{
    "tree": {
        "ground": [
            [
                "table4",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table4": [
            [
                "red butter dish",
                "ON"
            ],
            [
                "salad plate",
                "ON"
            ],
            [
                "porcelain tray",
                "ON"
            ],
            [
                "windup dog",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the red square butter dish on the turquoise round plate on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table4",
        "manipulated_objs": [
            "red butter dish",
            "salad plate"
        ],
        "distractor_objs": [
            "porcelain tray",
            "windup dog"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table4": "standalone table used for tabletop manipulation",
        "red butter dish": "small glossy red square butter dish",
        "salad plate": "turquoise round ceramic salad plate",
        "porcelain tray": "white rectangular porcelain serving tray",
        "windup dog": "small white wind-up dog toy"
    },
    "objs_mapping": {
        "ground": "background",
        "table4": "context",
        "red butter dish": "manipulated_objs",
        "salad plate": "manipulated_objs",
        "porcelain tray": "distractor_objs",
        "windup dog": "distractor_objs"
    },
    "assets": {
        "table4": "asset3d/table4/result",
        "red butter dish": "asset3d/red_butter_dish/result",
        "salad plate": "asset3d/salad_plate/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 butter dish": "YES",
        "salad plate": "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,
            0.9913,
            0.0,
            0.1314
        ],
        "table4": [
            0.0,
            0.0,
            0.4123059,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "porcelain tray": [
            0.0662,
            0.1481,
            0.8246412,
            0.0,
            0.0,
            0.7653,
            0.6436
        ],
        "salad plate": [
            -0.3151,
            0.2716,
            0.8246468,
            0.0,
            0.0,
            0.6648,
            0.747
        ],
        "red butter dish": [
            -0.3514,
            -0.0889,
            0.8246199,
            0.0,
            0.0,
            0.8242,
            0.5664
        ],
        "windup dog": [
            0.3585,
            0.0653,
            0.8246098,
            0.0,
            0.0,
            0.5431,
            -0.8396
        ]
    }
}