261257, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.20648103, 0.17422639, 0.02499818, 0.92759995, -0.0, 0.0, -0.37357507 ] }, { "t": 16.05, "tool": [ -0.1769, 0.14261, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17690413, 0.14261257, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.20648103, 0.17422639, 0.02499818, 0.92759995, -0.0, 0.0, -0.37357507 ] }, { "t": 16.1, "tool": [ -0.1769, 0.14261, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17690413, 0.14261257, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.20648103, 0.17422639, 0.02499818, 0.92759995, 0.0, -0.0, -0.37357507 ] }, { "t": 16.15, "tool": [ -0.1769, 0.14261, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17690413, 0.14261257, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.20648103, 0.17422639, 0.02499818, 0.92759995, -0.0, 0.0, -0.37357507 ] }, { "t": 16.2, "tool": [ -0.1769, 0.14261, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17690413, 0.14261257, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.20648103, 0.17422639, 0.02499818, 0.92759995, 0.0, -0.0, -0.37357507 ] }, { "t": 16.23, "tool": [ -0.1769, 0.14261, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20648, 0.17423, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17690413, 0.14261257, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.20648103, 0.17422639, 0.02499818, 0.92759995, 0.0, -0.0, -0.37357507 ] } ], "events": [ { "t": 0.3, "type": "start", "message": "closed_loop: 파란 블록을 왼쪽 목표로 밀어줘" }, { "t": 3.916, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.382 m" }, { "t": 6.832, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.293 m" }, { "t": 9.748, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.202 m" }, { "t": 12.664, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.109 m" }, { "t": 16.23, "type": "success", "message": "최종 거리 0.0147 m · 정지 상태 True" } ] }, { "id": "nominal-2-open_loop", "policy": "open_loop", "scenario": "nominal", "seed": 2, "task": { "object_name": "red_block", "goal": "right", "instruction": "빨간 블록을 오른쪽 목표로 밀어줘" }, "parameters": { "friction": 0.5, "mass": 0.08, "disturbance": false }, "success": true, "final_distance_m": 0.029268977928263547, "settled": true, "sim_time_s": 7.197999999999429, "wall_time_s": 0.14564429997699335, "timed_out": false, "termination_reason": "success", "contact_steps": 996, "peak_contact_point_force_n": 3.074771261944272, "unintended_contact_steps": 0, "distractor_displacement_m": 3.2145598109873646e-08, "workspace_violation": false, "replans": 0, "disturbance_applied": false, "trajectory": [ { "t": 0.05, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.02496 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007546, 0.0249616, 1.0, -2.3e-07, 0.0, -0.0, 0.16571129, -0.17040422, 0.0249616, 1.0, -2.3e-07, 0.0, -0.0 ] }, { "t": 0.1, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007547, 0.0249973, 1.0, -1e-08, 0.0, -0.0, 0.16571129, -0.17040423, 0.0249973, 1.0, -1e-08, 0.0, -0.0 ] }, { "t": 0.15, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499816, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499816, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.2, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.25, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.3, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.35, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.4, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.45, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.5, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.55, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.6, "tool": [ -0.00423, -0.31793, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.00456791, -0.31776454, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.65, "tool": [ -0.01458, -0.31287, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.01504046, -0.31263946, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.7, "tool": [ -0.0266, -0.30698, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.02709665, -0.30673937, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.75, "tool": [ -0.03903, -0.3009, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.03953006, -0.30065467, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.8, "tool": [ -0.05155, -0.29477, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05205305, -0.29452614, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.85, "tool": [ -0.0641, -0.28863, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.06459731, -0.28838719, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.9, "tool": [ -0.07664, -0.28249, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.07714663, -0.28224577, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.95, "tool": [ -0.0892, -0.27635, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.08969715, -0.27610376, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.0, "tool": [ -0.10175, -0.27021, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.10224795, -0.26996162, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.05, "tool": [ -0.1143, -0.26407, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.11479882, -0.26381944, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.1, "tool": [ -0.12685, -0.25792, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.12734971, -0.25767725, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.15, "tool": [ -0.1394, -0.25178, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.13990059, -0.25153506, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.2, "tool": [ -0.15195, -0.24564, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.15245149, -0.24539287, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.25, "tool": [ -0.1645, -0.2395, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.16500238, -0.23925069, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.3, "tool": [ -0.17705, -0.23335, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.17755327, -0.2331085, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.35, "tool": [ -0.1896, -0.22721, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.19010416, -0.22696631, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.4, "tool": [ -0.20215, -0.22107, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.20265505, -0.22082412, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.45, "tool": [ -0.21402, -0.21526, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.21436724, -0.21509237, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.5, "tool": [ -0.21886, -0.2129, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.21894285, -0.21285315, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.55, "tool": [ -0.22003, -0.21232, 0.15946 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22004899, -0.21231182, 0.15933176, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.6, "tool": [ -0.22031, -0.21219, 0.15331 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22031179, -0.21218321, 0.1529774, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.65, "tool": [ -0.22037, -0.21215, 0.14424 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.2203742, -0.21215267, 0.14385873, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.7, "tool": [ -0.22039, -0.21215, 0.13446 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22038902, -0.21214542, 0.13406812, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040423, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.75, "tool": [ -0.22039, -0.21214, 0.12452 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039254, -0.21214369, 0.12411785, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.8, "tool": [ -0.22039, -0.21214, 0.11453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039338, -0.21214328, 0.11412966, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.85, "tool": [ -0.22039, -0.21214, 0.10453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039358, -0.21214319, 0.10413246, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.9, "tool": [ -0.22039, -0.21214, 0.09453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039363, -0.21214316, 0.09413313, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.95, "tool": [ -0.22039, -0.21214, 0.08453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214316, 0.08413328, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.0, "tool": [ -0.22039, -0.21214, 0.07453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214316, 0.07413332, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.05, "tool": [ -0.22039, -0.21214, 0.06453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214316, 0.06413333, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.1, "tool": [ -0.22039, -0.21214, 0.05453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214316, 0.05413333, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.15, "tool": [ -0.22039, -0.21214, 0.04465 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214316, 0.0443044, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.2, "tool": [ -0.22039, -0.21214, 0.03963 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214316, 0.03954041, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040423, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.25, "tool": [ -0.22033, -0.21208, 0.03839 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.22029148, -0.21205219, 0.03836608, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040423, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.3, "tool": [ -0.21735, -0.20943, 0.03809 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.21716462, -0.20926792, 0.03808694, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.35, "tool": [ -0.21212, -0.20478, 0.03802 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.21189409, -0.20457483, 0.03802065, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.4, "tool": [ -0.20632, -0.19962, 0.03801 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.20608896, -0.19940573, 0.0380049, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.45, "tool": [ -0.20048, -0.19438, 0.038 ], "objects": { "red_block": [ -0.16118, -0.1597, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.20026714, -0.19417735, 0.03800281, -0.16090036, -0.15959595, 0.02500996, 0.99994313, 0.00039872, 1.95e-05, 0.01065682, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.5, "tool": [ -0.19461, -0.18915, 0.03802 ], "objects": { "red_block": [ -0.1544, -0.15617, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.19437404, -0.188941, 0.03801783, -0.15412775, -0.15596414, 0.02505021, 0.99958493, -0.00095104, -0.0008203, 0.02878164, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.55, "tool": [ -0.18862, -0.18381, 0.03802 ], "objects": { "red_block": [ -0.14831, -0.15155, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1883816, -0.18359765, 0.03801906, -0.14807959, -0.15137812, 0.02494711, 0.99946418, -0.00024636, 0.00106962, 0.03271302, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.6, "tool": [ -0.18266, -0.1785, 0.03803 ], "objects": { "red_block": [ -0.14251, -0.14705, 0.02505 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.18242269, -0.17828633, 0.03803379, -0.14226149, -0.14687043, 0.02501172, 0.99900497, 0.00036906, 0.00097264, 0.04458683, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.65, "tool": [ -0.17668, -0.17318, 0.03802 ], "objects": { "red_block": [ -0.13705, -0.14264, 0.02492 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17644341, -0.17296406, 0.03802632, -0.1368463, -0.14249193, 0.02498567, 0.99823263, -0.00090205, 0.00020938, 0.05942011, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.7, "tool": [ -0.17072, -0.16786, 0.03802 ], "objects": { "red_block": [ -0.13202, -0.13886, 0.02505 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17048038, -0.1676449, 0.0380205, -0.13178712, -0.13870574, 0.02502544, 0.99639461, 9.972e-05, -0.00021399, 0.08483938, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.75, "tool": [ -0.16479, -0.16254, 0.03804 ], "objects": { "red_block": [ -0.12687, -0.13503, 0.0251 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.16454866, -0.16233221, 0.0380444, -0.12660692, -0.13484826, 0.02508507, 0.99381315, -0.00101983, -0.00054656, 0.11105891, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.8, "tool": [ -0.1588, -0.15721, 0.03805 ], "objects": { "red_block": [ -0.12112, -0.13062, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.15855788, -0.15699977, 0.03804903, -0.12093618, -0.13044214, 0.02501644, 0.99244254, 0.00010202, 9.921e-05, 0.1227102, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.85, "tool": [ -0.15282, -0.1519, 0.03805 ], "objects": { "red_block": [ -0.11546, -0.12602, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.15258502, -0.1516865, 0.03805461, -0.1152519, -0.12584036, 0.02504327, 0.99060647, -0.00071694, -9.923e-05, 0.13674174, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.9, "tool": [ -0.14686, -0.14659, 0.03805 ], "objects": { "red_block": [ -0.1096, -0.12135, 0.02507 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14661976, -0.14637231, 0.03805279, -0.10935428, -0.12116421, 0.02503541, 0.98896183, 0.00040401, -0.00021691, 0.14816982, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.95, "tool": [ -0.1409, -0.14126, 0.03806 ], "objects": { "red_block": [ -0.10386, -0.11653, 0.02511 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14066512, -0.14104907, 0.03806473, -0.10362541, -0.11631885, 0.0251195, 0.98696754, -0.00099257, -0.00064296, 0.16091511, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.0, "tool": [ -0.13494, -0.13594, 0.03808 ], "objects": { "red_block": [ -0.09813, -0.11159, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1346958, -0.13573068, 0.03808073, -0.09788706, -0.11140565, 0.02494754, 0.98375127, 0.00026456, -0.0001987, 0.17953641, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.05, "tool": [ -0.12895, -0.13063, 0.03806 ], "objects": { "red_block": [ -0.09235, -0.10647, 0.02507 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12870549, -0.13041503, 0.03805859, -0.09211541, -0.10625584, 0.02505496, 0.98220882, 0.00027759, 6.039e-05, 0.18779178, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.1, "tool": [ -0.12297, -0.12531, 0.03805 ], "objects": { "red_block": [ -0.0864, -0.10119, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1227282, -0.125093, 0.03804603, -0.08615887, -0.10098221, 0.02493194, 0.98055449, -0.00040639, 0.00099005, 0.19624411, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.15, "tool": [ -0.11698, -0.12, 0.03802 ], "objects": { "red_block": [ -0.08058, -0.09599, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11674143, -0.11978677, 0.03801902, -0.08035028, -0.09577317, 0.02507486, 0.97854249, -0.00043988, 0.00031088, 0.20604442, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.2, "tool": [ -0.11101, -0.11468, 0.03804 ], "objects": { "red_block": [ -0.07465, -0.09079, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11077767, -0.11446785, 0.03803625, -0.0743888, -0.0905902, 0.02505716, 0.97767657, -0.00164237, 0.00049774, 0.21010851, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.25, "tool": [ -0.10505, -0.10936, 0.03803 ], "objects": { "red_block": [ -0.06874, -0.0855, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.10481181, -0.1091422, 0.03803218, -0.0684917, -0.0853083, 0.02505467, 0.97599202, -6.77e-05, 0.00025876, 0.21780612, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.3, "tool": [ -0.09907, -0.10404, 0.03803 ], "objects": { "red_block": [ -0.06278, -0.0803, 0.0251 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.09883677, -0.1038286, 0.03803199, -0.06254484, -0.08008225, 0.0251023, 0.97507672, -0.00034692, -0.00037412, 0.22186738, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.35, "tool": [ -0.0931, -0.09873, 0.03804 ], "objects": { "red_block": [ -0.05697, -0.07489, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.09285786, -0.09851638, 0.0380399, -0.05677014, -0.07467457, 0.02500462, 0.97218756, -0.00046245, -0.00016574, 0.23420312, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.4, "tool": [ -0.08713, -0.09342, 0.03806 ], "objects": { "red_block": [ -0.05116, -0.0694, 0.02503 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.08689745, -0.09320595, 0.03806377, -0.0509312, -0.06917836, 0.02506047, 0.9713716, -0.00028239, 4.344e-05, 0.237565, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.45, "tool": [ -0.08114, -0.08809, 0.03803 ], "objects": { "red_block": [ -0.04542, -0.06383, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.08090418, -0.08788291, 0.03802905, -0.04517218, -0.06360685, 0.02502059, 0.96934042, 0.00064617, 0.00029471, 0.24572067, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.5, "tool": [ -0.07517, -0.08277, 0.03802 ], "objects": { "red_block": [ -0.03932, -0.05875, 0.02503 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07493448, -0.08256359, 0.03801927, -0.03905598, -0.05853216, 0.02504942, 0.97007152, -0.00023217, 0.00018703, 0.24281919, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.55, "tool": [ -0.06918, -0.07746, 0.038 ], "objects": { "red_block": [ -0.03324, -0.05347, 0.02505 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06894643, -0.07725261, 0.03800135, -0.03299087, -0.05326168, 0.02510094, 0.97146222, 0.0006101, 0.00102473, 0.23719132, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.6, "tool": [ -0.06322, -0.07215, 0.03801 ], "objects": { "red_block": [ -0.02715, -0.04825, 0.02512 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06298299, -0.07193747, 0.03801245, -0.02688163, -0.0480267, 0.02506712, 0.97226914, -0.00140492, -0.0002516, 0.23386039, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.65, "tool": [ -0.05726, -0.06682, 0.03803 ], "objects": { "red_block": [ -0.02106, -0.04321, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05702314, -0.06660499, 0.03802631, -0.02080744, -0.0430194, 0.02503829, 0.97173733, -0.00153237, -0.00050019, 0.23605922, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.7, "tool": [ -0.0513, -0.06151, 0.03805 ], "objects": { "red_block": [ -0.01494, -0.03809, 0.02506 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05105892, -0.06129722, 0.03804961, -0.01470008, -0.03789333, 0.02502345, 0.97225393, -0.00012321, 0.00030164, 0.23392775, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.75, "tool": [ -0.04532, -0.05619, 0.03804 ], "objects": { "red_block": [ -0.00911, -0.03275, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.04508737, -0.05597653, 0.03803744, -0.00886744, -0.03251827, 0.02506573, 0.9706135, -0.00038526, -0.00066067, 0.24064257, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.8, "tool": [ -0.03933, -0.05087, 0.03801 ], "objects": { "red_block": [ -0.00332, -0.02717, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.03910044, -0.05066258, 0.03800612, -0.00304879, -0.02694571, 0.02502663, 0.96832618, -3.364e-05, 7.013e-05, 0.24968861, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.85, "tool": [ -0.03336, -0.04556, 0.03801 ], "objects": { "red_block": [ 0.00262, -0.02177, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.03311376, -0.04534005, 0.03800711, 0.00280413, -0.02158166, 0.02500198, 0.96783423, 0.00026132, -0.00022903, 0.25158851, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.9, "tool": [ -0.02738, -0.04024, 0.03801 ], "objects": { "red_block": [ 0.00863, -0.01653, 0.02508 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.02714649, -0.04003122, 0.03801373, 0.0088883, -0.01632875, 0.02505847, 0.96892179, -0.00141726, -0.00022796, 0.24736311, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.95, "tool": [ -0.02144, -0.03493, 0.03807 ], "objects": { "red_block": [ 0.01456, -0.01113, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.02120336, -0.03471973, 0.03807694, 0.01478328, -0.01089383, 0.02504511, 0.96881391, -0.00057162, -1.864e-05, 0.24778878, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.0, "tool": [ -0.01547, -0.0296, 0.03805 ], "objects": { "red_block": [ 0.02074, -0.00613, 0.0251 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.0152333, -0.02938613, 0.03804292, 0.02101016, -0.0059337, 0.02509447, 0.96979902, -0.00059013, -0.00051426, 0.24390419, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.05, "tool": [ -0.00948, -0.02428, 0.03802 ], "objects": { "red_block": [ 0.02736, -0.00188, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.00924476, -0.02406354, 0.03801787, 0.0276151, -0.00169799, 0.02499597, 0.97254642, -0.00073065, 2.253e-05, 0.2327078, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.1, "tool": [ -0.00352, -0.01897, 0.03802 ], "objects": { "red_block": [ 0.03378, 0.00289, 0.02507 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.0032745, -0.01876106, 0.03801949, 0.03405399, 0.00309323, 0.02499488, 0.97534996, 0.00218752, 0.00063277, 0.22065194, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.15, "tool": [ 0.00245, -0.01365, 0.03804 ], "objects": { "red_block": [ 0.0398, 0.00803, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00268326, -0.0134374, 0.038042, 0.04005479, 0.00823913, 0.02500169, 0.97611821, 0.00028219, -0.00062481, 0.21723898, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.2, "tool": [ 0.00843, -0.00832, 0.03802 ], "objects": { "red_block": [ 0.04581, 0.01328, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00867132, -0.00810754, 0.03802273, 0.04598772, 0.01346556, 0.02500555, 0.97573544, 8.734e-05, 0.00025546, 0.2189527, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.25, "tool": [ 0.0144, -0.00301, 0.03801 ], "objects": { "red_block": [ 0.0519, 0.01834, 0.02503 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01464225, -0.00279903, 0.03801269, 0.05215662, 0.01855515, 0.02497159, 0.97632341, -0.00062433, 1.014e-05, 0.21631507, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.3, "tool": [ 0.02039, 0.0023, 0.03802 ], "objects": { "red_block": [ 0.05811, 0.02338, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02062573, 0.00251056, 0.03801754, 0.05837498, 0.02357035, 0.0250232, 0.97972103, -0.00164831, -0.00038591, 0.20035927, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.35, "tool": [ 0.02634, 0.00763, 0.03805 ], "objects": { "red_block": [ 0.06432, 0.02829, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02657926, 0.00784032, 0.03804585, 0.06454344, 0.02847552, 0.02499612, 0.98099487, -0.00129725, -0.00047153, 0.19402879, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.4, "tool": [ 0.03233, 0.01294, 0.03801 ], "objects": { "red_block": [ 0.07064, 0.03308, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03257162, 0.01315631, 0.03801024, 0.07084687, 0.03327139, 0.02500301, 0.98270171, -0.00048811, -0.00069919, 0.18519347, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.45, "tool": [ 0.03827, 0.01826, 0.03806 ], "objects": { "red_block": [ 0.07655, 0.03836, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.0385076, 0.01847368, 0.03805911, 0.07676235, 0.03854944, 0.02498433, 0.98129831, -0.00061415, 0.00078962, 0.1924906, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.5, "tool": [ 0.04427, 0.02356, 0.03802 ], "objects": { "red_block": [ 0.08261, 0.04364, 0.02505 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.04451288, 0.02377276, 0.03802307, 0.08284994, 0.04383817, 0.02505333, 0.98281487, 0.00114681, 0.00018079, 0.18459033, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.55, "tool": [ 0.05023, 0.0289, 0.03805 ], "objects": { "red_block": [ 0.08884, 0.04836, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.05046744, 0.02911742, 0.03805206, 0.08908535, 0.04851337, 0.02504661, 0.98432058, 0.00053125, 1.959e-05, 0.17638798, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.6, "tool": [ 0.0562, 0.03422, 0.03801 ], "objects": { "red_block": [ 0.09523, 0.05296, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.05644242, 0.03443517, 0.03801154, 0.0954636, 0.05313597, 0.02498282, 0.98595872, 0.00042828, -0.00029822, 0.16698839, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.65, "tool": [ 0.06217, 0.03954, 0.03803 ], "objects": { "red_block": [ 0.10141, 0.05792, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.06240836, 0.03975622, 0.03802877, 0.10163992, 0.05809194, 0.02505808, 0.98794967, 0.00032007, -0.00036697, 0.15477474, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.7, "tool": [ 0.06814, 0.04485, 0.03802 ], "objects": { "red_block": [ 0.1077, 0.0626, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.06837887, 0.04506931, 0.03801982, 0.10796079, 0.06277265, 0.02500342, 0.98908091, -0.00026862, 0.00044029, 0.14737262, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.75, "tool": [ 0.0741, 0.05019, 0.03801 ], "objects": { "red_block": [ 0.11394, 0.06699, 0.02505 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.074338, 0.05039582, 0.03800719, 0.11421208, 0.06720143, 0.02501264, 0.9894096, 0.00025169, 0.00042115, 0.14514959, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.8, "tool": [ 0.08009, 0.05549, 0.03799 ], "objects": { "red_block": [ 0.12018, 0.0718, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08033198, 0.05570497, 0.03798713, 0.12042253, 0.07199428, 0.0249868, 0.99014268, -0.00057815, 7.726e-05, 0.14006115, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.85, "tool": [ 0.08605, 0.06081, 0.038 ], "objects": { "red_block": [ 0.1263, 0.07653, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08628995, 0.06102705, 0.03800204, 0.12656611, 0.07671726, 0.02503776, 0.99056517, -0.00067149, 3.01e-05, 0.13704083, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.9, "tool": [ 0.09199, 0.06614, 0.03805 ], "objects": { "red_block": [ 0.13233, 0.08149, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09222408, 0.06635217, 0.03805675, 0.13257705, 0.08167696, 0.02506621, 0.99028008, 0.00030755, 0.00025777, 0.139087, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.95, "tool": [ 0.09796, 0.07146, 0.03804 ], "objects": { "red_block": [ 0.13838, 0.08647, 0.02506 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09820056, 0.07167411, 0.0380435, 0.13863543, 0.08669157, 0.02502268, 0.99050431, -0.00023856, 0.00013201, 0.13748141, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.0, "tool": [ 0.10396, 0.07677, 0.03802 ], "objects": { "red_block": [ 0.14463, 0.09144, 0.02507 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10419816, 0.07698815, 0.0380183, 0.14485798, 0.09163208, 0.02505564, 0.99198343, 0.00048565, -0.00045466, 0.12636626, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.05, "tool": [ 0.1099, 0.0821, 0.03807 ], "objects": { "red_block": [ 0.15071, 0.09648, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11014177, 0.08231132, 0.0380624, 0.15094663, 0.09667151, 0.02497813, 0.99266281, -0.00063285, -0.00042637, 0.12091304, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.1, "tool": [ 0.11588, 0.08742, 0.03804 ], "objects": { "red_block": [ 0.15673, 0.10126, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11611959, 0.08763203, 0.03804037, 0.15695772, 0.10147275, 0.0250038, 0.99248652, -7.63e-06, -0.00037378, 0.12235347, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.15, "tool": [ 0.12185, 0.09274, 0.03805 ], "objects": { "red_block": [ 0.16278, 0.10635, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.12208951, 0.09294978, 0.03805314, 0.16301847, 0.10655146, 0.02499088, 0.99307153, -0.00104037, -0.00052424, 0.11750565, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.2, "tool": [ 0.12783, 0.09805, 0.03804 ], "objects": { "red_block": [ 0.1689, 0.11133, 0.02506 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.12806499, 0.09826239, 0.03804479, 0.16914202, 0.11153205, 0.02508906, 0.99376877, 0.00013447, 3.034e-05, 0.11146123, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.25, "tool": [ 0.1338, 0.10338, 0.03803 ], "objects": { "red_block": [ 0.1749, 0.11623, 0.02507 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13403713, 0.10358788, 0.03803029, 0.17517728, 0.11643092, 0.02508751, 0.99375899, -0.00112068, 0.00011081, 0.1115428, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.3, "tool": [ 0.13978, 0.10868, 0.03801 ], "objects": { "red_block": [ 0.18112, 0.12099, 0.02511 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14002368, 0.10889717, 0.03801336, 0.18137588, 0.12117414, 0.02511694, 0.99486488, 0.00180779, 0.0001242, 0.10119577, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.35, "tool": [ 0.14577, 0.11402, 0.03798 ], "objects": { "red_block": [ 0.18738, 0.12527, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14600288, 0.11423801, 0.03797956, 0.18763497, 0.12541403, 0.02502168, 0.99561811, -0.0001762, -6.053e-05, 0.09351222, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.4, "tool": [ 0.1517, 0.11934, 0.03802 ], "objects": { "red_block": [ 0.19367, 0.12922, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15193741, 0.11955629, 0.03802607, 0.19391597, 0.12940538, 0.02505631, 0.9969643, -0.00016472, -0.00031717, 0.07785925, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.45, "tool": [ 0.15763, 0.12466, 0.03811 ], "objects": { "red_block": [ 0.19968, 0.13405, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15786266, 0.12487301, 0.0381138, 0.19991814, 0.13423892, 0.0250355, 0.99681193, 0.00049052, 0.00036132, 0.07978477, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.5, "tool": [ 0.16363, 0.12998, 0.03809 ], "objects": { "red_block": [ 0.20563, 0.13902, 0.02506 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.16387003, 0.13018585, 0.03809146, 0.20586796, 0.13920665, 0.02508498, 0.99664684, 0.00081343, 0.00015311, 0.08181928, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.55, "tool": [ 0.16961, 0.1353, 0.03803 ], "objects": { "red_block": [ 0.21193, 0.14321, 0.02506 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.16984522, 0.13551379, 0.03802682, 0.21219052, 0.14337856, 0.02506781, 0.99724013, -0.00020509, 0.00065341, 0.07424045, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.6, "tool": [ 0.17556, 0.14059, 0.03804 ], "objects": { "red_block": [ 0.21805, 0.14761, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17578927, 0.14078709, 0.03803786, 0.21828216, 0.14775456, 0.02498097, 0.99772524, -9.9e-05, 0.00038927, 0.0674105, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.65, "tool": [ 0.17897, 0.14357, 0.038 ], "objects": { "red_block": [ 0.22146, 0.15013, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17902672, 0.14362163, 0.03800563, 0.22153612, 0.15017636, 0.02499156, 0.99789985, 0.00019288, -0.0001186, 0.0647753, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.7, "tool": [ 0.17976, 0.1443, 0.03808 ], "objects": { "red_block": [ 0.2223, 0.15071, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17977612, 0.14431057, 0.03810933, 0.22230528, 0.15072729, 0.02499215, 0.99795731, -8.95e-05, -0.00025185, 0.06388382, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.75, "tool": [ 0.18002, 0.14449, 0.04291 ], "objects": { "red_block": [ 0.2226, 0.15079, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18002355, 0.14448901, 0.04323795, 0.22260008, 0.15079389, 0.02495131, 0.99793689, 3.45e-05, -0.00054475, 0.06420025, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.8, "tool": [ 0.1801, 0.14453, 0.05234 ], "objects": { "red_block": [ 0.22285, 0.15085, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18010707, 0.14453502, 0.05275666, 0.22285716, 0.15085301, 0.02495858, 0.99788315, 0.00029864, -0.00085701, 0.06502616, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.85, "tool": [ 0.18017, 0.14455, 0.06297 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18017085, 0.14455163, 0.06340465, 0.22290983, 0.15087606, 0.02499666, 0.99788084, -4e-08, -2.021e-05, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.9, "tool": [ 0.18019, 0.14456, 0.07386 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019047, 0.14455615, 0.07430136, 0.22291083, 0.15087612, 0.02499814, 0.99788084, -0.0, -4.8e-07, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.95, "tool": [ 0.1802, 0.14456, 0.08482 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019516, 0.14455723, 0.08525491, 0.22291085, 0.15087613, 0.02499818, 0.99788084, -0.0, -1e-08, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.0, "tool": [ 0.1802, 0.14456, 0.09578 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019627, 0.14455748, 0.09622193, 0.22291085, 0.15087613, 0.02499818, 0.99788084, -0.0, -0.0, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.05, "tool": [ 0.1802, 0.14456, 0.10675 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019654, 0.14455754, 0.10719216, 0.22291085, 0.15087613, 0.02499818, 0.99788084, -0.0, -0.0, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.1, "tool": [ 0.1802, 0.14456, 0.11772 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1801966, 0.14455756, 0.11816314, 0.22291085, 0.15087613, 0.02499818, 0.99788084, 0.0, 0.0, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.15, "tool": [ 0.1802, 0.14456, 0.1287 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019661, 0.14455756, 0.12913431, 0.22291085, 0.15087613, 0.02499818, 0.99788084, 0.0, 0.0, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.2, "tool": [ 0.1802, 0.14456, 0.13967 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019662, 0.14455756, 0.14010552, 0.22291085, 0.15087613, 0.02499818, 0.99788084, 0.0, 0.0, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.25, "tool": [ 0.1802, 0.14456, 0.15064 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019662, 0.14455756, 0.15107223, 0.22291085, 0.15087613, 0.02499818, 0.99788084, 0.0, 0.0, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.3, "tool": [ 0.1802, 0.14456, 0.15762 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019662, 0.14455756, 0.15774879, 0.22291085, 0.15087613, 0.02499818, 0.99788084, 0.0, 0.0, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.35, "tool": [ 0.1802, 0.14456, 0.15943 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18019662, 0.14455756, 0.15946457, 0.22291085, 0.15087613, 0.02499818, 0.99788084, 0.0, 0.0, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.4, "tool": [ 0.1802, 0.14456, 0.15987 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18019662, 0.14455756, 0.15987284, 0.22291085, 0.15087613, 0.02499818, 0.99788084, 0.0, 0.0, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.45, "tool": [ 0.1802, 0.14456, 0.15997 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18019662, 0.14455756, 0.1599698, 0.22291085, 0.15087613, 0.02499818, 0.99788084, 0.0, 0.0, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.5, "tool": [ 0.1802, 0.14456, 0.15999 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18019662, 0.14455756, 0.15999283, 0.22291085, 0.15087613, 0.02499818, 0.99788084, 0.0, 0.0, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.55, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.1599983, 0.22291085, 0.15087613, 0.02499818, 0.99788084, 0.0, 0.0, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.6, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.1599996, 0.22291085, 0.15087613, 0.02499818, 0.99788084, 0.0, 0.0, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.65, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.1599999, 0.22291085, 0.15087613, 0.02499818, 0.99788084, 0.0, 0.0, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.7, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.15999998, 0.22291085, 0.15087613, 0.02499818, 0.99788084, 0.0, 0.0, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.75, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.15999999, 0.22291085, 0.15087613, 0.02499818, 0.99788084, 0.0, 0.0, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.8, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.16, 0.22291085, 0.15087613, 0.02499818, 0.99788084, 0.0, 0.0, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.85, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.16, 0.22291085, 0.15087613, 0.02499818, 0.99788084, 0.0, 0.0, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.9, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.16, 0.22291085, 0.15087613, 0.02499818, 0.99788084, 0.0, 0.0, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.95, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.16, 0.22291085, 0.15087613, 0.02499818, 0.99788084, 0.0, 0.0, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.0, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.16, 0.22291085, 0.15087613, 0.02499818, 0.99788084, 0.0, 0.0, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.05, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.16, 0.22291085, 0.15087613, 0.02499818, 0.99788084, 0.0, 0.0, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.1, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.16, 0.22291085, 0.15087613, 0.02499818, 0.99788084, 0.0, 0.0, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 7.15, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.16, 0.22291085, 0.15087613, 0.02499818, 0.99788084, -0.0, -0.0, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 7.198, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.22291, 0.15088, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.16, 0.22291085, 0.15087613, 0.02499818, 0.99788084, 0.0, 0.0, 0.06506785, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] } ], "events": [ { "t": 0.3, "type": "start", "message": "open_loop: 빨간 블록을 오른쪽 목표로 밀어줘" }, { "t": 7.198, "type": "success", "message": "최종 거리 0.0293 m · 정지 상태 True" } ] }, { "id": "nominal-2-closed_loop", "policy": "closed_loop", "scenario": "nominal", "seed": 2, "task": { "object_name": "red_block", "goal": "right", "instruction": "빨간 블록을 오른쪽 목표로 밀어줘" }, "parameters": { "friction": 0.5, "mass": 0.08, "disturbance": false }, "success": true, "final_distance_m": 0.0013649051090545725, "settled": true, "sim_time_s": 18.970000000000365, "wall_time_s": 0.3255254999967292, "timed_out": false, "termination_reason": "success", "contact_steps": 1132, "peak_contact_point_force_n": 3.209986014741103, "unintended_contact_steps": 0, "distractor_displacement_m": 3.220695342089243e-08, "workspace_violation": false, "replans": 5, "disturbance_applied": false, "trajectory": [ { "t": 0.05, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.02496 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007546, 0.0249616, 1.0, -2.3e-07, 0.0, -0.0, 0.16571129, -0.17040422, 0.0249616, 1.0, -2.3e-07, 0.0, -0.0 ] }, { "t": 0.1, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007547, 0.0249973, 1.0, -1e-08, 0.0, -0.0, 0.16571129, -0.17040423, 0.0249973, 1.0, -1e-08, 0.0, -0.0 ] }, { "t": 0.15, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499816, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499816, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.2, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.25, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.3, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.35, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.4, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.45, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.5, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.55, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.6, "tool": [ -0.00423, -0.31793, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.00456791, -0.31776454, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.65, "tool": [ -0.01458, -0.31287, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.01504046, -0.31263946, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.7, "tool": [ -0.0266, -0.30698, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.02709665, -0.30673937, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.75, "tool": [ -0.03903, -0.3009, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.03953006, -0.30065467, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.8, "tool": [ -0.05155, -0.29477, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05205305, -0.29452614, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.85, "tool": [ -0.0641, -0.28863, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.06459731, -0.28838719, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.9, "tool": [ -0.07664, -0.28249, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.07714663, -0.28224577, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.95, "tool": [ -0.0892, -0.27635, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.08969715, -0.27610376, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.0, "tool": [ -0.10175, -0.27021, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.10224795, -0.26996162, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.05, "tool": [ -0.1143, -0.26407, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.11479882, -0.26381944, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.1, "tool": [ -0.12685, -0.25792, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.12734971, -0.25767725, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.15, "tool": [ -0.1394, -0.25178, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.13990059, -0.25153506, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.2, "tool": [ -0.15195, -0.24564, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.15245149, -0.24539287, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.25, "tool": [ -0.1645, -0.2395, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.16500238, -0.23925069, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.3, "tool": [ -0.17705, -0.23335, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.17755327, -0.2331085, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.35, "tool": [ -0.1896, -0.22721, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.19010416, -0.22696631, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.4, "tool": [ -0.20215, -0.22107, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.20265505, -0.22082412, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.45, "tool": [ -0.21402, -0.21526, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.21436724, -0.21509237, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.5, "tool": [ -0.21886, -0.2129, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.21894285, -0.21285315, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.55, "tool": [ -0.22003, -0.21232, 0.15946 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22004899, -0.21231182, 0.15933176, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.6, "tool": [ -0.22031, -0.21219, 0.15331 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22031179, -0.21218321, 0.1529774, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.65, "tool": [ -0.22037, -0.21215, 0.14424 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.2203742, -0.21215267, 0.14385873, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.7, "tool": [ -0.22039, -0.21215, 0.13446 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22038902, -0.21214542, 0.13406812, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040423, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.75, "tool": [ -0.22039, -0.21214, 0.12452 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039254, -0.21214369, 0.12411785, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.8, "tool": [ -0.22039, -0.21214, 0.11453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039338, -0.21214328, 0.11412966, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.85, "tool": [ -0.22039, -0.21214, 0.10453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039358, -0.21214319, 0.10413246, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.9, "tool": [ -0.22039, -0.21214, 0.09453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039363, -0.21214316, 0.09413313, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.95, "tool": [ -0.22039, -0.21214, 0.08453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214316, 0.08413328, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.0, "tool": [ -0.22039, -0.21214, 0.07453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214316, 0.07413332, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.05, "tool": [ -0.22039, -0.21214, 0.06453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214316, 0.06413333, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.1, "tool": [ -0.22039, -0.21214, 0.05453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214316, 0.05413333, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.15, "tool": [ -0.22039, -0.21214, 0.04465 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214316, 0.0443044, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.2, "tool": [ -0.22039, -0.21214, 0.03963 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214316, 0.03954041, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040423, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.25, "tool": [ -0.22033, -0.21208, 0.03839 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.22029143, -0.21205215, 0.03836608, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040423, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.3, "tool": [ -0.21735, -0.20943, 0.03809 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.21716308, -0.20926655, 0.03808694, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.35, "tool": [ -0.21212, -0.20477, 0.03802 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.21189003, -0.20457122, 0.03802065, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.4, "tool": [ -0.20632, -0.19961, 0.03801 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.20608214, -0.19939965, 0.0380049, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.45, "tool": [ -0.20047, -0.19437, 0.038 ], "objects": { "red_block": [ -0.16118, -0.15971, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.20025774, -0.19416879, 0.03800291, -0.16089993, -0.1595971, 0.0250124, 0.99994367, 0.00037194, 1.917e-05, 0.01060761, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.5, "tool": [ -0.19459, -0.18913, 0.03802 ], "objects": { "red_block": [ -0.15434, -0.15621, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.194343, -0.18891602, 0.03801547, -0.15414711, -0.15606184, 0.02503879, 0.99961678, 3.964e-05, 0.0008922, 0.02766769, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.55, "tool": [ -0.18862, -0.18382, 0.03802 ], "objects": { "red_block": [ -0.14851, -0.15151, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.18837884, -0.18360353, 0.03801568, -0.14827696, -0.15133964, 0.02501087, 0.99928588, 0.00053102, 0.00080784, 0.037773, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.6, "tool": [ -0.18265, -0.17847, 0.03803 ], "objects": { "red_block": [ -0.14296, -0.14713, 0.02507 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1824133, -0.17825729, 0.03803445, -0.14272912, -0.14696672, 0.02509013, 0.99838466, -0.00216471, 2.896e-05, 0.05677488, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.65, "tool": [ -0.17669, -0.17314, 0.03804 ], "objects": { "red_block": [ -0.13795, -0.14373, 0.02495 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17644224, -0.17292545, 0.03804194, -0.13777438, -0.14359709, 0.02491784, 0.99645484, 0.00032185, 7.792e-05, 0.08412876, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.7, "tool": [ -0.17072, -0.16784, 0.03804 ], "objects": { "red_block": [ -0.13258, -0.14001, 0.02509 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17048382, -0.16762587, 0.03804095, -0.13233951, -0.13984104, 0.02505661, 0.99460297, -0.00076983, -4.062e-05, 0.10375135, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.75, "tool": [ -0.16474, -0.16252, 0.03804 ], "objects": { "red_block": [ -0.12751, -0.13569, 0.02495 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.16449782, -0.16230128, 0.03804115, -0.127345, -0.13553685, 0.02497363, 0.99067443, -0.00021205, 0.0005605, 0.13624911, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.8, "tool": [ -0.15878, -0.1572, 0.03806 ], "objects": { "red_block": [ -0.12197, -0.1309, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.15854534, -0.15698706, 0.03806006, -0.12172921, -0.13069431, 0.02502463, 0.98815317, -0.0001428, 0.00083536, 0.15346854, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.85, "tool": [ -0.15279, -0.15188, 0.03804 ], "objects": { "red_block": [ -0.11631, -0.12608, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1525489, -0.15167241, 0.03803428, -0.11603807, -0.125877, 0.02502852, 0.98574482, 0.00031507, 0.00052611, 0.16824617, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.9, "tool": [ -0.14681, -0.14656, 0.03803 ], "objects": { "red_block": [ -0.11039, -0.12103, 0.02506 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14657045, -0.14634784, 0.03803299, -0.11015438, -0.12082248, 0.02508606, 0.98421458, -0.00046527, -0.00043742, 0.17697813, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.95, "tool": [ -0.14084, -0.14123, 0.03802 ], "objects": { "red_block": [ -0.10439, -0.11643, 0.02509 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14059754, -0.14101817, 0.03802251, -0.10411711, -0.11625808, 0.0250788, 0.9822526, 1.39e-05, -2.882e-05, 0.18756288, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.0, "tool": [ -0.1349, -0.13597, 0.03801 ], "objects": { "red_block": [ -0.09828, -0.11154, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13470217, -0.13578843, 0.03800958, -0.09805345, -0.11133299, 0.02501134, 0.98330497, -0.0006513, -0.00029071, 0.1819638, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.05, "tool": [ -0.13184, -0.13325, 0.03802 ], "objects": { "red_block": [ -0.09536, -0.10865, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13178586, -0.13320748, 0.03801932, -0.09529508, -0.10860907, 0.02500183, 0.98239222, -4.45e-05, -4.193e-05, 0.18683018, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.1, "tool": [ -0.13115, -0.13261, 0.03816 ], "objects": { "red_block": [ -0.09463, -0.10808, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13113359, -0.13259613, 0.03822518, -0.09462066, -0.10807613, 0.02496686, 0.98197748, 4.517e-05, -0.00024525, 0.18899778, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.15, "tool": [ -0.13091, -0.13243, 0.04358 ], "objects": { "red_block": [ -0.09439, -0.10801, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13090452, -0.13242064, 0.04392146, -0.09438969, -0.10800414, 0.02498727, 0.98148581, 0.00012047, -9.153e-05, 0.19153482, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.2, "tool": [ -0.13082, -0.13237, 0.05319 ], "objects": { "red_block": [ -0.0943, -0.10797, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13081543, -0.13236505, 0.0536067, -0.09429602, -0.10796762, 0.0249948, 0.98147647, 1.39e-06, -3.799e-05, 0.1915827, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.25, "tool": [ -0.13081, -0.13236, 0.06383 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13080383, -0.13235573, 0.06426705, -0.0940896, -0.1079145, 0.02499173, 0.9811478, 2.362e-05, -6.742e-05, 0.19325887, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.3, "tool": [ -0.13078, -0.13235, 0.07474 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13078106, -0.1323454, 0.07517524, -0.09408655, -0.10791271, 0.02499802, 0.9811478, 5.7e-07, -1.62e-06, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.35, "tool": [ -0.13078, -0.13234, 0.08569 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077529, -0.13234279, 0.0861317, -0.09408648, -0.10791267, 0.02499817, 0.9811478, 1e-08, -4e-08, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.4, "tool": [ -0.13077, -0.13234, 0.09666 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077391, -0.13234217, 0.09709941, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.45, "tool": [ -0.13077, -0.13234, 0.10763 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077359, -0.13234203, 0.1080698, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.5, "tool": [ -0.13077, -0.13234, 0.1186 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077351, -0.13234199, 0.11904083, -0.09408648, -0.10791267, 0.02499818, 0.9811478, -0.0, 0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.55, "tool": [ -0.13077, -0.13234, 0.12957 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077349, -0.13234198, 0.13001201, -0.09408648, -0.10791267, 0.02499818, 0.9811478, -0.0, 0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.6, "tool": [ -0.13077, -0.13234, 0.14054 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077349, -0.13234198, 0.14098322, -0.09408648, -0.10791267, 0.02499818, 0.9811478, -0.0, 0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.65, "tool": [ -0.13077, -0.13234, 0.1515 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077349, -0.13234198, 0.15191454, -0.09408648, -0.10791267, 0.02499818, 0.9811478, -0.0, 0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.7, "tool": [ -0.13077, -0.13234, 0.15787 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234198, 0.15799258, -0.09408648, -0.10791267, 0.02499818, 0.9811478, -0.0, 0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.75, "tool": [ -0.13077, -0.13234, 0.15949 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.13077348, -0.13234198, 0.15952274, -0.09408648, -0.10791267, 0.02499818, 0.9811478, -0.0, 0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.8, "tool": [ -0.13077, -0.13234, 0.15988 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.13077348, -0.13234198, 0.15988666, -0.09408648, -0.10791267, 0.02499818, 0.9811478, -0.0, 0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.85, "tool": [ -0.13077, -0.13234, 0.15997 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.13077348, -0.13234198, 0.15997308, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.9, "tool": [ -0.13077, -0.13234, 0.15999 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.13077348, -0.13234198, 0.15999361, -0.09408648, -0.10791267, 0.02499818, 0.9811478, -0.0, 0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.95, "tool": [ -0.13077, -0.13234, 0.16 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234198, 0.15999848, -0.09408648, -0.10791267, 0.02499818, 0.9811478, -0.0, 0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.0, "tool": [ -0.13077, -0.13234, 0.16 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234198, 0.15999964, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.05, "tool": [ -0.13077, -0.13234, 0.16 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234198, 0.15999991, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.1, "tool": [ -0.13077, -0.13234, 0.16 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234198, 0.15999998, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.15, "tool": [ -0.13077, -0.13234, 0.16 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234198, 0.16, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.2, "tool": [ -0.13078, -0.13236, 0.16 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.13079612, -0.13237388, 0.16, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.25, "tool": [ -0.13339, -0.13603, 0.16 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.13357234, -0.13628656, 0.16, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.3, "tool": [ -0.1387, -0.14351, 0.16 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.13892887, -0.1438358, 0.16, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.35, "tool": [ -0.14469, -0.15196, 0.16 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.14492445, -0.15228568, 0.16, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.4, "tool": [ -0.14826, -0.15698, 0.16 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.14832389, -0.15707669, 0.16, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.45, "tool": [ -0.14916, -0.15826, 0.15998 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.1491804, -0.15828382, 0.15996364, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.5, "tool": [ -0.14938, -0.15857, 0.1558 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14938411, -0.15857091, 0.15550362, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.55, "tool": [ -0.14943, -0.15864, 0.14727 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14943249, -0.1586391, 0.14689832, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.6, "tool": [ -0.14944, -0.15865, 0.13762 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14944397, -0.15865529, 0.13723003, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.65, "tool": [ -0.14945, -0.15866, 0.12771 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.1494467, -0.15865913, 0.1273088, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.7, "tool": [ -0.14945, -0.15866, 0.11773 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14944735, -0.15866004, 0.11732751, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.75, "tool": [ -0.14945, -0.15866, 0.10773 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.1494475, -0.15866026, 0.10733195, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.8, "tool": [ -0.14945, -0.15866, 0.09773 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14944754, -0.15866031, 0.097333, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.85, "tool": [ -0.14945, -0.15866, 0.08773 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14944755, -0.15866033, 0.08733326, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.9, "tool": [ -0.14945, -0.15866, 0.07773 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14944755, -0.15866033, 0.07733331, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.95, "tool": [ -0.14945, -0.15866, 0.06773 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14944755, -0.15866033, 0.06733333, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.0, "tool": [ -0.14945, -0.15866, 0.05773 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14944755, -0.15866033, 0.05733333, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.05, "tool": [ -0.14945, -0.15866, 0.04773 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14944755, -0.15866033, 0.04733333, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.1, "tool": [ -0.14945, -0.15866, 0.04058 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14944755, -0.15866033, 0.0404362, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.15, "tool": [ -0.14945, -0.15866, 0.03861 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14944755, -0.15866033, 0.03857991, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, 0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.2, "tool": [ -0.14777, -0.15712, 0.03815 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14761772, -0.15698298, 0.03813772, -0.09408648, -0.10791267, 0.02499818, 0.9811478, 0.0, 0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.25, "tool": [ -0.14303, -0.15278, 0.03803 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14281519, -0.15258066, 0.03803271, -0.09408648, -0.10791267, 0.02499818, 0.9811478, -0.0, 0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.3, "tool": [ -0.13741, -0.14763, 0.03801 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13717872, -0.1474139, 0.03800777, -0.09408648, -0.10791267, 0.02499818, 0.9811478, -0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.35, "tool": [ -0.13158, -0.14228, 0.038 ], "objects": { "red_block": [ -0.09409, -0.10791, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13134342, -0.14206487, 0.03800184, -0.09408648, -0.10791267, 0.02499818, 0.9811478, -0.0, -0.0, 0.19325888, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.4, "tool": [ -0.12586, -0.13702, 0.03804 ], "objects": { "red_block": [ -0.09214, -0.10627, 0.02503 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12563091, -0.13680311, 0.03803937, -0.09191065, -0.10605801, 0.02499743, 0.97962278, -0.00013105, 3.381e-05, 0.2008462, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.45, "tool": [ -0.11998, -0.13161, 0.03804 ], "objects": { "red_block": [ -0.08642, -0.1013, 0.02513 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11974206, -0.13140045, 0.03803778, -0.08617273, -0.1010886, 0.02515847, 0.97844875, 0.00014102, 0.00096484, 0.20648753, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.5, "tool": [ -0.11408, -0.12619, 0.03804 ], "objects": { "red_block": [ -0.08052, -0.09639, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11383977, -0.12597137, 0.03804004, -0.08031587, -0.09619074, 0.02503112, 0.97655209, -0.00012499, 0.00081794, 0.21527967, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.55, "tool": [ -0.10819, -0.12079, 0.03805 ], "objects": { "red_block": [ -0.07469, -0.09151, 0.02503 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.10795078, -0.12057236, 0.03805002, -0.07444628, -0.09130901, 0.02500664, 0.97373751, -0.00043629, -0.00063099, 0.22767231, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.6, "tool": [ -0.1023, -0.11538, 0.03805 ], "objects": { "red_block": [ -0.06889, -0.08632, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.10206091, -0.1151601, 0.03805385, -0.06867714, -0.08613455, 0.02503288, 0.97145445, 0.00058083, 0.00029004, 0.23722528, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.65, "tool": [ -0.09639, -0.10997, 0.03805 ], "objects": { "red_block": [ -0.06281, -0.08147, 0.02506 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.09615194, -0.10975819, 0.03804494, -0.06255909, -0.08128043, 0.02502739, 0.9704671, 0.00090344, -0.00063782, 0.24123098, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.7, "tool": [ -0.0905, -0.10458, 0.03806 ], "objects": { "red_block": [ -0.05681, -0.07618, 0.02508 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.09026664, -0.10435888, 0.03806197, -0.0565664, -0.07595667, 0.02506394, 0.97101426, -0.0004371, 0.00052076, 0.2390206, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.75, "tool": [ -0.08459, -0.09917, 0.03805 ], "objects": { "red_block": [ -0.05116, -0.07071, 0.02508 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.08435891, -0.09895261, 0.03805277, -0.05092556, -0.07048924, 0.02506019, 0.96864934, 0.0001016, -0.00076968, 0.24843078, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.8, "tool": [ -0.0787, -0.09376, 0.03806 ], "objects": { "red_block": [ -0.04535, -0.06528, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07846133, -0.09353687, 0.03805851, -0.04514476, -0.06509708, 0.02498064, 0.96729703, 0.00069553, 0.00174477, 0.25363935, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.85, "tool": [ -0.07279, -0.08836, 0.03805 ], "objects": { "red_block": [ -0.03956, -0.06, 0.02503 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07255565, -0.08813925, 0.03804759, -0.03932388, -0.05980114, 0.02501221, 0.96552704, 4.02e-06, -0.00021254, 0.2603027, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.9, "tool": [ -0.06687, -0.08297, 0.03804 ], "objects": { "red_block": [ -0.03363, -0.05472, 0.02505 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06664287, -0.08275383, 0.03804015, -0.03339748, -0.05450228, 0.02508713, 0.96540008, -0.00071807, -0.00025435, 0.26077211, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.95, "tool": [ -0.06261, -0.07904, 0.03802 ], "objects": { "red_block": [ -0.02922, -0.05086, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06251964, -0.07896298, 0.03802489, -0.02913792, -0.05077713, 0.02499497, 0.96548353, -0.00012071, 3.458e-05, 0.26046407, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.0, "tool": [ -0.06147, -0.07798, 0.03804 ], "objects": { "red_block": [ -0.02813, -0.04982, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06144905, -0.07796635, 0.03804406, -0.02810585, -0.04981067, 0.02499617, 0.9652395, 0.00027848, 0.00017537, 0.26136678, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.05, "tool": [ -0.06118, -0.07772, 0.04111 ], "objects": { "red_block": [ -0.02779, -0.04962, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06116856, -0.07770895, 0.04139085, -0.02778513, -0.049614, 0.02499452, 0.96482742, 9.647e-05, 1.736e-05, 0.26288407, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.1, "tool": [ -0.06105, -0.07762, 0.04992 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06104987, -0.07761626, 0.05032526, -0.02761977, -0.04952094, 0.02499469, 0.96442478, 4.64e-05, 2.177e-05, 0.26435741, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.15, "tool": [ -0.061, -0.07758, 0.06039 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06100367, -0.07758365, 0.06082163, -0.02762142, -0.04951901, 0.02499809, 0.96442478, 1.11e-06, 5.2e-07, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.2, "tool": [ -0.06099, -0.07758, 0.07124 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06099253, -0.07757581, 0.07168018, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 3e-08, 1e-08, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.25, "tool": [ -0.06099, -0.07757, 0.08219 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06098989, -0.07757394, 0.08262464, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.3, "tool": [ -0.06099, -0.07757, 0.09315 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06098926, -0.0775735, 0.09358951, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.35, "tool": [ -0.06099, -0.07757, 0.10412 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06098911, -0.0775734, 0.10455922, -0.02762146, -0.04951896, 0.02499818, 0.96442478, -0.0, -0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.4, "tool": [ -0.06099, -0.07757, 0.11509 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06098908, -0.07757337, 0.11553009, -0.02762146, -0.04951896, 0.02499818, 0.96442478, -0.0, -0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.45, "tool": [ -0.06099, -0.07757, 0.12606 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06098907, -0.07757337, 0.12650123, -0.02762146, -0.04951896, 0.02499818, 0.96442478, -0.0, -0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.5, "tool": [ -0.06099, -0.07757, 0.13703 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06098907, -0.07757336, 0.13747243, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.55, "tool": [ -0.06099, -0.07757, 0.148 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06098906, -0.07757336, 0.14844365, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.6, "tool": [ -0.06099, -0.07757, 0.15664 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06098906, -0.07757336, 0.15682813, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.65, "tool": [ -0.06099, -0.07757, 0.1592 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06098906, -0.07757336, 0.15924399, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.7, "tool": [ -0.06099, -0.07757, 0.15981 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.06098906, -0.07757336, 0.15982045, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.75, "tool": [ -0.06099, -0.07757, 0.15995 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.06098906, -0.07757336, 0.15995736, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.8, "tool": [ -0.06099, -0.07757, 0.15999 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.06098906, -0.07757336, 0.15998987, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.85, "tool": [ -0.06099, -0.07757, 0.16 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.06098906, -0.07757336, 0.1599976, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.9, "tool": [ -0.06099, -0.07757, 0.16 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06098906, -0.07757336, 0.15999943, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.95, "tool": [ -0.06099, -0.07757, 0.16 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06098906, -0.07757336, 0.15999986, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 7.0, "tool": [ -0.06099, -0.07757, 0.16 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06098906, -0.07757336, 0.15999997, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 7.05, "tool": [ -0.06099, -0.07757, 0.16 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06098906, -0.07757336, 0.15999999, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.1, "tool": [ -0.06099, -0.07757, 0.16 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06098906, -0.07757336, 0.16, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.15, "tool": [ -0.0624, -0.07909, 0.16 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.06255753, -0.07925303, 0.16, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 7.2, "tool": [ -0.06751, -0.08455, 0.16 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.06774507, -0.08480834, 0.16, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 7.25, "tool": [ -0.07379, -0.09128, 0.16 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.07404794, -0.09155805, 0.16, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 7.3, "tool": [ -0.07894, -0.09679, 0.16 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.07904885, -0.0969135, 0.16, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.35, "tool": [ -0.08047, -0.09843, 0.16 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.08049399, -0.0984611, 0.16, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.4, "tool": [ -0.08083, -0.09882, 0.15787 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08083885, -0.0988304, 0.15764225, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.45, "tool": [ -0.08092, -0.09892, 0.1502 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08092075, -0.09891811, 0.14984425, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 7.5, "tool": [ -0.08094, -0.09894, 0.14076 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.0809402, -0.09893894, 0.14036968, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.55, "tool": [ -0.08094, -0.09894, 0.13089 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08094482, -0.09894389, 0.13049447, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.6, "tool": [ -0.08095, -0.09895, 0.12092 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08094592, -0.09894506, 0.1205241, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 7.65, "tool": [ -0.08095, -0.09895, 0.11093 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08094618, -0.09894534, 0.11053114, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 7.7, "tool": [ -0.08095, -0.09895, 0.10093 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08094624, -0.09894541, 0.10053281, -0.02762146, -0.04951896, 0.02499818, 0.96442478, -0.0, -0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.75, "tool": [ -0.08095, -0.09895, 0.09093 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08094625, -0.09894542, 0.09053321, -0.02762146, -0.04951896, 0.02499818, 0.96442478, -0.0, -0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 7.8, "tool": [ -0.08095, -0.09895, 0.08093 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08094626, -0.09894543, 0.0805333, -0.02762146, -0.04951896, 0.02499818, 0.96442478, -0.0, -0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.85, "tool": [ -0.08095, -0.09895, 0.07093 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08094626, -0.09894543, 0.07053333, -0.02762146, -0.04951896, 0.02499818, 0.96442478, -0.0, -0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 7.9, "tool": [ -0.08095, -0.09895, 0.06093 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08094626, -0.09894543, 0.06053333, -0.02762146, -0.04951896, 0.02499818, 0.96442478, -0.0, -0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 7.95, "tool": [ -0.08095, -0.09895, 0.05093 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08094626, -0.09894543, 0.05053333, -0.02762146, -0.04951896, 0.02499818, 0.96442478, -0.0, -0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 8.0, "tool": [ -0.08095, -0.09895, 0.04206 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08094626, -0.09894543, 0.04183867, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, -0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 8.05, "tool": [ -0.08095, -0.09895, 0.03897 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08094626, -0.09894543, 0.03891855, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, -0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 8.1, "tool": [ -0.08028, -0.09833, 0.03823 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.08018039, -0.09823555, 0.03821818, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 8.15, "tool": [ -0.07623, -0.09457, 0.03805 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07602644, -0.09438528, 0.03805181, -0.02762146, -0.04951896, 0.02499818, 0.96442478, 0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.2, "tool": [ -0.0708, -0.08954, 0.03801 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07057012, -0.08932784, 0.0380123, -0.02762146, -0.04951896, 0.02499818, 0.96442478, -0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.25, "tool": [ -0.06503, -0.0842, 0.038 ], "objects": { "red_block": [ -0.02762, -0.04952, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06480048, -0.08397999, 0.03800292, -0.02762146, -0.04951896, 0.02499818, 0.96442478, -0.0, 0.0, 0.26435742, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 8.3, "tool": [ -0.05925, -0.07882, 0.03803 ], "objects": { "red_block": [ -0.02733, -0.04925, 0.02508 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05903724, -0.07862315, 0.03803045, -0.02712201, -0.04904943, 0.02507697, 0.96407567, -0.00022648, 3.757e-05, 0.26562764, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 8.35, "tool": [ -0.0535, -0.07348, 0.03804 ], "objects": { "red_block": [ -0.02125, -0.04385, 0.02508 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05326521, -0.07326221, 0.03803598, -0.02100107, -0.04364282, 0.02508864, 0.96203163, -0.00136434, -0.00045271, 0.2729342, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 8.4, "tool": [ -0.04764, -0.06804, 0.03804 ], "objects": { "red_block": [ -0.01518, -0.03874, 0.02507 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.0474012, -0.06781754, 0.03803677, -0.01491617, -0.03854316, 0.02505708, 0.96089065, 0.00055924, -0.00052864, 0.27692699, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 8.45, "tool": [ -0.04174, -0.0626, 0.03801 ], "objects": { "red_block": [ -0.00921, -0.03362, 0.02503 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.04150503, -0.06238115, 0.0380052, -0.00896159, -0.03343022, 0.02506256, 0.96043096, 0.00048656, 0.00033453, 0.27851754, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 8.5, "tool": [ -0.03587, -0.05716, 0.03799 ], "objects": { "red_block": [ -0.00313, -0.02843, 0.02506 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.03563683, -0.05694306, 0.03799452, -0.00287526, -0.02822217, 0.02509139, 0.96093817, 0.00020484, 0.00056245, 0.2767625, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 8.55, "tool": [ -0.03001, -0.0517, 0.03802 ], "objects": { "red_block": [ 0.0029, -0.02332, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.02978649, -0.05148587, 0.0380234, 0.00312891, -0.02310561, 0.02502893, 0.9611248, -0.00081097, 0.00083504, 0.27611188, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 8.6, "tool": [ -0.02415, -0.04627, 0.03801 ], "objects": { "red_block": [ 0.00887, -0.01801, 0.02509 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.02391798, -0.04605012, 0.03800781, 0.00909559, -0.01779879, 0.02508949, 0.96072352, -0.00067989, -0.00110023, 0.27750433, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 8.65, "tool": [ -0.01829, -0.04083, 0.03803 ], "objects": { "red_block": [ 0.01453, -0.01244, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.01804962, -0.04061494, 0.03802778, 0.01472554, -0.01221767, 0.02497663, 0.95800178, 0.00039544, 0.00024544, 0.28676189, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 8.7, "tool": [ -0.01242, -0.03539, 0.03802 ], "objects": { "red_block": [ 0.02026, -0.00685, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.01218496, -0.03517079, 0.03801569, 0.0205043, -0.00664251, 0.02500427, 0.95732165, -0.00037036, -0.00019388, 0.28902437, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.75, "tool": [ -0.00653, -0.02995, 0.03798 ], "objects": { "red_block": [ 0.02636, -0.00176, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.00629558, -0.02973534, 0.03797402, 0.02657657, -0.0015392, 0.0250276, 0.95767161, -0.00012276, -0.00083075, 0.28786173, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 8.8, "tool": [ -0.00067, -0.02453, 0.03801 ], "objects": { "red_block": [ 0.03218, 0.00366, 0.02505 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.00043969, -0.02430935, 0.03801183, 0.0324358, 0.0039, 0.02498087, 0.95633669, -0.00040494, 2.193e-05, 0.29226694, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 8.85, "tool": [ 0.00456, -0.01966, 0.03802 ], "objects": { "red_block": [ 0.03739, 0.00851, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00469969, -0.01954034, 0.0380161, 0.0375163, 0.00864706, 0.02500799, 0.95531529, -0.00028197, -0.00036048, 0.29558838, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.9, "tool": [ 0.00639, -0.01797, 0.03803 ], "objects": { "red_block": [ 0.03918, 0.01024, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00642704, -0.01794005, 0.03802555, 0.0391985, 0.01024928, 0.02496444, 0.95457981, 0.00027999, 0.00042606, 0.29795491, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.95, "tool": [ 0.00682, -0.01757, 0.03923 ], "objects": { "red_block": [ 0.03961, 0.01062, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00682981, -0.01756485, 0.03942711, 0.03962784, 0.01063244, 0.02495886, 0.95438812, -0.00011159, 0.00040405, 0.29856847, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 9.0, "tool": [ 0.00696, -0.01745, 0.04679 ], "objects": { "red_block": [ 0.03994, 0.01083, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00696192, -0.01744826, 0.04717128, 0.03994322, 0.01082903, 0.02496603, 0.95388364, 0.00033827, -0.00032362, 0.30017624, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.05, "tool": [ 0.00703, -0.01739, 0.05697 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00703501, -0.01739154, 0.05739351, 0.03995709, 0.01085222, 0.02499731, 0.95388051, 9.48e-06, -8.75e-06, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 9.1, "tool": [ 0.00706, -0.01738, 0.06775 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00705596, -0.01737557, 0.068189, 0.03995737, 0.0108528, 0.02499816, 0.95388051, 2.3e-07, -2.1e-07, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 9.15, "tool": [ 0.00706, -0.01737, 0.07868 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00706096, -0.01737177, 0.07911851, 0.03995737, 0.01085281, 0.02499818, 0.95388051, 1e-08, -0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.2, "tool": [ 0.00706, -0.01737, 0.08964 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00706215, -0.01737086, 0.09007982, 0.03995737, 0.01085281, 0.02499818, 0.95388051, 0.0, -0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.25, "tool": [ 0.00706, -0.01737, 0.10061 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00706243, -0.01737065, 0.10104869, 0.03995737, 0.01085281, 0.02499818, 0.95388051, 0.0, -0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 9.3, "tool": [ 0.00706, -0.01737, 0.11158 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00706249, -0.0173706, 0.11201936, 0.03995737, 0.01085281, 0.02499818, 0.95388051, -0.0, 0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 9.35, "tool": [ 0.00706, -0.01737, 0.12255 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00706251, -0.01737058, 0.12299045, 0.03995737, 0.01085281, 0.02499818, 0.95388051, -0.0, 0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.4, "tool": [ 0.00706, -0.01737, 0.13352 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00706251, -0.01737058, 0.13396164, 0.03995737, 0.01085281, 0.02499818, 0.95388051, -0.0, 0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 9.45, "tool": [ 0.00706, -0.01737, 0.14449 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00706251, -0.01737058, 0.14493286, 0.03995737, 0.01085281, 0.02499818, 0.95388051, -0.0, 0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 9.5, "tool": [ 0.00706, -0.01737, 0.15473 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00706251, -0.01737058, 0.15501697, 0.03995737, 0.01085281, 0.02499818, 0.95388051, -0.0, 0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 9.55, "tool": [ 0.00706, -0.01737, 0.15873 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00706251, -0.01737058, 0.15880262, 0.03995737, 0.01085281, 0.02499818, 0.95388051, -0.0, 0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 9.6, "tool": [ 0.00706, -0.01737, 0.1597 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.00706251, -0.01737058, 0.15971556, 0.03995737, 0.01085281, 0.02499818, 0.95388051, -0.0, 0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.65, "tool": [ 0.00706, -0.01737, 0.15993 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.00706251, -0.01737058, 0.15993245, 0.03995737, 0.01085281, 0.02499818, 0.95388051, -0.0, 0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 9.7, "tool": [ 0.00706, -0.01737, 0.15998 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.00706251, -0.01737058, 0.15998396, 0.03995737, 0.01085281, 0.02499818, 0.95388051, -0.0, 0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 9.75, "tool": [ 0.00706, -0.01737, 0.16 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.00706251, -0.01737058, 0.15999619, 0.03995737, 0.01085281, 0.02499818, 0.95388051, -0.0, 0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.8, "tool": [ 0.00706, -0.01737, 0.16 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00706251, -0.01737058, 0.1599991, 0.03995737, 0.01085281, 0.02499818, 0.95388051, -0.0, 0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.85, "tool": [ 0.00706, -0.01737, 0.16 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00706251, -0.01737058, 0.15999979, 0.03995737, 0.01085281, 0.02499818, 0.95388051, 0.0, -0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 9.9, "tool": [ 0.00706, -0.01737, 0.16 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00706251, -0.01737058, 0.15999995, 0.03995737, 0.01085281, 0.02499818, 0.95388051, 0.0, -0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 9.95, "tool": [ 0.00706, -0.01737, 0.16 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00706251, -0.01737058, 0.15999999, 0.03995737, 0.01085281, 0.02499818, 0.95388051, 0.0, -0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 10.0, "tool": [ 0.00706, -0.01737, 0.16 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00706251, -0.01737058, 0.16, 0.03995737, 0.01085281, 0.02499818, 0.95388051, 0.0, -0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 10.05, "tool": [ 0.00664, -0.01783, 0.16 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.0065478, -0.0179264, 0.16, 0.03995737, 0.01085281, 0.02499818, 0.95388051, 0.0, -0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 10.1, "tool": [ 0.00259, -0.0222, 0.16 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.00237855, -0.02242861, 0.16, 0.03995737, 0.01085281, 0.02499818, 0.95388051, 0.0, -0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 10.15, "tool": [ -0.00321, -0.02847, 0.16 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.0034575, -0.02873073, 0.16, 0.03995737, 0.01085281, 0.02499818, 0.95388051, 0.0, -0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 10.2, "tool": [ -0.00902, -0.03474, 0.16 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.00918271, -0.03491315, 0.16, 0.03995737, 0.01085281, 0.02499818, 0.95388051, 0.0, -0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 10.25, "tool": [ -0.01131, -0.03721, 0.16 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.01134934, -0.03725281, 0.16, 0.03995737, 0.01085281, 0.02499818, 0.95388051, 0.0, -0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 10.3, "tool": [ -0.01186, -0.03781, 0.15933 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01187196, -0.03781716, 0.15919143, 0.03995737, 0.01085281, 0.02499818, 0.95388051, 0.0, -0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 10.35, "tool": [ -0.01199, -0.03795, 0.15298 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01199612, -0.03795124, 0.15264195, 0.03995737, 0.01085281, 0.02499818, 0.95388051, 0.0, -0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 10.4, "tool": [ -0.01203, -0.03798, 0.14386 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.0120256, -0.03798308, 0.14347408, 0.03995737, 0.01085281, 0.02499818, 0.95388051, 0.0, -0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 10.45, "tool": [ -0.01203, -0.03799, 0.13407 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.0120326, -0.03799064, 0.13367177, 0.03995737, 0.01085281, 0.02499818, 0.95388051, 0.0, -0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 10.5, "tool": [ -0.01203, -0.03799, 0.12412 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01203427, -0.03799243, 0.12371871, 0.03995737, 0.01085281, 0.02499818, 0.95388051, -0.0, 0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 10.55, "tool": [ -0.01203, -0.03799, 0.11413 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01203466, -0.03799286, 0.11372986, 0.03995737, 0.01085281, 0.02499818, 0.95388051, 0.0, -0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 10.6, "tool": [ -0.01203, -0.03799, 0.10413 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01203476, -0.03799296, 0.10373251, 0.03995737, 0.01085281, 0.02499818, 0.95388051, -0.0, 0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 10.65, "tool": [ -0.01203, -0.03799, 0.09413 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01203478, -0.03799298, 0.09373314, 0.03995737, 0.01085281, 0.02499818, 0.95388051, -0.0, 0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 10.7, "tool": [ -0.01203, -0.03799, 0.08413 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01203478, -0.03799299, 0.08373329, 0.03995737, 0.01085281, 0.02499818, 0.95388051, -0.0, 0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 10.75, "tool": [ -0.01203, -0.03799, 0.07413 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01203479, -0.03799299, 0.07373332, 0.03995737, 0.01085281, 0.02499818, 0.95388051, -0.0, 0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 10.8, "tool": [ -0.01203, -0.03799, 0.06413 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01203479, -0.03799299, 0.06373333, 0.03995737, 0.01085281, 0.02499818, 0.95388051, 0.0, 0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 10.85, "tool": [ -0.01203, -0.03799, 0.05413 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01203479, -0.03799299, 0.05373333, 0.03995737, 0.01085281, 0.02499818, 0.95388051, 0.0, 0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 10.9, "tool": [ -0.01203, -0.03799, 0.0443 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01203479, -0.03799299, 0.04397602, 0.03995737, 0.01085281, 0.02499818, 0.95388051, 0.0, 0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 10.95, "tool": [ -0.01203, -0.03799, 0.03954 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01203479, -0.03799299, 0.03945448, 0.03995737, 0.01085281, 0.02499818, 0.95388051, 0.0, 0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 11.0, "tool": [ -0.01194, -0.0379, 0.03837 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.01189329, -0.03786006, 0.03834562, 0.03995737, 0.01085281, 0.02499818, 0.95388051, 0.0, 0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 11.05, "tool": [ -0.00888, -0.03503, 0.03809 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.00869906, -0.03485913, 0.03808208, 0.03995737, 0.01085281, 0.02499818, 0.95388051, 0.0, -0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 11.1, "tool": [ -0.00374, -0.0302, 0.03802 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.00351506, -0.02998884, 0.03801949, 0.03995737, 0.01085281, 0.02499818, 0.95388051, 0.0, -0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 11.15, "tool": [ 0.00193, -0.02487, 0.038 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.0021618, -0.02465552, 0.03800463, 0.03995737, 0.01085281, 0.02499818, 0.95388051, 0.0, -0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 11.2, "tool": [ 0.00772, -0.01943, 0.038 ], "objects": { "red_block": [ 0.03996, 0.01085, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00795584, -0.01921212, 0.0380011, 0.03995737, 0.01085281, 0.02499818, 0.95388051, 0.0, -0.0, 0.30018655, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 11.25, "tool": [ 0.01339, -0.01411, 0.03801 ], "objects": { "red_block": [ 0.04511, 0.01558, 0.02506 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.0136257, -0.01388419, 0.03800633, 0.04533043, 0.01579192, 0.02504655, 0.95306026, 0.00072839, 0.00040466, 0.30277952, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 11.3, "tool": [ 0.01924, -0.00862, 0.03799 ], "objects": { "red_block": [ 0.0513, 0.02083, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01946865, -0.00840284, 0.03799449, 0.05155258, 0.02103878, 0.02501697, 0.95715788, -0.00040743, -0.00067721, 0.28956547, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 11.35, "tool": [ 0.02505, -0.00313, 0.03802 ], "objects": { "red_block": [ 0.05731, 0.02604, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02528384, -0.00290977, 0.03801637, 0.05756524, 0.02626551, 0.02499374, 0.95776491, -0.00038073, -0.00045817, 0.28755178, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 11.4, "tool": [ 0.03088, 0.00235, 0.03802 ], "objects": { "red_block": [ 0.06341, 0.03122, 0.02507 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03111345, 0.00256481, 0.0380239, 0.06363636, 0.03144716, 0.02507611, 0.9589575, -0.00113068, -0.00029571, 0.28354744, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 11.45, "tool": [ 0.03671, 0.00782, 0.03803 ], "objects": { "red_block": [ 0.06913, 0.03661, 0.02503 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.0369445, 0.00804409, 0.03803076, 0.06932789, 0.03681667, 0.02507842, 0.95570533, 0.00014077, 0.00067326, 0.29432438, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 11.5, "tool": [ 0.04254, 0.01331, 0.03804 ], "objects": { "red_block": [ 0.07493, 0.0421, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.0427701, 0.0135226, 0.03805031, 0.07514795, 0.04231914, 0.02505114, 0.95517978, 0.00023355, 0.00026013, 0.29602613, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 11.55, "tool": [ 0.04835, 0.01878, 0.03806 ], "objects": { "red_block": [ 0.08083, 0.04746, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.04858762, 0.01900528, 0.03806075, 0.08105015, 0.04764831, 0.02500602, 0.95504715, -0.00057367, 0.00011834, 0.29645336, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 11.6, "tool": [ 0.05419, 0.02426, 0.03803 ], "objects": { "red_block": [ 0.08663, 0.05289, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.05442854, 0.02448533, 0.03803304, 0.08686532, 0.05308982, 0.02502338, 0.95332703, -0.00018936, 0.00056814, 0.3019391, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 11.65, "tool": [ 0.06002, 0.02973, 0.03802 ], "objects": { "red_block": [ 0.09243, 0.05843, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.06025952, 0.02995489, 0.03801412, 0.09268807, 0.05863496, 0.02500436, 0.95148192, 0.00012894, 0.00031378, 0.30770448, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 11.7, "tool": [ 0.06588, 0.03522, 0.038 ], "objects": { "red_block": [ 0.0981, 0.06382, 0.02505 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.06610596, 0.03543953, 0.03800409, 0.09833515, 0.0640487, 0.02504166, 0.94847746, 0.00010597, -0.00071854, 0.31684377, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 11.75, "tool": [ 0.0716, 0.0406, 0.03801 ], "objects": { "red_block": [ 0.10392, 0.06921, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07179749, 0.04078173, 0.0380162, 0.10410603, 0.06940297, 0.02502221, 0.94612845, 0.00082557, -0.0006401, 0.32378985, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 11.8, "tool": [ 0.07444, 0.04326, 0.03802 ], "objects": { "red_block": [ 0.10667, 0.07189, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07449111, 0.04330119, 0.0380264, 0.10671991, 0.07194298, 0.02497042, 0.94718525, -3.255e-05, 0.00048319, 0.32068656, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 11.85, "tool": [ 0.0751, 0.04388, 0.03822 ], "objects": { "red_block": [ 0.10732, 0.07252, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07511107, 0.04389484, 0.03829368, 0.10732704, 0.07252985, 0.02497812, 0.94684715, -0.00021398, -2.698e-05, 0.32168375, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 11.9, "tool": [ 0.0753, 0.04407, 0.04391 ], "objects": { "red_block": [ 0.10757, 0.07272, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07530577, 0.04407314, 0.04425911, 0.10756916, 0.07271871, 0.02498567, 0.94635901, 0.00021522, 9.309e-05, 0.32311696, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 11.95, "tool": [ 0.07537, 0.04413, 0.0536 ], "objects": { "red_block": [ 0.10778, 0.07291, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07537392, 0.04413227, 0.05401384, 0.10778278, 0.07291099, 0.02498911, 0.94589159, 9.644e-05, -2.315e-05, 0.3244828, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 12.0, "tool": [ 0.07541, 0.04416, 0.06428 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.075411, 0.04416247, 0.06470913, 0.10778232, 0.07291588, 0.02499796, 0.94589159, 2.26e-06, -5.3e-07, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 12.05, "tool": [ 0.07542, 0.04417, 0.07518 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07542019, 0.04416993, 0.07561506, 0.10778231, 0.072916, 0.02499817, 0.94589159, 5e-08, -1e-08, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 12.1, "tool": [ 0.07542, 0.04417, 0.08613 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07542237, 0.0441717, 0.08657078, 0.10778231, 0.072916, 0.02499818, 0.94589159, 0.0, -0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 12.15, "tool": [ 0.07542, 0.04417, 0.0971 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07542289, 0.04417212, 0.09753832, 0.10778231, 0.072916, 0.02499818, 0.94589159, 0.0, -0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 12.2, "tool": [ 0.07542, 0.04417, 0.10807 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07542301, 0.04417222, 0.10850867, 0.10778231, 0.072916, 0.02499818, 0.94589159, -0.0, 0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 12.25, "tool": [ 0.07542, 0.04417, 0.11904 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07542304, 0.04417224, 0.11947968, 0.10778231, 0.072916, 0.02499818, 0.94589159, -0.0, 0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 12.3, "tool": [ 0.07542, 0.04417, 0.13001 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07542305, 0.04417225, 0.13045085, 0.10778231, 0.072916, 0.02499818, 0.94589159, -0.0, 0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 12.35, "tool": [ 0.07542, 0.04417, 0.14098 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07542305, 0.04417225, 0.14142207, 0.10778231, 0.072916, 0.02499818, 0.94589159, -0.0, 0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 12.4, "tool": [ 0.07542, 0.04417, 0.15191 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07542305, 0.04417225, 0.15231809, 0.10778231, 0.072916, 0.02499818, 0.94589159, -0.0, 0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 12.45, "tool": [ 0.07542, 0.04417, 0.15799 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07542305, 0.04417225, 0.15810447, 0.10778231, 0.072916, 0.02499818, 0.94589159, -0.0, 0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 12.5, "tool": [ 0.07542, 0.04417, 0.15952 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.07542305, 0.04417225, 0.15954941, 0.10778231, 0.072916, 0.02499818, 0.94589159, -0.0, 0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 12.55, "tool": [ 0.07542, 0.04417, 0.15989 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.07542305, 0.04417225, 0.15989299, 0.10778231, 0.072916, 0.02499818, 0.94589159, -0.0, 0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 12.6, "tool": [ 0.07542, 0.04417, 0.15997 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.07542305, 0.04417225, 0.15997459, 0.10778231, 0.072916, 0.02499818, 0.94589159, -0.0, 0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 12.65, "tool": [ 0.07542, 0.04417, 0.15999 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.07542305, 0.04417225, 0.15999397, 0.10778231, 0.072916, 0.02499818, 0.94589159, 0.0, -0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 12.7, "tool": [ 0.07542, 0.04417, 0.16 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07542305, 0.04417225, 0.15999857, 0.10778231, 0.072916, 0.02499818, 0.94589159, 0.0, -0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 12.75, "tool": [ 0.07542, 0.04417, 0.16 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07542305, 0.04417225, 0.15999966, 0.10778231, 0.072916, 0.02499818, 0.94589159, 0.0, -0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 12.8, "tool": [ 0.07542, 0.04417, 0.16 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07542305, 0.04417225, 0.15999992, 0.10778231, 0.072916, 0.02499818, 0.94589159, 0.0, -0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 12.85, "tool": [ 0.07542, 0.04417, 0.16 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07542305, 0.04417225, 0.15999998, 0.10778231, 0.072916, 0.02499818, 0.94589159, 0.0, -0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 12.9, "tool": [ 0.07542, 0.04417, 0.16 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07542305, 0.04417225, 0.16, 0.10778231, 0.072916, 0.02499818, 0.94589159, 0.0, -0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 12.95, "tool": [ 0.0754, 0.04415, 0.16 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.07538062, 0.04412689, 0.16, 0.10778231, 0.072916, 0.02499818, 0.94589159, 0.0, -0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 13.0, "tool": [ 0.07264, 0.0412, 0.16 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.07245554, 0.04099927, 0.16, 0.10778231, 0.072916, 0.02499818, 0.94589159, 0.0, -0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.05, "tool": [ 0.06731, 0.0355, 0.16 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.06708118, 0.0352528, 0.16, 0.10778231, 0.072916, 0.02499818, 0.94589159, 0.0, 0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 13.1, "tool": [ 0.06135, 0.02913, 0.16 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.06112791, 0.02888732, 0.16, 0.10778231, 0.072916, 0.02499818, 0.94589159, 0.0, 0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 13.15, "tool": [ 0.05797, 0.02551, 0.16 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.05790949, 0.02544606, 0.16, 0.10778231, 0.072916, 0.02499818, 0.94589159, 0.0, 0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 13.2, "tool": [ 0.05712, 0.0246, 0.15996 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05710524, 0.02458613, 0.15993146, 0.10778231, 0.072916, 0.02499818, 0.94589159, -0.0, 0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.25, "tool": [ 0.05692, 0.02439, 0.1555 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.056914, 0.02438165, 0.1552056, 0.10778231, 0.072916, 0.02499818, 0.94589159, -0.0, -0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.3, "tool": [ 0.05687, 0.02433, 0.1469 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05686859, 0.02433309, 0.14652263, 0.10778231, 0.072916, 0.02499818, 0.94589159, 0.0, -0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 13.35, "tool": [ 0.05686, 0.02432, 0.13723 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.0568578, 0.02432155, 0.1368358, 0.10778231, 0.072916, 0.02499818, 0.94589159, 0.0, 0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 13.4, "tool": [ 0.05686, 0.02432, 0.12731 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05685524, 0.02431881, 0.12691017, 0.10778231, 0.072916, 0.02499818, 0.94589159, -0.0, -0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.45, "tool": [ 0.05685, 0.02432, 0.11733 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05685463, 0.02431816, 0.11692783, 0.10778231, 0.072916, 0.02499818, 0.94589159, 0.0, -0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 13.5, "tool": [ 0.05685, 0.02432, 0.10733 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05685449, 0.02431801, 0.10693203, 0.10778231, 0.072916, 0.02499818, 0.94589159, 0.0, 0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 13.55, "tool": [ 0.05685, 0.02432, 0.09733 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05685445, 0.02431797, 0.09693302, 0.10778231, 0.072916, 0.02499818, 0.94589159, 0.0, 0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 13.6, "tool": [ 0.05685, 0.02432, 0.08733 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05685444, 0.02431796, 0.08693326, 0.10778231, 0.072916, 0.02499818, 0.94589159, -0.0, 0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 13.65, "tool": [ 0.05685, 0.02432, 0.07733 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05685444, 0.02431796, 0.07693332, 0.10778231, 0.072916, 0.02499818, 0.94589159, -0.0, -0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.7, "tool": [ 0.05685, 0.02432, 0.06733 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05685444, 0.02431796, 0.06693333, 0.10778231, 0.072916, 0.02499818, 0.94589159, 0.0, -0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 13.75, "tool": [ 0.05685, 0.02432, 0.05733 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05685444, 0.02431796, 0.05693333, 0.10778231, 0.072916, 0.02499818, 0.94589159, 0.0, 0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 13.8, "tool": [ 0.05685, 0.02432, 0.04733 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05685444, 0.02431796, 0.04693333, 0.10778231, 0.072916, 0.02499818, 0.94589159, -0.0, 0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 13.85, "tool": [ 0.05685, 0.02432, 0.04044 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05685444, 0.02431796, 0.04030081, 0.10778231, 0.072916, 0.02499818, 0.94589159, 0.0, -0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.9, "tool": [ 0.05685, 0.02432, 0.03858 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05685444, 0.02431796, 0.03854751, 0.10778231, 0.072916, 0.02499818, 0.94589159, 0.0, 0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.95, "tool": [ 0.05865, 0.02603, 0.03814 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.05880343, 0.02617779, 0.03813003, 0.10778231, 0.072916, 0.02499818, 0.94589159, 0.0, 0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 14.0, "tool": [ 0.06336, 0.03053, 0.03803 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.06357637, 0.03073237, 0.03803088, 0.10778231, 0.072916, 0.02499818, 0.94589159, -0.0, 0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 14.05, "tool": [ 0.0689, 0.03581, 0.03801 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.06912243, 0.03602472, 0.03800733, 0.10778231, 0.072916, 0.02499818, 0.94589159, -0.0, -0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 14.1, "tool": [ 0.07462, 0.04127, 0.038 ], "objects": { "red_block": [ 0.10778, 0.07292, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07485274, 0.04149288, 0.03800174, 0.10778231, 0.072916, 0.02499818, 0.94589159, 0.0, -0.0, 0.32448281, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 14.15, "tool": [ 0.08023, 0.04663, 0.03802 ], "objects": { "red_block": [ 0.11156, 0.07644, 0.02503 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08047064, 0.04685745, 0.03801942, 0.11179071, 0.07662411, 0.02501657, 0.94537657, 0.0007263, 1.095e-05, 0.32597947, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 14.2, "tool": [ 0.08601, 0.05217, 0.03805 ], "objects": { "red_block": [ 0.11742, 0.08182, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08624303, 0.05238934, 0.03804639, 0.11766075, 0.08204471, 0.02498731, 0.94341448, -1.199e-05, -0.0004776, 0.33161558, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 14.25, "tool": [ 0.09181, 0.0577, 0.03802 ], "objects": { "red_block": [ 0.12318, 0.08735, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09204607, 0.05791861, 0.03801816, 0.12340679, 0.08757548, 0.02498234, 0.94098856, 0.00027581, -0.00091754, 0.33843701, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 14.3, "tool": [ 0.09762, 0.06323, 0.038 ], "objects": { "red_block": [ 0.12895, 0.09285, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09785119, 0.06345068, 0.03799622, 0.1291584, 0.09304926, 0.02501135, 0.94120076, -0.00090519, -0.0005966, 0.33784604, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 14.35, "tool": [ 0.1034, 0.06874, 0.03803 ], "objects": { "red_block": [ 0.13469, 0.09834, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10362991, 0.06896338, 0.03802749, 0.13490338, 0.09853867, 0.02502369, 0.9386183, 0.00095311, 0.00035503, 0.34495601, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 14.4, "tool": [ 0.10919, 0.07427, 0.038 ], "objects": { "red_block": [ 0.14044, 0.10389, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10941879, 0.07448837, 0.03799541, 0.14066926, 0.10413587, 0.02504308, 0.93758835, -0.00041907, -0.00052255, 0.3477465, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 14.45, "tool": [ 0.11498, 0.0798, 0.03801 ], "objects": { "red_block": [ 0.14614, 0.10942, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11520716, 0.08001593, 0.03801473, 0.14636457, 0.10964686, 0.02500997, 0.93595314, -0.00024539, -0.00045735, 0.3521242, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 14.5, "tool": [ 0.12076, 0.0853, 0.03804 ], "objects": { "red_block": [ 0.15181, 0.11513, 0.02495 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.1209934, 0.08552756, 0.03803754, 0.15200639, 0.11531564, 0.02500185, 0.93375818, -0.00014586, 3.63e-05, 0.35790452, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 14.55, "tool": [ 0.12655, 0.09083, 0.03802 ], "objects": { "red_block": [ 0.15759, 0.12063, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.12678753, 0.09105532, 0.03801592, 0.15778988, 0.12084146, 0.02500226, 0.931094, 0.00043765, 0.00036227, 0.36477888, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 14.6, "tool": [ 0.13234, 0.09635, 0.03801 ], "objects": { "red_block": [ 0.16336, 0.12622, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13257018, 0.09657738, 0.03800864, 0.16359832, 0.12644614, 0.02496849, 0.93099145, -0.00051511, 0.00086077, 0.36503961, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 14.65, "tool": [ 0.13812, 0.10188, 0.03802 ], "objects": { "red_block": [ 0.16911, 0.13175, 0.02503 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.1383564, 0.10210024, 0.03801609, 0.16934224, 0.13197918, 0.02497986, 0.92997419, -8.067e-05, 6.685e-05, 0.36762479, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 14.7, "tool": [ 0.14219, 0.10575, 0.03801 ], "objects": { "red_block": [ 0.1731, 0.13572, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14227334, 0.10583192, 0.0380058, 0.17313631, 0.13576949, 0.02499695, 0.92986437, -0.00016089, 0.00018684, 0.36790242, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 14.75, "tool": [ 0.14323, 0.10674, 0.03804 ], "objects": { "red_block": [ 0.17407, 0.13671, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14324979, 0.10676151, 0.0380404, 0.17409177, 0.13673248, 0.02499587, 0.92963247, -0.00019479, 3.847e-05, 0.36848804, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 14.8, "tool": [ 0.14349, 0.107, 0.04138 ], "objects": { "red_block": [ 0.17441, 0.13704, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14350177, 0.10700253, 0.04167218, 0.17441506, 0.13704583, 0.02497969, 0.92946641, 7.488e-05, -0.00019637, 0.3689067, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 14.85, "tool": [ 0.1436, 0.10709, 0.05031 ], "objects": { "red_block": [ 0.17463, 0.13724, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14360121, 0.1070969, 0.05071724, 0.17463264, 0.13724278, 0.02496932, 0.92937651, -7.849e-05, 0.00030655, 0.36913304, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 14.9, "tool": [ 0.14365, 0.10714, 0.06082 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14365207, 0.10714497, 0.06124845, 0.17462033, 0.13723388, 0.02499746, 0.92937649, -2e-06, 7.76e-06, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 14.95, "tool": [ 0.14367, 0.10716, 0.07168 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14366559, 0.10715775, 0.07211616, 0.17462001, 0.13723365, 0.02499816, 0.92937649, -5e-08, 1.9e-07, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 15.0, "tool": [ 0.14367, 0.10716, 0.08262 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14366881, 0.10716079, 0.08306281, 0.17462, 0.13723364, 0.02499818, 0.92937649, -0.0, 0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.05, "tool": [ 0.14367, 0.10716, 0.09359 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14366958, 0.10716151, 0.0940282, 0.17462, 0.13723364, 0.02499818, 0.92937649, -0.0, 0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.1, "tool": [ 0.14367, 0.10716, 0.10456 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14366976, 0.10716168, 0.10499803, 0.17462, 0.13723364, 0.02499818, 0.92937649, -0.0, 0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 15.15, "tool": [ 0.14367, 0.10716, 0.11553 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1436698, 0.10716172, 0.11596893, 0.17462, 0.13723364, 0.02499818, 0.92937649, 0.0, -0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 15.2, "tool": [ 0.14367, 0.10716, 0.1265 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14366981, 0.10716173, 0.12694007, 0.17462, 0.13723364, 0.02499818, 0.92937649, 0.0, -0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 15.25, "tool": [ 0.14367, 0.10716, 0.13747 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14366981, 0.10716174, 0.13791128, 0.17462, 0.13723364, 0.02499818, 0.92937649, 0.0, -0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 15.3, "tool": [ 0.14367, 0.10716, 0.14844 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14366981, 0.10716174, 0.1488825, 0.17462, 0.13723364, 0.02499818, 0.92937649, 0.0, -0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 15.35, "tool": [ 0.14367, 0.10716, 0.15683 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14366981, 0.10716174, 0.15700386, 0.17462, 0.13723364, 0.02499818, 0.92937649, 0.0, -0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 15.4, "tool": [ 0.14367, 0.10716, 0.15924 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14366981, 0.10716174, 0.15928623, 0.17462, 0.13723364, 0.02499818, 0.92937649, 0.0, -0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.45, "tool": [ 0.14367, 0.10716, 0.15982 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.14366981, 0.10716174, 0.15983048, 0.17462, 0.13723364, 0.02499818, 0.92937649, 0.0, -0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.5, "tool": [ 0.14367, 0.10716, 0.15996 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.14366981, 0.10716174, 0.15995974, 0.17462, 0.13723364, 0.02499818, 0.92937649, 0.0, -0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 15.55, "tool": [ 0.14367, 0.10716, 0.15999 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.14366981, 0.10716174, 0.15999044, 0.17462, 0.13723364, 0.02499818, 0.92937649, 0.0, -0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 15.6, "tool": [ 0.14367, 0.10716, 0.16 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.14366981, 0.10716174, 0.15999773, 0.17462, 0.13723364, 0.02499818, 0.92937649, 0.0, -0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 15.65, "tool": [ 0.14367, 0.10716, 0.16 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14366981, 0.10716174, 0.15999946, 0.17462, 0.13723364, 0.02499818, 0.92937649, 0.0, -0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 15.7, "tool": [ 0.14367, 0.10716, 0.16 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14366981, 0.10716174, 0.15999987, 0.17462, 0.13723364, 0.02499818, 0.92937649, 0.0, -0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 15.75, "tool": [ 0.14367, 0.10716, 0.16 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14366981, 0.10716174, 0.15999997, 0.17462, 0.13723364, 0.02499818, 0.92937649, 0.0, -0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 15.8, "tool": [ 0.14367, 0.10716, 0.16 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14366981, 0.10716174, 0.15999999, 0.17462, 0.13723364, 0.02499818, 0.92937649, -0.0, 0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.85, "tool": [ 0.14367, 0.10716, 0.16 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14366981, 0.10716174, 0.16, 0.17462, 0.13723364, 0.02499818, 0.92937649, -0.0, 0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.9, "tool": [ 0.14221, 0.10586, 0.16 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.14206415, 0.10572684, 0.16, 0.17462, 0.13723364, 0.02499818, 0.92937649, 0.0, -0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 15.95, "tool": [ 0.13739, 0.10155, 0.16 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.13716866, 0.10135203, 0.16, 0.17462, 0.13723364, 0.02499818, 0.92937649, -0.0, 0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 16.0, "tool": [ 0.13154, 0.09632, 0.16 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.13129388, 0.09610208, 0.16, 0.17462, 0.13723364, 0.02499818, 0.92937649, -0.0, 0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 16.05, "tool": [ 0.12689, 0.09217, 0.16 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.12679095, 0.09207808, 0.16, 0.17462, 0.13723364, 0.02499818, 0.92937649, 0.0, 0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 16.1, "tool": [ 0.12555, 0.09097, 0.16 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.12552231, 0.09094436, 0.16, 0.17462, 0.13723364, 0.02499818, 0.92937649, 0.0, -0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 16.15, "tool": [ 0.12523, 0.09068, 0.15764 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12521978, 0.09067401, 0.15740243, 0.17462, 0.13723364, 0.02499818, 0.92937649, -0.0, -0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 16.2, "tool": [ 0.12515, 0.09061, 0.14984 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12514793, 0.0906098, 0.14948275, 0.17462, 0.13723364, 0.02499818, 0.92937649, -0.0, -0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 16.25, "tool": [ 0.12513, 0.09059, 0.14037 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12513086, 0.09059455, 0.13997882, 0.17462, 0.13723364, 0.02499818, 0.92937649, -0.0, -0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 16.3, "tool": [ 0.12513, 0.09059, 0.13049 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12512681, 0.09059093, 0.13009664, 0.17462, 0.13723364, 0.02499818, 0.92937649, -0.0, 0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 16.35, "tool": [ 0.12513, 0.09059, 0.12052 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12512585, 0.09059007, 0.12012462, 0.17462, 0.13723364, 0.02499818, 0.92937649, -0.0, 0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 16.4, "tool": [ 0.12513, 0.09059, 0.11053 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12512562, 0.09058986, 0.11013126, 0.17462, 0.13723364, 0.02499818, 0.92937649, 0.0, 0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 16.45, "tool": [ 0.12513, 0.09059, 0.10053 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12512557, 0.09058981, 0.10013284, 0.17462, 0.13723364, 0.02499818, 0.92937649, 0.0, 0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 16.5, "tool": [ 0.12513, 0.09059, 0.09053 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12512555, 0.0905898, 0.09013322, 0.17462, 0.13723364, 0.02499818, 0.92937649, 0.0, 0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 16.55, "tool": [ 0.12513, 0.09059, 0.08053 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12512555, 0.0905898, 0.08013331, 0.17462, 0.13723364, 0.02499818, 0.92937649, 0.0, -0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 16.6, "tool": [ 0.12513, 0.09059, 0.07053 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12512555, 0.0905898, 0.07013333, 0.17462, 0.13723364, 0.02499818, 0.92937649, -0.0, -0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 16.65, "tool": [ 0.12513, 0.09059, 0.06053 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12512555, 0.0905898, 0.06013333, 0.17462, 0.13723364, 0.02499818, 0.92937649, -0.0, -0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 16.7, "tool": [ 0.12513, 0.09059, 0.05053 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12512555, 0.0905898, 0.05013333, 0.17462, 0.13723364, 0.02499818, 0.92937649, -0.0, 0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 16.75, "tool": [ 0.12513, 0.09059, 0.04184 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12512555, 0.0905898, 0.04162799, 0.17462, 0.13723364, 0.02499818, 0.92937649, -0.0, 0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 16.8, "tool": [ 0.12513, 0.09059, 0.03892 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12512555, 0.0905898, 0.03886724, 0.17462, 0.13723364, 0.02499818, 0.92937649, 0.0, 0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 16.85, "tool": [ 0.12589, 0.09131, 0.03822 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.1259957, 0.09140984, 0.03820598, 0.17462, 0.13723364, 0.02499818, 0.92937649, 0.0, 0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 16.9, "tool": [ 0.13001, 0.09519, 0.03805 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13021024, 0.09538163, 0.03804892, 0.17462, 0.13723364, 0.02499818, 0.92937649, 0.0, 0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 16.95, "tool": [ 0.13542, 0.10029, 0.03801 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13564705, 0.10050532, 0.03801162, 0.17462, 0.13723364, 0.02499818, 0.92937649, 0.0, -0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 17.0, "tool": [ 0.14115, 0.10569, 0.038 ], "objects": { "red_block": [ 0.17462, 0.13723, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14137739, 0.10590562, 0.03800276, 0.17462, 0.13723364, 0.02499818, 0.92937649, 0.0, -0.0, 0.36913322, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 17.05, "tool": [ 0.14677, 0.11099, 0.03804 ], "objects": { "red_block": [ 0.17815, 0.14068, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.1470112, 0.11121564, 0.03803807, 0.17833734, 0.14087381, 0.02504951, 0.92932711, -7.47e-05, 0.00020887, 0.36925746, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 17.1, "tool": [ 0.15261, 0.1165, 0.03803 ], "objects": { "red_block": [ 0.18374, 0.14614, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15284853, 0.11672292, 0.03802755, 0.18395302, 0.14634926, 0.02501704, 0.93033188, -0.00047083, 0.00013592, 0.36671836, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 17.15, "tool": [ 0.15844, 0.12199, 0.038 ], "objects": { "red_block": [ 0.18965, 0.1517, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15867568, 0.12221114, 0.0379956, 0.18987924, 0.15191055, 0.02499763, 0.933059, -0.00037907, -0.00116555, 0.35972128, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 17.2, "tool": [ 0.16425, 0.12747, 0.03804 ], "objects": { "red_block": [ 0.19533, 0.15718, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.16448527, 0.12769112, 0.03803934, 0.19556971, 0.15741927, 0.02500218, 0.93181411, -9.305e-05, 0.00010497, 0.36293587, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 17.25, "tool": [ 0.17009, 0.13297, 0.03801 ], "objects": { "red_block": [ 0.20102, 0.16274, 0.02507 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17032394, 0.13318889, 0.03800388, 0.20125371, 0.16298735, 0.0250348, 0.93056979, -0.00094925, 0.0002374, 0.36611325, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 17.3, "tool": [ 0.17591, 0.13844, 0.038 ], "objects": { "red_block": [ 0.20669, 0.16855, 0.02505 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17614537, 0.13866346, 0.03800614, 0.20691528, 0.16878866, 0.02502232, 0.93218417, -0.00091338, -0.00051396, 0.36198283, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 17.35, "tool": [ 0.18173, 0.14393, 0.03803 ], "objects": { "red_block": [ 0.2122, 0.17428, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.18195841, 0.14414754, 0.03803174, 0.212433, 0.17451009, 0.02505051, 0.93091698, -0.00017383, -0.00069904, 0.36523015, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 17.4, "tool": [ 0.18662, 0.14854, 0.03801 ], "objects": { "red_block": [ 0.21708, 0.17907, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.18673374, 0.14864746, 0.03800689, 0.2171601, 0.17915565, 0.02498985, 0.93110394, -0.00043486, 0.00051501, 0.36475334, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 17.45, "tool": [ 0.18813, 0.14996, 0.03803 ], "objects": { "red_block": [ 0.2185, 0.18044, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.18815717, 0.14998626, 0.03803274, 0.21853182, 0.18047447, 0.02498638, 0.93145917, -2.846e-05, 2.738e-05, 0.36384585, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 17.5, "tool": [ 0.18849, 0.15031, 0.03986 ], "objects": { "red_block": [ 0.21886, 0.1808, 0.02495 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18849518, 0.15030987, 0.04008256, 0.21889098, 0.18082987, 0.02497083, 0.93133518, -8.035e-05, 4.98e-05, 0.36416312, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 17.55, "tool": [ 0.18862, 0.15043, 0.04795 ], "objects": { "red_block": [ 0.21903, 0.18097, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18862708, 0.15043449, 0.04833861, 0.21903182, 0.18097012, 0.02497946, 0.93131838, 7.178e-05, -0.00027959, 0.36420598, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 17.6, "tool": [ 0.18867, 0.15047, 0.05824 ], "objects": { "red_block": [ 0.21915, 0.18106, 0.02503 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18866357, 0.15046885, 0.05866411, 0.21916765, 0.18108118, 0.02501162, 0.93116289, -0.00037268, 0.00056658, 0.36460281, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 17.65, "tool": [ 0.18868, 0.15049, 0.06905 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18868566, 0.15048941, 0.0694911, 0.21924786, 0.1811391, 0.02499464, 0.93107374, 3.21e-06, -2.577e-05, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 17.7, "tool": [ 0.1887, 0.1505, 0.07999 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18869609, 0.15049908, 0.0804316, 0.21924898, 0.18113971, 0.02499809, 0.93107374, 8e-08, -6.2e-07, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 17.75, "tool": [ 0.1887, 0.1505, 0.09096 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1886986, 0.15050141, 0.09139555, 0.21924901, 0.18113973, 0.02499818, 0.93107374, 0.0, -1e-08, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 17.8, "tool": [ 0.1887, 0.1505, 0.10193 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1886992, 0.15050196, 0.10236505, 0.21924901, 0.18113973, 0.02499818, 0.93107374, 0.0, -0.0, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 17.85, "tool": [ 0.1887, 0.1505, 0.1129 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18869934, 0.15050209, 0.11333586, 0.21924901, 0.18113973, 0.02499818, 0.93107374, 0.0, -0.0, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 17.9, "tool": [ 0.1887, 0.1505, 0.12387 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18869938, 0.15050212, 0.12430698, 0.21924901, 0.18113973, 0.02499818, 0.93107374, -0.0, 0.0, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 17.95, "tool": [ 0.1887, 0.1505, 0.13484 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18869938, 0.15050213, 0.13527818, 0.21924901, 0.18113973, 0.02499818, 0.93107374, -0.0, 0.0, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 18.0, "tool": [ 0.1887, 0.1505, 0.14581 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18869938, 0.15050213, 0.1462494, 0.21924901, 0.18113973, 0.02499818, 0.93107374, -0.0, 0.0, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 18.05, "tool": [ 0.1887, 0.1505, 0.15554 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18869939, 0.15050213, 0.15578851, 0.21924901, 0.18113973, 0.02499818, 0.93107374, 0.0, -0.0, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 18.1, "tool": [ 0.1887, 0.1505, 0.15893 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18869939, 0.15050213, 0.15899224, 0.21924901, 0.18113973, 0.02499818, 0.93107374, 0.0, -0.0, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 18.15, "tool": [ 0.1887, 0.1505, 0.15975 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18869939, 0.15050213, 0.15976063, 0.21924901, 0.18113973, 0.02499818, 0.93107374, 0.0, -0.0, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 18.2, "tool": [ 0.1887, 0.1505, 0.15994 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18869939, 0.15050213, 0.15994316, 0.21924901, 0.18113973, 0.02499818, 0.93107374, 0.0, -0.0, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 18.25, "tool": [ 0.1887, 0.1505, 0.15999 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18869939, 0.15050213, 0.1599865, 0.21924901, 0.18113973, 0.02499818, 0.93107374, 0.0, -0.0, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 18.3, "tool": [ 0.1887, 0.1505, 0.16 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18869939, 0.15050213, 0.15999679, 0.21924901, 0.18113973, 0.02499818, 0.93107374, 0.0, -0.0, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 18.35, "tool": [ 0.1887, 0.1505, 0.16 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18869939, 0.15050213, 0.15999924, 0.21924901, 0.18113973, 0.02499818, 0.93107374, 0.0, -0.0, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 18.4, "tool": [ 0.1887, 0.1505, 0.16 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18869939, 0.15050213, 0.15999982, 0.21924901, 0.18113973, 0.02499818, 0.93107374, 0.0, -0.0, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 18.45, "tool": [ 0.1887, 0.1505, 0.16 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18869939, 0.15050213, 0.15999996, 0.21924901, 0.18113973, 0.02499818, 0.93107374, 0.0, -0.0, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 18.5, "tool": [ 0.1887, 0.1505, 0.16 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18869939, 0.15050213, 0.15999999, 0.21924901, 0.18113973, 0.02499818, 0.93107374, 0.0, -0.0, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 18.55, "tool": [ 0.1887, 0.1505, 0.16 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18869939, 0.15050213, 0.16, 0.21924901, 0.18113973, 0.02499818, 0.93107374, 0.0, -0.0, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 18.6, "tool": [ 0.1887, 0.1505, 0.16 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18869939, 0.15050213, 0.16, 0.21924901, 0.18113973, 0.02499818, 0.93107374, 0.0, -0.0, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 18.65, "tool": [ 0.1887, 0.1505, 0.16 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18869939, 0.15050213, 0.16, 0.21924901, 0.18113973, 0.02499818, 0.93107374, 0.0, -0.0, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 18.7, "tool": [ 0.1887, 0.1505, 0.16 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18869939, 0.15050213, 0.16, 0.21924901, 0.18113973, 0.02499818, 0.93107374, -0.0, -0.0, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 18.75, "tool": [ 0.1887, 0.1505, 0.16 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18869939, 0.15050213, 0.16, 0.21924901, 0.18113973, 0.02499818, 0.93107374, -0.0, -0.0, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 18.8, "tool": [ 0.1887, 0.1505, 0.16 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18869939, 0.15050213, 0.16, 0.21924901, 0.18113973, 0.02499818, 0.93107374, -0.0, -0.0, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 18.85, "tool": [ 0.1887, 0.1505, 0.16 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18869939, 0.15050213, 0.16, 0.21924901, 0.18113973, 0.02499818, 0.93107374, -0.0, -0.0, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 18.9, "tool": [ 0.1887, 0.1505, 0.16 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18869939, 0.15050213, 0.16, 0.21924901, 0.18113973, 0.02499818, 0.93107374, -0.0, -0.0, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 18.95, "tool": [ 0.1887, 0.1505, 0.16 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18869939, 0.15050213, 0.16, 0.21924901, 0.18113973, 0.02499818, 0.93107374, -0.0, -0.0, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 18.97, "tool": [ 0.1887, 0.1505, 0.16 ], "objects": { "red_block": [ 0.21925, 0.18114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18869939, 0.15050213, 0.16, 0.21924901, 0.18113973, 0.02499818, 0.93107374, -0.0, -0.0, 0.36483104, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] } ], "events": [ { "t": 0.3, "type": "start", "message": "closed_loop: 빨간 블록을 오른쪽 목표로 밀어줘" }, { "t": 3.944, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.426 m" }, { "t": 6.86, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.338 m" }, { "t": 9.776, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.247 m" }, { "t": 12.692, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.155 m" }, { "t": 15.608, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.062 m" }, { "t": 18.97, "type": "success", "message": "최종 거리 0.0014 m · 정지 상태 True" } ] }, { "id": "slippery-0-open_loop", "policy": "open_loop", "scenario": "slippery", "seed": 0, "task": { "object_name": "red_block", "goal": "right", "instruction": "빨간 블록을 오른쪽 목표로 밀어줘" }, "parameters": { "friction": 0.12, "mass": 0.08, "disturbance": false }, "success": true, "final_distance_m": 0.004751719057646156, "settled": true, "sim_time_s": 7.045999999999446, "wall_time_s": 0.14873409998835996, "timed_out": false, "termination_reason": "success", "contact_steps": 744, "peak_contact_point_force_n": 1.711410471702934, "unintended_contact_steps": 0, "distractor_displacement_m": 3.0014372211737835e-08, "workspace_violation": false, "replans": 0, "disturbance_applied": false, "trajectory": [ { "t": 0.05, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.02496 ], "blue_block": [ 0.12705, -0.17417, 0.02496 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.16151064, 0.0249633, 1.0, 9e-08, -0.0, 0.0, 0.12704868, -0.17417359, 0.0249633, 1.0, 9e-08, 0.0, -0.0 ] }, { "t": 0.1, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.16151063, 0.02499903, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499903, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.15, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.16151063, 0.02499989, 1.0, 0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499989, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.2, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.25, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.3, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.35, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.4, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.45, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.5, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.55, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.6, "tool": [ -0.00417, -0.31782, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.00450931, -0.31763922, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.65, "tool": [ -0.01439, -0.31247, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.01484748, -0.31222683, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.7, "tool": [ -0.02626, -0.30625, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.02674899, -0.30599598, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.75, "tool": [ -0.03853, -0.29983, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.03902286, -0.29957019, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.8, "tool": [ -0.05089, -0.29336, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05138517, -0.29309809, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.85, "tool": [ -0.06327, -0.28687, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.06376849, -0.286615, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.9, "tool": [ -0.07566, -0.28039, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.07615679, -0.2801293, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.95, "tool": [ -0.08805, -0.2739, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.08854627, -0.27364298, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.0, "tool": [ -0.10044, -0.26742, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.10093604, -0.26715651, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.05, "tool": [ -0.11283, -0.26093, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.11332588, -0.26067, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.1, "tool": [ -0.12522, -0.25444, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.12571573, -0.25418349, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.15, "tool": [ -0.13761, -0.24796, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.13810558, -0.24769697, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.2, "tool": [ -0.15, -0.24147, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.15049543, -0.24121046, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.25, "tool": [ -0.16239, -0.23498, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.16288529, -0.23472394, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.3, "tool": [ -0.17478, -0.2285, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.17527514, -0.22823743, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.35, "tool": [ -0.18717, -0.22201, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.187665, -0.22175091, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.4, "tool": [ -0.19664, -0.21705, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.1968365, -0.21694932, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.45, "tool": [ -0.19937, -0.21562, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.19941399, -0.21559991, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.5, "tool": [ -0.20002, -0.21528, 0.15764 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20002861, -0.21527813, 0.15740243, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.55, "tool": [ -0.20017, -0.2152, 0.14984 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20017459, -0.21520171, 0.14948275, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.6, "tool": [ -0.20021, -0.21518, 0.14037 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20020925, -0.21518356, 0.13997882, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.65, "tool": [ -0.20022, -0.21518, 0.13049 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20021748, -0.21517925, 0.13009664, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.7, "tool": [ -0.20022, -0.21518, 0.12052 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20021944, -0.21517823, 0.12012462, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.75, "tool": [ -0.20022, -0.21518, 0.11053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.2002199, -0.21517799, 0.11013126, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.8, "tool": [ -0.20022, -0.21518, 0.10053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022001, -0.21517793, 0.10013284, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.85, "tool": [ -0.20022, -0.21518, 0.09053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517792, 0.09013322, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.9, "tool": [ -0.20022, -0.21518, 0.08053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022005, -0.21517791, 0.08013331, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.95, "tool": [ -0.20022, -0.21518, 0.07053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022005, -0.21517791, 0.07013333, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.0, "tool": [ -0.20022, -0.21518, 0.06053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022005, -0.21517791, 0.06013333, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.05, "tool": [ -0.20022, -0.21518, 0.05053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022005, -0.21517791, 0.05013333, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.1, "tool": [ -0.20022, -0.21518, 0.04184 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022005, -0.21517791, 0.04162799, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.15, "tool": [ -0.20022, -0.21518, 0.03892 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022005, -0.21517791, 0.03886724, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.2, "tool": [ -0.19946, -0.21446, 0.03822 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.19934901, -0.21435878, 0.03820598, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.25, "tool": [ -0.19533, -0.21058, 0.03805 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1951302, -0.21039138, 0.03804892, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.3, "tool": [ -0.18991, -0.20549, 0.03801 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.18968787, -0.20527338, 0.03801162, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.35, "tool": [ -0.18418, -0.2001, 0.038 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.18395172, -0.19987906, 0.03800276, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.4, "tool": [ -0.17851, -0.19474, 0.038 ], "objects": { "red_block": [ -0.13952, -0.159, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17827173, -0.19451923, 0.03800429, -0.13925532, -0.15878426, 0.0249991, 0.99978154, 5.468e-05, -7.07e-05, 0.02090119, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.45, "tool": [ -0.17262, -0.18921, 0.03801 ], "objects": { "red_block": [ -0.13357, -0.15369, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17238416, -0.18898989, 0.0380089, -0.13334186, -0.15347675, 0.02500022, 0.99965807, -2.374e-05, 0.00017337, 0.02614783, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.5, "tool": [ -0.16678, -0.18371, 0.03801 ], "objects": { "red_block": [ -0.12782, -0.14843, 0.02502 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.16654114, -0.18348932, 0.03800676, -0.12759888, -0.14821835, 0.02498504, 0.99942459, -1.679e-05, 0.00012255, 0.0339186, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.55, "tool": [ -0.16095, -0.17822, 0.03801 ], "objects": { "red_block": [ -0.12225, -0.14329, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.16071607, -0.17800769, 0.03801208, -0.12200644, -0.14306723, 0.02498905, 0.99919513, 2.868e-05, 0.00021852, 0.04011285, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.6, "tool": [ -0.15512, -0.17274, 0.03801 ], "objects": { "red_block": [ -0.11638, -0.13795, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.15488403, -0.17252422, 0.03801273, -0.11613861, -0.13774254, 0.02498942, 0.99888414, 4.341e-05, 2.419e-05, 0.04722789, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.65, "tool": [ -0.14929, -0.16726, 0.03801 ], "objects": { "red_block": [ -0.11052, -0.13272, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14905427, -0.16704307, 0.03800872, -0.11028171, -0.13250865, 0.0249839, 0.99860436, 0.00028257, -1.05e-05, 0.05281346, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.7, "tool": [ -0.14346, -0.16178, 0.03801 ], "objects": { "red_block": [ -0.10488, -0.12734, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1432269, -0.16156611, 0.03800934, -0.10465601, -0.12712302, 0.02499973, 0.99821427, 0.00039188, 1.927e-05, 0.0597338, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.75, "tool": [ -0.13763, -0.1563, 0.03801 ], "objects": { "red_block": [ -0.0992, -0.12194, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1373963, -0.15608425, 0.03800693, -0.09898105, -0.12172369, 0.0249966, 0.99792503, -5.338e-05, -0.00037226, 0.06438545, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.8, "tool": [ -0.1318, -0.15082, 0.03801 ], "objects": { "red_block": [ -0.09358, -0.11666, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13157008, -0.15060302, 0.03800846, -0.09335295, -0.11644319, 0.02500517, 0.99751095, -0.00023685, -0.00011589, 0.07051126, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.85, "tool": [ -0.12597, -0.14534, 0.03801 ], "objects": { "red_block": [ -0.08805, -0.11136, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12574151, -0.14512478, 0.03800936, -0.0878183, -0.11114699, 0.02501704, 0.99721776, -0.00017045, 0.00021622, 0.07454309, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.9, "tool": [ -0.12015, -0.13986, 0.038 ], "objects": { "red_block": [ -0.08247, -0.10599, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11991229, -0.13964267, 0.03799982, -0.08225282, -0.10577561, 0.02497579, 0.99638753, -0.00026893, -0.00015133, 0.08492225, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.95, "tool": [ -0.11432, -0.13438, 0.038 ], "objects": { "red_block": [ -0.07683, -0.10079, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1140874, -0.13416318, 0.03800334, -0.07660183, -0.10058029, 0.0250011, 0.99579658, 0.00058304, -0.00036243, 0.09158988, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.0, "tool": [ -0.10849, -0.1289, 0.038 ], "objects": { "red_block": [ -0.07142, -0.09565, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.10826047, -0.12868511, 0.03800423, -0.0711881, -0.09543837, 0.0249961, 0.99495382, 0.00022172, 0.00013595, 0.1003336, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.05, "tool": [ -0.10267, -0.12343, 0.03801 ], "objects": { "red_block": [ -0.06577, -0.09041, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.10243569, -0.12320665, 0.03800626, -0.06554213, -0.09019413, 0.02501335, 0.99432611, 0.0001067, -2.816e-05, 0.10637469, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.1, "tool": [ -0.09683, -0.11794, 0.038 ], "objects": { "red_block": [ -0.0603, -0.08512, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.0966024, -0.11772231, 0.03800348, -0.06007528, -0.08490876, 0.02499347, 0.99344806, 0.00022697, -0.00026808, 0.11428395, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.15, "tool": [ -0.09101, -0.11247, 0.038 ], "objects": { "red_block": [ -0.0548, -0.07987, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.0907788, -0.11224545, 0.03800434, -0.05457809, -0.07966259, 0.02497701, 0.99243118, -0.00029495, -0.00014441, 0.12280164, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.2, "tool": [ -0.08518, -0.10698, 0.03801 ], "objects": { "red_block": [ -0.04921, -0.0746, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.08495083, -0.10676349, 0.03800614, -0.04899277, -0.0743871, 0.02497441, 0.99178863, -0.00036405, 0.00019278, 0.12788724, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.25, "tool": [ -0.07935, -0.1015, 0.03801 ], "objects": { "red_block": [ -0.04369, -0.06934, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07912111, -0.10128156, 0.03800846, -0.04346582, -0.0691309, 0.02499003, 0.99073089, -5.718e-05, -0.00012209, 0.13583919, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.3, "tool": [ -0.07353, -0.09602, 0.03801 ], "objects": { "red_block": [ -0.0381, -0.06422, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07329624, -0.09579957, 0.03800766, -0.03787775, -0.06401378, 0.02500933, 0.98959853, -0.00021991, -0.00022555, 0.14385635, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.35, "tool": [ -0.0677, -0.09054, 0.038 ], "objects": { "red_block": [ -0.03261, -0.0591, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06746609, -0.09031912, 0.03800475, -0.03238627, -0.05888991, 0.02499592, 0.98793077, 0.00012805, -0.00029598, 0.15489575, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.4, "tool": [ -0.06187, -0.08506, 0.03801 ], "objects": { "red_block": [ -0.02705, -0.05397, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.061641, -0.08484142, 0.03801087, -0.02682619, -0.05376381, 0.02500035, 0.98649242, -0.00025721, -1.408e-05, 0.16380672, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.45, "tool": [ -0.05604, -0.07958, 0.03801 ], "objects": { "red_block": [ -0.02135, -0.04849, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.0558113, -0.07936346, 0.03800743, -0.02111914, -0.04826848, 0.02498658, 0.98592493, 0.00010948, -0.00023141, 0.16718839, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.5, "tool": [ -0.05022, -0.0741, 0.03801 ], "objects": { "red_block": [ -0.01571, -0.04299, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.04998292, -0.07388076, 0.03801101, -0.01548885, -0.04277171, 0.02498408, 0.98506909, -0.00013113, -1.061e-05, 0.17215945, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.55, "tool": [ -0.04439, -0.06862, 0.03801 ], "objects": { "red_block": [ -0.01, -0.03753, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.04415659, -0.06839981, 0.03801053, -0.00977577, -0.03731228, 0.02499574, 0.98442164, -0.00028652, -7.406e-05, 0.17582362, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.6, "tool": [ -0.03856, -0.06313, 0.03801 ], "objects": { "red_block": [ -0.00436, -0.03222, 0.02496 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.03832943, -0.06291446, 0.03801543, -0.00412725, -0.03201609, 0.02497527, 0.98331393, -0.00020988, -4.477e-05, 0.18191668, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.65, "tool": [ -0.03274, -0.05765, 0.03802 ], "objects": { "red_block": [ 0.00138, -0.02712, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.03250214, -0.0574344, 0.03801454, 0.00160104, -0.02692147, 0.02499369, 0.98194628, -0.00024133, 0.00040076, 0.18915942, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.7, "tool": [ -0.02691, -0.05217, 0.03801 ], "objects": { "red_block": [ 0.00701, -0.02191, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.0266764, -0.05195701, 0.03801192, 0.00724805, -0.02169557, 0.0250164, 0.98026086, 9.754e-05, -4.429e-05, 0.19770846, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.75, "tool": [ -0.02108, -0.0467, 0.03801 ], "objects": { "red_block": [ 0.01268, -0.0165, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.02084581, -0.04647533, 0.03800666, 0.01290012, -0.01628737, 0.02498743, 0.97880945, -0.00015977, -7.115e-05, 0.20477314, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.8, "tool": [ -0.01525, -0.04122, 0.03801 ], "objects": { "red_block": [ 0.01834, -0.0111, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.01501794, -0.0410006, 0.03800599, 0.01856388, -0.01088167, 0.02497236, 0.97761306, 3.563e-05, -0.00018507, 0.21041071, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.85, "tool": [ -0.00942, -0.03574, 0.03801 ], "objects": { "red_block": [ 0.02404, -0.00561, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.00918866, -0.03551757, 0.0380069, 0.02426339, -0.00538855, 0.02493243, 0.97675386, 2.164e-05, 5.47e-06, 0.21436394, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.9, "tool": [ -0.0036, -0.03026, 0.03801 ], "objects": { "red_block": [ 0.02978, -4e-05, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.00336365, -0.03003739, 0.03801014, 0.03000506, 0.00017925, 0.02500992, 0.97637934, 0.00019854, 2.322e-05, 0.21606327, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.95, "tool": [ 0.00223, -0.02477, 0.03801 ], "objects": { "red_block": [ 0.03545, 0.00549, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00246529, -0.02455566, 0.03800544, 0.0356838, 0.00570935, 0.02496515, 0.97524173, 0.00026752, -0.00017228, 0.2211413, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.0, "tool": [ 0.00806, -0.01929, 0.03801 ], "objects": { "red_block": [ 0.04111, 0.01094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00829476, -0.01907256, 0.03800548, 0.04133393, 0.01115335, 0.02499219, 0.97395742, -0.00012957, -0.00015557, 0.22673091, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.05, "tool": [ 0.01389, -0.01381, 0.03801 ], "objects": { "red_block": [ 0.04682, 0.01641, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.0141192, -0.01359469, 0.03801454, 0.04705163, 0.01663029, 0.02498507, 0.97273525, 0.00025464, 5.542e-05, 0.23191823, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.1, "tool": [ 0.01972, -0.00833, 0.03802 ], "objects": { "red_block": [ 0.0525, 0.02194, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01994812, -0.00811541, 0.03801855, 0.05272822, 0.02216268, 0.02500604, 0.97187898, -0.00071049, 0.00060589, 0.23547902, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.15, "tool": [ 0.02554, -0.00286, 0.03801 ], "objects": { "red_block": [ 0.05819, 0.02745, 0.02502 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02577595, -0.00263705, 0.03801254, 0.0584223, 0.02766754, 0.02499409, 0.97073455, 0.0004922, 6.035e-05, 0.24015451, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.2, "tool": [ 0.03137, 0.00263, 0.03801 ], "objects": { "red_block": [ 0.06392, 0.03291, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03160409, 0.00284778, 0.03801003, 0.06414728, 0.03313454, 0.02498933, 0.96988125, -0.00018181, -3.587e-05, 0.24357816, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.25, "tool": [ 0.0372, 0.00811, 0.03801 ], "objects": { "red_block": [ 0.06965, 0.03847, 0.02495 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03743234, 0.00832643, 0.03801121, 0.06986617, 0.03868227, 0.02496583, 0.96922467, 0.00029516, 7.482e-05, 0.24617766, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.3, "tool": [ 0.04303, 0.01359, 0.03801 ], "objects": { "red_block": [ 0.07535, 0.04405, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.04326132, 0.0138076, 0.03800782, 0.0755791, 0.0442706, 0.02499408, 0.96861516, -0.00044357, -0.00011823, 0.24856482, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.35, "tool": [ 0.04886, 0.01906, 0.03801 ], "objects": { "red_block": [ 0.08107, 0.0497, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.04908996, 0.01928271, 0.03800823, 0.08129789, 0.0499198, 0.02497153, 0.96836449, -0.00082365, -0.00013797, 0.24953861, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.4, "tool": [ 0.05468, 0.02455, 0.03801 ], "objects": { "red_block": [ 0.08679, 0.05526, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.05491527, 0.02476635, 0.03801301, 0.0870186, 0.05548089, 0.02499684, 0.96763461, 5.677e-05, -0.000361, 0.25235517, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.45, "tool": [ 0.06051, 0.03003, 0.03801 ], "objects": { "red_block": [ 0.09248, 0.06084, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.06074299, 0.03024483, 0.03800977, 0.09271298, 0.06106971, 0.02499225, 0.96711105, -0.00021949, -7.046e-05, 0.25435439, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.5, "tool": [ 0.06634, 0.0355, 0.03801 ], "objects": { "red_block": [ 0.0982, 0.06652, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.06657435, 0.03572424, 0.0380081, 0.09843635, 0.06674562, 0.02497957, 0.96696098, -8.835e-05, 0.00015281, 0.25492438, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.55, "tool": [ 0.07217, 0.04099, 0.03801 ], "objects": { "red_block": [ 0.1039, 0.07216, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07240256, 0.04120532, 0.038011, 0.10411966, 0.0723781, 0.02498799, 0.96645986, 0.00020803, 0.00017997, 0.25681759, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.6, "tool": [ 0.07799, 0.04647, 0.03801 ], "objects": { "red_block": [ 0.10956, 0.07773, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07822539, 0.04668673, 0.03801264, 0.10979464, 0.07795114, 0.02499858, 0.96539798, 0.00029555, 6.103e-05, 0.26078084, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.65, "tool": [ 0.08382, 0.05195, 0.03801 ], "objects": { "red_block": [ 0.11524, 0.08327, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08405401, 0.05216896, 0.03801171, 0.11546858, 0.0834976, 0.02498341, 0.96438678, -0.00014359, 0.00027613, 0.26449584, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.7, "tool": [ 0.08965, 0.05743, 0.03801 ], "objects": { "red_block": [ 0.12094, 0.08886, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08988239, 0.05764673, 0.03800677, 0.12116741, 0.08908155, 0.02497348, 0.9636335, -5.914e-05, -1.706e-05, 0.26722737, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.75, "tool": [ 0.09548, 0.06291, 0.03801 ], "objects": { "red_block": [ 0.1266, 0.09442, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09571057, 0.06313162, 0.03800621, 0.12683209, 0.09464293, 0.02498164, 0.96236275, -0.00017235, -1.335e-05, 0.27176811, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.8, "tool": [ 0.1013, 0.06839, 0.03801 ], "objects": { "red_block": [ 0.13231, 0.09993, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10153564, 0.06860955, 0.03801388, 0.13253633, 0.10014886, 0.02498751, 0.96097356, -0.00027547, 4.944e-05, 0.27664008, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.85, "tool": [ 0.10713, 0.07387, 0.03802 ], "objects": { "red_block": [ 0.13801, 0.10547, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10736141, 0.07408853, 0.03801588, 0.13823392, 0.10569742, 0.02499349, 0.95989993, -0.0001199, -2.73e-06, 0.28034283, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.9, "tool": [ 0.11296, 0.07935, 0.03802 ], "objects": { "red_block": [ 0.14371, 0.11108, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11319379, 0.07956762, 0.03801593, 0.14393329, 0.11129757, 0.0250153, 0.95933046, 0.00013077, -8.949e-05, 0.28228541, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.95, "tool": [ 0.11879, 0.08483, 0.03802 ], "objects": { "red_block": [ 0.14938, 0.11668, 0.02495 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11902083, 0.08504892, 0.03801651, 0.1496015, 0.11689698, 0.02496667, 0.95863866, -0.00012299, -5.556e-05, 0.28462589, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.0, "tool": [ 0.12461, 0.09031, 0.03801 ], "objects": { "red_block": [ 0.15507, 0.12227, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.1248467, 0.09052861, 0.03801356, 0.1553075, 0.12250417, 0.02499779, 0.95790876, 0.0006503, -0.00041116, 0.28707179, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.05, "tool": [ 0.13044, 0.09579, 0.03802 ], "objects": { "red_block": [ 0.16076, 0.12788, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13067617, 0.09601009, 0.03801591, 0.16098009, 0.12810151, 0.02498971, 0.95716726, 1.591e-05, -0.00021254, 0.28953546, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.1, "tool": [ 0.13627, 0.10127, 0.03801 ], "objects": { "red_block": [ 0.16643, 0.13349, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.1365043, 0.10149053, 0.03801017, 0.1666572, 0.13370912, 0.02498926, 0.95638847, 3.59e-06, -7.46e-05, 0.29209774, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.15, "tool": [ 0.1421, 0.10675, 0.038 ], "objects": { "red_block": [ 0.1721, 0.13904, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14233212, 0.10697223, 0.03800388, 0.17233298, 0.13926334, 0.02501262, 0.95529663, -0.00023459, -4.828e-05, 0.29564894, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.2, "tool": [ 0.14792, 0.11223, 0.03801 ], "objects": { "red_block": [ 0.17781, 0.14464, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14815673, 0.11244972, 0.03800871, 0.17803614, 0.14486433, 0.02501613, 0.95421469, -0.00018124, -0.00016506, 0.29912248, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.25, "tool": [ 0.15376, 0.11771, 0.03801 ], "objects": { "red_block": [ 0.18347, 0.15026, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15398937, 0.11793175, 0.03800848, 0.18368356, 0.15047491, 0.0250139, 0.95342118, -0.00015532, -0.00019498, 0.30164216, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.3, "tool": [ 0.15958, 0.12319, 0.03801 ], "objects": { "red_block": [ 0.18915, 0.15587, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15981717, 0.12341212, 0.03801212, 0.18937331, 0.15609134, 0.02500029, 0.95289632, 2.618e-05, 8.78e-05, 0.30329621, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.35, "tool": [ 0.16541, 0.12867, 0.03801 ], "objects": { "red_block": [ 0.1948, 0.16153, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.16564234, 0.12888775, 0.03801482, 0.19503105, 0.16176019, 0.0249613, 0.95217939, -7.643e-05, -0.00043096, 0.30553923, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.4, "tool": [ 0.17124, 0.13415, 0.03801 ], "objects": { "red_block": [ 0.20048, 0.16713, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.1714724, 0.13437117, 0.03800895, 0.20070192, 0.16735613, 0.02498353, 0.95150075, -8.666e-05, 4.653e-05, 0.30764641, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.45, "tool": [ 0.17703, 0.1396, 0.03801 ], "objects": { "red_block": [ 0.20612, 0.17272, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17723732, 0.13979259, 0.0380109, 0.20633317, 0.17293381, 0.0249858, 0.95079394, -0.00011967, 0.00017686, 0.30982389, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.5, "tool": [ 0.18013, 0.14251, 0.038 ], "objects": { "red_block": [ 0.21079, 0.1774, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.18018371, 0.14255845, 0.03800334, 0.21095103, 0.17755919, 0.02498143, 0.95040831, -3.339e-05, -4.65e-06, 0.31100489, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.55, "tool": [ 0.1809, 0.14323, 0.03808 ], "objects": { "red_block": [ 0.214, 0.18061, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18091564, 0.14324526, 0.03812497, 0.21409614, 0.18071346, 0.02498427, 0.95015067, 4.286e-05, -0.00019823, 0.31179104, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.6, "tool": [ 0.18109, 0.14341, 0.04326 ], "objects": { "red_block": [ 0.21573, 0.18236, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18108966, 0.14340855, 0.04359339, 0.21577173, 0.18239583, 0.02497395, 0.94998917, 0.0001453, -0.00048162, 0.31228244, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.65, "tool": [ 0.18113, 0.14345, 0.05279 ], "objects": { "red_block": [ 0.2161, 0.18272, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18113099, 0.14344733, 0.05320003, 0.21609959, 0.18271973, 0.02498995, 0.9499532, 5.988e-05, -0.00018854, 0.3123922, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.7, "tool": [ 0.18114, 0.14346, 0.06341 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1811408, 0.14345654, 0.06384684, 0.21610749, 0.18272543, 0.02499967, 0.94995321, 1.45e-06, -4.56e-06, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.75, "tool": [ 0.18114, 0.14346, 0.0743 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114313, 0.14345873, 0.07474102, 0.21610769, 0.18272557, 0.02499991, 0.94995321, 3e-08, -1.1e-07, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.8, "tool": [ 0.18114, 0.14346, 0.08526 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114369, 0.14345925, 0.08569395, 0.21610769, 0.18272557, 0.02499991, 0.94995321, 0.0, -0.0, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.85, "tool": [ 0.18114, 0.14346, 0.09622 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114382, 0.14345937, 0.09666083, 0.21610769, 0.18272557, 0.02499991, 0.94995321, 0.0, -0.0, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.9, "tool": [ 0.18114, 0.14346, 0.10719 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114385, 0.1434594, 0.10763102, 0.21610769, 0.18272557, 0.02499991, 0.94995321, 0.0, -0.0, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.95, "tool": [ 0.18114, 0.14346, 0.11816 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114386, 0.14345941, 0.11860199, 0.21610769, 0.18272557, 0.02499991, 0.94995321, -0.0, 0.0, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.0, "tool": [ 0.18114, 0.14346, 0.12913 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114386, 0.14345941, 0.12957316, 0.21610769, 0.18272557, 0.02499991, 0.94995321, 0.0, -0.0, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.05, "tool": [ 0.18114, 0.14346, 0.14011 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114386, 0.14345941, 0.14054437, 0.21610769, 0.18272557, 0.02499991, 0.94995321, 0.0, -0.0, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.1, "tool": [ 0.18114, 0.14346, 0.15107 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114386, 0.14345941, 0.15149863, 0.21610769, 0.18272557, 0.02499991, 0.94995321, -0.0, 0.0, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.15, "tool": [ 0.18114, 0.14346, 0.15775 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114386, 0.14345941, 0.15787415, 0.21610769, 0.18272557, 0.02499991, 0.94995321, 0.0, -0.0, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.2, "tool": [ 0.18114, 0.14346, 0.15946 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18114386, 0.14345941, 0.15949449, 0.21610769, 0.18272557, 0.02499991, 0.94995321, -0.0, 0.0, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.25, "tool": [ 0.18114, 0.14346, 0.15987 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18114386, 0.14345941, 0.15987995, 0.21610769, 0.18272557, 0.02499991, 0.94995321, 0.0, -0.0, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.3, "tool": [ 0.18114, 0.14346, 0.15997 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18114386, 0.14345941, 0.15997149, 0.21610769, 0.18272557, 0.02499991, 0.94995321, -0.0, 0.0, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.35, "tool": [ 0.18114, 0.14346, 0.15999 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18114386, 0.14345941, 0.15999323, 0.21610769, 0.18272557, 0.02499991, 0.94995321, 0.0, -0.0, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.4, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.15999839, 0.21610769, 0.18272557, 0.02499991, 0.94995321, 0.0, -0.0, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.45, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.15999962, 0.21610769, 0.18272557, 0.02499991, 0.94995321, -0.0, 0.0, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.5, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.15999991, 0.21610769, 0.18272557, 0.02499991, 0.94995321, 0.0, -0.0, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.55, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.15999998, 0.21610769, 0.18272557, 0.02499991, 0.94995321, -0.0, 0.0, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.6, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.15999999, 0.21610769, 0.18272557, 0.02499991, 0.94995321, -0.0, 0.0, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.65, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.21610769, 0.18272557, 0.02499991, 0.94995321, 0.0, -0.0, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.7, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.21610769, 0.18272557, 0.02499991, 0.94995321, -0.0, 0.0, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.75, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.21610769, 0.18272557, 0.02499991, 0.94995321, 0.0, -0.0, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.8, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.21610769, 0.18272557, 0.02499991, 0.94995321, -0.0, 0.0, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.85, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.21610769, 0.18272557, 0.02499991, 0.94995321, -0.0, 0.0, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.9, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.21610769, 0.18272557, 0.02499991, 0.94995321, 0.0, -0.0, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.95, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.21610769, 0.18272557, 0.02499991, 0.94995321, -0.0, 0.0, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.0, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.21610769, 0.18272557, 0.02499991, 0.94995321, 0.0, -0.0, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.046, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.21611, 0.18273, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.21610769, 0.18272557, 0.02499991, 0.94995321, 0.0, -0.0, 0.31239221, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] } ], "events": [ { "t": 0.3, "type": "start", "message": "open_loop: 빨간 블록을 오른쪽 목표로 밀어줘" }, { "t": 7.046, "type": "success", "message": "최종 거리 0.0048 m · 정지 상태 True" } ] }, { "id": "slippery-0-closed_loop", "policy": "closed_loop", "scenario": "slippery", "seed": 0, "task": { "object_name": "red_block", "goal": "right", "instruction": "빨간 블록을 오른쪽 목표로 밀어줘" }, "parameters": { "friction": 0.12, "mass": 0.08, "disturbance": false }, "success": true, "final_distance_m": 0.006853993649870565, "settled": true, "sim_time_s": 16.188000000001907, "wall_time_s": 0.27703549998113886, "timed_out": false, "termination_reason": "success", "contact_steps": 668, "peak_contact_point_force_n": 2.123291672479279, "unintended_contact_steps": 0, "distractor_displacement_m": 3.000561853494044e-08, "workspace_violation": false, "replans": 4, "disturbance_applied": false, "trajectory": [ { "t": 0.05, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.02496 ], "blue_block": [ 0.12705, -0.17417, 0.02496 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.16151064, 0.0249633, 1.0, 9e-08, -0.0, 0.0, 0.12704868, -0.17417359, 0.0249633, 1.0, 9e-08, 0.0, -0.0 ] }, { "t": 0.1, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.16151063, 0.02499903, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499903, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.15, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.16151063, 0.02499989, 1.0, 0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499989, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.2, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.25, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.3, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.35, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.4, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.45, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.5, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.55, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.6, "tool": [ -0.00417, -0.31782, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.00450931, -0.31763922, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.65, "tool": [ -0.01439, -0.31247, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.01484748, -0.31222683, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.7, "tool": [ -0.02626, -0.30625, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.02674899, -0.30599598, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.75, "tool": [ -0.03853, -0.29983, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.03902286, -0.29957019, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.8, "tool": [ -0.05089, -0.29336, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05138517, -0.29309809, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.85, "tool": [ -0.06327, -0.28687, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.06376849, -0.286615, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.9, "tool": [ -0.07566, -0.28039, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.07615679, -0.2801293, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.95, "tool": [ -0.08805, -0.2739, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.08854627, -0.27364298, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.0, "tool": [ -0.10044, -0.26742, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.10093604, -0.26715651, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.05, "tool": [ -0.11283, -0.26093, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.11332588, -0.26067, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.1, "tool": [ -0.12522, -0.25444, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.12571573, -0.25418349, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.15, "tool": [ -0.13761, -0.24796, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.13810558, -0.24769697, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.2, "tool": [ -0.15, -0.24147, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.15049543, -0.24121046, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.25, "tool": [ -0.16239, -0.23498, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.16288529, -0.23472394, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.3, "tool": [ -0.17478, -0.2285, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.17527514, -0.22823743, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.35, "tool": [ -0.18717, -0.22201, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.187665, -0.22175091, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.4, "tool": [ -0.19664, -0.21705, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.1968365, -0.21694932, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.45, "tool": [ -0.19937, -0.21562, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.19941399, -0.21559991, 0.16, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.5, "tool": [ -0.20002, -0.21528, 0.15764 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20002861, -0.21527813, 0.15740243, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.55, "tool": [ -0.20017, -0.2152, 0.14984 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20017459, -0.21520171, 0.14948275, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.6, "tool": [ -0.20021, -0.21518, 0.14037 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20020925, -0.21518356, 0.13997882, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.65, "tool": [ -0.20022, -0.21518, 0.13049 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20021748, -0.21517925, 0.13009664, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.7, "tool": [ -0.20022, -0.21518, 0.12052 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20021944, -0.21517823, 0.12012462, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.75, "tool": [ -0.20022, -0.21518, 0.11053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.2002199, -0.21517799, 0.11013126, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.8, "tool": [ -0.20022, -0.21518, 0.10053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022001, -0.21517793, 0.10013284, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.85, "tool": [ -0.20022, -0.21518, 0.09053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517792, 0.09013322, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.9, "tool": [ -0.20022, -0.21518, 0.08053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022005, -0.21517791, 0.08013331, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.95, "tool": [ -0.20022, -0.21518, 0.07053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022005, -0.21517791, 0.07013333, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.0, "tool": [ -0.20022, -0.21518, 0.06053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022005, -0.21517791, 0.06013333, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.05, "tool": [ -0.20022, -0.21518, 0.05053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022005, -0.21517791, 0.05013333, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.1, "tool": [ -0.20022, -0.21518, 0.04184 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022005, -0.21517791, 0.04162799, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.15, "tool": [ -0.20022, -0.21518, 0.03892 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022005, -0.21517791, 0.03886724, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.2, "tool": [ -0.19946, -0.21446, 0.03822 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.19934899, -0.21435876, 0.03820598, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.25, "tool": [ -0.19533, -0.21058, 0.03805 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.19513007, -0.21039126, 0.03804892, -0.14315192, -0.16151063, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.3, "tool": [ -0.18991, -0.20549, 0.03801 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1896876, -0.20527312, 0.03801162, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.35, "tool": [ -0.18418, -0.2001, 0.038 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1839513, -0.19987867, 0.03800276, -0.14315192, -0.16151063, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.4, "tool": [ -0.17851, -0.19474, 0.038 ], "objects": { "red_block": [ -0.13952, -0.159, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17827116, -0.1945187, 0.03800427, -0.13925482, -0.15878387, 0.02499911, 0.99978144, 5.489e-05, -7.072e-05, 0.02090599, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.45, "tool": [ -0.17262, -0.18921, 0.03801 ], "objects": { "red_block": [ -0.13357, -0.15369, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17238344, -0.18898922, 0.0380089, -0.13334125, -0.15347612, 0.02500022, 0.99965797, -2.372e-05, 0.00017342, 0.02615176, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.5, "tool": [ -0.16678, -0.18372, 0.03801 ], "objects": { "red_block": [ -0.12788, -0.14837, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.16654622, -0.18349442, 0.03801497, -0.12765662, -0.14815545, 0.02499528, 0.9994146, -5.533e-05, 3.106e-05, 0.03421188, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.55, "tool": [ -0.16095, -0.17823, 0.03801 ], "objects": { "red_block": [ -0.12211, -0.14305, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.16071768, -0.17800691, 0.0380079, -0.12187227, -0.14284, 0.02500771, 0.99908567, -0.00010628, -0.00010394, 0.04275277, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.6, "tool": [ -0.15511, -0.17274, 0.03801 ], "objects": { "red_block": [ -0.11646, -0.13784, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.15488302, -0.17252256, 0.03800818, -0.11622215, -0.13762616, 0.02500165, 0.99880222, -6.323e-05, -0.00022128, 0.04892932, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.65, "tool": [ -0.14928, -0.16726, 0.038 ], "objects": { "red_block": [ -0.11076, -0.13268, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14904752, -0.16703918, 0.03800334, -0.11055292, -0.13247654, 0.02499311, 0.99831531, 0.00013154, -1.638e-05, 0.05802175, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.7, "tool": [ -0.14345, -0.16178, 0.038 ], "objects": { "red_block": [ -0.10537, -0.12742, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14321864, -0.16156222, 0.03800146, -0.10515052, -0.12721022, 0.02498092, 0.99776359, 2.491e-05, -0.00056818, 0.06683929, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.75, "tool": [ -0.13763, -0.1563, 0.03801 ], "objects": { "red_block": [ -0.09966, -0.12211, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13739666, -0.1560821, 0.03800816, -0.09943357, -0.12190144, 0.02498257, 0.99702325, 0.00016014, -5.302e-05, 0.07710128, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.8, "tool": [ -0.1318, -0.15082, 0.038 ], "objects": { "red_block": [ -0.09421, -0.11703, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13156645, -0.15060166, 0.0380032, -0.09399335, -0.11682136, 0.02499906, 0.99635717, 0.00018043, -0.00010629, 0.08527799, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.85, "tool": [ -0.12598, -0.14534, 0.03801 ], "objects": { "red_block": [ -0.08848, -0.11171, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12574344, -0.1451235, 0.03800653, -0.08826196, -0.11150271, 0.02500466, 0.99583749, -0.00010336, 0.00019714, 0.09114631, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.9, "tool": [ -0.12014, -0.13986, 0.038 ], "objects": { "red_block": [ -0.08297, -0.10647, 0.02496 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11990988, -0.13964022, 0.03800102, -0.08275017, -0.10626663, 0.02497692, 0.99525816, -0.00021867, -2.537e-05, 0.09726848, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.95, "tool": [ -0.11507, -0.13509, 0.038 ], "objects": { "red_block": [ -0.07764, -0.10146, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11494119, -0.13496952, 0.03800132, -0.07746074, -0.10128464, 0.02499188, 0.9947736, 0.00040869, -0.00074737, 0.10210166, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.0, "tool": [ -0.11334, -0.13348, 0.038 ], "objects": { "red_block": [ -0.07383, -0.09763, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11331392, -0.13344788, 0.03800032, -0.07370489, -0.09750644, 0.02498338, 0.9947879, 0.00015534, 2.413e-05, 0.10196577, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.05, "tool": [ -0.11293, -0.13309, 0.03943 ], "objects": { "red_block": [ -0.07147, -0.09527, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11292396, -0.13308337, 0.0396399, -0.0714085, -0.09521155, 0.02497297, 0.99483624, 0.00014313, 9.68e-06, 0.10149307, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.1, "tool": [ -0.11283, -0.133, 0.0472 ], "objects": { "red_block": [ -0.07059, -0.09439, 0.02496 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11283134, -0.13299678, 0.04758218, -0.07058387, -0.09438799, 0.02496338, 0.99485487, 0.00046663, 6.56e-05, 0.10130928, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.15, "tool": [ -0.11281, -0.13298, 0.0574 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280934, -0.13297622, 0.05782791, -0.07058581, -0.09436, 0.02499891, 0.99485494, 1.451e-05, 1.91e-06, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.2, "tool": [ -0.1128, -0.13297, 0.06819 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280412, -0.13297134, 0.06862681, -0.07058597, -0.0943593, 0.02499989, 0.99485494, 3.5e-07, 5e-08, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.25, "tool": [ -0.1128, -0.13297, 0.07912 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280288, -0.13297018, 0.07955711, -0.07058598, -0.09435928, 0.02499991, 0.99485494, 1e-08, 0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.3, "tool": [ -0.1128, -0.13297, 0.09008 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280258, -0.1329699, 0.09051861, -0.07058598, -0.09435928, 0.02499991, 0.99485494, 0.0, 0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.35, "tool": [ -0.1128, -0.13297, 0.10105 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280251, -0.13296984, 0.10148753, -0.07058598, -0.09435928, 0.02499991, 0.99485494, 0.0, 0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.4, "tool": [ -0.1128, -0.13297, 0.11202 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296982, 0.1124582, -0.07058598, -0.09435928, 0.02499991, 0.99485494, 0.0, 0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.45, "tool": [ -0.1128, -0.13297, 0.12299 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296982, 0.1234293, -0.07058598, -0.09435928, 0.02499991, 0.99485494, 0.0, 0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.5, "tool": [ -0.1128, -0.13297, 0.13396 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296982, 0.13440049, -0.07058598, -0.09435928, 0.02499991, 0.99485494, -0.0, -0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.55, "tool": [ -0.1128, -0.13297, 0.14493 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296982, 0.1453717, -0.07058598, -0.09435928, 0.02499991, 0.99485494, 0.0, 0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.6, "tool": [ -0.1128, -0.13297, 0.15502 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296982, 0.15528769, -0.07058598, -0.09435928, 0.02499991, 0.99485494, 0.0, 0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.65, "tool": [ -0.1128, -0.13297, 0.1588 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296982, 0.15886949, -0.07058598, -0.09435928, 0.02499991, 0.99485494, 0.0, 0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.7, "tool": [ -0.1128, -0.13297, 0.15972 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.11280249, -0.13296982, 0.15973146, -0.07058598, -0.09435928, 0.02499991, 0.99485494, 0.0, 0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.75, "tool": [ -0.1128, -0.13297, 0.15993 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.11280249, -0.13296982, 0.15993623, -0.07058598, -0.09435928, 0.02499991, 0.99485494, -0.0, -0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.8, "tool": [ -0.1128, -0.13297, 0.15998 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.11280249, -0.13296982, 0.15998486, -0.07058598, -0.09435928, 0.02499991, 0.99485494, 0.0, 0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.85, "tool": [ -0.1128, -0.13297, 0.16 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.11280249, -0.13296982, 0.1599964, -0.07058598, -0.09435928, 0.02499991, 0.99485494, -0.0, -0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.9, "tool": [ -0.1128, -0.13297, 0.16 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296982, 0.15999915, -0.07058598, -0.09435928, 0.02499991, 0.99485494, 0.0, 0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.95, "tool": [ -0.1128, -0.13297, 0.16 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296982, 0.1599998, -0.07058598, -0.09435928, 0.02499991, 0.99485494, 0.0, 0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.0, "tool": [ -0.1128, -0.13297, 0.16 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296982, 0.15999995, -0.07058598, -0.09435928, 0.02499991, 0.99485494, -0.0, -0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.05, "tool": [ -0.1128, -0.13297, 0.16 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296982, 0.15999999, -0.07058598, -0.09435928, 0.02499991, 0.99485494, 0.0, 0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.1, "tool": [ -0.1128, -0.13297, 0.16 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296982, 0.16, -0.07058598, -0.09435928, 0.02499991, 0.99485494, -0.0, -0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.15, "tool": [ -0.11318, -0.13336, 0.16 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.11325359, -0.13343576, 0.16, -0.07058598, -0.09435928, 0.02499991, 0.99485494, -0.0, -0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.2, "tool": [ -0.11625, -0.13653, 0.16 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.11641246, -0.13669854, 0.16, -0.07058598, -0.09435928, 0.02499991, 0.99485494, 0.0, 0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.25, "tool": [ -0.12055, -0.14098, 0.16 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.12073401, -0.14116226, 0.16, -0.07058598, -0.09435928, 0.02499991, 0.99485494, -0.0, -0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.3, "tool": [ -0.12477, -0.14533, 0.16 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.12488542, -0.14545023, 0.16, -0.07058598, -0.09435928, 0.02499991, 0.99485494, 0.0, 0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.35, "tool": [ -0.12637, -0.14698, 0.16 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.12639579, -0.1470103, 0.16, -0.07058598, -0.09435928, 0.02499991, 0.99485494, -0.0, -0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.4, "tool": [ -0.12675, -0.14738, 0.15919 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.12675934, -0.1473858, 0.15903818, -0.07058598, -0.09435928, 0.02499991, 0.99485494, -0.0, -0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.45, "tool": [ -0.12684, -0.14747, 0.15264 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.1268457, -0.14747501, 0.1523029, -0.07058598, -0.09435928, 0.02499991, 0.99485494, 0.0, 0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.5, "tool": [ -0.12687, -0.1475, 0.14347 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.12686621, -0.14749619, 0.14308856, -0.07058598, -0.09435928, 0.02499991, 0.99485494, -0.0, -0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.55, "tool": [ -0.12687, -0.1475, 0.13367 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.12687108, -0.14750122, 0.13327521, -0.07058598, -0.09435928, 0.02499991, 0.99485494, 0.0, 0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.6, "tool": [ -0.12687, -0.1475, 0.12372 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.12687224, -0.14750241, 0.12331953, -0.07058598, -0.09435928, 0.02499991, 0.99485494, 0.0, 0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.65, "tool": [ -0.12687, -0.1475, 0.11373 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.12687251, -0.1475027, 0.11333006, -0.07058598, -0.09435928, 0.02499991, 0.99485494, -0.0, -0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.7, "tool": [ -0.12687, -0.1475, 0.10373 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.12687258, -0.14750277, 0.10333255, -0.07058598, -0.09435928, 0.02499991, 0.99485494, 0.0, 0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.75, "tool": [ -0.12687, -0.1475, 0.09373 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.12687259, -0.14750278, 0.09333315, -0.07058598, -0.09435928, 0.02499991, 0.99485494, -0.0, -0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.8, "tool": [ -0.12687, -0.1475, 0.08373 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.1268726, -0.14750279, 0.08333329, -0.07058598, -0.09435928, 0.02499991, 0.99485494, -0.0, -0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.85, "tool": [ -0.12687, -0.1475, 0.07373 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.1268726, -0.14750279, 0.07333332, -0.07058598, -0.09435928, 0.02499991, 0.99485494, 0.0, 0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.9, "tool": [ -0.12687, -0.1475, 0.06373 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.1268726, -0.14750279, 0.06333333, -0.07058598, -0.09435928, 0.02499991, 0.99485494, -0.0, -0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.95, "tool": [ -0.12687, -0.1475, 0.05373 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.1268726, -0.14750279, 0.05333333, -0.07058598, -0.09435928, 0.02499991, 0.99485494, 0.0, 0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.0, "tool": [ -0.12687, -0.1475, 0.04398 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.1268726, -0.14750279, 0.04366159, -0.07058598, -0.09435928, 0.02499991, 0.99485494, -0.0, -0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.05, "tool": [ -0.12687, -0.1475, 0.03945 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.1268726, -0.14750279, 0.03937331, -0.07058598, -0.09435928, 0.02499991, 0.99485494, -0.0, -0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.1, "tool": [ -0.12673, -0.14737, 0.03835 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12668165, -0.14732251, 0.03832631, -0.07058598, -0.09435928, 0.02499991, 0.99485494, 0.0, 0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.15, "tool": [ -0.12354, -0.14436, 0.03808 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12335918, -0.14418556, 0.03807749, -0.07058598, -0.09435928, 0.02499991, 0.99485494, -0.0, -0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.2, "tool": [ -0.11837, -0.13948, 0.03802 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11815128, -0.13926848, 0.0380184, -0.07058598, -0.09435928, 0.02499991, 0.99485494, 0.0, 0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.25, "tool": [ -0.11271, -0.13413, 0.038 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11247908, -0.13391302, 0.03800437, -0.07058598, -0.09435928, 0.02499991, 0.99485494, 0.0, 0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.3, "tool": [ -0.10693, -0.12867, 0.038 ], "objects": { "red_block": [ -0.07059, -0.09436, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.10669652, -0.12845337, 0.03800104, -0.07058598, -0.09435928, 0.02499991, 0.99485494, -0.0, -0.0, 0.10130971, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.35, "tool": [ -0.10119, -0.12324, 0.038 ], "objects": { "red_block": [ -0.0657, -0.09059, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1009508, -0.12302011, 0.03800025, -0.06551638, -0.09045069, 0.02498344, 0.98810483, -1.491e-05, 0.00010436, 0.15378178, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.4, "tool": [ -0.09536, -0.11775, 0.038 ], "objects": { "red_block": [ -0.06077, -0.08627, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.09513102, -0.11753092, 0.03800066, -0.06054467, -0.08605902, 0.02500733, 0.98614417, -7.638e-05, -3.781e-05, 0.16589051, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.45, "tool": [ -0.08954, -0.11224, 0.03801 ], "objects": { "red_block": [ -0.05508, -0.08114, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.08930518, -0.11201862, 0.0380106, -0.05485475, -0.08093388, 0.02498216, 0.98470913, 0.00031834, 6.051e-05, 0.17420626, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.5, "tool": [ -0.08372, -0.10674, 0.03801 ], "objects": { "red_block": [ -0.04941, -0.07575, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.08348341, -0.10652083, 0.03800643, -0.04918043, -0.07553535, 0.0250108, 0.98392074, 4.152e-05, 4.81e-06, 0.17860562, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.55, "tool": [ -0.0779, -0.10125, 0.03801 ], "objects": { "red_block": [ -0.04368, -0.07028, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07766632, -0.10102858, 0.03801246, -0.04345147, -0.07006443, 0.02499517, 0.98337958, -8.597e-05, -1.232e-05, 0.18156152, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.6, "tool": [ -0.07208, -0.09575, 0.03801 ], "objects": { "red_block": [ -0.03798, -0.06485, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07184643, -0.09553212, 0.03801128, -0.03776024, -0.06463285, 0.025, 0.9827208, -0.0004269, -5.664e-05, 0.18509361, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.65, "tool": [ -0.06626, -0.09026, 0.038 ], "objects": { "red_block": [ -0.03229, -0.05929, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06602884, -0.09004294, 0.03800386, -0.03205407, -0.05906418, 0.02500175, 0.98226323, 0.00017925, 1.512e-05, 0.18750713, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.7, "tool": [ -0.06044, -0.08477, 0.03801 ], "objects": { "red_block": [ -0.02659, -0.0538, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.0602124, -0.08454936, 0.03800606, -0.02635255, -0.0535788, 0.02500957, 0.98155891, -0.00023628, -3.615e-05, 0.19115973, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.75, "tool": [ -0.05463, -0.07928, 0.03801 ], "objects": { "red_block": [ -0.02087, -0.04831, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05439752, -0.07906085, 0.03800893, -0.02064349, -0.04808209, 0.02500728, 0.9809133, 0.00016727, 0.00024938, 0.19444541, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.8, "tool": [ -0.04881, -0.07379, 0.03801 ], "objects": { "red_block": [ -0.01517, -0.04275, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.04857649, -0.07356588, 0.0380087, -0.01495166, -0.04252545, 0.025012, 0.98044037, -9.956e-05, 0.00015707, 0.19681626, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.85, "tool": [ -0.04313, -0.06843, 0.038 ], "objects": { "red_block": [ -0.00953, -0.03721, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.04294376, -0.06825169, 0.03800212, -0.00931844, -0.03700565, 0.02499243, 0.9798476, -4.461e-05, 7.285e-05, 0.19974652, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.9, "tool": [ -0.04047, -0.06593, 0.038 ], "objects": { "red_block": [ -0.00499, -0.03268, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.04042573, -0.06588094, 0.03800053, -0.00484366, -0.03253177, 0.0249942, 0.97954942, -7.445e-05, 0.00020278, 0.2012036, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.95, "tool": [ -0.03982, -0.06531, 0.03827 ], "objects": { "red_block": [ -0.00193, -0.02962, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03981036, -0.06530168, 0.03836026, -0.00183953, -0.029527, 0.02496896, 0.97933495, -1.58e-05, -3.208e-05, 0.20224504, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.0, "tool": [ -0.03967, -0.06517, 0.04428 ], "objects": { "red_block": [ -0.00034, -0.02803, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03966412, -0.06516401, 0.04462663, -0.00030882, -0.02799237, 0.02495625, 0.97922423, 1.354e-05, -0.00011701, 0.20278042, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.05, "tool": [ -0.03963, -0.06513, 0.05403 ], "objects": { "red_block": [ -7e-05, -0.02776, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03962939, -0.06513132, 0.05444914, -7.544e-05, -0.02776179, 0.02497111, 0.97919919, -5.448e-05, 0.00026893, 0.20290113, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.1, "tool": [ -0.03962, -0.06512, 0.06471 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03962114, -0.06512356, 0.06514737, -8.791e-05, -0.02776712, 0.02499921, 0.9791992, -1.37e-06, 6.77e-06, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.15, "tool": [ -0.03962, -0.06512, 0.07562 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03961919, -0.06512172, 0.07605376, -8.822e-05, -0.02776726, 0.0249999, 0.9791992, -3e-08, 1.6e-07, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.2, "tool": [ -0.03962, -0.06512, 0.08657 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03961872, -0.06512128, 0.08700959, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, -0.0, 0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.25, "tool": [ -0.03962, -0.06512, 0.09754 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03961861, -0.06512117, 0.09797716, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, -0.0, 0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.3, "tool": [ -0.03962, -0.06512, 0.10851 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03961858, -0.06512115, 0.10894751, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, -0.0, 0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.35, "tool": [ -0.03962, -0.06512, 0.11948 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03961858, -0.06512114, 0.11991853, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, -0.0, 0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.4, "tool": [ -0.03962, -0.06512, 0.13045 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03961858, -0.06512114, 0.1308897, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, -0.0, 0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.45, "tool": [ -0.03962, -0.06512, 0.14142 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03961858, -0.06512114, 0.14186091, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, -0.0, 0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.5, "tool": [ -0.03962, -0.06512, 0.15232 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03961858, -0.06512114, 0.15270796, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, 0.0, -0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.55, "tool": [ -0.03962, -0.06512, 0.1581 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03961858, -0.06512114, 0.15821015, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, -0.0, 0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.6, "tool": [ -0.03962, -0.06512, 0.15955 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.03961858, -0.06512114, 0.15957459, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, -0.0, 0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.65, "tool": [ -0.03962, -0.06512, 0.15989 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.03961858, -0.06512114, 0.15989897, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, 0.0, -0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.7, "tool": [ -0.03962, -0.06512, 0.15997 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.03961858, -0.06512114, 0.15997601, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, 0.0, -0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.75, "tool": [ -0.03962, -0.06512, 0.15999 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.03961858, -0.06512114, 0.1599943, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, -0.0, 0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.8, "tool": [ -0.03962, -0.06512, 0.16 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03961858, -0.06512114, 0.15999865, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, 0.0, -0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.85, "tool": [ -0.03962, -0.06512, 0.16 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03961858, -0.06512114, 0.15999968, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, -0.0, 0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.9, "tool": [ -0.03962, -0.06512, 0.16 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03961858, -0.06512114, 0.15999992, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, 0.0, -0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.95, "tool": [ -0.03962, -0.06512, 0.16 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03961858, -0.06512114, 0.15999998, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, 0.0, -0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.0, "tool": [ -0.03962, -0.06512, 0.16 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03961858, -0.06512114, 0.16, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, -0.0, 0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.05, "tool": [ -0.03965, -0.06515, 0.16 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.03967526, -0.06517452, 0.16, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, 0.0, -0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.1, "tool": [ -0.04202, -0.06738, 0.16 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.04217211, -0.06752551, 0.16, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, -0.0, 0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.15, "tool": [ -0.04637, -0.07148, 0.16 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.046558, -0.07165522, 0.16, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, -0.0, 0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.2, "tool": [ -0.05119, -0.07601, 0.16 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05136204, -0.07617864, 0.16, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, 0.0, -0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.25, "tool": [ -0.05379, -0.07847, 0.16 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05383885, -0.07851077, 0.16, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, -0.0, 0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.3, "tool": [ -0.05444, -0.07908, 0.15993 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.05445342, -0.07908944, 0.15988682, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, 0.0, -0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.35, "tool": [ -0.0546, -0.07922, 0.15521 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.05459953, -0.07922702, 0.15490193, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, 0.0, -0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.4, "tool": [ -0.05463, -0.07926, 0.14652 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.05463423, -0.07925969, 0.14614558, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, -0.0, 0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.45, "tool": [ -0.05464, -0.07927, 0.13684 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.05464247, -0.07926745, 0.13644125, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, 0.0, -0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.5, "tool": [ -0.05464, -0.07927, 0.12691 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.05464442, -0.07926929, 0.12651147, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, -0.0, 0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.55, "tool": [ -0.05464, -0.07927, 0.11693 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.05464489, -0.07926973, 0.11652814, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, 0.0, -0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.6, "tool": [ -0.05464, -0.07927, 0.10693 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.054645, -0.07926983, 0.1065321, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, 0.0, -0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.65, "tool": [ -0.05465, -0.07927, 0.09693 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.05464502, -0.07926986, 0.09653304, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, -0.0, 0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.7, "tool": [ -0.05465, -0.07927, 0.08693 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.05464503, -0.07926987, 0.08653326, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, 0.0, -0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.75, "tool": [ -0.05465, -0.07927, 0.07693 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.05464503, -0.07926987, 0.07653332, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, -0.0, 0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.8, "tool": [ -0.05465, -0.07927, 0.06693 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.05464503, -0.07926987, 0.06653333, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, -0.0, 0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.85, "tool": [ -0.05465, -0.07927, 0.05693 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.05464503, -0.07926987, 0.05653333, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, 0.0, -0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.9, "tool": [ -0.05465, -0.07927, 0.04693 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.05464503, -0.07926987, 0.04653333, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, -0.0, 0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.95, "tool": [ -0.05465, -0.07927, 0.0403 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.05464503, -0.07926987, 0.04017285, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, 0.0, -0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 8.0, "tool": [ -0.05465, -0.07927, 0.03855 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.05464503, -0.07926987, 0.03851691, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, 0.0, -0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 8.05, "tool": [ -0.05269, -0.07742, 0.03813 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.0525278, -0.07727116, 0.03812276, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, -0.0, 0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.1, "tool": [ -0.04789, -0.07289, 0.03803 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.04767377, -0.07268887, 0.03802915, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, 0.0, -0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 8.15, "tool": [ -0.04231, -0.06763, 0.03801 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.04208572, -0.06741365, 0.03800692, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, -0.0, 0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.2, "tool": [ -0.03655, -0.06219, 0.038 ], "objects": { "red_block": [ -9e-05, -0.02777, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.03632283, -0.06197338, 0.03800164, -8.823e-05, -0.02776726, 0.02499991, 0.9791992, 0.0, -0.0, 0.20290125, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.25, "tool": [ -0.03086, -0.05683, 0.038 ], "objects": { "red_block": [ 0.00214, -0.02547, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.03062928, -0.05661198, 0.03800268, 0.00235769, -0.02524399, 0.02500035, 0.97679243, 0.00053081, -0.00074322, 0.21418619, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 8.3, "tool": [ -0.025, -0.05128, 0.038 ], "objects": { "red_block": [ 0.00771, -0.01996, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.02476644, -0.05106211, 0.03800387, 0.00794373, -0.0197323, 0.02499539, 0.97524071, 0.00027193, 6.66e-06, 0.22114586, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.35, "tool": [ -0.01916, -0.04577, 0.03801 ], "objects": { "red_block": [ 0.01344, -0.01429, 0.02495 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.01893048, -0.04554788, 0.03800544, 0.01366507, -0.01406779, 0.02496057, 0.97492916, 0.00037925, 4.966e-05, 0.22251515, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 8.4, "tool": [ -0.01334, -0.04027, 0.03801 ], "objects": { "red_block": [ 0.01915, -0.00867, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.01310858, -0.04005005, 0.03800762, 0.01937192, -0.00844694, 0.0249987, 0.97477131, -0.00016403, -2.903e-05, 0.2232059, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 8.45, "tool": [ -0.00752, -0.03478, 0.03801 ], "objects": { "red_block": [ 0.0249, -0.0031, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.00729045, -0.03455654, 0.03801134, 0.02512309, -0.00288538, 0.0249793, 0.97443542, -3.885e-05, -8.306e-05, 0.22466778, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.5, "tool": [ -0.00171, -0.02928, 0.03801 ], "objects": { "red_block": [ 0.03061, 0.0024, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.001474, -0.02906411, 0.03801234, 0.03083126, 0.00262312, 0.02498818, 0.97372519, 9.877e-05, -0.00024084, 0.22772612, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 8.55, "tool": [ 0.00411, -0.02379, 0.03802 ], "objects": { "red_block": [ 0.03629, 0.00787, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00434197, -0.02356898, 0.03801528, 0.03650781, 0.00808803, 0.02497662, 0.97265802, 0.0008783, 0.00033082, 0.23224016, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.6, "tool": [ 0.00993, -0.0183, 0.03801 ], "objects": { "red_block": [ 0.04195, 0.0135, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01016116, -0.01808091, 0.03801135, 0.04217647, 0.01371853, 0.02499901, 0.97194335, -0.00054856, 0.00061996, 0.23521359, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 8.65, "tool": [ 0.01574, -0.01281, 0.03801 ], "objects": { "red_block": [ 0.04761, 0.01897, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01597551, -0.01258732, 0.03801386, 0.0478312, 0.01919191, 0.02498897, 0.97065633, -0.00017003, 0.00027727, 0.24047075, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 8.7, "tool": [ 0.02156, -0.00731, 0.03801 ], "objects": { "red_block": [ 0.0533, 0.02446, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02179325, -0.00709443, 0.03801168, 0.05352035, 0.02468049, 0.02496638, 0.96973495, -0.00017686, 0.0004672, 0.24415952, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.75, "tool": [ 0.02738, -0.00183, 0.03801 ], "objects": { "red_block": [ 0.05899, 0.03003, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02761057, -0.00160815, 0.03800604, 0.05921905, 0.03025744, 0.02500054, 0.96901614, 0.00027585, 6.081e-05, 0.24699726, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 8.8, "tool": [ 0.03126, 0.00183, 0.038 ], "objects": { "red_block": [ 0.06407, 0.0351, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03133755, 0.0019023, 0.03800192, 0.06424159, 0.03527182, 0.02498527, 0.96916801, 0.00041749, 8.521e-05, 0.24640046, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.85, "tool": [ 0.03229, 0.0028, 0.038 ], "objects": { "red_block": [ 0.06768, 0.0387, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03231117, 0.00281909, 0.03800046, 0.06779357, 0.0388132, 0.02497456, 0.96928566, -3.783e-05, -2.986e-05, 0.2459376, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.9, "tool": [ 0.03254, 0.00303, 0.04169 ], "objects": { "red_block": [ 0.06982, 0.04083, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03254293, 0.00303732, 0.0419931, 0.0698726, 0.04088304, 0.02497631, 0.96933259, 0.00037678, 9.016e-05, 0.24575228, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 8.95, "tool": [ 0.0326, 0.00309, 0.05074 ], "objects": { "red_block": [ 0.07049, 0.04149, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03259797, 0.00308915, 0.05114748, 0.07048966, 0.04148513, 0.02499383, 0.96936818, -0.00010158, -2.766e-05, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 9.0, "tool": [ 0.03261, 0.0031, 0.06126 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03261105, 0.00310146, 0.06168625, 0.07049255, 0.04148095, 0.02499977, 0.96936819, -2.46e-06, -6.7e-07, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.05, "tool": [ 0.03261, 0.0031, 0.07212 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03261415, 0.00310438, 0.07255477, 0.07049261, 0.04148084, 0.02499991, 0.96936819, -6e-08, -2e-08, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.1, "tool": [ 0.03261, 0.00311, 0.08306 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03261489, 0.00310507, 0.0835016, 0.07049261, 0.04148084, 0.02499991, 0.96936819, -0.0, -0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 9.15, "tool": [ 0.03262, 0.00311, 0.09403 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03261506, 0.00310524, 0.09446703, 0.07049261, 0.04148084, 0.02499991, 0.96936819, -0.0, -0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.2, "tool": [ 0.03262, 0.00311, 0.105 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0326151, 0.00310528, 0.10543688, 0.07049261, 0.04148084, 0.02499991, 0.96936819, -0.0, -0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 9.25, "tool": [ 0.03262, 0.00311, 0.11597 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03261511, 0.00310529, 0.11640778, 0.07049261, 0.04148084, 0.02499991, 0.96936819, 0.0, 0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.3, "tool": [ 0.03262, 0.00311, 0.12694 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03261512, 0.00310529, 0.12737892, 0.07049261, 0.04148084, 0.02499991, 0.96936819, -0.0, -0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.35, "tool": [ 0.03262, 0.00311, 0.13791 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03261512, 0.00310529, 0.13835013, 0.07049261, 0.04148084, 0.02499991, 0.96936819, -0.0, -0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 9.4, "tool": [ 0.03262, 0.00311, 0.14888 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03261512, 0.00310529, 0.14932134, 0.07049261, 0.04148084, 0.02499991, 0.96936819, -0.0, -0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.45, "tool": [ 0.03262, 0.00311, 0.157 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03261512, 0.00310529, 0.15717006, 0.07049261, 0.04148084, 0.02499991, 0.96936819, -0.0, -0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 9.5, "tool": [ 0.03262, 0.00311, 0.15929 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03261512, 0.00310529, 0.15932611, 0.07049261, 0.04148084, 0.02499991, 0.96936819, 0.0, 0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 9.55, "tool": [ 0.03262, 0.00311, 0.15983 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.03261512, 0.00310529, 0.15983996, 0.07049261, 0.04148084, 0.02499991, 0.96936819, -0.0, -0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.6, "tool": [ 0.03262, 0.00311, 0.15996 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.03261512, 0.00310529, 0.15996199, 0.07049261, 0.04148084, 0.02499991, 0.96936819, 0.0, 0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 9.65, "tool": [ 0.03262, 0.00311, 0.15999 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.03261512, 0.00310529, 0.15999097, 0.07049261, 0.04148084, 0.02499991, 0.96936819, -0.0, -0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.7, "tool": [ 0.03262, 0.00311, 0.16 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.03261512, 0.00310529, 0.15999786, 0.07049261, 0.04148084, 0.02499991, 0.96936819, -0.0, -0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.75, "tool": [ 0.03262, 0.00311, 0.16 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03261512, 0.00310529, 0.15999949, 0.07049261, 0.04148084, 0.02499991, 0.96936819, 0.0, 0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 9.8, "tool": [ 0.03262, 0.00311, 0.16 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03261512, 0.00310529, 0.15999988, 0.07049261, 0.04148084, 0.02499991, 0.96936819, -0.0, -0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.85, "tool": [ 0.03262, 0.00311, 0.16 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03261512, 0.00310529, 0.15999997, 0.07049261, 0.04148084, 0.02499991, 0.96936819, 0.0, 0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 9.9, "tool": [ 0.03262, 0.00311, 0.16 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03261512, 0.00310529, 0.15999999, 0.07049261, 0.04148084, 0.02499991, 0.96936819, -0.0, -0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.95, "tool": [ 0.03262, 0.00311, 0.16 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03261512, 0.00310529, 0.16, 0.07049261, 0.04148084, 0.02499991, 0.96936819, -0.0, -0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 10.0, "tool": [ 0.03123, 0.00211, 0.16 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.03109876, 0.00201173, 0.16, 0.07049261, 0.04148084, 0.02499991, 0.96936819, 0.0, 0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 10.05, "tool": [ 0.02701, -0.00094, 0.16 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.02681793, -0.00107549, 0.16, 0.07049261, 0.04148084, 0.02499991, 0.96936819, -0.0, -0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 10.1, "tool": [ 0.02195, -0.00459, 0.16 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.0217396, -0.00473785, 0.16, 0.07049261, 0.04148084, 0.02499991, 0.96936819, 0.0, 0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 10.15, "tool": [ 0.01807, -0.00739, 0.16 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.01798736, -0.00744387, 0.16, 0.07049261, 0.04148084, 0.02499991, 0.96936819, 0.0, 0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 10.2, "tool": [ 0.01697, -0.00818, 0.16 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.01695441, -0.00818881, 0.16, 0.07049261, 0.04148084, 0.02499991, 0.96936819, -0.0, -0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 10.25, "tool": [ 0.01671, -0.00836, 0.1574 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.01670822, -0.00836635, 0.15715391, 0.07049261, 0.04148084, 0.02499991, 0.96936819, 0.0, 0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 10.3, "tool": [ 0.01665, -0.00841, 0.14948 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.01664975, -0.00840852, 0.1491191, 0.07049261, 0.04148084, 0.02499991, 0.96936819, -0.0, -0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 10.35, "tool": [ 0.01664, -0.00842, 0.13998 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.01663586, -0.00841853, 0.13958746, 0.07049261, 0.04148084, 0.02499991, 0.96936819, 0.0, 0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 10.4, "tool": [ 0.01663, -0.00842, 0.1301 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.01663257, -0.00842091, 0.12969869, 0.07049261, 0.04148084, 0.02499991, 0.96936819, 0.0, 0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 10.45, "tool": [ 0.01663, -0.00842, 0.12012 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.01663178, -0.00842148, 0.11972511, 0.07049261, 0.04148084, 0.02499991, 0.96936819, -0.0, -0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 10.5, "tool": [ 0.01663, -0.00842, 0.11013 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.0166316, -0.00842161, 0.10973138, 0.07049261, 0.04148084, 0.02499991, 0.96936819, 0.0, 0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 10.55, "tool": [ 0.01663, -0.00842, 0.10013 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.01663155, -0.00842164, 0.09973287, 0.07049261, 0.04148084, 0.02499991, 0.96936819, -0.0, -0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 10.6, "tool": [ 0.01663, -0.00842, 0.09013 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.01663154, -0.00842165, 0.08973322, 0.07049261, 0.04148084, 0.02499991, 0.96936819, -0.0, -0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 10.65, "tool": [ 0.01663, -0.00842, 0.08013 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.01663154, -0.00842165, 0.07973331, 0.07049261, 0.04148084, 0.02499991, 0.96936819, 0.0, 0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 10.7, "tool": [ 0.01663, -0.00842, 0.07013 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.01663154, -0.00842165, 0.06973333, 0.07049261, 0.04148084, 0.02499991, 0.96936819, -0.0, -0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 10.75, "tool": [ 0.01663, -0.00842, 0.06013 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.01663154, -0.00842165, 0.05973333, 0.07049261, 0.04148084, 0.02499991, 0.96936819, 0.0, 0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 10.8, "tool": [ 0.01663, -0.00842, 0.05013 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.01663154, -0.00842165, 0.04973333, 0.07049261, 0.04148084, 0.02499991, 0.96936819, 0.0, 0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 10.85, "tool": [ 0.01663, -0.00842, 0.04163 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.01663154, -0.00842165, 0.04142838, 0.07049261, 0.04148084, 0.02499991, 0.96936819, -0.0, -0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 10.9, "tool": [ 0.01663, -0.00842, 0.03887 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.01663154, -0.00842165, 0.03881879, 0.07049261, 0.04148084, 0.02499991, 0.96936819, 0.0, 0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 10.95, "tool": [ 0.01751, -0.00761, 0.03821 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01762626, -0.00750004, 0.03819447, 0.07049261, 0.04148084, 0.02499991, 0.96936819, -0.0, -0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 11.0, "tool": [ 0.02176, -0.00367, 0.03805 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02196324, -0.00348181, 0.03804618, 0.07049261, 0.04148084, 0.02499991, 0.96936819, 0.0, 0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 11.05, "tool": [ 0.02724, 0.0014, 0.03801 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02746526, 0.00161584, 0.03801097, 0.07049261, 0.04148084, 0.02499991, 0.96936819, 0.0, 0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 11.1, "tool": [ 0.03301, 0.00676, 0.038 ], "objects": { "red_block": [ 0.07049, 0.04148, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03324664, 0.0069723, 0.0380026, 0.07049261, 0.04148084, 0.02499991, 0.96936819, -0.0, -0.0, 0.24561213, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 11.15, "tool": [ 0.0388, 0.01212, 0.03801 ], "objects": { "red_block": [ 0.07099, 0.04197, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03901806, 0.01231598, 0.03800587, 0.07121932, 0.04219062, 0.02497774, 0.96856566, -0.00019891, -5.4e-06, 0.24875795, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 11.2, "tool": [ 0.04466, 0.01754, 0.038 ], "objects": { "red_block": [ 0.07689, 0.04775, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.04489536, 0.01776168, 0.0380037, 0.07711476, 0.04797001, 0.02499485, 0.9663356, -1.632e-05, -6.2e-07, 0.25728488, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 11.25, "tool": [ 0.05054, 0.02301, 0.03801 ], "objects": { "red_block": [ 0.08263, 0.05333, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.05077803, 0.02322485, 0.03800689, 0.08285582, 0.0535571, 0.02499651, 0.96517567, -2e-07, -0.00026251, 0.26160247, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 11.3, "tool": [ 0.05642, 0.02845, 0.03801 ], "objects": { "red_block": [ 0.08833, 0.05891, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.05665225, 0.02867001, 0.03800821, 0.08855767, 0.05913114, 0.02498955, 0.9641495, 7.198e-05, -0.00053172, 0.26535911, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 11.35, "tool": [ 0.06229, 0.03389, 0.03801 ], "objects": { "red_block": [ 0.09405, 0.0645, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.06252055, 0.03410893, 0.03801265, 0.09427252, 0.06471681, 0.02498143, 0.9631994, 0.00102614, -0.00017446, 0.26878586, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 11.4, "tool": [ 0.06815, 0.03933, 0.03801 ], "objects": { "red_block": [ 0.09972, 0.07006, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.06838791, 0.03954576, 0.03800633, 0.09995517, 0.07028402, 0.02498121, 0.96187645, 0.00028763, -0.00014454, 0.27348416, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 11.45, "tool": [ 0.07403, 0.04476, 0.038 ], "objects": { "red_block": [ 0.10543, 0.07567, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07426144, 0.04498181, 0.03800488, 0.10565172, 0.07588707, 0.02500887, 0.96131876, 0.00022192, -7.489e-05, 0.27543817, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 11.5, "tool": [ 0.07989, 0.0502, 0.038 ], "objects": { "red_block": [ 0.11112, 0.08129, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08012933, 0.05041961, 0.03800214, 0.11134361, 0.08151255, 0.02500188, 0.96050209, 9e-08, -0.00028148, 0.27827264, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 11.55, "tool": [ 0.08576, 0.05564, 0.03801 ], "objects": { "red_block": [ 0.11682, 0.0869, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08599671, 0.05585331, 0.03800592, 0.11704676, 0.08712558, 0.02499156, 0.95975213, 0.00025869, 6.714e-05, 0.2808483, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 11.6, "tool": [ 0.09163, 0.06108, 0.03801 ], "objects": { "red_block": [ 0.12254, 0.09249, 0.02496 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09186502, 0.06129315, 0.03801001, 0.12276416, 0.09270799, 0.02498304, 0.95900666, -0.00064905, -0.000191, 0.28338273, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 11.65, "tool": [ 0.0975, 0.06651, 0.03801 ], "objects": { "red_block": [ 0.12825, 0.0981, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09773449, 0.06673028, 0.03801307, 0.12847089, 0.09831593, 0.02498006, 0.95824725, 3.62e-06, -0.00020035, 0.28594084, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 11.7, "tool": [ 0.10251, 0.07115, 0.03801 ], "objects": { "red_block": [ 0.13362, 0.1034, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10262546, 0.07125736, 0.03800619, 0.13380329, 0.10359364, 0.02497967, 0.95761137, -5.803e-05, 8.565e-05, 0.28806327, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 11.75, "tool": [ 0.10414, 0.07266, 0.038 ], "objects": { "red_block": [ 0.13759, 0.10739, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10417207, 0.07268628, 0.03800149, 0.13771929, 0.10752101, 0.02498915, 0.95725043, -0.00010407, 0.00024039, 0.28926033, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 11.8, "tool": [ 0.10454, 0.07302, 0.03964 ], "objects": { "red_block": [ 0.1401, 0.10991, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10454217, 0.07302819, 0.03986002, 0.14016876, 0.10997441, 0.02497782, 0.95701984, -9.096e-05, 0.0002364, 0.29002235, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 11.85, "tool": [ 0.10463, 0.07311, 0.04758 ], "objects": { "red_block": [ 0.14114, 0.11095, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10463008, 0.0731094, 0.04796794, 0.14114734, 0.11095634, 0.02499449, 0.95693299, -4.036e-05, 0.00012064, 0.29030888, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 11.9, "tool": [ 0.10465, 0.07313, 0.05783 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10465096, 0.07312869, 0.05825415, 0.14119891, 0.1110014, 0.02499826, 0.95691543, 9.66e-06, -3.124e-05, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 11.95, "tool": [ 0.10466, 0.07313, 0.06863 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10465591, 0.07313327, 0.06906266, 0.14120024, 0.11100231, 0.02499988, 0.95691543, 2.3e-07, -7.5e-07, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 12.0, "tool": [ 0.10466, 0.07313, 0.07956 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10465709, 0.07313436, 0.07999525, 0.14120027, 0.11100233, 0.02499991, 0.95691543, 1e-08, -2e-08, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 12.05, "tool": [ 0.10466, 0.07313, 0.09052 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10465737, 0.07313462, 0.09095729, 0.14120028, 0.11100233, 0.02499991, 0.95691543, 0.0, -0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 12.1, "tool": [ 0.10466, 0.07313, 0.10149 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10465744, 0.07313468, 0.10192634, 0.14120028, 0.11100233, 0.02499991, 0.95691543, 0.0, -0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 12.15, "tool": [ 0.10466, 0.07313, 0.11246 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10465745, 0.07313469, 0.11289704, 0.14120028, 0.11100233, 0.02499991, 0.95691543, 0.0, -0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 12.2, "tool": [ 0.10466, 0.07313, 0.12343 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10465746, 0.07313469, 0.12386814, 0.14120028, 0.11100233, 0.02499991, 0.95691543, 0.0, -0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 12.25, "tool": [ 0.10466, 0.07313, 0.1344 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10465746, 0.0731347, 0.13483934, 0.14120028, 0.11100233, 0.02499991, 0.95691543, -0.0, 0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 12.3, "tool": [ 0.10466, 0.07313, 0.14537 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10465746, 0.0731347, 0.14581055, 0.14120028, 0.11100233, 0.02499991, 0.95691543, 0.0, -0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 12.35, "tool": [ 0.10466, 0.07313, 0.15529 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10465746, 0.0731347, 0.1555447, 0.14120028, 0.11100233, 0.02499991, 0.95691543, 0.0, -0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 12.4, "tool": [ 0.10466, 0.07313, 0.15887 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10465746, 0.0731347, 0.15893263, 0.14120028, 0.11100233, 0.02499991, 0.95691543, -0.0, 0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 12.45, "tool": [ 0.10466, 0.07313, 0.15973 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.10465746, 0.0731347, 0.15974647, 0.14120028, 0.11100233, 0.02499991, 0.95691543, 0.0, -0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 12.5, "tool": [ 0.10466, 0.07313, 0.15994 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.10465746, 0.0731347, 0.15993979, 0.14120028, 0.11100233, 0.02499991, 0.95691543, 0.0, -0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 12.55, "tool": [ 0.10466, 0.07313, 0.15998 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.10465746, 0.0731347, 0.1599857, 0.14120028, 0.11100233, 0.02499991, 0.95691543, -0.0, 0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 12.6, "tool": [ 0.10466, 0.07313, 0.16 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.10465746, 0.0731347, 0.1599966, 0.14120028, 0.11100233, 0.02499991, 0.95691543, 0.0, -0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 12.65, "tool": [ 0.10466, 0.07313, 0.16 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10465746, 0.0731347, 0.15999919, 0.14120028, 0.11100233, 0.02499991, 0.95691543, -0.0, 0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 12.7, "tool": [ 0.10466, 0.07313, 0.16 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10465746, 0.0731347, 0.15999981, 0.14120028, 0.11100233, 0.02499991, 0.95691543, 0.0, -0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 12.75, "tool": [ 0.10466, 0.07313, 0.16 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10465746, 0.0731347, 0.15999995, 0.14120028, 0.11100233, 0.02499991, 0.95691543, 0.0, -0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 12.8, "tool": [ 0.10466, 0.07313, 0.16 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10465746, 0.0731347, 0.15999999, 0.14120028, 0.11100233, 0.02499991, 0.95691543, -0.0, 0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 12.85, "tool": [ 0.10466, 0.07313, 0.16 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10465746, 0.0731347, 0.16, 0.14120028, 0.11100233, 0.02499991, 0.95691543, 0.0, -0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 12.9, "tool": [ 0.10412, 0.07285, 0.16 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.10402242, 0.0727993, 0.16, 0.14120028, 0.11100233, 0.02499991, 0.95691543, -0.0, 0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 12.95, "tool": [ 0.10032, 0.07085, 0.16 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.10012964, 0.0707433, 0.16, 0.14120028, 0.11100233, 0.02499991, 0.95691543, -0.0, 0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.0, "tool": [ 0.09513, 0.0681, 0.16 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.09491549, 0.0679894, 0.16, 0.14120028, 0.11100233, 0.02499991, 0.95691543, 0.0, -0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.05, "tool": [ 0.09015, 0.06547, 0.16 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.09001784, 0.06540267, 0.16, 0.14120028, 0.11100233, 0.02499991, 0.95691543, -0.0, 0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 13.1, "tool": [ 0.08833, 0.06451, 0.16 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.08830226, 0.06449658, 0.16, 0.14120028, 0.11100233, 0.02499991, 0.95691543, 0.0, -0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.15, "tool": [ 0.0879, 0.06428, 0.15904 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.08789008, 0.06427888, 0.15887244, 0.14120028, 0.11100233, 0.02499991, 0.95691543, 0.0, -0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 13.2, "tool": [ 0.08779, 0.06423, 0.1523 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.08779217, 0.06422717, 0.15196045, 0.14120028, 0.11100233, 0.02499991, 0.95691543, -0.0, 0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 13.25, "tool": [ 0.08777, 0.06422, 0.14309 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.08776892, 0.06421489, 0.14270224, 0.14120028, 0.11100233, 0.02499991, 0.95691543, 0.0, -0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.3, "tool": [ 0.08776, 0.06421, 0.13328 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.0877634, 0.06421197, 0.13287845, 0.14120028, 0.11100233, 0.02499991, 0.95691543, -0.0, 0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 13.35, "tool": [ 0.08776, 0.06421, 0.12332 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.08776209, 0.06421128, 0.1229203, 0.14120028, 0.11100233, 0.02499991, 0.95691543, 0.0, -0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.4, "tool": [ 0.08776, 0.06421, 0.11333 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.08776177, 0.06421112, 0.11293024, 0.14120028, 0.11100233, 0.02499991, 0.95691543, 0.0, -0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.45, "tool": [ 0.08776, 0.06421, 0.10333 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.0877617, 0.06421108, 0.1029326, 0.14120028, 0.11100233, 0.02499991, 0.95691543, -0.0, 0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 13.5, "tool": [ 0.08776, 0.06421, 0.09333 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.08776168, 0.06421107, 0.09293316, 0.14120028, 0.11100233, 0.02499991, 0.95691543, 0.0, -0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.55, "tool": [ 0.08776, 0.06421, 0.08333 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.08776168, 0.06421107, 0.08293329, 0.14120028, 0.11100233, 0.02499991, 0.95691543, -0.0, 0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 13.6, "tool": [ 0.08776, 0.06421, 0.07333 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.08776168, 0.06421107, 0.07293332, 0.14120028, 0.11100233, 0.02499991, 0.95691543, -0.0, 0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.65, "tool": [ 0.08776, 0.06421, 0.06333 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.08776168, 0.06421107, 0.06293333, 0.14120028, 0.11100233, 0.02499991, 0.95691543, 0.0, -0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.7, "tool": [ 0.08776, 0.06421, 0.05333 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.08776168, 0.06421107, 0.05293333, 0.14120028, 0.11100233, 0.02499991, 0.95691543, -0.0, 0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 13.75, "tool": [ 0.08776, 0.06421, 0.04366 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.08776168, 0.06421107, 0.04336114, 0.14120028, 0.11100233, 0.02499991, 0.95691543, 0.0, -0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.8, "tool": [ 0.08776, 0.06421, 0.03937 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.08776168, 0.06421107, 0.03929667, 0.14120028, 0.11100233, 0.02499991, 0.95691543, 0.0, -0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 13.85, "tool": [ 0.08796, 0.06438, 0.03833 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08801916, 0.06443652, 0.03830807, 0.14120028, 0.11100233, 0.02499991, 0.95691543, -0.0, 0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 13.9, "tool": [ 0.0914, 0.06739, 0.03808 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09159164, 0.06756461, 0.03807316, 0.14120028, 0.11100233, 0.02499991, 0.95691543, 0.0, -0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.95, "tool": [ 0.09679, 0.07211, 0.03802 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09701543, 0.07231372, 0.03801737, 0.14120028, 0.11100233, 0.02499991, 0.95691543, -0.0, 0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 14.0, "tool": [ 0.10265, 0.07725, 0.038 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10289284, 0.07746003, 0.03800413, 0.14120028, 0.11100233, 0.02499991, 0.95691543, 0.0, -0.0, 0.29036678, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 14.05, "tool": [ 0.10864, 0.08249, 0.038 ], "objects": { "red_block": [ 0.1412, 0.111, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10886243, 0.08268684, 0.03800675, 0.14130676, 0.11110012, 0.02501267, 0.95687686, -1.377e-05, 3.74e-06, 0.29049384, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 14.1, "tool": [ 0.11457, 0.08768, 0.038 ], "objects": { "red_block": [ 0.14707, 0.11645, 0.02495 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11481139, 0.08789758, 0.03800443, 0.14727935, 0.11666559, 0.0249659, 0.95487234, 0.00035535, -0.0002524, 0.2970162, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 14.15, "tool": [ 0.12062, 0.09298, 0.038 ], "objects": { "red_block": [ 0.15278, 0.12207, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.12085627, 0.09319576, 0.03799782, 0.15301074, 0.12229613, 0.02500142, 0.9541971, -1.327e-05, -0.0003399, 0.29917851, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 14.2, "tool": [ 0.12664, 0.09826, 0.03801 ], "objects": { "red_block": [ 0.15853, 0.12774, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.12688045, 0.09847374, 0.03801009, 0.15875586, 0.12796779, 0.02500137, 0.95347115, -0.00025942, 0.00036148, 0.30148394, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 14.25, "tool": [ 0.13266, 0.10353, 0.03801 ], "objects": { "red_block": [ 0.16424, 0.13339, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13290386, 0.10374432, 0.0380134, 0.16447018, 0.1336138, 0.02500146, 0.95324755, 5.893e-05, -2.036e-05, 0.30219052, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 14.3, "tool": [ 0.13868, 0.10881, 0.03801 ], "objects": { "red_block": [ 0.16999, 0.13905, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13892323, 0.10901709, 0.03801085, 0.17021079, 0.13927108, 0.02498082, 0.95275105, -0.00026736, -3.795e-05, 0.30375214, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 14.35, "tool": [ 0.1447, 0.11408, 0.03801 ], "objects": { "red_block": [ 0.1757, 0.14463, 0.02502 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14494046, 0.11428669, 0.03801116, 0.1759276, 0.14486198, 0.02500981, 0.95176329, 3.47e-06, -0.00023287, 0.30683315, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 14.4, "tool": [ 0.15072, 0.11934, 0.03801 ], "objects": { "red_block": [ 0.18139, 0.1503, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15096066, 0.1195554, 0.03801496, 0.18161936, 0.15053131, 0.025, 0.95120202, -0.00044558, -6.598e-05, 0.30856848, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 14.45, "tool": [ 0.15674, 0.12462, 0.03801 ], "objects": { "red_block": [ 0.18711, 0.15595, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15698056, 0.12482548, 0.03801272, 0.18734356, 0.1561823, 0.02499942, 0.95073167, 8.355e-05, -0.00046995, 0.31001463, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 14.5, "tool": [ 0.16276, 0.12988, 0.03802 ], "objects": { "red_block": [ 0.1928, 0.16161, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.1629986, 0.1300947, 0.03801845, 0.19303483, 0.1618469, 0.02499396, 0.95012819, 9.339e-05, -0.00036413, 0.31185939, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 14.55, "tool": [ 0.16878, 0.13516, 0.03801 ], "objects": { "red_block": [ 0.19849, 0.16727, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.16901962, 0.13536619, 0.03800861, 0.19872056, 0.16749344, 0.02498037, 0.94946104, -0.00014104, 0.00022137, 0.31388479, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 14.6, "tool": [ 0.17461, 0.14026, 0.038 ], "objects": { "red_block": [ 0.20414, 0.17287, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17478771, 0.14041567, 0.03800336, 0.2043456, 0.17308029, 0.02498293, 0.9488257, -0.00011395, 0.00018234, 0.31580016, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 14.65, "tool": [ 0.17721, 0.14253, 0.038 ], "objects": { "red_block": [ 0.20866, 0.1774, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17725569, 0.14257374, 0.03800085, 0.20880691, 0.17755236, 0.02497189, 0.94846434, -6.365e-05, 9.083e-05, 0.31688386, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 14.7, "tool": [ 0.17785, 0.14309, 0.03836 ], "objects": { "red_block": [ 0.21171, 0.18046, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17785645, 0.14309901, 0.03846955, 0.21179675, 0.1805499, 0.02498587, 0.94822893, -0.00010442, 0.00025433, 0.31758751, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 14.75, "tool": [ 0.178, 0.14322, 0.04463 ], "objects": { "red_block": [ 0.21329, 0.18204, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17799921, 0.14322383, 0.0449814, 0.21331763, 0.18207641, 0.02497483, 0.94807989, -7.583e-05, 0.00019252, 0.31803221, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 14.8, "tool": [ 0.17803, 0.14325, 0.05445 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17803311, 0.14325347, 0.05486798, 0.21354711, 0.18230811, 0.02499414, 0.94803431, -8.42e-06, 2.509e-05, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 14.85, "tool": [ 0.17804, 0.14326, 0.06515 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17804116, 0.14326051, 0.06558147, 0.21354607, 0.18230732, 0.02499978, 0.94803431, -2e-07, 6e-07, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 14.9, "tool": [ 0.17804, 0.14326, 0.07605 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17804308, 0.14326218, 0.07649148, 0.21354604, 0.1823073, 0.02499991, 0.94803431, -0.0, 1e-08, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 14.95, "tool": [ 0.17804, 0.14326, 0.08701 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17804353, 0.14326258, 0.08744817, 0.21354604, 0.1823073, 0.02499991, 0.94803431, -0.0, 0.0, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.0, "tool": [ 0.17804, 0.14326, 0.09798 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17804364, 0.14326267, 0.09841594, 0.21354604, 0.1823073, 0.02499991, 0.94803431, -0.0, 0.0, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 15.05, "tool": [ 0.17804, 0.14326, 0.10895 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17804366, 0.1432627, 0.10938635, 0.21354604, 0.1823073, 0.02499991, 0.94803431, -0.0, 0.0, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.1, "tool": [ 0.17804, 0.14326, 0.11992 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17804367, 0.1432627, 0.12035737, 0.21354604, 0.1823073, 0.02499991, 0.94803431, 0.0, -0.0, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 15.15, "tool": [ 0.17804, 0.14326, 0.13089 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17804367, 0.1432627, 0.13132855, 0.21354604, 0.1823073, 0.02499991, 0.94803431, -0.0, 0.0, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 15.2, "tool": [ 0.17804, 0.14326, 0.14186 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17804367, 0.1432627, 0.14229976, 0.21354604, 0.1823073, 0.02499991, 0.94803431, -0.0, 0.0, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.25, "tool": [ 0.17804, 0.14326, 0.15271 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17804367, 0.1432627, 0.1530833, 0.21354604, 0.1823073, 0.02499991, 0.94803431, -0.0, 0.0, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 15.3, "tool": [ 0.17804, 0.14326, 0.15821 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17804367, 0.1432627, 0.15830998, 0.21354604, 0.1823073, 0.02499991, 0.94803431, 0.0, -0.0, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.35, "tool": [ 0.17804, 0.14326, 0.15957 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.17804367, 0.1432627, 0.15959836, 0.21354604, 0.1823073, 0.02499991, 0.94803431, -0.0, 0.0, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.4, "tool": [ 0.17804, 0.14326, 0.1599 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.17804367, 0.1432627, 0.15990462, 0.21354604, 0.1823073, 0.02499991, 0.94803431, -0.0, 0.0, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 15.45, "tool": [ 0.17804, 0.14326, 0.15998 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.17804367, 0.1432627, 0.15997735, 0.21354604, 0.1823073, 0.02499991, 0.94803431, 0.0, -0.0, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.5, "tool": [ 0.17804, 0.14326, 0.15999 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.17804367, 0.1432627, 0.15999462, 0.21354604, 0.1823073, 0.02499991, 0.94803431, 0.0, -0.0, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 15.55, "tool": [ 0.17804, 0.14326, 0.16 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.17804367, 0.1432627, 0.15999872, 0.21354604, 0.1823073, 0.02499991, 0.94803431, -0.0, 0.0, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.6, "tool": [ 0.17804, 0.14326, 0.16 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.17804367, 0.1432627, 0.1599997, 0.21354604, 0.1823073, 0.02499991, 0.94803431, 0.0, -0.0, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.65, "tool": [ 0.17804, 0.14326, 0.16 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.17804367, 0.1432627, 0.15999993, 0.21354604, 0.1823073, 0.02499991, 0.94803431, -0.0, 0.0, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 15.7, "tool": [ 0.17804, 0.14326, 0.16 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.17804367, 0.1432627, 0.15999998, 0.21354604, 0.1823073, 0.02499991, 0.94803431, -0.0, 0.0, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.75, "tool": [ 0.17804, 0.14326, 0.16 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.17804367, 0.1432627, 0.16, 0.21354604, 0.1823073, 0.02499991, 0.94803431, 0.0, -0.0, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 15.8, "tool": [ 0.17804, 0.14326, 0.16 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.17804367, 0.1432627, 0.16, 0.21354604, 0.1823073, 0.02499991, 0.94803431, -0.0, 0.0, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 15.85, "tool": [ 0.17804, 0.14326, 0.16 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.17804367, 0.1432627, 0.16, 0.21354604, 0.1823073, 0.02499991, 0.94803431, 0.0, -0.0, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.9, "tool": [ 0.17804, 0.14326, 0.16 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.17804367, 0.1432627, 0.16, 0.21354604, 0.1823073, 0.02499991, 0.94803431, -0.0, 0.0, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 15.95, "tool": [ 0.17804, 0.14326, 0.16 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.17804367, 0.1432627, 0.16, 0.21354604, 0.1823073, 0.02499991, 0.94803431, -0.0, 0.0, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 16.0, "tool": [ 0.17804, 0.14326, 0.16 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.17804367, 0.1432627, 0.16, 0.21354604, 0.1823073, 0.02499991, 0.94803431, 0.0, -0.0, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 16.05, "tool": [ 0.17804, 0.14326, 0.16 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.17804367, 0.1432627, 0.16, 0.21354604, 0.1823073, 0.02499991, 0.94803431, -0.0, 0.0, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 16.1, "tool": [ 0.17804, 0.14326, 0.16 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.17804367, 0.1432627, 0.16, 0.21354604, 0.1823073, 0.02499991, 0.94803431, 0.0, -0.0, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 16.15, "tool": [ 0.17804, 0.14326, 0.16 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.17804367, 0.1432627, 0.16, 0.21354604, 0.1823073, 0.02499991, 0.94803431, 0.0, -0.0, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 16.188, "tool": [ 0.17804, 0.14326, 0.16 ], "objects": { "red_block": [ 0.21355, 0.18231, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.17804367, 0.1432627, 0.16, 0.21354604, 0.1823073, 0.02499991, 0.94803431, -0.0, 0.0, 0.31816811, 0.12704868, -0.17417359, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] } ], "events": [ { "t": 0.3, "type": "start", "message": "closed_loop: 빨간 블록을 오른쪽 목표로 밀어줘" }, { "t": 3.874, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.400 m" }, { "t": 6.79, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.303 m" }, { "t": 9.706, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.204 m" }, { "t": 12.622, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.105 m" }, { "t": 16.188, "type": "success", "message": "최종 거리 0.0069 m · 정지 상태 True" } ] }, { "id": "slippery-1-open_loop", "policy": "open_loop", "scenario": "slippery", "seed": 1, "task": { "object_name": "blue_block", "goal": "left", "instruction": "파란 블록을 왼쪽 목표로 밀어줘" }, "parameters": { "friction": 0.12, "mass": 0.08, "disturbance": false }, "success": true, "final_distance_m": 0.01913472329812882, "settled": true, "sim_time_s": 6.895999999999463, "wall_time_s": 0.15298799995798618, "timed_out": false, "termination_reason": "success", "contact_steps": 661, "peak_contact_point_force_n": 3.3705339930737406, "unintended_contact_steps": 0, "distractor_displacement_m": 3.0014332430959934e-08, "workspace_violation": false, "replans": 0, "disturbance_applied": false, "trajectory": [ { "t": 0.05, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.02496 ], "blue_block": [ 0.13221, -0.12757, 0.02496 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747679, 0.0249633, 1.0, 9e-08, -0.0, 0.0, 0.13220798, -0.1275675, 0.0249633, 1.0, 9e-08, 0.0, -0.0 ] }, { "t": 0.1, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747679, 0.02499903, 1.0, 0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499903, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.15, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747679, 0.02499989, 1.0, 0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499989, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.2, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.25, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.3, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.35, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.4, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.45, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.5, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 0.55, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 0.6, "tool": [ 0.00379, -0.31721, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.00409267, -0.31698249, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.65, "tool": [ 0.01306, -0.31037, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.01347565, -0.31006445, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.7, "tool": [ 0.02384, -0.30243, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.02427752, -0.30210026, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.75, "tool": [ 0.03497, -0.29422, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.03541735, -0.2938869, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.8, "tool": [ 0.04619, -0.28595, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.04663745, -0.28561436, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.85, "tool": [ 0.05743, -0.27766, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.05787661, -0.27732776, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.9, "tool": [ 0.06867, -0.26937, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.0691203, -0.26903783, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.95, "tool": [ 0.07992, -0.26108, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.08036506, -0.2607471, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.0, "tool": [ 0.09116, -0.25279, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.09161008, -0.25245619, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.05, "tool": [ 0.10241, -0.2445, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.10285515, -0.24416523, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.1, "tool": [ 0.11365, -0.23621, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.11410024, -0.23587426, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.15, "tool": [ 0.1249, -0.22791, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.12534534, -0.22758329, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.2, "tool": [ 0.13614, -0.21962, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.13659044, -0.21929231, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.25, "tool": [ 0.14739, -0.21133, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.14783553, -0.21100134, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.3, "tool": [ 0.15863, -0.20304, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.15908063, -0.20271037, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.35, "tool": [ 0.16988, -0.19475, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.17032572, -0.19441939, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.4, "tool": [ 0.18112, -0.18646, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.18157082, -0.18612842, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.45, "tool": [ 0.18858, -0.18096, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.18872325, -0.18085496, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.5, "tool": [ 0.19055, -0.17951, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.19058536, -0.17948203, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.55, "tool": [ 0.19102, -0.17916, 0.15663 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19102859, -0.17915524, 0.15636049, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.6, "tool": [ 0.19113, -0.17908, 0.14839 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19113385, -0.17907763, 0.14801642, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.65, "tool": [ 0.19116, -0.17906, 0.1388 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19115885, -0.1790592, 0.13841057, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.7, "tool": [ 0.19116, -0.17905, 0.1289 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116479, -0.17905482, 0.12850418, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.75, "tool": [ 0.19117, -0.17905, 0.11893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.1911662, -0.17905378, 0.11852641, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.8, "tool": [ 0.19117, -0.17905, 0.10893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116653, -0.17905353, 0.10853169, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.85, "tool": [ 0.19117, -0.17905, 0.09893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116661, -0.17905348, 0.09853294, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.9, "tool": [ 0.19117, -0.17905, 0.08893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905346, 0.08853324, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.95, "tool": [ 0.19117, -0.17905, 0.07893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905346, 0.07853331, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.0, "tool": [ 0.19117, -0.17905, 0.06893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905346, 0.06853333, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.05, "tool": [ 0.19117, -0.17905, 0.05893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116664, -0.17905346, 0.05853333, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.1, "tool": [ 0.19117, -0.17905, 0.04893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116664, -0.17905346, 0.04853333, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.15, "tool": [ 0.19117, -0.17905, 0.04106 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116664, -0.17905346, 0.04089108, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.2, "tool": [ 0.19117, -0.17905, 0.03873 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116664, -0.17905346, 0.03868908, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.25, "tool": [ 0.18989, -0.17793, 0.03817 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.18974648, -0.1778133, 0.03816366, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.3, "tool": [ 0.18527, -0.1739, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.18504947, -0.17371161, 0.03803886, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.35, "tool": [ 0.17958, -0.16893, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.17934259, -0.16872805, 0.03800923, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.4, "tool": [ 0.17363, -0.16374, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.17339441, -0.16353376, 0.03800219, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.45, "tool": [ 0.16775, -0.15859, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.12773, -0.12432, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.1675022, -0.15837456, 0.03801357, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.12746775, -0.12412719, 0.02498699, 0.99974238, 0.00050596, -0.00010835, -0.02269137 ] }, { "t": 2.5, "tool": [ 0.16167, -0.15329, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.12194, -0.11946, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.16143135, -0.1530755, 0.03800974, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.12168923, -0.11924527, 0.02498489, 0.99945503, -0.00033317, 0.00026125, -0.03300716 ] }, { "t": 2.55, "tool": [ 0.15564, -0.14801, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11611, -0.11417, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.15539664, -0.14780157, 0.03800879, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.11585996, -0.11396394, 0.0249939, 0.99922156, -0.00021978, 0.00031555, -0.03944775 ] }, { "t": 2.6, "tool": [ 0.14961, -0.14275, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11036, -0.10907, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.14937333, -0.14253717, 0.03800957, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.11012088, -0.10886825, 0.02500268, 0.99876421, -0.00014287, -0.00023969, -0.04969882 ] }, { "t": 2.65, "tool": [ 0.14358, -0.13748, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.10477, -0.10402, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.14333648, -0.13727331, 0.03800793, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.10455096, -0.10381567, 0.02500495, 0.99838643, -0.00032261, 0.00032509, -0.05678308 ] }, { "t": 2.7, "tool": [ 0.13758, -0.13225, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.0991, -0.09865, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.1373383, -0.13203789, 0.03800769, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.09883021, -0.09841572, 0.02498363, 0.99774753, -0.00014195, 0.00021258, -0.06708052 ] }, { "t": 2.75, "tool": [ 0.13152, -0.12696, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.09329, -0.09321, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.13127408, -0.12674896, 0.03800199, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.09310068, -0.09301164, 0.02497506, 0.99746172, 4.259e-05, -0.00029102, -0.07120422 ] }, { "t": 2.8, "tool": [ 0.12551, -0.12171, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08765, -0.08801, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.12527215, -0.12149721, 0.0380063, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.08741482, -0.08780624, 0.02500394, 0.99671094, -0.00018524, -0.0001764, -0.08103851 ] }, { "t": 2.85, "tool": [ 0.11949, -0.11645, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.0819, -0.08276, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.1192516, -0.11623958, 0.03800222, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.08166585, -0.08255144, 0.02499565, 0.99599653, 3.607e-05, 0.00016217, -0.08939172 ] }, { "t": 2.9, "tool": [ 0.11346, -0.11118, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.07636, -0.07761, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.11322238, -0.11097337, 0.03800667, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.07614198, -0.07741325, 0.02499158, 0.9950793, -0.00026983, 9.125e-05, -0.09908126 ] }, { "t": 2.95, "tool": [ 0.10744, -0.10593, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.0708, -0.07259, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.10720253, -0.10571671, 0.03800957, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.07058932, -0.07238716, 0.02501269, 0.99390215, 5.638e-05, 1.961e-05, -0.11026569 ] }, { "t": 3.0, "tool": [ 0.10142, -0.10067, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06518, -0.06746, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.10118116, -0.10045721, 0.03801079, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.06496052, -0.06725908, 0.02499668, 0.99295246, 0.00016441, 3.839e-05, -0.11851319 ] }, { "t": 3.05, "tool": [ 0.0954, -0.09541, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05955, -0.06234, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.09515628, -0.09519598, 0.03800632, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.05933067, -0.06213892, 0.02496954, 0.9918953, -0.00085182, 0.00010846, -0.12705499 ] }, { "t": 3.1, "tool": [ 0.08938, -0.09015, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05387, -0.05733, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.08913488, -0.08994005, 0.03800747, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.05364227, -0.05712417, 0.02497946, 0.99066737, -0.00021928, 0.00066966, -0.13629994 ] }, { "t": 3.15, "tool": [ 0.08335, -0.08489, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.0482, -0.05221, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.08310415, -0.08467567, 0.03800168, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.04798954, -0.05200799, 0.02499487, 0.9894309, -1.212e-05, -1.231e-05, -0.14500513 ] }, { "t": 3.2, "tool": [ 0.07733, -0.07963, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.04256, -0.04697, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.07708725, -0.07941871, 0.03800814, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.04233382, -0.04676053, 0.0249863, 0.98817919, -0.00020117, 0.00042269, -0.15330252 ] }, { "t": 3.25, "tool": [ 0.07131, -0.07436, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.03689, -0.04185, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.07106372, -0.07415362, 0.0380118, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.03666893, -0.0416474, 0.0249749, 0.98666214, -0.00034546, -3.119e-05, -0.16278116 ] }, { "t": 3.3, "tool": [ 0.06528, -0.06911, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.03121, -0.03673, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.06504143, -0.06890057, 0.03800222, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.03097318, -0.03652064, 0.02498462, 0.98509402, 0.00069509, -2.741e-05, -0.1720154 ] }, { "t": 3.35, "tool": [ 0.05926, -0.06385, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.02548, -0.0314, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.05901661, -0.06363948, 0.0380089, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.02525684, -0.03118875, 0.02497317, 0.98392354, -0.00062471, -0.00011357, -0.17858912 ] }, { "t": 3.4, "tool": [ 0.05323, -0.05858, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.01979, -0.02619, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.05299003, -0.0583739, 0.03800856, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.01958156, -0.0259839, 0.02498218, 0.98229368, 8.079e-05, 0.00010001, -0.18734758 ] }, { "t": 3.45, "tool": [ 0.04721, -0.05333, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.01417, -0.02097, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.04696884, -0.05311723, 0.03800933, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.01393825, -0.02076671, 0.0249946, 0.98009229, -0.00039565, -7.925e-05, -0.19854203 ] }, { "t": 3.5, "tool": [ 0.04119, -0.04807, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.00848, -0.01586, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.04094547, -0.04785669, 0.03800908, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.00825965, -0.01566148, 0.02500568, 0.97786613, 4.84e-05, -0.00016702, -0.20923144 ] }, { "t": 3.55, "tool": [ 0.03517, -0.04281, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.00272, -0.01046, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.03492323, -0.04260257, 0.0380123, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.00249518, -0.0102498, 0.02498695, 0.97646816, -0.00051986, -0.0003224, -0.21566076 ] }, { "t": 3.6, "tool": [ 0.02914, -0.03755, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.003, -0.00511, 0.02496 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.0288981, -0.03733956, 0.03801441, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.00321862, -0.00489346, 0.02498104, 0.97504939, -0.0003371, 4.54e-05, -0.22198777 ] }, { "t": 3.65, "tool": [ 0.02312, -0.03229, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00877, 0.00047, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.02287362, -0.03208267, 0.03801194, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.00899704, 0.00069379, 0.02498697, 0.97448326, -0.00049633, 7.702e-05, -0.22445962 ] }, { "t": 3.7, "tool": [ 0.01709, -0.02703, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01452, 0.006, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.01684813, -0.02681577, 0.03800423, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.014744, 0.00621394, 0.02500177, 0.97340919, 0.00039435, 4.861e-05, -0.2290729 ] }, { "t": 3.75, "tool": [ 0.01107, -0.02177, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.02018, 0.0113, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.01082427, -0.02156007, 0.03800224, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.02040378, 0.01151213, 0.02498045, 0.97112007, -0.00036088, -0.00017128, -0.23859096 ] }, { "t": 3.8, "tool": [ 0.00504, -0.01651, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.02588, 0.01677, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.00480187, -0.01630227, 0.0379984, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.02610538, 0.01699021, 0.02495941, 0.96956084, -0.00049164, 0.00013021, -0.24485 ] }, { "t": 3.85, "tool": [ -0.00098, -0.01125, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.03164, 0.02227, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.00121813, -0.0110405, 0.03800119, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.03186695, 0.02249052, 0.02498031, 0.96835623, 0.00010533, -0.00060144, -0.24957131 ] }, { "t": 3.9, "tool": [ -0.007, -0.00599, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.03732, 0.02786, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.0072442, -0.00578182, 0.03800638, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.03755769, 0.02808436, 0.02499975, 0.96754819, 0.00025726, -8.326e-05, -0.25268643 ] }, { "t": 3.95, "tool": [ -0.01303, -0.00073, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.04304, 0.03345, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.01326898, -0.0005217, 0.03800244, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.0432689, 0.03366739, 0.02499727, 0.9664741, -0.0003338, -3.319e-05, -0.25676389 ] }, { "t": 4.0, "tool": [ -0.01905, 0.00453, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.04872, 0.03897, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.01929175, 0.00473937, 0.03800627, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.04894994, 0.03919488, 0.02500384, 0.96523753, -4.694e-05, 0.00013419, -0.26137424 ] }, { "t": 4.05, "tool": [ -0.02507, 0.00979, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.05448, 0.04443, 0.02496 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.02531498, 0.00999766, 0.03801028, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.05469819, 0.04464228, 0.02496221, 0.96386379, 0.00032974, -5.748e-05, -0.26639536 ] }, { "t": 4.1, "tool": [ -0.0311, 0.01505, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06017, 0.04998, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.0313385, 0.01525662, 0.03800636, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.0603921, 0.05020153, 0.0249703, 0.96253947, -0.00019969, -0.00016445, -0.27114148 ] }, { "t": 4.15, "tool": [ -0.03712, 0.0203, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06586, 0.05548, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.0373608, 0.02051468, 0.03800405, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.06609753, 0.05570925, 0.02499332, 0.96134031, 0.00056162, 7.468e-05, -0.27536247 ] }, { "t": 4.2, "tool": [ -0.04315, 0.02557, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.07156, 0.06108, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.04338563, 0.02577797, 0.03800128, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.07179019, 0.06130751, 0.02499145, 0.96040865, 0.00011443, 0.00044503, -0.27859472 ] }, { "t": 4.25, "tool": [ -0.04917, 0.03083, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.07724, 0.06661, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.04940906, 0.03103699, 0.03800443, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.07747056, 0.06683201, 0.02499927, 0.95908999, -0.00015981, 5.089e-05, -0.28310133 ] }, { "t": 4.3, "tool": [ -0.05519, 0.03609, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08295, 0.07217, 0.02496 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.05543039, 0.03629692, 0.0380121, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.08317198, 0.07239241, 0.02495666, 0.95786718, -0.00017038, 8.818e-05, -0.28721146 ] }, { "t": 4.35, "tool": [ -0.06121, 0.04135, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08866, 0.0777, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.06145261, 0.04155527, 0.03801387, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.08888814, 0.07792895, 0.02495227, 0.9568704, -0.00010124, 5.881e-05, -0.2905151 ] }, { "t": 4.4, "tool": [ -0.06724, 0.04661, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.09434, 0.08321, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.06747956, 0.04681659, 0.03800808, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.09456956, 0.08342993, 0.02501075, 0.95566598, -7.282e-05, 0.00030318, -0.29445276 ] }, { "t": 4.45, "tool": [ -0.07326, 0.05187, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.10003, 0.08875, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.0735022, 0.0520765, 0.0380093, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.10025571, 0.08896563, 0.02499911, 0.9543599, 0.00028941, -0.00027906, -0.29865871 ] }, { "t": 4.5, "tool": [ -0.07929, 0.05713, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.10572, 0.09427, 0.02496 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.07952654, 0.0573362, 0.03801288, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.10594703, 0.09449409, 0.02495287, 0.95318041, 0.00033537, -8.031e-05, -0.30240202 ] }, { "t": 4.55, "tool": [ -0.08531, 0.06239, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.11139, 0.09981, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.08555017, 0.06259747, 0.03800836, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.11161857, 0.10003562, 0.02496797, 0.95208299, 0.00071861, 0.00043655, -0.30583863 ] }, { "t": 4.6, "tool": [ -0.09133, 0.06765, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.11703, 0.10535, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.09157626, 0.06785684, 0.03800654, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.11724739, 0.10556773, 0.02498381, 0.95032222, 0.00034454, 6.26e-06, -0.31126767 ] }, { "t": 4.65, "tool": [ -0.09735, 0.0729, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.12267, 0.11084, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.09759435, 0.07311404, 0.0380177, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.12289936, 0.11106646, 0.02498778, 0.948714, -0.00032566, 0.00015281, -0.31613543 ] }, { "t": 4.7, "tool": [ -0.10338, 0.07816, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.1283, 0.11638, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.103619, 0.07837324, 0.03801181, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.12853744, 0.11660691, 0.0250064, 0.94725311, 0.00010167, -1.753e-05, -0.3204864 ] }, { "t": 4.75, "tool": [ -0.1094, 0.08343, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13392, 0.12196, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.10964443, 0.08363496, 0.03800831, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.13415087, 0.12218395, 0.02499799, 0.9460244, 0.00027808, -0.00012755, -0.32409527 ] }, { "t": 4.8, "tool": [ -0.11543, 0.08869, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13959, 0.12738, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.11566723, 0.08889655, 0.03801354, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.13980624, 0.12759805, 0.02499696, 0.94393991, -0.00020133, 0.00016764, -0.33011722 ] }, { "t": 4.85, "tool": [ -0.12145, 0.09394, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.14524, 0.13292, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.12169164, 0.09415107, 0.03800959, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.14546816, 0.1331423, 0.02500155, 0.94269891, -7.098e-05, 5.427e-05, -0.33364466 ] }, { "t": 4.9, "tool": [ -0.12748, 0.0992, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15087, 0.13848, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.12771615, 0.09941042, 0.0380063, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.15110421, 0.1387028, 0.02496906, 0.94144495, 0.00024981, 0.00094744, -0.33716532 ] }, { "t": 4.95, "tool": [ -0.1335, 0.10446, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15652, 0.14402, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.13373882, 0.10467248, 0.03800777, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.1567496, 0.14424469, 0.02499252, 0.94023472, -0.00050484, -1.392e-05, -0.34052669 ] }, { "t": 5.0, "tool": [ -0.13952, 0.10972, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16217, 0.14958, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.13976107, 0.10993201, 0.03800925, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.16239848, 0.14980183, 0.02499524, 0.93922027, 1.966e-05, 0.00016583, -0.3433151 ] }, { "t": 5.05, "tool": [ -0.14555, 0.11498, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16778, 0.15513, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.14578819, 0.11519426, 0.03800678, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.16800017, 0.15535026, 0.02499029, 0.93782731, -0.00081998, -6.569e-05, -0.34710123 ] }, { "t": 5.1, "tool": [ -0.15157, 0.12024, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.17336, 0.1606, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.15181156, 0.12045036, 0.03799753, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.17357981, 0.16082681, 0.02499642, 0.93575145, -0.00027944, 0.00016557, -0.35266007 ] }, { "t": 5.15, "tool": [ -0.15759, 0.1255, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.17895, 0.1662, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.15783531, 0.12570893, 0.03800333, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.17917545, 0.16642584, 0.02500652, 0.93463854, 0.00025251, -4.525e-05, -0.35559913 ] }, { "t": 5.2, "tool": [ -0.16362, 0.13076, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18451, 0.17169, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.16385962, 0.13097353, 0.03800653, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.18472621, 0.17189619, 0.02498074, 0.93243304, 1.641e-05, 8.51e-06, -0.3613428 ] }, { "t": 5.25, "tool": [ -0.16964, 0.13602, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.19008, 0.17714, 0.02496 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.16988131, 0.1362316, 0.03800604, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.19030263, 0.1773581, 0.02495916, 0.93025526, -0.00056786, 0.00021839, -0.36691249 ] }, { "t": 5.3, "tool": [ -0.17562, 0.14125, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.19565, 0.18259, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.175837, 0.14143504, 0.03801149, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.19586349, 0.18279999, 0.02498086, 0.92852258, -0.00010438, -0.00016607, -0.37127588 ] }, { "t": 5.35, "tool": [ -0.17882, 0.14404, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20022, 0.18716, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.17888064, 0.14409241, 0.03800335, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.20037749, 0.18731294, 0.0249727, 0.92843765, -4.609e-05, -9.698e-05, -0.37148824 ] }, { "t": 5.4, "tool": [ -0.17962, 0.14474, 0.03808 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20332, 0.19026, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.1796364, 0.14475229, 0.03812497, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.20341721, 0.1903543, 0.02498851, 0.92838498, -9.944e-05, -0.00023897, -0.37161977 ] }, { "t": 5.45, "tool": [ -0.17981, 0.14491, 0.04326 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20495, 0.19189, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17981607, 0.14490918, 0.04359339, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.20498684, 0.19192468, 0.02498829, 0.92835287, -8.551e-05, -0.00020909, -0.37170001 ] }, { "t": 5.5, "tool": [ -0.17986, 0.14495, 0.05279 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17985875, 0.14494644, 0.05320003, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.20524638, 0.19218451, 0.02499711, 0.92834371, -9.66e-06, -2.409e-05, -0.37172296 ] }, { "t": 5.55, "tool": [ -0.17987, 0.14496, 0.06341 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17986888, 0.14495528, 0.06384684, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.20524545, 0.19218363, 0.02499985, 0.92834371, -2.3e-07, -5.8e-07, -0.37172296 ] }, { "t": 5.6, "tool": [ -0.17987, 0.14496, 0.0743 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987129, 0.14495739, 0.07474102, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, -1e-08, -1e-08, -0.37172296 ] }, { "t": 5.65, "tool": [ -0.17987, 0.14496, 0.08526 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987186, 0.14495788, 0.08569395, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, -0.0, -0.0, -0.37172296 ] }, { "t": 5.7, "tool": [ -0.17987, 0.14496, 0.09622 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987199, 0.144958, 0.09666083, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, -0.0, -0.0, -0.37172296 ] }, { "t": 5.75, "tool": [ -0.17987, 0.14496, 0.10719 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987202, 0.14495803, 0.10763102, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, -0.0, -0.0, -0.37172296 ] }, { "t": 5.8, "tool": [ -0.17987, 0.14496, 0.11816 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987203, 0.14495804, 0.11860199, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, -0.0, -0.0, -0.37172296 ] }, { "t": 5.85, "tool": [ -0.17987, 0.14496, 0.12913 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987203, 0.14495804, 0.12957316, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, 0.0, 0.0, -0.37172296 ] }, { "t": 5.9, "tool": [ -0.17987, 0.14496, 0.14011 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987203, 0.14495804, 0.14054437, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, -0.0, -0.0, -0.37172296 ] }, { "t": 5.95, "tool": [ -0.17987, 0.14496, 0.15107 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987203, 0.14495804, 0.15149863, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, -0.0, -0.0, -0.37172296 ] }, { "t": 6.0, "tool": [ -0.17987, 0.14496, 0.15775 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987203, 0.14495804, 0.15787415, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, 0.0, 0.0, -0.37172296 ] }, { "t": 6.05, "tool": [ -0.17987, 0.14496, 0.15946 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17987203, 0.14495804, 0.15949449, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, -0.0, -0.0, -0.37172296 ] }, { "t": 6.1, "tool": [ -0.17987, 0.14496, 0.15987 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17987203, 0.14495804, 0.15987995, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, 0.0, 0.0, -0.37172296 ] }, { "t": 6.15, "tool": [ -0.17987, 0.14496, 0.15997 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17987203, 0.14495804, 0.15997149, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, -0.0, -0.0, -0.37172296 ] }, { "t": 6.2, "tool": [ -0.17987, 0.14496, 0.15999 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17987203, 0.14495804, 0.15999323, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, 0.0, 0.0, -0.37172296 ] }, { "t": 6.25, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987203, 0.14495804, 0.15999839, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, 0.0, 0.0, -0.37172296 ] }, { "t": 6.3, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987203, 0.14495804, 0.15999962, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, -0.0, -0.0, -0.37172296 ] }, { "t": 6.35, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987203, 0.14495804, 0.15999991, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, 0.0, 0.0, -0.37172296 ] }, { "t": 6.4, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987203, 0.14495804, 0.15999998, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, -0.0, -0.0, -0.37172296 ] }, { "t": 6.45, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987203, 0.14495804, 0.15999999, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, 0.0, 0.0, -0.37172296 ] }, { "t": 6.5, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987203, 0.14495804, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, 0.0, 0.0, -0.37172296 ] }, { "t": 6.55, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987203, 0.14495804, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, -0.0, -0.0, -0.37172296 ] }, { "t": 6.6, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987203, 0.14495804, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, 0.0, 0.0, -0.37172296 ] }, { "t": 6.65, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987203, 0.14495804, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, -0.0, -0.0, -0.37172296 ] }, { "t": 6.7, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987203, 0.14495804, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, -0.0, -0.0, -0.37172296 ] }, { "t": 6.75, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987203, 0.14495804, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, 0.0, 0.0, -0.37172296 ] }, { "t": 6.8, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987203, 0.14495804, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, -0.0, -0.0, -0.37172296 ] }, { "t": 6.85, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987203, 0.14495804, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, 0.0, 0.0, -0.37172296 ] }, { "t": 6.896, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20525, 0.19218, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987203, 0.14495804, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.20524543, 0.19218361, 0.02499991, 0.92834371, 0.0, 0.0, -0.37172296 ] } ], "events": [ { "t": 0.3, "type": "start", "message": "open_loop: 파란 블록을 왼쪽 목표로 밀어줘" }, { "t": 6.896, "type": "success", "message": "최종 거리 0.0191 m · 정지 상태 True" } ] }, { "id": "slippery-1-closed_loop", "policy": "closed_loop", "scenario": "slippery", "seed": 1, "task": { "object_name": "blue_block", "goal": "left", "instruction": "파란 블록을 왼쪽 목표로 밀어줘" }, "parameters": { "friction": 0.12, "mass": 0.08, "disturbance": false }, "success": true, "final_distance_m": 0.014192702066888191, "settled": true, "sim_time_s": 16.044000000001986, "wall_time_s": 0.3062499000225216, "timed_out": false, "termination_reason": "success", "contact_steps": 590, "peak_contact_point_force_n": 3.384436762534859, "unintended_contact_steps": 0, "distractor_displacement_m": 3.001670828845871e-08, "workspace_violation": false, "replans": 4, "disturbance_applied": false, "trajectory": [ { "t": 0.05, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.02496 ], "blue_block": [ 0.13221, -0.12757, 0.02496 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747679, 0.0249633, 1.0, 9e-08, -0.0, 0.0, 0.13220798, -0.1275675, 0.0249633, 1.0, 9e-08, 0.0, -0.0 ] }, { "t": 0.1, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747679, 0.02499903, 1.0, 0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499903, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.15, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747679, 0.02499989, 1.0, 0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499989, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.2, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.25, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.3, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.35, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.4, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.45, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.5, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 0.55, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 0.6, "tool": [ 0.00379, -0.31721, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.00409267, -0.31698249, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.65, "tool": [ 0.01306, -0.31037, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.01347565, -0.31006445, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.7, "tool": [ 0.02384, -0.30243, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.02427752, -0.30210026, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.75, "tool": [ 0.03497, -0.29422, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.03541735, -0.2938869, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.8, "tool": [ 0.04619, -0.28595, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.04663745, -0.28561436, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.85, "tool": [ 0.05743, -0.27766, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.05787661, -0.27732776, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.9, "tool": [ 0.06867, -0.26937, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.0691203, -0.26903783, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.95, "tool": [ 0.07992, -0.26108, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.08036506, -0.2607471, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.0, "tool": [ 0.09116, -0.25279, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.09161008, -0.25245619, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.05, "tool": [ 0.10241, -0.2445, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.10285515, -0.24416523, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.1, "tool": [ 0.11365, -0.23621, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.11410024, -0.23587426, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.15, "tool": [ 0.1249, -0.22791, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.12534534, -0.22758329, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.2, "tool": [ 0.13614, -0.21962, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.13659044, -0.21929231, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.25, "tool": [ 0.14739, -0.21133, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.14783553, -0.21100134, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.3, "tool": [ 0.15863, -0.20304, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.15908063, -0.20271037, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.35, "tool": [ 0.16988, -0.19475, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.17032572, -0.19441939, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.4, "tool": [ 0.18112, -0.18646, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.18157082, -0.18612842, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.45, "tool": [ 0.18858, -0.18096, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.18872325, -0.18085496, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.5, "tool": [ 0.19055, -0.17951, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.19058536, -0.17948203, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.55, "tool": [ 0.19102, -0.17916, 0.15663 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19102859, -0.17915524, 0.15636049, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.6, "tool": [ 0.19113, -0.17908, 0.14839 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19113385, -0.17907763, 0.14801642, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.65, "tool": [ 0.19116, -0.17906, 0.1388 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19115885, -0.1790592, 0.13841057, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.7, "tool": [ 0.19116, -0.17905, 0.1289 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116479, -0.17905482, 0.12850418, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.75, "tool": [ 0.19117, -0.17905, 0.11893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.1911662, -0.17905378, 0.11852641, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.8, "tool": [ 0.19117, -0.17905, 0.10893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116653, -0.17905353, 0.10853169, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.85, "tool": [ 0.19117, -0.17905, 0.09893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116661, -0.17905348, 0.09853294, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.9, "tool": [ 0.19117, -0.17905, 0.08893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905346, 0.08853324, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.95, "tool": [ 0.19117, -0.17905, 0.07893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905346, 0.07853331, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.0, "tool": [ 0.19117, -0.17905, 0.06893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905346, 0.06853333, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.05, "tool": [ 0.19117, -0.17905, 0.05893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116664, -0.17905346, 0.05853333, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.1, "tool": [ 0.19117, -0.17905, 0.04893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116664, -0.17905346, 0.04853333, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.15, "tool": [ 0.19117, -0.17905, 0.04106 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116664, -0.17905346, 0.04089108, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.2, "tool": [ 0.19117, -0.17905, 0.03873 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116664, -0.17905346, 0.03868908, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.25, "tool": [ 0.18988, -0.17793, 0.03817 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.1897459, -0.17781279, 0.03816366, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.3, "tool": [ 0.18526, -0.1739, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.18504696, -0.17370942, 0.03803886, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.35, "tool": [ 0.17957, -0.16893, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.17933775, -0.16872382, 0.03800923, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.4, "tool": [ 0.17363, -0.16374, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.17338713, -0.16352741, 0.03800219, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.1275675, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.45, "tool": [ 0.16774, -0.15858, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.12775, -0.1243, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.16749253, -0.15836976, 0.03801019, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.12749456, -0.12409392, 0.02500905, 0.99978521, -0.00013119, -0.00022305, -0.02072382 ] }, { "t": 2.5, "tool": [ 0.16166, -0.15327, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.12195, -0.11921, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.16141308, -0.15306153, 0.03800285, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.12173845, -0.11899905, 0.0250006, 0.99952898, 0.00017479, 7.056e-05, -0.03068856 ] }, { "t": 2.55, "tool": [ 0.15562, -0.148, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11614, -0.11403, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.15538209, -0.14778445, 0.03800809, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.11589649, -0.11383056, 0.02496909, 0.99917262, 0.00015224, 7.553e-05, -0.04067007 ] }, { "t": 2.6, "tool": [ 0.14958, -0.14273, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11049, -0.10886, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.14934155, -0.14251756, 0.03800574, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.11027402, -0.1086505, 0.02498971, 0.99886974, -4.611e-05, -0.00035418, -0.04753009 ] }, { "t": 2.65, "tool": [ 0.14355, -0.13746, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.10485, -0.10351, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.14331358, -0.13725489, 0.0380048, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.10462933, -0.10329883, 0.02497666, 0.99845846, 0.00080191, -2.242e-05, -0.05549822 ] }, { "t": 2.7, "tool": [ 0.13753, -0.1322, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.099, -0.09829, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.13729041, -0.1319911, 0.03801162, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.09880216, -0.0980979, 0.0249935, 0.99794722, 5.095e-05, 0.00045238, -0.06404013 ] }, { "t": 2.75, "tool": [ 0.13152, -0.12695, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.09336, -0.09326, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.13127701, -0.12673833, 0.03800543, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.09310533, -0.0930413, 0.02499064, 0.99731719, -0.00021626, 0.00015319, -0.07320078 ] }, { "t": 2.8, "tool": [ 0.12549, -0.12169, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08746, -0.08815, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.1252453, -0.12147431, 0.03800528, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.08723754, -0.0879412, 0.02501168, 0.99670827, 9.66e-05, 3.801e-05, -0.08107161 ] }, { "t": 2.85, "tool": [ 0.11946, -0.11642, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08197, -0.08295, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.11921347, -0.11621012, 0.0380023, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.08176373, -0.08274324, 0.02499478, 0.9959522, 0.00016354, -0.00021118, -0.08988401 ] }, { "t": 2.9, "tool": [ 0.11344, -0.11118, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.07704, -0.07787, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.11319096, -0.11096684, 0.03800382, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.07685962, -0.07767506, 0.02495749, 0.99588044, -0.00021688, -0.00116631, -0.09066834 ] }, { "t": 2.95, "tool": [ 0.10745, -0.10593, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.07116, -0.07213, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.10720185, -0.10572085, 0.03799893, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.0708739, -0.07186947, 0.02498817, 0.99276327, -0.00021925, 0.00015832, -0.12008754 ] }, { "t": 3.0, "tool": [ 0.10265, -0.10175, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06477, -0.06624, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.10254243, -0.10165898, 0.03799963, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.06455325, -0.06602752, 0.02500539, 0.99075267, -0.00030456, -9e-07, -0.13567996 ] }, { "t": 3.05, "tool": [ 0.10122, -0.10051, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.0601, -0.06157, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.10119956, -0.10048853, 0.03799991, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.05993948, -0.06141586, 0.02497406, 0.99054658, -5.284e-05, -0.00019482, -0.13717667 ] }, { "t": 3.1, "tool": [ 0.10089, -0.10021, 0.04033 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.0569, -0.05837, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10087913, -0.10020925, 0.04058671, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.05680578, -0.05827257, 0.02498814, 0.99040572, 4.682e-05, 0.00045013, -0.13818936 ] }, { "t": 3.15, "tool": [ 0.1008, -0.10014, 0.04875 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05518, -0.05664, 0.02496 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10080303, -0.10014292, 0.04914209, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.05513769, -0.05660038, 0.02494967, 0.99031214, -2.363e-05, -9.104e-05, -0.1388591 ] }, { "t": 3.2, "tool": [ 0.10079, -0.10013, 0.05911 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05483, -0.05629, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10078495, -0.10012716, 0.05953686, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.05483549, -0.05629246, 0.02498734, 0.99029752, -1.022e-05, -7.303e-05, -0.13896335 ] }, { "t": 3.25, "tool": [ 0.10078, -0.10012, 0.06993 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10078066, -0.10012342, 0.07037118, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.05483898, -0.05629345, 0.02499961, 0.99029753, -2.5e-07, -1.77e-06, -0.13896335 ] }, { "t": 3.3, "tool": [ 0.10078, -0.10012, 0.08087 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077964, -0.10012253, 0.08130989, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, -1e-08, -4e-08, -0.13896335 ] }, { "t": 3.35, "tool": [ 0.10078, -0.10012, 0.09183 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1007794, -0.10012232, 0.09227339, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, -0.0, -0.0, -0.13896335 ] }, { "t": 3.4, "tool": [ 0.10078, -0.10012, 0.1028 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077934, -0.10012227, 0.10324278, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, -0.0, -0.0, -0.13896335 ] }, { "t": 3.45, "tool": [ 0.10078, -0.10012, 0.11377 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012226, 0.11421356, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, -0.0, -0.0, -0.13896335 ] }, { "t": 3.5, "tool": [ 0.10078, -0.10012, 0.12475 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012226, 0.12518468, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, 0.0, 0.0, -0.13896335 ] }, { "t": 3.55, "tool": [ 0.10078, -0.10012, 0.13572 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012226, 0.13615588, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, -0.0, -0.0, -0.13896335 ] }, { "t": 3.6, "tool": [ 0.10078, -0.10012, 0.14669 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012226, 0.1471271, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, -0.0, -0.0, -0.13896335 ] }, { "t": 3.65, "tool": [ 0.10078, -0.10012, 0.15602 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012226, 0.15623865, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, 0.0, 0.0, -0.13896335 ] }, { "t": 3.7, "tool": [ 0.10078, -0.10012, 0.15905 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012226, 0.15910169, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, -0.0, -0.0, -0.13896335 ] }, { "t": 3.75, "tool": [ 0.10078, -0.10012, 0.15977 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.10077933, -0.10012226, 0.15978664, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, -0.0, -0.0, -0.13896335 ] }, { "t": 3.8, "tool": [ 0.10078, -0.10012, 0.15995 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.10077933, -0.10012226, 0.15994933, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, 0.0, 0.0, -0.13896335 ] }, { "t": 3.85, "tool": [ 0.10078, -0.10012, 0.15999 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.10077933, -0.10012226, 0.15998797, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, -0.0, -0.0, -0.13896335 ] }, { "t": 3.9, "tool": [ 0.10078, -0.10012, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.10077933, -0.10012226, 0.15999714, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, 0.0, 0.0, -0.13896335 ] }, { "t": 3.95, "tool": [ 0.10078, -0.10012, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012226, 0.15999932, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, -0.0, -0.0, -0.13896335 ] }, { "t": 4.0, "tool": [ 0.10078, -0.10012, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012226, 0.15999984, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, 0.0, 0.0, -0.13896335 ] }, { "t": 4.05, "tool": [ 0.10078, -0.10012, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012226, 0.15999996, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, 0.0, 0.0, -0.13896335 ] }, { "t": 4.1, "tool": [ 0.10078, -0.10012, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012226, 0.15999999, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, -0.0, -0.0, -0.13896335 ] }, { "t": 4.15, "tool": [ 0.10078, -0.10012, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012226, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, 0.0, 0.0, -0.13896335 ] }, { "t": 4.2, "tool": [ 0.10137, -0.10041, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.1014467, -0.10045129, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, -0.0, -0.0, -0.13896335 ] }, { "t": 4.25, "tool": [ 0.10422, -0.10182, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.10435646, -0.1018859, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, 0.0, 0.0, -0.13896335 ] }, { "t": 4.3, "tool": [ 0.10789, -0.10363, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.10804786, -0.10370589, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, 0.0, 0.0, -0.13896335 ] }, { "t": 4.35, "tool": [ 0.11118, -0.10525, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.11125931, -0.10528924, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, -0.0, -0.0, -0.13896335 ] }, { "t": 4.4, "tool": [ 0.11225, -0.10578, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.11227289, -0.10578897, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, 0.0, 0.0, -0.13896335 ] }, { "t": 4.45, "tool": [ 0.11251, -0.10591, 0.15851 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11251541, -0.10590853, 0.15830496, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, -0.0, -0.0, -0.13896335 ] }, { "t": 4.5, "tool": [ 0.11257, -0.10594, 0.15127 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11257301, -0.10593693, 0.15091454, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, -0.0, -0.0, -0.13896335 ] }, { "t": 4.55, "tool": [ 0.11259, -0.10594, 0.14193 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11258669, -0.10594368, 0.14153886, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, 0.0, 0.0, -0.13896335 ] }, { "t": 4.6, "tool": [ 0.11259, -0.10595, 0.13208 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11258994, -0.10594528, 0.13168715, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, -0.0, -0.0, -0.13896335 ] }, { "t": 4.65, "tool": [ 0.11259, -0.10595, 0.12212 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11259071, -0.10594566, 0.12172237, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, 0.0, 0.0, -0.13896335 ] }, { "t": 4.7, "tool": [ 0.11259, -0.10595, 0.11213 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11259089, -0.10594575, 0.11173073, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, 0.0, 0.0, -0.13896335 ] }, { "t": 4.75, "tool": [ 0.11259, -0.10595, 0.10213 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11259094, -0.10594577, 0.10173271, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, -0.0, -0.0, -0.13896335 ] }, { "t": 4.8, "tool": [ 0.11259, -0.10595, 0.09213 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11259095, -0.10594578, 0.09173319, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, 0.0, 0.0, -0.13896335 ] }, { "t": 4.85, "tool": [ 0.11259, -0.10595, 0.08213 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11259095, -0.10594578, 0.0817333, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, -0.0, -0.0, -0.13896335 ] }, { "t": 4.9, "tool": [ 0.11259, -0.10595, 0.07213 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11259095, -0.10594578, 0.07173333, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, 0.0, 0.0, -0.13896335 ] }, { "t": 4.95, "tool": [ 0.11259, -0.10595, 0.06213 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11259095, -0.10594578, 0.06173333, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, 0.0, 0.0, -0.13896335 ] }, { "t": 5.0, "tool": [ 0.11259, -0.10595, 0.05213 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11259095, -0.10594578, 0.05173333, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, -0.0, -0.0, -0.13896335 ] }, { "t": 5.05, "tool": [ 0.11259, -0.10595, 0.0428 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11259095, -0.10594578, 0.04254191, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, 0.0, 0.0, -0.13896335 ] }, { "t": 5.1, "tool": [ 0.11259, -0.10595, 0.03916 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11259095, -0.10594578, 0.03909138, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, -0.0, -0.0, -0.13896335 ] }, { "t": 5.15, "tool": [ 0.11219, -0.1056, 0.03827 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.11210045, -0.10552407, 0.03825926, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, -0.0, -0.0, -0.13896335 ] }, { "t": 5.2, "tool": [ 0.10833, -0.10228, 0.03807 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.10812739, -0.10210822, 0.03806157, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, 0.0, 0.0, -0.13896335 ] }, { "t": 5.25, "tool": [ 0.1028, -0.09753, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.10256595, -0.09732677, 0.03801462, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, -0.0, -0.0, -0.13896335 ] }, { "t": 5.3, "tool": [ 0.09686, -0.09242, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.09661965, -0.09221442, 0.03800347, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, 0.0, 0.0, -0.13896335 ] }, { "t": 5.35, "tool": [ 0.09082, -0.08723, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05484, -0.05629, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.0905819, -0.08702346, 0.03800082, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.05483907, -0.05629348, 0.02499991, 0.99029753, -0.0, -0.0, -0.13896335 ] }, { "t": 5.4, "tool": [ 0.08484, -0.08209, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.04987, -0.05181, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.08459742, -0.08188211, 0.0380017, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.049637, -0.05159999, 0.02498958, 0.98604045, 0.00019056, -0.00013528, -0.16650578 ] }, { "t": 5.45, "tool": [ 0.07876, -0.07685, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.04404, -0.04656, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.07851239, -0.07663804, 0.03800998, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.04382311, -0.04634502, 0.0249937, 0.98457777, -0.00046397, -0.00058728, -0.17494584 ] }, { "t": 5.5, "tool": [ 0.07268, -0.07162, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.0383, -0.04129, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.07243882, -0.07141383, 0.03800684, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.03805904, -0.0410709, 0.02497668, 0.98300801, -0.00018748, -4.89e-05, -0.18356259 ] }, { "t": 5.55, "tool": [ 0.06661, -0.0664, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.03248, -0.03593, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.0663699, -0.0661914, 0.03800919, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.03223849, -0.03571595, 0.02500216, 0.98194347, 2.894e-05, 1.131e-05, -0.1891746 ] }, { "t": 5.6, "tool": [ 0.06055, -0.06118, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.02667, -0.03054, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.0603038, -0.06097589, 0.0380145, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.02643919, -0.03032204, 0.02498564, 0.98079612, 0.00021008, 0.00018568, -0.19503561 ] }, { "t": 5.65, "tool": [ 0.05448, -0.05597, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.02097, -0.02512, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.05423644, -0.05576026, 0.03800434, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.0207284, -0.02490352, 0.02497693, 0.97913502, -0.00021277, -0.00024731, -0.20321048 ] }, { "t": 5.7, "tool": [ 0.04841, -0.05076, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.01525, -0.01974, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.04817079, -0.05054765, 0.03800686, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.0150094, -0.01951187, 0.02499537, 0.97740942, -8.08e-05, 0.00054591, -0.21135401 ] }, { "t": 5.75, "tool": [ 0.04235, -0.04554, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.00947, -0.0143, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.04210327, -0.04532854, 0.03801751, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.00923768, -0.01408597, 0.0250139, 0.97612936, 0.00065037, 0.0005079, -0.21718837 ] }, { "t": 5.8, "tool": [ 0.03628, -0.04033, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.00373, -0.00885, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.03603596, -0.04011746, 0.03800785, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.00350254, -0.00862547, 0.02500224, 0.97470083, 8.713e-05, 0.0001456, -0.22351345 ] }, { "t": 5.85, "tool": [ 0.03022, -0.03511, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00202, -0.0033, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.02997257, -0.03489999, 0.03801182, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.00225427, -0.00307608, 0.02498588, 0.97337207, 0.00019834, -0.00041269, -0.22923047 ] }, { "t": 5.9, "tool": [ 0.02454, -0.03023, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00758, 0.00207, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.02438147, -0.03009753, 0.03800374, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.00777892, 0.00227046, 0.02499561, 0.9723266, -0.00022574, 9.02e-05, -0.2336256 ] }, { "t": 5.95, "tool": [ 0.02231, -0.02832, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01184, 0.00633, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.02226686, -0.02828693, 0.0380008, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.01198441, 0.00647361, 0.02497886, 0.9724566, -0.00029232, 9.063e-05, -0.23308383 ] }, { "t": 6.0, "tool": [ 0.02177, -0.02786, 0.03873 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01464, 0.00912, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02175657, -0.02785013, 0.03888729, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.01472186, 0.0092004, 0.02497382, 0.97252364, 0.00031779, -6.122e-05, -0.23280391 ] }, { "t": 6.05, "tool": [ 0.02164, -0.02775, 0.0457 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01596, 0.01044, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02163533, -0.02774635, 0.04607273, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.01598402, 0.01045753, 0.02498503, 0.9725724, -0.00028986, 7.572e-05, -0.23260017 ] }, { "t": 6.1, "tool": [ 0.02161, -0.02772, 0.05571 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01055, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02160654, -0.02772171, 0.05613097, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.01608591, 0.01054477, 0.0249919, 0.97255153, -0.00010074, 2.252e-05, -0.23268758 ] }, { "t": 6.15, "tool": [ 0.0216, -0.02772, 0.06645 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02159971, -0.02771585, 0.0668853, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.01608814, 0.0105402, 0.02499972, 0.97255153, -2.43e-06, 5.4e-07, -0.23268759 ] }, { "t": 6.2, "tool": [ 0.0216, -0.02771, 0.07737 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02159808, -0.02771446, 0.07780501, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, -6e-08, 1e-08, -0.23268759 ] }, { "t": 6.25, "tool": [ 0.0216, -0.02771, 0.08833 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0215977, -0.02771413, 0.088764, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, -0.0, 0.0, -0.23268759 ] }, { "t": 6.3, "tool": [ 0.0216, -0.02771, 0.09929 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0215976, -0.02771406, 0.09973232, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, -0.0, 0.0, -0.23268759 ] }, { "t": 6.35, "tool": [ 0.0216, -0.02771, 0.11026 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02159758, -0.02771404, 0.11070285, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, -0.0, 0.0, -0.23268759 ] }, { "t": 6.4, "tool": [ 0.0216, -0.02771, 0.12124 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02159758, -0.02771403, 0.12167391, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, 0.0, -0.0, -0.23268759 ] }, { "t": 6.45, "tool": [ 0.0216, -0.02771, 0.13221 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02159758, -0.02771403, 0.1326451, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, -0.0, 0.0, -0.23268759 ] }, { "t": 6.5, "tool": [ 0.0216, -0.02771, 0.14318 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02159758, -0.02771403, 0.14361631, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, -0.0, 0.0, -0.23268759 ] }, { "t": 6.55, "tool": [ 0.0216, -0.02771, 0.15379 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02159758, -0.02771403, 0.15411818, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, 0.0, -0.0, -0.23268759 ] }, { "t": 6.6, "tool": [ 0.0216, -0.02771, 0.15849 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02159758, -0.02771403, 0.1585774, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, -0.0, 0.0, -0.23268759 ] }, { "t": 6.65, "tool": [ 0.0216, -0.02771, 0.15964 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.02159758, -0.02771403, 0.159662, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, -0.0, 0.0, -0.23268759 ] }, { "t": 6.7, "tool": [ 0.0216, -0.02771, 0.15991 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.02159758, -0.02771403, 0.15991973, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, 0.0, -0.0, -0.23268759 ] }, { "t": 6.75, "tool": [ 0.0216, -0.02771, 0.15998 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.02159758, -0.02771403, 0.15998094, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, -0.0, 0.0, -0.23268759 ] }, { "t": 6.8, "tool": [ 0.0216, -0.02771, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.02159758, -0.02771403, 0.15999547, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, -0.0, 0.0, -0.23268759 ] }, { "t": 6.85, "tool": [ 0.0216, -0.02771, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02159758, -0.02771403, 0.15999893, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, 0.0, -0.0, -0.23268759 ] }, { "t": 6.9, "tool": [ 0.0216, -0.02771, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02159758, -0.02771403, 0.15999974, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, -0.0, 0.0, -0.23268759 ] }, { "t": 6.95, "tool": [ 0.0216, -0.02771, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02159758, -0.02771403, 0.15999994, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, 0.0, -0.0, -0.23268759 ] }, { "t": 7.0, "tool": [ 0.0216, -0.02771, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02159758, -0.02771403, 0.15999999, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, 0.0, -0.0, -0.23268759 ] }, { "t": 7.05, "tool": [ 0.0216, -0.02771, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02159758, -0.02771403, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, -0.0, 0.0, -0.23268759 ] }, { "t": 7.1, "tool": [ 0.0218, -0.02781, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.02185994, -0.02783317, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, 0.0, -0.0, -0.23268759 ] }, { "t": 7.15, "tool": [ 0.0253, -0.0294, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.02550008, -0.02948609, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, -0.0, 0.0, -0.23268759 ] }, { "t": 7.2, "tool": [ 0.03079, -0.03189, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.03102661, -0.03199558, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, 0.0, -0.0, -0.23268759 ] }, { "t": 7.25, "tool": [ 0.03657, -0.03451, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.03675298, -0.03459582, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, 0.0, -0.0, -0.23268759 ] }, { "t": 7.3, "tool": [ 0.03917, -0.03569, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.03921143, -0.03571215, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, -0.0, 0.0, -0.23268759 ] }, { "t": 7.35, "tool": [ 0.0398, -0.03598, 0.15967 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.03980959, -0.03598377, 0.1595722, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, 0.0, -0.0, -0.23268759 ] }, { "t": 7.4, "tool": [ 0.03995, -0.03605, 0.15396 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.03995173, -0.03604831, 0.15363667, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, -0.0, 0.0, -0.23268759 ] }, { "t": 7.45, "tool": [ 0.03998, -0.03606, 0.14501 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.03998548, -0.03606364, 0.14462526, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, -0.0, 0.0, -0.23268759 ] }, { "t": 7.5, "tool": [ 0.03999, -0.03607, 0.13526 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.0399935, -0.03606728, 0.13486017, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, 0.0, -0.0, -0.23268759 ] }, { "t": 7.55, "tool": [ 0.04, -0.03607, 0.12531 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.0399954, -0.03606814, 0.12491596, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, -0.0, 0.0, -0.23268759 ] }, { "t": 7.6, "tool": [ 0.04, -0.03607, 0.11533 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.03999585, -0.03606835, 0.11492921, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, 0.0, -0.0, -0.23268759 ] }, { "t": 7.65, "tool": [ 0.04, -0.03607, 0.10533 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.03999596, -0.0360684, 0.10493235, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, -0.0, 0.0, -0.23268759 ] }, { "t": 7.7, "tool": [ 0.04, -0.03607, 0.09533 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.03999599, -0.03606841, 0.0949331, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, -0.0, 0.0, -0.23268759 ] }, { "t": 7.75, "tool": [ 0.04, -0.03607, 0.08533 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.03999599, -0.03606841, 0.08493328, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, 0.0, -0.0, -0.23268759 ] }, { "t": 7.8, "tool": [ 0.04, -0.03607, 0.07533 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.03999599, -0.03606841, 0.07493332, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, -0.0, 0.0, -0.23268759 ] }, { "t": 7.85, "tool": [ 0.04, -0.03607, 0.06533 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.03999599, -0.03606841, 0.06493333, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, 0.0, -0.0, -0.23268759 ] }, { "t": 7.9, "tool": [ 0.04, -0.03607, 0.05533 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.03999599, -0.03606841, 0.05493333, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, 0.0, -0.0, -0.23268759 ] }, { "t": 7.95, "tool": [ 0.04, -0.03607, 0.04537 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.03999599, -0.03606841, 0.04500187, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, -0.0, 0.0, -0.23268759 ] }, { "t": 8.0, "tool": [ 0.04, -0.03607, 0.03983 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.03999599, -0.03606841, 0.03972773, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, 0.0, -0.0, -0.23268759 ] }, { "t": 8.05, "tool": [ 0.03997, -0.03605, 0.03844 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.03995382, -0.03603336, 0.0384107, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, -0.0, 0.0, -0.23268759 ] }, { "t": 8.1, "tool": [ 0.03723, -0.03377, 0.0381 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.03704615, -0.03361696, 0.03809753, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, -0.0, 0.0, -0.23268759 ] }, { "t": 8.15, "tool": [ 0.03193, -0.02937, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.03170379, -0.02917721, 0.03802316, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, 0.0, -0.0, -0.23268759 ] }, { "t": 8.2, "tool": [ 0.02599, -0.02443, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.02574378, -0.02422418, 0.0380055, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, -0.0, 0.0, -0.23268759 ] }, { "t": 8.25, "tool": [ 0.01988, -0.01935, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01609, 0.01054, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.01963685, -0.01914905, 0.03800131, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.0160882, 0.01054009, 0.02499991, 0.97255153, 0.0, -0.0, -0.23268759 ] }, { "t": 8.3, "tool": [ 0.01386, -0.01435, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01994, 0.01389, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.01361058, -0.0141421, 0.03800947, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.02019032, 0.01410721, 0.02497523, 0.96992169, 0.00061412, -0.00041447, -0.24341602 ] }, { "t": 8.35, "tool": [ 0.00765, -0.00918, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.02575, 0.01931, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.00740242, -0.00897677, 0.0379967, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.02598267, 0.01953743, 0.02499856, 0.96837438, -0.00048089, 6.996e-05, -0.24950115 ] }, { "t": 8.4, "tool": [ 0.00148, -0.00405, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.03155, 0.0249, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.0012387, -0.00384588, 0.03800333, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.03179074, 0.02512286, 0.02499943, 0.96713189, 0.0002856, -8.635e-05, -0.2542751 ] }, { "t": 8.45, "tool": [ -0.00467, 0.00106, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.03741, 0.0304, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.00491572, 0.00126617, 0.0380099, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.03764193, 0.03062402, 0.02499369, 0.96606704, 0.00058669, -0.00013545, -0.25829074 ] }, { "t": 8.5, "tool": [ -0.01083, 0.00618, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.04322, 0.03605, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.01107122, 0.00638039, 0.03801773, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.04345031, 0.03627548, 0.02499165, 0.96578688, -0.00046737, 0.00014583, -0.25933659 ] }, { "t": 8.55, "tool": [ -0.01698, 0.01129, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.049, 0.04171, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.01722523, 0.01149371, 0.03801544, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.0492375, 0.04194122, 0.02500302, 0.96520422, -0.00011411, -0.00016911, -0.26149717 ] }, { "t": 8.6, "tool": [ -0.02313, 0.01641, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.0548, 0.04731, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.02337456, 0.01660982, 0.0380101, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.05503559, 0.04753155, 0.02499216, 0.96390956, 1.177e-05, -0.00010348, -0.26622989 ] }, { "t": 8.65, "tool": [ -0.02928, 0.02151, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.0606, 0.05279, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.02953086, 0.02171992, 0.03800744, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.06082285, 0.05300943, 0.02499971, 0.96267165, 0.00021209, -7.725e-05, -0.27067185 ] }, { "t": 8.7, "tool": [ -0.03544, 0.02663, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06636, 0.05836, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.03568359, 0.02683468, 0.03800888, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.06659825, 0.05858586, 0.02497925, 0.96167873, -0.00017105, 0.00022117, -0.27417866 ] }, { "t": 8.75, "tool": [ -0.04159, 0.03174, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.07212, 0.06398, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.04183561, 0.03194552, 0.03800782, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.07235211, 0.06421045, 0.0249832, 0.96086262, -0.00015949, -4.837e-05, -0.27702528 ] }, { "t": 8.8, "tool": [ -0.04772, 0.03684, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.07783, 0.06959, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.04794936, 0.03702787, 0.03800215, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.07805089, 0.06980571, 0.02498611, 0.95952074, 0.00031023, -0.00012667, -0.28163778 ] }, { "t": 8.85, "tool": [ -0.05116, 0.03969, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.0826, 0.07435, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.05122035, 0.03973975, 0.03800056, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.0827583, 0.074513, 0.02498494, 0.95909454, -3.48e-06, -1.675e-05, -0.28308596 ] }, { "t": 8.9, "tool": [ -0.05202, 0.04041, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08589, 0.07765, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05203902, 0.04041763, 0.03807533, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.08598658, 0.07775556, 0.02499081, 0.9587997, 4.938e-05, 0.00024306, -0.28408285 ] }, { "t": 8.95, "tool": [ -0.05223, 0.04058, 0.04293 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08771, 0.07948, 0.02496 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.0522337, 0.04057882, 0.04326007, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.08775077, 0.07952599, 0.02494648, 0.95859581, -3.972e-05, -7.338e-05, -0.2847702 ] }, { "t": 9.0, "tool": [ -0.05228, 0.04062, 0.05237 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05227993, 0.0406171, 0.05278633, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.08813017, 0.07990679, 0.02498725, 0.95854223, -1.459e-05, -4.964e-05, -0.2849505 ] }, { "t": 9.05, "tool": [ -0.05229, 0.04063, 0.06298 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05229091, 0.04062619, 0.06341396, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.08812805, 0.07990543, 0.02499961, 0.95854223, -3.5e-07, -1.2e-06, -0.2849505 ] }, { "t": 9.1, "tool": [ -0.05229, 0.04063, 0.07387 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05229352, 0.04062835, 0.07430359, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, -1e-08, -3e-08, -0.2849505 ] }, { "t": 9.15, "tool": [ -0.05229, 0.04063, 0.08482 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05229414, 0.04062886, 0.08525544, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, -0.0, -0.0, -0.2849505 ] }, { "t": 9.2, "tool": [ -0.05229, 0.04063, 0.09578 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05229429, 0.04062898, 0.09622206, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, -0.0, -0.0, -0.2849505 ] }, { "t": 9.25, "tool": [ -0.05229, 0.04063, 0.10675 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05229432, 0.04062901, 0.10719219, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, -0.0, -0.0, -0.2849505 ] }, { "t": 9.3, "tool": [ -0.05229, 0.04063, 0.11772 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05229433, 0.04062902, 0.11816315, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, 0.0, 0.0, -0.2849505 ] }, { "t": 9.35, "tool": [ -0.05229, 0.04063, 0.1287 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05229433, 0.04062902, 0.12913431, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, -0.0, -0.0, -0.2849505 ] }, { "t": 9.4, "tool": [ -0.05229, 0.04063, 0.13967 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05229433, 0.04062902, 0.14010552, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, -0.0, -0.0, -0.2849505 ] }, { "t": 9.45, "tool": [ -0.05229, 0.04063, 0.15064 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05229433, 0.04062902, 0.15107223, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, 0.0, 0.0, -0.2849505 ] }, { "t": 9.5, "tool": [ -0.05229, 0.04063, 0.15762 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05229433, 0.04062902, 0.15774879, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, -0.0, -0.0, -0.2849505 ] }, { "t": 9.55, "tool": [ -0.05229, 0.04063, 0.15943 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.05229433, 0.04062902, 0.15946457, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, -0.0, -0.0, -0.2849505 ] }, { "t": 9.6, "tool": [ -0.05229, 0.04063, 0.15987 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.05229433, 0.04062902, 0.15987284, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, 0.0, 0.0, -0.2849505 ] }, { "t": 9.65, "tool": [ -0.05229, 0.04063, 0.15997 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.05229433, 0.04062902, 0.1599698, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, -0.0, -0.0, -0.2849505 ] }, { "t": 9.7, "tool": [ -0.05229, 0.04063, 0.15999 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.05229433, 0.04062902, 0.15999283, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, 0.0, 0.0, -0.2849505 ] }, { "t": 9.75, "tool": [ -0.05229, 0.04063, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05229433, 0.04062902, 0.1599983, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, -0.0, -0.0, -0.2849505 ] }, { "t": 9.8, "tool": [ -0.05229, 0.04063, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05229433, 0.04062902, 0.1599996, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, 0.0, 0.0, -0.2849505 ] }, { "t": 9.85, "tool": [ -0.05229, 0.04063, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05229433, 0.04062902, 0.1599999, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, -0.0, -0.0, -0.2849505 ] }, { "t": 9.9, "tool": [ -0.05229, 0.04063, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05229433, 0.04062902, 0.15999998, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, -0.0, -0.0, -0.2849505 ] }, { "t": 9.95, "tool": [ -0.05229, 0.04063, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05229433, 0.04062902, 0.15999999, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, 0.0, 0.0, -0.2849505 ] }, { "t": 10.0, "tool": [ -0.05229, 0.04063, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05229163, 0.04062862, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, -0.0, -0.0, -0.2849505 ] }, { "t": 10.05, "tool": [ -0.0499, 0.04028, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.04972118, 0.0402535, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, 0.0, 0.0, -0.2849505 ] }, { "t": 10.1, "tool": [ -0.04443, 0.03948, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.0441816, 0.03944506, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, 0.0, 0.0, -0.2849505 ] }, { "t": 10.15, "tool": [ -0.03812, 0.03856, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.03786214, 0.03852281, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, -0.0, -0.0, -0.2849505 ] }, { "t": 10.2, "tool": [ -0.034, 0.03796, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.0339241, 0.0379481, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, 0.0, 0.0, -0.2849505 ] }, { "t": 10.25, "tool": [ -0.03293, 0.0378, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.03291095, 0.03780024, 0.15999589, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, -0.0, -0.0, -0.2849505 ] }, { "t": 10.3, "tool": [ -0.03267, 0.03777, 0.15636 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.03266986, 0.03776505, 0.15608141, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, -0.0, -0.0, -0.2849505 ] }, { "t": 10.35, "tool": [ -0.03261, 0.03776, 0.14802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.03261261, 0.0377567, 0.14764531, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, 0.0, 0.0, -0.2849505 ] }, { "t": 10.4, "tool": [ -0.0326, 0.03775, 0.13841 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.03259901, 0.03775471, 0.13801743, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, -0.0, -0.0, -0.2849505 ] }, { "t": 10.45, "tool": [ -0.0326, 0.03775, 0.1285 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.03259578, 0.03775424, 0.12810581, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, 0.0, 0.0, -0.2849505 ] }, { "t": 10.5, "tool": [ -0.0326, 0.03775, 0.11853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.03259501, 0.03775413, 0.1181268, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, -0.0, -0.0, -0.2849505 ] }, { "t": 10.55, "tool": [ -0.03259, 0.03775, 0.10853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.03259483, 0.0377541, 0.10813178, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, -0.0, -0.0, -0.2849505 ] }, { "t": 10.6, "tool": [ -0.03259, 0.03775, 0.09853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.03259479, 0.0377541, 0.09813296, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, 0.0, 0.0, -0.2849505 ] }, { "t": 10.65, "tool": [ -0.03259, 0.03775, 0.08853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.03259478, 0.0377541, 0.08813325, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, -0.0, -0.0, -0.2849505 ] }, { "t": 10.7, "tool": [ -0.03259, 0.03775, 0.07853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.03259478, 0.0377541, 0.07813331, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, 0.0, 0.0, -0.2849505 ] }, { "t": 10.75, "tool": [ -0.03259, 0.03775, 0.06853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.03259478, 0.0377541, 0.06813333, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, 0.0, 0.0, -0.2849505 ] }, { "t": 10.8, "tool": [ -0.03259, 0.03775, 0.05853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.03259478, 0.0377541, 0.05813333, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, -0.0, -0.0, -0.2849505 ] }, { "t": 10.85, "tool": [ -0.03259, 0.03775, 0.04853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.03259478, 0.0377541, 0.04813333, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, 0.0, 0.0, -0.2849505 ] }, { "t": 10.9, "tool": [ -0.03259, 0.03775, 0.04089 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.03259478, 0.0377541, 0.0407309, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, -0.0, -0.0, -0.2849505 ] }, { "t": 10.95, "tool": [ -0.03259, 0.03775, 0.03869 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.03259478, 0.0377541, 0.03865058, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, -0.0, -0.0, -0.2849505 ] }, { "t": 11.0, "tool": [ -0.0341, 0.03889, 0.03816 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.03425002, 0.03901047, 0.03815451, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, 0.0, 0.0, -0.2849505 ] }, { "t": 11.05, "tool": [ -0.03907, 0.04267, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.03929666, 0.04284102, 0.03803669, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, -0.0, -0.0, -0.2849505 ] }, { "t": 11.1, "tool": [ -0.0451, 0.04725, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.04535283, 0.04743782, 0.03800871, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, 0.0, 0.0, -0.2849505 ] }, { "t": 11.15, "tool": [ -0.0514, 0.05203, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08813, 0.07991, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.05165003, 0.05221758, 0.03800207, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.088128, 0.07990539, 0.02499991, 0.95854223, -0.0, -0.0, -0.2849505 ] }, { "t": 11.2, "tool": [ -0.05762, 0.05675, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.09184, 0.08305, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.05787621, 0.05694417, 0.03800692, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.09208666, 0.0832824, 0.02497888, 0.95698985, -0.00021758, -0.00026397, -0.29012121 ] }, { "t": 11.25, "tool": [ -0.06406, 0.06164, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.09766, 0.08869, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.06431276, 0.06183498, 0.03800183, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.09789817, 0.08891542, 0.02500447, 0.95592375, -0.00012923, -0.00020762, -0.29361492 ] }, { "t": 11.3, "tool": [ -0.07044, 0.06649, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.10349, 0.09436, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.07069639, 0.06668657, 0.03799816, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.1037294, 0.09457617, 0.02499948, 0.95474712, 0.00028901, -0.00016144, -0.29741859 ] }, { "t": 11.35, "tool": [ -0.07682, 0.07133, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.10931, 0.09989, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.0770717, 0.07152604, 0.03800354, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.10954373, 0.10011225, 0.02499876, 0.9532649, -0.00029083, 9.356e-05, -0.30213563 ] }, { "t": 11.4, "tool": [ -0.08319, 0.07617, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.11511, 0.10546, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.08344688, 0.07636119, 0.03800718, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.11534229, 0.10568606, 0.02499614, 0.95219964, 0.00016093, 0.00019836, -0.30547633 ] }, { "t": 11.45, "tool": [ -0.08957, 0.08101, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.1209, 0.111, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.0898199, 0.08120236, 0.03800104, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.1211346, 0.11121104, 0.02499401, 0.950449, -0.00031091, 8.287e-05, -0.31088034 ] }, { "t": 11.5, "tool": [ -0.09594, 0.08584, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.12671, 0.11648, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.0961923, 0.08603553, 0.03800725, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.12693183, 0.11670117, 0.02499988, 0.94856113, -0.00013621, 5.405e-05, -0.31659399 ] }, { "t": 11.55, "tool": [ -0.10231, 0.09068, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13249, 0.12203, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.10256037, 0.09086981, 0.0380103, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.13271919, 0.12225508, 0.02498837, 0.9469737, -6.3e-06, 0.00020351, -0.32131101 ] }, { "t": 11.6, "tool": [ -0.10868, 0.09551, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.1382, 0.12764, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.10893722, 0.09570741, 0.03801111, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.1384207, 0.12786608, 0.02498788, 0.94605887, 1.64e-06, 0.00023333, -0.32399468 ] }, { "t": 11.65, "tool": [ -0.11506, 0.10035, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.1439, 0.13326, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.11531084, 0.10054351, 0.03800218, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.14413226, 0.13348355, 0.02499837, 0.94527022, -3.629e-05, 0.00011189, -0.32628852 ] }, { "t": 11.7, "tool": [ -0.12143, 0.10519, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.14961, 0.13883, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.12168343, 0.10538221, 0.03799984, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.14984337, 0.13905782, 0.02501138, 0.94422365, -0.0002502, -1.264e-05, -0.32930479 ] }, { "t": 11.75, "tool": [ -0.12632, 0.1089, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15484, 0.14403, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.12642282, 0.10897458, 0.03799841, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.15502185, 0.14421207, 0.0249921, 0.943599, 0.00010866, 0.00037177, -0.33109028 ] }, { "t": 11.8, "tool": [ -0.12774, 0.10997, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15859, 0.14779, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.12776056, 0.1099882, 0.03799961, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.1587139, 0.14791012, 0.02496966, 0.94335076, -2.197e-05, -1.63e-06, -0.33179713 ] }, { "t": 11.85, "tool": [ -0.12807, 0.11023, 0.04059 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16087, 0.15007, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.12807959, 0.11022992, 0.04084976, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.16093279, 0.1501342, 0.02498172, 0.9432022, 7.384e-05, 0.00024321, -0.33221913 ] }, { "t": 11.9, "tool": [ -0.12815, 0.11029, 0.04914 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.12815536, 0.11028733, 0.04953868, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.16169156, 0.15089352, 0.02499618, 0.94314737, -2.312e-05, -6.078e-05, -0.33237485 ] }, { "t": 11.95, "tool": [ -0.12817, 0.1103, 0.05954 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.12817335, 0.11030097, 0.05996567, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.16169172, 0.15089406, 0.02499984, 0.94314736, -4.9e-07, -1.44e-06, -0.33237488 ] }, { "t": 12.0, "tool": [ -0.12818, 0.1103, 0.07037 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.12817763, 0.1103042, 0.07080764, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.16169167, 0.15089402, 0.02499991, 0.94314736, -1e-08, -3e-08, -0.33237488 ] }, { "t": 12.05, "tool": [ -0.12818, 0.1103, 0.08131 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.12817864, 0.11030497, 0.08174817, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, -0.0, -0.0, -0.33237488 ] }, { "t": 12.1, "tool": [ -0.12818, 0.11031, 0.09227 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.12817888, 0.11030516, 0.0927121, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, -0.0, -0.0, -0.33237488 ] }, { "t": 12.15, "tool": [ -0.12818, 0.11031, 0.10324 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.12817894, 0.1103052, 0.10368159, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, -0.0, -0.0, -0.33237488 ] }, { "t": 12.2, "tool": [ -0.12818, 0.11031, 0.11421 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.12817895, 0.11030521, 0.11465241, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, -0.0, -0.0, -0.33237488 ] }, { "t": 12.25, "tool": [ -0.12818, 0.11031, 0.12518 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.12817896, 0.11030521, 0.12562353, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, 0.0, 0.0, -0.33237488 ] }, { "t": 12.3, "tool": [ -0.12818, 0.11031, 0.13616 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.12817896, 0.11030521, 0.13659473, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, -0.0, -0.0, -0.33237488 ] }, { "t": 12.35, "tool": [ -0.12818, 0.11031, 0.14713 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.12817896, 0.11030521, 0.14756595, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, -0.0, -0.0, -0.33237488 ] }, { "t": 12.4, "tool": [ -0.12818, 0.11031, 0.15624 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.12817896, 0.11030521, 0.15644604, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, 0.0, 0.0, -0.33237488 ] }, { "t": 12.45, "tool": [ -0.12818, 0.11031, 0.1591 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.12817896, 0.11030521, 0.15915187, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, 0.0, 0.0, -0.33237488 ] }, { "t": 12.5, "tool": [ -0.12818, 0.11031, 0.15979 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.12817896, 0.11030521, 0.15979856, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, -0.0, -0.0, -0.33237488 ] }, { "t": 12.55, "tool": [ -0.12818, 0.11031, 0.15995 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.12817896, 0.11030521, 0.15995216, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, 0.0, 0.0, -0.33237488 ] }, { "t": 12.6, "tool": [ -0.12818, 0.11031, 0.15999 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.12817896, 0.11030521, 0.15998864, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, -0.0, -0.0, -0.33237488 ] }, { "t": 12.65, "tool": [ -0.12818, 0.11031, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.12817896, 0.11030521, 0.1599973, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, 0.0, 0.0, -0.33237488 ] }, { "t": 12.7, "tool": [ -0.12818, 0.11031, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.12817896, 0.11030521, 0.15999936, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, 0.0, 0.0, -0.33237488 ] }, { "t": 12.75, "tool": [ -0.12818, 0.11031, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.12817896, 0.11030521, 0.15999985, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, -0.0, -0.0, -0.33237488 ] }, { "t": 12.8, "tool": [ -0.12818, 0.11031, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.12817896, 0.11030521, 0.15999996, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, 0.0, 0.0, -0.33237488 ] }, { "t": 12.85, "tool": [ -0.12818, 0.11031, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.12817896, 0.11030521, 0.15999999, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, -0.0, -0.0, -0.33237488 ] }, { "t": 12.9, "tool": [ -0.12818, 0.11031, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.12817896, 0.11030521, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, -0.0, -0.0, -0.33237488 ] }, { "t": 12.95, "tool": [ -0.12639, 0.11076, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.12617258, 0.11081961, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, 0.0, 0.0, -0.33237488 ] }, { "t": 13.0, "tool": [ -0.11862, 0.11276, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.11824217, 0.1128528, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, -0.0, -0.0, -0.33237488 ] }, { "t": 13.05, "tool": [ -0.10875, 0.11529, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.10833608, 0.11539251, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, 0.0, 0.0, -0.33237488 ] }, { "t": 13.1, "tool": [ -0.10016, 0.11749, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.09996326, 0.11753913, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, -0.0, -0.0, -0.33237488 ] }, { "t": 13.15, "tool": [ -0.09745, 0.11818, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.0974021, 0.11819576, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, -0.0, -0.0, -0.33237488 ] }, { "t": 13.2, "tool": [ -0.0968, 0.11835, 0.1583 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.09678993, 0.11835271, 0.15809399, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, 0.0, 0.0, -0.33237488 ] }, { "t": 13.25, "tool": [ -0.09665, 0.11839, 0.15091 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.09664452, 0.11838999, 0.15056029, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, -0.0, -0.0, -0.33237488 ] }, { "t": 13.3, "tool": [ -0.09661, 0.1184, 0.14154 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.09660999, 0.11839884, 0.14114973, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, 0.0, 0.0, -0.33237488 ] }, { "t": 13.35, "tool": [ -0.0966, 0.1184, 0.13169 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.09660179, 0.11840094, 0.13128973, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, 0.0, 0.0, -0.33237488 ] }, { "t": 13.4, "tool": [ -0.0966, 0.1184, 0.12172 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.09659985, 0.11840144, 0.12132298, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, -0.0, -0.0, -0.33237488 ] }, { "t": 13.45, "tool": [ -0.0966, 0.1184, 0.11173 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.09659939, 0.11840156, 0.11133087, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, 0.0, 0.0, -0.33237488 ] }, { "t": 13.5, "tool": [ -0.0966, 0.1184, 0.10173 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.09659928, 0.11840159, 0.10133275, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, -0.0, -0.0, -0.33237488 ] }, { "t": 13.55, "tool": [ -0.0966, 0.1184, 0.09173 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.09659925, 0.11840159, 0.09133319, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, -0.0, -0.0, -0.33237488 ] }, { "t": 13.6, "tool": [ -0.0966, 0.1184, 0.08173 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.09659924, 0.1184016, 0.0813333, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, 0.0, 0.0, -0.33237488 ] }, { "t": 13.65, "tool": [ -0.0966, 0.1184, 0.07173 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.09659924, 0.1184016, 0.07133333, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, -0.0, -0.0, -0.33237488 ] }, { "t": 13.7, "tool": [ -0.0966, 0.1184, 0.06173 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.09659924, 0.1184016, 0.06133333, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, 0.0, 0.0, -0.33237488 ] }, { "t": 13.75, "tool": [ -0.0966, 0.1184, 0.05173 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.09659924, 0.1184016, 0.05133333, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, -0.0, -0.0, -0.33237488 ] }, { "t": 13.8, "tool": [ -0.0966, 0.1184, 0.04254 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.09659924, 0.1184016, 0.04229516, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, -0.0, -0.0, -0.33237488 ] }, { "t": 13.85, "tool": [ -0.0966, 0.1184, 0.03909 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.09659924, 0.1184016, 0.03903044, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, 0.0, 0.0, -0.33237488 ] }, { "t": 13.9, "tool": [ -0.09718, 0.11869, 0.03826 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.09728715, 0.11874498, 0.03824477, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, -0.0, -0.0, -0.33237488 ] }, { "t": 13.95, "tool": [ -0.10186, 0.12103, 0.03806 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.10210433, 0.12114959, 0.03805813, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, 0.0, 0.0, -0.33237488 ] }, { "t": 14.0, "tool": [ -0.10842, 0.1243, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.10869458, 0.12443927, 0.0380138, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, 0.0, 0.0, -0.33237488 ] }, { "t": 14.05, "tool": [ -0.11543, 0.1278, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.11571325, 0.12794281, 0.03800328, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.16169166, 0.15089402, 0.02499991, 0.94314736, -0.0, -0.0, -0.33237488 ] }, { "t": 14.1, "tool": [ -0.12255, 0.13135, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16169, 0.15089, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.12281336, 0.13148833, 0.03800558, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.16182935, 0.15095839, 0.02501636, 0.94327566, 4.359e-05, 1.471e-05, -0.33201058 ] }, { "t": 14.15, "tool": [ -0.12959, 0.13488, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16885, 0.15465, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.12988167, 0.13502213, 0.03800136, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.1691019, 0.15480779, 0.02500922, 0.95055796, 0.00024536, -5.574e-05, -0.3105471 ] }, { "t": 14.2, "tool": [ -0.13677, 0.13847, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.17509, 0.1588, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.13706035, 0.13861175, 0.03800302, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.17533818, 0.15897696, 0.02499791, 0.95327225, 0.00027195, -3.201e-05, -0.30211246 ] }, { "t": 14.25, "tool": [ -0.14393, 0.14205, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18151, 0.16344, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.14421976, 0.14218769, 0.03800391, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.18177156, 0.16363532, 0.02500735, 0.95182796, -0.00013435, -0.00018495, -0.30663249 ] }, { "t": 14.3, "tool": [ -0.15109, 0.14562, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18776, 0.16845, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.15138015, 0.14575939, 0.03800102, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.18799407, 0.1686531, 0.02498922, 0.94828408, 8.549e-05, 3.76e-05, -0.31742289 ] }, { "t": 14.35, "tool": [ -0.15825, 0.14919, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.19379, 0.17358, 0.02494 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.15853704, 0.14933123, 0.03799924, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.19401515, 0.17378174, 0.0249605, 0.94447645, -0.00053488, 7.845e-05, -0.32857868 ] }, { "t": 14.4, "tool": [ -0.1654, 0.15276, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.19973, 0.17873, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.16568754, 0.1528977, 0.0379956, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.19997392, 0.17894093, 0.02499918, 0.94121045, -0.00029148, -0.00049192, -0.3378203 ] }, { "t": 14.45, "tool": [ -0.17248, 0.15629, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20552, 0.18396, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.17272614, 0.15640863, 0.03799544, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.2057391, 0.18415847, 0.02500209, 0.93834236, 9.084e-05, -0.00020729, -0.34570734 ] }, { "t": 14.5, "tool": [ -0.1761, 0.15809, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21004, 0.18844, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.17616326, 0.15811954, 0.03799877, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.21019289, 0.1885878, 0.02498665, 0.93816581, 0.0001355, -4.83e-05, -0.34618622 ] }, { "t": 14.55, "tool": [ -0.177, 0.15853, 0.03812 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21307, 0.19147, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17701128, 0.15854157, 0.03818739, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.21316354, 0.19155509, 0.02498936, 0.93821613, -0.00033463, 0.00014188, -0.34604964 ] }, { "t": 14.6, "tool": [ -0.17721, 0.15864, 0.04359 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21463, 0.19302, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17721286, 0.15864189, 0.04393216, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.21466558, 0.19304876, 0.02498568, 0.93823441, -0.00031242, 0.00012061, -0.34600011 ] }, { "t": 14.65, "tool": [ -0.17726, 0.15867, 0.0532 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21487, 0.19324, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17726074, 0.15866571, 0.05361505, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.21487511, 0.19323823, 0.02499545, 0.9382391, -5.718e-05, 2.208e-05, -0.34598756 ] }, { "t": 14.7, "tool": [ -0.17727, 0.15867, 0.06385 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.1772721, 0.15867137, 0.06428003, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.2148771, 0.19323596, 0.02499981, 0.9382391, -1.38e-06, 5.3e-07, -0.34598756 ] }, { "t": 14.75, "tool": [ -0.17727, 0.15867, 0.07474 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.1772748, 0.15867271, 0.07517853, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, -3e-08, 1e-08, -0.34598756 ] }, { "t": 14.8, "tool": [ -0.17728, 0.15867, 0.08569 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17727545, 0.15867303, 0.08613248, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, -0.0, 0.0, -0.34598756 ] }, { "t": 14.85, "tool": [ -0.17728, 0.15867, 0.09666 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.1772756, 0.15867311, 0.0970996, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, -0.0, 0.0, -0.34598756 ] }, { "t": 14.9, "tool": [ -0.17728, 0.15867, 0.10763 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17727563, 0.15867312, 0.10806985, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, -0.0, 0.0, -0.34598756 ] }, { "t": 14.95, "tool": [ -0.17728, 0.15867, 0.1186 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17727564, 0.15867313, 0.11904084, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, -0.0, 0.0, -0.34598756 ] }, { "t": 15.0, "tool": [ -0.17728, 0.15867, 0.12957 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17727564, 0.15867313, 0.13001201, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, -0.0, 0.0, -0.34598756 ] }, { "t": 15.05, "tool": [ -0.17728, 0.15867, 0.14054 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17727565, 0.15867313, 0.14098322, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, -0.0, 0.0, -0.34598756 ] }, { "t": 15.1, "tool": [ -0.17728, 0.15867, 0.1515 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17727565, 0.15867313, 0.15191454, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, -0.0, 0.0, -0.34598756 ] }, { "t": 15.15, "tool": [ -0.17728, 0.15867, 0.15787 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17727565, 0.15867313, 0.15799258, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, 0.0, -0.0, -0.34598756 ] }, { "t": 15.2, "tool": [ -0.17728, 0.15867, 0.15949 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17727565, 0.15867313, 0.15952274, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, -0.0, 0.0, -0.34598756 ] }, { "t": 15.25, "tool": [ -0.17728, 0.15867, 0.15988 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17727565, 0.15867313, 0.15988666, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, 0.0, -0.0, -0.34598756 ] }, { "t": 15.3, "tool": [ -0.17728, 0.15867, 0.15997 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17727565, 0.15867313, 0.15997308, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, -0.0, 0.0, -0.34598756 ] }, { "t": 15.35, "tool": [ -0.17728, 0.15867, 0.15999 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17727565, 0.15867313, 0.15999361, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, 0.0, -0.0, -0.34598756 ] }, { "t": 15.4, "tool": [ -0.17728, 0.15867, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17727565, 0.15867313, 0.15999848, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, 0.0, -0.0, -0.34598756 ] }, { "t": 15.45, "tool": [ -0.17728, 0.15867, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17727565, 0.15867313, 0.15999964, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, -0.0, 0.0, -0.34598756 ] }, { "t": 15.5, "tool": [ -0.17728, 0.15867, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17727565, 0.15867313, 0.15999991, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, 0.0, -0.0, -0.34598756 ] }, { "t": 15.55, "tool": [ -0.17728, 0.15867, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17727565, 0.15867313, 0.15999998, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, -0.0, 0.0, -0.34598756 ] }, { "t": 15.6, "tool": [ -0.17728, 0.15867, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17727565, 0.15867313, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, -0.0, 0.0, -0.34598756 ] }, { "t": 15.65, "tool": [ -0.17728, 0.15867, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17727565, 0.15867313, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, 0.0, -0.0, -0.34598756 ] }, { "t": 15.7, "tool": [ -0.17728, 0.15867, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17727565, 0.15867313, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, -0.0, 0.0, -0.34598756 ] }, { "t": 15.75, "tool": [ -0.17728, 0.15867, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17727565, 0.15867313, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, 0.0, -0.0, -0.34598756 ] }, { "t": 15.8, "tool": [ -0.17728, 0.15867, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17727565, 0.15867313, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, 0.0, -0.0, -0.34598756 ] }, { "t": 15.85, "tool": [ -0.17728, 0.15867, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17727565, 0.15867313, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, -0.0, 0.0, -0.34598756 ] }, { "t": 15.9, "tool": [ -0.17728, 0.15867, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17727565, 0.15867313, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, 0.0, -0.0, -0.34598756 ] }, { "t": 15.95, "tool": [ -0.17728, 0.15867, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17727565, 0.15867313, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, -0.0, 0.0, -0.34598756 ] }, { "t": 16.0, "tool": [ -0.17728, 0.15867, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17727565, 0.15867313, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, -0.0, -0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, 0.0, -0.0, -0.34598756 ] }, { "t": 16.044, "tool": [ -0.17728, 0.15867, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21488, 0.19324, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17727565, 0.15867313, 0.16, -0.14940892, -0.12747679, 0.02499991, 1.0, 0.0, 0.0, -0.0, -0.21487715, 0.19323591, 0.02499991, 0.9382391, 0.0, -0.0, -0.34598756 ] } ], "events": [ { "t": 0.3, "type": "start", "message": "closed_loop: 파란 블록을 왼쪽 목표로 밀어줘" }, { "t": 3.916, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.362 m" }, { "t": 6.832, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.265 m" }, { "t": 9.748, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.166 m" }, { "t": 12.664, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.065 m" }, { "t": 16.044, "type": "success", "message": "최종 거리 0.0142 m · 정지 상태 True" } ] }, { "id": "slippery-2-open_loop", "policy": "open_loop", "scenario": "slippery", "seed": 2, "task": { "object_name": "red_block", "goal": "right", "instruction": "빨간 블록을 오른쪽 목표로 밀어줘" }, "parameters": { "friction": 0.12, "mass": 0.08, "disturbance": false }, "success": true, "final_distance_m": 0.01718886789203434, "settled": true, "sim_time_s": 7.197999999999429, "wall_time_s": 0.13881659996695817, "timed_out": false, "termination_reason": "success", "contact_steps": 745, "peak_contact_point_force_n": 1.6565859307772914, "unintended_contact_steps": 0, "distractor_displacement_m": 3.001116851998075e-08, "workspace_violation": false, "replans": 0, "disturbance_applied": false, "trajectory": [ { "t": 0.05, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.02496 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007542, 0.0249633, 1.0, 9e-08, -0.0, 0.0, 0.16571129, -0.17040418, 0.0249633, 1.0, 9e-08, -0.0, 0.0 ] }, { "t": 0.1, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007541, 0.02499903, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499903, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.15, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007541, 0.02499989, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499989, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.2, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.25, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.3, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.35, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.4, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.45, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.5, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.55, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.6, "tool": [ -0.00423, -0.31793, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.00456791, -0.31776454, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.65, "tool": [ -0.01458, -0.31287, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.01504046, -0.31263945, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.7, "tool": [ -0.0266, -0.30698, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.02709665, -0.30673936, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.75, "tool": [ -0.03903, -0.3009, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.03953006, -0.30065466, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.8, "tool": [ -0.05155, -0.29477, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05205305, -0.29452612, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.85, "tool": [ -0.0641, -0.28863, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.06459732, -0.28838717, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.9, "tool": [ -0.07664, -0.28249, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.07714663, -0.28224575, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.95, "tool": [ -0.0892, -0.27635, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.08969715, -0.27610374, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.0, "tool": [ -0.10175, -0.27021, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.10224795, -0.26996159, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.05, "tool": [ -0.1143, -0.26407, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.11479882, -0.2638194, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.1, "tool": [ -0.12685, -0.25792, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.12734971, -0.25767721, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.15, "tool": [ -0.1394, -0.25178, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.1399006, -0.25153502, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.2, "tool": [ -0.15195, -0.24564, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.15245149, -0.24539283, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.25, "tool": [ -0.1645, -0.2395, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.16500238, -0.23925063, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.3, "tool": [ -0.17705, -0.23335, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.17755327, -0.23310844, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.35, "tool": [ -0.1896, -0.22721, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.19010416, -0.22696625, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.4, "tool": [ -0.20215, -0.22107, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.20265505, -0.22082405, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.45, "tool": [ -0.21402, -0.21526, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.21436724, -0.21509231, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.5, "tool": [ -0.21886, -0.2129, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.21894285, -0.21285308, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.55, "tool": [ -0.22003, -0.21232, 0.15946 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22004899, -0.21231176, 0.15933176, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.6, "tool": [ -0.22031, -0.21219, 0.15331 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.2203118, -0.21218314, 0.1529774, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.65, "tool": [ -0.22037, -0.21215, 0.14424 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22037421, -0.2121526, 0.14385873, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.7, "tool": [ -0.22039, -0.21215, 0.13446 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22038903, -0.21214535, 0.13406812, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.75, "tool": [ -0.22039, -0.21214, 0.12452 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039255, -0.21214363, 0.12411785, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.8, "tool": [ -0.22039, -0.21214, 0.11453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039338, -0.21214322, 0.11412966, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.85, "tool": [ -0.22039, -0.21214, 0.10453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039358, -0.21214312, 0.10413246, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.9, "tool": [ -0.22039, -0.21214, 0.09453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039363, -0.2121431, 0.09413313, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.95, "tool": [ -0.22039, -0.21214, 0.08453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214309, 0.08413328, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.0, "tool": [ -0.22039, -0.21214, 0.07453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214309, 0.07413332, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.05, "tool": [ -0.22039, -0.21214, 0.06453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214309, 0.06413333, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.1, "tool": [ -0.22039, -0.21214, 0.05453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214309, 0.05413333, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.15, "tool": [ -0.22039, -0.21214, 0.04465 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214309, 0.0443044, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.2, "tool": [ -0.22039, -0.21214, 0.03963 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214309, 0.03954041, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.25, "tool": [ -0.22033, -0.21208, 0.03839 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.22029148, -0.21205212, 0.03836608, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.3, "tool": [ -0.21735, -0.20943, 0.03809 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.21716463, -0.20926785, 0.03808694, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.35, "tool": [ -0.21212, -0.20478, 0.03802 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.21189409, -0.20457477, 0.03802065, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.4, "tool": [ -0.20632, -0.19962, 0.03801 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.20608896, -0.19940566, 0.0380049, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.45, "tool": [ -0.20047, -0.19438, 0.038 ], "objects": { "red_block": [ -0.16117, -0.15967, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.20025262, -0.19418518, 0.03800116, -0.16090207, -0.15948961, 0.02498642, 0.999948, -0.00029722, -5.23e-06, 0.01019312, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.5, "tool": [ -0.19451, -0.18909, 0.038 ], "objects": { "red_block": [ -0.15483, -0.15473, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.19426946, -0.18887629, 0.03800154, -0.15458248, -0.1545136, 0.02500628, 0.99968383, 0.00037415, -0.00017352, 0.02514091, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.55, "tool": [ -0.18851, -0.18374, 0.038 ], "objects": { "red_block": [ -0.14904, -0.14963, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.18826485, -0.18352378, 0.03799907, -0.14883295, -0.14943976, 0.02498642, 0.99942361, 6.356e-05, 6.979e-05, 0.03394769, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.6, "tool": [ -0.18254, -0.17842, 0.038 ], "objects": { "red_block": [ -0.14313, -0.14452, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.18229858, -0.17820438, 0.03799875, -0.14290305, -0.14432046, 0.02500747, 0.99896204, -4.65e-06, -0.00022395, 0.04554999, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.65, "tool": [ -0.17656, -0.1731, 0.03801 ], "objects": { "red_block": [ -0.13751, -0.13937, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17632535, -0.17289029, 0.03800738, -0.1372692, -0.13916256, 0.02500607, 0.99860647, 0.00030952, -3.02e-05, 0.05277336, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.7, "tool": [ -0.17059, -0.16778, 0.038 ], "objects": { "red_block": [ -0.13181, -0.13412, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17034911, -0.16756899, 0.03800349, -0.13159168, -0.13391557, 0.02501486, 0.99823676, -9.64e-05, 0.00017002, 0.0593577, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.75, "tool": [ -0.16462, -0.16246, 0.03801 ], "objects": { "red_block": [ -0.12607, -0.12886, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.16437864, -0.16224945, 0.03800737, -0.12584018, -0.12865696, 0.0250014, 0.99773509, 0.00012936, -2.359e-05, 0.06726563, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.8, "tool": [ -0.15865, -0.15715, 0.03801 ], "objects": { "red_block": [ -0.12036, -0.12377, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.15841015, -0.15693434, 0.03800532, -0.12013113, -0.12356139, 0.02500362, 0.99713151, 0.00013429, 3.7e-07, 0.0756884, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.85, "tool": [ -0.15267, -0.15182, 0.03801 ], "objects": { "red_block": [ -0.11472, -0.11877, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.15242907, -0.15161088, 0.03800517, -0.11451619, -0.11857887, 0.02500166, 0.99647131, -0.00013922, -0.000217, 0.08393367, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.9, "tool": [ -0.1467, -0.14652, 0.038 ], "objects": { "red_block": [ -0.10916, -0.11361, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14646456, -0.14630514, 0.03799957, -0.10891554, -0.11338654, 0.02496705, 0.99584837, 0.00013598, -8.772e-05, 0.09102749, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.95, "tool": [ -0.14072, -0.14119, 0.038 ], "objects": { "red_block": [ -0.10346, -0.10836, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1404856, -0.14097781, 0.03800499, -0.10324133, -0.10815608, 0.02500052, 0.99515837, -3.674e-05, -0.00036543, 0.09828372, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.0, "tool": [ -0.13476, -0.13588, 0.03801 ], "objects": { "red_block": [ -0.09786, -0.10313, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13451935, -0.13566214, 0.0380069, -0.09764328, -0.10292508, 0.02500237, 0.99424852, 3.105e-05, 0.00043151, 0.10709664, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.05, "tool": [ -0.12879, -0.13056, 0.038 ], "objects": { "red_block": [ -0.09236, -0.09792, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12854682, -0.13034689, 0.03800193, -0.09214037, -0.09771234, 0.02499428, 0.99307137, 0.00014269, 0.00038368, 0.11751211, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.1, "tool": [ -0.12281, -0.12524, 0.038 ], "objects": { "red_block": [ -0.08686, -0.09279, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12257182, -0.12502554, 0.03800349, -0.0866523, -0.09258957, 0.02498535, 0.99168416, -0.00051045, 0.00057613, 0.12869317, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.15, "tool": [ -0.11684, -0.11993, 0.03801 ], "objects": { "red_block": [ -0.08141, -0.0878, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11660347, -0.11971337, 0.0380053, -0.08119005, -0.08760066, 0.02497682, 0.98984164, 0.00028452, -5.879e-05, 0.14217398, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.2, "tool": [ -0.11087, -0.11461, 0.03801 ], "objects": { "red_block": [ -0.07583, -0.08275, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11063067, -0.11439461, 0.03800713, -0.07561533, -0.08254761, 0.02500058, 0.98822546, 6.076e-05, -0.00022382, 0.1530045, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.25, "tool": [ -0.1049, -0.10929, 0.03801 ], "objects": { "red_block": [ -0.07024, -0.07768, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.10466248, -0.10907787, 0.03801169, -0.07001559, -0.07747421, 0.0249788, 0.9864482, 0.00013184, -0.00062553, 0.16407175, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.3, "tool": [ -0.09893, -0.10397, 0.03801 ], "objects": { "red_block": [ -0.06457, -0.07257, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.09868981, -0.10375867, 0.03801178, -0.06435243, -0.07236351, 0.02497366, 0.98467561, -0.00064004, -5.89e-06, 0.17439479, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.35, "tool": [ -0.09296, -0.09866, 0.03801 ], "objects": { "red_block": [ -0.05891, -0.06739, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.09272131, -0.09844456, 0.03800755, -0.05867969, -0.06717109, 0.02498676, 0.98292611, 0.00016951, 0.00073077, 0.18399921, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.4, "tool": [ -0.08699, -0.09334, 0.03801 ], "objects": { "red_block": [ -0.05318, -0.06205, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.08674655, -0.09312353, 0.03800556, -0.05294923, -0.06184391, 0.02495061, 0.98190531, 0.00027678, 0.00011436, 0.18937233, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.45, "tool": [ -0.08101, -0.08802, 0.03801 ], "objects": { "red_block": [ -0.04745, -0.05671, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.08077615, -0.08780546, 0.03801221, -0.04721066, -0.05648989, 0.02500753, 0.98076709, -0.00031451, -4.696e-05, 0.19518148, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.5, "tool": [ -0.07504, -0.0827, 0.03801 ], "objects": { "red_block": [ -0.04164, -0.05125, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07480554, -0.08249042, 0.03801275, -0.04141039, -0.05102424, 0.02499872, 0.979954, 1.371e-05, -0.00023612, 0.19922376, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.55, "tool": [ -0.06907, -0.07738, 0.03801 ], "objects": { "red_block": [ -0.03594, -0.04577, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06883016, -0.07717145, 0.03801086, -0.03571236, -0.04555317, 0.02499277, 0.97867095, 7.432e-05, 0.0004323, 0.20543363, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.6, "tool": [ -0.0631, -0.07207, 0.03801 ], "objects": { "red_block": [ -0.03027, -0.04039, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06285899, -0.07185305, 0.038011, -0.03003845, -0.04017837, 0.02497311, 0.97706446, 0.00062484, -0.00046034, 0.21294234, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.65, "tool": [ -0.05713, -0.06675, 0.03801 ], "objects": { "red_block": [ -0.02456, -0.03504, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05688791, -0.06653753, 0.03800655, -0.02433289, -0.03481831, 0.02496489, 0.97555234, -0.00062884, -8.816e-05, 0.21976629, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.7, "tool": [ -0.05115, -0.06143, 0.03801 ], "objects": { "red_block": [ -0.01881, -0.02961, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05091642, -0.06121907, 0.0380102, -0.01856586, -0.02938541, 0.02501324, 0.97452069, 1.076e-05, 1.08e-06, 0.22429761, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.75, "tool": [ -0.04518, -0.05612, 0.038 ], "objects": { "red_block": [ -0.01306, -0.024, 0.02495 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.04494039, -0.05590298, 0.03800157, -0.01282988, -0.02377302, 0.02497741, 0.97400717, -5.048e-05, 1.496e-05, 0.22651715, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.8, "tool": [ -0.03921, -0.05079, 0.03801 ], "objects": { "red_block": [ -0.0073, -0.01849, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.03897086, -0.05058254, 0.03801328, -0.00706679, -0.01826706, 0.02499684, 0.97301569, 0.00033996, 0.00055025, 0.23073803, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.85, "tool": [ -0.03324, -0.04548, 0.03801 ], "objects": { "red_block": [ -0.00157, -0.01301, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.03299756, -0.04526629, 0.03801403, -0.00134778, -0.01278884, 0.02497081, 0.97196491, 0.00048392, 0.00011344, 0.23512541, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.9, "tool": [ -0.02727, -0.04016, 0.03801 ], "objects": { "red_block": [ 0.00417, -0.00751, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.02702686, -0.03994749, 0.03801385, 0.00439346, -0.00729195, 0.02498118, 0.97086746, 1.904e-05, -0.00056674, 0.23961646, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.95, "tool": [ -0.02129, -0.03484, 0.03801 ], "objects": { "red_block": [ 0.00988, -0.00203, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.02105516, -0.03463114, 0.03801228, 0.01011546, -0.00180968, 0.02498914, 0.9695865, 0.00038422, -0.00015808, 0.24474854, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.0, "tool": [ -0.01532, -0.02952, 0.03801 ], "objects": { "red_block": [ 0.01558, 0.00327, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.01508216, -0.02931019, 0.03801254, 0.015804, 0.00348194, 0.02498836, 0.96720646, 0.000438, -0.00012017, 0.25399105, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.05, "tool": [ -0.00935, -0.02421, 0.03801 ], "objects": { "red_block": [ 0.02125, 0.0087, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.00911134, -0.02399929, 0.03801126, 0.02148124, 0.00892247, 0.02497396, 0.96544716, -3.792e-05, 6.626e-05, 0.26059887, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.1, "tool": [ -0.00338, -0.0189, 0.03801 ], "objects": { "red_block": [ 0.02698, 0.01427, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.00313898, -0.01868248, 0.03801193, 0.02720926, 0.01449419, 0.02499941, 0.96453541, 0.00023476, 0.00012907, 0.26395334, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.15, "tool": [ 0.0026, -0.01357, 0.038 ], "objects": { "red_block": [ 0.03268, 0.01988, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.0028367, -0.01336122, 0.03800212, 0.03290726, 0.0200947, 0.02501172, 0.96372729, -8.881e-05, -8.312e-05, 0.26688892, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.2, "tool": [ 0.00857, -0.00826, 0.038 ], "objects": { "red_block": [ 0.03841, 0.02536, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00880763, -0.00804749, 0.0380044, 0.03862786, 0.0255768, 0.02499069, 0.96240438, -0.00042275, 6.305e-05, 0.27162038, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.25, "tool": [ 0.01454, -0.00294, 0.03801 ], "objects": { "red_block": [ 0.04412, 0.03093, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01477857, -0.00273159, 0.03800548, 0.04435848, 0.03116431, 0.02499079, 0.96158636, 0.00025278, 7.352e-05, 0.27450246, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.3, "tool": [ 0.02051, 0.00237, 0.03801 ], "objects": { "red_block": [ 0.04985, 0.03658, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02075187, 0.00258721, 0.03800812, 0.05008268, 0.03680611, 0.02500528, 0.96126757, 8.313e-05, 1.161e-05, 0.27561687, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.35, "tool": [ 0.02648, 0.00769, 0.03801 ], "objects": { "red_block": [ 0.05554, 0.04222, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02672233, 0.00790571, 0.03801271, 0.05577734, 0.04244, 0.02500446, 0.96046766, 1.283e-05, -0.00049078, 0.27839115, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.4, "tool": [ 0.03245, 0.01301, 0.03801 ], "objects": { "red_block": [ 0.06122, 0.0478, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03269343, 0.01322446, 0.03801106, 0.06144264, 0.04802491, 0.02497685, 0.95927112, -0.00014562, 1.764e-05, 0.282487, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.45, "tool": [ 0.03843, 0.01833, 0.03801 ], "objects": { "red_block": [ 0.06688, 0.05335, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03866613, 0.0185426, 0.0380067, 0.06711495, 0.0535743, 0.02497384, 0.9580323, -0.00011656, -7.057e-05, 0.28666023, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.5, "tool": [ 0.0444, 0.02365, 0.038 ], "objects": { "red_block": [ 0.07258, 0.05891, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.04463996, 0.02385855, 0.03800434, 0.07280899, 0.05912926, 0.02498033, 0.95709693, 0.00012362, 0.00033338, 0.28976772, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.55, "tool": [ 0.05037, 0.02896, 0.03801 ], "objects": { "red_block": [ 0.0783, 0.06445, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.05060956, 0.02917576, 0.03800732, 0.07852581, 0.06467461, 0.02501388, 0.95609768, 0.00019039, -0.00020697, 0.29304802, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.6, "tool": [ 0.05634, 0.03428, 0.03801 ], "objects": { "red_block": [ 0.08398, 0.07002, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.05658201, 0.03449588, 0.0380099, 0.08420321, 0.07023833, 0.02496267, 0.95477959, 4.17e-06, 1.876e-05, 0.29731455, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.65, "tool": [ 0.06231, 0.0396, 0.03801 ], "objects": { "red_block": [ 0.08963, 0.07555, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.06255466, 0.03981015, 0.03801243, 0.08985484, 0.07576843, 0.02497014, 0.95355956, 6.041e-05, -6.421e-05, 0.30120452, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.7, "tool": [ 0.06829, 0.04492, 0.03801 ], "objects": { "red_block": [ 0.09531, 0.08112, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.0685265, 0.04512871, 0.03800944, 0.09553274, 0.08134642, 0.02500475, 0.95256844, -0.00016064, 0.00027286, 0.30432429, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.75, "tool": [ 0.07426, 0.05023, 0.038 ], "objects": { "red_block": [ 0.10097, 0.08669, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.0744991, 0.05044667, 0.03800435, 0.10119392, 0.08691235, 0.02500362, 0.95143139, -0.00018452, 0.00011097, 0.30786078, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.8, "tool": [ 0.08023, 0.05555, 0.038 ], "objects": { "red_block": [ 0.10665, 0.09223, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08047064, 0.0557628, 0.03800397, 0.10687633, 0.09244955, 0.02497233, 0.95005331, 0.00024259, -0.00068166, 0.31208682, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.85, "tool": [ 0.0862, 0.06087, 0.03802 ], "objects": { "red_block": [ 0.11232, 0.09781, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08644029, 0.06107906, 0.03801783, 0.11255017, 0.09803307, 0.0250119, 0.94923051, -0.00018081, 0.00032522, 0.31458114, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.9, "tool": [ 0.09217, 0.06619, 0.03802 ], "objects": { "red_block": [ 0.11799, 0.10337, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09241288, 0.06639711, 0.03801629, 0.11822263, 0.10359895, 0.02497889, 0.94812663, 0.00020999, -0.00083107, 0.31789174, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.95, "tool": [ 0.09815, 0.0715, 0.038 ], "objects": { "red_block": [ 0.12365, 0.10889, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09838607, 0.07171677, 0.03800524, 0.12388363, 0.10911145, 0.02497378, 0.94670193, -0.00038275, 0.000708, 0.32210992, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.0, "tool": [ 0.10412, 0.07682, 0.03801 ], "objects": { "red_block": [ 0.12931, 0.11441, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10435843, 0.07703369, 0.03800661, 0.12953207, 0.11462464, 0.02498572, 0.94538174, -0.00010118, 8.638e-05, 0.32596527, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.05, "tool": [ 0.11009, 0.08214, 0.038 ], "objects": { "red_block": [ 0.13497, 0.11997, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11033001, 0.08234922, 0.03800494, 0.13519604, 0.12019355, 0.02499863, 0.94421202, 6.07e-06, -4.629e-05, 0.32933821, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.1, "tool": [ 0.11607, 0.08745, 0.038 ], "objects": { "red_block": [ 0.1406, 0.12557, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11630468, 0.08766666, 0.03800404, 0.14083415, 0.12579444, 0.02500452, 0.94339399, 8.72e-06, -0.00019948, 0.33167414, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.15, "tool": [ 0.12204, 0.09277, 0.03801 ], "objects": { "red_block": [ 0.14626, 0.13114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.12227461, 0.09298409, 0.03800646, 0.14648901, 0.13136873, 0.02500947, 0.94235481, 3.76e-05, -0.00031671, 0.33461516, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.2, "tool": [ 0.12801, 0.09809, 0.03801 ], "objects": { "red_block": [ 0.1519, 0.13664, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.12824623, 0.09830369, 0.03800888, 0.15212616, 0.13686124, 0.02500807, 0.94062704, -0.00019684, -5.137e-05, 0.33944179, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.25, "tool": [ 0.13398, 0.10341, 0.038 ], "objects": { "red_block": [ 0.15755, 0.14217, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13421874, 0.10361873, 0.03800259, 0.15777994, 0.14239192, 0.02500262, 0.93916567, 0.00021974, -1.078e-05, 0.3434644, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.3, "tool": [ 0.13995, 0.10872, 0.03801 ], "objects": { "red_block": [ 0.16321, 0.14768, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14018935, 0.10893461, 0.03801318, 0.16342967, 0.14790264, 0.02498627, 0.93790344, -0.00063182, -0.00023794, 0.34689578, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.35, "tool": [ 0.14592, 0.11404, 0.03801 ], "objects": { "red_block": [ 0.16885, 0.15312, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14616354, 0.11425643, 0.03801393, 0.16907091, 0.15333174, 0.02497801, 0.9357865, 0.00022888, 7.502e-05, 0.35256712, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.4, "tool": [ 0.1519, 0.11935, 0.03801 ], "objects": { "red_block": [ 0.17442, 0.15866, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15213447, 0.11956568, 0.03800877, 0.17465591, 0.15888879, 0.02497688, 0.93383643, 9.9e-07, 0.00013246, 0.35770029, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.45, "tool": [ 0.15787, 0.12467, 0.03801 ], "objects": { "red_block": [ 0.18003, 0.16427, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15810805, 0.12488714, 0.03801178, 0.18025568, 0.16448679, 0.02500064, 0.93305103, -0.00024714, 5.225e-05, 0.35974396, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.5, "tool": [ 0.16384, 0.12999, 0.03801 ], "objects": { "red_block": [ 0.18562, 0.16988, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.16408068, 0.13020428, 0.03800653, 0.18584365, 0.17009847, 0.02499956, 0.93192083, -0.00020145, 0.00016593, 0.36266167, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.55, "tool": [ 0.16981, 0.13531, 0.038 ], "objects": { "red_block": [ 0.19121, 0.17542, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17005351, 0.13552581, 0.03800404, 0.19142372, 0.17563565, 0.02500796, 0.93037395, 0.00015877, 7.883e-05, 0.3666119, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.6, "tool": [ 0.17577, 0.1406, 0.038 ], "objects": { "red_block": [ 0.19675, 0.18099, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17598562, 0.14080118, 0.03800365, 0.19696068, 0.18120534, 0.02499819, 0.92862557, -3.35e-06, 3.816e-05, 0.37101825, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.65, "tool": [ 0.1791, 0.14357, 0.038 ], "objects": { "red_block": [ 0.20146, 0.18574, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.1791565, 0.14362927, 0.03800121, 0.20161549, 0.18589827, 0.02497453, 0.92860755, -6.954e-05, -6.075e-05, 0.37106334, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.7, "tool": [ 0.17993, 0.14432, 0.03804 ], "objects": { "red_block": [ 0.20472, 0.18899, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17994936, 0.14433689, 0.03807549, 0.20482219, 0.18909174, 0.02498904, 0.92861153, 0.00035477, 0.00013139, 0.37105321, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.75, "tool": [ 0.18013, 0.1445, 0.04293 ], "objects": { "red_block": [ 0.20652, 0.19078, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1801379, 0.14450516, 0.04326011, 0.20655949, 0.19081629, 0.0249644, 0.92864681, -0.00024039, -0.00011038, 0.37096501, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.8, "tool": [ 0.18018, 0.14454, 0.05237 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18018267, 0.14454512, 0.05278634, 0.20690711, 0.19114216, 0.02499389, 0.92865215, -6.068e-05, -2.593e-05, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.85, "tool": [ 0.18019, 0.14455, 0.06298 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1801933, 0.14455461, 0.06341397, 0.20690942, 0.19113986, 0.02499977, 0.92865215, -1.46e-06, -6.3e-07, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.9, "tool": [ 0.1802, 0.14456, 0.07387 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019583, 0.14455687, 0.07430359, 0.20690947, 0.19113981, 0.02499991, 0.92865215, -4e-08, -2e-08, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.95, "tool": [ 0.1802, 0.14456, 0.08482 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019643, 0.1445574, 0.08525544, 0.20690947, 0.19113981, 0.02499991, 0.92865215, -0.0, -0.0, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.0, "tool": [ 0.1802, 0.14456, 0.09578 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019657, 0.14455753, 0.09622206, 0.20690947, 0.19113981, 0.02499991, 0.92865215, -0.0, -0.0, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 6.05, "tool": [ 0.1802, 0.14456, 0.10675 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019661, 0.14455756, 0.10719219, 0.20690947, 0.19113981, 0.02499991, 0.92865215, -0.0, -0.0, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 6.1, "tool": [ 0.1802, 0.14456, 0.11772 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019661, 0.14455757, 0.11816315, 0.20690947, 0.19113981, 0.02499991, 0.92865215, 0.0, 0.0, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.15, "tool": [ 0.1802, 0.14456, 0.1287 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019662, 0.14455757, 0.12913431, 0.20690947, 0.19113981, 0.02499991, 0.92865215, -0.0, -0.0, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 6.2, "tool": [ 0.1802, 0.14456, 0.13967 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019662, 0.14455757, 0.14010552, 0.20690947, 0.19113981, 0.02499991, 0.92865215, -0.0, -0.0, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.25, "tool": [ 0.1802, 0.14456, 0.15064 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019662, 0.14455757, 0.15107223, 0.20690947, 0.19113981, 0.02499991, 0.92865215, -0.0, -0.0, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.3, "tool": [ 0.1802, 0.14456, 0.15762 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019662, 0.14455757, 0.15774879, 0.20690947, 0.19113981, 0.02499991, 0.92865215, -0.0, -0.0, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 6.35, "tool": [ 0.1802, 0.14456, 0.15943 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18019662, 0.14455757, 0.15946457, 0.20690947, 0.19113981, 0.02499991, 0.92865215, -0.0, -0.0, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.4, "tool": [ 0.1802, 0.14456, 0.15987 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18019662, 0.14455757, 0.15987284, 0.20690947, 0.19113981, 0.02499991, 0.92865215, 0.0, 0.0, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 6.45, "tool": [ 0.1802, 0.14456, 0.15997 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18019662, 0.14455757, 0.1599698, 0.20690947, 0.19113981, 0.02499991, 0.92865215, -0.0, -0.0, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 6.5, "tool": [ 0.1802, 0.14456, 0.15999 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18019662, 0.14455757, 0.15999283, 0.20690947, 0.19113981, 0.02499991, 0.92865215, -0.0, -0.0, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.55, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.1599983, 0.20690947, 0.19113981, 0.02499991, 0.92865215, 0.0, 0.0, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 6.6, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.1599996, 0.20690947, 0.19113981, 0.02499991, 0.92865215, -0.0, -0.0, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.65, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.1599999, 0.20690947, 0.19113981, 0.02499991, 0.92865215, 0.0, 0.0, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 6.7, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.15999998, 0.20690947, 0.19113981, 0.02499991, 0.92865215, -0.0, -0.0, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 6.75, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.15999999, 0.20690947, 0.19113981, 0.02499991, 0.92865215, -0.0, -0.0, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.8, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.16, 0.20690947, 0.19113981, 0.02499991, 0.92865215, 0.0, 0.0, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 6.85, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.16, 0.20690947, 0.19113981, 0.02499991, 0.92865215, -0.0, -0.0, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.9, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.16, 0.20690947, 0.19113981, 0.02499991, 0.92865215, 0.0, 0.0, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.95, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.16, 0.20690947, 0.19113981, 0.02499991, 0.92865215, 0.0, 0.0, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 7.0, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.16, 0.20690947, 0.19113981, 0.02499991, 0.92865215, -0.0, -0.0, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.05, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.16, 0.20690947, 0.19113981, 0.02499991, 0.92865215, 0.0, 0.0, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 7.1, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.16, 0.20690947, 0.19113981, 0.02499991, 0.92865215, -0.0, -0.0, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 7.15, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.16, 0.20690947, 0.19113981, 0.02499991, 0.92865215, 0.0, 0.0, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.198, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.20691, 0.19114, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.16, 0.20690947, 0.19113981, 0.02499991, 0.92865215, 0.0, 0.0, 0.37095173, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] } ], "events": [ { "t": 0.3, "type": "start", "message": "open_loop: 빨간 블록을 오른쪽 목표로 밀어줘" }, { "t": 7.198, "type": "success", "message": "최종 거리 0.0172 m · 정지 상태 True" } ] }, { "id": "slippery-2-closed_loop", "policy": "closed_loop", "scenario": "slippery", "seed": 2, "task": { "object_name": "red_block", "goal": "right", "instruction": "빨간 블록을 오른쪽 목표로 밀어줘" }, "parameters": { "friction": 0.12, "mass": 0.08, "disturbance": false }, "success": true, "final_distance_m": 0.01835191872664142, "settled": true, "sim_time_s": 16.260000000001867, "wall_time_s": 0.3272767999442294, "timed_out": false, "termination_reason": "success", "contact_steps": 614, "peak_contact_point_force_n": 2.0451458921021195, "unintended_contact_steps": 0, "distractor_displacement_m": 3.001829162190853e-08, "workspace_violation": false, "replans": 4, "disturbance_applied": false, "trajectory": [ { "t": 0.05, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.02496 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007542, 0.0249633, 1.0, 9e-08, -0.0, 0.0, 0.16571129, -0.17040418, 0.0249633, 1.0, 9e-08, -0.0, 0.0 ] }, { "t": 0.1, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007541, 0.02499903, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499903, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.15, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007541, 0.02499989, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499989, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.2, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.25, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.3, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.35, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.4, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.45, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.5, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.55, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.6, "tool": [ -0.00423, -0.31793, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.00456791, -0.31776454, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.65, "tool": [ -0.01458, -0.31287, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.01504046, -0.31263945, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.7, "tool": [ -0.0266, -0.30698, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.02709665, -0.30673936, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.75, "tool": [ -0.03903, -0.3009, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.03953006, -0.30065466, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.8, "tool": [ -0.05155, -0.29477, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05205305, -0.29452612, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.85, "tool": [ -0.0641, -0.28863, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.06459732, -0.28838717, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.9, "tool": [ -0.07664, -0.28249, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.07714663, -0.28224575, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 0.95, "tool": [ -0.0892, -0.27635, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.08969715, -0.27610374, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.0, "tool": [ -0.10175, -0.27021, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.10224795, -0.26996159, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.05, "tool": [ -0.1143, -0.26407, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.11479882, -0.2638194, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.1, "tool": [ -0.12685, -0.25792, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.12734971, -0.25767721, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.15, "tool": [ -0.1394, -0.25178, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.1399006, -0.25153502, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.2, "tool": [ -0.15195, -0.24564, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.15245149, -0.24539283, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.25, "tool": [ -0.1645, -0.2395, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.16500238, -0.23925063, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.3, "tool": [ -0.17705, -0.23335, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.17755327, -0.23310844, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.35, "tool": [ -0.1896, -0.22721, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.19010416, -0.22696625, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.4, "tool": [ -0.20215, -0.22107, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.20265505, -0.22082405, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.45, "tool": [ -0.21402, -0.21526, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.21436724, -0.21509231, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.5, "tool": [ -0.21886, -0.2129, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.21894285, -0.21285308, 0.16, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.55, "tool": [ -0.22003, -0.21232, 0.15946 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22004899, -0.21231176, 0.15933176, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 1.6, "tool": [ -0.22031, -0.21219, 0.15331 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.2203118, -0.21218314, 0.1529774, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.65, "tool": [ -0.22037, -0.21215, 0.14424 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22037421, -0.2121526, 0.14385873, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.7, "tool": [ -0.22039, -0.21215, 0.13446 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22038903, -0.21214535, 0.13406812, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.75, "tool": [ -0.22039, -0.21214, 0.12452 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039255, -0.21214363, 0.12411785, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.8, "tool": [ -0.22039, -0.21214, 0.11453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039338, -0.21214322, 0.11412966, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.85, "tool": [ -0.22039, -0.21214, 0.10453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039358, -0.21214312, 0.10413246, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.9, "tool": [ -0.22039, -0.21214, 0.09453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039363, -0.2121431, 0.09413313, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.95, "tool": [ -0.22039, -0.21214, 0.08453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214309, 0.08413328, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.0, "tool": [ -0.22039, -0.21214, 0.07453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214309, 0.07413332, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.05, "tool": [ -0.22039, -0.21214, 0.06453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214309, 0.06413333, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.1, "tool": [ -0.22039, -0.21214, 0.05453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214309, 0.05413333, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.15, "tool": [ -0.22039, -0.21214, 0.04465 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214309, 0.0443044, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.2, "tool": [ -0.22039, -0.21214, 0.03963 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214309, 0.03954041, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.25, "tool": [ -0.22033, -0.21208, 0.03839 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.22029144, -0.21205208, 0.03836608, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.3, "tool": [ -0.21735, -0.20943, 0.03809 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.21716309, -0.20926648, 0.03808694, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.35, "tool": [ -0.21212, -0.20477, 0.03802 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.21189004, -0.20457116, 0.03802065, -0.16191939, -0.16007541, 0.02499991, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.4, "tool": [ -0.20632, -0.19961, 0.03801 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.20608214, -0.19939958, 0.0380049, -0.16191939, -0.16007541, 0.02499991, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.45, "tool": [ -0.20046, -0.19437, 0.038 ], "objects": { "red_block": [ -0.16116, -0.15967, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.20024341, -0.19417682, 0.03800116, -0.16089708, -0.15948687, 0.02498716, 0.99994719, -0.00029992, -6.35e-06, 0.01027287, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.5, "tool": [ -0.19449, -0.18908, 0.038 ], "objects": { "red_block": [ -0.15472, -0.1546, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.19425193, -0.18886837, 0.03799647, -0.15449412, -0.15438739, 0.02498122, 0.99969657, -0.00084299, 0.00037334, 0.02461543, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.55, "tool": [ -0.1885, -0.18373, 0.038 ], "objects": { "red_block": [ -0.14892, -0.14926, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.18826374, -0.18352126, 0.03800376, -0.14867384, -0.14904118, 0.02499147, 0.99950823, 0.00014675, 6.566e-05, 0.03135723, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.6, "tool": [ -0.18251, -0.1784, 0.03801 ], "objects": { "red_block": [ -0.14335, -0.14403, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.18227256, -0.17818507, 0.03800852, -0.14311202, -0.14380847, 0.0249888, 0.99938343, -0.00066664, -0.00024668, 0.0351035, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.65, "tool": [ -0.17654, -0.17308, 0.038 ], "objects": { "red_block": [ -0.13735, -0.13865, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1763, -0.17286817, 0.03799989, -0.13712465, -0.13844051, 0.02497196, 0.99906108, 4.08e-05, -2.641e-05, 0.04332393, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.7, "tool": [ -0.17058, -0.16776, 0.038 ], "objects": { "red_block": [ -0.13158, -0.13341, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17033818, -0.1675506, 0.03800444, -0.13132621, -0.13319013, 0.02498961, 0.99878024, -0.00023797, -0.00033043, 0.04937474, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.75, "tool": [ -0.16459, -0.16244, 0.03801 ], "objects": { "red_block": [ -0.12576, -0.12811, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.16435167, -0.16222294, 0.03801029, -0.12553075, -0.12791005, 0.02500532, 0.99855193, -0.00014526, 0.00010023, 0.05379608, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.8, "tool": [ -0.15862, -0.15712, 0.03801 ], "objects": { "red_block": [ -0.11988, -0.12294, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.15838163, -0.15690862, 0.03801101, -0.11964665, -0.12273114, 0.02497754, 0.99815757, 0.00085349, -0.00022739, 0.06066859, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.85, "tool": [ -0.15266, -0.1518, 0.03802 ], "objects": { "red_block": [ -0.11426, -0.11776, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.15241642, -0.15159194, 0.0380146, -0.11400909, -0.11754938, 0.02497535, 0.9976589, 0.00011213, -0.00027667, 0.06838584, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 2.9, "tool": [ -0.14667, -0.14648, 0.03801 ], "objects": { "red_block": [ -0.10852, -0.11263, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14642722, -0.14626389, 0.03801068, -0.10830215, -0.11242593, 0.0249854, 0.99716443, 0.00070133, 0.00041204, 0.07524919, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.95, "tool": [ -0.14069, -0.14116, 0.038 ], "objects": { "red_block": [ -0.10288, -0.10749, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14044916, -0.14094155, 0.03800324, -0.10266751, -0.10729688, 0.02500947, 0.99661953, 0.00015433, 1.459e-05, 0.08215528, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.0, "tool": [ -0.13479, -0.1359, 0.038 ], "objects": { "red_block": [ -0.09723, -0.10249, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1345836, -0.13571775, 0.03799982, -0.09700869, -0.10228597, 0.02500363, 0.99594252, 0.00014583, -0.00048337, 0.08999028, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.05, "tool": [ -0.13176, -0.13322, 0.038 ], "objects": { "red_block": [ -0.09249, -0.09788, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13170794, -0.13316805, 0.03799858, -0.09233052, -0.09772763, 0.02500637, 0.99553072, -3.248e-05, 0.0001807, 0.0944381, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.1, "tool": [ -0.13101, -0.13255, 0.03812 ], "objects": { "red_block": [ -0.08928, -0.09467, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13099558, -0.13253826, 0.03818734, -0.08918437, -0.09457707, 0.02498244, 0.99542692, -3.505e-05, 0.00023612, 0.0955259, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.15, "tool": [ -0.13083, -0.13239, 0.04359 ], "objects": { "red_block": [ -0.08755, -0.09294, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13082623, -0.13238855, 0.04393215, -0.08751438, -0.09289701, 0.02498903, 0.99537433, -2.357e-05, 0.00018889, 0.09607242, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.2, "tool": [ -0.13079, -0.13235, 0.0532 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13078601, -0.13235299, 0.05361505, -0.08720886, -0.09258253, 0.02499825, 0.99536575, -2.27e-06, 1.933e-05, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.25, "tool": [ -0.13078, -0.13234, 0.06385 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077646, -0.13234455, 0.06428003, -0.0872098, -0.09258273, 0.02499987, 0.99536575, -5e-08, 4.7e-07, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.3, "tool": [ -0.13077, -0.13234, 0.07474 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077419, -0.13234254, 0.07517852, -0.08720982, -0.09258274, 0.02499991, 0.99536575, -0.0, 1e-08, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.35, "tool": [ -0.13077, -0.13234, 0.08569 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077365, -0.13234207, 0.08613248, -0.08720982, -0.09258274, 0.02499991, 0.99536575, -0.0, 0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.4, "tool": [ -0.13077, -0.13234, 0.09666 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077352, -0.13234196, 0.0970996, -0.08720982, -0.09258274, 0.02499991, 0.99536575, -0.0, 0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.45, "tool": [ -0.13077, -0.13234, 0.10763 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077349, -0.13234193, 0.10806985, -0.08720982, -0.09258274, 0.02499991, 0.99536575, -0.0, 0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.5, "tool": [ -0.13077, -0.13234, 0.1186 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234192, 0.11904084, -0.08720982, -0.09258274, 0.02499991, 0.99536575, -0.0, 0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.55, "tool": [ -0.13077, -0.13234, 0.12957 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234192, 0.13001201, -0.08720982, -0.09258274, 0.02499991, 0.99536575, 0.0, -0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.6, "tool": [ -0.13077, -0.13234, 0.14054 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234192, 0.14098322, -0.08720982, -0.09258274, 0.02499991, 0.99536575, -0.0, 0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.65, "tool": [ -0.13077, -0.13234, 0.1515 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234192, 0.15191454, -0.08720982, -0.09258274, 0.02499991, 0.99536575, -0.0, 0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.7, "tool": [ -0.13077, -0.13234, 0.15787 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234192, 0.15799258, -0.08720982, -0.09258274, 0.02499991, 0.99536575, 0.0, -0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.75, "tool": [ -0.13077, -0.13234, 0.15949 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.13077348, -0.13234192, 0.15952274, -0.08720982, -0.09258274, 0.02499991, 0.99536575, -0.0, 0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.8, "tool": [ -0.13077, -0.13234, 0.15988 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.13077348, -0.13234192, 0.15988666, -0.08720982, -0.09258274, 0.02499991, 0.99536575, 0.0, -0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.85, "tool": [ -0.13077, -0.13234, 0.15997 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.13077348, -0.13234192, 0.15997308, -0.08720982, -0.09258274, 0.02499991, 0.99536575, -0.0, 0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.9, "tool": [ -0.13077, -0.13234, 0.15999 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.13077348, -0.13234192, 0.15999361, -0.08720982, -0.09258274, 0.02499991, 0.99536575, 0.0, -0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.95, "tool": [ -0.13077, -0.13234, 0.16 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234192, 0.15999848, -0.08720982, -0.09258274, 0.02499991, 0.99536575, -0.0, 0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.0, "tool": [ -0.13077, -0.13234, 0.16 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234192, 0.15999964, -0.08720982, -0.09258274, 0.02499991, 0.99536575, -0.0, 0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.05, "tool": [ -0.13077, -0.13234, 0.16 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234192, 0.15999991, -0.08720982, -0.09258274, 0.02499991, 0.99536575, 0.0, -0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.1, "tool": [ -0.13077, -0.13234, 0.16 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234192, 0.15999998, -0.08720982, -0.09258274, 0.02499991, 0.99536575, -0.0, 0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.15, "tool": [ -0.13077, -0.13234, 0.16 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234192, 0.16, -0.08720982, -0.09258274, 0.02499991, 0.99536575, 0.0, -0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.2, "tool": [ -0.13078, -0.13235, 0.16 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.13079071, -0.13235586, 0.16, -0.08720982, -0.09258274, 0.02499991, 0.99536575, 0.0, -0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.25, "tool": [ -0.13276, -0.13395, 0.16 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.13290318, -0.13406583, 0.16, -0.08720982, -0.09258274, 0.02499991, 0.99536575, -0.0, 0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.3, "tool": [ -0.1368, -0.13722, 0.16 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.13697906, -0.13736511, 0.16, -0.08720982, -0.09258274, 0.02499991, 0.99536575, 0.0, -0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.35, "tool": [ -0.14136, -0.14092, 0.16 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.1415412, -0.141058, 0.16, -0.08720982, -0.09258274, 0.02499991, 0.99536575, -0.0, 0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.4, "tool": [ -0.14408, -0.14311, 0.16 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.14412788, -0.14315183, 0.16, -0.08720982, -0.09258274, 0.02499991, 0.99536575, -0.0, 0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.45, "tool": [ -0.14477, -0.14367, 0.15998 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14477962, -0.14367939, 0.15996364, -0.08720982, -0.09258274, 0.02499991, 0.99536575, 0.0, -0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.5, "tool": [ -0.14493, -0.1438, 0.1558 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14493463, -0.14380486, 0.15550362, -0.08720982, -0.09258274, 0.02499991, 0.99536575, -0.0, 0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.55, "tool": [ -0.14497, -0.14383, 0.14727 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14497144, -0.14383466, 0.14689832, -0.08720982, -0.09258274, 0.02499991, 0.99536575, 0.0, -0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.6, "tool": [ -0.14498, -0.14384, 0.13762 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14498018, -0.14384173, 0.13723003, -0.08720982, -0.09258274, 0.02499991, 0.99536575, -0.0, 0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.65, "tool": [ -0.14498, -0.14384, 0.12771 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14498226, -0.14384341, 0.1273088, -0.08720982, -0.09258274, 0.02499991, 0.99536575, -0.0, 0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.7, "tool": [ -0.14498, -0.14384, 0.11773 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14498275, -0.14384381, 0.11732751, -0.08720982, -0.09258274, 0.02499991, 0.99536575, 0.0, -0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.75, "tool": [ -0.14498, -0.14384, 0.10773 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14498287, -0.14384391, 0.10733195, -0.08720982, -0.09258274, 0.02499991, 0.99536575, -0.0, 0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.8, "tool": [ -0.14498, -0.14384, 0.09773 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14498289, -0.14384393, 0.097333, -0.08720982, -0.09258274, 0.02499991, 0.99536575, 0.0, -0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.85, "tool": [ -0.14498, -0.14384, 0.08773 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.1449829, -0.14384393, 0.08733326, -0.08720982, -0.09258274, 0.02499991, 0.99536575, 0.0, -0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.9, "tool": [ -0.14498, -0.14384, 0.07773 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.1449829, -0.14384394, 0.07733331, -0.08720982, -0.09258274, 0.02499991, 0.99536575, -0.0, 0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.95, "tool": [ -0.14498, -0.14384, 0.06773 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.1449829, -0.14384394, 0.06733333, -0.08720982, -0.09258274, 0.02499991, 0.99536575, 0.0, -0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.0, "tool": [ -0.14498, -0.14384, 0.05773 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.1449829, -0.14384394, 0.05733333, -0.08720982, -0.09258274, 0.02499991, 0.99536575, -0.0, 0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.05, "tool": [ -0.14498, -0.14384, 0.04773 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.1449829, -0.14384394, 0.04733333, -0.08720982, -0.09258274, 0.02499991, 0.99536575, -0.0, 0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.1, "tool": [ -0.14498, -0.14384, 0.04058 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.1449829, -0.14384394, 0.0404362, -0.08720982, -0.09258274, 0.02499991, 0.99536575, 0.0, -0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.15, "tool": [ -0.14498, -0.14384, 0.03861 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.1449829, -0.14384394, 0.03857991, -0.08720982, -0.09258274, 0.02499991, 0.99536575, -0.0, 0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.2, "tool": [ -0.14328, -0.14233, 0.03815 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14312613, -0.14219645, 0.03813772, -0.08720982, -0.09258274, 0.02499991, 0.99536575, 0.0, -0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.25, "tool": [ -0.13847, -0.13807, 0.03803 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13825291, -0.13787251, 0.03803271, -0.08720982, -0.09258274, 0.02499991, 0.99536575, -0.0, 0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.3, "tool": [ -0.13277, -0.13301, 0.03801 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13253348, -0.13279775, 0.03800777, -0.08720982, -0.09258274, 0.02499991, 0.99536575, -0.0, 0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.35, "tool": [ -0.12685, -0.12776, 0.038 ], "objects": { "red_block": [ -0.08721, -0.09258, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12661228, -0.12754396, 0.03800184, -0.08720982, -0.09258274, 0.02499991, 0.99536575, 0.0, -0.0, 0.0961614, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.4, "tool": [ -0.12097, -0.12253, 0.038 ], "objects": { "red_block": [ -0.08454, -0.09058, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12073135, -0.12231703, 0.03800045, -0.08435931, -0.09044807, 0.02498512, 0.99171913, -0.00014653, -0.00012173, 0.12842559, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.45, "tool": [ -0.11497, -0.11721, 0.038 ], "objects": { "red_block": [ -0.0794, -0.0865, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11472632, -0.11699434, 0.03799838, -0.07919188, -0.0863187, 0.02498351, 0.98883442, 6.07e-06, -0.00068835, 0.14901683, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.5, "tool": [ -0.10897, -0.11188, 0.03801 ], "objects": { "red_block": [ -0.07366, -0.0815, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.10873083, -0.11166929, 0.0380077, -0.07342554, -0.08128369, 0.02499722, 0.98755082, -0.00018254, -7.599e-05, 0.15730016, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.55, "tool": [ -0.10298, -0.10656, 0.03802 ], "objects": { "red_block": [ -0.06785, -0.07623, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.10274239, -0.10634646, 0.03801727, -0.06761355, -0.07602105, 0.0249805, 0.98660524, -3.857e-05, -0.00064532, 0.16312474, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.6, "tool": [ -0.097, -0.10125, 0.03802 ], "objects": { "red_block": [ -0.06217, -0.0711, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.09675786, -0.10103349, 0.03801545, -0.06193807, -0.07090243, 0.0249934, 0.98477593, -0.00020624, -0.00016721, 0.17382836, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.65, "tool": [ -0.09101, -0.09594, 0.03801 ], "objects": { "red_block": [ -0.05649, -0.06596, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.09077342, -0.09572713, 0.03801461, -0.05626483, -0.06574322, 0.02500688, 0.98284362, -0.00046968, 0.00010587, 0.18444022, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.7, "tool": [ -0.08503, -0.09063, 0.03802 ], "objects": { "red_block": [ -0.05078, -0.06079, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.08478803, -0.09041579, 0.03801664, -0.05055889, -0.06058624, 0.02500603, 0.98100084, -3.403e-05, -0.00020053, 0.19400337, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.75, "tool": [ -0.07905, -0.08532, 0.03802 ], "objects": { "red_block": [ -0.045, -0.05564, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07880575, -0.08510536, 0.0380168, -0.04476444, -0.05544022, 0.02500897, 0.97932248, 0.00037351, 0.00017622, 0.20230501, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.8, "tool": [ -0.07306, -0.08001, 0.03801 ], "objects": { "red_block": [ -0.0392, -0.05027, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07282069, -0.07979766, 0.03800883, -0.03896657, -0.05004951, 0.02500248, 0.97829385, -0.00044652, 0.00041927, 0.20722155, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.85, "tool": [ -0.06707, -0.0747, 0.038 ], "objects": { "red_block": [ -0.03347, -0.04482, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06683518, -0.07448762, 0.03800479, -0.03323589, -0.04460298, 0.02495198, 0.97681693, -7.415e-05, -2.786e-05, 0.21407632, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.9, "tool": [ -0.06109, -0.06939, 0.03801 ], "objects": { "red_block": [ -0.02771, -0.0393, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06084692, -0.06918079, 0.03800785, -0.02748339, -0.0390804, 0.02499241, 0.97602085, 8.274e-05, 0.00019261, 0.21767697, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.95, "tool": [ -0.05678, -0.06558, 0.038 ], "objects": { "red_block": [ -0.02251, -0.03418, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05669662, -0.06550318, 0.0380024, -0.02233884, -0.03399804, 0.02499235, 0.9754018, -1.59e-06, -0.00015649, 0.22043434, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.0, "tool": [ -0.05559, -0.06453, 0.038 ], "objects": { "red_block": [ -0.01881, -0.03047, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05557331, -0.06451077, 0.03800057, -0.0186938, -0.03035029, 0.02498729, 0.97511088, 6.912e-05, -0.00042655, 0.22171737, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 6.05, "tool": [ -0.05531, -0.06428, 0.04112 ], "objects": { "red_block": [ -0.01658, -0.02823, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.0553057, -0.06427435, 0.04140436, -0.01651943, -0.02817599, 0.02499146, 0.97493545, -6.335e-05, 0.00021735, 0.22248779, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 6.1, "tool": [ -0.05524, -0.06422, 0.04994 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05524214, -0.06421821, 0.0503389, -0.01579549, -0.02744857, 0.02499108, 0.974873, -2.219e-05, 9.324e-05, 0.22276135, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.15, "tool": [ -0.05523, -0.06421, 0.0604 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05522704, -0.06420487, 0.06082497, -0.01579757, -0.02744851, 0.02499972, 0.97487301, -5.4e-07, 2.27e-06, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 6.2, "tool": [ -0.05522, -0.0642, 0.07124 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05522346, -0.06420171, 0.07168097, -0.01579768, -0.02744856, 0.02499991, 0.97487301, -1e-08, 5e-08, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.25, "tool": [ -0.05522, -0.0642, 0.08219 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05522261, -0.06420095, 0.08262483, -0.01579768, -0.02744856, 0.02499991, 0.97487301, -0.0, 0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.3, "tool": [ -0.05522, -0.0642, 0.09315 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05522241, -0.06420077, 0.09358955, -0.01579768, -0.02744856, 0.02499991, 0.97487301, -0.0, 0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 6.35, "tool": [ -0.05522, -0.0642, 0.10412 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05522236, -0.06420073, 0.10455923, -0.01579768, -0.02744856, 0.02499991, 0.97487301, -0.0, 0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.4, "tool": [ -0.05522, -0.0642, 0.11509 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05522235, -0.06420072, 0.11553009, -0.01579768, -0.02744856, 0.02499991, 0.97487301, 0.0, -0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 6.45, "tool": [ -0.05522, -0.0642, 0.12606 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05522234, -0.06420072, 0.12650123, -0.01579768, -0.02744856, 0.02499991, 0.97487301, -0.0, 0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 6.5, "tool": [ -0.05522, -0.0642, 0.13703 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05522234, -0.06420072, 0.13747243, -0.01579768, -0.02744856, 0.02499991, 0.97487301, -0.0, 0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.55, "tool": [ -0.05522, -0.0642, 0.148 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05522234, -0.06420072, 0.14844365, -0.01579768, -0.02744856, 0.02499991, 0.97487301, 0.0, -0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 6.6, "tool": [ -0.05522, -0.0642, 0.15664 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05522234, -0.06420072, 0.15682813, -0.01579768, -0.02744856, 0.02499991, 0.97487301, -0.0, 0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.65, "tool": [ -0.05522, -0.0642, 0.1592 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05522234, -0.06420072, 0.15924399, -0.01579768, -0.02744856, 0.02499991, 0.97487301, -0.0, 0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 6.7, "tool": [ -0.05522, -0.0642, 0.15981 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.05522234, -0.06420072, 0.15982045, -0.01579768, -0.02744856, 0.02499991, 0.97487301, 0.0, -0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 6.75, "tool": [ -0.05522, -0.0642, 0.15995 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.05522234, -0.06420072, 0.15995736, -0.01579768, -0.02744856, 0.02499991, 0.97487301, -0.0, 0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.8, "tool": [ -0.05522, -0.0642, 0.15999 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.05522234, -0.06420072, 0.15998987, -0.01579768, -0.02744856, 0.02499991, 0.97487301, -0.0, 0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 6.85, "tool": [ -0.05522, -0.0642, 0.16 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.05522234, -0.06420072, 0.1599976, -0.01579768, -0.02744856, 0.02499991, 0.97487301, 0.0, -0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.9, "tool": [ -0.05522, -0.0642, 0.16 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05522234, -0.06420072, 0.15999943, -0.01579768, -0.02744856, 0.02499991, 0.97487301, -0.0, 0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.95, "tool": [ -0.05522, -0.0642, 0.16 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05522234, -0.06420072, 0.15999986, -0.01579768, -0.02744856, 0.02499991, 0.97487301, 0.0, -0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 7.0, "tool": [ -0.05522, -0.0642, 0.16 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05522234, -0.06420072, 0.15999997, -0.01579768, -0.02744856, 0.02499991, 0.97487301, -0.0, 0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.05, "tool": [ -0.05522, -0.0642, 0.16 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05522234, -0.06420072, 0.15999999, -0.01579768, -0.02744856, 0.02499991, 0.97487301, -0.0, 0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 7.1, "tool": [ -0.05522, -0.0642, 0.16 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.05522234, -0.06420072, 0.16, -0.01579768, -0.02744856, 0.02499991, 0.97487301, 0.0, -0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 7.15, "tool": [ -0.05636, -0.06505, 0.16 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05647865, -0.06514351, 0.16, -0.01579768, -0.02744856, 0.02499991, 0.97487301, -0.0, 0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.2, "tool": [ -0.06044, -0.06812, 0.16 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.06063376, -0.06826168, 0.16, -0.01579768, -0.02744856, 0.02499991, 0.97487301, 0.0, -0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 7.25, "tool": [ -0.06547, -0.07189, 0.16 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.06568222, -0.07205027, 0.16, -0.01579768, -0.02744856, 0.02499991, 0.97487301, 0.0, -0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.3, "tool": [ -0.0696, -0.07499, 0.16 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.06968785, -0.07505626, 0.16, -0.01579768, -0.02744856, 0.02499991, 0.97487301, -0.0, 0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 7.35, "tool": [ -0.07082, -0.07591, 0.16 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.07084538, -0.07592492, 0.16, -0.01579768, -0.02744856, 0.02499991, 0.97487301, 0.0, -0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 7.4, "tool": [ -0.07112, -0.07613, 0.15787 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.0711216, -0.07613221, 0.15764225, -0.01579768, -0.02744856, 0.02499991, 0.97487301, -0.0, 0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.45, "tool": [ -0.07119, -0.07618, 0.1502 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.0711872, -0.07618144, 0.14984425, -0.01579768, -0.02744856, 0.02499991, 0.97487301, -0.0, 0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 7.5, "tool": [ -0.0712, -0.07619, 0.14076 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.07120278, -0.07619313, 0.14036968, -0.01579768, -0.02744856, 0.02499991, 0.97487301, 0.0, -0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.55, "tool": [ -0.07121, -0.0762, 0.13089 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.07120648, -0.07619591, 0.13049447, -0.01579768, -0.02744856, 0.02499991, 0.97487301, -0.0, 0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.6, "tool": [ -0.07121, -0.0762, 0.12092 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.07120736, -0.07619657, 0.1205241, -0.01579768, -0.02744856, 0.02499991, 0.97487301, 0.0, -0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 7.65, "tool": [ -0.07121, -0.0762, 0.11093 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.07120757, -0.07619673, 0.11053114, -0.01579768, -0.02744856, 0.02499991, 0.97487301, -0.0, 0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.7, "tool": [ -0.07121, -0.0762, 0.10093 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.07120762, -0.07619676, 0.10053281, -0.01579768, -0.02744856, 0.02499991, 0.97487301, -0.0, 0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 7.75, "tool": [ -0.07121, -0.0762, 0.09093 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.07120763, -0.07619677, 0.09053321, -0.01579768, -0.02744856, 0.02499991, 0.97487301, 0.0, -0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 7.8, "tool": [ -0.07121, -0.0762, 0.08093 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.07120763, -0.07619677, 0.0805333, -0.01579768, -0.02744856, 0.02499991, 0.97487301, -0.0, 0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.85, "tool": [ -0.07121, -0.0762, 0.07093 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.07120763, -0.07619677, 0.07053333, -0.01579768, -0.02744856, 0.02499991, 0.97487301, 0.0, -0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 7.9, "tool": [ -0.07121, -0.0762, 0.06093 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.07120763, -0.07619677, 0.06053333, -0.01579768, -0.02744856, 0.02499991, 0.97487301, 0.0, -0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.95, "tool": [ -0.07121, -0.0762, 0.05093 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.07120763, -0.07619677, 0.05053333, -0.01579768, -0.02744856, 0.02499991, 0.97487301, -0.0, 0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 8.0, "tool": [ -0.07121, -0.0762, 0.04206 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.07120763, -0.07619677, 0.04183867, -0.01579768, -0.02744856, 0.02499991, 0.97487301, 0.0, -0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 8.05, "tool": [ -0.07121, -0.0762, 0.03897 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.07120763, -0.07619677, 0.03891855, -0.01579768, -0.02744856, 0.02499991, 0.97487301, -0.0, 0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.1, "tool": [ -0.07053, -0.0756, 0.03823 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.0704236, -0.075507, 0.03821818, -0.01579768, -0.02744856, 0.02499991, 0.97487301, -0.0, 0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 8.15, "tool": [ -0.06638, -0.07195, 0.03805 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06617115, -0.07176581, 0.03805181, -0.01579768, -0.02744856, 0.02499991, 0.97487301, 0.0, -0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.2, "tool": [ -0.06082, -0.06706, 0.03801 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06058544, -0.06685165, 0.0380123, -0.01579768, -0.02744856, 0.02499991, 0.97487301, -0.0, 0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.25, "tool": [ -0.05492, -0.06187, 0.038 ], "objects": { "red_block": [ -0.0158, -0.02745, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05467898, -0.0616553, 0.03800292, -0.01579768, -0.02744856, 0.02499991, 0.97487301, 0.0, -0.0, 0.22276136, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 8.3, "tool": [ -0.04895, -0.05662, 0.038 ], "objects": { "red_block": [ -0.01569, -0.02735, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.04873172, -0.05642562, 0.03800525, -0.01552238, -0.02718684, 0.02500355, 0.97459866, -8.046e-05, 5.35e-06, 0.22395857, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.35, "tool": [ -0.04301, -0.05139, 0.03801 ], "objects": { "red_block": [ -0.00985, -0.02178, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.04277349, -0.05118162, 0.03801014, -0.00960836, -0.02155089, 0.02500203, 0.97251324, -5.537e-05, 9.23e-06, 0.2328476, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 8.4, "tool": [ -0.03698, -0.04607, 0.038 ], "objects": { "red_block": [ -0.00402, -0.0162, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.0367404, -0.04586222, 0.03800425, -0.00378782, -0.01597929, 0.0249763, 0.97155917, -6.623e-05, -2.883e-05, 0.23679692, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 8.45, "tool": [ -0.03096, -0.04078, 0.03801 ], "objects": { "red_block": [ 0.00175, -0.01059, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.03072326, -0.04057039, 0.03800536, 0.00197047, -0.01036897, 0.02496259, 0.9709099, 6.566e-05, 0.00021394, 0.23944503, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.5, "tool": [ -0.02496, -0.03549, 0.03801 ], "objects": { "red_block": [ 0.00749, -0.00502, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.02471885, -0.03528405, 0.03800826, 0.00772591, -0.00479813, 0.02500755, 0.96985512, -0.00018711, 0.00010974, 0.24368217, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 8.55, "tool": [ -0.01895, -0.03021, 0.038 ], "objects": { "red_block": [ 0.01327, 0.00048, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.01871242, -0.03000176, 0.03799596, 0.01349785, 0.00070524, 0.02501105, 0.96864018, -8.309e-05, -3.405e-05, 0.24846768, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.6, "tool": [ -0.01294, -0.02493, 0.038 ], "objects": { "red_block": [ 0.01903, 0.00615, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.01270444, -0.02472092, 0.03800402, 0.01926848, 0.00638074, 0.02498682, 0.96844667, -0.0002778, 0.00030802, 0.24922053, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 8.65, "tool": [ -0.00694, -0.01964, 0.03801 ], "objects": { "red_block": [ 0.02476, 0.01174, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.00669618, -0.01943022, 0.03800767, 0.02498342, 0.01195439, 0.02500844, 0.96742913, -0.00018325, -3.46e-06, 0.25314194, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 8.7, "tool": [ -0.00093, -0.01436, 0.03801 ], "objects": { "red_block": [ 0.03049, 0.01734, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.0006918, -0.01414856, 0.03801099, 0.03072303, 0.01756322, 0.02501142, 0.96656023, 7.921e-05, -0.00013419, 0.25643967, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.75, "tool": [ 0.00507, -0.00907, 0.03801 ], "objects": { "red_block": [ 0.03624, 0.02294, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00531352, -0.00886361, 0.03801097, 0.03647032, 0.02316388, 0.02500624, 0.96589883, -0.00013314, -2.118e-05, 0.25891974, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 8.8, "tool": [ 0.01108, -0.00379, 0.03801 ], "objects": { "red_block": [ 0.04196, 0.02855, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01131978, -0.00357967, 0.03801287, 0.04218773, 0.02877486, 0.02500692, 0.96482625, 2.17e-06, 0.00033484, 0.26288816, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.85, "tool": [ 0.01643, 0.00091, 0.03801 ], "objects": { "red_block": [ 0.0474, 0.03395, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01656164, 0.00102458, 0.03800661, 0.04758808, 0.03414232, 0.02498343, 0.96467877, -1.98e-06, -1.897e-05, 0.26342905, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.9, "tool": [ 0.0183, 0.00255, 0.038 ], "objects": { "red_block": [ 0.05146, 0.03801, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01833134, 0.00257827, 0.03800161, 0.05159451, 0.0381367, 0.02498849, 0.96480507, -0.00033176, -0.00011195, 0.26296588, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 8.95, "tool": [ 0.01875, 0.00294, 0.03924 ], "objects": { "red_block": [ 0.05406, 0.04058, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01875586, 0.00295097, 0.03943249, 0.05413619, 0.04065415, 0.02498253, 0.9648667, 0.00020035, 3.937e-05, 0.2627398, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.0, "tool": [ 0.01885, 0.00304, 0.04682 ], "objects": { "red_block": [ 0.05519, 0.04169, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0188567, 0.0030395, 0.04719969, 0.05520088, 0.04170733, 0.0249621, 0.9649174, -0.00024702, -7.668e-05, 0.26255351, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 9.05, "tool": [ 0.01888, 0.00306, 0.05698 ], "objects": { "red_block": [ 0.05524, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01888065, 0.00306053, 0.05740246, 0.05524493, 0.04173282, 0.02499912, 0.96491801, -7.44e-06, -2.25e-06, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 9.1, "tool": [ 0.01889, 0.00307, 0.06776 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01888634, 0.00306552, 0.06819114, 0.05524513, 0.0417325, 0.0249999, 0.96491801, -1.8e-07, -5e-08, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.15, "tool": [ 0.01889, 0.00307, 0.07868 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01888769, 0.00306671, 0.07911902, 0.05524514, 0.04173249, 0.02499991, 0.96491801, -0.0, -0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 9.2, "tool": [ 0.01889, 0.00307, 0.08964 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01888801, 0.00306699, 0.09007994, 0.05524514, 0.04173249, 0.02499991, 0.96491801, -0.0, -0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.25, "tool": [ 0.01889, 0.00307, 0.10061 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01888808, 0.00306705, 0.10104872, 0.05524514, 0.04173249, 0.02499991, 0.96491801, -0.0, -0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 9.3, "tool": [ 0.01889, 0.00307, 0.11158 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0188881, 0.00306707, 0.11201937, 0.05524514, 0.04173249, 0.02499991, 0.96491801, -0.0, -0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 9.35, "tool": [ 0.01889, 0.00307, 0.12255 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0188881, 0.00306707, 0.12299045, 0.05524514, 0.04173249, 0.02499991, 0.96491801, -0.0, -0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.4, "tool": [ 0.01889, 0.00307, 0.13352 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01888811, 0.00306707, 0.13396164, 0.05524514, 0.04173249, 0.02499991, 0.96491801, -0.0, -0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 9.45, "tool": [ 0.01889, 0.00307, 0.14449 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01888811, 0.00306707, 0.14493286, 0.05524514, 0.04173249, 0.02499991, 0.96491801, -0.0, -0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.5, "tool": [ 0.01889, 0.00307, 0.15473 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01888811, 0.00306707, 0.15501697, 0.05524514, 0.04173249, 0.02499991, 0.96491801, -0.0, -0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.55, "tool": [ 0.01889, 0.00307, 0.15873 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01888811, 0.00306707, 0.15880262, 0.05524514, 0.04173249, 0.02499991, 0.96491801, -0.0, -0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 9.6, "tool": [ 0.01889, 0.00307, 0.1597 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.01888811, 0.00306707, 0.15971556, 0.05524514, 0.04173249, 0.02499991, 0.96491801, 0.0, 0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.65, "tool": [ 0.01889, 0.00307, 0.15993 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.01888811, 0.00306707, 0.15993245, 0.05524514, 0.04173249, 0.02499991, 0.96491801, 0.0, 0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 9.7, "tool": [ 0.01889, 0.00307, 0.15998 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.01888811, 0.00306707, 0.15998396, 0.05524514, 0.04173249, 0.02499991, 0.96491801, -0.0, -0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.75, "tool": [ 0.01889, 0.00307, 0.16 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.01888811, 0.00306707, 0.15999619, 0.05524514, 0.04173249, 0.02499991, 0.96491801, 0.0, 0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.8, "tool": [ 0.01889, 0.00307, 0.16 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01888811, 0.00306707, 0.1599991, 0.05524514, 0.04173249, 0.02499991, 0.96491801, -0.0, -0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 9.85, "tool": [ 0.01889, 0.00307, 0.16 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01888811, 0.00306707, 0.15999979, 0.05524514, 0.04173249, 0.02499991, 0.96491801, -0.0, -0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.9, "tool": [ 0.01889, 0.00307, 0.16 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01888811, 0.00306707, 0.15999995, 0.05524514, 0.04173249, 0.02499991, 0.96491801, 0.0, 0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 9.95, "tool": [ 0.01889, 0.00307, 0.16 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01888811, 0.00306707, 0.15999999, 0.05524514, 0.04173249, 0.02499991, 0.96491801, -0.0, -0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 10.0, "tool": [ 0.01889, 0.00307, 0.16 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01888811, 0.00306707, 0.16, 0.05524514, 0.04173249, 0.02499991, 0.96491801, 0.0, 0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.05, "tool": [ 0.01847, 0.0029, 0.16 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.01838557, 0.00286508, 0.16, 0.05524514, 0.04173249, 0.02499991, 0.96491801, -0.0, -0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 10.1, "tool": [ 0.01452, 0.00131, 0.16 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.01431496, 0.00122893, 0.16, 0.05524514, 0.04173249, 0.02499991, 0.96491801, -0.0, -0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.15, "tool": [ 0.00886, -0.00097, 0.16 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.00861699, -0.00106133, 0.16, 0.05524514, 0.04173249, 0.02499991, 0.96491801, 0.0, 0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.2, "tool": [ 0.00319, -0.00324, 0.16 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.00302724, -0.00330809, 0.16, 0.05524514, 0.04173249, 0.02499991, 0.96491801, -0.0, -0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 10.25, "tool": [ 0.00095, -0.00414, 0.16 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.00091187, -0.00415835, 0.16, 0.05524514, 0.04173249, 0.02499991, 0.96491801, 0.0, 0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.3, "tool": [ 0.00041, -0.00436, 0.15933 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00040162, -0.00436345, 0.15919143, 0.05524514, 0.04173249, 0.02499991, 0.96491801, 0.0, 0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 10.35, "tool": [ 0.00028, -0.00441, 0.15298 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.0002804, -0.00441217, 0.15264195, 0.05524514, 0.04173249, 0.02499991, 0.96491801, -0.0, -0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.4, "tool": [ 0.00025, -0.00442, 0.14386 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00025161, -0.00442374, 0.14347408, 0.05524514, 0.04173249, 0.02499991, 0.96491801, 0.0, 0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.45, "tool": [ 0.00024, -0.00443, 0.13407 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00024477, -0.00442649, 0.13367177, 0.05524514, 0.04173249, 0.02499991, 0.96491801, -0.0, -0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 10.5, "tool": [ 0.00024, -0.00443, 0.12412 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00024315, -0.00442714, 0.12371871, 0.05524514, 0.04173249, 0.02499991, 0.96491801, 0.0, 0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.55, "tool": [ 0.00024, -0.00443, 0.11413 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00024276, -0.0044273, 0.11372986, 0.05524514, 0.04173249, 0.02499991, 0.96491801, 0.0, 0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 10.6, "tool": [ 0.00024, -0.00443, 0.10413 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00024267, -0.00442733, 0.10373251, 0.05524514, 0.04173249, 0.02499991, 0.96491801, -0.0, -0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 10.65, "tool": [ 0.00024, -0.00443, 0.09413 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00024265, -0.00442734, 0.09373314, 0.05524514, 0.04173249, 0.02499991, 0.96491801, 0.0, 0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.7, "tool": [ 0.00024, -0.00443, 0.08413 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00024264, -0.00442734, 0.08373329, 0.05524514, 0.04173249, 0.02499991, 0.96491801, -0.0, -0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 10.75, "tool": [ 0.00024, -0.00443, 0.07413 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00024264, -0.00442734, 0.07373332, 0.05524514, 0.04173249, 0.02499991, 0.96491801, -0.0, -0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.8, "tool": [ 0.00024, -0.00443, 0.06413 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00024264, -0.00442734, 0.06373333, 0.05524514, 0.04173249, 0.02499991, 0.96491801, 0.0, 0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.85, "tool": [ 0.00024, -0.00443, 0.05413 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00024264, -0.00442734, 0.05373333, 0.05524514, 0.04173249, 0.02499991, 0.96491801, -0.0, -0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 10.9, "tool": [ 0.00024, -0.00443, 0.0443 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00024264, -0.00442734, 0.04397602, 0.05524514, 0.04173249, 0.02499991, 0.96491801, 0.0, 0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.95, "tool": [ 0.00024, -0.00443, 0.03954 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00024264, -0.00442734, 0.03945448, 0.05524514, 0.04173249, 0.02499991, 0.96491801, 0.0, 0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 11.0, "tool": [ 0.00035, -0.00434, 0.03837 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00039136, -0.00430254, 0.03834562, 0.05524514, 0.04173249, 0.02499991, 0.96491801, -0.0, -0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 11.05, "tool": [ 0.00356, -0.00165, 0.03809 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00374853, -0.00148509, 0.03808208, 0.05524514, 0.04173249, 0.02499991, 0.96491801, 0.0, 0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 11.1, "tool": [ 0.00896, 0.00289, 0.03802 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00919699, 0.00308743, 0.03801949, 0.05524514, 0.04173249, 0.02499991, 0.96491801, -0.0, -0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 11.15, "tool": [ 0.01492, 0.00789, 0.038 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01516345, 0.00809467, 0.03800463, 0.05524514, 0.04173249, 0.02499991, 0.96491801, 0.0, 0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 11.2, "tool": [ 0.02101, 0.013, 0.038 ], "objects": { "red_block": [ 0.05525, 0.04173, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02125305, 0.01320526, 0.0380011, 0.05524514, 0.04173249, 0.02499991, 0.96491801, 0.0, 0.0, 0.26255138, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 11.25, "tool": [ 0.02703, 0.01805, 0.03801 ], "objects": { "red_block": [ 0.06031, 0.04624, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02727797, 0.01826145, 0.03800742, 0.06054437, 0.04645396, 0.0249681, 0.96293728, -0.00060531, -7.001e-05, 0.26972472, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 11.3, "tool": [ 0.0332, 0.02324, 0.03801 ], "objects": { "red_block": [ 0.06614, 0.05172, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03344293, 0.02344587, 0.03800809, 0.06637836, 0.05194065, 0.02498346, 0.96166858, 0.00014226, 4.488e-05, 0.27421437, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 11.35, "tool": [ 0.03933, 0.02839, 0.03801 ], "objects": { "red_block": [ 0.07197, 0.05726, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03957981, 0.02859991, 0.03801184, 0.07219602, 0.0574782, 0.02498862, 0.96047139, 0.00051942, 0.00017412, 0.27837817, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 11.4, "tool": [ 0.04547, 0.03354, 0.03801 ], "objects": { "red_block": [ 0.07774, 0.06285, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.04571201, 0.03374358, 0.03800974, 0.07797272, 0.06307694, 0.02499003, 0.95968477, 3.691e-05, -1.094e-05, 0.28107852, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 11.45, "tool": [ 0.05159, 0.03868, 0.03801 ], "objects": { "red_block": [ 0.08354, 0.0685, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.05183875, 0.03888355, 0.0380113, 0.08377071, 0.06872451, 0.02500696, 0.95879159, 0.0001615, -0.0001024, 0.28411029, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 11.5, "tool": [ 0.05772, 0.04382, 0.03802 ], "objects": { "red_block": [ 0.08927, 0.07413, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.05796644, 0.0440275, 0.03801608, 0.0895044, 0.07436584, 0.02500546, 0.9581861, -0.00013917, -2.784e-05, 0.28614574, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 11.55, "tool": [ 0.06385, 0.04897, 0.03801 ], "objects": { "red_block": [ 0.09504, 0.07977, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.06409768, 0.04917285, 0.03800998, 0.09526344, 0.07999455, 0.025008, 0.95752164, 2.505e-05, -0.00022555, 0.28836134, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 11.6, "tool": [ 0.06998, 0.05411, 0.038 ], "objects": { "red_block": [ 0.10077, 0.08538, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07022579, 0.05431444, 0.03800241, 0.10100209, 0.08560164, 0.02499155, 0.95638079, 0.00016995, 0.00010499, 0.29212283, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 11.65, "tool": [ 0.07611, 0.05925, 0.03801 ], "objects": { "red_block": [ 0.10654, 0.09097, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07635208, 0.05945491, 0.03801058, 0.10676417, 0.09119611, 0.02497534, 0.95541869, -0.0007567, -0.00025394, 0.29525327, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 11.7, "tool": [ 0.08224, 0.06439, 0.03801 ], "objects": { "red_block": [ 0.11227, 0.09658, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08248275, 0.06459788, 0.03800853, 0.11249529, 0.09680557, 0.02500654, 0.95457097, 3.327e-05, 2.504e-05, 0.29798367, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 11.75, "tool": [ 0.08826, 0.06945, 0.03802 ], "objects": { "red_block": [ 0.11799, 0.10221, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08846483, 0.06961947, 0.0380148, 0.1182043, 0.102423, 0.02498494, 0.95411073, 0.0001419, 2.06e-05, 0.29945398, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 11.8, "tool": [ 0.09121, 0.07192, 0.038 ], "objects": { "red_block": [ 0.12265, 0.10686, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09126134, 0.07196069, 0.0380039, 0.12280912, 0.10701259, 0.02499436, 0.95420069, 0.0003308, 7.795e-05, 0.29916704, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 11.85, "tool": [ 0.09194, 0.07252, 0.03819 ], "objects": { "red_block": [ 0.12584, 0.11005, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.09194797, 0.07253521, 0.03826719, 0.12593393, 0.11014201, 0.02498028, 0.95426987, 0.00027397, 6.637e-05, 0.29894638, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 11.9, "tool": [ 0.09211, 0.07267, 0.04393 ], "objects": { "red_block": [ 0.12755, 0.11176, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.09211117, 0.07267176, 0.04427701, 0.12758422, 0.11180285, 0.02496703, 0.95431078, -0.00010801, -4.389e-05, 0.29881587, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 11.95, "tool": [ 0.09215, 0.0727, 0.05362 ], "objects": { "red_block": [ 0.12788, 0.11209, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.09214993, 0.07270419, 0.05403152, 0.12788336, 0.11208416, 0.0249842, 0.95430298, -0.0002242, -7.077e-05, 0.29884071, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 12.0, "tool": [ 0.09216, 0.07271, 0.06428 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.09215913, 0.07271189, 0.06471356, 0.12788999, 0.11207466, 0.02499953, 0.954303, -5.45e-06, -1.72e-06, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.05, "tool": [ 0.09216, 0.07271, 0.07518 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.09216132, 0.07271372, 0.07561611, 0.12789015, 0.11207443, 0.02499991, 0.954303, -1.3e-07, -4e-08, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 12.1, "tool": [ 0.09216, 0.07271, 0.08613 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.09216184, 0.07271416, 0.08657103, 0.12789015, 0.11207442, 0.02499991, 0.954303, -0.0, -0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 12.15, "tool": [ 0.09216, 0.07271, 0.0971 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.09216196, 0.07271426, 0.09753838, 0.12789015, 0.11207442, 0.02499991, 0.954303, -0.0, -0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.2, "tool": [ 0.09216, 0.07271, 0.10807 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.09216199, 0.07271429, 0.10850868, 0.12789015, 0.11207442, 0.02499991, 0.954303, -0.0, -0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 12.25, "tool": [ 0.09216, 0.07271, 0.11904 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.09216199, 0.07271429, 0.11947968, 0.12789015, 0.11207442, 0.02499991, 0.954303, 0.0, 0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.3, "tool": [ 0.09216, 0.07271, 0.13001 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.092162, 0.07271429, 0.13045086, 0.12789015, 0.11207442, 0.02499991, 0.954303, -0.0, -0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 12.35, "tool": [ 0.09216, 0.07271, 0.14098 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.092162, 0.07271429, 0.14142207, 0.12789015, 0.11207442, 0.02499991, 0.954303, -0.0, -0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 12.4, "tool": [ 0.09216, 0.07271, 0.15191 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.092162, 0.07271429, 0.15231809, 0.12789015, 0.11207442, 0.02499991, 0.954303, 0.0, 0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.45, "tool": [ 0.09216, 0.07271, 0.15799 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.092162, 0.07271429, 0.15810447, 0.12789015, 0.11207442, 0.02499991, 0.954303, -0.0, -0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 12.5, "tool": [ 0.09216, 0.07271, 0.15952 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.092162, 0.07271429, 0.15954941, 0.12789015, 0.11207442, 0.02499991, 0.954303, -0.0, -0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.55, "tool": [ 0.09216, 0.07271, 0.15989 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.092162, 0.07271429, 0.15989299, 0.12789015, 0.11207442, 0.02499991, 0.954303, 0.0, 0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.6, "tool": [ 0.09216, 0.07271, 0.15997 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.092162, 0.07271429, 0.15997459, 0.12789015, 0.11207442, 0.02499991, 0.954303, 0.0, 0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 12.65, "tool": [ 0.09216, 0.07271, 0.15999 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.092162, 0.07271429, 0.15999397, 0.12789015, 0.11207442, 0.02499991, 0.954303, -0.0, -0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.7, "tool": [ 0.09216, 0.07271, 0.16 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.092162, 0.07271429, 0.15999857, 0.12789015, 0.11207442, 0.02499991, 0.954303, 0.0, 0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 12.75, "tool": [ 0.09216, 0.07271, 0.16 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.092162, 0.07271429, 0.15999966, 0.12789015, 0.11207442, 0.02499991, 0.954303, -0.0, -0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 12.8, "tool": [ 0.09216, 0.07271, 0.16 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.092162, 0.07271429, 0.15999992, 0.12789015, 0.11207442, 0.02499991, 0.954303, 0.0, 0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.85, "tool": [ 0.09216, 0.07271, 0.16 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.092162, 0.07271429, 0.15999998, 0.12789015, 0.11207442, 0.02499991, 0.954303, 0.0, 0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 12.9, "tool": [ 0.09216, 0.07271, 0.16 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.092162, 0.07271429, 0.16, 0.12789015, 0.11207442, 0.02499991, 0.954303, -0.0, -0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.95, "tool": [ 0.09214, 0.07271, 0.16 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.0921173, 0.07271106, 0.16, 0.12789015, 0.11207442, 0.02499991, 0.954303, 0.0, 0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 13.0, "tool": [ 0.08923, 0.0725, 0.16 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.08903535, 0.07248818, 0.16, 0.12789015, 0.11207442, 0.02499991, 0.954303, -0.0, -0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 13.05, "tool": [ 0.08362, 0.0721, 0.16 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.08337279, 0.07207867, 0.16, 0.12789015, 0.11207442, 0.02499991, 0.954303, -0.0, -0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.1, "tool": [ 0.07734, 0.07164, 0.16 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.07710025, 0.07162506, 0.16, 0.12789015, 0.11207442, 0.02499991, 0.954303, 0.0, 0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 13.15, "tool": [ 0.07377, 0.07138, 0.16 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.07370924, 0.07137983, 0.16, 0.12789015, 0.11207442, 0.02499991, 0.954303, -0.0, -0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.2, "tool": [ 0.07288, 0.07132, 0.15996 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07286187, 0.07131855, 0.15993146, 0.12789015, 0.11207442, 0.02499991, 0.954303, 0.0, 0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.25, "tool": [ 0.07266, 0.0713, 0.1555 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07266037, 0.07130397, 0.1552056, 0.12789015, 0.11207442, 0.02499991, 0.954303, 0.0, 0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 13.3, "tool": [ 0.07261, 0.0713, 0.1469 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07261252, 0.07130051, 0.14652263, 0.12789015, 0.11207442, 0.02499991, 0.954303, -0.0, -0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.35, "tool": [ 0.0726, 0.0713, 0.13723 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07260115, 0.07129969, 0.1368358, 0.12789015, 0.11207442, 0.02499991, 0.954303, 0.0, 0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 13.4, "tool": [ 0.0726, 0.0713, 0.12731 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07259846, 0.0712995, 0.12691017, 0.12789015, 0.11207442, 0.02499991, 0.954303, -0.0, -0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 13.45, "tool": [ 0.0726, 0.0713, 0.11733 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07259782, 0.07129945, 0.11692783, 0.12789015, 0.11207442, 0.02499991, 0.954303, 0.0, 0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.5, "tool": [ 0.0726, 0.0713, 0.10733 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07259766, 0.07129944, 0.10693203, 0.12789015, 0.11207442, 0.02499991, 0.954303, 0.0, 0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 13.55, "tool": [ 0.0726, 0.0713, 0.09733 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07259763, 0.07129944, 0.09693302, 0.12789015, 0.11207442, 0.02499991, 0.954303, -0.0, -0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.6, "tool": [ 0.0726, 0.0713, 0.08733 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07259762, 0.07129944, 0.08693326, 0.12789015, 0.11207442, 0.02499991, 0.954303, 0.0, 0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 13.65, "tool": [ 0.0726, 0.0713, 0.07733 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07259762, 0.07129944, 0.07693332, 0.12789015, 0.11207442, 0.02499991, 0.954303, -0.0, -0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 13.7, "tool": [ 0.0726, 0.0713, 0.06733 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07259762, 0.07129944, 0.06693333, 0.12789015, 0.11207442, 0.02499991, 0.954303, -0.0, -0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.75, "tool": [ 0.0726, 0.0713, 0.05733 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07259762, 0.07129944, 0.05693333, 0.12789015, 0.11207442, 0.02499991, 0.954303, 0.0, 0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 13.8, "tool": [ 0.0726, 0.0713, 0.04733 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07259762, 0.07129944, 0.04693333, 0.12789015, 0.11207442, 0.02499991, 0.954303, -0.0, -0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.85, "tool": [ 0.0726, 0.0713, 0.04044 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07259762, 0.07129944, 0.04030081, 0.12789015, 0.11207442, 0.02499991, 0.954303, 0.0, 0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.9, "tool": [ 0.0726, 0.0713, 0.03858 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07259762, 0.07129944, 0.03854751, 0.12789015, 0.11207442, 0.02499991, 0.954303, 0.0, 0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 13.95, "tool": [ 0.07459, 0.07277, 0.03814 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07476003, 0.07289409, 0.03813003, 0.12789015, 0.11207442, 0.02499991, 0.954303, -0.0, -0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 14.0, "tool": [ 0.07982, 0.07663, 0.03803 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08005563, 0.07679928, 0.03803088, 0.12789015, 0.11207442, 0.02499991, 0.954303, 0.0, 0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 14.05, "tool": [ 0.08596, 0.08115, 0.03801 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08620903, 0.08133705, 0.03800733, 0.12789015, 0.11207442, 0.02499991, 0.954303, -0.0, -0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 14.1, "tool": [ 0.09231, 0.08584, 0.038 ], "objects": { "red_block": [ 0.12789, 0.11207, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09256684, 0.08602556, 0.03800174, 0.12789015, 0.11207442, 0.02499991, 0.954303, 0.0, 0.0, 0.29884072, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 14.15, "tool": [ 0.09861, 0.09048, 0.038 ], "objects": { "red_block": [ 0.13308, 0.11648, 0.02495 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09887001, 0.09067577, 0.03800206, 0.13331163, 0.11670012, 0.02494371, 0.95329366, 0.00012448, 5.161e-05, 0.30204498, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 14.2, "tool": [ 0.10508, 0.09526, 0.038 ], "objects": { "red_block": [ 0.13881, 0.12202, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10533564, 0.09544984, 0.03799688, 0.13904069, 0.12224249, 0.02499757, 0.95243891, -0.00021086, 0.00048876, 0.30472913, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 14.25, "tool": [ 0.11151, 0.10001, 0.038 ], "objects": { "red_block": [ 0.14459, 0.12764, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11176638, 0.10019519, 0.03800301, 0.14482612, 0.12786139, 0.02501354, 0.95158447, 9.28e-06, 9.99e-06, 0.30738738, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 14.3, "tool": [ 0.11793, 0.10474, 0.038 ], "objects": { "red_block": [ 0.15038, 0.13327, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11819126, 0.10493088, 0.03799759, 0.15061421, 0.13349338, 0.02498202, 0.95106874, -0.00041386, -8.487e-05, 0.3089791, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 14.35, "tool": [ 0.12436, 0.10948, 0.038 ], "objects": { "red_block": [ 0.15615, 0.13885, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.1246118, 0.10966645, 0.03799958, 0.15638665, 0.13907312, 0.02499882, 0.95035848, 1.239e-05, 0.00020386, 0.31115705, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 14.4, "tool": [ 0.13078, 0.11421, 0.03801 ], "objects": { "red_block": [ 0.16189, 0.14443, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13103593, 0.11440231, 0.03800509, 0.16211801, 0.14465251, 0.02498241, 0.94928215, -0.00024166, 0.0001442, 0.31442538, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 14.45, "tool": [ 0.1372, 0.11895, 0.03801 ], "objects": { "red_block": [ 0.16768, 0.14989, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13745588, 0.11913868, 0.03800583, 0.16790814, 0.1501066, 0.02499059, 0.94716286, -0.000445, -9.281e-05, 0.32075273, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 14.5, "tool": [ 0.14362, 0.12368, 0.03801 ], "objects": { "red_block": [ 0.17348, 0.15531, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14387684, 0.12386999, 0.03800389, 0.17370966, 0.15553485, 0.0249619, 0.94517267, -0.00018106, 3.298e-05, 0.32657096, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 14.55, "tool": [ 0.15005, 0.12842, 0.038 ], "objects": { "red_block": [ 0.1792, 0.16084, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15030248, 0.12860881, 0.0379997, 0.17942498, 0.16105577, 0.02498399, 0.94395965, -0.00014421, 0.0001239, 0.33006081, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 14.6, "tool": [ 0.15646, 0.13315, 0.038 ], "objects": { "red_block": [ 0.18491, 0.16638, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15672133, 0.13334186, 0.03800013, 0.18513955, 0.16660604, 0.024999, 0.94275726, 3.616e-05, -0.00031717, 0.33347961, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 14.65, "tool": [ 0.16289, 0.13789, 0.038 ], "objects": { "red_block": [ 0.19058, 0.17196, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.16314471, 0.13807705, 0.0379965, 0.19081558, 0.17218553, 0.0250003, 0.94201684, -0.00019453, 9.32e-06, 0.33556554, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 14.7, "tool": [ 0.16751, 0.14129, 0.038 ], "objects": { "red_block": [ 0.19565, 0.17699, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.16759851, 0.14135856, 0.03799847, 0.19581928, 0.17715937, 0.02498658, 0.94185208, -3.687e-05, -4.215e-05, 0.33602777, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 14.75, "tool": [ 0.16878, 0.14223, 0.038 ], "objects": { "red_block": [ 0.19922, 0.18057, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.168801, 0.14224413, 0.03799963, 0.19933081, 0.18067985, 0.0249939, 0.941908, -0.0003594, -0.00014896, 0.33587076, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 14.8, "tool": [ 0.16908, 0.14245, 0.04112 ], "objects": { "red_block": [ 0.20133, 0.18267, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16908746, 0.1424551, 0.04140414, 0.20137928, 0.18272415, 0.02496998, 0.9419342, -0.00026835, -0.00010197, 0.33579738, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 14.85, "tool": [ 0.16915, 0.1425, 0.04994 ], "objects": { "red_block": [ 0.20196, 0.18331, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1691555, 0.1425052, 0.05033885, 0.20195883, 0.18331248, 0.02498768, 0.94192469, 0.00021818, 8.754e-05, 0.33582409, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 14.9, "tool": [ 0.16917, 0.14252, 0.0604 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16917165, 0.1425171, 0.06082496, 0.20195137, 0.18332137, 0.02499962, 0.94192471, 5.3e-06, 2.13e-06, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 14.95, "tool": [ 0.16918, 0.14252, 0.07124 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16917549, 0.14251992, 0.07168097, 0.20195118, 0.18332158, 0.02499991, 0.94192471, 1.3e-07, 5e-08, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.0, "tool": [ 0.16918, 0.14252, 0.08219 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1691764, 0.14252059, 0.08262483, 0.20195118, 0.18332158, 0.02499991, 0.94192471, 0.0, 0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 15.05, "tool": [ 0.16918, 0.14252, 0.09315 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16917662, 0.14252075, 0.09358955, 0.20195118, 0.18332158, 0.02499991, 0.94192471, 0.0, 0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.1, "tool": [ 0.16918, 0.14252, 0.10412 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16917667, 0.14252079, 0.10455923, 0.20195118, 0.18332158, 0.02499991, 0.94192471, 0.0, 0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 15.15, "tool": [ 0.16918, 0.14252, 0.11509 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16917668, 0.1425208, 0.11553009, 0.20195118, 0.18332158, 0.02499991, 0.94192471, -0.0, -0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 15.2, "tool": [ 0.16918, 0.14252, 0.12606 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16917669, 0.1425208, 0.12650123, 0.20195118, 0.18332158, 0.02499991, 0.94192471, 0.0, 0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.25, "tool": [ 0.16918, 0.14252, 0.13703 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16917669, 0.1425208, 0.13747243, 0.20195118, 0.18332158, 0.02499991, 0.94192471, 0.0, 0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 15.3, "tool": [ 0.16918, 0.14252, 0.148 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16917669, 0.1425208, 0.14844365, 0.20195118, 0.18332158, 0.02499991, 0.94192471, -0.0, -0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.35, "tool": [ 0.16918, 0.14252, 0.15664 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16917669, 0.1425208, 0.15682813, 0.20195118, 0.18332158, 0.02499991, 0.94192471, 0.0, 0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 15.4, "tool": [ 0.16918, 0.14252, 0.1592 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16917669, 0.1425208, 0.15924399, 0.20195118, 0.18332158, 0.02499991, 0.94192471, -0.0, -0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 15.45, "tool": [ 0.16918, 0.14252, 0.15981 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.16917669, 0.1425208, 0.15982045, 0.20195118, 0.18332158, 0.02499991, 0.94192471, 0.0, 0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.5, "tool": [ 0.16918, 0.14252, 0.15995 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.16917669, 0.1425208, 0.15995736, 0.20195118, 0.18332158, 0.02499991, 0.94192471, -0.0, -0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 15.55, "tool": [ 0.16918, 0.14252, 0.15999 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.16917669, 0.1425208, 0.15998987, 0.20195118, 0.18332158, 0.02499991, 0.94192471, 0.0, 0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.6, "tool": [ 0.16918, 0.14252, 0.16 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.16917669, 0.1425208, 0.1599976, 0.20195118, 0.18332158, 0.02499991, 0.94192471, 0.0, 0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.65, "tool": [ 0.16918, 0.14252, 0.16 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.16917669, 0.1425208, 0.15999943, 0.20195118, 0.18332158, 0.02499991, 0.94192471, -0.0, -0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 15.7, "tool": [ 0.16918, 0.14252, 0.16 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.16917669, 0.1425208, 0.15999986, 0.20195118, 0.18332158, 0.02499991, 0.94192471, 0.0, 0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.75, "tool": [ 0.16918, 0.14252, 0.16 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.16917669, 0.1425208, 0.15999997, 0.20195118, 0.18332158, 0.02499991, 0.94192471, -0.0, -0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 15.8, "tool": [ 0.16918, 0.14252, 0.16 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.16917669, 0.1425208, 0.15999999, 0.20195118, 0.18332158, 0.02499991, 0.94192471, -0.0, -0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 15.85, "tool": [ 0.16918, 0.14252, 0.16 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.16917669, 0.1425208, 0.16, 0.20195118, 0.18332158, 0.02499991, 0.94192471, 0.0, 0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.9, "tool": [ 0.16918, 0.14252, 0.16 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.16917669, 0.1425208, 0.16, 0.20195118, 0.18332158, 0.02499991, 0.94192471, -0.0, -0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 15.95, "tool": [ 0.16918, 0.14252, 0.16 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.16917669, 0.1425208, 0.16, 0.20195118, 0.18332158, 0.02499991, 0.94192471, 0.0, 0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 16.0, "tool": [ 0.16918, 0.14252, 0.16 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.16917669, 0.1425208, 0.16, 0.20195118, 0.18332158, 0.02499991, 0.94192471, 0.0, 0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 16.05, "tool": [ 0.16918, 0.14252, 0.16 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.16917669, 0.1425208, 0.16, 0.20195118, 0.18332158, 0.02499991, 0.94192471, -0.0, -0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 16.1, "tool": [ 0.16918, 0.14252, 0.16 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.16917669, 0.1425208, 0.16, 0.20195118, 0.18332158, 0.02499991, 0.94192471, 0.0, 0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 16.15, "tool": [ 0.16918, 0.14252, 0.16 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.16917669, 0.1425208, 0.16, 0.20195118, 0.18332158, 0.02499991, 0.94192471, -0.0, -0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 16.2, "tool": [ 0.16918, 0.14252, 0.16 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.16917669, 0.1425208, 0.16, 0.20195118, 0.18332158, 0.02499991, 0.94192471, 0.0, 0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 16.25, "tool": [ 0.16918, 0.14252, 0.16 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.16917669, 0.1425208, 0.16, 0.20195118, 0.18332158, 0.02499991, 0.94192471, 0.0, 0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 16.26, "tool": [ 0.16918, 0.14252, 0.16 ], "objects": { "red_block": [ 0.20195, 0.18332, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.16917669, 0.1425208, 0.16, 0.20195118, 0.18332158, 0.02499991, 0.94192471, -0.0, -0.0, 0.33582411, 0.16571129, -0.17040417, 0.02499991, 1.0, -0.0, -0.0, 0.0 ] } ], "events": [ { "t": 0.3, "type": "start", "message": "closed_loop: 빨간 블록을 오른쪽 목표로 밀어줘" }, { "t": 3.944, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.411 m" }, { "t": 6.86, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.314 m" }, { "t": 9.776, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.215 m" }, { "t": 12.692, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.114 m" }, { "t": 16.26, "type": "success", "message": "최종 거리 0.0184 m · 정지 상태 True" } ] }, { "id": "heavy-0-open_loop", "policy": "open_loop", "scenario": "heavy", "seed": 0, "task": { "object_name": "red_block", "goal": "right", "instruction": "빨간 블록을 오른쪽 목표로 밀어줘" }, "parameters": { "friction": 0.7, "mass": 0.18, "disturbance": false }, "success": false, "final_distance_m": 0.14519256568706917, "settled": false, "sim_time_s": 7.045999999999446, "wall_time_s": 0.16957430000184104, "timed_out": false, "termination_reason": "goal_not_stable", "contact_steps": 897, "peak_contact_point_force_n": 5.804027340016743, "unintended_contact_steps": 0, "distractor_displacement_m": 9.391164551806005e-09, "workspace_violation": false, "replans": 0, "disturbance_applied": false, "trajectory": [ { "t": 0.05, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.02495 ], "blue_block": [ 0.12705, -0.17417, 0.02495 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315191, -0.16151066, 0.02495923, 1.0, 3e-08, -1e-08, -0.0, 0.12704868, -0.17417361, 0.02495923, 1.0, 3e-08, -1e-08, 0.0 ] }, { "t": 0.1, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.02499 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315191, -0.16151066, 0.02499488, 1.0, 0.0, -0.0, -0.0, 0.12704868, -0.17417361, 0.02499488, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.15, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315191, -0.16151066, 0.02499572, 1.0, 0.0, -0.0, -0.0, 0.12704868, -0.17417361, 0.02499572, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.2, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, 0.0, -0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.25, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, 0.0, -0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.3, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, 0.0, -0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.35, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.4, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.45, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.5, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.55, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.6, "tool": [ -0.00417, -0.31782, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.00450931, -0.31763922, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.65, "tool": [ -0.01439, -0.31247, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.01484748, -0.31222683, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.7, "tool": [ -0.02626, -0.30625, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.02674899, -0.30599599, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.75, "tool": [ -0.03853, -0.29983, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.03902286, -0.29957019, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.8, "tool": [ -0.05089, -0.29336, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05138517, -0.2930981, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.85, "tool": [ -0.06327, -0.28687, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.06376849, -0.28661501, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.9, "tool": [ -0.07566, -0.28039, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.07615679, -0.28012931, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.95, "tool": [ -0.08805, -0.2739, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.08854627, -0.27364299, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.0, "tool": [ -0.10044, -0.26742, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.10093604, -0.26715652, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.05, "tool": [ -0.11283, -0.26093, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.11332587, -0.26067002, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.1, "tool": [ -0.12522, -0.25444, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.12571572, -0.2541835, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.15, "tool": [ -0.13761, -0.24796, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.13810558, -0.24769699, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.2, "tool": [ -0.15, -0.24147, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.15049543, -0.24121048, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.25, "tool": [ -0.16239, -0.23498, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.16288528, -0.23472396, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.3, "tool": [ -0.17478, -0.2285, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.17527514, -0.22823745, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.35, "tool": [ -0.18717, -0.22201, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.18766499, -0.22175093, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.4, "tool": [ -0.19664, -0.21705, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.19683649, -0.21694934, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.45, "tool": [ -0.19937, -0.21562, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.19941398, -0.21559993, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.5, "tool": [ -0.20002, -0.21528, 0.15764 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20002861, -0.21527816, 0.15740243, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.55, "tool": [ -0.20017, -0.2152, 0.14984 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20017458, -0.21520173, 0.14948275, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.6, "tool": [ -0.20021, -0.21518, 0.14037 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20020925, -0.21518359, 0.13997882, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.65, "tool": [ -0.20022, -0.21518, 0.13049 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20021748, -0.21517928, 0.13009664, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.7, "tool": [ -0.20022, -0.21518, 0.12052 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20021944, -0.21517825, 0.12012462, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.75, "tool": [ -0.20022, -0.21518, 0.11053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.2002199, -0.21517801, 0.11013126, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.8, "tool": [ -0.20022, -0.21518, 0.10053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022001, -0.21517795, 0.10013284, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.85, "tool": [ -0.20022, -0.21518, 0.09053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517794, 0.09013322, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.9, "tool": [ -0.20022, -0.21518, 0.08053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517793, 0.08013331, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.95, "tool": [ -0.20022, -0.21518, 0.07053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517793, 0.07013333, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.0, "tool": [ -0.20022, -0.21518, 0.06053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517793, 0.06013333, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.05, "tool": [ -0.20022, -0.21518, 0.05053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517793, 0.05013333, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.1, "tool": [ -0.20022, -0.21518, 0.04184 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517793, 0.04162799, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.15, "tool": [ -0.20022, -0.21518, 0.03892 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517793, 0.03886724, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.2, "tool": [ -0.19946, -0.21446, 0.03822 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.19934901, -0.2143588, 0.03820598, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.25, "tool": [ -0.19533, -0.21058, 0.03805 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1951302, -0.21039141, 0.03804892, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.3, "tool": [ -0.18991, -0.20549, 0.03801 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.18968787, -0.2052734, 0.03801162, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.35, "tool": [ -0.18418, -0.2001, 0.038 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.18395171, -0.19987908, 0.03800276, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.4, "tool": [ -0.17894, -0.19493, 0.03812 ], "objects": { "red_block": [ -0.13979, -0.15947, 0.02506 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17870848, -0.19471547, 0.03811687, -0.13950311, -0.1593047, 0.02500433, 0.99975894, -3.881e-05, 0.00115391, 0.02192538, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.45, "tool": [ -0.17305, -0.1895, 0.03805 ], "objects": { "red_block": [ -0.13405, -0.15496, 0.0251 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17282388, -0.18928102, 0.03805537, -0.13383039, -0.15476979, 0.02507246, 0.99913975, -0.00149773, -0.0005949, 0.04143861, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.5, "tool": [ -0.16726, -0.18403, 0.03811 ], "objects": { "red_block": [ -0.12842, -0.15078, 0.02508 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.16703684, -0.18381796, 0.03811774, -0.12817974, -0.15059566, 0.0251046, 0.99838792, -0.00065816, -0.00039442, 0.05675367, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.55, "tool": [ -0.16144, -0.17858, 0.0381 ], "objects": { "red_block": [ -0.12248, -0.14661, 0.02504 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.16122812, -0.17836837, 0.03810629, -0.12223621, -0.14641443, 0.02512033, 0.99761057, -0.00192288, -0.00143681, 0.06904624, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.6, "tool": [ -0.15563, -0.17308, 0.03814 ], "objects": { "red_block": [ -0.11773, -0.14246, 0.02516 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.15540558, -0.17286918, 0.03813774, -0.11750595, -0.14226674, 0.02515901, 0.99553609, -0.00108853, -0.00089332, 0.09437117, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.65, "tool": [ -0.14985, -0.16763, 0.03818 ], "objects": { "red_block": [ -0.11238, -0.13809, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1496035, -0.16739688, 0.03817916, -0.11220334, -0.13790598, 0.02497896, 0.9936473, 0.00026826, -0.00061363, 0.11253709, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.7, "tool": [ -0.14398, -0.16213, 0.03814 ], "objects": { "red_block": [ -0.10714, -0.1332, 0.02504 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1437538, -0.16191603, 0.03814249, -0.10694394, -0.13298704, 0.02507805, 0.99168153, -0.00054569, -0.00060858, 0.12871313, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.75, "tool": [ -0.13822, -0.15662, 0.03826 ], "objects": { "red_block": [ -0.10179, -0.12837, 0.02502 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13800833, -0.15640804, 0.03826373, -0.10155154, -0.12818514, 0.02502813, 0.98955884, 0.00039343, 0.00035539, 0.1441285, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.8, "tool": [ -0.13242, -0.15114, 0.03827 ], "objects": { "red_block": [ -0.09606, -0.1237, 0.02504 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13219745, -0.15092848, 0.03826871, -0.09581924, -0.12349144, 0.0250189, 0.98826875, 0.00017866, 9.398e-05, 0.1527247, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.85, "tool": [ -0.12657, -0.14568, 0.03825 ], "objects": { "red_block": [ -0.09047, -0.11866, 0.02493 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12632532, -0.1454517, 0.03824387, -0.09029362, -0.11849069, 0.02494839, 0.98538648, 1.23e-05, 0.00095334, 0.17033076, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.9, "tool": [ -0.12069, -0.1402, 0.03814 ], "objects": { "red_block": [ -0.08451, -0.11381, 0.02508 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12045297, -0.13998376, 0.03813415, -0.08423716, -0.11361439, 0.02504236, 0.98498864, -0.00078124, -3.052e-05, 0.17261738, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.95, "tool": [ -0.11486, -0.13471, 0.03813 ], "objects": { "red_block": [ -0.07856, -0.10877, 0.02511 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11463244, -0.13449436, 0.03813093, -0.07830636, -0.10856321, 0.02514088, 0.98493963, -0.00187534, -0.00044122, 0.17288787, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.0, "tool": [ -0.10903, -0.12921, 0.03811 ], "objects": { "red_block": [ -0.07238, -0.10404, 0.02505 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1087991, -0.12898599, 0.03811101, -0.07214408, -0.10381426, 0.02502768, 0.98519281, -0.0004777, -0.00015387, 0.17144936, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.05, "tool": [ -0.1032, -0.12372, 0.03812 ], "objects": { "red_block": [ -0.06665, -0.09899, 0.02507 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1029736, -0.12350107, 0.03812607, -0.0664225, -0.09877108, 0.02506434, 0.9833905, -0.00052309, 0.00027391, 0.18150147, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.1, "tool": [ -0.09733, -0.11826, 0.03805 ], "objects": { "red_block": [ -0.06069, -0.09388, 0.02509 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.09708932, -0.11804241, 0.03804302, -0.06041393, -0.09366462, 0.02503352, 0.98338139, 0.00055168, 0.00054346, 0.18155011, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.15, "tool": [ -0.0915, -0.11277, 0.03803 ], "objects": { "red_block": [ -0.05482, -0.0887, 0.02502 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.09125987, -0.11255483, 0.03802246, -0.05456367, -0.08847276, 0.02498365, 0.98195397, -0.00039303, 0.00031818, 0.18911939, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.2, "tool": [ -0.08564, -0.10727, 0.03801 ], "objects": { "red_block": [ -0.04919, -0.08329, 0.02504 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.08543162, -0.10706473, 0.03803101, -0.04895907, -0.08308967, 0.02512462, 0.9794907, 0.00017893, 0.00046382, 0.20148877, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.25, "tool": [ -0.07988, -0.10177, 0.0381 ], "objects": { "red_block": [ -0.04313, -0.07842, 0.02502 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07966864, -0.10156891, 0.03812305, -0.04289306, -0.07823504, 0.02510617, 0.98031181, -0.00107473, 0.00045099, 0.19745227, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.3, "tool": [ -0.07407, -0.09634, 0.03813 ], "objects": { "red_block": [ -0.03722, -0.07316, 0.02502 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07383805, -0.09612877, 0.03812163, -0.03694683, -0.07294437, 0.02502704, 0.97920719, -0.0003555, -0.00037843, 0.20286206, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.35, "tool": [ -0.06811, -0.09087, 0.03799 ], "objects": { "red_block": [ -0.03116, -0.06799, 0.02503 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06787345, -0.09065106, 0.03798279, -0.03089961, -0.06777457, 0.02495633, 0.97918174, -0.00040558, 0.00035728, 0.20298479, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.4, "tool": [ -0.06244, -0.08537, 0.03816 ], "objects": { "red_block": [ -0.02535, -0.06292, 0.02515 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06222218, -0.08515899, 0.03817472, -0.02511179, -0.06270868, 0.02519428, 0.97866039, -0.0016403, -0.00038427, 0.20547752, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.45, "tool": [ -0.05658, -0.07986, 0.0381 ], "objects": { "red_block": [ -0.01908, -0.05823, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05636037, -0.07964643, 0.03810965, -0.01887681, -0.05802202, 0.02505425, 0.97971403, -0.00033686, -5.73e-06, 0.20040037, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.5, "tool": [ -0.0508, -0.0744, 0.03814 ], "objects": { "red_block": [ -0.01317, -0.05309, 0.02508 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05055935, -0.07417499, 0.03813561, -0.01293292, -0.05286733, 0.02505737, 0.9791518, -0.00119089, -0.00017276, 0.20312632, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.55, "tool": [ -0.04494, -0.06892, 0.03813 ], "objects": { "red_block": [ -0.00717, -0.048, 0.02508 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.04470597, -0.06870381, 0.03812037, -0.00689536, -0.04778082, 0.02501755, 0.9795335, 0.00083108, 0.00052994, 0.2012788, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.6, "tool": [ -0.03909, -0.06338, 0.03806 ], "objects": { "red_block": [ -0.0008, -0.04349, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.03887316, -0.06315597, 0.03807006, -0.00054613, -0.04331962, 0.02503961, 0.98158614, 0.0002436, -0.00031218, 0.19101964, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.65, "tool": [ -0.03329, -0.0579, 0.03805 ], "objects": { "red_block": [ 0.00545, -0.03877, 0.02494 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.03303904, -0.05767604, 0.0380467, 0.00563935, -0.03859232, 0.02494736, 0.98292662, -0.00043467, 0.00027714, 0.18399727, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.7, "tool": [ -0.02745, -0.05244, 0.03805 ], "objects": { "red_block": [ 0.01145, -0.03376, 0.02503 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.02722851, -0.0522254, 0.03806309, 0.0116561, -0.03354875, 0.0251025, 0.98369299, -0.00023571, 0.00045645, 0.17985506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.75, "tool": [ -0.02158, -0.04696, 0.03798 ], "objects": { "red_block": [ 0.01748, -0.02862, 0.02504 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.02133135, -0.04673632, 0.03797431, 0.01772608, -0.02842171, 0.02499294, 0.98423908, -0.00067413, -0.00017244, 0.1768416, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.8, "tool": [ -0.01584, -0.04147, 0.03813 ], "objects": { "red_block": [ 0.02368, -0.02417, 0.02509 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.01561911, -0.04125273, 0.0381445, 0.02392858, -0.02398021, 0.02509464, 0.98667527, -0.00123682, -7.235e-05, 0.16269719, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.85, "tool": [ -0.01009, -0.03601, 0.03824 ], "objects": { "red_block": [ 0.0298, -0.01947, 0.02506 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.0098685, -0.03579401, 0.03825471, 0.03003196, -0.01929154, 0.02510474, 0.98821714, -0.00018817, 0.00034666, 0.1530579, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.9, "tool": [ -0.0042, -0.03047, 0.03813 ], "objects": { "red_block": [ 0.03606, -0.01522, 0.02504 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.00398091, -0.03025061, 0.03812456, 0.03628257, -0.01504582, 0.02510308, 0.98987642, 9.723e-05, -6.627e-05, 0.14193189, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 3.95, "tool": [ 0.00162, -0.02501, 0.03809 ], "objects": { "red_block": [ 0.04219, -0.01058, 0.02512 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00185794, -0.02478756, 0.03809099, 0.04241446, -0.01039666, 0.02515643, 0.99093207, 0.00058199, -0.00050892, 0.13436159, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.0, "tool": [ 0.00744, -0.01948, 0.03808 ], "objects": { "red_block": [ 0.04844, -0.00636, 0.02507 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00765823, -0.01926799, 0.03809502, 0.04868947, -0.00617251, 0.02510926, 0.99257061, -7.546e-05, 0.00087203, 0.12166681, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.05, "tool": [ 0.01333, -0.01406, 0.03806 ], "objects": { "red_block": [ 0.05471, -0.0019, 0.02505 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01356602, -0.01383679, 0.03805631, 0.0549688, -0.00170966, 0.02501458, 0.99501284, -0.00011179, 0.00072751, 0.09974422, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.1, "tool": [ 0.01918, -0.00857, 0.03803 ], "objects": { "red_block": [ 0.06071, 0.00318, 0.02505 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01940547, -0.00835354, 0.03804178, 0.06092696, 0.00338068, 0.02507649, 0.99611339, -0.00027966, -9.47e-06, 0.0880797, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.15, "tool": [ 0.02493, -0.00304, 0.03809 ], "objects": { "red_block": [ 0.06675, 0.00764, 0.02503 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02516265, -0.00281358, 0.03808424, 0.06699529, 0.00779205, 0.0250381, 0.99679355, 0.00025845, 0.00016977, 0.08001576, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.2, "tool": [ 0.03075, 0.00247, 0.03805 ], "objects": { "red_block": [ 0.07293, 0.01164, 0.02507 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03097483, 0.00269684, 0.03804582, 0.07319625, 0.01180057, 0.02504087, 0.99824648, -0.00147268, -0.00033599, 0.059175, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.25, "tool": [ 0.0366, 0.00796, 0.038 ], "objects": { "red_block": [ 0.0792, 0.01554, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03684624, 0.00817644, 0.0379947, 0.07938656, 0.0156945, 0.02501979, 0.99943718, 0.00021029, -0.00023003, 0.03354438, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.3, "tool": [ 0.04232, 0.0134, 0.03815 ], "objects": { "red_block": [ 0.08517, 0.01959, 0.02514 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.0425548, 0.01362483, 0.03814998, 0.08544387, 0.0197667, 0.02508287, 0.99989546, 0.00156021, 0.00110622, 0.01433198, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.35, "tool": [ 0.0481, 0.01891, 0.03821 ], "objects": { "red_block": [ 0.09108, 0.02387, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.04832814, 0.01913263, 0.03820213, 0.09134264, 0.02405456, 0.02496256, 0.99999875, -5.944e-05, 0.00064571, 0.00144441, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.4, "tool": [ 0.05394, 0.02445, 0.03817 ], "objects": { "red_block": [ 0.09692, 0.02796, 0.0251 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.05416666, 0.02466271, 0.03817347, 0.09716066, 0.02812731, 0.02510386, 0.99995604, 0.00012987, 1.102e-05, -0.00937524, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.45, "tool": [ 0.05978, 0.02991, 0.03809 ], "objects": { "red_block": [ 0.10295, 0.03218, 0.02496 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.06003943, 0.03013276, 0.0380877, 0.10313988, 0.03232011, 0.02499272, 0.99974861, -0.00129762, -3.65e-05, -0.02238371, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.5, "tool": [ 0.06564, 0.03543, 0.03809 ], "objects": { "red_block": [ 0.10883, 0.03564, 0.02505 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.0658816, 0.03565625, 0.03809206, 0.10904897, 0.03574805, 0.02501419, 0.99906348, 0.00046961, 0.00024145, -0.04326519, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.55, "tool": [ 0.0714, 0.04091, 0.03811 ], "objects": { "red_block": [ 0.11449, 0.03866, 0.02502 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07164104, 0.04112637, 0.03809505, 0.11476868, 0.03879424, 0.0249656, 0.997422, -0.00064362, 0.00064155, -0.07175323, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.6, "tool": [ 0.07731, 0.04641, 0.03801 ], "objects": { "red_block": [ 0.12021, 0.042, 0.02504 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07754805, 0.04662955, 0.03800347, 0.12043232, 0.04211055, 0.02504642, 0.99542599, -0.00011735, -8.75e-06, -0.09553583, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.65, "tool": [ 0.08305, 0.0519, 0.03815 ], "objects": { "red_block": [ 0.12555, 0.04437, 0.02513 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08328356, 0.05212214, 0.03814948, 0.12575925, 0.04447418, 0.02511873, 0.99165613, 0.00233496, 0.00042455, -0.12888941, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.7, "tool": [ 0.08893, 0.05739, 0.03805 ], "objects": { "red_block": [ 0.13076, 0.04692, 0.02509 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08916951, 0.057612, 0.03804871, 0.13096525, 0.04700801, 0.0250744, 0.98692118, 0.00182257, 0.00013027, -0.16119317, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.75, "tool": [ 0.0948, 0.06287, 0.03806 ], "objects": { "red_block": [ 0.13561, 0.04899, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.0950446, 0.06308495, 0.03806385, 0.13576404, 0.04906334, 0.0249832, 0.9807544, -0.00089244, 0.00062914, -0.19524246, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.8, "tool": [ 0.10065, 0.06838, 0.03807 ], "objects": { "red_block": [ 0.13986, 0.05067, 0.02496 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.1008726, 0.0685976, 0.03807433, 0.14000774, 0.05072925, 0.02500079, 0.9732465, -0.0007533, 0.00067196, -0.22976124, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.85, "tool": [ 0.10646, 0.0739, 0.0381 ], "objects": { "red_block": [ 0.14331, 0.05178, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10667298, 0.0741176, 0.03810049, 0.14345276, 0.05180028, 0.02507275, 0.96562119, 0.000976, 0.00059619, -0.25995079, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.9, "tool": [ 0.11237, 0.07941, 0.0381 ], "objects": { "red_block": [ 0.14593, 0.0521, 0.02506 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11261717, 0.07962784, 0.03809359, 0.14600338, 0.05211768, 0.02500417, 0.95631035, 0.00067001, -0.00095729, -0.29235106, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 4.95, "tool": [ 0.11827, 0.08489, 0.03805 ], "objects": { "red_block": [ 0.14779, 0.0526, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11849746, 0.08510901, 0.03804496, 0.14786675, 0.05259409, 0.02501594, 0.94761489, 0.00086583, 0.00055409, -0.31941346, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.0, "tool": [ 0.12422, 0.09036, 0.03801 ], "objects": { "red_block": [ 0.14893, 0.05251, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.12446108, 0.09057978, 0.03801169, 0.14894641, 0.05250761, 0.02498521, 0.94229, 0.00037729, 5.92e-05, -0.33479758, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.05, "tool": [ 0.13012, 0.09584, 0.038 ], "objects": { "red_block": [ 0.14971, 0.05255, 0.02494 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13034741, 0.09606307, 0.03800276, 0.14974824, 0.05253382, 0.02498246, 0.93821184, -0.00019703, 0.00049036, -0.34606107, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.1, "tool": [ 0.13603, 0.10132, 0.038 ], "objects": { "red_block": [ 0.15026, 0.0526, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13626918, 0.10154396, 0.03800065, 0.15028641, 0.0525993, 0.02500157, 0.93494369, 0.00017396, 0.00022954, -0.35479602, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.15, "tool": [ 0.14205, 0.10679, 0.038 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14228596, 0.10700678, 0.03800015, 0.15034097, 0.05260917, 0.02499443, 0.93466781, -8.31e-06, -2.166e-05, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.2, "tool": [ 0.14794, 0.11226, 0.038 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14817784, 0.11247935, 0.03800004, 0.15034183, 0.05260841, 0.02499571, 0.93466781, -2e-07, -5.1e-07, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.25, "tool": [ 0.15379, 0.11774, 0.038 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.1540209, 0.11795787, 0.03800001, 0.15034185, 0.05260839, 0.02499574, 0.93466781, -0.0, -1e-08, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.3, "tool": [ 0.15962, 0.12322, 0.038 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15985224, 0.12343782, 0.038, 0.15034185, 0.05260839, 0.02499574, 0.93466781, -0.0, -0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.35, "tool": [ 0.16545, 0.1287, 0.038 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.16568079, 0.12891811, 0.038, 0.15034185, 0.05260839, 0.02499574, 0.93466781, -0.0, -0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.4, "tool": [ 0.17128, 0.13418, 0.038 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17150868, 0.13439849, 0.038, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.45, "tool": [ 0.17706, 0.13962, 0.038 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17727046, 0.13981686, 0.038, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.5, "tool": [ 0.18014, 0.14251, 0.038 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.18019313, 0.14256534, 0.038, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.55, "tool": [ 0.1809, 0.14323, 0.03808 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18091789, 0.14324691, 0.03812417, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.6, "tool": [ 0.18109, 0.14341, 0.04326 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1810902, 0.14340894, 0.0435932, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.65, "tool": [ 0.18113, 0.14345, 0.05279 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18113112, 0.14344742, 0.05319999, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.7, "tool": [ 0.18114, 0.14346, 0.06341 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114083, 0.14345656, 0.06384683, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.75, "tool": [ 0.18114, 0.14346, 0.0743 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114314, 0.14345873, 0.07474102, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.8, "tool": [ 0.18114, 0.14346, 0.08526 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114369, 0.14345925, 0.08569395, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.85, "tool": [ 0.18114, 0.14346, 0.09622 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114382, 0.14345937, 0.09666083, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.9, "tool": [ 0.18114, 0.14346, 0.10719 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114385, 0.1434594, 0.10763102, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.95, "tool": [ 0.18114, 0.14346, 0.11816 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114386, 0.14345941, 0.11860199, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.0, "tool": [ 0.18114, 0.14346, 0.12913 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114386, 0.14345941, 0.12957316, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.05, "tool": [ 0.18114, 0.14346, 0.14011 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114386, 0.14345941, 0.14054437, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.1, "tool": [ 0.18114, 0.14346, 0.15107 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114386, 0.14345941, 0.15149863, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.15, "tool": [ 0.18114, 0.14346, 0.15775 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114386, 0.14345941, 0.15787415, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.2, "tool": [ 0.18114, 0.14346, 0.15946 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18114386, 0.14345941, 0.15949449, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.25, "tool": [ 0.18114, 0.14346, 0.15987 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18114386, 0.14345941, 0.15987995, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.3, "tool": [ 0.18114, 0.14346, 0.15997 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18114386, 0.14345941, 0.15997149, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.35, "tool": [ 0.18114, 0.14346, 0.15999 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18114386, 0.14345941, 0.15999323, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.4, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.15999839, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.45, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.15999962, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.5, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.15999991, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.55, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.15999998, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.6, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.15999999, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.65, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.7, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.75, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.8, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.85, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.9, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.95, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.0, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.046, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.15034, 0.05261, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.15034185, 0.05260839, 0.02499574, 0.93466781, 0.0, 0.0, -0.35552226, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] } ], "events": [ { "t": 0.3, "type": "start", "message": "open_loop: 빨간 블록을 오른쪽 목표로 밀어줘" }, { "t": 7.046, "type": "failure", "message": "최종 거리 0.1452 m · 정지 상태 False" } ] }, { "id": "heavy-0-closed_loop", "policy": "closed_loop", "scenario": "heavy", "seed": 0, "task": { "object_name": "red_block", "goal": "right", "instruction": "빨간 블록을 오른쪽 목표로 밀어줘" }, "parameters": { "friction": 0.7, "mass": 0.18, "disturbance": false }, "success": true, "final_distance_m": 0.004280301543180517, "settled": true, "sim_time_s": 18.85200000000043, "wall_time_s": 0.39606659999117255, "timed_out": false, "termination_reason": "success", "contact_steps": 1384, "peak_contact_point_force_n": 7.70351438865236, "unintended_contact_steps": 0, "distractor_displacement_m": 9.471258619853277e-09, "workspace_violation": false, "replans": 5, "disturbance_applied": false, "trajectory": [ { "t": 0.05, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.02495 ], "blue_block": [ 0.12705, -0.17417, 0.02495 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315191, -0.16151066, 0.02495923, 1.0, 3e-08, -1e-08, -0.0, 0.12704868, -0.17417361, 0.02495923, 1.0, 3e-08, -1e-08, 0.0 ] }, { "t": 0.1, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.02499 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315191, -0.16151066, 0.02499488, 1.0, 0.0, -0.0, -0.0, 0.12704868, -0.17417361, 0.02499488, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.15, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315191, -0.16151066, 0.02499572, 1.0, 0.0, -0.0, -0.0, 0.12704868, -0.17417361, 0.02499572, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.2, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, 0.0, -0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.25, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, 0.0, -0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.3, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, 0.0, -0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.35, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.4, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.45, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.5, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.55, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.6, "tool": [ -0.00417, -0.31782, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.00450931, -0.31763922, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.65, "tool": [ -0.01439, -0.31247, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.01484748, -0.31222683, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.7, "tool": [ -0.02626, -0.30625, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.02674899, -0.30599599, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.75, "tool": [ -0.03853, -0.29983, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.03902286, -0.29957019, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.8, "tool": [ -0.05089, -0.29336, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05138517, -0.2930981, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.85, "tool": [ -0.06327, -0.28687, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.06376849, -0.28661501, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.9, "tool": [ -0.07566, -0.28039, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.07615679, -0.28012931, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.95, "tool": [ -0.08805, -0.2739, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.08854627, -0.27364299, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.0, "tool": [ -0.10044, -0.26742, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.10093604, -0.26715652, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.05, "tool": [ -0.11283, -0.26093, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.11332587, -0.26067002, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.1, "tool": [ -0.12522, -0.25444, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.12571572, -0.2541835, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.15, "tool": [ -0.13761, -0.24796, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.13810558, -0.24769699, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.2, "tool": [ -0.15, -0.24147, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.15049543, -0.24121048, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.25, "tool": [ -0.16239, -0.23498, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.16288528, -0.23472396, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.3, "tool": [ -0.17478, -0.2285, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.17527514, -0.22823745, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.35, "tool": [ -0.18717, -0.22201, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.18766499, -0.22175093, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.4, "tool": [ -0.19664, -0.21705, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.19683649, -0.21694934, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.45, "tool": [ -0.19937, -0.21562, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.19941398, -0.21559993, 0.16, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.5, "tool": [ -0.20002, -0.21528, 0.15764 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20002861, -0.21527816, 0.15740243, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.55, "tool": [ -0.20017, -0.2152, 0.14984 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20017458, -0.21520173, 0.14948275, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.6, "tool": [ -0.20021, -0.21518, 0.14037 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20020925, -0.21518359, 0.13997882, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.65, "tool": [ -0.20022, -0.21518, 0.13049 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20021748, -0.21517928, 0.13009664, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.7, "tool": [ -0.20022, -0.21518, 0.12052 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20021944, -0.21517825, 0.12012462, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.75, "tool": [ -0.20022, -0.21518, 0.11053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.2002199, -0.21517801, 0.11013126, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.8, "tool": [ -0.20022, -0.21518, 0.10053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022001, -0.21517795, 0.10013284, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.85, "tool": [ -0.20022, -0.21518, 0.09053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517794, 0.09013322, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.9, "tool": [ -0.20022, -0.21518, 0.08053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517793, 0.08013331, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 1.95, "tool": [ -0.20022, -0.21518, 0.07053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517793, 0.07013333, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.0, "tool": [ -0.20022, -0.21518, 0.06053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517793, 0.06013333, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.05, "tool": [ -0.20022, -0.21518, 0.05053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517793, 0.05013333, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.1, "tool": [ -0.20022, -0.21518, 0.04184 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517793, 0.04162799, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.15, "tool": [ -0.20022, -0.21518, 0.03892 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517793, 0.03886724, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.2, "tool": [ -0.19946, -0.21446, 0.03822 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.19934898, -0.21435878, 0.03820598, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.25, "tool": [ -0.19533, -0.21058, 0.03805 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.19513007, -0.21039128, 0.03804892, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.3, "tool": [ -0.18991, -0.20549, 0.03801 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1896876, -0.20527315, 0.03801162, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.35, "tool": [ -0.18418, -0.2001, 0.038 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1839513, -0.19987869, 0.03800276, -0.14315191, -0.16151066, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.4, "tool": [ -0.17893, -0.19493, 0.03812 ], "objects": { "red_block": [ -0.13986, -0.15945, 0.02508 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17869492, -0.19471497, 0.03811276, -0.13959378, -0.15928741, 0.02502374, 0.99983252, -0.00039443, 0.00074888, 0.01828139, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.45, "tool": [ -0.17317, -0.1895, 0.03816 ], "objects": { "red_block": [ -0.13346, -0.15519, 0.02512 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17294628, -0.1892775, 0.03817249, -0.13319031, -0.15500689, 0.0250957, 0.9997187, -0.0002422, 0.00078268, 0.02370339, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.5, "tool": [ -0.16732, -0.18401, 0.03814 ], "objects": { "red_block": [ -0.12733, -0.15096, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.16707145, -0.18378308, 0.03813341, -0.12709919, -0.1508237, 0.02499546, 0.99940033, 0.0002791, 0.00053272, 0.03462119, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.55, "tool": [ -0.1615, -0.17854, 0.03816 ], "objects": { "red_block": [ -0.12169, -0.14682, 0.02513 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.16126457, -0.17831709, 0.03816118, -0.12147356, -0.14666749, 0.02514587, 0.99879884, -0.00244655, -0.00076884, 0.04893152, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.6, "tool": [ -0.15555, -0.17305, 0.03809 ], "objects": { "red_block": [ -0.11645, -0.14302, 0.02516 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.15535759, -0.172852, 0.03810013, -0.1161908, -0.14284018, 0.02522958, 0.99852955, -0.00206707, -0.00091688, 0.05416287, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.65, "tool": [ -0.14977, -0.1676, 0.0381 ], "objects": { "red_block": [ -0.11073, -0.13902, 0.02503 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14955041, -0.16738372, 0.03811036, -0.11051397, -0.13883503, 0.02500672, 0.99689077, 0.00012029, 0.00031825, 0.07879521, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.7, "tool": [ -0.14399, -0.16211, 0.03813 ], "objects": { "red_block": [ -0.10577, -0.13438, 0.02494 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14374279, -0.16187832, 0.03812406, -0.10562058, -0.13425092, 0.02498785, 0.99469766, -0.00076345, 0.00099209, 0.10283482, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.75, "tool": [ -0.13822, -0.15663, 0.03818 ], "objects": { "red_block": [ -0.10042, -0.12984, 0.02504 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13797383, -0.15640304, 0.03817469, -0.1001974, -0.12964483, 0.02497884, 0.9928698, 0.00017491, -6.149e-05, 0.11920371, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.8, "tool": [ -0.13243, -0.15116, 0.03824 ], "objects": { "red_block": [ -0.09491, -0.12511, 0.0252 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13219738, -0.15094407, 0.0382326, -0.09466205, -0.12488563, 0.02517996, 0.99158427, 1.918e-05, -0.00084447, 0.12946009, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.85, "tool": [ -0.1265, -0.14568, 0.0381 ], "objects": { "red_block": [ -0.08923, -0.12003, 0.02506 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12626457, -0.14545507, 0.03810143, -0.08900163, -0.1198551, 0.02508155, 0.98962034, -0.00203073, -0.00048157, 0.14369144, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.9, "tool": [ -0.12078, -0.14017, 0.03826 ], "objects": { "red_block": [ -0.08319, -0.11552, 0.02506 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12055154, -0.13995466, 0.03826512, -0.08293086, -0.11533589, 0.02506241, 0.98991679, 0.00045814, 0.00072552, 0.1416475, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 2.95, "tool": [ -0.11559, -0.13536, 0.03818 ], "objects": { "red_block": [ -0.07789, -0.11115, 0.02504 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11546257, -0.13523462, 0.03818274, -0.07773184, -0.11100757, 0.02497824, 0.98927169, -0.00012763, 0.00034637, 0.14608695, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.0, "tool": [ -0.11383, -0.1337, 0.03818 ], "objects": { "red_block": [ -0.0762, -0.10971, 0.02502 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11379685, -0.13367676, 0.03817659, -0.07615666, -0.10968306, 0.0250015, 0.98907629, -0.00029927, -7.682e-05, 0.14740421, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.05, "tool": [ -0.11336, -0.13329, 0.03945 ], "objects": { "red_block": [ -0.07562, -0.10947, 0.02496 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11334033, -0.13327366, 0.03964685, -0.07560915, -0.10946979, 0.02495828, 0.98864229, 0.00052337, -0.00012278, 0.15028681, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.1, "tool": [ -0.11305, -0.13308, 0.04712 ], "objects": { "red_block": [ -0.07526, -0.10944, 0.02494 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11303636, -0.13307584, 0.04750852, -0.0752613, -0.10944142, 0.02494697, 0.98806541, 0.00033848, -6.858e-05, 0.15403447, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.15, "tool": [ -0.11287, -0.133, 0.05738 ], "objects": { "red_block": [ -0.07526, -0.10942, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11287949, -0.13300185, 0.05779467, -0.07521468, -0.10941375, 0.02503481, 0.98802529, -0.00023718, 0.00062761, 0.15429054, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.2, "tool": [ -0.11285, -0.13299, 0.06816 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11284447, -0.13298501, 0.0686015, -0.07513355, -0.10940477, 0.02499009, 0.98788523, 1.695e-05, -7.062e-05, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.25, "tool": [ -0.11281, -0.13297, 0.07911 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.1128126, -0.13297349, 0.07955099, -0.07513023, -0.10940339, 0.02499561, 0.98788523, 4e-07, -1.67e-06, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.3, "tool": [ -0.11281, -0.13297, 0.09008 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280489, -0.13297071, 0.09051716, -0.07513015, -0.10940336, 0.02499574, 0.98788523, 1e-08, -4e-08, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.35, "tool": [ -0.1128, -0.13297, 0.10105 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280306, -0.13297004, 0.10148718, -0.07513015, -0.10940336, 0.02499574, 0.98788523, 0.0, -0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.4, "tool": [ -0.1128, -0.13297, 0.11202 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280262, -0.13296989, 0.11245812, -0.07513015, -0.10940336, 0.02499574, 0.98788523, 0.0, -0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.45, "tool": [ -0.1128, -0.13297, 0.12299 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280252, -0.13296985, 0.12342928, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.5, "tool": [ -0.1128, -0.13297, 0.13396 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.1128025, -0.13296984, 0.13440048, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.55, "tool": [ -0.1128, -0.13297, 0.14493 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296984, 0.1453717, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.6, "tool": [ -0.1128, -0.13297, 0.15502 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296984, 0.15528769, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.65, "tool": [ -0.1128, -0.13297, 0.1588 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296984, 0.15886949, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.7, "tool": [ -0.1128, -0.13297, 0.15972 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.11280249, -0.13296984, 0.15973146, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.75, "tool": [ -0.1128, -0.13297, 0.15993 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.11280249, -0.13296984, 0.15993623, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.8, "tool": [ -0.1128, -0.13297, 0.15998 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.11280249, -0.13296984, 0.15998486, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.85, "tool": [ -0.1128, -0.13297, 0.16 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.11280249, -0.13296984, 0.1599964, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.9, "tool": [ -0.1128, -0.13297, 0.16 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296984, 0.15999915, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 3.95, "tool": [ -0.1128, -0.13297, 0.16 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296984, 0.1599998, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.0, "tool": [ -0.1128, -0.13297, 0.16 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296984, 0.15999995, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.05, "tool": [ -0.1128, -0.13297, 0.16 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296984, 0.15999999, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.1, "tool": [ -0.1128, -0.13297, 0.16 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296984, 0.16, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.15, "tool": [ -0.11326, -0.13378, 0.16 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.1133469, -0.13393249, 0.16, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.2, "tool": [ -0.11697, -0.14033, 0.16 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.11715918, -0.14067358, 0.16, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.25, "tool": [ -0.12216, -0.14951, 0.16 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.12237466, -0.14989587, 0.16, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.3, "tool": [ -0.12725, -0.15851, 0.16 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.12738478, -0.15875504, 0.16, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.35, "tool": [ -0.12917, -0.16192, 0.16 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.12920758, -0.16197822, 0.16, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.4, "tool": [ -0.12964, -0.16274, 0.15919 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.12964633, -0.16275403, 0.15903818, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.45, "tool": [ -0.12975, -0.16293, 0.15264 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.12975055, -0.16293833, 0.1523029, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.5, "tool": [ -0.12977, -0.16298, 0.14347 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.12977531, -0.1629821, 0.14308856, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.55, "tool": [ -0.12978, -0.16299, 0.13367 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.12978118, -0.16299249, 0.13327521, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.6, "tool": [ -0.12978, -0.16299, 0.12372 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.12978258, -0.16299496, 0.12331953, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.65, "tool": [ -0.12978, -0.163, 0.11373 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.12978291, -0.16299555, 0.11333006, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.7, "tool": [ -0.12978, -0.163, 0.10373 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.12978299, -0.16299569, 0.10333255, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.75, "tool": [ -0.12978, -0.163, 0.09373 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.12978301, -0.16299572, 0.09333315, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.8, "tool": [ -0.12978, -0.163, 0.08373 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.12978301, -0.16299573, 0.08333329, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.85, "tool": [ -0.12978, -0.163, 0.07373 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.12978301, -0.16299573, 0.07333332, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.9, "tool": [ -0.12978, -0.163, 0.06373 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.12978301, -0.16299573, 0.06333333, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 4.95, "tool": [ -0.12978, -0.163, 0.05373 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.12978301, -0.16299573, 0.05333333, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.0, "tool": [ -0.12978, -0.163, 0.04398 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.12978301, -0.16299573, 0.04366159, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.05, "tool": [ -0.12978, -0.163, 0.03945 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.12978301, -0.16299573, 0.03937331, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.1, "tool": [ -0.12964, -0.16286, 0.03835 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12959552, -0.16281187, 0.03832631, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.15, "tool": [ -0.12652, -0.15979, 0.03808 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12633298, -0.15961264, 0.03807749, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.2, "tool": [ -0.12144, -0.15481, 0.03802 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12121902, -0.15459792, 0.0380184, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.25, "tool": [ -0.11588, -0.14936, 0.038 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11564915, -0.14913612, 0.03800437, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.3, "tool": [ -0.1102, -0.14379, 0.038 ], "objects": { "red_block": [ -0.07513, -0.1094, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1099709, -0.14356805, 0.03800104, -0.07513015, -0.10940336, 0.02499574, 0.98788523, -0.0, 0.0, 0.15518626, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.35, "tool": [ -0.105, -0.13859, 0.03816 ], "objects": { "red_block": [ -0.07093, -0.10569, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.10475974, -0.13835535, 0.03815927, -0.07070695, -0.10556705, 0.02499316, 0.98566823, 0.00168055, -2.974e-05, 0.16868701, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.4, "tool": [ -0.09935, -0.13301, 0.03822 ], "objects": { "red_block": [ -0.06566, -0.10086, 0.02508 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.09912528, -0.132793, 0.03821234, -0.0654525, -0.10064544, 0.02510722, 0.98318413, 0.0002032, -0.00139389, 0.18261157, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.45, "tool": [ -0.09362, -0.1274, 0.03816 ], "objects": { "red_block": [ -0.05985, -0.09588, 0.02496 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.09338179, -0.12716812, 0.03815771, -0.05967148, -0.09570081, 0.02498804, 0.98228062, -0.00144528, 6.315e-05, 0.18741047, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.5, "tool": [ -0.08792, -0.1218, 0.03819 ], "objects": { "red_block": [ -0.05416, -0.09079, 0.02508 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.08769222, -0.12157474, 0.03817606, -0.05392972, -0.09055816, 0.02505434, 0.98122909, -0.00052006, -0.00057514, 0.19284414, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.55, "tool": [ -0.0822, -0.11616, 0.03819 ], "objects": { "red_block": [ -0.0484, -0.08595, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.08197787, -0.11593873, 0.03819963, -0.04819134, -0.08579221, 0.02503388, 0.97935439, -2.909e-05, 0.00103054, 0.20214824, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.6, "tool": [ -0.07655, -0.1106, 0.03825 ], "objects": { "red_block": [ -0.04286, -0.08084, 0.02516 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07633907, -0.11038456, 0.03826769, -0.04262684, -0.08063306, 0.02523093, 0.977469, -0.00067674, 0.00064007, 0.21107695, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.65, "tool": [ -0.07084, -0.10503, 0.03827 ], "objects": { "red_block": [ -0.03733, -0.0754, 0.0251 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07059824, -0.10479794, 0.03826218, -0.03709124, -0.07515965, 0.02502386, 0.97511185, 0.00045861, -0.00100828, 0.22171075, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.7, "tool": [ -0.06507, -0.0994, 0.03819 ], "objects": { "red_block": [ -0.03151, -0.07033, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.0648362, -0.09918232, 0.03817436, -0.03124515, -0.07016418, 0.02503199, 0.97317379, 0.00085806, -1.316e-05, 0.23006964, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 5.75, "tool": [ -0.05926, -0.09378, 0.03804 ], "objects": { "red_block": [ -0.02558, -0.06512, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05901822, -0.09355007, 0.0380332, -0.0253863, -0.06493747, 0.0250035, 0.97195809, -0.00081895, 0.00093853, 0.23515085, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.8, "tool": [ -0.05358, -0.08817, 0.03806 ], "objects": { "red_block": [ -0.02012, -0.05981, 0.0251 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05336047, -0.08794576, 0.0380644, -0.01987804, -0.059582, 0.02507545, 0.96908898, -0.00156917, 3.447e-05, 0.24670646, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.85, "tool": [ -0.04797, -0.08272, 0.03811 ], "objects": { "red_block": [ -0.01442, -0.05447, 0.0251 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.0477895, -0.08253877, 0.03810765, -0.01422399, -0.05426885, 0.02506099, 0.969172, -0.00135049, -0.00086793, 0.24637989, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.9, "tool": [ -0.04527, -0.08005, 0.03804 ], "objects": { "red_block": [ -0.01169, -0.05201, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.04522948, -0.08000425, 0.03805036, -0.01164919, -0.05197051, 0.02500159, 0.96772901, -5.19e-05, 0.00013251, 0.25199316, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 5.95, "tool": [ -0.0447, -0.07947, 0.03833 ], "objects": { "red_block": [ -0.01109, -0.05153, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04468235, -0.07945057, 0.03842209, -0.01108604, -0.05152423, 0.02496923, 0.96723823, 0.00038877, 0.00018884, 0.25387007, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.0, "tool": [ -0.04438, -0.07918, 0.0442 ], "objects": { "red_block": [ -0.01071, -0.05142, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04436922, -0.07916671, 0.04454875, -0.01070811, -0.05141983, 0.02497525, 0.96621071, 0.00012409, -0.00014494, 0.25775342, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.05, "tool": [ -0.04421, -0.07905, 0.05398 ], "objects": { "red_block": [ -0.01052, -0.05136, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04420152, -0.0790433, 0.0544022, -0.01051668, -0.05136319, 0.024993, 0.96575523, -7.3e-06, -2.921e-05, 0.25945489, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.1, "tool": [ -0.04416, -0.07902, 0.06467 ], "objects": { "red_block": [ -0.01038, -0.05131, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04416051, -0.07901347, 0.06510863, -0.01038018, -0.05130499, 0.02498621, 0.96563454, 6.691e-05, -0.00017708, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.15, "tool": [ -0.04412, -0.07899, 0.07561 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04411704, -0.07898685, 0.07604425, -0.01037257, -0.05129951, 0.02499552, 0.96563456, 1.58e-06, -4.19e-06, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.2, "tool": [ -0.04411, -0.07898, 0.08657 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04410633, -0.07898031, 0.08700733, -0.01037239, -0.05129938, 0.02499574, 0.96563456, 4e-08, -1e-07, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.25, "tool": [ -0.0441, -0.07898, 0.09754 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04410379, -0.07897875, 0.09797662, -0.01037239, -0.05129938, 0.02499574, 0.96563456, 0.0, -0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.3, "tool": [ -0.0441, -0.07898, 0.10851 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04410318, -0.07897838, 0.10894739, -0.01037239, -0.05129938, 0.02499574, 0.96563456, 0.0, -0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.35, "tool": [ -0.0441, -0.07898, 0.11948 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04410304, -0.07897829, 0.1199185, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.4, "tool": [ -0.0441, -0.07898, 0.13045 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.044103, -0.07897827, 0.1308897, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.45, "tool": [ -0.0441, -0.07898, 0.14142 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.044103, -0.07897827, 0.14186091, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.5, "tool": [ -0.0441, -0.07898, 0.15232 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04410299, -0.07897827, 0.15270796, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.55, "tool": [ -0.0441, -0.07898, 0.1581 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04410299, -0.07897827, 0.15821015, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.6, "tool": [ -0.0441, -0.07898, 0.15955 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.04410299, -0.07897827, 0.15957459, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.65, "tool": [ -0.0441, -0.07898, 0.15989 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.04410299, -0.07897827, 0.15989897, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.7, "tool": [ -0.0441, -0.07898, 0.15997 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.04410299, -0.07897827, 0.15997601, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.75, "tool": [ -0.0441, -0.07898, 0.15999 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.04410299, -0.07897827, 0.1599943, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.8, "tool": [ -0.0441, -0.07898, 0.16 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04410299, -0.07897827, 0.15999865, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.85, "tool": [ -0.0441, -0.07898, 0.16 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04410299, -0.07897827, 0.15999968, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.9, "tool": [ -0.0441, -0.07898, 0.16 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04410299, -0.07897827, 0.15999992, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 6.95, "tool": [ -0.0441, -0.07898, 0.16 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04410299, -0.07897827, 0.15999998, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.0, "tool": [ -0.0441, -0.07898, 0.16 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04410299, -0.07897827, 0.16, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.05, "tool": [ -0.04414, -0.07903, 0.16 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.04417172, -0.07907062, 0.16, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.1, "tool": [ -0.04701, -0.08289, 0.16 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.04719888, -0.08313808, 0.16, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.15, "tool": [ -0.05229, -0.08998, 0.16 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05251633, -0.0902829, 0.16, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.2, "tool": [ -0.05813, -0.09782, 0.16 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05834072, -0.09810889, 0.16, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.25, "tool": [ -0.06129, -0.10207, 0.16 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.0613436, -0.10214372, 0.16, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.3, "tool": [ -0.06207, -0.10313, 0.15993 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.0620887, -0.10314489, 0.15988682, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.35, "tool": [ -0.06226, -0.10338, 0.15521 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06226584, -0.10338291, 0.15490193, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.4, "tool": [ -0.06231, -0.10344, 0.14652 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06230791, -0.10343943, 0.14614558, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.45, "tool": [ -0.06232, -0.10345, 0.13684 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.0623179, -0.10345286, 0.13644125, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.5, "tool": [ -0.06232, -0.10346, 0.12691 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06232027, -0.10345605, 0.12651147, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.55, "tool": [ -0.06232, -0.10346, 0.11693 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06232084, -0.1034568, 0.11652814, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.6, "tool": [ -0.06232, -0.10346, 0.10693 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06232097, -0.10345698, 0.1065321, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.65, "tool": [ -0.06232, -0.10346, 0.09693 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.062321, -0.10345703, 0.09653304, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.7, "tool": [ -0.06232, -0.10346, 0.08693 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06232101, -0.10345704, 0.08653326, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.75, "tool": [ -0.06232, -0.10346, 0.07693 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06232101, -0.10345704, 0.07653332, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.8, "tool": [ -0.06232, -0.10346, 0.06693 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06232101, -0.10345704, 0.06653333, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.85, "tool": [ -0.06232, -0.10346, 0.05693 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06232101, -0.10345704, 0.05653333, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.9, "tool": [ -0.06232, -0.10346, 0.04693 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06232101, -0.10345704, 0.04653333, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 7.95, "tool": [ -0.06232, -0.10346, 0.0403 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06232101, -0.10345704, 0.04017285, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.0, "tool": [ -0.06232, -0.10346, 0.03855 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.06232101, -0.10345704, 0.03851691, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.05, "tool": [ -0.06042, -0.10155, 0.03813 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06026633, -0.10139409, 0.03812276, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.1, "tool": [ -0.05576, -0.09687, 0.03803 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.0555557, -0.0966645, 0.03802915, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.15, "tool": [ -0.05035, -0.09144, 0.03801 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05013273, -0.09121972, 0.03800692, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.2, "tool": [ -0.04476, -0.08583, 0.038 ], "objects": { "red_block": [ -0.01037, -0.0513, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.0445401, -0.08560457, 0.03800164, -0.01037239, -0.05129938, 0.02499574, 0.96563456, -0.0, 0.0, 0.25990363, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.25, "tool": [ -0.03955, -0.08056, 0.03809 ], "objects": { "red_block": [ -0.00815, -0.04915, 0.02504 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.03932699, -0.0803387, 0.03809172, -0.00794007, -0.04891874, 0.02500748, 0.96428351, -5.011e-05, -0.00065476, 0.26487143, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.3, "tool": [ -0.03403, -0.07493, 0.03819 ], "objects": { "red_block": [ -0.00256, -0.04393, 0.02505 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.03380813, -0.07470478, 0.03818463, -0.00232514, -0.04374154, 0.02509772, 0.96250545, -0.00049966, 0.00031826, 0.27126168, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.35, "tool": [ -0.02844, -0.06925, 0.03823 ], "objects": { "red_block": [ 0.00327, -0.03883, 0.02505 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.02820853, -0.06902248, 0.03822483, 0.00352573, -0.038582, 0.02497253, 0.96160428, -0.00083636, 0.00039071, 0.27443824, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.4, "tool": [ -0.02276, -0.06357, 0.0382 ], "objects": { "red_block": [ 0.00902, -0.03351, 0.02505 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.02253359, -0.06334566, 0.03819456, 0.00925752, -0.03328724, 0.02503153, 0.96004783, -0.0003405, -0.00092696, 0.27983423, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.45, "tool": [ -0.01705, -0.0579, 0.03805 ], "objects": { "red_block": [ 0.01479, -0.02806, 0.02502 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.01682838, -0.05768145, 0.03806245, 0.01499732, -0.02782294, 0.0250865, 0.95738211, -0.00016854, 0.00049598, 0.28882387, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.5, "tool": [ -0.01136, -0.05225, 0.03807 ], "objects": { "red_block": [ 0.0204, -0.02252, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.01113783, -0.05203052, 0.03806789, 0.02065056, -0.02231667, 0.02502764, 0.95561427, 0.00029946, 0.00078286, 0.29461952, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.55, "tool": [ -0.00574, -0.04658, 0.03809 ], "objects": { "red_block": [ 0.02627, -0.01723, 0.02507 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.00552479, -0.04635709, 0.03809335, 0.02651926, -0.01700447, 0.02506755, 0.95560349, -0.00109613, -0.00051634, 0.29465318, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.6, "tool": [ -7e-05, -0.04089, 0.03802 ], "objects": { "red_block": [ 0.03205, -0.01179, 0.02504 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00015827, -0.04066927, 0.03801561, 0.03228118, -0.0115381, 0.02501078, 0.95411996, -0.00025947, 0.00052708, 0.29942405, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.65, "tool": [ 0.00555, -0.03523, 0.03808 ], "objects": { "red_block": [ 0.03764, -0.00629, 0.02505 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00577181, -0.0350147, 0.03807836, 0.03789582, -0.00607533, 0.0250622, 0.95063739, -0.00013787, 0.00018524, 0.31030389, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 8.7, "tool": [ 0.01124, -0.02962, 0.03807 ], "objects": { "red_block": [ 0.0433, -0.00074, 0.0251 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01146149, -0.02939606, 0.03807484, 0.04353631, -0.00050237, 0.02507854, 0.94874392, -0.00040245, 0.00074459, 0.3160447, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 8.75, "tool": [ 0.01685, -0.02393, 0.0381 ], "objects": { "red_block": [ 0.04913, 0.00464, 0.02512 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.0170708, -0.02370052, 0.0381017, 0.04936659, 0.00487306, 0.02510675, 0.94884456, -0.001731, -0.00058206, 0.31573828, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.8, "tool": [ 0.02078, -0.02004, 0.03804 ], "objects": { "red_block": [ 0.05331, 0.00827, 0.02502 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02085287, -0.01996495, 0.0380389, 0.05339451, 0.00834745, 0.02498869, 0.95070871, -0.000383, 8.391e-05, 0.31008513, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.85, "tool": [ 0.0217, -0.01909, 0.03809 ], "objects": { "red_block": [ 0.05433, 0.00912, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02170853, -0.01907126, 0.03809349, 0.05433868, 0.00913961, 0.02498414, 0.95076704, 0.0001414, 0.00011065, 0.30990643, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.9, "tool": [ 0.02198, -0.01875, 0.04159 ], "objects": { "red_block": [ 0.05468, 0.0094, 0.02496 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02199317, -0.0187456, 0.04188274, 0.05468674, 0.0094092, 0.02495083, 0.95038709, -0.00049742, 0.00110751, 0.31106735, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 8.95, "tool": [ 0.02217, -0.01859, 0.05063 ], "objects": { "red_block": [ 0.05493, 0.00956, 0.02505 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02217295, -0.01858218, 0.05103399, 0.05493176, 0.00956612, 0.02504132, 0.95011842, -0.00023101, 0.00071975, 0.31188846, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.0, "tool": [ 0.02224, -0.01852, 0.06116 ], "objects": { "red_block": [ 0.055, 0.00963, 0.02494 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02224707, -0.01852033, 0.06159879, 0.05500515, 0.00962898, 0.02494231, 0.95014383, 0.00031726, -0.00103529, 0.31181008, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.05, "tool": [ 0.02233, -0.01846, 0.07209 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02233085, -0.01845694, 0.07253113, 0.05504997, 0.00966078, 0.02499419, 0.95014602, 9.06e-06, -3.051e-05, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.1, "tool": [ 0.02235, -0.01844, 0.08306 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02235401, -0.01843948, 0.08349597, 0.05505127, 0.00966168, 0.02499571, 0.95014602, 2.1e-07, -7.2e-07, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.15, "tool": [ 0.02236, -0.01844, 0.09403 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02235953, -0.01843532, 0.09446569, 0.0550513, 0.0096617, 0.02499574, 0.95014602, 1e-08, -2e-08, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.2, "tool": [ 0.02236, -0.01843, 0.105 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02236085, -0.01843433, 0.10543656, 0.0550513, 0.0096617, 0.02499574, 0.95014602, 0.0, -0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.25, "tool": [ 0.02236, -0.01843, 0.11597 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02236116, -0.01843409, 0.1164077, 0.0550513, 0.0096617, 0.02499574, 0.95014602, 0.0, -0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.3, "tool": [ 0.02236, -0.01843, 0.12694 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02236123, -0.01843404, 0.1273789, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.35, "tool": [ 0.02236, -0.01843, 0.13791 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02236125, -0.01843402, 0.13835012, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.4, "tool": [ 0.02236, -0.01843, 0.14888 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02236125, -0.01843402, 0.14932134, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.45, "tool": [ 0.02236, -0.01843, 0.157 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02236125, -0.01843402, 0.15717006, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.5, "tool": [ 0.02236, -0.01843, 0.15929 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02236125, -0.01843402, 0.15932611, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.55, "tool": [ 0.02236, -0.01843, 0.15983 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.02236125, -0.01843402, 0.15983996, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.6, "tool": [ 0.02236, -0.01843, 0.15996 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.02236125, -0.01843402, 0.15996199, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.65, "tool": [ 0.02236, -0.01843, 0.15999 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.02236125, -0.01843402, 0.15999097, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.7, "tool": [ 0.02236, -0.01843, 0.16 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.02236125, -0.01843402, 0.15999786, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.75, "tool": [ 0.02236, -0.01843, 0.16 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02236125, -0.01843402, 0.15999949, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.8, "tool": [ 0.02236, -0.01843, 0.16 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02236125, -0.01843402, 0.15999988, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.85, "tool": [ 0.02236, -0.01843, 0.16 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02236125, -0.01843402, 0.15999997, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.9, "tool": [ 0.02236, -0.01843, 0.16 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02236125, -0.01843402, 0.15999999, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 9.95, "tool": [ 0.02236, -0.01843, 0.16 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.02236125, -0.01843402, 0.16, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.0, "tool": [ 0.02087, -0.02047, 0.16 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.02072312, -0.02066287, 0.16, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.05, "tool": [ 0.01631, -0.02667, 0.16 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.01609851, -0.02695515, 0.16, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.1, "tool": [ 0.01084, -0.03411, 0.16 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.01061235, -0.03441965, 0.16, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.15, "tool": [ 0.00664, -0.03982, 0.16 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.00655878, -0.03993496, 0.16, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.2, "tool": [ 0.00546, -0.04143, 0.16 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.00544288, -0.04145327, 0.16, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.25, "tool": [ 0.00518, -0.04181, 0.1574 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00517691, -0.04181514, 0.15715391, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.3, "tool": [ 0.00511, -0.0419, 0.14948 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00511375, -0.04190109, 0.1491191, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.35, "tool": [ 0.0051, -0.04192, 0.13998 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00509875, -0.0419215, 0.13958746, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.4, "tool": [ 0.0051, -0.04193, 0.1301 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00509519, -0.04192634, 0.12969869, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.45, "tool": [ 0.00509, -0.04193, 0.12012 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00509434, -0.04192749, 0.11972511, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.5, "tool": [ 0.00509, -0.04193, 0.11013 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00509414, -0.04192777, 0.10973138, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.55, "tool": [ 0.00509, -0.04193, 0.10013 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00509409, -0.04192783, 0.09973287, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.6, "tool": [ 0.00509, -0.04193, 0.09013 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00509408, -0.04192785, 0.08973322, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.65, "tool": [ 0.00509, -0.04193, 0.08013 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00509408, -0.04192785, 0.07973331, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.7, "tool": [ 0.00509, -0.04193, 0.07013 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00509408, -0.04192785, 0.06973333, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.75, "tool": [ 0.00509, -0.04193, 0.06013 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00509408, -0.04192785, 0.05973333, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.8, "tool": [ 0.00509, -0.04193, 0.05013 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00509408, -0.04192785, 0.04973333, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.85, "tool": [ 0.00509, -0.04193, 0.04163 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00509408, -0.04192785, 0.04142838, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.9, "tool": [ 0.00509, -0.04193, 0.03887 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00509408, -0.04192785, 0.03881879, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 10.95, "tool": [ 0.00593, -0.04107, 0.03821 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.0060374, -0.0409537, 0.03819447, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 11.0, "tool": [ 0.00995, -0.03691, 0.03805 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01015032, -0.0367064, 0.03804618, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 11.05, "tool": [ 0.01515, -0.03154, 0.03801 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01536808, -0.03131815, 0.03801097, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 11.1, "tool": [ 0.02063, -0.02588, 0.038 ], "objects": { "red_block": [ 0.05505, 0.00966, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02085075, -0.02565633, 0.0380026, 0.0550513, 0.0096617, 0.02499574, 0.95014602, -0.0, 0.0, 0.31180529, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 11.15, "tool": [ 0.0259, -0.02043, 0.03805 ], "objects": { "red_block": [ 0.05604, 0.0107, 0.02505 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02608766, -0.02023803, 0.03806378, 0.05625845, 0.01092487, 0.02506668, 0.94943679, -0.00045236, 0.000223, 0.31395785, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 11.2, "tool": [ 0.03124, -0.0149, 0.03823 ], "objects": { "red_block": [ 0.06174, 0.01629, 0.02508 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03146215, -0.01466387, 0.03822247, 0.06198271, 0.0165235, 0.02499515, 0.95086062, 0.00019816, 0.00071331, 0.30961837, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 11.25, "tool": [ 0.03681, -0.00917, 0.03822 ], "objects": { "red_block": [ 0.06718, 0.02201, 0.02503 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03702999, -0.00894416, 0.03822116, 0.06738967, 0.02224271, 0.02505842, 0.9489029, -0.00018815, 0.00063971, 0.31556751, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 11.3, "tool": [ 0.04238, -0.00338, 0.03817 ], "objects": { "red_block": [ 0.07276, 0.02764, 0.02506 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.04260606, -0.00314548, 0.03816463, 0.07296731, 0.02786763, 0.02504359, 0.94649339, -0.00129107, -0.00013057, 0.32272059, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 11.35, "tool": [ 0.04796, 0.00236, 0.03819 ], "objects": { "red_block": [ 0.07843, 0.03312, 0.02505 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.04818225, 0.00259606, 0.03817606, 0.0786387, 0.03334002, 0.0250488, 0.94592845, 1.687e-05, -0.00080715, 0.32437435, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 11.4, "tool": [ 0.05354, 0.00812, 0.0381 ], "objects": { "red_block": [ 0.084, 0.03883, 0.02507 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.05376329, 0.00835278, 0.03810391, 0.08420897, 0.03904158, 0.02510586, 0.94270032, -0.00025502, -0.00021478, 0.33364052, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 11.45, "tool": [ 0.05906, 0.01383, 0.03824 ], "objects": { "red_block": [ 0.08953, 0.04437, 0.02514 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.05927568, 0.01405175, 0.03824346, 0.08978053, 0.04459085, 0.02515114, 0.94089718, 0.00053037, 0.00101341, 0.33869039, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 11.5, "tool": [ 0.06461, 0.01954, 0.03832 ], "objects": { "red_block": [ 0.0953, 0.04979, 0.0251 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.06481603, 0.0197563, 0.03833375, 0.0955239, 0.05001868, 0.02516173, 0.94121583, 0.00014702, -0.00049276, 0.33780541, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 11.55, "tool": [ 0.07018, 0.02533, 0.0382 ], "objects": { "red_block": [ 0.10111, 0.05546, 0.02507 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07040961, 0.02557368, 0.03819643, 0.10133509, 0.05566467, 0.02507224, 0.94168414, -0.00095877, -0.00105466, 0.33649511, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 11.6, "tool": [ 0.0758, 0.0311, 0.03816 ], "objects": { "red_block": [ 0.10681, 0.06118, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.0760338, 0.0313364, 0.03815887, 0.10704878, 0.06133973, 0.02493024, 0.94210704, 0.00104447, 0.00020228, 0.33531059, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 11.65, "tool": [ 0.08136, 0.03685, 0.03817 ], "objects": { "red_block": [ 0.1126, 0.06654, 0.02494 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08157349, 0.03706664, 0.03818878, 0.1128117, 0.06673909, 0.02502498, 0.94396985, -9.948e-05, -8.77e-05, 0.33003166, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 11.7, "tool": [ 0.08618, 0.04183, 0.03813 ], "objects": { "red_block": [ 0.11772, 0.07133, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08629648, 0.04195196, 0.03812426, 0.11783848, 0.07145001, 0.02502243, 0.94627467, 0.00012922, -0.00029023, 0.32336379, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 11.75, "tool": [ 0.08774, 0.04345, 0.03812 ], "objects": { "red_block": [ 0.11935, 0.07287, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08776708, 0.04348298, 0.03811951, 0.11938189, 0.07289661, 0.02497861, 0.94633704, -6.555e-05, 0.00026255, 0.32318127, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 11.8, "tool": [ 0.08814, 0.04389, 0.03961 ], "objects": { "red_block": [ 0.11985, 0.07328, 0.02503 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08815524, 0.04390052, 0.03981783, 0.11986671, 0.07329939, 0.02502783, 0.94571585, -0.00045899, 0.00033059, 0.32499417, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 11.85, "tool": [ 0.0884, 0.04413, 0.04751 ], "objects": { "red_block": [ 0.1201, 0.07346, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08839848, 0.04412979, 0.04789295, 0.12011664, 0.07347737, 0.02503642, 0.9452517, -0.00016922, 0.00091241, 0.32634088, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 11.9, "tool": [ 0.08849, 0.04421, 0.05777 ], "objects": { "red_block": [ 0.12018, 0.07354, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08849232, 0.04421241, 0.05820199, 0.12018452, 0.07354078, 0.02498604, 0.94523305, -3.663e-05, -0.00013118, 0.32639617, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 11.95, "tool": [ 0.08851, 0.04423, 0.06858 ], "objects": { "red_block": [ 0.12026, 0.0736, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08851735, 0.04423418, 0.0690184, 0.12026531, 0.07360187, 0.02497597, 0.94517448, 7.39e-05, -0.0002781, 0.32656563, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.0, "tool": [ 0.08856, 0.04427, 0.07955 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08855824, 0.04426675, 0.07998395, 0.12027712, 0.07360982, 0.02499527, 0.94517451, 1.77e-06, -6.66e-06, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.05, "tool": [ 0.08857, 0.04428, 0.09052 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08856883, 0.04427517, 0.09095461, 0.1202774, 0.07361001, 0.02499573, 0.94517451, 4e-08, -1.6e-07, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.1, "tool": [ 0.08857, 0.04428, 0.10149 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08857135, 0.04427718, 0.1019257, 0.12027741, 0.07361001, 0.02499574, 0.94517451, 0.0, -0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.15, "tool": [ 0.08857, 0.04428, 0.11246 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08857194, 0.04427765, 0.11289689, 0.12027741, 0.07361001, 0.02499574, 0.94517451, 0.0, -0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.2, "tool": [ 0.08857, 0.04428, 0.12343 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08857209, 0.04427777, 0.12386811, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.25, "tool": [ 0.08857, 0.04428, 0.1344 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08857212, 0.04427779, 0.13483933, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.3, "tool": [ 0.08857, 0.04428, 0.14537 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08857213, 0.0442778, 0.14581055, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.35, "tool": [ 0.08857, 0.04428, 0.15529 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08857213, 0.0442778, 0.1555447, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.4, "tool": [ 0.08857, 0.04428, 0.15887 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08857213, 0.0442778, 0.15893263, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.45, "tool": [ 0.08857, 0.04428, 0.15973 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.08857213, 0.0442778, 0.15974647, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.5, "tool": [ 0.08857, 0.04428, 0.15994 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.08857213, 0.0442778, 0.15993979, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.55, "tool": [ 0.08857, 0.04428, 0.15998 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.08857213, 0.0442778, 0.1599857, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.6, "tool": [ 0.08857, 0.04428, 0.16 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.08857213, 0.0442778, 0.1599966, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.65, "tool": [ 0.08857, 0.04428, 0.16 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08857213, 0.0442778, 0.15999919, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.7, "tool": [ 0.08857, 0.04428, 0.16 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08857213, 0.0442778, 0.15999981, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.75, "tool": [ 0.08857, 0.04428, 0.16 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08857213, 0.0442778, 0.15999995, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.8, "tool": [ 0.08857, 0.04428, 0.16 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08857213, 0.0442778, 0.15999999, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.85, "tool": [ 0.08857, 0.04428, 0.16 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.08857213, 0.0442778, 0.16, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.9, "tool": [ 0.08802, 0.04355, 0.16 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.08792583, 0.04341942, 0.16, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 12.95, "tool": [ 0.08416, 0.03842, 0.16 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.08396397, 0.03815753, 0.16, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.0, "tool": [ 0.07888, 0.0314, 0.16 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.0786573, 0.03110953, 0.16, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.05, "tool": [ 0.07381, 0.02467, 0.16 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.07367275, 0.02448934, 0.16, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.1, "tool": [ 0.07196, 0.02221, 0.16 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.07192673, 0.02217039, 0.16, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.15, "tool": [ 0.07151, 0.02162, 0.15904 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07150724, 0.02161325, 0.15887244, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.2, "tool": [ 0.07141, 0.02148, 0.1523 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07140759, 0.0214809, 0.15196045, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.25, "tool": [ 0.07138, 0.02145, 0.14309 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07138393, 0.02144947, 0.14270224, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.3, "tool": [ 0.07138, 0.02144, 0.13328 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07137831, 0.02144201, 0.13287845, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.35, "tool": [ 0.07138, 0.02144, 0.12332 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07137697, 0.02144023, 0.1229203, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.4, "tool": [ 0.07138, 0.02144, 0.11333 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07137666, 0.02143981, 0.11293024, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.45, "tool": [ 0.07138, 0.02144, 0.10333 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07137658, 0.02143971, 0.1029326, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.5, "tool": [ 0.07138, 0.02144, 0.09333 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07137656, 0.02143969, 0.09293316, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.55, "tool": [ 0.07138, 0.02144, 0.08333 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07137656, 0.02143968, 0.08293329, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.6, "tool": [ 0.07138, 0.02144, 0.07333 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07137656, 0.02143968, 0.07293332, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.65, "tool": [ 0.07138, 0.02144, 0.06333 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07137656, 0.02143968, 0.06293333, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.7, "tool": [ 0.07138, 0.02144, 0.05333 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07137656, 0.02143968, 0.05293333, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.75, "tool": [ 0.07138, 0.02144, 0.04366 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07137656, 0.02143968, 0.04336114, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.8, "tool": [ 0.07138, 0.02144, 0.03937 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.07137656, 0.02143968, 0.03929667, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.85, "tool": [ 0.07156, 0.02163, 0.03833 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07161061, 0.02168938, 0.03830807, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.9, "tool": [ 0.07468, 0.02497, 0.03808 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07485794, 0.02515382, 0.03807316, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 13.95, "tool": [ 0.07958, 0.03019, 0.03802 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07978808, 0.0304136, 0.03801737, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 14.0, "tool": [ 0.08491, 0.03588, 0.038 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08513056, 0.03611327, 0.03800413, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 14.05, "tool": [ 0.09035, 0.04168, 0.038 ], "objects": { "red_block": [ 0.12028, 0.07361, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09057105, 0.0419175, 0.03800098, 0.12027741, 0.07361001, 0.02499574, 0.94517451, -0.0, 0.0, 0.32656567, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 14.1, "tool": [ 0.09539, 0.04706, 0.03808 ], "objects": { "red_block": [ 0.12522, 0.07865, 0.02503 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09560805, 0.04728678, 0.0380809, 0.12545982, 0.07886289, 0.02505928, 0.94502073, -0.00101609, 2.701e-05, 0.32700884, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 14.15, "tool": [ 0.10087, 0.0529, 0.03802 ], "objects": { "red_block": [ 0.1311, 0.0842, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10109922, 0.05314468, 0.03802354, 0.13129128, 0.08442625, 0.02499399, 0.94529219, -0.00116031, 0.0009728, 0.32622136, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 14.2, "tool": [ 0.10636, 0.05875, 0.03803 ], "objects": { "red_block": [ 0.13642, 0.08977, 0.02503 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10657221, 0.05898129, 0.03802933, 0.13666034, 0.09003323, 0.02497939, 0.94200713, -0.00056704, 0.0001881, 0.33559233, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 14.25, "tool": [ 0.11181, 0.06457, 0.03809 ], "objects": { "red_block": [ 0.14219, 0.09533, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11201326, 0.06480876, 0.0380948, 0.14239565, 0.09556573, 0.0250299, 0.94285773, -0.00034945, -0.00063893, 0.3331948, 0.12704868, -0.17417361, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 14.3, "tool": [ 0.11725, 0.0704, 0.0381 ], "objects": { "red_block": [ 0.14776, 0.10101, 0.02512 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11747153, 0.07063788, 0.03810157, 0.14798123, 0.10124061, 0.02512728, 0.94194644, 0.00010396, -0.00036296, 0.33576294, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 14.35, "tool": [ 0.12272, 0.07627, 0.03804 ], "objects": { "red_block": [ 0.15329, 0.10673, 0.02511 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.1229365, 0.07650256, 0.03803864, 0.1535231, 0.10696843, 0.02511481, 0.93963795, 5.901e-05, -0.00133419, 0.3421677, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 14.4, "tool": [ 0.1282, 0.08212, 0.03806 ], "objects": { "red_block": [ 0.15876, 0.1125, 0.02496 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.12840523, 0.08234482, 0.03807691, 0.15897847, 0.1127034, 0.0250264, 0.93710729, 8.511e-05, -0.00047401, 0.3490411, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 14.45, "tool": [ 0.13366, 0.08787, 0.03813 ], "objects": { "red_block": [ 0.16438, 0.11809, 0.0251 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13388637, 0.08811075, 0.03812392, 0.16462576, 0.11832031, 0.02507628, 0.93651449, 0.00151777, -0.00067585, 0.35062495, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 14.5, "tool": [ 0.13917, 0.09374, 0.03807 ], "objects": { "red_block": [ 0.17012, 0.12386, 0.02496 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13940173, 0.09398882, 0.03806499, 0.17030654, 0.12404456, 0.0249711, 0.93876664, 7.169e-05, 0.00131688, 0.3445511, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 14.55, "tool": [ 0.14464, 0.0996, 0.03805 ], "objects": { "red_block": [ 0.17554, 0.12963, 0.02496 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14486568, 0.09984334, 0.03804558, 0.1757296, 0.12982445, 0.02497993, 0.93566191, -0.00020339, -0.00047561, 0.35289734, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 14.6, "tool": [ 0.14992, 0.10527, 0.0381 ], "objects": { "red_block": [ 0.181, 0.13513, 0.02492 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15010132, 0.10546154, 0.03809727, 0.18114507, 0.13527169, 0.02497257, 0.9353492, -0.00032315, 0.00043613, 0.3537253, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 14.65, "tool": [ 0.15234, 0.10786, 0.03817 ], "objects": { "red_block": [ 0.18347, 0.13756, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15237415, 0.10790384, 0.03816812, 0.18352258, 0.13760788, 0.02500091, 0.93516145, -0.00010431, 0.00016527, 0.3542217, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 14.7, "tool": [ 0.15286, 0.10843, 0.03851 ], "objects": { "red_block": [ 0.18404, 0.1381, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.15288018, 0.10845137, 0.03860133, 0.18404902, 0.13810903, 0.02497225, 0.93508803, 1.262e-05, 0.00011916, 0.35441552, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 14.75, "tool": [ 0.15316, 0.10873, 0.04454 ], "objects": { "red_block": [ 0.18436, 0.13837, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.15316333, 0.10873503, 0.04489, 0.18438062, 0.13838617, 0.02497451, 0.93476137, -0.00014867, 0.00028059, 0.35527607, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 14.8, "tool": [ 0.15331, 0.10887, 0.05437 ], "objects": { "red_block": [ 0.18455, 0.1385, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1533159, 0.10887766, 0.05479053, 0.18455096, 0.13849673, 0.02498244, 0.93468027, -8.264e-05, -0.00016752, 0.35548945, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 14.85, "tool": [ 0.15338, 0.10894, 0.0651 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.15338287, 0.10893882, 0.06553601, 0.18464952, 0.13857057, 0.02499, 0.93468897, 4.416e-05, -0.00011121, 0.35546662, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 14.9, "tool": [ 0.15343, 0.10898, 0.07604 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.15342737, 0.10897877, 0.07648043, 0.1846539, 0.13857457, 0.02499561, 0.93468897, 1.04e-06, -2.63e-06, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 14.95, "tool": [ 0.15344, 0.10899, 0.08701 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.15343822, 0.10898851, 0.08744554, 0.184654, 0.13857467, 0.02499574, 0.93468897, 2e-08, -6e-08, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.0, "tool": [ 0.15344, 0.10899, 0.09798 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1534408, 0.10899082, 0.09841532, 0.184654, 0.13857467, 0.02499574, 0.93468897, 0.0, -0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.05, "tool": [ 0.15344, 0.10899, 0.10895 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.15344141, 0.10899137, 0.1093862, 0.184654, 0.13857467, 0.02499574, 0.93468897, 0.0, -0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.1, "tool": [ 0.15344, 0.10899, 0.11992 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.15344155, 0.1089915, 0.12035734, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.15, "tool": [ 0.15344, 0.10899, 0.13089 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.15344159, 0.10899153, 0.13132854, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.2, "tool": [ 0.15344, 0.10899, 0.14186 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1534416, 0.10899154, 0.14229976, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.25, "tool": [ 0.15344, 0.10899, 0.15271 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1534416, 0.10899154, 0.1530833, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.3, "tool": [ 0.15344, 0.10899, 0.15821 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1534416, 0.10899154, 0.15830998, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.35, "tool": [ 0.15344, 0.10899, 0.15957 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.1534416, 0.10899154, 0.15959836, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.4, "tool": [ 0.15344, 0.10899, 0.1599 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.1534416, 0.10899154, 0.15990462, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.45, "tool": [ 0.15344, 0.10899, 0.15998 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.1534416, 0.10899154, 0.15997735, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.5, "tool": [ 0.15344, 0.10899, 0.15999 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.1534416, 0.10899154, 0.15999462, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.55, "tool": [ 0.15344, 0.10899, 0.16 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1534416, 0.10899154, 0.15999872, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.6, "tool": [ 0.15344, 0.10899, 0.16 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1534416, 0.10899154, 0.1599997, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.65, "tool": [ 0.15344, 0.10899, 0.16 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1534416, 0.10899154, 0.15999993, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.7, "tool": [ 0.15344, 0.10899, 0.16 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1534416, 0.10899154, 0.15999998, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.75, "tool": [ 0.15344, 0.10899, 0.16 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1534416, 0.10899154, 0.16, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.8, "tool": [ 0.15339, 0.1089, 0.16 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.15335608, 0.10885141, 0.16, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.85, "tool": [ 0.15089, 0.10482, 0.16 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.15073852, 0.10456232, 0.16, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.9, "tool": [ 0.14652, 0.09764, 0.16 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.14632644, 0.09733275, 0.16, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 15.95, "tool": [ 0.14172, 0.08979, 0.16 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.14155237, 0.08951002, 0.16, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 16.0, "tool": [ 0.13925, 0.08574, 0.16 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.13920392, 0.08566189, 0.16, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 16.05, "tool": [ 0.13864, 0.08473, 0.15989 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.13862472, 0.08471283, 0.15982893, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 16.1, "tool": [ 0.13849, 0.08449, 0.1549 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.13848704, 0.08448723, 0.15459292, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 16.15, "tool": [ 0.13845, 0.08443, 0.14615 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.13845435, 0.08443365, 0.14576725, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 16.2, "tool": [ 0.13845, 0.08442, 0.13644 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.13844658, 0.08442093, 0.1360464, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 16.25, "tool": [ 0.13844, 0.08442, 0.12651 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.13844474, 0.08441791, 0.12611269, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 16.3, "tool": [ 0.13844, 0.08442, 0.11653 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.1384443, 0.08441719, 0.11612843, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 16.35, "tool": [ 0.13844, 0.08442, 0.10653 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.1384442, 0.08441702, 0.10613217, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 16.4, "tool": [ 0.13844, 0.08442, 0.09653 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.13844417, 0.08441698, 0.09613306, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 16.45, "tool": [ 0.13844, 0.08442, 0.08653 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.13844417, 0.08441697, 0.08613327, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 16.5, "tool": [ 0.13844, 0.08442, 0.07653 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.13844416, 0.08441697, 0.07613332, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 16.55, "tool": [ 0.13844, 0.08442, 0.06653 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.13844416, 0.08441697, 0.06613333, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 16.6, "tool": [ 0.13844, 0.08442, 0.05653 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.13844416, 0.08441697, 0.05613333, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 16.65, "tool": [ 0.13844, 0.08442, 0.04653 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.13844416, 0.08441697, 0.04613744, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 16.7, "tool": [ 0.13844, 0.08442, 0.04017 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.13844416, 0.08441697, 0.04005192, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 16.75, "tool": [ 0.13844, 0.08442, 0.03852 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13844629, 0.08441946, 0.03848803, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 16.8, "tool": [ 0.14033, 0.08663, 0.03812 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14047321, 0.08679501, 0.0381159, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 16.85, "tool": [ 0.14465, 0.09169, 0.03803 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14484144, 0.09191455, 0.03802752, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 16.9, "tool": [ 0.14962, 0.09752, 0.03801 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14982677, 0.09775732, 0.03800654, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 16.95, "tool": [ 0.15475, 0.10353, 0.038 ], "objects": { "red_block": [ 0.18465, 0.13857, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15495902, 0.1037723, 0.03800155, 0.184654, 0.13857467, 0.02499574, 0.93468897, -0.0, 0.0, 0.35546663, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 17.0, "tool": [ 0.15955, 0.10915, 0.03806 ], "objects": { "red_block": [ 0.18769, 0.14196, 0.02504 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15974393, 0.10937137, 0.03807815, 0.18789615, 0.14217904, 0.02511832, 0.9315033, -0.00077307, 0.00010127, 0.36373202, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 17.05, "tool": [ 0.16469, 0.11515, 0.0381 ], "objects": { "red_block": [ 0.19321, 0.14769, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.16490263, 0.11540094, 0.03809649, 0.19344519, 0.14788081, 0.02499198, 0.93175945, 0.0004917, 0.00019704, 0.3630758, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 17.1, "tool": [ 0.16984, 0.12123, 0.03811 ], "objects": { "red_block": [ 0.19868, 0.15345, 0.02507 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17005311, 0.12147497, 0.03810593, 0.1989002, 0.15369099, 0.02505887, 0.93279452, -0.00014296, -0.00011966, 0.36040858, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 17.15, "tool": [ 0.17498, 0.12725, 0.03825 ], "objects": { "red_block": [ 0.20417, 0.15906, 0.02514 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17518687, 0.12748975, 0.03824751, 0.20442464, 0.15929663, 0.02508582, 0.93269685, 0.00081661, 0.00162919, 0.36065672, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 17.2, "tool": [ 0.18018, 0.13337, 0.03815 ], "objects": { "red_block": [ 0.2096, 0.1649, 0.02504 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.18038915, 0.13362273, 0.03814525, 0.20978961, 0.1651162, 0.02505127, 0.93067702, -0.00102304, -0.00096556, 0.36583918, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 17.25, "tool": [ 0.18538, 0.13945, 0.03808 ], "objects": { "red_block": [ 0.21496, 0.17078, 0.0251 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.18558659, 0.13969295, 0.03807883, 0.21519722, 0.17101916, 0.0250423, 0.92928285, -0.00098958, -0.00022611, 0.36936751, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 17.3, "tool": [ 0.18864, 0.14326, 0.03815 ], "objects": { "red_block": [ 0.21845, 0.1743, 0.02503 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.1886953, 0.14332754, 0.03815136, 0.21853089, 0.17436425, 0.02502005, 0.92915675, -0.00013555, -6.17e-05, 0.36968597, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 17.35, "tool": [ 0.1894, 0.14417, 0.03815 ], "objects": { "red_block": [ 0.2193, 0.17513, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18941788, 0.14418609, 0.0381601, 0.21931588, 0.1751419, 0.02497839, 0.92905451, -0.00013245, 0.00015042, 0.3699428, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 17.4, "tool": [ 0.1897, 0.14453, 0.04221 ], "objects": { "red_block": [ 0.21971, 0.1755, 0.02494 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18971663, 0.1445447, 0.04252787, 0.21971192, 0.17549873, 0.02494074, 0.92875884, -9.074e-05, -0.00074293, 0.37068378, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 17.45, "tool": [ 0.18984, 0.14469, 0.05144 ], "objects": { "red_block": [ 0.21993, 0.17561, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18984851, 0.14469284, 0.05184961, 0.21993621, 0.17561087, 0.02494319, 0.92832091, 0.00025352, -0.00055014, 0.37177939, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 17.5, "tool": [ 0.18994, 0.14478, 0.06206 ], "objects": { "red_block": [ 0.22003, 0.1757, 0.02507 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18993759, 0.14478282, 0.06248401, 0.22004805, 0.17571598, 0.02504211, 0.92829281, -0.00055788, 0.00137211, 0.3718471, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 17.55, "tool": [ 0.18999, 0.14483, 0.07297 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18998877, 0.14483282, 0.07340428, 0.22005124, 0.17571862, 0.02499298, 0.92828279, 1.451e-05, -3.843e-05, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 17.6, "tool": [ 0.19001, 0.14485, 0.08393 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.19001038, 0.14485371, 0.08437255, 0.22005274, 0.17571999, 0.02499568, 0.92828279, 3.4e-07, -9.1e-07, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 17.65, "tool": [ 0.19002, 0.14486, 0.0949 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.19001557, 0.14485872, 0.09534313, 0.22005277, 0.17572002, 0.02499574, 0.92828279, 1e-08, -2e-08, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 17.7, "tool": [ 0.19002, 0.14486, 0.10588 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1900168, 0.14485992, 0.1063142, 0.22005277, 0.17572002, 0.02499574, 0.92828279, 0.0, -0.0, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 17.75, "tool": [ 0.19002, 0.14486, 0.11685 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.19001709, 0.1448602, 0.11728538, 0.22005277, 0.17572002, 0.02499574, 0.92828279, 0.0, -0.0, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 17.8, "tool": [ 0.19002, 0.14486, 0.12782 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.19001716, 0.14486027, 0.1282566, 0.22005277, 0.17572002, 0.02499574, 0.92828279, -0.0, 0.0, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 17.85, "tool": [ 0.19002, 0.14486, 0.13879 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.19001718, 0.14486028, 0.13922782, 0.22005277, 0.17572002, 0.02499574, 0.92828279, -0.0, 0.0, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 17.9, "tool": [ 0.19002, 0.14486, 0.14976 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.19001718, 0.14486029, 0.15019904, 0.22005277, 0.17572002, 0.02499574, 0.92828279, -0.0, 0.0, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 17.95, "tool": [ 0.19002, 0.14486, 0.15733 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.19001718, 0.14486029, 0.15747573, 0.22005277, 0.17572002, 0.02499574, 0.92828279, -0.0, 0.0, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 18.0, "tool": [ 0.19002, 0.14486, 0.15936 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.19001718, 0.14486029, 0.15939932, 0.22005277, 0.17572002, 0.02499574, 0.92828279, -0.0, 0.0, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 18.05, "tool": [ 0.19002, 0.14486, 0.15985 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.19001718, 0.14486029, 0.15985734, 0.22005277, 0.17572002, 0.02499574, 0.92828279, -0.0, 0.0, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 18.1, "tool": [ 0.19002, 0.14486, 0.15996 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.19001718, 0.14486029, 0.15996612, 0.22005277, 0.17572002, 0.02499574, 0.92828279, -0.0, 0.0, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 18.15, "tool": [ 0.19002, 0.14486, 0.15999 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.19001718, 0.14486029, 0.15999195, 0.22005277, 0.17572002, 0.02499574, 0.92828279, -0.0, 0.0, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 18.2, "tool": [ 0.19002, 0.14486, 0.16 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.19001718, 0.14486029, 0.15999809, 0.22005277, 0.17572002, 0.02499574, 0.92828279, -0.0, 0.0, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 18.25, "tool": [ 0.19002, 0.14486, 0.16 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.19001718, 0.14486029, 0.15999955, 0.22005277, 0.17572002, 0.02499574, 0.92828279, -0.0, 0.0, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 18.3, "tool": [ 0.19002, 0.14486, 0.16 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.19001718, 0.14486029, 0.15999989, 0.22005277, 0.17572002, 0.02499574, 0.92828279, -0.0, 0.0, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 18.35, "tool": [ 0.19002, 0.14486, 0.16 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.19001718, 0.14486029, 0.15999997, 0.22005277, 0.17572002, 0.02499574, 0.92828279, -0.0, 0.0, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 18.4, "tool": [ 0.19002, 0.14486, 0.16 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.19001718, 0.14486029, 0.15999999, 0.22005277, 0.17572002, 0.02499574, 0.92828279, -0.0, 0.0, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 18.45, "tool": [ 0.19002, 0.14486, 0.16 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.19001718, 0.14486029, 0.16, 0.22005277, 0.17572002, 0.02499574, 0.92828279, -0.0, 0.0, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 18.5, "tool": [ 0.19002, 0.14486, 0.16 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.19001718, 0.14486029, 0.16, 0.22005277, 0.17572002, 0.02499574, 0.92828279, -0.0, 0.0, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 18.55, "tool": [ 0.19002, 0.14486, 0.16 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.19001718, 0.14486029, 0.16, 0.22005277, 0.17572002, 0.02499574, 0.92828279, -0.0, 0.0, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 18.6, "tool": [ 0.19002, 0.14486, 0.16 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.19001718, 0.14486029, 0.16, 0.22005277, 0.17572002, 0.02499574, 0.92828279, -0.0, 0.0, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 18.65, "tool": [ 0.19002, 0.14486, 0.16 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.19001718, 0.14486029, 0.16, 0.22005277, 0.17572002, 0.02499574, 0.92828279, -0.0, 0.0, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 18.7, "tool": [ 0.19002, 0.14486, 0.16 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.19001718, 0.14486029, 0.16, 0.22005277, 0.17572002, 0.02499574, 0.92828279, -0.0, 0.0, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 18.75, "tool": [ 0.19002, 0.14486, 0.16 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.19001718, 0.14486029, 0.16, 0.22005277, 0.17572002, 0.02499574, 0.92828279, -0.0, 0.0, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 18.8, "tool": [ 0.19002, 0.14486, 0.16 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.19001718, 0.14486029, 0.16, 0.22005277, 0.17572002, 0.02499574, 0.92828279, -0.0, 0.0, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 18.85, "tool": [ 0.19002, 0.14486, 0.16 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.19001718, 0.14486029, 0.16, 0.22005277, 0.17572002, 0.02499574, 0.92828279, -0.0, 0.0, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] }, { "t": 18.852, "tool": [ 0.19002, 0.14486, 0.16 ], "objects": { "red_block": [ 0.22005, 0.17572, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.19001718, 0.14486029, 0.16, 0.22005277, 0.17572002, 0.02499574, 0.92828279, -0.0, 0.0, 0.37187506, 0.12704868, -0.17417361, 0.02499574, 1.0, 0.0, 0.0, 0.0 ] } ], "events": [ { "t": 0.3, "type": "start", "message": "closed_loop: 빨간 블록을 오른쪽 목표로 밀어줘" }, { "t": 3.874, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.413 m" }, { "t": 6.79, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.326 m" }, { "t": 9.706, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.237 m" }, { "t": 12.622, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.146 m" }, { "t": 15.538, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.054 m" }, { "t": 18.852, "type": "success", "message": "최종 거리 0.0043 m · 정지 상태 True" } ] }, { "id": "heavy-1-open_loop", "policy": "open_loop", "scenario": "heavy", "seed": 1, "task": { "object_name": "blue_block", "goal": "left", "instruction": "파란 블록을 왼쪽 목표로 밀어줘" }, "parameters": { "friction": 0.7, "mass": 0.18, "disturbance": false }, "success": false, "final_distance_m": 0.1391694698822737, "settled": false, "sim_time_s": 6.895999999999463, "wall_time_s": 0.12591640005121008, "timed_out": false, "termination_reason": "goal_not_stable", "contact_steps": 848, "peak_contact_point_force_n": 6.161627863621413, "unintended_contact_steps": 0, "distractor_displacement_m": 8.59818293198552e-09, "workspace_violation": false, "replans": 0, "disturbance_applied": false, "trajectory": [ { "t": 0.05, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.02495 ], "blue_block": [ 0.13221, -0.12757, 0.02495 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747681, 0.02495923, 1.0, 3e-08, -1e-08, -0.0, 0.13220798, -0.12756752, 0.02495923, 1.0, 3e-08, -1e-08, 0.0 ] }, { "t": 0.1, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.02499 ], "blue_block": [ 0.13221, -0.12757, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747681, 0.02499488, 1.0, 0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499488, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.15, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747681, 0.02499572, 1.0, 0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499572, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.2, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, 0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.25, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, 0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.3, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, 0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.35, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.4, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.45, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.5, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.55, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.6, "tool": [ 0.00379, -0.31721, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.00409267, -0.31698249, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.65, "tool": [ 0.01306, -0.31037, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.01347565, -0.31006445, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.7, "tool": [ 0.02384, -0.30243, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.02427752, -0.30210027, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.75, "tool": [ 0.03497, -0.29422, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.03541735, -0.29388691, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.8, "tool": [ 0.04619, -0.28595, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.04663745, -0.28561436, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.85, "tool": [ 0.05743, -0.27766, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.05787661, -0.27732777, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.9, "tool": [ 0.06867, -0.26937, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.0691203, -0.26903784, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.95, "tool": [ 0.07992, -0.26108, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.08036506, -0.26074711, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.0, "tool": [ 0.09116, -0.25279, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.09161008, -0.2524562, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.05, "tool": [ 0.10241, -0.2445, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.10285515, -0.24416524, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.1, "tool": [ 0.11365, -0.23621, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.11410024, -0.23587427, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.15, "tool": [ 0.1249, -0.22791, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.12534534, -0.2275833, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.2, "tool": [ 0.13614, -0.21962, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.13659044, -0.21929233, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.25, "tool": [ 0.14739, -0.21133, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.14783553, -0.21100136, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.3, "tool": [ 0.15863, -0.20304, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.15908063, -0.20271039, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.35, "tool": [ 0.16988, -0.19475, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.17032572, -0.19441941, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.4, "tool": [ 0.18112, -0.18646, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.18157082, -0.18612844, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.45, "tool": [ 0.18858, -0.18096, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.18872325, -0.18085498, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.5, "tool": [ 0.19055, -0.17951, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.19058536, -0.17948205, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.55, "tool": [ 0.19102, -0.17916, 0.15663 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19102859, -0.17915526, 0.15636049, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.6, "tool": [ 0.19113, -0.17908, 0.14839 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19113385, -0.17907765, 0.14801642, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.65, "tool": [ 0.19116, -0.17906, 0.1388 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19115885, -0.17905922, 0.13841057, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.7, "tool": [ 0.19116, -0.17905, 0.1289 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116479, -0.17905484, 0.12850418, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.75, "tool": [ 0.19117, -0.17905, 0.11893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.1911662, -0.1790538, 0.11852641, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.8, "tool": [ 0.19117, -0.17905, 0.10893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116653, -0.17905356, 0.10853169, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.85, "tool": [ 0.19117, -0.17905, 0.09893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116661, -0.1790535, 0.09853294, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.9, "tool": [ 0.19117, -0.17905, 0.08893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905348, 0.08853324, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.95, "tool": [ 0.19117, -0.17905, 0.07893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116664, -0.17905348, 0.07853331, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.0, "tool": [ 0.19117, -0.17905, 0.06893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116664, -0.17905348, 0.06853333, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.05, "tool": [ 0.19117, -0.17905, 0.05893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116664, -0.17905348, 0.05853333, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.1, "tool": [ 0.19117, -0.17905, 0.04893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116664, -0.17905348, 0.04853333, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.15, "tool": [ 0.19117, -0.17905, 0.04106 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116664, -0.17905348, 0.04089108, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.2, "tool": [ 0.19117, -0.17905, 0.03873 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116664, -0.17905348, 0.03868908, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.25, "tool": [ 0.18989, -0.17793, 0.03817 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.18974648, -0.17781332, 0.03816366, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.3, "tool": [ 0.18527, -0.1739, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.18504947, -0.17371163, 0.03803886, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.35, "tool": [ 0.17958, -0.16893, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.1793426, -0.16872807, 0.03800923, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.4, "tool": [ 0.17363, -0.16374, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.17339441, -0.16353379, 0.03800219, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.45, "tool": [ 0.16817, -0.15881, 0.03812 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.128, -0.12524, 0.02509 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.16792314, -0.15859587, 0.03811378, -0.14940892, -0.12747681, 0.02499574, 1.0, 0.0, 0.0, -0.0, 0.12773682, -0.12509642, 0.02503552, 0.9997712, -0.00023044, 0.00047606, -0.0213836 ] }, { "t": 2.5, "tool": [ 0.1622, -0.15358, 0.03815 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.12241, -0.1214, 0.02505 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.16193819, -0.15336137, 0.03814888, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.12226427, -0.12126862, 0.02509031, 0.99910939, -3.59e-05, 2.597e-05, -0.04219506 ] }, { "t": 2.55, "tool": [ 0.15617, -0.14834, 0.03812 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11703, -0.11707, 0.02503 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.15593074, -0.14813745, 0.03811211, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.11675433, -0.11688308, 0.02502798, 0.99798214, 0.0004156, -0.00021357, -0.0634936 ] }, { "t": 2.6, "tool": [ 0.15014, -0.143, 0.0382 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11113, -0.11285, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.14988435, -0.14278153, 0.03819305, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.11097975, -0.11275868, 0.0249996, 0.99721866, 0.00201569, 4.348e-05, -0.07450416 ] }, { "t": 2.65, "tool": [ 0.14422, -0.13778, 0.03828 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.10595, -0.1094, 0.02505 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.14398735, -0.13757381, 0.03828906, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.10572222, -0.10924061, 0.02504299, 0.99545495, -0.00064492, 0.0006664, -0.09522908 ] }, { "t": 2.7, "tool": [ 0.1382, -0.13257, 0.03822 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.10004, -0.10492, 0.02507 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.13794549, -0.13235744, 0.03821738, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.09978234, -0.10471487, 0.02499989, 0.99461994, -0.00091419, -0.0001015, -0.10358728 ] }, { "t": 2.75, "tool": [ 0.13221, -0.12726, 0.03827 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.09403, -0.1008, 0.02512 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.13195934, -0.12704389, 0.03826949, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.09378141, -0.10062792, 0.02506284, 0.99390295, -0.00138056, 0.00066459, -0.11024778 ] }, { "t": 2.8, "tool": [ 0.12618, -0.12201, 0.03825 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08779, -0.0969, 0.0251 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.12594565, -0.12180598, 0.03824399, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.08751686, -0.09672916, 0.02513719, 0.99378488, -0.00174098, 0.00016939, -0.11130388 ] }, { "t": 2.85, "tool": [ 0.1201, -0.11673, 0.03817 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08127, -0.09272, 0.02505 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.11984851, -0.11651562, 0.0381582, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.08102849, -0.09252776, 0.02500879, 0.99441036, 0.00050311, -0.00057541, -0.10558146 ] }, { "t": 2.9, "tool": [ 0.11406, -0.11149, 0.03816 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.07519, -0.08792, 0.02504 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.11380561, -0.11127096, 0.03815492, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.07496199, -0.08771313, 0.02499266, 0.99419234, -0.00028294, -9.11e-05, -0.10761738 ] }, { "t": 2.95, "tool": [ 0.10795, -0.10623, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.0692, -0.08296, 0.02509 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.10770135, -0.10601147, 0.03804271, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06894607, -0.08276334, 0.02503665, 0.99343161, -0.00061024, 6.194e-05, -0.11442575 ] }, { "t": 3.0, "tool": [ 0.102, -0.10097, 0.03816 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06373, -0.07807, 0.02514 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.10175458, -0.10076267, 0.03815583, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06349569, -0.07785723, 0.02509904, 0.99078382, -0.00112705, 0.00100326, -0.13544424 ] }, { "t": 3.05, "tool": [ 0.09602, -0.09565, 0.03817 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05761, -0.0737, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.09577631, -0.09543697, 0.03817012, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.05736002, -0.07354283, 0.02504155, 0.98981274, 0.00071338, -0.00016235, -0.14237349 ] }, { "t": 3.1, "tool": [ 0.08997, -0.0904, 0.03813 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05161, -0.06884, 0.02496 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.08974242, -0.09019252, 0.03814766, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.05140517, -0.06865805, 0.02503506, 0.98913822, -0.00059916, -0.00029519, -0.14698686 ] }, { "t": 3.15, "tool": [ 0.08393, -0.08517, 0.03812 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.0456, -0.06379, 0.02511 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.08369184, -0.08496162, 0.03812386, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.04536805, -0.06358956, 0.02514057, 0.98847271, -0.00079251, -0.00021892, -0.15139693 ] }, { "t": 3.2, "tool": [ 0.07786, -0.07991, 0.03807 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.03935, -0.05892, 0.02511 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.07761769, -0.07969914, 0.03806948, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.03909027, -0.05874173, 0.02509603, 0.98854283, -0.00088834, -0.00011938, -0.15093794 ] }, { "t": 3.25, "tool": [ 0.07188, -0.07464, 0.03813 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.03285, -0.05465, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.07164075, -0.07442575, 0.03812056, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.03260311, -0.05446015, 0.02503633, 0.99048803, -0.0004749, -0.00011025, -0.13759806 ] }, { "t": 3.3, "tool": [ 0.06585, -0.06935, 0.03808 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.02644, -0.05034, 0.02505 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.0656177, -0.06914028, 0.03808463, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.02620017, -0.05016737, 0.02507622, 0.99148484, 0.00063596, 0.00013694, -0.13022051 ] }, { "t": 3.35, "tool": [ 0.0599, -0.06411, 0.03816 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.02021, -0.04578, 0.02514 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.05965905, -0.06390704, 0.03816975, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.01994822, -0.04558675, 0.02514404, 0.99240115, -0.00097799, 0.00011726, -0.12304058 ] }, { "t": 3.4, "tool": [ 0.05384, -0.05882, 0.03812 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.01406, -0.04106, 0.02504 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.05359552, -0.05860463, 0.03810983, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.01379015, -0.04086927, 0.02500359, 0.99198497, -0.00017653, 0.00034, -0.12635536 ] }, { "t": 3.45, "tool": [ 0.04779, -0.05354, 0.03809 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.00775, -0.03655, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.04753842, -0.05333174, 0.03807952, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.00749676, -0.03639452, 0.02500617, 0.99259684, -6.011e-05, -3e-07, -0.12145576 ] }, { "t": 3.5, "tool": [ 0.04182, -0.04826, 0.03808 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.00143, -0.03225, 0.02495 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.04156872, -0.04804706, 0.03807879, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.00121982, -0.03207777, 0.02495989, 0.99284073, -0.00042577, -0.00073746, -0.11944271 ] }, { "t": 3.55, "tool": [ 0.03577, -0.04303, 0.03806 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00453, -0.02725, 0.02512 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.03552793, -0.04281901, 0.03806142, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00478585, -0.02703587, 0.02509249, 0.99195795, -0.00028496, 0.00069927, -0.12656566 ] }, { "t": 3.6, "tool": [ 0.02975, -0.03773, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01074, -0.02267, 0.02509 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.02951125, -0.03752988, 0.0380426, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.01101348, -0.02248085, 0.02510591, 0.99173213, 0.00135172, -0.00146207, -0.12830989 ] }, { "t": 3.65, "tool": [ 0.02377, -0.03249, 0.03812 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.0169, -0.01787, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.02352124, -0.03227852, 0.0381155, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.0171057, -0.017672, 0.02505318, 0.99229624, 0.00010162, 0.00028765, -0.12388735 ] }, { "t": 3.7, "tool": [ 0.01772, -0.02722, 0.03809 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.0229, -0.01279, 0.0251 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.01748716, -0.02700652, 0.03810299, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.02314981, -0.01259572, 0.02510405, 0.99188657, -0.0015765, -0.00052515, -0.12711518 ] }, { "t": 3.75, "tool": [ 0.01176, -0.02197, 0.03819 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.02905, -0.0079, 0.0251 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.01151812, -0.02175583, 0.03818367, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.02931519, -0.00770431, 0.02505298, 0.99240534, 0.00080879, 2.242e-05, -0.12300804 ] }, { "t": 3.8, "tool": [ 0.00573, -0.01674, 0.03819 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.03539, -0.00318, 0.02508 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.00547235, -0.01652401, 0.03818488, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.0356369, -0.00300481, 0.02505917, 0.99412417, 0.00190989, -0.00031635, -0.10822844 ] }, { "t": 3.85, "tool": [ -0.00038, -0.01142, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.04192, 0.00064, 0.02505 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.00062613, -0.01120619, 0.03804814, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.0422155, 0.0007971, 0.0249696, 0.99639034, -0.00095819, 0.00012577, -0.08488437 ] }, { "t": 3.9, "tool": [ -0.00637, -0.00617, 0.03806 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.04831, 0.00445, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.00661075, -0.00596472, 0.03805152, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.04858655, 0.00461728, 0.02498894, 0.99771889, -0.00017229, -0.0002242, -0.06750505 ] }, { "t": 3.95, "tool": [ -0.01241, -0.00092, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.05468, 0.00874, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.01265335, -0.00070338, 0.038051, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.05493459, 0.00891377, 0.02504759, 0.99887881, -0.00073892, -0.00046177, -0.04733252 ] }, { "t": 4.0, "tool": [ -0.01833, 0.00437, 0.03817 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06084, 0.01297, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.0185906, 0.00458667, 0.03816373, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06103809, 0.0131322, 0.02497142, 0.99914557, 0.00108567, -0.00135016, -0.0412931 ] }, { "t": 4.05, "tool": [ -0.02445, 0.00961, 0.03806 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06693, 0.0174, 0.02509 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.02469389, 0.00982698, 0.03804779, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06719381, 0.01758702, 0.02505833, 0.99950575, 0.00070922, 0.00109813, -0.03140924 ] }, { "t": 4.1, "tool": [ -0.03048, 0.01489, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.07301, 0.02225, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.03072321, 0.01509792, 0.03801328, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.07327092, 0.0224502, 0.02505341, 0.99939085, 1.396e-05, 0.00032706, -0.03489726 ] }, { "t": 4.15, "tool": [ -0.03646, 0.02016, 0.03807 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.07909, 0.02688, 0.02509 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.03669632, 0.02037486, 0.03806349, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.07935704, 0.02706846, 0.0250623, 0.99943774, 1.789e-05, -0.00048116, -0.03352559 ] }, { "t": 4.2, "tool": [ -0.04249, 0.0255, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08539, 0.02974, 0.02505 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.04272993, 0.02570434, 0.03802487, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.08564354, 0.02986705, 0.02503668, 0.99999484, -0.00033295, 0.00011004, -0.00319265 ] }, { "t": 4.25, "tool": [ -0.04853, 0.03072, 0.03799 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.0917, 0.03343, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.04877005, 0.03093614, 0.03798928, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.09190505, 0.03358006, 0.0250288, 0.99967365, -0.00078305, 0.00019985, 0.02553302 ] }, { "t": 4.3, "tool": [ -0.05456, 0.03601, 0.03792 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.09776, 0.03722, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.05479507, 0.0362178, 0.03792434, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.09798909, 0.03738766, 0.02507084, 0.99923168, 0.00038265, -0.00027223, 0.03918976 ] }, { "t": 4.35, "tool": [ -0.06054, 0.04125, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.10377, 0.04128, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.06077467, 0.04145586, 0.03801462, -0.14940892, -0.12747681, 0.02499574, 1.0, 0.0, 0.0, -0.0, -0.10402107, 0.04143717, 0.02506211, 0.9984117, 0.00129487, -0.00036935, 0.05632292 ] }, { "t": 4.4, "tool": [ -0.06656, 0.04654, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.1098, 0.04451, 0.02511 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.06680249, 0.04675754, 0.03803631, -0.14940892, -0.12747681, 0.02499574, 1.0, 0.0, 0.0, -0.0, -0.11004694, 0.04462163, 0.02508508, 0.9964543, 0.00112974, -8.279e-05, 0.0841282 ] }, { "t": 4.45, "tool": [ -0.07256, 0.05181, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.11564, 0.0476, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.07280694, 0.05202299, 0.03804018, -0.14940892, -0.12747681, 0.02499574, 1.0, 0.0, 0.0, -0.0, -0.11582495, 0.04771181, 0.02504765, 0.99396741, -9.014e-05, 0.00031003, 0.10967533 ] }, { "t": 4.5, "tool": [ -0.07854, 0.05708, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.12129, 0.05065, 0.02513 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.07877699, 0.05729388, 0.03805109, -0.14940892, -0.12747681, 0.02499574, 1.0, 0.0, 0.0, -0.0, -0.12154046, 0.05076772, 0.02510474, 0.99147286, 0.0006262, -0.00084606, 0.13030908 ] }, { "t": 4.55, "tool": [ -0.08455, 0.06237, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.12696, 0.05368, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.08479182, 0.06257825, 0.0380156, -0.14940892, -0.12747681, 0.02499574, 1.0, 0.0, 0.0, -0.0, -0.1272052, 0.05379749, 0.02506551, 0.98719307, 0.00118394, -0.00052189, 0.1595248 ] }, { "t": 4.6, "tool": [ -0.09058, 0.06767, 0.03807 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13212, 0.0558, 0.02511 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.090819, 0.06787898, 0.03807167, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13234723, 0.05588312, 0.02509868, 0.9811809, 0.00120616, 2.899e-05, 0.19308698 ] }, { "t": 4.65, "tool": [ -0.0966, 0.07295, 0.03809 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13699, 0.05761, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.09685075, 0.07315664, 0.03808418, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13717229, 0.05767281, 0.02503071, 0.97511098, 0.0005021, -0.00168723, 0.22171035 ] }, { "t": 4.7, "tool": [ -0.10273, 0.07818, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.14133, 0.05905, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.10295368, 0.07839365, 0.03802684, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.14149133, 0.05907802, 0.02502884, 0.9658441, -0.00037208, -0.00170688, 0.25911797 ] }, { "t": 4.75, "tool": [ -0.10878, 0.08348, 0.03806 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.14468, 0.05979, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.10902845, 0.08368784, 0.03805613, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.144813, 0.05979334, 0.02497227, 0.95593666, -0.00063712, -0.00100401, 0.2935706 ] }, { "t": 4.8, "tool": [ -0.11489, 0.08874, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.14678, 0.05959, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.11513682, 0.08895478, 0.03803299, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.14683652, 0.05958473, 0.02500416, 0.94602709, 0.00028616, 0.00115087, 0.32408537 ] }, { "t": 4.85, "tool": [ -0.12099, 0.09401, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.14841, 0.05965, 0.02503 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.1212465, 0.09422092, 0.03801743, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.14847628, 0.05966895, 0.02498157, 0.93797404, -6.04e-05, 0.00072886, 0.34670473 ] }, { "t": 4.9, "tool": [ -0.12717, 0.09926, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.14941, 0.05954, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.12741944, 0.09947491, 0.03800522, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.14945083, 0.05953398, 0.02497191, 0.93293379, -0.00015782, 0.0001899, 0.3600479 ] }, { "t": 4.95, "tool": [ -0.1333, 0.10452, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.14999, 0.05944, 0.02496 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.13354423, 0.10472948, 0.03800127, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.14998774, 0.05944316, 0.02496013, 0.92991901, -0.00016837, -5.28e-05, 0.36776433 ] }, { "t": 5.0, "tool": [ -0.13937, 0.10978, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15037, 0.05952, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.13961833, 0.10998756, 0.03800028, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.15037434, 0.05951339, 0.02497673, 0.92725112, -0.00026105, 0.0001244, 0.37443995 ] }, { "t": 5.05, "tool": [ -0.14553, 0.11502, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.14577452, 0.1152285, 0.03800007, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.15037528, 0.05949914, 0.02499528, 0.92725089, -6.26e-06, 2.99e-06, 0.37444064 ] }, { "t": 5.1, "tool": [ -0.15159, 0.12027, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.15183254, 0.12048341, 0.03800002, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949879, 0.02499573, 0.92725089, -1.5e-07, 7e-08, 0.37444064 ] }, { "t": 5.15, "tool": [ -0.15762, 0.12553, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.15786414, 0.12574214, 0.038, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, -0.0, 0.0, 0.37444064 ] }, { "t": 5.2, "tool": [ -0.16365, 0.13079, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.16388946, 0.13100179, 0.038, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, -0.0, 0.0, 0.37444064 ] }, { "t": 5.25, "tool": [ -0.16967, 0.13605, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.16991328, 0.13626165, 0.038, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 5.3, "tool": [ -0.17565, 0.14128, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.17586857, 0.14146203, 0.038, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 5.35, "tool": [ -0.17883, 0.14405, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.17888938, 0.14409993, 0.038, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 5.4, "tool": [ -0.17962, 0.14474, 0.03808 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17963848, 0.14475409, 0.03812417, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 5.45, "tool": [ -0.17981, 0.14491, 0.04326 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17981657, 0.1449096, 0.0435932, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 5.5, "tool": [ -0.17986, 0.14495, 0.05279 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17985886, 0.14494654, 0.05319999, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 5.55, "tool": [ -0.17987, 0.14496, 0.06341 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17986891, 0.14495531, 0.06384683, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 5.6, "tool": [ -0.17987, 0.14496, 0.0743 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987129, 0.14495739, 0.07474102, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 5.65, "tool": [ -0.17987, 0.14496, 0.08526 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987186, 0.14495789, 0.08569395, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 5.7, "tool": [ -0.17987, 0.14496, 0.09622 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987199, 0.144958, 0.09666083, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 5.75, "tool": [ -0.17987, 0.14496, 0.10719 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987203, 0.14495803, 0.10763102, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 5.8, "tool": [ -0.17987, 0.14496, 0.11816 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987203, 0.14495804, 0.11860199, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 5.85, "tool": [ -0.17987, 0.14496, 0.12913 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987204, 0.14495804, 0.12957316, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 5.9, "tool": [ -0.17987, 0.14496, 0.14011 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987204, 0.14495804, 0.14054437, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 5.95, "tool": [ -0.17987, 0.14496, 0.15107 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987204, 0.14495804, 0.15149863, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 6.0, "tool": [ -0.17987, 0.14496, 0.15775 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987204, 0.14495804, 0.15787415, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 6.05, "tool": [ -0.17987, 0.14496, 0.15946 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17987204, 0.14495804, 0.15949449, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 6.1, "tool": [ -0.17987, 0.14496, 0.15987 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17987204, 0.14495804, 0.15987995, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 6.15, "tool": [ -0.17987, 0.14496, 0.15997 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17987204, 0.14495804, 0.15997149, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 6.2, "tool": [ -0.17987, 0.14496, 0.15999 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17987204, 0.14495804, 0.15999323, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 6.25, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.15999839, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 6.3, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.15999962, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 6.35, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.15999991, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 6.4, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.15999998, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 6.45, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.15999999, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 6.5, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 6.55, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 6.6, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 6.65, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 6.7, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 6.75, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 6.8, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 6.85, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] }, { "t": 6.896, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15038, 0.0595, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1503753, 0.05949878, 0.02499574, 0.92725089, 0.0, -0.0, 0.37444064 ] } ], "events": [ { "t": 0.3, "type": "start", "message": "open_loop: 파란 블록을 왼쪽 목표로 밀어줘" }, { "t": 6.896, "type": "failure", "message": "최종 거리 0.1392 m · 정지 상태 False" } ] }, { "id": "heavy-1-closed_loop", "policy": "closed_loop", "scenario": "heavy", "seed": 1, "task": { "object_name": "blue_block", "goal": "left", "instruction": "파란 블록을 왼쪽 목표로 밀어줘" }, "parameters": { "friction": 0.7, "mass": 0.18, "disturbance": false }, "success": true, "final_distance_m": 0.016665504968426035, "settled": true, "sim_time_s": 16.230000000001883, "wall_time_s": 0.295510700030718, "timed_out": false, "termination_reason": "success", "contact_steps": 1271, "peak_contact_point_force_n": 6.20195971438853, "unintended_contact_steps": 0, "distractor_displacement_m": 7.690402627077434e-09, "workspace_violation": false, "replans": 4, "disturbance_applied": false, "trajectory": [ { "t": 0.05, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.02495 ], "blue_block": [ 0.13221, -0.12757, 0.02495 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747681, 0.02495923, 1.0, 3e-08, -1e-08, -0.0, 0.13220798, -0.12756752, 0.02495923, 1.0, 3e-08, -1e-08, 0.0 ] }, { "t": 0.1, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.02499 ], "blue_block": [ 0.13221, -0.12757, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747681, 0.02499488, 1.0, 0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499488, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.15, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747681, 0.02499572, 1.0, 0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499572, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.2, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, 0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.25, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, 0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.3, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, 0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.35, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, -0.0, -0.0, 0.0 ] }, { "t": 0.4, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.45, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.5, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.55, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.6, "tool": [ 0.00379, -0.31721, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.00409267, -0.31698249, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.65, "tool": [ 0.01306, -0.31037, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.01347565, -0.31006445, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.7, "tool": [ 0.02384, -0.30243, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.02427752, -0.30210027, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.75, "tool": [ 0.03497, -0.29422, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.03541735, -0.29388691, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.8, "tool": [ 0.04619, -0.28595, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.04663745, -0.28561436, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.85, "tool": [ 0.05743, -0.27766, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.05787661, -0.27732777, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.9, "tool": [ 0.06867, -0.26937, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.0691203, -0.26903784, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.95, "tool": [ 0.07992, -0.26108, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.08036506, -0.26074711, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.0, "tool": [ 0.09116, -0.25279, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.09161008, -0.2524562, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.05, "tool": [ 0.10241, -0.2445, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.10285515, -0.24416524, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.1, "tool": [ 0.11365, -0.23621, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.11410024, -0.23587427, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.15, "tool": [ 0.1249, -0.22791, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.12534534, -0.2275833, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.2, "tool": [ 0.13614, -0.21962, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.13659044, -0.21929233, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.25, "tool": [ 0.14739, -0.21133, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.14783553, -0.21100136, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.3, "tool": [ 0.15863, -0.20304, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.15908063, -0.20271039, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.35, "tool": [ 0.16988, -0.19475, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.17032572, -0.19441941, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.4, "tool": [ 0.18112, -0.18646, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.18157082, -0.18612844, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.45, "tool": [ 0.18858, -0.18096, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.18872325, -0.18085498, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.5, "tool": [ 0.19055, -0.17951, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.19058536, -0.17948205, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.55, "tool": [ 0.19102, -0.17916, 0.15663 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19102859, -0.17915526, 0.15636049, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.6, "tool": [ 0.19113, -0.17908, 0.14839 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19113385, -0.17907765, 0.14801642, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.65, "tool": [ 0.19116, -0.17906, 0.1388 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19115885, -0.17905922, 0.13841057, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.7, "tool": [ 0.19116, -0.17905, 0.1289 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116479, -0.17905484, 0.12850418, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.75, "tool": [ 0.19117, -0.17905, 0.11893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.1911662, -0.1790538, 0.11852641, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.8, "tool": [ 0.19117, -0.17905, 0.10893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116653, -0.17905356, 0.10853169, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.85, "tool": [ 0.19117, -0.17905, 0.09893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116661, -0.1790535, 0.09853294, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.9, "tool": [ 0.19117, -0.17905, 0.08893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905348, 0.08853324, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 1.95, "tool": [ 0.19117, -0.17905, 0.07893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116664, -0.17905348, 0.07853331, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.0, "tool": [ 0.19117, -0.17905, 0.06893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116664, -0.17905348, 0.06853333, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.05, "tool": [ 0.19117, -0.17905, 0.05893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116664, -0.17905348, 0.05853333, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.1, "tool": [ 0.19117, -0.17905, 0.04893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116664, -0.17905348, 0.04853333, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.15, "tool": [ 0.19117, -0.17905, 0.04106 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116664, -0.17905348, 0.04089108, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.2, "tool": [ 0.19117, -0.17905, 0.03873 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116664, -0.17905348, 0.03868908, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.25, "tool": [ 0.18988, -0.17793, 0.03817 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.1897459, -0.17781282, 0.03816366, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.3, "tool": [ 0.18526, -0.1739, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.18504696, -0.17370944, 0.03803886, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.35, "tool": [ 0.17957, -0.16893, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.17933776, -0.16872385, 0.03800923, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.4, "tool": [ 0.17363, -0.16374, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.17338713, -0.16352743, 0.03800219, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756752, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.45, "tool": [ 0.16812, -0.15881, 0.03807 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.12812, -0.12507, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.16787235, -0.15859392, 0.03806322, -0.14940892, -0.12747681, 0.02499574, 1.0, 0.0, 0.0, -0.0, 0.12789518, -0.12493596, 0.02498998, 0.99978268, -0.00181579, -0.00046951, -0.02076224 ] }, { "t": 2.5, "tool": [ 0.16216, -0.1536, 0.03809 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.12232, -0.121, 0.02513 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.16191785, -0.15339229, 0.03808645, -0.14940892, -0.12747681, 0.02499574, 1.0, 0.0, 0.0, -0.0, 0.1220601, -0.12079344, 0.02508093, 0.99918839, -0.00092754, -0.00066951, -0.04026466 ] }, { "t": 2.55, "tool": [ 0.15609, -0.14832, 0.03809 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.1164, -0.1166, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.1558626, -0.14810926, 0.03810952, -0.14940892, -0.12747681, 0.02499574, 1.0, 0.0, 0.0, -0.0, 0.11619744, -0.11644829, 0.02502711, 0.99860483, -0.00047136, -0.00024212, -0.05280265 ] }, { "t": 2.6, "tool": [ 0.15007, -0.14303, 0.03813 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11064, -0.11273, 0.02514 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.14982617, -0.14281492, 0.03813429, -0.14940892, -0.12747681, 0.02499574, 1.0, 0.0, 0.0, -0.0, 0.11044866, -0.11257384, 0.02508505, 0.99826585, -0.0025396, 7.1e-07, -0.05881193 ] }, { "t": 2.65, "tool": [ 0.14406, -0.13778, 0.0381 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.10544, -0.10849, 0.02503 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.14380595, -0.13756493, 0.03810159, -0.14940892, -0.12747681, 0.02499574, 1.0, 0.0, 0.0, -0.0, 0.10524785, -0.10836579, 0.02499629, 0.99625782, 0.00096486, 0.0009998, -0.08642004 ] }, { "t": 2.7, "tool": [ 0.13819, -0.13252, 0.03825 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.09992, -0.10464, 0.02511 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.13794897, -0.13230835, 0.03825003, -0.14940892, -0.12747681, 0.02499574, 1.0, 0.0, 0.0, -0.0, 0.09968167, -0.10444249, 0.02506468, 0.99512122, -0.00092035, 0.00018896, -0.09865537 ] }, { "t": 2.75, "tool": [ 0.13214, -0.12727, 0.03823 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.09428, -0.10007, 0.02503 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.13188055, -0.12705147, 0.03822637, -0.14940892, -0.12747681, 0.02499574, 1.0, 0.0, 0.0, -0.0, 0.09405112, -0.09991138, 0.02497249, 0.99326606, 0.00109308, 0.00032426, -0.11585004 ] }, { "t": 2.8, "tool": [ 0.12614, -0.12202, 0.03824 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08849, -0.09529, 0.02516 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.12589413, -0.121805, 0.03824057, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.08823599, -0.09509587, 0.02513355, 0.99251398, 0.00020862, -0.00024703, -0.12213069 ] }, { "t": 2.85, "tool": [ 0.12012, -0.11671, 0.03831 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08262, -0.09056, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.1198945, -0.11650618, 0.03831369, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.08236937, -0.09038465, 0.0250225, 0.99151594, 0.00070662, -0.00042004, -0.12998255 ] }, { "t": 2.9, "tool": [ 0.11408, -0.11145, 0.03825 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.07624, -0.08609, 0.02509 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.11383071, -0.11123929, 0.03824096, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.07598012, -0.08592024, 0.02506482, 0.99192968, 0.0018801, -0.0003612, -0.12677475 ] }, { "t": 2.95, "tool": [ 0.1079, -0.1062, 0.03807 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.07012, -0.08121, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.10767072, -0.10599328, 0.03808661, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06990323, -0.0810046, 0.02501338, 0.99153157, -0.00043437, 0.00032999, -0.12986471 ] }, { "t": 3.0, "tool": [ 0.10314, -0.10196, 0.03818 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.0655, -0.07727, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.10303312, -0.10186938, 0.03818103, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06541415, -0.07718143, 0.02504532, 0.99014698, -0.00082409, -0.00061935, -0.14002819 ] }, { "t": 3.05, "tool": [ 0.10171, -0.10074, 0.03814 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06417, -0.07618, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.10168314, -0.10071611, 0.0381401, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06415128, -0.07616003, 0.02497776, 0.98945836, -7.381e-05, -2.963e-05, -0.14481761 ] }, { "t": 3.1, "tool": [ 0.10128, -0.10039, 0.0403 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06367, -0.07598, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10126005, -0.10037649, 0.04055166, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06363757, -0.07598605, 0.02497194, 0.98889124, 0.00025645, 0.00042612, -0.14864006 ] }, { "t": 3.15, "tool": [ 0.101, -0.10022, 0.04867 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06348, -0.07593, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10098835, -0.10021213, 0.04906533, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06347986, -0.07593298, 0.0249802, 0.98882459, -4.365e-05, 0.00011987, -0.14908357 ] }, { "t": 3.2, "tool": [ 0.10087, -0.10016, 0.05906 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10086431, -0.10015452, 0.05949274, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325341, -0.07591727, 0.02499171, 0.98849284, 2.538e-05, 1.199e-05, -0.15126765 ] }, { "t": 3.25, "tool": [ 0.1008, -0.10013, 0.06992 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10079973, -0.10013, 0.07036054, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.07591593, 0.02499565, 0.98849284, 6e-07, 2.8e-07, -0.15126765 ] }, { "t": 3.3, "tool": [ 0.10078, -0.10012, 0.08087 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10078418, -0.10012411, 0.08130736, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, 1e-08, 1e-08, -0.15126765 ] }, { "t": 3.35, "tool": [ 0.10078, -0.10012, 0.09183 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10078048, -0.10012271, 0.09227279, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, 0.0, 0.0, -0.15126765 ] }, { "t": 3.4, "tool": [ 0.10078, -0.10012, 0.1028 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1007796, -0.10012238, 0.10324263, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, 0.0, 0.0, -0.15126765 ] }, { "t": 3.45, "tool": [ 0.10078, -0.10012, 0.11377 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077939, -0.1001223, 0.11421353, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 3.5, "tool": [ 0.10078, -0.10012, 0.12475 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077934, -0.10012228, 0.12518468, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 3.55, "tool": [ 0.10078, -0.10012, 0.13572 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012228, 0.13615588, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 3.6, "tool": [ 0.10078, -0.10012, 0.14669 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012228, 0.1471271, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 3.65, "tool": [ 0.10078, -0.10012, 0.15602 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012228, 0.15623865, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 3.7, "tool": [ 0.10078, -0.10012, 0.15905 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012228, 0.15910169, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 3.75, "tool": [ 0.10078, -0.10012, 0.15977 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.10077933, -0.10012228, 0.15978664, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 3.8, "tool": [ 0.10078, -0.10012, 0.15995 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.10077933, -0.10012228, 0.15994933, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 3.85, "tool": [ 0.10078, -0.10012, 0.15999 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.10077933, -0.10012228, 0.15998797, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 3.9, "tool": [ 0.10078, -0.10012, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.10077933, -0.10012228, 0.15999714, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 3.95, "tool": [ 0.10078, -0.10012, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012228, 0.15999932, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 4.0, "tool": [ 0.10078, -0.10012, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012228, 0.15999984, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 4.05, "tool": [ 0.10078, -0.10012, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012228, 0.15999996, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 4.1, "tool": [ 0.10078, -0.10012, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012228, 0.15999999, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 4.15, "tool": [ 0.10078, -0.10012, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012228, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 4.2, "tool": [ 0.10173, -0.10146, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.10185194, -0.10163934, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 4.25, "tool": [ 0.10631, -0.10794, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.10652856, -0.10825374, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 4.3, "tool": [ 0.11222, -0.1163, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.11246144, -0.11664494, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 4.35, "tool": [ 0.1175, -0.12377, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.11762293, -0.12394514, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 4.4, "tool": [ 0.11922, -0.12621, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.11925198, -0.12624919, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 4.45, "tool": [ 0.11963, -0.12679, 0.15851 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11964175, -0.12680047, 0.15830496, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 4.5, "tool": [ 0.11973, -0.12693, 0.15127 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11973433, -0.12693141, 0.15091454, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 4.55, "tool": [ 0.11976, -0.12696, 0.14193 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11975631, -0.12696251, 0.14153886, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 4.6, "tool": [ 0.11976, -0.12697, 0.13208 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11976154, -0.12696989, 0.13168715, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 4.65, "tool": [ 0.11976, -0.12697, 0.12212 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11976278, -0.12697165, 0.12172237, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 4.7, "tool": [ 0.11976, -0.12697, 0.11213 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11976307, -0.12697206, 0.11173073, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 4.75, "tool": [ 0.11976, -0.12697, 0.10213 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11976314, -0.12697216, 0.10173271, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 4.8, "tool": [ 0.11976, -0.12697, 0.09213 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11976316, -0.12697219, 0.09173319, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 4.85, "tool": [ 0.11976, -0.12697, 0.08213 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11976316, -0.12697219, 0.0817333, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 4.9, "tool": [ 0.11976, -0.12697, 0.07213 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11976316, -0.12697219, 0.07173333, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 4.95, "tool": [ 0.11976, -0.12697, 0.06213 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11976316, -0.12697219, 0.06173333, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 5.0, "tool": [ 0.11976, -0.12697, 0.05213 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11976316, -0.12697219, 0.05173333, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 5.05, "tool": [ 0.11976, -0.12697, 0.0428 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11976316, -0.12697219, 0.04254191, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 5.1, "tool": [ 0.11976, -0.12697, 0.03916 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11976316, -0.12697219, 0.03909138, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 5.15, "tool": [ 0.11937, -0.12661, 0.03827 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.11928319, -0.12653854, 0.03825926, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 5.2, "tool": [ 0.11559, -0.12321, 0.03807 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.11539539, -0.12302596, 0.03806157, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 5.25, "tool": [ 0.11018, -0.11832, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.1099533, -0.11810909, 0.03801462, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 5.3, "tool": [ 0.10437, -0.11306, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.1041346, -0.11285197, 0.03800347, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 5.35, "tool": [ 0.09846, -0.10773, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06325, -0.07592, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.09822643, -0.107514, 0.03800082, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.06325301, -0.0759159, 0.02499574, 0.98849284, -0.0, -0.0, -0.15126765 ] }, { "t": 5.4, "tool": [ 0.09302, -0.10273, 0.03812 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05842, -0.07176, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.0928102, -0.10252302, 0.0381381, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.05821793, -0.07159535, 0.02502969, 0.98566751, -0.00011289, 0.00017096, -0.16869952 ] }, { "t": 5.45, "tool": [ 0.08717, -0.09739, 0.03817 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05274, -0.06675, 0.02504 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.08692084, -0.09717148, 0.03816035, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.05254617, -0.06654643, 0.02504789, 0.98387929, 0.00029276, -0.00027629, -0.1788334 ] }, { "t": 5.5, "tool": [ 0.08112, -0.09206, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.04653, -0.06162, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.08087426, -0.09183984, 0.03802808, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.04631454, -0.06144003, 0.02500762, 0.98410923, 0.00045917, -0.00073074, -0.17756203 ] }, { "t": 5.55, "tool": [ 0.07518, -0.08667, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.0409, -0.05648, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.07493549, -0.08645145, 0.03803244, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.0406972, -0.05627338, 0.02497127, 0.98208853, -0.00030863, -0.00014692, -0.18841976 ] }, { "t": 5.6, "tool": [ 0.0694, -0.08128, 0.03821 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.03526, -0.05147, 0.02515 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.06916374, -0.08106103, 0.03820656, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.03502503, -0.05126549, 0.02510706, 0.98032248, -0.00275137, 0.00061408, -0.19738258 ] }, { "t": 5.65, "tool": [ 0.06346, -0.07592, 0.03817 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.02928, -0.04668, 0.02504 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.0632199, -0.07570217, 0.03817658, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.02907462, -0.0464668, 0.0250623, 0.97879321, -0.00147472, 0.00010805, -0.20484547 ] }, { "t": 5.7, "tool": [ 0.05753, -0.07059, 0.03822 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.02356, -0.04157, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.05727939, -0.07036708, 0.03821207, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.02335151, -0.04137127, 0.02497465, 0.97624072, -5.464e-05, -0.00056488, -0.2166881 ] }, { "t": 5.75, "tool": [ 0.05157, -0.0652, 0.03821 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.01784, -0.03643, 0.02504 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.05132191, -0.06498025, 0.03820778, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.01764103, -0.03624676, 0.02505676, 0.9740964, 0.00021052, 7.422e-05, -0.22613303 ] }, { "t": 5.8, "tool": [ 0.04568, -0.05985, 0.03824 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.01188, -0.03122, 0.02507 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.04542932, -0.05963307, 0.03823917, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.01164083, -0.03103902, 0.02505013, 0.97304745, -0.00015962, 2.812e-05, -0.23060495 ] }, { "t": 5.85, "tool": [ 0.03971, -0.05446, 0.03826 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.00586, -0.02626, 0.02495 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.0394828, -0.05424666, 0.03827391, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 0.00566562, -0.02609787, 0.02502047, 0.97286163, -0.00101316, 0.00088848, -0.23138373 ] }, { "t": 5.9, "tool": [ 0.03412, -0.04942, 0.03821 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.00023, -0.0214, 0.02505 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.03395277, -0.04927583, 0.03820363, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, 5.728e-05, -0.02126001, 0.02502756, 0.97123918, -0.00034273, 0.0006223, -0.23810491 ] }, { "t": 5.95, "tool": [ 0.03181, -0.04739, 0.03811 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00204, -0.01949, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.03177023, -0.04735788, 0.0381083, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00206459, -0.01946782, 0.0249713, 0.97006352, 1.544e-05, -0.00078755, -0.24285004 ] }, { "t": 6.0, "tool": [ 0.03128, -0.04695, 0.03875 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00258, -0.01913, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03126257, -0.04693197, 0.03890069, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00258581, -0.0191307, 0.02496661, 0.96943399, 0.00056693, 4.349e-05, -0.24535162 ] }, { "t": 6.05, "tool": [ 0.03098, -0.04669, 0.04562 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00292, -0.01901, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03096302, -0.04668404, 0.04599094, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00292137, -0.0190079, 0.02497651, 0.96837309, 0.00038449, -7.139e-05, -0.24950633 ] }, { "t": 6.1, "tool": [ 0.03082, -0.04659, 0.05566 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00312, -0.01893, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0308179, -0.04658386, 0.05608097, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312192, -0.01892764, 0.02498892, 0.96790262, 2.369e-05, 0.00012527, -0.25132547 ] }, { "t": 6.15, "tool": [ 0.03075, -0.04654, 0.06644 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03074551, -0.04653914, 0.06687313, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312763, -0.01892495, 0.02499558, 0.96790263, 5.6e-07, 2.96e-06, -0.25132548 ] }, { "t": 6.2, "tool": [ 0.03073, -0.04653, 0.07736 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03072796, -0.04652832, 0.07780212, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, 1e-08, 7e-08, -0.25132548 ] }, { "t": 6.25, "tool": [ 0.03072, -0.04653, 0.08832 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03072379, -0.04652575, 0.08876331, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, 0.0, 0.0, -0.25132548 ] }, { "t": 6.3, "tool": [ 0.03072, -0.04653, 0.09929 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0307228, -0.04652514, 0.09973216, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, 0.0, 0.0, -0.25132548 ] }, { "t": 6.35, "tool": [ 0.03072, -0.04652, 0.11026 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03072256, -0.04652499, 0.11070281, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 6.4, "tool": [ 0.03072, -0.04652, 0.12124 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03072251, -0.04652496, 0.1216739, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 6.45, "tool": [ 0.03072, -0.04652, 0.13221 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0307225, -0.04652495, 0.13264509, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 6.5, "tool": [ 0.03072, -0.04652, 0.14318 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03072249, -0.04652495, 0.14361631, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 6.55, "tool": [ 0.03072, -0.04652, 0.15379 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03072249, -0.04652495, 0.15411818, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 6.6, "tool": [ 0.03072, -0.04652, 0.15849 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03072249, -0.04652495, 0.1585774, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 6.65, "tool": [ 0.03072, -0.04652, 0.15964 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.03072249, -0.04652495, 0.159662, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 6.7, "tool": [ 0.03072, -0.04652, 0.15991 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.03072249, -0.04652495, 0.15991973, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 6.75, "tool": [ 0.03072, -0.04652, 0.15998 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.03072249, -0.04652495, 0.15998094, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 6.8, "tool": [ 0.03072, -0.04652, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.03072249, -0.04652495, 0.15999547, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 6.85, "tool": [ 0.03072, -0.04652, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03072249, -0.04652495, 0.15999893, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 6.9, "tool": [ 0.03072, -0.04652, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03072249, -0.04652495, 0.15999974, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 6.95, "tool": [ 0.03072, -0.04652, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03072249, -0.04652495, 0.15999994, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 7.0, "tool": [ 0.03072, -0.04652, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03072249, -0.04652495, 0.15999999, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 7.05, "tool": [ 0.03072, -0.04652, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.03072249, -0.04652495, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 7.1, "tool": [ 0.03094, -0.04676, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.03100817, -0.04683617, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 7.15, "tool": [ 0.03476, -0.05092, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.03497188, -0.05115423, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 7.2, "tool": [ 0.04073, -0.05743, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.04098963, -0.05770996, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 7.25, "tool": [ 0.04703, -0.06429, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.047225, -0.06450276, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 7.3, "tool": [ 0.04985, -0.06736, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.04990197, -0.06741905, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 7.35, "tool": [ 0.05054, -0.06812, 0.15967 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.0505533, -0.06812861, 0.1595722, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 7.4, "tool": [ 0.05071, -0.06829, 0.15396 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05070807, -0.06829722, 0.15363667, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 7.45, "tool": [ 0.05074, -0.06834, 0.14501 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05074482, -0.06833726, 0.14462526, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 7.5, "tool": [ 0.05075, -0.06835, 0.13526 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05075355, -0.06834677, 0.13486017, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 7.55, "tool": [ 0.05076, -0.06835, 0.12531 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05075563, -0.06834902, 0.12491596, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 7.6, "tool": [ 0.05076, -0.06835, 0.11533 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05075612, -0.06834956, 0.11492921, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 7.65, "tool": [ 0.05076, -0.06835, 0.10533 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05075623, -0.06834969, 0.10493235, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 7.7, "tool": [ 0.05076, -0.06835, 0.09533 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05075626, -0.06834972, 0.0949331, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 7.75, "tool": [ 0.05076, -0.06835, 0.08533 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05075627, -0.06834972, 0.08493328, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 7.8, "tool": [ 0.05076, -0.06835, 0.07533 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05075627, -0.06834973, 0.07493332, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 7.85, "tool": [ 0.05076, -0.06835, 0.06533 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05075627, -0.06834973, 0.06493333, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 7.9, "tool": [ 0.05076, -0.06835, 0.05533 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05075627, -0.06834973, 0.05493333, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 7.95, "tool": [ 0.05076, -0.06835, 0.04537 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05075627, -0.06834973, 0.04500187, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 8.0, "tool": [ 0.05076, -0.06835, 0.03983 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05075627, -0.06834973, 0.03972773, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 8.05, "tool": [ 0.05073, -0.06833, 0.03844 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.05071586, -0.06831266, 0.0384107, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 8.1, "tool": [ 0.04811, -0.06592, 0.0381 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.04792972, -0.06575708, 0.03809753, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 8.15, "tool": [ 0.04303, -0.06126, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.04281064, -0.06106164, 0.03802316, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 8.2, "tool": [ 0.03733, -0.05604, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.03709973, -0.05582334, 0.0380055, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 8.25, "tool": [ 0.03148, -0.05067, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00313, -0.01892, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.03124804, -0.05045591, 0.03800131, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00312777, -0.01892488, 0.02499574, 0.96790263, -0.0, -0.0, -0.25132548 ] }, { "t": 8.3, "tool": [ 0.02607, -0.04567, 0.03812 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00638, -0.0158, 0.02505 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.02583766, -0.04545502, 0.03812022, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.00660863, -0.01560579, 0.02503987, 0.96600226, 0.0013647, -0.00097316, -0.25852818 ] }, { "t": 8.35, "tool": [ 0.02025, -0.04029, 0.03818 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01189, -0.01042, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.01999984, -0.04006909, 0.03817225, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.01211448, -0.0102427, 0.02502159, 0.96240555, -0.00027312, 0.00039126, -0.27161616 ] }, { "t": 8.4, "tool": [ 0.01436, -0.03485, 0.03817 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01761, -0.00514, 0.02503 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.01412048, -0.03462798, 0.03816635, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.01784903, -0.00494432, 0.02501234, 0.95875457, 0.000369, 0.00070512, -0.28423414 ] }, { "t": 8.45, "tool": [ 0.00854, -0.02947, 0.0383 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.02332, 0.00017, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.00829822, -0.02924383, 0.03829652, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.02354439, 0.00039205, 0.02500279, 0.95596189, -0.00165896, -0.00017936, -0.29348608 ] }, { "t": 8.5, "tool": [ 0.00253, -0.02407, 0.0381 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.02925, 0.00559, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.00228063, -0.02384466, 0.03809487, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.0294881, 0.00581178, 0.02503032, 0.95408849, -0.00036541, 0.00046845, -0.2995243 ] }, { "t": 8.55, "tool": [ -0.0034, -0.01864, 0.03806 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.03508, 0.01094, 0.02512 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.00363586, -0.01841656, 0.03805838, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.03532536, 0.01117523, 0.02508143, 0.9522505, -0.00127696, 0.0010173, -0.30531348 ] }, { "t": 8.6, "tool": [ -0.00928, -0.01323, 0.03809 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.04097, 0.01626, 0.02505 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.00951472, -0.01301383, 0.0380821, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.04123724, 0.01646698, 0.02502714, 0.95078812, 0.00053144, -0.00015344, -0.30984133 ] }, { "t": 8.65, "tool": [ -0.01518, -0.00782, 0.03809 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.047, 0.02148, 0.02509 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.01541064, -0.00760613, 0.03809645, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.04721884, 0.02169353, 0.02511312, 0.95051306, 0.00014803, -0.00031146, -0.31068441 ] }, { "t": 8.7, "tool": [ -0.02108, -0.00241, 0.03806 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.05295, 0.02674, 0.02516 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.02130649, -0.00219382, 0.0380683, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.05318023, 0.02696711, 0.02518214, 0.94940182, 0.00067934, -0.00057773, -0.31406271 ] }, { "t": 8.75, "tool": [ -0.02691, 0.00301, 0.03818 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.05881, 0.03202, 0.02503 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.02713149, 0.00321043, 0.03820316, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.05903928, 0.03221589, 0.02511615, 0.94766688, -1.65e-05, -0.00013757, -0.3192608 ] }, { "t": 8.8, "tool": [ -0.0328, 0.00835, 0.03819 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06463, 0.03757, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.03303523, 0.00856422, 0.03817798, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06482942, 0.03775091, 0.02499068, 0.94709486, 0.00053283, -0.0009055, -0.32095206 ] }, { "t": 8.85, "tool": [ -0.03621, 0.0115, 0.03815 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06795, 0.04067, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.03626607, 0.0115562, 0.03816003, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06800222, 0.04072474, 0.02503375, 0.9452481, -0.00028633, -0.00012176, -0.32635247 ] }, { "t": 8.9, "tool": [ -0.037, 0.0122, 0.03819 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06874, 0.04139, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03700837, 0.0122109, 0.03821341, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06876976, 0.04140907, 0.02500467, 0.94502609, 0.00012134, -5.81e-06, -0.32699493 ] }, { "t": 8.95, "tool": [ -0.03736, 0.01251, 0.04287 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06917, 0.04168, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03737362, 0.01251948, 0.04319218, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.0691675, 0.04168228, 0.02498889, 0.94472722, 0.00047171, -0.0007135, -0.3278563 ] }, { "t": 9.0, "tool": [ -0.03753, 0.01265, 0.0523 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06938, 0.04185, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.0375307, 0.01264814, 0.05270431, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06940615, 0.04185541, 0.02506282, 0.94433709, -0.00035496, -0.00124589, -0.32897687 ] }, { "t": 9.05, "tool": [ -0.03762, 0.01272, 0.06295 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04188, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03762704, 0.01272534, 0.06338106, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945608, 0.04188525, 0.0249923, 0.94428392, 2.712e-05, 5.627e-05, -0.32913202 ] }, { "t": 9.1, "tool": [ -0.03766, 0.01275, 0.07386 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03766486, 0.01275551, 0.07429569, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945827, 0.04188744, 0.02499566, 0.94428392, 6.4e-07, 1.33e-06, -0.32913202 ] }, { "t": 9.15, "tool": [ -0.03767, 0.01276, 0.08481 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03767394, 0.01276274, 0.08525356, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, 2e-08, 3e-08, -0.32913202 ] }, { "t": 9.2, "tool": [ -0.03768, 0.01276, 0.09578 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03767609, 0.01276446, 0.09622161, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, 0.0, 0.0, -0.32913202 ] }, { "t": 9.25, "tool": [ -0.03768, 0.01276, 0.10675 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.0376766, 0.01276487, 0.10719208, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, 0.0, 0.0, -0.32913202 ] }, { "t": 9.3, "tool": [ -0.03768, 0.01276, 0.11772 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03767673, 0.01276497, 0.11816313, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 9.35, "tool": [ -0.03768, 0.01276, 0.1287 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03767675, 0.01276499, 0.12913431, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 9.4, "tool": [ -0.03768, 0.01276, 0.13967 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03767676, 0.01276499, 0.14010552, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 9.45, "tool": [ -0.03768, 0.01276, 0.15064 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03767676, 0.012765, 0.15107223, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 9.5, "tool": [ -0.03768, 0.01276, 0.15762 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03767676, 0.012765, 0.15774879, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 9.55, "tool": [ -0.03768, 0.01276, 0.15943 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.03767676, 0.012765, 0.15946457, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 9.6, "tool": [ -0.03768, 0.01276, 0.15987 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.03767676, 0.012765, 0.15987284, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 9.65, "tool": [ -0.03768, 0.01276, 0.15997 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.03767676, 0.012765, 0.1599698, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 9.7, "tool": [ -0.03768, 0.01276, 0.15999 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.03767676, 0.012765, 0.15999283, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 9.75, "tool": [ -0.03768, 0.01276, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03767676, 0.012765, 0.1599983, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 9.8, "tool": [ -0.03768, 0.01276, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03767676, 0.012765, 0.1599996, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 9.85, "tool": [ -0.03768, 0.01276, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03767676, 0.012765, 0.1599999, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 9.9, "tool": [ -0.03768, 0.01276, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03767676, 0.012765, 0.15999998, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 9.95, "tool": [ -0.03768, 0.01276, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.03767676, 0.012765, 0.15999999, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 10.0, "tool": [ -0.03768, 0.01276, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.03767408, 0.01276253, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 10.05, "tool": [ -0.0353, 0.01058, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.0351171, 0.01041208, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 10.1, "tool": [ -0.02985, 0.00557, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.02960655, 0.00534663, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 10.15, "tool": [ -0.02357, -0.0002, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.0233202, -0.00043195, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 10.2, "tool": [ -0.01948, -0.00396, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.01940281, -0.00403293, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 10.25, "tool": [ -0.01841, -0.00494, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01839496, -0.00495936, 0.15999589, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 10.3, "tool": [ -0.01816, -0.00518, 0.15636 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01815514, -0.00517982, 0.15608141, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 10.35, "tool": [ -0.0181, -0.00523, 0.14802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01809818, -0.00523217, 0.14764531, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 10.4, "tool": [ -0.01808, -0.00524, 0.13841 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01808466, -0.0052446, 0.13801743, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 10.45, "tool": [ -0.01808, -0.00525, 0.1285 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01808145, -0.00524756, 0.12810581, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 10.5, "tool": [ -0.01808, -0.00525, 0.11853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01808068, -0.00524826, 0.1181268, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 10.55, "tool": [ -0.01808, -0.00525, 0.10853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.0180805, -0.00524842, 0.10813178, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 10.6, "tool": [ -0.01808, -0.00525, 0.09853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01808046, -0.00524846, 0.09813296, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 10.65, "tool": [ -0.01808, -0.00525, 0.08853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01808045, -0.00524847, 0.08813325, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 10.7, "tool": [ -0.01808, -0.00525, 0.07853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01808045, -0.00524847, 0.07813331, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 10.75, "tool": [ -0.01808, -0.00525, 0.06853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01808045, -0.00524848, 0.06813333, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 10.8, "tool": [ -0.01808, -0.00525, 0.05853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01808045, -0.00524848, 0.05813333, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 10.85, "tool": [ -0.01808, -0.00525, 0.04853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01808045, -0.00524848, 0.04813333, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 10.9, "tool": [ -0.01808, -0.00525, 0.04089 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01808045, -0.00524848, 0.0407309, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 10.95, "tool": [ -0.01808, -0.00525, 0.03869 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01808045, -0.00524848, 0.03865058, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 11.0, "tool": [ -0.01947, -0.00397, 0.03816 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.01961171, -0.00384364, 0.03815451, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 11.05, "tool": [ -0.02407, 0.00024, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.02428033, 0.00043953, 0.03803669, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 11.1, "tool": [ -0.02965, 0.00537, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.02988287, 0.00557951, 0.03800871, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 11.15, "tool": [ -0.03547, 0.01071, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06946, 0.04189, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.03570839, 0.01092405, 0.03800207, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.06945832, 0.04188749, 0.02499574, 0.94428392, -0.0, -0.0, -0.32913202 ] }, { "t": 11.2, "tool": [ -0.04092, 0.01571, 0.03807 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.07259, 0.0449, 0.02507 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.04115674, 0.01592841, 0.03806898, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.07278746, 0.04509437, 0.02509437, 0.94248312, -0.00030414, 7.104e-05, -0.3342536 ] }, { "t": 11.25, "tool": [ -0.04676, 0.02112, 0.03807 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.07819, 0.05051, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.04697733, 0.02133136, 0.03808902, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.07840136, 0.05076454, 0.02503402, 0.93903042, -0.00057723, -7.839e-05, -0.34383359 ] }, { "t": 11.3, "tool": [ -0.05263, 0.02653, 0.03811 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08396, 0.05599, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.05285107, 0.02674686, 0.0381069, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.08419675, 0.05623533, 0.02501903, 0.93697036, -0.00105472, -0.00048719, -0.34940693 ] }, { "t": 11.35, "tool": [ -0.05852, 0.03193, 0.03811 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08975, 0.06147, 0.02509 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.05874395, 0.03214141, 0.03812711, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.08997568, 0.06170295, 0.02512976, 0.93421688, 0.00027732, 2.468e-05, -0.35670541 ] }, { "t": 11.4, "tool": [ -0.0644, 0.03728, 0.03823 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.09536, 0.06709, 0.02508 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.06463266, 0.03749632, 0.03822273, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.09558267, 0.06733808, 0.02504832, 0.93221201, -0.00102517, 8.6e-07, -0.36191119 ] }, { "t": 11.45, "tool": [ -0.07031, 0.04271, 0.03813 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.10108, 0.07279, 0.02512 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.07054483, 0.04291948, 0.03813302, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.10132969, 0.07300914, 0.0251568, 0.9319009, 0.00145466, 4.736e-05, -0.36271008 ] }, { "t": 11.5, "tool": [ -0.07628, 0.04812, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.1069, 0.07833, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.07650545, 0.04832217, 0.03804904, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.10713863, 0.07857277, 0.0251374, 0.93134933, 0.00145328, -0.00047552, -0.36412372 ] }, { "t": 11.55, "tool": [ -0.08221, 0.05351, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.11279, 0.08386, 0.02494 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.08243742, 0.05371435, 0.03807123, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.11299162, 0.08408383, 0.02499642, 0.93540571, -5.47e-05, 0.00029559, -0.3535761 ] }, { "t": 11.6, "tool": [ -0.08812, 0.05891, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.1186, 0.08938, 0.02496 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.08833884, 0.05911771, 0.03806346, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1188191, 0.08959657, 0.02501445, 0.93659743, -0.00076043, -0.00021646, -0.35040638 ] }, { "t": 11.65, "tool": [ -0.09392, 0.06437, 0.0381 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.12449, 0.09472, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.09415732, 0.0645868, 0.03810007, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.12469943, 0.09493042, 0.02506877, 0.93755775, -0.00046028, 0.00022341, -0.34782927 ] }, { "t": 11.7, "tool": [ -0.09988, 0.06976, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13017, 0.10034, 0.02514 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.1001154, 0.0699748, 0.03801354, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13040795, 0.10057888, 0.02510585, 0.93471767, 0.00024769, 0.00046687, -0.35539077 ] }, { "t": 11.75, "tool": [ -0.10449, 0.07399, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13474, 0.10469, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.10459522, 0.07408691, 0.03802388, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13483317, 0.1047931, 0.02500339, 0.93443844, -0.00015041, 0.00080192, -0.35612378 ] }, { "t": 11.8, "tool": [ -0.10576, 0.07516, 0.03811 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13593, 0.10589, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.10577579, 0.07517253, 0.03811407, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13594401, 0.10590771, 0.02501, 0.93427811, 2.357e-05, -0.00028386, -0.35654499 ] }, { "t": 11.85, "tool": [ -0.1061, 0.07549, 0.04049 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13633, 0.10624, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10611107, 0.07550152, 0.0407492, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1363383, 0.106237, 0.02498055, 0.933988, 0.00041933, -0.00010221, -0.35730411 ] }, { "t": 11.9, "tool": [ -0.10631, 0.0757, 0.04903 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13664, 0.10647, 0.02495 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10632059, 0.07570501, 0.04942989, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13664357, 0.10647566, 0.02495339, 0.93332533, 0.00018237, 0.00022548, -0.35903168 ] }, { "t": 11.95, "tool": [ -0.10641, 0.07579, 0.05946 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13672, 0.10655, 0.02496 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10641314, 0.0757916, 0.0598945, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13672164, 0.10654867, 0.02495569, 0.93325219, 0.0001413, 0.00052115, -0.35922145 ] }, { "t": 12.0, "tool": [ -0.10648, 0.07585, 0.07035 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13674, 0.10657, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10647934, 0.07585209, 0.07078711, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674478, 0.10656588, 0.02499454, 0.93325105, 5.21e-06, 1.755e-05, -0.35922482 ] }, { "t": 12.05, "tool": [ -0.1065, 0.07587, 0.0813 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10649889, 0.07586991, 0.08174327, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1367455, 0.10656643, 0.02499572, 0.93325106, 1.2e-07, 4.1e-07, -0.35922482 ] }, { "t": 12.1, "tool": [ -0.1065, 0.07587, 0.09227 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10650355, 0.07587416, 0.09271094, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, 0.0, 1e-08, -0.35922482 ] }, { "t": 12.15, "tool": [ -0.1065, 0.07588, 0.10324 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10650466, 0.07587517, 0.10368132, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, 0.0, 0.0, -0.35922482 ] }, { "t": 12.2, "tool": [ -0.1065, 0.07588, 0.11421 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10650492, 0.07587541, 0.11465234, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, 0.0, 0.0, -0.35922482 ] }, { "t": 12.25, "tool": [ -0.1065, 0.07588, 0.12518 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10650499, 0.07587547, 0.12562352, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 12.3, "tool": [ -0.1065, 0.07588, 0.13616 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.106505, 0.07587548, 0.13659473, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 12.35, "tool": [ -0.10651, 0.07588, 0.14713 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.106505, 0.07587549, 0.14756595, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 12.4, "tool": [ -0.10651, 0.07588, 0.15624 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.106505, 0.07587549, 0.15644604, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 12.45, "tool": [ -0.10651, 0.07588, 0.1591 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.106505, 0.07587549, 0.15915187, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 12.5, "tool": [ -0.10651, 0.07588, 0.15979 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.106505, 0.07587549, 0.15979856, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 12.55, "tool": [ -0.10651, 0.07588, 0.15995 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.106505, 0.07587549, 0.15995216, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 12.6, "tool": [ -0.10651, 0.07588, 0.15999 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.106505, 0.07587549, 0.15998864, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 12.65, "tool": [ -0.10651, 0.07588, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.106505, 0.07587549, 0.1599973, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 12.7, "tool": [ -0.10651, 0.07588, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.106505, 0.07587549, 0.15999936, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 12.75, "tool": [ -0.10651, 0.07588, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.106505, 0.07587549, 0.15999985, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 12.8, "tool": [ -0.10651, 0.07588, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.106505, 0.07587549, 0.15999996, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 12.85, "tool": [ -0.10651, 0.07588, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.106505, 0.07587549, 0.15999999, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 12.9, "tool": [ -0.10651, 0.07588, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.106505, 0.07587549, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 12.95, "tool": [ -0.10532, 0.07506, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.10517198, 0.07495497, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 13.0, "tool": [ -0.10015, 0.07149, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.09990305, 0.07131652, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 13.05, "tool": [ -0.09359, 0.06696, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.09332149, 0.06677162, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 13.1, "tool": [ -0.08789, 0.06302, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.08775863, 0.06293019, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 13.15, "tool": [ -0.08609, 0.06178, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.086057, 0.06175514, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 13.2, "tool": [ -0.08566, 0.06148, 0.1583 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08565028, 0.06147427, 0.15809399, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 13.25, "tool": [ -0.08556, 0.06141, 0.15091 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08555367, 0.06140756, 0.15056029, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 13.3, "tool": [ -0.08553, 0.06139, 0.14154 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08553073, 0.06139172, 0.14114973, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 13.35, "tool": [ -0.08553, 0.06139, 0.13169 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08552528, 0.06138796, 0.13128973, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 13.4, "tool": [ -0.08552, 0.06139, 0.12172 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08552399, 0.06138707, 0.12132298, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 13.45, "tool": [ -0.08552, 0.06139, 0.11173 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08552368, 0.06138685, 0.11133087, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 13.5, "tool": [ -0.08552, 0.06139, 0.10173 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08552361, 0.0613868, 0.10133275, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 13.55, "tool": [ -0.08552, 0.06139, 0.09173 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08552359, 0.06138679, 0.09133319, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 13.6, "tool": [ -0.08552, 0.06139, 0.08173 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08552359, 0.06138679, 0.0813333, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 13.65, "tool": [ -0.08552, 0.06139, 0.07173 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08552359, 0.06138679, 0.07133333, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 13.7, "tool": [ -0.08552, 0.06139, 0.06173 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08552359, 0.06138679, 0.06133333, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 13.75, "tool": [ -0.08552, 0.06139, 0.05173 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08552359, 0.06138679, 0.05133333, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 13.8, "tool": [ -0.08552, 0.06139, 0.04254 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08552359, 0.06138679, 0.04229516, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 13.85, "tool": [ -0.08552, 0.06139, 0.03909 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08552359, 0.06138679, 0.03903044, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 13.9, "tool": [ -0.08601, 0.06181, 0.03826 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.08610065, 0.06189578, 0.03824477, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 13.95, "tool": [ -0.08994, 0.06528, 0.03806 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.09014157, 0.06546002, 0.03805813, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 14.0, "tool": [ -0.09544, 0.07013, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.09566984, 0.07033616, 0.0380138, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 14.05, "tool": [ -0.10132, 0.07532, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13675, 0.10657, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.10155751, 0.0755293, 0.03800328, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.13674552, 0.10656644, 0.02499574, 0.93325106, -0.0, -0.0, -0.35922482 ] }, { "t": 14.1, "tool": [ -0.10685, 0.08021, 0.03807 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13911, 0.10875, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.10706711, 0.08040533, 0.03808817, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.1393295, 0.10896285, 0.02509009, 0.9330533, -0.00060284, -0.001434, -0.3597348 ] }, { "t": 14.15, "tool": [ -0.11278, 0.08546, 0.03811 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.14483, 0.11414, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.11300931, 0.08566813, 0.03812027, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.14505313, 0.11437433, 0.02501843, 0.93234234, 0.00041882, 0.00015461, -0.36157648 ] }, { "t": 14.2, "tool": [ -0.11883, 0.09079, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.1508, 0.11949, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.11905492, 0.09099302, 0.03805857, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.15102742, 0.11970026, 0.02501488, 0.93440427, -0.00056394, -0.00058442, -0.35621342 ] }, { "t": 14.25, "tool": [ -0.12479, 0.09607, 0.03806 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15669, 0.12488, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.12502226, 0.09627208, 0.03806249, -0.14940892, -0.12747681, 0.02499574, 1.0, 0.0, 0.0, -0.0, -0.1569346, 0.12511306, 0.02507446, 0.93450266, 0.00028988, 0.00078517, -0.35595516 ] }, { "t": 14.3, "tool": [ -0.13083, 0.10135, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16252, 0.13036, 0.02507 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.13106308, 0.10155789, 0.03805445, -0.14940892, -0.12747681, 0.02499574, 1.0, 0.0, 0.0, -0.0, -0.16274409, 0.13057007, 0.02511768, 0.93517209, 0.00010127, -0.00039227, -0.35419346 ] }, { "t": 14.35, "tool": [ -0.13679, 0.10661, 0.03811 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.1683, 0.13589, 0.02504 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.13703774, 0.10682711, 0.03810716, -0.14940892, -0.12747681, 0.02499574, 1.0, 0.0, 0.0, -0.0, -0.16851413, 0.13609619, 0.02506823, 0.93377229, 0.00010184, 0.00080554, -0.3578668 ] }, { "t": 14.4, "tool": [ -0.14283, 0.11196, 0.03798 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.17392, 0.14164, 0.02508 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.14307424, 0.11217768, 0.03797278, -0.14940892, -0.12747681, 0.02499574, 1.0, 0.0, 0.0, -0.0, -0.17418456, 0.14189308, 0.0250006, 0.92971378, -0.00041734, -0.00015859, -0.36828261 ] }, { "t": 14.45, "tool": [ -0.14882, 0.11724, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.17969, 0.14716, 0.0251 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.14905582, 0.11744646, 0.03800769, -0.14940892, -0.12747681, 0.02499574, 1.0, 0.0, 0.0, -0.0, -0.17994172, 0.14739674, 0.02509466, 0.92739151, -0.00010239, -0.0003384, -0.37409206 ] }, { "t": 14.5, "tool": [ -0.15483, 0.12252, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18549, 0.15263, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.1550622, 0.12271564, 0.03803562, -0.14940892, -0.12747681, 0.02499574, 1.0, 0.0, 0.0, -0.0, -0.18574608, 0.15284124, 0.02509948, 0.9277113, -0.00100679, 0.00076787, -0.37329632 ] }, { "t": 14.55, "tool": [ -0.16081, 0.12779, 0.03807 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.19138, 0.15804, 0.02505 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.1610543, 0.12800595, 0.03806741, -0.14940892, -0.12747681, 0.02499574, 1.0, 0.0, 0.0, -0.0, -0.19164529, 0.15824733, 0.02504182, 0.92736188, 0.00054091, -0.00068542, -0.37416465 ] }, { "t": 14.6, "tool": [ -0.16682, 0.13309, 0.03806 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.19722, 0.1635, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.16706274, 0.1333069, 0.03805963, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.19746782, 0.16374018, 0.02499795, 0.92822424, 0.00023963, 0.00058447, -0.37202065 ] }, { "t": 14.65, "tool": [ -0.17241, 0.13802, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20251, 0.16862, 0.0251 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.17257087, 0.13815797, 0.03803495, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20265763, 0.16877056, 0.02509436, 0.92590195, -8.987e-05, 0.00059658, -0.37776344 ] }, { "t": 14.7, "tool": [ -0.17453, 0.13989, 0.03808 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20461, 0.17062, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.17456097, 0.13991756, 0.03808349, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20464978, 0.17065633, 0.02499301, 0.92512604, 2.993e-05, -0.00010432, -0.3796601 ] }, { "t": 14.75, "tool": [ -0.17503, 0.14031, 0.03887 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2051, 0.17109, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17504508, 0.14032458, 0.03902979, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20510572, 0.17109476, 0.02495406, 0.92515626, 0.00028857, 0.00089776, -0.3795853 ] }, { "t": 14.8, "tool": [ -0.17528, 0.14053, 0.04595 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20533, 0.17128, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17527082, 0.14052744, 0.04630924, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20537182, 0.17131703, 0.02501786, 0.92495091, -0.00072136, -0.00054139, -0.38008551 ] }, { "t": 14.85, "tool": [ -0.1754, 0.14065, 0.05604 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20554, 0.17146, 0.02504 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17540446, 0.14065449, 0.05646762, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20554388, 0.17145234, 0.02501279, 0.92485062, -0.00033159, -0.0003783, -0.38033021 ] }, { "t": 14.9, "tool": [ -0.17546, 0.14071, 0.06684 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20555, 0.17149, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17546662, 0.14071474, 0.06727558, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.2055483, 0.17148751, 0.02499303, 0.92509477, -1.99e-06, -1.272e-05, -0.37973631 ] }, { "t": 14.95, "tool": [ -0.17548, 0.14072, 0.07777 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20561, 0.17155, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17547856, 0.14072632, 0.07820537, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.2056139, 0.17155215, 0.02497272, 0.92508803, 0.00013428, 0.00033171, -0.37975257 ] }, { "t": 15.0, "tool": [ -0.17551, 0.14075, 0.08875 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20563, 0.17156, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17550812, 0.14075546, 0.08919304, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20562655, 0.17156453, 0.02499519, 0.92508808, 3.21e-06, 7.93e-06, -0.3797526 ] }, { "t": 15.05, "tool": [ -0.17552, 0.14076, 0.09973 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20563, 0.17156, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17551582, 0.14076304, 0.10016883, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20562686, 0.17156483, 0.02499573, 0.92508808, 8e-08, 1.9e-07, -0.3797526 ] }, { "t": 15.1, "tool": [ -0.17552, 0.14076, 0.1107 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20563, 0.17156, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17551765, 0.14076485, 0.11114115, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20562686, 0.17156483, 0.02499574, 0.92508808, 0.0, 0.0, -0.3797526 ] }, { "t": 15.15, "tool": [ -0.17552, 0.14077, 0.12167 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20563, 0.17156, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17551809, 0.14076528, 0.12211263, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20562686, 0.17156483, 0.02499574, 0.92508808, 0.0, 0.0, -0.3797526 ] }, { "t": 15.2, "tool": [ -0.17552, 0.14077, 0.13265 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20563, 0.17156, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17551819, 0.14076538, 0.13308391, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20562686, 0.17156483, 0.02499574, 0.92508808, 0.0, 0.0, -0.3797526 ] }, { "t": 15.25, "tool": [ -0.17552, 0.14077, 0.14362 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20563, 0.17156, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17551821, 0.1407654, 0.14405515, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20562686, 0.17156483, 0.02499574, 0.92508808, -0.0, -0.0, -0.3797526 ] }, { "t": 15.3, "tool": [ -0.17552, 0.14077, 0.15412 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20563, 0.17156, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17551822, 0.14076541, 0.1544326, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20562686, 0.17156483, 0.02499574, 0.92508808, -0.0, -0.0, -0.3797526 ] }, { "t": 15.35, "tool": [ -0.17552, 0.14077, 0.15858 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20563, 0.17156, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17551822, 0.14076541, 0.15865681, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20562686, 0.17156483, 0.02499574, 0.92508808, -0.0, -0.0, -0.3797526 ] }, { "t": 15.4, "tool": [ -0.17552, 0.14077, 0.15966 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20563, 0.17156, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17551822, 0.14076541, 0.15968089, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20562686, 0.17156483, 0.02499574, 0.92508808, -0.0, -0.0, -0.3797526 ] }, { "t": 15.45, "tool": [ -0.17552, 0.14077, 0.15992 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20563, 0.17156, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17551822, 0.14076541, 0.15992422, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20562686, 0.17156483, 0.02499574, 0.92508808, -0.0, -0.0, -0.3797526 ] }, { "t": 15.5, "tool": [ -0.17552, 0.14077, 0.15998 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20563, 0.17156, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17551822, 0.14076541, 0.159982, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20562686, 0.17156483, 0.02499574, 0.92508808, -0.0, -0.0, -0.3797526 ] }, { "t": 15.55, "tool": [ -0.17552, 0.14077, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20563, 0.17156, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17551822, 0.14076541, 0.15999573, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20562686, 0.17156483, 0.02499574, 0.92508808, -0.0, -0.0, -0.3797526 ] }, { "t": 15.6, "tool": [ -0.17552, 0.14077, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20563, 0.17156, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17551822, 0.14076541, 0.15999899, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20562686, 0.17156483, 0.02499574, 0.92508808, -0.0, -0.0, -0.3797526 ] }, { "t": 15.65, "tool": [ -0.17552, 0.14077, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20563, 0.17156, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17551822, 0.14076541, 0.15999976, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20562686, 0.17156483, 0.02499574, 0.92508808, -0.0, -0.0, -0.3797526 ] }, { "t": 15.7, "tool": [ -0.17552, 0.14077, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20563, 0.17156, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17551822, 0.14076541, 0.15999994, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20562686, 0.17156483, 0.02499574, 0.92508808, -0.0, -0.0, -0.3797526 ] }, { "t": 15.75, "tool": [ -0.17552, 0.14077, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20563, 0.17156, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17551822, 0.14076541, 0.15999999, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20562686, 0.17156483, 0.02499574, 0.92508808, -0.0, -0.0, -0.3797526 ] }, { "t": 15.8, "tool": [ -0.17552, 0.14077, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20563, 0.17156, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17551822, 0.14076541, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20562686, 0.17156483, 0.02499574, 0.92508808, -0.0, -0.0, -0.3797526 ] }, { "t": 15.85, "tool": [ -0.17552, 0.14077, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20563, 0.17156, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17551822, 0.14076541, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20562686, 0.17156483, 0.02499574, 0.92508808, -0.0, -0.0, -0.3797526 ] }, { "t": 15.9, "tool": [ -0.17552, 0.14077, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20563, 0.17156, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17551822, 0.14076541, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20562686, 0.17156483, 0.02499574, 0.92508808, -0.0, -0.0, -0.3797526 ] }, { "t": 15.95, "tool": [ -0.17552, 0.14077, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20563, 0.17156, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17551822, 0.14076541, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20562686, 0.17156483, 0.02499574, 0.92508808, -0.0, -0.0, -0.3797526 ] }, { "t": 16.0, "tool": [ -0.17552, 0.14077, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20563, 0.17156, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17551822, 0.14076541, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20562686, 0.17156483, 0.02499574, 0.92508808, -0.0, -0.0, -0.3797526 ] }, { "t": 16.05, "tool": [ -0.17552, 0.14077, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20563, 0.17156, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17551822, 0.14076541, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20562686, 0.17156483, 0.02499574, 0.92508808, -0.0, -0.0, -0.3797526 ] }, { "t": 16.1, "tool": [ -0.17552, 0.14077, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20563, 0.17156, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17551822, 0.14076541, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20562686, 0.17156483, 0.02499574, 0.92508808, -0.0, -0.0, -0.3797526 ] }, { "t": 16.15, "tool": [ -0.17552, 0.14077, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20563, 0.17156, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17551822, 0.14076541, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20562686, 0.17156483, 0.02499574, 0.92508808, -0.0, -0.0, -0.3797526 ] }, { "t": 16.2, "tool": [ -0.17552, 0.14077, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20563, 0.17156, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17551822, 0.14076541, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20562686, 0.17156483, 0.02499574, 0.92508808, -0.0, -0.0, -0.3797526 ] }, { "t": 16.23, "tool": [ -0.17552, 0.14077, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20563, 0.17156, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17551822, 0.14076541, 0.16, -0.14940892, -0.12747681, 0.02499574, 1.0, -0.0, -0.0, -0.0, -0.20562686, 0.17156483, 0.02499574, 0.92508808, -0.0, -0.0, -0.3797526 ] } ], "events": [ { "t": 0.3, "type": "start", "message": "closed_loop: 파란 블록을 왼쪽 목표로 밀어줘" }, { "t": 3.916, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.382 m" }, { "t": 6.832, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.294 m" }, { "t": 9.748, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.204 m" }, { "t": 12.664, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.111 m" }, { "t": 16.23, "type": "success", "message": "최종 거리 0.0167 m · 정지 상태 True" } ] }, { "id": "heavy-2-open_loop", "policy": "open_loop", "scenario": "heavy", "seed": 2, "task": { "object_name": "red_block", "goal": "right", "instruction": "빨간 블록을 오른쪽 목표로 밀어줘" }, "parameters": { "friction": 0.7, "mass": 0.18, "disturbance": false }, "success": false, "final_distance_m": 0.08639296193074708, "settled": false, "sim_time_s": 7.197999999999429, "wall_time_s": 0.13179279997712, "timed_out": false, "termination_reason": "goal_not_stable", "contact_steps": 1097, "peak_contact_point_force_n": 6.822974378836711, "unintended_contact_steps": 0, "distractor_displacement_m": 8.624374995242167e-09, "workspace_violation": false, "replans": 0, "disturbance_applied": false, "trajectory": [ { "t": 0.05, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.02495 ], "blue_block": [ 0.16571, -0.1704, 0.02495 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007544, 0.02495923, 1.0, 3e-08, -1e-08, -0.0, 0.16571129, -0.1704042, 0.02495923, 1.0, 3e-08, -1e-08, 0.0 ] }, { "t": 0.1, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.02499 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007543, 0.02499488, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040419, 0.02499488, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.15, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007543, 0.02499572, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040419, 0.02499572, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.2, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.25, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.3, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.35, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 0.4, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 0.45, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 0.5, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 0.55, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 0.6, "tool": [ -0.00423, -0.31793, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.00456791, -0.31776454, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 0.65, "tool": [ -0.01458, -0.31287, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.01504046, -0.31263946, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 0.7, "tool": [ -0.0266, -0.30698, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.02709665, -0.30673936, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 0.75, "tool": [ -0.03903, -0.3009, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.03953006, -0.30065466, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 0.8, "tool": [ -0.05155, -0.29477, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05205305, -0.29452613, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 0.85, "tool": [ -0.0641, -0.28863, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.06459731, -0.28838718, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 0.9, "tool": [ -0.07664, -0.28249, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.07714663, -0.28224575, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 0.95, "tool": [ -0.0892, -0.27635, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.08969715, -0.27610375, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.0, "tool": [ -0.10175, -0.27021, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.10224795, -0.2699616, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.05, "tool": [ -0.1143, -0.26407, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.11479882, -0.26381942, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.1, "tool": [ -0.12685, -0.25792, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.12734971, -0.25767723, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.15, "tool": [ -0.1394, -0.25178, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.1399006, -0.25153504, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.2, "tool": [ -0.15195, -0.24564, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.15245149, -0.24539284, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.25, "tool": [ -0.1645, -0.2395, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.16500238, -0.23925065, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.3, "tool": [ -0.17705, -0.23335, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.17755327, -0.23310846, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.35, "tool": [ -0.1896, -0.22721, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.19010416, -0.22696627, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.4, "tool": [ -0.20215, -0.22107, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.20265505, -0.22082408, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.45, "tool": [ -0.21402, -0.21526, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.21436724, -0.21509233, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.5, "tool": [ -0.21886, -0.2129, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.21894285, -0.21285311, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.55, "tool": [ -0.22003, -0.21232, 0.15946 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22004899, -0.21231178, 0.15933176, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.6, "tool": [ -0.22031, -0.21219, 0.15331 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22031179, -0.21218317, 0.1529774, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.65, "tool": [ -0.22037, -0.21215, 0.14424 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.2203742, -0.21215262, 0.14385873, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.7, "tool": [ -0.22039, -0.21215, 0.13446 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22038902, -0.21214537, 0.13406812, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.75, "tool": [ -0.22039, -0.21214, 0.12452 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039254, -0.21214365, 0.12411785, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.8, "tool": [ -0.22039, -0.21214, 0.11453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039338, -0.21214324, 0.11412966, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.85, "tool": [ -0.22039, -0.21214, 0.10453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039358, -0.21214314, 0.10413246, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.9, "tool": [ -0.22039, -0.21214, 0.09453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039363, -0.21214312, 0.09413313, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.95, "tool": [ -0.22039, -0.21214, 0.08453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214311, 0.08413328, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.0, "tool": [ -0.22039, -0.21214, 0.07453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214311, 0.07413332, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.05, "tool": [ -0.22039, -0.21214, 0.06453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214311, 0.06413333, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.1, "tool": [ -0.22039, -0.21214, 0.05453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214311, 0.05413333, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.15, "tool": [ -0.22039, -0.21214, 0.04465 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214311, 0.0443044, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.2, "tool": [ -0.22039, -0.21214, 0.03963 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214311, 0.03954041, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.25, "tool": [ -0.22033, -0.21208, 0.03839 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.22029148, -0.21205214, 0.03836608, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.3, "tool": [ -0.21735, -0.20943, 0.03809 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.21716462, -0.20926787, 0.03808694, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.35, "tool": [ -0.21212, -0.20478, 0.03802 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.21189409, -0.20457479, 0.03802065, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.4, "tool": [ -0.20632, -0.19962, 0.03801 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.20608896, -0.19940568, 0.0380049, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.45, "tool": [ -0.20061, -0.19445, 0.03804 ], "objects": { "red_block": [ -0.16128, -0.15966, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.20043985, -0.19426843, 0.03805512, -0.16106352, -0.15952008, 0.02504986, 0.99997327, -0.00048989, 0.00031937, 0.00728827, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.5, "tool": [ -0.19496, -0.18935, 0.03809 ], "objects": { "red_block": [ -0.15532, -0.15554, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1947348, -0.18913994, 0.03809292, -0.1550691, -0.15537218, 0.02499102, 0.9993681, -0.00208967, -7.517e-05, 0.03548269, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.55, "tool": [ -0.189, -0.18405, 0.03809 ], "objects": { "red_block": [ -0.14981, -0.15132, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.18875293, -0.18384306, 0.03808747, -0.14958538, -0.15112937, 0.02499088, 0.99885013, 0.00060002, 0.00085448, 0.04793037, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.6, "tool": [ -0.18301, -0.17871, 0.03813 ], "objects": { "red_block": [ -0.14465, -0.14685, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1827534, -0.1784911, 0.0381261, -0.14452183, -0.14673611, 0.02500008, 0.99707431, 0.00038788, 5.791e-05, 0.07643736, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.65, "tool": [ -0.17703, -0.17341, 0.0381 ], "objects": { "red_block": [ -0.13948, -0.14245, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17677871, -0.17318753, 0.03809409, -0.13935089, -0.14232394, 0.02499733, 0.99465366, 0.00021629, 0.00119993, 0.10325991, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.7, "tool": [ -0.17109, -0.16812, 0.03814 ], "objects": { "red_block": [ -0.13471, -0.13797, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17085883, -0.16790956, 0.03815729, -0.13450771, -0.13779947, 0.02499141, 0.99132624, 0.00080459, -2.317e-05, 0.13142157, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.75, "tool": [ -0.16524, -0.16282, 0.03828 ], "objects": { "red_block": [ -0.12927, -0.13338, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.16501079, -0.16261463, 0.03827347, -0.12901079, -0.13318231, 0.0250031, 0.98898642, -0.00053153, -0.00012847, 0.14800526, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.8, "tool": [ -0.1592, -0.15748, 0.03821 ], "objects": { "red_block": [ -0.12315, -0.12887, 0.02509 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.15899179, -0.15727261, 0.03823994, -0.12295225, -0.12867327, 0.02517742, 0.98878971, -8.047e-05, 0.00119914, 0.14930999, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.85, "tool": [ -0.15329, -0.15217, 0.03823 ], "objects": { "red_block": [ -0.117, -0.12434, 0.02507 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.15304996, -0.15196119, 0.03822979, -0.1167515, -0.12413781, 0.02509013, 0.98816274, -0.00047569, 0.00046339, 0.15340782, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.9, "tool": [ -0.14723, -0.14685, 0.03816 ], "objects": { "red_block": [ -0.11135, -0.11935, 0.02514 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14698871, -0.14663743, 0.03815573, -0.11110625, -0.11913736, 0.02511943, 0.98582668, -0.00015342, 0.00039136, 0.16776643, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.95, "tool": [ -0.14118, -0.14155, 0.03803 ], "objects": { "red_block": [ -0.10545, -0.11437, 0.02507 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14093147, -0.14133045, 0.03802741, -0.1052284, -0.11415402, 0.02503231, 0.98357903, -0.00026748, 7.79e-06, 0.18047778, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.0, "tool": [ -0.13521, -0.13625, 0.03805 ], "objects": { "red_block": [ -0.09982, -0.10913, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13498123, -0.13603226, 0.03805785, -0.09958325, -0.10894867, 0.02508192, 0.98123846, -0.00011003, 0.00011302, 0.192798, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.05, "tool": [ -0.12922, -0.13089, 0.03803 ], "objects": { "red_block": [ -0.09361, -0.10436, 0.02503 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12900066, -0.13067289, 0.03804213, -0.09338365, -0.10417746, 0.02506588, 0.98146302, -7.791e-05, -0.00028455, 0.1916514, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.1, "tool": [ -0.12337, -0.12556, 0.03814 ], "objects": { "red_block": [ -0.08748, -0.09961, 0.02506 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12312515, -0.12534619, 0.0381378, -0.08721767, -0.09944315, 0.02504519, 0.98142698, 0.00023398, -0.00053247, 0.19183519, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.15, "tool": [ -0.11739, -0.12024, 0.03811 ], "objects": { "red_block": [ -0.08147, -0.09464, 0.02503 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11714104, -0.12002692, 0.03810849, -0.08124726, -0.09443376, 0.02503069, 0.98003289, 0.00035814, 0.00025732, 0.19883496, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.2, "tool": [ -0.11134, -0.11495, 0.03812 ], "objects": { "red_block": [ -0.07536, -0.08963, 0.02495 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11112411, -0.11474033, 0.03814522, -0.07515056, -0.08943401, 0.02500144, 0.98045532, -0.00067197, 0.0001338, 0.19674068, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.25, "tool": [ -0.10546, -0.1096, 0.03818 ], "objects": { "red_block": [ -0.06912, -0.08481, 0.02509 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.10522534, -0.10938828, 0.03817234, -0.06884646, -0.08464842, 0.02510831, 0.98151234, -0.00141357, 5.196e-05, 0.19139365, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.3, "tool": [ -0.09949, -0.10429, 0.03818 ], "objects": { "red_block": [ -0.06303, -0.08008, 0.0251 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.09924977, -0.1040822, 0.0381699, -0.06276741, -0.07987642, 0.02509631, 0.9814659, 4.112e-05, -3.22e-05, 0.19163683, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.35, "tool": [ -0.09345, -0.09893, 0.03809 ], "objects": { "red_block": [ -0.0569, -0.07509, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.09323342, -0.09872586, 0.03809786, -0.05664397, -0.07490915, 0.02503968, 0.98056697, -0.00050724, -9.474e-05, 0.19618399, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.4, "tool": [ -0.08752, -0.09363, 0.03811 ], "objects": { "red_block": [ -0.05084, -0.07012, 0.02506 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.08728754, -0.09342635, 0.03811545, -0.05058409, -0.06991129, 0.02506125, 0.97945734, -0.00072553, 0.00047359, 0.20164961, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.45, "tool": [ -0.08158, -0.08833, 0.03814 ], "objects": { "red_block": [ -0.04468, -0.06527, 0.02508 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.0813402, -0.0881086, 0.03814399, -0.04441411, -0.06508405, 0.02506903, 0.97924037, 0.00040915, 1.75e-05, 0.20270209, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.5, "tool": [ -0.07559, -0.08301, 0.03816 ], "objects": { "red_block": [ -0.03857, -0.06039, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07534909, -0.08279902, 0.03815037, -0.03835745, -0.0601862, 0.02503844, 0.97992122, -0.00024425, -0.00036482, 0.19938458, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.55, "tool": [ -0.06958, -0.07766, 0.03806 ], "objects": { "red_block": [ -0.03262, -0.05512, 0.02506 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06933709, -0.07744301, 0.03804775, -0.0324114, -0.05490848, 0.02507185, 0.97782095, -0.00049857, -0.00067407, 0.20944087, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.6, "tool": [ -0.06362, -0.07237, 0.03806 ], "objects": { "red_block": [ -0.02692, -0.04956, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06339664, -0.0721623, 0.03806872, -0.02669647, -0.04931754, 0.02510075, 0.97420652, -2.64e-06, 0.00051666, 0.22565769, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.65, "tool": [ -0.05765, -0.06703, 0.03809 ], "objects": { "red_block": [ -0.02075, -0.04459, 0.02492 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05739854, -0.06680556, 0.03808474, -0.02056648, -0.04442063, 0.02494443, 0.97427481, -0.0018268, -0.00028834, 0.22535566, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.7, "tool": [ -0.05175, -0.06177, 0.03823 ], "objects": { "red_block": [ -0.01471, -0.0396, 0.02517 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.0515131, -0.06155505, 0.03822951, -0.01445761, -0.03937359, 0.02512999, 0.97474779, -0.00056534, -0.0001137, 0.22330787, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.75, "tool": [ -0.04572, -0.05645, 0.03817 ], "objects": { "red_block": [ -0.00852, -0.03453, 0.02507 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.04547895, -0.05623429, 0.03816115, -0.00827062, -0.03435422, 0.0250944, 0.97615728, 0.0016872, -0.00018824, 0.21705778, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.8, "tool": [ -0.03978, -0.0511, 0.03821 ], "objects": { "red_block": [ -0.00236, -0.02944, 0.02489 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.03952267, -0.05087764, 0.03820262, -0.002173, -0.02926794, 0.02487793, 0.97763148, 0.0001465, -9.486e-05, 0.21032511, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.85, "tool": [ -0.03383, -0.04581, 0.03821 ], "objects": { "red_block": [ 0.0036, -0.02425, 0.02505 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.03358993, -0.04559957, 0.03820205, 0.00386217, -0.02402511, 0.02503979, 0.97708095, 0.0016298, 0.00040609, 0.21286146, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.9, "tool": [ -0.02783, -0.04042, 0.03812 ], "objects": { "red_block": [ 0.01007, -0.01972, 0.02512 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.02759777, -0.04020618, 0.03811515, 0.01032089, -0.01955594, 0.02516355, 0.97963245, -0.00128572, 6.14e-05, 0.20079494, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.95, "tool": [ -0.02193, -0.03512, 0.0382 ], "objects": { "red_block": [ 0.01614, -0.01484, 0.02513 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.02168945, -0.03490813, 0.03819522, 0.01638621, -0.01461489, 0.02511213, 0.97985805, -0.00076183, -0.00064189, 0.19969277, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.0, "tool": [ -0.0159, -0.0298, 0.0381 ], "objects": { "red_block": [ 0.02235, -0.00985, 0.02509 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.0156579, -0.02958905, 0.03809989, 0.02260552, -0.00961428, 0.02504533, 0.98014485, -0.000463, 4.065e-05, 0.19828228, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.05, "tool": [ -0.00987, -0.02449, 0.03806 ], "objects": { "red_block": [ 0.0284, -0.00452, 0.02505 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.00962046, -0.02427669, 0.03805852, 0.0286129, -0.00431866, 0.02502592, 0.97944815, 0.00045836, 0.0007129, 0.20169433, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.1, "tool": [ -0.00391, -0.01916, 0.03809 ], "objects": { "red_block": [ 0.03469, 7e-05, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.00368066, -0.01895126, 0.03810061, 0.03489592, 0.00025547, 0.0250709, 0.98177499, -0.00056919, 0.0009378, 0.19004385, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.15, "tool": [ 0.00202, -0.01383, 0.03808 ], "objects": { "red_block": [ 0.04084, 0.005, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00226191, -0.01361181, 0.03807545, 0.04109523, 0.00516544, 0.02505325, 0.98274698, 0.00033348, -0.00034265, 0.18495445, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.2, "tool": [ 0.00801, -0.00852, 0.03807 ], "objects": { "red_block": [ 0.04707, 0.00975, 0.02514 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00825156, -0.00830618, 0.03805902, 0.04731622, 0.00994513, 0.02513843, 0.98473894, 0.00017036, 0.00017401, 0.17403783, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.25, "tool": [ 0.01398, -0.00318, 0.03805 ], "objects": { "red_block": [ 0.05311, 0.01489, 0.02503 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01421561, -0.00297601, 0.03804545, 0.05335002, 0.01511318, 0.02504132, 0.9837983, 7.6e-05, -0.00019406, 0.17927875, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.3, "tool": [ 0.01987, 0.00214, 0.03818 ], "objects": { "red_block": [ 0.05921, 0.01975, 0.02508 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02011376, 0.00235676, 0.03817756, 0.05946202, 0.01992311, 0.02505119, 0.98380737, 4.189e-05, -0.00029592, 0.17922883, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.35, "tool": [ 0.02582, 0.00748, 0.03816 ], "objects": { "red_block": [ 0.06538, 0.02431, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02604142, 0.00767521, 0.03818019, 0.06561783, 0.02451242, 0.02512548, 0.98460353, 0.00058602, 0.00073635, 0.17479987, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.4, "tool": [ 0.03185, 0.0128, 0.0381 ], "objects": { "red_block": [ 0.07171, 0.02914, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03209905, 0.01301602, 0.0380878, 0.07194366, 0.0292976, 0.02503225, 0.98592275, 0.00043286, -0.00037621, 0.16720047, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.45, "tool": [ 0.03785, 0.01814, 0.03803 ], "objects": { "red_block": [ 0.07808, 0.03348, 0.0251 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03809174, 0.01835724, 0.03803134, 0.0783318, 0.03363474, 0.02510386, 0.98821537, 0.0011175, -0.00019882, 0.15306568, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.5, "tool": [ 0.04379, 0.02342, 0.03806 ], "objects": { "red_block": [ 0.08458, 0.0375, 0.02507 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.04403113, 0.0236275, 0.03806259, 0.08482613, 0.03768234, 0.02510014, 0.99139808, 0.00168703, 0.00018516, 0.13087005, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.55, "tool": [ 0.04976, 0.0288, 0.03803 ], "objects": { "red_block": [ 0.091, 0.0414, 0.02508 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.04999565, 0.02901722, 0.03803496, 0.0912686, 0.04153486, 0.02509101, 0.99361807, 0.00086507, -0.00037037, 0.11279292, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.6, "tool": [ 0.05565, 0.03409, 0.03811 ], "objects": { "red_block": [ 0.09728, 0.0457, 0.0251 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.05589468, 0.03429459, 0.03810925, 0.09755482, 0.04588485, 0.02512129, 0.99558716, 0.00046481, -0.00043698, 0.09383921, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.65, "tool": [ 0.0617, 0.03941, 0.03808 ], "objects": { "red_block": [ 0.10353, 0.04996, 0.02508 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.06194175, 0.03962903, 0.03807867, 0.1037848, 0.05012618, 0.02504988, 0.99683572, 9.107e-05, -0.00013805, 0.0794891, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.7, "tool": [ 0.06771, 0.04474, 0.03802 ], "objects": { "red_block": [ 0.10984, 0.05417, 0.02505 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.0679483, 0.04495463, 0.03801842, 0.11008156, 0.05432934, 0.02505259, 0.99802173, 0.00012046, -2.494e-05, 0.06286983, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.75, "tool": [ 0.07358, 0.05008, 0.03809 ], "objects": { "red_block": [ 0.11598, 0.05814, 0.02505 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07381913, 0.0502949, 0.03807854, 0.11624044, 0.05832536, 0.02501129, 0.99884399, 0.00015447, -0.00083207, 0.0480621, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.8, "tool": [ 0.07957, 0.05544, 0.03807 ], "objects": { "red_block": [ 0.12209, 0.06216, 0.02503 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07979445, 0.05564302, 0.0380636, 0.12237074, 0.06231834, 0.02505016, 0.99935625, -0.00020169, 0.00073415, 0.03586781, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.85, "tool": [ 0.08555, 0.06075, 0.038 ], "objects": { "red_block": [ 0.12843, 0.06592, 0.02503 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08579144, 0.06096494, 0.03800943, 0.12864382, 0.06606351, 0.02504999, 0.99988661, 0.00028981, 0.00093383, 0.01502713, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.9, "tool": [ 0.09142, 0.06608, 0.03817 ], "objects": { "red_block": [ 0.13442, 0.0701, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09165669, 0.06629122, 0.03816563, 0.13468037, 0.07026172, 0.02493599, 0.99999682, -0.00095611, 0.00045431, -0.00228955, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.95, "tool": [ 0.09742, 0.07145, 0.03813 ], "objects": { "red_block": [ 0.14058, 0.07334, 0.02495 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09764362, 0.07166087, 0.03814427, 0.14079927, 0.07343766, 0.02501193, 0.99956585, 0.0002124, 0.00055408, -0.0294577, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.0, "tool": [ 0.10336, 0.07675, 0.03809 ], "objects": { "red_block": [ 0.14657, 0.07661, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10359731, 0.07696336, 0.03808814, 0.14681299, 0.07674534, 0.02505045, 0.99843847, -0.00011766, -0.00093969, -0.05585458, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.05, "tool": [ 0.10938, 0.08206, 0.03803 ], "objects": { "red_block": [ 0.15257, 0.08023, 0.02505 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10962456, 0.08227426, 0.03801738, 0.15284687, 0.08037597, 0.02499347, 0.99713297, -0.00086656, -0.00044204, -0.07566298, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.1, "tool": [ 0.11539, 0.08741, 0.03799 ], "objects": { "red_block": [ 0.15845, 0.08376, 0.02507 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11561576, 0.08762263, 0.03799163, 0.15868493, 0.08389563, 0.02506858, 0.99521399, -0.00012889, -0.00041004, -0.09771858, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.15, "tool": [ 0.12131, 0.09273, 0.03804 ], "objects": { "red_block": [ 0.1641, 0.08671, 0.02516 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.1215402, 0.09294615, 0.0380446, 0.16432242, 0.08682444, 0.0251726, 0.99256277, 0.00027799, -0.00022415, -0.12173339, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.2, "tool": [ 0.12726, 0.09803, 0.03807 ], "objects": { "red_block": [ 0.1696, 0.08984, 0.02509 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.12750013, 0.09824728, 0.03805988, 0.16984755, 0.08997342, 0.02505584, 0.98944217, 0.00060637, -0.00080615, -0.1449247, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.25, "tool": [ 0.13325, 0.10339, 0.03803 ], "objects": { "red_block": [ 0.17518, 0.09291, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13348622, 0.10360967, 0.03804114, 0.17533646, 0.09300688, 0.02501778, 0.98522172, -0.00044317, 0.00013571, -0.17128324, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.3, "tool": [ 0.13924, 0.10873, 0.03804 ], "objects": { "red_block": [ 0.18021, 0.0952, 0.02495 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13946988, 0.10894951, 0.03805358, 0.18037863, 0.09526295, 0.0250074, 0.97897787, -0.00043184, -0.00028871, -0.20396581, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.35, "tool": [ 0.14519, 0.11407, 0.03813 ], "objects": { "red_block": [ 0.18471, 0.09688, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14540344, 0.11428687, 0.03813888, 0.18487395, 0.09693654, 0.02504408, 0.97186064, -0.00062577, 0.00107054, -0.23555331, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.4, "tool": [ 0.1512, 0.1194, 0.0381 ], "objects": { "red_block": [ 0.18847, 0.09788, 0.02508 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15144741, 0.11961619, 0.0380927, 0.18861447, 0.09787896, 0.02503164, 0.96285786, 0.00029796, -0.00085812, -0.27000726, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.45, "tool": [ 0.1573, 0.12473, 0.03808 ], "objects": { "red_block": [ 0.19098, 0.09767, 0.02494 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15755962, 0.12494602, 0.03807255, 0.19103428, 0.09766195, 0.02490084, 0.95349213, -0.00181142, 0.00071208, -0.30141164, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.5, "tool": [ 0.16338, 0.13005, 0.03804 ], "objects": { "red_block": [ 0.1925, 0.09738, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.16362429, 0.13026692, 0.03803941, 0.19254497, 0.09737466, 0.02502036, 0.94622357, 0.00085431, 9.068e-05, -0.32351231, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.55, "tool": [ 0.16943, 0.13537, 0.03801 ], "objects": { "red_block": [ 0.19367, 0.0973, 0.02503 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.16966759, 0.13558023, 0.03801005, 0.19371528, 0.0973006, 0.02501905, 0.93943378, 0.00054368, -0.00054635, -0.34272961, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.6, "tool": [ 0.17542, 0.14067, 0.038 ], "objects": { "red_block": [ 0.19452, 0.0973, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17565326, 0.14086674, 0.03800232, 0.19452406, 0.09730474, 0.02498751, 0.93528061, -0.00035901, 0.00053427, -0.35390643, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.65, "tool": [ 0.17885, 0.14361, 0.038 ], "objects": { "red_block": [ 0.19491, 0.09728, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17890772, 0.14366703, 0.03800056, 0.19492149, 0.0972811, 0.02498671, 0.93291456, 0.00028161, 0.00018868, -0.36009765, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.7, "tool": [ 0.17972, 0.14436, 0.03804 ], "objects": { "red_block": [ 0.19501, 0.09729, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17973814, 0.14436892, 0.03807096, 0.19501185, 0.09728921, 0.0249985, 0.93247008, 1.682e-05, 7.94e-06, -0.36124721, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.75, "tool": [ 0.18004, 0.14454, 0.04291 ], "objects": { "red_block": [ 0.19509, 0.09727, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18005122, 0.14453663, 0.04323585, 0.19508846, 0.09726981, 0.02499242, 0.93213094, -2.233e-05, -6.62e-05, -0.36212138, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.8, "tool": [ 0.18015, 0.14457, 0.05235 ], "objects": { "red_block": [ 0.19522, 0.09724, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18014821, 0.14456523, 0.05276748, 0.19522353, 0.09723732, 0.02499241, 0.93160603, -2.041e-05, -4.415e-05, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.85, "tool": [ 0.18018, 0.14456, 0.06298 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18018504, 0.14455947, 0.0634094, 0.1952252, 0.09723559, 0.02499566, 0.93160603, -4.8e-07, -1.04e-06, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.9, "tool": [ 0.18019, 0.14456, 0.07387 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019387, 0.14455802, 0.07430251, 0.19522524, 0.09723554, 0.02499574, 0.93160603, -1e-08, -2e-08, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.95, "tool": [ 0.1802, 0.14456, 0.08482 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019596, 0.14455767, 0.08525518, 0.19522524, 0.09723554, 0.02499574, 0.93160603, -0.0, -0.0, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 6.0, "tool": [ 0.1802, 0.14456, 0.09578 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019646, 0.14455759, 0.096222, 0.19522524, 0.09723554, 0.02499574, 0.93160603, -0.0, -0.0, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 6.05, "tool": [ 0.1802, 0.14456, 0.10675 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019658, 0.14455757, 0.10719217, 0.19522524, 0.09723554, 0.02499574, 0.93160603, 0.0, 0.0, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 6.1, "tool": [ 0.1802, 0.14456, 0.11772 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019661, 0.14455757, 0.11816315, 0.19522524, 0.09723554, 0.02499574, 0.93160603, 0.0, 0.0, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 6.15, "tool": [ 0.1802, 0.14456, 0.1287 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019661, 0.14455757, 0.12913431, 0.19522524, 0.09723554, 0.02499574, 0.93160603, 0.0, 0.0, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 6.2, "tool": [ 0.1802, 0.14456, 0.13967 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019662, 0.14455757, 0.14010552, 0.19522524, 0.09723554, 0.02499574, 0.93160603, 0.0, 0.0, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 6.25, "tool": [ 0.1802, 0.14456, 0.15064 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019662, 0.14455757, 0.15107223, 0.19522524, 0.09723554, 0.02499574, 0.93160603, 0.0, 0.0, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 6.3, "tool": [ 0.1802, 0.14456, 0.15762 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019662, 0.14455757, 0.15774879, 0.19522524, 0.09723554, 0.02499574, 0.93160603, 0.0, 0.0, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 6.35, "tool": [ 0.1802, 0.14456, 0.15943 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18019662, 0.14455757, 0.15946457, 0.19522524, 0.09723554, 0.02499574, 0.93160603, 0.0, 0.0, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 6.4, "tool": [ 0.1802, 0.14456, 0.15987 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18019662, 0.14455757, 0.15987284, 0.19522524, 0.09723554, 0.02499574, 0.93160603, 0.0, 0.0, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 6.45, "tool": [ 0.1802, 0.14456, 0.15997 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18019662, 0.14455757, 0.1599698, 0.19522524, 0.09723554, 0.02499574, 0.93160603, 0.0, 0.0, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 6.5, "tool": [ 0.1802, 0.14456, 0.15999 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18019662, 0.14455757, 0.15999283, 0.19522524, 0.09723554, 0.02499574, 0.93160603, 0.0, 0.0, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 6.55, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.1599983, 0.19522524, 0.09723554, 0.02499574, 0.93160603, 0.0, 0.0, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 6.6, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.1599996, 0.19522524, 0.09723554, 0.02499574, 0.93160603, 0.0, 0.0, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 6.65, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.1599999, 0.19522524, 0.09723554, 0.02499574, 0.93160603, 0.0, 0.0, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 6.7, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.15999998, 0.19522524, 0.09723554, 0.02499574, 0.93160603, 0.0, 0.0, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 6.75, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.15999999, 0.19522524, 0.09723554, 0.02499574, 0.93160603, 0.0, 0.0, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 6.8, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.16, 0.19522524, 0.09723554, 0.02499574, 0.93160603, 0.0, 0.0, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 6.85, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.16, 0.19522524, 0.09723554, 0.02499574, 0.93160603, 0.0, 0.0, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 6.9, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.16, 0.19522524, 0.09723554, 0.02499574, 0.93160603, 0.0, 0.0, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 6.95, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.16, 0.19522524, 0.09723554, 0.02499574, 0.93160603, 0.0, 0.0, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 7.0, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.16, 0.19522524, 0.09723554, 0.02499574, 0.93160603, 0.0, 0.0, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 7.05, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.16, 0.19522524, 0.09723554, 0.02499574, 0.93160603, 0.0, 0.0, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 7.1, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.16, 0.19522524, 0.09723554, 0.02499574, 0.93160603, 0.0, 0.0, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 7.15, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.16, 0.19522524, 0.09723554, 0.02499574, 0.93160603, 0.0, 0.0, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 7.198, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.19523, 0.09724, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455757, 0.16, 0.19522524, 0.09723554, 0.02499574, 0.93160603, 0.0, 0.0, -0.36346968, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] } ], "events": [ { "t": 0.3, "type": "start", "message": "open_loop: 빨간 블록을 오른쪽 목표로 밀어줘" }, { "t": 7.198, "type": "failure", "message": "최종 거리 0.0864 m · 정지 상태 False" } ] }, { "id": "heavy-2-closed_loop", "policy": "closed_loop", "scenario": "heavy", "seed": 2, "task": { "object_name": "red_block", "goal": "right", "instruction": "빨간 블록을 오른쪽 목표로 밀어줘" }, "parameters": { "friction": 0.7, "mass": 0.18, "disturbance": false }, "success": true, "final_distance_m": 0.008714565624738227, "settled": true, "sim_time_s": 18.956000000000373, "wall_time_s": 0.3577200999716297, "timed_out": false, "termination_reason": "success", "contact_steps": 1419, "peak_contact_point_force_n": 6.7943556087633405, "unintended_contact_steps": 0, "distractor_displacement_m": 1.0089661770143967e-08, "workspace_violation": false, "replans": 5, "disturbance_applied": false, "trajectory": [ { "t": 0.05, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.02495 ], "blue_block": [ 0.16571, -0.1704, 0.02495 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007544, 0.02495923, 1.0, 3e-08, -1e-08, -0.0, 0.16571129, -0.1704042, 0.02495923, 1.0, 3e-08, -1e-08, 0.0 ] }, { "t": 0.1, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.02499 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007543, 0.02499488, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040419, 0.02499488, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.15, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007543, 0.02499572, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040419, 0.02499572, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.2, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.25, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.3, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 0.35, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 0.4, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 0.45, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 0.5, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 0.55, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 0.6, "tool": [ -0.00423, -0.31793, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.00456791, -0.31776454, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 0.65, "tool": [ -0.01458, -0.31287, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.01504046, -0.31263946, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 0.7, "tool": [ -0.0266, -0.30698, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.02709665, -0.30673936, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 0.75, "tool": [ -0.03903, -0.3009, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.03953006, -0.30065466, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 0.8, "tool": [ -0.05155, -0.29477, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05205305, -0.29452613, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 0.85, "tool": [ -0.0641, -0.28863, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.06459731, -0.28838718, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 0.9, "tool": [ -0.07664, -0.28249, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.07714663, -0.28224575, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 0.95, "tool": [ -0.0892, -0.27635, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.08969715, -0.27610375, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.0, "tool": [ -0.10175, -0.27021, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.10224795, -0.2699616, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.05, "tool": [ -0.1143, -0.26407, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.11479882, -0.26381942, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.1, "tool": [ -0.12685, -0.25792, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.12734971, -0.25767723, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.15, "tool": [ -0.1394, -0.25178, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.1399006, -0.25153504, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.2, "tool": [ -0.15195, -0.24564, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.15245149, -0.24539284, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.25, "tool": [ -0.1645, -0.2395, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.16500238, -0.23925065, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.3, "tool": [ -0.17705, -0.23335, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.17755327, -0.23310846, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.35, "tool": [ -0.1896, -0.22721, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.19010416, -0.22696627, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.4, "tool": [ -0.20215, -0.22107, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.20265505, -0.22082408, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.45, "tool": [ -0.21402, -0.21526, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.21436724, -0.21509233, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.5, "tool": [ -0.21886, -0.2129, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.21894285, -0.21285311, 0.16, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.55, "tool": [ -0.22003, -0.21232, 0.15946 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22004899, -0.21231178, 0.15933176, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.6, "tool": [ -0.22031, -0.21219, 0.15331 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22031179, -0.21218317, 0.1529774, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.65, "tool": [ -0.22037, -0.21215, 0.14424 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.2203742, -0.21215262, 0.14385873, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.7, "tool": [ -0.22039, -0.21215, 0.13446 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22038902, -0.21214537, 0.13406812, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.75, "tool": [ -0.22039, -0.21214, 0.12452 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039254, -0.21214365, 0.12411785, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.8, "tool": [ -0.22039, -0.21214, 0.11453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039338, -0.21214324, 0.11412966, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.85, "tool": [ -0.22039, -0.21214, 0.10453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039358, -0.21214314, 0.10413246, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.9, "tool": [ -0.22039, -0.21214, 0.09453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039363, -0.21214312, 0.09413313, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 1.95, "tool": [ -0.22039, -0.21214, 0.08453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214311, 0.08413328, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.0, "tool": [ -0.22039, -0.21214, 0.07453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214311, 0.07413332, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.05, "tool": [ -0.22039, -0.21214, 0.06453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214311, 0.06413333, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.1, "tool": [ -0.22039, -0.21214, 0.05453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214311, 0.05413333, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.15, "tool": [ -0.22039, -0.21214, 0.04465 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214311, 0.0443044, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.2, "tool": [ -0.22039, -0.21214, 0.03963 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214311, 0.03954041, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.25, "tool": [ -0.22033, -0.21208, 0.03839 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.22029143, -0.2120521, 0.03836608, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.3, "tool": [ -0.21735, -0.20943, 0.03809 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.21716308, -0.2092665, 0.03808694, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.35, "tool": [ -0.21212, -0.20477, 0.03802 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.21189003, -0.20457118, 0.03802065, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.4, "tool": [ -0.20632, -0.19961, 0.03801 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.20608213, -0.19939961, 0.0380049, -0.16191939, -0.16007543, 0.02499574, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.45, "tool": [ -0.2006, -0.19444, 0.03804 ], "objects": { "red_block": [ -0.16128, -0.15966, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.2004195, -0.19426506, 0.03804229, -0.16102151, -0.15953094, 0.02502581, 0.99997404, 0.00040332, 0.0004996, 0.00717687, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.5, "tool": [ -0.19493, -0.18938, 0.03812 ], "objects": { "red_block": [ -0.15528, -0.15545, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.19468546, -0.18916436, 0.03811442, -0.15508285, -0.15529538, 0.02503973, 0.99958378, -0.00052898, -6.1e-07, 0.0288443, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.55, "tool": [ -0.18909, -0.18404, 0.0382 ], "objects": { "red_block": [ -0.14953, -0.15085, 0.0251 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.18883887, -0.18381491, 0.03819569, -0.14928793, -0.15067698, 0.02501968, 0.99867553, -0.0016203, 0.0012392, 0.05141027, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.6, "tool": [ -0.18305, -0.17874, 0.03814 ], "objects": { "red_block": [ -0.14435, -0.14682, 0.02509 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.18280556, -0.17852861, 0.03813648, -0.14411648, -0.14664586, 0.02509333, 0.9972007, -0.00034521, 0.00082616, 0.07476605, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.65, "tool": [ -0.17706, -0.1734, 0.03817 ], "objects": { "red_block": [ -0.13908, -0.14262, 0.02507 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17683445, -0.17319564, 0.03817188, -0.13888052, -0.14241844, 0.02507015, 0.99583281, -0.00061105, -0.00010651, 0.09119559, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.7, "tool": [ -0.17113, -0.1681, 0.03819 ], "objects": { "red_block": [ -0.13376, -0.138, 0.02507 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17090066, -0.16788763, 0.03819325, -0.13355499, -0.13779567, 0.0250647, 0.99401904, -0.00113401, -0.00090545, 0.10919727, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.75, "tool": [ -0.16522, -0.16278, 0.03829 ], "objects": { "red_block": [ -0.1285, -0.13372, 0.02519 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.16499172, -0.16257465, 0.03829788, -0.1282732, -0.13351069, 0.02518424, 0.99149734, -0.00094815, -0.00021259, 0.1301233, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.8, "tool": [ -0.15929, -0.15746, 0.03836 ], "objects": { "red_block": [ -0.12298, -0.12911, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.15904722, -0.15724068, 0.03835205, -0.12276936, -0.12895243, 0.02507022, 0.98913468, 0.00106632, -0.00087508, 0.14700572, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 2.85, "tool": [ -0.15319, -0.15214, 0.03815 ], "objects": { "red_block": [ -0.11736, -0.12403, 0.0251 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.15294446, -0.15192973, 0.03814044, -0.11710263, -0.12380479, 0.02503189, 0.98642907, 0.00020731, -0.00044782, 0.16418725, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.9, "tool": [ -0.1472, -0.14682, 0.03813 ], "objects": { "red_block": [ -0.11169, -0.11891, 0.02513 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14695489, -0.14661531, 0.03812054, -0.11144908, -0.11869121, 0.02513661, 0.98480161, 0.00032664, -0.00083972, 0.1736807, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 2.95, "tool": [ -0.14129, -0.14147, 0.03825 ], "objects": { "red_block": [ -0.1058, -0.11412, 0.02506 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14106734, -0.14126469, 0.03825934, -0.10557482, -0.11392532, 0.02510344, 0.98311521, 5.637e-05, 0.0001512, 0.18298761, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.0, "tool": [ -0.13539, -0.13617, 0.03824 ], "objects": { "red_block": [ -0.09977, -0.10965, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13518394, -0.13599467, 0.03822542, -0.09953598, -0.1094895, 0.02502714, 0.98147209, -0.00024866, -0.0007759, 0.19160344, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.05, "tool": [ -0.13217, -0.13343, 0.03812 ], "objects": { "red_block": [ -0.09652, -0.10713, 0.02494 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13211931, -0.13338194, 0.03813355, -0.09647722, -0.10709166, 0.0249529, 0.98083836, 0.00064249, 0.00042269, 0.19482178, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.1, "tool": [ -0.13149, -0.1328, 0.03824 ], "objects": { "red_block": [ -0.09581, -0.10659, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13146908, -0.13278583, 0.03829535, -0.09579453, -0.10659165, 0.02499966, 0.98051359, 0.00010888, -0.00012985, 0.1964512, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.15, "tool": [ -0.13114, -0.13254, 0.04349 ], "objects": { "red_block": [ -0.09538, -0.10651, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13113086, -0.13253153, 0.04382652, -0.09536637, -0.10650827, 0.02496789, 0.97951373, -0.00016043, -9.457e-05, 0.2013773, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.2, "tool": [ -0.13094, -0.13242, 0.05312 ], "objects": { "red_block": [ -0.09516, -0.10649, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13093035, -0.13241783, 0.05353522, -0.09516324, -0.106488, 0.02498762, 0.97909081, -8.65e-05, -6.036e-05, 0.20342362, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.25, "tool": [ -0.13081, -0.13236, 0.06383 ], "objects": { "red_block": [ -0.09516, -0.10649, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13081267, -0.13236079, 0.0642596, -0.09515942, -0.10649159, 0.02499555, 0.97909077, -2.04e-06, -1.46e-06, 0.20342384, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.3, "tool": [ -0.13082, -0.13236, 0.07471 ], "objects": { "red_block": [ -0.09506, -0.10646, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13081293, -0.13235951, 0.07515067, -0.09506158, -0.10645458, 0.02498654, 0.97906818, 2.765e-05, -0.00017704, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.35, "tool": [ -0.13078, -0.13235, 0.08569 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13078319, -0.13234626, 0.0861256, -0.09505327, -0.10645146, 0.02499552, 0.97906819, 6.6e-07, -4.18e-06, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.4, "tool": [ -0.13078, -0.13234, 0.09666 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077579, -0.13234297, 0.09709796, -0.09505307, -0.10645138, 0.02499574, 0.97906819, 2e-08, -1e-07, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.45, "tool": [ -0.13077, -0.13234, 0.10763 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077403, -0.13234218, 0.10806946, -0.09505307, -0.10645138, 0.02499574, 0.97906819, 0.0, -0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.5, "tool": [ -0.13077, -0.13234, 0.1186 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077361, -0.132342, 0.11904075, -0.09505307, -0.10645138, 0.02499574, 0.97906819, 0.0, -0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.55, "tool": [ -0.13077, -0.13234, 0.12957 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077351, -0.13234195, 0.13001199, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.6, "tool": [ -0.13077, -0.13234, 0.14054 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077349, -0.13234194, 0.14098321, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.65, "tool": [ -0.13077, -0.13234, 0.1515 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234194, 0.15191454, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.7, "tool": [ -0.13077, -0.13234, 0.15787 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234194, 0.15799258, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.75, "tool": [ -0.13077, -0.13234, 0.15949 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.13077348, -0.13234194, 0.15952274, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.8, "tool": [ -0.13077, -0.13234, 0.15988 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.13077348, -0.13234194, 0.15988666, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.85, "tool": [ -0.13077, -0.13234, 0.15997 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.13077348, -0.13234194, 0.15997308, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.9, "tool": [ -0.13077, -0.13234, 0.15999 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.13077348, -0.13234194, 0.15999361, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 3.95, "tool": [ -0.13077, -0.13234, 0.16 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234194, 0.15999848, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.0, "tool": [ -0.13077, -0.13234, 0.16 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234194, 0.15999964, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.05, "tool": [ -0.13077, -0.13234, 0.16 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234194, 0.15999991, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.1, "tool": [ -0.13077, -0.13234, 0.16 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234194, 0.15999998, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.15, "tool": [ -0.13077, -0.13234, 0.16 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234194, 0.16, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.2, "tool": [ -0.13078, -0.13235, 0.16 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.1307972, -0.13237149, 0.16, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.25, "tool": [ -0.13352, -0.13576, 0.16 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.13370582, -0.13599533, 0.16, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.3, "tool": [ -0.13907, -0.14268, 0.16 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.13931781, -0.14298728, 0.16, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.35, "tool": [ -0.14536, -0.15051, 0.16 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.14559932, -0.1508134, 0.16, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.4, "tool": [ -0.14909, -0.15516, 0.16 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.14916088, -0.15525072, 0.16, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.45, "tool": [ -0.15004, -0.15635, 0.15998 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.15005824, -0.15636874, 0.15996364, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.5, "tool": [ -0.15027, -0.15663, 0.1558 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.15027166, -0.15663465, 0.15550362, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.55, "tool": [ -0.15032, -0.1567, 0.14727 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.15032235, -0.1566978, 0.14689832, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.6, "tool": [ -0.15033, -0.15671, 0.13762 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.15033439, -0.15671279, 0.13723003, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.65, "tool": [ -0.15034, -0.15672, 0.12771 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.15033724, -0.15671635, 0.1273088, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.7, "tool": [ -0.15034, -0.15672, 0.11773 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.15033792, -0.1567172, 0.11732751, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.75, "tool": [ -0.15034, -0.15672, 0.10773 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.15033808, -0.1567174, 0.10733195, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.8, "tool": [ -0.15034, -0.15672, 0.09773 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.15033812, -0.15671745, 0.097333, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.85, "tool": [ -0.15034, -0.15672, 0.08773 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.15033813, -0.15671746, 0.08733326, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.9, "tool": [ -0.15034, -0.15672, 0.07773 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.15033813, -0.15671746, 0.07733331, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 4.95, "tool": [ -0.15034, -0.15672, 0.06773 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.15033813, -0.15671746, 0.06733333, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.0, "tool": [ -0.15034, -0.15672, 0.05773 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.15033813, -0.15671746, 0.05733333, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.05, "tool": [ -0.15034, -0.15672, 0.04773 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.15033813, -0.15671746, 0.04733333, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.1, "tool": [ -0.15034, -0.15672, 0.04058 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.15033813, -0.15671746, 0.0404362, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.15, "tool": [ -0.15034, -0.15672, 0.03861 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.15033813, -0.15671746, 0.03857991, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.2, "tool": [ -0.14866, -0.15519, 0.03815 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14850639, -0.15505201, 0.03813772, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.25, "tool": [ -0.14391, -0.15088, 0.03803 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14369882, -0.15068089, 0.03803271, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.3, "tool": [ -0.13829, -0.14576, 0.03801 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13805645, -0.14555076, 0.03800777, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.35, "tool": [ -0.13245, -0.14045, 0.038 ], "objects": { "red_block": [ -0.09505, -0.10645, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13221504, -0.14023965, 0.03800184, -0.09505307, -0.10645138, 0.02499574, 0.97906819, -0.0, 0.0, 0.20353249, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.4, "tool": [ -0.12695, -0.13541, 0.03809 ], "objects": { "red_block": [ -0.09355, -0.10508, 0.02513 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12673799, -0.13521293, 0.03809896, -0.09330642, -0.1048732, 0.02512945, 0.97771625, 0.00035481, 0.00043276, 0.20993006, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.45, "tool": [ -0.12123, -0.1301, 0.03817 ], "objects": { "red_block": [ -0.08752, -0.10039, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12100091, -0.12988927, 0.03816854, -0.08725107, -0.10022945, 0.02504856, 0.97708629, -0.00101766, 0.00129246, 0.21283721, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.5, "tool": [ -0.11536, -0.12472, 0.03816 ], "objects": { "red_block": [ -0.08117, -0.0959, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11511079, -0.12449818, 0.0381548, -0.08092236, -0.09573393, 0.02498504, 0.9776337, 0.00082961, 0.00028399, 0.21031304, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.55, "tool": [ -0.10942, -0.11935, 0.03812 ], "objects": { "red_block": [ -0.07572, -0.09062, 0.02513 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.10918488, -0.11914094, 0.03812053, -0.07549963, -0.09038786, 0.02512202, 0.97338187, -0.00083897, -0.00164938, 0.22918184, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.6, "tool": [ -0.10347, -0.11402, 0.03811 ], "objects": { "red_block": [ -0.07011, -0.08519, 0.02505 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.10322216, -0.11380233, 0.03810507, -0.06989857, -0.08497149, 0.0250082, 0.97004378, 0.0004637, -0.00055638, 0.24292908, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.65, "tool": [ -0.09758, -0.10868, 0.03814 ], "objects": { "red_block": [ -0.06446, -0.07982, 0.02507 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.09734968, -0.10847203, 0.03814111, -0.06419824, -0.07959446, 0.02507227, 0.96758182, 0.0007589, 0.00154661, 0.2525519, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.7, "tool": [ -0.09165, -0.10325, 0.03806 ], "objects": { "red_block": [ -0.05841, -0.07466, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.09140789, -0.10302912, 0.03805718, -0.05819786, -0.07446398, 0.02498458, 0.96705251, -0.00025567, 0.00029433, 0.25457669, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.75, "tool": [ -0.08576, -0.09791, 0.03805 ], "objects": { "red_block": [ -0.05264, -0.06938, 0.02508 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.08551296, -0.09769334, 0.03804959, -0.05240708, -0.0691573, 0.02505544, 0.96406905, 0.00101954, 4.472e-05, 0.26564983, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.8, "tool": [ -0.07981, -0.09253, 0.03802 ], "objects": { "red_block": [ -0.04686, -0.06397, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07956478, -0.09230886, 0.03801266, -0.04662767, -0.06379426, 0.02498713, 0.96221692, -0.00042215, 0.00011872, 0.2722837, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.85, "tool": [ -0.07387, -0.0872, 0.03802 ], "objects": { "red_block": [ -0.04125, -0.05855, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07363359, -0.08699489, 0.03802025, -0.04101089, -0.05832538, 0.02508192, 0.95884869, -1.983e-05, -4.39e-06, 0.28391756, 0.16571129, -0.17040419, 0.02499574, 1.0, -0.0, 0.0, 0.0 ] }, { "t": 5.9, "tool": [ -0.06798, -0.08182, 0.03803 ], "objects": { "red_block": [ -0.03542, -0.05314, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06775319, -0.08160014, 0.03804469, -0.03521083, -0.05294319, 0.02504815, 0.95711946, 0.00106898, -0.00040043, 0.28969129, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 5.95, "tool": [ -0.06356, -0.07771, 0.03808 ], "objects": { "red_block": [ -0.03094, -0.04921, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.0634661, -0.07762392, 0.03808046, -0.03086757, -0.0491346, 0.02499671, 0.95508931, -6.031e-05, 0.00016376, 0.29631805, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 6.0, "tool": [ -0.06234, -0.07664, 0.03812 ], "objects": { "red_block": [ -0.02981, -0.04812, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06232275, -0.07662202, 0.03812342, -0.02978977, -0.0481027, 0.02499532, 0.95453311, -7.785e-05, 0.00015852, 0.29810485, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 6.05, "tool": [ -0.06196, -0.0763, 0.04078 ], "objects": { "red_block": [ -0.02935, -0.04783, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06194375, -0.07629365, 0.04104649, -0.02934068, -0.04781912, 0.0249932, 0.95383585, 1.85e-06, 0.00037393, 0.30032819, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 6.1, "tool": [ -0.06177, -0.07615, 0.04941 ], "objects": { "red_block": [ -0.02915, -0.04768, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06176684, -0.07614842, 0.04981524, -0.02915552, -0.04768372, 0.02500248, 0.95372279, -5.573e-05, 3.877e-05, 0.30068729, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 6.15, "tool": [ -0.06169, -0.07609, 0.05986 ], "objects": { "red_block": [ -0.02903, -0.04763, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06168167, -0.07608385, 0.06029794, -0.02902286, -0.04762665, 0.02496761, 0.95347421, -5.59e-05, -0.00061085, 0.30147396, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 6.2, "tool": [ -0.06161, -0.07603, 0.07076 ], "objects": { "red_block": [ -0.02894, -0.04758, 0.02506 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.0616114, -0.07603347, 0.07119596, -0.02892463, -0.04757181, 0.02506672, 0.95346003, -0.00040977, 0.00123718, 0.30151663, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 6.25, "tool": [ -0.06158, -0.07601, 0.08173 ], "objects": { "red_block": [ -0.02892, -0.04756, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.0615764, -0.07600865, 0.08216547, -0.0289163, -0.04756043, 0.02499197, 0.95342649, 1.329e-05, -5.166e-05, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 6.3, "tool": [ -0.06156, -0.076, 0.09271 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.061557, -0.07599496, 0.09314577, -0.02891406, -0.04755903, 0.02499565, 0.95342649, 3.1e-07, -1.22e-06, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 6.35, "tool": [ -0.06155, -0.07599, 0.10368 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06155232, -0.07599166, 0.10411921, -0.02891401, -0.04755899, 0.02499574, 0.95342649, 1e-08, -3e-08, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 6.4, "tool": [ -0.06155, -0.07599, 0.11465 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06155121, -0.07599088, 0.11509096, -0.02891401, -0.04755899, 0.02499574, 0.95342649, 0.0, -0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 6.45, "tool": [ -0.06155, -0.07599, 0.12562 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06155095, -0.07599069, 0.12606231, -0.02891401, -0.04755899, 0.02499574, 0.95342649, 0.0, -0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 6.5, "tool": [ -0.06155, -0.07599, 0.13659 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06155089, -0.07599065, 0.13703356, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 6.55, "tool": [ -0.06155, -0.07599, 0.14757 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06155087, -0.07599064, 0.14800479, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 6.6, "tool": [ -0.06155, -0.07599, 0.15645 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06155087, -0.07599063, 0.15664236, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 6.65, "tool": [ -0.06155, -0.07599, 0.15915 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06155087, -0.07599063, 0.15919926, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 6.7, "tool": [ -0.06155, -0.07599, 0.1598 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.06155087, -0.07599063, 0.15980982, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 6.75, "tool": [ -0.06155, -0.07599, 0.15995 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.06155087, -0.07599063, 0.15995484, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 6.8, "tool": [ -0.06155, -0.07599, 0.15999 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.06155087, -0.07599063, 0.15998927, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 6.85, "tool": [ -0.06155, -0.07599, 0.16 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.06155087, -0.07599063, 0.15999745, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 6.9, "tool": [ -0.06155, -0.07599, 0.16 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06155087, -0.07599063, 0.1599994, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 6.95, "tool": [ -0.06155, -0.07599, 0.16 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06155087, -0.07599063, 0.15999986, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 7.0, "tool": [ -0.06155, -0.07599, 0.16 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06155087, -0.07599063, 0.15999997, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 7.05, "tool": [ -0.06155, -0.07599, 0.16 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06155087, -0.07599063, 0.15999999, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 7.1, "tool": [ -0.06155, -0.07599, 0.16 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.06155087, -0.07599063, 0.16, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 7.15, "tool": [ -0.06281, -0.07723, 0.16 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.06295137, -0.07737061, 0.16, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 7.2, "tool": [ -0.06777, -0.08211, 0.16 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.06800106, -0.08234632, 0.16, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 7.25, "tool": [ -0.07396, -0.08822, 0.16 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.07421881, -0.08847297, 0.16, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 7.3, "tool": [ -0.0792, -0.09338, 0.16 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.07931545, -0.09349494, 0.16, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 7.35, "tool": [ -0.0808, -0.09496, 0.16 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.08082925, -0.09498656, 0.16, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 7.4, "tool": [ -0.08118, -0.09534, 0.15809 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08119076, -0.09534277, 0.15787293, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 7.45, "tool": [ -0.08128, -0.09543, 0.15056 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08127663, -0.09542738, 0.15020347, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 7.5, "tool": [ -0.0813, -0.09545, 0.14115 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08129702, -0.09544747, 0.14075999, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 7.55, "tool": [ -0.0813, -0.09545, 0.13129 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08130186, -0.09545224, 0.13089217, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 7.6, "tool": [ -0.0813, -0.09545, 0.12132 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08130301, -0.09545338, 0.12092356, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 7.65, "tool": [ -0.0813, -0.09545, 0.11133 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08130328, -0.09545364, 0.11093101, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 7.7, "tool": [ -0.0813, -0.09545, 0.10133 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08130335, -0.09545371, 0.10093278, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 7.75, "tool": [ -0.0813, -0.09545, 0.09133 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08130336, -0.09545372, 0.0909332, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 7.8, "tool": [ -0.0813, -0.09545, 0.08133 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08130337, -0.09545373, 0.0809333, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 7.85, "tool": [ -0.0813, -0.09545, 0.07133 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08130337, -0.09545373, 0.07093333, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 7.9, "tool": [ -0.0813, -0.09545, 0.06133 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08130337, -0.09545373, 0.06093333, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 7.95, "tool": [ -0.0813, -0.09545, 0.05133 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08130337, -0.09545373, 0.05093333, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 8.0, "tool": [ -0.0813, -0.09545, 0.0423 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08130337, -0.09545373, 0.0420609, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 8.05, "tool": [ -0.0813, -0.09545, 0.03903 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.08130337, -0.09545373, 0.03897289, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 8.1, "tool": [ -0.08074, -0.09493, 0.03824 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.0806376, -0.09484508, 0.03823109, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 8.15, "tool": [ -0.07676, -0.0913, 0.03806 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07655645, -0.09111406, 0.03805488, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 8.2, "tool": [ -0.07132, -0.08633, 0.03801 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07108997, -0.08611657, 0.03801303, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 8.25, "tool": [ -0.06552, -0.08103, 0.038 ], "objects": { "red_block": [ -0.02891, -0.04756, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06528956, -0.08081379, 0.03800309, -0.02891401, -0.04755899, 0.02499574, 0.95342649, -0.0, 0.0, 0.30162549, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 8.3, "tool": [ -0.05988, -0.07586, 0.03803 ], "objects": { "red_block": [ -0.02812, -0.04679, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05969305, -0.07568736, 0.03804028, -0.0278909, -0.04656925, 0.02503798, 0.95288313, -0.00034386, -0.00035641, 0.30333727, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 8.35, "tool": [ -0.05417, -0.07069, 0.03803 ], "objects": { "red_block": [ -0.02254, -0.0412, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05394352, -0.07047744, 0.03803467, -0.02232235, -0.04097154, 0.02504243, 0.94858025, 0.00040764, 0.00037097, 0.31653625, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 8.4, "tool": [ -0.04834, -0.06527, 0.03814 ], "objects": { "red_block": [ -0.01688, -0.03574, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.04812995, -0.06507098, 0.03816154, -0.01665506, -0.03551942, 0.02509106, 0.94576889, 0.00085966, 0.00035166, 0.32483896, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 8.45, "tool": [ -0.04247, -0.05989, 0.03817 ], "objects": { "red_block": [ -0.01099, -0.03035, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.04222658, -0.05966491, 0.03815862, -0.01078661, -0.03012641, 0.02499987, 0.94455391, 0.00028309, 2.508e-05, 0.32835624, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 8.5, "tool": [ -0.03656, -0.05447, 0.03815 ], "objects": { "red_block": [ -0.00501, -0.025, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.03633005, -0.05425787, 0.03816051, -0.00479156, -0.02478387, 0.02501417, 0.94561418, -0.00054561, 0.00044665, 0.3252896, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 8.55, "tool": [ -0.03059, -0.04908, 0.03808 ], "objects": { "red_block": [ 0.00049, -0.01917, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.03034723, -0.04885356, 0.03807403, 0.00072082, -0.01897652, 0.02497285, 0.94052606, -0.00014234, 0.00033067, 0.33972136, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 8.6, "tool": [ -0.02473, -0.04369, 0.03814 ], "objects": { "red_block": [ 0.00625, -0.01378, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.02450944, -0.04349161, 0.03815975, 0.00648976, -0.01355012, 0.02505503, 0.93826086, 0.00028147, 0.00082297, 0.34592745, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 8.65, "tool": [ -0.01884, -0.03835, 0.03822 ], "objects": { "red_block": [ 0.01198, -0.00827, 0.02512 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.01860733, -0.03813873, 0.0382237, 0.01222057, -0.00804449, 0.02513347, 0.93641551, 0.00011988, 0.00035326, 0.35089294, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 8.7, "tool": [ -0.01297, -0.03295, 0.03824 ], "objects": { "red_block": [ 0.01778, -0.00275, 0.02516 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.01273121, -0.03272651, 0.03824041, 0.01801234, -0.00251567, 0.02511762, 0.9342789, -0.0011103, -0.00071201, 0.3565406, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 8.75, "tool": [ -0.00703, -0.02752, 0.03818 ], "objects": { "red_block": [ 0.0238, 0.00251, 0.02503 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.00679245, -0.02729582, 0.03817129, 0.0240562, 0.00273944, 0.0249989, 0.93509502, -0.00015411, -0.0001613, 0.35439702, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 8.8, "tool": [ -0.0012, -0.02212, 0.0383 ], "objects": { "red_block": [ 0.02969, 0.00777, 0.02509 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.00096392, -0.02190917, 0.03830612, 0.02991395, 0.00797999, 0.02512827, 0.93487507, 0.00064632, -5.403e-05, 0.35497631, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 8.85, "tool": [ 0.00429, -0.01712, 0.03811 ], "objects": { "red_block": [ 0.03484, 0.01315, 0.02505 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00444034, -0.01698163, 0.03809798, 0.03498216, 0.01329275, 0.02501346, 0.93050247, -0.00019436, -0.00042436, 0.36628531, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 8.9, "tool": [ 0.00628, -0.01535, 0.03815 ], "objects": { "red_block": [ 0.03671, 0.01503, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00630592, -0.01532454, 0.03815464, 0.03673605, 0.01505569, 0.02500839, 0.92907601, 7.484e-05, 0.00017233, 0.36988882, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 8.95, "tool": [ 0.00675, -0.01493, 0.0391 ], "objects": { "red_block": [ 0.03718, 0.01546, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00676235, -0.01492173, 0.03926228, 0.03720407, 0.01549017, 0.02499336, 0.92864275, -3.574e-05, -2.997e-05, 0.37097526, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 9.0, "tool": [ 0.00704, -0.01469, 0.04636 ], "objects": { "red_block": [ 0.03751, 0.01573, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00704924, -0.01467937, 0.04673827, 0.03750105, 0.01571797, 0.02499888, 0.92827651, 0.00010075, -0.00020683, 0.37189066, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 9.05, "tool": [ 0.00714, -0.0146, 0.05646 ], "objects": { "red_block": [ 0.03765, 0.01586, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00714245, -0.01459833, 0.05689033, 0.0376474, 0.01585843, 0.02495443, 0.92823087, 0.0001031, -0.00033675, 0.37200446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 9.1, "tool": [ 0.00723, -0.01452, 0.06729 ], "objects": { "red_block": [ 0.03766, 0.01587, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00722982, -0.01451682, 0.06773008, 0.03766461, 0.01587281, 0.02499424, 0.92822968, 5.52e-06, -1.597e-05, 0.3720076, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 9.15, "tool": [ 0.00724, -0.01451, 0.07822 ], "objects": { "red_block": [ 0.03774, 0.01595, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00723669, -0.01451071, 0.07865665, 0.03774269, 0.01594773, 0.02498983, 0.92821663, 3.333e-05, -8.59e-05, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 9.2, "tool": [ 0.00726, -0.01449, 0.0892 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00725705, -0.01449138, 0.0896354, 0.03774603, 0.01595085, 0.0249956, 0.92821663, 7.9e-07, -2.03e-06, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 9.25, "tool": [ 0.00726, -0.01449, 0.10017 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00726201, -0.01448667, 0.10060852, 0.03774611, 0.01595092, 0.02499574, 0.92821663, 2e-08, -5e-08, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 9.3, "tool": [ 0.00726, -0.01449, 0.11114 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00726318, -0.01448556, 0.11158019, 0.03774611, 0.01595093, 0.02499574, 0.92821663, 0.0, -0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 9.35, "tool": [ 0.00726, -0.01449, 0.12211 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00726346, -0.01448529, 0.12255153, 0.03774611, 0.01595093, 0.02499574, 0.92821663, 0.0, -0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 9.4, "tool": [ 0.00726, -0.01449, 0.13308 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00726353, -0.01448523, 0.13352277, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 9.45, "tool": [ 0.00726, -0.01449, 0.14406 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00726354, -0.01448521, 0.144494, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 9.5, "tool": [ 0.00726, -0.01449, 0.15443 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00726355, -0.01448521, 0.15473209, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 9.55, "tool": [ 0.00726, -0.01449, 0.15866 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00726355, -0.01448521, 0.1587318, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 9.6, "tool": [ 0.00726, -0.01449, 0.15968 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.00726355, -0.01448521, 0.15969873, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 9.65, "tool": [ 0.00726, -0.01449, 0.15992 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.00726355, -0.01448521, 0.15992845, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 9.7, "tool": [ 0.00726, -0.01449, 0.15998 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.00726355, -0.01448521, 0.15998301, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 9.75, "tool": [ 0.00726, -0.01449, 0.16 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.00726355, -0.01448521, 0.15999597, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 9.8, "tool": [ 0.00726, -0.01449, 0.16 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00726355, -0.01448521, 0.15999904, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 9.85, "tool": [ 0.00726, -0.01449, 0.16 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00726355, -0.01448521, 0.15999977, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 9.9, "tool": [ 0.00726, -0.01449, 0.16 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00726355, -0.01448521, 0.15999995, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 9.95, "tool": [ 0.00726, -0.01449, 0.16 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00726355, -0.01448521, 0.15999999, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 10.0, "tool": [ 0.00726, -0.01449, 0.16 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.00726355, -0.01448521, 0.16, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 10.05, "tool": [ 0.00689, -0.01477, 0.16 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.00680471, -0.01483143, 0.16, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 10.1, "tool": [ 0.00267, -0.01795, 0.16 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.00244155, -0.01812367, 0.16, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 10.15, "tool": [ -0.00356, -0.02265, 0.16 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.0038197, -0.02284812, 0.16, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 10.2, "tool": [ -0.0099, -0.02744, 0.16 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.01008349, -0.02757449, 0.16, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 10.25, "tool": [ -0.01251, -0.0294, 0.16 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.01255259, -0.02943756, 0.16, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 10.3, "tool": [ -0.01314, -0.02988, 0.15946 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01314963, -0.02988807, 0.15933176, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 10.35, "tool": [ -0.01329, -0.02999, 0.15331 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01329149, -0.0299951, 0.1529774, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 10.4, "tool": [ -0.01332, -0.03002, 0.14424 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01332517, -0.03002052, 0.14385873, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 10.45, "tool": [ -0.01333, -0.03003, 0.13446 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01333317, -0.03002656, 0.13406812, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 10.5, "tool": [ -0.01334, -0.03003, 0.12452 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01333507, -0.03002799, 0.12411785, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 10.55, "tool": [ -0.01334, -0.03003, 0.11453 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01333552, -0.03002833, 0.11412966, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 10.6, "tool": [ -0.01334, -0.03003, 0.10453 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01333563, -0.03002841, 0.10413246, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 10.65, "tool": [ -0.01334, -0.03003, 0.09453 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01333566, -0.03002843, 0.09413313, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 10.7, "tool": [ -0.01334, -0.03003, 0.08453 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01333566, -0.03002843, 0.08413328, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 10.75, "tool": [ -0.01334, -0.03003, 0.07453 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01333566, -0.03002844, 0.07413332, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 10.8, "tool": [ -0.01334, -0.03003, 0.06453 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01333566, -0.03002844, 0.06413333, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 10.85, "tool": [ -0.01334, -0.03003, 0.05453 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01333566, -0.03002844, 0.05413333, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 10.9, "tool": [ -0.01334, -0.03003, 0.04465 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01333566, -0.03002844, 0.0443044, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 10.95, "tool": [ -0.01334, -0.03003, 0.03963 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.01333566, -0.03002844, 0.03954041, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 11.0, "tool": [ -0.01327, -0.02997, 0.03839 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.01323395, -0.02993688, 0.03836608, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 11.05, "tool": [ -0.0103, -0.0273, 0.03809 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.0101206, -0.02713452, 0.03808694, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 11.1, "tool": [ -0.0051, -0.02261, 0.03802 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.00487284, -0.02241094, 0.03802065, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 11.15, "tool": [ 0.00067, -0.01742, 0.03801 ], "objects": { "red_block": [ 0.03775, 0.01595, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.0009072, -0.01720825, 0.0380049, 0.03774611, 0.01595093, 0.02499574, 0.92821663, -0.0, 0.0, 0.37204017, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 11.2, "tool": [ 0.00643, -0.01223, 0.03805 ], "objects": { "red_block": [ 0.03813, 0.01631, 0.02506 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00661819, -0.0120588, 0.03804287, 0.03833877, 0.01649709, 0.02504083, 0.92825447, -5.576e-05, 0.00019764, 0.37194569, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 11.25, "tool": [ 0.01203, -0.00719, 0.03811 ], "objects": { "red_block": [ 0.04387, 0.02178, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01227696, -0.00696565, 0.03810011, 0.04407454, 0.02197848, 0.02497559, 0.92829103, -0.00019183, 0.00035781, 0.37185428, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 11.3, "tool": [ 0.018, -0.00182, 0.03807 ], "objects": { "red_block": [ 0.04966, 0.02736, 0.02489 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01824824, -0.00159929, 0.03806401, 0.04985871, 0.02755142, 0.02489294, 0.92771696, -3.558e-05, 0.00028811, 0.3732843, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 11.35, "tool": [ 0.02389, 0.00349, 0.03818 ], "objects": { "red_block": [ 0.05527, 0.03279, 0.02515 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02412966, 0.00371068, 0.03817125, 0.05552635, 0.03304254, 0.02509703, 0.92653723, -0.00140802, 0.00041111, 0.37620023, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 11.4, "tool": [ 0.02986, 0.00889, 0.03809 ], "objects": { "red_block": [ 0.0612, 0.03832, 0.02512 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03010278, 0.00909132, 0.03808891, 0.0614668, 0.03851999, 0.0251328, 0.92633724, 0.00180248, 0.00122966, 0.37668894, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 11.45, "tool": [ 0.0358, 0.0142, 0.03818 ], "objects": { "red_block": [ 0.06712, 0.04364, 0.02508 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03603324, 0.01441861, 0.03817095, 0.06733791, 0.04388888, 0.02505964, 0.92880364, -0.00154498, -0.00062246, 0.37056852, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 11.5, "tool": [ 0.04179, 0.01958, 0.03811 ], "objects": { "red_block": [ 0.07291, 0.04915, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.04202553, 0.01978372, 0.03811309, 0.07312383, 0.04935016, 0.02505635, 0.92832366, -6.196e-05, -0.00094622, 0.37177182, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 11.55, "tool": [ 0.04772, 0.0249, 0.03809 ], "objects": { "red_block": [ 0.07848, 0.0549, 0.02512 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.04796113, 0.02511352, 0.03808904, 0.078742, 0.05514909, 0.02508019, 0.92493729, 0.00021717, 9.905e-05, 0.38011965, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 11.6, "tool": [ 0.05368, 0.03027, 0.03806 ], "objects": { "red_block": [ 0.08412, 0.06068, 0.02507 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.05392073, 0.03049299, 0.03806791, 0.08433573, 0.06091306, 0.02503142, 0.92242899, -0.00100643, -0.00044156, 0.3861652, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 11.65, "tool": [ 0.05963, 0.03563, 0.03806 ], "objects": { "red_block": [ 0.08975, 0.06635, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.05988185, 0.03585155, 0.03805855, 0.08997756, 0.06653085, 0.02499315, 0.91906418, 0.00086486, 0.00039471, 0.39410675, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 11.7, "tool": [ 0.06557, 0.041, 0.03806 ], "objects": { "red_block": [ 0.09537, 0.07196, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.06581233, 0.04121158, 0.03805887, 0.09561651, 0.07219304, 0.02499768, 0.91776572, 0.00074603, 0.00104991, 0.39712016, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 11.75, "tool": [ 0.07146, 0.04627, 0.03813 ], "objects": { "red_block": [ 0.10082, 0.07759, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07166327, 0.04644858, 0.03813172, 0.10103285, 0.07780238, 0.02501677, 0.91561103, 4.643e-05, 0.00073921, 0.40206454, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 11.8, "tool": [ 0.07457, 0.04908, 0.03808 ], "objects": { "red_block": [ 0.10394, 0.08049, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07462003, 0.04913054, 0.03807591, 0.10400208, 0.08055034, 0.02497443, 0.91533774, -0.00038694, 0.00010007, 0.40268681, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 11.85, "tool": [ 0.07526, 0.04967, 0.03822 ], "objects": { "red_block": [ 0.10461, 0.08111, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07527163, 0.04968625, 0.03827168, 0.10461395, 0.08113176, 0.02498285, 0.91544586, -9.995e-05, -7.937e-05, 0.40244113, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 11.9, "tool": [ 0.07557, 0.04996, 0.04349 ], "objects": { "red_block": [ 0.10491, 0.08145, 0.02503 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07556862, 0.0499584, 0.04381878, 0.10492636, 0.08149304, 0.02503888, 0.91581131, -0.00011844, 0.0009688, 0.40160764, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 11.95, "tool": [ 0.07572, 0.05011, 0.0531 ], "objects": { "red_block": [ 0.10506, 0.08169, 0.02495 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07572071, 0.05011122, 0.05352002, 0.1050642, 0.08169381, 0.02494753, 0.91568873, 0.00034371, -0.00052132, 0.40188775, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 12.0, "tool": [ 0.07582, 0.05021, 0.06382 ], "objects": { "red_block": [ 0.10508, 0.08172, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07581079, 0.05020616, 0.06424501, 0.10510836, 0.08174942, 0.02503277, 0.91568923, -0.00030257, 0.00069639, 0.40188636, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 12.05, "tool": [ 0.07583, 0.05023, 0.07472 ], "objects": { "red_block": [ 0.10515, 0.0818, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0758313, 0.05022776, 0.07515686, 0.10515483, 0.08179743, 0.0249902, 0.91570355, 3.599e-05, -7.942e-05, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 12.1, "tool": [ 0.07585, 0.05025, 0.08569 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07584901, 0.05024684, 0.08612725, 0.10515772, 0.08180064, 0.02499561, 0.91570355, 8.5e-07, -1.88e-06, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 12.15, "tool": [ 0.07585, 0.05025, 0.09666 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07585329, 0.05025146, 0.09709836, 0.10515779, 0.08180072, 0.02499574, 0.91570355, 2e-08, -4e-08, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 12.2, "tool": [ 0.07585, 0.05025, 0.10763 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07585431, 0.05025255, 0.10806955, 0.10515779, 0.08180072, 0.02499574, 0.91570355, 0.0, -0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 12.25, "tool": [ 0.07585, 0.05025, 0.1186 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07585455, 0.05025281, 0.11904077, 0.10515779, 0.08180072, 0.02499574, 0.91570355, 0.0, -0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 12.3, "tool": [ 0.07585, 0.05025, 0.12957 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07585461, 0.05025287, 0.13001199, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 12.35, "tool": [ 0.07585, 0.05025, 0.14054 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07585462, 0.05025289, 0.14098321, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 12.4, "tool": [ 0.07585, 0.05025, 0.1515 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07585463, 0.05025289, 0.15191454, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 12.45, "tool": [ 0.07585, 0.05025, 0.15787 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07585463, 0.05025289, 0.15799258, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 12.5, "tool": [ 0.07585, 0.05025, 0.15949 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.07585463, 0.05025289, 0.15952274, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 12.55, "tool": [ 0.07585, 0.05025, 0.15988 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.07585463, 0.05025289, 0.15988666, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 12.6, "tool": [ 0.07585, 0.05025, 0.15997 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.07585463, 0.05025289, 0.15997308, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 12.65, "tool": [ 0.07585, 0.05025, 0.15999 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.07585463, 0.05025289, 0.15999361, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 12.7, "tool": [ 0.07585, 0.05025, 0.16 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07585463, 0.05025289, 0.15999848, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 12.75, "tool": [ 0.07585, 0.05025, 0.16 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07585463, 0.05025289, 0.15999964, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 12.8, "tool": [ 0.07585, 0.05025, 0.16 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07585463, 0.05025289, 0.15999991, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 12.85, "tool": [ 0.07585, 0.05025, 0.16 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07585463, 0.05025289, 0.15999998, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 12.9, "tool": [ 0.07585, 0.05025, 0.16 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07585463, 0.05025289, 0.16, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 12.95, "tool": [ 0.07584, 0.05025, 0.16 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.07582492, 0.05023536, 0.16, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 13.0, "tool": [ 0.07242, 0.04823, 0.16 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.07218093, 0.0480845, 0.16, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 13.05, "tool": [ 0.06546, 0.04412, 0.16 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.0651501, 0.04393455, 0.16, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 13.1, "tool": [ 0.05759, 0.03947, 0.16 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.05728048, 0.03928951, 0.16, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 13.15, "tool": [ 0.05291, 0.03671, 0.16 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.05281848, 0.03665582, 0.16, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 13.2, "tool": [ 0.05171, 0.036, 0.15998 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05169424, 0.03599224, 0.15996364, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 13.25, "tool": [ 0.05143, 0.03584, 0.1558 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05142686, 0.03583442, 0.15550362, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 13.3, "tool": [ 0.05136, 0.0358, 0.14727 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05136336, 0.03579694, 0.14689832, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 13.35, "tool": [ 0.05135, 0.03579, 0.13762 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05134828, 0.03578804, 0.13723003, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 13.4, "tool": [ 0.05134, 0.03579, 0.12771 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.0513447, 0.03578592, 0.1273088, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 13.45, "tool": [ 0.05134, 0.03579, 0.11773 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05134385, 0.03578542, 0.11732751, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 13.5, "tool": [ 0.05134, 0.03579, 0.10773 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05134365, 0.0357853, 0.10733195, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 13.55, "tool": [ 0.05134, 0.03579, 0.09773 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.0513436, 0.03578527, 0.097333, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 13.6, "tool": [ 0.05134, 0.03579, 0.08773 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05134359, 0.03578527, 0.08733326, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 13.65, "tool": [ 0.05134, 0.03579, 0.07773 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05134358, 0.03578527, 0.07733331, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 13.7, "tool": [ 0.05134, 0.03579, 0.06773 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05134358, 0.03578527, 0.06733333, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 13.75, "tool": [ 0.05134, 0.03579, 0.05773 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05134358, 0.03578526, 0.05733333, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 13.8, "tool": [ 0.05134, 0.03579, 0.04773 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05134358, 0.03578526, 0.04733333, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 13.85, "tool": [ 0.05134, 0.03579, 0.04058 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05134358, 0.03578526, 0.0404362, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 13.9, "tool": [ 0.05134, 0.03579, 0.03861 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.05134358, 0.03578526, 0.03857991, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 13.95, "tool": [ 0.05307, 0.03726, 0.03815 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.0532302, 0.03739848, 0.03813772, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 14.0, "tool": [ 0.05796, 0.04144, 0.03803 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.05818178, 0.04163247, 0.03803271, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 14.05, "tool": [ 0.06375, 0.0464, 0.03801 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.06399316, 0.04660167, 0.03800777, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 14.1, "tool": [ 0.06977, 0.05154, 0.038 ], "objects": { "red_block": [ 0.10516, 0.0818, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07000956, 0.05174617, 0.03800184, 0.10515779, 0.08180072, 0.02499574, 0.91570355, -0.0, 0.0, 0.40185446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 14.15, "tool": [ 0.07536, 0.05636, 0.03807 ], "objects": { "red_block": [ 0.10824, 0.0846, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07560832, 0.05657304, 0.03807215, 0.10840814, 0.08479182, 0.02506113, 0.91735105, -0.000283, 0.00022113, 0.39807904, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 14.2, "tool": [ 0.08141, 0.06151, 0.03811 ], "objects": { "red_block": [ 0.11395, 0.08994, 0.02505 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.0816625, 0.06172018, 0.03810973, 0.11418835, 0.0901714, 0.02495245, 0.91837792, 0.00030129, 0.00033207, 0.39570418, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 14.25, "tool": [ 0.08754, 0.0667, 0.03804 ], "objects": { "red_block": [ 0.11962, 0.0956, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08778321, 0.06690015, 0.03804626, 0.11985878, 0.09582053, 0.02498346, 0.91711634, -0.00043925, 0.00117422, 0.39861767, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 14.3, "tool": [ 0.09364, 0.07186, 0.03809 ], "objects": { "red_block": [ 0.12544, 0.10103, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09389118, 0.07208154, 0.03808243, 0.12563642, 0.10123799, 0.02501877, 0.91922226, 0.00067871, -0.00024016, 0.3937384, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 14.35, "tool": [ 0.0997, 0.07708, 0.03807 ], "objects": { "red_block": [ 0.13112, 0.10655, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09994934, 0.07730032, 0.0380676, 0.13132711, 0.10674749, 0.02499049, 0.9212829, 9.443e-05, 4.896e-05, 0.38889305, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 14.4, "tool": [ 0.10576, 0.08227, 0.03812 ], "objects": { "red_block": [ 0.13676, 0.11214, 0.02508 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10601549, 0.08249038, 0.03810912, 0.13699397, 0.11238348, 0.02497641, 0.91891174, -5.555e-05, 0.00038172, 0.39446302, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 14.45, "tool": [ 0.11183, 0.08747, 0.03814 ], "objects": { "red_block": [ 0.14244, 0.11774, 0.02503 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11208424, 0.08768014, 0.03812869, 0.14263548, 0.11797204, 0.02503206, 0.91735008, 0.00084968, 0.00051229, 0.3980802, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 14.5, "tool": [ 0.11792, 0.09265, 0.03814 ], "objects": { "red_block": [ 0.148, 0.12342, 0.02503 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11817033, 0.09286376, 0.03812882, 0.14822874, 0.12363434, 0.02505237, 0.91556653, -1.597e-05, -5.905e-05, 0.40216655, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 14.55, "tool": [ 0.12402, 0.09788, 0.03805 ], "objects": { "red_block": [ 0.15376, 0.12896, 0.02503 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.12426615, 0.09809154, 0.03805159, 0.15396361, 0.12919387, 0.02507334, 0.9144814, -0.00015099, -0.000572, 0.4046275, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 14.6, "tool": [ 0.13009, 0.10312, 0.03806 ], "objects": { "red_block": [ 0.15933, 0.13464, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13033391, 0.10332427, 0.03805876, 0.15953821, 0.1348354, 0.02504625, 0.91188993, 0.00032268, 0.00044972, 0.41043446, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 14.65, "tool": [ 0.13616, 0.10832, 0.03806 ], "objects": { "red_block": [ 0.16501, 0.14016, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13640557, 0.10853411, 0.03805736, 0.16522317, 0.14036499, 0.02506909, 0.91044709, -0.00050854, -0.00032303, 0.41362511, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 14.7, "tool": [ 0.14066, 0.11212, 0.03808 ], "objects": { "red_block": [ 0.16931, 0.1442, 0.02495 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14075163, 0.11219425, 0.03807734, 0.16939103, 0.14427796, 0.02495229, 0.91159824, -0.0003968, 0.00080632, 0.4110813, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 14.75, "tool": [ 0.14183, 0.11312, 0.03809 ], "objects": { "red_block": [ 0.17037, 0.14527, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14184793, 0.11313785, 0.03809348, 0.17037987, 0.14528187, 0.02498585, 0.91133609, -6.876e-05, 0.00012168, 0.41166311, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 14.8, "tool": [ 0.14218, 0.11341, 0.04103 ], "objects": { "red_block": [ 0.17074, 0.14567, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14219021, 0.11341564, 0.04131084, 0.17075456, 0.14568453, 0.02498325, 0.91130799, 6.714e-05, -3.42e-05, 0.41172532, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 14.85, "tool": [ 0.14241, 0.11362, 0.04986 ], "objects": { "red_block": [ 0.17089, 0.14584, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1424143, 0.11363254, 0.05026628, 0.17088845, 0.14584153, 0.02498574, 0.91127784, 1.143e-05, 3.198e-05, 0.41179206, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 14.9, "tool": [ 0.14249, 0.11371, 0.06035 ], "objects": { "red_block": [ 0.17097, 0.14595, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14249153, 0.11371122, 0.06078213, 0.17096651, 0.14595331, 0.0249901, 0.9112017, 7.391e-05, -3.44e-05, 0.41196049, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 14.95, "tool": [ 0.14251, 0.11373, 0.07121 ], "objects": { "red_block": [ 0.17104, 0.14603, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14251065, 0.11373078, 0.07164602, 0.17103836, 0.1460343, 0.02498622, 0.91122279, 6.226e-05, -0.00012764, 0.41191384, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 15.0, "tool": [ 0.14254, 0.11376, 0.08218 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14253831, 0.11376169, 0.08261625, 0.17104285, 0.14603972, 0.02499552, 0.91122279, 1.47e-06, -3.02e-06, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 15.05, "tool": [ 0.14255, 0.11377, 0.09315 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14254514, 0.11376934, 0.09358751, 0.17104295, 0.14603984, 0.02499574, 0.91122279, 3e-08, -7e-08, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 15.1, "tool": [ 0.14255, 0.11377, 0.10412 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14254677, 0.11377115, 0.10455875, 0.17104296, 0.14603985, 0.02499574, 0.91122279, 0.0, -0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 15.15, "tool": [ 0.14255, 0.11377, 0.11509 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14254715, 0.11377158, 0.11552998, 0.17104296, 0.14603985, 0.02499574, 0.91122279, 0.0, -0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 15.2, "tool": [ 0.14255, 0.11377, 0.12606 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14254724, 0.11377169, 0.1265012, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 15.25, "tool": [ 0.14255, 0.11377, 0.13703 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14254727, 0.11377171, 0.13747242, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 15.3, "tool": [ 0.14255, 0.11377, 0.148 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14254727, 0.11377172, 0.14844365, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 15.35, "tool": [ 0.14255, 0.11377, 0.15664 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14254727, 0.11377172, 0.15682813, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 15.4, "tool": [ 0.14255, 0.11377, 0.1592 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14254727, 0.11377172, 0.15924399, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 15.45, "tool": [ 0.14255, 0.11377, 0.15981 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.14254727, 0.11377172, 0.15982045, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 15.5, "tool": [ 0.14255, 0.11377, 0.15995 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.14254727, 0.11377172, 0.15995736, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 15.55, "tool": [ 0.14255, 0.11377, 0.15999 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.14254727, 0.11377172, 0.15998987, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 15.6, "tool": [ 0.14255, 0.11377, 0.16 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.14254727, 0.11377172, 0.1599976, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 15.65, "tool": [ 0.14255, 0.11377, 0.16 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14254727, 0.11377172, 0.15999943, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 15.7, "tool": [ 0.14255, 0.11377, 0.16 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14254727, 0.11377172, 0.15999986, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 15.75, "tool": [ 0.14255, 0.11377, 0.16 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14254727, 0.11377172, 0.15999997, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 15.8, "tool": [ 0.14255, 0.11377, 0.16 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14254727, 0.11377172, 0.15999999, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 15.85, "tool": [ 0.14255, 0.11377, 0.16 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.14254727, 0.11377172, 0.16, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 15.9, "tool": [ 0.1403, 0.1131, 0.16 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.14005502, 0.11302542, 0.16, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 15.95, "tool": [ 0.13219, 0.11067, 0.16 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.13181217, 0.11055713, 0.16, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 16.0, "tool": [ 0.12221, 0.10768, 0.16 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.12179709, 0.10755815, 0.16, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 16.05, "tool": [ 0.11403, 0.10523, 0.16 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.11385078, 0.10517865, 0.16, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 16.1, "tool": [ 0.1116, 0.1045, 0.16 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.11155449, 0.10449103, 0.16, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 16.15, "tool": [ 0.11102, 0.10433, 0.15787 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11100653, 0.10432695, 0.15764225, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 16.2, "tool": [ 0.11088, 0.10429, 0.1502 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11087639, 0.10428798, 0.14984425, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 16.25, "tool": [ 0.11085, 0.10428, 0.14076 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11084548, 0.10427872, 0.14036968, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 16.3, "tool": [ 0.11084, 0.10428, 0.13089 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11083814, 0.10427652, 0.13049447, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 16.35, "tool": [ 0.11084, 0.10428, 0.12092 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.1108364, 0.104276, 0.1205241, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 16.4, "tool": [ 0.11084, 0.10428, 0.11093 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11083598, 0.10427588, 0.11053114, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 16.45, "tool": [ 0.11084, 0.10428, 0.10093 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11083588, 0.10427585, 0.10053281, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 16.5, "tool": [ 0.11084, 0.10428, 0.09093 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11083586, 0.10427584, 0.09053321, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 16.55, "tool": [ 0.11084, 0.10428, 0.08093 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11083586, 0.10427584, 0.0805333, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 16.6, "tool": [ 0.11084, 0.10428, 0.07093 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11083585, 0.10427584, 0.07053333, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 16.65, "tool": [ 0.11084, 0.10428, 0.06093 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11083585, 0.10427584, 0.06053333, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 16.7, "tool": [ 0.11084, 0.10428, 0.05093 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11083585, 0.10427584, 0.05053333, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 16.75, "tool": [ 0.11084, 0.10428, 0.04206 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11083585, 0.10427584, 0.04183867, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 16.8, "tool": [ 0.11084, 0.10428, 0.03897 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.11083585, 0.10427584, 0.03891855, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 16.85, "tool": [ 0.11158, 0.10479, 0.03823 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11169169, 0.10486951, 0.03821818, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 16.9, "tool": [ 0.11611, 0.10793, 0.03805 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.1163336, 0.10808948, 0.03805181, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 16.95, "tool": [ 0.12218, 0.11214, 0.03801 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.12243089, 0.112319, 0.0380123, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 17.0, "tool": [ 0.12862, 0.11661, 0.038 ], "objects": { "red_block": [ 0.17104, 0.14604, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.1288783, 0.11679138, 0.03800292, 0.17104296, 0.14603985, 0.02499574, 0.91122279, -0.0, 0.0, 0.41191385, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 17.05, "tool": [ 0.1351, 0.12111, 0.03803 ], "objects": { "red_block": [ 0.17112, 0.14611, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13529838, 0.12124986, 0.03804088, 0.17127436, 0.14622743, 0.0250656, 0.91135567, 6.075e-05, 6.811e-05, 0.41161977, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 17.1, "tool": [ 0.14115, 0.12539, 0.03803 ], "objects": { "red_block": [ 0.17691, 0.15101, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14142729, 0.1255771, 0.03802917, 0.17714567, 0.15119321, 0.02488846, 0.91502976, 0.00059397, 0.00034974, 0.40338574, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 17.15, "tool": [ 0.1477, 0.12983, 0.03816 ], "objects": { "red_block": [ 0.18264, 0.15617, 0.02508 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14796021, 0.13001297, 0.03816116, 0.18287602, 0.15637642, 0.02509012, 0.91484087, -0.00100056, -0.00036503, 0.40381314, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 17.2, "tool": [ 0.15428, 0.13436, 0.03814 ], "objects": { "red_block": [ 0.18863, 0.16127, 0.02506 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15455372, 0.13455517, 0.03813481, 0.18887676, 0.1614819, 0.02498135, 0.91602323, 0.00030771, 0.00105197, 0.40112373, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 17.25, "tool": [ 0.16087, 0.13893, 0.03811 ], "objects": { "red_block": [ 0.19447, 0.16641, 0.02509 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.1611273, 0.13911811, 0.03809926, 0.19471987, 0.16661504, 0.02507111, 0.91612442, -0.00038017, -0.00084488, 0.400893, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 17.3, "tool": [ 0.16743, 0.14352, 0.03803 ], "objects": { "red_block": [ 0.20033, 0.17157, 0.02509 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.16769187, 0.14370505, 0.03801739, 0.2005939, 0.17180456, 0.02503025, 0.91472855, 0.0006704, -0.00087262, 0.4040674, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 17.35, "tool": [ 0.17398, 0.14803, 0.03809 ], "objects": { "red_block": [ 0.2061, 0.17691, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17422294, 0.14820196, 0.03809338, 0.20635483, 0.17714452, 0.02502497, 0.91383845, -0.00056118, 8.154e-05, 0.40607753, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 17.4, "tool": [ 0.17849, 0.15117, 0.03805 ], "objects": { "red_block": [ 0.21009, 0.18057, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17856998, 0.15122826, 0.038053, 0.21017131, 0.18064053, 0.02495411, 0.91443379, -0.00031463, 0.00117947, 0.40473369, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 17.45, "tool": [ 0.17958, 0.15194, 0.03811 ], "objects": { "red_block": [ 0.21101, 0.18147, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17959586, 0.15194848, 0.03810632, 0.21102816, 0.18148066, 0.02499915, 0.91459425, -8.639e-05, 8.489e-05, 0.40437278, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 17.5, "tool": [ 0.17999, 0.15219, 0.04161 ], "objects": { "red_block": [ 0.21133, 0.18184, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18000583, 0.15220134, 0.04190885, 0.21134319, 0.18184372, 0.02500198, 0.91547552, 0.00019989, 0.0009681, 0.40237245, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 17.55, "tool": [ 0.18018, 0.15233, 0.05065 ], "objects": { "red_block": [ 0.21147, 0.18213, 0.02506 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1801804, 0.15233518, 0.05104919, 0.21148575, 0.18214048, 0.02504604, 0.91630409, -0.00030228, 0.0009773, 0.40048193, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 17.6, "tool": [ 0.18028, 0.15243, 0.06122 ], "objects": { "red_block": [ 0.21151, 0.18219, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18028691, 0.1524376, 0.06165151, 0.21151213, 0.1821953, 0.02499253, 0.9164304, 2.596e-05, -5.812e-05, 0.40019411, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 17.65, "tool": [ 0.18032, 0.15247, 0.07211 ], "objects": { "red_block": [ 0.21151, 0.1822, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18032319, 0.15247381, 0.07254645, 0.21151425, 0.18219763, 0.02499567, 0.9164304, 6.1e-07, -1.37e-06, 0.40019411, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 17.7, "tool": [ 0.18031, 0.15246, 0.08304 ], "objects": { "red_block": [ 0.21158, 0.18227, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18031218, 0.15246124, 0.08347935, 0.21158238, 0.18227144, 0.02498418, 0.91645945, 7.626e-05, -0.00016552, 0.40012754, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 17.75, "tool": [ 0.18033, 0.15248, 0.09402 ], "objects": { "red_block": [ 0.21159, 0.18228, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18032903, 0.15247926, 0.09446152, 0.21158839, 0.18227818, 0.02499547, 0.91645946, 1.8e-06, -3.91e-06, 0.40012755, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 17.8, "tool": [ 0.18033, 0.15248, 0.105 ], "objects": { "red_block": [ 0.21159, 0.18228, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18033326, 0.15248378, 0.10543557, 0.21158853, 0.18227834, 0.02499574, 0.91645946, 4e-08, -9e-08, 0.40012755, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 17.85, "tool": [ 0.18033, 0.15248, 0.11597 ], "objects": { "red_block": [ 0.21159, 0.18228, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18033426, 0.15248485, 0.11640746, 0.21158853, 0.18227834, 0.02499574, 0.91645946, 0.0, -0.0, 0.40012755, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 17.9, "tool": [ 0.18033, 0.15249, 0.12694 ], "objects": { "red_block": [ 0.21159, 0.18228, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1803345, 0.15248511, 0.12737885, 0.21158853, 0.18227834, 0.02499574, 0.91645946, 0.0, -0.0, 0.40012755, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 17.95, "tool": [ 0.18033, 0.15249, 0.13791 ], "objects": { "red_block": [ 0.21159, 0.18228, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18033456, 0.15248517, 0.13835011, 0.21158853, 0.18227834, 0.02499574, 0.91645946, -0.0, 0.0, 0.40012755, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 18.0, "tool": [ 0.18033, 0.15249, 0.14888 ], "objects": { "red_block": [ 0.21159, 0.18228, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18033457, 0.15248518, 0.14932134, 0.21158853, 0.18227834, 0.02499574, 0.91645946, -0.0, 0.0, 0.40012755, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 18.05, "tool": [ 0.18033, 0.15249, 0.157 ], "objects": { "red_block": [ 0.21159, 0.18228, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18033457, 0.15248518, 0.15717006, 0.21158853, 0.18227834, 0.02499574, 0.91645946, -0.0, 0.0, 0.40012755, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 18.1, "tool": [ 0.18033, 0.15249, 0.15929 ], "objects": { "red_block": [ 0.21159, 0.18228, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18033457, 0.15248519, 0.15932611, 0.21158853, 0.18227834, 0.02499574, 0.91645946, -0.0, 0.0, 0.40012755, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 18.15, "tool": [ 0.18033, 0.15249, 0.15983 ], "objects": { "red_block": [ 0.21159, 0.18228, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18033457, 0.15248519, 0.15983996, 0.21158853, 0.18227834, 0.02499574, 0.91645946, -0.0, 0.0, 0.40012755, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 18.2, "tool": [ 0.18033, 0.15249, 0.15996 ], "objects": { "red_block": [ 0.21159, 0.18228, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18033457, 0.15248519, 0.15996199, 0.21158853, 0.18227834, 0.02499574, 0.91645946, -0.0, 0.0, 0.40012755, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 18.25, "tool": [ 0.18033, 0.15249, 0.15999 ], "objects": { "red_block": [ 0.21159, 0.18228, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18033457, 0.15248519, 0.15999097, 0.21158853, 0.18227834, 0.02499574, 0.91645946, -0.0, 0.0, 0.40012755, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 18.3, "tool": [ 0.18033, 0.15249, 0.16 ], "objects": { "red_block": [ 0.21159, 0.18228, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18033457, 0.15248519, 0.15999786, 0.21158853, 0.18227834, 0.02499574, 0.91645946, -0.0, 0.0, 0.40012755, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 18.35, "tool": [ 0.18033, 0.15249, 0.16 ], "objects": { "red_block": [ 0.21159, 0.18228, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18033457, 0.15248519, 0.15999949, 0.21158853, 0.18227834, 0.02499574, 0.91645946, -0.0, 0.0, 0.40012755, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 18.4, "tool": [ 0.18033, 0.15249, 0.16 ], "objects": { "red_block": [ 0.21159, 0.18228, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18033457, 0.15248519, 0.15999988, 0.21158853, 0.18227834, 0.02499574, 0.91645946, -0.0, 0.0, 0.40012755, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 18.45, "tool": [ 0.18033, 0.15249, 0.16 ], "objects": { "red_block": [ 0.21159, 0.18228, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18033457, 0.15248519, 0.15999997, 0.21158853, 0.18227834, 0.02499574, 0.91645946, -0.0, 0.0, 0.40012755, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 18.5, "tool": [ 0.18033, 0.15249, 0.16 ], "objects": { "red_block": [ 0.21159, 0.18228, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18033457, 0.15248519, 0.15999999, 0.21158853, 0.18227834, 0.02499574, 0.91645946, -0.0, 0.0, 0.40012755, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 18.55, "tool": [ 0.18033, 0.15249, 0.16 ], "objects": { "red_block": [ 0.21159, 0.18228, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18033457, 0.15248519, 0.16, 0.21158853, 0.18227834, 0.02499574, 0.91645946, -0.0, 0.0, 0.40012755, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 18.6, "tool": [ 0.18033, 0.15249, 0.16 ], "objects": { "red_block": [ 0.21159, 0.18228, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18033457, 0.15248519, 0.16, 0.21158853, 0.18227834, 0.02499574, 0.91645946, -0.0, 0.0, 0.40012755, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 18.65, "tool": [ 0.18033, 0.15249, 0.16 ], "objects": { "red_block": [ 0.21159, 0.18228, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18033457, 0.15248519, 0.16, 0.21158853, 0.18227834, 0.02499574, 0.91645946, -0.0, 0.0, 0.40012755, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 18.7, "tool": [ 0.18033, 0.15249, 0.16 ], "objects": { "red_block": [ 0.21159, 0.18228, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18033457, 0.15248519, 0.16, 0.21158853, 0.18227834, 0.02499574, 0.91645946, -0.0, 0.0, 0.40012755, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 18.75, "tool": [ 0.18033, 0.15249, 0.16 ], "objects": { "red_block": [ 0.21159, 0.18228, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18033457, 0.15248519, 0.16, 0.21158853, 0.18227834, 0.02499574, 0.91645946, -0.0, 0.0, 0.40012755, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 18.8, "tool": [ 0.18033, 0.15249, 0.16 ], "objects": { "red_block": [ 0.21159, 0.18228, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18033457, 0.15248519, 0.16, 0.21158853, 0.18227834, 0.02499574, 0.91645946, -0.0, 0.0, 0.40012755, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 18.85, "tool": [ 0.18033, 0.15249, 0.16 ], "objects": { "red_block": [ 0.21159, 0.18228, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18033457, 0.15248519, 0.16, 0.21158853, 0.18227834, 0.02499574, 0.91645946, -0.0, 0.0, 0.40012755, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 18.9, "tool": [ 0.18033, 0.15249, 0.16 ], "objects": { "red_block": [ 0.21159, 0.18228, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18033457, 0.15248519, 0.16, 0.21158853, 0.18227834, 0.02499574, 0.91645946, -0.0, 0.0, 0.40012755, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 18.95, "tool": [ 0.18033, 0.15249, 0.16 ], "objects": { "red_block": [ 0.21159, 0.18228, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18033457, 0.15248519, 0.16, 0.21158853, 0.18227834, 0.02499574, 0.91645946, -0.0, 0.0, 0.40012755, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] }, { "t": 18.956, "tool": [ 0.18033, 0.15249, 0.16 ], "objects": { "red_block": [ 0.21159, 0.18228, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18033457, 0.15248519, 0.16, 0.21158853, 0.18227834, 0.02499574, 0.91645946, -0.0, 0.0, 0.40012755, 0.16571129, -0.17040419, 0.02499574, 1.0, 0.0, -0.0, 0.0 ] } ], "events": [ { "t": 0.3, "type": "start", "message": "closed_loop: 빨간 블록을 오른쪽 목표로 밀어줘" }, { "t": 3.944, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.426 m" }, { "t": 6.862, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.337 m" }, { "t": 9.778, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.245 m" }, { "t": 12.694, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.151 m" }, { "t": 15.61, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.060 m" }, { "t": 18.956, "type": "success", "message": "최종 거리 0.0087 m · 정지 상태 True" } ] }, { "id": "disturbance-0-open_loop", "policy": "open_loop", "scenario": "disturbance", "seed": 0, "task": { "object_name": "red_block", "goal": "right", "instruction": "빨간 블록을 오른쪽 목표로 밀어줘" }, "parameters": { "friction": 0.5, "mass": 0.08, "disturbance": true }, "success": false, "final_distance_m": 0.28950057717606315, "settled": false, "sim_time_s": 7.045999999999446, "wall_time_s": 0.12980659998720512, "timed_out": false, "termination_reason": "goal_not_stable", "contact_steps": 162, "peak_contact_point_force_n": 2.931247408842944, "unintended_contact_steps": 0, "distractor_displacement_m": 3.2389901556555875e-08, "workspace_violation": false, "replans": 0, "disturbance_applied": true, "trajectory": [ { "t": 0.05, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.02496 ], "blue_block": [ 0.12705, -0.17417, 0.02496 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.16151069, 0.0249616, 1.0, -2.3e-07, 0.0, -0.0, 0.12704868, -0.17417364, 0.0249616, 1.0, -2.3e-07, 0.0, -0.0 ] }, { "t": 0.1, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.0249973, 1.0, -1e-08, 0.0, -0.0, 0.12704868, -0.17417365, 0.0249973, 1.0, -1e-08, 0.0, -0.0 ] }, { "t": 0.15, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499816, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499816, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.2, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.25, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.3, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.35, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.4, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.45, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.5, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.55, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.6, "tool": [ -0.00417, -0.31782, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.00450931, -0.31763922, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.65, "tool": [ -0.01439, -0.31247, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.01484748, -0.31222684, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.7, "tool": [ -0.02626, -0.30625, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.02674899, -0.30599599, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.75, "tool": [ -0.03853, -0.29983, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.03902286, -0.2995702, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.8, "tool": [ -0.05089, -0.29336, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05138517, -0.29309811, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.85, "tool": [ -0.06327, -0.28687, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.06376849, -0.28661502, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.9, "tool": [ -0.07566, -0.28039, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.07615679, -0.28012932, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.95, "tool": [ -0.08805, -0.2739, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.08854627, -0.27364301, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.0, "tool": [ -0.10044, -0.26742, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.10093604, -0.26715654, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.05, "tool": [ -0.11283, -0.26093, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.11332587, -0.26067004, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.1, "tool": [ -0.12522, -0.25444, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.12571572, -0.25418353, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.15, "tool": [ -0.13761, -0.24796, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.13810558, -0.24769702, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.2, "tool": [ -0.15, -0.24147, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.15049543, -0.24121051, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.25, "tool": [ -0.16239, -0.23498, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.16288528, -0.234724, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.3, "tool": [ -0.17478, -0.2285, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.17527514, -0.22823749, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.35, "tool": [ -0.18717, -0.22201, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.18766499, -0.22175098, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.4, "tool": [ -0.19664, -0.21705, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.19683649, -0.21694938, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.45, "tool": [ -0.19937, -0.21562, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.19941398, -0.21559998, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.5, "tool": [ -0.20002, -0.21528, 0.15764 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20002861, -0.2152782, 0.15740243, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.55, "tool": [ -0.20017, -0.2152, 0.14984 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20017458, -0.21520178, 0.14948275, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.6, "tool": [ -0.20021, -0.21518, 0.14037 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20020925, -0.21518363, 0.13997882, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.65, "tool": [ -0.20022, -0.21518, 0.13049 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20021748, -0.21517932, 0.13009664, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.7, "tool": [ -0.20022, -0.21518, 0.12052 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20021943, -0.2151783, 0.12012462, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.75, "tool": [ -0.20022, -0.21518, 0.11053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.2002199, -0.21517805, 0.11013126, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.8, "tool": [ -0.20022, -0.21518, 0.10053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022001, -0.215178, 0.10013284, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.85, "tool": [ -0.20022, -0.21518, 0.09053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.09013322, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.9, "tool": [ -0.20022, -0.21518, 0.08053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.08013331, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.95, "tool": [ -0.20022, -0.21518, 0.07053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.07013333, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.0, "tool": [ -0.20022, -0.21518, 0.06053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.06013333, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.05, "tool": [ -0.20022, -0.21518, 0.05053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.05013333, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.1, "tool": [ -0.20022, -0.21518, 0.04184 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.04162799, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.15, "tool": [ -0.20022, -0.21518, 0.03892 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.03886724, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.2, "tool": [ -0.19946, -0.21446, 0.03822 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.19934901, -0.21435885, 0.03820598, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.25, "tool": [ -0.19533, -0.21058, 0.03805 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1951302, -0.21039145, 0.03804892, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.3, "tool": [ -0.18991, -0.20549, 0.03801 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.18968787, -0.20527344, 0.03801162, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.35, "tool": [ -0.18418, -0.2001, 0.038 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.18395171, -0.19987912, 0.03800276, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.4, "tool": [ -0.17857, -0.19474, 0.038 ], "objects": { "red_block": [ -0.1395, -0.15981, 0.02502 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17833255, -0.19451902, 0.03800504, -0.13928658, -0.15967862, 0.02506992, 0.99948144, 2.842e-05, -0.00027516, 0.03219886, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.45, "tool": [ -0.17273, -0.18927, 0.03802 ], "objects": { "red_block": [ -0.13362, -0.15598, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17249794, -0.18904689, 0.03802719, -0.13341077, -0.15583156, 0.02505353, 0.99837238, -0.00013894, -0.00016468, 0.05703117, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.5, "tool": [ -0.16691, -0.18378, 0.03804 ], "objects": { "red_block": [ -0.12801, -0.15226, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.16667505, -0.18355407, 0.03803741, -0.12784479, -0.15212079, 0.0250139, 0.99722188, 0.00045279, 0.0006548, 0.0744842, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.55, "tool": [ -0.16108, -0.1783, 0.03802 ], "objects": { "red_block": [ -0.12316, -0.14816, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.16084722, -0.17808842, 0.03802266, -0.12291527, -0.14797903, 0.02501616, 0.99516504, -0.00021324, -0.00050077, 0.09821535, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.6, "tool": [ -0.15525, -0.17283, 0.03803 ], "objects": { "red_block": [ -0.11795, -0.14387, 0.02504 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.15501867, -0.17260882, 0.0380254, -0.11775486, -0.14368827, 0.02501269, 0.99292581, 0.00041274, 0.00030909, 0.11873526, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.65, "tool": [ -0.14941, -0.16735, 0.03802 ], "objects": { "red_block": [ -0.11255, -0.13926, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14917515, -0.16712918, 0.03801731, -0.11236618, -0.13906019, 0.02502744, 0.99102151, -0.00036489, -0.00061815, 0.13370064, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.7, "tool": [ -0.14359, -0.16187, 0.03802 ], "objects": { "red_block": [ -0.10694, -0.13448, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14335776, -0.16164985, 0.03802304, -0.10668716, -0.13429475, 0.02498553, 0.98955187, -0.00168007, -0.0001807, 0.14416744, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.75, "tool": [ -0.13777, -0.15638, 0.03804 ], "objects": { "red_block": [ -0.10105, -0.12985, 0.02509 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13754231, -0.15615985, 0.03803594, -0.10081068, -0.12964475, 0.02508143, 0.98825045, -0.00140412, -0.0013817, 0.1528305, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.8, "tool": [ -0.13196, -0.1509, 0.03806 ], "objects": { "red_block": [ -0.09548, -0.12517, 0.02506 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1317281, -0.15068166, 0.03806155, -0.09526263, -0.12500104, 0.02507638, 0.9853032, -0.00088765, -0.00021229, 0.17081211, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.85, "tool": [ -0.12614, -0.14542, 0.03806 ], "objects": { "red_block": [ -0.08942, -0.12053, 0.02497 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12590207, -0.14519993, 0.03805664, -0.08918554, -0.12036225, 0.02496631, 0.98443907, -0.00034808, -0.0001775, 0.17572581, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.9, "tool": [ -0.12022, -0.1399, 0.03803 ], "objects": { "red_block": [ -0.07816, -0.11625, 0.02506 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11998059, -0.13967341, 0.03802759, -0.07727904, -0.11607991, 0.02513022, 0.98390728, 0.00118765, -0.00265655, 0.17865609, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.95, "tool": [ -0.11431, -0.13437, 0.03801 ], "objects": { "red_block": [ -0.04365, -0.11207, 0.02608 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11407364, -0.13415378, 0.03800675, -0.0417403, -0.11190591, 0.02611447, 0.98424103, -7.93e-06, 0.00666918, 0.17670631, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.0, "tool": [ -0.10846, -0.12888, 0.038 ], "objects": { "red_block": [ 0.00996, -0.1079, 0.02679 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.10822638, -0.12866373, 0.0380016, 0.0119483, -0.10773191, 0.02687399, 0.9838064, 0.00843962, 0.01954037, 0.17796605, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.05, "tool": [ -0.10263, -0.1234, 0.038 ], "objects": { "red_block": [ 0.05517, -0.10372, 0.02636 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.10239404, -0.12318104, 0.03800038, 0.05666214, -0.10355791, 0.02645802, 0.9860185, -0.01747192, -0.00617446, 0.16560231, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.1, "tool": [ -0.0968, -0.11792, 0.038 ], "objects": { "red_block": [ 0.08814, -0.09955, 0.02589 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.09656524, -0.1177001, 0.03800009, 0.08922162, -0.09938391, 0.02582579, 0.98589268, -0.01608306, -0.00509734, 0.1665262, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.15, "tool": [ -0.09097, -0.11244, 0.038 ], "objects": { "red_block": [ 0.10891, -0.09548, 0.02549 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.09073729, -0.11221957, 0.03800002, 0.10944088, -0.09532097, 0.02557114, 0.98568233, -0.00138391, 0.00163259, 0.16859942, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.2, "tool": [ -0.08514, -0.10696, 0.038 ], "objects": { "red_block": [ 0.11809, -0.09202, 0.02498 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.08490954, -0.10673914, 0.03800001, 0.11821795, -0.0919128, 0.02498536, 0.98888137, -0.00041688, -0.00023557, 0.1487058, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.25, "tool": [ -0.07931, -0.10148, 0.038 ], "objects": { "red_block": [ 0.11901, -0.09131, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07908184, -0.10125873, 0.038, 0.1190088, -0.09131074, 0.02499032, 0.98914668, -2.476e-05, 8.536e-05, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.3, "tool": [ -0.07349, -0.096, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07325415, -0.09577833, 0.038, 0.11900481, -0.09131257, 0.02499799, 0.98914668, -5.9e-07, 2.04e-06, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.35, "tool": [ -0.06766, -0.09052, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06742646, -0.09029793, 0.038, 0.11900471, -0.09131262, 0.02499817, 0.98914668, -1e-08, 5e-08, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.4, "tool": [ -0.06183, -0.08504, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06159877, -0.08481753, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.45, "tool": [ -0.056, -0.07956, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05577108, -0.07933713, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.5, "tool": [ -0.05018, -0.07408, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.04994339, -0.07385673, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.55, "tool": [ -0.04435, -0.0686, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.04411571, -0.06837633, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.6, "tool": [ -0.03852, -0.06312, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.03828802, -0.06289593, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.65, "tool": [ -0.03269, -0.05763, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.03246033, -0.05741553, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.7, "tool": [ -0.02687, -0.05215, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.02663264, -0.05193513, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.75, "tool": [ -0.02104, -0.04667, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.02080495, -0.04645473, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.8, "tool": [ -0.01521, -0.04119, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.01497727, -0.04097433, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.85, "tool": [ -0.00938, -0.03571, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.00914958, -0.03549393, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.9, "tool": [ -0.00355, -0.03023, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.00332189, -0.03001353, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.95, "tool": [ 0.00227, -0.02475, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.0025058, -0.02453313, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.0, "tool": [ 0.0081, -0.01927, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00833349, -0.01905273, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.05, "tool": [ 0.01393, -0.01379, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01416117, -0.01357233, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.1, "tool": [ 0.01976, -0.00831, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01998886, -0.00809193, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.15, "tool": [ 0.02558, -0.00283, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02581655, -0.00261153, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.2, "tool": [ 0.03141, 0.00265, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03164424, 0.00286887, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.25, "tool": [ 0.03724, 0.00813, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03747193, 0.00834927, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.3, "tool": [ 0.04307, 0.01361, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.04329961, 0.01382967, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.35, "tool": [ 0.04889, 0.01909, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.0491273, 0.01931007, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.4, "tool": [ 0.05472, 0.02457, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.05495499, 0.02479048, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.45, "tool": [ 0.06055, 0.03005, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.06078268, 0.03027088, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.5, "tool": [ 0.06638, 0.03553, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.06661037, 0.03575128, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.55, "tool": [ 0.0722, 0.04101, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07243805, 0.04123168, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.6, "tool": [ 0.07803, 0.04649, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07826574, 0.04671208, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.65, "tool": [ 0.08386, 0.05197, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08409343, 0.05219248, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.7, "tool": [ 0.08969, 0.05745, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08992112, 0.05767288, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.75, "tool": [ 0.09552, 0.06293, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09574881, 0.06315328, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.8, "tool": [ 0.10134, 0.06841, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10157649, 0.06863368, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.85, "tool": [ 0.10717, 0.07389, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10740418, 0.07411408, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.9, "tool": [ 0.113, 0.07938, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11323187, 0.07959448, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.95, "tool": [ 0.11883, 0.08486, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11905956, 0.08507488, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.0, "tool": [ 0.12465, 0.09034, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.12488725, 0.09055528, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.05, "tool": [ 0.13048, 0.09582, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13071493, 0.09603568, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.1, "tool": [ 0.13631, 0.1013, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13654262, 0.10151608, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.15, "tool": [ 0.14214, 0.10678, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14237031, 0.10699648, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.2, "tool": [ 0.14796, 0.11226, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.148198, 0.11247688, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.25, "tool": [ 0.15379, 0.11774, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15402569, 0.11795728, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.3, "tool": [ 0.15962, 0.12322, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15985337, 0.12343768, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.35, "tool": [ 0.16545, 0.1287, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.16568106, 0.12891808, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.4, "tool": [ 0.17128, 0.13418, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17150875, 0.13439848, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.45, "tool": [ 0.17706, 0.13962, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17727048, 0.13981685, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.5, "tool": [ 0.18014, 0.14251, 0.038 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.18019313, 0.14256533, 0.038, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.55, "tool": [ 0.1809, 0.14323, 0.03808 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18091789, 0.1432469, 0.03812417, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.6, "tool": [ 0.18109, 0.14341, 0.04326 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1810902, 0.14340894, 0.0435932, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.65, "tool": [ 0.18113, 0.14345, 0.05279 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18113112, 0.14344742, 0.05319999, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.7, "tool": [ 0.18114, 0.14346, 0.06341 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114084, 0.14345656, 0.06384683, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.75, "tool": [ 0.18114, 0.14346, 0.0743 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114314, 0.14345873, 0.07474102, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.8, "tool": [ 0.18114, 0.14346, 0.08526 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114369, 0.14345925, 0.08569395, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.85, "tool": [ 0.18114, 0.14346, 0.09622 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114382, 0.14345937, 0.09666083, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.9, "tool": [ 0.18114, 0.14346, 0.10719 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114385, 0.1434594, 0.10763102, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.95, "tool": [ 0.18114, 0.14346, 0.11816 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114386, 0.1434594, 0.11860199, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.0, "tool": [ 0.18114, 0.14346, 0.12913 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114386, 0.14345941, 0.12957316, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.05, "tool": [ 0.18114, 0.14346, 0.14011 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114386, 0.14345941, 0.14054437, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.1, "tool": [ 0.18114, 0.14346, 0.15107 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114386, 0.14345941, 0.15149863, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.15, "tool": [ 0.18114, 0.14346, 0.15775 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18114386, 0.14345941, 0.15787415, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.2, "tool": [ 0.18114, 0.14346, 0.15946 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18114386, 0.14345941, 0.15949449, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.25, "tool": [ 0.18114, 0.14346, 0.15987 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18114386, 0.14345941, 0.15987995, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.3, "tool": [ 0.18114, 0.14346, 0.15997 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18114386, 0.14345941, 0.15997149, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.35, "tool": [ 0.18114, 0.14346, 0.15999 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18114386, 0.14345941, 0.15999323, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.4, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.15999839, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.45, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.15999962, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.5, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.15999991, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.55, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.15999998, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.6, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.15999999, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.65, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.7, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.75, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.8, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.85, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.9, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.95, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.11900471, -0.09131262, 0.02499818, 0.98914668, -0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 7.0, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, -0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.046, "tool": [ 0.18114, 0.14346, 0.16 ], "objects": { "red_block": [ 0.119, -0.09131, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18114386, 0.14345941, 0.16, 0.11900471, -0.09131262, 0.02499818, 0.98914668, 0.0, 0.0, 0.14693141, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] } ], "events": [ { "t": 0.3, "type": "start", "message": "open_loop: 빨간 블록을 오른쪽 목표로 밀어줘" }, { "t": 2.868, "type": "disturbance", "message": "블록에 x 방향 1.2 N 외력을 0.10초 적용" }, { "t": 7.046, "type": "failure", "message": "최종 거리 0.2895 m · 정지 상태 False" } ] }, { "id": "disturbance-0-closed_loop", "policy": "closed_loop", "scenario": "disturbance", "seed": 0, "task": { "object_name": "red_block", "goal": "right", "instruction": "빨간 블록을 오른쪽 목표로 밀어줘" }, "parameters": { "friction": 0.5, "mass": 0.08, "disturbance": true }, "success": true, "final_distance_m": 0.014252501170820015, "settled": true, "sim_time_s": 16.810000000001562, "wall_time_s": 0.33048110001254827, "timed_out": false, "termination_reason": "success", "contact_steps": 917, "peak_contact_point_force_n": 4.183878722601247, "unintended_contact_steps": 20, "distractor_displacement_m": 0.00297212442245304, "workspace_violation": false, "replans": 4, "disturbance_applied": true, "trajectory": [ { "t": 0.05, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.02496 ], "blue_block": [ 0.12705, -0.17417, 0.02496 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.16151069, 0.0249616, 1.0, -2.3e-07, 0.0, -0.0, 0.12704868, -0.17417364, 0.0249616, 1.0, -2.3e-07, 0.0, -0.0 ] }, { "t": 0.1, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.0249973, 1.0, -1e-08, 0.0, -0.0, 0.12704868, -0.17417365, 0.0249973, 1.0, -1e-08, 0.0, -0.0 ] }, { "t": 0.15, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499816, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499816, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.2, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.25, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.3, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.35, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.4, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.45, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.5, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.55, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.6, "tool": [ -0.00417, -0.31782, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.00450931, -0.31763922, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.65, "tool": [ -0.01439, -0.31247, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.01484748, -0.31222684, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.7, "tool": [ -0.02626, -0.30625, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.02674899, -0.30599599, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.75, "tool": [ -0.03853, -0.29983, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.03902286, -0.2995702, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.8, "tool": [ -0.05089, -0.29336, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05138517, -0.29309811, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.85, "tool": [ -0.06327, -0.28687, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.06376849, -0.28661502, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.9, "tool": [ -0.07566, -0.28039, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.07615679, -0.28012932, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.95, "tool": [ -0.08805, -0.2739, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.08854627, -0.27364301, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.0, "tool": [ -0.10044, -0.26742, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.10093604, -0.26715654, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.05, "tool": [ -0.11283, -0.26093, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.11332587, -0.26067004, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.1, "tool": [ -0.12522, -0.25444, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.12571572, -0.25418353, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.15, "tool": [ -0.13761, -0.24796, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.13810558, -0.24769702, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.2, "tool": [ -0.15, -0.24147, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.15049543, -0.24121051, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.25, "tool": [ -0.16239, -0.23498, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.16288528, -0.234724, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.3, "tool": [ -0.17478, -0.2285, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.17527514, -0.22823749, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.35, "tool": [ -0.18717, -0.22201, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.18766499, -0.22175098, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.4, "tool": [ -0.19664, -0.21705, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.19683649, -0.21694938, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.45, "tool": [ -0.19937, -0.21562, 0.16 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.19941398, -0.21559998, 0.16, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.5, "tool": [ -0.20002, -0.21528, 0.15764 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20002861, -0.2152782, 0.15740243, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.55, "tool": [ -0.20017, -0.2152, 0.14984 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20017458, -0.21520178, 0.14948275, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.6, "tool": [ -0.20021, -0.21518, 0.14037 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20020925, -0.21518363, 0.13997882, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.65, "tool": [ -0.20022, -0.21518, 0.13049 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20021748, -0.21517932, 0.13009664, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.7, "tool": [ -0.20022, -0.21518, 0.12052 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20021943, -0.2151783, 0.12012462, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.75, "tool": [ -0.20022, -0.21518, 0.11053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.2002199, -0.21517805, 0.11013126, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.8, "tool": [ -0.20022, -0.21518, 0.10053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022001, -0.215178, 0.10013284, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.85, "tool": [ -0.20022, -0.21518, 0.09053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.09013322, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.9, "tool": [ -0.20022, -0.21518, 0.08053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.08013331, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.95, "tool": [ -0.20022, -0.21518, 0.07053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.07013333, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.0, "tool": [ -0.20022, -0.21518, 0.06053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.06013333, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.05, "tool": [ -0.20022, -0.21518, 0.05053 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.05013333, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.1, "tool": [ -0.20022, -0.21518, 0.04184 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.04162799, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.15, "tool": [ -0.20022, -0.21518, 0.03892 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.20022004, -0.21517798, 0.03886724, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.2, "tool": [ -0.19946, -0.21446, 0.03822 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.19934898, -0.21435883, 0.03820598, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.25, "tool": [ -0.19533, -0.21058, 0.03805 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.19513007, -0.21039133, 0.03804892, -0.14315192, -0.1615107, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.3, "tool": [ -0.18991, -0.20549, 0.03801 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1896876, -0.20527319, 0.03801162, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.35, "tool": [ -0.18418, -0.2001, 0.038 ], "objects": { "red_block": [ -0.14315, -0.16151, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1839513, -0.19987873, 0.03800276, -0.14315192, -0.1615107, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.4, "tool": [ -0.17857, -0.19474, 0.038 ], "objects": { "red_block": [ -0.13949, -0.15981, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17833721, -0.19452242, 0.03800405, -0.13921034, -0.15965157, 0.02501186, 0.99943753, -0.00028079, 0.00011061, 0.03353419, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.45, "tool": [ -0.17272, -0.18926, 0.03802 ], "objects": { "red_block": [ -0.13407, -0.15629, 0.02505 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1724817, -0.1890438, 0.03801675, -0.13387715, -0.15614664, 0.02498192, 0.99791269, -0.00038893, 0.00035758, 0.06457547, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.5, "tool": [ -0.16691, -0.18377, 0.03805 ], "objects": { "red_block": [ -0.12881, -0.15223, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.16667027, -0.18355194, 0.03804829, -0.12866825, -0.15210247, 0.02502648, 0.99583701, -0.00043688, 0.0001839, 0.09115058, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.55, "tool": [ -0.16107, -0.17831, 0.03802 ], "objects": { "red_block": [ -0.12402, -0.14798, 0.02503 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.16083061, -0.17808956, 0.03802034, -0.12382685, -0.14783391, 0.02498979, 0.99307103, 0.0008437, -0.00012243, 0.11751253, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.6, "tool": [ -0.15527, -0.17282, 0.03805 ], "objects": { "red_block": [ -0.11876, -0.14402, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.15503058, -0.17260295, 0.03805324, -0.11854844, -0.14388688, 0.02500323, 0.99022485, 0.00099303, -8.581e-05, 0.13947672, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.65, "tool": [ -0.14945, -0.16734, 0.03806 ], "objects": { "red_block": [ -0.11322, -0.13969, 0.02508 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14921371, -0.16712517, 0.03806184, -0.11298782, -0.13949729, 0.0250408, 0.98743932, -0.00047572, -0.00050136, 0.1579972, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.7, "tool": [ -0.14361, -0.16187, 0.03806 ], "objects": { "red_block": [ -0.10769, -0.13507, 0.02501 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14338031, -0.16164727, 0.03806567, -0.10748484, -0.13486904, 0.02504605, 0.98430112, -0.0005476, -0.0001483, 0.17649643, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.75, "tool": [ -0.13779, -0.15639, 0.03807 ], "objects": { "red_block": [ -0.10208, -0.12997, 0.02508 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13755092, -0.15616756, 0.03806839, -0.10187903, -0.12976021, 0.0250776, 0.98144707, -0.00026965, -0.00090888, 0.19173094, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.8, "tool": [ -0.13193, -0.15092, 0.03804 ], "objects": { "red_block": [ -0.09619, -0.1249, 0.02504 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13169734, -0.1506931, 0.03803639, -0.09596825, -0.1247042, 0.02500456, 0.9804932, 0.00025493, 0.0005445, 0.19655209, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.85, "tool": [ -0.12611, -0.14542, 0.03804 ], "objects": { "red_block": [ -0.09019, -0.11995, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12587748, -0.14519558, 0.03803535, -0.08996583, -0.11977943, 0.02499128, 0.97964083, 0.00032326, 6.69e-06, 0.20075791, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.9, "tool": [ -0.1202, -0.13989, 0.03802 ], "objects": { "red_block": [ -0.07949, -0.11526, 0.02513 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11995945, -0.13966985, 0.03801605, -0.07864516, -0.11508062, 0.0251994, 0.98044128, -0.00161844, -0.00145566, 0.19679978, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.95, "tool": [ -0.11506, -0.13509, 0.038 ], "objects": { "red_block": [ -0.04616, -0.1107, 0.02656 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11493759, -0.13497036, 0.03800388, -0.04433769, -0.11051901, 0.02668622, 0.97986726, 0.01142597, 0.00857654, 0.19913827, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.0, "tool": [ -0.11334, -0.13348, 0.038 ], "objects": { "red_block": [ 0.00699, -0.10614, 0.02622 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11331284, -0.13344806, 0.03800092, 0.00887725, -0.10595741, 0.02643311, 0.9813408, 0.00206336, 0.00390765, 0.19222566, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.05, "tool": [ -0.11293, -0.13309, 0.03943 ], "objects": { "red_block": [ 0.05147, -0.10158, 0.02528 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11292371, -0.13308345, 0.03964004, 0.05301355, -0.1013958, 0.02521228, 0.98159078, 0.00509492, -0.00085982, 0.19092627, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.1, "tool": [ -0.11283, -0.133, 0.0472 ], "objects": { "red_block": [ 0.08323, -0.09702, 0.02527 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11283128, -0.13299685, 0.04758221, 0.08423943, -0.09683461, 0.02528811, 0.98190593, 0.00778223, 0.00036005, 0.18920901, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.15, "tool": [ -0.11281, -0.13298, 0.0574 ], "objects": { "red_block": [ 0.10282, -0.09246, 0.02509 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280933, -0.13297628, 0.05782792, 0.10332881, -0.09228026, 0.02512564, 0.98345393, -0.0020632, 0.00083797, 0.1811447, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.2, "tool": [ -0.1128, -0.13297, 0.06819 ], "objects": { "red_block": [ 0.11067, -0.08849, 0.02503 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280412, -0.1329714, 0.06862681, 0.11082036, -0.08840499, 0.02499197, 0.98488487, 0.00065822, 5.225e-05, 0.17320901, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.25, "tool": [ -0.1128, -0.13297, 0.07912 ], "objects": { "red_block": [ 0.11143, -0.08788, 0.02499 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280288, -0.13297024, 0.07955711, 0.11143228, -0.08788491, 0.02499173, 0.98507692, -6.782e-05, -1.211e-05, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.3, "tool": [ -0.1128, -0.13297, 0.09008 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280258, -0.13296996, 0.09051861, 0.11143344, -0.08788811, 0.02499802, 0.98507692, -1.62e-06, -2.9e-07, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.35, "tool": [ -0.1128, -0.13297, 0.10105 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280251, -0.1329699, 0.10148753, 0.11143347, -0.08788819, 0.02499817, 0.98507692, -4e-08, -1e-08, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.4, "tool": [ -0.1128, -0.13297, 0.11202 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.1128025, -0.13296988, 0.1124582, 0.11143347, -0.08788819, 0.02499818, 0.98507692, -0.0, -0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.45, "tool": [ -0.1128, -0.13297, 0.12299 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296988, 0.1234293, 0.11143347, -0.08788819, 0.02499818, 0.98507692, -0.0, -0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.5, "tool": [ -0.1128, -0.13297, 0.13396 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296988, 0.13440049, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, 0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.55, "tool": [ -0.1128, -0.13297, 0.14493 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296988, 0.1453717, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, 0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.6, "tool": [ -0.1128, -0.13297, 0.15502 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296988, 0.15528769, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, 0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.65, "tool": [ -0.1128, -0.13297, 0.1588 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296988, 0.15886949, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, 0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.7, "tool": [ -0.1128, -0.13297, 0.15972 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.11280249, -0.13296988, 0.15973146, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, 0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.75, "tool": [ -0.1128, -0.13297, 0.15993 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.11280249, -0.13296988, 0.15993623, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, 0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.8, "tool": [ -0.1128, -0.13297, 0.15998 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.11280249, -0.13296988, 0.15998486, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, 0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.85, "tool": [ -0.1128, -0.13297, 0.16 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.11280249, -0.13296988, 0.1599964, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, 0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.9, "tool": [ -0.1128, -0.13297, 0.16 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296988, 0.15999915, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, 0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.95, "tool": [ -0.1128, -0.13297, 0.16 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296988, 0.1599998, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, 0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.0, "tool": [ -0.1128, -0.13297, 0.16 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296988, 0.15999995, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, 0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.05, "tool": [ -0.1128, -0.13297, 0.16 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296988, 0.15999999, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, 0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.1, "tool": [ -0.1128, -0.13297, 0.16 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.11280249, -0.13296988, 0.16, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, 0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.15, "tool": [ -0.11168, -0.13313, 0.16 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.11147161, -0.13315765, 0.16, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, 0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.2, "tool": [ -0.10262, -0.13441, 0.16 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.10215197, -0.13447258, 0.16, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, 0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.25, "tool": [ -0.08994, -0.1362, 0.16 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.08940205, -0.13627148, 0.16, 0.11143347, -0.08788819, 0.02499818, 0.98507692, -0.0, -0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.3, "tool": [ -0.07637, -0.13811, 0.16 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.07582326, -0.13818734, 0.16, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, 0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.35, "tool": [ -0.0626, -0.14005, 0.16 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.06204754, -0.14013098, 0.16, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, -0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.4, "tool": [ -0.04878, -0.142, 0.16 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.04822505, -0.14208121, 0.16, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, -0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.45, "tool": [ -0.03494, -0.14395, 0.16 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.03439146, -0.14403302, 0.16, 0.11143347, -0.08788819, 0.02499818, 0.98507692, -0.0, -0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.5, "tool": [ -0.02111, -0.14591, 0.16 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.02055523, -0.14598519, 0.16, 0.11143347, -0.08788819, 0.02499818, 0.98507692, -0.0, -0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.55, "tool": [ -0.00727, -0.14786, 0.16 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.00671837, -0.14793746, 0.16, 0.11143347, -0.08788819, 0.02499818, 0.98507692, -0.0, 0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.6, "tool": [ 0.00657, -0.14981, 0.16 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.00711863, -0.14988974, 0.16, 0.11143347, -0.08788819, 0.02499818, 0.98507692, -0.0, 0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.65, "tool": [ 0.0204, -0.15176, 0.16 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.02095567, -0.15184203, 0.16, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, 0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.7, "tool": [ 0.03424, -0.15372, 0.16 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.03479272, -0.15379432, 0.16, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, -0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.75, "tool": [ 0.04808, -0.15567, 0.16 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.04862977, -0.15574662, 0.16, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, -0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.8, "tool": [ 0.06191, -0.15762, 0.16 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.06246682, -0.15769891, 0.16, 0.11143347, -0.08788819, 0.02499818, 0.98507692, -0.0, 0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.85, "tool": [ 0.075, -0.15947, 0.16 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.07537922, -0.15952074, 0.16, 0.11143347, -0.08788819, 0.02499818, 0.98507692, -0.0, 0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.9, "tool": [ 0.08033, -0.16022, 0.16 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.08042372, -0.16023247, 0.16, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, -0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.95, "tool": [ 0.08162, -0.1604, 0.15946 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.08164321, -0.16040454, 0.15933176, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, -0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.0, "tool": [ 0.08193, -0.16044, 0.15331 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.08193295, -0.16044541, 0.1529774, 0.11143347, -0.08788819, 0.02499818, 0.98507692, -0.0, -0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.05, "tool": [ 0.082, -0.16045, 0.14424 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.08200176, -0.16045512, 0.14385873, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, 0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.1, "tool": [ 0.08202, -0.16046, 0.13446 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.0820181, -0.16045743, 0.13406812, 0.11143347, -0.08788819, 0.02499818, 0.98507692, -0.0, -0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.15, "tool": [ 0.08202, -0.16046, 0.12452 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.08202198, -0.16045798, 0.12411785, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, 0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.2, "tool": [ 0.08202, -0.16046, 0.11453 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.0820229, -0.16045811, 0.11412966, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, -0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.25, "tool": [ 0.08202, -0.16046, 0.10453 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.08202312, -0.16045814, 0.10413246, 0.11143347, -0.08788819, 0.02499818, 0.98507692, -0.0, -0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.3, "tool": [ 0.08202, -0.16046, 0.09453 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.08202317, -0.16045814, 0.09413313, 0.11143347, -0.08788819, 0.02499818, 0.98507692, -0.0, 0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.35, "tool": [ 0.08202, -0.16046, 0.08453 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.08202318, -0.16045815, 0.08413328, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, -0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.4, "tool": [ 0.08202, -0.16046, 0.07453 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.08202318, -0.16045815, 0.07413332, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, -0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.45, "tool": [ 0.08202, -0.16046, 0.06453 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.08202318, -0.16045815, 0.06413333, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, -0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.5, "tool": [ 0.08202, -0.16046, 0.05453 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.08202318, -0.16045815, 0.05413333, 0.11143347, -0.08788819, 0.02499818, 0.98507692, -0.0, -0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.55, "tool": [ 0.08202, -0.16046, 0.04465 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.08202318, -0.16045815, 0.0443044, 0.11143347, -0.08788819, 0.02499818, 0.98507692, -0.0, -0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.6, "tool": [ 0.08202, -0.16046, 0.03963 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.08202318, -0.16045815, 0.03954041, 0.11143347, -0.08788819, 0.02499818, 0.98507692, -0.0, -0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.65, "tool": [ 0.08206, -0.16037, 0.03839 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08207459, -0.16033131, 0.03836608, 0.11143347, -0.08788819, 0.02499818, 0.98507692, -0.0, -0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.7, "tool": [ 0.08356, -0.15668, 0.03809 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12705, -0.17417, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08364789, -0.15644919, 0.03808694, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, -0.0, 0.17211465, 0.12704868, -0.17417365, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.75, "tool": [ 0.08609, -0.15023, 0.03802 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12809, -0.17376, 0.02497 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08619937, -0.14995338, 0.03802052, 0.11143347, -0.08788819, 0.02499818, 0.98507692, 0.0, -0.0, 0.17211465, 0.12813595, -0.17373568, 0.02494904, 0.99971693, -0.00093504, -0.0002404, -0.02377261 ] }, { "t": 5.8, "tool": [ 0.08898, -0.14304, 0.03801 ], "objects": { "red_block": [ 0.11143, -0.08789, 0.025 ], "blue_block": [ 0.12925, -0.17302, 0.02496 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08910186, -0.14274934, 0.03800495, 0.11143347, -0.08788819, 0.02499818, 0.98507692, -0.0, -0.0, 0.17211465, 0.12926551, -0.17301181, 0.02495633, 0.99870887, -8.204e-05, -0.00033489, -0.05079846 ] }, { "t": 5.85, "tool": [ 0.09194, -0.13573, 0.038 ], "objects": { "red_block": [ 0.11199, -0.08731, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.02499 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09205051, -0.1354526, 0.0380012, 0.11221058, -0.08712182, 0.02500535, 0.98342593, 7.202e-05, -0.00039587, 0.18130988, 0.12961102, -0.172667, 0.02499319, 0.99821603, 3.288e-05, 3.016e-05, -0.0597055 ] }, { "t": 5.9, "tool": [ 0.09495, -0.12842, 0.038 ], "objects": { "red_block": [ 0.1187, -0.08103, 0.02505 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09507932, -0.12811434, 0.03800272, 0.11891515, -0.08083723, 0.02510116, 0.97896815, -0.00108077, 0.00099613, 0.20400783, 0.12960961, -0.17266525, 0.02499806, 0.99821603, 6.6e-07, 6.1e-07, -0.05970562 ] }, { "t": 5.95, "tool": [ 0.09799, -0.12099, 0.03801 ], "objects": { "red_block": [ 0.12431, -0.07567, 0.02501 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09811204, -0.12069022, 0.03801197, 0.12452662, -0.07547552, 0.02501674, 0.98021183, 0.00034469, -6.495e-05, 0.19795113, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 2e-08, 1e-08, -0.05970562 ] }, { "t": 6.0, "tool": [ 0.10098, -0.11357, 0.03801 ], "objects": { "red_block": [ 0.12936, -0.07077, 0.02502 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10110017, -0.11327136, 0.03801114, 0.12958731, -0.07057043, 0.0250629, 0.9801474, -0.00094067, -0.00175715, 0.19826018, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 6.05, "tool": [ 0.10399, -0.10614, 0.03801 ], "objects": { "red_block": [ 0.13375, -0.06676, 0.02502 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10411325, -0.10583997, 0.03800564, 0.13391041, -0.06659446, 0.02500227, 0.97827347, 0.00078745, -0.00052604, 0.20731649, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 6.1, "tool": [ 0.10698, -0.09872, 0.038 ], "objects": { "red_block": [ 0.13804, -0.06306, 0.02506 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10710387, -0.09842601, 0.03800094, 0.13822392, -0.06287185, 0.0250228, 0.97739106, -0.00012763, -0.00036914, 0.21143925, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 6.15, "tool": [ 0.10999, -0.09131, 0.038 ], "objects": { "red_block": [ 0.14205, -0.05867, 0.02503 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11011045, -0.0910092, 0.03800107, 0.1422183, -0.05850852, 0.02500793, 0.97509412, 0.00103506, -5.453e-05, 0.22178905, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 6.2, "tool": [ 0.11299, -0.08389, 0.03801 ], "objects": { "red_block": [ 0.14636, -0.05422, 0.02498 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11310751, -0.08359675, 0.03800767, 0.14653398, -0.05403602, 0.02499856, 0.9742272, 0.00050298, 0.00027272, 0.22556825, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 6.25, "tool": [ 0.116, -0.07648, 0.038 ], "objects": { "red_block": [ 0.15078, -0.04956, 0.02497 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11612259, -0.07617887, 0.03800296, 0.15093781, -0.04941263, 0.02500037, 0.97435696, 0.00042618, -0.00021986, 0.22500732, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 6.3, "tool": [ 0.119, -0.06906, 0.038 ], "objects": { "red_block": [ 0.15507, -0.0449, 0.02504 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11912062, -0.06876801, 0.03800136, 0.15525274, -0.04470511, 0.02504547, 0.97406544, -9.537e-05, -0.00046594, 0.22626596, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 6.35, "tool": [ 0.122, -0.06164, 0.038 ], "objects": { "red_block": [ 0.15959, -0.04041, 0.02501 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.12212722, -0.06134579, 0.03800317, 0.15975731, -0.04025877, 0.02503376, 0.97646136, 0.00051758, 0.00034718, 0.21569151, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 6.4, "tool": [ 0.12498, -0.05431, 0.038 ], "objects": { "red_block": [ 0.16399, -0.036, 0.02496 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.12508118, -0.05405028, 0.0380017, 0.16413775, -0.03585197, 0.02497379, 0.98036075, -0.00091663, 0.00052019, 0.19720974, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 6.45, "tool": [ 0.1265, -0.05053, 0.03801 ], "objects": { "red_block": [ 0.16618, -0.03389, 0.02499 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.12653286, -0.05046306, 0.03800783, 0.16621656, -0.03385381, 0.024981, 0.98119993, -0.00019579, 0.00017419, 0.19299387, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 6.5, "tool": [ 0.12687, -0.04962, 0.03813 ], "objects": { "red_block": [ 0.1667, -0.03341, 0.02497 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.12687887, -0.04959986, 0.03819432, 0.1667, -0.03340659, 0.02496795, 0.9812243, 1.61e-05, 1.846e-05, 0.19287008, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 6.55, "tool": [ 0.127, -0.04935, 0.04357 ], "objects": { "red_block": [ 0.16691, -0.03325, 0.02499 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1270017, -0.04934716, 0.04391378, 0.16691304, -0.03325294, 0.02498796, 0.98117128, -2.016e-05, 2.696e-05, 0.19313963, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 6.6, "tool": [ 0.12705, -0.04928, 0.05318 ], "objects": { "red_block": [ 0.16716, -0.03308, 0.02499 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.12704839, -0.04927851, 0.05359762, 0.16716531, -0.03308268, 0.02498881, 0.98108185, 1.722e-05, -0.0001112, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 6.65, "tool": [ 0.12708, -0.04925, 0.06384 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.12708332, -0.04925243, 0.06427569, 0.16717055, -0.03308076, 0.02499795, 0.98108186, 3.5e-07, -2.62e-06, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 6.7, "tool": [ 0.12709, -0.04925, 0.07474 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.12709198, -0.04924609, 0.07517749, 0.16717067, -0.03308072, 0.02499817, 0.98108186, 1e-08, -6e-08, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 6.75, "tool": [ 0.12709, -0.04924, 0.08569 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.12709404, -0.04924459, 0.08613223, 0.16717067, -0.03308072, 0.02499818, 0.98108186, 0.0, -0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 6.8, "tool": [ 0.12709, -0.04924, 0.09666 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.12709453, -0.04924423, 0.09709954, 0.16717067, -0.03308072, 0.02499818, 0.98108186, 0.0, -0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 6.85, "tool": [ 0.12709, -0.04924, 0.10763 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.12709464, -0.04924414, 0.10806983, 0.16717067, -0.03308072, 0.02499818, 0.98108186, -0.0, 0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 6.9, "tool": [ 0.12709, -0.04924, 0.1186 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.12709467, -0.04924412, 0.11904084, 0.16717067, -0.03308072, 0.02499818, 0.98108186, -0.0, 0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 6.95, "tool": [ 0.12709, -0.04924, 0.12957 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.12709468, -0.04924412, 0.13001201, 0.16717067, -0.03308072, 0.02499818, 0.98108186, -0.0, 0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 7.0, "tool": [ 0.12709, -0.04924, 0.14054 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.12709468, -0.04924412, 0.14098322, 0.16717067, -0.03308072, 0.02499818, 0.98108186, -0.0, 0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 7.05, "tool": [ 0.12709, -0.04924, 0.1515 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.12709468, -0.04924412, 0.15191454, 0.16717067, -0.03308072, 0.02499818, 0.98108186, -0.0, 0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 7.1, "tool": [ 0.12709, -0.04924, 0.15787 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.12709468, -0.04924412, 0.15799258, 0.16717067, -0.03308072, 0.02499818, 0.98108186, -0.0, 0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 7.15, "tool": [ 0.12709, -0.04924, 0.15949 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.12709468, -0.04924412, 0.15952274, 0.16717067, -0.03308072, 0.02499818, 0.98108186, -0.0, 0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 7.2, "tool": [ 0.12709, -0.04924, 0.15988 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.12709468, -0.04924412, 0.15988666, 0.16717067, -0.03308072, 0.02499818, 0.98108186, -0.0, 0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 7.25, "tool": [ 0.12709, -0.04924, 0.15997 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.12709468, -0.04924412, 0.15997308, 0.16717067, -0.03308072, 0.02499818, 0.98108186, -0.0, 0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 7.3, "tool": [ 0.12709, -0.04924, 0.15999 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.12709468, -0.04924412, 0.15999361, 0.16717067, -0.03308072, 0.02499818, 0.98108186, -0.0, 0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 7.35, "tool": [ 0.12709, -0.04924, 0.16 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.12709468, -0.04924412, 0.15999848, 0.16717067, -0.03308072, 0.02499818, 0.98108186, -0.0, 0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 7.4, "tool": [ 0.12709, -0.04924, 0.16 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.12709468, -0.04924412, 0.15999964, 0.16717067, -0.03308072, 0.02499818, 0.98108186, -0.0, 0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 7.45, "tool": [ 0.12709, -0.04924, 0.16 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.12709468, -0.04924412, 0.15999991, 0.16717067, -0.03308072, 0.02499818, 0.98108186, -0.0, 0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 7.5, "tool": [ 0.12709, -0.04924, 0.16 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.12709468, -0.04924412, 0.15999998, 0.16717067, -0.03308072, 0.02499818, 0.98108186, 0.0, -0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 7.55, "tool": [ 0.12709, -0.04924, 0.16 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.12709468, -0.04924412, 0.16, 0.16717067, -0.03308072, 0.02499818, 0.98108186, -0.0, 0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 7.6, "tool": [ 0.1271, -0.04926, 0.16 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.12711183, -0.04929198, 0.16, 0.16717067, -0.03308072, 0.02499818, 0.98108186, 0.0, -0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 7.65, "tool": [ 0.12908, -0.05478, 0.16 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.12921546, -0.05516202, 0.16, 0.16717067, -0.03308072, 0.02499818, 0.98108186, 0.0, -0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 7.7, "tool": [ 0.1331, -0.066, 0.16 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.13327426, -0.06648787, 0.16, 0.16717067, -0.03308072, 0.02499818, 0.98108186, 0.0, -0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 7.75, "tool": [ 0.13765, -0.07869, 0.16 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.13783445, -0.07921278, 0.16, 0.16717067, -0.03308072, 0.02499818, 0.98108186, 0.0, -0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 7.8, "tool": [ 0.14233, -0.09175, 0.16 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.14251393, -0.09227059, 0.16, 0.16717067, -0.03308072, 0.02499818, 0.98108186, 0.0, -0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 7.85, "tool": [ 0.1465, -0.1034, 0.16 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.14660606, -0.10368944, 0.16, 0.16717067, -0.03308072, 0.02499818, 0.98108186, 0.0, -0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 7.9, "tool": [ 0.14796, -0.10746, 0.16 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.14798128, -0.1075269, 0.16, 0.16717067, -0.03308072, 0.02499818, 0.98108186, 0.0, -0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 7.95, "tool": [ 0.14831, -0.10843, 0.15887 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.14831112, -0.10844731, 0.15869467, 0.16717067, -0.03308072, 0.02499818, 0.98108186, 0.0, 0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 8.0, "tool": [ 0.14839, -0.10866, 0.15196 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.14838947, -0.10866594, 0.15161479, 0.16717067, -0.03308072, 0.02499818, 0.98108186, -0.0, -0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 8.05, "tool": [ 0.14841, -0.10872, 0.1427 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.14840808, -0.10871786, 0.14231516, 0.16717067, -0.03308072, 0.02499818, 0.98108186, 0.0, -0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 8.1, "tool": [ 0.14841, -0.10873, 0.13288 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.14841249, -0.10873019, 0.13248152, 0.16717067, -0.03308072, 0.02499818, 0.98108186, 0.0, 0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 8.15, "tool": [ 0.14841, -0.10873, 0.12292 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.14841354, -0.10873311, 0.12252103, 0.16717067, -0.03308072, 0.02499818, 0.98108186, -0.0, 0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 8.2, "tool": [ 0.14841, -0.10873, 0.11293 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.14841379, -0.10873381, 0.11253041, 0.16717067, -0.03308072, 0.02499818, 0.98108186, -0.0, -0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 8.25, "tool": [ 0.14841, -0.10873, 0.10293 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.14841385, -0.10873397, 0.10253264, 0.16717067, -0.03308072, 0.02499818, 0.98108186, 0.0, -0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 8.3, "tool": [ 0.14841, -0.10873, 0.09293 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.14841387, -0.10873401, 0.09253317, 0.16717067, -0.03308072, 0.02499818, 0.98108186, 0.0, -0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 8.35, "tool": [ 0.14841, -0.10873, 0.08293 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.14841387, -0.10873402, 0.08253329, 0.16717067, -0.03308072, 0.02499818, 0.98108186, 0.0, 0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 8.4, "tool": [ 0.14841, -0.10873, 0.07293 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.14841387, -0.10873403, 0.07253332, 0.16717067, -0.03308072, 0.02499818, 0.98108186, 0.0, 0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 8.45, "tool": [ 0.14841, -0.10873, 0.06293 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.14841387, -0.10873403, 0.06253333, 0.16717067, -0.03308072, 0.02499818, 0.98108186, -0.0, 0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 8.5, "tool": [ 0.14841, -0.10873, 0.05293 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.14841387, -0.10873403, 0.05253333, 0.16717067, -0.03308072, 0.02499818, 0.98108186, -0.0, 0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 8.55, "tool": [ 0.14841, -0.10873, 0.04336 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.14841387, -0.10873403, 0.04307454, 0.16717067, -0.03308072, 0.02499818, 0.98108186, -0.0, -0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 8.6, "tool": [ 0.14841, -0.10873, 0.0393 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.14841387, -0.10873403, 0.03922428, 0.16717067, -0.03308072, 0.02499818, 0.98108186, -0.0, -0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 8.65, "tool": [ 0.1485, -0.1084, 0.03831 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14851806, -0.10831378, 0.03829086, 0.16717067, -0.03308072, 0.02499818, 0.98108186, 0.0, -0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 8.7, "tool": [ 0.14964, -0.10379, 0.03807 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14970199, -0.10353857, 0.03806907, 0.16717067, -0.03308072, 0.02499818, 0.98108186, 0.0, -0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 8.75, "tool": [ 0.15137, -0.0968, 0.03802 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15144745, -0.09649846, 0.0380164, 0.16717067, -0.03308072, 0.02499818, 0.98108186, 0.0, -0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 8.8, "tool": [ 0.15325, -0.08921, 0.038 ], "objects": { "red_block": [ 0.16717, -0.03308, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15332991, -0.08890577, 0.0380039, 0.16717067, -0.03308072, 0.02499818, 0.98108186, 0.0, 0.0, 0.19359334, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 8.85, "tool": [ 0.15511, -0.08164, 0.03803 ], "objects": { "red_block": [ 0.16769, -0.03182, 0.02502 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15517828, -0.08134585, 0.0380303, 0.16786863, -0.03156703, 0.02503607, 0.98140636, 0.00036954, -0.00012477, 0.19194116, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 8.9, "tool": [ 0.157, -0.07398, 0.03805 ], "objects": { "red_block": [ 0.17292, -0.02442, 0.02505 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15708168, -0.07366964, 0.0380496, 0.173133, -0.02411438, 0.02500003, 0.98452468, -1e-05, 2.388e-05, 0.17524598, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 8.95, "tool": [ 0.15895, -0.06618, 0.03804 ], "objects": { "red_block": [ 0.17797, -0.01751, 0.02497 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15902815, -0.06586618, 0.03804149, 0.17818217, -0.01728381, 0.02499742, 0.98709069, -0.00063784, 0.00039861, 0.16016059, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 9.0, "tool": [ 0.16085, -0.05843, 0.03802 ], "objects": { "red_block": [ 0.18416, -0.01076, 0.02514 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.16093168, -0.05811127, 0.03801719, 0.18441066, -0.01049419, 0.02516445, 0.98803839, -0.00031401, -3.792e-05, 0.15420777, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 9.05, "tool": [ 0.16278, -0.05059, 0.03801 ], "objects": { "red_block": [ 0.18989, -0.00515, 0.02499 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.16285233, -0.05028422, 0.03800589, 0.19011085, -0.00495026, 0.02503893, 0.98926033, 0.00065668, 0.00032248, 0.14616246, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 9.1, "tool": [ 0.1647, -0.04282, 0.038 ], "objects": { "red_block": [ 0.19494, -0.00013, 0.02506 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.16478288, -0.04250335, 0.03800318, 0.19511613, 3.52e-05, 0.0250363, 0.98951311, 0.00011017, 0.00075253, 0.14444106, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 9.15, "tool": [ 0.16661, -0.03506, 0.03801 ], "objects": { "red_block": [ 0.19972, 0.00431, 0.02498 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.16669016, -0.0347516, 0.03800802, 0.19988945, 0.00447034, 0.02501593, 0.99063477, -0.00105278, -7.276e-05, 0.13653438, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 9.2, "tool": [ 0.16854, -0.02726, 0.038 ], "objects": { "red_block": [ 0.20335, 0.00784, 0.02497 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.1686143, -0.02695497, 0.03800415, 0.20348203, 0.00796765, 0.02496684, 0.99012822, -0.00014932, -8.18e-05, 0.14016451, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 9.25, "tool": [ 0.17044, -0.01951, 0.038 ], "objects": { "red_block": [ 0.20633, 0.01054, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17052006, -0.01919404, 0.03800102, 0.20643593, 0.01062137, 0.02500169, 0.98932719, 0.0002066, 0.00011137, 0.14571085, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 9.3, "tool": [ 0.17235, -0.01175, 0.038 ], "objects": { "red_block": [ 0.20983, 0.01359, 0.02498 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17242635, -0.01144349, 0.03800023, 0.20997899, 0.01372258, 0.02499019, 0.99009229, -0.00022463, -5.586e-05, 0.14041793, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 9.35, "tool": [ 0.17428, -0.00398, 0.038 ], "objects": { "red_block": [ 0.21321, 0.01655, 0.02503 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17435398, -0.00367334, 0.03800008, 0.21336438, 0.01669814, 0.02503757, 0.99092464, -0.00051736, 0.00010087, 0.13441757, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 9.4, "tool": [ 0.17614, 0.00347, 0.038 ], "objects": { "red_block": [ 0.21638, 0.01948, 0.02498 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17618783, 0.00368801, 0.03800098, 0.21648711, 0.01958478, 0.02501209, 0.99175454, -0.00019968, 0.00053311, 0.12815074, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 9.45, "tool": [ 0.17693, 0.00664, 0.038 ], "objects": { "red_block": [ 0.2177, 0.02076, 0.02498 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17694819, 0.00669805, 0.03800088, 0.21771899, 0.02077747, 0.02497764, 0.99188306, -3.371e-05, 0.00012283, 0.12715337, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 9.5, "tool": [ 0.17712, 0.00743, 0.03845 ], "objects": { "red_block": [ 0.21804, 0.02104, 0.02497 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17712906, 0.0074462, 0.03857381, 0.21804361, 0.02104384, 0.0249717, 0.99183714, 1.122e-05, -5.071e-05, 0.1275111, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 9.55, "tool": [ 0.17723, 0.00766, 0.04496 ], "objects": { "red_block": [ 0.21817, 0.02107, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17723048, 0.00766364, 0.0453249, 0.21816829, 0.02106828, 0.02499555, 0.99176859, -4.338e-05, -2.52e-06, 0.12804322, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 9.6, "tool": [ 0.17726, 0.00772, 0.05485 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17725906, 0.00771685, 0.05527496, 0.21838805, 0.02114815, 0.0249964, 0.9916313, 2.233e-05, -9.25e-06, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 9.65, "tool": [ 0.17728, 0.00773, 0.06558 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17728352, 0.00773413, 0.06601269, 0.21838836, 0.0211493, 0.02499814, 0.9916313, 5.3e-07, -2.2e-07, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 9.7, "tool": [ 0.17729, 0.00774, 0.07649 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17728944, 0.00773827, 0.07692852, 0.21838837, 0.02114933, 0.02499818, 0.9916313, 1e-08, -1e-08, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 9.75, "tool": [ 0.17729, 0.00774, 0.08745 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17729085, 0.00773925, 0.08788659, 0.21838837, 0.02114933, 0.02499818, 0.9916313, 0.0, -0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 9.8, "tool": [ 0.17729, 0.00774, 0.09842 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17729118, 0.00773948, 0.09885469, 0.21838837, 0.02114933, 0.02499818, 0.9916313, 0.0, -0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 9.85, "tool": [ 0.17729, 0.00774, 0.10939 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17729126, 0.00773954, 0.10982517, 0.21838837, 0.02114933, 0.02499818, 0.9916313, -0.0, 0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 9.9, "tool": [ 0.17729, 0.00774, 0.12036 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17729128, 0.00773955, 0.12079622, 0.21838837, 0.02114933, 0.02499818, 0.9916313, -0.0, 0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 9.95, "tool": [ 0.17729, 0.00774, 0.13133 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17729129, 0.00773955, 0.1317674, 0.21838837, 0.02114933, 0.02499818, 0.9916313, -0.0, 0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 10.0, "tool": [ 0.17729, 0.00774, 0.1423 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17729129, 0.00773955, 0.14273861, 0.21838837, 0.02114933, 0.02499818, 0.9916313, -0.0, 0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 10.05, "tool": [ 0.17729, 0.00774, 0.15308 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17729129, 0.00773955, 0.15344358, 0.21838837, 0.02114933, 0.02499818, 0.9916313, -0.0, 0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 10.1, "tool": [ 0.17729, 0.00774, 0.15831 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17729129, 0.00773955, 0.15840426, 0.21838837, 0.02114933, 0.02499818, 0.9916313, -0.0, 0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 10.15, "tool": [ 0.17729, 0.00774, 0.1596 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.17729129, 0.00773955, 0.15962081, 0.21838837, 0.02114933, 0.02499818, 0.9916313, 0.0, -0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 10.2, "tool": [ 0.17729, 0.00774, 0.1599 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.17729129, 0.00773955, 0.15990995, 0.21838837, 0.02114933, 0.02499818, 0.9916313, 0.0, -0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 10.25, "tool": [ 0.17729, 0.00774, 0.15998 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.17729129, 0.00773955, 0.15997862, 0.21838837, 0.02114933, 0.02499818, 0.9916313, 0.0, -0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 10.3, "tool": [ 0.17729, 0.00774, 0.15999 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.17729129, 0.00773955, 0.15999492, 0.21838837, 0.02114933, 0.02499818, 0.9916313, 0.0, -0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 10.35, "tool": [ 0.17729, 0.00774, 0.16 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17729129, 0.00773955, 0.15999879, 0.21838837, 0.02114933, 0.02499818, 0.9916313, 0.0, -0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 10.4, "tool": [ 0.17729, 0.00774, 0.16 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17729129, 0.00773955, 0.15999971, 0.21838837, 0.02114933, 0.02499818, 0.9916313, -0.0, 0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 10.45, "tool": [ 0.17729, 0.00774, 0.16 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17729129, 0.00773955, 0.15999993, 0.21838837, 0.02114933, 0.02499818, 0.9916313, -0.0, 0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 10.5, "tool": [ 0.17729, 0.00774, 0.16 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17729129, 0.00773955, 0.15999998, 0.21838837, 0.02114933, 0.02499818, 0.9916313, -0.0, 0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 10.55, "tool": [ 0.17729, 0.00774, 0.16 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17729129, 0.00773955, 0.16, 0.21838837, 0.02114933, 0.02499818, 0.9916313, -0.0, 0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 10.6, "tool": [ 0.17742, 0.00754, 0.16 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.1774796, 0.00745798, 0.16, 0.21838837, 0.02114933, 0.02499818, 0.9916313, -0.0, 0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 10.65, "tool": [ 0.18149, 0.00147, 0.16 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.18173055, 0.00110162, 0.16, 0.21838837, 0.02114933, 0.02499818, 0.9916313, -0.0, 0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 10.7, "tool": [ 0.18834, -0.00877, 0.16 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.18862956, -0.0092143, 0.16, 0.21838837, 0.02114933, 0.02499818, 0.9916313, 0.0, 0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 10.75, "tool": [ 0.19588, -0.02005, 0.16 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.19618447, -0.02051099, 0.16, 0.21838837, 0.02114933, 0.02499818, 0.9916313, 0.0, 0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 10.8, "tool": [ 0.20359, -0.03158, 0.16 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.20389531, -0.03204083, 0.16, 0.21838837, 0.02114933, 0.02499818, 0.9916313, 0.0, 0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 10.85, "tool": [ 0.21133, -0.04316, 0.16 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.2116312, -0.04360812, 0.16, 0.21838837, 0.02114933, 0.02499818, 0.9916313, 0.0, -0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 10.9, "tool": [ 0.21605, -0.05021, 0.16 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.21613755, -0.05034636, 0.16, 0.21838837, 0.02114933, 0.02499818, 0.9916313, 0.0, -0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 10.95, "tool": [ 0.21726, -0.05203, 0.16 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.21728289, -0.05205896, 0.15998455, 0.21838837, 0.02114933, 0.02499818, 0.9916313, -0.0, -0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 11.0, "tool": [ 0.21755, -0.05246, 0.15608 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.21755535, -0.05246637, 0.15579567, 0.21838837, 0.02114933, 0.02499818, 0.9916313, 0.0, 0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 11.05, "tool": [ 0.21762, -0.05256, 0.14765 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.21762005, -0.05256312, 0.14727258, 0.21838837, 0.02114933, 0.02499818, 0.9916313, 0.0, -0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 11.1, "tool": [ 0.21764, -0.05259, 0.13802 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.21763542, -0.0525861, 0.13762391, 0.21838837, 0.02114933, 0.02499818, 0.9916313, 0.0, -0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 11.15, "tool": [ 0.21764, -0.05259, 0.12811 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.21763907, -0.05259155, 0.12770735, 0.21838837, 0.02114933, 0.02499818, 0.9916313, 0.0, 0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 11.2, "tool": [ 0.21764, -0.05259, 0.11813 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.21763994, -0.05259285, 0.11772716, 0.21838837, 0.02114933, 0.02499818, 0.9916313, 0.0, -0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 11.25, "tool": [ 0.21764, -0.05259, 0.10813 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.21764014, -0.05259316, 0.10773187, 0.21838837, 0.02114933, 0.02499818, 0.9916313, -0.0, -0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 11.3, "tool": [ 0.21764, -0.05259, 0.09813 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.21764019, -0.05259323, 0.09773299, 0.21838837, 0.02114933, 0.02499818, 0.9916313, -0.0, -0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 11.35, "tool": [ 0.21764, -0.05259, 0.08813 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.2176402, -0.05259325, 0.08773325, 0.21838837, 0.02114933, 0.02499818, 0.9916313, -0.0, 0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 11.4, "tool": [ 0.21764, -0.05259, 0.07813 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.21764021, -0.05259325, 0.07773331, 0.21838837, 0.02114933, 0.02499818, 0.9916313, 0.0, 0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 11.45, "tool": [ 0.21764, -0.05259, 0.06813 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.21764021, -0.05259325, 0.06773333, 0.21838837, 0.02114933, 0.02499818, 0.9916313, 0.0, 0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 11.5, "tool": [ 0.21764, -0.05259, 0.05813 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.21764021, -0.05259325, 0.05773333, 0.21838837, 0.02114933, 0.02499818, 0.9916313, 0.0, -0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 11.55, "tool": [ 0.21764, -0.05259, 0.04813 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.21764021, -0.05259325, 0.04773333, 0.21838837, 0.02114933, 0.02499818, 0.9916313, 0.0, -0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 11.6, "tool": [ 0.21764, -0.05259, 0.04073 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.21764021, -0.05259325, 0.04057942, 0.21838837, 0.02114933, 0.02499818, 0.9916313, 0.0, -0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 11.65, "tool": [ 0.21764, -0.05259, 0.03865 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.21764021, -0.05259325, 0.03861423, 0.21838837, 0.02114933, 0.02499818, 0.9916313, -0.0, -0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 11.7, "tool": [ 0.21766, -0.05052, 0.03815 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.21766331, -0.0503165, 0.03814588, 0.21838837, 0.02114933, 0.02499818, 0.9916313, -0.0, -0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 11.75, "tool": [ 0.21773, -0.04418, 0.03804 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.21772852, -0.04388898, 0.03803464, 0.21838837, 0.02114933, 0.02499818, 0.9916313, -0.0, 0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 11.8, "tool": [ 0.2178, -0.03658, 0.03801 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.21780588, -0.03626406, 0.03800823, 0.21838837, 0.02114933, 0.02499818, 0.9916313, -0.0, 0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 11.85, "tool": [ 0.21788, -0.02867, 0.038 ], "objects": { "red_block": [ 0.21839, 0.02115, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.21788613, -0.02835345, 0.03800195, 0.21838837, 0.02114933, 0.02499818, 0.9916313, 0.0, 0.0, 0.12910214, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 11.9, "tool": [ 0.21796, -0.02091, 0.03803 ], "objects": { "red_block": [ 0.21842, 0.02343, 0.02507 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.21796129, -0.02060445, 0.03802884, 0.21842328, 0.02375126, 0.02508674, 0.99297895, 0.00045133, 0.00033564, 0.11828988, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 11.95, "tool": [ 0.21804, -0.01296, 0.03804 ], "objects": { "red_block": [ 0.21877, 0.03077, 0.02493 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.21804023, -0.01263746, 0.03804034, 0.21878133, 0.03098641, 0.02495827, 0.99679871, 9.343e-05, 0.00075505, 0.07994848, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 12.0, "tool": [ 0.21811, -0.00497, 0.03804 ], "objects": { "red_block": [ 0.21921, 0.0383, 0.02495 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.2181168, -0.00464662, 0.03804125, 0.21922693, 0.03854832, 0.02495421, 0.99918342, 0.00025466, -0.00091675, 0.04039298, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 12.05, "tool": [ 0.2182, 0.00302, 0.03807 ], "objects": { "red_block": [ 0.21966, 0.04601, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.21820008, 0.00332787, 0.0380796, 0.21967129, 0.04631866, 0.02507754, 0.99995076, 0.00018682, -7.317e-05, 0.00992161, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 12.1, "tool": [ 0.21827, 0.01103, 0.03802 ], "objects": { "red_block": [ 0.22037, 0.05394, 0.02509 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.21827626, 0.01135201, 0.03801724, 0.22040632, 0.05426442, 0.02509447, 0.99994898, 0.00117722, -0.00032416, -0.01002706, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 12.15, "tool": [ 0.21837, 0.01903, 0.03802 ], "objects": { "red_block": [ 0.22116, 0.06196, 0.02509 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.21836923, 0.01935018, 0.03802407, 0.22118967, 0.06226149, 0.02508703, 0.99956275, -3.728e-05, 0.0009208, -0.02955439, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 12.2, "tool": [ 0.21843, 0.027, 0.03808 ], "objects": { "red_block": [ 0.2225, 0.06972, 0.02514 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.21843531, 0.02731568, 0.03808399, 0.22256155, 0.07004178, 0.02515657, 0.99899598, -2.429e-05, -0.00025546, -0.04479923, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 12.25, "tool": [ 0.21852, 0.03502, 0.03804 ], "objects": { "red_block": [ 0.22416, 0.0777, 0.02496 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.21852415, 0.03534844, 0.03804025, 0.22422469, 0.07796256, 0.0249885, 0.99792384, 0.00089294, 0.00094927, -0.06439192, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 12.3, "tool": [ 0.21859, 0.04303, 0.03805 ], "objects": { "red_block": [ 0.22607, 0.08541, 0.02503 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.21858659, 0.04335262, 0.03804604, 0.22617139, 0.08572047, 0.02500773, 0.99712442, -0.00070712, -0.00120316, -0.07576903, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 12.35, "tool": [ 0.21867, 0.05101, 0.03806 ], "objects": { "red_block": [ 0.22855, 0.09294, 0.02503 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.21867451, 0.05133926, 0.03806156, 0.22865963, 0.09323334, 0.02498481, 0.99529939, 7.973e-05, -0.00056824, -0.09684422, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 12.4, "tool": [ 0.21875, 0.05902, 0.03809 ], "objects": { "red_block": [ 0.23139, 0.10022, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.21875433, 0.05934428, 0.03808923, 0.23147307, 0.10049653, 0.02498296, 0.99307338, -9.134e-05, -0.00083308, -0.11749279, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 12.45, "tool": [ 0.21882, 0.06503, 0.03805 ], "objects": { "red_block": [ 0.23333, 0.10573, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.21882437, 0.0651582, 0.03804284, 0.23336766, 0.10584035, 0.02499067, 0.99208136, -0.00052234, -0.00021997, -0.12559558, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 12.5, "tool": [ 0.21883, 0.0667, 0.03805 ], "objects": { "red_block": [ 0.2341, 0.10713, 0.02499 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.21882822, 0.06672737, 0.03804771, 0.23411221, 0.10715898, 0.02499552, 0.99159107, -3.17e-06, -6.95e-06, -0.12941078, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 12.55, "tool": [ 0.21883, 0.06714, 0.04084 ], "objects": { "red_block": [ 0.23426, 0.10753, 0.02499 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.2188322, 0.06715553, 0.04110909, 0.23426094, 0.10752569, 0.02498759, 0.99132819, -1.827e-05, -0.00013517, -0.13140929, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 12.6, "tool": [ 0.21885, 0.06732, 0.04953 ], "objects": { "red_block": [ 0.23433, 0.1077, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.21884677, 0.06732442, 0.04992531, 0.23432559, 0.10769591, 0.02499575, 0.99114201, -6.77e-06, -2.993e-05, -0.13280632, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 12.65, "tool": [ 0.21885, 0.06736, 0.05995 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.02497 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.21884858, 0.06735881, 0.06037985, 0.23439564, 0.10793681, 0.02497404, 0.99089815, 1.118e-05, -3.95e-06, -0.13461371, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 12.7, "tool": [ 0.21886, 0.06739, 0.0708 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.21885535, 0.06739023, 0.07124041, 0.23439591, 0.10793735, 0.0249976, 0.99089815, 2.1e-07, -9e-08, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 12.75, "tool": [ 0.21886, 0.0674, 0.08175 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.21885708, 0.06739811, 0.08218557, 0.23439591, 0.10793736, 0.02499816, 0.99089815, 0.0, -0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 12.8, "tool": [ 0.21886, 0.0674, 0.09271 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.21885749, 0.06739999, 0.09315061, 0.23439591, 0.10793736, 0.02499818, 0.99089815, 0.0, -0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 12.85, "tool": [ 0.21886, 0.0674, 0.10368 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.21885758, 0.06740043, 0.10412036, 0.23439591, 0.10793736, 0.02499818, 0.99089815, 0.0, -0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 12.9, "tool": [ 0.21886, 0.0674, 0.11465 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.21885761, 0.06740054, 0.11509124, 0.23439591, 0.10793736, 0.02499818, 0.99089815, 0.0, -0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 12.95, "tool": [ 0.21886, 0.0674, 0.12562 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.21885761, 0.06740057, 0.12606238, 0.23439591, 0.10793736, 0.02499818, 0.99089815, -0.0, 0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 13.0, "tool": [ 0.21886, 0.0674, 0.13659 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.21885761, 0.06740057, 0.13703358, 0.23439591, 0.10793736, 0.02499818, 0.99089815, -0.0, 0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 13.05, "tool": [ 0.21886, 0.0674, 0.14757 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.21885761, 0.06740057, 0.1480048, 0.23439591, 0.10793736, 0.02499818, 0.99089815, -0.0, 0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 13.1, "tool": [ 0.21886, 0.0674, 0.15645 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.21885761, 0.06740057, 0.15664236, 0.23439591, 0.10793736, 0.02499818, 0.99089815, -0.0, 0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 13.15, "tool": [ 0.21886, 0.0674, 0.15915 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.21885761, 0.06740057, 0.15919926, 0.23439591, 0.10793736, 0.02499818, 0.99089815, -0.0, 0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 13.2, "tool": [ 0.21886, 0.0674, 0.1598 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.21885761, 0.06740057, 0.15980982, 0.23439591, 0.10793736, 0.02499818, 0.99089815, -0.0, 0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 13.25, "tool": [ 0.21886, 0.0674, 0.15995 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.21885761, 0.06740057, 0.15995484, 0.23439591, 0.10793736, 0.02499818, 0.99089815, -0.0, 0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 13.3, "tool": [ 0.21886, 0.0674, 0.15999 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.21885761, 0.06740057, 0.15998927, 0.23439591, 0.10793736, 0.02499818, 0.99089815, -0.0, 0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 13.35, "tool": [ 0.21886, 0.0674, 0.16 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.21885761, 0.06740057, 0.15999745, 0.23439591, 0.10793736, 0.02499818, 0.99089815, -0.0, 0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 13.4, "tool": [ 0.21886, 0.0674, 0.16 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.21885761, 0.06740057, 0.1599994, 0.23439591, 0.10793736, 0.02499818, 0.99089815, -0.0, 0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 13.45, "tool": [ 0.21886, 0.0674, 0.16 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.21885761, 0.06740057, 0.15999986, 0.23439591, 0.10793736, 0.02499818, 0.99089815, -0.0, 0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 13.5, "tool": [ 0.21886, 0.0674, 0.16 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.21885761, 0.06740057, 0.15999997, 0.23439591, 0.10793736, 0.02499818, 0.99089815, 0.0, -0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 13.55, "tool": [ 0.21886, 0.0674, 0.16 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.21885761, 0.06740057, 0.15999999, 0.23439591, 0.10793736, 0.02499818, 0.99089815, 0.0, -0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 13.6, "tool": [ 0.21886, 0.0674, 0.16 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.21885761, 0.06740057, 0.16, 0.23439591, 0.10793736, 0.02499818, 0.99089815, -0.0, 0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 13.65, "tool": [ 0.22061, 0.06542, 0.16 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.22081429, 0.06518636, 0.16, 0.23439591, 0.10793736, 0.02499818, 0.99089815, -0.0, 0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 13.7, "tool": [ 0.22754, 0.05757, 0.16 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.22786935, 0.0572027, 0.16, 0.23439591, 0.10793736, 0.02499818, 0.99089815, -0.0, 0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 13.75, "tool": [ 0.2362, 0.04778, 0.16 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.23655632, 0.04737233, 0.16, 0.23439591, 0.10793736, 0.02499818, 0.99089815, 0.0, -0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 13.8, "tool": [ 0.24477, 0.03808, 0.16 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.24501893, 0.03779586, 0.16, 0.23439591, 0.10793736, 0.02499818, 0.99089815, 0.0, -0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 13.85, "tool": [ 0.24828, 0.0341, 0.16 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.24834365, 0.03403353, 0.16, 0.23439591, 0.10793736, 0.02499818, 0.99089815, 0.0, 0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 13.9, "tool": [ 0.24913, 0.03314, 0.15946 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.24914751, 0.03312386, 0.15933176, 0.23439591, 0.10793736, 0.02499818, 0.99089815, 0.0, 0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 13.95, "tool": [ 0.24933, 0.03291, 0.15331 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.2493385, 0.03290773, 0.1529774, 0.23439591, 0.10793736, 0.02499818, 0.99089815, -0.0, -0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 14.0, "tool": [ 0.24938, 0.03286, 0.14424 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.24938386, 0.03285641, 0.14385873, 0.23439591, 0.10793736, 0.02499818, 0.99089815, 0.0, -0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 14.05, "tool": [ 0.24939, 0.03284, 0.13446 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.24939463, 0.03284422, 0.13406812, 0.23439591, 0.10793736, 0.02499818, 0.99089815, 0.0, -0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 14.1, "tool": [ 0.2494, 0.03284, 0.12452 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.24939719, 0.03284132, 0.12411785, 0.23439591, 0.10793736, 0.02499818, 0.99089815, 0.0, 0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 14.15, "tool": [ 0.2494, 0.03284, 0.11453 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.24939779, 0.03284063, 0.11412966, 0.23439591, 0.10793736, 0.02499818, 0.99089815, 0.0, 0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 14.2, "tool": [ 0.2494, 0.03284, 0.10453 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.24939794, 0.03284047, 0.10413246, 0.23439591, 0.10793736, 0.02499818, 0.99089815, 0.0, 0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 14.25, "tool": [ 0.2494, 0.03284, 0.09453 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.24939797, 0.03284043, 0.09413313, 0.23439591, 0.10793736, 0.02499818, 0.99089815, -0.0, -0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 14.3, "tool": [ 0.2494, 0.03284, 0.08453 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.24939798, 0.03284042, 0.08413328, 0.23439591, 0.10793736, 0.02499818, 0.99089815, 0.0, -0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 14.35, "tool": [ 0.2494, 0.03284, 0.07453 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.24939798, 0.03284042, 0.07413332, 0.23439591, 0.10793736, 0.02499818, 0.99089815, 0.0, 0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 14.4, "tool": [ 0.2494, 0.03284, 0.06453 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.24939798, 0.03284042, 0.06413333, 0.23439591, 0.10793736, 0.02499818, 0.99089815, -0.0, 0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 14.45, "tool": [ 0.2494, 0.03284, 0.05453 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.24939798, 0.03284042, 0.05413333, 0.23439591, 0.10793736, 0.02499818, 0.99089815, -0.0, 0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 14.5, "tool": [ 0.2494, 0.03284, 0.04465 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.24939798, 0.03284042, 0.0443044, 0.23439591, 0.10793736, 0.02499818, 0.99089815, -0.0, -0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 14.55, "tool": [ 0.2494, 0.03284, 0.03963 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.24939798, 0.03284042, 0.03954041, 0.23439591, 0.10793736, 0.02499818, 0.99089815, 0.0, -0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 14.6, "tool": [ 0.24938, 0.03293, 0.03839 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.24937119, 0.03297453, 0.03836608, 0.23439591, 0.10793736, 0.02499818, 0.99089815, 0.0, 0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 14.65, "tool": [ 0.2486, 0.03684, 0.03809 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.24855122, 0.03707911, 0.03808694, 0.23439591, 0.10793736, 0.02499818, 0.99089815, 0.0, 0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 14.7, "tool": [ 0.24723, 0.0437, 0.03802 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.2471691, 0.04399768, 0.03802065, 0.23439591, 0.10793736, 0.02499818, 0.99089815, -0.0, 0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 14.75, "tool": [ 0.24571, 0.05131, 0.03801 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.2456468, 0.05161799, 0.0380049, 0.23439591, 0.10793736, 0.02499818, 0.99089815, -0.0, 0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 14.8, "tool": [ 0.24415, 0.05909, 0.038 ], "objects": { "red_block": [ 0.2344, 0.10794, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.24409116, 0.05940517, 0.03800116, 0.23439591, 0.10793736, 0.02499818, 0.99089815, -0.0, -0.0, -0.13461375, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 14.85, "tool": [ 0.24261, 0.0667, 0.03803 ], "objects": { "red_block": [ 0.23387, 0.11238, 0.02509 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.24255243, 0.06701432, 0.03802598, 0.2338301, 0.11263387, 0.02503576, 0.99565147, 0.00049692, -0.00065846, -0.09315293, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 14.9, "tool": [ 0.24106, 0.0745, 0.03804 ], "objects": { "red_block": [ 0.23278, 0.11885, 0.02513 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.24099674, 0.07481475, 0.03803865, 0.2327424, 0.11913391, 0.02505893, 0.99865264, 0.00093805, 0.00015736, -0.05188455, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 14.95, "tool": [ 0.23951, 0.08234, 0.03802 ], "objects": { "red_block": [ 0.23098, 0.1256, 0.02498 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.23945104, 0.08265201, 0.03802275, 0.23088408, 0.12590247, 0.02496042, 0.9999533, -0.00055161, 0.00070752, -0.00962224, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 15.0, "tool": [ 0.23794, 0.09018, 0.03803 ], "objects": { "red_block": [ 0.22844, 0.13284, 0.02514 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.23787292, 0.09049417, 0.03802684, 0.22832201, 0.13314329, 0.02510996, 0.99977737, 0.00042593, -0.00277431, 0.02091241, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 15.05, "tool": [ 0.23636, 0.098, 0.03807 ], "objects": { "red_block": [ 0.22578, 0.1402, 0.02514 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.23629951, 0.09831674, 0.03806682, 0.22567094, 0.14048724, 0.02513921, 0.99873985, 2.76e-06, -0.00048037, 0.0501844, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 15.1, "tool": [ 0.2348, 0.10585, 0.03808 ], "objects": { "red_block": [ 0.22261, 0.14729, 0.02497 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.23474256, 0.10615276, 0.03808986, 0.22246944, 0.14757297, 0.02504752, 0.99588834, 0.00023718, -0.00102403, 0.09058321, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 15.15, "tool": [ 0.23323, 0.11368, 0.03808 ], "objects": { "red_block": [ 0.2191, 0.15456, 0.02511 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.23316943, 0.1139926, 0.03807801, 0.21895316, 0.15485304, 0.02510765, 0.99390389, 0.00045793, -0.00129894, 0.11024139, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 15.2, "tool": [ 0.23167, 0.12153, 0.03807 ], "objects": { "red_block": [ 0.21543, 0.1617, 0.02509 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.23160438, 0.1218402, 0.03807202, 0.21528897, 0.16200302, 0.02507659, 0.99141629, 0.00056327, -0.00085432, 0.13073899, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 15.25, "tool": [ 0.23053, 0.12724, 0.03802 ], "objects": { "red_block": [ 0.21265, 0.16674, 0.02498 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.23050891, 0.12735957, 0.03802346, 0.21258491, 0.16681338, 0.02499804, 0.98892358, -0.00048337, 1.692e-05, 0.14842482, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 15.3, "tool": [ 0.23023, 0.12877, 0.03803 ], "objects": { "red_block": [ 0.21171, 0.16801, 0.02499 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.23022932, 0.12879862, 0.0380359, 0.21169325, 0.16803423, 0.02498217, 0.98818453, -0.00033823, -0.00041902, 0.15326788, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 15.35, "tool": [ 0.23016, 0.12917, 0.04111 ], "objects": { "red_block": [ 0.21152, 0.16843, 0.02498 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.23015888, 0.12918498, 0.04138862, 0.21152169, 0.16843634, 0.02498239, 0.9877366, 0.00035361, 0.00033835, 0.1561287, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 15.4, "tool": [ 0.23013, 0.12932, 0.04991 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.02499 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.23013081, 0.12932198, 0.0503136, 0.21145435, 0.16859907, 0.02499502, 0.98774176, -7.468e-05, 5.516e-05, 0.15609678, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 15.45, "tool": [ 0.23011, 0.12939, 0.06039 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.2301119, 0.12939238, 0.06081721, 0.21145214, 0.16859538, 0.02499809, 0.98774177, -1.61e-06, 8.5e-07, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 15.5, "tool": [ 0.23011, 0.12941, 0.07124 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.23010634, 0.1294124, 0.07167911, 0.21145211, 0.1685953, 0.02499818, 0.98774177, -4e-08, 2e-08, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 15.55, "tool": [ 0.23011, 0.12942, 0.08219 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.23010502, 0.12941718, 0.08262439, 0.21145211, 0.16859529, 0.02499818, 0.98774177, -0.0, 0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 15.6, "tool": [ 0.2301, 0.12942, 0.09315 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.2301047, 0.12941831, 0.09358945, 0.21145211, 0.16859529, 0.02499818, 0.98774177, -0.0, 0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 15.65, "tool": [ 0.2301, 0.12942, 0.10412 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.23010463, 0.12941858, 0.10455921, 0.21145211, 0.16859529, 0.02499818, 0.98774177, 0.0, -0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 15.7, "tool": [ 0.2301, 0.12942, 0.11509 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.23010461, 0.12941864, 0.11553008, 0.21145211, 0.16859529, 0.02499818, 0.98774177, 0.0, -0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 15.75, "tool": [ 0.2301, 0.12942, 0.12606 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.23010461, 0.12941866, 0.12650122, 0.21145211, 0.16859529, 0.02499818, 0.98774177, 0.0, -0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 15.8, "tool": [ 0.2301, 0.12942, 0.13703 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.2301046, 0.12941866, 0.13747243, 0.21145211, 0.16859529, 0.02499818, 0.98774177, -0.0, 0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 15.85, "tool": [ 0.2301, 0.12942, 0.148 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.2301046, 0.12941866, 0.14844365, 0.21145211, 0.16859529, 0.02499818, 0.98774177, -0.0, 0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 15.9, "tool": [ 0.2301, 0.12942, 0.15664 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.2301046, 0.12941866, 0.15682813, 0.21145211, 0.16859529, 0.02499818, 0.98774177, -0.0, 0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 15.95, "tool": [ 0.2301, 0.12942, 0.1592 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.2301046, 0.12941866, 0.15924399, 0.21145211, 0.16859529, 0.02499818, 0.98774177, -0.0, 0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 16.0, "tool": [ 0.2301, 0.12942, 0.15981 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.2301046, 0.12941866, 0.15982045, 0.21145211, 0.16859529, 0.02499818, 0.98774177, -0.0, 0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 16.05, "tool": [ 0.2301, 0.12942, 0.15995 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.2301046, 0.12941866, 0.15995736, 0.21145211, 0.16859529, 0.02499818, 0.98774177, -0.0, 0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 16.1, "tool": [ 0.2301, 0.12942, 0.15999 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.2301046, 0.12941866, 0.15998987, 0.21145211, 0.16859529, 0.02499818, 0.98774177, -0.0, 0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 16.15, "tool": [ 0.2301, 0.12942, 0.16 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.2301046, 0.12941866, 0.1599976, 0.21145211, 0.16859529, 0.02499818, 0.98774177, 0.0, -0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 16.2, "tool": [ 0.2301, 0.12942, 0.16 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.2301046, 0.12941866, 0.15999943, 0.21145211, 0.16859529, 0.02499818, 0.98774177, -0.0, 0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 16.25, "tool": [ 0.2301, 0.12942, 0.16 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.2301046, 0.12941866, 0.15999986, 0.21145211, 0.16859529, 0.02499818, 0.98774177, -0.0, 0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 16.3, "tool": [ 0.2301, 0.12942, 0.16 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.2301046, 0.12941866, 0.15999997, 0.21145211, 0.16859529, 0.02499818, 0.98774177, -0.0, 0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 16.35, "tool": [ 0.2301, 0.12942, 0.16 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.2301046, 0.12941866, 0.15999999, 0.21145211, 0.16859529, 0.02499818, 0.98774177, -0.0, 0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 16.4, "tool": [ 0.2301, 0.12942, 0.16 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.2301046, 0.12941866, 0.16, 0.21145211, 0.16859529, 0.02499818, 0.98774177, -0.0, 0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 16.45, "tool": [ 0.2301, 0.12942, 0.16 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.2301046, 0.12941866, 0.16, 0.21145211, 0.16859529, 0.02499818, 0.98774177, -0.0, 0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 16.5, "tool": [ 0.2301, 0.12942, 0.16 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.2301046, 0.12941866, 0.16, 0.21145211, 0.16859529, 0.02499818, 0.98774177, -0.0, 0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, 0.0, -0.05970562 ] }, { "t": 16.55, "tool": [ 0.2301, 0.12942, 0.16 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.2301046, 0.12941866, 0.16, 0.21145211, 0.16859529, 0.02499818, 0.98774177, -0.0, 0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 16.6, "tool": [ 0.2301, 0.12942, 0.16 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.2301046, 0.12941866, 0.16, 0.21145211, 0.16859529, 0.02499818, 0.98774177, -0.0, 0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, 0.0, -0.05970562 ] }, { "t": 16.65, "tool": [ 0.2301, 0.12942, 0.16 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.2301046, 0.12941866, 0.16, 0.21145211, 0.16859529, 0.02499818, 0.98774177, -0.0, 0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 16.7, "tool": [ 0.2301, 0.12942, 0.16 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.2301046, 0.12941866, 0.16, 0.21145211, 0.16859529, 0.02499818, 0.98774177, -0.0, -0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, -0.0, -0.0, -0.05970562 ] }, { "t": 16.75, "tool": [ 0.2301, 0.12942, 0.16 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.2301046, 0.12941866, 0.16, 0.21145211, 0.16859529, 0.02499818, 0.98774177, -0.0, -0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 16.8, "tool": [ 0.2301, 0.12942, 0.16 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.2301046, 0.12941866, 0.16, 0.21145211, 0.16859529, 0.02499818, 0.98774177, -0.0, -0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] }, { "t": 16.81, "tool": [ 0.2301, 0.12942, 0.16 ], "objects": { "red_block": [ 0.21145, 0.1686, 0.025 ], "blue_block": [ 0.12961, -0.17267, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.2301046, 0.12941866, 0.16, 0.21145211, 0.16859529, 0.02499818, 0.98774177, -0.0, -0.0, 0.15609677, 0.12960958, -0.17266521, 0.02499818, 0.99821603, 0.0, -0.0, -0.05970562 ] } ], "events": [ { "t": 0.3, "type": "start", "message": "closed_loop: 빨간 블록을 오른쪽 목표로 밀어줘" }, { "t": 2.868, "type": "disturbance", "message": "블록에 x 방향 1.2 N 외력을 0.10초 적용" }, { "t": 3.874, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.289 m" }, { "t": 7.344, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.220 m" }, { "t": 10.336, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.159 m" }, { "t": 13.362, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.073 m" }, { "t": 16.81, "type": "success", "message": "최종 거리 0.0143 m · 정지 상태 True" } ] }, { "id": "disturbance-1-open_loop", "policy": "open_loop", "scenario": "disturbance", "seed": 1, "task": { "object_name": "blue_block", "goal": "left", "instruction": "파란 블록을 왼쪽 목표로 밀어줘" }, "parameters": { "friction": 0.5, "mass": 0.08, "disturbance": true }, "success": false, "final_distance_m": 0.3667352983854577, "settled": false, "sim_time_s": 6.895999999999463, "wall_time_s": 0.25153300003148615, "timed_out": false, "termination_reason": "goal_not_stable", "contact_steps": 342, "peak_contact_point_force_n": 4.811869161497592, "unintended_contact_steps": 0, "distractor_displacement_m": 3.205052856945019e-08, "workspace_violation": false, "replans": 0, "disturbance_applied": true, "trajectory": [ { "t": 0.05, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.02496 ], "blue_block": [ 0.13221, -0.12757, 0.02496 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747684, 0.0249616, 1.0, -2.3e-07, 0.0, -0.0, 0.13220798, -0.12756755, 0.0249616, 1.0, -2.3e-07, 0.0, -0.0 ] }, { "t": 0.1, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.0249973, 1.0, -1e-08, 0.0, -0.0, 0.13220798, -0.12756756, 0.0249973, 1.0, -1e-08, 0.0, -0.0 ] }, { "t": 0.15, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499816, 1.0, -0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499816, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.2, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.25, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.3, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.35, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.4, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.45, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.5, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.55, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.6, "tool": [ 0.00379, -0.31721, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.00409267, -0.31698249, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.65, "tool": [ 0.01306, -0.31037, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.01347565, -0.31006445, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.7, "tool": [ 0.02384, -0.30243, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.02427752, -0.30210027, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.75, "tool": [ 0.03497, -0.29422, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.03541735, -0.29388691, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.8, "tool": [ 0.04619, -0.28595, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.04663745, -0.28561437, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.85, "tool": [ 0.05743, -0.27766, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.05787661, -0.27732778, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.9, "tool": [ 0.06867, -0.26937, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.0691203, -0.26903785, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.95, "tool": [ 0.07992, -0.26108, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.08036506, -0.26074713, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.0, "tool": [ 0.09116, -0.25279, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.09161007, -0.25245622, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.05, "tool": [ 0.10241, -0.2445, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.10285515, -0.24416527, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.1, "tool": [ 0.11365, -0.23621, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.11410024, -0.2358743, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.15, "tool": [ 0.1249, -0.22791, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.12534534, -0.22758333, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.2, "tool": [ 0.13614, -0.21962, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.13659043, -0.21929236, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.25, "tool": [ 0.14739, -0.21133, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.14783553, -0.21100139, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.3, "tool": [ 0.15863, -0.20304, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.15908062, -0.20271042, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.35, "tool": [ 0.16988, -0.19475, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.17032572, -0.19441946, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.4, "tool": [ 0.18112, -0.18646, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.18157082, -0.18612849, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.45, "tool": [ 0.18858, -0.18096, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.18872324, -0.18085503, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.5, "tool": [ 0.19055, -0.17951, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.19058536, -0.1794821, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.55, "tool": [ 0.19102, -0.17916, 0.15663 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19102859, -0.17915531, 0.15636049, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.6, "tool": [ 0.19113, -0.17908, 0.14839 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19113385, -0.1790777, 0.14801642, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.65, "tool": [ 0.19116, -0.17906, 0.1388 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19115885, -0.17905927, 0.13841057, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.7, "tool": [ 0.19116, -0.17905, 0.1289 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116478, -0.17905489, 0.12850418, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.75, "tool": [ 0.19117, -0.17905, 0.11893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116619, -0.17905385, 0.11852641, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.8, "tool": [ 0.19117, -0.17905, 0.10893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116653, -0.1790536, 0.10853169, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.85, "tool": [ 0.19117, -0.17905, 0.09893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116661, -0.17905354, 0.09853294, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.9, "tool": [ 0.19117, -0.17905, 0.08893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116662, -0.17905353, 0.08853324, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.95, "tool": [ 0.19117, -0.17905, 0.07893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905353, 0.07853331, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.0, "tool": [ 0.19117, -0.17905, 0.06893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905353, 0.06853333, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.05, "tool": [ 0.19117, -0.17905, 0.05893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905353, 0.05853333, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.1, "tool": [ 0.19117, -0.17905, 0.04893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905353, 0.04853333, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.15, "tool": [ 0.19117, -0.17905, 0.04106 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905353, 0.04089108, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.2, "tool": [ 0.19117, -0.17905, 0.03873 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905353, 0.03868908, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.25, "tool": [ 0.18989, -0.17793, 0.03817 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.18974648, -0.17781337, 0.03816366, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.3, "tool": [ 0.18527, -0.1739, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.18504946, -0.17371168, 0.03803886, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.35, "tool": [ 0.17958, -0.16893, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.17934259, -0.16872812, 0.03800923, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.4, "tool": [ 0.17363, -0.16374, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.1733944, -0.16353383, 0.03800219, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.45, "tool": [ 0.16782, -0.15862, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.12759, -0.12483, 0.02503 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.16757622, -0.15840865, 0.03805035, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.12736079, -0.12469822, 0.02503839, 0.99979066, 0.00073421, 0.0001019, -0.02044734 ] }, { "t": 2.5, "tool": [ 0.16178, -0.15335, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.12155, -0.12079, 0.02512 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.16154649, -0.1531381, 0.03803195, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.12130093, -0.12063303, 0.02514344, 0.99949623, -0.00064987, 8.71e-05, -0.03173101 ] }, { "t": 2.55, "tool": [ 0.15577, -0.14808, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11567, -0.11704, 0.02504 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.15553014, -0.14787097, 0.03803899, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.11544082, -0.11690457, 0.02506042, 0.99887819, -0.00056964, -0.00030945, -0.04734911 ] }, { "t": 2.6, "tool": [ 0.14974, -0.1428, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11046, -0.11331, 0.02503 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.14950228, -0.1425964, 0.03803371, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.11027095, -0.11314369, 0.02506887, 0.99745782, -0.0004904, -0.00054894, -0.07125551 ] }, { "t": 2.65, "tool": [ 0.14374, -0.13755, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.10549, -0.10982, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.14349176, -0.13733672, 0.03804988, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.10533874, -0.1096971, 0.02497287, 0.99485481, 0.00044676, 0.00036968, -0.10130926 ] }, { "t": 2.7, "tool": [ 0.13774, -0.1323, 0.03807 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.10036, -0.10559, 0.02509 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.13750097, -0.13209172, 0.03806954, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.10010733, -0.10541755, 0.02509847, 0.99135769, -0.00018128, 0.00057554, -0.13118521 ] }, { "t": 2.75, "tool": [ 0.1317, -0.12706, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.09474, -0.10089, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.13145616, -0.12684654, 0.03803411, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.09449532, -0.10070452, 0.02508416, 0.98867971, -0.00045749, 0.0001657, -0.15004066 ] }, { "t": 2.8, "tool": [ 0.12566, -0.12177, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08888, -0.09631, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.12542006, -0.1215637, 0.03804149, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.08867373, -0.09612234, 0.02504231, 0.9867395, 0.00019692, 0.0002328, -0.16231163 ] }, { "t": 2.85, "tool": [ 0.11964, -0.11652, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08293, -0.09134, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.11940089, -0.11631107, 0.03804343, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.082668, -0.09113586, 0.02492769, 0.98540161, 0.00019347, 6.183e-05, -0.17024576 ] }, { "t": 2.9, "tool": [ 0.11363, -0.11125, 0.03806 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.07713, -0.08631, 0.02504 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.11338582, -0.11104196, 0.0380585, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.07690392, -0.08611385, 0.02501264, 0.9830283, -0.0002004, -0.00050744, -0.18345317 ] }, { "t": 2.95, "tool": [ 0.10788, -0.10614, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.07409, -0.07837, 0.0251 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.10764525, -0.10593177, 0.03799962, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.07408519, -0.07792255, 0.02512724, 0.96738234, 0.00102395, 1.622e-05, -0.25331868 ] }, { "t": 3.0, "tool": [ 0.10191, -0.10093, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.07859, -0.06461, 0.02515 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.1016729, -0.10071803, 0.03799763, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.07898, -0.06395012, 0.02509094, 0.89624779, -0.00190654, 0.00109472, -0.44354827 ] }, { "t": 3.05, "tool": [ 0.09556, -0.09549, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.09061, -0.04963, 0.02557 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.09530335, -0.09527554, 0.03799926, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.09100265, -0.04911399, 0.02553586, 0.80916503, 0.00430287, 0.00682721, -0.58752602 ] }, { "t": 3.1, "tool": [ 0.08938, -0.09015, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.09838, -0.04091, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.08913615, -0.08993931, 0.03799982, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.09859623, -0.04073477, 0.0250277, 0.77329954, -0.00013092, 0.00072775, -0.63404043 ] }, { "t": 3.15, "tool": [ 0.08334, -0.08493, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.10052, -0.03853, 0.02504 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.08309881, -0.08472808, 0.03802044, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.10049009, -0.03840494, 0.02498278, 0.76245257, -5.517e-05, 0.00030661, -0.64704404 ] }, { "t": 3.2, "tool": [ 0.07733, -0.07978, 0.03806 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.09927, -0.03507, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.07709183, -0.07956868, 0.03805766, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.09921543, -0.03493067, 0.02503435, 0.73045409, -0.00086112, 0.00094018, -0.68296061 ] }, { "t": 3.25, "tool": [ 0.07131, -0.07452, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.09788, -0.03188, 0.02505 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.07106992, -0.07431427, 0.03804785, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.09781213, -0.03173515, 0.02504984, 0.70188856, -0.00074853, 7.071e-05, -0.71228638 ] }, { "t": 3.3, "tool": [ 0.06527, -0.06925, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.09654, -0.02912, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.06502694, -0.0690389, 0.03804561, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.09649334, -0.02905487, 0.02499631, 0.67416866, -0.0004285, -0.00016558, -0.73857728 ] }, { "t": 3.35, "tool": [ 0.05929, -0.06397, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.09466, -0.02717, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.05905386, -0.0637479, 0.03804691, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.09454709, -0.02712217, 0.02493933, 0.63956399, -6.382e-05, -0.00059235, -0.76873763 ] }, { "t": 3.4, "tool": [ 0.05327, -0.05869, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.09273, -0.02521, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.05302499, -0.05848861, 0.03803397, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.09266467, -0.02512955, 0.02497273, 0.6095127, -0.00057905, -0.00026262, -0.79277605 ] }, { "t": 3.45, "tool": [ 0.04729, -0.05339, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.09089, -0.02429, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.04705101, -0.05317787, 0.03799614, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.09077177, -0.02426278, 0.02501116, 0.58186591, 8.89e-05, -0.00020859, -0.8132847 ] }, { "t": 3.5, "tool": [ 0.04128, -0.04811, 0.03798 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08752, -0.0235, 0.02503 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.04104024, -0.04789653, 0.03798276, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.08739735, -0.0234561, 0.02504336, 0.54018348, -0.00021134, -0.00018909, -0.84154722 ] }, { "t": 3.55, "tool": [ 0.0352, -0.04281, 0.03799 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08556, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.03495507, -0.04259822, 0.03798911, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.08556578, -0.02277882, 0.02499559, 0.51937646, 0.00016614, -7.377e-05, -0.85454553 ] }, { "t": 3.6, "tool": [ 0.02912, -0.03753, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.0288753, -0.03732143, 0.0379973, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.08557498, -0.0227775, 0.02499809, 0.51937624, -1.27e-06, -5e-07, -0.85454568 ] }, { "t": 3.65, "tool": [ 0.02308, -0.03227, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.02283821, -0.03205736, 0.03799936, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -3e-08, -1e-08, -0.85454568 ] }, { "t": 3.7, "tool": [ 0.01705, -0.02701, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.0168116, -0.02679645, 0.03799985, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, -0.0, -0.85454568 ] }, { "t": 3.75, "tool": [ 0.01103, -0.02175, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.01078747, -0.02153629, 0.03799996, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, -0.0, -0.85454568 ] }, { "t": 3.8, "tool": [ 0.005, -0.01649, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.00476393, -0.01627631, 0.03799999, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, 0.0, -0.85454568 ] }, { "t": 3.85, "tool": [ -0.00102, -0.01123, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.00125947, -0.01101636, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, 0.0, -0.85454568 ] }, { "t": 3.9, "tool": [ -0.00704, -0.00597, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.00728284, -0.00575643, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, 0.0, -0.85454568 ] }, { "t": 3.95, "tool": [ -0.01307, -0.00071, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.01330619, -0.00049651, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, 0.0, -0.85454568 ] }, { "t": 4.0, "tool": [ -0.01909, 0.00455, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.01932955, 0.00476342, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, 0.0, -0.85454568 ] }, { "t": 4.05, "tool": [ -0.02511, 0.00981, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.0253529, 0.01002335, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, 0.0, -0.85454568 ] }, { "t": 4.1, "tool": [ -0.03114, 0.01507, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.03137626, 0.01528328, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, 0.0, -0.85454568 ] }, { "t": 4.15, "tool": [ -0.03716, 0.02033, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.03739961, 0.02054321, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, 0.0, -0.85454568 ] }, { "t": 4.2, "tool": [ -0.04318, 0.02559, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.04342297, 0.02580313, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, 0.0, -0.85454568 ] }, { "t": 4.25, "tool": [ -0.04921, 0.03085, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.04944632, 0.03106306, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, 0.0, -0.85454568 ] }, { "t": 4.3, "tool": [ -0.05523, 0.03611, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.05546968, 0.03632299, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, 0.0, -0.85454568 ] }, { "t": 4.35, "tool": [ -0.06125, 0.04137, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.06149303, 0.04158292, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, -0.0, -0.85454568 ] }, { "t": 4.4, "tool": [ -0.06728, 0.04663, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.06751639, 0.04684285, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, -0.0, -0.85454568 ] }, { "t": 4.45, "tool": [ -0.0733, 0.05189, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.07353974, 0.05210277, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, -0.0, -0.85454568 ] }, { "t": 4.5, "tool": [ -0.07932, 0.05715, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.0795631, 0.0573627, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, -0.0, -0.85454568 ] }, { "t": 4.55, "tool": [ -0.08535, 0.06241, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.08558645, 0.06262263, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, -0.0, -0.85454568 ] }, { "t": 4.6, "tool": [ -0.09137, 0.06767, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.09160981, 0.06788256, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, -0.0, -0.85454568 ] }, { "t": 4.65, "tool": [ -0.09739, 0.07293, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.09763316, 0.07314249, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, -0.0, -0.85454568 ] }, { "t": 4.7, "tool": [ -0.10342, 0.07819, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.10365652, 0.07840241, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, -0.0, -0.85454568 ] }, { "t": 4.75, "tool": [ -0.10944, 0.08345, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.10967987, 0.08366234, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, -0.0, -0.85454568 ] }, { "t": 4.8, "tool": [ -0.11546, 0.08871, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.11570323, 0.08892227, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, -0.0, -0.85454568 ] }, { "t": 4.85, "tool": [ -0.12149, 0.09397, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.12172658, 0.0941822, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, -0.0, -0.85454568 ] }, { "t": 4.9, "tool": [ -0.12751, 0.09923, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.12774994, 0.09944213, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, -0.0, -0.85454568 ] }, { "t": 4.95, "tool": [ -0.13353, 0.10449, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.13377329, 0.10470205, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, 0.0, -0.85454568 ] }, { "t": 5.0, "tool": [ -0.13956, 0.10975, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.13979665, 0.10996198, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, 0.0, -0.85454568 ] }, { "t": 5.05, "tool": [ -0.14558, 0.11501, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.14582, 0.11522191, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, 0.0, -0.85454568 ] }, { "t": 5.1, "tool": [ -0.1516, 0.12027, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.15184336, 0.12048184, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, 0.0, -0.85454568 ] }, { "t": 5.15, "tool": [ -0.15763, 0.12553, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.15786671, 0.12574177, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, 0.0, -0.85454568 ] }, { "t": 5.2, "tool": [ -0.16365, 0.13079, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.16389007, 0.13100169, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, -0.0, -0.85454568 ] }, { "t": 5.25, "tool": [ -0.16967, 0.13605, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.16991342, 0.13626162, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, -0.0, -0.85454568 ] }, { "t": 5.3, "tool": [ -0.17565, 0.14128, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.17586861, 0.14146202, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, 0.0, -0.85454568 ] }, { "t": 5.35, "tool": [ -0.17883, 0.14405, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.17888939, 0.14409993, 0.038, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, 0.0, -0.85454568 ] }, { "t": 5.4, "tool": [ -0.17962, 0.14474, 0.03808 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17963848, 0.14475408, 0.03812417, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, -0.0, -0.85454568 ] }, { "t": 5.45, "tool": [ -0.17981, 0.14491, 0.04326 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17981657, 0.1449096, 0.0435932, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, 0.0, -0.85454568 ] }, { "t": 5.5, "tool": [ -0.17986, 0.14495, 0.05279 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17985887, 0.14494653, 0.05319999, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, 0.0, -0.85454568 ] }, { "t": 5.55, "tool": [ -0.17987, 0.14496, 0.06341 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17986891, 0.1449553, 0.06384683, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, 0.0, -0.85454568 ] }, { "t": 5.6, "tool": [ -0.17987, 0.14496, 0.0743 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.1798713, 0.14495739, 0.07474102, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, -0.0, -0.85454568 ] }, { "t": 5.65, "tool": [ -0.17987, 0.14496, 0.08526 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987186, 0.14495788, 0.08569395, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, -0.0, -0.85454568 ] }, { "t": 5.7, "tool": [ -0.17987, 0.14496, 0.09622 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.179872, 0.144958, 0.09666083, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, 0.0, -0.85454568 ] }, { "t": 5.75, "tool": [ -0.17987, 0.14496, 0.10719 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987203, 0.14495803, 0.10763102, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, 0.0, -0.85454568 ] }, { "t": 5.8, "tool": [ -0.17987, 0.14496, 0.11816 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987204, 0.14495803, 0.11860199, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, 0.0, -0.85454568 ] }, { "t": 5.85, "tool": [ -0.17987, 0.14496, 0.12913 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987204, 0.14495804, 0.12957316, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, -0.0, -0.85454568 ] }, { "t": 5.9, "tool": [ -0.17987, 0.14496, 0.14011 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987204, 0.14495804, 0.14054437, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, -0.0, -0.85454568 ] }, { "t": 5.95, "tool": [ -0.17987, 0.14496, 0.15107 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987204, 0.14495804, 0.15149863, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, -0.0, -0.85454568 ] }, { "t": 6.0, "tool": [ -0.17987, 0.14496, 0.15775 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.17987204, 0.14495804, 0.15787415, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, 0.0, -0.85454568 ] }, { "t": 6.05, "tool": [ -0.17987, 0.14496, 0.15946 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17987204, 0.14495804, 0.15949449, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, 0.0, -0.85454568 ] }, { "t": 6.1, "tool": [ -0.17987, 0.14496, 0.15987 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17987204, 0.14495804, 0.15987995, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, 0.0, -0.85454568 ] }, { "t": 6.15, "tool": [ -0.17987, 0.14496, 0.15997 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17987204, 0.14495804, 0.15997149, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, 0.0, -0.85454568 ] }, { "t": 6.2, "tool": [ -0.17987, 0.14496, 0.15999 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.17987204, 0.14495804, 0.15999323, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, -0.0, -0.85454568 ] }, { "t": 6.25, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.15999839, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, -0.0, -0.85454568 ] }, { "t": 6.3, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.15999962, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, -0.0, -0.85454568 ] }, { "t": 6.35, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.15999991, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, 0.0, -0.85454568 ] }, { "t": 6.4, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.15999998, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, 0.0, -0.85454568 ] }, { "t": 6.45, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.15999999, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, 0.0, -0.85454568 ] }, { "t": 6.5, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, 0.0, -0.85454568 ] }, { "t": 6.55, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, -0.0, -0.85454568 ] }, { "t": 6.6, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, -0.0, -0.85454568 ] }, { "t": 6.65, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, -0.0, -0.85454568 ] }, { "t": 6.7, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, -0.0, -0.85454568 ] }, { "t": 6.75, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, -0.0, -0.85454568 ] }, { "t": 6.8, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, 0.0, 0.0, -0.85454568 ] }, { "t": 6.85, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, 0.0, -0.85454568 ] }, { "t": 6.896, "tool": [ -0.17987, 0.14496, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08557, -0.02278, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.17987204, 0.14495804, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.08557494, -0.02277755, 0.02499818, 0.51937624, -0.0, 0.0, -0.85454568 ] } ], "events": [ { "t": 0.3, "type": "start", "message": "open_loop: 파란 블록을 왼쪽 목표로 밀어줘" }, { "t": 2.91, "type": "disturbance", "message": "블록에 x 방향 1.2 N 외력을 0.10초 적용" }, { "t": 6.896, "type": "failure", "message": "최종 거리 0.3667 m · 정지 상태 False" } ] }, { "id": "disturbance-1-closed_loop", "policy": "closed_loop", "scenario": "disturbance", "seed": 1, "task": { "object_name": "blue_block", "goal": "left", "instruction": "파란 블록을 왼쪽 목표로 밀어줘" }, "parameters": { "friction": 0.5, "mass": 0.08, "disturbance": true }, "success": true, "final_distance_m": 0.007182823844342418, "settled": true, "sim_time_s": 22.24599999999855, "wall_time_s": 0.5751937000313774, "timed_out": false, "termination_reason": "success", "contact_steps": 1151, "peak_contact_point_force_n": 4.833354131484086, "unintended_contact_steps": 0, "distractor_displacement_m": 3.211565239972713e-08, "workspace_violation": false, "replans": 6, "disturbance_applied": true, "trajectory": [ { "t": 0.05, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.02496 ], "blue_block": [ 0.13221, -0.12757, 0.02496 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747684, 0.0249616, 1.0, -2.3e-07, 0.0, -0.0, 0.13220798, -0.12756755, 0.0249616, 1.0, -2.3e-07, 0.0, -0.0 ] }, { "t": 0.1, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.0249973, 1.0, -1e-08, 0.0, -0.0, 0.13220798, -0.12756756, 0.0249973, 1.0, -1e-08, 0.0, -0.0 ] }, { "t": 0.15, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499816, 1.0, -0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499816, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.2, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.25, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.3, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.35, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.4, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.45, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.5, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.55, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.6, "tool": [ 0.00379, -0.31721, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.00409267, -0.31698249, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.65, "tool": [ 0.01306, -0.31037, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.01347565, -0.31006445, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.7, "tool": [ 0.02384, -0.30243, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.02427752, -0.30210027, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.75, "tool": [ 0.03497, -0.29422, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.03541735, -0.29388691, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.8, "tool": [ 0.04619, -0.28595, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.04663745, -0.28561437, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.85, "tool": [ 0.05743, -0.27766, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.05787661, -0.27732778, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.9, "tool": [ 0.06867, -0.26937, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.0691203, -0.26903785, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 0.95, "tool": [ 0.07992, -0.26108, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.08036506, -0.26074713, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.0, "tool": [ 0.09116, -0.25279, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.09161007, -0.25245622, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.05, "tool": [ 0.10241, -0.2445, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.10285515, -0.24416527, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.1, "tool": [ 0.11365, -0.23621, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.11410024, -0.2358743, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.15, "tool": [ 0.1249, -0.22791, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.12534534, -0.22758333, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.2, "tool": [ 0.13614, -0.21962, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.13659043, -0.21929236, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.25, "tool": [ 0.14739, -0.21133, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.14783553, -0.21100139, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.3, "tool": [ 0.15863, -0.20304, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.15908062, -0.20271042, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.35, "tool": [ 0.16988, -0.19475, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.17032572, -0.19441946, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.4, "tool": [ 0.18112, -0.18646, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.18157082, -0.18612849, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.45, "tool": [ 0.18858, -0.18096, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.18872324, -0.18085503, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.5, "tool": [ 0.19055, -0.17951, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.19058536, -0.1794821, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.55, "tool": [ 0.19102, -0.17916, 0.15663 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19102859, -0.17915531, 0.15636049, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.6, "tool": [ 0.19113, -0.17908, 0.14839 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19113385, -0.1790777, 0.14801642, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.65, "tool": [ 0.19116, -0.17906, 0.1388 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19115885, -0.17905927, 0.13841057, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.7, "tool": [ 0.19116, -0.17905, 0.1289 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116478, -0.17905489, 0.12850418, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.75, "tool": [ 0.19117, -0.17905, 0.11893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116619, -0.17905385, 0.11852641, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.8, "tool": [ 0.19117, -0.17905, 0.10893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116653, -0.1790536, 0.10853169, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 1.85, "tool": [ 0.19117, -0.17905, 0.09893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116661, -0.17905354, 0.09853294, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.9, "tool": [ 0.19117, -0.17905, 0.08893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116662, -0.17905353, 0.08853324, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.95, "tool": [ 0.19117, -0.17905, 0.07893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905353, 0.07853331, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.0, "tool": [ 0.19117, -0.17905, 0.06893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905353, 0.06853333, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.05, "tool": [ 0.19117, -0.17905, 0.05893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905353, 0.05853333, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.1, "tool": [ 0.19117, -0.17905, 0.04893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905353, 0.04853333, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.15, "tool": [ 0.19117, -0.17905, 0.04106 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905353, 0.04089108, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.2, "tool": [ 0.19117, -0.17905, 0.03873 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.19116663, -0.17905353, 0.03868908, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.25, "tool": [ 0.18988, -0.17793, 0.03817 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.18974589, -0.17781286, 0.03816366, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.3, "tool": [ 0.18526, -0.1739, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.18504696, -0.17370949, 0.03803886, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.35, "tool": [ 0.17957, -0.16893, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.17933775, -0.16872389, 0.03800923, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.4, "tool": [ 0.17363, -0.16374, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.13221, -0.12757, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.17338713, -0.16352748, 0.03800219, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.13220798, -0.12756756, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.45, "tool": [ 0.16782, -0.15862, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.1275, -0.12469, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.16757113, -0.15840917, 0.03804876, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.12729612, -0.12452574, 0.02508991, 0.99976684, -0.00058318, -1.62e-06, -0.02158541 ] }, { "t": 2.5, "tool": [ 0.16179, -0.15333, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.12189, -0.1208, 0.02509 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.16154771, -0.15312156, 0.03803688, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.12163662, -0.12064242, 0.02500362, 0.99858053, -0.00077846, -0.00040812, -0.05325552 ] }, { "t": 2.55, "tool": [ 0.15574, -0.14806, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11697, -0.11757, 0.02509 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.15549944, -0.14785299, 0.03802459, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.11675649, -0.11741695, 0.02509022, 0.99703155, -0.00122654, -3.799e-05, -0.07698428 ] }, { "t": 2.6, "tool": [ 0.14973, -0.14281, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11184, -0.11396, 0.02496 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.14948546, -0.14259477, 0.03803273, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.11169112, -0.1138272, 0.02499217, 0.99422319, 0.00124277, -0.00069888, -0.10732292 ] }, { "t": 2.65, "tool": [ 0.14371, -0.13757, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.10679, -0.1096, 0.02517 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.14346311, -0.13735613, 0.03802205, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.10654973, -0.10940847, 0.02512785, 0.99087198, -0.0004482, 0.00023977, -0.13480523 ] }, { "t": 2.7, "tool": [ 0.1377, -0.13229, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.10101, -0.10506, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.13745999, -0.13208099, 0.03804553, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.10073856, -0.10488428, 0.0250943, 0.98897961, -0.00076551, -0.00036579, -0.14804933 ] }, { "t": 2.75, "tool": [ 0.13166, -0.12701, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.0952, -0.10051, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.13142422, -0.12680348, 0.03805755, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.09498826, -0.10032705, 0.02506737, 0.98689316, -0.00026255, 0.00018617, -0.1613747 ] }, { "t": 2.8, "tool": [ 0.12564, -0.12176, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08934, -0.09558, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.12539765, -0.12154827, 0.03804099, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.08914124, -0.09538213, 0.02502841, 0.98489407, -0.00068977, 0.00045072, -0.17315597 ] }, { "t": 2.85, "tool": [ 0.11962, -0.11649, 0.03806 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08339, -0.0908, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.1193829, -0.11628455, 0.03805879, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.08312445, -0.09060986, 0.02504034, 0.98366334, -0.00077662, 0.0001948, -0.18001608 ] }, { "t": 2.9, "tool": [ 0.11357, -0.11122, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.07731, -0.08603, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.11333162, -0.11100953, 0.03803247, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.07711476, -0.08584489, 0.02504826, 0.98215349, 8.828e-05, 0.0003111, -0.18808088 ] }, { "t": 2.95, "tool": [ 0.10784, -0.10612, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.07458, -0.07798, 0.02528 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.10760926, -0.10591234, 0.03800532, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.07461987, -0.07750716, 0.02526216, 0.96216983, 0.00082329, 0.00046945, -0.27244876 ] }, { "t": 3.0, "tool": [ 0.10306, -0.10197, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08146, -0.06432, 0.02552 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.10295451, -0.10187654, 0.03801815, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.08211018, -0.06370924, 0.02536441, 0.89042248, -0.00496588, -0.00130947, -0.45510595 ] }, { "t": 3.05, "tool": [ 0.10136, -0.10058, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.09906, -0.05133, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.1013251, -0.10055382, 0.03800535, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.09965532, -0.05094791, 0.02499429, 0.83151789, -0.00279321, 0.00115115, -0.55548976 ] }, { "t": 3.1, "tool": [ 0.10092, -0.10023, 0.04034 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.10983, -0.04322, 0.02509 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10090912, -0.10022488, 0.04058801, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.11009143, -0.04297301, 0.02509008, 0.81326397, 0.0009829, 1.621e-05, -0.58189411 ] }, { "t": 3.15, "tool": [ 0.10081, -0.10015, 0.04875 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11312, -0.03975, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10081015, -0.10014667, 0.0491424, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.11314457, -0.03972678, 0.02495892, 0.81531784, 0.00020428, 6.876e-05, -0.57901363 ] }, { "t": 3.2, "tool": [ 0.10079, -0.10013, 0.05911 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10078665, -0.1001281, 0.05953694, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.11316046, -0.03970227, 0.02499666, 0.81533828, -3.06e-06, 3.1e-06, -0.57898488 ] }, { "t": 3.25, "tool": [ 0.10078, -0.10012, 0.06993 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10078107, -0.10012369, 0.07037119, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.11316025, -0.0397023, 0.02499814, 0.81533828, -7e-08, 7e-08, -0.57898488 ] }, { "t": 3.3, "tool": [ 0.10078, -0.10012, 0.08087 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077974, -0.10012264, 0.08130989, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, -0.0, 0.0, -0.57898488 ] }, { "t": 3.35, "tool": [ 0.10078, -0.10012, 0.09183 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077943, -0.10012239, 0.09227339, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, -0.0, 0.0, -0.57898488 ] }, { "t": 3.4, "tool": [ 0.10078, -0.10012, 0.1028 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077935, -0.10012234, 0.10324278, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, -0.0, 0.0, -0.57898488 ] }, { "t": 3.45, "tool": [ 0.10078, -0.10012, 0.11377 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012232, 0.11421356, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, 0.0, -0.0, -0.57898488 ] }, { "t": 3.5, "tool": [ 0.10078, -0.10012, 0.12475 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012232, 0.12518468, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, 0.0, -0.0, -0.57898488 ] }, { "t": 3.55, "tool": [ 0.10078, -0.10012, 0.13572 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012232, 0.13615588, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, 0.0, -0.0, -0.57898488 ] }, { "t": 3.6, "tool": [ 0.10078, -0.10012, 0.14669 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012232, 0.1471271, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, 0.0, -0.0, -0.57898488 ] }, { "t": 3.65, "tool": [ 0.10078, -0.10012, 0.15602 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012232, 0.15623865, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, 0.0, -0.0, -0.57898488 ] }, { "t": 3.7, "tool": [ 0.10078, -0.10012, 0.15905 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012232, 0.15910169, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, 0.0, -0.0, -0.57898488 ] }, { "t": 3.75, "tool": [ 0.10078, -0.10012, 0.15977 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.10077933, -0.10012232, 0.15978664, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, 0.0, -0.0, -0.57898488 ] }, { "t": 3.8, "tool": [ 0.10078, -0.10012, 0.15995 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.10077933, -0.10012232, 0.15994933, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, 0.0, -0.0, -0.57898488 ] }, { "t": 3.85, "tool": [ 0.10078, -0.10012, 0.15999 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.10077933, -0.10012232, 0.15998797, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, 0.0, -0.0, -0.57898488 ] }, { "t": 3.9, "tool": [ 0.10078, -0.10012, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.10077933, -0.10012232, 0.15999714, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, 0.0, -0.0, -0.57898488 ] }, { "t": 3.95, "tool": [ 0.10078, -0.10012, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012232, 0.15999932, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, 0.0, -0.0, -0.57898488 ] }, { "t": 4.0, "tool": [ 0.10078, -0.10012, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012232, 0.15999984, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, 0.0, -0.0, -0.57898488 ] }, { "t": 4.05, "tool": [ 0.10078, -0.10012, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012232, 0.15999996, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, -0.0, 0.0, -0.57898488 ] }, { "t": 4.1, "tool": [ 0.10078, -0.10012, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012232, 0.15999999, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, -0.0, 0.0, -0.57898488 ] }, { "t": 4.15, "tool": [ 0.10078, -0.10012, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.10077933, -0.10012232, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, -0.0, 0.0, -0.57898488 ] }, { "t": 4.2, "tool": [ 0.10282, -0.09966, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.10309304, -0.09960137, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, -0.0, 0.0, -0.57898488 ] }, { "t": 4.25, "tool": [ 0.1127, -0.09744, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.11318086, -0.09733003, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, -0.0, 0.0, -0.57898488 ] }, { "t": 4.3, "tool": [ 0.12545, -0.09457, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.12597854, -0.09444855, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, -0.0, 0.0, -0.57898488 ] }, { "t": 4.35, "tool": [ 0.13888, -0.09154, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.139426, -0.09142077, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, -0.0, 0.0, -0.57898488 ] }, { "t": 4.4, "tool": [ 0.15248, -0.08848, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.1530278, -0.08835824, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, 0.0, -0.0, -0.57898488 ] }, { "t": 4.45, "tool": [ 0.16612, -0.08541, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.16666625, -0.08528745, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, 0.0, -0.0, -0.57898488 ] }, { "t": 4.5, "tool": [ 0.17517, -0.08337, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.17534552, -0.08333326, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, 0.0, -0.0, -0.57898488 ] }, { "t": 4.55, "tool": [ 0.17756, -0.08283, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.17760521, -0.08282448, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, 0.0, -0.0, -0.57898488 ] }, { "t": 4.6, "tool": [ 0.17813, -0.08271, 0.15663 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.17814307, -0.08270337, 0.15636049, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, -0.0, -0.0, -0.57898488 ] }, { "t": 4.65, "tool": [ 0.17827, -0.08268, 0.14839 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.17827081, -0.08267461, 0.14801642, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, -0.0, -0.0, -0.57898488 ] }, { "t": 4.7, "tool": [ 0.1783, -0.08267, 0.1388 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.17830114, -0.08266778, 0.13841057, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, -0.0, -0.0, -0.57898488 ] }, { "t": 4.75, "tool": [ 0.17831, -0.08267, 0.1289 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.17830834, -0.08266616, 0.12850418, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, -0.0, -0.0, -0.57898488 ] }, { "t": 4.8, "tool": [ 0.17831, -0.08267, 0.11893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.17831005, -0.08266577, 0.11852641, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, -0.0, -0.0, -0.57898488 ] }, { "t": 4.85, "tool": [ 0.17831, -0.08267, 0.10893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.17831046, -0.08266568, 0.10853169, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, -0.0, -0.0, -0.57898488 ] }, { "t": 4.9, "tool": [ 0.17831, -0.08267, 0.09893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.17831056, -0.08266566, 0.09853294, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, -0.0, 0.0, -0.57898488 ] }, { "t": 4.95, "tool": [ 0.17831, -0.08267, 0.08893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.17831058, -0.08266566, 0.08853324, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, -0.0, 0.0, -0.57898488 ] }, { "t": 5.0, "tool": [ 0.17831, -0.08267, 0.07893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.17831059, -0.08266566, 0.07853331, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, -0.0, 0.0, -0.57898488 ] }, { "t": 5.05, "tool": [ 0.17831, -0.08267, 0.06893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.17831059, -0.08266565, 0.06853333, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, 0.0, 0.0, -0.57898488 ] }, { "t": 5.1, "tool": [ 0.17831, -0.08267, 0.05893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.17831059, -0.08266565, 0.05853333, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, 0.0, 0.0, -0.57898488 ] }, { "t": 5.15, "tool": [ 0.17831, -0.08267, 0.04893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.17831059, -0.08266565, 0.04853333, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, 0.0, 0.0, -0.57898488 ] }, { "t": 5.2, "tool": [ 0.17831, -0.08267, 0.04106 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.17831059, -0.08266565, 0.04089108, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, 0.0, 0.0, -0.57898488 ] }, { "t": 5.25, "tool": [ 0.17831, -0.08267, 0.03873 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.17831059, -0.08266565, 0.03868908, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, 0.0, -0.0, -0.57898488 ] }, { "t": 5.3, "tool": [ 0.17689, -0.08173, 0.03817 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.17673595, -0.08162726, 0.03816366, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, 0.0, -0.0, -0.57898488 ] }, { "t": 5.35, "tool": [ 0.17177, -0.07835, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.171528, -0.07819288, 0.03803886, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, 0.0, -0.0, -0.57898488 ] }, { "t": 5.4, "tool": [ 0.16546, -0.07419, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.16520035, -0.07402012, 0.03800923, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, -0.0, -0.0, -0.57898488 ] }, { "t": 5.45, "tool": [ 0.15887, -0.06985, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11316, -0.0397, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.15860513, -0.0696709, 0.03800219, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.11316025, -0.0397023, 0.02499818, 0.81533828, -0.0, -0.0, -0.57898488 ] }, { "t": 5.5, "tool": [ 0.15237, -0.06559, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.11012, -0.03674, 0.02493 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.1521057, -0.06541767, 0.03801457, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.1099281, -0.03653639, 0.02493787, 0.83018615, -0.00070556, 0.00020149, -0.5574858 ] }, { "t": 5.55, "tool": [ 0.14569, -0.06118, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.10548, -0.03227, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.14542102, -0.06100065, 0.03801913, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.1053014, -0.03208923, 0.02499047, 0.83418685, -0.00058426, -0.000676, -0.55148118 ] }, { "t": 5.6, "tool": [ 0.13899, -0.05677, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.10036, -0.02727, 0.02503 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.13872231, -0.05659204, 0.03801417, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.10016145, -0.02707911, 0.0250012, 0.84348472, 0.0002189, 0.00038901, -0.53715298 ] }, { "t": 5.65, "tool": [ 0.13232, -0.05239, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.09559, -0.02267, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.13205764, -0.0522172, 0.03803231, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.09540356, -0.02246193, 0.02501701, 0.85144496, 0.00044189, -0.00072476, -0.52444329 ] }, { "t": 5.7, "tool": [ 0.12564, -0.04797, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.09082, -0.01768, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.12537743, -0.04780223, 0.03802546, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.09062347, -0.01749093, 0.02505882, 0.85551403, 0.00035927, -0.00026822, -0.51777944 ] }, { "t": 5.75, "tool": [ 0.11896, -0.0436, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08577, -0.01258, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.11869392, -0.04342118, 0.03805262, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.08556685, -0.0123659, 0.02495347, 0.85840051, -0.00063599, -0.00026722, -0.51297962 ] }, { "t": 5.8, "tool": [ 0.11228, -0.03919, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.08072, -0.0076, 0.02504 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.11201033, -0.03900791, 0.03804544, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.0805161, -0.00739885, 0.02502123, 0.86204722, -0.00015019, 0.00037909, -0.50682781 ] }, { "t": 5.85, "tool": [ 0.1056, -0.03479, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.07546, -0.0023, 0.02507 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.1053368, -0.03461033, 0.03803706, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.07524341, -0.00207938, 0.02504312, 0.86167126, 0.00069586, -3.015e-05, -0.50746641 ] }, { "t": 5.9, "tool": [ 0.09893, -0.03038, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.07032, 0.00289, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.09865947, -0.03020441, 0.03803577, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.07009838, 0.00308713, 0.02500593, 0.86556161, -0.0006367, 0.00050664, -0.50080179 ] }, { "t": 5.95, "tool": [ 0.09224, -0.02596, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.06523, 0.00816, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.09197318, -0.0257802, 0.03801205, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.06503448, 0.00834819, 0.02506, 0.86321448, 0.00028053, 2.975e-05, -0.50483728 ] }, { "t": 6.0, "tool": [ 0.08556, -0.02156, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05992, 0.01338, 0.02509 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.08529739, -0.02138215, 0.03801264, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.05970555, 0.0135893, 0.02512508, 0.86115769, -7.921e-05, -5.616e-05, -0.50833789 ] }, { "t": 6.05, "tool": [ 0.08025, -0.01804, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05574, 0.01769, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.08013353, -0.01795635, 0.03800425, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.05567428, 0.01774751, 0.02501104, 0.86212688, -5.785e-05, 0.00018266, -0.50669242 ] }, { "t": 6.1, "tool": [ 0.0787, -0.01703, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05471, 0.01882, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.07867338, -0.01701923, 0.03802329, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.05468699, 0.01884311, 0.02500467, 0.86188458, 2.817e-05, -2.317e-05, -0.5071045 ] }, { "t": 6.15, "tool": [ 0.07832, -0.01678, 0.04032 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05445, 0.01918, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07830635, -0.01677477, 0.04057284, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.0544534, 0.01918201, 0.02498809, 0.86184329, 0.00016239, -8.89e-05, -0.50717464 ] }, { "t": 6.2, "tool": [ 0.07819, -0.01666, 0.04873 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05434, 0.01934, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0781834, -0.01666156, 0.04912884, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.05434277, 0.01933889, 0.02499468, 0.86234751, -5.165e-05, 7.25e-06, -0.50631687 ] }, { "t": 6.25, "tool": [ 0.07815, -0.01663, 0.0591 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05431, 0.01942, 0.02505 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07815409, -0.01663449, 0.05952366, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.05429119, 0.01944967, 0.02504294, 0.86244325, -0.0004742, -0.00091658, -0.50615272 ] }, { "t": 6.3, "tool": [ 0.07814, -0.01662, 0.06993 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07814143, -0.01661785, 0.07036383, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.05423231, 0.01954021, 0.02499373, 0.86254377, -3.08e-06, 1.628e-05, -0.50598246 ] }, { "t": 6.35, "tool": [ 0.07813, -0.01661, 0.08087 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07813435, -0.01660659, 0.08130812, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.05423154, 0.01954049, 0.02499807, 0.86254377, -7e-08, 3.9e-07, -0.50598246 ] }, { "t": 6.4, "tool": [ 0.07813, -0.0166, 0.09183 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07813264, -0.01660387, 0.09227297, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, -0.0, 1e-08, -0.50598246 ] }, { "t": 6.45, "tool": [ 0.07813, -0.0166, 0.1028 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07813223, -0.01660322, 0.10324268, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, -0.0, 0.0, -0.50598246 ] }, { "t": 6.5, "tool": [ 0.07813, -0.0166, 0.11377 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07813214, -0.01660307, 0.11421354, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, -0.0, 0.0, -0.50598246 ] }, { "t": 6.55, "tool": [ 0.07813, -0.0166, 0.12475 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07813211, -0.01660303, 0.12518468, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, 0.0, -0.0, -0.50598246 ] }, { "t": 6.6, "tool": [ 0.07813, -0.0166, 0.13572 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07813211, -0.01660302, 0.13615588, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, 0.0, -0.0, -0.50598246 ] }, { "t": 6.65, "tool": [ 0.07813, -0.0166, 0.14669 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07813211, -0.01660302, 0.1471271, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, 0.0, -0.0, -0.50598246 ] }, { "t": 6.7, "tool": [ 0.07813, -0.0166, 0.15602 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07813211, -0.01660302, 0.15623865, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, 0.0, -0.0, -0.50598246 ] }, { "t": 6.75, "tool": [ 0.07813, -0.0166, 0.15905 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07813211, -0.01660302, 0.15910169, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, -0.0, 0.0, -0.50598246 ] }, { "t": 6.8, "tool": [ 0.07813, -0.0166, 0.15977 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.07813211, -0.01660302, 0.15978664, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, -0.0, 0.0, -0.50598246 ] }, { "t": 6.85, "tool": [ 0.07813, -0.0166, 0.15995 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.07813211, -0.01660302, 0.15994933, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, -0.0, 0.0, -0.50598246 ] }, { "t": 6.9, "tool": [ 0.07813, -0.0166, 0.15999 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.07813211, -0.01660302, 0.15998797, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, -0.0, 0.0, -0.50598246 ] }, { "t": 6.95, "tool": [ 0.07813, -0.0166, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.07813211, -0.01660302, 0.15999714, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, 0.0, -0.0, -0.50598246 ] }, { "t": 7.0, "tool": [ 0.07813, -0.0166, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07813211, -0.01660302, 0.15999932, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, 0.0, -0.0, -0.50598246 ] }, { "t": 7.05, "tool": [ 0.07813, -0.0166, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07813211, -0.01660302, 0.15999984, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, 0.0, -0.0, -0.50598246 ] }, { "t": 7.1, "tool": [ 0.07813, -0.0166, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07813211, -0.01660302, 0.15999996, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, 0.0, -0.0, -0.50598246 ] }, { "t": 7.15, "tool": [ 0.07813, -0.0166, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07813211, -0.01660302, 0.15999999, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, 0.0, -0.0, -0.50598246 ] }, { "t": 7.2, "tool": [ 0.07813, -0.0166, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.07813211, -0.01660302, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, 0.0, -0.0, -0.50598246 ] }, { "t": 7.25, "tool": [ 0.08021, -0.01674, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.08048486, -0.0167602, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, 0.0, -0.0, -0.50598246 ] }, { "t": 7.3, "tool": [ 0.09025, -0.01741, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.09074291, -0.01744548, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, -0.0, 0.0, -0.50598246 ] }, { "t": 7.35, "tool": [ 0.10322, -0.01828, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.10375655, -0.01831485, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, 0.0, -0.0, -0.50598246 ] }, { "t": 7.4, "tool": [ 0.11531, -0.01909, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.1156191, -0.01910732, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, 0.0, -0.0, -0.50598246 ] }, { "t": 7.45, "tool": [ 0.11955, -0.01937, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.1196234, -0.01937483, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, -0.0, -0.0, -0.50598246 ] }, { "t": 7.5, "tool": [ 0.12057, -0.01944, 0.15887 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12058392, -0.01943899, 0.15869467, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, -0.0, 0.0, -0.50598246 ] }, { "t": 7.55, "tool": [ 0.12081, -0.01945, 0.15196 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12081208, -0.01945423, 0.15161479, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, -0.0, 0.0, -0.50598246 ] }, { "t": 7.6, "tool": [ 0.12087, -0.01946, 0.1427 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12086627, -0.01945785, 0.14231516, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, 0.0, 0.0, -0.50598246 ] }, { "t": 7.65, "tool": [ 0.12088, -0.01946, 0.13288 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12087913, -0.01945871, 0.13248152, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, 0.0, -0.0, -0.50598246 ] }, { "t": 7.7, "tool": [ 0.12088, -0.01946, 0.12292 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12088219, -0.01945892, 0.12252103, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, 0.0, -0.0, -0.50598246 ] }, { "t": 7.75, "tool": [ 0.12088, -0.01946, 0.11293 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12088291, -0.01945897, 0.11253041, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, -0.0, -0.0, -0.50598246 ] }, { "t": 7.8, "tool": [ 0.12088, -0.01946, 0.10293 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12088309, -0.01945898, 0.10253264, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, -0.0, 0.0, -0.50598246 ] }, { "t": 7.85, "tool": [ 0.12088, -0.01946, 0.09293 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12088313, -0.01945898, 0.09253317, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, 0.0, 0.0, -0.50598246 ] }, { "t": 7.9, "tool": [ 0.12088, -0.01946, 0.08293 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12088314, -0.01945898, 0.08253329, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, 0.0, -0.0, -0.50598246 ] }, { "t": 7.95, "tool": [ 0.12088, -0.01946, 0.07293 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12088314, -0.01945898, 0.07253332, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, -0.0, -0.0, -0.50598246 ] }, { "t": 8.0, "tool": [ 0.12088, -0.01946, 0.06293 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12088314, -0.01945898, 0.06253333, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, -0.0, -0.0, -0.50598246 ] }, { "t": 8.05, "tool": [ 0.12088, -0.01946, 0.05293 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12088314, -0.01945898, 0.05253333, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, -0.0, 0.0, -0.50598246 ] }, { "t": 8.1, "tool": [ 0.12088, -0.01946, 0.04336 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12088314, -0.01945898, 0.04307454, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, -0.0, 0.0, -0.50598246 ] }, { "t": 8.15, "tool": [ 0.12088, -0.01946, 0.0393 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.12088314, -0.01945898, 0.03922428, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, -0.0, 0.0, -0.50598246 ] }, { "t": 8.2, "tool": [ 0.12059, -0.01929, 0.03831 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.12050944, -0.01924032, 0.03829086, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, 0.0, 0.0, -0.50598246 ] }, { "t": 8.25, "tool": [ 0.11649, -0.01689, 0.03807 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.11626314, -0.01675571, 0.03806907, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, 0.0, 0.0, -0.50598246 ] }, { "t": 8.3, "tool": [ 0.11027, -0.01325, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.11000282, -0.01309264, 0.0380164, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, 0.0, -0.0, -0.50598246 ] }, { "t": 8.35, "tool": [ 0.10352, -0.0093, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05423, 0.01954, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.10325111, -0.00914206, 0.0380039, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.05423152, 0.0195405, 0.02499818, 0.86254377, -0.0, -0.0, -0.50598246 ] }, { "t": 8.4, "tool": [ 0.09669, -0.00531, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.05402, 0.01971, 0.02507 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.09643761, -0.00516522, 0.03800541, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.05387294, 0.01984449, 0.02513152, 0.86475806, 0.0001704, -0.00155679, -0.50218626 ] }, { "t": 8.45, "tool": [ 0.08993, -0.00136, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.0497, 0.02357, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.08966053, -0.00120066, 0.03800333, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.04950832, 0.02375205, 0.02503908, 0.88173007, 0.00115972, 0.00025081, -0.47175277 ] }, { "t": 8.5, "tool": [ 0.08302, 0.00265, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.04493, 0.02821, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.08273932, 0.00281714, 0.0380431, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.04476296, 0.02837519, 0.02498743, 0.89115064, -0.00089334, -0.0001536, -0.45370665 ] }, { "t": 8.55, "tool": [ 0.07612, 0.00669, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.03973, 0.03299, 0.02504 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.07584187, 0.00685375, 0.03804747, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, 0.0395003, 0.03318458, 0.0250445, 0.89588309, 0.00076699, 0.00101661, -0.44428804 ] }, { "t": 8.6, "tool": [ 0.06921, 0.01074, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.03422, 0.03804, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.06893601, 0.01090891, 0.03803168, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.0340032, 0.03824226, 0.0249932, 0.89845599, 0.00036441, -0.000236, -0.43906338 ] }, { "t": 8.65, "tool": [ 0.06231, 0.01479, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.02863, 0.04305, 0.02503 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.06202936, 0.01494826, 0.03803052, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.02839392, 0.04325658, 0.02498565, 0.89943266, -0.00029577, 0.000636, -0.4370588 ] }, { "t": 8.7, "tool": [ 0.05539, 0.0188, 0.03806 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.02317, 0.04808, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.05511499, 0.01896545, 0.03806555, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, 0.02295538, 0.04829115, 0.02505885, 0.90175707, 0.00043455, -0.00012142, -0.43224297 ] }, { "t": 8.75, "tool": [ 0.04849, 0.02285, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.01759, 0.05325, 0.02493 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.04820961, 0.02301704, 0.03804782, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.01739304, 0.05344594, 0.02493605, 0.90179564, -0.00111485, -0.00114973, -0.43215976 ] }, { "t": 8.8, "tool": [ 0.04159, 0.0269, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.012, 0.05835, 0.02505 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.04131152, 0.02706478, 0.03803024, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.0117724, 0.05855931, 0.02501852, 0.90134101, 6.299e-05, -0.00081319, -0.43310936 ] }, { "t": 8.85, "tool": [ 0.03467, 0.03094, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.0065, 0.06349, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.03439545, 0.03109676, 0.03804545, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, 0.00627962, 0.06369009, 0.02499548, 0.89808138, 0.000241, 0.00047328, -0.43982901 ] }, { "t": 8.9, "tool": [ 0.02776, 0.03497, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ 0.00113, 0.06872, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.02748664, 0.03513342, 0.03803912, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, 0.00089657, 0.06892953, 0.02502608, 0.8973048, 0.00106596, -1.56e-05, -0.44141019 ] }, { "t": 8.95, "tool": [ 0.02115, 0.03885, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00403, 0.07395, 0.02508 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.02094917, 0.03896874, 0.03802001, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.00422181, 0.07415327, 0.02501446, 0.89244242, -0.00031014, 0.00106795, -0.45115994 ] }, { "t": 9.0, "tool": [ 0.01828, 0.04055, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00602, 0.07601, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.01823346, 0.04057191, 0.03801647, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.00606545, 0.07605539, 0.02498012, 0.89084405, -9.692e-05, 0.00021711, -0.45430917 ] }, { "t": 9.05, "tool": [ 0.01762, 0.04092, 0.03849 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00655, 0.0765, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01760603, 0.04092315, 0.03860872, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.00657317, 0.07652565, 0.02497954, 0.89074745, -0.00016613, -0.00029266, -0.45449848 ] }, { "t": 9.1, "tool": [ 0.01741, 0.04105, 0.04496 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00677, 0.07673, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0174079, 0.04105468, 0.04532324, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.00677218, 0.07672714, 0.02498872, 0.89079425, -1.346e-05, -2.629e-05, -0.45440686 ] }, { "t": 9.15, "tool": [ 0.01736, 0.04109, 0.05485 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00697, 0.07692, 0.02494 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01735364, 0.0410951, 0.05526673, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.00697086, 0.07692805, 0.02494736, 0.89076811, 0.00094236, 0.00090912, -0.45445622 ] }, { "t": 9.2, "tool": [ 0.01732, 0.04113, 0.06557 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01732211, 0.0411304, 0.06600962, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.00699072, 0.07699234, 0.02499679, 0.89076903, 1.25e-06, 1.586e-05, -0.4544563 ] }, { "t": 9.25, "tool": [ 0.01731, 0.04114, 0.07649 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01731326, 0.04114067, 0.07692779, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.00699139, 0.07699275, 0.02499814, 0.89076903, 3e-08, 3.8e-07, -0.4544563 ] }, { "t": 9.3, "tool": [ 0.01731, 0.04114, 0.08745 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01731115, 0.04114312, 0.08788642, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, 0.0, 1e-08, -0.4544563 ] }, { "t": 9.35, "tool": [ 0.01731, 0.04114, 0.09842 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01731065, 0.0411437, 0.09885465, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, 0.0, 0.0, -0.4544563 ] }, { "t": 9.4, "tool": [ 0.01731, 0.04114, 0.10939 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01731053, 0.04114384, 0.10982516, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, 0.0, 0.0, -0.4544563 ] }, { "t": 9.45, "tool": [ 0.01731, 0.04114, 0.12036 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0173105, 0.04114387, 0.12079622, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, -0.0, -0.0, -0.4544563 ] }, { "t": 9.5, "tool": [ 0.01731, 0.04114, 0.13133 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0173105, 0.04114388, 0.1317674, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, -0.0, -0.0, -0.4544563 ] }, { "t": 9.55, "tool": [ 0.01731, 0.04114, 0.1423 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01731049, 0.04114388, 0.14273861, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, -0.0, -0.0, -0.4544563 ] }, { "t": 9.6, "tool": [ 0.01731, 0.04114, 0.15308 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01731049, 0.04114388, 0.15344358, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, -0.0, -0.0, -0.4544563 ] }, { "t": 9.65, "tool": [ 0.01731, 0.04114, 0.15831 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01731049, 0.04114388, 0.15840426, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, -0.0, -0.0, -0.4544563 ] }, { "t": 9.7, "tool": [ 0.01731, 0.04114, 0.1596 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.01731049, 0.04114388, 0.15962081, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, -0.0, -0.0, -0.4544563 ] }, { "t": 9.75, "tool": [ 0.01731, 0.04114, 0.1599 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.01731049, 0.04114388, 0.15990995, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, -0.0, -0.0, -0.4544563 ] }, { "t": 9.8, "tool": [ 0.01731, 0.04114, 0.15998 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.01731049, 0.04114388, 0.15997862, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, -0.0, -0.0, -0.4544563 ] }, { "t": 9.85, "tool": [ 0.01731, 0.04114, 0.15999 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ 0.01731049, 0.04114388, 0.15999492, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, -0.0, -0.0, -0.4544563 ] }, { "t": 9.9, "tool": [ 0.01731, 0.04114, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01731049, 0.04114388, 0.15999879, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, -0.0, -0.0, -0.4544563 ] }, { "t": 9.95, "tool": [ 0.01731, 0.04114, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01731049, 0.04114388, 0.15999971, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, -0.0, -0.0, -0.4544563 ] }, { "t": 10.0, "tool": [ 0.01731, 0.04114, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01731049, 0.04114388, 0.15999993, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, -0.0, -0.0, -0.4544563 ] }, { "t": 10.05, "tool": [ 0.01731, 0.04114, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01731049, 0.04114388, 0.15999998, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, -0.0, -0.0, -0.4544563 ] }, { "t": 10.1, "tool": [ 0.01731, 0.04114, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ 0.01731049, 0.04114388, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, 0.0, 0.0, -0.4544563 ] }, { "t": 10.15, "tool": [ 0.01755, 0.04116, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.01764672, 0.04116178, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, 0.0, 0.0, -0.4544563 ] }, { "t": 10.2, "tool": [ 0.0248, 0.04154, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.0252368, 0.04156585, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, 0.0, 0.0, -0.4544563 ] }, { "t": 10.25, "tool": [ 0.03703, 0.04219, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.03755495, 0.04222164, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, 0.0, 0.0, -0.4544563 ] }, { "t": 10.3, "tool": [ 0.0505, 0.04291, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.05103853, 0.04293946, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, 0.0, 0.0, -0.4544563 ] }, { "t": 10.35, "tool": [ 0.05922, 0.04337, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.05938295, 0.0433837, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, 0.0, 0.0, -0.4544563 ] }, { "t": 10.4, "tool": [ 0.06149, 0.0435, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06152904, 0.04349795, 0.15999589, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, -0.0, -0.0, -0.4544563 ] }, { "t": 10.45, "tool": [ 0.06203, 0.04352, 0.15636 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06203971, 0.04352513, 0.15608141, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, 0.0, 0.0, -0.4544563 ] }, { "t": 10.5, "tool": [ 0.06216, 0.04353, 0.14802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06216099, 0.04353159, 0.14764531, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, -0.0, -0.0, -0.4544563 ] }, { "t": 10.55, "tool": [ 0.06219, 0.04353, 0.13841 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06218979, 0.04353312, 0.13801743, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, 0.0, 0.0, -0.4544563 ] }, { "t": 10.6, "tool": [ 0.0622, 0.04353, 0.1285 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06219663, 0.04353349, 0.12810581, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, -0.0, -0.0, -0.4544563 ] }, { "t": 10.65, "tool": [ 0.0622, 0.04353, 0.11853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06219825, 0.04353357, 0.1181268, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, -0.0, -0.0, -0.4544563 ] }, { "t": 10.7, "tool": [ 0.0622, 0.04353, 0.10853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06219864, 0.04353359, 0.10813178, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, 0.0, -0.0, -0.4544563 ] }, { "t": 10.75, "tool": [ 0.0622, 0.04353, 0.09853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06219873, 0.0435336, 0.09813296, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, 0.0, 0.0, -0.4544563 ] }, { "t": 10.8, "tool": [ 0.0622, 0.04353, 0.08853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06219875, 0.0435336, 0.08813325, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, -0.0, 0.0, -0.4544563 ] }, { "t": 10.85, "tool": [ 0.0622, 0.04353, 0.07853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06219876, 0.0435336, 0.07813331, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, -0.0, -0.0, -0.4544563 ] }, { "t": 10.9, "tool": [ 0.0622, 0.04353, 0.06853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06219876, 0.0435336, 0.06813333, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, 0.0, -0.0, -0.4544563 ] }, { "t": 10.95, "tool": [ 0.0622, 0.04353, 0.05853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06219876, 0.0435336, 0.05813333, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, 0.0, 0.0, -0.4544563 ] }, { "t": 11.0, "tool": [ 0.0622, 0.04353, 0.04853 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06219876, 0.0435336, 0.04813333, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, 0.0, 0.0, -0.4544563 ] }, { "t": 11.05, "tool": [ 0.0622, 0.04353, 0.04089 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06219876, 0.0435336, 0.0407309, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, -0.0, 0.0, -0.4544563 ] }, { "t": 11.1, "tool": [ 0.0622, 0.04353, 0.03869 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06219876, 0.0435336, 0.03865058, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, -0.0, 0.0, -0.4544563 ] }, { "t": 11.15, "tool": [ 0.0605, 0.04435, 0.03816 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.06032797, 0.04443828, 0.03815451, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, -0.0, -0.0, -0.4544563 ] }, { "t": 11.2, "tool": [ 0.05488, 0.04707, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.05462415, 0.04719655, 0.03803669, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, -0.0, -0.0, -0.4544563 ] }, { "t": 11.25, "tool": [ 0.04806, 0.05037, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.04777933, 0.05050659, 0.03800871, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, 0.0, -0.0, -0.4544563 ] }, { "t": 11.3, "tool": [ 0.04095, 0.05381, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00699, 0.07699, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.0406621, 0.05394836, 0.03800207, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.00699141, 0.07699276, 0.02499818, 0.89076903, 0.0, -0.0, -0.4544563 ] }, { "t": 11.35, "tool": [ 0.03391, 0.0572, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.00899, 0.07835, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.0336213, 0.05734057, 0.03800856, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.00913158, 0.07845333, 0.02498028, 0.89899798, 0.00018145, 0.00013749, -0.43795272 ] }, { "t": 11.4, "tool": [ 0.02677, 0.06065, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01412, 0.08246, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.02647774, 0.06079255, 0.03801756, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.01434986, 0.08266333, 0.0249577, 0.90739526, -0.00017963, 0.00012693, -0.42027823 ] }, { "t": 11.45, "tool": [ 0.01955, 0.06414, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.01952, 0.08702, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.01926424, 0.06428237, 0.03802257, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.01974591, 0.08722728, 0.02506773, 0.91112785, -0.00140255, -0.00078896, -0.41212068 ] }, { "t": 11.5, "tool": [ 0.01235, 0.06762, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.02503, 0.09176, 0.02508 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.01206464, 0.06776292, 0.03802432, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.02527413, 0.09196274, 0.02506286, 0.91444542, -0.0010663, -0.00013096, -0.40470783 ] }, { "t": 11.55, "tool": [ 0.00514, 0.0711, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.03072, 0.09667, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.00485396, 0.07124403, 0.03802631, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.03096284, 0.0968745, 0.02502216, 0.91395594, 0.00167709, -0.00038176, -0.40580978 ] }, { "t": 11.6, "tool": [ -0.00206, 0.0746, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.0364, 0.10174, 0.02496 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.0023534, 0.07473642, 0.03801755, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.03659255, 0.10192014, 0.02498019, 0.91129146, -0.00035624, -0.00153677, -0.4117589 ] }, { "t": 11.65, "tool": [ -0.00928, 0.07807, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.0419, 0.10666, 0.02503 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.00956707, 0.07821559, 0.03801079, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.04210518, 0.10686002, 0.02499429, 0.91038681, -0.00027716, -0.00067874, -0.41375755 ] }, { "t": 11.7, "tool": [ -0.01647, 0.08156, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.04757, 0.11157, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.01676101, 0.08170402, 0.03799975, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.04779934, 0.1117552, 0.02499645, 0.90803688, -6.544e-05, -0.00012081, -0.4188902 ] }, { "t": 11.75, "tool": [ -0.02368, 0.08504, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.053, 0.11656, 0.02504 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.02396434, 0.08518199, 0.03801058, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.0532155, 0.11675087, 0.02505342, 0.90649653, -0.00018804, -2.102e-05, -0.42221322 ] }, { "t": 11.8, "tool": [ -0.03089, 0.08852, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.05832, 0.12163, 0.02505 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.03117389, 0.08865423, 0.03801254, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.05854659, 0.12183178, 0.02506164, 0.90202103, 0.00010998, 0.00044751, -0.43169185 ] }, { "t": 11.85, "tool": [ -0.03809, 0.09199, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06339, 0.12679, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.03837672, 0.09213478, 0.03801889, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.06358632, 0.12697989, 0.02507605, 0.89607171, -0.00089333, 0.00116126, -0.4439069 ] }, { "t": 11.9, "tool": [ -0.04365, 0.09469, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06717, 0.13077, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.04376781, 0.09475013, 0.03801496, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.06723916, 0.13084278, 0.02502186, 0.8903938, 0.00027608, 3.3e-05, -0.45519095 ] }, { "t": 11.95, "tool": [ -0.04523, 0.09544, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06823, 0.13186, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.04526103, 0.09545173, 0.03803591, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.06825668, 0.13188435, 0.02498266, 0.88946367, -4.087e-05, -2.842e-05, -0.45700588 ] }, { "t": 12.0, "tool": [ -0.04563, 0.09563, 0.04058 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06853, 0.13216, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04564196, 0.09563226, 0.0408381, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.0685324, 0.1321632, 0.02498073, 0.88926815, -7.177e-05, -3.56e-05, -0.45738622 ] }, { "t": 12.05, "tool": [ -0.04577, 0.09572, 0.04913 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06867, 0.1323, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04577401, 0.09572312, 0.04952471, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.06866529, 0.13230024, 0.0249973, 0.8891818, -8.05e-06, 1e-08, -0.45755407 ] }, { "t": 12.1, "tool": [ -0.04582, 0.09576, 0.05953 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06867, 0.1323, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04581854, 0.09576302, 0.05996225, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.06866548, 0.13229988, 0.02499816, 0.8891818, -1.9e-07, 0.0, -0.45755407 ] }, { "t": 12.15, "tool": [ -0.04581, 0.09575, 0.07036 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06876, 0.1324, 0.02496 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04581525, 0.09575309, 0.0707948, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.06876097, 0.13239935, 0.02496517, 0.88922895, 0.00027658, 0.00048381, -0.4574621 ] }, { "t": 12.2, "tool": [ -0.04583, 0.09577, 0.08131 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04582747, 0.09576893, 0.08174427, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.06877662, 0.13242307, 0.02499732, 0.88922963, 7.42e-06, 1.304e-05, -0.4574611 ] }, { "t": 12.25, "tool": [ -0.04583, 0.09577, 0.09227 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04583135, 0.09577406, 0.09271117, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.06877703, 0.13242369, 0.02499816, 0.88922963, 1.8e-07, 3.1e-07, -0.4574611 ] }, { "t": 12.3, "tool": [ -0.04583, 0.09578, 0.10324 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04583227, 0.09577528, 0.10368137, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, 0.0, 1e-08, -0.4574611 ] }, { "t": 12.35, "tool": [ -0.04583, 0.09578, 0.11421 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04583249, 0.09577557, 0.11465235, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, 0.0, 0.0, -0.4574611 ] }, { "t": 12.4, "tool": [ -0.04583, 0.09578, 0.12518 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04583255, 0.09577564, 0.12562352, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, 0.0, 0.0, -0.4574611 ] }, { "t": 12.45, "tool": [ -0.04583, 0.09578, 0.13616 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04583256, 0.09577566, 0.13659473, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, -0.0, -0.0, -0.4574611 ] }, { "t": 12.5, "tool": [ -0.04583, 0.09578, 0.14713 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04583256, 0.09577566, 0.14756595, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, -0.0, -0.0, -0.4574611 ] }, { "t": 12.55, "tool": [ -0.04583, 0.09578, 0.15624 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04583256, 0.09577566, 0.15644604, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, -0.0, -0.0, -0.4574611 ] }, { "t": 12.6, "tool": [ -0.04583, 0.09578, 0.1591 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04583256, 0.09577566, 0.15915187, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, 0.0, 0.0, -0.4574611 ] }, { "t": 12.65, "tool": [ -0.04583, 0.09578, 0.15979 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.04583256, 0.09577566, 0.15979856, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, 0.0, 0.0, -0.4574611 ] }, { "t": 12.7, "tool": [ -0.04583, 0.09578, 0.15995 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.04583256, 0.09577566, 0.15995216, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, 0.0, 0.0, -0.4574611 ] }, { "t": 12.75, "tool": [ -0.04583, 0.09578, 0.15999 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.04583256, 0.09577566, 0.15998864, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, 0.0, 0.0, -0.4574611 ] }, { "t": 12.8, "tool": [ -0.04583, 0.09578, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.04583256, 0.09577566, 0.1599973, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, -0.0, -0.0, -0.4574611 ] }, { "t": 12.85, "tool": [ -0.04583, 0.09578, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04583256, 0.09577566, 0.15999936, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, -0.0, -0.0, -0.4574611 ] }, { "t": 12.9, "tool": [ -0.04583, 0.09578, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04583256, 0.09577566, 0.15999985, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, -0.0, -0.0, -0.4574611 ] }, { "t": 12.95, "tool": [ -0.04583, 0.09578, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04583256, 0.09577566, 0.15999996, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, 0.0, 0.0, -0.4574611 ] }, { "t": 13.0, "tool": [ -0.04583, 0.09578, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04583256, 0.09577566, 0.15999999, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, 0.0, 0.0, -0.4574611 ] }, { "t": 13.05, "tool": [ -0.04583, 0.09578, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.04583256, 0.09577566, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, 0.0, 0.0, -0.4574611 ] }, { "t": 13.1, "tool": [ -0.04354, 0.09637, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.04325095, 0.09643959, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, 0.0, 0.0, -0.4574611 ] }, { "t": 13.15, "tool": [ -0.03353, 0.09894, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.03304685, 0.09906383, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, 0.0, 0.0, -0.4574611 ] }, { "t": 13.2, "tool": [ -0.02083, 0.10221, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.02030064, 0.10234184, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, 0.0, 0.0, -0.4574611 ] }, { "t": 13.25, "tool": [ -0.00748, 0.10564, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.00694567, 0.1057764, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, 0.0, 0.0, -0.4574611 ] }, { "t": 13.3, "tool": [ 0.00216, 0.10812, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.00235118, 0.10816731, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, 0.0, 0.0, -0.4574611 ] }, { "t": 13.35, "tool": [ 0.00481, 0.1088, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ 0.00485475, 0.10881117, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, 0.0, 0.0, -0.4574611 ] }, { "t": 13.4, "tool": [ 0.00544, 0.10896, 0.15715 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00545114, 0.10896455, 0.15689713, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, 0.0, 0.0, -0.4574611 ] }, { "t": 13.45, "tool": [ 0.00559, 0.109, 0.14912 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00559278, 0.10900097, 0.14875342, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, 0.0, 0.0, -0.4574611 ] }, { "t": 13.5, "tool": [ 0.00563, 0.10901, 0.13959 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00562641, 0.10900962, 0.13919561, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, 0.0, 0.0, -0.4574611 ] }, { "t": 13.55, "tool": [ 0.00563, 0.10901, 0.1297 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.0056344, 0.10901168, 0.12930063, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, 0.0, -0.0, -0.4574611 ] }, { "t": 13.6, "tool": [ 0.00564, 0.10901, 0.11973 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.0056363, 0.10901216, 0.11932557, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, -0.0, -0.0, -0.4574611 ] }, { "t": 13.65, "tool": [ 0.00564, 0.10901, 0.10973 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00563675, 0.10901228, 0.10933149, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, -0.0, 0.0, -0.4574611 ] }, { "t": 13.7, "tool": [ 0.00564, 0.10901, 0.09973 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00563685, 0.10901231, 0.0993329, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, -0.0, 0.0, -0.4574611 ] }, { "t": 13.75, "tool": [ 0.00564, 0.10901, 0.08973 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00563688, 0.10901231, 0.08933323, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, 0.0, 0.0, -0.4574611 ] }, { "t": 13.8, "tool": [ 0.00564, 0.10901, 0.07973 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00563689, 0.10901232, 0.07933331, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, 0.0, 0.0, -0.4574611 ] }, { "t": 13.85, "tool": [ 0.00564, 0.10901, 0.06973 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00563689, 0.10901232, 0.06933333, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, 0.0, -0.0, -0.4574611 ] }, { "t": 13.9, "tool": [ 0.00564, 0.10901, 0.05973 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00563689, 0.10901232, 0.05933333, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, -0.0, -0.0, -0.4574611 ] }, { "t": 13.95, "tool": [ 0.00564, 0.10901, 0.04973 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00563689, 0.10901232, 0.04933333, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, -0.0, -0.0, -0.4574611 ] }, { "t": 14.0, "tool": [ 0.00564, 0.10901, 0.04143 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00563689, 0.10901232, 0.04123934, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, -0.0, 0.0, -0.4574611 ] }, { "t": 14.05, "tool": [ 0.00564, 0.10901, 0.03882 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ 0.00563689, 0.10901232, 0.03877305, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, -0.0, 0.0, -0.4574611 ] }, { "t": 14.1, "tool": [ 0.00434, 0.10942, 0.03819 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ 0.00418236, 0.10946992, 0.0381836, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, -0.0, 0.0, -0.4574611 ] }, { "t": 14.15, "tool": [ -0.0013, 0.11119, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.00156679, 0.11127867, 0.0380436, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, 0.0, 0.0, -0.4574611 ] }, { "t": 14.2, "tool": [ -0.00845, 0.11344, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.00874821, 0.11353802, 0.03801035, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, 0.0, 0.0, -0.4574611 ] }, { "t": 14.25, "tool": [ -0.01597, 0.11581, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.06878, 0.13242, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.01627261, 0.11590527, 0.03800246, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.06877704, 0.1324237, 0.02499818, 0.88922963, 0.0, -0.0, -0.4574611 ] }, { "t": 14.3, "tool": [ -0.02337, 0.11811, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.07183, 0.13435, 0.02513 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.023666, 0.11820545, 0.03801035, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.07210618, 0.13453483, 0.02513431, 0.90347244, 0.00092245, 0.00154263, -0.42864242 ] }, { "t": 14.35, "tool": [ -0.03103, 0.12053, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.07642, 0.13783, 0.02507 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.03133062, 0.12062464, 0.03800426, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, -0.0, -0.07660936, 0.13797214, 0.02508935, 0.91212985, 0.00059195, -0.00029514, -0.40990084 ] }, { "t": 14.4, "tool": [ -0.03863, 0.12292, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08125, 0.14154, 0.02506 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.03893153, 0.12301711, 0.03800356, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.08146874, 0.14171846, 0.02509311, 0.92072455, 7.849e-05, -0.00028769, -0.39021303 ] }, { "t": 14.45, "tool": [ -0.04627, 0.12532, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.08641, 0.14586, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.04657329, 0.12541811, 0.03801406, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.0865847, 0.14603028, 0.02501323, 0.92578626, 4.657e-05, 0.00029474, -0.37804724 ] }, { "t": 14.5, "tool": [ -0.0539, 0.12773, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.09172, 0.15026, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.05420505, 0.12782536, 0.03800962, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.09193682, 0.15041826, 0.02502461, 0.92975799, 0.00060998, 0.00073694, -0.36817001 ] }, { "t": 14.55, "tool": [ -0.06151, 0.13013, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.09752, 0.15469, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.06182181, 0.13022697, 0.03800366, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.09774214, 0.15489108, 0.0249739, 0.93015933, -0.00049978, 0.00104882, -0.36715429 ] }, { "t": 14.6, "tool": [ -0.06917, 0.13253, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.10306, 0.15924, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.0694684, 0.13262262, 0.03801167, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.1032769, 0.15944039, 0.02505319, 0.92959946, -0.00024735, -0.00011262, -0.36857125 ] }, { "t": 14.65, "tool": [ -0.0768, 0.13493, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.10866, 0.16392, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.07710635, 0.13502681, 0.03800714, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, -0.0, -0.10884308, 0.16408813, 0.02501067, 0.9270223, -8.97e-05, 0.00123145, -0.37500417 ] }, { "t": 14.7, "tool": [ -0.08443, 0.13732, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.11405, 0.1685, 0.0251 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.08472926, 0.13741532, 0.03801924, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.1142735, 0.16870725, 0.02513633, 0.91881994, -0.00062664, -0.00031333, -0.39467636 ] }, { "t": 14.75, "tool": [ -0.09208, 0.13972, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.1193, 0.17303, 0.02504 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.09238202, 0.13981255, 0.03801656, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.11951634, 0.17321231, 0.02501707, 0.91368814, 1.79e-05, 0.00017725, -0.40641598 ] }, { "t": 14.8, "tool": [ -0.09971, 0.1421, 0.03803 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.12434, 0.17761, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.10001648, 0.14219976, 0.03803056, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.12452887, 0.17778432, 0.02498367, 0.90494189, -0.00074231, -0.00036436, -0.42553436 ] }, { "t": 14.85, "tool": [ -0.1061, 0.14413, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.12838, 0.18134, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.10624578, 0.14417348, 0.03800934, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.12845761, 0.18143872, 0.02498925, 0.89922128, -0.00019747, -0.00022156, -0.43749401 ] }, { "t": 14.9, "tool": [ -0.1081, 0.14475, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.12957, 0.18251, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.10813593, 0.14475945, 0.0380117, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.12958396, 0.18251854, 0.02497498, 0.89777658, -0.0001278, 0.00013403, -0.4404511 ] }, { "t": 14.95, "tool": [ -0.1086, 0.1449, 0.03985 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.12985, 0.1828, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10860313, 0.14489626, 0.04007406, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.12988233, 0.1828314, 0.02499871, 0.89725981, -0.00012192, -5.732e-05, -0.44150291 ] }, { "t": 15.0, "tool": [ -0.10875, 0.14496, 0.04794 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18304, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10874936, 0.14495836, 0.04832977, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.13012663, 0.18303867, 0.02497259, 0.89639832, 0.00028153, 0.00010107, -0.44324932 ] }, { "t": 15.05, "tool": [ -0.10881, 0.14501, 0.05825 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18305, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10881003, 0.14500664, 0.05867295, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.13012633, 0.18305472, 0.02499752, 0.89639352, 7.53e-06, 2.62e-06, -0.44325912 ] }, { "t": 15.1, "tool": [ -0.10883, 0.14502, 0.06906 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10882656, 0.14502087, 0.06949674, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.13012628, 0.18305511, 0.02499816, 0.89639352, 1.8e-07, 6e-08, -0.44325912 ] }, { "t": 15.15, "tool": [ -0.10883, 0.14502, 0.07999 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.1088305, 0.14502426, 0.08043296, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, 0.0, 0.0, -0.44325912 ] }, { "t": 15.2, "tool": [ -0.10883, 0.14503, 0.09096 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10883144, 0.14502507, 0.09139587, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, 0.0, 0.0, -0.44325912 ] }, { "t": 15.25, "tool": [ -0.10883, 0.14503, 0.10193 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10883166, 0.14502526, 0.10236512, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, 0.0, 0.0, -0.44325912 ] }, { "t": 15.3, "tool": [ -0.10883, 0.14503, 0.1129 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10883171, 0.1450253, 0.11333588, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, -0.0, -0.44325912 ] }, { "t": 15.35, "tool": [ -0.10883, 0.14503, 0.12387 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10883172, 0.14502532, 0.12430699, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, -0.0, -0.44325912 ] }, { "t": 15.4, "tool": [ -0.10883, 0.14503, 0.13484 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10883173, 0.14502532, 0.13527819, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, -0.0, -0.44325912 ] }, { "t": 15.45, "tool": [ -0.10883, 0.14503, 0.14581 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10883173, 0.14502532, 0.1462494, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, -0.0, -0.44325912 ] }, { "t": 15.5, "tool": [ -0.10883, 0.14503, 0.15554 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10883173, 0.14502532, 0.15578851, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, -0.0, -0.44325912 ] }, { "t": 15.55, "tool": [ -0.10883, 0.14503, 0.15893 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10883173, 0.14502532, 0.15899224, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, -0.0, -0.44325912 ] }, { "t": 15.6, "tool": [ -0.10883, 0.14503, 0.15975 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.10883173, 0.14502532, 0.15976063, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, -0.0, -0.44325912 ] }, { "t": 15.65, "tool": [ -0.10883, 0.14503, 0.15994 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.10883173, 0.14502532, 0.15994316, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, -0.0, -0.44325912 ] }, { "t": 15.7, "tool": [ -0.10883, 0.14503, 0.15999 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.10883173, 0.14502532, 0.1599865, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, -0.0, -0.44325912 ] }, { "t": 15.75, "tool": [ -0.10883, 0.14503, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.10883173, 0.14502532, 0.15999679, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, -0.0, -0.44325912 ] }, { "t": 15.8, "tool": [ -0.10883, 0.14503, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10883173, 0.14502532, 0.15999924, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, -0.0, -0.44325912 ] }, { "t": 15.85, "tool": [ -0.10883, 0.14503, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10883173, 0.14502532, 0.15999982, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, -0.0, -0.44325912 ] }, { "t": 15.9, "tool": [ -0.10883, 0.14503, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10883173, 0.14502532, 0.15999996, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, -0.0, -0.44325912 ] }, { "t": 15.95, "tool": [ -0.10883, 0.14503, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10883173, 0.14502532, 0.15999999, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, -0.0, -0.44325912 ] }, { "t": 16.0, "tool": [ -0.10883, 0.14503, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.10883173, 0.14502532, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, -0.0, -0.44325912 ] }, { "t": 16.05, "tool": [ -0.10756, 0.14594, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.10735608, 0.14608721, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, -0.0, -0.44325912 ] }, { "t": 16.1, "tool": [ -0.09974, 0.15157, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.09935246, 0.15184671, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, -0.0, -0.44325912 ] }, { "t": 16.15, "tool": [ -0.08928, 0.1591, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.08883947, 0.15941198, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, -0.0, -0.44325912 ] }, { "t": 16.2, "tool": [ -0.07817, 0.16709, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.0777228, 0.16741166, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, -0.0, -0.44325912 ] }, { "t": 16.25, "tool": [ -0.06691, 0.17519, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.06646272, 0.17551455, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, -0.0, -0.44325912 ] }, { "t": 16.3, "tool": [ -0.0569, 0.1824, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05664422, 0.18258004, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, -0.0, -0.44325912 ] }, { "t": 16.35, "tool": [ -0.05341, 0.18491, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05334562, 0.18495376, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, -0.0, -0.44325912 ] }, { "t": 16.4, "tool": [ -0.05257, 0.18551, 0.15887 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.05255447, 0.18552308, 0.15869467, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, 0.0, -0.0, -0.44325912 ] }, { "t": 16.45, "tool": [ -0.05237, 0.18566, 0.15196 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.05236654, 0.18565831, 0.15161479, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, 0.0, -0.0, -0.44325912 ] }, { "t": 16.5, "tool": [ -0.05232, 0.18569, 0.1427 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.05232191, 0.18569043, 0.14231516, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, 0.0, -0.0, -0.44325912 ] }, { "t": 16.55, "tool": [ -0.05231, 0.1857, 0.13288 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.05231132, 0.18569806, 0.13248152, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, 0.0, 0.0, -0.44325912 ] }, { "t": 16.6, "tool": [ -0.05231, 0.1857, 0.12292 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.0523088, 0.18569987, 0.12252103, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, 0.0, 0.0, -0.44325912 ] }, { "t": 16.65, "tool": [ -0.05231, 0.1857, 0.11293 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.0523082, 0.1857003, 0.11253041, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, 0.0, -0.44325912 ] }, { "t": 16.7, "tool": [ -0.05231, 0.1857, 0.10293 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.05230806, 0.1857004, 0.10253264, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, -0.0, -0.44325912 ] }, { "t": 16.75, "tool": [ -0.05231, 0.1857, 0.09293 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.05230803, 0.18570042, 0.09253317, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, 0.0, -0.0, -0.44325912 ] }, { "t": 16.8, "tool": [ -0.05231, 0.1857, 0.08293 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.05230802, 0.18570043, 0.08253329, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, 0.0, 0.0, -0.44325912 ] }, { "t": 16.85, "tool": [ -0.05231, 0.1857, 0.07293 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.05230802, 0.18570043, 0.07253332, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, 0.0, 0.0, -0.44325912 ] }, { "t": 16.9, "tool": [ -0.05231, 0.1857, 0.06293 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.05230802, 0.18570043, 0.06253333, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, -0.0, -0.44325912 ] }, { "t": 16.95, "tool": [ -0.05231, 0.1857, 0.05293 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.05230802, 0.18570043, 0.05253333, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, -0.0, -0.44325912 ] }, { "t": 17.0, "tool": [ -0.05231, 0.1857, 0.04336 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.05230802, 0.18570043, 0.04307454, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, 0.0, -0.0, -0.44325912 ] }, { "t": 17.05, "tool": [ -0.05231, 0.1857, 0.0393 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.05230802, 0.18570043, 0.03922428, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, 0.0, -0.0, -0.44325912 ] }, { "t": 17.1, "tool": [ -0.05265, 0.18569, 0.03831 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.0527397, 0.18568576, 0.03829086, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, 0.0, -0.0, -0.44325912 ] }, { "t": 17.15, "tool": [ -0.05738, 0.18553, 0.03807 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.05764494, 0.18551901, 0.03806907, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, 0.0, 0.0, -0.44325912 ] }, { "t": 17.2, "tool": [ -0.06457, 0.18528, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.06487675, 0.18527318, 0.0380164, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, 0.0, 0.0, -0.44325912 ] }, { "t": 17.25, "tool": [ -0.07236, 0.18502, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13013, 0.18306, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.07267619, 0.18500805, 0.0380039, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.13012628, 0.18305512, 0.02499818, 0.89639352, -0.0, 0.0, -0.44325912 ] }, { "t": 17.3, "tool": [ -0.0802, 0.1847, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13094, 0.1835, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.08048808, 0.18468887, 0.03800729, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.13122619, 0.18359545, 0.02495812, 0.90121753, 0.00033605, -0.00060041, -0.43336647 ] }, { "t": 17.35, "tool": [ -0.08797, 0.1844, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.13966, 0.18809, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.08829223, 0.18438725, 0.03802151, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.14007661, 0.18830434, 0.02497763, 0.92601523, 0.00082221, 8.307e-05, -0.37748525 ] }, { "t": 17.4, "tool": [ -0.09607, 0.18419, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.14604, 0.19229, 0.02508 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.09638881, 0.18417473, 0.03800587, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.14626968, 0.1924187, 0.02501985, 0.93565726, 0.00116558, -0.00036985, -0.35290793 ] }, { "t": 17.45, "tool": [ -0.10401, 0.1839, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15035, 0.19517, 0.02505 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.10432177, 0.18388905, 0.03800148, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.15054767, 0.19529732, 0.02504327, 0.94256701, 0.00097461, 0.00061736, -0.33401513 ] }, { "t": 17.5, "tool": [ -0.11198, 0.18362, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.15489, 0.19809, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.11228648, 0.18361115, 0.03800034, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.15510031, 0.19822216, 0.02502539, 0.94863175, 0.00015412, -0.00054728, -0.31638186 ] }, { "t": 17.55, "tool": [ -0.11993, 0.18335, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16043, 0.20079, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.12025099, 0.18334259, 0.03800016, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.16062494, 0.20090111, 0.02501532, 0.95152591, 0.0013848, -0.00022448, -0.30756541 ] }, { "t": 17.6, "tool": [ -0.12791, 0.18308, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.16586, 0.20427, 0.02496 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.12823125, 0.18306932, 0.0380051, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.16602646, 0.20440547, 0.02497701, 0.94823746, 0.00047951, -0.00140552, -0.31755867 ] }, { "t": 17.65, "tool": [ -0.1359, 0.1828, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.17105, 0.20783, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.13621922, 0.18278938, 0.03801239, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.17124822, 0.20796897, 0.02492913, 0.94359946, 5.78e-06, -0.00041398, -0.33108894 ] }, { "t": 17.7, "tool": [ -0.14388, 0.18252, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.17595, 0.21122, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.14420401, 0.18251213, 0.03801351, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.17612731, 0.21133966, 0.0250268, 0.93569031, 0.00010481, -0.00022423, -0.3528223 ] }, { "t": 17.75, "tool": [ -0.15187, 0.18224, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18076, 0.21422, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.15219654, 0.18223081, 0.03801524, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.18096025, 0.21431361, 0.02497919, 0.92412723, 0.00116206, 0.00021125, -0.38208307 ] }, { "t": 17.8, "tool": [ -0.15987, 0.18195, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18522, 0.21691, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.16018839, 0.18194264, 0.03801436, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.1853918, 0.21700875, 0.0249922, 0.90939712, -0.00075244, -0.00034489, -0.4159281 ] }, { "t": 17.85, "tool": [ -0.16521, 0.18179, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18801, 0.2187, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.16531316, 0.18179012, 0.03800946, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.188041, 0.21872589, 0.02496403, 0.90302432, 0.00015344, 3.2e-06, -0.4295894 ] }, { "t": 17.9, "tool": [ -0.1666, 0.18173, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18868, 0.21917, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.166631, 0.18173199, 0.03800612, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.18869057, 0.21917953, 0.02496879, 0.90167151, -1.81e-06, -3.145e-05, -0.43242165 ] }, { "t": 17.95, "tool": [ -0.16699, 0.18173, 0.04167 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18891, 0.21941, 0.02494 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.1669951, 0.18173038, 0.04196632, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.18891234, 0.21940933, 0.02494695, 0.90109944, 0.0004327, 0.00014942, -0.43361226 ] }, { "t": 18.0, "tool": [ -0.16712, 0.18178, 0.05073 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18891, 0.21943, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.16712434, 0.18177785, 0.05113951, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.18891055, 0.21943264, 0.02499686, 0.90109718, 1.106e-05, 3.81e-06, -0.4336172 ] }, { "t": 18.05, "tool": [ -0.16714, 0.18177, 0.06124 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18911, 0.21958, 0.02496 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.16713992, 0.18177015, 0.06167059, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.18911705, 0.21958432, 0.02496568, 0.90049082, 0.00036112, 0.00052734, -0.43487454 ] }, { "t": 18.1, "tool": [ -0.16716, 0.18179, 0.07211 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.1671601, 0.18178895, 0.07255048, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.18913287, 0.21961196, 0.02499737, 0.90049079, 6.53e-06, 1.204e-05, -0.43487509 ] }, { "t": 18.15, "tool": [ -0.16717, 0.18179, 0.08306 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.16716559, 0.1817943, 0.08350058, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.18913327, 0.21961251, 0.02499816, 0.90049079, 1.6e-07, 2.9e-07, -0.43487509 ] }, { "t": 18.2, "tool": [ -0.16717, 0.1818, 0.09403 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.1671669, 0.18179557, 0.09446679, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 1e-08, -0.43487509 ] }, { "t": 18.25, "tool": [ -0.16717, 0.1818, 0.105 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.16716721, 0.18179587, 0.10543682, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 18.3, "tool": [ -0.16717, 0.1818, 0.11597 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.16716729, 0.18179594, 0.11640776, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 18.35, "tool": [ -0.16717, 0.1818, 0.12694 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.1671673, 0.18179596, 0.12737892, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, -0.0, -0.0, -0.43487509 ] }, { "t": 18.4, "tool": [ -0.16717, 0.1818, 0.13791 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.16716731, 0.18179596, 0.13835012, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, -0.0, -0.0, -0.43487509 ] }, { "t": 18.45, "tool": [ -0.16717, 0.1818, 0.14888 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.16716731, 0.18179597, 0.14932134, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, -0.0, -0.0, -0.43487509 ] }, { "t": 18.5, "tool": [ -0.16717, 0.1818, 0.157 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.16716731, 0.18179597, 0.15717006, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 18.55, "tool": [ -0.16717, 0.1818, 0.15929 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.16716731, 0.18179597, 0.15932611, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 18.6, "tool": [ -0.16717, 0.1818, 0.15983 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.16716731, 0.18179597, 0.15983996, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 18.65, "tool": [ -0.16717, 0.1818, 0.15996 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.16716731, 0.18179597, 0.15996199, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 18.7, "tool": [ -0.16717, 0.1818, 0.15999 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.16716731, 0.18179597, 0.15999097, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 18.75, "tool": [ -0.16717, 0.1818, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.16716731, 0.18179597, 0.15999786, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 18.8, "tool": [ -0.16717, 0.1818, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.16716731, 0.18179597, 0.15999949, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 18.85, "tool": [ -0.16717, 0.1818, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.16716731, 0.18179597, 0.15999988, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 18.9, "tool": [ -0.16717, 0.1818, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.16716731, 0.18179597, 0.15999997, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 18.95, "tool": [ -0.16717, 0.1818, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.16716731, 0.18179597, 0.15999999, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 19.0, "tool": [ -0.16717, 0.1818, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.16716731, 0.18179597, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 19.05, "tool": [ -0.16632, 0.18532, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.16623675, 0.18565866, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 19.1, "tool": [ -0.16373, 0.19607, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.16360968, 0.19656344, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 19.15, "tool": [ -0.16062, 0.20897, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.16049321, 0.20949972, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 19.2, "tool": [ -0.15739, 0.22238, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.15725997, 0.22292069, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 19.25, "tool": [ -0.15413, 0.23591, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.153999, 0.23645676, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 19.3, "tool": [ -0.15086, 0.24948, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.15073144, 0.25002018, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 19.35, "tool": [ -0.14759, 0.26305, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.14746232, 0.26359008, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 19.4, "tool": [ -0.14509, 0.27342, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.14504213, 0.27363613, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 19.45, "tool": [ -0.14437, 0.27641, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "approach", "qpos": [ -0.14436197, 0.27645941, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 19.5, "tool": [ -0.1442, 0.27712, 0.15764 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14419978, 0.27713265, 0.15740243, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 19.55, "tool": [ -0.14416, 0.27729, 0.14984 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14416126, 0.27729254, 0.14948275, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 19.6, "tool": [ -0.14415, 0.27733, 0.14037 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14415212, 0.27733052, 0.13997882, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 19.65, "tool": [ -0.14415, 0.27734, 0.13049 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14414994, 0.27733953, 0.13009664, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 19.7, "tool": [ -0.14415, 0.27734, 0.12052 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14414943, 0.27734167, 0.12012462, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 19.75, "tool": [ -0.14415, 0.27734, 0.11053 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14414931, 0.27734218, 0.11013126, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 19.8, "tool": [ -0.14415, 0.27734, 0.10053 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14414928, 0.2773423, 0.10013284, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 19.85, "tool": [ -0.14415, 0.27734, 0.09053 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14414927, 0.27734233, 0.09013322, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 19.9, "tool": [ -0.14415, 0.27734, 0.08053 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14414927, 0.27734234, 0.08013331, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 19.95, "tool": [ -0.14415, 0.27734, 0.07053 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14414927, 0.27734234, 0.07013333, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 20.0, "tool": [ -0.14415, 0.27734, 0.06053 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14414927, 0.27734234, 0.06013333, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 20.05, "tool": [ -0.14415, 0.27734, 0.05053 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14414927, 0.27734234, 0.05013333, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, 0.0, 0.0, -0.43487509 ] }, { "t": 20.1, "tool": [ -0.14415, 0.27734, 0.04184 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14414927, 0.27734234, 0.04162799, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, -0.0, 0.0, -0.43487509 ] }, { "t": 20.15, "tool": [ -0.14415, 0.27734, 0.03892 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lower", "qpos": [ -0.14414927, 0.27734234, 0.03886724, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, -0.0, 0.0, -0.43487509 ] }, { "t": 20.2, "tool": [ -0.14479, 0.27652, 0.03822 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.14488128, 0.27640292, 0.03820598, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, -0.0, 0.0, -0.43487509 ] }, { "t": 20.25, "tool": [ -0.14826, 0.27207, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.14842674, 0.27185288, 0.03804892, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, -0.0, 0.0, -0.43487509 ] }, { "t": 20.3, "tool": [ -0.15281, 0.26623, 0.03801 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.15300044, 0.26598326, 0.03801162, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, -0.0, 0.0, -0.43487509 ] }, { "t": 20.35, "tool": [ -0.15763, 0.26005, 0.038 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.18913, 0.21961, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.15782107, 0.25979676, 0.03800276, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.18913328, 0.21961252, 0.02499818, 0.90049079, -0.0, -0.0, -0.43487509 ] }, { "t": 20.4, "tool": [ -0.16246, 0.25383, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.1894, 0.21932, 0.02507 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.16263364, 0.25360576, 0.03802648, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.18958182, 0.219099, 0.02506894, 0.90085475, 8.139e-05, 9.221e-05, -0.43412062 ] }, { "t": 20.45, "tool": [ -0.16725, 0.24766, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.19482, 0.21352, 0.02508 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.16744463, 0.24741206, 0.03804479, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.19504416, 0.21327988, 0.0250858, 0.90430821, 0.00015654, 0.00053177, -0.4268798 ] }, { "t": 20.5, "tool": [ -0.17215, 0.24136, 0.03804 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20029, 0.208, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.17234506, 0.24111408, 0.03804072, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.20050441, 0.20777792, 0.02506708, 0.90580446, -0.00038937, -9.648e-05, -0.42369578 ] }, { "t": 20.55, "tool": [ -0.17704, 0.23508, 0.03806 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.20578, 0.20239, 0.02501 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.17723881, 0.23482614, 0.03805998, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.20600245, 0.20217495, 0.02496485, 0.9055383, -1.036e-05, -0.00070711, -0.42426393 ] }, { "t": 20.6, "tool": [ -0.18194, 0.22879, 0.03805 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21128, 0.19681, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.18214035, 0.22854501, 0.03805053, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.2115103, 0.19659258, 0.02500737, 0.90516621, 0.00035418, -0.00027555, -0.42505757 ] }, { "t": 20.65, "tool": [ -0.18682, 0.22255, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21674, 0.19125, 0.02502 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.18700051, 0.22232878, 0.0380215, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.2169443, 0.19104726, 0.02501245, 0.90711182, -0.00012679, -0.0003506, -0.42088954 ] }, { "t": 20.7, "tool": [ -0.18946, 0.21918, 0.03802 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.21958, 0.18823, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "push", "qpos": [ -0.18950821, 0.21911858, 0.03801602, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.21964019, 0.18818502, 0.02499216, 0.90881397, -3.873e-05, 0.00027313, -0.41720151 ] }, { "t": 20.75, "tool": [ -0.19008, 0.21837, 0.03811 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.22032, 0.18757, 0.02498 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.1900887, 0.21835352, 0.03815418, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.22033255, 0.18756403, 0.02497315, 0.9092863, 9.449e-05, 6.847e-05, -0.41617113 ] }, { "t": 20.8, "tool": [ -0.19026, 0.21814, 0.04324 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.22063, 0.18731, 0.02497 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.1902629, 0.2181347, 0.04357274, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.2206263, 0.18730504, 0.02497557, 0.90989117, -0.00048455, -0.00028334, -0.41484666 ] }, { "t": 20.85, "tool": [ -0.19035, 0.21804, 0.05278 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.22062, 0.18728, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.19035227, 0.2180408, 0.05319412, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.22062372, 0.18727662, 0.02499759, 0.90989162, -3.1e-07, -2.61e-06, -0.41484605 ] }, { "t": 20.9, "tool": [ -0.19036, 0.21803, 0.0634 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.22075, 0.18719, 0.02499 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.19035554, 0.2180341, 0.0638325, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.22076086, 0.18718973, 0.02496923, 0.91008509, -0.00077865, 8.984e-05, -0.41442069 ] }, { "t": 20.95, "tool": [ -0.19037, 0.21802, 0.0743 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.19037262, 0.21801835, 0.07473547, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.22079954, 0.1871389, 0.0249965, 0.91009713, -2.293e-05, 1.108e-05, -0.414395 ] }, { "t": 21.0, "tool": [ -0.19038, 0.21801, 0.08525 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.19037988, 0.21801182, 0.08569262, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.22080051, 0.18713809, 0.02499814, 0.91009713, -5.5e-07, 2.7e-07, -0.414395 ] }, { "t": 21.05, "tool": [ -0.19038, 0.21801, 0.09622 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.19038163, 0.21801026, 0.09666051, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.22080054, 0.18713807, 0.02499818, 0.91009713, -1e-08, 1e-08, -0.414395 ] }, { "t": 21.1, "tool": [ -0.19038, 0.21801, 0.10719 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.19038204, 0.21800988, 0.10763094, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.22080054, 0.18713807, 0.02499818, 0.91009713, -0.0, 0.0, -0.414395 ] }, { "t": 21.15, "tool": [ -0.19038, 0.21801, 0.11816 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.19038214, 0.2180098, 0.11860198, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.22080054, 0.18713807, 0.02499818, 0.91009713, -0.0, 0.0, -0.414395 ] }, { "t": 21.2, "tool": [ -0.19038, 0.21801, 0.12913 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.19038216, 0.21800977, 0.12957316, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.22080054, 0.18713807, 0.02499818, 0.91009713, 0.0, -0.0, -0.414395 ] }, { "t": 21.25, "tool": [ -0.19038, 0.21801, 0.14011 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.19038217, 0.21800977, 0.14054437, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.22080054, 0.18713807, 0.02499818, 0.91009713, 0.0, -0.0, -0.414395 ] }, { "t": 21.3, "tool": [ -0.19038, 0.21801, 0.15107 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.19038217, 0.21800977, 0.15149863, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.22080054, 0.18713807, 0.02499818, 0.91009713, 0.0, -0.0, -0.414395 ] }, { "t": 21.35, "tool": [ -0.19038, 0.21801, 0.15775 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "lift", "qpos": [ -0.19038217, 0.21800977, 0.15787415, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.22080054, 0.18713807, 0.02499818, 0.91009713, 0.0, -0.0, -0.414395 ] }, { "t": 21.4, "tool": [ -0.19038, 0.21801, 0.15946 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.19038217, 0.21800977, 0.15949449, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.22080054, 0.18713807, 0.02499818, 0.91009713, 0.0, -0.0, -0.414395 ] }, { "t": 21.45, "tool": [ -0.19038, 0.21801, 0.15987 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.19038217, 0.21800977, 0.15987995, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.22080054, 0.18713807, 0.02499818, 0.91009713, 0.0, -0.0, -0.414395 ] }, { "t": 21.5, "tool": [ -0.19038, 0.21801, 0.15997 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.19038217, 0.21800977, 0.15997149, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.22080054, 0.18713807, 0.02499818, 0.91009713, 0.0, -0.0, -0.414395 ] }, { "t": 21.55, "tool": [ -0.19038, 0.21801, 0.15999 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "observe", "qpos": [ -0.19038217, 0.21800977, 0.15999323, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.22080054, 0.18713807, 0.02499818, 0.91009713, 0.0, -0.0, -0.414395 ] }, { "t": 21.6, "tool": [ -0.19038, 0.21801, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.19038217, 0.21800977, 0.15999839, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.22080054, 0.18713807, 0.02499818, 0.91009713, 0.0, -0.0, -0.414395 ] }, { "t": 21.65, "tool": [ -0.19038, 0.21801, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.19038217, 0.21800977, 0.15999962, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.22080054, 0.18713807, 0.02499818, 0.91009713, -0.0, 0.0, -0.414395 ] }, { "t": 21.7, "tool": [ -0.19038, 0.21801, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.19038217, 0.21800977, 0.15999991, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.22080054, 0.18713807, 0.02499818, 0.91009713, -0.0, 0.0, -0.414395 ] }, { "t": 21.75, "tool": [ -0.19038, 0.21801, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.19038217, 0.21800977, 0.15999998, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.22080054, 0.18713807, 0.02499818, 0.91009713, -0.0, 0.0, -0.414395 ] }, { "t": 21.8, "tool": [ -0.19038, 0.21801, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.19038217, 0.21800977, 0.15999999, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.22080054, 0.18713807, 0.02499818, 0.91009713, -0.0, 0.0, -0.414395 ] }, { "t": 21.85, "tool": [ -0.19038, 0.21801, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.19038217, 0.21800977, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.22080054, 0.18713807, 0.02499818, 0.91009713, -0.0, 0.0, -0.414395 ] }, { "t": 21.9, "tool": [ -0.19038, 0.21801, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.19038217, 0.21800977, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.22080054, 0.18713807, 0.02499818, 0.91009713, -0.0, 0.0, -0.414395 ] }, { "t": 21.95, "tool": [ -0.19038, 0.21801, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.19038217, 0.21800977, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.22080054, 0.18713807, 0.02499818, 0.91009713, -0.0, 0.0, -0.414395 ] }, { "t": 22.0, "tool": [ -0.19038, 0.21801, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.19038217, 0.21800977, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.22080054, 0.18713807, 0.02499818, 0.91009713, -0.0, 0.0, -0.414395 ] }, { "t": 22.05, "tool": [ -0.19038, 0.21801, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.19038217, 0.21800977, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.22080054, 0.18713807, 0.02499818, 0.91009713, -0.0, 0.0, -0.414395 ] }, { "t": 22.1, "tool": [ -0.19038, 0.21801, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.19038217, 0.21800977, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, -0.0, 0.0, -0.22080054, 0.18713807, 0.02499818, 0.91009713, -0.0, -0.0, -0.414395 ] }, { "t": 22.15, "tool": [ -0.19038, 0.21801, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.19038217, 0.21800977, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, 0.0, 0.0, 0.0, -0.22080054, 0.18713807, 0.02499818, 0.91009713, -0.0, -0.0, -0.414395 ] }, { "t": 22.2, "tool": [ -0.19038, 0.21801, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.19038217, 0.21800977, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, 0.0, 0.0, -0.22080054, 0.18713807, 0.02499818, 0.91009713, -0.0, -0.0, -0.414395 ] }, { "t": 22.246, "tool": [ -0.19038, 0.21801, 0.16 ], "objects": { "red_block": [ -0.14941, -0.12748, 0.025 ], "blue_block": [ -0.2208, 0.18714, 0.025 ] }, "goal": [ -0.22, 0.18 ], "phase": "settle", "qpos": [ -0.19038217, 0.21800977, 0.16, -0.14940892, -0.12747685, 0.02499818, 1.0, -0.0, -0.0, 0.0, -0.22080054, 0.18713807, 0.02499818, 0.91009713, -0.0, -0.0, -0.414395 ] } ], "events": [ { "t": 0.3, "type": "start", "message": "closed_loop: 파란 블록을 왼쪽 목표로 밀어줘" }, { "t": 2.908, "type": "disturbance", "message": "블록에 x 방향 1.2 N 외력을 0.10초 적용" }, { "t": 3.916, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.399 m" }, { "t": 6.966, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.318 m" }, { "t": 9.886, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.237 m" }, { "t": 12.814, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.159 m" }, { "t": 15.77, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.090 m" }, { "t": 18.756, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.050 m" }, { "t": 22.246, "type": "success", "message": "최종 거리 0.0072 m · 정지 상태 True" } ] }, { "id": "disturbance-2-open_loop", "policy": "open_loop", "scenario": "disturbance", "seed": 2, "task": { "object_name": "red_block", "goal": "right", "instruction": "빨간 블록을 오른쪽 목표로 밀어줘" }, "parameters": { "friction": 0.5, "mass": 0.08, "disturbance": true }, "success": false, "final_distance_m": 0.2942227279277344, "settled": false, "sim_time_s": 7.197999999999429, "wall_time_s": 0.1646896000020206, "timed_out": false, "termination_reason": "goal_not_stable", "contact_steps": 164, "peak_contact_point_force_n": 3.074771261944272, "unintended_contact_steps": 0, "distractor_displacement_m": 3.212447846773926e-08, "workspace_violation": false, "replans": 0, "disturbance_applied": true, "trajectory": [ { "t": 0.05, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.02496 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007546, 0.0249616, 1.0, -2.3e-07, 0.0, -0.0, 0.16571129, -0.17040422, 0.0249616, 1.0, -2.3e-07, 0.0, -0.0 ] }, { "t": 0.1, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007547, 0.0249973, 1.0, -1e-08, 0.0, -0.0, 0.16571129, -0.17040423, 0.0249973, 1.0, -1e-08, 0.0, -0.0 ] }, { "t": 0.15, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499816, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499816, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.2, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.25, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.3, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.35, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.4, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.45, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.5, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.55, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.6, "tool": [ -0.00423, -0.31793, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.00456791, -0.31776454, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.65, "tool": [ -0.01458, -0.31287, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.01504046, -0.31263946, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.7, "tool": [ -0.0266, -0.30698, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.02709665, -0.30673937, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.75, "tool": [ -0.03903, -0.3009, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.03953006, -0.30065467, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.8, "tool": [ -0.05155, -0.29477, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05205305, -0.29452614, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.85, "tool": [ -0.0641, -0.28863, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.06459731, -0.28838719, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.9, "tool": [ -0.07664, -0.28249, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.07714663, -0.28224577, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.95, "tool": [ -0.0892, -0.27635, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.08969715, -0.27610376, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.0, "tool": [ -0.10175, -0.27021, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.10224795, -0.26996162, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.05, "tool": [ -0.1143, -0.26407, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.11479882, -0.26381944, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.1, "tool": [ -0.12685, -0.25792, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.12734971, -0.25767725, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.15, "tool": [ -0.1394, -0.25178, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.13990059, -0.25153506, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.2, "tool": [ -0.15195, -0.24564, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.15245149, -0.24539287, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.25, "tool": [ -0.1645, -0.2395, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.16500238, -0.23925069, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.3, "tool": [ -0.17705, -0.23335, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.17755327, -0.2331085, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.35, "tool": [ -0.1896, -0.22721, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.19010416, -0.22696631, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.4, "tool": [ -0.20215, -0.22107, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.20265505, -0.22082412, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.45, "tool": [ -0.21402, -0.21526, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.21436724, -0.21509237, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.5, "tool": [ -0.21886, -0.2129, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.21894285, -0.21285315, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.55, "tool": [ -0.22003, -0.21232, 0.15946 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22004899, -0.21231182, 0.15933176, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.6, "tool": [ -0.22031, -0.21219, 0.15331 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22031179, -0.21218321, 0.1529774, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.65, "tool": [ -0.22037, -0.21215, 0.14424 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.2203742, -0.21215267, 0.14385873, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.7, "tool": [ -0.22039, -0.21215, 0.13446 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22038902, -0.21214542, 0.13406812, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040423, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.75, "tool": [ -0.22039, -0.21214, 0.12452 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039254, -0.21214369, 0.12411785, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.8, "tool": [ -0.22039, -0.21214, 0.11453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039338, -0.21214328, 0.11412966, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.85, "tool": [ -0.22039, -0.21214, 0.10453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039358, -0.21214319, 0.10413246, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.9, "tool": [ -0.22039, -0.21214, 0.09453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039363, -0.21214316, 0.09413313, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.95, "tool": [ -0.22039, -0.21214, 0.08453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214316, 0.08413328, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.0, "tool": [ -0.22039, -0.21214, 0.07453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214316, 0.07413332, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.05, "tool": [ -0.22039, -0.21214, 0.06453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214316, 0.06413333, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.1, "tool": [ -0.22039, -0.21214, 0.05453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214316, 0.05413333, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.15, "tool": [ -0.22039, -0.21214, 0.04465 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214316, 0.0443044, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.2, "tool": [ -0.22039, -0.21214, 0.03963 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214316, 0.03954041, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040423, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.25, "tool": [ -0.22033, -0.21208, 0.03839 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.22029148, -0.21205219, 0.03836608, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040423, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.3, "tool": [ -0.21735, -0.20943, 0.03809 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.21716462, -0.20926792, 0.03808694, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.35, "tool": [ -0.21212, -0.20478, 0.03802 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.21189409, -0.20457483, 0.03802065, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.4, "tool": [ -0.20632, -0.19962, 0.03801 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.20608896, -0.19940573, 0.0380049, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.45, "tool": [ -0.20048, -0.19438, 0.038 ], "objects": { "red_block": [ -0.16118, -0.1597, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.20026714, -0.19417735, 0.03800281, -0.16090036, -0.15959595, 0.02500996, 0.99994313, 0.00039872, 1.95e-05, 0.01065682, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.5, "tool": [ -0.19461, -0.18915, 0.03802 ], "objects": { "red_block": [ -0.1544, -0.15617, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.19437404, -0.188941, 0.03801783, -0.15412775, -0.15596414, 0.02505021, 0.99958493, -0.00095104, -0.0008203, 0.02878164, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.55, "tool": [ -0.18862, -0.18381, 0.03802 ], "objects": { "red_block": [ -0.14831, -0.15155, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1883816, -0.18359765, 0.03801906, -0.14807959, -0.15137812, 0.02494711, 0.99946418, -0.00024636, 0.00106962, 0.03271302, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.6, "tool": [ -0.18266, -0.1785, 0.03803 ], "objects": { "red_block": [ -0.14251, -0.14705, 0.02505 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.18242269, -0.17828633, 0.03803379, -0.14226149, -0.14687043, 0.02501172, 0.99900497, 0.00036906, 0.00097264, 0.04458683, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.65, "tool": [ -0.17668, -0.17318, 0.03802 ], "objects": { "red_block": [ -0.13705, -0.14264, 0.02492 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17644341, -0.17296406, 0.03802632, -0.1368463, -0.14249193, 0.02498567, 0.99823263, -0.00090205, 0.00020938, 0.05942011, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.7, "tool": [ -0.17072, -0.16786, 0.03802 ], "objects": { "red_block": [ -0.13202, -0.13886, 0.02505 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17048038, -0.1676449, 0.0380205, -0.13178712, -0.13870574, 0.02502544, 0.99639461, 9.972e-05, -0.00021399, 0.08483938, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.75, "tool": [ -0.16479, -0.16254, 0.03804 ], "objects": { "red_block": [ -0.12687, -0.13503, 0.0251 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.16454866, -0.16233221, 0.0380444, -0.12660692, -0.13484826, 0.02508507, 0.99381315, -0.00101983, -0.00054656, 0.11105891, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.8, "tool": [ -0.1588, -0.15721, 0.03805 ], "objects": { "red_block": [ -0.12112, -0.13062, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.15855788, -0.15699977, 0.03804903, -0.12093618, -0.13044214, 0.02501644, 0.99244254, 0.00010202, 9.921e-05, 0.1227102, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.85, "tool": [ -0.15282, -0.1519, 0.03805 ], "objects": { "red_block": [ -0.11546, -0.12602, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.15258502, -0.1516865, 0.03805461, -0.1152519, -0.12584036, 0.02504327, 0.99060647, -0.00071694, -9.923e-05, 0.13674174, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.9, "tool": [ -0.14686, -0.14659, 0.03805 ], "objects": { "red_block": [ -0.1096, -0.12135, 0.02507 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14661976, -0.14637231, 0.03805279, -0.10935428, -0.12116421, 0.02503541, 0.98896183, 0.00040401, -0.00021691, 0.14816982, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.95, "tool": [ -0.14087, -0.14124, 0.03806 ], "objects": { "red_block": [ -0.10263, -0.11658, 0.02514 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14062182, -0.14102851, 0.03805689, -0.10207105, -0.11638476, 0.02515228, 0.98727768, -0.00021215, -0.0019279, 0.15899375, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.0, "tool": [ -0.13476, -0.13587, 0.03802 ], "objects": { "red_block": [ -0.07686, -0.11179, 0.0261 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13452348, -0.13565936, 0.03801495, -0.0753494, -0.11159986, 0.02623492, 0.98712339, -0.01443095, -0.00262991, 0.15928669, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.05, "tool": [ -0.12876, -0.13054, 0.038 ], "objects": { "red_block": [ -0.02666, -0.10701, 0.02616 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12851771, -0.13032817, 0.03800356, -0.02446941, -0.10681496, 0.02611587, 0.98631773, -0.02125976, 0.00289298, 0.16345332, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.1, "tool": [ -0.12278, -0.12522, 0.038 ], "objects": { "red_block": [ 0.0214, -0.10222, 0.02651 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.12253779, -0.12500738, 0.03800085, 0.02321119, -0.10203007, 0.02623062, 0.98253686, 0.0027226, -0.00910332, 0.18582527, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.15, "tool": [ -0.1168, -0.1199, 0.038 ], "objects": { "red_block": [ 0.05783, -0.09744, 0.02557 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11656405, -0.11968907, 0.0380002, 0.05910539, -0.09724517, 0.02539316, 0.98213097, -0.00753933, 9.456e-05, 0.18804764, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.2, "tool": [ -0.11083, -0.11458, 0.038 ], "objects": { "red_block": [ 0.08202, -0.09298, 0.02528 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.11059176, -0.11437134, 0.03800005, 0.08268174, -0.09280979, 0.02536542, 0.98228208, 0.00266582, -0.00217434, 0.18737682, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.25, "tool": [ -0.10486, -0.10927, 0.038 ], "objects": { "red_block": [ 0.09422, -0.08892, 0.0252 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.10461982, -0.10905375, 0.03800001, 0.09447825, -0.08877549, 0.02517453, 0.98619687, 0.0005364, -0.00100245, 0.16557304, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.3, "tool": [ -0.09889, -0.10395, 0.038 ], "objects": { "red_block": [ 0.09681, -0.08718, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.09864797, -0.1037362, 0.038, 0.09680983, -0.08718215, 0.02496423, 0.98725124, -7.51e-05, 0.00019359, 0.15916958, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.35, "tool": [ -0.09292, -0.09863, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.09267614, -0.09841866, 0.038, 0.09680132, -0.08718708, 0.02499724, 0.98725097, -2.13e-06, 6.75e-06, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.4, "tool": [ -0.08694, -0.09331, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.08670431, -0.09310112, 0.038, 0.09680101, -0.08718723, 0.02499816, 0.98725097, -5e-08, 1.6e-07, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.45, "tool": [ -0.08097, -0.088, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.08073248, -0.08778357, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.5, "tool": [ -0.075, -0.08268, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.07476065, -0.08246603, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.55, "tool": [ -0.06903, -0.07736, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06878882, -0.07714849, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.6, "tool": [ -0.06306, -0.07204, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.06281699, -0.07183095, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.65, "tool": [ -0.05708, -0.06673, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05684516, -0.0665134, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.7, "tool": [ -0.05111, -0.06141, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.05087333, -0.06119586, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.75, "tool": [ -0.04514, -0.05609, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.04490151, -0.05587832, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.8, "tool": [ -0.03917, -0.05077, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.03892968, -0.05056078, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.85, "tool": [ -0.0332, -0.04546, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.03295785, -0.04524324, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.9, "tool": [ -0.02722, -0.04014, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.02698602, -0.03992569, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.95, "tool": [ -0.02125, -0.03482, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.02101419, -0.03460815, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.0, "tool": [ -0.01528, -0.0295, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.01504236, -0.02929061, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.05, "tool": [ -0.00931, -0.02419, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.00907053, -0.02397307, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.1, "tool": [ -0.00334, -0.01887, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.00309871, -0.01865553, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.15, "tool": [ 0.00263, -0.01355, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00287312, -0.01333798, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.2, "tool": [ 0.00861, -0.00823, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.00884495, -0.00802044, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.25, "tool": [ 0.01458, -0.00292, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.01481678, -0.0027029, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.3, "tool": [ 0.02055, 0.0024, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02078861, 0.00261464, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.35, "tool": [ 0.02652, 0.00772, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.02676044, 0.00793218, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.4, "tool": [ 0.03249, 0.01304, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03273227, 0.01324973, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.45, "tool": [ 0.03847, 0.01835, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.03870409, 0.01856727, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.5, "tool": [ 0.04444, 0.02367, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.04467592, 0.02388481, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.55, "tool": [ 0.05041, 0.02899, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.05064775, 0.02920235, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.6, "tool": [ 0.05638, 0.03431, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.05661958, 0.03451989, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.65, "tool": [ 0.06235, 0.03962, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.06259141, 0.03983744, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.7, "tool": [ 0.06832, 0.04494, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.06856324, 0.04515498, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.75, "tool": [ 0.0743, 0.05026, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07453507, 0.05047252, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.8, "tool": [ 0.08027, 0.05558, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08050689, 0.05579006, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.85, "tool": [ 0.08624, 0.06089, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08647872, 0.0611076, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.9, "tool": [ 0.09221, 0.06621, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09245055, 0.06642515, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.95, "tool": [ 0.09818, 0.07153, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09842238, 0.07174269, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.0, "tool": [ 0.10416, 0.07685, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10439421, 0.07706023, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.05, "tool": [ 0.11013, 0.08217, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11036604, 0.08237777, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.1, "tool": [ 0.1161, 0.08748, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11633787, 0.08769531, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.15, "tool": [ 0.12207, 0.0928, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.12230969, 0.09301286, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.2, "tool": [ 0.12804, 0.09812, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.12828152, 0.0983304, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.25, "tool": [ 0.13401, 0.10344, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13425335, 0.10364794, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.3, "tool": [ 0.13999, 0.10875, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14022518, 0.10896548, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.35, "tool": [ 0.14596, 0.11407, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14619701, 0.11428302, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.4, "tool": [ 0.15193, 0.11939, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15216884, 0.11960057, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.45, "tool": [ 0.1579, 0.12471, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15814067, 0.12491811, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.5, "tool": [ 0.16387, 0.13002, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.16411249, 0.13023565, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.55, "tool": [ 0.16985, 0.13534, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17008432, 0.13555319, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.6, "tool": [ 0.1758, 0.14064, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17601522, 0.14083429, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.65, "tool": [ 0.1791, 0.14358, 0.038 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.17916485, 0.14363883, 0.038, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.7, "tool": [ 0.17994, 0.14433, 0.03804 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.17995136, 0.14433917, 0.0380752, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.75, "tool": [ 0.18013, 0.1445, 0.04293 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18013837, 0.1445057, 0.04326004, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.8, "tool": [ 0.18018, 0.14454, 0.05237 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18018279, 0.14454525, 0.05278632, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.85, "tool": [ 0.18019, 0.14455, 0.06298 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019333, 0.14455464, 0.06341396, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.9, "tool": [ 0.1802, 0.14456, 0.07387 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019584, 0.14455687, 0.07430359, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.95, "tool": [ 0.1802, 0.14456, 0.08482 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019643, 0.1445574, 0.08525544, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.0, "tool": [ 0.1802, 0.14456, 0.09578 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019657, 0.14455752, 0.09622206, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.05, "tool": [ 0.1802, 0.14456, 0.10675 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019661, 0.14455755, 0.10719219, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.1, "tool": [ 0.1802, 0.14456, 0.11772 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019662, 0.14455756, 0.11816315, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.15, "tool": [ 0.1802, 0.14456, 0.1287 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019662, 0.14455756, 0.12913431, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.2, "tool": [ 0.1802, 0.14456, 0.13967 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019662, 0.14455756, 0.14010552, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.25, "tool": [ 0.1802, 0.14456, 0.15064 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019662, 0.14455756, 0.15107223, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.3, "tool": [ 0.1802, 0.14456, 0.15762 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.18019662, 0.14455756, 0.15774879, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.35, "tool": [ 0.1802, 0.14456, 0.15943 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18019662, 0.14455756, 0.15946457, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.4, "tool": [ 0.1802, 0.14456, 0.15987 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18019662, 0.14455756, 0.15987284, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.45, "tool": [ 0.1802, 0.14456, 0.15997 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18019662, 0.14455756, 0.1599698, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.5, "tool": [ 0.1802, 0.14456, 0.15999 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.18019662, 0.14455756, 0.15999283, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.55, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.1599983, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.6, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.1599996, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.65, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.1599999, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.7, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.15999998, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.75, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.15999999, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.8, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.16, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.85, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.16, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.9, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.16, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.95, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.16, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.0, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.16, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 7.05, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.16, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.1, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.16, 0.096801, -0.08718724, 0.02499818, 0.98725097, 0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.15, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.16, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, -0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.198, "tool": [ 0.1802, 0.14456, 0.16 ], "objects": { "red_block": [ 0.0968, -0.08719, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.18019662, 0.14455756, 0.16, 0.096801, -0.08718724, 0.02499818, 0.98725097, -0.0, 0.0, 0.15917134, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] } ], "events": [ { "t": 0.3, "type": "start", "message": "open_loop: 빨간 블록을 오른쪽 목표로 밀어줘" }, { "t": 2.934, "type": "disturbance", "message": "블록에 x 방향 1.2 N 외력을 0.10초 적용" }, { "t": 7.198, "type": "failure", "message": "최종 거리 0.2942 m · 정지 상태 False" } ] }, { "id": "disturbance-2-closed_loop", "policy": "closed_loop", "scenario": "disturbance", "seed": 2, "task": { "object_name": "red_block", "goal": "right", "instruction": "빨간 블록을 오른쪽 목표로 밀어줘" }, "parameters": { "friction": 0.5, "mass": 0.08, "disturbance": true }, "success": true, "final_distance_m": 0.018001200891599362, "settled": true, "sim_time_s": 16.87000000000153, "wall_time_s": 0.35857969999779016, "timed_out": false, "termination_reason": "success", "contact_steps": 877, "peak_contact_point_force_n": 4.55510589517299, "unintended_contact_steps": 0, "distractor_displacement_m": 3.2157041110140274e-08, "workspace_violation": false, "replans": 4, "disturbance_applied": true, "trajectory": [ { "t": 0.05, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.02496 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007546, 0.0249616, 1.0, -2.3e-07, 0.0, -0.0, 0.16571129, -0.17040422, 0.0249616, 1.0, -2.3e-07, 0.0, -0.0 ] }, { "t": 0.1, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007547, 0.0249973, 1.0, -1e-08, 0.0, -0.0, 0.16571129, -0.17040423, 0.0249973, 1.0, -1e-08, 0.0, -0.0 ] }, { "t": 0.15, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499816, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499816, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.2, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.25, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.3, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 0.35, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.4, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.45, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.5, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.55, "tool": [ 0.0, -0.32, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.0, -0.32, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.6, "tool": [ -0.00423, -0.31793, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.00456791, -0.31776454, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.65, "tool": [ -0.01458, -0.31287, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.01504046, -0.31263946, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.7, "tool": [ -0.0266, -0.30698, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.02709665, -0.30673937, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.75, "tool": [ -0.03903, -0.3009, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.03953006, -0.30065467, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.8, "tool": [ -0.05155, -0.29477, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05205305, -0.29452614, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.85, "tool": [ -0.0641, -0.28863, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.06459731, -0.28838719, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.9, "tool": [ -0.07664, -0.28249, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.07714663, -0.28224577, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 0.95, "tool": [ -0.0892, -0.27635, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.08969715, -0.27610376, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.0, "tool": [ -0.10175, -0.27021, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.10224795, -0.26996162, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.05, "tool": [ -0.1143, -0.26407, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.11479882, -0.26381944, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.1, "tool": [ -0.12685, -0.25792, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.12734971, -0.25767725, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.15, "tool": [ -0.1394, -0.25178, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.13990059, -0.25153506, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.2, "tool": [ -0.15195, -0.24564, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.15245149, -0.24539287, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.25, "tool": [ -0.1645, -0.2395, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.16500238, -0.23925069, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.3, "tool": [ -0.17705, -0.23335, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.17755327, -0.2331085, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.35, "tool": [ -0.1896, -0.22721, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.19010416, -0.22696631, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.4, "tool": [ -0.20215, -0.22107, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.20265505, -0.22082412, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.45, "tool": [ -0.21402, -0.21526, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.21436724, -0.21509237, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.5, "tool": [ -0.21886, -0.2129, 0.16 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.21894285, -0.21285315, 0.16, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.55, "tool": [ -0.22003, -0.21232, 0.15946 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22004899, -0.21231182, 0.15933176, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.6, "tool": [ -0.22031, -0.21219, 0.15331 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22031179, -0.21218321, 0.1529774, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.65, "tool": [ -0.22037, -0.21215, 0.14424 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.2203742, -0.21215267, 0.14385873, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.7, "tool": [ -0.22039, -0.21215, 0.13446 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22038902, -0.21214542, 0.13406812, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040423, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 1.75, "tool": [ -0.22039, -0.21214, 0.12452 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039254, -0.21214369, 0.12411785, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.8, "tool": [ -0.22039, -0.21214, 0.11453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039338, -0.21214328, 0.11412966, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.85, "tool": [ -0.22039, -0.21214, 0.10453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039358, -0.21214319, 0.10413246, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 1.9, "tool": [ -0.22039, -0.21214, 0.09453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039363, -0.21214316, 0.09413313, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 1.95, "tool": [ -0.22039, -0.21214, 0.08453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214316, 0.08413328, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.0, "tool": [ -0.22039, -0.21214, 0.07453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214316, 0.07413332, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.05, "tool": [ -0.22039, -0.21214, 0.06453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214316, 0.06413333, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.1, "tool": [ -0.22039, -0.21214, 0.05453 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214316, 0.05413333, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.15, "tool": [ -0.22039, -0.21214, 0.04465 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214316, 0.0443044, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.2, "tool": [ -0.22039, -0.21214, 0.03963 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ -0.22039364, -0.21214316, 0.03954041, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040423, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.25, "tool": [ -0.22033, -0.21208, 0.03839 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.22029143, -0.21205215, 0.03836608, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040423, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.3, "tool": [ -0.21735, -0.20943, 0.03809 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.21716308, -0.20926655, 0.03808694, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, -0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.35, "tool": [ -0.21212, -0.20477, 0.03802 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.21189003, -0.20457122, 0.03802065, -0.16191939, -0.16007548, 0.02499818, 1.0, -0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.4, "tool": [ -0.20632, -0.19961, 0.03801 ], "objects": { "red_block": [ -0.16192, -0.16008, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.20608214, -0.19939965, 0.0380049, -0.16191939, -0.16007548, 0.02499818, 1.0, 0.0, 0.0, -0.0, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.45, "tool": [ -0.20047, -0.19437, 0.038 ], "objects": { "red_block": [ -0.16118, -0.15971, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.20025774, -0.19416879, 0.03800291, -0.16089993, -0.1595971, 0.0250124, 0.99994367, 0.00037194, 1.917e-05, 0.01060761, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.5, "tool": [ -0.19459, -0.18913, 0.03802 ], "objects": { "red_block": [ -0.15434, -0.15621, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.194343, -0.18891602, 0.03801547, -0.15414711, -0.15606184, 0.02503879, 0.99961678, 3.964e-05, 0.0008922, 0.02766769, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.55, "tool": [ -0.18862, -0.18382, 0.03802 ], "objects": { "red_block": [ -0.14851, -0.15151, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.18837884, -0.18360353, 0.03801568, -0.14827696, -0.15133964, 0.02501087, 0.99928588, 0.00053102, 0.00080784, 0.037773, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 2.6, "tool": [ -0.18265, -0.17847, 0.03803 ], "objects": { "red_block": [ -0.14296, -0.14713, 0.02507 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1824133, -0.17825729, 0.03803445, -0.14272912, -0.14696672, 0.02509013, 0.99838466, -0.00216471, 2.896e-05, 0.05677488, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.65, "tool": [ -0.17669, -0.17314, 0.03804 ], "objects": { "red_block": [ -0.13795, -0.14373, 0.02495 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17644224, -0.17292545, 0.03804194, -0.13777438, -0.14359709, 0.02491784, 0.99645484, 0.00032185, 7.792e-05, 0.08412876, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.7, "tool": [ -0.17072, -0.16784, 0.03804 ], "objects": { "red_block": [ -0.13258, -0.14001, 0.02509 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.17048382, -0.16762587, 0.03804095, -0.13233951, -0.13984104, 0.02505661, 0.99460297, -0.00076983, -4.062e-05, 0.10375135, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.75, "tool": [ -0.16474, -0.16252, 0.03804 ], "objects": { "red_block": [ -0.12751, -0.13569, 0.02495 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.16449782, -0.16230128, 0.03804115, -0.127345, -0.13553685, 0.02497363, 0.99067443, -0.00021205, 0.0005605, 0.13624911, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.8, "tool": [ -0.15878, -0.1572, 0.03806 ], "objects": { "red_block": [ -0.12197, -0.1309, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.15854534, -0.15698706, 0.03806006, -0.12172921, -0.13069431, 0.02502463, 0.98815317, -0.0001428, 0.00083536, 0.15346854, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 2.85, "tool": [ -0.15279, -0.15188, 0.03804 ], "objects": { "red_block": [ -0.11631, -0.12608, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.1525489, -0.15167241, 0.03803428, -0.11603807, -0.125877, 0.02502852, 0.98574482, 0.00031507, 0.00052611, 0.16824617, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 2.9, "tool": [ -0.14681, -0.14656, 0.03803 ], "objects": { "red_block": [ -0.11039, -0.12103, 0.02506 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14657045, -0.14634784, 0.03803299, -0.11015438, -0.12082248, 0.02508606, 0.98421458, -0.00046527, -0.00043742, 0.17697813, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 2.95, "tool": [ -0.14081, -0.14122, 0.03802 ], "objects": { "red_block": [ -0.10351, -0.1165, 0.02507 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.14056113, -0.14100033, 0.03802238, -0.10295784, -0.1163397, 0.02505222, 0.98241911, 0.00080514, -0.00156837, 0.18668043, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.0, "tool": [ -0.13479, -0.1359, 0.03801 ], "objects": { "red_block": [ -0.07801, -0.11247, 0.02555 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13457932, -0.13571556, 0.03800572, -0.07643684, -0.11230551, 0.02550262, 0.9835167, -0.00478483, -0.0018872, 0.18074414, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.05, "tool": [ -0.13176, -0.13321, 0.038 ], "objects": { "red_block": [ -0.02831, -0.10843, 0.02629 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ -0.13170315, -0.13316615, 0.03800136, -0.02611839, -0.10827132, 0.02631313, 0.98440435, -0.01052608, -0.01215299, 0.17518445, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.1, "tool": [ -0.13101, -0.13255, 0.03812 ], "objects": { "red_block": [ 0.02012, -0.1044, 0.02785 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13099442, -0.13253785, 0.03818801, 0.02188001, -0.10423713, 0.02775872, 0.98689535, -0.03991451, -0.0179372, 0.15531469, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.15, "tool": [ -0.13083, -0.13239, 0.04359 ], "objects": { "red_block": [ 0.05793, -0.10036, 0.02613 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13082595, -0.13238849, 0.0439323, 0.05916078, -0.10020294, 0.02611459, 0.98653833, -0.01590692, 0.00158077, 0.16274705, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.2, "tool": [ -0.13079, -0.13235, 0.0532 ], "objects": { "red_block": [ 0.08308, -0.09639, 0.02532 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13078594, -0.13235303, 0.05361508, 0.08382769, -0.09622721, 0.02529009, 0.98606234, 0.003425, 0.00546394, 0.16625127, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.25, "tool": [ -0.13078, -0.13234, 0.06385 ], "objects": { "red_block": [ 0.09592, -0.0926, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077644, -0.1323446, 0.06428004, 0.09620571, -0.09246212, 0.02493965, 0.98855878, 0.00019151, 0.00098853, 0.15083274, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.3, "tool": [ -0.13077, -0.13234, 0.07474 ], "objects": { "red_block": [ 0.09837, -0.09066, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077419, -0.1323426, 0.07517853, 0.09836978, -0.09065931, 0.02498158, 0.98889782, -5.45e-06, -0.00018151, 0.14859699, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.35, "tool": [ -0.13077, -0.13234, 0.08569 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077365, -0.13234213, 0.08613248, 0.09837892, -0.09065794, 0.02499777, 0.98889775, -1.3e-07, -4.51e-06, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.4, "tool": [ -0.13077, -0.13234, 0.09666 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077352, -0.13234202, 0.0970996, 0.09837914, -0.09065791, 0.02499817, 0.98889775, -0.0, -1.1e-07, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.45, "tool": [ -0.13077, -0.13234, 0.10763 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077349, -0.13234199, 0.10806985, 0.09837915, -0.09065791, 0.02499818, 0.98889775, -0.0, -0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.5, "tool": [ -0.13077, -0.13234, 0.1186 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077349, -0.13234198, 0.11904084, 0.09837915, -0.09065791, 0.02499818, 0.98889775, -0.0, -0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.55, "tool": [ -0.13077, -0.13234, 0.12957 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077349, -0.13234198, 0.13001201, 0.09837915, -0.09065791, 0.02499818, 0.98889775, -0.0, -0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.6, "tool": [ -0.13077, -0.13234, 0.14054 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234198, 0.14098322, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.65, "tool": [ -0.13077, -0.13234, 0.1515 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234198, 0.15191454, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 3.7, "tool": [ -0.13077, -0.13234, 0.15787 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234198, 0.15799258, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.75, "tool": [ -0.13077, -0.13234, 0.15949 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.13077348, -0.13234198, 0.15952274, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 3.8, "tool": [ -0.13077, -0.13234, 0.15988 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.13077348, -0.13234198, 0.15988666, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.85, "tool": [ -0.13077, -0.13234, 0.15997 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.13077348, -0.13234198, 0.15997308, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 3.9, "tool": [ -0.13077, -0.13234, 0.15999 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ -0.13077348, -0.13234198, 0.15999361, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 3.95, "tool": [ -0.13077, -0.13234, 0.16 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234198, 0.15999848, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.0, "tool": [ -0.13077, -0.13234, 0.16 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234198, 0.15999964, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.05, "tool": [ -0.13077, -0.13234, 0.16 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234198, 0.15999991, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.1, "tool": [ -0.13077, -0.13234, 0.16 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234198, 0.15999998, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.15, "tool": [ -0.13077, -0.13234, 0.16 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ -0.13077348, -0.13234198, 0.16, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.2, "tool": [ -0.13075, -0.13235, 0.16 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.13072316, -0.13234957, 0.16, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.25, "tool": [ -0.12496, -0.13322, 0.16 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.12455095, -0.13328039, 0.16, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.3, "tool": [ -0.11316, -0.135, 0.16 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.11264209, -0.13507636, 0.16, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.35, "tool": [ -0.09981, -0.13701, 0.16 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.09926214, -0.13709417, 0.16, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.4, "tool": [ -0.08608, -0.13908, 0.16 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.08553216, -0.13916478, 0.16, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.45, "tool": [ -0.07227, -0.14116, 0.16 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.07171906, -0.14124792, 0.16, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.5, "tool": [ -0.05844, -0.14325, 0.16 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.05788621, -0.14333403, 0.16, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.55, "tool": [ -0.0446, -0.14534, 0.16 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.04404868, -0.14542086, 0.16, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.6, "tool": [ -0.03076, -0.14742, 0.16 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.03021004, -0.14750785, 0.16, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.65, "tool": [ -0.01692, -0.14951, 0.16 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.01637113, -0.14959488, 0.16, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.7, "tool": [ -0.00309, -0.1516, 0.16 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ -0.00253215, -0.15168192, 0.16, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 4.75, "tool": [ 0.01075, -0.15369, 0.16 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.01130683, -0.15376897, 0.16, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 4.8, "tool": [ 0.02459, -0.15577, 0.16 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.02514582, -0.15585601, 0.16, 0.09837915, -0.09065791, 0.02499818, 0.98889775, -0.0, -0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 4.85, "tool": [ 0.03843, -0.15786, 0.16 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.03898482, -0.15794305, 0.16, 0.09837915, -0.09065791, 0.02499818, 0.98889775, -0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.9, "tool": [ 0.05227, -0.15995, 0.16 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.05282381, -0.1600301, 0.16, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 4.95, "tool": [ 0.06251, -0.16149, 0.16 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.0627241, -0.16152315, 0.16, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.0, "tool": [ 0.06539, -0.16193, 0.16 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.06544373, -0.1619333, 0.16, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, -0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.05, "tool": [ 0.06608, -0.16203, 0.1574 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06609188, -0.16203104, 0.15715391, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, -0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.1, "tool": [ 0.06624, -0.16205, 0.14948 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06624582, -0.16205426, 0.1491191, 0.09837915, -0.09065791, 0.02499818, 0.98889775, -0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.15, "tool": [ 0.06628, -0.16206, 0.13998 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06628238, -0.16205977, 0.13958746, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.2, "tool": [ 0.06629, -0.16206, 0.1301 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06629106, -0.16206108, 0.12969869, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.25, "tool": [ 0.06629, -0.16206, 0.12012 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06629312, -0.16206139, 0.11972511, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, -0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.3, "tool": [ 0.06629, -0.16206, 0.11013 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06629361, -0.16206146, 0.10973138, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, -0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.35, "tool": [ 0.06629, -0.16206, 0.10013 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06629372, -0.16206148, 0.09973287, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, -0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.4, "tool": [ 0.06629, -0.16206, 0.09013 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06629375, -0.16206149, 0.08973322, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, -0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.45, "tool": [ 0.06629, -0.16206, 0.08013 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06629376, -0.16206149, 0.07973331, 0.09837915, -0.09065791, 0.02499818, 0.98889775, -0.0, -0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.5, "tool": [ 0.06629, -0.16206, 0.07013 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06629376, -0.16206149, 0.06973333, 0.09837915, -0.09065791, 0.02499818, 0.98889775, -0.0, -0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 5.55, "tool": [ 0.06629, -0.16206, 0.06013 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06629376, -0.16206149, 0.05973333, 0.09837915, -0.09065791, 0.02499818, 0.98889775, -0.0, -0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.6, "tool": [ 0.06629, -0.16206, 0.05013 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06629376, -0.16206149, 0.04973333, 0.09837915, -0.09065791, 0.02499818, 0.98889775, -0.0, -0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.65, "tool": [ 0.06629, -0.16206, 0.04163 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06629376, -0.16206149, 0.04142838, 0.09837915, -0.09065791, 0.02499818, 0.98889775, -0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.7, "tool": [ 0.06629, -0.16206, 0.03887 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.06629376, -0.16206149, 0.03881879, 0.09837915, -0.09065791, 0.02499818, 0.98889775, -0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.75, "tool": [ 0.06678, -0.16097, 0.03821 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.06684956, -0.16082459, 0.03819447, 0.09837915, -0.09065791, 0.02499818, 0.98889775, -0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.8, "tool": [ 0.06916, -0.15569, 0.03805 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.06927287, -0.1554317, 0.03804618, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 5.85, "tool": [ 0.07222, -0.14887, 0.03801 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07234715, -0.14859014, 0.03801097, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 5.9, "tool": [ 0.07545, -0.14169, 0.038 ], "objects": { "red_block": [ 0.09838, -0.09066, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07557751, -0.14140121, 0.0380026, 0.09837915, -0.09065791, 0.02499818, 0.98889775, 0.0, 0.0, 0.14859755, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 5.95, "tool": [ 0.07857, -0.13461, 0.03804 ], "objects": { "red_block": [ 0.10145, -0.08741, 0.02494 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.07869935, -0.13432319, 0.03803601, 0.10170502, -0.08716207, 0.02497487, 0.98502334, -0.00084478, 0.00117734, 0.17241496, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.0, "tool": [ 0.08189, -0.12728, 0.03801 ], "objects": { "red_block": [ 0.10779, -0.08147, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08202539, -0.12698854, 0.03801121, 0.10798102, -0.08124163, 0.02501627, 0.9837378, 4.929e-05, -0.00061104, 0.17960947, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.05, "tool": [ 0.08515, -0.11999, 0.03801 ], "objects": { "red_block": [ 0.1133, -0.07586, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08528494, -0.11969213, 0.03801155, 0.11350349, -0.07565399, 0.02499026, 0.98307645, 0.00033904, -0.00116335, 0.18319176, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.1, "tool": [ 0.08843, -0.11268, 0.03801 ], "objects": { "red_block": [ 0.11801, -0.07112, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.08856847, -0.11238485, 0.0380067, 0.11816925, -0.07094814, 0.02503846, 0.98169309, -0.00019716, -0.00055757, 0.19046871, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.15, "tool": [ 0.09173, -0.10536, 0.03801 ], "objects": { "red_block": [ 0.12189, -0.0668, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09186127, -0.10506722, 0.0380052, 0.12199988, -0.06667236, 0.02496927, 0.97794387, -9.08e-05, -0.00010006, 0.20886783, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.2, "tool": [ 0.095, -0.09808, 0.038 ], "objects": { "red_block": [ 0.12596, -0.06306, 0.02507 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.0951267, -0.09778834, 0.03800143, 0.12611031, -0.06289109, 0.02505686, 0.97552213, -0.00034817, -8.103e-05, 0.219901, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.25, "tool": [ 0.09826, -0.0908, 0.038 ], "objects": { "red_block": [ 0.13031, -0.05863, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.09839214, -0.09051349, 0.03800035, 0.13050712, -0.05841939, 0.02504128, 0.97355532, -0.00010617, -0.00016989, 0.2284513, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.3, "tool": [ 0.10154, -0.0835, 0.03801 ], "objects": { "red_block": [ 0.13497, -0.05403, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10166614, -0.08321206, 0.03800879, 0.13515985, -0.05383522, 0.02508413, 0.97414602, -0.00121568, 0.00027829, 0.22591588, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.35, "tool": [ 0.10482, -0.0762, 0.03801 ], "objects": { "red_block": [ 0.13961, -0.04919, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10495162, -0.07590106, 0.03801225, 0.13977609, -0.04901193, 0.02500766, 0.97558117, 0.00046432, -0.00024191, 0.21963859, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 6.4, "tool": [ 0.1081, -0.06889, 0.038 ], "objects": { "red_block": [ 0.14426, -0.04445, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.10823184, -0.06860301, 0.03800284, 0.14444247, -0.04426264, 0.02501034, 0.97793515, -0.00158823, -0.00090949, 0.2089007, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.45, "tool": [ 0.11138, -0.06159, 0.038 ], "objects": { "red_block": [ 0.14896, -0.03978, 0.02494 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.1115122, -0.06129619, 0.0380031, 0.14912294, -0.03962657, 0.02495471, 0.98131955, -5.743e-05, 0.00074414, 0.19238341, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.5, "tool": [ 0.1142, -0.05534, 0.038 ], "objects": { "red_block": [ 0.15273, -0.03579, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.11426853, -0.05519468, 0.03800032, 0.15279257, -0.0357199, 0.02500232, 0.98148519, -0.00053355, -0.00097026, 0.19153486, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.55, "tool": [ 0.11509, -0.05332, 0.038 ], "objects": { "red_block": [ 0.15397, -0.03473, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.1151092, -0.05328405, 0.03800295, 0.15398657, -0.0347119, 0.02498856, 0.98197711, 0.00020518, 7.267e-05, 0.18899975, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.6, "tool": [ 0.11531, -0.05282, 0.03962 ], "objects": { "red_block": [ 0.15429, -0.03451, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.11530695, -0.05281276, 0.03983966, 0.15432624, -0.03448852, 0.024995, 0.98194739, -0.00017393, 6.076e-05, 0.18915413, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.65, "tool": [ 0.1154, -0.05267, 0.04756 ], "objects": { "red_block": [ 0.1546, -0.03435, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.11539649, -0.05267059, 0.04794109, 0.15461606, -0.03434181, 0.02497635, 0.98171057, 0.00026734, 4.29e-05, 0.19037932, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 6.7, "tool": [ 0.11545, -0.05262, 0.05782 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.11545287, -0.05262262, 0.05824442, 0.15462718, -0.03431956, 0.0249974, 0.98170171, 1.034e-05, -8.6e-07, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.75, "tool": [ 0.11547, -0.05261, 0.06862 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.11547244, -0.05260875, 0.06906033, 0.15462712, -0.03431905, 0.02499816, 0.98170171, 2.5e-07, -2e-08, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.8, "tool": [ 0.11548, -0.05261, 0.07956 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.11547713, -0.05260544, 0.07999469, 0.15462712, -0.03431904, 0.02499818, 0.98170171, 1e-08, -0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 6.85, "tool": [ 0.11548, -0.0526, 0.09052 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.11547824, -0.05260465, 0.09095716, 0.15462712, -0.03431904, 0.02499818, 0.98170171, 0.0, -0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.9, "tool": [ 0.11548, -0.0526, 0.10149 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.11547851, -0.05260447, 0.10192631, 0.15462712, -0.03431904, 0.02499818, 0.98170171, 0.0, -0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 6.95, "tool": [ 0.11548, -0.0526, 0.11246 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.11547857, -0.05260442, 0.11289704, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.0, "tool": [ 0.11548, -0.0526, 0.12343 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.11547859, -0.05260441, 0.12386814, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.05, "tool": [ 0.11548, -0.0526, 0.1344 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.11547859, -0.05260441, 0.13483934, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 7.1, "tool": [ 0.11548, -0.0526, 0.14537 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.11547859, -0.05260441, 0.14581055, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.15, "tool": [ 0.11548, -0.0526, 0.15529 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.11547859, -0.05260441, 0.1555447, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 7.2, "tool": [ 0.11548, -0.0526, 0.15887 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.11547859, -0.05260441, 0.15893263, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.25, "tool": [ 0.11548, -0.0526, 0.15973 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.11547859, -0.05260441, 0.15974647, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.3, "tool": [ 0.11548, -0.0526, 0.15994 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.11547859, -0.05260441, 0.15993979, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.35, "tool": [ 0.11548, -0.0526, 0.15998 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.11547859, -0.05260441, 0.1599857, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 7.4, "tool": [ 0.11548, -0.0526, 0.16 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.11547859, -0.05260441, 0.1599966, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 7.45, "tool": [ 0.11548, -0.0526, 0.16 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.11547859, -0.05260441, 0.15999919, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.5, "tool": [ 0.11548, -0.0526, 0.16 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.11547859, -0.05260441, 0.15999981, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.55, "tool": [ 0.11548, -0.0526, 0.16 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.11547859, -0.05260441, 0.15999995, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 7.6, "tool": [ 0.11548, -0.0526, 0.16 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.11547859, -0.05260441, 0.15999999, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 7.65, "tool": [ 0.11548, -0.0526, 0.16 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.11547859, -0.05260441, 0.16, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.7, "tool": [ 0.11585, -0.0539, 0.16 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.11591743, -0.05412046, 0.16, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.75, "tool": [ 0.11847, -0.06295, 0.16 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.11860751, -0.0634139, 0.16, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.8, "tool": [ 0.12206, -0.07534, 0.16 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.12221072, -0.07586192, 0.16, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 7.85, "tool": [ 0.12588, -0.08854, 0.16 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.12603404, -0.08907038, 0.16, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 7.9, "tool": [ 0.12963, -0.10148, 0.16 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.12974317, -0.10188431, 0.16, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 7.95, "tool": [ 0.13129, -0.10723, 0.16 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.13132115, -0.10733579, 0.16, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 8.0, "tool": [ 0.1317, -0.10864, 0.15967 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.13170498, -0.10866182, 0.1595722, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 8.05, "tool": [ 0.13179, -0.10897, 0.15396 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.13179619, -0.10897691, 0.15363667, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 8.1, "tool": [ 0.13182, -0.10905, 0.14501 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.13181785, -0.10905174, 0.14462526, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 8.15, "tool": [ 0.13182, -0.10907, 0.13526 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.131823, -0.10906951, 0.13486017, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.2, "tool": [ 0.13182, -0.10907, 0.12531 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.13182422, -0.10907373, 0.12491596, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.25, "tool": [ 0.13182, -0.10907, 0.11533 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.13182451, -0.10907473, 0.11492921, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.3, "tool": [ 0.13182, -0.10907, 0.10533 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.13182458, -0.10907497, 0.10493235, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.35, "tool": [ 0.13182, -0.10908, 0.09533 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.13182459, -0.10907503, 0.0949331, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 8.4, "tool": [ 0.13182, -0.10908, 0.08533 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.1318246, -0.10907504, 0.08493328, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 8.45, "tool": [ 0.13182, -0.10908, 0.07533 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.1318246, -0.10907504, 0.07493332, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 8.5, "tool": [ 0.13182, -0.10908, 0.06533 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.1318246, -0.10907505, 0.06493333, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 8.55, "tool": [ 0.13182, -0.10908, 0.05533 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.1318246, -0.10907505, 0.05493333, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 8.6, "tool": [ 0.13182, -0.10908, 0.04537 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.1318246, -0.10907505, 0.04500187, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.65, "tool": [ 0.13182, -0.10908, 0.03983 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.1318246, -0.10907505, 0.03972773, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.7, "tool": [ 0.13183, -0.10905, 0.03844 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13184055, -0.10902274, 0.0384107, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 8.75, "tool": [ 0.13287, -0.10564, 0.0381 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13294065, -0.10541616, 0.03809753, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 8.8, "tool": [ 0.13487, -0.09908, 0.03802 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.1349619, -0.09878967, 0.03802316, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 8.85, "tool": [ 0.13713, -0.0917, 0.03801 ], "objects": { "red_block": [ 0.15463, -0.03432, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13721684, -0.09139707, 0.0380055, 0.15462712, -0.03431904, 0.02499818, 0.98170171, -0.0, 0.0, 0.1904252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 8.9, "tool": [ 0.13942, -0.08414, 0.038 ], "objects": { "red_block": [ 0.1547, -0.03424, 0.02505 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.13949882, -0.08385453, 0.03800131, 0.15481992, -0.03410889, 0.02505926, 0.98130009, -0.00028272, -7.547e-05, 0.1924839, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 8.95, "tool": [ 0.14161, -0.07674, 0.03802 ], "objects": { "red_block": [ 0.16117, -0.02772, 0.02503 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14170595, -0.07643733, 0.03802418, 0.16146228, -0.02741154, 0.02506775, 0.97798009, -1.48e-05, -0.00017708, 0.20869813, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 9.0, "tool": [ 0.14401, -0.06905, 0.03801 ], "objects": { "red_block": [ 0.16741, -0.02156, 0.02511 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14410193, -0.06874559, 0.03801405, 0.16763539, -0.02129999, 0.02506455, 0.97943014, -0.00048151, 0.00031335, 0.20178273, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 9.05, "tool": [ 0.14633, -0.0614, 0.03801 ], "objects": { "red_block": [ 0.17255, -0.01642, 0.02506 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14642155, -0.06109905, 0.0380056, 0.17276085, -0.01624068, 0.0251089, 0.97994527, 0.00046869, 0.00054222, 0.19926556, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 9.1, "tool": [ 0.14866, -0.05377, 0.03801 ], "objects": { "red_block": [ 0.17719, -0.0117, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.14874663, -0.0534652, 0.03800948, 0.17736366, -0.01151913, 0.02504474, 0.97948514, -0.00043631, -1.229e-05, 0.20151591, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 9.15, "tool": [ 0.15098, -0.04611, 0.038 ], "objects": { "red_block": [ 0.18113, -0.00787, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15107511, -0.04580471, 0.03800281, 0.18122123, -0.00777018, 0.02503231, 0.97796638, -0.00012954, 0.00027268, 0.20876223, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 9.2, "tool": [ 0.15328, -0.0385, 0.038 ], "objects": { "red_block": [ 0.18476, -0.00422, 0.02508 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15336898, -0.03820267, 0.03800072, 0.18493371, -0.00402442, 0.02508117, 0.97629287, -0.00088298, -0.00044062, 0.21645152, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 9.25, "tool": [ 0.15559, -0.03088, 0.03801 ], "objects": { "red_block": [ 0.18872, -0.00034, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15568695, -0.03056921, 0.03801075, 0.18885513, -0.00018317, 0.02500968, 0.97459177, -0.00013165, 0.00030809, 0.22398831, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 9.3, "tool": [ 0.15793, -0.02325, 0.038 ], "objects": { "red_block": [ 0.19259, 0.00388, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.15802578, -0.02293776, 0.03800279, 0.19273788, 0.00403129, 0.02502083, 0.97474216, -0.00065188, 0.00043376, 0.22333185, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 9.35, "tool": [ 0.16026, -0.01561, 0.038 ], "objects": { "red_block": [ 0.19675, 0.00812, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.16035471, -0.01530478, 0.03799986, 0.19692385, 0.00828927, 0.02494982, 0.97675245, -9.146e-05, 4.627e-05, 0.21437032, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.4, "tool": [ 0.16259, -0.00798, 0.038 ], "objects": { "red_block": [ 0.2007, 0.01233, 0.02506 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.16268204, -0.00767041, 0.03799967, 0.20087327, 0.01249034, 0.02501647, 0.97856769, 0.00087919, 0.00122735, 0.20591986, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.45, "tool": [ 0.16491, -0.00035, 0.038 ], "objects": { "red_block": [ 0.20463, 0.01637, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.16499423, -6.177e-05, 0.03799794, 0.20478497, 0.01653539, 0.02503111, 0.98195841, 0.00027505, 0.00048683, 0.18909617, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.5, "tool": [ 0.16629, 0.00413, 0.038 ], "objects": { "red_block": [ 0.2068, 0.01866, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.16631869, 0.00421665, 0.03800193, 0.20683546, 0.01869789, 0.02498614, 0.98298953, -3.285e-05, -0.00023661, 0.18366144, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 9.55, "tool": [ 0.16662, 0.00525, 0.03801 ], "objects": { "red_block": [ 0.20734, 0.01919, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16662479, 0.00527424, 0.0380365, 0.20736112, 0.01919477, 0.02497379, 0.98314757, -0.00018366, -3.322e-05, 0.18281364, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 9.6, "tool": [ 0.16672, 0.00557, 0.04258 ], "objects": { "red_block": [ 0.20764, 0.01932, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1667283, 0.00557642, 0.04290596, 0.20764094, 0.01932337, 0.02498674, 0.98322998, 0.00023105, 7.283e-05, 0.1823698, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 9.65, "tool": [ 0.16681, 0.00567, 0.05196 ], "objects": { "red_block": [ 0.20764, 0.01933, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16680725, 0.00567278, 0.05236635, 0.20763591, 0.01933409, 0.02499788, 0.98323018, 5.75e-06, 1.7e-06, 0.18236887, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 9.7, "tool": [ 0.16681, 0.00569, 0.06253 ], "objects": { "red_block": [ 0.20782, 0.0195, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16680649, 0.00568819, 0.06296776, 0.20781945, 0.01950169, 0.02497176, 0.98319603, 6.062e-05, -0.00039909, 0.18255249, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 9.75, "tool": [ 0.16683, 0.0057, 0.07343 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.166828, 0.00570018, 0.07386278, 0.20783828, 0.01950823, 0.02499754, 0.9831961, 1.45e-06, -9.56e-06, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.8, "tool": [ 0.16683, 0.0057, 0.08438 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16683351, 0.00570318, 0.08481612, 0.20783873, 0.01950839, 0.02499816, 0.9831961, 3e-08, -2.3e-07, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.85, "tool": [ 0.16683, 0.0057, 0.09534 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16683482, 0.00570389, 0.0957831, 0.20783875, 0.01950839, 0.02499818, 0.9831961, 0.0, -1e-08, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 9.9, "tool": [ 0.16684, 0.0057, 0.10631 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16683513, 0.00570406, 0.10675331, 0.20783875, 0.01950839, 0.02499818, 0.9831961, 0.0, -0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 9.95, "tool": [ 0.16684, 0.0057, 0.11729 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.1668352, 0.0057041, 0.1177243, 0.20783875, 0.01950839, 0.02499818, 0.9831961, 0.0, -0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 10.0, "tool": [ 0.16684, 0.0057, 0.12826 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16683522, 0.00570411, 0.12869546, 0.20783875, 0.01950839, 0.02499818, 0.9831961, -0.0, 0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 10.05, "tool": [ 0.16684, 0.0057, 0.13923 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16683522, 0.00570412, 0.13966667, 0.20783875, 0.01950839, 0.02499818, 0.9831961, -0.0, 0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 10.1, "tool": [ 0.16684, 0.0057, 0.1502 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16683522, 0.00570412, 0.15063789, 0.20783875, 0.01950839, 0.02499818, 0.9831961, -0.0, 0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 10.15, "tool": [ 0.16684, 0.0057, 0.15748 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16683522, 0.00570412, 0.15761612, 0.20783875, 0.01950839, 0.02499818, 0.9831961, -0.0, 0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 10.2, "tool": [ 0.16684, 0.0057, 0.1594 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16683522, 0.00570412, 0.15943288, 0.20783875, 0.01950839, 0.02499818, 0.9831961, -0.0, 0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 10.25, "tool": [ 0.16684, 0.0057, 0.15986 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.16683522, 0.00570412, 0.15986532, 0.20783875, 0.01950839, 0.02499818, 0.9831961, -0.0, 0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 10.3, "tool": [ 0.16684, 0.0057, 0.15997 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.16683522, 0.00570412, 0.15996802, 0.20783875, 0.01950839, 0.02499818, 0.9831961, -0.0, 0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 10.35, "tool": [ 0.16684, 0.0057, 0.15999 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.16683522, 0.00570412, 0.1599924, 0.20783875, 0.01950839, 0.02499818, 0.9831961, -0.0, 0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 10.4, "tool": [ 0.16684, 0.0057, 0.16 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.16683522, 0.00570412, 0.1599982, 0.20783875, 0.01950839, 0.02499818, 0.9831961, -0.0, 0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 10.45, "tool": [ 0.16684, 0.0057, 0.16 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16683522, 0.00570412, 0.15999957, 0.20783875, 0.01950839, 0.02499818, 0.9831961, -0.0, 0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 10.5, "tool": [ 0.16684, 0.0057, 0.16 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16683522, 0.00570412, 0.1599999, 0.20783875, 0.01950839, 0.02499818, 0.9831961, -0.0, 0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 10.55, "tool": [ 0.16684, 0.0057, 0.16 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16683522, 0.00570412, 0.15999998, 0.20783875, 0.01950839, 0.02499818, 0.9831961, 0.0, -0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 10.6, "tool": [ 0.16684, 0.0057, 0.16 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16683522, 0.00570412, 0.15999999, 0.20783875, 0.01950839, 0.02499818, 0.9831961, 0.0, -0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 10.65, "tool": [ 0.16684, 0.0057, 0.16 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.16683522, 0.00570412, 0.16, 0.20783875, 0.01950839, 0.02499818, 0.9831961, 0.0, -0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 10.7, "tool": [ 0.16915, 0.00161, 0.16 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.16934012, 0.00127712, 0.16, 0.20783875, 0.01950839, 0.02499818, 0.9831961, 0.0, -0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 10.75, "tool": [ 0.17483, -0.00842, 0.16 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.17508292, -0.00887236, 0.16, 0.20783875, 0.01950839, 0.02499818, 0.9831961, 0.0, -0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 10.8, "tool": [ 0.18142, -0.02008, 0.16 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.18169413, -0.02055664, 0.16, 0.20783875, 0.01950839, 0.02499818, 0.9831961, -0.0, -0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 10.85, "tool": [ 0.18824, -0.03212, 0.16 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.1885122, -0.03260649, 0.16, 0.20783875, 0.01950839, 0.02499818, 0.9831961, -0.0, -0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 10.9, "tool": [ 0.1951, -0.04426, 0.16 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.1953794, -0.04474316, 0.16, 0.20783875, 0.01950839, 0.02499818, 0.9831961, -0.0, -0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 10.95, "tool": [ 0.2002, -0.05325, 0.16 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.20029944, -0.05343855, 0.16, 0.20783875, 0.01950839, 0.02499818, 0.9831961, -0.0, -0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 11.0, "tool": [ 0.20163, -0.05578, 0.16 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.20165112, -0.05582743, 0.16, 0.20783875, 0.01950839, 0.02499818, 0.9831961, -0.0, 0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 11.05, "tool": [ 0.20197, -0.05639, 0.1574 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.20197326, -0.05639676, 0.15715391, 0.20783875, 0.01950839, 0.02499818, 0.9831961, -0.0, 0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 11.1, "tool": [ 0.20205, -0.05653, 0.14948 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.20204977, -0.05653198, 0.1491191, 0.20783875, 0.01950839, 0.02499818, 0.9831961, -0.0, 0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 11.15, "tool": [ 0.20207, -0.05656, 0.13998 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.20206794, -0.05656409, 0.13958746, 0.20783875, 0.01950839, 0.02499818, 0.9831961, -0.0, 0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 11.2, "tool": [ 0.20207, -0.05657, 0.1301 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.20207225, -0.05657171, 0.12969869, 0.20783875, 0.01950839, 0.02499818, 0.9831961, -0.0, 0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 11.25, "tool": [ 0.20207, -0.05657, 0.12012 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.20207327, -0.05657353, 0.11972511, 0.20783875, 0.01950839, 0.02499818, 0.9831961, 0.0, 0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 11.3, "tool": [ 0.20207, -0.05657, 0.11013 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.20207352, -0.05657396, 0.10973138, 0.20783875, 0.01950839, 0.02499818, 0.9831961, 0.0, 0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 11.35, "tool": [ 0.20207, -0.05657, 0.10013 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.20207358, -0.05657406, 0.09973287, 0.20783875, 0.01950839, 0.02499818, 0.9831961, 0.0, 0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 11.4, "tool": [ 0.20207, -0.05657, 0.09013 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.20207359, -0.05657408, 0.08973322, 0.20783875, 0.01950839, 0.02499818, 0.9831961, 0.0, 0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 11.45, "tool": [ 0.20207, -0.05657, 0.08013 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.20207359, -0.05657409, 0.07973331, 0.20783875, 0.01950839, 0.02499818, 0.9831961, 0.0, 0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 11.5, "tool": [ 0.20207, -0.05657, 0.07013 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.20207359, -0.05657409, 0.06973333, 0.20783875, 0.01950839, 0.02499818, 0.9831961, 0.0, -0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 11.55, "tool": [ 0.20207, -0.05657, 0.06013 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.20207359, -0.05657409, 0.05973333, 0.20783875, 0.01950839, 0.02499818, 0.9831961, 0.0, -0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 11.6, "tool": [ 0.20207, -0.05657, 0.05013 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.20207359, -0.05657409, 0.04973333, 0.20783875, 0.01950839, 0.02499818, 0.9831961, 0.0, -0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 11.65, "tool": [ 0.20207, -0.05657, 0.04163 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.20207359, -0.05657409, 0.04142838, 0.20783875, 0.01950839, 0.02499818, 0.9831961, -0.0, -0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 11.7, "tool": [ 0.20207, -0.05657, 0.03887 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.20207359, -0.05657409, 0.03881879, 0.20783875, 0.01950839, 0.02499818, 0.9831961, -0.0, -0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 11.75, "tool": [ 0.20216, -0.05538, 0.03821 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.20217605, -0.05522193, 0.03819447, 0.20783875, 0.01950839, 0.02499818, 0.9831961, -0.0, 0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 11.8, "tool": [ 0.2026, -0.04961, 0.03805 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.20262278, -0.0493265, 0.03804618, 0.20783875, 0.01950839, 0.02499818, 0.9831961, 0.0, 0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 11.85, "tool": [ 0.20317, -0.04216, 0.03801 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.20318951, -0.0418474, 0.03801097, 0.20783875, 0.01950839, 0.02499818, 0.9831961, 0.0, -0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 11.9, "tool": [ 0.20376, -0.03431, 0.038 ], "objects": { "red_block": [ 0.20784, 0.01951, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.20378501, -0.03398856, 0.0380026, 0.20783875, 0.01950839, 0.02499818, 0.9831961, -0.0, -0.0, 0.18255252, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 11.95, "tool": [ 0.20437, -0.02647, 0.03802 ], "objects": { "red_block": [ 0.20784, 0.02038, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.20438973, -0.02617756, 0.03801849, 0.20784184, 0.02068794, 0.02503884, 0.98510805, 0.00011646, 0.00013673, 0.17193634, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 12.0, "tool": [ 0.20495, -0.01862, 0.03802 ], "objects": { "red_block": [ 0.20805, 0.02647, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.20497408, -0.01831217, 0.038019, 0.20808432, 0.02673013, 0.02505386, 0.99284422, -0.00029821, 0.00101791, 0.119412, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 12.05, "tool": [ 0.20555, -0.01066, 0.03803 ], "objects": { "red_block": [ 0.20864, 0.03328, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.20557325, -0.01034821, 0.0380331, 0.20864065, 0.03357381, 0.0250182, 0.99724564, 8.465e-05, 0.00054844, 0.07416756, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 12.1, "tool": [ 0.20615, -0.0027, 0.03803 ], "objects": { "red_block": [ 0.20922, 0.04073, 0.02512 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.20617393, -0.00238633, 0.03802657, 0.2092498, 0.04105742, 0.0251188, 0.99901531, -0.00021763, 0.0003092, 0.04436505, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 12.15, "tool": [ 0.20675, 0.00528, 0.03801 ], "objects": { "red_block": [ 0.2098, 0.04846, 0.02509 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.20677466, 0.00560062, 0.03800937, 0.20985618, 0.0487942, 0.02506769, 0.99970741, -0.00089176, -0.00163256, 0.02411691, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 12.2, "tool": [ 0.20737, 0.01325, 0.03804 ], "objects": { "red_block": [ 0.21108, 0.05627, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.20739241, 0.01357707, 0.0380391, 0.21111856, 0.05657504, 0.02496734, 0.99999674, 0.00033738, 0.00078536, -0.00240488, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 12.25, "tool": [ 0.20797, 0.02123, 0.03804 ], "objects": { "red_block": [ 0.21235, 0.06403, 0.02506 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.20799512, 0.02155114, 0.03803874, 0.21241495, 0.06432847, 0.02506833, 0.99968278, 0.00052238, -0.00015114, -0.02518034, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 12.3, "tool": [ 0.20858, 0.02921, 0.03801 ], "objects": { "red_block": [ 0.21432, 0.07186, 0.02505 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.20860026, 0.02953492, 0.03800423, 0.21440084, 0.07217905, 0.02502331, 0.99849184, 0.00058448, -0.00079934, -0.05489146, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 12.35, "tool": [ 0.20918, 0.03719, 0.03802 ], "objects": { "red_block": [ 0.21627, 0.07961, 0.0251 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.20920326, 0.03751065, 0.03802098, 0.2163575, 0.07992172, 0.02509742, 0.99697349, 9.537e-05, -0.00027023, -0.07774173, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 12.4, "tool": [ 0.20978, 0.04516, 0.03804 ], "objects": { "red_block": [ 0.21871, 0.08724, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.20980372, 0.04547622, 0.03804488, 0.2188151, 0.08754453, 0.02509386, 0.9961047, -0.00040904, 0.00056764, -0.08817555, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 12.45, "tool": [ 0.21039, 0.05316, 0.03803 ], "objects": { "red_block": [ 0.22107, 0.09483, 0.02502 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.21041048, 0.05346827, 0.0380267, 0.2211561, 0.0951658, 0.0250653, 0.99509748, -0.00037484, 0.00024495, -0.09889791, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 12.5, "tool": [ 0.21091, 0.06001, 0.038 ], "objects": { "red_block": [ 0.22289, 0.10141, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.21092116, 0.06017668, 0.03799497, 0.22295032, 0.10153506, 0.02501186, 0.99347932, 3.988e-05, 0.00066497, -0.11401049, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 12.55, "tool": [ 0.21107, 0.06222, 0.03801 ], "objects": { "red_block": [ 0.22389, 0.10334, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.21107616, 0.06226002, 0.03801657, 0.22391056, 0.10338141, 0.02499607, 0.99278792, -6.408e-05, 0.0001288, -0.11988377, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 12.6, "tool": [ 0.2111, 0.06277, 0.03964 ], "objects": { "red_block": [ 0.22408, 0.10386, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.21110374, 0.06277539, 0.03985211, 0.22409104, 0.10389571, 0.02498812, 0.99262956, -0.0002523, -1.27e-05, -0.12118788, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 12.65, "tool": [ 0.21112, 0.06296, 0.04756 ], "objects": { "red_block": [ 0.22422, 0.10419, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.21112096, 0.06296579, 0.0479439, 0.2242238, 0.10419167, 0.02498198, 0.99241349, 0.0001602, -0.00016848, -0.12294472, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 12.7, "tool": [ 0.21114, 0.06305, 0.05782 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.21113561, 0.06305376, 0.05824777, 0.22423304, 0.10419854, 0.02499779, 0.9924135, 3.86e-06, -4.06e-06, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 12.75, "tool": [ 0.21114, 0.06308, 0.06863 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.21113942, 0.06307595, 0.06906114, 0.22423327, 0.1041987, 0.02499817, 0.9924135, 9e-08, -1e-07, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 12.8, "tool": [ 0.21114, 0.06308, 0.07956 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.21114032, 0.06308123, 0.07999489, 0.22423327, 0.10419871, 0.02499818, 0.9924135, 0.0, -0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 12.85, "tool": [ 0.21114, 0.06308, 0.09052 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.21114054, 0.06308249, 0.09095721, 0.22423327, 0.10419871, 0.02499818, 0.9924135, 0.0, -0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 12.9, "tool": [ 0.21114, 0.06308, 0.10149 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.21114059, 0.06308278, 0.10192632, 0.22423327, 0.10419871, 0.02499818, 0.9924135, 0.0, -0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 12.95, "tool": [ 0.21114, 0.06308, 0.11246 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.2111406, 0.06308285, 0.11289704, 0.22423327, 0.10419871, 0.02499818, 0.9924135, -0.0, 0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 13.0, "tool": [ 0.21114, 0.06308, 0.12343 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.2111406, 0.06308287, 0.12386814, 0.22423327, 0.10419871, 0.02499818, 0.9924135, -0.0, 0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 13.05, "tool": [ 0.21114, 0.06308, 0.1344 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.2111406, 0.06308287, 0.13483934, 0.22423327, 0.10419871, 0.02499818, 0.9924135, -0.0, 0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 13.1, "tool": [ 0.21114, 0.06308, 0.14537 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.2111406, 0.06308288, 0.14581055, 0.22423327, 0.10419871, 0.02499818, 0.9924135, -0.0, 0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 13.15, "tool": [ 0.21114, 0.06308, 0.15529 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.2111406, 0.06308288, 0.1555447, 0.22423327, 0.10419871, 0.02499818, 0.9924135, -0.0, 0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 13.2, "tool": [ 0.21114, 0.06308, 0.15887 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.2111406, 0.06308288, 0.15893263, 0.22423327, 0.10419871, 0.02499818, 0.9924135, -0.0, 0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.25, "tool": [ 0.21114, 0.06308, 0.15973 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.2111406, 0.06308288, 0.15974647, 0.22423327, 0.10419871, 0.02499818, 0.9924135, -0.0, 0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.3, "tool": [ 0.21114, 0.06308, 0.15994 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.2111406, 0.06308288, 0.15993979, 0.22423327, 0.10419871, 0.02499818, 0.9924135, -0.0, 0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.35, "tool": [ 0.21114, 0.06308, 0.15998 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.2111406, 0.06308288, 0.1599857, 0.22423327, 0.10419871, 0.02499818, 0.9924135, -0.0, 0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 13.4, "tool": [ 0.21114, 0.06308, 0.16 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.2111406, 0.06308288, 0.1599966, 0.22423327, 0.10419871, 0.02499818, 0.9924135, 0.0, -0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 13.45, "tool": [ 0.21114, 0.06308, 0.16 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.2111406, 0.06308288, 0.15999919, 0.22423327, 0.10419871, 0.02499818, 0.9924135, 0.0, -0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.5, "tool": [ 0.21114, 0.06308, 0.16 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.2111406, 0.06308288, 0.15999981, 0.22423327, 0.10419871, 0.02499818, 0.9924135, 0.0, -0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 13.55, "tool": [ 0.21114, 0.06308, 0.16 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.2111406, 0.06308288, 0.15999995, 0.22423327, 0.10419871, 0.02499818, 0.9924135, 0.0, -0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 13.6, "tool": [ 0.21114, 0.06308, 0.16 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.2111406, 0.06308288, 0.15999999, 0.22423327, 0.10419871, 0.02499818, 0.9924135, 0.0, -0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 13.65, "tool": [ 0.21114, 0.06308, 0.16 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.2111406, 0.06308288, 0.16, 0.22423327, 0.10419871, 0.02499818, 0.9924135, 0.0, -0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 13.7, "tool": [ 0.21169, 0.06202, 0.16 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.21178843, 0.06183963, 0.16, 0.22423327, 0.10419871, 0.02499818, 0.9924135, 0.0, -0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 13.75, "tool": [ 0.21556, 0.0546, 0.16 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.21575964, 0.0542185, 0.16, 0.22423327, 0.10419871, 0.02499818, 0.9924135, 0.0, -0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.8, "tool": [ 0.22086, 0.04444, 0.16 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.22107884, 0.04401044, 0.16, 0.22423327, 0.10419871, 0.02499818, 0.9924135, -0.0, 0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 13.85, "tool": [ 0.22594, 0.03468, 0.16 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.22607515, 0.03442202, 0.16, 0.22423327, 0.10419871, 0.02499818, 0.9924135, 0.0, -0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 13.9, "tool": [ 0.22779, 0.03113, 0.16 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "approach", "qpos": [ 0.22782529, 0.03106333, 0.16, 0.22423327, 0.10419871, 0.02499818, 0.9924135, -0.0, 0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 13.95, "tool": [ 0.22824, 0.03027, 0.15904 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.22824577, 0.03025639, 0.15887244, 0.22423327, 0.10419871, 0.02499818, 0.9924135, -0.0, 0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 14.0, "tool": [ 0.22834, 0.03007, 0.1523 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.22834566, 0.0300647, 0.15196045, 0.22423327, 0.10419871, 0.02499818, 0.9924135, -0.0, -0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 14.05, "tool": [ 0.22837, 0.03002, 0.14309 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.22836938, 0.03001918, 0.14270224, 0.22423327, 0.10419871, 0.02499818, 0.9924135, 0.0, -0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 14.1, "tool": [ 0.22837, 0.03001, 0.13328 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.22837501, 0.03000837, 0.13287845, 0.22423327, 0.10419871, 0.02499818, 0.9924135, 0.0, -0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 14.15, "tool": [ 0.22838, 0.03001, 0.12332 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.22837635, 0.0300058, 0.1229203, 0.22423327, 0.10419871, 0.02499818, 0.9924135, 0.0, -0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 14.2, "tool": [ 0.22838, 0.03001, 0.11333 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.22837667, 0.03000519, 0.11293024, 0.22423327, 0.10419871, 0.02499818, 0.9924135, 0.0, -0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 14.25, "tool": [ 0.22838, 0.03001, 0.10333 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.22837674, 0.03000505, 0.1029326, 0.22423327, 0.10419871, 0.02499818, 0.9924135, 0.0, -0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 14.3, "tool": [ 0.22838, 0.03001, 0.09333 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.22837676, 0.03000501, 0.09293316, 0.22423327, 0.10419871, 0.02499818, 0.9924135, -0.0, 0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 14.35, "tool": [ 0.22838, 0.03001, 0.08333 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.22837677, 0.03000501, 0.08293329, 0.22423327, 0.10419871, 0.02499818, 0.9924135, -0.0, 0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 14.4, "tool": [ 0.22838, 0.03001, 0.07333 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.22837677, 0.030005, 0.07293332, 0.22423327, 0.10419871, 0.02499818, 0.9924135, -0.0, -0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 14.45, "tool": [ 0.22838, 0.03001, 0.06333 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.22837677, 0.030005, 0.06293333, 0.22423327, 0.10419871, 0.02499818, 0.9924135, -0.0, -0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 14.5, "tool": [ 0.22838, 0.03001, 0.05333 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.22837677, 0.030005, 0.05293333, 0.22423327, 0.10419871, 0.02499818, 0.9924135, -0.0, -0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 14.55, "tool": [ 0.22838, 0.03001, 0.04366 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.22837677, 0.030005, 0.04336114, 0.22423327, 0.10419871, 0.02499818, 0.9924135, 0.0, -0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 14.6, "tool": [ 0.22838, 0.03001, 0.03937 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lower", "qpos": [ 0.22837677, 0.030005, 0.03929667, 0.22423327, 0.10419871, 0.02499818, 0.9924135, 0.0, -0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 14.65, "tool": [ 0.22836, 0.03027, 0.03833 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.22835772, 0.03034603, 0.03830807, 0.22423327, 0.10419871, 0.02499818, 0.9924135, 0.0, -0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 14.7, "tool": [ 0.22811, 0.03482, 0.03808 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.22809347, 0.03507767, 0.03807316, 0.22423327, 0.10419871, 0.02499818, 0.9924135, 0.0, -0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 14.75, "tool": [ 0.22771, 0.04196, 0.03802 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.22769229, 0.0422613, 0.03801737, 0.22423327, 0.10419871, 0.02499818, 0.9924135, 0.0, 0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 14.8, "tool": [ 0.22728, 0.04973, 0.038 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.22725755, 0.05004574, 0.03800413, 0.22423327, 0.10419871, 0.02499818, 0.9924135, 0.0, 0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 14.85, "tool": [ 0.22683, 0.05765, 0.038 ], "objects": { "red_block": [ 0.22423, 0.1042, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.22681484, 0.05797298, 0.03800098, 0.22423327, 0.10419871, 0.02499818, 0.9924135, 0.0, 0.0, -0.12294489, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 14.9, "tool": [ 0.22641, 0.06538, 0.03802 ], "objects": { "red_block": [ 0.22378, 0.10944, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.22638846, 0.06568792, 0.03802573, 0.22374018, 0.10971753, 0.0250564, 0.99664118, -0.00026761, -0.0004225, -0.08189078, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 14.95, "tool": [ 0.22597, 0.07331, 0.03804 ], "objects": { "red_block": [ 0.22296, 0.11667, 0.02512 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.22595435, 0.07363246, 0.0380341, 0.22291062, 0.11700124, 0.02509269, 0.99925735, -0.00041891, -0.00132072, -0.03850748, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 15.0, "tool": [ 0.22553, 0.08129, 0.03803 ], "objects": { "red_block": [ 0.22189, 0.12442, 0.02504 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.2255149, 0.08160709, 0.03802893, 0.22180886, 0.12474349, 0.02503634, 0.9999657, 0.00104457, 0.00083154, -0.00817372, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.05, "tool": [ 0.22507, 0.08927, 0.03802 ], "objects": { "red_block": [ 0.21992, 0.1321, 0.02501 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.22505564, 0.08959, 0.03802082, 0.21983448, 0.13238069, 0.02498968, 0.99980015, -0.00019001, -0.00075716, 0.01997641, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 15.1, "tool": [ 0.22463, 0.09725, 0.03802 ], "objects": { "red_block": [ 0.21772, 0.13971, 0.02503 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.22461433, 0.09757483, 0.03801572, 0.21761755, 0.13998542, 0.02503316, 0.99854896, 0.00093869, -0.00035331, 0.05384206, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.15, "tool": [ 0.22419, 0.10523, 0.03802 ], "objects": { "red_block": [ 0.21491, 0.14727, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.22417315, 0.10555615, 0.03801615, 0.21480856, 0.14754052, 0.02494265, 0.99607098, -8.22e-06, 0.00120962, 0.08855025, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 15.2, "tool": [ 0.22374, 0.11317, 0.03808 ], "objects": { "red_block": [ 0.21212, 0.15468, 0.02505 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.22371888, 0.11349042, 0.0380741, 0.21204282, 0.15498905, 0.02507609, 0.99472022, -7.31e-06, -0.00120279, 0.10261691, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.25, "tool": [ 0.2233, 0.12115, 0.03805 ], "objects": { "red_block": [ 0.20999, 0.16213, 0.02498 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.22328716, 0.12146471, 0.03804853, 0.20985234, 0.16242314, 0.02501735, 0.99103386, -0.00157526, -0.00030958, 0.13360129, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 15.3, "tool": [ 0.22293, 0.12785, 0.03804 ], "objects": { "red_block": [ 0.20655, 0.16779, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.22292371, 0.12800815, 0.03803827, 0.20644991, 0.16788798, 0.02499205, 0.98648776, 0.00046769, -0.00029743, 0.16383406, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 15.35, "tool": [ 0.22281, 0.12996, 0.03803 ], "objects": { "red_block": [ 0.20532, 0.16934, 0.02496 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "push", "qpos": [ 0.22280891, 0.12999765, 0.03803228, 0.20530237, 0.16937132, 0.02497465, 0.98516267, -0.00033837, 0.00021176, 0.17162269, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 15.4, "tool": [ 0.22279, 0.13047, 0.03985 ], "objects": { "red_block": [ 0.20509, 0.16983, 0.02497 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.22279185, 0.13048062, 0.04008137, 0.20509087, 0.16982964, 0.02497317, 0.9848264, 1.244e-05, -0.00017144, 0.1735423, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 15.45, "tool": [ 0.22277, 0.13067, 0.04795 ], "objects": { "red_block": [ 0.20501, 0.17, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.22276753, 0.13067708, 0.04834276, 0.2050077, 0.16999496, 0.02499316, 0.9846468, -1.093e-05, 4.744e-05, 0.17455849, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 15.5, "tool": [ 0.22276, 0.13072, 0.05824 ], "objects": { "red_block": [ 0.20489, 0.17021, 0.02499 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.22276251, 0.13072208, 0.05866508, 0.20489368, 0.17021414, 0.02498944, 0.98433408, 7.855e-05, 7.987e-05, 0.17631339, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 15.55, "tool": [ 0.22275, 0.13076, 0.06906 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.22275274, 0.13075621, 0.06949465, 0.20488908, 0.17021728, 0.02499797, 0.98433408, 1.83e-06, 1.84e-06, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 15.6, "tool": [ 0.22275, 0.13076, 0.07999 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.22275026, 0.13076474, 0.08043247, 0.20488898, 0.17021735, 0.02499817, 0.98433408, 4e-08, 4e-08, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 15.65, "tool": [ 0.22275, 0.13077, 0.09096 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.22274968, 0.13076677, 0.09139576, 0.20488897, 0.17021736, 0.02499818, 0.98433408, 0.0, 0.0, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 15.7, "tool": [ 0.22275, 0.13077, 0.10193 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.22274954, 0.13076725, 0.1023651, 0.20488897, 0.17021736, 0.02499818, 0.98433408, 0.0, 0.0, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.75, "tool": [ 0.22275, 0.13077, 0.1129 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.2227495, 0.13076736, 0.11333587, 0.20488897, 0.17021736, 0.02499818, 0.98433408, -0.0, -0.0, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.8, "tool": [ 0.22275, 0.13077, 0.12387 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.22274949, 0.13076739, 0.12430699, 0.20488897, 0.17021736, 0.02499818, 0.98433408, -0.0, -0.0, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 15.85, "tool": [ 0.22275, 0.13077, 0.13484 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.22274949, 0.1307674, 0.13527819, 0.20488897, 0.17021736, 0.02499818, 0.98433408, -0.0, -0.0, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 15.9, "tool": [ 0.22275, 0.13077, 0.14581 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.22274949, 0.1307674, 0.1462494, 0.20488897, 0.17021736, 0.02499818, 0.98433408, -0.0, -0.0, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 15.95, "tool": [ 0.22275, 0.13077, 0.15554 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.22274949, 0.1307674, 0.15578851, 0.20488897, 0.17021736, 0.02499818, 0.98433408, -0.0, -0.0, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 16.0, "tool": [ 0.22275, 0.13077, 0.15893 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "lift", "qpos": [ 0.22274949, 0.1307674, 0.15899224, 0.20488897, 0.17021736, 0.02499818, 0.98433408, -0.0, -0.0, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 16.05, "tool": [ 0.22275, 0.13077, 0.15975 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.22274949, 0.1307674, 0.15976063, 0.20488897, 0.17021736, 0.02499818, 0.98433408, -0.0, -0.0, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 16.1, "tool": [ 0.22275, 0.13077, 0.15994 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.22274949, 0.1307674, 0.15994316, 0.20488897, 0.17021736, 0.02499818, 0.98433408, -0.0, -0.0, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 16.15, "tool": [ 0.22275, 0.13077, 0.15999 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.22274949, 0.1307674, 0.1599865, 0.20488897, 0.17021736, 0.02499818, 0.98433408, -0.0, -0.0, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 16.2, "tool": [ 0.22275, 0.13077, 0.16 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "observe", "qpos": [ 0.22274949, 0.1307674, 0.15999679, 0.20488897, 0.17021736, 0.02499818, 0.98433408, -0.0, -0.0, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 16.25, "tool": [ 0.22275, 0.13077, 0.16 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.22274949, 0.1307674, 0.15999924, 0.20488897, 0.17021736, 0.02499818, 0.98433408, -0.0, -0.0, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 16.3, "tool": [ 0.22275, 0.13077, 0.16 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.22274949, 0.1307674, 0.15999982, 0.20488897, 0.17021736, 0.02499818, 0.98433408, -0.0, -0.0, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 16.35, "tool": [ 0.22275, 0.13077, 0.16 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.22274949, 0.1307674, 0.15999996, 0.20488897, 0.17021736, 0.02499818, 0.98433408, -0.0, -0.0, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 16.4, "tool": [ 0.22275, 0.13077, 0.16 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.22274949, 0.1307674, 0.15999999, 0.20488897, 0.17021736, 0.02499818, 0.98433408, 0.0, 0.0, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 16.45, "tool": [ 0.22275, 0.13077, 0.16 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.22274949, 0.1307674, 0.16, 0.20488897, 0.17021736, 0.02499818, 0.98433408, 0.0, 0.0, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 16.5, "tool": [ 0.22275, 0.13077, 0.16 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.22274949, 0.1307674, 0.16, 0.20488897, 0.17021736, 0.02499818, 0.98433408, -0.0, -0.0, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 16.55, "tool": [ 0.22275, 0.13077, 0.16 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.22274949, 0.1307674, 0.16, 0.20488897, 0.17021736, 0.02499818, 0.98433408, -0.0, -0.0, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 16.6, "tool": [ 0.22275, 0.13077, 0.16 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.22274949, 0.1307674, 0.16, 0.20488897, 0.17021736, 0.02499818, 0.98433408, -0.0, -0.0, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 16.65, "tool": [ 0.22275, 0.13077, 0.16 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.22274949, 0.1307674, 0.16, 0.20488897, 0.17021736, 0.02499818, 0.98433408, -0.0, -0.0, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 16.7, "tool": [ 0.22275, 0.13077, 0.16 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.22274949, 0.1307674, 0.16, 0.20488897, 0.17021736, 0.02499818, 0.98433408, -0.0, -0.0, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, 0.0, -0.0 ] }, { "t": 16.75, "tool": [ 0.22275, 0.13077, 0.16 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.22274949, 0.1307674, 0.16, 0.20488897, 0.17021736, 0.02499818, 0.98433408, -0.0, -0.0, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, -0.0, -0.0, -0.0 ] }, { "t": 16.8, "tool": [ 0.22275, 0.13077, 0.16 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.22274949, 0.1307674, 0.16, 0.20488897, 0.17021736, 0.02499818, 0.98433408, -0.0, -0.0, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, -0.0, -0.0 ] }, { "t": 16.85, "tool": [ 0.22275, 0.13077, 0.16 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.22274949, 0.1307674, 0.16, 0.20488897, 0.17021736, 0.02499818, 0.98433408, -0.0, 0.0, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] }, { "t": 16.87, "tool": [ 0.22275, 0.13077, 0.16 ], "objects": { "red_block": [ 0.20489, 0.17022, 0.025 ], "blue_block": [ 0.16571, -0.1704, 0.025 ] }, "goal": [ 0.22, 0.18 ], "phase": "settle", "qpos": [ 0.22274949, 0.1307674, 0.16, 0.20488897, 0.17021736, 0.02499818, 0.98433408, -0.0, 0.0, 0.17631342, 0.16571129, -0.17040424, 0.02499818, 1.0, 0.0, 0.0, -0.0 ] } ], "events": [ { "t": 0.3, "type": "start", "message": "closed_loop: 빨간 블록을 오른쪽 목표로 밀어줘" }, { "t": 2.936, "type": "disturbance", "message": "블록에 x 방향 1.2 N 외력을 0.10초 적용" }, { "t": 3.944, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.297 m" }, { "t": 7.422, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.224 m" }, { "t": 10.4, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.161 m" }, { "t": 13.422, "type": "replan", "message": "위치를 다시 관찰해 경로 수정 · 목표 거리 0.076 m" }, { "t": 16.87, "type": "success", "message": "최종 거리 0.0180 m · 정지 상태 True" } ] } ], "protocol": { "success_radius_m": 0.045, "settled_speed_m_s": 0.025, "settled_angular_speed_rad_s": 0.5, "stable_duration_s": 0.3, "distractor_max_displacement_m": 0.04, "max_sim_time_s": 24.0, "paired_seeds": true, "wall_time_scope": "model creation, initialization and control; excludes planning, imports, rendering and report writing" }, "source_sha256": { "__init__.py": "dbe3df55edc4d0ee5b9e22d48114bd5974067a4a5243515a3d8375d85347d473", "__main__.py": "9e03c732a81e2b1cce8dad928b58fec8d4e3fb30d17ead636ab834443494978e", "planner.py": "b3a14fe26eeeb23d706e4d44a9b8d5de9552a78997b4e5bb4c849baf8af705e1", "scene.xml": "3b67c5c20bc17c3ae8ca2c72bf82cccdb368f2454019936d90c963363ca08b83", "simulation.py": "a15193029f52daf1dc2a13cd128fa64686f2fbaf23ba9106853e05038e7fa2e7" }, "limitations": [ "관측은 시뮬레이터의 실제 좌표입니다. 카메라 인식·VLM은 아직 연결하지 않았습니다.", "기본 지시 해석과 제어는 규칙 기반입니다. 학습된 정책·강화학습·VLA 성능을 뜻하지 않습니다.", "3축 직교 로봇의 블록 밀기 과제입니다. 6축 로봇팔·집기·실물 로봇 검증은 포함하지 않습니다.", "고정된 소규모 개발 시나리오이며 제어기 개발에도 사용했습니다. 독립 테스트셋·현실 일반화를 증명하지 않습니다.", "두 전략은 관측 주기뿐 아니라 밀기 거리와 재접근 횟수도 다릅니다. 관측만의 효과를 분리한 실험이 아닙니다.", "비표적 블록의 4 cm 미만 이동은 허용합니다. 성공이 무충돌을 뜻하지 않으며 접촉 횟수도 별도로 기록합니다.", "2D 뷰어는 저장된 MuJoCo 궤적을 재생합니다. 브라우저 안에서 물리 계산을 수행하지 않습니다." ] }