{
    "tree": {
        "living room": [
            [
                "wooden walnut table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "wooden walnut table": [
            [
                "tennis ball",
                "ON"
            ],
            [
                "gray basket",
                "ON"
            ],
            [
                "book",
                "ON"
            ],
            [
                "coffee mug",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the tennis ball into the gray basket on the wooden walnut table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "living room",
        "context": "wooden walnut table",
        "manipulated_objs": [
            "tennis ball",
            "gray basket"
        ],
        "distractor_objs": [
            "book",
            "coffee mug"
        ]
    },
    "objs_desc": {
        "living room": "sunlit minimalist living room with white walls and soft cream furniture",
        "wooden walnut table": "standalone polished walnut table with deep brown tones and empty smooth top",
        "tennis ball": "vibrant neon green tennis ball with slightly scuffed fuzzy surface",
        "gray basket": "soft gray fabric basket with woven texture and rounded structure",
        "book": "hardcover book with muted blue cover and embossed golden title text",
        "coffee mug": "white ceramic coffee mug with glossy finish and a wide curved handle"
    },
    "objs_mapping": {
        "living room": "background",
        "wooden walnut table": "context",
        "tennis ball": "manipulated_objs",
        "gray basket": "manipulated_objs",
        "book": "distractor_objs",
        "coffee mug": "distractor_objs"
    },
    "assets": {
        "wooden walnut table": "asset3d/wooden_walnut_table/result",
        "tennis ball": "asset3d/tennis_ball/result",
        "gray basket": "asset3d/gray_basket/result",
        "book": "asset3d/book/result",
        "coffee mug": "asset3d/coffee_mug/result",
        "living room": "background"
    },
    "quality": {
        "wooden walnut table": "YES",
        "tennis ball": "NO: Distorted geometry and missing accurate tennis ball seam patterns.",
        "gray basket": "YES",
        "book": "YES",
        "coffee mug": "YES"
    },
    "position": {
        "franka": [
            -0.5706,
            0,
            0.7455,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "living room": [
            0,
            0,
            0,
            0.0,
            0.9036,
            0.0,
            -0.4284
        ],
        "wooden walnut table": [
            0,
            0,
            0.3715,
            0,
            0,
            0,
            1
        ],
        "gray basket": [
            -0.1698,
            -0.0519,
            0.9475,
            0.0,
            0.0,
            0.7903,
            -0.6128
        ],
        "book": [
            -0.4391,
            -0.4323,
            0.7654,
            0.0,
            0.0,
            0.2329,
            0.9725
        ],
        "coffee mug": [
            0.3782,
            -0.2489,
            0.8005,
            0.0,
            0.0,
            0.9966,
            0.0828
        ],
        "tennis ball": [
            -0.096,
            0.2387,
            0.7785,
            0.0,
            0.0,
            0.6013,
            -0.799
        ]
    }
}