File size: 3,309 Bytes
3750955 |
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{
"tree": {
"kitchen": [
[
"table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"table": [
[
"teacup",
"ON"
],
[
"plate",
"ON"
],
[
"spoon",
"ON"
],
[
"napkin",
"ON"
]
]
},
"relation": {
"task_desc": "Put the teacup on the plate on the table.",
"task": "pick and place",
"robot": "franka",
"background": "kitchen",
"context": "table",
"manipulated_objs": [
"teacup",
"plate"
],
"distractor_objs": [
"spoon",
"napkin"
]
},
"objs_desc": {
"kitchen": "bright kitchen with sleek white countertops, wooden cabinets, and tiled floor",
"table": "standalone polished mahogany table with an empty smooth flat top surface",
"teacup": "glazed ceramic teacup with a delicate floral design and soft pastel pink finish",
"plate": "ivory porcelain plate with subtle embossed edges and smooth glossy surface",
"spoon": "stainless steel spoon with a mirror-like reflective surface and slender curved handle",
"napkin": "folded linen napkin with fine stitching, soft cream color, and textured fabric"
},
"objs_mapping": {
"kitchen": "background",
"table": "context",
"teacup": "manipulated_objs",
"plate": "manipulated_objs",
"spoon": "distractor_objs",
"napkin": "distractor_objs"
},
"assets": {
"table": "asset3d/table/result",
"teacup": "asset3d/teacup/result",
"plate": "asset3d/plate/result",
"spoon": "asset3d/spoon/result",
"napkin": "asset3d/napkin/result",
"kitchen": "background"
},
"quality": {
"table": "YES",
"teacup": "YES",
"plate": "YES",
"spoon": "YES",
"napkin": "YES"
},
"position": {
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],
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],
"table": [
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],
"spoon": [
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],
"plate": [
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0.0,
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],
"teacup": [
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],
"napkin": [
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0.0,
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]
}
} |