File size: 4,715 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": [
2.6431147929391787e-10,
-1.7517486626438456e-10,
-7.553430566372375e-07
],
"orientation": [
1.0,
-2.653738817324336e-10,
2.3716153090465266e-11,
-3.4486933119124214e-11
],
"class": "Table",
"materials": [
"stone0"
]
},
{
"name": "plate_seen",
"xml_path": "obj/meshes/tablewares/plates/plate_11/model.xml",
"position": [
0.07649953153436143,
0.2363574725685132,
0.767934977713948
],
"orientation": [
0.9997424609525788,
-0.0016501424640380875,
-0.0011850152307738442,
0.022602755080566805
],
"class": "Plate"
},
{
"name": "apple_inside",
"xml_path": "obj/meshes/fruit/apple/apple_9/model.xml",
"position": [
0.1626793611993831,
0.23685324583569317,
0.8009878896056407
],
"orientation": [
0.9972215230829383,
1.6834569562620412e-18,
1.2575547111880393e-19,
0.07449318022574129
],
"class": "Fruit"
},
{
"name": "banana_inside",
"xml_path": "obj/meshes/fruit/banana/banana_20/model.xml",
"position": [
-0.005537172446568284,
0.18606246020832584,
0.801154243466979
],
"orientation": [
0.9995345996867733,
3.69131474382062e-17,
9.441382691210281e-17,
-0.030505475393805766
],
"class": "Fruit"
},
{
"name": "apple",
"xml_path": "obj/meshes/fruit/apple/apple_15/model.xml",
"position": [
-0.2789980677145817,
-0.18458768888765492,
0.7911542053562447
],
"orientation": [
0.9995306848022608,
0.014817165016903777,
-0.012018297918813868,
0.02396710818435563
],
"class": "Fruit"
},
{
"name": "lemon",
"xml_path": "obj/meshes/fruit/lemon/lemon_13/model.xml",
"position": [
0.25353036548336655,
-0.19011488029836232,
0.789962993130968
],
"orientation": [
0.9996085306394189,
-0.003932985807317765,
-0.01986127657954069,
0.019309241004550576
],
"class": "Fruit"
},
{
"name": "banana",
"xml_path": "obj/meshes/fruit/banana/banana_2/model.xml",
"position": [
-0.2637259084269863,
0.26061410408756525,
0.7725532673868227
],
"orientation": [
0.9942708394437636,
-0.01251495565333828,
-0.0591174877186102,
-0.08817026915365744
],
"class": "Fruit"
}
],
"scene": {
"name": "studyroom_0",
"position": [
-1.5,
-1.0,
0.0
],
"orientation": [
1.0,
0.0,
0.0,
0.0
],
"floor_textures": [
"floorplane"
]
},
"instructions": [
"Put the apple in tray_seen into the plate_seen"
],
"conditions": {
"contain": {
"container": "plate_seen",
"entities": [
"apple_inside"
]
}
}
}
} |