HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "kitchen": [4            [5                "table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "table": [14            [15                "strawberry",16                "ON"17            ],18            [19                "small saucer",20                "ON"21            ],22            [23                "fork",24                "ON"25            ],26            [27                "napkin",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Pick up the strawberry and put it on the small saucer on the table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "kitchen",37        "context": "table",38        "manipulated_objs": [39            "strawberry",40            "small saucer"41        ],42        "distractor_objs": [43            "fork",44            "napkin"45        ]46    },47    "objs_desc": {48        "kitchen": "bright kitchen with polished white countertops and warm wooden cabinetry",49        "table": "standalone smooth pine table with no objects on its surface",50        "strawberry": "plump red strawberry with glossy skin and tiny green leaves on top",51        "small saucer": "delicate porcelain saucer with clean ivory finish and subtle rim detailing",52        "fork": "shiny stainless steel fork with slim tines and brushed handle texture",53        "napkin": "soft white cotton napkin with neatly folded edges and minimal creases"54    },55    "objs_mapping": {56        "kitchen": "background",57        "table": "context",58        "strawberry": "manipulated_objs",59        "small saucer": "manipulated_objs",60        "fork": "distractor_objs",61        "napkin": "distractor_objs"62    },63    "assets": {64        "table": "asset3d/table/result",65        "strawberry": "asset3d/strawberry/result",66        "small saucer": "asset3d/small_saucer/result",67        "fork": "asset3d/fork/result",68        "napkin": "asset3d/napkin/result",69        "kitchen": "background"70    },71    "quality": {72        "table": "YES",73        "strawberry": "YES",74        "small saucer": "YES",75        "fork": "YES",76        "napkin": "YES"77    },78    "position": {79        "franka": [80            -0.2971,81            0,82            0.7993,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "kitchen": [89            0,90            0,91            0,92            0.0,93            0.997,94            0.0,95            -0.077296        ],97        "table": [98            0,99            0,100            0.4025,101            0,102            0,103            0,104            1105        ],106        "fork": [107            -0.0594,108            -0.1637,109            0.8136,110            0.0,111            0.0,112            0.2021,113            -0.9794114        ],115        "small saucer": [116            0.181,117            0.2729,118            0.8064,119            0.0,120            0.0,121            0.0594,122            -0.9982123        ],124        "napkin": [125            0.03,126            0.084,127            0.814,128            0.0,129            0.0,130            0.9948,131            0.1014132        ],133        "strawberry": [134            0.2399,135            -0.1352,136            0.8303,137            0.0,138            0.0,139            0.5604,140            -0.8282141        ]142    }143}