{
    "task": {
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            {
                "name": "table",
                "xml_path": "obj/meshes/table/table.xml",
                "position": [
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                    4.9233224713383464e-11,
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                "class": "Table",
                "materials": [
                    "wood0"
                ]
            },
            {
                "name": "plate_seen",
                "xml_path": "obj/meshes/tablewares/plates/plate_13/model.xml",
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            {
                "name": "orange_inside",
                "xml_path": "obj/meshes/fruit/orange/orange_1/model.xml",
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                "orientation": [
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                "name": "kiwi_inside",
                "xml_path": "obj/meshes/fruit/kiwi/kiwi_7/model.xml",
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                    1.9110043319627004e-19,
                    0.031669215604204104
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                "class": "Fruit"
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                "name": "orange",
                "xml_path": "obj/meshes/fruit/orange/orange_4/model.xml",
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                "name": "peach",
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                "orientation": [
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                "class": "Fruit"
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            {
                "name": "apple",
                "xml_path": "obj/meshes/fruit/apple/apple_14/model.xml",
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        "scene": {
            "name": "studyroom_0",
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            "floor_textures": [
                "floorplane"
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        },
        "instructions": [
            "Put the orange in tray_seen into the plate_seen"
        ],
        "conditions": {
            "contain": {
                "container": "plate_seen",
                "entities": [
                    "orange_inside"
                ]
            }
        }
    }
}