{
    "tree": {
        "kitchen": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "apple",
                "ON"
            ],
            [
                "plate",
                "ON"
            ],
            [
                "glass",
                "ON"
            ],
            [
                "book",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Pick up the apple on the table and put it in the plate on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "table",
        "manipulated_objs": [
            "apple",
            "plate"
        ],
        "distractor_objs": [
            "glass",
            "book"
        ]
    },
    "objs_desc": {
        "kitchen": "bright kitchen with white tiled walls, wood countertops, and warm ambient lighting",
        "table": "standalone rectangular oak table with polished surface and empty top",
        "apple": "shiny red apple with subtle dimples and smooth waxy skin",
        "plate": "ceramic plate with a matte white finish and slightly raised edges",
        "glass": "transparent drinking glass with smooth vertical grooves and faint water stains",
        "book": "hardcover book with a navy blue fabric cover and embossed golden title"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "apple": "manipulated_objs",
        "plate": "manipulated_objs",
        "glass": "distractor_objs",
        "book": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "apple": "asset3d/apple/result",
        "plate": "asset3d/plate/result",
        "glass": "asset3d/glass/result",
        "book": "asset3d/book/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "apple": "YES",
        "plate": "YES",
        "glass": "YES",
        "book": "YES"
    },
    "position": {
        "franka": [
            -0.3619,
            0,
            0.7462,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
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            0,
            0,
            0.0,
            0.7622,
            0.0,
            0.6473
        ],
        "table": [
            0,
            0,
            0.3645,
            0,
            0,
            0,
            1
        ],
        "plate": [
            0.1933,
            0.0389,
            0.7557,
            0.0,
            0.0,
            0.198,
            0.9802
        ],
        "book": [
            -0.008,
            0.007,
            0.7657,
            0.0,
            0.0,
            0.9999,
            -0.0147
        ],
        "apple": [
            0.1961,
            -0.1769,
            0.7954,
            0.0,
            0.0,
            0.0375,
            -0.9993
        ],
        "glass": [
            -0.2985,
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            0.8207,
            0.0,
            0.0,
            0.1119,
            -0.9937
        ]
    }
}