HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "kitchen": [4            [5                "wooden textured table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "wooden textured table": [14            [15                "spoon",16                "ON"17            ],18            [19                "black jar",20                "ON"21            ],22            [23                "plate",24                "ON"25            ],26            [27                "napkin",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Put the spoon into the black jar on the wooden textured table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "kitchen",37        "context": "wooden textured table",38        "manipulated_objs": [39            "spoon",40            "black jar"41        ],42        "distractor_objs": [43            "plate",44            "napkin"45        ]46    },47    "objs_desc": {48        "kitchen": "bright, modern kitchen with stainless steel appliances and white tiled backsplash",49        "wooden textured table": "standalone rectangular oak table with prominent grain patterns and smooth empty top",50        "spoon": "shiny stainless steel spoon with polished surface and tapered handle",51        "black jar": "matte black ceramic jar with a subtle texture and wide open top",52        "plate": "white porcelain plate with slight gloss and faint concentric ridges",53        "napkin": "soft linen napkin in pale beige with finely stitched edges"54    },55    "objs_mapping": {56        "kitchen": "background",57        "wooden textured table": "context",58        "spoon": "manipulated_objs",59        "black jar": "manipulated_objs",60        "plate": "distractor_objs",61        "napkin": "distractor_objs"62    },63    "assets": {64        "wooden textured table": "asset3d/wooden_textured_table/result",65        "spoon": "asset3d/spoon/result",66        "black jar": "asset3d/black_jar/result",67        "plate": "asset3d/plate/result",68        "napkin": "asset3d/napkin/result",69        "kitchen": "background"70    },71    "quality": {72        "wooden textured table": "YES",73        "spoon": "YES",74        "black jar": "YES",75        "plate": "YES",76        "napkin": "YES"77    },78    "position": {79        "franka": [80            -0.4504,81            0,82            0.7926,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "kitchen": [89            0,90            0,91            0,92            0.0,93            0.5741,94            0.0,95            0.818896        ],97        "wooden textured table": [98            0,99            0,100            0.3966,101            0,102            0,103            0,104            1105        ],106        "plate": [107            0.2622,108            -0.1248,109            0.8077,110            0.0,111            0.0,112            0.9968,113            0.0805114        ],115        "napkin": [116            0.0556,117            -0.6079,118            0.8111,119            0.0,120            0.0,121            0.1744,122            0.9847123        ],124        "spoon": [125            -0.1067,126            0.0596,127            0.811,128            0.0,129            0.0,130            0.3928,131            0.9196132        ],133        "black jar": [134            -0.1923,135            -0.139,136            0.8925,137            0.0,138            0.0,139            0.7168,140            -0.6972141        ]142    }143}