| { | |
| "task": { | |
| "components": [ | |
| { | |
| "name": "table", | |
| "xml_path": "obj/meshes/table/table.xml", | |
| "position": [ | |
| 9.447356413854483e-10, | |
| -1.6958919473869305e-09, | |
| -7.734814965277896e-07 | |
| ], | |
| "orientation": [ | |
| 1.0, | |
| 3.874865769086306e-09, | |
| -3.967168960411321e-10, | |
| 8.921715805353503e-11 | |
| ], | |
| "class": "Table", | |
| "materials": [ | |
| "stone" | |
| ] | |
| }, | |
| { | |
| "name": "plate_seen", | |
| "xml_path": "obj/meshes/tablewares/plates/plate3/plate.xml", | |
| "position": [ | |
| -0.0315912181218146, | |
| -0.0940743808471784, | |
| 0.7599362358952358 | |
| ], | |
| "orientation": [ | |
| 0.9998433594725599, | |
| 4.857044218006883e-05, | |
| 1.4037383533756157e-05, | |
| 0.017698981961986483 | |
| ], | |
| "class": "Plate" | |
| }, | |
| { | |
| "name": "orange_inside", | |
| "xml_path": "obj/meshes/fruit/orange/orange_4/model.xml", | |
| "position": [ | |
| -0.1238727978653055, | |
| 0.020085692903341803, | |
| 0.807724049169331 | |
| ], | |
| "orientation": [ | |
| 0.9980222499141814, | |
| -0.05076332739437625, | |
| 0.00420129167805026, | |
| -0.03683778517124231 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "pear_inside", | |
| "xml_path": "obj/meshes/fruit/pear/pear_3/model.xml", | |
| "position": [ | |
| 0.03048482021186935, | |
| -0.1364771479663193, | |
| 0.8151804755313474 | |
| ], | |
| "orientation": [ | |
| 0.9988174917241306, | |
| -0.018809658041658853, | |
| -0.0012521899279565065, | |
| 0.044813469076352384 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "orange", | |
| "xml_path": "obj/meshes/fruit/orange/orange_5/model.xml", | |
| "position": [ | |
| 0.2740199750016296, | |
| 0.2618933752847027, | |
| 0.7895025522293185 | |
| ], | |
| "orientation": [ | |
| 0.9974069936423056, | |
| -0.0012703322159485437, | |
| -0.0076012730410241775, | |
| -0.07155344811840474 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "banana", | |
| "xml_path": "obj/meshes/fruit/banana/banana_10/model.xml", | |
| "position": [ | |
| -0.2892876896129032, | |
| 0.27048553844867496, | |
| 0.7701461523706757 | |
| ], | |
| "orientation": [ | |
| 0.9938173474033806, | |
| -0.00880549334820498, | |
| -0.08742718513132047, | |
| -0.06786774334702339 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "peach", | |
| "xml_path": "obj/meshes/fruit/peach/peach_5/model.xml", | |
| "position": [ | |
| 0.2801962118752508, | |
| -0.19080274382259044, | |
| 0.7929321574910972 | |
| ], | |
| "orientation": [ | |
| 0.9992918674878778, | |
| 0.007340560660240688, | |
| 0.002650040352967468, | |
| -0.03680838257667562 | |
| ], | |
| "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" | |
| ] | |
| } | |
| } | |
| } | |
| } |