File size: 3,446 Bytes
3750955 |
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{
"tree": {
"kitchen": [
[
"table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"table": [
[
"knife",
"ON"
],
[
"utensil holder",
"ON"
],
[
"salt shaker",
"ON"
],
[
"plate",
"ON"
]
]
},
"relation": {
"task_desc": "Pick up the knife and put it in the utensil holder on wooden textured table.",
"task": "pick and place",
"robot": "franka",
"background": "kitchen",
"context": "table",
"manipulated_objs": [
"knife",
"utensil holder"
],
"distractor_objs": [
"salt shaker",
"plate"
]
},
"objs_desc": {
"kitchen": "bright contemporary kitchen with white tile backsplash and warm natural lighting",
"table": "standalone wooden table with deep grain patterns and a smooth empty top",
"knife": "shiny stainless steel knife with brushed metal texture and dark ergonomic handle",
"utensil holder": "ceramic utensil holder with glossy white finish and subtle geometric patterns",
"salt shaker": "transparent glass salt shaker with polished metal lid and fine white granules inside",
"plate": "simple ceramic plate with matte off-white surface and faint speckled pattern"
},
"objs_mapping": {
"kitchen": "background",
"table": "context",
"knife": "manipulated_objs",
"utensil holder": "manipulated_objs",
"salt shaker": "distractor_objs",
"plate": "distractor_objs"
},
"assets": {
"table": "asset3d/table/result",
"knife": "asset3d/knife/result",
"utensil holder": "asset3d/utensil_holder/result",
"salt shaker": "asset3d/salt_shaker/result",
"plate": "asset3d/plate/result",
"kitchen": "background"
},
"quality": {
"table": "YES",
"knife": "YES",
"utensil holder": "YES",
"salt shaker": "YES",
"plate": "YES"
},
"position": {
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"knife": [
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],
"plate": [
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],
"utensil holder": [
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],
"salt shaker": [
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]
}
} |