File size: 3,444 Bytes
3750955 |
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{
"tree": {
"kitchen": [
[
"table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"table": [
[
"fork",
"ON"
],
[
"metal tray",
"ON"
],
[
"plate",
"ON"
],
[
"napkin",
"ON"
]
]
},
"relation": {
"task_desc": "Put the fork on the metal tray on the wooden textured table.",
"task": "pick and place",
"robot": "franka",
"background": "kitchen",
"context": "table",
"manipulated_objs": [
"fork",
"metal tray"
],
"distractor_objs": [
"plate",
"napkin"
]
},
"objs_desc": {
"kitchen": "modern minimalist kitchen with smooth white cabinets and subtle stainless steel accents",
"table": "standalone rectangular table with warm, rustic wood grain and an empty flat surface",
"fork": "polished stainless steel fork with a sleek, reflective finish and straight tines",
"metal tray": "shiny silver tray with a brushed metal texture and slightly raised edges",
"plate": "plain ceramic plate in soft white with a subtle glossy glaze and smooth edges",
"napkin": "folded cotton napkin in light gray with crisp corners and faint stitched details"
},
"objs_mapping": {
"kitchen": "background",
"table": "context",
"fork": "manipulated_objs",
"metal tray": "manipulated_objs",
"plate": "distractor_objs",
"napkin": "distractor_objs"
},
"assets": {
"table": "asset3d/table/result",
"fork": "asset3d/fork/result",
"metal tray": "asset3d/metal_tray/result",
"plate": "asset3d/plate/result",
"napkin": "asset3d/napkin/result",
"kitchen": "background"
},
"quality": {
"table": "YES",
"fork": "NO: Fork geometry is distorted; resembles a bent spoon rather than a functional fork.",
"metal tray": "YES",
"plate": "YES",
"napkin": "YES"
},
"position": {
"franka": [
-0.5543,
0,
0.746,
0.0,
0.0,
0.0,
-1.0
],
"kitchen": [
0,
0,
0,
0.0,
0.2135,
0.0,
0.9769
],
"table": [
0,
0,
0.3711,
0,
0,
0,
1
],
"metal tray": [
-0.2288,
0.0165,
0.7586,
0.0,
0.0,
0.6777,
-0.7353
],
"fork": [
0.1173,
0.04,
0.7878,
0.0,
0.0,
0.8188,
0.5741
],
"plate": [
0.2587,
0.4578,
0.7555,
0.0,
0.0,
0.3803,
0.9249
],
"napkin": [
-0.0182,
-0.8122,
0.7652,
0.0,
0.0,
0.3702,
-0.9289
]
}
} |