{
    "tree": {
        "kitchen": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "plate",
                "ON"
            ],
            [
                "knife",
                "ON"
            ],
            [
                "bowl",
                "ON"
            ]
        ],
        "plate": [
            [
                "carrot",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the carrot on the plate on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "table",
        "manipulated_objs": [
            "carrot",
            "plate"
        ],
        "distractor_objs": [
            "knife",
            "bowl"
        ]
    },
    "objs_desc": {
        "kitchen": "bright and airy kitchen with white cabinets and polished oak flooring",
        "table": "standalone round walnut table with smooth surface and empty top",
        "carrot": "fresh orange carrot with textured skin and a small green leafy stem",
        "plate": "simple white ceramic plate with glossy finish and slight curvature",
        "knife": "stainless steel knife with a sharp edge and brushed metal handle",
        "bowl": "large glass bowl with subtle transparency and slightly curved rim"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "carrot": "manipulated_objs",
        "plate": "manipulated_objs",
        "knife": "distractor_objs",
        "bowl": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "carrot": "asset3d/carrot/result",
        "plate": "asset3d/plate/result",
        "knife": "asset3d/knife/result",
        "bowl": "asset3d/bowl/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "carrot": "YES",
        "plate": "YES",
        "knife": "YES",
        "bowl": "YES"
    },
    "position": {
        "franka": [
            -0.6734,
            0,
            0.7661,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.9879,
            0.0,
            0.1554
        ],
        "table": [
            0,
            0,
            0.377,
            0,
            0,
            0,
            1
        ],
        "knife": [
            0.0449,
            -0.1049,
            0.7777,
            0.0,
            0.0,
            0.9188,
            -0.3947
        ],
        "plate": [
            -0.0186,
            0.1916,
            0.7759,
            0.0,
            0.0,
            0.1107,
            -0.9939
        ],
        "bowl": [
            -0.4882,
            0.1942,
            0.8287,
            0.0,
            0.0,
            0.6365,
            -0.7712
        ],
        "carrot": [
            -0.0321,
            0.2053,
            0.8695,
            0.0,
            0.0,
            0.4521,
            0.892
        ]
    }
}