Spatial/select_fruit_spatial/example48/env_config/env_config.json

{
    "task": {
        "components": [
            {
                "name": "table",
                "xml_path": "obj/meshes/table/table.xml",
                "position": [
                    -3.8695983450272054e-10,
                    -6.505734418296986e-10,
                    -7.566101540741302e-07
                ],
                "orientation": [
                    1.0,
                    3.558200164243624e-11,
                    -8.839827213732723e-10,
                    2.9581154301434144e-11
                ],
                "class": "Table",
                "materials": [
                    "wood1"
                ]
            },
            {
                "name": "plate_seen",
                "xml_path": "obj/meshes/tablewares/plates/plate_10/model.xml",
                "position": [
                    -0.1936576351959006,
                    -0.0399385505498601,
                    0.7728189720082693
                ],
                "orientation": [
                    0.9998809686299805,
                    -0.0037067087465169164,
                    -0.008008899002094656,
                    0.012655687204314252
                ],
                "class": "Plate"
            },
            {
                "name": "apple_inside",
                "xml_path": "obj/meshes/fruit/apple/apple_17/model.xml",
                "position": [
                    -0.13522901455866532,
                    -0.06570238649635796,
                    0.8010260422728348
                ],
                "orientation": [
                    0.9982741402753259,
                    1.1131908169954394e-18,
                    6.548624296209992e-20,
                    0.05872598111193296
                ],
                "class": "Fruit"
            },
            {
                "name": "mango_inside",
                "xml_path": "obj/meshes/fruit/mango/mango_18/model.xml",
                "position": [
                    -0.26092855713692736,
                    0.05687951716672301,
                    0.817701866822614
                ],
                "orientation": [
                    0.9970710777736198,
                    -0.016306142849913025,
                    0.04116960857705445,
                    0.062357348422804014
                ],
                "class": "Fruit"
            },
            {
                "name": "apple",
                "xml_path": "obj/meshes/fruit/apple/apple_1/model.xml",
                "position": [
                    0.287637954400416,
                    0.2907071571351454,
                    0.7905364352556399
                ],
                "orientation": [
                    0.9991123795725632,
                    -0.01732186182024382,
                    -0.016841210209159997,
                    0.0345076763433861
                ],
                "class": "Fruit"
            },
            {
                "name": "kiwi",
                "xml_path": "obj/meshes/fruit/kiwi/kiwi_7/model.xml",
                "position": [
                    0.2780594687753703,
                    -0.17595225003597403,
                    0.7858956826760686
                ],
                "orientation": [
                    0.9966019499017678,
                    -0.056321104385861305,
                    -0.008902296593013878,
                    -0.059441027650288275
                ],
                "class": "Fruit"
            },
            {
                "name": "orange",
                "xml_path": "obj/meshes/fruit/orange/orange_13/model.xml",
                "position": [
                    -0.1028820094375513,
                    0.28992100385232317,
                    0.7886064807410941
                ],
                "orientation": [
                    0.9977500973306107,
                    -0.00010572282093189148,
                    0.0003393066307040149,
                    0.06704190458549741
                ],
                "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"
                ]
            }
        }
    }
}