{
    "tree": {
        "kitchen": [
            [
                "wooden striped table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "wooden striped table": [
            [
                "teacup",
                "ON"
            ],
            [
                "plate",
                "ON"
            ],
            [
                "spoon",
                "ON"
            ],
            [
                "salt shaker",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the teacup on the plate on wooden striped table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "wooden striped table",
        "manipulated_objs": [
            "teacup",
            "plate"
        ],
        "distractor_objs": [
            "spoon",
            "salt shaker"
        ]
    },
    "objs_desc": {
        "kitchen": "bright kitchen with polished marble countertops and warm ambient lighting",
        "wooden striped table": "standalone teakwood table with natural striped grain and clean empty top",
        "teacup": "delicate white porcelain teacup with smooth glossy finish and gold-trimmed rim",
        "plate": "round ceramic plate with subtle ivory sheen and slightly raised edge detail",
        "spoon": "sleek stainless steel spoon with reflective surface and gently curved handle",
        "salt shaker": "transparent glass salt shaker with metallic lid and fine white granules visible inside"
    },
    "objs_mapping": {
        "kitchen": "background",
        "wooden striped table": "context",
        "teacup": "manipulated_objs",
        "plate": "manipulated_objs",
        "spoon": "distractor_objs",
        "salt shaker": "distractor_objs"
    },
    "assets": {
        "wooden striped table": "asset3d/wooden_striped_table/result",
        "teacup": "asset3d/teacup/result",
        "plate": "asset3d/plate/result",
        "spoon": "asset3d/spoon/result",
        "salt shaker": "asset3d/salt_shaker/result",
        "kitchen": "background"
    },
    "quality": {
        "wooden striped table": "YES",
        "teacup": "YES",
        "plate": "YES",
        "spoon": "YES",
        "salt shaker": "YES"
    },
    "position": {
        "franka": [
            -0.6274,
            0,
            0.7449,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.0474,
            0.0,
            -0.9989
        ],
        "wooden striped table": [
            0,
            0,
            0.3674,
            0,
            0,
            0,
            1
        ],
        "spoon": [
            -0.1718,
            -0.0408,
            0.7894,
            0.0,
            0.0,
            0.9138,
            -0.4061
        ],
        "plate": [
            0.0108,
            0.2767,
            0.7542,
            0.0,
            0.0,
            0.1424,
            0.9898
        ],
        "teacup": [
            -0.0276,
            -0.3432,
            0.7994,
            0.0,
            0.0,
            0.9984,
            -0.0559
        ],
        "salt shaker": [
            -0.3914,
            0.6208,
            0.8048,
            0.0,
            0.0,
            0.1097,
            0.994
        ]
    }
}