{
    "tree": {
        "kitchen": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "knife",
                "ON"
            ],
            [
                "utensil holder",
                "ON"
            ],
            [
                "salt shaker",
                "ON"
            ],
            [
                "plate",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Pick up the knife and put it in the utensil holder on wooden textured table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "table",
        "manipulated_objs": [
            "knife",
            "utensil holder"
        ],
        "distractor_objs": [
            "salt shaker",
            "plate"
        ]
    },
    "objs_desc": {
        "kitchen": "bright contemporary kitchen with white tile backsplash and warm natural lighting",
        "table": "standalone wooden table with deep grain patterns and a smooth empty top",
        "knife": "shiny stainless steel knife with brushed metal texture and dark ergonomic handle",
        "utensil holder": "ceramic utensil holder with glossy white finish and subtle geometric patterns",
        "salt shaker": "transparent glass salt shaker with polished metal lid and fine white granules inside",
        "plate": "simple ceramic plate with matte off-white surface and faint speckled pattern"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "knife": "manipulated_objs",
        "utensil holder": "manipulated_objs",
        "salt shaker": "distractor_objs",
        "plate": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "knife": "asset3d/knife/result",
        "utensil holder": "asset3d/utensil_holder/result",
        "salt shaker": "asset3d/salt_shaker/result",
        "plate": "asset3d/plate/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "knife": "YES",
        "utensil holder": "YES",
        "salt shaker": "YES",
        "plate": "YES"
    },
    "position": {
        "franka": [
            -0.5938,
            0,
            0.7453,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.9334,
            0.0,
            0.3587
        ],
        "table": [
            0,
            0,
            0.3727,
            0,
            0,
            0,
            1
        ],
        "knife": [
            0.0267,
            -0.311,
            0.7603,
            0.0,
            0.0,
            0.9816,
            0.1911
        ],
        "plate": [
            -0.193,
            -0.2615,
            0.7546,
            0.0,
            0.0,
            0.3654,
            -0.9308
        ],
        "utensil holder": [
            -0.3004,
            0.0453,
            0.8201,
            0.0,
            0.0,
            0.3239,
            0.9461
        ],
        "salt shaker": [
            -0.047,
            0.2647,
            0.8051,
            0.0,
            0.0,
            0.7042,
            0.71
        ]
    }
}