{
    "tree": {
        "ground": [
            [
                "table_00",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table_00": [
            [
                "glasses_case",
                "ON"
            ],
            [
                "target_0040_tray",
                "ON"
            ],
            [
                "distractor_0040_0_coke",
                "ON"
            ],
            [
                "distractor_0040_1_cutter_knife",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the red can on the white tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table_00",
        "manipulated_objs": [
            "glasses_case",
            "target_0040_tray"
        ],
        "distractor_objs": [
            "distractor_0040_0_coke",
            "distractor_0040_1_cutter_knife"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table_00": "standalone table used for tabletop manipulation",
        "glasses_case": "burgundy leather glasses case with hinged lid and gold clasp",
        "target_0040_tray": "rectangular ornate tray with rope handles and raised rim",
        "distractor_0040_0_coke": "red cylindrical can with white logo and metallic top",
        "distractor_0040_1_cutter_knife": "orange and black retractable utility knife with exposed silver blade"
    },
    "objs_mapping": {
        "ground": "background",
        "table_00": "context",
        "glasses_case": "manipulated_objs",
        "target_0040_tray": "manipulated_objs",
        "distractor_0040_0_coke": "distractor_objs",
        "distractor_0040_1_cutter_knife": "distractor_objs"
    },
    "assets": {
        "table_00": "asset3d/table_00/result",
        "glasses_case": "asset3d/glasses_case/result",
        "target_0040_tray": "asset3d/target_0040_tray/result",
        "distractor_0040_0_coke": "asset3d/distractor_0040_0_coke/result",
        "distractor_0040_1_cutter_knife": "asset3d/distractor_0040_1_cutter_knife/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table_00": "YES",
        "glasses_case": "YES",
        "target_0040_tray": "YES",
        "distractor_0040_0_coke": "YES",
        "distractor_0040_1_cutter_knife": "YES"
    },
    "position": {
        "franka": [
            -0.5214,
            0.0,
            0.7740258,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "ground": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.6762,
            0.0,
            0.7368
        ],
        "table_00": [
            0.0,
            0.0,
            0.3842258,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "target_0040_tray": [
            -0.0387,
            -0.1632,
            0.7911143,
            0.0,
            0.0,
            0.9952,
            0.0984
        ],
        "glasses_case": [
            -0.2619,
            0.1453,
            0.8170728,
            0.0,
            0.0,
            0.9846,
            0.175
        ],
        "distractor_0040_1_cutter_knife": [
            -0.3087,
            0.4032,
            0.7789303,
            0.0,
            0.0,
            0.4347,
            0.9006
        ],
        "distractor_0040_0_coke": [
            0.3154,
            0.0081,
            0.7749964,
            0.0,
            0.0,
            0.7743,
            -0.6329
        ]
    }
}