{
    "tree": {
        "ground": [
            [
                "table_06",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table_06": [
            [
                "comb",
                "ON"
            ],
            [
                "target_0046_tray",
                "ON"
            ],
            [
                "distractor_0046_0_bowl",
                "ON"
            ],
            [
                "distractor_0046_1_jewelry_box",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the pink comb on the tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table_06",
        "manipulated_objs": [
            "comb",
            "target_0046_tray"
        ],
        "distractor_objs": [
            "distractor_0046_0_bowl",
            "distractor_0046_1_jewelry_box"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table_06": "standalone table used for tabletop manipulation",
        "comb": "pink plastic baby comb with rounded handle and cartoon decoration",
        "target_0046_tray": "rectangular ornate tray with side handles and raised decorative rim",
        "distractor_0046_0_bowl": "translucent amber bowl with two small side tabs",
        "distractor_0046_1_jewelry_box": "transparent square jewelry box with hinged lid and beige trim"
    },
    "objs_mapping": {
        "ground": "background",
        "table_06": "context",
        "comb": "manipulated_objs",
        "target_0046_tray": "manipulated_objs",
        "distractor_0046_0_bowl": "distractor_objs",
        "distractor_0046_1_jewelry_box": "distractor_objs"
    },
    "assets": {
        "table_06": "asset3d/table_06/result",
        "comb": "asset3d/comb/result",
        "target_0046_tray": "asset3d/target_0046_tray/result",
        "distractor_0046_0_bowl": "asset3d/distractor_0046_0_bowl/result",
        "distractor_0046_1_jewelry_box": "asset3d/distractor_0046_1_jewelry_box/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table_06": "YES",
        "comb": "YES",
        "target_0046_tray": "YES",
        "distractor_0046_0_bowl": "YES",
        "distractor_0046_1_jewelry_box": "YES"
    },
    "position": {
        "franka": [
            -0.5911,
            0.0,
            0.7492531,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "ground": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.5252,
            0.0,
            0.851
        ],
        "table_06": [
            0.0,
            0.0,
            0.3730531,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "target_0046_tray": [
            0.0146,
            0.2789,
            0.7619837,
            0.0,
            0.0,
            0.4918,
            0.8707
        ],
        "distractor_0046_1_jewelry_box": [
            0.0436,
            -0.4029,
            0.7874991,
            0.0,
            0.0,
            0.9487,
            0.3162
        ],
        "distractor_0046_0_bowl": [
            -0.1048,
            -0.0452,
            0.7801509,
            0.0,
            0.0,
            0.4287,
            0.9034
        ],
        "comb": [
            0.0999,
            -0.0483,
            0.7584817,
            0.0,
            0.0,
            0.8326,
            -0.5538
        ]
    }
}