{
    "tree": {
        "kitchen": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "banana",
                "ON"
            ],
            [
                "red napkin",
                "ON"
            ],
            [
                "plate",
                "ON"
            ],
            [
                "mug",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Pick up the banana and place it on the red napkin on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "table",
        "manipulated_objs": [
            "banana",
            "red napkin"
        ],
        "distractor_objs": [
            "plate",
            "mug"
        ]
    },
    "objs_desc": {
        "kitchen": "bright modern kitchen with tiled backsplash and polished white countertops",
        "table": "standalone rectangular pinewood table with smooth surface and empty top",
        "banana": "ripe yellow banana with minor brown speckles and a slightly curved shape",
        "red napkin": "vivid red cotton napkin with soft folds and lightly frayed edges",
        "plate": "white ceramic plate with smooth glossy finish and subtle rim detailing",
        "mug": "simple porcelain mug in matte light blue with a sturdy handle"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "banana": "manipulated_objs",
        "red napkin": "manipulated_objs",
        "plate": "distractor_objs",
        "mug": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "banana": "asset3d/banana/result",
        "red napkin": "asset3d/red_napkin/result",
        "plate": "asset3d/plate/result",
        "mug": "asset3d/mug/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "banana": "YES",
        "red napkin": "YES",
        "plate": "YES",
        "mug": "YES"
    },
    "position": {
        "franka": [
            -0.2927,
            0,
            0.7477,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.6627,
            0.0,
            0.7488
        ],
        "table": [
            0,
            0,
            0.3755,
            0,
            0,
            0,
            1
        ],
        "plate": [
            -0.0775,
            0.5085,
            0.7579,
            0.0,
            0.0,
            0.9891,
            -0.1473
        ],
        "red napkin": [
            -0.007,
            0.1154,
            0.7663,
            0.0,
            0.0,
            0.9946,
            0.1035
        ],
        "banana": [
            0.2007,
            0.2013,
            0.7795,
            0.0,
            0.0,
            0.6885,
            0.7252
        ],
        "mug": [
            0.0614,
            -0.5676,
            0.8093,
            0.0,
            0.0,
            0.9225,
            0.3859
        ]
    }
}