File size: 3,451 Bytes
3750955 |
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{
"tree": {
"kitchen": [
[
"wooden textured table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"wooden textured table": [
[
"spoon",
"ON"
],
[
"black jar",
"ON"
],
[
"plate",
"ON"
],
[
"napkin",
"ON"
]
]
},
"relation": {
"task_desc": "Put the spoon into the black jar on the wooden textured table.",
"task": "pick and place",
"robot": "franka",
"background": "kitchen",
"context": "wooden textured table",
"manipulated_objs": [
"spoon",
"black jar"
],
"distractor_objs": [
"plate",
"napkin"
]
},
"objs_desc": {
"kitchen": "bright, modern kitchen with stainless steel appliances and white tiled backsplash",
"wooden textured table": "standalone rectangular oak table with prominent grain patterns and smooth empty top",
"spoon": "shiny stainless steel spoon with polished surface and tapered handle",
"black jar": "matte black ceramic jar with a subtle texture and wide open top",
"plate": "white porcelain plate with slight gloss and faint concentric ridges",
"napkin": "soft linen napkin in pale beige with finely stitched edges"
},
"objs_mapping": {
"kitchen": "background",
"wooden textured table": "context",
"spoon": "manipulated_objs",
"black jar": "manipulated_objs",
"plate": "distractor_objs",
"napkin": "distractor_objs"
},
"assets": {
"wooden textured table": "asset3d/wooden_textured_table/result",
"spoon": "asset3d/spoon/result",
"black jar": "asset3d/black_jar/result",
"plate": "asset3d/plate/result",
"napkin": "asset3d/napkin/result",
"kitchen": "background"
},
"quality": {
"wooden textured table": "YES",
"spoon": "YES",
"black jar": "YES",
"plate": "YES",
"napkin": "YES"
},
"position": {
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],
"kitchen": [
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"wooden textured table": [
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],
"plate": [
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0.0,
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],
"napkin": [
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0.0,
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],
"spoon": [
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0.0,
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],
"black jar": [
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0.0,
0.0,
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]
}
} |