{
    "tree": {
        "kitchen": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "green apple",
                "INSIDE"
            ],
            [
                "basket",
                "ON"
            ],
            [
                "plate",
                "ON"
            ],
            [
                "knife",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the green apple into the basket on the wooden mahogany table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "table",
        "manipulated_objs": [
            "green apple",
            "basket"
        ],
        "distractor_objs": [
            "plate",
            "knife"
        ]
    },
    "objs_desc": {
        "kitchen": "bright rustic kitchen with sunlight on white tiled walls and wooden cabinets",
        "table": "standalone polished mahogany table with smooth surface and no items on top",
        "green apple": "shiny green apple with realistic dimples and light matte surface texture",
        "basket": "woven wicker basket with beige fibers and slightly uneven round shape",
        "plate": "plain white ceramic plate with subtle gloss finish and smooth edges",
        "knife": "stainless steel kitchen knife with brushed metallic blade and dark wooden handle"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "green apple": "manipulated_objs",
        "basket": "manipulated_objs",
        "plate": "distractor_objs",
        "knife": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "green apple": "asset3d/green_apple/result",
        "basket": "asset3d/basket/result",
        "plate": "asset3d/plate/result",
        "knife": "asset3d/knife/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "green apple": "YES",
        "basket": "YES",
        "plate": "YES",
        "knife": "YES"
    },
    "position": {
        "franka": [
            -0.3458,
            0,
            0.7679,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.1218,
            0.0,
            0.9926
        ],
        "table": [
            0,
            0,
            0.3829,
            0,
            0,
            0,
            1
        ],
        "basket": [
            0.1518,
            -0.0188,
            0.9654,
            0.0,
            0.0,
            0.9698,
            0.2439
        ],
        "knife": [
            -0.1575,
            0.299,
            0.7844,
            0.0,
            0.0,
            0.5262,
            -0.8504
        ],
        "plate": [
            -0.079,
            -0.3542,
            0.7777,
            0.0,
            0.0,
            0.5129,
            0.8585
        ],
        "green apple": [
            0.2726,
            -0.2594,
            0.8123,
            0.0,
            0.0,
            0.8543,
            -0.5197
        ]
    }
}