File size: 4,694 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": [
-3.8051973541103324e-10,
-1.5267742461361671e-10,
-7.737238045369041e-07
],
"orientation": [
1.0,
-3.4189720626091923e-09,
2.8183390823310653e-09,
-5.03476482234853e-11
],
"class": "Table",
"materials": [
"stone0"
]
},
{
"name": "plate_seen",
"xml_path": "obj/meshes/tablewares/plates/plate3/plate.xml",
"position": [
0.09481117454759673,
0.11822977772995351,
0.7599378499028253
],
"orientation": [
0.9990155065623912,
3.905969856214026e-05,
-2.8656534432319804e-06,
-0.04436232764427634
],
"class": "Plate"
},
{
"name": "pear_inside",
"xml_path": "obj/meshes/fruit/pear/pear_6/model.xml",
"position": [
0.027443941330894176,
0.12195266739612044,
0.8135398097923604
],
"orientation": [
0.9987102547290098,
-0.018119130689592217,
0.007148818049308801,
-0.04688729681553066
],
"class": "Fruit"
},
{
"name": "kiwi_inside",
"xml_path": "obj/meshes/fruit/kiwi/kiwi_5/model.xml",
"position": [
0.14095885765086844,
0.04904544102047139,
0.8103675202618092
],
"orientation": [
0.9978964076775011,
-0.0035383930518843865,
-0.007532673796630819,
-0.06429228681905162
],
"class": "Fruit"
},
{
"name": "pear",
"xml_path": "obj/meshes/fruit/pear/pear_11/model.xml",
"position": [
-0.23995524795658327,
-0.15866367297378106,
0.7903552111414062
],
"orientation": [
0.9775457094363184,
-0.025119701734072908,
0.19602124879089297,
-0.07313724475188035
],
"class": "Fruit"
},
{
"name": "lemon",
"xml_path": "obj/meshes/fruit/lemon/lemon_7/model.xml",
"position": [
-0.25349777754895236,
0.26528043549765806,
0.7911540596704119
],
"orientation": [
0.9985916441669732,
0.004462826549069868,
-0.009410858451049579,
-0.052021602458094306
],
"class": "Fruit"
},
{
"name": "banana",
"xml_path": "obj/meshes/fruit/banana/banana_10/model.xml",
"position": [
0.26133813300141,
-0.1905916400623725,
0.7701888769916787
],
"orientation": [
0.9949490852427932,
0.0008495110435206549,
-0.0871020064718915,
0.049888240839777095
],
"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 on the table into the plate_seen"
],
"conditions": {
"contain": {
"container": "plate_seen",
"entities": [
"pear"
]
}
}
}
} |