{
    "tree": {
        "dining room": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "red cup",
                "ON"
            ],
            [
                "tray",
                "ON"
            ],
            [
                "plate",
                "ON"
            ],
            [
                "napkin",
                "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",
            "napkin"
        ]
    },
    "objs_desc": {
        "dining room": "bright dining room with beige walls and soft overhead lighting",
        "table": "standalone wooden table with intricate grain patterns and clean empty surface",
        "red cup": "glossy ceramic red cup with smooth finish and subtle curved design",
        "tray": "matte silver tray with brushed texture and slightly raised edges",
        "plate": "simple white porcelain plate with a smooth glossy surface",
        "napkin": "folded cloth napkin with pale cream color and soft woven texture"
    },
    "objs_mapping": {
        "dining room": "background",
        "table": "context",
        "red cup": "manipulated_objs",
        "tray": "manipulated_objs",
        "plate": "distractor_objs",
        "napkin": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "red cup": "asset3d/red_cup/result",
        "tray": "asset3d/tray/result",
        "plate": "asset3d/plate/result",
        "napkin": "asset3d/napkin/result",
        "dining room": "background"
    },
    "quality": {
        "table": "YES",
        "red cup": "YES",
        "tray": "YES",
        "plate": "YES",
        "napkin": "YES"
    },
    "position": {
        "franka": [
            -0.3848,
            0,
            0.4952,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "dining room": [
            0,
            0,
            0,
            0.0,
            0.8688,
            0.0,
            0.4952
        ],
        "table": [
            0,
            0,
            0.2468,
            0,
            0,
            0,
            1
        ],
        "tray": [
            0.1508,
            0.3059,
            0.5093,
            0.0,
            0.0,
            0.9939,
            0.1104
        ],
        "plate": [
            -0.2136,
            0.4089,
            0.5052,
            0.0,
            0.0,
            0.9671,
            -0.2546
        ],
        "napkin": [
            -0.068,
            -0.2042,
            0.513,
            0.0,
            0.0,
            0.5284,
            -0.849
        ],
        "red cup": [
            0.2196,
            0.0574,
            0.5496,
            0.0,
            0.0,
            0.4573,
            -0.8893
        ]
    }
}