{
  "task": "put_blocks_on_cup",
  "episode": 28,
  "start": {
    "cups": [
      [
        -0.10637301122599688,
        0.5715138856467441
      ],
      [
        0.008828505211620485,
        0.7182109723688355
      ]
    ],
    "blocks": [
      [
        0.008828505211620485,
        0.7182109723688355
      ],
      [
        -0.10637301122599688,
        0.5715138856467441
      ]
    ]
  },
  "end": {
    "cups": [
      [
        0.09068407569372024,
        0.5406995417296413
      ],
      [
        -0.17392813154824946,
        0.7879787395152766
      ]
    ],
    "blocks": [
      [
        -0.17392813154824946,
        0.7879787395152766
      ],
      [
        0.09068407569372024,
        0.5406995417296413
      ]
    ]
  },
  "perm": [
    1,
    0
  ],
  "cup_order": [
    0,
    1
  ],
  "cup_new": [
    [
      0.09068407569372024,
      0.5406995417296413
    ],
    [
      -0.17392813154824946,
      0.7879787395152766
    ]
  ],
  "init_pose": [
    -0.12446211847859046,
    0.6250811878932636,
    0.3683454803782542
  ]
}