File size: 3,240 Bytes
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{
"tree": {
"dining room": [
[
"table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"table": [
[
"red cup",
"ON"
],
[
"tray",
"ON"
],
[
"plate",
"ON"
],
[
"fork",
"ON"
]
]
},
"relation": {
"task_desc": "Put the red cup on the tray on the table.",
"task": "pick and place",
"robot": "franka",
"background": "dining room",
"context": "table",
"manipulated_objs": [
"red cup",
"tray"
],
"distractor_objs": [
"plate",
"fork"
]
},
"objs_desc": {
"dining room": "bright dining room with soft beige walls and polished wooden flooring",
"table": "standalone walnut dining table with smooth surface and clean empty top",
"red cup": "glossy crimson ceramic cup with a rounded rim and smooth finish",
"tray": "rectangular stainless steel tray with brushed texture and slight edges",
"plate": "white porcelain plate with faint grooves and matte finish",
"fork": "silver metal fork with polished surface and fine tapered tines"
},
"objs_mapping": {
"dining room": "background",
"table": "context",
"red cup": "manipulated_objs",
"tray": "manipulated_objs",
"plate": "distractor_objs",
"fork": "distractor_objs"
},
"assets": {
"table": "asset3d/table/result",
"red cup": "asset3d/red_cup/result",
"tray": "asset3d/tray/result",
"plate": "asset3d/plate/result",
"fork": "asset3d/fork/result",
"dining room": "background"
},
"quality": {
"table": "YES",
"red cup": "YES",
"tray": "YES",
"plate": "YES",
"fork": "YES"
},
"position": {
"franka": [
-0.5615,
0,
0.7418,
0.0,
0.0,
0.0,
-1.0
],
"dining room": [
0,
0,
0,
0.0,
0.0647,
0.0,
-0.9979
],
"table": [
0,
0,
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0,
0,
0,
1
],
"fork": [
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0.7573,
0.0,
0.0,
0.8654,
0.501
],
"tray": [
0.109,
-0.0137,
0.7566,
0.0,
0.0,
0.1095,
0.994
],
"plate": [
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0.4443,
0.7509,
0.0,
0.0,
0.9565,
-0.2918
],
"red cup": [
-0.1494,
-0.0169,
0.7966,
0.0,
0.0,
0.9943,
0.1062
]
}
} |