{
    "tree": {
        "office": [
            [
                "desk",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "desk": [
            [
                "green cube",
                "ON"
            ],
            [
                "yellow cube",
                "ON"
            ],
            [
                "lamp",
                "ON"
            ],
            [
                "keyboard",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Move the green cube and put it into the yellow cube on the desk.",
        "task": "pick and place",
        "robot": "franka",
        "background": "office",
        "context": "desk",
        "manipulated_objs": [
            "green cube",
            "yellow cube"
        ],
        "distractor_objs": [
            "lamp",
            "keyboard"
        ]
    },
    "objs_desc": {
        "office": "sleek professional office with neutral walls and soft overhead lighting",
        "desk": "standalone polished walnut desk with no surroundings and smooth empty top",
        "green cube": "solid matte green plastic cube with sharp edges and clean flat surfaces",
        "yellow cube": "glossy bright yellow acrylic cube with reflective surface and rounded corners",
        "lamp": "modern black metal desk lamp with adjustable neck and frosted glass shade",
        "keyboard": "slim black ergonomic keyboard with textured keys and subtle shine"
    },
    "objs_mapping": {
        "office": "background",
        "desk": "context",
        "green cube": "manipulated_objs",
        "yellow cube": "manipulated_objs",
        "lamp": "distractor_objs",
        "keyboard": "distractor_objs"
    },
    "assets": {
        "desk": "asset3d/desk/result",
        "green cube": "asset3d/green_cube/result",
        "yellow cube": "asset3d/yellow_cube/result",
        "lamp": "asset3d/lamp/result",
        "keyboard": "asset3d/keyboard/result",
        "office": "background"
    },
    "quality": {
        "desk": "YES",
        "green cube": "YES",
        "yellow cube": "NO: visible distortions and irregularities; geometry lacks sharp edges expected for a cube.",
        "lamp": "YES",
        "keyboard": "YES"
    },
    "position": {
        "franka": [
            -0.3826,
            0,
            0.7987,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "office": [
            0,
            0,
            0,
            0.0,
            0.4783,
            0.0,
            -0.8782
        ],
        "desk": [
            0,
            0,
            0.4011,
            0,
            0,
            0,
            1
        ],
        "yellow cube": [
            -0.1395,
            0.1353,
            0.9116,
            0.0,
            0.0,
            0.7373,
            -0.6756
        ],
        "green cube": [
            0.011,
            -0.1723,
            0.9108,
            0.0,
            0.0,
            0.6579,
            -0.7531
        ],
        "lamp": [
            -0.0956,
            -0.3995,
            1.0235,
            0.0,
            0.0,
            0.9993,
            0.0375
        ],
        "keyboard": [
            0.1736,
            -0.3728,
            0.8068,
            0.0,
            0.0,
            0.6195,
            0.785
        ]
    }
}