File size: 4,705 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": [
-1.667776772723552e-10,
-1.1106433066388875e-09,
-7.566866446791628e-07
],
"orientation": [
1.0,
-4.3762771068309097e-10,
3.635138389865734e-10,
4.425065819419789e-10
],
"class": "Table",
"materials": [
"wood3"
]
},
{
"name": "plate_seen",
"xml_path": "obj/meshes/tablewares/plates/plate_10/model.xml",
"position": [
0.1542920455739797,
0.17045576773683285,
0.772022044294916
],
"orientation": [
0.9990871872500288,
0.0019230047316670773,
0.001960590458088247,
-0.042629220151017944
],
"class": "Plate"
},
{
"name": "banana_inside",
"xml_path": "obj/meshes/fruit/banana/banana_11/model.xml",
"position": [
0.07912170690386083,
0.2524126998724048,
0.8011909608274091
],
"orientation": [
0.9969210820366978,
-3.790647327915049e-18,
9.672778819468536e-17,
-0.07841145446157427
],
"class": "Fruit"
},
{
"name": "kiwi_inside",
"xml_path": "obj/meshes/fruit/kiwi/kiwi_7/model.xml",
"position": [
0.21876922076828897,
0.07619747998478658,
0.8078537416884232
],
"orientation": [
0.9998946492658829,
-0.013097837497511217,
0.0019372201242792361,
0.00594846203118789
],
"class": "Fruit"
},
{
"name": "banana",
"xml_path": "obj/meshes/fruit/banana/banana_23/model.xml",
"position": [
-0.2838517611571127,
-0.15697927934457803,
0.771941804118811
],
"orientation": [
0.991486028502625,
-0.019519364898639136,
-0.12154947097962357,
-0.042428478438670626
],
"class": "Fruit"
},
{
"name": "mango",
"xml_path": "obj/meshes/fruit/mango/mango_18/model.xml",
"position": [
-0.2576607455306371,
0.30375194974110165,
0.7927742083539965
],
"orientation": [
0.9716642129222368,
-0.19577546417261144,
0.12458399810735826,
0.04493831738944822
],
"class": "Fruit"
},
{
"name": "apple",
"xml_path": "obj/meshes/fruit/apple/apple_7/model.xml",
"position": [
0.2711885090407259,
-0.1587715079864436,
0.7915304498339386
],
"orientation": [
0.9995160435088405,
0.00042842474623439514,
-0.0004028550746854197,
-0.0311019762790036
],
"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 banana in tray_seen into the plate_seen"
],
"conditions": {
"contain": {
"container": "plate_seen",
"entities": [
"banana_inside"
]
}
}
}
} |