{
    "tree": {
        "kitchen": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "ceramic teapot",
                "ON"
            ],
            [
                "tray",
                "ON"
            ],
            [
                "mug",
                "ON"
            ],
            [
                "plate",
                "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": [
            "mug",
            "plate"
        ]
    },
    "objs_desc": {
        "kitchen": "bright modern kitchen with polished marble counters and stainless steel appliances",
        "table": "standalone light oak table with smooth finish and empty top surface",
        "ceramic teapot": "glossy white ceramic teapot with delicate floral patterns and curved spout",
        "tray": "rectangular metal tray with brushed silver finish and slightly raised edges",
        "mug": "matte navy blue mug with a chunky handle and subtle speckled texture",
        "plate": "simple ivory porcelain plate with a slight rim and glossy smooth surface"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "ceramic teapot": "manipulated_objs",
        "tray": "manipulated_objs",
        "mug": "distractor_objs",
        "plate": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "ceramic teapot": "asset3d/ceramic_teapot/result",
        "tray": "asset3d/tray/result",
        "mug": "asset3d/mug/result",
        "plate": "asset3d/plate/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "ceramic teapot": "YES",
        "tray": "YES",
        "mug": "YES",
        "plate": "YES"
    },
    "position": {
        "franka": [
            -0.5063,
            0,
            0.7439,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.9286,
            0.0,
            0.3711
        ],
        "table": [
            0,
            0,
            0.373,
            0,
            0,
            0,
            1
        ],
        "plate": [
            -0.1655,
            -0.447,
            0.7606,
            0.0,
            0.0,
            0.3656,
            -0.9308
        ],
        "tray": [
            0.0845,
            -0.0344,
            0.7636,
            0.0,
            0.0,
            0.7689,
            0.6394
        ],
        "ceramic teapot": [
            -0.222,
            -0.0087,
            0.8825,
            0.0,
            0.0,
            0.9853,
            0.1708
        ],
        "mug": [
            0.1345,
            0.2617,
            0.806,
            0.0,
            0.0,
            0.1323,
            0.9912
        ]
    }
}