HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "office": [4            [5                "wooden oak table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "wooden oak table": [14            [15                "pen",16                "ON"17            ],18            [19                "pen holder",20                "ON"21            ],22            [23                "notebook",24                "ON"25            ],26            [27                "lamp",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Put the pen in the pen holder on the wooden oak table.",34        "task": "pick and place",35        "robot": "franka",36        "background": "office",37        "context": "wooden oak table",38        "manipulated_objs": [39            "pen",40            "pen holder"41        ],42        "distractor_objs": [43            "notebook",44            "lamp"45        ]46    },47    "objs_desc": {48        "office": "modern office space with muted tones and sleek grey carpet",49        "wooden oak table": "standalone polished oak table with empty top and rich dark brown grain texture",50        "pen": "sleek black ballpoint pen with glossy finish and smooth metallic accents",51        "pen holder": "cylindrical matte black pen holder with a textured surface and simple modern design",52        "notebook": "spiral-bound notebook with weathered leather cover and ivory-colored lined pages",53        "lamp": "minimalist desk lamp with brushed aluminum finish and soft warm light"54    },55    "objs_mapping": {56        "office": "background",57        "wooden oak table": "context",58        "pen": "manipulated_objs",59        "pen holder": "manipulated_objs",60        "notebook": "distractor_objs",61        "lamp": "distractor_objs"62    },63    "assets": {64        "wooden oak table": "asset3d/wooden_oak_table/result",65        "pen": "asset3d/pen/result",66        "pen holder": "asset3d/pen_holder/result",67        "notebook": "asset3d/notebook/result",68        "lamp": "asset3d/lamp/result",69        "office": "background"70    },71    "quality": {72        "wooden oak table": "NO: Table geometry is distorted; top surface is uneven and warped, not resembling a functional wooden oak table.",73        "pen": "YES",74        "pen holder": "YES",75        "notebook": "YES",76        "lamp": "YES"77    },78    "position": {79        "franka": [80            -0.3686,81            0,82            0.7721,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "office": [89            0,90            0,91            0,92            0.0,93            0.1379,94            0.0,95            0.990496        ],97        "wooden oak table": [98            0,99            0,100            0.3896,101            0,102            0,103            0,104            1105        ],106        "lamp": [107            -0.1477,108            -0.3383,109            0.9967,110            0.0,111            0.0,112            0.4729,113            -0.8811114        ],115        "notebook": [116            0.0529,117            -0.3261,118            0.7862,119            0.0,120            0.0,121            0.0314,122            -0.9995123        ],124        "pen holder": [125            0.0548,126            0.2186,127            0.8345,128            0.0,129            0.0,130            0.7226,131            -0.6913132        ],133        "pen": [134            -0.0504,135            0.0576,136            0.7821,137            0.0,138            0.0,139            0.5605,140            -0.8281141        ]142    }143}