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- 000019_v2/data.json +623 -0
- 000019_v2/lang.txt +1 -0
- 000019_v2/object.ply +0 -0
- 000039_v2/FAIL +1 -0
- 000074/data.json +696 -0
- 000074/lang.txt +1 -0
- 000084/FAIL +1 -0
- 000106_v2/data.json +714 -0
- 000106_v2/lang.txt +1 -0
- 000106_v2/object.ply +0 -0
- 000134_v2/data.json +659 -0
- 000134_v2/lang.txt +1 -0
- 000134_v2/object.ply +0 -0
- 000140/FAIL +1 -0
- 000156/FAIL +1 -0
- 000176/FAIL +1 -0
- 000187_v2/FAIL +1 -0
- 000206_v2/FAIL +1 -0
- 000242_v2/FAIL +1 -0
- 000250/FAIL +1 -0
- 000276_v2/FAIL +1 -0
- 000278/data.json +476 -0
- 000278/lang.txt +1 -0
- 000327/FAIL +1 -0
- 000330/FAIL +1 -0
- 000334_v2/FAIL +1 -0
- 000340_v2/FAIL +1 -0
- 000362_v2/FAIL +1 -0
- 000378/FAIL +1 -0
- 000395/data.json +568 -0
- 000395/lang.txt +1 -0
- 000421_v2/FAIL +1 -0
- 000428/data.json +513 -0
- 000428/lang.txt +1 -0
- 000428/object.ply +0 -0
- 000477_v2/data.json +696 -0
- 000477_v2/lang.txt +1 -0
- 000479/data.json +732 -0
- 000479/lang.txt +1 -0
- 000479/object.ply +0 -0
- 000503/FAIL +1 -0
- 000509/FAIL +1 -0
- 000530_v2/data.json +641 -0
- 000530_v2/lang.txt +1 -0
- 000530_v2/object.ply +0 -0
- 000549/FAIL +1 -0
- 000585_v2/FAIL +1 -0
- 000602_v2/data.json +806 -0
- 000602_v2/lang.txt +1 -0
- 000602_v2/object.ply +0 -0
000019_v2/data.json
ADDED
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| 1 |
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{
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| 2 |
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"action_start": 13,
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| 3 |
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"action_end": 24,
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| 4 |
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"object_name": "red thing",
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| 5 |
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[
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|
000019_v2/lang.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
put the red thing in the silver pot
|
000019_v2/object.ply
ADDED
|
Binary file (24 kB). View file
|
|
|
000039_v2/FAIL
ADDED
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@@ -0,0 +1 @@
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| 1 |
+
Object bbox detection failed
|
000074/data.json
ADDED
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@@ -0,0 +1,696 @@
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000074/lang.txt
ADDED
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@@ -0,0 +1 @@
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put clothes in laundry machine
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000084/FAIL
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@@ -0,0 +1 @@
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Object mask too small
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000106_v2/data.json
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|
| 713 |
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| 714 |
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}
|
000106_v2/lang.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
move the silver pan from the top left burner to the bottom left burner
|
000106_v2/object.ply
ADDED
|
Binary file (72.2 kB). View file
|
|
|
000134_v2/data.json
ADDED
|
@@ -0,0 +1,659 @@
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|
| 1 |
+
{
|
| 2 |
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"action_start": 16,
|
| 3 |
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"action_end": 24,
|
| 4 |
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"object_name": "green pepper",
|
| 5 |
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| 6 |
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| 7 |
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| 14 |
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| 24 |
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| 25 |
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| 28 |
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| 29 |
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| 38 |
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| 39 |
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],
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| 40 |
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"gripper_actions": [
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| 41 |
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[
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| 42 |
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| 43 |
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| 44 |
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| 47 |
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| 50 |
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| 59 |
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[
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|
000134_v2/lang.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
move the green pepper to the bottom left burner
|
000134_v2/object.ply
ADDED
|
Binary file (44.4 kB). View file
|
|
|
000140/FAIL
ADDED
|
@@ -0,0 +1 @@
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|
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| 1 |
+
Object mask too small
|
000156/FAIL
ADDED
|
@@ -0,0 +1 @@
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| 1 |
+
Object mask too small
|
000176/FAIL
ADDED
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@@ -0,0 +1 @@
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| 1 |
+
Object mask too small
|
000187_v2/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
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|
|
| 1 |
+
Inconsistant moving trajectory between gripper and object
|
000206_v2/FAIL
ADDED
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@@ -0,0 +1 @@
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| 1 |
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Object movement too small
|
000242_v2/FAIL
ADDED
|
@@ -0,0 +1 @@
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| 1 |
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Object movement too small
|
000250/FAIL
ADDED
|
@@ -0,0 +1 @@
|
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| 1 |
+
Object bbox detection failed
|
000276_v2/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
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|
|
| 1 |
+
No valid action range found
|
000278/data.json
ADDED
|
@@ -0,0 +1,476 @@
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|
| 1 |
+
{
|
| 2 |
+
"action_start": 10,
|
| 3 |
+
"action_end": 21,
|
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| 431 |
+
[
|
| 432 |
+
535.23583984375,
|
| 433 |
+
232.10630798339844
|
| 434 |
+
],
|
| 435 |
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[
|
| 436 |
+
533.572265625,
|
| 437 |
+
218.30841064453125
|
| 438 |
+
],
|
| 439 |
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[
|
| 440 |
+
529.864501953125,
|
| 441 |
+
227.44680786132812
|
| 442 |
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],
|
| 443 |
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[
|
| 444 |
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529.7470703125,
|
| 445 |
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225.09170532226562
|
| 446 |
+
],
|
| 447 |
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[
|
| 448 |
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525.7607421875,
|
| 449 |
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217.42784118652344
|
| 450 |
+
],
|
| 451 |
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[
|
| 452 |
+
526.4302368164062,
|
| 453 |
+
215.90634155273438
|
| 454 |
+
],
|
| 455 |
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[
|
| 456 |
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529.8983154296875,
|
| 457 |
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214.7063446044922
|
| 458 |
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],
|
| 459 |
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[
|
| 460 |
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547.5079345703125,
|
| 461 |
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213.11180114746094
|
| 462 |
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],
|
| 463 |
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[
|
| 464 |
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551.5960693359375,
|
| 465 |
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202.50250244140625
|
| 466 |
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],
|
| 467 |
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[
|
| 468 |
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540.2837524414062,
|
| 469 |
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211.60531616210938
|
| 470 |
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],
|
| 471 |
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[
|
| 472 |
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534.3057861328125,
|
| 473 |
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229.7596435546875
|
| 474 |
+
]
|
| 475 |
+
]
|
| 476 |
+
}
|
000278/lang.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
pick up any cup
|
000327/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Object bbox detection failed
|
000330/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Detect gripper centers fail
|
000334_v2/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
No valid action range found
|
000340_v2/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
No valid action range found
|
000362_v2/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
No valid action range found
|
000378/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Inconsistant moving trajectory between gripper and object
|
000395/data.json
ADDED
|
@@ -0,0 +1,568 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
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|
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|
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|
|
|
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|
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|
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|
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|
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|
|
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|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
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|
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|
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|
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|
|
|
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|
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|
|
|
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|
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|
|
|
|
|
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|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
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|
|
|
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|
|
|
|
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|
|
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|
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|
|
|
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|
|
|
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|
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|
|
|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
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|
|
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|
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|
|
|
|
|
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|
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|
|
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|
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|
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|
|
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|
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|
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|
|
|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
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|
|
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|
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|
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|
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|
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|
|
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|
|
|
|
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|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_start": 19,
|
| 3 |
+
"action_end": 26,
|
| 4 |
+
"object_name": "green mug",
|
| 5 |
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"gripper_opens": [
|
| 6 |
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1.0,
|
| 7 |
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1.0,
|
| 8 |
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1.0,
|
| 9 |
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1.0,
|
| 10 |
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1.0,
|
| 11 |
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1.0,
|
| 12 |
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1.0,
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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1.0,
|
| 21 |
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1.0,
|
| 22 |
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1.0,
|
| 23 |
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1.0,
|
| 24 |
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1.0,
|
| 25 |
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0.15775300000000003,
|
| 26 |
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0.0,
|
| 27 |
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|
| 28 |
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|
| 29 |
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0.0,
|
| 30 |
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0.0,
|
| 31 |
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0.0,
|
| 32 |
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0.0,
|
| 33 |
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0.0
|
| 34 |
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],
|
| 35 |
+
"gripper_actions": [
|
| 36 |
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[
|
| 37 |
+
-2.5882984644454154e-10,
|
| 38 |
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-8.579105481576477e-11,
|
| 39 |
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2.509424334995458e-10,
|
| 40 |
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2.7458371108489295e-07,
|
| 41 |
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4.260831444710972e-07,
|
| 42 |
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-4.789401624774681e-07,
|
| 43 |
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1.0
|
| 44 |
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],
|
| 45 |
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[
|
| 46 |
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0.005170659395671129,
|
| 47 |
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0.036048893665950515,
|
| 48 |
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-0.0015997443605129114,
|
| 49 |
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0.08761923742302664,
|
| 50 |
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0.07474884599701065,
|
| 51 |
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-0.13988351103190305,
|
| 52 |
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1.0
|
| 53 |
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],
|
| 54 |
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[
|
| 55 |
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-0.0019962553949223194,
|
| 56 |
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0.03136646867011264,
|
| 57 |
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|
| 58 |
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0.02906860898862197,
|
| 59 |
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|
| 60 |
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-0.06284903563654963,
|
| 61 |
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1.0
|
| 62 |
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],
|
| 63 |
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[
|
| 64 |
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-0.00451714585248425,
|
| 65 |
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0.03233830367574042,
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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-0.08606143126795464,
|
| 70 |
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1.0
|
| 71 |
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],
|
| 72 |
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[
|
| 73 |
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0.00021748882629063493,
|
| 74 |
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0.04073200444125788,
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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1.0
|
| 80 |
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],
|
| 81 |
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[
|
| 82 |
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0.001949313380986084,
|
| 83 |
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0.032435655054199666,
|
| 84 |
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| 85 |
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|
| 86 |
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0.011525447670423473,
|
| 87 |
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| 88 |
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| 89 |
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],
|
| 90 |
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[
|
| 91 |
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| 518 |
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| 519 |
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|
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|
| 566 |
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|
| 567 |
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|
| 568 |
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}
|
000395/lang.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
pick up green mug
|
000421_v2/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Inconsistant moving trajectory between gripper and object
|
000428/data.json
ADDED
|
@@ -0,0 +1,513 @@
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|
| 1 |
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{
|
| 2 |
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"action_start": 10,
|
| 3 |
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"action_end": 18,
|
| 4 |
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"object_name": "banana",
|
| 5 |
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| 6 |
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| 32 |
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| 33 |
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| 34 |
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put banana in colander
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| 1 |
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|
000477_v2/lang.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
move a yellow thing on top of a purple cloth on the right burner
|
000479/data.json
ADDED
|
@@ -0,0 +1,732 @@
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000479/lang.txt
ADDED
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@@ -0,0 +1 @@
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|
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|
|
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|
| 1 |
+
put spatula on cutting board
|
000479/object.ply
ADDED
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Binary file (47.1 kB). View file
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000503/FAIL
ADDED
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@@ -0,0 +1 @@
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Object movement too small
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000509/FAIL
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@@ -0,0 +1 @@
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| 1 |
+
First frame gripper mask parse failed
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000530_v2/data.json
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@@ -0,0 +1,641 @@
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| 620 |
+
[
|
| 621 |
+
214.94505310058594,
|
| 622 |
+
331.456787109375
|
| 623 |
+
],
|
| 624 |
+
[
|
| 625 |
+
214.65087890625,
|
| 626 |
+
332.0127258300781
|
| 627 |
+
],
|
| 628 |
+
[
|
| 629 |
+
214.67758178710938,
|
| 630 |
+
332.2457580566406
|
| 631 |
+
],
|
| 632 |
+
[
|
| 633 |
+
214.8116455078125,
|
| 634 |
+
332.02130126953125
|
| 635 |
+
],
|
| 636 |
+
[
|
| 637 |
+
214.81675720214844,
|
| 638 |
+
331.83612060546875
|
| 639 |
+
]
|
| 640 |
+
]
|
| 641 |
+
}
|
000530_v2/lang.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
move the sushi to the top of the orange towel
|
000530_v2/object.ply
ADDED
|
Binary file (53.8 kB). View file
|
|
|
000549/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Object movement too small
|
000585_v2/FAIL
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
No valid action range found
|
000602_v2/data.json
ADDED
|
@@ -0,0 +1,806 @@
|
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|
| 1 |
+
{
|
| 2 |
+
"action_start": 8,
|
| 3 |
+
"action_end": 29,
|
| 4 |
+
"object_name": "blue spoon",
|
| 5 |
+
"gripper_opens": [
|
| 6 |
+
1.0,
|
| 7 |
+
1.0,
|
| 8 |
+
1.0,
|
| 9 |
+
1.0,
|
| 10 |
+
1.0,
|
| 11 |
+
1.0,
|
| 12 |
+
1.0,
|
| 13 |
+
1.0,
|
| 14 |
+
0.85348,
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000602_v2/lang.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
move the blue spoon between sink and stove
|
000602_v2/object.ply
ADDED
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Binary file (97.4 kB). View file
|
|
|