File size: 3,446 Bytes
3750955 |
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{
"tree": {
"kitchen": [
[
"wooden walnut table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"wooden walnut table": [
[
"orange",
"ON"
],
[
"napkin",
"ON"
],
[
"knife",
"ON"
],
[
"plate",
"ON"
]
]
},
"relation": {
"task_desc": "Pick up the orange and place it on the napkin on wooden walnut table.",
"task": "pick and place",
"robot": "franka",
"background": "kitchen",
"context": "wooden walnut table",
"manipulated_objs": [
"orange",
"napkin"
],
"distractor_objs": [
"knife",
"plate"
]
},
"objs_desc": {
"kitchen": "warm rustic kitchen with sunlight streaming through windows and tiled stone flooring",
"wooden walnut table": "standalone polished walnut table with empty top and rich deep brown grains",
"orange": "vibrant orange fruit with slightly dimpled skin and glossy natural sheen",
"napkin": "folded white cotton napkin with subtle fabric texture and clean, crisp edges",
"knife": "stainless steel knife with smooth metallic finish and sleek black plastic handle",
"plate": "ceramic white plate with a glossy surface and minimal rim detail"
},
"objs_mapping": {
"kitchen": "background",
"wooden walnut table": "context",
"orange": "manipulated_objs",
"napkin": "manipulated_objs",
"knife": "distractor_objs",
"plate": "distractor_objs"
},
"assets": {
"wooden walnut table": "asset3d/wooden_walnut_table/result",
"orange": "asset3d/orange/result",
"napkin": "asset3d/napkin/result",
"knife": "asset3d/knife/result",
"plate": "asset3d/plate/result",
"kitchen": "background"
},
"quality": {
"wooden walnut table": "YES",
"orange": "YES",
"napkin": "YES",
"knife": "YES",
"plate": "YES"
},
"position": {
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],
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"wooden walnut table": [
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],
"knife": [
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],
"napkin": [
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],
"orange": [
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],
"plate": [
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]
}
} |