{
    "tree": {
        "office": [
            [
                "wooden pine table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "wooden pine table": [
            [
                "marker",
                "ON"
            ],
            [
                "pen holder",
                "ON"
            ],
            [
                "notebook",
                "ON"
            ],
            [
                "coffee mug",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the marker in the pen holder on the wooden pine table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "office",
        "context": "wooden pine table",
        "manipulated_objs": [
            "marker",
            "pen holder"
        ],
        "distractor_objs": [
            "notebook",
            "coffee mug"
        ]
    },
    "objs_desc": {
        "office": "modern office with soft fluorescent lighting and neutral grey carpeted floors",
        "wooden pine table": "standalone light pine table with smooth surface and empty top",
        "marker": "thin black marker with matte plastic body and fine tip cap",
        "pen holder": "cylindrical mesh pen holder in black steel with open airy design",
        "notebook": "spiral-bound notebook with textured navy blue cover and lined cream pages",
        "coffee mug": "ceramic coffee mug with glossy white glaze and small curved handle"
    },
    "objs_mapping": {
        "office": "background",
        "wooden pine table": "context",
        "marker": "manipulated_objs",
        "pen holder": "manipulated_objs",
        "notebook": "distractor_objs",
        "coffee mug": "distractor_objs"
    },
    "assets": {
        "wooden pine table": "asset3d/wooden_pine_table/result",
        "marker": "asset3d/marker/result",
        "pen holder": "asset3d/pen_holder/result",
        "notebook": "asset3d/notebook/result",
        "coffee mug": "asset3d/coffee_mug/result",
        "office": "background"
    },
    "quality": {
        "wooden pine table": "YES",
        "marker": "YES",
        "pen holder": "YES",
        "notebook": "YES",
        "coffee mug": "YES"
    },
    "position": {
        "franka": [
            -0.3214,
            0,
            0.7366,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "office": [
            0,
            0,
            0,
            0.0,
            0.6742,
            0.0,
            -0.7386
        ],
        "wooden pine table": [
            0,
            0,
            0.3698,
            0,
            0,
            0,
            1
        ],
        "notebook": [
            -0.018,
            -0.4049,
            0.8438,
            0.0,
            0.0,
            0.987,
            -0.1608
        ],
        "coffee mug": [
            0.1788,
            -0.3972,
            0.7991,
            0.0,
            0.0,
            0.9958,
            0.0912
        ],
        "pen holder": [
            0.242,
            -0.0867,
            0.7923,
            0.0,
            0.0,
            0.6619,
            0.7496
        ],
        "marker": [
            0.2162,
            -0.2187,
            0.8059,
            0.0,
            0.0,
            0.8739,
            0.4861
        ]
    }
}