{
    "tree": {
        "kitchen": [
            [
                "wooden striped table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "wooden striped table": [
            [
                "wooden spoon",
                "ON"
            ],
            [
                "white plate",
                "ON"
            ],
            [
                "salt shaker",
                "ON"
            ],
            [
                "napkin",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the wooden spoon on the white plate on wooden striped table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "wooden striped table",
        "manipulated_objs": [
            "wooden spoon",
            "white plate"
        ],
        "distractor_objs": [
            "salt shaker",
            "napkin"
        ]
    },
    "objs_desc": {
        "kitchen": "bright kitchen with polished countertops and warm ambient lighting",
        "wooden striped table": "standalone striped wooden table with rich grain and clean, empty top surface",
        "wooden spoon": "smooth carved wooden spoon with light oak finish and subtle matte texture",
        "white plate": "glossy ceramic white plate with slightly raised edges and clean surface",
        "salt shaker": "small transparent glass salt shaker with a stainless steel cap",
        "napkin": "folded cotton napkin with soft cream color and fine woven texture"
    },
    "objs_mapping": {
        "kitchen": "background",
        "wooden striped table": "context",
        "wooden spoon": "manipulated_objs",
        "white plate": "manipulated_objs",
        "salt shaker": "distractor_objs",
        "napkin": "distractor_objs"
    },
    "assets": {
        "wooden striped table": "asset3d/wooden_striped_table/result",
        "wooden spoon": "asset3d/wooden_spoon/result",
        "white plate": "asset3d/white_plate/result",
        "salt shaker": "asset3d/salt_shaker/result",
        "napkin": "asset3d/napkin/result",
        "kitchen": "background"
    },
    "quality": {
        "wooden striped table": "YES",
        "wooden spoon": "NO: The asset resembles a ladle, not a spoon, and lacks the elongated handle typical of a wooden spoon.",
        "white plate": "YES",
        "salt shaker": "YES",
        "napkin": "YES"
    },
    "position": {
        "franka": [
            -0.3988,
            0,
            0.7807,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.4066,
            0.0,
            0.9136
        ],
        "wooden striped table": [
            0,
            0,
            0.3788,
            0,
            0,
            0,
            1
        ],
        "white plate": [
            -0.0671,
            -0.1419,
            0.7951,
            0.0,
            0.0,
            0.6445,
            -0.7646
        ],
        "wooden spoon": [
            -0.0994,
            0.1318,
            0.811,
            0.0,
            0.0,
            0.0124,
            -0.9999
        ],
        "napkin": [
            0.0462,
            -0.3617,
            0.7995,
            0.0,
            0.0,
            0.5979,
            -0.8016
        ],
        "salt shaker": [
            0.2324,
            -0.1068,
            0.843,
            0.0,
            0.0,
            0.6691,
            -0.7432
        ]
    }
}