{
    "task": {
        "components": [
            {
                "name": "table",
                "xml_path": "obj/meshes/table/table.xml",
                "position": [
                    1.1245006511745098e-10,
                    1.0977880798336882e-09,
                    -7.571235870600026e-07
                ],
                "orientation": [
                    1.0,
                    -7.141998419465618e-10,
                    -9.012921357258854e-10,
                    -7.345029988980049e-11
                ],
                "class": "Table",
                "materials": [
                    "stone"
                ]
            },
            {
                "name": "plate_seen",
                "xml_path": "obj/meshes/tablewares/plates/plate_12/model.xml",
                "position": [
                    -0.2573907676651076,
                    0.13656734440312973,
                    0.774663345499057
                ],
                "orientation": [
                    0.999881620161378,
                    0.014818755611255688,
                    -0.003700299699042596,
                    0.0018595504104485666
                ],
                "class": "Plate"
            },
            {
                "name": "orange_inside",
                "xml_path": "obj/meshes/fruit/orange/orange_8/model.xml",
                "position": [
                    -0.2524626075619982,
                    0.10887141325765132,
                    0.8146006509621267
                ],
                "orientation": [
                    0.9988564878480778,
                    0.026232568896740242,
                    -0.003705305474254834,
                    -0.03979748389312349
                ],
                "class": "Fruit"
            },
            {
                "name": "pear_inside",
                "xml_path": "obj/meshes/fruit/pear/pear_13/model.xml",
                "position": [
                    -0.325959095838953,
                    0.053912553435555996,
                    0.8133432987902864
                ],
                "orientation": [
                    0.9993846058200797,
                    -0.004290671636360779,
                    0.0016109486835020404,
                    -0.0347764953825439
                ],
                "class": "Fruit"
            },
            {
                "name": "orange",
                "xml_path": "obj/meshes/fruit/orange/orange_10/model.xml",
                "position": [
                    0.2852911380078334,
                    -0.19901432067122082,
                    0.7869216409380855
                ],
                "orientation": [
                    0.9775596890658662,
                    0.19692505265696,
                    0.05340139221708414,
                    -0.052401042535225414
                ],
                "class": "Fruit"
            },
            {
                "name": "peach",
                "xml_path": "obj/meshes/fruit/peach/peach_1/model.xml",
                "position": [
                    0.2043272723214124,
                    0.2600906891025796,
                    0.7897977755438874
                ],
                "orientation": [
                    0.997354548469101,
                    -0.016001403176496974,
                    -0.0005952388323839282,
                    -0.07090490416827301
                ],
                "class": "Fruit"
            },
            {
                "name": "lemon",
                "xml_path": "obj/meshes/fruit/lemon/lemon_3/model.xml",
                "position": [
                    -0.08549050115670327,
                    -0.1618621208398539,
                    0.7908115808557274
                ],
                "orientation": [
                    0.9989032670635115,
                    0.003488278763003316,
                    0.009691107010748965,
                    -0.04567469108841322
                ],
                "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 on the table into the plate_seen"
        ],
        "conditions": {
            "contain": {
                "container": "plate_seen",
                "entities": [
                    "orange"
                ]
            }
        }
    }
}