HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "kitchen": [4            [5                "table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "table": [14            [15                "knife",16                "ON"17            ],18            [19                "wooden cutting board",20                "ON"21            ],22            [23                "plate",24                "ON"25            ],26            [27                "spoon",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Put the knife on the wooden cutting board on the table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "kitchen",37        "context": "table",38        "manipulated_objs": [39            "knife",40            "wooden cutting board"41        ],42        "distractor_objs": [43            "plate",44            "spoon"45        ]46    },47    "objs_desc": {48        "kitchen": "bright modern kitchen with polished white countertops and stainless steel appliances",49        "table": "standalone rectangular oak dining table with smooth surface and empty top",50        "knife": "shiny stainless steel kitchen knife with a black ergonomic handle and sharp blade",51        "wooden cutting board": "polished light oak cutting board with subtle grain texture and slightly beveled edges",52        "plate": "simple white ceramic plate with a glossy finish and clean circular design",53        "spoon": "small silver spoon with a mirror-like polished surface and rounded bowl shape"54    },55    "objs_mapping": {56        "kitchen": "background",57        "table": "context",58        "knife": "manipulated_objs",59        "wooden cutting board": "manipulated_objs",60        "plate": "distractor_objs",61        "spoon": "distractor_objs"62    },63    "assets": {64        "table": "asset3d/table/result",65        "knife": "asset3d/knife/result",66        "wooden cutting board": "asset3d/wooden_cutting_board/result",67        "plate": "asset3d/plate/result",68        "spoon": "asset3d/spoon/result",69        "kitchen": "background"70    },71    "quality": {72        "table": "YES",73        "knife": "YES",74        "wooden cutting board": "YES",75        "plate": "YES",76        "spoon": "YES"77    },78    "position": {79        "franka": [80            -0.5765,81            0,82            0.7461,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "kitchen": [89            0,90            0,91            0,92            0.0,93            0.903,94            0.0,95            0.429796        ],97        "table": [98            0,99            0,100            0.379,101            0,102            0,103            0,104            1105        ],106        "wooden cutting board": [107            -0.1753,108            -0.1127,109            0.7569,110            0.0,111            0.0,112            0.7196,113            -0.6944114        ],115        "plate": [116            -0.1241,117            0.5594,118            0.7609,119            0.0,120            0.0,121            0.8261,122            -0.5635123        ],124        "knife": [125            -0.0123,126            0.2244,127            0.7591,128            0.0,129            0.0,130            0.982,131            -0.1891132        ],133        "spoon": [134            0.3005,135            -0.4389,136            0.7695,137            0.0,138            0.0,139            0.9697,140            0.2443141        ]142    }143}