HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "kitchen": [4            [5                "table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "table": [14            [15                "cucumber",16                "ON"17            ],18            [19                "carrot",20                "ON"21            ],22            [23                "plate",24                "ON"25            ],26            [27                "knife",28                "ON"29            ],30            [31                "cutting board",32                "ON"33            ]34        ]35    },36    "relation": {37        "task_desc": "Put the cucumber next to the carrot on the plate.",38        "task": "pick and place",39        "robot": "franka",40        "background": "kitchen",41        "context": "table",42        "manipulated_objs": [43            "cucumber",44            "carrot",45            "plate"46        ],47        "distractor_objs": [48            "knife",49            "cutting board"50        ]51    },52    "objs_desc": {53        "kitchen": "bright kitchen with marble countertops, stainless steel appliances, and warm wooden cabinets",54        "table": "standalone rectangular wooden table with polished surface and empty top",55        "cucumber": "fresh green cucumber with smooth skin and light tapering ends",56        "carrot": "vivid orange carrot with slight ridges and a clean tapered shape",57        "plate": "white ceramic plate with a glossy finish and slightly raised rim",58        "knife": "stainless steel knife with matte blade and black ergonomic handle",59        "cutting board": "scratched bamboo cutting board with rounded edges and natural wood grain texture"60    },61    "objs_mapping": {62        "kitchen": "background",63        "table": "context",64        "cucumber": "manipulated_objs",65        "carrot": "manipulated_objs",66        "plate": "manipulated_objs",67        "knife": "distractor_objs",68        "cutting board": "distractor_objs"69    },70    "assets": {71        "table": "asset3d/table/result",72        "cucumber": "asset3d/cucumber/result",73        "carrot": "asset3d/carrot/result",74        "plate": "asset3d/plate/result",75        "knife": "asset3d/knife/result",76        "cutting board": "asset3d/cutting_board/result",77        "kitchen": "background"78    },79    "quality": {80        "table": "YES",81        "cucumber": "YES",82        "carrot": "YES",83        "plate": "YES",84        "knife": "YES",85        "cutting board": "YES"86    },87    "position": {88        "franka": [89            -0.4358,90            0,91            0.794,92            0.0,93            0.0,94            0.0,95            -1.096        ],97        "kitchen": [98            0,99            0,100            0,101            0.0,102            0.8263,103            0.0,104            0.5632105        ],106        "table": [107            0,108            0,109            0.3949,110            0,111            0,112            0,113            1114        ],115        "cutting board": [116            0.0032,117            -0.2138,118            0.8083,119            0.0,120            0.0,121            0.9539,122            0.3002123        ],124        "plate": [125            -0.0735,126            0.1333,127            0.8083,128            0.0,129            0.0,130            0.6885,131            0.7252132        ],133        "knife": [134            0.2804,135            0.1954,136            0.8076,137            0.0,138            0.0,139            0.8872,140            0.4614141        ],142        "carrot": [143            0.1135,144            0.1473,145            0.8181,146            0.0,147            0.0,148            0.2633,149            -0.9647150        ],151        "cucumber": [152            0.2599,153            -0.0621,154            0.8184,155            0.0,156            0.0,157            0.8223,158            0.569159        ]160    }161}