HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "kitchen": [4            [5                "table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "table": [14            [15                "orange",16                "ON"17            ],18            [19                "blue napkin",20                "ON"21            ],22            [23                "plate",24                "ON"25            ],26            [27                "spoon",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Pick up the orange and place it on the blue napkin on the table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "kitchen",37        "context": "table",38        "manipulated_objs": [39            "orange",40            "blue napkin"41        ],42        "distractor_objs": [43            "plate",44            "spoon"45        ]46    },47    "objs_desc": {48        "kitchen": "bright, modern kitchen with sleek white cabinets and a polished marble countertop",49        "table": "standalone wooden dining table with smooth surface and empty, well-polished top",50        "orange": "vibrant orange fruit with slightly textured peel and natural dimples",51        "blue napkin": "folded cotton napkin in deep royal blue with soft fabric texture",52        "plate": "glossy white ceramic plate with subtle curved edges and a clean shine",53        "spoon": "stainless steel spoon with a reflective surface and smooth handle"54    },55    "objs_mapping": {56        "kitchen": "background",57        "table": "context",58        "orange": "manipulated_objs",59        "blue napkin": "manipulated_objs",60        "plate": "distractor_objs",61        "spoon": "distractor_objs"62    },63    "assets": {64        "table": "asset3d/table/result",65        "orange": "asset3d/orange/result",66        "blue napkin": "asset3d/blue_napkin/result",67        "plate": "asset3d/plate/result",68        "spoon": "asset3d/spoon/result",69        "kitchen": "background"70    },71    "quality": {72        "table": "YES",73        "orange": "YES",74        "blue napkin": "YES",75        "plate": "YES",76        "spoon": "YES"77    },78    "position": {79        "franka": [80            -0.4734,81            0,82            0.7467,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "kitchen": [89            0,90            0,91            0,92            0.0,93            0.4731,94            0.0,95            0.88196        ],97        "table": [98            0,99            0,100            0.3716,101            0,102            0,103            0,104            1105        ],106        "plate": [107            -0.0789,108            -0.1775,109            0.758,110            0.0,111            0.0,112            0.8497,113            -0.5272114        ],115        "blue napkin": [116            0.1252,117            0.2257,118            0.7612,119            0.0,120            0.0,121            0.9873,122            0.159123        ],124        "spoon": [125            0.0484,126            0.0302,127            0.7597,128            0.0,129            0.0,130            0.6754,131            0.7375132        ],133        "orange": [134            0.144,135            -0.205,136            0.7909,137            0.0,138            0.0,139            0.0398,140            -0.9992141        ]142    }143}