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                "napkin",20                "ON"21            ],22            [23                "plate",24                "ON"25            ],26            [27                "spoon",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Put the pear on the napkin on the table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "kitchen",37        "context": "table",38        "manipulated_objs": [39            "pear",40            "napkin"41        ],42        "distractor_objs": [43            "plate",44            "spoon"45        ]46    },47    "objs_desc": {48        "kitchen": "bright modern kitchen with sleek white cabinets and polished wooden floor",49        "table": "standalone rectangular oak table with smooth finish and clean, empty top surface",50        "pear": "ripe yellow-green pear with matte skin and subtle brown speckles",51        "napkin": "folded white cotton napkin with soft texture and slightly frayed edges",52        "plate": "simple ceramic plate with glossy off-white glaze and faint circular grooves",53        "spoon": "polished stainless steel spoon with smooth curved bowl and reflective surface"54    },55    "objs_mapping": {56        "kitchen": "background",57        "table": "context",58        "pear": "manipulated_objs",59        "napkin": "manipulated_objs",60        "plate": "distractor_objs",61        "spoon": "distractor_objs"62    },63    "assets": {64        "table": "asset3d/table/result",65        "pear": "asset3d/pear/result",66        "napkin": "asset3d/napkin/result",67        "plate": "asset3d/plate/result",68        "spoon": "asset3d/spoon/result",69        "kitchen": "background"70    },71    "quality": {72        "table": "YES",73        "pear": "YES",74        "napkin": "YES",75        "plate": "YES",76        "spoon": "YES"77    },78    "position": {79        "franka": [80            -0.398,81            0,82            0.6724,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "kitchen": [89            0,90            0,91            0,92            0.0,93            0.535,94            0.0,95            -0.844896        ],97        "table": [98            0,99            0,100            0.3386,101            0,102            0,103            0,104            1105        ],106        "spoon": [107            -0.1612,108            -0.0139,109            0.6962,110            0.0,111            0.0,112            0.956,113            0.2935114        ],115        "plate": [116            -0.0319,117            0.2449,118            0.6871,119            0.0,120            0.0,121            0.7167,122            -0.6973123        ],124        "napkin": [125            0.2208,126            -0.2821,127            0.6868,128            0.0,129            0.0,130            0.9998,131            0.0199132        ],133        "pear": [134            0.2299,135            -0.1428,136            0.7344,137            0.0,138            0.0,139            0.2703,140            -0.9628141        ]142    }143}