| { | |
| "tree": { | |
| "kitchen": [ | |
| [ | |
| "table", | |
| "FLOOR" | |
| ], | |
| [ | |
| "franka", | |
| "IN" | |
| ] | |
| ], | |
| "table": [ | |
| [ | |
| "spoon", | |
| "ON" | |
| ], | |
| [ | |
| "black jar", | |
| "ON" | |
| ], | |
| [ | |
| "plate", | |
| "ON" | |
| ], | |
| [ | |
| "glass bottle", | |
| "ON" | |
| ] | |
| ] | |
| }, | |
| "relation": { | |
| "task_desc": "Put the spoon into the black jar on the table.", | |
| "task": "pick and place", | |
| "robot": "franka", | |
| "background": "kitchen", | |
| "context": "table", | |
| "manipulated_objs": [ | |
| "spoon", | |
| "black jar" | |
| ], | |
| "distractor_objs": [ | |
| "plate", | |
| "glass bottle" | |
| ] | |
| }, | |
| "objs_desc": { | |
| "kitchen": "sleek, modern kitchen with white marble countertops and soft ambient lighting", | |
| "table": "standalone rustic wooden table with smooth surface and clean empty top", | |
| "spoon": "shiny stainless steel spoon with polished surface and slim handle design", | |
| "black jar": "matte black ceramic jar with cylindrical shape and smooth, elegant finish", | |
| "plate": "plain white porcelain plate with subtle glossy sheen and rounded edges", | |
| "glass bottle": "transparent green glass bottle with textured sides and narrow neck" | |
| }, | |
| "objs_mapping": { | |
| "kitchen": "background", | |
| "table": "context", | |
| "spoon": "manipulated_objs", | |
| "black jar": "manipulated_objs", | |
| "plate": "distractor_objs", | |
| "glass bottle": "distractor_objs" | |
| }, | |
| "assets": { | |
| "table": "asset3d/table/result", | |
| "spoon": "asset3d/spoon/result", | |
| "black jar": "asset3d/black_jar/result", | |
| "plate": "asset3d/plate/result", | |
| "glass bottle": "asset3d/glass_bottle/result", | |
| "kitchen": "background" | |
| }, | |
| "quality": { | |
| "table": "YES", | |
| "spoon": "YES", | |
| "black jar": "YES", | |
| "plate": "YES", | |
| "glass bottle": "YES" | |
| }, | |
| "position": { | |
| "franka": [ | |
| -0.4529, | |
| 0, | |
| 0.7716, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| -1.0 | |
| ], | |
| "kitchen": [ | |
| 0, | |
| 0, | |
| 0, | |
| 0.0, | |
| 0.9578, | |
| 0.0, | |
| 0.2876 | |
| ], | |
| "table": [ | |
| 0, | |
| 0, | |
| 0.3908, | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ], | |
| "plate": [ | |
| -0.0769, | |
| -0.0752, | |
| 0.7822, | |
| 0.0, | |
| 0.0, | |
| 0.7156, | |
| 0.6985 | |
| ], | |
| "spoon": [ | |
| 0.2465, | |
| -0.0003, | |
| 0.7939, | |
| 0.0, | |
| 0.0, | |
| 0.8249, | |
| -0.5652 | |
| ], | |
| "black jar": [ | |
| 0.0363, | |
| 0.2349, | |
| 0.884, | |
| 0.0, | |
| 0.0, | |
| 0.1758, | |
| -0.9844 | |
| ], | |
| "glass bottle": [ | |
| -0.3208, | |
| 0.0936, | |
| 0.8841, | |
| 0.0, | |
| 0.0, | |
| 0.9282, | |
| 0.3721 | |
| ] | |
| } | |
| } |