{
    "tree": {
        "ground": [
            [
                "table_01",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table_01": [
            [
                "garlic",
                "ON"
            ],
            [
                "append_target_0001_bowl",
                "ON"
            ],
            [
                "append_distractor_0001_0_shampoo_bottle",
                "ON"
            ],
            [
                "append_distractor_0001_1_hand_sanitizer",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the purple garlic in the bowl on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table_01",
        "manipulated_objs": [
            "garlic",
            "append_target_0001_bowl"
        ],
        "distractor_objs": [
            "append_distractor_0001_0_shampoo_bottle",
            "append_distractor_0001_1_hand_sanitizer"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table_01": "standalone table used for tabletop manipulation",
        "garlic": "bulbous purple garlic with stem and textured surface",
        "append_target_0001_bowl": "white ceramic bowl with blue rim and small base",
        "append_distractor_0001_0_shampoo_bottle": "pink dove pump shampoo bottle with rounded tapered body",
        "append_distractor_0001_1_hand_sanitizer": "black rectangular pump hand sanitizer bottle with printed front label"
    },
    "objs_mapping": {
        "ground": "background",
        "table_01": "context",
        "garlic": "manipulated_objs",
        "append_target_0001_bowl": "manipulated_objs",
        "append_distractor_0001_0_shampoo_bottle": "distractor_objs",
        "append_distractor_0001_1_hand_sanitizer": "distractor_objs"
    },
    "assets": {
        "table_01": "asset3d/table_01/result",
        "garlic": "asset3d/garlic/result",
        "append_target_0001_bowl": "asset3d/append_target_0001_bowl/result",
        "append_distractor_0001_0_shampoo_bottle": "asset3d/append_distractor_0001_0_shampoo_bottle/result",
        "append_distractor_0001_1_hand_sanitizer": "asset3d/append_distractor_0001_1_hand_sanitizer/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table_01": "YES",
        "garlic": "YES",
        "append_target_0001_bowl": "YES",
        "append_distractor_0001_0_shampoo_bottle": "YES",
        "append_distractor_0001_1_hand_sanitizer": "YES"
    },
    "position": {
        "franka": [
            -0.427,
            0.0,
            0.749302,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "ground": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.7763,
            0.0,
            -0.6303
        ],
        "table_01": [
            0.0,
            0.0,
            0.370702,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "append_target_0001_bowl": [
            0.0452,
            -0.2501,
            0.8026198,
            0.0,
            0.0,
            0.918,
            0.3966
        ],
        "append_distractor_0001_0_shampoo_bottle": [
            0.0844,
            0.3394,
            0.8444423,
            0.0,
            0.0,
            0.0577,
            -0.9983
        ],
        "append_distractor_0001_1_hand_sanitizer": [
            -0.3905,
            -0.5699,
            0.8048321,
            0.0,
            0.0,
            0.8133,
            0.5819
        ],
        "garlic": [
            -0.0901,
            -0.0244,
            0.7733251,
            0.0,
            0.0,
            0.98,
            0.1992
        ]
    }
}