{
    "tree": {
        "ground": [
            [
                "table_00",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table_00": [
            [
                "flashlight",
                "ON"
            ],
            [
                "append_target_0010_tray",
                "ON"
            ],
            [
                "append_distractor_0010_0_facial_cleanser",
                "ON"
            ],
            [
                "append_distractor_0010_1_gamepad",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the gray flashlight on the tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table_00",
        "manipulated_objs": [
            "flashlight",
            "append_target_0010_tray"
        ],
        "distractor_objs": [
            "append_distractor_0010_0_facial_cleanser",
            "append_distractor_0010_1_gamepad"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table_00": "standalone table used for tabletop manipulation",
        "flashlight": "compact gray handheld flashlight with side clip and textured ends",
        "append_target_0010_tray": "shallow square tray with rounded corners and colorful floral pattern",
        "append_distractor_0010_0_facial_cleanser": "pink oval pump bottle for facial cleanser",
        "append_distractor_0010_1_gamepad": "gray ergonomic gamepad with buttons and joysticks"
    },
    "objs_mapping": {
        "ground": "background",
        "table_00": "context",
        "flashlight": "manipulated_objs",
        "append_target_0010_tray": "manipulated_objs",
        "append_distractor_0010_0_facial_cleanser": "distractor_objs",
        "append_distractor_0010_1_gamepad": "distractor_objs"
    },
    "assets": {
        "table_00": "asset3d/table_00/result",
        "flashlight": "asset3d/flashlight/result",
        "append_target_0010_tray": "asset3d/append_target_0010_tray/result",
        "append_distractor_0010_0_facial_cleanser": "asset3d/append_distractor_0010_0_facial_cleanser/result",
        "append_distractor_0010_1_gamepad": "asset3d/append_distractor_0010_1_gamepad/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table_00": "YES",
        "flashlight": "YES",
        "append_target_0010_tray": "YES",
        "append_distractor_0010_0_facial_cleanser": "YES",
        "append_distractor_0010_1_gamepad": "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,
            0.0902,
            0.0,
            -0.9959
        ],
        "table_00": [
            0.0,
            0.0,
            0.3842258,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "append_target_0010_tray": [
            0.1109,
            0.2065,
            0.7918803,
            0.0,
            0.0,
            0.1895,
            -0.9819
        ],
        "append_distractor_0010_1_gamepad": [
            -0.12,
            -0.2975,
            0.8260879,
            0.0,
            0.0,
            0.9324,
            -0.3614
        ],
        "flashlight": [
            0.079,
            -0.1622,
            0.7922233,
            0.0,
            0.0,
            0.8235,
            0.5673
        ],
        "append_distractor_0010_0_facial_cleanser": [
            0.2561,
            -0.2546,
            0.8312054,
            0.0,
            0.0,
            0.6594,
            -0.7518
        ]
    }
}