{ "task": { "components": [ { "name": "table", "xml_path": "obj/meshes/table/table.xml", "position": [ -1.202268263652441e-09, 1.9893002580808728e-10, -7.58264627829749e-07 ], "orientation": [ 1.0, 2.3246103476068098e-11, 7.90187461304944e-10, 6.104596323001988e-11 ], "class": "Table", "materials": [ "wood0" ] }, { "name": "plate_seen", "xml_path": "obj/meshes/tablewares/plates/plate_12/model.xml", "position": [ 0.27752812077014005, -0.04369297066297111, 0.7738626388037843 ], "orientation": [ 0.9994591169547203, 0.0017840556991173596, -0.008112720232913446, -0.03181940369925402 ], "class": "Plate" }, { "name": "apple_inside", "xml_path": "obj/meshes/fruit/apple/apple_2/model.xml", "position": [ 0.33116828894038053, -0.08422634218595866, 0.8175578274779318 ], "orientation": [ 0.9963122658229091, -0.016143276952005958, -0.008621809764671967, 0.08382677362545729 ], "class": "Fruit" }, { "name": "pear_inside", "xml_path": "obj/meshes/fruit/pear/pear_11/model.xml", "position": [ 0.20533937538137575, 0.033323483068978886, 0.8149794657263941 ], "orientation": [ 0.9980681195905566, 0.0026312002795248804, 0.0534946316821636, -0.03148697863002318 ], "class": "Fruit" }, { "name": "kiwi_inside", "xml_path": "obj/meshes/fruit/kiwi/kiwi_1/model.xml", "position": [ 0.19764301982101434, -0.09504794667610755, 0.8029463849480563 ], "orientation": [ 0.9999884932690175, -0.00316534434207467, 0.0011591150965530005, -0.003413264851873622 ], "class": "Fruit" }, { "name": "apple", "xml_path": "obj/meshes/fruit/apple/apple_10/model.xml", "position": [ -0.2629478427590967, 0.2687423661037939, 0.79100541571449 ], "orientation": [ 0.99696140881879, 0.00044979990882099244, 0.003763828759944082, -0.07780475948912689 ], "class": "Fruit" }, { "name": "mango", "xml_path": "obj/meshes/fruit/mango/mango_7/model.xml", "position": [ -0.2063729051920658, -0.18424397084376426, 0.7892280597169551 ], "orientation": [ 0.9995054245733614, -0.014450443191366914, 0.014368895213533498, -0.023950486223450126 ], "class": "Fruit" }, { "name": "pear", "xml_path": "obj/meshes/fruit/pear/pear_13/model.xml", "position": [ 0.09704819328731254, 0.28099112942953897, 0.7863023864789016 ], "orientation": [ 0.9947477204545003, -0.07368719542687109, 0.07003972999246993, -0.011899836271056731 ], "class": "Fruit" }, { "name": "banana", "xml_path": "obj/meshes/fruit/banana/banana_14/model.xml", "position": [ -0.04553927015043257, 0.022124136888675688, 0.7814533441109163 ], "orientation": [ 0.9975071615590433, 0.014555781180059579, 0.06454289259878782, -0.024531752641045828 ], "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 apple in tray_seen into the plate_seen" ], "conditions": { "contain": { "container": "plate_seen", "entities": [ "apple_inside" ] } } } }