{
    "tree": {
        "ground": [
            [
                "table_08",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table_08": [
            [
                "spatula",
                "ON"
            ],
            [
                "target_0008_tray",
                "ON"
            ],
            [
                "distractor_0008_0_flashlight",
                "ON"
            ],
            [
                "distractor_0008_1_potato_chips",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the spatula on the white tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table_08",
        "manipulated_objs": [
            "spatula",
            "target_0008_tray"
        ],
        "distractor_objs": [
            "distractor_0008_0_flashlight",
            "distractor_0008_1_potato_chips"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table_08": "standalone table used for tabletop manipulation",
        "spatula": "spatula with green handle and flat gray blade",
        "target_0008_tray": "rectangular shallow tray with side handles and colorful floral swirl pattern",
        "distractor_0008_0_flashlight": "compact gray cylindrical flashlight with side button and display panel",
        "distractor_0008_1_potato_chips": "sealed bag with printed design containing potato chips"
    },
    "objs_mapping": {
        "ground": "background",
        "table_08": "context",
        "spatula": "manipulated_objs",
        "target_0008_tray": "manipulated_objs",
        "distractor_0008_0_flashlight": "distractor_objs",
        "distractor_0008_1_potato_chips": "distractor_objs"
    },
    "assets": {
        "table_08": "asset3d/table_08/result",
        "spatula": "asset3d/spatula/result",
        "target_0008_tray": "asset3d/target_0008_tray/result",
        "distractor_0008_0_flashlight": "asset3d/distractor_0008_0_flashlight/result",
        "distractor_0008_1_potato_chips": "asset3d/distractor_0008_1_potato_chips/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table_08": "YES",
        "spatula": "YES",
        "target_0008_tray": "YES",
        "distractor_0008_0_flashlight": "YES",
        "distractor_0008_1_potato_chips": "YES"
    },
    "position": {
        "franka": [
            -0.4591,
            0.0,
            0.7469822,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "ground": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.9925,
            0.0,
            0.122
        ],
        "table_08": [
            0.0,
            0.0,
            0.3742822,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "target_0008_tray": [
            0.0185,
            0.0593,
            0.759654,
            0.0,
            0.0,
            0.2003,
            -0.9797
        ],
        "distractor_0008_1_potato_chips": [
            -0.1378,
            -0.4153,
            0.7709709,
            0.0,
            0.0,
            0.1302,
            0.9915
        ],
        "spatula": [
            -0.0264,
            -0.2286,
            0.7589339,
            0.0,
            0.0,
            1.0,
            0.0035
        ],
        "distractor_0008_0_flashlight": [
            0.2746,
            0.0313,
            0.7660199,
            0.0,
            0.0,
            0.8685,
            0.4957
        ]
    }
}