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place_on_block
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gripper_open_traj
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{"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"}
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place_on_block
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gripper_open_traj
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{"robot": "franka", "obj": "block_r", "target_obj": "target_obj", "current_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb9ead50>", "next_hl_state": "<tmp3.States.PDDLState.PDDLState object at 0x7f08bb33b3d0>", "place_pose": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "target_frame": "target_obj", "pose_end": "Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True)", "place_traj": "PendingMotionPlan(current_pose=JointState(position=tensor([ 0.3299, 0.3851, -0.3689, -2.3998, 0.3483, 2.7478, 1.2373],\n device='cuda:0'), velocity=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), acceleration=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), joint_names=['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], jerk=tensor([0., 0., -0., -0., 0., 0., 0.], device='cuda:0'), tensor_args=TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32), aux_data={}), target_pose=Pose(position=tensor([[-4.1991e-04, 1.4360e-04, 1.9417e-01]], device='cuda:0'), quaternion=tensor([[ 0.0041, -0.0613, 0.9981, -0.0021]], device='cuda:0'), rotation=tensor([[[-0.9925, -0.1223, 0.0084],\n [-0.1223, 0.9925, -0.0037],\n [-0.0079, -0.0047, -1.0000]]], device='cuda:0'), batch=1, n_goalset=1, name='ee_link', normalize_rotation=True), reference_frame=target_obj)", "gripper_open_traj": "open"}
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