File size: 4,705 Bytes
8c4752b | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 | {
"task": {
"components": [
{
"name": "table",
"xml_path": "obj/meshes/table/table.xml",
"position": [
-3.7927773923740557e-10,
2.3576936299964036e-10,
-7.567902436033398e-07
],
"orientation": [
1.0,
-6.000592227892329e-10,
3.6303320339929637e-10,
3.41027858863703e-11
],
"class": "Table",
"materials": [
"wood0"
]
},
{
"name": "plate_seen",
"xml_path": "obj/meshes/tablewares/plates/plate_10/model.xml",
"position": [
-0.04147722247399468,
0.14391560464953,
0.772093677070627
],
"orientation": [
0.9998959176036765,
0.00016645646892499952,
-0.004004499440662141,
0.013859662188405302
],
"class": "Plate"
},
{
"name": "orange_inside",
"xml_path": "obj/meshes/fruit/orange/orange_4/model.xml",
"position": [
-0.04089857823232769,
0.11791663900492136,
0.8010582970130135
],
"orientation": [
0.9976867900944499,
1.0508518131831147e-18,
-7.160089921700078e-20,
-0.06797844416455116
],
"class": "Fruit"
},
{
"name": "kiwi_inside",
"xml_path": "obj/meshes/fruit/kiwi/kiwi_6/model.xml",
"position": [
-0.13579103168824586,
0.05717729771652423,
0.8056675794590797
],
"orientation": [
0.99959799742848,
-0.0020399663367490937,
0.006333293708197112,
0.027560324111360897
],
"class": "Fruit"
},
{
"name": "orange",
"xml_path": "obj/meshes/fruit/orange/orange_9/model.xml",
"position": [
0.26359056175456913,
-0.18937589655092482,
0.7882098928822207
],
"orientation": [
0.9800427947484961,
0.12826228257178554,
0.13450409239774697,
0.07052344616715275
],
"class": "Fruit"
},
{
"name": "lemon",
"xml_path": "obj/meshes/fruit/lemon/lemon_5/model.xml",
"position": [
-0.2663154689175383,
-0.19095538313573213,
0.7878648496974636
],
"orientation": [
0.9989964117602382,
-0.008909551068322306,
0.014753757867760772,
-0.041341453998484635
],
"class": "Fruit"
},
{
"name": "mango",
"xml_path": "obj/meshes/fruit/mango/mango_15/model.xml",
"position": [
0.27592509275110755,
0.27550929812540864,
0.7862967063513105
],
"orientation": [
0.9814713857656128,
-0.04189946898048811,
0.18262687035894723,
0.040072180442000796
],
"class": "Fruit"
}
],
"scene": {
"name": "studyroom_0",
"position": [
-1.0,
1.0,
0.0
],
"orientation": [
1.0,
0.0,
0.0,
0.0
],
"floor_textures": [
"floorplane"
]
},
"instructions": [
"Put the orange in tray_seen into the plate_seen"
],
"conditions": {
"contain": {
"container": "plate_seen",
"entities": [
"orange_inside"
]
}
}
}
} |