File size: 3,401 Bytes
3750955 |
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{
"tree": {
"kitchen": [
[
"table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"table": [
[
"wooden spoon",
"ON"
],
[
"white plate",
"ON"
],
[
"glass cup",
"ON"
],
[
"napkin",
"ON"
]
]
},
"relation": {
"task_desc": "Put the wooden spoon on the white plate on the table.",
"task": "pick and place",
"robot": "franka",
"background": "kitchen",
"context": "table",
"manipulated_objs": [
"wooden spoon",
"white plate"
],
"distractor_objs": [
"glass cup",
"napkin"
]
},
"objs_desc": {
"kitchen": "bright kitchen with stainless steel accents and polished wooden cabinetry",
"table": "standalone rectangular table made of smooth cherry wood with an empty surface",
"wooden spoon": "smooth pine wooden spoon with natural grain texture and rounded edges",
"white plate": "glossy ceramic white plate with clean, curved edges and a reflective surface",
"glass cup": "transparent glass cup with subtle ridges and a polished shine",
"napkin": "soft white linen napkin folded neatly with fine stitched borders"
},
"objs_mapping": {
"kitchen": "background",
"table": "context",
"wooden spoon": "manipulated_objs",
"white plate": "manipulated_objs",
"glass cup": "distractor_objs",
"napkin": "distractor_objs"
},
"assets": {
"table": "asset3d/table/result",
"wooden spoon": "asset3d/wooden_spoon/result",
"white plate": "asset3d/white_plate/result",
"glass cup": "asset3d/glass_cup/result",
"napkin": "asset3d/napkin/result",
"kitchen": "background"
},
"quality": {
"table": "YES",
"wooden spoon": "YES",
"white plate": "YES",
"glass cup": "YES",
"napkin": "YES"
},
"position": {
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],
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],
"table": [
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],
"white plate": [
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],
"wooden spoon": [
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],
"napkin": [
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],
"glass cup": [
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]
}
} |