File size: 3,472 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": [
[
"green turtle toy",
"ON"
],
[
"ruby ring plate",
"ON"
],
[
"coffee mug",
"ON"
],
[
"green tape roll",
"ON"
]
]
},
"relation": {
"task_desc": "Put the green rolling turtle toy on the white plate with red rings on the table.",
"task": "pick and place",
"robot": "franka",
"background": "ground",
"context": "table1",
"manipulated_objs": [
"green turtle toy",
"ruby ring plate"
],
"distractor_objs": [
"coffee mug",
"green tape roll"
]
},
"objs_desc": {
"ground": "simple flat grey ground plane",
"table1": "standalone table used for tabletop manipulation",
"green turtle toy": "green rolling turtle toy with colorful buttons",
"ruby ring plate": "white ceramic dinner plate with red rings",
"coffee mug": "red ceramic coffee mug with white decorative pattern",
"green tape roll": "flat green vinyl tape roll"
},
"objs_mapping": {
"ground": "background",
"table1": "context",
"green turtle toy": "manipulated_objs",
"ruby ring plate": "manipulated_objs",
"coffee mug": "distractor_objs",
"green tape roll": "distractor_objs"
},
"assets": {
"table1": "asset3d/table1/result",
"green turtle toy": "asset3d/green_turtle_toy/result",
"ruby ring plate": "asset3d/ruby_ring_plate/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",
"green turtle toy": "YES",
"ruby ring plate": "YES",
"coffee mug": "YES",
"green tape roll": "YES"
},
"position": {
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],
"ground": [
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],
"table1": [
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],
"ruby ring plate": [
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],
"green turtle toy": [
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],
"green tape roll": [
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0.0,
0.0,
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],
"coffee mug": [
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0.0,
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]
}
}
|