File size: 3,709 Bytes
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{
"tree": {
"kitchen": [
[
"table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"table": [
[
"orange1",
"ON"
],
[
"orange2",
"ON"
],
[
"bowl",
"ON"
],
[
"spoon",
"ON"
],
[
"plate",
"ON"
]
]
},
"relation": {
"task_desc": "Put the oranges from wooden grain table to the bowl.",
"task": "pick and place",
"robot": "franka",
"background": "kitchen",
"context": "table",
"manipulated_objs": [
"orange1",
"orange2",
"bowl"
],
"distractor_objs": [
"spoon",
"plate"
]
},
"objs_desc": {
"kitchen": "warm rustic kitchen with cream walls, wooden cabinets, and soft ambient lighting",
"table": "standalone wooden grain table with smooth surface and empty top",
"orange1": "plump, vibrant orange with textured skin and faint glossy highlights",
"orange2": "ripe orange with slightly irregular shape and dimpled, matte surface",
"bowl": "ceramic white bowl with smooth finish and subtle curved edges",
"spoon": "sleek silver spoon with polished surface and narrow stem",
"plate": "round porcelain plate with clean white glaze and delicate rim detailing"
},
"objs_mapping": {
"kitchen": "background",
"table": "context",
"orange1": "manipulated_objs",
"orange2": "manipulated_objs",
"bowl": "manipulated_objs",
"spoon": "distractor_objs",
"plate": "distractor_objs"
},
"assets": {
"table": "asset3d/table/result",
"orange1": "asset3d/orange1/result",
"orange2": "asset3d/orange2/result",
"bowl": "asset3d/bowl/result",
"spoon": "asset3d/spoon/result",
"plate": "asset3d/plate/result",
"kitchen": "background"
},
"quality": {
"table": "YES",
"orange1": "YES",
"orange2": "YES",
"bowl": "YES",
"spoon": "YES",
"plate": "YES"
},
"position": {
"franka": [
-0.9346,
0,
0.7416,
0.0,
0.0,
0.0,
-1.0
],
"kitchen": [
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0,
0,
0.0,
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0.0,
-0.9022
],
"table": [
0,
0,
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0,
0,
0,
1
],
"bowl": [
-0.5583,
-0.1134,
0.8039,
0.0,
0.0,
0.0407,
-0.9992
],
"spoon": [
-0.4727,
0.3648,
0.7609,
0.0,
0.0,
0.9217,
0.388
],
"orange1": [
-0.2852,
0.2339,
0.7841,
0.0,
0.0,
0.785,
-0.6195
],
"orange2": [
-0.565,
0.1625,
0.7834,
0.0,
0.0,
0.9567,
0.2909
],
"plate": [
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0.0,
0.0,
0.0439,
-0.999
]
}
} |