File size: 4,710 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": [
-3.7431786677923384e-11,
4.9233224713383464e-11,
-7.549219656321689e-07
],
"orientation": [
1.0,
-1.746905426999016e-10,
5.808274696216829e-12,
-1.1576959998548104e-11
],
"class": "Table",
"materials": [
"wood0"
]
},
{
"name": "plate_seen",
"xml_path": "obj/meshes/tablewares/plates/plate_13/model.xml",
"position": [
0.07465289370661193,
0.2870630497174758,
0.7660882131288198
],
"orientation": [
0.9994511044618359,
0.00032966782319983,
1.1277814219140367e-05,
0.03312674119125833
],
"class": "Plate"
},
{
"name": "orange_inside",
"xml_path": "obj/meshes/fruit/orange/orange_1/model.xml",
"position": [
0.11258670663955699,
0.29335028992425,
0.8011121150347933
],
"orientation": [
0.9998757182631826,
1.0076971606502846e-17,
-1.5888729584435897e-19,
-0.015765406042501234
],
"class": "Fruit"
},
{
"name": "kiwi_inside",
"xml_path": "obj/meshes/fruit/kiwi/kiwi_7/model.xml",
"position": [
0.041174842996899504,
0.20778922866098348,
0.8010266463290886
],
"orientation": [
0.9994984045925308,
6.031238047817561e-18,
1.9110043319627004e-19,
0.031669215604204104
],
"class": "Fruit"
},
{
"name": "orange",
"xml_path": "obj/meshes/fruit/orange/orange_4/model.xml",
"position": [
-0.25003955000463646,
-0.17376735601769008,
0.7849156829029994
],
"orientation": [
0.9985704165026663,
0.005038405128300257,
0.006973985298968484,
0.05275510675284166
],
"class": "Fruit"
},
{
"name": "peach",
"xml_path": "obj/meshes/fruit/peach/peach_3/model.xml",
"position": [
0.27779241105596486,
-0.18899145048984065,
0.7886197863764552
],
"orientation": [
0.9984813099199035,
-0.009200798478418055,
-0.00079640351685247,
0.054311921245999165
],
"class": "Fruit"
},
{
"name": "apple",
"xml_path": "obj/meshes/fruit/apple/apple_14/model.xml",
"position": [
-0.28198638888568606,
0.23595410041532344,
0.791317393303001
],
"orientation": [
0.9997197765984386,
0.01330458024319465,
0.017911895976078306,
0.007906984574574944
],
"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 in tray_seen into the plate_seen"
],
"conditions": {
"contain": {
"container": "plate_seen",
"entities": [
"orange_inside"
]
}
}
}
} |