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testing_cases/grasp_testing_cases/seen/case00-round.txt

@@ -0,0 +1,17 @@
+grasp a round object
+1 2
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testing_cases/grasp_testing_cases/seen/case01-eat.txt

@@ -0,0 +1,17 @@
+get something to eat
+0 1 2
+assets/simplified_objects/012.urdf 4.855833045062807329e-01 6.063704125898145003e-02 2.000000000000000111e-01 1.849899632843863717e+00 1.736319885518362138e+00 2.261707089230661882e+00
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testing_cases/grasp_testing_cases/seen/case02-container.txt

@@ -0,0 +1,16 @@
+get something to hold other things
+1
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testing_cases/grasp_testing_cases/seen/case03-round.txt

@@ -0,0 +1,17 @@
+I want a round object
+0 1 2
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+assets/simplified_objects/017.urdf 4.667036725611201087e-01 4.255297054215120833e-02 2.000000000000000111e-01 6.061182408793007070e+00 2.130330285102740806e+00 4.432892759648405345e+00
+assets/simplified_objects/015.urdf 4.467833699894135924e-01 -1.097619602771288394e-01 2.000000000000000111e-01 1.418570022712298151e+00 1.919820703744785195e+00 2.671236722701655797e+00
+assets/simplified_objects/042.urdf 4.574668865760223024e-01 6.939535280345698887e-02 2.000000000000000111e-01 4.562212721042489427e+00 3.699345102582459521e+00 1.138410176476519542e+00
+assets/simplified_objects/085.urdf 4.188602085487487248e-01 -1.034009432135411799e-02 2.000000000000000111e-01 4.623383230275448064e+00 4.432536804179596501e-01 3.944242851431722041e+00
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testing_cases/grasp_testing_cases/seen/case04-cup.txt

@@ -0,0 +1,17 @@
+give me the cup
+0
+assets/simplified_objects/022.urdf 5.946792012351495016e-01 1.606474871102242519e-03 2.000000000000000111e-01 2.625057821245382339e+00 1.942486514527033137e+00 4.232507005150441870e+00
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testing_cases/grasp_testing_cases/seen/case05-cup.txt

@@ -0,0 +1,17 @@
+I need a cup
+0
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testing_cases/grasp_testing_cases/seen/case06-fruit.txt

@@ -0,0 +1,17 @@
+I need a fruit
+0 1 2
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testing_cases/grasp_testing_cases/seen/case07-pear.txt

@@ -0,0 +1,17 @@
+give me the pear
+0
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testing_cases/grasp_testing_cases/seen/case08-drink.txt

@@ -0,0 +1,17 @@
+get something to drink
+0
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testing_cases/grasp_testing_cases/seen/case09-thera_med.txt

@@ -0,0 +1,17 @@
+give me the thera_med
+2
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testing_cases/grasp_testing_cases/unseen/case00-unseen_clean.txt

@@ -0,0 +1,12 @@
+get something to clean
+0
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+assets/unseen_objects/bleach_cleanser.urdf 3.792120144740213084e-01 7.551949181046066495e-02 2.000000000000000111e-01 2.867982482225851726e+00 1.009214070107595118e+00 2.133449221531229956e+00
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testing_cases/grasp_testing_cases/unseen/case01-unseen_container.txt

@@ -0,0 +1,12 @@
+I need a container
+1 9
+assets/unseen_objects/soap_dish.urdf 4.578277792350980979e-01 4.623714444661863876e-03 2.000000000000000111e-01 1.932303959335190724e+00 6.814554721072173527e-01 1.248282232154309668e-01
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+assets/unseen_objects/yellow_bowl.urdf 5.063557909845524119e-01 0.562604590292315165e-01 2.000000000000000111e-01 4.240450578197546783e+00 2.960894288772994098e+00 3.387613727678254971e+00

testing_cases/grasp_testing_cases/unseen/case02-unseen_suger.txt

@@ -0,0 +1,12 @@
+I need a suger
+1
+assets/unseen_objects/pink_tea_box.urdf 4.338852287181751421e-01 -8.161195833879891781e-02 2.000000000000000111e-01 3.404685150489063172e+00 6.968875575594304927e-02 1.998627139284573806e+00
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+assets/unseen_objects/repellent.urdf 5.557966799947675618e-01 1.853682771453235567e-02 2.000000000000000111e-01 2.699488037695296216e-01 5.454437535158118244e+00 1.805546968922880025e+00
+assets/unseen_objects/gelatin_box.urdf 4.505134044864046450e-01 1.133578306649119238e-01 2.000000000000000111e-01 1.449881186465721061e+00 2.156370615827975179e+00 2.234314630108696242e+00

testing_cases/grasp_testing_cases/unseen/case03-unseen_suger.txt

@@ -0,0 +1,12 @@
+give me the suger
+0
+assets/unseen_objects/suger_2.urdf 4.448144066797548035e-01 6.902097249209676599e-03 2.000000000000000111e-01 3.656455754909069267e+00 5.642298002026771897e+00 5.750931950730739040e+00
+assets/unseen_objects/magic_clean.urdf 4.307721076258266280e-01 -3.102000879699076674e-02 2.000000000000000111e-01 4.160913167900988086e+00 2.401230140758782383e+00 6.207950629578427026e+00
+assets/unseen_objects/remote_controller_1.urdf 5.248329774401702119e-01 -5.793771336777486791e-02 2.000000000000000111e-01 4.370837496143654910e+00 9.033018408916254627e-01 2.192502931226311347e+00
+assets/unseen_objects/repellent.urdf 5.974789582502297858e-01 -3.895056924757861472e-02 2.000000000000000111e-01 1.148377334559699037e+00 3.648942486559829224e+00 5.911382388079195138e+00
+assets/unseen_objects/small_clamp.urdf 5.686171986617335472e-01 1.448705995495530585e-02 2.000000000000000111e-01 3.686391057874021993e+00 1.980721451293811386e+00 4.240491184028629235e+00
+assets/unseen_objects/bleach_cleanser.urdf 4.139741200597539805e-01 -8.416388706295846456e-02 2.000000000000000111e-01 1.651492426694413540e+00 4.711935788120072743e+00 5.367095891884212655e+00
+assets/unseen_objects/small_clamp.urdf 5.177861896228629357e-01 -2.452592976989684259e-02 2.000000000000000111e-01 2.238354453466986804e+00 5.933017205792852522e+00 3.252683149935330364e-01
+assets/unseen_objects/bleach_cleanser.urdf 4.041642759964803044e-01 -1.213863696849719342e-01 2.000000000000000111e-01 5.483379739471192948e+00 3.851870665362845614e+00 5.835779644151625867e+00
+assets/unseen_objects/repellent.urdf 3.876344232459786321e-01 1.018705578470091577e-01 2.000000000000000111e-01 2.665485888456191610e+00 3.334384015004882240e+00 5.000840846679983187e+00
+assets/unseen_objects/pink_tea_box.urdf 4.582654863466935780e-01 1.017955687926280128e-01 2.000000000000000111e-01 2.145830995947970443e+00 1.704878140100303474e+00 3.782841091163311464e+00

testing_cases/grasp_testing_cases/unseen/case04-unseen_tea_box.txt

@@ -0,0 +1,12 @@
+give me the tea box
+0
+assets/unseen_objects/pink_tea_box.urdf 6.027988387848585150e-01 -4.597092962731999521e-02 2.000000000000000111e-01 5.636976630190815740e+00 3.618163078657504750e-01 5.925530017601436938e+00
+assets/unseen_objects/repellent.urdf 5.878714373907802937e-01 -2.076061193978906427e-02 2.000000000000000111e-01 2.986782148825166239e+00 5.207698408316831618e+00 5.783825822583243514e+00
+assets/unseen_objects/suger_1.urdf 4.801009203546376947e-01 3.001959062655615296e-02 2.000000000000000111e-01 5.749577664094775997e+00 2.312174690379605213e+00 6.948195743404350644e-01
+assets/unseen_objects/yellow_cup.urdf 3.764055308981845149e-01 1.403672606011080459e-02 2.000000000000000111e-01 5.987666859718967949e+00 2.640912855597882802e-01 1.134507522286901660e+00
+assets/unseen_objects/yellow_cup.urdf 5.555597842687112209e-01 3.392900246137589559e-02 2.000000000000000111e-01 5.682054461245973798e+00 2.941177666326458162e+00 1.586101592524988169e+00
+assets/unseen_objects/small_clamp.urdf 4.078823027977349636e-01 8.949708453902738281e-02 2.000000000000000111e-01 3.356784458511699487e+00 5.782509034850447982e+00 7.963962888190755374e-01
+assets/unseen_objects/suger_1.urdf 4.443391028346741489e-01 -3.895579585671118950e-02 2.000000000000000111e-01 2.066531644822419356e+00 4.467794973255101887e+00 7.011496171186191173e-01
+assets/unseen_objects/two_color_hammer.urdf 5.093096279707749474e-01 -1.219338464142608602e-01 2.000000000000000111e-01 5.370744259401059928e+00 5.765733456040652349e+00 1.733574009085684375e+00
+assets/unseen_objects/bleach_cleanser.urdf 6.188309826964548677e-01 5.403219588419982955e-02 2.000000000000000111e-01 3.987883632675914392e+00 5.202958387893897196e+00 2.302295246019324448e+00
+assets/unseen_objects/yellow_bowl.urdf 4.418332298516551848e-01 -7.278490452144120715e-02 2.000000000000000111e-01 3.234881141204607680e+00 2.911916450575720017e+00 5.364351402410774128e+00

testing_cases/place_testing_cases/seen/case00.txt

@@ -0,0 +1,11 @@
+place this in the red bowl
+red bowl
+in
+assets/simplified_objects/057.urdf 4.151382790980576720e-01 -8.775077384971372019e-02 2.000000000000000111e-01 1.590597277625077188e+00 4.035575092589155588e+00 5.280376121829754688e+00
+assets/simplified_objects/024.urdf 4.572316300320533600e-01 1.134741718056998805e-01 2.000000000000000111e-01 4.896040308182278089e+00 4.523048160690452235e+00 1.071263011370753526e+00
+assets/simplified_objects/084.urdf 5.849734676473913320e-01 -6.399220891198259542e-02 2.000000000000000111e-01 3.828883137513680257e+00 1.521189920563246645e+00 2.521330624473364423e+00
+assets/simplified_objects/006.urdf 5.085829686280705086e-01 -2.201298899353298921e-02 2.000000000000000111e-01 3.069424805575883930e+00 1.501546160222013926e+00 1.310993731372778415e+00
+assets/simplified_objects/075.urdf 5.238303953171521421e-01 4.070568690447121107e-02 2.000000000000000111e-01 3.125533469878388981e+00 6.096936773382918062e+00 4.209938173950666496e+00
+assets/simplified_objects/082.urdf 5.902224106194605691e-01 3.702713636340940195e-02 2.000000000000000111e-01 4.517400408867108474e+00 4.922057704408415724e+00 5.956509131763698228e+00
+assets/simplified_objects/011.urdf 5.958721994617811601e-01 -1.069605058986287383e-01 2.000000000000000111e-01 4.186295752325165154e+00 5.748672824812532056e+00 5.956208649781368436e+00
+assets/simplified_objects/047.urdf 6.092173810553173086e-01 -1.211792623294848659e-01 2.000000000000000111e-01 3.936391903605505505e+00 5.596321238258340713e+00 6.277956026588864979e+00

testing_cases/place_testing_cases/seen/case01.txt

@@ -0,0 +1,11 @@
+move the object around the head shoulders care
+head shoulders care
+around
+assets/simplified_objects/081.urdf 4.922650074636112372e-01 1.174781023248649692e-01 2.000000000000000111e-01 2.273653672494853062e+00 5.609606084935865766e+00 1.297873602695401418e+00
+assets/simplified_objects/059.urdf 5.924845303316508272e-01 9.630123037960408583e-02 2.000000000000000111e-01 5.862688172965524469e-02 2.381235995265891692e+00 1.633591075157189987e-01
+assets/simplified_objects/068.urdf 3.942440946986858208e-01 -1.013420097837729184e-01 2.000000000000000111e-01 6.072277747022204686e+00 4.037120991493943656e+00 1.468050072943681394e+00
+assets/simplified_objects/013.urdf 4.565830179901173569e-01 4.240088167890318505e-02 2.000000000000000111e-01 2.865246260542453793e+00 4.893543697261621084e+00 3.001940838148622337e+00
+assets/simplified_objects/066.urdf 5.580188724432368907e-01 1.141534416761969817e-01 2.000000000000000111e-01 2.592457019354569514e+00 1.715951626089838200e+00 3.809643195033014962e+00
+assets/simplified_objects/087.urdf 4.247225159815000151e-01 -7.695655573896861834e-02 2.000000000000000111e-01 4.132073688947405898e+00 4.438277391294174201e+00 4.554287412671891744e+00
+assets/simplified_objects/085.urdf 6.236498646354079467e-01 1.114706501891052637e-01 2.000000000000000111e-01 1.117736649226382717e+00 2.813663877169896299e+00 4.888712031413462000e+00
+assets/simplified_objects/034.urdf 5.337448094266811216e-01 -5.515827559690386628e-02 2.000000000000000111e-01 5.556604784835128541e-01 2.276024740362905252e+00 3.195027685098333681e+00

testing_cases/place_testing_cases/seen/case02.txt

@@ -0,0 +1,11 @@
+put it near the box
+box
+near
+assets/simplified_objects/080.urdf 4.354486883643494677e-01 -5.146990022282602051e-02 2.000000000000000111e-01 1.495634380322542256e+00 3.289994056149368462e-01 9.358245048939177746e-01
+assets/simplified_objects/041.urdf 6.113533470487045873e-01 2.484103447638610906e-02 2.000000000000000111e-01 3.834829574459201584e+00 6.070137713816217584e+00 4.161074507146967250e+00
+assets/simplified_objects/078.urdf 6.108726803498761848e-01 8.544638866029038993e-02 2.000000000000000111e-01 1.087889206983040147e+00 1.358109144769015453e+00 5.769861678269109895e+00
+assets/simplified_objects/070.urdf 4.710949152919362559e-01 3.240796512886093272e-02 2.000000000000000111e-01 4.363427602799203164e+00 6.198143136935836850e+00 3.912002858315176912e+00
+assets/simplified_objects/039.urdf 3.999539103594469402e-01 -1.614769777537372608e-02 2.000000000000000111e-01 5.910456929028687689e+00 4.407309107713563989e+00 3.979583324230477892e+00
+assets/simplified_objects/009.urdf 5.320959299481581306e-01 -2.141831443526084899e-02 2.000000000000000111e-01 4.765005257657231041e+00 1.850268906754338305e+00 1.149474033829563702e+00
+assets/simplified_objects/011.urdf 4.521104248505043444e-01 -7.602811616581978127e-02 2.000000000000000111e-01 1.304721636689534892e+00 9.867417852790852373e-02 3.072296479120715240e+00
+assets/simplified_objects/015.urdf 5.367959851207484423e-01 -3.320432653029195547e-02 2.000000000000000111e-01 5.738061119628235396e+00 3.304151697446711111e+00 1.272882260777445707e+00

testing_cases/place_testing_cases/seen/case03.txt

@@ -0,0 +1,11 @@
+place this around the tomato soup can
+tomato soup can
+around
+assets/simplified_objects/015.urdf 4.687140230339140734e-01 2.602374218830802444e-02 2.000000000000000111e-01 4.839643145447020345e+00 6.201887853240398485e+00 1.098274568560022368e+00
+assets/simplified_objects/029.urdf 5.384818659208919778e-01 -2.582729770111671930e-02 2.000000000000000111e-01 7.968289457337677240e-01 5.492536610010575471e-01 3.401540251205559251e-01
+assets/simplified_objects/016.urdf 5.965363541128033686e-01 9.243467057923601682e-02 2.000000000000000111e-01 5.952650867321316319e+00 1.500441155386797343e+00 5.448501764724515084e+00
+assets/simplified_objects/002.urdf 5.485049904304588608e-01 7.592511031480619899e-03 2.000000000000000111e-01 2.976734566205842203e+00 4.846744181132389251e+00 5.482978523626451661e+00
+assets/simplified_objects/073.urdf 3.907194890882954574e-01 1.106857726741523329e-01 2.000000000000000111e-01 6.057421581551338363e+00 5.663134675450001154e+00 5.035939309405786268e+00
+assets/simplified_objects/064.urdf 4.060245518659264530e-01 8.944133502160833693e-02 2.000000000000000111e-01 1.247874796929551375e-02 4.918879982588648225e+00 4.563321665229454815e+00
+assets/simplified_objects/087.urdf 4.050468468401435818e-01 -1.125144107097948987e-01 2.000000000000000111e-01 5.927828136481412713e+00 1.420473906443534107e+00 4.460419669896563910e+00
+assets/simplified_objects/008.urdf 4.161191092727046792e-01 1.718726677361026578e-02 2.000000000000000111e-01 4.307997107751125654e+00 1.817496973206076172e+00 4.818889400922101274e+00

testing_cases/place_testing_cases/seen/case04.txt

@@ -0,0 +1,11 @@
+put it on the cup
+cup
+on
+assets/simplified_objects/022.urdf 5.459993849115020170e-01 5.366744370785636598e-02 2.000000000000000111e-01 5.499374743998642678e+00 1.379362125887797275e+00 6.050736672808604055e+00
+assets/simplified_objects/066.urdf 5.696598548241647020e-01 1.313582401236765285e-02 2.000000000000000111e-01 5.286080057886285211e+00 1.340630792635138846e+00 4.514422210376880074e+00
+assets/simplified_objects/055.urdf 4.179075758900567816e-01 -5.388477048775972000e-02 2.000000000000000111e-01 3.462107299747903877e+00 4.241350175947923518e+00 1.656692880290619785e+00
+assets/simplified_objects/066.urdf 5.504706002020733902e-01 -1.486839753664757902e-02 2.000000000000000111e-01 4.388741898625792892e+00 5.920957548910705803e+00 4.965670656866287280e-01
+assets/simplified_objects/043.urdf 5.926230521635992288e-01 -2.251081733951545982e-02 2.000000000000000111e-01 5.013239744433506395e+00 3.291600762951971237e+00 4.810151793896222827e+00
+assets/simplified_objects/080.urdf 5.288492525318165827e-01 1.021530313120268818e-01 2.000000000000000111e-01 4.499874035691378893e+00 2.817563698113131343e-01 4.593521230131815791e+00
+assets/simplified_objects/077.urdf 4.599017598477216362e-01 -7.390062521108090032e-02 2.000000000000000111e-01 4.557030078390208239e+00 1.935626508007675328e+00 7.375680158901383177e-01
+assets/simplified_objects/014.urdf 4.369950785818333960e-01 2.780720237603356848e-02 2.000000000000000111e-01 9.200761482901963495e-01 6.211139500431739791e+00 5.046353004526551445e+00

testing_cases/place_testing_cases/seen/case05.txt

@@ -0,0 +1,11 @@
+move the object on the red bowl
+red bowl
+on
+assets/simplified_objects/031.urdf 3.784122465217294451e-01 -5.473061204506488031e-02 2.000000000000000111e-01 4.909099920398259265e+00 4.270344653440321103e+00 5.212699917340284372e+00
+assets/simplified_objects/013.urdf 4.586344336358239016e-01 -9.090608821382836768e-02 2.000000000000000111e-01 2.779031584678613775e+00 3.029872588901540986e+00 2.093420905574986612e+00
+assets/simplified_objects/006.urdf 5.746685455731996850e-01 2.422711618627373942e-02 2.000000000000000111e-01 5.534243038510489932e+00 4.229144389886156041e+00 9.973589687746340360e-01
+assets/simplified_objects/050.urdf 5.073386334865708225e-01 -3.375490472378209206e-02 2.000000000000000111e-01 1.835222401516335200e+00 1.708610455089501823e+00 1.276038533216681925e+00
+assets/simplified_objects/076.urdf 5.178265556322602103e-01 5.375053819232283869e-03 2.000000000000000111e-01 7.031875652368682061e-01 5.312649314091788533e+00 3.089666365529752934e+00
+assets/simplified_objects/039.urdf 4.557153387698856806e-01 -5.565374399473879685e-02 2.000000000000000111e-01 2.848118098397780074e+00 1.785920305530310559e+00 2.456069104592801811e+00
+assets/simplified_objects/020.urdf 4.579689826364955474e-01 9.282714149761117639e-02 2.000000000000000111e-01 5.155127443262192521e+00 5.470949617985082725e+00 4.031435259054549469e+00
+assets/simplified_objects/062.urdf 6.106130511590847076e-01 -3.818625427712049603e-02 2.000000000000000111e-01 1.547589862294094010e+00 3.786377996834178195e-01 6.540354965535204457e-01

testing_cases/place_testing_cases/seen/case06.txt

@@ -0,0 +1,11 @@
+place this to the cup
+cup
+to
+assets/simplified_objects/061.urdf 5.243052065252642446e-01 -3.465450289883681423e-02 2.000000000000000111e-01 8.513245487062335304e-01 9.902954865758414327e-01 6.216455033623291548e+00
+assets/simplified_objects/034.urdf 5.175512395599612958e-01 6.515935150878218729e-02 2.000000000000000111e-01 3.101291940841476080e+00 3.910025919018436102e-01 4.610112156422185414e+00
+assets/simplified_objects/072.urdf 4.592362404950701693e-01 -8.206274119404163847e-02 2.000000000000000111e-01 1.667458376808692799e+00 3.712034244972981067e+00 3.009466663567808453e+00
+assets/simplified_objects/040.urdf 5.457604742999029313e-01 -1.118539024848567709e-01 2.000000000000000111e-01 5.170936623844701430e+00 4.830036083727152985e+00 1.586604590382396651e+00
+assets/simplified_objects/037.urdf 6.143659871943665252e-01 -1.249471298235799166e-02 2.000000000000000111e-01 5.712892610222426448e+00 3.313416508943010097e+00 2.553031854592556105e+00
+assets/simplified_objects/009.urdf 6.042406093010911361e-01 6.660882846453322625e-02 2.000000000000000111e-01 6.135838151443826938e+00 1.135053533148530219e-01 6.015050533155555712e+00
+assets/simplified_objects/022.urdf 6.041851729232429191e-01 1.144792891151581171e-01 2.000000000000000111e-01 1.448647912801691140e+00 1.609459821653689948e+00 6.012496598507589551e-01
+assets/simplified_objects/066.urdf 5.047163554436501220e-01 1.867918417269909259e-02 2.000000000000000111e-01 4.966070157164057086e+00 1.945830367699115993e+00 4.905211897159616363e+00

testing_cases/place_testing_cases/seen/case07.txt

@@ -0,0 +1,11 @@
+put it next to the toothpaste
+toothpaste
+next to
+assets/simplified_objects/053.urdf 5.910884061178129922e-01 -8.777092694635110770e-02 2.000000000000000111e-01 1.653837556872713943e+00 5.442000834316270463e+00 6.140723499004828057e+00
+assets/simplified_objects/072.urdf 5.275174243961318066e-01 -6.003192475539390061e-02 2.000000000000000111e-01 6.199743379197811599e+00 1.918953564282476654e+00 2.580652438280512939e-01
+assets/simplified_objects/044.urdf 4.347497761785665826e-01 -2.276306869201487337e-02 2.000000000000000111e-01 4.601467996902830926e+00 3.003494895638354478e+00 5.493009257025913250e+00
+assets/simplified_objects/082.urdf 5.848031132281847899e-01 -1.113625596804433682e-01 2.000000000000000111e-01 3.470052667747911102e+00 6.825900464556894365e-01 6.247548635228606706e+00
+assets/simplified_objects/021.urdf 5.509249931852817639e-01 -2.623167822856681264e-02 2.000000000000000111e-01 3.995134787736869697e+00 5.229112836219207416e+00 5.462098904398361654e+00
+assets/simplified_objects/076.urdf 6.215362935954035217e-01 4.927569015584354339e-02 2.000000000000000111e-01 1.990239330940198670e+00 1.465905373429056580e+00 5.116251106004925830e+00
+assets/simplified_objects/041.urdf 5.756998986479887614e-01 7.067575633367981225e-02 2.000000000000000111e-01 4.530705622475695193e+00 2.367698399103447038e+00 6.397937008025146310e-01
+assets/simplified_objects/075.urdf 3.966923579810878175e-01 -4.562165372975407474e-02 2.000000000000000111e-01 5.718137124834718144e+00 6.157979556932230425e-01 3.391437751428586278e+00

testing_cases/place_testing_cases/seen/case08.txt

@@ -0,0 +1,11 @@
+place this near the pear
+pear
+near
+assets/simplified_objects/058.urdf 5.221094937266953506e-01 3.073181627192536625e-02 2.000000000000000111e-01 1.276195811735477470e+00 4.319034645800516437e+00 2.494425257831910603e+00
+assets/simplified_objects/015.urdf 6.011333144783882476e-01 -1.059343964858540932e-01 2.000000000000000111e-01 2.175021064202994570e+00 5.226708542607978458e+00 2.250270050267614064e+00
+assets/simplified_objects/052.urdf 5.015916187696305428e-01 6.954500135483593359e-02 2.000000000000000111e-01 1.644269491146880924e+00 1.975173213136022010e+00 5.515602834131284382e+00
+assets/simplified_objects/007.urdf 4.512046062223757925e-01 9.647390368269481709e-02 2.000000000000000111e-01 5.488500675704715004e-01 5.146697265083879369e-01 4.468482227305257126e+00
+assets/simplified_objects/007.urdf 4.516976483171549761e-01 9.148256862138098855e-02 2.000000000000000111e-01 5.183902637637130439e+00 2.362923769708166422e+00 1.342794156744901102e+00
+assets/simplified_objects/009.urdf 3.842392365192210946e-01 1.128176963332442051e-01 2.000000000000000111e-01 3.154217919037047291e-02 4.545377168913538490e+00 1.241798310223884094e+00
+assets/simplified_objects/013.urdf 3.926520817511014450e-01 1.093272741850671304e-01 2.000000000000000111e-01 4.868595457140808769e+00 6.140081885108410908e+00 5.846816081681430965e+00
+assets/simplified_objects/034.urdf 4.486551875118891530e-01 -4.593161926110847504e-02 2.000000000000000111e-01 4.656357858164972829e-01 5.698174902461408564e+00 1.283999542369757885e+00

testing_cases/place_testing_cases/seen/case09.txt

@@ -0,0 +1,11 @@
+move the object around the plum
+plum
+around
+assets/simplified_objects/082.urdf 4.117600950591181475e-01 1.008179363569289555e-01 2.000000000000000111e-01 3.982083247585292973e+00 4.324261432478118117e+00 4.386573197221446563e+00
+assets/simplified_objects/086.urdf 4.689942047037547468e-01 1.191937874955640020e-01 2.000000000000000111e-01 2.993790360547355256e+00 1.335193157173403256e+00 4.687222766923458406e-01
+assets/simplified_objects/017.urdf 4.045416692716510276e-01 2.328983368095499662e-02 2.000000000000000111e-01 4.059297662021326580e+00 2.065526437289771700e+00 5.702560118031716918e+00
+assets/simplified_objects/078.urdf 4.166660531769649234e-01 2.613276861965524445e-02 2.000000000000000111e-01 5.803307556040239179e-01 2.524488822419656220e+00 1.318006389533551204e+00
+assets/simplified_objects/086.urdf 4.044493095160922591e-01 -2.487484195366995721e-02 2.000000000000000111e-01 6.198963978235678240e+00 2.004213803429058416e+00 4.772282038244687108e+00
+assets/simplified_objects/082.urdf 5.334584557221745404e-01 -8.075958255209622627e-02 2.000000000000000111e-01 2.265844536232842987e+00 3.875055170179696695e+00 1.615472982829462278e+00
+assets/simplified_objects/070.urdf 5.664912017050049986e-01 -7.320984569743058112e-02 2.000000000000000111e-01 2.683055904802987612e+00 1.786030322416639171e+00 5.340772237538196521e+00
+assets/simplified_objects/032.urdf 5.541959671300199508e-01 -6.330095769162652486e-02 2.000000000000000111e-01 5.465374758732804317e+00 1.556545536929078821e+00 3.654136825170767100e+00

testing_cases/place_testing_cases/seen/case10.txt

@@ -0,0 +1,11 @@
+put it on the red mug
+red mug
+on
+assets/simplified_objects/005.urdf 4.500332522067123087e-01 9.544288761513136654e-02 2.000000000000000111e-01 2.797906588243933346e+00 5.652515394355893896e+00 5.958362229967542945e+00
+assets/simplified_objects/007.urdf 4.934760680463924354e-01 8.685597026397492981e-02 2.000000000000000111e-01 4.047655538486097271e+00 2.084206058438812903e+00 5.013679743070105665e+00
+assets/simplified_objects/085.urdf 5.309319708805123605e-01 -6.026347884449548276e-02 2.000000000000000111e-01 6.178419159543900863e-01 1.489636367270623207e+00 6.056585774528262966e+00
+assets/simplified_objects/008.urdf 4.795790823859816809e-01 3.987859384678496544e-02 2.000000000000000111e-01 2.596889970057754127e+00 7.361968757424420806e-01 1.752673527348369009e-01
+assets/simplified_objects/047.urdf 5.651609172322110686e-01 2.595208653693709122e-02 2.000000000000000111e-01 8.852540751845108247e-01 2.267270487200728990e+00 3.148290634896184770e+00
+assets/simplified_objects/085.urdf 5.177062860796026733e-01 5.632339835132396666e-02 2.000000000000000111e-01 2.181534873977713396e+00 3.655591458947941685e+00 7.507900381022114544e-02
+assets/simplified_objects/058.urdf 4.542854549906406580e-01 -1.045182088041052282e-02 2.000000000000000111e-01 3.883447802816807903e-01 2.388260626302586509e+00 2.447005469126824373e+00
+assets/simplified_objects/042.urdf 5.668167341182458463e-01 1.291493124938997150e-02 2.000000000000000111e-01 8.312607391182454952e-01 3.502711861355006562e+00 2.554219317508215070e+00

testing_cases/place_testing_cases/seen/case11.txt

@@ -0,0 +1,11 @@
+place this around the lion
+lion
+around
+assets/simplified_objects/074.urdf 5.323214073136935953e-01 -5.738739897461569983e-03 2.000000000000000111e-01 2.372966419957623252e+00 2.429597641899440941e+00 5.147355949702428823e+00
+assets/simplified_objects/083.urdf 4.470658519714757473e-01 -2.938140273549230685e-02 2.000000000000000111e-01 2.667644798595600442e+00 1.559605056765612563e+00 1.318248745671964928e+00
+assets/simplified_objects/055.urdf 4.054233834388849544e-01 -4.461618196311845086e-02 2.000000000000000111e-01 4.960532230727409675e-01 4.786412947535346518e+00 3.303732365487267675e+00
+assets/simplified_objects/067.urdf 5.981046277618251583e-01 -2.356140508422006896e-02 2.000000000000000111e-01 5.955406233851526565e+00 5.586130812271518309e+00 3.867680351139896056e-01
+assets/simplified_objects/084.urdf 4.268187932022246001e-01 9.032414048320364097e-03 2.000000000000000111e-01 3.124662577136243069e+00 4.405995012481541906e+00 2.248187335962273270e+00
+assets/simplified_objects/008.urdf 5.682033353139434029e-01 2.625708578533714199e-02 2.000000000000000111e-01 2.088130849507854769e+00 1.243738232306879521e+00 4.380924742054766341e+00
+assets/simplified_objects/006.urdf 5.702535012264672298e-01 4.569694906092228170e-02 2.000000000000000111e-01 5.536741712361224366e+00 3.250881088551306863e+00 4.616353470676168413e+00
+assets/simplified_objects/030.urdf 6.105005502942744133e-01 2.109605724312504926e-02 2.000000000000000111e-01 5.435794766802668487e-01 5.893433153566125071e+00 1.541793592548197589e+00

testing_cases/place_testing_cases/seen/case12.txt

@@ -0,0 +1,11 @@
+place this around the dabao sod
+dabao sod
+around
+assets/simplified_objects/084.urdf 5.883857476641780604e-01 -7.448309365691330175e-02 2.000000000000000111e-01 8.391919115256245565e-01 3.988099542256879904e+00 3.485854969095361966e+00
+assets/simplified_objects/080.urdf 4.719600251599014307e-01 -3.509871118473689711e-02 2.000000000000000111e-01 4.112777424441445895e+00 2.510631902681084160e+00 4.542726986683209844e+00
+assets/simplified_objects/009.urdf 5.749148325080938315e-01 -7.797598201785646554e-02 2.000000000000000111e-01 1.072602554449110901e+00 5.999562150221069423e+00 2.529894382273725206e+00
+assets/simplified_objects/038.urdf 5.052644403321000510e-01 8.999720221652809937e-02 2.000000000000000111e-01 3.549644382668901699e+00 5.628273039707397452e+00 5.863574812251472146e+00
+assets/simplified_objects/037.urdf 5.429340516079522727e-01 4.849535423687573177e-02 2.000000000000000111e-01 2.347822413154105003e+00 3.206115461501350516e+00 1.555405363405170771e+00
+assets/simplified_objects/077.urdf 5.428954515741478692e-01 -3.861090416800957992e-02 2.000000000000000111e-01 1.246842159107118153e+00 6.215638807583432346e+00 4.224206207697143611e+00
+assets/simplified_objects/066.urdf 5.904571296919390866e-01 -7.125108023629439513e-02 2.000000000000000111e-01 5.887406860191815583e-02 2.234923687840900008e+00 4.189043098447698732e+00
+assets/simplified_objects/011.urdf 5.643758091725806780e-01 -7.457525366507930520e-02 2.000000000000000111e-01 4.508968135621024054e+00 3.702614236939455683e+00 2.090903832065714951e+00

testing_cases/place_testing_cases/seen/case13.txt

@@ -0,0 +1,11 @@
+move the object around the tomato soup can
+tomato soup can
+around
+assets/simplified_objects/002.urdf 4.556034515389167927e-01 -4.076432953983791241e-02 2.000000000000000111e-01 3.605934468966354167e+00 4.682650613331781564e+00 2.297989368829609358e+00
+assets/simplified_objects/050.urdf 5.258675403223654898e-01 2.346362945769481234e-03 2.000000000000000111e-01 1.509628733872681705e+00 3.103869438026381822e+00 5.799066764295380594e+00
+assets/simplified_objects/081.urdf 4.880164133570422669e-01 1.536074485957469871e-02 2.000000000000000111e-01 3.741946554689065785e+00 1.476887331043866824e+00 4.097082477388505950e+00
+assets/simplified_objects/029.urdf 6.105624469082316930e-01 -1.146830250339085644e-01 2.000000000000000111e-01 4.981098252380724567e+00 1.388332903484242875e+00 2.616845057409660225e-01
+assets/simplified_objects/075.urdf 5.811454858909642640e-01 -5.283702311495291903e-02 2.000000000000000111e-01 4.566949753556928115e+00 4.514146089609792911e-01 5.873186362370131697e+00
+assets/simplified_objects/005.urdf 5.759993573607853357e-01 7.308164176247272659e-03 2.000000000000000111e-01 4.508017964763810781e+00 6.062252567937616909e+00 5.251317900629538293e+00
+assets/simplified_objects/083.urdf 5.817654312388387261e-01 -1.077363491462418887e-01 2.000000000000000111e-01 3.370685670272123513e+00 1.728565003702477121e+00 2.352421786428677386e+00
+assets/simplified_objects/002.urdf 4.473922738065024829e-01 1.755645445272510652e-02 2.000000000000000111e-01 2.380270514372850865e+00 1.662356229254786877e+00 1.192686882741545107e+00

testing_cases/place_testing_cases/seen/case14.txt

@@ -0,0 +1,11 @@
+put it next to the flat screwdriver
+flat screwdriver
+next to
+assets/simplified_objects/059.urdf 4.289666570626547992e-01 3.755618491471710008e-02 2.000000000000000111e-01 3.423189490646898925e+00 6.086487517103252642e+00 1.090872229710590835e+00
+assets/simplified_objects/043.urdf 5.860368380792617682e-01 -7.194782758194009920e-02 2.000000000000000111e-01 1.949293472145716910e+00 6.231879649094558715e+00 2.769721222960476847e+00
+assets/simplified_objects/042.urdf 5.123525872840837270e-01 1.028598115858842810e-01 2.000000000000000111e-01 1.311988846396495045e+00 8.203447935658305656e-01 2.771543205181685288e+00
+assets/simplified_objects/007.urdf 5.697888265998493074e-01 4.182476294857703780e-02 2.000000000000000111e-01 2.286537820035187352e+00 3.649695314289780335e+00 3.357071894872967199e+00
+assets/simplified_objects/073.urdf 4.044253937873402149e-01 -9.295170498036020579e-03 2.000000000000000111e-01 9.971416115126522373e-01 4.331402001771436971e+00 1.657007714463106351e+00
+assets/simplified_objects/067.urdf 4.824399676708375218e-01 -5.221630288250364571e-02 2.000000000000000111e-01 4.732198906364273761e+00 1.559997175542434444e+00 4.805477461547662976e+00
+assets/simplified_objects/017.urdf 5.989213955489617325e-01 9.019124874807438186e-03 2.000000000000000111e-01 1.537576053653557651e+00 2.305614196609172328e+00 1.810839056094784905e+00
+assets/simplified_objects/020.urdf 5.089897539866072851e-01 -8.177033862635171846e-02 2.000000000000000111e-01 5.794175693173992059e+00 5.144077834474916067e+00 2.334967228612077950e+00

testing_cases/place_testing_cases/seen/case15.txt

@@ -0,0 +1,11 @@
+put it near the tape
+tape
+near
+assets/simplified_objects/080.urdf 5.981424448394382365e-01 -8.212989001197934513e-02 2.000000000000000111e-01 3.701452423664173264e+00 4.718747126238668876e+00 2.132551988161035084e+00
+assets/simplified_objects/042.urdf 4.272836131933474002e-01 -6.934049964700417235e-02 2.000000000000000111e-01 2.554484173247684176e+00 2.217624211030883252e+00 3.470194814897110902e+00
+assets/simplified_objects/028.urdf 6.042522736098340230e-01 -1.180334684893782349e-01 2.000000000000000111e-01 3.998852888648099846e+00 3.096258741183271379e+00 3.442031178572534600e+00
+assets/simplified_objects/024.urdf 5.319622873618976566e-01 -1.887919460323742027e-02 2.000000000000000111e-01 5.056848524758673413e+00 1.678374881536605301e+00 3.731046616535254046e+00
+assets/simplified_objects/070.urdf 4.113277068086819144e-01 7.387300098127722037e-02 2.000000000000000111e-01 1.849225482564119005e+00 4.459220840498707261e+00 6.238375462786500680e-01
+assets/simplified_objects/041.urdf 4.085633452130796872e-01 -1.068736754142993461e-01 2.000000000000000111e-01 5.495228767059432862e+00 2.424995032670436590e+00 5.560192664413609265e+00
+assets/simplified_objects/007.urdf 4.796627764030585439e-01 -4.350904443211744965e-02 2.000000000000000111e-01 5.146106430502201956e-01 1.322816423986202805e+00 2.492464933982769804e+00
+assets/simplified_objects/040.urdf 5.011540623170297470e-01 -1.087138736937718619e-01 2.000000000000000111e-01 5.792480656316062237e+00 6.212328277693279333e+00 5.540327056173905085e+00

testing_cases/place_testing_cases/seen/case16.txt

@@ -0,0 +1,11 @@
+put it around the lion
+lion
+around
+assets/simplified_objects/050.urdf 4.589457458149159841e-01 8.808539731212344792e-02 2.000000000000000111e-01 2.310885165574760425e+00 3.450542978734212785e+00 2.101226430527832090e+00
+assets/simplified_objects/067.urdf 5.456005845801105147e-01 1.097269128175097086e-01 2.000000000000000111e-01 1.892451966099843563e+00 2.414345276688901532e+00 3.287498066468517166e-01
+assets/simplified_objects/057.urdf 4.631263823709446115e-01 4.388993006802077712e-02 2.000000000000000111e-01 1.835308231207067209e+00 2.579687206739339267e+00 3.457859503263118306e+00
+assets/simplified_objects/087.urdf 4.130395262366794995e-01 -9.682510755246592771e-03 2.000000000000000111e-01 3.122704735266282228e+00 1.662173579940583901e+00 4.370520895998568633e+00
+assets/simplified_objects/006.urdf 4.487667343973710254e-01 2.603325673997691769e-02 2.000000000000000111e-01 1.802773103159487800e+00 1.549726875633845591e+00 5.004896214123314202e+00
+assets/simplified_objects/080.urdf 4.394839724912155132e-01 -1.109992563057539405e-01 2.000000000000000111e-01 9.967890846699443974e-02 1.296992194293120404e+00 2.350715184856901896e+00
+assets/simplified_objects/061.urdf 4.811069221174226751e-01 -3.508592490638978711e-02 2.000000000000000111e-01 2.559207536222161128e-01 1.477857236802941898e+00 1.901020677434450690e+00
+assets/simplified_objects/029.urdf 4.008561491638027441e-01 -5.610169130957146089e-03 2.000000000000000111e-01 6.103090378695434026e+00 1.991691363055859920e+00 3.254365346835851103e+00

testing_cases/place_testing_cases/seen/case17.txt

@@ -0,0 +1,11 @@
+move the object on the cup
+cup
+on
+assets/simplified_objects/042.urdf 4.361394600336437888e-01 6.454156360719096042e-02 2.000000000000000111e-01 5.847135625152898086e+00 3.039797235409006149e+00 8.539694542840806646e-01
+assets/simplified_objects/022.urdf 3.822119232819108925e-01 -2.936067494598573746e-02 2.000000000000000111e-01 1.633339333205497290e+00 4.077519046231116384e+00 2.279501771457358661e+00
+assets/simplified_objects/005.urdf 5.715141884684161733e-01 1.141383592068007935e-01 2.000000000000000111e-01 3.896382055437237035e+00 5.863847277809155045e+00 3.485809100482300416e+00
+assets/simplified_objects/020.urdf 5.579701798918926814e-01 9.474740815133472771e-02 2.000000000000000111e-01 1.613952044053515333e+00 3.684658073041223947e+00 1.509466185639463554e+00
+assets/simplified_objects/077.urdf 3.878448365602072956e-01 -1.113379626243084231e-02 2.000000000000000111e-01 2.119294387630908938e-01 4.151634375620221640e+00 1.501954003275604244e+00
+assets/simplified_objects/059.urdf 5.895643760753783713e-01 -4.907202003932734091e-02 2.000000000000000111e-01 1.247518407244991190e+00 2.569732055520120850e-01 5.276333633363702980e+00
+assets/simplified_objects/086.urdf 4.725233203870996546e-01 1.078856167590229453e-01 2.000000000000000111e-01 1.877127344225024030e+00 2.295482085628687052e+00 1.958468570112383400e+00
+assets/simplified_objects/030.urdf 4.204373609406104606e-01 -4.339419282624717988e-02 2.000000000000000111e-01 1.385511393575806549e+00 5.630869768950649501e+00 6.208492841959108333e+00

testing_cases/place_testing_cases/seen/case18.txt

@@ -0,0 +1,11 @@
+place this in the red mug
+red mug
+in
+assets/simplified_objects/085.urdf 5.293569537079949594e-01 8.310520741424012869e-02 2.000000000000000111e-01 2.521913530684208871e-01 3.965787102368457884e+00 2.250945510033837138e+00
+assets/simplified_objects/006.urdf 4.342524314798088536e-01 2.926554419574078914e-02 2.000000000000000111e-01 4.631825917616952282e+00 1.227176138842188680e+00 8.409252520656889107e-01
+assets/simplified_objects/007.urdf 4.188648232246878766e-01 8.086356250494466935e-02 2.000000000000000111e-01 1.954077839823984641e+00 4.870985434055027596e+00 5.580494813558963152e+00
+assets/simplified_objects/077.urdf 5.629318707065104066e-01 8.141641314148473363e-02 2.000000000000000111e-01 8.196197918510249592e-01 5.539225282163656061e+00 2.186953081706886515e+00
+assets/simplified_objects/053.urdf 5.223488030479678246e-01 8.004614886133659679e-02 2.000000000000000111e-01 3.351584671926983283e+00 2.745011203610987938e+00 6.116591026601827963e+00
+assets/simplified_objects/005.urdf 5.700286979704780599e-01 4.591218036014596549e-02 2.000000000000000111e-01 6.596638870653969144e-01 1.070883122904438878e+00 5.810137424880291057e+00
+assets/simplified_objects/006.urdf 5.295938783527320837e-01 -5.158524276259007779e-02 2.000000000000000111e-01 4.183541831308036585e+00 6.052585080000617346e+00 3.752165780529726824e+00
+assets/simplified_objects/018.urdf 3.765779206276644864e-01 -4.922122099737477607e-02 2.000000000000000111e-01 5.103231211973071169e+00 6.234729730590056640e+00 1.284953433377857834e+00

testing_cases/place_testing_cases/seen/case19.txt

@@ -0,0 +1,11 @@
+put it around the strawberry
+strawberry
+around
+assets/simplified_objects/084.urdf 3.851948627615154885e-01 -6.322298119602326461e-02 2.000000000000000111e-01 6.106999001742406286e+00 2.214285964003404050e+00 5.815049949284945008e+00
+assets/simplified_objects/050.urdf 5.233845603076454633e-01 -7.669420446383720669e-02 2.000000000000000111e-01 2.000320361504245970e+00 5.846444806807006067e+00 1.565521948925385987e+00
+assets/simplified_objects/014.urdf 3.776572636610980860e-01 -4.821485122392585310e-02 2.000000000000000111e-01 5.047920210236464200e+00 1.094060969876748723e+00 2.507690455388190909e+00
+assets/simplified_objects/009.urdf 4.391256542530397322e-01 -1.222866441322246478e-01 2.000000000000000111e-01 2.776334722565329649e+00 3.288381455082577176e+00 2.864256750116584538e+00
+assets/simplified_objects/011.urdf 4.048509542320773980e-01 -5.750695791869278595e-03 2.000000000000000111e-01 2.472383474591460573e+00 2.345760249786537494e-02 2.798242694653388929e-01
+assets/simplified_objects/073.urdf 5.345382225119241770e-01 -7.024289843225031693e-02 2.000000000000000111e-01 5.198045942791681640e+00 3.305624652434699051e+00 1.359031433403266931e+00
+assets/simplified_objects/008.urdf 5.070377819786638929e-01 -3.677472149713309491e-02 2.000000000000000111e-01 4.048567379101925212e+00 4.402820422397084599e+00 6.103937808994041703e+00
+assets/simplified_objects/086.urdf 6.000441655613917291e-01 1.181276855610942367e-01 2.000000000000000111e-01 5.473542774930697519e+00 3.319674509206403723e+00 1.705013108205407857e+00

testing_cases/place_testing_cases/unseen/case00.txt

@@ -0,0 +1,11 @@
+move the object close to the black marker
+black marker
+close to
+assets/unseen_objects/suger_2.urdf 4.153131668675732469e-01 5.810889373953692649e-02 2.000000000000000111e-01 6.239152827784740118e+00 4.942659765123678994e+00 4.552489592200545054e+00
+assets/unseen_objects/pink_tea_box.urdf 6.072238909932162754e-01 -7.349484665754926760e-02 2.000000000000000111e-01 4.478308735592895218e+00 4.957883271872355557e+00 1.357988940620598051e+00
+assets/unseen_objects/remote_controller_1.urdf 6.131839810795719492e-01 3.062576374908451693e-02 2.000000000000000111e-01 5.865523523025292896e+00 1.679510851254744530e+00 2.376149793206929317e+00
+assets/unseen_objects/two_color_hammer.urdf 4.424049110389824957e-01 -1.342216239774454700e-02 2.000000000000000111e-01 2.863802746114707976e+00 3.479961462231038194e-01 5.103378403827890430e+00
+assets/unseen_objects/yellow_cup.urdf 4.986974440574784007e-01 -6.886009140967661035e-02 2.000000000000000111e-01 6.854717710103356287e-01 3.452974035360715899e+00 2.296193524312601042e+00
+assets/unseen_objects/suger_1.urdf 5.967452791124591149e-01 -3.918143230885501316e-02 2.000000000000000111e-01 5.719098373990008088e-01 7.792187502750672623e-01 4.035462819170376747e+00
+assets/unseen_objects/remote_controller_1.urdf 3.917375512293062023e-01 -3.048156846820332389e-03 2.000000000000000111e-01 4.915535120719388473e+00 5.157518663088685784e+00 4.904233423750831378e+00
+assets/unseen_objects/black_marker.urdf 4.335396377274292057e-01 9.522444916113387281e-02 2.000000000000000111e-01 4.077818933252078004e+00 1.517204309567493858e+00 2.887846325479727749e+00

testing_cases/place_testing_cases/unseen/case01.txt

@@ -0,0 +1,11 @@
+move the object around the gelatin box
+gelatin box
+around
+assets/unseen_objects/magic_clean.urdf 5.942174581192695149e-01 -1.113435184928388832e-01 2.000000000000000111e-01 4.540513664569919783e+00 6.019301896393328910e+00 5.890073339063630620e+00
+assets/unseen_objects/remote_controller_1.urdf 4.409294079390359000e-01 3.825893232131533095e-03 2.000000000000000111e-01 5.491784138037899332e+00 5.445679041717208513e+00 3.170150039574705758e+00
+assets/unseen_objects/suger_1.urdf 4.788524283485310340e-01 4.127456276522975531e-02 2.000000000000000111e-01 6.240679060752868601e+00 5.070483105390219514e+00 2.177067740448571376e-01
+assets/unseen_objects/gelatin_box.urdf 3.775234396697134676e-01 -6.610705444859102387e-02 2.000000000000000111e-01 1.789050319393852062e+00 1.089353330383674434e+00 3.208005908015049368e+00
+assets/unseen_objects/two_color_hammer.urdf 4.138524581513268741e-01 1.105141502307802059e-01 2.000000000000000111e-01 2.102500079333732952e+00 4.827954960228651338e+00 1.785874450517787482e+00
+assets/unseen_objects/pink_tea_box.urdf 5.854360854968526651e-01 8.370437563801871872e-02 2.000000000000000111e-01 1.148690296981593306e+00 5.060979356593242606e+00 5.342999763881306485e+00
+assets/unseen_objects/blue_moon.urdf 5.522996760717023834e-01 1.057595961797440087e-01 2.000000000000000111e-01 4.091349145918046659e+00 5.065364421391946870e+00 2.731681991610131366e+00
+assets/unseen_objects/pink_tea_box.urdf 4.660378444101666018e-01 -4.560859108481377100e-02 2.000000000000000111e-01 5.387028838711441558e+00 3.639986319516788971e+00 1.005956617549217169e+00

testing_cases/place_testing_cases/unseen/case02.txt

@@ -0,0 +1,11 @@
+put it on the yellow bowl
+yellow bowl
+on
+assets/unseen_objects/magic_clean.urdf 5.507905946665526686e-01 -3.812254782747423465e-02 2.000000000000000111e-01 2.663170778962318686e+00 5.530018465959474216e-01 1.319994166966725002e+00
+assets/unseen_objects/soap_dish.urdf 5.278117075281510973e-01 -6.149753644721475676e-02 2.000000000000000111e-01 3.010599033122749457e+00 4.071499114051604806e+00 1.687653686242246431e+00
+assets/unseen_objects/yellow_bowl.urdf 4.470714626995831997e-01 1.785060380319206108e-02 2.000000000000000111e-01 5.850595317409005958e+00 5.716411632461323444e-01 7.239287412372209518e-01
+assets/unseen_objects/repellent.urdf 5.645566309251285331e-01 -1.239515313795911400e-01 2.000000000000000111e-01 5.129547682051399882e+00 4.029825955763895351e+00 1.058732898543292222e+00
+assets/unseen_objects/small_clamp.urdf 3.836680470885431848e-01 -5.584524644672791971e-02 2.000000000000000111e-01 1.262073419767539617e+00 1.382690983959921072e-01 6.106336153306243020e+00
+assets/unseen_objects/gelatin_box.urdf 6.148618384950601534e-01 2.671581872291908799e-02 2.000000000000000111e-01 4.083801416830706188e+00 4.384449403881432339e+00 1.689243250368362981e+00
+assets/unseen_objects/two_color_hammer.urdf 6.124297739563296927e-01 -8.943124352164796842e-02 2.000000000000000111e-01 5.757042546466844435e+00 2.226619668070799030e+00 5.134464348325352034e+00
+assets/unseen_objects/yellow_bowl.urdf 6.166468527075693595e-01 -1.215873932708195770e-01 2.000000000000000111e-01 5.108217261284893063e+00 3.816081274727191275e+00 3.533277433604658846e+00

testing_cases/place_testing_cases/unseen/case03.txt

@@ -0,0 +1,11 @@
+place this on top of the yellow cup
+yellow cup
+on top of
+assets/unseen_objects/bleach_cleanser.urdf 6.016077629825880013e-01 -1.282527722323785480e-02 2.000000000000000111e-01 7.889810070276698228e-01 4.306127591698924562e+00 2.207253661875588691e+00
+assets/unseen_objects/yellow_cup.urdf 4.592141996223841893e-01 4.770563154898876945e-02 2.000000000000000111e-01 3.653924770105045461e+00 5.857037927268277322e+00 1.193834708853714011e+00
+assets/unseen_objects/yellow_bowl.urdf 4.607735648340955947e-01 7.113906060584290758e-03 2.000000000000000111e-01 3.929313663588474004e+00 5.210794911412883756e+00 1.314859460068493080e+00
+assets/unseen_objects/pink_tea_box.urdf 3.980239193588613889e-01 5.685715562414955793e-02 2.000000000000000111e-01 2.071880438834489691e-01 3.464538107993040406e+00 1.513089517309034404e+00
+assets/unseen_objects/red_marker.urdf 4.608712583538656649e-01 -5.482387632213248096e-02 2.000000000000000111e-01 1.345384670693157814e+00 5.587118618114376822e+00 4.991639291303816783e+00
+assets/unseen_objects/yellow_cup.urdf 5.497981392181171545e-01 -1.130556215881858839e-02 2.000000000000000111e-01 1.450334526288431514e+00 4.553081577061743879e+00 4.414171881552148236e+00
+assets/unseen_objects/soap_dish.urdf 5.784786318861498966e-01 4.237381065247372569e-02 2.000000000000000111e-01 9.473117324603305689e-02 4.683803742427846473e+00 5.946705355223320666e+00
+assets/unseen_objects/black_marker.urdf 6.081681004011697533e-01 -8.420540930563477633e-02 2.000000000000000111e-01 5.614377381466375105e+00 7.328192705669500651e-01 4.780480504376163786e+00

testing_cases/place_testing_cases/unseen/case04.txt

@@ -0,0 +1,11 @@
+place this surrounding to the blue moon
+blue moon
+surrounding to
+assets/unseen_objects/yellow_cup.urdf 5.667770268767234887e-01 9.334967576311475890e-02 2.000000000000000111e-01 7.075426600094817386e-01 5.006491560917185168e+00 6.060025339285736834e+00
+assets/unseen_objects/repellent.urdf 3.973924408396737329e-01 3.026578865171522525e-02 2.000000000000000111e-01 6.206264724021420598e+00 5.128043140982655679e+00 6.215666904080811017e-01
+assets/unseen_objects/two_color_hammer.urdf 5.443689662519843875e-01 -3.341478437265790746e-02 2.000000000000000111e-01 6.133478007602055193e+00 1.477248282144026037e+00 2.838465481159976544e+00
+assets/unseen_objects/suger_1.urdf 6.174208964016404400e-01 7.192515243142061365e-02 2.000000000000000111e-01 4.112766500772110589e+00 4.535657631063976680e+00 3.200683799818339614e-01
+assets/unseen_objects/blue_moon.urdf 4.952114560172389268e-01 1.744317725837316035e-02 2.000000000000000111e-01 2.241572726756239364e-01 4.759336430957813446e-01 4.074333270496285353e-01
+assets/unseen_objects/pink_tea_box.urdf 4.480790440819082399e-01 -1.114457266181340112e-02 2.000000000000000111e-01 5.348908061939271263e+00 5.681867212220223173e+00 8.995105502314988399e-01
+assets/unseen_objects/small_clamp.urdf 4.861021404551654213e-01 1.239901046516597438e-01 2.000000000000000111e-01 2.804272371396713037e+00 2.059889681842078435e+00 2.348663785984288488e+00
+assets/unseen_objects/two_color_hammer.urdf 6.182677095475738183e-01 -7.701948989952628333e-02 2.000000000000000111e-01 5.898096229516548661e+00 3.788887131669077313e+00 1.523345412087532491e+00

testing_cases/place_testing_cases/unseen/case05.txt

@@ -0,0 +1,11 @@
+move the object near the blue moon
+blue moon
+near
+assets/unseen_objects/pink_tea_box.urdf 4.673385241350247465e-01 -9.910342102911165463e-02 2.000000000000000111e-01 6.123259201676879648e+00 3.319102793632222159e+00 3.484014848908955297e+00
+assets/unseen_objects/blue_moon.urdf 4.686055081264538513e-01 1.120702005231493659e-01 2.000000000000000111e-01 9.193697544313503833e-01 4.924061065661105019e+00 1.358457474557041245e+00
+assets/unseen_objects/yellow_cup.urdf 4.764050566574208334e-01 8.413765394624739269e-03 2.000000000000000111e-01 5.866364269917151653e+00 6.089178636630532715e+00 4.747685904662249712e+00
+assets/unseen_objects/black_marker.urdf 5.996781297174449410e-01 1.198992458046302945e-01 2.000000000000000111e-01 1.958065537574714243e+00 3.512055777282287128e+00 2.080698387040084363e+00
+assets/unseen_objects/black_marker.urdf 5.424949254740587534e-01 -8.723712519537185628e-04 2.000000000000000111e-01 3.837142789048983094e+00 3.788685195752999224e+00 1.480501712648418344e+00
+assets/unseen_objects/yellow_cup.urdf 4.933051982730266571e-01 -3.190654846659377042e-02 2.000000000000000111e-01 5.775705992125664601e+00 2.870145329328976480e+00 6.150443958889071361e+00
+assets/unseen_objects/shampoo.urdf 5.511912279540385207e-01 -8.031352712599940102e-02 2.000000000000000111e-01 6.051483995130449323e+00 4.526899080912015982e+00 5.863165607515531619e+00
+assets/unseen_objects/yellow_bowl.urdf 5.617058390853465477e-01 -1.132113380155661264e-01 2.000000000000000111e-01 6.160234964186695805e+00 3.928737654454090400e+00 8.976792075479711475e-01

testing_cases/place_testing_cases/unseen/case06.txt

@@ -0,0 +1,11 @@
+put it next to the yellow bowl
+yellow bowl
+next to
+assets/unseen_objects/yellow_bowl.urdf 4.400546099657148824e-01 -1.100375442308206830e-01 2.000000000000000111e-01 4.634964596607961340e+00 6.107398066490275390e+00 4.560046055189370229e+00
+assets/unseen_objects/gelatin_box.urdf 5.900936336544999605e-01 4.642907352771585838e-02 2.000000000000000111e-01 3.431256179425723030e+00 2.509485709072677651e+00 3.740288846518922128e+00
+assets/unseen_objects/blue_moon.urdf 6.212930696011483844e-01 6.042200446866041741e-03 2.000000000000000111e-01 5.059264109872255943e+00 5.590371931707256437e+00 6.257854355557648240e+00
+assets/unseen_objects/red_marker.urdf 5.180593767665265803e-01 3.016685816008068954e-02 2.000000000000000111e-01 3.582173502519367059e+00 1.695177194894047723e+00 4.547054694675867204e+00
+assets/unseen_objects/pink_tea_box.urdf 4.885546424345540428e-01 -7.814067180591521833e-02 2.000000000000000111e-01 1.775407452407326891e+00 6.268200788171482074e+00 5.800904214846986484e+00
+assets/unseen_objects/suger_2.urdf 5.384041030061106348e-01 -9.999106654035452846e-02 2.000000000000000111e-01 4.577095921031188119e+00 5.109919604112056923e+00 4.814044074152538322e+00
+assets/unseen_objects/soap_dish.urdf 6.006138087876878862e-01 1.137518608851998403e-01 2.000000000000000111e-01 4.339977032306932436e+00 1.597234768524114390e+00 3.142781593327081957e+00
+assets/unseen_objects/remote_controller_1.urdf 6.116831268782975117e-01 -7.671049911595459458e-02 2.000000000000000111e-01 2.103207875115729486e+00 3.848890088427524336e+00 4.452655808872284737e+00

testing_cases/place_testing_cases/unseen/case07.txt

@@ -0,0 +1,11 @@
+move the object surrounding to the gelatin box
+gelatin box
+surrounding to
+assets/unseen_objects/yellow_cup.urdf 4.888327709108971630e-01 -7.601684205372299941e-02 2.000000000000000111e-01 6.666021990460193614e-01 4.213137060281943569e+00 3.404245451735300687e+00
+assets/unseen_objects/black_marker.urdf 5.902220647621088112e-01 3.900116534702693927e-02 2.000000000000000111e-01 3.369697197593806148e+00 3.383126794902360679e+00 6.136372033670409287e+00
+assets/unseen_objects/repellent.urdf 5.253959525654420259e-01 2.240764907188683153e-02 2.000000000000000111e-01 8.423618470626227372e-01 1.608487425434410367e+00 3.805531883820977512e+00
+assets/unseen_objects/soap_dish.urdf 5.636367748213125806e-01 -4.296349902880797211e-02 2.000000000000000111e-01 5.027840359686227556e-01 2.955674798200736975e-01 4.278470894038466366e-01
+assets/unseen_objects/gelatin_box.urdf 5.056709295724508557e-01 8.583831058772342648e-02 2.000000000000000111e-01 3.591131644753842167e+00 1.344458730778489874e+00 3.038325652959598666e-01
+assets/unseen_objects/suger_1.urdf 5.829630308092175195e-01 -8.708734639353024609e-02 2.000000000000000111e-01 6.923667648949790587e-01 2.738236695117358455e+00 3.618301944338385034e+00
+assets/unseen_objects/gelatin_box.urdf 6.005916722195921986e-01 -1.930517207362938970e-02 2.000000000000000111e-01 1.790896121436355903e+00 6.878872606956935032e-01 2.585567792889807315e+00
+assets/unseen_objects/repellent.urdf 4.977617264531182251e-01 1.481393365154673458e-02 2.000000000000000111e-01 6.132727956451724083e+00 5.455700972990045194e+00 4.854415949348368287e+00

testing_cases/place_testing_cases/unseen/case08.txt

@@ -0,0 +1,11 @@
+put it beside the shampoo
+shampoo
+beside
+assets/unseen_objects/gelatin_box.urdf 3.804861512344361874e-01 -2.486027223642231498e-03 2.000000000000000111e-01 2.856066520434181744e+00 3.136505653851500597e+00 5.974647084646709239e+00
+assets/unseen_objects/repellent.urdf 4.568604163527230089e-01 4.953199168275587705e-02 2.000000000000000111e-01 1.256784050509208051e+00 4.193208167490800165e+00 2.678732079597995419e+00
+assets/unseen_objects/two_color_hammer.urdf 3.950652513904464591e-01 -2.954271175298717189e-02 2.000000000000000111e-01 6.245872623486359299e-01 5.649675260405071064e+00 4.241807220411334178e+00
+assets/unseen_objects/small_clamp.urdf 5.508848162689462535e-01 -1.015446125350176476e-02 2.000000000000000111e-01 3.652735484661999266e+00 5.582403322854217365e+00 3.677820403608207833e+00
+assets/unseen_objects/suger_1.urdf 5.914173412790150186e-01 5.357530515448771791e-02 2.000000000000000111e-01 3.737898607154485298e+00 2.508067165248179187e+00 1.961605840756835972e+00
+assets/unseen_objects/shampoo.urdf 3.922669728034055003e-01 7.407751117620614556e-02 2.000000000000000111e-01 4.710448884560885396e+00 3.505753687039801392e+00 1.485014950460789240e+00
+assets/unseen_objects/blue_moon.urdf 4.699388453983683878e-01 -2.594331118720930029e-02 2.000000000000000111e-01 5.145658310308220074e+00 2.621434452777179125e+00 3.868975949777588408e+00
+assets/unseen_objects/blue_moon.urdf 5.819863689292358311e-01 -5.451873898962930620e-02 2.000000000000000111e-01 1.396267496653435192e+00 6.086598155716299807e+00 2.241570741129507383e+00

testing_cases/place_testing_cases/unseen/case09.txt

@@ -0,0 +1,11 @@
+place this near the suger
+suger
+near
+assets/unseen_objects/repellent.urdf 4.158521868355223861e-01 3.535460823689778875e-02 2.000000000000000111e-01 3.001079550846836419e+00 5.791297811963212361e+00 5.603177314210235238e+00
+assets/unseen_objects/suger_1.urdf 3.823288853463960857e-01 -1.229044265642170453e-01 2.000000000000000111e-01 7.896749577971369227e-01 6.233649171292201530e+00 5.144164613319963664e+00
+assets/unseen_objects/remote_controller_1.urdf 5.582119006502119785e-01 -7.418353529406715441e-03 2.000000000000000111e-01 2.859881179024392761e+00 4.493836658081969304e+00 1.423268491982538464e+00
+assets/unseen_objects/shampoo.urdf 6.067581739988067158e-01 -8.554181341510455616e-02 2.000000000000000111e-01 5.344534455174176024e+00 2.210156452628328605e+00 3.357270818155658754e-01
+assets/unseen_objects/bleach_cleanser.urdf 5.916198124032742145e-01 -1.188193345196436324e-01 2.000000000000000111e-01 3.274789539362590762e+00 6.254486008201293856e+00 3.593441873787409868e+00
+assets/unseen_objects/gelatin_box.urdf 4.909335464590519615e-01 -1.203307485012742317e-01 2.000000000000000111e-01 3.583909239566803517e+00 2.442679945594678603e+00 5.894763089801343448e+00
+assets/unseen_objects/soap_dish.urdf 4.699130691510625679e-01 8.507567885546082898e-02 2.000000000000000111e-01 7.243657163166522528e-01 5.016319710671884202e+00 3.826042784623486792e+00
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testing_cases/pp_testing_cases/seen/case00.txt

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+I want a strawberry
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testing_cases/pp_testing_cases/seen/case01.txt

@@ -0,0 +1,29 @@
+I need a cup
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+

testing_cases/pp_testing_cases/seen/case02.txt

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+I need the box
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+place this around the toy
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testing_cases/pp_testing_cases/seen/case03.txt

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+grasp the red fruit
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testing_cases/pp_testing_cases/seen/case04.txt

@@ -0,0 +1,28 @@
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