data/workcells.jsonl

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Y\"},\"world_from_asset\":[[1,0,0,0],[0,0,-1,-0.16],[0,1,0,1.1],[0,0,0,1]]},\"manifest_path\":\"rrm_tb1/manifest.json\",\"manifest_sha256\":\"9a50851db6c8dd2134f46a3b349cdb7ac90ce569c080dd90a714d42e022eb05b\",\"ready_pose\":{\"arm_joint_order\":[\"panda_joint1\",\"panda_joint2\",\"panda_joint3\",\"panda_joint4\",\"panda_joint5\",\"panda_joint6\",\"panda_joint7\"],\"arm_joint_positions_rad\":[0.49942887217041826,-0.6995988775595136,-0.25235269046720654,-1.7713277462436996,-0.6364854959231356,2.6201873379256164,0.4008158649615629],\"gripper_joint_positions_rad\":{\"finger_joint\":0.6252966194626539,\"left_inner_finger_joint\":-0.6252966194626539,\"left_inner_finger_knuckle_joint\":-0.6252966194626539,\"right_inner_finger_joint\":0.6252966194626539,\"right_inner_finger_knuckle_joint\":-0.6252966194626539,\"right_outer_knuckle_joint\":0.6252966194626539},\"pose_kind\":\"centered_waiting_pose\",\"robot_model_convention\":\"Franka Panda with Robotiq 2F-85\",\"source\":\"AstroBench static joint configuration; no trajectory is included.\",\"task_outcome\":false,\"tcp_transform_world\":[[-8.815221120172532e-09,-1.0000000000000009,-1.204425975290194e-08,6.843468027082593e-10],[1.0000000000000002,-8.815221386702381e-09,3.634188366916738e-08,-0.4000000062659389],[-3.6341883990826605e-08,-1.2044259162604346e-08,1.0000000000000004,1.100000000529315],[0.0,0.0,0.0,1.0]],\"tool_kind\":\"fdv1\",\"tool_tip_panel_local_m\":[0,0,0.12],\"tool_transform_asset\":[[1,0,0,0],[0,1,0,0],[0,0,1,0.12],[0,0,0,1]],\"tool_transform_in_tcp\":[[0,0,-1,0.12],[-1,0,0,0],[0,1,0,0],[0,0,0,1]],\"tool_transform_world\":[[1.0000000000000009,-1.204425975290194e-08,8.815221120172532e-09,-3.734797317124445e-10],[8.815221386702381e-09,3.634188366916738e-08,-1.0000000000000002,-0.2800000062659389],[1.2044259162604346e-08,1.0000000000000004,3.6341883990826605e-08,1.099999996168289],[0.0,0.0,0.0,1.0]]},\"robot_attachment_frames\":{\"base\":{\"role\":\"fixed flange on the 28 mm floor mounting plate\",\"transform_asset\":[[0.0,-1.0,0.0,0.0],[0.0,0.0,1.0,-0.9554500579833984],[-1.0,0.0,0.0,0.690000057220459],[0.0,0.0,0.0,1.0]],\"transform_world\":[[0,-1,0,0],[1,0,0,-0.85],[0,0,1,0.14455],[0,0,0,1]]},\"robot_asset\":\"provided by runtime; no robot CAD is 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