{
    "tree": {
        "kitchen": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "orange1",
                "ON"
            ],
            [
                "orange2",
                "ON"
            ],
            [
                "bowl",
                "ON"
            ],
            [
                "plate",
                "ON"
            ],
            [
                "spoon",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the oranges from wooden grain table to the bowl.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "table",
        "manipulated_objs": [
            "orange1",
            "orange2",
            "bowl"
        ],
        "distractor_objs": [
            "plate",
            "spoon"
        ]
    },
    "objs_desc": {
        "kitchen": "bright kitchen with tiled backsplash, white counters, and sunlight filtering through the window",
        "table": "standalone wooden grain table with smooth surface and empty top",
        "orange1": "vivid orange fruit with slightly textured peel and natural shine",
        "orange2": "ripe orange fruit with subtle dimples and vibrant citrus hue",
        "bowl": "ceramic bowl with glossy ivory glaze and slight curvature at the edges",
        "plate": "simple white porcelain plate with a smooth reflective finish",
        "spoon": "small stainless steel spoon with polished surface and tapered handle"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "orange1": "manipulated_objs",
        "orange2": "manipulated_objs",
        "bowl": "manipulated_objs",
        "plate": "distractor_objs",
        "spoon": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "orange1": "asset3d/orange1/result",
        "orange2": "asset3d/orange2/result",
        "bowl": "asset3d/bowl/result",
        "plate": "asset3d/plate/result",
        "spoon": "asset3d/spoon/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "orange1": "NO: The object resembles a peach or nectarine, not an orange.",
        "orange2": "YES",
        "bowl": "YES",
        "plate": "YES",
        "spoon": "YES"
    },
    "position": {
        "franka": [
            -0.9664,
            0,
            0.7663,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.6635,
            0.0,
            -0.7482
        ],
        "table": [
            0,
            0,
            0.3816,
            0,
            0,
            0,
            1
        ],
        "bowl": [
            -0.5533,
            -0.0412,
            0.8287,
            0.0,
            0.0,
            0.9996,
            -0.0297
        ],
        "spoon": [
            0.5886,
            -0.0599,
            0.7863,
            0.0,
            0.0,
            0.982,
            -0.1888
        ],
        "plate": [
            -0.0545,
            0.2476,
            0.7762,
            0.0,
            0.0,
            0.3155,
            0.9489
        ],
        "orange1": [
            -0.4728,
            0.1578,
            0.8106,
            0.0,
            0.0,
            0.8168,
            -0.577
        ],
        "orange2": [
            -0.3554,
            -0.0494,
            0.8101,
            0.0,
            0.0,
            0.9894,
            0.1455
        ]
    }
}