{
    "tree": {
        "ground": [
            [
                "table_04",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table_04": [
            [
                "mug",
                "ON"
            ],
            [
                "target_0004_tray",
                "ON"
            ],
            [
                "distractor_0004_0_photo_frame",
                "ON"
            ],
            [
                "distractor_0004_1_peach",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the white mug on the white tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table_04",
        "manipulated_objs": [
            "mug",
            "target_0004_tray"
        ],
        "distractor_objs": [
            "distractor_0004_0_photo_frame",
            "distractor_0004_1_peach"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table_04": "standalone table used for tabletop manipulation",
        "mug": "white enamel mug with blue floral print and side handle",
        "target_0004_tray": "shallow rectangular tray with rounded corners and ornate decorative surface",
        "distractor_0004_0_photo_frame": "beige photo frame with blue floral design and scenic photo insert",
        "distractor_0004_1_peach": "realistic peach with red-yellow gradient and natural texture"
    },
    "objs_mapping": {
        "ground": "background",
        "table_04": "context",
        "mug": "manipulated_objs",
        "target_0004_tray": "manipulated_objs",
        "distractor_0004_0_photo_frame": "distractor_objs",
        "distractor_0004_1_peach": "distractor_objs"
    },
    "assets": {
        "table_04": "asset3d/table_04/result",
        "mug": "asset3d/mug/result",
        "target_0004_tray": "asset3d/target_0004_tray/result",
        "distractor_0004_0_photo_frame": "asset3d/distractor_0004_0_photo_frame/result",
        "distractor_0004_1_peach": "asset3d/distractor_0004_1_peach/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table_04": "YES",
        "mug": "YES",
        "target_0004_tray": "YES",
        "distractor_0004_0_photo_frame": "YES",
        "distractor_0004_1_peach": "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,
            0.7786,
            0.0,
            -0.6275
        ],
        "table_04": [
            0.0,
            0.0,
            0.3741729,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "target_0004_tray": [
            0.0731,
            0.0422,
            0.762291,
            0.0,
            0.0,
            0.9794,
            -0.2021
        ],
        "distractor_0004_0_photo_frame": [
            -0.1918,
            -0.3108,
            0.832955,
            0.0,
            0.0,
            0.25,
            -0.9682
        ],
        "mug": [
            -0.302,
            0.0496,
            0.7826311,
            0.0,
            0.0,
            0.5135,
            -0.8581
        ],
        "distractor_0004_1_peach": [
            -0.4319,
            -0.0104,
            0.781902,
            0.0,
            0.0,
            0.9781,
            0.2079
        ]
    }
}