File size: 3,272 Bytes
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{
"tree": {
"dining room": [
[
"table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"table": [
[
"red cup",
"ON"
],
[
"tray",
"ON"
],
[
"plate",
"ON"
],
[
"napkin",
"ON"
]
]
},
"relation": {
"task_desc": "Put the red cup on the tray on the wooden patterned table.",
"task": "pick and place",
"robot": "franka",
"background": "dining room",
"context": "table",
"manipulated_objs": [
"red cup",
"tray"
],
"distractor_objs": [
"plate",
"napkin"
]
},
"objs_desc": {
"dining room": "bright dining room with beige walls and soft overhead lighting",
"table": "standalone wooden table with intricate grain patterns and clean empty surface",
"red cup": "glossy ceramic red cup with smooth finish and subtle curved design",
"tray": "matte silver tray with brushed texture and slightly raised edges",
"plate": "simple white porcelain plate with a smooth glossy surface",
"napkin": "folded cloth napkin with pale cream color and soft woven texture"
},
"objs_mapping": {
"dining room": "background",
"table": "context",
"red cup": "manipulated_objs",
"tray": "manipulated_objs",
"plate": "distractor_objs",
"napkin": "distractor_objs"
},
"assets": {
"table": "asset3d/table/result",
"red cup": "asset3d/red_cup/result",
"tray": "asset3d/tray/result",
"plate": "asset3d/plate/result",
"napkin": "asset3d/napkin/result",
"dining room": "background"
},
"quality": {
"table": "YES",
"red cup": "YES",
"tray": "YES",
"plate": "YES",
"napkin": "YES"
},
"position": {
"franka": [
-0.3848,
0,
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0.0,
0.0,
0.0,
-1.0
],
"dining room": [
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0,
0,
0.0,
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0.0,
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],
"table": [
0,
0,
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0,
0,
0,
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],
"tray": [
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0.5093,
0.0,
0.0,
0.9939,
0.1104
],
"plate": [
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0.5052,
0.0,
0.0,
0.9671,
-0.2546
],
"napkin": [
-0.068,
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0.513,
0.0,
0.0,
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],
"red cup": [
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0.0574,
0.5496,
0.0,
0.0,
0.4573,
-0.8893
]
}
} |