{
    "tree": {
        "office": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "pen",
                "ON"
            ],
            [
                "pen holder",
                "ON"
            ],
            [
                "book",
                "ON"
            ],
            [
                "lamp",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the pen in the pen holder on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "office",
        "context": "table",
        "manipulated_objs": [
            "pen",
            "pen holder"
        ],
        "distractor_objs": [
            "book",
            "lamp"
        ]
    },
    "objs_desc": {
        "office": "sleek professional office with neutral tones and polished wooden flooring",
        "table": "standalone black steel-framed table with smooth walnut top, clean and empty",
        "pen": "shiny silver ballpoint pen with smooth metal finish and a dark blue grip",
        "pen holder": "round ceramic pen holder with matte white glaze and a single slot for pens",
        "book": "hardcover book with textured maroon cover and embossed gold lettering on the spine",
        "lamp": "modern desk lamp with matte black body and an adjustable arm, emitting soft white light"
    },
    "objs_mapping": {
        "office": "background",
        "table": "context",
        "pen": "manipulated_objs",
        "pen holder": "manipulated_objs",
        "book": "distractor_objs",
        "lamp": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "pen": "asset3d/pen/result",
        "pen holder": "asset3d/pen_holder/result",
        "book": "asset3d/book/result",
        "lamp": "asset3d/lamp/result",
        "office": "background"
    },
    "quality": {
        "table": "YES",
        "pen": "YES",
        "pen holder": "YES",
        "book": "YES",
        "lamp": "YES"
    },
    "position": {
        "franka": [
            -0.3294,
            0,
            0.7466,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "office": [
            0,
            0,
            0,
            0.0,
            0.9367,
            0.0,
            0.35
        ],
        "table": [
            0,
            0,
            0.3705,
            0,
            0,
            0,
            1
        ],
        "lamp": [
            0.0264,
            -0.2873,
            0.9476,
            0.0,
            0.0,
            0.0437,
            0.999
        ],
        "pen holder": [
            0.1012,
            0.0857,
            0.8083,
            0.0,
            0.0,
            0.7626,
            0.6468
        ],
        "pen": [
            0.2553,
            0.2251,
            0.8227,
            0.0,
            0.0,
            0.3848,
            -0.923
        ],
        "book": [
            0.1157,
            0.3097,
            0.8839,
            0.0,
            0.0,
            0.0579,
            0.9983
        ]
    }
}