{
    "tree": {
        "ground": [
            [
                "table1",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table1": [
            [
                "white teapot",
                "ON"
            ],
            [
                "white square plate",
                "ON"
            ],
            [
                "coffee mug",
                "ON"
            ],
            [
                "green tape roll",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the white porcelain teapot on the white square porcelain plate on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table1",
        "manipulated_objs": [
            "white teapot",
            "white square plate"
        ],
        "distractor_objs": [
            "coffee mug",
            "green tape roll"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table1": "standalone table used for tabletop manipulation",
        "white teapot": "round white porcelain teapot",
        "white square plate": "white square porcelain dinner plate",
        "coffee mug": "red ceramic coffee mug with white decorative pattern",
        "green tape roll": "flat green vinyl tape roll"
    },
    "objs_mapping": {
        "ground": "background",
        "table1": "context",
        "white teapot": "manipulated_objs",
        "white square plate": "manipulated_objs",
        "coffee mug": "distractor_objs",
        "green tape roll": "distractor_objs"
    },
    "assets": {
        "table1": "asset3d/table1/result",
        "white teapot": "asset3d/white_teapot/result",
        "white square plate": "asset3d/white_square_plate/result",
        "coffee mug": "asset3d/coffee_mug/result",
        "green tape roll": "asset3d/green_tape_roll/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table1": "YES",
        "white teapot": "YES",
        "white square plate": "YES",
        "coffee mug": "YES",
        "green tape roll": "YES"
    },
    "position": {
        "franka": [
            -0.4778,
            0.0,
            0.7980644,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "ground": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.1253,
            0.0,
            -0.9921
        ],
        "table1": [
            0.0,
            0.0,
            0.3990644,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "white square plate": [
            0.1684,
            0.2686,
            0.7981747,
            0.0,
            0.0,
            0.0004,
            -1.0
        ],
        "white teapot": [
            0.2001,
            -0.0498,
            0.7980944,
            0.0,
            0.0,
            0.8099,
            -0.5865
        ],
        "green tape roll": [
            -0.3954,
            0.2485,
            0.7981196,
            0.0,
            0.0,
            0.9062,
            0.4228
        ],
        "coffee mug": [
            0.3341,
            -0.3213,
            0.7981566,
            0.0,
            0.0,
            0.6376,
            0.7704
        ]
    }
}