File size: 3,291 Bytes
3750955
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
{
    "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": {
        "franka": [
            -0.2927,
            0,
            0.7477,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "kitchen": [
            0,
            0,
            0,
            0.0,
            0.6627,
            0.0,
            0.7488
        ],
        "table": [
            0,
            0,
            0.3755,
            0,
            0,
            0,
            1
        ],
        "plate": [
            -0.0775,
            0.5085,
            0.7579,
            0.0,
            0.0,
            0.9891,
            -0.1473
        ],
        "red napkin": [
            -0.007,
            0.1154,
            0.7663,
            0.0,
            0.0,
            0.9946,
            0.1035
        ],
        "banana": [
            0.2007,
            0.2013,
            0.7795,
            0.0,
            0.0,
            0.6885,
            0.7252
        ],
        "mug": [
            0.0614,
            -0.5676,
            0.8093,
            0.0,
            0.0,
            0.9225,
            0.3859
        ]
    }
}