{
    "task": {
        "components": [
            {
                "name": "table",
                "xml_path": "obj/meshes/table/table.xml",
                "position": [
                    7.200602159416502e-10,
                    3.0885862917644896e-10,
                    -7.595994591822945e-07
                ],
                "orientation": [
                    1.0,
                    -1.346681872558591e-09,
                    -8.595197704921509e-10,
                    3.064924414690509e-11
                ],
                "class": "Table",
                "materials": [
                    "wood3"
                ]
            },
            {
                "name": "plate_seen",
                "xml_path": "obj/meshes/tablewares/plates/plate2/plate.xml",
                "position": [
                    -0.1568339476371758,
                    0.17310544624682478,
                    0.763422517277672
                ],
                "orientation": [
                    0.9991732346837793,
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                    0.00035967978789051933,
                    0.040642495193172555
                ],
                "class": "Plate"
            },
            {
                "name": "banana_inside",
                "xml_path": "obj/meshes/fruit/banana/banana_7/model.xml",
                "position": [
                    -0.15108630904009301,
                    0.26471124060937135,
                    0.803389973725023
                ],
                "orientation": [
                    0.9995698524375962,
                    0.002835744093930968,
                    -0.021921750823752483,
                    0.01927447779155685
                ],
                "class": "Fruit"
            },
            {
                "name": "kiwi_inside",
                "xml_path": "obj/meshes/fruit/kiwi/kiwi_7/model.xml",
                "position": [
                    -0.21124000365485354,
                    0.09538197740836991,
                    0.8101785059810112
                ],
                "orientation": [
                    0.9969682588533106,
                    0.010716483599767521,
                    -0.028682714320322173,
                    -0.07153145963471799
                ],
                "class": "Fruit"
            },
            {
                "name": "banana",
                "xml_path": "obj/meshes/fruit/banana/banana_21/model.xml",
                "position": [
                    0.2706874744394698,
                    -0.16360210869881217,
                    0.776947195811121
                ],
                "orientation": [
                    0.9997895157760437,
                    0.009592781542835547,
                    -0.005321811159388674,
                    -0.017337272350621706
                ],
                "class": "Fruit"
            },
            {
                "name": "pear",
                "xml_path": "obj/meshes/fruit/pear/pear_1/model.xml",
                "position": [
                    0.27167177888786886,
                    0.26136403831168104,
                    0.7876270979538658
                ],
                "orientation": [
                    0.9995306849616377,
                    0.0006491148620544569,
                    0.001505418838714765,
                    0.030589576396777358
                ],
                "class": "Fruit"
            },
            {
                "name": "kiwi",
                "xml_path": "obj/meshes/fruit/kiwi/kiwi_5/model.xml",
                "position": [
                    -0.26119238005786843,
                    -0.15948475773297952,
                    0.7901223411028353
                ],
                "orientation": [
                    0.9984867760249673,
                    -0.001165125281387098,
                    -0.05105162990499265,
                    0.020409107535339643
                ],
                "class": "Fruit"
            }
        ],
        "scene": {
            "name": "studyroom_0",
            "position": [
                0.0,
                0.0,
                0.0
            ],
            "orientation": [
                1.0,
                0.0,
                0.0,
                0.0
            ],
            "floor_textures": [
                "floorplane"
            ]
        },
        "instructions": [
            "Put the banana on the table into the plate_seen"
        ],
        "conditions": {
            "contain": {
                "container": "plate_seen",
                "entities": [
                    "banana"
                ]
            }
        }
    }
}