| { | |
| "tree": { | |
| "kitchen": [ | |
| [ | |
| "wooden striped table", | |
| "FLOOR" | |
| ], | |
| [ | |
| "franka", | |
| "IN" | |
| ] | |
| ], | |
| "wooden striped table": [ | |
| [ | |
| "apple1", | |
| "ON" | |
| ], | |
| [ | |
| "apple2", | |
| "ON" | |
| ], | |
| [ | |
| "basket", | |
| "ON" | |
| ], | |
| [ | |
| "plate", | |
| "ON" | |
| ], | |
| [ | |
| "knife", | |
| "ON" | |
| ] | |
| ] | |
| }, | |
| "relation": { | |
| "task_desc": "Put the apples from the wooden striped table to the basket.", | |
| "task": "pick and place", | |
| "robot": "franka", | |
| "background": "kitchen", | |
| "context": "wooden striped table", | |
| "manipulated_objs": [ | |
| "apple1", | |
| "apple2", | |
| "basket" | |
| ], | |
| "distractor_objs": [ | |
| "plate", | |
| "knife" | |
| ] | |
| }, | |
| "objs_desc": { | |
| "kitchen": "bright kitchen with tiled backsplash, white cabinets, and warm ambient lighting", | |
| "wooden striped table": "standalone maple-striped wooden table with smooth surface and empty top", | |
| "apple1": "shiny red apple with slight stem protrusion and soft gradient texture", | |
| "apple2": "vivid green apple with subtle dents and matte waxy finish", | |
| "basket": "woven wicker basket with light tan tone and tightly interlaced fibers", | |
| "plate": "smooth porcelain plate with clean white finish and faint reflective sheen", | |
| "knife": "stainless steel kitchen knife with polished blade and ergonomic black plastic handle" | |
| }, | |
| "objs_mapping": { | |
| "kitchen": "background", | |
| "wooden striped table": "context", | |
| "apple1": "manipulated_objs", | |
| "apple2": "manipulated_objs", | |
| "basket": "manipulated_objs", | |
| "plate": "distractor_objs", | |
| "knife": "distractor_objs" | |
| }, | |
| "assets": { | |
| "wooden striped table": "asset3d/wooden_striped_table/result", | |
| "apple1": "asset3d/apple1/result", | |
| "apple2": "asset3d/apple2/result", | |
| "basket": "asset3d/basket/result", | |
| "plate": "asset3d/plate/result", | |
| "knife": "asset3d/knife/result", | |
| "kitchen": "background" | |
| }, | |
| "quality": { | |
| "wooden striped table": "YES", | |
| "apple1": "YES", | |
| "apple2": "YES", | |
| "basket": "YES", | |
| "plate": "YES", | |
| "knife": "YES" | |
| }, | |
| "position": { | |
| "franka": [ | |
| -0.4848, | |
| 0, | |
| 0.7459, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| -1.0 | |
| ], | |
| "kitchen": [ | |
| 0, | |
| 0, | |
| 0, | |
| 0.0, | |
| 0.5617, | |
| 0.0, | |
| 0.8273 | |
| ], | |
| "wooden striped table": [ | |
| 0, | |
| 0, | |
| 0.373, | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ], | |
| "basket": [ | |
| 0.0698, | |
| 0.2702, | |
| 0.9711, | |
| 0.0, | |
| 0.0, | |
| 0.7321, | |
| -0.6812 | |
| ], | |
| "plate": [ | |
| -0.3627, | |
| -0.2362, | |
| 0.7556, | |
| 0.0, | |
| 0.0, | |
| 0.5965, | |
| 0.8026 | |
| ], | |
| "knife": [ | |
| -0.2915, | |
| 0.4099, | |
| 0.8573, | |
| 0.0, | |
| 0.0, | |
| 0.5905, | |
| 0.807 | |
| ], | |
| "apple1": [ | |
| -0.0361, | |
| -0.1463, | |
| 0.7904, | |
| 0.0, | |
| 0.0, | |
| 0.9657, | |
| 0.2595 | |
| ], | |
| "apple2": [ | |
| 0.0824, | |
| -0.1384, | |
| 0.7906, | |
| 0.0, | |
| 0.0, | |
| 0.911, | |
| 0.4125 | |
| ] | |
| } | |
| } |