File size: 3,786 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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 |
{
"tree": {
"kitchen": [
[
"table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"table": [
[
"orange1",
"ON"
],
[
"orange2",
"ON"
],
[
"bowl",
"ON"
],
[
"plate",
"ON"
],
[
"spoon",
"ON"
]
]
},
"relation": {
"task_desc": "Put the oranges from wooden grain table to the bowl.",
"task": "pick and place",
"robot": "franka",
"background": "kitchen",
"context": "table",
"manipulated_objs": [
"orange1",
"orange2",
"bowl"
],
"distractor_objs": [
"plate",
"spoon"
]
},
"objs_desc": {
"kitchen": "bright kitchen with tiled backsplash, white counters, and sunlight filtering through the window",
"table": "standalone wooden grain table with smooth surface and empty top",
"orange1": "vivid orange fruit with slightly textured peel and natural shine",
"orange2": "ripe orange fruit with subtle dimples and vibrant citrus hue",
"bowl": "ceramic bowl with glossy ivory glaze and slight curvature at the edges",
"plate": "simple white porcelain plate with a smooth reflective finish",
"spoon": "small stainless steel spoon with polished surface and tapered handle"
},
"objs_mapping": {
"kitchen": "background",
"table": "context",
"orange1": "manipulated_objs",
"orange2": "manipulated_objs",
"bowl": "manipulated_objs",
"plate": "distractor_objs",
"spoon": "distractor_objs"
},
"assets": {
"table": "asset3d/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": {
"table": "YES",
"orange1": "NO: The object resembles a peach or nectarine, not an orange.",
"orange2": "YES",
"bowl": "YES",
"plate": "YES",
"spoon": "YES"
},
"position": {
"franka": [
-0.9664,
0,
0.7663,
0.0,
0.0,
0.0,
-1.0
],
"kitchen": [
0,
0,
0,
0.0,
0.6635,
0.0,
-0.7482
],
"table": [
0,
0,
0.3816,
0,
0,
0,
1
],
"bowl": [
-0.5533,
-0.0412,
0.8287,
0.0,
0.0,
0.9996,
-0.0297
],
"spoon": [
0.5886,
-0.0599,
0.7863,
0.0,
0.0,
0.982,
-0.1888
],
"plate": [
-0.0545,
0.2476,
0.7762,
0.0,
0.0,
0.3155,
0.9489
],
"orange1": [
-0.4728,
0.1578,
0.8106,
0.0,
0.0,
0.8168,
-0.577
],
"orange2": [
-0.3554,
-0.0494,
0.8101,
0.0,
0.0,
0.9894,
0.1455
]
}
} |