{
    "objects_inside": [
      "bathroomcabinet",
      "kitchencabinets",
      "cabinet",
      "fridge",
      "stove",
      "dishwasher",
      "microwave"],
    "objects_surface": ["bench",
                         "cabinet",
                         "chair",
                         "coffeetable",
                         "desk",
                         "kitchencounter",
                         "kitchentable",
                         "nightstand",
                         "sofa"],
    "objects_grab": [
                     "apple",
                     "book",
                     "coffeepot",
                     "cupcake",
                     "cutleryfork",
                     "juice",
                     "pancake",
                     "plate",
                     "poundcake",
                     "pudding",
                     "remotecontrol",
                     "waterglass",
                     "whippedcream",
                     "wine",
                     "wineglass"],
    "others": ["character"]

}