{
    "tree": {
        "kitchen": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "ceramic teapot",
                "ON"
            ],
            [
                "tray",
                "ON"
            ],
            [
                "plate",
                "ON"
            ],
            [
                "mug",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Pick up the ceramic teapot and put it in the tray.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "table",
        "manipulated_objs": [
            "ceramic teapot",
            "tray"
        ],
        "distractor_objs": [
            "plate",
            "mug"
        ]
    },
    "objs_desc": {
        "kitchen": "bright kitchen with tiled backsplash, warm oak cabinetry, and glossy quartz countertops",
        "table": "standalone round wooden table with polished surface and no surrounding objects",
        "ceramic teapot": "glazed white ceramic teapot with a curved spout and smooth, shiny finish",
        "tray": "rectangular bamboo tray with raised edges and a natural matte texture",
        "plate": "plain porcelain plate with a subtle ivory tone and smooth glazed surface",
        "mug": "sturdy ceramic mug in pale blue with a slightly speckled, matte texture"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "ceramic teapot": "manipulated_objs",
        "tray": "manipulated_objs",
        "plate": "distractor_objs",
        "mug": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "ceramic teapot": "asset3d/ceramic_teapot/result",
        "tray": "asset3d/tray/result",
        "plate": "asset3d/plate/result",
        "mug": "asset3d/mug/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "ceramic teapot": "YES",
        "tray": "YES",
        "plate": "YES",
        "mug": "YES"
    },
    "position": {
        "franka": [
            -0.5333,
            0,
            0.797,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.3662,
            0.0,
            -0.9306
        ],
        "table": [
            0,
            0,
            0.3982,
            0,
            0,
            0,
            1
        ],
        "tray": [
            0.1224,
            -0.0226,
            0.8133,
            0.0,
            0.0,
            0.7773,
            0.6292
        ],
        "ceramic teapot": [
            0.0579,
            0.2499,
            0.9094,
            0.0,
            0.0,
            0.9145,
            0.4045
        ],
        "plate": [
            0.339,
            0.315,
            0.8117,
            0.0,
            0.0,
            0.5901,
            0.8074
        ],
        "mug": [
            -0.4005,
            0.0477,
            0.8516,
            0.0,
            0.0,
            0.9851,
            0.1718
        ]
    }
}