{
    "tree": {
        "kitchen": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "tomato",
                "ON"
            ],
            [
                "saucepan",
                "ON"
            ],
            [
                "knife",
                "ON"
            ],
            [
                "cutting board",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Place the tomato in the saucepan on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "table",
        "manipulated_objs": [
            "tomato",
            "saucepan"
        ],
        "distractor_objs": [
            "knife",
            "cutting board"
        ]
    },
    "objs_desc": {
        "kitchen": "bright modern kitchen with tiled backsplash and polished granite countertops",
        "table": "standalone pinewood table with clean surface and light honey-colored finish",
        "tomato": "ripe red tomato with smooth glossy skin and a small green stem",
        "saucepan": "shiny stainless steel saucepan with matte black handle and slightly reflective surface",
        "knife": "sleek silver kitchen knife with a sharp blade and ergonomic black handle",
        "cutting board": "light bamboo cutting board with visible wood grain and rounded edges"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "tomato": "manipulated_objs",
        "saucepan": "manipulated_objs",
        "knife": "distractor_objs",
        "cutting board": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "tomato": "asset3d/tomato/result",
        "saucepan": "asset3d/saucepan/result",
        "knife": "asset3d/knife/result",
        "cutting board": "asset3d/cutting_board/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "tomato": "YES",
        "saucepan": "YES",
        "knife": "YES",
        "cutting board": "YES"
    },
    "position": {
        "franka": [
            -0.4012,
            0,
            0.749,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
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            0,
            0,
            0.0,
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            0.0,
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        ],
        "table": [
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            0,
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            0,
            0,
            0,
            1
        ],
        "saucepan": [
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            0.0,
            0.0,
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        ],
        "cutting board": [
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            0.0,
            0.0,
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        ],
        "knife": [
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            -0.2631,
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            0.0,
            0.0,
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        ],
        "tomato": [
            0.1854,
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            0.7958,
            0.0,
            0.0,
            0.2396,
            0.9709
        ]
    }
}