{
    "tree": {
        "ground": [
            [
                "table2",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table2": [
            [
                "purple sponge",
                "ON"
            ],
            [
                "porcelain tray",
                "ON"
            ],
            [
                "black mouse",
                "ON"
            ],
            [
                "white textured mug",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the purple rectangular sponge on the white rectangular porcelain tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table2",
        "manipulated_objs": [
            "purple sponge",
            "porcelain tray"
        ],
        "distractor_objs": [
            "black mouse",
            "white textured mug"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table2": "standalone table used for tabletop manipulation",
        "purple sponge": "rectangular purple cellulose sponge",
        "porcelain tray": "white rectangular porcelain serving tray",
        "black mouse": "black wired gaming mouse",
        "white textured mug": "white porcelain mug with a beaded texture"
    },
    "objs_mapping": {
        "ground": "background",
        "table2": "context",
        "purple sponge": "manipulated_objs",
        "porcelain tray": "manipulated_objs",
        "black mouse": "distractor_objs",
        "white textured mug": "distractor_objs"
    },
    "assets": {
        "table2": "asset3d/table2/result",
        "purple sponge": "asset3d/purple_sponge/result",
        "porcelain tray": "asset3d/porcelain_tray/result",
        "black mouse": "asset3d/black_mouse/result",
        "white textured mug": "asset3d/white_textured_mug/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table2": "YES",
        "purple sponge": "YES",
        "porcelain tray": "YES",
        "black mouse": "YES",
        "white textured mug": "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,
            0.0326,
            0.0,
            0.9995
        ],
        "table2": [
            0.0,
            0.0,
            0.4024008,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "porcelain tray": [
            -0.0331,
            -0.0954,
            0.8048317,
            0.0,
            0.0,
            0.9999,
            0.0133
        ],
        "black mouse": [
            -0.3353,
            0.3417,
            0.8047992,
            0.0,
            0.0,
            0.4082,
            0.9129
        ],
        "white textured mug": [
            0.1964,
            -0.0458,
            0.8048074,
            0.0,
            0.0,
            0.4318,
            0.902
        ],
        "purple sponge": [
            0.0904,
            0.2587,
            0.8048281,
            0.0,
            0.0,
            1.0,
            -0.0059
        ]
    }
}