{
    "tree": {
        "ground": [
            [
                "table_04",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table_04": [
            [
                "correction_tape",
                "ON"
            ],
            [
                "target_0034_tray",
                "ON"
            ],
            [
                "distractor_0034_0_chewing_gum",
                "ON"
            ],
            [
                "distractor_0034_1_pill_organizer",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the white correction tape on the brown tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table_04",
        "manipulated_objs": [
            "correction_tape",
            "target_0034_tray"
        ],
        "distractor_objs": [
            "distractor_0034_0_chewing_gum",
            "distractor_0034_1_pill_organizer"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table_04": "standalone table used for tabletop manipulation",
        "correction_tape": "compact correction tape with ergonomic design and visible tape mechanism",
        "target_0034_tray": "square brown tray with rounded corners and rope-like side handles",
        "distractor_0034_0_chewing_gum": "rectangular green chewing gum pack with mint design",
        "distractor_0034_1_pill_organizer": "small rectangular zippered pill organizer case with rounded corners"
    },
    "objs_mapping": {
        "ground": "background",
        "table_04": "context",
        "correction_tape": "manipulated_objs",
        "target_0034_tray": "manipulated_objs",
        "distractor_0034_0_chewing_gum": "distractor_objs",
        "distractor_0034_1_pill_organizer": "distractor_objs"
    },
    "assets": {
        "table_04": "asset3d/table_04/result",
        "correction_tape": "asset3d/correction_tape/result",
        "target_0034_tray": "asset3d/target_0034_tray/result",
        "distractor_0034_0_chewing_gum": "asset3d/distractor_0034_0_chewing_gum/result",
        "distractor_0034_1_pill_organizer": "asset3d/distractor_0034_1_pill_organizer/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table_04": "YES",
        "correction_tape": "YES",
        "target_0034_tray": "YES",
        "distractor_0034_0_chewing_gum": "YES",
        "distractor_0034_1_pill_organizer": "YES"
    },
    "position": {
        "franka": [
            -0.613,
            0.0,
            0.7493729,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "ground": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.9037,
            0.0,
            -0.4281
        ],
        "table_04": [
            0.0,
            0.0,
            0.3741729,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "target_0034_tray": [
            -0.2156,
            0.2009,
            0.766327,
            0.0,
            0.0,
            0.9679,
            0.2513
        ],
        "distractor_0034_1_pill_organizer": [
            0.3452,
            -0.3937,
            0.7879665,
            0.0,
            0.0,
            0.9941,
            0.1081
        ],
        "correction_tape": [
            0.0713,
            0.0984,
            0.765069,
            0.0,
            0.0,
            0.3553,
            -0.9347
        ],
        "distractor_0034_0_chewing_gum": [
            -0.3981,
            -0.2696,
            0.754355,
            0.0,
            0.0,
            0.3253,
            -0.9456
        ]
    }
}