File size: 3,744 Bytes
dc70f43 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 | {
"tree": {
"ground": [
[
"table_08",
"FLOOR"
],
[
"franka",
"IN"
]
],
"table_08": [
[
"bottle_opener",
"ON"
],
[
"target_0018_tray",
"ON"
],
[
"distractor_0018_0_diffuser_bottle",
"ON"
],
[
"distractor_0018_1_vase",
"ON"
]
]
},
"relation": {
"task_desc": "Put the green bottle opener on the tray on the table.",
"task": "pick and place",
"robot": "franka",
"background": "ground",
"context": "table_08",
"manipulated_objs": [
"bottle_opener",
"target_0018_tray"
],
"distractor_objs": [
"distractor_0018_0_diffuser_bottle",
"distractor_0018_1_vase"
]
},
"objs_desc": {
"ground": "simple flat grey ground plane",
"table_08": "standalone table used for tabletop manipulation",
"bottle_opener": "olive green metal bottle opener with hanging loop handle",
"target_0018_tray": "shallow square tray with rounded corners and colorful floral top",
"distractor_0018_0_diffuser_bottle": "rounded white diffuser bottle with short neck and golden cap",
"distractor_0018_1_vase": "tall, slender purple vase with a flared rim"
},
"objs_mapping": {
"ground": "background",
"table_08": "context",
"bottle_opener": "manipulated_objs",
"target_0018_tray": "manipulated_objs",
"distractor_0018_0_diffuser_bottle": "distractor_objs",
"distractor_0018_1_vase": "distractor_objs"
},
"assets": {
"table_08": "asset3d/table_08/result",
"bottle_opener": "asset3d/bottle_opener/result",
"target_0018_tray": "asset3d/target_0018_tray/result",
"distractor_0018_0_diffuser_bottle": "asset3d/distractor_0018_0_diffuser_bottle/result",
"distractor_0018_1_vase": "asset3d/distractor_0018_1_vase/result"
},
"quality": {
"ground": "N/A: logical ground plane provided by SAPIEN",
"table_08": "YES",
"bottle_opener": "YES",
"target_0018_tray": "YES",
"distractor_0018_0_diffuser_bottle": "YES",
"distractor_0018_1_vase": "YES"
},
"position": {
"franka": [
-0.4591,
0.0,
0.7469822,
0.0,
0.0,
0.0,
-1.0
],
"ground": [
0.0,
0.0,
0.0,
0.0,
0.8272,
0.0,
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],
"table_08": [
0.0,
0.0,
0.3742822,
0.0,
0.0,
0.0,
1.0
],
"target_0018_tray": [
0.1495,
0.085,
0.7647642,
0.0,
0.0,
0.9003,
-0.4352
],
"distractor_0018_0_diffuser_bottle": [
-0.1895,
0.4776,
0.7988231,
0.0,
0.0,
0.0125,
-0.9999
],
"bottle_opener": [
0.1732,
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0.7561739,
0.0,
0.0,
0.7445,
0.6676
],
"distractor_0018_1_vase": [
-0.2189,
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0.0,
0.0,
0.7602,
0.6497
]
}
}
|