{
    "tree": {
        "ground": [
            [
                "table2",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table2": [
            [
                "brown letter holder",
                "ON"
            ],
            [
                "ruby ring plate",
                "ON"
            ],
            [
                "purple sponge",
                "ON"
            ],
            [
                "black mouse",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the brown desk letter holder on the white plate with red rings on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table2",
        "manipulated_objs": [
            "brown letter holder",
            "ruby ring plate"
        ],
        "distractor_objs": [
            "purple sponge",
            "black mouse"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table2": "standalone table used for tabletop manipulation",
        "brown letter holder": "dark brown upright desk letter holder",
        "ruby ring plate": "white ceramic dinner plate with red rings",
        "purple sponge": "rectangular purple cellulose sponge",
        "black mouse": "black wired gaming mouse"
    },
    "objs_mapping": {
        "ground": "background",
        "table2": "context",
        "brown letter holder": "manipulated_objs",
        "ruby ring plate": "manipulated_objs",
        "purple sponge": "distractor_objs",
        "black mouse": "distractor_objs"
    },
    "assets": {
        "table2": "asset3d/table2/result",
        "brown letter holder": "asset3d/brown_letter_holder/result",
        "ruby ring plate": "asset3d/ruby_ring_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",
        "brown letter holder": "YES",
        "ruby ring 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,
            0.1735,
            0.0,
            -0.9848
        ],
        "table2": [
            0.0,
            0.0,
            0.4024008,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "ruby ring plate": [
            0.0938,
            0.272,
            0.8048384,
            0.0,
            0.0,
            0.5693,
            0.8221
        ],
        "brown letter holder": [
            0.1219,
            -0.112,
            0.8048677,
            0.0,
            0.0,
            0.9936,
            0.1125
        ],
        "black mouse": [
            0.0261,
            -0.364,
            0.8047992,
            0.0,
            0.0,
            0.9297,
            -0.3684
        ],
        "purple sponge": [
            -0.2072,
            -0.1126,
            0.8048281,
            0.0,
            0.0,
            0.9671,
            -0.2545
        ]
    }
}