HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "living room": [4            [5                "wooden walnut table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "wooden walnut table": [14            [15                "tennis ball",16                "ON"17            ],18            [19                "gray basket",20                "ON"21            ],22            [23                "book",24                "ON"25            ],26            [27                "coffee mug",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Put the tennis ball into the gray basket on the wooden walnut table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "living room",37        "context": "wooden walnut table",38        "manipulated_objs": [39            "tennis ball",40            "gray basket"41        ],42        "distractor_objs": [43            "book",44            "coffee mug"45        ]46    },47    "objs_desc": {48        "living room": "sunlit minimalist living room with white walls and soft cream furniture",49        "wooden walnut table": "standalone polished walnut table with deep brown tones and empty smooth top",50        "tennis ball": "vibrant neon green tennis ball with slightly scuffed fuzzy surface",51        "gray basket": "soft gray fabric basket with woven texture and rounded structure",52        "book": "hardcover book with muted blue cover and embossed golden title text",53        "coffee mug": "white ceramic coffee mug with glossy finish and a wide curved handle"54    },55    "objs_mapping": {56        "living room": "background",57        "wooden walnut table": "context",58        "tennis ball": "manipulated_objs",59        "gray basket": "manipulated_objs",60        "book": "distractor_objs",61        "coffee mug": "distractor_objs"62    },63    "assets": {64        "wooden walnut table": "asset3d/wooden_walnut_table/result",65        "tennis ball": "asset3d/tennis_ball/result",66        "gray basket": "asset3d/gray_basket/result",67        "book": "asset3d/book/result",68        "coffee mug": "asset3d/coffee_mug/result",69        "living room": "background"70    },71    "quality": {72        "wooden walnut table": "YES",73        "tennis ball": "NO: Distorted geometry and missing accurate tennis ball seam patterns.",74        "gray basket": "YES",75        "book": "YES",76        "coffee mug": "YES"77    },78    "position": {79        "franka": [80            -0.5706,81            0,82            0.7455,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "living room": [89            0,90            0,91            0,92            0.0,93            0.9036,94            0.0,95            -0.428496        ],97        "wooden walnut table": [98            0,99            0,100            0.3715,101            0,102            0,103            0,104            1105        ],106        "gray basket": [107            -0.1698,108            -0.0519,109            0.9475,110            0.0,111            0.0,112            0.7903,113            -0.6128114        ],115        "book": [116            -0.4391,117            -0.4323,118            0.7654,119            0.0,120            0.0,121            0.2329,122            0.9725123        ],124        "coffee mug": [125            0.3782,126            -0.2489,127            0.8005,128            0.0,129            0.0,130            0.9966,131            0.0828132        ],133        "tennis ball": [134            -0.096,135            0.2387,136            0.7785,137            0.0,138            0.0,139            0.6013,140            -0.799141        ]142    }143}