File size: 3,287 Bytes
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{
"tree": {
"office": [
[
"table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"table": [
[
"pen",
"ON"
],
[
"pen holder",
"ON"
],
[
"book",
"ON"
],
[
"lamp",
"ON"
]
]
},
"relation": {
"task_desc": "Put the pen in the pen holder on the table.",
"task": "pick and place",
"robot": "franka",
"background": "office",
"context": "table",
"manipulated_objs": [
"pen",
"pen holder"
],
"distractor_objs": [
"book",
"lamp"
]
},
"objs_desc": {
"office": "sleek professional office with neutral tones and polished wooden flooring",
"table": "standalone black steel-framed table with smooth walnut top, clean and empty",
"pen": "shiny silver ballpoint pen with smooth metal finish and a dark blue grip",
"pen holder": "round ceramic pen holder with matte white glaze and a single slot for pens",
"book": "hardcover book with textured maroon cover and embossed gold lettering on the spine",
"lamp": "modern desk lamp with matte black body and an adjustable arm, emitting soft white light"
},
"objs_mapping": {
"office": "background",
"table": "context",
"pen": "manipulated_objs",
"pen holder": "manipulated_objs",
"book": "distractor_objs",
"lamp": "distractor_objs"
},
"assets": {
"table": "asset3d/table/result",
"pen": "asset3d/pen/result",
"pen holder": "asset3d/pen_holder/result",
"book": "asset3d/book/result",
"lamp": "asset3d/lamp/result",
"office": "background"
},
"quality": {
"table": "YES",
"pen": "YES",
"pen holder": "YES",
"book": "YES",
"lamp": "YES"
},
"position": {
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0.0,
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],
"office": [
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],
"table": [
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],
"lamp": [
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],
"pen holder": [
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0.0,
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],
"pen": [
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],
"book": [
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0.0,
0.0,
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]
}
} |