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                "chess pawn",16                "ON"17            ],18            [19                "chessboard",20                "ON"21            ],22            [23                "book",24                "ON"25            ],26            [27                "mug",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Put the chess pawn on the chessboard square on the table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "living room",37        "context": "table",38        "manipulated_objs": [39            "chess pawn",40            "chessboard"41        ],42        "distractor_objs": [43            "book",44            "mug"45        ]46    },47    "objs_desc": {48        "living room": "bright living room with soft beige walls, wooden flooring, and warm ambient lighting",49        "table": "standalone polished walnut table with empty top and slightly tapered legs",50        "chess pawn": "smooth black marble chess pawn with glossy surface and subtle white streaks",51        "chessboard": "classic wooden chessboard with alternating dark and light square tiles, satin finish",52        "book": "thick hardcover book with textured green fabric cover and gilded spine lettering",53        "mug": "simple ceramic mug with matte off-white surface and small handle"54    },55    "objs_mapping": {56        "living room": "background",57        "table": "context",58        "chess pawn": "manipulated_objs",59        "chessboard": "manipulated_objs",60        "book": "distractor_objs",61        "mug": "distractor_objs"62    },63    "assets": {64        "table": "asset3d/table/result",65        "chess pawn": "asset3d/chess_pawn/result",66        "chessboard": "asset3d/chessboard/result",67        "book": "asset3d/book/result",68        "mug": "asset3d/mug/result",69        "living room": "background"70    },71    "quality": {72        "table": "YES",73        "chess pawn": "YES",74        "chessboard": "YES",75        "book": "YES",76        "mug": "YES"77    },78    "position": {79        "franka": [80            -0.4509,81            0,82            0.7421,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "living room": [89            0,90            0,91            0,92            0.0,93            0.7961,94            0.0,95            0.605196        ],97        "table": [98            0,99            0,100            0.3636,101            0,102            0,103            0,104            1105        ],106        "chessboard": [107            0.0895,108            -0.0723,109            0.8019,110            0.0,111            0.0,112            0.9782,113            0.2077114        ],115        "book": [116            -0.201,117            0.4286,118            0.867,119            0.0,120            0.0,121            0.8699,122            0.4931123        ],124        "mug": [125            0.2566,126            0.4407,127            0.8041,128            0.0,129            0.0,130            0.1697,131            -0.9855132        ],133        "chess pawn": [134            0.0293,135            0.2222,136            0.7772,137            0.0,138            0.0,139            0.3747,140            0.9271141        ]142    }143}