{
    "tree": {
        "office": [
            [
                "wooden oak table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "wooden oak table": [
            [
                "pen",
                "ON"
            ],
            [
                "pen holder",
                "ON"
            ],
            [
                "notebook",
                "ON"
            ],
            [
                "lamp",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the pen in the pen holder on the wooden oak table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "office",
        "context": "wooden oak table",
        "manipulated_objs": [
            "pen",
            "pen holder"
        ],
        "distractor_objs": [
            "notebook",
            "lamp"
        ]
    },
    "objs_desc": {
        "office": "modern office space with muted tones and sleek grey carpet",
        "wooden oak table": "standalone polished oak table with empty top and rich dark brown grain texture",
        "pen": "sleek black ballpoint pen with glossy finish and smooth metallic accents",
        "pen holder": "cylindrical matte black pen holder with a textured surface and simple modern design",
        "notebook": "spiral-bound notebook with weathered leather cover and ivory-colored lined pages",
        "lamp": "minimalist desk lamp with brushed aluminum finish and soft warm light"
    },
    "objs_mapping": {
        "office": "background",
        "wooden oak table": "context",
        "pen": "manipulated_objs",
        "pen holder": "manipulated_objs",
        "notebook": "distractor_objs",
        "lamp": "distractor_objs"
    },
    "assets": {
        "wooden oak table": "asset3d/wooden_oak_table/result",
        "pen": "asset3d/pen/result",
        "pen holder": "asset3d/pen_holder/result",
        "notebook": "asset3d/notebook/result",
        "lamp": "asset3d/lamp/result",
        "office": "background"
    },
    "quality": {
        "wooden oak table": "NO: Table geometry is distorted; top surface is uneven and warped, not resembling a functional wooden oak table.",
        "pen": "YES",
        "pen holder": "YES",
        "notebook": "YES",
        "lamp": "YES"
    },
    "position": {
        "franka": [
            -0.3686,
            0,
            0.7721,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "office": [
            0,
            0,
            0,
            0.0,
            0.1379,
            0.0,
            0.9904
        ],
        "wooden oak table": [
            0,
            0,
            0.3896,
            0,
            0,
            0,
            1
        ],
        "lamp": [
            -0.1477,
            -0.3383,
            0.9967,
            0.0,
            0.0,
            0.4729,
            -0.8811
        ],
        "notebook": [
            0.0529,
            -0.3261,
            0.7862,
            0.0,
            0.0,
            0.0314,
            -0.9995
        ],
        "pen holder": [
            0.0548,
            0.2186,
            0.8345,
            0.0,
            0.0,
            0.7226,
            -0.6913
        ],
        "pen": [
            -0.0504,
            0.0576,
            0.7821,
            0.0,
            0.0,
            0.5605,
            -0.8281
        ]
    }
}