File size: 3,434 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": [
[
"black boat shoe",
"ON"
],
[
"porcelain tray",
"ON"
],
[
"purple sponge",
"ON"
],
[
"black mouse",
"ON"
]
]
},
"relation": {
"task_desc": "Put the black leather boat shoe on the white rectangular porcelain tray on the table.",
"task": "pick and place",
"robot": "franka",
"background": "ground",
"context": "table2",
"manipulated_objs": [
"black boat shoe",
"porcelain tray"
],
"distractor_objs": [
"purple sponge",
"black mouse"
]
},
"objs_desc": {
"ground": "simple flat grey ground plane",
"table2": "standalone table used for tabletop manipulation",
"black boat shoe": "single black leather boat shoe with tan stitching",
"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",
"black boat shoe": "manipulated_objs",
"porcelain tray": "manipulated_objs",
"purple sponge": "distractor_objs",
"black mouse": "distractor_objs"
},
"assets": {
"table2": "asset3d/table2/result",
"black boat shoe": "asset3d/black_boat_shoe/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",
"black boat shoe": "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,
0.7038,
0.0,
0.7104
],
"table2": [
0.0,
0.0,
0.4024008,
0.0,
0.0,
0.0,
1.0
],
"porcelain tray": [
0.0542,
0.0956,
0.8048317,
0.0,
0.0,
0.9611,
0.2762
],
"black boat shoe": [
-0.188,
-0.1501,
0.8047858,
0.0,
0.0,
0.9877,
0.1565
],
"black mouse": [
-0.0036,
-0.4166,
0.8047992,
0.0,
0.0,
0.396,
-0.9182
],
"purple sponge": [
-0.0695,
0.3442,
0.8048281,
0.0,
0.0,
0.7296,
0.6839
]
}
}
|