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Inconsistent initialization of object positions #324

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mtcrawshaw opened this issue Feb 23, 2021 · 2 comments · Fixed by #328
Closed

Inconsistent initialization of object positions #324

mtcrawshaw opened this issue Feb 23, 2021 · 2 comments · Fixed by #328
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@avnishn

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@mtcrawshaw
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6 of the v1 environments (names listed in the output below) seem to have an issue where the initial object positions (elements 3 through 9 (exclusive) of the observation) for the very first episode of an environment instantiation is different than the initial object positions for the remaining episodes. I wrote a minimum working example and included it and the output below. This may seem like an insignificant problem, and it doesn't really matter in a lot of cases because the importance of the first episode is dwarfed as training gets longer and longer. However, it is crucial in some cases. In my training code, I included an option that creates a new environment instance at the beginning of each episode. This allows for training on MT50 with a much smaller memory requirement, since we only need to store one environment instance at a time instead of 50, so that I can train MT50 on my laptop. But in this case, every episode is the very first episode of an environment instantiation, so the goals will only ever be set to the initial (erroneous) value. I'm not sure how to fix this myself because I assume this has something to do with the way the Mujoco model is set up, but I haven't dug into that part of metaworld very much. Any help with this would be appreciated. Thanks!

import numpy as np
import random
import metaworld


EPISODE_LEN = 200
NUM_EPISODES = 10


def get_obj_pos(obs):
    return list(obs[3:9])


# Create benchmark.
benchmark = metaworld.MT50()
env_dict = benchmark.train_classes
tasks = benchmark.train_tasks
initial_obj_poses = {name: [] for name in env_dict.keys()}

# Execute rollout for each environment in benchmark.
for env_name, env_cls in env_dict.items():

    # Create environment and set task.
    env = env_cls()
    env_tasks = [t for t in tasks if t.env_name == env_name]
    env.set_task(random.choice(env_tasks))

    # Step through environment for a fixed number of episodes.
    for episode in range(NUM_EPISODES):
        
        # Reset environment and extract initial object position.
        obs = env.reset()
        initial_obj_pos = get_obj_pos(obs)
        initial_obj_poses[env_name].append(initial_obj_pos)

        # Environment steps.
        for step in range(EPISODE_LEN):
            a = env.action_space.sample()
            obs, reward, done, info = env.step(a)

# Display initial object positions and find environments with non-unique positions.
violating_envs = []
for env_name, task_initial_pos in initial_obj_poses.items():
    print("%s:\n[" % env_name)
    for obj_pos in task_initial_pos:
        print("    %s" % str(obj_pos))
    print("]\n")
    if len(np.unique(np.array(task_initial_pos), axis=0)) > 1:
        violating_envs.append(env_name)

# Print violating environments.
print("Violating environments: %s" % violating_envs)

and the resulting output:

reach-v1:
[
    [-0.004600083397474947, 0.6172984579395253, 0.019999999552965164, 0.0, 0.0, 0.0]
    [-0.004600083397474947, 0.6172984579395253, 0.019999999552965164, 0.0, 0.0, 0.0]
    [-0.004600083397474947, 0.6172984579395253, 0.019999999552965164, 0.0, 0.0, 0.0]
    [-0.004600083397474947, 0.6172984579395253, 0.019999999552965164, 0.0, 0.0, 0.0]
    [-0.004600083397474947, 0.6172984579395253, 0.019999999552965164, 0.0, 0.0, 0.0]
    [-0.004600083397474947, 0.6172984579395253, 0.019999999552965164, 0.0, 0.0, 0.0]
    [-0.004600083397474947, 0.6172984579395253, 0.019999999552965164, 0.0, 0.0, 0.0]
    [-0.004600083397474947, 0.6172984579395253, 0.019999999552965164, 0.0, 0.0, 0.0]
    [-0.004600083397474947, 0.6172984579395253, 0.019999999552965164, 0.0, 0.0, 0.0]
    [-0.004600083397474947, 0.6172984579395253, 0.019999999552965164, 0.0, 0.0, 0.0]
]

push-v1:
[
    [-0.019615959846785866, 0.6530406765371983, 0.01492813342356843, 0.0, 0.0, 0.0]
    [-0.019615959846785866, 0.6530406765371983, 0.01492813342356843, 0.0, 0.0, 0.0]
    [-0.019615959846785866, 0.6530406765371983, 0.01492813342356843, 0.0, 0.0, 0.0]
    [-0.019615959846785866, 0.6530406765371983, 0.01492813342356843, 0.0, 0.0, 0.0]
    [-0.019615959846785866, 0.6530406765371983, 0.01492813342356843, 0.0, 0.0, 0.0]
    [-0.019615959846785866, 0.6530406765371983, 0.01492813342356843, 0.0, 0.0, 0.0]
    [-0.019615959846785866, 0.6530406765371983, 0.01492813342356843, 0.0, 0.0, 0.0]
    [-0.019615959846785866, 0.6530406765371983, 0.01492813342356843, 0.0, 0.0, 0.0]
    [-0.019615959846785866, 0.6530406765371983, 0.01492813342356843, 0.0, 0.0, 0.0]
    [-0.019615959846785866, 0.6530406765371983, 0.01492813342356843, 0.0, 0.0, 0.0]
]

pick-place-v1:
[
    [0.07725853094593721, 0.6178520331478156, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.07725853094593721, 0.6178520331478156, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.07725853094593721, 0.6178520331478156, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.07725853094593721, 0.6178520331478156, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.07725853094593721, 0.6178520331478156, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.07725853094593721, 0.6178520331478156, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.07725853094593721, 0.6178520331478156, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.07725853094593721, 0.6178520331478156, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.07725853094593721, 0.6178520331478156, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.07725853094593721, 0.6178520331478156, 0.019999999552965164, 0.0, 0.0, 0.0]
]

door-open-v1:
[
    [0.10259075847482559, 0.7284772154435558, 0.1500000014901161, 0.0, 0.0, 0.0]
    [0.10259075847482559, 0.7284772154435558, 0.1500000014901161, 0.0, 0.0, 0.0]
    [0.10259075847482559, 0.7284772154435558, 0.1500000014901161, 0.0, 0.0, 0.0]
    [0.10259075847482559, 0.7284772154435558, 0.1500000014901161, 0.0, 0.0, 0.0]
    [0.10259075847482559, 0.7284772154435558, 0.1500000014901161, 0.0, 0.0, 0.0]
    [0.10259075847482559, 0.7284772154435558, 0.1500000014901161, 0.0, 0.0, 0.0]
    [0.10259075847482559, 0.7284772154435558, 0.1500000014901161, 0.0, 0.0, 0.0]
    [0.10259075847482559, 0.7284772154435558, 0.1500000014901161, 0.0, 0.0, 0.0]
    [0.10259075847482559, 0.7284772154435558, 0.1500000014901161, 0.0, 0.0, 0.0]
    [0.10259075847482559, 0.7284772154435558, 0.1500000014901161, 0.0, 0.0, 0.0]
]

drawer-open-v1:
[
    [0.0, 0.7, 0.09, 0.0, 0.0, 0.0]
    [-0.0814041856766753, 0.6999999761581421, 0.08999999910593033, 0.0, 0.0, 0.0]
    [-0.0814041856766753, 0.6999999761581421, 0.08999999910593033, 0.0, 0.0, 0.0]
    [-0.0814041856766753, 0.6999999761581421, 0.08999999910593033, 0.0, 0.0, 0.0]
    [-0.0814041856766753, 0.6999999761581421, 0.08999999910593033, 0.0, 0.0, 0.0]
    [-0.0814041856766753, 0.6999999761581421, 0.08999999910593033, 0.0, 0.0, 0.0]
    [-0.0814041856766753, 0.6999999761581421, 0.08999999910593033, 0.0, 0.0, 0.0]
    [-0.0814041856766753, 0.6999999761581421, 0.08999999910593033, 0.0, 0.0, 0.0]
    [-0.0814041856766753, 0.6999999761581421, 0.08999999910593033, 0.0, 0.0, 0.0]
    [-0.0814041856766753, 0.6999999761581421, 0.08999999910593033, 0.0, 0.0, 0.0]
]

drawer-close-v1:
[
    [-0.040584499469580454, 0.4999999761581421, 0.08999999910593033, 0.0, 0.0, 0.0]
    [-0.040584499469580454, 0.4999999761581421, 0.08999999910593033, 0.0, 0.0, 0.0]
    [-0.040584499469580454, 0.4999999761581421, 0.08999999910593033, 0.0, 0.0, 0.0]
    [-0.040584499469580454, 0.4999999761581421, 0.08999999910593033, 0.0, 0.0, 0.0]
    [-0.040584499469580454, 0.4999999761581421, 0.08999999910593033, 0.0, 0.0, 0.0]
    [-0.040584499469580454, 0.4999999761581421, 0.08999999910593033, 0.0, 0.0, 0.0]
    [-0.040584499469580454, 0.4999999761581421, 0.08999999910593033, 0.0, 0.0, 0.0]
    [-0.040584499469580454, 0.4999999761581421, 0.08999999910593033, 0.0, 0.0, 0.0]
    [-0.040584499469580454, 0.4999999761581421, 0.08999999910593033, 0.0, 0.0, 0.0]
    [-0.040584499469580454, 0.4999999761581421, 0.08999999910593033, 0.0, 0.0, 0.0]
]

button-press-topdown-v1:
[
    [-0.04101750925939625, 0.9609940655925657, 0.13000000074505808, 0.0, 0.0, 0.0]
    [-0.04101750925939625, 0.9609940655925657, 0.13000000074505808, 0.0, 0.0, 0.0]
    [-0.04101750925939625, 0.9609940655925657, 0.13000000074505808, 0.0, 0.0, 0.0]
    [-0.04101750925939625, 0.9609940655925657, 0.13000000074505808, 0.0, 0.0, 0.0]
    [-0.04101750925939625, 0.9609940655925657, 0.13000000074505808, 0.0, 0.0, 0.0]
    [-0.04101750925939625, 0.9609940655925657, 0.13000000074505808, 0.0, 0.0, 0.0]
    [-0.04101750925939625, 0.9609940655925657, 0.13000000074505808, 0.0, 0.0, 0.0]
    [-0.04101750925939625, 0.9609940655925657, 0.13000000074505808, 0.0, 0.0, 0.0]
    [-0.04101750925939625, 0.9609940655925657, 0.13000000074505808, 0.0, 0.0, 0.0]
    [-0.04101750925939625, 0.9609940655925657, 0.13000000074505808, 0.0, 0.0, 0.0]
]

peg-insert-side-v1:
[
    [-0.012543178164351354, 0.5226231771002887, 0.02, 0.0, 0.0, 0.0]
    [-0.012543178164351354, 0.5226231771002887, 0.02, 0.0, 0.0, 0.0]
    [-0.012543178164351354, 0.5226231771002887, 0.02, 0.0, 0.0, 0.0]
    [-0.012543178164351354, 0.5226231771002887, 0.02, 0.0, 0.0, 0.0]
    [-0.012543178164351354, 0.5226231771002887, 0.02, 0.0, 0.0, 0.0]
    [-0.012543178164351354, 0.5226231771002887, 0.02, 0.0, 0.0, 0.0]
    [-0.012543178164351354, 0.5226231771002887, 0.02, 0.0, 0.0, 0.0]
    [-0.012543178164351354, 0.5226231771002887, 0.02, 0.0, 0.0, 0.0]
    [-0.012543178164351354, 0.5226231771002887, 0.02, 0.0, 0.0, 0.0]
    [-0.012543178164351354, 0.5226231771002887, 0.02, 0.0, 0.0, 0.0]
]

window-open-v1:
[
    [-0.11999999999994927, 0.73, 0.15, 0.0, 0.0, 0.0]
    [0.028549839984878412, 0.7865109226044283, 0.1599999964237213, 0.0, 0.0, 0.0]
    [0.028549839984878412, 0.7865109226044283, 0.1599999964237213, 0.0, 0.0, 0.0]
    [0.028549839984878412, 0.7865109226044283, 0.1599999964237213, 0.0, 0.0, 0.0]
    [0.028549839984878412, 0.7865109226044283, 0.1599999964237213, 0.0, 0.0, 0.0]
    [0.028549839984878412, 0.7865109226044283, 0.1599999964237213, 0.0, 0.0, 0.0]
    [0.028549839984878412, 0.7865109226044283, 0.1599999964237213, 0.0, 0.0, 0.0]
    [0.028549839984878412, 0.7865109226044283, 0.1599999964237213, 0.0, 0.0, 0.0]
    [0.028549839984878412, 0.7865109226044283, 0.1599999964237213, 0.0, 0.0, 0.0]
    [0.028549839984878412, 0.7865109226044283, 0.1599999964237213, 0.0, 0.0, 0.0]
]

window-close-v1:
[
    [-0.07999999999994926, 0.73, 0.15, 0.0, 0.0, 0.0]
    [0.020000000000004764, 0.7687147571205869, 0.15000000596046448, 0.0, 0.0, 0.0]
    [0.020000000000004764, 0.7687147571205869, 0.15000000596046448, 0.0, 0.0, 0.0]
    [0.020000000000004764, 0.7687147571205869, 0.15000000596046448, 0.0, 0.0, 0.0]
    [0.020000000000004764, 0.7687147571205869, 0.15000000596046448, 0.0, 0.0, 0.0]
    [0.020000000000004764, 0.7687147571205869, 0.15000000596046448, 0.0, 0.0, 0.0]
    [0.020000000000004764, 0.7687147571205869, 0.15000000596046448, 0.0, 0.0, 0.0]
    [0.020000000000004764, 0.7687147571205869, 0.15000000596046448, 0.0, 0.0, 0.0]
    [0.020000000000004764, 0.7687147571205869, 0.15000000596046448, 0.0, 0.0, 0.0]
    [0.020000000000004764, 0.7687147571205869, 0.15000000596046448, 0.0, 0.0, 0.0]
]

door-close-v1:
[
    [-0.28911286414931897, 0.6869504269420194, 0.15000000149011614, 0.0, 0.0, 0.0]
    [-0.28911286414931897, 0.6869504269420194, 0.15000000149011614, 0.0, 0.0, 0.0]
    [-0.28911286414931897, 0.6869504269420194, 0.15000000149011614, 0.0, 0.0, 0.0]
    [-0.28911286414931897, 0.6869504269420194, 0.15000000149011614, 0.0, 0.0, 0.0]
    [-0.28911286414931897, 0.6869504269420194, 0.15000000149011614, 0.0, 0.0, 0.0]
    [-0.28911286414931897, 0.6869504269420194, 0.15000000149011614, 0.0, 0.0, 0.0]
    [-0.28911286414931897, 0.6869504269420194, 0.15000000149011614, 0.0, 0.0, 0.0]
    [-0.28911286414931897, 0.6869504269420194, 0.15000000149011614, 0.0, 0.0, 0.0]
    [-0.28911286414931897, 0.6869504269420194, 0.15000000149011614, 0.0, 0.0, 0.0]
    [-0.28911286414931897, 0.6869504269420194, 0.15000000149011614, 0.0, 0.0, 0.0]
]

reach-wall-v1:
[
    [-0.023716460505854166, 0.6226625196257857, 0.014999999664723873, 0.0, 0.0, 0.0]
    [-0.023716460505854166, 0.6226625196257857, 0.014999999664723873, 0.0, 0.0, 0.0]
    [-0.023716460505854166, 0.6226625196257857, 0.014999999664723873, 0.0, 0.0, 0.0]
    [-0.023716460505854166, 0.6226625196257857, 0.014999999664723873, 0.0, 0.0, 0.0]
    [-0.023716460505854166, 0.6226625196257857, 0.014999999664723873, 0.0, 0.0, 0.0]
    [-0.023716460505854166, 0.6226625196257857, 0.014999999664723873, 0.0, 0.0, 0.0]
    [-0.023716460505854166, 0.6226625196257857, 0.014999999664723873, 0.0, 0.0, 0.0]
    [-0.023716460505854166, 0.6226625196257857, 0.014999999664723873, 0.0, 0.0, 0.0]
    [-0.023716460505854166, 0.6226625196257857, 0.014999999664723873, 0.0, 0.0, 0.0]
    [-0.023716460505854166, 0.6226625196257857, 0.014999999664723873, 0.0, 0.0, 0.0]
]

pick-place-wall-v1:
[
    [0.014492214052695282, 0.6324851200441965, 0.014999999664723873, 0.0, 0.0, 0.0]
    [0.014492214052695282, 0.6324851200441965, 0.014999999664723873, 0.0, 0.0, 0.0]
    [0.014492214052695282, 0.6324851200441965, 0.014999999664723873, 0.0, 0.0, 0.0]
    [0.014492214052695282, 0.6324851200441965, 0.014999999664723873, 0.0, 0.0, 0.0]
    [0.014492214052695282, 0.6324851200441965, 0.014999999664723873, 0.0, 0.0, 0.0]
    [0.014492214052695282, 0.6324851200441965, 0.014999999664723873, 0.0, 0.0, 0.0]
    [0.014492214052695282, 0.6324851200441965, 0.014999999664723873, 0.0, 0.0, 0.0]
    [0.014492214052695282, 0.6324851200441965, 0.014999999664723873, 0.0, 0.0, 0.0]
    [0.014492214052695282, 0.6324851200441965, 0.014999999664723873, 0.0, 0.0, 0.0]
    [0.014492214052695282, 0.6324851200441965, 0.014999999664723873, 0.0, 0.0, 0.0]
]

push-wall-v1:
[
    [-0.03821031896378793, 0.6457115029913475, 0.014994962405214632, 0.0, 0.0, 0.0]
    [-0.03821031896378793, 0.6457115029913475, 0.014994962405214632, 0.0, 0.0, 0.0]
    [-0.03821031896378793, 0.6457115029913475, 0.014994962405214632, 0.0, 0.0, 0.0]
    [-0.03821031896378793, 0.6457115029913475, 0.014994962405214632, 0.0, 0.0, 0.0]
    [-0.03821031896378793, 0.6457115029913475, 0.014994962405214632, 0.0, 0.0, 0.0]
    [-0.03821031896378793, 0.6457115029913475, 0.014994962405214632, 0.0, 0.0, 0.0]
    [-0.03821031896378793, 0.6457115029913475, 0.014994962405214632, 0.0, 0.0, 0.0]
    [-0.03821031896378793, 0.6457115029913475, 0.014994962405214632, 0.0, 0.0, 0.0]
    [-0.03821031896378793, 0.6457115029913475, 0.014994962405214632, 0.0, 0.0, 0.0]
    [-0.03821031896378793, 0.6457115029913475, 0.014994962405214632, 0.0, 0.0, 0.0]
]

button-press-v1:
[
    [0.014933221891141282, 0.6571203300138262, 0.12000000074505807, 0.0, 0.0, 0.0]
    [0.014933221891141282, 0.6571203300138262, 0.12000000074505807, 0.0, 0.0, 0.0]
    [0.014933221891141282, 0.6571203300138262, 0.12000000074505807, 0.0, 0.0, 0.0]
    [0.014933221891141282, 0.6571203300138262, 0.12000000074505807, 0.0, 0.0, 0.0]
    [0.014933221891141282, 0.6571203300138262, 0.12000000074505807, 0.0, 0.0, 0.0]
    [0.014933221891141282, 0.6571203300138262, 0.12000000074505807, 0.0, 0.0, 0.0]
    [0.014933221891141282, 0.6571203300138262, 0.12000000074505807, 0.0, 0.0, 0.0]
    [0.014933221891141282, 0.6571203300138262, 0.12000000074505807, 0.0, 0.0, 0.0]
    [0.014933221891141282, 0.6571203300138262, 0.12000000074505807, 0.0, 0.0, 0.0]
    [0.014933221891141282, 0.6571203300138262, 0.12000000074505807, 0.0, 0.0, 0.0]
]

button-press-topdown-wall-v1:
[
    [0.02522913095515668, 0.9444005697816584, 0.15000000074505807, 0.0, 0.0, 0.0]
    [0.02522913095515668, 0.9444005697816584, 0.15000000074505807, 0.0, 0.0, 0.0]
    [0.02522913095515668, 0.9444005697816584, 0.15000000074505807, 0.0, 0.0, 0.0]
    [0.02522913095515668, 0.9444005697816584, 0.15000000074505807, 0.0, 0.0, 0.0]
    [0.02522913095515668, 0.9444005697816584, 0.15000000074505807, 0.0, 0.0, 0.0]
    [0.02522913095515668, 0.9444005697816584, 0.15000000074505807, 0.0, 0.0, 0.0]
    [0.02522913095515668, 0.9444005697816584, 0.15000000074505807, 0.0, 0.0, 0.0]
    [0.02522913095515668, 0.9444005697816584, 0.15000000074505807, 0.0, 0.0, 0.0]
    [0.02522913095515668, 0.9444005697816584, 0.15000000074505807, 0.0, 0.0, 0.0]
    [0.02522913095515668, 0.9444005697816584, 0.15000000074505807, 0.0, 0.0, 0.0]
]

button-press-wall-v1:
[
    [-0.03649189191001068, 0.7608091649880069, 0.12000000074505807, 0.0, 0.0, 0.0]
    [-0.03649189191001068, 0.7608091649880069, 0.12000000074505807, 0.0, 0.0, 0.0]
    [-0.03649189191001068, 0.7608091649880069, 0.12000000074505807, 0.0, 0.0, 0.0]
    [-0.03649189191001068, 0.7608091649880069, 0.12000000074505807, 0.0, 0.0, 0.0]
    [-0.03649189191001068, 0.7608091649880069, 0.12000000074505807, 0.0, 0.0, 0.0]
    [-0.03649189191001068, 0.7608091649880069, 0.12000000074505807, 0.0, 0.0, 0.0]
    [-0.03649189191001068, 0.7608091649880069, 0.12000000074505807, 0.0, 0.0, 0.0]
    [-0.03649189191001068, 0.7608091649880069, 0.12000000074505807, 0.0, 0.0, 0.0]
    [-0.03649189191001068, 0.7608091649880069, 0.12000000074505807, 0.0, 0.0, 0.0]
    [-0.03649189191001068, 0.7608091649880069, 0.12000000074505807, 0.0, 0.0, 0.0]
]

peg-unplug-side-v1:
[
    [-0.13716112551067813, 0.6164259141990813, 0.02000000074505806, 0.0, 0.0, 0.0]
    [-0.13716112551067813, 0.6164259141990813, 0.02000000074505806, 0.0, 0.0, 0.0]
    [-0.13716112551067813, 0.6164259141990813, 0.02000000074505806, 0.0, 0.0, 0.0]
    [-0.13716112551067813, 0.6164259141990813, 0.02000000074505806, 0.0, 0.0, 0.0]
    [-0.13716112551067813, 0.6164259141990813, 0.02000000074505806, 0.0, 0.0, 0.0]
    [-0.13716112551067813, 0.6164259141990813, 0.02000000074505806, 0.0, 0.0, 0.0]
    [-0.13716112551067813, 0.6164259141990813, 0.02000000074505806, 0.0, 0.0, 0.0]
    [-0.13716112551067813, 0.6164259141990813, 0.02000000074505806, 0.0, 0.0, 0.0]
    [-0.13716112551067813, 0.6164259141990813, 0.02000000074505806, 0.0, 0.0, 0.0]
    [-0.13716112551067813, 0.6164259141990813, 0.02000000074505806, 0.0, 0.0, 0.0]
]

disassemble-v1:
[
    [0.14199010035824688, 0.8231351650252784, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.14199010035824688, 0.8231351650252784, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.14199010035824688, 0.8231351650252784, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.14199010035824688, 0.8231351650252784, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.14199010035824688, 0.8231351650252784, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.14199010035824688, 0.8231351650252784, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.14199010035824688, 0.8231351650252784, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.14199010035824688, 0.8231351650252784, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.14199010035824688, 0.8231351650252784, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.14199010035824688, 0.8231351650252784, 0.019999999552965164, 0.0, 0.0, 0.0]
]

hammer-v1:
[
    [-0.09568245837986833, 0.5658383780797431, 0.019999999552965164, 0.0, 0.0, 0.0]
    [-0.09568245837986833, 0.5658383780797431, 0.019999999552965164, 0.0, 0.0, 0.0]
    [-0.09568245837986833, 0.5658383780797431, 0.019999999552965164, 0.0, 0.0, 0.0]
    [-0.09568245837986833, 0.5658383780797431, 0.019999999552965164, 0.0, 0.0, 0.0]
    [-0.09568245837986833, 0.5658383780797431, 0.019999999552965164, 0.0, 0.0, 0.0]
    [-0.09568245837986833, 0.5658383780797431, 0.019999999552965164, 0.0, 0.0, 0.0]
    [-0.09568245837986833, 0.5658383780797431, 0.019999999552965164, 0.0, 0.0, 0.0]
    [-0.09568245837986833, 0.5658383780797431, 0.019999999552965164, 0.0, 0.0, 0.0]
    [-0.09568245837986833, 0.5658383780797431, 0.019999999552965164, 0.0, 0.0, 0.0]
    [-0.09568245837986833, 0.5658383780797431, 0.019999999552965164, 0.0, 0.0, 0.0]
]

plate-slide-v1:
[
    [0.0, 0.6, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.6, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.6, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.6, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.6, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.6, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.6, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.6, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.6, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.6, 0.015, 0.0, 0.0, 0.0]
]

plate-slide-side-v1:
[
    [0.0, 0.6, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.6, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.6, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.6, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.6, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.6, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.6, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.6, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.6, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.6, 0.015, 0.0, 0.0, 0.0]
]

plate-slide-back-v1:
[
    [0.0, 0.8, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.8, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.8, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.8, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.8, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.8, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.8, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.8, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.8, 0.015, 0.0, 0.0, 0.0]
    [0.0, 0.8, 0.015, 0.0, 0.0, 0.0]
]

plate-slide-back-side-v1:
[
    [-0.2, 0.6, 0.015, 0.0, 0.0, 0.0]
    [-0.2, 0.6, 0.015, 0.0, 0.0, 0.0]
    [-0.2, 0.6, 0.015, 0.0, 0.0, 0.0]
    [-0.2, 0.6, 0.015, 0.0, 0.0, 0.0]
    [-0.2, 0.6, 0.015, 0.0, 0.0, 0.0]
    [-0.2, 0.6, 0.015, 0.0, 0.0, 0.0]
    [-0.2, 0.6, 0.015, 0.0, 0.0, 0.0]
    [-0.2, 0.6, 0.015, 0.0, 0.0, 0.0]
    [-0.2, 0.6, 0.015, 0.0, 0.0, 0.0]
    [-0.2, 0.6, 0.015, 0.0, 0.0, 0.0]
]

handle-press-v1:
[
    [0.04546752151719008, 0.6611160267020103, 0.16000000074505805, 0.0, 0.0, 0.0]
    [0.04546752151719008, 0.6611160267020103, 0.16000000074505805, 0.0, 0.0, 0.0]
    [0.04546752151719008, 0.6611160267020103, 0.16000000074505805, 0.0, 0.0, 0.0]
    [0.04546752151719008, 0.6611160267020103, 0.16000000074505805, 0.0, 0.0, 0.0]
    [0.04546752151719008, 0.6611160267020103, 0.16000000074505805, 0.0, 0.0, 0.0]
    [0.04546752151719008, 0.6611160267020103, 0.16000000074505805, 0.0, 0.0, 0.0]
    [0.04546752151719008, 0.6611160267020103, 0.16000000074505805, 0.0, 0.0, 0.0]
    [0.04546752151719008, 0.6611160267020103, 0.16000000074505805, 0.0, 0.0, 0.0]
    [0.04546752151719008, 0.6611160267020103, 0.16000000074505805, 0.0, 0.0, 0.0]
    [0.04546752151719008, 0.6611160267020103, 0.16000000074505805, 0.0, 0.0, 0.0]
]

handle-pull-v1:
[
    [-0.09297920796453113, 0.6646553922364683, 0.040000000745058065, 0.0, 0.0, 0.0]
    [-0.09297920796453113, 0.6646553922364683, 0.040000000745058065, 0.0, 0.0, 0.0]
    [-0.09297920796453113, 0.6646553922364683, 0.040000000745058065, 0.0, 0.0, 0.0]
    [-0.09297920796453113, 0.6646553922364683, 0.040000000745058065, 0.0, 0.0, 0.0]
    [-0.09297920796453113, 0.6646553922364683, 0.040000000745058065, 0.0, 0.0, 0.0]
    [-0.09297920796453113, 0.6646553922364683, 0.040000000745058065, 0.0, 0.0, 0.0]
    [-0.09297920796453113, 0.6646553922364683, 0.040000000745058065, 0.0, 0.0, 0.0]
    [-0.09297920796453113, 0.6646553922364683, 0.040000000745058065, 0.0, 0.0, 0.0]
    [-0.09297920796453113, 0.6646553922364683, 0.040000000745058065, 0.0, 0.0, 0.0]
    [-0.09297920796453113, 0.6646553922364683, 0.040000000745058065, 0.0, 0.0, 0.0]
]

handle-press-side-v1:
[
    [-0.10178837749659948, 0.7396314133612436, 0.16000000074505805, 0.0, 0.0, 0.0]
    [-0.10178837749659948, 0.7396314133612436, 0.16000000074505805, 0.0, 0.0, 0.0]
    [-0.10178837749659948, 0.7396314133612436, 0.16000000074505805, 0.0, 0.0, 0.0]
    [-0.10178837749659948, 0.7396314133612436, 0.16000000074505805, 0.0, 0.0, 0.0]
    [-0.10178837749659948, 0.7396314133612436, 0.16000000074505805, 0.0, 0.0, 0.0]
    [-0.10178837749659948, 0.7396314133612436, 0.16000000074505805, 0.0, 0.0, 0.0]
    [-0.10178837749659948, 0.7396314133612436, 0.16000000074505805, 0.0, 0.0, 0.0]
    [-0.10178837749659948, 0.7396314133612436, 0.16000000074505805, 0.0, 0.0, 0.0]
    [-0.10178837749659948, 0.7396314133612436, 0.16000000074505805, 0.0, 0.0, 0.0]
    [-0.10178837749659948, 0.7396314133612436, 0.16000000074505805, 0.0, 0.0, 0.0]
]

handle-pull-side-v1:
[
    [-0.1523801290128476, 0.7414380665104454, 0.040000000745058065, 0.0, 0.0, 0.0]
    [-0.1523801290128476, 0.7414380665104454, 0.040000000745058065, 0.0, 0.0, 0.0]
    [-0.1523801290128476, 0.7414380665104454, 0.040000000745058065, 0.0, 0.0, 0.0]
    [-0.1523801290128476, 0.7414380665104454, 0.040000000745058065, 0.0, 0.0, 0.0]
    [-0.1523801290128476, 0.7414380665104454, 0.040000000745058065, 0.0, 0.0, 0.0]
    [-0.1523801290128476, 0.7414380665104454, 0.040000000745058065, 0.0, 0.0, 0.0]
    [-0.1523801290128476, 0.7414380665104454, 0.040000000745058065, 0.0, 0.0, 0.0]
    [-0.1523801290128476, 0.7414380665104454, 0.040000000745058065, 0.0, 0.0, 0.0]
    [-0.1523801290128476, 0.7414380665104454, 0.040000000745058065, 0.0, 0.0, 0.0]
    [-0.1523801290128476, 0.7414380665104454, 0.040000000745058065, 0.0, 0.0, 0.0]
]

stick-push-v1:
[
    [-0.070642589036926, 0.5909866798777718, 0.02, 0.2, 0.6, 0.08]
    [-0.070642589036926, 0.5909866798777718, 0.02, 0.2, 0.6, 0.08]
    [-0.070642589036926, 0.5909866798777718, 0.02, 0.2, 0.6, 0.08]
    [-0.070642589036926, 0.5909866798777718, 0.02, 0.2, 0.6, 0.08]
    [-0.070642589036926, 0.5909866798777718, 0.02, 0.2, 0.6, 0.08]
    [-0.070642589036926, 0.5909866798777718, 0.02, 0.2, 0.6, 0.08]
    [-0.070642589036926, 0.5909866798777718, 0.02, 0.2, 0.6, 0.08]
    [-0.070642589036926, 0.5909866798777718, 0.02, 0.2, 0.6, 0.08]
    [-0.070642589036926, 0.5909866798777718, 0.02, 0.2, 0.6, 0.08]
    [-0.070642589036926, 0.5909866798777718, 0.02, 0.2, 0.6, 0.08]
]

stick-pull-v1:
[
    [-0.06678097575795697, 0.5680856346977005, 0.02, 0.2, 0.6, 0.08]
    [-0.06678097575795697, 0.5680856346977005, 0.02, 0.2, 0.6, 0.08]
    [-0.06678097575795697, 0.5680856346977005, 0.02, 0.2, 0.6, 0.08]
    [-0.06678097575795697, 0.5680856346977005, 0.02, 0.2, 0.6, 0.08]
    [-0.06678097575795697, 0.5680856346977005, 0.02, 0.2, 0.6, 0.08]
    [-0.06678097575795697, 0.5680856346977005, 0.02, 0.2, 0.6, 0.08]
    [-0.06678097575795697, 0.5680856346977005, 0.02, 0.2, 0.6, 0.08]
    [-0.06678097575795697, 0.5680856346977005, 0.02, 0.2, 0.6, 0.08]
    [-0.06678097575795697, 0.5680856346977005, 0.02, 0.2, 0.6, 0.08]
    [-0.06678097575795697, 0.5680856346977005, 0.02, 0.2, 0.6, 0.08]
]

basketball-v1:
[
    [-0.008621271532262317, 0.617867056057677, 0.029999999329447746, 0.0, 0.0, 0.0]
    [-0.008621271532262317, 0.617867056057677, 0.029999999329447746, 0.0, 0.0, 0.0]
    [-0.008621271532262317, 0.617867056057677, 0.029999999329447746, 0.0, 0.0, 0.0]
    [-0.008621271532262317, 0.617867056057677, 0.029999999329447746, 0.0, 0.0, 0.0]
    [-0.008621271532262317, 0.617867056057677, 0.029999999329447746, 0.0, 0.0, 0.0]
    [-0.008621271532262317, 0.617867056057677, 0.029999999329447746, 0.0, 0.0, 0.0]
    [-0.008621271532262317, 0.617867056057677, 0.029999999329447746, 0.0, 0.0, 0.0]
    [-0.008621271532262317, 0.617867056057677, 0.029999999329447746, 0.0, 0.0, 0.0]
    [-0.008621271532262317, 0.617867056057677, 0.029999999329447746, 0.0, 0.0, 0.0]
    [-0.008621271532262317, 0.617867056057677, 0.029999999329447746, 0.0, 0.0, 0.0]
]

soccer-v1:
[
    [0.06779226066569166, 0.6999766289356759, 0.029987650633481033, 0.0, 0.0, 0.0]
    [0.06779226066569166, 0.6999766289356759, 0.029987650633481033, 0.0, 0.0, 0.0]
    [0.06779226066569166, 0.6999766289356759, 0.029987650633481033, 0.0, 0.0, 0.0]
    [0.06779226066569166, 0.6999766289356759, 0.029987650633481033, 0.0, 0.0, 0.0]
    [0.06779226066569166, 0.6999766289356759, 0.029987650633481033, 0.0, 0.0, 0.0]
    [0.06779226066569166, 0.6999766289356759, 0.029987650633481033, 0.0, 0.0, 0.0]
    [0.06779226066569166, 0.6999766289356759, 0.029987650633481033, 0.0, 0.0, 0.0]
    [0.06779226066569166, 0.6999766289356759, 0.029987650633481033, 0.0, 0.0, 0.0]
    [0.06779226066569166, 0.6999766289356759, 0.029987650633481033, 0.0, 0.0, 0.0]
    [0.06779226066569166, 0.6999766289356759, 0.029987650633481033, 0.0, 0.0, 0.0]
]

faucet-open-v1:
[
    [-0.015, 0.7000000000000001, 0.115, 0.0, 0.0, 0.0]
    [-0.034223470791406266, 0.7340930504154738, 0.11500000074505806, 0.0, 0.0, 0.0]
    [-0.034223470791406266, 0.7340930504154738, 0.11500000074505806, 0.0, 0.0, 0.0]
    [-0.034223470791406266, 0.7340930504154738, 0.11500000074505806, 0.0, 0.0, 0.0]
    [-0.034223470791406266, 0.7340930504154738, 0.11500000074505806, 0.0, 0.0, 0.0]
    [-0.034223470791406266, 0.7340930504154738, 0.11500000074505806, 0.0, 0.0, 0.0]
    [-0.034223470791406266, 0.7340930504154738, 0.11500000074505806, 0.0, 0.0, 0.0]
    [-0.034223470791406266, 0.7340930504154738, 0.11500000074505806, 0.0, 0.0, 0.0]
    [-0.034223470791406266, 0.7340930504154738, 0.11500000074505806, 0.0, 0.0, 0.0]
    [-0.034223470791406266, 0.7340930504154738, 0.11500000074505806, 0.0, 0.0, 0.0]
]

faucet-close-v1:
[
    [0.015, 0.7000000000000001, 0.115, 0.0, 0.0, 0.0]
    [-0.0804571919823591, 0.7335080010962564, 0.11500000074505806, 0.0, 0.0, 0.0]
    [-0.0804571919823591, 0.7335080010962564, 0.11500000074505806, 0.0, 0.0, 0.0]
    [-0.0804571919823591, 0.7335080010962564, 0.11500000074505806, 0.0, 0.0, 0.0]
    [-0.0804571919823591, 0.7335080010962564, 0.11500000074505806, 0.0, 0.0, 0.0]
    [-0.0804571919823591, 0.7335080010962564, 0.11500000074505806, 0.0, 0.0, 0.0]
    [-0.0804571919823591, 0.7335080010962564, 0.11500000074505806, 0.0, 0.0, 0.0]
    [-0.0804571919823591, 0.7335080010962564, 0.11500000074505806, 0.0, 0.0, 0.0]
    [-0.0804571919823591, 0.7335080010962564, 0.11500000074505806, 0.0, 0.0, 0.0]
    [-0.0804571919823591, 0.7335080010962564, 0.11500000074505806, 0.0, 0.0, 0.0]
]

coffee-push-v1:
[
    [0.018480939069567607, 0.6645612938844889, 0.027919974962488273, 0.0, 0.0, 0.0]
    [0.018480939069567607, 0.6645612938844889, 0.027919974962488273, 0.0, 0.0, 0.0]
    [0.018480939069567607, 0.6645612938844889, 0.027919974962488273, 0.0, 0.0, 0.0]
    [0.018480939069567607, 0.6645612938844889, 0.027919974962488273, 0.0, 0.0, 0.0]
    [0.018480939069567607, 0.6645612938844889, 0.027919974962488273, 0.0, 0.0, 0.0]
    [0.018480939069567607, 0.6645612938844889, 0.027919974962488273, 0.0, 0.0, 0.0]
    [0.018480939069567607, 0.6645612938844889, 0.027919974962488273, 0.0, 0.0, 0.0]
    [0.018480939069567607, 0.6645612938844889, 0.027919974962488273, 0.0, 0.0, 0.0]
    [0.018480939069567607, 0.6645612938844889, 0.027919974962488273, 0.0, 0.0, 0.0]
    [0.018480939069567607, 0.6645612938844889, 0.027919974962488273, 0.0, 0.0, 0.0]
]

coffee-pull-v1:
[
    [0.023851328851812393, 0.785714051780394, 0.027919974962488273, 0.0, 0.0, 0.0]
    [0.023851328851812393, 0.785714051780394, 0.027919974962488273, 0.0, 0.0, 0.0]
    [0.023851328851812393, 0.785714051780394, 0.027919974962488273, 0.0, 0.0, 0.0]
    [0.023851328851812393, 0.785714051780394, 0.027919974962488273, 0.0, 0.0, 0.0]
    [0.023851328851812393, 0.785714051780394, 0.027919974962488273, 0.0, 0.0, 0.0]
    [0.023851328851812393, 0.785714051780394, 0.027919974962488273, 0.0, 0.0, 0.0]
    [0.023851328851812393, 0.785714051780394, 0.027919974962488273, 0.0, 0.0, 0.0]
    [0.023851328851812393, 0.785714051780394, 0.027919974962488273, 0.0, 0.0, 0.0]
    [0.023851328851812393, 0.785714051780394, 0.027919974962488273, 0.0, 0.0, 0.0]
    [0.023851328851812393, 0.785714051780394, 0.027919974962488273, 0.0, 0.0, 0.0]
]

coffee-button-v1:
[
    [0.06573210238037622, 0.7299827740759104, 0.3300000011920929, 0.0, 0.0, 0.0]
    [0.06573210238037622, 0.7299827740759104, 0.3300000011920929, 0.0, 0.0, 0.0]
    [0.06573210238037622, 0.7299827740759104, 0.3300000011920929, 0.0, 0.0, 0.0]
    [0.06573210238037622, 0.7299827740759104, 0.3300000011920929, 0.0, 0.0, 0.0]
    [0.06573210238037622, 0.7299827740759104, 0.3300000011920929, 0.0, 0.0, 0.0]
    [0.06573210238037622, 0.7299827740759104, 0.3300000011920929, 0.0, 0.0, 0.0]
    [0.06573210238037622, 0.7299827740759104, 0.3300000011920929, 0.0, 0.0, 0.0]
    [0.06573210238037622, 0.7299827740759104, 0.3300000011920929, 0.0, 0.0, 0.0]
    [0.06573210238037622, 0.7299827740759104, 0.3300000011920929, 0.0, 0.0, 0.0]
    [0.06573210238037622, 0.7299827740759104, 0.3300000011920929, 0.0, 0.0, 0.0]
]

sweep-v1:
[
    [-0.07952161264433404, 0.6153543461842186, 0.02, 0.0, 0.0, 0.0]
    [-0.07952161264433404, 0.6153543461842186, 0.02, 0.0, 0.0, 0.0]
    [-0.07952161264433404, 0.6153543461842186, 0.02, 0.0, 0.0, 0.0]
    [-0.07952161264433404, 0.6153543461842186, 0.02, 0.0, 0.0, 0.0]
    [-0.07952161264433404, 0.6153543461842186, 0.02, 0.0, 0.0, 0.0]
    [-0.07952161264433404, 0.6153543461842186, 0.02, 0.0, 0.0, 0.0]
    [-0.07952161264433404, 0.6153543461842186, 0.02, 0.0, 0.0, 0.0]
    [-0.07952161264433404, 0.6153543461842186, 0.02, 0.0, 0.0, 0.0]
    [-0.07952161264433404, 0.6153543461842186, 0.02, 0.0, 0.0, 0.0]
    [-0.07952161264433404, 0.6153543461842186, 0.02, 0.0, 0.0, 0.0]
]

sweep-into-v1:
[
    [-0.007788277264627816, 0.6747535308319015, 0.019971442752634547, 0.0, 0.0, 0.0]
    [-0.007788277264627816, 0.6747535308319015, 0.019971442752634547, 0.0, 0.0, 0.0]
    [-0.007788277264627816, 0.6747535308319015, 0.019971442752634547, 0.0, 0.0, 0.0]
    [-0.007788277264627816, 0.6747535308319015, 0.019971442752634547, 0.0, 0.0, 0.0]
    [-0.007788277264627816, 0.6747535308319015, 0.019971442752634547, 0.0, 0.0, 0.0]
    [-0.007788277264627816, 0.6747535308319015, 0.019971442752634547, 0.0, 0.0, 0.0]
    [-0.007788277264627816, 0.6747535308319015, 0.019971442752634547, 0.0, 0.0, 0.0]
    [-0.007788277264627816, 0.6747535308319015, 0.019971442752634547, 0.0, 0.0, 0.0]
    [-0.007788277264627816, 0.6747535308319015, 0.019971442752634547, 0.0, 0.0, 0.0]
    [-0.007788277264627816, 0.6747535308319015, 0.019971442752634547, 0.0, 0.0, 0.0]
]

pick-out-of-hole-v1:
[
    [0.0, 0.8399999737739563, -0.03, 0.0, 0.0, 0.0]
    [0.0, 0.8399999737739563, -0.03, 0.0, 0.0, 0.0]
    [0.0, 0.8399999737739563, -0.03, 0.0, 0.0, 0.0]
    [0.0, 0.8399999737739563, -0.03, 0.0, 0.0, 0.0]
    [0.0, 0.8399999737739563, -0.03, 0.0, 0.0, 0.0]
    [0.0, 0.8399999737739563, -0.03, 0.0, 0.0, 0.0]
    [0.0, 0.8399999737739563, -0.03, 0.0, 0.0, 0.0]
    [0.0, 0.8399999737739563, -0.03, 0.0, 0.0, 0.0]
    [0.0, 0.8399999737739563, -0.03, 0.0, 0.0, 0.0]
    [0.0, 0.8399999737739563, -0.03, 0.0, 0.0, 0.0]
]

assembly-v1:
[
    [0.06, 0.6000000238418579, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.06, 0.6000000238418579, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.06, 0.6000000238418579, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.06, 0.6000000238418579, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.06, 0.6000000238418579, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.06, 0.6000000238418579, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.06, 0.6000000238418579, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.06, 0.6000000238418579, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.06, 0.6000000238418579, 0.019999999552965164, 0.0, 0.0, 0.0]
    [0.06, 0.6000000238418579, 0.019999999552965164, 0.0, 0.0, 0.0]
]

shelf-place-v1:
[
    [0.0342454906624044, 0.584877589716176, 0.0199958763285902, 0.0, 0.0, 0.0]
    [0.0342454906624044, 0.584877589716176, 0.0199958763285902, 0.0, 0.0, 0.0]
    [0.0342454906624044, 0.584877589716176, 0.0199958763285902, 0.0, 0.0, 0.0]
    [0.0342454906624044, 0.584877589716176, 0.0199958763285902, 0.0, 0.0, 0.0]
    [0.0342454906624044, 0.584877589716176, 0.0199958763285902, 0.0, 0.0, 0.0]
    [0.0342454906624044, 0.584877589716176, 0.0199958763285902, 0.0, 0.0, 0.0]
    [0.0342454906624044, 0.584877589716176, 0.0199958763285902, 0.0, 0.0, 0.0]
    [0.0342454906624044, 0.584877589716176, 0.0199958763285902, 0.0, 0.0, 0.0]
    [0.0342454906624044, 0.584877589716176, 0.0199958763285902, 0.0, 0.0, 0.0]
    [0.0342454906624044, 0.584877589716176, 0.0199958763285902, 0.0, 0.0, 0.0]
]

push-back-v1:
[
    [0.054469924373970885, 0.802170808652468, 0.0199958763285902, 0.0, 0.0, 0.0]
    [0.054469924373970885, 0.802170808652468, 0.0199958763285902, 0.0, 0.0, 0.0]
    [0.054469924373970885, 0.802170808652468, 0.0199958763285902, 0.0, 0.0, 0.0]
    [0.054469924373970885, 0.802170808652468, 0.0199958763285902, 0.0, 0.0, 0.0]
    [0.054469924373970885, 0.802170808652468, 0.0199958763285902, 0.0, 0.0, 0.0]
    [0.054469924373970885, 0.802170808652468, 0.0199958763285902, 0.0, 0.0, 0.0]
    [0.054469924373970885, 0.802170808652468, 0.0199958763285902, 0.0, 0.0, 0.0]
    [0.054469924373970885, 0.802170808652468, 0.0199958763285902, 0.0, 0.0, 0.0]
    [0.054469924373970885, 0.802170808652468, 0.0199958763285902, 0.0, 0.0, 0.0]
    [0.054469924373970885, 0.802170808652468, 0.0199958763285902, 0.0, 0.0, 0.0]
]

lever-pull-v1:
[
    [0.0, 0.5985568475984088, 0.07018032444250491, 0.0, 0.0, 0.0]
    [0.018930179426892943, 0.6854157459874085, 0.07018032518756297, 0.0, 0.0, 0.0]
    [0.018930179426892943, 0.6854157459874085, 0.07018032518756297, 0.0, 0.0, 0.0]
    [0.018930179426892943, 0.6854157459874085, 0.07018032518756297, 0.0, 0.0, 0.0]
    [0.018930179426892943, 0.6854157459874085, 0.07018032518756297, 0.0, 0.0, 0.0]
    [0.018930179426892943, 0.6854157459874085, 0.07018032518756297, 0.0, 0.0, 0.0]
    [0.018930179426892943, 0.6854157459874085, 0.07018032518756297, 0.0, 0.0, 0.0]
    [0.018930179426892943, 0.6854157459874085, 0.07018032518756297, 0.0, 0.0, 0.0]
    [0.018930179426892943, 0.6854157459874085, 0.07018032518756297, 0.0, 0.0, 0.0]
    [0.018930179426892943, 0.6854157459874085, 0.07018032518756297, 0.0, 0.0, 0.0]
]

dial-turn-v1:
[
    [0.0, 0.6699999999999999, 0.03, 0.0, 0.0, 0.0]
    [-0.018289340671599874, 0.6982096142001365, 0.08000000074505806, 0.0, 0.0, 0.0]
    [-0.018289340671599874, 0.6982096142001365, 0.08000000074505806, 0.0, 0.0, 0.0]
    [-0.018289340671599874, 0.6982096142001365, 0.08000000074505806, 0.0, 0.0, 0.0]
    [-0.018289340671599874, 0.6982096142001365, 0.08000000074505806, 0.0, 0.0, 0.0]
    [-0.018289340671599874, 0.6982096142001365, 0.08000000074505806, 0.0, 0.0, 0.0]
    [-0.018289340671599874, 0.6982096142001365, 0.08000000074505806, 0.0, 0.0, 0.0]
    [-0.018289340671599874, 0.6982096142001365, 0.08000000074505806, 0.0, 0.0, 0.0]
    [-0.018289340671599874, 0.6982096142001365, 0.08000000074505806, 0.0, 0.0, 0.0]
    [-0.018289340671599874, 0.6982096142001365, 0.08000000074505806, 0.0, 0.0, 0.0]
]

bin-picking-v1:
[
    [-0.17763721498557675, 0.12389412583233794, 0.04532741584275924, 0.0, 0.0, 0.0]
    [-0.17763721498557675, 0.12389412583233794, 0.04532741584275924, 0.0, 0.0, 0.0]
    [-0.17763721498557675, 0.12389412583233794, 0.04532741584275924, 0.0, 0.0, 0.0]
    [-0.17763721498557675, 0.12389412583233794, 0.04532741584275924, 0.0, 0.0, 0.0]
    [-0.17763721498557675, 0.12389412583233794, 0.04532741584275924, 0.0, 0.0, 0.0]
    [-0.17763721498557675, 0.12389412583233794, 0.04532741584275924, 0.0, 0.0, 0.0]
    [-0.17763721498557675, 0.12389412583233794, 0.04532741584275924, 0.0, 0.0, 0.0]
    [-0.17763721498557675, 0.12389412583233794, 0.04532741584275924, 0.0, 0.0, 0.0]
    [-0.17763721498557675, 0.12389412583233794, 0.04532741584275924, 0.0, 0.0, 0.0]
    [-0.17763721498557675, 0.12389412583233794, 0.04532741584275924, 0.0, 0.0, 0.0]
]

box-close-v1:
[
    [0.047795365799917555, 0.5974215716576118, 0.10999999955296516, 0.0, 0.0, 0.0]
    [0.047795365799917555, 0.5974215716576118, 0.10999999955296516, 0.0, 0.0, 0.0]
    [0.047795365799917555, 0.5974215716576118, 0.10999999955296516, 0.0, 0.0, 0.0]
    [0.047795365799917555, 0.5974215716576118, 0.10999999955296516, 0.0, 0.0, 0.0]
    [0.047795365799917555, 0.5974215716576118, 0.10999999955296516, 0.0, 0.0, 0.0]
    [0.047795365799917555, 0.5974215716576118, 0.10999999955296516, 0.0, 0.0, 0.0]
    [0.047795365799917555, 0.5974215716576118, 0.10999999955296516, 0.0, 0.0, 0.0]
    [0.047795365799917555, 0.5974215716576118, 0.10999999955296516, 0.0, 0.0, 0.0]
    [0.047795365799917555, 0.5974215716576118, 0.10999999955296516, 0.0, 0.0, 0.0]
    [0.047795365799917555, 0.5974215716576118, 0.10999999955296516, 0.0, 0.0, 0.0]
]

hand-insert-v1:
[
    [0.06745819541296533, 0.6762410307212278, 0.019971442752634714, 0.0, 0.0, 0.0]
    [0.06745819541296533, 0.6762410307212278, 0.019971442752634714, 0.0, 0.0, 0.0]
    [0.06745819541296533, 0.6762410307212278, 0.019971442752634714, 0.0, 0.0, 0.0]
    [0.06745819541296533, 0.6762410307212278, 0.019971442752634714, 0.0, 0.0, 0.0]
    [0.06745819541296533, 0.6762410307212278, 0.019971442752634714, 0.0, 0.0, 0.0]
    [0.06745819541296533, 0.6762410307212278, 0.019971442752634714, 0.0, 0.0, 0.0]
    [0.06745819541296533, 0.6762410307212278, 0.019971442752634714, 0.0, 0.0, 0.0]
    [0.06745819541296533, 0.6762410307212278, 0.019971442752634714, 0.0, 0.0, 0.0]
    [0.06745819541296533, 0.6762410307212278, 0.019971442752634714, 0.0, 0.0, 0.0]
    [0.06745819541296533, 0.6762410307212278, 0.019971442752634714, 0.0, 0.0, 0.0]
]

door-lock-v1:
[
    [0.04177085405220372, 0.7783651076990645, 0.1746032492641456, 0.0, 0.0, 0.0]
    [0.04177085405220372, 0.7783651076990645, 0.1746032492641456, 0.0, 0.0, 0.0]
    [0.04177085405220372, 0.7783651076990645, 0.1746032492641456, 0.0, 0.0, 0.0]
    [0.04177085405220372, 0.7783651076990645, 0.1746032492641456, 0.0, 0.0, 0.0]
    [0.04177085405220372, 0.7783651076990645, 0.1746032492641456, 0.0, 0.0, 0.0]
    [0.04177085405220372, 0.7783651076990645, 0.1746032492641456, 0.0, 0.0, 0.0]
    [0.04177085405220372, 0.7783651076990645, 0.1746032492641456, 0.0, 0.0, 0.0]
    [0.04177085405220372, 0.7783651076990645, 0.1746032492641456, 0.0, 0.0, 0.0]
    [0.04177085405220372, 0.7783651076990645, 0.1746032492641456, 0.0, 0.0, 0.0]
    [0.04177085405220372, 0.7783651076990645, 0.1746032492641456, 0.0, 0.0, 0.0]
]

door-unlock-v1:
[
    [-0.025667779091990348, 0.7654568953587574, 0.07000001985681625, 0.0, 0.0, 0.0]
    [-0.025667779091990348, 0.7654568953587574, 0.07000001985681625, 0.0, 0.0, 0.0]
    [-0.025667779091990348, 0.7654568953587574, 0.07000001985681625, 0.0, 0.0, 0.0]
    [-0.025667779091990348, 0.7654568953587574, 0.07000001985681625, 0.0, 0.0, 0.0]
    [-0.025667779091990348, 0.7654568953587574, 0.07000001985681625, 0.0, 0.0, 0.0]
    [-0.025667779091990348, 0.7654568953587574, 0.07000001985681625, 0.0, 0.0, 0.0]
    [-0.025667779091990348, 0.7654568953587574, 0.07000001985681625, 0.0, 0.0, 0.0]
    [-0.025667779091990348, 0.7654568953587574, 0.07000001985681625, 0.0, 0.0, 0.0]
    [-0.025667779091990348, 0.7654568953587574, 0.07000001985681625, 0.0, 0.0, 0.0]
    [-0.025667779091990348, 0.7654568953587574, 0.07000001985681625, 0.0, 0.0, 0.0]
]

Violating environments: ['drawer-open-v1', 'window-open-v1', 'window-close-v1', 'faucet-open-v1', 'faucet-close-v1', 'lever-pull-v1', 'dial-turn-v1']
@avnishn avnishn self-assigned this Feb 25, 2021
@avnishn
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avnishn commented Feb 25, 2021

@mtcrawshaw Thanks a lot for bringing this bug up.

This is in fact a bug and not a design choice.

Essentially what has happened here is that we have logic to generate multiple random (object_init_position, goal_position) tuple, and in the case of the MT environments, we only generate 1 tuple. Each one of these tuples is what differentiates 2 tasks of the same environment.

The problem that you are facing is that there is an initial position specified by each of the mujoco files.
If you look at the initial position for all 6 environments you've listed, the object initial position is different only for the first task that is sampled, and the same for the rest of them.

This is a pretty easy fix, and I'll be sure to have it out soon (less than a week)

Thanks for bringing this up,
@avnishn

ps @krzentner can you look at this too, thanks!

@avnishn
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avnishn commented Feb 25, 2021

Hmm upon investigating your bug what I initially said was the case is not actually the case @mtcrawshaw.

You are right to say that it has to do with mujoco.
In the environment files sometimes we directly change the state of the simulator by adjusting the positions of objects.
It requires us to make a call to sim.step, that way the simulator is stepped forward and the states of objects are updated properly.

avnishn pushed a commit that referenced this issue Feb 25, 2021
Force state rand vec updates to update the sim
73a2332 
In some environments, the locations of objects are updated
via changes to the underlying simulator.

Those changes don't reflect in the simulator until the simulator
itself has been stepped (a call to sim.step()).

This commit forces sim.step when state rand vecs are changed by calling
reset inside set_task.

closes #324
@avnishn avnishn mentioned this issue Feb 25, 2021
Merged
avnishn added a commit that referenced this issue Feb 26, 2021
@avnishn
Force state rand vec updates to update the sim (#328)
d9a75c4 
* Force state rand vec updates to update the sim

In some environments, the locations of objects are updated
via changes to the underlying simulator.

Those changes don't reflect in the simulator until the simulator
itself has been stepped (a call to sim.step()).

This commit forces sim.step when state rand vecs are changed by calling
reset inside set_task.

closes #324
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Force state rand vec updates to update the sim Farama-Foundation/Metaworld
2 participants
@mtcrawshaw @avnishn