| [ | |
| { | |
| "scene_name": "COMPLICATED_SCENE", | |
| "folder": "clutterbench/benchmarks/temporal_dynamic/shelf/", | |
| "task_name": "target_fall_from_shelf", | |
| "task_id": 1, | |
| "task_language": "Reach the white bowl on the table", | |
| "fixtures": { | |
| "kitchen_table": { "type": "kitchen_table" }, | |
| "wooden_two_layer_shelf_1": { | |
| "type": "wooden_two_layer_shelf", | |
| "name": "wooden_two_layer_shelf_1", | |
| "region": { | |
| "target": "kitchen_table", | |
| "center": [-0.0, 0.20], | |
| "half_len": 0.01, | |
| "yaw": 0.0, | |
| "pitch": 0.0, | |
| "roll": 2.35 | |
| }, | |
| "subregions": { | |
| "top_side": { "target": "wooden_two_layer_shelf_1" }, | |
| "top_side_1": { "target": "wooden_two_layer_shelf_1" }, | |
| "top_side_2": { "target": "wooden_two_layer_shelf_1" }, | |
| "top_side_fall": { "target": "wooden_two_layer_shelf_1" }, | |
| "top_region": { "target": "wooden_two_layer_shelf_1" }, | |
| "top_region_tomato": { "target": "wooden_two_layer_shelf_1" }, | |
| "bottom_region": { "target": "wooden_two_layer_shelf_1" } | |
| } | |
| } | |
| }, | |
| "objects": { | |
| "white_bowl_1": { | |
| "type": "white_bowl", | |
| "name": "white_bowl_1", | |
| "region": { | |
| "target": "kitchen_table", | |
| "center": [0.1, 0.0], | |
| "half_len": 1e-6, | |
| "yaw": 0.0 | |
| } | |
| }, | |
| "butter_1": { | |
| "type": "butter", | |
| "name": "butter_1", | |
| "region": { | |
| "target": "kitchen_table", | |
| "center": [0.11, -0.057], | |
| "half_len": 1e-6, | |
| "yaw": 0.0, | |
| "pitch": 0.0, | |
| "roll": 0.0 | |
| } | |
| }, | |
| "tomato_sauce_1": { | |
| "type": "tomato_sauce", | |
| "name": "tomato_sauce_1", | |
| "region": { | |
| "target": "kitchen_table", | |
| "center": [0.01, -0.10], | |
| "half_len": 1e-6, | |
| "yaw": 1.57, | |
| "pitch": 0.0, | |
| "roll": 1.57 | |
| } | |
| }, | |
| "orange_juice_1": { | |
| "type": "orange_juice", | |
| "name": "orange_juice_1", | |
| "region": { | |
| "target": "kitchen_table", | |
| "center": [-0.06, -0.07], | |
| "half_len": 1e-6, | |
| "yaw": 1.57, | |
| "pitch": 0.0, | |
| "roll": 1.57 | |
| } | |
| }, | |
| "ketchup_1": { | |
| "type": "ketchup", | |
| "name": "ketchup_1", | |
| "region": { | |
| "target": "kitchen_table", | |
| "center": [-0.11, 0.01], | |
| "half_len": 1e-6, | |
| "yaw": 1.57, | |
| "pitch": 0.0, | |
| "roll": 1.57 | |
| } | |
| }, | |
| "cream_cheese_1": { | |
| "type": "cream_cheese", | |
| "name": "cream_cheese_1", | |
| "region": { | |
| "target": "kitchen_table", | |
| "center": [-0.06, -0.33], | |
| "half_len": 1e-6, | |
| "yaw": 0.0, | |
| "pitch": 0.0, | |
| "roll": 0.0 | |
| } | |
| } | |
| }, | |
| "objects_of_interest": [ | |
| "white_bowl_1" | |
| ], | |
| "init": [ | |
| ["On", "white_bowl_1", "wooden_two_layer_shelf_1_top_side_fall"], | |
| ["On", "butter_1", "wooden_two_layer_shelf_1_top_side_2"], | |
| ["On", "tomato_sauce_1", "wooden_two_layer_shelf_1_top_region_tomato"], | |
| ["On", "orange_juice_1", "kitchen_table_orange_juice_1_init_region"], | |
| ["On", "ketchup_1", "wooden_two_layer_shelf_1_top_side_1"], | |
| ["On", "wooden_two_layer_shelf_1", "kitchen_table_wooden_two_layer_shelf_1_init_region"], | |
| ["On", "cream_cheese_1", "kitchen_table_cream_cheese_1_init_region"] | |
| ], | |
| "goal": [ | |
| ["reached", "white_bowl_1"] | |
| ], | |
| "timed_force": [ | |
| { | |
| "mode": "body", | |
| "name": "white_bowl_1_main", | |
| "start_step": 3, | |
| "duration": 1, | |
| "force_xy": [0.005, -0.005], | |
| "torque_z": 0.00 | |
| } | |
| ], | |
| "render": true | |
| } | |
| ] | |