{
    "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 wooden patterned 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": "warm rustic dining room with stone walls and soft yellow overhead lighting",
        "table": "standalone wooden table with natural grain patterns and empty smooth surface",
        "red cup": "glossy ceramic red cup with a rounded base and subtle curved lip",
        "tray": "metallic silver tray with polished reflective surface and curved edges",
        "plate": "white porcelain plate with delicate floral trim and a smooth glossy finish",
        "fork": "shiny stainless steel fork with slim tapered tines and brushed handle"
    },
    "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": [
            -0.4101,
            0,
            0.6732,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "dining room": [
            0,
            0,
            0,
            0.0,
            0.7597,
            0.0,
            0.6503
        ],
        "table": [
            0,
            0,
            0.3352,
            0,
            0,
            0,
            1
        ],
        "tray": [
            0.037,
            -0.0252,
            0.6871,
            0.0,
            0.0,
            0.9964,
            0.0849
        ],
        "plate": [
            0.3014,
            -0.1223,
            0.6822,
            0.0,
            0.0,
            0.4845,
            0.8748
        ],
        "fork": [
            0.1235,
            0.284,
            0.6855,
            0.0,
            0.0,
            0.6315,
            -0.7754
        ],
        "red cup": [
            0.2236,
            0.2081,
            0.7277,
            0.0,
            0.0,
            0.981,
            -0.1941
        ]
    }
}