{
    "tree": {
        "kitchen": [
            [
                "wooden walnut table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "wooden walnut table": [
            [
                "orange",
                "ON"
            ],
            [
                "napkin",
                "ON"
            ],
            [
                "knife",
                "ON"
            ],
            [
                "plate",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Pick up the orange and place it on the napkin on wooden walnut table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "wooden walnut table",
        "manipulated_objs": [
            "orange",
            "napkin"
        ],
        "distractor_objs": [
            "knife",
            "plate"
        ]
    },
    "objs_desc": {
        "kitchen": "warm rustic kitchen with sunlight streaming through windows and tiled stone flooring",
        "wooden walnut table": "standalone polished walnut table with empty top and rich deep brown grains",
        "orange": "vibrant orange fruit with slightly dimpled skin and glossy natural sheen",
        "napkin": "folded white cotton napkin with subtle fabric texture and clean, crisp edges",
        "knife": "stainless steel knife with smooth metallic finish and sleek black plastic handle",
        "plate": "ceramic white plate with a glossy surface and minimal rim detail"
    },
    "objs_mapping": {
        "kitchen": "background",
        "wooden walnut table": "context",
        "orange": "manipulated_objs",
        "napkin": "manipulated_objs",
        "knife": "distractor_objs",
        "plate": "distractor_objs"
    },
    "assets": {
        "wooden walnut table": "asset3d/wooden_walnut_table/result",
        "orange": "asset3d/orange/result",
        "napkin": "asset3d/napkin/result",
        "knife": "asset3d/knife/result",
        "plate": "asset3d/plate/result",
        "kitchen": "background"
    },
    "quality": {
        "wooden walnut table": "YES",
        "orange": "YES",
        "napkin": "YES",
        "knife": "YES",
        "plate": "YES"
    },
    "position": {
        "franka": [
            -0.308,
            0,
            0.746,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.048,
            0.0,
            0.9988
        ],
        "wooden walnut table": [
            0,
            0,
            0.3737,
            0,
            0,
            0,
            1
        ],
        "knife": [
            -0.0026,
            -0.2488,
            0.7655,
            0.0,
            0.0,
            0.8832,
            -0.4689
        ],
        "napkin": [
            0.2016,
            0.0954,
            0.7597,
            0.0,
            0.0,
            0.9993,
            -0.0367
        ],
        "orange": [
            -0.0087,
            0.0091,
            0.7898,
            0.0,
            0.0,
            0.8896,
            0.4567
        ],
        "plate": [
            -0.1697,
            -0.1404,
            0.7478,
            0.0,
            0.0,
            0.8175,
            -0.576
        ]
    }
}