HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "kitchen": [4            [5                "wooden striped table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "wooden striped table": [14            [15                "apple1",16                "ON"17            ],18            [19                "apple2",20                "ON"21            ],22            [23                "basket",24                "ON"25            ],26            [27                "plate",28                "ON"29            ],30            [31                "fork",32                "ON"33            ]34        ]35    },36    "relation": {37        "task_desc": "Put the apples from the wooden striped table to the basket.",38        "task": "pick and place",39        "robot": "franka",40        "background": "kitchen",41        "context": "wooden striped table",42        "manipulated_objs": [43            "apple1",44            "apple2",45            "basket"46        ],47        "distractor_objs": [48            "plate",49            "fork"50        ]51    },52    "objs_desc": {53        "kitchen": "bright rustic kitchen with warm beige walls and polished wooden flooring",54        "wooden striped table": "standalone striped oak table with matte finish and empty, clean flat surface",55        "apple1": "vivid red apple with a glossy surface and a subtle stem detail",56        "apple2": "green speckled apple with smooth skin and slightly curved shape",57        "basket": "woven wicker basket with natural tan color and soft textured weave",58        "plate": "white porcelain plate with smooth glaze and faint floral accents along the rim",59        "fork": "sleek stainless steel fork with a brushed finish and straight sharp tines"60    },61    "objs_mapping": {62        "kitchen": "background",63        "wooden striped table": "context",64        "apple1": "manipulated_objs",65        "apple2": "manipulated_objs",66        "basket": "manipulated_objs",67        "plate": "distractor_objs",68        "fork": "distractor_objs"69    },70    "assets": {71        "wooden striped table": "asset3d/wooden_striped_table/result",72        "apple1": "asset3d/apple1/result",73        "apple2": "asset3d/apple2/result",74        "basket": "asset3d/basket/result",75        "plate": "asset3d/plate/result",76        "fork": "asset3d/fork/result",77        "kitchen": "background"78    },79    "quality": {80        "wooden striped table": "YES",81        "apple1": "YES",82        "apple2": "YES",83        "basket": "YES",84        "plate": "YES",85        "fork": "YES"86    },87    "position": {88        "franka": [89            -0.3401,90            0,91            0.4486,92            0.0,93            0.0,94            0.0,95            -1.096        ],97        "kitchen": [98            0,99            0,100            0,101            0.0,102            0.9946,103            0.0,104            -0.1039105        ],106        "wooden striped table": [107            0,108            0,109            0.2245,110            0,111            0,112            0,113            1114        ],115        "basket": [116            0.0676,117            -0.0161,118            0.6491,119            0.0,120            0.0,121            0.2696,122            0.963123        ],124        "fork": [125            0.5498,126            -0.5836,127            0.0097,128            0.0,129            0.0,130            0.4038,131            -0.9149132        ],133        "apple1": [134            0.2762,135            0.2669,136            0.4981,137            0.0,138            0.0,139            0.1289,140            0.9917141        ],142        "apple2": [143            0.2235,144            -0.3038,145            0.4932,146            0.0,147            0.0,148            0.7969,149            0.6041150        ],151        "plate": [152            -0.172,153            0.0191,154            0.4503,155            0.0,156            0.0,157            0.9782,158            -0.2074159        ]160    }161}