{
    "tree": {
        "ground": [
            [
                "table_06",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table_06": [
            [
                "presenter_clicker",
                "ON"
            ],
            [
                "append_target_0016_tray",
                "ON"
            ],
            [
                "append_distractor_0016_0_jewelry_box",
                "ON"
            ],
            [
                "append_distractor_0016_1_chopsticks",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the gray presenter clicker on the white tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table_06",
        "manipulated_objs": [
            "presenter_clicker",
            "append_target_0016_tray"
        ],
        "distractor_objs": [
            "append_distractor_0016_0_jewelry_box",
            "append_distractor_0016_1_chopsticks"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table_06": "standalone table used for tabletop manipulation",
        "presenter_clicker": "compact presenter clicker with buttons and textured grip",
        "append_target_0016_tray": "shallow rectangular tray with rounded corners and ornate embossed rim",
        "append_distractor_0016_0_jewelry_box": "vintage rectangular jewelry box with hinged lid, handle, lock, and ornate panels",
        "append_distractor_0016_1_chopsticks": "pair of slim gray chopsticks with tapered ends"
    },
    "objs_mapping": {
        "ground": "background",
        "table_06": "context",
        "presenter_clicker": "manipulated_objs",
        "append_target_0016_tray": "manipulated_objs",
        "append_distractor_0016_0_jewelry_box": "distractor_objs",
        "append_distractor_0016_1_chopsticks": "distractor_objs"
    },
    "assets": {
        "table_06": "asset3d/table_06/result",
        "presenter_clicker": "asset3d/presenter_clicker/result",
        "append_target_0016_tray": "asset3d/append_target_0016_tray/result",
        "append_distractor_0016_0_jewelry_box": "asset3d/append_distractor_0016_0_jewelry_box/result",
        "append_distractor_0016_1_chopsticks": "asset3d/append_distractor_0016_1_chopsticks/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table_06": "YES",
        "presenter_clicker": "YES",
        "append_target_0016_tray": "YES",
        "append_distractor_0016_0_jewelry_box": "YES",
        "append_distractor_0016_1_chopsticks": "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,
            0.9195,
            0.0,
            0.3932
        ],
        "table_06": [
            0.0,
            0.0,
            0.3730531,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "append_target_0016_tray": [
            -0.0022,
            0.1282,
            0.764758,
            0.0,
            0.0,
            0.6261,
            -0.7798
        ],
        "append_distractor_0016_0_jewelry_box": [
            0.1693,
            -0.4662,
            0.7894423,
            0.0,
            0.0,
            0.9685,
            0.249
        ],
        "presenter_clicker": [
            -0.2953,
            0.1392,
            0.7582279,
            0.0,
            0.0,
            0.9419,
            -0.3359
        ],
        "append_distractor_0016_1_chopsticks": [
            0.3536,
            0.1361,
            0.7536077,
            0.0,
            0.0,
            0.7411,
            -0.6714
        ]
    }
}