HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "office": [4            [5                "table",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "table": [14            [15                "white mouse",16                "ON"17            ],18            [19                "black mouse",20                "ON"21            ],22            [23                "mouse pad",24                "ON"25            ],26            [27                "keyboard",28                "ON"29            ],30            [31                "monitor",32                "ON"33            ]34        ]35    },36    "relation": {37        "task_desc": "Put the white mouse next to the black mouse onto the mouse pad on table.",38        "task": "pick and place",39        "robot": "franka",40        "background": "office",41        "context": "table",42        "manipulated_objs": [43            "white mouse",44            "black mouse",45            "mouse pad"46        ],47        "distractor_objs": [48            "keyboard",49            "monitor"50        ]51    },52    "objs_desc": {53        "office": "minimalist office with neutral tones, sleek furniture, and soft overhead lighting",54        "table": "standalone polished oak table with smooth surface and no objects on top",55        "white mouse": "sleek white plastic computer mouse with matte finish and ergonomic curves",56        "black mouse": "modern black wireless mouse with glossy accents and textured grip sides",57        "mouse pad": "soft rectangular black fabric mouse pad with stitched edges and non-slip rubber bottom",58        "keyboard": "low-profile black mechanical keyboard with RGB backlighting and brushed aluminum frame",59        "monitor": "wide flat-screen monitor with thin bezels and a matte anti-glare display"60    },61    "objs_mapping": {62        "office": "background",63        "table": "context",64        "white mouse": "manipulated_objs",65        "black mouse": "manipulated_objs",66        "mouse pad": "manipulated_objs",67        "keyboard": "distractor_objs",68        "monitor": "distractor_objs"69    },70    "assets": {71        "table": "asset3d/table/result",72        "white mouse": "asset3d/white_mouse/result",73        "black mouse": "asset3d/black_mouse/result",74        "mouse pad": "asset3d/mouse_pad/result",75        "keyboard": "asset3d/keyboard/result",76        "monitor": "asset3d/monitor/result",77        "office": "background"78    },79    "quality": {80        "table": "YES",81        "white mouse": "YES",82        "black mouse": "YES",83        "mouse pad": "YES",84        "keyboard": "YES",85        "monitor": "YES"86    },87    "position": {88        "franka": [89            -0.5038,90            0,91            0.7857,92            0.0,93            0.0,94            0.0,95            -1.096        ],97        "office": [98            0,99            0,100            0,101            0.0,102            0.9947,103            0.0,104            0.1033105        ],106        "table": [107            0,108            0,109            0.3866,110            0,111            0,112            0,113            1114        ],115        "monitor": [116            0.0554,117            -0.126,118            0.9856,119            0.0,120            0.0,121            0.4764,122            0.8793123        ],124        "keyboard": [125            0.3376,126            0.3774,127            0.8039,128            0.0,129            0.0,130            0.9011,131            0.4336132        ],133        "mouse pad": [134            -0.1689,135            0.054,136            0.7877,137            0.0,138            0.0,139            0.9585,140            0.2852141        ],142        "black mouse": [143            0.045,144            0.0468,145            0.8056,146            0.0,147            0.0,148            0.6628,149            -0.7488150        ],151        "white mouse": [152            -0.0557,153            0.1482,154            0.8105,155            0.0,156            0.0,157            0.7247,158            0.689159        ]160    }161}