Hugging Face's logo

Datasets:
xinjjj
/
AssetsLayouts

Dataset card Files
xet
 Community
AssetsLayouts
File size: 3,738 Bytes
d77f87b
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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": [
            [
                "table_06",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table_06": [
            [
                "eraser",
                "ON"
            ],
            [
                "target_0026_tray",
                "ON"
            ],
            [
                "distractor_0026_0_presenter_clicker",
                "ON"
            ],
            [
                "distractor_0026_1_pliers",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the green eraser on the colorful tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table_06",
        "manipulated_objs": [
            "eraser",
            "target_0026_tray"
        ],
        "distractor_objs": [
            "distractor_0026_0_presenter_clicker",
            "distractor_0026_1_pliers"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table_06": "standalone table used for tabletop manipulation",
        "eraser": "rectangular floral sleeve eraser with gray rubber core",
        "target_0026_tray": "shallow round tray with colorful floral mandala pattern",
        "distractor_0026_0_presenter_clicker": "compact presenter clicker with ergonomic design and pointed tip",
        "distractor_0026_1_pliers": "adjustable black and red groove-joint pliers with curved serrated jaws"
    },
    "objs_mapping": {
        "ground": "background",
        "table_06": "context",
        "eraser": "manipulated_objs",
        "target_0026_tray": "manipulated_objs",
        "distractor_0026_0_presenter_clicker": "distractor_objs",
        "distractor_0026_1_pliers": "distractor_objs"
    },
    "assets": {
        "table_06": "asset3d/table_06/result",
        "eraser": "asset3d/eraser/result",
        "target_0026_tray": "asset3d/target_0026_tray/result",
        "distractor_0026_0_presenter_clicker": "asset3d/distractor_0026_0_presenter_clicker/result",
        "distractor_0026_1_pliers": "asset3d/distractor_0026_1_pliers/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table_06": "YES",
        "eraser": "YES",
        "target_0026_tray": "YES",
        "distractor_0026_0_presenter_clicker": "YES",
        "distractor_0026_1_pliers": "YES"
    },
    "position": {
        "franka": [
            -0.5911,
            0.0,
            0.7492531,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "ground": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.1286,
            0.0,
            0.9917
        ],
        "table_06": [
            0.0,
            0.0,
            0.3730531,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "target_0026_tray": [
            -0.2386,
            0.1691,
            0.7599781,
            0.0,
            0.0,
            0.2471,
            0.969
        ],
        "distractor_0026_1_pliers": [
            0.3721,
            0.3125,
            0.7612328,
            0.0,
            0.0,
            0.9635,
            -0.2675
        ],
        "eraser": [
            0.0111,
            -0.1137,
            0.7599256,
            0.0,
            0.0,
            0.2038,
            0.979
        ],
        "distractor_0026_0_presenter_clicker": [
            0.1757,
            -0.3344,
            0.7574984,
            0.0,
            0.0,
            0.7137,
            0.7005
        ]
    }
}