{
    "task": {
        "components": [
            {
                "name": "table",
                "xml_path": "obj/meshes/table/table.xml",
                "position": [
                    1.389191263244106e-09,
                    3.4256635467016466e-08,
                    -1.237305965807613e-06
                ],
                "orientation": [
                    0.9999999999999711,
                    -2.3571049697375705e-07,
                    -3.8434639474442775e-08,
                    -8.533157581884682e-10
                ],
                "class": "Table",
                "materials": [
                    "stone"
                ]
            },
            {
                "name": "shelf_seen",
                "xml_path": "obj/meshes/containers/shelf/shelf1.xml",
                "position": [
                    -0.04975932195689127,
                    0.273871814892515,
                    0.759998575620166
                ],
                "orientation": [
                    0.9986462779300405,
                    -2.1191939652180563e-07,
                    -5.2199798248475725e-08,
                    -0.052015493619006176
                ],
                "class": "Shelf"
            },
            {
                "name": "critical_infrastructure_protection_in_homeland_security",
                "xml_path": "obj/meshes/books/bookscan/critical_infrastructure_protection_in_homeland_security/critical_infrastructure_protection_in_homeland_security.xml",
                "position": [
                    -0.3147606957722715,
                    0.28282124703572464,
                    1.1692385701601284
                ],
                "orientation": [
                    -1.9988331081292698e-07,
                    0.7105658081624835,
                    0.7036307499404926,
                    -2.9217167746480386e-06
                ],
                "class": "Book"
            },
            {
                "name": "government_and_information_rights",
                "xml_path": "obj/meshes/books/bookscan/government_and_information_rights/government_and_information_rights.xml",
                "position": [
                    -0.09769349355142476,
                    0.2821309405355398,
                    1.1692393275210882
                ],
                "orientation": [
                    8.704180896126327e-06,
                    0.7386334910386516,
                    0.6741072361576825,
                    3.765669814601123e-07
                ],
                "class": "Book"
            },
            {
                "name": "a_tale_of_two_cities",
                "xml_path": "obj/meshes/books/bookscan/a_tale_of_two_cities/a_tale_of_two_cities.xml",
                "position": [
                    -0.007456722036707246,
                    0.29246167416938446,
                    1.1692384450765856
                ],
                "orientation": [
                    1.8261429984486895e-06,
                    0.7442350762036744,
                    0.667917772870071,
                    5.390758880929123e-06
                ],
                "class": "Book"
            },
            {
                "name": "cotton_the_fabric_that_made_the_modern_world",
                "xml_path": "obj/meshes/books/bookscan/cotton_the_fabric_that_made_the_modern_world/cotton_the_fabric_that_made_the_modern_world.xml",
                "position": [
                    0.08160678997847562,
                    0.29968377105872235,
                    1.1692389336623616
                ],
                "orientation": [
                    1.960534482599276e-06,
                    0.6980667932723734,
                    0.7160326473329843,
                    8.938716905212178e-06
                ],
                "class": "Book"
            },
            {
                "name": "the_great_divergence_china_europe_and_the_making_of_the_modern_world_economy",
                "xml_path": "obj/meshes/books/bookscan/the_great_divergence_china_europe_and_the_making_of_the_modern_world_economy/the_great_divergence_china_europe_and_the_making_of_the_modern_world_economy.xml",
                "position": [
                    0.004363508598789753,
                    0.2824558805562244,
                    0.8782915478596742
                ],
                "orientation": [
                    2.0316353345235815e-05,
                    0.6734043617162969,
                    0.739274350371574,
                    9.560358459709916e-06
                ],
                "class": "Book"
            }
        ],
        "scene": {
            "name": "studyroom_0",
            "position": [
                -1.5,
                1.0,
                0.0
            ],
            "orientation": [
                1.0,
                0.0,
                0.0,
                0.0
            ],
            "floor_textures": [
                "floorplane"
            ]
        },
        "instructions": [
            "Please take the third book on the top layer"
        ],
        "conditions": {
            "not_contain": {
                "container": "shelf_seen",
                "entities": [
                    "a_tale_of_two_cities"
                ]
            }
        }
    }
}