| { | |
| "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 | |
| ] | |
| } | |
| } |