{
    "tree": {
        "ground": [
            [
                "table1",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table1": [
            [
                "coffee mug",
                "ON"
            ],
            [
                "porcelain tray",
                "ON"
            ],
            [
                "salad plate",
                "ON"
            ],
            [
                "cereal bowl",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the red coffee mug on the white rectangular porcelain tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table1",
        "manipulated_objs": [
            "coffee mug",
            "porcelain tray"
        ],
        "distractor_objs": [
            "salad plate",
            "cereal bowl"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table1": "standalone table used for tabletop manipulation",
        "coffee mug": "red ceramic coffee mug with white decorative pattern",
        "porcelain tray": "white rectangular porcelain serving tray",
        "salad plate": "turquoise ceramic salad plate with a shallow rim",
        "cereal bowl": "white ceramic cereal bowl with a textured exterior"
    },
    "objs_mapping": {
        "ground": "background",
        "table1": "context",
        "coffee mug": "manipulated_objs",
        "porcelain tray": "manipulated_objs",
        "salad plate": "distractor_objs",
        "cereal bowl": "distractor_objs"
    },
    "assets": {
        "table1": "asset3d/table1/result",
        "coffee mug": "asset3d/coffee_mug/result",
        "porcelain tray": "asset3d/porcelain_tray/result",
        "salad plate": "asset3d/salad_plate/result",
        "cereal bowl": "asset3d/cereal_bowl/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table1": "YES",
        "coffee mug": "YES",
        "porcelain tray": "YES",
        "salad plate": "YES",
        "cereal bowl": "YES"
    },
    "position": {
        "franka": [
            -0.4778,
            0,
            0.7981,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "ground": [
            0,
            0,
            0,
            0.0,
            0.9883,
            0.0,
            -0.1528
        ],
        "table1": [
            0,
            0,
            0.3991,
            0,
            0,
            0,
            1
        ],
        "porcelain tray": [
            -0.0596,
            -0.1741,
            0.7978,
            0.0,
            0.0,
            0.9483,
            -0.3173
        ],
        "salad plate": [
            0.2391,
            -0.1656,
            0.7979,
            0.0,
            0.0,
            0.9901,
            -0.1405
        ],
        "cereal bowl": [
            -0.1952,
            0.2295,
            0.7973,
            0.0,
            0.0,
            0.9714,
            0.2376
        ],
        "coffee mug": [
            -0.0641,
            0.1041,
            0.7977,
            0.0,
            0.0,
            0.7801,
            -0.6257
        ]
    }
}