{
    "tree": {
        "office": [
            [
                "wooden oak table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "wooden oak table": [
            [
                "pen",
                "ON"
            ],
            [
                "pen holder",
                "ON"
            ],
            [
                "lamp",
                "ON"
            ],
            [
                "notepad",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the pen in the pen holder on the wooden oak table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "office",
        "context": "wooden oak table",
        "manipulated_objs": [
            "pen",
            "pen holder"
        ],
        "distractor_objs": [
            "lamp",
            "notepad"
        ]
    },
    "objs_desc": {
        "office": "sleek professional workspace with neutral tones and warm ambient lighting",
        "wooden oak table": "standalone polished oak table with rich brown finish and smooth empty top",
        "pen": "sleek black ink pen with metallic clip and matte textured grip",
        "pen holder": "minimalist cylindrical pen holder in brushed stainless steel with smooth reflective surface",
        "lamp": "modern desk lamp with a curved silver frame and frosted glass shade",
        "notepad": "lined paper notepad with spiral binding and soft cream-colored pages"
    },
    "objs_mapping": {
        "office": "background",
        "wooden oak table": "context",
        "pen": "manipulated_objs",
        "pen holder": "manipulated_objs",
        "lamp": "distractor_objs",
        "notepad": "distractor_objs"
    },
    "assets": {
        "wooden oak table": "asset3d/wooden_oak_table/result",
        "pen": "asset3d/pen/result",
        "pen holder": "asset3d/pen_holder/result",
        "lamp": "asset3d/lamp/result",
        "notepad": "asset3d/notepad/result",
        "office": "background"
    },
    "quality": {
        "wooden oak table": "YES",
        "pen": "YES",
        "pen holder": "YES",
        "lamp": "YES",
        "notepad": "YES"
    },
    "position": {
        "franka": [
            -0.5937,
            0,
            0.7985,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "office": [
            0,
            0,
            0,
            0.0,
            0.937,
            0.0,
            0.3493
        ],
        "wooden oak table": [
            0,
            0,
            0.4016,
            0,
            0,
            0,
            1
        ],
        "lamp": [
            0.4051,
            0.1937,
            0.9993,
            0.0,
            0.0,
            0.962,
            -0.2731
        ],
        "notepad": [
            0.1689,
            0.1159,
            0.8853,
            0.0,
            0.0,
            0.9919,
            -0.1267
        ],
        "pen": [
            -0.2757,
            0.0292,
            0.8087,
            0.0,
            0.0,
            0.6808,
            0.7325
        ],
        "pen holder": [
            0.0229,
            0.2009,
            0.8859,
            0.0,
            0.0,
            0.8536,
            0.5209
        ]
    }
}