{
    "task": {
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            {
                "name": "table",
                "xml_path": "obj/meshes/table/table.xml",
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                "class": "Table",
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            {
                "name": "plate_seen",
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                "name": "lemon_inside",
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                "name": "banana",
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        "scene": {
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            "floor_textures": [
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        },
        "instructions": [
            "Put the orange in tray_seen into the plate_seen"
        ],
        "conditions": {
            "contain": {
                "container": "plate_seen",
                "entities": [
                    "orange_inside"
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            }
        }
    }
}