{
    "task": {
        "components": [
            {
                "name": "table",
                "xml_path": "obj/meshes/table/table.xml",
                "position": [
                    2.382614003658845e-10,
                    -3.0993125618220146e-10,
                    -7.56302420703601e-07
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                "orientation": [
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                    5.464781517920186e-10,
                    7.43282446324725e-10,
                    -4.05457763351974e-10
                ],
                "class": "Table",
                "materials": [
                    "stone2"
                ]
            },
            {
                "name": "plate_seen",
                "xml_path": "obj/meshes/tablewares/plates/plate_1/model.xml",
                "position": [
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                "class": "Plate"
            },
            {
                "name": "banana_inside",
                "xml_path": "obj/meshes/fruit/banana/banana_8/model.xml",
                "position": [
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                    0.8073714630432574
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                "class": "Fruit"
            },
            {
                "name": "kiwi_inside",
                "xml_path": "obj/meshes/fruit/kiwi/kiwi_2/model.xml",
                "position": [
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                "class": "Fruit"
            },
            {
                "name": "banana",
                "xml_path": "obj/meshes/fruit/banana/banana_8/model.xml",
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                "class": "Fruit"
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            {
                "name": "kiwi",
                "xml_path": "obj/meshes/fruit/kiwi/kiwi_4/model.xml",
                "position": [
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                    -0.18939221396664885,
                    0.7889747123958425
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                "orientation": [
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                    0.06597089648818553,
                    0.03341273630203149
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                "class": "Fruit"
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            {
                "name": "apple",
                "xml_path": "obj/meshes/fruit/apple/apple_22/model.xml",
                "position": [
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                "orientation": [
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                "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 in tray_seen into the plate_seen"
        ],
        "conditions": {
            "contain": {
                "container": "plate_seen",
                "entities": [
                    "banana_inside"
                ]
            }
        }
    }
}