HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "kitchen": [4            [5                "table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "table": [14            [15                "banana",16                "ON"17            ],18            [19                "orange",20                "ON"21            ],22            [23                "plate",24                "ON"25            ],26            [27                "fork",28                "ON"29            ],30            [31                "napkin",32                "ON"33            ]34        ]35    },36    "relation": {37        "task_desc": "Put the banana next to the orange onto the plate on table.",38        "task": "pick and place",39        "robot": "franka",40        "background": "kitchen",41        "context": "table",42        "manipulated_objs": [43            "banana",44            "orange",45            "plate"46        ],47        "distractor_objs": [48            "fork",49            "napkin"50        ]51    },52    "objs_desc": {53        "kitchen": "sleek modern kitchen with marble countertops and stainless steel appliances",54        "table": "standalone oak dining table with polished surface and no surrounding objects",55        "banana": "ripe yellow banana with slightly speckled skin and smooth curved texture",56        "orange": "bright orange fruit with dimpled rind and vibrant color",57        "plate": "white ceramic plate with glossy finish and subtle rim detailing",58        "fork": "shiny silver fork with smooth handle and tapered prongs",59        "napkin": "folded white cotton napkin with soft fabric texture and clean appearance"60    },61    "objs_mapping": {62        "kitchen": "background",63        "table": "context",64        "banana": "manipulated_objs",65        "orange": "manipulated_objs",66        "plate": "manipulated_objs",67        "fork": "distractor_objs",68        "napkin": "distractor_objs"69    },70    "assets": {71        "table": "asset3d/table/result",72        "banana": "asset3d/banana/result",73        "orange": "asset3d/orange/result",74        "plate": "asset3d/plate/result",75        "fork": "asset3d/fork/result",76        "napkin": "asset3d/napkin/result",77        "kitchen": "background"78    },79    "quality": {80        "table": "YES",81        "banana": "YES",82        "orange": "YES",83        "plate": "YES",84        "fork": "YES",85        "napkin": "YES"86    },87    "position": {88        "franka": [89            -0.4524,90            0,91            0.7477,92            0.0,93            0.0,94            0.0,95            -1.096        ],97        "kitchen": [98            0,99            0,100            0,101            0.0,102            0.3986,103            0.0,104            -0.9171105        ],106        "table": [107            0,108            0,109            0.3728,110            0,111            0,112            0,113            1114        ],115        "plate": [116            0.1655,117            -0.0771,118            0.7622,119            0.0,120            0.0,121            0.432,122            0.9019123        ],124        "fork": [125            0.3087,126            0.5065,127            0.7609,128            0.0,129            0.0,130            0.5005,131            0.8658132        ],133        "napkin": [134            -0.0563,135            0.3086,136            0.7613,137            0.0,138            0.0,139            0.4556,140            -0.8902141        ],142        "banana": [143            -0.1292,144            -0.0464,145            0.7676,146            0.0,147            0.0,148            0.8312,149            0.556150        ],151        "orange": [152            -0.0266,153            0.1176,154            0.7897,155            0.0,156            0.0,157            0.7974,158            0.6034159        ]160    }161}