{
    "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": "minimalist office space with light beige walls and soft natural lighting",
        "wooden pine table": "standalone polished pine table with smooth surface and clean empty top",
        "marker": "sleek black marker with matte finish and glossy silver label detailing",
        "pen holder": "metallic mesh pen holder with slightly textured dark grey surface",
        "notebook": "spiral-bound notebook with matte navy cover and faint embossed grid pattern",
        "coffee mug": "ceramic coffee mug with glossy white exterior and subtle 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": [
            -0.2658,
            0,
            0.747,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "office": [
            0,
            0,
            0,
            0.0,
            0.8211,
            0.0,
            0.5708
        ],
        "wooden pine table": [
            0,
            0,
            0.373,
            0,
            0,
            0,
            1
        ],
        "pen holder": [
            0.0765,
            0.1249,
            0.8092,
            0.0,
            0.0,
            0.3605,
            0.9328
        ],
        "coffee mug": [
            -0.0629,
            0.3239,
            0.8015,
            0.0,
            0.0,
            0.93,
            0.3677
        ],
        "notebook": [
            -0.2382,
            0.2957,
            0.8589,
            0.0,
            0.0,
            0.9997,
            0.0251
        ],
        "marker": [
            0.1471,
            -0.0249,
            0.7575,
            0.0,
            0.0,
            0.7436,
            0.6686
        ]
    }
}