Upload debug/move_can_pot/mpc_trace_100000_100009/seed100006/contact_trace_ep0_seed100006.csv with huggingface_hub

debug/move_can_pot/mpc_trace_100000_100009/seed100006/contact_trace_ep0_seed100006.csv

@@ -0,0 +1,158 @@
+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
+0,0,continue,reach,can,,-1.231410290349676,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9284007777687175,0.9284007777687175,0.9283855326137256,0.9283854544334436,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+1,0,continue,reach,can,,-1.2328240936592827,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9965197443962097,1.0,0.9305171961830198,0.9305853693889328,0.9301229721109825,0.9305741114283232,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+2,0,continue,reach,can,,-1.2328089094626986,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9980430603027344,1.0,0.9317555718500636,0.9321213773895901,0.9314134549359864,0.9320588722541228,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+3,0,continue,reach,can,,-1.2377789918056137,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9998381733894348,1.0,0.9332413099293884,0.9336136044323217,0.9331077780077146,0.9335801041814802,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+4,0,continue,reach,can,,-1.2448689932197181,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9979260563850403,1.0,0.9347085974621586,0.9351840117570636,0.9345784663827523,0.9351504333259402,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+5,0,continue,reach,can,,-1.2535237085401165,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9364091749564477,0.9366621663490332,0.9361523136399027,0.9366479766278484,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+6,0,continue,reach,can,,-1.2599046054068264,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9984896183013916,1.0,0.9378804496836005,0.9379815367882399,0.9373845912449499,0.9379768068811782,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+7,0,continue,reach,can,,-1.2688367363117472,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9968732595443726,1.0,0.9388795155074108,0.9392163943425933,0.9380964618027952,0.939206113635509,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+8,0,continue,reach,can,,-1.2768164498571684,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9959434270858765,1.0,0.939508241335338,0.940226092684757,0.9384108247167586,0.940218313746697,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+9,0,continue,reach,can,,-1.2810449168076117,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9406601496104785,0.9410728633192111,0.9394566032590701,0.9410537873304006,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+10,0,continue,reach,can,,-1.2910094638268357,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9979822039604187,1.0,0.9416281778623307,0.9417990017785233,0.9401298136674613,0.941796734550345,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+11,0,continue,reach,can,,-1.2983858602439275,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9423533781582586,0.9423203078989683,0.9407658493517564,0.9423103008228709,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+12,0,continue,reach,can,,-1.3044184586622485,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9991992712020874,1.0,0.9430802984203909,0.9427938458671049,0.9413996568980143,0.9427766071149216,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+13,0,continue,reach,can,,-1.3051326294451473,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9436624288002399,0.9431468298403817,0.9419283119649684,0.9431431944572681,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+14,0,continue,reach,can,,-1.2994077747756212,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9442060944813399,0.9434278097739268,0.9424951190095434,0.943413580962601,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+15,0,continue,reach,can,,-1.3017777335311937,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9446238899084032,0.9436513272001944,0.942885121346352,0.9436495290537081,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+16,0,continue,reach,can,,-1.271694625500953,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9448204351373772,0.9438034660289866,0.9431558987530948,0.943791230814852,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+17,0,continue,reach,can,,-1.2729022705035196,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9449486507998742,0.9439606865761094,0.9434007203062102,0.9439435650943491,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+18,0,continue,reach,can,,-1.2408236620826487,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9449882882028534,0.9440416031679901,0.9435387866842405,0.9440361305482494,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+19,0,continue,reach,can,,-1.1940179025014543,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9452049257643041,0.9441405012247333,0.9436883455637264,0.9441376476444399,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+20,0,continue,reach,can,,-1.1595425124034555,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9451914005755163,0.9442208705546399,0.9437897453894938,0.9442190333180126,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+21,0,continue,reach,can,,-1.0915500122775643,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9451224455667832,0.9442358029885038,0.943852133254538,0.9442189942278716,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+22,0,continue,reach,can,,-1.0317689213063832,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9451396452288254,0.9443335283410168,0.9439153029224023,0.9443115987719128,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+23,0,continue,reach,can,,-0.9454761718868749,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.945075615577859,0.9443006926225724,0.9439597093225842,0.9442963145267799,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+24,0,continue,reach,can,,-0.8708022268460598,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9993351697921753,1.0,0.9448954882081072,0.9443239903466115,0.9439003704885385,0.9443160550479874,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+25,0,continue,reach,can,,-0.7954270077688099,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9975951313972473,1.0,0.9444583040711053,0.9443178922846147,0.9434957093488529,0.9443140614507962,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+26,0,continue,reach,can,,-0.6940434699347617,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9442671532815899,0.9443411900086538,0.9433666727933947,0.9443331374396067,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+27,0,continue,reach,can,,-0.5735536204715925,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9966735243797302,1.0,0.9439541976127025,0.9443587023918241,0.9430824483781461,0.9443495943889699,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+28,0,continue,reach,can,,-0.47312852751053147,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9974364638328552,1.0,0.9431274411304431,0.9443343883241189,0.9425709147929524,0.9443296975071982,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+29,0,continue,reach,can,,-0.38633278142773975,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9432721528324443,0.9443793419862748,0.9427613619599297,0.9443701948932797,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+30,0,continue,reach,can,,-0.2906972997063024,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9941827654838562,1.0,0.9427058930498433,0.9443507280030591,0.9423622516202668,0.9443461153664204,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+31,0,continue,reach,can,,-0.19011262890700176,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.999538004398346,1.0,0.9422230516281473,0.9443662858791791,0.9421042175994916,0.9443298538677622,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+32,0,continue,reach,can,,-0.07629333303901886,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9426671156299662,0.9443844237046055,0.9426538640721653,0.9443668722312941,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+33,0,continue,reach,can,,0.006417354442436518,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9970306754112244,1.0,0.9427810243008552,0.9443744948087902,0.9426947132695158,0.9443655431665,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+34,0,continue,reach,can,,0.08975351063059919,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.998943567276001,1.0,0.9427525666782035,0.9443829382792474,0.9426134448663661,0.9443773092989426,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+35,0,continue,reach,can,,0.1519012988816298,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9980724453926086,1.0,0.9431430771868452,0.9444146012934614,0.9427170337400298,0.9444068223554014,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+36,0,continue,reach,can,,0.23187220955529567,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9966182112693787,1.0,0.942892509383002,0.944440557147089,0.9424960180827865,0.9444246083695589,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+37,0,continue,reach,can,,0.27186912890417214,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9988614320755005,1.0,0.9428000221093837,0.944395838025779,0.9424305420966028,0.9443921635525245,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+38,0,next,grasp,can,,0.347699172667023,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9430568443357877,0.9444138194906414,0.9427359924584173,0.9444049460286332,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+39,1,continue,grasp,can,,0.03729278315913981,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9991169571876526,1.0,0.9432464315196628,0.9444224975019445,0.9429300750085079,0.9444122949751421,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+40,1,continue,grasp,can,,0.05236674964898681,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9965305328369141,1.0,0.9431128214177071,0.9444197611920742,0.9428239061855379,0.944410145017387,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+41,1,continue,grasp,can,,0.050129101467104385,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9939934611320496,1.0,0.9426156730044033,0.9444065487244144,0.942394735527442,0.9443937662483057,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+42,1,continue,grasp,can,,0.06966118388732642,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9997074007987976,1.0,0.9424402364515722,0.9444372735752445,0.942235521383128,0.9444217156991245,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+43,1,continue,grasp,can,,0.025121791251124705,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9982163906097412,1.0,0.9425156022434301,0.9444059232821583,0.9423365303074853,0.9444001770314305,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+44,1,continue,grasp,can,,0.05131210733412176,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9990983009338379,1.0,0.9425433562435438,0.944395681665215,0.9423823048626024,0.9443848146060156,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+45,1,continue,grasp,can,,0.10166165771825471,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9428149545432477,0.9444063141835684,0.9426677801623633,0.9444056105610303,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+46,1,continue,grasp,can,,0.13848092670187617,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9926357865333557,1.0,0.9424819847221656,0.9443940398792928,0.9423433319920202,0.9443850882370026,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+47,1,continue,grasp,can,,0.24568402727081354,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9945290088653564,1.0,0.9416770405385871,0.9444135849497953,0.9415473394507319,0.944411005000489,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+48,1,continue,grasp,can,,0.320756354563859,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9969287514686584,1.0,0.9414156056755445,0.9444470461104958,0.9412465408156971,0.944433677282272,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+49,1,continue,grasp,can,,0.4771835693520295,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9416900966456828,0.9443995124990335,0.9416271615186644,0.9443990043272004,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+50,1,continue,grasp,can,,0.5520151745623461,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.942122589965764,0.9444292991864794,0.9420904969599988,0.9444205820850353,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+51,1,continue,grasp,can,,0.605987170704081,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9424661923051996,0.9444003724821356,0.9424324575135121,0.9444003333919946,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+52,1,continue,grasp,can,,0.673771614043404,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9427226236301935,0.9444239047470208,0.9426922115004914,0.9444168294314987,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+53,1,continue,grasp,can,,0.7269302056418534,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9992496371269226,1.0,0.9428637390392222,0.9444160867188197,0.9428265643151262,0.944410496828656,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+54,1,continue,grasp,can,,0.7684088279156195,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9993687868118286,0.9430665386907571,0.9443483044143167,0.9429883974988877,0.9443479916931887,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+55,1,continue,grasp,can,,0.7705596876455875,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.997369647026062,0.9431955361560741,0.9441924129319881,0.9431163786205387,0.9441758778023429,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+56,1,continue,grasp,can,,0.7711506852636182,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9988064765930176,0.999910295009613,0.9432364244435655,0.94408554048648,0.9431592214150804,0.9440650963427342,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+57,1,continue,grasp,can,,0.7702092466936841,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.989067554473877,1.0,0.9425851045141374,0.944101254723164,0.9425267038434756,0.944086635010428,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+58,1,continue,grasp,can,,0.7685483879828902,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.9341548085212708,1.0,0.9238137060823243,0.944138624897965,0.9237633970708506,0.944123575193678,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+59,1,continue,grasp,can,,0.7679314266193358,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.8574069142341614,0.9993520379066467,0.8720650828957257,0.9441450356810898,0.8719584840812046,0.9441258424218563,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+60,1,continue,grasp,can,,0.7661788162170607,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.7783709764480591,1.0,0.8115087473181232,0.9441438629768597,0.8051148902243297,0.9441331131880832,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+61,1,continue,grasp,can,,0.7678956907945235,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.7073501944541931,0.998873233795166,0.7726831683872714,0.9440737352638964,0.7441316512168097,0.9440691617173987,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+62,1,continue,grasp,can,,0.7702732334395378,0.0,,,6.313169004089293,0.0,0.02525267721579492,0.0,1,0,105_sauce-can,,0.6334605813026428,0.9977477192878723,0.7075549280979856,0.9439071330829323,0.6766543279939589,0.9438966569251429,0,0,1,0,1,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+63,1,continue,grasp,can,,0.7598887050809338,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.7649659927500297,0.9438309073079723,0.7564824158082406,0.9438308291276902,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+64,1,continue,grasp,can,,0.7598007553263926,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9146544951434018,0.9439785898606897,0.9133559206592099,0.9439769480747675,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+65,1,continue,grasp,can,,0.7589204885897851,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9345019669768052,0.9440910131062207,0.9334641237331178,0.9440876513540942,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+66,1,continue,grasp,can,,0.7577118466778666,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9999622106552124,0.937544665372366,0.9441754478107919,0.9367467183240274,0.9441750959995228,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+67,1,continue,grasp,can,,0.7591690179901986,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9970360994338989,0.9383535967503271,0.9439631883451337,0.9376839826349085,0.9439618983704805,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+68,1,continue,grasp,can,,0.7591047889115837,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9392188961116177,0.9438602249137261,0.9386406747458691,0.943859052209496,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+69,1,continue,grasp,can,,0.7600766426270723,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9997090697288513,0.9404041873671766,0.9439474741084497,0.9399788475428993,0.9439468095760526,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+70,1,continue,grasp,can,,0.7605485296051784,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9966808557510376,0.9411896646605346,0.9435922229069946,0.940950823898993,0.9435903074900853,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+71,1,continue,grasp,can,,0.7581735691998586,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9985682368278503,0.9417241050683574,0.9433405605792033,0.9415078584083167,0.9433333679932584,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+72,1,continue,grasp,can,,0.7570247212166051,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9962002038955688,0.942175205295557,0.942975458662215,0.9420558240049273,0.9429737777861518,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+73,1,continue,grasp,can,,0.7570517918598622,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9426367816805461,0.9430462899977163,0.9425034061194364,0.9430378465272593,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+74,1,continue,grasp,can,,0.757224419692158,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.9996803402900696,0.9430626296766565,0.9432189120603952,0.9428889912703116,0.943217192094191,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+75,1,continue,grasp,can,,0.7568558394697776,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.999839723110199,0.9433895014357417,0.9434158481907793,0.9432888052325125,0.9434127600696398,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+76,1,continue,grasp,can,,0.7565969019248889,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,1.0,0.9435593090082682,0.9435776031942587,0.943550005554709,0.9435740850815681,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+77,1,continue,grasp,can,,0.756665063606594,0.0,,,0.0,0.0,0.0,0.0,0,0,,,1.0,0.998833954334259,0.9439670973592342,0.9435751014252344,0.9437646495189684,0.9435623580392667,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+78,1,continue,grasp,can,,0.7712702602122588,0.0,,,34.45420232366565,0.0,0.13781681584060979,0.0,1,0,105_sauce-can,,0.0,1.0,0.8063494741476962,0.9437027698257573,0.689055069330665,0.9437024961947702,0,0,1,0,1,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+79,1,next,transport,can,,0.7770226747793997,0.0,,,51.51276424633413,0.0,0.20605106677223656,0.0,1,0,105_sauce-can,,0.0,1.0,0.745191932201434,0.943822229296669,0.6899636805681892,0.9438125740318408,1,0,1,0,2,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+80,2,continue,transport,can,,-0.11894042973722091,0.0,,,39.02171042309518,0.0,0.15608684910610787,0.0,1,0,105_sauce-can,,0.0,0.9988253116607666,0.7368196058009456,0.9438148021698781,0.6912517788945918,0.9438102286233805,1,0,1,0,3,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+81,2,continue,transport,can,,-0.1278048324569091,0.0,,,41.25162937119131,0.0,0.16500652532215426,0.0,1,0,105_sauce-can,,0.0,0.998369574546814,0.7066933032099495,0.9434393804556644,0.6896353820189574,0.9434391068246775,1,0,1,0,4,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+82,2,continue,transport,can,,-0.12649096699325013,0.0,,,41.015219458368854,0.0,0.16406088562594898,0.0,1,0,105_sauce-can,,0.0,0.9992981553077698,0.7061297797372189,0.9434438367317389,0.6886690737333094,0.9434072874498991,1,0,1,0,5,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+83,2,continue,transport,can,,-0.12519292923344144,0.0,,,41.11768530333796,0.0,0.16447074902529285,0.0,1,0,105_sauce-can,,0.0,1.0,0.7003995559672703,0.9435424220673541,0.690508577588731,0.9435109154137038,1,0,1,0,6,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+84,2,continue,transport,can,,-0.1252409582428045,0.0,,,41.200503389441444,0.0,0.1648020213854414,0.0,1,0,105_sauce-can,,0.0,0.9993283152580261,0.6987218071153282,0.9435779940956688,0.6901253378463161,0.9435614589660235,1,0,1,0,7,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+85,2,continue,transport,can,,-0.12454633500363249,0.0,,,37.227209344195636,0.0,0.1489088444495728,0.0,1,0,105_sauce-can,,0.0,0.9975616335868835,0.6985678701400498,0.9434353932612819,0.6906064983919489,0.9434130727907679,1,0,1,0,8,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+86,2,continue,transport,can,,-0.12321114992752308,0.0,,,40.98557226985598,0.0,0.1639422968662648,0.0,1,0,105_sauce-can,,0.0,1.0,0.6948234255331641,0.9435553999941677,0.6896875673571992,0.9434531401852981,1,0,1,0,9,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+87,2,continue,transport,can,,-0.12356399475885771,0.0,,,41.01893758425023,0.0,0.16407575813018088,0.0,1,0,105_sauce-can,,0.0,0.9998467564582825,0.6950139508804234,0.9437032389074493,0.6896941735910291,0.9436133706732784,1,0,1,0,10,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+88,2,continue,transport,can,,-0.12386883361041717,0.0,,,41.05501583035461,0.0,0.1642200711214529,0.0,1,0,105_sauce-can,,0.0,0.9996451139450073,0.6959692357463078,0.943799244293758,0.6895933992075177,0.943715747752571,1,0,1,0,11,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+89,2,continue,transport,can,,-0.12546178872658864,0.0,,,41.31786638889155,0.0,0.1652714734055396,0.0,1,0,105_sauce-can,,0.0,0.9972978234291077,0.699347249371411,0.9435508655378112,0.6894685452971472,0.9434897676474201,1,0,1,0,12,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+90,2,continue,transport,can,,-0.12421260993560407,0.0,,,41.18542452796354,0.0,0.16474170593666496,0.0,1,0,105_sauce-can,,0.0,0.998733401298523,0.6990991833365922,0.9433399351369472,0.6889973527374709,0.9432815344662855,1,0,1,0,13,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+91,2,continue,transport,can,,-0.12397359097906208,0.0,,,41.36006930176806,0.0,0.16544028506506372,0.0,1,0,105_sauce-can,,0.0,0.9995570182800293,0.701416915977071,0.9433209373284187,0.6890502807883918,0.9432822380888236,1,0,1,0,14,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+92,2,continue,transport,can,,-0.12249424367771461,0.0,,,41.27945210714442,0.0,0.16511781627125274,0.0,1,0,105_sauce-can,,0.0,0.9971538186073303,0.7027226830472079,0.9431757565447255,0.6892130912256784,0.9431389727220396,1,0,1,0,15,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+93,2,continue,transport,can,,-0.11076155130791626,0.0,,,41.64354519122703,0.0,0.16657418867675713,0.0,1,0,105_sauce-can,,0.0,0.9940131902694702,0.7061309524414491,0.9424457872515949,0.6898196920337967,0.942393680093635,1,0,1,0,16,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+94,2,continue,transport,can,,-0.1008229290744429,0.0,,,41.70288031724629,0.0,0.16681152919210726,0.0,1,0,105_sauce-can,,0.0,0.9966757893562317,0.711033247024908,0.9418205013560761,0.6898043296083817,0.9417674951248731,1,0,1,0,17,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+95,2,continue,transport,can,,-0.08806739496547433,0.0,,,41.70423621546072,0.0,0.16681695278522257,0.0,1,0,105_sauce-can,,0.0,0.9962560534477234,0.7119702377048021,0.9415084056702908,0.6898006551351272,0.9414720518391559,1,0,1,0,18,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+96,2,continue,transport,can,,-0.07811623778803528,0.0,,,41.70736393406193,0.0,0.16682946366022167,0.0,1,0,105_sauce-can,,0.0,0.9962266087532043,0.7122350343199711,0.9412262530325154,0.6898005378647042,0.9412090533704731,1,0,1,0,19,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+97,2,continue,transport,can,,-0.0723453427241349,0.0,,,41.64954267164649,0.0,0.1665981785995745,0.0,1,0,105_sauce-can,,0.001049362006597221,0.9965102672576904,0.7119906427584067,0.9410351022430001,0.6898157048394142,0.9410191925556111,1,0,1,0,20,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+98,2,continue,transport,can,,-0.06372903788344036,0.0,,,41.68802424438224,0.0,0.16675210489782857,0.0,1,0,105_sauce-can,,0.0,0.9953943490982056,0.7110925076786718,0.9407454442981518,0.6898042905182407,0.9407205047881905,1,0,1,0,21,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+99,2,continue,transport,can,,-0.05684280507252665,0.0,,,41.68807110499981,0.0,0.16675229234030775,0.0,1,0,105_sauce-can,,0.0,0.9997525811195374,0.7110653791208142,0.9409137664453201,0.6898044468788047,0.940905909326978,1,0,1,0,22,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+100,2,continue,transport,can,,-0.050351172003222255,0.0,,,41.31262692823261,0.0,0.1652505155619084,0.0,1,0,105_sauce-can,,0.007332532666623592,0.9978297352790833,0.7119001881721208,0.9413400835231225,0.6899069803186613,0.9413252683596816,1,0,1,0,23,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+101,2,continue,transport,can,,-0.041982015353164315,0.0,,,41.6183789447948,0.0,0.1664735236862469,0.0,1,0,105_sauce-can,,0.0011662158649414778,0.9986781477928162,0.710904953182129,0.9415093438336749,0.6898225456140901,0.9415066857040866,1,0,1,0,24,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+102,2,continue,transport,can,,-0.044760943862583835,0.0,,,41.687452565874324,0.0,0.16674981818368828,0.0,1,0,105_sauce-can,,0.0,1.0,0.7116948085712795,0.9419451989058826,0.6898045641492276,0.9419375372382456,1,0,1,0,25,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+103,2,continue,transport,can,,-0.03616887434494803,0.0,,,41.865503702065894,0.0,0.16746202276228248,0.0,1,0,105_sauce-can,,0.002816907363012433,1.0,0.712188751593021,0.9424401582712901,0.6898796563100986,0.9424356238149335,1,0,1,0,26,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+104,2,continue,transport,can,,-0.035668887506024594,0.0,,,41.95997832244236,0.0,0.16783992126173755,0.0,1,0,105_sauce-can,,0.0005608611390925944,0.9990900754928589,0.7156973262890814,0.9426137184973531,0.6898408398000805,0.9426105912860727,1,0,1,0,27,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+105,2,continue,transport,can,,-0.035021581413498426,0.0,,,42.00012084714941,0.0,0.16800049136819242,0.0,1,0,105_sauce-can,,0.0,0.9963635206222534,0.7177451024157785,0.9424847210320361,0.6898341553859686,0.9424794047728593,1,0,1,0,28,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+106,2,continue,transport,can,,-0.02230798409626361,0.0,,,41.98490858289014,0.0,0.16793964230826516,0.0,1,0,105_sauce-can,,0.0,0.9968516230583191,0.7183961096240787,0.9421962357914179,0.6898376344085181,0.9421872841491277,1,0,1,0,29,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+107,2,continue,transport,can,,-0.01613643097951023,0.0,,,41.97523568594112,0.0,0.16790095071863134,0.0,1,0,105_sauce-can,,0.0,1.0,0.7188920853331524,0.942325780518709,0.6898391589240174,0.942325545977863,1,0,1,0,30,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+108,2,continue,transport,can,,-0.0077526172347481825,0.0,,,41.976740336395665,0.0,0.16790696932073537,0.0,1,0,105_sauce-can,,0.0,1.0,0.718934459046002,0.9426539813425884,0.6898388462028893,0.9426517922946921,1,0,1,0,31,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+109,2,continue,transport,can,,0.015938502140525335,0.0,,,41.974851780966105,0.0,0.16789941509865833,0.0,1,0,105_sauce-can,,0.0,0.9994960427284241,0.7183810990099327,0.9428890694505936,0.6898391198338762,0.9428864504111463,1,0,1,0,32,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+110,2,continue,transport,can,,0.02967637278354679,0.0,,,41.969996641332436,0.0,0.16787999453920124,0.0,1,0,105_sauce-can,,0.0,0.9965944886207581,0.7186683333660387,0.9427492831063591,0.6898394716451453,0.942749087655654,1,0,1,0,33,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+111,2,continue,transport,can,,0.06112762463539223,0.0,,,41.77411760513613,0.0,0.16709647835720098,0.0,1,0,105_sauce-can,,0.0036973129026591778,0.9976966381072998,0.7181067644003584,0.9424389073867779,0.6898936114904375,0.9424294084825137,1,0,1,0,34,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+112,2,continue,transport,can,,0.09481829284013388,0.0,,,41.85566171401355,0.0,0.1674226548082032,0.0,1,0,105_sauce-can,,0.0019774034153670073,0.9987820982933044,0.7176555078125947,0.9424516507727456,0.6898695710537193,0.9424504389783745,1,0,1,0,35,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+113,2,next,place,can,,0.137703183878241,0.0,,,41.95585280473921,0.0,0.16782341919014113,0.0,1,0,105_sauce-can,,0.0,0.9964397549629211,0.7172581956194181,0.9422525255944653,0.6898416216029006,0.9422443166648542,1,0,1,0,36,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+114,3,continue,place,can,,0.38441120603311507,0.0,,,41.8709754901593,0.0,0.1674839099156957,0.0,1,0,105_sauce-can,,0.0014184147585183382,0.9945255517959595,0.7169615014491888,0.9416653134962856,0.6898626911889024,0.9416606617695059,1,0,1,0,37,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+115,3,continue,place,can,,0.43141036578065795,0.0,,,41.820910546748955,0.0,0.16728365013254248,0.0,1,0,105_sauce-can,,0.00232410104945302,0.9954715371131897,0.7164918724951527,0.9411012427615809,0.6898764509185362,0.9410881475643442,1,0,1,0,38,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+116,3,continue,place,can,,0.4996699120416894,0.0,,,41.71175681896316,0.0,0.1668470352006612,0.0,1,0,105_sauce-can,,0.004348205868154764,0.9926497340202332,0.7158384416981102,0.9403756515642429,0.6899051821721751,0.94034676395004,1,0,1,0,39,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+117,3,continue,place,can,,0.5487228254935015,0.0,,,41.93523080548529,0.0,0.1677409311892075,0.0,1,0,105_sauce-can,,0.0,0.9929725527763367,0.7162438846406158,0.9395664856454357,0.6898432633888228,0.9395291154706347,1,0,1,0,40,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+118,3,continue,place,can,,0.612815243141705,0.0,,,41.82578988532119,0.0,0.16730316748775845,0.0,1,0,105_sauce-can,,0.002182684140279889,0.9935581684112549,0.7159915968705683,0.9388935097778907,0.6898728937157047,0.938874668329926,1,0,1,0,41,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+119,3,continue,place,can,,0.6612199123939297,0.0,,,41.776344299235184,0.0,0.16710538513402026,0.0,1,0,105_sauce-can,,0.003135122824460268,0.9963129758834839,0.7167665198258549,0.9388235384254914,0.6898863798143515,0.9388007488732854,1,0,1,0,42,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+120,3,continue,place,can,,0.7167872090751283,0.0,,,41.83646233523259,0.0,0.1673458572894317,0.0,1,0,105_sauce-can,,0.0020636776462197304,0.9985294938087463,0.7164895270866923,0.9394510915491884,0.6898701183156934,0.9394367845575805,1,0,1,0,43,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+121,3,continue,place,can,,0.7659466792679563,0.0,,,41.90414450025174,0.0,0.1676165859623672,0.0,1,0,105_sauce-can,,0.0009072827524505556,0.9962181448936462,0.7165864706363851,0.9397736633927631,0.6898515504987159,0.939773272491353,1,0,1,0,44,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+122,3,continue,place,can,,0.8299876055197696,0.0,,,41.785001447811226,0.0,0.1671400137299692,0.0,1,0,105_sauce-can,,0.0033183798659592867,0.9986661076545715,0.7163445026635631,0.940218509197402,0.6898851289298393,0.9401410716280707,1,0,1,0,45,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+123,3,continue,place,can,,0.8680650229719444,0.0,,,41.93098930684173,0.0,0.1677239651938274,0.0,1,0,105_sauce-can,,0.0007389845559373498,0.9979215264320374,0.7167965410541469,0.9406598368893504,0.6898451397155911,0.9406262193680859,1,0,1,0,46,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+124,3,continue,place,can,,0.904669445893461,0.0,,,41.90398479706222,0.0,0.1676159471495788,0.0,1,0,105_sauce-can,,0.0013652592897415161,0.9929964542388916,0.7175436318290379,0.9404357722011087,0.6898529968339331,0.9403132636991985,1,0,1,0,47,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+125,3,continue,place,can,,0.947662281223927,0.0,,,41.65775860763301,0.0,0.1666310423450815,0.0,1,0,105_sauce-can,,0.006183534394949675,0.9958191514015198,0.7171456160133232,0.9398543454437978,0.689920700958154,0.9398529772888626,1,0,1,0,48,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+126,3,continue,place,can,,0.9713658702028347,0.0,,,41.81746279890129,0.0,0.16726985914049677,0.0,1,0,105_sauce-can,,0.0031382692977786064,0.9985033869743347,0.7174101780876462,0.9401119494730219,0.6898776236227664,0.9401010433236814,1,0,1,0,49,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+127,3,continue,place,can,,0.9779153676373811,0.0,,,41.684634271089735,0.0,0.16673854500401447,0.0,1,0,105_sauce-can,,0.005852733738720417,0.9979757070541382,0.7184333234383157,0.9405012090971514,0.6899136256426321,0.9404041873671766,1,0,1,0,50,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+128,3,continue,place,can,,0.9838175303898156,0.0,,,41.92436240696986,0.0,0.1676974575930809,0.0,1,0,105_sauce-can,,0.0012541459873318672,1.0,0.7185291724640603,0.9408796016620815,0.6898490487296915,0.9408435214619337,1,0,1,0,51,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+129,3,continue,place,can,,0.9914156215160107,0.0,,,41.93661182543606,0.0,0.16774645526927295,0.0,1,0,105_sauce-can,,0.0010372184915468097,0.9957689046859741,0.7185398049824138,0.9409957775611489,0.689844748814181,0.9409684535525863,1,0,1,0,52,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+130,3,continue,place,can,,0.9930090109615958,0.0,,,41.99076222334291,0.0,0.1679630568711884,0.0,1,0,105_sauce-can,,0.0,1.0,0.7181324075328578,0.9411708232125701,0.689829738200035,0.9411519817646056,1,0,1,0,53,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+131,3,continue,place,can,,1.0025152946573865,0.0,,,41.64747886784083,0.0,0.16658992338395973,0.0,1,0,105_sauce-can,,0.006814776919782162,0.9981706142425537,0.7187176651239873,0.9414137293487762,0.6899253526849337,0.9413900016331861,1,0,1,0,54,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+132,3,continue,place,can,,0.9919406226498487,0.0,,,41.9609651771464,0.0,0.1678438686807412,0.0,1,0,105_sauce-can,,0.0007072457810863853,0.9989051222801208,0.7180269423324258,0.9415912767692217,0.6898375562282361,0.9415682135860286,1,0,1,0,55,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+133,3,continue,place,can,,0.9932033978991943,0.0,,,41.99554129706374,0.0,0.16798217316697966,0.0,1,0,105_sauce-can,,0.0,1.0,0.7186579353885314,0.9419324555199149,0.689828995487356,0.9418959062380751,1,0,1,0,56,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+134,3,continue,place,can,,1.0058917511258658,0.0,,,41.54777222210689,0.0,0.16619109678208072,0.0,1,0,105_sauce-can,,0.008569957688450813,0.9968425035476685,0.7188297756483901,0.9419902307483206,0.6899515821695481,0.9419518833199945,1,0,1,0,57,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+135,3,continue,place,can,,1.007942217283372,0.0,,,41.62674465025495,0.0,0.1665069865096769,0.0,1,0,105_sauce-can,,0.00693267909809947,0.995130181312561,0.7187945945214854,0.9416620299244411,0.6899290271581882,0.9416351749975705,1,0,1,0,58,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+136,3,continue,place,can,,1.005946255428972,0.0,,,41.764799685094346,0.0,0.16705920667526353,0.0,1,0,105_sauce-can,,0.004276062361896038,0.9937117695808411,0.7188986524768413,0.9410852939840507,0.68989060154958,0.9410736842121722,1,0,1,0,59,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+137,3,continue,place,can,,1.001187764884508,0.0,,,41.94693004541087,0.0,0.16778772815113258,0.0,1,0,105_sauce-can,,0.0009663444943726063,0.9925634860992432,0.7188421281329478,0.9402547848482548,0.6898421688648747,0.940226170865039,1,0,1,0,60,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+138,3,continue,place,can,,0.9909856979495062,0.0,,,41.922346529403434,0.0,0.1676893940824322,0.0,1,0,105_sauce-can,,0.0013336308766156435,0.9965870380401611,0.7187193850901915,0.9399504290103885,0.6898488923691275,0.939931626652565,1,0,1,0,61,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+139,3,continue,place,can,,0.9977812903376799,0.0,,,41.329087231835786,0.0,0.16531635677944836,0.0,1,0,105_sauce-can,,0.012939308770000935,0.9928931593894958,0.7192008192668112,0.9397028320572618,0.6900129536909263,0.9396663609557039,1,0,1,0,62,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+140,3,continue,place,can,,0.990497763915321,0.0,,,41.7603338959771,0.0,0.16704134351794608,0.0,1,0,105_sauce-can,,0.00421959487721324,0.9926550984382629,0.718986996195513,0.9392328122018155,0.6898929078678995,0.9392026737031005,1,0,1,0,63,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+141,3,continue,place,can,,0.9856441138749342,0.0,,,41.79567438113913,0.0,0.16718270546530856,0.0,1,0,105_sauce-can,,0.0036775521002709866,0.9979284405708313,0.7193171515264426,0.939213501672159,0.6898834871439171,0.9391918848241831,1,0,1,0,64,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+142,3,continue,place,can,,0.9842318462941704,0.0,,,41.994130774129516,0.0,0.1679765310749748,0.0,1,0,105_sauce-can,,0.0,0.9972887635231018,0.7186358885490045,0.9394434298815514,0.68982915184792,0.9394304519547376,1,0,1,0,65,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+143,3,continue,place,can,,0.9870415331876147,0.0,,,41.94969094367102,0.0,0.1677987717446977,0.0,1,0,105_sauce-can,,0.0008112937211990356,1.0,0.7190276499421583,0.9398842884918077,0.6899475558850245,0.9398545018043618,1,0,1,0,66,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+144,3,continue,place,can,,0.9872449486279387,0.0,,,41.930145031606244,0.0,0.16772058809272505,0.0,1,0,105_sauce-can,,0.0015311287716031075,1.0,0.7185609136585566,0.9402572084369971,0.6899536930371625,0.940226249045321,1,0,1,0,67,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+145,3,continue,place,can,,1.0015785684861087,0.0,,,41.18516089909421,0.0,0.16474065142113753,0.0,1,0,105_sauce-can,,0.01597783900797367,0.9982190728187561,0.7188566696654017,0.9405023036210995,0.6901581344746195,0.9404746278012679,1,0,1,0,68,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+146,3,continue,place,can,,1.0284338960023223,0.0,,,39.75790378595012,0.0,0.15903162269739687,0.0,1,0,105_sauce-can,,0.04370846226811409,1.0,0.7184275380974469,0.9407646766475263,0.6905495049663632,0.9407345381488113,1,0,1,0,69,0,0,0,0,0,1,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+147,3,continue,place,can,,1.0977055573568975,0.0,,,36.129194193096,0.0,0.14451678363656256,0.0,1,0,105_sauce-can,,0.11333469301462173,0.9966492056846619,0.7184009568015634,0.9408869506085905,0.6915432936211379,0.9408657637521657,1,0,1,0,70,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+148,3,continue,place,can,,1.1876325643646162,0.0,,,31.400240063372443,0.0,0.12560096621921527,0.0,1,0,105_sauce-can,,0.20360270142555237,0.9990590810775757,0.71820988419233,0.9409792033413628,0.6928333464545906,0.9409607527948083,1,0,1,0,71,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+149,3,continue,place,can,,1.2663185984658418,0.0,,,27.22400602843819,0.0,0.10889602928603637,0.0,1,0,105_sauce-can,,0.2825506329536438,0.9989771246910095,0.7170596958833938,0.9411588616294225,0.6939677423465609,0.9411433037533025,1,0,1,0,72,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+150,3,continue,place,can,,1.3301006690570274,0.0,,,23.844766416533208,0.0,0.09537907019639535,0.0,1,0,105_sauce-can,,0.3462952673435211,0.9964486956596375,0.7154617690993843,0.9412010008014261,0.6948835461700301,0.9411868892605233,1,0,1,0,73,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+151,3,continue,place,can,,1.4061124464726968,0.0,,,19.945799060185138,0.0,0.07978320003023903,0.0,1,0,105_sauce-can,,0.4205673933029175,0.999850869178772,0.7140874379219243,0.9412902826834819,0.6959461725631148,0.9412812528609097,1,0,1,0,74,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+152,3,continue,place,can,,1.4852405966813989,0.0,,,15.798629853186846,0.0,0.063194522414326,0.0,1,0,105_sauce-can,,0.4995313584804535,0.9991786479949951,0.7125243795436914,0.9415058257209844,0.6970754476466132,0.9414929650645938,1,0,1,0,75,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+153,3,continue,place,can,,1.5451377136312665,0.0,,,12.674304470998218,0.0,0.05069722029198151,0.0,1,0,105_sauce-can,,0.5585249662399292,1.0,0.710783617384449,0.9417578789501858,0.6978980996640671,0.9417490445783187,1,0,1,0,76,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+154,3,continue,place,can,,1.6299148867617839,0.0,,,8.28546392971385,0.0,0.03314185729300908,0.0,1,0,105_sauce-can,,0.642509400844574,0.9996253848075867,0.7096174021177005,0.9419456679875746,0.6991073531760622,0.941940977170654,1,0,1,0,77,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+155,3,next,,,,1.6917292048528476,0.0,,,5.009839347096432,0.0,0.02003935834020413,0.0,1,0,105_sauce-can,,0.7045135498046875,0.999642014503479,0.7080884303424242,0.9421031230755434,0.7000029864867727,0.9421009340276472,1,0,1,0,78,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact
+156,4,continue,,,,0.0,0.0,,,0.0,0.0,0.0,0.0,0,0,,,0.7897487282752991,0.9994006752967834,0.706803146506174,0.9422618290480245,0.7011866359564095,0.942258506386039,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,2,0.004000000189989805,2.0,robotwin_gripper_contact