{"frames": [{"t": 0.0, "left_eef": [-0.0015, -0.9664, 1.1827], "right_eef": [-0.0015, -0.9649, 1.172], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.02, "left_eef": [-0.0015, -0.9664, 1.1842], "right_eef": [-0.0015, -0.9649, 1.172], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.04, "left_eef": [-0.0015, -0.9679, 1.1827], "right_eef": [-0.0015, -0.9664, 1.172], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.06, "left_eef": [-0.0015, -0.971, 1.1842], "right_eef": [-0.0015, -0.9649, 1.175], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.08, "left_eef": [-0.0015, -0.9771, 1.1842], "right_eef": [0.0, -0.9664, 1.1781], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.1, "left_eef": [-0.0015, -0.9833, 1.1842], "right_eef": [0.0, -0.9649, 1.1812], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.12, "left_eef": [-0.0015, -0.9879, 1.1827], "right_eef": [0.0, -0.9649, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.14, "left_eef": [-0.0015, -0.991, 1.1827], "right_eef": [0.0015, -0.9649, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.16, "left_eef": [-0.0015, -0.9894, 1.1842], "right_eef": [0.0015, -0.9633, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.18, "left_eef": [-0.0015, -0.9879, 1.1842], "right_eef": [0.0015, -0.9649, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.2, "left_eef": [-0.0015, -0.9879, 1.1827], "right_eef": [0.0015, -0.9649, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.22, "left_eef": [-0.0015, -0.9894, 1.1827], "right_eef": [0.0015, -0.9633, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.24, "left_eef": [-0.0015, -0.9894, 1.1842], "right_eef": [0.0015, -0.9633, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.26, "left_eef": [-0.0015, -0.9894, 1.1827], "right_eef": [0.0015, -0.9633, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.28, "left_eef": [-0.0015, -0.9894, 1.1842], "right_eef": [0.0015, -0.9649, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.3, "left_eef": [-0.0015, -0.9894, 1.1827], "right_eef": [0.0015, -0.9649, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.32, "left_eef": [-0.0015, -0.9894, 1.1842], "right_eef": [0.0015, -0.9649, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.34, "left_eef": [-0.0015, -0.9894, 1.1827], "right_eef": [0.0015, -0.9633, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.36, "left_eef": [-0.0015, -0.9894, 1.1827], "right_eef": [0.0015, -0.9649, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.38, "left_eef": [-0.0015, -0.9894, 1.1842], "right_eef": [0.0015, -0.9633, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.4, "left_eef": [-0.0015, -0.9894, 1.1827], "right_eef": [0.0015, -0.9633, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.42, "left_eef": [-0.0015, -0.9894, 1.1827], "right_eef": [0.0015, -0.9649, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.44, "left_eef": [-0.0015, -0.9894, 1.1827], "right_eef": [0.0015, -0.9633, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.46, "left_eef": [-0.0015, -0.9894, 1.1827], "right_eef": [0.0015, -0.9633, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.48, "left_eef": [-0.0015, -0.9894, 1.1842], "right_eef": [0.0015, -0.9633, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.5, "left_eef": [-0.0031, -0.9894, 1.1827], "right_eef": [0.0015, -0.9633, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.52, "left_eef": [-0.0015, -0.9894, 1.1842], "right_eef": [0.0015, -0.9649, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.54, "left_eef": [-0.0015, -0.9894, 1.1842], "right_eef": [0.0015, -0.9649, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.56, "left_eef": [-0.0015, -0.9894, 1.1827], "right_eef": [0.0015, -0.9633, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.58, "left_eef": [-0.0015, -0.9894, 1.1827], "right_eef": [0.0015, -0.9633, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.6, "left_eef": [-0.0015, -0.9894, 1.1842], "right_eef": [0.0015, -0.9649, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.62, "left_eef": [-0.0015, -0.9894, 1.1827], "right_eef": [0.0015, -0.9649, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.64, "left_eef": [-0.0015, -0.9879, 1.1842], "right_eef": [0.0015, -0.9633, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.66, "left_eef": [-0.0015, -0.9863, 1.1842], "right_eef": [0.0015, -0.9633, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.68, "left_eef": [-0.0015, -0.9863, 1.1827], "right_eef": [0.0015, -0.9633, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.7, "left_eef": [-0.0015, -0.9833, 1.1842], "right_eef": [0.0015, -0.9633, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.72, "left_eef": [-0.0015, -0.9802, 1.1827], "right_eef": [0.0015, -0.9618, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.74, "left_eef": [0.0, -0.9771, 1.1842], "right_eef": [0.0031, -0.9587, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.76, "left_eef": [0.0, -0.9741, 1.1827], "right_eef": [0.0015, -0.9572, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.78, "left_eef": [0.0015, -0.971, 1.1827], "right_eef": [0.0015, -0.9541, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.8, "left_eef": [0.0015, -0.9679, 1.1842], "right_eef": [0.0015, -0.9495, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.82, "left_eef": [0.0046, -0.9649, 1.1827], "right_eef": [0.0015, -0.9449, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.84, "left_eef": [0.0061, -0.9633, 1.1842], "right_eef": [0.0015, -0.9403, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.86, "left_eef": [0.0077, -0.9603, 1.1842], "right_eef": [0.0015, -0.9342, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.88, "left_eef": [0.0092, -0.9603, 1.1827], "right_eef": [0.0015, -0.9281, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.9, "left_eef": [0.0107, -0.9587, 1.1842], "right_eef": [0.0031, -0.9235, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.92, "left_eef": [0.0123, -0.9572, 1.1827], "right_eef": [0.0015, -0.9204, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.94, "left_eef": [0.0123, -0.9572, 1.1827], "right_eef": [0.0015, -0.9173, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.96, "left_eef": [0.0138, -0.9572, 1.1842], "right_eef": [0.0015, -0.9173, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 0.98, "left_eef": [0.0138, -0.9572, 1.1842], "right_eef": [0.0015, -0.9173, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.0, "left_eef": [0.0123, -0.9572, 1.1827], "right_eef": [0.0015, -0.9173, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.02, "left_eef": [0.0138, -0.9572, 1.1827], "right_eef": [0.0015, -0.9158, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.04, "left_eef": [0.0138, -0.9572, 1.1827], "right_eef": [0.0031, -0.9158, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.06, "left_eef": [0.0138, -0.9572, 1.1827], "right_eef": [0.0015, -0.9173, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.08, "left_eef": [0.0123, -0.9557, 1.1827], "right_eef": [0.0015, -0.9158, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.1, "left_eef": [0.0138, -0.9572, 1.1842], "right_eef": [0.0015, -0.9158, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.12, "left_eef": [0.0123, -0.9572, 1.1827], "right_eef": [0.0031, -0.9173, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.14, "left_eef": [0.0138, -0.9572, 1.1827], "right_eef": [0.0031, -0.9173, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.16, "left_eef": [0.0138, -0.9557, 1.1842], "right_eef": [0.0015, -0.9173, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.18, "left_eef": [0.0123, -0.9572, 1.1827], "right_eef": [0.0031, -0.9173, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.2, "left_eef": [0.0138, -0.9572, 1.1827], "right_eef": [0.0031, -0.9173, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.22, "left_eef": [0.0123, -0.9572, 1.1842], "right_eef": [0.0015, -0.9204, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.24, "left_eef": [0.0123, -0.9572, 1.1827], "right_eef": [0.0015, -0.9235, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.26, "left_eef": [0.0138, -0.9587, 1.1827], "right_eef": [0.0015, -0.9265, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.28, "left_eef": [0.0138, -0.9603, 1.1827], "right_eef": [0.0015, -0.9296, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.3, "left_eef": [0.0123, -0.9603, 1.1842], "right_eef": [0.0015, -0.9342, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.32, "left_eef": [0.0138, -0.9618, 1.1827], "right_eef": [0.0031, -0.9388, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.34, "left_eef": [0.0138, -0.9633, 1.1827], "right_eef": [0.0031, -0.9403, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.36, "left_eef": [0.0138, -0.9649, 1.1842], "right_eef": [0.0031, -0.9419, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.38, "left_eef": [0.0138, -0.9664, 1.1842], "right_eef": [0.0015, -0.9434, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.4, "left_eef": [0.0138, -0.9679, 1.1842], "right_eef": [0.0015, -0.9434, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.42, "left_eef": [0.0138, -0.9695, 1.1827], "right_eef": [0.0015, -0.9449, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.44, "left_eef": [0.0138, -0.971, 1.1827], "right_eef": [0.0015, -0.9449, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.46, "left_eef": [0.0123, -0.9756, 1.1827], "right_eef": [0.0015, -0.9465, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.48, "left_eef": [0.0138, -0.9771, 1.1827], "right_eef": [0.0015, -0.9465, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.5, "left_eef": [0.0138, -0.9817, 1.1827], "right_eef": [0.0015, -0.948, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.52, "left_eef": [0.0123, -0.9863, 1.1827], "right_eef": [0.0015, -0.948, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.54, "left_eef": [0.0138, -0.991, 1.1842], "right_eef": [0.0015, -0.9495, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.56, "left_eef": [0.0138, -0.994, 1.1842], "right_eef": [0.0015, -0.9495, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.58, "left_eef": [0.0138, -0.9986, 1.1827], "right_eef": [0.0031, -0.9511, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.6, "left_eef": [0.0138, -1.0032, 1.1842], "right_eef": [0.0015, -0.9511, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.62, "left_eef": [0.0138, -1.0078, 1.1842], "right_eef": [0.0031, -0.9526, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.64, "left_eef": [0.0138, -1.0109, 1.1842], "right_eef": [0.0015, -0.9526, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.66, "left_eef": [0.0138, -1.0124, 1.1858], "right_eef": [0.0015, -0.9541, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.68, "left_eef": [0.0138, -1.0124, 1.1858], "right_eef": [0.0015, -0.9541, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.7, "left_eef": [0.0138, -1.014, 1.1858], "right_eef": [0.0015, -0.9541, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.72, "left_eef": [0.0138, -1.014, 1.1858], "right_eef": [0.0015, -0.9557, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.74, "left_eef": [0.0138, -1.014, 1.1858], "right_eef": [0.0015, -0.9557, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.76, "left_eef": [0.0138, -1.014, 1.1858], "right_eef": [0.0015, -0.9557, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.78, "left_eef": [0.0138, -1.014, 1.1858], "right_eef": [0.0015, -0.9557, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.8, "left_eef": [0.0123, -1.014, 1.1873], "right_eef": [0.0015, -0.9557, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.82, "left_eef": [0.0138, -1.014, 1.1873], "right_eef": [0.0, -0.9572, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.84, "left_eef": [0.0138, -1.014, 1.1873], "right_eef": [-0.0015, -0.9572, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.86, "left_eef": [0.0138, -1.014, 1.1873], "right_eef": [-0.0031, -0.9587, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.88, "left_eef": [0.0138, -1.014, 1.1873], "right_eef": [-0.0061, -0.9603, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.9, "left_eef": [0.0138, -1.014, 1.1873], "right_eef": [-0.0123, -0.9603, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.92, "left_eef": [0.0138, -1.014, 1.1873], "right_eef": [-0.0169, -0.9633, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.94, "left_eef": [0.0138, -1.014, 1.1873], "right_eef": [-0.0215, -0.9679, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.96, "left_eef": [0.0138, -1.0155, 1.1858], "right_eef": [-0.0261, -0.9725, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 1.98, "left_eef": [0.0138, -1.0155, 1.1873], "right_eef": [-0.0307, -0.9771, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.0, "left_eef": [0.0138, -1.014, 1.1873], "right_eef": [-0.0353, -0.9817, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.02, "left_eef": [0.0138, -1.014, 1.1873], "right_eef": [-0.0368, -0.9848, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.04, "left_eef": [0.0138, -1.014, 1.1888], "right_eef": [-0.0368, -0.9863, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.06, "left_eef": [0.0138, -1.014, 1.1888], "right_eef": [-0.0353, -0.9894, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.08, "left_eef": [0.0138, -1.014, 1.1904], "right_eef": [-0.0368, -0.9894, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.1, "left_eef": [0.0138, -1.014, 1.1919], "right_eef": [-0.0353, -0.9894, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.12, "left_eef": [0.0138, -1.014, 1.1919], "right_eef": [-0.0353, -0.9879, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.14, "left_eef": [0.0138, -1.0124, 1.1934], "right_eef": [-0.0353, -0.9879, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.16, "left_eef": [0.0138, -1.0124, 1.195], "right_eef": [-0.0353, -0.9879, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.18, "left_eef": [0.0138, -1.014, 1.195], "right_eef": [-0.0353, -0.9894, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.2, "left_eef": [0.0138, -1.0124, 1.1965], "right_eef": [-0.0353, -0.9879, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.22, "left_eef": [0.0138, -1.0124, 1.1965], "right_eef": [-0.0353, -0.9879, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.24, "left_eef": [0.0138, -1.0124, 1.1965], "right_eef": [-0.0353, -0.9879, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.26, "left_eef": [0.0138, -1.0124, 1.198], "right_eef": [-0.0353, -0.9894, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.28, "left_eef": [0.0138, -1.0124, 1.198], "right_eef": [-0.0353, -0.9894, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.3, "left_eef": [0.0138, -1.0124, 1.198], "right_eef": [-0.0368, -0.991, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.32, "left_eef": [0.0153, -1.0124, 1.198], "right_eef": [-0.0353, -0.9925, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.34, "left_eef": [0.0153, -1.014, 1.198], "right_eef": [-0.0353, -0.994, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.36, "left_eef": [0.0138, -1.0155, 1.198], "right_eef": [-0.0353, -0.9971, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.38, "left_eef": [0.0138, -1.0155, 1.198], "right_eef": [-0.0368, -1.0002, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.4, "left_eef": [0.0138, -1.017, 1.198], "right_eef": [-0.0368, -1.0032, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.42, "left_eef": [0.0138, -1.017, 1.198], "right_eef": [-0.0368, -1.0048, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.44, "left_eef": [0.0138, -1.017, 1.198], "right_eef": [-0.0368, -1.0063, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.46, "left_eef": [0.0138, -1.0186, 1.198], "right_eef": [-0.0368, -1.0078, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.48, "left_eef": [0.0138, -1.0186, 1.1996], "right_eef": [-0.0368, -1.0078, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.5, "left_eef": [0.0138, -1.0186, 1.1996], "right_eef": [-0.0368, -1.0078, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.52, "left_eef": [0.0138, -1.0186, 1.1996], "right_eef": [-0.0368, -1.0078, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.54, "left_eef": [0.0138, -1.0186, 1.2011], "right_eef": [-0.0368, -1.0094, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.56, "left_eef": [0.0138, -1.0201, 1.2011], "right_eef": [-0.0368, -1.0094, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.58, "left_eef": [0.0138, -1.0201, 1.2026], "right_eef": [-0.0368, -1.0094, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.6, "left_eef": [0.0138, -1.0232, 1.2042], "right_eef": [-0.0368, -1.0094, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.62, "left_eef": [0.0138, -1.0232, 1.2057], "right_eef": [-0.0368, -1.0094, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.64, "left_eef": [0.0138, -1.0262, 1.2072], "right_eef": [-0.0368, -1.0094, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.66, "left_eef": [0.0138, -1.0278, 1.2072], "right_eef": [-0.0368, -1.0094, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.68, "left_eef": [0.0138, -1.0308, 1.2072], "right_eef": [-0.0368, -1.0094, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.7, "left_eef": [0.0138, -1.0324, 1.2088], "right_eef": [-0.0368, -1.0094, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.72, "left_eef": [0.0138, -1.0339, 1.2088], "right_eef": [-0.0368, -1.0094, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.74, "left_eef": [0.0153, -1.0354, 1.2088], "right_eef": [-0.0368, -1.0094, 1.1827], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.76, "left_eef": [0.0153, -1.0339, 1.2088], "right_eef": [-0.0368, -1.0094, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.78, "left_eef": [0.0138, -1.0354, 1.2088], "right_eef": [-0.0368, -1.0094, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.8, "left_eef": [0.0138, -1.0354, 1.2088], "right_eef": [-0.0368, -1.0094, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.82, "left_eef": [0.0138, -1.037, 1.2088], "right_eef": [-0.0353, -1.0094, 1.1858], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.84, "left_eef": [0.0153, -1.037, 1.2088], "right_eef": [-0.0368, -1.0094, 1.1858], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.86, "left_eef": [0.0153, -1.037, 1.2088], "right_eef": [-0.0368, -1.0094, 1.1873], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.88, "left_eef": [0.0153, -1.037, 1.2088], "right_eef": [-0.0368, -1.0094, 1.1873], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.9, "left_eef": [0.0153, -1.037, 1.2088], "right_eef": [-0.0383, -1.0094, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.92, "left_eef": [0.0153, -1.037, 1.2088], "right_eef": [-0.0383, -1.0094, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.94, "left_eef": [0.0138, -1.037, 1.2088], "right_eef": [-0.0383, -1.0094, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.96, "left_eef": [0.0153, -1.037, 1.2088], "right_eef": [-0.0383, -1.0094, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 2.98, "left_eef": [0.0153, -1.0385, 1.2088], "right_eef": [-0.0383, -1.0094, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.0, "left_eef": [0.0153, -1.0385, 1.2088], "right_eef": [-0.0399, -1.0094, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.02, "left_eef": [0.0153, -1.0385, 1.2088], "right_eef": [-0.0383, -1.0094, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.04, "left_eef": [0.0153, -1.0385, 1.2088], "right_eef": [-0.0383, -1.0094, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.06, "left_eef": [0.0153, -1.0385, 1.2088], "right_eef": [-0.0383, -1.0094, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.08, "left_eef": [0.0153, -1.0385, 1.2088], "right_eef": [-0.0383, -1.0094, 1.1873], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.1, "left_eef": [0.0138, -1.0385, 1.2103], "right_eef": [-0.0383, -1.0094, 1.1873], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.12, "left_eef": [0.0138, -1.0385, 1.2088], "right_eef": [-0.0383, -1.0094, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.14, "left_eef": [0.0153, -1.0385, 1.2103], "right_eef": [-0.0383, -1.0094, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.16, "left_eef": [0.0153, -1.037, 1.2088], "right_eef": [-0.0383, -1.0094, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.18, "left_eef": [0.0153, -1.037, 1.2103], "right_eef": [-0.0399, -1.0094, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.2, "left_eef": [0.0153, -1.0354, 1.2103], "right_eef": [-0.0399, -1.0094, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.22, "left_eef": [0.0153, -1.0339, 1.2103], "right_eef": [-0.0414, -1.0094, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.24, "left_eef": [0.0153, -1.0308, 1.2103], "right_eef": [-0.043, -1.0094, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.26, "left_eef": [0.0153, -1.0278, 1.2103], "right_eef": [-0.046, -1.0094, 1.1873], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.28, "left_eef": [0.0153, -1.0247, 1.2103], "right_eef": [-0.0476, -1.0094, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.3, "left_eef": [0.0153, -1.0201, 1.2103], "right_eef": [-0.0506, -1.0094, 1.1873], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.32, "left_eef": [0.0153, -1.0186, 1.2103], "right_eef": [-0.0506, -1.0094, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.34, "left_eef": [0.0153, -1.0186, 1.2103], "right_eef": [-0.0522, -1.0094, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.36, "left_eef": [0.0153, -1.0186, 1.2103], "right_eef": [-0.0522, -1.0094, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.38, "left_eef": [0.0153, -1.0186, 1.2103], "right_eef": [-0.0522, -1.0094, 1.1873], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.4, "left_eef": [0.0153, -1.0186, 1.2118], "right_eef": [-0.0522, -1.0094, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.42, "left_eef": [0.0153, -1.0186, 1.2118], "right_eef": [-0.0522, -1.0094, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.44, "left_eef": [0.0138, -1.0186, 1.2118], "right_eef": [-0.0522, -1.0094, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.46, "left_eef": [0.0153, -1.0186, 1.2134], "right_eef": [-0.0522, -1.0094, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.48, "left_eef": [0.0153, -1.0186, 1.2134], "right_eef": [-0.0522, -1.0094, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.5, "left_eef": [0.0153, -1.0186, 1.2134], "right_eef": [-0.0522, -1.0094, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.52, "left_eef": [0.0153, -1.0186, 1.2134], "right_eef": [-0.0522, -1.0109, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.54, "left_eef": [0.0138, -1.0186, 1.2134], "right_eef": [-0.0522, -1.0109, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.56, "left_eef": [0.0153, -1.0186, 1.2134], "right_eef": [-0.0522, -1.0124, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.58, "left_eef": [0.0153, -1.0186, 1.2134], "right_eef": [-0.0522, -1.0124, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.6, "left_eef": [0.0153, -1.0201, 1.2134], "right_eef": [-0.0522, -1.0124, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.62, "left_eef": [0.0169, -1.0201, 1.2134], "right_eef": [-0.0506, -1.014, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.64, "left_eef": [0.0153, -1.0201, 1.2134], "right_eef": [-0.0506, -1.014, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.66, "left_eef": [0.0153, -1.0201, 1.2134], "right_eef": [-0.0522, -1.014, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.68, "left_eef": [0.0153, -1.0186, 1.2149], "right_eef": [-0.0506, -1.014, 1.1873], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.7, "left_eef": [0.0153, -1.0201, 1.2134], "right_eef": [-0.0506, -1.014, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.72, "left_eef": [0.0153, -1.0201, 1.2149], "right_eef": [-0.0522, -1.014, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.74, "left_eef": [0.0138, -1.0201, 1.2164], "right_eef": [-0.0522, -1.014, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.76, "left_eef": [0.0138, -1.0201, 1.218], "right_eef": [-0.0522, -1.014, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.78, "left_eef": [0.0138, -1.0186, 1.218], "right_eef": [-0.0537, -1.014, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.8, "left_eef": [0.0138, -1.0186, 1.218], "right_eef": [-0.0537, -1.014, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.82, "left_eef": [0.0153, -1.0201, 1.218], "right_eef": [-0.0522, -1.014, 1.1873], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.84, "left_eef": [0.0153, -1.0186, 1.218], "right_eef": [-0.0522, -1.014, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.86, "left_eef": [0.0153, -1.0201, 1.218], "right_eef": [-0.0506, -1.014, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.88, "left_eef": [0.0153, -1.0186, 1.218], "right_eef": [-0.0506, -1.014, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.9, "left_eef": [0.0153, -1.0186, 1.218], "right_eef": [-0.0522, -1.014, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.92, "left_eef": [0.0153, -1.0186, 1.218], "right_eef": [-0.0522, -1.014, 1.1873], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.94, "left_eef": [0.0153, -1.0201, 1.218], "right_eef": [-0.0506, -1.014, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.96, "left_eef": [0.0153, -1.0201, 1.218], "right_eef": [-0.0522, -1.014, 1.1873], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 3.98, "left_eef": [0.0169, -1.0201, 1.218], "right_eef": [-0.0522, -1.014, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.0, "left_eef": [0.0153, -1.0186, 1.218], "right_eef": [-0.0522, -1.014, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.02, "left_eef": [0.0153, -1.0201, 1.218], "right_eef": [-0.0552, -1.014, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.04, "left_eef": [0.0138, -1.0186, 1.2164], "right_eef": [-0.0583, -1.014, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.06, "left_eef": [0.0138, -1.0201, 1.218], "right_eef": [-0.0614, -1.0155, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.08, "left_eef": [0.0138, -1.0201, 1.218], "right_eef": [-0.066, -1.0155, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.1, "left_eef": [0.0138, -1.0201, 1.218], "right_eef": [-0.069, -1.017, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.12, "left_eef": [0.0153, -1.0201, 1.218], "right_eef": [-0.0721, -1.0201, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.14, "left_eef": [0.0153, -1.0201, 1.218], "right_eef": [-0.0736, -1.0247, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.16, "left_eef": [0.0153, -1.0216, 1.218], "right_eef": [-0.0752, -1.0293, 1.1904], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.18, "left_eef": [0.0169, -1.0216, 1.218], "right_eef": [-0.0752, -1.0339, 1.1934], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.2, "left_eef": [0.0153, -1.0216, 1.218], "right_eef": [-0.0752, -1.0385, 1.195], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.22, "left_eef": [0.0169, -1.0201, 1.218], "right_eef": [-0.0752, -1.0462, 1.198], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.24, "left_eef": [0.0169, -1.0201, 1.218], "right_eef": [-0.0767, -1.0508, 1.2011], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.26, "left_eef": [0.0153, -1.0201, 1.218], "right_eef": [-0.0752, -1.0569, 1.2042], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.28, "left_eef": [0.0169, -1.0186, 1.218], "right_eef": [-0.0767, -1.06, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.3, "left_eef": [0.0153, -1.017, 1.218], "right_eef": [-0.0752, -1.063, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.32, "left_eef": [0.0153, -1.014, 1.218], "right_eef": [-0.0767, -1.0646, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.34, "left_eef": [0.0169, -1.0109, 1.218], "right_eef": [-0.0767, -1.0661, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.36, "left_eef": [0.0153, -1.0094, 1.218], "right_eef": [-0.0752, -1.0661, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.38, "left_eef": [0.0153, -1.0063, 1.218], "right_eef": [-0.0752, -1.0677, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.4, "left_eef": [0.0153, -1.0048, 1.218], "right_eef": [-0.0767, -1.0661, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.42, "left_eef": [0.0153, -1.0032, 1.218], "right_eef": [-0.0752, -1.0677, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.44, "left_eef": [0.0153, -1.0017, 1.218], "right_eef": [-0.0752, -1.0677, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.46, "left_eef": [0.0153, -1.0017, 1.218], "right_eef": [-0.0752, -1.0692, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.48, "left_eef": [0.0153, -1.0017, 1.218], "right_eef": [-0.0752, -1.0692, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.5, "left_eef": [0.0153, -1.0017, 1.218], "right_eef": [-0.0752, -1.0723, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.52, "left_eef": [0.0153, -1.0032, 1.218], "right_eef": [-0.0767, -1.0753, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.54, "left_eef": [0.0153, -1.0032, 1.218], "right_eef": [-0.0767, -1.0769, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.56, "left_eef": [0.0153, -1.0048, 1.218], "right_eef": [-0.0767, -1.0784, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.58, "left_eef": [0.0138, -1.0048, 1.218], "right_eef": [-0.0767, -1.0815, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.6, "left_eef": [0.0138, -1.0048, 1.218], "right_eef": [-0.0767, -1.083, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.62, "left_eef": [0.0138, -1.0048, 1.218], "right_eef": [-0.0767, -1.083, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.64, "left_eef": [0.0138, -1.0063, 1.218], "right_eef": [-0.0767, -1.0815, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 0}, {"t": 4.66, "left_eef": [0.0153, -1.0048, 1.218], "right_eef": [-0.0767, -1.0815, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 4.68, "left_eef": [0.0153, -1.0063, 1.218], "right_eef": [-0.0767, -1.0799, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 4.7, "left_eef": [0.0153, -1.0048, 1.218], "right_eef": [-0.0767, -1.0784, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 4.72, "left_eef": [0.0153, -1.0063, 1.218], "right_eef": [-0.0782, -1.0784, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 4.74, "left_eef": [0.0153, -1.0048, 1.218], "right_eef": [-0.0813, -1.0769, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 4.76, "left_eef": [0.0169, -1.0048, 1.218], "right_eef": [-0.0844, -1.0738, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 4.78, "left_eef": [0.0153, -1.0032, 1.218], "right_eef": [-0.0874, -1.0738, 1.2042], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 4.8, "left_eef": [0.0153, -1.0032, 1.218], "right_eef": [-0.0905, -1.0707, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 4.82, "left_eef": [0.0153, -1.0017, 1.218], "right_eef": [-0.0936, -1.0692, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 4.84, "left_eef": [0.0153, -1.0002, 1.218], "right_eef": [-0.0951, -1.0692, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 4.86, "left_eef": [0.0153, -1.0002, 1.2195], "right_eef": [-0.0966, -1.0677, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 4.88, "left_eef": [0.0153, -0.9986, 1.2195], "right_eef": [-0.0966, -1.0677, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 4.9, "left_eef": [0.0153, -0.9971, 1.221], "right_eef": [-0.0966, -1.0677, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 4.92, "left_eef": [0.0153, -0.9971, 1.221], "right_eef": [-0.0966, -1.0677, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 4.94, "left_eef": [0.0153, -0.9971, 1.221], "right_eef": [-0.0966, -1.0692, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 4.96, "left_eef": [0.0138, -0.9956, 1.221], "right_eef": [-0.0966, -1.0677, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 4.98, "left_eef": [0.0153, -0.9971, 1.221], "right_eef": [-0.0966, -1.0677, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.0, "left_eef": [0.0153, -0.9971, 1.221], "right_eef": [-0.0966, -1.0692, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.02, "left_eef": [0.0169, -0.9971, 1.221], "right_eef": [-0.0951, -1.0692, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.04, "left_eef": [0.0169, -0.9986, 1.221], "right_eef": [-0.0951, -1.0707, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.06, "left_eef": [0.0153, -0.9986, 1.221], "right_eef": [-0.0951, -1.0738, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.08, "left_eef": [0.0169, -1.0002, 1.221], "right_eef": [-0.0951, -1.0784, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.1, "left_eef": [0.0169, -1.0002, 1.221], "right_eef": [-0.0951, -1.0815, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.12, "left_eef": [0.0169, -1.0002, 1.221], "right_eef": [-0.0951, -1.083, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.14, "left_eef": [0.0153, -1.0002, 1.221], "right_eef": [-0.0951, -1.0861, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.16, "left_eef": [0.0153, -1.0002, 1.221], "right_eef": [-0.0951, -1.0861, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.18, "left_eef": [0.0169, -1.0002, 1.2226], "right_eef": [-0.0951, -1.0861, 1.2057], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.2, "left_eef": [0.0153, -1.0002, 1.2226], "right_eef": [-0.0951, -1.0861, 1.2072], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.22, "left_eef": [0.0153, -0.9986, 1.2226], "right_eef": [-0.0951, -1.0861, 1.2088], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.24, "left_eef": [0.0153, -1.0002, 1.2226], "right_eef": [-0.0951, -1.0876, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.26, "left_eef": [0.0153, -0.9986, 1.2226], "right_eef": [-0.0951, -1.0861, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.28, "left_eef": [0.0153, -0.9986, 1.2226], "right_eef": [-0.0951, -1.0876, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.3, "left_eef": [0.0153, -0.9986, 1.2226], "right_eef": [-0.0966, -1.0876, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.32, "left_eef": [0.0153, -0.9986, 1.2226], "right_eef": [-0.0951, -1.0861, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.34, "left_eef": [0.0169, -0.9986, 1.2226], "right_eef": [-0.0951, -1.0876, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.36, "left_eef": [0.0169, -0.9986, 1.2226], "right_eef": [-0.0951, -1.0861, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.38, "left_eef": [0.0169, -0.9986, 1.2226], "right_eef": [-0.0951, -1.0861, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.4, "left_eef": [0.0169, -0.9986, 1.2226], "right_eef": [-0.0951, -1.0861, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.42, "left_eef": [0.0169, -0.9986, 1.2226], "right_eef": [-0.0936, -1.0876, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.44, "left_eef": [0.0169, -0.9986, 1.2226], "right_eef": [-0.0936, -1.0876, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.46, "left_eef": [0.0169, -0.9986, 1.2226], "right_eef": [-0.0936, -1.0876, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.48, "left_eef": [0.0169, -0.9986, 1.2241], "right_eef": [-0.0936, -1.0861, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.5, "left_eef": [0.0169, -0.9986, 1.2257], "right_eef": [-0.0936, -1.0876, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.52, "left_eef": [0.0169, -0.9986, 1.2257], "right_eef": [-0.0951, -1.0876, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.54, "left_eef": [0.0153, -0.9986, 1.2272], "right_eef": [-0.0951, -1.0876, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.56, "left_eef": [0.0153, -0.9986, 1.2272], "right_eef": [-0.0951, -1.0876, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.58, "left_eef": [0.0153, -0.9986, 1.2272], "right_eef": [-0.0966, -1.0876, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.6, "left_eef": [0.0153, -0.9986, 1.2272], "right_eef": [-0.0966, -1.0876, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.62, "left_eef": [0.0138, -0.9986, 1.2272], "right_eef": [-0.0966, -1.0861, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.64, "left_eef": [0.0153, -0.9986, 1.2272], "right_eef": [-0.0966, -1.0861, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.66, "left_eef": [0.0153, -0.9971, 1.2287], "right_eef": [-0.0951, -1.0861, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.68, "left_eef": [0.0169, -0.9986, 1.2287], "right_eef": [-0.0951, -1.083, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.7, "left_eef": [0.0153, -0.9971, 1.2303], "right_eef": [-0.0951, -1.0815, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.72, "left_eef": [0.0169, -0.9986, 1.2303], "right_eef": [-0.0951, -1.0799, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.74, "left_eef": [0.0153, -0.9971, 1.2303], "right_eef": [-0.0951, -1.0769, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.76, "left_eef": [0.0169, -0.9971, 1.2318], "right_eef": [-0.0951, -1.0738, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.78, "left_eef": [0.0169, -0.9971, 1.2318], "right_eef": [-0.0951, -1.0723, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.8, "left_eef": [0.0153, -0.9971, 1.2333], "right_eef": [-0.0951, -1.0692, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.82, "left_eef": [0.0153, -0.9971, 1.2349], "right_eef": [-0.0936, -1.0677, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.84, "left_eef": [0.0169, -0.9971, 1.2349], "right_eef": [-0.0936, -1.0677, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.86, "left_eef": [0.0153, -0.9956, 1.2333], "right_eef": [-0.0951, -1.0661, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.88, "left_eef": [0.0153, -0.9971, 1.2349], "right_eef": [-0.0936, -1.0661, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.9, "left_eef": [0.0169, -0.9971, 1.2333], "right_eef": [-0.0936, -1.0646, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.92, "left_eef": [0.0169, -0.9956, 1.2349], "right_eef": [-0.0936, -1.0661, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.94, "left_eef": [0.0169, -0.9956, 1.2349], "right_eef": [-0.0936, -1.0646, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.96, "left_eef": [0.0169, -0.9956, 1.2333], "right_eef": [-0.0936, -1.0646, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 5.98, "left_eef": [0.0169, -0.9956, 1.2349], "right_eef": [-0.0936, -1.0661, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.0, "left_eef": [0.0169, -0.9956, 1.2333], "right_eef": [-0.0936, -1.0677, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.02, "left_eef": [0.0169, -0.9956, 1.2333], "right_eef": [-0.0936, -1.0692, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.04, "left_eef": [0.0169, -0.9956, 1.2333], "right_eef": [-0.092, -1.0707, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.06, "left_eef": [0.0169, -0.994, 1.2333], "right_eef": [-0.092, -1.0738, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.08, "left_eef": [0.0169, -0.991, 1.2333], "right_eef": [-0.092, -1.0753, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.1, "left_eef": [0.0169, -0.9894, 1.2349], "right_eef": [-0.092, -1.0784, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.12, "left_eef": [0.0169, -0.9879, 1.2333], "right_eef": [-0.092, -1.0784, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.14, "left_eef": [0.0169, -0.9848, 1.2333], "right_eef": [-0.0936, -1.0799, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.16, "left_eef": [0.0169, -0.9833, 1.2333], "right_eef": [-0.0936, -1.0815, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.18, "left_eef": [0.0169, -0.9787, 1.2349], "right_eef": [-0.0936, -1.0815, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.2, "left_eef": [0.0169, -0.9771, 1.2333], "right_eef": [-0.0936, -1.0815, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.22, "left_eef": [0.0169, -0.9741, 1.2333], "right_eef": [-0.0936, -1.083, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.24, "left_eef": [0.0169, -0.971, 1.2333], "right_eef": [-0.0936, -1.083, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.26, "left_eef": [0.0169, -0.9679, 1.2333], "right_eef": [-0.0936, -1.0815, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.28, "left_eef": [0.0169, -0.9649, 1.2333], "right_eef": [-0.0936, -1.0815, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.3, "left_eef": [0.0153, -0.9649, 1.2333], "right_eef": [-0.0936, -1.083, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.32, "left_eef": [0.0153, -0.9649, 1.2333], "right_eef": [-0.0951, -1.0815, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.34, "left_eef": [0.0169, -0.9633, 1.2333], "right_eef": [-0.0951, -1.083, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.36, "left_eef": [0.0169, -0.9649, 1.2333], "right_eef": [-0.0951, -1.083, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.38, "left_eef": [0.0169, -0.9633, 1.2333], "right_eef": [-0.0936, -1.083, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.4, "left_eef": [0.0169, -0.9633, 1.2333], "right_eef": [-0.0936, -1.083, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.42, "left_eef": [0.0169, -0.9633, 1.2333], "right_eef": [-0.092, -1.0845, 1.2103], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.44, "left_eef": [0.0184, -0.9633, 1.2333], "right_eef": [-0.092, -1.0861, 1.2118], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.46, "left_eef": [0.0184, -0.9649, 1.2333], "right_eef": [-0.092, -1.0876, 1.2134], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.48, "left_eef": [0.0184, -0.9649, 1.2333], "right_eef": [-0.0936, -1.0891, 1.2149], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.5, "left_eef": [0.0169, -0.9664, 1.2333], "right_eef": [-0.0936, -1.0891, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.52, "left_eef": [0.0169, -0.9664, 1.2333], "right_eef": [-0.0951, -1.0891, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.54, "left_eef": [0.0169, -0.9664, 1.2333], "right_eef": [-0.0966, -1.0907, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.56, "left_eef": [0.0169, -0.9679, 1.2333], "right_eef": [-0.0966, -1.0922, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.58, "left_eef": [0.0169, -0.9679, 1.2333], "right_eef": [-0.0966, -1.0922, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.6, "left_eef": [0.0153, -0.9695, 1.2333], "right_eef": [-0.0966, -1.0937, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.62, "left_eef": [0.0153, -0.9695, 1.2333], "right_eef": [-0.0966, -1.0953, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.64, "left_eef": [0.0169, -0.9725, 1.2333], "right_eef": [-0.0966, -1.0953, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.66, "left_eef": [0.0169, -0.9725, 1.2333], "right_eef": [-0.0951, -1.0953, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.68, "left_eef": [0.0169, -0.9741, 1.2333], "right_eef": [-0.0951, -1.0953, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.7, "left_eef": [0.0169, -0.9771, 1.2333], "right_eef": [-0.0936, -1.0953, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.72, "left_eef": [0.0184, -0.9771, 1.2333], "right_eef": [-0.0936, -1.0968, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.74, "left_eef": [0.0184, -0.9802, 1.2333], "right_eef": [-0.0936, -1.0983, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.76, "left_eef": [0.0169, -0.9817, 1.2333], "right_eef": [-0.092, -1.0999, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.78, "left_eef": [0.0169, -0.9833, 1.2333], "right_eef": [-0.0936, -1.1029, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.8, "left_eef": [0.0169, -0.9863, 1.2333], "right_eef": [-0.0936, -1.1075, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.82, "left_eef": [0.0169, -0.9894, 1.2333], "right_eef": [-0.0936, -1.1106, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.84, "left_eef": [0.0153, -0.991, 1.2333], "right_eef": [-0.0951, -1.1152, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.86, "left_eef": [0.0153, -0.994, 1.2333], "right_eef": [-0.0966, -1.1213, 1.218], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.88, "left_eef": [0.0153, -0.9971, 1.2333], "right_eef": [-0.0951, -1.1244, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.9, "left_eef": [0.0153, -1.0002, 1.2333], "right_eef": [-0.0951, -1.1275, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.92, "left_eef": [0.0153, -1.0017, 1.2333], "right_eef": [-0.0966, -1.129, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.94, "left_eef": [0.0153, -1.0017, 1.2333], "right_eef": [-0.0951, -1.1305, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.96, "left_eef": [0.0153, -1.0032, 1.2333], "right_eef": [-0.0951, -1.129, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 6.98, "left_eef": [0.0153, -1.0032, 1.2333], "right_eef": [-0.0951, -1.129, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.0, "left_eef": [0.0169, -1.0048, 1.2333], "right_eef": [-0.0936, -1.129, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.02, "left_eef": [0.0169, -1.0048, 1.2333], "right_eef": [-0.0936, -1.1305, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.04, "left_eef": [0.0169, -1.0032, 1.2333], "right_eef": [-0.092, -1.1305, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.06, "left_eef": [0.0184, -1.0048, 1.2333], "right_eef": [-0.092, -1.1305, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.08, "left_eef": [0.0184, -1.0032, 1.2333], "right_eef": [-0.092, -1.129, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.1, "left_eef": [0.0184, -1.0048, 1.2364], "right_eef": [-0.092, -1.129, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.12, "left_eef": [0.0169, -1.0032, 1.2379], "right_eef": [-0.092, -1.129, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.14, "left_eef": [0.0184, -1.0032, 1.2379], "right_eef": [-0.092, -1.129, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.16, "left_eef": [0.0169, -1.0048, 1.241], "right_eef": [-0.092, -1.1275, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.18, "left_eef": [0.0169, -1.0032, 1.2425], "right_eef": [-0.092, -1.1275, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.2, "left_eef": [0.0169, -1.0017, 1.2425], "right_eef": [-0.092, -1.1259, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.22, "left_eef": [0.0169, -1.0017, 1.2441], "right_eef": [-0.092, -1.1244, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.24, "left_eef": [0.0169, -1.0002, 1.2441], "right_eef": [-0.092, -1.1213, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.26, "left_eef": [0.0169, -0.9986, 1.2456], "right_eef": [-0.092, -1.1183, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.28, "left_eef": [0.0169, -0.9986, 1.2441], "right_eef": [-0.0905, -1.1137, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.3, "left_eef": [0.0169, -0.9971, 1.2456], "right_eef": [-0.089, -1.1091, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.32, "left_eef": [0.0169, -0.9971, 1.2471], "right_eef": [-0.0874, -1.1029, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.34, "left_eef": [0.0169, -0.9971, 1.2487], "right_eef": [-0.0874, -1.0983, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.36, "left_eef": [0.0169, -0.9956, 1.2487], "right_eef": [-0.0844, -1.0922, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.38, "left_eef": [0.0184, -0.9956, 1.2502], "right_eef": [-0.0844, -1.0891, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.4, "left_eef": [0.0169, -0.9971, 1.2487], "right_eef": [-0.0828, -1.0845, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.42, "left_eef": [0.0169, -0.9956, 1.2502], "right_eef": [-0.0813, -1.0815, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.44, "left_eef": [0.0169, -0.9956, 1.2487], "right_eef": [-0.0828, -1.0784, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.46, "left_eef": [0.0169, -0.9956, 1.2502], "right_eef": [-0.0828, -1.0784, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.48, "left_eef": [0.0169, -0.9956, 1.2502], "right_eef": [-0.0844, -1.0769, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.5, "left_eef": [0.0169, -0.9956, 1.2502], "right_eef": [-0.0844, -1.0753, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.52, "left_eef": [0.0169, -0.9971, 1.2487], "right_eef": [-0.0844, -1.0738, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.54, "left_eef": [0.0169, -0.9956, 1.2502], "right_eef": [-0.0859, -1.0723, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.56, "left_eef": [0.0169, -0.9956, 1.2502], "right_eef": [-0.0859, -1.0692, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.58, "left_eef": [0.0169, -0.9956, 1.2487], "right_eef": [-0.0859, -1.0677, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.6, "left_eef": [0.0169, -0.9956, 1.2487], "right_eef": [-0.0844, -1.0646, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.62, "left_eef": [0.0169, -0.9956, 1.2487], "right_eef": [-0.0844, -1.06, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.64, "left_eef": [0.0169, -0.9956, 1.2502], "right_eef": [-0.0844, -1.0569, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.66, "left_eef": [0.0184, -0.994, 1.2517], "right_eef": [-0.0828, -1.0523, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.68, "left_eef": [0.0169, -0.994, 1.2533], "right_eef": [-0.0828, -1.0462, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.7, "left_eef": [0.0169, -0.9956, 1.2533], "right_eef": [-0.0828, -1.0446, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.72, "left_eef": [0.0169, -0.994, 1.2548], "right_eef": [-0.0844, -1.0416, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.74, "left_eef": [0.0169, -0.994, 1.2563], "right_eef": [-0.0844, -1.0385, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.76, "left_eef": [0.0169, -0.994, 1.2563], "right_eef": [-0.0859, -1.037, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.78, "left_eef": [0.0169, -0.9925, 1.2563], "right_eef": [-0.0859, -1.037, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.8, "left_eef": [0.0169, -0.9925, 1.2563], "right_eef": [-0.0859, -1.0354, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.82, "left_eef": [0.0169, -0.9925, 1.2563], "right_eef": [-0.0859, -1.0354, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.84, "left_eef": [0.0169, -0.991, 1.2563], "right_eef": [-0.0874, -1.0354, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.86, "left_eef": [0.0169, -0.9894, 1.2548], "right_eef": [-0.0874, -1.0339, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.88, "left_eef": [0.0169, -0.9879, 1.2563], "right_eef": [-0.0859, -1.0354, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.9, "left_eef": [0.0169, -0.9863, 1.2563], "right_eef": [-0.0859, -1.0339, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.92, "left_eef": [0.0169, -0.9833, 1.2563], "right_eef": [-0.0844, -1.0354, 1.2149], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.94, "left_eef": [0.0184, -0.9802, 1.2563], "right_eef": [-0.0828, -1.0354, 1.2149], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.96, "left_eef": [0.0169, -0.9771, 1.2548], "right_eef": [-0.0828, -1.0354, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 7.98, "left_eef": [0.0169, -0.9741, 1.2563], "right_eef": [-0.0828, -1.0354, 1.2149], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 8.0, "left_eef": [0.0169, -0.9695, 1.2548], "right_eef": [-0.0828, -1.0354, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 8.02, "left_eef": [0.0184, -0.9649, 1.2548], "right_eef": [-0.0828, -1.037, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 8.04, "left_eef": [0.0169, -0.9603, 1.2533], "right_eef": [-0.0828, -1.0385, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 8.06, "left_eef": [0.0184, -0.9541, 1.2517], "right_eef": [-0.0844, -1.04, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 8.08, "left_eef": [0.0169, -0.948, 1.2502], "right_eef": [-0.0844, -1.0416, 1.218], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 8.1, "left_eef": [0.0169, -0.9419, 1.2487], "right_eef": [-0.0828, -1.0416, 1.2195], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 1}, {"t": 8.12, "left_eef": [0.0169, -0.9357, 1.2456], "right_eef": [-0.0844, -1.0431, 1.2195], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.14, "left_eef": [0.0169, -0.9265, 1.2441], "right_eef": [-0.0828, -1.0431, 1.221], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.16, "left_eef": [0.0169, -0.9189, 1.2425], "right_eef": [-0.0828, -1.0431, 1.2226], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.18, "left_eef": [0.0169, -0.9112, 1.241], "right_eef": [-0.0844, -1.0431, 1.2257], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.2, "left_eef": [0.0169, -0.9066, 1.241], "right_eef": [-0.0828, -1.0431, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.22, "left_eef": [0.0169, -0.9004, 1.241], "right_eef": [-0.0844, -1.0446, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.24, "left_eef": [0.0169, -0.8989, 1.241], "right_eef": [-0.0844, -1.0462, 1.2287], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.26, "left_eef": [0.0169, -0.8989, 1.2395], "right_eef": [-0.0828, -1.0462, 1.2303], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.28, "left_eef": [0.0169, -0.8989, 1.2395], "right_eef": [-0.0844, -1.0477, 1.2303], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.3, "left_eef": [0.0169, -0.9004, 1.241], "right_eef": [-0.0844, -1.0492, 1.2349], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.32, "left_eef": [0.0169, -0.9004, 1.2395], "right_eef": [-0.0859, -1.0523, 1.2379], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.34, "left_eef": [0.0169, -0.902, 1.2395], "right_eef": [-0.0859, -1.0569, 1.2425], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.36, "left_eef": [0.0169, -0.9035, 1.2395], "right_eef": [-0.0859, -1.0615, 1.2471], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.38, "left_eef": [0.0169, -0.9066, 1.2395], "right_eef": [-0.0859, -1.0661, 1.2502], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.4, "left_eef": [0.0169, -0.9097, 1.2395], "right_eef": [-0.0859, -1.0723, 1.2517], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.42, "left_eef": [0.0184, -0.9112, 1.2379], "right_eef": [-0.0859, -1.0769, 1.2517], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.44, "left_eef": [0.0169, -0.9127, 1.2379], "right_eef": [-0.0859, -1.0799, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.46, "left_eef": [0.0169, -0.9127, 1.2364], "right_eef": [-0.0874, -1.083, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.48, "left_eef": [0.0169, -0.9143, 1.2364], "right_eef": [-0.0874, -1.0876, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.5, "left_eef": [0.0169, -0.9143, 1.2364], "right_eef": [-0.0874, -1.0876, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.52, "left_eef": [0.0169, -0.9143, 1.2364], "right_eef": [-0.0874, -1.0876, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.54, "left_eef": [0.0169, -0.9158, 1.2364], "right_eef": [-0.089, -1.0891, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.56, "left_eef": [0.0169, -0.9158, 1.2364], "right_eef": [-0.089, -1.0891, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.58, "left_eef": [0.0169, -0.9173, 1.2364], "right_eef": [-0.0874, -1.0891, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.6, "left_eef": [0.0169, -0.9158, 1.2364], "right_eef": [-0.089, -1.0891, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.62, "left_eef": [0.0153, -0.9158, 1.2364], "right_eef": [-0.0874, -1.0907, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.64, "left_eef": [0.0169, -0.9158, 1.2364], "right_eef": [-0.089, -1.0907, 1.2548], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.66, "left_eef": [0.0169, -0.9158, 1.2364], "right_eef": [-0.0874, -1.0907, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.68, "left_eef": [0.0169, -0.9158, 1.2364], "right_eef": [-0.0874, -1.0907, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.7, "left_eef": [0.0169, -0.9158, 1.2364], "right_eef": [-0.0874, -1.0922, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.72, "left_eef": [0.0169, -0.9173, 1.2349], "right_eef": [-0.0874, -1.0922, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.74, "left_eef": [0.0153, -0.9173, 1.2349], "right_eef": [-0.0874, -1.0922, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.76, "left_eef": [0.0169, -0.9173, 1.2349], "right_eef": [-0.0874, -1.0922, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.78, "left_eef": [0.0169, -0.9173, 1.2364], "right_eef": [-0.089, -1.0922, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.8, "left_eef": [0.0169, -0.9173, 1.2364], "right_eef": [-0.0874, -1.0922, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.82, "left_eef": [0.0169, -0.9173, 1.2364], "right_eef": [-0.0874, -1.0922, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.84, "left_eef": [0.0169, -0.9189, 1.2364], "right_eef": [-0.0874, -1.0937, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.86, "left_eef": [0.0169, -0.9189, 1.2364], "right_eef": [-0.0874, -1.0953, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.88, "left_eef": [0.0169, -0.9189, 1.2349], "right_eef": [-0.0859, -1.0968, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.9, "left_eef": [0.0169, -0.9173, 1.2349], "right_eef": [-0.0874, -1.0983, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.92, "left_eef": [0.0169, -0.9173, 1.2364], "right_eef": [-0.0874, -1.0999, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.94, "left_eef": [0.0169, -0.9173, 1.2364], "right_eef": [-0.089, -1.0999, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.96, "left_eef": [0.0169, -0.9173, 1.2349], "right_eef": [-0.0874, -1.1029, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 8.98, "left_eef": [0.0153, -0.9173, 1.2364], "right_eef": [-0.0874, -1.1045, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.0, "left_eef": [0.0169, -0.9173, 1.2349], "right_eef": [-0.0874, -1.1045, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.02, "left_eef": [0.0153, -0.9173, 1.2349], "right_eef": [-0.0874, -1.106, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.04, "left_eef": [0.0153, -0.9173, 1.2349], "right_eef": [-0.089, -1.106, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.06, "left_eef": [0.0153, -0.9173, 1.2364], "right_eef": [-0.0874, -1.1045, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.08, "left_eef": [0.0153, -0.9158, 1.2364], "right_eef": [-0.0874, -1.1045, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.1, "left_eef": [0.0153, -0.9158, 1.2364], "right_eef": [-0.0874, -1.1029, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.12, "left_eef": [0.0169, -0.9158, 1.2364], "right_eef": [-0.0874, -1.1014, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.14, "left_eef": [0.0169, -0.9158, 1.2364], "right_eef": [-0.0874, -1.0999, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.16, "left_eef": [0.0169, -0.9173, 1.2349], "right_eef": [-0.0874, -1.0968, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.18, "left_eef": [0.0169, -0.9173, 1.2364], "right_eef": [-0.0874, -1.0953, 1.2533], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.2, "left_eef": [0.0169, -0.9189, 1.2364], "right_eef": [-0.0874, -1.0937, 1.2517], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.22, "left_eef": [0.0153, -0.9189, 1.2364], "right_eef": [-0.089, -1.0937, 1.2502], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.24, "left_eef": [0.0153, -0.9189, 1.2349], "right_eef": [-0.0874, -1.0922, 1.2487], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.26, "left_eef": [0.0153, -0.9204, 1.2349], "right_eef": [-0.0874, -1.0907, 1.2471], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.28, "left_eef": [0.0153, -0.9204, 1.2364], "right_eef": [-0.0874, -1.0891, 1.2425], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.3, "left_eef": [0.0138, -0.9219, 1.2349], "right_eef": [-0.0874, -1.0876, 1.2395], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.32, "left_eef": [0.0138, -0.9219, 1.2349], "right_eef": [-0.089, -1.083, 1.2364], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.34, "left_eef": [0.0138, -0.9219, 1.2364], "right_eef": [-0.0874, -1.0769, 1.2303], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.36, "left_eef": [0.0138, -0.9235, 1.2379], "right_eef": [-0.0874, -1.0692, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.38, "left_eef": [0.0138, -0.925, 1.2379], "right_eef": [-0.089, -1.0615, 1.2241], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.4, "left_eef": [0.0138, -0.925, 1.241], "right_eef": [-0.0874, -1.0523, 1.221], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.42, "left_eef": [0.0138, -0.9265, 1.2441], "right_eef": [-0.0874, -1.0431, 1.2195], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.44, "left_eef": [0.0138, -0.9265, 1.2456], "right_eef": [-0.0874, -1.0354, 1.2195], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.46, "left_eef": [0.0138, -0.9281, 1.2471], "right_eef": [-0.0874, -1.0293, 1.218], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.48, "left_eef": [0.0138, -0.9281, 1.2487], "right_eef": [-0.0874, -1.0247, 1.218], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.5, "left_eef": [0.0138, -0.9296, 1.2487], "right_eef": [-0.089, -1.0201, 1.218], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.52, "left_eef": [0.0138, -0.9296, 1.2502], "right_eef": [-0.0874, -1.0155, 1.218], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.54, "left_eef": [0.0138, -0.9296, 1.2502], "right_eef": [-0.089, -1.0155, 1.218], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.56, "left_eef": [0.0138, -0.9296, 1.2517], "right_eef": [-0.0874, -1.014, 1.218], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.58, "left_eef": [0.0138, -0.9311, 1.2517], "right_eef": [-0.0874, -1.0124, 1.218], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.6, "left_eef": [0.0138, -0.9311, 1.2517], "right_eef": [-0.0874, -1.014, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.62, "left_eef": [0.0138, -0.9311, 1.2517], "right_eef": [-0.0874, -1.014, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.64, "left_eef": [0.0138, -0.9311, 1.2517], "right_eef": [-0.089, -1.0124, 1.218], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.66, "left_eef": [0.0138, -0.9296, 1.2517], "right_eef": [-0.089, -1.0124, 1.218], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.68, "left_eef": [0.0138, -0.9311, 1.2517], "right_eef": [-0.0874, -1.0124, 1.218], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.7, "left_eef": [0.0138, -0.9311, 1.2517], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.72, "left_eef": [0.0138, -0.9311, 1.2517], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.74, "left_eef": [0.0138, -0.9311, 1.2517], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.76, "left_eef": [0.0138, -0.9311, 1.2502], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.78, "left_eef": [0.0138, -0.9311, 1.2517], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.8, "left_eef": [0.0138, -0.9311, 1.2502], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.82, "left_eef": [0.0138, -0.9311, 1.2502], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.84, "left_eef": [0.0138, -0.9311, 1.2502], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.86, "left_eef": [0.0138, -0.9311, 1.2517], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.88, "left_eef": [0.0153, -0.9311, 1.2502], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.9, "left_eef": [0.0138, -0.9311, 1.2502], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.92, "left_eef": [0.0153, -0.9342, 1.2502], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.94, "left_eef": [0.0138, -0.9311, 1.2502], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.96, "left_eef": [0.0153, -0.9311, 1.2502], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 9.98, "left_eef": [0.0153, -0.9311, 1.2502], "right_eef": [-0.0859, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.0, "left_eef": [0.0153, -0.9311, 1.2517], "right_eef": [-0.0859, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.02, "left_eef": [0.0153, -0.9311, 1.2502], "right_eef": [-0.0859, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.04, "left_eef": [0.0153, -0.9311, 1.2502], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.06, "left_eef": [0.0138, -0.9311, 1.2502], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.08, "left_eef": [0.0153, -0.9296, 1.2502], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.1, "left_eef": [0.0153, -0.9281, 1.2502], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.12, "left_eef": [0.0138, -0.925, 1.2502], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.14, "left_eef": [0.0153, -0.9235, 1.2502], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.16, "left_eef": [0.0138, -0.9219, 1.2487], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.18, "left_eef": [0.0153, -0.9204, 1.2487], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.2, "left_eef": [0.0153, -0.9204, 1.2487], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.22, "left_eef": [0.0138, -0.9204, 1.2487], "right_eef": [-0.0859, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.24, "left_eef": [0.0153, -0.9204, 1.2487], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.26, "left_eef": [0.0138, -0.9204, 1.2487], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.28, "left_eef": [0.0153, -0.9204, 1.2487], "right_eef": [-0.0874, -1.014, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.3, "left_eef": [0.0153, -0.9204, 1.2487], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.32, "left_eef": [0.0153, -0.9204, 1.2487], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.34, "left_eef": [0.0138, -0.9204, 1.2487], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.36, "left_eef": [0.0153, -0.9204, 1.2487], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.38, "left_eef": [0.0138, -0.9189, 1.2487], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.4, "left_eef": [0.0153, -0.9173, 1.2487], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.42, "left_eef": [0.0153, -0.9143, 1.2487], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.44, "left_eef": [0.0153, -0.9127, 1.2487], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.46, "left_eef": [0.0153, -0.9112, 1.2487], "right_eef": [-0.0874, -1.014, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.48, "left_eef": [0.0153, -0.9097, 1.2487], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.5, "left_eef": [0.0153, -0.9097, 1.2487], "right_eef": [-0.0874, -1.0124, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.52, "left_eef": [0.0153, -0.9097, 1.2471], "right_eef": [-0.0859, -1.014, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.54, "left_eef": [0.0153, -0.9097, 1.2471], "right_eef": [-0.0874, -1.014, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.56, "left_eef": [0.0153, -0.9097, 1.2471], "right_eef": [-0.0859, -1.0155, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.58, "left_eef": [0.0153, -0.9097, 1.2471], "right_eef": [-0.0859, -1.0155, 1.218], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.6, "left_eef": [0.0153, -0.9097, 1.2471], "right_eef": [-0.0859, -1.017, 1.218], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.62, "left_eef": [0.0138, -0.9097, 1.2471], "right_eef": [-0.0859, -1.0201, 1.218], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.64, "left_eef": [0.0153, -0.9097, 1.2471], "right_eef": [-0.0874, -1.0247, 1.218], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.66, "left_eef": [0.0153, -0.9097, 1.2471], "right_eef": [-0.0874, -1.0262, 1.218], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.68, "left_eef": [0.0153, -0.9097, 1.2471], "right_eef": [-0.0874, -1.0293, 1.2195], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.7, "left_eef": [0.0153, -0.9081, 1.2471], "right_eef": [-0.0859, -1.0293, 1.2195], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.72, "left_eef": [0.0153, -0.9066, 1.2471], "right_eef": [-0.0874, -1.0278, 1.221], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.74, "left_eef": [0.0153, -0.905, 1.2471], "right_eef": [-0.0874, -1.0278, 1.2226], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.76, "left_eef": [0.0153, -0.902, 1.2471], "right_eef": [-0.0859, -1.0278, 1.2241], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.78, "left_eef": [0.0153, -0.8989, 1.2487], "right_eef": [-0.0859, -1.0262, 1.2257], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.8, "left_eef": [0.0153, -0.8989, 1.2487], "right_eef": [-0.0859, -1.0262, 1.2257], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.82, "left_eef": [0.0153, -0.8958, 1.2471], "right_eef": [-0.0859, -1.0247, 1.2257], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.84, "left_eef": [0.0153, -0.8943, 1.2471], "right_eef": [-0.0859, -1.0232, 1.2241], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.86, "left_eef": [0.0153, -0.8958, 1.2487], "right_eef": [-0.0874, -1.0232, 1.2241], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.88, "left_eef": [0.0138, -0.8958, 1.2471], "right_eef": [-0.0874, -1.0216, 1.2241], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.9, "left_eef": [0.0138, -0.8958, 1.2471], "right_eef": [-0.0874, -1.0201, 1.2241], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.92, "left_eef": [0.0153, -0.8958, 1.2487], "right_eef": [-0.0874, -1.0201, 1.2257], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.94, "left_eef": [0.0153, -0.8958, 1.2471], "right_eef": [-0.0874, -1.0201, 1.2257], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 2}, {"t": 10.96, "left_eef": [0.0153, -0.8958, 1.2471], "right_eef": [-0.0874, -1.0201, 1.2257], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 10.98, "left_eef": [0.0153, -0.8958, 1.2471], "right_eef": [-0.0859, -1.0201, 1.2241], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.0, "left_eef": [0.0153, -0.8958, 1.2471], "right_eef": [-0.0859, -1.0201, 1.2257], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.02, "left_eef": [0.0153, -0.8974, 1.2471], "right_eef": [-0.0859, -1.0201, 1.2241], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.04, "left_eef": [0.0153, -0.8989, 1.2471], "right_eef": [-0.0859, -1.0201, 1.2257], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.06, "left_eef": [0.0153, -0.8989, 1.2471], "right_eef": [-0.0859, -1.0201, 1.2257], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.08, "left_eef": [0.0153, -0.9004, 1.2471], "right_eef": [-0.0859, -1.0201, 1.2241], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.1, "left_eef": [0.0153, -0.9035, 1.2471], "right_eef": [-0.0859, -1.0201, 1.2257], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.12, "left_eef": [0.0153, -0.9066, 1.2471], "right_eef": [-0.0874, -1.0216, 1.2241], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.14, "left_eef": [0.0138, -0.9097, 1.2471], "right_eef": [-0.0874, -1.0232, 1.2257], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.16, "left_eef": [0.0138, -0.9143, 1.2471], "right_eef": [-0.0874, -1.0247, 1.2241], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.18, "left_eef": [0.0153, -0.9204, 1.2471], "right_eef": [-0.0874, -1.0247, 1.2257], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.2, "left_eef": [0.0153, -0.9281, 1.2471], "right_eef": [-0.0874, -1.0262, 1.2257], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.22, "left_eef": [0.0153, -0.9342, 1.2471], "right_eef": [-0.0874, -1.0262, 1.2241], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.24, "left_eef": [0.0153, -0.9388, 1.2471], "right_eef": [-0.0874, -1.0278, 1.2257], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.26, "left_eef": [0.0153, -0.9419, 1.2487], "right_eef": [-0.0874, -1.0278, 1.2257], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.28, "left_eef": [0.0153, -0.9434, 1.2487], "right_eef": [-0.0874, -1.0293, 1.2257], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.3, "left_eef": [0.0153, -0.9434, 1.2487], "right_eef": [-0.0874, -1.0293, 1.2241], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.32, "left_eef": [0.0153, -0.9449, 1.2487], "right_eef": [-0.0874, -1.0293, 1.2241], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.34, "left_eef": [0.0153, -0.9465, 1.2471], "right_eef": [-0.0874, -1.0293, 1.2241], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.36, "left_eef": [0.0153, -0.9465, 1.2487], "right_eef": [-0.0874, -1.0293, 1.2241], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.38, "left_eef": [0.0153, -0.9465, 1.2487], "right_eef": [-0.0874, -1.0308, 1.2257], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.4, "left_eef": [0.0153, -0.948, 1.2487], "right_eef": [-0.0874, -1.0308, 1.2241], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.42, "left_eef": [0.0153, -0.9495, 1.2487], "right_eef": [-0.0859, -1.0308, 1.2241], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.44, "left_eef": [0.0153, -0.9511, 1.2487], "right_eef": [-0.0874, -1.0324, 1.2257], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.46, "left_eef": [0.0153, -0.9511, 1.2487], "right_eef": [-0.0859, -1.0354, 1.2241], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.48, "left_eef": [0.0153, -0.9526, 1.2487], "right_eef": [-0.0859, -1.0385, 1.2241], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.5, "left_eef": [0.0169, -0.9511, 1.2487], "right_eef": [-0.0859, -1.0416, 1.2257], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.52, "left_eef": [0.0153, -0.9511, 1.2487], "right_eef": [-0.0874, -1.0446, 1.2257], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.54, "left_eef": [0.0153, -0.9495, 1.2471], "right_eef": [-0.0874, -1.0462, 1.2241], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.56, "left_eef": [0.0153, -0.948, 1.2487], "right_eef": [-0.0874, -1.0462, 1.2241], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.58, "left_eef": [0.0153, -0.9465, 1.2487], "right_eef": [-0.0859, -1.0462, 1.2241], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.6, "left_eef": [0.0153, -0.9434, 1.2471], "right_eef": [-0.0859, -1.0477, 1.2257], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.62, "left_eef": [0.0153, -0.9419, 1.2487], "right_eef": [-0.0874, -1.0477, 1.2257], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.64, "left_eef": [0.0153, -0.9419, 1.2471], "right_eef": [-0.0874, -1.0492, 1.2241], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.66, "left_eef": [0.0169, -0.9388, 1.2487], "right_eef": [-0.0859, -1.0492, 1.2241], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.68, "left_eef": [0.0169, -0.9388, 1.2487], "right_eef": [-0.0859, -1.0492, 1.2257], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.7, "left_eef": [0.0153, -0.9373, 1.2487], "right_eef": [-0.0859, -1.0492, 1.2257], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.72, "left_eef": [0.0153, -0.9373, 1.2487], "right_eef": [-0.0874, -1.0477, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.74, "left_eef": [0.0153, -0.9357, 1.2502], "right_eef": [-0.0874, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.76, "left_eef": [0.0153, -0.9357, 1.2502], "right_eef": [-0.0874, -1.0477, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.78, "left_eef": [0.0153, -0.9357, 1.2502], "right_eef": [-0.0874, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.8, "left_eef": [0.0153, -0.9357, 1.2502], "right_eef": [-0.0874, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.82, "left_eef": [0.0153, -0.9357, 1.2502], "right_eef": [-0.0874, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.84, "left_eef": [0.0138, -0.9342, 1.2502], "right_eef": [-0.0874, -1.0477, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.86, "left_eef": [0.0153, -0.9342, 1.2502], "right_eef": [-0.0874, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.88, "left_eef": [0.0153, -0.9311, 1.2502], "right_eef": [-0.0859, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.9, "left_eef": [0.0153, -0.9311, 1.2502], "right_eef": [-0.0859, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.92, "left_eef": [0.0169, -0.9342, 1.2502], "right_eef": [-0.0859, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.94, "left_eef": [0.0169, -0.9311, 1.2502], "right_eef": [-0.0859, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.96, "left_eef": [0.0153, -0.9311, 1.2502], "right_eef": [-0.0859, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 11.98, "left_eef": [0.0169, -0.9311, 1.2502], "right_eef": [-0.0844, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.0, "left_eef": [0.0153, -0.9311, 1.2502], "right_eef": [-0.0844, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.02, "left_eef": [0.0153, -0.9311, 1.2502], "right_eef": [-0.0859, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.04, "left_eef": [0.0153, -0.9342, 1.2502], "right_eef": [-0.0859, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.06, "left_eef": [0.0153, -0.9342, 1.2502], "right_eef": [-0.0859, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.08, "left_eef": [0.0153, -0.9357, 1.2502], "right_eef": [-0.0874, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.1, "left_eef": [0.0138, -0.9357, 1.2487], "right_eef": [-0.0874, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.12, "left_eef": [0.0153, -0.9357, 1.2502], "right_eef": [-0.0874, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.14, "left_eef": [0.0153, -0.9357, 1.2502], "right_eef": [-0.0874, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.16, "left_eef": [0.0153, -0.9357, 1.2502], "right_eef": [-0.0859, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.18, "left_eef": [0.0153, -0.9357, 1.2502], "right_eef": [-0.0859, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.2, "left_eef": [0.0153, -0.9357, 1.2502], "right_eef": [-0.0859, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.22, "left_eef": [0.0153, -0.9357, 1.2502], "right_eef": [-0.0859, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.24, "left_eef": [0.0153, -0.9357, 1.2502], "right_eef": [-0.0859, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.26, "left_eef": [0.0153, -0.9357, 1.2502], "right_eef": [-0.0859, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.28, "left_eef": [0.0153, -0.9357, 1.2502], "right_eef": [-0.0859, -1.0492, 1.2287], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.3, "left_eef": [0.0153, -0.9373, 1.2502], "right_eef": [-0.0859, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.32, "left_eef": [0.0153, -0.9373, 1.2502], "right_eef": [-0.0874, -1.0508, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.34, "left_eef": [0.0153, -0.9373, 1.2502], "right_eef": [-0.0859, -1.0492, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.36, "left_eef": [0.0153, -0.9388, 1.2502], "right_eef": [-0.0874, -1.0508, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.38, "left_eef": [0.0153, -0.9388, 1.2502], "right_eef": [-0.0859, -1.0523, 1.2287], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.4, "left_eef": [0.0153, -0.9388, 1.2502], "right_eef": [-0.0859, -1.0538, 1.2287], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.42, "left_eef": [0.0153, -0.9373, 1.2502], "right_eef": [-0.0859, -1.0538, 1.2287], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.44, "left_eef": [0.0169, -0.9373, 1.2502], "right_eef": [-0.0844, -1.0538, 1.2303], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.46, "left_eef": [0.0169, -0.9357, 1.2502], "right_eef": [-0.0844, -1.0538, 1.2318], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.48, "left_eef": [0.0169, -0.9342, 1.2502], "right_eef": [-0.0844, -1.0523, 1.2318], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.5, "left_eef": [0.0169, -0.9311, 1.2502], "right_eef": [-0.0844, -1.0523, 1.2333], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.52, "left_eef": [0.0169, -0.9296, 1.2502], "right_eef": [-0.0844, -1.0523, 1.2333], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.54, "left_eef": [0.0169, -0.925, 1.2502], "right_eef": [-0.0859, -1.0508, 1.2333], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.56, "left_eef": [0.0169, -0.9219, 1.2502], "right_eef": [-0.0859, -1.0492, 1.2333], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.58, "left_eef": [0.0153, -0.9189, 1.2502], "right_eef": [-0.0859, -1.0462, 1.2333], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.6, "left_eef": [0.0169, -0.9158, 1.2502], "right_eef": [-0.0859, -1.0446, 1.2333], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.62, "left_eef": [0.0153, -0.9143, 1.2502], "right_eef": [-0.0874, -1.0416, 1.2333], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.64, "left_eef": [0.0153, -0.9127, 1.2502], "right_eef": [-0.0874, -1.0416, 1.2333], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.66, "left_eef": [0.0153, -0.9127, 1.2502], "right_eef": [-0.0874, -1.04, 1.2333], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.68, "left_eef": [0.0153, -0.9143, 1.2502], "right_eef": [-0.0874, -1.0385, 1.2333], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.7, "left_eef": [0.0153, -0.9143, 1.2502], "right_eef": [-0.0874, -1.04, 1.2333], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.72, "left_eef": [0.0153, -0.9158, 1.2502], "right_eef": [-0.0874, -1.04, 1.2318], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.74, "left_eef": [0.0153, -0.9158, 1.2502], "right_eef": [-0.0874, -1.04, 1.2318], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.76, "left_eef": [0.0153, -0.9173, 1.2502], "right_eef": [-0.0874, -1.0385, 1.2333], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.78, "left_eef": [0.0153, -0.9204, 1.2502], "right_eef": [-0.0874, -1.0385, 1.2333], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.8, "left_eef": [0.0153, -0.9219, 1.2502], "right_eef": [-0.0874, -1.0385, 1.2333], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.82, "left_eef": [0.0169, -0.9265, 1.2502], "right_eef": [-0.0874, -1.0385, 1.2333], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.84, "left_eef": [0.0153, -0.9265, 1.2487], "right_eef": [-0.0874, -1.0385, 1.2333], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.86, "left_eef": [0.0153, -0.9281, 1.2487], "right_eef": [-0.0874, -1.0385, 1.2333], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.88, "left_eef": [0.0169, -0.9281, 1.2487], "right_eef": [-0.0859, -1.0385, 1.2333], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.9, "left_eef": [0.0153, -0.9296, 1.2471], "right_eef": [-0.0859, -1.0385, 1.2333], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.92, "left_eef": [0.0169, -0.9296, 1.2471], "right_eef": [-0.0859, -1.0385, 1.2333], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.94, "left_eef": [0.0169, -0.9296, 1.2487], "right_eef": [-0.0859, -1.0385, 1.2333], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.96, "left_eef": [0.0153, -0.9296, 1.2471], "right_eef": [-0.0859, -1.04, 1.2333], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 12.98, "left_eef": [0.0153, -0.9296, 1.2471], "right_eef": [-0.0874, -1.0416, 1.2333], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.0, "left_eef": [0.0153, -0.9311, 1.2471], "right_eef": [-0.0859, -1.0446, 1.2333], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.02, "left_eef": [0.0153, -0.9311, 1.2471], "right_eef": [-0.0874, -1.0477, 1.2349], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.04, "left_eef": [0.0153, -0.9311, 1.2471], "right_eef": [-0.0874, -1.0508, 1.2364], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.06, "left_eef": [0.0153, -0.9311, 1.2471], "right_eef": [-0.0859, -1.0538, 1.2379], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.08, "left_eef": [0.0153, -0.9311, 1.2471], "right_eef": [-0.0874, -1.0569, 1.2395], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.1, "left_eef": [0.0153, -0.9311, 1.2487], "right_eef": [-0.0859, -1.0569, 1.2395], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.12, "left_eef": [0.0153, -0.9311, 1.2471], "right_eef": [-0.0874, -1.0569, 1.2395], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.14, "left_eef": [0.0153, -0.9311, 1.2471], "right_eef": [-0.0874, -1.0584, 1.2395], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.16, "left_eef": [0.0153, -0.9311, 1.2487], "right_eef": [-0.0874, -1.06, 1.2395], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.18, "left_eef": [0.0153, -0.9311, 1.2487], "right_eef": [-0.0859, -1.0584, 1.2395], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.2, "left_eef": [0.0153, -0.9311, 1.2487], "right_eef": [-0.0859, -1.06, 1.2395], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.22, "left_eef": [0.0153, -0.9342, 1.2471], "right_eef": [-0.0859, -1.06, 1.2395], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.24, "left_eef": [0.0153, -0.9342, 1.2471], "right_eef": [-0.0859, -1.06, 1.2395], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.26, "left_eef": [0.0153, -0.9342, 1.2471], "right_eef": [-0.0859, -1.06, 1.2395], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.28, "left_eef": [0.0153, -0.9342, 1.2471], "right_eef": [-0.0859, -1.06, 1.2395], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.3, "left_eef": [0.0153, -0.9357, 1.2487], "right_eef": [-0.0859, -1.06, 1.2395], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.32, "left_eef": [0.0153, -0.9342, 1.2471], "right_eef": [-0.0859, -1.06, 1.2395], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.34, "left_eef": [0.0153, -0.9342, 1.2471], "right_eef": [-0.0874, -1.06, 1.2395], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.36, "left_eef": [0.0153, -0.9357, 1.2471], "right_eef": [-0.0874, -1.06, 1.2395], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.38, "left_eef": [0.0153, -0.9342, 1.2471], "right_eef": [-0.0874, -1.06, 1.2395], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.4, "left_eef": [0.0153, -0.9342, 1.2471], "right_eef": [-0.0859, -1.06, 1.2395], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.42, "left_eef": [0.0153, -0.9342, 1.2471], "right_eef": [-0.0859, -1.06, 1.2395], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.44, "left_eef": [0.0153, -0.9357, 1.2471], "right_eef": [-0.0859, -1.06, 1.2395], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.46, "left_eef": [0.0153, -0.9357, 1.2471], "right_eef": [-0.0859, -1.06, 1.2395], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.48, "left_eef": [0.0153, -0.9357, 1.2471], "right_eef": [-0.0859, -1.06, 1.2395], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.5, "left_eef": [0.0153, -0.9357, 1.2471], "right_eef": [-0.0874, -1.0584, 1.2395], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.52, "left_eef": [0.0153, -0.9357, 1.2471], "right_eef": [-0.0874, -1.0584, 1.2379], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.54, "left_eef": [0.0153, -0.9357, 1.2471], "right_eef": [-0.0874, -1.0569, 1.2364], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.56, "left_eef": [0.0153, -0.9357, 1.2471], "right_eef": [-0.0874, -1.0538, 1.2333], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.58, "left_eef": [0.0153, -0.9357, 1.2471], "right_eef": [-0.0874, -1.0508, 1.2287], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.6, "left_eef": [0.0153, -0.9342, 1.2487], "right_eef": [-0.0874, -1.0462, 1.2272], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.62, "left_eef": [0.0138, -0.9342, 1.2471], "right_eef": [-0.0874, -1.0416, 1.2257], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.64, "left_eef": [0.0138, -0.9357, 1.2471], "right_eef": [-0.0874, -1.0354, 1.2226], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.66, "left_eef": [0.0153, -0.9357, 1.2487], "right_eef": [-0.0874, -1.0308, 1.2195], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.68, "left_eef": [0.0153, -0.9357, 1.2471], "right_eef": [-0.0874, -1.0262, 1.218], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.7, "left_eef": [0.0153, -0.9357, 1.2471], "right_eef": [-0.0874, -1.0216, 1.2164], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.72, "left_eef": [0.0153, -0.9357, 1.2471], "right_eef": [-0.0874, -1.017, 1.2149], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.74, "left_eef": [0.0153, -0.9357, 1.2471], "right_eef": [-0.0874, -1.0109, 1.2118], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.76, "left_eef": [0.0153, -0.9373, 1.2471], "right_eef": [-0.0874, -1.0078, 1.2088], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.78, "left_eef": [0.0153, -0.9388, 1.2471], "right_eef": [-0.0874, -1.0032, 1.2072], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.8, "left_eef": [0.0153, -0.9388, 1.2471], "right_eef": [-0.0874, -1.0002, 1.2042], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.82, "left_eef": [0.0153, -0.9403, 1.2471], "right_eef": [-0.0874, -0.9971, 1.2026], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.84, "left_eef": [0.0153, -0.9419, 1.2471], "right_eef": [-0.0874, -0.994, 1.1996], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.86, "left_eef": [0.0153, -0.9434, 1.2471], "right_eef": [-0.0874, -0.991, 1.1965], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.88, "left_eef": [0.0153, -0.9449, 1.2471], "right_eef": [-0.0874, -0.9894, 1.1965], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.9, "left_eef": [0.0153, -0.9465, 1.2471], "right_eef": [-0.0874, -0.9863, 1.1934], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.92, "left_eef": [0.0153, -0.948, 1.2471], "right_eef": [-0.0874, -0.9848, 1.1919], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.94, "left_eef": [0.0153, -0.948, 1.2487], "right_eef": [-0.0874, -0.9833, 1.1919], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.96, "left_eef": [0.0138, -0.9511, 1.2471], "right_eef": [-0.0874, -0.9817, 1.1904], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 13.98, "left_eef": [0.0153, -0.9526, 1.2471], "right_eef": [-0.0874, -0.9817, 1.1904], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.0, "left_eef": [0.0138, -0.9557, 1.2487], "right_eef": [-0.0874, -0.9802, 1.1904], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.02, "left_eef": [0.0138, -0.9557, 1.2487], "right_eef": [-0.0874, -0.9787, 1.1904], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.04, "left_eef": [0.0153, -0.9587, 1.2502], "right_eef": [-0.0874, -0.9771, 1.1904], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.06, "left_eef": [0.0153, -0.9633, 1.2517], "right_eef": [-0.0874, -0.9771, 1.1904], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.08, "left_eef": [0.0153, -0.9664, 1.2548], "right_eef": [-0.0874, -0.9741, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.1, "left_eef": [0.0153, -0.9695, 1.2563], "right_eef": [-0.0874, -0.9725, 1.1888], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.12, "left_eef": [0.0153, -0.9741, 1.2579], "right_eef": [-0.0874, -0.971, 1.1873], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.14, "left_eef": [0.0153, -0.9756, 1.2594], "right_eef": [-0.0874, -0.9679, 1.1858], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.16, "left_eef": [0.0153, -0.9787, 1.2609], "right_eef": [-0.0874, -0.9633, 1.1842], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.18, "left_eef": [0.0153, -0.9787, 1.2625], "right_eef": [-0.0874, -0.9587, 1.1812], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.2, "left_eef": [0.0153, -0.9787, 1.264], "right_eef": [-0.0874, -0.9541, 1.1796], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.22, "left_eef": [0.0138, -0.9787, 1.264], "right_eef": [-0.0874, -0.948, 1.1781], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.24, "left_eef": [0.0138, -0.9787, 1.264], "right_eef": [-0.0859, -0.9388, 1.175], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.26, "left_eef": [0.0153, -0.9802, 1.2655], "right_eef": [-0.0844, -0.9281, 1.1704], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.28, "left_eef": [0.0153, -0.9817, 1.2686], "right_eef": [-0.0828, -0.9173, 1.1658], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.3, "left_eef": [0.0138, -0.9817, 1.2717], "right_eef": [-0.0798, -0.9081, 1.1628], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.32, "left_eef": [0.0153, -0.9833, 1.2747], "right_eef": [-0.0767, -0.9004, 1.1597], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.34, "left_eef": [0.0138, -0.9863, 1.2778], "right_eef": [-0.0736, -0.8928, 1.1582], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.36, "left_eef": [0.0153, -0.991, 1.2809], "right_eef": [-0.0706, -0.8851, 1.1551], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.38, "left_eef": [0.0138, -0.9956, 1.2824], "right_eef": [-0.0675, -0.8774, 1.1536], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.4, "left_eef": [0.0153, -1.0017, 1.2824], "right_eef": [-0.0629, -0.8728, 1.152], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.42, "left_eef": [0.0153, -1.0063, 1.2839], "right_eef": [-0.0614, -0.8667, 1.152], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.44, "left_eef": [0.0153, -1.0124, 1.2855], "right_eef": [-0.0598, -0.8621, 1.152], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.46, "left_eef": [0.0153, -1.017, 1.2855], "right_eef": [-0.0583, -0.8606, 1.152], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.48, "left_eef": [0.0153, -1.0232, 1.287], "right_eef": [-0.0568, -0.8575, 1.152], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.5, "left_eef": [0.0153, -1.0262, 1.287], "right_eef": [-0.0568, -0.856, 1.152], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.52, "left_eef": [0.0169, -1.0293, 1.287], "right_eef": [-0.0568, -0.856, 1.152], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.54, "left_eef": [0.0153, -1.0308, 1.2885], "right_eef": [-0.0568, -0.856, 1.152], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.56, "left_eef": [0.0153, -1.0324, 1.2885], "right_eef": [-0.0568, -0.856, 1.152], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.58, "left_eef": [0.0153, -1.0339, 1.2885], "right_eef": [-0.0583, -0.8544, 1.1505], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.6, "left_eef": [0.0153, -1.0339, 1.2885], "right_eef": [-0.0583, -0.8544, 1.1505], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.62, "left_eef": [0.0153, -1.0339, 1.2885], "right_eef": [-0.0583, -0.8544, 1.149], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.64, "left_eef": [0.0153, -1.0339, 1.2885], "right_eef": [-0.0568, -0.8544, 1.149], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.66, "left_eef": [0.0138, -1.0339, 1.2885], "right_eef": [-0.0568, -0.8544, 1.149], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.68, "left_eef": [0.0153, -1.0339, 1.2885], "right_eef": [-0.0568, -0.8544, 1.149], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.7, "left_eef": [0.0153, -1.0324, 1.2901], "right_eef": [-0.0552, -0.8544, 1.149], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.72, "left_eef": [0.0153, -1.0339, 1.2885], "right_eef": [-0.0537, -0.8544, 1.149], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.74, "left_eef": [0.0169, -1.0339, 1.2885], "right_eef": [-0.0537, -0.8544, 1.149], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.76, "left_eef": [0.0153, -1.0339, 1.2901], "right_eef": [-0.0522, -0.8544, 1.149], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.78, "left_eef": [0.0153, -1.0339, 1.2885], "right_eef": [-0.0476, -0.8544, 1.1474], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.8, "left_eef": [0.0153, -1.0339, 1.2885], "right_eef": [-0.046, -0.8544, 1.1474], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.82, "left_eef": [0.0153, -1.0339, 1.2885], "right_eef": [-0.043, -0.8544, 1.149], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.84, "left_eef": [0.0153, -1.0339, 1.2901], "right_eef": [-0.0399, -0.8544, 1.1474], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.86, "left_eef": [0.0138, -1.0339, 1.2901], "right_eef": [-0.0368, -0.8544, 1.1474], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.88, "left_eef": [0.0153, -1.0339, 1.2885], "right_eef": [-0.0353, -0.8544, 1.1474], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.9, "left_eef": [0.0153, -1.0339, 1.2885], "right_eef": [-0.0322, -0.8544, 1.149], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.92, "left_eef": [0.0153, -1.0339, 1.2885], "right_eef": [-0.0307, -0.8544, 1.1474], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.94, "left_eef": [0.0153, -1.0339, 1.2901], "right_eef": [-0.0291, -0.8544, 1.1474], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.96, "left_eef": [0.0153, -1.0339, 1.2885], "right_eef": [-0.0307, -0.8544, 1.1474], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 14.98, "left_eef": [0.0153, -1.0324, 1.2885], "right_eef": [-0.0291, -0.8544, 1.1459], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 15.0, "left_eef": [0.0153, -1.0308, 1.2885], "right_eef": [-0.0291, -0.8544, 1.1459], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 15.02, "left_eef": [0.0153, -1.0308, 1.2885], "right_eef": [-0.0291, -0.856, 1.1459], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 15.04, "left_eef": [0.0153, -1.0278, 1.2885], "right_eef": [-0.0307, -0.856, 1.1459], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 15.06, "left_eef": [0.0153, -1.0262, 1.287], "right_eef": [-0.0307, -0.8575, 1.1459], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 15.08, "left_eef": [0.0153, -1.0247, 1.287], "right_eef": [-0.0307, -0.859, 1.1459], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 15.1, "left_eef": [0.0153, -1.0232, 1.287], "right_eef": [-0.0307, -0.859, 1.1443], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 15.12, "left_eef": [0.0153, -1.0232, 1.287], "right_eef": [-0.0307, -0.8606, 1.1428], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 3}, {"t": 15.14, "left_eef": [0.0153, -1.0232, 1.287], "right_eef": [-0.0307, -0.8621, 1.1428], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.16, "left_eef": [0.0153, -1.0247, 1.287], "right_eef": [-0.0307, -0.8636, 1.1428], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.18, "left_eef": [0.0153, -1.0247, 1.2855], "right_eef": [-0.0307, -0.8652, 1.1413], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.2, "left_eef": [0.0153, -1.0262, 1.287], "right_eef": [-0.0291, -0.8652, 1.1397], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.22, "left_eef": [0.0153, -1.0262, 1.287], "right_eef": [-0.0276, -0.8652, 1.1397], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.24, "left_eef": [0.0153, -1.0278, 1.287], "right_eef": [-0.0245, -0.8667, 1.1397], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.26, "left_eef": [0.0153, -1.0308, 1.287], "right_eef": [-0.0215, -0.8682, 1.1397], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.28, "left_eef": [0.0153, -1.0339, 1.287], "right_eef": [-0.0184, -0.8667, 1.1382], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.3, "left_eef": [0.0153, -1.037, 1.287], "right_eef": [-0.0138, -0.8667, 1.1382], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.32, "left_eef": [0.0138, -1.04, 1.287], "right_eef": [-0.0077, -0.8667, 1.1367], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.34, "left_eef": [0.0123, -1.0446, 1.2855], "right_eef": [-0.0015, -0.8667, 1.1351], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.36, "left_eef": [0.0092, -1.0492, 1.287], "right_eef": [0.0046, -0.8667, 1.1336], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.38, "left_eef": [0.0061, -1.0523, 1.287], "right_eef": [0.0123, -0.8682, 1.1305], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.4, "left_eef": [0.0015, -1.0554, 1.2855], "right_eef": [0.0199, -0.8682, 1.1259], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.42, "left_eef": [-0.0031, -1.06, 1.2855], "right_eef": [0.0261, -0.8667, 1.1229], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.44, "left_eef": [-0.0077, -1.063, 1.2839], "right_eef": [0.0322, -0.8682, 1.1213], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.46, "left_eef": [-0.0138, -1.0646, 1.2824], "right_eef": [0.0383, -0.8682, 1.1183], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.48, "left_eef": [-0.0184, -1.0661, 1.2824], "right_eef": [0.043, -0.8682, 1.1167], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.5, "left_eef": [-0.0261, -1.0661, 1.2809], "right_eef": [0.0491, -0.8682, 1.1152], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.52, "left_eef": [-0.0307, -1.0661, 1.2809], "right_eef": [0.0552, -0.8682, 1.1137], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.54, "left_eef": [-0.0368, -1.0661, 1.2793], "right_eef": [0.0614, -0.8682, 1.1121], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.56, "left_eef": [-0.0414, -1.0677, 1.2778], "right_eef": [0.0706, -0.8682, 1.1106], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.58, "left_eef": [-0.046, -1.0677, 1.2763], "right_eef": [0.0782, -0.8682, 1.1075], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.6, "left_eef": [-0.0491, -1.0677, 1.2732], "right_eef": [0.0859, -0.8682, 1.1045], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.62, "left_eef": [-0.0506, -1.0677, 1.2732], "right_eef": [0.0966, -0.8682, 1.1014], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.64, "left_eef": [-0.0522, -1.0692, 1.2717], "right_eef": [0.1074, -0.8682, 1.0999], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.66, "left_eef": [-0.0522, -1.0692, 1.2701], "right_eef": [0.115, -0.8682, 1.0968], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.68, "left_eef": [-0.0506, -1.0692, 1.2701], "right_eef": [0.1258, -0.8682, 1.0937], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.7, "left_eef": [-0.0506, -1.0707, 1.2686], "right_eef": [0.1335, -0.8682, 1.0907], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.72, "left_eef": [-0.0491, -1.0723, 1.2686], "right_eef": [0.1427, -0.8682, 1.0891], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.74, "left_eef": [-0.0506, -1.0738, 1.2686], "right_eef": [0.1503, -0.8682, 1.0845], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.76, "left_eef": [-0.0506, -1.0738, 1.2671], "right_eef": [0.158, -0.8682, 1.0815], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.78, "left_eef": [-0.0506, -1.0753, 1.2671], "right_eef": [0.1641, -0.8682, 1.0799], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.8, "left_eef": [-0.0506, -1.0784, 1.2655], "right_eef": [0.1703, -0.8682, 1.0769], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.82, "left_eef": [-0.0506, -1.083, 1.2671], "right_eef": [0.1795, -0.8682, 1.0738], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.84, "left_eef": [-0.0506, -1.0876, 1.2671], "right_eef": [0.1871, -0.8682, 1.0723], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.86, "left_eef": [-0.0506, -1.0907, 1.2671], "right_eef": [0.1979, -0.8682, 1.0707], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.88, "left_eef": [-0.0506, -1.0968, 1.2655], "right_eef": [0.2086, -0.8682, 1.0677], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.9, "left_eef": [-0.0506, -1.1029, 1.2655], "right_eef": [0.2194, -0.8682, 1.0661], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.92, "left_eef": [-0.0506, -1.1075, 1.2671], "right_eef": [0.2301, -0.8682, 1.063], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.94, "left_eef": [-0.0506, -1.1121, 1.2671], "right_eef": [0.2408, -0.8682, 1.0584], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.96, "left_eef": [-0.0506, -1.1167, 1.2671], "right_eef": [0.2516, -0.8682, 1.0554], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 15.98, "left_eef": [-0.0506, -1.1213, 1.2671], "right_eef": [0.2654, -0.8682, 1.0508], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.0, "left_eef": [-0.0506, -1.1244, 1.2655], "right_eef": [0.2792, -0.8682, 1.0462], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.02, "left_eef": [-0.0506, -1.129, 1.2671], "right_eef": [0.293, -0.8667, 1.0431], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.04, "left_eef": [-0.0506, -1.129, 1.2671], "right_eef": [0.3099, -0.8667, 1.04], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.06, "left_eef": [-0.0522, -1.1321, 1.2671], "right_eef": [0.3298, -0.8652, 1.037], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.08, "left_eef": [-0.0522, -1.1336, 1.2686], "right_eef": [0.3451, -0.8621, 1.0354], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.1, "left_eef": [-0.0537, -1.1351, 1.2671], "right_eef": [0.3559, -0.8621, 1.0339], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.12, "left_eef": [-0.0537, -1.1367, 1.2671], "right_eef": [0.3728, -0.8606, 1.0324], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.14, "left_eef": [-0.0552, -1.1367, 1.2671], "right_eef": [0.3835, -0.859, 1.0308], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.16, "left_eef": [-0.0568, -1.1382, 1.2686], "right_eef": [0.3973, -0.856, 1.0308], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.18, "left_eef": [-0.0568, -1.1397, 1.2686], "right_eef": [0.4111, -0.8529, 1.0308], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.2, "left_eef": [-0.0568, -1.1397, 1.2686], "right_eef": [0.4249, -0.8498, 1.0308], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.22, "left_eef": [-0.0568, -1.1397, 1.2686], "right_eef": [0.4403, -0.8452, 1.0308], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.24, "left_eef": [-0.0583, -1.1397, 1.2686], "right_eef": [0.4571, -0.8406, 1.0308], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.26, "left_eef": [-0.0583, -1.1397, 1.2686], "right_eef": [0.4709, -0.8345, 1.0308], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.28, "left_eef": [-0.0568, -1.1397, 1.2686], "right_eef": [0.4832, -0.8299, 1.0308], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.3, "left_eef": [-0.0568, -1.1397, 1.2686], "right_eef": [0.4924, -0.8237, 1.0308], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.32, "left_eef": [-0.0568, -1.1397, 1.2686], "right_eef": [0.5001, -0.8161, 1.0293], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.34, "left_eef": [-0.0568, -1.1397, 1.2686], "right_eef": [0.5077, -0.8084, 1.0293], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.36, "left_eef": [-0.0568, -1.1397, 1.2671], "right_eef": [0.5139, -0.7992, 1.0293], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.38, "left_eef": [-0.0568, -1.1397, 1.2686], "right_eef": [0.5216, -0.7915, 1.0293], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.4, "left_eef": [-0.0568, -1.1397, 1.2686], "right_eef": [0.5277, -0.7823, 1.0293], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.42, "left_eef": [-0.0568, -1.1397, 1.2686], "right_eef": [0.5323, -0.7731, 1.0293], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.44, "left_eef": [-0.0568, -1.1397, 1.2686], "right_eef": [0.5384, -0.7624, 1.0293], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.46, "left_eef": [-0.0568, -1.1397, 1.2686], "right_eef": [0.543, -0.7501, 1.0293], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.48, "left_eef": [-0.0568, -1.1397, 1.2686], "right_eef": [0.5461, -0.7378, 1.0293], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.5, "left_eef": [-0.0552, -1.1382, 1.2686], "right_eef": [0.5492, -0.7256, 1.0278], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.52, "left_eef": [-0.0552, -1.1382, 1.2686], "right_eef": [0.5522, -0.7133, 1.0293], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.54, "left_eef": [-0.0552, -1.1367, 1.2686], "right_eef": [0.5538, -0.6995, 1.0278], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.56, "left_eef": [-0.0552, -1.1367, 1.2686], "right_eef": [0.5568, -0.6872, 1.0262], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.58, "left_eef": [-0.0568, -1.1367, 1.2686], "right_eef": [0.5614, -0.6734, 1.0262], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.6, "left_eef": [-0.0568, -1.1351, 1.2686], "right_eef": [0.566, -0.6611, 1.0247], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.62, "left_eef": [-0.0552, -1.1351, 1.2686], "right_eef": [0.5722, -0.6504, 1.0232], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.64, "left_eef": [-0.0552, -1.1351, 1.2686], "right_eef": [0.5798, -0.6397, 1.0216], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.66, "left_eef": [-0.0552, -1.1351, 1.2686], "right_eef": [0.589, -0.632, 1.0201], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.68, "left_eef": [-0.0552, -1.1351, 1.2686], "right_eef": [0.6013, -0.6228, 1.017], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.7, "left_eef": [-0.0568, -1.1351, 1.2686], "right_eef": [0.6136, -0.6136, 1.014], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.72, "left_eef": [-0.0568, -1.1336, 1.2686], "right_eef": [0.6274, -0.6029, 1.0094], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.74, "left_eef": [-0.0552, -1.1336, 1.2686], "right_eef": [0.6443, -0.5937, 1.0048], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.76, "left_eef": [-0.0552, -1.1351, 1.2686], "right_eef": [0.6611, -0.5829, 1.0002], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.78, "left_eef": [-0.0568, -1.1336, 1.2686], "right_eef": [0.678, -0.5722, 0.994], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.8, "left_eef": [-0.0568, -1.1336, 1.2686], "right_eef": [0.6995, -0.5599, 0.9863], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.82, "left_eef": [-0.0552, -1.1336, 1.2686], "right_eef": [0.721, -0.543, 0.9787], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.84, "left_eef": [-0.0552, -1.1336, 1.2686], "right_eef": [0.7455, -0.5231, 0.9695], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.86, "left_eef": [-0.0552, -1.1336, 1.2686], "right_eef": [0.7685, -0.5001, 0.9603], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.88, "left_eef": [-0.0552, -1.1336, 1.2686], "right_eef": [0.79, -0.474, 0.9511], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.9, "left_eef": [-0.0552, -1.1351, 1.2671], "right_eef": [0.813, -0.4433, 0.9403], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.92, "left_eef": [-0.0552, -1.1367, 1.2671], "right_eef": [0.8268, -0.4295, 0.9357], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.94, "left_eef": [-0.0552, -1.1367, 1.2671], "right_eef": [0.8452, -0.4019, 0.9311], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.96, "left_eef": [-0.0552, -1.1382, 1.2686], "right_eef": [0.859, -0.3789, 0.9265], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 16.98, "left_eef": [-0.0568, -1.1397, 1.2671], "right_eef": [0.8698, -0.3574, 0.9219], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.0, "left_eef": [-0.0568, -1.1413, 1.2671], "right_eef": [0.8774, -0.3344, 0.9189], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.02, "left_eef": [-0.0552, -1.1428, 1.2671], "right_eef": [0.8851, -0.3114, 0.9173], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.04, "left_eef": [-0.0568, -1.1443, 1.2671], "right_eef": [0.8912, -0.2899, 0.9158], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.06, "left_eef": [-0.0552, -1.1443, 1.2671], "right_eef": [0.8958, -0.2669, 0.9158], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.08, "left_eef": [-0.0552, -1.1459, 1.2671], "right_eef": [0.9004, -0.2424, 0.9158], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.1, "left_eef": [-0.0552, -1.1474, 1.2671], "right_eef": [0.9035, -0.2178, 0.9158], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.12, "left_eef": [-0.0552, -1.1474, 1.2671], "right_eef": [0.905, -0.1917, 0.9158], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.14, "left_eef": [-0.0552, -1.149, 1.2655], "right_eef": [0.905, -0.1703, 0.9173], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.16, "left_eef": [-0.0552, -1.152, 1.2655], "right_eef": [0.9035, -0.1457, 0.9189], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.18, "left_eef": [-0.0552, -1.1536, 1.2655], "right_eef": [0.902, -0.1289, 0.9204], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.2, "left_eef": [-0.0552, -1.1551, 1.2655], "right_eef": [0.9004, -0.1089, 0.925], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.22, "left_eef": [-0.0552, -1.1582, 1.2655], "right_eef": [0.8989, -0.0905, 0.9296], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.24, "left_eef": [-0.0568, -1.1612, 1.264], "right_eef": [0.8958, -0.0721, 0.9327], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.26, "left_eef": [-0.0568, -1.1643, 1.2655], "right_eef": [0.8928, -0.0537, 0.9388], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.28, "left_eef": [-0.0552, -1.1689, 1.2655], "right_eef": [0.8897, -0.0399, 0.9434], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.3, "left_eef": [-0.0568, -1.1704, 1.2655], "right_eef": [0.8851, -0.0245, 0.9495], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.32, "left_eef": [-0.0568, -1.172, 1.264], "right_eef": [0.8774, -0.0138, 0.9541], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.34, "left_eef": [-0.0568, -1.172, 1.264], "right_eef": [0.8713, -0.0046, 0.9572], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.36, "left_eef": [-0.0552, -1.1735, 1.264], "right_eef": [0.8636, 0.0046, 0.9603], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.38, "left_eef": [-0.0568, -1.1735, 1.264], "right_eef": [0.856, 0.0107, 0.9649], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.4, "left_eef": [-0.0552, -1.172, 1.264], "right_eef": [0.8483, 0.0138, 0.9695], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.42, "left_eef": [-0.0552, -1.172, 1.264], "right_eef": [0.8437, 0.0169, 0.971], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.44, "left_eef": [-0.0552, -1.172, 1.2655], "right_eef": [0.8391, 0.0169, 0.9725], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.46, "left_eef": [-0.0552, -1.172, 1.2655], "right_eef": [0.8376, 0.0169, 0.9756], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.48, "left_eef": [-0.0568, -1.1735, 1.264], "right_eef": [0.836, 0.0184, 0.9771], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.5, "left_eef": [-0.0568, -1.172, 1.2655], "right_eef": [0.836, 0.0184, 0.9771], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.52, "left_eef": [-0.0552, -1.172, 1.264], "right_eef": [0.833, 0.0184, 0.9787], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.54, "left_eef": [-0.0568, -1.172, 1.264], "right_eef": [0.8314, 0.0184, 0.9787], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.56, "left_eef": [-0.0552, -1.1735, 1.264], "right_eef": [0.8283, 0.0199, 0.9787], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.58, "left_eef": [-0.0568, -1.172, 1.264], "right_eef": [0.8253, 0.0215, 0.9787], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.6, "left_eef": [-0.0552, -1.172, 1.264], "right_eef": [0.8207, 0.023, 0.9787], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.62, "left_eef": [-0.0568, -1.172, 1.264], "right_eef": [0.8161, 0.023, 0.9787], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.64, "left_eef": [-0.0552, -1.172, 1.264], "right_eef": [0.8084, 0.0261, 0.9787], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.66, "left_eef": [-0.0568, -1.1735, 1.2655], "right_eef": [0.8023, 0.0276, 0.9787], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.68, "left_eef": [-0.0568, -1.172, 1.2655], "right_eef": [0.7961, 0.0291, 0.9787], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.7, "left_eef": [-0.0568, -1.172, 1.264], "right_eef": [0.79, 0.0307, 0.9787], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.72, "left_eef": [-0.0552, -1.172, 1.264], "right_eef": [0.7839, 0.0307, 0.9787], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.74, "left_eef": [-0.0568, -1.172, 1.264], "right_eef": [0.7777, 0.0337, 0.9787], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.76, "left_eef": [-0.0568, -1.172, 1.2655], "right_eef": [0.7716, 0.0337, 0.9787], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.78, "left_eef": [-0.0568, -1.172, 1.2655], "right_eef": [0.7655, 0.0368, 0.9787], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.8, "left_eef": [-0.0552, -1.172, 1.264], "right_eef": [0.7578, 0.0383, 0.9787], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.82, "left_eef": [-0.0568, -1.172, 1.264], "right_eef": [0.7517, 0.0399, 0.9787], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.84, "left_eef": [-0.0568, -1.172, 1.264], "right_eef": [0.7455, 0.043, 0.9787], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.86, "left_eef": [-0.0568, -1.172, 1.264], "right_eef": [0.7409, 0.0445, 0.9787], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.88, "left_eef": [-0.0568, -1.172, 1.264], "right_eef": [0.7378, 0.0476, 0.9787], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.9, "left_eef": [-0.0568, -1.172, 1.264], "right_eef": [0.7332, 0.0506, 0.9787], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.92, "left_eef": [-0.0568, -1.172, 1.264], "right_eef": [0.7302, 0.0552, 0.9787], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.94, "left_eef": [-0.0568, -1.172, 1.264], "right_eef": [0.7286, 0.0598, 0.9802], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.96, "left_eef": [-0.0568, -1.172, 1.2655], "right_eef": [0.7271, 0.0644, 0.9802], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}, {"t": 17.98, "left_eef": [-0.0552, -1.172, 1.2655], "right_eef": [0.7256, 0.0721, 0.9787], "right_rpy": [0.0, 0.0, 0.0], "gripper_left": 0.0, "gripper_right": 0.0, "phase": 4}], "bbox": {"min": [-0.1589, -1.2358, 0.8535], "max": [0.9673, 0.1344, 1.3524]}, "objects": [], "labels": {"left": "left arm joints", "right": "right arm joints"}}