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"name": "Put the Soap on the Left Side of the Cup",
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"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": {
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"mjcf": {
"body": "franka/"
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"panda_finger_joint1": 0.04,
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"objects": {
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"rot": [
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"mjcf": {
"body": "cup_1/"
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"soap_4": {
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"rot": [
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"mjcf": {
"body": "soap_4/"
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"soap_dish_3": {
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"mjcf": {
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"toothpaste_2": {
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"rot": [
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"mjcf": {
"body": "toothpaste_2/"
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},
"domain_randomization": {
"objects": {
"cup_1": {
"mjcf": {
"body": "cup_1/",
"bodyName": "cup_1"
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"pos_delta": [
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0.0,
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"soap_4": {
"mjcf": {
"body": "soap_4/",
"bodyName": "soap_4"
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"pos_delta": [
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0.0,
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"soap_dish_3": {
"mjcf": {
"body": "soap_dish_3/",
"bodyName": "soap_dish_3"
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"pos_delta": [
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0.0,
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[
0.0,
0.0
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0.0,
0.0
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"toothpaste_2": {
"mjcf": {
"body": "toothpaste_2/",
"bodyName": "toothpaste_2"
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"pos_delta": [
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],
"domain_randomization": null,
"updated_at": "2026-07-09T22:34:58.312301+00:00"
}