HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "living room": [4            [5                "table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "table": [14            [15                "white ping-pong ball",16                "ON"17            ],18            [19                "blue cup",20                "ON"21            ],22            [23                "book",24                "ON"25            ],26            [27                "remote control",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Put the white ping-pong ball into the blue cup on the wooden oak table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "living room",37        "context": "table",38        "manipulated_objs": [39            "white ping-pong ball",40            "blue cup"41        ],42        "distractor_objs": [43            "book",44            "remote control"45        ]46    },47    "objs_desc": {48        "living room": "bright modern living room with cream walls and a textured beige rug",49        "table": "standalone polished oak table with rich grain and smooth empty surface",50        "white ping-pong ball": "glossy white plastic ball with a pristine, smooth texture and subtle sheen",51        "blue cup": "ceramic blue cup with matte finish, simple contours, and slightly curved rim",52        "book": "worn paperback book with faded green cover and lightly frayed edges",53        "remote control": "sleek black remote control with small rubber buttons and textured underside"54    },55    "objs_mapping": {56        "living room": "background",57        "table": "context",58        "white ping-pong ball": "manipulated_objs",59        "blue cup": "manipulated_objs",60        "book": "distractor_objs",61        "remote control": "distractor_objs"62    },63    "assets": {64        "table": "asset3d/table/result",65        "white ping-pong ball": "asset3d/white_ping-pong_ball/result",66        "blue cup": "asset3d/blue_cup/result",67        "book": "asset3d/book/result",68        "remote control": "asset3d/remote_control/result",69        "living room": "background"70    },71    "quality": {72        "table": "YES",73        "white ping-pong ball": "YES",74        "blue cup": "YES",75        "book": "YES",76        "remote control": "YES"77    },78    "position": {79        "franka": [80            -0.6963,81            0,82            0.7391,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "living room": [89            0,90            0,91            0,92            0.0,93            0.9874,94            0.0,95            0.158296        ],97        "table": [98            0,99            0,100            0.3645,101            0,102            0,103            0,104            1105        ],106        "book": [107            -0.2103,108            -0.162,109            0.8756,110            0.0,111            0.0,112            0.3903,113            0.9207114        ],115        "remote control": [116            -0.6134,117            -0.4712,118            0.7517,119            0.0,120            0.0,121            0.9744,122            0.2247123        ],124        "blue cup": [125            -0.3641,126            0.0508,127            0.8012,128            0.0,129            0.0,130            0.795,131            -0.6067132        ],133        "white ping-pong ball": [134            -0.2736,135            0.0124,136            0.7581,137            0.0,138            0.0,139            0.2618,140            0.9651141        ]142    }143}