File size: 3,291 Bytes
3750955 |
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{
"tree": {
"kitchen": [
[
"table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"table": [
[
"banana",
"ON"
],
[
"red napkin",
"ON"
],
[
"plate",
"ON"
],
[
"mug",
"ON"
]
]
},
"relation": {
"task_desc": "Pick up the banana and place it on the red napkin on the table.",
"task": "pick and place",
"robot": "franka",
"background": "kitchen",
"context": "table",
"manipulated_objs": [
"banana",
"red napkin"
],
"distractor_objs": [
"plate",
"mug"
]
},
"objs_desc": {
"kitchen": "bright modern kitchen with tiled backsplash and polished white countertops",
"table": "standalone rectangular pinewood table with smooth surface and empty top",
"banana": "ripe yellow banana with minor brown speckles and a slightly curved shape",
"red napkin": "vivid red cotton napkin with soft folds and lightly frayed edges",
"plate": "white ceramic plate with smooth glossy finish and subtle rim detailing",
"mug": "simple porcelain mug in matte light blue with a sturdy handle"
},
"objs_mapping": {
"kitchen": "background",
"table": "context",
"banana": "manipulated_objs",
"red napkin": "manipulated_objs",
"plate": "distractor_objs",
"mug": "distractor_objs"
},
"assets": {
"table": "asset3d/table/result",
"banana": "asset3d/banana/result",
"red napkin": "asset3d/red_napkin/result",
"plate": "asset3d/plate/result",
"mug": "asset3d/mug/result",
"kitchen": "background"
},
"quality": {
"table": "YES",
"banana": "YES",
"red napkin": "YES",
"plate": "YES",
"mug": "YES"
},
"position": {
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0.0,
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],
"kitchen": [
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],
"table": [
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],
"plate": [
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],
"red napkin": [
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0.1154,
0.7663,
0.0,
0.0,
0.9946,
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],
"banana": [
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0.7795,
0.0,
0.0,
0.6885,
0.7252
],
"mug": [
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0.8093,
0.0,
0.0,
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]
}
} |