{
    "task": {
        "components": [
            {
                "name": "table",
                "xml_path": "obj/meshes/table/table.xml",
                "position": [
                    2.2015174007764775e-11,
                    -7.401567009472427e-10,
                    -7.568174435040491e-07
                ],
                "orientation": [
                    1.0,
                    -3.155495635350145e-11,
                    -2.18574627076919e-10,
                    8.348011182633032e-11
                ],
                "class": "Table",
                "materials": [
                    "stone2"
                ]
            },
            {
                "name": "plate_seen",
                "xml_path": "obj/meshes/tablewares/plates/plate_11/model.xml",
                "position": [
                    -0.01525482665482224,
                    0.13884398929696656,
                    0.7679275176419886
                ],
                "orientation": [
                    0.9984596298014858,
                    -0.0015624513526850245,
                    -0.00124793940247544,
                    0.0554469931529047
                ],
                "class": "Plate"
            },
            {
                "name": "apple_inside",
                "xml_path": "obj/meshes/fruit/apple/apple_21/model.xml",
                "position": [
                    0.05130947442512444,
                    0.059396901974141304,
                    0.8043844236186926
                ],
                "orientation": [
                    0.9997276426783012,
                    -0.008357320387969673,
                    -0.020468535529760662,
                    -0.0074722629829616395
                ],
                "class": "Fruit"
            },
            {
                "name": "mango_inside",
                "xml_path": "obj/meshes/fruit/mango/mango_18/model.xml",
                "position": [
                    -0.08321810236636484,
                    0.16472586915383206,
                    0.8046066191635302
                ],
                "orientation": [
                    0.9998732395538208,
                    -0.009991101554499171,
                    0.012244338679746796,
                    0.0019387841992532394
                ],
                "class": "Fruit"
            },
            {
                "name": "apple",
                "xml_path": "obj/meshes/fruit/apple/apple_0/model.xml",
                "position": [
                    0.2567322074258465,
                    -0.18020957043422653,
                    0.7930045197185661
                ],
                "orientation": [
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                    0.020810636034825414,
                    0.07146278740241743
                ],
                "class": "Fruit"
            },
            {
                "name": "banana",
                "xml_path": "obj/meshes/fruit/banana/banana_9/model.xml",
                "position": [
                    -0.29390353540591024,
                    -0.1611084297152453,
                    0.7767051804152468
                ],
                "orientation": [
                    0.9902685689005556,
                    -0.012747260771007948,
                    -0.11859698804036227,
                    0.07169674482314865
                ],
                "class": "Fruit"
            },
            {
                "name": "peach",
                "xml_path": "obj/meshes/fruit/peach/peach_6/model.xml",
                "position": [
                    0.2867201632703229,
                    0.26407494381684427,
                    0.7913519419488321
                ],
                "orientation": [
                    0.9968151720535398,
                    0.01158104366508852,
                    -0.014260404747616981,
                    0.07760175930953479
                ],
                "class": "Fruit"
            }
        ],
        "scene": {
            "name": "studyroom_0",
            "position": [
                -1.0,
                -1.0,
                0.0
            ],
            "orientation": [
                1.0,
                0.0,
                0.0,
                0.0
            ],
            "floor_textures": [
                "floorplane"
            ]
        },
        "instructions": [
            "Put the apple on the table into the plate_seen"
        ],
        "conditions": {
            "contain": {
                "container": "plate_seen",
                "entities": [
                    "apple"
                ]
            }
        }
    }
}