{
    "tree": {
        "living room": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "white ping-pong ball",
                "ON"
            ],
            [
                "blue cup",
                "ON"
            ],
            [
                "book",
                "ON"
            ],
            [
                "remote control",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the white ping-pong ball into the blue cup on the wooden oak table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "living room",
        "context": "table",
        "manipulated_objs": [
            "white ping-pong ball",
            "blue cup"
        ],
        "distractor_objs": [
            "book",
            "remote control"
        ]
    },
    "objs_desc": {
        "living room": "bright modern living room with cream walls and a textured beige rug",
        "table": "standalone polished oak table with rich grain and smooth empty surface",
        "white ping-pong ball": "glossy white plastic ball with a pristine, smooth texture and subtle sheen",
        "blue cup": "ceramic blue cup with matte finish, simple contours, and slightly curved rim",
        "book": "worn paperback book with faded green cover and lightly frayed edges",
        "remote control": "sleek black remote control with small rubber buttons and textured underside"
    },
    "objs_mapping": {
        "living room": "background",
        "table": "context",
        "white ping-pong ball": "manipulated_objs",
        "blue cup": "manipulated_objs",
        "book": "distractor_objs",
        "remote control": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "white ping-pong ball": "asset3d/white_ping-pong_ball/result",
        "blue cup": "asset3d/blue_cup/result",
        "book": "asset3d/book/result",
        "remote control": "asset3d/remote_control/result",
        "living room": "background"
    },
    "quality": {
        "table": "YES",
        "white ping-pong ball": "YES",
        "blue cup": "YES",
        "book": "YES",
        "remote control": "YES"
    },
    "position": {
        "franka": [
            -0.6963,
            0,
            0.7391,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "living room": [
            0,
            0,
            0,
            0.0,
            0.9874,
            0.0,
            0.1582
        ],
        "table": [
            0,
            0,
            0.3645,
            0,
            0,
            0,
            1
        ],
        "book": [
            -0.2103,
            -0.162,
            0.8756,
            0.0,
            0.0,
            0.3903,
            0.9207
        ],
        "remote control": [
            -0.6134,
            -0.4712,
            0.7517,
            0.0,
            0.0,
            0.9744,
            0.2247
        ],
        "blue cup": [
            -0.3641,
            0.0508,
            0.8012,
            0.0,
            0.0,
            0.795,
            -0.6067
        ],
        "white ping-pong ball": [
            -0.2736,
            0.0124,
            0.7581,
            0.0,
            0.0,
            0.2618,
            0.9651
        ]
    }
}