{
"id": 882,
"name": "Put the Eyeglasses Case on the Notebook",
"description": "Pick up the eyeglasses case and place it on the center of the notebook.\n(Please note that the goal reference shown in the lower-left corner is for illustration only; the actual task setup may differ)",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.36364,
-0.2872345,
0.04999999475599998
],
"rot": [
-0.8870109146333387,
0.0,
0.0,
-0.4617484567611764
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_0": {
"pos": [
0.4797116,
-0.0005211,
0.007499994755999995
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "notebook_0/"
}
},
"eyeglasses_3": {
"pos": [
0.5946452,
-0.2507155,
0.019999994756000006
],
"rot": [
-0.984807695354981,
0.0,
0.0,
0.17364850465699663
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.650823,
0.0461815,
0.019999994756000006
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"checker_config": {
"checker": {
"type": "CompositeChecker",
"checkers": [
{
"type": "CompositeChecker",
"checkers": [
{
"type": "RelativeCylinderChecker",
"objName": "glasses_case_4",
"refName": "notebook_0",
"xyRadius": 0.06,
"heightMax": 0.06,
"heightMin": -0.02
},
{
"type": "RelativeCylinderChecker",
"objName": "glasses_case_4",
"refName": "notebook_1",
"xyRadius": 0.06,
"heightMax": 0.06,
"heightMin": -0.02
}
],
"operator": "OR"
},
{
"type": "GripperOpenChecker",
"threshold": 0.04
}
],
"operator": "AND"
}
},
"scene_variants": [
{
"name": "task_200025_layout_1_rand_00000",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.526701,
0.127743,
0.04500000206999999
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_1": {
"pos": [
0.3943686,
-0.0908277,
0.007500002070000011
],
"rot": [
0.30070554578214775,
0.0,
0.0,
0.9537170307464686
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.4869569,
-0.339429,
0.020000002069999967
],
"rot": [
0.7933532132608601,
0.0,
0.0,
-0.6087615945578927
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.30769,
-0.32873,
0.020000002069999967
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
-0.015641448791598477,
0.015641448791598477
],
[
-0.015641448791598477,
0.015641448791598477
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_1_rand_00001",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_2": {
"pos": [
0.4058524,
0.32843,
0.04500000206999999
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "cup_2/"
}
},
"notebook_1": {
"pos": [
0.3571178,
-0.042136,
0.007500002070000011
],
"rot": [
0.30070554578214775,
0.0,
0.0,
0.9537170307464686
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.42445824,
0.1605813,
0.020000002069999967
],
"rot": [
0.7933532132608601,
0.0,
0.0,
-0.6087615945578927
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.5130426,
-0.051756,
0.020000002069999967
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_2": {
"mjcf": {
"body": "cup_2/",
"bodyName": "cup_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_1_rand_00002",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_2": {
"pos": [
0.531937,
0.362877,
0.04500000206999999
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "cup_2/"
}
},
"notebook_1": {
"pos": [
0.4918474,
0.1345956,
0.007500002070000011
],
"rot": [
0.30070554578214775,
0.0,
0.0,
0.9537170307464686
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.4661808,
-0.122446,
0.020000002069999967
],
"rot": [
0.7933532132608601,
0.0,
0.0,
-0.6087615945578927
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.315411,
0.233504,
0.020000002069999967
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_2": {
"mjcf": {
"body": "cup_2/",
"bodyName": "cup_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_1_rand_00003",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.534639,
-0.377597,
0.050000002069999994
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_1": {
"pos": [
0.42519554,
0.086534,
0.010000002069999958
],
"rot": [
0.30070554578214775,
0.0,
0.0,
0.9537170307464686
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.4658179,
-0.1595767,
0.020000002069999967
],
"rot": [
0.7933532132608601,
0.0,
0.0,
-0.6087615945578927
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.309868,
-0.244565,
0.020000002069999967
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_1_rand_00004",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.381756,
-0.322906,
0.050000002069999994
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_1": {
"pos": [
0.3542389,
0.056912,
0.007500002070000011
],
"rot": [
0.30070554578214775,
0.0,
0.0,
0.9537170307464686
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.4394629,
-0.152589,
0.020000002069999967
],
"rot": [
0.7933532132608601,
0.0,
0.0,
-0.6087615945578927
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.5013131,
0.053323,
0.020000002069999967
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_1_rand_00005",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.313183,
0.3331,
0.04500000206999999
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_0": {
"pos": [
0.3614785,
0.005705,
0.007500002070000011
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "notebook_0/"
}
},
"eyeglasses_3": {
"pos": [
0.4787568,
0.287917,
0.020000002069999967
],
"rot": [
0.7933532132608601,
0.0,
0.0,
-0.6087615945578927
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.531547,
0.0737619,
0.020000002069999967
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"notebook_0": {
"mjcf": {
"body": "notebook_0/",
"bodyName": "notebook_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_1_rand_00006",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.3459912,
-0.329001,
0.04500000206999999
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_1": {
"pos": [
0.3712759,
-0.0765801,
0.007500002070000011
],
"rot": [
-0.9537170307464686,
0.0,
0.0,
0.30070554578214775
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.5190814,
-0.297588,
0.01250000206999996
],
"rot": [
0.6087615945578927,
0.0,
0.0,
0.7933532132608601
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.5164309,
-0.0296038,
0.020000002069999967
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
-0.015398755119146847,
0.015398755119146847
],
[
-0.015398755119146847,
0.015398755119146847
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_1_rand_00007",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_2": {
"pos": [
0.5164972,
0.363271,
0.04500000206999999
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "cup_2/"
}
},
"notebook_1": {
"pos": [
0.4526533,
0.11951869,
0.010000002069999958
],
"rot": [
-0.9537170307464686,
0.0,
0.0,
0.30070554578214775
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.42800311,
-0.107601,
0.020000002069999967
],
"rot": [
0.6087615945578927,
0.0,
0.0,
0.7933532132608601
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.300122,
0.317912,
0.020000002069999967
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_2": {
"mjcf": {
"body": "cup_2/",
"bodyName": "cup_2"
},
"pos_delta": [
[
-0.022702410745793277,
0.022702410745793277
],
[
-0.022702410745793277,
0.022702410745793277
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_1_rand_00008",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.526756,
0.317734,
0.04500000206999999
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_0": {
"pos": [
0.3637614,
-0.022753,
0.007500002070000011
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "notebook_0/"
}
},
"eyeglasses_3": {
"pos": [
0.3469365,
0.282719,
0.020000002069999967
],
"rot": [
0.6087615945578927,
0.0,
0.0,
0.7933532132608601
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.539617,
-0.041077,
0.020000002069999967
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"notebook_0": {
"mjcf": {
"body": "notebook_0/",
"bodyName": "notebook_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_1_rand_00009",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.5087999,
-0.144114,
0.050000002069999994
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_1": {
"pos": [
0.3414508,
0.000612,
0.010000002069999958
],
"rot": [
-0.9537170307464686,
0.0,
0.0,
0.30070554578214775
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.3938474,
0.321977,
0.020000002069999967
],
"rot": [
0.6087615945578927,
0.0,
0.0,
0.7933532132608601
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.526047,
0.0340862,
0.020000002069999967
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
-0.012250704869112169,
0.012250704869112169
],
[
-0.012250704869112169,
0.012250704869112169
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_1_rand_00010",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.314794,
0.370645,
0.04500000206999999
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_1": {
"pos": [
0.5081771,
0.318414,
0.007500002070000011
],
"rot": [
-0.9537170307464686,
0.0,
0.0,
0.30070554578214775
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.3566166,
-0.015778,
0.020000002069999967
],
"rot": [
0.6087615945578927,
0.0,
0.0,
0.7933532132608601
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.536661,
-0.0986,
0.020000002069999967
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
-0.009606435572508116,
0.009606435572508116
],
[
-0.009606435572508116,
0.009606435572508116
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_3_rand_00000",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_2": {
"pos": [
0.577071,
0.321548,
0.04500000443700003
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "cup_2/"
}
},
"notebook_1": {
"pos": [
0.489253,
0.0941476,
0.010000004436999999
],
"rot": [
-0.9914448439877832,
0.0,
0.0,
-0.13052632427997143
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.46672479,
-0.29997,
0.020000004437000007
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.335862,
0.28065,
0.020000004437000007
],
"rot": [
-0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_2": {
"mjcf": {
"body": "cup_2/",
"bodyName": "cup_2"
},
"pos_delta": [
[
-0.019800751658278146,
0.019800751658278146
],
[
-0.019800751658278146,
0.019800751658278146
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
-0.008783626219794406,
0.008783626219794406
],
[
-0.008783626219794406,
0.008783626219794406
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_3_rand_00002",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.342716,
-0.427512,
0.04500000443700003
],
"rot": [
0.25881885008987365,
0.0,
0.0,
0.9659258785425286
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_1": {
"pos": [
0.419685,
-0.2403992,
0.007500004436999996
],
"rot": [
-0.13052632427997143,
0.0,
0.0,
0.9914448439877832
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.5223422,
0.114146,
0.020000004437000007
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.586914,
-0.2448978,
0.020000004437000007
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
-0.010317890984274564,
0.010317890984274564
],
[
-0.010317890984274564,
0.010317890984274564
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_3_rand_00003",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.3874889,
0.305497,
0.04500000443700003
],
"rot": [
-0.9659258785425286,
0.0,
0.0,
0.25881885008987365
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_1": {
"pos": [
0.5463254,
-0.171644,
0.007500004436999996
],
"rot": [
-0.9914448439877832,
0.0,
0.0,
-0.13052632427997143
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.592628,
0.140287,
0.012500004437
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.343184,
-0.285789,
0.020000004437000007
],
"rot": [
-0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
-0.009388761130186274,
0.009388761130186274
],
[
-0.009388761130186274,
0.009388761130186274
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
-0.04103220263966066,
0.04103220263966066
],
[
-0.04103220263966066,
0.04103220263966066
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_3_rand_00005",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.565669,
0.0622469,
0.05000000443699998
],
"rot": [
0.25881885008987365,
0.0,
0.0,
0.9659258785425286
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_1": {
"pos": [
0.4182605,
0.1896445,
0.007500004436999996
],
"rot": [
-0.13052632427997143,
0.0,
0.0,
0.9914448439877832
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.4505244,
-0.114913,
0.020000004437000007
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.3907152,
0.437223,
0.020000004437000007
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
-0.01649683310120924,
0.01649683310120924
],
[
-0.01649683310120924,
0.01649683310120924
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
-0.008112551824142927,
0.008112551824142927
],
[
-0.008112551824142927,
0.008112551824142927
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_3_rand_00006",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.566583,
-0.372341,
0.05000000443699998
],
"rot": [
-0.9659258785425286,
0.0,
0.0,
0.25881885008987365
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_1": {
"pos": [
0.4328873,
-0.15752854,
0.007500004436999996
],
"rot": [
-0.9914448439877832,
0.0,
0.0,
-0.13052632427997143
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.515266,
0.098296,
0.020000004437000007
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.3878406,
-0.438085,
0.020000004437000007
],
"rot": [
-0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
-0.016608826771651465,
0.016608826771651465
],
[
-0.016608826771651465,
0.016608826771651465
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_3_rand_00007",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.579495,
0.303078,
0.04500000443700003
],
"rot": [
0.25881885008987365,
0.0,
0.0,
0.9659258785425286
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_1": {
"pos": [
0.4133069,
0.2149166,
0.007500004436999996
],
"rot": [
-0.13052632427997143,
0.0,
0.0,
0.9914448439877832
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.438439,
-0.14083,
0.020000004437000007
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.339546,
0.443855,
0.020000004437000007
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
-0.005297249743150282,
0.005297249743150282
],
[
-0.005297249743150282,
0.005297249743150282
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
-0.012045171138916386,
0.012045171138916386
],
[
-0.012045171138916386,
0.012045171138916386
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_3_rand_00009",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.352743,
-0.47893,
0.04500000443700003
],
"rot": [
-0.9659258785425286,
0.0,
0.0,
0.25881885008987365
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_1": {
"pos": [
0.5348815,
-0.16135267,
0.010000004436999999
],
"rot": [
-0.9914448439877832,
0.0,
0.0,
-0.13052632427997143
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.4329772,
0.14331,
0.020000004437000007
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.586612,
0.133503,
0.020000004437000007
],
"rot": [
-0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
-0.028925978870261458,
0.028925978870261458
],
[
-0.028925978870261458,
0.028925978870261458
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_4_rand_00000",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n\n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.67071,
-0.110583,
0.04499999859299997
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_1": {
"pos": [
0.292184,
-0.057936,
0.00749999859299999
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.599658,
0.060862,
0.012499998592999995
],
"rot": [
6.12323e-17,
0.0,
0.0,
1.0
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.45608018,
0.37345,
0.019999998593
],
"rot": [
-0.2588189595940008,
0.0,
0.0,
0.9659258492010031
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
-0.018816834688383566,
0.018816834688383566
],
[
-0.018816834688383566,
0.018816834688383566
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
-0.05,
0.05
],
[
-0.05,
0.05
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
-0.018816834688383566,
0.018816834688383566
],
[
-0.018816834688383566,
0.018816834688383566
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_4_rand_00001",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n\n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.311803,
-0.397227,
0.04999999859299997
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_1": {
"pos": [
0.420538,
-0.1911761,
0.009999998592999992
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.52821948,
0.088014,
0.019999998593
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.693233,
-0.2178478,
0.019999998593
],
"rot": [
0.9659258492010031,
0.0,
0.0,
0.2588189595940008
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
-0.02378157869937375,
0.02378157869937375
],
[
-0.02378157869937375,
0.02378157869937375
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_4_rand_00002",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n\n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.657236,
0.112211,
0.04499999859299997
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_1": {
"pos": [
0.389218,
0.003565,
0.009999998592999992
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.625033,
-0.267477,
0.019999998593
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.325563,
-0.364732,
0.019999998593
],
"rot": [
0.9659258492010031,
0.0,
0.0,
0.2588189595940008
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
-0.0318198719090474,
0.0318198719090474
],
[
-0.0318198719090474,
0.0318198719090474
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
-0.0318198719090474,
0.0318198719090474
],
[
-0.0318198719090474,
0.0318198719090474
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_4_rand_00003",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n\n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_2": {
"pos": [
0.663086,
-0.129245,
0.04499999859299997
],
"rot": [
6.12323e-17,
0.0,
0.0,
1.0
],
"mjcf": {
"body": "cup_2/"
}
},
"notebook_1": {
"pos": [
0.412362,
0.368118,
0.00749999859299999
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.6127127,
0.1221351,
0.019999998593
],
"rot": [
6.12323e-17,
0.0,
0.0,
1.0
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.349637,
-0.069469,
0.019999998593
],
"rot": [
-0.2588189595940008,
0.0,
0.0,
0.9659258492010031
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_2": {
"mjcf": {
"body": "cup_2/",
"bodyName": "cup_2"
},
"pos_delta": [
[
-0.03324495745126758,
0.03324495745126758
],
[
-0.03324495745126758,
0.03324495745126758
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
-0.0471382296471399,
0.0471382296471399
],
[
-0.0471382296471399,
0.0471382296471399
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_4_rand_00004",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n\n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.686518,
-0.136119,
0.04499999859299997
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_1": {
"pos": [
0.362514,
0.0900176,
0.009999998592999992
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.623503,
0.2359043,
0.019999998593
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.31541,
0.367587,
0.019999998593
],
"rot": [
0.9659258492010031,
0.0,
0.0,
0.2588189595940008
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
-0.024326695645345998,
0.024326695645345998
],
[
-0.024326695645345998,
0.024326695645345998
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
-0.022625398175575635,
0.022625398175575635
],
[
-0.022625398175575635,
0.022625398175575635
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_4_rand_00005",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n\n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_2": {
"pos": [
0.726274,
-0.127933,
0.04499999859299997
],
"rot": [
6.12323e-17,
0.0,
0.0,
1.0
],
"mjcf": {
"body": "cup_2/"
}
},
"notebook_1": {
"pos": [
0.358063,
0.102067,
0.00749999859299999
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.631434,
0.246694,
0.012499998592999995
],
"rot": [
6.12323e-17,
0.0,
0.0,
1.0
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.4533332,
-0.239819,
0.019999998593
],
"rot": [
-0.2588189595940008,
0.0,
0.0,
0.9659258492010031
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_2": {
"mjcf": {
"body": "cup_2/",
"bodyName": "cup_2"
},
"pos_delta": [
[
-0.05,
0.05
],
[
-0.05,
0.05
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
-0.05,
0.05
],
[
-0.05,
0.05
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_4_rand_00006",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n\n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.281508,
-0.402832,
0.04499999859299997
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_1": {
"pos": [
0.54448,
-0.372599,
0.00749999859299999
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.4003697,
0.094117,
0.012499998592999995
],
"rot": [
6.12323e-17,
0.0,
0.0,
1.0
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.652895,
-0.0765334,
0.019999998593
],
"rot": [
-0.2588189595940008,
0.0,
0.0,
0.9659258492010031
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
-0.04120043931783399,
0.04120043931783399
],
[
-0.04120043931783399,
0.04120043931783399
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
-0.04120043931783398,
0.04120043931783398
],
[
-0.04120043931783398,
0.04120043931783398
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_4_rand_00007",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n\n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.4293157,
-0.105039,
0.04999999859299997
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_1": {
"pos": [
0.599566,
0.341357,
0.00749999859299999
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.32006,
0.368397,
0.012499998592999995
],
"rot": [
6.12323e-17,
0.0,
0.0,
1.0
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.662945,
0.0492148,
0.019999998593
],
"rot": [
-0.2588189595940008,
0.0,
0.0,
0.9659258492010031
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
-0.04793341113104604,
0.04793341113104604
],
[
-0.04793341113104604,
0.04793341113104604
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
-0.03269654008435416,
0.03269654008435416
],
[
-0.03269654008435416,
0.03269654008435416
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_4_rand_00008",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n\n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.70064,
-0.049093,
0.04499999859299997
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_1": {
"pos": [
0.4934416,
0.1036373,
0.009999998592999992
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.308458,
-0.112194,
0.012499998592999995
],
"rot": [
6.12323e-17,
0.0,
0.0,
1.0
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.345689,
0.378195,
0.019999998593
],
"rot": [
-0.2588189595940008,
0.0,
0.0,
0.9659258492010031
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
-0.0258726475954925,
0.0258726475954925
],
[
-0.0258726475954925,
0.0258726475954925
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
-0.021457390524575227,
0.021457390524575227
],
[
-0.021457390524575227,
0.021457390524575227
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
-0.027836192417733073,
0.027836192417733073
],
[
-0.027836192417733073,
0.027836192417733073
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_4_rand_00009",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n\n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.25152,
0.408924,
0.04999999859299997
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_1": {
"pos": [
0.46719973,
-0.071704,
0.00749999859299999
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.634706,
0.355687,
0.012499998592999995
],
"rot": [
6.12323e-17,
0.0,
0.0,
1.0
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.4078049,
0.283831,
0.019999998593
],
"rot": [
-0.2588189595940008,
0.0,
0.0,
0.9659258492010031
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
-0.05,
0.05
],
[
-0.05,
0.05
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_4_rand_00010",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n\n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.700843,
0.11131,
0.04499999859299997
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_0": {
"pos": [
0.5705458,
-0.2007888,
0.00749999859299999
],
"rot": [
0.13052598533496407,
0.0,
0.0,
0.991444888610727
],
"mjcf": {
"body": "notebook_0/"
}
},
"eyeglasses_3": {
"pos": [
0.382148,
0.057159,
0.019999998593
],
"rot": [
6.12323e-17,
0.0,
0.0,
1.0
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.317254,
-0.3756,
0.019999998593
],
"rot": [
-0.2588189595940008,
0.0,
0.0,
0.9659258492010031
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"notebook_0": {
"mjcf": {
"body": "notebook_0/",
"bodyName": "notebook_0"
},
"pos_delta": [
[
-0.021588768621622935,
0.021588768621622935
],
[
-0.021588768621622935,
0.021588768621622935
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
-0.022888181010706048,
0.022888181010706048
],
[
-0.022888181010706048,
0.022888181010706048
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_5_rand_00000",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_2": {
"pos": [
0.349159,
0.2793035,
0.04499999475599997
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "cup_2/"
}
},
"notebook_0": {
"pos": [
0.44488,
-0.0010658,
0.007499994755999995
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "notebook_0/"
}
},
"eyeglasses_3": {
"pos": [
0.5884821,
0.2478065,
0.019999994756000006
],
"rot": [
0.17364850465699663,
0.0,
0.0,
0.984807695354981
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.653093,
-0.0377825,
0.019999994756000006
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_2": {
"mjcf": {
"body": "cup_2/",
"bodyName": "cup_2"
},
"pos_delta": [
[
-0.027944933649340115,
0.027944933649340115
],
[
-0.027944933649340115,
0.027944933649340115
],
[
0.0,
0.0
]
]
},
"notebook_0": {
"mjcf": {
"body": "notebook_0/",
"bodyName": "notebook_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_5_rand_00001",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.70307,
0.2272095,
0.04499999475599997
],
"rot": [
0.30070596774594205,
0.0,
0.0,
0.9537168977018161
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_1": {
"pos": [
0.431107,
-0.0410945,
0.007499994755999995
],
"rot": [
0.9762959252079211,
0.0,
0.0,
0.21643998341898252
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.68128,
-0.0281735,
0.019999994756000006
],
"rot": [
0.8191522347362042,
0.0,
0.0,
0.573576164364143
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.4458268,
0.2001435,
0.019999994756000006
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
-0.029177232570596165,
0.029177232570596165
],
[
-0.029177232570596165,
0.029177232570596165
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
-0.012455180300352567,
0.012455180300352567
],
[
-0.012455180300352567,
0.012455180300352567
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_5_rand_00002",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.351984,
-0.2855835,
0.04499999475599997
],
"rot": [
-0.8870109146333387,
0.0,
0.0,
-0.4617484567611764
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_1": {
"pos": [
0.4300877,
0.0394045,
0.007499994755999995
],
"rot": [
-0.8433916491547764,
0.0,
0.0,
0.5372992891638576
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.59658,
-0.2214005,
0.019999994756000006
],
"rot": [
-0.984807695354981,
0.0,
0.0,
0.17364850465699663
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.629096,
0.0174025,
0.019999994756000006
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
-0.017281093955255743,
0.017281093955255743
],
[
-0.017281093955255743,
0.017281093955255743
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
-0.006622977889538655,
0.006622977889538655
],
[
-0.006622977889538655,
0.006622977889538655
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_5_rand_00003",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.696186,
-0.0635055,
0.04999999475599998
],
"rot": [
-0.9537168977018161,
0.0,
0.0,
0.30070596774594205
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_1": {
"pos": [
0.4843855,
0.0577289,
0.007499994755999995
],
"rot": [
-0.21643998341898252,
0.0,
0.0,
0.9762959252079211
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.664925,
0.2424955,
0.012499994755999999
],
"rot": [
-0.573576164364143,
0.0,
0.0,
0.8191522347362042
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.381573,
0.2392725,
0.019999994756000006
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
-0.025067407110632687,
0.025067407110632687
],
[
-0.025067407110632687,
0.025067407110632687
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_5_rand_00004",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.365806,
-0.2440805,
0.04499999475599997
],
"rot": [
-0.8870109146333387,
0.0,
0.0,
-0.4617484567611764
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_0": {
"pos": [
0.4851939,
0.0004798,
0.007499994755999995
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "notebook_0/"
}
},
"eyeglasses_3": {
"pos": [
0.5632617,
-0.2532245,
0.019999994756000006
],
"rot": [
-0.984807695354981,
0.0,
0.0,
0.17364850465699663
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.653676,
0.0383285,
0.019999994756000006
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"notebook_0": {
"mjcf": {
"body": "notebook_0/",
"bodyName": "notebook_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_5_rand_00005",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.5865347,
0.2878835,
0.04999999475599998
],
"rot": [
-0.4617484567611764,
0.0,
0.0,
0.8870109146333387
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_1": {
"pos": [
0.375462,
0.2263705,
0.007499994755999995
],
"rot": [
0.5372992891638576,
0.0,
0.0,
0.8433916491547764
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.4752825,
-0.0487245,
0.019999994756000006
],
"rot": [
0.17364850465699663,
0.0,
0.0,
0.984807695354981
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.651249,
-0.0416075,
0.019999994756000006
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
-0.016515094780636938,
0.016515094780636938
],
[
-0.016515094780636938,
0.016515094780636938
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_5_rand_00006",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_2": {
"pos": [
0.697478,
-0.0659165,
0.04499999475599997
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "cup_2/"
}
},
"notebook_0": {
"pos": [
0.4645013,
0.0576278,
0.007499994755999995
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "notebook_0/"
}
},
"eyeglasses_3": {
"pos": [
0.373207,
0.2413275,
0.012499994755999999
],
"rot": [
-0.573576164364143,
0.0,
0.0,
0.8191522347362042
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.5829992,
0.2384945,
0.019999994756000006
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_2": {
"mjcf": {
"body": "cup_2/",
"bodyName": "cup_2"
},
"pos_delta": [
[
-0.017520964601368233,
0.017520964601368233
],
[
-0.017520964601368233,
0.017520964601368233
],
[
0.0,
0.0
]
]
},
"notebook_0": {
"mjcf": {
"body": "notebook_0/",
"bodyName": "notebook_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_5_rand_00007",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.646457,
-0.0890545,
0.04499999475599997
],
"rot": [
-0.4617484567611764,
0.0,
0.0,
0.8870109146333387
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_1": {
"pos": [
0.4753887,
-0.0099085,
0.007499994755999995
],
"rot": [
0.5372992891638576,
0.0,
0.0,
0.8433916491547764
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.5322492,
0.2513785,
0.019999994756000006
],
"rot": [
0.17364850465699663,
0.0,
0.0,
0.984807695354981
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.342412,
0.2424485,
0.019999994756000006
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
-0.005426510904438779,
0.005426510904438779
],
[
-0.005426510904438779,
0.005426510904438779
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_5_rand_00008",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.688551,
0.0627945,
0.04499999475599997
],
"rot": [
-0.9537168977018161,
0.0,
0.0,
0.30070596774594205
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_0": {
"pos": [
0.4435899,
0.0062387,
0.007499994755999995
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "notebook_0/"
}
},
"eyeglasses_3": {
"pos": [
0.648613,
-0.2372555,
0.012499994755999999
],
"rot": [
-0.573576164364143,
0.0,
0.0,
0.8191522347362042
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.405717,
-0.1892545,
0.019999994756000006
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"notebook_0": {
"mjcf": {
"body": "notebook_0/",
"bodyName": "notebook_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
-0.029282274036238246,
0.029282274036238246
],
[
-0.029282274036238246,
0.029282274036238246
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_5_rand_00009",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.700721,
-0.0544985,
0.04499999475599997
],
"rot": [
-0.9537168977018161,
0.0,
0.0,
0.30070596774594205
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_1": {
"pos": [
0.406609,
0.2187575,
0.007499994755999995
],
"rot": [
-0.21643998341898252,
0.0,
0.0,
0.9762959252079211
],
"mjcf": {
"body": "notebook_1/"
}
},
"eyeglasses_3": {
"pos": [
0.642342,
0.1937095,
0.019999994756000006
],
"rot": [
-0.573576164364143,
0.0,
0.0,
0.8191522347362042
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.4812894,
-0.0238415,
0.019999994756000006
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
-0.027287169111273685,
0.027287169111273685
],
[
-0.027287169111273685,
0.027287169111273685
],
[
0.0,
0.0
]
]
},
"notebook_1": {
"mjcf": {
"body": "notebook_1/",
"bodyName": "notebook_1"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
-0.02557790133970309,
0.02557790133970309
],
[
-0.02557790133970309,
0.02557790133970309
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200025_layout_5_rand_00010",
"mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n\n \n \n \n\n \n \n",
"initial_state": {
"robots": {
"franka": {
"mjcf": {
"body": "franka/"
},
"dof_pos": {
"panda_joint1": 0.0,
"panda_joint2": -0.785398,
"panda_joint3": 0.0,
"panda_joint4": -2.356194,
"panda_joint5": 0.0,
"panda_joint6": 1.570796,
"panda_joint7": 0.785398,
"panda_finger_joint1": 0.04,
"panda_finger_joint2": 0.04
}
}
},
"objects": {
"cup_0": {
"pos": [
0.36364,
-0.2872345,
0.04999999475599998
],
"rot": [
-0.8870109146333387,
0.0,
0.0,
-0.4617484567611764
],
"mjcf": {
"body": "cup_0/"
}
},
"notebook_0": {
"pos": [
0.4797116,
-0.0005211,
0.007499994755999995
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "notebook_0/"
}
},
"eyeglasses_3": {
"pos": [
0.5946452,
-0.2507155,
0.019999994756000006
],
"rot": [
-0.984807695354981,
0.0,
0.0,
0.17364850465699663
],
"mjcf": {
"body": "eyeglasses_3/"
}
},
"glasses_case_4": {
"pos": [
0.650823,
0.0461815,
0.019999994756000006
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "glasses_case_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"notebook_0": {
"mjcf": {
"body": "notebook_0/",
"bodyName": "notebook_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
-0.00600008655408532,
0.00600008655408532
],
[
-0.00600008655408532,
0.00600008655408532
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
}
],
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"notebook_0": {
"mjcf": {
"body": "notebook_0/",
"bodyName": "notebook_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
-0.00600008655408532,
0.00600008655408532
],
[
-0.00600008655408532,
0.00600008655408532
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
},
"updated_at": "2026-07-09T22:35:56.365552+00:00",
"_scene_variant_index": 39,
"_scene_variant_name": "task_200025_layout_5_rand_00010",
"_scene_variant_source": "backend_resolver",
"_has_domain_randomization": true,
"_domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"notebook_0": {
"mjcf": {
"body": "notebook_0/",
"bodyName": "notebook_0"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"eyeglasses_3": {
"mjcf": {
"body": "eyeglasses_3/",
"bodyName": "eyeglasses_3"
},
"pos_delta": [
[
-0.00600008655408532,
0.00600008655408532
],
[
-0.00600008655408532,
0.00600008655408532
],
[
0.0,
0.0
]
]
},
"glasses_case_4": {
"mjcf": {
"body": "glasses_case_4/",
"bodyName": "glasses_case_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
}