{
    "tree": {
        "ground": [
            [
                "table2",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table2": [
            [
                "chrome android figure",
                "ON"
            ],
            [
                "salad plate",
                "ON"
            ],
            [
                "purple sponge",
                "ON"
            ],
            [
                "black mouse",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the chrome android figure on the turquoise round plate on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table2",
        "manipulated_objs": [
            "chrome android figure",
            "salad plate"
        ],
        "distractor_objs": [
            "purple sponge",
            "black mouse"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table2": "standalone table used for tabletop manipulation",
        "chrome android figure": "small chrome android robot figure",
        "salad plate": "turquoise round ceramic salad plate",
        "purple sponge": "rectangular purple cellulose sponge",
        "black mouse": "black wired gaming mouse"
    },
    "objs_mapping": {
        "ground": "background",
        "table2": "context",
        "chrome android figure": "manipulated_objs",
        "salad plate": "manipulated_objs",
        "purple sponge": "distractor_objs",
        "black mouse": "distractor_objs"
    },
    "assets": {
        "table2": "asset3d/table2/result",
        "chrome android figure": "asset3d/chrome_android_figure/result",
        "salad plate": "asset3d/salad_plate/result",
        "purple sponge": "asset3d/purple_sponge/result",
        "black mouse": "asset3d/black_mouse/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table2": "YES",
        "chrome android figure": "YES",
        "salad plate": "YES",
        "purple sponge": "YES",
        "black mouse": "YES"
    },
    "position": {
        "franka": [
            -0.5149,
            0.0,
            0.8009008,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "ground": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.9662,
            0.0,
            0.2577
        ],
        "table2": [
            0.0,
            0.0,
            0.4024008,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "salad plate": [
            -0.0039,
            -0.0428,
            0.8048373,
            0.0,
            0.0,
            0.0004,
            1.0
        ],
        "black mouse": [
            0.1402,
            0.2704,
            0.8047992,
            0.0,
            0.0,
            0.4449,
            0.8956
        ],
        "purple sponge": [
            0.3121,
            -0.0649,
            0.8048281,
            0.0,
            0.0,
            0.8133,
            0.5818
        ],
        "chrome android figure": [
            -0.0559,
            0.2221,
            0.8048073,
            0.0,
            0.0,
            0.7699,
            -0.6382
        ]
    }
}