HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "kitchen": [4            [5                "table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "table": [14            [15                "banana",16                "ON"17            ],18            [19                "red napkin",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 banana and place it on the red napkin on the table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "kitchen",37        "context": "table",38        "manipulated_objs": [39            "banana",40            "red napkin"41        ],42        "distractor_objs": [43            "plate",44            "mug"45        ]46    },47    "objs_desc": {48        "kitchen": "bright modern kitchen with tiled backsplash and polished white countertops",49        "table": "standalone rectangular pinewood table with smooth surface and empty top",50        "banana": "ripe yellow banana with minor brown speckles and a slightly curved shape",51        "red napkin": "vivid red cotton napkin with soft folds and lightly frayed edges",52        "plate": "white ceramic plate with smooth glossy finish and subtle rim detailing",53        "mug": "simple porcelain mug in matte light blue with a sturdy handle"54    },55    "objs_mapping": {56        "kitchen": "background",57        "table": "context",58        "banana": "manipulated_objs",59        "red napkin": "manipulated_objs",60        "plate": "distractor_objs",61        "mug": "distractor_objs"62    },63    "assets": {64        "table": "asset3d/table/result",65        "banana": "asset3d/banana/result",66        "red napkin": "asset3d/red_napkin/result",67        "plate": "asset3d/plate/result",68        "mug": "asset3d/mug/result",69        "kitchen": "background"70    },71    "quality": {72        "table": "YES",73        "banana": "YES",74        "red napkin": "YES",75        "plate": "YES",76        "mug": "YES"77    },78    "position": {79        "franka": [80            -0.2927,81            0,82            0.7477,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "kitchen": [89            0,90            0,91            0,92            0.0,93            0.6627,94            0.0,95            0.748896        ],97        "table": [98            0,99            0,100            0.3755,101            0,102            0,103            0,104            1105        ],106        "plate": [107            -0.0775,108            0.5085,109            0.7579,110            0.0,111            0.0,112            0.9891,113            -0.1473114        ],115        "red napkin": [116            -0.007,117            0.1154,118            0.7663,119            0.0,120            0.0,121            0.9946,122            0.1035123        ],124        "banana": [125            0.2007,126            0.2013,127            0.7795,128            0.0,129            0.0,130            0.6885,131            0.7252132        ],133        "mug": [134            0.0614,135            -0.5676,136            0.8093,137            0.0,138            0.0,139            0.9225,140            0.3859141        ]142    }143}