{
    "tree": {
        "ground": [
            [
                "table3",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table3": [
            [
                "yellow school bus",
                "ON"
            ],
            [
                "salad plate",
                "ON"
            ],
            [
                "gold sprinkles bottle",
                "ON"
            ],
            [
                "cereal bowl",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the yellow school bus on the turquoise round plate on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table3",
        "manipulated_objs": [
            "yellow school bus",
            "salad plate"
        ],
        "distractor_objs": [
            "gold sprinkles bottle",
            "cereal bowl"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table3": "standalone table used for tabletop manipulation",
        "yellow school bus": "small yellow wooden school bus",
        "salad plate": "turquoise round ceramic salad plate",
        "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",
        "yellow school bus": "manipulated_objs",
        "salad plate": "manipulated_objs",
        "gold sprinkles bottle": "distractor_objs",
        "cereal bowl": "distractor_objs"
    },
    "assets": {
        "table3": "asset3d/table3/result",
        "yellow school bus": "asset3d/yellow_school_bus/result",
        "salad plate": "asset3d/salad_plate/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",
        "yellow school bus": "YES",
        "salad plate": "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,
            0.9233,
            0.0,
            0.384
        ],
        "table3": [
            0.0,
            0.0,
            0.3759163,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "salad plate": [
            -0.3249,
            0.0062,
            0.7518676,
            0.0,
            0.0,
            0.746,
            -0.666
        ],
        "cereal bowl": [
            0.1812,
            0.0543,
            0.7518657,
            0.0,
            0.0,
            0.4708,
            0.8823
        ],
        "yellow school bus": [
            -0.1603,
            0.0664,
            0.7518688,
            0.0,
            0.0,
            0.1542,
            -0.988
        ],
        "gold sprinkles bottle": [
            0.4383,
            0.1577,
            0.7518507,
            0.0,
            0.0,
            0.9524,
            -0.305
        ]
    }
}