{
    "tree": {
        "kitchen": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "pear",
                "ON"
            ],
            [
                "pot",
                "ON"
            ],
            [
                "knife",
                "ON"
            ],
            [
                "plate",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the pear in the pot on the wooden striped table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "table",
        "manipulated_objs": [
            "pear",
            "pot"
        ],
        "distractor_objs": [
            "knife",
            "plate"
        ]
    },
    "objs_desc": {
        "kitchen": "bright modern kitchen with white marble counters and warm wooden flooring",
        "table": "standalone striped wooden table with polished surface and no surrounding objects",
        "pear": "smooth ripe pear with bright green skin and slight golden blush",
        "pot": "small stainless steel pot with brushed texture and shiny silver finish",
        "knife": "sleek steel knife with sharp blade and smooth black handle",
        "plate": "plain white ceramic plate with a slightly glossy finish and smooth edges"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "pear": "manipulated_objs",
        "pot": "manipulated_objs",
        "knife": "distractor_objs",
        "plate": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "pear": "asset3d/pear/result",
        "pot": "asset3d/pot/result",
        "knife": "asset3d/knife/result",
        "plate": "asset3d/plate/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "pear": "YES",
        "pot": "YES",
        "knife": "YES",
        "plate": "YES"
    },
    "position": {
        "franka": [
            -0.5995,
            0,
            0.6697,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.02,
            0.0,
            0.9998
        ],
        "table": [
            0,
            0,
            0.334,
            0,
            0,
            0,
            1
        ],
        "pot": [
            -0.0085,
            0.3404,
            0.8193,
            0.0,
            0.0,
            0.2887,
            -0.9574
        ],
        "plate": [
            0.422,
            0.27,
            0.6797,
            0.0,
            0.0,
            0.1934,
            -0.9811
        ],
        "knife": [
            -0.4183,
            -0.2677,
            0.6839,
            0.0,
            0.0,
            0.9985,
            0.055
        ],
        "pear": [
            -0.1637,
            0.0104,
            0.7318,
            0.0,
            0.0,
            0.922,
            0.3873
        ]
    }
}