Hugging Face's logo

Datasets:
xinjjj
/
AssetsLayouts

Dataset card Files
xet
 Community
AssetsLayouts
File size: 3,406 Bytes
e26fc51
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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": [
            [
                "table1",
                "FLOOR"
            ],
            [
                "franka",
                "IN"
            ]
        ],
        "table1": [
            [
                "candy bar",
                "ON"
            ],
            [
                "porcelain tray",
                "ON"
            ],
            [
                "coffee mug",
                "ON"
            ],
            [
                "green tape roll",
                "ON"
            ]
        ]
    },
    "relation": {
        "task_desc": "Put the yellow and blue candy bar on the white rectangular porcelain tray on the table.",
        "task": "pick and place",
        "robot": "franka",
        "background": "ground",
        "context": "table1",
        "manipulated_objs": [
            "candy bar",
            "porcelain tray"
        ],
        "distractor_objs": [
            "coffee mug",
            "green tape roll"
        ]
    },
    "objs_desc": {
        "ground": "simple flat grey ground plane",
        "table1": "standalone table used for tabletop manipulation",
        "candy bar": "long yellow and blue wrapped candy bar",
        "porcelain tray": "white rectangular porcelain serving tray",
        "coffee mug": "red ceramic coffee mug with white decorative pattern",
        "green tape roll": "flat green vinyl tape roll"
    },
    "objs_mapping": {
        "ground": "background",
        "table1": "context",
        "candy bar": "manipulated_objs",
        "porcelain tray": "manipulated_objs",
        "coffee mug": "distractor_objs",
        "green tape roll": "distractor_objs"
    },
    "assets": {
        "table1": "asset3d/table1/result",
        "candy bar": "asset3d/candy_bar/result",
        "porcelain tray": "asset3d/porcelain_tray/result",
        "coffee mug": "asset3d/coffee_mug/result",
        "green tape roll": "asset3d/green_tape_roll/result"
    },
    "quality": {
        "ground": "N/A: logical ground plane provided by SAPIEN",
        "table1": "YES",
        "candy bar": "YES",
        "porcelain tray": "YES",
        "coffee mug": "YES",
        "green tape roll": "YES"
    },
    "position": {
        "franka": [
            -0.4778,
            0.0,
            0.7980644,
            0.0,
            0.0,
            0.0,
            -1.0
        ],
        "ground": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.4959,
            0.0,
            -0.8684
        ],
        "table1": [
            0.0,
            0.0,
            0.3990644,
            0.0,
            0.0,
            0.0,
            1.0
        ],
        "porcelain tray": [
            -0.0683,
            0.0373,
            0.7981579,
            0.0,
            0.0,
            0.7189,
            -0.6951
        ],
        "candy bar": [
            0.1746,
            -0.1624,
            0.7981435,
            0.0,
            0.0,
            0.3233,
            0.9463
        ],
        "green tape roll": [
            -0.4065,
            0.3257,
            0.7981196,
            0.0,
            0.0,
            0.9039,
            0.4277
        ],
        "coffee mug": [
            0.1124,
            -0.3702,
            0.7981566,
            0.0,
            0.0,
            0.9055,
            0.4244
        ]
    }
}