File size: 3,458 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": [
[
"brown letter holder",
"ON"
],
[
"ruby ring plate",
"ON"
],
[
"purple sponge",
"ON"
],
[
"black mouse",
"ON"
]
]
},
"relation": {
"task_desc": "Put the brown desk letter holder on the white plate with red rings on the table.",
"task": "pick and place",
"robot": "franka",
"background": "ground",
"context": "table2",
"manipulated_objs": [
"brown letter holder",
"ruby ring plate"
],
"distractor_objs": [
"purple sponge",
"black mouse"
]
},
"objs_desc": {
"ground": "simple flat grey ground plane",
"table2": "standalone table used for tabletop manipulation",
"brown letter holder": "dark brown upright desk letter holder",
"ruby ring plate": "white ceramic dinner plate with red rings",
"purple sponge": "rectangular purple cellulose sponge",
"black mouse": "black wired gaming mouse"
},
"objs_mapping": {
"ground": "background",
"table2": "context",
"brown letter holder": "manipulated_objs",
"ruby ring plate": "manipulated_objs",
"purple sponge": "distractor_objs",
"black mouse": "distractor_objs"
},
"assets": {
"table2": "asset3d/table2/result",
"brown letter holder": "asset3d/brown_letter_holder/result",
"ruby ring plate": "asset3d/ruby_ring_plate/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",
"brown letter holder": "YES",
"ruby ring plate": "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,
0.1735,
0.0,
-0.9848
],
"table2": [
0.0,
0.0,
0.4024008,
0.0,
0.0,
0.0,
1.0
],
"ruby ring plate": [
0.0938,
0.272,
0.8048384,
0.0,
0.0,
0.5693,
0.8221
],
"brown letter holder": [
0.1219,
-0.112,
0.8048677,
0.0,
0.0,
0.9936,
0.1125
],
"black mouse": [
0.0261,
-0.364,
0.8047992,
0.0,
0.0,
0.9297,
-0.3684
],
"purple sponge": [
-0.2072,
-0.1126,
0.8048281,
0.0,
0.0,
0.9671,
-0.2545
]
}
}
|