HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "dining room": [4            [5                "table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "table": [14            [15                "green apple",16                "ON"17            ],18            [19                "basket",20                "ON"21            ],22            [23                "plate",24                "ON"25            ],26            [27                "salt shaker",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Put the green apple into the basket on the wooden mahogany table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "dining room",37        "context": "table",38        "manipulated_objs": [39            "green apple",40            "basket"41        ],42        "distractor_objs": [43            "plate",44            "salt shaker"45        ]46    },47    "objs_desc": {48        "dining room": "bright dining room with cream walls, polished floors, and soft sunlight filtering in",49        "table": "standalone mahogany table with rich reddish-brown grain and smooth, empty top",50        "green apple": "vibrant green apple with glossy skin and subtle dimples reflecting light",51        "basket": "woven wicker basket with natural beige fibers and a slightly tapered circular shape",52        "plate": "plain white ceramic plate with a glossy finish and rounded edges",53        "salt shaker": "transparent glass salt shaker with metallic cap and a finely ridged texture"54    },55    "objs_mapping": {56        "dining room": "background",57        "table": "context",58        "green apple": "manipulated_objs",59        "basket": "manipulated_objs",60        "plate": "distractor_objs",61        "salt shaker": "distractor_objs"62    },63    "assets": {64        "table": "asset3d/table/result",65        "green apple": "asset3d/green_apple/result",66        "basket": "asset3d/basket/result",67        "plate": "asset3d/plate/result",68        "salt shaker": "asset3d/salt_shaker/result",69        "dining room": "background"70    },71    "quality": {72        "table": "YES",73        "green apple": "YES",74        "basket": "YES",75        "plate": "YES",76        "salt shaker": "YES"77    },78    "position": {79        "franka": [80            -0.6769,81            0,82            0.7626,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "dining room": [89            0,90            0,91            0,92            0.0,93            0.9205,94            0.0,95            -0.390696        ],97        "table": [98            0,99            0,100            0.3749,101            0,102            0,103            0,104            1105        ],106        "basket": [107            -0.3917,108            0.1562,109            0.9111,110            0.0,111            0.0,112            0.437,113            -0.8994114        ],115        "plate": [116            -0.0094,117            0.5778,118            0.7728,119            0.0,120            0.0,121            0.4466,122            0.8947123        ],124        "green apple": [125            -0.1292,126            0.2473,127            0.8071,128            0.0,129            0.0,130            0.6583,131            -0.7527132        ],133        "salt shaker": [134            -0.4207,135            0.4347,136            0.8249,137            0.0,138            0.0,139            0.9867,140            -0.1626141        ]142    }143}