{
    "tree": {
        "office": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "green eraser",
                "ON"
            ],
            [
                "red box",
                "ON"
            ],
            [
                "notebook",
                "ON"
            ],
            [
                "pen",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the green eraser into the red box on the wooden patterned table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "office",
        "context": "table",
        "manipulated_objs": [
            "green eraser",
            "red box"
        ],
        "distractor_objs": [
            "notebook",
            "pen"
        ]
    },
    "objs_desc": {
        "office": "bright office with polished tiled floors and minimalist white decor",
        "table": "standalone wooden table with natural grain patterns and clean flat surface",
        "green eraser": "smooth rubber eraser with vibrant green color and slightly rounded edges",
        "red box": "matte red cardboard box with closed lid and subtle creases on the surface",
        "notebook": "spiral-bound notebook with dark blue cover and faint lined pages visible inside",
        "pen": "sleek black pen with glossy finish and silver clip detailing"
    },
    "objs_mapping": {
        "office": "background",
        "table": "context",
        "green eraser": "manipulated_objs",
        "red box": "manipulated_objs",
        "notebook": "distractor_objs",
        "pen": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "green eraser": "asset3d/green_eraser/result",
        "red box": "asset3d/red_box/result",
        "notebook": "asset3d/notebook/result",
        "pen": "asset3d/pen/result",
        "office": "background"
    },
    "quality": {
        "table": "YES",
        "green eraser": "YES",
        "red box": "YES",
        "notebook": "YES",
        "pen": "YES"
    },
    "position": {
        "franka": [
            -0.6706,
            0,
            0.7435,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "office": [
            0,
            0,
            0,
            0.0,
            0.0466,
            0.0,
            -0.9989
        ],
        "table": [
            0,
            0,
            0.3731,
            0,
            0,
            0,
            1
        ],
        "red box": [
            -0.2011,
            -0.179,
            0.8934,
            0.0,
            0.0,
            0.8689,
            -0.4949
        ],
        "notebook": [
            0.0398,
            -0.5386,
            0.7526,
            0.0,
            0.0,
            0.5548,
            -0.832
        ],
        "pen": [
            0.4067,
            0.1455,
            0.7544,
            0.0,
            0.0,
            0.9247,
            0.3807
        ],
        "green eraser": [
            -0.0797,
            0.3105,
            0.7577,
            0.0,
            0.0,
            0.0887,
            0.9961
        ]
    }
}