{
    "tree": {
        "office": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "pen holder",
                "ON"
            ],
            [
                "pen",
                "ON"
            ],
            [
                "notebook",
                "ON"
            ],
            [
                "stapler",
                "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": [
            "notebook",
            "stapler"
        ]
    },
    "objs_desc": {
        "office": "bright modern office with white walls, soft lighting, and sleek minimalist decor",
        "table": "standalone polished walnut desk with no clutter and a smooth empty surface",
        "pen": "sleek black ballpoint pen with matte finish and silver clip details",
        "pen holder": "cylindrical metal pen holder with brushed stainless steel texture and perforated sides",
        "notebook": "spiral-bound notebook with a textured navy blue cover and crisp white pages inside",
        "stapler": "compact red stapler with glossy plastic body and metallic base"
    },
    "objs_mapping": {
        "office": "background",
        "table": "context",
        "pen": "manipulated_objs",
        "pen holder": "manipulated_objs",
        "notebook": "distractor_objs",
        "stapler": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "pen": "asset3d/pen/result",
        "pen holder": "asset3d/pen_holder/result",
        "notebook": "asset3d/notebook/result",
        "stapler": "asset3d/stapler/result",
        "office": "background"
    },
    "quality": {
        "table": "YES",
        "pen": "YES",
        "pen holder": "YES",
        "notebook": "YES",
        "stapler": "YES"
    },
    "position": {
        "franka": [
            -0.2335,
            0,
            0.7964,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "office": [
            0,
            0,
            0,
            0.0,
            0.8479,
            0.0,
            0.5302
        ],
        "table": [
            0,
            0,
            0.398,
            0,
            0,
            0,
            1
        ],
        "notebook": [
            0.0736,
            0.2413,
            0.806,
            0.0,
            0.0,
            0.8728,
            -0.488
        ],
        "stapler": [
            -0.0961,
            0.4014,
            0.8562,
            0.0,
            0.0,
            0.8373,
            -0.5468
        ],
        "pen": [
            0.1727,
            -0.0435,
            0.8431,
            0.0,
            0.0,
            0.4323,
            -0.9017
        ],
        "pen holder": [
            0.0708,
            -0.0725,
            0.8587,
            0.0,
            0.0,
            0.7053,
            -0.7089
        ]
    }
}