File size: 4,703 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": [
1.2267390272488685e-09,
2.2558505774010592e-10,
-7.571690677608577e-07
],
"orientation": [
1.0,
-2.47971585049541e-12,
6.945882954169326e-11,
4.319662828699718e-11
],
"class": "Table",
"materials": [
"stone2"
]
},
{
"name": "plate_seen",
"xml_path": "obj/meshes/tablewares/plates/plate_0/model.xml",
"position": [
-0.14532498254539108,
-0.04407476624021604,
0.776307049227675
],
"orientation": [
0.9998906303775971,
0.0013184338461895329,
0.001840548263228811,
0.014615108531071948
],
"class": "Plate"
},
{
"name": "banana_inside",
"xml_path": "obj/meshes/fruit/banana/banana_16/model.xml",
"position": [
-0.1974527751981725,
-0.006378374027411693,
0.8049874792895612
],
"orientation": [
0.9984291910951021,
0.032185167907552895,
0.04549671755103219,
0.005771830560993843
],
"class": "Fruit"
},
{
"name": "peach_inside",
"xml_path": "obj/meshes/fruit/peach/peach_6/model.xml",
"position": [
-0.06507306655976926,
-0.06625950561583141,
0.8123489041961626
],
"orientation": [
0.9970825371861322,
1.3259809724349287e-05,
-0.06864065141733455,
-0.03338974147319631
],
"class": "Fruit"
},
{
"name": "banana",
"xml_path": "obj/meshes/fruit/banana/banana_11/model.xml",
"position": [
0.28219499908608386,
0.27763892537370555,
0.7761778464412068
],
"orientation": [
0.9970771479549996,
-0.006176578348746331,
-0.04278677406709175,
0.06299446698526316
],
"class": "Fruit"
},
{
"name": "pear",
"xml_path": "obj/meshes/fruit/pear/pear_0/model.xml",
"position": [
0.2833780403055435,
-0.19414897561675298,
0.7875006813468689
],
"orientation": [
0.991979881491237,
0.03567402142800693,
-0.11276826764431244,
0.04457125446167048
],
"class": "Fruit"
},
{
"name": "lemon",
"xml_path": "obj/meshes/fruit/lemon/lemon_7/model.xml",
"position": [
-0.2631359126703337,
0.2914524646511133,
0.7909937098451131
],
"orientation": [
0.9974452399259573,
-0.0006979615965678212,
1.550872969674261e-05,
0.07143182734705691
],
"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 banana in tray_seen into the plate_seen"
],
"conditions": {
"contain": {
"container": "plate_seen",
"entities": [
"banana_inside"
]
}
}
}
} |