{
    "task": {
        "components": [
            {
                "name": "table",
                "xml_path": "obj/meshes/table/table.xml",
                "position": [
                    5.397595832062906e-09,
                    1.6689434701818927e-08,
                    -1.2424968706288686e-06
                ],
                "orientation": [
                    0.9999999999999682,
                    -2.5385701588518775e-07,
                    2.3350531896671796e-08,
                    -5.108382942788397e-10
                ],
                "class": "Table",
                "materials": [
                    "stone2"
                ]
            },
            {
                "name": "shelf_seen",
                "xml_path": "obj/meshes/containers/shelf/shelf1.xml",
                "position": [
                    0.024194062858461905,
                    0.2897738444334034,
                    0.7599985540207486
                ],
                "orientation": [
                    0.9971733371548858,
                    -2.3489557853591409e-07,
                    4.525958379452502e-09,
                    -0.07513544880636103
                ],
                "class": "Shelf"
            },
            {
                "name": "contract_law_in_japan",
                "xml_path": "obj/meshes/books/bookscan/contract_law_in_japan/contract_law_in_japan.xml",
                "position": [
                    0.2651448083132705,
                    0.2967088441108569,
                    1.169237815132153
                ],
                "orientation": [
                    -4.796043047836973e-06,
                    0.6853812903473748,
                    0.7281843769340796,
                    -2.809444637921948e-06
                ],
                "class": "Book"
            },
            {
                "name": "one_hundred_years_of_solitude",
                "xml_path": "obj/meshes/books/bookscan/one_hundred_years_of_solitude/one_hundred_years_of_solitude.xml",
                "position": [
                    -0.10758822989198143,
                    0.28566597720503023,
                    0.8782897785717901
                ],
                "orientation": [
                    -6.986730419727359e-06,
                    0.7192569797418616,
                    0.6947441234181618,
                    -4.4417862682106555e-06
                ],
                "class": "Book"
            },
            {
                "name": "engineering_biopolymers",
                "xml_path": "obj/meshes/books/bookscan/engineering_biopolymers/engineering_biopolymers.xml",
                "position": [
                    -0.008629522665606695,
                    0.3200303285944785,
                    0.8782899898885195
                ],
                "orientation": [
                    -6.37338876966764e-07,
                    0.6951779253914925,
                    0.7188377091165765,
                    8.09746505352844e-08
                ],
                "class": "Book"
            },
            {
                "name": "cloud_computing",
                "xml_path": "obj/meshes/books/bookscan/cloud_computing/cloud_computing.xml",
                "position": [
                    0.0683650729119599,
                    0.32158660317745985,
                    0.8782949493758067
                ],
                "orientation": [
                    2.7550716189887017e-05,
                    0.6565615546314045,
                    0.7542724466145175,
                    -2.2340549496910352e-05
                ],
                "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": [
                    0.18586724375842897,
                    0.315141594024336,
                    0.8782910334673661
                ],
                "orientation": [
                    6.086652747071722e-06,
                    0.709933206796001,
                    0.7042690122505216,
                    1.532887652494965e-05
                ],
                "class": "Book"
            },
            {
                "name": "python",
                "xml_path": "obj/meshes/books/bookscan/python/python.xml",
                "position": [
                    0.2938992133707629,
                    0.31325665008268394,
                    0.8782955665156005
                ],
                "orientation": [
                    -2.9433077312792383e-05,
                    0.6716685313075262,
                    0.7408517952227429,
                    2.645984955126661e-05
                ],
                "class": "Book"
            }
        ],
        "scene": {
            "name": "studyroom_0",
            "position": [
                0.0,
                0.0,
                0.0
            ],
            "orientation": [
                1.0,
                0.0,
                0.0,
                0.0
            ],
            "floor_textures": [
                "floorplane"
            ]
        },
        "instructions": [
            "Please take the first book on the bottom layer"
        ],
        "conditions": {
            "not_contain": {
                "container": "shelf_seen",
                "entities": [
                    "one_hundred_years_of_solitude"
                ]
            }
        }
    }
}