File size: 3,349 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": [
            [
                "green apple",
                "INSIDE"
            ],
            [
                "basket",
                "ON"
            ],
            [
                "plate",
                "ON"
            ],
            [
                "knife",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the green apple into the basket on the wooden mahogany table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "kitchen",
        "context": "table",
        "manipulated_objs": [
            "green apple",
            "basket"
        ],
        "distractor_objs": [
            "plate",
            "knife"
        ]
    },
    "objs_desc": {
        "kitchen": "bright rustic kitchen with sunlight on white tiled walls and wooden cabinets",
        "table": "standalone polished mahogany table with smooth surface and no items on top",
        "green apple": "shiny green apple with realistic dimples and light matte surface texture",
        "basket": "woven wicker basket with beige fibers and slightly uneven round shape",
        "plate": "plain white ceramic plate with subtle gloss finish and smooth edges",
        "knife": "stainless steel kitchen knife with brushed metallic blade and dark wooden handle"
    },
    "objs_mapping": {
        "kitchen": "background",
        "table": "context",
        "green apple": "manipulated_objs",
        "basket": "manipulated_objs",
        "plate": "distractor_objs",
        "knife": "distractor_objs"
    },
    "assets": {
        "table": "asset3d/table/result",
        "green apple": "asset3d/green_apple/result",
        "basket": "asset3d/basket/result",
        "plate": "asset3d/plate/result",
        "knife": "asset3d/knife/result",
        "kitchen": "background"
    },
    "quality": {
        "table": "YES",
        "green apple": "YES",
        "basket": "YES",
        "plate": "YES",
        "knife": "YES"
    },
    "position": {
        "franka": [
            -0.3458,
            0,
            0.7679,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.1218,
            0.0,
            0.9926
        ],
        "table": [
            0,
            0,
            0.3829,
            0,
            0,
            0,
            1
        ],
        "basket": [
            0.1518,
            -0.0188,
            0.9654,
            0.0,
            0.0,
            0.9698,
            0.2439
        ],
        "knife": [
            -0.1575,
            0.299,
            0.7844,
            0.0,
            0.0,
            0.5262,
            -0.8504
        ],
        "plate": [
            -0.079,
            -0.3542,
            0.7777,
            0.0,
            0.0,
            0.5129,
            0.8585
        ],
        "green apple": [
            0.2726,
            -0.2594,
            0.8123,
            0.0,
            0.0,
            0.8543,
            -0.5197
        ]
    }
}