general:
  root_paths:
    asset: /data/workspace/luoly/code/TaskGen/data
    output: output://
simulation:
  intiailize_steps: 120
  launch_config:
    device: cuda
    enable_cameras: true
    headless: false
    livestream: 0
scene:
  name: 827313_home
  base_config:
    stereotype: usd
    name: _827313_home_workspace_01
    source: local
    asset_path: asset://scenes/kujiale_multispace/827313_home/workspace_01.usd
  object_cfg_dict:
    omni6DPose_timer_017:
      name: omni6DPose_timer_017
      stereotype: rigid
      source: local
      asset_path: asset://objects/omni6DPose/timer/omni6DPose_timer_017/Aligned.usd
      scale:
      - 0.001
      - 0.001
      - 0.001
      position:
      - 0.602364
      - -4.0682599999999995
      - 0.524713118
      quaternion:
      - 0.166210542394157
      - 0.166210542394157
      - 0.6872947370648492
      - 0.6872947370648491
      axis_y_up: true
    omni6DPose_book_031:
      name: omni6DPose_book_031
      stereotype: rigid
      source: local
      asset_path: asset://objects/omni6DPose/book/omni6DPose_book_031/Aligned.usd
      scale:
      - 0.001
      - 0.001
      - 0.001
      position:
      - 0.6623640000000001
      - -3.7882599999999997
      - 0.5101601435
      quaternion:
      - 0.7063055546421202
      - 0.7063055546421203
      - -0.03365209475927027
      - -0.033652094759270265
      axis_y_up: true
  robot_cfg_dict:
    Franka_Robotiq_2f85:
      name: Franka_Robotiq_2f85
      asset_path: asset://Franka/franka_robotiq_2f85_zedmini.usd
      position:
      - 1.082364
      - -3.92826
      - 0.47629299999999997
      rotation:
      - 7.549799991308018e-08
      - 0.0
      - 0.0
      - 0.9999999999999973
      stereotype: single_gripper_arm_robot
      source: local
      init_joint_position:
        panda_joint2: -0.1633
        panda_joint4: -1.07
        panda_joint6: 0.8933
        panda_joint7: 0.785
      arm_actuator_name: franka_arm
      gripper_actuator_name: robotiq_2f_85
      ee_link_name: gripper_center
      use_planner: true
      planner_cfg:
        stereotype: curobo
        lazy_init: true
        robot_config_file: asset://curobo/franka_robotiq_2f85/franka_robotiq_2f85.yml
        world_config_source: stage
  sensor_cfg_dict:
    Hand_Camera:
      name: Hand_Camera
      stereotype: camera
      data_types:
      - rgb
      - depth
      - normals
      width: 1280
      height: 720
      camera_model: pinhole
      fix_camera: true
      focal_length: 2.8
      horizontal_aperture: 4.893416860031241
      vertical_aperture: 2.7608816125932627
      convention: opengl
      attach_to:
        target_name: Franka_Robotiq_2f85
        is_articulation_part: true
        articulation_part_name: panda_link8
        create_fixed_joint: true
        local_position:
        - -0.07128738160694643
        - 0.03551506300731732
        - 0.018927748370281355
        local_rotation:
        - -0.12117023430710862
        - -0.6862313269668
        - 0.7070213671685396
        - 0.12052023305019997
    Left_Camera:
      name: Left_Camera
      stereotype: camera
      data_types:
      - rgb
      - depth
      - normals
      width: 1280
      height: 720
      camera_model: pinhole
      fix_camera: false
      focal_length: 2.1
      horizontal_aperture: 5.030789363390793
      vertical_aperture: 2.833796298140747
      convention: opengl
      attach_to:
        target_name: Franka_Robotiq_2f85
        local_position:
        - 0.31702696813014064
        - -0.3844238699868664
        - 0.6551552990137672
        local_rotation:
        - 0.8742457685173938
        - 0.38378563025938384
        - -0.11951449178007277
        - -0.27224843891267797
    Right_Camera:
      name: Right_Camera
      stereotype: camera
      data_types:
      - rgb
      - depth
      - normals
      width: 1280
      height: 720
      camera_model: pinhole
      fix_camera: false
      focal_length: 2.1
      horizontal_aperture: 5.050364265142387
      vertical_aperture: 2.833796298140747
      convention: opengl
      attach_to:
        target_name: Franka_Robotiq_2f85
        local_position:
        - 0.21844487914880717
        - 0.20172329179193413
        - 0.30108042236545296
        local_rotation:
        - -0.5316249212230874
        - -0.38697158527836417
        - 0.44338617110944967
        - 0.6091277686910994
task:
  name: random_single_pick_place_001999
  description: 'Franka_Robotiq_2f85 executes stages: pick(gripper->omni6DPose_timer_017),
    place(omni6DPose_timer_017->omni6DPose_book_031)'
  actions:
  - name: open_gripper_action
    stereotype: release
    description: open gripper action
    robot_name: Franka_Robotiq_2f85
    ee_type: gripper
    release_timeout: 60.0
  - name: pick_action_00
    ee_timeout: 60.0
    stereotype: pick
    description: Pick up omni6DPose_timer_017
    pick_up_distance: 0.03
    robot_name: Franka_Robotiq_2f85
    target_name: omni6DPose_timer_017
    pose_source: inline
    pose_data:
      grasp_0:
        position:
        - 0.0038685856922695133
        - 0.004466852553715234
        - -0.03531195040680468
        rotation_matrix:
        - - 0.10401858389377594
          - -0.9938283562660217
          - -0.038540683686733246
        - - 0.09528955817222595
          - 0.04853108897805214
          - -0.9942658543586731
        - - 0.9900000095367432
          - 0.0997496023774147
          - 0.0997496023774147
      grasp_1:
        position:
        - -0.0038414330831936733
        - 0.008453966558471693
        - 0.03487375447116792
        rotation_matrix:
        - - 0.004352654330432415
          - 0.9999740719795227
          - 0.00573710398748517
        - - -0.6044033169746399
          - 0.007201386149972677
          - -0.7966459393501282
        - - -0.7966666221618652
          - 0.0
          - 0.6044189929962158
      grasp_2:
        position:
        - -0.007263183377744295
        - -0.019143872814074148
        - 0.021902204042300588
        rotation_matrix:
        - - -0.016119660809636116
          - -0.9998555779457092
          - -0.0053815096616744995
        - - 0.9483999013900757
          - -0.016994237899780273
          - 0.31662097573280334
        - - -0.31666672229766846
          - 0.0
          - 0.9485368728637695
      grasp_3:
        position:
        - -0.007494837295325138
        - -0.019072289498344053
        - 0.0064624012615531745
        rotation_matrix:
        - - -0.016119660809636116
          - -0.9998555779457092
          - -0.0053815096616744995
        - - 0.9483999013900757
          - -0.016994237899780273
          - 0.31662097573280334
        - - -0.31666672229766846
          - 0.0
          - 0.9485368728637695
      grasp_4:
        position:
        - 0.009030799506677019
        - 0.00826768434841968
        - 0.019798676237091417
        rotation_matrix:
        - - 0.004352654330432415
          - 0.9999740719795227
          - 0.00573710398748517
        - - -0.6044033169746399
          - 0.007201386149972677
          - -0.7966459393501282
        - - -0.7966666221618652
          - 0.0
          - 0.6044189929962158
      grasp_5:
        position:
        - -0.00784626989797832
        - -0.018822801522512533
        - 0.0006294223552104072
        rotation_matrix:
        - - -0.06790387630462646
          - -0.9976860880851746
          - 0.003399446839466691
        - - 0.996438205242157
          - -0.06798891723155975
          - -0.04988431558012962
        - - 0.050000011920928955
          - 0.0
          - 0.9987491965293884
      grasp_6:
        position:
        - 0.009646047990892737
        - -0.007336596848019239
        - -0.03486664676181972
        rotation_matrix:
        - - -0.003189190523698926
          - 0.9999880790710449
          - 0.003690961981192231
        - - -0.6537930965423584
          - -0.004877923522144556
          - 0.7566576600074768
        - - 0.7566666603088379
          - 0.0
          - 0.6538008451461792
      grasp_7:
        position:
        - -0.004310431753630337
        - -0.010652628308727596
        - -0.03624066210016608
        rotation_matrix:
        - - 0.014043985866010189
          - -0.9998931884765625
          - -0.00404332997277379
        - - 0.9608633518218994
          - 0.014614447019994259
          - -0.27663707733154297
        - - 0.27666664123535156
          - 0.0
          - 0.9609659314155579
      grasp_8:
        position:
        - 0.0071023775610874855
        - -0.01859674872388173
        - -0.022332253319770068
        rotation_matrix:
        - - -0.02385937236249447
          - 0.999703049659729
          - -0.00495491735637188
        - - -0.9788188338279724
          - -0.024368440732359886
          - -0.2032729983329773
        - - -0.20333337783813477
          - 0.0
          - 0.9791095852851868
      grasp_9:
        position:
        - -0.007272516198317279
        - -0.018775780982575263
        - -0.01750692537911236
        rotation_matrix:
        - - 0.06542284041643143
          - -0.9978401064872742
          - 0.0059120506048202515
        - - 0.9937906265258789
          - 0.06568942964076996
          - 0.08980564773082733
        - - -0.09000003337860107
          - 0.0
          - 0.9959417581558228
      grasp_10:
        position:
        - 0.00724190747898654
        - 0.008501042644415535
        - -0.0011906575841829081
        rotation_matrix:
        - - -0.02385937236249447
          - 0.999703049659729
          - -0.00495491735637188
        - - -0.9788188338279724
          - -0.024368440732359886
          - -0.2032729983329773
        - - -0.20333337783813477
          - 0.0
          - 0.9791095852851868
      grasp_11:
        position:
        - -0.0040729067931614404
        - -0.018855251105264065
        - -0.034223995315656064
        rotation_matrix:
        - - 0.07559296488761902
          - -0.9970880746841431
          - 0.010053213685750961
        - - 0.281202107667923
          - 0.011643964797258377
          - -0.9595779180526733
        - - 0.9566666483879089
          - 0.07536432147026062
          - 0.28126347064971924
      grasp_12:
        position:
        - -0.0035803358713827615
        - -0.002451058443397519
        - -0.03448927323780954
        rotation_matrix:
        - - 0.07559296488761902
          - -0.9970880746841431
          - 0.010053213685750961
        - - 0.281202107667923
          - 0.011643964797258377
          - -0.9595779180526733
        - - 0.9566666483879089
          - 0.07536432147026062
          - 0.28126347064971924
      grasp_13:
        position:
        - 0.01004412763059484
        - -0.004444305384017674
        - 0.03372835617475212
        rotation_matrix:
        - - -0.021364182233810425
          - -0.9997690916061401
          - -0.0023216078989207745
        - - 0.07873465120792389
          - -0.003997406456619501
          - 0.9968875646591187
        - - -0.996666669845581
          - 0.02111489698290825
          - 0.07880187034606934
      grasp_14:
        position:
        - -0.004677864934916849
        - -0.005584610308846605
        - -0.035354717759042975
        rotation_matrix:
        - - -0.05148642137646675
          - 0.9984356164932251
          - 0.021806450560688972
        - - -0.9193743467330933
          - -0.055913977324962616
          - 0.38938987255096436
        - - 0.38999998569488525
          - 0.0
          - 0.9208148717880249
      grasp_15:
        position:
        - -0.007450995993386587
        - -0.018235994977500947
        - -0.0034752715267241108
        rotation_matrix:
        - - -0.015894992277026176
          - 0.9961710572242737
          - 0.08596841990947723
        - - -0.18111568689346313
          - -0.08742550760507584
          - 0.9795682430267334
        - - 0.9833333492279053
          - 0.0
          - 0.1818118393421173
      grasp_16:
        position:
        - 0.00961151734379372
        - 0.0004321242388851676
        - -0.034976423616334795
        rotation_matrix:
        - - -0.003189190523698926
          - 0.9999880790710449
          - 0.003690961981192231
        - - -0.6537930965423584
          - -0.004877923522144556
          - 0.7566576600074768
        - - 0.7566666603088379
          - 0.0
          - 0.6538008451461792
      grasp_17:
        position:
        - 0.004133577580497455
        - -0.010918238864973423
        - -0.03539455230794847
        rotation_matrix:
        - - 0.07559296488761902
          - -0.9970880746841431
          - 0.010053213685750961
        - - 0.281202107667923
          - 0.011643964797258377
          - -0.9595779180526733
        - - 0.9566666483879089
          - 0.07536432147026062
          - 0.28126347064971924
      grasp_18:
        position:
        - -0.007646248654138339
        - -0.019979603972108406
        - 0.0035960888085421194
        rotation_matrix:
        - - -0.02789962664246559
          - -0.999335765838623
          - 0.023444462567567825
        - - 0.7650777101516724
          - -0.03644217178225517
          - -0.6429059505462646
        - - 0.6433333158493042
          - 0.0
          - 0.765586256980896
      grasp_19:
        position:
        - 0.003979062589410415
        - -0.004257581261404006
        - 0.03544733922891319
        rotation_matrix:
        - - -0.021364182233810425
          - -0.9997690916061401
          - -0.0023216078989207745
        - - 0.07873465120792389
          - -0.003997406456619501
          - 0.9968875646591187
        - - -0.996666669845581
          - 0.02111489698290825
          - 0.07880187034606934
      grasp_20:
        position:
        - 0.007032764559356728
        - 0.00858582652631823
        - -0.011253980427235355
        rotation_matrix:
        - - -0.02385937236249447
          - 0.999703049659729
          - -0.00495491735637188
        - - -0.9788188338279724
          - -0.024368440732359886
          - -0.2032729983329773
        - - -0.20333337783813477
          - 0.0
          - 0.9791095852851868
      grasp_21:
        position:
        - -0.0039770220118306165
        - -0.010881112621858952
        - -0.03452548305951059
        rotation_matrix:
        - - 0.07559296488761902
          - -0.9970880746841431
          - 0.010053213685750961
        - - 0.281202107667923
          - 0.011643964797258377
          - -0.9595779180526733
        - - 0.9566666483879089
          - 0.07536432147026062
          - 0.28126347064971924
      grasp_22:
        position:
        - 0.004275705672351429
        - -0.011847801591674562
        - -0.03522788550592959
        rotation_matrix:
        - - 0.10401858389377594
          - -0.9938283562660217
          - -0.038540683686733246
        - - 0.09528955817222595
          - 0.04853108897805214
          - -0.9942658543586731
        - - 0.9900000095367432
          - 0.0997496023774147
          - 0.0997496023774147
      grasp_23:
        position:
        - 0.00262430877162027
        - -0.010029165907996185
        - 0.03402236251756552
        rotation_matrix:
        - - -0.02385937236249447
          - 0.999703049659729
          - -0.00495491735637188
        - - -0.9788188338279724
          - -0.024368440732359886
          - -0.2032729983329773
        - - -0.20333337783813477
          - 0.0
          - 0.9791095852851868
      grasp_24:
        position:
        - 0.003511516770872941
        - 0.012071983358405383
        - 0.03543837245516479
        rotation_matrix:
        - - -0.021364182233810425
          - -0.9997690916061401
          - -0.0023216078989207745
        - - 0.07873465120792389
          - -0.003997406456619501
          - 0.9968875646591187
        - - -0.996666669845581
          - 0.02111489698290825
          - 0.07880187034606934
      grasp_25:
        position:
        - 0.007359130282758851
        - 0.008532341120260079
        - -0.01977293727509677
        rotation_matrix:
        - - -0.02385937236249447
          - 0.999703049659729
          - -0.00495491735637188
        - - -0.9788188338279724
          - -0.024368440732359886
          - -0.2032729983329773
        - - -0.20333337783813477
          - 0.0
          - 0.9791095852851868
      grasp_26:
        position:
        - 0.009919743003068724
        - 0.00920574463430468
        - 0.021150118232518444
        rotation_matrix:
        - - -0.02385937236249447
          - 0.999703049659729
          - -0.00495491735637188
        - - -0.9788188338279724
          - -0.024368440732359886
          - -0.2032729983329773
        - - -0.20333337783813477
          - 0.0
          - 0.9791095852851868
      grasp_27:
        position:
        - 0.010045908137939014
        - 0.018784698708952413
        - 0.03353463675715029
        rotation_matrix:
        - - -0.06472566723823547
          - -0.9966052174568176
          - -0.0508788637816906
        - - -0.1253417432308197
          - -0.042462680488824844
          - 0.9912045001983643
        - - -0.9900000095367432
          - 0.0705336183309555
          - -0.12216781079769135
      grasp_28:
        position:
        - 0.004157388822657773
        - -0.00367009927652287
        - -0.0352753419790417
        rotation_matrix:
        - - 0.10401858389377594
          - -0.9938283562660217
          - -0.038540683686733246
        - - 0.09528955817222595
          - 0.04853108897805214
          - -0.9942658543586731
        - - 0.9900000095367432
          - 0.0997496023774147
          - 0.0997496023774147
      grasp_29:
        position:
        - 0.009825152001277399
        - -0.011565791176393864
        - -0.03399529974423349
        rotation_matrix:
        - - 0.07559296488761902
          - -0.9970880746841431
          - 0.010053213685750961
        - - 0.281202107667923
          - 0.011643964797258377
          - -0.9595779180526733
        - - 0.9566666483879089
          - 0.07536432147026062
          - 0.28126347064971924
      grasp_30:
        position:
        - -0.009403777798939798
        - 0.009507189613480627
        - -0.014675957597047096
        rotation_matrix:
        - - 0.02635135129094124
          - 0.9996432065963745
          - -0.004362640902400017
        - - -0.9862189292907715
          - 0.026710042729973793
          - 0.1632750779390335
        - - 0.16333335638046265
          - 0.0
          - 0.9865709543228149
      grasp_31:
        position:
        - 0.0032293874395916272
        - -0.004146547056734562
        - -0.035242008678242565
        rotation_matrix:
        - - -0.08158169686794281
          - 0.996666669845581
          - 6.102823415874971e-17
        - - 0.0
          - -6.123234262925839e-17
          - 1.0
        - - 0.996666669845581
          - 0.08158169686794281
          - 4.995438017797565e-18
      grasp_32:
        position:
        - 0.003955623323497373
        - -0.02324825551134374
        - -1.7636161204426237e-05
        rotation_matrix:
        - - 0.14642490446567535
          - -0.989015519618988
          - -0.0202009454369545
        - - 0.9797356724739075
          - 0.14781181514263153
          - -0.13516543805599213
        - - 0.1366666555404663
          - 0.0
          - 0.9906170964241028
      grasp_33:
        position:
        - 0.0032320753464168683
        - -0.012752298586963667
        - 0.03545149233080447
        rotation_matrix:
        - - -0.06472566723823547
          - -0.9966052174568176
          - -0.0508788637816906
        - - -0.1253417432308197
          - -0.042462680488824844
          - 0.9912045001983643
        - - -0.9900000095367432
          - 0.0705336183309555
          - -0.12216781079769135
      grasp_34:
        position:
        - -0.004019897564301319
        - -0.008367380395123636
        - 0.03536087133176624
        rotation_matrix:
        - - 0.024883795529603958
          - -0.9994190335273743
          - 0.023289648815989494
        - - 0.729682445526123
          - 0.03408241644501686
          - 0.6829362511634827
        - - -0.6833332777023315
          - 0.0
          - 0.7301065921783447
      grasp_35:
        position:
        - 0.0025447624787972717
        - 0.017653002961130593
        - -0.032804053729027505
        rotation_matrix:
        - - -0.10679393261671066
          - 0.8623163104057312
          - -0.49498042464256287
        - - -0.9940073490142822
          - -0.0809115469455719
          - 0.07350312173366547
        - - 0.023333311080932617
          - 0.499863862991333
          - 0.8657895922660828
      grasp_36:
        position:
        - 0.005383325246578141
        - -0.014621710832797397
        - -0.00297238164171576
        rotation_matrix:
        - - -0.6226919293403625
          - -0.6826459765434265
          - 0.3824254274368286
        - - 0.5817018151283264
          - -0.730749249458313
          - -0.35725137591362
        - - 0.5233333110809326
          - 0.0
          - 0.8521280884742737
      grasp_37:
        position:
        - -0.0037185306339732544
        - 0.0008260810026232135
        - 0.03504389965496957
        rotation_matrix:
        - - 0.004352654330432415
          - 0.9999740719795227
          - 0.00573710398748517
        - - -0.6044033169746399
          - 0.007201386149972677
          - -0.7966459393501282
        - - -0.7966666221618652
          - 0.0
          - 0.6044189929962158
      grasp_38:
        position:
        - -0.0038444311662883205
        - -0.0013944417136749765
        - -0.03492260644622147
        rotation_matrix:
        - - 0.022773904725909233
          - -0.9989326596260071
          - -0.04018503054976463
        - - 0.49252545833587646
          - 0.04618968814611435
          - -0.8690714240074158
        - - 0.8700000047683716
          - 0.0
          - 0.4930517077445984
      grasp_39:
        position:
        - -0.003974246639634759
        - -0.007126034359955069
        - -0.03548927315585315
        rotation_matrix:
        - - -0.003189190523698926
          - 0.9999880790710449
          - 0.003690961981192231
        - - -0.6537930965423584
          - -0.004877923522144556
          - 0.7566576600074768
        - - 0.7566666603088379
          - 0.0
          - 0.6538008451461792
      grasp_40:
        position:
        - 0.009117619964715558
        - -0.0004694200401818005
        - 0.0032176515623927315
        rotation_matrix:
        - - -0.02385937236249447
          - 0.999703049659729
          - -0.00495491735637188
        - - -0.9788188338279724
          - -0.024368440732359886
          - -0.2032729983329773
        - - -0.20333337783813477
          - 0.0
          - 0.9791095852851868
      grasp_41:
        position:
        - -0.0070614681048188875
        - -0.020224110491165792
        - 0.011511412898078555
        rotation_matrix:
        - - 0.024883795529603958
          - -0.9994190335273743
          - 0.023289648815989494
        - - 0.729682445526123
          - 0.03408241644501686
          - 0.6829362511634827
        - - -0.6833332777023315
          - 0.0
          - 0.7301065921783447
      grasp_42:
        position:
        - 0.0029025565247784817
        - -0.01768625424732495
        - 0.03432170449420813
        rotation_matrix:
        - - -0.02385937236249447
          - 0.999703049659729
          - -0.00495491735637188
        - - -0.9788188338279724
          - -0.024368440732359886
          - -0.2032729983329773
        - - -0.20333337783813477
          - 0.0
          - 0.9791095852851868
      grasp_43:
        position:
        - 0.009729823250447123
        - 0.008501479512504462
        - -0.03507729702703655
        rotation_matrix:
        - - -0.003189190523698926
          - 0.9999880790710449
          - 0.003690961981192231
        - - -0.6537930965423584
          - -0.004877923522144556
          - 0.7566576600074768
        - - 0.7566666603088379
          - 0.0
          - 0.6538008451461792
      grasp_44:
        position:
        - 0.005477026770116078
        - -0.013125666544616
        - -0.002568837722856543
        rotation_matrix:
        - - -0.6426719427108765
          - -0.7536033391952515
          - -0.1380392163991928
        - - 0.7367990016937256
          - -0.6573294997215271
          - 0.15825672447681427
        - - -0.21000003814697266
          - 0.0
          - 0.9777013659477234
      grasp_45:
        position:
        - 0.007971794099395944
        - 0.0065494035914039905
        - 0.007995273694768545
        rotation_matrix:
        - - 0.02635135129094124
          - 0.9996432065963745
          - -0.004362640902400017
        - - -0.9862189292907715
          - 0.026710042729973793
          - 0.1632750779390335
        - - 0.16333335638046265
          - 0.0
          - 0.9865709543228149
      grasp_46:
        position:
        - 0.0033033437585529013
        - -0.004594475019123176
        - -0.03094998034164309
        rotation_matrix:
        - - -0.6358650326728821
          - 0.7673705220222473
          - -0.08257168531417847
        - - -0.05268435925245285
          - 0.06358020007610321
          - 0.9965851306915283
        - - 0.7699999809265137
          - 0.6380438804626465
          - 3.906892154479422e-17
      grasp_47:
        position:
        - 0.003259250683102715
        - -0.02130388879385714
        - -0.034698116255179046
        rotation_matrix:
        - - -0.02789962664246559
          - -0.999335765838623
          - 0.023444462567567825
        - - 0.7650777101516724
          - -0.03644217178225517
          - -0.6429059505462646
        - - 0.6433333158493042
          - 0.0
          - 0.765586256980896
      grasp_48:
        position:
        - 0.004251141399552016
        - -0.019455431281350438
        - 0.03504707615412772
        rotation_matrix:
        - - 0.079692542552948
          - 0.9700073003768921
          - 0.22964076697826385
        - - 0.2561989724636078
          - 0.20270317792892456
          - -0.9451314806938171
        - - -0.9633333683013916
          - 0.13415366411209106
          - -0.23236095905303955
      grasp_49:
        position:
        - -0.007529410465327351
        - -0.01894041735241525
        - -0.01567359204702079
        rotation_matrix:
        - - 0.014043985866010189
          - -0.9998931884765625
          - -0.00404332997277379
        - - 0.9608633518218994
          - 0.014614447019994259
          - -0.27663707733154297
        - - 0.27666664123535156
          - 0.0
          - 0.9609659314155579
      grasp_50:
        position:
        - -0.007179636329273452
        - -0.018836039415798034
        - -7.05778556410186e-05
        rotation_matrix:
        - - 0.06542284041643143
          - -0.9978401064872742
          - 0.0059120506048202515
        - - 0.9937906265258789
          - 0.06568942964076996
          - 0.08980564773082733
        - - -0.09000003337860107
          - 0.0
          - 0.9959417581558228
      grasp_51:
        position:
        - -0.009639112304092269
        - 0.006819623073058445
        - -0.0016799447923898647
        rotation_matrix:
        - - -0.02385937236249447
          - 0.999703049659729
          - -0.00495491735637188
        - - -0.9788188338279724
          - -0.024368440732359886
          - -0.2032729983329773
        - - -0.20333337783813477
          - 0.0
          - 0.9791095852851868
      grasp_52:
        position:
        - 0.00331552830702383
        - 0.010863116552805419
        - -0.03539513926766813
        rotation_matrix:
        - - -0.015894992277026176
          - 0.9961710572242737
          - 0.08596841990947723
        - - -0.18111568689346313
          - -0.08742550760507584
          - 0.9795682430267334
        - - 0.9833333492279053
          - 0.0
          - 0.1818118393421173
      grasp_53:
        position:
        - -0.004274701108711137
        - -0.0074205552483644355
        - 0.0345095142122358
        rotation_matrix:
        - - 0.004352654330432415
          - 0.9999740719795227
          - 0.00573710398748517
        - - -0.6044033169746399
          - 0.007201386149972677
          - -0.7966459393501282
        - - -0.7966666221618652
          - 0.0
          - 0.6044189929962158
      grasp_54:
        position:
        - -0.009611049450995066
        - -0.014981749387279142
        - 0.027149001618847257
        rotation_matrix:
        - - -0.016119660809636116
          - -0.9998555779457092
          - -0.0053815096616744995
        - - 0.9483999013900757
          - -0.016994237899780273
          - 0.31662097573280334
        - - -0.31666672229766846
          - 0.0
          - 0.9485368728637695
      grasp_55:
        position:
        - -0.007087074751101638
        - -0.019504962063581432
        - 0.002896088895713911
        rotation_matrix:
        - - 0.08393515646457672
          - -0.9952710270881653
          - -0.04889218509197235
        - - 0.8600060939788818
          - 0.09713679552078247
          - -0.5009530782699585
        - - 0.503333330154419
          - 0.0
          - 0.8640923500061035
      grasp_56:
        position:
        - -0.0034382077795287874
        - -0.0033806211700986577
        - -0.03432260643579066
        rotation_matrix:
        - - 0.10401858389377594
          - -0.9938283562660217
          - -0.038540683686733246
        - - 0.09528955817222595
          - 0.04853108897805214
          - -0.9942658543586731
        - - 0.9900000095367432
          - 0.0997496023774147
          - 0.0997496023774147
      grasp_57:
        position:
        - -0.009388058691436576
        - 0.006782622596571475
        - 0.0001533888377249215
        rotation_matrix:
        - - 0.02635135129094124
          - 0.9996432065963745
          - -0.004362640902400017
        - - -0.9862189292907715
          - 0.026710042729973793
          - 0.1632750779390335
        - - 0.16333335638046265
          - 0.0
          - 0.9865709543228149
      grasp_58:
        position:
        - 0.010493100487640076
        - -0.008890723146090185
        - 0.03500844396837055
        rotation_matrix:
        - - 0.024883795529603958
          - -0.9994190335273743
          - 0.023289648815989494
        - - 0.729682445526123
          - 0.03408241644501686
          - 0.6829362511634827
        - - -0.6833332777023315
          - 0.0
          - 0.7301065921783447
      grasp_59:
        position:
        - 0.009775863464239176
        - -0.0016050042017391464
        - -0.03429998005218804
        rotation_matrix:
        - - 0.022773904725909233
          - -0.9989326596260071
          - -0.04018503054976463
        - - 0.49252545833587646
          - 0.04618968814611435
          - -0.8690714240074158
        - - 0.8700000047683716
          - 0.0
          - 0.4930517077445984
      grasp_60:
        position:
        - 0.003858400697288114
        - -0.02327579658252027
        - 0.015629318080469967
        rotation_matrix:
        - - 0.14642490446567535
          - -0.989015519618988
          - -0.0202009454369545
        - - 0.9797356724739075
          - 0.14781181514263153
          - -0.13516543805599213
        - - 0.1366666555404663
          - 0.0
          - 0.9906170964241028
      grasp_61:
        position:
        - -0.0036429078248163965
        - 0.0040855807331998395
        - -0.034304717591777445
        rotation_matrix:
        - - 0.10401858389377594
          - -0.9938283562660217
          - -0.038540683686733246
        - - 0.09528955817222595
          - 0.04853108897805214
          - -0.9942658543586731
        - - 0.9900000095367432
          - 0.0997496023774147
          - 0.0997496023774147
      grasp_62:
        position:
        - 0.01136129901051866
        - -0.011640352727331368
        - 0.026675074062868953
        rotation_matrix:
        - - -0.021364182233810425
          - -0.9997690916061401
          - -0.0023216078989207745
        - - 0.07873465120792389
          - -0.003997406456619501
          - 0.9968875646591187
        - - -0.996666669845581
          - 0.02111489698290825
          - 0.07880187034606934
      grasp_63:
        position:
        - 0.0029405843092033673
        - 0.003990404773503542
        - -0.03527861710600555
        rotation_matrix:
        - - -0.08158169686794281
          - 0.996666669845581
          - 6.102823415874971e-17
        - - 0.0
          - -6.123234262925839e-17
          - 1.0
        - - 0.996666669845581
          - 0.08158169686794281
          - 4.995438017797565e-18
      grasp_64:
        position:
        - 0.003954166379232793
        - -0.010844595051132028
        - 0.035584825534001
        rotation_matrix:
        - - 0.079692542552948
          - 0.9963905215263367
          - -0.02924041822552681
        - - 0.2561989724636078
          - -0.048821788281202316
          - -0.9653903245925903
        - - -0.9633333683013916
          - 0.06944304704666138
          - -0.2591649889945984
      grasp_65:
        position:
        - -0.001743809209467817
        - -0.023401789473437795
        - -0.015523040556162604
        rotation_matrix:
        - - -0.577991783618927
          - -0.6351587176322937
          - -0.5123464465141296
        - - 0.47530457377433777
          - -0.7723816633224487
          - 0.42132192850112915
        - - -0.6633332967758179
          - 0.0
          - 0.7483240962028503
      grasp_66:
        position:
        - 0.003177503284591904
        - 0.004570332756779941
        - 0.035419757179543376
        rotation_matrix:
        - - -0.021364182233810425
          - -0.9997690916061401
          - -0.0023216078989207745
        - - 0.07873465120792389
          - -0.003997406456619501
          - 0.9968875646591187
        - - -0.996666669845581
          - 0.02111489698290825
          - 0.07880187034606934
      grasp_67:
        position:
        - 0.004015260730803799
        - -0.0027405365498217316
        - -0.035442008781060574
        rotation_matrix:
        - - 0.07559296488761902
          - -0.9970880746841431
          - 0.010053213685750961
        - - 0.281202107667923
          - 0.011643964797258377
          - -0.9595779180526733
        - - 0.9566666483879089
          - 0.07536432147026062
          - 0.28126347064971924
      grasp_68:
        position:
        - 0.004217985857331907
        - 0.008311213320676636
        - 0.0313191568993032
        rotation_matrix:
        - - -0.6169073581695557
          - -0.7478697299957275
          - -0.24518591165542603
        - - -0.29415178298950195
          - -0.0698615163564682
          - 0.9532020092010498
        - - -0.7300000190734863
          - 0.6601592302322388
          - -0.17688913643360138
      grasp_69:
        position:
        - 0.007762289581518318
        - 0.008504792225260793
        - 0.010846348033100361
        rotation_matrix:
        - - 0.02635135129094124
          - 0.9996432065963745
          - -0.004362640902400017
        - - -0.9862189292907715
          - 0.026710042729973793
          - 0.1632750779390335
        - - 0.16333335638046265
          - 0.0
          - 0.9865709543228149
      grasp_70:
        position:
        - 0.00284075629281981
        - -0.009827723398094346
        - -0.025048116733133785
        rotation_matrix:
        - - -0.02789962664246559
          - -0.999335765838623
          - 0.023444462567567825
        - - 0.7650777101516724
          - -0.03644217178225517
          - -0.6429059505462646
        - - 0.6433333158493042
          - 0.0
          - 0.765586256980896
      grasp_71:
        position:
        - -0.00939484337639265
        - 0.006483227534542113
        - 0.008210920505598185
        rotation_matrix:
        - - 0.02635135129094124
          - 0.9996432065963745
          - -0.004362640902400017
        - - -0.9862189292907715
          - 0.026710042729973793
          - 0.1632750779390335
        - - 0.16333335638046265
          - 0.0
          - 0.9865709543228149
      grasp_72:
        position:
        - 0.010679628650985054
        - -7.862575968253793e-05
        - 0.0023856058638542788
        rotation_matrix:
        - - 0.02635135129094124
          - 0.9996432065963745
          - -0.004362640902400017
        - - -0.9862189292907715
          - 0.026710042729973793
          - 0.1632750779390335
        - - 0.16333335638046265
          - 0.0
          - 0.9865709543228149
      grasp_73:
        position:
        - 0.003985240927352963
        - -0.002580657442746992
        - 0.03588067273534834
        rotation_matrix:
        - - -0.020128514617681503
          - -0.9988208413124084
          - -0.04417892172932625
        - - 0.4141194224357605
          - -0.04854826629161835
          - 0.9089269638061523
        - - -0.9099999666213989
          - 0.0
          - 0.41460829973220825
      grasp_74:
        position:
        - 0.0049106080771567084
        - -0.019505235231460083
        - -0.018781450222432605
        rotation_matrix:
        - - 0.07559296488761902
          - -0.9970880746841431
          - 0.010053213685750961
        - - 0.281202107667923
          - 0.011643964797258377
          - -0.9595779180526733
        - - 0.9566666483879089
          - 0.07536432147026062
          - 0.28126347064971924
      grasp_75:
        position:
        - -0.0036158749302719305
        - 0.007496509666031326
        - 0.03561056636460125
        rotation_matrix:
        - - 0.024883795529603958
          - -0.9994190335273743
          - 0.023289648815989494
        - - 0.729682445526123
          - 0.03408241644501686
          - 0.6829362511634827
        - - -0.6833332777023315
          - 0.0
          - 0.7301065921783447
      grasp_76:
        position:
        - 0.003682786897231727
        - 0.005457654343225177
        - 0.03558642368353904
        rotation_matrix:
        - - 0.079692542552948
          - 0.9963905215263367
          - -0.02924041822552681
        - - 0.2561989724636078
          - -0.048821788281202316
          - -0.9653903245925903
        - - -0.9633333683013916
          - 0.06944304704666138
          - -0.2591649889945984
      grasp_77:
        position:
        - 0.0017168588835366205
        - 0.003990404773503542
        - -0.020328617392480375
        rotation_matrix:
        - - -0.08158169686794281
          - 0.996666669845581
          - 6.102823415874971e-17
        - - 0.0
          - -6.123234262925839e-17
          - 1.0
        - - 0.996666669845581
          - 0.08158169686794281
          - 4.995438017797565e-18
      grasp_78:
        position:
        - 0.007413420115446521
        - 0.012454386389205485
        - -0.016317111197486522
        rotation_matrix:
        - - 0.02635135129094124
          - 0.9996432065963745
          - -0.004362640902400017
        - - -0.9862189292907715
          - 0.026710042729973793
          - 0.1632750779390335
        - - 0.16333335638046265
          - 0.0
          - 0.9865709543228149
      grasp_79:
        position:
        - 0.0032332690177147294
        - 0.01972907169773415
        - 0.03513903047852218
        rotation_matrix:
        - - -0.021364182233810425
          - -0.9997690916061401
          - -0.0023216078989207745
        - - 0.07873465120792389
          - -0.003997406456619501
          - 0.9968875646591187
        - - -0.996666669845581
          - 0.02111489698290825
          - 0.07880187034606934
      grasp_80:
        position:
        - 0.001945202457352524
        - -0.018035489143228056
        - -0.008742262604087614
        rotation_matrix:
        - - -0.40543121099472046
          - -0.7324777841567993
          - -0.5469020009040833
        - - 0.4362122714519501
          - -0.680790901184082
          - 0.5884237885475159
        - - -0.8033332824707031
          - 0.0
          - 0.5955296754837036
      grasp_81:
        position:
        - -0.003689922422853176
        - 0.014208845664651082
        - -0.03503857845850289
        rotation_matrix:
        - - 0.022773904725909233
          - -0.9989326596260071
          - -0.04018503054976463
        - - 0.49252545833587646
          - 0.04618968814611435
          - -0.8690714240074158
        - - 0.8700000047683716
          - 0.0
          - 0.4930517077445984
      grasp_82:
        position:
        - 0.0038102448334711644
        - -0.004836298100360681
        - 0.03610309103801845
        rotation_matrix:
        - - 0.052592065185308456
          - 0.9983018636703491
          - 0.02504858188331127
        - - -0.9012957811355591
          - 0.058252524584531784
          - -0.4292697608470917
        - - -0.4299999475479126
          - 0.0
          - 0.9028289318084717
      grasp_83:
        position:
        - 0.007267349759282889
        - 0.013986951364506894
        - 0.021063274176046254
        rotation_matrix:
        - - -0.05148642137646675
          - 0.9984356164932251
          - 0.021806450560688972
        - - -0.9193743467330933
          - -0.055913977324962616
          - 0.38938987255096436
        - - 0.38999998569488525
          - 0.0
          - 0.9208148717880249
      grasp_84:
        position:
        - 0.0036213499625518016
        - -0.0074155124663792815
        - -0.03644200869910419
        rotation_matrix:
        - - -0.003189190523698926
          - 0.9999880790710449
          - 0.003690961981192231
        - - -0.6537930965423584
          - -0.004877923522144556
          - 0.7566576600074768
        - - 0.7566666603088379
          - 0.0
          - 0.6538008451461792
      grasp_85:
        position:
        - 0.009841256930895707
        - -0.008934512493836866
        - 0.035861689214035875
        rotation_matrix:
        - - -0.0619383230805397
          - 0.9971546530723572
          - -0.0429685115814209
        - - -0.8193067908287048
          - -0.07538334280252457
          - -0.568378210067749
        - - -0.5700000524520874
          - 0.0
          - 0.82164466381073
      grasp_86:
        position:
        - -0.007436530596283524
        - -0.01900067578563802
        - 0.0017627554764505504
        rotation_matrix:
        - - 0.014043985866010189
          - -0.9998931884765625
          - -0.00404332997277379
        - - 0.9608633518218994
          - 0.014614447019994259
          - -0.27663707733154297
        - - 0.27666664123535156
          - 0.0
          - 0.9609659314155579
      grasp_87:
        position:
        - -0.003628789291314223
        - 0.02095193998731376
        - 0.034079435829445726
        rotation_matrix:
        - - -0.0619383230805397
          - 0.9971546530723572
          - -0.0429685115814209
        - - -0.8193067908287048
          - -0.07538334280252457
          - -0.568378210067749
        - - -0.5700000524520874
          - 0.0
          - 0.82164466381073
      grasp_88:
        position:
        - 0.004036492475549585
        - 0.006893017235012344
        - -0.03464455274194478
        rotation_matrix:
        - - 0.014043985866010189
          - -0.9998931884765625
          - -0.00404332997277379
        - - 0.9608633518218994
          - 0.014614447019994259
          - -0.27663707733154297
        - - 0.27666664123535156
          - 0.0
          - 0.9609659314155579
      grasp_89:
        position:
        - 0.008895091216328676
        - -0.022714715580551936
        - -0.03279931391067803
        rotation_matrix:
        - - 0.022773904725909233
          - -0.9989326596260071
          - -0.04018503054976463
        - - 0.49252545833587646
          - 0.04618968814611435
          - -0.8690714240074158
        - - 0.8700000047683716
          - 0.0
          - 0.4930517077445984
      grasp_90:
        position:
        - 0.009475510542153497
        - 0.014212862139063198
        - 0.006267652161791926
        rotation_matrix:
        - - -0.02385937236249447
          - 0.999703049659729
          - -0.00495491735637188
        - - -0.9788188338279724
          - -0.024368440732359886
          - -0.2032729983329773
        - - -0.20333337783813477
          - 0.0
          - 0.9791095852851868
      grasp_91:
        position:
        - -0.0037850359166703706
        - 0.005015143459900978
        - -0.03447138439379632
        rotation_matrix:
        - - 0.07559296488761902
          - -0.9970880746841431
          - 0.010053213685750961
        - - 0.281202107667923
          - 0.011643964797258377
          - -0.9595779180526733
        - - 0.9566666483879089
          - 0.07536432147026062
          - 0.28126347064971924
      grasp_92:
        position:
        - 0.0039118980365524525
        - 0.012136327917912484
        - -0.005562712769582867
        rotation_matrix:
        - - -0.7755820751190186
          - -0.051061857491731644
          - 0.6291781663894653
        - - 0.03965438902378082
          - -0.9986954927444458
          - -0.03216896951198578
        - - 0.6299999952316284
          - 0.0
          - 0.7765951156616211
      grasp_93:
        position:
        - 0.00026314202767174777
        - 0.0037053713992050707
        - 0.0224884352259338
        rotation_matrix:
        - - 0.9968194961547852
          - -0.021814685314893723
          - 0.07664846628904343
        - - 0.02175047993659973
          - 0.9997620582580566
          - 0.0016724602319300175
        - - -0.07666671276092529
          - 0.0
          - 0.997056782245636
      grasp_94:
        position:
        - 0.004317717961870582
        - -0.004420386219713548
        - -0.024782513458654287
        rotation_matrix:
        - - -0.9991373419761658
          - -0.019510533660650253
          - 0.036659713834524155
        - - 0.01949741318821907
          - -0.9998096227645874
          - -0.0007153867045417428
        - - 0.036666691303253174
          - 0.0
          - 0.999327540397644
      grasp_95:
        position:
        - 0.006637959306193375
        - 0.020314241643288614
        - -0.01352655827589333
        rotation_matrix:
        - - -0.7755820751190186
          - -0.051061857491731644
          - 0.6291781663894653
        - - 0.03965438902378082
          - -0.9986954927444458
          - -0.03216896951198578
        - - 0.6299999952316284
          - 0.0
          - 0.7765951156616211
      grasp_96:
        position:
        - 0.003122539960775106
        - 0.004251529194423655
        - -0.009976224229112263
        rotation_matrix:
        - - -0.9416295886039734
          - -0.07053721696138382
          - -0.3291780650615692
        - - 0.06658578664064407
          - -0.9975091218948364
          - 0.0232772845774889
        - - -0.33000004291534424
          - 0.0
          - 0.9439809322357178
      grasp_97:
        position:
        - 0.003280161274365756
        - 0.004157172025615595
        - 0.0014041404603980512
        rotation_matrix:
        - - -0.9145970940589905
          - 0.031567055732011795
          - 0.40313228964805603
        - - -0.028885534033179283
          - -0.999501645565033
          - 0.012732044793665409
        - - 0.40333330631256104
          - 0.0
          - 0.915053129196167
      grasp_98:
        position:
        - 3.1392168757360395e-05
        - -0.014260995456573694
        - -0.00054409650377929
        rotation_matrix:
        - - 0.9810798168182373
          - -0.009811279363930225
          - -0.19335487484931946
        - - -0.19334520399570465
          - 0.0019335468532517552
          - -0.9811288714408875
        - - 0.009999990463256836
          - 0.9999499917030334
          - 6.12292787522695e-17
      grasp_99:
        position:
        - 0.0028458606619003457
        - 0.011810183023828733
        - -0.0011819502875208832
        rotation_matrix:
        - - -0.9829893708229065
          - -0.1526530385017395
          - -0.10212226957082748
        - - 0.1518358439207077
          - -0.9882798194885254
          - 0.01577414944767952
        - - -0.10333335399627686
          - 0.0
          - 0.9946467876434326
      grasp_100:
        position:
        - 0.0005798159174279505
        - 0.003633039998616916
        - 0.027749651538580666
        rotation_matrix:
        - - 0.9968194961547852
          - -0.021814685314893723
          - 0.07664846628904343
        - - 0.02175047993659973
          - 0.9997620582580566
          - 0.0016724602319300175
        - - -0.07666671276092529
          - 0.0
          - 0.997056782245636
      grasp_101:
        position:
        - 0.0027551830308470415
        - -0.003289062099522254
        - -0.026499750279262657
        rotation_matrix:
        - - -0.9416295886039734
          - -0.07053721696138382
          - -0.3291780650615692
        - - 0.06658578664064407
          - -0.9975091218948364
          - 0.0232772845774889
        - - -0.33000004291534424
          - 0.0
          - 0.9439809322357178
      grasp_102:
        position:
        - 0.0029315508879528274
        - 0.0036088343965209844
        - -0.009276224316284054
        rotation_matrix:
        - - -0.9798274040222168
          - 0.06310264766216278
          - -0.18962140381336212
        - - -0.06195317581295967
          - -0.99800705909729
          - -0.011989506892859936
        - - -0.19000005722045898
          - 0.0
          - 0.9817841053009033
      grasp_103:
        position:
        - 0.006009170597027325
        - -0.011829654288073647
        - 0.006294476317986852
        rotation_matrix:
        - - -0.9798274040222168
          - 0.06310264766216278
          - -0.18962140381336212
        - - -0.06195317581295967
          - -0.99800705909729
          - -0.011989506892859936
        - - -0.19000005722045898
          - 0.0
          - 0.9817841053009033
      grasp_104:
        position:
        - 0.002220131708608797
        - -0.019570743314562156
        - 0.01019331993237138
        rotation_matrix:
        - - -0.9596743583679199
          - -0.10199049115180969
          - 0.26196014881134033
        - - 0.09839072823524475
          - -0.9947853684425354
          - -0.026857495307922363
        - - 0.2633333206176758
          - 0.0
          - 0.9647049307823181
      grasp_105:
        position:
        - 0.002193948725230155
        - -0.019772871002536815
        - -0.01150571499094366
        rotation_matrix:
        - - -0.9416295886039734
          - -0.07053721696138382
          - -0.3291780650615692
        - - 0.06658578664064407
          - -0.9975091218948364
          - 0.0232772845774889
        - - -0.33000004291534424
          - 0.0
          - 0.9439809322357178
      grasp_106:
        position:
        - 0.000749143260439622
        - -0.0034894748412990506
        - -0.015668985203653563
        rotation_matrix:
        - - -0.7120906114578247
          - -0.12137987464666367
          - -0.6915156245231628
        - - 0.0870773047208786
          - -0.9926061034202576
          - 0.0845613181591034
        - - -0.6966667175292969
          - 0.0
          - 0.7173949480056763
      grasp_107:
        position:
        - -2.3594719008257492e-05
        - 0.013163844759466553
        - -0.015860685645788908
        rotation_matrix:
        - - 0.9859362244606018
          - -0.1549675315618515
          - -0.06256823986768723
        - - 0.15465642511844635
          - 0.9879195690155029
          - -0.00981460977345705
        - - 0.06333333253860474
          - 0.0
          - 0.9979924559593201
      grasp_108:
        position:
        - 0.003447037047861201
        - 0.018818988675400786
        - 0.029660577971488244
        rotation_matrix:
        - - 0.9701414108276367
          - 0.11165301501750946
          - 0.2153119295835495
        - - -0.10900076478719711
          - 0.9937472343444824
          - -0.024191489443182945
        - - -0.21666669845581055
          - 0.0
          - 0.976245641708374
      grasp_109:
        position:
        - 0.0058442200842032666
        - 0.019304926390984536
        - -0.005353227588906884
        rotation_matrix:
        - - -0.7755820751190186
          - -0.051061857491731644
          - 0.6291781663894653
        - - 0.03965438902378082
          - -0.9986954927444458
          - -0.03216896951198578
        - - 0.6299999952316284
          - 0.0
          - 0.7765951156616211
      grasp_110:
        position:
        - 0.0044700501048896
        - 0.003472245728606084
        - 0.022305970824882393
        rotation_matrix:
        - - -0.9416295886039734
          - -0.07053721696138382
          - -0.3291780650615692
        - - 0.06658578664064407
          - -0.9975091218948364
          - 0.0232772845774889
        - - -0.33000004291534424
          - 0.0
          - 0.9439809322357178
      grasp_111:
        position:
        - 0.002903211971706454
        - 0.01152699483724283
        - -0.01674891887940466
        rotation_matrix:
        - - -0.9829893708229065
          - -0.1526530385017395
          - -0.10212226957082748
        - - 0.1518358439207077
          - -0.9882798194885254
          - 0.01577414944767952
        - - -0.10333335399627686
          - 0.0
          - 0.9946467876434326
      grasp_112:
        position:
        - 0.003121103751623
        - 0.004516510468156182
        - 0.00875841823257506
        rotation_matrix:
        - - -0.9596743583679199
          - -0.10199049115180969
          - 0.26196014881134033
        - - 0.09839072823524475
          - -0.9947853684425354
          - -0.026857495307922363
        - - 0.2633333206176758
          - 0.0
          - 0.9647049307823181
      grasp_113:
        position:
        - -0.0005707121407927396
        - -0.019985715983168024
        - 0.02429900142028929
        rotation_matrix:
        - - 0.8959739208221436
          - 0.029225772246718407
          - 0.4431440234184265
        - - -0.026196720078587532
          - 0.9995728135108948
          - -0.012956760823726654
        - - -0.44333338737487793
          - 0.0
          - 0.8963567614555359
      grasp_114:
        position:
        - 0.004740150343909677
        - 0.0037611350476016506
        - 0.011291751477494838
        rotation_matrix:
        - - -0.6358650326728821
          - 0.08257168531417847
          - 0.7673705220222473
        - - -0.05268435925245285
          - -0.9965851306915283
          - 0.06358020007610321
        - - 0.7699999809265137
          - 0.0
          - 0.6380438804626465
      grasp_115:
        position:
        - 1.0564582192396088e-06
        - 0.020222392569186592
        - 0.0005650432685390117
        rotation_matrix:
        - - 0.9859362244606018
          - -0.1549675315618515
          - -0.06256823986768723
        - - 0.15465642511844635
          - 0.9879195690155029
          - -0.00981460977345705
        - - 0.06333333253860474
          - 0.0
          - 0.9979924559593201
      grasp_116:
        position:
        - 0.0023825264513299693
        - 0.017075715053299797
        - -0.018083778226003044
        rotation_matrix:
        - - -0.9798274040222168
          - 0.06310264766216278
          - -0.18962140381336212
        - - -0.06195317581295967
          - -0.99800705909729
          - -0.011989506892859936
        - - -0.19000005722045898
          - 0.0
          - 0.9817841053009033
      grasp_117:
        position:
        - 0.003088543301409785
        - 0.004482426179367768
        - 0.014320968922600152
        rotation_matrix:
        - - -0.9829893708229065
          - -0.1526530385017395
          - -0.10212226957082748
        - - 0.1518358439207077
          - -0.9882798194885254
          - 0.01577414944767952
        - - -0.10333335399627686
          - 0.0
          - 0.9946467876434326
      grasp_118:
        position:
        - 0.0003395465792858099
        - 0.013260281349422837
        - -2.9944614693522276e-05
        rotation_matrix:
        - - 0.9859362244606018
          - -0.1549675315618515
          - -0.06256823986768723
        - - 0.15465642511844635
          - 0.9879195690155029
          - -0.00981460977345705
        - - 0.06333333253860474
          - 0.0
          - 0.9979924559593201
      grasp_119:
        position:
        - 0.0036697993993417555
        - 0.011570027093198043
        - 0.03115605698749424
        rotation_matrix:
        - - 0.9968194961547852
          - -0.021814685314893723
          - 0.07664846628904343
        - - 0.02175047993659973
          - 0.9997620582580566
          - 0.0016724602319300175
        - - -0.07666671276092529
          - 0.0
          - 0.997056782245636
      grasp_120:
        position:
        - -0.00010769106376606885
        - -0.012277728882823247
        - -0.017648369578272094
        rotation_matrix:
        - - 0.9968194961547852
          - -0.021814685314893723
          - 0.07664846628904343
        - - 0.02175047993659973
          - 0.9997620582580566
          - 0.0016724602319300175
        - - -0.07666671276092529
          - 0.0
          - 0.997056782245636
      grasp_121:
        position:
        - -0.002745643912570095
        - -0.020551589651962437
        - -0.030019923208281396
        rotation_matrix:
        - - 0.8561459183692932
          - 0.009755730628967285
          - -0.5166420936584473
        - - -0.008352726697921753
          - 0.9999524354934692
          - 0.005040460731834173
        - - 0.5166666507720947
          - 0.0
          - 0.8561866283416748
      grasp_122:
        position:
        - 0.002972815779534732
        - -0.005337286811835193
        - -0.00895231794007123
        rotation_matrix:
        - - -0.9794467091560364
          - -0.049033619463443756
          - -0.19565249979496002
        - - -0.19540779292583466
          - -0.009782616049051285
          - 0.9806733131408691
        - - -0.04999995231628418
          - 0.9987491965293884
          - 6.115575232198088e-17
      grasp_123:
        position:
        - -2.7637369219846164e-05
        - 0.003968357569333059
        - -0.01718313297405838
        rotation_matrix:
        - - 0.9968194961547852
          - -0.021814685314893723
          - 0.07664846628904343
        - - 0.02175047993659973
          - 0.9997620582580566
          - 0.0016724602319300175
        - - -0.07666671276092529
          - 0.0
          - 0.997056782245636
      grasp_124:
        position:
        - 0.005241480287327516
        - -0.0036646522758794625
        - 0.00226907134205101
        rotation_matrix:
        - - 0.7413018941879272
          - -0.053401026874780655
          - 0.6690439581871033
        - - 0.03964284434914589
          - 0.9985731244087219
          - 0.03577868640422821
        - - -0.6699999570846558
          - 0.0
          - 0.7423611283302307
      grasp_125:
        position:
        - -0.001129462629113731
        - -0.017233972258129504
        - -0.000908519504033034
        rotation_matrix:
        - - 0.9313517212867737
          - 0.021737437695264816
          - 0.3634713590145111
        - - 0.3633723855018616
          - 0.008480990305542946
          - -0.9316053986549377
        - - -0.023333311080932617
          - 0.999727725982666
          - 6.121566666810932e-17
      grasp_126:
        position:
        - 0.006443659532518187
        - -0.011428859470223762
        - -0.010994267699494964
        rotation_matrix:
        - - -0.8306755423545837
          - 0.012060238048434258
          - -0.5566261410713196
        - - -0.010018873028457165
          - -0.999927282333374
          - -0.006713531911373138
        - - -0.5566666126251221
          - 0.0
          - 0.830735981464386
      grasp_127:
        position:
        - 0.004054518065221224
        - 0.0043319254611192785
        - 0.010083533305674797
        rotation_matrix:
        - - 0.4683450162410736
          - -0.04132113233208656
          - -0.8825789093971252
        - - 0.019369089975953102
          - 0.9991459250450134
          - -0.03650033473968506
        - - 0.8833333253860474
          - 0.0
          - 0.4687453508377075
      grasp_128:
        position:
        - 0.004279061032067322
        - 0.0028295509307034138
        - 0.0230059707377106
        rotation_matrix:
        - - -0.9798274040222168
          - 0.06310264766216278
          - -0.18962140381336212
        - - -0.06195317581295967
          - -0.99800705909729
          - -0.011989506892859936
        - - -0.19000005722045898
          - 0.0
          - 0.9817841053009033
      grasp_129:
        position:
        - 0.0037138178951696688
        - 0.020126501093413574
        - 0.03106057779714466
        rotation_matrix:
        - - 0.9968194961547852
          - -0.021814685314893723
          - 0.07664846628904343
        - - 0.02175047993659973
          - 0.9997620582580566
          - 0.0016724602319300175
        - - -0.07666671276092529
          - 0.0
          - 0.997056782245636
      grasp_130:
        position:
        - -0.0009429162860590257
        - -0.014153725141483608
        - -0.0015196303419768853
        rotation_matrix:
        - - 0.44348400831222534
          - 0.004435057286173105
          - -0.8962713479995728
        - - -0.8962265253067017
          - -0.008962704800069332
          - -0.4435061812400818
        - - -0.009999990463256836
          - 0.9999499917030334
          - 6.12292787522695e-17
      grasp_131:
        position:
        - 0.00011906456273358401
        - 0.02036473713329051
        - 0.027634098621457825
        rotation_matrix:
        - - 0.9968194961547852
          - -0.021814685314893723
          - 0.07664846628904343
        - - 0.02175047993659973
          - 0.9997620582580566
          - 0.0016724602319300175
        - - -0.07666671276092529
          - 0.0
          - 0.997056782245636
      grasp_132:
        position:
        - 0.005359965036773051
        - 0.01948588638398155
        - 0.024500118539109828
        rotation_matrix:
        - - -0.9596743583679199
          - -0.10199049115180969
          - 0.26196014881134033
        - - 0.09839072823524475
          - -0.9947853684425354
          - -0.026857495307922363
        - - 0.2633333206176758
          - 0.0
          - 0.9647049307823181
      grasp_133:
        position:
        - 0.003882897117240214
        - 0.011249275761881353
        - 0.002484716376662255
        rotation_matrix:
        - - -0.7755820751190186
          - -0.051061857491731644
          - 0.6291781663894653
        - - 0.03965438902378082
          - -0.9986954927444458
          - -0.03216896951198578
        - - 0.6299999952316284
          - 0.0
          - 0.7765951156616211
      grasp_134:
        position:
        - -0.0005971383490028792
        - -0.013800042391015899
        - 0.019563683708757162
        rotation_matrix:
        - - 0.916827917098999
          - 0.14300437271595
          - -0.37279531359672546
        - - -0.1324719488620758
          - 0.9897220730781555
          - 0.0538649819791317
        - - 0.3766666650772095
          - 0.0
          - 0.926348865032196
      grasp_135:
        position:
        - 0.005243389977103774
        - 0.019753111956435906
        - 0.02266678520701826
        rotation_matrix:
        - - -0.9829893708229065
          - -0.1526530385017395
          - -0.10212226957082748
        - - 0.1518358439207077
          - -0.9882798194885254
          - 0.01577414944767952
        - - -0.10333335399627686
          - 0.0
          - 0.9946467876434326
      grasp_136:
        position:
        - 0.004353802274712826
        - 0.004299027139476455
        - 0.024572637663409114
        rotation_matrix:
        - - -0.9648791551589966
          - -0.23372650146484375
          - 0.11991729587316513
        - - 0.2319420725107193
          - -0.9723023772239685
          - -0.028826270252466202
        - - 0.12333333492279053
          - 0.0
          - 0.992365300655365
      grasp_137:
        position:
        - -0.0012678939151324897
        - -0.0014060937573708854
        - -0.00175296344757081
        rotation_matrix:
        - - 0.8544702529907227
          - 0.037061821669340134
          - -0.5181766152381897
        - - -0.5176898837089539
          - -0.02245429903268814
          - -0.8552736043930054
        - - -0.04333329200744629
          - 0.9990606904029846
          - 6.11748237981839e-17
      grasp_138:
        position:
        - 0.0007671436629420603
        - -0.00986040670093205
        - -0.00924426821544766
        rotation_matrix:
        - - -0.9829893708229065
          - -0.1526530385017395
          - -0.10212226957082748
        - - 0.1518358439207077
          - -0.9882798194885254
          - 0.01577414944767952
        - - -0.10333335399627686
          - 0.0
          - 0.9946467876434326
      grasp_139:
        position:
        - 0.0036172052106741015
        - -0.015553742157963013
        - -0.008581639484316117
        rotation_matrix:
        - - 0.44348400831222534
          - 0.004435057286173105
          - -0.8962713479995728
        - - -0.8962265253067017
          - -0.008962704800069332
          - -0.4435061812400818
        - - -0.009999990463256836
          - 0.9999499917030334
          - 6.12292787522695e-17
      grasp_140:
        position:
        - 0.00011239115571681779
        - -0.01458081162869665
        - 0.02382987744882703
        rotation_matrix:
        - - 0.9810798168182373
          - 0.19335487484931946
          - -0.009811279363930225
        - - -0.19334520399570465
          - 0.9811288714408875
          - 0.0019335468532517552
        - - 0.009999990463256836
          - 0.0
          - 0.9999499917030334
      grasp_141:
        position:
        - 0.0057330847400219875
        - 0.01743202229519647
        - -0.008547207557410008
        rotation_matrix:
        - - -0.44124072790145874
          - -0.013243169523775578
          - -0.8972910642623901
        - - -0.8968871831893921
          - -0.02691870555281639
          - 0.4414394199848175
        - - -0.029999971389770508
          - 0.999549925327301
          - 6.120478097124813e-17
      grasp_142:
        position:
        - 0.002894409714969015
        - 0.013698654142015376
        - -0.021335830653086307
        rotation_matrix:
        - - -0.889617919921875
          - -0.3132040500640869
          - 0.33239006996154785
        - - 0.2933937907218933
          - -0.9496858716011047
          - -0.10962142050266266
        - - 0.3500000238418579
          - 0.0
          - 0.9367496967315674
      grasp_143:
        position:
        - 0.0022205275207030084
        - -0.019887301720319106
        - 0.01822672685310245
        rotation_matrix:
        - - -0.9596743583679199
          - -0.10199049115180969
          - 0.26196014881134033
        - - 0.09839072823524475
          - -0.9947853684425354
          - -0.026857495307922363
        - - 0.2633333206176758
          - 0.0
          - 0.9647049307823181
      grasp_144:
        position:
        - 0.003199217391519571
        - -0.005184168970712916
        - 0.016317646930739282
        rotation_matrix:
        - - -0.9778562188148499
          - 0.11398041993379593
          - 0.1755153387784958
        - - -0.11218759417533875
          - -0.9934830069541931
          - 0.02013654261827469
        - - 0.17666667699813843
          - 0.0
          - 0.9842707514762878
      grasp_145:
        position:
        - 0.002664959184043969
        - -0.0031300373951037297
        - -0.023533083527907728
        rotation_matrix:
        - - -0.9596743583679199
          - -0.10199049115180969
          - 0.26196014881134033
        - - 0.09839072823524475
          - -0.9947853684425354
          - -0.026857495307922363
        - - 0.2633333206176758
          - 0.0
          - 0.9647049307823181
      grasp_146:
        position:
        - 0.005055846277787435
        - -0.011238161864717086
        - -0.005626792738586683
        rotation_matrix:
        - - 0.7413018941879272
          - -0.053401026874780655
          - 0.6690439581871033
        - - 0.03964284434914589
          - 0.9985731244087219
          - 0.03577868640422821
        - - -0.6699999570846558
          - 0.0
          - 0.7423611283302307
      grasp_147:
        position:
        - -0.0009359600907505872
        - -0.00416359597231521
        - -0.004618903726665291
        rotation_matrix:
        - - 0.8959739208221436
          - 0.029225772246718407
          - 0.4431440234184265
        - - -0.026196720078587532
          - 0.9995728135108948
          - -0.012956760823726654
        - - -0.44333338737487793
          - 0.0
          - 0.8963567614555359
      grasp_148:
        position:
        - 0.00627469134802916
        - 0.019844024325945855
        - 0.002268938715010882
        rotation_matrix:
        - - -0.7755820751190186
          - -0.051061857491731644
          - 0.6291781663894653
        - - 0.03965438902378082
          - -0.9986954927444458
          - -0.03216896951198578
        - - 0.6299999952316284
          - 0.0
          - 0.7765951156616211
      grasp_149:
        position:
        - 0.0028604835249290694
        - 0.0034652151422895315
        - -0.017438859694823616
        rotation_matrix:
        - - -0.9798274040222168
          - 0.06310264766216278
          - -0.18962140381336212
        - - -0.06195317581295967
          - -0.99800705909729
          - -0.011989506892859936
        - - -0.19000005722045898
          - 0.0
          - 0.9817841053009033
      grasp_150:
        position:
        - 0.005579616268865439
        - 0.019501324718320986
        - 0.0011356052957475216
        rotation_matrix:
        - - -0.9145970940589905
          - 0.031567055732011795
          - 0.40313228964805603
        - - -0.028885534033179283
          - -0.999501645565033
          - 0.012732044793665409
        - - 0.40333330631256104
          - 0.0
          - 0.915053129196167
      grasp_151:
        position:
        - 0.005156915038727672
        - 0.019743239449020764
        - -0.0006977277383208302
        rotation_matrix:
        - - -0.9991373419761658
          - -0.019510533660650253
          - 0.036659713834524155
        - - 0.01949741318821907
          - -0.9998096227645874
          - -0.0007153867045417428
        - - 0.036666691303253174
          - 0.0
          - 0.999327540397644
      grasp_152:
        position:
        - 0.004288916957883859
        - 0.002578378844505652
        - 0.024839304367825388
        rotation_matrix:
        - - -0.9778562188148499
          - 0.11398041993379593
          - 0.1755153387784958
        - - -0.11218759417533875
          - -0.9934830069541931
          - 0.02013654261827469
        - - 0.17666667699813843
          - 0.0
          - 0.9842707514762878
      grasp_153:
        position:
        - -0.0013214977509109493
        - 0.011533753277738257
        - -0.0113273525647819
        rotation_matrix:
        - - 0.8561459183692932
          - 0.009755730628967285
          - -0.5166420936584473
        - - -0.008352726697921753
          - 0.9999524354934692
          - 0.005040460731834173
        - - 0.5166666507720947
          - 0.0
          - 0.8561866283416748
      grasp_154:
        position:
        - 0.003952777509642624
        - 0.004116872209349157
        - -0.005176224145665764
        rotation_matrix:
        - - -0.7755820751190186
          - -0.051061857491731644
          - 0.6291781663894653
        - - 0.03965438902378082
          - -0.9986954927444458
          - -0.03216896951198578
        - - 0.6299999952316284
          - 0.0
          - 0.7765951156616211
      grasp_155:
        position:
        - 0.003071677531265582
        - -0.0038682942388643393
        - -0.007385651610419153
        rotation_matrix:
        - - -0.9596743583679199
          - -0.10199049115180969
          - 0.26196014881134033
        - - 0.09839072823524475
          - -0.9947853684425354
          - -0.026857495307922363
        - - 0.2633333206176758
          - 0.0
          - 0.9647049307823181
      grasp_156:
        position:
        - 1.4895215499577397e-05
        - 0.009968974470810438
        - 0.019615343380719408
        rotation_matrix:
        - - -0.8994141221046448
          - 0.14528495073318481
          - -0.4122457206249237
        - - -0.13207264244556427
          - -0.9893898367881775
          - -0.06053538993000984
        - - -0.41666659712791443
          - 0.0
          - 0.9090593457221985
      grasp_157:
        position:
        - 0.00025433932448448715
        - -0.013682963400473258
        - 0.009122450900077794
        rotation_matrix:
        - - 0.23938864469528198
          - 0.1741815209388733
          - -0.9551721811294556
        - - -0.04234437644481659
          - 0.9847135543823242
          - 0.16895608603954315
        - - 0.9700000286102295
          - 0.0
          - 0.24310486018657684
      grasp_158:
        position:
        - 0.0030547749578588856
        - 0.004793553322733485
        - 0.0007041405475698426
        rotation_matrix:
        - - -0.9596743583679199
          - -0.10199049115180969
          - 0.26196014881134033
        - - 0.09839072823524475
          - -0.9947853684425354
          - -0.026857495307922363
        - - 0.2633333206176758
          - 0.0
          - 0.9647049307823181
      grasp_159:
        position:
        - 0.00507547579255041
        - 0.012091675948531472
        - -0.02422609369419515
        rotation_matrix:
        - - -0.9596743583679199
          - -0.10199049115180969
          - 0.26196014881134033
        - - 0.09839072823524475
          - -0.9947853684425354
          - -0.026857495307922363
        - - 0.2633333206176758
          - 0.0
          - 0.9647049307823181
      grasp_160:
        position:
        - 0.0032515541752089483
        - 0.020800521283662485
        - -0.029977463697642093
        rotation_matrix:
        - - 0.9544847011566162
          - -0.07283593714237213
          - -0.28922975063323975
        - - 0.06970592588186264
          - 0.9973439574241638
          - -0.021122422069311142
        - - 0.2900000214576721
          - 0.0
          - 0.9570266604423523
      grasp_161:
        position:
        - 0.0024325153249402653
        - 0.017141132344859367
        - -0.0012873097094474595
        rotation_matrix:
        - - -0.2804296016693115
          - -0.01028932724148035
          - 0.9598194360733032
        - - 0.9591740369796753
          - 0.035193346440792084
          - 0.280618280172348
        - - -0.0366666316986084
          - 0.999327540397644
          - 6.119116226964305e-17
      grasp_162:
        position:
        - 0.00485565861657361
        - 0.011239606501722954
        - 0.02099867625795304
        rotation_matrix:
        - - -0.8306755423545837
          - 0.012060238048434258
          - -0.5566261410713196
        - - -0.010018873028457165
          - -0.999927282333374
          - -0.006713531911373138
        - - -0.5566666126251221
          - 0.0
          - 0.830735981464386
      grasp_163:
        position:
        - 0.005441429782361784
        - 0.01905686183478894
        - 0.004500986027345055
        rotation_matrix:
        - - -0.8306755423545837
          - 0.012060238048434258
          - -0.5566261410713196
        - - -0.010018873028457165
          - -0.999927282333374
          - -0.006713531911373138
        - - -0.5566666126251221
          - 0.0
          - 0.830735981464386
      grasp_164:
        position:
        - 0.004109899324904465
        - 0.010979934993604553
        - 0.022832008993998176
        rotation_matrix:
        - - -0.9798274040222168
          - 0.06310264766216278
          - -0.18962140381336212
        - - -0.06195317581295967
          - -0.99800705909729
          - -0.011989506892859936
        - - -0.19000005722045898
          - 0.0
          - 0.9817841053009033
      grasp_165:
        position:
        - 0.0007299719037258123
        - 0.013331477234961892
        - 0.029441250921040774
        rotation_matrix:
        - - 0.9859362244606018
          - -0.1549675315618515
          - -0.06256823986768723
        - - 0.15465642511844635
          - 0.9879195690155029
          - -0.00981460977345705
        - - 0.06333333253860474
          - 0.0
          - 0.9979924559593201
      grasp_166:
        position:
        - -1.729610052303432e-05
        - -0.008196140189732415
        - 0.02789480464085936
        rotation_matrix:
        - - 0.7771820425987244
          - 0.2242298573255539
          - -0.5879702568054199
        - - -0.1788208782672882
          - 0.9745362997055054
          - 0.13528534770011902
        - - 0.6033333539962769
          - 0.0
          - 0.7974891066551208
      grasp_167:
        position:
        - 0.002970912305246376
        - -0.004670013741185534
        - -0.009652318448945874
        rotation_matrix:
        - - -0.9798274040222168
          - 0.06310264766216278
          - -0.18962140381336212
        - - -0.06195317581295967
          - -0.99800705909729
          - -0.011989506892859936
        - - -0.19000005722045898
          - 0.0
          - 0.9817841053009033
      grasp_168:
        position:
        - 0.005060620237304914
        - -0.011682466062743743
        - 0.0023970182999968337
        rotation_matrix:
        - - 0.7413018941879272
          - -0.053401026874780655
          - 0.6690439581871033
        - - 0.03964284434914589
          - 0.9985731244087219
          - 0.03577868640422821
        - - -0.6699999570846558
          - 0.0
          - 0.7423611283302307
      grasp_169:
        position:
        - 0.0034651758770962715
        - 0.012881531272821822
        - 0.017144329173490402
        rotation_matrix:
        - - -0.889617919921875
          - -0.3132040500640869
          - 0.33239006996154785
        - - 0.2933937907218933
          - -0.9496858716011047
          - -0.10962142050266266
        - - 0.3500000238418579
          - 0.0
          - 0.9367496967315674
      grasp_170:
        position:
        - 0.002844350747667701
        - 0.011577985191401383
        - 0.007361940383538601
        rotation_matrix:
        - - -0.9991373419761658
          - 0.036659713834524155
          - 0.019510533660650253
        - - 0.01949741318821907
          - -0.0007153867045417428
          - 0.9998096227645874
        - - 0.036666691303253174
          - 0.999327540397644
          - 6.119116226964305e-17
      grasp_171:
        position:
        - 0.004687519877884905
        - 0.012185242230544804
        - 0.02143200916834176
        rotation_matrix:
        - - -0.8643032908439636
          - -0.20291730761528015
          - -0.4602220952510834
        - - 0.17910827696323395
          - -0.9791958928108215
          - 0.09537113457918167
        - - -0.4700000286102295
          - 0.0
          - 0.8826664090156555
      grasp_172:
        position:
        - -0.0006835981198299868
        - 0.013566082376561345
        - 0.0036367220494896157
        rotation_matrix:
        - - 0.8836217522621155
          - -0.20517346262931824
          - -0.42085203528404236
        - - 0.18523652851581573
          - 0.9787256121635437
          - -0.08822458982467651
        - - 0.4300000071525574
          - 0.0
          - 0.9028288722038269
      grasp_173:
        position:
        - -0.0016385991177289005
        - -0.012884122056882219
        - -0.01925240662321448
        rotation_matrix:
        - - 0.8561459183692932
          - 0.009755730628967285
          - -0.5166420936584473
        - - -0.008352726697921753
          - 0.9999524354934692
          - 0.005040460731834173
        - - 0.5166666507720947
          - 0.0
          - 0.8561866283416748
      grasp_174:
        position:
        - 0.0017272279105764454
        - -0.0073797509761898
        - -0.024290946226567023
        rotation_matrix:
        - - 0.9701414108276367
          - 0.11165301501750946
          - 0.2153119295835495
        - - -0.10900076478719711
          - 0.9937472343444824
          - -0.024191489443182945
        - - -0.21666669845581055
          - 0.0
          - 0.976245641708374
      grasp_175:
        position:
        - 0.0003348173232519125
        - 0.012941389980616474
        - 0.016323917046934366
        rotation_matrix:
        - - 0.9859362244606018
          - -0.1549675315618515
          - -0.06256823986768723
        - - 0.15465642511844635
          - 0.9879195690155029
          - -0.00981460977345705
        - - 0.06333333253860474
          - 0.0
          - 0.9979924559593201
      grasp_176:
        position:
        - 0.0024190091505453815
        - 0.016698918703416717
        - -0.02373854724429547
        rotation_matrix:
        - - -0.9798274040222168
          - 0.06310264766216278
          - -0.18962140381336212
        - - -0.06195317581295967
          - -0.99800705909729
          - -0.011989506892859936
        - - -0.19000005722045898
          - 0.0
          - 0.9817841053009033
      grasp_177:
        position:
        - 0.001273790284765819
        - -0.007766385159173161
        - -0.008377601202577356
        rotation_matrix:
        - - -0.9323247075080872
          - -0.015540888532996178
          - 0.3612881898880005
        - - 0.3612380027770996
          - 0.006021464243531227
          - 0.9324542284011841
        - - -0.016666650772094727
          - 0.9998611211776733
          - 6.122383259511645e-17
      grasp_178:
        position:
        - -0.0006903828047860605
        - 0.013266687314531983
        - 0.011694253717362879
        rotation_matrix:
        - - 0.8836217522621155
          - -0.20517346262931824
          - -0.42085203528404236
        - - 0.18523652851581573
          - 0.9787256121635437
          - -0.08822458982467651
        - - 0.4300000071525574
          - 0.0
          - 0.9028288722038269
      grasp_179:
        position:
        - -0.0007121073133079525
        - 0.0033520281147255138
        - -0.024383774217218157
        rotation_matrix:
        - - 0.8561459183692932
          - 0.009755730628967285
          - -0.5166420936584473
        - - -0.008352726697921753
          - 0.9999524354934692
          - 0.005040460731834173
        - - 0.5166666507720947
          - 0.0
          - 0.8561866283416748
      grasp_180:
        position:
        - 4.060667431060594e-05
        - -0.013964470730719297
        - 0.007873206005990507
        rotation_matrix:
        - - 0.9810798168182373
          - -0.009811279363930225
          - -0.19335487484931946
        - - -0.19334520399570465
          - 0.0019335468532517552
          - -0.9811288714408875
        - - 0.009999990463256836
          - 0.9999499917030334
          - 6.12292787522695e-17
      grasp_181:
        position:
        - -0.0005648056930245282
        - 0.011132858569069964
        - 0.011257249961048377
        rotation_matrix:
        - - 0.8959739208221436
          - 0.029225772246718407
          - 0.4431440234184265
        - - -0.026196720078587532
          - 0.9995728135108948
          - -0.012956760823726654
        - - -0.44333338737487793
          - 0.0
          - 0.8963567614555359
      grasp_182:
        position:
        - 0.0032993400836938136
        - -0.014921585370238355
        - -0.007505714722722767
        rotation_matrix:
        - - -0.8310904502868652
          - 0.05831937864422798
          - 0.5530710220336914
        - - 0.5517143607139587
          - -0.03871496766805649
          - 0.833134114742279
        - - 0.06999999284744263
          - 0.9975469708442688
          - 6.108213324746366e-17
      grasp_183:
        position:
        - 0.004976907376363027
        - 0.02094008920804731
        - 0.015000766889750938
        rotation_matrix:
        - - 0.7413018941879272
          - -0.053401026874780655
          - 0.6690439581871033
        - - 0.03964284434914589
          - 0.9985731244087219
          - 0.03577868640422821
        - - -0.6699999570846558
          - 0.0
          - 0.7423611283302307
      grasp_184:
        position:
        - 0.0029334543622411835
        - 0.0029415613258713252
        - -0.008576223807409411
        rotation_matrix:
        - - -0.9794467091560364
          - -0.049033619463443756
          - -0.19565249979496002
        - - -0.19540779292583466
          - -0.009782616049051285
          - 0.9806733131408691
        - - -0.04999995231628418
          - 0.9987491965293884
          - 6.115575232198088e-17
      grasp_185:
        position:
        - 0.00662012075359919
        - 0.019132631714680673
        - -0.02122272491045296
        rotation_matrix:
        - - -0.7755820751190186
          - -0.051061857491731644
          - 0.6291781663894653
        - - 0.03965438902378082
          - -0.9986954927444458
          - -0.03216896951198578
        - - 0.6299999952316284
          - 0.0
          - 0.7765951156616211
      grasp_186:
        position:
        - 0.0047570898660939664
        - -0.004556451017534114
        - 0.02588859493993223
        rotation_matrix:
        - - -0.9145970940589905
          - 0.031567055732011795
          - 0.40313228964805603
        - - -0.028885534033179283
          - -0.999501645565033
          - 0.012732044793665409
        - - 0.40333330631256104
          - 0.0
          - 0.915053129196167
      grasp_187:
        position:
        - 0.003940248427046322
        - 0.01096608757529545
        - -0.013082252215221524
        rotation_matrix:
        - - -0.7755820751190186
          - -0.051061857491731644
          - 0.6291781663894653
        - - 0.03965438902378082
          - -0.9986954927444458
          - -0.03216896951198578
        - - 0.6299999952316284
          - 0.0
          - 0.7765951156616211
      grasp_188:
        position:
        - 0.001379162613266427
        - -0.007732650906040084
        - 0.02562813780233264
        rotation_matrix:
        - - 0.916827917098999
          - 0.14300437271595
          - -0.37279531359672546
        - - -0.1324719488620758
          - 0.9897220730781555
          - 0.0538649819791317
        - - 0.3766666650772095
          - 0.0
          - 0.926348865032196
      grasp_189:
        position:
        - 0.005850423239439628
        - 0.020565838692364946
        - 0.013991137792542574
        rotation_matrix:
        - - 0.6660668849945068
          - 0.0922807827591896
          - -0.7401615381240845
        - - -0.06172856688499451
          - 0.9957330226898193
          - 0.06859537959098816
        - - 0.7433333396911621
          - 0.0
          - 0.668921172618866
      grasp_190:
        position:
        - 0.004943080809130418
        - 0.01241013741211168
        - -0.029894017799198647
        rotation_matrix:
        - - 0.7413018941879272
          - -0.053401026874780655
          - 0.6690439581871033
        - - 0.03964284434914589
          - 0.9985731244087219
          - 0.03577868640422821
        - - -0.6699999570846558
          - 0.0
          - 0.7423611283302307
      grasp_191:
        position:
        - 0.0033624538683813543
        - -0.004207877001290895
        - 0.0015394881731830568
        rotation_matrix:
        - - -0.9145970940589905
          - 0.031567055732011795
          - 0.40313228964805603
        - - -0.028885534033179283
          - -0.999501645565033
          - 0.012732044793665409
        - - 0.40333330631256104
          - 0.0
          - 0.915053129196167
      grasp_192:
        position:
        - 0.00447522535469469
        - 0.003961635463119589
        - -0.023407427623495458
        rotation_matrix:
        - - -0.9596743583679199
          - -0.10199049115180969
          - 0.26196014881134033
        - - 0.09839072823524475
          - -0.9947853684425354
          - -0.026857495307922363
        - - 0.2633333206176758
          - 0.0
          - 0.9647049307823181
      grasp_193:
        position:
        - 0.005935413718110849
        - -0.009572575132687167
        - -0.008294267950579526
        rotation_matrix:
        - - -0.9323247075080872
          - -0.015540888532996178
          - 0.3612881898880005
        - - 0.3612380027770996
          - 0.006021464243531227
          - 0.9324542284011841
        - - -0.016666650772094727
          - 0.9998611211776733
          - 6.122383259511645e-17
      grasp_194:
        position:
        - 0.005314694487485616
        - 0.019685931235560873
        - 0.014376479945704346
        rotation_matrix:
        - - -0.9416295886039734
          - -0.07053721696138382
          - -0.3291780650615692
        - - 0.06658578664064407
          - -0.9975091218948364
          - 0.0232772845774889
        - - -0.33000004291534424
          - 0.0
          - 0.9439809322357178
      grasp_195:
        position:
        - 0.0004003169802397899
        - -0.014233608053621977
        - 0.028835650605708363
        rotation_matrix:
        - - 0.9810798168182373
          - 0.19335487484931946
          - -0.009811279363930225
        - - -0.19334520399570465
          - 0.9811288714408875
          - 0.0019335468532517552
        - - 0.009999990463256836
          - 0.0
          - 0.9999499917030334
      grasp_196:
        position:
        - 0.004186610322608697
        - -0.020796563866574844
        - -0.02202971298098566
        rotation_matrix:
        - - 0.7413018941879272
          - -0.053401026874780655
          - 0.6690439581871033
        - - 0.03964284434914589
          - 0.9985731244087219
          - 0.03577868640422821
        - - -0.6699999570846558
          - 0.0
          - 0.7423611283302307
      grasp_197:
        position:
        - 0.002923788837992103
        - 0.0041220439017380685
        - 0.007625085111334917
        rotation_matrix:
        - - -0.9991373419761658
          - 0.036659713834524155
          - 0.019510533660650253
        - - 0.01949741318821907
          - -0.0007153867045417428
          - 0.9998096227645874
        - - 0.036666691303253174
          - 0.999327540397644
          - 6.119116226964305e-17
      grasp_198:
        position:
        - -0.000819666772180927
        - -0.01258951065476312
        - -0.0050774301808327316
        rotation_matrix:
        - - 0.8959739208221436
          - 0.029225772246718407
          - 0.4431440234184265
        - - -0.026196720078587532
          - 0.9995728135108948
          - -0.012956760823726654
        - - -0.44333338737487793
          - 0.0
          - 0.8963567614555359
      grasp_199:
        position:
        - 0.0037872829159160126
        - -0.01998975337438011
        - -0.010149960137158631
        rotation_matrix:
        - - -0.7755820751190186
          - -0.051061857491731644
          - 0.6291781663894653
        - - 0.03965438902378082
          - -0.9986954927444458
          - -0.03216896951198578
        - - 0.6299999952316284
          - 0.0
          - 0.7765951156616211
      grasp_200:
        position:
        - 0.0022837250306841916
        - 0.01006780500690757
        - -0.029198956275731325
        rotation_matrix:
        - - 0.916827917098999
          - 0.14300437271595
          - -0.37279531359672546
        - - -0.1324719488620758
          - 0.9897220730781555
          - 0.0538649819791317
        - - 0.3766666650772095
          - 0.0
          - 0.926348865032196
      grasp_201:
        position:
        - -0.0006111268140736037
        - -0.013652262918843638
        - 0.003122570160403848
        rotation_matrix:
        - - 0.916827917098999
          - 0.14300437271595
          - -0.37279531359672546
        - - -0.1324719488620758
          - 0.9897220730781555
          - 0.0538649819791317
        - - 0.3766666650772095
          - 0.0
          - 0.926348865032196
      grasp_202:
        position:
        - -0.0007275757333577992
        - 0.011071085805340868
        - -0.012714973551779973
        rotation_matrix:
        - - 0.8959739208221436
          - 0.029225772246718407
          - 0.4431440234184265
        - - -0.026196720078587532
          - 0.9995728135108948
          - -0.012956760823726654
        - - -0.44333338737487793
          - 0.0
          - 0.8963567614555359
      grasp_203:
        position:
        - 0.002941406813769365
        - 0.003357662310323223
        - -0.007442890686169268
        rotation_matrix:
        - - -0.9778562188148499
          - 0.11398041993379593
          - 0.1755153387784958
        - - -0.11218759417533875
          - -0.9934830069541931
          - 0.02013654261827469
        - - 0.17666667699813843
          - 0.0
          - 0.9842707514762878
      grasp_204:
        position:
        - 0.004767739549998984
        - -0.010934964385605539
        - -0.011285740579664694
        rotation_matrix:
        - - 0.7483898997306824
          - -0.12368586659431458
          - -0.6516243815422058
        - - 0.09328152239322662
          - 0.9923214316368103
          - -0.08122038841247559
        - - 0.65666663646698
          - 0.0
          - 0.7541809678077698
      grasp_205:
        position:
        - -0.0011258557489840504
        - 0.011249525735159083
        - -0.0031149733848869765
        rotation_matrix:
        - - 0.8561459183692932
          - 0.009755730628967285
          - -0.5166420936584473
        - - -0.008352726697921753
          - 0.9999524354934692
          - 0.005040460731834173
        - - 0.5166666507720947
          - 0.0
          - 0.8561866283416748
      grasp_206:
        position:
        - 0.004440794249384428
        - -0.004972961308935181
        - 0.024755261818692087
        rotation_matrix:
        - - -0.9778562188148499
          - 0.11398041993379593
          - 0.1755153387784958
        - - -0.11218759417533875
          - -0.9934830069541931
          - 0.02013654261827469
        - - 0.17666667699813843
          - 0.0
          - 0.9842707514762878
      grasp_207:
        position:
        - 0.0051078955810132665
        - 0.020112181512433755
        - 0.015509813364967706
        rotation_matrix:
        - - -0.9829893708229065
          - -0.1526530385017395
          - -0.10212226957082748
        - - 0.1518358439207077
          - -0.9882798194885254
          - 0.01577414944767952
        - - -0.10333335399627686
          - 0.0
          - 0.9946467876434326
      grasp_208:
        position:
        - 0.006246600625805232
        - -0.020383760357772687
        - -0.030865029290691015
        rotation_matrix:
        - - -0.9145970940589905
          - 0.031567055732011795
          - 0.40313228964805603
        - - -0.028885534033179283
          - -0.999501645565033
          - 0.012732044793665409
        - - 0.40333330631256104
          - 0.0
          - 0.915053129196167
      grasp_209:
        position:
        - 0.004923758688532676
        - 0.01959860808047756
        - -0.007186560920998453
        rotation_matrix:
        - - -0.9596743583679199
          - -0.10199049115180969
          - 0.26196014881134033
        - - 0.09839072823524475
          - -0.9947853684425354
          - -0.026857495307922363
        - - 0.2633333206176758
          - 0.0
          - 0.9647049307823181
      grasp_210:
        position:
        - 0.0051276307591936465
        - -0.011854502762694438
        - 0.01032987870424984
        rotation_matrix:
        - - 0.7413018941879272
          - -0.053401026874780655
          - 0.6690439581871033
        - - 0.03964284434914589
          - 0.9985731244087219
          - 0.03577868640422821
        - - -0.6699999570846558
          - 0.0
          - 0.7423611283302307
      grasp_211:
        position:
        - 0.0030323161139720334
        - 0.004410553898842179
        - -0.007009557477757333
        rotation_matrix:
        - - -0.9596743583679199
          - -0.10199049115180969
          - 0.26196014881134033
        - - 0.09839072823524475
          - -0.9947853684425354
          - -0.026857495307922363
        - - 0.2633333206176758
          - 0.0
          - 0.9647049307823181
      grasp_212:
        position:
        - 0.0031287935723948723
        - -0.005080232440063254
        - 0.00826171923317015
        rotation_matrix:
        - - -0.9778562188148499
          - 0.11398041993379593
          - 0.1755153387784958
        - - -0.11218759417533875
          - -0.9934830069541931
          - 0.02013654261827469
        - - 0.17666667699813843
          - 0.0
          - 0.9842707514762878
      grasp_213:
        position:
        - 0.0021268078181809758
        - -0.019720439404231113
        - -0.019749960304051628
        rotation_matrix:
        - - -0.9416295886039734
          - -0.07053721696138382
          - -0.3291780650615692
        - - 0.06658578664064407
          - -0.9975091218948364
          - 0.0232772845774889
        - - -0.33000004291534424
          - 0.0
          - 0.9439809322357178
      grasp_214:
        position:
        - 0.0024433623045490016
        - 0.01192191934905423
        - -0.02403583099804818
        rotation_matrix:
        - - -0.9798274040222168
          - 0.06310264766216278
          - -0.18962140381336212
        - - -0.06195317581295967
          - -0.99800705909729
          - -0.011989506892859936
        - - -0.19000005722045898
          - 0.0
          - 0.9817841053009033
      grasp_215:
        position:
        - 0.002372221367041849
        - 0.018064248773673904
        - -0.010170646959170693
        rotation_matrix:
        - - -0.9798274040222168
          - 0.06310264766216278
          - -0.18962140381336212
        - - -0.06195317581295967
          - -0.99800705909729
          - -0.011989506892859936
        - - -0.19000005722045898
          - 0.0
          - 0.9817841053009033
      grasp_216:
        position:
        - 0.005162650123142154
        - 0.019091419817563435
        - 0.023366785417869684
        rotation_matrix:
        - - -0.9991373419761658
          - -0.019510533660650253
          - 0.036659713834524155
        - - 0.01949741318821907
          - -0.9998096227645874
          - -0.0007153867045417428
        - - 0.036666691303253174
          - 0.0
          - 0.999327540397644
      grasp_217:
        position:
        - 0.0040133496372927735
        - 0.011387187929507634
        - 0.023965342711284754
        rotation_matrix:
        - - -0.9991373419761658
          - -0.019510533660650253
          - 0.036659713834524155
        - - 0.01949741318821907
          - -0.9998096227645874
          - -0.0007153867045417428
        - - 0.036666691303253174
          - 0.0
          - 0.999327540397644
      grasp_218:
        position:
        - 0.003380350538525312
        - -0.004290302086612484
        - 0.013784313387796288
        rotation_matrix:
        - - -0.9416295886039734
          - -0.07053721696138382
          - -0.3291780650615692
        - - 0.06658578664064407
          - -0.9975091218948364
          - 0.0232772845774889
        - - -0.33000004291534424
          - 0.0
          - 0.9439809322357178
      grasp_219:
        position:
        - 0.007133302465146318
        - -0.01656790852149964
        - 0.018132336004078375
        rotation_matrix:
        - - 0.8331876993179321
          - -0.18607601523399353
          - 0.520743727684021
        - - 0.15779201686382294
          - 0.9825353622436523
          - 0.09862028062343597
        - - -0.5299999713897705
          - 0.0
          - 0.8479976654052734
      grasp_220:
        position:
        - -0.005072595023203397
        - -0.014073734247719988
        - 0.015147017180547118
        rotation_matrix:
        - - 0.9385644793510437
          - 0.32241830229759216
          - 0.12305764853954315
        - - -0.3196822702884674
          - 0.9465972781181335
          - -0.041914381086826324
        - - -0.12999999523162842
          - 0.0
          - 0.9915139675140381
      grasp_221:
        position:
        - 0.0035210040471793103
        - -0.005179657679192054
        - 0.005295052928850047
        rotation_matrix:
        - - -0.8994141221046448
          - 0.14528495073318481
          - -0.4122457206249237
        - - -0.13207264244556427
          - -0.9893898367881775
          - -0.06053538993000984
        - - -0.41666659712791443
          - 0.0
          - 0.9090593457221985
      grasp_222:
        position:
        - 0.0034224049262047695
        - 0.0033641936405084255
        - 0.005358418719843022
        rotation_matrix:
        - - -0.8994141221046448
          - 0.14528495073318481
          - -0.4122457206249237
        - - -0.13207264244556427
          - -0.9893898367881775
          - -0.06053538993000984
        - - -0.41666659712791443
          - 0.0
          - 0.9090593457221985
      grasp_223:
        position:
        - 0.0016382264307862604
        - -0.010515667569302584
        - 0.030625073783844714
        rotation_matrix:
        - - -0.9829893708229065
          - -0.1526530385017395
          - -0.10212226957082748
        - - 0.1518358439207077
          - -0.9882798194885254
          - 0.01577414944767952
        - - -0.10333335399627686
          - 0.0
          - 0.9946467876434326
      grasp_224:
        position:
        - 0.0024464945470381028
        - 0.004293691323569521
        - -0.023592140545323492
        rotation_matrix:
        - - -0.9778562188148499
          - 0.11398041993379593
          - 0.1755153387784958
        - - -0.11218759417533875
          - -0.9934830069541931
          - 0.02013654261827469
        - - 0.17666667699813843
          - 0.0
          - 0.9842707514762878
      grasp_225:
        position:
        - 0.0009146549462544229
        - -0.010742197394011332
        - -0.014177028148621318
        rotation_matrix:
        - - -0.9596743583679199
          - -0.10199049115180969
          - 0.26196014881134033
        - - 0.09839072823524475
          - -0.9947853684425354
          - -0.026857495307922363
        - - 0.2633333206176758
          - 0.0
          - 0.9647049307823181
      grasp_226:
        position:
        - 0.0053956867503652806
        - 0.003667953773626567
        - -0.02157409429140389
        rotation_matrix:
        - - -0.7755820751190186
          - -0.051061857491731644
          - 0.6291781663894653
        - - 0.03965438902378082
          - -0.9986954927444458
          - -0.03216896951198578
        - - 0.6299999952316284
          - 0.0
          - 0.7765951156616211
      grasp_227:
        position:
        - 0.0029914366408818616
        - 0.012430009607405507
        - -0.007396046101674436
        rotation_matrix:
        - - -0.9596743583679199
          - -0.10199049115180969
          - 0.26196014881134033
        - - 0.09839072823524475
          - -0.9947853684425354
          - -0.026857495307922363
        - - 0.2633333206176758
          - 0.0
          - 0.9647049307823181
      grasp_228:
        position:
        - 0.002769513847075078
        - 0.012087257554257535
        - -0.02106916424669325
        rotation_matrix:
        - - -0.9145970940589905
          - 0.031567055732011795
          - 0.40313228964805603
        - - -0.028885534033179283
          - -0.999501645565033
          - 0.012732044793665409
        - - 0.40333330631256104
          - 0.0
          - 0.915053129196167
      grasp_229:
        position:
        - -0.0006248182570876004
        - -0.0047194763400711
        - 0.01123573640957476
        rotation_matrix:
        - - 0.8959739208221436
          - 0.029225772246718407
          - 0.4431440234184265
        - - -0.026196720078587532
          - 0.9995728135108948
          - -0.012956760823726654
        - - -0.44333338737487793
          - 0.0
          - 0.8963567614555359
      grasp_230:
        position:
        - -0.0009776302567066075
        - -0.01281385043050422
        - -0.013118996185809362
        rotation_matrix:
        - - 0.8959739208221436
          - 0.029225772246718407
          - 0.4431440234184265
        - - -0.026196720078587532
          - 0.9995728135108948
          - -0.012956760823726654
        - - -0.44333338737487793
          - 0.0
          - 0.8963567614555359
      grasp_231:
        position:
        - 0.0025064344573683117
        - -0.019584289357048076
        - 0.02021167203709484
        rotation_matrix:
        - - -0.9416295886039734
          - -0.07053721696138382
          - -0.3291780650615692
        - - 0.06658578664064407
          - -0.9975091218948364
          - 0.0232772845774889
        - - -0.33000004291534424
          - 0.0
          - 0.9439809322357178
      grasp_232:
        position:
        - 0.0031212792920767285
        - -0.014035166101875052
        - -0.009552406553924087
        rotation_matrix:
        - - 0.6660668849945068
          - 0.0922807827591896
          - -0.7401615381240845
        - - -0.06172856688499451
          - 0.9957330226898193
          - 0.06859537959098816
        - - 0.7433333396911621
          - 0.0
          - 0.668921172618866
      grasp_233:
        position:
        - -0.0015717972120968815
        - -0.02106612428836091
        - 0.020942495945841078
        rotation_matrix:
        - - 0.8561459183692932
          - 0.009755730628967285
          - -0.5166420936584473
        - - -0.008352726697921753
          - 0.9999524354934692
          - 0.005040460731834173
        - - 0.5166666507720947
          - 0.0
          - 0.8561866283416748
      grasp_234:
        position:
        - -0.0006762709519593235
        - 0.011385824793954058
        - -0.024322211932390925
        rotation_matrix:
        - - 0.8561459183692932
          - 0.009755730628967285
          - -0.5166420936584473
        - - -0.008352726697921753
          - 0.9999524354934692
          - 0.005040460731834173
        - - 0.5166666507720947
          - 0.0
          - 0.8561866283416748
      grasp_235:
        position:
        - 0.005642587800829435
        - -0.011906810613849655
        - -0.02364024708159268
        rotation_matrix:
        - - -0.9778562188148499
          - 0.11398041993379593
          - 0.1755153387784958
        - - -0.11218759417533875
          - -0.9934830069541931
          - 0.02013654261827469
        - - 0.17666667699813843
          - 0.0
          - 0.9842707514762878
      grasp_236:
        position:
        - 0.008207892076980805
        - 0.019617406402318203
        - 0.014463860739767576
        rotation_matrix:
        - - 0.8959739208221436
          - 0.029225772246718407
          - 0.4431440234184265
        - - -0.026196720078587532
          - 0.9995728135108948
          - -0.012956760823726654
        - - -0.44333338737487793
          - 0.0
          - 0.8963567614555359
      grasp_237:
        position:
        - 0.000737307625529815
        - 0.018994093785923927
        - -0.014909891451150181
        rotation_matrix:
        - - -0.9778562188148499
          - 0.11398041993379593
          - 0.1755153387784958
        - - -0.11218759417533875
          - -0.9934830069541931
          - 0.02013654261827469
        - - 0.17666667699813843
          - 0.0
          - 0.9842707514762878
      grasp_238:
        position:
        - 0.005437658731057393
        - 0.004208392073373715
        - 0.01511631980687378
        rotation_matrix:
        - - 0.7413018941879272
          - -0.053401026874780655
          - 0.6690439581871033
        - - 0.03964284434914589
          - 0.9985731244087219
          - 0.03577868640422821
        - - -0.6699999570846558
          - 0.0
          - 0.7423611283302307
      grasp_239:
        position:
        - 0.003850112426729002
        - 0.003673152612710618
        - 0.012054302680119866
        rotation_matrix:
        - - -0.8306755423545837
          - 0.012060238048434258
          - -0.5566261410713196
        - - -0.010018873028457165
          - -0.999927282333374
          - -0.006713531911373138
        - - -0.5566666126251221
          - 0.0
          - 0.830735981464386
      grasp_240:
        position:
        - 0.0037760270017086484
        - 0.002405317639587179
        - 0.030204796756803987
        rotation_matrix:
        - - 0.6660668849945068
          - 0.0922807827591896
          - -0.7401615381240845
        - - -0.06172856688499451
          - 0.9957330226898193
          - 0.06859537959098816
        - - 0.7433333396911621
          - 0.0
          - 0.668921172618866
      grasp_241:
        position:
        - 0.0028446736912789983
        - 0.0045341602170650835
        - -0.017005526188388465
        rotation_matrix:
        - - -0.9829893708229065
          - -0.1526530385017395
          - -0.10212226957082748
        - - 0.1518358439207077
          - -0.9882798194885254
          - 0.01577414944767952
        - - -0.10333335399627686
          - 0.0
          - 0.9946467876434326
      grasp_242:
        position:
        - 0.0029190218053565253
        - 0.010458049762467277
        - -0.017182252385839814
        rotation_matrix:
        - - -0.9798274040222168
          - 0.06310264766216278
          - -0.18962140381336212
        - - -0.06195317581295967
          - -0.99800705909729
          - -0.011989506892859936
        - - -0.19000005722045898
          - 0.0
          - 0.9817841053009033
      grasp_243:
        position:
        - 0.005224470640682544
        - 0.019844955939979397
        - 0.017343146697059275
        rotation_matrix:
        - - -0.9596743583679199
          - -0.10199049115180969
          - 0.26196014881134033
        - - 0.09839072823524475
          - -0.9947853684425354
          - -0.026857495307922363
        - - 0.2633333206176758
          - 0.0
          - 0.9647049307823181
      grasp_244:
        position:
        - 0.006240967472623371
        - -0.011797625173410046
        - 0.02231150398291648
        rotation_matrix:
        - - -0.9798274040222168
          - 0.06310264766216278
          - -0.18962140381336212
        - - -0.06195317581295967
          - -0.99800705909729
          - -0.011989506892859936
        - - -0.19000005722045898
          - 0.0
          - 0.9817841053009033
      grasp_245:
        position:
        - 0.004383057918562638
        - -0.020074839162666877
        - -0.014075185240618904
        rotation_matrix:
        - - 0.7413018941879272
          - -0.053401026874780655
          - 0.6690439581871033
        - - 0.03964284434914589
          - 0.9985731244087219
          - 0.03577868640422821
        - - -0.6699999570846558
          - 0.0
          - 0.7423611283302307
      grasp_246:
        position:
        - -0.0005855713924707295
        - 0.003377921754761797
        - 0.010904796520620597
        rotation_matrix:
        - - 0.8959739208221436
          - 0.029225772246718407
          - 0.4431440234184265
        - - -0.026196720078587532
          - 0.9995728135108948
          - -0.012956760823726654
        - - -0.44333338737487793
          - 0.0
          - 0.8963567614555359
      grasp_247:
        position:
        - 0.0029075158291977377
        - 0.018144803096974513
        - 0.0028593426352366835
        rotation_matrix:
        - - -0.9145970940589905
          - 0.031567055732011795
          - 0.40313228964805603
        - - -0.028885534033179283
          - -0.999501645565033
          - 0.012732044793665409
        - - 0.40333330631256104
          - 0.0
          - 0.915053129196167
      grasp_248:
        position:
        - 0.005009053837671029
        - -0.0036333179278565247
        - -0.005875519661605377
        rotation_matrix:
        - - 0.7413018941879272
          - -0.053401026874780655
          - 0.6690439581871033
        - - 0.03964284434914589
          - 0.9985731244087219
          - 0.03577868640422821
        - - -0.6699999570846558
          - 0.0
          - 0.7423611283302307
      grasp_249:
        position:
        - -0.0012403191021026494
        - -0.013062561986700433
        - -0.028852406790107477
        rotation_matrix:
        - - 0.8959739208221436
          - 0.029225772246718407
          - 0.4431440234184265
        - - -0.026196720078587532
          - 0.9995728135108948
          - -0.012956760823726654
        - - -0.44333338737487793
          - 0.0
          - 0.8963567614555359
      grasp_250:
        position:
        - -0.0008572447067440869
        - -0.004688141992048162
        - 0.003091145405918372
        rotation_matrix:
        - - 0.8959739208221436
          - 0.029225772246718407
          - 0.4431440234184265
        - - -0.026196720078587532
          - 0.9995728135108948
          - -0.012956760823726654
        - - -0.44333338737487793
          - 0.0
          - 0.8963567614555359
      grasp_251:
        position:
        - 7.249564003508624e-05
        - -0.003684123982880372
        - -0.000952237062482153
        rotation_matrix:
        - - 0.9968194961547852
          - -0.021814685314893723
          - 0.07664846628904343
        - - 0.02175047993659973
          - 0.9997620582580566
          - 0.0016724602319300175
        - - -0.07666671276092529
          - 0.0
          - 0.997056782245636
      grasp_252:
        position:
        - 0.003004528691953723
        - 0.0047837360406105395
        - 0.006925084900483491
        rotation_matrix:
        - - -0.9829893708229065
          - -0.1526530385017395
          - -0.10212226957082748
        - - 0.1518358439207077
          - -0.9882798194885254
          - 0.01577414944767952
        - - -0.10333335399627686
          - 0.0
          - 0.9946467876434326
      grasp_253:
        position:
        - 0.004878160878919513
        - 0.011697209382113358
        - -0.025359426815435293
        rotation_matrix:
        - - -0.9991373419761658
          - -0.019510533660650253
          - 0.036659713834524155
        - - 0.01949741318821907
          - -0.9998096227645874
          - -0.0007153867045417428
        - - 0.036666691303253174
          - 0.0
          - 0.999327540397644
      grasp_254:
        position:
        - 0.00248745037800735
        - -0.019827798545342487
        - -0.0037688377437181675
        rotation_matrix:
        - - -0.9416295886039734
          - -0.07053721696138382
          - -0.3291780650615692
        - - 0.06658578664064407
          - -0.9975091218948364
          - 0.0232772845774889
        - - -0.33000004291534424
          - 0.0
          - 0.9439809322357178
      grasp_255:
        position:
        - 0.002940900435279392
        - 0.011170732255498302
        - 0.006228606666252023
        rotation_matrix:
        - - -0.9798274040222168
          - 0.06310264766216278
          - -0.18962140381336212
        - - -0.06195317581295967
          - -0.99800705909729
          - -0.011989506892859936
        - - -0.19000005722045898
          - 0.0
          - 0.9817841053009033
      grasp_256:
        position:
        - 0.0002404303145975284
        - 0.017301249994340212
        - -0.008461408244818447
        rotation_matrix:
        - - 0.9810798168182373
          - -0.009811279363930225
          - -0.19335487484931946
        - - -0.19334520399570465
          - 0.0019335468532517552
          - -0.9811288714408875
        - - 0.009999990463256836
          - 0.9999499917030334
          - 6.12292787522695e-17
      grasp_257:
        position:
        - -0.0009990291495466375
        - 0.01600380863357348
        - -0.011700445162504902
        rotation_matrix:
        - - -0.828069269657135
          - 0.16457942128181458
          - 0.5359243154525757
        - - -0.13816723227500916
          - -0.9863638281822205
          - 0.08942148089408875
        - - 0.5433332920074463
          - 0.0
          - 0.8395170569419861
      grasp_258:
        position:
        - 0.006855990507635801
        - 0.00340201655589948
        - 0.0300615334879607
        rotation_matrix:
        - - -0.9416295886039734
          - -0.07053721696138382
          - -0.3291780650615692
        - - 0.06658578664064407
          - -0.9975091218948364
          - 0.0232772845774889
        - - -0.33000004291534424
          - 0.0
          - 0.9439809322357178
      grasp_259:
        position:
        - 0.007610292349988557
        - 0.01939770073071989
        - -0.01473420896381139
        rotation_matrix:
        - - 0.8561459183692932
          - 0.009755730628967285
          - -0.5166420936584473
        - - -0.008352726697921753
          - 0.9999524354934692
          - 0.005040460731834173
        - - 0.5166666507720947
          - 0.0
          - 0.8561866283416748
      grasp_260:
        position:
        - -0.0013474751314846989
        - 0.0033663669899149373
        - -0.003302408572286364
        rotation_matrix:
        - - 0.8561459183692932
          - 0.009755730628967285
          - -0.5166420936584473
        - - -0.008352726697921753
          - 0.9999524354934692
          - 0.005040460731834173
        - - 0.5166666507720947
          - 0.0
          - 0.8561866283416748
      grasp_261:
        position:
        - 0.00675492988869647
        - -0.011569982779955246
        - 0.004461143581941718
        rotation_matrix:
        - - -0.8306755423545837
          - 0.012060238048434258
          - -0.5566261410713196
        - - -0.010018873028457165
          - -0.999927282333374
          - -0.006713531911373138
        - - -0.5566666126251221
          - 0.0
          - 0.830735981464386
      grasp_262:
        position:
        - 8.523799550097522e-05
        - 0.01183478533735488
        - -0.01726068606749176
        rotation_matrix:
        - - 0.9968194961547852
          - -0.021814685314893723
          - 0.07664846628904343
        - - 0.02175047993659973
          - 0.9997620582580566
          - 0.0016724602319300175
        - - -0.07666671276092529
          - 0.0
          - 0.997056782245636
      grasp_263:
        position:
        - 0.002757903299049125
        - 0.0018714644696192217
        - -0.02658784327134489
        rotation_matrix:
        - - -0.828069269657135
          - 0.16457942128181458
          - 0.5359243154525757
        - - -0.13816723227500916
          - -0.9863638281822205
          - 0.08942148089408875
        - - 0.5433332920074463
          - 0.0
          - 0.8395170569419861
      grasp_264:
        position:
        - 0.005354229952358569
        - 0.020137706015438878
        - 0.00043560538291931294
        rotation_matrix:
        - - -0.9596743583679199
          - -0.10199049115180969
          - 0.26196014881134033
        - - 0.09839072823524475
          - -0.9947853684425354
          - -0.026857495307922363
        - - 0.2633333206176758
          - 0.0
          - 0.9647049307823181
      grasp_265:
        position:
        - -0.002269685012225797
        - 0.01662974510984297
        - 0.01861327477917074
        rotation_matrix:
        - - -0.9794467091560364
          - 0.19565249979496002
          - -0.049033619463443756
        - - -0.19540779292583466
          - -0.9806733131408691
          - -0.009782616049051285
        - - -0.04999995231628418
          - 0.0
          - 0.9987491965293884
      grasp_266:
        position:
        - 0.00019800346415799197
        - -0.011813513939473885
        - 0.007006538993120204
        rotation_matrix:
        - - 0.9968194961547852
          - 0.07664846628904343
          - 0.021814685314893723
        - - 0.02175047993659973
          - 0.0016724602319300175
          - -0.9997620582580566
        - - -0.07666671276092529
          - 0.997056782245636
          - 6.105211651739534e-17
      grasp_267:
        position:
        - 0.004374460128675484
        - 0.003159915960798395
        - -0.02567409446202218
        rotation_matrix:
        - - -0.9798274040222168
          - 0.06310264766216278
          - -0.18962140381336212
        - - -0.06195317581295967
          - -0.99800705909729
          - -0.011989506892859936
        - - -0.19000005722045898
          - 0.0
          - 0.9817841053009033
      grasp_268:
        position:
        - -0.0006238522599678609
        - -0.00891815946177521
        - -0.008918995516747241
        rotation_matrix:
        - - 0.9313517212867737
          - 0.021737437695264816
          - 0.3634713590145111
        - - 0.3633723855018616
          - 0.008480990305542946
          - -0.9316053986549377
        - - -0.023333311080932617
          - 0.999727725982666
          - 6.121566666810932e-17
      grasp_269:
        position:
        - 0.002400579402214942
        - -0.019888792723399204
        - 0.004259986429661522
        rotation_matrix:
        - - -0.9416295886039734
          - -0.07053721696138382
          - -0.3291780650615692
        - - 0.06658578664064407
          - -0.9975091218948364
          - 0.0232772845774889
        - - -0.33000004291534424
          - 0.0
          - 0.9439809322357178
      grasp_270:
        position:
        - 0.0003440226643852684
        - 0.010793680636610355
        - 0.017190583463758236
        rotation_matrix:
        - - 0.9868567585945129
          - 0.06080242991447449
          - -0.14972244203090668
        - - -0.06011451408267021
          - 0.9981498122215271
          - 0.009120362810790539
        - - 0.1499999761581421
          - 0.0
          - 0.9886860251426697
      grasp_271:
        position:
        - 0.003081660487684934
        - 0.012270984902986982
        - -0.010362712853029366
        rotation_matrix:
        - - -0.9416295886039734
          - -0.07053721696138382
          - -0.3291780650615692
        - - 0.06658578664064407
          - -0.9975091218948364
          - 0.0232772845774889
        - - -0.33000004291534424
          - 0.0
          - 0.9439809322357178
      grasp_272:
        position:
        - 0.004379826258086528
        - 0.003631270433024608
        - 0.025272637576237322
        rotation_matrix:
        - - -0.9596743583679199
          - -0.10199049115180969
          - 0.26196014881134033
        - - 0.09839072823524475
          - -0.9947853684425354
          - -0.026857495307922363
        - - 0.2633333206176758
          - 0.0
          - 0.9647049307823181
      grasp_273:
        position:
        - 0.000379774751780082
        - 0.01787205683712384
        - 0.024950118695944545
        rotation_matrix:
        - - -0.9778562188148499
          - 0.11398041993379593
          - 0.1755153387784958
        - - -0.11218759417533875
          - -0.9934830069541931
          - 0.02013654261827469
        - - 0.17666667699813843
          - 0.0
          - 0.9842707514762878
      grasp_274:
        position:
        - 0.0003295302049958204
        - 0.020663703496458435
        - 0.008479706444591284
        rotation_matrix:
        - - 0.9859362244606018
          - -0.1549675315618515
          - -0.06256823986768723
        - - 0.15465642511844635
          - 0.9879195690155029
          - -0.00981460977345705
        - - 0.06333333253860474
          - 0.0
          - 0.9979924559593201
      grasp_275:
        position:
        - 0.00033276189432973613
        - 0.012960886287393475
        - 0.008027587053179741
        rotation_matrix:
        - - 0.9859362244606018
          - -0.1549675315618515
          - -0.06256823986768723
        - - 0.15465642511844635
          - 0.9879195690155029
          - -0.00981460977345705
        - - 0.06333333253860474
          - 0.0
          - 0.9979924559593201
      grasp_276:
        position:
        - 0.0033861790790812307
        - -0.004603053447995442
        - 0.03110536323711277
        rotation_matrix:
        - - 0.9968194961547852
          - -0.021814685314893723
          - 0.07664846628904343
        - - 0.02175047993659973
          - 0.9997620582580566
          - 0.0016724602319300175
        - - -0.07666671276092529
          - 0.0
          - 0.997056782245636
      grasp_277:
        position:
        - -0.0008056783071102025
        - -0.01273729012693538
        - 0.011363683367520583
        rotation_matrix:
        - - 0.8959739208221436
          - 0.029225772246718407
          - 0.4431440234184265
        - - -0.026196720078587532
          - 0.9995728135108948
          - -0.012956760823726654
        - - -0.44333338737487793
          - 0.0
          - 0.8963567614555359
      grasp_278:
        position:
        - 0.0045802953432349525
        - 0.0035115592240561946
        - -0.012638859611377118
        rotation_matrix:
        - - -0.6358650326728821
          - 0.08257168531417847
          - 0.7673705220222473
        - - -0.05268435925245285
          - -0.9965851306915283
          - 0.06358020007610321
        - - 0.7699999809265137
          - 0.0
          - 0.6380438804626465
      grasp_279:
        position:
        - 0.0030223879589666436
        - -0.004421807417962411
        - 0.007561719320341942
        rotation_matrix:
        - - -0.9991373419761658
          - 0.036659713834524155
          - 0.019510533660650253
        - - 0.01949741318821907
          - -0.0007153867045417428
          - 0.9998096227645874
        - - 0.036666691303253174
          - 0.999327540397644
          - 6.119116226964305e-17
      grasp_280:
        position:
        - 0.0036025909083614582
        - 0.01848750270459938
        - 0.003992676054500044
        rotation_matrix:
        - - -0.7755820751190186
          - -0.051061857491731644
          - 0.6291781663894653
        - - 0.03965438902378082
          - -0.9986954927444458
          - -0.03216896951198578
        - - 0.6299999952316284
          - 0.0
          - 0.7765951156616211
      grasp_281:
        position:
        - 0.00443093832356789
        - -0.004721789222737419
        - 0.0229219281885773
        rotation_matrix:
        - - -0.9798274040222168
          - 0.06310264766216278
          - -0.18962140381336212
        - - -0.06195317581295967
          - -0.99800705909729
          - -0.011989506892859936
        - - -0.19000005722045898
          - 0.0
          - 0.9817841053009033
      grasp_282:
        position:
        - 0.005697900240849041
        - -0.011688530978342163
        - -0.00916093496344983
        rotation_matrix:
        - - -0.9798274040222168
          - 0.06310264766216278
          - -0.18962140381336212
        - - -0.06195317581295967
          - -0.99800705909729
          - -0.011989506892859936
        - - -0.19000005722045898
          - 0.0
          - 0.9817841053009033
      grasp_283:
        position:
        - 0.0027621969138789115
        - -0.011146331377194507
        - 0.029093704887479532
        rotation_matrix:
        - - 0.9476853609085083
          - -0.10432036221027374
          - 0.30167824029922485
        - - 0.09940525889396667
          - 0.994543731212616
          - 0.031643837690353394
        - - -0.3033332824707031
          - 0.0
          - 0.9528844952583313
      grasp_284:
        position:
        - -0.0014343731156317707
        - 0.003667325509716435
        - -0.01124979947134852
        rotation_matrix:
        - - 0.8561459183692932
          - 0.009755730628967285
          - -0.5166420936584473
        - - -0.008352726697921753
          - 0.9999524354934692
          - 0.005040460731834173
        - - 0.5166666507720947
          - 0.0
          - 0.8561866283416748
      grasp_285:
        position:
        - 0.00201350103162401
        - -0.019454821593699767
        - -0.005572381488233802
        rotation_matrix:
        - - -0.9596743583679199
          - -0.10199049115180969
          - 0.26196014881134033
        - - 0.09839072823524475
          - -0.9947853684425354
          - -0.026857495307922363
        - - 0.2633333206176758
          - 0.0
          - 0.9647049307823181
      grasp_286:
        position:
        - 0.0041825113444556306
        - 0.003236803866606495
        - 0.02413930445499718
        rotation_matrix:
        - - -0.9991373419761658
          - -0.019510533660650253
          - 0.036659713834524155
        - - 0.01949741318821907
          - -0.9998096227645874
          - -0.0007153867045417428
        - - 0.036666691303253174
          - 0.0
          - 0.999327540397644
      grasp_287:
        position:
        - 0.0028387050218225407
        - 0.00419426608444072
        - -0.026558806849643596
        rotation_matrix:
        - - -0.8994141221046448
          - 0.14528495073318481
          - -0.4122457206249237
        - - -0.13207264244556427
          - -0.9893898367881775
          - -0.06053538993000984
        - - -0.41666659712791443
          - 0.0
          - 0.9090593457221985
      grasp_288:
        position:
        - 0.005149145005039546
        - 0.018962226783359667
        - -0.006486561008170244
        rotation_matrix:
        - - -0.9145970940589905
          - 0.031567055732011795
          - 0.40313228964805603
        - - -0.028885534033179283
          - -0.999501645565033
          - 0.012732044793665409
        - - 0.40333330631256104
          - 0.0
          - 0.915053129196167
      grasp_289:
        position:
        - 0.0035997854010074715
        - -0.006961126288006936
        - -0.008685651533678174
        rotation_matrix:
        - - -0.8540527820587158
          - 0.0028468556702136993
          - -0.5201785564422607
        - - -0.5201756954193115
          - 0.00173392693977803
          - 0.8540574908256531
        - - 0.0033333301544189453
          - 0.9999944567680359
          - 6.123199852212357e-17
      grasp_290:
        position:
        - 0.003038205800143634
        - -0.005040488277143859
        - -0.0007271780692972296
        rotation_matrix:
        - - -0.9794467091560364
          - -0.049033619463443756
          - -0.19565249979496002
        - - -0.19540779292583466
          - -0.009782616049051285
          - 0.9806733131408691
        - - -0.04999995231628418
          - 0.9987491965293884
          - 6.115575232198088e-17
      grasp_291:
        position:
        - 0.0032197028725975407
        - -0.004027340851544298
        - 0.008695052441582085
        rotation_matrix:
        - - -0.9596743583679199
          - -0.10199049115180969
          - 0.26196014881134033
        - - 0.09839072823524475
          - -0.9947853684425354
          - -0.026857495307922363
        - - 0.2633333206176758
          - 0.0
          - 0.9647049307823181
      grasp_292:
        position:
        - 0.0042779104410637925
        - 0.003567168896701476
        - -0.0245407607447356
        rotation_matrix:
        - - -0.9991373419761658
          - -0.019510533660650253
          - 0.036659713834524155
        - - 0.01949741318821907
          - -0.9998096227645874
          - -0.0007153867045417428
        - - 0.036666691303253174
          - 0.0
          - 0.999327540397644
      grasp_293:
        position:
        - -0.0011058323136298176
        - 0.019285851420838995
        - -0.01114262473210692
        rotation_matrix:
        - - 0.8561459183692932
          - 0.009755730628967285
          - -0.5166420936584473
        - - -0.008352726697921753
          - 0.9999524354934692
          - 0.005040460731834173
        - - 0.5166666507720947
          - 0.0
          - 0.8561866283416748
      grasp_294:
        position:
        - 0.0029638656576562172
        - 0.0037406617342145287
        - 0.000270807339157908
        rotation_matrix:
        - - -0.9778562188148499
          - 0.11398041993379593
          - 0.1755153387784958
        - - -0.11218759417533875
          - -0.9934830069541931
          - 0.02013654261827469
        - - 0.17666667699813843
          - 0.0
          - 0.9842707514762878
      grasp_295:
        position:
        - 0.0040940894912543935
        - 0.012048880068380105
        - 0.023265342500433328
        rotation_matrix:
        - - -0.9829893708229065
          - -0.1526530385017395
          - -0.10212226957082748
        - - 0.1518358439207077
          - -0.9882798194885254
          - 0.01577414944767952
        - - -0.10333335399627686
          - 0.0
          - 0.9946467876434326
      grasp_296:
        position:
        - 0.003962791476879057
        - -0.005425860794159423
        - 0.030878356572240584
        rotation_matrix:
        - - -0.6188157200813293
          - 0.09457534551620483
          - -0.7798221707344055
        - - -0.05878821760416031
          - -0.9955177307128906
          - -0.07408401370048523
        - - -0.7833333015441895
          - 0.0
          - 0.621601939201355
      grasp_297:
        position:
        - 0.006754087609938952
        - -0.020592354262744764
        - -0.022831856131926176
        rotation_matrix:
        - - -0.9145970940589905
          - 0.031567055732011795
          - 0.40313228964805603
        - - -0.028885534033179283
          - -0.999501645565033
          - 0.012732044793665409
        - - 0.40333330631256104
          - 0.0
          - 0.915053129196167
      grasp_298:
        position:
        - 0.00598132923235789
        - -0.011520953907016376
        - 0.015413740459457037
        rotation_matrix:
        - - -0.9991373419761658
          - -0.019510533660650253
          - 0.036659713834524155
        - - 0.01949741318821907
          - -0.9998096227645874
          - -0.0007153867045417428
        - - 0.036666691303253174
          - 0.0
          - 0.999327540397644
      grasp_299:
        position:
        - -0.0007453137031139256
        - 0.0032258994097702325
        - 0.018821768561750662
        rotation_matrix:
        - - 0.8959739208221436
          - 0.029225772246718407
          - 0.4431440234184265
        - - -0.026196720078587532
          - 0.9995728135108948
          - -0.012956760823726654
        - - -0.44333338737487793
          - 0.0
          - 0.8963567614555359
      grasp_300:
        position:
        - 0.0014920118320650433
        - -0.010854030564409298
        - 0.003944476227462301
        rotation_matrix:
        - - -0.9416295886039734
          - -0.07053721696138382
          - -0.3291780650615692
        - - 0.06658578664064407
          - -0.9975091218948364
          - 0.0232772845774889
        - - -0.33000004291534424
          - 0.0
          - 0.9439809322357178
      grasp_301:
        position:
        - 0.003114893692695464
        - 0.01190651598218187
        - 0.01671099566705525
        rotation_matrix:
        - - -0.9596743583679199
          - -0.10199049115180969
          - 0.26196014881134033
        - - 0.09839072823524475
          - -0.9947853684425354
          - -0.026857495307922363
        - - 0.2633333206176758
          - 0.0
          - 0.9647049307823181
      grasp_302:
        position:
        - -0.0008022653695786142
        - 0.012044762888141103
        - -0.013322937610000363
        rotation_matrix:
        - - -0.828069269657135
          - 0.16457942128181458
          - 0.5359243154525757
        - - -0.13816723227500916
          - -0.9863638281822205
          - 0.08942148089408875
        - - 0.5433332920074463
          - 0.0
          - 0.8395170569419861
      grasp_303:
        position:
        - 0.0008540299905398507
        - -0.0114391139938304
        - 0.00017935612176078752
        rotation_matrix:
        - - -0.9991373419761658
          - 0.036659713834524155
          - 0.019510533660650253
        - - 0.01949741318821907
          - -0.0007153867045417428
          - 0.9998096227645874
        - - 0.036666691303253174
          - 0.999327540397644
          - 6.119116226964305e-17
      grasp_304:
        position:
        - 0.003114209060876394
        - 0.0031623090183944547
        - 0.015720969046279787
        rotation_matrix:
        - - -0.9778562188148499
          - 0.11398041993379593
          - 0.1755153387784958
        - - -0.11218759417533875
          - -0.9934830069541931
          - 0.02013654261827469
        - - 0.17666667699813843
          - 0.0
          - 0.9842707514762878
      grasp_305:
        position:
        - 0.002861670495550417
        - 0.01074123794905318
        - -0.001615283793956035
        rotation_matrix:
        - - -0.9798274040222168
          - 0.06310264766216278
          - -0.18962140381336212
        - - -0.06195317581295967
          - -0.99800705909729
          - -0.011989506892859936
        - - -0.19000005722045898
          - 0.0
          - 0.9817841053009033
      grasp_306:
        position:
        - 0.004679860657042567
        - 0.01986613540144609
        - 0.006767652269825342
        rotation_matrix:
        - - -0.9829893708229065
          - -0.1526530385017395
          - -0.10212226957082748
        - - 0.1518358439207077
          - -0.9882798194885254
          - 0.01577414944767952
        - - -0.10333335399627686
          - 0.0
          - 0.9946467876434326
      grasp_307:
        position:
        - 0.0038817101466188664
        - 0.003973252955117704
        - -0.013338859524205327
        rotation_matrix:
        - - -0.7755820751190186
          - -0.051061857491731644
          - 0.6291781663894653
        - - 0.03965438902378082
          - -0.9986954927444458
          - -0.03216896951198578
        - - 0.6299999952316284
          - 0.0
          - 0.7765951156616211
      grasp_308:
        position:
        - 0.0032051183610790623
        - 0.004215200606913411
        - 0.01615430225469172
        rotation_matrix:
        - - -0.9596743583679199
          - -0.10199049115180969
          - 0.26196014881134033
        - - 0.09839072823524475
          - -0.9947853684425354
          - -0.026857495307922363
        - - 0.2633333206176758
          - 0.0
          - 0.9647049307823181
      grasp_309:
        position:
        - 0.0026983729095679254
        - 0.018229586978877207
        - -0.007203980207815763
        rotation_matrix:
        - - -0.9145970940589905
          - 0.031567055732011795
          - 0.40313228964805603
        - - -0.028885534033179283
          - -0.999501645565033
          - 0.012732044793665409
        - - 0.40333330631256104
          - 0.0
          - 0.915053129196167
      grasp_310:
        position:
        - 7.938060450107809e-05
        - 0.009645644432769968
        - -0.02604275977984072
        rotation_matrix:
        - - -0.9794467091560364
          - 0.19565249979496002
          - -0.049033619463443756
        - - -0.19540779292583466
          - -0.9806733131408691
          - -0.009782616049051285
        - - -0.04999995231628418
          - 0.0
          - 0.9987491965293884
      grasp_311:
        position:
        - 0.004160960468187258
        - 0.004157554212483636
        - -0.016157427547127012
        rotation_matrix:
        - - -0.5112636685371399
          - -0.13334211707115173
          - 0.8490167260169983
        - - 0.06878723949193954
          - -0.9910700917243958
          - -0.11422974616289139
        - - 0.8566666841506958
          - 0.0
          - 0.5158703327178955
    pose_frame: target
    ee_type: gripper
  - name: place_action_01
    ee_timeout: 60.0
    release_timeout: 60.0
    stereotype: place
    description: Place omni6DPose_timer_017 to omni6DPose_book_031
    robot_name: Franka_Robotiq_2f85
    target_name: omni6DPose_book_031
    grasped_target_name: omni6DPose_timer_017
    wait_released_target_stopped: true
    pose_source: inline
    pose_data:
      pose_0:
        position: &id001
        - 0.039519483042121335
        - 0.11386714440430301
        - 0.0
        quaternion:
        - 0.5
        - 0.5000000000000001
        - -0.5
        - 0.5000000000000001
      pose_1:
        position: *id001
        quaternion:
        - 0.46761810444947904
        - 0.4676181044494791
        - -0.5304086239787924
        - 0.5304086239787925
      pose_2:
        position: *id001
        quaternion:
        - 0.43339073387508675
        - 0.43339073387508686
        - -0.558723967439391
        - 0.5587239674393912
      pose_3:
        position: *id001
        quaternion:
        - 0.39745296807148195
        - 0.39745296807148206
        - -0.5848342826572067
        - 0.5848342826572068
      pose_4:
        position: *id001
        quaternion:
        - 0.35994663698188806
        - 0.3599466369818882
        - -0.608636524146743
        - 0.608636524146743
      pose_5:
        position: *id001
        quaternion:
        - 0.32101976096010304
        - 0.32101976096010315
        - -0.6300367553350504
        - 0.6300367553350505
      pose_6:
        position: *id001
        quaternion:
        - 0.28082596660178666
        - 0.28082596660178677
        - -0.6489505192864646
        - 0.6489505192864646
      pose_7:
        position: *id001
        quaternion:
        - 0.23952388045047335
        - 0.23952388045047351
        - -0.6653031720155461
        - 0.6653031720155461
      pose_8:
        position: *id001
        quaternion:
        - 0.19727650297107407
        - 0.19727650297107424
        - -0.6790301770727895
        - 0.6790301770727895
      pose_9:
        position: *id001
        quaternion:
        - 0.15425056526150915
        - 0.15425056526150932
        - -0.6900773602405058
        - 0.6900773602405058
      pose_10:
        position: *id001
        quaternion:
        - 0.11061587104123709
        - 0.11061587104123725
        - -0.6984011233337103
        - 0.6984011233337103
      pose_11:
        position: *id001
        quaternion:
        - 0.0665446265135497
        - 0.06654462651354985
        - -0.7039686162622395
        - 0.7039686162622395
      pose_12:
        position: *id001
        quaternion:
        - 0.02221076074636137
        - 0.022210760746361528
        - -0.70675786667505
        - 0.70675786667505
      pose_13:
        position: *id001
        quaternion:
        - 0.022210760746361465
        - 0.022210760746361306
        - 0.70675786667505
        - -0.70675786667505
      pose_14:
        position: *id001
        quaternion:
        - 0.0665446265135498
        - 0.06654462651354964
        - 0.7039686162622395
        - -0.7039686162622395
      pose_15:
        position: *id001
        quaternion:
        - 0.11061587104123717
        - 0.110615871041237
        - 0.6984011233337104
        - -0.6984011233337104
      pose_16:
        position: *id001
        quaternion:
        - 0.1542505652615092
        - 0.15425056526150904
        - 0.6900773602405059
        - -0.6900773602405059
      pose_17:
        position: *id001
        quaternion:
        - 0.1972765029710741
        - 0.19727650297107394
        - 0.6790301770727895
        - -0.6790301770727893
      pose_18:
        position: *id001
        quaternion:
        - 0.23952388045047335
        - 0.23952388045047318
        - 0.6653031720155461
        - -0.665303172015546
      pose_19:
        position: *id001
        quaternion:
        - 0.2808259666017866
        - 0.28082596660178644
        - 0.6489505192864647
        - -0.6489505192864647
      pose_20:
        position: *id001
        quaternion:
        - 0.32101976096010293
        - 0.32101976096010276
        - 0.6300367553350505
        - -0.6300367553350505
      pose_21:
        position: *id001
        quaternion:
        - 0.35994663698188795
        - 0.35994663698188784
        - 0.6086365241467432
        - -0.6086365241467431
      pose_22:
        position: *id001
        quaternion:
        - 0.3974529680714818
        - 0.3974529680714816
        - 0.5848342826572069
        - -0.5848342826572068
      pose_23:
        position: *id001
        quaternion:
        - 0.4333907338750865
        - 0.43339073387508636
        - 0.5587239674393913
        - -0.5587239674393912
      pose_24:
        position: *id001
        quaternion:
        - 0.4676181044494788
        - 0.4676181044494787
        - 0.5304086239787928
        - -0.5304086239787927
      pose_25:
        position: *id001
        quaternion:
        - 0.4999999999999996
        - 0.4999999999999995
        - 0.5000000000000004
        - -0.5000000000000003
      pose_26:
        position: *id001
        quaternion:
        - 0.5304086239787927
        - 0.5304086239787926
        - 0.46761810444947893
        - -0.4676181044494788
      pose_27:
        position: *id001
        quaternion:
        - 0.5587239674393912
        - 0.5587239674393912
        - 0.4333907338750867
        - -0.4333907338750866
      pose_28:
        position: *id001
        quaternion:
        - 0.5848342826572068
        - 0.5848342826572067
        - 0.39745296807148195
        - -0.39745296807148184
      pose_29:
        position: *id001
        quaternion:
        - 0.6086365241467431
        - 0.608636524146743
        - 0.3599466369818881
        - -0.359946636981888
      pose_30:
        position: *id001
        quaternion:
        - 0.6300367553350505
        - 0.6300367553350504
        - 0.32101976096010304
        - -0.32101976096010293
      pose_31:
        position: *id001
        quaternion:
        - 0.6489505192864647
        - 0.6489505192864647
        - 0.2808259666017867
        - -0.2808259666017866
      pose_32:
        position: *id001
        quaternion:
        - 0.6653031720155461
        - 0.6653031720155461
        - 0.23952388045047351
        - -0.23952388045047335
      pose_33:
        position: *id001
        quaternion:
        - 0.6790301770727895
        - 0.6790301770727895
        - 0.19727650297107424
        - -0.19727650297107407
      pose_34:
        position: *id001
        quaternion:
        - 0.6900773602405059
        - 0.6900773602405058
        - 0.15425056526150935
        - -0.15425056526150918
      pose_35:
        position: *id001
        quaternion:
        - 0.6984011233337102
        - 0.6984011233337102
        - 0.1106158710412373
        - -0.11061587104123714
      pose_36:
        position: *id001
        quaternion:
        - 0.7039686162622395
        - 0.7039686162622395
        - 0.06654462651354996
        - -0.0665446265135498
      pose_37:
        position: *id001
        quaternion:
        - 0.70675786667505
        - 0.70675786667505
        - 0.022210760746361666
        - -0.02221076074636151
      pose_38:
        position: *id001
        quaternion:
        - 0.7067578666750501
        - 0.7067578666750501
        - -0.022210760746361125
        - 0.022210760746361285
      pose_39:
        position: *id001
        quaternion:
        - 0.7039686162622395
        - 0.7039686162622395
        - -0.0665446265135494
        - 0.06654462651354956
      pose_40:
        position: *id001
        quaternion:
        - 0.6984011233337103
        - 0.6984011233337103
        - -0.11061587104123673
        - 0.11061587104123688
      pose_41:
        position: *id001
        quaternion:
        - 0.6900773602405058
        - 0.6900773602405059
        - -0.15425056526150874
        - 0.15425056526150888
      pose_42:
        position: *id001
        quaternion:
        - 0.6790301770727896
        - 0.6790301770727896
        - -0.1972765029710736
        - 0.19727650297107377
      pose_43:
        position: *id001
        quaternion:
        - 0.6653031720155462
        - 0.6653031720155462
        - -0.23952388045047285
        - 0.23952388045047301
      pose_44:
        position: *id001
        quaternion:
        - 0.6489505192864649
        - 0.6489505192864649
        - -0.2808259666017861
        - 0.2808259666017862
      pose_45:
        position: *id001
        quaternion:
        - 0.6300367553350508
        - 0.6300367553350509
        - -0.3210197609601024
        - 0.32101976096010254
      pose_46:
        position: *id001
        quaternion:
        - 0.6086365241467433
        - 0.6086365241467434
        - -0.3599466369818874
        - 0.3599466369818875
      pose_47:
        position: *id001
        quaternion:
        - 0.5848342826572072
        - 0.5848342826572074
        - -0.3974529680714812
        - 0.39745296807148134
      pose_48:
        position: *id001
        quaternion:
        - 0.5587239674393916
        - 0.5587239674393918
        - -0.43339073387508587
        - 0.433390733875086
      pose_49:
        position: *id001
        quaternion:
        - 0.5304086239787933
        - 0.5304086239787933
        - -0.4676181044494782
        - 0.4676181044494783
      pose_50:
        position: *id001
        quaternion:
        - 0.5000000000000009
        - 0.500000000000001
        - -0.499999999999999
        - 0.4999999999999991
    pose_frame: target
    ee_type: gripper
  goals:
  - name: on_top_goal_00
    stereotype: on_top
    description: omni6DPose_timer_017 on top of omni6DPose_book_031
    object_A_name: omni6DPose_timer_017
    object_B_name: omni6DPose_book_031
    max_horizontal_offset: 0.01
    max_vertical_offset: 0.02
extension:
  extension_cfg_dict:
    data_collect:
      enable: true
      stereotype: data_collect
      observer_cfgs:
      - stereotype: robot_observer
        name: Franka_Robotiq_2f85
        observe_joint_positions: true
        observe_joint_velocities: true
        observe_joint_accelerations: true
        observe_joint_position_targets: true
        observe_joint_velocity_targets: true
        observe_position: true
        observe_rotation: true
        observe_ee_pose: true
        observe_gripper_state: true
        observe_gripper_drive_state: true
      - stereotype: task_observer
        name: task
      - stereotype: object_observer
        name: omni6DPose_timer_017
        observe_position: true
        observe_rotation: true
        observe_scale: true
      - stereotype: object_observer
        name: omni6DPose_book_031
        observe_position: true
        observe_rotation: true
        observe_scale: true
      - stereotype: sensor_observer
        name: Hand_Camera
        observe_intrinsic_matrix: true
        observe_extrinsic_matrix: true
        observe_rgb: true
        observe_depth: true
        observe_normals: true
      - stereotype: sensor_observer
        name: Left_Camera
        observe_intrinsic_matrix: true
        observe_extrinsic_matrix: true
        observe_rgb: true
        observe_depth: true
        observe_normals: true
      - stereotype: sensor_observer
        name: Right_Camera
        observe_intrinsic_matrix: true
        observe_extrinsic_matrix: true
        observe_rgb: true
        observe_depth: true
        observe_normals: true
    record:
      enable: true
      stereotype: record
      backend_root_path: output://
      postprocess_list:
      - hdf5
      - video
      - png_depth
      - preview_video
      record_task_summary: true