File size: 3,416 Bytes
3750955 |
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{
"tree": {
"kitchen": [
[
"table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"table": [
[
"broccoli",
"ON"
],
[
"white dish",
"ON"
],
[
"knife",
"ON"
],
[
"cutting board",
"ON"
]
]
},
"relation": {
"task_desc": "Put the broccoli on the white dish on the table.",
"task": "pick and place",
"robot": "franka",
"background": "kitchen",
"context": "table",
"manipulated_objs": [
"broccoli",
"white dish"
],
"distractor_objs": [
"knife",
"cutting board"
]
},
"objs_desc": {
"kitchen": "bright modern kitchen with smooth white tiles and stainless steel appliances",
"table": "standalone wooden dining table with a polished dark walnut surface and empty top",
"broccoli": "vibrant green broccoli head with natural uneven texture and slightly damp appearance",
"white dish": "ceramic round dish with a smooth glossy surface and pure white color",
"knife": "sharp steel knife with a straight-edged blade and black ergonomic handle",
"cutting board": "rectangular bamboo cutting board with subtle grain patterns and rounded corners"
},
"objs_mapping": {
"kitchen": "background",
"table": "context",
"broccoli": "manipulated_objs",
"white dish": "manipulated_objs",
"knife": "distractor_objs",
"cutting board": "distractor_objs"
},
"assets": {
"table": "asset3d/table/result",
"broccoli": "asset3d/broccoli/result",
"white dish": "asset3d/white_dish/result",
"knife": "asset3d/knife/result",
"cutting board": "asset3d/cutting_board/result",
"kitchen": "background"
},
"quality": {
"table": "YES",
"broccoli": "YES",
"white dish": "YES",
"knife": "YES",
"cutting board": "YES"
},
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"white dish": [
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"knife": [
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],
"broccoli": [
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]
}
} |