{
    "task": {
        "components": [
            {
                "name": "table",
                "xml_path": "obj/meshes/table/table.xml",
                "position": [
                    2.95260186613926e-05,
                    -9.93659823174817e-05,
                    0.011998531859567153
                ],
                "orientation": [
                    0.9999999999999981,
                    -6.548996134916977e-08,
                    -1.9473442804192102e-08,
                    1.2348147277090963e-10
                ],
                "class": "Table",
                "materials": [
                    "stone4"
                ]
            },
            {
                "name": "card_holder0",
                "xml_path": null,
                "position": [
                    -0.19306651526890195,
                    0.1999028830076743,
                    0.7779982772575244
                ],
                "orientation": [
                    0.7071067809130888,
                    -5.99439524189229e-08,
                    3.2511000574561135e-08,
                    0.7071067814600036
                ],
                "class": "CardHolder"
            },
            {
                "name": "king_of_clubs",
                "xml_path": "obj/meshes/poker/poker_asset.xml",
                "position": [
                    -0.19309537275850894,
                    0.1999999999999685,
                    0.892556870431448
                ],
                "orientation": [
                    0.4999999999992126,
                    -0.5000000000008539,
                    0.500000000000787,
                    0.49999999999914624
                ],
                "class": "Poker",
                "value": "king",
                "suite": "clubs"
            },
            {
                "name": "card_holder1",
                "xml_path": null,
                "position": [
                    -0.05771614421450999,
                    0.199902882823386,
                    0.7779982825282186
                ],
                "orientation": [
                    0.7071067809130859,
                    -5.994395241449012e-08,
                    3.251100057362109e-08,
                    0.707106781460007
                ],
                "class": "CardHolder"
            },
            {
                "name": "3_of_clubs",
                "xml_path": "obj/meshes/poker/poker_asset.xml",
                "position": [
                    -0.05774500176951821,
                    0.19999999999996848,
                    0.892556870431448
                ],
                "orientation": [
                    0.49999999999921035,
                    -0.5000000000008561,
                    0.5000000000007889,
                    0.4999999999991444
                ],
                "class": "Poker",
                "value": "3",
                "suite": "clubs"
            },
            {
                "name": "card_holder2",
                "xml_path": null,
                "position": [
                    0.07218964128020852,
                    0.19990288264650805,
                    0.7779982875868946
                ],
                "orientation": [
                    0.7071067809130823,
                    -5.994395240989323e-08,
                    3.251100057285043e-08,
                    0.7071067814600104
                ],
                "class": "CardHolder"
            },
            {
                "name": "9_of_diamonds",
                "xml_path": "obj/meshes/poker/poker_asset.xml",
                "position": [
                    0.07216078366242869,
                    0.19999999999996843,
                    0.892556870431448
                ],
                "orientation": [
                    0.49999999999920614,
                    -0.5000000000008606,
                    0.5000000000007939,
                    0.49999999999914013
                ],
                "class": "Poker",
                "value": "9",
                "suite": "diamonds"
            }
        ],
        "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 3rd poker from left to right"
        ],
        "conditions": {
            "is_grasped": {
                "entities": [
                    "9_of_diamonds"
                ],
                "robot": "franka"
            },
            "lift": {
                "entities": [
                    "9_of_diamonds"
                ],
                "target_height": 0.9
            }
        }
    }
}