{
    "task": {
        "components": [
            {
                "name": "table",
                "xml_path": "obj/meshes/table/table.xml",
                "position": [
                    -6.520450348372727e-12,
                    -8.005783318616676e-11,
                    -7.567746964550389e-07
                ],
                "orientation": [
                    1.0,
                    -3.699742077031347e-10,
                    -4.42931364317623e-10,
                    -3.999800028982417e-11
                ],
                "class": "Table",
                "materials": [
                    "wood2"
                ]
            },
            {
                "name": "plate_seen",
                "xml_path": "obj/meshes/tablewares/plates/plate1/plate.xml",
                "position": [
                    -0.20710099451805644,
                    0.026297766317540175,
                    0.7600838252478094
                ],
                "orientation": [
                    0.9969812451648759,
                    2.3225982337189137e-05,
                    8.73640123741516e-06,
                    0.07764274707738454
                ],
                "class": "Plate"
            },
            {
                "name": "pear_inside",
                "xml_path": "obj/meshes/fruit/pear/pear_8/model.xml",
                "position": [
                    -0.29963094626864856,
                    0.06133121904028078,
                    0.8010117509994494
                ],
                "orientation": [
                    0.9979942571105733,
                    8.44355226809547e-17,
                    2.1736621053152527e-18,
                    0.06330452412201659
                ],
                "class": "Fruit"
            },
            {
                "name": "lemon_inside",
                "xml_path": "obj/meshes/fruit/lemon/lemon_11/model.xml",
                "position": [
                    -0.1233859799570528,
                    -0.03983179894893907,
                    0.80099745285593
                ],
                "orientation": [
                    0.9985790597485681,
                    1.598794428919314e-17,
                    8.532155195081233e-19,
                    0.05329035026780831
                ],
                "class": "Fruit"
            },
            {
                "name": "pear",
                "xml_path": "obj/meshes/fruit/pear/pear_3/model.xml",
                "position": [
                    0.263502532111786,
                    0.26538938683286084,
                    0.7946313833101649
                ],
                "orientation": [
                    0.9968771027829875,
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                    0.0006731753138592177,
                    -0.06261697247514494
                ],
                "class": "Fruit"
            },
            {
                "name": "orange",
                "xml_path": "obj/meshes/fruit/orange/orange_13/model.xml",
                "position": [
                    0.21619657305990875,
                    -0.19154292411642893,
                    0.7886064809976729
                ],
                "orientation": [
                    0.9996889845409395,
                    -9.1333848827367e-05,
                    0.0003434395989035914,
                    0.024936076172398937
                ],
                "class": "Fruit"
            },
            {
                "name": "mango",
                "xml_path": "obj/meshes/fruit/mango/mango_11/model.xml",
                "position": [
                    -0.011030295365516566,
                    0.2582884516685513,
                    0.7984256266236962
                ],
                "orientation": [
                    0.9997701693678233,
                    -0.008642547497260369,
                    0.001667608355214705,
                    -0.019548245378191036
                ],
                "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 pear on the table into the plate_seen"
        ],
        "conditions": {
            "contain": {
                "container": "plate_seen",
                "entities": [
                    "pear"
                ]
            }
        }
    }
}