{
    "tree": {
        "kitchen": [
            [
                "wooden striped table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "wooden striped table": [
            [
                "apple1",
                "ON"
            ],
            [
                "apple2",
                "ON"
            ],
            [
                "basket",
                "ON"
            ],
            [
                "plate",
                "ON"
            ],
            [
                "knife",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the apples from the wooden striped table to the basket.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "wooden striped table",
        "manipulated_objs": [
            "apple1",
            "apple2",
            "basket"
        ],
        "distractor_objs": [
            "plate",
            "knife"
        ]
    },
    "objs_desc": {
        "kitchen": "bright kitchen with tiled backsplash, white cabinets, and warm ambient lighting",
        "wooden striped table": "standalone maple-striped wooden table with smooth surface and empty top",
        "apple1": "shiny red apple with slight stem protrusion and soft gradient texture",
        "apple2": "vivid green apple with subtle dents and matte waxy finish",
        "basket": "woven wicker basket with light tan tone and tightly interlaced fibers",
        "plate": "smooth porcelain plate with clean white finish and faint reflective sheen",
        "knife": "stainless steel kitchen knife with polished blade and ergonomic black plastic handle"
    },
    "objs_mapping": {
        "kitchen": "background",
        "wooden striped table": "context",
        "apple1": "manipulated_objs",
        "apple2": "manipulated_objs",
        "basket": "manipulated_objs",
        "plate": "distractor_objs",
        "knife": "distractor_objs"
    },
    "assets": {
        "wooden striped table": "asset3d/wooden_striped_table/result",
        "apple1": "asset3d/apple1/result",
        "apple2": "asset3d/apple2/result",
        "basket": "asset3d/basket/result",
        "plate": "asset3d/plate/result",
        "knife": "asset3d/knife/result",
        "kitchen": "background"
    },
    "quality": {
        "wooden striped table": "YES",
        "apple1": "YES",
        "apple2": "YES",
        "basket": "YES",
        "plate": "YES",
        "knife": "YES"
    },
    "position": {
        "franka": [
            -0.4848,
            0,
            0.7459,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.5617,
            0.0,
            0.8273
        ],
        "wooden striped table": [
            0,
            0,
            0.373,
            0,
            0,
            0,
            1
        ],
        "basket": [
            0.0698,
            0.2702,
            0.9711,
            0.0,
            0.0,
            0.7321,
            -0.6812
        ],
        "plate": [
            -0.3627,
            -0.2362,
            0.7556,
            0.0,
            0.0,
            0.5965,
            0.8026
        ],
        "knife": [
            -0.2915,
            0.4099,
            0.8573,
            0.0,
            0.0,
            0.5905,
            0.807
        ],
        "apple1": [
            -0.0361,
            -0.1463,
            0.7904,
            0.0,
            0.0,
            0.9657,
            0.2595
        ],
        "apple2": [
            0.0824,
            -0.1384,
            0.7906,
            0.0,
            0.0,
            0.911,
            0.4125
        ]
    }
}