{
    "tree": {
        "kitchen": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "broccoli",
                "ON"
            ],
            [
                "white dish",
                "ON"
            ],
            [
                "knife",
                "ON"
            ],
            [
                "cutting board",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the broccoli on the white dish on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "table",
        "manipulated_objs": [
            "broccoli",
            "white dish"
        ],
        "distractor_objs": [
            "knife",
            "cutting board"
        ]
    },
    "objs_desc": {
        "kitchen": "bright modern kitchen with smooth white tiles and stainless steel appliances",
        "table": "standalone wooden dining table with a polished dark walnut surface and empty top",
        "broccoli": "vibrant green broccoli head with natural uneven texture and slightly damp appearance",
        "white dish": "ceramic round dish with a smooth glossy surface and pure white color",
        "knife": "sharp steel knife with a straight-edged blade and black ergonomic handle",
        "cutting board": "rectangular bamboo cutting board with subtle grain patterns and rounded corners"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "broccoli": "manipulated_objs",
        "white dish": "manipulated_objs",
        "knife": "distractor_objs",
        "cutting board": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "broccoli": "asset3d/broccoli/result",
        "white dish": "asset3d/white_dish/result",
        "knife": "asset3d/knife/result",
        "cutting board": "asset3d/cutting_board/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "broccoli": "YES",
        "white dish": "YES",
        "knife": "YES",
        "cutting board": "YES"
    },
    "position": {
        "franka": [
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            0,
            0.746,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
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            0,
            0,
            0.0,
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            0.0,
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        ],
        "table": [
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            0,
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            0,
            0,
            0,
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        ],
        "cutting board": [
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            0.0,
            0.0,
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        ],
        "white dish": [
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            0.0,
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        ],
        "knife": [
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            0.0,
            0.0,
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        ],
        "broccoli": [
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            0.0,
            0.0,
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        ]
    }
}