File size: 3,887 Bytes
3750955 |
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{
"tree": {
"kitchen": [
[
"wooden striped table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"wooden striped table": [
[
"apple1",
"ON"
],
[
"apple2",
"ON"
],
[
"basket",
"ON"
],
[
"plate",
"ON"
],
[
"knife",
"ON"
]
]
},
"relation": {
"task_desc": "Put the apples from the wooden striped table to the basket.",
"task": "pick and place",
"robot": "franka",
"background": "kitchen",
"context": "wooden striped table",
"manipulated_objs": [
"apple1",
"apple2",
"basket"
],
"distractor_objs": [
"plate",
"knife"
]
},
"objs_desc": {
"kitchen": "bright kitchen with tiled backsplash, white cabinets, and warm ambient lighting",
"wooden striped table": "standalone maple-striped wooden table with smooth surface and empty top",
"apple1": "shiny red apple with slight stem protrusion and soft gradient texture",
"apple2": "vivid green apple with subtle dents and matte waxy finish",
"basket": "woven wicker basket with light tan tone and tightly interlaced fibers",
"plate": "smooth porcelain plate with clean white finish and faint reflective sheen",
"knife": "stainless steel kitchen knife with polished blade and ergonomic black plastic handle"
},
"objs_mapping": {
"kitchen": "background",
"wooden striped table": "context",
"apple1": "manipulated_objs",
"apple2": "manipulated_objs",
"basket": "manipulated_objs",
"plate": "distractor_objs",
"knife": "distractor_objs"
},
"assets": {
"wooden striped table": "asset3d/wooden_striped_table/result",
"apple1": "asset3d/apple1/result",
"apple2": "asset3d/apple2/result",
"basket": "asset3d/basket/result",
"plate": "asset3d/plate/result",
"knife": "asset3d/knife/result",
"kitchen": "background"
},
"quality": {
"wooden striped table": "YES",
"apple1": "YES",
"apple2": "YES",
"basket": "YES",
"plate": "YES",
"knife": "YES"
},
"position": {
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0.0,
0.0,
-1.0
],
"kitchen": [
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0.0,
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],
"wooden striped table": [
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0,
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0,
0,
0,
1
],
"basket": [
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0.9711,
0.0,
0.0,
0.7321,
-0.6812
],
"plate": [
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0.0,
0.0,
0.5965,
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],
"knife": [
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0.0,
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],
"apple1": [
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0.0,
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],
"apple2": [
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0.0,
0.0,
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]
}
} |