{ "id": 945, "name": "Put both the Potato and the Pepper in the Bowl", "description": "Pick up the potato and the pepper each at a time, then place them in the bowl.\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 ", "initial_state": null, "checker_config": { "checker": { "type": "CompositeChecker", "checkers": [ { "type": "GripperOpenChecker", "threshold": 0.04 }, { "type": "CompositeChecker", "checkers": [ { "type": "CompositeChecker", "checkers": [ { "type": "RelativeCylinderChecker", "objName": "potato_1", "refName": "bowl_2", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 }, { "type": "RelativeCylinderChecker", "objName": "green_pepper_0", "refName": "bowl_2", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 } ], "operator": "AND" }, { "type": "CompositeChecker", "checkers": [ { "type": "RelativeCylinderChecker", "objName": "potato_1", "refName": "bowl_2", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 }, { "type": "RelativeCylinderChecker", "objName": "green_pepper_1", "refName": "bowl_2", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 } ], "operator": "AND" }, { "type": "CompositeChecker", "checkers": [ { "type": "RelativeCylinderChecker", "objName": "potato_1", "refName": "bowl_2", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 }, { "type": "RelativeCylinderChecker", "objName": "green_pepper_4", "refName": "bowl_2", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 } ], "operator": "AND" }, { "type": "CompositeChecker", "checkers": [ { "type": "RelativeCylinderChecker", "objName": "potato_2", "refName": "bowl_2", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 }, { "type": "RelativeCylinderChecker", "objName": "green_pepper_0", "refName": "bowl_2", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 } ], "operator": "AND" }, { "type": "CompositeChecker", "checkers": [ { "type": "RelativeCylinderChecker", "objName": "potato_2", "refName": "bowl_2", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 }, { "type": "RelativeCylinderChecker", "objName": "green_pepper_1", "refName": "bowl_2", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 } ], "operator": "AND" }, { "type": "CompositeChecker", "checkers": [ { "type": "RelativeCylinderChecker", "objName": "potato_2", "refName": "bowl_2", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 }, { "type": "RelativeCylinderChecker", "objName": "green_pepper_4", "refName": "bowl_2", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 } ], "operator": "AND" }, { "type": "CompositeChecker", "checkers": [ { "type": "RelativeCylinderChecker", "objName": "potato_3", "refName": "bowl_2", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 }, { "type": "RelativeCylinderChecker", "objName": "green_pepper_0", "refName": "bowl_2", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 } ], "operator": "AND" }, { "type": "CompositeChecker", "checkers": [ { "type": "RelativeCylinderChecker", "objName": "potato_3", "refName": "bowl_2", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 }, { "type": "RelativeCylinderChecker", "objName": "green_pepper_1", "refName": "bowl_2", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 } ], "operator": "AND" }, { "type": "CompositeChecker", "checkers": [ { "type": "RelativeCylinderChecker", "objName": "potato_3", "refName": "bowl_2", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 }, { "type": "RelativeCylinderChecker", "objName": "green_pepper_4", "refName": "bowl_2", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 } ], "operator": "AND" }, { "type": "CompositeChecker", "checkers": [ { "type": "RelativeCylinderChecker", "objName": "potato_4", "refName": "bowl_2", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 }, { "type": "RelativeCylinderChecker", "objName": "green_pepper_0", "refName": "bowl_2", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 } ], "operator": "AND" }, { "type": "CompositeChecker", "checkers": [ { "type": "RelativeCylinderChecker", "objName": "potato_4", "refName": "bowl_2", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 }, { "type": "RelativeCylinderChecker", "objName": "green_pepper_1", "refName": "bowl_2", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 } ], "operator": "AND" }, { "type": "CompositeChecker", "checkers": [ { "type": "RelativeCylinderChecker", "objName": "potato_4", "refName": "bowl_2", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 }, { "type": "RelativeCylinderChecker", "objName": "green_pepper_4", "refName": "bowl_2", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 } ], "operator": "AND" }, { "type": "CompositeChecker", "checkers": [ { "type": "RelativeCylinderChecker", "objName": "potato_1", "refName": "bowl_3", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 }, { "type": "RelativeCylinderChecker", "objName": "green_pepper_0", "refName": "bowl_3", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 } ], "operator": "AND" }, { "type": "CompositeChecker", "checkers": [ { "type": "RelativeCylinderChecker", "objName": "potato_1", "refName": "bowl_3", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 }, { "type": "RelativeCylinderChecker", "objName": "green_pepper_1", "refName": "bowl_3", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 } ], "operator": "AND" }, { "type": "CompositeChecker", "checkers": [ { "type": "RelativeCylinderChecker", "objName": "potato_1", "refName": "bowl_3", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 }, { "type": "RelativeCylinderChecker", "objName": "green_pepper_4", "refName": "bowl_3", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 } ], "operator": "AND" }, { "type": "CompositeChecker", "checkers": [ { "type": "RelativeCylinderChecker", "objName": "potato_2", "refName": "bowl_3", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 }, { "type": "RelativeCylinderChecker", "objName": "green_pepper_0", "refName": "bowl_3", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 } ], "operator": "AND" }, { "type": "CompositeChecker", "checkers": [ { "type": "RelativeCylinderChecker", "objName": "potato_2", "refName": "bowl_3", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 }, { "type": "RelativeCylinderChecker", "objName": "green_pepper_1", "refName": "bowl_3", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 } ], "operator": "AND" }, { "type": "CompositeChecker", "checkers": [ { "type": "RelativeCylinderChecker", "objName": "potato_2", "refName": "bowl_3", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 }, { "type": "RelativeCylinderChecker", "objName": "green_pepper_4", "refName": "bowl_3", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 } ], "operator": "AND" }, { "type": "CompositeChecker", "checkers": [ { "type": "RelativeCylinderChecker", "objName": "potato_3", "refName": "bowl_3", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 }, { "type": "RelativeCylinderChecker", "objName": "green_pepper_0", "refName": "bowl_3", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 } ], "operator": "AND" }, { "type": "CompositeChecker", "checkers": [ { "type": "RelativeCylinderChecker", "objName": "potato_3", "refName": "bowl_3", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 }, { "type": "RelativeCylinderChecker", "objName": "green_pepper_1", "refName": "bowl_3", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 } ], "operator": "AND" }, { "type": "CompositeChecker", "checkers": [ { "type": "RelativeCylinderChecker", "objName": "potato_3", "refName": "bowl_3", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 }, { "type": "RelativeCylinderChecker", "objName": "green_pepper_4", "refName": "bowl_3", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 } ], "operator": "AND" }, { "type": "CompositeChecker", "checkers": [ { "type": "RelativeCylinderChecker", "objName": "potato_4", "refName": "bowl_3", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 }, { "type": "RelativeCylinderChecker", "objName": "green_pepper_0", "refName": "bowl_3", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 } ], "operator": "AND" }, { "type": "CompositeChecker", "checkers": [ { "type": "RelativeCylinderChecker", "objName": "potato_4", "refName": "bowl_3", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 }, { "type": "RelativeCylinderChecker", "objName": "green_pepper_1", "refName": "bowl_3", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 } ], "operator": "AND" }, { "type": "CompositeChecker", "checkers": [ { "type": "RelativeCylinderChecker", "objName": "potato_4", "refName": "bowl_3", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 }, { "type": "RelativeCylinderChecker", "objName": "green_pepper_4", "refName": "bowl_3", "refType": "object", "xyRadius": 0.08, "heightMax": 0.1, "heightMin": -0.04 } ], "operator": "AND" } ], "operator": "OR" } ], "operator": "AND" } }, "scene_variants": [ { "name": "task_88200031_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 ", "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": { "bowl_3": { "pos": [ 0.4500469, -0.089814, 0.034999993184000044 ], "rot": [ -0.8669903962078558, 0.0, 0.0, 0.4983248467449171 ], "mjcf": { "body": "bowl_3/" } }, "potato_4": { "pos": [ 0.326213, 0.39484, 0.027499993183999982 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "potato_4/" } }, "green_pepper_1": { "pos": [ 0.692125, -0.113008, 0.04499999318400005 ], "rot": [ 0.573306153446696, 0.0, 0.0, 0.8193412319785656 ], "mjcf": { "body": "green_pepper_1/" } }, "cutting_board_3": { "pos": [ 0.624872, 0.264763, 0.0074999931839999645 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "cutting_board_3/" } } } }, "domain_randomization": { "objects": { "bowl_3": { "mjcf": { "body": "bowl_3/", "bodyName": "bowl_3" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_4": { "mjcf": { "body": "potato_4/", "bodyName": "potato_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_1": { "mjcf": { "body": "green_pepper_1/", "bodyName": "green_pepper_1" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_3": { "mjcf": { "body": "cutting_board_3/", "bodyName": "cutting_board_3" }, "pos_delta": [ [ -0.01426598759049692, 0.01426598759049692 ], [ -0.01426598759049692, 0.01426598759049692 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_3": { "pos": [ 0.5868311, 0.327225, 0.034999993184000044 ], "rot": [ -0.8669903962078558, 0.0, 0.0, 0.4983248467449171 ], "mjcf": { "body": "bowl_3/" } }, "potato_1": { "pos": [ 0.657967, -0.14277, 0.02999999318400004 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "potato_1/" } }, "green_pepper_1": { "pos": [ 0.33593, 0.395355, 0.04499999318400005 ], "rot": [ 0.573306153446696, 0.0, 0.0, 0.8193412319785656 ], "mjcf": { "body": "green_pepper_1/" } }, "cutting_board_4": { "pos": [ 0.39016, -0.045738, 0.009999993184000022 ], "rot": [ -0.6686785305272733, 0.0, 0.0, 0.743551627536304 ], "mjcf": { "body": "cutting_board_4/" } } } }, "domain_randomization": { "objects": { "bowl_3": { "mjcf": { "body": "bowl_3/", "bodyName": "bowl_3" }, "pos_delta": [ [ -0.01015151734983166, 0.01015151734983166 ], [ -0.01015151734983166, 0.01015151734983166 ], [ 0.0, 0.0 ] ] }, "potato_1": { "mjcf": { "body": "potato_1/", "bodyName": "potato_1" }, "pos_delta": [ [ -0.00861636071104648, 0.00861636071104648 ], [ -0.00861636071104648, 0.00861636071104648 ], [ 0.0, 0.0 ] ] }, "green_pepper_1": { "mjcf": { "body": "green_pepper_1/", "bodyName": "green_pepper_1" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_4": { "mjcf": { "body": "cutting_board_4/", "bodyName": "cutting_board_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_2": { "pos": [ 0.5008697, -0.298267, 0.05499999318400006 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "bowl_2/" } }, "potato_4": { "pos": [ 0.667984, 0.075597, 0.027499993183999982 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "potato_4/" } }, "green_pepper_1": { "pos": [ 0.670603, -0.07254, 0.04499999318400005 ], "rot": [ 0.573306153446696, 0.0, 0.0, 0.8193412319785656 ], "mjcf": { "body": "green_pepper_1/" } }, "cutting_board_4": { "pos": [ 0.4778963, 0.014569, 0.012499993183999969 ], "rot": [ -0.6686785305272733, 0.0, 0.0, 0.743551627536304 ], "mjcf": { "body": "cutting_board_4/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_4": { "mjcf": { "body": "potato_4/", "bodyName": "potato_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_1": { "mjcf": { "body": "green_pepper_1/", "bodyName": "green_pepper_1" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_4": { "mjcf": { "body": "cutting_board_4/", "bodyName": "cutting_board_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_2": { "pos": [ 0.5885207, -0.310363, 0.04499999318400005 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "bowl_2/" } }, "potato_4": { "pos": [ 0.369767, -0.355856, 0.027499993183999982 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "potato_4/" } }, "green_pepper_1": { "pos": [ 0.673143, 0.115303, 0.034999993184000044 ], "rot": [ 0.573306153446696, 0.0, 0.0, 0.8193412319785656 ], "mjcf": { "body": "green_pepper_1/" } }, "cutting_board_3": { "pos": [ 0.4526753, 0.005344, 0.0074999931839999645 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "cutting_board_3/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ -0.011008294510030514, 0.011008294510030514 ], [ -0.011008294510030514, 0.011008294510030514 ], [ 0.0, 0.0 ] ] }, "potato_4": { "mjcf": { "body": "potato_4/", "bodyName": "potato_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_1": { "mjcf": { "body": "green_pepper_1/", "bodyName": "green_pepper_1" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_3": { "mjcf": { "body": "cutting_board_3/", "bodyName": "cutting_board_3" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_2": { "pos": [ 0.4520964, -0.298374, 0.05499999318400006 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "bowl_2/" } }, "potato_3": { "pos": [ 0.660729, -0.073378, 0.03999999318400005 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "potato_3/" } }, "green_pepper_1": { "pos": [ 0.656856, 0.118065, 0.04499999318400005 ], "rot": [ 0.8193412319785656, 0.0, 0.0, -0.573306153446696 ], "mjcf": { "body": "green_pepper_1/" } }, "cutting_board_3": { "pos": [ 0.4361539, 0.014143, 0.0074999931839999645 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "cutting_board_3/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_3": { "mjcf": { "body": "potato_3/", "bodyName": "potato_3" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_1": { "mjcf": { "body": "green_pepper_1/", "bodyName": "green_pepper_1" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_3": { "mjcf": { "body": "cutting_board_3/", "bodyName": "cutting_board_3" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_2": { "pos": [ 0.6124661, -0.302739, 0.03999999318400005 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "bowl_2/" } }, "potato_4": { "pos": [ 0.385499, -0.357713, 0.027499993183999982 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "potato_4/" } }, "green_pepper_0": { "pos": [ 0.649362, 0.040481, 0.03999999318400005 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "green_pepper_0/" } }, "cutting_board_4": { "pos": [ 0.4319752, 0.003565, 0.012499993183999969 ], "rot": [ 0.743551627536304, 0.0, 0.0, 0.6686785305272733 ], "mjcf": { "body": "cutting_board_4/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_4": { "mjcf": { "body": "potato_4/", "bodyName": "potato_4" }, "pos_delta": [ [ -0.015181999151363748, 0.015181999151363748 ], [ -0.015181999151363748, 0.015181999151363748 ], [ 0.0, 0.0 ] ] }, "green_pepper_0": { "mjcf": { "body": "green_pepper_0/", "bodyName": "green_pepper_0" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_4": { "mjcf": { "body": "cutting_board_4/", "bodyName": "cutting_board_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_2": { "pos": [ 0.4592184, 0.069247, 0.04499999318400005 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "bowl_2/" } }, "potato_3": { "pos": [ 0.38582, -0.34716, 0.03999999318400005 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "potato_3/" } }, "green_pepper_1": { "pos": [ 0.666593, 0.035227, 0.04499999318400005 ], "rot": [ 0.573306153446696, 0.0, 0.0, 0.8193412319785656 ], "mjcf": { "body": "green_pepper_1/" } }, "cutting_board_4": { "pos": [ 0.5942427, -0.249829, 0.012499993183999969 ], "rot": [ -0.6686785305272733, 0.0, 0.0, 0.743551627536304 ], "mjcf": { "body": "cutting_board_4/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_3": { "mjcf": { "body": "potato_3/", "bodyName": "potato_3" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_1": { "mjcf": { "body": "green_pepper_1/", "bodyName": "green_pepper_1" }, "pos_delta": [ [ -0.007530147315361522, 0.007530147315361522 ], [ -0.007530147315361522, 0.007530147315361522 ], [ 0.0, 0.0 ] ] }, "cutting_board_4": { "mjcf": { "body": "cutting_board_4/", "bodyName": "cutting_board_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_3": { "pos": [ 0.5349862, -0.313238, 0.034999993184000044 ], "rot": [ 0.4983248467449171, 0.0, 0.0, 0.8669903962078558 ], "mjcf": { "body": "bowl_3/" } }, "potato_2": { "pos": [ 0.313966, -0.391744, 0.02999999318400004 ], "rot": [ 0.6897262936093866, 0.0, 0.0, -0.724070189901406 ], "mjcf": { "body": "potato_2/" } }, "green_pepper_4": { "pos": [ 0.697847, 0.133872, 0.04999999318400006 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "green_pepper_4/" } }, "cutting_board_3": { "pos": [ 0.404729, 0.027988, 0.0074999931839999645 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "cutting_board_3/" } } } }, "domain_randomization": { "objects": { "bowl_3": { "mjcf": { "body": "bowl_3/", "bodyName": "bowl_3" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_2": { "mjcf": { "body": "potato_2/", "bodyName": "potato_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_4": { "mjcf": { "body": "green_pepper_4/", "bodyName": "green_pepper_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_3": { "mjcf": { "body": "cutting_board_3/", "bodyName": "cutting_board_3" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_2": { "pos": [ 0.6025978, 0.1498041, 0.04499999318400005 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "bowl_2/" } }, "potato_4": { "pos": [ 0.676457, -0.102983, 0.027499993183999982 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "potato_4/" } }, "green_pepper_4": { "pos": [ 0.356503, 0.357937, 0.04999999318400006 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "green_pepper_4/" } }, "cutting_board_3": { "pos": [ 0.38463, 0.0927512, 0.009999993184000022 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "cutting_board_3/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_4": { "mjcf": { "body": "potato_4/", "bodyName": "potato_4" }, "pos_delta": [ [ -0.02572731490738086, 0.02572731490738086 ], [ -0.02572731490738086, 0.02572731490738086 ], [ 0.0, 0.0 ] ] }, "green_pepper_4": { "mjcf": { "body": "green_pepper_4/", "bodyName": "green_pepper_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_3": { "mjcf": { "body": "cutting_board_3/", "bodyName": "cutting_board_3" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_2": { "pos": [ 0.6074927, -0.33185, 0.05499999318400006 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "bowl_2/" } }, "potato_2": { "pos": [ 0.32305, -0.387328, 0.02999999318400004 ], "rot": [ 0.724070189901406, 0.0, 0.0, 0.6897262936093866 ], "mjcf": { "body": "potato_2/" } }, "green_pepper_1": { "pos": [ 0.647733, 0.138377, 0.034999993184000044 ], "rot": [ 0.573306153446696, 0.0, 0.0, 0.8193412319785656 ], "mjcf": { "body": "green_pepper_1/" } }, "cutting_board_3": { "pos": [ 0.4299762, -0.018798, 0.0074999931839999645 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "cutting_board_3/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ -0.006731297572618653, 0.006731297572618653 ], [ -0.006731297572618653, 0.006731297572618653 ], [ 0.0, 0.0 ] ] }, "potato_2": { "mjcf": { "body": "potato_2/", "bodyName": "potato_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_1": { "mjcf": { "body": "green_pepper_1/", "bodyName": "green_pepper_1" }, "pos_delta": [ [ -0.01005795266163503, 0.01005795266163503 ], [ -0.01005795266163503, 0.01005795266163503 ], [ 0.0, 0.0 ] ] }, "cutting_board_3": { "mjcf": { "body": "cutting_board_3/", "bodyName": "cutting_board_3" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_2": { "pos": [ 0.3848483, -0.40534, 0.04499998549700002 ], "rot": [ 0.7006711655920641, 0.0, 0.0, 0.7134843500090652 ], "mjcf": { "body": "bowl_2/" } }, "potato_3": { "pos": [ 0.5713576, 0.138933, 0.03999998549700001 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "potato_3/" } }, "green_pepper_0": { "pos": [ 0.625516, -0.346548, 0.03999998549700001 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "green_pepper_0/" } }, "cutting_board_3": { "pos": [ 0.35432, 0.008837, 0.009999985496999986 ], "rot": [ 0.5492714035447255, 0.0, 0.0, 0.8356440182565823 ], "mjcf": { "body": "cutting_board_3/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_3": { "mjcf": { "body": "potato_3/", "bodyName": "potato_3" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_0": { "mjcf": { "body": "green_pepper_0/", "bodyName": "green_pepper_0" }, "pos_delta": [ [ -0.014306624156437756, 0.014306624156437756 ], [ -0.014306624156437756, 0.014306624156437756 ], [ 0.0, 0.0 ] ] }, "cutting_board_3": { "mjcf": { "body": "cutting_board_3/", "bodyName": "cutting_board_3" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_2": { "pos": [ 0.5596719, -0.362753, 0.054999985497000026 ], "rot": [ 0.7134843500090652, 0.0, 0.0, -0.7006711655920641 ], "mjcf": { "body": "bowl_2/" } }, "potato_2": { "pos": [ 0.354999, -0.441041, 0.029999985497000003 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "potato_2/" } }, "green_pepper_1": { "pos": [ 0.674504, 0.021427, 0.04499998549700002 ], "rot": [ 0.9982608483755884, 0.0, 0.0, -0.05895149362357569 ], "mjcf": { "body": "green_pepper_1/" } }, "cutting_board_4": { "pos": [ 0.4266181, -0.022733, 0.009999985496999986 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "cutting_board_4/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_2": { "mjcf": { "body": "potato_2/", "bodyName": "potato_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_1": { "mjcf": { "body": "green_pepper_1/", "bodyName": "green_pepper_1" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_4": { "mjcf": { "body": "cutting_board_4/", "bodyName": "cutting_board_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_3": { "pos": [ 0.4381817, -0.075607, 0.03499998549700001 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "bowl_3/" } }, "potato_1": { "pos": [ 0.676356, -0.012937, 0.029999985497000003 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "potato_1/" } }, "green_pepper_4": { "pos": [ 0.352355, 0.444666, 0.04999998549700002 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "green_pepper_4/" } }, "cutting_board_4": { "pos": [ 0.5714964, 0.287542, 0.009999985496999986 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "cutting_board_4/" } } } }, "domain_randomization": { "objects": { "bowl_3": { "mjcf": { "body": "bowl_3/", "bodyName": "bowl_3" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_1": { "mjcf": { "body": "potato_1/", "bodyName": "potato_1" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_4": { "mjcf": { "body": "green_pepper_4/", "bodyName": "green_pepper_4" }, "pos_delta": [ [ -0.007803210869610818, 0.007803210869610818 ], [ -0.007803210869610818, 0.007803210869610818 ], [ 0.0, 0.0 ] ] }, "cutting_board_4": { "mjcf": { "body": "cutting_board_4/", "bodyName": "cutting_board_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_2": { "pos": [ 0.5517756, -0.401228, 0.04499998549700002 ], "rot": [ 0.7006711655920641, 0.0, 0.0, 0.7134843500090652 ], "mjcf": { "body": "bowl_2/" } }, "potato_2": { "pos": [ 0.347479, -0.436394, 0.029999985497000003 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "potato_2/" } }, "green_pepper_1": { "pos": [ 0.664892, 0.15799, 0.04499998549700002 ], "rot": [ 0.05895149362357569, 0.0, 0.0, 0.9982608483755884 ], "mjcf": { "body": "green_pepper_1/" } }, "cutting_board_3": { "pos": [ 0.4781987, 0.029816, 0.009999985496999986 ], "rot": [ 0.5492714035447255, 0.0, 0.0, 0.8356440182565823 ], "mjcf": { "body": "cutting_board_3/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_2": { "mjcf": { "body": "potato_2/", "bodyName": "potato_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_1": { "mjcf": { "body": "green_pepper_1/", "bodyName": "green_pepper_1" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_3": { "mjcf": { "body": "cutting_board_3/", "bodyName": "cutting_board_3" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_2": { "pos": [ 0.5632449, 0.394963, 0.03999998549700001 ], "rot": [ 0.7134843500090652, 0.0, 0.0, -0.7006711655920641 ], "mjcf": { "body": "bowl_2/" } }, "potato_2": { "pos": [ 0.675761, -0.135735, 0.029999985497000003 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "potato_2/" } }, "green_pepper_0": { "pos": [ 0.357887, 0.426402, 0.03999998549700001 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "green_pepper_0/" } }, "cutting_board_4": { "pos": [ 0.4647417, 0.038126, 0.012499985497000043 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "cutting_board_4/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_2": { "mjcf": { "body": "potato_2/", "bodyName": "potato_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_0": { "mjcf": { "body": "green_pepper_0/", "bodyName": "green_pepper_0" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_4": { "mjcf": { "body": "cutting_board_4/", "bodyName": "cutting_board_4" }, "pos_delta": [ [ -0.006603555514556895, 0.006603555514556895 ], [ -0.006603555514556895, 0.006603555514556895 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_2": { "pos": [ 0.4893034, -0.242488, 0.054999985497000026 ], "rot": [ 0.7006711655920641, 0.0, 0.0, 0.7134843500090652 ], "mjcf": { "body": "bowl_2/" } }, "potato_1": { "pos": [ 0.679285, 0.114549, 0.029999985497000003 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "potato_1/" } }, "green_pepper_1": { "pos": [ 0.374426, 0.31155, 0.04499998549700002 ], "rot": [ 0.05895149362357569, 0.0, 0.0, 0.9982608483755884 ], "mjcf": { "body": "green_pepper_1/" } }, "cutting_board_4": { "pos": [ 0.4836618, 0.067639, 0.009999985496999986 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "cutting_board_4/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_1": { "mjcf": { "body": "potato_1/", "bodyName": "potato_1" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_1": { "mjcf": { "body": "green_pepper_1/", "bodyName": "green_pepper_1" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_4": { "mjcf": { "body": "cutting_board_4/", "bodyName": "cutting_board_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_2": { "pos": [ 0.5126425, 0.405926, 0.03999998549700001 ], "rot": [ 0.7134843500090652, 0.0, 0.0, -0.7006711655920641 ], "mjcf": { "body": "bowl_2/" } }, "potato_2": { "pos": [ 0.31682, 0.377016, 0.029999985497000003 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "potato_2/" } }, "green_pepper_4": { "pos": [ 0.626111, -0.143126, 0.04999998549700002 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "green_pepper_4/" } }, "cutting_board_4": { "pos": [ 0.5203015, 0.1156579, 0.009999985496999986 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "cutting_board_4/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_2": { "mjcf": { "body": "potato_2/", "bodyName": "potato_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_4": { "mjcf": { "body": "green_pepper_4/", "bodyName": "green_pepper_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_4": { "mjcf": { "body": "cutting_board_4/", "bodyName": "cutting_board_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_2": { "pos": [ 0.406321, 0.395486, 0.04499998549700002 ], "rot": [ 0.7006711655920641, 0.0, 0.0, 0.7134843500090652 ], "mjcf": { "body": "bowl_2/" } }, "potato_2": { "pos": [ 0.650928, -0.138138, 0.029999985497000003 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "potato_2/" } }, "green_pepper_4": { "pos": [ 0.638012, 0.15093776, 0.04999998549700002 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "green_pepper_4/" } }, "cutting_board_3": { "pos": [ 0.388649, 0.002471, 0.009999985496999986 ], "rot": [ 0.5492714035447255, 0.0, 0.0, 0.8356440182565823 ], "mjcf": { "body": "cutting_board_3/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_2": { "mjcf": { "body": "potato_2/", "bodyName": "potato_2" }, "pos_delta": [ [ -0.011573790881535822, 0.011573790881535822 ], [ -0.011573790881535822, 0.011573790881535822 ], [ 0.0, 0.0 ] ] }, "green_pepper_4": { "mjcf": { "body": "green_pepper_4/", "bodyName": "green_pepper_4" }, "pos_delta": [ [ -0.013523737530625163, 0.013523737530625163 ], [ -0.013523737530625163, 0.013523737530625163 ], [ 0.0, 0.0 ] ] }, "cutting_board_3": { "mjcf": { "body": "cutting_board_3/", "bodyName": "cutting_board_3" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_3": { "pos": [ 0.4336541, 0.059593, 0.03499998549700001 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "bowl_3/" } }, "potato_2": { "pos": [ 0.648584, 0.046085, 0.029999985497000003 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "potato_2/" } }, "green_pepper_0": { "pos": [ 0.357382, -0.436664, 0.03999998549700001 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "green_pepper_0/" } }, "cutting_board_4": { "pos": [ 0.5757286, -0.266185, 0.009999985496999986 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "cutting_board_4/" } } } }, "domain_randomization": { "objects": { "bowl_3": { "mjcf": { "body": "bowl_3/", "bodyName": "bowl_3" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_2": { "mjcf": { "body": "potato_2/", "bodyName": "potato_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_0": { "mjcf": { "body": "green_pepper_0/", "bodyName": "green_pepper_0" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_4": { "mjcf": { "body": "cutting_board_4/", "bodyName": "cutting_board_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_2": { "pos": [ 0.5527475, -0.356371, 0.054999985497000026 ], "rot": [ 0.7134843500090652, 0.0, 0.0, -0.7006711655920641 ], "mjcf": { "body": "bowl_2/" } }, "potato_4": { "pos": [ 0.638744, 0.136335, 0.027499985496999946 ], "rot": [ 0.9921569833145377, 0.0, 0.0, -0.12499808182606774 ], "mjcf": { "body": "potato_4/" } }, "green_pepper_4": { "pos": [ 0.327794, -0.434233, 0.04999998549700002 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "green_pepper_4/" } }, "cutting_board_3": { "pos": [ 0.4768884, -0.01396, 0.009999985496999986 ], "rot": [ 0.8356440182565823, 0.0, 0.0, -0.5492714035447255 ], "mjcf": { "body": "cutting_board_3/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_4": { "mjcf": { "body": "potato_4/", "bodyName": "potato_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_4": { "mjcf": { "body": "green_pepper_4/", "bodyName": "green_pepper_4" }, "pos_delta": [ [ -0.007394777617647704, 0.007394777617647704 ], [ -0.007394777617647704, 0.007394777617647704 ], [ 0.0, 0.0 ] ] }, "cutting_board_3": { "mjcf": { "body": "cutting_board_3/", "bodyName": "cutting_board_3" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_layout_3_rand_00000", "mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n ", "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": { "bowl_2": { "pos": [ 0.650621, -0.1900347, 0.05499999644300002 ], "rot": [ -0.5764633595172273, 0.0, 0.0, 0.8171229987793222 ], "mjcf": { "body": "bowl_2/" } }, "potato_3": { "pos": [ 0.712583, 0.130198, 0.03999999644300001 ], "rot": [ 0.83848082009173, 0.0, 0.0, -0.5449311097178245 ], "mjcf": { "body": "potato_3/" } }, "green_pepper_1": { "pos": [ 0.374339, -0.358185, 0.04499999644300001 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "green_pepper_1/" } }, "cutting_board_3": { "pos": [ 0.391896, -0.038399, 0.009999996442999981 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "cutting_board_3/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_3": { "mjcf": { "body": "potato_3/", "bodyName": "potato_3" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_1": { "mjcf": { "body": "green_pepper_1/", "bodyName": "green_pepper_1" }, "pos_delta": [ [ -0.024149565351300722, 0.024149565351300722 ], [ -0.024149565351300722, 0.024149565351300722 ], [ 0.0, 0.0 ] ] }, "cutting_board_3": { "mjcf": { "body": "cutting_board_3/", "bodyName": "cutting_board_3" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_layout_3_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 ", "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": { "bowl_2": { "pos": [ 0.4859952, 0.100967, 0.03999999644300001 ], "rot": [ -0.8171229987793222, 0.0, 0.0, -0.5764633595172273 ], "mjcf": { "body": "bowl_2/" } }, "potato_1": { "pos": [ 0.34956, -0.4006, 0.029999996443 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "potato_1/" } }, "green_pepper_1": { "pos": [ 0.692151, 0.151122, 0.04499999644300001 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "green_pepper_1/" } }, "cutting_board_4": { "pos": [ 0.585129, -0.1961058, 0.012499996442999983 ], "rot": [ -0.6991888089050913, 0.0, 0.0, 0.7149370668120933 ], "mjcf": { "body": "cutting_board_4/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_1": { "mjcf": { "body": "potato_1/", "bodyName": "potato_1" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_1": { "mjcf": { "body": "green_pepper_1/", "bodyName": "green_pepper_1" }, "pos_delta": [ [ -0.008245192651261312, 0.008245192651261312 ], [ -0.008245192651261312, 0.008245192651261312 ], [ 0.0, 0.0 ] ] }, "cutting_board_4": { "mjcf": { "body": "cutting_board_4/", "bodyName": "cutting_board_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_layout_3_rand_00002", "mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n ", "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": { "bowl_2": { "pos": [ 0.5502958, 0.367673, 0.04499999644300001 ], "rot": [ -0.5764633595172273, 0.0, 0.0, 0.8171229987793222 ], "mjcf": { "body": "bowl_2/" } }, "potato_1": { "pos": [ 0.320568, 0.39492, 0.029999996443 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "potato_1/" } }, "green_pepper_0": { "pos": [ 0.682979, -0.122004, 0.03999999644300001 ], "rot": [ 0.97124327083881, 0.0, 0.0, -0.23808928755895342 ], "mjcf": { "body": "green_pepper_0/" } }, "cutting_board_4": { "pos": [ 0.4559204, 0.0750172, 0.012499996442999983 ], "rot": [ 0.7149370668120933, 0.0, 0.0, 0.6991888089050913 ], "mjcf": { "body": "cutting_board_4/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_1": { "mjcf": { "body": "potato_1/", "bodyName": "potato_1" }, "pos_delta": [ [ -0.010463873650796334, 0.010463873650796334 ], [ -0.010463873650796334, 0.010463873650796334 ], [ 0.0, 0.0 ] ] }, "green_pepper_0": { "mjcf": { "body": "green_pepper_0/", "bodyName": "green_pepper_0" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_4": { "mjcf": { "body": "cutting_board_4/", "bodyName": "cutting_board_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_layout_3_rand_00003", "mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n ", "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": { "bowl_2": { "pos": [ 0.6350771, 0.2301515, 0.05499999644300002 ], "rot": [ -0.5764633595172273, 0.0, 0.0, 0.8171229987793222 ], "mjcf": { "body": "bowl_2/" } }, "potato_1": { "pos": [ 0.711269, -0.114502, 0.029999996443 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "potato_1/" } }, "green_pepper_4": { "pos": [ 0.374467, 0.393354, 0.04999999644300002 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "green_pepper_4/" } }, "cutting_board_3": { "pos": [ 0.388391, 0.0794434, 0.009999996442999981 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "cutting_board_3/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_1": { "mjcf": { "body": "potato_1/", "bodyName": "potato_1" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_4": { "mjcf": { "body": "green_pepper_4/", "bodyName": "green_pepper_4" }, "pos_delta": [ [ -0.02201079818678297, 0.02201079818678297 ], [ -0.02201079818678297, 0.02201079818678297 ], [ 0.0, 0.0 ] ] }, "cutting_board_3": { "mjcf": { "body": "cutting_board_3/", "bodyName": "cutting_board_3" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_layout_3_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 ", "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": { "bowl_2": { "pos": [ 0.5714646, 0.299646, 0.05499999644300002 ], "rot": [ -0.8171229987793222, 0.0, 0.0, -0.5764633595172273 ], "mjcf": { "body": "bowl_2/" } }, "potato_2": { "pos": [ 0.354878, 0.351383, 0.029999996443 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "potato_2/" } }, "green_pepper_1": { "pos": [ 0.718733, -0.126459, 0.04499999644300001 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "green_pepper_1/" } }, "cutting_board_4": { "pos": [ 0.5046215, -0.029179, 0.009999996442999981 ], "rot": [ -0.6991888089050913, 0.0, 0.0, 0.7149370668120933 ], "mjcf": { "body": "cutting_board_4/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_2": { "mjcf": { "body": "potato_2/", "bodyName": "potato_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_1": { "mjcf": { "body": "green_pepper_1/", "bodyName": "green_pepper_1" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_4": { "mjcf": { "body": "cutting_board_4/", "bodyName": "cutting_board_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_layout_3_rand_00005", "mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n ", "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": { "bowl_2": { "pos": [ 0.594387, -0.303418, 0.05499999644300002 ], "rot": [ -0.5764633595172273, 0.0, 0.0, 0.8171229987793222 ], "mjcf": { "body": "bowl_2/" } }, "potato_1": { "pos": [ 0.312966, -0.395918, 0.029999996443 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "potato_1/" } }, "green_pepper_1": { "pos": [ 0.662938, 0.054231, 0.034999996443 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "green_pepper_1/" } }, "cutting_board_4": { "pos": [ 0.368818, 0.020032, 0.009999996442999981 ], "rot": [ 0.7149370668120933, 0.0, 0.0, 0.6991888089050913 ], "mjcf": { "body": "cutting_board_4/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_1": { "mjcf": { "body": "potato_1/", "bodyName": "potato_1" }, "pos_delta": [ [ -0.023407754821946184, 0.023407754821946184 ], [ -0.023407754821946184, 0.023407754821946184 ], [ 0.0, 0.0 ] ] }, "green_pepper_1": { "mjcf": { "body": "green_pepper_1/", "bodyName": "green_pepper_1" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_4": { "mjcf": { "body": "cutting_board_4/", "bodyName": "cutting_board_4" }, "pos_delta": [ [ -0.016886376911017485, 0.016886376911017485 ], [ -0.016886376911017485, 0.016886376911017485 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_layout_3_rand_00006", "mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n ", "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": { "bowl_2": { "pos": [ 0.4109952, 0.081818, 0.03999999644300001 ], "rot": [ -0.8171229987793222, 0.0, 0.0, -0.5764633595172273 ], "mjcf": { "body": "bowl_2/" } }, "potato_3": { "pos": [ 0.681513, 0.079001, 0.03999999644300001 ], "rot": [ 0.5449311097178245, 0.0, 0.0, 0.83848082009173 ], "mjcf": { "body": "potato_3/" } }, "green_pepper_1": { "pos": [ 0.320737, -0.401202, 0.034999996443 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "green_pepper_1/" } }, "cutting_board_4": { "pos": [ 0.6017112, -0.28015, 0.009999996442999981 ], "rot": [ -0.6991888089050913, 0.0, 0.0, 0.7149370668120933 ], "mjcf": { "body": "cutting_board_4/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_3": { "mjcf": { "body": "potato_3/", "bodyName": "potato_3" }, "pos_delta": [ [ -0.022363246132015662, 0.022363246132015662 ], [ -0.022363246132015662, 0.022363246132015662 ], [ 0.0, 0.0 ] ] }, "green_pepper_1": { "mjcf": { "body": "green_pepper_1/", "bodyName": "green_pepper_1" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_4": { "mjcf": { "body": "cutting_board_4/", "bodyName": "cutting_board_4" }, "pos_delta": [ [ -0.02124898578265352, 0.02124898578265352 ], [ -0.02124898578265352, 0.02124898578265352 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_layout_3_rand_00007", "mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n ", "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": { "bowl_2": { "pos": [ 0.614677, -0.355758, 0.04499999644300001 ], "rot": [ -0.8171229987793222, 0.0, 0.0, -0.5764633595172273 ], "mjcf": { "body": "bowl_2/" } }, "potato_1": { "pos": [ 0.370291, -0.347639, 0.029999996443 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "potato_1/" } }, "green_pepper_1": { "pos": [ 0.717565, -0.0586959, 0.04499999644300001 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "green_pepper_1/" } }, "cutting_board_4": { "pos": [ 0.418304, 0.032676, 0.012499996442999983 ], "rot": [ -0.6991888089050913, 0.0, 0.0, 0.7149370668120933 ], "mjcf": { "body": "cutting_board_4/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ -0.015124770902349408, 0.015124770902349408 ], [ -0.015124770902349408, 0.015124770902349408 ], [ 0.0, 0.0 ] ] }, "potato_1": { "mjcf": { "body": "potato_1/", "bodyName": "potato_1" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_1": { "mjcf": { "body": "green_pepper_1/", "bodyName": "green_pepper_1" }, "pos_delta": [ [ -0.025121428004609286, 0.025121428004609286 ], [ -0.025121428004609286, 0.025121428004609286 ], [ 0.0, 0.0 ] ] }, "cutting_board_4": { "mjcf": { "body": "cutting_board_4/", "bodyName": "cutting_board_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_layout_3_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 ", "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": { "bowl_2": { "pos": [ 0.5732022, -0.319893, 0.03999999644300001 ], "rot": [ -0.8171229987793222, 0.0, 0.0, -0.5764633595172273 ], "mjcf": { "body": "bowl_2/" } }, "potato_2": { "pos": [ 0.336689, -0.407236, 0.029999996443 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "potato_2/" } }, "green_pepper_0": { "pos": [ 0.68086, 0.081632, 0.03999999644300001 ], "rot": [ 0.23808928755895342, 0.0, 0.0, 0.97124327083881 ], "mjcf": { "body": "green_pepper_0/" } }, "cutting_board_3": { "pos": [ 0.4222812, 0.01409, 0.009999996442999981 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "cutting_board_3/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ -0.015494941616630835, 0.015494941616630835 ], [ -0.015494941616630835, 0.015494941616630835 ], [ 0.0, 0.0 ] ] }, "potato_2": { "mjcf": { "body": "potato_2/", "bodyName": "potato_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_0": { "mjcf": { "body": "green_pepper_0/", "bodyName": "green_pepper_0" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_3": { "mjcf": { "body": "cutting_board_3/", "bodyName": "cutting_board_3" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_layout_3_rand_00009", "mjcf_xml": "\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n ", "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": { "bowl_2": { "pos": [ 0.4421001, -0.094917, 0.03999999644300001 ], "rot": [ -0.5764633595172273, 0.0, 0.0, 0.8171229987793222 ], "mjcf": { "body": "bowl_2/" } }, "potato_3": { "pos": [ 0.689475, -0.001872, 0.03999999644300001 ], "rot": [ 0.83848082009173, 0.0, 0.0, -0.5449311097178245 ], "mjcf": { "body": "potato_3/" } }, "green_pepper_4": { "pos": [ 0.323313, 0.424828, 0.04999999644300002 ], "rot": [ 0.7071067811865475, 0.0, 0.0, -0.7071067811865475 ], "mjcf": { "body": "green_pepper_4/" } }, "cutting_board_4": { "pos": [ 0.5846709, 0.279395, 0.012499996442999983 ], "rot": [ 0.7149370668120933, 0.0, 0.0, 0.6991888089050913 ], "mjcf": { "body": "cutting_board_4/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ -0.016892561552788947, 0.016892561552788947 ], [ -0.016892561552788947, 0.016892561552788947 ], [ 0.0, 0.0 ] ] }, "potato_3": { "mjcf": { "body": "potato_3/", "bodyName": "potato_3" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_4": { "mjcf": { "body": "green_pepper_4/", "bodyName": "green_pepper_4" }, "pos_delta": [ [ -0.020241285900348037, 0.020241285900348037 ], [ -0.020241285900348037, 0.020241285900348037 ], [ 0.0, 0.0 ] ] }, "cutting_board_4": { "mjcf": { "body": "cutting_board_4/", "bodyName": "cutting_board_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_2": { "pos": [ 0.3889831, 0.089881, 0.045000002004999984 ], "rot": [ -0.6060391460947181, 0.0, 0.0, 0.79543482033463 ], "mjcf": { "body": "bowl_2/" } }, "potato_2": { "pos": [ 0.260562, -0.249522, 0.030000002005000026 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "potato_2/" } }, "green_pepper_1": { "pos": [ 0.521781, 0.082365, 0.045000002004999984 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "green_pepper_1/" } }, "cutting_board_4": { "pos": [ 0.4194609, -0.1537077, 0.010000002005000008 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "cutting_board_4/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_2": { "mjcf": { "body": "potato_2/", "bodyName": "potato_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_1": { "mjcf": { "body": "green_pepper_1/", "bodyName": "green_pepper_1" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_4": { "mjcf": { "body": "cutting_board_4/", "bodyName": "cutting_board_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_2": { "pos": [ 0.4970718, -0.235073, 0.045000002004999984 ], "rot": [ -0.6060391460947181, 0.0, 0.0, 0.79543482033463 ], "mjcf": { "body": "bowl_2/" } }, "potato_4": { "pos": [ 0.53781, 0.118793, 0.027500002005000024 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "potato_4/" } }, "green_pepper_0": { "pos": [ 0.298031, -0.269963, 0.04000000200499998 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "green_pepper_0/" } }, "cutting_board_4": { "pos": [ 0.3649274, 0.024166, 0.010000002005000008 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "cutting_board_4/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_4": { "mjcf": { "body": "potato_4/", "bodyName": "potato_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_0": { "mjcf": { "body": "green_pepper_0/", "bodyName": "green_pepper_0" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_4": { "mjcf": { "body": "cutting_board_4/", "bodyName": "cutting_board_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_2": { "pos": [ 0.438925, 0.238836, 0.045000002004999984 ], "rot": [ -0.6060391460947181, 0.0, 0.0, 0.79543482033463 ], "mjcf": { "body": "bowl_2/" } }, "potato_1": { "pos": [ 0.25502, 0.268568, 0.030000002005000026 ], "rot": [ 0.33184384908710735, 0.0, 0.0, 0.9433343308833052 ], "mjcf": { "body": "potato_1/" } }, "green_pepper_1": { "pos": [ 0.541663, -0.13359, 0.045000002004999984 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "green_pepper_1/" } }, "cutting_board_4": { "pos": [ 0.3838279, -0.0028999, 0.01250000200500001 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "cutting_board_4/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_1": { "mjcf": { "body": "potato_1/", "bodyName": "potato_1" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_1": { "mjcf": { "body": "green_pepper_1/", "bodyName": "green_pepper_1" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_4": { "mjcf": { "body": "cutting_board_4/", "bodyName": "cutting_board_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_3": { "pos": [ 0.4701, -0.1268575, 0.03500000200500003 ], "rot": [ 6.12323e-17, 0.0, 0.0, -1.0 ], "mjcf": { "body": "bowl_3/" } }, "potato_3": { "pos": [ 0.318, 0.0076425, 0.04000000200499998 ], "rot": [ 6.12323e-17, 0.0, 0.0, -1.0 ], "mjcf": { "body": "potato_3/" } }, "green_pepper_0": { "pos": [ 0.6527, -0.1645575, 0.04000000200499998 ], "rot": [ 6.12323e-17, 0.0, 0.0, -1.0 ], "mjcf": { "body": "green_pepper_0/" } }, "cutting_board_4": { "pos": [ 0.6123, 0.0631425, 0.010000002005000008 ], "rot": [ 6.12323e-17, 0.0, 0.0, -1.0 ], "mjcf": { "body": "cutting_board_4/" } } } }, "domain_randomization": { "objects": { "bowl_3": { "mjcf": { "body": "bowl_3/", "bodyName": "bowl_3" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_3": { "mjcf": { "body": "potato_3/", "bodyName": "potato_3" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_0": { "mjcf": { "body": "green_pepper_0/", "bodyName": "green_pepper_0" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_4": { "mjcf": { "body": "cutting_board_4/", "bodyName": "cutting_board_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_2": { "pos": [ 0.39756173, -0.235509, 0.04000000200499998 ], "rot": [ -0.6060391460947181, 0.0, 0.0, 0.79543482033463 ], "mjcf": { "body": "bowl_2/" } }, "potato_2": { "pos": [ 0.531908, -0.261848, 0.030000002005000026 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "potato_2/" } }, "green_pepper_1": { "pos": [ 0.261726, 0.129211, 0.03500000200500003 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "green_pepper_1/" } }, "cutting_board_4": { "pos": [ 0.4363796, 0.0109364, 0.010000002005000008 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "cutting_board_4/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_2": { "mjcf": { "body": "potato_2/", "bodyName": "potato_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_1": { "mjcf": { "body": "green_pepper_1/", "bodyName": "green_pepper_1" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_4": { "mjcf": { "body": "cutting_board_4/", "bodyName": "cutting_board_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_2": { "pos": [ 0.3110988, 0.160689, 0.045000002004999984 ], "rot": [ -0.6060391460947181, 0.0, 0.0, 0.79543482033463 ], "mjcf": { "body": "bowl_2/" } }, "potato_1": { "pos": [ 0.4589585, 0.186136, 0.030000002005000026 ], "rot": [ 0.33184384908710735, 0.0, 0.0, 0.9433343308833052 ], "mjcf": { "body": "potato_1/" } }, "green_pepper_4": { "pos": [ 0.545289, 0.211255, 0.05000000200499999 ], "rot": [ 0.7786010833869158, 0.0, 0.0, 0.6275192052429321 ], "mjcf": { "body": "green_pepper_4/" } }, "cutting_board_4": { "pos": [ 0.448341, -0.0974377, 0.010000002005000008 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "cutting_board_4/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_1": { "mjcf": { "body": "potato_1/", "bodyName": "potato_1" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_4": { "mjcf": { "body": "green_pepper_4/", "bodyName": "green_pepper_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_4": { "mjcf": { "body": "cutting_board_4/", "bodyName": "cutting_board_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_2": { "pos": [ 0.612205, 0.0425431, 0.045000002004999984 ], "rot": [ 0.9909917453186655, 0.0, 0.0, -0.1339229655819548 ], "mjcf": { "body": "bowl_2/" } }, "potato_2": { "pos": [ 0.582765, -0.1920315, 0.030000002005000026 ], "rot": [ 6.12323e-17, 0.0, 0.0, -1.0 ], "mjcf": { "body": "potato_2/" } }, "green_pepper_0": { "pos": [ 0.263341, 0.0715195, 0.04000000200499998 ], "rot": [ 6.12323e-17, 0.0, 0.0, -1.0 ], "mjcf": { "body": "green_pepper_0/" } }, "cutting_board_4": { "pos": [ 0.3600814, -0.1174709, 0.010000002005000008 ], "rot": [ 6.12323e-17, 0.0, 0.0, -1.0 ], "mjcf": { "body": "cutting_board_4/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_2": { "mjcf": { "body": "potato_2/", "bodyName": "potato_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_0": { "mjcf": { "body": "green_pepper_0/", "bodyName": "green_pepper_0" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_4": { "mjcf": { "body": "cutting_board_4/", "bodyName": "cutting_board_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_2": { "pos": [ 0.4701, -0.0763, 0.05500000200499999 ], "rot": [ 0.9909917453186655, 0.0, 0.0, -0.1339229655819548 ], "mjcf": { "body": "bowl_2/" } }, "potato_1": { "pos": [ 0.318, 0.0582, 0.030000002005000026 ], "rot": [ 0.4323890663090999, 0.0, 0.0, -0.9016871382782083 ], "mjcf": { "body": "potato_1/" } }, "green_pepper_0": { "pos": [ 0.6527, -0.114, 0.04000000200499998 ], "rot": [ 6.12323e-17, 0.0, 0.0, -1.0 ], "mjcf": { "body": "green_pepper_0/" } }, "cutting_board_3": { "pos": [ 0.6123, 0.1137, 0.010000002005000008 ], "rot": [ 0.0656871177123307, 0.0, 0.0, -0.9978402690644663 ], "mjcf": { "body": "cutting_board_3/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_1": { "mjcf": { "body": "potato_1/", "bodyName": "potato_1" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_0": { "mjcf": { "body": "green_pepper_0/", "bodyName": "green_pepper_0" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_3": { "mjcf": { "body": "cutting_board_3/", "bodyName": "cutting_board_3" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_2": { "pos": [ 0.3121969, -0.223969, 0.04000000200499998 ], "rot": [ -0.6060391460947181, 0.0, 0.0, 0.79543482033463 ], "mjcf": { "body": "bowl_2/" } }, "potato_2": { "pos": [ 0.550653, 0.093187, 0.030000002005000026 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "potato_2/" } }, "green_pepper_0": { "pos": [ 0.4952566, -0.245053, 0.04000000200499998 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "green_pepper_0/" } }, "cutting_board_4": { "pos": [ 0.40075262, 0.0198185, 0.01250000200500001 ], "rot": [ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 ], "mjcf": { "body": "cutting_board_4/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_2": { "mjcf": { "body": "potato_2/", "bodyName": "potato_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_0": { "mjcf": { "body": "green_pepper_0/", "bodyName": "green_pepper_0" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_4": { "mjcf": { "body": "cutting_board_4/", "bodyName": "cutting_board_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } }, { "name": "task_88200031_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 ", "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": { "bowl_2": { "pos": [ 0.312867, -0.144909, 0.045000002004999984 ], "rot": [ 0.9909917453186655, 0.0, 0.0, -0.1339229655819548 ], "mjcf": { "body": "bowl_2/" } }, "potato_1": { "pos": [ 0.5177717, 0.0913645, 0.030000002005000026 ], "rot": [ 0.4323890663090999, 0.0, 0.0, -0.9016871382782083 ], "mjcf": { "body": "potato_1/" } }, "green_pepper_4": { "pos": [ 0.690487, 0.0730905, 0.05000000200499999 ], "rot": [ -0.10683102054902754, 0.0, 0.0, -0.9942771912542565 ], "mjcf": { "body": "green_pepper_4/" } }, "cutting_board_3": { "pos": [ 0.5534088, -0.10946, 0.007500002005000006 ], "rot": [ 0.0656871177123307, 0.0, 0.0, -0.9978402690644663 ], "mjcf": { "body": "cutting_board_3/" } } } }, "domain_randomization": { "objects": { "bowl_2": { "mjcf": { "body": "bowl_2/", "bodyName": "bowl_2" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "potato_1": { "mjcf": { "body": "potato_1/", "bodyName": "potato_1" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "green_pepper_4": { "mjcf": { "body": "green_pepper_4/", "bodyName": "green_pepper_4" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] }, "cutting_board_3": { "mjcf": { "body": "cutting_board_3/", "bodyName": "cutting_board_3" }, "pos_delta": [ [ 0.0, 0.0 ], [ 0.0, 0.0 ], [ 0.0, 0.0 ] ] } } } } ], "domain_randomization": null, "updated_at": "2026-07-09T09:40:46.269928+00:00" }