{
    "tree": {
        "ground": [
            [
                "table_03",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table_03": [
            [
                "toothbrush",
                "ON"
            ],
            [
                "target_0003_soap_dish",
                "ON"
            ],
            [
                "distractor_0003_0_mouthwash_cup",
                "ON"
            ],
            [
                "distractor_0003_1_ac_remote",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the white toothbrush on the yellow soap dish on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table_03",
        "manipulated_objs": [
            "toothbrush",
            "target_0003_soap_dish"
        ],
        "distractor_objs": [
            "distractor_0003_0_mouthwash_cup",
            "distractor_0003_1_ac_remote"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table_03": "standalone table used for tabletop manipulation",
        "toothbrush": "gray electric toothbrush with blue accents and bristle head",
        "target_0003_soap_dish": "brown rectangular soap dish with slotted base and four rounded feet",
        "distractor_0003_0_mouthwash_cup": "yellow cup with embossed animal design and wavy texture",
        "distractor_0003_1_ac_remote": "compact rectangular remote with buttons and display screen"
    },
    "objs_mapping": {
        "ground": "background",
        "table_03": "context",
        "toothbrush": "manipulated_objs",
        "target_0003_soap_dish": "manipulated_objs",
        "distractor_0003_0_mouthwash_cup": "distractor_objs",
        "distractor_0003_1_ac_remote": "distractor_objs"
    },
    "assets": {
        "table_03": "asset3d/table_03/result",
        "toothbrush": "asset3d/toothbrush/result",
        "target_0003_soap_dish": "asset3d/target_0003_soap_dish/result",
        "distractor_0003_0_mouthwash_cup": "asset3d/distractor_0003_0_mouthwash_cup/result",
        "distractor_0003_1_ac_remote": "asset3d/distractor_0003_1_ac_remote/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table_03": "YES",
        "toothbrush": "YES",
        "target_0003_soap_dish": "YES",
        "distractor_0003_0_mouthwash_cup": "YES",
        "distractor_0003_1_ac_remote": "YES"
    },
    "position": {
        "franka": [
            -0.3794,
            0.0,
            0.7971477,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "ground": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.8444,
            0.0,
            0.5358
        ],
        "table_03": [
            0.0,
            0.0,
            0.4005477,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "distractor_0003_0_mouthwash_cup": [
            0.0594,
            0.2571,
            0.85955,
            0.0,
            0.0,
            0.221,
            -0.9753
        ],
        "target_0003_soap_dish": [
            0.0636,
            -0.1551,
            0.8189241,
            0.0,
            0.0,
            0.5089,
            -0.8608
        ],
        "distractor_0003_1_ac_remote": [
            0.0558,
            0.1131,
            0.8052848,
            0.0,
            0.0,
            0.9626,
            0.2708
        ],
        "toothbrush": [
            0.2425,
            0.075,
            0.8114515,
            0.0,
            0.0,
            0.0223,
            -0.9998
        ]
    }
}