File size: 4,693 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": [
1.1245006511745098e-10,
1.0977880798336882e-09,
-7.571235870600026e-07
],
"orientation": [
1.0,
-7.141998419465618e-10,
-9.012921357258854e-10,
-7.345029988980049e-11
],
"class": "Table",
"materials": [
"stone"
]
},
{
"name": "plate_seen",
"xml_path": "obj/meshes/tablewares/plates/plate_12/model.xml",
"position": [
-0.2573907676651076,
0.13656734440312973,
0.774663345499057
],
"orientation": [
0.999881620161378,
0.014818755611255688,
-0.003700299699042596,
0.0018595504104485666
],
"class": "Plate"
},
{
"name": "orange_inside",
"xml_path": "obj/meshes/fruit/orange/orange_8/model.xml",
"position": [
-0.2524626075619982,
0.10887141325765132,
0.8146006509621267
],
"orientation": [
0.9988564878480778,
0.026232568896740242,
-0.003705305474254834,
-0.03979748389312349
],
"class": "Fruit"
},
{
"name": "pear_inside",
"xml_path": "obj/meshes/fruit/pear/pear_13/model.xml",
"position": [
-0.325959095838953,
0.053912553435555996,
0.8133432987902864
],
"orientation": [
0.9993846058200797,
-0.004290671636360779,
0.0016109486835020404,
-0.0347764953825439
],
"class": "Fruit"
},
{
"name": "orange",
"xml_path": "obj/meshes/fruit/orange/orange_10/model.xml",
"position": [
0.2852911380078334,
-0.19901432067122082,
0.7869216409380855
],
"orientation": [
0.9775596890658662,
0.19692505265696,
0.05340139221708414,
-0.052401042535225414
],
"class": "Fruit"
},
{
"name": "peach",
"xml_path": "obj/meshes/fruit/peach/peach_1/model.xml",
"position": [
0.2043272723214124,
0.2600906891025796,
0.7897977755438874
],
"orientation": [
0.997354548469101,
-0.016001403176496974,
-0.0005952388323839282,
-0.07090490416827301
],
"class": "Fruit"
},
{
"name": "lemon",
"xml_path": "obj/meshes/fruit/lemon/lemon_3/model.xml",
"position": [
-0.08549050115670327,
-0.1618621208398539,
0.7908115808557274
],
"orientation": [
0.9989032670635115,
0.003488278763003316,
0.009691107010748965,
-0.04567469108841322
],
"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 on the table into the plate_seen"
],
"conditions": {
"contain": {
"container": "plate_seen",
"entities": [
"orange"
]
}
}
}
} |