| {"adapter_id": "contact-pick-place-box-v0", "arm_profile": "dvidia-authored-6dof-parallel-jaw-v0", "frame": "world", "language_aliases": ["Set a cup on the mark."], "object": {"friction": 0.8, "kind": "box", "mass": 0.04, "position": [0.42, -0.04, 0.31], "size": [0.04, 0.04, 0.04]}, "procedure": ["approach", "descend", "close", "lift", "transfer", "place", "release", "retreat", "verify"], "provenance": "authored_simulation_adapter", "schema_version": 1, "table_height": 0.29, "target": {"dwell_seconds": 0.25, "position": [0.54, 0.1, 0.31], "position_tolerance": 0.025}, "task_type": "place_cup", "units": "m", "workspace": {"max": [0.6, 0.2, 0.55], "min": [0.25, -0.2, 0.29]}} | |