{
    "tree": {
        "ground": [
            [
                "table2",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table2": [
            [
                "green speaker",
                "ON"
            ],
            [
                "white square plate",
                "ON"
            ],
            [
                "purple sponge",
                "ON"
            ],
            [
                "black mouse",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the green cylindrical speaker on the white square porcelain plate on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table2",
        "manipulated_objs": [
            "green speaker",
            "white square plate"
        ],
        "distractor_objs": [
            "purple sponge",
            "black mouse"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table2": "standalone table used for tabletop manipulation",
        "green speaker": "bright green cylindrical portable speaker",
        "white square plate": "white square porcelain dinner plate",
        "purple sponge": "rectangular purple cellulose sponge",
        "black mouse": "black wired gaming mouse"
    },
    "objs_mapping": {
        "ground": "background",
        "table2": "context",
        "green speaker": "manipulated_objs",
        "white square plate": "manipulated_objs",
        "purple sponge": "distractor_objs",
        "black mouse": "distractor_objs"
    },
    "assets": {
        "table2": "asset3d/table2/result",
        "green speaker": "asset3d/green_speaker/result",
        "white square plate": "asset3d/white_square_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",
        "green speaker": "YES",
        "white square 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,
            0.7991,
            0.0,
            0.6013
        ],
        "table2": [
            0.0,
            0.0,
            0.4024008,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "white square plate": [
            0.0159,
            0.2231,
            0.8048485,
            0.0,
            0.0,
            0.566,
            0.8244
        ],
        "green speaker": [
            0.0014,
            -0.1777,
            0.8048643,
            0.0,
            0.0,
            0.9954,
            -0.0959
        ],
        "purple sponge": [
            0.3592,
            -0.3239,
            0.8048281,
            0.0,
            0.0,
            0.2117,
            0.9773
        ],
        "black mouse": [
            -0.3295,
            0.3013,
            0.8047992,
            0.0,
            0.0,
            0.6204,
            -0.7843
        ]
    }
}