File size: 3,328 Bytes
3750955 |
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{
"tree": {
"kitchen": [
[
"table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"table": [
[
"ceramic teapot",
"ON"
],
[
"tray",
"ON"
],
[
"plate",
"ON"
],
[
"mug",
"ON"
]
]
},
"relation": {
"task_desc": "Pick up the ceramic teapot and put it in the tray.",
"task": "pick and place",
"robot": "franka",
"background": "kitchen",
"context": "table",
"manipulated_objs": [
"ceramic teapot",
"tray"
],
"distractor_objs": [
"plate",
"mug"
]
},
"objs_desc": {
"kitchen": "bright kitchen with tiled backsplash, warm oak cabinetry, and glossy quartz countertops",
"table": "standalone round wooden table with polished surface and no surrounding objects",
"ceramic teapot": "glazed white ceramic teapot with a curved spout and smooth, shiny finish",
"tray": "rectangular bamboo tray with raised edges and a natural matte texture",
"plate": "plain porcelain plate with a subtle ivory tone and smooth glazed surface",
"mug": "sturdy ceramic mug in pale blue with a slightly speckled, matte texture"
},
"objs_mapping": {
"kitchen": "background",
"table": "context",
"ceramic teapot": "manipulated_objs",
"tray": "manipulated_objs",
"plate": "distractor_objs",
"mug": "distractor_objs"
},
"assets": {
"table": "asset3d/table/result",
"ceramic teapot": "asset3d/ceramic_teapot/result",
"tray": "asset3d/tray/result",
"plate": "asset3d/plate/result",
"mug": "asset3d/mug/result",
"kitchen": "background"
},
"quality": {
"table": "YES",
"ceramic teapot": "YES",
"tray": "YES",
"plate": "YES",
"mug": "YES"
},
"position": {
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],
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],
"tray": [
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],
"ceramic teapot": [
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],
"plate": [
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],
"mug": [
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]
}
} |