Grasper families of spheres in $S^2 \times D^2$ and barbell diffeomorphisms of $S^1\times S^2 \times I$

We show that the fundamental group of framed circles in $S^1 \times D^3$ injects into the fundamental group of framed spheres in $S^2\times D^2$, so that the cokernel is the fundamental group of framed neat disks in $D^4$. In particular, grasper families of circles give rise to countably many nontrivial families of spheres. Ambient extensions of either of these two types of families induce the same barbell diffeomorphisms of $S^1\times S^2\times I$. We give two proofs that these diffeomorphisms are nontrivial and pairwise distinct. This implies infinite generation of the abelian group of isotopy classes of diffeomorphisms of $S^1\times S^2\times I$ that are pseudo-isotopic to the identity, recovering a result of Singh.