[
  {
    "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
  }
]