Index D | O | P | S D Drag Over and Lift Tray O Obstacle Orientation Randomization, [1], [2], [3], [4], [5] P Position and Orientation Randomization, [1], [2], [3], [4], [5], [6], [7] Position Randomization, [1], [2], [3], [4], [5], [6], [7] S Stage 1, [1], [2], [3], [4], [5], [6], [7] Stage 2, [1], [2], [3], [4], [5], [6], [7] Stage 3, [1], [2], [3], [4], [5], [6] Stage 4, [1], [2], [3] Stage 5, [1] Static, [1], [2], [3], [4], [5], [6], [7]