| { | |
| "tree": { | |
| "kitchen": [ | |
| [ | |
| "table", | |
| "FLOOR" | |
| ], | |
| [ | |
| "franka", | |
| "IN" | |
| ] | |
| ], | |
| "table": [ | |
| [ | |
| "banana", | |
| "ON" | |
| ], | |
| [ | |
| "red napkin", | |
| "ON" | |
| ], | |
| [ | |
| "plate", | |
| "ON" | |
| ], | |
| [ | |
| "mug", | |
| "ON" | |
| ] | |
| ] | |
| }, | |
| "relation": { | |
| "task_desc": "Pick up the banana and place it on the red napkin on the table.", | |
| "task": "pick and place", | |
| "robot": "franka", | |
| "background": "kitchen", | |
| "context": "table", | |
| "manipulated_objs": [ | |
| "banana", | |
| "red napkin" | |
| ], | |
| "distractor_objs": [ | |
| "plate", | |
| "mug" | |
| ] | |
| }, | |
| "objs_desc": { | |
| "kitchen": "bright modern kitchen with tiled backsplash and polished white countertops", | |
| "table": "standalone rectangular pinewood table with smooth surface and empty top", | |
| "banana": "ripe yellow banana with minor brown speckles and a slightly curved shape", | |
| "red napkin": "vivid red cotton napkin with soft folds and lightly frayed edges", | |
| "plate": "white ceramic plate with smooth glossy finish and subtle rim detailing", | |
| "mug": "simple porcelain mug in matte light blue with a sturdy handle" | |
| }, | |
| "objs_mapping": { | |
| "kitchen": "background", | |
| "table": "context", | |
| "banana": "manipulated_objs", | |
| "red napkin": "manipulated_objs", | |
| "plate": "distractor_objs", | |
| "mug": "distractor_objs" | |
| }, | |
| "assets": { | |
| "table": "asset3d/table/result", | |
| "banana": "asset3d/banana/result", | |
| "red napkin": "asset3d/red_napkin/result", | |
| "plate": "asset3d/plate/result", | |
| "mug": "asset3d/mug/result", | |
| "kitchen": "background" | |
| }, | |
| "quality": { | |
| "table": "YES", | |
| "banana": "YES", | |
| "red napkin": "YES", | |
| "plate": "YES", | |
| "mug": "YES" | |
| }, | |
| "position": { | |
| "franka": [ | |
| -0.2927, | |
| 0, | |
| 0.7477, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| -1.0 | |
| ], | |
| "kitchen": [ | |
| 0, | |
| 0, | |
| 0, | |
| 0.0, | |
| 0.6627, | |
| 0.0, | |
| 0.7488 | |
| ], | |
| "table": [ | |
| 0, | |
| 0, | |
| 0.3755, | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ], | |
| "plate": [ | |
| -0.0775, | |
| 0.5085, | |
| 0.7579, | |
| 0.0, | |
| 0.0, | |
| 0.9891, | |
| -0.1473 | |
| ], | |
| "red napkin": [ | |
| -0.007, | |
| 0.1154, | |
| 0.7663, | |
| 0.0, | |
| 0.0, | |
| 0.9946, | |
| 0.1035 | |
| ], | |
| "banana": [ | |
| 0.2007, | |
| 0.2013, | |
| 0.7795, | |
| 0.0, | |
| 0.0, | |
| 0.6885, | |
| 0.7252 | |
| ], | |
| "mug": [ | |
| 0.0614, | |
| -0.5676, | |
| 0.8093, | |
| 0.0, | |
| 0.0, | |
| 0.9225, | |
| 0.3859 | |
| ] | |
| } | |
| } |