randomized_eval_tracking.csv

scene,scene_file,query_index,seed,direct_path_free,controller,trajectory_samples,trajectory_duration_s,rms_joint_rad,max_joint_rad,final_joint_rad,max_ee_pos_m,peak_force_fraction,saturated_step_fraction,settle_penetration_steps,path_penetration_steps,hold_penetration_steps,max_penetration_m,worst_contact,numeric_pass,full_pass
open_floor,scene.xml,2,202608180020,false,position PD,8671,17.34000000,0.14427357,0.20163665,0.01179687,0.06292236,0.27171754,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,2,202608180020,false,PD + velocity FF,8671,17.34000000,0.01730323,0.02106441,0.01092230,0.02191402,0.27171754,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,3,202608180030,true,position PD,9042,18.08200000,0.16072200,0.16572293,0.01186954,0.04669271,0.11313530,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,3,202608180030,true,PD + velocity FF,9042,18.08200000,0.00798652,0.01084156,0.01097490,0.00708908,0.11347466,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,4,202608180040,true,position PD,8744,17.48600000,0.16187390,0.16943228,0.00783872,0.09078653,0.27573219,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,4,202608180040,true,PD + velocity FF,8744,17.48600000,0.01642692,0.02204165,0.00846657,0.02228154,0.27573219,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,5,202608180050,true,position PD,9818,19.63400000,0.11187057,0.11751354,0.01486029,0.02112941,0.19965475,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,5,202608180050,true,PD + velocity FF,9818,19.63400000,0.01011588,0.01588037,0.01536415,0.00808805,0.20056656,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,10,202608180100,true,position PD,5397,10.79200000,0.12102645,0.12794423,0.01114153,0.01935937,0.12021370,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,10,202608180100,true,PD + velocity FF,5397,10.79200000,0.00912062,0.01159536,0.01133723,0.00367336,0.12264993,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,12,202608180120,false,position PD,5763,11.52400000,0.16920967,0.18823399,0.02681128,0.08132736,0.34102992,0.00000000,0,358,0,0.00004772,floor[0]@world vs geom#27[27]@wrist_2_link,false,false
open_floor,scene.xml,12,202608180120,false,PD + velocity FF,5763,11.52400000,0.02075176,0.02655401,0.02646620,0.01971950,0.34188437,0.00000000,0,358,0,0.00004622,floor[0]@world vs geom#27[27]@wrist_2_link,false,false
open_floor,scene.xml,15,202608180150,false,position PD,8246,16.49000000,0.16028341,0.17501974,0.00669466,0.07487706,0.27279741,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,15,202608180150,false,PD + velocity FF,8246,16.49000000,0.01756155,0.02185958,0.00712123,0.02235242,0.27509965,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,19,202608180190,true,position PD,4843,9.68400000,0.13202253,0.13782646,0.01959940,0.01351003,0.25337073,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,19,202608180190,true,PD + velocity FF,4843,9.68400000,0.01722294,0.01994479,0.01969025,0.01469525,0.25506658,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,22,202608180220,false,position PD,7968,15.93400000,0.17927963,0.23698111,0.00623551,0.08655673,0.35576371,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,22,202608180220,false,PD + velocity FF,7968,15.93400000,0.01650112,0.02715463,0.00739784,0.02202415,0.36458888,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,29,202608180290,false,position PD,5674,11.34600000,0.17523666,0.19123188,0.02315479,0.09053226,0.29172311,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,29,202608180290,false,PD + velocity FF,5674,11.34600000,0.01703014,0.02273858,0.02264860,0.01738156,0.29327999,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,31,202608180310,true,position PD,10158,20.31400000,0.11839698,0.12243794,0.01162282,0.04612420,0.18888120,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,31,202608180310,true,PD + velocity FF,10158,20.31400000,0.00996718,0.01419049,0.01165184,0.00479595,0.18965633,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,32,202608180320,true,position PD,8383,16.76400000,0.16547301,0.17311754,0.01742001,0.06073969,0.22428415,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,32,202608180320,true,PD + velocity FF,8383,16.76400000,0.01179461,0.01816883,0.01765484,0.01566621,0.22937051,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,33,202608180330,true,position PD,5302,10.60200000,0.14852625,0.15508424,0.02732670,0.02272226,0.35403544,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,33,202608180330,true,PD + velocity FF,5302,10.60200000,0.02280073,0.02769793,0.02727138,0.02868376,0.35565436,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,34,202608180340,true,position PD,7504,15.00600000,0.11502469,0.12053565,0.01291213,0.05593249,0.18393231,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,34,202608180340,true,PD + velocity FF,7504,15.00600000,0.01035166,0.01394910,0.01321861,0.00769032,0.18514169,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,35,202608180350,true,position PD,5652,11.30200000,0.17176658,0.17933290,0.01287434,0.04768835,0.14051951,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,35,202608180350,true,PD + velocity FF,5652,11.30200000,0.00850862,0.01273033,0.01237226,0.00769609,0.14614038,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,37,202608180370,true,position PD,4520,9.03800000,0.16598733,0.17838535,0.01888497,0.08863128,0.26454988,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,37,202608180370,true,PD + velocity FF,4520,9.03800000,0.01334029,0.01997453,0.01930019,0.01940052,0.27108514,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,38,202608180380,true,position PD,9310,18.61800000,0.14739198,0.15302079,0.01586126,0.04815416,0.19995453,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,38,202608180380,true,PD + velocity FF,9310,18.61800000,0.01148333,0.01700478,0.01589922,0.01359463,0.20118007,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,39,202608180390,true,position PD,5250,10.49800000,0.12776274,0.13336521,0.01775012,0.04942419,0.24476133,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,39,202608180390,true,PD + velocity FF,5250,10.49800000,0.01203894,0.01849069,0.01795852,0.01265915,0.24912053,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,41,202608180410,true,position PD,2659,5.31600000,0.15441939,0.16738686,0.01923215,0.09178941,0.32531177,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,41,202608180410,true,PD + velocity FF,2659,5.31600000,0.02285072,0.02494894,0.01863997,0.02512967,0.32897295,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,43,202608180430,false,position PD,7462,14.92200000,0.16585016,0.19332480,0.01641702,0.07775247,0.53225608,0.00000000,0,22,0,0.00000687,geom#18[18]@forearm_link vs geom#29[29]@wrist_3_link,false,false
open_floor,scene.xml,43,202608180430,false,PD + velocity FF,7462,14.92200000,0.01706554,0.02227112,0.01624126,0.02116271,0.53225502,0.00000000,0,22,0,0.00000687,geom#18[18]@forearm_link vs geom#29[29]@wrist_3_link,true,false
open_floor,scene.xml,44,202608180440,false,position PD,8719,17.43600000,0.17822797,0.18909107,0.01282595,0.04915348,0.23553326,0.00000000,0,51,0,0.00003295,floor[0]@world vs geom#29[29]@wrist_3_link,false,false
open_floor,scene.xml,44,202608180440,false,PD + velocity FF,8719,17.43600000,0.01121004,0.01724959,0.01228837,0.01136796,0.23992908,0.00000000,0,49,0,0.00003294,floor[0]@world vs geom#29[29]@wrist_3_link,true,false
open_floor,scene.xml,50,202608180500,false,position PD,6307,12.61200000,0.15814971,0.18170963,0.01253212,0.08711830,0.34135572,0.00000000,180,220,0,0.00019435,floor[0]@world vs geom#17[17]@forearm_link,false,false
open_floor,scene.xml,50,202608180500,false,PD + velocity FF,6307,12.61200000,0.02087192,0.02658460,0.01177809,0.02501157,0.34135572,0.00000000,180,164,0,0.00019435,floor[0]@world vs geom#17[17]@forearm_link,true,false
open_floor,scene.xml,53,202608180530,true,position PD,8346,16.69000000,0.17035012,0.17646279,0.00580204,0.05410223,0.18160347,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,53,202608180530,true,PD + velocity FF,8346,16.69000000,0.00962072,0.01367964,0.00368956,0.01214055,0.18511284,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,54,202608180540,true,position PD,4992,9.98200000,0.12442716,0.13227650,0.00759916,0.01850232,0.10586341,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,54,202608180540,true,PD + velocity FF,4992,9.98200000,0.00771676,0.00860407,0.00819971,0.00393015,0.10586341,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,55,202608180550,true,position PD,8409,16.81600000,0.13302565,0.13839313,0.00692936,0.02652752,0.24169685,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,55,202608180550,true,PD + velocity FF,8409,16.81600000,0.01418593,0.01804222,0.00715742,0.01480951,0.24321863,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,56,202608180560,false,position PD,11213,22.42400000,0.15588740,0.17235042,0.01202571,0.09871127,0.35412094,0.00000000,0,61,0,0.00026311,floor[0]@world vs geom#27[27]@wrist_2_link,false,false
open_floor,scene.xml,56,202608180560,false,PD + velocity FF,11213,22.42400000,0.02014812,0.02751725,0.01131444,0.02724273,0.36366880,0.00000000,0,203,0,0.00090529,floor[0]@world vs geom#27[27]@wrist_2_link,true,false
open_floor,scene.xml,60,202608180600,false,position PD,8054,16.10600000,0.15410247,0.18664498,0.01248469,0.04189534,0.24046146,0.00000000,0,17,0,0.00000879,floor[0]@world vs geom#17[17]@forearm_link,false,false
open_floor,scene.xml,60,202608180600,false,PD + velocity FF,8054,16.10600000,0.00936739,0.01706455,0.01215077,0.01100295,0.24828147,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,61,202608180610,false,position PD,4883,9.76400000,0.16447123,0.18812650,0.01456000,0.06587046,0.26631678,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,61,202608180610,false,PD + velocity FF,4883,9.76400000,0.01301873,0.02095665,0.01415196,0.01824209,0.27187413,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,62,202608180620,true,position PD,10174,20.34600000,0.13098757,0.13680196,0.00461214,0.03930539,0.12342039,0.00000000,0,0,103,0.00013757,geom#11[11]@upper_arm_link vs geom#26[26]@wrist_2_link,false,false
open_floor,scene.xml,62,202608180620,true,PD + velocity FF,10174,20.34600000,0.00948571,0.01109624,0.00339492,0.00913973,0.12342039,0.00000000,0,93,250,0.00041235,geom#11[11]@upper_arm_link vs geom#26[26]@wrist_2_link,true,false
open_floor,scene.xml,65,202608180650,true,position PD,6840,13.67800000,0.16125336,0.17017248,0.02525919,0.09783173,0.33463490,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,65,202608180650,true,PD + velocity FF,6840,13.67800000,0.01416666,0.02672902,0.02586060,0.02774194,0.33959070,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,66,202608180660,true,position PD,10083,20.16400000,0.12965019,0.13281474,0.01924808,0.08285265,0.32866669,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,66,202608180660,true,PD + velocity FF,10083,20.16400000,0.02308538,0.02553504,0.01904879,0.01974771,0.32866669,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,69,202608180690,true,position PD,3591,7.18000000,0.18567382,0.19732371,0.01869931,0.09408882,0.33259706,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,69,202608180690,true,PD + velocity FF,3591,7.18000000,0.02387389,0.02625492,0.01874980,0.02791045,0.33259706,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,71,202608180710,true,position PD,4555,9.10800000,0.13601491,0.14235960,0.02096821,0.03566024,0.27426184,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,71,202608180710,true,PD + velocity FF,4555,9.10800000,0.01928265,0.02122204,0.02097350,0.01796625,0.27592625,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,72,202608180720,true,position PD,5570,11.13800000,0.16931083,0.17741841,0.01534115,0.03113670,0.20856513,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,72,202608180720,true,PD + velocity FF,5570,11.13800000,0.01008048,0.01566994,0.01534515,0.01362178,0.21122132,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,73,202608180730,true,position PD,7348,14.69400000,0.13620272,0.14357001,0.01210524,0.03908541,0.25140281,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,73,202608180730,true,PD + velocity FF,7348,14.69400000,0.01194928,0.01899918,0.01282671,0.01527287,0.25344865,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,75,202608180750,true,position PD,10424,20.84600000,0.16319814,0.16811006,0.02800885,0.04117889,0.35507304,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,75,202608180750,true,PD + velocity FF,10424,20.84600000,0.02157154,0.02791235,0.02775508,0.02804688,0.35634017,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,77,202608180770,true,position PD,3415,6.82800000,0.12612028,0.13471755,0.01167132,0.02855277,0.15998939,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,77,202608180770,true,PD + velocity FF,3415,6.82800000,0.00638192,0.01208970,0.01175579,0.00808781,0.16643553,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,78,202608180780,false,position PD,8146,16.29000000,0.15311761,0.16603874,0.01753260,0.06291048,0.27866974,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,78,202608180780,false,PD + velocity FF,8146,16.29000000,0.01360947,0.02078688,0.01811192,0.01755934,0.28020534,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,79,202608180790,true,position PD,8238,16.47400000,0.14867708,0.15347753,0.01318940,0.01600668,0.18261230,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,79,202608180790,true,PD + velocity FF,8238,16.47400000,0.00875079,0.01394590,0.01369446,0.00996894,0.18578096,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,81,202608180810,true,position PD,6380,12.75800000,0.11587922,0.11962768,0.01731265,0.05005510,0.23103317,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,81,202608180810,true,PD + velocity FF,6380,12.75800000,0.01289068,0.01755254,0.01721721,0.01326954,0.23410091,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,82,202608180820,true,position PD,2899,5.79600000,0.15052405,0.16396483,0.00785505,0.03416929,0.09618396,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,82,202608180820,true,PD + velocity FF,2899,5.79600000,0.00817502,0.00916739,0.00699547,0.00420171,0.09618401,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,89,202608180890,true,position PD,5673,11.34400000,0.15788890,0.16387854,0.02280780,0.06043378,0.31902054,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,89,202608180890,true,PD + velocity FF,5673,11.34400000,0.02373068,0.02520608,0.02256879,0.02539715,0.31902054,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,91,202608180910,false,position PD,2178,4.35400000,0.13889009,0.17536013,0.02258127,0.07826761,0.31137714,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,91,202608180910,false,PD + velocity FF,2178,4.35400000,0.01597016,0.02357492,0.02231486,0.01566150,0.32921368,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,93,202608180930,true,position PD,7551,15.10000000,0.17017692,0.17522833,0.02396844,0.07693967,0.32508185,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,93,202608180930,true,PD + velocity FF,7551,15.10000000,0.02474725,0.02538022,0.02382944,0.02658234,0.32508185,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,94,202608180940,true,position PD,8616,17.23000000,0.12485747,0.13166956,0.00757916,0.05189018,0.32217063,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,94,202608180940,true,PD + velocity FF,8616,17.23000000,0.01547471,0.02443222,0.00680177,0.02245586,0.32516280,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,97,202608180970,true,position PD,5730,11.45800000,0.11630152,0.12072260,0.01399114,0.01252405,0.17633971,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,97,202608180970,true,PD + velocity FF,5730,11.45800000,0.01336905,0.01351305,0.01354175,0.00962239,0.17671392,0.00000000,0,0,0,0.00000000,,true,true
open_floor,scene.xml,99,202608180990,false,position PD,9286,18.57000000,0.14168643,0.15240160,0.01127825,0.03542079,0.13550502,0.00000000,0,0,0,0.00000000,,false,false
open_floor,scene.xml,99,202608180990,false,PD + velocity FF,9286,18.57000000,0.00837582,0.01218038,0.01188958,0.00677409,0.13617890,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,2,202608190020,false,position PD,7395,14.78800000,0.13802204,0.14780079,0.01014192,0.03759351,0.10797150,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,2,202608190020,false,PD + velocity FF,7395,14.78800000,0.00728874,0.01116709,0.01070948,0.00850952,0.10990468,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,6,202608190060,true,position PD,8620,17.23800000,0.12296834,0.12856058,0.02062434,0.04149304,0.27467263,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,6,202608190060,true,PD + velocity FF,8620,17.23800000,0.01385579,0.02172587,0.02122489,0.01873121,0.28048584,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,8,202608190080,false,position PD,6842,13.68200000,0.14787559,0.15860347,0.01517432,0.05343413,0.33028584,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,8,202608190080,false,PD + velocity FF,6842,13.68200000,0.01608035,0.02469261,0.01465735,0.02256177,0.33666873,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,9,202608190090,false,position PD,8090,16.17800000,0.14661346,0.17904380,0.02469578,0.07912483,0.35050139,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,9,202608190090,false,PD + velocity FF,8090,16.17800000,0.01843161,0.02699471,0.02586973,0.02445227,0.36372228,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,13,202608190130,false,position PD,7057,14.11200000,0.13016930,0.18642000,0.01770374,0.07531574,0.32555977,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,13,202608190130,false,PD + velocity FF,7057,14.11200000,0.01554100,0.02483913,0.01982066,0.01727360,0.32940049,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,15,202608190150,false,position PD,6798,13.59400000,0.12828231,0.16572682,0.00620772,0.05421102,0.34886814,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,15,202608190150,false,PD + velocity FF,6798,13.59400000,0.02166843,0.02653394,0.00685650,0.02130317,0.35805584,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,20,202608190200,false,position PD,8606,17.21000000,0.13631157,0.14656907,0.00727899,0.05759874,0.25232985,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,20,202608190200,false,PD + velocity FF,8606,17.21000000,0.01107201,0.01952825,0.00806862,0.01623997,0.25520698,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,22,202608190220,false,position PD,10046,20.09000000,0.15811037,0.18178511,0.00565911,0.08461089,0.36417601,0.00000000,190,130,0,0.00060922,floor[0]@world vs geom#26[26]@wrist_2_link,false,false
offset_pillar,scene_cluttered.xml,22,202608190220,false,PD + velocity FF,10046,20.09000000,0.01252389,0.02614551,0.00579452,0.02029410,0.37223873,0.00000000,190,76,0,0.00060922,floor[0]@world vs geom#26[26]@wrist_2_link,true,false
offset_pillar,scene_cluttered.xml,24,202608190240,false,position PD,5203,10.40400000,0.13485538,0.18300449,0.00999485,0.04129902,0.39505772,0.00000000,0,46,0,0.00033883,geom#29[29]@wrist_3_link vs pillar[30]@pillar,false,false
offset_pillar,scene_cluttered.xml,24,202608190240,false,PD + velocity FF,5203,10.40400000,0.01165673,0.01710541,0.01061422,0.01127380,0.39505535,0.00000000,0,46,0,0.00033863,geom#29[29]@wrist_3_link vs pillar[30]@pillar,true,false
offset_pillar,scene_cluttered.xml,25,202608190250,true,position PD,2220,4.43800000,0.14183297,0.15707205,0.01339676,0.02545089,0.17528758,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,25,202608190250,true,PD + velocity FF,2220,4.43800000,0.00919004,0.01403430,0.01385454,0.00392708,0.18396047,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,26,202608190260,true,position PD,1533,3.06400000,0.12261812,0.14187466,0.00824383,0.01386127,0.09368957,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,26,202608190260,true,PD + velocity FF,1533,3.06400000,0.00736266,0.00785892,0.00778222,0.00375586,0.09467715,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,27,202608190270,false,position PD,7075,14.14800000,0.15406901,0.20921968,0.00763088,0.03996292,0.21463674,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,27,202608190270,false,PD + velocity FF,7075,14.14800000,0.00884820,0.01592300,0.00776596,0.00681839,0.21945411,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,29,202608190290,false,position PD,7384,14.76600000,0.14321740,0.16421221,0.02294785,0.09360597,0.30575740,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,29,202608190290,false,PD + velocity FF,7384,14.76600000,0.01166547,0.02454216,0.02361641,0.02488076,0.31400506,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,32,202608190320,true,position PD,4564,9.12600000,0.17736522,0.19227510,0.01351675,0.05332941,0.37020192,0.00000000,0,52,250,0.00090942,floor[0]@world vs geom#27[27]@wrist_2_link,false,false
offset_pillar,scene_cluttered.xml,32,202608190320,true,PD + velocity FF,4564,9.12600000,0.01684524,0.02841235,0.01000436,0.02893612,0.37295245,0.00000000,0,177,250,0.00148761,floor[0]@world vs geom#27[27]@wrist_2_link,true,false
offset_pillar,scene_cluttered.xml,34,202608190340,true,position PD,9585,19.16800000,0.12622925,0.13092188,0.01265712,0.03684648,0.26708083,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,34,202608190340,true,PD + velocity FF,9585,19.16800000,0.01805978,0.02158075,0.01241512,0.02183260,0.26708083,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,35,202608190350,true,position PD,7816,15.63000000,0.12108120,0.12819092,0.01426566,0.03027747,0.20834976,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,35,202608190350,true,PD + velocity FF,7816,15.63000000,0.01201103,0.01590789,0.01495727,0.01632681,0.21243433,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,38,202608190380,false,position PD,5735,11.46800000,0.15985193,0.19108239,0.01255661,0.07029810,0.17513989,0.00000000,0,317,0,0.00009325,floor[0]@world vs geom#27[27]@wrist_2_link,false,false
offset_pillar,scene_cluttered.xml,38,202608190380,false,PD + velocity FF,5735,11.46800000,0.01170558,0.01504030,0.01182965,0.01068932,0.17513989,0.00000000,0,376,0,0.00022428,floor[0]@world vs geom#27[27]@wrist_2_link,true,false
offset_pillar,scene_cluttered.xml,39,202608190390,true,position PD,5696,11.39000000,0.12592074,0.13304180,0.00923365,0.03312009,0.17651357,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,39,202608190390,true,PD + velocity FF,5696,11.39000000,0.01049399,0.01415675,0.00912220,0.00501444,0.17884383,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,41,202608190410,false,position PD,8398,16.79400000,0.12293964,0.16586987,0.00874775,0.04330586,0.20080236,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,41,202608190410,false,PD + velocity FF,8398,16.79400000,0.00984946,0.01511825,0.00905983,0.00727505,0.20182749,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,44,202608190440,false,position PD,12189,24.37600000,0.14564806,0.17280269,0.01389258,0.03457839,0.19192732,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,44,202608190440,false,PD + velocity FF,12189,24.37600000,0.00729371,0.01444297,0.01429570,0.00793593,0.19754820,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,48,202608190480,true,position PD,10211,20.42000000,0.13210510,0.13493798,0.01041863,0.01961721,0.15292992,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,48,202608190480,true,PD + velocity FF,10211,20.42000000,0.00913647,0.01161808,0.00996520,0.00489902,0.15392867,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,50,202608190500,false,position PD,9279,18.55600000,0.12912405,0.14382719,0.01974260,0.09256911,0.32537106,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,50,202608190500,false,PD + velocity FF,9279,18.55600000,0.01494103,0.02501252,0.01976563,0.02317552,0.33044662,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,51,202608190510,false,position PD,7708,15.41400000,0.11166219,0.12026547,0.02606539,0.02625661,0.33084982,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,51,202608190510,false,PD + velocity FF,7708,15.41400000,0.02020267,0.02603517,0.02592149,0.02654166,0.33239130,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,52,202608190520,false,position PD,9492,18.98200000,0.15151563,0.16531692,0.02065838,0.03904829,0.26473694,0.00000000,155,116,0,0.00014939,floor[0]@world vs geom#17[17]@forearm_link,false,false
offset_pillar,scene_cluttered.xml,52,202608190520,false,PD + velocity FF,9492,18.98200000,0.01358317,0.02083268,0.02064884,0.01623122,0.27074102,0.00000000,155,66,0,0.00014939,floor[0]@world vs geom#17[17]@forearm_link,false,false
offset_pillar,scene_cluttered.xml,55,202608190550,true,position PD,8862,17.72200000,0.13074852,0.13656563,0.00913908,0.02305350,0.10567155,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,55,202608190550,true,PD + velocity FF,8862,17.72200000,0.00695631,0.01032231,0.01001563,0.00310819,0.10678827,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,61,202608190610,false,position PD,9210,18.41800000,0.14678029,0.15750346,0.00861838,0.06121476,0.33016712,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,61,202608190610,false,PD + velocity FF,9210,18.41800000,0.01688035,0.02489346,0.00764309,0.02015432,0.33372616,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,62,202608190620,true,position PD,8294,16.58600000,0.13776109,0.14217173,0.01088589,0.02560265,0.17720450,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,62,202608190620,true,PD + velocity FF,8294,16.58600000,0.01022334,0.01482080,0.01095598,0.01199455,0.17927508,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,63,202608190630,true,position PD,2572,5.14200000,0.15230349,0.16596641,0.00602336,0.06737922,0.23810002,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,63,202608190630,true,PD + velocity FF,2572,5.14200000,0.01129367,0.01809098,0.00551162,0.01744861,0.24453336,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,64,202608190640,false,position PD,8691,17.38000000,0.14291866,0.17476768,0.02625547,0.08435782,0.34270061,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,64,202608190640,false,PD + velocity FF,8691,17.38000000,0.01504724,0.02690978,0.02645369,0.02548437,0.34597910,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,65,202608190650,true,position PD,7617,15.23200000,0.14183456,0.14588913,0.00720613,0.03681788,0.10924841,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,65,202608190650,true,PD + velocity FF,7617,15.23200000,0.00847799,0.00955132,0.00615445,0.00560913,0.10946547,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,67,202608190670,true,position PD,8364,16.72600000,0.12829771,0.13205229,0.01276985,0.01737014,0.14514760,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,67,202608190670,true,PD + velocity FF,8364,16.72600000,0.00871996,0.01261552,0.01257139,0.00441502,0.14722545,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,70,202608190700,false,position PD,8055,16.10800000,0.13055670,0.19267943,0.02477839,0.11349615,0.34265745,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,70,202608190700,false,PD + velocity FF,8055,16.10800000,0.01383870,0.02643332,0.02559864,0.02150587,0.35136985,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,71,202608190710,true,position PD,9855,19.70800000,0.12645907,0.13165720,0.00638282,0.02268769,0.06026602,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,71,202608190710,true,PD + velocity FF,9855,19.70800000,0.00445464,0.00613342,0.00596584,0.00439559,0.06482237,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,72,202608190720,false,position PD,7825,15.64800000,0.13177748,0.17112904,0.01228260,0.03152836,0.15747177,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,72,202608190720,false,PD + velocity FF,7825,15.64800000,0.00834047,0.01265981,0.01245438,0.00611239,0.16513354,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,76,202608190760,true,position PD,7746,15.49000000,0.12501441,0.13087521,0.01562496,0.02750469,0.45913764,0.00000000,0,13,0,0.00000902,geom#18[18]@forearm_link vs geom#29[29]@wrist_3_link,false,false
offset_pillar,scene_cluttered.xml,76,202608190760,true,PD + velocity FF,7746,15.49000000,0.01392552,0.01507508,0.01513108,0.00658447,0.45999708,0.00000000,0,13,0,0.00000902,geom#18[18]@forearm_link vs geom#29[29]@wrist_3_link,true,false
offset_pillar,scene_cluttered.xml,79,202608190790,true,position PD,3898,7.79400000,0.16641287,0.18059925,0.00823441,0.05307661,0.19425346,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,79,202608190790,true,PD + velocity FF,3898,7.79400000,0.01035513,0.01431716,0.01028846,0.00752476,0.19836105,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,82,202608190820,true,position PD,4087,8.17200000,0.12420876,0.13235516,0.01501414,0.03195367,0.17821628,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,82,202608190820,true,PD + velocity FF,4087,8.17200000,0.01398640,0.01430865,0.01424292,0.00567930,0.17821628,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,83,202608190830,false,position PD,6103,12.20400000,0.14163859,0.18308557,0.01528758,0.07168488,0.22191364,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,83,202608190830,false,PD + velocity FF,6103,12.20400000,0.01094495,0.01796651,0.01691899,0.01151716,0.23602535,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,84,202608190840,true,position PD,3131,6.26000000,0.14831222,0.16009039,0.00745337,0.07410847,0.29048907,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,84,202608190840,true,PD + velocity FF,3131,6.26000000,0.01709738,0.02118244,0.00593716,0.01817193,0.29529656,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,87,202608190870,false,position PD,5777,11.55200000,0.13905750,0.15993081,0.01191923,0.07755803,0.20455464,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,87,202608190870,false,PD + velocity FF,5777,11.55200000,0.01188524,0.01615700,0.01107190,0.01480410,0.21831231,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,88,202608190880,false,position PD,11626,23.25000000,0.14966988,0.16673734,0.01002770,0.06437127,0.29397499,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,88,202608190880,false,PD + velocity FF,11626,23.25000000,0.01476634,0.02319060,0.01090869,0.01856934,0.30764580,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,89,202608190890,false,position PD,8061,16.12000000,0.12030649,0.13169468,0.00769614,0.05124911,0.16535858,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,89,202608190890,false,PD + velocity FF,8061,16.12000000,0.01017529,0.01490079,0.00727968,0.01084448,0.16535858,0.00000000,0,0,0,0.00000000,,true,true
offset_pillar,scene_cluttered.xml,90,202608190900,true,position PD,3913,7.82400000,0.13939183,0.15922063,0.02616722,0.08878802,0.37952079,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,90,202608190900,true,PD + velocity FF,3913,7.82400000,0.01992410,0.02963607,0.02771971,0.02801699,0.39188405,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,93,202608190930,true,position PD,6402,12.80200000,0.12738777,0.13200816,0.02608366,0.05333702,0.34148110,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,93,202608190930,true,PD + velocity FF,6402,12.80200000,0.02057785,0.02659276,0.02622101,0.02342511,0.34438824,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,97,202608190970,false,position PD,11583,23.16400000,0.16341592,0.17560666,0.02592996,0.07059868,0.76435890,0.00000000,0,11,0,0.00017937,geom#27[27]@wrist_2_link vs pillar[30]@pillar,false,false
offset_pillar,scene_cluttered.xml,97,202608190970,false,PD + velocity FF,11583,23.16400000,0.01770362,0.02720940,0.02646452,0.02252824,0.76435890,0.00000000,0,11,0,0.00017937,geom#27[27]@wrist_2_link vs pillar[30]@pillar,false,false
offset_pillar,scene_cluttered.xml,98,202608190980,false,position PD,7613,15.22400000,0.15821951,0.17098495,0.02375933,0.05202889,0.34139710,0.00000000,0,0,0,0.00000000,,false,false
offset_pillar,scene_cluttered.xml,98,202608190980,false,PD + velocity FF,7613,15.22400000,0.01829368,0.02651193,0.02291643,0.02134357,0.34907405,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,2,202608200020,false,position PD,11327,22.65200000,0.13197833,0.23957168,0.00626463,0.10456179,1.00000000,0.01880463,0,229,0,0.00124048,geom#26[26]@wrist_2_link vs pillar[31]@pillar,false,false
tabletop_pillar,scene_pickplace.xml,2,202608200020,false,PD + velocity FF,11327,22.65200000,0.01791923,0.13793286,0.00577133,0.07092579,1.00000000,0.01880463,0,229,0,0.00124008,geom#26[26]@wrist_2_link vs pillar[31]@pillar,false,false
tabletop_pillar,scene_pickplace.xml,5,202608200050,true,position PD,5009,10.01600000,0.16263358,0.17247012,0.02558588,0.04132507,0.34113537,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,5,202608200050,true,PD + velocity FF,5009,10.01600000,0.01726500,0.02641426,0.02585725,0.02298690,0.34627410,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,6,202608200060,false,position PD,7819,15.63600000,0.14274377,0.16652031,0.00667470,0.06749226,1.00000000,0.00319734,0,72,0,0.00088323,geom#27[27]@wrist_2_link vs pillar[31]@pillar,false,false
tabletop_pillar,scene_pickplace.xml,6,202608200060,false,PD + velocity FF,7819,15.63600000,0.01252718,0.02751304,0.00610294,0.01287550,1.00000000,0.00319734,0,71,0,0.00088323,geom#27[27]@wrist_2_link vs pillar[31]@pillar,true,false
tabletop_pillar,scene_pickplace.xml,7,202608200070,true,position PD,7379,14.75600000,0.13782488,0.14295727,0.00631475,0.05698577,0.10559589,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,7,202608200070,true,PD + velocity FF,7379,14.75600000,0.00968935,0.01080871,0.00556102,0.00700157,0.10559589,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,9,202608200090,true,position PD,6083,12.16400000,0.18024043,0.18930658,0.02166663,0.07801695,0.30121681,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,9,202608200090,true,PD + velocity FF,6083,12.16400000,0.01457169,0.02303983,0.02225178,0.02020963,0.30751451,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,10,202608200100,true,position PD,3464,6.92600000,0.13491013,0.14621525,0.01852171,0.03502149,0.25550996,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,10,202608200100,true,PD + velocity FF,3464,6.92600000,0.01234207,0.01982070,0.01940485,0.01110187,0.26319033,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,13,202608200130,true,position PD,8549,17.09600000,0.19436672,0.20076018,0.00882736,0.04652383,0.11056897,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,13,202608200130,true,PD + velocity FF,8549,17.09600000,0.00681106,0.00922882,0.00857282,0.00820908,0.11348633,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,14,202608200140,false,position PD,8548,17.09400000,0.14655085,0.19779545,0.01030729,0.05884563,0.30970349,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,14,202608200140,false,PD + velocity FF,8548,17.09400000,0.01415634,0.02423328,0.00764527,0.02245599,0.31351103,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,16,202608200160,true,position PD,8144,16.28600000,0.13830590,0.14499628,0.01459245,0.02988319,0.16594955,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,16,202608200160,true,PD + velocity FF,8144,16.28600000,0.00825268,0.01427415,0.01429088,0.01013377,0.16641150,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,17,202608200170,true,position PD,2413,4.82400000,0.10726465,0.11904224,0.02607475,0.04644720,0.32799954,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,17,202608200170,true,PD + velocity FF,2413,4.82400000,0.02328863,0.02562007,0.02578671,0.02451792,0.32943736,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,21,202608200210,true,position PD,1894,3.78600000,0.14876616,0.17187566,0.01889068,0.10497178,0.27804769,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,21,202608200210,true,PD + velocity FF,1894,3.78600000,0.01400651,0.02230254,0.02100159,0.02023917,0.30160648,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,22,202608200220,false,position PD,7361,14.72000000,0.14054028,0.16276772,0.02211234,0.03101901,0.32345619,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,22,202608200220,false,PD + velocity FF,7361,14.72000000,0.02417506,0.02486586,0.02135442,0.02139947,0.32557221,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,25,202608200250,false,position PD,6246,12.49000000,0.14297643,0.17760732,0.00787256,0.03789794,0.12856110,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,25,202608200250,false,PD + velocity FF,6246,12.49000000,0.00979009,0.01202857,0.00649043,0.00852810,0.13164540,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,27,202608200270,false,position PD,9253,18.50400000,0.17314314,0.19503453,0.00623167,0.07444524,0.30516108,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,27,202608200270,false,PD + velocity FF,9253,18.50400000,0.01241980,0.02348538,0.00744173,0.01765366,0.31012668,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,29,202608200290,true,position PD,10113,20.22400000,0.13730414,0.14138187,0.01430765,0.05540344,0.19899858,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,29,202608200290,true,PD + velocity FF,10113,20.22400000,0.01067299,0.01472323,0.01425436,0.00952225,0.20307711,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,32,202608200320,true,position PD,6359,12.71600000,0.11362557,0.11838261,0.02651681,0.02761795,0.34933901,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,32,202608200320,true,PD + velocity FF,6359,12.71600000,0.01873538,0.02720706,0.02681416,0.02781673,0.35325206,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,34,202608200340,true,position PD,3030,6.05800000,0.17514309,0.19045009,0.00603415,0.04233775,0.13880123,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,34,202608200340,true,PD + velocity FF,3030,6.05800000,0.00815244,0.01196116,0.00713968,0.00886817,0.14091921,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,36,202608200360,true,position PD,7804,15.60600000,0.11510359,0.12094487,0.01499320,0.02066559,0.21741188,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,36,202608200360,true,PD + velocity FF,7804,15.60600000,0.01304064,0.01844647,0.01512177,0.01615321,0.21741188,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,39,202608200390,true,position PD,6943,13.88400000,0.14570970,0.15235365,0.01952891,0.05604587,0.25413416,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,39,202608200390,true,PD + velocity FF,6943,13.88400000,0.01325670,0.02033947,0.01979429,0.01444756,0.25551305,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,41,202608200410,false,position PD,9416,18.83000000,0.12246704,0.15365634,0.01079572,0.06508428,0.44989792,0.00000000,0,58,250,0.00113626,floor[0]@world vs geom#29[29]@wrist_3_link,false,false
tabletop_pillar,scene_pickplace.xml,41,202608200410,false,PD + velocity FF,9416,18.83000000,0.01484640,0.02987868,0.00947724,0.02923485,0.44989792,0.00000000,0,205,250,0.00221811,floor[0]@world vs geom#29[29]@wrist_3_link,true,false
tabletop_pillar,scene_pickplace.xml,42,202608200420,false,position PD,9708,19.41400000,0.14527232,0.18320557,0.01334960,0.05063434,1.00000000,0.00885867,0,225,0,0.00076753,geom#22[22]@wrist_1_link vs pillar[31]@pillar,false,false
tabletop_pillar,scene_pickplace.xml,42,202608200420,false,PD + velocity FF,9708,19.41400000,0.01763632,0.07349920,0.01365069,0.03328739,1.00000000,0.00885867,0,225,0,0.00076753,geom#22[22]@wrist_1_link vs pillar[31]@pillar,true,false
tabletop_pillar,scene_pickplace.xml,43,202608200430,false,position PD,5321,10.64000000,0.15564510,0.17261645,0.00468507,0.02032598,0.15191939,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,43,202608200430,false,PD + velocity FF,5321,10.64000000,0.00652687,0.01149304,0.00186767,0.00538293,0.15446878,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,45,202608200450,true,position PD,3753,7.50400000,0.13084230,0.14235621,0.02598594,0.05169586,0.35893255,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,45,202608200450,true,PD + velocity FF,3753,7.50400000,0.01683792,0.02786316,0.02688311,0.02559110,0.36757323,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,46,202608200460,true,position PD,10460,20.91800000,0.11005043,0.11257812,0.02015738,0.01467382,0.26353650,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,46,202608200460,true,PD + velocity FF,10460,20.91800000,0.01124263,0.02022760,0.02014361,0.01684813,0.26583388,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,52,202608200520,false,position PD,5884,11.76600000,0.14201694,0.18233137,0.01086113,0.07500862,0.15746021,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,52,202608200520,false,PD + velocity FF,5884,11.76600000,0.00909029,0.01269886,0.01182874,0.00932631,0.16265364,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,53,202608200530,true,position PD,6823,13.64400000,0.14399582,0.14972350,0.00971934,0.01368444,0.12047776,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,53,202608200530,true,PD + velocity FF,6823,13.64400000,0.00594553,0.00991265,0.00974537,0.00500915,0.12194072,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,55,202608200550,false,position PD,10494,20.98600000,0.14534271,0.16026461,0.01087034,0.06180112,0.25021583,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,55,202608200550,false,PD + velocity FF,10494,20.98600000,0.01109390,0.01886315,0.00970493,0.01253007,0.26310936,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,56,202608200560,true,position PD,3884,7.76600000,0.13735392,0.14654973,0.01221068,0.02714016,0.20368686,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,56,202608200560,true,PD + velocity FF,3884,7.76600000,0.01404885,0.01583602,0.01280063,0.01436995,0.20454828,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,62,202608200620,true,position PD,11369,22.73600000,0.12373492,0.12635000,0.01826599,0.04863740,0.31388959,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,62,202608200620,true,PD + velocity FF,11369,22.73600000,0.02314612,0.02496874,0.01797665,0.02525342,0.31388959,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,65,202608200650,true,position PD,2070,4.13800000,0.15802139,0.17645332,0.00765191,0.04337379,0.14426121,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,65,202608200650,true,PD + velocity FF,2070,4.13800000,0.00760248,0.01102200,0.00848890,0.00903552,0.14803608,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,72,202608200720,true,position PD,3495,6.98800000,0.13604756,0.14544398,0.01373923,0.04147136,0.19025299,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,72,202608200720,true,PD + velocity FF,3495,6.98800000,0.00885405,0.01446571,0.01394295,0.00978068,0.19982474,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,73,202608200730,false,position PD,9341,18.68000000,0.13960383,0.15852115,0.02535310,0.09648300,0.37403772,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,73,202608200730,false,PD + velocity FF,9341,18.68000000,0.01229019,0.02901781,0.02726615,0.02997388,0.39400811,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,76,202608200760,true,position PD,8826,17.65000000,0.13391712,0.13998101,0.00699319,0.03932882,0.33457041,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,76,202608200760,true,PD + velocity FF,8826,17.65000000,0.01556778,0.02543577,0.00698737,0.01816067,0.33741900,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,79,202608200790,true,position PD,5047,10.09200000,0.13803653,0.14706778,0.01679535,0.05702559,0.23316557,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,79,202608200790,true,PD + velocity FF,5047,10.09200000,0.01142460,0.01790531,0.01723757,0.01413649,0.24234363,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,82,202608200820,false,position PD,6567,13.13200000,0.17068065,0.20039500,0.01324727,0.05576721,0.19760868,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,82,202608200820,false,PD + velocity FF,6567,13.13200000,0.01131227,0.01588224,0.01492496,0.01157926,0.20505649,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,84,202608200840,true,position PD,10934,21.86600000,0.14134897,0.15463313,0.01427194,0.09472239,1.00000000,0.00036583,0,20,0,0.00321406,geom#29[29]@wrist_3_link vs pillar[31]@pillar,false,false
tabletop_pillar,scene_pickplace.xml,84,202608200840,true,PD + velocity FF,10934,21.86600000,0.01424774,0.02445277,0.01424689,0.02477878,1.00000000,0.00036583,0,20,0,0.00321387,geom#29[29]@wrist_3_link vs pillar[31]@pillar,true,false
tabletop_pillar,scene_pickplace.xml,85,202608200850,true,position PD,8760,17.51800000,0.14933312,0.15385169,0.02305772,0.07454761,0.29684925,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,85,202608200850,true,PD + velocity FF,8760,17.51800000,0.01613967,0.02351885,0.02322432,0.01857836,0.29809928,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,86,202608200860,false,position PD,7491,14.98000000,0.12612367,0.14078255,0.01478197,0.06381278,0.35056684,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,86,202608200860,false,PD + velocity FF,7491,14.98000000,0.01828589,0.02691859,0.01559483,0.02509239,0.35433008,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,87,202608200870,true,position PD,9175,18.34800000,0.14196685,0.14919960,0.02297195,0.03620757,0.30761243,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,87,202608200870,true,PD + velocity FF,9175,18.34800000,0.01520733,0.02343539,0.02311899,0.01609958,0.31113393,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,88,202608200880,true,position PD,5085,10.16800000,0.16836263,0.17781497,0.00681238,0.02966177,0.26287563,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,88,202608200880,true,PD + velocity FF,5085,10.16800000,0.01644421,0.01978356,0.00733401,0.01521351,0.26287563,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,89,202608200890,true,position PD,5024,10.04600000,0.14698327,0.15711329,0.01835521,0.04964654,0.26409372,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,89,202608200890,true,PD + velocity FF,5024,10.04600000,0.01459258,0.02160808,0.01843589,0.02030894,0.26409372,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,91,202608200910,true,position PD,4946,9.89000000,0.15787161,0.16643477,0.00667473,0.04090898,0.19176191,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,91,202608200910,true,PD + velocity FF,4946,9.89000000,0.01214953,0.01477991,0.00510429,0.00694385,0.19365657,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,93,202608200930,true,position PD,6489,12.97600000,0.13604053,0.14469230,0.01226828,0.02729975,0.16088928,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,93,202608200930,true,PD + velocity FF,6489,12.97600000,0.00887069,0.01390164,0.01340464,0.00585751,0.16341918,0.00000000,0,0,0,0.00000000,,true,true
tabletop_pillar,scene_pickplace.xml,96,202608200960,false,position PD,8430,16.85800000,0.11882236,0.15781317,0.02267462,0.05765848,0.31756486,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,96,202608200960,false,PD + velocity FF,8430,16.85800000,0.01181418,0.02447073,0.02367392,0.01732603,0.33114082,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,98,202608200980,true,position PD,3779,7.55600000,0.12764211,0.13658439,0.02020864,0.02864554,0.25770633,0.00000000,0,0,0,0.00000000,,false,false
tabletop_pillar,scene_pickplace.xml,98,202608200980,true,PD + velocity FF,3779,7.55600000,0.01319037,0.02093681,0.02060916,0.01619791,0.26436977,0.00000000,0,0,0,0.00000000,,false,false