{
    "task": {
        "components": [
            {
                "name": "table",
                "xml_path": "obj/meshes/table/table.xml",
                "position": [
                    -3.7927773923740557e-10,
                    2.3576936299964036e-10,
                    -7.567902436033398e-07
                ],
                "orientation": [
                    1.0,
                    -6.000592227892329e-10,
                    3.6303320339929637e-10,
                    3.41027858863703e-11
                ],
                "class": "Table",
                "materials": [
                    "wood0"
                ]
            },
            {
                "name": "plate_seen",
                "xml_path": "obj/meshes/tablewares/plates/plate_10/model.xml",
                "position": [
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                "orientation": [
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                    0.013859662188405302
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                "class": "Plate"
            },
            {
                "name": "orange_inside",
                "xml_path": "obj/meshes/fruit/orange/orange_4/model.xml",
                "position": [
                    -0.04089857823232769,
                    0.11791663900492136,
                    0.8010582970130135
                ],
                "orientation": [
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                    1.0508518131831147e-18,
                    -7.160089921700078e-20,
                    -0.06797844416455116
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                "class": "Fruit"
            },
            {
                "name": "kiwi_inside",
                "xml_path": "obj/meshes/fruit/kiwi/kiwi_6/model.xml",
                "position": [
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                    0.8056675794590797
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                "orientation": [
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                    0.006333293708197112,
                    0.027560324111360897
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                "class": "Fruit"
            },
            {
                "name": "orange",
                "xml_path": "obj/meshes/fruit/orange/orange_9/model.xml",
                "position": [
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                    0.7882098928822207
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                "orientation": [
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                    0.13450409239774697,
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                "class": "Fruit"
            },
            {
                "name": "lemon",
                "xml_path": "obj/meshes/fruit/lemon/lemon_5/model.xml",
                "position": [
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                    -0.19095538313573213,
                    0.7878648496974636
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                "orientation": [
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                    0.014753757867760772,
                    -0.041341453998484635
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                "class": "Fruit"
            },
            {
                "name": "mango",
                "xml_path": "obj/meshes/fruit/mango/mango_15/model.xml",
                "position": [
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                    0.27550929812540864,
                    0.7862967063513105
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                "orientation": [
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                    0.040072180442000796
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                "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"
                ]
            }
        }
    }
}