{
    "task": {
        "components": [
            {
                "name": "table",
                "xml_path": "obj/meshes/table/table.xml",
                "position": [
                    9.447356413854483e-10,
                    -1.6958919473869305e-09,
                    -7.734814965277896e-07
                ],
                "orientation": [
                    1.0,
                    3.874865769086306e-09,
                    -3.967168960411321e-10,
                    8.921715805353503e-11
                ],
                "class": "Table",
                "materials": [
                    "stone"
                ]
            },
            {
                "name": "plate_seen",
                "xml_path": "obj/meshes/tablewares/plates/plate3/plate.xml",
                "position": [
                    -0.0315912181218146,
                    -0.0940743808471784,
                    0.7599362358952358
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                "orientation": [
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                    4.857044218006883e-05,
                    1.4037383533756157e-05,
                    0.017698981961986483
                ],
                "class": "Plate"
            },
            {
                "name": "orange_inside",
                "xml_path": "obj/meshes/fruit/orange/orange_4/model.xml",
                "position": [
                    -0.1238727978653055,
                    0.020085692903341803,
                    0.807724049169331
                ],
                "orientation": [
                    0.9980222499141814,
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                    0.00420129167805026,
                    -0.03683778517124231
                ],
                "class": "Fruit"
            },
            {
                "name": "pear_inside",
                "xml_path": "obj/meshes/fruit/pear/pear_3/model.xml",
                "position": [
                    0.03048482021186935,
                    -0.1364771479663193,
                    0.8151804755313474
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                "orientation": [
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                    -0.0012521899279565065,
                    0.044813469076352384
                ],
                "class": "Fruit"
            },
            {
                "name": "orange",
                "xml_path": "obj/meshes/fruit/orange/orange_5/model.xml",
                "position": [
                    0.2740199750016296,
                    0.2618933752847027,
                    0.7895025522293185
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                "orientation": [
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                    -0.0076012730410241775,
                    -0.07155344811840474
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                "class": "Fruit"
            },
            {
                "name": "banana",
                "xml_path": "obj/meshes/fruit/banana/banana_10/model.xml",
                "position": [
                    -0.2892876896129032,
                    0.27048553844867496,
                    0.7701461523706757
                ],
                "orientation": [
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                    -0.00880549334820498,
                    -0.08742718513132047,
                    -0.06786774334702339
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                "class": "Fruit"
            },
            {
                "name": "peach",
                "xml_path": "obj/meshes/fruit/peach/peach_5/model.xml",
                "position": [
                    0.2801962118752508,
                    -0.19080274382259044,
                    0.7929321574910972
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                "orientation": [
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                    0.002650040352967468,
                    -0.03680838257667562
                ],
                "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 in tray_seen into the plate_seen"
        ],
        "conditions": {
            "contain": {
                "container": "plate_seen",
                "entities": [
                    "orange_inside"
                ]
            }
        }
    }
}