HorizonRobotics/EmbodiedGenData

1{2    "tree": {3        "office": [4            [5                "desk",6                "FLOOR"7            ],8            [9                "franka",10                "IN"11            ]12        ],13        "desk": [14            [15                "pencil sharpener",16                "ON"17            ],18            [19                "green tray",20                "ON"21            ],22            [23                "lamp",24                "ON"25            ],26            [27                "book",28                "ON"29            ]30        ]31    },32    "relation": {33        "task_desc": "Put the pencil sharpener on the green tray on the desk.",34        "task": "pick and place",35        "robot": "franka",36        "background": "office",37        "context": "desk",38        "manipulated_objs": [39            "pencil sharpener",40            "green tray"41        ],42        "distractor_objs": [43            "lamp",44            "book"45        ]46    },47    "objs_desc": {48        "office": "minimalist office with white walls, grey carpet, and natural light filtering through blinds",49        "desk": "standalone walnut desk with smooth polished surface and empty top",50        "pencil sharpener": "metallic pencil sharpener with brushed steel finish and sharp-edged geometric design",51        "green tray": "shallow lime green plastic tray with glossy surface and rounded edges",52        "lamp": "sleek black desk lamp with matte finish and adjustable neck",53        "book": "hardcover book with worn navy cover and embossed gold title"54    },55    "objs_mapping": {56        "office": "background",57        "desk": "context",58        "pencil sharpener": "manipulated_objs",59        "green tray": "manipulated_objs",60        "lamp": "distractor_objs",61        "book": "distractor_objs"62    },63    "assets": {64        "desk": "asset3d/desk/result",65        "pencil sharpener": "asset3d/pencil_sharpener/result",66        "green tray": "asset3d/green_tray/result",67        "lamp": "asset3d/lamp/result",68        "book": "asset3d/book/result",69        "office": "background"70    },71    "quality": {72        "desk": "YES",73        "pencil sharpener": "NO: Geometry lacks sharpener features; resembles a container or block, not a pencil sharpener.",74        "green tray": "YES",75        "lamp": "YES",76        "book": "YES"77    },78    "position": {79        "franka": [80            -0.4575,81            0,82            0.7987,83            0.0,84            0.0,85            0.0,86            -1.087        ],88        "office": [89            0,90            0,91            0,92            0.0,93            0.7971,94            0.0,95            -0.603996        ],97        "desk": [98            0,99            0,100            0.3996,101            0,102            0,103            0,104            1105        ],106        "green tray": [107            0.0626,108            -0.2932,109            0.823,110            0.0,111            0.0,112            0.8972,113            -0.4417114        ],115        "lamp": [116            0.1061,117            0.1325,118            1.0234,119            0.0,120            0.0,121            0.1186,122            0.9929123        ],124        "book": [125            -0.3766,126            0.4477,127            0.8182,128            0.0,129            0.0,130            0.5727,131            -0.8198132        ],133        "pencil sharpener": [134            0.2029,135            -0.029,136            0.8238,137            0.0,138            0.0,139            0.1934,140            0.9811141        ]142    }143}