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{
    "task": {
        "components": [
            {
                "name": "table",
                "xml_path": "obj/meshes/table/table.xml",
                "position": [
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                    -6.360779217896931e-10,
                    -7.581561460750859e-07
                ],
                "orientation": [
                    1.0,
                    -1.3645298748045525e-10,
                    -1.3459881829213475e-09,
                    1.2873863353146343e-10
                ],
                "class": "Table",
                "materials": [
                    "stone"
                ]
            },
            {
                "name": "plate_seen",
                "xml_path": "obj/meshes/tablewares/plates/plate_0/model.xml",
                "position": [
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                    0.7767426214132753
                ],
                "orientation": [
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                    0.0021071223837274807,
                    0.0550148589106018
                ],
                "class": "Plate"
            },
            {
                "name": "apple_inside",
                "xml_path": "obj/meshes/fruit/apple/apple_0/model.xml",
                "position": [
                    -0.2735293134686879,
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                ],
                "orientation": [
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                    0.06259120431705617
                ],
                "class": "Fruit"
            },
            {
                "name": "pear_inside",
                "xml_path": "obj/meshes/fruit/pear/pear_5/model.xml",
                "position": [
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                ],
                "orientation": [
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                    0.026981999492013,
                    -0.04828188752941219
                ],
                "class": "Fruit"
            },
            {
                "name": "banana_inside",
                "xml_path": "obj/meshes/fruit/banana/banana_13/model.xml",
                "position": [
                    -0.2010308022066549,
                    -0.03469185823334333,
                    0.806930143046933
                ],
                "orientation": [
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                    -0.09520204154084809,
                    0.007957064858171643
                ],
                "class": "Fruit"
            },
            {
                "name": "apple",
                "xml_path": "obj/meshes/fruit/apple/apple_0/model.xml",
                "position": [
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                    0.7929781901903404
                ],
                "orientation": [
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                    0.0233690436517563,
                    -0.021423361245241922
                ],
                "class": "Fruit"
            },
            {
                "name": "banana",
                "xml_path": "obj/meshes/fruit/banana/banana_20/model.xml",
                "position": [
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                ],
                "orientation": [
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                ],
                "class": "Fruit"
            },
            {
                "name": "pear",
                "xml_path": "obj/meshes/fruit/pear/pear_15/model.xml",
                "position": [
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                    0.28600498703044536,
                    0.7895939572635269
                ],
                "orientation": [
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                    0.21610203412496953,
                    -0.07869803753645413
                ],
                "class": "Fruit"
            },
            {
                "name": "lemon",
                "xml_path": "obj/meshes/fruit/lemon/lemon_12/model.xml",
                "position": [
                    0.1039790331359566,
                    0.07842742710270112,
                    0.7891946104065364
                ],
                "orientation": [
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                    -0.051806945629399394,
                    0.014107203850986997
                ],
                "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 on the table into the plate_seen"
        ],
        "conditions": {
            "contain": {
                "container": "plate_seen",
                "entities": [
                    "apple"
                ]
            }
        }
    }
}