{
    "tree": {
        "kitchen": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "cucumber",
                "ON"
            ],
            [
                "metal colander",
                "ON"
            ],
            [
                "knife",
                "ON"
            ],
            [
                "cutting board",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the cucumber in the metal colander on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "table",
        "manipulated_objs": [
            "cucumber",
            "metal colander"
        ],
        "distractor_objs": [
            "knife",
            "cutting board"
        ]
    },
    "objs_desc": {
        "kitchen": "bright modern kitchen with white tiled walls and stainless steel appliances",
        "table": "standalone rectangular wooden table with a polished surface and empty top",
        "cucumber": "fresh green cucumber with smooth glossy skin and slight curvature",
        "metal colander": "polished stainless steel colander with perforated sides and sturdy ringed base",
        "knife": "sharp kitchen knife with a black ergonomic handle and shiny stainless steel blade",
        "cutting board": "light bamboo cutting board with natural grain patterns and slightly beveled edges"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "cucumber": "manipulated_objs",
        "metal colander": "manipulated_objs",
        "knife": "distractor_objs",
        "cutting board": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "cucumber": "asset3d/cucumber/result",
        "metal colander": "asset3d/metal_colander/result",
        "knife": "asset3d/knife/result",
        "cutting board": "asset3d/cutting_board/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "cucumber": "YES",
        "metal colander": "YES",
        "knife": "YES",
        "cutting board": "YES"
    },
    "position": {
        "franka": [
            -0.4982,
            0,
            0.7457,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.849,
            0.0,
            -0.5284
        ],
        "table": [
            0,
            0,
            0.3732,
            0,
            0,
            0,
            1
        ],
        "cutting board": [
            0.1173,
            0.0104,
            0.7566,
            0.0,
            0.0,
            0.4652,
            -0.8852
        ],
        "metal colander": [
            0.7868,
            -0.9691,
            0.112,
            0.0,
            0.0,
            0.9179,
            0.3969
        ],
        "knife": [
            0.0573,
            0.4921,
            0.7588,
            0.0,
            0.0,
            0.1738,
            -0.9848
        ],
        "cucumber": [
            -0.1753,
            0.0657,
            0.7776,
            0.0,
            0.0,
            0.9973,
            0.0734
        ]
    }
}