{
    "task": {
        "components": [
            {
                "name": "table",
                "xml_path": "obj/meshes/table/table.xml",
                "position": [
                    2.5548489443245346e-10,
                    -1.6970706967286667e-10,
                    -7.587877262699404e-07
                ],
                "orientation": [
                    1.0,
                    4.0884370527843035e-12,
                    -1.6600124547101212e-09,
                    2.5666394003936946e-11
                ],
                "class": "Table",
                "materials": [
                    "stone2"
                ]
            },
            {
                "name": "plate_seen",
                "xml_path": "obj/meshes/tablewares/plates/plate2/plate.xml",
                "position": [
                    -0.2506931680866374,
                    -0.007140796336835168,
                    0.763389661246164
                ],
                "orientation": [
                    0.9996582043403753,
                    8.581241684304947e-06,
                    2.4486181117675903e-05,
                    -0.026143332262073403
                ],
                "class": "Plate"
            },
            {
                "name": "orange_inside",
                "xml_path": "obj/meshes/fruit/orange/orange_8/model.xml",
                "position": [
                    -0.349434543518683,
                    -0.03690819244094873,
                    0.8175665481818027
                ],
                "orientation": [
                    0.9983256573727247,
                    -0.04033390852837227,
                    -0.034942664887301085,
                    -0.02231743320176024
                ],
                "class": "Fruit"
            },
            {
                "name": "banana_inside",
                "xml_path": "obj/meshes/fruit/banana/banana_13/model.xml",
                "position": [
                    -0.20439072301047506,
                    -0.12071938821671616,
                    0.8018438432075404
                ],
                "orientation": [
                    0.998178975729305,
                    0.006441321684269115,
                    0.0025637121529784707,
                    0.05992219260801265
                ],
                "class": "Fruit"
            },
            {
                "name": "orange",
                "xml_path": "obj/meshes/fruit/orange/orange_0/model.xml",
                "position": [
                    0.25099081757473796,
                    0.26075186139237394,
                    0.7818835548350466
                ],
                "orientation": [
                    0.996504122569006,
                    -0.06054367186113117,
                    0.00324463857369375,
                    -0.05747581944673479
                ],
                "class": "Fruit"
            },
            {
                "name": "peach",
                "xml_path": "obj/meshes/fruit/peach/peach_3/model.xml",
                "position": [
                    0.2083905073038737,
                    -0.17214827593498336,
                    0.7886118893055498
                ],
                "orientation": [
                    0.9985605213645741,
                    -0.00909815190815916,
                    -0.001598114111354247,
                    0.052835166653008636
                ],
                "class": "Fruit"
            },
            {
                "name": "lemon",
                "xml_path": "obj/meshes/fruit/lemon/lemon_12/model.xml",
                "position": [
                    -0.08588019107314711,
                    0.26148698361380596,
                    0.7891954294330139
                ],
                "orientation": [
                    0.9981817785344738,
                    -0.027203510153396268,
                    -0.05128515487371275,
                    -0.01621539165936429
                ],
                "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 orange in tray_seen into the plate_seen"
        ],
        "conditions": {
            "contain": {
                "container": "plate_seen",
                "entities": [
                    "orange_inside"
                ]
            }
        }
    }
}