{
    "task": {
        "components": [
            {
                "name": "table",
                "xml_path": "obj/meshes/table/table.xml",
                "position": [
                    5.932896260860624e-10,
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                    -7.738407119852322e-07
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                    5.5439926365430155e-09,
                    7.771168643705707e-09,
                    -5.316288485004552e-11
                ],
                "class": "Table",
                "materials": [
                    "wood0"
                ]
            },
            {
                "name": "plate_seen",
                "xml_path": "obj/meshes/tablewares/plates/plate3/plate.xml",
                "position": [
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                "orientation": [
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                "class": "Plate"
            },
            {
                "name": "orange_inside",
                "xml_path": "obj/meshes/fruit/orange/orange_2/model.xml",
                "position": [
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                "orientation": [
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                "class": "Fruit"
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            {
                "name": "mango_inside",
                "xml_path": "obj/meshes/fruit/mango/mango_11/model.xml",
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                    0.023715574023588756,
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                "class": "Fruit"
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            {
                "name": "orange",
                "xml_path": "obj/meshes/fruit/orange/orange_3/model.xml",
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                "class": "Fruit"
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                "name": "pear",
                "xml_path": "obj/meshes/fruit/pear/pear_0/model.xml",
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                    0.7875067770785859
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                "orientation": [
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                "class": "Fruit"
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            {
                "name": "mango",
                "xml_path": "obj/meshes/fruit/mango/mango_5/model.xml",
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                "orientation": [
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                "class": "Fruit"
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        ],
        "scene": {
            "name": "studyroom_0",
            "position": [
                -1.5,
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            "orientation": [
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                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"
                ]
            }
        }
    }
}