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AssetsLayouts

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AssetsLayouts
File size: 3,565 Bytes
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{
    "tree": {
        "ground": [
            [
                "table3",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table3": [
            [
                "turquoise plant pot",
                "ON"
            ],
            [
                "white square plate",
                "ON"
            ],
            [
                "gold sprinkles bottle",
                "ON"
            ],
            [
                "cereal bowl",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the turquoise plant pot on the white square porcelain plate on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table3",
        "manipulated_objs": [
            "turquoise plant pot",
            "white square plate"
        ],
        "distractor_objs": [
            "gold sprinkles bottle",
            "cereal bowl"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table3": "standalone table used for tabletop manipulation",
        "turquoise plant pot": "round turquoise tapered plant pot",
        "white square plate": "white square porcelain dinner plate",
        "gold sprinkles bottle": "small clear bottle of gold sugar sprinkles",
        "cereal bowl": "white ceramic cereal bowl with a textured exterior"
    },
    "objs_mapping": {
        "ground": "background",
        "table3": "context",
        "turquoise plant pot": "manipulated_objs",
        "white square plate": "manipulated_objs",
        "gold sprinkles bottle": "distractor_objs",
        "cereal bowl": "distractor_objs"
    },
    "assets": {
        "table3": "asset3d/table3/result",
        "turquoise plant pot": "asset3d/turquoise_plant_pot/result",
        "white square plate": "asset3d/white_square_plate/result",
        "gold sprinkles bottle": "asset3d/gold_sprinkles_bottle/result",
        "cereal bowl": "asset3d/cereal_bowl/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table3": "YES",
        "turquoise plant pot": "YES",
        "white square plate": "YES",
        "gold sprinkles bottle": "YES",
        "cereal bowl": "YES"
    },
    "position": {
        "franka": [
            -0.6682,
            0.0,
            0.7516163,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "ground": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.1208,
            0.0,
            0.9927
        ],
        "table3": [
            0.0,
            0.0,
            0.3759163,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "white square plate": [
            -0.2277,
            0.1116,
            0.7518788,
            0.0,
            0.0,
            0.2871,
            0.9579
        ],
        "turquoise plant pot": [
            -0.091,
            -0.3007,
            0.7518786,
            0.0,
            0.0,
            0.6372,
            -0.7707
        ],
        "cereal bowl": [
            0.3803,
            0.0981,
            0.7518657,
            0.0,
            0.0,
            0.0436,
            0.999
        ],
        "gold sprinkles bottle": [
            0.3309,
            0.4147,
            0.7518507,
            0.0,
            0.0,
            0.9141,
            -0.4055
        ]
    }
}