File size: 3,250 Bytes
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{
"tree": {
"kitchen": [
[
"table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"table": [
[
"plate",
"ON"
],
[
"knife",
"ON"
],
[
"bowl",
"ON"
]
],
"plate": [
[
"carrot",
"ON"
]
]
},
"relation": {
"task_desc": "Put the carrot on the plate on the table.",
"task": "pick and place",
"robot": "franka",
"background": "kitchen",
"context": "table",
"manipulated_objs": [
"carrot",
"plate"
],
"distractor_objs": [
"knife",
"bowl"
]
},
"objs_desc": {
"kitchen": "bright and airy kitchen with white cabinets and polished oak flooring",
"table": "standalone round walnut table with smooth surface and empty top",
"carrot": "fresh orange carrot with textured skin and a small green leafy stem",
"plate": "simple white ceramic plate with glossy finish and slight curvature",
"knife": "stainless steel knife with a sharp edge and brushed metal handle",
"bowl": "large glass bowl with subtle transparency and slightly curved rim"
},
"objs_mapping": {
"kitchen": "background",
"table": "context",
"carrot": "manipulated_objs",
"plate": "manipulated_objs",
"knife": "distractor_objs",
"bowl": "distractor_objs"
},
"assets": {
"table": "asset3d/table/result",
"carrot": "asset3d/carrot/result",
"plate": "asset3d/plate/result",
"knife": "asset3d/knife/result",
"bowl": "asset3d/bowl/result",
"kitchen": "background"
},
"quality": {
"table": "YES",
"carrot": "YES",
"plate": "YES",
"knife": "YES",
"bowl": "YES"
},
"position": {
"franka": [
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0,
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0.0,
0.0,
-1.0
],
"kitchen": [
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],
"table": [
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],
"knife": [
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],
"plate": [
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0.0,
0.0,
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],
"bowl": [
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0.0,
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],
"carrot": [
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0.8695,
0.0,
0.0,
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0.892
]
}
} |