HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "dining room": [4            [5                "table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "table": [14            [15                "red cup",16                "ON"17            ],18            [19                "tray",20                "ON"21            ],22            [23                "plate",24                "ON"25            ],26            [27                "fork",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Put the red cup on the tray on the table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "dining room",37        "context": "table",38        "manipulated_objs": [39            "red cup",40            "tray"41        ],42        "distractor_objs": [43            "plate",44            "fork"45        ]46    },47    "objs_desc": {48        "dining room": "bright dining room with soft beige walls and polished wooden flooring",49        "table": "standalone walnut dining table with smooth surface and clean empty top",50        "red cup": "glossy crimson ceramic cup with a rounded rim and smooth finish",51        "tray": "rectangular stainless steel tray with brushed texture and slight edges",52        "plate": "white porcelain plate with faint grooves and matte finish",53        "fork": "silver metal fork with polished surface and fine tapered tines"54    },55    "objs_mapping": {56        "dining room": "background",57        "table": "context",58        "red cup": "manipulated_objs",59        "tray": "manipulated_objs",60        "plate": "distractor_objs",61        "fork": "distractor_objs"62    },63    "assets": {64        "table": "asset3d/table/result",65        "red cup": "asset3d/red_cup/result",66        "tray": "asset3d/tray/result",67        "plate": "asset3d/plate/result",68        "fork": "asset3d/fork/result",69        "dining room": "background"70    },71    "quality": {72        "table": "YES",73        "red cup": "YES",74        "tray": "YES",75        "plate": "YES",76        "fork": "YES"77    },78    "position": {79        "franka": [80            -0.5615,81            0,82            0.7418,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "dining room": [89            0,90            0,91            0,92            0.0,93            0.0647,94            0.0,95            -0.997996        ],97        "table": [98            0,99            0,100            0.3703,101            0,102            0,103            0,104            1105        ],106        "fork": [107            -0.1772,108            0.3494,109            0.7573,110            0.0,111            0.0,112            0.8654,113            0.501114        ],115        "tray": [116            0.109,117            -0.0137,118            0.7566,119            0.0,120            0.0,121            0.1095,122            0.994123        ],124        "plate": [125            0.4494,126            0.4443,127            0.7509,128            0.0,129            0.0,130            0.9565,131            -0.2918132        ],133        "red cup": [134            -0.1494,135            -0.0169,136            0.7966,137            0.0,138            0.0,139            0.9943,140            0.1062141        ]142    }143}