HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "kitchen": [4            [5                "table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "table": [14            [15                "orange",16                "ON"17            ],18            [19                "green napkin",20                "ON"21            ],22            [23                "salt shaker",24                "ON"25            ],26            [27                "plate",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Place the orange on the green napkin on the table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "kitchen",37        "context": "table",38        "manipulated_objs": [39            "orange",40            "green napkin"41        ],42        "distractor_objs": [43            "salt shaker",44            "plate"45        ]46    },47    "objs_desc": {48        "kitchen": "bright modern kitchen with sleek white cabinets and natural light through large windows",49        "table": "standalone rectangular wooden table with a smooth surface and no objects on top",50        "orange": "vibrant orange fruit with dimpled skin and a fresh glossy texture",51        "green napkin": "folded cotton napkin in rich forest green, slightly textured with stitched edges",52        "salt shaker": "small glass salt shaker with a shiny metal cap and fine white granules visible inside",53        "plate": "ceramic white plate with smooth matte finish and faint circular ridges along the rim"54    },55    "objs_mapping": {56        "kitchen": "background",57        "table": "context",58        "orange": "manipulated_objs",59        "green napkin": "manipulated_objs",60        "salt shaker": "distractor_objs",61        "plate": "distractor_objs"62    },63    "assets": {64        "table": "asset3d/table/result",65        "orange": "asset3d/orange/result",66        "green napkin": "asset3d/green_napkin/result",67        "salt shaker": "asset3d/salt_shaker/result",68        "plate": "asset3d/plate/result",69        "kitchen": "background"70    },71    "quality": {72        "table": "YES",73        "orange": "YES",74        "green napkin": "YES",75        "salt shaker": "YES",76        "plate": "YES"77    },78    "position": {79        "franka": [80            -0.3937,81            0,82            0.672,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "kitchen": [89            0,90            0,91            0,92            0.0,93            0.7336,94            0.0,95            -0.679696        ],97        "table": [98            0,99            0,100            0.3344,101            0,102            0,103            0,104            1105        ],106        "plate": [107            0.0504,108            -0.1932,109            0.6819,110            0.0,111            0.0,112            0.499,113            -0.8666114        ],115        "green napkin": [116            0.0448,117            0.1317,118            0.6909,119            0.0,120            0.0,121            0.9112,122            -0.4119123        ],124        "orange": [125            0.25,126            0.1218,127            0.7135,128            0.0,129            0.0,130            0.1565,131            -0.9877132        ],133        "salt shaker": [134            -0.1625,135            -0.2719,136            0.7346,137            0.0,138            0.0,139            0.9616,140            -0.2744141        ]142    }143}