File size: 3,264 Bytes
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{
"tree": {
"kitchen": [
[
"table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"table": [
[
"apple",
"ON"
],
[
"plate",
"ON"
],
[
"glass",
"ON"
],
[
"book",
"ON"
]
]
},
"relation": {
"task_desc": "Pick up the apple on the table and put it in the plate on the table.",
"task": "pick and place",
"robot": "franka",
"background": "kitchen",
"context": "table",
"manipulated_objs": [
"apple",
"plate"
],
"distractor_objs": [
"glass",
"book"
]
},
"objs_desc": {
"kitchen": "bright kitchen with white tiled walls, wood countertops, and warm ambient lighting",
"table": "standalone rectangular oak table with polished surface and empty top",
"apple": "shiny red apple with subtle dimples and smooth waxy skin",
"plate": "ceramic plate with a matte white finish and slightly raised edges",
"glass": "transparent drinking glass with smooth vertical grooves and faint water stains",
"book": "hardcover book with a navy blue fabric cover and embossed golden title"
},
"objs_mapping": {
"kitchen": "background",
"table": "context",
"apple": "manipulated_objs",
"plate": "manipulated_objs",
"glass": "distractor_objs",
"book": "distractor_objs"
},
"assets": {
"table": "asset3d/table/result",
"apple": "asset3d/apple/result",
"plate": "asset3d/plate/result",
"glass": "asset3d/glass/result",
"book": "asset3d/book/result",
"kitchen": "background"
},
"quality": {
"table": "YES",
"apple": "YES",
"plate": "YES",
"glass": "YES",
"book": "YES"
},
"position": {
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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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],
"table": [
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0,
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],
"plate": [
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],
"book": [
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0.0,
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],
"apple": [
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0.7954,
0.0,
0.0,
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],
"glass": [
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0.0,
0.0,
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-0.9937
]
}
} |