HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "dining room": [4            [5                "wooden striped table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "wooden striped table": [14            [15                "teacup",16                "ON"17            ],18            [19                "plate",20                "ON"21            ],22            [23                "spoon",24                "ON"25            ],26            [27                "sugar jar",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Put the teacup on the plate on wooden striped table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "dining room",37        "context": "wooden striped table",38        "manipulated_objs": [39            "teacup",40            "plate"41        ],42        "distractor_objs": [43            "spoon",44            "sugar jar"45        ]46    },47    "objs_desc": {48        "dining room": "bright dining room with cream walls, large windows, and polished wooden flooring",49        "wooden striped table": "standalone light oak table with clean striped grain and smooth empty top",50        "teacup": "small porcelain teacup with delicate floral pattern and a glossy white finish",51        "plate": "smooth ceramic plate with muted pastel blue glaze and subtle circular ridges",52        "spoon": "shiny silver spoon with mirror-polished surface and rounded edges",53        "sugar jar": "vintage glass sugar jar with ribbed texture and a white metal lid"54    },55    "objs_mapping": {56        "dining room": "background",57        "wooden striped table": "context",58        "teacup": "manipulated_objs",59        "plate": "manipulated_objs",60        "spoon": "distractor_objs",61        "sugar jar": "distractor_objs"62    },63    "assets": {64        "wooden striped table": "asset3d/wooden_striped_table/result",65        "teacup": "asset3d/teacup/result",66        "plate": "asset3d/plate/result",67        "spoon": "asset3d/spoon/result",68        "sugar jar": "asset3d/sugar_jar/result",69        "dining room": "background"70    },71    "quality": {72        "wooden striped table": "NO: Missing striped texture; plain wooden table does not match \"striped\" description.",73        "teacup": "YES",74        "plate": "YES",75        "spoon": "YES",76        "sugar jar": "YES"77    },78    "position": {79        "franka": [80            -0.3038,81            0,82            0.7479,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "dining room": [89            0,90            0,91            0,92            0.0,93            0.8083,94            0.0,95            0.588796        ],97        "wooden striped table": [98            0,99            0,100            0.3715,101            0,102            0,103            0,104            1105        ],106        "spoon": [107            0.1024,108            0.0569,109            0.7687,110            0.0,111            0.0,112            0.8691,113            -0.4947114        ],115        "sugar jar": [116            -0.1926,117            -0.385,118            0.8473,119            0.0,120            0.0,121            0.9918,122            0.1281123        ],124        "plate": [125            0.0898,126            -0.1819,127            0.757,128            0.0,129            0.0,130            0.9704,131            -0.2414132        ],133        "teacup": [134            0.2392,135            0.2885,136            0.7967,137            0.0,138            0.0,139            0.9466,140            0.3225141        ]142    }143}