{ "task": { "components": [ { "name": "table", "xml_path": "obj/meshes/table/table.xml", "position": [ 2.4988514866065085e-11, -1.3659670686383538e-09, -7.74102285328238e-07 ], "orientation": [ 1.0, 4.515675004496392e-09, 6.2035561079263065e-09, -1.2719744539087027e-10 ], "class": "Table", "materials": [ "stone2" ] }, { "name": "plate_seen", "xml_path": "obj/meshes/tablewares/plates/plate3/plate.xml", "position": [ 0.19132629008165192, -0.12740368287757772, 0.7599301841800022 ], "orientation": [ 0.9991774645080572, 0.00013760632383364794, 0.00016204891461558957, -0.040550576122893325 ], "class": "Plate" }, { "name": "orange_inside", "xml_path": "obj/meshes/fruit/orange/orange_0/model.xml", "position": [ 0.13291424725233825, -0.1561270720399688, 0.8034107733324558 ], "orientation": [ 0.9994413369149261, -0.03300808616069008, 0.0009805060336484026, -0.0051496525738968235 ], "class": "Fruit" }, { "name": "mango_inside", "xml_path": "obj/meshes/fruit/mango/mango_11/model.xml", "position": [ 0.28699410587171625, -0.16539493433152774, 0.8188418598783544 ], "orientation": [ 0.9964751107706258, -0.049576498874627756, -0.002089724253276729, 0.06763991001285966 ], "class": "Fruit" }, { "name": "apple_inside", "xml_path": "obj/meshes/fruit/apple/apple_7/model.xml", "position": [ 0.2806507338377234, -0.053041004065456254, 0.8114562019925728 ], "orientation": [ 0.998112592108722, 0.00031147696803108355, -3.1106292990676034e-06, 0.061409742276199414 ], "class": "Fruit" }, { "name": "orange", "xml_path": "obj/meshes/fruit/orange/orange_2/model.xml", "position": [ -0.27733937219122906, 0.26306070641039103, 0.7895473134264575 ], "orientation": [ 0.9996812907408148, -0.0003600205810760184, -0.002372570200415426, -0.025130822481610967 ], "class": "Fruit" }, { "name": "banana", "xml_path": "obj/meshes/fruit/banana/banana_9/model.xml", "position": [ -0.2911940535301991, -0.1646050795642671, 0.7767052012534528 ], "orientation": [ 0.9906579104252505, -0.01341709331460518, -0.11852460138415667, 0.06609693627990434 ], "class": "Fruit" }, { "name": "kiwi", "xml_path": "obj/meshes/fruit/kiwi/kiwi_2/model.xml", "position": [ 0.14674952307777597, 0.29944918973715734, 0.7852888717465505 ], "orientation": [ 0.9690951048964274, -0.18158781900727114, 0.16553992570576678, 0.021842038624946155 ], "class": "Fruit" }, { "name": "peach", "xml_path": "obj/meshes/fruit/peach/peach_1/model.xml", "position": [ -0.047064349200873865, 0.0071717678175283635, 0.7897977267276819 ], "orientation": [ 0.9984686078961797, -0.015979177841756745, -0.0008160872288087128, -0.052956953490560066 ], "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 orange in tray_seen into the plate_seen" ], "conditions": { "contain": { "container": "plate_seen", "entities": [ "orange_inside" ] } } } }