File size: 3,404 Bytes
3750955 |
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{
"tree": {
"kitchen": [
[
"table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"table": [
[
"banana",
"ON"
],
[
"napkin",
"ON"
],
[
"plate",
"ON"
],
[
"fork",
"ON"
]
]
},
"relation": {
"task_desc": "Pick up the banana and place it on the napkin on wooden textured table.",
"task": "pick and place",
"robot": "franka",
"background": "kitchen",
"context": "table",
"manipulated_objs": [
"banana",
"napkin"
],
"distractor_objs": [
"plate",
"fork"
]
},
"objs_desc": {
"kitchen": "bright contemporary kitchen with white countertops and polished stainless steel appliances",
"table": "standalone wooden table with a rich dark grain texture and empty smooth surface",
"banana": "ripe yellow banana with light brown speckled skin and smooth curved shape",
"napkin": "folded cloth napkin with soft beige fibers and subtle woven patterns",
"plate": "porcelain white plate with a glossy finish and faint circular indentations",
"fork": "stainless steel fork with reflective polished surface and delicately tapered tines"
},
"objs_mapping": {
"kitchen": "background",
"table": "context",
"banana": "manipulated_objs",
"napkin": "manipulated_objs",
"plate": "distractor_objs",
"fork": "distractor_objs"
},
"assets": {
"table": "asset3d/table/result",
"banana": "asset3d/banana/result",
"napkin": "asset3d/napkin/result",
"plate": "asset3d/plate/result",
"fork": "asset3d/fork/result",
"kitchen": "background"
},
"quality": {
"table": "YES",
"banana": "YES",
"napkin": "YES",
"plate": "YES",
"fork": "NO: distorted geometry, handle and prongs are misshaped, not functional as a fork."
},
"position": {
"franka": [
-0.4717,
0,
0.7705,
0.0,
0.0,
0.0,
-1.0
],
"kitchen": [
0,
0,
0,
0.0,
0.6157,
0.0,
-0.788
],
"table": [
0,
0,
0.3905,
0,
0,
0,
1
],
"napkin": [
-0.1587,
-0.0358,
0.7832,
0.0,
0.0,
0.7854,
0.619
],
"plate": [
-0.0287,
0.513,
0.7806,
0.0,
0.0,
0.6754,
0.7375
],
"fork": [
0.1288,
-0.5185,
0.8311,
0.0,
0.0,
0.002,
1.0
],
"banana": [
0.0828,
-0.2791,
0.856,
0.0,
0.0,
0.4424,
-0.8968
]
}
} |