diff --git a/libero/tasks/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.goal.json b/libero/tasks/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.goal.json index 7239a9adb9cd7c03df14d1978c4a0e086c7234eb..02b17e6da3fe9775db7263e912566b834b186a25 100644 --- a/libero/tasks/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.goal.json +++ b/libero/tasks/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.goal.json @@ -444,5 +444,54 @@ 0.0, 0.7071067811865476 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.04855525401235478, + -0.2465977719453034, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.02855180290989435, + -0.020643535014922967, + 0.97, + 0.0, + 0.0, + 0.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.goal.json b/libero/tasks/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.goal.json index 0f54d3e00bbe1edbfa2bc2b764a3a862078c5006..463f386f7a7059f7cfbd75adb813a74bde21b69b 100644 --- a/libero/tasks/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.goal.json +++ b/libero/tasks/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.goal.json @@ -416,5 +416,58 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + 0.04458625190413323, + -0.04855525401235478, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.12872016808536696, + 0.02855180290989435, + 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b/libero/tasks/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.goal.json @@ -357,5 +357,91 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + 0.07318313802505147, + -0.10582792405871112, + 0.45999999999999996, + 0.0, + 0.0, + 0.7071067811865476, + 0.7071067811865477, + -0.14855525401235478, + 0.06340222805469661, + 0.445, + 0.0, + 0.0, + 0.0, + 1.0, + 0.07855180290989436, + -0.22064353501492298, + 0.48, + 0.0, + 0.0, + 0.7071067811865476, + 0.7071067811865477, + -0.18336900772260312, + -0.13609216245250746, + 0.48, + 0.5, + 0.5, + 0.5, + 0.5, + 0.005983171284334473, + 0.2592295872450586, + 0.48, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.goal.json b/libero/tasks/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.goal.json index f80bb6e1d6432851472faaf94780c4e437ca2a02..7e564100d638d976891278c97ed26e8acf3e2e6b 100644 --- a/libero/tasks/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.goal.json +++ b/libero/tasks/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.goal.json @@ -390,5 +390,130 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.07681686197494855, + -0.1558279240587111, + 0.45999999999999996, + 0.0, + 0.0, + 0.7071067811865476, + 0.7071067811865477, + 0.10144474598764523, + 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0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.goal.json b/libero/tasks/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.goal.json index fea10e3811c0de268719ed96948ebff160711be7..538f9d90af78395999c8719073e9ebca74750052 100644 --- a/libero/tasks/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.goal.json +++ b/libero/tasks/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.goal.json @@ -446,5 +446,91 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.07606908288836181, + -0.13504207178916383, + 0.48, + -0.7071067811865476, + 0.0, + 0.0, 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b/libero/tasks/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.goal.json index 8b666a079a70ebf693d842ed347af9ec4db84239..bd364802f2eaacb9d8364ade7479b86e735db42d 100644 --- a/libero/tasks/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.goal.json +++ b/libero/tasks/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.goal.json @@ -386,5 +386,78 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.08336900772260311, + -0.13609216245250746, + 0.48, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.1985552540123548, + 0.0034022280546966155, + 0.48, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.17318313802505145, + -0.005827924058711114, + 0.48, + 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b/libero/tasks/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet.goal.json @@ -422,5 +422,84 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.08541374809586677, + 0.0014447459876452233, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.021279831914633056, + 0.17855180290989436, + 0.93, + 0.0, + 0.0, + 0.0, + 1.0, + -0.12398908012798371, + 0.2166309922773969, + 0.93, + 0.0, + 0.0, + 0.0, + 1.0, + 0.018500607412340962, + 0.07393091711163821, + 0.97, + 0.0, + 0.0, + 0.0, + 1.0, + -0.15233116962348445, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it.goal.json index 0ec7f06bf12989c7ab8a45a3de71ee9665b20db3..7f29dbf97423a11de2e91ee9ae1e15f20b298f7d 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it.goal.json @@ -507,5 +507,84 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.08541374809586677, + 0.0014447459876452233, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.021279831914633056, + 0.17855180290989436, + 0.93, + 0.0, + 0.0, + 0.0, + 1.0, + -0.12398908012798371, + 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+418,84 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.08541374809586677, + 0.0014447459876452233, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.021279831914633056, + 0.17855180290989436, + 0.93, + 0.0, + 0.0, + 0.0, + 1.0, + -0.12398908012798371, + 0.2166309922773969, + 0.93, + 0.0, + 0.0, + 0.0, + 1.0, + 0.018500607412340962, + 0.07393091711163821, + 0.97, + 0.0, + 0.0, + 0.0, + 1.0, + -0.15233116962348445, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it.goal.json index 756c4d2d2acb21e50207c0a48deb502c4cd5f543..315be7153590eca48ace84dae68531cb9a65a3dd 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it.goal.json @@ -427,5 +427,84 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.08541374809586677, + 0.0014447459876452233, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.021279831914633056, + 0.17855180290989436, + 0.93, + 0.0, + 0.0, + 0.0, + 1.0, + -0.12398908012798371, + 0.2166309922773969, + 0.93, + 0.0, + 0.0, + 0.0, + 1.0, + 0.018500607412340962, + 0.07393091711163821, + 0.97, + 0.0, + 0.0, + 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[ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.08541374809586677, + 0.0014447459876452233, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.021279831914633056, + 0.17855180290989436, + 0.93, + 0.0, + 0.0, + 0.0, + 1.0, + -0.12398908012798371, + 0.2166309922773969, + 0.93, + 0.0, + 0.0, + 0.0, + 1.0, + 0.018500607412340962, + 0.07393091711163821, + 0.97, + 0.0, + 0.0, + 0.0, + 1.0, + -0.15233116962348445, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it.goal.json index 559b87cd9b7367e575e5bc6f297eb629bbc98f4f..e9fcef463223e4dd8b7c2dfbcbfa85a0cf0d349e 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it.goal.json @@ -427,5 +427,84 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.08541374809586677, + 0.0014447459876452233, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.021279831914633056, + 0.17855180290989436, + 0.93, + 0.0, + 0.0, + 0.0, + 1.0, + -0.12398908012798371, + 0.2166309922773969, + 0.93, + 0.0, + 0.0, + 0.0, + 1.0, + 0.018500607412340962, + 0.07393091711163821, + 0.97, + 0.0, + 0.0, + 0.0, + 1.0, + -0.15233116962348445, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet.goal.json index 338b0257f7c590f0f3057450ff36afbd644dbdc2..84b428f928dda9fc296c2d17bb2de30c2579dbf0 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet.goal.json @@ -400,5 +400,58 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + 0.023183138025051467, + 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2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + 0.023183138025051467, + -0.005827924058711114, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0014447459876452233, + 0.25340222805469664, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it.goal.json index bad7c50d70a82b68e216bf9a38b50545ae22b64a..ed8f72622c562a692f0af6a92be20984a7ddcdf9 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it.goal.json @@ -405,5 +405,58 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + 0.023183138025051467, + -0.005827924058711114, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0014447459876452233, + 0.25340222805469664, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_the_plate.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_the_plate.goal.json index 18134129a435e1cbfa54056bbd86955623e36531..dc44db3c69066db4173870ee6885df666313e1f8 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_the_plate.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_the_plate.goal.json @@ -450,5 +450,58 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + 0.023183138025051467, + -0.005827924058711114, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0014447459876452233, + 0.25340222805469664, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_top_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE1_put_the_black_bowl_on_top_of_the_cabinet.goal.json index 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100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_black_bowl_at_the_front_on_the_plate.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_black_bowl_at_the_front_on_the_plate.goal.json @@ -472,5 +472,84 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + 0.12318313802505146, + 0.1441720759412889, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.04855525401235478, + 0.20340222805469663, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.17144819709010564, + 0.02935646498507704, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0166309922773969, + 0.013907837547492523, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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b/libero/tasks/libero_90/KITCHEN_SCENE2_put_the_middle_black_bowl_on_top_of_the_cabinet.goal.json @@ -498,5 +498,84 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + 0.12318313802505146, + 0.1441720759412889, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.04855525401235478, + 0.20340222805469663, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.17144819709010564, + 0.02935646498507704, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0166309922773969, + 0.013907837547492523, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle.goal.json index cd9d5171ea94d5072b5439408c68da427a658a71..294e2a8f40ee4444a79353796de5b36c5ec01a95 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle.goal.json @@ -502,5 +502,84 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + 0.12318313802505146, + 0.1441720759412889, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.04855525401235478, + 0.20340222805469663, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 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b/libero/tasks/libero_90/KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl.goal.json @@ -502,5 +502,84 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + 0.12318313802505146, + 0.1441720759412889, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.04855525401235478, + 0.20340222805469663, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.17144819709010564, + 0.02935646498507704, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0166309922773969, + 0.013907837547492523, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE3_put_the_frying_pan_on_the_stove.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE3_put_the_frying_pan_on_the_stove.goal.json index d4acb2f2ba60869452b3e9da28a47ccd82539390..82cbc31c74a926c27229e08c62164214d870af77 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE3_put_the_frying_pan_on_the_stove.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE3_put_the_frying_pan_on_the_stove.goal.json @@ -445,5 +445,54 @@ 0.0, 0.7071067811865476 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.04855525401235478, + -0.2465977719453034, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.02855180290989435, + -0.020643535014922967, + 0.97, + 0.0, + 0.0, + 0.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE3_put_the_moka_pot_on_the_stove.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE3_put_the_moka_pot_on_the_stove.goal.json index 39075451d52301685afefd2aaa24d349111e32c1..f822ff90af4b7079d8d2be5bcb1686905c3d5164 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE3_put_the_moka_pot_on_the_stove.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE3_put_the_moka_pot_on_the_stove.goal.json @@ -435,5 +435,54 @@ 0.0, 0.7071067811865476 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.04855525401235478, + -0.2465977719453034, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.02855180290989435, + -0.020643535014922967, + 0.97, + 0.0, + 0.0, + 0.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE3_turn_on_the_stove.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE3_turn_on_the_stove.goal.json index d6934d5943c01dae2034cbfd024e98b4750d8712..54d5b77a8d9ea457de0169b991c829e6ad978a26 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE3_turn_on_the_stove.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE3_turn_on_the_stove.goal.json @@ -400,5 +400,54 @@ 0.0, 0.7071067811865476 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.04855525401235478, + -0.2465977719453034, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.02855180290989435, + -0.020643535014922967, + 0.97, + 0.0, + 0.0, + 0.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_frying_pan_on_it.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_frying_pan_on_it.goal.json index 06d18924ec196466f87f97f22a4c7f08c43def2d..f74bb48247bb469fccd7a284ba7ebf6460ab85c0 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_frying_pan_on_it.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_frying_pan_on_it.goal.json @@ -454,5 +454,54 @@ 0.0, 0.7071067811865476 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.04855525401235478, + -0.2465977719453034, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.02855180290989435, + -0.020643535014922967, + 0.97, + 0.0, + 0.0, + 0.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet.goal.json index f12d666fac01f5e474050d1b33e699a978a5ba1c..111561cdb5c54ba481a1e4837c740dbbeffb135c 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet.goal.json @@ -411,5 +411,58 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + 0.04458625190413323, + -0.04855525401235478, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.12872016808536696, + 0.02855180290989435, + 0.97, + 0.0, + 0.0, + 0.0, + 1.0, + 0.0, + 0.0, + -0.15233116962348445, + 0.0, + 0.0, 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0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.12872016808536696, + 0.02855180290989435, + 0.97, + 0.0, + 0.0, + 0.0, + 1.0, + 0.0, + 0.0, + -0.15233116962348445, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet.goal.json index 3b7850e4ae708f5eee323de3a8fb6d1f3a83f268..93cb3b3e636b1e92f0f9234e96754c9300912137 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet.goal.json @@ -407,5 +407,58 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + 0.04458625190413323, + -0.04855525401235478, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.12872016808536696, + 0.02855180290989435, + 0.97, + 0.0, + 0.0, + 0.0, + 1.0, + 0.0, + 0.0, + -0.15233116962348445, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet.goal.json index 5a5e769ac0d531d6956785e8c5205f8dea559e0d..2ce246fdce2a94ef053d4dec1676acde8dc21b1f 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet.goal.json @@ -487,5 +487,58 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + 0.04458625190413323, + -0.04855525401235478, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.12872016808536696, + 0.02855180290989435, + 0.97, + 0.0, + 0.0, + 0.0, + 1.0, + 0.0, + 0.0, + -0.15233116962348445, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet.goal.json index 2f1f2c7b3d02c4c34e9fb36065fb13b9a2824c7a..b5bca400040d3fada241bd73ab16dd37c53c8429 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet.goal.json @@ -407,5 +407,58 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + 0.04458625190413323, + -0.04855525401235478, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.12872016808536696, + 0.02855180290989435, + 0.97, + 0.0, + 0.0, + 0.0, + 1.0, + 0.0, + 0.0, + -0.15233116962348445, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_on_the_wine_rack.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_on_the_wine_rack.goal.json index 69453972faea593662878e44fee1e2827a0ec0b3..71f11ebeee1b0d1099071f752cc51d2d3999bddd 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_on_the_wine_rack.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE4_put_the_wine_bottle_on_the_wine_rack.goal.json @@ -441,5 +441,58 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + 0.04458625190413323, + -0.04855525401235478, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.12872016808536696, + 0.02855180290989435, + 0.97, + 0.0, + 0.0, + 0.0, + 1.0, + 0.0, + 0.0, + -0.15233116962348445, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE5_close_the_top_drawer_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE5_close_the_top_drawer_of_the_cabinet.goal.json index 057af8f9a25b772f47c675c4d2e7792d47e7efc7..a16382ace9cb38d8241b162db4bad9d652c23dba 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE5_close_the_top_drawer_of_the_cabinet.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE5_close_the_top_drawer_of_the_cabinet.goal.json @@ -411,5 +411,71 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + 0.04458625190413323, + -0.04855525401235478, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.028720168085366954, + -0.27144819709010565, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.08149939258765905, + -0.07606908288836181, + 0.97, + 0.5, + 0.5, + 0.5, + 0.5, + -0.15233116962348445, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, 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a/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_black_bowl_on_top_of_the_cabinet.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_black_bowl_on_top_of_the_cabinet.goal.json @@ -487,5 +487,71 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + 0.04458625190413323, + -0.04855525401235478, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.028720168085366954, + -0.27144819709010565, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.08149939258765905, + -0.07606908288836181, + 0.97, + 0.5, + 0.5, + 0.5, + 0.5, + -0.15233116962348445, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet.goal.json index 0bcdd7470a8622187ffd67a6331e3aee2b4ce256..a315b90f2fbd1fe72a2ffc1deb6ada75a9bd9fd9 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet.goal.json @@ -407,5 +407,71 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + 0.04458625190413323, + -0.04855525401235478, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.028720168085366954, + -0.27144819709010565, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.08149939258765905, + -0.07606908288836181, + 0.97, + 0.5, + 0.5, + 0.5, + 0.5, + -0.15233116962348445, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE6_close_the_microwave.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE6_close_the_microwave.goal.json index 2397e46240e1e049bb7a103dbe0f88a639f03e8b..0b3f6b41672e386fbdca66c5d8e8fb63826f5949 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE6_close_the_microwave.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE6_close_the_microwave.goal.json @@ -367,5 +367,54 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.08541374809586677, + -0.2485552540123548, + 0.97, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.021279831914633056, + -0.021448197090105654, + 0.97, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -1.7895474340523325, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE6_put_the_yellow_and_white_mug_to_the_front_of_the_white_mug.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE6_put_the_yellow_and_white_mug_to_the_front_of_the_white_mug.goal.json index ca2c0c87d8b2053e64d5a4463a9415714cde4661..e1d6c00930a6b38abcbd5db981e89a050897df2a 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE6_put_the_yellow_and_white_mug_to_the_front_of_the_white_mug.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE6_put_the_yellow_and_white_mug_to_the_front_of_the_white_mug.goal.json @@ -405,5 +405,54 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.08541374809586677, + -0.2485552540123548, + 0.97, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.021279831914633056, + -0.021448197090105654, + 0.97, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -1.7895474340523325, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE7_open_the_microwave.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE7_open_the_microwave.goal.json index a008e621c25216d945a9846df23c52a194d7326d..f5336eba900bb5f1a13c76c9a6b3c9c751304a8a 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE7_open_the_microwave.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE7_open_the_microwave.goal.json @@ -367,5 +367,54 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.027750211417523908, + -0.24827933558699308, + 1.24, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.021279831914633056, + -0.021448197090105654, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.0030827924058711115, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE7_put_the_white_bowl_on_the_plate.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE7_put_the_white_bowl_on_the_plate.goal.json index bb65742f227a08f9ebbe63f350b020824cf88551..f7eada1d829bf9727dcefecf0eb665c3a00c0d13 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE7_put_the_white_bowl_on_the_plate.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE7_put_the_white_bowl_on_the_plate.goal.json @@ -413,5 +413,54 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.027750211417523908, + -0.24827933558699308, + 1.24, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.021279831914633056, + -0.021448197090105654, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.0030827924058711115, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate.goal.json index 4303776feb79ac2fbb526b25e89adbe1177a24f8..f52ed4e70d3f59fc8839381dacb61b3468033c95 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate.goal.json @@ -402,5 +402,54 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.027750211417523908, + -0.24827933558699308, + 1.24, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.021279831914633056, + -0.021448197090105654, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.0030827924058711115, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE8_put_the_right_moka_pot_on_the_stove.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE8_put_the_right_moka_pot_on_the_stove.goal.json index c5b40b5b9360cceebc0b01f486ff5cd62d2ea9bd..507b803cc8f2c85c047c902688cd7fb9712c4d1a 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE8_put_the_right_moka_pot_on_the_stove.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE8_put_the_right_moka_pot_on_the_stove.goal.json @@ -444,5 +444,54 @@ 0.0, 0.7071067811865476 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.028720168085366954, + 0.22855180290989435, + 0.97, + 0.0, + 0.0, + 0.0, + 1.0, + 0.026010919872016286, + 0.06663099227739691, + 0.97, + 0.0, + 0.0, + 0.0, + 1.0, + 1.1135064301212445, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE8_turn_off_the_stove.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE8_turn_off_the_stove.goal.json index c8f5f602e542523d467b6474330588ddbb3b56af..433ab210428ec8fe3c49d24e925f46631d591816 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE8_turn_off_the_stove.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE8_turn_off_the_stove.goal.json @@ -400,5 +400,54 @@ 0.0, 0.7071067811865476 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.028720168085366954, + 0.22855180290989435, + 0.97, + 0.0, + 0.0, + 0.0, + 1.0, + 0.026010919872016286, + 0.06663099227739691, + 0.97, + 0.0, + 0.0, + 0.0, + 1.0, + 1.1135064301212445, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_the_cabinet_shelf.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_the_cabinet_shelf.goal.json index 021a68bdf0ee9176dbde41687621c34fc6e50901..fcd68523166bed05e7aa2fac56c2b38789aee506 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_the_cabinet_shelf.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_the_cabinet_shelf.goal.json @@ -407,5 +407,54 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.17144819709010564, + 0.07935646498507705, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.05144474598764523, + 0.0034022280546966155, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_top_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_top_of_the_cabinet.goal.json index 60e4699e7e94b75dfb7cd38282e149ec6b6843f7..94a5fd7a72bb01e7fbd41c24dd4c45e85a1030ad 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_top_of_the_cabinet.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_on_top_of_the_cabinet.goal.json @@ -442,5 +442,54 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.17144819709010564, + 0.07935646498507705, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.05144474598764523, + 0.0034022280546966155, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_under_the_cabinet_shelf.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_under_the_cabinet_shelf.goal.json index ee44e7761a9174949ebfd25be8452f0560035b09..486c06325fccdae50682734324df0cab03861552 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_under_the_cabinet_shelf.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_frying_pan_under_the_cabinet_shelf.goal.json @@ -407,5 +407,54 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.17144819709010564, + 0.07935646498507705, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.05144474598764523, + 0.0034022280546966155, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet.goal.json index 6f751e5552113c2d0a0b50a910e34f23f051e9ad..550341494ae89b719a2b0b9c39e24210c49f095a 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet.goal.json @@ -453,5 +453,54 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.17144819709010564, + 0.07935646498507705, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.05144474598764523, + 0.0034022280546966155, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE9_turn_on_the_stove.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE9_turn_on_the_stove.goal.json index 451b7f9ce9da99cd3334eddb158a6ebd47e4a974..855cd1798bcbdbf1be0c215d728301f5525ec16c 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE9_turn_on_the_stove.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE9_turn_on_the_stove.goal.json @@ -411,5 +411,54 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.17144819709010564, + 0.07935646498507705, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.05144474598764523, + 0.0034022280546966155, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it.goal.json b/libero/tasks/libero_90/KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it.goal.json index 4eb7d7bd2d21cb1b759ffae9bcdf3e4dab770ac1..fcdf83448fe7dd9d25fe3d63ff2b68da986fdc47 100644 --- a/libero/tasks/libero_90/KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it.goal.json +++ b/libero/tasks/libero_90/KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it.goal.json @@ -465,5 +465,54 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.17144819709010564, + 0.07935646498507705, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.05144474598764523, + 0.0034022280546966155, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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f5b45b2eaf5046ab3212acbcf15e35e6b646dff3..8296c67139dcbcbf8e282ae04751e9c487f21dae 100644 --- a/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket.goal.json +++ b/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket.goal.json @@ -352,5 +352,91 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + 0.07318313802505147, + -0.10582792405871112, + 0.45999999999999996, + 0.0, + 0.0, + 0.7071067811865476, + 0.7071067811865477, + -0.14855525401235478, + 0.06340222805469661, + 0.445, + 0.0, + 0.0, + 0.0, + 1.0, + 0.07855180290989436, + -0.22064353501492298, + 0.48, + 0.0, + 0.0, + 0.7071067811865476, + 0.7071067811865477, + -0.18336900772260312, + -0.13609216245250746, + 0.48, + 0.5, + 0.5, + 0.5, + 0.5, + 0.005983171284334473, + 0.2592295872450586, + 0.48, + 0.7071067811865476, + 0.0, + 0.0, + 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b/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_tomato_sauce_and_put_it_in_the_basket.goal.json index 5428eb939f089e938c5f36b6e2d368146842750c..31afba69ee7121fc2be2063dbaa56231e7b0983d 100644 --- a/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_tomato_sauce_and_put_it_in_the_basket.goal.json +++ b/libero/tasks/libero_90/LIVING_ROOM_SCENE1_pick_up_the_tomato_sauce_and_put_it_in_the_basket.goal.json @@ -352,5 +352,91 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + 0.07318313802505147, + -0.10582792405871112, + 0.45999999999999996, + 0.0, + 0.0, + 0.7071067811865476, + 0.7071067811865477, + -0.14855525401235478, + 0.06340222805469661, + 0.445, + 0.0, + 0.0, + 0.0, + 1.0, + 0.07855180290989436, + -0.22064353501492298, + 0.48, + 0.0, + 0.0, + 0.7071067811865476, + 0.7071067811865477, + -0.18336900772260312, + -0.13609216245250746, + 0.48, + 0.5, + 0.5, + 0.5, + 0.5, + 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a/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray.goal.json index 9ac3e7543beb5f8c74c5cb77f544a55080208eb8..09d41a47f2816ce2a6871055d88cc1aa77cbe061 100644 --- a/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray.goal.json +++ b/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray.goal.json @@ -363,5 +363,104 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.07681686197494855, + -0.1558279240587111, + 0.45999999999999996, + 0.0, + 0.0, + 0.7071067811865476, + 0.7071067811865477, + 0.10144474598764523, + -0.1965977719453034, + 0.445, + 0.0, + 0.0, + 0.0, + 1.0, + -0.12144819709010565, + 0.02935646498507704, + 0.48, + 0.0, + 0.0, + 0.7071067811865476, + 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a/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_butter_and_put_it_in_the_tray.goal.json +++ b/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_butter_and_put_it_in_the_tray.goal.json @@ -363,5 +363,104 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.07681686197494855, + -0.1558279240587111, + 0.45999999999999996, + 0.0, + 0.0, + 0.7071067811865476, + 0.7071067811865477, + 0.10144474598764523, + -0.1965977719453034, + 0.445, + 0.0, + 0.0, + 0.0, + 1.0, + -0.12144819709010565, + 0.02935646498507704, + 0.48, + 0.0, + 0.0, + 0.7071067811865476, + 0.7071067811865477, + -0.2333690077226031, + -0.13609216245250746, + 0.48, + 0.5, + 0.5, + 0.5, + 0.5, + 0.06495792821083618, + 0.048073968112646595, + 0.44, + 0.0, + 0.0, + 0.0, + 1.0, + -0.007634511482621335, + 0.2627984204265505, + 0.48, + 0.0, + 0.0, + 0.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, 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a/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray.goal.json index 6e13bfe44f4393645315492455dfd694a2b43ca2..f203754014999546296fe5012c6fdd63dcbc4079 100644 --- a/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray.goal.json +++ b/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray.goal.json @@ -363,5 +363,104 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.07681686197494855, + -0.1558279240587111, + 0.45999999999999996, + 0.0, + 0.0, + 0.7071067811865476, + 0.7071067811865477, + 0.10144474598764523, + -0.1965977719453034, + 0.445, + 0.0, + 0.0, + 0.0, + 1.0, + -0.12144819709010565, + 0.02935646498507704, + 0.48, + 0.0, + 0.0, + 0.7071067811865476, + 0.7071067811865477, + 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a/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_tomato_sauce_and_put_it_in_the_tray.goal.json +++ b/libero/tasks/libero_90/LIVING_ROOM_SCENE3_pick_up_the_tomato_sauce_and_put_it_in_the_tray.goal.json @@ -363,5 +363,104 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.07681686197494855, + -0.1558279240587111, + 0.45999999999999996, + 0.0, + 0.0, + 0.7071067811865476, + 0.7071067811865477, + 0.10144474598764523, + -0.1965977719453034, + 0.445, + 0.0, + 0.0, + 0.0, + 1.0, + -0.12144819709010565, + 0.02935646498507704, + 0.48, + 0.0, + 0.0, + 0.7071067811865476, + 0.7071067811865477, + -0.2333690077226031, + -0.13609216245250746, + 0.48, + 0.5, + 0.5, + 0.5, + 0.5, + 0.06495792821083618, + 0.048073968112646595, + 0.44, + 0.0, + 0.0, + 0.0, + 1.0, + -0.007634511482621335, + 0.2627984204265505, + 0.48, + 0.0, + 0.0, + 0.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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b/libero/tasks/libero_90/LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray.goal.json index e72925b0496c2522bb397b5be83db96e3623b55c..11534f371142e1f388a15d9fce2fe2845ae31441 100644 --- a/libero/tasks/libero_90/LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray.goal.json +++ b/libero/tasks/libero_90/LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray.goal.json @@ -363,5 +363,91 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.09855525401235478, + -0.14659777194530338, + 0.48, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.12144819709010565, + 0.02935646498507704, + 0.48, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.2333690077226031, + -0.08609216245250748, + 0.48, + 0.5, + 0.5, + 0.5, + 0.5, + 0.12318313802505146, + -0.20582792405871111, + 0.48, + 0.0, + 0.0, + 0.0, + 1.0, + 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b/libero/tasks/libero_90/LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray.goal.json index 8d45f52b9b962bdb2ab6d022bfa4ec8da965f8f1..0632105e31a82fd4b665ddde4f1292c3d1ab87be 100644 --- a/libero/tasks/libero_90/LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray.goal.json +++ b/libero/tasks/libero_90/LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray.goal.json @@ -452,5 +452,91 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.09855525401235478, + -0.14659777194530338, + 0.48, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.12144819709010565, + 0.02935646498507704, + 0.48, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.2333690077226031, + -0.08609216245250748, + 0.48, + 0.5, + 0.5, + 0.5, + 0.5, + 0.12318313802505146, + -0.20582792405871111, + 0.48, 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b/libero/tasks/libero_90/LIVING_ROOM_SCENE4_stack_the_right_bowl_on_the_left_bowl_and_place_them_in_the_tray.goal.json @@ -452,5 +452,91 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.09855525401235478, + -0.14659777194530338, + 0.48, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.12144819709010565, + 0.02935646498507704, + 0.48, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.2333690077226031, + -0.08609216245250748, + 0.48, + 0.5, + 0.5, + 0.5, + 0.5, + 0.12318313802505146, + -0.20582792405871111, + 0.48, + 0.0, + 0.0, + 0.0, + 1.0, + 0.005983171284334473, + 0.2592295872450586, + 0.48, + 0.0, + 0.0, + 0.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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b/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_red_mug_on_the_right_plate.goal.json @@ -377,5 +377,91 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.07606908288836181, + -0.13504207178916383, + 0.48, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.22144819709010566, + -0.020643535014922967, + 0.48, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.0333690077226031, + 0.11390783754749254, + 0.48, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.023183138025051467, + -0.3058279240587111, + 0.48, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0014447459876452233, + 0.30340222805469663, + 0.48, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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a/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_yellow_and_white_mug_on_the_right_plate.goal.json +++ b/libero/tasks/libero_90/LIVING_ROOM_SCENE5_put_the_yellow_and_white_mug_on_the_right_plate.goal.json @@ -405,5 +405,91 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.07606908288836181, + -0.13504207178916383, + 0.48, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.22144819709010566, + -0.020643535014922967, + 0.48, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.0333690077226031, + 0.11390783754749254, + 0.48, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.023183138025051467, + -0.3058279240587111, + 0.48, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0014447459876452233, + 0.30340222805469663, + 0.48, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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a/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate.goal.json +++ b/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate.goal.json @@ -345,5 +345,78 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.08336900772260311, + -0.13609216245250746, + 0.48, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.1985552540123548, + 0.0034022280546966155, + 0.48, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.17318313802505145, + -0.005827924058711114, + 0.48, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.07144819709010566, + 0.07935646498507705, + 0.48, + 0.0, + 0.0, + 0.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_red_mug_on_the_plate.goal.json b/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_red_mug_on_the_plate.goal.json index 7bf63ffdcf1f0aa2c66bc1e4d609b6bc14b099c0..79d268b9cc1f0515815b86de1c8614125e9c4a2b 100644 --- a/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_red_mug_on_the_plate.goal.json +++ b/libero/tasks/libero_90/LIVING_ROOM_SCENE6_put_the_red_mug_on_the_plate.goal.json @@ -366,5 +366,78 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.08336900772260311, + -0.13609216245250746, + 0.48, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.1985552540123548, + 0.0034022280546966155, + 0.48, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.17318313802505145, + -0.005827924058711114, + 0.48, + 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0.7853981633974483, + 0.020833, + -0.020833, + -0.08336900772260311, + -0.13609216245250746, + 0.48, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.1985552540123548, + 0.0034022280546966155, + 0.48, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.17318313802505145, + -0.005827924058711114, + 0.48, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.07144819709010566, + 0.07935646498507705, + 0.48, + 0.0, + 0.0, + 0.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.goal.json b/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.goal.json index 23d8750554bb8783db802a3c99871f364052fd01..d93c6a806edafad0701a2c293c3d052a7d908524 100644 --- a/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.goal.json +++ b/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.goal.json @@ -352,5 +352,52 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.1985552540123548, + 0.1534022280546966, + 0.937, + -0.40951028904137543, + 0.0, + 0.0, + 0.9123054988156374, + -0.12144819709010565, + -0.020643535014922967, + 0.937, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.goal.json b/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.goal.json index 56d7b27b869843b6468344650b6c777ea94e4a75..4e1b3b1c559cf76f2749987eb4265ff266e8dbea 100644 --- a/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.goal.json +++ b/libero/tasks/libero_90/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.goal.json @@ -352,5 +352,52 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.1985552540123548, + 0.1534022280546966, + 0.937, + -0.40951028904137543, + 0.0, + 0.0, + 0.9123054988156374, + -0.12144819709010565, + -0.020643535014922967, + 0.937, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 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0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.1985552540123548, + 0.1534022280546966, + 0.937, + -0.40951028904137543, + 0.0, + 0.0, + 0.9123054988156374, + -0.12144819709010565, + -0.020643535014922967, + 0.937, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.goal.json b/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.goal.json index 2fe3565936f7f1572fcbfef0b49deec859f1bf48..94b30336f089099ce9c3256ee6bfaa0491334103 100644 --- a/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.goal.json +++ b/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.goal.json @@ -352,5 +352,52 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.1985552540123548, + -0.04659777194530339, + 0.937, + -0.40951028904137543, + 0.0, + 0.0, + 0.9123054988156374, + -0.22144819709010566, + 0.12935646498507702, + 0.937, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.goal.json b/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.goal.json index 31a5101411b4e8f906544b72f6ff1f5997c3b9df..b8b16c80d26c7dfdba4faf522f22c35a0b47abe5 100644 --- a/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.goal.json +++ b/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.goal.json @@ -352,5 +352,52 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.1985552540123548, + -0.04659777194530339, + 0.937, + -0.40951028904137543, + 0.0, + 0.0, + 0.9123054988156374, + -0.22144819709010566, + 0.12935646498507702, + 0.937, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.goal.json b/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.goal.json index ad67cb5c67fad53cb3b265d0840a97d1acdeb066..802e2e37ee12cb9d2d23eb4c2be83ea763e64807 100644 --- a/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.goal.json +++ b/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.goal.json @@ -352,5 +352,52 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.1985552540123548, + -0.04659777194530339, + 0.937, + -0.40951028904137543, + 0.0, + 0.0, + 0.9123054988156374, + -0.22144819709010566, + 0.12935646498507702, + 0.937, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.goal.json b/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.goal.json index f3cc0fdab26aab497acb3beda11eb975d5738886..5b16324e6e8eeee7af12e0d1e7a2d09657d3aa35 100644 --- a/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.goal.json +++ b/libero/tasks/libero_90/STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.goal.json @@ -352,5 +352,52 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.1985552540123548, + -0.04659777194530339, + 0.937, + -0.40951028904137543, + 0.0, + 0.0, + 0.9123054988156374, + -0.22144819709010566, + 0.12935646498507702, + 0.937, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.goal.json b/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.goal.json index 1b67709973ade1ee296d1a323c9a409cd50eb723..7a48281ec6eca8955feee2b7d9bcb59fc0dc0b33 100644 --- a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.goal.json +++ b/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.goal.json @@ -363,5 +363,65 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.1985552540123548, + -0.14659777194530338, + 0.937, + -0.40951028904137543, + 0.0, + 0.0, + 0.9123054988156374, + 0.016630992277396894, + 0.16390783754749252, + 0.937, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.22144819709010566, + -0.020643535014922967, + 0.937, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.goal.json b/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.goal.json index b9beac632ac7d3590f75a0a336abd3e3874aa480..67f01eea6410e117186e13da565dbb9ff6b9d9fc 100644 --- a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.goal.json +++ b/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.goal.json @@ -363,5 +363,65 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.1985552540123548, + -0.14659777194530338, + 0.937, + -0.40951028904137543, + 0.0, + 0.0, + 0.9123054988156374, + 0.016630992277396894, + 0.16390783754749252, + 0.937, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.22144819709010566, + -0.020643535014922967, + 0.937, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.goal.json b/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.goal.json index 3f709274abb15e6939dbe96b31e34bc83238972a..438e2fd54ef88b04c8a42dd0bdc1f92a69e01e73 100644 --- a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.goal.json +++ b/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.goal.json @@ -363,5 +363,65 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.1985552540123548, + -0.14659777194530338, + 0.937, + -0.40951028904137543, + 0.0, + 0.0, + 0.9123054988156374, + 0.016630992277396894, + 0.16390783754749252, + 0.937, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.22144819709010566, + -0.020643535014922967, + 0.937, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_red_mug_and_place_it_to_the_right_of_the_caddy.goal.json b/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_red_mug_and_place_it_to_the_right_of_the_caddy.goal.json index f7c51eca8ed97f1bf3b6daad72518dceb8873516..dbfbc88275ce98a53d04e6722b23f265d945c173 100644 --- a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_red_mug_and_place_it_to_the_right_of_the_caddy.goal.json +++ b/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_red_mug_and_place_it_to_the_right_of_the_caddy.goal.json @@ -377,5 +377,65 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.1985552540123548, + -0.14659777194530338, + 0.937, + -0.40951028904137543, + 0.0, + 0.0, + 0.9123054988156374, + 0.016630992277396894, + 0.16390783754749252, + 0.937, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.22144819709010566, + -0.020643535014922967, + 0.937, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_white_mug_and_place_it_to_the_right_of_the_caddy.goal.json b/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_white_mug_and_place_it_to_the_right_of_the_caddy.goal.json index cdd6eae6eb8dfe4f0ebbf6422ac1292cabe061fb..bd86cd3b07c0a9f692cc8c0d665022f54125c9c0 100644 --- a/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_white_mug_and_place_it_to_the_right_of_the_caddy.goal.json +++ b/libero/tasks/libero_90/STUDY_SCENE3_pick_up_the_white_mug_and_place_it_to_the_right_of_the_caddy.goal.json @@ -388,5 +388,65 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.1985552540123548, + -0.14659777194530338, + 0.937, + -0.40951028904137543, + 0.0, + 0.0, + 0.9123054988156374, + 0.016630992277396894, + 0.16390783754749252, + 0.937, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.22144819709010566, + -0.020643535014922967, + 0.937, + -0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_in_the_middle_and_place_it_on_the_cabinet_shelf.goal.json b/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_in_the_middle_and_place_it_on_the_cabinet_shelf.goal.json index 61039abb9c4ce30b963d3bbe8f26118b0e1f44af..d9f8f212d2a8a4875b855648b123440ccdd26bf5 100644 --- a/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_in_the_middle_and_place_it_on_the_cabinet_shelf.goal.json +++ b/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_in_the_middle_and_place_it_on_the_cabinet_shelf.goal.json @@ -363,5 +363,65 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.14334760308904126, + -0.14443686498100297, + 0.937, + -0.4293249383689737, + 0.0, + 0.0, + 0.9031500967693447, + -0.19942210160494192, + 0.0013608912218786469, + 0.937, + -0.40951028904137543, + 0.0, + 0.0, + 0.9123054988156374, + -0.25857927883604226, + 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a/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_on_the_cabinet_shelf.goal.json +++ b/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_on_the_cabinet_shelf.goal.json @@ -363,5 +363,65 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.14334760308904126, + -0.14443686498100297, + 0.937, + -0.4293249383689737, + 0.0, + 0.0, + 0.9031500967693447, + -0.19942210160494192, + 0.0013608912218786469, + 0.937, + -0.40951028904137543, + 0.0, + 0.0, + 0.9123054988156374, + -0.25857927883604226, + -0.2582574140059692, + 0.937, + -0.7014703041229438, + 0.0, + 0.0, + 0.7126986827781184, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_under_the_cabinet_shelf.goal.json b/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_under_the_cabinet_shelf.goal.json index 48dc8bcc45fb2f7558233808df5becbce3af09da..5a8b1485cf7c619b570d6ea3344d6b3763fbdcd6 100644 --- a/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_under_the_cabinet_shelf.goal.json +++ b/libero/tasks/libero_90/STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_under_the_cabinet_shelf.goal.json @@ -363,5 +363,65 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.14334760308904126, + -0.14443686498100297, + 0.937, + -0.4293249383689737, + 0.0, + 0.0, + 0.9031500967693447, + -0.19942210160494192, + 0.0013608912218786469, + 0.937, + -0.40951028904137543, + 0.0, + 0.0, + 0.9123054988156374, + -0.25857927883604226, + 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b/libero/tasks/libero_goal/open_the_top_drawer_and_put_the_bowl_inside.goal.json @@ -484,5 +484,86 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.09086684759258713, + -0.0020413368328179703, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.06330479382191753, + 0.118873729962006, + 0.935, + 0.0, + 0.0, + 0.0, + 1.0, + -0.21390988281503087, + -0.04650324556477334, + 0.97, + 0.0, + 0.0, + 0.0, + 1.0, + 0.06286891825406339, + -0.007613878991046219, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 ] } \ No newline at end of file diff --git a/libero/tasks/libero_goal/push_the_plate_to_the_front_of_the_stove.goal.json b/libero/tasks/libero_goal/push_the_plate_to_the_front_of_the_stove.goal.json index 1e6744524b0cfc4f541411440ddbc25438e1f2ed..29f962dc9f70180ff01a6e453a3008d9d719cfb8 100644 --- a/libero/tasks/libero_goal/push_the_plate_to_the_front_of_the_stove.goal.json +++ b/libero/tasks/libero_goal/push_the_plate_to_the_front_of_the_stove.goal.json @@ -497,5 +497,86 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.09086684759258713, + -0.0020413368328179703, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.06330479382191753, + 0.118873729962006, + 0.935, + 0.0, + 0.0, + 0.0, + 1.0, + -0.21390988281503087, + -0.04650324556477334, + 0.97, + 0.0, + 0.0, + 0.0, + 1.0, + 0.06286891825406339, + -0.007613878991046219, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, 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3c026a6f3bc233e4e96a7be1bb890d5647d3279a..f11939c4ca9b01d209c6b796f7900763ebd61b65 100644 --- a/libero/tasks/libero_goal/put_the_bowl_on_top_of_the_cabinet.goal.json +++ b/libero/tasks/libero_goal/put_the_bowl_on_top_of_the_cabinet.goal.json @@ -564,5 +564,86 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.09086684759258713, + -0.0020413368328179703, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.06330479382191753, + 0.118873729962006, + 0.935, + 0.0, + 0.0, + 0.0, + 1.0, + -0.21390988281503087, + -0.04650324556477334, + 0.97, + 0.0, + 0.0, + 0.0, + 1.0, + 0.06286891825406339, + -0.007613878991046219, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, 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a/libero/tasks/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.goal.json +++ b/libero/tasks/libero_goal/put_the_wine_bottle_on_top_of_the_cabinet.goal.json @@ -545,5 +545,86 @@ 0.0, 1.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.09086684759258713, + -0.0020413368328179703, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.06330479382191753, + 0.118873729962006, + 0.935, + 0.0, + 0.0, + 0.0, + 1.0, + -0.21390988281503087, + -0.04650324556477334, + 0.97, + 0.0, + 0.0, + 0.0, + 1.0, + 0.06286891825406339, + -0.007613878991046219, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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newline at end of file diff --git a/libero/tasks/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.goal.json b/libero/tasks/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.goal.json index b01470898a1ffa14a04c4c7db21bc101542faf44..c4529de97aaf0aa559dccdee99ed92ae8db46279 100644 --- a/libero/tasks/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.goal.json +++ b/libero/tasks/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.goal.json @@ -352,5 +352,117 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + 0.059273255210020595, + -0.10233116962348444, + 0.034999999999999996, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.0006554496525021502, + 0.2625601418002843, + 0.034999999999999996, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.12, + -0.24, + 0.034999999999999996, + 0.0, + 0.0, + 0.0, + 1.0, + 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a/libero/tasks/libero_object/pick_up_the_butter_and_place_it_in_the_basket.goal.json +++ b/libero/tasks/libero_object/pick_up_the_butter_and_place_it_in_the_basket.goal.json @@ -352,5 +352,117 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.11536337239498971, + -0.24116558481174225, + -0.005000000000000001, + 0.0, + 0.0, + 0.0, + 1.0, + -0.0006554496525021502, + 0.2625601418002843, + 0.034999999999999996, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.05000000000000001, + -0.1, + 0.034999999999999996, + 0.0, + 0.0, + 0.7071067811865476, + 0.7071067811865477, + -0.15, + 0.06, + 0.034999999999999996, + 0.5, + 0.5, + 0.5, + 0.5, + 0.1, + -0.2, + 0.034999999999999996, + 0.0, + 0.0, + 0.0, + 1.0, + 0.15598317128433445, + 0.029229587245058634, + 0.034999999999999996, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.2, + -0.08, + 0.034999999999999996, + 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newline at end of file diff --git a/libero/tasks/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.goal.json b/libero/tasks/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.goal.json index a7508403e216380ecd992ddec0d6cb47f456cdb3..6729df2855ec2263a24188c8fdf04e7daf89bdc1 100644 --- a/libero/tasks/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.goal.json +++ b/libero/tasks/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.goal.json @@ -352,5 +352,117 @@ 0.0, 0.0 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + 0.05000000000000001, + -0.1, + 0.034999999999999996, + 0.5, + 0.5, + 0.5, + 0.5, + 0.002560141800284292, + 0.2670633316368612, + 0.034999999999999996, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.12, + -0.24, + 0.034999999999999996, + 0.5, + 0.5, + 0.5, + 0.5, + -0.15, + 0.05999999999999999, + 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a/libero/tasks/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.goal.json +++ b/libero/tasks/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.goal.json @@ -538,5 +538,99 @@ 0.0, 0.7071067811865476 ] + ], + "init_state": [ + 0.0, + 0.0, + -0.161037389, + 0.0, + -2.44459747, + 0.0, + 2.2267522, + 0.7853981633974483, + 0.020833, + -0.020833, + -0.06390988281503088, + 0.20349675443522666, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.18086684759258714, + 0.317958663167182, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.060021404633561856, + 0.021655297471504485, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + -0.21435855026698292, + 0.19102524307349827, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, + 0.0728689182540634, + 0.21238612100895377, + 0.97, + 0.7071067811865476, + 0.0, + 0.0, + 0.7071067811865477, 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