File size: 3,208 Bytes
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{
"tree": {
"kitchen": [
[
"table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"table": [
[
"pear",
"ON"
],
[
"pot",
"ON"
],
[
"knife",
"ON"
],
[
"plate",
"ON"
]
]
},
"relation": {
"task_desc": "Put the pear in the pot on the wooden striped table.",
"task": "pick and place",
"robot": "franka",
"background": "kitchen",
"context": "table",
"manipulated_objs": [
"pear",
"pot"
],
"distractor_objs": [
"knife",
"plate"
]
},
"objs_desc": {
"kitchen": "bright rustic kitchen with white tiled walls and warm wooden cabinets",
"table": "standalone wooden striped table with a glossy finish and empty smooth top",
"pear": "ripe green pear with matte skin and small natural blemishes",
"pot": "ceramic cooking pot with speckled grey glaze and wide circular rim",
"knife": "shiny steel knife with serrated edge and dark wooden handle",
"plate": "round ceramic plate with pale cream glaze and faint concentric ridges"
},
"objs_mapping": {
"kitchen": "background",
"table": "context",
"pear": "manipulated_objs",
"pot": "manipulated_objs",
"knife": "distractor_objs",
"plate": "distractor_objs"
},
"assets": {
"table": "asset3d/table/result",
"pear": "asset3d/pear/result",
"pot": "asset3d/pot/result",
"knife": "asset3d/knife/result",
"plate": "asset3d/plate/result",
"kitchen": "background"
},
"quality": {
"table": "YES",
"pear": "YES",
"pot": "YES",
"knife": "YES",
"plate": "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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0.0,
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],
"table": [
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0,
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0,
0,
0,
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],
"pot": [
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0.0,
0.0,
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],
"knife": [
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0.0,
0.0,
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],
"plate": [
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0.8098,
0.0,
0.0,
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],
"pear": [
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-0.1856,
0.8589,
0.0,
0.0,
0.1037,
-0.9946
]
}
} |