example_layouts/task_0027/layout.json

{
    "tree": {
        "kitchen": [
            [
                "table",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table": [
            [
                "mushroom",
                "ON"
            ],
            [
                "pot",
                "ON"
            ],
            [
                "knife",
                "ON"
            ],
            [
                "cutting board",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the mushroom in the pot on wooden walnut table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "table",
        "manipulated_objs": [
            "mushroom",
            "pot"
        ],
        "distractor_objs": [
            "knife",
            "cutting board"
        ]
    },
    "objs_desc": {
        "kitchen": "bright, modern kitchen with white cabinets and marble countertops under warm natural light",
        "table": "standalone polished walnut table with rich brown hue and smooth empty top",
        "mushroom": "plump white mushroom with slightly textured cap and earthy undertones",
        "pot": "matte black ceramic pot with rounded edges and subtle grainy surface",
        "knife": "sleek stainless steel knife with a sharp edge and ergonomic wooden handle",
        "cutting board": "rectangular bamboo cutting board with light tan color and faint natural wood grain"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "mushroom": "manipulated_objs",
        "pot": "manipulated_objs",
        "knife": "distractor_objs",
        "cutting board": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "mushroom": "asset3d/mushroom/result",
        "pot": "asset3d/pot/result",
        "knife": "asset3d/knife/result",
        "cutting board": "asset3d/cutting_board/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "mushroom": "YES",
        "pot": "YES",
        "knife": "YES",
        "cutting board": "YES"
    },
    "position": {
        "franka": [
            -0.3301,
            0,
            0.7447,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.8865,
            0.0,
            0.4627
        ],
        "table": [
            0,
            0,
            0.3751,
            0,
            0,
            0,
            1
        ],
        "cutting board": [
            0.1186,
            -0.4073,
            0.7566,
            0.0,
            0.0,
            0.2323,
            0.9726
        ],
        "pot": [
            -0.0086,
            0.1266,
            0.8941,
            0.0,
            0.0,
            0.0766,
            0.9971
        ],
        "knife": [
            0.1105,
            0.4272,
            0.7594,
            0.0,
            0.0,
            0.8487,
            0.5289
        ],
        "mushroom": [
            0.2311,
            -0.016,
            0.8059,
            0.0,
            0.0,
            0.8392,
            0.5438
        ]
    }
}