| { | |
| "task": { | |
| "components": [ | |
| { | |
| "name": "table", | |
| "xml_path": "obj/meshes/table/table.xml", | |
| "position": [ | |
| -5.270644184115908e-10, | |
| -2.0202155227287004e-10, | |
| -7.565870726048993e-07 | |
| ], | |
| "orientation": [ | |
| 1.0, | |
| 1.1054548739728618e-10, | |
| 3.7074746369874234e-10, | |
| 8.558698669813543e-11 | |
| ], | |
| "class": "Table", | |
| "materials": [ | |
| "stone3" | |
| ] | |
| }, | |
| { | |
| "name": "plate_seen", | |
| "xml_path": "obj/meshes/tablewares/plates/plate_13/model.xml", | |
| "position": [ | |
| 0.2610218216136689, | |
| -0.1192420643796737, | |
| 0.7671340258658377 | |
| ], | |
| "orientation": [ | |
| 0.999584735091932, | |
| 0.007032876125388945, | |
| 0.011046221836353337, | |
| 0.02566859964507083 | |
| ], | |
| "class": "Plate" | |
| }, | |
| { | |
| "name": "pear_inside", | |
| "xml_path": "obj/meshes/fruit/pear/pear_2/model.xml", | |
| "position": [ | |
| 0.3550429908956447, | |
| -0.05915084289233106, | |
| 0.8022637070747328 | |
| ], | |
| "orientation": [ | |
| 0.9992600897361792, | |
| -0.0028256966413137234, | |
| -0.0016545106181627463, | |
| 0.038321679158789874 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "kiwi_inside", | |
| "xml_path": "obj/meshes/fruit/kiwi/kiwi_1/model.xml", | |
| "position": [ | |
| 0.1912333318954176, | |
| -0.19567105092792988, | |
| 0.801052832481393 | |
| ], | |
| "orientation": [ | |
| 0.9997365948968197, | |
| 6.999571685909239e-19, | |
| 1.606883404924582e-20, | |
| 0.022950834932792482 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "mango_inside", | |
| "xml_path": "obj/meshes/fruit/mango/mango_5/model.xml", | |
| "position": [ | |
| 0.34234814607803876, | |
| -0.2170222913687904, | |
| 0.8024188199006854 | |
| ], | |
| "orientation": [ | |
| 0.9975691632452538, | |
| 0.0024527809549204135, | |
| -0.0013505700503546685, | |
| 0.06962703762397451 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "pear", | |
| "xml_path": "obj/meshes/fruit/pear/pear_6/model.xml", | |
| "position": [ | |
| -0.2753492198833888, | |
| 0.2925657240153711, | |
| 0.7899197888839362 | |
| ], | |
| "orientation": [ | |
| 0.9924463868823554, | |
| -0.11291069742420892, | |
| 0.025006889914496802, | |
| 0.04093896711130709 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "mango", | |
| "xml_path": "obj/meshes/fruit/mango/mango_13/model.xml", | |
| "position": [ | |
| -0.2097288779720366, | |
| -0.17136262717381778, | |
| 0.7949267231191982 | |
| ], | |
| "orientation": [ | |
| 0.9988058009092806, | |
| 0.008655367209674025, | |
| -0.0002146281162540144, | |
| 0.048083371587359425 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "kiwi", | |
| "xml_path": "obj/meshes/fruit/kiwi/kiwi_7/model.xml", | |
| "position": [ | |
| 0.14692082978739643, | |
| 0.2686731490991742, | |
| 0.7858960139875212 | |
| ], | |
| "orientation": [ | |
| 0.9973319684085781, | |
| -0.05607820319080941, | |
| -0.009818942582638992, | |
| -0.04569210307832624 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "orange", | |
| "xml_path": "obj/meshes/fruit/orange/orange_0/model.xml", | |
| "position": [ | |
| 0.027807141878825763, | |
| 0.008945697054193527, | |
| 0.7818798890795692 | |
| ], | |
| "orientation": [ | |
| 0.9975867611601522, | |
| -0.06049217914063175, | |
| 0.0021687500593821, | |
| -0.03400950961120877 | |
| ], | |
| "class": "Fruit" | |
| } | |
| ], | |
| "scene": { | |
| "name": "studyroom_0", | |
| "position": [ | |
| -1.5, | |
| -1.0, | |
| 0.0 | |
| ], | |
| "orientation": [ | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "floor_textures": [ | |
| "floorplane" | |
| ] | |
| }, | |
| "instructions": [ | |
| "Put the pear in tray_seen into the plate_seen" | |
| ], | |
| "conditions": { | |
| "contain": { | |
| "container": "plate_seen", | |
| "entities": [ | |
| "pear_inside" | |
| ] | |
| } | |
| } | |
| } | |
| } |