File size: 3,660 Bytes
3750955 |
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{
"tree": {
"kitchen": [
[
"wooden striped table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"wooden striped table": [
[
"wooden spoon",
"ON"
],
[
"white plate",
"ON"
],
[
"salt shaker",
"ON"
],
[
"napkin",
"ON"
]
]
},
"relation": {
"task_desc": "Put the wooden spoon on the white plate on wooden striped table.",
"task": "pick and place",
"robot": "franka",
"background": "kitchen",
"context": "wooden striped table",
"manipulated_objs": [
"wooden spoon",
"white plate"
],
"distractor_objs": [
"salt shaker",
"napkin"
]
},
"objs_desc": {
"kitchen": "bright kitchen with polished countertops and warm ambient lighting",
"wooden striped table": "standalone striped wooden table with rich grain and clean, empty top surface",
"wooden spoon": "smooth carved wooden spoon with light oak finish and subtle matte texture",
"white plate": "glossy ceramic white plate with slightly raised edges and clean surface",
"salt shaker": "small transparent glass salt shaker with a stainless steel cap",
"napkin": "folded cotton napkin with soft cream color and fine woven texture"
},
"objs_mapping": {
"kitchen": "background",
"wooden striped table": "context",
"wooden spoon": "manipulated_objs",
"white plate": "manipulated_objs",
"salt shaker": "distractor_objs",
"napkin": "distractor_objs"
},
"assets": {
"wooden striped table": "asset3d/wooden_striped_table/result",
"wooden spoon": "asset3d/wooden_spoon/result",
"white plate": "asset3d/white_plate/result",
"salt shaker": "asset3d/salt_shaker/result",
"napkin": "asset3d/napkin/result",
"kitchen": "background"
},
"quality": {
"wooden striped table": "YES",
"wooden spoon": "NO: The asset resembles a ladle, not a spoon, and lacks the elongated handle typical of a wooden spoon.",
"white plate": "YES",
"salt shaker": "YES",
"napkin": "YES"
},
"position": {
"franka": [
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0,
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0.0,
0.0,
0.0,
-1.0
],
"kitchen": [
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0.0,
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],
"wooden striped table": [
0,
0,
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0,
0,
0,
1
],
"white plate": [
-0.0671,
-0.1419,
0.7951,
0.0,
0.0,
0.6445,
-0.7646
],
"wooden spoon": [
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0.1318,
0.811,
0.0,
0.0,
0.0124,
-0.9999
],
"napkin": [
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0.7995,
0.0,
0.0,
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],
"salt shaker": [
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0.0,
0.0,
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-0.7432
]
}
} |