HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "office": [4            [5                "desk",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "desk": [14            [15                "black pen",16                "ON"17            ],18            [19                "red pencil",20                "ON"21            ],22            [23                "pen holder",24                "ON"25            ],26            [27                "notebook",28                "ON"29            ],30            [31                "stapler",32                "ON"33            ]34        ]35    },36    "relation": {37        "task_desc": "Put the black pen next to the red pencil into the pen holder on the desk.",38        "task": "pick and place",39        "robot": "franka",40        "background": "office",41        "context": "desk",42        "manipulated_objs": [43            "black pen",44            "red pencil",45            "pen holder"46        ],47        "distractor_objs": [48            "notebook",49            "stapler"50        ]51    },52    "objs_desc": {53        "office": "neat professional office with white walls, black chairs, and polished wood flooring",54        "desk": "standalone matte walnut desk with flat empty surface and rounded edges",55        "black pen": "sleek black ballpoint pen with glossy finish and metallic clip",56        "red pencil": "vibrant red wooden pencil with sharp graphite tip and smooth painted surface",57        "pen holder": "cylindrical mesh pen holder in matte black with a textured open grid design",58        "notebook": "spiral-bound notebook with a textured navy-blue cover and faint embossed lines",59        "stapler": "compact silver stapler with a brushed aluminum finish and sturdy construction"60    },61    "objs_mapping": {62        "office": "background",63        "desk": "context",64        "black pen": "manipulated_objs",65        "red pencil": "manipulated_objs",66        "pen holder": "manipulated_objs",67        "notebook": "distractor_objs",68        "stapler": "distractor_objs"69    },70    "assets": {71        "desk": "asset3d/desk/result",72        "black pen": "asset3d/black_pen/result",73        "red pencil": "asset3d/red_pencil/result",74        "pen holder": "asset3d/pen_holder/result",75        "notebook": "asset3d/notebook/result",76        "stapler": "asset3d/stapler/result",77        "office": "background"78    },79    "quality": {80        "desk": "YES",81        "black pen": "YES",82        "red pencil": "YES",83        "pen holder": "YES",84        "notebook": "YES",85        "stapler": "YES"86    },87    "position": {88        "franka": [89            -0.4574,90            0,91            0.7965,92            0.0,93            0.0,94            0.0,95            -1.096        ],97        "office": [98            0,99            0,100            0,101            0.0,102            0.6239,103            0.0,104            -0.7815105        ],106        "desk": [107            0,108            0,109            0.3966,110            0,111            0,112            0,113            1114        ],115        "notebook": [116            0.0922,117            0.1753,118            0.8075,119            0.0,120            0.0,121            0.1404,122            -0.9901123        ],124        "stapler": [125            -0.3922,126            -0.2882,127            0.8582,128            0.0,129            0.0,130            0.7601,131            0.6498132        ],133        "pen holder": [134            -0.0195,135            -0.0648,136            0.8692,137            0.0,138            0.0,139            0.6721,140            -0.7405141        ],142        "black pen": [143            -0.062,144            0.1618,145            0.8064,146            0.0,147            0.0,148            0.6658,149            0.7462150        ],151        "red pencil": [152            -0.1742,153            0.1496,154            0.8072,155            0.0,156            0.0,157            0.1041,158            -0.9946159        ]160    }161}