HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "kitchen": [4            [5                "table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "table": [14            [15                "potato",16                "ON"17            ],18            [19                "plate",20                "ON"21            ],22            [23                "fork",24                "ON"25            ],26            [27                "glass",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Place the potato on the plate on the table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "kitchen",37        "context": "table",38        "manipulated_objs": [39            "potato",40            "plate"41        ],42        "distractor_objs": [43            "fork",44            "glass"45        ]46    },47    "objs_desc": {48        "kitchen": "bright, modern kitchen with white tiles and wooden countertops",49        "table": "standalone rectangular oak table with smooth surface and empty top",50        "potato": "round russet potato with dusty brown skin and rough-textured surface",51        "plate": "white ceramic plate with a glossy finish and slightly raised rim",52        "fork": "silver stainless steel fork with polished finish and narrow tines",53        "glass": "clear glass tumbler with fine grooves and slight transparency"54    },55    "objs_mapping": {56        "kitchen": "background",57        "table": "context",58        "potato": "manipulated_objs",59        "plate": "manipulated_objs",60        "fork": "distractor_objs",61        "glass": "distractor_objs"62    },63    "assets": {64        "table": "asset3d/table/result",65        "potato": "asset3d/potato/result",66        "plate": "asset3d/plate/result",67        "fork": "asset3d/fork/result",68        "glass": "asset3d/glass/result",69        "kitchen": "background"70    },71    "quality": {72        "table": "YES",73        "potato": "YES",74        "plate": "YES",75        "fork": "YES",76        "glass": "YES"77    },78    "position": {79        "franka": [80            -0.3952,81            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            0.8196,94            0.0,95            0.572996        ],97        "table": [98            0,99            0,100            0.377,101            0,102            0,103            0,104            1105        ],106        "plate": [107            -0.0131,108            0.1364,109            0.7625,110            0.0,111            0.0,112            0.7519,113            -0.6593114        ],115        "fork": [116            -0.2008,117            0.2853,118            0.7624,119            0.0,120            0.0,121            0.0587,122            -0.9983123        ],124        "glass": [125            -0.1696,126            -0.1276,127            0.8099,128            0.0,129            0.0,130            0.9701,131            -0.2427132        ],133        "potato": [134            0.1904,135            -0.1244,136            0.787,137            0.0,138            0.0,139            0.261,140            0.9654141        ]142    }143}