{ "task": { "components": [ { "name": "table", "xml_path": "obj/meshes/table/table.xml", "position": [ 3.4060518188020833e-09, -6.660441227069817e-09, -1.2503079422359812e-06 ], "orientation": [ 0.9999999999999735, -2.283389717545493e-07, 4.0173057129805265e-08, 9.706343499942984e-10 ], "class": "Table", "materials": [ "wood2" ] }, { "name": "shelf_seen", "xml_path": "obj/meshes/containers/shelf/shelf1.xml", "position": [ 0.05249022551803744, 0.250581100250071, 0.7599985794051854 ], "orientation": [ 0.9999923338637395, -2.0761084106218434e-07, 4.152628756832374e-08, 0.003915637075402091 ], "class": "Shelf" }, { "name": "cloud_computing", "xml_path": "obj/meshes/books/bookscan/cloud_computing/cloud_computing.xml", "position": [ -0.06341948945386475, 0.28339622422486843, 1.1692381027211336 ], "orientation": [ 2.1382707223399853e-06, 0.6579536415298689, 0.7530584343813457, 3.590259009365385e-07 ], "class": "Book" }, { "name": "engineering_biopolymers", "xml_path": "obj/meshes/books/bookscan/engineering_biopolymers/engineering_biopolymers.xml", "position": [ 0.0005679571378776391, 0.24668650487247634, 1.169238125666883 ], "orientation": [ -1.0371348104335772e-06, 0.717158376558914, 0.6969102258710888, 2.57187277027255e-06 ], "class": "Book" }, { "name": "government_and_information_rights", "xml_path": "obj/meshes/books/bookscan/government_and_information_rights/government_and_information_rights.xml", "position": [ 0.30769023403672013, 0.2812850314324616, 1.1692378970256272 ], "orientation": [ -1.1494166132827618e-06, 0.7324812663898383, 0.6807871872949643, -1.276810482594908e-06 ], "class": "Book" }, { "name": "wi-foo", "xml_path": "obj/meshes/books/bookscan/wi-foo/wi-foo.xml", "position": [ -0.19055547787788907, 0.28562745249747273, 0.8782902266135313 ], "orientation": [ 9.558602884850647e-06, 0.7358045925703888, 0.6771939171659923, -3.7863557561251037e-06 ], "class": "Book" }, { "name": "steve_jobs", "xml_path": "obj/meshes/books/bookscan/steve_jobs/steve_jobs.xml", "position": [ -0.0951039139586282, 0.26200239978995815, 0.8782906831746148 ], "orientation": [ -7.705221277036111e-06, 0.6970429421054135, 0.717029383494791, 2.5960626873108e-06 ], "class": "Book" }, { "name": "python", "xml_path": "obj/meshes/books/bookscan/python/python.xml", "position": [ 0.027375838644186714, 0.2799018135557982, 0.8782914513785667 ], "orientation": [ 9.81217935556961e-06, 0.6704234944608457, 0.7419786635682928, 2.807202908294944e-05 ], "class": "Book" } ], "scene": { "name": "studyroom_0", "position": [ -1.0, -1.0, 0.0 ], "orientation": [ 1.0, 0.0, 0.0, 0.0 ], "floor_textures": [ "floorplane" ] }, "instructions": [ "Please take the second book on the top layer" ], "conditions": { "not_contain": { "container": "shelf_seen", "entities": [ "engineering_biopolymers" ] } } } }