{
    "tree": {
        "ground": [
            [
                "table3",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table3": [
            [
                "black handheld console",
                "ON"
            ],
            [
                "ruby ring plate",
                "ON"
            ],
            [
                "gold sprinkles bottle",
                "ON"
            ],
            [
                "cereal bowl",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the black handheld game console on the white plate with red rings on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table3",
        "manipulated_objs": [
            "black handheld console",
            "ruby ring plate"
        ],
        "distractor_objs": [
            "gold sprinkles bottle",
            "cereal bowl"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table3": "standalone table used for tabletop manipulation",
        "black handheld console": "open black handheld game console with blue screens",
        "ruby ring plate": "white ceramic dinner plate with red rings",
        "gold sprinkles bottle": "small clear bottle of gold sugar sprinkles",
        "cereal bowl": "white ceramic cereal bowl with a textured exterior"
    },
    "objs_mapping": {
        "ground": "background",
        "table3": "context",
        "black handheld console": "manipulated_objs",
        "ruby ring plate": "manipulated_objs",
        "gold sprinkles bottle": "distractor_objs",
        "cereal bowl": "distractor_objs"
    },
    "assets": {
        "table3": "asset3d/table3/result",
        "black handheld console": "asset3d/black_handheld_console/result",
        "ruby ring plate": "asset3d/ruby_ring_plate/result",
        "gold sprinkles bottle": "asset3d/gold_sprinkles_bottle/result",
        "cereal bowl": "asset3d/cereal_bowl/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table3": "YES",
        "black handheld console": "YES",
        "ruby ring plate": "YES",
        "gold sprinkles bottle": "YES",
        "cereal bowl": "YES"
    },
    "position": {
        "franka": [
            -0.6682,
            0.0,
            0.7516163,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "ground": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.8905,
            0.0,
            -0.455
        ],
        "table3": [
            0.0,
            0.0,
            0.3759163,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "ruby ring plate": [
            -0.3513,
            0.1779,
            0.7518688,
            0.0,
            0.0,
            0.3722,
            -0.9282
        ],
        "cereal bowl": [
            -0.2,
            -0.3648,
            0.7518657,
            0.0,
            0.0,
            0.4477,
            -0.8942
        ],
        "black handheld console": [
            -0.0128,
            -0.0074,
            0.7519658,
            0.0,
            0.0,
            0.9999,
            -0.0171
        ],
        "gold sprinkles bottle": [
            -0.3133,
            -0.3276,
            0.7518507,
            0.0,
            0.0,
            0.5407,
            0.8412
        ]
    }
}