{
    "tree": {
        "living room": [
            [
                "wooden striped table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "wooden striped table": [
            [
                "yellow cup",
                "ON"
            ],
            [
                "wooden tray",
                "ON"
            ],
            [
                "book",
                "ON"
            ],
            [
                "remote control",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the yellow cup on the wooden tray on the wooden striped table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "living room",
        "context": "wooden striped table",
        "manipulated_objs": [
            "yellow cup",
            "wooden tray"
        ],
        "distractor_objs": [
            "book",
            "remote control"
        ]
    },
    "objs_desc": {
        "living room": "bright minimalist living room with beige walls and a soft cream area rug",
        "wooden striped table": "standalone varnished pine table with polished striped surface and empty top",
        "yellow cup": "vibrant yellow ceramic cup with smooth glossy finish and rounded edges",
        "wooden tray": "light oak serving tray with natural grain texture and slight edge lip",
        "book": "hardcover book with faded navy cover and subtle gold embossed lettering",
        "remote control": "sleek black plastic remote control with matte finish and slightly worn buttons"
    },
    "objs_mapping": {
        "living room": "background",
        "wooden striped table": "context",
        "yellow cup": "manipulated_objs",
        "wooden tray": "manipulated_objs",
        "book": "distractor_objs",
        "remote control": "distractor_objs"
    },
    "assets": {
        "wooden striped table": "asset3d/wooden_striped_table/result",
        "yellow cup": "asset3d/yellow_cup/result",
        "wooden tray": "asset3d/wooden_tray/result",
        "book": "asset3d/book/result",
        "remote control": "asset3d/remote_control/result",
        "living room": "background"
    },
    "quality": {
        "wooden striped table": "YES",
        "yellow cup": "YES",
        "wooden tray": "YES",
        "book": "YES",
        "remote control": "YES"
    },
    "position": {
        "franka": [
            -0.3867,
            0,
            0.6596,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "living room": [
            0,
            0,
            0,
            0.0,
            0.7341,
            0.0,
            -0.6791
        ],
        "wooden striped table": [
            0,
            0,
            0.327,
            0,
            0,
            0,
            1
        ],
        "wooden tray": [
            0.1959,
            -0.1981,
            0.675,
            0.0,
            0.0,
            0.9601,
            0.2795
        ],
        "remote control": [
            -0.1025,
            0.1803,
            0.6781,
            0.0,
            0.0,
            0.9461,
            -0.3239
        ],
        "book": [
            -0.0989,
            0.0115,
            0.6786,
            0.0,
            0.0,
            0.6404,
            -0.768
        ],
        "yellow cup": [
            0.1141,
            0.2677,
            0.709,
            0.0,
            0.0,
            0.6432,
            -0.7657
        ]
    }
}