Datasets:
dgrachev
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a2_assets

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give me the racquetball
0
assets/simplified_objects/021.urdf 5.194643052623100221e-01 -1.420557532128250144e-01 2.000000000000000111e-01 2.141669416541708948e+00 4.396064531493952821e+00 1.303254109099665881e+00
assets/simplified_objects/043.urdf 5.337536542559689901e-01 -1.929829737718869731e-01 2.000000000000000111e-01 2.224850079485463539e+00 8.835847139667788452e-01 2.387423237182045188e+00
assets/simplified_objects/085.urdf 4.655033234180033785e-01 -1.890113559925091502e-01 2.000000000000000111e-01 3.680547115167322580e+00 3.266381056272277039e+00 4.073662558653796673e+00
assets/simplified_objects/086.urdf 5.911139273200418653e-01 -1.006818236819945755e-01 2.000000000000000111e-01 2.564962267177882893e+00 4.613106257755968720e+00 1.157884281199365706e+00
assets/simplified_objects/059.urdf 5.905700976566885529e-01 -1.263135958516445334e-01 2.000000000000000111e-01 5.213153441142755362e+00 8.783917736278458177e-01 1.768478481540118441e+00
assets/simplified_objects/044.urdf 3.802104852146911407e-01 -1.861984058740346615e-01 2.000000000000000111e-01 4.015103942326270214e+00 1.932229460229828444e+00 1.825347419755245504e+00
assets/simplified_objects/026.urdf 4.137551068601955651e-01 -1.642303675059268719e-01 2.000000000000000111e-01 5.552467945961920393e+00 3.804979106241922260e+00 6.773908476905907139e-02
assets/simplified_objects/028.urdf 5.859530333829253701e-01 -1.409363193011347326e-01 2.000000000000000111e-01 2.281976842179013421e+00 4.560423156133149192e+00 3.123684082922419059e+00
assets/simplified_objects/016.urdf 5.933145186776133118e-01 -1.547992695108555694e-01 2.000000000000000111e-01 4.545701646925474293e+00 3.116001669481630376e+00 2.339635890257029338e+00
assets/simplified_objects/041.urdf 5.431543635212976451e-01 -1.161808333531779425e-01 2.000000000000000111e-01 5.678709409906699257e+00 4.975253926061133924e+00 1.697808428548050141e+00
assets/simplified_objects/041.urdf 4.734139723437428282e-01 -1.777609468478817123e-01 2.000000000000000111e-01 9.375900545117403784e-01 2.554723228791159428e+00 3.959455128728532891e+00
assets/simplified_objects/005.urdf 5.771749141190359866e-01 -1.034732666176515770e-01 2.000000000000000111e-01 1.301034320401619482e+00 4.454151067574139589e+00 4.085650819042801807e+00
assets/simplified_objects/005.urdf 4.000006991851725591e-01 -1.998871525113981862e-01 2.000000000000000111e-01 5.163850772236658671e+00 4.326038580209172202e-01 2.835919045684250239e+00
assets/simplified_objects/076.urdf 6.226529013202343199e-01 -2.315496434576732321e-01 2.000000000000000111e-01 4.682076177038396181e-01 4.558591522896857207e+00 2.504469776148425364e+00
assets/simplified_objects/039.urdf 4.224629618436256395e-01 -2.288577159280537343e-01 2.000000000000000111e-01 4.511353021968251831e+00 2.446569568258259775e+00 4.545661733218325118e+00
put it around the cup
cup
around
assets/simplified_objects/013.urdf 4.642035021554300478e-01 1.260156493641611530e-01 1.000000000000000056e-01 7.663381891592439821e-02 4.303349059453143610e+00 3.761042532316831277e+00
assets/simplified_objects/042.urdf 3.506912669750497091e-01 1.938518868197298683e-01 1.000000000000000056e-01 2.484566434015635039e+00 1.821304392445880715e+00 4.138029144953430105e+00
assets/simplified_objects/075.urdf 4.564801581884591619e-01 2.602109499653730285e-01 1.000000000000000056e-01 9.239134785598731581e-01 6.814412010411853293e-01 1.824249897961148781e+00
assets/simplified_objects/020.urdf 5.702959328134213912e-01 1.317258580262488099e-01 1.000000000000000056e-01 2.756782268517064427e+00 5.044087747496770469e+00 3.003601704398464634e+00
assets/simplified_objects/022.urdf 3.582489829415329008e-01 9.225766967047455136e-02 1.000000000000000056e-01 4.380203028085775330e+00 1.782686409420674911e+00 5.663204910609528575e+00
assets/simplified_objects/015.urdf 6.505151845003562805e-01 2.034819424842981839e-01 1.000000000000000056e-01 3.327298938235623282e+00 1.664802880202105317e+00 5.092578550361777090e+00
assets/simplified_objects/055.urdf 6.554974299979458019e-01 7.261978796821208504e-02 1.000000000000000056e-01 5.695743239116410450e+00 2.098909495902601119e+00 1.005041199189329992e+00
assets/simplified_objects/068.urdf 5.727371419393203489e-01 2.829362075554188727e-01 1.000000000000000056e-01 2.408903298029552720e-01 4.597650620562250268e+00 3.247899387242768388e+00
I want a round object
0 1 2
assets/simplified_objects/016.urdf 4.313026290731341028e-01 -1.545110564562332811e-01 2.000000000000000111e-01 3.441241743734814840e+00 2.276550182691200241e+00 7.784708156430157899e-01
assets/simplified_objects/017.urdf 4.503215320825744161e-01 -1.413043162846754075e-01 2.000000000000000111e-01 3.602642637090871514e+00 2.239386821855854581e+00 3.215767479932966744e+00
assets/simplified_objects/021.urdf 5.204646227456998231e-01 -1.162355291828645887e-01 2.000000000000000111e-01 4.161886239387920128e+00 1.019534932528651350e+00 2.670959058568640465e+00
assets/simplified_objects/073.urdf 4.797261727263404385e-01 -2.200990677506505511e-01 2.000000000000000111e-01 4.885747659724540171e+00 9.772618617755087778e-01 2.781038725693147917e+00
assets/simplified_objects/067.urdf 3.779561213259190477e-01 -2.082754314516757355e-01 2.000000000000000111e-01 3.264044566558629290e-01 1.236689170179048336e+00 2.607441800851593605e+00
assets/simplified_objects/041.urdf 4.259051380186367197e-01 -1.870861680288295747e-01 2.000000000000000111e-01 3.996792365727118490e+00 1.211644655252151065e-01 6.150586218527442028e+00
assets/simplified_objects/005.urdf 5.517007044135687766e-01 -1.664909714132080387e-01 2.000000000000000111e-01 1.481890690196240090e+00 4.321559853226268899e+00 8.435205279188340288e-02
assets/simplified_objects/020.urdf 3.987714444948584624e-01 -1.274673432962653841e-01 2.000000000000000111e-01 4.489788829611888410e+00 1.465110146374855926e+00 1.374225537830403132e+00
assets/simplified_objects/057.urdf 4.198381071365397954e-01 -1.388131274778550417e-01 2.000000000000000111e-01 6.122148999319509954e+00 1.590258550849873886e+00 2.958116616044242697e+00
assets/simplified_objects/066.urdf 5.712129415658443454e-01 -1.921493307660191718e-01 2.000000000000000111e-01 4.709613905972338088e+00 5.393128235305381324e+00 1.296989655290654575e+00
assets/simplified_objects/081.urdf 3.801359374771254851e-01 -2.134937143822111805e-01 2.000000000000000111e-01 3.051270352326488133e+00 2.428666850214902695e+00 2.979076441374469919e+00
assets/simplified_objects/057.urdf 5.776358011492974676e-01 -1.777466079192705217e-01 2.000000000000000111e-01 4.022423333763335940e+00 3.060645039701789472e+00 4.919966679234402562e+00
assets/simplified_objects/015.urdf 5.133329177895433748e-01 -2.236442464774318906e-01 2.000000000000000111e-01 4.579972077598875480e+00 1.982874130198556850e+00 4.891068396735853696e+00
assets/simplified_objects/024.urdf 4.458890216890972935e-01 -1.845604073004339096e-01 2.000000000000000111e-01 2.129930164653969449e+00 1.158384604538040541e-01 5.443555772046801522e+00
assets/simplified_objects/022.urdf 5.559478407008212608e-01 -1.107044431829499187e-01 2.000000000000000111e-01 1.206972485847949139e+00 3.303035659944155267e+00 7.141627638253242871e-01
move the object in the red bowl
red bowl
in
assets/simplified_objects/039.urdf 4.620709410718911170e-01 1.890365281267071262e-01 1.000000000000000056e-01 2.661340921754298261e+00 4.845297691386197592e+00 2.009684892585643645e+00
assets/simplified_objects/062.urdf 3.318666924373819271e-01 2.289026350724942538e-01 1.000000000000000056e-01 2.810133815498490950e+00 5.814772688439632020e+00 2.010430043003497147e+00
assets/simplified_objects/064.urdf 5.464160703687017673e-01 2.834896170857499897e-01 1.000000000000000056e-01 6.844351563115541603e-01 5.077273910339322072e+00 1.643407542429149160e-01
assets/simplified_objects/006.urdf 6.234856254442493473e-01 1.211140361319442671e-01 1.000000000000000056e-01 3.424426043221978855e+00 2.165674203744482273e+00 4.480428868599702241e+00
assets/simplified_objects/061.urdf 4.827045794366396914e-01 7.170335911176498045e-02 1.000000000000000056e-01 1.089304514390712297e+00 2.149694508271293714e+00 3.560338371819415038e+00
assets/simplified_objects/073.urdf 3.515137194208394766e-01 1.021256913699763458e-01 1.000000000000000056e-01 4.118157372960121188e-02 4.803227564907594171e+00 5.829019515717759781e+00
assets/simplified_objects/081.urdf 6.500168046707783809e-01 2.622393687101320925e-01 1.000000000000000056e-01 3.669660945453766310e+00 9.900729178354873705e-02 3.913977902898585270e+00
assets/simplified_objects/008.urdf 6.738805385696076122e-01 1.650508576308341580e-01 1.000000000000000056e-01 5.677294487894350539e+00 4.681268092833377636e+00 3.094043588288021507e+00
get something to eat
0 1
assets/simplified_objects/012.urdf 5.402180943879197894e-01 -1.249939643168360426e-01 2.000000000000000111e-01 1.805667496656244264e+00 4.386489312498120796e+00 4.777771696077528496e+00
assets/simplified_objects/014.urdf 4.770731474683068685e-01 -1.777441494452276782e-01 2.000000000000000111e-01 6.481046136425371307e-01 3.049024069316701446e+00 2.780599861515766769e+00
assets/simplified_objects/008.urdf 5.930031971870858287e-01 -1.344125581920286028e-01 2.000000000000000111e-01 2.834185927345016065e+00 3.643019935066626580e+00 2.420773168135929243e+00
assets/simplified_objects/038.urdf 4.558533641218581733e-01 -1.963009050805790967e-01 2.000000000000000111e-01 6.120268195616360707e-01 5.016193270950765282e+00 4.014356570394121526e+00
assets/simplified_objects/029.urdf 5.621568059808880191e-01 -1.097532491517151931e-01 2.000000000000000111e-01 5.447881315487511422e+00 1.382483462539342733e+00 6.039651477744505392e+00
assets/simplified_objects/031.urdf 6.104270025068367911e-01 -1.393296953996986665e-01 2.000000000000000111e-01 4.022878710448210882e+00 1.127799805011078016e+00 5.489394320777077674e+00
assets/simplified_objects/029.urdf 3.835763298161423140e-01 -1.028220826806732491e-01 2.000000000000000111e-01 4.063953037699927218e-02 5.086862189790640087e+00 5.725663904148856176e+00
assets/simplified_objects/075.urdf 3.872366412765533283e-01 -1.644854978838378445e-01 2.000000000000000111e-01 3.052780238251842970e+00 4.242048199134362818e+00 2.633235999265744365e+00
assets/simplified_objects/045.urdf 5.389089584606280292e-01 -2.316177678239644544e-01 2.000000000000000111e-01 4.162717041914749672e+00 1.858917363715040016e+00 4.394756886433134113e+00
assets/simplified_objects/050.urdf 6.016346953559704724e-01 -2.121927252763484983e-01 2.000000000000000111e-01 2.644887695528879590e+00 6.058744312229682905e+00 3.722334996134282203e+00
assets/simplified_objects/045.urdf 5.631384161007502165e-01 -2.295161902990992819e-01 2.000000000000000111e-01 1.513194333610734965e+00 2.534254772738571582e+00 5.319438327855898763e+00
assets/simplified_objects/007.urdf 5.198137285152768516e-01 -1.768412266095900909e-01 2.000000000000000111e-01 3.952428360511701655e+00 4.328607385277220665e+00 3.561273547133201767e+00
assets/simplified_objects/072.urdf 6.049622829836576177e-01 -1.730154015719025107e-01 2.000000000000000111e-01 4.619481960498426076e+00 3.444083377290259929e+00 2.088161691585382673e+00
assets/simplified_objects/078.urdf 4.724227810831048702e-01 -1.821853818908550637e-01 2.000000000000000111e-01 1.316165615609860895e+00 2.989938639329795755e+00 4.438491216673956075e+00
assets/simplified_objects/024.urdf 4.514377308043434622e-01 -1.075234621704175275e-01 2.000000000000000111e-01 3.865477293169519601e+00 2.810991115880210334e+00 4.130892060378863029e+00
move the object next to the peach
peach
next to
assets/simplified_objects/014.urdf 6.238727358285433011e-01 2.680559842653876812e-01 1.000000000000000056e-01 3.737410664554663420e+00 1.538682783361529527e+00 5.700603527371106871e+00
assets/simplified_objects/043.urdf 5.174932040850097614e-01 2.741581995927221960e-01 1.000000000000000056e-01 5.768334860756033855e+00 4.093767707867702832e+00 2.589114063991828640e+00
assets/simplified_objects/021.urdf 6.323525629597434028e-01 9.379939638957043857e-02 1.000000000000000056e-01 2.981489927670927464e+00 5.019131649707454734e+00 5.803204394210191630e+00
assets/simplified_objects/064.urdf 3.379515276348055153e-01 2.567336901205293787e-01 1.000000000000000056e-01 5.945063923595320432e+00 7.900764584630056708e-01 5.102434233383426054e+00
assets/simplified_objects/077.urdf 4.483933554346270500e-01 1.932972990582946249e-01 1.000000000000000056e-01 5.528845849638638121e+00 1.066132837700710434e+00 4.751561927426230625e+00
assets/simplified_objects/052.urdf 3.354725374295092766e-01 5.682677577915642292e-02 1.000000000000000056e-01 3.287718409205799830e+00 3.880550962159509676e-01 5.307469509215300363e+00
assets/simplified_objects/038.urdf 5.298601702230487653e-01 1.201472333833165651e-01 1.000000000000000056e-01 4.977805091797238290e+00 2.169628002524638166e+00 2.671471981464511813e+00
assets/simplified_objects/002.urdf 4.324349596729559764e-01 8.368040535243828626e-02 1.000000000000000056e-01 4.241890588873678425e+00 2.647213241241647363e+00 4.185964662433333316e+00
I want a white cuboid
4
assets/unseen_objects/yellow_bowl.urdf 4.065305570624742071e-01 -1.920824572221786763e-01 2.000000000000000111e-01 5.517608958906751404e+00 4.977450620067919829e+00 4.678816935571416202e+00
assets/unseen_objects/yellow_cup.urdf 4.264178390818417030e-01 -1.320878593840585369e-01 2.000000000000000111e-01 5.693979870118171860e+00 6.257578077020420793e+00 4.330781873288083617e+00
assets/unseen_objects/remote_controller_1.urdf 3.857381441046299209e-01 -1.054510911548419694e-01 2.000000000000000111e-01 2.507702799198022525e+00 6.160273363645611955e-01 4.480127935703012376e+00
assets/unseen_objects/gelatin_box.urdf 5.253962895015378276e-01 -1.206239066316402153e-01 2.000000000000000111e-01 7.605314209778074597e-01 2.741402815904889323e+00 1.655244205934633506e+00
assets/unseen_objects/pink_tea_box.urdf 4.135603380263436213e-01 -1.28985660469775933e-01 2.000000000000000111e-01 3.341276875499048060e+00 5.023168528125440346e+00 4.482874418121200577e+00
assets/unseen_objects/shampoo.urdf 3.848311188108177738e-01 -2.113728683492738514e-01 2.000000000000000111e-01 2.617118879763889794e+00 4.784316801238657213e+00 5.905074962559723417e+00
assets/unseen_objects/two_color_hammer.urdf 5.395660748465747059e-01 -1.744328985485093797e-01 2.000000000000000111e-01 5.429459696760725151e+00 1.314586127916270941e+00 3.588380777257612064e-01
assets/unseen_objects/blue_moon.urdf 4.109952120118216534e-01 -2.162819556562139700e-01 2.000000000000000111e-01 2.939339976923209807e+00 3.800555728134601630e+00 1.456342144170375885e+00
assets/unseen_objects/repellent.urdf 4.713365920104798379e-01 -1.016200518512942463e-01 2.000000000000000111e-01 3.595406945253594611e+00 4.011829383909495839e+00 5.455842800154780958e-01
assets/unseen_objects/red_marker.urdf 5.774049638494643810e-01 -1.470267801777180861e-01 2.000000000000000111e-01 3.489044829420695493e+00 2.926933081234566192e+00 1.341577739951946180e+00
assets/unseen_objects/red_marker.urdf 5.651300321298442508e-01 -1.186666588400852318e-01 2.000000000000000111e-01 1.989092508526260739e+00 5.867962792386921755e+00 5.199423815863302600e+00
assets/unseen_objects/two_color_hammer.urdf 4.365623189974729979e-01 -1.076151862794846314e-01 2.000000000000000111e-01 4.847038061657314323e+00 2.277624081400485778e+00 4.727791484983159265e+00
assets/unseen_objects/repellent.urdf 6.152150035464066802e-01 -2.116627425726563538e-01 2.000000000000000111e-01 3.181500750252944432e+00 4.831078032790560028e-01 3.805870128731179580e+00