HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "kitchen": [4            [5                "table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "table": [14            [15                "tomato",16                "ON"17            ],18            [19                "saucepan",20                "ON"21            ],22            [23                "knife",24                "ON"25            ],26            [27                "cutting board",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Place the tomato in the saucepan on the table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "kitchen",37        "context": "table",38        "manipulated_objs": [39            "tomato",40            "saucepan"41        ],42        "distractor_objs": [43            "knife",44            "cutting board"45        ]46    },47    "objs_desc": {48        "kitchen": "bright modern kitchen with tiled backsplash and polished granite countertops",49        "table": "standalone pinewood table with clean surface and light honey-colored finish",50        "tomato": "ripe red tomato with smooth glossy skin and a small green stem",51        "saucepan": "shiny stainless steel saucepan with matte black handle and slightly reflective surface",52        "knife": "sleek silver kitchen knife with a sharp blade and ergonomic black handle",53        "cutting board": "light bamboo cutting board with visible wood grain and rounded edges"54    },55    "objs_mapping": {56        "kitchen": "background",57        "table": "context",58        "tomato": "manipulated_objs",59        "saucepan": "manipulated_objs",60        "knife": "distractor_objs",61        "cutting board": "distractor_objs"62    },63    "assets": {64        "table": "asset3d/table/result",65        "tomato": "asset3d/tomato/result",66        "saucepan": "asset3d/saucepan/result",67        "knife": "asset3d/knife/result",68        "cutting board": "asset3d/cutting_board/result",69        "kitchen": "background"70    },71    "quality": {72        "table": "YES",73        "tomato": "YES",74        "saucepan": "YES",75        "knife": "YES",76        "cutting board": "YES"77    },78    "position": {79        "franka": [80            -0.4012,81            0,82            0.749,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "kitchen": [89            0,90            0,91            0,92            0.0,93            0.6831,94            0.0,95            0.730496        ],97        "table": [98            0,99            0,100            0.37,101            0,102            0,103            0,104            1105        ],106        "saucepan": [107            0.0267,108            0.0364,109            0.8363,110            0.0,111            0.0,112            0.9944,113            -0.1061114        ],115        "cutting board": [116            0.2891,117            0.059,118            0.8865,119            0.0,120            0.0,121            0.1731,122            -0.9849123        ],124        "knife": [125            0.2804,126            -0.2631,127            0.8964,128            0.0,129            0.0,130            0.944,131            0.3299132        ],133        "tomato": [134            0.1854,135            0.3316,136            0.7958,137            0.0,138            0.0,139            0.2396,140            0.9709141        ]142    }143}