{
    "tree": {
        "ground": [
            [
                "table_09",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table_09": [
            [
                "fork",
                "ON"
            ],
            [
                "target_0039_plate",
                "ON"
            ],
            [
                "distractor_0039_0_chili",
                "ON"
            ],
            [
                "distractor_0039_1_stamp",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the green-handled fork on the gray plate on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table_09",
        "manipulated_objs": [
            "fork",
            "target_0039_plate"
        ],
        "distractor_objs": [
            "distractor_0039_0_chili",
            "distractor_0039_1_stamp"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table_09": "standalone table used for tabletop manipulation",
        "fork": "small toddler fork with green handle and short metal prongs",
        "target_0039_plate": "round shallow gray plate with slightly raised rim",
        "distractor_0039_0_chili": "red bell pepper with green stem",
        "distractor_0039_1_stamp": "cylindrical self-inking stamp with purple cap and gray base"
    },
    "objs_mapping": {
        "ground": "background",
        "table_09": "context",
        "fork": "manipulated_objs",
        "target_0039_plate": "manipulated_objs",
        "distractor_0039_0_chili": "distractor_objs",
        "distractor_0039_1_stamp": "distractor_objs"
    },
    "assets": {
        "table_09": "asset3d/table_09/result",
        "fork": "asset3d/fork/result",
        "target_0039_plate": "asset3d/target_0039_plate/result",
        "distractor_0039_0_chili": "asset3d/distractor_0039_0_chili/result",
        "distractor_0039_1_stamp": "asset3d/distractor_0039_1_stamp/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table_09": "YES",
        "fork": "YES",
        "target_0039_plate": "YES",
        "distractor_0039_0_chili": "YES",
        "distractor_0039_1_stamp": "YES"
    },
    "position": {
        "franka": [
            -0.52,
            0.0,
            0.7493879,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "ground": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.973,
            0.0,
            0.2307
        ],
        "table_09": [
            0.0,
            0.0,
            0.3764879,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "target_0039_plate": [
            -0.0825,
            0.179,
            0.758888,
            0.0,
            0.0,
            0.9136,
            -0.4067
        ],
        "distractor_0039_0_chili": [
            -0.1564,
            -0.0576,
            0.7923907,
            0.0,
            0.0,
            0.9628,
            -0.2701
        ],
        "fork": [
            0.14,
            0.0431,
            0.7580845,
            0.0,
            0.0,
            0.8052,
            0.593
        ],
        "distractor_0039_1_stamp": [
            -0.3587,
            0.114,
            0.7895566,
            0.0,
            0.0,
            0.7188,
            0.6952
        ]
    }
}