{
    "tree": {
        "kitchen": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "green apple",
                "INSIDE"
            ],
            [
                "basket",
                "ON"
            ],
            [
                "knife",
                "ON"
            ],
            [
                "plate",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the green apple into the basket on the wooden mahogany table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "table",
        "manipulated_objs": [
            "green apple",
            "basket"
        ],
        "distractor_objs": [
            "knife",
            "plate"
        ]
    },
    "objs_desc": {
        "kitchen": "bright, open kitchen with white cabinets and smooth marble countertops",
        "table": "standalone polished mahogany table with a glossy surface and empty top",
        "green apple": "vibrant green apple with smooth waxy skin and subtle dimples",
        "basket": "woven wicker basket with natural brown texture and curved handles",
        "knife": "sleek stainless steel knife with a sharp edge and ergonomic black handle",
        "plate": "white ceramic plate with smooth matte finish and faint circular ridges"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "green apple": "manipulated_objs",
        "basket": "manipulated_objs",
        "knife": "distractor_objs",
        "plate": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "green apple": "asset3d/green_apple/result",
        "basket": "asset3d/basket/result",
        "knife": "asset3d/knife/result",
        "plate": "asset3d/plate/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "green apple": "YES",
        "basket": "YES",
        "knife": "YES",
        "plate": "YES"
    },
    "position": {
        "franka": [
            -0.3726,
            0,
            0.4453,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
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            0,
            0,
            0.0,
            0.7757,
            0.0,
            0.6311
        ],
        "table": [
            0,
            0,
            0.223,
            0,
            0,
            0,
            1
        ],
        "basket": [
            0.0658,
            0.2253,
            0.593,
            0.0,
            0.0,
            0.9969,
            -0.0792
        ],
        "knife": [
            0.1228,
            -0.3587,
            0.4588,
            0.0,
            0.0,
            0.2246,
            -0.9744
        ],
        "plate": [
            -0.1166,
            -0.1655,
            0.4547,
            0.0,
            0.0,
            0.6638,
            0.7479
        ],
        "green apple": [
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            -0.0658,
            0.4897,
            0.0,
            0.0,
            0.4419,
            -0.8971
        ]
    }
}