{
    "task": {
        "components": [
            {
                "name": "table",
                "xml_path": "obj/meshes/table/table.xml",
                "position": [
                    -4.418006736658208e-10,
                    -2.0448043237894653e-10,
                    -7.597642827357334e-07
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                "orientation": [
                    1.0,
                    -1.507882941682997e-10,
                    -1.4751549720031879e-09,
                    1.2403301743832822e-10
                ],
                "class": "Table",
                "materials": [
                    "wood1"
                ]
            },
            {
                "name": "plate_seen",
                "xml_path": "obj/meshes/tablewares/plates/plate_0/model.xml",
                "position": [
                    0.012269807675039287,
                    0.2933645695263697,
                    0.777091459137579
                ],
                "orientation": [
                    0.9996700264876627,
                    0.014930139427603873,
                    0.0012315372089599915,
                    0.020866537684305325
                ],
                "class": "Plate"
            },
            {
                "name": "orange_inside",
                "xml_path": "obj/meshes/fruit/orange/orange_11/model.xml",
                "position": [
                    0.03986857920113561,
                    0.3528658532039993,
                    0.8084179724360862
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                "orientation": [
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                    -0.047882512860641095
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                "class": "Fruit"
            },
            {
                "name": "mango_inside",
                "xml_path": "obj/meshes/fruit/mango/mango_18/model.xml",
                "position": [
                    -0.057820807769496496,
                    0.22071386406994442,
                    0.8251337258295333
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                "orientation": [
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                    0.07151919921286264,
                    -0.009734174450089965
                ],
                "class": "Fruit"
            },
            {
                "name": "apple_inside",
                "xml_path": "obj/meshes/fruit/apple/apple_3/model.xml",
                "position": [
                    0.09497662813998549,
                    0.17724102479379444,
                    0.8206700244349074
                ],
                "orientation": [
                    0.9946489780602223,
                    0.08354630201127966,
                    0.05647497977519584,
                    0.02245000052086455
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                "class": "Fruit"
            },
            {
                "name": "orange",
                "xml_path": "obj/meshes/fruit/orange/orange_14/orange.xml",
                "position": [
                    -0.26627577681901504,
                    -0.16055545777646577,
                    0.7920539840384423
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                "orientation": [
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                    0.0027019518073842946,
                    -0.07475718544845229
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                "class": "Fruit"
            },
            {
                "name": "banana",
                "xml_path": "obj/meshes/fruit/banana/banana_13/model.xml",
                "position": [
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                    0.771436807330573
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                "orientation": [
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                    0.045493995913122115
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                "class": "Fruit"
            },
            {
                "name": "mango",
                "xml_path": "obj/meshes/fruit/mango/mango_14/model.xml",
                "position": [
                    -0.2805372273395524,
                    0.1713016154976541,
                    0.79734438814997
                ],
                "orientation": [
                    0.9989171941876753,
                    0.03448582147980739,
                    -0.0065246283633928065,
                    -0.030538442949906756
                ],
                "class": "Fruit"
            },
            {
                "name": "lemon",
                "xml_path": "obj/meshes/fruit/lemon/lemon_2/model.xml",
                "position": [
                    -0.01970556744569439,
                    -0.02071824926119584,
                    0.788853640772851
                ],
                "orientation": [
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                    -0.020593827657523957,
                    -0.0013241057979569535
                ],
                "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 orange on the table into the plate_seen"
        ],
        "conditions": {
            "contain": {
                "container": "plate_seen",
                "entities": [
                    "orange"
                ]
            }
        }
    }
}