HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "kitchen": [4            [5                "table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "table": [14            [15                "tomato",16                "ON"17            ],18            [19                "white plate",20                "ON"21            ],22            [23                "fork",24                "ON"25            ],26            [27                "napkin",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Put the tomato on the white plate on the table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "kitchen",37        "context": "table",38        "manipulated_objs": [39            "tomato",40            "white plate"41        ],42        "distractor_objs": [43            "fork",44            "napkin"45        ]46    },47    "objs_desc": {48        "kitchen": "bright modern kitchen with smooth marble countertops and stainless steel appliances",49        "table": "standalone polished wooden dining table with no objects on its empty flat surface",50        "tomato": "ripe round tomato with glossy red skin and a small green stem on top",51        "white plate": "ceramic white plate with clean smooth texture and slightly raised edges",52        "fork": "silver metallic fork with narrow tapered prongs and a polished reflective surface",53        "napkin": "folded cotton napkin in soft beige color with fine stitched borders"54    },55    "objs_mapping": {56        "kitchen": "background",57        "table": "context",58        "tomato": "manipulated_objs",59        "white plate": "manipulated_objs",60        "fork": "distractor_objs",61        "napkin": "distractor_objs"62    },63    "assets": {64        "table": "asset3d/table/result",65        "tomato": "asset3d/tomato/result",66        "white plate": "asset3d/white_plate/result",67        "fork": "asset3d/fork/result",68        "napkin": "asset3d/napkin/result",69        "kitchen": "background"70    },71    "quality": {72        "table": "YES",73        "tomato": "YES",74        "white plate": "YES",75        "fork": "YES",76        "napkin": "YES"77    },78    "position": {79        "franka": [80            -0.4599,81            0,82            0.7482,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "kitchen": [89            0,90            0,91            0,92            0.0,93            0.8111,94            0.0,95            -0.58596        ],97        "table": [98            0,99            0,100            0.3747,101            0,102            0,103            0,104            1105        ],106        "white plate": [107            0.0636,108            0.1713,109            0.7626,110            0.0,111            0.0,112            0.2839,113            0.9588114        ],115        "napkin": [116            -0.2164,117            -0.0972,118            0.7626,119            0.0,120            0.0,121            0.2674,122            -0.9636123        ],124        "fork": [125            0.0646,126            -0.2801,127            0.7638,128            0.0,129            0.0,130            0.5974,131            -0.8019132        ],133        "tomato": [134            0.1065,135            -0.0536,136            0.7969,137            0.0,138            0.0,139            0.0355,140            -0.9994141        ]142    }143}