File size: 3,596 Bytes
3750955 |
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{
"tree": {
"living room": [
[
"wooden striped table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"wooden striped table": [
[
"yellow cup",
"ON"
],
[
"wooden tray",
"ON"
],
[
"book",
"ON"
],
[
"remote control",
"ON"
]
]
},
"relation": {
"task_desc": "Put the yellow cup on the wooden tray on the wooden striped table.",
"task": "pick and place",
"robot": "franka",
"background": "living room",
"context": "wooden striped table",
"manipulated_objs": [
"yellow cup",
"wooden tray"
],
"distractor_objs": [
"book",
"remote control"
]
},
"objs_desc": {
"living room": "bright minimalist living room with beige walls and a soft cream area rug",
"wooden striped table": "standalone varnished pine table with polished striped surface and empty top",
"yellow cup": "vibrant yellow ceramic cup with smooth glossy finish and rounded edges",
"wooden tray": "light oak serving tray with natural grain texture and slight edge lip",
"book": "hardcover book with faded navy cover and subtle gold embossed lettering",
"remote control": "sleek black plastic remote control with matte finish and slightly worn buttons"
},
"objs_mapping": {
"living room": "background",
"wooden striped table": "context",
"yellow cup": "manipulated_objs",
"wooden tray": "manipulated_objs",
"book": "distractor_objs",
"remote control": "distractor_objs"
},
"assets": {
"wooden striped table": "asset3d/wooden_striped_table/result",
"yellow cup": "asset3d/yellow_cup/result",
"wooden tray": "asset3d/wooden_tray/result",
"book": "asset3d/book/result",
"remote control": "asset3d/remote_control/result",
"living room": "background"
},
"quality": {
"wooden striped table": "YES",
"yellow cup": "YES",
"wooden tray": "YES",
"book": "YES",
"remote control": "YES"
},
"position": {
"franka": [
-0.3867,
0,
0.6596,
0.0,
0.0,
0.0,
-1.0
],
"living room": [
0,
0,
0,
0.0,
0.7341,
0.0,
-0.6791
],
"wooden striped table": [
0,
0,
0.327,
0,
0,
0,
1
],
"wooden tray": [
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-0.1981,
0.675,
0.0,
0.0,
0.9601,
0.2795
],
"remote control": [
-0.1025,
0.1803,
0.6781,
0.0,
0.0,
0.9461,
-0.3239
],
"book": [
-0.0989,
0.0115,
0.6786,
0.0,
0.0,
0.6404,
-0.768
],
"yellow cup": [
0.1141,
0.2677,
0.709,
0.0,
0.0,
0.6432,
-0.7657
]
}
} |