File size: 3,554 Bytes
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{
"tree": {
"dining room": [
[
"wooden striped table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"wooden striped table": [
[
"teacup",
"ON"
],
[
"plate",
"ON"
],
[
"spoon",
"ON"
],
[
"sugar jar",
"ON"
]
]
},
"relation": {
"task_desc": "Put the teacup on the plate on wooden striped table.",
"task": "pick and place",
"robot": "franka",
"background": "dining room",
"context": "wooden striped table",
"manipulated_objs": [
"teacup",
"plate"
],
"distractor_objs": [
"spoon",
"sugar jar"
]
},
"objs_desc": {
"dining room": "bright dining room with cream walls, large windows, and polished wooden flooring",
"wooden striped table": "standalone light oak table with clean striped grain and smooth empty top",
"teacup": "small porcelain teacup with delicate floral pattern and a glossy white finish",
"plate": "smooth ceramic plate with muted pastel blue glaze and subtle circular ridges",
"spoon": "shiny silver spoon with mirror-polished surface and rounded edges",
"sugar jar": "vintage glass sugar jar with ribbed texture and a white metal lid"
},
"objs_mapping": {
"dining room": "background",
"wooden striped table": "context",
"teacup": "manipulated_objs",
"plate": "manipulated_objs",
"spoon": "distractor_objs",
"sugar jar": "distractor_objs"
},
"assets": {
"wooden striped table": "asset3d/wooden_striped_table/result",
"teacup": "asset3d/teacup/result",
"plate": "asset3d/plate/result",
"spoon": "asset3d/spoon/result",
"sugar jar": "asset3d/sugar_jar/result",
"dining room": "background"
},
"quality": {
"wooden striped table": "NO: Missing striped texture; plain wooden table does not match \"striped\" description.",
"teacup": "YES",
"plate": "YES",
"spoon": "YES",
"sugar jar": "YES"
},
"position": {
"franka": [
-0.3038,
0,
0.7479,
0.0,
0.0,
0.0,
-1.0
],
"dining room": [
0,
0,
0,
0.0,
0.8083,
0.0,
0.5887
],
"wooden striped table": [
0,
0,
0.3715,
0,
0,
0,
1
],
"spoon": [
0.1024,
0.0569,
0.7687,
0.0,
0.0,
0.8691,
-0.4947
],
"sugar jar": [
-0.1926,
-0.385,
0.8473,
0.0,
0.0,
0.9918,
0.1281
],
"plate": [
0.0898,
-0.1819,
0.757,
0.0,
0.0,
0.9704,
-0.2414
],
"teacup": [
0.2392,
0.2885,
0.7967,
0.0,
0.0,
0.9466,
0.3225
]
}
} |