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{
"task": {
"components": [
{
"name": "table",
"xml_path": "obj/meshes/table/table.xml",
"position": [
2.723545541080013e-05,
-9.937562806913708e-05,
0.011998531842677598
],
"orientation": [
0.9999999999999979,
-6.549431628677069e-08,
-1.79612086815115e-08,
9.466534375546376e-11
],
"class": "Table",
"materials": [
"stone2"
]
},
{
"name": "card_holder0",
"xml_path": null,
"position": [
-0.16207535648830007,
0.1999028735155445,
0.7779982789360166
],
"orientation": [
0.7071067809489321,
-5.8881852493009786e-08,
3.3579247040351315e-08,
0.7071067814241603
],
"class": "CardHolder"
},
{
"name": "jack_of_clubs",
"xml_path": "obj/meshes/poker/poker_asset.xml",
"position": [
-0.16210197530812934,
0.1999999999999685,
0.892556870431448
],
"orientation": [
0.4999999999992126,
-0.5000000000008539,
0.500000000000787,
0.49999999999914624
],
"class": "Poker",
"value": "jack",
"suite": "clubs"
},
{
"name": "card_holder1",
"xml_path": null,
"position": [
-0.0737036067178769,
0.19990287340088858,
0.7779982821100729
],
"orientation": [
0.7071067809489301,
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3.357924703992984e-08,
0.7071067814241618
],
"class": "CardHolder"
},
{
"name": "4_of_hearts",
"xml_path": "obj/meshes/poker/poker_asset.xml",
"position": [
-0.07373022557403895,
0.19999999999996848,
0.892556870431448
],
"orientation": [
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0.5000000000007895,
0.49999999999914385
],
"class": "Poker",
"value": "4",
"suite": "hearts"
},
{
"name": "card_holder2",
"xml_path": null,
"position": [
0.0711348194624736,
0.19990287321296824,
0.7779982873122483
],
"orientation": [
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3.357924703889075e-08,
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],
"class": "CardHolder"
},
{
"name": "queen_of_hearts",
"xml_path": "obj/meshes/poker/poker_asset.xml",
"position": [
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0.892556870431448
],
"orientation": [
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],
"class": "Poker",
"value": "queen",
"suite": "hearts"
}
],
"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 3rd poker from left to right"
],
"conditions": {
"is_grasped": {
"entities": [
"queen_of_hearts"
],
"robot": "franka"
},
"lift": {
"entities": [
"queen_of_hearts"
],
"target_height": 0.9
}
}
}
}