{
    "tree": {
        "ground": [
            [
                "table_05",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table_05": [
            [
                "earbud_case",
                "ON"
            ],
            [
                "append_target_0015_tray",
                "ON"
            ],
            [
                "append_distractor_0015_0_watering_can",
                "ON"
            ],
            [
                "append_distractor_0015_1_thermos",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the black earbud case on the white tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table_05",
        "manipulated_objs": [
            "earbud_case",
            "append_target_0015_tray"
        ],
        "distractor_objs": [
            "append_distractor_0015_0_watering_can",
            "append_distractor_0015_1_thermos"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table_05": "standalone table used for tabletop manipulation",
        "earbud_case": "compact black case for wireless earbuds with charging port",
        "append_target_0015_tray": "shallow rectangular tray with scalloped edges and ornate raised border",
        "append_distractor_0015_0_watering_can": "compact spray watering can with ergonomic handle and nozzle",
        "append_distractor_0015_1_thermos": "tall dark blue insulated thermos with screw lid and tapered body"
    },
    "objs_mapping": {
        "ground": "background",
        "table_05": "context",
        "earbud_case": "manipulated_objs",
        "append_target_0015_tray": "manipulated_objs",
        "append_distractor_0015_0_watering_can": "distractor_objs",
        "append_distractor_0015_1_thermos": "distractor_objs"
    },
    "assets": {
        "table_05": "asset3d/table_05/result",
        "earbud_case": "asset3d/earbud_case/result",
        "append_target_0015_tray": "asset3d/append_target_0015_tray/result",
        "append_distractor_0015_0_watering_can": "asset3d/append_distractor_0015_0_watering_can/result",
        "append_distractor_0015_1_thermos": "asset3d/append_distractor_0015_1_thermos/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table_05": "YES",
        "earbud_case": "YES",
        "append_target_0015_tray": "YES",
        "append_distractor_0015_0_watering_can": "YES",
        "append_distractor_0015_1_thermos": "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,
            0.2973,
            0.0,
            -0.9548
        ],
        "table_05": [
            0.0,
            0.0,
            0.3749812,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "append_target_0015_tray": [
            -0.0754,
            0.1721,
            0.7628557,
            0.0,
            0.0,
            0.8362,
            -0.5484
        ],
        "append_distractor_0015_0_watering_can": [
            0.102,
            -0.7224,
            0.8708242,
            0.0,
            0.0,
            0.7396,
            -0.6731
        ],
        "append_distractor_0015_1_thermos": [
            -0.0876,
            -0.3246,
            0.8246101,
            0.0,
            0.0,
            0.7168,
            0.6973
        ],
        "earbud_case": [
            -0.0585,
            -0.2193,
            0.7606199,
            0.0,
            0.0,
            0.1678,
            0.9858
        ]
    }
}