{
    "task": {
        "components": [
            {
                "name": "table",
                "xml_path": "obj/meshes/table/table.xml",
                "position": [
                    -1.0244435449173247e-09,
                    2.7064423201927333e-10,
                    -7.608149710140247e-07
                ],
                "orientation": [
                    1.0,
                    -9.532050832629206e-11,
                    -1.44803524088176e-09,
                    1.1064561434425386e-10
                ],
                "class": "Table",
                "materials": [
                    "stone"
                ]
            },
            {
                "name": "plate_seen",
                "xml_path": "obj/meshes/tablewares/plates/plate2/plate.xml",
                "position": [
                    -0.15825208608369254,
                    -0.01404486610066553,
                    0.7633834021302413
                ],
                "orientation": [
                    0.9997670245040003,
                    -5.104845522768738e-05,
                    -2.9478538248258546e-05,
                    0.021584560210661338
                ],
                "class": "Plate"
            },
            {
                "name": "pear_inside",
                "xml_path": "obj/meshes/fruit/pear/pear_11/model.xml",
                "position": [
                    -0.19819338005135279,
                    -0.05875811385674492,
                    0.815917397706914
                ],
                "orientation": [
                    0.996221570300574,
                    -0.016816058949665286,
                    0.05413099041197125,
                    0.06579999168904843
                ],
                "class": "Fruit"
            },
            {
                "name": "orange_inside",
                "xml_path": "obj/meshes/fruit/orange/orange_5/model.xml",
                "position": [
                    -0.07878145829139829,
                    -0.060978295565327335,
                    0.813793615119853
                ],
                "orientation": [
                    0.9990129598621359,
                    -0.007472245123846921,
                    0.021235909420103376,
                    -0.038292397827829366
                ],
                "class": "Fruit"
            },
            {
                "name": "mango_inside",
                "xml_path": "obj/meshes/fruit/mango/mango_11/model.xml",
                "position": [
                    -0.11751594254571564,
                    0.037126268441260143,
                    0.8195852668213741
                ],
                "orientation": [
                    0.996645575883844,
                    0.03370453575037817,
                    -0.026600336460506295,
                    -0.06967081484525013
                ],
                "class": "Fruit"
            },
            {
                "name": "pear",
                "xml_path": "obj/meshes/fruit/pear/pear_15/model.xml",
                "position": [
                    0.2918041271879194,
                    0.2985320514077191,
                    0.789593954850167
                ],
                "orientation": [
                    0.9731950195990152,
                    -0.07217924847921343,
                    0.21371591248891342,
                    -0.044800877956555005
                ],
                "class": "Fruit"
            },
            {
                "name": "orange",
                "xml_path": "obj/meshes/fruit/orange/orange_9/model.xml",
                "position": [
                    0.2844231736750908,
                    -0.17113932922198616,
                    0.7882098901543492
                ],
                "orientation": [
                    0.9816066183573542,
                    0.13189812590971917,
                    0.13094097852066322,
                    0.0436553699170401
                ],
                "class": "Fruit"
            },
            {
                "name": "kiwi",
                "xml_path": "obj/meshes/fruit/kiwi/kiwi_7/model.xml",
                "position": [
                    -0.2594841332651254,
                    0.2856888535848387,
                    0.7858977695494582
                ],
                "orientation": [
                    0.9979972692531244,
                    -0.05457777533287043,
                    -0.014745488829113305,
                    0.028377589083858807
                ],
                "class": "Fruit"
            },
            {
                "name": "banana",
                "xml_path": "obj/meshes/fruit/banana/banana_10/model.xml",
                "position": [
                    0.07158716666989949,
                    0.06339062160062399,
                    0.7701035095952984
                ],
                "orientation": [
                    0.9954463642104893,
                    0.0009953451810420114,
                    -0.08863288635373041,
                    0.03506788737140983
                ],
                "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"
                ]
            }
        }
    }
}