{
    "tree": {
        "ground": [
            [
                "table2",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table2": [
            [
                "green mouse mat",
                "ON"
            ],
            [
                "white square plate",
                "ON"
            ],
            [
                "purple sponge",
                "ON"
            ],
            [
                "black mouse",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the black and green mouse mat on the white square porcelain plate on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table2",
        "manipulated_objs": [
            "green mouse mat",
            "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 mouse mat": "flat black mouse mat with a bright green graphic",
        "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 mouse mat": "manipulated_objs",
        "white square plate": "manipulated_objs",
        "purple sponge": "distractor_objs",
        "black mouse": "distractor_objs"
    },
    "assets": {
        "table2": "asset3d/table2/result",
        "green mouse mat": "asset3d/green_mouse_mat/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 mouse mat": "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,
            0.1525,
            0.0,
            0.9883
        ],
        "table2": [
            0.0,
            0.0,
            0.4024008,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "white square plate": [
            0.1022,
            -0.0159,
            0.8048485,
            0.0,
            0.0,
            0.7686,
            -0.6398
        ],
        "green mouse mat": [
            0.0684,
            -0.3293,
            0.8048516,
            0.0,
            0.0,
            0.7884,
            0.6151
        ],
        "black mouse": [
            0.3452,
            0.1117,
            0.8047992,
            0.0,
            0.0,
            0.6027,
            0.7979
        ],
        "purple sponge": [
            -0.4591,
            -0.1602,
            0.8048281,
            0.0,
            0.0,
            0.0679,
            0.9977
        ]
    }
}