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{
"task": {
"components": [
{
"name": "table",
"xml_path": "obj/meshes/table/table.xml",
"position": [
3.703458605535575e-05,
-9.932897750477787e-05,
0.011998531924364913
],
"orientation": [
0.9999999999999982,
-6.547321079154153e-08,
-2.4428237803466296e-08,
1.6009965391015835e-10
],
"class": "Table",
"materials": [
"stone2"
]
},
{
"name": "card_holder0",
"xml_path": null,
"position": [
-0.2130569837009745,
0.19990291931977938,
0.7779982744389057
],
"orientation": [
0.707106780839661,
-6.342213557548145e-08,
2.900917575078044e-08,
0.7071067815334303
],
"class": "CardHolder"
},
{
"name": "5_of_spades",
"xml_path": "obj/meshes/poker/poker_asset.xml",
"position": [
-0.21309317969512365,
0.1999999999999685,
0.892556870431448
],
"orientation": [
0.4999999999992132,
-0.5000000000008533,
0.5000000000007867,
0.4999999999991467
],
"class": "Poker",
"value": "5",
"suite": "spades"
},
{
"name": "card_holder1",
"xml_path": null,
"position": [
-0.06864222769262152,
0.19990291907487698,
0.7779982814934562
],
"orientation": [
0.707106780839656,
-6.342213556843453e-08,
2.9009175750515705e-08,
0.7071067815334355
],
"class": "CardHolder"
},
{
"name": "4_of_clubs",
"xml_path": "obj/meshes/poker/poker_asset.xml",
"position": [
-0.06867842379655471,
0.1999999999999685,
0.892556870431448
],
"orientation": [
0.4999999999992107,
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0.5000000000007888,
0.4999999999991447
],
"class": "Poker",
"value": "4",
"suite": "clubs"
},
{
"name": "card_holder2",
"xml_path": null,
"position": [
0.057584636091620775,
0.19990291886081366,
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],
"orientation": [
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2.9009175749872327e-08,
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],
"class": "CardHolder"
},
{
"name": "king_of_hearts",
"xml_path": "obj/meshes/poker/poker_asset.xml",
"position": [
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0.19999999999996845,
0.892556870431448
],
"orientation": [
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],
"class": "Poker",
"value": "king",
"suite": "hearts"
}
],
"scene": {
"name": "living_room_0",
"position": [
-2.0,
3.5,
0.0
],
"orientation": [
1.0,
0.0,
0.0,
0.0
],
"floor_textures": [
"floorplane"
]
},
"instructions": [
"Please pick the 2nd poker from left to right"
],
"conditions": {
"is_grasped": {
"entities": [
"4_of_clubs"
],
"robot": "franka"
},
"lift": {
"entities": [
"4_of_clubs"
],
"target_height": 0.9
}
}
}
}