{
    "tree": {
        "kitchen": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "ceramic teapot",
                "ON"
            ],
            [
                "tray",
                "ON"
            ],
            [
                "plate",
                "ON"
            ],
            [
                "cup",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Pick up the ceramic teapot and put it in the tray.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "table",
        "manipulated_objs": [
            "ceramic teapot",
            "tray"
        ],
        "distractor_objs": [
            "plate",
            "cup"
        ]
    },
    "objs_desc": {
        "kitchen": "bright modern kitchen with polished marble countertops and stainless steel appliances",
        "table": "standalone light pinewood table with a smooth surface and empty top",
        "ceramic teapot": "glossy white ceramic teapot with rounded body and curved spout",
        "tray": "rectangular wooden tray with clean edges, natural grain, and warm amber tones",
        "plate": "simple off-white ceramic plate with subtle matte texture and circular shape",
        "cup": "sleek glass cup with clear transparency and slightly curved rim"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "ceramic teapot": "manipulated_objs",
        "tray": "manipulated_objs",
        "plate": "distractor_objs",
        "cup": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "ceramic teapot": "asset3d/ceramic_teapot/result",
        "tray": "asset3d/tray/result",
        "plate": "asset3d/plate/result",
        "cup": "asset3d/cup/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "ceramic teapot": "YES",
        "tray": "YES",
        "plate": "YES",
        "cup": "YES"
    },
    "position": {
        "franka": [
            -0.6685,
            0,
            0.7484,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.4233,
            0.0,
            -0.906
        ],
        "table": [
            0,
            0,
            0.3667,
            0,
            0,
            0,
            1
        ],
        "tray": [
            -0.1422,
            0.0527,
            0.7636,
            0.0,
            0.0,
            0.8015,
            0.598
        ],
        "plate": [
            -0.3706,
            0.3876,
            0.7585,
            0.0,
            0.0,
            0.8768,
            0.4808
        ],
        "ceramic teapot": [
            -0.0766,
            -0.2763,
            0.8617,
            0.0,
            0.0,
            0.994,
            0.1092
        ],
        "cup": [
            0.1254,
            -0.5859,
            0.8091,
            0.0,
            0.0,
            0.3082,
            0.9513
        ]
    }
}