HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "dining room": [4            [5                "wooden patterned table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "wooden patterned table": [14            [15                "red cup",16                "ON"17            ],18            [19                "tray",20                "ON"21            ],22            [23                "plate",24                "ON"25            ],26            [27                "napkin",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Put the red cup on the tray on the wooden patterned table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "dining room",37        "context": "wooden patterned table",38        "manipulated_objs": [39            "red cup",40            "tray"41        ],42        "distractor_objs": [43            "plate",44            "napkin"45        ]46    },47    "objs_desc": {48        "dining room": "bright dining room with white walls, wooden floors, and warm ambient lighting",49        "wooden patterned table": "standalone rectangular table with intricate oak grain patterns and a polished surface",50        "red cup": "glossy ceramic cup in vibrant crimson red with smooth edges and rounded body",51        "tray": "stainless steel tray with brushed metal finish and slight reflective sheen",52        "plate": "white porcelain plate with subtle rim detail and a pristine glossy surface",53        "napkin": "folded linen napkin in light cream color with soft fabric texture"54    },55    "objs_mapping": {56        "dining room": "background",57        "wooden patterned table": "context",58        "red cup": "manipulated_objs",59        "tray": "manipulated_objs",60        "plate": "distractor_objs",61        "napkin": "distractor_objs"62    },63    "assets": {64        "wooden patterned table": "asset3d/wooden_patterned_table/result",65        "red cup": "asset3d/red_cup/result",66        "tray": "asset3d/tray/result",67        "plate": "asset3d/plate/result",68        "napkin": "asset3d/napkin/result",69        "dining room": "background"70    },71    "quality": {72        "wooden patterned table": "YES",73        "red cup": "YES",74        "tray": "YES",75        "plate": "YES",76        "napkin": "YES"77    },78    "position": {79        "franka": [80            -0.8665,81            0,82            0.7425,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "dining room": [89            0,90            0,91            0,92            0.0,93            0.384,94            0.0,95            0.923396        ],97        "wooden patterned table": [98            0,99            0,100            0.3662,101            0,102            0,103            0,104            1105        ],106        "tray": [107            -0.2086,108            -0.1301,109            0.7574,110            0.0,111            0.0,112            0.9628,113            0.2702114        ],115        "plate": [116            -0.1079,117            0.6253,118            0.7508,119            0.0,120            0.0,121            0.1911,122            -0.9816123        ],124        "red cup": [125            -0.4334,126            0.1848,127            0.797,128            0.0,129            0.0,130            0.9973,131            0.0734132        ],133        "napkin": [134            0.3494,135            0.0417,136            0.7568,137            0.0,138            0.0,139            0.8076,140            0.5898141        ]142    }143}