| { | |
| "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": { | |
| "franka": [ | |
| -0.6274, | |
| 0, | |
| 0.7449, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| -1.0 | |
| ], | |
| "kitchen": [ | |
| 0, | |
| 0, | |
| 0, | |
| 0.0, | |
| 0.0474, | |
| 0.0, | |
| -0.9989 | |
| ], | |
| "wooden striped table": [ | |
| 0, | |
| 0, | |
| 0.3674, | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ], | |
| "spoon": [ | |
| -0.1718, | |
| -0.0408, | |
| 0.7894, | |
| 0.0, | |
| 0.0, | |
| 0.9138, | |
| -0.4061 | |
| ], | |
| "plate": [ | |
| 0.0108, | |
| 0.2767, | |
| 0.7542, | |
| 0.0, | |
| 0.0, | |
| 0.1424, | |
| 0.9898 | |
| ], | |
| "teacup": [ | |
| -0.0276, | |
| -0.3432, | |
| 0.7994, | |
| 0.0, | |
| 0.0, | |
| 0.9984, | |
| -0.0559 | |
| ], | |
| "salt shaker": [ | |
| -0.3914, | |
| 0.6208, | |
| 0.8048, | |
| 0.0, | |
| 0.0, | |
| 0.1097, | |
| 0.994 | |
| ] | |
| } | |
| } |