| [ | |
| { | |
| "scene_name": "RANDOM_SCENE", | |
| "folder": "clutterbench/benchmarks/random_clutter/random_level_1", | |
| "task_id": 1, | |
| "task_language": "Reach the white bowl on the table", | |
| "workspace_name": "kitchen_table", | |
| "object_matrix": [ | |
| ["butter"], | |
| ["tomato_sauce"], | |
| ["orange_juice"], | |
| ["ketchup"], | |
| ["none"], | |
| ["none"] | |
| ], | |
| "target_object": "white_bowl", | |
| "ring_radii": [0.10], | |
| "target_position": [0.00, 0.00], | |
| "OBJECT_POSES": { | |
| "white_bowl": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]}, | |
| "butter": {"offset": [0.01, 0.04], "rotation": [0.0, 0.0, 0.0]}, | |
| "tomato_sauce": {"offset": [0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "orange_juice": {"offset": [0.00, -0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "ketchup": {"offset": [-0.01, 0.00], "rotation": [1.57, 0.0, 1.57]} | |
| } | |
| }, | |
| { | |
| "scene_name": "RANDOM_SCENE", | |
| "folder": "clutterbench/benchmarks/random_clutter/random_level_1", | |
| "task_id": 2, | |
| "task_language": "Reach the white bowl on the table", | |
| "workspace_name": "kitchen_table", | |
| "object_matrix": [ | |
| ["butter"], | |
| ["tomato_sauce"], | |
| ["orange_juice"], | |
| ["ketchup"], | |
| ["none"], | |
| ["none"] | |
| ], | |
| "target_object": "white_bowl", | |
| "ring_radii": [0.10], | |
| "target_position": [0.00, 0.12], | |
| "OBJECT_POSES": { | |
| "white_bowl": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]}, | |
| "butter": {"offset": [0.01, 0.04], "rotation": [0.0, 0.0, 0.0]}, | |
| "tomato_sauce": {"offset": [0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "orange_juice": {"offset": [0.00, -0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "ketchup": {"offset": [-0.01, 0.00], "rotation": [1.57, 0.0, 1.57]} | |
| } | |
| }, | |
| { | |
| "scene_name": "RANDOM_SCENE", | |
| "folder": "clutterbench/benchmarks/random_clutter/random_level_1", | |
| "task_id": 3, | |
| "task_language": "Reach the white bowl on the table", | |
| "workspace_name": "kitchen_table", | |
| "object_matrix": [ | |
| ["butter"], | |
| ["tomato_sauce"], | |
| ["orange_juice"], | |
| ["ketchup"], | |
| ["none"], | |
| ["none"] | |
| ], | |
| "target_object": "white_bowl", | |
| "ring_radii": [0.10], | |
| "target_position": [0.00, -0.12], | |
| "OBJECT_POSES": { | |
| "white_bowl": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]}, | |
| "butter": {"offset": [0.01, 0.04], "rotation": [0.0, 0.0, 0.0]}, | |
| "tomato_sauce": {"offset": [0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "orange_juice": {"offset": [0.00, -0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "ketchup": {"offset": [-0.01, 0.00], "rotation": [1.57, 0.0, 1.57]} | |
| } | |
| }, | |
| { | |
| "scene_name": "RANDOM_SCENE", | |
| "folder": "clutterbench/benchmarks/random_clutter/random_level_1", | |
| "task_id": 4, | |
| "task_language": "Reach the white bowl on the table", | |
| "workspace_name": "kitchen_table", | |
| "object_matrix": [ | |
| ["butter"], | |
| ["tomato_sauce"], | |
| ["orange_juice"], | |
| ["ketchup"], | |
| ["none"], | |
| ["none"] | |
| ], | |
| "target_object": "white_bowl", | |
| "ring_radii": [0.10], | |
| "target_position": [-0.12, 0.00], | |
| "OBJECT_POSES": { | |
| "white_bowl": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]}, | |
| "butter": {"offset": [0.01, 0.04], "rotation": [0.0, 0.0, 0.0]}, | |
| "tomato_sauce": {"offset": [0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "orange_juice": {"offset": [0.00, -0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "ketchup": {"offset": [-0.01, 0.00], "rotation": [1.57, 0.0, 1.57]} | |
| } | |
| }, | |
| { | |
| "scene_name": "RANDOM_SCENE", | |
| "folder": "clutterbench/benchmarks/random_clutter/random_level_1", | |
| "task_id": 5, | |
| "task_language": "Reach the white bowl on the table", | |
| "workspace_name": "kitchen_table", | |
| "object_matrix": [ | |
| ["butter"], | |
| ["tomato_sauce"], | |
| ["orange_juice"], | |
| ["ketchup"], | |
| ["none"], | |
| ["none"] | |
| ], | |
| "target_object": "white_bowl", | |
| "ring_radii": [0.10], | |
| "target_position": [0.12, 0.00], | |
| "OBJECT_POSES": { | |
| "white_bowl": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]}, | |
| "butter": {"offset": [0.01, 0.04], "rotation": [0.0, 0.0, 0.0]}, | |
| "tomato_sauce": {"offset": [0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "orange_juice": {"offset": [0.00, -0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "ketchup": {"offset": [-0.01, 0.00], "rotation": [1.57, 0.0, 1.57]} | |
| } | |
| }, | |
| { | |
| "scene_name": "RANDOM_SCENE", | |
| "folder": "clutterbench/benchmarks/random_clutter/random_level_2", | |
| "task_id": 1, | |
| "task_language": "Reach the white bowl on the table", | |
| "workspace_name": "kitchen_table", | |
| "object_matrix": [ | |
| ["cream_cheese", "none"], | |
| ["orange_juice", "ketchup"], | |
| ["milk", "tomato_sauce"], | |
| ["salad_dressing", "none"], | |
| ["none", "none"], | |
| ["none", "none"] | |
| ], | |
| "target_object": "white_bowl", | |
| "ring_radii": [0.10, 0.20], | |
| "target_position": [0.00, 0.00], | |
| "OBJECT_POSES": { | |
| "white_bowl": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]}, | |
| "milk": {"offset": [-0.01, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "tomato_sauce": {"offset": [0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "orange_juice": {"offset": [0.00, -0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "ketchup": {"offset": [-0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "cream_cheese": {"offset": [0.00, 0.01], "rotation": [0.0, 0.0, 0.0]}, | |
| "salad_dressing": {"offset": [0.01, 0.00], "rotation": [1.57, 0.0, 1.57]} | |
| } | |
| }, | |
| { | |
| "scene_name": "RANDOM_SCENE", | |
| "folder": "clutterbench/benchmarks/random_clutter/random_level_2", | |
| "task_id": 2, | |
| "task_language": "Reach the white bowl on the table", | |
| "workspace_name": "kitchen_table", | |
| "object_matrix": [ | |
| ["cream_cheese", "none"], | |
| ["orange_juice", "ketchup"], | |
| ["milk", "tomato_sauce"], | |
| ["salad_dressing", "none"], | |
| ["none", "none"], | |
| ["none", "none"] | |
| ], | |
| "target_object": "white_bowl", | |
| "ring_radii": [0.10, 0.20], | |
| "target_position": [0.00, 0.12], | |
| "OBJECT_POSES": { | |
| "white_bowl": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]}, | |
| "milk": {"offset": [-0.01, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "tomato_sauce": {"offset": [0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "orange_juice": {"offset": [0.00, -0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "ketchup": {"offset": [-0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "cream_cheese": {"offset": [0.00, 0.01], "rotation": [0.0, 0.0, 0.0]}, | |
| "salad_dressing": {"offset": [0.01, 0.00], "rotation": [1.57, 0.0, 1.57]} | |
| } | |
| }, | |
| { | |
| "scene_name": "RANDOM_SCENE", | |
| "folder": "clutterbench/benchmarks/random_clutter/random_level_2", | |
| "task_id": 3, | |
| "task_language": "Reach the white bowl on the table", | |
| "workspace_name": "kitchen_table", | |
| "object_matrix": [ | |
| ["cream_cheese", "none"], | |
| ["orange_juice", "ketchup"], | |
| ["milk", "tomato_sauce"], | |
| ["salad_dressing", "none"], | |
| ["none", "none"], | |
| ["none", "none"] | |
| ], | |
| "target_object": "white_bowl", | |
| "ring_radii": [0.10, 0.20], | |
| "target_position": [0.00, -0.12], | |
| "OBJECT_POSES": { | |
| "white_bowl": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]}, | |
| "milk": {"offset": [-0.01, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "tomato_sauce": {"offset": [0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "orange_juice": {"offset": [0.00, -0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "ketchup": {"offset": [-0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "cream_cheese": {"offset": [0.00, 0.01], "rotation": [0.0, 0.0, 0.0]}, | |
| "salad_dressing": {"offset": [0.01, 0.00], "rotation": [1.57, 0.0, 1.57]} | |
| } | |
| }, | |
| { | |
| "scene_name": "RANDOM_SCENE", | |
| "folder": "clutterbench/benchmarks/random_clutter/random_level_2", | |
| "task_id": 4, | |
| "task_language": "Reach the white bowl on the table", | |
| "workspace_name": "kitchen_table", | |
| "object_matrix": [ | |
| ["cream_cheese", "none"], | |
| ["orange_juice", "ketchup"], | |
| ["milk", "tomato_sauce"], | |
| ["salad_dressing", "none"], | |
| ["none", "none"], | |
| ["none", "none"] | |
| ], | |
| "target_object": "white_bowl", | |
| "ring_radii": [0.10, 0.20], | |
| "target_position": [-0.12, 0.00], | |
| "OBJECT_POSES": { | |
| "white_bowl": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]}, | |
| "milk": {"offset": [-0.01, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "tomato_sauce": {"offset": [0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "orange_juice": {"offset": [0.00, -0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "ketchup": {"offset": [-0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "cream_cheese": {"offset": [0.00, 0.01], "rotation": [0.0, 0.0, 0.0]}, | |
| "salad_dressing": {"offset": [0.01, 0.00], "rotation": [1.57, 0.0, 1.57]} | |
| } | |
| }, | |
| { | |
| "scene_name": "RANDOM_SCENE", | |
| "folder": "clutterbench/benchmarks/random_clutter/random_level_2", | |
| "task_id": 5, | |
| "task_language": "Reach the white bowl on the table", | |
| "workspace_name": "kitchen_table", | |
| "object_matrix": [ | |
| ["cream_cheese", "none"], | |
| ["orange_juice", "ketchup"], | |
| ["milk", "tomato_sauce"], | |
| ["salad_dressing", "none"], | |
| ["none", "none"], | |
| ["none", "none"] | |
| ], | |
| "target_object": "white_bowl", | |
| "ring_radii": [0.10, 0.20], | |
| "target_position": [0.12, 0.00], | |
| "OBJECT_POSES": { | |
| "white_bowl": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]}, | |
| "milk": {"offset": [-0.01, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "tomato_sauce": {"offset": [0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "orange_juice": {"offset": [0.00, -0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "ketchup": {"offset": [-0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "cream_cheese": {"offset": [0.00, 0.01], "rotation": [0.0, 0.0, 0.0]}, | |
| "salad_dressing": {"offset": [0.01, 0.00], "rotation": [1.57, 0.0, 1.57]} | |
| } | |
| }, | |
| { | |
| "scene_name": "RANDOM_SCENE", | |
| "folder": "clutterbench/benchmarks/random_clutter/random_level_3", | |
| "task_id": 1, | |
| "task_language": "Reach the white bowl on the table", | |
| "workspace_name": "kitchen_table", | |
| "object_matrix": [ | |
| ["cream_cheese", "none"], | |
| ["orange_juice", "none"], | |
| ["milk", "tomato_sauce"], | |
| ["salad_dressing", "ketchup"], | |
| ["none", "cookies"], | |
| ["none", "none"] | |
| ], | |
| "target_object": "white_bowl", | |
| "ring_radii": [0.10, 0.22], | |
| "target_position": [0.00, 0.00], | |
| "OBJECT_POSES": { | |
| "white_bowl": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]}, | |
| "milk": {"offset": [-0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "orange_juice": {"offset": [0.00, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "tomato_sauce": {"offset": [0.01, -0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "ketchup": {"offset": [0.00, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "salad_dressing": {"offset": [0.01, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "cream_cheese": {"offset": [0.00, -0.01], "rotation": [0.0, 0.0, 0.0]}, | |
| "white_yellow_mug": {"offset": [-0.01, 0.01], "rotation": [0.0, 0.0, 0.0]} | |
| } | |
| }, | |
| { | |
| "scene_name": "RANDOM_SCENE", | |
| "folder": "clutterbench/benchmarks/random_clutter/random_level_3", | |
| "task_id": 2, | |
| "task_language": "Reach the white bowl on the table", | |
| "workspace_name": "kitchen_table", | |
| "object_matrix": [ | |
| ["cream_cheese", "none"], | |
| ["orange_juice", "none"], | |
| ["milk", "tomato_sauce"], | |
| ["salad_dressing", "ketchup"], | |
| ["none", "cookies"], | |
| ["none", "none"] | |
| ], | |
| "target_object": "white_bowl", | |
| "ring_radii": [0.10, 0.22], | |
| "target_position": [0.00, 0.12], | |
| "OBJECT_POSES": { | |
| "white_bowl": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]}, | |
| "milk": {"offset": [-0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "orange_juice": {"offset": [0.00, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "tomato_sauce": {"offset": [0.01, -0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "ketchup": {"offset": [0.00, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "salad_dressing": {"offset": [0.01, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "cream_cheese": {"offset": [0.00, -0.01], "rotation": [0.0, 0.0, 0.0]}, | |
| "white_yellow_mug": {"offset": [-0.01, 0.01], "rotation": [0.0, 0.0, 0.0]} | |
| } | |
| }, | |
| { | |
| "scene_name": "RANDOM_SCENE", | |
| "folder": "clutterbench/benchmarks/random_clutter/random_level_3", | |
| "task_id": 3, | |
| "task_language": "Reach the white bowl on the table", | |
| "workspace_name": "kitchen_table", | |
| "object_matrix": [ | |
| ["cream_cheese", "none"], | |
| ["orange_juice", "none"], | |
| ["milk", "tomato_sauce"], | |
| ["salad_dressing", "ketchup"], | |
| ["none", "cookies"], | |
| ["none", "none"] | |
| ], | |
| "target_object": "white_bowl", | |
| "ring_radii": [0.10, 0.22], | |
| "target_position": [0.00, -0.12], | |
| "OBJECT_POSES": { | |
| "white_bowl": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]}, | |
| "milk": {"offset": [-0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "orange_juice": {"offset": [0.00, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "tomato_sauce": {"offset": [0.01, -0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "ketchup": {"offset": [0.00, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "salad_dressing": {"offset": [0.01, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "cream_cheese": {"offset": [0.00, -0.01], "rotation": [0.0, 0.0, 0.0]}, | |
| "white_yellow_mug": {"offset": [-0.01, 0.01], "rotation": [0.0, 0.0, 0.0]} | |
| } | |
| }, | |
| { | |
| "scene_name": "RANDOM_SCENE", | |
| "folder": "clutterbench/benchmarks/random_clutter/random_level_3", | |
| "task_id": 4, | |
| "task_language": "Reach the white bowl on the table", | |
| "workspace_name": "kitchen_table", | |
| "object_matrix": [ | |
| ["cream_cheese", "none"], | |
| ["orange_juice", "none"], | |
| ["milk", "tomato_sauce"], | |
| ["salad_dressing", "ketchup"], | |
| ["none", "cookies"], | |
| ["none", "none"] | |
| ], | |
| "target_object": "white_bowl", | |
| "ring_radii": [0.10, 0.22], | |
| "target_position": [-0.12, 0.00], | |
| "OBJECT_POSES": { | |
| "white_bowl": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]}, | |
| "milk": {"offset": [-0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "orange_juice": {"offset": [0.00, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "tomato_sauce": {"offset": [0.01, -0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "ketchup": {"offset": [0.00, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "salad_dressing": {"offset": [0.01, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "cream_cheese": {"offset": [0.00, -0.01], "rotation": [0.0, 0.0, 0.0]}, | |
| "white_yellow_mug": {"offset": [-0.01, 0.01], "rotation": [0.0, 0.0, 0.0]} | |
| } | |
| }, | |
| { | |
| "scene_name": "RANDOM_SCENE", | |
| "folder": "clutterbench/benchmarks/random_clutter/random_level_3", | |
| "task_id": 5, | |
| "task_language": "Reach the white bowl on the table", | |
| "workspace_name": "kitchen_table", | |
| "object_matrix": [ | |
| ["cream_cheese", "none"], | |
| ["orange_juice", "none"], | |
| ["milk", "tomato_sauce"], | |
| ["salad_dressing", "ketchup"], | |
| ["none", "cookies"], | |
| ["none", "none"] | |
| ], | |
| "target_object": "white_bowl", | |
| "ring_radii": [0.10, 0.22], | |
| "target_position": [0.12, 0.00], | |
| "OBJECT_POSES": { | |
| "white_bowl": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]}, | |
| "milk": {"offset": [-0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "orange_juice": {"offset": [0.00, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "tomato_sauce": {"offset": [0.01, -0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "ketchup": {"offset": [0.00, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "salad_dressing": {"offset": [0.01, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "cream_cheese": {"offset": [0.00, -0.01], "rotation": [0.0, 0.0, 0.0]}, | |
| "white_yellow_mug": {"offset": [-0.01, 0.01], "rotation": [0.0, 0.0, 0.0]} | |
| } | |
| }, | |
| { | |
| "scene_name": "RANDOM_SCENE", | |
| "folder": "clutterbench/benchmarks/random_clutter/random_level_4", | |
| "task_id": 1, | |
| "task_language": "Reach the white bowl on the table", | |
| "workspace_name": "kitchen_table", | |
| "object_matrix": [ | |
| ["cream_cheese", "none","none"], | |
| ["none", "butter","orange_juice"], | |
| ["milk", "butter","none"], | |
| ["salad_dressing", "none","none"], | |
| ["none", "none","tomato_sauce"], | |
| ["none", "none","butter"] | |
| ], | |
| "target_object": "white_bowl", | |
| "ring_radii": [0.10, 0.15,0.20], | |
| "target_position": [0.00, 0.00], | |
| "OBJECT_POSES": { | |
| "white_bowl": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]}, | |
| "milk": {"offset": [-0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "orange_juice": {"offset": [0.00, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "tomato_sauce": {"offset": [0.01, -0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "ketchup": {"offset": [-0.01, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "salad_dressing": {"offset": [0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "cream_cheese": {"offset": [0.00, -0.01], "rotation": [0.0, 0.0, 0.0]}, | |
| "white_yellow_mug": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]} | |
| } | |
| }, | |
| { | |
| "scene_name": "RANDOM_SCENE", | |
| "folder": "clutterbench/benchmarks/random_clutter/random_level_4", | |
| "task_id": 2, | |
| "task_language": "Reach the white bowl on the table", | |
| "workspace_name": "kitchen_table", | |
| "object_matrix": [ | |
| ["cream_cheese", "none","none"], | |
| ["none", "butter","orange_juice"], | |
| ["milk", "butter","none"], | |
| ["salad_dressing", "none","none"], | |
| ["none", "none","tomato_sauce"], | |
| ["none", "none","butter"] | |
| ], | |
| "target_object": "white_bowl", | |
| "ring_radii": [0.10, 0.15,0.20], | |
| "target_position": [0.00, 0.12], | |
| "OBJECT_POSES": { | |
| "white_bowl": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]}, | |
| "milk": {"offset": [-0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "orange_juice": {"offset": [0.00, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "tomato_sauce": {"offset": [0.01, -0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "ketchup": {"offset": [-0.01, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "salad_dressing": {"offset": [0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "cream_cheese": {"offset": [0.00, -0.01], "rotation": [0.0, 0.0, 0.0]}, | |
| "white_yellow_mug": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]} | |
| } | |
| }, | |
| { | |
| "scene_name": "RANDOM_SCENE", | |
| "folder": "clutterbench/benchmarks/random_clutter/random_level_4", | |
| "task_id": 3, | |
| "task_language": "Reach the white bowl on the table", | |
| "workspace_name": "kitchen_table", | |
| "object_matrix": [ | |
| ["cream_cheese", "none","none"], | |
| ["none", "butter","orange_juice"], | |
| ["milk", "butter","none"], | |
| ["salad_dressing", "none","none"], | |
| ["none", "none","tomato_sauce"], | |
| ["none", "none","butter"] | |
| ], | |
| "target_object": "white_bowl", | |
| "ring_radii": [0.10, 0.15,0.20], | |
| "target_position": [0.00, -0.12], | |
| "OBJECT_POSES": { | |
| "white_bowl": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]}, | |
| "milk": {"offset": [-0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "orange_juice": {"offset": [0.00, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "tomato_sauce": {"offset": [0.01, -0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "ketchup": {"offset": [-0.01, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "salad_dressing": {"offset": [0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "cream_cheese": {"offset": [0.00, -0.01], "rotation": [0.0, 0.0, 0.0]}, | |
| "white_yellow_mug": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]} | |
| } | |
| }, | |
| { | |
| "scene_name": "RANDOM_SCENE", | |
| "folder": "clutterbench/benchmarks/random_clutter/random_level_4", | |
| "task_id": 4, | |
| "task_language": "Reach the white bowl on the table", | |
| "workspace_name": "kitchen_table", | |
| "object_matrix": [ | |
| ["cream_cheese", "none","none"], | |
| ["none", "butter","orange_juice"], | |
| ["milk", "butter","none"], | |
| ["salad_dressing", "none","none"], | |
| ["none", "none","tomato_sauce"], | |
| ["none", "none","butter"] | |
| ], | |
| "target_object": "white_bowl", | |
| "ring_radii": [0.10, 0.15,0.20], | |
| "target_position": [-0.12, 0.00], | |
| "OBJECT_POSES": { | |
| "white_bowl": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]}, | |
| "milk": {"offset": [-0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "orange_juice": {"offset": [0.00, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "tomato_sauce": {"offset": [0.01, -0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "ketchup": {"offset": [-0.01, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "salad_dressing": {"offset": [0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "cream_cheese": {"offset": [0.00, -0.01], "rotation": [0.0, 0.0, 0.0]}, | |
| "white_yellow_mug": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]} | |
| } | |
| }, | |
| { | |
| "scene_name": "RANDOM_SCENE", | |
| "folder": "clutterbench/benchmarks/random_clutter/random_level_4", | |
| "task_id": 5, | |
| "task_language": "Reach the white bowl on the table", | |
| "workspace_name": "kitchen_table", | |
| "object_matrix": [ | |
| ["cream_cheese", "none","none"], | |
| ["none", "butter","orange_juice"], | |
| ["milk", "butter","none"], | |
| ["salad_dressing", "none","none"], | |
| ["none", "none","tomato_sauce"], | |
| ["none", "none","butter"] | |
| ], | |
| "target_object": "white_bowl", | |
| "ring_radii": [0.10, 0.15,0.20], | |
| "target_position": [0.12, 0.00], | |
| "OBJECT_POSES": { | |
| "white_bowl": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]}, | |
| "milk": {"offset": [-0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "orange_juice": {"offset": [0.00, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "tomato_sauce": {"offset": [0.01, -0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "ketchup": {"offset": [-0.01, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "salad_dressing": {"offset": [0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "cream_cheese": {"offset": [0.00, -0.01], "rotation": [0.0, 0.0, 0.0]}, | |
| "white_yellow_mug": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]} | |
| } | |
| }, | |
| { | |
| "scene_name": "RANDOM_SCENE", | |
| "folder": "clutterbench/benchmarks/random_clutter/random_level_5", | |
| "task_id": 1, | |
| "task_language": "Reach the white bowl on the table", | |
| "workspace_name": "kitchen_table", | |
| "object_matrix": [ | |
| ["cream_cheese", "none","none"], | |
| ["none", "butter","orange_juice"], | |
| ["milk", "butter","none"], | |
| ["salad_dressing", "none","none"], | |
| ["none", "none","tomato_sauce"], | |
| ["none", "none","butter"] | |
| ], | |
| "target_object": "white_bowl", | |
| "ring_radii": [0.10, 0.15,0.20], | |
| "target_position": [0.00, 0.00], | |
| "OBJECT_POSES": { | |
| "white_bowl": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]}, | |
| "milk": {"offset": [-0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "orange_juice": {"offset": [0.00, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "tomato_sauce": {"offset": [0.01, -0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "ketchup": {"offset": [-0.01, 0.01], "rotation": [1.57, 0.0, 1.57]}, | |
| "salad_dressing": {"offset": [0.01, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "cream_cheese": {"offset": [0.00, -0.01], "rotation": [0.0, 0.0, 0.0]}, | |
| "white_yellow_mug": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]} | |
| } | |
| }, | |
| { | |
| "scene_name": "RANDOM_SCENE", | |
| "folder": "clutterbench/benchmarks/random_clutter/random_level_5", | |
| "task_id": 2, | |
| "task_language": "Reach the white bowl on the table", | |
| "workspace_name": "kitchen_table", | |
| "object_matrix": [ | |
| ["tomato_sauce", "none","none"], | |
| ["wine_bottle", "butter","popcorn"], | |
| ["milk", "wine_bottle","none"], | |
| ["salad_dressing", "none","none"], | |
| ["bbq_sauce", "orange_juice","none"], | |
| ["none", "none","cream_cheese"] | |
| ], | |
| "target_object": "white_bowl", | |
| "ring_radii": [0.10, 0.20,0.30], | |
| "target_position": [0.00, 0.00], | |
| "OBJECT_POSES": { | |
| "white_bowl": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]}, | |
| "milk": {"offset": [-0.0, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "orange_juice": {"offset": [0.00, 0.0], "rotation": [1.57, 0.0, 1.57]}, | |
| "tomato_sauce": {"offset": [0.0, -0.0], "rotation": [1.57, 0.0, 1.57]}, | |
| "ketchup": {"offset": [-0.0, 0.0], "rotation": [1.57, 0.0, 1.57]}, | |
| "salad_dressing": {"offset": [0.0, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "cream_cheese": {"offset": [0.00, -0.0], "rotation": [0.0, 0.0, 0.0]}, | |
| "wine_bottle": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]} | |
| } | |
| }, | |
| { | |
| "scene_name": "RANDOM_SCENE", | |
| "folder": "clutterbench/benchmarks/random_clutter/random_level_5", | |
| "task_id": 3, | |
| "task_language": "Reach the white bowl on the table", | |
| "workspace_name": "kitchen_table", | |
| "object_matrix": [ | |
| ["tomato_sauce", "none","none"], | |
| ["wine_bottle", "butter","popcorn"], | |
| ["milk", "wine_bottle","none"], | |
| ["salad_dressing", "none","none"], | |
| ["bbq_sauce", "orange_juice","none"], | |
| ["none", "none","cream_cheese"] | |
| ], | |
| "target_object": "white_bowl", | |
| "ring_radii": [0.10, 0.20,0.30], | |
| "target_position": [0.00, 0.00], | |
| "OBJECT_POSES": { | |
| "white_bowl": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]}, | |
| "milk": {"offset": [-0.0, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "orange_juice": {"offset": [0.00, 0.0], "rotation": [1.57, 0.0, 1.57]}, | |
| "tomato_sauce": {"offset": [0.0, -0.0], "rotation": [1.57, 0.0, 1.57]}, | |
| "ketchup": {"offset": [-0.0, 0.0], "rotation": [1.57, 0.0, 1.57]}, | |
| "salad_dressing": {"offset": [0.0, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "cream_cheese": {"offset": [0.00, -0.0], "rotation": [0.0, 0.0, 0.0]}, | |
| "wine_bottle": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]} | |
| } | |
| }, | |
| { | |
| "scene_name": "RANDOM_SCENE", | |
| "folder": "clutterbench/benchmarks/random_clutter/random_level_5", | |
| "task_id": 4, | |
| "task_language": "Reach the white bowl on the table", | |
| "workspace_name": "kitchen_table", | |
| "object_matrix": [ | |
| ["tomato_sauce", "none","none"], | |
| ["wine_bottle", "butter","popcorn"], | |
| ["milk", "wine_bottle","none"], | |
| ["salad_dressing", "none","none"], | |
| ["bbq_sauce", "orange_juice","none"], | |
| ["none", "none","cream_cheese"] | |
| ], | |
| "target_object": "white_bowl", | |
| "ring_radii": [0.10, 0.20,0.30], | |
| "target_position": [0.00, 0.00], | |
| "OBJECT_POSES": { | |
| "white_bowl": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]}, | |
| "milk": {"offset": [-0.0, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "orange_juice": {"offset": [0.00, 0.0], "rotation": [1.57, 0.0, 1.57]}, | |
| "tomato_sauce": {"offset": [0.0, -0.0], "rotation": [1.57, 0.0, 1.57]}, | |
| "ketchup": {"offset": [-0.0, 0.0], "rotation": [1.57, 0.0, 1.57]}, | |
| "salad_dressing": {"offset": [0.0, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "cream_cheese": {"offset": [0.00, -0.0], "rotation": [0.0, 0.0, 0.0]}, | |
| "wine_bottle": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]} | |
| } | |
| }, | |
| { | |
| "scene_name": "RANDOM_SCENE", | |
| "folder": "clutterbench/benchmarks/random_clutter/random_level_5", | |
| "task_id": 5, | |
| "task_language": "Reach the white bowl on the table", | |
| "workspace_name": "kitchen_table", | |
| "object_matrix": [ | |
| ["tomato_sauce", "none","none"], | |
| ["wine_bottle", "butter","popcorn"], | |
| ["milk", "wine_bottle","none"], | |
| ["salad_dressing", "none","none"], | |
| ["bbq_sauce", "orange_juice","none"], | |
| ["none", "none","cream_cheese"] | |
| ], | |
| "target_object": "white_bowl", | |
| "ring_radii": [0.10, 0.20,0.30], | |
| "target_position": [0.00, 0.00], | |
| "OBJECT_POSES": { | |
| "white_bowl": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]}, | |
| "milk": {"offset": [-0.0, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "orange_juice": {"offset": [0.00, 0.0], "rotation": [1.57, 0.0, 1.57]}, | |
| "tomato_sauce": {"offset": [0.0, -0.0], "rotation": [1.57, 0.0, 1.57]}, | |
| "ketchup": {"offset": [-0.0, 0.0], "rotation": [1.57, 0.0, 1.57]}, | |
| "salad_dressing": {"offset": [0.0, 0.00], "rotation": [1.57, 0.0, 1.57]}, | |
| "cream_cheese": {"offset": [0.00, -0.0], "rotation": [0.0, 0.0, 0.0]}, | |
| "wine_bottle": {"offset": [0.00, 0.00], "rotation": [0.0, 0.0, 0.0]} | |
| } | |
| } | |
| ] | |