assets_db: assets
workspace:
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    y: 0.200000
    z: 0.00000
  - x: 0.400000
    y: 0.200000
    z: 0.00000
  - x: 0.400000
    y: -0.200000
    z: 0.00000
  - x: 0.200000
    y: -0.200000
    z: 0.00000
absolute_part:
  name: board
  pose:
    position:
      x: 0.500000
      y: 0.00000
      z: 0.00000
    orientation:
      x: 0.00000
      y: 0.00000
      z: 0.00000
      w: 0.100000
relative_part:
  - name: bishop
    relative_at: board
    pose:
      position:
        x: -0.00170000
        y: 0.00292700
        z: -3.00000e-06
      orientation:
        x: 0.00000
        y: 0.00000
        z: 0.00000
        w: 1.00000
  - name: king
    relative_at: board
    pose:
      position:
        x: -0.00850000
        y: 0.00372900
        z: 0.00000
      orientation:
        x: 0.00000
        y: 0.00000
        z: 0.00000
        w: 1.00000
  - name: knight
    relative_at: board
    pose:
      position:
        x: 0.00170000
        y: 0.00301200
        z: -0.000160000
      orientation:
        x: 0.00000
        y: 0.00000
        z: 0.00000
        w: 1.00000
  - name: queen
    relative_at: board
    pose:
      position:
        x: -0.00510000
        y: 0.00334000
        z: 0.00000
      orientation:
        x: 0.00000
        y: 0.00000
        z: 0.00000
        w: 1.00000
  - name: pawn
    relative_at: board
    pose:
      position:
        x: 0.00850000
        y: 0.00223800
        z: 0.00000
      orientation:
        x: 0.00000
        y: 0.00000
        z: 0.00000
        w: 1.00000
  - name: rook
    relative_at: board
    pose:
      position:
        x: 0.00510000
        y: 0.00266700
        z: 0.00000
      orientation:
        x: 0.00000
        y: 0.00000
        z: 0.00000
        w: 1.00000
grasp_pose:
  - name: king
    pose:
      position:
        x: -2.00000e-05
        y: 0.00307100
        z: 0.00000
      orientation:
        x: 0.00000
        y: 0.850904
        z: 0.00000
        w: 0.525322
  - name: queen
    pose:
      position:
        x: 3.80000e-05
        y: 0.00336000
        z: 0.00000
      orientation:
        x: 0.00000
        y: 0.850904
        z: 0.00000
        w: 0.525322
  - name: bishop
    pose:
      position:
        x: 0.00000
        y: 0.00000
        z: 0.0560000
      orientation:
        x: 0.00000
        y: 0.850904
        z: 0.00000
        w: 0.525322
  - name: knight
    pose:
      position:
        x: 0.00000
        y: 0.00260400
        z: -0.000440000
      orientation:
        x: -0.400576
        y: 0.799230
        z: -0.400576
        w: 0.200770
  - name: rook
    pose:
      position:
        x: 0.00000
        y: 0.00223300
        z: 0.00000
      orientation:
        x: 0.00000
        y: 0.850904
        z: 0.00000
        w: 0.525322
  - name: pawn
    pose:
      position:
        x: 0.00000
        y: 0.00216200
        z: 0.00000
      orientation:
        x: 0.00000
        y: 0.850904
        z: 0.00000
        w: 0.525322