what is the venue when the competition is asian games, the event is 4x400 m relay and the year is 2002?
CREATE TABLE "achievements" (
  "year" real,
  "competition" text,
  "venue" text,
  "position" text,
  "event" text
);
SELECT "venue" FROM "achievements" WHERE "competition"='asian games' AND "event"='4x400 m relay' AND "year"=2002;