HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "office": [4            [5                "table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "table": [14            [15                "pen holder",16                "ON"17            ],18            [19                "pen",20                "ON"21            ],22            [23                "notebook",24                "ON"25            ],26            [27                "stapler",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Put the pen in the pen holder on the table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "office",37        "context": "table",38        "manipulated_objs": [39            "pen",40            "pen holder"41        ],42        "distractor_objs": [43            "notebook",44            "stapler"45        ]46    },47    "objs_desc": {48        "office": "bright modern office with white walls, soft lighting, and sleek minimalist decor",49        "table": "standalone polished walnut desk with no clutter and a smooth empty surface",50        "pen": "sleek black ballpoint pen with matte finish and silver clip details",51        "pen holder": "cylindrical metal pen holder with brushed stainless steel texture and perforated sides",52        "notebook": "spiral-bound notebook with a textured navy blue cover and crisp white pages inside",53        "stapler": "compact red stapler with glossy plastic body and metallic base"54    },55    "objs_mapping": {56        "office": "background",57        "table": "context",58        "pen": "manipulated_objs",59        "pen holder": "manipulated_objs",60        "notebook": "distractor_objs",61        "stapler": "distractor_objs"62    },63    "assets": {64        "table": "asset3d/table/result",65        "pen": "asset3d/pen/result",66        "pen holder": "asset3d/pen_holder/result",67        "notebook": "asset3d/notebook/result",68        "stapler": "asset3d/stapler/result",69        "office": "background"70    },71    "quality": {72        "table": "YES",73        "pen": "YES",74        "pen holder": "YES",75        "notebook": "YES",76        "stapler": "YES"77    },78    "position": {79        "franka": [80            -0.2335,81            0,82            0.7964,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "office": [89            0,90            0,91            0,92            0.0,93            0.4559,94            0.0,95            0.8996        ],97        "table": [98            0,99            0,100            0.398,101            0,102            0,103            0,104            1105        ],106        "notebook": [107            0.1144,108            0.0449,109            0.806,110            0.0,111            0.0,112            0.3818,113            0.9243114        ],115        "stapler": [116            -0.006,117            -0.1661,118            0.8562,119            0.0,120            0.0,121            0.01,122            -1.0123        ],124        "pen holder": [125            0.1374,126            -0.1386,127            0.8587,128            0.0,129            0.0,130            0.132,131            -0.9912132        ],133        "pen": [134            0.1538,135            -0.1977,136            0.8431,137            0.0,138            0.0,139            0.7912,140            0.6115141        ]142    }143}