| { | |
| "task": { | |
| "components": [ | |
| { | |
| "name": "table", | |
| "xml_path": "obj/meshes/table/table.xml", | |
| "position": [ | |
| -3.8051973541103324e-10, | |
| -1.5267742461361671e-10, | |
| -7.737238045369041e-07 | |
| ], | |
| "orientation": [ | |
| 1.0, | |
| -3.4189720626091923e-09, | |
| 2.8183390823310653e-09, | |
| -5.03476482234853e-11 | |
| ], | |
| "class": "Table", | |
| "materials": [ | |
| "stone0" | |
| ] | |
| }, | |
| { | |
| "name": "plate_seen", | |
| "xml_path": "obj/meshes/tablewares/plates/plate3/plate.xml", | |
| "position": [ | |
| 0.09481117454759673, | |
| 0.11822977772995351, | |
| 0.7599378499028253 | |
| ], | |
| "orientation": [ | |
| 0.9990155065623912, | |
| 3.905969856214026e-05, | |
| -2.8656534432319804e-06, | |
| -0.04436232764427634 | |
| ], | |
| "class": "Plate" | |
| }, | |
| { | |
| "name": "pear_inside", | |
| "xml_path": "obj/meshes/fruit/pear/pear_6/model.xml", | |
| "position": [ | |
| 0.027443941330894176, | |
| 0.12195266739612044, | |
| 0.8135398097923604 | |
| ], | |
| "orientation": [ | |
| 0.9987102547290098, | |
| -0.018119130689592217, | |
| 0.007148818049308801, | |
| -0.04688729681553066 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "kiwi_inside", | |
| "xml_path": "obj/meshes/fruit/kiwi/kiwi_5/model.xml", | |
| "position": [ | |
| 0.14095885765086844, | |
| 0.04904544102047139, | |
| 0.8103675202618092 | |
| ], | |
| "orientation": [ | |
| 0.9978964076775011, | |
| -0.0035383930518843865, | |
| -0.007532673796630819, | |
| -0.06429228681905162 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "pear", | |
| "xml_path": "obj/meshes/fruit/pear/pear_11/model.xml", | |
| "position": [ | |
| -0.23995524795658327, | |
| -0.15866367297378106, | |
| 0.7903552111414062 | |
| ], | |
| "orientation": [ | |
| 0.9775457094363184, | |
| -0.025119701734072908, | |
| 0.19602124879089297, | |
| -0.07313724475188035 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "lemon", | |
| "xml_path": "obj/meshes/fruit/lemon/lemon_7/model.xml", | |
| "position": [ | |
| -0.25349777754895236, | |
| 0.26528043549765806, | |
| 0.7911540596704119 | |
| ], | |
| "orientation": [ | |
| 0.9985916441669732, | |
| 0.004462826549069868, | |
| -0.009410858451049579, | |
| -0.052021602458094306 | |
| ], | |
| "class": "Fruit" | |
| }, | |
| { | |
| "name": "banana", | |
| "xml_path": "obj/meshes/fruit/banana/banana_10/model.xml", | |
| "position": [ | |
| 0.26133813300141, | |
| -0.1905916400623725, | |
| 0.7701888769916787 | |
| ], | |
| "orientation": [ | |
| 0.9949490852427932, | |
| 0.0008495110435206549, | |
| -0.0871020064718915, | |
| 0.049888240839777095 | |
| ], | |
| "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 pear on the table into the plate_seen" | |
| ], | |
| "conditions": { | |
| "contain": { | |
| "container": "plate_seen", | |
| "entities": [ | |
| "pear" | |
| ] | |
| } | |
| } | |
| } | |
| } |