{
    "tree": {
        "kitchen": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "pear",
                "ON"
            ],
            [
                "pot",
                "ON"
            ],
            [
                "knife",
                "ON"
            ],
            [
                "plate",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the pear in the pot on the wooden striped table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "table",
        "manipulated_objs": [
            "pear",
            "pot"
        ],
        "distractor_objs": [
            "knife",
            "plate"
        ]
    },
    "objs_desc": {
        "kitchen": "bright rustic kitchen with white tiled walls and warm wooden cabinets",
        "table": "standalone wooden striped table with a glossy finish and empty smooth top",
        "pear": "ripe green pear with matte skin and small natural blemishes",
        "pot": "ceramic cooking pot with speckled grey glaze and wide circular rim",
        "knife": "shiny steel knife with serrated edge and dark wooden handle",
        "plate": "round ceramic plate with pale cream glaze and faint concentric ridges"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "pear": "manipulated_objs",
        "pot": "manipulated_objs",
        "knife": "distractor_objs",
        "plate": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "pear": "asset3d/pear/result",
        "pot": "asset3d/pot/result",
        "knife": "asset3d/knife/result",
        "plate": "asset3d/plate/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "pear": "YES",
        "pot": "YES",
        "knife": "YES",
        "plate": "YES"
    },
    "position": {
        "franka": [
            -0.4817,
            0,
            0.7967,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.7611,
            0.0,
            0.6486
        ],
        "table": [
            0,
            0,
            0.394,
            0,
            0,
            0,
            1
        ],
        "pot": [
            0.0045,
            0.0707,
            0.9055,
            0.0,
            0.0,
            0.09,
            -0.9959
        ],
        "knife": [
            0.0538,
            -0.2781,
            0.8109,
            0.0,
            0.0,
            0.4118,
            0.9113
        ],
        "plate": [
            0.2968,
            -0.1767,
            0.8098,
            0.0,
            0.0,
            0.9164,
            -0.4002
        ],
        "pear": [
            -0.1449,
            -0.1856,
            0.8589,
            0.0,
            0.0,
            0.1037,
            -0.9946
        ]
    }
}