{
    "tree": {
        "kitchen": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "cucumber",
                "ON"
            ],
            [
                "basket",
                "ON"
            ],
            [
                "knife",
                "ON"
            ],
            [
                "cutting board",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the cucumber in the basket on the wooden pine table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "table",
        "manipulated_objs": [
            "cucumber",
            "basket"
        ],
        "distractor_objs": [
            "knife",
            "cutting board"
        ]
    },
    "objs_desc": {
        "kitchen": "bright kitchen with white walls, chrome fixtures, and tiled floor under natural light",
        "table": "standalone light pine wooden table with smooth polished surface and clean empty top",
        "cucumber": "fresh green cucumber with glossy skin and faint textured ridges",
        "basket": "woven wicker basket with honey-brown hue and intricate handwoven patterns",
        "knife": "shiny stainless steel knife with black ergonomic handle resting flat on the surface",
        "cutting board": "rectangular bamboo cutting board with natural grain texture and slightly rounded edges"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "cucumber": "manipulated_objs",
        "basket": "manipulated_objs",
        "knife": "distractor_objs",
        "cutting board": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "cucumber": "asset3d/cucumber/result",
        "basket": "asset3d/basket/result",
        "knife": "asset3d/knife/result",
        "cutting board": "asset3d/cutting_board/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "cucumber": "YES",
        "basket": "YES",
        "knife": "YES",
        "cutting board": "YES"
    },
    "position": {
        "franka": [
            -0.5634,
            0,
            0.7452,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.4855,
            0.0,
            0.8742
        ],
        "table": [
            0,
            0,
            0.3673,
            0,
            0,
            0,
            1
        ],
        "basket": [
            -0.0467,
            -0.2748,
            0.9442,
            0.0,
            0.0,
            0.7526,
            0.6585
        ],
        "cutting board": [
            0.0588,
            0.4429,
            0.7564,
            0.0,
            0.0,
            0.7099,
            -0.7043
        ],
        "knife": [
            0.4031,
            0.0377,
            0.7602,
            0.0,
            0.0,
            0.9833,
            0.182
        ],
        "cucumber": [
            -0.1192,
            0.1081,
            0.7765,
            0.0,
            0.0,
            0.7501,
            -0.6613
        ]
    }
}