{
    "tree": {
        "kitchen": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "orange",
                "ON"
            ],
            [
                "blue napkin",
                "ON"
            ],
            [
                "knife",
                "ON"
            ],
            [
                "plate",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Pick up the orange and place it on the blue napkin on table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "table",
        "manipulated_objs": [
            "orange",
            "blue napkin"
        ],
        "distractor_objs": [
            "knife",
            "plate"
        ]
    },
    "objs_desc": {
        "kitchen": "bright, modern kitchen with smooth white counters and stainless steel appliances",
        "table": "standalone wooden table with polished surface and clean empty top",
        "orange": "vibrant orange fruit with slightly dimpled skin and matte finish",
        "blue napkin": "soft blue cloth napkin with delicate stitching and slight wrinkles",
        "knife": "sleek stainless steel knife with shiny blade and black textured grip handle",
        "plate": "plain ceramic plate with smooth glossy white surface and subtle rim"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "orange": "manipulated_objs",
        "blue napkin": "manipulated_objs",
        "knife": "distractor_objs",
        "plate": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "orange": "asset3d/orange/result",
        "blue napkin": "asset3d/blue_napkin/result",
        "knife": "asset3d/knife/result",
        "plate": "asset3d/plate/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "orange": "YES",
        "blue napkin": "YES",
        "knife": "YES",
        "plate": "YES"
    },
    "position": {
        "franka": [
            -0.5829,
            0,
            0.797,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.9774,
            0.0,
            0.2115
        ],
        "table": [
            0,
            0,
            0.4059,
            0,
            0,
            0,
            1
        ],
        "blue napkin": [
            0.0634,
            -0.0165,
            0.8107,
            0.0,
            0.0,
            0.6151,
            0.7885
        ],
        "plate": [
            -0.441,
            0.4498,
            0.8064,
            0.0,
            0.0,
            0.6687,
            -0.7436
        ],
        "knife": [
            0.4227,
            -0.3511,
            0.9098,
            0.0,
            0.0,
            0.9593,
            -0.2825
        ],
        "orange": [
            -0.273,
            -0.1737,
            0.8414,
            0.0,
            0.0,
            0.6564,
            0.7544
        ]
    }
}