{
    "tree": {
        "kitchen": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "orange1",
                "ON"
            ],
            [
                "orange2",
                "ON"
            ],
            [
                "bowl",
                "ON"
            ],
            [
                "spoon",
                "ON"
            ],
            [
                "plate",
                "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": [
            "spoon",
            "plate"
        ]
    },
    "objs_desc": {
        "kitchen": "warm rustic kitchen with cream walls, wooden cabinets, and soft ambient lighting",
        "table": "standalone wooden grain table with smooth surface and empty top",
        "orange1": "plump, vibrant orange with textured skin and faint glossy highlights",
        "orange2": "ripe orange with slightly irregular shape and dimpled, matte surface",
        "bowl": "ceramic white bowl with smooth finish and subtle curved edges",
        "spoon": "sleek silver spoon with polished surface and narrow stem",
        "plate": "round porcelain plate with clean white glaze and delicate rim detailing"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "orange1": "manipulated_objs",
        "orange2": "manipulated_objs",
        "bowl": "manipulated_objs",
        "spoon": "distractor_objs",
        "plate": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "orange1": "asset3d/orange1/result",
        "orange2": "asset3d/orange2/result",
        "bowl": "asset3d/bowl/result",
        "spoon": "asset3d/spoon/result",
        "plate": "asset3d/plate/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "orange1": "YES",
        "orange2": "YES",
        "bowl": "YES",
        "spoon": "YES",
        "plate": "YES"
    },
    "position": {
        "franka": [
            -0.9346,
            0,
            0.7416,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.4313,
            0.0,
            -0.9022
        ],
        "table": [
            0,
            0,
            0.3693,
            0,
            0,
            0,
            1
        ],
        "bowl": [
            -0.5583,
            -0.1134,
            0.8039,
            0.0,
            0.0,
            0.0407,
            -0.9992
        ],
        "spoon": [
            -0.4727,
            0.3648,
            0.7609,
            0.0,
            0.0,
            0.9217,
            0.388
        ],
        "orange1": [
            -0.2852,
            0.2339,
            0.7841,
            0.0,
            0.0,
            0.785,
            -0.6195
        ],
        "orange2": [
            -0.565,
            0.1625,
            0.7834,
            0.0,
            0.0,
            0.9567,
            0.2909
        ],
        "plate": [
            0.036,
            0.1311,
            0.743,
            0.0,
            0.0,
            0.0439,
            -0.999
        ]
    }
}