File size: 3,386 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": [
[
"table4",
"FLOOR"
],
[
"franka",
"IN"
]
],
"table4": [
[
"red butter dish",
"ON"
],
[
"salad plate",
"ON"
],
[
"porcelain tray",
"ON"
],
[
"windup dog",
"ON"
]
]
},
"relation": {
"task_desc": "Put the red square butter dish on the turquoise round plate on the table.",
"task": "pick and place",
"robot": "franka",
"background": "ground",
"context": "table4",
"manipulated_objs": [
"red butter dish",
"salad plate"
],
"distractor_objs": [
"porcelain tray",
"windup dog"
]
},
"objs_desc": {
"ground": "simple flat grey ground plane",
"table4": "standalone table used for tabletop manipulation",
"red butter dish": "small glossy red square butter dish",
"salad plate": "turquoise round ceramic salad plate",
"porcelain tray": "white rectangular porcelain serving tray",
"windup dog": "small white wind-up dog toy"
},
"objs_mapping": {
"ground": "background",
"table4": "context",
"red butter dish": "manipulated_objs",
"salad plate": "manipulated_objs",
"porcelain tray": "distractor_objs",
"windup dog": "distractor_objs"
},
"assets": {
"table4": "asset3d/table4/result",
"red butter dish": "asset3d/red_butter_dish/result",
"salad plate": "asset3d/salad_plate/result",
"porcelain tray": "asset3d/porcelain_tray/result",
"windup dog": "asset3d/windup_dog/result"
},
"quality": {
"ground": "N/A: logical ground plane provided by SAPIEN",
"table4": "YES",
"red butter dish": "YES",
"salad plate": "YES",
"porcelain tray": "YES",
"windup dog": "YES"
},
"position": {
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0.0,
0.0,
-1.0
],
"ground": [
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],
"table4": [
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],
"porcelain tray": [
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0.0,
0.0,
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],
"salad plate": [
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0.0,
0.0,
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],
"red butter dish": [
-0.3514,
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0.8246199,
0.0,
0.0,
0.8242,
0.5664
],
"windup dog": [
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0.0,
0.0,
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]
}
}
|