{
    "task": {
        "components": [
            {
                "name": "table",
                "xml_path": "obj/meshes/table/table.xml",
                "position": [
                    -8.316684716441118e-09,
                    -1.7614689800079234e-08,
                    -7.673939362233979e-07
                ],
                "orientation": [
                    1.0,
                    8.791407067602846e-10,
                    2.313027165871249e-09,
                    -2.525745682849753e-09
                ],
                "class": "Table",
                "materials": [
                    "wood2"
                ]
            },
            {
                "name": "target_giftbox_seen",
                "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml",
                "position": [
                    -0.27476770885735396,
                    -0.06618853703724306,
                    0.7709990941684434
                ],
                "orientation": [
                    0.9987256221153153,
                    0.0007752215991427867,
                    -0.00043783837382632267,
                    -0.0504612629589041
                ],
                "class": "CommonContainer"
            },
            {
                "name": "another_giftbox_seen",
                "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml",
                "position": [
                    0.2892327214576092,
                    0.34882087324501876,
                    0.7925255910867945
                ],
                "orientation": [
                    -0.022774848071429266,
                    0.0598838311090806,
                    0.05996456734185698,
                    -0.9961423009442604
                ],
                "class": "CommonContainer"
            },
            {
                "name": "ace",
                "xml_path": "obj/meshes/toys/onepiece/ace/ace_0/ace_one_piece.xml",
                "position": [
                    0.037658106302799414,
                    -0.1369972026530931,
                    0.7655790980619583
                ],
                "orientation": [
                    -0.0051970615081834565,
                    0.005157001640766538,
                    0.707368804318184,
                    0.7068067420187925
                ],
                "class": "Toy"
            },
            {
                "name": "woody",
                "xml_path": "obj/meshes/toys/disney/toystory/woody/woody_1/disney_infinity_woody.xml",
                "position": [
                    -0.09890743804239788,
                    0.1414156037570052,
                    0.7650127735914556
                ],
                "orientation": [
                    -0.00015530901325229706,
                    0.00012201101820863076,
                    0.7073982236530338,
                    0.7068151909551421
                ],
                "class": "Toy"
            },
            {
                "name": "hulk",
                "xml_path": "obj/meshes/toys/marvel/hulk/hulk_0/cartoonic_hulk_textured_rigged.xml",
                "position": [
                    0.2120833553011734,
                    -0.05995885372314669,
                    0.764998847344461
                ],
                "orientation": [
                    1.23659512239421e-05,
                    1.346539185087754e-05,
                    0.7073884138752781,
                    0.7068250360455447
                ],
                "class": "Toy"
            },
            {
                "name": "minnie",
                "xml_path": "obj/meshes/toys/disney/mickey/minnie/minnie_1/minnie_mouse.xml",
                "position": [
                    0.027073897858673604,
                    0.04796197074768541,
                    0.785772901637714
                ],
                "orientation": [
                    -0.48679260014407294,
                    -0.8236386260809287,
                    -0.22892723470268,
                    -0.17956809094011794
                ],
                "class": "Toy"
            }
        ],
        "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 ace into ['left', 'nearest'] giftbox_seen"
        ],
        "conditions": {
            "contain": {
                "container": "target_giftbox_seen",
                "entities": [
                    "ace"
                ]
            }
        }
    }
}