{
    "tree": {
        "ground": [
            [
                "table1",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table1": [
            [
                "bagel sandwich",
                "ON"
            ],
            [
                "salad plate",
                "ON"
            ],
            [
                "coffee mug",
                "ON"
            ],
            [
                "green tape roll",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the tan bagel sandwich on the turquoise round plate on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table1",
        "manipulated_objs": [
            "bagel sandwich",
            "salad plate"
        ],
        "distractor_objs": [
            "coffee mug",
            "green tape roll"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table1": "standalone table used for tabletop manipulation",
        "bagel sandwich": "tan bagel sandwich with cheese and vegetables",
        "salad plate": "turquoise round ceramic salad 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",
        "bagel sandwich": "manipulated_objs",
        "salad plate": "manipulated_objs",
        "coffee mug": "distractor_objs",
        "green tape roll": "distractor_objs"
    },
    "assets": {
        "table1": "asset3d/table1/result",
        "bagel sandwich": "asset3d/bagel_sandwich/result",
        "salad plate": "asset3d/salad_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",
        "bagel sandwich": "YES",
        "salad 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,
            0.9582,
            0.0,
            0.286
        ],
        "table1": [
            0.0,
            0.0,
            0.3990644,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "salad plate": [
            0.1007,
            -0.0331,
            0.7981635,
            0.0,
            0.0,
            0.6165,
            -0.7873
        ],
        "bagel sandwich": [
            0.0676,
            0.269,
            0.7981376,
            0.0,
            0.0,
            0.1731,
            0.9849
        ],
        "green tape roll": [
            -0.3348,
            -0.1098,
            0.7981196,
            0.0,
            0.0,
            0.9879,
            0.1553
        ],
        "coffee mug": [
            0.2886,
            0.2098,
            0.7981566,
            0.0,
            0.0,
            0.7849,
            0.6196
        ]
    }
}