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test.yml
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test.yml
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annotator_notes: Put clothes in the white laundry basket and toys in the plastic storage box. Pick and place clothes, pick and toss toys.
seen_objects: [shirt, toy car, toy block, sock]
seen_placements: [
[shirt, white laundry basket],
[toy car, plastic storage box],
[toy block, plastic storage box],
[sock, white laundry basket],
]
seen_primitives: [
[shirt, place],
[toy car, toss],
[toy block, toss],
[sock, place],
]
unseen_objects: [blue jeans, red shirt, toy cup, toy fork]
unseen_placements: [
[blue jeans, white laundry basket],
[red shirt, white laundry basket],
[toy cup, plastic storage box],
[toy fork, plastic storage box],
]
receptacles:
white laundry basket:
position: [0.0, 0.0]
dimensions: [0.44, 0.44]
primitive_names: [place, toss]
place_height: 0.3
# seagrass laundry basket:
# position: [0.0, 0.0]
# dimensions: [0.60, 0.46]
# primitive_names: [place, toss]
# place_height: 0.3
# trash can:
# position: [0.0, 0.0]
# dimensions: [0.296, 0.215]
# primitive_names: [place, toss]
# place_height: 0.1
# recycling bin:
# position: [0.0, 0.0]
# dimensions: [0.293, 0.203]
# primitive_names: [place, toss]
# place_height: 0.1
plastic storage box:
#position: [0.0, 0.0]
position: [0.610, 0.0] # 0.0254*24
dimensions: [0.333, 0.245]
primitive_names: [place, toss]
place_height: -0.05
# black storage box:
# position: [0.0, 0.0]
# dimensions: [0.38, 0.33]
# primitive_names: [place, toss]
# place_height: 0.12
# coffee table:
# position: [-0.160, 1.189] # 0.9/2 - 0.0254*24, 0.0254*36 + 0.55/2
# dimensions: [0.9, 0.55]
# primitive_names: [place]
# center_offset: [0.0, -0.15]
# end_effector_offset: 0.55
# place_height: 0.165
# chair:
# position: [0.0, 0.0]
# dimensions: [0.58, 0.58]
# primitive_names: [place]
# center_offset: [0.0, 0.0]
# end_effector_offset: 0.55
# place_height: 0.3
# sofa:
# position: [0.0, 0.150] # 0.91/2 - 0.0254*12
# dimensions: [1.87, 0.91]
# primitive_names: [place]
# center_offset: [0.0, -0.17]
# end_effector_offset: 0.55
# place_height: 0.25
# left shelf:
# position: [-0.15, 0.453]
# dimensions: [0.912, 0.296]
# primitive_names: [place]
# center_offset: [-0.30, -0.148]
# end_effector_offset: 0.75
# middle shelf:
# position: [-0.15, 0.453] # 0.0254*12 + 0.296/2
# dimensions: [0.912, 0.296]
# primitive_names: [place]
# center_offset: [0.0, -0.148] # 0.296/2
# end_effector_offset: 0.75
# right shelf:
# position: [-0.15, 0.453]
# dimensions: [0.912, 0.296]
# primitive_names: [place]
# center_offset: [0.30, -0.148]
# end_effector_offset: 0.75
# drawer:
# position: [0.0, 0.501] # 0.0254*12 + 0.392/2
# dimensions: [0.764, 0.392]
# primitive_names: [place]
# center_offset: [-0.182, -0.196] # 0.392/2
# end_effector_offset: 0.80