{
    "tree": {
        "ground": [
            [
                "table_06",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table_06": [
            [
                "eraser",
                "ON"
            ],
            [
                "target_0026_tray",
                "ON"
            ],
            [
                "distractor_0026_0_presenter_clicker",
                "ON"
            ],
            [
                "distractor_0026_1_pliers",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the green eraser on the colorful tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table_06",
        "manipulated_objs": [
            "eraser",
            "target_0026_tray"
        ],
        "distractor_objs": [
            "distractor_0026_0_presenter_clicker",
            "distractor_0026_1_pliers"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table_06": "standalone table used for tabletop manipulation",
        "eraser": "rectangular floral sleeve eraser with gray rubber core",
        "target_0026_tray": "shallow round tray with colorful floral mandala pattern",
        "distractor_0026_0_presenter_clicker": "compact presenter clicker with ergonomic design and pointed tip",
        "distractor_0026_1_pliers": "adjustable black and red groove-joint pliers with curved serrated jaws"
    },
    "objs_mapping": {
        "ground": "background",
        "table_06": "context",
        "eraser": "manipulated_objs",
        "target_0026_tray": "manipulated_objs",
        "distractor_0026_0_presenter_clicker": "distractor_objs",
        "distractor_0026_1_pliers": "distractor_objs"
    },
    "assets": {
        "table_06": "asset3d/table_06/result",
        "eraser": "asset3d/eraser/result",
        "target_0026_tray": "asset3d/target_0026_tray/result",
        "distractor_0026_0_presenter_clicker": "asset3d/distractor_0026_0_presenter_clicker/result",
        "distractor_0026_1_pliers": "asset3d/distractor_0026_1_pliers/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table_06": "YES",
        "eraser": "YES",
        "target_0026_tray": "YES",
        "distractor_0026_0_presenter_clicker": "YES",
        "distractor_0026_1_pliers": "YES"
    },
    "position": {
        "franka": [
            -0.5911,
            0.0,
            0.7492531,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "ground": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.1286,
            0.0,
            0.9917
        ],
        "table_06": [
            0.0,
            0.0,
            0.3730531,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "target_0026_tray": [
            -0.2386,
            0.1691,
            0.7599781,
            0.0,
            0.0,
            0.2471,
            0.969
        ],
        "distractor_0026_1_pliers": [
            0.3721,
            0.3125,
            0.7612328,
            0.0,
            0.0,
            0.9635,
            -0.2675
        ],
        "eraser": [
            0.0111,
            -0.1137,
            0.7599256,
            0.0,
            0.0,
            0.2038,
            0.979
        ],
        "distractor_0026_0_presenter_clicker": [
            0.1757,
            -0.3344,
            0.7574984,
            0.0,
            0.0,
            0.7137,
            0.7005
        ]
    }
}