{
  "seed": 21,
  "initial": {
    "red": {
      "pose": [
        -0.16533003747463226,
        -0.02575008198618889,
        0.7636744976043701,
        0.981200635433197,
        -1.8629350506671472e-06,
        -6.672161816823063e-06,
        0.19299070537090302
      ],
      "config": {
        "center": [
          0,
          0,
          0
        ],
        "extents": [
          0.023674044839930887,
          0.023674044839930887,
          0.023674044839930887
        ],
        "scale": [
          0.023674044839930887,
          0.023674044839930887,
          0.023674044839930887
        ],
        "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": [
        -0.3148782253265381,
        0.029095876961946487,
        0.7636745572090149,
        0.9383864998817444,
        -1.8564983292890247e-06,
        -5.88620787311811e-06,
        0.3455875515937805
      ],
      "config": {
        "center": [
          0,
          0,
          0
        ],
        "extents": [
          0.023674044839930887,
          0.023674044839930887,
          0.023674044839930887
        ],
        "scale": [
          0.023674044839930887,
          0.023674044839930887,
          0.023674044839930887
        ],
        "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": [
        0.1653294861316681,
        -0.02574942260980606,
        0.763674795627594,
        0.9812011122703552,
        -1.228094788530143e-05,
        -2.0780371414730325e-06,
        -0.19298839569091797
      ],
      "config": {
        "center": [
          0,
          0,
          0
        ],
        "extents": [
          0.023674044839930887,
          0.023674044839930887,
          0.023674044839930887
        ],
        "scale": [
          0.023674044839930887,
          0.023674044839930887,
          0.023674044839930887
        ],
        "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": [
        0.31487783789634705,
        0.029096638783812523,
        0.7636748552322388,
        0.938387393951416,
        -1.2431106370058842e-05,
        -2.994916030729655e-06,
        -0.34558549523353577
      ],
      "config": {
        "center": [
          0,
          0,
          0
        ],
        "extents": [
          0.023674044839930887,
          0.023674044839930887,
          0.023674044839930887
        ],
        "scale": [
          0.023674044839930887,
          0.023674044839930887,
          0.023674044839930887
        ],
        "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": "9a34df3f1cfd7b86a7864b2acbc327744870dd2bad81038c911d6c03ee26e720",
    "sort/right": "ee8da895403bee3dd914b5d791098c75e49c59296e581d66d8e67b4b5b3d532b"
  }
}