{
    "tree": {
        "kitchen": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "orange",
                "ON"
            ],
            [
                "blue napkin",
                "ON"
            ],
            [
                "plate",
                "ON"
            ],
            [
                "spoon",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Pick up the orange and place it on the blue napkin on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "table",
        "manipulated_objs": [
            "orange",
            "blue napkin"
        ],
        "distractor_objs": [
            "plate",
            "spoon"
        ]
    },
    "objs_desc": {
        "kitchen": "bright, modern kitchen with sleek white cabinets and a polished marble countertop",
        "table": "standalone wooden dining table with smooth surface and empty, well-polished top",
        "orange": "vibrant orange fruit with slightly textured peel and natural dimples",
        "blue napkin": "folded cotton napkin in deep royal blue with soft fabric texture",
        "plate": "glossy white ceramic plate with subtle curved edges and a clean shine",
        "spoon": "stainless steel spoon with a reflective surface and smooth handle"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "orange": "manipulated_objs",
        "blue napkin": "manipulated_objs",
        "plate": "distractor_objs",
        "spoon": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "orange": "asset3d/orange/result",
        "blue napkin": "asset3d/blue_napkin/result",
        "plate": "asset3d/plate/result",
        "spoon": "asset3d/spoon/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "orange": "YES",
        "blue napkin": "YES",
        "plate": "YES",
        "spoon": "YES"
    },
    "position": {
        "franka": [
            -0.4734,
            0,
            0.7467,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.4731,
            0.0,
            0.881
        ],
        "table": [
            0,
            0,
            0.3716,
            0,
            0,
            0,
            1
        ],
        "plate": [
            -0.0789,
            -0.1775,
            0.758,
            0.0,
            0.0,
            0.8497,
            -0.5272
        ],
        "blue napkin": [
            0.1252,
            0.2257,
            0.7612,
            0.0,
            0.0,
            0.9873,
            0.159
        ],
        "spoon": [
            0.0484,
            0.0302,
            0.7597,
            0.0,
            0.0,
            0.6754,
            0.7375
        ],
        "orange": [
            0.144,
            -0.205,
            0.7909,
            0.0,
            0.0,
            0.0398,
            -0.9992
        ]
    }
}