From 28817d5b12f148f1b6296cd28741da6436fb76dc Mon Sep 17 00:00:00 2001 From: Thomas Schellenberg Date: Mon, 11 Jan 2021 09:49:00 -0500 Subject: [PATCH] Added all new Eval 3 objects to JSON scene configuration SCHEMA docs. --- machine_common_sense/scenes/SCHEMA.md | 101 +++++++++++++++++--------- 1 file changed, 68 insertions(+), 33 deletions(-) diff --git a/machine_common_sense/scenes/SCHEMA.md b/machine_common_sense/scenes/SCHEMA.md index 260efb4a8..7e64976e1 100644 --- a/machine_common_sense/scenes/SCHEMA.md +++ b/machine_common_sense/scenes/SCHEMA.md @@ -291,44 +291,62 @@ Blocks have the `pickupable` and `receptacle` attributes by default. Use the [bl The following object types have the `pickupable` attribute by default. -| Object Type | Shape | Default Mass | Receptacle | Openable | Materials | -| --- | --- | --- | --- | --- | --- | -| `"apple_1"` | apple | 0.25 | | | none | -| `"apple_2"` | apple | 0.25 | | | none | -| `"ball"` | ball | 1 | | | block (blank), metal, plastic, rubber, wood | -| `"cake"` | cake | 0.5 | | | none | -| `"car_1"` | car | 0.5 | | | block (blank), wood | -| `"crayon_black"` | crayon | 0.125 | | | none | -| `"crayon_blue"` | crayon | 0.125 | | | none | -| `"crayon_green"` | crayon | 0.125 | | | none | -| `"crayon_pink"` | crayon | 0.125 | | | none | -| `"crayon_red"` | crayon | 0.125 | | | none | -| `"crayon_yellow"` | crayon | 0.125 | | | none | -| `"duck_on_wheels"` | duck | 0.5 | | | block (blank), wood | -| `"bowl_3"` | bowl | 0.25 | X | | metal, plastic, wood | -| `"bowl_4"` | bowl | 0.25 | X | | metal, plastic, wood | -| `"bowl_6"` | bowl | 0.25 | X | | metal, plastic, wood | -| `"cup_2"` | cup | 0.25 | X | | metal, plastic, wood | -| `"cup_3"` | cup | 0.25 | X | | metal, plastic, wood | -| `"cup_6"` | cup | 0.25 | X | | metal, plastic, wood | -| `"gift_box_1"` | box | 0.5 | X | X | cardboard | -| `"trophy"` | trophy | 0.5 | | | none | -| `"pacifier"` | pacifier | | 0.5 | | none | -| `"plate_1"` | plate | 0.25 | X | | metal, plastic, wood | -| `"plate_3"` | plate | 0.25 | X | | metal, plastic, wood | -| `"plate_4"` | plate | 0.25 | X | | metal, plastic, wood | -| `"racecar_red"` | car | 0.5 | | | block (blank), wood | -| `"suitcase_1"` | box | 5 | X | X | metal, plastic | -| `"turtle_on_wheels"` | turtle | | | 0.5 | block (blank), wood | +| Object Type | Shape | Default Mass | Receptacle | Openable | Materials | Details | +| --- | --- | --- | --- | --- | --- | --- | +| `"apple_1"` | apple | 0.25 | | | none | | +| `"apple_2"` | apple | 0.25 | | | none | | +| `"ball"` | ball | 1 | | | block (blank), metal, plastic, rubber, wood | | +| `"cake"` | cake | 0.5 | | | none | | +| `"car_1"` | car | 0.5 | | | block (blank), wood | | +| `"case_1"` | box | 5 | X | X | metal, plastic | same as suitcase_1 +| `"crayon_black"` | crayon | 0.125 | | | none | | +| `"crayon_blue"` | crayon | 0.125 | | | none | | +| `"crayon_green"` | crayon | 0.125 | | | none | | +| `"crayon_pink"` | crayon | 0.125 | | | none | | +| `"crayon_red"` | crayon | 0.125 | | | none | | +| `"crayon_yellow"` | crayon | 0.125 | | | none | | +| `"dog_on_wheels"` | dog | 0.5 | | | block (blank), wood | | +| `"duck_on_wheels"` | duck | 0.5 | | | block (blank), wood | | +| `"bowl_3"` | bowl | 0.25 | X | | metal, plastic, wood | | +| `"bowl_4"` | bowl | 0.25 | X | | metal, plastic, wood | | +| `"bowl_6"` | bowl | 0.25 | X | | metal, plastic, wood | | +| `"cup_2"` | cup | 0.25 | X | | metal, plastic, wood | | +| `"cup_3"` | cup | 0.25 | X | | metal, plastic, wood | | +| `"cup_6"` | cup | 0.25 | X | | metal, plastic, wood | | +| `"gift_box_1"` | box | 0.5 | X | X | cardboard | | +| `"trophy"` | trophy | 0.5 | | | none | | +| `"pacifier"` | pacifier | | 0.5 | | none | | +| `"plate_1"` | plate | 0.25 | X | | metal, plastic, wood | | +| `"plate_3"` | plate | 0.25 | X | | metal, plastic, wood | | +| `"plate_4"` | plate | 0.25 | X | | metal, plastic, wood | | +| `"racecar_red"` | car | 0.5 | | | block (blank), wood | | +| `"suitcase_1"` | box | 5 | X | X | metal, plastic | same as case_1 +| `"train_1"` | train | 0.5 | | | block (blank), wood | | +| `"trolley_1"` | trolley | 0.5 | | | block (blank), wood | | +| `"truck_1"` | truck | 0.5 | | | block (blank), wood | | +| `"turtle_on_wheels"` | turtle | | | 0.5 | block (blank), wood | | ### Furniture Objects | Object Type | Shape | Default Mass | Moveable | Receptacle | Openable | Materials | Details | | --- | --- | --- | --- | --- | --- | --- | --- | +| `"bookcase_1_shelf"` | bookcase | 10 | | X | | metal, plastic, wood | | +| `"bookcase_2_shelf"` | bookcase | 15 | | X | | metal, plastic, wood | | +| `"bookcase_3_shelf"` | bookcase | 20 | | X | | metal, plastic, wood | | +| `"bookcase_4_shelf"` | bookcase | 25 | | X | | metal, plastic, wood | | +| `"bookcase_1_shelf_sideless"` | bookcase | 10 | | X | | metal, plastic, wood | | +| `"bookcase_2_shelf_sideless"` | bookcase | 15 | | X | | metal, plastic, wood | | +| `"bookcase_3_shelf_sideless"` | bookcase | 20 | | X | | metal, plastic, wood | | +| `"bookcase_4_shelf_sideless"` | bookcase | 25 | | X | | metal, plastic, wood | | +| `"cart_1"` | cart | 4 | X | X | | metal | | | `"chest_1"` | box | 15 | | X | X | metal, plastic, wood | Rectangular box | -| `"chest_2"` | box | 15 | | X | X | metal, plastic, wood | Treasure chest | +| `"chest_2"` | box | 15 | | X | X | metal, plastic, wood | Domed chest | +| `"chest_3"` | box | 15 | | X | X | metal, plastic, wood | Rectangular box | +| `"chest_8"` | box | 15 | | X | X | metal, plastic, wood | Domed chest | | `"chair_1"` | chair | 5 | X | X | | metal, plastic, wood | | | `"chair_2"` | stool | 2.5 | X | X | | metal, plastic, wood | | +| `"chair_3"` | stool | 5 | X | X | | metal, plastic, wood | | +| `"chair_4"` | chair | 5 | X | X | | metal, plastic | | | `"changing_table"` | changing table | 100 | | X | X | wood | | | `"crib"` | crib | 25 | | | | wood | | | `"foam_floor_tiles"` | foam floor tiles | 1 | | | | none | | @@ -336,11 +354,19 @@ The following object types have the `pickupable` attribute by default. | `"shelf_2"` | shelf | 20 | | X | | metal, plastic, wood | Object with three shelves | | | `"sofa_1"` | sofa | 100 | | X | | sofa 1 | | | `"sofa_2"` | sofa | 100 | | X | | sofa 2 | | +| `"sofa_3"` | sofa | 100 | | X | | sofa 3 | | | `"sofa_chair_1"` | sofa chair | 50 | | X | | sofa chair 1 | | | `"sofa_chair_2"` | sofa chair | 50 | | X | | sofa 2 | | +| `"sofa_chair_3"` | sofa chair | 50 | | X | | sofa 3 | | | `"table_1"` | table | 10 | X | X | | metal, plastic, wood | Rectangular table with legs | | +| `"table_2"` | table | 5 | X | X | | metal, plastic, wood | Circular table | | | `"table_3"` | table | 2.5 | X | X | | metal, plastic, wood | Circular table | | -| `"table_5"` | table | 20 | X | X | | metal, plastic, wood | Rectangular table with sides | | +| `"table_4"` | table | 5 | X | X | | metal, plastic, wood | Semi-circular table | | +| `"table_5"` | table | 20 | X | X | | metal, wood | Rectangular table with sides | | +| `"table_7"` | table | 10 | X | X | | metal, wood | Rectangular table with legs | | +| `"table_11"` | table | 15 | X | X | | metal, plastic, wood | Rectangular table with T legs | | +| `"table_12"` | table | 15 | X | X | | metal, plastic, wood | Rectangular table with X legs | | +| `"tv_2"` | television | 5 | | | | | | | `"wardrobe"` | wardrobe | 100 | | X | X | wood | | ### Primitive Objects @@ -351,12 +377,21 @@ The following primitive shapes have the `pickupable` attribute by default, a def - `"cone"` - `"cube"` - `"cylinder"` -- `"letter_l_narrow"` -- `"letter_l_wide"` - `"pyramid"` - `"sphere"` - `"square_frustum"` - `"triangle"` +- `"tube_narrow"` +- `"tube_wide"` + +### Other Objects + +- `"cube_hollow_narrow"` +- `"cube_hollow_wide"` +- `"hash"` +- `"letter_l_narrow"` +- `"letter_l_wide"` +- `"letter_x"` ### Deprecated Objects