{ "task": { "components": [ { "name": "table", "xml_path": "obj/meshes/table/table.xml", "position": [ -1.4006435027885198e-11, 1.0445398497803093e-10, -7.558715709710274e-07 ], "orientation": [ 1.0, -5.041510923370836e-10, 3.8457024883728233e-10, -3.304742899987833e-11 ], "class": "Table", "materials": [ "wood0" ] }, { "name": "plate_seen", "xml_path": "obj/meshes/tablewares/plates/plate_13/model.xml", "position": [ 0.2776166063154475, 0.23182451844863727, 0.7668984386289903 ], "orientation": [ 0.9971308754550058, -0.004205303716232746, -0.008044499763319175, -0.07515063977468811 ], "class": "Plate" }, { "name": "apple_inside", "xml_path": "obj/meshes/fruit/apple/apple_2/model.xml", "position": [ 0.26669701508438615, 0.18695947841514543, 0.8009916716342812 ], "orientation": [ 0.9982288293762434, 9.0292332454538e-19, 5.3811311151460453e-20, 0.05949121113353572 ], "class": "Fruit" }, { "name": "kiwi_inside", "xml_path": "obj/meshes/fruit/kiwi/kiwi_5/model.xml", "position": [ 0.20162012804215215, 0.31184245449871056, 0.802598057645904 ], "orientation": [ 0.9982761728175312, 0.0030747914173007655, 0.0032922664605912985, 0.058518282818919874 ], "class": "Fruit" }, { "name": "pear_inside", "xml_path": "obj/meshes/fruit/pear/pear_19/model.xml", "position": [ 0.35488254459036833, 0.2844110833863926, 0.8010054102945663 ], "orientation": [ 0.997820225473066, 9.613185069204142e-18, -4.931500312614322e-18, -0.06599089055983251 ], "class": "Fruit" }, { "name": "apple", "xml_path": "obj/meshes/fruit/apple/apple_9/model.xml", "position": [ -0.2728004855915278, -0.1647584402188602, 0.7904611338886693 ], "orientation": [ 0.9971059210777061, 0.0013189368493431702, 0.036089713368100136, 0.06689973950901436 ], "class": "Fruit" }, { "name": "lemon", "xml_path": "obj/meshes/fruit/lemon/lemon_7/model.xml", "position": [ -0.21346904866036837, 0.2752660897294985, 0.7909911438098142 ], "orientation": [ 0.9999989968958843, -0.0006536268804539447, -2.179340826810862e-05, 0.0012563853602226918 ], "class": "Fruit" }, { "name": "orange", "xml_path": "obj/meshes/fruit/orange/orange_0/model.xml", "position": [ 0.15218228553682323, -0.17419923456790617, 0.7818911825454155 ], "orientation": [ 0.9951447766475341, -0.060470806842912124, 0.004214768954519779, -0.07753960764381453 ], "class": "Fruit" }, { "name": "kiwi", "xml_path": "obj/meshes/fruit/kiwi/kiwi_0/model.xml", "position": [ 0.012839614327621804, 0.0676345900603003, 0.7878465374512713 ], "orientation": [ 0.9979102303293448, 0.0280739061599784, -0.020557131783889532, 0.05444660071827189 ], "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" ] } } } }