{
    "tree": {
        "kitchen": [
            [
                "wooden grain table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "wooden grain table": [
            [
                "orange1",
                "ON"
            ],
            [
                "orange2",
                "ON"
            ],
            [
                "bowl",
                "ON"
            ],
            [
                "plate",
                "ON"
            ],
            [
                "spoon",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the oranges from the wooden grain table to the bowl.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "wooden grain table",
        "manipulated_objs": [
            "orange1",
            "orange2",
            "bowl"
        ],
        "distractor_objs": [
            "plate",
            "spoon"
        ]
    },
    "objs_desc": {
        "kitchen": "bright modern kitchen with white countertops and warm ambient lighting",
        "wooden grain table": "standalone rustic table with deep mahogany wood grain and clean empty top",
        "orange1": "ripe orange with smooth glossy surface and vibrant citrus hue",
        "orange2": "fresh orange with slightly dimpled skin and bold orange coloration",
        "bowl": "ceramic bowl with matte white finish and subtle curved edges",
        "plate": "flat porcelain plate with clean glossy surface and subtle rim detail",
        "spoon": "polished stainless steel spoon with narrow handle and reflective finish"
    },
    "objs_mapping": {
        "kitchen": "background",
        "wooden grain table": "context",
        "orange1": "manipulated_objs",
        "orange2": "manipulated_objs",
        "bowl": "manipulated_objs",
        "plate": "distractor_objs",
        "spoon": "distractor_objs"
    },
    "assets": {
        "wooden grain table": "asset3d/wooden_grain_table/result",
        "orange1": "asset3d/orange1/result",
        "orange2": "asset3d/orange2/result",
        "bowl": "asset3d/bowl/result",
        "plate": "asset3d/plate/result",
        "spoon": "asset3d/spoon/result",
        "kitchen": "background"
    },
    "quality": {
        "wooden grain table": "YES",
        "orange1": "YES",
        "orange2": "YES",
        "bowl": "YES",
        "plate": "YES",
        "spoon": "YES"
    },
    "position": {
        "franka": [
            -0.4081,
            0,
            0.7431,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.9884,
            0.0,
            0.1517
        ],
        "wooden grain table": [
            0,
            0,
            0.3685,
            0,
            0,
            0,
            1
        ],
        "plate": [
            -0.0974,
            -0.0008,
            0.7521,
            0.0,
            0.0,
            0.7078,
            0.7064
        ],
        "bowl": [
            0.205,
            0.1935,
            0.8058,
            0.0,
            0.0,
            0.445,
            0.8956
        ],
        "spoon": [
            -0.3459,
            0.1985,
            0.7539,
            0.0,
            0.0,
            0.4773,
            0.8787
        ],
        "orange1": [
            0.2709,
            -0.0087,
            0.7851,
            0.0,
            0.0,
            0.918,
            0.3965
        ],
        "orange2": [
            0.2245,
            -0.2561,
            0.7875,
            0.0,
            0.0,
            0.7454,
            0.6666
        ]
    }
}