{
    "tree": {
        "ground": [
            [
                "table2",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table2": [
            [
                "conditioner tube",
                "ON"
            ],
            [
                "soap dish",
                "ON"
            ],
            [
                "purple sponge",
                "ON"
            ],
            [
                "black mouse",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the blue conditioner tube on the white ceramic soap dish on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table2",
        "manipulated_objs": [
            "conditioner tube",
            "soap dish"
        ],
        "distractor_objs": [
            "purple sponge",
            "black mouse"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table2": "standalone table used for tabletop manipulation",
        "conditioner tube": "tall blue conditioner tube",
        "soap dish": "small white ceramic soap dish on a bamboo base",
        "purple sponge": "rectangular purple cellulose sponge",
        "black mouse": "black wired gaming mouse"
    },
    "objs_mapping": {
        "ground": "background",
        "table2": "context",
        "conditioner tube": "manipulated_objs",
        "soap dish": "manipulated_objs",
        "purple sponge": "distractor_objs",
        "black mouse": "distractor_objs"
    },
    "assets": {
        "table2": "asset3d/table2/result",
        "conditioner tube": "asset3d/conditioner_tube/result",
        "soap dish": "asset3d/soap_dish/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",
        "conditioner tube": "YES",
        "soap dish": "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,
            0.7092,
            0.0,
            0.7051
        ],
        "table2": [
            0.0,
            0.0,
            0.4024008,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "soap dish": [
            0.0724,
            0.1743,
            0.8047784,
            0.0,
            0.0,
            0.8496,
            -0.5274
        ],
        "black mouse": [
            0.0495,
            -0.108,
            0.8047992,
            0.0,
            0.0,
            0.3577,
            0.9339
        ],
        "purple sponge": [
            0.2249,
            0.0711,
            0.8048281,
            0.0,
            0.0,
            0.1361,
            0.9907
        ],
        "conditioner tube": [
            -0.0925,
            0.1668,
            0.8048374,
            0.0,
            0.0,
            0.1443,
            0.9895
        ]
    }
}