{
    "tree": {
        "ground": [
            [
                "table_09",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table_09": [
            [
                "vase",
                "ON"
            ],
            [
                "append_target_0019_tray",
                "ON"
            ],
            [
                "append_distractor_0019_0_razor",
                "ON"
            ],
            [
                "append_distractor_0019_1_garlic_press",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the gray vase on the white tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table_09",
        "manipulated_objs": [
            "vase",
            "append_target_0019_tray"
        ],
        "distractor_objs": [
            "append_distractor_0019_0_razor",
            "append_distractor_0019_1_garlic_press"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table_09": "standalone table used for tabletop manipulation",
        "vase": "black and brown vase with a wide body and flared rim",
        "append_target_0019_tray": "shallow round tray with raised rim and decorative center pattern",
        "append_distractor_0019_0_razor": "metal razor with textured handle and cylindrical rolling head",
        "append_distractor_0019_1_garlic_press": "dark metal garlic press with long handles and round pressing chamber"
    },
    "objs_mapping": {
        "ground": "background",
        "table_09": "context",
        "vase": "manipulated_objs",
        "append_target_0019_tray": "manipulated_objs",
        "append_distractor_0019_0_razor": "distractor_objs",
        "append_distractor_0019_1_garlic_press": "distractor_objs"
    },
    "assets": {
        "table_09": "asset3d/table_09/result",
        "vase": "asset3d/vase/result",
        "append_target_0019_tray": "asset3d/append_target_0019_tray/result",
        "append_distractor_0019_0_razor": "asset3d/append_distractor_0019_0_razor/result",
        "append_distractor_0019_1_garlic_press": "asset3d/append_distractor_0019_1_garlic_press/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table_09": "YES",
        "vase": "YES",
        "append_target_0019_tray": "YES",
        "append_distractor_0019_0_razor": "YES",
        "append_distractor_0019_1_garlic_press": "YES"
    },
    "position": {
        "franka": [
            -0.52,
            0.0,
            0.7493879,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "ground": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.9954,
            0.0,
            -0.0957
        ],
        "table_09": [
            0.0,
            0.0,
            0.3764879,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "append_target_0019_tray": [
            0.1016,
            0.3196,
            0.75962,
            0.0,
            0.0,
            0.8793,
            0.4763
        ],
        "append_distractor_0019_0_razor": [
            0.3759,
            -0.4201,
            0.7636837,
            0.0,
            0.0,
            0.9681,
            -0.2506
        ],
        "vase": [
            0.0405,
            -0.1915,
            0.8009947,
            0.0,
            0.0,
            0.8742,
            -0.4856
        ],
        "append_distractor_0019_1_garlic_press": [
            -0.4434,
            -0.2175,
            0.7894995,
            0.0,
            0.0,
            0.5644,
            -0.8255
        ]
    }
}