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{"allowed_skills": ["reach", "grasp"], "distractor_object_ids": [], "family": "pick", "instruction_templates": ["Pick up the red mug."], "metadata": {"target_position": 1.0, "tolerance": 0.05}, "minimal_pair_factors": {"reference_object": [], "relation": ["grasped", "lifted"], "target_object": ["red_mug"]}, "objects": [{"affordances": ["graspable", "container"], "category": "mug", "color": "red", "friction": 0.8, "mass": 0.3, "object_id": "red_mug", "scale": 1.0, "shape": "cylindrical"}], "reference_object_ids": [], "success_predicates": [{"args": ["red_mug"], "name": "grasped"}], "target_object_ids": ["red_mug"], "task_id": "toy_pick_red_mug"}
{"allowed_skills": ["reach", "grasp", "place"], "distractor_object_ids": [], "family": "place_inside", "instruction_templates": ["Put the red mug in the blue bowl."], "metadata": {"target_position": 1.1, "tolerance": 0.05}, "minimal_pair_factors": {"reference_object": ["blue_bowl"], "relation": ["inside", "near"], "target_object": ["red_mug"]}, "objects": [{"affordances": ["graspable", "container"], "category": "mug", "color": "red", "friction": 0.8, "mass": 0.3, "object_id": "red_mug", "scale": 1.0, "shape": "cylindrical"}, {"affordances": ["container"], "category": "bowl", "color": "blue", "friction": 0.7, "mass": 0.4, "object_id": "blue_bowl", "scale": 1.1, "shape": "round"}], "reference_object_ids": ["blue_bowl"], "success_predicates": [{"args": ["red_mug", "blue_bowl"], "name": "inside"}], "target_object_ids": ["red_mug"], "task_id": "toy_put_red_mug_in_blue_bowl"}
{"allowed_skills": ["push", "place"], "distractor_object_ids": [], "family": "spatial_place", "instruction_templates": ["Put the green block left of the yellow block."], "metadata": {"target_position": 1.2, "tolerance": 0.05}, "minimal_pair_factors": {"reference_object": ["yellow_block"], "relation": ["left_of", "right_of"], "target_object": ["green_block"]}, "objects": [{"affordances": ["pushable", "graspable"], "category": "block", "color": "green", "friction": 0.9, "mass": 0.5, "object_id": "green_block", "scale": 1.0, "shape": "cube"}, {"affordances": ["pushable", "graspable"], "category": "block", "color": "yellow", "friction": 0.9, "mass": 0.5, "object_id": "yellow_block", "scale": 1.0, "shape": "cube"}], "reference_object_ids": ["yellow_block"], "success_predicates": [{"args": ["green_block", "yellow_block"], "name": "left_of"}], "target_object_ids": ["green_block"], "task_id": "toy_green_block_left_of_yellow_block"}