{
    "task": {
        "components": [
            {
                "name": "table",
                "xml_path": "obj/meshes/table/table.xml",
                "position": [
                    6.551828844423145e-10,
                    -1.1568044551596281e-09,
                    -7.573907543574931e-07
                ],
                "orientation": [
                    1.0,
                    4.187704426560541e-10,
                    6.213267678532205e-10,
                    2.196463240663436e-11
                ],
                "class": "Table",
                "materials": [
                    "wood3"
                ]
            },
            {
                "name": "plate_seen",
                "xml_path": "obj/meshes/tablewares/plates/plate_12/model.xml",
                "position": [
                    0.14052761657533888,
                    -0.04298674379745559,
                    0.7745392857210283
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                "orientation": [
                    0.9980107496739189,
                    0.0087100604468377,
                    0.013402525326419747,
                    -0.06098402001498837
                ],
                "class": "Plate"
            },
            {
                "name": "pear_inside",
                "xml_path": "obj/meshes/fruit/pear/pear_2/model.xml",
                "position": [
                    0.22771928851908624,
                    -0.003255840399204975,
                    0.8093567206870649
                ],
                "orientation": [
                    0.9957553876220896,
                    -0.052329977778826114,
                    -0.03652989326682161,
                    -0.0663200448217868
                ],
                "class": "Fruit"
            },
            {
                "name": "kiwi_inside",
                "xml_path": "obj/meshes/fruit/kiwi/kiwi_0/model.xml",
                "position": [
                    0.10004422118241744,
                    -0.11388038005609086,
                    0.8088536367302179
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                "orientation": [
                    0.9975785815367582,
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                    0.014972328352542806,
                    0.05844594196665298
                ],
                "class": "Fruit"
            },
            {
                "name": "pear",
                "xml_path": "obj/meshes/fruit/pear/pear_2/model.xml",
                "position": [
                    -0.26651218744743305,
                    0.303306653292529,
                    0.7732928449327474
                ],
                "orientation": [
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                    -0.12269997866931515,
                    -0.08681097481706274
                ],
                "class": "Fruit"
            },
            {
                "name": "banana",
                "xml_path": "obj/meshes/fruit/banana/banana_15/model.xml",
                "position": [
                    -0.2758949620545864,
                    -0.16728566688243893,
                    0.7719128567760343
                ],
                "orientation": [
                    0.9904005300337272,
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                    -0.1363870686436708,
                    -0.006312815681627508
                ],
                "class": "Fruit"
            },
            {
                "name": "apple",
                "xml_path": "obj/meshes/fruit/apple/apple_22/model.xml",
                "position": [
                    0.27680433946812855,
                    0.27623653713154306,
                    0.7909953585373328
                ],
                "orientation": [
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                    0.012531085460927599,
                    -0.008381849430129271
                ],
                "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 pear on the table into the plate_seen"
        ],
        "conditions": {
            "contain": {
                "container": "plate_seen",
                "entities": [
                    "pear"
                ]
            }
        }
    }
}