example_layouts/task_0045/layout.json

{
    "tree": {
        "dining room": [
            [
                "wooden striped table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "wooden striped table": [
            [
                "teacup",
                "ON"
            ],
            [
                "plate",
                "ON"
            ],
            [
                "spoon",
                "ON"
            ],
            [
                "sugar jar",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the teacup on the plate on wooden striped table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "dining room",
        "context": "wooden striped table",
        "manipulated_objs": [
            "teacup",
            "plate"
        ],
        "distractor_objs": [
            "spoon",
            "sugar jar"
        ]
    },
    "objs_desc": {
        "dining room": "bright dining room with cream walls, large windows, and polished wooden flooring",
        "wooden striped table": "standalone light oak table with clean striped grain and smooth empty top",
        "teacup": "small porcelain teacup with delicate floral pattern and a glossy white finish",
        "plate": "smooth ceramic plate with muted pastel blue glaze and subtle circular ridges",
        "spoon": "shiny silver spoon with mirror-polished surface and rounded edges",
        "sugar jar": "vintage glass sugar jar with ribbed texture and a white metal lid"
    },
    "objs_mapping": {
        "dining room": "background",
        "wooden striped table": "context",
        "teacup": "manipulated_objs",
        "plate": "manipulated_objs",
        "spoon": "distractor_objs",
        "sugar jar": "distractor_objs"
    },
    "assets": {
        "wooden striped table": "asset3d/wooden_striped_table/result",
        "teacup": "asset3d/teacup/result",
        "plate": "asset3d/plate/result",
        "spoon": "asset3d/spoon/result",
        "sugar jar": "asset3d/sugar_jar/result",
        "dining room": "background"
    },
    "quality": {
        "wooden striped table": "NO: Missing striped texture; plain wooden table does not match \"striped\" description.",
        "teacup": "YES",
        "plate": "YES",
        "spoon": "YES",
        "sugar jar": "YES"
    },
    "position": {
        "franka": [
            -0.3038,
            0,
            0.7479,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "dining room": [
            0,
            0,
            0,
            0.0,
            0.8083,
            0.0,
            0.5887
        ],
        "wooden striped table": [
            0,
            0,
            0.3715,
            0,
            0,
            0,
            1
        ],
        "spoon": [
            0.1024,
            0.0569,
            0.7687,
            0.0,
            0.0,
            0.8691,
            -0.4947
        ],
        "sugar jar": [
            -0.1926,
            -0.385,
            0.8473,
            0.0,
            0.0,
            0.9918,
            0.1281
        ],
        "plate": [
            0.0898,
            -0.1819,
            0.757,
            0.0,
            0.0,
            0.9704,
            -0.2414
        ],
        "teacup": [
            0.2392,
            0.2885,
            0.7967,
            0.0,
            0.0,
            0.9466,
            0.3225
        ]
    }
}