{
    "tree": {
        "kitchen": [
            [
                "wooden grain table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "wooden grain table": [
            [
                "cucumber",
                "ON"
            ],
            [
                "metal colander",
                "ON"
            ],
            [
                "knife",
                "ON"
            ],
            [
                "cutting board",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the cucumber in the metal colander on wooden grain table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "wooden grain table",
        "manipulated_objs": [
            "cucumber",
            "metal colander"
        ],
        "distractor_objs": [
            "knife",
            "cutting board"
        ]
    },
    "objs_desc": {
        "kitchen": "bright modern kitchen with stainless steel appliances and white marble countertops",
        "wooden grain table": "standalone light oak table with smooth surface and no items on top",
        "cucumber": "fresh green cucumber with a slightly bumpy surface and vibrant skin",
        "metal colander": "shiny stainless steel colander with small perforations and rounded edges",
        "knife": "sleek silver chef's knife with sharp edge and black ergonomic handle",
        "cutting board": "rectangular bamboo cutting board with subtle wood grain and smooth surface"
    },
    "objs_mapping": {
        "kitchen": "background",
        "wooden grain table": "context",
        "cucumber": "manipulated_objs",
        "metal colander": "manipulated_objs",
        "knife": "distractor_objs",
        "cutting board": "distractor_objs"
    },
    "assets": {
        "wooden grain table": "asset3d/wooden_grain_table/result",
        "cucumber": "asset3d/cucumber/result",
        "metal colander": "asset3d/metal_colander/result",
        "knife": "asset3d/knife/result",
        "cutting board": "asset3d/cutting_board/result",
        "kitchen": "background"
    },
    "quality": {
        "wooden grain table": "YES",
        "cucumber": "YES",
        "metal colander": "YES",
        "knife": "YES",
        "cutting board": "YES"
    },
    "position": {
        "franka": [
            -0.504,
            0,
            0.7421,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.2621,
            0.0,
            -0.9651
        ],
        "wooden grain table": [
            0,
            0,
            0.3743,
            0,
            0,
            0,
            1
        ],
        "cutting board": [
            -0.0035,
            0.264,
            0.7527,
            0.0,
            0.0,
            0.4009,
            0.9161
        ],
        "metal colander": [
            0.0277,
            -0.2646,
            0.8297,
            0.0,
            0.0,
            0.7455,
            -0.6665
        ],
        "knife": [
            0.2949,
            -0.5004,
            0.7548,
            0.0,
            0.0,
            0.5389,
            -0.8424
        ],
        "cucumber": [
            -0.2429,
            -0.1457,
            0.7748,
            0.0,
            0.0,
            0.8956,
            0.4448
        ]
    }
}