{
    "tree": {
        "ground": [
            [
                "table_04",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table_04": [
            [
                "wine_glass",
                "ON"
            ],
            [
                "append_target_0014_tray",
                "ON"
            ],
            [
                "append_distractor_0014_0_diffuser_bottle",
                "ON"
            ],
            [
                "append_distractor_0014_1_screwdriver",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the white goblet on the tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table_04",
        "manipulated_objs": [
            "wine_glass",
            "append_target_0014_tray"
        ],
        "distractor_objs": [
            "append_distractor_0014_0_diffuser_bottle",
            "append_distractor_0014_1_screwdriver"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table_04": "standalone table used for tabletop manipulation",
        "wine_glass": "white ornate goblet with gold trim and red rose accents",
        "append_target_0014_tray": "shallow square tray with floral ornament and slightly flared rim",
        "append_distractor_0014_0_diffuser_bottle": "cylindrical glass bottle with wooden diffuser sticks",
        "append_distractor_0014_1_screwdriver": "blue-handled screwdriver with a metal shaft and pointed tip"
    },
    "objs_mapping": {
        "ground": "background",
        "table_04": "context",
        "wine_glass": "manipulated_objs",
        "append_target_0014_tray": "manipulated_objs",
        "append_distractor_0014_0_diffuser_bottle": "distractor_objs",
        "append_distractor_0014_1_screwdriver": "distractor_objs"
    },
    "assets": {
        "table_04": "asset3d/table_04/result",
        "wine_glass": "asset3d/wine_glass/result",
        "append_target_0014_tray": "asset3d/append_target_0014_tray/result",
        "append_distractor_0014_0_diffuser_bottle": "asset3d/append_distractor_0014_0_diffuser_bottle/result",
        "append_distractor_0014_1_screwdriver": "asset3d/append_distractor_0014_1_screwdriver/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table_04": "YES",
        "wine_glass": "YES",
        "append_target_0014_tray": "YES",
        "append_distractor_0014_0_diffuser_bottle": "YES",
        "append_distractor_0014_1_screwdriver": "YES"
    },
    "position": {
        "franka": [
            -0.613,
            0.0,
            0.7493729,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "ground": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.3801,
            0.0,
            -0.925
        ],
        "table_04": [
            0.0,
            0.0,
            0.3741729,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "append_target_0014_tray": [
            -0.3131,
            -0.1728,
            0.7662322,
            0.0,
            0.0,
            0.4519,
            0.8921
        ],
        "wine_glass": [
            -0.0221,
            0.2665,
            0.7961732,
            0.0,
            0.0,
            0.1143,
            -0.9934
        ],
        "append_distractor_0014_0_diffuser_bottle": [
            0.1544,
            -0.5273,
            0.8247197,
            0.0,
            0.0,
            0.5316,
            0.847
        ],
        "append_distractor_0014_1_screwdriver": [
            -0.3144,
            0.5354,
            0.7631389,
            0.0,
            0.0,
            0.9975,
            0.0709
        ]
    }
}