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+            0.5
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+          [
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+      "name": "reorient_mugs"
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+  "_task_name": "ReorientAllMugsTask",
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+  "env_spacing": 10.0,
+  "contact_gripper": {
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+  "instruction": "Reorient all the mugs upright so that the opening is facing upwards.",
+  "contact_object_list": [
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+    "bowl",
+    "ceramic_mug",
+    "upright_white_mug",
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+    "table"
+  ],
+  "_instruction_variants": {
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+    "vague": "Make sure the mugs are upright",
+    "specific": "Check each mug on the table and if any are tipped over or inverted, rotate them so the opening faces upward. Leave it if it's already upright."
+  },
+  "policy": "pi05",
+  "renderer": "realtime"
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