{ "task": { "components": [ { "name": "table", "xml_path": "obj/meshes/table/table.xml", "position": [ -1.1215134061077867e-09, 3.9150402579029723e-10, -7.623607830109741e-07 ], "orientation": [ 1.0, 3.9029981191211196e-10, 1.5572599683644645e-09, -1.4680282018558407e-11 ], "class": "Table", "materials": [ "stone4" ] }, { "name": "plate_seen", "xml_path": "obj/meshes/tablewares/plates/plate_0/model.xml", "position": [ 0.2009131140660494, -0.04306882219751653, 0.7762154001790426 ], "orientation": [ 0.9982744456952245, -0.0015983398586239188, 0.0015633460582657088, 0.058678210016080846 ], "class": "Plate" }, { "name": "apple_inside", "xml_path": "obj/meshes/fruit/apple/apple_raw/apple.xml", "position": [ 0.22291022699817423, -0.026911016591489926, 0.8028404207081765 ], "orientation": [ 0.997612762840571, 0.006813375089876311, 0.007826108037740856, -0.06827228845197116 ], "class": "Fruit" }, { "name": "pear_inside", "xml_path": "obj/meshes/fruit/pear/pear_12/model.xml", "position": [ 0.14729520253394476, -0.06920499050235791, 0.8059152114461169 ], "orientation": [ 0.9980920746168055, -0.003932965947321202, -0.0003690598982895604, 0.061616606209446256 ], "class": "Fruit" }, { "name": "kiwi_inside", "xml_path": "obj/meshes/fruit/kiwi/kiwi_4/model.xml", "position": [ 0.2749078645644247, -0.09896511227514729, 0.8105678433736627 ], "orientation": [ 0.9976579144036811, -0.0479892146892217, -0.0399141715997705, -0.027974631484838912 ], "class": "Fruit" }, { "name": "apple", "xml_path": "obj/meshes/fruit/apple/apple_20/model.xml", "position": [ -0.250845553606802, 0.26635322380621507, 0.7909129281001279 ], "orientation": [ 0.9991393103831396, -0.0004320045903237354, 0.001458883621234999, 0.041452665507995395 ], "class": "Fruit" }, { "name": "kiwi", "xml_path": "obj/meshes/fruit/kiwi/kiwi_0/model.xml", "position": [ -0.25222286785333975, -0.18111282655018168, 0.7878844049473522 ], "orientation": [ 0.9963448599127664, 0.031606607382145775, -0.02513585085665573, -0.07527371052971323 ], "class": "Fruit" }, { "name": "banana", "xml_path": "obj/meshes/fruit/banana/banana_10/model.xml", "position": [ 0.08850530143464086, 0.2779024811061704, 0.7701322149991581 ], "orientation": [ 0.9948778227382185, -0.0069682464347083535, -0.08784515118129844, -0.04952565778686505 ], "class": "Fruit" }, { "name": "mango", "xml_path": "obj/meshes/fruit/mango/mango_11/model.xml", "position": [ -0.10764449291426444, 0.007608055570316363, 0.7984258845312758 ], "orientation": [ 0.9989627761058741, -0.00876443072120311, 0.0010843830766779992, 0.04466968571998094 ], "class": "Fruit" } ], "scene": { "name": "studyroom_0", "position": [ 0.0, 0.0, 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" ] } } } }