File size: 3,311 Bytes
3750955 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 |
{
"tree": {
"kitchen": [
[
"table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"table": [
[
"ceramic teapot",
"ON"
],
[
"tray",
"ON"
],
[
"plate",
"ON"
],
[
"cup",
"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",
"cup"
]
},
"objs_desc": {
"kitchen": "bright modern kitchen with polished marble countertops and stainless steel appliances",
"table": "standalone light pinewood table with a smooth surface and empty top",
"ceramic teapot": "glossy white ceramic teapot with rounded body and curved spout",
"tray": "rectangular wooden tray with clean edges, natural grain, and warm amber tones",
"plate": "simple off-white ceramic plate with subtle matte texture and circular shape",
"cup": "sleek glass cup with clear transparency and slightly curved rim"
},
"objs_mapping": {
"kitchen": "background",
"table": "context",
"ceramic teapot": "manipulated_objs",
"tray": "manipulated_objs",
"plate": "distractor_objs",
"cup": "distractor_objs"
},
"assets": {
"table": "asset3d/table/result",
"ceramic teapot": "asset3d/ceramic_teapot/result",
"tray": "asset3d/tray/result",
"plate": "asset3d/plate/result",
"cup": "asset3d/cup/result",
"kitchen": "background"
},
"quality": {
"table": "YES",
"ceramic teapot": "YES",
"tray": "YES",
"plate": "YES",
"cup": "YES"
},
"position": {
"franka": [
-0.6685,
0,
0.7484,
0.0,
0.0,
0.0,
-1.0
],
"kitchen": [
0,
0,
0,
0.0,
0.4233,
0.0,
-0.906
],
"table": [
0,
0,
0.3667,
0,
0,
0,
1
],
"tray": [
-0.1422,
0.0527,
0.7636,
0.0,
0.0,
0.8015,
0.598
],
"plate": [
-0.3706,
0.3876,
0.7585,
0.0,
0.0,
0.8768,
0.4808
],
"ceramic teapot": [
-0.0766,
-0.2763,
0.8617,
0.0,
0.0,
0.994,
0.1092
],
"cup": [
0.1254,
-0.5859,
0.8091,
0.0,
0.0,
0.3082,
0.9513
]
}
} |