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                "ON"17            ],18            [19                "bowl",20                "ON"21            ],22            [23                "plate",24                "ON"25            ],26            [27                "spoon",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Pick up the banana and put it into the bowl on the table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "kitchen",37        "context": "table",38        "manipulated_objs": [39            "banana",40            "bowl"41        ],42        "distractor_objs": [43            "plate",44            "spoon"45        ]46    },47    "objs_desc": {48        "kitchen": "bright, airy kitchen with white cabinets, polished countertops, and warm wooden flooring",49        "table": "standalone rectangular oak table with a smooth surface and clean empty top",50        "banana": "ripe yellow banana with faint brown speckles and soft textured skin",51        "bowl": "ceramic bowl with glossy white finish and delicate curved edges",52        "plate": "simple porcelain plate with smooth white surface and subtle circular indentations",53        "spoon": "shiny stainless steel spoon with a sleek polished handle and rounded bowl"54    },55    "objs_mapping": {56        "kitchen": "background",57        "table": "context",58        "banana": "manipulated_objs",59        "bowl": "manipulated_objs",60        "plate": "distractor_objs",61        "spoon": "distractor_objs"62    },63    "assets": {64        "table": "asset3d/table/result",65        "banana": "asset3d/banana/result",66        "bowl": "asset3d/bowl/result",67        "plate": "asset3d/plate/result",68        "spoon": "asset3d/spoon/result",69        "kitchen": "background"70    },71    "quality": {72        "table": "YES",73        "banana": "YES",74        "bowl": "YES",75        "plate": "YES",76        "spoon": "YES"77    },78    "position": {79        "franka": [80            -0.3506,81            0,82            0.7489,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "kitchen": [89            0,90            0,91            0,92            0.0,93            0.773,94            0.0,95            0.634496        ],97        "table": [98            0,99            0,100            0.3758,101            0,102            0,103            0,104            1105        ],106        "plate": [107            -0.1577,108            -0.3238,109            0.7635,110            0.0,111            0.0,112            0.9835,113            -0.1811114        ],115        "spoon": [116            -0.0259,117            0.0589,118            0.7805,119            0.0,120            0.0,121            0.7426,122            -0.6698123        ],124        "bowl": [125            0.1723,126            0.2049,127            0.7976,128            0.0,129            0.0,130            0.9878,131            0.1557132        ],133        "banana": [134            0.2263,135            -0.2382,136            0.7733,137            0.0,138            0.0,139            0.867,140            -0.4984141        ]142    }143}