{
    "tree": {
        "ground": [
            [
                "table3",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table3": [
            [
                "brown hat",
                "ON"
            ],
            [
                "porcelain tray",
                "ON"
            ],
            [
                "gold sprinkles bottle",
                "ON"
            ],
            [
                "cereal bowl",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the dark brown hat on the white rectangular porcelain tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table3",
        "manipulated_objs": [
            "brown hat",
            "porcelain tray"
        ],
        "distractor_objs": [
            "gold sprinkles bottle",
            "cereal bowl"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table3": "standalone table used for tabletop manipulation",
        "brown hat": "dark brown wide-brim hat",
        "porcelain tray": "white rectangular porcelain serving tray",
        "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",
        "brown hat": "manipulated_objs",
        "porcelain tray": "manipulated_objs",
        "gold sprinkles bottle": "distractor_objs",
        "cereal bowl": "distractor_objs"
    },
    "assets": {
        "table3": "asset3d/table3/result",
        "brown hat": "asset3d/brown_hat/result",
        "porcelain tray": "asset3d/porcelain_tray/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",
        "brown hat": "YES",
        "porcelain tray": "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,
            0.8234,
            0.0,
            0.5674
        ],
        "table3": [
            0.0,
            0.0,
            0.3759163,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "brown hat": [
            -0.3109,
            0.103,
            0.751738,
            0.0,
            0.0,
            0.9981,
            -0.0609
        ],
        "porcelain tray": [
            -0.0677,
            -0.3317,
            0.751862,
            0.0,
            0.0,
            0.6653,
            -0.7466
        ],
        "cereal bowl": [
            0.5002,
            0.2592,
            0.7518657,
            0.0,
            0.0,
            0.3955,
            -0.9185
        ],
        "gold sprinkles bottle": [
            -0.5275,
            -0.3818,
            0.7518507,
            0.0,
            0.0,
            0.6148,
            -0.7887
        ]
    }
}