{
    "tree": {
        "ground": [
            [
                "table_05",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table_05": [
            [
                "canned_coke",
                "ON"
            ],
            [
                "append_target_0005_tray",
                "ON"
            ],
            [
                "append_distractor_0005_0_wrench",
                "ON"
            ],
            [
                "append_distractor_0005_1_remote_holder",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the red can on the tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table_05",
        "manipulated_objs": [
            "canned_coke",
            "append_target_0005_tray"
        ],
        "distractor_objs": [
            "append_distractor_0005_0_wrench",
            "append_distractor_0005_1_remote_holder"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table_05": "standalone table used for tabletop manipulation",
        "canned_coke": "cylindrical red soda can with white branding and silver top",
        "append_target_0005_tray": "shallow round decorative tray with scalloped rim and colorful floral border",
        "append_distractor_0005_0_wrench": "orange and black adjustable wrench with silver jaw and hanging hole",
        "append_distractor_0005_1_remote_holder": "gray plastic stand holding a black remote at an angle"
    },
    "objs_mapping": {
        "ground": "background",
        "table_05": "context",
        "canned_coke": "manipulated_objs",
        "append_target_0005_tray": "manipulated_objs",
        "append_distractor_0005_0_wrench": "distractor_objs",
        "append_distractor_0005_1_remote_holder": "distractor_objs"
    },
    "assets": {
        "table_05": "asset3d/table_05/result",
        "canned_coke": "asset3d/canned_coke/result",
        "append_target_0005_tray": "asset3d/append_target_0005_tray/result",
        "append_distractor_0005_0_wrench": "asset3d/append_distractor_0005_0_wrench/result",
        "append_distractor_0005_1_remote_holder": "asset3d/append_distractor_0005_1_remote_holder/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table_05": "YES",
        "canned_coke": "YES",
        "append_target_0005_tray": "YES",
        "append_distractor_0005_0_wrench": "YES",
        "append_distractor_0005_1_remote_holder": "YES"
    },
    "position": {
        "franka": [
            -0.547,
            0.0,
            0.7488812,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "ground": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.3957,
            0.0,
            -0.9184
        ],
        "table_05": [
            0.0,
            0.0,
            0.3749812,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "append_target_0005_tray": [
            -0.0288,
            -0.1108,
            0.7563608,
            0.0,
            0.0,
            0.8769,
            -0.4807
        ],
        "append_distractor_0005_0_wrench": [
            0.3845,
            -0.4494,
            0.7574253,
            0.0,
            0.0,
            0.4823,
            -0.876
        ],
        "append_distractor_0005_1_remote_holder": [
            0.2778,
            -0.0909,
            0.8300999,
            0.0,
            0.0,
            0.8434,
            0.5373
        ],
        "canned_coke": [
            -0.1022,
            0.2115,
            0.795699,
            0.0,
            0.0,
            0.8227,
            -0.5685
        ]
    }
}