{
    "task": {
        "components": [
            {
                "name": "table",
                "xml_path": "obj/meshes/table/table.xml",
                "position": [
                    -1.3987055468522515e-10,
                    -3.332191088492202e-11,
                    -7.568099347631438e-07
                ],
                "orientation": [
                    1.0,
                    -2.132879255511073e-10,
                    -7.11154310848596e-10,
                    5.7907632515981967e-11
                ],
                "class": "Table",
                "materials": [
                    "wood3"
                ]
            },
            {
                "name": "plate_seen",
                "xml_path": "obj/meshes/tablewares/plates/plate_0/model.xml",
                "position": [
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                "orientation": [
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                    0.007657505085572113
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                "class": "Plate"
            },
            {
                "name": "apple_inside",
                "xml_path": "obj/meshes/fruit/apple/apple_10/model.xml",
                "position": [
                    -0.2733211893399241,
                    0.15764219661179513,
                    0.8221045746442263
                ],
                "orientation": [
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                "class": "Fruit"
            },
            {
                "name": "orange_inside",
                "xml_path": "obj/meshes/fruit/orange/orange_1/model.xml",
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                    0.8054614645202818
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                "orientation": [
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                    -0.04551830161174818
                ],
                "class": "Fruit"
            },
            {
                "name": "apple",
                "xml_path": "obj/meshes/fruit/apple/apple_4/model.xml",
                "position": [
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                "orientation": [
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                "class": "Fruit"
            },
            {
                "name": "orange",
                "xml_path": "obj/meshes/fruit/orange/orange_4/model.xml",
                "position": [
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                    0.2862802608409192,
                    0.7849148358832126
                ],
                "orientation": [
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                    0.00647118607046364,
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                "class": "Fruit"
            },
            {
                "name": "mango",
                "xml_path": "obj/meshes/fruit/mango/mango_1/model.xml",
                "position": [
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                    0.7925747447830161
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                "orientation": [
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                    0.003495591178834836
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                "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"
                ]
            }
        }
    }
}