{
    "tree": {
        "ground": [
            [
                "table_07",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table_07": [
            [
                "glue_stick",
                "ON"
            ],
            [
                "target_0037_pen_holder",
                "ON"
            ],
            [
                "distractor_0037_0_juice",
                "ON"
            ],
            [
                "distractor_0037_1_scotch_tape",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the glue stick in the pen holder on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table_07",
        "manipulated_objs": [
            "glue_stick",
            "target_0037_pen_holder"
        ],
        "distractor_objs": [
            "distractor_0037_0_juice",
            "distractor_0037_1_scotch_tape"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table_07": "standalone table used for tabletop manipulation",
        "glue_stick": "cylindrical glue stick with blue cap and white body",
        "target_0037_pen_holder": "black cylindrical pen holder with red vertical text and vented base",
        "distractor_0037_0_juice": "rectangular juice box with peach design and 230 ml label",
        "distractor_0037_1_scotch_tape": "cylindrical adhesive tape roll with transparent outer layer"
    },
    "objs_mapping": {
        "ground": "background",
        "table_07": "context",
        "glue_stick": "manipulated_objs",
        "target_0037_pen_holder": "manipulated_objs",
        "distractor_0037_0_juice": "distractor_objs",
        "distractor_0037_1_scotch_tape": "distractor_objs"
    },
    "assets": {
        "table_07": "asset3d/table_07/result",
        "glue_stick": "asset3d/glue_stick/result",
        "target_0037_pen_holder": "asset3d/target_0037_pen_holder/result",
        "distractor_0037_0_juice": "asset3d/distractor_0037_0_juice/result",
        "distractor_0037_1_scotch_tape": "asset3d/distractor_0037_1_scotch_tape/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table_07": "YES",
        "glue_stick": "YES",
        "target_0037_pen_holder": "YES",
        "distractor_0037_0_juice": "YES",
        "distractor_0037_1_scotch_tape": "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,
            0.0895,
            0.0,
            0.996
        ],
        "table_07": [
            0.0,
            0.0,
            0.377513,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "target_0037_pen_holder": [
            0.2567,
            -0.1922,
            0.8077064,
            0.0,
            0.0,
            0.4968,
            0.8679
        ],
        "distractor_0037_0_juice": [
            0.2751,
            -0.0642,
            0.8193842,
            0.0,
            0.0,
            0.5939,
            -0.8045
        ],
        "distractor_0037_1_scotch_tape": [
            -0.199,
            0.3429,
            0.7664339,
            0.0,
            0.0,
            0.83,
            -0.5578
        ],
        "glue_stick": [
            0.0784,
            0.0882,
            0.806484,
            0.0,
            0.0,
            0.5207,
            0.8537
        ]
    }
}