| { | |
| "task": { | |
| "components": [ | |
| { | |
| "name": "table", | |
| "xml_path": "obj/meshes/table/table.xml", | |
| "position": [ | |
| -1.7761011227193707e-09, | |
| 1.3195081780910356e-10, | |
| -7.711257047258424e-07 | |
| ], | |
| "orientation": [ | |
| 1.0, | |
| -2.662867357794501e-09, | |
| -3.5791103541549003e-09, | |
| 3.084133925580191e-10 | |
| ], | |
| "class": "Table", | |
| "materials": [ | |
| "stone0" | |
| ] | |
| }, | |
| { | |
| "name": "plate_seen", | |
| "xml_path": "obj/meshes/tablewares/plates/plate_12/model.xml", | |
| "position": [ | |
| -0.08307439250529418, | |
| 0.10633790100910902, | |
| 0.7736420558189734 | |
| ], | |
| "orientation": [ | |
| 0.9991351497237203, | |
| 7.76728096637682e-05, | |
| 0.005990456187475785, | |
| 0.04114682233369397 | |
| ], | |
| "class": "Plate" | |
| }, | |
| { | |
| "name": "orange_inside", | |
| "xml_path": "obj/meshes/fruit/orange/orange_14/orange.xml", | |
| "position": [ | |
| -0.025818966711672327, | |
| 0.14701949192408437, | |
| 0.8120062174672357 | |
| ], | |
| "orientation": [ | |
| 0.9991187230493572, | |
| 0.03750506597723822, | |
| -0.008069545228375751, | |
| -0.017030258896223418 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "peach_inside", | |
| "xml_path": "obj/meshes/fruit/peach/peach_7/peach.xml", | |
| "position": [ | |
| -0.15355844640803207, | |
| 0.03174988434914284, | |
| 0.8169790592869817 | |
| ], | |
| "orientation": [ | |
| 0.9979344040279456, | |
| -0.030850966357419407, | |
| 0.011342955098391437, | |
| 0.05519493184919117 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "lemon_inside", | |
| "xml_path": "obj/meshes/fruit/lemon/lemon_1/model.xml", | |
| "position": [ | |
| -0.16949650069396308, | |
| 0.20772167380597367, | |
| 0.8175869395259769 | |
| ], | |
| "orientation": [ | |
| 0.9888730458455511, | |
| 0.006307059497323104, | |
| -0.013190368929853058, | |
| -0.1480416642980416 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "orange", | |
| "xml_path": "obj/meshes/fruit/orange/orange_3/model.xml", | |
| "position": [ | |
| 0.2774050800176675, | |
| -0.18220474701967895, | |
| 0.7933291679488855 | |
| ], | |
| "orientation": [ | |
| 0.9985846359274084, | |
| 0.009642693814342436, | |
| -0.007725138213970377, | |
| -0.05173070254020516 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "pear", | |
| "xml_path": "obj/meshes/fruit/pear/pear_12/model.xml", | |
| "position": [ | |
| 0.2773159737898667, | |
| 0.29858427541384097, | |
| 0.7893831378247373 | |
| ], | |
| "orientation": [ | |
| 0.9937535154362821, | |
| -0.11153918388630711, | |
| 0.0030168354685576938, | |
| 0.0019646169506601883 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "apple", | |
| "xml_path": "obj/meshes/fruit/apple/apple_9/model.xml", | |
| "position": [ | |
| -0.26018123153850414, | |
| -0.1819973943124294, | |
| 0.7904611112666874 | |
| ], | |
| "orientation": [ | |
| 0.9993312361734367, | |
| 0.00393781651600659, | |
| 0.03589747958071899, | |
| -0.005739770806373182 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "banana", | |
| "xml_path": "obj/meshes/fruit/banana/banana_11/model.xml", | |
| "position": [ | |
| -0.030217801828326438, | |
| -0.13310908110534617, | |
| 0.7761724823223191 | |
| ], | |
| "orientation": [ | |
| 0.9976264803709299, | |
| -0.006576375297595823, | |
| -0.042843167975273065, | |
| 0.05350345697706453 | |
| ], | |
| "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" | |
| ] | |
| } | |
| } | |
| } | |
| } |