HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "kitchen": [4            [5                "table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "table": [14            [15                "fork",16                "ON"17            ],18            [19                "metal 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 fork on the metal tray on the wooden textured table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "kitchen",37        "context": "table",38        "manipulated_objs": [39            "fork",40            "metal tray"41        ],42        "distractor_objs": [43            "plate",44            "napkin"45        ]46    },47    "objs_desc": {48        "kitchen": "modern minimalist kitchen with smooth white cabinets and subtle stainless steel accents",49        "table": "standalone rectangular table with warm, rustic wood grain and an empty flat surface",50        "fork": "polished stainless steel fork with a sleek, reflective finish and straight tines",51        "metal tray": "shiny silver tray with a brushed metal texture and slightly raised edges",52        "plate": "plain ceramic plate in soft white with a subtle glossy glaze and smooth edges",53        "napkin": "folded cotton napkin in light gray with crisp corners and faint stitched details"54    },55    "objs_mapping": {56        "kitchen": "background",57        "table": "context",58        "fork": "manipulated_objs",59        "metal tray": "manipulated_objs",60        "plate": "distractor_objs",61        "napkin": "distractor_objs"62    },63    "assets": {64        "table": "asset3d/table/result",65        "fork": "asset3d/fork/result",66        "metal tray": "asset3d/metal_tray/result",67        "plate": "asset3d/plate/result",68        "napkin": "asset3d/napkin/result",69        "kitchen": "background"70    },71    "quality": {72        "table": "YES",73        "fork": "NO: Fork geometry is distorted; resembles a bent spoon rather than a functional fork.",74        "metal tray": "YES",75        "plate": "YES",76        "napkin": "YES"77    },78    "position": {79        "franka": [80            -0.5543,81            0,82            0.746,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "kitchen": [89            0,90            0,91            0,92            0.0,93            0.2135,94            0.0,95            0.976996        ],97        "table": [98            0,99            0,100            0.3711,101            0,102            0,103            0,104            1105        ],106        "metal tray": [107            -0.2288,108            0.0165,109            0.7586,110            0.0,111            0.0,112            0.6777,113            -0.7353114        ],115        "fork": [116            0.1173,117            0.04,118            0.7878,119            0.0,120            0.0,121            0.8188,122            0.5741123        ],124        "plate": [125            0.2587,126            0.4578,127            0.7555,128            0.0,129            0.0,130            0.3803,131            0.9249132        ],133        "napkin": [134            -0.0182,135            -0.8122,136            0.7652,137            0.0,138            0.0,139            0.3702,140            -0.9289141        ]142    }143}