HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "kitchen": [4            [5                "table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "table": [14            [15                "pear",16                "ON"17            ],18            [19                "pot",20                "ON"21            ],22            [23                "plate",24                "ON"25            ],26            [27                "mug",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Put the pear in the pot on the table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "kitchen",37        "context": "table",38        "manipulated_objs": [39            "pear",40            "pot"41        ],42        "distractor_objs": [43            "plate",44            "mug"45        ]46    },47    "objs_desc": {48        "kitchen": "bright rustic kitchen with white tiled walls and light wooden flooring",49        "table": "standalone rectangular table with polished walnut surface and empty top",50        "pear": "ripe yellow-green pear with smooth skin and a faint reddish blush",51        "pot": "small stainless steel pot with shiny finish and black plastic handles",52        "plate": "simple ceramic plate with matte white glaze and subtle edge detailing",53        "mug": "sturdy stoneware mug with deep blue glaze and slight speckled texture"54    },55    "objs_mapping": {56        "kitchen": "background",57        "table": "context",58        "pear": "manipulated_objs",59        "pot": "manipulated_objs",60        "plate": "distractor_objs",61        "mug": "distractor_objs"62    },63    "assets": {64        "table": "asset3d/table/result",65        "pear": "asset3d/pear/result",66        "pot": "asset3d/pot/result",67        "plate": "asset3d/plate/result",68        "mug": "asset3d/mug/result",69        "kitchen": "background"70    },71    "quality": {72        "table": "YES",73        "pear": "NO: The asset resembles an apple, not a pear. Shape and texture are inconsistent with a pear.",74        "pot": "YES",75        "plate": "YES",76        "mug": "YES"77    },78    "position": {79        "franka": [80            -0.5951,81            0,82            0.7464,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "kitchen": [89            0,90            0,91            0,92            0.0,93            0.6267,94            0.0,95            0.779296        ],97        "table": [98            0,99            0,100            0.3677,101            0,102            0,103            0,104            1105        ],106        "pot": [107            -0.0774,108            -0.2497,109            0.8958,110            0.0,111            0.0,112            0.9906,113            -0.1366114        ],115        "plate": [116            -0.4452,117            -0.4604,118            0.7572,119            0.0,120            0.0,121            0.2086,122            -0.978123        ],124        "mug": [125            0.1483,126            0.3402,127            0.8085,128            0.0,129            0.0,130            0.3756,131            -0.9268132        ],133        "pear": [134            0.0641,135            0.1771,136            0.8082,137            0.0,138            0.0,139            0.9361,140            0.3518141        ]142    }143}