{ "task": { "components": [ { "name": "table", "xml_path": "obj/meshes/table/table.xml", "position": [ 5.620471188172304e-10, -8.342454775113359e-10, -7.571519584824698e-07 ], "orientation": [ 1.0, 9.237316497137858e-10, 4.3893443856767233e-10, -1.6451785630429366e-10 ], "class": "Table", "materials": [ "stone3" ] }, { "name": "plate_seen", "xml_path": "obj/meshes/tablewares/plates/plate_14/model.xml", "position": [ 0.09370742074673431, -0.18895814980532807, 0.7694113412463639 ], "orientation": [ 0.9997550106577763, -0.0007237236342949189, 0.0037701774267765, 0.021798638740547004 ], "class": "Plate" }, { "name": "apple_inside", "xml_path": "obj/meshes/fruit/apple/apple_21/model.xml", "position": [ 0.08619029386341179, -0.10973481077330928, 0.8024705952912004 ], "orientation": [ 0.9997560838132353, 0.005447491499464234, -0.0026954838673904644, -0.021232806727025953 ], "class": "Fruit" }, { "name": "pear_inside", "xml_path": "obj/meshes/fruit/pear/pear_0/model.xml", "position": [ 0.04625769958318986, -0.2259466093465402, 0.801836537386419 ], "orientation": [ 0.9975402228216289, 0.010372538629420258, -0.009816440825938159, -0.0686261741966336 ], "class": "Fruit" }, { "name": "mango_inside", "xml_path": "obj/meshes/fruit/mango/mango_16/model.xml", "position": [ 0.14939141868713984, -0.2245865810246213, 0.8063744385744226 ], "orientation": [ 0.9994189968693403, -0.02241070315476988, -0.0021495879292492857, 0.025589223366979462 ], "class": "Fruit" }, { "name": "apple", "xml_path": "obj/meshes/fruit/apple/apple_19/model.xml", "position": [ -0.26520519186257907, 0.2790386463834059, 0.7900579912480535 ], "orientation": [ 0.9999117241258353, 0.00137258388984755, 0.002010583595481384, 0.013062064261458457 ], "class": "Fruit" }, { "name": "kiwi", "xml_path": "obj/meshes/fruit/kiwi/kiwi_7/model.xml", "position": [ 0.27491281079750657, 0.26179435564614023, 0.7858959357239801 ], "orientation": [ 0.9971393643067571, -0.05616095723522199, -0.009541980634585652, -0.049678824844271496 ], "class": "Fruit" }, { "name": "lemon", "xml_path": "obj/meshes/fruit/lemon/lemon_15/model.xml", "position": [ -0.2652474455748422, -0.12244953475208166, 0.790170979234291 ], "orientation": [ 0.9965840351148043, 0.026717599298761097, 0.0247001507105968, -0.07413726051641932 ], "class": "Fruit" }, { "name": "banana", "xml_path": "obj/meshes/fruit/banana/banana_15/model.xml", "position": [ -0.034889309011124615, 0.11919067677386516, 0.7718966657390098 ], "orientation": [ 0.9902667049031, -0.022454563336602555, -0.13685168770949002, -0.011800903219011505 ], "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" ] } } } }