{
    "task": {
        "components": [
            {
                "name": "table",
                "xml_path": "obj/meshes/table/table.xml",
                "position": [
                    1.0610395745217204e-10,
                    7.706506492602209e-10,
                    -7.632199736239382e-07
                ],
                "orientation": [
                    1.0,
                    1.912245336713123e-09,
                    -1.894539316323521e-09,
                    -2.313798510733194e-10
                ],
                "class": "Table",
                "materials": [
                    "wood4"
                ]
            },
            {
                "name": "plate_seen",
                "xml_path": "obj/meshes/tablewares/plates/plate_12/model.xml",
                "position": [
                    -0.16187171650455348,
                    -0.17114972786138133,
                    0.7770809321304204
                ],
                "orientation": [
                    0.9987007406398601,
                    0.038484046223269265,
                    -0.01531926570682478,
                    0.029683815958926635
                ],
                "class": "Plate"
            },
            {
                "name": "pear_inside",
                "xml_path": "obj/meshes/fruit/pear/pear_15/model.xml",
                "position": [
                    -0.07737989400104812,
                    -0.1809637100742768,
                    0.8184460161422925
                ],
                "orientation": [
                    0.999745343187294,
                    -0.01675902827260012,
                    0.013680996303151822,
                    0.006419819844153827
                ],
                "class": "Fruit"
            },
            {
                "name": "peach_inside",
                "xml_path": "obj/meshes/fruit/peach/peach_7/peach.xml",
                "position": [
                    -0.19175575397705666,
                    -0.24564444476716787,
                    0.8080236382199824
                ],
                "orientation": [
                    0.9997025015805497,
                    -0.02139600066644454,
                    0.011701182352909217,
                    0.00044924449509799023
                ],
                "class": "Fruit"
            },
            {
                "name": "pear",
                "xml_path": "obj/meshes/fruit/pear/pear_19/model.xml",
                "position": [
                    0.25766099278067883,
                    0.27666632058236174,
                    0.7811547801721206
                ],
                "orientation": [
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                    0.015136484944434904,
                    0.025319744009909
                ],
                "class": "Fruit"
            },
            {
                "name": "lemon",
                "xml_path": "obj/meshes/fruit/lemon/lemon_8/model.xml",
                "position": [
                    -0.27559895194617007,
                    0.2901297923704209,
                    0.7891970643957302
                ],
                "orientation": [
                    0.9997890452266951,
                    0.017443759914902913,
                    -0.007298404072932998,
                    -0.008019574970778693
                ],
                "class": "Fruit"
            },
            {
                "name": "apple",
                "xml_path": "obj/meshes/fruit/apple/apple_18/model.xml",
                "position": [
                    0.26624763059659895,
                    -0.1801626321618657,
                    0.7900190649291141
                ],
                "orientation": [
                    0.9983205108190374,
                    0.005144918840891868,
                    -0.001525411272190879,
                    -0.05768327841401249
                ],
                "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 pear on the table into the plate_seen"
        ],
        "conditions": {
            "contain": {
                "container": "plate_seen",
                "entities": [
                    "pear"
                ]
            }
        }
    }
}