{
    "tree": {
        "kitchen": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "spoon",
                "ON"
            ],
            [
                "black jar",
                "ON"
            ],
            [
                "plate",
                "ON"
            ],
            [
                "glass bottle",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the spoon into the black jar on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "table",
        "manipulated_objs": [
            "spoon",
            "black jar"
        ],
        "distractor_objs": [
            "plate",
            "glass bottle"
        ]
    },
    "objs_desc": {
        "kitchen": "sleek, modern kitchen with white marble countertops and soft ambient lighting",
        "table": "standalone rustic wooden table with smooth surface and clean empty top",
        "spoon": "shiny stainless steel spoon with polished surface and slim handle design",
        "black jar": "matte black ceramic jar with cylindrical shape and smooth, elegant finish",
        "plate": "plain white porcelain plate with subtle glossy sheen and rounded edges",
        "glass bottle": "transparent green glass bottle with textured sides and narrow neck"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "spoon": "manipulated_objs",
        "black jar": "manipulated_objs",
        "plate": "distractor_objs",
        "glass bottle": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "spoon": "asset3d/spoon/result",
        "black jar": "asset3d/black_jar/result",
        "plate": "asset3d/plate/result",
        "glass bottle": "asset3d/glass_bottle/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "spoon": "YES",
        "black jar": "YES",
        "plate": "YES",
        "glass bottle": "YES"
    },
    "position": {
        "franka": [
            -0.4529,
            0,
            0.7716,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.9578,
            0.0,
            0.2876
        ],
        "table": [
            0,
            0,
            0.3908,
            0,
            0,
            0,
            1
        ],
        "plate": [
            -0.0769,
            -0.0752,
            0.7822,
            0.0,
            0.0,
            0.7156,
            0.6985
        ],
        "spoon": [
            0.2465,
            -0.0003,
            0.7939,
            0.0,
            0.0,
            0.8249,
            -0.5652
        ],
        "black jar": [
            0.0363,
            0.2349,
            0.884,
            0.0,
            0.0,
            0.1758,
            -0.9844
        ],
        "glass bottle": [
            -0.3208,
            0.0936,
            0.8841,
            0.0,
            0.0,
            0.9282,
            0.3721
        ]
    }
}