{
  "seed": 5,
  "initial": {
    "red": {
      "pose": [
        -0.16322961449623108,
        0.01907522603869438,
        0.7568771839141846,
        0.9596748948097229,
        4.310092549530964e-08,
        2.0583087234626873e-07,
        0.28111258149147034
      ],
      "config": {
        "center": [
          0,
          0,
          0
        ],
        "extents": [
          0.016877212286612518,
          0.016877212286612518,
          0.016877212286612518
        ],
        "scale": [
          0.016877212286612518,
          0.016877212286612518,
          0.016877212286612518
        ],
        "target_pose": [
          [
            [
              1,
              0,
              0,
              0
            ],
            [
              0,
              1,
              0,
              0
            ],
            [
              0,
              0,
              1,
              1
            ],
            [
              0,
              0,
              0,
              1
            ]
          ]
        ],
        "contact_points_pose": [
          [
            [
              0,
              0,
              1,
              0
            ],
            [
              1,
              0,
              0,
              0
            ],
            [
              0,
              1,
              0,
              0.0
            ],
            [
              0,
              0,
              0,
              1
            ]
          ],
          [
            [
              1,
              0,
              0,
              0
            ],
            [
              0,
              0,
              -1,
              0
            ],
            [
              0,
              1,
              0,
              0.0
            ],
            [
              0,
              0,
              0,
              1
            ]
          ],
          [
            [
              -1,
              0,
              0,
              0
            ],
            [
              0,
              0,
              1,
              0
            ],
            [
              0,
              1,
              0,
              0.0
            ],
            [
              0,
              0,
              0,
              1
            ]
          ],
          [
            [
              0,
              0,
              -1,
              0
            ],
            [
              -1,
              0,
              0,
              0
            ],
            [
              0,
              1,
              0,
              0.0
            ],
            [
              0,
              0,
              0,
              1
            ]
          ]
        ],
        "transform_matrix": [
          [
            1.0,
            0.0,
            0.0,
            0.0
          ],
          [
            0.0,
            1.0,
            0.0,
            0.0
          ],
          [
            0.0,
            0.0,
            1.0,
            0.0
          ],
          [
            0.0,
            0.0,
            0.0,
            1.0
          ]
        ],
        "functional_matrix": [
          [
            [
              1.0,
              0.0,
              0.0,
              0.0
            ],
            [
              0.0,
              -1.0,
              0,
              0.0
            ],
            [
              0.0,
              0,
              -1.0,
              -1
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          [
            [
              1.0,
              0.0,
              0.0,
              0.0
            ],
            [
              0.0,
              -1.0,
              0,
              0.0
            ],
            [
              0.0,
              0,
              -1.0,
              1
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ]
        ],
        "contact_points_description": [],
        "contact_points_group": [
          [
            0,
            1,
            2,
            3
          ],
          [
            4,
            5,
            6,
            7
          ]
        ],
        "contact_points_mask": [
          true,
          true
        ],
        "target_point_description": [
          "The center point on the bottom of the box."
        ]
      }
    },
    "yellow": {
      "pose": [
        -0.31323933601379395,
        -0.02733520418405533,
        0.7568771243095398,
        0.9856802225112915,
        -3.280705982433574e-07,
        -2.174727598003301e-07,
        -0.1686253398656845
      ],
      "config": {
        "center": [
          0,
          0,
          0
        ],
        "extents": [
          0.016877212286612518,
          0.016877212286612518,
          0.016877212286612518
        ],
        "scale": [
          0.016877212286612518,
          0.016877212286612518,
          0.016877212286612518
        ],
        "target_pose": [
          [
            [
              1,
              0,
              0,
              0
            ],
            [
              0,
              1,
              0,
              0
            ],
            [
              0,
              0,
              1,
              1
            ],
            [
              0,
              0,
              0,
              1
            ]
          ]
        ],
        "contact_points_pose": [
          [
            [
              0,
              0,
              1,
              0
            ],
            [
              1,
              0,
              0,
              0
            ],
            [
              0,
              1,
              0,
              0.0
            ],
            [
              0,
              0,
              0,
              1
            ]
          ],
          [
            [
              1,
              0,
              0,
              0
            ],
            [
              0,
              0,
              -1,
              0
            ],
            [
              0,
              1,
              0,
              0.0
            ],
            [
              0,
              0,
              0,
              1
            ]
          ],
          [
            [
              -1,
              0,
              0,
              0
            ],
            [
              0,
              0,
              1,
              0
            ],
            [
              0,
              1,
              0,
              0.0
            ],
            [
              0,
              0,
              0,
              1
            ]
          ],
          [
            [
              0,
              0,
              -1,
              0
            ],
            [
              -1,
              0,
              0,
              0
            ],
            [
              0,
              1,
              0,
              0.0
            ],
            [
              0,
              0,
              0,
              1
            ]
          ]
        ],
        "transform_matrix": [
          [
            1.0,
            0.0,
            0.0,
            0.0
          ],
          [
            0.0,
            1.0,
            0.0,
            0.0
          ],
          [
            0.0,
            0.0,
            1.0,
            0.0
          ],
          [
            0.0,
            0.0,
            0.0,
            1.0
          ]
        ],
        "functional_matrix": [
          [
            [
              1.0,
              0.0,
              0.0,
              0.0
            ],
            [
              0.0,
              -1.0,
              0,
              0.0
            ],
            [
              0.0,
              0,
              -1.0,
              -1
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          [
            [
              1.0,
              0.0,
              0.0,
              0.0
            ],
            [
              0.0,
              -1.0,
              0,
              0.0
            ],
            [
              0.0,
              0,
              -1.0,
              1
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ]
        ],
        "contact_points_description": [],
        "contact_points_group": [
          [
            0,
            1,
            2,
            3
          ],
          [
            4,
            5,
            6,
            7
          ]
        ],
        "contact_points_mask": [
          true,
          true
        ],
        "target_point_description": [
          "The center point on the bottom of the box."
        ]
      }
    },
    "blue": {
      "pose": [
        0.16322968900203705,
        0.019075267016887665,
        0.7568772435188293,
        0.9596749544143677,
        -6.246097541406925e-07,
        8.409805332121323e-07,
        -0.2811121344566345
      ],
      "config": {
        "center": [
          0,
          0,
          0
        ],
        "extents": [
          0.016877212286612518,
          0.016877212286612518,
          0.016877212286612518
        ],
        "scale": [
          0.016877212286612518,
          0.016877212286612518,
          0.016877212286612518
        ],
        "target_pose": [
          [
            [
              1,
              0,
              0,
              0
            ],
            [
              0,
              1,
              0,
              0
            ],
            [
              0,
              0,
              1,
              1
            ],
            [
              0,
              0,
              0,
              1
            ]
          ]
        ],
        "contact_points_pose": [
          [
            [
              0,
              0,
              1,
              0
            ],
            [
              1,
              0,
              0,
              0
            ],
            [
              0,
              1,
              0,
              0.0
            ],
            [
              0,
              0,
              0,
              1
            ]
          ],
          [
            [
              1,
              0,
              0,
              0
            ],
            [
              0,
              0,
              -1,
              0
            ],
            [
              0,
              1,
              0,
              0.0
            ],
            [
              0,
              0,
              0,
              1
            ]
          ],
          [
            [
              -1,
              0,
              0,
              0
            ],
            [
              0,
              0,
              1,
              0
            ],
            [
              0,
              1,
              0,
              0.0
            ],
            [
              0,
              0,
              0,
              1
            ]
          ],
          [
            [
              0,
              0,
              -1,
              0
            ],
            [
              -1,
              0,
              0,
              0
            ],
            [
              0,
              1,
              0,
              0.0
            ],
            [
              0,
              0,
              0,
              1
            ]
          ]
        ],
        "transform_matrix": [
          [
            1.0,
            0.0,
            0.0,
            0.0
          ],
          [
            0.0,
            1.0,
            0.0,
            0.0
          ],
          [
            0.0,
            0.0,
            1.0,
            0.0
          ],
          [
            0.0,
            0.0,
            0.0,
            1.0
          ]
        ],
        "functional_matrix": [
          [
            [
              1.0,
              0.0,
              0.0,
              0.0
            ],
            [
              0.0,
              -1.0,
              0,
              0.0
            ],
            [
              0.0,
              0,
              -1.0,
              -1
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          [
            [
              1.0,
              0.0,
              0.0,
              0.0
            ],
            [
              0.0,
              -1.0,
              0,
              0.0
            ],
            [
              0.0,
              0,
              -1.0,
              1
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ]
        ],
        "contact_points_description": [],
        "contact_points_group": [
          [
            0,
            1,
            2,
            3
          ],
          [
            4,
            5,
            6,
            7
          ]
        ],
        "contact_points_mask": [
          true,
          true
        ],
        "target_point_description": [
          "The center point on the bottom of the box."
        ]
      }
    },
    "green": {
      "pose": [
        0.3132392466068268,
        -0.027335163205862045,
        0.7568772435188293,
        0.9856802821159363,
        -1.1053474509026273e-06,
        1.2231714663357707e-07,
        0.16862551867961884
      ],
      "config": {
        "center": [
          0,
          0,
          0
        ],
        "extents": [
          0.016877212286612518,
          0.016877212286612518,
          0.016877212286612518
        ],
        "scale": [
          0.016877212286612518,
          0.016877212286612518,
          0.016877212286612518
        ],
        "target_pose": [
          [
            [
              1,
              0,
              0,
              0
            ],
            [
              0,
              1,
              0,
              0
            ],
            [
              0,
              0,
              1,
              1
            ],
            [
              0,
              0,
              0,
              1
            ]
          ]
        ],
        "contact_points_pose": [
          [
            [
              0,
              0,
              1,
              0
            ],
            [
              1,
              0,
              0,
              0
            ],
            [
              0,
              1,
              0,
              0.0
            ],
            [
              0,
              0,
              0,
              1
            ]
          ],
          [
            [
              1,
              0,
              0,
              0
            ],
            [
              0,
              0,
              -1,
              0
            ],
            [
              0,
              1,
              0,
              0.0
            ],
            [
              0,
              0,
              0,
              1
            ]
          ],
          [
            [
              -1,
              0,
              0,
              0
            ],
            [
              0,
              0,
              1,
              0
            ],
            [
              0,
              1,
              0,
              0.0
            ],
            [
              0,
              0,
              0,
              1
            ]
          ],
          [
            [
              0,
              0,
              -1,
              0
            ],
            [
              -1,
              0,
              0,
              0
            ],
            [
              0,
              1,
              0,
              0.0
            ],
            [
              0,
              0,
              0,
              1
            ]
          ]
        ],
        "transform_matrix": [
          [
            1.0,
            0.0,
            0.0,
            0.0
          ],
          [
            0.0,
            1.0,
            0.0,
            0.0
          ],
          [
            0.0,
            0.0,
            1.0,
            0.0
          ],
          [
            0.0,
            0.0,
            0.0,
            1.0
          ]
        ],
        "functional_matrix": [
          [
            [
              1.0,
              0.0,
              0.0,
              0.0
            ],
            [
              0.0,
              -1.0,
              0,
              0.0
            ],
            [
              0.0,
              0,
              -1.0,
              -1
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          [
            [
              1.0,
              0.0,
              0.0,
              0.0
            ],
            [
              0.0,
              -1.0,
              0,
              0.0
            ],
            [
              0.0,
              0,
              -1.0,
              1
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ]
        ],
        "contact_points_description": [],
        "contact_points_group": [
          [
            0,
            1,
            2,
            3
          ],
          [
            4,
            5,
            6,
            7
          ]
        ],
        "contact_points_mask": [
          true,
          true
        ],
        "target_point_description": [
          "The center point on the bottom of the box."
        ]
      }
    },
    "robot_qpos": [
      0.0,
      0.0,
      -9.633261372242325e-17,
      -9.633261372242325e-17,
      1.0562962993437147e-13,
      1.0562962993437147e-13,
      -3.016615224282759e-08,
      -3.258066882949606e-08,
      -3.2333404842432856e-09,
      -3.23495652487793e-09,
      5.267530808490758e-18,
      5.267530808490758e-18,
      1.3821598255984342e-17,
      1.3821598255984342e-17,
      -5.666987590302597e-07,
      -5.65274206110189e-07,
      -4.906024386741592e-08,
      -4.9084423636713836e-08,
      -4.835828804061748e-06,
      -4.838918357563671e-06,
      -8.459834134555422e-06,
      -8.459778655378614e-06,
      7.701128623693876e-08,
      7.693390813301448e-08,
      -1.6475175002028664e-08,
      -1.6467639696315928e-08,
      4.63164752773082e-07,
      4.6469963876916154e-07,
      3.108373114457663e-09,
      3.108284518660298e-09,
      -8.158995683515968e-07,
      -8.163781899384048e-07,
      1.5176220002910412e-10,
      1.5164668132339187e-10,
      0.044236842542886734,
      0.044238295406103134,
      0.04423683509230614,
      0.044238295406103134,
      0.0,
      0.0,
      -9.633261372242325e-17,
      -9.633261372242325e-17,
      1.0562962993437147e-13,
      1.0562962993437147e-13,
      -3.016615224282759e-08,
      -3.258066882949606e-08,
      -3.2333404842432856e-09,
      -3.23495652487793e-09,
      5.267530808490758e-18,
      5.267530808490758e-18,
      1.3821598255984342e-17,
      1.3821598255984342e-17,
      -5.666987590302597e-07,
      -5.65274206110189e-07,
      -4.906024386741592e-08,
      -4.9084423636713836e-08,
      -4.835828804061748e-06,
      -4.838918357563671e-06,
      -8.459834134555422e-06,
      -8.459778655378614e-06,
      7.701128623693876e-08,
      7.693390813301448e-08,
      -1.6475175002028664e-08,
      -1.6467639696315928e-08,
      4.63164752773082e-07,
      4.6469963876916154e-07,
      3.108373114457663e-09,
      3.108284518660298e-09,
      -8.158995683515968e-07,
      -8.163781899384048e-07,
      1.5176220002910412e-10,
      1.5164668132339187e-10,
      0.044236842542886734,
      0.044238295406103134,
      0.04423683509230614,
      0.044238295406103134
    ]
  },
  "hashes": {
    "sort/left": "da140f62af1525b00dc0cca63ce90fc5ea449c6ea5339ac7db86834716a2e887",
    "sort/right": "fc08cd654c6ce3232910419ccf222833a9f1d1f73bbd5cb0ea7968c8dee85872"
  }
}