File size: 5,812 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
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
{
    "task": {
        "components": [
            {
                "name": "table",
                "xml_path": "obj/meshes/table/table.xml",
                "position": [
                    3.4300703610286647e-09,
                    -1.1122412298507137e-09,
                    -7.5848271651987e-07
                ],
                "orientation": [
                    1.0,
                    -1.5701533905340655e-10,
                    6.424874751992956e-10,
                    -6.8661475807258e-10
                ],
                "class": "Table",
                "materials": [
                    "stone2"
                ]
            },
            {
                "name": "plate_seen",
                "xml_path": "obj/meshes/tablewares/plates/plate_11/model.xml",
                "position": [
                    -0.0927336438996818,
                    -0.05612812795805317,
                    0.7681762670270705
                ],
                "orientation": [
                    0.9999433031977537,
                    0.00258127149055753,
                    0.001804178098306582,
                    0.010172136886920738
                ],
                "class": "Plate"
            },
            {
                "name": "pear_inside",
                "xml_path": "obj/meshes/fruit/pear/pear_10/model.xml",
                "position": [
                    -0.026866794433152364,
                    -0.1578530767905488,
                    0.8030392487406437
                ],
                "orientation": [
                    0.9992286202104327,
                    0.004805104502672003,
                    0.0038178274307566064,
                    0.038787881055590306
                ],
                "class": "Fruit"
            },
            {
                "name": "apple_inside",
                "xml_path": "obj/meshes/fruit/apple/apple_12/model.xml",
                "position": [
                    -0.16371454464270638,
                    -0.043861211870746215,
                    0.8009907152471805
                ],
                "orientation": [
                    0.9972568764535453,
                    2.6874013264998034e-18,
                    -1.9946428022511297e-19,
                    -0.07401839208006558
                ],
                "class": "Fruit"
            },
            {
                "name": "mango_inside",
                "xml_path": "obj/meshes/fruit/mango/mango_12/model.xml",
                "position": [
                    -0.17126253507661202,
                    -0.13984709536786336,
                    0.8020042705920815
                ],
                "orientation": [
                    0.9972166716414893,
                    1.5835304924349998e-05,
                    0.004756392859909752,
                    -0.0744062247159163
                ],
                "class": "Fruit"
            },
            {
                "name": "pear",
                "xml_path": "obj/meshes/fruit/pear/pear_5/model.xml",
                "position": [
                    0.27847810253668254,
                    0.2686830387566293,
                    0.7911420875239643
                ],
                "orientation": [
                    0.9992105245787246,
                    -0.003319151471925779,
                    -0.005058741935717964,
                    0.03926474162202996
                ],
                "class": "Fruit"
            },
            {
                "name": "peach",
                "xml_path": "obj/meshes/fruit/peach/peach_2/model.xml",
                "position": [
                    -0.2725633338665565,
                    0.2743583778686499,
                    0.7919557384017565
                ],
                "orientation": [
                    0.997940428293665,
                    -0.003811459881511021,
                    0.012437016467498844,
                    0.06281476714925242
                ],
                "class": "Fruit"
            },
            {
                "name": "kiwi",
                "xml_path": "obj/meshes/fruit/kiwi/kiwi_0/model.xml",
                "position": [
                    0.28843511067509237,
                    -0.16378390857993777,
                    0.7878844071503853
                ],
                "orientation": [
                    0.996474315738028,
                    0.031650298675085405,
                    -0.025080729777965417,
                    -0.07354014999991833
                ],
                "class": "Fruit"
            },
            {
                "name": "banana",
                "xml_path": "obj/meshes/fruit/banana/banana_0/banana.xml",
                "position": [
                    0.044319043370802,
                    0.1930357090559007,
                    0.7772540101261999
                ],
                "orientation": [
                    0.999400357804695,
                    0.0069919099241853465,
                    0.008829008970375963,
                    -0.03274273379029042
                ],
                "class": "Fruit"
            }
        ],
        "scene": {
            "name": "studyroom_0",
            "position": [
                0.0,
                0.0,
                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"
                ]
            }
        }
    }
}