HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "kitchen": [4            [5                "table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "table": [14            [15                "ceramic teapot",16                "ON"17            ],18            [19                "tray",20                "ON"21            ],22            [23                "plate",24                "ON"25            ],26            [27                "mug",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Pick up the ceramic teapot and put it in the tray.",34        "task": "pick and place",35        "robot": "franka",36        "background": "kitchen",37        "context": "table",38        "manipulated_objs": [39            "ceramic teapot",40            "tray"41        ],42        "distractor_objs": [43            "plate",44            "mug"45        ]46    },47    "objs_desc": {48        "kitchen": "bright kitchen with tiled backsplash, warm oak cabinetry, and glossy quartz countertops",49        "table": "standalone round wooden table with polished surface and no surrounding objects",50        "ceramic teapot": "glazed white ceramic teapot with a curved spout and smooth, shiny finish",51        "tray": "rectangular bamboo tray with raised edges and a natural matte texture",52        "plate": "plain porcelain plate with a subtle ivory tone and smooth glazed surface",53        "mug": "sturdy ceramic mug in pale blue with a slightly speckled, matte texture"54    },55    "objs_mapping": {56        "kitchen": "background",57        "table": "context",58        "ceramic teapot": "manipulated_objs",59        "tray": "manipulated_objs",60        "plate": "distractor_objs",61        "mug": "distractor_objs"62    },63    "assets": {64        "table": "asset3d/table/result",65        "ceramic teapot": "asset3d/ceramic_teapot/result",66        "tray": "asset3d/tray/result",67        "plate": "asset3d/plate/result",68        "mug": "asset3d/mug/result",69        "kitchen": "background"70    },71    "quality": {72        "table": "YES",73        "ceramic teapot": "YES",74        "tray": "YES",75        "plate": "YES",76        "mug": "YES"77    },78    "position": {79        "franka": [80            -0.5333,81            0,82            0.797,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "kitchen": [89            0,90            0,91            0,92            0.0,93            0.3662,94            0.0,95            -0.930696        ],97        "table": [98            0,99            0,100            0.3982,101            0,102            0,103            0,104            1105        ],106        "tray": [107            0.1224,108            -0.0226,109            0.8133,110            0.0,111            0.0,112            0.7773,113            0.6292114        ],115        "ceramic teapot": [116            0.0579,117            0.2499,118            0.9094,119            0.0,120            0.0,121            0.9145,122            0.4045123        ],124        "plate": [125            0.339,126            0.315,127            0.8117,128            0.0,129            0.0,130            0.5901,131            0.8074132        ],133        "mug": [134            -0.4005,135            0.0477,136            0.8516,137            0.0,138            0.0,139            0.9851,140            0.1718141        ]142    }143}