example_layouts/task_0035/layout.json

{
    "tree": {
        "dining room": [
            [
                "wooden patterned table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "wooden patterned table": [
            [
                "red cup",
                "ON"
            ],
            [
                "tray",
                "ON"
            ],
            [
                "plate",
                "ON"
            ],
            [
                "napkin",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the red cup on the tray on the wooden patterned table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "dining room",
        "context": "wooden patterned table",
        "manipulated_objs": [
            "red cup",
            "tray"
        ],
        "distractor_objs": [
            "plate",
            "napkin"
        ]
    },
    "objs_desc": {
        "dining room": "bright dining room with white walls, wooden floors, and warm ambient lighting",
        "wooden patterned table": "standalone rectangular table with intricate oak grain patterns and a polished surface",
        "red cup": "glossy ceramic cup in vibrant crimson red with smooth edges and rounded body",
        "tray": "stainless steel tray with brushed metal finish and slight reflective sheen",
        "plate": "white porcelain plate with subtle rim detail and a pristine glossy surface",
        "napkin": "folded linen napkin in light cream color with soft fabric texture"
    },
    "objs_mapping": {
        "dining room": "background",
        "wooden patterned table": "context",
        "red cup": "manipulated_objs",
        "tray": "manipulated_objs",
        "plate": "distractor_objs",
        "napkin": "distractor_objs"
    },
    "assets": {
        "wooden patterned table": "asset3d/wooden_patterned_table/result",
        "red cup": "asset3d/red_cup/result",
        "tray": "asset3d/tray/result",
        "plate": "asset3d/plate/result",
        "napkin": "asset3d/napkin/result",
        "dining room": "background"
    },
    "quality": {
        "wooden patterned table": "YES",
        "red cup": "YES",
        "tray": "YES",
        "plate": "YES",
        "napkin": "YES"
    },
    "position": {
        "franka": [
            -0.8665,
            0,
            0.7425,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "dining room": [
            0,
            0,
            0,
            0.0,
            0.384,
            0.0,
            0.9233
        ],
        "wooden patterned table": [
            0,
            0,
            0.3662,
            0,
            0,
            0,
            1
        ],
        "tray": [
            -0.2086,
            -0.1301,
            0.7574,
            0.0,
            0.0,
            0.9628,
            0.2702
        ],
        "plate": [
            -0.1079,
            0.6253,
            0.7508,
            0.0,
            0.0,
            0.1911,
            -0.9816
        ],
        "red cup": [
            -0.4334,
            0.1848,
            0.797,
            0.0,
            0.0,
            0.9973,
            0.0734
        ],
        "napkin": [
            0.3494,
            0.0417,
            0.7568,
            0.0,
            0.0,
            0.8076,
            0.5898
        ]
    }
}