{
    "tree": {
        "ground": [
            [
                "table4",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table4": [
            [
                "red fire truck",
                "ON"
            ],
            [
                "soap dish",
                "ON"
            ],
            [
                "porcelain tray",
                "ON"
            ],
            [
                "windup dog",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the red fire truck on the white ceramic soap dish on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table4",
        "manipulated_objs": [
            "red fire truck",
            "soap dish"
        ],
        "distractor_objs": [
            "porcelain tray",
            "windup dog"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table4": "standalone table used for tabletop manipulation",
        "red fire truck": "small red wooden fire truck",
        "soap dish": "small white ceramic soap dish on a bamboo base",
        "porcelain tray": "white rectangular porcelain serving tray",
        "windup dog": "small white wind-up dog toy"
    },
    "objs_mapping": {
        "ground": "background",
        "table4": "context",
        "red fire truck": "manipulated_objs",
        "soap dish": "manipulated_objs",
        "porcelain tray": "distractor_objs",
        "windup dog": "distractor_objs"
    },
    "assets": {
        "table4": "asset3d/table4/result",
        "red fire truck": "asset3d/red_fire_truck/result",
        "soap dish": "asset3d/soap_dish/result",
        "porcelain tray": "asset3d/porcelain_tray/result",
        "windup dog": "asset3d/windup_dog/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table4": "YES",
        "red fire truck": "YES",
        "soap dish": "YES",
        "porcelain tray": "YES",
        "windup dog": "YES"
    },
    "position": {
        "franka": [
            -0.8266,
            0.0,
            0.8246059,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "ground": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.4573,
            0.0,
            -0.8893
        ],
        "table4": [
            0.0,
            0.0,
            0.4123059,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "porcelain tray": [
            0.3198,
            -0.1653,
            0.8246412,
            0.0,
            0.0,
            0.9069,
            0.4214
        ],
        "soap dish": [
            -0.4023,
            -0.1089,
            0.8245879,
            0.0,
            0.0,
            0.17,
            0.9855
        ],
        "red fire truck": [
            -0.2631,
            0.1048,
            0.8246069,
            0.0,
            0.0,
            0.5329,
            0.8462
        ],
        "windup dog": [
            -0.1978,
            -0.1174,
            0.8246098,
            0.0,
            0.0,
            0.7612,
            0.6485
        ]
    }
}