{
    "tree": {
        "ground": [
            [
                "table_04",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table_04": [
            [
                "phone_stand",
                "ON"
            ],
            [
                "target_0044_tray",
                "ON"
            ],
            [
                "distractor_0044_0_mini_sculpture",
                "ON"
            ],
            [
                "distractor_0044_1_watering_can",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the blue phone stand on the white tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table_04",
        "manipulated_objs": [
            "phone_stand",
            "target_0044_tray"
        ],
        "distractor_objs": [
            "distractor_0044_0_mini_sculpture",
            "distractor_0044_1_watering_can"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table_04": "standalone table used for tabletop manipulation",
        "phone_stand": "angled blue phone stand with yellow base and gray top holder",
        "target_0044_tray": "shallow square tray with rounded corners and ornate floral top pattern",
        "distractor_0044_0_mini_sculpture": "black abstract sculpture with smooth curves on a circular base",
        "distractor_0044_1_watering_can": "compact spray bottle with trigger nozzle and rounded base"
    },
    "objs_mapping": {
        "ground": "background",
        "table_04": "context",
        "phone_stand": "manipulated_objs",
        "target_0044_tray": "manipulated_objs",
        "distractor_0044_0_mini_sculpture": "distractor_objs",
        "distractor_0044_1_watering_can": "distractor_objs"
    },
    "assets": {
        "table_04": "asset3d/table_04/result",
        "phone_stand": "asset3d/phone_stand/result",
        "target_0044_tray": "asset3d/target_0044_tray/result",
        "distractor_0044_0_mini_sculpture": "asset3d/distractor_0044_0_mini_sculpture/result",
        "distractor_0044_1_watering_can": "asset3d/distractor_0044_1_watering_can/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table_04": "YES",
        "phone_stand": "YES",
        "target_0044_tray": "YES",
        "distractor_0044_0_mini_sculpture": "YES",
        "distractor_0044_1_watering_can": "YES"
    },
    "position": {
        "franka": [
            -0.613,
            0.0,
            0.7493729,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "ground": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.3016,
            0.0,
            0.9534
        ],
        "table_04": [
            0.0,
            0.0,
            0.3741729,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "target_0044_tray": [
            0.0497,
            0.0363,
            0.7629727,
            0.0,
            0.0,
            0.655,
            0.7557
        ],
        "distractor_0044_1_watering_can": [
            -0.2152,
            0.4371,
            0.8362607,
            0.0,
            0.0,
            0.9886,
            0.1509
        ],
        "phone_stand": [
            -0.2792,
            -0.0683,
            0.7896001,
            0.0,
            0.0,
            0.3045,
            0.9525
        ],
        "distractor_0044_0_mini_sculpture": [
            -0.2389,
            -0.2486,
            0.7963061,
            0.0,
            0.0,
            0.9591,
            0.2832
        ]
    }
}