{
    "task": {
        "components": [
            {
                "name": "table",
                "xml_path": "obj/meshes/table/table.xml",
                "position": [
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                "class": "Table",
                "materials": [
                    "wood4"
                ]
            },
            {
                "name": "card_holder0",
                "xml_path": null,
                "position": [
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                "orientation": [
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                    0.7071067909030009
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                "class": "CardHolder"
            },
            {
                "name": "9_of_spades",
                "xml_path": "obj/meshes/poker/poker_asset.xml",
                "position": [
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                "orientation": [
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                "class": "Poker",
                "value": "9",
                "suite": "spades"
            },
            {
                "name": "card_holder1",
                "xml_path": null,
                "position": [
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                    0.7071067909030005
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                "class": "CardHolder"
            },
            {
                "name": "6_of_diamonds",
                "xml_path": "obj/meshes/poker/poker_asset.xml",
                "position": [
                    -0.051963297478008555,
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                    0.892556870431448
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                "orientation": [
                    0.4999999999992058,
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                    0.5000000000007943,
                    0.49999999999913963
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                "class": "Poker",
                "value": "6",
                "suite": "diamonds"
            },
            {
                "name": "card_holder2",
                "xml_path": null,
                "position": [
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                "class": "CardHolder"
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            {
                "name": "6_of_spades",
                "xml_path": "obj/meshes/poker/poker_asset.xml",
                "position": [
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                "orientation": [
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                "class": "Poker",
                "value": "6",
                "suite": "spades"
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            {
                "name": "card_holder3",
                "xml_path": null,
                "position": [
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                "orientation": [
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                "class": "CardHolder"
            },
            {
                "name": "9_of_diamonds",
                "xml_path": "obj/meshes/poker/poker_asset.xml",
                "position": [
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                "orientation": [
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                "class": "Poker",
                "value": "9",
                "suite": "diamonds"
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        ],
        "scene": {
            "name": "living_room_0",
            "position": [
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            "orientation": [
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                0.0,
                0.0,
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            "floor_textures": [
                "floorplane"
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        },
        "instructions": [
            "Please pick the 1st poker from left to right"
        ],
        "conditions": {
            "is_grasped": {
                "entities": [
                    "9_of_spades"
                ],
                "robot": "franka"
            },
            "lift": {
                "entities": [
                    "9_of_spades"
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                "target_height": 0.9
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        }
    }
}