Datasets:

dongseop08
/

capstone

index,source_index,target_position_variant,position_code,lateral_variant,angle_variant,target_robot_x_offset,target_robot_y_offset,target_color,target_slot,target_x,target_y,style,description,order_left_front_right,blue_slot,blue_x,blue_y,red_slot,red_x,red_y,yellow_slot,yellow_x,yellow_y,returncode,success,grasp_lifted,contact_step,final_step,final_lift_height,final_distance,source_report_dir
1,1,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,blue,F,0.03,-0.22,horizontal,previous fixed-slot horizontal grasp,RBY,F,0.03,-0.22,L,-0.12,-0.22,R,0.12,-0.22,0,True,True,305,786,0.1149103967268788,0.02578276022781851,20260603_031737_target540_line120_y220_rl30_c_001_blue_horizontal_RBY_F
2,2,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,blue,R,0.15,-0.22,horizontal,previous fixed-slot horizontal grasp,RYB,R,0.15,-0.22,L,-0.12,-0.22,F,0.0,-0.22,0,True,True,287,769,0.11428453138144343,0.02749238104668894,20260603_031750_target540_line120_y220_rl30_c_002_blue_horizontal_RYB_R
3,3,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,blue,L,-0.09,-0.22,horizontal,previous fixed-slot horizontal grasp,BRY,L,-0.09,-0.22,F,0.0,-0.22,R,0.12,-0.22,0,True,True,309,791,0.112953844010131,0.029750391486356158,20260603_031803_target540_line120_y220_rl30_c_003_blue_horizontal_BRY_L
4,4,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,blue,L,-0.09,-0.22,horizontal,previous fixed-slot horizontal grasp,BYR,L,-0.09,-0.22,R,0.12,-0.22,F,0.0,-0.22,0,True,True,309,791,0.112953844010131,0.029750391486356158,20260603_031815_target540_line120_y220_rl30_c_004_blue_horizontal_BYR_L
5,5,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,blue,R,0.15,-0.22,horizontal,previous fixed-slot horizontal grasp,YRB,R,0.15,-0.22,F,0.0,-0.22,L,-0.12,-0.22,0,True,True,287,769,0.11428453138144343,0.02749238104668894,20260603_031828_target540_line120_y220_rl30_c_005_blue_horizontal_YRB_R
6,6,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,blue,F,0.03,-0.22,horizontal,previous fixed-slot horizontal grasp,YBR,F,0.03,-0.22,R,0.12,-0.22,L,-0.12,-0.22,0,True,True,305,786,0.1149103967268788,0.02578276022781851,20260603_031840_target540_line120_y220_rl30_c_006_blue_horizontal_YBR_F
7,7,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,blue,F,0.03,-0.22,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RBY,F,0.03,-0.22,L,-0.12,-0.22,R,0.12,-0.22,0,False,True,330,620,0.09015684706151472,0.01678338306123056,20260603_031853_target540_line120_y220_rl30_c_007_blue_vertical_no_roll_midhold_RBY_F
8,8,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,blue,R,0.15,-0.22,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RYB,R,0.15,-0.22,L,-0.12,-0.22,F,0.0,-0.22,0,False,True,332,620,0.0920511456921399,0.02185112590878996,20260603_031912_target540_line120_y220_rl30_c_008_blue_vertical_no_roll_midhold_RYB_R
9,9,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,blue,L,-0.09,-0.22,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BRY,L,-0.09,-0.22,F,0.0,-0.22,R,0.12,-0.22,0,False,True,328,620,0.09149152141635217,0.019480555857169277,20260603_031931_target540_line120_y220_rl30_c_009_blue_vertical_no_roll_midhold_BRY_L
10,10,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,blue,L,-0.09,-0.22,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BYR,L,-0.09,-0.22,R,0.12,-0.22,F,0.0,-0.22,0,False,True,328,620,0.09149152141635217,0.019480555857169277,20260603_031951_target540_line120_y220_rl30_c_010_blue_vertical_no_roll_midhold_BYR_L
11,11,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,blue,R,0.15,-0.22,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YRB,R,0.15,-0.22,F,0.0,-0.22,L,-0.12,-0.22,0,False,True,332,620,0.0920511456921399,0.02185112590878996,20260603_032010_target540_line120_y220_rl30_c_011_blue_vertical_no_roll_midhold_YRB_R
12,12,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,blue,F,0.03,-0.22,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YBR,F,0.03,-0.22,R,0.12,-0.22,L,-0.12,-0.22,0,False,True,330,620,0.09015684706151472,0.01678338306123056,20260603_032029_target540_line120_y220_rl30_c_012_blue_vertical_no_roll_midhold_YBR_F
13,13,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,blue,F,0.03,-0.22,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",RBY,F,0.03,-0.22,L,-0.12,-0.22,R,0.12,-0.22,0,False,True,295,620,0.08856663111203134,0.017558853184713927,20260603_032048_target540_line120_y220_rl30_c_013_blue_roll90_locked_xface_midhold_RBY_F
14,14,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,blue,R,0.15,-0.22,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",RYB,R,0.15,-0.22,L,-0.12,-0.22,F,0.0,-0.22,0,False,True,290,620,0.09142414478808752,0.016021829102495503,20260603_032107_target540_line120_y220_rl30_c_014_blue_roll90_locked_xface_midhold_RYB_R
15,15,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,blue,L,-0.09,-0.22,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",BRY,L,-0.09,-0.22,F,0.0,-0.22,R,0.12,-0.22,0,False,True,293,620,0.09013373654321594,0.01716731725473712,20260603_032126_target540_line120_y220_rl30_c_015_blue_roll90_locked_xface_midhold_BRY_L
16,16,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,blue,L,-0.09,-0.22,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",BYR,L,-0.09,-0.22,R,0.12,-0.22,F,0.0,-0.22,0,False,True,293,620,0.09013373654321594,0.01716731725473712,20260603_032145_target540_line120_y220_rl30_c_016_blue_roll90_locked_xface_midhold_BYR_L
17,17,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,blue,R,0.15,-0.22,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",YRB,R,0.15,-0.22,F,0.0,-0.22,L,-0.12,-0.22,0,False,True,290,620,0.09142414478808752,0.016021829102495503,20260603_032203_target540_line120_y220_rl30_c_017_blue_roll90_locked_xface_midhold_YRB_R
18,18,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,blue,F,0.03,-0.22,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",YBR,F,0.03,-0.22,R,0.12,-0.22,L,-0.12,-0.22,0,False,True,295,620,0.08856663111203134,0.017558853184713927,20260603_032224_target540_line120_y220_rl30_c_018_blue_roll90_locked_xface_midhold_YBR_F
19,55,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,blue,F,0.0325,-0.222,horizontal,previous fixed-slot horizontal grasp,RBY,F,0.0325,-0.222,L,-0.12,-0.22,R,0.12,-0.22,0,True,True,301,782,0.11479036779566942,0.02594508806322702,20260603_033300_target540_line120_y220_rl30_l15_055_blue_horizontal_RBY_F
20,56,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,blue,R,0.1525,-0.222,horizontal,previous fixed-slot horizontal grasp,RYB,R,0.1525,-0.222,L,-0.12,-0.22,F,0.0,-0.22,0,True,True,287,769,0.11430568338330332,0.027479600640364796,20260603_033313_target540_line120_y220_rl30_l15_056_blue_horizontal_RYB_R
21,57,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,blue,L,-0.0875,-0.222,horizontal,previous fixed-slot horizontal grasp,BRY,L,-0.0875,-0.222,F,0.0,-0.22,R,0.12,-0.22,0,True,True,306,788,0.11311912636286173,0.0296210488297084,20260603_033327_target540_line120_y220_rl30_l15_057_blue_horizontal_BRY_L
22,58,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,blue,L,-0.0875,-0.222,horizontal,previous fixed-slot horizontal grasp,BYR,L,-0.0875,-0.222,R,0.12,-0.22,F,0.0,-0.22,0,True,True,306,788,0.11311912636286173,0.0296210488297084,20260603_033340_target540_line120_y220_rl30_l15_058_blue_horizontal_BYR_L
23,59,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,blue,R,0.1525,-0.222,horizontal,previous fixed-slot horizontal grasp,YRB,R,0.1525,-0.222,F,0.0,-0.22,L,-0.12,-0.22,0,True,True,287,769,0.11430568338330332,0.027479600640364796,20260603_033352_target540_line120_y220_rl30_l15_059_blue_horizontal_YRB_R
24,60,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,blue,F,0.0325,-0.222,horizontal,previous fixed-slot horizontal grasp,YBR,F,0.0325,-0.222,R,0.12,-0.22,L,-0.12,-0.22,0,True,True,301,782,0.11479036779566942,0.02594508806322702,20260603_033404_target540_line120_y220_rl30_l15_060_blue_horizontal_YBR_F
25,61,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,blue,F,0.0325,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RBY,F,0.0325,-0.222,L,-0.12,-0.22,R,0.12,-0.22,0,False,True,330,620,0.09041524875707235,0.01766741944070536,20260603_033416_target540_line120_y220_rl30_l15_061_blue_vertical_no_roll_midhold_RBY_F
26,62,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,blue,R,0.1525,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RYB,R,0.1525,-0.222,L,-0.12,-0.22,F,0.0,-0.22,0,False,True,332,620,0.09229098125053259,0.02271747509620795,20260603_033435_target540_line120_y220_rl30_l15_062_blue_vertical_no_roll_midhold_RYB_R
27,63,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,blue,L,-0.0875,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BRY,L,-0.0875,-0.222,F,0.0,-0.22,R,0.12,-0.22,0,False,True,328,620,0.09157164092628362,0.019605627409474663,20260603_033455_target540_line120_y220_rl30_l15_063_blue_vertical_no_roll_midhold_BRY_L
28,64,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,blue,L,-0.0875,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BYR,L,-0.0875,-0.222,R,0.12,-0.22,F,0.0,-0.22,0,False,True,328,620,0.09157164092628362,0.019605627409474663,20260603_033516_target540_line120_y220_rl30_l15_064_blue_vertical_no_roll_midhold_BYR_L
29,65,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,blue,R,0.1525,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YRB,R,0.1525,-0.222,F,0.0,-0.22,L,-0.12,-0.22,0,False,True,332,620,0.09229098125053259,0.02271747509620795,20260603_033535_target540_line120_y220_rl30_l15_065_blue_vertical_no_roll_midhold_YRB_R
30,66,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,blue,F,0.0325,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YBR,F,0.0325,-0.222,R,0.12,-0.22,L,-0.12,-0.22,0,False,True,330,620,0.09041524875707235,0.01766741944070536,20260603_033555_target540_line120_y220_rl30_l15_066_blue_vertical_no_roll_midhold_YBR_F
31,67,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,blue,F,0.0325,-0.222,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",RBY,F,0.0325,-0.222,L,-0.12,-0.22,R,0.12,-0.22,0,False,True,295,620,0.08864992873550612,0.017357554295052036,20260603_033615_target540_line120_y220_rl30_l15_067_blue_roll90_locked_xface_midhold_RBY_F
32,68,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,blue,R,0.1525,-0.222,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",RYB,R,0.1525,-0.222,L,-0.12,-0.22,F,0.0,-0.22,0,False,True,290,620,0.09207055326901192,0.02148986994334242,20260603_033634_target540_line120_y220_rl30_l15_068_blue_roll90_locked_xface_midhold_RYB_R
33,69,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,blue,L,-0.0875,-0.222,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",BRY,L,-0.0875,-0.222,F,0.0,-0.22,R,0.12,-0.22,0,False,True,293,620,0.09016945689020295,0.017272270207822446,20260603_033654_target540_line120_y220_rl30_l15_069_blue_roll90_locked_xface_midhold_BRY_L
34,70,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,blue,L,-0.0875,-0.222,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",BYR,L,-0.0875,-0.222,R,0.12,-0.22,F,0.0,-0.22,0,False,True,293,620,0.09016945689020295,0.017272270207822446,20260603_033713_target540_line120_y220_rl30_l15_070_blue_roll90_locked_xface_midhold_BYR_L
35,71,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,blue,R,0.1525,-0.222,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",YRB,R,0.1525,-0.222,F,0.0,-0.22,L,-0.12,-0.22,0,False,True,290,620,0.09207055326901192,0.02148986994334242,20260603_033732_target540_line120_y220_rl30_l15_071_blue_roll90_locked_xface_midhold_YRB_R
36,72,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,blue,F,0.0325,-0.222,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",YBR,F,0.0325,-0.222,R,0.12,-0.22,L,-0.12,-0.22,0,False,True,295,620,0.08864992873550612,0.017357554295052036,20260603_033753_target540_line120_y220_rl30_l15_072_blue_roll90_locked_xface_midhold_YBR_F
37,109,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,blue,F,0.0275,-0.222,horizontal,previous fixed-slot horizontal grasp,RBY,F,0.0275,-0.222,L,-0.12,-0.22,R,0.12,-0.22,0,True,True,303,784,0.11477937131025606,0.02591642595165637,20260603_034814_target540_line120_y220_rl30_r15_109_blue_horizontal_RBY_F
38,110,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,blue,R,0.1475,-0.222,horizontal,previous fixed-slot horizontal grasp,RYB,R,0.1475,-0.222,L,-0.12,-0.22,F,0.0,-0.22,0,True,True,287,769,0.11425221619712261,0.027555196064160303,20260603_034826_target540_line120_y220_rl30_r15_110_blue_horizontal_RYB_R
39,111,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,blue,L,-0.0925,-0.222,horizontal,previous fixed-slot horizontal grasp,BRY,L,-0.0925,-0.222,F,0.0,-0.22,R,0.12,-0.22,0,True,True,316,798,0.11307206104909776,0.029518789313591507,20260603_034838_target540_line120_y220_rl30_r15_111_blue_horizontal_BRY_L
40,112,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,blue,L,-0.0925,-0.222,horizontal,previous fixed-slot horizontal grasp,BYR,L,-0.0925,-0.222,R,0.12,-0.22,F,0.0,-0.22,0,True,True,316,798,0.11307206104909776,0.029518789313591507,20260603_034851_target540_line120_y220_rl30_r15_112_blue_horizontal_BYR_L
41,113,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,blue,R,0.1475,-0.222,horizontal,previous fixed-slot horizontal grasp,YRB,R,0.1475,-0.222,F,0.0,-0.22,L,-0.12,-0.22,0,True,True,287,769,0.11425221619712261,0.027555196064160303,20260603_034903_target540_line120_y220_rl30_r15_113_blue_horizontal_YRB_R
42,114,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,blue,F,0.0275,-0.222,horizontal,previous fixed-slot horizontal grasp,YBR,F,0.0275,-0.222,R,0.12,-0.22,L,-0.12,-0.22,0,True,True,303,784,0.11477937131025606,0.02591642595165637,20260603_034915_target540_line120_y220_rl30_r15_114_blue_horizontal_YBR_F
43,115,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,blue,F,0.0275,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RBY,F,0.0275,-0.222,L,-0.12,-0.22,R,0.12,-0.22,0,False,True,330,620,0.0903459890239425,0.01731411840311776,20260603_034928_target540_line120_y220_rl30_r15_115_blue_vertical_no_roll_midhold_RBY_F
44,116,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,blue,R,0.1475,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RYB,R,0.1475,-0.222,L,-0.12,-0.22,F,0.0,-0.22,0,False,True,332,620,0.09210618027488579,0.022051611257183554,20260603_034947_target540_line120_y220_rl30_r15_116_blue_vertical_no_roll_midhold_RYB_R
45,117,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,blue,L,-0.0925,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BRY,L,-0.0925,-0.222,F,0.0,-0.22,R,0.12,-0.22,0,False,True,328,620,0.091680196857269,0.019862052264147747,20260603_035006_target540_line120_y220_rl30_r15_117_blue_vertical_no_roll_midhold_BRY_L
46,118,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,blue,L,-0.0925,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BYR,L,-0.0925,-0.222,R,0.12,-0.22,F,0.0,-0.22,0,False,True,328,620,0.091680196857269,0.019862052264147747,20260603_035025_target540_line120_y220_rl30_r15_118_blue_vertical_no_roll_midhold_BYR_L
47,119,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,blue,R,0.1475,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YRB,R,0.1475,-0.222,F,0.0,-0.22,L,-0.12,-0.22,0,False,True,332,620,0.09210618027488579,0.022051611257183554,20260603_035044_target540_line120_y220_rl30_r15_119_blue_vertical_no_roll_midhold_YRB_R
48,120,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,blue,F,0.0275,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YBR,F,0.0275,-0.222,R,0.12,-0.22,L,-0.12,-0.22,0,False,True,330,620,0.0903459890239425,0.01731411840311776,20260603_035103_target540_line120_y220_rl30_r15_120_blue_vertical_no_roll_midhold_YBR_F
49,121,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,blue,F,0.0275,-0.222,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",RBY,F,0.0275,-0.222,L,-0.12,-0.22,R,0.12,-0.22,0,False,True,295,620,0.08863574731303003,0.01742836421224044,20260603_035122_target540_line120_y220_rl30_r15_121_blue_roll90_locked_xface_midhold_RBY_F
50,122,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,blue,R,0.1475,-0.222,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",RYB,R,0.1475,-0.222,L,-0.12,-0.22,F,0.0,-0.22,0,False,True,290,620,0.09156079679353488,0.017013485834036973,20260603_035140_target540_line120_y220_rl30_r15_122_blue_roll90_locked_xface_midhold_RYB_R
51,123,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,blue,L,-0.0925,-0.222,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",BRY,L,-0.0925,-0.222,F,0.0,-0.22,R,0.12,-0.22,0,False,True,293,620,0.09020366256277951,0.01725041905308671,20260603_035159_target540_line120_y220_rl30_r15_123_blue_roll90_locked_xface_midhold_BRY_L
52,124,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,blue,L,-0.0925,-0.222,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",BYR,L,-0.0925,-0.222,R,0.12,-0.22,F,0.0,-0.22,0,False,True,293,620,0.09020366256277951,0.01725041905308671,20260603_035217_target540_line120_y220_rl30_r15_124_blue_roll90_locked_xface_midhold_BYR_L
53,125,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,blue,R,0.1475,-0.222,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",YRB,R,0.1475,-0.222,F,0.0,-0.22,L,-0.12,-0.22,0,False,True,290,620,0.09156079679353488,0.017013485834036973,20260603_035236_target540_line120_y220_rl30_r15_125_blue_roll90_locked_xface_midhold_YRB_R
54,126,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,blue,F,0.0275,-0.222,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",YBR,F,0.0275,-0.222,R,0.12,-0.22,L,-0.12,-0.22,0,False,True,295,620,0.08863574731303003,0.01742836421224044,20260603_035255_target540_line120_y220_rl30_r15_126_blue_roll90_locked_xface_midhold_YBR_F
55,163,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,blue,F,0.03,-0.2225,horizontal,previous fixed-slot horizontal grasp,RBY,F,0.03,-0.2225,L,-0.12,-0.22,R,0.12,-0.22,0,True,True,302,783,0.11485464326538913,0.02600225223835385,20260603_040317_target540_line120_y220_rl30_l30_163_blue_horizontal_RBY_F
56,164,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,blue,R,0.15,-0.2225,horizontal,previous fixed-slot horizontal grasp,RYB,R,0.15,-0.2225,L,-0.12,-0.22,F,0.0,-0.22,0,True,True,287,769,0.11426186135211716,0.027516860682280674,20260603_040329_target540_line120_y220_rl30_l30_164_blue_horizontal_RYB_R
57,165,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,blue,L,-0.09,-0.2225,horizontal,previous fixed-slot horizontal grasp,BRY,L,-0.09,-0.2225,F,0.0,-0.22,R,0.12,-0.22,0,True,True,307,789,0.11312335634520249,0.029623245186249692,20260603_040341_target540_line120_y220_rl30_l30_165_blue_horizontal_BRY_L
58,166,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,blue,L,-0.09,-0.2225,horizontal,previous fixed-slot horizontal grasp,BYR,L,-0.09,-0.2225,R,0.12,-0.22,F,0.0,-0.22,0,True,True,307,789,0.11312335634520249,0.029623245186249692,20260603_040354_target540_line120_y220_rl30_l30_166_blue_horizontal_BYR_L
59,167,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,blue,R,0.15,-0.2225,horizontal,previous fixed-slot horizontal grasp,YRB,R,0.15,-0.2225,F,0.0,-0.22,L,-0.12,-0.22,0,True,True,287,769,0.11426186135211716,0.027516860682280674,20260603_040406_target540_line120_y220_rl30_l30_167_blue_horizontal_YRB_R
60,168,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,blue,F,0.03,-0.2225,horizontal,previous fixed-slot horizontal grasp,YBR,F,0.03,-0.2225,R,0.12,-0.22,L,-0.12,-0.22,0,True,True,302,783,0.11485464326538913,0.02600225223835385,20260603_040419_target540_line120_y220_rl30_l30_168_blue_horizontal_YBR_F
61,169,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,blue,F,0.03,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RBY,F,0.03,-0.2225,L,-0.12,-0.22,R,0.12,-0.22,0,False,True,330,620,0.09043172033146407,0.01770520843782292,20260603_040431_target540_line120_y220_rl30_l30_169_blue_vertical_no_roll_midhold_RBY_F
62,170,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,blue,R,0.15,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RYB,R,0.15,-0.2225,L,-0.12,-0.22,F,0.0,-0.22,0,False,True,332,620,0.09223194498075815,0.022502273699768725,20260603_040450_target540_line120_y220_rl30_l30_170_blue_vertical_no_roll_midhold_RYB_R
63,171,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,blue,L,-0.09,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BRY,L,-0.09,-0.2225,F,0.0,-0.22,R,0.12,-0.22,0,False,True,328,620,0.09170407825441795,0.02004584461012858,20260603_040509_target540_line120_y220_rl30_l30_171_blue_vertical_no_roll_midhold_BRY_L
64,172,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,blue,L,-0.09,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BYR,L,-0.09,-0.2225,R,0.12,-0.22,F,0.0,-0.22,0,False,True,328,620,0.09170407825441795,0.02004584461012858,20260603_040529_target540_line120_y220_rl30_l30_172_blue_vertical_no_roll_midhold_BYR_L
65,173,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,blue,R,0.15,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YRB,R,0.15,-0.2225,F,0.0,-0.22,L,-0.12,-0.22,0,False,True,332,620,0.09223194498075815,0.022502273699768725,20260603_040549_target540_line120_y220_rl30_l30_173_blue_vertical_no_roll_midhold_YRB_R
66,174,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,blue,F,0.03,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YBR,F,0.03,-0.2225,R,0.12,-0.22,L,-0.12,-0.22,0,False,True,330,620,0.09043172033146407,0.01770520843782292,20260603_040608_target540_line120_y220_rl30_l30_174_blue_vertical_no_roll_midhold_YBR_F
67,175,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,blue,F,0.03,-0.2225,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",RBY,F,0.03,-0.2225,L,-0.12,-0.22,R,0.12,-0.22,0,False,True,295,620,0.08866145712335896,0.01735170144205011,20260603_040627_target540_line120_y220_rl30_l30_175_blue_roll90_locked_xface_midhold_RBY_F
68,176,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,blue,R,0.15,-0.2225,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",RYB,R,0.15,-0.2225,L,-0.12,-0.22,F,0.0,-0.22,0,False,True,290,620,0.09191520463148006,0.019990187407210706,20260603_040645_target540_line120_y220_rl30_l30_176_blue_roll90_locked_xface_midhold_RYB_R
69,177,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,blue,L,-0.09,-0.2225,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",BRY,L,-0.09,-0.2225,F,0.0,-0.22,R,0.12,-0.22,0,False,True,293,620,0.09019496442788316,0.017276141219477046,20260603_040705_target540_line120_y220_rl30_l30_177_blue_roll90_locked_xface_midhold_BRY_L
70,178,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,blue,L,-0.09,-0.2225,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",BYR,L,-0.09,-0.2225,R,0.12,-0.22,F,0.0,-0.22,0,False,True,293,620,0.09019496442788316,0.017276141219477046,20260603_040723_target540_line120_y220_rl30_l30_178_blue_roll90_locked_xface_midhold_BYR_L
71,179,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,blue,R,0.15,-0.2225,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",YRB,R,0.15,-0.2225,F,0.0,-0.22,L,-0.12,-0.22,0,False,True,290,620,0.09191520463148006,0.019990187407210706,20260603_040741_target540_line120_y220_rl30_l30_179_blue_roll90_locked_xface_midhold_YRB_R
72,180,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,blue,F,0.03,-0.2225,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",YBR,F,0.03,-0.2225,R,0.12,-0.22,L,-0.12,-0.22,0,False,True,295,620,0.08866145712335896,0.01735170144205011,20260603_040801_target540_line120_y220_rl30_l30_180_blue_roll90_locked_xface_midhold_YBR_F
73,217,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,blue,F,0.024999999999999998,-0.2225,horizontal,previous fixed-slot horizontal grasp,RBY,F,0.024999999999999998,-0.2225,L,-0.12,-0.22,R,0.12,-0.22,0,True,True,297,778,0.11472041141809936,0.025905285717614884,20260603_041823_target540_line120_y220_rl30_r30_217_blue_horizontal_RBY_F
74,218,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,blue,R,0.145,-0.2225,horizontal,previous fixed-slot horizontal grasp,RYB,R,0.145,-0.2225,L,-0.12,-0.22,F,0.0,-0.22,0,True,True,287,769,0.11424211564428449,0.027591298905017252,20260603_041835_target540_line120_y220_rl30_r30_218_blue_horizontal_RYB_R
75,219,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,blue,L,-0.095,-0.2225,horizontal,previous fixed-slot horizontal grasp,BRY,L,-0.095,-0.2225,F,0.0,-0.22,R,0.12,-0.22,0,True,True,310,792,0.11288059689213853,0.03009149800963791,20260603_041847_target540_line120_y220_rl30_r30_219_blue_horizontal_BRY_L
76,220,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,blue,L,-0.095,-0.2225,horizontal,previous fixed-slot horizontal grasp,BYR,L,-0.095,-0.2225,R,0.12,-0.22,F,0.0,-0.22,0,True,True,310,792,0.11288059689213853,0.03009149800963791,20260603_041900_target540_line120_y220_rl30_r30_220_blue_horizontal_BYR_L
77,221,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,blue,R,0.145,-0.2225,horizontal,previous fixed-slot horizontal grasp,YRB,R,0.145,-0.2225,F,0.0,-0.22,L,-0.12,-0.22,0,True,True,287,769,0.11424211564428449,0.027591298905017252,20260603_041912_target540_line120_y220_rl30_r30_221_blue_horizontal_YRB_R
78,222,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,blue,F,0.024999999999999998,-0.2225,horizontal,previous fixed-slot horizontal grasp,YBR,F,0.024999999999999998,-0.2225,R,0.12,-0.22,L,-0.12,-0.22,0,True,True,297,778,0.11472041141809936,0.025905285717614884,20260603_041925_target540_line120_y220_rl30_r30_222_blue_horizontal_YBR_F
79,223,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,blue,F,0.024999999999999998,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RBY,F,0.024999999999999998,-0.2225,L,-0.12,-0.22,R,0.12,-0.22,0,False,True,330,620,0.09036105466492392,0.017329900381293176,20260603_041937_target540_line120_y220_rl30_r30_223_blue_vertical_no_roll_midhold_RBY_F
80,224,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,blue,R,0.145,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RYB,R,0.145,-0.2225,L,-0.12,-0.22,F,0.0,-0.22,0,False,True,332,620,0.09205691364135052,0.02188615565844388,20260603_041956_target540_line120_y220_rl30_r30_224_blue_vertical_no_roll_midhold_RYB_R
81,225,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,blue,L,-0.095,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BRY,L,-0.095,-0.2225,F,0.0,-0.22,R,0.12,-0.22,0,False,True,328,620,0.09176783609548972,0.020029457058153233,20260603_042015_target540_line120_y220_rl30_r30_225_blue_vertical_no_roll_midhold_BRY_L
82,226,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,blue,L,-0.095,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BYR,L,-0.095,-0.2225,R,0.12,-0.22,F,0.0,-0.22,0,False,True,328,620,0.09176783609548972,0.020029457058153233,20260603_042034_target540_line120_y220_rl30_r30_226_blue_vertical_no_roll_midhold_BYR_L
83,227,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,blue,R,0.145,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YRB,R,0.145,-0.2225,F,0.0,-0.22,L,-0.12,-0.22,0,False,True,332,620,0.09205691364135052,0.02188615565844388,20260603_042053_target540_line120_y220_rl30_r30_227_blue_vertical_no_roll_midhold_YRB_R
84,228,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,blue,F,0.024999999999999998,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YBR,F,0.024999999999999998,-0.2225,R,0.12,-0.22,L,-0.12,-0.22,0,False,True,330,620,0.09036105466492392,0.017329900381293176,20260603_042112_target540_line120_y220_rl30_r30_228_blue_vertical_no_roll_midhold_YBR_F
85,229,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,blue,F,0.024999999999999998,-0.2225,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",RBY,F,0.024999999999999998,-0.2225,L,-0.12,-0.22,R,0.12,-0.22,0,False,True,295,620,0.08864125564262412,0.01741341447953475,20260603_042131_target540_line120_y220_rl30_r30_229_blue_roll90_locked_xface_midhold_RBY_F
86,230,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,blue,R,0.145,-0.2225,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",RYB,R,0.145,-0.2225,L,-0.12,-0.22,F,0.0,-0.22,0,False,True,290,620,0.09139630807875135,0.015917133128346778,20260603_042149_target540_line120_y220_rl30_r30_230_blue_roll90_locked_xface_midhold_RYB_R
87,231,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,blue,L,-0.095,-0.2225,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",BRY,L,-0.095,-0.2225,F,0.0,-0.22,R,0.12,-0.22,0,False,True,293,620,0.09023516937670908,0.017268291791088883,20260603_042209_target540_line120_y220_rl30_r30_231_blue_roll90_locked_xface_midhold_BRY_L
88,232,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,blue,L,-0.095,-0.2225,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",BYR,L,-0.095,-0.2225,R,0.12,-0.22,F,0.0,-0.22,0,False,True,293,620,0.09023516937670908,0.017268291791088883,20260603_042227_target540_line120_y220_rl30_r30_232_blue_roll90_locked_xface_midhold_BYR_L
89,233,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,blue,R,0.145,-0.2225,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",YRB,R,0.145,-0.2225,F,0.0,-0.22,L,-0.12,-0.22,0,False,True,290,620,0.09139630807875135,0.015917133128346778,20260603_042246_target540_line120_y220_rl30_r30_233_blue_roll90_locked_xface_midhold_YRB_R
90,234,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,blue,F,0.024999999999999998,-0.2225,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",YBR,F,0.024999999999999998,-0.2225,R,0.12,-0.22,L,-0.12,-0.22,0,False,True,295,620,0.08864125564262412,0.01741341447953475,20260603_042305_target540_line120_y220_rl30_r30_234_blue_roll90_locked_xface_midhold_YBR_F
91,271,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,blue,F,-0.03,-0.22,horizontal,previous fixed-slot horizontal grasp,RBY,F,-0.03,-0.22,L,-0.12,-0.22,R,0.12,-0.22,0,True,True,298,779,0.11490819240801378,0.02604611485099627,20260603_043327_target540_line120_y220_rr30_c_271_blue_horizontal_RBY_F
92,272,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,blue,R,0.09,-0.22,horizontal,previous fixed-slot horizontal grasp,RYB,R,0.09,-0.22,L,-0.12,-0.22,F,0.0,-0.22,0,True,True,299,780,0.11473797596507745,0.026602560898442686,20260603_043339_target540_line120_y220_rr30_c_272_blue_horizontal_RYB_R
93,273,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,blue,L,-0.15,-0.22,horizontal,previous fixed-slot horizontal grasp,BRY,L,-0.15,-0.22,F,0.0,-0.22,R,0.12,-0.22,0,True,True,287,769,0.11363448975285437,0.03200056121763872,20260603_043351_target540_line120_y220_rr30_c_273_blue_horizontal_BRY_L
94,274,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,blue,L,-0.15,-0.22,horizontal,previous fixed-slot horizontal grasp,BYR,L,-0.15,-0.22,R,0.12,-0.22,F,0.0,-0.22,0,True,True,287,769,0.11363448975285437,0.03200056121763872,20260603_043404_target540_line120_y220_rr30_c_274_blue_horizontal_BYR_L
95,275,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,blue,R,0.09,-0.22,horizontal,previous fixed-slot horizontal grasp,YRB,R,0.09,-0.22,F,0.0,-0.22,L,-0.12,-0.22,0,True,True,299,780,0.11473797596507745,0.026602560898442686,20260603_043416_target540_line120_y220_rr30_c_275_blue_horizontal_YRB_R
96,276,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,blue,F,-0.03,-0.22,horizontal,previous fixed-slot horizontal grasp,YBR,F,-0.03,-0.22,R,0.12,-0.22,L,-0.12,-0.22,0,True,True,298,779,0.11490819240801378,0.02604611485099627,20260603_043428_target540_line120_y220_rr30_c_276_blue_horizontal_YBR_F
97,277,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,blue,F,-0.03,-0.22,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RBY,F,-0.03,-0.22,L,-0.12,-0.22,R,0.12,-0.22,0,False,True,330,620,0.09085602402218695,0.019570891595895434,20260603_043441_target540_line120_y220_rr30_c_277_blue_vertical_no_roll_midhold_RBY_F
98,278,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,blue,R,0.09,-0.22,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RYB,R,0.09,-0.22,L,-0.12,-0.22,F,0.0,-0.22,0,False,True,329,620,0.09103907347812526,0.019712057980706927,20260603_043500_target540_line120_y220_rr30_c_278_blue_vertical_no_roll_midhold_RYB_R
99,279,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,blue,L,-0.15,-0.22,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BRY,L,-0.15,-0.22,F,0.0,-0.22,R,0.12,-0.22,0,False,True,330,620,0.09189954828760227,0.025369883252942427,20260603_043520_target540_line120_y220_rr30_c_279_blue_vertical_no_roll_midhold_BRY_L
100,280,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,blue,L,-0.15,-0.22,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BYR,L,-0.15,-0.22,R,0.12,-0.22,F,0.0,-0.22,0,False,True,330,620,0.09189954828760227,0.025369883252942427,20260603_043538_target540_line120_y220_rr30_c_280_blue_vertical_no_roll_midhold_BYR_L
101,281,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,blue,R,0.09,-0.22,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YRB,R,0.09,-0.22,F,0.0,-0.22,L,-0.12,-0.22,0,False,True,329,620,0.09103907347812526,0.019712057980706927,20260603_043556_target540_line120_y220_rr30_c_281_blue_vertical_no_roll_midhold_YRB_R
102,282,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,blue,F,-0.03,-0.22,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YBR,F,-0.03,-0.22,R,0.12,-0.22,L,-0.12,-0.22,0,False,True,330,620,0.09085602402218695,0.019570891595895434,20260603_043615_target540_line120_y220_rr30_c_282_blue_vertical_no_roll_midhold_YBR_F
103,283,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,blue,F,-0.03,-0.22,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",RBY,F,-0.03,-0.22,L,-0.12,-0.22,R,0.12,-0.22,0,False,True,294,620,0.08863954663105181,0.017597866640727097,20260603_043635_target540_line120_y220_rr30_c_283_blue_roll90_locked_xface_midhold_RBY_F
104,284,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,blue,R,0.09,-0.22,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",RYB,R,0.09,-0.22,L,-0.12,-0.22,F,0.0,-0.22,0,False,True,294,620,0.08905006496782444,0.015845757255119438,20260603_043653_target540_line120_y220_rr30_c_284_blue_roll90_locked_xface_midhold_RYB_R
105,285,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,blue,L,-0.15,-0.22,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",BRY,L,-0.15,-0.22,F,0.0,-0.22,R,0.12,-0.22,0,False,True,290,620,0.09125280324928325,0.017801054622818856,20260603_043711_target540_line120_y220_rr30_c_285_blue_roll90_locked_xface_midhold_BRY_L
106,286,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,blue,L,-0.15,-0.22,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",BYR,L,-0.15,-0.22,R,0.12,-0.22,F,0.0,-0.22,0,False,True,290,620,0.09125280324928325,0.017801054622818856,20260603_043731_target540_line120_y220_rr30_c_286_blue_roll90_locked_xface_midhold_BYR_L
107,287,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,blue,R,0.09,-0.22,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",YRB,R,0.09,-0.22,F,0.0,-0.22,L,-0.12,-0.22,0,False,True,294,620,0.08905006496782444,0.015845757255119438,20260603_043750_target540_line120_y220_rr30_c_287_blue_roll90_locked_xface_midhold_YRB_R
108,288,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,blue,F,-0.03,-0.22,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",YBR,F,-0.03,-0.22,R,0.12,-0.22,L,-0.12,-0.22,0,False,True,294,620,0.08863954663105181,0.017597866640727097,20260603_043808_target540_line120_y220_rr30_c_288_blue_roll90_locked_xface_midhold_YBR_F
109,325,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,blue,F,-0.0275,-0.222,horizontal,previous fixed-slot horizontal grasp,RBY,F,-0.0275,-0.222,L,-0.12,-0.22,R,0.12,-0.22,0,True,True,287,768,0.11489619412241381,0.029671888256201002,20260603_055121_target540_line120_y220_rr30_l15_325_blue_horizontal_RBY_F
110,326,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,blue,R,0.0925,-0.222,horizontal,previous fixed-slot horizontal grasp,RYB,R,0.0925,-0.222,L,-0.12,-0.22,F,0.0,-0.22,0,True,True,299,780,0.11469240014080515,0.02660975079233054,20260603_044841_target540_line120_y220_rr30_l15_326_blue_horizontal_RYB_R
111,327,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,blue,L,-0.1475,-0.222,horizontal,previous fixed-slot horizontal grasp,BRY,L,-0.1475,-0.222,F,0.0,-0.22,R,0.12,-0.22,0,True,True,287,769,0.1138181172106319,0.03147899309983018,20260603_044853_target540_line120_y220_rr30_l15_327_blue_horizontal_BRY_L
112,328,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,blue,L,-0.1475,-0.222,horizontal,previous fixed-slot horizontal grasp,BYR,L,-0.1475,-0.222,R,0.12,-0.22,F,0.0,-0.22,0,True,True,287,769,0.1138181172106319,0.03147899309983018,20260603_044905_target540_line120_y220_rr30_l15_328_blue_horizontal_BYR_L
113,329,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,blue,R,0.0925,-0.222,horizontal,previous fixed-slot horizontal grasp,YRB,R,0.0925,-0.222,F,0.0,-0.22,L,-0.12,-0.22,0,True,True,299,780,0.11469240014080515,0.02660975079233054,20260603_044918_target540_line120_y220_rr30_l15_329_blue_horizontal_YRB_R
114,330,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,blue,F,-0.0275,-0.222,horizontal,previous fixed-slot horizontal grasp,YBR,F,-0.0275,-0.222,R,0.12,-0.22,L,-0.12,-0.22,0,True,True,287,768,0.11489619412241381,0.029671888256201002,20260603_055134_target540_line120_y220_rr30_l15_330_blue_horizontal_YBR_F
115,331,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,blue,F,-0.0275,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RBY,F,-0.0275,-0.222,L,-0.12,-0.22,R,0.12,-0.22,0,False,True,330,620,0.09069561718922947,0.01841015331393102,20260603_044945_target540_line120_y220_rr30_l15_331_blue_vertical_no_roll_midhold_RBY_F
116,332,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,blue,R,0.0925,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RYB,R,0.0925,-0.222,L,-0.12,-0.22,F,0.0,-0.22,0,False,True,329,620,0.0910164298227164,0.018392697537416625,20260603_045004_target540_line120_y220_rr30_l15_332_blue_vertical_no_roll_midhold_RYB_R
117,333,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,blue,L,-0.1475,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BRY,L,-0.1475,-0.222,F,0.0,-0.22,R,0.12,-0.22,0,False,True,330,620,0.0919627778499513,0.025620093198396435,20260603_045023_target540_line120_y220_rr30_l15_333_blue_vertical_no_roll_midhold_BRY_L
118,334,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,blue,L,-0.1475,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BYR,L,-0.1475,-0.222,R,0.12,-0.22,F,0.0,-0.22,0,False,True,330,620,0.0919627778499513,0.025620093198396435,20260603_045042_target540_line120_y220_rr30_l15_334_blue_vertical_no_roll_midhold_BYR_L
119,335,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,blue,R,0.0925,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YRB,R,0.0925,-0.222,F,0.0,-0.22,L,-0.12,-0.22,0,False,True,329,620,0.0910164298227164,0.018392697537416625,20260603_045100_target540_line120_y220_rr30_l15_335_blue_vertical_no_roll_midhold_YRB_R
120,336,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,blue,F,-0.0275,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YBR,F,-0.0275,-0.222,R,0.12,-0.22,L,-0.12,-0.22,0,False,True,330,620,0.09069561718922947,0.01841015331393102,20260603_045119_target540_line120_y220_rr30_l15_336_blue_vertical_no_roll_midhold_YBR_F
121,337,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,blue,F,-0.0275,-0.222,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",RBY,F,-0.0275,-0.222,L,-0.12,-0.22,R,0.12,-0.22,0,False,True,294,620,0.08869666551296848,0.017471871713041365,20260603_045138_target540_line120_y220_rr30_l15_337_blue_roll90_locked_xface_midhold_RBY_F
122,338,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,blue,R,0.0925,-0.222,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",RYB,R,0.0925,-0.222,L,-0.12,-0.22,F,0.0,-0.22,0,False,True,294,620,0.0891968844473256,0.015508436446678181,20260603_045157_target540_line120_y220_rr30_l15_338_blue_roll90_locked_xface_midhold_RYB_R
123,339,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,blue,L,-0.1475,-0.222,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",BRY,L,-0.1475,-0.222,F,0.0,-0.22,R,0.12,-0.22,0,False,True,290,620,0.09129421233360821,0.017990560914484553,20260603_045215_target540_line120_y220_rr30_l15_339_blue_roll90_locked_xface_midhold_BRY_L
124,340,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,blue,L,-0.1475,-0.222,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",BYR,L,-0.1475,-0.222,R,0.12,-0.22,F,0.0,-0.22,0,False,True,290,620,0.09129421233360821,0.017990560914484553,20260603_045234_target540_line120_y220_rr30_l15_340_blue_roll90_locked_xface_midhold_BYR_L
125,341,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,blue,R,0.0925,-0.222,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",YRB,R,0.0925,-0.222,F,0.0,-0.22,L,-0.12,-0.22,0,False,True,294,620,0.0891968844473256,0.015508436446678181,20260603_045254_target540_line120_y220_rr30_l15_341_blue_roll90_locked_xface_midhold_YRB_R
126,342,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,blue,F,-0.0275,-0.222,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",YBR,F,-0.0275,-0.222,R,0.12,-0.22,L,-0.12,-0.22,0,False,True,294,620,0.08869666551296848,0.017471871713041365,20260603_045312_target540_line120_y220_rr30_l15_342_blue_roll90_locked_xface_midhold_YBR_F
127,379,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,blue,F,-0.0325,-0.222,horizontal,previous fixed-slot horizontal grasp,RBY,F,-0.0325,-0.222,L,-0.12,-0.22,R,0.12,-0.22,0,True,True,305,785,0.11521261597240776,0.026004673706020682,20260603_050340_target540_line120_y220_rr30_r15_379_blue_horizontal_RBY_F
128,380,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,blue,R,0.0875,-0.222,horizontal,previous fixed-slot horizontal grasp,RYB,R,0.0875,-0.222,L,-0.12,-0.22,F,0.0,-0.22,0,True,True,299,780,0.11473398085898379,0.02660465668575824,20260603_050352_target540_line120_y220_rr30_r15_380_blue_horizontal_RYB_R
129,381,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,blue,L,-0.1525,-0.222,horizontal,previous fixed-slot horizontal grasp,BRY,L,-0.1525,-0.222,F,0.0,-0.22,R,0.12,-0.22,0,True,True,287,769,0.11361247704858587,0.03184896505244708,20260603_050404_target540_line120_y220_rr30_r15_381_blue_horizontal_BRY_L
130,382,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,blue,L,-0.1525,-0.222,horizontal,previous fixed-slot horizontal grasp,BYR,L,-0.1525,-0.222,R,0.12,-0.22,F,0.0,-0.22,0,True,True,287,769,0.11361247704858587,0.03184896505244708,20260603_050417_target540_line120_y220_rr30_r15_382_blue_horizontal_BYR_L
131,383,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,blue,R,0.0875,-0.222,horizontal,previous fixed-slot horizontal grasp,YRB,R,0.0875,-0.222,F,0.0,-0.22,L,-0.12,-0.22,0,True,True,299,780,0.11473398085898379,0.02660465668575824,20260603_050429_target540_line120_y220_rr30_r15_383_blue_horizontal_YRB_R
132,384,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,blue,F,-0.0325,-0.222,horizontal,previous fixed-slot horizontal grasp,YBR,F,-0.0325,-0.222,R,0.12,-0.22,L,-0.12,-0.22,0,True,True,305,785,0.11521261597240776,0.026004673706020682,20260603_050442_target540_line120_y220_rr30_r15_384_blue_horizontal_YBR_F
133,385,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,blue,F,-0.0325,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RBY,F,-0.0325,-0.222,L,-0.12,-0.22,R,0.12,-0.22,0,False,True,330,620,0.09072528267695937,0.018468005401473926,20260603_050455_target540_line120_y220_rr30_r15_385_blue_vertical_no_roll_midhold_RBY_F
134,386,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,blue,R,0.0875,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RYB,R,0.0875,-0.222,L,-0.12,-0.22,F,0.0,-0.22,0,False,True,329,620,0.09113892148967578,0.019475483640954142,20260603_050514_target540_line120_y220_rr30_r15_386_blue_vertical_no_roll_midhold_RYB_R
135,387,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,blue,L,-0.1525,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BRY,L,-0.1525,-0.222,F,0.0,-0.22,R,0.12,-0.22,0,False,True,330,620,0.09215341601052929,0.026498421796536015,20260603_050534_target540_line120_y220_rr30_r15_387_blue_vertical_no_roll_midhold_BRY_L
136,388,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,blue,L,-0.1525,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BYR,L,-0.1525,-0.222,R,0.12,-0.22,F,0.0,-0.22,0,False,True,330,620,0.09215341601052929,0.026498421796536015,20260603_050552_target540_line120_y220_rr30_r15_388_blue_vertical_no_roll_midhold_BYR_L
137,389,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,blue,R,0.0875,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YRB,R,0.0875,-0.222,F,0.0,-0.22,L,-0.12,-0.22,0,False,True,329,620,0.09113892148967578,0.019475483640954142,20260603_050611_target540_line120_y220_rr30_r15_389_blue_vertical_no_roll_midhold_YRB_R
138,390,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,blue,F,-0.0325,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YBR,F,-0.0325,-0.222,R,0.12,-0.22,L,-0.12,-0.22,0,False,True,330,620,0.09072528267695937,0.018468005401473926,20260603_050630_target540_line120_y220_rr30_r15_390_blue_vertical_no_roll_midhold_YBR_F
139,391,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,blue,F,-0.0325,-0.222,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",RBY,F,-0.0325,-0.222,L,-0.12,-0.22,R,0.12,-0.22,0,False,True,294,620,0.08872969386904386,0.017419132818290207,20260603_050650_target540_line120_y220_rr30_r15_391_blue_roll90_locked_xface_midhold_RBY_F
140,392,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,blue,R,0.0875,-0.222,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",RYB,R,0.0875,-0.222,L,-0.12,-0.22,F,0.0,-0.22,0,False,True,294,620,0.0891176949600703,0.01574940141901362,20260603_050709_target540_line120_y220_rr30_r15_392_blue_roll90_locked_xface_midhold_RYB_R
141,393,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,blue,L,-0.1525,-0.222,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",BRY,L,-0.1525,-0.222,F,0.0,-0.22,R,0.12,-0.22,0,False,True,290,620,0.09143663728690568,0.018381981242757552,20260603_050727_target540_line120_y220_rr30_r15_393_blue_roll90_locked_xface_midhold_BRY_L
142,394,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,blue,L,-0.1525,-0.222,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",BYR,L,-0.1525,-0.222,R,0.12,-0.22,F,0.0,-0.22,0,False,True,290,620,0.09143663728690568,0.018381981242757552,20260603_050746_target540_line120_y220_rr30_r15_394_blue_roll90_locked_xface_midhold_BYR_L
143,395,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,blue,R,0.0875,-0.222,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",YRB,R,0.0875,-0.222,F,0.0,-0.22,L,-0.12,-0.22,0,False,True,294,620,0.0891176949600703,0.01574940141901362,20260603_050806_target540_line120_y220_rr30_r15_395_blue_roll90_locked_xface_midhold_YRB_R
144,396,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,blue,F,-0.0325,-0.222,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",YBR,F,-0.0325,-0.222,R,0.12,-0.22,L,-0.12,-0.22,0,False,True,294,620,0.08872969386904386,0.017419132818290207,20260603_050824_target540_line120_y220_rr30_r15_396_blue_roll90_locked_xface_midhold_YBR_F
145,433,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,blue,F,-0.03,-0.2225,horizontal,previous fixed-slot horizontal grasp,RBY,F,-0.03,-0.2225,L,-0.12,-0.22,R,0.12,-0.22,0,True,True,302,783,0.11503216130391711,0.02584514569723711,20260603_051850_target540_line120_y220_rr30_l30_433_blue_horizontal_RBY_F
146,434,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,blue,R,0.09,-0.2225,horizontal,previous fixed-slot horizontal grasp,RYB,R,0.09,-0.2225,L,-0.12,-0.22,F,0.0,-0.22,0,True,True,300,781,0.11513112248343535,0.026203077423686244,20260603_051902_target540_line120_y220_rr30_l30_434_blue_horizontal_RYB_R
147,435,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,blue,L,-0.15,-0.2225,horizontal,previous fixed-slot horizontal grasp,BRY,L,-0.15,-0.2225,F,0.0,-0.22,R,0.12,-0.22,0,True,True,287,769,0.11378482152685321,0.03149136865851176,20260603_051915_target540_line120_y220_rr30_l30_435_blue_horizontal_BRY_L
148,436,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,blue,L,-0.15,-0.2225,horizontal,previous fixed-slot horizontal grasp,BYR,L,-0.15,-0.2225,R,0.12,-0.22,F,0.0,-0.22,0,True,True,287,769,0.11378482152685321,0.03149136865851176,20260603_051927_target540_line120_y220_rr30_l30_436_blue_horizontal_BYR_L
149,437,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,blue,R,0.09,-0.2225,horizontal,previous fixed-slot horizontal grasp,YRB,R,0.09,-0.2225,F,0.0,-0.22,L,-0.12,-0.22,0,True,True,300,781,0.11513112248343535,0.026203077423686244,20260603_051940_target540_line120_y220_rr30_l30_437_blue_horizontal_YRB_R
150,438,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,blue,F,-0.03,-0.2225,horizontal,previous fixed-slot horizontal grasp,YBR,F,-0.03,-0.2225,R,0.12,-0.22,L,-0.12,-0.22,0,True,True,302,783,0.11503216130391711,0.02584514569723711,20260603_051953_target540_line120_y220_rr30_l30_438_blue_horizontal_YBR_F
151,439,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,blue,F,-0.03,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RBY,F,-0.03,-0.2225,L,-0.12,-0.22,R,0.12,-0.22,0,False,True,330,620,0.09074657824482876,0.018526730702722205,20260603_052005_target540_line120_y220_rr30_l30_439_blue_vertical_no_roll_midhold_RBY_F
152,440,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,blue,R,0.09,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RYB,R,0.09,-0.2225,L,-0.12,-0.22,F,0.0,-0.22,0,False,True,329,620,0.0910038523128249,0.018379625056143357,20260603_052025_target540_line120_y220_rr30_l30_440_blue_vertical_no_roll_midhold_RYB_R
153,441,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,blue,L,-0.15,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BRY,L,-0.15,-0.2225,F,0.0,-0.22,R,0.12,-0.22,0,False,True,330,620,0.09209484995144329,0.026230760211504688,20260603_052044_target540_line120_y220_rr30_l30_441_blue_vertical_no_roll_midhold_BRY_L
154,442,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,blue,L,-0.15,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BYR,L,-0.15,-0.2225,R,0.12,-0.22,F,0.0,-0.22,0,False,True,330,620,0.09209484995144329,0.026230760211504688,20260603_052103_target540_line120_y220_rr30_l30_442_blue_vertical_no_roll_midhold_BYR_L
155,443,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,blue,R,0.09,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YRB,R,0.09,-0.2225,F,0.0,-0.22,L,-0.12,-0.22,0,False,True,329,620,0.0910038523128249,0.018379625056143357,20260603_052121_target540_line120_y220_rr30_l30_443_blue_vertical_no_roll_midhold_YRB_R
156,444,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,blue,F,-0.03,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YBR,F,-0.03,-0.2225,R,0.12,-0.22,L,-0.12,-0.22,0,False,True,330,620,0.09074657824482876,0.018526730702722205,20260603_052140_target540_line120_y220_rr30_l30_444_blue_vertical_no_roll_midhold_YBR_F
157,445,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,blue,F,-0.03,-0.2225,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",RBY,F,-0.03,-0.2225,L,-0.12,-0.22,R,0.12,-0.22,0,False,True,294,620,0.08873383012645258,0.01739987487787833,20260603_052200_target540_line120_y220_rr30_l30_445_blue_roll90_locked_xface_midhold_RBY_F
158,446,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,blue,R,0.09,-0.2225,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",RYB,R,0.09,-0.2225,L,-0.12,-0.22,F,0.0,-0.22,0,False,True,294,620,0.08918257495222764,0.015576202890695959,20260603_052219_target540_line120_y220_rr30_l30_446_blue_roll90_locked_xface_midhold_RYB_R
159,447,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,blue,L,-0.15,-0.2225,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",BRY,L,-0.15,-0.2225,F,0.0,-0.22,R,0.12,-0.22,0,False,True,290,620,0.09138991436607866,0.018263779165496753,20260603_052237_target540_line120_y220_rr30_l30_447_blue_roll90_locked_xface_midhold_BRY_L
160,448,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,blue,L,-0.15,-0.2225,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",BYR,L,-0.15,-0.2225,R,0.12,-0.22,F,0.0,-0.22,0,False,True,290,620,0.09138991436607866,0.018263779165496753,20260603_052257_target540_line120_y220_rr30_l30_448_blue_roll90_locked_xface_midhold_BYR_L
161,449,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,blue,R,0.09,-0.2225,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",YRB,R,0.09,-0.2225,F,0.0,-0.22,L,-0.12,-0.22,0,False,True,294,620,0.08918257495222764,0.015576202890695959,20260603_052316_target540_line120_y220_rr30_l30_449_blue_roll90_locked_xface_midhold_YRB_R
162,450,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,blue,F,-0.03,-0.2225,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",YBR,F,-0.03,-0.2225,R,0.12,-0.22,L,-0.12,-0.22,0,False,True,294,620,0.08873383012645258,0.01739987487787833,20260603_052335_target540_line120_y220_rr30_l30_450_blue_roll90_locked_xface_midhold_YBR_F
163,487,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,blue,F,-0.034999999999999996,-0.2225,horizontal,previous fixed-slot horizontal grasp,RBY,F,-0.034999999999999996,-0.2225,L,-0.12,-0.22,R,0.12,-0.22,0,True,True,287,768,0.11488857851209283,0.02968980591825127,20260603_055235_target540_line120_y220_rr30_r30_487_blue_horizontal_RBY_F
164,488,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,blue,R,0.08499999999999999,-0.2225,horizontal,previous fixed-slot horizontal grasp,RYB,R,0.08499999999999999,-0.2225,L,-0.12,-0.22,F,0.0,-0.22,0,True,True,302,783,0.11505481113494212,0.025888010540156926,20260603_053415_target540_line120_y220_rr30_r30_488_blue_horizontal_RYB_R
165,489,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,blue,L,-0.155,-0.2225,horizontal,previous fixed-slot horizontal grasp,BRY,L,-0.155,-0.2225,F,0.0,-0.22,R,0.12,-0.22,0,True,True,287,769,0.11384167431608089,0.031603549884169,20260603_053428_target540_line120_y220_rr30_r30_489_blue_horizontal_BRY_L
166,490,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,blue,L,-0.155,-0.2225,horizontal,previous fixed-slot horizontal grasp,BYR,L,-0.155,-0.2225,R,0.12,-0.22,F,0.0,-0.22,0,True,True,287,769,0.11384167431608089,0.031603549884169,20260603_053440_target540_line120_y220_rr30_r30_490_blue_horizontal_BYR_L
167,491,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,blue,R,0.08499999999999999,-0.2225,horizontal,previous fixed-slot horizontal grasp,YRB,R,0.08499999999999999,-0.2225,F,0.0,-0.22,L,-0.12,-0.22,0,True,True,302,783,0.11505481113494212,0.025888010540156926,20260603_053453_target540_line120_y220_rr30_r30_491_blue_horizontal_YRB_R
168,492,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,blue,F,-0.034999999999999996,-0.2225,horizontal,previous fixed-slot horizontal grasp,YBR,F,-0.034999999999999996,-0.2225,R,0.12,-0.22,L,-0.12,-0.22,0,True,True,287,768,0.11488857851209283,0.02968980591825127,20260603_055247_target540_line120_y220_rr30_r30_492_blue_horizontal_YBR_F
169,493,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,blue,F,-0.034999999999999996,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RBY,F,-0.034999999999999996,-0.2225,L,-0.12,-0.22,R,0.12,-0.22,0,False,True,330,620,0.09083785391016194,0.01874057038554538,20260603_053520_target540_line120_y220_rr30_r30_493_blue_vertical_no_roll_midhold_RBY_F
170,494,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,blue,R,0.08499999999999999,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RYB,R,0.08499999999999999,-0.2225,L,-0.12,-0.22,F,0.0,-0.22,0,False,True,329,620,0.091127966138179,0.019451399678638168,20260603_053539_target540_line120_y220_rr30_r30_494_blue_vertical_no_roll_midhold_RYB_R
171,495,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,blue,L,-0.155,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BRY,L,-0.155,-0.2225,F,0.0,-0.22,R,0.12,-0.22,0,False,True,330,620,0.09228260400091759,0.027089297106889332,20260603_053559_target540_line120_y220_rr30_r30_495_blue_vertical_no_roll_midhold_BRY_L
172,496,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,blue,L,-0.155,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BYR,L,-0.155,-0.2225,R,0.12,-0.22,F,0.0,-0.22,0,False,True,330,620,0.09228260400091759,0.027089297106889332,20260603_053618_target540_line120_y220_rr30_r30_496_blue_vertical_no_roll_midhold_BYR_L
173,497,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,blue,R,0.08499999999999999,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YRB,R,0.08499999999999999,-0.2225,F,0.0,-0.22,L,-0.12,-0.22,0,False,True,329,620,0.091127966138179,0.019451399678638168,20260603_053636_target540_line120_y220_rr30_r30_497_blue_vertical_no_roll_midhold_YRB_R
174,498,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,blue,F,-0.034999999999999996,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YBR,F,-0.034999999999999996,-0.2225,R,0.12,-0.22,L,-0.12,-0.22,0,False,True,330,620,0.09083785391016194,0.01874057038554538,20260603_053656_target540_line120_y220_rr30_r30_498_blue_vertical_no_roll_midhold_YBR_F
175,499,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,blue,F,-0.034999999999999996,-0.2225,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",RBY,F,-0.034999999999999996,-0.2225,L,-0.12,-0.22,R,0.12,-0.22,0,False,True,294,620,0.08875803785614081,0.0173364082534047,20260603_053715_target540_line120_y220_rr30_r30_499_blue_roll90_locked_xface_midhold_RBY_F
176,500,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,blue,R,0.08499999999999999,-0.2225,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",RYB,R,0.08499999999999999,-0.2225,L,-0.12,-0.22,F,0.0,-0.22,0,False,True,294,620,0.08910578442895198,0.015810479178568967,20260603_053734_target540_line120_y220_rr30_r30_500_blue_roll90_locked_xface_midhold_RYB_R
177,501,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,blue,L,-0.155,-0.2225,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",BRY,L,-0.155,-0.2225,F,0.0,-0.22,R,0.12,-0.22,0,False,True,290,620,0.09154733753796859,0.018739972387164506,20260603_053752_target540_line120_y220_rr30_r30_501_blue_roll90_locked_xface_midhold_BRY_L
178,502,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,blue,L,-0.155,-0.2225,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",BYR,L,-0.155,-0.2225,R,0.12,-0.22,F,0.0,-0.22,0,False,True,290,620,0.09154733753796859,0.018739972387164506,20260603_053812_target540_line120_y220_rr30_r30_502_blue_roll90_locked_xface_midhold_BYR_L
179,503,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,blue,R,0.08499999999999999,-0.2225,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",YRB,R,0.08499999999999999,-0.2225,F,0.0,-0.22,L,-0.12,-0.22,0,False,True,294,620,0.08910578442895198,0.015810479178568967,20260603_053832_target540_line120_y220_rr30_r30_503_blue_roll90_locked_xface_midhold_YRB_R
180,504,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,blue,F,-0.034999999999999996,-0.2225,roll90_locked_xface_midhold,"mid-hold grasp with gripper pre-rotated 90 deg, outside x-face entry, and wrist locked",YBR,F,-0.034999999999999996,-0.2225,R,0.12,-0.22,L,-0.12,-0.22,0,False,True,294,620,0.08875803785614081,0.0173364082534047,20260603_053850_target540_line120_y220_rr30_r30_504_blue_roll90_locked_xface_midhold_YBR_F