HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "kitchen": [4            [5                "table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "table": [14            [15                "pear",16                "ON"17            ],18            [19                "basket",20                "ON"21            ],22            [23                "mug",24                "ON"25            ],26            [27                "plate",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Pick up the pear and place it in the basket on the table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "kitchen",37        "context": "table",38        "manipulated_objs": [39            "pear",40            "basket"41        ],42        "distractor_objs": [43            "mug",44            "plate"45        ]46    },47    "objs_desc": {48        "kitchen": "bright farmhouse kitchen with polished wooden cabinets and soft white overhead lighting",49        "table": "standalone rectangular pinewood table with a smooth surface and empty top",50        "pear": "fresh yellow-green pear with subtle dimples and a matte skin texture",51        "basket": "woven straw basket with an intricate lattice pattern and warm beige finish",52        "mug": "ceramic mug with a glossy red exterior and clean rounded handle",53        "plate": "white porcelain plate with a smooth, reflective surface and minimalist design"54    },55    "objs_mapping": {56        "kitchen": "background",57        "table": "context",58        "pear": "manipulated_objs",59        "basket": "manipulated_objs",60        "mug": "distractor_objs",61        "plate": "distractor_objs"62    },63    "assets": {64        "table": "asset3d/table/result",65        "pear": "asset3d/pear/result",66        "basket": "asset3d/basket/result",67        "mug": "asset3d/mug/result",68        "plate": "asset3d/plate/result",69        "kitchen": "background"70    },71    "quality": {72        "table": "YES",73        "pear": "YES",74        "basket": "YES",75        "mug": "YES",76        "plate": "YES"77    },78    "position": {79        "franka": [80            -0.5279,81            0,82            0.6735,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "kitchen": [89            0,90            0,91            0,92            0.0,93            0.8205,94            0.0,95            -0.571796        ],97        "table": [98            0,99            0,100            0.3395,101            0,102            0,103            0,104            1105        ],106        "basket": [107            -0.0721,108            -0.1162,109            0.7962,110            0.0,111            0.0,112            0.9493,113            -0.3142114        ],115        "plate": [116            0.3438,117            -0.2456,118            0.6832,119            0.0,120            0.0,121            0.6334,122            -0.7738123        ],124        "mug": [125            0.3872,126            0.2739,127            0.7355,128            0.0,129            0.0,130            0.4493,131            0.8934132        ],133        "pear": [134            0.0944,135            0.214,136            0.7353,137            0.0,138            0.0,139            0.9961,140            0.0879141        ]142    }143}