File size: 3,458 Bytes
3750955 |
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{
"tree": {
"office": [
[
"desk",
"FLOOR"
],
[
"franka",
"IN"
]
],
"desk": [
[
"green cube",
"ON"
],
[
"yellow cube",
"ON"
],
[
"lamp",
"ON"
],
[
"keyboard",
"ON"
]
]
},
"relation": {
"task_desc": "Move the green cube and put it into the yellow cube on the desk.",
"task": "pick and place",
"robot": "franka",
"background": "office",
"context": "desk",
"manipulated_objs": [
"green cube",
"yellow cube"
],
"distractor_objs": [
"lamp",
"keyboard"
]
},
"objs_desc": {
"office": "sleek professional office with neutral walls and soft overhead lighting",
"desk": "standalone polished walnut desk with no surroundings and smooth empty top",
"green cube": "solid matte green plastic cube with sharp edges and clean flat surfaces",
"yellow cube": "glossy bright yellow acrylic cube with reflective surface and rounded corners",
"lamp": "modern black metal desk lamp with adjustable neck and frosted glass shade",
"keyboard": "slim black ergonomic keyboard with textured keys and subtle shine"
},
"objs_mapping": {
"office": "background",
"desk": "context",
"green cube": "manipulated_objs",
"yellow cube": "manipulated_objs",
"lamp": "distractor_objs",
"keyboard": "distractor_objs"
},
"assets": {
"desk": "asset3d/desk/result",
"green cube": "asset3d/green_cube/result",
"yellow cube": "asset3d/yellow_cube/result",
"lamp": "asset3d/lamp/result",
"keyboard": "asset3d/keyboard/result",
"office": "background"
},
"quality": {
"desk": "YES",
"green cube": "YES",
"yellow cube": "NO: visible distortions and irregularities; geometry lacks sharp edges expected for a cube.",
"lamp": "YES",
"keyboard": "YES"
},
"position": {
"franka": [
-0.3826,
0,
0.7987,
0.0,
0.0,
0.0,
-1.0
],
"office": [
0,
0,
0,
0.0,
0.4783,
0.0,
-0.8782
],
"desk": [
0,
0,
0.4011,
0,
0,
0,
1
],
"yellow cube": [
-0.1395,
0.1353,
0.9116,
0.0,
0.0,
0.7373,
-0.6756
],
"green cube": [
0.011,
-0.1723,
0.9108,
0.0,
0.0,
0.6579,
-0.7531
],
"lamp": [
-0.0956,
-0.3995,
1.0235,
0.0,
0.0,
0.9993,
0.0375
],
"keyboard": [
0.1736,
-0.3728,
0.8068,
0.0,
0.0,
0.6195,
0.785
]
}
} |