{
    "tree": {
        "kitchen": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "wooden spoon",
                "ON"
            ],
            [
                "white plate",
                "ON"
            ],
            [
                "glass cup",
                "ON"
            ],
            [
                "napkin",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the wooden spoon on the white plate on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "table",
        "manipulated_objs": [
            "wooden spoon",
            "white plate"
        ],
        "distractor_objs": [
            "glass cup",
            "napkin"
        ]
    },
    "objs_desc": {
        "kitchen": "bright kitchen with stainless steel accents and polished wooden cabinetry",
        "table": "standalone rectangular table made of smooth cherry wood with an empty surface",
        "wooden spoon": "smooth pine wooden spoon with natural grain texture and rounded edges",
        "white plate": "glossy ceramic white plate with clean, curved edges and a reflective surface",
        "glass cup": "transparent glass cup with subtle ridges and a polished shine",
        "napkin": "soft white linen napkin folded neatly with fine stitched borders"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "wooden spoon": "manipulated_objs",
        "white plate": "manipulated_objs",
        "glass cup": "distractor_objs",
        "napkin": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "wooden spoon": "asset3d/wooden_spoon/result",
        "white plate": "asset3d/white_plate/result",
        "glass cup": "asset3d/glass_cup/result",
        "napkin": "asset3d/napkin/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "wooden spoon": "YES",
        "white plate": "YES",
        "glass cup": "YES",
        "napkin": "YES"
    },
    "position": {
        "franka": [
            -0.3725,
            0,
            0.6706,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.9357,
            0.0,
            0.3527
        ],
        "table": [
            0,
            0,
            0.3347,
            0,
            0,
            0,
            1
        ],
        "white plate": [
            0.0362,
            -0.0356,
            0.6795,
            0.0,
            0.0,
            0.6249,
            0.7807
        ],
        "wooden spoon": [
            0.2228,
            0.3255,
            0.7017,
            0.0,
            0.0,
            0.5468,
            0.8372
        ],
        "napkin": [
            -0.1602,
            0.2871,
            0.6845,
            0.0,
            0.0,
            0.3901,
            -0.9208
        ],
        "glass cup": [
            -0.2283,
            0.4916,
            0.7324,
            0.0,
            0.0,
            0.216,
            0.9764
        ]
    }
}