{
"id": 890,
"name": "Put the Soap on the Left Side of the Cup",
"description": "Pick up the soap and place it on the left side of the cup.\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",
"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": [
0.372029,
-0.2367765,
0.060000012303000005
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_4": {
"pos": [
0.611987,
-0.2220755,
0.015000012303000076
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_3": {
"pos": [
0.4322723,
-0.0058945,
0.012500012303000019
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "soap_dish_3/"
}
},
"toothpaste_3": {
"pos": [
0.623233,
0.0881495,
0.08500001230300003
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "toothpaste_3/"
}
}
}
},
"checker_config": {
"checker": {
"type": "CompositeChecker",
"checkers": [
{
"type": "CompositeChecker",
"checkers": [
{
"type": "RelativePositionBoundsChecker",
"xRange": [
-0.04,
0.04
],
"yRange": [
-0.3,
-0.08
],
"zRange": [
-0.05,
0.05
],
"objName": "soap_3",
"refName": "cup_0"
},
{
"type": "RelativePositionBoundsChecker",
"xRange": [
-0.04,
0.04
],
"yRange": [
-0.3,
-0.08
],
"zRange": [
-0.05,
0.05
],
"objName": "soap_3",
"refName": "cup_1"
},
{
"type": "RelativePositionBoundsChecker",
"xRange": [
-0.04,
0.04
],
"yRange": [
-0.3,
-0.08
],
"zRange": [
-0.05,
0.05
],
"objName": "soap_4",
"refName": "cup_0"
},
{
"type": "RelativePositionBoundsChecker",
"xRange": [
-0.04,
0.04
],
"yRange": [
-0.3,
-0.08
],
"zRange": [
-0.05,
0.05
],
"objName": "soap_4",
"refName": "cup_1"
}
],
"operator": "OR"
},
{
"type": "CompositeChecker",
"checkers": [
{
"axes": [
"x",
"y",
"z"
],
"type": "PositionDeltaChecker",
"maxDeltaX": 0.03,
"maxDeltaY": 0.03,
"maxDeltaZ": 0.03,
"minDeltaX": -0.03,
"minDeltaY": -0.03,
"minDeltaZ": -0.03,
"sampleBodyName": "cup_0",
"captureRuntimeInitial": true
},
{
"axes": [
"x",
"y",
"z"
],
"type": "PositionDeltaChecker",
"maxDeltaX": 0.03,
"maxDeltaY": 0.03,
"maxDeltaZ": 0.03,
"minDeltaX": -0.03,
"minDeltaY": -0.03,
"minDeltaZ": -0.03,
"sampleBodyName": "cup_1",
"captureRuntimeInitial": true
}
],
"operator": "OR"
},
{
"type": "GripperOpenChecker",
"threshold": 0.04
}
],
"operator": "AND"
}
},
"scene_variants": [
{
"name": "task_200026_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",
"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_1": {
"pos": [
0.623214,
0.0678235,
0.050000012303
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "cup_1/"
}
},
"soap_4": {
"pos": [
0.370062,
-0.2329805,
0.015000012303000076
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_2": {
"pos": [
0.5833592,
-0.2246315,
0.010000012303000072
],
"rot": [
0.25881885008987365,
0.0,
0.0,
0.9659258785425286
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_4": {
"pos": [
0.4645405,
-0.0425908,
0.015000012303000076
],
"rot": [
0.5000000766649462,
0.0,
0.0,
0.8660253595219067
],
"mjcf": {
"body": "toothpaste_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_1": {
"mjcf": {
"body": "cup_1/",
"bodyName": "cup_1"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
-0.02216588683311751,
0.02216588683311751
],
[
-0.02216588683311751,
0.02216588683311751
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_4": {
"mjcf": {
"body": "toothpaste_4/",
"bodyName": "toothpaste_4"
},
"pos_delta": [
[
-0.013117627339747247,
0.013117627339747247
],
[
-0.013117627339747247,
0.013117627339747247
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_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",
"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_1": {
"pos": [
0.605201,
0.0682715,
0.050000012303
],
"rot": [
-0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "cup_1/"
}
},
"soap_3": {
"pos": [
0.365659,
-0.2426825,
0.012500012303000019
],
"rot": [
0.0,
0.0,
0.0,
1.0
],
"mjcf": {
"body": "soap_3/"
}
},
"soap_dish_3": {
"pos": [
0.388501,
0.0045033,
0.012500012303000019
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "soap_dish_3/"
}
},
"toothpaste_2": {
"pos": [
0.552116,
-0.1949265,
0.015000012303000076
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "toothpaste_2/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_1": {
"mjcf": {
"body": "cup_1/",
"bodyName": "cup_1"
},
"pos_delta": [
[
-0.03309576095442084,
0.03309576095442084
],
[
-0.03309576095442084,
0.03309576095442084
],
[
0.0,
0.0
]
]
},
"soap_3": {
"mjcf": {
"body": "soap_3/",
"bodyName": "soap_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_3": {
"mjcf": {
"body": "soap_dish_3/",
"bodyName": "soap_dish_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_2": {
"mjcf": {
"body": "toothpaste_2/",
"bodyName": "toothpaste_2"
},
"pos_delta": [
[
-0.017528198209449095,
0.017528198209449095
],
[
-0.017528198209449095,
0.017528198209449095
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_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",
"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": [
0.675038,
0.042975,
0.060000012303000005
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_4": {
"pos": [
0.5896198,
-0.1769319,
0.015000012303000076
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_2": {
"pos": [
0.371961,
-0.201988,
0.012500012303000019
],
"rot": [
0.8660253028381385,
0.0,
0.0,
0.5000001748440799
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_2": {
"pos": [
0.4761713,
0.0055394,
0.015000012303000076
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "toothpaste_2/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
-0.02014388788907505,
0.02014388788907505
],
[
-0.02014388788907505,
0.02014388788907505
],
[
0.0,
0.0
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_2": {
"mjcf": {
"body": "toothpaste_2/",
"bodyName": "toothpaste_2"
},
"pos_delta": [
[
-0.02014388788907505,
0.02014388788907505
],
[
-0.02014388788907505,
0.02014388788907505
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_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",
"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_1": {
"pos": [
0.356133,
-0.2531955,
0.050000012303
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "cup_1/"
}
},
"soap_4": {
"pos": [
0.636149,
0.0832325,
0.04500001230299999
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_2": {
"pos": [
0.4354543,
-0.039069,
0.010000012303000072
],
"rot": [
0.25881885008987365,
0.0,
0.0,
0.9659258785425286
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_4": {
"pos": [
0.5713357,
-0.2120255,
0.012500012303000019
],
"rot": [
0.5000000766649462,
0.0,
0.0,
0.8660253595219067
],
"mjcf": {
"body": "toothpaste_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_1": {
"mjcf": {
"body": "cup_1/",
"bodyName": "cup_1"
},
"pos_delta": [
[
-0.030754542357335626,
0.030754542357335626
],
[
-0.030754542357335626,
0.030754542357335626
],
[
0.0,
0.0
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
-0.0210530224219365,
0.0210530224219365
],
[
-0.0210530224219365,
0.0210530224219365
],
[
0.0,
0.0
]
]
},
"toothpaste_4": {
"mjcf": {
"body": "toothpaste_4/",
"bodyName": "toothpaste_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_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",
"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": [
0.612025,
-0.0588405,
0.060000012303000005
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_3": {
"pos": [
0.619134,
0.2175345,
0.012500012303000019
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "soap_3/"
}
},
"soap_dish_2": {
"pos": [
0.4579799,
0.0710753,
0.010000012303000072
],
"rot": [
0.25881885008987365,
0.0,
0.0,
0.9659258785425286
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_3": {
"pos": [
0.353299,
0.2690335,
0.08500001230300003
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "toothpaste_3/"
}
}
}
},
"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
]
]
},
"soap_3": {
"mjcf": {
"body": "soap_3/",
"bodyName": "soap_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
-0.018689242625528853,
0.018689242625528853
],
[
-0.018689242625528853,
0.018689242625528853
],
[
0.0,
0.0
]
]
},
"toothpaste_3": {
"mjcf": {
"body": "toothpaste_3/",
"bodyName": "toothpaste_3"
},
"pos_delta": [
[
-0.04115397964192987,
0.04115397964192987
],
[
-0.04115397964192987,
0.04115397964192987
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_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",
"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": [
0.616621,
-0.0444965,
0.060000012303000005
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_3": {
"pos": [
0.361969,
0.2413325,
0.012500012303000019
],
"rot": [
0.0,
0.0,
0.0,
1.0
],
"mjcf": {
"body": "soap_3/"
}
},
"soap_dish_2": {
"pos": [
0.4298086,
-0.0170515,
0.010000012303000072
],
"rot": [
-0.9659258785425286,
0.0,
0.0,
0.25881885008987365
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_4": {
"pos": [
0.591996,
0.1937755,
0.012500012303000019
],
"rot": [
-0.8660253595219067,
0.0,
0.0,
0.5000000766649462
],
"mjcf": {
"body": "toothpaste_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
-0.01748916857932911,
0.01748916857932911
],
[
-0.01748916857932911,
0.01748916857932911
],
[
0.0,
0.0
]
]
},
"soap_3": {
"mjcf": {
"body": "soap_3/",
"bodyName": "soap_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_4": {
"mjcf": {
"body": "toothpaste_4/",
"bodyName": "toothpaste_4"
},
"pos_delta": [
[
-0.03471477946106127,
0.03471477946106127
],
[
-0.03471477946106127,
0.03471477946106127
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_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",
"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": [
0.372029,
-0.2367765,
0.060000012303000005
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_4": {
"pos": [
0.611987,
-0.2220755,
0.015000012303000076
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_3": {
"pos": [
0.4322723,
-0.0058945,
0.012500012303000019
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "soap_dish_3/"
}
},
"toothpaste_3": {
"pos": [
0.623233,
0.0881495,
0.08500001230300003
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "toothpaste_3/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
-0.03509426873512063,
0.03509426873512063
],
[
-0.03509426873512063,
0.03509426873512063
],
[
0.0,
0.0
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_3": {
"mjcf": {
"body": "soap_dish_3/",
"bodyName": "soap_dish_3"
},
"pos_delta": [
[
-0.03346605517694471,
0.03346605517694471
],
[
-0.03346605517694471,
0.03346605517694471
],
[
0.0,
0.0
]
]
},
"toothpaste_3": {
"mjcf": {
"body": "toothpaste_3/",
"bodyName": "toothpaste_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_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",
"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": [
0.612714,
0.0359655,
0.07000001230300001
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_4": {
"pos": [
0.345983,
0.2701655,
0.04500001230299999
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_2": {
"pos": [
0.5167409,
0.1993895,
0.010000012303000072
],
"rot": [
-0.9659258785425286,
0.0,
0.0,
0.25881885008987365
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_4": {
"pos": [
0.4205799,
-0.0367895,
0.012500012303000019
],
"rot": [
-0.8660253595219067,
0.0,
0.0,
0.5000000766649462
],
"mjcf": {
"body": "toothpaste_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
-0.017737930743022046,
0.017737930743022046
],
[
-0.017737930743022046,
0.017737930743022046
],
[
0.0,
0.0
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
-0.01018672391020886,
0.01018672391020886
],
[
-0.01018672391020886,
0.01018672391020886
],
[
0.0,
0.0
]
]
},
"toothpaste_4": {
"mjcf": {
"body": "toothpaste_4/",
"bodyName": "toothpaste_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_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_1": {
"pos": [
0.674519,
-0.043285,
0.050000012303
],
"rot": [
6.12323e-17,
0.0,
0.0,
1.0
],
"mjcf": {
"body": "cup_1/"
}
},
"soap_3": {
"pos": [
0.4284166,
0.1797148,
0.010000012303000072
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "soap_3/"
}
},
"soap_dish_2": {
"pos": [
0.4881054,
-0.0172056,
0.010000012303000072
],
"rot": [
-0.5000001748440799,
0.0,
0.0,
0.8660253028381385
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_2": {
"pos": [
0.645362,
0.1497131,
0.015000012303000076
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "toothpaste_2/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_1": {
"mjcf": {
"body": "cup_1/",
"bodyName": "cup_1"
},
"pos_delta": [
[
-0.0197812691484033,
0.0197812691484033
],
[
-0.0197812691484033,
0.0197812691484033
],
[
0.0,
0.0
]
]
},
"soap_3": {
"mjcf": {
"body": "soap_3/",
"bodyName": "soap_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
-0.01696563879791923,
0.01696563879791923
],
[
-0.01696563879791923,
0.01696563879791923
],
[
0.0,
0.0
]
]
},
"toothpaste_2": {
"mjcf": {
"body": "toothpaste_2/",
"bodyName": "toothpaste_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_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",
"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_1": {
"pos": [
0.614563,
-0.0680655,
0.050000012303
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "cup_1/"
}
},
"soap_3": {
"pos": [
0.367331,
0.2479395,
0.012500012303000019
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "soap_3/"
}
},
"soap_dish_2": {
"pos": [
0.5743767,
0.2084955,
0.010000012303000072
],
"rot": [
0.25881885008987365,
0.0,
0.0,
0.9659258785425286
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_4": {
"pos": [
0.4542101,
0.0324494,
0.015000012303000076
],
"rot": [
0.5000000766649462,
0.0,
0.0,
0.8660253595219067
],
"mjcf": {
"body": "toothpaste_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_1": {
"mjcf": {
"body": "cup_1/",
"bodyName": "cup_1"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_3": {
"mjcf": {
"body": "soap_3/",
"bodyName": "soap_3"
},
"pos_delta": [
[
-0.026128958514492148,
0.026128958514492148
],
[
-0.026128958514492148,
0.026128958514492148
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_4": {
"mjcf": {
"body": "toothpaste_4/",
"bodyName": "toothpaste_4"
},
"pos_delta": [
[
-0.01645849731202335,
0.01645849731202335
],
[
-0.01645849731202335,
0.01645849731202335
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_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",
"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": [
0.5840204,
-0.1741909,
0.07000001230300001
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_3": {
"pos": [
0.4168284,
0.0020619,
0.010000012303000072
],
"rot": [
0.0,
0.0,
0.0,
1.0
],
"mjcf": {
"body": "soap_3/"
}
},
"soap_dish_2": {
"pos": [
0.367653,
-0.2437265,
0.012500012303000019
],
"rot": [
-0.9659258785425286,
0.0,
0.0,
0.25881885008987365
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_3": {
"pos": [
0.629318,
0.0897155,
0.08500001230300003
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "toothpaste_3/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
-0.03760680196678676,
0.03760680196678676
],
[
-0.03760680196678676,
0.03760680196678676
],
[
0.0,
0.0
]
]
},
"soap_3": {
"mjcf": {
"body": "soap_3/",
"bodyName": "soap_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_3": {
"mjcf": {
"body": "toothpaste_3/",
"bodyName": "toothpaste_3"
},
"pos_delta": [
[
-0.04423299822242072,
0.04423299822242072
],
[
-0.04423299822242072,
0.04423299822242072
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_layout_1_rand_00011",
"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",
"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_1": {
"pos": [
0.614874,
0.0685115,
0.050000012303
],
"rot": [
-0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "cup_1/"
}
},
"soap_3": {
"pos": [
0.382447,
-0.2258355,
0.010000012303000072
],
"rot": [
0.0,
0.0,
0.0,
1.0
],
"mjcf": {
"body": "soap_3/"
}
},
"soap_dish_2": {
"pos": [
0.591366,
-0.2082195,
0.010000012303000072
],
"rot": [
-0.9659258785425286,
0.0,
0.0,
0.25881885008987365
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_4": {
"pos": [
0.4598552,
-0.0271781,
0.012500012303000019
],
"rot": [
-0.8660253595219067,
0.0,
0.0,
0.5000000766649462
],
"mjcf": {
"body": "toothpaste_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_1": {
"mjcf": {
"body": "cup_1/",
"bodyName": "cup_1"
},
"pos_delta": [
[
-0.01769719602749668,
0.01769719602749668
],
[
-0.01769719602749668,
0.01769719602749668
],
[
0.0,
0.0
]
]
},
"soap_3": {
"mjcf": {
"body": "soap_3/",
"bodyName": "soap_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
-0.018341863475610124,
0.018341863475610124
],
[
-0.018341863475610124,
0.018341863475610124
],
[
0.0,
0.0
]
]
},
"toothpaste_4": {
"mjcf": {
"body": "toothpaste_4/",
"bodyName": "toothpaste_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_layout_1_rand_00012",
"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",
"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_1": {
"pos": [
0.619012,
0.1070903,
0.050000012303
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "cup_1/"
}
},
"soap_4": {
"pos": [
0.37237,
0.2063675,
0.015000012303000076
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_2": {
"pos": [
0.4479591,
-0.0499855,
0.012500012303000019
],
"rot": [
0.25881885008987365,
0.0,
0.0,
0.9659258785425286
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_3": {
"pos": [
0.631,
-0.0861535,
0.08500001230300003
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "toothpaste_3/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_1": {
"mjcf": {
"body": "cup_1/",
"bodyName": "cup_1"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
-0.05,
0.05
],
[
-0.05,
0.05
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
-0.016427172905621398,
0.016427172905621398
],
[
-0.016427172905621398,
0.016427172905621398
],
[
0.0,
0.0
]
]
},
"toothpaste_3": {
"mjcf": {
"body": "toothpaste_3/",
"bodyName": "toothpaste_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_layout_1_rand_00013",
"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",
"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_1": {
"pos": [
0.359387,
-0.2438215,
0.050000012303
],
"rot": [
-0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "cup_1/"
}
},
"soap_4": {
"pos": [
0.616046,
0.0828575,
0.04500001230299999
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_3": {
"pos": [
0.4474207,
0.0102705,
0.012500012303000019
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "soap_dish_3/"
}
},
"toothpaste_4": {
"pos": [
0.5881636,
-0.16696,
0.012500012303000019
],
"rot": [
-0.8660253595219067,
0.0,
0.0,
0.5000000766649462
],
"mjcf": {
"body": "toothpaste_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_1": {
"mjcf": {
"body": "cup_1/",
"bodyName": "cup_1"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
-0.023780671241031417,
0.023780671241031417
],
[
-0.023780671241031417,
0.023780671241031417
],
[
0.0,
0.0
]
]
},
"soap_dish_3": {
"mjcf": {
"body": "soap_dish_3/",
"bodyName": "soap_dish_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_4": {
"mjcf": {
"body": "toothpaste_4/",
"bodyName": "toothpaste_4"
},
"pos_delta": [
[
-0.023303985192449143,
0.023303985192449143
],
[
-0.023303985192449143,
0.023303985192449143
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_layout_1_rand_00014",
"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",
"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": [
0.5426156,
-0.042043,
0.060000012303000005
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_4": {
"pos": [
0.35222,
0.213627,
0.04500001230299999
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_2": {
"pos": [
0.658951,
0.193422,
0.012500012303000019
],
"rot": [
-0.5000001748440799,
0.0,
0.0,
0.8660253028381385
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_3": {
"pos": [
0.681996,
-0.077997,
0.08500001230300003
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "toothpaste_3/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
-0.020373829567028292,
0.020373829567028292
],
[
-0.020373829567028292,
0.020373829567028292
],
[
0.0,
0.0
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_3": {
"mjcf": {
"body": "toothpaste_3/",
"bodyName": "toothpaste_3"
},
"pos_delta": [
[
-0.020373829567028292,
0.020373829567028292
],
[
-0.020373829567028292,
0.020373829567028292
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_layout_2_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",
"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_1": {
"pos": [
0.642338,
0.0828359,
0.05000000300699997
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "cup_1/"
}
},
"soap_4": {
"pos": [
0.701778,
-0.0430768,
0.04500000300699997
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_2": {
"pos": [
0.375316,
-0.0314002,
0.012500003006999993
],
"rot": [
0.3826828980361631,
0.0,
0.0,
-0.923879753837394
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_4": {
"pos": [
0.41412,
0.13861,
0.012500003006999993
],
"rot": [
0.923879753837394,
0.0,
0.0,
0.3826828980361631
],
"mjcf": {
"body": "toothpaste_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_1": {
"mjcf": {
"body": "cup_1/",
"bodyName": "cup_1"
},
"pos_delta": [
[
-0.010580013509064576,
0.010580013509064576
],
[
-0.010580013509064576,
0.010580013509064576
],
[
0.0,
0.0
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_4": {
"mjcf": {
"body": "toothpaste_4/",
"bodyName": "toothpaste_4"
},
"pos_delta": [
[
-0.01182707464421928,
0.01182707464421928
],
[
-0.01182707464421928,
0.01182707464421928
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_layout_2_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",
"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": [
0.697366,
-0.0132397,
0.07000000300699999
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_4": {
"pos": [
0.364586,
0.0340345,
0.015000003006999996
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_2": {
"pos": [
0.52866877,
-0.0047998,
0.010000003006999991
],
"rot": [
0.3826828980361631,
0.0,
0.0,
-0.923879753837394
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_4": {
"pos": [
0.52985344,
0.1508048,
0.012500003006999993
],
"rot": [
0.923879753837394,
0.0,
0.0,
0.3826828980361631
],
"mjcf": {
"body": "toothpaste_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
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_4": {
"mjcf": {
"body": "toothpaste_4/",
"bodyName": "toothpaste_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_layout_2_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",
"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_1": {
"pos": [
0.672016,
-0.016872,
0.05000000300699997
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "cup_1/"
}
},
"soap_4": {
"pos": [
0.343749,
0.0192137,
0.015000003006999996
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_2": {
"pos": [
0.5240802,
0.0041599,
0.010000003006999991
],
"rot": [
0.3826828980361631,
0.0,
0.0,
-0.923879753837394
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_4": {
"pos": [
0.620524,
0.1477776,
0.012500003006999993
],
"rot": [
0.923879753837394,
0.0,
0.0,
0.3826828980361631
],
"mjcf": {
"body": "toothpaste_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_1": {
"mjcf": {
"body": "cup_1/",
"bodyName": "cup_1"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_4": {
"mjcf": {
"body": "toothpaste_4/",
"bodyName": "toothpaste_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_layout_2_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",
"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": [
0.4537562,
-0.265625,
0.07000000300699999
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_3": {
"pos": [
0.4550839,
-0.1051003,
0.010000003006999991
],
"rot": [
0.5372992891638576,
0.0,
0.0,
0.8433916491547764
],
"mjcf": {
"body": "soap_3/"
}
},
"soap_dish_2": {
"pos": [
0.3260102,
-0.1155262,
0.012500003006999993
],
"rot": [
0.92387931118485,
0.0,
0.0,
-0.3826839666939379
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_3": {
"pos": [
0.5116659,
0.094712,
0.085000003007
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "toothpaste_3/"
}
}
}
},
"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
]
]
},
"soap_3": {
"mjcf": {
"body": "soap_3/",
"bodyName": "soap_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_3": {
"mjcf": {
"body": "toothpaste_3/",
"bodyName": "toothpaste_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_layout_2_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": [
0.682344,
-0.0193092,
0.06000000300699998
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_3": {
"pos": [
0.665411,
0.1213282,
0.010000003006999991
],
"rot": [
0.9762959252079211,
0.0,
0.0,
0.21643998341898252
],
"mjcf": {
"body": "soap_3/"
}
},
"soap_dish_2": {
"pos": [
0.38405,
0.1144232,
0.010000003006999991
],
"rot": [
0.3826828980361631,
0.0,
0.0,
-0.923879753837394
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_2": {
"pos": [
0.4999162,
-0.0280966,
0.015000003006999996
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "toothpaste_2/"
}
}
}
},
"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
]
]
},
"soap_3": {
"mjcf": {
"body": "soap_3/",
"bodyName": "soap_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
-0.006038384445681929,
0.006038384445681929
],
[
-0.006038384445681929,
0.006038384445681929
],
[
0.0,
0.0
]
]
},
"toothpaste_2": {
"mjcf": {
"body": "toothpaste_2/",
"bodyName": "toothpaste_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_layout_2_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",
"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": [
0.695095,
0.0219088,
0.07000000300699999
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_4": {
"pos": [
0.376668,
0.05088763,
0.015000003006999996
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_3": {
"pos": [
0.5490978,
-0.007296,
0.012500003006999993
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "soap_dish_3/"
}
},
"toothpaste_2": {
"pos": [
0.5852708,
0.1452372,
0.015000003006999996
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "toothpaste_2/"
}
}
}
},
"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
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_3": {
"mjcf": {
"body": "soap_dish_3/",
"bodyName": "soap_dish_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_2": {
"mjcf": {
"body": "toothpaste_2/",
"bodyName": "toothpaste_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_layout_2_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",
"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": [
0.4829714,
0.066992,
0.07000000300699999
],
"rot": [
0.0,
0.0,
0.0,
1.0
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_4": {
"pos": [
0.4984013,
-0.088978,
0.04500000300699997
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_2": {
"pos": [
0.3713093,
0.228308,
0.010000003006999991
],
"rot": [
0.3826839666939379,
0.0,
0.0,
0.92387931118485
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_2": {
"pos": [
0.3214384,
-0.037376,
0.015000003006999996
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "toothpaste_2/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
-0.016593246953128114,
0.016593246953128114
],
[
-0.016593246953128114,
0.016593246953128114
],
[
0.0,
0.0
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
-0.021786633649223213,
0.021786633649223213
],
[
-0.021786633649223213,
0.021786633649223213
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_2": {
"mjcf": {
"body": "toothpaste_2/",
"bodyName": "toothpaste_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_layout_2_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",
"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": [
0.4533553,
0.244704,
0.06000000300699998
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_4": {
"pos": [
0.5010932,
-0.083536,
0.04500000300699997
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_2": {
"pos": [
0.4604457,
0.0720858,
0.010000003006999991
],
"rot": [
0.92387931118485,
0.0,
0.0,
-0.3826839666939379
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_4": {
"pos": [
0.3203583,
0.0823268,
0.012500003006999993
],
"rot": [
0.3826839666939379,
0.0,
0.0,
0.92387931118485
],
"mjcf": {
"body": "toothpaste_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
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_4": {
"mjcf": {
"body": "toothpaste_4/",
"bodyName": "toothpaste_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_layout_2_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",
"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": [
0.666952,
-0.0165186,
0.06000000300699998
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_4": {
"pos": [
0.662448,
0.1334068,
0.015000003006999996
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_3": {
"pos": [
0.4796355,
-0.0002393,
0.012500003006999993
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "soap_dish_3/"
}
},
"toothpaste_3": {
"pos": [
0.347312,
0.1379034,
0.085000003007
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "toothpaste_3/"
}
}
}
},
"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
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
-0.009684446916463904,
0.009684446916463904
],
[
-0.009684446916463904,
0.009684446916463904
],
[
0.0,
0.0
]
]
},
"soap_dish_3": {
"mjcf": {
"body": "soap_dish_3/",
"bodyName": "soap_dish_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_3": {
"mjcf": {
"body": "toothpaste_3/",
"bodyName": "toothpaste_3"
},
"pos_delta": [
[
-0.029614389229968167,
0.029614389229968167
],
[
-0.029614389229968167,
0.029614389229968167
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_layout_2_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",
"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": [
0.682982,
0.0116784,
0.06000000300699998
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_4": {
"pos": [
0.678589,
-0.155662,
0.04500000300699997
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_2": {
"pos": [
0.4266345,
0.0261693,
0.012500003006999993
],
"rot": [
0.923879753837394,
0.0,
0.0,
0.3826828980361631
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_4": {
"pos": [
0.409718,
-0.1507751,
0.012500003006999993
],
"rot": [
-0.3826828980361631,
0.0,
0.0,
0.923879753837394
],
"mjcf": {
"body": "toothpaste_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
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
-0.025557919218091262,
0.025557919218091262
],
[
-0.025557919218091262,
0.025557919218091262
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_4": {
"mjcf": {
"body": "toothpaste_4/",
"bodyName": "toothpaste_4"
},
"pos_delta": [
[
-0.013018111187608787,
0.013018111187608787
],
[
-0.013018111187608787,
0.013018111187608787
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_layout_2_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",
"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": [
0.68551,
-0.092584,
0.07000000300699999
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_4": {
"pos": [
0.347973,
0.031285,
0.04500000300699997
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_2": {
"pos": [
0.5527527,
0.0318962,
0.012500003006999993
],
"rot": [
0.923879753837394,
0.0,
0.0,
0.3826828980361631
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_4": {
"pos": [
0.4369202,
-0.1386175,
0.012500003006999993
],
"rot": [
-0.3826828980361631,
0.0,
0.0,
0.923879753837394
],
"mjcf": {
"body": "toothpaste_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
-0.011730006009058125,
0.011730006009058125
],
[
-0.011730006009058125,
0.011730006009058125
],
[
0.0,
0.0
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_4": {
"mjcf": {
"body": "toothpaste_4/",
"bodyName": "toothpaste_4"
},
"pos_delta": [
[
-0.023053723080277453,
0.023053723080277453
],
[
-0.023053723080277453,
0.023053723080277453
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_layout_2_rand_00011",
"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",
"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": [
0.3548766,
0.26426,
0.07000000300699999
],
"rot": [
0.0,
0.0,
0.0,
1.0
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_3": {
"pos": [
0.4447782,
-0.059989,
0.010000003006999991
],
"rot": [
-0.8433916491547764,
0.0,
0.0,
0.5372992891638576
],
"mjcf": {
"body": "soap_3/"
}
},
"soap_dish_3": {
"pos": [
0.3821328,
0.112083,
0.012500003006999993
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "soap_dish_3/"
}
},
"toothpaste_4": {
"pos": [
0.509371,
0.1367048,
0.012500003006999993
],
"rot": [
-0.92387931118485,
0.0,
0.0,
0.3826839666939379
],
"mjcf": {
"body": "toothpaste_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
]
]
},
"soap_3": {
"mjcf": {
"body": "soap_3/",
"bodyName": "soap_3"
},
"pos_delta": [
[
-0.00792979707383645,
0.00792979707383645
],
[
-0.00792979707383645,
0.00792979707383645
],
[
0.0,
0.0
]
]
},
"soap_dish_3": {
"mjcf": {
"body": "soap_dish_3/",
"bodyName": "soap_dish_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_4": {
"mjcf": {
"body": "toothpaste_4/",
"bodyName": "toothpaste_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_layout_2_rand_00012",
"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",
"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_1": {
"pos": [
0.5392043,
-0.057437,
0.05000000300699997
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "cup_1/"
}
},
"soap_4": {
"pos": [
0.706646,
-0.0969541,
0.04500000300699997
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_2": {
"pos": [
0.373112,
-0.0608439,
0.010000003006999991
],
"rot": [
0.923879753837394,
0.0,
0.0,
0.3826828980361631
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_4": {
"pos": [
0.639042,
0.0876568,
0.015000003006999996
],
"rot": [
-0.3826828980361631,
0.0,
0.0,
0.923879753837394
],
"mjcf": {
"body": "toothpaste_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_1": {
"mjcf": {
"body": "cup_1/",
"bodyName": "cup_1"
},
"pos_delta": [
[
-0.011967006614283566,
0.011967006614283566
],
[
-0.011967006614283566,
0.011967006614283566
],
[
0.0,
0.0
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
-0.026249123318773014,
0.026249123318773014
],
[
-0.026249123318773014,
0.026249123318773014
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
-0.011967006614283566,
0.011967006614283566
],
[
-0.011967006614283566,
0.011967006614283566
],
[
0.0,
0.0
]
]
},
"toothpaste_4": {
"mjcf": {
"body": "toothpaste_4/",
"bodyName": "toothpaste_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_layout_2_rand_00013",
"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_1": {
"pos": [
0.670969,
0.0179018,
0.05000000300699997
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "cup_1/"
}
},
"soap_3": {
"pos": [
0.5256188,
0.0021236,
0.010000003006999991
],
"rot": [
0.9762959252079211,
0.0,
0.0,
0.21643998341898252
],
"mjcf": {
"body": "soap_3/"
}
},
"soap_dish_2": {
"pos": [
0.341778,
-0.0353035,
0.010000003006999991
],
"rot": [
0.3826828980361631,
0.0,
0.0,
-0.923879753837394
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_4": {
"pos": [
0.603077,
-0.1438793,
0.015000003006999996
],
"rot": [
0.923879753837394,
0.0,
0.0,
0.3826828980361631
],
"mjcf": {
"body": "toothpaste_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_1": {
"mjcf": {
"body": "cup_1/",
"bodyName": "cup_1"
},
"pos_delta": [
[
-0.005906610886389308,
0.005906610886389308
],
[
-0.005906610886389308,
0.005906610886389308
],
[
0.0,
0.0
]
]
},
"soap_3": {
"mjcf": {
"body": "soap_3/",
"bodyName": "soap_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_4": {
"mjcf": {
"body": "toothpaste_4/",
"bodyName": "toothpaste_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_layout_2_rand_00014",
"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",
"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": [
0.381934,
-0.0190531,
0.07000000300699999
],
"rot": [
0.7071067811865475,
0.0,
0.0,
-0.7071067811865475
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_3": {
"pos": [
0.655887,
0.0075601,
0.010000003006999991
],
"rot": [
0.9762959252079211,
0.0,
0.0,
0.21643998341898252
],
"mjcf": {
"body": "soap_3/"
}
},
"soap_dish_2": {
"pos": [
0.621735,
0.1391929,
0.012500003006999993
],
"rot": [
0.3826828980361631,
0.0,
0.0,
-0.923879753837394
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_4": {
"pos": [
0.401645,
0.1486933,
0.012500003006999993
],
"rot": [
0.923879753837394,
0.0,
0.0,
0.3826828980361631
],
"mjcf": {
"body": "toothpaste_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
]
]
},
"soap_3": {
"mjcf": {
"body": "soap_3/",
"bodyName": "soap_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_4": {
"mjcf": {
"body": "toothpaste_4/",
"bodyName": "toothpaste_4"
},
"pos_delta": [
[
-0.01050446155408328,
0.01050446155408328
],
[
-0.01050446155408328,
0.01050446155408328
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_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",
"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": [
0.4490404,
0.0719468,
0.05999999534700001
],
"rot": [
-0.42261850135118895,
0.0,
0.0,
0.9063076753044053
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_4": {
"pos": [
0.4718048,
-0.090516,
0.044999995347
],
"rot": [
-0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_2": {
"pos": [
0.4266415,
0.227235,
0.009999995347000024
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_2": {
"pos": [
0.329636,
-0.0046637,
0.014999995347000028
],
"rot": [
-0.8191519193315693,
0.0,
0.0,
0.5735766148086985
],
"mjcf": {
"body": "toothpaste_2/"
}
}
}
},
"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
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
-0.015458721666714142,
0.015458721666714142
],
[
-0.015458721666714142,
0.015458721666714142
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
-0.006203104609901129,
0.006203104609901129
],
[
-0.006203104609901129,
0.006203104609901129
],
[
0.0,
0.0
]
]
},
"toothpaste_2": {
"mjcf": {
"body": "toothpaste_2/",
"bodyName": "toothpaste_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_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",
"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": [
0.696643,
0.0721164,
0.06999999534700002
],
"rot": [
0.9396927112093743,
0.0,
0.0,
-0.3420198948891362
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_3": {
"pos": [
0.360425,
-0.0200136,
0.012499995347000026
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "soap_3/"
}
},
"soap_dish_2": {
"pos": [
0.51640766,
-0.0124624,
0.012499995347000026
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_4": {
"pos": [
0.4470257,
0.109034,
0.014999995347000028
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "toothpaste_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
]
]
},
"soap_3": {
"mjcf": {
"body": "soap_3/",
"bodyName": "soap_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_4": {
"mjcf": {
"body": "toothpaste_4/",
"bodyName": "toothpaste_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_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",
"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": [
0.4238232,
0.245221,
0.05999999534700001
],
"rot": [
-0.42261850135118895,
0.0,
0.0,
0.9063076753044053
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_3": {
"pos": [
0.3640698,
0.08591462,
0.012499995347000026
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "soap_3/"
}
},
"soap_dish_2": {
"pos": [
0.325655,
-0.061208,
0.012499995347000026
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_4": {
"pos": [
0.4673969,
0.026721,
0.012499995347000026
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "toothpaste_4/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
-0.00815237234859691,
0.00815237234859691
],
[
-0.00815237234859691,
0.00815237234859691
],
[
0.0,
0.0
]
]
},
"soap_3": {
"mjcf": {
"body": "soap_3/",
"bodyName": "soap_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_4": {
"mjcf": {
"body": "toothpaste_4/",
"bodyName": "toothpaste_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_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_0": {
"pos": [
0.699843,
-0.0102442,
0.05999999534700001
],
"rot": [
0.3420198948891362,
0.0,
0.0,
0.9396927112093743
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_3": {
"pos": [
0.5252319,
0.0236125,
0.009999995347000024
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "soap_3/"
}
},
"soap_dish_2": {
"pos": [
0.326583,
-0.1048079,
0.009999995347000024
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_2": {
"pos": [
0.5901959,
-0.140438,
0.014999995347000028
],
"rot": [
-0.17364796311993103,
0.0,
0.0,
0.9848077908426087
],
"mjcf": {
"body": "toothpaste_2/"
}
}
}
},
"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
]
]
},
"soap_3": {
"mjcf": {
"body": "soap_3/",
"bodyName": "soap_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
-0.02424577030254462,
0.02424577030254462
],
[
-0.02424577030254462,
0.02424577030254462
],
[
0.0,
0.0
]
]
},
"toothpaste_2": {
"mjcf": {
"body": "toothpaste_2/",
"bodyName": "toothpaste_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_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",
"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": [
0.2264635,
0.09621683,
0.05999999534700001
],
"rot": [
-0.42261850135118895,
0.0,
0.0,
0.9063076753044053
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_4": {
"pos": [
0.2304331,
0.25435,
0.014999995347000028
],
"rot": [
-0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_2": {
"pos": [
0.2924431,
-0.050412,
0.009999995347000024
],
"rot": [
0.7071067811865475,
0.0,
0.0,
0.7071067811865475
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_2": {
"pos": [
0.3425484,
0.209186,
0.014999995347000028
],
"rot": [
-0.8191519193315693,
0.0,
0.0,
0.5735766148086985
],
"mjcf": {
"body": "toothpaste_2/"
}
}
}
},
"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
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_2": {
"mjcf": {
"body": "toothpaste_2/",
"bodyName": "toothpaste_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_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_0": {
"pos": [
0.704599,
0.0113252,
0.06999999534700002
],
"rot": [
0.3420198948891362,
0.0,
0.0,
0.9396927112093743
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_3": {
"pos": [
0.312468,
0.1111341,
0.009999995347000024
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "soap_3/"
}
},
"soap_dish_3": {
"pos": [
0.50416239,
-0.0071992,
0.012499995347000026
],
"rot": [
0.4226179651788401,
0.0,
0.0,
0.9063079253256571
],
"mjcf": {
"body": "soap_dish_3/"
}
},
"toothpaste_2": {
"pos": [
0.5319077,
0.1391302,
0.014999995347000028
],
"rot": [
-0.17364796311993103,
0.0,
0.0,
0.9848077908426087
],
"mjcf": {
"body": "toothpaste_2/"
}
}
}
},
"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
]
]
},
"soap_3": {
"mjcf": {
"body": "soap_3/",
"bodyName": "soap_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_3": {
"mjcf": {
"body": "soap_dish_3/",
"bodyName": "soap_dish_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_2": {
"mjcf": {
"body": "toothpaste_2/",
"bodyName": "toothpaste_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_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",
"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": [
0.696986,
0.0564952,
0.05999999534700001
],
"rot": [
0.3420198948891362,
0.0,
0.0,
0.9396927112093743
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_4": {
"pos": [
0.5637046,
0.0798838,
0.044999995347
],
"rot": [
6.12323e-17,
0.0,
0.0,
1.0
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_3": {
"pos": [
0.366878,
-0.0270623,
0.012499995347000026
],
"rot": [
0.4226179651788401,
0.0,
0.0,
0.9063079253256571
],
"mjcf": {
"body": "soap_dish_3/"
}
},
"toothpaste_2": {
"pos": [
0.5746803,
-0.0613123,
0.014999995347000028
],
"rot": [
-0.17364796311993103,
0.0,
0.0,
0.9848077908426087
],
"mjcf": {
"body": "toothpaste_2/"
}
}
}
},
"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
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_3": {
"mjcf": {
"body": "soap_dish_3/",
"bodyName": "soap_dish_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_2": {
"mjcf": {
"body": "toothpaste_2/",
"bodyName": "toothpaste_2"
},
"pos_delta": [
[
-0.006811479602928531,
0.006811479602928531
],
[
-0.006811479602928531,
0.006811479602928531
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_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": [
0.51609194,
-0.052598,
0.05999999534700001
],
"rot": [
0.3420198948891362,
0.0,
0.0,
0.9396927112093743
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_3": {
"pos": [
0.668337,
0.0433239,
0.009999995347000024
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "soap_3/"
}
},
"soap_dish_2": {
"pos": [
0.366903,
-0.0233481,
0.009999995347000024
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_3": {
"pos": [
0.714742,
-0.0803993,
0.08499999534700003
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "toothpaste_3/"
}
}
}
},
"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
]
]
},
"soap_3": {
"mjcf": {
"body": "soap_3/",
"bodyName": "soap_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_3": {
"mjcf": {
"body": "toothpaste_3/",
"bodyName": "toothpaste_3"
},
"pos_delta": [
[
-0.009684097641495241,
0.009684097641495241
],
[
-0.009684097641495241,
0.009684097641495241
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_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",
"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": [
0.698373,
0.0051197,
0.06999999534700002
],
"rot": [
0.3420198948891362,
0.0,
0.0,
0.9396927112093743
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_3": {
"pos": [
0.356231,
-0.1068828,
0.012499995347000026
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "soap_3/"
}
},
"soap_dish_2": {
"pos": [
0.4992048,
0.0156266,
0.012499995347000026
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_4": {
"pos": [
0.5560184,
-0.1192884,
0.014999995347000028
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "toothpaste_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
]
]
},
"soap_3": {
"mjcf": {
"body": "soap_3/",
"bodyName": "soap_3"
},
"pos_delta": [
[
-0.020249456334488023,
0.020249456334488023
],
[
-0.020249456334488023,
0.020249456334488023
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_4": {
"mjcf": {
"body": "toothpaste_4/",
"bodyName": "toothpaste_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_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",
"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": [
0.5712102,
-0.008686,
0.05999999534700001
],
"rot": [
0.3420198948891362,
0.0,
0.0,
0.9396927112093743
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_4": {
"pos": [
0.705302,
-0.030633,
0.044999995347
],
"rot": [
6.12323e-17,
0.0,
0.0,
1.0
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_2": {
"pos": [
0.380684,
0.0785341,
0.009999995347000024
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_2": {
"pos": [
0.637208,
0.1117001,
0.014999995347000028
],
"rot": [
-0.17364796311993103,
0.0,
0.0,
0.9848077908426087
],
"mjcf": {
"body": "toothpaste_2/"
}
}
}
},
"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
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
-0.012525209830660937,
0.012525209830660937
],
[
-0.012525209830660937,
0.012525209830660937
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_2": {
"mjcf": {
"body": "toothpaste_2/",
"bodyName": "toothpaste_2"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_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",
"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": [
0.4830501,
-0.0083322,
0.05999999534700001
],
"rot": [
0.3420198948891362,
0.0,
0.0,
0.9396927112093743
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_4": {
"pos": [
0.343308,
-0.0309363,
0.044999995347
],
"rot": [
6.12323e-17,
0.0,
0.0,
1.0
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_3": {
"pos": [
0.662926,
0.0208589,
0.012499995347000026
],
"rot": [
0.4226179651788401,
0.0,
0.0,
0.9063079253256571
],
"mjcf": {
"body": "soap_dish_3/"
}
},
"toothpaste_4": {
"pos": [
0.4524734,
0.1241594,
0.012499995347000026
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "toothpaste_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
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
-0.01642217280328843,
0.01642217280328843
],
[
-0.01642217280328843,
0.01642217280328843
],
[
0.0,
0.0
]
]
},
"soap_dish_3": {
"mjcf": {
"body": "soap_dish_3/",
"bodyName": "soap_dish_3"
},
"pos_delta": [
[
-0.005494292715225324,
0.005494292715225324
],
[
-0.005494292715225324,
0.005494292715225324
],
[
0.0,
0.0
]
]
},
"toothpaste_4": {
"mjcf": {
"body": "toothpaste_4/",
"bodyName": "toothpaste_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_layout_4_rand_00011",
"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",
"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_1": {
"pos": [
0.346629,
-0.00855395,
0.049999995347000004
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "cup_1/"
}
},
"soap_3": {
"pos": [
0.4935499,
-0.0170025,
0.009999995347000024
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "soap_3/"
}
},
"soap_dish_2": {
"pos": [
0.662667,
-0.0547222,
0.012499995347000026
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_3": {
"pos": [
0.715505,
0.0808306,
0.08499999534700003
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "toothpaste_3/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_1": {
"mjcf": {
"body": "cup_1/",
"bodyName": "cup_1"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_3": {
"mjcf": {
"body": "soap_3/",
"bodyName": "soap_3"
},
"pos_delta": [
[
-0.0062460050258192155,
0.0062460050258192155
],
[
-0.0062460050258192155,
0.0062460050258192155
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
-0.012361098038437924,
0.012361098038437924
],
[
-0.012361098038437924,
0.012361098038437924
],
[
0.0,
0.0
]
]
},
"toothpaste_3": {
"mjcf": {
"body": "toothpaste_3/",
"bodyName": "toothpaste_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_layout_4_rand_00012",
"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",
"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": [
0.337884,
0.0384426,
0.06999999534700002
],
"rot": [
0.9396927112093743,
0.0,
0.0,
-0.3420198948891362
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_4": {
"pos": [
0.674486,
0.0605928,
0.044999995347
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_3": {
"pos": [
0.5170943,
-0.0082762,
0.012499995347000026
],
"rot": [
0.9063079253256571,
0.0,
0.0,
-0.4226179651788401
],
"mjcf": {
"body": "soap_dish_3/"
}
},
"toothpaste_3": {
"pos": [
0.66022,
-0.0735623,
0.08499999534700003
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "toothpaste_3/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
-0.012036702774496102,
0.012036702774496102
],
[
-0.012036702774496102,
0.012036702774496102
],
[
0.0,
0.0
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
-0.019614033290069333,
0.019614033290069333
],
[
-0.019614033290069333,
0.019614033290069333
],
[
0.0,
0.0
]
]
},
"soap_dish_3": {
"mjcf": {
"body": "soap_dish_3/",
"bodyName": "soap_dish_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_3": {
"mjcf": {
"body": "toothpaste_3/",
"bodyName": "toothpaste_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_layout_4_rand_00013",
"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",
"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": [
0.695661,
0.0094445,
0.06999999534700002
],
"rot": [
0.3420198948891362,
0.0,
0.0,
0.9396927112093743
],
"mjcf": {
"body": "cup_0/"
}
},
"soap_4": {
"pos": [
0.346625,
0.0362375,
0.044999995347
],
"rot": [
6.12323e-17,
0.0,
0.0,
1.0
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_2": {
"pos": [
0.399364,
-0.1058085,
0.012499995347000026
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "soap_dish_2/"
}
},
"toothpaste_4": {
"pos": [
0.65846,
-0.1105734,
0.014999995347000028
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "toothpaste_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
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_2": {
"mjcf": {
"body": "soap_dish_2/",
"bodyName": "soap_dish_2"
},
"pos_delta": [
[
-0.01932876217494413,
0.01932876217494413
],
[
-0.01932876217494413,
0.01932876217494413
],
[
0.0,
0.0
]
]
},
"toothpaste_4": {
"mjcf": {
"body": "toothpaste_4/",
"bodyName": "toothpaste_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
},
{
"name": "task_200026_layout_4_rand_00014",
"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",
"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_1": {
"pos": [
0.701674,
-0.0603323,
0.049999995347000004
],
"rot": [
6.12323e-17,
0.0,
0.0,
-1.0
],
"mjcf": {
"body": "cup_1/"
}
},
"soap_4": {
"pos": [
0.561413,
-0.0785467,
0.044999995347
],
"rot": [
1.0,
0.0,
0.0,
0.0
],
"mjcf": {
"body": "soap_4/"
}
},
"soap_dish_3": {
"pos": [
0.375685,
-0.00727648,
0.012499995347000026
],
"rot": [
0.9063079253256571,
0.0,
0.0,
-0.4226179651788401
],
"mjcf": {
"body": "soap_dish_3/"
}
},
"toothpaste_2": {
"pos": [
0.5954431,
0.0626375,
0.014999995347000028
],
"rot": [
0.9848077908426087,
0.0,
0.0,
0.17364796311993103
],
"mjcf": {
"body": "toothpaste_2/"
}
}
}
},
"domain_randomization": {
"objects": {
"cup_1": {
"mjcf": {
"body": "cup_1/",
"bodyName": "cup_1"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_3": {
"mjcf": {
"body": "soap_dish_3/",
"bodyName": "soap_dish_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"toothpaste_2": {
"mjcf": {
"body": "toothpaste_2/",
"bodyName": "toothpaste_2"
},
"pos_delta": [
[
-0.008086203776111614,
0.008086203776111614
],
[
-0.008086203776111614,
0.008086203776111614
],
[
0.0,
0.0
]
]
}
}
}
}
],
"domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
-0.03509426873512063,
0.03509426873512063
],
[
-0.03509426873512063,
0.03509426873512063
],
[
0.0,
0.0
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_3": {
"mjcf": {
"body": "soap_dish_3/",
"bodyName": "soap_dish_3"
},
"pos_delta": [
[
-0.03346605517694471,
0.03346605517694471
],
[
-0.03346605517694471,
0.03346605517694471
],
[
0.0,
0.0
]
]
},
"toothpaste_3": {
"mjcf": {
"body": "toothpaste_3/",
"bodyName": "toothpaste_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
},
"updated_at": "2026-07-09T22:34:58.312301+00:00",
"_scene_variant_index": 6,
"_scene_variant_name": "task_200026_layout_1_rand_00006",
"_scene_variant_source": "backend_resolver",
"_has_domain_randomization": true,
"_domain_randomization": {
"objects": {
"cup_0": {
"mjcf": {
"body": "cup_0/",
"bodyName": "cup_0"
},
"pos_delta": [
[
-0.03509426873512063,
0.03509426873512063
],
[
-0.03509426873512063,
0.03509426873512063
],
[
0.0,
0.0
]
]
},
"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
},
"soap_dish_3": {
"mjcf": {
"body": "soap_dish_3/",
"bodyName": "soap_dish_3"
},
"pos_delta": [
[
-0.03346605517694471,
0.03346605517694471
],
[
-0.03346605517694471,
0.03346605517694471
],
[
0.0,
0.0
]
]
},
"toothpaste_3": {
"mjcf": {
"body": "toothpaste_3/",
"bodyName": "toothpaste_3"
},
"pos_delta": [
[
0.0,
0.0
],
[
0.0,
0.0
],
[
0.0,
0.0
]
]
}
}
}
}