graphics_asset_layout/task_0003/layout.json

{
    "tree": {
        "ground": [
            [
                "table3",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table3": [
            [
                "green tape roll",
                "ON"
            ],
            [
                "salad plate",
                "ON"
            ],
            [
                "gold sprinkles bottle",
                "ON"
            ],
            [
                "cereal bowl",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the green tape roll on the turquoise round plate on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table3",
        "manipulated_objs": [
            "green tape roll",
            "salad plate"
        ],
        "distractor_objs": [
            "gold sprinkles bottle",
            "cereal bowl"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table3": "standalone table used for tabletop manipulation",
        "green tape roll": "flat green vinyl tape roll",
        "salad plate": "turquoise round ceramic salad 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",
        "green tape roll": "manipulated_objs",
        "salad plate": "manipulated_objs",
        "gold sprinkles bottle": "distractor_objs",
        "cereal bowl": "distractor_objs"
    },
    "assets": {
        "table3": "asset3d/table3/result",
        "green tape roll": "asset3d/green_tape_roll/result",
        "salad plate": "asset3d/salad_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",
        "green tape roll": "YES",
        "salad 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,
            0.3303,
            0.0,
            -0.9439
        ],
        "table3": [
            0.0,
            0.0,
            0.3759163,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "salad plate": [
            -0.3545,
            0.0619,
            0.7518676,
            0.0,
            0.0,
            0.5326,
            -0.8464
        ],
        "cereal bowl": [
            0.3685,
            -0.2834,
            0.7518657,
            0.0,
            0.0,
            0.3318,
            0.9433
        ],
        "green tape roll": [
            -0.1551,
            -0.1403,
            0.7518237,
            0.0,
            0.0,
            0.8639,
            0.5037
        ],
        "gold sprinkles bottle": [
            -0.5937,
            -0.1026,
            0.7518507,
            0.0,
            0.0,
            0.1306,
            0.9914
        ]
    }
}