{
    "tree": {
        "ground": [
            [
                "table_09",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table_09": [
            [
                "apple",
                "ON"
            ],
            [
                "target_0009_basket",
                "ON"
            ],
            [
                "distractor_0009_0_pill_organizer",
                "ON"
            ],
            [
                "distractor_0009_1_chewing_gum",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the red apple in the basket on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table_09",
        "manipulated_objs": [
            "apple",
            "target_0009_basket"
        ],
        "distractor_objs": [
            "distractor_0009_0_pill_organizer",
            "distractor_0009_1_chewing_gum"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table_09": "standalone table used for tabletop manipulation",
        "apple": "realistic red-green apple with a short brown stem",
        "target_0009_basket": "small round woven basket with two loop handles",
        "distractor_0009_0_pill_organizer": "compact square plastic pill organizer box with latch and rounded corners",
        "distractor_0009_1_chewing_gum": "small bottle-shaped container for chewing gum"
    },
    "objs_mapping": {
        "ground": "background",
        "table_09": "context",
        "apple": "manipulated_objs",
        "target_0009_basket": "manipulated_objs",
        "distractor_0009_0_pill_organizer": "distractor_objs",
        "distractor_0009_1_chewing_gum": "distractor_objs"
    },
    "assets": {
        "table_09": "asset3d/table_09/result",
        "apple": "asset3d/apple/result",
        "target_0009_basket": "asset3d/target_0009_basket/result",
        "distractor_0009_0_pill_organizer": "asset3d/distractor_0009_0_pill_organizer/result",
        "distractor_0009_1_chewing_gum": "asset3d/distractor_0009_1_chewing_gum/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table_09": "YES",
        "apple": "YES",
        "target_0009_basket": "YES",
        "distractor_0009_0_pill_organizer": "YES",
        "distractor_0009_1_chewing_gum": "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,
            0.5091,
            0.0,
            0.8607
        ],
        "table_09": [
            0.0,
            0.0,
            0.3764879,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "target_0009_basket": [
            0.0343,
            -0.1939,
            0.7871462,
            0.0,
            0.0,
            0.3959,
            -0.9183
        ],
        "distractor_0009_0_pill_organizer": [
            -0.2187,
            0.4031,
            0.7754633,
            0.0,
            0.0,
            0.9133,
            -0.4073
        ],
        "apple": [
            0.044,
            0.1548,
            0.8049996,
            0.0,
            0.0,
            0.9955,
            -0.0946
        ],
        "distractor_0009_1_chewing_gum": [
            -0.3701,
            -0.0926,
            0.8001437,
            0.0,
            0.0,
            0.9715,
            0.2371
        ]
    }
}