File size: 3,416 Bytes
e26fc51 | 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": [
[
"table1",
"FLOOR"
],
[
"franka",
"IN"
]
],
"table1": [
[
"red airplane",
"ON"
],
[
"porcelain tray",
"ON"
],
[
"coffee mug",
"ON"
],
[
"green tape roll",
"ON"
]
]
},
"relation": {
"task_desc": "Put the red toy airplane on the white rectangular porcelain tray on the table.",
"task": "pick and place",
"robot": "franka",
"background": "ground",
"context": "table1",
"manipulated_objs": [
"red airplane",
"porcelain tray"
],
"distractor_objs": [
"coffee mug",
"green tape roll"
]
},
"objs_desc": {
"ground": "simple flat grey ground plane",
"table1": "standalone table used for tabletop manipulation",
"red airplane": "red toy airplane with wide wings",
"porcelain tray": "white rectangular porcelain serving tray",
"coffee mug": "red ceramic coffee mug with white decorative pattern",
"green tape roll": "flat green vinyl tape roll"
},
"objs_mapping": {
"ground": "background",
"table1": "context",
"red airplane": "manipulated_objs",
"porcelain tray": "manipulated_objs",
"coffee mug": "distractor_objs",
"green tape roll": "distractor_objs"
},
"assets": {
"table1": "asset3d/table1/result",
"red airplane": "asset3d/red_airplane/result",
"porcelain tray": "asset3d/porcelain_tray/result",
"coffee mug": "asset3d/coffee_mug/result",
"green tape roll": "asset3d/green_tape_roll/result"
},
"quality": {
"ground": "N/A: logical ground plane provided by SAPIEN",
"table1": "YES",
"red airplane": "YES",
"porcelain tray": "YES",
"coffee mug": "YES",
"green tape roll": "YES"
},
"position": {
"franka": [
-0.4778,
0.0,
0.7980644,
0.0,
0.0,
0.0,
-1.0
],
"ground": [
0.0,
0.0,
0.0,
0.0,
0.9619,
0.0,
-0.2733
],
"table1": [
0.0,
0.0,
0.3990644,
0.0,
0.0,
0.0,
1.0
],
"porcelain tray": [
-0.1791,
0.0982,
0.7981579,
0.0,
0.0,
0.3342,
-0.9425
],
"red airplane": [
0.0593,
-0.269,
0.7982147,
0.0,
0.0,
0.3158,
-0.9488
],
"green tape roll": [
-0.3783,
-0.1725,
0.7981196,
0.0,
0.0,
0.1125,
0.9937
],
"coffee mug": [
0.398,
-0.1552,
0.7981566,
0.0,
0.0,
0.5468,
-0.8372
]
}
}
|