HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "kitchen": [4            [5                "table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "table": [14            [15                "cup",16                "ON"17            ],18            [19                "tray",20                "ON"21            ],22            [23                "plate",24                "ON"25            ],26            [27                "spoon",28                "ON"29            ],30            [31                "bowl",32                "ON"33            ]34        ]35    },36    "relation": {37        "task_desc": "Put the cup onto the tray next to the plate on table.",38        "task": "pick and place",39        "robot": "franka",40        "background": "kitchen",41        "context": "table",42        "manipulated_objs": [43            "cup",44            "tray",45            "plate"46        ],47        "distractor_objs": [48            "spoon",49            "bowl"50        ]51    },52    "objs_desc": {53        "kitchen": "bright modern kitchen with white cabinets, sleek countertops, and tiled backsplash",54        "table": "standalone polished walnut table with empty flat surface and subtle wood grain details",55        "cup": "ceramic coffee cup with matte white glaze and smooth curved handle",56        "tray": "rectangular metal tray with brushed silver finish and low raised edges",57        "plate": "large round porcelain plate with glossy white surface and thin blue rim",58        "spoon": "small stainless steel spoon with a shiny finish and minimal curve",59        "bowl": "medium ceramic bowl with textured beige surface and slightly irregular rim"60    },61    "objs_mapping": {62        "kitchen": "background",63        "table": "context",64        "cup": "manipulated_objs",65        "tray": "manipulated_objs",66        "plate": "manipulated_objs",67        "spoon": "distractor_objs",68        "bowl": "distractor_objs"69    },70    "assets": {71        "table": "asset3d/table/result",72        "cup": "asset3d/cup/result",73        "tray": "asset3d/tray/result",74        "plate": "asset3d/plate/result",75        "spoon": "asset3d/spoon/result",76        "bowl": "asset3d/bowl/result",77        "kitchen": "background"78    },79    "quality": {80        "table": "YES",81        "cup": "YES",82        "tray": "YES",83        "plate": "YES",84        "spoon": "YES",85        "bowl": "YES"86    },87    "position": {88        "franka": [89            -0.6471,90            0,91            0.7426,92            0.0,93            0.0,94            0.0,95            -1.096        ],97        "kitchen": [98            0,99            0,100            0,101            0.0,102            0.4505,103            0.0,104            0.8928105        ],106        "table": [107            0,108            0,109            0.371,110            0,111            0,112            0,113            1114        ],115        "tray": [116            -0.0334,117            -0.2467,118            0.7572,119            0.0,120            0.0,121            0.4267,122            -0.9044123        ],124        "plate": [125            -0.3055,126            0.1665,127            0.7574,128            0.0,129            0.0,130            0.4119,131            -0.9112132        ],133        "bowl": [134            0.4593,135            0.3359,136            0.8049,137            0.0,138            0.0,139            0.6366,140            -0.7712141        ],142        "spoon": [143            0.1278,144            0.192,145            0.7673,146            0.0,147            0.0,148            0.2217,149            0.9751150        ],151        "cup": [152            -0.3592,153            -0.1213,154            0.8049,155            0.0,156            0.0,157            0.975,158            0.2222159        ]160    }161}