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                "bowl",20                "ON"21            ],22            [23                "plate",24                "ON"25            ],26            [27                "knife",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Pick up the orange and place it in the bowl on the table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "kitchen",37        "context": "table",38        "manipulated_objs": [39            "orange",40            "bowl"41        ],42        "distractor_objs": [43            "plate",44            "knife"45        ]46    },47    "objs_desc": {48        "kitchen": "bright modern kitchen with white counters, hanging lights, and stainless steel appliances",49        "table": "standalone polished wooden table with a smooth surface and empty top",50        "orange": "vibrant glossy orange fruit with dimpled skin and slightly uneven shape",51        "bowl": "ceramic bowl with matte off-white glaze and minimalistic round design",52        "plate": "plain white porcelain plate with a slight rim and smooth glossy texture",53        "knife": "sleek stainless steel knife with sharp edge and black ergonomic handle"54    },55    "objs_mapping": {56        "kitchen": "background",57        "table": "context",58        "orange": "manipulated_objs",59        "bowl": "manipulated_objs",60        "plate": "distractor_objs",61        "knife": "distractor_objs"62    },63    "assets": {64        "table": "asset3d/table/result",65        "orange": "asset3d/orange/result",66        "bowl": "asset3d/bowl/result",67        "plate": "asset3d/plate/result",68        "knife": "asset3d/knife/result",69        "kitchen": "background"70    },71    "quality": {72        "table": "YES",73        "orange": "YES",74        "bowl": "YES",75        "plate": "YES",76        "knife": "YES"77    },78    "position": {79        "franka": [80            -0.3262,81            0,82            0.7967,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "kitchen": [89            0,90            0,91            0,92            0.0,93            0.9631,94            0.0,95            -0.269296        ],97        "table": [98            0,99            0,100            0.3982,101            0,102            0,103            0,104            1105        ],106        "knife": [107            0.1877,108            0.1369,109            0.8107,110            0.0,111            0.0,112            0.0852,113            -0.9964114        ],115        "plate": [116            -0.1676,117            0.2792,118            0.8062,119            0.0,120            0.0,121            0.9923,122            0.1242123        ],124        "bowl": [125            0.0308,126            -0.0178,127            0.8589,128            0.0,129            0.0,130            0.5036,131            0.864132        ],133        "orange": [134            0.1394,135            -0.2519,136            0.8384,137            0.0,138            0.0,139            0.1543,140            0.988141        ]142    }143}