File size: 3,518 Bytes
3750955 |
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{
"tree": {
"living room": [
[
"table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"table": [
[
"white ping-pong ball",
"ON"
],
[
"blue cup",
"ON"
],
[
"book",
"ON"
],
[
"remote control",
"ON"
]
]
},
"relation": {
"task_desc": "Put the white ping-pong ball into the blue cup on the wooden oak table.",
"task": "pick and place",
"robot": "franka",
"background": "living room",
"context": "table",
"manipulated_objs": [
"white ping-pong ball",
"blue cup"
],
"distractor_objs": [
"book",
"remote control"
]
},
"objs_desc": {
"living room": "bright modern living room with cream walls and a textured beige rug",
"table": "standalone polished oak table with rich grain and smooth empty surface",
"white ping-pong ball": "glossy white plastic ball with a pristine, smooth texture and subtle sheen",
"blue cup": "ceramic blue cup with matte finish, simple contours, and slightly curved rim",
"book": "worn paperback book with faded green cover and lightly frayed edges",
"remote control": "sleek black remote control with small rubber buttons and textured underside"
},
"objs_mapping": {
"living room": "background",
"table": "context",
"white ping-pong ball": "manipulated_objs",
"blue cup": "manipulated_objs",
"book": "distractor_objs",
"remote control": "distractor_objs"
},
"assets": {
"table": "asset3d/table/result",
"white ping-pong ball": "asset3d/white_ping-pong_ball/result",
"blue cup": "asset3d/blue_cup/result",
"book": "asset3d/book/result",
"remote control": "asset3d/remote_control/result",
"living room": "background"
},
"quality": {
"table": "YES",
"white ping-pong ball": "YES",
"blue cup": "YES",
"book": "YES",
"remote control": "YES"
},
"position": {
"franka": [
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0,
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0.0,
0.0,
0.0,
-1.0
],
"living room": [
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0,
0,
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0.0,
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],
"table": [
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0,
0,
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],
"book": [
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0.0,
0.0,
0.3903,
0.9207
],
"remote control": [
-0.6134,
-0.4712,
0.7517,
0.0,
0.0,
0.9744,
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],
"blue cup": [
-0.3641,
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0.8012,
0.0,
0.0,
0.795,
-0.6067
],
"white ping-pong ball": [
-0.2736,
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0.0,
0.0,
0.2618,
0.9651
]
}
} |