File size: 3,428 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": [
[
"table2",
"FLOOR"
],
[
"franka",
"IN"
]
],
"table2": [
[
"white spoon rest",
"ON"
],
[
"porcelain tray",
"ON"
],
[
"purple sponge",
"ON"
],
[
"black mouse",
"ON"
]
]
},
"relation": {
"task_desc": "Put the white porcelain spoon rest on the white rectangular porcelain tray on the table.",
"task": "pick and place",
"robot": "franka",
"background": "ground",
"context": "table2",
"manipulated_objs": [
"white spoon rest",
"porcelain tray"
],
"distractor_objs": [
"purple sponge",
"black mouse"
]
},
"objs_desc": {
"ground": "simple flat grey ground plane",
"table2": "standalone table used for tabletop manipulation",
"white spoon rest": "long white porcelain spoon rest",
"porcelain tray": "white rectangular porcelain serving tray",
"purple sponge": "rectangular purple cellulose sponge",
"black mouse": "black wired gaming mouse"
},
"objs_mapping": {
"ground": "background",
"table2": "context",
"white spoon rest": "manipulated_objs",
"porcelain tray": "manipulated_objs",
"purple sponge": "distractor_objs",
"black mouse": "distractor_objs"
},
"assets": {
"table2": "asset3d/table2/result",
"white spoon rest": "asset3d/white_spoon_rest/result",
"porcelain tray": "asset3d/porcelain_tray/result",
"purple sponge": "asset3d/purple_sponge/result",
"black mouse": "asset3d/black_mouse/result"
},
"quality": {
"ground": "N/A: logical ground plane provided by SAPIEN",
"table2": "YES",
"white spoon rest": "YES",
"porcelain tray": "YES",
"purple sponge": "YES",
"black mouse": "YES"
},
"position": {
"franka": [
-0.5149,
0.0,
0.8009008,
0.0,
0.0,
0.0,
-1.0
],
"ground": [
0.0,
0.0,
0.0,
0.0,
0.3968,
0.0,
-0.9179
],
"table2": [
0.0,
0.0,
0.4024008,
0.0,
0.0,
0.0,
1.0
],
"porcelain tray": [
-0.1797,
-0.1657,
0.8048317,
0.0,
0.0,
0.7682,
0.6402
],
"white spoon rest": [
-0.0642,
0.0802,
0.8048494,
0.0,
0.0,
0.9668,
-0.2556
],
"black mouse": [
-0.354,
0.1722,
0.8047992,
0.0,
0.0,
0.9613,
0.2757
],
"purple sponge": [
0.3092,
0.0118,
0.8048281,
0.0,
0.0,
0.5514,
0.8342
]
}
}
|