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debug/move_can_pot/mpc_trace_100000_100009/seed100000/constraint_results.json

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+      "policy_task_text": "Lift the hand-held sauce container using the right arm and position it by the gray kitchenpot",
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+      }
+    ]
+  }
+}

debug/move_can_pot/mpc_trace_100000_100009/seed100001/contact_trace_ep0_seed100001.csv

@@ -0,0 +1,163 @@
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+31,0,continue,reach,can,,-0.09446682791530603,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9958447217941284,0.9426213019847081,0.9412511925424767,0.9426149693818653,0.940656357866801,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+32,0,continue,reach,can,,-0.005440197917975675,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.99701988697052,0.9429841366735181,0.941132905775795,0.9429621680142732,0.9406296593004944,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+33,0,continue,reach,can,,0.036810647677613106,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9961397051811218,0.9432814562860035,0.9410473765472758,0.9432741464296355,0.9406250857539968,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+34,0,continue,reach,can,,0.10638781982279497,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9982732534408569,0.9434819887093601,0.9411297003842326,0.9434757733769402,0.9407748791743287,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+35,0,continue,reach,can,,0.15499870896834894,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9985077381134033,0.9436693086650568,0.9414240491460016,0.9436500763156823,0.9411137906968435,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+36,0,continue,reach,can,,0.15122009030086017,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9976772665977478,0.989062488079071,0.9435991809520935,0.9408223736956499,0.9435924183576996,0.940559179776262,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+37,0,continue,reach,can,,0.19096332692393514,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9958194494247437,0.9435844830590756,0.9400741102165289,0.9435805349548341,0.939848403742365,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+38,0,continue,reach,can,,0.20117557448751924,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9959397912025452,0.9436793157411542,0.9400512815741818,0.9436424537381862,0.9398415238775482,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+39,0,continue,reach,can,,0.19880201182302212,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9975661635398865,0.9437376382315339,0.9401264910054759,0.9437003071468739,0.9399340111511664,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+40,0,continue,reach,can,,0.2185774182884912,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9964777827262878,0.994542121887207,0.943625371346567,0.9401117931124578,0.9435420311659439,0.9399329557173592,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+41,0,continue,reach,can,,0.20619972144737603,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9996748566627502,0.9968944191932678,0.943436253244384,0.9400453398727491,0.9433574084299765,0.939886242998858,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+42,0,continue,reach,can,,0.21062379403243423,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9987440705299377,0.9938220381736755,0.9434484493683776,0.9399698959006091,0.943383129742758,0.939818617054919,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+43,0,continue,reach,can,,0.20662567250821554,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9968094825744629,0.9435638434646249,0.9396803943163248,0.9435085309151026,0.9396727326486878,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+44,0,continue,reach,can,,0.24201666875548608,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9436288112789755,0.940097798841978,0.9436191169240062,0.9400936943771725,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+45,0,continue,reach,can,,0.264873042104561,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9979977607727051,0.9437109005750863,0.9405112943535308,0.9437000335158869,0.9404976909844609,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+46,0,next,grasp,can,,0.3059743139509314,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9980218410491943,0.9438553777362415,0.9407723383151633,0.9438530714179222,0.9407612367151179,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+47,1,continue,grasp,can,,0.03220777481160056,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9949760437011719,0.9439242545646925,0.9406971288838694,0.9439229254998984,0.9406443181033713,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+48,1,continue,grasp,can,,0.18912341622650652,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9919899106025696,0.9441836567404029,0.9399797466161424,0.9440086892692638,0.9399126679341775,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+49,1,continue,grasp,can,,0.28769466107860747,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9987223744392395,1.0,0.9439538848915745,0.9401139821603541,0.9439494286154999,0.9400691457686212,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+50,1,continue,grasp,can,,0.3599101513248624,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9439320725928936,0.9406298938413404,0.9439226127787703,0.9406152350384636,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+51,1,continue,grasp,can,,0.35845636710978923,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9946631193161011,1.0,0.9436578161636013,0.9410167298767277,0.943655900746692,0.9410070746118995,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+52,1,continue,grasp,can,,0.36635734663814723,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9976893067359924,0.9999030232429504,0.943300844995942,0.9413541559738844,0.9432981086860717,0.9413462206752603,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+53,1,continue,grasp,can,,0.35595626261478325,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9946178197860718,0.9979097843170166,0.9429910947186171,0.9415251362506409,0.9429881238679007,0.941518764557657,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+54,1,continue,grasp,can,,0.3884477900715477,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9987301826477051,0.998936116695404,0.9427676554726314,0.9416951783640135,0.942726415373871,0.9416548764286372,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+55,1,continue,grasp,can,,0.4519644131657717,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9997326135635376,0.9997327923774719,0.9428983729041528,0.9419457461678566,0.9428547483067911,0.9419099395986958,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+56,1,continue,grasp,can,,0.5315104331427143,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.997349739074707,0.9985916018486023,0.9428354377771344,0.9421734853293529,0.9428045174755993,0.9421221599742131,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+57,1,continue,grasp,can,,0.5972159805407564,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9993150234222412,0.9972862005233765,0.9427851678558018,0.9421125047093848,0.9427671473007984,0.9420783790162872,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+58,1,continue,grasp,can,,0.716712066596751,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9987565875053406,0.9986943602561951,0.9428539665039709,0.9420859234135012,0.9428414576588493,0.9420643065655253,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+59,1,continue,grasp,can,,0.7543634995940864,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9429900001946689,0.94240904251905,0.942982807608724,0.9423154607214836,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+60,1,continue,grasp,can,,0.7571541686005565,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.996821403503418,1.0,0.9429138525999908,0.9426815789821381,0.9429084190703911,0.9425947988691066,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+61,1,continue,grasp,can,,0.7585765060291947,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.999860405921936,1.0,0.942885394977339,0.9486436072882474,0.9428500574898704,0.945740226155229,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+62,1,continue,grasp,can,,0.7575330963785122,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9431229848543685,0.950771440023723,0.9430953481246779,0.9472233061049653,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+63,1,continue,grasp,can,,0.7588626415402185,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9991936683654785,0.997797966003418,0.9432429915872544,0.9494465187844936,0.9432213356491376,0.9465599464121075,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+64,1,continue,grasp,can,,0.759020747845362,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9981546401977539,0.9847498536109924,0.9431452662347415,0.9453950602101533,0.9431357282403362,0.9435459792701855,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+65,1,continue,grasp,can,,0.7601345334014247,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9985024333000183,0.9450550079345703,0.9430657568879369,0.9308313245561373,0.9430490263075867,0.9244518135440928,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+66,1,continue,grasp,can,,0.7596865872600481,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9977569580078125,0.8855279088020325,0.9428928221041301,0.9036536694814434,0.9428871931238253,0.8856620802725427,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+67,1,continue,grasp,can,,0.7606442651191614,0.0,,,0.0,5.474280680467244,0.0,0.021897123761926495,0,1,,105_sauce-can,0.997261106967926,0.7942577600479126,0.9426911951568253,0.8724229140464871,0.9426776699680375,0.8456121981254088,0,0,0,1,0,1,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+68,1,continue,grasp,can,,0.7519165527869104,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9956867694854736,1.0,0.9424397673698801,0.8816213714869788,0.942424014043055,0.8609082093908748,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+69,1,continue,grasp,can,,0.7542128916075932,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9969533681869507,1.0,0.942114146495307,0.917518551594569,0.9420969077431237,0.9115048852121919,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+70,1,continue,grasp,can,,0.7543297777235843,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9961913228034973,1.0,0.941827224860329,0.9622298548762879,0.9418069761672883,0.9447910393513412,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+71,1,continue,grasp,can,,0.757526127979443,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9962494969367981,1.0,0.941457588486984,1.0,0.9414358934587261,0.9671826930120666,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+72,1,continue,grasp,can,,0.7664784206837109,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9948168396949768,1.0,0.9409982793301732,1.0,0.9409685317328682,0.9691016280340106,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+73,1,continue,grasp,can,,0.764606738850851,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9972250461578369,1.0,0.9407539659488909,1.0,0.9407287528079427,0.9704121250112091,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+74,1,continue,grasp,can,,0.7625834822587421,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9956554174423218,1.0,0.9406369300667214,1.0,0.9406158213905786,0.9712284053356792,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+75,1,continue,grasp,can,,0.7621557334741889,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9948052167892456,1.0,0.9402366470228284,1.0,0.9402198382621962,0.9717049141545322,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+76,1,continue,grasp,can,,0.7681921126172221,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9950612187385559,1.0,0.9398808485593994,0.9950323467007803,0.9398628670945369,0.9695085564018744,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+77,1,continue,grasp,can,,0.7706991897567552,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9988596439361572,1.0,0.9401620630337906,0.9890422516734294,0.9401376316956623,0.9666342583337639,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+78,1,continue,grasp,can,,0.756847051290694,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9975370168685913,1.0,0.9405721186129348,0.9768680181587778,0.9405637533227598,0.9602530664456562,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+79,1,continue,grasp,can,,0.761850200828466,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9411459618828908,0.9600673882758817,0.9411386911166638,0.951941447034149,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+80,1,continue,grasp,can,,0.7655837837456956,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9984868168830872,1.0,0.9416220798003339,0.9553105871972439,0.9416216498087828,0.9496361059683687,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+81,1,continue,grasp,can,,0.768654308211958,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9979563355445862,1.0,0.9417646806347207,0.9525513705042526,0.9417624524966834,0.9483136083178816,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+82,1,continue,grasp,can,,0.7645323258433101,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9420813889571447,0.9505483134988655,0.942068567390895,0.9472473856318244,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+83,1,continue,grasp,can,,0.767812886858852,0.0,,,0.0,47.00289575141995,0.0,0.18801159193575082,0,1,,105_sauce-can,1.0,0.0,0.9425406981139555,0.8904786501767773,0.9425249447871303,0.8330190746597457,0,0,0,1,0,1,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+84,1,next,transport,can,,0.7705014624693399,0.0,,,0.0,48.16222714411477,0.0,0.19264891772679124,0,1,,105_sauce-can,1.0,0.0,0.9429256578225744,0.8840196298179283,0.9429084972506732,0.8331970911618833,0,1,0,1,0,2,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+85,2,continue,transport,can,,-0.0401702186110513,0.0,,,0.0,48.55496962280985,0.0,0.19421988771618862,0,1,,105_sauce-can,0.9979971647262573,0.0,0.9429544281663542,0.8744709247140302,0.9429343749240185,0.83342873933748,0,1,0,1,0,3,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+86,2,continue,transport,can,,-0.04101464512948272,0.0,,,0.0,47.79427230099695,0.0,0.1911770982844123,0,1,,105_sauce-can,1.0,0.0,0.9430881946288739,0.8335966314930972,0.94308065023166,0.8334321792698884,0,1,0,1,0,4,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+87,2,continue,transport,can,,-0.04040947101289438,0.0,,,0.0,47.06192792754338,0.0,0.18824772065146003,0,1,,105_sauce-can,0.997399091720581,0.0,0.9430418337216417,0.8385902406459442,0.9430340938737227,0.8337777752065152,0,1,0,1,0,5,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+88,2,continue,transport,can,,-0.03856882025201375,0.0,,,0.0,48.05018316220523,0.0,0.19220074177786586,0,1,,105_sauce-can,0.9950074553489685,0.0,0.9426099658438166,0.835068218941378,0.9426085585987405,0.833686499727268,0,1,0,1,0,6,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+89,2,continue,transport,can,,-0.039673297306339284,0.0,,,0.0,46.79721443766552,0.0,0.1871888666416557,0,1,,105_sauce-can,0.993971049785614,0.0,0.9419752201341746,0.8371140405610248,0.9419620076665148,0.8338273415053097,0,1,0,1,0,7,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+90,2,continue,transport,can,,-0.03845118167612005,0.0,,,0.0,47.99632596638915,0.0,0.19198531298436922,0,1,,105_sauce-can,0.9971920251846313,0.0,0.941615747197491,0.8343158900875924,0.9415972184706545,0.833843876634955,0,1,0,1,0,8,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+91,2,continue,transport,can,,-0.03787985163088392,0.0,,,0.0,48.479062669959674,0.0,0.19391625989036637,0,1,,105_sauce-can,0.9955507516860962,0.0,0.9414206092135932,0.8353562351003041,0.9413984060135022,0.8338308205278592,0,1,0,1,0,9,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+92,2,continue,transport,can,,-0.036183710410661374,0.0,,,0.0,48.50641301190094,0.0,0.1940256612633277,0,1,,105_sauce-can,0.998954176902771,0.0,0.9413837081204842,0.8427217558290632,0.9413699483908504,0.8337903622319188,0,1,0,1,0,10,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+93,2,continue,transport,can,,-0.03739649403089318,0.0,,,0.0,46.80325636284537,0.0,0.18721303434352302,0,1,,105_sauce-can,0.9974683523178101,0.0,0.9415159109773638,0.8446643794764563,0.9415067638843686,0.833920532401466,0,1,0,1,0,11,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+94,2,continue,transport,can,,-0.03752258806614178,0.0,,,0.0,48.509515206256694,0.0,0.19403807004134013,0,1,,105_sauce-can,0.9974749684333801,0.0,0.9415938567185281,0.8521207456929114,0.9415309215915098,0.8338500528772337,0,1,0,1,0,12,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+95,2,continue,transport,can,,-0.036943292195970034,0.0,,,0.0,48.13842786894954,0.0,0.1925537206216087,0,1,,105_sauce-can,0.996705174446106,0.0,0.9414695500701317,0.8606742939870998,0.9414442196587602,0.8339044663535129,0,1,0,1,0,13,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+96,2,continue,transport,can,,-0.03813011509742148,0.0,,,0.0,48.6183852764591,0.0,0.19447355034283395,0,1,,105_sauce-can,0.9988853335380554,0.0,0.9415066075238046,0.8671514521713752,0.941495036842067,0.833776719772708,0,1,0,1,0,14,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+97,2,continue,transport,can,,-0.037320498658216406,0.0,,,0.0,48.01632998104222,0.0,0.19206532904678206,0,1,,105_sauce-can,0.9964162111282349,0.0,0.9415146600928516,0.8777974957135706,0.9415062948026764,0.8335017988110186,0,1,0,1,0,15,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+98,2,continue,transport,can,,-0.039310953464622045,0.0,,,0.0,47.851249885567604,0.0,0.19140500863352006,0,1,,105_sauce-can,0.9960166215896606,0.017973901703953743,0.9413861317092266,0.8665173319039893,0.9413452434217351,0.8338187025841476,0,1,0,1,0,16,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+99,2,continue,transport,can,,-0.03290950329650105,0.0,,,0.0,48.358168836668696,0.0,0.19343268453423387,0,1,,105_sauce-can,0.9964380860328674,0.006509094499051571,0.9411565944012442,0.8575603733546275,0.9411228986996978,0.8336486604707751,0,1,0,1,0,17,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+100,2,continue,transport,can,,-0.023162494896314945,0.0,,,0.0,48.6729868186175,0.0,0.1946919565218413,0,1,,105_sauce-can,0.9965761303901672,0.002739609219133854,0.941064419848754,0.8604397531410687,0.9410254078880309,0.833557150450682,0,1,0,1,0,18,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+101,2,continue,transport,can,,-0.007170154504996196,0.0,,,0.0,48.81757684835789,0.0,0.19527031666827346,0,1,,105_sauce-can,0.9980059862136841,0.0,0.9410856848854608,0.8620007006516873,0.9410588690487313,0.8335182166702408,0,1,0,1,0,19,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+102,2,continue,transport,can,,0.002658896750673545,0.0,,,0.0,48.817160677625225,0.0,0.19526865198526375,0,1,,105_sauce-can,0.998765230178833,0.0,0.9413598631344711,0.8620619939927835,0.9413282001202569,0.8335183730308049,0,1,0,1,0,20,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+103,2,continue,transport,can,,0.02239263817002901,0.0,,,0.0,48.81284629706037,0.0,0.19525139446218462,0,1,,105_sauce-can,0.9974800944328308,0.0,0.9414731463631041,0.8626431080289664,0.9414577839376891,0.8335180603096768,0,1,0,1,0,21,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+104,2,next,place,can,,0.0399974458748099,0.0,,,0.0,48.816509914143566,0.0,0.19526604893121347,0,1,,105_sauce-can,0.9945323467254639,0.0,0.941185442925306,0.8629806904866871,0.941162418832254,0.8335170830561517,0,1,0,1,0,22,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+105,3,continue,place,can,,0.31148706005121163,0.0,,,0.0,48.81419315799895,0.0,0.19525678190619486,0,1,,105_sauce-can,0.9953461289405823,0.0,0.9406799292218271,0.8629963265430892,0.9406665603936033,0.8335180993998178,0,1,0,1,0,23,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+106,3,continue,place,can,,0.31902531898016473,0.0,,,0.0,48.8137743571383,0.0,0.19525510670267268,0,1,,105_sauce-can,0.9935052990913391,0.0,0.9400939680081595,0.8638893017242114,0.9400704748334154,0.8335188421124968,0,1,0,1,0,24,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+107,3,continue,place,can,,0.3262867366033342,0.0,,,0.0,48.740727639122255,0.0,0.19496291981673036,0,1,,105_sauce-can,0.9954221248626709,0.0013609940651804209,0.9396380987837571,0.8638516188282824,0.9396048721639028,0.8335380353717304,0,1,0,1,0,25,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+108,3,continue,place,can,,0.3291111720185308,0.0,,,0.0,48.81269106712058,0.0,0.195250773542396,0,1,,105_sauce-can,0.9942764043807983,0.0,0.9394188812730001,0.8634745553281465,0.9393997661940485,0.8335176303181258,0,1,0,1,0,26,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+109,3,continue,place,can,,0.33267592000531954,0.0,,,0.0,48.81522267787726,0.0,0.19526089998590368,0,1,,105_sauce-can,0.9910569190979004,0.0,0.9388673193834172,0.86288163606938,0.9388638794510087,0.8335174348674207,0,1,0,1,0,27,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+110,3,continue,place,can,,0.33527518684468105,0.0,,,0.0,48.81436511738469,0.0,0.19525746974377048,0,1,,105_sauce-can,0.9925944209098816,0.0,0.9383766599335202,0.8625744657413613,0.9382193221159744,0.8335186075716509,0,1,0,1,0,28,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+111,3,continue,place,can,,0.33666185817030314,0.0,,,0.0,48.814586667367465,0.0,0.19525835594374366,0,1,,105_sauce-can,0.9963913559913635,0.0,0.9382334336568772,0.8622247653399291,0.938208845958185,0.8335180603096768,0,1,0,1,0,29,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+112,3,continue,place,can,,0.33794445462775224,0.0,,,0.0,48.81559109747668,0.0,0.19526237366437135,0,1,,105_sauce-can,0.9964087605476379,0.0,0.9384999502382505,0.8621298544775685,0.9384650036521919,0.8335182557603819,0,1,0,1,0,30,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+113,3,continue,place,can,,0.33733779804273545,0.0,,,0.0,48.82090804860534,0.0,0.19528364146989616,0,1,,105_sauce-can,0.9964585304260254,0.0,0.9387175259630853,0.8620156330855514,0.9386809766812455,0.8335159885322035,0,1,0,1,0,31,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+114,3,continue,place,can,,0.33790592946150333,0.0,,,0.0,48.79887563944786,0.0,0.1951955118290803,0,1,,105_sauce-can,0.9907867312431335,0.0002685252984520048,0.9385006538607886,0.8619224421893951,0.9384859950579116,0.8335225165857514,0,1,0,1,0,32,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+115,3,continue,place,can,,0.34051503232171587,0.0,,,0.0,48.62043281614586,0.0,0.19448174050196998,0,1,,105_sauce-can,0.995158851146698,0.003639311995357275,0.9383019977642003,0.8625479626257598,0.93827748824579,0.833571691983136,0,1,0,1,0,33,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+116,3,continue,place,can,,0.33570379416454976,0.0,,,0.0,48.81360249749569,0.0,0.19525441926406958,0,1,,105_sauce-can,0.99127596616745,0.0,0.9380827020731612,0.862020714803882,0.9380677696392973,0.8335186466617919,0,1,0,1,0,34,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+117,3,continue,place,can,,0.33432987730512176,0.0,,,0.0,48.8046352514325,0.0,0.19521855027811316,0,1,,105_sauce-can,0.992509126663208,0.0,0.9378208763087086,0.8622031094018122,0.9378043411790634,0.8335194284646119,0,1,0,1,0,35,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+118,3,continue,place,can,,0.34071650228212025,0.0,,,0.0,48.74165180026419,0.0,0.19496661646147367,0,1,,105_sauce-can,0.9943686723709106,0.0014339354820549488,0.937763179260585,0.8619097769837093,0.9376833181025114,0.8335378790111664,0,1,0,1,0,36,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+119,3,continue,place,can,,0.3630093297985123,0.0,,,0.0,48.5885879139484,0.0,0.19435436088712996,0,1,,105_sauce-can,0.9925159811973572,0.004109684843569994,0.937612056775459,0.8626891562150705,0.9375849282176014,0.8335795100113369,0,1,0,1,0,37,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+120,3,continue,place,can,,0.3861969179554917,0.0,,,0.0,48.62698116815905,0.0,0.19450793391126686,0,1,,105_sauce-can,0.9884854555130005,0.0033620353788137436,0.9369357191557874,0.8634532902914397,0.9368999516767678,0.8335683693211504,0,1,0,1,0,38,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+121,3,continue,place,can,,0.4154093195785389,0.0,,,0.0,48.60727554697318,0.0,0.19442911142277952,0,1,,105_sauce-can,0.9929605722427368,0.003599370364099741,0.9363553869224246,0.8641260316181387,0.9363377181786903,0.8335730210479301,0,1,0,1,0,39,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+122,3,continue,place,can,,0.453299364698445,0.0,,,0.0,48.70314829727572,0.0,0.19481260244220452,0,1,,105_sauce-can,0.9943445324897766,0.0015377833042293787,0.9364915769736867,0.8647235635135438,0.9364808271849102,0.8335438207125991,0,1,0,1,0,40,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+123,3,continue,place,can,,0.4965664869628533,0.0,,,0.0,48.70438172655549,0.0,0.19481753615955796,0,1,,105_sauce-can,0.9910096526145935,0.0014258921146392822,0.9363635958520357,0.8655392183957578,0.9363334182631797,0.8335438988928812,0,1,0,1,0,41,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+124,3,continue,place,can,,0.5470595544442449,0.0,,,0.0,48.6525477730968,0.0,0.19461020033587528,0,1,,105_sauce-can,0.9902111291885376,0.002170071005821228,0.9358533913316361,0.8658361471068331,0.935791081646874,0.8335557432056058,0,1,0,1,0,42,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+125,3,continue,place,can,,0.5967888952825429,0.0,,,0.0,48.646650557718786,0.0,0.1945866114732428,0,1,,105_sauce-can,0.9905250668525696,0.0019523485098034143,0.9353550702141021,0.8661088399304853,0.9351473452048007,0.8335555868450417,0,1,0,1,0,43,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+126,3,continue,place,can,,0.6470876575883949,0.0,,,0.0,48.67313176781218,0.0,0.19469253631864755,0,1,,105_sauce-can,0.9910144209861755,0.001243207952938974,0.9350134223817169,0.866461980264326,0.9348830567614647,0.8335468697435976,0,1,0,1,0,44,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+127,3,continue,place,can,,0.7028968644726997,0.0,,,0.0,48.523093131408565,0.0,0.19409238174452728,0,1,,105_sauce-can,0.9893973469734192,0.0038926787674427032,0.9345023578782153,0.8667597689585034,0.9344267966356523,0.8335860771550259,0,1,0,1,0,45,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+128,3,continue,place,can,,0.7547789628204202,0.0,,,0.0,48.531270742427544,0.0,0.19412509219015686,0,1,,105_sauce-can,0.9874398112297058,0.003533480688929558,0.9337132061116028,0.8668541325588899,0.9336486291986623,0.8335827154028994,0,1,0,1,0,46,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+129,3,continue,place,can,,0.8009394323404684,0.0,,,0.0,48.637834788082955,0.0,0.19455134839302457,0,1,,105_sauce-can,0.9876771569252014,0.0013444664655253291,0.9329481338718495,0.8668074589305297,0.9328878568744196,0.8335514823802361,0,1,0,1,0,47,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+130,3,continue,place,can,,0.8506318266393856,0.0,,,0.0,48.70623431729261,0.0,0.19482494652285842,0,1,,105_sauce-can,0.9895195364952087,0.0,0.9325473035659825,0.8671263563008499,0.9325111451855527,0.8335320154900157,0,1,0,1,0,48,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+131,3,continue,place,can,,0.8944113533969491,0.0,,,0.0,48.631342614871826,0.0,0.19452537969894662,0,1,,105_sauce-can,0.9900854229927063,0.0013573579490184784,0.9325276803151978,0.8670380125821783,0.9325090734080794,0.8335530068957354,0,1,0,1,0,49,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+132,3,continue,place,can,,0.9297617927517152,0.0,,,0.0,48.697867995334995,0.0,0.19479148123343842,0,1,,105_sauce-can,0.9879282116889954,0.0,0.9323854703822211,0.8665368769744919,0.9323582245539405,0.8335329927435408,0,1,0,1,0,50,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+133,3,continue,place,can,,0.9620882039627927,0.0,,,0.0,48.697159920192945,0.0,0.1947886489327357,0,1,,105_sauce-can,0.9843788146972656,0.0,0.9316114855903186,0.8662277521394229,0.9315872106127544,0.8335335790956558,0,1,0,1,0,51,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+134,3,continue,place,can,,0.9827864624531456,0.0,,,0.0,48.5332052273852,0.0,0.194132830130355,0,1,,105_sauce-can,0.9876539707183838,0.0031927383970469236,0.9311035482980974,0.8657311509880932,0.9310750124951637,0.8335791191099269,0,1,0,1,0,52,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+135,3,continue,place,can,,1.003844259150724,0.0,,,0.0,48.69606881358149,0.0,0.1947842845060826,0,1,,105_sauce-can,0.9889762997627258,0.0,0.9310832996050566,0.8654285932967132,0.9310471412246268,0.8335336572759379,0,1,0,1,0,53,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+136,3,continue,place,can,,1.0137427814566164,0.0,,,0.0,48.69425126581302,0.0,0.1947770143146634,0,1,,105_sauce-can,0.9873391389846802,0.0,0.93098776330044,0.8649480191031955,0.9309648955679519,0.8335362763153852,0,1,0,1,0,54,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+137,3,continue,place,can,,1.0201493460530724,0.0,,,0.0,48.69768312375656,0.0,0.19479074174708957,0,1,,105_sauce-can,0.9856141209602356,0.0,0.9308883961620049,0.8647326324262571,0.9307435671895807,0.8335352990618601,0,1,0,1,0,55,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+138,3,continue,place,can,,1.0214654021631924,0.0,,,0.0,48.700319954813025,0.0,0.1948012890718164,0,1,,105_sauce-can,0.9862170219421387,0.0,0.9305623843860217,0.8644136568756549,0.9304421431122898,0.8335330318336818,0,1,0,1,0,56,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+139,3,continue,place,can,,1.0231161628076437,0.0,,,0.0,48.69799372878955,0.0,0.19479198416728052,0,1,,105_sauce-can,0.9872217774391174,0.0,0.930398518514928,0.8641666071845021,0.9302958287145074,0.833534673619604,0,1,0,1,0,57,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+140,3,continue,place,can,,1.0267935165108755,0.0,,,0.0,48.69904025291367,0.0,0.19479617026397586,0,1,,105_sauce-can,0.9869101643562317,0.0,0.9302622502833839,0.864128220666035,0.9302077977169638,0.833534360898476,0,1,0,1,0,58,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+141,3,continue,place,can,,1.0285023730388265,0.0,,,0.0,48.60265190663658,0.0,0.1944106168605547,0,1,,105_sauce-can,0.9854105710983276,0.0017140768468379974,0.9301835227393995,0.8647598391643966,0.9300421336993838,0.8335633266929607,0,1,0,1,0,59,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+142,3,continue,place,can,,1.0270874702608908,0.0,,,0.0,48.629387389938465,0.0,0.1945175587988417,0,1,,105_sauce-can,0.9865996837615967,0.0013019908219575882,0.9299191170256406,0.8645014533323524,0.9298226034674988,0.8335529678055944,0,1,0,1,0,60,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+143,3,continue,place,can,,1.0263452376481594,0.0,,,0.0,48.702237611612446,0.0,0.19480895969937842,0,1,,105_sauce-can,0.9870790839195251,0.0,0.9297955921800642,0.8641317387787255,0.9297194054952451,0.8335342045379119,0,1,0,1,0,61,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+144,3,continue,place,can,,1.0240616316088147,0.0,,,0.0,48.69329707592531,0.0,0.19477319755493125,0,1,,105_sauce-can,0.9833540916442871,9.068924555322155e-05,0.9294229849560028,0.8639796781302154,0.9293500427528871,0.8335354554224241,0,1,0,1,0,62,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+145,3,continue,place,can,,1.0262269935885033,0.0,,,0.0,48.70777807010828,0.0,0.1948311215344144,0,1,,105_sauce-can,0.9846375584602356,0.0,0.9288505489311231,0.8639089249749959,0.9287740104350349,0.8335312727773365,0,1,0,1,0,63,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+146,3,continue,place,can,,1.0263428443731144,0.0,,,0.0,48.70547024195294,0.0,0.19482189022135454,0,1,,105_sauce-can,0.9853922724723816,0.0,0.9286143662991698,0.8638689748508886,0.9285427922509893,0.8335327191125537,0,1,0,1,0,64,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+147,3,continue,place,can,,1.025645086614701,0.0,,,0.0,48.701281576726444,0.0,0.1948051355596528,0,1,,105_sauce-can,0.987917423248291,0.0,0.9286189007555264,0.8638156558985577,0.9285811005891744,0.833534712709745,0,1,0,1,0,65,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+148,3,continue,place,can,,1.0343036838107509,0.0,,,0.0,48.36013106108115,0.0,0.19344053343225648,0,1,,105_sauce-can,0.9872071146965027,0.006289388984441757,0.9287313240010573,0.8638581859719713,0.9287142806995791,0.8335791972902089,0,1,0,1,0,66,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+149,3,continue,place,can,,1.0336419099701861,0.0,,,0.0,48.42043936963651,0.0,0.19368176667793588,0,1,,105_sauce-can,0.9885178208351135,0.005318011622875929,0.9289098877651689,0.8643081134949409,0.9288882709171931,0.8335613330957695,0,1,0,1,0,67,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+150,3,continue,place,can,,1.06097200111628,0.0,,,0.0,47.05870372203714,0.0,0.1882348238288225,0,1,,105_sauce-can,0.9910786151885986,0.031991105526685715,0.9292182307974177,0.8642214115621913,0.929204588338207,0.8339357775564581,0,1,0,1,0,68,0,0,0,0,0,1,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+151,3,continue,place,can,,1.0974533057725273,0.0,,,0.0,45.13519026815794,0.0,0.18054076964785779,0,1,,105_sauce-can,0.9922014474868774,0.06894200295209885,0.9297163955543877,0.8644042752418135,0.9296683146809513,0.8344614226825546,0,1,0,1,0,69,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+152,3,continue,place,can,,1.1726337683401646,0.0,,,0.0,41.27409382589708,0.0,0.16509638314524538,0,1,,105_sauce-can,0.9927794933319092,0.14319759607315063,0.9301904807844985,0.8641755979169333,0.9301707011731499,0.835521664577038,0,1,0,1,0,70,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+153,3,continue,place,can,,1.2319455988608006,0.0,,,0.0,38.10306272803907,0.0,0.15241225815134976,0,1,,105_sauce-can,0.9948295950889587,0.20250093936920166,0.9308827671817002,0.8636990109177982,0.9308567722379317,0.8363859475946624,0,1,0,1,0,71,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+154,3,continue,place,can,,1.3105566444047785,0.0,,,0.0,33.83460372570386,0.0,0.1353384213310452,0,1,,105_sauce-can,0.9923476576805115,0.28181391954421997,0.9314820190433094,0.8628126028803649,0.9314592294911035,0.8375497001825275,0,1,0,1,0,72,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+155,3,continue,place,can,,1.380939476633784,0.0,,,0.0,30.231516134855564,0.0,0.12092607028310212,0,1,,105_sauce-can,0.9926584959030151,0.3520753085613251,0.9319219394901817,0.8616969702560772,0.9318673696533384,0.8385407916175727,0,1,0,1,0,73,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+156,3,continue,place,can,,1.4382161207306812,0.0,,,0.0,27.13483025598484,0.0,0.10853932617928048,0,1,,105_sauce-can,0.9957820773124695,0.41039949655532837,0.9324291731598648,0.8606176132826423,0.9324142016358599,0.8393867022689248,0,1,0,1,0,74,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+157,3,continue,place,can,,1.5190525455281378,0.0,,,0.0,22.844594266677937,0.0,0.09137838140695176,0,1,,105_sauce-can,0.9938859343528748,0.4920307695865631,0.9330303795285244,0.85907441269604,0.9330207633538372,0.8405609310145792,0,1,0,1,0,75,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+158,3,continue,place,can,,1.5871692318716881,0.0,,,0.0,19.213727917270102,0.0,0.07685491531949283,0,1,,105_sauce-can,0.9961361289024353,0.5610976815223694,0.9334844506064406,0.858062447125698,0.9334766716683806,0.8415525306214574,0,1,0,1,0,76,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+159,3,continue,place,can,,1.657153818415922,0.0,,,0.0,15.535757421037696,0.0,0.062143032635786306,0,1,,105_sauce-can,0.9942185878753662,0.6310054659843445,0.933895835250379,0.856952052580305,0.9338817627996172,0.8425551536480991,0,1,0,1,0,77,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+160,3,next,,,,1.7343861181038192,0.0,,,0.0,11.47424643685332,0.0,0.04589698792740313,0,1,,105_sauce-can,0.9933967590332031,0.7081686854362488,0.934159850062728,0.8555678706873118,0.9341433149330828,0.8436671899794144,0,1,0,1,0,78,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+161,4,continue,,,,0.0,0.0,,,0.0,8.342079636565753,0.0,0.0333683201311731,0,1,,105_sauce-can,0.9942693114280701,0.7671869397163391,0.9344127632750314,0.8541733689970932,0.9343931400242469,0.8445211141096725,0,1,0,1,0,79,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact

debug/move_can_pot/mpc_trace_100000_100009/seed100002/constraint_results.json

@@ -0,0 +1,1191 @@
+{
+  "checkpoint": "/home/edge/perception/models/Heisen0928_pi0_robotwin_pytorch",
+  "task": "move_can_pot",
+  "seed": 100002,
+  "task_text_mode": "auto",
+  "task_text_override": null,
+  "corrector": {
+    "type": "mpc",
+    "use_predicted": false,
+    "executed_drop_enabled": true,
+    "default_arm": "left",
+    "grasp_source": null,
+    "mpc": {
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+      "pos_std": 0.015,
+      "rot_std": 0.03,
+      "candidate_mode": "spline",
+      "spline_nodes": 3,
+      "spline_interpolation": "cubic",
+      "chunk_on_correct": 20,
+      "smooth_trajectory": true
+    }
+  },
+  "predictor": {
+    "robot_cfg": null
+  },
+  "profiling": {
+    "enabled": false,
+    "cuda_synchronize": false,
+    "summary_path": null,
+    "events_path": null,
+    "summary": {}
+  },
+  "episodes": [
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+      "env_success": true,
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+      "final_step_idx": 4,
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+      "safety_events": [],
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+  "episode_results": [
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+      "seed": 100002,
+      "ticks": 153,
+      "env_success": true,
+      "plan_complete": true,
+      "final_step_idx": 4,
+      "task": "Grab the yellow brown sauce can and move it close to the silver pot with matching lid",
+      "policy_task_text": "Use the left arm to lift the plastic lid sauce can and place it near the medium-sized pot with plastic grips",
+      "flung": false,
+      "max_obj_speed": 0.0,
+      "fling_obj": "",
+      "out_of_view": false,
+      "oov_obj": ""
+    }
+  ],
+  "aggregate": {
+    "num_episodes": 1,
+    "env_success_rate": 1.0,
+    "avg_ticks": 153.0,
+    "avg_final_step_idx": 4.0,
+    "total_decision_counts": {
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+      "next": 4
+    },
+    "total_predicate_violation_counts": {},
+    "transition_timelines": [
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+          {
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+            "tick": 151
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+        ]
+      }
+    ]
+  }
+}

debug/move_can_pot/mpc_trace_100000_100009/seed100002/contact_trace_ep0_seed100002.csv

@@ -0,0 +1,154 @@
+tick,step_idx,decision,step_action,step_target,step_arm,current_margin_sum,predicted_margin_sum,violation_predicates,violation_margins,left_contact_force,right_contact_force,left_contact_impulse,right_contact_impulse,left_contact_grasp,right_contact_grasp,left_contact_object,right_contact_object,left_target,right_target,left_actual,right_actual,left_actual_mean,right_actual_mean,left_holding,right_holding,left_holding_raw,right_holding_raw,left_holding_streak,right_holding_streak,left_empty_closed,right_empty_closed,left_empty_raw,right_empty_raw,left_commanded_closed,right_commanded_closed,left_holding_kin_raw,right_holding_kin_raw,left_empty_kin_raw,right_empty_kin_raw,holding_debounce_ticks,contact_dt,contact_force_threshold,holding_source
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+34,0,continue,reach,can,,-0.03990103749645113,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9850724935531616,1.0,0.9311360712954136,0.9443719930397658,0.9311073009516339,0.9443229740029453,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+35,0,continue,reach,can,,0.01202804504778665,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.98674476146698,1.0,0.9304687244081733,0.9443937271581647,0.9303256544920944,0.9443655431665,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+36,0,continue,reach,can,,0.09426195400782225,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9798274040222168,1.0,0.929386162043176,0.9443896617835001,0.9290695709911752,0.9443618296031044,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+37,0,continue,reach,can,,0.15633849669788902,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9870656728744507,1.0,0.9286665907275528,0.9443649568143849,0.9282217840130549,0.9443549888284286,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+38,0,continue,reach,can,,0.1759243871888215,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.982610285282135,1.0,0.9284284535885492,0.9444214029779964,0.9280025665022978,0.944365699527064,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+39,0,continue,reach,can,,0.19229348258587245,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9838341474533081,1.0,0.928131837598602,0.9444294555470435,0.9275792593653528,0.9443692567298956,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+40,0,continue,reach,can,,0.21499299806623212,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9813694357872009,1.0,0.9276338292021961,0.944388723620116,0.9271391825579165,0.9443670676819992,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+41,0,continue,reach,can,,0.23032112619698636,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9854748249053955,1.0,0.9273606672968518,0.9443863000313737,0.9269230922584399,0.9443634322988856,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+42,0,continue,reach,can,,0.2356243581922984,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9846259951591492,1.0,0.9274049173364697,0.9443896617835001,0.9269594851797157,0.9443665595101661,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+43,0,continue,reach,can,,0.23550732587569373,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9840355515480042,1.0,0.9273197008290784,0.9443995124990335,0.9268987000104527,0.9443850882370026,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+44,0,continue,reach,can,,0.2226957844928313,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9787032008171082,1.0,0.9267987856100435,0.9444854326289629,0.9264101123380291,0.9444160867188197,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+45,0,continue,reach,can,,0.2630296810890864,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9853915572166443,1.0,0.9263970171407923,0.9444066269046965,0.9260556820295351,0.9443762538651355,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+46,0,continue,reach,can,,0.24849819609735438,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9836342930793762,1.0,0.9264081187408377,0.9443973234511372,0.9261087273508791,0.9443825082876962,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+47,0,continue,reach,can,,0.25535071076118443,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9830467700958252,1.0,0.926297180920665,0.9444056105610303,0.9260221426885527,0.9443991606877644,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+48,0,continue,reach,can,,0.27228244304814464,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9843863248825073,1.0,0.926229398616162,0.9444472024710598,0.9259860233982639,0.9443726575721629,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+49,0,next,grasp,can,,0.37134595110141533,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.988239049911499,1.0,0.926765402629625,0.9444525187302365,0.926470272065036,0.944395955296202,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+50,1,continue,grasp,can,,0.11543029903099697,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9878752827644348,1.0,0.927309459212135,0.944425937434353,0.9270704229998884,0.9443840328031954,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+51,1,continue,grasp,can,,0.13147959958581937,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9951871037483215,1.0,0.9282389445849561,0.9444162430793838,0.9279375986879472,0.9443708985158177,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+52,1,continue,grasp,can,,0.1536489658881628,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9974790215492249,0.9995800852775574,0.9294270503306674,0.9443905217666023,0.9291561556535015,0.9443468971692406,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+53,1,continue,grasp,can,,0.1676435373434006,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9812624454498291,0.9997437000274658,0.9296371989287112,0.9443615168819764,0.9293873347474062,0.9443192604395498,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+54,1,continue,grasp,can,,0.15848210907262725,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9218263030052185,1.0,0.9141327199412648,0.9443701948932797,0.9139955526364776,0.9443364991917331,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+55,1,continue,grasp,can,,0.15978278247566835,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.8415472507476807,1.0,0.8682989823507231,0.944365660436923,0.868207433240489,0.9443299711381853,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+56,1,continue,grasp,can,,0.1561473598327521,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.7796358466148376,0.9986669421195984,0.8042658132715563,0.9443078070282354,0.804247636355989,0.9442796230365706,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+57,1,continue,grasp,can,,0.16197464128600103,0.0,,,7.05075372063067,0.0,0.028203016222094007,0.0,1,0,105_sauce-can,,0.702782928943634,1.0,0.7400860561636201,0.9442651987745397,0.7400678401579117,0.9442370147828749,0,0,1,0,1,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+58,1,continue,grasp,can,,0.1914917446549165,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9974018931388855,0.8025309928137466,0.9440060311396754,0.8024761884360574,0.9439820688832392,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+59,1,continue,grasp,can,,0.2682041354655168,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9999640583992004,0.9145177578301656,0.9437570269414725,0.9144302350044551,0.9437266929920525,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+60,1,continue,grasp,can,,0.31617849660198644,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9985827207565308,0.9317721460698498,0.9437110569356504,0.9309624328890687,0.9436904564313406,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+61,1,continue,grasp,can,,0.33096881453008214,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9979516267776489,0.9348225061330476,0.9435036446474769,0.9340483258904402,0.9434962957009679,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+62,1,continue,grasp,can,,0.357770092674501,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9971494674682617,0.9357046924352524,0.9433108520720394,0.9350072461394381,0.9433018222494671,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+63,1,continue,grasp,can,,0.3509854647003965,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9365829697233568,0.9432998286522759,0.935995718535036,0.9432890788634996,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+64,1,continue,grasp,can,,0.3533500599594517,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9989810585975647,0.9374442037099827,0.9433464241003541,0.9369664049164765,0.943338176080602,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+65,1,continue,grasp,can,,0.3864101050344975,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9382715856344983,0.9434393804556644,0.9378745470723087,0.9434264807091327,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+66,1,continue,grasp,can,,0.3933115573036064,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9389706737162348,0.9435617325970106,0.9386433328754575,0.9435564945181159,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+67,1,continue,grasp,can,,0.4406355210808094,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9395889233863727,0.9436583634255754,0.9393098979598777,0.9436533207973857,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+68,1,continue,grasp,can,,0.4544851374881289,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9401551049886916,0.9437323219723571,0.9399230268215439,0.9437219630849908,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+69,1,continue,grasp,can,,0.4591068695585859,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9406456862583066,0.9438159748741083,0.9404457401870652,0.9437884163246997,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+70,1,continue,grasp,can,,0.5019048685510865,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9410787268403619,0.9438802390659208,0.9409093492593865,0.9438708183419385,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+71,1,continue,grasp,can,,0.4975070962555325,0.0,,,42.80193602418442,0.0,0.17120775222866919,0.0,1,0,105_sauce-can,,0.0,1.0,0.7291068082594966,0.9439545885141126,0.7232358990720704,0.9439516567535372,0,0,1,0,1,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+72,1,next,transport,can,,0.5032609046252122,0.0,,,43.15081513225506,0.0,0.17260326872723522,0.0,1,0,105_sauce-can,,0.0,1.0,0.7404469363453798,0.9440038420917791,0.7234173555066165,0.9440009885114857,1,0,1,0,2,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+73,2,continue,transport,can,,-0.0774998384970304,0.0,,,43.45467447208653,0.0,0.17381870614429126,0.0,1,0,105_sauce-can,,0.0,1.0,0.7463300025666587,0.9440529393088816,0.7235604254226954,0.944048873934217,1,0,1,0,3,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+74,2,continue,transport,can,,-0.07713176570026176,0.0,,,43.484667817190676,0.0,0.17393867953040626,0.0,1,0,105_sauce-can,,0.0,1.0,0.7472411155732073,0.9441039910330343,0.7232281592241514,0.9440967202668074,1,0,1,0,4,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+75,2,continue,transport,can,,-0.0776848468640054,0.0,,,43.44810443161437,0.0,0.17379242598115438,0.0,1,0,105_sauce-can,,0.0,1.0,0.7487904142218064,0.9441271323965095,0.722636295399192,0.9441259987824203,1,0,1,0,5,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+76,2,continue,transport,can,,-0.07808743396803891,0.0,,,43.23318237188123,0.0,0.1729327377013888,0.0,1,0,105_sauce-can,,0.0,1.0,0.7502094645205762,0.9441632516867983,0.722311143606311,0.9441605935572099,1,0,1,0,6,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+77,2,continue,transport,can,,-0.07423756247444896,0.0,,,43.023196209856614,0.0,0.1720927930133951,0.0,1,0,105_sauce-can,,0.0,1.0,0.750223067889646,0.9442062508419039,0.7217514118772579,0.9442024200080854,1,0,1,0,7,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+78,2,continue,transport,can,,-0.07356998054600833,0.0,,,43.21019139786936,0.0,0.1728407738009733,0.0,1,0,105_sauce-can,,0.0,1.0,0.7540589052462018,0.9442194633095636,0.7217363230828299,0.9442077362672621,1,0,1,0,8,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+79,2,continue,transport,can,,-0.07449056787974195,0.0,,,43.15434469692543,0.0,0.17261738698658724,0.0,1,0,105_sauce-can,,0.0,1.0,0.7551689088901847,0.9442544880759043,0.7211182297732561,0.9442505399716628,1,0,1,0,9,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+80,2,continue,transport,can,,-0.07264439216569418,0.0,,,42.72564947995489,0.0,0.17090260603725738,0.0,1,0,105_sauce-can,,0.0,1.0,0.7590374256046208,0.9442576152871847,0.7207960097409504,0.9442501881603937,1,0,1,0,10,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+81,2,continue,transport,can,,-0.07075298862877705,0.0,,,43.08325297264961,0.0,0.17233302007597728,0.0,1,0,105_sauce-can,,0.0,0.9984996914863586,0.7662461948679492,0.9441753696305099,0.7208492114228584,0.9441748223685358,1,0,1,0,11,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+82,2,continue,transport,can,,-0.06658771877793834,0.0,,,43.05474286914311,0.0,0.17221897965653465,0.0,1,0,105_sauce-can,,0.0,1.0,0.7697241228934616,0.9441254124303052,0.7208167275156832,0.944124474266921,1,0,1,0,12,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+83,2,continue,transport,can,,-0.05946610382311801,0.0,,,43.07420318753638,0.0,0.172296820933805,0.0,1,0,105_sauce-can,,0.0,0.9995176792144775,0.7700655361850008,0.9441061019006487,0.7208805617159446,0.9440991438555497,1,0,1,0,13,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+84,2,continue,transport,can,,-0.05159013359073544,0.0,,,43.22866180094471,0.0,0.17291465541678386,0.0,1,0,105_sauce-can,,0.0,0.9954016208648682,0.7684999760377436,0.9437796992232554,0.7209148437696061,0.9437786437894483,1,0,1,0,14,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+85,2,continue,transport,can,,-0.0424718829492981,0.0,,,43.28301504561778,0.0,0.17313206840580272,0.0,1,0,105_sauce-can,,0.0,0.999873161315918,0.7654404688815506,0.9435446892955324,0.7209444350063471,0.9435321022701286,1,0,1,0,15,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+86,2,continue,transport,can,,-0.032777619540102665,0.0,,,43.36782606608221,0.0,0.17347131250377365,0.0,1,0,105_sauce-can,,0.0,0.9971952438354492,0.7612934740025935,0.9434318751485914,0.7209692181557443,0.9434285133964649,1,0,1,0,16,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+87,2,continue,transport,can,,-0.02255466466513667,0.0,,,43.43665719728725,0.0,0.17374663704167106,0.0,1,0,105_sauce-can,,0.0,1.0,0.7567780154545218,0.9434278879542088,0.7210056892573022,0.9434216335316481,1,0,1,0,17,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+88,2,continue,transport,can,,-0.016728003933939695,0.0,,,43.4768743438741,0.0,0.1739075056356593,0.0,1,0,105_sauce-can,,0.0,1.0,0.753417983294281,0.9435169352954187,0.7209253199273955,0.9435108372334219,1,0,1,0,18,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+89,2,continue,transport,can,,-0.015893417577744207,0.0,,,43.47228963306688,0.0,0.17388916679155936,0.0,1,0,105_sauce-can,,0.0,1.0,0.7513212663110455,0.9436115334366512,0.7209218018147051,0.9436053962845133,1,0,1,0,19,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+90,2,continue,transport,can,,-0.015154784659037857,0.0,,,43.34403145945541,0.0,0.1733761340727457,0.0,1,0,105_sauce-can,,0.0024463089648634195,1.0,0.7505963005559635,0.9436713413523891,0.7209550284345595,0.9436642269467261,1,0,1,0,20,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+91,2,continue,transport,can,,-0.011692990584516505,0.0,,,43.34125256822757,0.0,0.1733650185073064,0.0,1,0,105_sauce-can,,0.0022732086945325136,0.9948442578315735,0.7501761597204398,0.9433640928440884,0.7209536211894834,0.9433613956243591,1,0,1,0,21,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+92,2,continue,transport,can,,-0.0045533383904247104,0.0,,,43.47516104832453,0.0,0.1739006524531355,0.0,1,0,105_sauce-can,,0.0,1.0,0.7492909243872367,0.9433218754918028,0.7209180882513095,0.9433210936889826,1,0,1,0,22,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+93,2,continue,transport,can,,0.01305700354717343,0.0,,,43.42491205541028,0.0,0.1736996564719317,0.0,1,0,105_sauce-can,,0.0009090491221286356,0.9999234080314636,0.7494124165454807,0.9434876176896648,0.7209318479809435,0.9434835914051413,1,0,1,0,23,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+94,2,next,place,can,,0.03137300993464012,0.0,,,43.47104929832058,0.0,0.17388420545233851,0.0,1,0,105_sauce-can,,0.0,0.9999701976776123,0.7486955033594458,0.943625527707131,0.7209198082175138,0.9436123934197533,1,0,1,0,24,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+95,3,continue,place,can,,0.31858215198107054,0.0,,,43.46370338000909,0.0,0.1738548217776969,0.0,1,0,105_sauce-can,,0.0,0.9982846975326538,0.7483782477750478,0.9435839357971015,0.720921137282308,0.9435772122928486,1,0,1,0,25,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+96,3,continue,place,can,,0.33762134608230643,0.0,,,43.440492263930885,0.0,0.1737619773089742,0.0,1,0,105_sauce-can,,0.0004840809269808233,0.9974775910377502,0.7478732813335429,0.9432268864491603,0.7209282907781118,0.9432259482857761,1,0,1,0,26,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+97,3,continue,place,can,,0.3398215793680345,0.0,,,43.349941108459774,0.0,0.17339977266988596,0.0,1,0,105_sauce-can,,0.0022038801107555628,1.0,0.7482109419715457,0.9432797363197992,0.7209523312148302,0.9432782118043,1,0,1,0,27,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+98,3,continue,place,can,,0.3459020617250498,0.0,,,43.46545827376304,0.0,0.1738618413530461,0.0,1,0,105_sauce-can,,0.0,0.9985843896865845,0.7482124273969039,0.9433101484495012,0.720920668200616,0.9433034249452483,1,0,1,0,28,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+99,3,continue,place,can,,0.3500424428873514,0.0,,,43.450188351329054,0.0,0.17380076166040903,0.0,1,0,105_sauce-can,,0.0003367578610777855,0.9995514154434204,0.7478969699589921,0.9433349315988986,0.7209250853865495,0.9433335634439635,1,0,1,0,29,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+100,3,continue,place,can,,0.35185440861028017,0.0,,,43.34682859314013,0.0,0.17338732260801604,0.0,1,0,105_sauce-can,,0.002350871916860342,1.0,0.7478127697952669,0.9435579799434741,0.7209538166401883,0.9435128308306131,1,0,1,0,30,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+101,3,continue,place,can,,0.34762425337736236,0.0,,,43.42800859804873,0.0,0.1737120426430738,0.0,1,0,105_sauce-can,,0.000736887042876333,1.0,0.7481467559600151,0.9437590596288047,0.7209305189161492,0.9437118387384704,1,0,1,0,31,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+102,3,continue,place,can,,0.3444666759978381,0.0,,,43.45929802262998,0.0,0.17383720034734348,0.0,1,0,105_sauce-can,,0.00012203826190670952,1.0,0.7481328398698173,0.9438642902883907,0.7209223881668201,0.9438114013276107,1,0,1,0,32,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+103,3,continue,place,can,,0.339094127585404,0.0,,,43.45696182478827,0.0,0.17382785555553282,0.0,1,0,105_sauce-can,,0.0001674108934821561,1.0,0.7486926106890114,0.9439492722549359,0.7209223490766792,0.9438965396547199,1,0,1,0,33,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+104,3,continue,place,can,,0.330694152703234,0.0,,,43.46966093072552,0.0,0.17387865198169447,0.0,1,0,105_sauce-can,,0.0,0.9987189769744873,0.7489278551575805,0.9439186255843879,0.7209194564062447,0.9438517423531281,1,0,1,0,34,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+105,3,continue,place,can,,0.3254193752065432,0.0,,,43.46473311318895,0.0,0.17385894071061198,0.0,1,0,105_sauce-can,,0.0,1.0,0.7496317122365197,0.9439217527956683,0.7209198473076548,0.9438751182574491,1,0,1,0,35,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+106,3,continue,place,can,,0.3207013399873009,0.0,,,43.46528738823556,0.0,0.17386115781090372,0.0,1,0,105_sauce-can,,0.0,1.0,0.749240732646186,0.9439441123563233,0.7209201600287829,0.9439113157280199,1,0,1,0,36,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+107,3,continue,place,can,,0.32089695891441883,0.0,,,43.47020223660952,0.0,0.17388081720533335,0.0,1,0,105_sauce-can,,0.0,0.9979037642478943,0.7491295602851673,0.9438653066320568,0.7209189091442707,0.9438357544854569,1,0,1,0,37,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+108,3,continue,place,can,,0.31934817606762034,0.0,,,43.471825877811376,0.0,0.17388731177044925,0.0,1,0,105_sauce-can,,0.0,1.0,0.7491796738459359,0.9438434161530939,0.7209182837020146,0.9438149194403012,1,0,1,0,38,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+109,3,continue,place,can,,0.31828199076927566,0.0,,,43.469186146495986,0.0,0.17387675284468615,0.0,1,0,105_sauce-can,,0.0,0.9990376830101013,0.7492733338237842,0.9438413834657616,0.7209187136935656,0.9438151539811471,1,0,1,0,39,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+110,3,continue,place,can,,0.32485480241384335,0.0,,,43.47315976856138,0.0,0.1738926473337027,0.0,1,0,105_sauce-can,,0.0,1.0,0.7494844987654943,0.9438535014094732,0.7209175800794765,0.9438314936600873,1,0,1,0,40,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+111,3,continue,place,can,,0.33699953041590236,0.0,,,43.43045813194733,0.0,0.1737218407791336,0.0,1,0,105_sauce-can,,0.0005103551084175706,1.0,0.7492906898463906,0.9439620938211856,0.7209228572485122,0.9439372324915063,1,0,1,0,41,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+112,3,continue,place,can,,0.3561109044288404,0.0,,,43.449163971946376,0.0,0.17379666414268372,0.0,1,0,105_sauce-can,,4.6858804125804454e-05,1.0,0.7490032991297205,0.9439957113424501,0.7209169937273614,0.9439814043508421,1,0,1,0,42,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+113,3,continue,place,can,,0.38917777545218746,0.0,,,43.277558128868215,0.0,0.1731102407377677,0.0,1,0,105_sauce-can,,0.0031926389783620834,1.0,0.7484543953697259,0.9440983620527297,0.7209636673557216,0.944077839728702,1,0,1,0,43,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+114,3,continue,place,can,,0.42063813388934745,0.0,,,43.29594908039803,0.0,0.17318380454738105,0.0,1,0,105_sauce-can,,0.0027516635600477457,0.9983136653900146,0.7482570683379318,0.9439313689703556,0.7209570220317507,0.9439210100829891,1,0,1,0,44,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+115,3,continue,place,can,,0.45869980556889756,0.0,,,43.4310542610348,0.0,0.17372422529559675,0.0,1,0,105_sauce-can,,0.0,0.9986562132835388,0.7480659957286985,0.9437470980456572,0.7209189091442707,0.9437103533131123,1,0,1,0,45,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+116,3,continue,place,can,,0.5003971139746863,0.0,,,43.4228141397391,0.0,0.17369126480884842,0.0,1,0,105_sauce-can,,0.0,0.9996393322944641,0.7480693574808249,0.9436578943438834,0.720920316389347,0.9436061389971925,1,0,1,0,46,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+117,3,continue,place,can,,0.5365837771171179,0.0,,,43.34944948986387,0.0,0.17339780619540895,0.0,1,0,105_sauce-can,,0.001307467115111649,0.9964473247528076,0.7484547862711359,0.9433321171087462,0.7209400178204135,0.9433012749874932,1,0,1,0,47,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+118,3,continue,place,can,,0.5772937873719814,0.0,,,43.410199529851404,0.0,0.17364080636690096,0.0,1,0,105_sauce-can,,0.0,0.9965314865112305,0.7482950639549888,0.9426521831961022,0.7209212154625899,0.9426190347565298,1,0,1,0,48,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+119,3,continue,place,can,,0.6130889245856815,0.0,,,43.267863564874354,0.0,0.1730714624799504,0.0,1,0,105_sauce-can,,0.0027006054297089577,0.9982560873031616,0.7485493844123685,0.9424217077247357,0.7209595238007751,0.9424059543979106,1,0,1,0,49,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+120,3,continue,place,can,,0.646927304690148,0.0,,,43.40570832973813,0.0,0.1736228415655946,0.0,1,0,105_sauce-can,,5.681212314812001e-06,1.0,0.7484951272966532,0.9427033912808189,0.7209207072907569,0.94268904519907,1,0,1,0,50,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+121,3,continue,place,can,,0.6837127401782159,0.0,,,43.31266699556813,0.0,0.1732506762112377,0.0,1,0,105_sauce-can,,0.0018468605121597648,0.9985724091529846,0.7485438336123458,0.9428723388702434,0.7209458031612823,0.9428578755180714,1,0,1,0,51,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+122,3,continue,place,can,,0.7203839062395452,0.0,,,43.32007333386036,0.0,0.17328030156581373,0.0,1,0,105_sauce-can,,0.001754569704644382,0.9927887320518494,0.748629128300019,0.9420522277119547,0.720943418662681,0.9420299854217228,1,0,1,0,52,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+123,3,continue,place,can,,0.7526353739584423,0.0,,,43.2155735428771,0.0,0.17286230238202682,0.0,1,0,105_sauce-can,,0.003929971717298031,0.9994245767593384,0.7486354609028618,0.941676180555485,0.7209720326458967,0.9416678152653098,1,0,1,0,53,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+124,3,continue,place,can,,0.7844132867300679,0.0,,,43.308055750071965,0.0,0.17323223122837694,0.0,1,0,105_sauce-can,,0.0022281119599938393,0.9962114095687866,0.7483671461750023,0.941699087378114,0.7209460767922693,0.9416755160230879,1,0,1,0,54,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+125,3,continue,place,can,,0.8214792328660339,0.0,,,43.22469332402746,0.0,0.1728987815083609,0.0,1,0,105_sauce-can,,0.004025740083307028,0.9973951578140259,0.748251126636499,0.9415342833436362,0.7209689054346162,0.9414643119912369,1,0,1,0,55,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+126,3,continue,place,can,,0.8466144129799424,0.0,,,43.117254121856966,0.0,0.17246902467926659,0.0,1,0,105_sauce-can,,0.006228465121239424,0.9978764653205872,0.7486005143168032,0.9415439776986054,0.7209986530319212,0.9414778371800248,1,0,1,0,56,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+127,3,continue,place,can,,0.8610693778932108,0.0,,,43.02083099096618,0.0,0.17208333213738403,0.0,1,0,105_sauce-can,,0.008209184743463993,0.9989550113677979,0.7488614019178718,0.9417462300881663,0.7210250388770998,0.9417021754992534,1,0,1,0,57,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+128,3,continue,place,can,,0.8817761633614289,0.0,,,43.22182267173878,0.0,0.17288729889866078,0.0,1,0,105_sauce-can,,0.004341250751167536,1.0,0.748780328965427,0.9421784888674015,0.7209699999585644,0.9421410796024595,1,0,1,0,58,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+129,3,continue,place,can,,0.9020991130556943,0.0,,,42.82682535107119,0.0,0.17130730954094497,0.0,1,0,105_sauce-can,,0.011936032213270664,0.9980815052986145,0.7493024950689742,0.9423138971158433,0.7210784360097129,0.9422764878509013,1,0,1,0,59,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+130,3,continue,place,can,,0.903107407836623,0.0,,,43.20867468861846,0.0,0.17283470696368153,0.0,1,0,105_sauce-can,,0.004577718675136566,1.0,0.7495781587433427,0.9425878408240077,0.7209732835304089,0.9425631749450334,1,0,1,0,60,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+131,3,continue,place,can,,0.9059418959875365,0.0,,,43.22042726505951,0.0,0.17288171727167861,0.0,1,0,105_sauce-can,,0.004611996468156576,1.0,0.7493096876549191,0.9427882168868001,0.7209713681134997,0.9427649191627611,1,0,1,0,61,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+132,3,continue,place,can,,0.9033640560342949,0.0,,,43.41353097398537,0.0,0.17365413214406977,0.0,1,0,105_sauce-can,,0.0006583405192941427,0.9998722672462463,0.7499524859336082,0.9429792113157515,0.7209178537104635,0.9429344140141596,1,0,1,0,62,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+133,3,continue,place,can,,0.90529048922169,0.0,,,43.37103324106321,0.0,0.173484141204307,0.0,1,0,105_sauce-can,,0.0016695098020136356,1.0,0.7503451073098641,0.9430991398683554,0.7209302843753032,0.9430863573922467,1,0,1,0,63,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+134,3,continue,place,can,,0.9051718616057728,0.0,,,43.247438397729816,0.0,0.17298976180749165,0.0,1,0,105_sauce-can,,0.0040573133155703545,0.999076247215271,0.7497482790369971,0.9431301774403135,0.7209636282655806,0.9431280274825582,1,0,1,0,64,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+135,3,continue,place,can,,0.9060897932456783,0.0,,,43.34284989744202,0.0,0.1733714078244677,0.0,1,0,105_sauce-can,,0.0021772747859358788,0.998659610748291,0.7500627983115248,0.9432075759195037,0.7209376724119532,0.9431173949642048,1,0,1,0,65,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+136,3,continue,place,can,,0.910124709602935,0.0,,,43.26619275467545,0.0,0.17306477923883734,0.0,1,0,105_sauce-can,,0.0035797967575490475,1.0,0.7497433536792305,0.9433213282298287,0.7209594065303521,0.9432655856887553,1,0,1,0,66,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+137,3,continue,place,can,,0.9134308433556798,0.0,,,43.39396908680937,0.0,0.17357588459164922,0.0,1,0,105_sauce-can,,0.0011119564296677709,0.9996731877326965,0.7490004846395681,0.9434716689121346,0.7209231308794992,0.9434236662189803,1,0,1,0,67,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+138,3,continue,place,can,,0.9142101606813356,0.0,,,43.32708079542873,0.0,0.17330833141341856,0.0,1,0,105_sauce-can,,0.002537827007472515,1.0,0.7496689260507566,0.9436204459888003,0.7209197300372318,0.9435821767407563,1,0,1,0,68,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+139,3,continue,place,can,,0.9105680774533229,0.0,,,43.41213128970765,0.0,0.17364853340669298,0.0,1,0,105_sauce-can,,0.0008067674934864044,0.9979134798049927,0.749543212157284,0.9435517255209133,0.7209046803329449,0.9434981720277362,1,0,1,0,69,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+140,3,continue,place,can,,0.9094665915586916,0.0,,,43.338629574087896,0.0,0.17335452653024938,0.0,1,0,105_sauce-can,,0.002251957543194294,0.9993039965629578,0.7495246052501656,0.9434851941009225,0.7209232481499224,0.9434550556022074,1,0,1,0,70,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+141,3,continue,place,can,,0.9152793616483914,0.0,,,42.911014018911835,0.0,0.17164406422830253,0.0,1,0,105_sauce-can,,0.010504697449505329,0.9984802603721619,0.7493364253113667,0.9434333605739496,0.7210372740912343,0.9434089292358213,1,0,1,0,71,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+142,3,continue,place,can,,0.948946421478472,0.0,,,41.107221252481835,0.0,0.1644288928198803,0.0,1,0,105_sauce-can,,0.045240312814712524,0.9979619383811951,0.7493271218578075,0.9433443132327398,0.7215244936087228,0.9433201946157397,1,0,1,0,72,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+143,3,continue,place,can,,0.990013525193857,0.0,,,38.911577633931316,0.0,0.15564631792852832,0.0,1,0,105_sauce-can,,0.08722931146621704,1.0,0.7493038241337684,0.943375898066672,0.7221121356984537,0.9433550630215162,1,0,1,0,73,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+144,3,continue,place,can,,1.0664100716427192,0.0,,,34.986521384002934,0.0,0.13994609218309412,0.0,1,0,105_sauce-can,,0.1632653921842575,0.9999850392341614,0.7489861776479603,0.9434559546754506,0.7231693676520796,0.9434360577936789,1,0,1,0,74,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+145,3,continue,place,can,,1.1487201814831813,0.0,,,30.59883481976147,0.0,0.12239534509251256,0.0,1,0,105_sauce-can,,0.24668297171592712,0.9981732368469238,0.7483415030425029,0.9434424294866628,0.7243615387724553,0.9434230407767242,1,0,1,0,75,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+146,3,continue,place,can,,1.2129228552822107,0.0,,,27.222428571069802,0.0,0.1088897194562631,0.0,1,0,105_sauce-can,,0.3101552128791809,0.999293327331543,0.74732171944396,0.9434097501287825,0.7252771471452197,0.9433900877878569,1,0,1,0,76,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+147,3,continue,place,can,,1.2917227341280153,0.0,,,23.098162565262815,0.0,0.09239265464946667,0.0,1,0,105_sauce-can,,0.3885596990585327,1.0,0.7461505788194449,0.9434702616670585,0.7264093539892935,0.9434497393430308,1,0,1,0,77,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+148,3,continue,place,can,,1.3672752674224862,0.0,,,19.104414866199747,0.0,0.07641766309444305,0.0,1,0,105_sauce-can,,0.4643441140651703,0.9993544220924377,0.7446046419229723,0.9434948884558917,0.7275052851825146,0.9434861713544476,1,0,1,0,78,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+149,3,continue,place,can,,1.4533122631676736,0.0,,,14.593738118572904,0.0,0.05837495524695308,0.0,1,0,105_sauce-can,,0.5500378608703613,1.0,0.7435324775354824,0.9435748668843883,0.728747100781967,0.9435610680646135,1,0,1,0,79,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+150,3,continue,place,can,,1.5213168693108612,0.0,,,11.029294111629627,0.0,0.044117178541971946,0.0,1,0,105_sauce-can,,0.6172042489051819,1.0,0.7417271384632993,0.9436424146480453,0.729720797104265,0.9436339711775882,1,0,1,0,80,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+151,3,next,,,,1.605192024139198,0.0,,,6.65678128710595,0.0,0.02662712641314438,0.0,1,0,105_sauce-can,,0.7006910443305969,0.9990997314453125,0.7403642997872949,0.9436557052959871,0.7309266888641335,0.9436462454818638,1,0,1,0,81,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+152,4,continue,,,,0.0,0.0,,,3.752469023758376,0.0,0.015009876807964364,0.0,1,0,105_sauce-can,,0.7553311586380005,1.0,0.7387472970144748,0.943708476986344,0.7317202578166796,0.9437000726060278,1,0,1,0,82,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact

debug/move_can_pot/mpc_trace_100000_100009/seed100003/constraint_results.json

@@ -0,0 +1,1545 @@
+{
+  "checkpoint": "/home/edge/perception/models/Heisen0928_pi0_robotwin_pytorch",
+  "task": "move_can_pot",
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+    ]
+  }
+}

debug/move_can_pot/mpc_trace_100000_100009/seed100007/contact_trace_ep0_seed100007.csv

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+25,0,continue,reach,can,,-0.6977859991094786,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.998761773109436,0.9442790366844556,0.9436388183550728,0.9438262555811926,0.9436347920705492,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+26,0,continue,reach,can,,-0.6472777062479055,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9996702671051025,1.0,0.9442587879914148,0.9437646886091094,0.9439029504378447,0.9437446353667738,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+27,0,continue,reach,can,,-0.5648285093741521,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9979102611541748,1.0,0.943927303595691,0.9439284762999212,0.9436530471663986,0.9439249972773717,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+28,0,continue,reach,can,,-0.47497002569099034,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9438456052009901,0.9440058747791114,0.943603519957745,0.9439962976945651,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+29,0,continue,reach,can,,-0.39714019552159674,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9955649375915527,1.0,0.943413659142883,0.9441157962556179,0.9431958488772021,0.9441110272584152,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+30,0,continue,reach,can,,-0.3075799840974234,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9987809062004089,1.0,0.9428126091347874,0.9441570754445194,0.9427460386246556,0.9441512901036506,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+31,0,continue,reach,can,,-0.22772854108185203,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9970989227294922,1.0,0.9426481178214376,0.9442265777152266,0.9426189174861068,0.9442195414898457,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+32,0,continue,reach,can,,-0.12977716414660545,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9990813136100769,0.999679446220398,0.9426441306270551,0.9442419010505007,0.9425865508493545,0.9442383438476691,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+33,0,continue,reach,can,,-0.049029072106792415,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9915490746498108,1.0,0.9418455972266014,0.9442950636422677,0.9417809812235198,0.9442592179829659,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+34,0,continue,reach,can,,0.05001111704493705,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9982280135154724,1.0,0.9413453997822991,0.9443207067747671,0.9411720350069412,0.9442995980986243,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+35,0,continue,reach,can,,0.10448862982353149,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9939501285552979,1.0,0.9413152221934432,0.9443332156198887,0.9409601664426932,0.9443091360930296,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+36,0,continue,reach,can,,0.1661036941747429,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9954431653022766,1.0,0.9409329987946946,0.94432743027902,0.9405297058099442,0.944297369960587,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+37,0,continue,reach,can,,0.2328735497937237,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9414167001994926,0.9443553406396976,0.9410579699754882,0.9443409554678077,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+38,0,continue,reach,can,,0.23637639904941987,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9951704144477844,1.0,0.9415911985889397,0.9443943526004208,0.9411869674408052,0.944350532552354,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+39,0,continue,reach,can,,0.2509323394771661,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9417682769276932,0.944417806685024,0.9413681502443643,0.9443739084566751,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+40,0,continue,reach,can,,0.24459692565011848,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9420329171822982,0.9443603441777463,0.9417002991724852,0.9443411900086538,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+41,0,continue,reach,can,,0.25204685396229576,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9424029444570532,0.9443734002848421,0.9420398752273971,0.9443659731580512,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+42,0,continue,reach,can,,0.2622849731523265,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9976431131362915,1.0,0.9425415580970575,0.9443748857102002,0.9421581229039377,0.9443522916086993,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+43,0,continue,reach,can,,0.27549962075238577,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9943352341651917,1.0,0.942273399729762,0.9443821564764272,0.941926162007213,0.944380397420082,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+44,0,continue,reach,can,,0.26884790940088965,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9988377690315247,1.0,0.9421583965349248,0.9443716803186378,0.9418163968912705,0.9443622595946556,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+45,0,continue,reach,can,,0.2698183680309767,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9972835183143616,1.0,0.9422313387380404,0.9443716803186378,0.9418669795337312,0.9443615559721175,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+46,0,continue,reach,can,,0.2936931509452435,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9986128211021423,1.0,0.9422846576903715,0.9443866909327838,0.9419466843312407,0.9443608523495794,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+47,0,next,grasp,can,,0.3205360089342811,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9984672665596008,1.0,0.9424749484967847,0.9444167903413578,0.9421410014221775,0.9443846582454516,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+48,1,continue,grasp,can,,0.13092080314826995,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9938750267028809,1.0,0.9421000740445451,0.9443966980088812,0.9418112760827988,0.9443665986003071,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+49,1,continue,grasp,can,,0.33228212909783394,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9420667692444087,0.9443715239580738,0.9418169441532447,0.9443527216002503,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+50,1,continue,grasp,can,,0.4116346982237033,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9424832356066778,0.9443901308651923,0.9422791068903488,0.9443698821721516,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+51,1,continue,grasp,can,,0.4064790940677036,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9812560081481934,0.9982675909996033,0.941245329021326,0.9442846656647603,0.941064107127626,0.9442692250590632,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+52,1,continue,grasp,can,,0.41058655465566346,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9326371550559998,1.0,0.9225175551868747,0.9442707495745625,0.9225135679924922,0.9442583189097229,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+53,1,continue,grasp,can,,0.4162134757477474,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.8614844083786011,1.0,0.881274720116545,0.9442712968365365,0.8812274601360697,0.9442613679407212,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+54,1,continue,grasp,can,,0.4099639446044297,0.0,,,6.733019905698214,0.0,0.026932080901997994,0.0,1,0,105_sauce-can,,0.7858348488807678,1.0,0.8215571807846314,0.9442768476365593,0.8213965984853822,0.944266488749193,0,0,1,0,1,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+55,1,continue,grasp,can,,0.4277339174606836,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.8407125225813972,0.9443073379465433,0.8406488447416998,0.9442933045859224,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+56,1,continue,grasp,can,,0.5063635957373827,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9989050626754761,0.9046076252825338,0.9442195414898457,0.9036785699012637,0.9442079708081081,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+57,1,continue,grasp,can,,0.618311919121076,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9258832163274203,0.9442161797377192,0.9252457343079079,0.9442025763686495,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+58,1,continue,grasp,can,,0.7081654264774587,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.933307059546559,0.9442171960813853,0.933163168737519,0.944214537951797,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+59,1,continue,grasp,can,,0.7490263229741352,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9367104035830336,0.9442436991969869,0.9363222775729931,0.9442424092223337,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+60,1,continue,grasp,can,,0.747471963073451,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9382070869018397,0.9442784894224815,0.9376860544123817,0.9442731340731638,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+61,1,continue,grasp,can,,0.7477905865260884,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9992503523826599,0.9391213271196688,0.9442815384534798,0.938669562360072,0.9442229423321131,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+62,1,continue,grasp,can,,0.7478343276947866,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9399652832639704,0.9442560516815445,0.9395861479863612,0.9442085571602232,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+63,1,continue,grasp,can,,0.7484552873953999,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9981401562690735,0.9407426298079994,0.9441354976866846,0.9404625489476973,0.9440866741005691,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+64,1,continue,grasp,can,,0.7470488111016336,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9952166080474854,0.9413847244641504,0.9435643125463169,0.9410998746066457,0.9435308513856164,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+65,1,continue,grasp,can,,0.7462981976869817,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9961077570915222,0.9419013397676748,0.9429927365045393,0.94163126598347,0.9429542327156493,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+66,1,continue,grasp,can,,0.745319921186469,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9990207552909851,0.9423546290427708,0.942794862210771,0.9420623911486161,0.9427704308726428,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+67,1,continue,grasp,can,,0.7446363022772,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9660598287116929,0.9429544281663542,0.9544443496725692,0.9429412156986945,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+68,1,continue,grasp,can,,0.7433531776229761,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9862995310199423,0.9431912362405636,0.9648015952530183,0.9431706357362538,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+69,1,continue,grasp,can,,0.7456889482126839,0.0,,,45.964270950348094,0.0,0.18385709253413526,0.0,1,0,105_sauce-can,,0.0,0.9988613128662109,0.848370906646567,0.9432334535928492,0.7991108791067809,0.9432236810575978,0,0,1,0,1,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+70,1,next,transport,can,,0.746576368866411,0.0,,,46.77961887253429,0.0,0.18711848437778786,0.0,1,0,105_sauce-can,,0.0,0.9991312623023987,0.8598311196456182,0.9432252446632381,0.7991228406899284,0.9432186775195492,1,0,1,0,2,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+71,2,continue,transport,can,,-0.0808824301776902,0.0,,,46.535397617778905,0.0,0.18614159931236676,0.0,1,0,105_sauce-can,,0.0,1.0,0.8628423895678108,0.9433547112102472,0.7991493438055299,0.9433546721201062,1,0,1,0,3,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+72,2,continue,transport,can,,-0.06960061004274942,0.0,,,46.56844467618037,0.0,0.1862737875522512,0.0,1,0,105_sauce-can,,0.0,1.0,0.8625474153637858,0.9435288186982842,0.7986691214232815,0.943520336137686,1,0,1,0,4,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+73,2,continue,transport,can,,-0.06038718133044907,0.0,,,46.84366791011745,0.0,0.18737468054028916,0.0,1,0,105_sauce-can,,0.0,1.0,0.8656656359117686,0.9436239641014909,0.7991749869380294,0.9436227132169787,1,0,1,0,5,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+74,2,continue,transport,can,,-0.05193968588625558,0.0,,,44.629088283178426,0.0,0.1785163616117855,0.0,1,0,105_sauce-can,,0.0,1.0,0.8669884462833837,0.9437648449696735,0.7992578189468194,0.943754407902025,1,0,1,0,6,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+75,2,continue,transport,can,,-0.044578996013818484,0.0,,,46.410905309120544,0.0,0.18564363005408105,0.0,1,0,105_sauce-can,,0.0,1.0,0.8732888388500337,0.9438202747896188,0.7998235705575872,0.9438191802656707,1,0,1,0,7,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+76,2,continue,transport,can,,-0.03781682086871707,0.0,,,46.419324678886376,0.0,0.18567730753474396,0.0,1,0,105_sauce-can,,0.0,1.0,0.8735263505467812,0.9438995495955773,0.7999379483101684,0.9438937251645676,1,0,1,0,8,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+77,2,continue,transport,can,,-0.029959919882917685,0.0,,,46.51258530514815,0.0,0.1860503500575096,0.0,1,0,105_sauce-can,,0.0,1.0,0.8701880525049392,0.9439663937366961,0.7998737622986378,0.9439608820268144,1,0,1,0,9,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+78,2,continue,transport,can,,-0.022341067666276748,0.0,,,46.47517052916387,0.0,0.18590069094646408,0.0,1,0,105_sauce-can,,0.0,0.9991278648376465,0.863191073625577,0.9439617029197755,0.8000697211754968,0.9439531030887545,1,0,1,0,10,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+79,2,continue,transport,can,,-0.01781380832976831,0.0,,,47.13446913963983,0.0,0.18853788551362793,0.0,1,0,105_sauce-can,,0.0,1.0,0.860199974216143,0.9439514613028321,0.8003911594049824,0.9439385224661594,1,0,1,0,11,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+80,2,continue,transport,can,,-0.014400523873803417,0.0,,,45.68111026795781,0.0,0.18272444975077648,0.0,1,0,105_sauce-can,,0.0,1.0,0.8565132266573809,0.9440006367002167,0.8004390448277137,0.9439860169874807,1,0,1,0,12,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+81,2,continue,transport,can,,-0.011551609353267933,0.0,,,46.015574315432616,0.0,0.18406230600422047,0.0,1,0,105_sauce-can,,0.0,0.9975531101226807,0.8524392521618216,0.9438545177531393,0.800773226443167,0.9438449406685931,1,0,1,0,13,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+82,2,continue,transport,can,,-0.009195673455479947,0.0,,,46.349656011360494,0.0,0.1853986328514041,0.0,1,0,105_sauce-can,,0.0,0.9997418522834778,0.8474930202598728,0.9437361528061757,0.8010009265145221,0.9437071088314088,1,0,1,0,14,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+83,2,continue,transport,can,,-0.00819892429491026,0.0,,,47.25888808680816,0.0,0.1890355613259396,0.0,1,0,105_sauce-can,,0.0,0.9979223012924194,0.8400869239647504,0.9437144968680589,0.8041327504315747,0.943632368481807,1,0,1,0,15,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+84,2,continue,transport,can,,-0.010421942425950959,0.0,,,47.042999278420396,0.0,0.18817200605137185,0.0,1,0,105_sauce-can,,0.0,1.0,0.8262844297166692,0.943700737138425,0.804460560354044,0.9436285767381294,1,0,1,0,16,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+85,2,continue,transport,can,,-0.0039963572864684105,0.0,,,46.44724464147015,0.0,0.18578898739038355,0.0,1,0,105_sauce-can,,0.001748829148709774,1.0,0.8292934324106835,0.9438506087390388,0.8024338147232077,0.9437830609753819,1,0,1,0,17,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+86,2,continue,transport,can,,0.013258320998286499,0.0,,,46.48695984072932,0.0,0.18594784819496574,0.0,1,0,105_sauce-can,,0.0014347534161061049,0.9995637536048889,0.8312210454439307,0.9438810208687408,0.8024219704104832,0.9438307900375491,1,0,1,0,18,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+87,2,next,place,can,,0.028965886907045053,0.0,,,46.44478704015265,0.0,0.18577915698464664,0.0,1,0,105_sauce-can,,0.0024074497632682323,0.9975979328155518,0.8322615468172064,0.9436943263553002,0.8024338147232077,0.9436426491888913,1,0,1,0,19,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+88,3,continue,place,can,,0.30986046599199746,0.0,,,46.53352045500226,0.0,0.18613409066090353,0.0,1,0,105_sauce-can,,0.0007362798787653446,1.0,0.8321775030140454,0.9436474181860939,0.8024091879343745,0.9436161069831488,1,0,1,0,20,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+89,3,continue,place,can,,0.3087667422332817,0.0,,,46.52993256223965,0.0,0.18611973908917143,0.0,1,0,105_sauce-can,,0.0007261786377057433,1.0,0.8318810433846621,0.9438585049475219,0.8024107906301557,0.9438225029276561,1,0,1,0,21,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+90,3,continue,place,can,,0.3008184480811731,0.0,,,46.56825979402111,0.0,0.18627304802357905,0.0,1,0,105_sauce-can,,0.0,1.0,0.8319526565229836,0.9439819516128162,0.802397812703342,0.9439321507731756,1,0,1,0,22,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+91,3,continue,place,can,,0.30148056452563976,0.0,,,46.44854336837564,0.0,0.18579418229825226,0.0,1,0,105_sauce-can,,0.0024661803618073463,0.9999812841415405,0.832220658529715,0.9440392577595298,0.8024331501908107,0.9439783944099848,1,0,1,0,23,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+92,3,continue,place,can,,0.2968353415213637,0.0,,,46.14148579184945,0.0,0.1845659519338097,0.0,1,0,105_sauce-can,,0.008380518294870853,0.9989987015724182,0.8320751650248938,0.9440006367002167,0.8025186403291891,0.9439714363648859,1,0,1,0,24,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+93,3,continue,place,can,,0.288764545281764,0.0,,,46.48304896395809,0.0,0.18593220468713778,0.0,1,0,105_sauce-can,,0.0018621502676978707,1.0,0.8324447232179567,0.9440394923003759,0.8024225958527393,0.9439828897762004,1,0,1,0,25,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+94,3,continue,place,can,,0.2771879131050181,0.0,,,46.52342979033609,0.0,0.18609372800032173,0.0,1,0,105_sauce-can,,0.0009532073745504022,0.9986816644668579,0.8322827336736313,0.9439523994662163,0.8024115333428348,0.9438990414237443,1,0,1,0,26,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+95,3,continue,place,can,,0.2730005009365414,0.0,,,46.39405411556535,0.0,0.1855762252766587,0.0,1,0,105_sauce-can,,0.003552529029548168,1.0,0.8323837425979886,0.943949584976064,0.8024485907965078,0.9439216355252453,1,0,1,0,27,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+96,3,continue,place,can,,0.27027301328325604,0.0,,,46.43013210957851,0.0,0.18572053725956578,0.0,1,0,105_sauce-can,,0.002982169622555375,1.0,0.832953207772152,0.9439821079733802,0.8024378019175903,0.9439668628183882,1,0,1,0,28,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+97,3,continue,place,can,,0.2663887099805461,0.0,,,46.43130169431139,0.0,0.18572521559871952,0.0,1,0,105_sauce-can,,0.002159059513360262,1.0,0.83286251864502,0.9441071964245968,0.8024372155654753,0.9440108783171601,1,0,1,0,29,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+98,3,continue,place,can,,0.27006725407067367,0.0,,,46.37919078540731,0.0,0.18551677195320265,0.0,1,0,105_sauce-can,,0.003467413829639554,1.0,0.833421194940266,0.9441406575852972,0.8024521870894803,0.9440516884243695,1,0,1,0,30,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+99,3,continue,place,can,,0.2675931152470912,0.0,,,46.37773493134189,0.0,0.1855109485366644,0.0,1,0,105_sauce-can,,0.003794681979343295,1.0,0.8329990995976921,0.9441784968417902,0.8024528907120183,0.9441060237203667,1,0,1,0,31,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+100,3,continue,place,can,,0.26943822022245345,0.0,,,46.277773714985834,0.0,0.18511110365224856,0.0,1,0,105_sauce-can,,0.005466955713927746,1.0,0.8334882736222309,0.9442014036644193,0.8024794329177609,0.9441364749402097,1,0,1,0,32,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+101,3,continue,place,can,,0.2791523513212869,0.0,,,46.25265785518874,0.0,0.1850106402082884,0.0,1,0,105_sauce-can,,0.005261895712465048,1.0,0.833474201171469,0.9442089871517743,0.8026069058675787,0.9441454656726409,1,0,1,0,33,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+102,3,continue,place,can,,0.30259208219371203,0.0,,,46.16401333616136,0.0,0.18465606211533733,0.0,1,0,105_sauce-can,,0.007051023654639721,0.9998607635498047,0.8329360862903917,0.9442196196701277,0.802632040828245,0.9441671997910397,1,0,1,0,34,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+103,3,continue,place,can,,0.3345131049535388,0.0,,,46.193575164294444,0.0,0.18477430943348613,0.0,1,0,105_sauce-can,,0.007293121423572302,1.0,0.8321494362928036,0.9442541753547763,0.802504216067158,0.9442143815912329,1,0,1,0,35,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+104,3,continue,place,can,,0.38172774731789927,0.0,,,46.36469890427517,0.0,0.1854588044259208,0.0,1,0,105_sauce-can,,0.003950781654566526,1.0,0.8311192547167532,0.9442914673492951,0.8024559397430167,0.944252924470264,1,0,1,0,36,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+105,3,continue,place,can,,0.4300961217449909,0.0,,,46.30241117140898,0.0,0.185209653482622,0.0,1,0,105_sauce-can,,0.004220698960125446,0.9990090727806091,0.8310747701362894,0.9442492499970097,0.8025906052787796,0.9441501173994205,1,0,1,0,37,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+106,3,continue,place,can,,0.4890484192594359,0.0,,,46.4389816825384,0.0,0.18575593555308667,0.0,1,0,105_sauce-can,,0.0025054810103029013,0.9996030926704407,0.8302646660540981,0.9440468412468848,0.8024328374696827,0.9440358960074033,1,0,1,0,38,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+107,3,continue,place,can,,0.5512854483686307,0.0,,,46.34712367942824,0.0,0.18538850352319397,0.0,1,0,105_sauce-can,,0.004393137060105801,1.0,0.8303753693334247,0.9441311977711739,0.8024584024219,0.9441304550584948,1,0,1,0,39,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+108,3,continue,place,can,,0.6070023538114502,0.0,,,46.41846380528145,0.0,0.18567386404016067,0.0,1,0,105_sauce-can,,0.0021762812975794077,0.9976708889007568,0.8308363202761577,0.9438527196066531,0.802556518675823,0.943844002505209,1,0,1,0,40,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+109,3,continue,place,can,,0.6641919832272087,0.0,,,46.54782225431747,0.0,0.18619129786088154,0.0,1,0,105_sauce-can,,0.000685663428157568,1.0,0.8304168048828903,0.943754056090756,0.8024022689794166,0.9436978053778495,1,0,1,0,41,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+110,3,continue,place,can,,0.7308662557948193,0.0,,,46.46292347377871,0.0,0.18585170272259663,0.0,1,0,105_sauce-can,,0.0024776062928140163,1.0,0.8300691371687902,0.9439683482437464,0.8024266612274038,0.9438851253335464,1,0,1,0,42,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+111,3,continue,place,can,,0.7829116249789279,0.0,,,46.463119347719356,0.0,0.18585248621839642,0.0,1,0,105_sauce-can,,0.0016537783667445183,0.9997231960296631,0.8304257174350395,0.9439271472351269,0.8025450261743675,0.9439171792491706,1,0,1,0,43,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+112,3,continue,place,can,,0.8274685866213756,0.0,,,46.5621125764265,0.0,0.1862484591520327,0.0,1,0,105_sauce-can,,0.0007599045638926327,1.0,0.8303207213162995,0.9439923495903236,0.8023985163258801,0.9439857042663528,1,0,1,0,44,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+113,3,continue,place,can,,0.8710668329522406,0.0,,,46.297682893236455,0.0,0.18519074036903357,0.0,1,0,105_sauce-can,,0.004284728318452835,0.9994821548461914,0.830973604851368,0.9440007148804987,0.8025983842168396,0.9439945386382199,1,0,1,0,45,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+114,3,continue,place,can,,0.893351612671372,0.0,,,46.40024451392546,0.0,0.18560098687127524,0.0,1,0,105_sauce-can,,0.0032799621112644672,0.9986870884895325,0.8313421467007648,0.9438954842209127,0.8025624603772559,0.9438935688040035,1,0,1,0,46,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+115,3,continue,place,can,,0.9085762478024081,0.0,,,46.44663964879263,0.0,0.18578656741955854,0.0,1,0,105_sauce-can,,0.002411479130387306,0.9994633793830872,0.8315814565439984,0.9438495142150907,0.8025500297124162,0.9438152712515702,1,0,1,0,47,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+116,3,continue,place,can,,0.9187561143447325,0.0,,,46.376967753624605,0.0,0.18550787982564948,0.0,1,0,105_sauce-can,,0.0037334123626351357,1.0,0.8321453709181391,0.9439363725084042,0.8025699265941879,0.9438993150547312,1,0,1,0,48,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+117,3,continue,place,can,,0.9156398201831618,0.0,,,46.46294185031994,0.0,0.18585177622876503,0.0,1,0,105_sauce-can,,0.0020361889619380236,1.0,0.8320471764839341,0.9439886751170691,0.8025463552391617,0.9439559175789067,1,0,1,0,49,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+118,3,continue,place,can,,0.9168255032150946,0.0,,,46.355732131497156,0.0,0.18542293733310514,0.0,1,0,105_sauce-can,,0.004135307855904102,1.0,0.8326695697090185,0.9440111128580061,0.8025761810167487,0.9439855479057887,1,0,1,0,50,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+119,3,continue,place,can,,0.9206824993065111,0.0,,,46.27358259296247,0.0,0.18509433916335882,0.0,1,0,105_sauce-can,,0.005784564185887575,1.0,0.8326569045033327,0.944033159697533,0.8025986578478266,0.9440110346777241,1,0,1,0,51,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+120,3,continue,place,can,,0.9173543429830812,0.0,,,46.46008276831848,0.0,0.18584033990021598,0.0,1,0,105_sauce-can,,0.0019924724474549294,0.9989584684371948,0.832832810137856,0.943973117240949,0.8025453388954955,0.9439631883451337,1,0,1,0,52,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+121,3,continue,place,can,,0.9186202392370918,0.0,,,46.344001907972356,0.0,0.1853760164367773,0.0,1,0,105_sauce-can,,0.004265188239514828,0.998464822769165,0.8322394217973975,0.9438922006490683,0.80257895641676,0.9438617103390843,1,0,1,0,53,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+122,3,continue,place,can,,0.9188602024573174,0.0,,,46.49263981118239,0.0,0.18597056807785714,0.0,1,0,105_sauce-can,,0.0015530975069850683,1.0,0.832530174266194,0.9438438852347859,0.8025371299658846,0.9438208611417338,1,0,1,0,54,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+123,3,continue,place,can,,0.9255361679869986,0.0,,,46.41712008192083,0.0,0.18566848914646292,0.0,1,0,105_sauce-can,,0.002914000302553177,0.9975224137306213,0.8329901088652609,0.9437105878539583,0.8025581213716042,0.9436848274510359,1,0,1,0,55,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+124,3,continue,place,can,,0.9307407958029672,0.0,,,46.37261728327028,0.0,0.18549047794340565,0.0,1,0,105_sauce-can,,0.003875602036714554,0.9948689341545105,0.8330548421387655,0.9431157922684236,0.802570864757572,0.9430828783696972,1,0,1,0,56,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+125,3,continue,place,can,,0.9286087669160913,0.0,,,46.39492924643224,0.0,0.18557972580029253,0.0,1,0,105_sauce-can,,0.0033981958404183388,0.9956567883491516,0.8332692124720379,0.942469788598172,0.8025642194336011,0.9424323793332301,1,0,1,0,57,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+126,3,continue,place,can,,0.9238445798722897,0.0,,,46.551563385169445,0.0,0.18620626238500024,0.0,1,0,105_sauce-can,,0.0,0.9969265460968018,0.8322603741129763,0.9421011685684932,0.8025205948362393,0.9420702482669581,1,0,1,0,58,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+127,3,continue,place,can,,0.9241838223857992,0.0,,,46.57088568201821,0.0,0.18628355157606633,0.0,1,0,105_sauce-can,,0.0,0.9986331462860107,0.83277190769817,0.9421743453124549,0.8025156694784726,0.9420673165063828,1,0,1,0,59,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+128,3,continue,place,can,,0.9204991260871646,0.0,,,46.56703880192675,0.0,0.18626816405496963,0.0,1,0,105_sauce-can,,0.0,0.9992045760154724,0.8330504640429729,0.942288175803062,0.8025164903714337,0.942213122732332,1,0,1,0,60,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+129,3,continue,place,can,,0.9209251594253334,0.0,,,46.420187058940634,0.0,0.18568075705512482,0.0,1,0,105_sauce-can,,0.0030093821696937084,0.9969791769981384,0.833157414668763,0.9422571382311039,0.8025573395687842,0.9421926394984453,1,0,1,0,61,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+130,3,continue,place,can,,0.9225812934656693,0.0,,,46.315242786137134,0.0,0.1852609799439725,0.0,1,0,105_sauce-can,,0.005116339307278395,0.9987068176269531,0.8329200593325796,0.9421999884449543,0.8025876344280631,0.9421497185236216,1,0,1,0,62,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+131,3,continue,place,can,,0.9435576917397441,0.0,,,45.29639084027552,0.0,0.18118557196695456,0.0,1,0,105_sauce-can,,0.02486104890704155,0.9992802143096924,0.8332158153394248,0.942310691724281,0.802872718826414,0.942265777152266,1,0,1,0,63,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+132,3,continue,place,can,,0.9910345585313164,0.0,,,42.81206430592508,0.0,0.17124826535755608,0.0,1,0,105_sauce-can,,0.0720181092619896,1.0,0.833081423434649,0.9424561070488202,0.8035485873643934,0.9424195186768394,1,0,1,0,64,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+133,3,continue,place,can,,1.100447798754777,0.0,,,37.24029768579656,0.0,0.14896119781846315,0.0,1,0,105_sauce-can,,0.18189145624637604,0.998330295085907,0.8332055737224814,0.9425385090660592,0.8051199719426604,0.9425045788236667,1,0,1,0,65,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+134,3,continue,place,can,,1.1750855868558339,0.0,,,33.298112478153136,0.0,0.13319245623891446,0.0,1,0,105_sauce-can,,0.25777173042297363,1.0,0.8309471799160485,0.9427166037484787,0.8062114077696658,0.9426796244750878,1,0,1,0,66,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+135,3,continue,place,can,,1.2860831156612977,0.0,,,27.430332931468826,0.0,0.10972133693735892,0.0,1,0,105_sauce-can,,0.37003952264785767,0.9926415681838989,0.8264555663539899,0.9424342165698574,0.8075271819159,0.942394305535891,1,0,1,0,67,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+136,3,continue,place,can,,1.372706494640227,0.0,,,22.862326735223476,0.0,0.09144931128450291,0.0,1,0,105_sauce-can,,0.45658671855926514,0.9945065379142761,0.8250685699708442,0.9419700602355618,0.808690035430522,0.9419292501283525,1,0,1,0,68,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+137,3,continue,place,can,,1.4416558257243643,0.0,,,19.162942838613986,0.0,0.07665177499521972,0.0,1,0,105_sauce-can,,0.5261443853378296,0.9958712458610535,0.8232825414283178,0.9417162870401563,0.8097191224826242,0.9416799722991624,1,0,1,0,69,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+138,3,continue,place,can,,1.5336768057752637,0.0,,,14.647910900502968,0.0,0.05859164638496561,0.0,1,0,105_sauce-can,,0.6174739003181458,0.9968233108520508,0.8236574158805574,0.9416076164481619,0.8109754796145305,0.9415698162818099,1,0,1,0,70,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+139,3,continue,place,can,,1.6045763188296225,0.0,,,10.877975692942785,0.0,0.043511904838475626,0.0,1,0,105_sauce-can,,0.6881186962127686,0.9962207674980164,0.8206567002964362,0.9415012912646278,0.8114605491742638,0.9414613020503795,1,0,1,0,71,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+140,3,next,,,,1.6599879280114243,0.0,,,8.028303861912594,0.0,0.032113216972946265,0.0,1,0,105_sauce-can,,0.743868350982666,0.9968986511230469,0.8197361274757643,0.941389337100789,0.8122593562057046,0.9413568531936136,1,0,1,0,72,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact

debug/move_can_pot/mpc_trace_100000_100009/seed100009/constraint_results.json

@@ -0,0 +1,1549 @@
+{
+  "checkpoint": "/home/edge/perception/models/Heisen0928_pi0_robotwin_pytorch",
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