JSON reading (Trying to get property of non-object error)

I have the following JSON in $ return:

{
  "xml": "{
    \"orders\":[
      {
        \"code\":\"PedidoTeste-1508156986545\",
        \"channel\":\"PedidoTeste\",
        \"placed_at\":\"2017-10-16T10:29:46-02:00\",
        \"updated_at\":\"2017-10-16T10:29:46-02:00\",
        \"total_ordered\":155.0,
        \"interest\":0.0,
        \"discount\":0.0,
        \"shipping_cost\":0.0,
        \"shipping_method\":\"Correios PAC\",
        \"estimated_delivery\":\"2018-02-10T22:00:00-02:00\",
        \"estimated_delivery_shift\":null,

        \"shipping_address\":{
          \"full_name\":\"Denis Moura\",
          \"street\":\"Rua Sacadura Cabral\",
          \"number\":\"130\",
          \"detail\":\"\",
          \"neighborhood\":\"Centro\",
          \"city\":\"Rio de Janeiro\",
          \"region\":\"RJ\",
          \"country\":\"BR\",
          \"postcode\":\"20081262\",
          \"phone\":\"21 3722-3902\",
          \"secondary_phone\":null
        },

        \"billing_address\":{
          \"full_name\":\"Denis Moura\",
          \"street\":\"Rua Sacadura Cabral\",
          \"number\":\"130\",
          \"detail\":\"\",
          \"neighborhood\":\"Centro\",
          \"city\":\"Rio de Janeiro\",
          \"region\":\"RJ\",
          \"country\":\"BR\",
          \"postcode\":\"20081262\",
          \"phone\":\"21 3722-3902\",
          \"secondary_phone\":null
        },

        \"customer\":{
          \"name\":\"Denis Moura\",
          \"email\":\"[email protected]\",
          \"date_of_birth\":\"1998-01-25\",
          \"gender\":\"male\",
          \"vat_number\":\"78732371683\",
          \"phones\":[
            \"21 3722-3902\"
          ]
        }
      }
    ]
  }
}

I would like to use a FOREACH to print the CUSTOMER NAME and EMAIL of all requests within the ORDERS array (in this case there is only 1 request within the orders vector, but there could be several).

I'm trying:

foreach ($retorno->xml->orders as $pedido) {
    print_r($pedido->customer->name);
    echo "<br>";
    print_r($pedido->customer->email);
} 
return;

But I'm getting the error Trying to get property of non-object in the FOREACH line.

What would be the right way?