Spatial/select_fruit_spatial/example21/env_config/env_config.json

{
    "task": {
        "components": [
            {
                "name": "table",
                "xml_path": "obj/meshes/table/table.xml",
                "position": [
                    1.6938206638694826e-09,
                    3.21320877158171e-10,
                    -7.589698042658015e-07
                ],
                "orientation": [
                    1.0,
                    7.766428485524699e-10,
                    -8.238461133420642e-10,
                    -1.91594509959911e-11
                ],
                "class": "Table",
                "materials": [
                    "wood3"
                ]
            },
            {
                "name": "plate_seen",
                "xml_path": "obj/meshes/tablewares/plates/plate_12/model.xml",
                "position": [
                    -0.19156828807747714,
                    -0.11947781055768598,
                    0.7742086095164692
                ],
                "orientation": [
                    0.9977615746693803,
                    0.005472768170488643,
                    -0.009238385137314929,
                    -0.06600409958393193
                ],
                "class": "Plate"
            },
            {
                "name": "pear_inside",
                "xml_path": "obj/meshes/fruit/pear/pear_18/model.xml",
                "position": [
                    -0.23930492169199774,
                    -0.10883672378363607,
                    0.8118712182702389
                ],
                "orientation": [
                    0.9995655557216258,
                    -0.01658168231656558,
                    -0.02150013435690844,
                    -0.011466989539728805
                ],
                "class": "Fruit"
            },
            {
                "name": "kiwi_inside",
                "xml_path": "obj/meshes/fruit/kiwi/kiwi_0/model.xml",
                "position": [
                    -0.30964002009100894,
                    -0.18164870310783834,
                    0.810913891701763
                ],
                "orientation": [
                    0.9982588042750218,
                    0.032767659830361166,
                    -0.017507778229091574,
                    0.0458161309816326
                ],
                "class": "Fruit"
            },
            {
                "name": "apple_inside",
                "xml_path": "obj/meshes/fruit/apple/apple_12/model.xml",
                "position": [
                    -0.16292164297878736,
                    -0.18052330273905523,
                    0.8114721204305114
                ],
                "orientation": [
                    0.9975980381647709,
                    -0.04271318346559342,
                    -0.03088553073775849,
                    -0.044942432055705014
                ],
                "class": "Fruit"
            },
            {
                "name": "pear",
                "xml_path": "obj/meshes/fruit/pear/pear_0/model.xml",
                "position": [
                    0.284593363681024,
                    0.25876148664173654,
                    0.7874960170109466
                ],
                "orientation": [
                    0.9927690977521698,
                    0.029098675217801503,
                    -0.11615644846535403,
                    -0.00839435100693428
                ],
                "class": "Fruit"
            },
            {
                "name": "orange",
                "xml_path": "obj/meshes/fruit/orange/orange_0/model.xml",
                "position": [
                    0.2897666814742886,
                    -0.19200045433618723,
                    0.7818807284272399
                ],
                "orientation": [
                    0.9981203918756121,
                    -0.06063440351029341,
                    0.0003850970965295184,
                    -0.008888426927941444
                ],
                "class": "Fruit"
            },
            {
                "name": "banana",
                "xml_path": "obj/meshes/fruit/banana/banana_5/model.xml",
                "position": [
                    -0.2778333972147343,
                    0.2670794041656201,
                    0.7700796616937838
                ],
                "orientation": [
                    0.9873426201114787,
                    -0.028672661489731164,
                    -0.15206508398006685,
                    -0.034765489046323886
                ],
                "class": "Fruit"
            },
            {
                "name": "mango",
                "xml_path": "obj/meshes/fruit/mango/mango_5/model.xml",
                "position": [
                    0.010902543164753297,
                    0.07165719767950775,
                    0.7918691286669819
                ],
                "orientation": [
                    0.9966284293668513,
                    -0.04786177327681948,
                    -0.02354245006014978,
                    -0.06234402522878908
                ],
                "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 in tray_seen into the plate_seen"
        ],
        "conditions": {
            "contain": {
                "container": "plate_seen",
                "entities": [
                    "pear_inside"
                ]
            }
        }
    }
}