{
    "tree": {
        "kitchen": [
            [
                "wooden textured table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "wooden textured table": [
            [
                "spoon",
                "ON"
            ],
            [
                "black jar",
                "ON"
            ],
            [
                "plate",
                "ON"
            ],
            [
                "napkin",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the spoon into the black jar on the wooden textured table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "wooden textured table",
        "manipulated_objs": [
            "spoon",
            "black jar"
        ],
        "distractor_objs": [
            "plate",
            "napkin"
        ]
    },
    "objs_desc": {
        "kitchen": "bright, modern kitchen with stainless steel appliances and white tiled backsplash",
        "wooden textured table": "standalone rectangular oak table with prominent grain patterns and smooth empty top",
        "spoon": "shiny stainless steel spoon with polished surface and tapered handle",
        "black jar": "matte black ceramic jar with a subtle texture and wide open top",
        "plate": "white porcelain plate with slight gloss and faint concentric ridges",
        "napkin": "soft linen napkin in pale beige with finely stitched edges"
    },
    "objs_mapping": {
        "kitchen": "background",
        "wooden textured table": "context",
        "spoon": "manipulated_objs",
        "black jar": "manipulated_objs",
        "plate": "distractor_objs",
        "napkin": "distractor_objs"
    },
    "assets": {
        "wooden textured table": "asset3d/wooden_textured_table/result",
        "spoon": "asset3d/spoon/result",
        "black jar": "asset3d/black_jar/result",
        "plate": "asset3d/plate/result",
        "napkin": "asset3d/napkin/result",
        "kitchen": "background"
    },
    "quality": {
        "wooden textured table": "YES",
        "spoon": "YES",
        "black jar": "YES",
        "plate": "YES",
        "napkin": "YES"
    },
    "position": {
        "franka": [
            -0.4504,
            0,
            0.7926,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.5741,
            0.0,
            0.8188
        ],
        "wooden textured table": [
            0,
            0,
            0.3966,
            0,
            0,
            0,
            1
        ],
        "plate": [
            0.2622,
            -0.1248,
            0.8077,
            0.0,
            0.0,
            0.9968,
            0.0805
        ],
        "napkin": [
            0.0556,
            -0.6079,
            0.8111,
            0.0,
            0.0,
            0.1744,
            0.9847
        ],
        "spoon": [
            -0.1067,
            0.0596,
            0.811,
            0.0,
            0.0,
            0.3928,
            0.9196
        ],
        "black jar": [
            -0.1923,
            -0.139,
            0.8925,
            0.0,
            0.0,
            0.7168,
            -0.6972
        ]
    }
}