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                "INSIDE"17            ],18            [19                "basket",20                "ON"21            ],22            [23                "plate",24                "ON"25            ],26            [27                "knife",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": "kitchen",37        "context": "table",38        "manipulated_objs": [39            "green apple",40            "basket"41        ],42        "distractor_objs": [43            "plate",44            "knife"45        ]46    },47    "objs_desc": {48        "kitchen": "bright rustic kitchen with sunlight on white tiled walls and wooden cabinets",49        "table": "standalone polished mahogany table with smooth surface and no items on top",50        "green apple": "shiny green apple with realistic dimples and light matte surface texture",51        "basket": "woven wicker basket with beige fibers and slightly uneven round shape",52        "plate": "plain white ceramic plate with subtle gloss finish and smooth edges",53        "knife": "stainless steel kitchen knife with brushed metallic blade and dark wooden handle"54    },55    "objs_mapping": {56        "kitchen": "background",57        "table": "context",58        "green apple": "manipulated_objs",59        "basket": "manipulated_objs",60        "plate": "distractor_objs",61        "knife": "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        "knife": "asset3d/knife/result",69        "kitchen": "background"70    },71    "quality": {72        "table": "YES",73        "green apple": "YES",74        "basket": "YES",75        "plate": "YES",76        "knife": "YES"77    },78    "position": {79        "franka": [80            -0.3458,81            0,82            0.7679,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "kitchen": [89            0,90            0,91            0,92            0.0,93            0.1218,94            0.0,95            0.992696        ],97        "table": [98            0,99            0,100            0.3829,101            0,102            0,103            0,104            1105        ],106        "basket": [107            0.1518,108            -0.0188,109            0.9654,110            0.0,111            0.0,112            0.9698,113            0.2439114        ],115        "knife": [116            -0.1575,117            0.299,118            0.7844,119            0.0,120            0.0,121            0.5262,122            -0.8504123        ],124        "plate": [125            -0.079,126            -0.3542,127            0.7777,128            0.0,129            0.0,130            0.5129,131            0.8585132        ],133        "green apple": [134            0.2726,135            -0.2594,136            0.8123,137            0.0,138            0.0,139            0.8543,140            -0.5197141        ]142    }143}