File size: 3,360 Bytes
3750955 |
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{
"tree": {
"kitchen": [
[
"table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"table": [
[
"tomato",
"ON"
],
[
"saucepan",
"ON"
],
[
"knife",
"ON"
],
[
"cutting board",
"ON"
]
]
},
"relation": {
"task_desc": "Place the tomato in the saucepan on the table.",
"task": "pick and place",
"robot": "franka",
"background": "kitchen",
"context": "table",
"manipulated_objs": [
"tomato",
"saucepan"
],
"distractor_objs": [
"knife",
"cutting board"
]
},
"objs_desc": {
"kitchen": "bright modern kitchen with tiled backsplash and polished granite countertops",
"table": "standalone pinewood table with clean surface and light honey-colored finish",
"tomato": "ripe red tomato with smooth glossy skin and a small green stem",
"saucepan": "shiny stainless steel saucepan with matte black handle and slightly reflective surface",
"knife": "sleek silver kitchen knife with a sharp blade and ergonomic black handle",
"cutting board": "light bamboo cutting board with visible wood grain and rounded edges"
},
"objs_mapping": {
"kitchen": "background",
"table": "context",
"tomato": "manipulated_objs",
"saucepan": "manipulated_objs",
"knife": "distractor_objs",
"cutting board": "distractor_objs"
},
"assets": {
"table": "asset3d/table/result",
"tomato": "asset3d/tomato/result",
"saucepan": "asset3d/saucepan/result",
"knife": "asset3d/knife/result",
"cutting board": "asset3d/cutting_board/result",
"kitchen": "background"
},
"quality": {
"table": "YES",
"tomato": "YES",
"saucepan": "YES",
"knife": "YES",
"cutting board": "YES"
},
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],
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"saucepan": [
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],
"cutting board": [
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],
"knife": [
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],
"tomato": [
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]
}
} |