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"/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene/0080__uuid=GuptaLab+553d1bd5+2023-07-10-10h-02m-27s__scene=500180237__lab=GuptaLab__date=2023-07-10/fully_refined_foreground.glb", "sf_implementation": "robosnap.refinement.sf_real2sim", "sf_real2sim_inputs": { "status": "prepared", "results_dir": "/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene/0080__uuid=GuptaLab+553d1bd5+2023-07-10-10h-02m-27s__scene=500180237__lab=GuptaLab__date=2023-07-10/refinement/sf_real2sim/results", "scene_graph_path": "/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene/0080__uuid=GuptaLab+553d1bd5+2023-07-10-10h-02m-27s__scene=500180237__lab=GuptaLab__date=2023-07-10/refinement/sf_real2sim/scene_graph/scene_graph.json", "input_pose_name": "pose_pre_sf_projected", "output_pose_name": "pose_optimized", "scene_graph_source": "vlm_relations+caption_reference+mask_geometry+3d_geometry", "support_object_ids": [ 0 ], "scene_graph_edges": 2, "root_object_ids": [ 0 ], "objects": [ { "id": 0, "name": "the complete light gray upholstered sofa in the foreground including its seat back armrests and visible base", "label": "light gray sofa", "support_parent_id": -1, "support_relation": "none", "support_confidence": null, "obj_dir": "/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene/0080__uuid=GuptaLab+553d1bd5+2023-07-10-10h-02m-27s__scene=500180237__lab=GuptaLab__date=2023-07-10/refinement/sf_real2sim/results/obj_0", "mesh": "/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene/0080__uuid=GuptaLab+553d1bd5+2023-07-10-10h-02m-27s__scene=500180237__lab=GuptaLab__date=2023-07-10/refinement/sf_real2sim/results/obj_0/mesh_scaled.glb", "pose_camera": "/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene/0080__uuid=GuptaLab+553d1bd5+2023-07-10-10h-02m-27s__scene=500180237__lab=GuptaLab__date=2023-07-10/refinement/sf_real2sim/results/obj_0/pose_camera.txt", "pose_gravity": 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{ "id": 2, "name": "the complete small white pillow beside the patterned pillow on the sofa seat", "label": "white pillow", "support_parent_id": 0, "support_relation": "on", "support_confidence": null, "obj_dir": "/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene/0080__uuid=GuptaLab+553d1bd5+2023-07-10-10h-02m-27s__scene=500180237__lab=GuptaLab__date=2023-07-10/refinement/sf_real2sim/results/obj_2", "mesh": "/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene/0080__uuid=GuptaLab+553d1bd5+2023-07-10-10h-02m-27s__scene=500180237__lab=GuptaLab__date=2023-07-10/refinement/sf_real2sim/results/obj_2/mesh_scaled.glb", "pose_camera": "/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene/0080__uuid=GuptaLab+553d1bd5+2023-07-10-10h-02m-27s__scene=500180237__lab=GuptaLab__date=2023-07-10/refinement/sf_real2sim/results/obj_2/pose_camera.txt", "pose_gravity": "/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene/0080__uuid=GuptaLab+553d1bd5+2023-07-10-10h-02m-27s__scene=500180237__lab=GuptaLab__date=2023-07-10/refinement/sf_real2sim/results/obj_2/pose_gravity.txt", "is_table": false, "support_mask_coverage": 0.0, "support_mask_overlap_pixels": 0, "pose_pre_sf_projected": "/mnt/data/zhangshujie/droid-sim/release/batch_1st_scene/0080__uuid=GuptaLab+553d1bd5+2023-07-10-10h-02m-27s__scene=500180237__lab=GuptaLab__date=2023-07-10/refinement/sf_real2sim/results/obj_2/pose_pre_sf_projected.txt" } ], "input_pose_name_before_projection": "pose_gravity" }, "pre_sf_projection": { "status": "ok", "applied": true, "support_root_id": 0, "support_group_ids": [ 0, 1, 2 ], "input_pose_name": "pose_gravity", "output_pose_name": "pose_pre_sf_projected", "target_front_edge": { "slope": -0.14342344272635935, "intercept": 652.1372668211795, "angle_deg": -8.161897490706561, "sample_count": 105, "x_span": [ 55.0, 886.0 ], "component_pixels": 225225 }, "support_top_normal": [ -0.19471811174809942, 0.06197411738018633, 0.9788994155336909 ], "support_top_tilt_deg": 11.791023361128131, "optimization": { "score": 6313.455647445748, "yaw_delta_deg": -12.35, "forward_translation_m": 0.192, "slope": -0.297867260669835, "angle_deg": -16.58707122754369, "intercept": 806.9304752215376, "y_at_reference": 616.2954283928432, "front_uv": [ [ 1100.8511119137222, 479.02297011045516 ], [ -392.50149192158506, 923.8438194290435 ] ], "applied": true, "before": { "score": 58295.97297504772, "yaw_delta_deg": 0.0, "forward_translation_m": 0.0, "slope": -0.609554621046176, "angle_deg": -31.364589360293234, "intercept": 1139.6374274870996, "y_at_reference": 749.522470017547, "front_uv": [ [ 1118.7531482574027, 457.6962761568422 ], [ 7.379102333462356, 1135.139461560565 ] ] }, "target_y_at_reference": 560.3462634763096, "forward_axis_xy": [ 0.9547503826634786, 0.29740831663546513 ] }, "transform": [ [ 0.9768592983451408, 0.21388293816160067, 0.0, 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