{
    "tree": {
        "kitchen": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "teacup",
                "ON"
            ],
            [
                "plate",
                "ON"
            ],
            [
                "spoon",
                "ON"
            ],
            [
                "napkin",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the teacup on the plate on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "table",
        "manipulated_objs": [
            "teacup",
            "plate"
        ],
        "distractor_objs": [
            "spoon",
            "napkin"
        ]
    },
    "objs_desc": {
        "kitchen": "bright kitchen with sleek white countertops, wooden cabinets, and tiled floor",
        "table": "standalone polished mahogany table with an empty smooth flat top surface",
        "teacup": "glazed ceramic teacup with a delicate floral design and soft pastel pink finish",
        "plate": "ivory porcelain plate with subtle embossed edges and smooth glossy surface",
        "spoon": "stainless steel spoon with a mirror-like reflective surface and slender curved handle",
        "napkin": "folded linen napkin with fine stitching, soft cream color, and textured fabric"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "teacup": "manipulated_objs",
        "plate": "manipulated_objs",
        "spoon": "distractor_objs",
        "napkin": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "teacup": "asset3d/teacup/result",
        "plate": "asset3d/plate/result",
        "spoon": "asset3d/spoon/result",
        "napkin": "asset3d/napkin/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "teacup": "YES",
        "plate": "YES",
        "spoon": "YES",
        "napkin": "YES"
    },
    "position": {
        "franka": [
            -0.6531,
            0,
            0.7486,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.3796,
            0.0,
            -0.9252
        ],
        "table": [
            0,
            0,
            0.3765,
            0,
            0,
            0,
            1
        ],
        "spoon": [
            -0.4773,
            0.1935,
            0.7807,
            0.0,
            0.0,
            0.4366,
            -0.8997
        ],
        "plate": [
            -0.231,
            -0.0422,
            0.7639,
            0.0,
            0.0,
            0.9974,
            -0.0722
        ],
        "teacup": [
            -0.0281,
            -0.1859,
            0.7987,
            0.0,
            0.0,
            0.5002,
            0.8659
        ],
        "napkin": [
            0.2045,
            0.4511,
            0.7677,
            0.0,
            0.0,
            0.85,
            -0.5268
        ]
    }
}