| { | |
| "tree": { | |
| "dining room": [ | |
| [ | |
| "table", | |
| "FLOOR" | |
| ], | |
| [ | |
| "franka", | |
| "IN" | |
| ] | |
| ], | |
| "table": [ | |
| [ | |
| "red cup", | |
| "ON" | |
| ], | |
| [ | |
| "tray", | |
| "ON" | |
| ], | |
| [ | |
| "plate", | |
| "ON" | |
| ], | |
| [ | |
| "fork", | |
| "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", | |
| "fork" | |
| ] | |
| }, | |
| "objs_desc": { | |
| "dining room": "warm rustic dining room with stone walls and soft yellow overhead lighting", | |
| "table": "standalone wooden table with natural grain patterns and empty smooth surface", | |
| "red cup": "glossy ceramic red cup with a rounded base and subtle curved lip", | |
| "tray": "metallic silver tray with polished reflective surface and curved edges", | |
| "plate": "white porcelain plate with delicate floral trim and a smooth glossy finish", | |
| "fork": "shiny stainless steel fork with slim tapered tines and brushed handle" | |
| }, | |
| "objs_mapping": { | |
| "dining room": "background", | |
| "table": "context", | |
| "red cup": "manipulated_objs", | |
| "tray": "manipulated_objs", | |
| "plate": "distractor_objs", | |
| "fork": "distractor_objs" | |
| }, | |
| "assets": { | |
| "table": "asset3d/table/result", | |
| "red cup": "asset3d/red_cup/result", | |
| "tray": "asset3d/tray/result", | |
| "plate": "asset3d/plate/result", | |
| "fork": "asset3d/fork/result", | |
| "dining room": "background" | |
| }, | |
| "quality": { | |
| "table": "YES", | |
| "red cup": "YES", | |
| "tray": "YES", | |
| "plate": "YES", | |
| "fork": "YES" | |
| }, | |
| "position": { | |
| "franka": [ | |
| -0.4101, | |
| 0, | |
| 0.6732, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| -1.0 | |
| ], | |
| "dining room": [ | |
| 0, | |
| 0, | |
| 0, | |
| 0.0, | |
| 0.7597, | |
| 0.0, | |
| 0.6503 | |
| ], | |
| "table": [ | |
| 0, | |
| 0, | |
| 0.3352, | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ], | |
| "tray": [ | |
| 0.037, | |
| -0.0252, | |
| 0.6871, | |
| 0.0, | |
| 0.0, | |
| 0.9964, | |
| 0.0849 | |
| ], | |
| "plate": [ | |
| 0.3014, | |
| -0.1223, | |
| 0.6822, | |
| 0.0, | |
| 0.0, | |
| 0.4845, | |
| 0.8748 | |
| ], | |
| "fork": [ | |
| 0.1235, | |
| 0.284, | |
| 0.6855, | |
| 0.0, | |
| 0.0, | |
| 0.6315, | |
| -0.7754 | |
| ], | |
| "red cup": [ | |
| 0.2236, | |
| 0.2081, | |
| 0.7277, | |
| 0.0, | |
| 0.0, | |
| 0.981, | |
| -0.1941 | |
| ] | |
| } | |
| } |