{
    "tree": {
        "kitchen": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "fork",
                "ON"
            ],
            [
                "metal tray",
                "ON"
            ],
            [
                "plate",
                "ON"
            ],
            [
                "napkin",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the fork on the metal tray on the wooden textured table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "table",
        "manipulated_objs": [
            "fork",
            "metal tray"
        ],
        "distractor_objs": [
            "plate",
            "napkin"
        ]
    },
    "objs_desc": {
        "kitchen": "modern minimalist kitchen with smooth white cabinets and subtle stainless steel accents",
        "table": "standalone rectangular table with warm, rustic wood grain and an empty flat surface",
        "fork": "polished stainless steel fork with a sleek, reflective finish and straight tines",
        "metal tray": "shiny silver tray with a brushed metal texture and slightly raised edges",
        "plate": "plain ceramic plate in soft white with a subtle glossy glaze and smooth edges",
        "napkin": "folded cotton napkin in light gray with crisp corners and faint stitched details"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "fork": "manipulated_objs",
        "metal tray": "manipulated_objs",
        "plate": "distractor_objs",
        "napkin": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "fork": "asset3d/fork/result",
        "metal tray": "asset3d/metal_tray/result",
        "plate": "asset3d/plate/result",
        "napkin": "asset3d/napkin/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "fork": "NO: Fork geometry is distorted; resembles a bent spoon rather than a functional fork.",
        "metal tray": "YES",
        "plate": "YES",
        "napkin": "YES"
    },
    "position": {
        "franka": [
            -0.5543,
            0,
            0.746,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.2135,
            0.0,
            0.9769
        ],
        "table": [
            0,
            0,
            0.3711,
            0,
            0,
            0,
            1
        ],
        "metal tray": [
            -0.2288,
            0.0165,
            0.7586,
            0.0,
            0.0,
            0.6777,
            -0.7353
        ],
        "fork": [
            0.1173,
            0.04,
            0.7878,
            0.0,
            0.0,
            0.8188,
            0.5741
        ],
        "plate": [
            0.2587,
            0.4578,
            0.7555,
            0.0,
            0.0,
            0.3803,
            0.9249
        ],
        "napkin": [
            -0.0182,
            -0.8122,
            0.7652,
            0.0,
            0.0,
            0.3702,
            -0.9289
        ]
    }
}