HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "kitchen": [4            [5                "table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "table": [14            [15                "green apple",16                "ON"17            ],18            [19                "red apple",20                "ON"21            ],22            [23                "fruit bowl",24                "ON"25            ],26            [27                "plate",28                "ON"29            ],30            [31                "knife",32                "ON"33            ]34        ]35    },36    "relation": {37        "task_desc": "Put the green apple next to the red apple into the fruit bowl on the table.",38        "task": "pick and place",39        "robot": "franka",40        "background": "kitchen",41        "context": "table",42        "manipulated_objs": [43            "green apple",44            "red apple",45            "fruit bowl"46        ],47        "distractor_objs": [48            "plate",49            "knife"50        ]51    },52    "objs_desc": {53        "kitchen": "bright modern kitchen with white countertops and wooden cabinets, illuminated by natural light",54        "table": "standalone round wooden table with a polished surface and no items on top",55        "green apple": "shiny green apple with smooth skin and a small brown stem",56        "red apple": "glossy red apple with subtle yellow undertones and a curved green leaf",57        "fruit bowl": "ceramic fruit bowl with a cream glaze finish and subtle hand-painted patterns",58        "plate": "plain white porcelain plate with a slightly raised rim and smooth glossy surface",59        "knife": "sleek stainless steel kitchen knife with a black plastic handle and sharp tapered blade"60    },61    "objs_mapping": {62        "kitchen": "background",63        "table": "context",64        "green apple": "manipulated_objs",65        "red apple": "manipulated_objs",66        "fruit bowl": "manipulated_objs",67        "plate": "distractor_objs",68        "knife": "distractor_objs"69    },70    "assets": {71        "table": "asset3d/table/result",72        "green apple": "asset3d/green_apple/result",73        "red apple": "asset3d/red_apple/result",74        "fruit bowl": "asset3d/fruit_bowl/result",75        "plate": "asset3d/plate/result",76        "knife": "asset3d/knife/result",77        "kitchen": "background"78    },79    "quality": {80        "table": "YES",81        "green apple": "YES",82        "red apple": "YES",83        "fruit bowl": "YES",84        "plate": "YES",85        "knife": "YES"86    },87    "position": {88        "franka": [89            -0.4175,90            0,91            0.6723,92            0.0,93            0.0,94            0.0,95            -1.096        ],97        "kitchen": [98            0,99            0,100            0,101            0.0,102            0.6868,103            0.0,104            0.7268105        ],106        "table": [107            0,108            0,109            0.3386,110            0,111            0,112            0,113            1114        ],115        "plate": [116            0.0943,117            0.0787,118            0.6863,119            0.0,120            0.0,121            0.0722,122            -0.9974123        ],124        "fruit bowl": [125            0.232,126            -0.1968,127            0.7343,128            0.0,129            0.0,130            0.0741,131            0.9972132        ],133        "knife": [134            -0.2594,135            -0.1252,136            0.6871,137            0.0,138            0.0,139            0.2359,140            -0.9718141        ],142        "red apple": [143            0.1268,144            0.2778,145            0.722,146            0.0,147            0.0,148            0.9987,149            0.0506150        ],151        "green apple": [152            -0.0915,153            -0.1218,154            0.7171,155            0.0,156            0.0,157            0.8443,158            -0.5358159        ]160    }161}