{
    "tree": {
        "ground": [
            [
                "table_06",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table_06": [
            [
                "juice",
                "ON"
            ],
            [
                "append_target_0006_tray",
                "ON"
            ],
            [
                "append_distractor_0006_0_pill_organizer",
                "ON"
            ],
            [
                "append_distractor_0006_1_pen_holder",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the orange bottle on the brown tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table_06",
        "manipulated_objs": [
            "juice",
            "append_target_0006_tray"
        ],
        "distractor_objs": [
            "append_distractor_0006_0_pill_organizer",
            "append_distractor_0006_1_pen_holder"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table_06": "standalone table used for tabletop manipulation",
        "juice": "transparent bottle with orange liquid and textured cap",
        "append_target_0006_tray": "shallow round brown tray with scalloped decorative rim",
        "append_distractor_0006_0_pill_organizer": "small rounded square hinged pill organizer with single compartment",
        "append_distractor_0006_1_pen_holder": "simple cylindrical pen holder with textured base"
    },
    "objs_mapping": {
        "ground": "background",
        "table_06": "context",
        "juice": "manipulated_objs",
        "append_target_0006_tray": "manipulated_objs",
        "append_distractor_0006_0_pill_organizer": "distractor_objs",
        "append_distractor_0006_1_pen_holder": "distractor_objs"
    },
    "assets": {
        "table_06": "asset3d/table_06/result",
        "juice": "asset3d/juice/result",
        "append_target_0006_tray": "asset3d/append_target_0006_tray/result",
        "append_distractor_0006_0_pill_organizer": "asset3d/append_distractor_0006_0_pill_organizer/result",
        "append_distractor_0006_1_pen_holder": "asset3d/append_distractor_0006_1_pen_holder/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table_06": "YES",
        "juice": "YES",
        "append_target_0006_tray": "YES",
        "append_distractor_0006_0_pill_organizer": "YES",
        "append_distractor_0006_1_pen_holder": "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,
            0.1924,
            0.0,
            0.9813
        ],
        "table_06": [
            0.0,
            0.0,
            0.3730531,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "append_target_0006_tray": [
            -0.2626,
            0.1022,
            0.760088,
            0.0,
            0.0,
            0.0276,
            -0.9996
        ],
        "append_distractor_0006_0_pill_organizer": [
            -0.4509,
            0.4318,
            0.7767696,
            0.0,
            0.0,
            0.6503,
            -0.7597
        ],
        "append_distractor_0006_1_pen_holder": [
            -0.0422,
            -0.3584,
            0.7881068,
            0.0,
            0.0,
            0.482,
            0.8762
        ],
        "juice": [
            0.0465,
            0.1983,
            0.8344036,
            0.0,
            0.0,
            0.46,
            0.8879
        ]
    }
}