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
1,19,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,yellow,R,0.15,-0.22,horizontal,previous fixed-slot horizontal grasp,RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.15,-0.22,0,True,True,287,769,0.11428453138144343,0.02749238104668894,20260603_032245_target540_line120_y220_rl30_c_019_yellow_horizontal_RBY_R
2,20,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,yellow,F,0.03,-0.22,horizontal,previous fixed-slot horizontal grasp,RYB,R,0.12,-0.22,L,-0.12,-0.22,F,0.03,-0.22,0,True,True,305,786,0.1149103967268788,0.02578276022781851,20260603_032259_target540_line120_y220_rl30_c_020_yellow_horizontal_RYB_F
3,21,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,yellow,R,0.15,-0.22,horizontal,previous fixed-slot horizontal grasp,BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.15,-0.22,0,True,True,287,769,0.11428453138144343,0.02749238104668894,20260603_032312_target540_line120_y220_rl30_c_021_yellow_horizontal_BRY_R
4,22,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,yellow,F,0.03,-0.22,horizontal,previous fixed-slot horizontal grasp,BYR,L,-0.12,-0.22,R,0.12,-0.22,F,0.03,-0.22,0,True,True,305,786,0.1149103967268788,0.02578276022781851,20260603_032325_target540_line120_y220_rl30_c_022_yellow_horizontal_BYR_F
5,23,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,yellow,L,-0.09,-0.22,horizontal,previous fixed-slot horizontal grasp,YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.09,-0.22,0,True,True,309,791,0.112953844010131,0.029750391486356158,20260603_032337_target540_line120_y220_rl30_c_023_yellow_horizontal_YRB_L
6,24,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,yellow,L,-0.09,-0.22,horizontal,previous fixed-slot horizontal grasp,YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.09,-0.22,0,True,True,309,791,0.112953844010131,0.029750391486356158,20260603_032350_target540_line120_y220_rl30_c_024_yellow_horizontal_YBR_L
7,25,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,yellow,R,0.15,-0.22,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.15,-0.22,0,False,True,332,620,0.0920511456921399,0.02185112590878996,20260603_032403_target540_line120_y220_rl30_c_025_yellow_vertical_no_roll_midhold_RBY_R
8,26,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,yellow,F,0.03,-0.22,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RYB,R,0.12,-0.22,L,-0.12,-0.22,F,0.03,-0.22,0,False,True,330,620,0.09015684706151472,0.01678338306123056,20260603_032422_target540_line120_y220_rl30_c_026_yellow_vertical_no_roll_midhold_RYB_F
9,27,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,yellow,R,0.15,-0.22,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.15,-0.22,0,False,True,332,620,0.0920511456921399,0.02185112590878996,20260603_032442_target540_line120_y220_rl30_c_027_yellow_vertical_no_roll_midhold_BRY_R
10,28,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,yellow,F,0.03,-0.22,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BYR,L,-0.12,-0.22,R,0.12,-0.22,F,0.03,-0.22,0,False,True,330,620,0.09015684706151472,0.01678338306123056,20260603_032501_target540_line120_y220_rl30_c_028_yellow_vertical_no_roll_midhold_BYR_F
11,29,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,yellow,L,-0.09,-0.22,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.09,-0.22,0,False,True,328,620,0.09149152141635217,0.019480555857169277,20260603_032520_target540_line120_y220_rl30_c_029_yellow_vertical_no_roll_midhold_YRB_L
12,30,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,yellow,L,-0.09,-0.22,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.09,-0.22,0,False,True,328,620,0.09149152141635217,0.019480555857169277,20260603_032540_target540_line120_y220_rl30_c_030_yellow_vertical_no_roll_midhold_YBR_L
13,31,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,yellow,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",RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.15,-0.22,0,False,True,290,620,0.09142414478808752,0.016021829102495503,20260603_032559_target540_line120_y220_rl30_c_031_yellow_roll90_locked_xface_midhold_RBY_R
14,32,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,yellow,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",RYB,R,0.12,-0.22,L,-0.12,-0.22,F,0.03,-0.22,0,False,True,295,620,0.08856663111203134,0.017558853184713927,20260603_032619_target540_line120_y220_rl30_c_032_yellow_roll90_locked_xface_midhold_RYB_F
15,33,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,yellow,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",BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.15,-0.22,0,False,True,290,620,0.09142414478808752,0.016021829102495503,20260603_032638_target540_line120_y220_rl30_c_033_yellow_roll90_locked_xface_midhold_BRY_R
16,34,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,yellow,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",BYR,L,-0.12,-0.22,R,0.12,-0.22,F,0.03,-0.22,0,False,True,295,620,0.08856663111203134,0.017558853184713927,20260603_032658_target540_line120_y220_rl30_c_034_yellow_roll90_locked_xface_midhold_BYR_F
17,35,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,yellow,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",YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.09,-0.22,0,False,True,293,620,0.09013373654321594,0.01716731725473712,20260603_032716_target540_line120_y220_rl30_c_035_yellow_roll90_locked_xface_midhold_YRB_L
18,36,target_robot_left30mm_angle_front_center,rl30_c,target_robot_left30mm,angle_front_center,0.03,0.0,yellow,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",YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.09,-0.22,0,False,True,293,620,0.09013373654321594,0.01716731725473712,20260603_032735_target540_line120_y220_rl30_c_036_yellow_roll90_locked_xface_midhold_YBR_L
19,73,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,yellow,R,0.1525,-0.222,horizontal,previous fixed-slot horizontal grasp,RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.1525,-0.222,0,True,True,287,769,0.11430568338330332,0.027479600640364796,20260603_033812_target540_line120_y220_rl30_l15_073_yellow_horizontal_RBY_R
20,74,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,yellow,F,0.0325,-0.222,horizontal,previous fixed-slot horizontal grasp,RYB,R,0.12,-0.22,L,-0.12,-0.22,F,0.0325,-0.222,0,True,True,301,782,0.11479036779566942,0.02594508806322702,20260603_033825_target540_line120_y220_rl30_l15_074_yellow_horizontal_RYB_F
21,75,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,yellow,R,0.1525,-0.222,horizontal,previous fixed-slot horizontal grasp,BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.1525,-0.222,0,True,True,287,769,0.11430568338330332,0.027479600640364796,20260603_033837_target540_line120_y220_rl30_l15_075_yellow_horizontal_BRY_R
22,76,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,yellow,F,0.0325,-0.222,horizontal,previous fixed-slot horizontal grasp,BYR,L,-0.12,-0.22,R,0.12,-0.22,F,0.0325,-0.222,0,True,True,301,782,0.11479036779566942,0.02594508806322702,20260603_033850_target540_line120_y220_rl30_l15_076_yellow_horizontal_BYR_F
23,77,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,yellow,L,-0.0875,-0.222,horizontal,previous fixed-slot horizontal grasp,YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.0875,-0.222,0,True,True,306,788,0.11311912636286173,0.0296210488297084,20260603_033902_target540_line120_y220_rl30_l15_077_yellow_horizontal_YRB_L
24,78,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,yellow,L,-0.0875,-0.222,horizontal,previous fixed-slot horizontal grasp,YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.0875,-0.222,0,True,True,306,788,0.11311912636286173,0.0296210488297084,20260603_033914_target540_line120_y220_rl30_l15_078_yellow_horizontal_YBR_L
25,79,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,yellow,R,0.1525,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.1525,-0.222,0,False,True,332,620,0.09229098125053259,0.02271747509620795,20260603_033926_target540_line120_y220_rl30_l15_079_yellow_vertical_no_roll_midhold_RBY_R
26,80,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,yellow,F,0.0325,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RYB,R,0.12,-0.22,L,-0.12,-0.22,F,0.0325,-0.222,0,False,True,330,620,0.09041524875707235,0.01766741944070536,20260603_033945_target540_line120_y220_rl30_l15_080_yellow_vertical_no_roll_midhold_RYB_F
27,81,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,yellow,R,0.1525,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.1525,-0.222,0,False,True,332,620,0.09229098125053259,0.02271747509620795,20260603_034004_target540_line120_y220_rl30_l15_081_yellow_vertical_no_roll_midhold_BRY_R
28,82,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,yellow,F,0.0325,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BYR,L,-0.12,-0.22,R,0.12,-0.22,F,0.0325,-0.222,0,False,True,330,620,0.09041524875707235,0.01766741944070536,20260603_034023_target540_line120_y220_rl30_l15_082_yellow_vertical_no_roll_midhold_BYR_F
29,83,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,yellow,L,-0.0875,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.0875,-0.222,0,False,True,328,620,0.09157164092628362,0.019605627409474663,20260603_034042_target540_line120_y220_rl30_l15_083_yellow_vertical_no_roll_midhold_YRB_L
30,84,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,yellow,L,-0.0875,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.0875,-0.222,0,False,True,328,620,0.09157164092628362,0.019605627409474663,20260603_034102_target540_line120_y220_rl30_l15_084_yellow_vertical_no_roll_midhold_YBR_L
31,85,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,yellow,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",RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.1525,-0.222,0,False,True,290,620,0.09207055326901192,0.02148986994334242,20260603_034121_target540_line120_y220_rl30_l15_085_yellow_roll90_locked_xface_midhold_RBY_R
32,86,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,yellow,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",RYB,R,0.12,-0.22,L,-0.12,-0.22,F,0.0325,-0.222,0,False,True,295,620,0.08864992873550612,0.017357554295052036,20260603_034141_target540_line120_y220_rl30_l15_086_yellow_roll90_locked_xface_midhold_RYB_F
33,87,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,yellow,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",BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.1525,-0.222,0,False,True,290,620,0.09207055326901192,0.02148986994334242,20260603_034159_target540_line120_y220_rl30_l15_087_yellow_roll90_locked_xface_midhold_BRY_R
34,88,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,yellow,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",BYR,L,-0.12,-0.22,R,0.12,-0.22,F,0.0325,-0.222,0,False,True,295,620,0.08864992873550612,0.017357554295052036,20260603_034219_target540_line120_y220_rl30_l15_088_yellow_roll90_locked_xface_midhold_BYR_F
35,89,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,yellow,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",YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.0875,-0.222,0,False,True,293,620,0.09016945689020295,0.017272270207822446,20260603_034237_target540_line120_y220_rl30_l15_089_yellow_roll90_locked_xface_midhold_YRB_L
36,90,target_robot_left30mm_angle_robot_left15deg,rl30_l15,target_robot_left30mm,angle_robot_left15deg,0.0325,-0.002,yellow,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",YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.0875,-0.222,0,False,True,293,620,0.09016945689020295,0.017272270207822446,20260603_034255_target540_line120_y220_rl30_l15_090_yellow_roll90_locked_xface_midhold_YBR_L
37,127,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,yellow,R,0.1475,-0.222,horizontal,previous fixed-slot horizontal grasp,RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.1475,-0.222,0,True,True,287,769,0.11425221619712261,0.027555196064160303,20260603_035313_target540_line120_y220_rl30_r15_127_yellow_horizontal_RBY_R
38,128,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,yellow,F,0.0275,-0.222,horizontal,previous fixed-slot horizontal grasp,RYB,R,0.12,-0.22,L,-0.12,-0.22,F,0.0275,-0.222,0,True,True,303,784,0.11477937131025606,0.02591642595165637,20260603_035326_target540_line120_y220_rl30_r15_128_yellow_horizontal_RYB_F
39,129,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,yellow,R,0.1475,-0.222,horizontal,previous fixed-slot horizontal grasp,BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.1475,-0.222,0,True,True,287,769,0.11425221619712261,0.027555196064160303,20260603_035338_target540_line120_y220_rl30_r15_129_yellow_horizontal_BRY_R
40,130,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,yellow,F,0.0275,-0.222,horizontal,previous fixed-slot horizontal grasp,BYR,L,-0.12,-0.22,R,0.12,-0.22,F,0.0275,-0.222,0,True,True,303,784,0.11477937131025606,0.02591642595165637,20260603_035351_target540_line120_y220_rl30_r15_130_yellow_horizontal_BYR_F
41,131,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,yellow,L,-0.0925,-0.222,horizontal,previous fixed-slot horizontal grasp,YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.0925,-0.222,0,True,True,316,798,0.11307206104909776,0.029518789313591507,20260603_035403_target540_line120_y220_rl30_r15_131_yellow_horizontal_YRB_L
42,132,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,yellow,L,-0.0925,-0.222,horizontal,previous fixed-slot horizontal grasp,YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.0925,-0.222,0,True,True,316,798,0.11307206104909776,0.029518789313591507,20260603_035416_target540_line120_y220_rl30_r15_132_yellow_horizontal_YBR_L
43,133,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,yellow,R,0.1475,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.1475,-0.222,0,False,True,332,620,0.09210618027488579,0.022051611257183554,20260603_035428_target540_line120_y220_rl30_r15_133_yellow_vertical_no_roll_midhold_RBY_R
44,134,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,yellow,F,0.0275,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RYB,R,0.12,-0.22,L,-0.12,-0.22,F,0.0275,-0.222,0,False,True,330,620,0.0903459890239425,0.01731411840311776,20260603_035447_target540_line120_y220_rl30_r15_134_yellow_vertical_no_roll_midhold_RYB_F
45,135,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,yellow,R,0.1475,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.1475,-0.222,0,False,True,332,620,0.09210618027488579,0.022051611257183554,20260603_035506_target540_line120_y220_rl30_r15_135_yellow_vertical_no_roll_midhold_BRY_R
46,136,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,yellow,F,0.0275,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BYR,L,-0.12,-0.22,R,0.12,-0.22,F,0.0275,-0.222,0,False,True,330,620,0.0903459890239425,0.01731411840311776,20260603_035526_target540_line120_y220_rl30_r15_136_yellow_vertical_no_roll_midhold_BYR_F
47,137,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,yellow,L,-0.0925,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.0925,-0.222,0,False,True,328,620,0.091680196857269,0.019862052264147747,20260603_035545_target540_line120_y220_rl30_r15_137_yellow_vertical_no_roll_midhold_YRB_L
48,138,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,yellow,L,-0.0925,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.0925,-0.222,0,False,True,328,620,0.091680196857269,0.019862052264147747,20260603_035604_target540_line120_y220_rl30_r15_138_yellow_vertical_no_roll_midhold_YBR_L
49,139,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,yellow,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",RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.1475,-0.222,0,False,True,290,620,0.09156079679353488,0.017013485834036973,20260603_035623_target540_line120_y220_rl30_r15_139_yellow_roll90_locked_xface_midhold_RBY_R
50,140,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,yellow,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",RYB,R,0.12,-0.22,L,-0.12,-0.22,F,0.0275,-0.222,0,False,True,295,620,0.08863574731303003,0.01742836421224044,20260603_035642_target540_line120_y220_rl30_r15_140_yellow_roll90_locked_xface_midhold_RYB_F
51,141,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,yellow,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",BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.1475,-0.222,0,False,True,290,620,0.09156079679353488,0.017013485834036973,20260603_035700_target540_line120_y220_rl30_r15_141_yellow_roll90_locked_xface_midhold_BRY_R
52,142,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,yellow,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",BYR,L,-0.12,-0.22,R,0.12,-0.22,F,0.0275,-0.222,0,False,True,295,620,0.08863574731303003,0.01742836421224044,20260603_035719_target540_line120_y220_rl30_r15_142_yellow_roll90_locked_xface_midhold_BYR_F
53,143,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,yellow,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",YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.0925,-0.222,0,False,True,293,620,0.09020366256277951,0.01725041905308671,20260603_035737_target540_line120_y220_rl30_r15_143_yellow_roll90_locked_xface_midhold_YRB_L
54,144,target_robot_left30mm_angle_robot_right15deg,rl30_r15,target_robot_left30mm,angle_robot_right15deg,0.0275,-0.002,yellow,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",YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.0925,-0.222,0,False,True,293,620,0.09020366256277951,0.01725041905308671,20260603_035756_target540_line120_y220_rl30_r15_144_yellow_roll90_locked_xface_midhold_YBR_L
55,181,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,yellow,R,0.15,-0.2225,horizontal,previous fixed-slot horizontal grasp,RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.15,-0.2225,0,True,True,287,769,0.11426186135211716,0.027516860682280674,20260603_040819_target540_line120_y220_rl30_l30_181_yellow_horizontal_RBY_R
56,182,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,yellow,F,0.03,-0.2225,horizontal,previous fixed-slot horizontal grasp,RYB,R,0.12,-0.22,L,-0.12,-0.22,F,0.03,-0.2225,0,True,True,302,783,0.11485464326538913,0.02600225223835385,20260603_040832_target540_line120_y220_rl30_l30_182_yellow_horizontal_RYB_F
57,183,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,yellow,R,0.15,-0.2225,horizontal,previous fixed-slot horizontal grasp,BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.15,-0.2225,0,True,True,287,769,0.11426186135211716,0.027516860682280674,20260603_040844_target540_line120_y220_rl30_l30_183_yellow_horizontal_BRY_R
58,184,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,yellow,F,0.03,-0.2225,horizontal,previous fixed-slot horizontal grasp,BYR,L,-0.12,-0.22,R,0.12,-0.22,F,0.03,-0.2225,0,True,True,302,783,0.11485464326538913,0.02600225223835385,20260603_040856_target540_line120_y220_rl30_l30_184_yellow_horizontal_BYR_F
59,185,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,yellow,L,-0.09,-0.2225,horizontal,previous fixed-slot horizontal grasp,YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.09,-0.2225,0,True,True,307,789,0.11312335634520249,0.029623245186249692,20260603_040909_target540_line120_y220_rl30_l30_185_yellow_horizontal_YRB_L
60,186,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,yellow,L,-0.09,-0.2225,horizontal,previous fixed-slot horizontal grasp,YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.09,-0.2225,0,True,True,307,789,0.11312335634520249,0.029623245186249692,20260603_040921_target540_line120_y220_rl30_l30_186_yellow_horizontal_YBR_L
61,187,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,yellow,R,0.15,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.15,-0.2225,0,False,True,332,620,0.09223194498075815,0.022502273699768725,20260603_040933_target540_line120_y220_rl30_l30_187_yellow_vertical_no_roll_midhold_RBY_R
62,188,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,yellow,F,0.03,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RYB,R,0.12,-0.22,L,-0.12,-0.22,F,0.03,-0.2225,0,False,True,330,620,0.09043172033146407,0.01770520843782292,20260603_040953_target540_line120_y220_rl30_l30_188_yellow_vertical_no_roll_midhold_RYB_F
63,189,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,yellow,R,0.15,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.15,-0.2225,0,False,True,332,620,0.09223194498075815,0.022502273699768725,20260603_041012_target540_line120_y220_rl30_l30_189_yellow_vertical_no_roll_midhold_BRY_R
64,190,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,yellow,F,0.03,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BYR,L,-0.12,-0.22,R,0.12,-0.22,F,0.03,-0.2225,0,False,True,330,620,0.09043172033146407,0.01770520843782292,20260603_041031_target540_line120_y220_rl30_l30_190_yellow_vertical_no_roll_midhold_BYR_F
65,191,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,yellow,L,-0.09,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.09,-0.2225,0,False,True,328,620,0.09170407825441795,0.02004584461012858,20260603_041050_target540_line120_y220_rl30_l30_191_yellow_vertical_no_roll_midhold_YRB_L
66,192,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,yellow,L,-0.09,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.09,-0.2225,0,False,True,328,620,0.09170407825441795,0.02004584461012858,20260603_041109_target540_line120_y220_rl30_l30_192_yellow_vertical_no_roll_midhold_YBR_L
67,193,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,yellow,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",RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.15,-0.2225,0,False,True,290,620,0.09191520463148006,0.019990187407210706,20260603_041129_target540_line120_y220_rl30_l30_193_yellow_roll90_locked_xface_midhold_RBY_R
68,194,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,yellow,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",RYB,R,0.12,-0.22,L,-0.12,-0.22,F,0.03,-0.2225,0,False,True,295,620,0.08866145712335896,0.01735170144205011,20260603_041148_target540_line120_y220_rl30_l30_194_yellow_roll90_locked_xface_midhold_RYB_F
69,195,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,yellow,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",BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.15,-0.2225,0,False,True,290,620,0.09191520463148006,0.019990187407210706,20260603_041207_target540_line120_y220_rl30_l30_195_yellow_roll90_locked_xface_midhold_BRY_R
70,196,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,yellow,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",BYR,L,-0.12,-0.22,R,0.12,-0.22,F,0.03,-0.2225,0,False,True,295,620,0.08866145712335896,0.01735170144205011,20260603_041226_target540_line120_y220_rl30_l30_196_yellow_roll90_locked_xface_midhold_BYR_F
71,197,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,yellow,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",YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.09,-0.2225,0,False,True,293,620,0.09019496442788316,0.017276141219477046,20260603_041244_target540_line120_y220_rl30_l30_197_yellow_roll90_locked_xface_midhold_YRB_L
72,198,target_robot_left30mm_angle_robot_left30deg,rl30_l30,target_robot_left30mm,angle_robot_left30deg,0.03,-0.0025,yellow,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",YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.09,-0.2225,0,False,True,293,620,0.09019496442788316,0.017276141219477046,20260603_041302_target540_line120_y220_rl30_l30_198_yellow_roll90_locked_xface_midhold_YBR_L
73,235,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,yellow,R,0.145,-0.2225,horizontal,previous fixed-slot horizontal grasp,RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.145,-0.2225,0,True,True,287,769,0.11424211564428449,0.027591298905017252,20260603_042323_target540_line120_y220_rl30_r30_235_yellow_horizontal_RBY_R
74,236,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,yellow,F,0.024999999999999998,-0.2225,horizontal,previous fixed-slot horizontal grasp,RYB,R,0.12,-0.22,L,-0.12,-0.22,F,0.024999999999999998,-0.2225,0,True,True,297,778,0.11472041141809936,0.025905285717614884,20260603_042336_target540_line120_y220_rl30_r30_236_yellow_horizontal_RYB_F
75,237,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,yellow,R,0.145,-0.2225,horizontal,previous fixed-slot horizontal grasp,BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.145,-0.2225,0,True,True,287,769,0.11424211564428449,0.027591298905017252,20260603_042348_target540_line120_y220_rl30_r30_237_yellow_horizontal_BRY_R
76,238,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,yellow,F,0.024999999999999998,-0.2225,horizontal,previous fixed-slot horizontal grasp,BYR,L,-0.12,-0.22,R,0.12,-0.22,F,0.024999999999999998,-0.2225,0,True,True,297,778,0.11472041141809936,0.025905285717614884,20260603_042401_target540_line120_y220_rl30_r30_238_yellow_horizontal_BYR_F
77,239,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,yellow,L,-0.095,-0.2225,horizontal,previous fixed-slot horizontal grasp,YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.095,-0.2225,0,True,True,310,792,0.11288059689213853,0.03009149800963791,20260603_042413_target540_line120_y220_rl30_r30_239_yellow_horizontal_YRB_L
78,240,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,yellow,L,-0.095,-0.2225,horizontal,previous fixed-slot horizontal grasp,YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.095,-0.2225,0,True,True,310,792,0.11288059689213853,0.03009149800963791,20260603_042426_target540_line120_y220_rl30_r30_240_yellow_horizontal_YBR_L
79,241,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,yellow,R,0.145,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.145,-0.2225,0,False,True,332,620,0.09205691364135052,0.02188615565844388,20260603_042438_target540_line120_y220_rl30_r30_241_yellow_vertical_no_roll_midhold_RBY_R
80,242,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,yellow,F,0.024999999999999998,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RYB,R,0.12,-0.22,L,-0.12,-0.22,F,0.024999999999999998,-0.2225,0,False,True,330,620,0.09036105466492392,0.017329900381293176,20260603_042457_target540_line120_y220_rl30_r30_242_yellow_vertical_no_roll_midhold_RYB_F
81,243,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,yellow,R,0.145,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.145,-0.2225,0,False,True,332,620,0.09205691364135052,0.02188615565844388,20260603_042516_target540_line120_y220_rl30_r30_243_yellow_vertical_no_roll_midhold_BRY_R
82,244,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,yellow,F,0.024999999999999998,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BYR,L,-0.12,-0.22,R,0.12,-0.22,F,0.024999999999999998,-0.2225,0,False,True,330,620,0.09036105466492392,0.017329900381293176,20260603_042535_target540_line120_y220_rl30_r30_244_yellow_vertical_no_roll_midhold_BYR_F
83,245,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,yellow,L,-0.095,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.095,-0.2225,0,False,True,328,620,0.09176783609548972,0.020029457058153233,20260603_042555_target540_line120_y220_rl30_r30_245_yellow_vertical_no_roll_midhold_YRB_L
84,246,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,yellow,L,-0.095,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.095,-0.2225,0,False,True,328,620,0.09176783609548972,0.020029457058153233,20260603_042614_target540_line120_y220_rl30_r30_246_yellow_vertical_no_roll_midhold_YBR_L
85,247,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,yellow,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",RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.145,-0.2225,0,False,True,290,620,0.09139630807875135,0.015917133128346778,20260603_042633_target540_line120_y220_rl30_r30_247_yellow_roll90_locked_xface_midhold_RBY_R
86,248,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,yellow,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",RYB,R,0.12,-0.22,L,-0.12,-0.22,F,0.024999999999999998,-0.2225,0,False,True,295,620,0.08864125564262412,0.01741341447953475,20260603_042652_target540_line120_y220_rl30_r30_248_yellow_roll90_locked_xface_midhold_RYB_F
87,249,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,yellow,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",BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.145,-0.2225,0,False,True,290,620,0.09139630807875135,0.015917133128346778,20260603_042711_target540_line120_y220_rl30_r30_249_yellow_roll90_locked_xface_midhold_BRY_R
88,250,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,yellow,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",BYR,L,-0.12,-0.22,R,0.12,-0.22,F,0.024999999999999998,-0.2225,0,False,True,295,620,0.08864125564262412,0.01741341447953475,20260603_042730_target540_line120_y220_rl30_r30_250_yellow_roll90_locked_xface_midhold_BYR_F
89,251,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,yellow,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",YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.095,-0.2225,0,False,True,293,620,0.09023516937670908,0.017268291791088883,20260603_042748_target540_line120_y220_rl30_r30_251_yellow_roll90_locked_xface_midhold_YRB_L
90,252,target_robot_left30mm_angle_robot_right30deg,rl30_r30,target_robot_left30mm,angle_robot_right30deg,0.024999999999999998,-0.0025,yellow,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",YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.095,-0.2225,0,False,True,293,620,0.09023516937670908,0.017268291791088883,20260603_042806_target540_line120_y220_rl30_r30_252_yellow_roll90_locked_xface_midhold_YBR_L
91,289,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,yellow,R,0.09,-0.22,horizontal,previous fixed-slot horizontal grasp,RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.09,-0.22,0,True,True,299,780,0.11473797596507745,0.026602560898442686,20260603_043827_target540_line120_y220_rr30_c_289_yellow_horizontal_RBY_R
92,290,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,yellow,F,-0.03,-0.22,horizontal,previous fixed-slot horizontal grasp,RYB,R,0.12,-0.22,L,-0.12,-0.22,F,-0.03,-0.22,0,True,True,298,779,0.11490819240801378,0.02604611485099627,20260603_043839_target540_line120_y220_rr30_c_290_yellow_horizontal_RYB_F
93,291,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,yellow,R,0.09,-0.22,horizontal,previous fixed-slot horizontal grasp,BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.09,-0.22,0,True,True,299,780,0.11473797596507745,0.026602560898442686,20260603_043851_target540_line120_y220_rr30_c_291_yellow_horizontal_BRY_R
94,292,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,yellow,F,-0.03,-0.22,horizontal,previous fixed-slot horizontal grasp,BYR,L,-0.12,-0.22,R,0.12,-0.22,F,-0.03,-0.22,0,True,True,298,779,0.11490819240801378,0.02604611485099627,20260603_043904_target540_line120_y220_rr30_c_292_yellow_horizontal_BYR_F
95,293,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,yellow,L,-0.15,-0.22,horizontal,previous fixed-slot horizontal grasp,YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.15,-0.22,0,True,True,287,769,0.11363448975285437,0.03200056121763872,20260603_043916_target540_line120_y220_rr30_c_293_yellow_horizontal_YRB_L
96,294,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,yellow,L,-0.15,-0.22,horizontal,previous fixed-slot horizontal grasp,YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.15,-0.22,0,True,True,287,769,0.11363448975285437,0.03200056121763872,20260603_043928_target540_line120_y220_rr30_c_294_yellow_horizontal_YBR_L
97,295,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,yellow,R,0.09,-0.22,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.09,-0.22,0,False,True,329,620,0.09103907347812526,0.019712057980706927,20260603_043941_target540_line120_y220_rr30_c_295_yellow_vertical_no_roll_midhold_RBY_R
98,296,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,yellow,F,-0.03,-0.22,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RYB,R,0.12,-0.22,L,-0.12,-0.22,F,-0.03,-0.22,0,False,True,330,620,0.09085602402218695,0.019570891595895434,20260603_044000_target540_line120_y220_rr30_c_296_yellow_vertical_no_roll_midhold_RYB_F
99,297,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,yellow,R,0.09,-0.22,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.09,-0.22,0,False,True,329,620,0.09103907347812526,0.019712057980706927,20260603_044019_target540_line120_y220_rr30_c_297_yellow_vertical_no_roll_midhold_BRY_R
100,298,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,yellow,F,-0.03,-0.22,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BYR,L,-0.12,-0.22,R,0.12,-0.22,F,-0.03,-0.22,0,False,True,330,620,0.09085602402218695,0.019570891595895434,20260603_044038_target540_line120_y220_rr30_c_298_yellow_vertical_no_roll_midhold_BYR_F
101,299,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,yellow,L,-0.15,-0.22,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.15,-0.22,0,False,True,330,620,0.09189954828760227,0.025369883252942427,20260603_044058_target540_line120_y220_rr30_c_299_yellow_vertical_no_roll_midhold_YRB_L
102,300,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,yellow,L,-0.15,-0.22,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.15,-0.22,0,False,True,330,620,0.09189954828760227,0.025369883252942427,20260603_044116_target540_line120_y220_rr30_c_300_yellow_vertical_no_roll_midhold_YBR_L
103,301,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,yellow,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",RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.09,-0.22,0,False,True,294,620,0.08905006496782444,0.015845757255119438,20260603_044134_target540_line120_y220_rr30_c_301_yellow_roll90_locked_xface_midhold_RBY_R
104,302,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,yellow,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",RYB,R,0.12,-0.22,L,-0.12,-0.22,F,-0.03,-0.22,0,False,True,294,620,0.08863954663105181,0.017597866640727097,20260603_044153_target540_line120_y220_rr30_c_302_yellow_roll90_locked_xface_midhold_RYB_F
105,303,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,yellow,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",BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.09,-0.22,0,False,True,294,620,0.08905006496782444,0.015845757255119438,20260603_044211_target540_line120_y220_rr30_c_303_yellow_roll90_locked_xface_midhold_BRY_R
106,304,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,yellow,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",BYR,L,-0.12,-0.22,R,0.12,-0.22,F,-0.03,-0.22,0,False,True,294,620,0.08863954663105181,0.017597866640727097,20260603_044230_target540_line120_y220_rr30_c_304_yellow_roll90_locked_xface_midhold_BYR_F
107,305,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,yellow,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",YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.15,-0.22,0,False,True,290,620,0.09125280324928325,0.017801054622818856,20260603_044248_target540_line120_y220_rr30_c_305_yellow_roll90_locked_xface_midhold_YRB_L
108,306,target_robot_right30mm_angle_front_center,rr30_c,target_robot_right30mm,angle_front_center,-0.03,0.0,yellow,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",YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.15,-0.22,0,False,True,290,620,0.09125280324928325,0.017801054622818856,20260603_044308_target540_line120_y220_rr30_c_306_yellow_roll90_locked_xface_midhold_YBR_L
109,343,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,yellow,R,0.0925,-0.222,horizontal,previous fixed-slot horizontal grasp,RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.0925,-0.222,0,True,True,299,780,0.11469240014080515,0.02660975079233054,20260603_045331_target540_line120_y220_rr30_l15_343_yellow_horizontal_RBY_R
110,344,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,yellow,F,-0.0275,-0.222,horizontal,previous fixed-slot horizontal grasp,RYB,R,0.12,-0.22,L,-0.12,-0.22,F,-0.0275,-0.222,0,True,True,287,768,0.11489619412241381,0.029671888256201002,20260603_055146_target540_line120_y220_rr30_l15_344_yellow_horizontal_RYB_F
111,345,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,yellow,R,0.0925,-0.222,horizontal,previous fixed-slot horizontal grasp,BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.0925,-0.222,0,True,True,299,780,0.11469240014080515,0.02660975079233054,20260603_045357_target540_line120_y220_rr30_l15_345_yellow_horizontal_BRY_R
112,346,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,yellow,F,-0.0275,-0.222,horizontal,previous fixed-slot horizontal grasp,BYR,L,-0.12,-0.22,R,0.12,-0.22,F,-0.0275,-0.222,0,True,True,287,768,0.11489619412241381,0.029671888256201002,20260603_055158_target540_line120_y220_rr30_l15_346_yellow_horizontal_BYR_F
113,347,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,yellow,L,-0.1475,-0.222,horizontal,previous fixed-slot horizontal grasp,YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.1475,-0.222,0,True,True,287,769,0.1138181172106319,0.03147899309983018,20260603_045424_target540_line120_y220_rr30_l15_347_yellow_horizontal_YRB_L
114,348,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,yellow,L,-0.1475,-0.222,horizontal,previous fixed-slot horizontal grasp,YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.1475,-0.222,0,True,True,287,769,0.1138181172106319,0.03147899309983018,20260603_045436_target540_line120_y220_rr30_l15_348_yellow_horizontal_YBR_L
115,349,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,yellow,R,0.0925,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.0925,-0.222,0,False,True,329,620,0.0910164298227164,0.018392697537416625,20260603_045449_target540_line120_y220_rr30_l15_349_yellow_vertical_no_roll_midhold_RBY_R
116,350,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,yellow,F,-0.0275,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RYB,R,0.12,-0.22,L,-0.12,-0.22,F,-0.0275,-0.222,0,False,True,330,620,0.09069561718922947,0.01841015331393102,20260603_045508_target540_line120_y220_rr30_l15_350_yellow_vertical_no_roll_midhold_RYB_F
117,351,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,yellow,R,0.0925,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.0925,-0.222,0,False,True,329,620,0.0910164298227164,0.018392697537416625,20260603_045528_target540_line120_y220_rr30_l15_351_yellow_vertical_no_roll_midhold_BRY_R
118,352,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,yellow,F,-0.0275,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BYR,L,-0.12,-0.22,R,0.12,-0.22,F,-0.0275,-0.222,0,False,True,330,620,0.09069561718922947,0.01841015331393102,20260603_045547_target540_line120_y220_rr30_l15_352_yellow_vertical_no_roll_midhold_BYR_F
119,353,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,yellow,L,-0.1475,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.1475,-0.222,0,False,True,330,620,0.0919627778499513,0.025620093198396435,20260603_045606_target540_line120_y220_rr30_l15_353_yellow_vertical_no_roll_midhold_YRB_L
120,354,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,yellow,L,-0.1475,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.1475,-0.222,0,False,True,330,620,0.0919627778499513,0.025620093198396435,20260603_045624_target540_line120_y220_rr30_l15_354_yellow_vertical_no_roll_midhold_YBR_L
121,355,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,yellow,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",RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.0925,-0.222,0,False,True,294,620,0.0891968844473256,0.015508436446678181,20260603_045642_target540_line120_y220_rr30_l15_355_yellow_roll90_locked_xface_midhold_RBY_R
122,356,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,yellow,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",RYB,R,0.12,-0.22,L,-0.12,-0.22,F,-0.0275,-0.222,0,False,True,294,620,0.08869666551296848,0.017471871713041365,20260603_045700_target540_line120_y220_rr30_l15_356_yellow_roll90_locked_xface_midhold_RYB_F
123,357,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,yellow,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",BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.0925,-0.222,0,False,True,294,620,0.0891968844473256,0.015508436446678181,20260603_045719_target540_line120_y220_rr30_l15_357_yellow_roll90_locked_xface_midhold_BRY_R
124,358,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,yellow,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",BYR,L,-0.12,-0.22,R,0.12,-0.22,F,-0.0275,-0.222,0,False,True,294,620,0.08869666551296848,0.017471871713041365,20260603_045737_target540_line120_y220_rr30_l15_358_yellow_roll90_locked_xface_midhold_BYR_F
125,359,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,yellow,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",YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.1475,-0.222,0,False,True,290,620,0.09129421233360821,0.017990560914484553,20260603_045756_target540_line120_y220_rr30_l15_359_yellow_roll90_locked_xface_midhold_YRB_L
126,360,target_robot_right30mm_angle_robot_left15deg,rr30_l15,target_robot_right30mm,angle_robot_left15deg,-0.0275,-0.002,yellow,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",YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.1475,-0.222,0,False,True,290,620,0.09129421233360821,0.017990560914484553,20260603_045815_target540_line120_y220_rr30_l15_360_yellow_roll90_locked_xface_midhold_YBR_L
127,397,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,yellow,R,0.0875,-0.222,horizontal,previous fixed-slot horizontal grasp,RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.0875,-0.222,0,True,True,299,780,0.11473398085898379,0.02660465668575824,20260603_050843_target540_line120_y220_rr30_r15_397_yellow_horizontal_RBY_R
128,398,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,yellow,F,-0.0325,-0.222,horizontal,previous fixed-slot horizontal grasp,RYB,R,0.12,-0.22,L,-0.12,-0.22,F,-0.0325,-0.222,0,True,True,305,785,0.11521261597240776,0.026004673706020682,20260603_050855_target540_line120_y220_rr30_r15_398_yellow_horizontal_RYB_F
129,399,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,yellow,R,0.0875,-0.222,horizontal,previous fixed-slot horizontal grasp,BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.0875,-0.222,0,True,True,299,780,0.11473398085898379,0.02660465668575824,20260603_050908_target540_line120_y220_rr30_r15_399_yellow_horizontal_BRY_R
130,400,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,yellow,F,-0.0325,-0.222,horizontal,previous fixed-slot horizontal grasp,BYR,L,-0.12,-0.22,R,0.12,-0.22,F,-0.0325,-0.222,0,True,True,305,785,0.11521261597240776,0.026004673706020682,20260603_050920_target540_line120_y220_rr30_r15_400_yellow_horizontal_BYR_F
131,401,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,yellow,L,-0.1525,-0.222,horizontal,previous fixed-slot horizontal grasp,YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.1525,-0.222,0,True,True,287,769,0.11361247704858587,0.03184896505244708,20260603_050933_target540_line120_y220_rr30_r15_401_yellow_horizontal_YRB_L
132,402,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,yellow,L,-0.1525,-0.222,horizontal,previous fixed-slot horizontal grasp,YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.1525,-0.222,0,True,True,287,769,0.11361247704858587,0.03184896505244708,20260603_050945_target540_line120_y220_rr30_r15_402_yellow_horizontal_YBR_L
133,403,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,yellow,R,0.0875,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.0875,-0.222,0,False,True,329,620,0.09113892148967578,0.019475483640954142,20260603_050958_target540_line120_y220_rr30_r15_403_yellow_vertical_no_roll_midhold_RBY_R
134,404,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,yellow,F,-0.0325,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RYB,R,0.12,-0.22,L,-0.12,-0.22,F,-0.0325,-0.222,0,False,True,330,620,0.09072528267695937,0.018468005401473926,20260603_051017_target540_line120_y220_rr30_r15_404_yellow_vertical_no_roll_midhold_RYB_F
135,405,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,yellow,R,0.0875,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.0875,-0.222,0,False,True,329,620,0.09113892148967578,0.019475483640954142,20260603_051037_target540_line120_y220_rr30_r15_405_yellow_vertical_no_roll_midhold_BRY_R
136,406,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,yellow,F,-0.0325,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BYR,L,-0.12,-0.22,R,0.12,-0.22,F,-0.0325,-0.222,0,False,True,330,620,0.09072528267695937,0.018468005401473926,20260603_051056_target540_line120_y220_rr30_r15_406_yellow_vertical_no_roll_midhold_BYR_F
137,407,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,yellow,L,-0.1525,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.1525,-0.222,0,False,True,330,620,0.09215341601052929,0.026498421796536015,20260603_051116_target540_line120_y220_rr30_r15_407_yellow_vertical_no_roll_midhold_YRB_L
138,408,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,yellow,L,-0.1525,-0.222,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.1525,-0.222,0,False,True,330,620,0.09215341601052929,0.026498421796536015,20260603_051134_target540_line120_y220_rr30_r15_408_yellow_vertical_no_roll_midhold_YBR_L
139,409,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,yellow,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",RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.0875,-0.222,0,False,True,294,620,0.0891176949600703,0.01574940141901362,20260603_051153_target540_line120_y220_rr30_r15_409_yellow_roll90_locked_xface_midhold_RBY_R
140,410,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,yellow,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",RYB,R,0.12,-0.22,L,-0.12,-0.22,F,-0.0325,-0.222,0,False,True,294,620,0.08872969386904386,0.017419132818290207,20260603_051211_target540_line120_y220_rr30_r15_410_yellow_roll90_locked_xface_midhold_RYB_F
141,411,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,yellow,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",BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.0875,-0.222,0,False,True,294,620,0.0891176949600703,0.01574940141901362,20260603_051230_target540_line120_y220_rr30_r15_411_yellow_roll90_locked_xface_midhold_BRY_R
142,412,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,yellow,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",BYR,L,-0.12,-0.22,R,0.12,-0.22,F,-0.0325,-0.222,0,False,True,294,620,0.08872969386904386,0.017419132818290207,20260603_051248_target540_line120_y220_rr30_r15_412_yellow_roll90_locked_xface_midhold_BYR_F
143,413,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,yellow,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",YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.1525,-0.222,0,False,True,290,620,0.09143663728690568,0.018381981242757552,20260603_051307_target540_line120_y220_rr30_r15_413_yellow_roll90_locked_xface_midhold_YRB_L
144,414,target_robot_right30mm_angle_robot_right15deg,rr30_r15,target_robot_right30mm,angle_robot_right15deg,-0.0325,-0.002,yellow,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",YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.1525,-0.222,0,False,True,290,620,0.09143663728690568,0.018381981242757552,20260603_051326_target540_line120_y220_rr30_r15_414_yellow_roll90_locked_xface_midhold_YBR_L
145,451,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,yellow,R,0.09,-0.2225,horizontal,previous fixed-slot horizontal grasp,RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.09,-0.2225,0,True,True,300,781,0.11513112248343535,0.026203077423686244,20260603_052353_target540_line120_y220_rr30_l30_451_yellow_horizontal_RBY_R
146,452,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,yellow,F,-0.03,-0.2225,horizontal,previous fixed-slot horizontal grasp,RYB,R,0.12,-0.22,L,-0.12,-0.22,F,-0.03,-0.2225,0,True,True,302,783,0.11503216130391711,0.02584514569723711,20260603_052406_target540_line120_y220_rr30_l30_452_yellow_horizontal_RYB_F
147,453,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,yellow,R,0.09,-0.2225,horizontal,previous fixed-slot horizontal grasp,BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.09,-0.2225,0,True,True,300,781,0.11513112248343535,0.026203077423686244,20260603_052419_target540_line120_y220_rr30_l30_453_yellow_horizontal_BRY_R
148,454,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,yellow,F,-0.03,-0.2225,horizontal,previous fixed-slot horizontal grasp,BYR,L,-0.12,-0.22,R,0.12,-0.22,F,-0.03,-0.2225,0,True,True,302,783,0.11503216130391711,0.02584514569723711,20260603_052431_target540_line120_y220_rr30_l30_454_yellow_horizontal_BYR_F
149,455,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,yellow,L,-0.15,-0.2225,horizontal,previous fixed-slot horizontal grasp,YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.15,-0.2225,0,True,True,287,769,0.11378482152685321,0.03149136865851176,20260603_052444_target540_line120_y220_rr30_l30_455_yellow_horizontal_YRB_L
150,456,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,yellow,L,-0.15,-0.2225,horizontal,previous fixed-slot horizontal grasp,YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.15,-0.2225,0,True,True,287,769,0.11378482152685321,0.03149136865851176,20260603_052456_target540_line120_y220_rr30_l30_456_yellow_horizontal_YBR_L
151,457,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,yellow,R,0.09,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.09,-0.2225,0,False,True,329,620,0.0910038523128249,0.018379625056143357,20260603_052509_target540_line120_y220_rr30_l30_457_yellow_vertical_no_roll_midhold_RBY_R
152,458,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,yellow,F,-0.03,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RYB,R,0.12,-0.22,L,-0.12,-0.22,F,-0.03,-0.2225,0,False,True,330,620,0.09074657824482876,0.018526730702722205,20260603_052528_target540_line120_y220_rr30_l30_458_yellow_vertical_no_roll_midhold_RYB_F
153,459,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,yellow,R,0.09,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.09,-0.2225,0,False,True,329,620,0.0910038523128249,0.018379625056143357,20260603_052548_target540_line120_y220_rr30_l30_459_yellow_vertical_no_roll_midhold_BRY_R
154,460,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,yellow,F,-0.03,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BYR,L,-0.12,-0.22,R,0.12,-0.22,F,-0.03,-0.2225,0,False,True,330,620,0.09074657824482876,0.018526730702722205,20260603_052607_target540_line120_y220_rr30_l30_460_yellow_vertical_no_roll_midhold_BYR_F
155,461,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,yellow,L,-0.15,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.15,-0.2225,0,False,True,330,620,0.09209484995144329,0.026230760211504688,20260603_052627_target540_line120_y220_rr30_l30_461_yellow_vertical_no_roll_midhold_YRB_L
156,462,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,yellow,L,-0.15,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.15,-0.2225,0,False,True,330,620,0.09209484995144329,0.026230760211504688,20260603_052645_target540_line120_y220_rr30_l30_462_yellow_vertical_no_roll_midhold_YBR_L
157,463,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,yellow,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",RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.09,-0.2225,0,False,True,294,620,0.08918257495222764,0.015576202890695959,20260603_052703_target540_line120_y220_rr30_l30_463_yellow_roll90_locked_xface_midhold_RBY_R
158,464,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,yellow,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",RYB,R,0.12,-0.22,L,-0.12,-0.22,F,-0.03,-0.2225,0,False,True,294,620,0.08873383012645258,0.01739987487787833,20260603_052721_target540_line120_y220_rr30_l30_464_yellow_roll90_locked_xface_midhold_RYB_F
159,465,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,yellow,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",BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.09,-0.2225,0,False,True,294,620,0.08918257495222764,0.015576202890695959,20260603_052740_target540_line120_y220_rr30_l30_465_yellow_roll90_locked_xface_midhold_BRY_R
160,466,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,yellow,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",BYR,L,-0.12,-0.22,R,0.12,-0.22,F,-0.03,-0.2225,0,False,True,294,620,0.08873383012645258,0.01739987487787833,20260603_052758_target540_line120_y220_rr30_l30_466_yellow_roll90_locked_xface_midhold_BYR_F
161,467,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,yellow,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",YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.15,-0.2225,0,False,True,290,620,0.09138991436607866,0.018263779165496753,20260603_052817_target540_line120_y220_rr30_l30_467_yellow_roll90_locked_xface_midhold_YRB_L
162,468,target_robot_right30mm_angle_robot_left30deg,rr30_l30,target_robot_right30mm,angle_robot_left30deg,-0.03,-0.0025,yellow,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",YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.15,-0.2225,0,False,True,290,620,0.09138991436607866,0.018263779165496753,20260603_052837_target540_line120_y220_rr30_l30_468_yellow_roll90_locked_xface_midhold_YBR_L
163,505,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,yellow,R,0.08499999999999999,-0.2225,horizontal,previous fixed-slot horizontal grasp,RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.08499999999999999,-0.2225,0,True,True,302,783,0.11505481113494212,0.025888010540156926,20260603_053909_target540_line120_y220_rr30_r30_505_yellow_horizontal_RBY_R
164,506,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,yellow,F,-0.034999999999999996,-0.2225,horizontal,previous fixed-slot horizontal grasp,RYB,R,0.12,-0.22,L,-0.12,-0.22,F,-0.034999999999999996,-0.2225,0,True,True,287,768,0.11488857851209283,0.02968980591825127,20260603_055300_target540_line120_y220_rr30_r30_506_yellow_horizontal_RYB_F
165,507,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,yellow,R,0.08499999999999999,-0.2225,horizontal,previous fixed-slot horizontal grasp,BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.08499999999999999,-0.2225,0,True,True,302,783,0.11505481113494212,0.025888010540156926,20260603_053936_target540_line120_y220_rr30_r30_507_yellow_horizontal_BRY_R
166,508,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,yellow,F,-0.034999999999999996,-0.2225,horizontal,previous fixed-slot horizontal grasp,BYR,L,-0.12,-0.22,R,0.12,-0.22,F,-0.034999999999999996,-0.2225,0,True,True,287,768,0.11488857851209283,0.02968980591825127,20260603_055312_target540_line120_y220_rr30_r30_508_yellow_horizontal_BYR_F
167,509,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,yellow,L,-0.155,-0.2225,horizontal,previous fixed-slot horizontal grasp,YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.155,-0.2225,0,True,True,287,769,0.11384167431608089,0.031603549884169,20260603_054003_target540_line120_y220_rr30_r30_509_yellow_horizontal_YRB_L
168,510,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,yellow,L,-0.155,-0.2225,horizontal,previous fixed-slot horizontal grasp,YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.155,-0.2225,0,True,True,287,769,0.11384167431608089,0.031603549884169,20260603_054015_target540_line120_y220_rr30_r30_510_yellow_horizontal_YBR_L
169,511,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,yellow,R,0.08499999999999999,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.08499999999999999,-0.2225,0,False,True,329,620,0.091127966138179,0.019451399678638168,20260603_054028_target540_line120_y220_rr30_r30_511_yellow_vertical_no_roll_midhold_RBY_R
170,512,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,yellow,F,-0.034999999999999996,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,RYB,R,0.12,-0.22,L,-0.12,-0.22,F,-0.034999999999999996,-0.2225,0,False,True,330,620,0.09083785391016194,0.01874057038554538,20260603_054048_target540_line120_y220_rr30_r30_512_yellow_vertical_no_roll_midhold_RYB_F
171,513,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,yellow,R,0.08499999999999999,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.08499999999999999,-0.2225,0,False,True,329,620,0.091127966138179,0.019451399678638168,20260603_054107_target540_line120_y220_rr30_r30_513_yellow_vertical_no_roll_midhold_BRY_R
172,514,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,yellow,F,-0.034999999999999996,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,BYR,L,-0.12,-0.22,R,0.12,-0.22,F,-0.034999999999999996,-0.2225,0,False,True,330,620,0.09083785391016194,0.01874057038554538,20260603_054127_target540_line120_y220_rr30_r30_514_yellow_vertical_no_roll_midhold_BYR_F
173,515,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,yellow,L,-0.155,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.155,-0.2225,0,False,True,330,620,0.09228260400091759,0.027089297106889332,20260603_054147_target540_line120_y220_rr30_r30_515_yellow_vertical_no_roll_midhold_YRB_L
174,516,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,yellow,L,-0.155,-0.2225,vertical_no_roll_midhold,latest no-roll mid-hold grasp,YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.155,-0.2225,0,False,True,330,620,0.09228260400091759,0.027089297106889332,20260603_054206_target540_line120_y220_rr30_r30_516_yellow_vertical_no_roll_midhold_YBR_L
175,517,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,yellow,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",RBY,F,0.0,-0.22,L,-0.12,-0.22,R,0.08499999999999999,-0.2225,0,False,True,294,620,0.08910578442895198,0.015810479178568967,20260603_054224_target540_line120_y220_rr30_r30_517_yellow_roll90_locked_xface_midhold_RBY_R
176,518,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,yellow,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",RYB,R,0.12,-0.22,L,-0.12,-0.22,F,-0.034999999999999996,-0.2225,0,False,True,294,620,0.08875803785614081,0.0173364082534047,20260603_054243_target540_line120_y220_rr30_r30_518_yellow_roll90_locked_xface_midhold_RYB_F
177,519,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,yellow,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",BRY,L,-0.12,-0.22,F,0.0,-0.22,R,0.08499999999999999,-0.2225,0,False,True,294,620,0.08910578442895198,0.015810479178568967,20260603_054302_target540_line120_y220_rr30_r30_519_yellow_roll90_locked_xface_midhold_BRY_R
178,520,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,yellow,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",BYR,L,-0.12,-0.22,R,0.12,-0.22,F,-0.034999999999999996,-0.2225,0,False,True,294,620,0.08875803785614081,0.0173364082534047,20260603_054320_target540_line120_y220_rr30_r30_520_yellow_roll90_locked_xface_midhold_BYR_F
179,521,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,yellow,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",YRB,R,0.12,-0.22,F,0.0,-0.22,L,-0.155,-0.2225,0,False,True,290,620,0.09154733753796859,0.018739972387164506,20260603_054339_target540_line120_y220_rr30_r30_521_yellow_roll90_locked_xface_midhold_YRB_L
180,522,target_robot_right30mm_angle_robot_right30deg,rr30_r30,target_robot_right30mm,angle_robot_right30deg,-0.034999999999999996,-0.0025,yellow,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",YBR,F,0.0,-0.22,R,0.12,-0.22,L,-0.155,-0.2225,0,False,True,290,620,0.09154733753796859,0.018739972387164506,20260603_054359_target540_line120_y220_rr30_r30_522_yellow_roll90_locked_xface_midhold_YBR_L