Imagine you have a string that you are pulling on both ends. As you pull on it, it becomes longer and thinner, and you can feel the tension or stress in the string. Now imagine that you are doing this with a very small piece of the string, called a "material element". This material element has the properties of the bigger string, but it's much smaller, so we can treat it as a tiny little object.
The Piola-Kirchhoff stress tensor is a mathematical tool that we can use to describe the stress that is acting on this little material element. It tells us how much tension or compression there is in the element, and how it's oriented in space.
Think of it like a little graph that shows you which way the material element is being stretched or compressed. It has three parts to it: the first part tells you how much tension is acting in the X direction, the second part tells you how much is acting in the Y direction, and the third part tells you how much is acting in the Z direction.
So basically, the Piola-Kirchhoff stress tensor is a way to measure how much a little piece of material is being pulled or pushed in different directions, kind of like a compass for stress.