{
    "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,
                    -0.500000000000856,
                    0.5000000000007888,
                    0.4999999999991447
                ],
                "class": "Poker",
                "value": "4",
                "suite": "clubs"
            },
            {
                "name": "card_holder2",
                "xml_path": null,
                "position": [
                    0.057584636091620775,
                    0.19990291886081366,
                    0.777998287659542
                ],
                "orientation": [
                    0.7071067808396517,
                    -6.342213556273543e-08,
                    2.9009175749872327e-08,
                    0.7071067815334395
                ],
                "class": "CardHolder"
            },
            {
                "name": "king_of_hearts",
                "xml_path": "obj/meshes/poker/poker_asset.xml",
                "position": [
                    0.057548439891727636,
                    0.19999999999996845,
                    0.892556870431448
                ],
                "orientation": [
                    0.4999999999992061,
                    -0.5000000000008608,
                    0.5000000000007936,
                    0.4999999999991398
                ],
                "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
            }
        }
    }
}