{
    "tree": {
        "ground": [
            [
                "table1",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table1": [
            [
                "candy bar",
                "ON"
            ],
            [
                "porcelain tray",
                "ON"
            ],
            [
                "coffee mug",
                "ON"
            ],
            [
                "green tape roll",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the yellow and blue candy bar on the white rectangular porcelain tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table1",
        "manipulated_objs": [
            "candy bar",
            "porcelain tray"
        ],
        "distractor_objs": [
            "coffee mug",
            "green tape roll"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table1": "standalone table used for tabletop manipulation",
        "candy bar": "long yellow and blue wrapped candy bar",
        "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",
        "candy bar": "manipulated_objs",
        "porcelain tray": "manipulated_objs",
        "coffee mug": "distractor_objs",
        "green tape roll": "distractor_objs"
    },
    "assets": {
        "table1": "asset3d/table1/result",
        "candy bar": "asset3d/candy_bar/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",
        "candy bar": "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,
            0.4959,
            0.0,
            -0.8684
        ],
        "table1": [
            0.0,
            0.0,
            0.3990644,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "porcelain tray": [
            -0.0683,
            0.0373,
            0.7981579,
            0.0,
            0.0,
            0.7189,
            -0.6951
        ],
        "candy bar": [
            0.1746,
            -0.1624,
            0.7981435,
            0.0,
            0.0,
            0.3233,
            0.9463
        ],
        "green tape roll": [
            -0.4065,
            0.3257,
            0.7981196,
            0.0,
            0.0,
            0.9039,
            0.4277
        ],
        "coffee mug": [
            0.1124,
            -0.3702,
            0.7981566,
            0.0,
            0.0,
            0.9055,
            0.4244
        ]
    }
}