| { | |
| "task": { | |
| "components": [ | |
| { | |
| "name": "table", | |
| "xml_path": "obj/meshes/table/table.xml", | |
| "position": [ | |
| 2.6431147929391787e-10, | |
| -1.7517486626438456e-10, | |
| -7.553430566372375e-07 | |
| ], | |
| "orientation": [ | |
| 1.0, | |
| -2.653738817324336e-10, | |
| 2.3716153090465266e-11, | |
| -3.4486933119124214e-11 | |
| ], | |
| "class": "Table", | |
| "materials": [ | |
| "stone0" | |
| ] | |
| }, | |
| { | |
| "name": "plate_seen", | |
| "xml_path": "obj/meshes/tablewares/plates/plate_11/model.xml", | |
| "position": [ | |
| 0.07649953153436143, | |
| 0.2363574725685132, | |
| 0.767934977713948 | |
| ], | |
| "orientation": [ | |
| 0.9997424609525788, | |
| -0.0016501424640380875, | |
| -0.0011850152307738442, | |
| 0.022602755080566805 | |
| ], | |
| "class": "Plate" | |
| }, | |
| { | |
| "name": "apple_inside", | |
| "xml_path": "obj/meshes/fruit/apple/apple_9/model.xml", | |
| "position": [ | |
| 0.1626793611993831, | |
| 0.23685324583569317, | |
| 0.8009878896056407 | |
| ], | |
| "orientation": [ | |
| 0.9972215230829383, | |
| 1.6834569562620412e-18, | |
| 1.2575547111880393e-19, | |
| 0.07449318022574129 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "banana_inside", | |
| "xml_path": "obj/meshes/fruit/banana/banana_20/model.xml", | |
| "position": [ | |
| -0.005537172446568284, | |
| 0.18606246020832584, | |
| 0.801154243466979 | |
| ], | |
| "orientation": [ | |
| 0.9995345996867733, | |
| 3.69131474382062e-17, | |
| 9.441382691210281e-17, | |
| -0.030505475393805766 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "apple", | |
| "xml_path": "obj/meshes/fruit/apple/apple_15/model.xml", | |
| "position": [ | |
| -0.2789980677145817, | |
| -0.18458768888765492, | |
| 0.7911542053562447 | |
| ], | |
| "orientation": [ | |
| 0.9995306848022608, | |
| 0.014817165016903777, | |
| -0.012018297918813868, | |
| 0.02396710818435563 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "lemon", | |
| "xml_path": "obj/meshes/fruit/lemon/lemon_13/model.xml", | |
| "position": [ | |
| 0.25353036548336655, | |
| -0.19011488029836232, | |
| 0.789962993130968 | |
| ], | |
| "orientation": [ | |
| 0.9996085306394189, | |
| -0.003932985807317765, | |
| -0.01986127657954069, | |
| 0.019309241004550576 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "banana", | |
| "xml_path": "obj/meshes/fruit/banana/banana_2/model.xml", | |
| "position": [ | |
| -0.2637259084269863, | |
| 0.26061410408756525, | |
| 0.7725532673868227 | |
| ], | |
| "orientation": [ | |
| 0.9942708394437636, | |
| -0.01251495565333828, | |
| -0.0591174877186102, | |
| -0.08817026915365744 | |
| ], | |
| "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 apple in tray_seen into the plate_seen" | |
| ], | |
| "conditions": { | |
| "contain": { | |
| "container": "plate_seen", | |
| "entities": [ | |
| "apple_inside" | |
| ] | |
| } | |
| } | |
| } | |
| } |