File size: 3,612 Bytes
3750955 |
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{
"tree": {
"living room": [
[
"wooden walnut table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"wooden walnut table": [
[
"tennis ball",
"ON"
],
[
"gray basket",
"ON"
],
[
"book",
"ON"
],
[
"coffee mug",
"ON"
]
]
},
"relation": {
"task_desc": "Put the tennis ball into the gray basket on the wooden walnut table.",
"task": "pick and place",
"robot": "franka",
"background": "living room",
"context": "wooden walnut table",
"manipulated_objs": [
"tennis ball",
"gray basket"
],
"distractor_objs": [
"book",
"coffee mug"
]
},
"objs_desc": {
"living room": "sunlit minimalist living room with white walls and soft cream furniture",
"wooden walnut table": "standalone polished walnut table with deep brown tones and empty smooth top",
"tennis ball": "vibrant neon green tennis ball with slightly scuffed fuzzy surface",
"gray basket": "soft gray fabric basket with woven texture and rounded structure",
"book": "hardcover book with muted blue cover and embossed golden title text",
"coffee mug": "white ceramic coffee mug with glossy finish and a wide curved handle"
},
"objs_mapping": {
"living room": "background",
"wooden walnut table": "context",
"tennis ball": "manipulated_objs",
"gray basket": "manipulated_objs",
"book": "distractor_objs",
"coffee mug": "distractor_objs"
},
"assets": {
"wooden walnut table": "asset3d/wooden_walnut_table/result",
"tennis ball": "asset3d/tennis_ball/result",
"gray basket": "asset3d/gray_basket/result",
"book": "asset3d/book/result",
"coffee mug": "asset3d/coffee_mug/result",
"living room": "background"
},
"quality": {
"wooden walnut table": "YES",
"tennis ball": "NO: Distorted geometry and missing accurate tennis ball seam patterns.",
"gray basket": "YES",
"book": "YES",
"coffee mug": "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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],
"wooden walnut table": [
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0,
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0,
0,
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],
"gray basket": [
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0.9475,
0.0,
0.0,
0.7903,
-0.6128
],
"book": [
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0.7654,
0.0,
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0.9725
],
"coffee mug": [
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0.8005,
0.0,
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],
"tennis ball": [
-0.096,
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0.0,
0.0,
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-0.799
]
}
} |