{
    "tree": {
        "ground": [
            [
                "table4",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table4": [
            [
                "black rhino figure",
                "ON"
            ],
            [
                "porcelain tray",
                "ON"
            ],
            [
                "windup dog",
                "ON"
            ],
            [
                "pink gum box",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the dark gray rhino figure on the white rectangular porcelain tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table4",
        "manipulated_objs": [
            "black rhino figure",
            "porcelain tray"
        ],
        "distractor_objs": [
            "windup dog",
            "pink gum box"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table4": "standalone table used for tabletop manipulation",
        "black rhino figure": "dark gray rhinoceros figure",
        "porcelain tray": "white rectangular porcelain serving tray",
        "windup dog": "small white wind-up dog toy",
        "pink gum box": "pink rectangular Orbit gum box"
    },
    "objs_mapping": {
        "ground": "background",
        "table4": "context",
        "black rhino figure": "manipulated_objs",
        "porcelain tray": "manipulated_objs",
        "windup dog": "distractor_objs",
        "pink gum box": "distractor_objs"
    },
    "assets": {
        "table4": "asset3d/table4/result",
        "black rhino figure": "asset3d/black_rhino_figure/result",
        "porcelain tray": "asset3d/porcelain_tray/result",
        "windup dog": "asset3d/windup_dog/result",
        "pink gum box": "asset3d/pink_gum_box/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table4": "YES",
        "black rhino figure": "YES",
        "porcelain tray": "YES",
        "windup dog": "YES",
        "pink gum box": "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,
            0.3536,
            0.0,
            0.9354
        ],
        "table4": [
            0.0,
            0.0,
            0.4123059,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "porcelain tray": [
            -0.4831,
            -0.018,
            0.8246412,
            0.0,
            0.0,
            0.4069,
            0.9135
        ],
        "pink gum box": [
            0.2651,
            0.176,
            0.8246218,
            0.0,
            0.0,
            0.8561,
            0.5168
        ],
        "black rhino figure": [
            -0.2036,
            0.2463,
            0.8246229,
            0.0,
            0.0,
            0.9419,
            -0.336
        ],
        "windup dog": [
            0.0773,
            0.1966,
            0.8246098,
            0.0,
            0.0,
            0.6859,
            0.7277
        ]
    }
}