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                "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": "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 beige walls and soft overhead lighting",49        "table": "standalone wooden table with intricate grain patterns and clean empty surface",50        "red cup": "glossy ceramic red cup with smooth finish and subtle curved design",51        "tray": "matte silver tray with brushed texture and slightly raised edges",52        "plate": "simple white porcelain plate with a smooth glossy surface",53        "napkin": "folded cloth napkin with pale cream color and soft woven texture"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        "napkin": "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        "napkin": "asset3d/napkin/result",69        "dining room": "background"70    },71    "quality": {72        "table": "YES",73        "red cup": "YES",74        "tray": "YES",75        "plate": "YES",76        "napkin": "YES"77    },78    "position": {79        "franka": [80            -0.3848,81            0,82            0.4952,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "dining room": [89            0,90            0,91            0,92            0.0,93            0.8688,94            0.0,95            0.495296        ],97        "table": [98            0,99            0,100            0.2468,101            0,102            0,103            0,104            1105        ],106        "tray": [107            0.1508,108            0.3059,109            0.5093,110            0.0,111            0.0,112            0.9939,113            0.1104114        ],115        "plate": [116            -0.2136,117            0.4089,118            0.5052,119            0.0,120            0.0,121            0.9671,122            -0.2546123        ],124        "napkin": [125            -0.068,126            -0.2042,127            0.513,128            0.0,129            0.0,130            0.5284,131            -0.849132        ],133        "red cup": [134            0.2196,135            0.0574,136            0.5496,137            0.0,138            0.0,139            0.4573,140            -0.8893141        ]142    }143}