| { | |
| "task": { | |
| "components": [ | |
| { | |
| "name": "table", | |
| "xml_path": "obj/meshes/table/table.xml", | |
| "position": [ | |
| 1.2267390272488685e-09, | |
| 2.2558505774010592e-10, | |
| -7.571690677608577e-07 | |
| ], | |
| "orientation": [ | |
| 1.0, | |
| -2.47971585049541e-12, | |
| 6.945882954169326e-11, | |
| 4.319662828699718e-11 | |
| ], | |
| "class": "Table", | |
| "materials": [ | |
| "stone2" | |
| ] | |
| }, | |
| { | |
| "name": "plate_seen", | |
| "xml_path": "obj/meshes/tablewares/plates/plate_0/model.xml", | |
| "position": [ | |
| -0.14532498254539108, | |
| -0.04407476624021604, | |
| 0.776307049227675 | |
| ], | |
| "orientation": [ | |
| 0.9998906303775971, | |
| 0.0013184338461895329, | |
| 0.001840548263228811, | |
| 0.014615108531071948 | |
| ], | |
| "class": "Plate" | |
| }, | |
| { | |
| "name": "banana_inside", | |
| "xml_path": "obj/meshes/fruit/banana/banana_16/model.xml", | |
| "position": [ | |
| -0.1974527751981725, | |
| -0.006378374027411693, | |
| 0.8049874792895612 | |
| ], | |
| "orientation": [ | |
| 0.9984291910951021, | |
| 0.032185167907552895, | |
| 0.04549671755103219, | |
| 0.005771830560993843 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "peach_inside", | |
| "xml_path": "obj/meshes/fruit/peach/peach_6/model.xml", | |
| "position": [ | |
| -0.06507306655976926, | |
| -0.06625950561583141, | |
| 0.8123489041961626 | |
| ], | |
| "orientation": [ | |
| 0.9970825371861322, | |
| 1.3259809724349287e-05, | |
| -0.06864065141733455, | |
| -0.03338974147319631 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "banana", | |
| "xml_path": "obj/meshes/fruit/banana/banana_11/model.xml", | |
| "position": [ | |
| 0.28219499908608386, | |
| 0.27763892537370555, | |
| 0.7761778464412068 | |
| ], | |
| "orientation": [ | |
| 0.9970771479549996, | |
| -0.006176578348746331, | |
| -0.04278677406709175, | |
| 0.06299446698526316 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "pear", | |
| "xml_path": "obj/meshes/fruit/pear/pear_0/model.xml", | |
| "position": [ | |
| 0.2833780403055435, | |
| -0.19414897561675298, | |
| 0.7875006813468689 | |
| ], | |
| "orientation": [ | |
| 0.991979881491237, | |
| 0.03567402142800693, | |
| -0.11276826764431244, | |
| 0.04457125446167048 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "lemon", | |
| "xml_path": "obj/meshes/fruit/lemon/lemon_7/model.xml", | |
| "position": [ | |
| -0.2631359126703337, | |
| 0.2914524646511133, | |
| 0.7909937098451131 | |
| ], | |
| "orientation": [ | |
| 0.9974452399259573, | |
| -0.0006979615965678212, | |
| 1.550872969674261e-05, | |
| 0.07143182734705691 | |
| ], | |
| "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 banana in tray_seen into the plate_seen" | |
| ], | |
| "conditions": { | |
| "contain": { | |
| "container": "plate_seen", | |
| "entities": [ | |
| "banana_inside" | |
| ] | |
| } | |
| } | |
| } | |
| } |