{
    "tree": {
        "kitchen": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "banana",
                "ON"
            ],
            [
                "napkin",
                "ON"
            ],
            [
                "plate",
                "ON"
            ],
            [
                "fork",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Pick up the banana and place it on the napkin on wooden textured table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "table",
        "manipulated_objs": [
            "banana",
            "napkin"
        ],
        "distractor_objs": [
            "plate",
            "fork"
        ]
    },
    "objs_desc": {
        "kitchen": "bright contemporary kitchen with white countertops and polished stainless steel appliances",
        "table": "standalone wooden table with a rich dark grain texture and empty smooth surface",
        "banana": "ripe yellow banana with light brown speckled skin and smooth curved shape",
        "napkin": "folded cloth napkin with soft beige fibers and subtle woven patterns",
        "plate": "porcelain white plate with a glossy finish and faint circular indentations",
        "fork": "stainless steel fork with reflective polished surface and delicately tapered tines"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "banana": "manipulated_objs",
        "napkin": "manipulated_objs",
        "plate": "distractor_objs",
        "fork": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "banana": "asset3d/banana/result",
        "napkin": "asset3d/napkin/result",
        "plate": "asset3d/plate/result",
        "fork": "asset3d/fork/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "banana": "YES",
        "napkin": "YES",
        "plate": "YES",
        "fork": "NO: distorted geometry, handle and prongs are misshaped, not functional as a fork."
    },
    "position": {
        "franka": [
            -0.4717,
            0,
            0.7705,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.6157,
            0.0,
            -0.788
        ],
        "table": [
            0,
            0,
            0.3905,
            0,
            0,
            0,
            1
        ],
        "napkin": [
            -0.1587,
            -0.0358,
            0.7832,
            0.0,
            0.0,
            0.7854,
            0.619
        ],
        "plate": [
            -0.0287,
            0.513,
            0.7806,
            0.0,
            0.0,
            0.6754,
            0.7375
        ],
        "fork": [
            0.1288,
            -0.5185,
            0.8311,
            0.0,
            0.0,
            0.002,
            1.0
        ],
        "banana": [
            0.0828,
            -0.2791,
            0.856,
            0.0,
            0.0,
            0.4424,
            -0.8968
        ]
    }
}