{
    "tree": {
        "ground": [
            [
                "table_02",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table_02": [
            [
                "beverage_bottle",
                "ON"
            ],
            [
                "target_0022_tray",
                "ON"
            ],
            [
                "distractor_0022_0_wine_glass",
                "ON"
            ],
            [
                "distractor_0022_1_coaster",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the green bottle on the white tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table_02",
        "manipulated_objs": [
            "beverage_bottle",
            "target_0022_tray"
        ],
        "distractor_objs": [
            "distractor_0022_0_wine_glass",
            "distractor_0022_1_coaster"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table_02": "standalone table used for tabletop manipulation",
        "beverage_bottle": "translucent bottle with green cap and black spout",
        "target_0022_tray": "white fluted pedestal tray with scalloped rim and gold interior decoration",
        "distractor_0022_0_wine_glass": "transparent stemmed wine glass with tapered bowl and round base",
        "distractor_0022_1_coaster": "round blue coaster with scalloped rim and shallow raised center"
    },
    "objs_mapping": {
        "ground": "background",
        "table_02": "context",
        "beverage_bottle": "manipulated_objs",
        "target_0022_tray": "manipulated_objs",
        "distractor_0022_0_wine_glass": "distractor_objs",
        "distractor_0022_1_coaster": "distractor_objs"
    },
    "assets": {
        "table_02": "asset3d/table_02/result",
        "beverage_bottle": "asset3d/beverage_bottle/result",
        "target_0022_tray": "asset3d/target_0022_tray/result",
        "distractor_0022_0_wine_glass": "asset3d/distractor_0022_0_wine_glass/result",
        "distractor_0022_1_coaster": "asset3d/distractor_0022_1_coaster/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table_02": "YES",
        "beverage_bottle": "YES",
        "target_0022_tray": "YES",
        "distractor_0022_0_wine_glass": "YES",
        "distractor_0022_1_coaster": "YES"
    },
    "position": {
        "franka": [
            -0.3366,
            0.0,
            0.772564,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "ground": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.9949,
            0.0,
            -0.1013
        ],
        "table_02": [
            0.0,
            0.0,
            0.385664,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "target_0022_tray": [
            0.1888,
            -0.0566,
            0.8292997,
            0.0,
            0.0,
            0.9504,
            0.311
        ],
        "distractor_0022_1_coaster": [
            0.1552,
            -0.5405,
            0.7803654,
            0.0,
            0.0,
            0.7522,
            -0.6589
        ],
        "distractor_0022_0_wine_glass": [
            -0.105,
            0.185,
            0.8440526,
            0.0,
            0.0,
            0.8113,
            -0.5846
        ],
        "beverage_bottle": [
            -0.0545,
            -0.1349,
            0.8392825,
            0.0,
            0.0,
            0.9671,
            0.2546
        ]
    }
}