{
    "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,
                    -5.888185249028264e-08,
                    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": [
                    0.49999999999920963,
                    -0.5000000000008564,
                    0.5000000000007895,
                    0.49999999999914385
                ],
                "class": "Poker",
                "value": "4",
                "suite": "hearts"
            },
            {
                "name": "card_holder2",
                "xml_path": null,
                "position": [
                    0.0711348194624736,
                    0.19990287321296824,
                    0.7779982873122483
                ],
                "orientation": [
                    0.707106780948928,
                    -5.8881852485854356e-08,
                    3.357924703889075e-08,
                    0.7071067814241639
                ],
                "class": "CardHolder"
            },
            {
                "name": "queen_of_hearts",
                "xml_path": "obj/meshes/poker/poker_asset.xml",
                "position": [
                    0.07110820054676223,
                    0.19999999999996843,
                    0.892556870431448
                ],
                "orientation": [
                    0.49999999999920636,
                    -0.5000000000008603,
                    0.5000000000007934,
                    0.4999999999991403
                ],
                "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
            }
        }
    }
}