{ "task": { "components": [ { "name": "table", "xml_path": "obj/meshes/table/table.xml", "position": [ 2.6431147929391787e-10, -1.7517486626438456e-10, -7.553430566372375e-07 ], "orientation": [ 1.0, -2.653738817324336e-10, 2.3716153090465266e-11, -3.4486933119124214e-11 ], "class": "Table", "materials": [ "stone0" ] }, { "name": "plate_seen", "xml_path": "obj/meshes/tablewares/plates/plate_11/model.xml", "position": [ 0.07649953153436143, 0.2363574725685132, 0.767934977713948 ], "orientation": [ 0.9997424609525788, -0.0016501424640380875, -0.0011850152307738442, 0.022602755080566805 ], "class": "Plate" }, { "name": "apple_inside", "xml_path": "obj/meshes/fruit/apple/apple_9/model.xml", "position": [ 0.1626793611993831, 0.23685324583569317, 0.8009878896056407 ], "orientation": [ 0.9972215230829383, 1.6834569562620412e-18, 1.2575547111880393e-19, 0.07449318022574129 ], "class": "Fruit" }, { "name": "banana_inside", "xml_path": "obj/meshes/fruit/banana/banana_20/model.xml", "position": [ -0.005537172446568284, 0.18606246020832584, 0.801154243466979 ], "orientation": [ 0.9995345996867733, 3.69131474382062e-17, 9.441382691210281e-17, -0.030505475393805766 ], "class": "Fruit" }, { "name": "apple", "xml_path": "obj/meshes/fruit/apple/apple_15/model.xml", "position": [ -0.2789980677145817, -0.18458768888765492, 0.7911542053562447 ], "orientation": [ 0.9995306848022608, 0.014817165016903777, -0.012018297918813868, 0.02396710818435563 ], "class": "Fruit" }, { "name": "lemon", "xml_path": "obj/meshes/fruit/lemon/lemon_13/model.xml", "position": [ 0.25353036548336655, -0.19011488029836232, 0.789962993130968 ], "orientation": [ 0.9996085306394189, -0.003932985807317765, -0.01986127657954069, 0.019309241004550576 ], "class": "Fruit" }, { "name": "banana", "xml_path": "obj/meshes/fruit/banana/banana_2/model.xml", "position": [ -0.2637259084269863, 0.26061410408756525, 0.7725532673868227 ], "orientation": [ 0.9942708394437636, -0.01251495565333828, -0.0591174877186102, -0.08817026915365744 ], "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" ] } } } }