File size: 4,696 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": [
7.048716416077845e-08,
-1.822339348690186e-07,
-7.555556015685944e-07
],
"orientation": [
0.9999999999999901,
1.6622051321794423e-09,
6.144100632549315e-11,
-1.3598246287565627e-07
],
"class": "Table",
"materials": [
"stone4"
]
},
{
"name": "plate_seen",
"xml_path": "obj/meshes/tablewares/plates/plate_0/model.xml",
"position": [
-0.20322130472931924,
0.12343512975241035,
0.7763124019957695
],
"orientation": [
0.9970977173175845,
0.002154234662963949,
0.002496171754010612,
0.0760609658080461
],
"class": "Plate"
},
{
"name": "pear_inside",
"xml_path": "obj/meshes/fruit/pear/pear_0/model.xml",
"position": [
1.1270870263803867,
-1.3075282004866173,
1.916529233431235
],
"orientation": [
-0.6565277177407081,
0.3770543436553404,
0.596166679739032,
-0.2671828357843295
],
"class": "Fruit"
},
{
"name": "banana_inside",
"xml_path": "obj/meshes/fruit/banana/banana_23/model.xml",
"position": [
-0.9567662833872126,
-0.5185595599363144,
1.2866496583062177
],
"orientation": [
-0.2150334872334303,
-0.3195159498017174,
0.6799753614132923,
0.6239420366199089
],
"class": "Fruit"
},
{
"name": "pear",
"xml_path": "obj/meshes/fruit/pear/pear_13/model.xml",
"position": [
0.28826461830956174,
-0.19060769441673706,
0.786302095557604
],
"orientation": [
0.9942094025453565,
-0.07205959942813875,
0.07171758826784325,
-0.03480898668025209
],
"class": "Fruit"
},
{
"name": "kiwi",
"xml_path": "obj/meshes/fruit/kiwi/kiwi_7/model.xml",
"position": [
0.284732648586561,
0.2874441168857545,
0.7858954532093635
],
"orientation": [
0.9982853794592071,
-0.055906514635184465,
-0.011454336892166638,
-0.013021556961194834
],
"class": "Fruit"
},
{
"name": "orange",
"xml_path": "obj/meshes/fruit/orange/orange_2/model.xml",
"position": [
-0.0955522161288,
-0.16003115638410045,
0.7895473248130023
],
"orientation": [
0.9999971139912068,
-0.0002998366605578459,
-0.0023813468115029108,
0.0001062760446804334
],
"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 pear in tray_seen into the plate_seen"
],
"conditions": {
"contain": {
"container": "plate_seen",
"entities": [
"pear_inside"
]
}
}
}
} |