HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "kitchen": [4            [5                "table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "table": [14            [15                "apple",16                "ON"17            ],18            [19                "cutting board",20                "ON"21            ],22            [23                "knife",24                "ON"25            ],26            [27                "plate",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Pick up the apple and place it on the cutting board on the table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "kitchen",37        "context": "table",38        "manipulated_objs": [39            "apple",40            "cutting board"41        ],42        "distractor_objs": [43            "knife",44            "plate"45        ]46    },47    "objs_desc": {48        "kitchen": "bright modern kitchen with white cabinets, sleek countertops, and warm ambient lighting",49        "table": "standalone rectangular oak table with smooth surface and clean empty top",50        "apple": "shiny red apple with small stem and slightly textured skin",51        "cutting board": "natural wooden cutting board with faint grain patterns and light beige tone",52        "knife": "sleek stainless steel knife with a sharp blade and black ergonomic handle",53        "plate": "smooth white ceramic plate with glossy finish and subtle curved edges"54    },55    "objs_mapping": {56        "kitchen": "background",57        "table": "context",58        "apple": "manipulated_objs",59        "cutting board": "manipulated_objs",60        "knife": "distractor_objs",61        "plate": "distractor_objs"62    },63    "assets": {64        "table": "asset3d/table/result",65        "apple": "asset3d/apple/result",66        "cutting board": "asset3d/cutting_board/result",67        "knife": "asset3d/knife/result",68        "plate": "asset3d/plate/result",69        "kitchen": "background"70    },71    "quality": {72        "table": "YES",73        "apple": "YES",74        "cutting board": "YES",75        "knife": "YES",76        "plate": "YES"77    },78    "position": {79        "franka": [80            -0.3729,81            0,82            0.7483,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "kitchen": [89            0,90            0,91            0,92            0.0,93            0.0504,94            0.0,95            0.998796        ],97        "table": [98            0,99            0,100            0.3778,101            0,102            0,103            0,104            1105        ],106        "cutting board": [107            -0.0122,108            -0.2034,109            0.7631,110            0.0,111            0.0,112            0.9972,113            0.0745114        ],115        "plate": [116            0.1131,117            0.3501,118            0.7577,119            0.0,120            0.0,121            0.237,122            -0.9715123        ],124        "knife": [125            -0.1651,126            0.5166,127            0.7584,128            0.0,129            0.0,130            0.9118,131            0.4106132        ],133        "apple": [134            0.1397,135            0.0763,136            0.798,137            0.0,138            0.0,139            0.7156,140            0.6986141        ]142    }143}