{
    "tree": {
        "ground": [
            [
                "table_00",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table_00": [
            [
                "carrot",
                "ON"
            ],
            [
                "target_0000_tray",
                "ON"
            ],
            [
                "distractor_0000_0_sticky_notes",
                "ON"
            ],
            [
                "distractor_0000_1_earbud_case",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the orange carrot on the brown tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table_00",
        "manipulated_objs": [
            "carrot",
            "target_0000_tray"
        ],
        "distractor_objs": [
            "distractor_0000_0_sticky_notes",
            "distractor_0000_1_earbud_case"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table_00": "standalone table used for tabletop manipulation",
        "carrot": "orange carrot with green leafy top",
        "target_0000_tray": "rectangular brown wooden serving tray with shallow basin and side handles",
        "distractor_0000_0_sticky_notes": "flower-shaped multicolor sticky note pad with central round tab",
        "distractor_0000_1_earbud_case": "sleek black earbud case with rounded edges and charging port"
    },
    "objs_mapping": {
        "ground": "background",
        "table_00": "context",
        "carrot": "manipulated_objs",
        "target_0000_tray": "manipulated_objs",
        "distractor_0000_0_sticky_notes": "distractor_objs",
        "distractor_0000_1_earbud_case": "distractor_objs"
    },
    "assets": {
        "table_00": "asset3d/table_00/result",
        "carrot": "asset3d/carrot/result",
        "target_0000_tray": "asset3d/target_0000_tray/result",
        "distractor_0000_0_sticky_notes": "asset3d/distractor_0000_0_sticky_notes/result",
        "distractor_0000_1_earbud_case": "asset3d/distractor_0000_1_earbud_case/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table_00": "YES",
        "carrot": "YES",
        "target_0000_tray": "YES",
        "distractor_0000_0_sticky_notes": "YES",
        "distractor_0000_1_earbud_case": "YES"
    },
    "position": {
        "franka": [
            -0.5214,
            0.0,
            0.7740258,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "ground": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.9956,
            0.0,
            0.0941
        ],
        "table_00": [
            0.0,
            0.0,
            0.3842258,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "target_0000_tray": [
            -0.0817,
            0.2235,
            0.7873813,
            0.0,
            0.0,
            0.4957,
            -0.8685
        ],
        "carrot": [
            -0.0847,
            -0.1023,
            0.7752963,
            0.0,
            0.0,
            0.8864,
            -0.463
        ],
        "distractor_0000_0_sticky_notes": [
            -0.0878,
            -0.5995,
            0.7865082,
            0.0,
            0.0,
            0.3034,
            0.9529
        ],
        "distractor_0000_1_earbud_case": [
            -0.0247,
            -0.6453,
            0.7812843,
            0.0,
            0.0,
            0.8413,
            -0.5406
        ]
    }
}