HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "kitchen": [4            [5                "table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "table": [14            [15                "water bottle",16                "ON"17            ],18            [19                "thermos",20                "ON"21            ],22            [23                "tray",24                "ON"25            ],26            [27                "mug",28                "ON"29            ],30            [31                "plate",32                "ON"33            ]34        ]35    },36    "relation": {37        "task_desc": "Put the water bottle next to the thermos onto the tray on table.",38        "task": "pick and place",39        "robot": "franka",40        "background": "kitchen",41        "context": "table",42        "manipulated_objs": [43            "water bottle",44            "thermos",45            "tray"46        ],47        "distractor_objs": [48            "mug",49            "plate"50        ]51    },52    "objs_desc": {53        "kitchen": "bright modern kitchen with white marble counters and subtle chrome accents",54        "table": "standalone polished oak table with a smooth surface and empty top",55        "water bottle": "transparent plastic water bottle with a blue screw cap and condensation droplets",56        "thermos": "sleek stainless steel thermos with brushed finish and a black rubber grip",57        "tray": "rectangular silver tray with mirror-like finish and slightly raised edges",58        "mug": "ceramic mug with chipped white glaze and a comfortable curved handle",59        "plate": "simple ceramic plate with glossy ivory surface and faint scratches from use"60    },61    "objs_mapping": {62        "kitchen": "background",63        "table": "context",64        "water bottle": "manipulated_objs",65        "thermos": "manipulated_objs",66        "tray": "manipulated_objs",67        "mug": "distractor_objs",68        "plate": "distractor_objs"69    },70    "assets": {71        "table": "asset3d/table/result",72        "water bottle": "asset3d/water_bottle/result",73        "thermos": "asset3d/thermos/result",74        "tray": "asset3d/tray/result",75        "mug": "asset3d/mug/result",76        "plate": "asset3d/plate/result",77        "kitchen": "background"78    },79    "quality": {80        "table": "YES",81        "water bottle": "YES",82        "thermos": "YES",83        "tray": "YES",84        "mug": "YES",85        "plate": "YES"86    },87    "position": {88        "franka": [89            -0.4036,90            0,91            0.7453,92            0.0,93            0.0,94            0.0,95            -1.096        ],97        "kitchen": [98            0,99            0,100            0,101            0.0,102            0.382,103            0.0,104            0.9242105        ],106        "table": [107            0,108            0,109            0.3685,110            0,111            0,112            0,113            1114        ],115        "tray": [116            0.0518,117            -0.1861,118            0.7594,119            0.0,120            0.0,121            0.886,122            0.4637123        ],124        "plate": [125            -0.213,126            0.222,127            0.76,128            0.0,129            0.0,130            0.9967,131            -0.0811132        ],133        "thermos": [134            0.2524,135            0.1781,136            0.8824,137            0.0,138            0.0,139            0.5677,140            0.8233141        ],142        "mug": [143            0.0027,144            0.0763,145            0.8077,146            0.0,147            0.0,148            0.5495,149            0.8355150        ],151        "water bottle": [152            0.1358,153            0.1383,154            0.8447,155            0.0,156            0.0,157            0.9566,158            0.2914159        ]160    }161}