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                "INSIDE"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": "Put the banana into the basket on the table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "kitchen",37        "context": "table",38        "manipulated_objs": [39            "banana",40            "basket"41        ],42        "distractor_objs": [43            "mug",44            "plate"45        ]46    },47    "objs_desc": {48        "kitchen": "bright modern kitchen with white cabinets, glossy countertops, and warm ambient lighting",49        "table": "standalone polished walnut dining table with clean empty surface and rounded edges",50        "banana": "ripe yellow banana with a smooth peel and faint brown spots along its curve",51        "basket": "woven wicker basket with natural beige tone and intricate criss-cross pattern",52        "mug": "ceramic coffee mug with matte dark green glaze and a curved handle",53        "plate": "white porcelain plate with subtle concentric grooves and glossy finish"54    },55    "objs_mapping": {56        "kitchen": "background",57        "table": "context",58        "banana": "manipulated_objs",59        "basket": "manipulated_objs",60        "mug": "distractor_objs",61        "plate": "distractor_objs"62    },63    "assets": {64        "table": "asset3d/table/result",65        "banana": "asset3d/banana/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        "banana": "YES",74        "basket": "YES",75        "mug": "YES",76        "plate": "YES"77    },78    "position": {79        "franka": [80            -0.8897,81            0,82            0.789,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "kitchen": [89            0,90            0,91            0,92            0.0,93            0.305,94            0.0,95            0.952396        ],97        "table": [98            0,99            0,100            0.3864,101            0,102            0,103            0,104            1105        ],106        "basket": [107            -0.4754,108            -0.1788,109            0.9884,110            0.0,111            0.0,112            0.8308,113            -0.5565114        ],115        "plate": [116            0.3433,117            0.5948,118            0.8039,119            0.0,120            0.0,121            0.0961,122            0.9954123        ],124        "banana": [125            -0.3393,126            0.2375,127            0.8629,128            0.0,129            0.0,130            0.6363,131            -0.7714132        ],133        "mug": [134            -0.0137,135            -0.6325,136            0.8514,137            0.0,138            0.0,139            0.1119,140            0.9937141        ]142    }143}