{
    "tree": {
        "kitchen": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "pear",
                "ON"
            ],
            [
                "pot",
                "ON"
            ],
            [
                "plate",
                "ON"
            ],
            [
                "mug",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the pear in the pot on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "table",
        "manipulated_objs": [
            "pear",
            "pot"
        ],
        "distractor_objs": [
            "plate",
            "mug"
        ]
    },
    "objs_desc": {
        "kitchen": "bright rustic kitchen with white tiled walls and light wooden flooring",
        "table": "standalone rectangular table with polished walnut surface and empty top",
        "pear": "ripe yellow-green pear with smooth skin and a faint reddish blush",
        "pot": "small stainless steel pot with shiny finish and black plastic handles",
        "plate": "simple ceramic plate with matte white glaze and subtle edge detailing",
        "mug": "sturdy stoneware mug with deep blue glaze and slight speckled texture"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "pear": "manipulated_objs",
        "pot": "manipulated_objs",
        "plate": "distractor_objs",
        "mug": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "pear": "asset3d/pear/result",
        "pot": "asset3d/pot/result",
        "plate": "asset3d/plate/result",
        "mug": "asset3d/mug/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "pear": "NO: The asset resembles an apple, not a pear. Shape and texture are inconsistent with a pear.",
        "pot": "YES",
        "plate": "YES",
        "mug": "YES"
    },
    "position": {
        "franka": [
            -0.5951,
            0,
            0.7464,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.6267,
            0.0,
            0.7792
        ],
        "table": [
            0,
            0,
            0.3677,
            0,
            0,
            0,
            1
        ],
        "pot": [
            -0.0774,
            -0.2497,
            0.8958,
            0.0,
            0.0,
            0.9906,
            -0.1366
        ],
        "plate": [
            -0.4452,
            -0.4604,
            0.7572,
            0.0,
            0.0,
            0.2086,
            -0.978
        ],
        "mug": [
            0.1483,
            0.3402,
            0.8085,
            0.0,
            0.0,
            0.3756,
            -0.9268
        ],
        "pear": [
            0.0641,
            0.1771,
            0.8082,
            0.0,
            0.0,
            0.9361,
            0.3518
        ]
    }
}