{
    "tree": {
        "ground": [
            [
                "table_08",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table_08": [
            [
                "bottle_opener",
                "ON"
            ],
            [
                "target_0018_tray",
                "ON"
            ],
            [
                "distractor_0018_0_diffuser_bottle",
                "ON"
            ],
            [
                "distractor_0018_1_vase",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the green bottle opener on the tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table_08",
        "manipulated_objs": [
            "bottle_opener",
            "target_0018_tray"
        ],
        "distractor_objs": [
            "distractor_0018_0_diffuser_bottle",
            "distractor_0018_1_vase"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table_08": "standalone table used for tabletop manipulation",
        "bottle_opener": "olive green metal bottle opener with hanging loop handle",
        "target_0018_tray": "shallow square tray with rounded corners and colorful floral top",
        "distractor_0018_0_diffuser_bottle": "rounded white diffuser bottle with short neck and golden cap",
        "distractor_0018_1_vase": "tall, slender purple vase with a flared rim"
    },
    "objs_mapping": {
        "ground": "background",
        "table_08": "context",
        "bottle_opener": "manipulated_objs",
        "target_0018_tray": "manipulated_objs",
        "distractor_0018_0_diffuser_bottle": "distractor_objs",
        "distractor_0018_1_vase": "distractor_objs"
    },
    "assets": {
        "table_08": "asset3d/table_08/result",
        "bottle_opener": "asset3d/bottle_opener/result",
        "target_0018_tray": "asset3d/target_0018_tray/result",
        "distractor_0018_0_diffuser_bottle": "asset3d/distractor_0018_0_diffuser_bottle/result",
        "distractor_0018_1_vase": "asset3d/distractor_0018_1_vase/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table_08": "YES",
        "bottle_opener": "YES",
        "target_0018_tray": "YES",
        "distractor_0018_0_diffuser_bottle": "YES",
        "distractor_0018_1_vase": "YES"
    },
    "position": {
        "franka": [
            -0.4591,
            0.0,
            0.7469822,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "ground": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.8272,
            0.0,
            -0.5619
        ],
        "table_08": [
            0.0,
            0.0,
            0.3742822,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "target_0018_tray": [
            0.1495,
            0.085,
            0.7647642,
            0.0,
            0.0,
            0.9003,
            -0.4352
        ],
        "distractor_0018_0_diffuser_bottle": [
            -0.1895,
            0.4776,
            0.7988231,
            0.0,
            0.0,
            0.0125,
            -0.9999
        ],
        "bottle_opener": [
            0.1732,
            -0.2052,
            0.7561739,
            0.0,
            0.0,
            0.7445,
            0.6676
        ],
        "distractor_0018_1_vase": [
            -0.2189,
            0.0623,
            0.8005188,
            0.0,
            0.0,
            0.7602,
            0.6497
        ]
    }
}