{
    "tree": {
        "ground": [
            [
                "table1",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table1": [
            [
                "birdie lunch box",
                "ON"
            ],
            [
                "porcelain tray",
                "ON"
            ],
            [
                "coffee mug",
                "ON"
            ],
            [
                "green tape roll",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the light blue bird-patterned lunch box on the white rectangular porcelain tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table1",
        "manipulated_objs": [
            "birdie lunch box",
            "porcelain tray"
        ],
        "distractor_objs": [
            "coffee mug",
            "green tape roll"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table1": "standalone table used for tabletop manipulation",
        "birdie lunch box": "light blue rectangular lunch box with bird patterns",
        "porcelain tray": "white rectangular porcelain serving tray",
        "coffee mug": "red ceramic coffee mug with white decorative pattern",
        "green tape roll": "flat green vinyl tape roll"
    },
    "objs_mapping": {
        "ground": "background",
        "table1": "context",
        "birdie lunch box": "manipulated_objs",
        "porcelain tray": "manipulated_objs",
        "coffee mug": "distractor_objs",
        "green tape roll": "distractor_objs"
    },
    "assets": {
        "table1": "asset3d/table1/result",
        "birdie lunch box": "asset3d/birdie_lunch_box/result",
        "porcelain tray": "asset3d/porcelain_tray/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",
        "birdie lunch box": "YES",
        "porcelain tray": "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,
            0.7522,
            0.0,
            -0.659
        ],
        "table1": [
            0.0,
            0.0,
            0.3990644,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "porcelain tray": [
            0.0712,
            -0.2361,
            0.7981579,
            0.0,
            0.0,
            0.3826,
            0.9239
        ],
        "birdie lunch box": [
            0.0052,
            0.1704,
            0.7981666,
            0.0,
            0.0,
            0.9816,
            -0.1912
        ],
        "green tape roll": [
            -0.255,
            0.1711,
            0.7981196,
            0.0,
            0.0,
            0.6343,
            -0.7731
        ],
        "coffee mug": [
            0.2571,
            0.1287,
            0.7981566,
            0.0,
            0.0,
            0.9487,
            0.3162
        ]
    }
}