File size: 3,349 Bytes
3750955 |
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{
"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": {
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],
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"table": [
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"basket": [
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],
"knife": [
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],
"plate": [
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],
"green apple": [
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]
}
} |