{
    "tree": {
        "ground": [
            [
                "table_01",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table_01": [
            [
                "tv_remote",
                "ON"
            ],
            [
                "target_0041_remote_holder",
                "ON"
            ],
            [
                "distractor_0041_0_capsicum",
                "ON"
            ],
            [
                "distractor_0041_1_spice_jar",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the black remote in the red holder on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table_01",
        "manipulated_objs": [
            "tv_remote",
            "target_0041_remote_holder"
        ],
        "distractor_objs": [
            "distractor_0041_0_capsicum",
            "distractor_0041_1_spice_jar"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table_01": "standalone table used for tabletop manipulation",
        "tv_remote": "slim black tcl tv remote with circular navigation pad",
        "target_0041_remote_holder": "cylindrical red holder with perforated back and circular base",
        "distractor_0041_0_capsicum": "elongated red capsicum with green stem",
        "distractor_0041_1_spice_jar": "ribbed cylindrical jar with lid and latch mechanism"
    },
    "objs_mapping": {
        "ground": "background",
        "table_01": "context",
        "tv_remote": "manipulated_objs",
        "target_0041_remote_holder": "manipulated_objs",
        "distractor_0041_0_capsicum": "distractor_objs",
        "distractor_0041_1_spice_jar": "distractor_objs"
    },
    "assets": {
        "table_01": "asset3d/table_01/result",
        "tv_remote": "asset3d/tv_remote/result",
        "target_0041_remote_holder": "asset3d/target_0041_remote_holder/result",
        "distractor_0041_0_capsicum": "asset3d/distractor_0041_0_capsicum/result",
        "distractor_0041_1_spice_jar": "asset3d/distractor_0041_1_spice_jar/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table_01": "YES",
        "tv_remote": "YES",
        "target_0041_remote_holder": "YES",
        "distractor_0041_0_capsicum": "YES",
        "distractor_0041_1_spice_jar": "YES"
    },
    "position": {
        "franka": [
            -0.427,
            0.0,
            0.749302,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "ground": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.2504,
            0.0,
            -0.9681
        ],
        "table_01": [
            0.0,
            0.0,
            0.370702,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "target_0041_remote_holder": [
            0.0585,
            0.1234,
            0.8577784,
            0.0,
            0.0,
            0.3179,
            -0.9481
        ],
        "tv_remote": [
            0.2708,
            0.0144,
            0.7600697,
            0.0,
            0.0,
            0.8611,
            0.5084
        ],
        "distractor_0041_1_spice_jar": [
            0.362,
            0.3612,
            0.7918551,
            0.0,
            0.0,
            0.5099,
            0.8602
        ],
        "distractor_0041_0_capsicum": [
            -0.3016,
            -0.5738,
            0.7500021,
            0.0,
            0.0,
            0.6956,
            0.7184
        ]
    }
}