{ "task": { "components": [ { "name": "table", "xml_path": "obj/meshes/table/table.xml", "position": [ 3.4300703610286647e-09, -1.1122412298507137e-09, -7.5848271651987e-07 ], "orientation": [ 1.0, -1.5701533905340655e-10, 6.424874751992956e-10, -6.8661475807258e-10 ], "class": "Table", "materials": [ "stone2" ] }, { "name": "plate_seen", "xml_path": "obj/meshes/tablewares/plates/plate_11/model.xml", "position": [ -0.0927336438996818, -0.05612812795805317, 0.7681762670270705 ], "orientation": [ 0.9999433031977537, 0.00258127149055753, 0.001804178098306582, 0.010172136886920738 ], "class": "Plate" }, { "name": "pear_inside", "xml_path": "obj/meshes/fruit/pear/pear_10/model.xml", "position": [ -0.026866794433152364, -0.1578530767905488, 0.8030392487406437 ], "orientation": [ 0.9992286202104327, 0.004805104502672003, 0.0038178274307566064, 0.038787881055590306 ], "class": "Fruit" }, { "name": "apple_inside", "xml_path": "obj/meshes/fruit/apple/apple_12/model.xml", "position": [ -0.16371454464270638, -0.043861211870746215, 0.8009907152471805 ], "orientation": [ 0.9972568764535453, 2.6874013264998034e-18, -1.9946428022511297e-19, -0.07401839208006558 ], "class": "Fruit" }, { "name": "mango_inside", "xml_path": "obj/meshes/fruit/mango/mango_12/model.xml", "position": [ -0.17126253507661202, -0.13984709536786336, 0.8020042705920815 ], "orientation": [ 0.9972166716414893, 1.5835304924349998e-05, 0.004756392859909752, -0.0744062247159163 ], "class": "Fruit" }, { "name": "pear", "xml_path": "obj/meshes/fruit/pear/pear_5/model.xml", "position": [ 0.27847810253668254, 0.2686830387566293, 0.7911420875239643 ], "orientation": [ 0.9992105245787246, -0.003319151471925779, -0.005058741935717964, 0.03926474162202996 ], "class": "Fruit" }, { "name": "peach", "xml_path": "obj/meshes/fruit/peach/peach_2/model.xml", "position": [ -0.2725633338665565, 0.2743583778686499, 0.7919557384017565 ], "orientation": [ 0.997940428293665, -0.003811459881511021, 0.012437016467498844, 0.06281476714925242 ], "class": "Fruit" }, { "name": "kiwi", "xml_path": "obj/meshes/fruit/kiwi/kiwi_0/model.xml", "position": [ 0.28843511067509237, -0.16378390857993777, 0.7878844071503853 ], "orientation": [ 0.996474315738028, 0.031650298675085405, -0.025080729777965417, -0.07354014999991833 ], "class": "Fruit" }, { "name": "banana", "xml_path": "obj/meshes/fruit/banana/banana_0/banana.xml", "position": [ 0.044319043370802, 0.1930357090559007, 0.7772540101261999 ], "orientation": [ 0.999400357804695, 0.0069919099241853465, 0.008829008970375963, -0.03274273379029042 ], "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 pear in tray_seen into the plate_seen" ], "conditions": { "contain": { "container": "plate_seen", "entities": [ "pear_inside" ] } } } }