{
    "tree": {
        "ground": [
            [
                "table_07",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table_07": [
            [
                "egg",
                "ON"
            ],
            [
                "target_0027_plate",
                "ON"
            ],
            [
                "distractor_0027_0_charging_head",
                "ON"
            ],
            [
                "distractor_0027_1_shampoo_bottle",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the brown egg on the plate on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table_07",
        "manipulated_objs": [
            "egg",
            "target_0027_plate"
        ],
        "distractor_objs": [
            "distractor_0027_0_charging_head",
            "distractor_0027_1_shampoo_bottle"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table_07": "standalone table used for tabletop manipulation",
        "egg": "smooth brown egg with an ellipsoid shape",
        "target_0027_plate": "pink scalloped ceramic plate with gold rim and floral underside",
        "distractor_0027_0_charging_head": "compact rectangular usb charger with prongs and port",
        "distractor_0027_1_shampoo_bottle": "pink cylindrical shampoo bottle with gray cap and floral print"
    },
    "objs_mapping": {
        "ground": "background",
        "table_07": "context",
        "egg": "manipulated_objs",
        "target_0027_plate": "manipulated_objs",
        "distractor_0027_0_charging_head": "distractor_objs",
        "distractor_0027_1_shampoo_bottle": "distractor_objs"
    },
    "assets": {
        "table_07": "asset3d/table_07/result",
        "egg": "asset3d/egg/result",
        "target_0027_plate": "asset3d/target_0027_plate/result",
        "distractor_0027_0_charging_head": "asset3d/distractor_0027_0_charging_head/result",
        "distractor_0027_1_shampoo_bottle": "asset3d/distractor_0027_1_shampoo_bottle/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table_07": "YES",
        "egg": "YES",
        "target_0027_plate": "YES",
        "distractor_0027_0_charging_head": "YES",
        "distractor_0027_1_shampoo_bottle": "YES"
    },
    "position": {
        "franka": [
            -0.3813,
            0.0,
            0.749213,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "ground": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.9663,
            0.0,
            -0.2574
        ],
        "table_07": [
            0.0,
            0.0,
            0.377513,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "target_0027_plate": [
            0.1086,
            0.0608,
            0.7583317,
            0.0,
            0.0,
            0.3008,
            0.9537
        ],
        "distractor_0027_1_shampoo_bottle": [
            0.2682,
            -0.3965,
            0.8562707,
            0.0,
            0.0,
            0.421,
            0.9071
        ],
        "egg": [
            -0.0793,
            0.1051,
            0.7717981,
            0.0,
            0.0,
            0.9283,
            -0.3719
        ],
        "distractor_0027_0_charging_head": [
            0.3126,
            0.0941,
            0.7649121,
            0.0,
            0.0,
            0.7016,
            0.7126
        ]
    }
}