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graphics_asset_layout_v2/task_0004/asset3d/table1/result/mesh/table1_collision.obj

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+

graphics_asset_layout_v2/task_0004/asset3d/turquoise_bowl/result/mesh/material.mtl

@@ -0,0 +1,12 @@
+# Copyright 2020 Google LLC.
+# 
+# This work is licensed under the Creative Commons Attribution 4.0
+# International License. To view a copy of this license, visit
+# http://creativecommons.org/licenses/by/4.0/ or send a letter
+# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
+newmtl material_0
+# shader_type beckmann
+map_Kd texture.png
+
+# Kd: Diffuse reflectivity.
+Kd 1.000000 1.000000 1.000000

graphics_asset_layout_v2/task_0004/asset3d/turquoise_bowl/result/source.json

@@ -0,0 +1,37 @@
+{
+  "conversion": {
+    "input_coordinate_system": "z-up",
+    "output_coordinate_system": "y-up",
+    "rotation_rpy_radians": [
+      -1.5707963267948966,
+      0.0,
+      0.0
+    ],
+    "scale": 1.0
+  },
+  "dataset": "Google Scanned Objects",
+  "license": "Creative Commons Attribution 4.0 International",
+  "mesh": {
+    "extents": [
+      0.156887,
+      0.082566,
+      0.157221
+    ],
+    "faces": 5112,
+    "maximum": [
+      0.078409,
+      0.082592,
+      0.078628
+    ],
+    "minimum": [
+      -0.078478,
+      2.6e-05,
+      -0.078593
+    ],
+    "vertices": 2558
+  },
+  "source_archive": "Room_Essentials_Bowl_Turquiose.zip",
+  "source_archive_sha256": "6eb64260335468ecaf21d8b6d5b20fedbaf1b75800af2b33121ceccb2462b4c9",
+  "source_description": "Room Essentials Bowl, Turquiose",
+  "source_name": "Room_Essentials_Bowl_Turquiose"
+}

graphics_asset_layout_v2/task_0004/asset3d/turquoise_bowl/result/turquoise_bowl.urdf

@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="turquoise_bowl">
+   <link name="turquoise_bowl">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/turquoise_bowl.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/turquoise_bowl_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2360" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <version>v2.0.0</version>
+         <category>bowl</category>
+         <description>visually reviewed turquoise bowl based on Room Essentials Bowl, Turquiose</description>
+         <min_height>0.082566</min_height>
+         <max_height>0.082566</max_height>
+         <real_height>0.082566</real_height>
+         <min_mass>0.2360</min_mass>
+         <max_mass>0.2360</max_mass>
+         <generate_time>20241108123138</generate_time>
+         <gs_model />
+         <source_center>-0.00003450 0.04130900 0.00001750</source_center>
+         <source_archive>Room_Essentials_Bowl_Turquiose.zip</source_archive>
+         <source_license>Creative Commons Attribution 4.0 International</source_license>
+      </extra_info>
+   </link>
+</robot>

graphics_asset_layout_v2/task_0005/asset3d/blue_bowl_1/result/blue_bowl_1.urdf

@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="blue_bowl_1">
+   <link name="blue_bowl_1">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/blue_bowl_1.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/blue_bowl_1_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1720" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <version>v2.0.0</version>
+         <category>bowl</category>
+         <description>visually reviewed blue bowl 1 based on Cole Hardware Bowl Scirocco, Yellow/Blue</description>
+         <min_height>0.061865</min_height>
+         <max_height>0.061865</max_height>
+         <real_height>0.061865</real_height>
+         <min_mass>0.1720</min_mass>
+         <max_mass>0.1720</max_mass>
+         <generate_time>20241108121954</generate_time>
+         <gs_model />
+         <source_center>0.00001600 0.03090550 -0.00001100</source_center>
+         <source_archive>Cole_Hardware_Bowl_Scirocco_YellowBlue.zip</source_archive>
+         <source_license>Creative Commons Attribution 4.0 International</source_license>
+      </extra_info>
+   </link>
+</robot>

graphics_asset_layout_v2/task_0005/asset3d/blue_bowl_1/result/mesh/material.mtl

@@ -0,0 +1,12 @@
+# Copyright 2020 Google LLC.
+# 
+# This work is licensed under the Creative Commons Attribution 4.0
+# International License. To view a copy of this license, visit
+# http://creativecommons.org/licenses/by/4.0/ or send a letter
+# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
+newmtl material_0
+# shader_type beckmann
+map_Kd texture.png
+
+# Kd: Diffuse reflectivity.
+Kd 1.000000 1.000000 1.000000

graphics_asset_layout_v2/task_0005/asset3d/blue_bowl_1/result/source.json

@@ -0,0 +1,37 @@
+{
+  "conversion": {
+    "input_coordinate_system": "z-up",
+    "output_coordinate_system": "y-up",
+    "rotation_rpy_radians": [
+      -1.5707963267948966,
+      0.0,
+      0.0
+    ],
+    "scale": 1.0
+  },
+  "dataset": "Google Scanned Objects",
+  "license": "Creative Commons Attribution 4.0 International",
+  "mesh": {
+    "extents": [
+      0.113488,
+      0.061864999999999996,
+      0.114898
+    ],
+    "faces": 10342,
+    "maximum": [
+      0.05676,
+      0.061838,
+      0.057438
+    ],
+    "minimum": [
+      -0.056728,
+      -2.7e-05,
+      -0.05746
+    ],
+    "vertices": 5173
+  },
+  "source_archive": "Cole_Hardware_Bowl_Scirocco_YellowBlue.zip",
+  "source_archive_sha256": "d737c2e152a1f4f4054d91015bc0204eb9acd455eedeb95bd0e37152846483b6",
+  "source_description": "Cole Hardware Bowl Scirocco, Yellow/Blue",
+  "source_name": "Cole_Hardware_Bowl_Scirocco_YellowBlue"
+}

graphics_asset_layout_v2/task_0005/asset3d/glazed_plant_saucer/result/glazed_plant_saucer.urdf

@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glazed_plant_saucer">
+   <link name="glazed_plant_saucer">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/glazed_plant_saucer.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/glazed_plant_saucer_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3430" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <version>v2.0.0</version>
+         <category>plate</category>
+         <description>visually reviewed glazed plant saucer based on Cole Hardware Plant Saucer, Glazed, 9\"</description>
+         <min_height>0.036971</min_height>
+         <max_height>0.036971</max_height>
+         <real_height>0.036971</real_height>
+         <min_mass>0.3430</min_mass>
+         <max_mass>0.3430</max_mass>
+         <generate_time>20241108122012</generate_time>
+         <gs_model />
+         <source_center>0.00004550 0.01841150 0.00000800</source_center>
+         <source_archive>Cole_Hardware_Plant_Saucer_Glazed_9.zip</source_archive>
+         <source_license>Creative Commons Attribution 4.0 International</source_license>
+      </extra_info>
+   </link>
+</robot>

graphics_asset_layout_v2/task_0005/asset3d/glazed_plant_saucer/result/mesh/material.mtl

@@ -0,0 +1,12 @@
+# Copyright 2020 Google LLC.
+# 
+# This work is licensed under the Creative Commons Attribution 4.0
+# International License. To view a copy of this license, visit
+# http://creativecommons.org/licenses/by/4.0/ or send a letter
+# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
+newmtl material_0
+# shader_type beckmann
+map_Kd texture.png
+
+# Kd: Diffuse reflectivity.
+Kd 1.000000 1.000000 1.000000

graphics_asset_layout_v2/task_0005/asset3d/glazed_plant_saucer/result/source.json

@@ -0,0 +1,37 @@
+{
+  "conversion": {
+    "input_coordinate_system": "z-up",
+    "output_coordinate_system": "y-up",
+    "rotation_rpy_radians": [
+      -1.5707963267948966,
+      0.0,
+      0.0
+    ],
+    "scale": 1.0
+  },
+  "dataset": "Google Scanned Objects",
+  "license": "Creative Commons Attribution 4.0 International",
+  "mesh": {
+    "extents": [
+      0.228571,
+      0.036971,
+      0.228736
+    ],
+    "faces": 4126,
+    "maximum": [
+      0.114331,
+      0.036897,
+      0.114376
+    ],
+    "minimum": [
+      -0.11424,
+      -7.4e-05,
+      -0.11436
+    ],
+    "vertices": 2065
+  },
+  "source_archive": "Cole_Hardware_Plant_Saucer_Glazed_9.zip",
+  "source_archive_sha256": "aece0b1a6ef46d34c44be2a8991478be3912c85264fe53a17203507e5f97a395",
+  "source_description": "Cole Hardware Plant Saucer, Glazed, 9\\",
+  "source_name": "Cole_Hardware_Plant_Saucer_Glazed_9"
+}

graphics_asset_layout_v2/task_0005/asset3d/peanut_butter_candy_box/result/mesh/material.mtl

@@ -0,0 +1,12 @@
+# Copyright 2020 Google LLC.
+# 
+# This work is licensed under the Creative Commons Attribution 4.0
+# International License. To view a copy of this license, visit
+# http://creativecommons.org/licenses/by/4.0/ or send a letter
+# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
+newmtl material_0
+# shader_type beckmann
+map_Kd texture.png
+
+# Kd: Diffuse reflectivity.
+Kd 1.000000 1.000000 1.000000

graphics_asset_layout_v2/task_0005/asset3d/peanut_butter_candy_box/result/peanut_butter_candy_box.urdf

@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="peanut_butter_candy_box">
+   <link name="peanut_butter_candy_box">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/peanut_butter_candy_box.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/peanut_butter_candy_box_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2460" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <version>v2.0.0</version>
+         <category>box</category>
+         <description>visually reviewed peanut butter candy box based on Crunch Girl Scouts Candy Bars, Peanut Butter Creme - 7.8 oz box</description>
+         <min_height>0.163966</min_height>
+         <max_height>0.163966</max_height>
+         <real_height>0.163966</real_height>
+         <min_mass>0.2460</min_mass>
+         <max_mass>0.2460</max_mass>
+         <generate_time>20241108122049</generate_time>
+         <gs_model />
+         <source_center>-0.00001000 0.08200100 -0.00039500</source_center>
+         <source_archive>Crunch_Girl_Scouts_Candy_Bars_Peanut_Butter_Creme_78_oz_box.zip</source_archive>
+         <source_license>Creative Commons Attribution 4.0 International</source_license>
+      </extra_info>
+   </link>
+</robot>

graphics_asset_layout_v2/task_0005/asset3d/peanut_butter_candy_box/result/source.json

@@ -0,0 +1,37 @@
+{
+  "conversion": {
+    "input_coordinate_system": "z-up",
+    "output_coordinate_system": "y-up",
+    "rotation_rpy_radians": [
+      -1.5707963267948966,
+      0.0,
+      0.0
+    ],
+    "scale": 1.0
+  },
+  "dataset": "Google Scanned Objects",
+  "license": "Creative Commons Attribution 4.0 International",
+  "mesh": {
+    "extents": [
+      0.13863399999999998,
+      0.163966,
+      0.063154
+    ],
+    "faces": 3682,
+    "maximum": [
+      0.069307,
+      0.163984,
+      0.031182
+    ],
+    "minimum": [
+      -0.069327,
+      1.8e-05,
+      -0.031972
+    ],
+    "vertices": 1843
+  },
+  "source_archive": "Crunch_Girl_Scouts_Candy_Bars_Peanut_Butter_Creme_78_oz_box.zip",
+  "source_archive_sha256": "ec11e90b299e4b63cdb682a588aabb24f0fc8b987d4b4a4c35b58f3159566693",
+  "source_description": "Crunch Girl Scouts Candy Bars, Peanut Butter Creme - 7.8 oz box",
+  "source_name": "Crunch_Girl_Scouts_Candy_Bars_Peanut_Butter_Creme_78_oz_box"
+}

graphics_asset_layout_v2/task_0005/asset3d/pot_2/result/mesh/material.mtl

@@ -0,0 +1,12 @@
+# Copyright 2020 Google LLC.
+# 
+# This work is licensed under the Creative Commons Attribution 4.0
+# International License. To view a copy of this license, visit
+# http://creativecommons.org/licenses/by/4.0/ or send a letter
+# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
+newmtl material_0
+# shader_type beckmann
+map_Kd texture.png
+
+# Kd: Diffuse reflectivity.
+Kd 1.000000 1.000000 1.000000

graphics_asset_layout_v2/task_0005/asset3d/pot_2/result/pot_2.urdf

@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pot_2">
+   <link name="pot_2">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pot_2.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pot_2_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2140" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <version>v2.0.0</version>
+         <category>pot</category>
+         <description>visually reviewed pot 2 based on Cole Hardware Electric Pot, Assortment, 5.5\"</description>
+         <min_height>0.127985</min_height>
+         <max_height>0.127985</max_height>
+         <real_height>0.127985</real_height>
+         <min_mass>0.2140</min_mass>
+         <max_mass>0.2140</max_mass>
+         <generate_time>20241108122003</generate_time>
+         <gs_model />
+         <source_center>0.00003500 0.06399050 0.00002650</source_center>
+         <source_archive>Cole_Hardware_Electric_Pot_Assortment_55.zip</source_archive>
+         <source_license>Creative Commons Attribution 4.0 International</source_license>
+      </extra_info>
+   </link>
+</robot>

graphics_asset_layout_v2/task_0005/asset3d/pot_2/result/source.json

@@ -0,0 +1,37 @@
+{
+  "conversion": {
+    "input_coordinate_system": "z-up",
+    "output_coordinate_system": "y-up",
+    "rotation_rpy_radians": [
+      -1.5707963267948966,
+      0.0,
+      0.0
+    ],
+    "scale": 1.0
+  },
+  "dataset": "Google Scanned Objects",
+  "license": "Creative Commons Attribution 4.0 International",
+  "mesh": {
+    "extents": [
+      0.142984,
+      0.12798500000000002,
+      0.140571
+    ],
+    "faces": 8752,
+    "maximum": [
+      0.071527,
+      0.127983,
+      0.070312
+    ],
+    "minimum": [
+      -0.071457,
+      -2e-06,
+      -0.070259
+    ],
+    "vertices": 4376
+  },
+  "source_archive": "Cole_Hardware_Electric_Pot_Assortment_55.zip",
+  "source_archive_sha256": "bd861a3e015273b53a13701cf4dc2005640a1d25bf038adabcafbaaa7a7ae3c9",
+  "source_description": "Cole Hardware Electric Pot, Assortment, 5.5\\",
+  "source_name": "Cole_Hardware_Electric_Pot_Assortment_55"
+}

graphics_asset_layout_v2/task_0005/asset3d/table2/result/mesh/material.mtl

@@ -0,0 +1,7 @@
+newmtl material_0
+Ka 1.0 1.0 1.0
+Kd 1.0 1.0 1.0
+Ks 0.0 0.0 0.0
+Ns 1.0
+illum 2
+map_Kd texture.png

graphics_asset_layout_v2/task_0005/asset3d/table2/result/table2.urdf

@@ -0,0 +1,40 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="table2">
+   <link name="table2">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/table2.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/table2_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="10.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <version>v2.0.0</version>
+         <category>table</category>
+         <description>table2</description>
+         <min_height>0.804799</min_height>
+         <max_height>0.804799</max_height>
+         <real_height>0.804799</real_height>
+         <min_mass>10.0</min_mass>
+         <max_mass>10.0</max_mass>
+         <generate_time>20260805160427</generate_time>
+         <gs_model />
+         <source_center>0.00000000 0.40238357 0.00000000</source_center>
+      </extra_info>
+   </link>
+</robot>

graphics_asset_layout_v2/task_0005/layout.json

@@ -0,0 +1,143 @@
+{
+    "tree": {
+        "ground": [
+            [
+                "table2",
+                "FLOOR"
+            ],
+            [
+                "franka",
+                "IN"
+            ]
+        ],
+        "table2": [
+            [
+                "peanut butter candy box",
+                "ON"
+            ],
+            [
+                "glazed plant saucer",
+                "ON"
+            ],
+            [
+                "blue bowl 1",
+                "ON"
+            ],
+            [
+                "pot 2",
+                "ON"
+            ]
+        ]
+    },
+    "relation": {
+        "task_desc": "Put the yellow box on the brown plate on the table.",
+        "task": "pick and place",
+        "robot": "franka",
+        "background": "ground",
+        "context": "table2",
+        "manipulated_objs": [
+            "peanut butter candy box",
+            "glazed plant saucer"
+        ],
+        "distractor_objs": [
+            "blue bowl 1",
+            "pot 2"
+        ]
+    },
+    "objs_desc": {
+        "ground": "simple flat grey ground plane",
+        "table2": "standalone table used for tabletop manipulation",
+        "peanut butter candy box": "visually reviewed peanut butter candy box based on Crunch Girl Scouts Candy Bars, Peanut Butter Creme - 7.8 oz box",
+        "glazed plant saucer": "visually reviewed glazed plant saucer based on Cole Hardware Plant Saucer, Glazed, 9\\\"",
+        "blue bowl 1": "visually reviewed blue bowl 1 based on Cole Hardware Bowl Scirocco, Yellow/Blue",
+        "pot 2": "visually reviewed pot 2 based on Cole Hardware Electric Pot, Assortment, 5.5\\\""
+    },
+    "objs_mapping": {
+        "ground": "background",
+        "table2": "context",
+        "peanut butter candy box": "manipulated_objs",
+        "glazed plant saucer": "manipulated_objs",
+        "blue bowl 1": "distractor_objs",
+        "pot 2": "distractor_objs"
+    },
+    "assets": {
+        "table2": "asset3d/table2/result",
+        "peanut butter candy box": "asset3d/peanut_butter_candy_box/result",
+        "glazed plant saucer": "asset3d/glazed_plant_saucer/result",
+        "blue bowl 1": "asset3d/blue_bowl_1/result",
+        "pot 2": "asset3d/pot_2/result"
+    },
+    "quality": {
+        "ground": "N/A: logical ground plane provided by SAPIEN",
+        "table2": "YES",
+        "peanut butter candy box": "YES",
+        "glazed plant saucer": "YES",
+        "blue bowl 1": "YES",
+        "pot 2": "YES"
+    },
+    "position": {
+        "franka": [
+            0.3259,
+            0.3994,
+            0.8009008,
+            0.0,
+            0.0,
+            0.9034,
+            -0.4288
+        ],
+        "ground": [
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0132,
+            0.0,
+            -0.9999
+        ],
+        "table2": [
+            0.0,
+            0.0,
+            0.4024008,
+            0.0,
+            0.0,
+            0.6533134,
+            0.7570876
+        ],
+        "glazed plant saucer": [
+            0.1546,
+            0.0056,
+            0.8048764,
+            0.0,
+            0.0,
+            0.1887,
+            0.982
+        ],
+        "pot 2": [
+            0.3983,
+            0.1981,
+            0.8048044,
+            0.0,
+            0.0,
+            0.5763,
+            0.8172
+        ],
+        "peanut butter candy box": [
+            0.1982,
+            0.2008,
+            0.8047844,
+            0.0,
+            0.0,
+            0.1607,
+            -0.987
+        ],
+        "blue bowl 1": [
+            -0.0044,
+            -0.2076,
+            0.8048294,
+            0.0,
+            0.0,
+            0.7817,
+            -0.6237
+        ]
+    }
+}

graphics_asset_layout_v2/task_0005/validation.json

@@ -0,0 +1,33 @@
+{
+  "asset_cache_assets": 4,
+  "asset_cache_hits": 4,
+  "placement_attempts": 1,
+  "placement_seed": 63507,
+  "position_keys": [
+    "blue bowl 1",
+    "franka",
+    "glazed plant saucer",
+    "ground",
+    "peanut butter candy box",
+    "pot 2",
+    "table2"
+  ],
+  "support_alignment": {
+    "object_shifts": {
+      "blue bowl 1": 0.013429377611502424,
+      "glazed plant saucer": 0.01377638716183538,
+      "peanut butter candy box": 0.01328435236189085,
+      "pot 2": 0.013504372542479604
+    },
+    "table_shift": 0.009200806135688189
+  },
+  "support_errors": {
+    "blue bowl 1": 2.8524185902156773e-08,
+    "glazed plant saucer": 1.8973852933257263e-08,
+    "peanut butter candy box": 5.377379741489108e-08,
+    "pot 2": 3.359320865925497e-08
+  },
+  "table_bottom": -6.135688179753629e-09,
+  "table_top": 0.8048023219242775,
+  "video_bytes": 52719
+}

graphics_asset_layout_v2/task_0006/asset3d/blue_cup/result/blue_cup.urdf

@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="blue_cup">
+   <link name="blue_cup">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/blue_cup.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/blue_cup_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2480" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <version>v2.0.0</version>
+         <category>cup</category>
+         <description>visually reviewed blue cup based on Cole Hardware Mug, Classic Blue</description>
+         <min_height>0.094769</min_height>
+         <max_height>0.094769</max_height>
+         <real_height>0.094769</real_height>
+         <min_mass>0.2480</min_mass>
+         <max_mass>0.2480</max_mass>
+         <generate_time>20241108122009</generate_time>
+         <gs_model />
+         <source_center>-0.00002100 0.04737050 0.00217300</source_center>
+         <source_archive>Cole_Hardware_Mug_Classic_Blue.zip</source_archive>
+         <source_license>Creative Commons Attribution 4.0 International</source_license>
+      </extra_info>
+   </link>
+</robot>

graphics_asset_layout_v2/task_0006/asset3d/blue_cup/result/mesh/material.mtl

@@ -0,0 +1,12 @@
+# Copyright 2020 Google LLC.
+# 
+# This work is licensed under the Creative Commons Attribution 4.0
+# International License. To view a copy of this license, visit
+# http://creativecommons.org/licenses/by/4.0/ or send a letter
+# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
+newmtl material_0
+# shader_type beckmann
+map_Kd texture.png
+
+# Kd: Diffuse reflectivity.
+Kd 1.000000 1.000000 1.000000

graphics_asset_layout_v2/task_0006/asset3d/blue_cup/result/source.json

@@ -0,0 +1,37 @@
+{
+  "conversion": {
+    "input_coordinate_system": "z-up",
+    "output_coordinate_system": "y-up",
+    "rotation_rpy_radians": [
+      -1.5707963267948966,
+      0.0,
+      0.0
+    ],
+    "scale": 1.0
+  },
+  "dataset": "Google Scanned Objects",
+  "license": "Creative Commons Attribution 4.0 International",
+  "mesh": {
+    "extents": [
+      0.16566199999999998,
+      0.094769,
+      0.12553999999999998
+    ],
+    "faces": 8716,
+    "maximum": [
+      0.08281,
+      0.094755,
+      0.064943
+    ],
+    "minimum": [
+      -0.082852,
+      -1.4e-05,
+      -0.060597
+    ],
+    "vertices": 4358
+  },
+  "source_archive": "Cole_Hardware_Mug_Classic_Blue.zip",
+  "source_archive_sha256": "077446e8c3509a48dae63f2d5e67a1dfe086e794b2facb552a26b890c725bd26",
+  "source_description": "Cole Hardware Mug, Classic Blue",
+  "source_name": "Cole_Hardware_Mug_Classic_Blue"
+}

graphics_asset_layout_v2/task_0006/asset3d/caramel_candy_box/result/caramel_candy_box.urdf

@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="caramel_candy_box">
+   <link name="caramel_candy_box">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/caramel_candy_box.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/caramel_candy_box_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2450" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <version>v2.0.0</version>
+         <category>box</category>
+         <description>visually reviewed caramel candy box based on Nestl\357\277\275 Crunch Girl Scouts Cookie Flavors, Caramel &amp; Coconut - 7.8 oz box</description>
+         <min_height>0.163043</min_height>
+         <max_height>0.163043</max_height>
+         <real_height>0.163043</real_height>
+         <min_mass>0.2450</min_mass>
+         <max_mass>0.2450</max_mass>
+         <generate_time>20241108122646</generate_time>
+         <gs_model />
+         <source_center>0.00005000 0.08151950 -0.00001250</source_center>
+         <source_archive>Nestl_Crunch_Girl_Scouts_Cookie_Flavors_Caramel_Coconut_78_oz_box.zip</source_archive>
+         <source_license>Creative Commons Attribution 4.0 International</source_license>
+      </extra_info>
+   </link>
+</robot>

graphics_asset_layout_v2/task_0006/asset3d/caramel_candy_box/result/mesh/material.mtl

@@ -0,0 +1,12 @@
+# Copyright 2020 Google LLC.
+# 
+# This work is licensed under the Creative Commons Attribution 4.0
+# International License. To view a copy of this license, visit
+# http://creativecommons.org/licenses/by/4.0/ or send a letter
+# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
+newmtl material_0
+# shader_type beckmann
+map_Kd texture.png
+
+# Kd: Diffuse reflectivity.
+Kd 1.000000 1.000000 1.000000

graphics_asset_layout_v2/task_0006/asset3d/caramel_candy_box/result/source.json

@@ -0,0 +1,37 @@
+{
+  "conversion": {
+    "input_coordinate_system": "z-up",
+    "output_coordinate_system": "y-up",
+    "rotation_rpy_radians": [
+      -1.5707963267948966,
+      0.0,
+      0.0
+    ],
+    "scale": 1.0
+  },
+  "dataset": "Google Scanned Objects",
+  "license": "Creative Commons Attribution 4.0 International",
+  "mesh": {
+    "extents": [
+      0.13946599999999998,
+      0.163043,
+      0.061267
+    ],
+    "faces": 3320,
+    "maximum": [
+      0.069783,
+      0.163041,
+      0.030621
+    ],
+    "minimum": [
+      -0.069683,
+      -2e-06,
+      -0.030646
+    ],
+    "vertices": 1662
+  },
+  "source_archive": "Nestl_Crunch_Girl_Scouts_Cookie_Flavors_Caramel_Coconut_78_oz_box.zip",
+  "source_archive_sha256": "94f9d132320385149c4acc06c4765710946c76f430518754a7f8e152d322cb23",
+  "source_description": "Nestl\\357\\277\\275 Crunch Girl Scouts Cookie Flavors, Caramel & Coconut - 7.8 oz box",
+  "source_name": "Nestl_Crunch_Girl_Scouts_Cookie_Flavors_Caramel_Coconut_78_oz_box"
+}

graphics_asset_layout_v2/task_0006/asset3d/pot_3/result/mesh/material.mtl

@@ -0,0 +1,12 @@
+# Copyright 2020 Google LLC.
+# 
+# This work is licensed under the Creative Commons Attribution 4.0
+# International License. To view a copy of this license, visit
+# http://creativecommons.org/licenses/by/4.0/ or send a letter
+# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
+newmtl material_0
+# shader_type beckmann
+map_Kd texture.png
+
+# Kd: Diffuse reflectivity.
+Kd 1.000000 1.000000 1.000000

graphics_asset_layout_v2/task_0006/asset3d/pot_3/result/pot_3.urdf

@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pot_3">
+   <link name="pot_3">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pot_3.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pot_3_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2130" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <version>v2.0.0</version>
+         <category>pot</category>
+         <description>visually reviewed pot 3 based on Cole Hardware Electric Pot, Cabana, 5.5\"</description>
+         <min_height>0.130056</min_height>
+         <max_height>0.130056</max_height>
+         <real_height>0.130056</real_height>
+         <min_mass>0.2130</min_mass>
+         <max_mass>0.2130</max_mass>
+         <generate_time>20241108122004</generate_time>
+         <gs_model />
+         <source_center>-0.00000600 0.06501200 0.00003500</source_center>
+         <source_archive>Cole_Hardware_Electric_Pot_Cabana_55.zip</source_archive>
+         <source_license>Creative Commons Attribution 4.0 International</source_license>
+      </extra_info>
+   </link>
+</robot>

graphics_asset_layout_v2/task_0006/asset3d/pot_3/result/source.json

@@ -0,0 +1,37 @@
+{
+  "conversion": {
+    "input_coordinate_system": "z-up",
+    "output_coordinate_system": "y-up",
+    "rotation_rpy_radians": [
+      -1.5707963267948966,
+      0.0,
+      0.0
+    ],
+    "scale": 1.0
+  },
+  "dataset": "Google Scanned Objects",
+  "license": "Creative Commons Attribution 4.0 International",
+  "mesh": {
+    "extents": [
+      0.14166800000000002,
+      0.13005599999999998,
+      0.141934
+    ],
+    "faces": 7674,
+    "maximum": [
+      0.070828,
+      0.13004,
+      0.071002
+    ],
+    "minimum": [
+      -0.07084,
+      -1.6e-05,
+      -0.070932
+    ],
+    "vertices": 3837
+  },
+  "source_archive": "Cole_Hardware_Electric_Pot_Cabana_55.zip",
+  "source_archive_sha256": "3f98e449878117af6420303ab03aa03a65bb5541dbe1886b37562f6c4f285b11",
+  "source_description": "Cole Hardware Electric Pot, Cabana, 5.5\\",
+  "source_name": "Cole_Hardware_Electric_Pot_Cabana_55"
+}

graphics_asset_layout_v2/task_0006/asset3d/square_white_plate/result/mesh/material.mtl

@@ -0,0 +1,12 @@
+# Copyright 2020 Google LLC.
+# 
+# This work is licensed under the Creative Commons Attribution 4.0
+# International License. To view a copy of this license, visit
+# http://creativecommons.org/licenses/by/4.0/ or send a letter
+# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
+newmtl material_0
+# shader_type beckmann
+map_Kd texture.png
+
+# Kd: Diffuse reflectivity.
+Kd 1.000000 1.000000 1.000000