Spatial/select_poker_spatial/example21/env_config/env_config.json

{
    "task": {
        "components": [
            {
                "name": "table",
                "xml_path": "obj/meshes/table/table.xml",
                "position": [
                    -9.867211861565886e-07,
                    -0.00011186553866568507,
                    0.011998610850174908
                ],
                "orientation": [
                    0.9999999999999991,
                    -2.6725106278427595e-08,
                    -1.5000756882293524e-09,
                    2.123081932996639e-08
                ],
                "class": "Table",
                "materials": [
                    "wood4"
                ]
            },
            {
                "name": "card_holder0",
                "xml_path": null,
                "position": [
                    -0.17900275445656327,
                    0.1999201182499585,
                    0.7779983787150994
                ],
                "orientation": [
                    0.7071067714700935,
                    -1.993259538803045e-08,
                    1.7821345086400142e-08,
                    0.7071067909030009
                ],
                "class": "CardHolder"
            },
            {
                "name": "9_of_spades",
                "xml_path": "obj/meshes/poker/poker_asset.xml",
                "position": [
                    -0.1790031120646544,
                    0.1999999999999678,
                    0.892556870431448
                ],
                "orientation": [
                    0.4999999999991989,
                    -0.5000000000008678,
                    0.5000000000008012,
                    0.4999999999991321
                ],
                "class": "Poker",
                "value": "9",
                "suite": "spades"
            },
            {
                "name": "card_holder1",
                "xml_path": null,
                "position": [
                    -0.05196293986989266,
                    0.19992012174613633,
                    0.7779983790961407
                ],
                "orientation": [
                    0.7071067714700943,
                    -1.9932595385640033e-08,
                    1.7821345083902397e-08,
                    0.7071067909030005
                ],
                "class": "CardHolder"
            },
            {
                "name": "6_of_diamonds",
                "xml_path": "obj/meshes/poker/poker_asset.xml",
                "position": [
                    -0.051963297478008555,
                    0.19999999999996843,
                    0.892556870431448
                ],
                "orientation": [
                    0.4999999999992058,
                    -0.5000000000008612,
                    0.5000000000007943,
                    0.49999999999913963
                ],
                "class": "Poker",
                "value": "6",
                "suite": "diamonds"
            },
            {
                "name": "card_holder2",
                "xml_path": null,
                "position": [
                    0.06648570338200097,
                    0.1999201250058806,
                    0.7779983794514136
                ],
                "orientation": [
                    0.7071067714700925,
                    -1.993259538329138e-08,
                    1.7821345081758868e-08,
                    0.7071067909030023
                ],
                "class": "CardHolder"
            },
            {
                "name": "6_of_spades",
                "xml_path": "obj/meshes/poker/poker_asset.xml",
                "position": [
                    0.06648534577386205,
                    0.19999999999996845,
                    0.892556870431448
                ],
                "orientation": [
                    0.4999999999992073,
                    -0.5000000000008591,
                    0.5000000000007921,
                    0.49999999999914146
                ],
                "class": "Poker",
                "value": "6",
                "suite": "spades"
            },
            {
                "name": "card_holder3",
                "xml_path": null,
                "position": [
                    0.17180828212125943,
                    0.1999201279043901,
                    0.7779983797673166
                ],
                "orientation": [
                    0.7071067714700907,
                    -1.9932595381270478e-08,
                    1.782134507969553e-08,
                    0.7071067909030037
                ],
                "class": "CardHolder"
            },
            {
                "name": "9_of_diamonds",
                "xml_path": "obj/meshes/poker/poker_asset.xml",
                "position": [
                    0.1718079245131003,
                    0.19999999999996845,
                    0.8925568704314479
                ],
                "orientation": [
                    0.49999999999920686,
                    -0.50000000000086,
                    0.5000000000007929,
                    0.49999999999914096
                ],
                "class": "Poker",
                "value": "9",
                "suite": "diamonds"
            }
        ],
        "scene": {
            "name": "living_room_0",
            "position": [
                -2.0,
                -2.5,
                0.0
            ],
            "orientation": [
                1.0,
                0.0,
                0.0,
                0.0
            ],
            "floor_textures": [
                "floorplane"
            ]
        },
        "instructions": [
            "Please pick the 1st poker from left to right"
        ],
        "conditions": {
            "is_grasped": {
                "entities": [
                    "9_of_spades"
                ],
                "robot": "franka"
            },
            "lift": {
                "entities": [
                    "9_of_spades"
                ],
                "target_height": 0.9
            }
        }
    }
}