| { | |
| "tree": { | |
| "kitchen": [ | |
| [ | |
| "table", | |
| "FLOOR" | |
| ], | |
| [ | |
| "franka", | |
| "IN" | |
| ] | |
| ], | |
| "table": [ | |
| [ | |
| "green apple", | |
| "INSIDE" | |
| ], | |
| [ | |
| "basket", | |
| "ON" | |
| ], | |
| [ | |
| "plate", | |
| "ON" | |
| ], | |
| [ | |
| "knife", | |
| "ON" | |
| ] | |
| ] | |
| }, | |
| "relation": { | |
| "task_desc": "Put the green apple into the basket on the wooden mahogany table.", | |
| "task": "pick and place", | |
| "robot": "franka", | |
| "background": "kitchen", | |
| "context": "table", | |
| "manipulated_objs": [ | |
| "green apple", | |
| "basket" | |
| ], | |
| "distractor_objs": [ | |
| "plate", | |
| "knife" | |
| ] | |
| }, | |
| "objs_desc": { | |
| "kitchen": "bright rustic kitchen with sunlight on white tiled walls and wooden cabinets", | |
| "table": "standalone polished mahogany table with smooth surface and no items on top", | |
| "green apple": "shiny green apple with realistic dimples and light matte surface texture", | |
| "basket": "woven wicker basket with beige fibers and slightly uneven round shape", | |
| "plate": "plain white ceramic plate with subtle gloss finish and smooth edges", | |
| "knife": "stainless steel kitchen knife with brushed metallic blade and dark wooden handle" | |
| }, | |
| "objs_mapping": { | |
| "kitchen": "background", | |
| "table": "context", | |
| "green apple": "manipulated_objs", | |
| "basket": "manipulated_objs", | |
| "plate": "distractor_objs", | |
| "knife": "distractor_objs" | |
| }, | |
| "assets": { | |
| "table": "asset3d/table/result", | |
| "green apple": "asset3d/green_apple/result", | |
| "basket": "asset3d/basket/result", | |
| "plate": "asset3d/plate/result", | |
| "knife": "asset3d/knife/result", | |
| "kitchen": "background" | |
| }, | |
| "quality": { | |
| "table": "YES", | |
| "green apple": "YES", | |
| "basket": "YES", | |
| "plate": "YES", | |
| "knife": "YES" | |
| }, | |
| "position": { | |
| "franka": [ | |
| -0.3458, | |
| 0, | |
| 0.7679, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| -1.0 | |
| ], | |
| "kitchen": [ | |
| 0, | |
| 0, | |
| 0, | |
| 0.0, | |
| 0.1218, | |
| 0.0, | |
| 0.9926 | |
| ], | |
| "table": [ | |
| 0, | |
| 0, | |
| 0.3829, | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ], | |
| "basket": [ | |
| 0.1518, | |
| -0.0188, | |
| 0.9654, | |
| 0.0, | |
| 0.0, | |
| 0.9698, | |
| 0.2439 | |
| ], | |
| "knife": [ | |
| -0.1575, | |
| 0.299, | |
| 0.7844, | |
| 0.0, | |
| 0.0, | |
| 0.5262, | |
| -0.8504 | |
| ], | |
| "plate": [ | |
| -0.079, | |
| -0.3542, | |
| 0.7777, | |
| 0.0, | |
| 0.0, | |
| 0.5129, | |
| 0.8585 | |
| ], | |
| "green apple": [ | |
| 0.2726, | |
| -0.2594, | |
| 0.8123, | |
| 0.0, | |
| 0.0, | |
| 0.8543, | |
| -0.5197 | |
| ] | |
| } | |
| } |