{
    "tree": {
        "dining room": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "red cup",
                "ON"
            ],
            [
                "tray",
                "ON"
            ],
            [
                "plate",
                "ON"
            ],
            [
                "fork",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the red cup on the tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "dining room",
        "context": "table",
        "manipulated_objs": [
            "red cup",
            "tray"
        ],
        "distractor_objs": [
            "plate",
            "fork"
        ]
    },
    "objs_desc": {
        "dining room": "bright dining room with soft beige walls and polished wooden flooring",
        "table": "standalone walnut dining table with smooth surface and clean empty top",
        "red cup": "glossy crimson ceramic cup with a rounded rim and smooth finish",
        "tray": "rectangular stainless steel tray with brushed texture and slight edges",
        "plate": "white porcelain plate with faint grooves and matte finish",
        "fork": "silver metal fork with polished surface and fine tapered tines"
    },
    "objs_mapping": {
        "dining room": "background",
        "table": "context",
        "red cup": "manipulated_objs",
        "tray": "manipulated_objs",
        "plate": "distractor_objs",
        "fork": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "red cup": "asset3d/red_cup/result",
        "tray": "asset3d/tray/result",
        "plate": "asset3d/plate/result",
        "fork": "asset3d/fork/result",
        "dining room": "background"
    },
    "quality": {
        "table": "YES",
        "red cup": "YES",
        "tray": "YES",
        "plate": "YES",
        "fork": "YES"
    },
    "position": {
        "franka": [
            -0.5615,
            0,
            0.7418,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "dining room": [
            0,
            0,
            0,
            0.0,
            0.0647,
            0.0,
            -0.9979
        ],
        "table": [
            0,
            0,
            0.3703,
            0,
            0,
            0,
            1
        ],
        "fork": [
            -0.1772,
            0.3494,
            0.7573,
            0.0,
            0.0,
            0.8654,
            0.501
        ],
        "tray": [
            0.109,
            -0.0137,
            0.7566,
            0.0,
            0.0,
            0.1095,
            0.994
        ],
        "plate": [
            0.4494,
            0.4443,
            0.7509,
            0.0,
            0.0,
            0.9565,
            -0.2918
        ],
        "red cup": [
            -0.1494,
            -0.0169,
            0.7966,
            0.0,
            0.0,
            0.9943,
            0.1062
        ]
    }
}