HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "office": [4            [5                "desk",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "desk": [14            [15                "glue stick",16                "ON"17            ],18            [19                "plastic bin",20                "ON"21            ],22            [23                "stapler",24                "ON"25            ],26            [27                "mouse pad",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Put the glue stick in the plastic bin on the desk.",34        "task": "pick and place",35        "robot": "franka",36        "background": "office",37        "context": "desk",38        "manipulated_objs": [39            "glue stick",40            "plastic bin"41        ],42        "distractor_objs": [43            "stapler",44            "mouse pad"45        ]46    },47    "objs_desc": {48        "office": "sleek corporate office with neutral gray walls and polished wooden flooring",49        "desk": "standalone black matte desk with clean empty top and sharp modern edges",50        "glue stick": "white plastic glue stick with glossy surface and bright green cap",51        "plastic bin": "translucent rectangular plastic bin with smooth frosted sides and subtle ridged edges",52        "stapler": "compact metal stapler in shiny silver finish with slightly curved body",53        "mouse pad": "soft fabric mouse pad with dark blue color and subtle textured surface"54    },55    "objs_mapping": {56        "office": "background",57        "desk": "context",58        "glue stick": "manipulated_objs",59        "plastic bin": "manipulated_objs",60        "stapler": "distractor_objs",61        "mouse pad": "distractor_objs"62    },63    "assets": {64        "desk": "asset3d/desk/result",65        "glue stick": "asset3d/glue_stick/result",66        "plastic bin": "asset3d/plastic_bin/result",67        "stapler": "asset3d/stapler/result",68        "mouse pad": "asset3d/mouse_pad/result",69        "office": "background"70    },71    "quality": {72        "desk": "YES",73        "glue stick": "YES",74        "plastic bin": "YES",75        "stapler": "YES",76        "mouse pad": "YES"77    },78    "position": {79        "franka": [80            -0.3046,81            0,82            0.7483,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "office": [89            0,90            0,91            0,92            0.0,93            0.9173,94            0.0,95            -0.398196        ],97        "desk": [98            0,99            0,100            0.3757,101            0,102            0,103            0,104            1105        ],106        "plastic bin": [107            0.1669,108            -0.1785,109            0.8685,110            0.0,111            0.0,112            0.9869,113            -0.1611114        ],115        "stapler": [116            0.0565,117            0.4971,118            0.7803,119            0.0,120            0.0,121            0.9797,122            0.2005123        ],124        "mouse pad": [125            0.1754,126            0.2273,127            0.7521,128            0.0,129            0.0,130            0.4665,131            -0.8845132        ],133        "glue stick": [134            0.0463,135            0.1678,136            0.8108,137            0.0,138            0.0,139            0.6593,140            0.7519141        ]142    }143}