HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "kitchen": [4            [5                "table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "table": [14            [15                "carrot",16                "ON"17            ],18            [19                "soup pot",20                "ON"21            ],22            [23                "knife",24                "ON"25            ],26            [27                "cutting board",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Pick up the carrot and put it in the soup pot on the table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "kitchen",37        "context": "table",38        "manipulated_objs": [39            "carrot",40            "soup pot"41        ],42        "distractor_objs": [43            "knife",44            "cutting board"45        ]46    },47    "objs_desc": {48        "kitchen": "bright rustic kitchen with white tiled walls and natural wood countertops",49        "table": "standalone rectangular oak table with empty polished top and slightly worn edges",50        "carrot": "vivid orange carrot with earthy texture and slightly dusty surface",51        "soup pot": "shiny stainless steel soup pot with smooth curved handles and glossy finish",52        "knife": "sleek steel kitchen knife with a matte blade and dark wooden handle",53        "cutting board": "light bamboo cutting board with visible grain patterns and rounded corners"54    },55    "objs_mapping": {56        "kitchen": "background",57        "table": "context",58        "carrot": "manipulated_objs",59        "soup pot": "manipulated_objs",60        "knife": "distractor_objs",61        "cutting board": "distractor_objs"62    },63    "assets": {64        "table": "asset3d/table/result",65        "carrot": "asset3d/carrot/result",66        "soup pot": "asset3d/soup_pot/result",67        "knife": "asset3d/knife/result",68        "cutting board": "asset3d/cutting_board/result",69        "kitchen": "background"70    },71    "quality": {72        "table": "YES",73        "carrot": "YES",74        "soup pot": "YES",75        "knife": "YES",76        "cutting board": "YES"77    },78    "position": {79        "franka": [80            -0.2856,81            0,82            0.7977,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "kitchen": [89            0,90            0,91            0,92            0.0,93            0.9622,94            0.0,95            0.272496        ],97        "table": [98            0,99            0,100            0.402,101            0,102            0,103            0,104            1105        ],106        "cutting board": [107            0.6666,108            -0.9716,109            0.0107,110            0.0,111            0.0,112            0.3174,113            -0.9483114        ],115        "soup pot": [116            0.1033,117            0.1423,118            0.8857,119            0.0,120            0.0,121            0.8292,122            -0.559123        ],124        "knife": [125            -0.1279,126            -0.0522,127            0.8112,128            0.0,129            0.0,130            0.9828,131            -0.1845132        ],133        "carrot": [134            0.146,135            -0.2433,136            0.828,137            0.0,138            0.0,139            0.1226,140            0.9925141        ]142    }143}