{
    "tree": {
        "ground": [
            [
                "table_08",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table_08": [
            [
                "mouse",
                "ON"
            ],
            [
                "target_0038_tray",
                "ON"
            ],
            [
                "distractor_0038_0_cheese_sticks",
                "ON"
            ],
            [
                "distractor_0038_1_facial_cleanser",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the white mouse on the floral tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table_08",
        "manipulated_objs": [
            "mouse",
            "target_0038_tray"
        ],
        "distractor_objs": [
            "distractor_0038_0_cheese_sticks",
            "distractor_0038_1_facial_cleanser"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table_08": "standalone table used for tabletop manipulation",
        "mouse": "low-profile white gaming mouse with black base and side buttons",
        "target_0038_tray": "rectangular floral tray with raised rim and side handles",
        "distractor_0038_0_cheese_sticks": "sealed cheese stick in colorful packaging with text and graphics",
        "distractor_0038_1_facial_cleanser": "pale green squeeze tube with brown flip-top cap"
    },
    "objs_mapping": {
        "ground": "background",
        "table_08": "context",
        "mouse": "manipulated_objs",
        "target_0038_tray": "manipulated_objs",
        "distractor_0038_0_cheese_sticks": "distractor_objs",
        "distractor_0038_1_facial_cleanser": "distractor_objs"
    },
    "assets": {
        "table_08": "asset3d/table_08/result",
        "mouse": "asset3d/mouse/result",
        "target_0038_tray": "asset3d/target_0038_tray/result",
        "distractor_0038_0_cheese_sticks": "asset3d/distractor_0038_0_cheese_sticks/result",
        "distractor_0038_1_facial_cleanser": "asset3d/distractor_0038_1_facial_cleanser/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table_08": "YES",
        "mouse": "YES",
        "target_0038_tray": "YES",
        "distractor_0038_0_cheese_sticks": "YES",
        "distractor_0038_1_facial_cleanser": "YES"
    },
    "position": {
        "franka": [
            -0.4591,
            0.0,
            0.7469822,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "ground": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.9862,
            0.0,
            0.1658
        ],
        "table_08": [
            0.0,
            0.0,
            0.3742822,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "target_0038_tray": [
            -0.1177,
            -0.0481,
            0.761162,
            0.0,
            0.0,
            0.4101,
            -0.912
        ],
        "mouse": [
            0.2205,
            0.0555,
            0.769183,
            0.0,
            0.0,
            0.9682,
            0.2503
        ],
        "distractor_0038_0_cheese_sticks": [
            0.0235,
            0.318,
            0.756055,
            0.0,
            0.0,
            0.8366,
            0.5478
        ],
        "distractor_0038_1_facial_cleanser": [
            0.1505,
            -0.5518,
            0.8169881,
            0.0,
            0.0,
            0.8147,
            -0.5798
        ]
    }
}