File size: 3,831 Bytes
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{
"tree": {
"kitchen": [
[
"wooden grain table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"wooden grain table": [
[
"orange1",
"ON"
],
[
"orange2",
"ON"
],
[
"bowl",
"ON"
],
[
"plate",
"ON"
],
[
"spoon",
"ON"
]
]
},
"relation": {
"task_desc": "Put the oranges from the wooden grain table to the bowl.",
"task": "pick and place",
"robot": "franka",
"background": "kitchen",
"context": "wooden grain table",
"manipulated_objs": [
"orange1",
"orange2",
"bowl"
],
"distractor_objs": [
"plate",
"spoon"
]
},
"objs_desc": {
"kitchen": "bright modern kitchen with white countertops and warm ambient lighting",
"wooden grain table": "standalone rustic table with deep mahogany wood grain and clean empty top",
"orange1": "ripe orange with smooth glossy surface and vibrant citrus hue",
"orange2": "fresh orange with slightly dimpled skin and bold orange coloration",
"bowl": "ceramic bowl with matte white finish and subtle curved edges",
"plate": "flat porcelain plate with clean glossy surface and subtle rim detail",
"spoon": "polished stainless steel spoon with narrow handle and reflective finish"
},
"objs_mapping": {
"kitchen": "background",
"wooden grain table": "context",
"orange1": "manipulated_objs",
"orange2": "manipulated_objs",
"bowl": "manipulated_objs",
"plate": "distractor_objs",
"spoon": "distractor_objs"
},
"assets": {
"wooden grain table": "asset3d/wooden_grain_table/result",
"orange1": "asset3d/orange1/result",
"orange2": "asset3d/orange2/result",
"bowl": "asset3d/bowl/result",
"plate": "asset3d/plate/result",
"spoon": "asset3d/spoon/result",
"kitchen": "background"
},
"quality": {
"wooden grain table": "YES",
"orange1": "YES",
"orange2": "YES",
"bowl": "YES",
"plate": "YES",
"spoon": "YES"
},
"position": {
"franka": [
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0,
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0.0,
0.0,
-1.0
],
"kitchen": [
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0.0,
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],
"wooden grain table": [
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0,
0,
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],
"plate": [
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0.0,
0.0,
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],
"bowl": [
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0.8058,
0.0,
0.0,
0.445,
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],
"spoon": [
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0.0,
0.0,
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],
"orange1": [
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],
"orange2": [
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0.7875,
0.0,
0.0,
0.7454,
0.6666
]
}
} |