File size: 3,287 Bytes
3750955 |
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{
"tree": {
"kitchen": [
[
"table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"table": [
[
"pear",
"ON"
],
[
"pot",
"ON"
],
[
"plate",
"ON"
],
[
"mug",
"ON"
]
]
},
"relation": {
"task_desc": "Put the pear in the pot on the table.",
"task": "pick and place",
"robot": "franka",
"background": "kitchen",
"context": "table",
"manipulated_objs": [
"pear",
"pot"
],
"distractor_objs": [
"plate",
"mug"
]
},
"objs_desc": {
"kitchen": "bright rustic kitchen with white tiled walls and light wooden flooring",
"table": "standalone rectangular table with polished walnut surface and empty top",
"pear": "ripe yellow-green pear with smooth skin and a faint reddish blush",
"pot": "small stainless steel pot with shiny finish and black plastic handles",
"plate": "simple ceramic plate with matte white glaze and subtle edge detailing",
"mug": "sturdy stoneware mug with deep blue glaze and slight speckled texture"
},
"objs_mapping": {
"kitchen": "background",
"table": "context",
"pear": "manipulated_objs",
"pot": "manipulated_objs",
"plate": "distractor_objs",
"mug": "distractor_objs"
},
"assets": {
"table": "asset3d/table/result",
"pear": "asset3d/pear/result",
"pot": "asset3d/pot/result",
"plate": "asset3d/plate/result",
"mug": "asset3d/mug/result",
"kitchen": "background"
},
"quality": {
"table": "YES",
"pear": "NO: The asset resembles an apple, not a pear. Shape and texture are inconsistent with a pear.",
"pot": "YES",
"plate": "YES",
"mug": "YES"
},
"position": {
"franka": [
-0.5951,
0,
0.7464,
0.0,
0.0,
0.0,
-1.0
],
"kitchen": [
0,
0,
0,
0.0,
0.6267,
0.0,
0.7792
],
"table": [
0,
0,
0.3677,
0,
0,
0,
1
],
"pot": [
-0.0774,
-0.2497,
0.8958,
0.0,
0.0,
0.9906,
-0.1366
],
"plate": [
-0.4452,
-0.4604,
0.7572,
0.0,
0.0,
0.2086,
-0.978
],
"mug": [
0.1483,
0.3402,
0.8085,
0.0,
0.0,
0.3756,
-0.9268
],
"pear": [
0.0641,
0.1771,
0.8082,
0.0,
0.0,
0.9361,
0.3518
]
}
} |