File size: 3,491 Bytes
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{
"tree": {
"kitchen": [
[
"wooden striped table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"wooden striped table": [
[
"teacup",
"ON"
],
[
"plate",
"ON"
],
[
"spoon",
"ON"
],
[
"salt shaker",
"ON"
]
]
},
"relation": {
"task_desc": "Put the teacup on the plate on wooden striped table.",
"task": "pick and place",
"robot": "franka",
"background": "kitchen",
"context": "wooden striped table",
"manipulated_objs": [
"teacup",
"plate"
],
"distractor_objs": [
"spoon",
"salt shaker"
]
},
"objs_desc": {
"kitchen": "bright kitchen with polished marble countertops and warm ambient lighting",
"wooden striped table": "standalone teakwood table with natural striped grain and clean empty top",
"teacup": "delicate white porcelain teacup with smooth glossy finish and gold-trimmed rim",
"plate": "round ceramic plate with subtle ivory sheen and slightly raised edge detail",
"spoon": "sleek stainless steel spoon with reflective surface and gently curved handle",
"salt shaker": "transparent glass salt shaker with metallic lid and fine white granules visible inside"
},
"objs_mapping": {
"kitchen": "background",
"wooden striped table": "context",
"teacup": "manipulated_objs",
"plate": "manipulated_objs",
"spoon": "distractor_objs",
"salt shaker": "distractor_objs"
},
"assets": {
"wooden striped table": "asset3d/wooden_striped_table/result",
"teacup": "asset3d/teacup/result",
"plate": "asset3d/plate/result",
"spoon": "asset3d/spoon/result",
"salt shaker": "asset3d/salt_shaker/result",
"kitchen": "background"
},
"quality": {
"wooden striped table": "YES",
"teacup": "YES",
"plate": "YES",
"spoon": "YES",
"salt shaker": "YES"
},
"position": {
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0,
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0.0,
0.0,
-1.0
],
"kitchen": [
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],
"wooden striped table": [
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0,
0,
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],
"spoon": [
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0.7894,
0.0,
0.0,
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],
"plate": [
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0.0,
0.0,
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],
"teacup": [
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0.0,
0.0,
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],
"salt shaker": [
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0.0,
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]
}
} |