| { | |
| "lower_top1": { | |
| "pickup_pos": "lower right", | |
| "target_pos": "top1", | |
| "grasp_source_cycle": 1, | |
| "stack_source_cycle": 1, | |
| "return_source_cycle": 1, | |
| "recording_scope": "composition of existing atomic clips; not a continuous recorded demonstration" | |
| }, | |
| "lower_top2": { | |
| "pickup_pos": "lower right", | |
| "target_pos": "top2", | |
| "grasp_source_cycle": 1, | |
| "stack_source_cycle": 2, | |
| "return_source_cycle": 2, | |
| "recording_scope": "composition of existing atomic clips; not a continuous recorded demonstration" | |
| }, | |
| "upper_top1": { | |
| "pickup_pos": "upper right", | |
| "target_pos": "top1", | |
| "grasp_source_cycle": 2, | |
| "stack_source_cycle": 1, | |
| "return_source_cycle": 1, | |
| "recording_scope": "composition of existing atomic clips; not a continuous recorded demonstration" | |
| }, | |
| "upper_top2": { | |
| "pickup_pos": "upper right", | |
| "target_pos": "top2", | |
| "grasp_source_cycle": 2, | |
| "stack_source_cycle": 2, | |
| "return_source_cycle": 2, | |
| "recording_scope": "composition of existing atomic clips; not a continuous recorded demonstration" | |
| } | |
| } | |