File size: 3,372 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": [
[
"conditioner tube",
"ON"
],
[
"soap dish",
"ON"
],
[
"purple sponge",
"ON"
],
[
"black mouse",
"ON"
]
]
},
"relation": {
"task_desc": "Put the blue conditioner tube on the white ceramic soap dish on the table.",
"task": "pick and place",
"robot": "franka",
"background": "ground",
"context": "table2",
"manipulated_objs": [
"conditioner tube",
"soap dish"
],
"distractor_objs": [
"purple sponge",
"black mouse"
]
},
"objs_desc": {
"ground": "simple flat grey ground plane",
"table2": "standalone table used for tabletop manipulation",
"conditioner tube": "tall blue conditioner tube",
"soap dish": "small white ceramic soap dish on a bamboo base",
"purple sponge": "rectangular purple cellulose sponge",
"black mouse": "black wired gaming mouse"
},
"objs_mapping": {
"ground": "background",
"table2": "context",
"conditioner tube": "manipulated_objs",
"soap dish": "manipulated_objs",
"purple sponge": "distractor_objs",
"black mouse": "distractor_objs"
},
"assets": {
"table2": "asset3d/table2/result",
"conditioner tube": "asset3d/conditioner_tube/result",
"soap dish": "asset3d/soap_dish/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",
"conditioner tube": "YES",
"soap dish": "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,
0.7092,
0.0,
0.7051
],
"table2": [
0.0,
0.0,
0.4024008,
0.0,
0.0,
0.0,
1.0
],
"soap dish": [
0.0724,
0.1743,
0.8047784,
0.0,
0.0,
0.8496,
-0.5274
],
"black mouse": [
0.0495,
-0.108,
0.8047992,
0.0,
0.0,
0.3577,
0.9339
],
"purple sponge": [
0.2249,
0.0711,
0.8048281,
0.0,
0.0,
0.1361,
0.9907
],
"conditioner tube": [
-0.0925,
0.1668,
0.8048374,
0.0,
0.0,
0.1443,
0.9895
]
}
}
|