{
    "tree": {
        "kitchen": [
            [
                "wooden oak table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "wooden oak table": [
            [
                "lemon",
                "ON"
            ],
            [
                "plate",
                "ON"
            ],
            [
                "fork",
                "ON"
            ],
            [
                "napkin",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the lemon on the plate on the wooden oak table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "wooden oak table",
        "manipulated_objs": [
            "lemon",
            "plate"
        ],
        "distractor_objs": [
            "fork",
            "napkin"
        ]
    },
    "objs_desc": {
        "kitchen": "bright modern kitchen with white cabinets and subtle tiled backsplash",
        "wooden oak table": "standalone polished oak table with warm amber tones and empty smooth surface",
        "lemon": "vivid yellow lemon with slightly textured peel and small green stem nub",
        "plate": "simple white ceramic plate with faint ridged edges and glossy finish",
        "fork": "stainless steel fork with narrow polished tines and brushed handle",
        "napkin": "folded cotton napkin in soft beige fabric with subtle stitched edges"
    },
    "objs_mapping": {
        "kitchen": "background",
        "wooden oak table": "context",
        "lemon": "manipulated_objs",
        "plate": "manipulated_objs",
        "fork": "distractor_objs",
        "napkin": "distractor_objs"
    },
    "assets": {
        "wooden oak table": "asset3d/wooden_oak_table/result",
        "lemon": "asset3d/lemon/result",
        "plate": "asset3d/plate/result",
        "fork": "asset3d/fork/result",
        "napkin": "asset3d/napkin/result",
        "kitchen": "background"
    },
    "quality": {
        "wooden oak table": "NO: The table appears yellow, not wooden oak as described.",
        "lemon": "YES",
        "plate": "YES",
        "fork": "YES",
        "napkin": "YES"
    },
    "position": {
        "franka": [
            -0.52,
            0,
            0.7468,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.6772,
            0.0,
            0.7358
        ],
        "wooden oak table": [
            0,
            0,
            0.3739,
            0,
            0,
            0,
            1
        ],
        "plate": [
            -0.1679,
            0.0578,
            0.7561,
            0.0,
            0.0,
            0.0469,
            0.9989
        ],
        "napkin": [
            0.1807,
            -0.1742,
            0.7639,
            0.0,
            0.0,
            0.6833,
            0.7301
        ],
        "fork": [
            0.2258,
            -0.4219,
            0.7572,
            0.0,
            0.0,
            0.9969,
            -0.0784
        ],
        "lemon": [
            0.0912,
            -0.3069,
            0.7807,
            0.0,
            0.0,
            0.074,
            0.9973
        ]
    }
}