| [ |
| { |
| "prompt": "Can you put the white spoon between the orange, black calculator and the pink bowl?", |
| "obj_bbox": { |
| "x_min": 2.4, |
| "x_max": 2.69, |
| "y_min": -6.13, |
| "y_max": -5.34, |
| "z_min": -3.45, |
| "z_max": -3.2 |
| }, |
| "dst_bbox": { |
| "x_min": -0.12, |
| "x_max": 1.81, |
| "y_min": 0.71, |
| "y_max": 0.85, |
| "z_min": -3.45, |
| "z_max": -3.2 |
| } |
| }, |
| { |
| "prompt": "Please place the blue container between the orange and the black calculator.", |
| "obj_bbox": { |
| "x_min": 2.1, |
| "x_max": 3.39, |
| "y_min": -3.92, |
| "y_max": -2.99, |
| "z_min": -3.45, |
| "z_max": -3.13 |
| }, |
| "dst_bbox": { |
| "x_min": -0.12, |
| "x_max": 1.81, |
| "y_min": 0.71, |
| "y_max": 0.85, |
| "z_min": -3.45, |
| "z_max": -3.13 |
| } |
| }, |
| { |
| "prompt": "The light brown cup is filled with milk. Can you relocate it between the orange, black calculator and the pink bowl?", |
| "obj_bbox": { |
| "x_min": 0.66, |
| "x_max": 1.34, |
| "y_min": -3.96, |
| "y_max": -3.44, |
| "z_min": -3.45, |
| "z_max": -2.8 |
| }, |
| "dst_bbox": { |
| "x_min": -0.12, |
| "x_max": 1.81, |
| "y_min": 0.71, |
| "y_max": 0.85, |
| "z_min": -3.45, |
| "z_max": -2.8 |
| } |
| }, |
| { |
| "prompt": "Put the blue cellphone somewhere between the orange, black calculator and the pink bowl.", |
| "obj_bbox": { |
| "x_min": -0.83, |
| "x_max": -0.0, |
| "y_min": -3.85, |
| "y_max": -3.47, |
| "z_min": -3.45, |
| "z_max": -3.38 |
| }, |
| "dst_bbox": { |
| "x_min": -0.12, |
| "x_max": 1.81, |
| "y_min": 0.71, |
| "y_max": 0.85, |
| "z_min": -3.45, |
| "z_max": -3.38 |
| } |
| }, |
| { |
| "prompt": "Can you put the white spoon between pink bowl and light brown cup with milk?", |
| "obj_bbox": { |
| "x_min": 2.4, |
| "x_max": 2.69, |
| "y_min": -6.13, |
| "y_max": -5.34, |
| "z_min": -3.45, |
| "z_max": -3.2 |
| }, |
| "dst_bbox": { |
| "x_min": -1.15, |
| "x_max": 3.73, |
| "y_min": -5.98, |
| "y_max": -3.81, |
| "z_min": -3.45, |
| "z_max": -3.15 |
| } |
| }, |
| { |
| "prompt": "Could you please place the blue container between the pink bowl and the cup with milk?", |
| "obj_bbox": { |
| "x_min": 2.1, |
| "x_max": 3.39, |
| "y_min": -3.92, |
| "y_max": -2.99, |
| "z_min": -3.45, |
| "z_max": -3.13 |
| }, |
| "dst_bbox": { |
| "x_min": -1.15, |
| "x_max": 3.73, |
| "y_min": -5.98, |
| "y_max": -3.81, |
| "z_min": -3.45, |
| "z_max": -3.08 |
| } |
| }, |
| { |
| "prompt": "Please put the black calculator somewhere between the pink bowl and the cup with milk.", |
| "obj_bbox": { |
| "x_min": -0.6, |
| "x_max": -0.1, |
| "y_min": -9.31, |
| "y_max": -8.26, |
| "z_min": -3.45, |
| "z_max": -3.34 |
| }, |
| "dst_bbox": { |
| "x_min": -1.15, |
| "x_max": 3.73, |
| "y_min": -5.98, |
| "y_max": -3.81, |
| "z_min": -3.45, |
| "z_max": -3.29 |
| } |
| }, |
| { |
| "prompt": "The orange should be put between the pink bowl and the cup filled with yogurt.", |
| "obj_bbox": { |
| "x_min": 1.81, |
| "x_max": 2.26, |
| "y_min": -9.05, |
| "y_max": -8.56, |
| "z_min": -3.45, |
| "z_max": -3.01 |
| }, |
| "dst_bbox": { |
| "x_min": -1.15, |
| "x_max": 3.73, |
| "y_min": -5.98, |
| "y_max": -3.81, |
| "z_min": -3.45, |
| "z_max": -2.96 |
| } |
| }, |
| { |
| "prompt": "Grab the cellphone and put it between the cup with yogurt and a pink bowl, would you?", |
| "obj_bbox": { |
| "x_min": -0.83, |
| "x_max": -0.0, |
| "y_min": -3.85, |
| "y_max": -3.47, |
| "z_min": -3.45, |
| "z_max": -3.38 |
| }, |
| "dst_bbox": { |
| "x_min": -1.15, |
| "x_max": 3.73, |
| "y_min": -5.98, |
| "y_max": -3.81, |
| "z_min": -3.45, |
| "z_max": -3.33 |
| } |
| }, |
| { |
| "prompt": "There's a guest coming. The orange should be served in the pink bowl. Please be prepared.", |
| "obj_bbox": { |
| "x_min": 1.81, |
| "x_max": 2.26, |
| "y_min": -9.05, |
| "y_max": -8.56, |
| "z_min": -3.45, |
| "z_max": -3.01 |
| }, |
| "dst_bbox": { |
| "x_min": 0.63, |
| "x_max": 1.44, |
| "y_min": -6.73, |
| "y_max": -5.94, |
| "z_min": -3.45, |
| "z_max": -2.92 |
| } |
| }, |
| { |
| "prompt": "I want to take the orange home. Place it inside the blue container, would you?", |
| "obj_bbox": { |
| "x_min": 1.81, |
| "x_max": 2.26, |
| "y_min": -9.05, |
| "y_max": -8.56, |
| "z_min": -3.45, |
| "z_max": -3.01 |
| }, |
| "dst_bbox": { |
| "x_min": 2.1, |
| "x_max": 3.39, |
| "y_min": -3.92, |
| "y_max": -2.99, |
| "z_min": -3.45, |
| "z_max": -2.93 |
| } |
| }, |
| { |
| "prompt": "Please put the black calculator at the corner between orange and the table edges.", |
| "obj_bbox": { |
| "x_min": -0.6, |
| "x_max": -0.1, |
| "y_min": -9.31, |
| "y_max": -8.26, |
| "z_min": -3.45, |
| "z_max": -3.34 |
| }, |
| "dst_bbox": { |
| "x_min": 1.79, |
| "x_max": 3.8, |
| "y_min": -11.03, |
| "y_max": -8.56, |
| "z_min": -3.45, |
| "z_max": -3.34 |
| } |
| }, |
| { |
| "prompt": "Can you move the pink bowl to the corner between the orange and the table?", |
| "obj_bbox": { |
| "x_min": 0.63, |
| "x_max": 1.44, |
| "y_min": -6.73, |
| "y_max": -5.94, |
| "z_min": -3.45, |
| "z_max": -3.03 |
| }, |
| "dst_bbox": { |
| "x_min": 1.79, |
| "x_max": 3.8, |
| "y_min": -11.03, |
| "y_max": -8.56, |
| "z_min": -3.45, |
| "z_max": -3.03 |
| } |
| }, |
| { |
| "prompt": "The white spoon should be moved somewhere around the corner between orange and the table edges.", |
| "obj_bbox": { |
| "x_min": 2.4, |
| "x_max": 2.69, |
| "y_min": -6.13, |
| "y_max": -5.34, |
| "z_min": -3.45, |
| "z_max": -3.2 |
| }, |
| "dst_bbox": { |
| "x_min": 1.79, |
| "x_max": 3.8, |
| "y_min": -11.03, |
| "y_max": -8.56, |
| "z_min": -3.45, |
| "z_max": -3.2 |
| } |
| }, |
| { |
| "prompt": "Put the blue cellphone at the corner between orange and the table edges.", |
| "obj_bbox": { |
| "x_min": -0.83, |
| "x_max": -0.0, |
| "y_min": -3.85, |
| "y_max": -3.47, |
| "z_min": -3.45, |
| "z_max": -3.38 |
| }, |
| "dst_bbox": { |
| "x_min": 1.79, |
| "x_max": 3.8, |
| "y_min": -11.03, |
| "y_max": -8.56, |
| "z_min": -3.45, |
| "z_max": -3.38 |
| } |
| }, |
| { |
| "prompt": "The light brown cup is filled with milk. Can you relocate it at the corner between the orange and the table edges?", |
| "obj_bbox": { |
| "x_min": 0.66, |
| "x_max": 1.34, |
| "y_min": -3.96, |
| "y_max": -3.44, |
| "z_min": -3.45, |
| "z_max": -2.8 |
| }, |
| "dst_bbox": { |
| "x_min": 1.79, |
| "x_max": 3.8, |
| "y_min": -11.03, |
| "y_max": -8.56, |
| "z_min": -3.45, |
| "z_max": -2.8 |
| } |
| }, |
| { |
| "prompt": "Please put the black calculator somewhere at the corner between the cup with yogurt and the table edges", |
| "obj_bbox": { |
| "x_min": -0.6, |
| "x_max": -0.1, |
| "y_min": -9.31, |
| "y_max": -8.26, |
| "z_min": -3.45, |
| "z_max": -3.34 |
| }, |
| "dst_bbox": { |
| "x_min": -1.14, |
| "x_max": 1.36, |
| "y_min": -4.0, |
| "y_max": -1.45, |
| "z_min": -3.45, |
| "z_max": -3.34 |
| } |
| }, |
| { |
| "prompt": "Can you move the pink bowl to the corner between the cup with milk and the table?", |
| "obj_bbox": { |
| "x_min": 0.63, |
| "x_max": 1.44, |
| "y_min": -6.73, |
| "y_max": -5.94, |
| "z_min": -3.45, |
| "z_max": -3.03 |
| }, |
| "dst_bbox": { |
| "x_min": -1.14, |
| "x_max": 1.36, |
| "y_min": -4.0, |
| "y_max": -1.45, |
| "z_min": -3.45, |
| "z_max": -3.03 |
| } |
| }, |
| { |
| "prompt": "The white spoon should be moved somewhere around the corner between the cup of milk and the table edges.", |
| "obj_bbox": { |
| "x_min": 2.4, |
| "x_max": 2.69, |
| "y_min": -6.13, |
| "y_max": -5.34, |
| "z_min": -3.45, |
| "z_max": -3.2 |
| }, |
| "dst_bbox": { |
| "x_min": -1.14, |
| "x_max": 1.36, |
| "y_min": -4.0, |
| "y_max": -1.45, |
| "z_min": -3.45, |
| "z_max": -3.2 |
| } |
| }, |
| { |
| "prompt": "The orange should be put at the corner between the table and the cup of milk.", |
| "obj_bbox": { |
| "x_min": 1.81, |
| "x_max": 2.26, |
| "y_min": -9.05, |
| "y_max": -8.56, |
| "z_min": -3.45, |
| "z_max": -3.01 |
| }, |
| "dst_bbox": { |
| "x_min": -1.14, |
| "x_max": 1.36, |
| "y_min": -4.0, |
| "y_max": -1.45, |
| "z_min": -3.45, |
| "z_max": -3.01 |
| } |
| } |
| ] |
