File size: 3,348 Bytes
3750955 |
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{
"tree": {
"kitchen": [
[
"table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"table": [
[
"spoon",
"ON"
],
[
"black jar",
"ON"
],
[
"plate",
"ON"
],
[
"glass bottle",
"ON"
]
]
},
"relation": {
"task_desc": "Put the spoon into the black jar on the table.",
"task": "pick and place",
"robot": "franka",
"background": "kitchen",
"context": "table",
"manipulated_objs": [
"spoon",
"black jar"
],
"distractor_objs": [
"plate",
"glass bottle"
]
},
"objs_desc": {
"kitchen": "sleek, modern kitchen with white marble countertops and soft ambient lighting",
"table": "standalone rustic wooden table with smooth surface and clean empty top",
"spoon": "shiny stainless steel spoon with polished surface and slim handle design",
"black jar": "matte black ceramic jar with cylindrical shape and smooth, elegant finish",
"plate": "plain white porcelain plate with subtle glossy sheen and rounded edges",
"glass bottle": "transparent green glass bottle with textured sides and narrow neck"
},
"objs_mapping": {
"kitchen": "background",
"table": "context",
"spoon": "manipulated_objs",
"black jar": "manipulated_objs",
"plate": "distractor_objs",
"glass bottle": "distractor_objs"
},
"assets": {
"table": "asset3d/table/result",
"spoon": "asset3d/spoon/result",
"black jar": "asset3d/black_jar/result",
"plate": "asset3d/plate/result",
"glass bottle": "asset3d/glass_bottle/result",
"kitchen": "background"
},
"quality": {
"table": "YES",
"spoon": "YES",
"black jar": "YES",
"plate": "YES",
"glass bottle": "YES"
},
"position": {
"franka": [
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0,
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0.0,
0.0,
-1.0
],
"kitchen": [
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0,
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],
"table": [
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],
"plate": [
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0.0,
0.0,
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],
"spoon": [
0.2465,
-0.0003,
0.7939,
0.0,
0.0,
0.8249,
-0.5652
],
"black jar": [
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0.884,
0.0,
0.0,
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],
"glass bottle": [
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0.0,
0.0,
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]
}
} |