File size: 3,406 Bytes
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{
"tree": {
"kitchen": [
[
"wooden oak table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"wooden oak table": [
[
"lemon",
"ON"
],
[
"plate",
"ON"
],
[
"fork",
"ON"
],
[
"napkin",
"ON"
]
]
},
"relation": {
"task_desc": "Put the lemon on the plate on the wooden oak table.",
"task": "pick and place",
"robot": "franka",
"background": "kitchen",
"context": "wooden oak table",
"manipulated_objs": [
"lemon",
"plate"
],
"distractor_objs": [
"fork",
"napkin"
]
},
"objs_desc": {
"kitchen": "bright modern kitchen with white cabinets and subtle tiled backsplash",
"wooden oak table": "standalone polished oak table with warm amber tones and empty smooth surface",
"lemon": "vivid yellow lemon with slightly textured peel and small green stem nub",
"plate": "simple white ceramic plate with faint ridged edges and glossy finish",
"fork": "stainless steel fork with narrow polished tines and brushed handle",
"napkin": "folded cotton napkin in soft beige fabric with subtle stitched edges"
},
"objs_mapping": {
"kitchen": "background",
"wooden oak table": "context",
"lemon": "manipulated_objs",
"plate": "manipulated_objs",
"fork": "distractor_objs",
"napkin": "distractor_objs"
},
"assets": {
"wooden oak table": "asset3d/wooden_oak_table/result",
"lemon": "asset3d/lemon/result",
"plate": "asset3d/plate/result",
"fork": "asset3d/fork/result",
"napkin": "asset3d/napkin/result",
"kitchen": "background"
},
"quality": {
"wooden oak table": "NO: The table appears yellow, not wooden oak as described.",
"lemon": "YES",
"plate": "YES",
"fork": "YES",
"napkin": "YES"
},
"position": {
"franka": [
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0,
0.7468,
0.0,
0.0,
0.0,
-1.0
],
"kitchen": [
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0,
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0.0,
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],
"wooden oak table": [
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0,
0,
1
],
"plate": [
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0.0578,
0.7561,
0.0,
0.0,
0.0469,
0.9989
],
"napkin": [
0.1807,
-0.1742,
0.7639,
0.0,
0.0,
0.6833,
0.7301
],
"fork": [
0.2258,
-0.4219,
0.7572,
0.0,
0.0,
0.9969,
-0.0784
],
"lemon": [
0.0912,
-0.3069,
0.7807,
0.0,
0.0,
0.074,
0.9973
]
}
} |