HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "kitchen": [4            [5                "wooden grain table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "wooden grain table": [14            [15                "orange1",16                "ON"17            ],18            [19                "orange2",20                "ON"21            ],22            [23                "bowl",24                "ON"25            ],26            [27                "plate",28                "ON"29            ],30            [31                "spoon",32                "ON"33            ]34        ]35    },36    "relation": {37        "task_desc": "Put the oranges from the wooden grain table to the bowl.",38        "task": "pick and place",39        "robot": "franka",40        "background": "kitchen",41        "context": "wooden grain table",42        "manipulated_objs": [43            "orange1",44            "orange2",45            "bowl"46        ],47        "distractor_objs": [48            "plate",49            "spoon"50        ]51    },52    "objs_desc": {53        "kitchen": "bright modern kitchen with white countertops and warm ambient lighting",54        "wooden grain table": "standalone rustic table with deep mahogany wood grain and clean empty top",55        "orange1": "ripe orange with smooth glossy surface and vibrant citrus hue",56        "orange2": "fresh orange with slightly dimpled skin and bold orange coloration",57        "bowl": "ceramic bowl with matte white finish and subtle curved edges",58        "plate": "flat porcelain plate with clean glossy surface and subtle rim detail",59        "spoon": "polished stainless steel spoon with narrow handle and reflective finish"60    },61    "objs_mapping": {62        "kitchen": "background",63        "wooden grain table": "context",64        "orange1": "manipulated_objs",65        "orange2": "manipulated_objs",66        "bowl": "manipulated_objs",67        "plate": "distractor_objs",68        "spoon": "distractor_objs"69    },70    "assets": {71        "wooden grain table": "asset3d/wooden_grain_table/result",72        "orange1": "asset3d/orange1/result",73        "orange2": "asset3d/orange2/result",74        "bowl": "asset3d/bowl/result",75        "plate": "asset3d/plate/result",76        "spoon": "asset3d/spoon/result",77        "kitchen": "background"78    },79    "quality": {80        "wooden grain table": "YES",81        "orange1": "YES",82        "orange2": "YES",83        "bowl": "YES",84        "plate": "YES",85        "spoon": "YES"86    },87    "position": {88        "franka": [89            -0.4081,90            0,91            0.7431,92            0.0,93            0.0,94            0.0,95            -1.096        ],97        "kitchen": [98            0,99            0,100            0,101            0.0,102            0.9884,103            0.0,104            0.1517105        ],106        "wooden grain table": [107            0,108            0,109            0.3685,110            0,111            0,112            0,113            1114        ],115        "plate": [116            -0.0974,117            -0.0008,118            0.7521,119            0.0,120            0.0,121            0.7078,122            0.7064123        ],124        "bowl": [125            0.205,126            0.1935,127            0.8058,128            0.0,129            0.0,130            0.445,131            0.8956132        ],133        "spoon": [134            -0.3459,135            0.1985,136            0.7539,137            0.0,138            0.0,139            0.4773,140            0.8787141        ],142        "orange1": [143            0.2709,144            -0.0087,145            0.7851,146            0.0,147            0.0,148            0.918,149            0.3965150        ],151        "orange2": [152            0.2245,153            -0.2561,154            0.7875,155            0.0,156            0.0,157            0.7454,158            0.6666159        ]160    }161}