| { | |
| "tree": { | |
| "dining room": [ | |
| [ | |
| "table", | |
| "FLOOR" | |
| ], | |
| [ | |
| "franka", | |
| "IN" | |
| ] | |
| ], | |
| "table": [ | |
| [ | |
| "red cup", | |
| "ON" | |
| ], | |
| [ | |
| "tray", | |
| "ON" | |
| ], | |
| [ | |
| "plate", | |
| "ON" | |
| ], | |
| [ | |
| "napkin", | |
| "ON" | |
| ] | |
| ] | |
| }, | |
| "relation": { | |
| "task_desc": "Put the red cup on the tray on the wooden patterned table.", | |
| "task": "pick and place", | |
| "robot": "franka", | |
| "background": "dining room", | |
| "context": "table", | |
| "manipulated_objs": [ | |
| "red cup", | |
| "tray" | |
| ], | |
| "distractor_objs": [ | |
| "plate", | |
| "napkin" | |
| ] | |
| }, | |
| "objs_desc": { | |
| "dining room": "bright dining room with beige walls and soft overhead lighting", | |
| "table": "standalone wooden table with intricate grain patterns and clean empty surface", | |
| "red cup": "glossy ceramic red cup with smooth finish and subtle curved design", | |
| "tray": "matte silver tray with brushed texture and slightly raised edges", | |
| "plate": "simple white porcelain plate with a smooth glossy surface", | |
| "napkin": "folded cloth napkin with pale cream color and soft woven texture" | |
| }, | |
| "objs_mapping": { | |
| "dining room": "background", | |
| "table": "context", | |
| "red cup": "manipulated_objs", | |
| "tray": "manipulated_objs", | |
| "plate": "distractor_objs", | |
| "napkin": "distractor_objs" | |
| }, | |
| "assets": { | |
| "table": "asset3d/table/result", | |
| "red cup": "asset3d/red_cup/result", | |
| "tray": "asset3d/tray/result", | |
| "plate": "asset3d/plate/result", | |
| "napkin": "asset3d/napkin/result", | |
| "dining room": "background" | |
| }, | |
| "quality": { | |
| "table": "YES", | |
| "red cup": "YES", | |
| "tray": "YES", | |
| "plate": "YES", | |
| "napkin": "YES" | |
| }, | |
| "position": { | |
| "franka": [ | |
| -0.3848, | |
| 0, | |
| 0.4952, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| -1.0 | |
| ], | |
| "dining room": [ | |
| 0, | |
| 0, | |
| 0, | |
| 0.0, | |
| 0.8688, | |
| 0.0, | |
| 0.4952 | |
| ], | |
| "table": [ | |
| 0, | |
| 0, | |
| 0.2468, | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ], | |
| "tray": [ | |
| 0.1508, | |
| 0.3059, | |
| 0.5093, | |
| 0.0, | |
| 0.0, | |
| 0.9939, | |
| 0.1104 | |
| ], | |
| "plate": [ | |
| -0.2136, | |
| 0.4089, | |
| 0.5052, | |
| 0.0, | |
| 0.0, | |
| 0.9671, | |
| -0.2546 | |
| ], | |
| "napkin": [ | |
| -0.068, | |
| -0.2042, | |
| 0.513, | |
| 0.0, | |
| 0.0, | |
| 0.5284, | |
| -0.849 | |
| ], | |
| "red cup": [ | |
| 0.2196, | |
| 0.0574, | |
| 0.5496, | |
| 0.0, | |
| 0.0, | |
| 0.4573, | |
| -0.8893 | |
| ] | |
| } | |
| } |