diff --git a/000004_v2/FAIL b/000004_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/000004_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/000012_v2/data.json b/000012_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..c717967ee263652b3bcb3af0b5d5a31346c879b5 --- /dev/null +++ b/000012_v2/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 9, + "action_end": 20, + "object_name": "blue fork", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.876435, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 8.811806839759129e-11, + -2.680444061153864e-10, + 2.6068870673245925e-10, + 3.5052887086593246e-07, + -2.3721654560930464e-07, + -9.302777867571924e-07, + 1.0 + ], + [ + -0.0017447737330049118, + -0.03430460348221853, + 0.00031775873941138066, + -0.047916006233093986, + -0.01423179596451467, + -0.08325850459551608, + 1.0 + ], + [ + 0.002414236701254735, + -0.0363142269525064, + 0.0017163151252239865, + 0.006331079405424408, + -0.0076526007474307595, + -0.11824072320866455, + 1.0 + ], + [ + 0.004332687885689412, + -0.03795509818948808, + 0.00462530234361542, + 0.004911493707608054, + -0.019243253622976218, + -0.08488246070775068, + 1.0 + ], + [ + 0.0012166607303367716, + -0.04566700373562729, + 0.0038536155229860654, + 0.007671611796536571, + 0.03336085182214389, + -0.06414407554422544, + 1.0 + ], + [ + 0.0019894865125207883, + -0.024329165073554017, + 0.00240866553645215, + 0.033796081091493096, + 0.002398639320584785, + -0.0211515854754724, + 1.0 + ], + [ + -0.002263011413368321, + -0.010722023377134331, + -0.013066595190204684, + 0.011434696464600444, + 0.03731289453517951, + 0.028849285709076064, + 1.0 + ], + [ + -0.007988092029334093, + -0.0027064101015155384, + -0.01863912680404884, + 0.019811238168388434, + 0.08407356145829993, + 0.041468386572794814, + 1.0 + ], + [ + -0.02310993959597546, + 0.009761579771463545, + -0.020941468320789323, + 0.052959583800983465, + 0.09196607863641552, + 0.03882702756356304, + 1.0 + ], + [ + -0.011117935486426256, + -0.0024336864486146637, + -0.009763335186026293, + 0.0030616876033974297, + 0.039040422423751005, + -0.005621652461182728, + 1.0 + ], + [ + -0.0021432643136121143, + 0.001928122318952577, + -0.0015467869479725907, + 0.005119061597177909, + 0.0063378335400345286, + 0.003462099328462977, + 0.0 + ], + [ + 0.0008182858189556552, + 0.005651020755391728, + 0.00710052483794122, + 0.0027720371536085232, + -0.006915734049874278, + 0.0011140607645591417, + 0.0 + ], + [ + 0.007377390943805573, + 0.012818061307274774, + 0.011392055607762352, + -0.012588113374215023, + -0.02157004035539812, + 0.02401542305311798, + 0.0 + ], + [ + 0.018381538722068158, + 0.04437020506133606, + 0.02372683325404174, + 0.017765039224152738, + -0.057042792953937015, + 0.0909731081404916, + 0.0 + ], + [ + 0.01520427165518301, + 0.038616258354356156, + 0.007246212540461105, + 0.0020443996591886764, + -0.03747242750330467, + 0.07306423450658349, + 0.0 + ], + [ + 0.004739767266290551, + 0.02096982060381144, + -0.009464466493907538, + -0.007863104346242624, + 0.03784097195723759, + 0.037298120602251766, + 0.0 + ], + [ + 0.005446036306453517, + 0.014272107421659054, + -0.010898557132313719, + 0.005479527901766719, + 0.03215304884479923, + 0.023412655634757213, + 0.0 + ], + [ + 0.0035232921626065505, + 0.008417894675732285, + -0.010572737989338322, + -0.005405747268474449, + 0.026914908784733894, + -0.006237773565969592, + 0.0 + ], + [ + -0.0009579306129389731, + 0.0037124907433701004, + -0.01948411438317088, + 0.01714226057083834, + 0.06544828865146647, + -0.03194872562281932, + 0.0 + ], + [ + -0.002079109410960789, + 0.008373472366943718, + -0.0030399461793055374, + 0.018365037643828633, + 0.01465965019658499, + 0.00022470451302269125, + 0.0 + ], + [ + -0.00300909681057393, + 0.004252316460598593, + 0.0015167611283781052, + -0.013719583812272888, + -0.004597558592910626, + 0.020082031879904403, + 0.876435 + ], + [ + -0.004165422989276524, + -0.004254432233703087, + 0.014212894331358729, + 0.0036503322675298495, + -0.0338443500875386, + -0.0019058024242043232, + 1.0 + ], + [ + -0.008548641903064147, + -0.007480462342292743, + 0.02539337615779301, + -0.020239865574500134, + -0.04696272869281692, + -0.0016102400643137418, + 1.0 + ], + [ + -0.009607582050682684, + -0.008620679682305968, + 0.021686461721111997, + -0.03820200037573111, + -0.05226447071651055, + -0.0005278968517236907, + 1.0 + ], + [ + -0.005739706550250467, + -0.0020851148192614355, + 0.005154020396760193, + -0.028336533078581076, + -0.014238754130923332, + -0.0007959024234298808, + 1.0 + ], + [ + -0.004649547789453867, + -0.002867189096860831, + 0.00116955709114875, + 0.02860101208809614, + -0.054243321469168264, + -0.03352540151096547, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 235.14695739746094, + 177.47354125976562 + ], + [ + 233.75070190429688, + 182.80201721191406 + ], + [ + 238.01026916503906, + 218.50469970703125 + ], + [ + 255.3052978515625, + 242.03933715820312 + ], + [ + 319.70745849609375, + 254.92088317871094 + ], + [ + 356.04412841796875, + 246.89382934570312 + ], + [ + 390.3125, + 236.85205078125 + ], + [ + 419.8726806640625, + 253.28839111328125 + ], + [ + 413.87335205078125, + 272.31195068359375 + ], + [ + 401.5447692871094, + 297.76806640625 + ], + [ + 388.6068115234375, + 307.08758544921875 + ], + [ + 389.01544189453125, + 311.51409912109375 + ], + [ + 389.04437255859375, + 307.7648620605469 + ], + [ + 385.499755859375, + 309.89453125 + ], + [ + 385.7406005859375, + 305.1407470703125 + ], + [ + 343.7235412597656, + 270.67681884765625 + ], + [ + 306.50360107421875, + 236.034912109375 + ], + [ + 309.07196044921875, + 244.959228515625 + ], + [ + 309.3751220703125, + 250.20753479003906 + ], + [ + 311.35797119140625, + 253.36520385742188 + ], + [ + 312.0930480957031, + 252.31646728515625 + ], + [ + 313.52313232421875, + 252.94134521484375 + ], + [ + 308.54400634765625, + 253.03463745117188 + ], + [ + 295.8018493652344, + 265.1236267089844 + ], + [ + 290.63995361328125, + 254.30715942382812 + ], + [ + 294.37115478515625, + 239.26536560058594 + ], + [ + 288.18927001953125, + 252.828369140625 + ], + [ + 287.4241638183594, + 242.90464782714844 + ] + ], + "depth_max": 1.3160642385482788, + "depth_min": 0.038270268589258194, + "intrinsic": [ + [ + 504.248291015625, + 0.0, + 259.0 + ], + [ + 0.0, + 503.2816162109375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -3.902128355548484e-06, + -7.56594818085432e-05, + 3.172432479914278e-05 + ], + [ + 3.905766334355576e-06, + 1.0, + 4.808060475625098e-05, + -2.984214006573893e-05 + ], + [ + 7.565929263364524e-05, + -4.808090307051316e-05, + 1.0, + 2.21588652493665e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 403.25, + 319.0 + ], + [ + 400.7724914550781, + 317.1172180175781 + ], + [ + 403.2875061035156, + 319.3946533203125 + ], + [ + 400.7456359863281, + 317.3949279785156 + ], + [ + 400.55523681640625, + 317.22076416015625 + ], + [ + 401.11688232421875, + 317.0885009765625 + ], + [ + 400.6590881347656, + 317.0602111816406 + ], + [ + 400.6357116699219, + 316.95166015625 + ], + [ + 400.32391357421875, + 317.4941711425781 + ], + [ + 399.97430419921875, + 317.599365234375 + ], + [ + 399.12701416015625, + 317.3419494628906 + ], + [ + 396.2311096191406, + 317.6021728515625 + ], + [ + 390.74859619140625, + 317.970703125 + ], + [ + 385.83917236328125, + 319.2403869628906 + ], + [ + 382.6087646484375, + 318.82147216796875 + ], + [ + 348.034423828125, + 289.9165954589844 + ], + [ + 323.68890380859375, + 266.0548095703125 + ], + [ + 324.2483825683594, + 270.4530029296875 + ], + [ + 329.6210632324219, + 276.368408203125 + ], + [ + 329.2469177246094, + 277.1817626953125 + ], + [ + 329.9010925292969, + 277.0786437988281 + ], + [ + 331.3868103027344, + 276.97589111328125 + ], + [ + 330.86468505859375, + 276.7776794433594 + ], + [ + 336.94818115234375, + 280.1231689453125 + ], + [ + 337.3514404296875, + 284.7378234863281 + ], + [ + 334.45306396484375, + 288.89837646484375 + ], + [ + 339.1559143066406, + 290.126220703125 + ], + [ + 335.61956787109375, + 289.2984924316406 + ] + ] +} \ No newline at end of file diff --git a/000012_v2/lang.txt b/000012_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..97b0e4b7dba062428fe9adf31f4df1aa78dca42c --- /dev/null +++ b/000012_v2/lang.txt @@ -0,0 +1 @@ +Put the blue fork between the bottom right and bottom left burners. diff --git a/000012_v2/object.ply b/000012_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..0b79bee4e4b44708718dc21e3e43218857e4c8f0 Binary files /dev/null and b/000012_v2/object.ply differ diff --git a/000034/FAIL b/000034/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/000034/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/000048/FAIL b/000048/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/000048/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/000068_v2/FAIL b/000068_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000068_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000069/FAIL b/000069/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/000069/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/000084_v2/FAIL b/000084_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000084_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000201/data.json b/000201/data.json new file mode 100644 index 0000000000000000000000000000000000000000..4f98ec92c3dd1dc91fc21183badab6b448bec002 --- /dev/null +++ b/000201/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 13, + "action_end": 26, + "object_name": "sponge", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "gripper_actions": [ + [ + 4.651863338978046e-10, + -8.647693672259038e-12, + -1.2434020479901164e-10, + 9.760003066731931e-08, + 2.535717508428158e-07, + -4.6284054512778794e-07, + 1.0 + ], + [ + 0.015779006262032047, + 0.0166131046927109, + 0.021526626118631903, + -0.0014060038782756272, + -0.0021854784688230882, + -0.030866418964309774, + 1.0 + ], + [ + 0.01739018843485196, + 0.01918671435859147, + 0.016478184679442356, + 0.011593800967776584, + 0.010908639000611045, + 0.013958388662010181, + 1.0 + ], + [ + 0.022659057490015677, + 0.02210107371700161, + 0.00381790122646003, + 0.02203577301832389, + -5.463870710690525e-05, + 0.05888220410556052, + 1.0 + ], + [ + 0.01699454181296811, + 0.016506738104300145, + -0.010741893231433736, + 0.01554949677902142, + 0.016687400105353606, + 0.05907116322305017, + 1.0 + ], + [ + 0.005303112593208148, + 0.010194448667740719, + -0.013484127248954592, + 0.045071199706863865, + 0.011123730232901188, + 0.027396331937839753, + 1.0 + ], + [ + -0.0003152662675798279, + 0.018425185023201257, + -0.007292472847570813, + 0.031666083427105106, + 0.0011941892709163586, + 0.009636156493777175, + 1.0 + ], + [ + -0.0046314910942908405, + 0.01383567046642939, + -0.0018784376458143848, + 0.017112346438960934, + 0.0026462762472724702, + -0.002700310108545015, + 1.0 + ], + [ + -0.0012682957533051709, + 0.007074391133271962, + -0.010463095834267536, + 0.02195365108979365, + 0.004264696698183691, + 0.000823946112222252, + 1.0 + ], + [ + -0.0012284151213157735, + -0.0002877711060734478, + -0.009393068132940469, + -0.004650092971682198, + 0.013934240604069581, + 0.0025499286291459622, + 1.0 + ], + [ + -0.0032918609763556983, + -0.00637643375968594, + -0.009998975435490096, + -0.03759189684958666, + 0.0064916020629684, + -0.004118922177598118, + 1.0 + ], + [ + 0.00016753105260203238, + -0.004266354210616746, + -0.0017688342686318914, + -0.02552353063291757, + -0.006303831585345762, + 0.020118176643447835, + 1.0 + ], + [ + 0.00500794318512382, + 0.008218683220087813, + -0.011876512813111154, + 0.04480483358800726, + 0.011507025212392502, + 0.039441828779182855, + 1.0 + ], + [ + 0.0023221386369061126, + 0.005115943864739708, + -0.009283528527236462, + 0.036351351511588186, + 0.005376900603158599, + 0.018484427836012937, + 1.0 + ], + [ + 0.0017395767062141632, + -0.002500642445667972, + 0.00213300512045482, + -0.030930452438898977, + -0.009345227739023966, + -0.0038424320357688647, + 0.0 + ], + [ + -0.0006311951638139357, + -0.0056507584012121526, + 0.01769324361550309, + -0.04157059708336983, + -0.005157090567979905, + -0.007464515856219914, + 0.0 + ], + [ + -0.003047258195566116, + -0.00854386885522751, + 0.014056666335848664, + -0.02876319876414006, + -0.023090020614487727, + -0.021425903642827045, + 0.0 + ], + [ + -0.01046645929303186, + -0.03031652635610063, + 0.028994971285249943, + -0.08320416925803473, + 0.02494546851504856, + -0.028420625487318836, + 0.0 + ], + [ + -0.016030726078507362, + -0.034255521799833016, + 0.008488573082771553, + -0.04878305536560782, + 0.03056288462932708, + -0.045270632540958824, + 0.0 + ], + [ + -0.010098716974468014, + -0.025074371994397382, + -0.007238782418285183, + -0.033781715158741885, + 0.0008662018757724557, + -0.014119773321240096, + 0.0 + ], + [ + -0.0028089284065555553, + -0.023686510303956826, + -0.0235747153614336, + 0.023054174787988664, + -0.022400335912886794, + 0.015214393273624354, + 0.0 + ], + [ + 0.005505636588360452, + -0.005357460452854665, + -0.018908321499867042, + 0.047600043981583295, + -0.01174315605516756, + 0.016971396537106304, + 0.0 + ], + [ + -0.0009114413574522473, + -0.008587601083886662, + -0.01176823957882879, + 0.024393555246980204, + 0.008318560223562992, + -0.0012867694547527531, + 0.0 + ], + [ + -0.002975765658374596, + -0.012262361804562125, + -0.009784467613009759, + 0.010074244752893865, + 0.009526261044769795, + -0.003569992340340109, + 0.0 + ], + [ + -0.00544088971232598, + -0.014271515203904434, + -0.008270554027401927, + -0.0018698437567638347, + 0.01930059180985135, + -0.010286206469582816, + 0.0 + ], + [ + -0.008244781243805344, + -0.01506382419246521, + 0.0004627925670522698, + -0.028942220468132534, + 0.010583037009208329, + -0.03684191020020854, + 0.0 + ], + [ + -0.010773274889288198, + -0.022228049260245592, + 0.0022681058031186335, + -0.01635720532251245, + -0.006778655693045, + -0.03287262091912291, + 0.0 + ], + [ + -0.007892558593469823, + -0.014338640364519926, + 0.0024428206341206155, + -0.010190759990019116, + 0.017810886350709938, + -0.018928325780710728, + 0.0 + ] + ], + "gripper_centers": [ + [ + 261.58367919921875, + 92.55843353271484 + ], + [ + 261.729736328125, + 101.15768432617188 + ], + [ + 257.68585205078125, + 63.53540802001953 + ], + [ + 240.06094360351562, + 27.387840270996094 + ], + [ + 240.01754760742188, + 15.466243743896484 + ], + [ + 235.30181884765625, + 15.26623821258545 + ], + [ + 226.5991668701172, + 20.223628997802734 + ], + [ + 219.22720336914062, + 22.11538314819336 + ], + [ + 192.63604736328125, + 23.4071044921875 + ], + [ + 177.619140625, + 24.14712142944336 + ], + [ + 184.21205139160156, + 34.274715423583984 + ], + [ + 191.749267578125, + 48.61994934082031 + ], + [ + 196.42173767089844, + 51.74606704711914 + ], + [ + 192.49911499023438, + 67.39720153808594 + ], + [ + 189.01344299316406, + 72.08495330810547 + ], + [ + 193.09988403320312, + 69.31061553955078 + ], + [ + 198.33950805664062, + 60.0631217956543 + ], + [ + 202.3772735595703, + 53.69228744506836 + ], + [ + 202.14486694335938, + 25.742427825927734 + ], + [ + 223.4473419189453, + 18.939674377441406 + ], + [ + 260.4547119140625, + 36.64067840576172 + ], + [ + 269.5727233886719, + 78.42853546142578 + ], + [ + 301.7610168457031, + 97.45555877685547 + ], + [ + 316.4908447265625, + 115.30125427246094 + ], + [ + 313.2024230957031, + 129.75601196289062 + ], + [ + 317.9461364746094, + 132.5954132080078 + ], + [ + 327.1424865722656, + 140.82373046875 + ], + [ + 348.8209228515625, + 163.70623779296875 + ] + ], + "depth_max": 1.6746082305908203, + "depth_min": 0.3813152015209198, + "intrinsic": [ + [ + 506.9555969238281, + 0.0, + 259.0 + ], + [ + 0.0, + 506.26739501953125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.4551478165667504e-05, + -4.891113712801598e-05, + 3.4117329050786793e-07 + ], + [ + -3.455557452980429e-05, + 1.0, + -8.375726611120626e-05, + 9.801141459320206e-06 + ], + [ + 4.890823765890673e-05, + 8.375895413337275e-05, + 1.0, + -2.586347000033129e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 165.75, + 124.0 + ], + [ + 173.43331909179688, + 132.042724609375 + ], + [ + 173.81121826171875, + 132.1488494873047 + ], + [ + 173.83370971679688, + 132.01507568359375 + ], + [ + 166.19175720214844, + 123.892822265625 + ], + [ + 166.1448516845703, + 123.97956848144531 + ], + [ + 166.02980041503906, + 123.984619140625 + ], + [ + 166.1714324951172, + 123.9804458618164 + ], + [ + 166.09942626953125, + 123.9534683227539 + ], + [ + 166.13478088378906, + 124.07846069335938 + ], + [ + 166.19602966308594, + 124.01982116699219 + ], + [ + 165.9927520751953, + 124.19000244140625 + ], + [ + 166.32626342773438, + 124.22954559326172 + ], + [ + 165.73764038085938, + 124.10199737548828 + ], + [ + 166.49520874023438, + 123.97476196289062 + ], + [ + 174.5446014404297, + 125.52115631103516 + ], + [ + 185.37123107910156, + 118.89956665039062 + ], + [ + 191.35336303710938, + 114.32689666748047 + ], + [ + 200.71304321289062, + 96.00293731689453 + ], + [ + 221.5100555419922, + 87.001953125 + ], + [ + 247.90118408203125, + 105.84744262695312 + ], + [ + 263.18707275390625, + 151.60629272460938 + ], + [ + 296.66033935546875, + 173.25341796875 + ], + [ + 309.9932556152344, + 190.27285766601562 + ], + [ + 309.56512451171875, + 204.53366088867188 + ], + [ + 312.89617919921875, + 207.8268280029297 + ], + [ + 319.37738037109375, + 218.52748107910156 + ], + [ + 334.58294677734375, + 243.86216735839844 + ] + ] +} \ No newline at end of file diff --git a/000201/lang.txt b/000201/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2443f8c084b20a68faa2e57eaf5bbd6f73e953cb --- /dev/null +++ b/000201/lang.txt @@ -0,0 +1 @@ +pick up sponge and wipe plate diff --git a/000217_v2/data.json b/000217_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..38a190382be4fc81582a9eb7c2552b89222fb8f5 --- /dev/null +++ b/000217_v2/data.json @@ -0,0 +1,641 @@ +{ + "action_start": 14, + "action_end": 24, + "object_name": "yellow object", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.421245, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.947083133086892e-10, + -7.169687968322513e-10, + 6.326082921392917e-10, + -5.367764202337985e-07, + 8.640402011387681e-08, + 7.56988176119138e-07, + 1.0 + ], + [ + -0.0036327161378124084, + 0.03266841768670367, + 0.015404119292842577, + -0.0011932719656400682, + -0.042431814043315745, + 0.0916270999541319, + 1.0 + ], + [ + -0.0032904358310884008, + 0.04023325267237168, + 0.013882021526910985, + 0.015593363312780124, + -0.02918923346610617, + 0.14827659221425213, + 1.0 + ], + [ + -0.008057629110218845, + 0.03895615509198528, + 0.0018869909610850014, + 0.0038855911749946332, + -0.007041841055895978, + 0.15835012834310822, + 1.0 + ], + [ + -0.0014619866279245164, + 0.025240826949549544, + -0.010357997207126823, + -0.005145005246135208, + 0.018473649574827285, + 0.10877981239756095, + 1.0 + ], + [ + 0.006832830711890281, + 0.015240787325560834, + -0.012634696885040729, + -0.005644103757866535, + 0.008183377257204798, + 0.07137305283251354, + 1.0 + ], + [ + 0.007354176325866324, + 0.010383824159409055, + -0.010961484278326113, + 0.002575349188695372, + 0.021960948822319037, + 0.053881883577204734, + 1.0 + ], + [ + 0.007744477021480678, + 0.013537770336743665, + -0.01222954795101943, + -0.005382245557002628, + 0.016276901894690464, + 0.06338044081825221, + 1.0 + ], + [ + 0.008384990046482965, + 0.009042012940869038, + -0.005660085767980955, + -0.009242825650860775, + 0.005282804504189265, + 0.04194711508550853, + 1.0 + ], + [ + 0.004311721691104997, + 0.006813758964318073, + -0.0018945504624648707, + 0.002419436051485817, + 0.007461354314748873, + 0.020365985946538268, + 1.0 + ], + [ + -0.0013236985498258358, + 0.004682552638829329, + -0.005137157597207585, + -0.004539539858085559, + 0.009212601719016356, + 0.025165829942501213, + 1.0 + ], + [ + 0.0006534970215432145, + -0.0028803284611138846, + -0.009799138079795251, + -0.023095234061171487, + 0.012727410256616443, + 0.01693816510050194, + 1.0 + ], + [ + 0.003603246241398239, + -0.0060446971989332465, + -0.007811753592861369, + -0.018842024593367663, + -0.00517021231676933, + 0.01713232568086575, + 1.0 + ], + [ + 0.0019408341832656828, + -0.004495783679965115, + -0.007439878936853828, + -0.02033764384944036, + 0.004629448333367515, + -0.00477683862160966, + 1.0 + ], + [ + -0.0007381556005880974, + -0.00039224156823641776, + -0.003287882356869179, + 0.010969570292025142, + 0.004800423117477688, + -0.011842807166344258, + 0.421245 + ], + [ + 0.00033141217280857616, + -0.00035001508185134034, + 0.003642285319589326, + 0.017804649967211438, + 0.003218770429321132, + -0.009862719676344639, + 0.0 + ], + [ + 0.005659781835832101, + -0.011937847356994047, + 0.015387163744681954, + 0.0262042332365789, + -0.024241314740716634, + -0.05890695997697025, + 0.0 + ], + [ + 0.009067258426390445, + -0.02687109674090797, + 0.01982319972316303, + 0.006836415113636989, + -0.027873709283020832, + -0.11996940474271979, + 0.0 + ], + [ + 0.011497408751750426, + -0.04288544518775053, + 0.012166081766946824, + -0.02968125615511305, + -0.032103877726830224, + -0.17254457859722294, + 0.0 + ], + [ + 0.006328424879832262, + -0.03898503800002336, + -0.0008026604079401445, + -0.007810241936505219, + 0.011730733199077307, + -0.14514483750251278, + 0.0 + ], + [ + 0.00028012592791415436, + -0.04755260551380589, + -0.00695662168490473, + -0.011610055097455196, + 0.02524674065869335, + -0.1761094182410603, + 0.0 + ], + [ + -0.001966508528580546, + -0.03826101170443505, + -0.005225139930730008, + -0.004404950349955424, + 0.018989786158541862, + -0.13541645329663227, + 0.0 + ], + [ + -0.004139493785946358, + -0.01356838264297518, + -0.0023626922121338634, + 0.008160724226062665, + 0.00741437881901781, + -0.046234969466071175, + 0.0 + ], + [ + -0.005059794771286097, + -0.0010004843881777914, + -0.002999061078361862, + 0.002844416805747992, + 0.015881761794888958, + -0.0009424216613930238, + 0.0 + ], + [ + -0.007847763488109227, + 0.0026821229282182335, + -0.0007242708388871966, + 0.004337481247448056, + 0.014655078086647734, + 0.016526981369135805, + 0.0 + ], + [ + -0.002729244064527514, + 0.001452855927327447, + 0.00625831529070626, + -0.00464730869203104, + -0.010229758866347388, + -0.012380889284169388, + 1.0 + ], + [ + -0.0023947809948899335, + 0.0006765806122173285, + 0.01619853508286024, + -0.008635982834690852, + -0.047920820736199576, + -0.02221060452214858, + 1.0 + ], + [ + -0.003021629741439602, + 0.000527802438019559, + 0.01595515181734286, + 0.0020648560809490594, + -0.0431537731120603, + -0.01649999478492687, + 1.0 + ], + [ + -0.002627398047783447, + 0.00155523193358037, + 0.007727875252014033, + -0.009963111558771215, + -0.014958855115634329, + 0.007214411246142503, + 1.0 + ], + [ + -0.002904954947213989, + 0.004618439992556268, + 0.0007000536801982926, + 0.004464992131488565, + 0.014018675206645473, + 0.007348895910272757, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 370.2044372558594, + 224.23223876953125 + ], + [ + 369.59814453125, + 226.70030212402344 + ], + [ + 359.4875793457031, + 247.23580932617188 + ], + [ + 302.9358825683594, + 221.21112060546875 + ], + [ + 253.0257568359375, + 204.32916259765625 + ], + [ + 223.8111114501953, + 201.58792114257812 + ], + [ + 205.543212890625, + 205.27691650390625 + ], + [ + 203.57688903808594, + 212.09202575683594 + ], + [ + 204.78961181640625, + 219.01699829101562 + ], + [ + 191.84426879882812, + 221.45654296875 + ], + [ + 191.09364318847656, + 219.75169372558594 + ], + [ + 190.94293212890625, + 220.3640594482422 + ], + [ + 193.3990020751953, + 229.99563598632812 + ], + [ + 197.33636474609375, + 240.43875122070312 + ], + [ + 200.37709045410156, + 242.984619140625 + ], + [ + 202.89141845703125, + 245.66087341308594 + ], + [ + 200.03009033203125, + 243.800537109375 + ], + [ + 198.96408081054688, + 243.1605987548828 + ], + [ + 200.6620635986328, + 240.42677307128906 + ], + [ + 236.49990844726562, + 222.2379150390625 + ], + [ + 289.6681213378906, + 230.70895385742188 + ], + [ + 325.7989501953125, + 240.9997100830078 + ], + [ + 371.64013671875, + 259.31671142578125 + ], + [ + 399.2398376464844, + 273.80499267578125 + ], + [ + 397.3250427246094, + 278.83441162109375 + ], + [ + 391.45050048828125, + 289.1064453125 + ], + [ + 386.6982421875, + 298.56915283203125 + ], + [ + 391.510986328125, + 272.108154296875 + ], + [ + 390.3257751464844, + 262.1966247558594 + ], + [ + 391.22857666015625, + 247.94781494140625 + ], + [ + 390.6316223144531, + 249.19284057617188 + ], + [ + 390.0804138183594, + 249.32492065429688 + ] + ], + "depth_max": 1.3290033340454102, + "depth_min": 0.07516483217477798, + "intrinsic": [ + [ + 505.4425354003906, + 0.0, + 259.0 + ], + [ + 0.0, + 504.42926025390625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -5.342677013686625e-06, + -0.00010483735240995884, + -4.076071490999311e-06 + ], + [ + 5.34616265213117e-06, + 1.0, + 3.324775389046408e-05, + -3.8157522794790566e-05 + ], + [ + 0.0001048371777869761, + -3.3248314139200374e-05, + 1.0, + 8.41362852952443e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 31 + ], + "object_trajectory": [ + [ + 195.5, + 250.0 + ], + [ + 195.6654052734375, + 250.16824340820312 + ], + [ + 195.39561462402344, + 250.09390258789062 + ], + [ + 195.54840087890625, + 250.09634399414062 + ], + [ + 195.40179443359375, + 250.19720458984375 + ], + [ + 195.20872497558594, + 250.19557189941406 + ], + [ + 195.08843994140625, + 250.008544921875 + ], + [ + 195.60980224609375, + 249.91139221191406 + ], + [ + 195.62652587890625, + 250.037109375 + ], + [ + 195.7452850341797, + 250.29136657714844 + ], + [ + 195.61961364746094, + 250.08132934570312 + ], + [ + 195.1492919921875, + 250.1734619140625 + ], + [ + 193.3093719482422, + 251.1984405517578 + ], + [ + 190.7554473876953, + 251.9005126953125 + ], + [ + 190.88861083984375, + 251.85476684570312 + ], + [ + 191.1407012939453, + 251.96429443359375 + ], + [ + 188.39456176757812, + 249.1591339111328 + ], + [ + 187.31240844726562, + 248.5921630859375 + ], + [ + 189.65158081054688, + 245.13612365722656 + ], + [ + 222.64419555664062, + 228.39044189453125 + ], + [ + 277.1891174316406, + 236.6836700439453 + ], + [ + 309.4048156738281, + 246.96145629882812 + ], + [ + 354.71392822265625, + 266.4056701660156 + ], + [ + 382.25732421875, + 277.60333251953125 + ], + [ + 381.4648132324219, + 283.4197082519531 + ], + [ + 375.7878112792969, + 294.166748046875 + ], + [ + 370.7882995605469, + 310.9178466796875 + ], + [ + 381.10675048828125, + 311.5465087890625 + ], + [ + 382.7198791503906, + 312.4119567871094 + ], + [ + 387.1434326171875, + 310.45123291015625 + ], + [ + 385.0696105957031, + 309.93768310546875 + ], + [ + 385.1169738769531, + 309.35369873046875 + ] + ] +} \ No newline at end of file diff --git a/000217_v2/lang.txt b/000217_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..097c384deb7161f221a1b82a14ba42a531c37bf9 --- /dev/null +++ b/000217_v2/lang.txt @@ -0,0 +1 @@ +put the yellow object inside the silver cookware diff --git a/000217_v2/object.ply b/000217_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..7470adc26c86b17a6a1b052b65b3f35405327e76 Binary files /dev/null and b/000217_v2/object.ply differ diff --git a/000229/data.json b/000229/data.json new file mode 100644 index 0000000000000000000000000000000000000000..dc8959cbf1e13d63be20b7084700115e7b3f6ff3 --- /dev/null +++ b/000229/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 8, + "action_end": 26, + "object_name": "sponge", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.577778, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "gripper_actions": [ + [ + -2.772143625762169e-11, + 2.232342782848562e-10, + 2.4944997456533e-10, + -4.5726974476364413e-07, + -6.200588301351039e-07, + 1.9962781656053772e-07, + 1.0 + ], + [ + 0.019915400930289873, + 0.0024879258276329363, + 0.017887314414358868, + -0.053256964507950505, + -0.04266866898819463, + 0.05201158308653289, + 1.0 + ], + [ + 0.018004938035191875, + 0.008876032277664925, + 0.01619121265655335, + -0.00830194686229346, + -0.08110991013240838, + 0.04370118419127269, + 1.0 + ], + [ + 0.02391839792740441, + -0.003343318049742479, + -0.0007667201921297828, + 0.023945229957778393, + -0.00874247595968232, + 0.07385573560474804, + 1.0 + ], + [ + 0.02385772725270724, + -0.00448007843981698, + -0.010695247454549764, + 0.03498102048463208, + 0.056289285760026286, + 0.05120514464691653, + 1.0 + ], + [ + 0.01191002438907568, + -0.006597146661402674, + -0.01894330705386879, + -0.013915428892347157, + 0.030519880968291002, + 0.02781967658880596, + 1.0 + ], + [ + 0.0028026492890899646, + -0.009950458421668584, + -0.008863151396749036, + -0.06029076746780892, + 0.04150804026966551, + 0.03065735496345981, + 1.0 + ], + [ + 0.004007425062590109, + 0.00355513894289183, + -0.0015250814260030082, + 0.016932110228965208, + -0.0210500703719965, + 0.015244593205879085, + 1.0 + ], + [ + 0.0006575601680449128, + 0.005037235008017522, + -0.0079218600202942, + 0.024020629903910413, + -0.006690555706128465, + -0.006603516423589369, + 0.577778 + ], + [ + 0.0002879883517410975, + 0.0015742297322206174, + -0.012351809203534153, + 0.033092200026770935, + -0.007570240448185794, + 0.001213564045766644, + 0.0 + ], + [ + -0.0019337976888182395, + 0.0012146373773432584, + 7.940688313859412e-05, + 0.008585498021770603, + -0.015216514805264765, + -0.000594859336637435, + 0.0 + ], + [ + 0.0010982494534432785, + 0.005918778375399857, + 0.01667561571696064, + -0.03495200968580183, + 0.021447488999894, + 0.011274081490350205, + 0.0 + ], + [ + -0.00506313924633095, + 0.019296876544236098, + 0.042836530165707785, + -0.10840502224863925, + 0.056511632701399396, + 0.019704076889051125, + 0.0 + ], + [ + -0.008336210227300911, + 0.02343896721779455, + 0.025624467706345272, + -0.03166746702677456, + 0.031768571426137364, + -0.02268144377821072, + 0.0 + ], + [ + -0.010761382539939301, + 0.02847235356195786, + -0.005548333293553809, + 0.027411144402072218, + 0.00468307657397028, + -0.008382801555652573, + 0.0 + ], + [ + -0.022512364478057878, + 0.01759906166014784, + -0.015342300958910149, + 0.012710703309184106, + 0.020633303516220076, + -0.04685764443933681, + 0.0 + ], + [ + -0.0180924447942587, + 0.0042171782240121025, + -0.032051816139817196, + 0.0009263738431225807, + -0.05563938163652043, + -0.01675669038681291, + 0.0 + ], + [ + 0.007428933998029574, + 0.01359621754428414, + -0.008498323725669818, + -0.0033944604504080153, + -0.013406720738492238, + 0.023211756392129555, + 0.0 + ], + [ + 0.011509155113286595, + 0.022226607787425412, + 0.004050982645966761, + 0.008942983918316851, + -0.036501412106359495, + 0.04766508813345191, + 0.0 + ], + [ + 0.011441837103974672, + 0.029026904827992805, + 0.00662721353565944, + 0.019273166372753708, + -0.0025274265845776104, + 0.02611739503443431, + 0.0 + ], + [ + -0.001105074520369509, + 0.029278746851372522, + -0.015254521606351032, + 0.0798884944444946, + 0.005423974511602102, + -0.020698302110933313, + 0.0 + ], + [ + -0.006215105942306787, + 0.021466286510742616, + -0.008499063135921914, + 0.05881710376265779, + -0.03013938273495201, + -0.013274155363431565, + 0.0 + ], + [ + 0.004742487778136906, + 0.020055966813237208, + 0.012778856597665783, + 0.0075075187779421355, + 0.03037395374309246, + 0.027694958254271325, + 0.0 + ], + [ + 0.004796451119199019, + 0.021932781475720864, + 0.021782744746033478, + 0.003591307694800107, + 0.00966981746376513, + -0.007684914209308288, + 0.0 + ], + [ + 0.009569907481711437, + 0.023293978770655754, + -0.0022749355120439962, + 0.06661809509362694, + 0.014466367617044482, + 0.03165162498208621, + 0.0 + ], + [ + -0.0028101032093170164, + 0.020630784132809776, + -0.012718877895102676, + 0.08532081159982337, + -0.010982794064918065, + -0.03856746307609302, + 0.0 + ], + [ + -0.011009734422938455, + -0.01081871323025324, + -0.009380086088858985, + -0.025766214235014868, + 0.041160362488552135, + -0.033835335548646116, + 0.0 + ], + [ + -0.016616782635692384, + -0.028556321682141783, + -0.001620858567078276, + -0.08148017393121053, + 0.03870531172022731, + -0.04295686426079247, + 0.0 + ] + ], + "gripper_centers": [ + [ + 276.49053955078125, + 142.36752319335938 + ], + [ + 276.21612548828125, + 151.14324951171875 + ], + [ + 292.85430908203125, + 117.04557800292969 + ], + [ + 287.69122314453125, + 77.08768463134766 + ], + [ + 297.4337158203125, + 66.14137268066406 + ], + [ + 338.47283935546875, + 69.73971557617188 + ], + [ + 359.87542724609375, + 86.43626403808594 + ], + [ + 360.80218505859375, + 92.2652816772461 + ], + [ + 359.91009521484375, + 90.74873352050781 + ], + [ + 357.8802490234375, + 92.44863891601562 + ], + [ + 348.981201171875, + 95.28199768066406 + ], + [ + 350.60198974609375, + 97.24136352539062 + ], + [ + 352.0572204589844, + 94.22703552246094 + ], + [ + 337.3714599609375, + 39.5579833984375 + ], + [ + 272.3836669921875, + -0.9173829555511475 + ], + [ + 234.07626342773438, + 11.806894302368164 + ], + [ + 217.0404052734375, + 37.85528564453125 + ], + [ + 184.85760498046875, + 87.30072784423828 + ], + [ + 183.10394287109375, + 82.2071533203125 + ], + [ + 173.10699462890625, + 67.19766235351562 + ], + [ + 149.94802856445312, + 47.76203155517578 + ], + [ + 128.41085815429688, + 50.75042724609375 + ], + [ + 116.47882080078125, + 52.87648010253906 + ], + [ + 105.36109161376953, + 42.71495819091797 + ], + [ + 78.22960662841797, + 15.008131980895996 + ], + [ + 46.559165954589844, + 14.19997787475586 + ], + [ + 45.49032211303711, + 15.75931453704834 + ], + [ + 30.526214599609375, + 24.282211303710938 + ] + ], + "depth_max": 1.3547465801239014, + "depth_min": 0.5622872114181519, + "intrinsic": [ + [ + 578.6358642578125, + 0.0, + 259.0 + ], + [ + 0.0, + 578.0249633789062, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.613610038475599e-05, + 2.4246024622698314e-05, + -3.1849626793700736e-06 + ], + [ + -1.613361746422015e-05, + 1.0, + -0.00010242119606118649, + -1.742014501360245e-05 + ], + [ + -2.4247676265076734e-05, + 0.00010242080315947533, + 1.0, + -2.2410222300095484e-07 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 373.75, + 115.75 + ], + [ + 373.32049560546875, + 116.80982971191406 + ], + [ + 373.5289001464844, + 116.90723419189453 + ], + [ + 372.7728576660156, + 116.15120697021484 + ], + [ + 370.18035888671875, + 108.21827697753906 + ], + [ + 371.5369567871094, + 115.4792251586914 + ], + [ + 370.22064208984375, + 115.36824798583984 + ], + [ + 369.8244323730469, + 115.6156997680664 + ], + [ + 369.1117248535156, + 114.49671936035156 + ], + [ + 371.03851318359375, + 114.251953125 + ], + [ + 371.52783203125, + 115.16905212402344 + ], + [ + 370.501953125, + 116.49349975585938 + ], + [ + 371.9388427734375, + 114.6173324584961 + ], + [ + 361.84552001953125, + 70.77691650390625 + ], + [ + 307.8528137207031, + 29.126325607299805 + ], + [ + 274.851318359375, + 30.08930206298828 + ], + [ + 251.94036865234375, + 72.11527252197266 + ], + [ + 229.08755493164062, + 102.33685302734375 + ], + [ + 225.33358764648438, + 98.68209075927734 + ], + [ + 215.18832397460938, + 84.38194274902344 + ], + [ + 188.804931640625, + 64.66954040527344 + ], + [ + 177.98280334472656, + 69.30973815917969 + ], + [ + 166.73634338378906, + 72.48007202148438 + ], + [ + 154.83920288085938, + 61.61406326293945 + ], + [ + 119.97960662841797, + 31.94019889831543 + ], + [ + 92.11583709716797, + 29.481645584106445 + ], + [ + 94.5212631225586, + 31.536256790161133 + ], + [ + 93.0457763671875, + 43.98866653442383 + ] + ] +} \ No newline at end of file diff --git a/000229/lang.txt b/000229/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2443f8c084b20a68faa2e57eaf5bbd6f73e953cb --- /dev/null +++ b/000229/lang.txt @@ -0,0 +1 @@ +pick up sponge and wipe plate diff --git a/000237/FAIL b/000237/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000237/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000255/FAIL b/000255/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000255/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000272_v2/FAIL b/000272_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000272_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000273/FAIL b/000273/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/000273/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/000318/FAIL b/000318/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/000318/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/000322/FAIL b/000322/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000322/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000325_v2/FAIL b/000325_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/000325_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/000365_v2/FAIL b/000365_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/000365_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/000367_v2/FAIL b/000367_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/000367_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/000376_v2/FAIL b/000376_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/000376_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/000386/FAIL b/000386/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000386/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000390/FAIL b/000390/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/000390/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/000410/data.json b/000410/data.json new file mode 100644 index 0000000000000000000000000000000000000000..5105fa3be3ba87c49d25c80b80b2b8764a567f7e --- /dev/null +++ b/000410/data.json @@ -0,0 +1,549 @@ +{ + "action_start": 15, + "action_end": 25, + "object_name": "green mug", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.959219, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "gripper_actions": [ + [ + -1.8459334061304844e-10, + -7.106734645212498e-11, + 6.393614804256487e-11, + 8.68009330043467e-08, + -1.7086514110323987e-07, + -2.956202562768891e-09, + 1.0 + ], + [ + 0.00974450782713504, + -0.042089482672924616, + 0.005717090854522697, + -0.024797423782703873, + 0.05333247165261372, + 0.15744938637346412, + 1.0 + ], + [ + 0.0015354687870487993, + -0.037689344573752864, + 0.0028305279769588465, + -0.09068878349680208, + -0.03438431521197376, + 0.1452201144483173, + 1.0 + ], + [ + 0.007185922070022499, + -0.03088941137914311, + 0.0006095646209698102, + -0.011717902316862564, + 0.002286398286738569, + -0.004306861021055669, + 1.0 + ], + [ + 0.01680613433042799, + -0.02983072202795456, + -0.0058270510338057635, + -0.05378140683836267, + -0.07728327939757197, + -0.005228245389432299, + 1.0 + ], + [ + 0.022611404839785076, + -0.02847421871999678, + -0.0023799616034178156, + -0.042813114288713906, + -0.07822242020255538, + -0.0682308105860103, + 1.0 + ], + [ + 0.015952582240170876, + -0.021457938585998863, + -0.0005973196880904863, + -0.02341901126764427, + -0.012548925167713453, + -0.05303792575206838, + 1.0 + ], + [ + 0.009909842379616784, + -0.023336591398242797, + -0.002573670697109752, + 0.020063514250552656, + 0.045236559385508926, + 0.014095116727492448, + 1.0 + ], + [ + 0.003974347111429299, + -0.012855391731941113, + -0.015031042117961545, + 0.04458607563474893, + 0.05619903120259833, + -0.005118564970889882, + 1.0 + ], + [ + 0.0008682024604943495, + -0.01021332609403501, + -0.01711945301424938, + 0.027682411671314806, + -0.000997920911973412, + -0.003840006995855773, + 1.0 + ], + [ + 0.009600764580597998, + -0.0025886477970385458, + -0.01826822099359285, + 0.03741968034800733, + -0.030810129914336386, + 0.007545526555374509, + 1.0 + ], + [ + 0.006713493744922638, + -0.006064842130251838, + -0.011813741371287566, + 0.020581776952704328, + -0.02961859436808175, + -0.0029701586068078645, + 1.0 + ], + [ + 0.005676034826418708, + -0.0014058849433970788, + -0.007993636165432678, + 0.00817289096010316, + 0.00046410506928414085, + 0.008988694609024904, + 1.0 + ], + [ + -0.004178496375848273, + -0.0072384199739075755, + -0.010581155026881357, + -0.0010122676627184308, + 0.0209229370055744, + 0.0014672892054056782, + 1.0 + ], + [ + -0.003036338567185215, + -0.006587609742197853, + -0.012212529302649235, + 0.019454031406477796, + -0.006764823105407422, + 0.012473551963007704, + 1.0 + ], + [ + -0.003692443224479147, + -0.002382085501829459, + -0.009136985500591228, + 0.010131995281689225, + 0.0012405289172081068, + 0.021935360001066228, + 0.959219 + ], + [ + -0.00016954337898394956, + -0.001029043281505826, + -0.001501250380764041, + -0.009089217437479603, + 0.0032674380298009656, + 0.026583399031960022, + 0.0 + ], + [ + 0.0011374618056734787, + -0.0008582980796030537, + -0.0012495178971087123, + 0.007351311659570623, + -0.0027808021070047048, + 0.014740820296037384, + 0.0 + ], + [ + 0.002498257061448683, + 0.0007390715404774484, + -0.0024271141740636673, + 0.008989061896270602, + 0.0015180926626386527, + 0.007587924502777848, + 0.0 + ], + [ + -0.0016961310645645655, + 0.0015758404956383587, + 0.005972764846425192, + -0.006113663397890426, + -0.004257125551997894, + 0.003488123110934246, + 0.0 + ], + [ + -0.00046006683560356754, + 0.003430331324080063, + 0.029967790814936078, + -0.050301127168590316, + 0.01626220739028487, + 0.009067560844517068, + 0.0 + ], + [ + 0.0029362174968108334, + 0.0038164290033969733, + 0.029155890682953718, + 0.003065446551051969, + -1.893943138117725e-05, + 0.015985725982968574, + 0.0 + ], + [ + -0.0021764002915384273, + 0.004425158255671344, + 0.03743326231192736, + 0.03320963614122101, + 0.014196493924898032, + 0.04840769025438512, + 0.0 + ], + [ + -0.0007375089189113337, + -0.0048385614194812465, + 0.03546914795629305, + -0.02744401195301051, + -0.0034636485905203385, + 0.026697887276329033, + 0.0 + ], + [ + -0.008791257738299085, + -0.011221454402108824, + 0.027753890830448234, + -0.06056455854745458, + -0.026397433590148876, + 0.02015672853288677, + 0.0 + ], + [ + -0.0029972668348196008, + 0.0009485521799042079, + 0.021997787471925774, + -0.046685659953708145, + -0.007579413854883761, + 0.0020168898777000433, + 0.0 + ], + [ + -0.002772826165808262, + 0.002436889983752827, + 0.004867425488819285, + 0.010163236422105848, + -0.011876298614375447, + -0.012084729631952935, + 0.0 + ] + ], + "gripper_centers": [ + [ + 218.94322204589844, + 94.82268524169922 + ], + [ + 219.66026306152344, + 101.88616180419922 + ], + [ + 332.5224304199219, + 123.11453247070312 + ], + [ + 334.882568359375, + 130.16409301757812 + ], + [ + 332.5311279296875, + 128.91578674316406 + ], + [ + 396.44110107421875, + 131.3074493408203 + ], + [ + 457.8525390625, + 133.2088165283203 + ], + [ + 472.9234313964844, + 128.32699584960938 + ], + [ + 497.7598571777344, + 125.45013427734375 + ], + [ + 533.0589599609375, + 157.00621032714844 + ], + [ + 550.4349365234375, + 187.42422485351562 + ], + [ + 541.262451171875, + 197.47134399414062 + ], + [ + 538.088134765625, + 199.1534423828125 + ], + [ + 540.9610595703125, + 206.5025634765625 + ], + [ + 541.0025634765625, + 218.342041015625 + ], + [ + 551.148681640625, + 227.84341430664062 + ], + [ + 560.085205078125, + 235.4752655029297 + ], + [ + 551.5001831054688, + 237.05349731445312 + ], + [ + 553.084716796875, + 239.80322265625 + ], + [ + 556.1661987304688, + 238.5277099609375 + ], + [ + 562.550048828125, + 238.74282836914062 + ], + [ + 562.14208984375, + 243.36672973632812 + ], + [ + 555.0743408203125, + 237.14073181152344 + ], + [ + 558.39453125, + 216.41970825195312 + ], + [ + 583.4617919921875, + 155.35784912109375 + ], + [ + 596.5413818359375, + 124.4233169555664 + ], + [ + 603.5177612304688, + 99.66825866699219 + ] + ], + "depth_max": 1.726374626159668, + "depth_min": 0.13372480869293213, + "intrinsic": [ + [ + 587.4668579101562, + 0.0, + 259.0 + ], + [ + 0.0, + 586.5428466796875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.11871252860874e-05, + 4.945395630784333e-06, + -3.2567813832429238e-06 + ], + [ + -7.118719804566354e-05, + 1.0, + 1.469882954552304e-05, + -2.6414727472001687e-05 + ], + [ + -4.944349711877294e-06, + -1.4699181519972626e-05, + 1.0, + -5.368576239561662e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 26 + ], + "object_trajectory": [ + [ + 529.75, + 263.0 + ], + [ + 529.9776611328125, + 263.1581115722656 + ], + [ + 530.0453491210938, + 263.0103759765625 + ], + [ + 529.9266357421875, + 262.8869323730469 + ], + [ + 530.266357421875, + 263.2670593261719 + ], + [ + 530.0352783203125, + 263.2691345214844 + ], + [ + 529.9612426757812, + 262.9136962890625 + ], + [ + 530.137451171875, + 262.8951416015625 + ], + [ + 530.0079345703125, + 263.2102355957031 + ], + [ + 529.8753051757812, + 263.0513916015625 + ], + [ + 529.6030883789062, + 263.22705078125 + ], + [ + 529.4429321289062, + 263.1676330566406 + ], + [ + 529.597412109375, + 262.8309020996094 + ], + [ + 529.373046875, + 262.83026123046875 + ], + [ + 529.8741455078125, + 263.04913330078125 + ], + [ + 529.7611083984375, + 263.138427734375 + ], + [ + 530.0130615234375, + 263.6051940917969 + ], + [ + 528.8492431640625, + 263.6604309082031 + ], + [ + 530.5379638671875, + 272.9849548339844 + ], + [ + 538.184326171875, + 277.56292724609375 + ], + [ + 542.1982421875, + 281.286865234375 + ], + [ + 541.5272216796875, + 288.0368347167969 + ], + [ + 530.8844604492188, + 284.681884765625 + ], + [ + 538.0259399414062, + 263.8980712890625 + ], + [ + 562.812255859375, + 207.98062133789062 + ], + [ + 578.2115478515625, + 178.07644653320312 + ], + [ + 589.4551391601562, + 161.29806518554688 + ] + ] +} \ No newline at end of file diff --git a/000410/lang.txt b/000410/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..134dad6566267b319bd900429cd8cbfc162e0466 --- /dev/null +++ b/000410/lang.txt @@ -0,0 +1 @@ +pick up green mug diff --git a/000424/FAIL b/000424/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/000424/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/000475/FAIL b/000475/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/000475/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/000476_v2/FAIL b/000476_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000476_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000481_v2/FAIL b/000481_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/000481_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/000493_v2/data.json b/000493_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..efa4545b5eae3fd6a222d10115d649676fa18a6f --- /dev/null +++ b/000493_v2/data.json @@ -0,0 +1,806 @@ +{ + "action_start": 8, + "action_end": 24, + "object_name": "silver pot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.34163600000000005, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.345587861249612e-11, + -4.159767114098045e-10, + -1.6167242544717908e-10, + 3.365168230179851e-08, + -5.827945581584102e-08, + -6.520495169043699e-09, + 1.0 + ], + [ + 0.0012146723384043323, + 0.020823889592857667, + -0.009920619733684008, + 0.01756557021371504, + -0.003011718415763779, + 0.09024662325126248, + 1.0 + ], + [ + 0.006017944061153746, + 0.03034968589376552, + -0.011163804062809021, + 0.002588306209764928, + -0.0016915135542143118, + 0.07299327517077835, + 1.0 + ], + [ + 0.01051962426741121, + 0.03193485827593862, + -0.011704967710000166, + 0.025717394468644544, + -0.02985736957286912, + 0.06368782932127068, + 1.0 + ], + [ + 0.01332995411462154, + 0.024521520306104532, + -0.022353326011717453, + 0.015394921828997295, + -0.03910178759899085, + 0.02618394853412907, + 1.0 + ], + [ + 0.002876397292296301, + 0.010358565856881795, + -0.018841048151782884, + -0.006418784966734859, + 0.004992801240182123, + -0.0023135400656166733, + 1.0 + ], + [ + 0.0003603765550921345, + -0.000788765273436326, + -0.012915786768265894, + -0.02142737370507555, + -0.014294410968409053, + 0.0012482187146401918, + 1.0 + ], + [ + -0.0007673458616241635, + -0.0023275261053010976, + -0.010834706767750595, + -0.007173822558958391, + -0.009470376717665496, + 0.009873494342132595, + 1.0 + ], + [ + -0.004160122013985412, + 0.0012132513385980093, + -0.01513760899745607, + 0.02128124498910087, + 0.03742472146719014, + 0.0063912137694279465, + 1.0 + ], + [ + -0.003589485800716191, + 0.004244490346004118, + -0.0035136316203480174, + -0.010648967151583857, + -0.004420306445578931, + 0.01715128117762626, + 0.0 + ], + [ + -0.003053027755910792, + 0.0020217880252724335, + 0.0037394681284018934, + -0.004004114478411841, + -0.006900520221653593, + -0.0018136275556815717, + 0.0 + ], + [ + -0.0021736629854257894, + -0.0020540115123727637, + 0.007954531405977726, + -0.0016660082206129364, + -0.013889625871464577, + -0.012165678386751401, + 0.0 + ], + [ + -0.000694856435695862, + 0.001384551112904489, + 0.012362435075921585, + 0.015101804846658263, + 0.006780451023491624, + 0.001856175128306365, + 0.0 + ], + [ + 0.00256894992344342, + 0.004035160796206902, + 0.01573479579357913, + 0.010249297739298897, + 0.003372401314217631, + 0.015155155649130678, + 0.0 + ], + [ + 0.010702385694904698, + -0.0019193451199783218, + 0.01756650811175962, + 0.03973794626604848, + 0.003631100286981649, + 0.03059418343007046, + 0.0 + ], + [ + 0.012272078751691257, + -0.005104151305989374, + 0.012195805295184537, + 0.045358207268772696, + 0.026642912132279595, + -0.013163278358836437, + 0.0 + ], + [ + 0.01504423407333294, + -0.00046091328132860654, + 0.004943685796048022, + -0.010751302558791314, + -0.01568380937400932, + -0.05250999084332134, + 0.0 + ], + [ + 0.02411486708356886, + 0.0011608978673937342, + 0.003969360140408322, + -0.006906854226738705, + -0.035383061413190225, + -0.08398131995783778, + 0.0 + ], + [ + 0.024137799171927238, + 0.0048738504817951445, + -0.0030450970240579953, + -0.006399653166360503, + -0.0007950784368655719, + -0.032558719725620834, + 0.0 + ], + [ + 0.02782046934565946, + -0.005540104302691626, + -0.0027085465018684, + -0.01714758014351421, + -0.02757003690899475, + -0.035650589672534164, + 0.0 + ], + [ + 0.012906344807047831, + -0.009631756718303908, + -0.009141044455225435, + 0.02130813837607674, + -0.005211217575765556, + -0.03375088169031024, + 0.0 + ], + [ + 0.005668033684065377, + -0.005864643840844133, + -0.005680957789533814, + 0.006360208766166896, + 0.00539522752937362, + -0.021047493441781105, + 0.0 + ], + [ + -0.0012536425775801496, + 0.006084051668988032, + -0.005849517852665222, + 0.0142408389901395, + 0.006795627681459497, + 0.014201863639795786, + 0.0 + ], + [ + 0.0013663357326335057, + 0.008357388468228831, + -0.0010148915892199337, + -0.0014482938737648474, + -0.000576410717183371, + 0.01889989693790819, + 0.0 + ], + [ + 0.0013706761895103114, + 0.00417622277944231, + 0.0001264626137099309, + -0.010635678793196816, + 0.007005302625983284, + 0.003495000951831676, + 0.34163600000000005 + ], + [ + -0.001379947571306217, + -0.004654192838488322, + 0.0032143911625200743, + -0.0029292489856650845, + -0.007843837810085871, + -0.005033690181383313, + 1.0 + ], + [ + -0.0020229386420458906, + 0.0015831424567221558, + 0.013606803499789641, + 0.005427686127020581, + -0.032467195822616646, + 0.030443215684338974, + 1.0 + ], + [ + -0.005572960410716032, + -0.0005015604880606594, + 0.021098821560966728, + -0.014495029664094031, + -0.03331437282115699, + 0.014088384603647064, + 1.0 + ], + [ + -0.0141493019720349, + -0.004031036706660232, + 0.014486732600461606, + -0.0388795805542834, + -0.003039004124600687, + 0.019796416628237893, + 1.0 + ], + [ + -0.03212846169374345, + -0.006821240206135115, + 0.002891811961259691, + -0.04453235822493881, + 0.021402667364342404, + 0.017856258545457256, + 1.0 + ], + [ + -0.02474873340194861, + -0.007949833111208143, + 0.0003164380190887883, + -0.0008229784621218698, + 0.016050417531904688, + 0.02345320735920261, + 1.0 + ], + [ + -0.020186940377358187, + -0.013159770753213229, + 0.0037895028583315726, + -0.029366638931471636, + 0.01693965042509722, + 0.020256931448802515, + 1.0 + ], + [ + -0.020858966345061958, + -0.017196305665214982, + 0.0016021292443434976, + 0.01138835533718651, + 0.043685547777094866, + 0.003389817033513239, + 1.0 + ], + [ + -0.02150413352678729, + 0.009147323389544167, + 0.00038037730342388443, + 0.003282928239280706, + 0.040634657998703944, + 0.05319398627279356, + 1.0 + ], + [ + -0.020735653624413902, + 0.002711056029895062, + 0.005497893720675315, + -0.0180657026083377, + -0.005963098873467207, + 0.006441763664268755, + 1.0 + ], + [ + -0.022232668828843366, + -0.0072757132920428305, + 0.015512658798532725, + 0.02979180401132389, + -0.03493037269657723, + 0.00021964888570424911, + 1.0 + ], + [ + -0.03141413006480584, + -0.003291226518206132, + 0.015528092331288615, + -0.04251142744118663, + -0.020936637002793596, + 0.013339584491547605, + 1.0 + ], + [ + -0.014244613365901992, + -0.004396458979350475, + 0.011048168790198348, + -0.017122951390325318, + -0.020258436590838737, + 0.012536977285417365, + 1.0 + ], + [ + -0.0011317822902889019, + -0.0024617712962351837, + 0.005209816344991958, + 0.010576840506848194, + -0.011391705340604233, + 0.005301542565764738, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 263.081298828125, + 234.21029663085938 + ], + [ + 253.17027282714844, + 250.23670959472656 + ], + [ + 227.17193603515625, + 267.7722473144531 + ], + [ + 176.9867401123047, + 260.4632873535156 + ], + [ + 135.93670654296875, + 255.0087890625 + ], + [ + 118.09573364257812, + 262.07757568359375 + ], + [ + 113.80717468261719, + 276.0126953125 + ], + [ + 116.65805053710938, + 291.82098388671875 + ], + [ + 120.9796142578125, + 306.1177062988281 + ], + [ + 122.9677734375, + 311.91387939453125 + ], + [ + 128.6831512451172, + 308.107177734375 + ], + [ + 124.57113647460938, + 309.619384765625 + ], + [ + 103.74163818359375, + 318.6375732421875 + ], + [ + 90.3062973022461, + 316.242919921875 + ], + [ + 88.08444213867188, + 304.8550720214844 + ], + [ + 77.26376342773438, + 282.8800048828125 + ], + [ + 85.25091552734375, + 250.30978393554688 + ], + [ + 101.11006927490234, + 229.18826293945312 + ], + [ + 117.12480163574219, + 208.40646362304688 + ], + [ + 133.81907653808594, + 195.7530517578125 + ], + [ + 164.20132446289062, + 184.05023193359375 + ], + [ + 190.93850708007812, + 191.6221466064453 + ], + [ + 203.72897338867188, + 203.2524871826172 + ], + [ + 202.3200225830078, + 206.52536010742188 + ], + [ + 201.70986938476562, + 208.1600341796875 + ], + [ + 208.37802124023438, + 207.00259399414062 + ], + [ + 212.7130126953125, + 201.935546875 + ], + [ + 212.16012573242188, + 196.32730102539062 + ], + [ + 212.76034545898438, + 169.77366638183594 + ], + [ + 207.71356201171875, + 157.84005737304688 + ], + [ + 191.0651092529297, + 164.5642852783203 + ], + [ + 171.97909545898438, + 175.43597412109375 + ], + [ + 159.55288696289062, + 189.90382385253906 + ], + [ + 147.93161010742188, + 202.79244995117188 + ], + [ + 135.44236755371094, + 217.13571166992188 + ], + [ + 104.71353149414062, + 224.2123260498047 + ], + [ + 73.23995971679688, + 220.21583557128906 + ], + [ + 12.089405059814453, + 223.59722900390625 + ], + [ + -49.184722900390625, + 227.28207397460938 + ], + [ + -72.84427642822266, + 228.7242431640625 + ], + [ + -80.60438537597656, + 228.17208862304688 + ] + ], + "depth_max": 1.2475085258483887, + "depth_min": 0.4299553334712982, + "intrinsic": [ + [ + 494.8272705078125, + 0.0, + 259.0 + ], + [ + 0.0, + 494.674560546875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.1767854630306829e-05, + -3.3676995371934026e-05, + -3.0354382033692673e-05 + ], + [ + -1.1768851436499972e-05, + 1.0, + -2.961795689770952e-05, + -4.2536841647233814e-05 + ], + [ + 3.3676646125968546e-05, + 2.961835343739949e-05, + 1.0, + -0.0001290451764361933 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 40 + ], + "object_trajectory": [ + [ + 52.5, + 322.0 + ], + [ + 53.030460357666016, + 322.12164306640625 + ], + [ + 53.18418884277344, + 322.12042236328125 + ], + [ + 52.85447692871094, + 322.0513916015625 + ], + [ + 53.07990264892578, + 321.9869384765625 + ], + [ + 52.67155838012695, + 321.9267578125 + ], + [ + 52.71156311035156, + 321.9566650390625 + ], + [ + 52.73453903198242, + 321.99346923828125 + ], + [ + 52.70978546142578, + 322.2637939453125 + ], + [ + 52.85486602783203, + 322.5236511230469 + ], + [ + 52.711856842041016, + 322.2594299316406 + ], + [ + 51.574031829833984, + 322.2774963378906 + ], + [ + 42.458648681640625, + 307.4688415527344 + ], + [ + 39.23942565917969, + 297.73651123046875 + ], + [ + 27.573131561279297, + 304.91265869140625 + ], + [ + 24.507671356201172, + 291.1866760253906 + ], + [ + 29.774555206298828, + 259.005859375 + ], + [ + 33.8497314453125, + 246.84011840820312 + ], + [ + 54.0802001953125, + 230.16909790039062 + ], + [ + 76.19241333007812, + 215.84988403320312 + ], + [ + 99.57472229003906, + 204.73492431640625 + ], + [ + 129.40646362304688, + 209.7792205810547 + ], + [ + 141.44180297851562, + 217.60919189453125 + ], + [ + 140.05841064453125, + 220.23483276367188 + ], + [ + 140.8231658935547, + 220.89805603027344 + ], + [ + 147.65069580078125, + 225.33993530273438 + ], + [ + 147.34967041015625, + 225.87635803222656 + ], + [ + 147.67279052734375, + 226.11093139648438 + ], + [ + 147.20849609375, + 225.5487823486328 + ], + [ + 143.8009796142578, + 224.51243591308594 + ], + [ + 143.33489990234375, + 224.64251708984375 + ], + [ + 143.14089965820312, + 224.33309936523438 + ], + [ + 143.12026977539062, + 224.438720703125 + ], + [ + 143.4184112548828, + 224.90086364746094 + ], + [ + 143.54348754882812, + 225.1145782470703 + ], + [ + 139.79246520996094, + 221.48992919921875 + ], + [ + 142.22879028320312, + 227.1848907470703 + ], + [ + 141.98098754882812, + 221.433349609375 + ], + [ + 143.50718688964844, + 225.70263671875 + ], + [ + 143.86288452148438, + 225.7971649169922 + ], + [ + 143.81085205078125, + 225.6426544189453 + ] + ] +} \ No newline at end of file diff --git a/000493_v2/lang.txt b/000493_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..9913f1af6617d1d0c52846f46143389b2b430767 --- /dev/null +++ b/000493_v2/lang.txt @@ -0,0 +1 @@ +place the silver pot above the blue cloth diff --git a/000526/data.json b/000526/data.json new file mode 100644 index 0000000000000000000000000000000000000000..a4c7393e8b3a7297fdf8ce299f891190f9ad87c9 --- /dev/null +++ b/000526/data.json @@ -0,0 +1,678 @@ +{ + "action_start": 14, + "action_end": 26, + "object_name": "banana", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.40830299999999997, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 5.551115123125783e-17, + -1.0408340855860843e-17, + 1.3877787807814457e-17, + -3.935399331348711e-07, + -2.581207568530584e-07, + -9.033925488862728e-08, + 1.0 + ], + [ + -0.012064522102296693, + 0.003348707322526831, + -0.0006543014725992752, + 0.03620991795414158, + 0.002786511938053857, + -0.2871908235911436, + 1.0 + ], + [ + -0.011124459767716366, + 0.008381637924679955, + -0.0005243005088098607, + 0.11228163500709504, + -0.09814177001984455, + -0.32648276564903156, + 1.0 + ], + [ + -0.013412262369181027, + 0.016720625122985763, + -0.004419261203487436, + 0.013343792658513922, + 0.10722082976708064, + -0.33804603766424735, + 1.0 + ], + [ + -0.02175628251110595, + 0.013848123265789256, + -0.00710124244822187, + 0.05830095611400184, + 0.12543104878892508, + -0.3789178122909724, + 1.0 + ], + [ + -0.023243026745279227, + 0.0070620218895249415, + -0.0031048087548169456, + -0.011957293495102474, + 0.06144216116741439, + -0.2805982198956157, + 1.0 + ], + [ + -0.015987799606250686, + 0.009672792300546015, + 0.0035040956188188907, + -0.02786094197014585, + 0.09049639234244859, + -0.12078937991570404, + 1.0 + ], + [ + -0.012143780460345005, + -0.001695019184735358, + -0.009238119165498895, + -0.016291386954363753, + 0.051486157867498855, + -0.06434209432251593, + 1.0 + ], + [ + -0.01080673917610786, + -0.0033955690010583073, + -0.011111678162191427, + 0.01627263966556455, + 0.017755230722838578, + -0.04208693039843457, + 1.0 + ], + [ + -0.0022285027158943926, + -0.002221986192617032, + -0.009433504282530147, + -0.002425395293217047, + -6.191299214975043e-05, + -0.017149829862981827, + 1.0 + ], + [ + 0.0011824377299729238, + -0.005789894656973708, + -0.00791757599056278, + -0.01255502283796948, + 0.0018271126022518147, + 0.004437454162852423, + 1.0 + ], + [ + 0.00046667702539798794, + -0.0058050620052039065, + -0.005100707160253362, + -0.009838903377447207, + 0.00622508651039926, + -0.008512984693149983, + 1.0 + ], + [ + -0.001233413723342458, + -0.005630638954234244, + -0.004855235969261386, + -0.0028089473039191316, + 0.02200897482883384, + -0.006921916899112259, + 1.0 + ], + [ + -0.0027393218532835995, + -0.001197656766855175, + -0.007738142184706587, + 0.022226522226269356, + -0.003278684964035685, + -0.003627346823154738, + 1.0 + ], + [ + -0.000663992987550599, + -0.0020391604200242393, + -0.00951230107050062, + 0.019128629026965393, + -0.005261941193859677, + 0.005857445004957298, + 0.40830299999999997 + ], + [ + 0.002934717631661171, + -0.0008877385810865078, + -0.004028732797795354, + 0.003950099020196904, + -0.00821656847587974, + 0.015537568064008234, + 0.0 + ], + [ + 0.008857511180816957, + 0.002140680029517901, + 0.012761636941073476, + -0.02507677664554801, + -0.0068935763722299285, + 0.03379627410476124, + 0.0 + ], + [ + 0.010380679753760225, + 0.0015672055030401082, + 0.023405647542629488, + -0.042564095610065716, + -0.013088605614376638, + 0.05100655695702958, + 0.0 + ], + [ + 0.006019717764703336, + -0.004016115403867874, + 0.02289312092300272, + -0.0345594697436793, + -0.01764287733394488, + 0.0495161937802525, + 0.0 + ], + [ + 0.01896408261373389, + -0.00014020149761091033, + 0.021502703319159343, + -0.056088453353069785, + -0.05738234357718093, + 0.10038974497790686, + 0.0 + ], + [ + 0.034848740959260494, + 0.005556090727004248, + -0.0010376214064019146, + -0.0018116262809577655, + -0.03532085756890271, + 0.20025656152714577, + 0.0 + ], + [ + 0.02960476267555001, + 0.009575541818986677, + -0.004524621296576922, + -0.0006095605879124977, + -0.0229316902451929, + 0.12162220885191584, + 0.0 + ], + [ + 0.017547738903532784, + 0.01559610540773066, + -0.010571489252039476, + 0.011029380909421285, + 0.016920235646361567, + 0.06019126376298332, + 0.0 + ], + [ + 0.02623972629694049, + 0.013441958327724664, + -0.011520153847097023, + 0.008187386845848153, + -0.005996499741723114, + 0.05382670030635148, + 0.0 + ], + [ + 0.015794419150627403, + 0.012149371127448141, + -0.02098227788066074, + 0.004559942586115571, + 0.006970568360316574, + 0.054145215409527235, + 0.0 + ], + [ + 0.0047275260648241835, + 0.005830634472201307, + -0.015914254621714634, + 0.014600019520415222, + 0.005966190296351842, + 0.03052169468619667, + 0.0 + ], + [ + -0.00018037519777625022, + 0.0002882233232753689, + -0.006821750866970143, + -0.01532431659303703, + 0.02161012272586234, + 0.00200986442089539, + 0.0 + ], + [ + -0.0034426035167688385, + -0.00016230038448834805, + 0.0024924783984071486, + -0.020202647150162935, + 0.0031970955753792578, + 0.008735366485327042, + 1.0 + ], + [ + 7.611620152603304e-05, + 0.0018184182271018534, + 0.010996714020759073, + -0.0434113742454391, + -0.04613945757826002, + 0.03105129758657887, + 1.0 + ], + [ + 0.0015110361413303575, + -0.000795148537686502, + 0.022737724647540036, + 0.03397559915671982, + -0.13265039028551884, + 0.051842365309217625, + 1.0 + ], + [ + 0.0008816800908514888, + -0.01152480105116245, + 0.04153983380688883, + -0.07038239162101342, + -0.05012915559287346, + 0.09199789545152372, + 1.0 + ], + [ + -0.000609609862463778, + -0.006325336247444219, + 0.01414758245149221, + 0.03459664910282246, + 0.0175778118084518, + 0.0316290392076145, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 362.7549743652344, + 130.85165405273438 + ], + [ + 360.88775634765625, + 141.026611328125 + ], + [ + 344.35565185546875, + 165.93223571777344 + ], + [ + 314.6391906738281, + 172.27374267578125 + ], + [ + 313.3073425292969, + 183.6286163330078 + ], + [ + 262.9151916503906, + 192.73081970214844 + ], + [ + 223.52801513671875, + 214.42666625976562 + ], + [ + 201.31114196777344, + 219.6597900390625 + ], + [ + 184.25294494628906, + 226.74734497070312 + ], + [ + 185.05181884765625, + 248.05453491210938 + ], + [ + 186.01675415039062, + 259.03216552734375 + ], + [ + 193.58079528808594, + 266.0540771484375 + ], + [ + 200.88409423828125, + 272.7746887207031 + ], + [ + 207.65646362304688, + 279.7977294921875 + ], + [ + 212.93418884277344, + 288.24127197265625 + ], + [ + 214.02725219726562, + 298.3196105957031 + ], + [ + 204.971923828125, + 316.4267578125 + ], + [ + 209.63014221191406, + 311.87127685546875 + ], + [ + 227.59780883789062, + 269.1221618652344 + ], + [ + 226.65306091308594, + 236.19149780273438 + ], + [ + 240.5448455810547, + 203.8402557373047 + ], + [ + 257.10986328125, + 166.8582000732422 + ], + [ + 283.02398681640625, + 141.80682373046875 + ], + [ + 279.9262390136719, + 133.99642944335938 + ], + [ + 275.9327087402344, + 122.46347045898438 + ], + [ + 278.8643798828125, + 126.45008850097656 + ], + [ + 276.81494140625, + 141.38265991210938 + ], + [ + 276.98785400390625, + 150.22402954101562 + ], + [ + 278.927734375, + 152.4270782470703 + ], + [ + 279.10107421875, + 155.2987060546875 + ], + [ + 263.561279296875, + 136.28433227539062 + ], + [ + 260.6640625, + 101.7425308227539 + ], + [ + 260.64434814453125, + 73.23826599121094 + ], + [ + 276.9896240234375, + 74.83397674560547 + ] + ], + "depth_max": 2.4353885650634766, + "depth_min": 0.2355901598930359, + "intrinsic": [ + [ + 593.3956909179688, + 0.0, + 259.0 + ], + [ + 0.0, + 593.3021850585938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.6076564861577936e-05, + 1.2631018762476742e-05, + -3.625746103352867e-08 + ], + [ + -1.607584817975294e-05, + 1.0, + -5.6783839681884274e-05, + -1.1403586540836841e-05 + ], + [ + -1.2631931895157322e-05, + 5.678363595507108e-05, + 1.0, + 6.134098657639697e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33 + ], + "object_trajectory": [ + [ + 238.75, + 335.25 + ], + [ + 239.07730102539062, + 335.19818115234375 + ], + [ + 239.0951690673828, + 335.4052429199219 + ], + [ + 238.59677124023438, + 335.14178466796875 + ], + [ + 238.0196075439453, + 334.83648681640625 + ], + [ + 238.27114868164062, + 335.140625 + ], + [ + 238.11618041992188, + 334.90606689453125 + ], + [ + 238.32418823242188, + 334.46710205078125 + ], + [ + 238.27386474609375, + 334.44573974609375 + ], + [ + 238.59817504882812, + 334.6077575683594 + ], + [ + 238.71804809570312, + 334.38555908203125 + ], + [ + 238.92652893066406, + 334.3876037597656 + ], + [ + 239.79891967773438, + 334.06854248046875 + ], + [ + 240.6759796142578, + 333.61859130859375 + ], + [ + 241.7071533203125, + 334.6026611328125 + ], + [ + 241.6399383544922, + 333.93231201171875 + ], + [ + 232.51295471191406, + 330.586669921875 + ], + [ + 235.55966186523438, + 326.091796875 + ], + [ + 241.5693817138672, + 304.9562072753906 + ], + [ + 243.04205322265625, + 267.80926513671875 + ], + [ + 259.24114990234375, + 231.43942260742188 + ], + [ + 265.3109436035156, + 188.59524536132812 + ], + [ + 266.3262634277344, + 172.46214294433594 + ], + [ + 266.2843017578125, + 164.20375061035156 + ], + [ + 265.8763732910156, + 153.914794921875 + ], + [ + 266.6616516113281, + 155.89622497558594 + ], + [ + 265.3211669921875, + 169.52899169921875 + ], + [ + 265.314453125, + 176.76812744140625 + ], + [ + 267.5242919921875, + 179.14324951171875 + ], + [ + 266.5224914550781, + 177.6071014404297 + ], + [ + 269.695068359375, + 177.5105743408203 + ], + [ + 269.31982421875, + 176.53392028808594 + ], + [ + 269.0076904296875, + 176.8709716796875 + ], + [ + 271.46038818359375, + 175.54798889160156 + ] + ] +} \ No newline at end of file diff --git a/000526/lang.txt b/000526/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..14a3cfe9829c6e2f8e5c8d4ab078bbbf4258937c --- /dev/null +++ b/000526/lang.txt @@ -0,0 +1 @@ +take banana out of colander diff --git a/000526/object.ply b/000526/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..6d5783d3e30b79d48ff7a883ef6237d35cb7c5eb Binary files /dev/null and b/000526/object.ply differ diff --git a/000566/data.json b/000566/data.json new file mode 100644 index 0000000000000000000000000000000000000000..1e685e4aa410275230f8b78fe406c0c97c64a5b7 --- /dev/null +++ b/000566/data.json @@ -0,0 +1,696 @@ +{ + "action_start": 12, + "action_end": 27, + "object_name": "cucumber", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.6652009999999999, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 6.938893903907228e-18, + 0.0, + 6.097200785394031e-07, + -1.5746753082418787e-07, + -7.736378599289266e-07, + 1.0 + ], + [ + -0.021917023606805253, + 0.017560160796230927, + 0.015730482087891504, + 0.05152979352799605, + -0.06025610267115045, + 0.052630137135903476, + 1.0 + ], + [ + -0.026128817598692622, + 0.021050450420360883, + 0.015828335688134312, + 0.0336633926390078, + -0.004855719539581484, + 0.09007009671783196, + 1.0 + ], + [ + -0.02546569378491359, + 0.024037594219869382, + -0.006070320097247506, + -0.007918789720178348, + 0.047304042497269806, + 0.06740308161478673, + 1.0 + ], + [ + -0.019118327998050355, + 0.02652118725681825, + -0.013875022036897493, + -0.01205458641225426, + 0.0593466493860101, + 0.03281082545853037, + 1.0 + ], + [ + -0.015503334044866535, + 0.022306263695899525, + -0.015186773650192303, + -0.009412640527125392, + 0.0361663263267331, + -0.014374261972383198, + 1.0 + ], + [ + -0.01921720445830971, + 0.014412209507659396, + -0.005928924823681889, + -0.01822606032271176, + 0.011551519745529995, + -0.036068832962854014, + 1.0 + ], + [ + -0.013363485450847368, + 0.014298718544321881, + -0.006306719125875215, + -0.06267330924590987, + 0.0050058033556504, + -0.05217134101885449, + 1.0 + ], + [ + -0.002725273129911998, + 0.012522869578155432, + -0.011444066173618012, + 0.006607776189354951, + 0.035079325793421524, + -0.03274593680887239, + 1.0 + ], + [ + 0.003931895643350891, + 0.00934442924504153, + -0.010574782767741667, + -0.012200901402559809, + 0.001524322150282548, + -0.018343924737105492, + 1.0 + ], + [ + 0.009764886047428145, + 0.003920359226373793, + -0.008522185482794223, + 0.017436825856289754, + -0.02866067030748739, + -0.040972505808558414, + 1.0 + ], + [ + 0.009482675338471247, + 0.0034284591517348417, + -0.004507394207633464, + -0.013497664298113127, + -0.019156509458666437, + -0.00571920764912859, + 1.0 + ], + [ + 0.0030187491171764225, + 0.0023218157689045837, + -0.004043528410573899, + -0.008763016264889198, + 0.005047536959664649, + 0.01650973000335298, + 0.6652009999999999 + ], + [ + -0.0006648289789337736, + -0.004205896318049324, + -2.5302603324329273e-05, + -0.016961990783706863, + 0.008831608957710005, + 0.007269159207493153, + 0.0 + ], + [ + -0.004740135228380238, + -0.008774089183093692, + 0.005482285516209181, + -0.02105158558512584, + 0.04397446048465617, + 0.0010795346466131606, + 0.0 + ], + [ + -0.0018595927318870165, + -0.010365734611216232, + 0.009340555166066241, + 0.004271057004271661, + -0.0001423614481109662, + 0.005346352274760926, + 0.0 + ], + [ + 0.0010525587144250004, + -0.010019777929965529, + 0.015926279583643833, + -0.006431330342306262, + -0.02176112743805674, + 0.040391219688087635, + 0.0 + ], + [ + 0.0018257276303482173, + -0.018627373014124954, + 0.021710088686575223, + 0.01941268981108488, + -0.024071510152936754, + 0.02566571915396888, + 0.0 + ], + [ + 0.0019689587592195412, + -0.02596368994597359, + 0.021753928918724137, + 0.024733706292169047, + -0.06946994719365268, + -0.05259866333653023, + 0.0 + ], + [ + 0.001253095576717489, + -0.025579370249694644, + 0.011834920705451848, + 0.010538302349676043, + -0.08023579316086354, + -0.036086667130064504, + 0.0 + ], + [ + -0.00239153658368485, + -0.018058934555010606, + 0.003908630173126551, + 0.010753779426813598, + -0.03732041618682954, + -0.030831252034971154, + 0.0 + ], + [ + -0.0007706160977491994, + -0.01022187416813676, + -0.0028591623255966314, + -0.006442023082855561, + -0.036404461373561584, + -0.010976633340989946, + 0.0 + ], + [ + -0.0006026557330420235, + -0.010701898400752877, + -0.014078841470671455, + -0.026798396997012263, + -0.03656816489202677, + -0.030368148981320325, + 0.0 + ], + [ + -0.0002693930212673279, + -0.012807843973050514, + -0.00957409874234609, + 0.02615030179304342, + 0.011747269951825961, + -0.02416458666467041, + 0.0 + ], + [ + -0.0031272319116599223, + -0.004134144255432903, + -0.0001269443567137596, + 0.007323312587601345, + -0.020806192556662384, + -0.0048153160140464195, + 0.0 + ], + [ + -0.003047301205432007, + -0.0018361163501067618, + 0.0035109023794613475, + 0.000488023083807353, + -0.030896647551492525, + -0.0008673389130492215, + 0.0 + ], + [ + -0.0040525024896966855, + -0.00029213892005946346, + 0.0005118042442844861, + 0.007689789784087994, + -0.008838090846667616, + 0.00017078097025152438, + 0.0 + ], + [ + -0.0020037271213417807, + 0.0033769642797136443, + -0.0023135242248062265, + -0.0038210839853141617, + 0.0008085857960422907, + 0.010159422730977141, + 0.0 + ], + [ + 0.0004878734976579979, + -0.0012179775033881873, + -0.0018351724573896083, + 0.0030462895757338375, + 0.008342080209852663, + -0.0005922700285537934, + 1.0 + ], + [ + 0.0014385668936143237, + 0.0014088326507412652, + 0.0009844283154535338, + 0.00951971133488899, + 0.0069638429327277965, + 0.006710373806190801, + 1.0 + ], + [ + -0.0004999905796840287, + 0.0015271605381616676, + 0.0056902433914941125, + 0.013100843343770109, + -0.007259725013444961, + 0.010497020291792617, + 1.0 + ], + [ + -0.0001225623734182335, + 0.001807598070196939, + 0.008713245996927896, + -0.006040577319970562, + 0.037935502025610635, + 0.04025000378715266, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 337.8827819824219, + 73.69795989990234 + ], + [ + 336.9176025390625, + 80.12916564941406 + ], + [ + 320.5931396484375, + 117.36952209472656 + ], + [ + 285.5623474121094, + 93.67317962646484 + ], + [ + 237.21636962890625, + 97.29059600830078 + ], + [ + 192.08349609375, + 110.05210876464844 + ], + [ + 156.02642822265625, + 120.76276397705078 + ], + [ + 130.36282348632812, + 143.18405151367188 + ], + [ + 105.08353424072266, + 148.16917419433594 + ], + [ + 75.94395446777344, + 164.6392059326172 + ], + [ + 83.67996215820312, + 168.33367919921875 + ], + [ + 90.68186950683594, + 169.44528198242188 + ], + [ + 96.04644012451172, + 162.4847412109375 + ], + [ + 99.39242553710938, + 156.876708984375 + ], + [ + 101.28352355957031, + 155.00692749023438 + ], + [ + 98.610107421875, + 158.5111541748047 + ], + [ + 99.25636291503906, + 164.99215698242188 + ], + [ + 109.71849060058594, + 168.80899047851562 + ], + [ + 115.64827728271484, + 143.92269897460938 + ], + [ + 134.23300170898438, + 129.48904418945312 + ], + [ + 166.12033081054688, + 119.68336486816406 + ], + [ + 179.36749267578125, + 121.64692687988281 + ], + [ + 183.64324951171875, + 129.91928100585938 + ], + [ + 198.6673583984375, + 151.45928955078125 + ], + [ + 208.16725158691406, + 165.71568298339844 + ], + [ + 233.41546630859375, + 181.9901123046875 + ], + [ + 220.72027587890625, + 176.96121215820312 + ], + [ + 219.44058227539062, + 180.69195556640625 + ], + [ + 218.56143188476562, + 182.2813720703125 + ], + [ + 217.95355224609375, + 182.23806762695312 + ], + [ + 215.4444122314453, + 182.86367797851562 + ], + [ + 210.905029296875, + 185.80926513671875 + ], + [ + 206.86196899414062, + 171.2317352294922 + ], + [ + 206.59713745117188, + 170.34396362304688 + ], + [ + 206.48220825195312, + 170.35504150390625 + ] + ], + "depth_max": 1.7200921773910522, + "depth_min": 0.5033767819404602, + "intrinsic": [ + [ + 583.9539184570312, + 0.0, + 259.0 + ], + [ + 0.0, + 583.3988647460938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -2.885641879402101e-05, + 5.056547888671048e-05, + 2.3440963559551165e-05 + ], + [ + 2.8852937248302624e-05, + 1.0, + 6.889873475302011e-05, + -2.7118589059682563e-05 + ], + [ + -5.056746522313915e-05, + -6.889727956149727e-05, + 1.0, + 6.968043453525752e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 34 + ], + "object_trajectory": [ + [ + 90.75, + 175.25 + ], + [ + 90.89848327636719, + 175.4991912841797 + ], + [ + 90.93685150146484, + 175.52659606933594 + ], + [ + 90.76103210449219, + 175.63861083984375 + ], + [ + 90.70543670654297, + 175.6982879638672 + ], + [ + 90.47813415527344, + 175.78765869140625 + ], + [ + 90.08708190917969, + 175.9380645751953 + ], + [ + 90.4764175415039, + 175.95401000976562 + ], + [ + 90.42152404785156, + 176.1497344970703 + ], + [ + 90.31631469726562, + 176.68374633789062 + ], + [ + 90.24736022949219, + 177.3326416015625 + ], + [ + 90.23065948486328, + 177.6978759765625 + ], + [ + 90.3350830078125, + 177.1812286376953 + ], + [ + 89.54144287109375, + 177.70285034179688 + ], + [ + 97.26240539550781, + 181.08985900878906 + ], + [ + 89.24886322021484, + 181.23890686035156 + ], + [ + 89.0284423828125, + 187.60610961914062 + ], + [ + 98.6664047241211, + 189.73828125 + ], + [ + 111.65105438232422, + 170.19667053222656 + ], + [ + 126.33928680419922, + 159.0203094482422 + ], + [ + 162.6502227783203, + 159.01779174804688 + ], + [ + 175.27944946289062, + 164.95635986328125 + ], + [ + 181.06741333007812, + 174.63519287109375 + ], + [ + 197.3717498779297, + 196.23434448242188 + ], + [ + 205.9803466796875, + 209.6668701171875 + ], + [ + 228.25990295410156, + 225.16708374023438 + ], + [ + 217.07708740234375, + 221.9782257080078 + ], + [ + 216.07305908203125, + 225.5292205810547 + ], + [ + 214.6497802734375, + 228.2375946044922 + ], + [ + 202.48226928710938, + 246.69601440429688 + ], + [ + 213.18214416503906, + 247.03610229492188 + ], + [ + 209.0945281982422, + 246.49794006347656 + ], + [ + 206.0612335205078, + 246.62271118164062 + ], + [ + 206.11358642578125, + 245.25424194335938 + ], + [ + 206.31358337402344, + 245.5964813232422 + ] + ] +} \ No newline at end of file diff --git a/000566/lang.txt b/000566/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..b81d8865774dbaabe1139af78cecb0615036ad9a --- /dev/null +++ b/000566/lang.txt @@ -0,0 +1 @@ +put cucumber in cup diff --git a/000566/object.ply b/000566/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..4578b86790a8881c3b1e19387c4d0c1c833fb4c6 Binary files /dev/null and b/000566/object.ply differ diff --git a/000572_v2/FAIL b/000572_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/000572_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/000619_v2/FAIL b/000619_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000619_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000641_v2/FAIL b/000641_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000641_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000684/data.json b/000684/data.json new file mode 100644 index 0000000000000000000000000000000000000000..33a492b681f50f04db547282a754eb46d4bce500 --- /dev/null +++ b/000684/data.json @@ -0,0 +1,604 @@ +{ + "action_start": 10, + "action_end": 21, + "object_name": "sushi", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -8.247597049759747e-11, + 2.6628272850603985e-10, + 9.357615654570495e-10, + 4.978114721664409e-07, + -2.2025415613446126e-07, + -3.703022625275433e-07, + 1.0 + ], + [ + -0.01476115050239496, + 0.029584469041679523, + -0.0015323553488574976, + 0.09325989179555838, + 0.020795345987114598, + -0.0785670965596204, + 1.0 + ], + [ + -0.008616290951476424, + 0.03220454258902924, + -0.009745134655681803, + 0.08485637087993196, + -0.021679344959064227, + -0.1606487069166785, + 1.0 + ], + [ + -0.002833189666033298, + 0.04183606647202151, + -0.01568396313270963, + 0.11418113397946998, + 0.02324743026994417, + -0.14162140685075403, + 1.0 + ], + [ + 0.004949573275515318, + 0.029046562167721918, + -0.010803723968281276, + 0.031196838271827725, + 0.03645844354382806, + -0.1169307066972221, + 1.0 + ], + [ + 0.008052641757193335, + 0.013983158042768812, + -0.014889850295258578, + -0.010293810328203206, + 0.025655351219790505, + -0.02478692138038687, + 1.0 + ], + [ + -0.0004502888108279257, + 0.004232577852174152, + -0.016089909147252557, + -0.022595487295963456, + 0.041956865038987344, + 0.012452416944387888, + 1.0 + ], + [ + -0.003947605287857148, + 0.0017675383866140315, + -0.009079509140306082, + -0.02866207780645306, + 0.03068246722258782, + 0.009964747806663822, + 1.0 + ], + [ + -0.0021811415329766604, + -0.0025518623931713724, + -0.01324766504735048, + -0.019456792003136037, + 0.014321662610972383, + 0.004878906747886762, + 1.0 + ], + [ + 0.006148502650975718, + -0.00206497505588496, + -0.007940782282723012, + 0.010990005583774078, + 0.0005925048357995, + 0.004796903956150836, + 1.0 + ], + [ + 0.006244910857521824, + 0.0016611763202712404, + -0.005650585138302624, + -0.009556056211226812, + -0.017679569136485076, + 0.030391510013456687, + 1.0 + ], + [ + 0.0033637886115405746, + -0.0019909595420415094, + -0.001519899089516519, + 0.00215311961359038, + -0.026844814438046632, + 0.01145901776109825, + 0.0 + ], + [ + -0.005187448913178461, + -0.010504299932980854, + 0.017938579501097375, + 0.02293064376440096, + -0.04494736050265495, + 0.021536738339297506, + 0.0 + ], + [ + -0.010751906343635709, + -0.016914257486101647, + 0.023134693329252578, + -0.03727566866926262, + -0.05501273260913397, + 0.05959108742504927, + 0.0 + ], + [ + -0.016217491849625454, + -0.023241176553585263, + 0.01661490867748284, + -0.023528953923328242, + 0.0034713355183518973, + 0.06906952163045144, + 0.0 + ], + [ + -0.02249716531142304, + -0.02833876600643602, + 0.011387597760678068, + -0.07954308017464963, + -0.011922562292004274, + -0.020754688583069784, + 0.0 + ], + [ + -0.015142045999191722, + -0.035742490553272034, + 0.0018869752630951836, + -0.047775935550896716, + -0.017212504272797257, + -0.11300237582984528, + 0.0 + ], + [ + -0.01233657343522973, + -0.034673796588743644, + -0.008366596719681693, + -0.10939342109427476, + 0.017292672365154534, + -0.12598304352523104, + 0.0 + ], + [ + -0.0068387341639412624, + -0.024418083024689306, + -0.017492861338944496, + -0.02309493480042722, + 0.031404977583817065, + -0.099795696879413, + 0.0 + ], + [ + 0.003922794976830096, + -0.018278538767408103, + -0.012648489267993807, + 0.001705448624647542, + 0.007659006075645986, + -0.07036897925930065, + 0.0 + ], + [ + 0.008034530028217857, + -0.007266877290365195, + -0.010090403402113299, + -0.049020415011224686, + -0.011124694583557675, + -0.06674110173692271, + 0.0 + ], + [ + 0.01114304743163852, + -0.006023479521474258, + -0.007986250226694837, + 0.002781993453641348, + -0.014563865562149857, + -0.0676079125002293, + 0.0 + ], + [ + 0.009082622231789517, + 0.0013457594873423212, + -0.0014469692193337484, + 0.017624749434236753, + -0.00413524627761373, + 0.011036071542212866, + 1.0 + ], + [ + 0.0008342147461178617, + 0.00468855735456758, + 0.00802644197874754, + 0.014639934676635753, + -0.02623476749049373, + 0.026364105993871855, + 1.0 + ], + [ + 0.00016949735077992356, + 0.009271062374141409, + 0.025052532359006015, + 0.003467327670209492, + -0.04624016365443097, + 0.052947145986141524, + 1.0 + ], + [ + -0.003135377951955426, + 0.013114383800227988, + 0.02982920845704727, + -0.002624265290770971, + -0.02834130157341848, + 0.09311177400650086, + 1.0 + ], + [ + -0.003851497503869261, + 0.01599813038334441, + 0.021094129794834424, + 0.00027513962624474186, + -0.009426436659337236, + 0.092976741399232, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 337.3490295410156, + 112.48127746582031 + ], + [ + 336.54052734375, + 119.99913024902344 + ], + [ + 309.28265380859375, + 142.4778289794922 + ], + [ + 251.7954864501953, + 142.17965698242188 + ], + [ + 202.5333709716797, + 133.779296875 + ], + [ + 177.04638671875, + 137.3561248779297 + ], + [ + 162.754150390625, + 138.0602569580078 + ], + [ + 162.60162353515625, + 152.89193725585938 + ], + [ + 166.79513549804688, + 164.89859008789062 + ], + [ + 169.31353759765625, + 177.82296752929688 + ], + [ + 171.76817321777344, + 186.19146728515625 + ], + [ + 178.62615966796875, + 182.83489990234375 + ], + [ + 181.4954833984375, + 178.3973388671875 + ], + [ + 183.17153930664062, + 181.0495147705078 + ], + [ + 178.51646423339844, + 177.83485412597656 + ], + [ + 177.16432189941406, + 170.98748779296875 + ], + [ + 194.90760803222656, + 185.72979736328125 + ], + [ + 207.085205078125, + 208.2536163330078 + ], + [ + 246.73727416992188, + 246.0821075439453 + ], + [ + 277.11614990234375, + 285.34527587890625 + ], + [ + 303.3443298339844, + 308.94146728515625 + ], + [ + 331.63177490234375, + 306.6311950683594 + ], + [ + 340.9302673339844, + 297.6614990234375 + ], + [ + 349.5746765136719, + 296.80902099609375 + ], + [ + 354.1982421875, + 319.4739990234375 + ], + [ + 346.056884765625, + 297.81658935546875 + ], + [ + 325.7975158691406, + 263.35577392578125 + ], + [ + 295.035888671875, + 225.85775756835938 + ], + [ + 274.9637756347656, + 211.3026123046875 + ], + [ + 279.6770935058594, + 214.45526123046875 + ] + ], + "depth_max": 2.6308646202087402, + "depth_min": 0.06965981423854828, + "intrinsic": [ + [ + 563.3861694335938, + 0.0, + 259.0 + ], + [ + 0.0, + 562.0775146484375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -8.273351704701781e-05, + -0.00015116082795429975, + 5.1332513976376504e-05 + ], + [ + 8.27361800475046e-05, + 1.0, + 1.765181150403805e-05, + -1.9249007891630754e-05 + ], + [ + 0.0001511593727627769, + -1.7664320694166236e-05, + 1.0, + 0.0001142141263699159 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 29 + ], + "object_trajectory": [ + [ + 172.5, + 196.50001525878906 + ], + [ + 172.5411376953125, + 196.6295623779297 + ], + [ + 172.47933959960938, + 196.77655029296875 + ], + [ + 172.88134765625, + 196.76171875 + ], + [ + 173.58554077148438, + 196.92172241210938 + ], + [ + 173.73416137695312, + 197.46669006347656 + ], + [ + 173.60313415527344, + 197.42892456054688 + ], + [ + 173.57618713378906, + 197.45538330078125 + ], + [ + 173.729736328125, + 196.48541259765625 + ], + [ + 173.2786865234375, + 196.26063537597656 + ], + [ + 172.52210998535156, + 200.19920349121094 + ], + [ + 167.600341796875, + 196.0889892578125 + ], + [ + 173.5116729736328, + 192.00694274902344 + ], + [ + 171.83477783203125, + 197.27658081054688 + ], + [ + 167.1710205078125, + 200.4064483642578 + ], + [ + 160.91342163085938, + 195.2824249267578 + ], + [ + 176.6839599609375, + 208.8862762451172 + ], + [ + 182.36245727539062, + 235.4654083251953 + ], + [ + 203.15988159179688, + 277.2222900390625 + ], + [ + 224.239013671875, + 312.87060546875 + ], + [ + 261.5880126953125, + 329.05853271484375 + ], + [ + 282.72283935546875, + 352.42059326171875 + ], + [ + 281.3269958496094, + 331.8566589355469 + ], + [ + 295.56463623046875, + 337.60369873046875 + ], + [ + 122.97674560546875, + 310.7378845214844 + ], + [ + 128.09341430664062, + 307.215087890625 + ], + [ + 122.74261474609375, + 309.9742736816406 + ], + [ + 122.42193603515625, + 310.3907775878906 + ], + [ + 123.39086151123047, + 310.410888671875 + ], + [ + 122.76297760009766, + 310.6336669921875 + ] + ] +} \ No newline at end of file diff --git a/000684/lang.txt b/000684/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..272b39e5cf14c2638c6610dac0f4e40aa4aafaf1 --- /dev/null +++ b/000684/lang.txt @@ -0,0 +1 @@ +put sushi on plate diff --git a/000684/object.ply b/000684/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..46ef58fc1bbce10e22d886d161a21c13e5363458 Binary files /dev/null and b/000684/object.ply differ diff --git a/000696/data.json b/000696/data.json new file mode 100644 index 0000000000000000000000000000000000000000..4e78dac452da01cd9f8abeaa9734dbcd5f840c35 --- /dev/null +++ b/000696/data.json @@ -0,0 +1,549 @@ +{ + "action_start": 10, + "action_end": 20, + "object_name": "sushi", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.157265, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.4541712278770547e-10, + -1.5862441221647927e-10, + -3.209613130827904e-12, + 1.1015008256101093e-07, + -7.914054528321642e-07, + 4.704586746067687e-07, + 1.0 + ], + [ + 0.011147638259386361, + -0.025017010533575752, + 0.006500801887272867, + -0.022761368760483965, + -0.024157705409077912, + -0.07761348133775586, + 1.0 + ], + [ + 0.013941448714529736, + -0.026445048121556052, + 0.006938909260632814, + -0.029295529375232745, + -0.02490383150744693, + -0.07754307165157978, + 1.0 + ], + [ + 0.016753494196466323, + -0.034492690664119204, + -0.00033677228632232603, + -0.06560244820998115, + -0.04787181821643724, + -0.08970023918163869, + 1.0 + ], + [ + 0.01429863927440711, + -0.038487383534483846, + -0.0068816700821690835, + -0.04937260222292692, + 0.0007615174865874048, + -0.059191298497967504, + 1.0 + ], + [ + 0.004115764477724937, + -0.0243563243136466, + -0.007682236002121465, + -0.006726582031325802, + 0.014479644364700664, + 0.0003442901135556002, + 1.0 + ], + [ + -0.0006814074561173888, + -0.011954074649363863, + -0.009605152750285853, + -0.005171577747551635, + -0.01325908324812268, + 0.004723626125396549, + 1.0 + ], + [ + 0.0005398807826584862, + -0.0024402867936677564, + -0.017479620674820916, + 0.01789794342312162, + 0.04464716299173901, + 0.02254956552695282, + 1.0 + ], + [ + 0.0006813318261545964, + -0.003770539220313701, + -0.01361495408421811, + 0.010048047002431618, + 0.02210882716539934, + -0.007942321639556594, + 1.0 + ], + [ + -0.0016092797867516828, + -0.00017299481920093895, + -0.01230757642474413, + 3.3544432635518884e-05, + 0.0010729853444979953, + 0.01016840537983717, + 1.0 + ], + [ + 0.003405309582152627, + 0.0009029694876620947, + -0.0015667906780910332, + -0.009384740065989388, + -0.0659894415946414, + 0.010231913624032472, + 1.0 + ], + [ + 0.0023944800629617236, + 0.004750670580054545, + 0.00044374225794954064, + -0.03304865908835089, + -0.05509706253796273, + -0.0013887605075028815, + 0.0 + ], + [ + -0.0016860653401717385, + 0.004106213319007887, + 0.0035292083400695943, + 0.01530309962185839, + -0.00995061409801021, + -0.000979691377151131, + 0.0 + ], + [ + -0.006582346127012362, + 0.024413823145253713, + 0.025999338364345898, + 0.028743140048769884, + -0.04165492795044002, + 0.06697610811221971, + 0.0 + ], + [ + 0.002295389065620268, + 0.03732922302162352, + 0.01564368015847389, + 0.03029758852634871, + -0.019371851520017067, + 0.10083861476490989, + 0.0 + ], + [ + 0.009160593154171615, + 0.03434651105229186, + 0.003688383426560367, + 0.0011985531071747775, + -0.002360630644961203, + 0.09927869418984216, + 0.0 + ], + [ + 0.006702206705680114, + 0.028472505175744088, + -0.0067568819350165565, + -0.010060309029293554, + 0.013757173814543642, + 0.07272180422248879, + 0.0 + ], + [ + 0.005302884571726507, + 0.014479635515188848, + -0.012797009724506911, + -0.009553270741025386, + 0.026507365615890743, + 0.03403002315841185, + 0.0 + ], + [ + 0.0033276554027817373, + 0.001836417138625781, + -0.01284950214810126, + -0.011048715355723111, + 0.026464992974817584, + -0.011196686618234973, + 0.0 + ], + [ + 0.0018728258246523133, + -0.003133775178375219, + -0.010958488944617133, + -0.0190339028774006, + 0.008929454864817946, + -0.011599503114105398, + 0.0 + ], + [ + 0.002124787469498346, + -0.004513655082260353, + -0.0032893360416952656, + -0.02284551138071586, + -0.015660390294140732, + -0.004140714603310803, + 0.157265 + ], + [ + -1.7934504137506746e-05, + -0.002741557410187563, + -0.0005355917615746889, + -0.006535041180619077, + 0.0025492638722285294, + -0.005637389520564766, + 1.0 + ], + [ + -0.004535018765724208, + 0.0009394677923954646, + 0.016823532937633667, + 0.032873608395776695, + -0.028581446127410783, + 0.023005797058050424, + 1.0 + ], + [ + -0.0017786238195686144, + -0.0026398501735260364, + 0.02432453209966886, + 0.025662853636894634, + -0.044658744402100436, + -0.0019224909130555353, + 1.0 + ], + [ + -0.0015869721218402244, + -0.0046522936876544265, + 0.028592838602497367, + 0.021463746695847916, + -0.03599487107443802, + -0.02024412568361178, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 211.17648315429688, + 213.41229248046875 + ], + [ + 210.79888916015625, + 216.511962890625 + ], + [ + 222.072998046875, + 221.261474609375 + ], + [ + 291.36895751953125, + 218.09288024902344 + ], + [ + 342.71734619140625, + 215.48487854003906 + ], + [ + 399.536376953125, + 222.29710388183594 + ], + [ + 469.8040771484375, + 252.61712646484375 + ], + [ + 488.4005126953125, + 268.88482666015625 + ], + [ + 482.84039306640625, + 288.53668212890625 + ], + [ + 482.65423583984375, + 299.53680419921875 + ], + [ + 483.39727783203125, + 309.5992431640625 + ], + [ + 477.5814514160156, + 317.0618896484375 + ], + [ + 481.3385009765625, + 321.1368713378906 + ], + [ + 474.6778869628906, + 323.14678955078125 + ], + [ + 454.25067138671875, + 306.22930908203125 + ], + [ + 407.78369140625, + 255.47265625 + ], + [ + 355.87603759765625, + 225.3301544189453 + ], + [ + 324.2298583984375, + 204.37200927734375 + ], + [ + 301.79022216796875, + 203.45016479492188 + ], + [ + 292.4969482421875, + 210.1551513671875 + ], + [ + 298.56036376953125, + 222.2938232421875 + ], + [ + 307.0462646484375, + 226.1014404296875 + ], + [ + 308.6116943359375, + 226.61756896972656 + ], + [ + 305.82220458984375, + 227.5198974609375 + ], + [ + 304.8497009277344, + 205.23428344726562 + ], + [ + 308.4024353027344, + 183.50765991210938 + ], + [ + 315.9881286621094, + 173.0867462158203 + ] + ], + "depth_max": 1.5576679706573486, + "depth_min": 0.2319725602865219, + "intrinsic": [ + [ + 686.8860473632812, + 0.0, + 259.0 + ], + [ + 0.0, + 682.7236938476562, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -2.9272625397425145e-05, + 4.3727010051952675e-05, + -6.044886504241731e-06 + ], + [ + 2.92713193630334e-05, + 1.0, + 2.9835120585630648e-05, + 7.280648787855171e-06 + ], + [ + -4.372788316686638e-05, + -2.983384001709055e-05, + 1.0, + 1.9376069758436643e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 26 + ], + "object_trajectory": [ + [ + 482.0, + 306.2500305175781 + ], + [ + 482.05694580078125, + 306.3363037109375 + ], + [ + 482.0150146484375, + 306.25445556640625 + ], + [ + 482.2960205078125, + 306.1504821777344 + ], + [ + 481.7919616699219, + 307.0435791015625 + ], + [ + 481.6788024902344, + 307.42828369140625 + ], + [ + 481.35821533203125, + 307.551025390625 + ], + [ + 481.7328796386719, + 307.6907043457031 + ], + [ + 481.6346130371094, + 307.59954833984375 + ], + [ + 481.4404296875, + 307.3733825683594 + ], + [ + 481.487548828125, + 306.135986328125 + ], + [ + 481.76605224609375, + 307.0234069824219 + ], + [ + 485.8433837890625, + 308.02215576171875 + ], + [ + 482.8431091308594, + 309.341796875 + ], + [ + 463.97802734375, + 294.8774108886719 + ], + [ + 415.6092834472656, + 245.94366455078125 + ], + [ + 361.4007263183594, + 216.6322021484375 + ], + [ + 330.70440673828125, + 196.19898986816406 + ], + [ + 308.67193603515625, + 194.57968139648438 + ], + [ + 299.71923828125, + 202.228515625 + ], + [ + 305.7079162597656, + 216.02920532226562 + ], + [ + 314.80859375, + 218.92147827148438 + ], + [ + 316.7685852050781, + 225.96182250976562 + ], + [ + 315.93359375, + 227.58218383789062 + ], + [ + 315.5482482910156, + 227.15472412109375 + ], + [ + 316.0567321777344, + 226.05563354492188 + ], + [ + 317.2160339355469, + 224.86216735839844 + ] + ] +} \ No newline at end of file diff --git a/000696/lang.txt b/000696/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..272b39e5cf14c2638c6610dac0f4e40aa4aafaf1 --- /dev/null +++ b/000696/lang.txt @@ -0,0 +1 @@ +put sushi on plate diff --git a/000696/object.ply b/000696/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..d4b63839fc39170187607cc11038e5ce70c80961 Binary files /dev/null and b/000696/object.ply differ diff --git a/000711_v2/FAIL b/000711_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/000711_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/000715_v2/FAIL b/000715_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/000715_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/000745_v2/FAIL b/000745_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/000745_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/000764/FAIL b/000764/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000764/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000776_v2/FAIL b/000776_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/000776_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/000780_v2/FAIL b/000780_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/000780_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/000785_v2/FAIL b/000785_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/000785_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/000790_v2/data.json b/000790_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..c7a885004e2bdc42b410bf930fc961388a54c479 --- /dev/null +++ b/000790_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 14, + "action_end": 33, + "object_name": "blue spoon", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.527228, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.551115123125783e-17, + 6.938893903907228e-18, + 0.0, + 2.7906011793995713e-07, + -4.842491682665894e-07, + 2.5378773108353685e-07, + 1.0 + ], + [ + 0.0010438667501054266, + -0.01797832309168576, + 0.0019663398990836523, + 0.038692109310500926, + 0.007638615525220276, + -0.18159811956319225, + 1.0 + ], + [ + 0.0001923448059027999, + -0.003986853753269411, + 0.004823228411091535, + 0.02371931716596039, + -0.008499370627915994, + -0.10321914302508037, + 1.0 + ], + [ + -0.009126654637116927, + 0.0009524823928792614, + 0.011329243200960418, + 0.046083542935865626, + -0.01593186996642216, + -0.09745831360390517, + 1.0 + ], + [ + -0.014184084826553145, + -0.00023982219970278273, + 0.010835786610962801, + 0.09900176153771705, + 0.07063060346889943, + -0.08946976771817111, + 1.0 + ], + [ + -0.010391813763612312, + -0.0008941756286104802, + -0.00028302489869377195, + 0.03193023119189308, + 0.07058415581597163, + -0.10299317283561132, + 1.0 + ], + [ + -0.017191611996653144, + -0.003024513640144791, + -0.004839747172451489, + 0.026651731847126506, + 0.04962882996619484, + -0.04938731130069757, + 1.0 + ], + [ + -0.011576976446103115, + 0.0007774554313484255, + -0.002617548655802618, + 0.057111654230685226, + 0.009286535936791416, + -0.024069079746713355, + 1.0 + ], + [ + -0.015880182091882522, + -0.003057969023042187, + -0.010307211365819524, + 0.02061359871286223, + 0.022942746407475262, + -0.028847137224293024, + 1.0 + ], + [ + -0.005798418918401466, + 0.0002221507459197261, + -0.020751550589595255, + 0.014069407329610633, + -0.0029976275449230343, + 0.0010236032956716591, + 1.0 + ], + [ + -0.012325319369713705, + 0.0031250555444801223, + -0.022485526367996972, + 0.017643100383677755, + 0.015415383046651925, + 0.03967390263057418, + 1.0 + ], + [ + -0.011410460732372507, + 0.0006103642292032072, + -0.016392233946244, + 0.012457377341556067, + -0.0081536560922111, + 0.025232232300081717, + 1.0 + ], + [ + -0.0082435275596828, + 0.0039165903469005545, + -0.008855017733761697, + 0.018487239161203383, + 0.002261524967789602, + 0.028903833030157915, + 1.0 + ], + [ + 7.12078130155891e-05, + 0.0017263136935160989, + -0.0038996734197635167, + 0.005029638144400281, + 0.01330828905235644, + -0.0014621325458766472, + 1.0 + ], + [ + 0.0067434009162932185, + 0.0030930368162841518, + -0.0017714605071593968, + 0.002439988209255887, + -0.0020805742698413567, + -0.014858527287297007, + 0.527228 + ], + [ + 0.0031759143000838763, + 0.000754712259191756, + 0.0002200549730509752, + 0.0029921466158918416, + 0.003723440379815377, + -0.0010464782133355844, + 0.0 + ], + [ + 0.002635076734179731, + -0.0003513059509835381, + -0.0007775891051419366, + -0.0037303158822288842, + 0.014026112151126762, + -0.007943460578892593, + 0.0 + ], + [ + 0.0017661360600552123, + -0.0014300621845259875, + -1.4333925859293041e-05, + -0.012342922005829779, + 0.00679641669236653, + -0.007404340206564122, + 0.0 + ], + [ + 0.007257084324675728, + -0.002162317220926052, + 0.005782405115374671, + -0.022677909505100645, + -0.0025870371725867118, + 0.017721769370762096, + 0.0 + ], + [ + 0.011328280328116475, + -0.007352499027574622, + 0.00845458318137341, + -0.030899513281091574, + -0.0204283236641091, + 0.031038944302197294, + 0.0 + ], + [ + 0.015089167353286276, + -0.01176751643760783, + 0.012159637590565835, + -0.03213722003460378, + -0.028340274998477938, + 0.06786771473388346, + 0.0 + ], + [ + 0.0236073761652002, + -0.008466558951256545, + 0.0105128789666908, + 0.0022822886295783378, + -0.025850565980315463, + 0.0653535779872455, + 0.0 + ], + [ + 0.02463106727411682, + -0.010932755788001, + 0.0025379075007536216, + -0.009607548934508622, + -0.013609094488814453, + 0.09198550469528416, + 0.0 + ], + [ + 0.012117995985528374, + -0.020735543056525176, + -0.0005854900072184699, + -0.01980349470577062, + -0.021038349613969352, + 0.10160193928801449, + 0.0 + ], + [ + 0.0008235580014728239, + -0.031515343801472175, + -0.008133041364040049, + -0.054894482937336724, + 0.002579252073317282, + 0.1060144255177661, + 0.0 + ], + [ + -0.007858742824438159, + -0.027809342296006637, + -0.004074210212047846, + -0.022614258552089317, + -0.003710682327537493, + 0.09474111135063665, + 0.0 + ], + [ + -0.005614891245386833, + -0.013158414020293024, + -0.0032871030825476592, + -0.023668320259580548, + 0.004216332522134442, + 0.07259073959288032, + 0.0 + ], + [ + -0.0028284478102360566, + -0.008803728656714513, + 0.0023786698074619132, + -0.014017452342346519, + -0.0009196446461734638, + 0.1367566087571026, + 0.0 + ], + [ + 0.004520316319249151, + 0.005350880989268142, + 0.0015313304586895907, + 0.009990254636711157, + -0.003631854998591053, + 0.054036186346034076, + 0.0 + ], + [ + 0.004157834458355603, + 0.007584039875449061, + -0.0034288064703355027, + 0.006732675698859627, + 0.0018746830161100352, + 0.021950816983311784, + 0.0 + ], + [ + 0.0024607006338178694, + 0.007262151616247742, + -0.0073133935296152055, + 0.012171029423210421, + 0.015431829766422722, + -0.0005730683050599844, + 0.0 + ], + [ + 0.0017546298277975048, + 0.00576007151364763, + -0.009167937793632803, + 0.007603663902776856, + 0.01729791725419954, + 0.008817042040553861, + 0.0 + ], + [ + 0.0034367372658792306, + 0.004762367958191682, + -0.004690434540271235, + 0.006444630089927962, + 0.006757940609161501, + -0.0005248119253003584, + 0.0 + ], + [ + 0.004705958678557887, + 0.004061317253804514, + -0.0006308660919596329, + -0.019576171675839114, + 0.0006622076097856482, + -0.007726950477898815, + 0.0 + ], + [ + 0.0038466471889208043, + 0.00010271139632245241, + 0.003920419065547081, + 0.007310133240195371, + -0.014756885408318274, + -0.004452635062188161, + 1.0 + ], + [ + 0.0001748851897913628, + 0.0002626935265219177, + 4.980233337337778e-05, + 0.004618990515064265, + -0.0019037374797532549, + -0.005869522073896243, + 1.0 + ], + [ + 0.0006093846678250081, + 0.00018909019683527317, + 0.0010027106705361617, + 0.003679306435127996, + -0.006413789550215054, + -0.0032636906584941425, + 1.0 + ], + [ + 0.004298181475417662, + -0.0019873668607637285, + 0.00517889556168504, + 0.007276842932818221, + -0.021249359464601898, + -0.01962493871507476, + 1.0 + ], + [ + 0.001555083291577053, + -0.005779852720361717, + 0.011553047564670611, + 0.0034800894058018253, + -0.025597962710423312, + -0.0005039219078697198, + 1.0 + ], + [ + 0.00144396332191854, + -0.008894041639113087, + 0.015935513219879762, + -0.022284417166351204, + -0.05377164328193912, + -0.0032116053318037513, + 1.0 + ], + [ + -0.005451569453400251, + -0.005074230772282695, + 0.015295040491503195, + -0.035191500790470814, + -0.04052372425285194, + 0.022721473413665393, + 1.0 + ], + [ + -0.010417161298488742, + -0.0002279177772303853, + 0.014799401108294759, + -0.02205227023459361, + -0.03430313548385927, + 0.018536584179206547, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 311.991943359375, + 164.36883544921875 + ], + [ + 308.058837890625, + 181.82080078125 + ], + [ + 309.00457763671875, + 212.54898071289062 + ], + [ + 315.9610900878906, + 205.20050048828125 + ], + [ + 314.5666809082031, + 209.39520263671875 + ], + [ + 322.3824462890625, + 211.79249572753906 + ], + [ + 324.4156494140625, + 210.432373046875 + ], + [ + 319.8377380371094, + 217.89727783203125 + ], + [ + 329.39471435546875, + 231.35374450683594 + ], + [ + 317.94525146484375, + 260.19403076171875 + ], + [ + 303.245849609375, + 287.43853759765625 + ], + [ + 285.8399658203125, + 328.0855712890625 + ], + [ + 281.399658203125, + 364.46990966796875 + ], + [ + 271.0827331542969, + 379.1964416503906 + ], + [ + 268.38446044921875, + 385.4244079589844 + ], + [ + 265.8814697265625, + 390.9570007324219 + ], + [ + 265.4486999511719, + 389.22418212890625 + ], + [ + 271.4385070800781, + 383.9609375 + ], + [ + 277.7400207519531, + 380.078857421875 + ], + [ + 284.3516540527344, + 376.2234802246094 + ], + [ + 297.7613220214844, + 362.2046203613281 + ], + [ + 319.35650634765625, + 330.91619873046875 + ], + [ + 335.3717956542969, + 298.1263427734375 + ], + [ + 361.2376708984375, + 277.7652587890625 + ], + [ + 390.37548828125, + 276.5106201171875 + ], + [ + 425.79254150390625, + 295.3837585449219 + ], + [ + 466.66082763671875, + 312.6517333984375 + ], + [ + 484.8917236328125, + 328.16180419921875 + ], + [ + 490.59832763671875, + 324.99151611328125 + ], + [ + 493.5323181152344, + 325.57867431640625 + ], + [ + 492.01898193359375, + 329.833740234375 + ], + [ + 489.21954345703125, + 341.18829345703125 + ], + [ + 481.656982421875, + 351.5198974609375 + ], + [ + 481.6886291503906, + 343.9988708496094 + ], + [ + 477.6284484863281, + 339.7846984863281 + ], + [ + 472.53857421875, + 337.45977783203125 + ], + [ + 472.96710205078125, + 333.2701416015625 + ], + [ + 471.5624694824219, + 331.1499328613281 + ], + [ + 472.1819152832031, + 328.0135192871094 + ], + [ + 474.94476318359375, + 314.7772216796875 + ], + [ + 482.19219970703125, + 294.0045166015625 + ], + [ + 494.1282043457031, + 260.39434814453125 + ], + [ + 491.0605163574219, + 247.02847290039062 + ], + [ + 497.8863525390625, + 244.14266967773438 + ], + [ + 498.0272216796875, + 245.04122924804688 + ], + [ + 498.190673828125, + 245.69589233398438 + ], + [ + 498.1529235839844, + 245.6611328125 + ], + [ + 497.9790954589844, + 245.58319091796875 + ] + ], + "depth_max": 1.286468505859375, + "depth_min": 0.2801472544670105, + "intrinsic": [ + [ + 517.0579223632812, + 0.0, + 259.0 + ], + [ + 0.0, + 516.6267700195312, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.624491339200176e-05, + -3.36509729095269e-05, + 2.826462332450319e-05 + ], + [ + -4.624564462574199e-05, + 1.0, + -2.1537565771723166e-05, + -9.801182386581786e-06 + ], + [ + 3.3649976103333756e-05, + 2.15391228266526e-05, + 1.0, + -1.645537486183457e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 271.5, + 385.2500305175781 + ], + [ + 271.9641418457031, + 385.2659606933594 + ], + [ + 271.97552490234375, + 385.26373291015625 + ], + [ + 271.91351318359375, + 385.34918212890625 + ], + [ + 271.9922790527344, + 385.3500061035156 + ], + [ + 271.76043701171875, + 385.4027099609375 + ], + [ + 271.80364990234375, + 385.4908447265625 + ], + [ + 271.6473083496094, + 385.3751220703125 + ], + [ + 271.91876220703125, + 385.4920654296875 + ], + [ + 271.3652038574219, + 385.3714599609375 + ], + [ + 272.2822265625, + 385.2103271484375 + ], + [ + 271.6001892089844, + 385.6536560058594 + ], + [ + 271.1214904785156, + 385.783447265625 + ], + [ + 270.1091613769531, + 386.474609375 + ], + [ + 269.7615966796875, + 387.91033935546875 + ], + [ + 271.63055419921875, + 398.816162109375 + ], + [ + 278.4229736328125, + 403.1993103027344 + ], + [ + 282.9841613769531, + 399.89990234375 + ], + [ + 289.1357116699219, + 397.3233642578125 + ], + [ + 295.2007751464844, + 395.4554138183594 + ], + [ + 305.9672546386719, + 381.5301208496094 + ], + [ + 325.2331237792969, + 351.2584228515625 + ], + [ + 336.28857421875, + 323.8326721191406 + ], + [ + 350.2751159667969, + 300.7391662597656 + ], + [ + 379.093994140625, + 303.46807861328125 + ], + [ + 419.5179443359375, + 325.9892272949219 + ], + [ + 462.7206115722656, + 345.2879333496094 + ], + [ + 477.5534362792969, + 361.05706787109375 + ], + [ + 485.25299072265625, + 357.8059387207031 + ], + [ + 487.2220764160156, + 359.2754821777344 + ], + [ + 485.46746826171875, + 363.5379638671875 + ], + [ + 481.64837646484375, + 373.83062744140625 + ], + [ + 474.32666015625, + 383.22021484375 + ], + [ + 473.98193359375, + 374.5317687988281 + ], + [ + 470.7495422363281, + 369.16082763671875 + ], + [ + 466.1194152832031, + 365.2627258300781 + ], + [ + 465.780517578125, + 364.3578796386719 + ], + [ + 465.4725341796875, + 363.7423095703125 + ], + [ + 465.7115478515625, + 362.8336486816406 + ], + [ + 465.8442687988281, + 362.13983154296875 + ], + [ + 466.4219665527344, + 361.6590270996094 + ], + [ + 466.4494323730469, + 361.344970703125 + ], + [ + 466.7298278808594, + 360.9430847167969 + ], + [ + 467.7108154296875, + 356.96905517578125 + ], + [ + 467.9015197753906, + 357.3736877441406 + ], + [ + 468.20452880859375, + 357.0176696777344 + ], + [ + 468.4544982910156, + 356.40350341796875 + ], + [ + 468.79486083984375, + 356.59161376953125 + ] + ] +} \ No newline at end of file diff --git a/000790_v2/lang.txt b/000790_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..c48ad45889a4526b2b4163a08c749dc79fe3eeee --- /dev/null +++ b/000790_v2/lang.txt @@ -0,0 +1 @@ +move the blue spoon to the upper right corner of the stove diff --git a/000790_v2/object.ply b/000790_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..eebacf7654b7ba368d9b87bf0ef3719a68d3052d Binary files /dev/null and b/000790_v2/object.ply differ diff --git a/000821/FAIL b/000821/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/000821/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/000849_v2/FAIL b/000849_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000849_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000871_v2/FAIL b/000871_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/000871_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/000878/data.json b/000878/data.json new file mode 100644 index 0000000000000000000000000000000000000000..8e3afb2bd505ad5e16e2a6bdf0cc4f2f4ca9eac9 --- /dev/null +++ b/000878/data.json @@ -0,0 +1,458 @@ +{ + "action_start": 12, + "action_end": 19, + "object_name": "box cutter", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.752869, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7855920000000001, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -3.3761465845216776e-11, + -2.988975664197646e-10, + 4.050149104983802e-12, + -2.252999311131147e-09, + -1.9584404980832395e-07, + 1.5099003838735463e-07, + 1.0 + ], + [ + 0.006405844774350522, + -0.0388066628934252, + 0.0001605447292312434, + -0.00977071731725668, + -0.011203656807243048, + -0.32739041329428953, + 1.0 + ], + [ + 0.011619393681841589, + -0.03808091040108763, + -0.0036277269606785345, + 0.052683267812959435, + 0.019346370286976777, + -0.4064891131416232, + 1.0 + ], + [ + 0.0019593304404667, + -0.01797597138848317, + -0.025718592666318457, + 0.04043640268594581, + -0.009758163297449026, + -0.37746899683751817, + 1.0 + ], + [ + -0.005559183634994802, + -0.01206059788011199, + -0.03191367885292695, + -0.05102223226251793, + -0.0523747565958063, + -0.14716643058986492, + 1.0 + ], + [ + 5.849331122242951e-07, + -0.00317894550104221, + -0.01973313275351271, + -0.0322472557258481, + -0.03309536764015322, + 0.015885000189712405, + 1.0 + ], + [ + 0.0013481128933091058, + -0.0067193348629003, + -0.020973359372041617, + -0.032804654331487854, + -0.023056318482900646, + 0.0344323312828391, + 1.0 + ], + [ + 0.0015032969713002498, + -0.0033104769028986653, + -0.010900248299058835, + -0.03996638631199412, + -0.007836009398446699, + 0.0026710479805174703, + 1.0 + ], + [ + 0.002259339585947373, + -0.002655361666367151, + -0.009374563406674488, + -0.018549257487053328, + -0.013864305532634092, + -0.0011528930481109207, + 1.0 + ], + [ + -9.113006107364097e-05, + 0.000671888038886348, + -0.008937328292121877, + -0.0017421054030117746, + -0.021745982989978336, + -0.010066894349973732, + 1.0 + ], + [ + -0.0006355700953188381, + 0.0009641835755918315, + -0.007566961808418454, + -0.005650529197245639, + -0.019361962515954567, + -0.002883475617932223, + 1.0 + ], + [ + -0.0006332615500697636, + -0.0018136584257303079, + -0.008832507727111652, + -0.005005297211085065, + -0.024456969617657684, + 0.003397326990710054, + 1.0 + ], + [ + -0.0001374782853180434, + -0.0023786838437111213, + -0.005493734718984497, + -0.0015353452816842656, + -0.004385220216348616, + 0.020888103396049754, + 0.752869 + ], + [ + 0.0022947948758018366, + 0.0008052209438764724, + 0.016193181731996423, + 0.022659358107123016, + 0.04571291267658547, + 0.020743904481353978, + 0.0 + ], + [ + 0.0011258444579855809, + -0.0022143874011815445, + 0.024536675776115992, + 0.038749510151273855, + 0.05676479446824791, + 0.026646689353504904, + 0.0 + ], + [ + 0.004705163239407506, + 0.011717678208830962, + 0.047880264958651046, + 0.12624885645055392, + 0.06261938721679675, + -0.00903384374312216, + 0.0 + ], + [ + 0.010891811299912457, + 0.04211073002675089, + 0.03861058647290483, + 0.03518945192156417, + -0.004399086738762159, + 0.006702719718404938, + 0.0 + ], + [ + 0.023246162893083594, + 0.059200380855219725, + 0.006252625303830722, + 0.04761910767403893, + -0.07655072243813683, + -0.07878184265166373, + 0.0 + ], + [ + 0.03022636898955039, + 0.059254615196669524, + -0.0017135124606282304, + 0.00601688877998795, + -0.024123013744091322, + -0.12784715048212966, + 0.0 + ], + [ + 0.009996734600584867, + 0.02579321949214397, + -0.005299400686232081, + -0.07353276987171971, + -0.017737519798826748, + -0.07191405733774886, + 0.7855920000000001 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 281.47186279296875, + 32.62839126586914 + ], + [ + 278.97900390625, + 36.92385482788086 + ], + [ + 350.07122802734375, + 58.00542449951172 + ], + [ + 433.53057861328125, + 77.22581481933594 + ], + [ + 471.25213623046875, + 122.39404296875 + ], + [ + 484.6845397949219, + 214.73092651367188 + ], + [ + 478.315673828125, + 244.52963256835938 + ], + [ + 480.38995361328125, + 276.3743896484375 + ], + [ + 488.96893310546875, + 295.4576416015625 + ], + [ + 489.804931640625, + 308.9252014160156 + ], + [ + 476.95782470703125, + 321.1514892578125 + ], + [ + 472.0228271484375, + 332.7612609863281 + ], + [ + 470.8970031738281, + 337.2890625 + ], + [ + 469.44854736328125, + 339.6636962890625 + ], + [ + 491.05657958984375, + 351.5207824707031 + ], + [ + 488.8259582519531, + 299.96319580078125 + ], + [ + 510.99810791015625, + 217.37091064453125 + ], + [ + 448.13653564453125, + 114.35838317871094 + ], + [ + 386.7745666503906, + 77.19536590576172 + ], + [ + 339.1915283203125, + 42.227867126464844 + ], + [ + 318.29669189453125, + 33.790626525878906 + ], + [ + 318.68963623046875, + 37.592628479003906 + ] + ], + "depth_max": 1.9448670148849487, + "depth_min": 0.1931728571653366, + "intrinsic": [ + [ + 490.525390625, + 0.0, + 259.0 + ], + [ + 0.0, + 489.3367004394531, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -1.1092292879766319e-05, + -0.00020592317741829902, + 5.036659422330558e-05 + ], + [ + 1.109186723624589e-05, + 1.0, + -2.068322828563396e-06, + 1.4939487300580367e-05 + ], + [ + 0.00020592320652212948, + 2.0660388599935686e-06, + 1.0, + -0.00011255018034717068 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21 + ], + "object_trajectory": [ + [ + 459.75, + 321.7500305175781 + ], + [ + 459.732177734375, + 321.8582458496094 + ], + [ + 459.85260009765625, + 321.94903564453125 + ], + [ + 459.75146484375, + 321.70263671875 + ], + [ + 459.5897216796875, + 321.72021484375 + ], + [ + 459.39544677734375, + 321.74847412109375 + ], + [ + 459.2469482421875, + 321.96258544921875 + ], + [ + 459.4491271972656, + 322.03778076171875 + ], + [ + 459.16949462890625, + 321.81036376953125 + ], + [ + 458.8988037109375, + 321.75146484375 + ], + [ + 458.68109130859375, + 321.64056396484375 + ], + [ + 458.42718505859375, + 321.6800842285156 + ], + [ + 457.13543701171875, + 319.3015441894531 + ], + [ + 456.0697021484375, + 325.76409912109375 + ], + [ + 451.94512939453125, + 322.4754638671875 + ], + [ + 458.9678649902344, + 304.65594482421875 + ], + [ + 472.08880615234375, + 244.28176879882812 + ], + [ + 420.181396484375, + 125.15099334716797 + ], + [ + 389.7772216796875, + 60.92391586303711 + ], + [ + 368.22198486328125, + 34.219146728515625 + ], + [ + 292.45068359375, + 54.452205657958984 + ], + [ + 262.458984375, + 47.42713928222656 + ] + ] +} \ No newline at end of file diff --git a/000878/lang.txt b/000878/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..c17ad454c4f8544308302e96ada4279b3faf32a8 --- /dev/null +++ b/000878/lang.txt @@ -0,0 +1 @@ +pick up box cutter and put into drawer diff --git a/000910/FAIL b/000910/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000910/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000937_v2/data.json b/000937_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..a6d4a995ead28144358cb9a505bfc491bdc3426b --- /dev/null +++ b/000937_v2/data.json @@ -0,0 +1,659 @@ +{ + "action_start": 10, + "action_end": 23, + "object_name": "shrimp", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 6.938893903907228e-18, + 1.3877787807814457e-17, + -3.575777960014165e-07, + -3.3044862402026175e-07, + -7.082741940875197e-07, + 1.0 + ], + [ + 0.009144406748416128, + -0.0193970952444442, + -0.006633184002993633, + -0.016487445915612728, + -0.03665888781496407, + -0.007299591075702771, + 1.0 + ], + [ + 0.023384471724205103, + -0.02189411283858616, + -0.013326950324949904, + 0.004445259538429278, + 0.011898567539052485, + 0.014897948955979115, + 1.0 + ], + [ + 0.025851272934679703, + -0.020052627203128594, + -0.015750264270470396, + -0.020323817638874603, + -0.06250936682454623, + 0.04056697631695355, + 1.0 + ], + [ + 0.025383086517065112, + -0.014307929230609105, + -0.014449965037753386, + 0.01130233471480467, + -0.001261722390689696, + 0.0038299683661538854, + 1.0 + ], + [ + 0.012863722567002245, + 0.009667907145027198, + -0.012800433234502258, + 0.013272608750501565, + 0.001706369887635189, + 0.09345604374546655, + 1.0 + ], + [ + 0.005979245050774407, + 0.013341903903995072, + -0.008262360208740598, + 0.010444794639005918, + -0.017873232861908433, + 0.0708464277908651, + 1.0 + ], + [ + 0.007726526104800291, + 0.005288940612373144, + -0.014525743462786699, + 0.0024252185055259577, + 0.009500429855550786, + 0.032428146111368045, + 1.0 + ], + [ + 0.011457561113440318, + -0.002574902107933246, + -0.01472057533875826, + 0.003092335973097881, + 0.027881841746622196, + -0.00882111576780224, + 1.0 + ], + [ + 0.008802119654533036, + -0.00423858135602909, + -0.009306886217147859, + 0.0034574687668559954, + 0.03213155077426153, + -0.024747275245435157, + 1.0 + ], + [ + 0.004690470841218042, + -0.0004504193526843822, + -0.00830191461210605, + -0.00811231255958097, + 0.011752347106703661, + -4.33729933503361e-05, + 1.0 + ], + [ + -0.002174116891871636, + 0.002194282820937265, + -0.0011637724972003854, + -0.005052939688334723, + -0.011312389007924775, + 0.009722378339253771, + 0.0 + ], + [ + -0.0036106019903841546, + 0.005738306462832046, + 0.006653130128326877, + -0.0016193071287332146, + -0.02059410540139246, + -0.0001153777780936688, + 0.0 + ], + [ + -0.002658746914950716, + 0.00545614739168665, + 0.006467670112895299, + 0.0023448141545786352, + -0.02105914833106439, + -0.018866358892942043, + 0.0 + ], + [ + 0.0007473429092250128, + 0.010280646241087724, + 0.03664628269925971, + 0.06985632329756264, + -0.01595155463774801, + -0.06421582592539977, + 0.0 + ], + [ + 0.00494793978451874, + 0.021303738698554165, + 0.040668561866567615, + 0.08022012057654532, + -0.03636113421954598, + -0.027925645413640836, + 0.0 + ], + [ + -0.011218926584050992, + 0.039803642661972116, + 0.023015318130261128, + 0.03976691764760234, + 0.04099805217033528, + 0.05081656760724861, + 0.0 + ], + [ + -0.025254058936796997, + 0.0376843312968422, + -0.013873998512962712, + -0.024370794315510525, + 0.0461257591560586, + 0.07630649578792754, + 0.0 + ], + [ + -0.015520592184732562, + 0.02871726229684575, + -0.019158197045042312, + -0.045951997750020145, + 0.010081740108323509, + 0.04461994255642486, + 0.0 + ], + [ + 0.014550469970391944, + 0.0005303920710519466, + -0.020505360203925772, + -0.06379149796487939, + -0.012200506107039592, + -0.05337146556593464, + 0.0 + ], + [ + 0.024875260535388632, + -0.009485512813020541, + -0.005862453782519986, + -0.013345264668317177, + -0.008471875651863161, + -0.0507319285373677, + 0.0 + ], + [ + 0.010980940049407917, + 0.00054477964525175, + -0.004039918352213914, + -0.004347880941561435, + -0.002645293101378755, + -0.003505285774693352, + 0.0 + ], + [ + 0.005541072387864443, + 0.011737440289751891, + -0.0007876339438836095, + 0.002365096257108749, + -0.004506465053201362, + 0.026567248803479215, + 0.0 + ], + [ + 0.00014579789878255145, + 0.010811974327758073, + 0.0035995545862719572, + 0.009653697216512106, + -0.00439437385323102, + 0.031960665140187916, + 0.0 + ], + [ + -0.0015796481718787225, + 0.00258950708636127, + -0.0005977867770736306, + -0.008611069877273276, + 0.017888395251540904, + 0.0014766418226276655, + 1.0 + ], + [ + -0.0007204466943688259, + -0.0036592350161860354, + -0.0004380508057848678, + -0.004654895538657895, + 0.006561817534876675, + 0.0017760035352685603, + 1.0 + ], + [ + -0.002624757991377513, + -0.011465041892404548, + 0.016941564282297032, + 0.010771987767708848, + -0.028854757847378745, + -0.002268792217279065, + 1.0 + ], + [ + -0.0031852625166100546, + -0.023844882381482926, + 0.02899994702482069, + 0.018424545760092625, + -0.04843432028805491, + -0.024322597511015003, + 1.0 + ], + [ + -0.008344976068991816, + -0.022423570939125143, + 0.007467716151339381, + -0.016276150189670182, + -0.02310319077236059, + -0.0008888355592180618, + 1.0 + ], + [ + -0.007038173619100974, + -0.01030680752959555, + -0.00549959602579745, + -0.0194957654523188, + 0.014342956485687711, + -0.026884228844470944, + 1.0 + ], + [ + -0.005697672126594, + -0.001696872177163189, + 0.00042558044358029234, + 0.012778717884363217, + 0.00859337728074066, + -0.010093982331626897, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 284.63458251953125, + 185.2982635498047 + ], + [ + 281.83428955078125, + 194.05990600585938 + ], + [ + 294.49951171875, + 202.50225830078125 + ], + [ + 342.2557373046875, + 220.41644287109375 + ], + [ + 385.765380859375, + 225.77293395996094 + ], + [ + 421.61871337890625, + 233.26040649414062 + ], + [ + 429.6444091796875, + 227.93179321289062 + ], + [ + 428.4263610839844, + 231.440673828125 + ], + [ + 419.8370056152344, + 239.0392608642578 + ], + [ + 425.431396484375, + 246.08494567871094 + ], + [ + 431.394775390625, + 246.80014038085938 + ], + [ + 434.53826904296875, + 244.68756103515625 + ], + [ + 433.494384765625, + 242.12631225585938 + ], + [ + 428.1684265136719, + 247.2430419921875 + ], + [ + 426.423583984375, + 253.96234130859375 + ], + [ + 414.72589111328125, + 218.47323608398438 + ], + [ + 410.1842041015625, + 165.73651123046875 + ], + [ + 382.505615234375, + 129.14109802246094 + ], + [ + 320.40130615234375, + 124.76309967041016 + ], + [ + 275.7064208984375, + 138.6705780029297 + ], + [ + 270.9574279785156, + 154.76039123535156 + ], + [ + 284.47845458984375, + 149.09652709960938 + ], + [ + 291.5734558105469, + 145.9244384765625 + ], + [ + 294.653076171875, + 142.16934204101562 + ], + [ + 294.7371520996094, + 137.22393798828125 + ], + [ + 295.3582458496094, + 135.3079833984375 + ], + [ + 295.16229248046875, + 138.84909057617188 + ], + [ + 293.0026550292969, + 143.89578247070312 + ], + [ + 289.2275390625, + 119.33551025390625 + ], + [ + 311.0379638671875, + 118.57791900634766 + ], + [ + 317.14190673828125, + 130.07998657226562 + ], + [ + 312.5836181640625, + 139.07803344726562 + ], + [ + 312.8768310546875, + 133.8867950439453 + ] + ], + "depth_max": 1.3837369680404663, + "depth_min": 0.14720669388771057, + "intrinsic": [ + [ + 559.2570190429688, + 0.0, + 259.0 + ], + [ + 0.0, + 559.738037109375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.8819478251971304e-05, + -9.437539119971916e-06, + -9.044220860232599e-06 + ], + [ + -4.8819863877724856e-05, + 1.0, + -4.0842194721335545e-05, + -2.649649468366988e-05 + ], + [ + 9.43554550758563e-06, + 4.084265310666524e-05, + 1.0, + -4.716990952147171e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 32 + ], + "object_trajectory": [ + [ + 415.25, + 259.5 + ], + [ + 415.3932800292969, + 259.6380615234375 + ], + [ + 415.439697265625, + 259.6650390625 + ], + [ + 415.303955078125, + 259.8722839355469 + ], + [ + 414.96533203125, + 259.96942138671875 + ], + [ + 415.03778076171875, + 259.7138977050781 + ], + [ + 415.19647216796875, + 259.75286865234375 + ], + [ + 415.1949462890625, + 259.6900634765625 + ], + [ + 414.8985900878906, + 259.888671875 + ], + [ + 415.1861572265625, + 260.591552734375 + ], + [ + 411.11273193359375, + 259.06402587890625 + ], + [ + 417.0498962402344, + 261.0750732421875 + ], + [ + 418.37445068359375, + 261.2225341796875 + ], + [ + 417.23724365234375, + 258.5164794921875 + ], + [ + 411.9515380859375, + 266.3385009765625 + ], + [ + 402.51727294921875, + 238.29188537597656 + ], + [ + 396.2210388183594, + 185.62167358398438 + ], + [ + 365.740234375, + 148.42269897460938 + ], + [ + 302.4772644042969, + 146.6942596435547 + ], + [ + 261.0166015625, + 157.96713256835938 + ], + [ + 259.5686950683594, + 174.6979217529297 + ], + [ + 273.0490417480469, + 167.02499389648438 + ], + [ + 281.2566833496094, + 163.7470245361328 + ], + [ + 284.4010009765625, + 159.68649291992188 + ], + [ + 284.21978759765625, + 154.1725616455078 + ], + [ + 278.52862548828125, + 156.63938903808594 + ], + [ + 280.8951416015625, + 169.70254516601562 + ], + [ + 282.3052062988281, + 175.03643798828125 + ], + [ + 282.9297790527344, + 172.833251953125 + ], + [ + 284.2248840332031, + 172.0914764404297 + ], + [ + 284.11224365234375, + 172.21566772460938 + ], + [ + 284.0223388671875, + 172.29026794433594 + ], + [ + 284.5769958496094, + 171.7666015625 + ] + ] +} \ No newline at end of file diff --git a/000937_v2/lang.txt b/000937_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..675c785b1e232c207defe0a7ba3c02c2e5fb0ae4 --- /dev/null +++ b/000937_v2/lang.txt @@ -0,0 +1 @@ +take the shrimp from the right burner and put it in silver pot diff --git a/000937_v2/object.ply b/000937_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..a3661f1167baf9728d2bdf10cd63968fa35cc823 Binary files /dev/null and b/000937_v2/object.ply differ diff --git a/000944_v2/FAIL b/000944_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/000944_v2/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/000949/FAIL b/000949/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000949/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000963_v2/FAIL b/000963_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/000963_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/000970_v2/data.json b/000970_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..cc6ef1f3dcdef030770b5693547c4cc720e5d3c6 --- /dev/null +++ b/000970_v2/data.json @@ -0,0 +1,843 @@ +{ + "action_start": 12, + "action_end": 32, + "object_name": "silver pot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.752381, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 3.2845326458641466e-10, + 9.250376853398024e-11, + 2.7571164101791723e-10, + -3.1388515949929583e-07, + 5.291773718844428e-07, + 4.144202916703032e-08, + 1.0 + ], + [ + -0.01307596462167393, + 0.01121169322210738, + 0.003474512452434981, + -0.020168184853514928, + -0.01636270782660446, + 0.06004229736519418, + 1.0 + ], + [ + -0.025872859746884636, + 0.01160368431954034, + 0.004740744256385173, + -0.012052076790097342, + -0.026437076320917203, + 0.027508647554939772, + 1.0 + ], + [ + -0.02422824129632678, + 0.0033972344799353994, + 0.0068473570954010795, + 0.009914553689796636, + -0.04194218457238852, + -0.010235277147650067, + 1.0 + ], + [ + -0.0174663057244695, + -0.0007302092991399147, + -0.0050877408988605575, + -0.004687524044650064, + 0.015699621847673033, + -0.008259589489516071, + 1.0 + ], + [ + -0.008120314100543091, + -0.017370041994969367, + -0.003423629689118437, + -0.007083271860982126, + 0.003088829097179984, + -0.09792229401161745, + 1.0 + ], + [ + -0.006674840341982846, + -0.023391903501604368, + 0.00923789770717287, + 0.030633842577919353, + -0.04305602623055157, + -0.09276540609891372, + 1.0 + ], + [ + -0.010040231293202362, + -0.00586214801794443, + 0.007410897944373541, + 0.00782043918553464, + -0.043087261631056785, + 0.01985927569396998, + 1.0 + ], + [ + -1.00697623234558e-05, + -0.004381309477483664, + -0.011415758870801904, + -0.03202657531298836, + 0.026779374983581416, + 0.003998104662004662, + 1.0 + ], + [ + 0.012732317667804888, + -0.00021663178858286058, + -0.024044596248514523, + -0.0374974912981441, + 0.09728958465934832, + 0.01759262458913473, + 1.0 + ], + [ + 0.006501670100579865, + 0.0019224108853491198, + -0.013177781015685763, + -0.009634831757950968, + 0.05598852637634757, + 0.010340327153878687, + 1.0 + ], + [ + 0.005673599325151768, + 0.0017274284612281282, + -0.011720284229910111, + -0.0190735734281746, + 0.028034195058415763, + 0.006212792231470207, + 1.0 + ], + [ + 0.0017192535432583034, + 0.0011154559050195953, + -0.0034238021785316618, + -0.006920623454488237, + -0.004882119308047924, + 0.004985543876639872, + 0.752381 + ], + [ + 0.0005089587706061938, + 0.0010794315299112733, + -0.001691750571974706, + -0.002113232215962417, + -0.006045933002579314, + 0.007268896352633509, + 0.0 + ], + [ + -0.0005404394768410148, + 0.0009554926384231222, + 0.0007127717504058564, + -0.0009329130450503586, + -0.01159598190029838, + 0.009982065917985977, + 0.0 + ], + [ + -0.0007867871829712048, + -0.0010213853523935723, + 0.0029725065197723187, + 0.007005561012442851, + -0.013283552862852347, + -0.009556195785743777, + 0.0 + ], + [ + -0.0017936362347484303, + -0.002874512330301525, + 0.010177162089552494, + -0.010018453064891691, + -0.047535040236623013, + -0.02224139748892468, + 0.0 + ], + [ + -0.002291417256839068, + -0.0002426755686488341, + 0.009301896584268651, + 0.007308509483481269, + -0.030772365466071493, + -0.019869348811368242, + 0.0 + ], + [ + 0.008069041426609858, + 0.0036524015644617477, + 0.022783737876662796, + 0.05990122910413836, + -0.05523501031482067, + -0.015604148718280742, + 0.0 + ], + [ + 0.030087441915955915, + 0.013190349986361753, + 0.035028299501706446, + 0.06123722072179752, + -0.09884926298704783, + -0.013955217732406012, + 0.0 + ], + [ + 0.027527414892659863, + 0.014836350093848164, + 0.00960099397238709, + 0.027401073094646962, + -0.023400985607053375, + -0.006148479763087063, + 0.0 + ], + [ + 0.03393882387554509, + 0.024550894889246756, + -0.016825024313540188, + 0.007252987823462616, + 0.07720083711799627, + 0.053826220970537825, + 0.0 + ], + [ + 0.016612894330267525, + 0.027087518962842234, + -0.01627385929531422, + -0.022015586119159106, + 0.05481208799927814, + 0.07264730495596848, + 0.0 + ], + [ + 0.007492752279584791, + 0.033607714462284236, + -0.0077574287379959285, + -0.0024971424446075317, + 0.01581886824335967, + 0.08013989217951749, + 0.0 + ], + [ + 0.0008177659325639963, + 0.023778234399429693, + 0.0027465186523288002, + 0.001041077391162156, + -0.007908354208057031, + 0.046750604498572816, + 0.0 + ], + [ + -0.001553330820215415, + 0.012798435000730746, + -0.005791743043321775, + -0.019083901878730408, + 0.007347461323471512, + 0.024309652339767337, + 0.0 + ], + [ + -0.0015196688657275748, + 0.003517035823354206, + -0.014518663430803973, + -0.02008017958428378, + 0.048190579129253404, + -0.004904284620488968, + 0.0 + ], + [ + -0.0035374532253305557, + 0.003475867152425982, + -0.010366292435907393, + -0.018512393987901637, + 0.032356693639513726, + 0.011091598240546428, + 0.0 + ], + [ + -0.0059180739052213105, + 0.0058988454585871125, + -0.011058039163415644, + -0.020017882568458392, + 0.03372905336437483, + 0.028079765905914315, + 0.0 + ], + [ + -0.005547466479025598, + 0.005107905426899706, + -0.007962772999255099, + -0.017957490864170342, + 0.02858491827229194, + 0.040159992962554715, + 0.0 + ], + [ + -0.0023779588583442424, + 0.004622264152957703, + -0.004633274007190415, + -0.01518254519418427, + 0.005895088878548547, + 0.02709408640530528, + 0.0 + ], + [ + -0.00021090239155774348, + 0.0006939286625899238, + -0.0027025187973701535, + -0.009251075426931344, + 0.0005937994366149475, + 0.004100803167077502, + 0.0 + ], + [ + -1.2296196617578303e-06, + 0.002002404183636619, + -0.0022520262001459977, + -0.0027997141037270513, + -0.0013283431161520223, + 0.010611899680132904, + 0.0 + ], + [ + -0.0017306527269485006, + -0.0032382495248535204, + 0.0020134314270705556, + 0.011117295388115244, + 0.011117308725802846, + 0.04206541736808775, + 1.0 + ], + [ + 0.0014651734048488074, + -0.009666400457092203, + 0.013859503914028435, + 0.02248819956725685, + -0.039961325777878594, + -0.06249736716286826, + 1.0 + ], + [ + -0.003894462885882022, + -0.009451749367106618, + 0.020600039178068838, + 0.05930360413654705, + -0.03547558801556965, + -0.028685604556540102, + 1.0 + ], + [ + -0.007407785984700321, + -0.011904940051809351, + 0.025411549376892224, + 0.061449302994518465, + -0.07444395929766666, + -0.03069941209177094, + 1.0 + ], + [ + -0.004336163054736997, + -0.01848283931375784, + 0.020929927502739525, + 0.05055130133208563, + -0.03721274445655386, + -0.07636405147704801, + 1.0 + ], + [ + -0.0015437364359788819, + -0.011996685544698835, + 0.0079235270057719, + 0.023153318754416348, + -0.00755288957226217, + -0.05448446171383676, + 1.0 + ], + [ + -0.004840277589710007, + -0.009584533234650777, + 0.0031689883283949963, + 0.007127645000272019, + -0.018562035256682416, + -0.06045359166662044, + 1.0 + ], + [ + -0.00418308814916607, + -0.0031831670644952917, + 0.0016914489560134333, + 0.009593962978810978, + 0.0063962509691659385, + -0.0003921785984788691, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 438.3333740234375, + 208.475830078125 + ], + [ + 435.95269775390625, + 215.5414581298828 + ], + [ + 417.54052734375, + 241.99673461914062 + ], + [ + 384.990234375, + 242.55154418945312 + ], + [ + 361.2691345214844, + 255.45623779296875 + ], + [ + 348.189453125, + 273.73687744140625 + ], + [ + 343.19207763671875, + 286.1563720703125 + ], + [ + 353.946044921875, + 295.7900390625 + ], + [ + 353.505615234375, + 304.0064392089844 + ], + [ + 363.5581970214844, + 312.3721008300781 + ], + [ + 380.7737121582031, + 334.69744873046875 + ], + [ + 387.68341064453125, + 340.07049560546875 + ], + [ + 389.79248046875, + 342.6999206542969 + ], + [ + 388.6053466796875, + 343.86865234375 + ], + [ + 388.9896545410156, + 340.41827392578125 + ], + [ + 389.32427978515625, + 339.78125 + ], + [ + 384.8061218261719, + 338.82208251953125 + ], + [ + 379.9279479980469, + 335.1207275390625 + ], + [ + 377.2576904296875, + 330.9491882324219 + ], + [ + 371.757568359375, + 308.0440673828125 + ], + [ + 385.7651672363281, + 244.7419891357422 + ], + [ + 405.33837890625, + 202.1533203125 + ], + [ + 407.57952880859375, + 183.6038055419922 + ], + [ + 393.03826904296875, + 176.36331176757812 + ], + [ + 361.0533447265625, + 169.4014129638672 + ], + [ + 335.11785888671875, + 153.28253173828125 + ], + [ + 324.529296875, + 149.8074188232422 + ], + [ + 324.9339599609375, + 163.24282836914062 + ], + [ + 316.8709411621094, + 165.37547302246094 + ], + [ + 312.784912109375, + 172.66500854492188 + ], + [ + 306.5784606933594, + 173.8702392578125 + ], + [ + 305.55810546875, + 173.83380126953125 + ], + [ + 303.78399658203125, + 172.09788513183594 + ], + [ + 302.42047119140625, + 172.64321899414062 + ], + [ + 303.3246154785156, + 176.98712158203125 + ], + [ + 294.9786682128906, + 185.4569549560547 + ], + [ + 282.98193359375, + 188.340576171875 + ], + [ + 275.7497863769531, + 173.9199981689453 + ], + [ + 289.462646484375, + 163.5767364501953 + ], + [ + 301.5287170410156, + 158.44537353515625 + ], + [ + 309.3304138183594, + 163.01568603515625 + ], + [ + 309.4646301269531, + 163.739013671875 + ], + [ + 309.9398193359375, + 164.40274047851562 + ] + ], + "depth_max": 1.4455112218856812, + "depth_min": 0.2967109978199005, + "intrinsic": [ + [ + 564.2269287109375, + 0.0, + 259.0 + ], + [ + 0.0, + 563.88134765625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.6470201191841625e-05, + 1.659171721257735e-05, + 5.419593435362913e-06 + ], + [ + -2.6469811928109266e-05, + 1.0, + -2.3379307094728574e-05, + -4.1557235817890614e-05 + ], + [ + -1.6592335668974556e-05, + 2.3378866899292916e-05, + 1.0, + -3.0777708161622286e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 39, + 42 + ], + "object_trajectory": [ + [ + 339.25, + 316.0000305175781 + ], + [ + 339.71295166015625, + 316.08892822265625 + ], + [ + 339.61224365234375, + 316.1419982910156 + ], + [ + 339.4232177734375, + 316.1570129394531 + ], + [ + 339.6661071777344, + 316.24859619140625 + ], + [ + 339.4986267089844, + 316.0931701660156 + ], + [ + 339.48858642578125, + 316.0229187011719 + ], + [ + 339.4828796386719, + 316.10626220703125 + ], + [ + 339.2647705078125, + 316.0235290527344 + ], + [ + 339.3497619628906, + 316.010009765625 + ], + [ + 339.82720947265625, + 315.9142761230469 + ], + [ + 340.2718811035156, + 316.62774658203125 + ], + [ + 339.86822509765625, + 316.56695556640625 + ], + [ + 339.430419921875, + 316.51611328125 + ], + [ + 338.84442138671875, + 316.6068115234375 + ], + [ + 335.4576416015625, + 314.85858154296875 + ], + [ + 333.67572021484375, + 314.8276062011719 + ], + [ + 346.99957275390625, + 310.6204833984375 + ], + [ + 346.4889221191406, + 309.5589904785156 + ], + [ + 330.4009094238281, + 301.4233093261719 + ], + [ + 328.84320068359375, + 256.8987121582031 + ], + [ + 332.5318603515625, + 230.1499786376953 + ], + [ + 339.94219970703125, + 210.80104064941406 + ], + [ + 331.0738830566406, + 205.13302612304688 + ], + [ + 306.2782287597656, + 198.5357666015625 + ], + [ + 282.0444030761719, + 184.23434448242188 + ], + [ + 271.0687255859375, + 182.79302978515625 + ], + [ + 268.1325988769531, + 186.63720703125 + ], + [ + 276.14678955078125, + 186.28370666503906 + ], + [ + 269.80096435546875, + 188.49581909179688 + ], + [ + 261.54437255859375, + 188.77359008789062 + ], + [ + 259.67852783203125, + 189.4022216796875 + ], + [ + 257.7393493652344, + 188.7034912109375 + ], + [ + 257.0316467285156, + 189.182861328125 + ], + [ + 254.98764038085938, + 190.11691284179688 + ], + [ + 251.4723663330078, + 194.12899780273438 + ], + [ + 261.1667175292969, + 183.51473999023438 + ], + [ + 260.5441589355469, + 182.52830505371094 + ], + [ + 260.72271728515625, + 182.22140502929688 + ], + [ + 260.8560485839844, + 183.01197814941406 + ], + [ + 259.8835754394531, + 182.79562377929688 + ], + [ + 259.8719177246094, + 183.19796752929688 + ], + [ + 259.6253662109375, + 183.576904296875 + ] + ] +} \ No newline at end of file diff --git a/000970_v2/lang.txt b/000970_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..71778dfa28cd47e2c173012e17f9db55474e5bbc --- /dev/null +++ b/000970_v2/lang.txt @@ -0,0 +1 @@ +move the silver pot to the top left of the stove diff --git a/000978/data.json b/000978/data.json new file mode 100644 index 0000000000000000000000000000000000000000..68d7d395e3070957c21fc7e0b7e7fbb52592c4cf --- /dev/null +++ b/000978/data.json @@ -0,0 +1,513 @@ +{ + "action_start": 12, + "action_end": 23, + "object_name": "red screwdriver", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.51746, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.01147699999999996, + 0.242491, + 0.30232000000000003 + ], + "gripper_actions": [ + [ + 1.801225835151854e-11, + -1.079782860347045e-10, + 2.5014296189951324e-10, + -2.336173828020798e-07, + 1.0303506777427941e-08, + -2.303891523747786e-07, + 1.0 + ], + [ + -0.007809051109414211, + -0.010438534099435154, + 0.005999011339915733, + -0.0413314822958345, + -0.09193225114723876, + -0.37162735520876145, + 1.0 + ], + [ + 0.005414674402455022, + -0.013576325952051216, + -0.0006647330592180756, + 0.0294891690102083, + -0.028352016264576806, + -0.2001546030562919, + 1.0 + ], + [ + 0.01197291527888611, + -0.0014920261463039347, + -0.007781187296691777, + 0.07391220785294814, + -0.033025158400444406, + -0.15797383073137775, + 1.0 + ], + [ + 0.017350563456938473, + 0.0055613162146603695, + -0.013111741201299057, + 0.022757575557588186, + 0.012410807089225966, + -0.13413387122305634, + 1.0 + ], + [ + 0.00946460152764711, + 0.000502327039717837, + -0.017169779818998462, + -0.033914926084638454, + 0.02407078196808342, + -0.06825735718723394, + 1.0 + ], + [ + -0.0023795134485160574, + -0.008066443321545685, + -0.01997315006972511, + -0.025149971729923434, + -0.001159184763756141, + -0.009766084599096543, + 1.0 + ], + [ + 0.0031657176411807875, + -8.066724066067843e-05, + -0.01619933529092822, + -0.01193936447438862, + -0.023224459790209567, + -0.028261850143943126, + 1.0 + ], + [ + 0.005436939983205158, + 0.005419368857221246, + -0.014793935312454543, + -0.007823754182122224, + -0.01603355430295309, + -0.018926256115403654, + 1.0 + ], + [ + 0.004680218460230368, + 0.0026440888883431934, + -0.012098621915748738, + -0.010769501310422954, + -0.016132949192113506, + -0.0044287717217498055, + 1.0 + ], + [ + 0.002722102643506308, + 0.0027899093865798447, + -0.009719874572711576, + -0.014091015081089842, + -0.01270252898359135, + -0.004532186552955546, + 1.0 + ], + [ + 0.0057686347472094, + 0.0003488629494011186, + -0.016144787050523465, + -0.023752717694796976, + -0.018695491093057032, + -0.006549987308728145, + 1.0 + ], + [ + -0.0020218764130040534, + -0.011251962057193442, + -0.011919906092165708, + -0.05345717841164242, + 0.012729704437760815, + 0.07275832738540579, + 0.51746 + ], + [ + -0.0020634619754845707, + -0.006496053982113524, + 0.012375768877025461, + 0.021085224585034573, + 0.030830022705543168, + 0.021839329056480353, + 0.0 + ], + [ + -0.004238915737836413, + -0.007018444592746614, + 0.00866693022695957, + -0.023502511745274363, + 0.0450364082659316, + 0.015297382194352734, + 0.0 + ], + [ + -0.003090731446634798, + -0.0007254167427212799, + 0.018426135157070467, + 0.03287926857391662, + 0.03406965966261495, + -0.00315709042733386, + 0.0 + ], + [ + -0.0036091187751920994, + 0.02154279102876268, + 0.03179518811711159, + 0.04766438033924102, + 0.05849495662267509, + -0.06627182739032145, + 0.0 + ], + [ + -0.009231066976347624, + 0.017928444984909364, + 0.02732663506094867, + 0.06560989751471337, + 0.04775403887569142, + -0.09976780351679673, + 0.0 + ], + [ + -0.009339770488299537, + 0.010512291755890274, + 0.02186503388865261, + 0.05978416257244211, + 0.031023679952177065, + -0.06028517031475985, + 0.0 + ], + [ + -0.008070322318784517, + 0.006002717822878742, + 0.024268774104787033, + 0.06379166589923259, + 0.037158777545623405, + -0.06881371203562076, + 0.0 + ], + [ + -0.008480634146962096, + 0.002057463270622638, + 0.02704969179906898, + 0.06772696247987486, + 0.031022075298988063, + -0.034107054614788114, + 0.0 + ], + [ + -0.004103863429445076, + 0.007209747732872987, + 0.03765682061074689, + 0.11045863499057998, + 0.015920966157066216, + -0.04185334261449913, + 0.0 + ], + [ + -0.002689570868609603, + 0.0068104876266119815, + 0.026052636031391047, + 0.02298257467341831, + -0.019273706825422378, + 0.03201652605445291, + 0.01147699999999996 + ], + [ + 0.01295228043164598, + 0.0012300420779996647, + 0.009288237116476, + 0.15364062127841657, + -0.11842763451304855, + 0.24284008385331246, + 0.242491 + ], + [ + 0.0013483732518459468, + 0.0026606969709041736, + -0.012709135389344123, + -0.005088136132224327, + -0.02639298536371572, + -0.03980023251844503, + 0.30232000000000003 + ] + ], + "gripper_centers": [ + [ + 413.03955078125, + 94.3442153930664 + ], + [ + 410.00665283203125, + 107.52014923095703 + ], + [ + 413.3786315917969, + 132.78176879882812 + ], + [ + 438.3014221191406, + 124.62330627441406 + ], + [ + 445.6719055175781, + 120.8470458984375 + ], + [ + 450.6137390136719, + 141.80447387695312 + ], + [ + 446.26300048828125, + 152.26950073242188 + ], + [ + 450.7970275878906, + 168.1238250732422 + ], + [ + 451.3466796875, + 192.94815063476562 + ], + [ + 449.50634765625, + 204.38351440429688 + ], + [ + 444.3304443359375, + 210.484619140625 + ], + [ + 440.81494140625, + 218.1343994140625 + ], + [ + 442.8990478515625, + 221.21841430664062 + ], + [ + 443.82281494140625, + 223.33343505859375 + ], + [ + 454.65277099609375, + 222.23773193359375 + ], + [ + 457.56884765625, + 227.96778869628906 + ], + [ + 453.75506591796875, + 231.11996459960938 + ], + [ + 445.4064025878906, + 213.29168701171875 + ], + [ + 429.20648193359375, + 179.09503173828125 + ], + [ + 417.42889404296875, + 153.94215393066406 + ], + [ + 412.84033203125, + 113.16671752929688 + ], + [ + 423.3492126464844, + 79.45893096923828 + ], + [ + 435.078125, + 27.38503074645996 + ], + [ + 440.192626953125, + -34.02613830566406 + ], + [ + 441.775390625, + -69.57305908203125 + ] + ], + "depth_max": 2.0267581939697266, + "depth_min": 0.3757970631122589, + "intrinsic": [ + [ + 454.6686706542969, + 0.0, + 259.0 + ], + [ + 0.0, + 454.16021728515625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.6803525290451944e-05, + -0.00012548886297736317, + 1.2386941307340749e-05 + ], + [ + -3.680419467855245e-05, + 1.0, + -5.3573676268570125e-06, + -6.24698877800256e-05 + ], + [ + 0.00012548865925054997, + 5.361986495699966e-06, + 1.0, + -0.0001856264570960775 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24 + ], + "object_trajectory": [ + [ + 470.5, + 227.75 + ], + [ + 470.2936096191406, + 227.59625244140625 + ], + [ + 470.5668640136719, + 227.49864196777344 + ], + [ + 470.5760192871094, + 227.5606231689453 + ], + [ + 470.4532775878906, + 227.5851593017578 + ], + [ + 470.4109191894531, + 227.74057006835938 + ], + [ + 470.41021728515625, + 228.01309204101562 + ], + [ + 470.2583312988281, + 228.17837524414062 + ], + [ + 470.2503662109375, + 228.2947540283203 + ], + [ + 470.43316650390625, + 228.39942932128906 + ], + [ + 470.397705078125, + 228.3443145751953 + ], + [ + 470.7355041503906, + 227.38002014160156 + ], + [ + 471.7751159667969, + 226.31680297851562 + ], + [ + 473.8149108886719, + 221.97195434570312 + ], + [ + 475.29534912109375, + 228.08145141601562 + ], + [ + 474.8631896972656, + 229.2389678955078 + ], + [ + 472.48297119140625, + 233.2887725830078 + ], + [ + 469.582275390625, + 222.77699279785156 + ], + [ + 462.5334167480469, + 199.42027282714844 + ], + [ + 461.731201171875, + 171.05194091796875 + ], + [ + 459.8558044433594, + 140.75157165527344 + ], + [ + 471.2527160644531, + 101.30209350585938 + ], + [ + 483.4137878417969, + 61.87940979003906 + ], + [ + 473.4816589355469, + 4.223311424255371 + ], + [ + 458.26556396484375, + -13.712379455566406 + ] + ] +} \ No newline at end of file diff --git a/000978/lang.txt b/000978/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..cf53da376e79c45bec28616de629dd7a338df581 --- /dev/null +++ b/000978/lang.txt @@ -0,0 +1 @@ +pick up red srewdriver diff --git a/000994_v2/FAIL b/000994_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/000994_v2/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/000999/data.json b/000999/data.json new file mode 100644 index 0000000000000000000000000000000000000000..8b19bfeb87f7823aabba4226bfba52ab37466649 --- /dev/null +++ b/000999/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 16, + "action_end": 27, + "object_name": "scissors", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "gripper_actions": [ + [ + 3.4964792172687e-10, + 1.8506185472944026e-10, + 7.945939739517627e-11, + 3.706280392706081e-07, + -6.946145328740399e-07, + 6.347995730398373e-08, + 1.0 + ], + [ + -0.0020579662148216826, + -0.037974985975086, + 0.0401667123648843, + 0.0002713145580047687, + -0.0258619486742466, + -0.11488379846791781, + 1.0 + ], + [ + -0.006794779318950062, + -0.05985858734787278, + 0.0301673762140999, + -0.025915189980887404, + -0.02043509582470184, + -0.2139039101081426, + 1.0 + ], + [ + -0.010828269869871066, + -0.095007708512612, + 0.009012758787362407, + -0.021632714449992808, + -0.034759161593340734, + -0.04107351192495718, + 1.0 + ], + [ + -0.008064070728782652, + -0.11729126331521127, + -0.004138350758254111, + 0.024278749623394356, + -0.06195126575358105, + 0.06483696805780621, + 1.0 + ], + [ + 0.0011230339913815002, + -0.10579749582033948, + -0.00654386336623014, + 0.005115664314462132, + -0.009981914009505795, + 0.05954976430534947, + 1.0 + ], + [ + 0.007461866445978821, + -0.07899230076714062, + -0.011270412676245622, + 0.0102654047257037, + 0.010376823949318105, + 0.00036404703564986115, + 1.0 + ], + [ + 0.00492006566544409, + -0.05040815957373326, + -0.01630348518794625, + -0.008225497443382513, + -0.011748766400438503, + -0.030528218216374785, + 1.0 + ], + [ + -0.0017123883494087888, + -0.012903943461695183, + -0.018498657211197617, + -0.04543152344371745, + 0.023191104376625592, + -0.04122245297174086, + 1.0 + ], + [ + 0.004246025769629902, + 0.00705136903407419, + -0.0032488363248998064, + -0.005636996950763367, + 0.04422340965985222, + -0.10342531153858418, + 1.0 + ], + [ + 0.00026145858448017867, + 0.0031179045050555576, + -0.015041565361185089, + -0.006423620532727894, + -0.052447446952079604, + -0.0810176558683106, + 1.0 + ], + [ + 0.003026440183826473, + -0.003163903756654235, + -0.008479112772411368, + -0.028798862442947958, + 0.02248206080170408, + -0.024186998268993884, + 1.0 + ], + [ + 0.004609827369881303, + 0.000787668605501668, + -0.013592420044311035, + -0.04192068586997521, + -0.007115878969987107, + -0.02058321635282178, + 1.0 + ], + [ + 0.008180348949035604, + -0.003248401471719703, + -0.012147506784357567, + -0.05913134144326318, + 0.005085990148066173, + 0.04218411396477877, + 1.0 + ], + [ + -0.001044089630226508, + -0.006569600025592176, + -0.011054105783466078, + -0.1060594655735654, + -0.02281924585080967, + 0.036237630598570165, + 1.0 + ], + [ + -0.005025958100245087, + -0.005019043936255296, + -0.0037548626816196473, + -0.03850737264333708, + 0.002801375061394535, + 0.02742936298418896, + 1.0 + ], + [ + -0.005183038784092542, + -0.0018360289476860026, + -0.004784730601279749, + -0.046435418725350085, + 0.019065575827560927, + 0.04849370114814396, + 1.0 + ], + [ + 0.00014450219653247554, + 0.0014743318848226272, + 0.0032080357083757033, + 0.027802018068582852, + 0.0192306141483541, + 0.0164170189205614, + 0.0 + ], + [ + 0.0009672268600229572, + 0.0006101486990438831, + 0.002447956915840606, + 0.015091453199846077, + 0.011140233067371358, + 0.008144574838767337, + 0.0 + ], + [ + 0.0006157350631798564, + -0.0019640797365881035, + 0.013559583156138241, + 0.0645039064570546, + 0.033931144825137136, + 0.005059071442997398, + 0.0 + ], + [ + -0.001958456124863339, + 1.9391034993571088e-05, + 0.02162402254862124, + 0.13898580754438153, + 0.052772712126863436, + -0.002375703488052603, + 0.0 + ], + [ + -0.008629389430383883, + 0.006651586469383852, + 0.024233334461623242, + 0.09212065550063882, + 0.06404622088279789, + 0.0008958561003282678, + 0.0 + ], + [ + -0.008921511231349044, + 0.01797787692733116, + 0.01442169165196694, + 0.043432965424078165, + 0.029014727427274796, + -0.03172385669771591, + 0.0 + ], + [ + -0.008726926844953409, + 0.043358897075439856, + 0.014546553762562281, + 0.06447917341849366, + 0.005095786478295935, + -0.08685601241089146, + 0.0 + ], + [ + -0.007667044049339933, + 0.051353353821131015, + 0.013610940386438564, + 0.024736257426043514, + -0.017652100075766362, + -0.07216282550413536, + 0.0 + ], + [ + 0.0042817364311896755, + 0.053616243199122685, + -0.0019345397132152775, + -0.012287479146621285, + -0.05806324383225321, + -0.07967680667530204, + 0.0 + ], + [ + 0.014119611891491662, + 0.02685231057112729, + 0.002872649622382789, + -0.055612534522174836, + 0.0045334711725455844, + -0.00780901232848994, + 0.0 + ], + [ + 0.01020569957143913, + 0.006922800402099683, + -0.010688020650005597, + -0.04278791357942217, + -0.013014749582616916, + 0.046771411976572565, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 44.808902740478516, + 71.81513977050781 + ], + [ + 47.56903076171875, + 84.06703186035156 + ], + [ + 404.8974609375, + 209.7928466796875 + ], + [ + 409.59185791015625, + 202.4406280517578 + ], + [ + 418.4761962890625, + 208.3284912109375 + ], + [ + 324.1623229980469, + 154.454833984375 + ], + [ + 310.8883361816406, + 105.40178680419922 + ], + [ + 399.8888854980469, + 159.61709594726562 + ], + [ + 504.51263427734375, + 225.96856689453125 + ], + [ + 524.1424560546875, + 254.43423461914062 + ], + [ + 513.3792724609375, + 256.069091796875 + ], + [ + 493.37115478515625, + 278.36505126953125 + ], + [ + 507.11224365234375, + 284.48291015625 + ], + [ + 506.32965087890625, + 297.2049560546875 + ], + [ + 505.2945556640625, + 305.4947814941406 + ], + [ + 509.0240783691406, + 327.3522033691406 + ], + [ + 511.2314758300781, + 336.50360107421875 + ], + [ + 509.993408203125, + 348.722412109375 + ], + [ + 504.0657958984375, + 339.96209716796875 + ], + [ + 506.17340087890625, + 346.4718017578125 + ], + [ + 504.10894775390625, + 325.0955810546875 + ], + [ + 528.497314453125, + 303.48931884765625 + ], + [ + 536.1685180664062, + 274.8042297363281 + ], + [ + 510.8699951171875, + 265.26007080078125 + ], + [ + 421.6982421875, + 202.8429718017578 + ], + [ + 340.57318115234375, + 160.58132934570312 + ], + [ + 244.34030151367188, + 119.65951538085938 + ], + [ + 205.10311889648438, + 99.93081665039062 + ], + [ + 193.7896270751953, + 95.37034606933594 + ] + ], + "depth_max": 1.7836517095565796, + "depth_min": 0.16733865439891815, + "intrinsic": [ + [ + 486.9761047363281, + 0.0, + 259.0 + ], + [ + 0.0, + 485.26666259765625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 0.00010037017636932433, + -0.00011581952276173979, + 3.569516047718935e-05 + ], + [ + -0.00010037038009613752, + 1.0, + -1.7967773828786449e-06, + 3.327488593640737e-05 + ], + [ + 0.00011581934813875705, + 1.808402316783031e-06, + 1.0, + -0.00014794305025134236 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 426.5, + 376.7500305175781 + ], + [ + 426.54852294921875, + 376.74658203125 + ], + [ + 426.58746337890625, + 376.8512268066406 + ], + [ + 426.5614013671875, + 376.8289794921875 + ], + [ + 426.4827575683594, + 376.8953857421875 + ], + [ + 426.5216369628906, + 376.9227600097656 + ], + [ + 426.35040283203125, + 376.83642578125 + ], + [ + 426.25946044921875, + 376.7336730957031 + ], + [ + 426.31182861328125, + 376.6201171875 + ], + [ + 426.3604431152344, + 376.6231994628906 + ], + [ + 426.5296630859375, + 376.5845642089844 + ], + [ + 426.39788818359375, + 376.59967041015625 + ], + [ + 426.45635986328125, + 376.66961669921875 + ], + [ + 426.35791015625, + 376.62994384765625 + ], + [ + 426.60992431640625, + 376.6002197265625 + ], + [ + 426.36285400390625, + 376.66644287109375 + ], + [ + 426.163330078125, + 376.8858642578125 + ], + [ + 428.5517578125, + 382.401611328125 + ], + [ + 430.43377685546875, + 387.6718444824219 + ], + [ + 431.13311767578125, + 400.02581787109375 + ], + [ + 436.07330322265625, + 380.672119140625 + ], + [ + 456.31072998046875, + 355.04296875 + ], + [ + 445.14910888671875, + 338.3897705078125 + ], + [ + 428.19287109375, + 337.7524719238281 + ], + [ + 377.1105041503906, + 256.50958251953125 + ], + [ + 281.1370544433594, + 207.74684143066406 + ], + [ + 197.16366577148438, + 164.35983276367188 + ], + [ + 165.2826385498047, + 143.8943328857422 + ], + [ + 160.90872192382812, + 141.5598907470703 + ] + ] +} \ No newline at end of file diff --git a/000999/lang.txt b/000999/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..4e04694f213f55edd94d5beff5c97ece31541086 --- /dev/null +++ b/000999/lang.txt @@ -0,0 +1 @@ +pick up scissors and put into drawer diff --git a/001027_v2/data.json b/001027_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..e7d73e7431974a2de8905082c48104a67ddda839 --- /dev/null +++ b/001027_v2/data.json @@ -0,0 +1,641 @@ +{ + "action_start": 10, + "action_end": 22, + "object_name": "red fork", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + -6.938893903907228e-18, + -1.3877787807814457e-17, + -5.612920435622652e-07, + -7.520890614332771e-07, + 2.889937162659876e-07, + 1.0 + ], + [ + -0.007156852699496952, + 0.016197725773671103, + -0.01761306012698026, + -0.029678649534156977, + -0.0323168836627095, + -2.5509105152207255e-06, + 1.0 + ], + [ + -0.01578894818911797, + 0.01756986675501649, + -0.016273203785439595, + 0.008605269826143703, + 0.01260022837963861, + 0.02946384941081881, + 1.0 + ], + [ + -0.024085334596499308, + 0.01873787750583704, + -0.027264772345757436, + 0.015522345844349878, + 0.052907832697551505, + 0.03679741766254082, + 1.0 + ], + [ + -0.010664830506951856, + 0.0057741588612169326, + -0.018314923814212947, + -0.0095195624728755, + 0.07307062634152195, + 0.006178368599713761, + 1.0 + ], + [ + -0.005093495791027164, + -0.01004108642676528, + -0.01575305972761955, + -0.01726727395166868, + 0.043723545309185936, + 0.006101020858745448, + 1.0 + ], + [ + 0.005965958634481572, + -0.00700483877311503, + -0.006889098830659156, + -0.013719773213015658, + -0.0037984903984189388, + 0.0015590468024188151, + 1.0 + ], + [ + 0.011684208797391377, + -0.00508949899797681, + -0.0016379086419463142, + -0.0061003016642512545, + -0.028024527742339843, + 0.016586242553381626, + 1.0 + ], + [ + 0.01143811510907855, + 0.0019787775312368333, + -0.00687678171077424, + -0.012777199340305445, + -0.03389246073506627, + 0.03181787641060792, + 1.0 + ], + [ + 0.011843738836201684, + 0.007388538555071253, + -0.00635897108249258, + 0.0025862573692738457, + -0.017914082461132904, + 0.03217150961694302, + 1.0 + ], + [ + 0.008066407653507662, + 0.007748857028029327, + -0.014951485812478717, + 0.010239399932851074, + 0.00570437839417053, + 0.010264047958629695, + 1.0 + ], + [ + -0.0007099343701192917, + 0.0032969681057122557, + -0.006587324782366524, + 0.013694646749963787, + 0.014382150431428022, + -0.01207647418144322, + 0.0 + ], + [ + 0.0060687470209181416, + -1.44773096763251e-05, + 0.010643519452284728, + 0.02851732209809382, + -0.005645775658356703, + -0.034397621673520416, + 0.0 + ], + [ + 0.013568771806168334, + -0.002171133348355711, + 0.022745273444186954, + 0.03303838356014964, + -0.03818197987873527, + -0.06451366915460047, + 0.0 + ], + [ + 0.01459218531190909, + -0.00028463378588267085, + 0.03760949528301468, + 0.058774865975010186, + -0.06068643853545722, + -0.09094855366910698, + 0.0 + ], + [ + -0.00038160918947860445, + 0.016549404383634975, + 0.034767777163506125, + 0.05699810582837637, + -0.014878234849294646, + 0.030694171344469674, + 0.0 + ], + [ + -0.031862540083270496, + 0.04808852495506753, + -0.002040272925129447, + -0.021318072866539594, + 0.027934672150189233, + 0.12073985374359932, + 0.0 + ], + [ + -0.02854079869417453, + 0.03252031572961116, + -0.01479238513674877, + -0.022566482022927204, + 0.014472990967639376, + 0.054109284318781085, + 0.0 + ], + [ + -0.013454005121951523, + 0.01350892639718837, + -0.017010727484020584, + -0.023833087493962863, + 0.027729906719267308, + 0.010557426574955864, + 0.0 + ], + [ + 0.006101634738304856, + -0.0011160387263541571, + -0.014330857836329014, + -0.025622101648695973, + 0.0011746452652950006, + -0.03367168794061851, + 0.0 + ], + [ + 0.01507111399465752, + -0.007485560172896283, + -0.0024813915141731605, + -0.0019719083296882846, + -0.0014495082539301492, + -0.02909255514722009, + 0.0 + ], + [ + 0.008615105101252796, + -0.002505469908061053, + -0.0006185705802144439, + 0.0031612667912209987, + -0.005765468082814928, + -0.01033313568517909, + 0.0 + ], + [ + 0.005024472144722653, + 0.0003136299026741396, + -3.82801589565232e-05, + 0.020727329245755533, + -0.002814568217878815, + -0.010337058789334776, + 0.0 + ], + [ + 0.003925995771820928, + -0.0037245577831656607, + 0.005968986142127118, + -0.000930782507265406, + 0.011465848808709878, + -0.006331605733604051, + 1.0 + ], + [ + 0.004440144002977819, + -0.008348356935248852, + 0.017281947550618747, + 0.022107257251616438, + -0.013495834661578622, + -0.012547973142833386, + 1.0 + ], + [ + 0.0028228222777877954, + -0.01335301582985654, + 0.024011851636980833, + 0.014989962400597565, + -0.025280694972105198, + -0.008658525823619792, + 1.0 + ], + [ + 0.0029651510445400375, + -0.0216450862077468, + 0.013265718977291407, + -0.019988475744438364, + -0.01741930150471378, + 0.011666166982108442, + 1.0 + ], + [ + -0.0027161577163280493, + -0.01635331903771689, + -0.00626595491026425, + -0.04063459068253338, + 0.014916478247993591, + 0.030769974488330156, + 1.0 + ], + [ + -0.004252108599098081, + -0.01590835170208818, + -0.0020659961375161517, + -0.03282524646942869, + -0.009918798518320334, + 0.045778933789956934, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 334.7050476074219, + 150.2977294921875 + ], + [ + 332.91650390625, + 160.1446533203125 + ], + [ + 322.49725341796875, + 185.82489013671875 + ], + [ + 282.2060546875, + 198.818359375 + ], + [ + 246.67520141601562, + 234.99273681640625 + ], + [ + 228.41534423828125, + 258.3675842285156 + ], + [ + 225.34423828125, + 281.637939453125 + ], + [ + 229.07057189941406, + 293.68231201171875 + ], + [ + 240.14434814453125, + 288.06121826171875 + ], + [ + 250.58474731445312, + 282.8902587890625 + ], + [ + 259.83734130859375, + 276.44561767578125 + ], + [ + 266.0514221191406, + 263.75311279296875 + ], + [ + 264.02734375, + 257.664794921875 + ], + [ + 260.6047668457031, + 253.3488311767578 + ], + [ + 258.44073486328125, + 251.08372497558594 + ], + [ + 268.52508544921875, + 213.99147033691406 + ], + [ + 259.93267822265625, + 171.57041931152344 + ], + [ + 233.53158569335938, + 164.16964721679688 + ], + [ + 150.33773803710938, + 173.7418212890625 + ], + [ + 128.27740478515625, + 190.28152465820312 + ], + [ + 132.82528686523438, + 206.1068878173828 + ], + [ + 135.74551391601562, + 204.04722595214844 + ], + [ + 140.27554321289062, + 199.15618896484375 + ], + [ + 145.69862365722656, + 196.02838134765625 + ], + [ + 154.65126037597656, + 192.16409301757812 + ], + [ + 160.80215454101562, + 188.80490112304688 + ], + [ + 170.828369140625, + 161.620849609375 + ], + [ + 184.00608825683594, + 153.6982879638672 + ], + [ + 202.06361389160156, + 163.53744506835938 + ], + [ + 213.7594757080078, + 180.67410278320312 + ], + [ + 215.88694763183594, + 176.367919921875 + ], + [ + 215.4224853515625, + 176.27801513671875 + ] + ], + "depth_max": 1.5067455768585205, + "depth_min": 0.32166194915771484, + "intrinsic": [ + [ + 540.0777587890625, + 0.0, + 259.0 + ], + [ + 0.0, + 541.1035766601562, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.7886137356981635e-05, + -1.666393109189812e-05, + 2.4713444872759283e-06 + ], + [ + -1.788670851965435e-05, + 1.0, + -3.41819686582312e-05, + -2.3362614228972234e-05 + ], + [ + 1.666331991145853e-05, + 3.418226697249338e-05, + 1.0, + -3.694586121127941e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 31 + ], + "object_trajectory": [ + [ + 260.75, + 289.0000305175781 + ], + [ + 261.0743103027344, + 289.0799560546875 + ], + [ + 260.5468444824219, + 289.107421875 + ], + [ + 260.53314208984375, + 289.28143310546875 + ], + [ + 259.6997375488281, + 289.37469482421875 + ], + [ + 259.52618408203125, + 289.580078125 + ], + [ + 259.408935546875, + 289.990234375 + ], + [ + 259.1363525390625, + 290.611328125 + ], + [ + 258.7242431640625, + 291.0377197265625 + ], + [ + 256.96441650390625, + 298.88653564453125 + ], + [ + 256.45404052734375, + 298.88995361328125 + ], + [ + 257.3824768066406, + 297.72979736328125 + ], + [ + 255.8312530517578, + 288.62188720703125 + ], + [ + 250.34620666503906, + 285.54461669921875 + ], + [ + 239.17489624023438, + 287.84033203125 + ], + [ + 243.36326599121094, + 253.29388427734375 + ], + [ + 232.92501831054688, + 212.07806396484375 + ], + [ + 203.994873046875, + 209.7738494873047 + ], + [ + 130.8824005126953, + 218.4138641357422 + ], + [ + 109.55183410644531, + 233.43380737304688 + ], + [ + 115.37053680419922, + 248.8914794921875 + ], + [ + 118.76014709472656, + 247.31500244140625 + ], + [ + 124.81067657470703, + 240.90090942382812 + ], + [ + 128.8226776123047, + 238.02911376953125 + ], + [ + 139.75535583496094, + 248.39820861816406 + ], + [ + 135.97230529785156, + 249.50253295898438 + ], + [ + 136.9058380126953, + 249.14901733398438 + ], + [ + 136.64111328125, + 249.498291015625 + ], + [ + 136.9347381591797, + 249.57901000976562 + ], + [ + 136.93890380859375, + 249.8031005859375 + ], + [ + 137.007080078125, + 249.59591674804688 + ], + [ + 136.5595245361328, + 249.85911560058594 + ] + ] +} \ No newline at end of file diff --git a/001027_v2/lang.txt b/001027_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..4aa5a2c6a1bb5aab25a389efc4c1ad50e8c9dd93 --- /dev/null +++ b/001027_v2/lang.txt @@ -0,0 +1 @@ +put the red fork on top of the violet towel diff --git a/001027_v2/object.ply b/001027_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..c012f5781462ceceb2b1d7768d2049c76e84a195 Binary files /dev/null and b/001027_v2/object.ply differ diff --git a/001040/FAIL b/001040/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/001040/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/001044_v2/data.json b/001044_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..16a7b45a7334100b9d9be76a67f260539fc63295 --- /dev/null +++ b/001044_v2/data.json @@ -0,0 +1,665 @@ +{ + "action_start": 12, + "action_end": 17, + "object_name": "silver pot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.3879787036662492e-11, + 3.356393704634364e-10, + 2.121928015241803e-10, + 3.906641090436575e-07, + -4.856403394399025e-08, + -1.5676010976951083e-08, + 1.0 + ], + [ + -0.008246399527387205, + 0.024805245781237627, + -0.001562800760325455, + -0.0177949773551444, + -0.01445206405585572, + 0.07424597153957498, + 1.0 + ], + [ + -0.0072509847891674695, + 0.030471082046890943, + -0.004954683006590471, + -0.028587826298605686, + -0.021475557039829476, + 0.0716794204956021, + 1.0 + ], + [ + -0.00878578222627635, + 0.030526272346631658, + 0.003389215745602355, + -0.028795611656803503, + -0.04679489186215908, + 0.07500858927722377, + 1.0 + ], + [ + -0.00839980843258853, + 0.030508236842572332, + 0.008088173241013262, + 0.011320177229475946, + -0.012475876725696895, + 0.057613131502992396, + 1.0 + ], + [ + -0.01262795703424735, + 0.022385246589446794, + 0.006322673899507366, + 0.03401844168809138, + 0.005280701834169971, + 0.0510559896438954, + 1.0 + ], + [ + -0.008412870267729466, + 0.0039688596930779335, + -0.006060632638267853, + -0.00838897139868041, + 0.038603398558301485, + 0.01847077741952844, + 1.0 + ], + [ + -0.005608994503028597, + -0.006758662677225677, + -0.005730381480790141, + -0.009970100389358956, + 0.03200674886427683, + -0.0014198562210779805, + 1.0 + ], + [ + 0.00035204957830814454, + -0.013814886735760826, + -0.002775000351538974, + 0.002882601626964507, + 0.0363016044383951, + -0.01895493048398256, + 1.0 + ], + [ + 0.0015718305624118911, + -0.007681730430030967, + -0.007503686651321853, + -0.0010140036575087164, + 0.042339210728999675, + -0.010417621407297328, + 1.0 + ], + [ + -0.0004879087732582166, + 0.0035624487395585075, + -0.018263525010860968, + -0.03223453175453567, + 0.05750951528548456, + 0.010939672077156305, + 1.0 + ], + [ + 0.0020147143190077377, + 0.004961406982304295, + -0.015406871097392295, + -0.038333005283802214, + 0.02680184749732541, + 0.005706272639065315, + 1.0 + ], + [ + 0.003949590986662144, + 0.003687268604162741, + -0.009899874307670479, + -0.01886806866444057, + 0.021072705316329016, + -0.013689320205414869, + 1.0 + ], + [ + -0.0005299128196316616, + -0.000130597378435085, + -0.0004780932306340316, + 0.016945563137310236, + -0.009462360549862058, + -0.01723666441778761, + 0.0 + ], + [ + -0.0030788087531875563, + -0.004224040662265338, + 0.005762114497037854, + 0.014256368683315557, + -0.00036174015828129366, + -0.011615514884848029, + 0.0 + ], + [ + -0.0019498087919391782, + -0.0034933084492259625, + 0.00838392900859676, + 0.01943820121898768, + -0.010277766613647822, + -0.006805941825259935, + 0.0 + ], + [ + -0.0009866716247298735, + -0.0030809901133838496, + 0.009867222402548302, + 0.016654854823579, + -0.013162268764892212, + -0.011246464756115966, + 0.0 + ], + [ + 0.0003914733837808715, + -0.006326247834589821, + 0.012280933621970903, + 0.02760750821168078, + -0.020751641378132037, + -0.013308160728762583, + 0.0 + ], + [ + 0.0011974122854214175, + -0.005157500331929368, + 0.004295345477922562, + 0.004592261895134813, + -0.02809214920954975, + -0.007832057037685053, + 1.0 + ], + [ + 0.0007520995267835673, + 0.0017860507853506291, + -0.004744231312840304, + -0.008945708871713951, + 0.0008377989216730238, + -0.0024450594894918614, + 1.0 + ], + [ + -0.0014945798906262908, + 0.007735793631923046, + -0.007985562894173357, + -0.012703677941305528, + 0.00627892553377306, + 0.015201813641525317, + 1.0 + ], + [ + -0.0010891666970190284, + 0.006189361872136048, + -0.006399151111443069, + -0.016690316707992835, + 0.009925980291599612, + 0.013648218355410666, + 1.0 + ], + [ + 5.654083202855098e-06, + 0.006195091330560398, + -0.011742284681132323, + -0.015925721676147725, + 0.0075977566765772055, + 0.008171444556252978, + 1.0 + ], + [ + -0.0002170453886132795, + 0.0021371390535402796, + -0.0034059717410945857, + -0.0031886217720670626, + -0.0027632125356261846, + -0.0038264401064180237, + 0.0 + ], + [ + 0.0017999178471815314, + -0.0009758917612660567, + -0.0005828627361068942, + 0.0018838902461739528, + 0.0072545948793631505, + -0.005668612486249996, + 0.0 + ], + [ + 9.15815245416951e-06, + -0.001938359222358646, + 0.005796193134619931, + 0.013855002928768973, + 0.0012639738682671273, + -0.007098885798859145, + 0.0 + ], + [ + 0.0007380313857060505, + -0.004349304591470704, + 0.018212931348029315, + 0.04243939397879577, + -0.02319768318987212, + -0.013937455140349888, + 0.0 + ], + [ + 0.0054278988611538015, + -0.003951920647653498, + 0.023520191618365407, + 0.04148511160196738, + -0.07259444033098021, + 0.009348576727585238, + 0.0 + ], + [ + 0.02112433803892183, + -0.009367798424695192, + 0.017884625239438193, + 0.033712693695360514, + -0.060532625084080506, + -0.029234360002834053, + 0.0 + ], + [ + 0.02593584605827365, + -0.01234436270940649, + 0.01180780408384946, + 0.036440486775096544, + -0.010468545688143727, + -0.062480379048094635, + 0.0 + ], + [ + 0.02195995903277892, + -0.01177643061306842, + -0.0003494719682143703, + 0.017795699518585905, + 0.003140681944109048, + -0.05078953065349062, + 0.0 + ], + [ + 0.015238070754957533, + -0.008107435965894444, + -0.0026530018279148845, + 0.008993822463606735, + 0.017193627213529954, + -0.03404707567255124, + 0.0 + ], + [ + 0.004266780075657395, + -0.0020922010787412584, + -0.008631105581915332, + -0.009538073911367366, + 0.017541934661322086, + -0.008273338279797432, + 0.0 + ], + [ + 0.0028485793290262684, + 0.003028856037395007, + -0.011181544707531802, + -0.00981592994230315, + 0.016260110297776367, + 0.0024161521580535195, + 0.0 + ], + [ + -0.0007705723130098652, + 0.007982148942827921, + -0.017818263077932793, + -0.04087629674078445, + 0.04110758530561157, + 0.006954526756691459, + 0.22319900000000004 + ], + [ + -0.0010376330878608675, + 0.0005430380343797656, + 0.00015620561704933304, + -0.015360343791643503, + -0.024101618245745696, + 0.007590298035515617, + 1.0 + ], + [ + -0.002514441641450371, + -0.004215076084074051, + 0.01680741544956373, + 0.014059429159427386, + -0.0397731556175081, + -0.006707003572600454, + 1.0 + ], + [ + -0.007153972816614396, + -0.0055714609321116035, + 0.01994242889176097, + 0.012588517788334088, + -0.04093993286965524, + -0.016514855616572958, + 1.0 + ], + [ + -0.010548289516654152, + -0.006593869256114215, + 0.020893298054051934, + 0.006014742872454902, + -0.02062959038590365, + -0.015771910437902756, + 1.0 + ], + [ + -0.01887070319458506, + -0.006393073349643355, + 0.010039983592741417, + 0.0072287663113021865, + 0.036315154637098154, + 0.03970766358456154, + 1.0 + ], + [ + -0.017085200592618255, + -0.004023312272058169, + -0.006390416991585199, + -0.035170060205633326, + 0.05610531369055933, + 0.04763125617499839, + 1.0 + ], + [ + -0.01097081752074186, + -0.004812943787774526, + -0.009004177682691052, + -0.04053582784269863, + 0.021159164180882362, + 0.028719059986694627, + 1.0 + ], + [ + -0.004202353599108921, + -0.00439996060960993, + -0.004642228965322258, + -0.028799785959964127, + -0.01263871900193084, + -0.035461385084393386, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 417.6703186035156, + 184.85079956054688 + ], + [ + 415.6123352050781, + 193.508544921875 + ], + [ + 404.19488525390625, + 220.2493133544922 + ], + [ + 362.6444091796875, + 218.34703063964844 + ], + [ + 325.5092468261719, + 206.29379272460938 + ], + [ + 289.06927490234375, + 188.54800415039062 + ], + [ + 256.0528259277344, + 178.07427978515625 + ], + [ + 244.270263671875, + 180.26904296875 + ], + [ + 240.97238159179688, + 189.37997436523438 + ], + [ + 235.60690307617188, + 192.71136474609375 + ], + [ + 242.7428741455078, + 207.08892822265625 + ], + [ + 248.3693389892578, + 219.3081817626953 + ], + [ + 254.25367736816406, + 232.60205078125 + ], + [ + 258.5505676269531, + 230.78948974609375 + ], + [ + 254.25704956054688, + 229.87759399414062 + ], + [ + 248.7477569580078, + 233.03411865234375 + ], + [ + 247.23291015625, + 235.7150115966797 + ], + [ + 233.459228515625, + 228.00479125976562 + ], + [ + 319.2109069824219, + 226.67213439941406 + ], + [ + 244.35650634765625, + 224.13125610351562 + ], + [ + 255.42340087890625, + 224.456298828125 + ], + [ + 257.7656555175781, + 224.86740112304688 + ] + ], + "depth_max": 1.468782663345337, + "depth_min": 0.3624558746814728, + "intrinsic": [ + [ + 550.0151977539062, + 0.0, + 259.0 + ], + [ + 0.0, + 550.612548828125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.1741831258405e-05, + 1.815457653719932e-05, + 2.7690184651874006e-06 + ], + [ + -1.1741520211216994e-05, + 1.0, + -1.7169822967844084e-05, + -2.653961746545974e-05 + ], + [ + -1.815477662603371e-05, + 1.7169608327094465e-05, + 1.0, + -1.2629258890228812e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21 + ], + "object_trajectory": [ + [ + 181.5, + 232.75001525878906 + ], + [ + 181.9245147705078, + 233.06204223632812 + ], + [ + 181.93228149414062, + 232.97508239746094 + ], + [ + 182.02792358398438, + 232.92129516601562 + ], + [ + 181.90676879882812, + 233.03668212890625 + ], + [ + 181.85313415527344, + 233.07273864746094 + ], + [ + 182.25445556640625, + 233.187744140625 + ], + [ + 182.33843994140625, + 233.17796325683594 + ], + [ + 182.27793884277344, + 233.16110229492188 + ], + [ + 182.57135009765625, + 233.09005737304688 + ], + [ + 182.2040557861328, + 233.11944580078125 + ], + [ + 183.7615966796875, + 232.75601196289062 + ], + [ + 198.17654418945312, + 228.15199279785156 + ], + [ + 204.79957580566406, + 219.4144744873047 + ], + [ + 207.0663299560547, + 218.12815856933594 + ], + [ + 209.68557739257812, + 222.5377655029297 + ], + [ + 206.30299377441406, + 216.04904174804688 + ], + [ + 194.37380981445312, + 207.08555603027344 + ], + [ + 199.06793212890625, + 212.71514892578125 + ], + [ + 208.1029052734375, + 212.48342895507812 + ], + [ + 207.07713317871094, + 213.13720703125 + ], + [ + 206.13656616210938, + 213.114990234375 + ] + ] +} \ No newline at end of file diff --git a/001044_v2/lang.txt b/001044_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..e433068de302f977ac07e226a035fb3da50bde1c --- /dev/null +++ b/001044_v2/lang.txt @@ -0,0 +1 @@ +put the silver pot on the purple cloth diff --git a/001049/FAIL b/001049/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/001049/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/001053/FAIL b/001053/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001053/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001068_v2/FAIL b/001068_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/001068_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/001077/FAIL b/001077/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001077/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001081/data.json b/001081/data.json new file mode 100644 index 0000000000000000000000000000000000000000..f2fcf7149790eee0a54953275ffba0a6de6e7b51 --- /dev/null +++ b/001081/data.json @@ -0,0 +1,403 @@ +{ + "action_start": 8, + "action_end": 17, + "object_name": "violet Allen key", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "gripper_actions": [ + [ + 7.283101899346889e-11, + 1.6907529543086497e-10, + -1.2643402991230346e-10, + -4.798565271488293e-07, + -4.060740080708451e-07, + 2.0147800401664024e-07, + 1.0 + ], + [ + 0.0032217844207859947, + -0.010209131182022935, + -0.01645288372034459, + -0.033232065955359505, + -0.018142773953792588, + 0.03731253052618341, + 1.0 + ], + [ + 0.006167693642184668, + -0.024091246377814, + -0.022480759470907802, + -0.05370587198819507, + -0.005504770043216305, + 0.03266534181425692, + 1.0 + ], + [ + 0.0058244862087283855, + -0.012172349633149046, + -0.020186737668345917, + 0.013447793488450694, + -0.008792229662247544, + 0.002315457972692273, + 1.0 + ], + [ + 0.008626243378491716, + -0.0041245583529263, + -0.016830322801214992, + -0.028804363578920522, + 0.03100731906662234, + -0.024739103812415376, + 1.0 + ], + [ + 0.0027575681392313367, + -0.008823375432996286, + -0.030311702802103824, + -0.07843593235214237, + -0.032737591909121136, + 0.031390175941762924, + 1.0 + ], + [ + -0.001039883317589807, + 0.00094269759089885, + -0.022915645155013945, + -0.010419072816778237, + -0.01967380705254005, + 0.02665821529009153, + 1.0 + ], + [ + 0.0003878672143124984, + 0.0029002830638088783, + -0.014303607818497807, + 0.004910387445623793, + -0.015074588230839079, + 0.008241792962465976, + 1.0 + ], + [ + 0.0013392035740223962, + 0.0011912678099157692, + -0.009845909716088175, + 0.0014436405513347478, + -0.014861136552416176, + 0.0004445413851872316, + 1.0 + ], + [ + 0.0004418132408280928, + -0.0012719367702199447, + -0.00679397232452035, + 0.00044079680864684385, + -0.018109251006489833, + 0.006654131316364727, + 0.0 + ], + [ + -0.0015894579693543909, + 0.00032389143977329393, + 0.0035461210002458534, + 0.0025898646167121916, + 0.020434131241161203, + -0.007459078231080981, + 0.0 + ], + [ + -0.0023186355016032723, + 0.0013807070431375579, + 0.002173888358786575, + 0.0016791256847431912, + 0.012208288315591367, + -0.004754038727585033, + 0.0 + ], + [ + 0.0021003584248384666, + 0.0059555257819672025, + 0.009338009054362198, + 0.017133247724583075, + 0.02070534011103584, + -0.016889609034545082, + 0.0 + ], + [ + -0.005953034601323015, + 0.002975362569689971, + 0.022489311458449228, + 0.03934400089046827, + 0.043429607688477936, + 0.0019180229323545984, + 0.0 + ], + [ + -0.011363897725371497, + 0.0005185020706714449, + 0.027675637610156872, + 0.08638771195098385, + -0.005587397736134576, + -0.0037338187174249635, + 0.0 + ], + [ + -0.007977254596725436, + 0.003418969101477959, + 0.03301569957846791, + 0.11574898524554528, + -0.0167628825008889, + -0.014882589917495567, + 0.0 + ], + [ + -0.007303994823498083, + 0.0038414865048300717, + 0.0343129502732189, + 0.09385917962588854, + 0.04991482264335081, + 0.003034585830767029, + 0.0 + ], + [ + -0.008038862521180995, + 0.002433775633566171, + 0.023998554085685464, + 0.07804099646698509, + 0.029480527322135824, + -0.012654462566345174, + 0.0 + ], + [ + -0.001964795906344824, + 0.0023769508519448646, + 0.011544873754013169, + 0.04164869532714801, + -0.006143867744731527, + -0.023113984790114932, + 0.0 + ] + ], + "gripper_centers": [ + [ + 434.939453125, + 138.21517944335938 + ], + [ + 431.19586181640625, + 148.78489685058594 + ], + [ + 443.6707458496094, + 183.88058471679688 + ], + [ + 483.842529296875, + 225.47328186035156 + ], + [ + 506.9228210449219, + 264.24334716796875 + ], + [ + 509.1980285644531, + 284.6033935546875 + ], + [ + 509.5150451660156, + 323.4935607910156 + ], + [ + 499.66668701171875, + 341.06500244140625 + ], + [ + 488.6156311035156, + 353.81341552734375 + ], + [ + 484.97247314453125, + 360.5859680175781 + ], + [ + 491.68817138671875, + 360.57135009765625 + ], + [ + 485.9816589355469, + 364.00360107421875 + ], + [ + 480.19573974609375, + 362.78338623046875 + ], + [ + 464.4608459472656, + 359.6141357421875 + ], + [ + 461.8956604003906, + 350.5149841308594 + ], + [ + 474.5277404785156, + 328.8590393066406 + ], + [ + 483.9054870605469, + 298.5185546875 + ], + [ + 508.99749755859375, + 262.6828918457031 + ], + [ + 526.911865234375, + 235.12713623046875 + ] + ], + "depth_max": 1.988204002380371, + "depth_min": 0.07737171649932861, + "intrinsic": [ + [ + 446.4903259277344, + 0.0, + 259.0 + ], + [ + 0.0, + 445.5971984863281, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.714872946147807e-05, + -9.771111945156008e-05, + 1.1782678484451026e-05 + ], + [ + -3.714645208674483e-05, + 1.0, + 2.331215000594966e-05, + -2.1581656255875714e-05 + ], + [ + 9.771199256647378e-05, + -2.3308519303100184e-05, + 1.0, + -0.00012501933088060468 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18 + ], + "object_trajectory": [ + [ + 480.0, + 346.25 + ], + [ + 480.26617431640625, + 346.67120361328125 + ], + [ + 480.2764892578125, + 346.60675048828125 + ], + [ + 480.2282409667969, + 346.5592956542969 + ], + [ + 480.2546081542969, + 346.4317626953125 + ], + [ + 480.30694580078125, + 346.33251953125 + ], + [ + 480.42755126953125, + 346.18304443359375 + ], + [ + 480.395751953125, + 346.0036926269531 + ], + [ + 480.4019775390625, + 345.8209228515625 + ], + [ + 480.4046325683594, + 345.7917785644531 + ], + [ + 480.61529541015625, + 345.645751953125 + ], + [ + 479.9381103515625, + 345.14215087890625 + ], + [ + 478.2265930175781, + 344.72674560546875 + ], + [ + 474.6597595214844, + 342.9053649902344 + ], + [ + 472.09771728515625, + 341.2808532714844 + ], + [ + 466.1302490234375, + 339.02667236328125 + ], + [ + 462.00830078125, + 335.91729736328125 + ], + [ + 466.3832702636719, + 320.8902587890625 + ], + [ + 466.9241943359375, + 311.1482238769531 + ] + ] +} \ No newline at end of file diff --git a/001081/lang.txt b/001081/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..28f71ea27f7596ee9fe8205fa5f07391e7220731 --- /dev/null +++ b/001081/lang.txt @@ -0,0 +1 @@ +pick up violet Allen key diff --git a/001081/object.ply b/001081/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..8e13a1b2f3038689577ac2085c16ad8ed8bdea74 Binary files /dev/null and b/001081/object.ply differ diff --git a/001104_v2/data.json b/001104_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..2625731a81f3ef42edc3007551cabaf8c63fa469 --- /dev/null +++ b/001104_v2/data.json @@ -0,0 +1,714 @@ +{ + "action_start": 10, + "action_end": 25, + "object_name": "silver basket", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 3.656264180307289e-11, + 6.841933963830371e-11, + 3.032376433287354e-11, + -9.543920637764884e-08, + -4.54430908310937e-07, + -1.2490691979489187e-07, + 1.0 + ], + [ + 0.017143660463543375, + -0.025507701279503567, + -0.002414057442502039, + -0.0196990628038443, + -0.020837257035661784, + -0.04031419660281013, + 1.0 + ], + [ + 0.017525099988306647, + -0.03284256569852763, + 0.006999708949924573, + -0.0013011989522513825, + -0.03604133955943999, + -0.05414438140277592, + 1.0 + ], + [ + 0.016282534190838638, + -0.03667624128135754, + 0.010243171545468714, + -0.00799717133788298, + -0.05825338122206464, + -0.07783841458636588, + 1.0 + ], + [ + 0.013753302757111063, + -0.029397575225147823, + 0.0011371313922422903, + -0.014476195392970891, + -0.011970874365652728, + -0.05404385698528308, + 1.0 + ], + [ + 0.006194913130115942, + -0.009287509102123975, + -0.000801578082749492, + -0.002262953582226562, + -0.006904669307919683, + -0.010184583952294674, + 1.0 + ], + [ + 0.0028095923474414364, + 0.0006044279343268982, + -0.0070475988415949, + 0.003148525625319046, + 0.00500066651293332, + 0.0036442818217368306, + 1.0 + ], + [ + 0.002556409187992381, + 0.0077805663752598744, + -0.01852401047145661, + -0.01142747390240675, + 0.02418059799477569, + 0.02302051995756167, + 1.0 + ], + [ + 0.0007412242626335108, + 0.0076242958370734415, + -0.011106398631952475, + -0.01582685505226262, + 0.016053765131812697, + 0.02941219815217047, + 1.0 + ], + [ + 0.00010018908848202779, + 0.0020967060946615393, + -0.008313064193685809, + -0.0015939964455473292, + 0.019271599744543996, + 0.009663107058353297, + 1.0 + ], + [ + 0.0013136852070253502, + 0.0009907779569564637, + -0.0072577818447284986, + -0.0011699743083403791, + 0.013879669352613455, + 0.007888607949746818, + 1.0 + ], + [ + 0.0017072700848951294, + 0.001938477753420792, + -0.0029738918446721163, + 0.010372694447065723, + 0.006717259983824143, + 0.0016033754936591493, + 0.0 + ], + [ + -3.406439153952334e-05, + 0.0003427945029318494, + -0.0019529355207355409, + 0.003272104976124508, + 0.0019135415665697709, + 0.002227852606026532, + 0.0 + ], + [ + -0.0006362682949855314, + 0.0010548341232888975, + 0.0007449398895357402, + -0.005109293074111866, + -0.003830606709477079, + 0.0019981940139405067, + 0.0 + ], + [ + -0.0012397259004994776, + -0.00018495730257935689, + 0.005489870208046907, + -0.01053951864682835, + -0.020166395675780005, + 0.0019309401497602653, + 0.0 + ], + [ + -0.001874788136760952, + -0.0038742682895512165, + 0.01942992982798357, + -0.018794549501947463, + -0.0575747688698427, + 0.004314184922781927, + 0.0 + ], + [ + -0.012048387948432937, + -0.004229534289917389, + 0.025699985817395923, + 0.0013166963587094966, + -0.0712359829984955, + 0.017689722751784126, + 0.0 + ], + [ + -0.03247102979436184, + 0.0054227290423120005, + 0.016849955787188703, + 0.01996719222485524, + -0.0073294282749918685, + 0.08894176291294079, + 0.0 + ], + [ + -0.029240633015804207, + 0.008379855482975176, + -0.0040561335210086355, + 0.019476498788998493, + 0.040138995301563916, + 0.06249523134074929, + 0.0 + ], + [ + -0.021313360663211267, + -0.0024614919207036692, + -0.014550467640554617, + 0.021835990370607825, + 0.05422097980563988, + -0.015600102332079948, + 0.0 + ], + [ + -0.007830234058795071, + -0.009827915566118353, + -0.013472528580526277, + 0.02068866104090631, + 0.04374675878181644, + -0.03208270257088601, + 0.0 + ], + [ + 0.0010712619354022457, + -0.011269864333638635, + -0.014328353398907537, + 0.020812890915391603, + 0.03353283746205875, + -0.034376284967848406, + 0.0 + ], + [ + -0.0018638634622887007, + -0.00395171439791385, + -0.017499079517431067, + 0.011501273812483472, + 0.0510797579002941, + -0.004868527522926372, + 0.0 + ], + [ + -0.00606211049642405, + -0.0011145234521925049, + -0.01569295918061623, + -0.013724893687934836, + 0.03887130548823741, + 0.0017716219247591448, + 0.0 + ], + [ + -0.0007127161134146964, + -0.005135010085925068, + -0.004399453456683203, + 0.00041275936717065923, + 0.014897894284599842, + -0.02043754816858894, + 0.0 + ], + [ + 0.002587002697862051, + -0.003568535924202934, + -0.0005740758247770733, + -0.005746800840021378, + -0.007783131169782521, + -0.031119319361070395, + 0.0 + ], + [ + 0.003472243416572096, + -0.0019969587316637227, + 0.002492812851079537, + -0.006748138648270246, + -0.005191290170641806, + -0.03908827596045627, + 1.0 + ], + [ + 0.0024302960732092704, + 0.00048742012678845703, + 0.001955138932556718, + -0.03662742811089997, + -0.0252156294727457, + -0.014992600563659156, + 1.0 + ], + [ + 0.0034296184056719914, + 0.0020101187885559757, + 0.004896519147894785, + -0.02124190116273779, + -0.015219034172478507, + -0.01615571546031528, + 1.0 + ], + [ + 0.0010582587658078124, + 0.00407544059902272, + 0.01683151141983431, + -0.010221817385289524, + -0.031269004856862646, + 0.021824858736725117, + 1.0 + ], + [ + 0.0005002493603036839, + 0.009025422558020683, + 0.019327948253538788, + 0.018890286815406707, + -0.006122047415898137, + 0.10428306796414498, + 1.0 + ], + [ + 0.006943833271168098, + 0.007865203068869724, + 0.014241187356416002, + -0.021161994782584098, + -0.0167021541107066, + 0.15242574721196703, + 1.0 + ], + [ + 0.006806382631768665, + 0.0051349385337063624, + 0.0035859676978677, + -0.036584547059852035, + -0.0027441004115448223, + 0.07323650968170585, + 1.0 + ], + [ + 0.002456230895464151, + 0.004150747131381506, + -0.0029212634185930876, + -0.02394196407725345, + 0.0041479632172081345, + 0.00015438061871151501, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 249.7490997314453, + 205.9624786376953 + ], + [ + 249.63784790039062, + 208.40496826171875 + ], + [ + 260.83111572265625, + 216.8036346435547 + ], + [ + 312.78155517578125, + 217.98635864257812 + ], + [ + 367.65167236328125, + 217.3902130126953 + ], + [ + 420.0418701171875, + 217.09231567382812 + ], + [ + 447.2296142578125, + 222.12860107421875 + ], + [ + 447.9169616699219, + 226.5478515625 + ], + [ + 449.96844482421875, + 239.78646850585938 + ], + [ + 449.03912353515625, + 255.46563720703125 + ], + [ + 442.30560302734375, + 261.595947265625 + ], + [ + 440.2193298339844, + 265.7954406738281 + ], + [ + 440.56341552734375, + 265.5545654296875 + ], + [ + 436.265625, + 265.7567138671875 + ], + [ + 435.3980407714844, + 264.99041748046875 + ], + [ + 432.7859191894531, + 266.6380920410156 + ], + [ + 430.317138671875, + 262.0448303222656 + ], + [ + 426.66973876953125, + 251.2980194091797 + ], + [ + 398.2291564941406, + 241.09820556640625 + ], + [ + 370.9596252441406, + 256.5892639160156 + ], + [ + 345.69537353515625, + 288.75823974609375 + ], + [ + 350.2076416015625, + 311.82025146484375 + ], + [ + 357.05609130859375, + 337.7529602050781 + ], + [ + 369.5259704589844, + 361.3612060546875 + ], + [ + 369.4320068359375, + 378.2524108886719 + ], + [ + 368.22979736328125, + 385.7237548828125 + ], + [ + 365.9308776855469, + 383.6329345703125 + ], + [ + 378.17333984375, + 384.99688720703125 + ], + [ + 385.2815856933594, + 385.43670654296875 + ], + [ + 389.39520263671875, + 386.80645751953125 + ], + [ + 391.66070556640625, + 375.182861328125 + ], + [ + 384.97784423828125, + 353.9759216308594 + ], + [ + 377.391845703125, + 334.1106262207031 + ], + [ + 376.5815734863281, + 315.93084716796875 + ], + [ + 373.88714599609375, + 310.14080810546875 + ], + [ + 371.1820373535156, + 306.844482421875 + ] + ], + "depth_max": 1.4627071619033813, + "depth_min": 0.3138439655303955, + "intrinsic": [ + [ + 561.6754760742188, + 0.0, + 259.0 + ], + [ + 0.0, + 561.3007202148438, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.3704742236295715e-05, + -2.693947681109421e-05, + 1.3494052836904302e-05 + ], + [ + -3.3706168323988095e-05, + 1.0, + -5.300430711940862e-05, + -7.303817255888134e-06 + ], + [ + 2.6937690563499928e-05, + 5.3005216614110395e-05, + 1.0, + -4.826602162211202e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 35 + ], + "object_trajectory": [ + [ + 417.0, + 236.25001525878906 + ], + [ + 417.115234375, + 236.41714477539062 + ], + [ + 416.93865966796875, + 236.35125732421875 + ], + [ + 417.15576171875, + 236.41604614257812 + ], + [ + 416.751220703125, + 236.64854431152344 + ], + [ + 417.03021240234375, + 236.61534118652344 + ], + [ + 417.0362243652344, + 236.71958923339844 + ], + [ + 416.90411376953125, + 236.95718383789062 + ], + [ + 416.99078369140625, + 237.65919494628906 + ], + [ + 416.6233825683594, + 238.04510498046875 + ], + [ + 416.0409851074219, + 238.38302612304688 + ], + [ + 415.5806884765625, + 238.79379272460938 + ], + [ + 414.8829345703125, + 238.79469299316406 + ], + [ + 414.04486083984375, + 239.0394287109375 + ], + [ + 402.7817077636719, + 242.45413208007812 + ], + [ + 392.1618957519531, + 247.85052490234375 + ], + [ + 391.87664794921875, + 248.47958374023438 + ], + [ + 389.41998291015625, + 247.5623779296875 + ], + [ + 360.1085205078125, + 242.15541076660156 + ], + [ + 325.48529052734375, + 257.25286865234375 + ], + [ + 301.51593017578125, + 287.35296630859375 + ], + [ + 304.4625244140625, + 304.3780517578125 + ], + [ + 312.77581787109375, + 323.5111389160156 + ], + [ + 321.9461669921875, + 342.2886962890625 + ], + [ + 322.9532775878906, + 356.77288818359375 + ], + [ + 312.990478515625, + 345.7137451171875 + ], + [ + 315.23046875, + 345.5747985839844 + ], + [ + 321.620361328125, + 344.8611145019531 + ], + [ + 334.8841857910156, + 354.75958251953125 + ], + [ + 336.0926818847656, + 354.9345703125 + ], + [ + 337.2822570800781, + 354.10211181640625 + ], + [ + 337.76153564453125, + 353.1936950683594 + ], + [ + 337.38385009765625, + 351.6609802246094 + ], + [ + 337.3291320800781, + 352.0858154296875 + ], + [ + 337.013427734375, + 354.021484375 + ], + [ + 338.6078796386719, + 351.8296813964844 + ] + ] +} \ No newline at end of file diff --git a/001104_v2/lang.txt b/001104_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..193cf0c69596a158f338ddf74fe529858af175df --- /dev/null +++ b/001104_v2/lang.txt @@ -0,0 +1 @@ +move the silver basket to the left diff --git a/001114_v2/FAIL b/001114_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/001114_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/001143_v2/FAIL b/001143_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..aaf6c42c619234f9c8379cbcf60a65cd17ba1254 --- /dev/null +++ b/001143_v2/FAIL @@ -0,0 +1 @@ +Too large intersection between gripper and object mask diff --git a/001161/data.json b/001161/data.json new file mode 100644 index 0000000000000000000000000000000000000000..bc68d465564b197af62602f59dc9d04c67f048a0 --- /dev/null +++ b/001161/data.json @@ -0,0 +1,329 @@ +{ + "action_start": 3, + "action_end": 13, + "object_name": "pan", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 0.888645, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "gripper_actions": [ + [ + 1.32717448142472e-10, + -7.506953392244498e-11, + -5.194514818285256e-10, + 3.336486125693685e-08, + 3.6112808283420663e-09, + 1.871720412287911e-09, + 1.0 + ], + [ + -0.0007624826625886039, + 0.0023953782102770493, + -0.00542523240780652, + -0.02357108917256886, + -0.004148168135293726, + 0.00888580459870128, + 1.0 + ], + [ + 1.9653723328794115e-06, + 0.00243556270534645, + -0.0038208805710290006, + -0.009788824395611637, + -0.009911672516980375, + -0.00019465171134796738, + 1.0 + ], + [ + 0.00014545535229504303, + 0.0014940168779212781, + -0.001321837526779314, + -0.000990161068160348, + -0.008917494280444596, + 0.0023591535800648283, + 0.888645 + ], + [ + -0.00040166199207053443, + 0.0009721705656184076, + -0.003342931685190599, + -0.007971437611540485, + -0.00827973328971616, + 0.004457821956134006, + 0.0 + ], + [ + 0.0008167940297950094, + 6.964429388614524e-05, + -0.00018617388370689714, + -9.935105041403652e-05, + -0.004459959622084186, + -0.0052408639680964495, + 0.0 + ], + [ + 0.0013129756132244652, + -0.0006468870423665118, + 0.005016868847020364, + 0.012491100073842059, + -0.0211625647611251, + -0.0029672707270007206, + 0.0 + ], + [ + 1.3430135662517717e-05, + 0.000336436158193093, + 0.02575624432980912, + 0.050561120844712315, + -0.028316552489372857, + 0.018376253990792454, + 0.0 + ], + [ + 0.0004810070374612341, + -0.0013728003419958557, + 0.02420691114950938, + 0.04128352284917694, + -0.021857519017267624, + 0.03763073888066952, + 0.0 + ], + [ + 0.003089072451245456, + -0.0007451394173387249, + 0.020231016561956257, + 0.036693189313204484, + -0.03518688498723081, + 0.03733902571435223, + 0.0 + ], + [ + 0.005487462961988987, + 0.0001826628272766917, + 0.017659609892417785, + 0.021004318579748632, + -0.053091179356561616, + 0.02584929105061422, + 0.0 + ], + [ + 0.0044632676878264, + -0.0024210139838161115, + 0.02139504208691706, + 0.031656292306317606, + -0.02831581680656114, + 0.010600261874315743, + 0.0 + ], + [ + 0.0011924527560992493, + 0.0015570354391203078, + 0.006317478810122429, + 0.022456203972494995, + -0.022535377405724265, + -0.019749568659913876, + 0.0 + ], + [ + -0.00046794672765182455, + 0.0011190673048325772, + -0.003864788106226452, + -0.0024826734756796327, + -0.013262663703539873, + -0.021094613690641754, + 0.0 + ], + [ + -0.00017693676082036758, + 0.00045241762584324885, + -0.005555814125981717, + -0.001011136180578509, + -0.010963873591807807, + -0.004484959648671773, + 0.0 + ] + ], + "gripper_centers": [ + [ + 198.44386291503906, + 67.65571594238281 + ], + [ + 198.529052734375, + 67.5972900390625 + ], + [ + 200.18777465820312, + 85.76165008544922 + ], + [ + 205.06675720214844, + 93.794189453125 + ], + [ + 204.98919677734375, + 92.69969940185547 + ], + [ + 198.80715942382812, + 94.69306945800781 + ], + [ + 198.93675231933594, + 95.35242462158203 + ], + [ + 198.10948181152344, + 94.08488464355469 + ], + [ + 198.1146697998047, + 95.09193420410156 + ], + [ + 196.9042510986328, + 86.25851440429688 + ], + [ + 196.11717224121094, + 61.667076110839844 + ], + [ + 198.06857299804688, + 44.583099365234375 + ], + [ + 190.34500122070312, + 25.0208683013916 + ], + [ + 195.4781494140625, + 0.7961492538452148 + ], + [ + 196.2069854736328, + -11.207218170166016 + ] + ], + "depth_max": 1.664934754371643, + "depth_min": 0.6048674583435059, + "intrinsic": [ + [ + 506.4959411621094, + 0.0, + 259.0 + ], + [ + 0.0, + 506.8980407714844, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.3336502888705581e-05, + -8.158480341080576e-05, + -1.5707964848843403e-05 + ], + [ + -1.3336546544451267e-05, + 1.0, + -5.337118977877253e-07, + -5.206233254284598e-06 + ], + [ + 8.158480341080576e-05, + 5.3479993766814e-07, + 1.0, + 2.0980616682209074e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 14 + ], + "object_trajectory": [ + [ + 256.75, + 106.00000762939453 + ], + [ + 256.8639831542969, + 106.1749267578125 + ], + [ + 256.9477233886719, + 106.81488037109375 + ], + [ + 256.97119140625, + 106.56736755371094 + ], + [ + 257.087890625, + 106.6358413696289 + ], + [ + 257.0901794433594, + 106.3717041015625 + ], + [ + 257.3540344238281, + 106.1219253540039 + ], + [ + 256.9660339355469, + 108.09587097167969 + ], + [ + 254.223876953125, + 115.00062561035156 + ], + [ + 247.701904296875, + 108.73213195800781 + ], + [ + 251.25704956054688, + 94.00979614257812 + ], + [ + 255.81536865234375, + 78.71038055419922 + ], + [ + 254.9612274169922, + 60.404884338378906 + ], + [ + 260.961181640625, + 36.015724182128906 + ], + [ + 251.68467712402344, + 32.72389602661133 + ] + ] +} \ No newline at end of file diff --git a/001161/lang.txt b/001161/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..ced4b55dfc03472718eb8ed30e88320f8036753f --- /dev/null +++ b/001161/lang.txt @@ -0,0 +1 @@ +pick up pan from stove diff --git a/001173/FAIL b/001173/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..12cce8a603c327d6a0a6f65ea8c6628a5ec55c6b --- /dev/null +++ b/001173/FAIL @@ -0,0 +1 @@ +Too few valid images after filtering diff --git a/001190_v2/FAIL b/001190_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001190_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001205/FAIL b/001205/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/001205/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/001209_v2/FAIL b/001209_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001209_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001224/data.json b/001224/data.json new file mode 100644 index 0000000000000000000000000000000000000000..dae07ffd3eee923b92384b24dd3e621d2a1d1430 --- /dev/null +++ b/001224/data.json @@ -0,0 +1,366 @@ +{ + "action_start": 5, + "action_end": 15, + "object_name": "pot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "gripper_actions": [ + [ + -5.551115123125783e-17, + 1.3877787807814457e-17, + -2.42861286636753e-17, + -3.867594160015382e-08, + -6.226833686551398e-08, + 4.903581232575219e-07, + 1.0 + ], + [ + -0.0034236218302486354, + -0.000781044894275218, + -0.007247916508756738, + -0.006268964199392184, + -0.02503458648000497, + 0.007728481283964048, + 1.0 + ], + [ + -0.0018428975150397986, + 0.0019596920282073937, + -0.010386172715593686, + 0.00400670806270168, + -0.03640743225044263, + -0.0059923729045981994, + 1.0 + ], + [ + 0.0035706459049239525, + 0.0036423171954163835, + -0.006839509400964882, + -0.02526226355749868, + -0.0006883341094783557, + -0.011710193725343758, + 1.0 + ], + [ + 0.0037211555056291257, + 0.002553470537040206, + -0.003857097884484905, + -0.007892164425334905, + -0.005802629267491107, + -0.015056260347101781, + 1.0 + ], + [ + 0.002386142713382944, + 0.0006948527716302833, + -0.005065767454576632, + -0.009543750381373114, + -0.006259429525667488, + -0.0008540594407506744, + 1.0 + ], + [ + 0.003671212627055498, + -1.4381589761164326e-05, + -0.0032543387704283833, + -0.002193084452726222, + -0.0035253212172469115, + 0.008187630494844982, + 0.0 + ], + [ + 0.0015072013535211148, + 0.0012972583164463092, + 0.0013858426283432576, + -0.012274504397258374, + 0.015868208505824235, + -0.0006448074417508075, + 0.0 + ], + [ + -0.0003860495855635415, + -0.0008654914217984672, + 0.002068134251419617, + 0.006392147112098116, + -0.004643206849613004, + 0.006167248539129113, + 0.0 + ], + [ + -0.00044788015193758524, + 0.002622207018022793, + 0.015135746476986772, + 0.04030825364440452, + -0.011181051740798914, + -0.017541201954077053, + 0.0 + ], + [ + -0.0007790425228651476, + 0.002620068877265083, + 0.020062547930308476, + 0.04153996802208265, + 0.0007460350344762514, + 0.007152664773704617, + 0.0 + ], + [ + -0.0011335612403945983, + -0.0010602818894296512, + 0.015694652878226842, + 0.01219010925816884, + 0.008333118198680314, + -0.008000650951473948, + 0.0 + ], + [ + 0.0025833056052132486, + -0.003243385244438929, + 0.018383405607007873, + 0.01993250627782538, + -0.011672923125563457, + -0.015519448810022901, + 0.0 + ], + [ + 0.004096934733928637, + -0.0022952981994870114, + 0.011589909537074153, + -0.005638533549531733, + -0.010044857885897363, + -0.012883264682002026, + 0.0 + ], + [ + 0.004364807083896194, + -0.004628894789290017, + 0.007836508762888553, + -0.003780595768421826, + -0.030848129847935984, + -0.005857575459853022, + 0.0 + ], + [ + 0.0017871049356738555, + -0.003125498603058219, + 0.0020315567665430967, + -0.011097337642909962, + -0.02130028840008634, + -0.009093327815827173, + 0.0 + ], + [ + 0.0003942858454782372, + -0.0012427134744371904, + -0.0029194352882787045, + -0.01735428317649312, + -0.0019732098495694023, + 0.007073072841513455, + 0.0 + ] + ], + "gripper_centers": [ + [ + 482.13323974609375, + 218.96221923828125 + ], + [ + 481.9630432128906, + 219.24417114257812 + ], + [ + 470.1436767578125, + 242.39230346679688 + ], + [ + 464.21478271484375, + 251.3638458251953 + ], + [ + 463.3209228515625, + 255.54531860351562 + ], + [ + 466.2131042480469, + 267.8875732421875 + ], + [ + 463.43939208984375, + 265.5631103515625 + ], + [ + 457.1959228515625, + 268.6300354003906 + ], + [ + 458.9210205078125, + 267.6059265136719 + ], + [ + 460.56109619140625, + 265.2444763183594 + ], + [ + 452.63018798828125, + 263.2461242675781 + ], + [ + 452.872314453125, + 271.34979248046875 + ], + [ + 458.97528076171875, + 251.57269287109375 + ], + [ + 451.9107666015625, + 231.25364685058594 + ], + [ + 459.54046630859375, + 211.73394775390625 + ], + [ + 467.73193359375, + 197.66146850585938 + ], + [ + 474.3623046875, + 197.8797607421875 + ] + ], + "depth_max": 1.7805019617080688, + "depth_min": 0.19867414236068726, + "intrinsic": [ + [ + 527.9053344726562, + 0.0, + 259.0 + ], + [ + 0.0, + 528.3651123046875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.65613195754122e-05, + -7.918901974335313e-05, + -4.220575647195801e-06 + ], + [ + -3.6564251786330715e-05, + 1.0, + -3.702031972352415e-05, + 5.348920240066946e-07 + ], + [ + 7.918766641523689e-05, + 3.70232155546546e-05, + 1.0, + -4.7361590986838564e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 16 + ], + "object_trajectory": [ + [ + 410.25, + 245.00003051757812 + ], + [ + 410.42034912109375, + 245.19175720214844 + ], + [ + 410.9478759765625, + 245.016845703125 + ], + [ + 411.1178894042969, + 245.46682739257812 + ], + [ + 411.2464294433594, + 245.60958862304688 + ], + [ + 411.11102294921875, + 245.40444946289062 + ], + [ + 411.0857238769531, + 245.2419891357422 + ], + [ + 410.88665771484375, + 245.17977905273438 + ], + [ + 410.61773681640625, + 245.1513214111328 + ], + [ + 410.2255859375, + 245.1068572998047 + ], + [ + 393.7637634277344, + 250.01400756835938 + ], + [ + 389.58935546875, + 249.389404296875 + ], + [ + 395.8890686035156, + 230.0615692138672 + ], + [ + 398.8681335449219, + 224.84576416015625 + ], + [ + 403.5611267089844, + 207.74766540527344 + ], + [ + 412.54400634765625, + 194.98007202148438 + ], + [ + 418.7378845214844, + 194.03150939941406 + ] + ] +} \ No newline at end of file diff --git a/001224/lang.txt b/001224/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..aab8ce8a697be3c70ea3b737d731c1f573552471 --- /dev/null +++ b/001224/lang.txt @@ -0,0 +1 @@ +pick up pot from sink diff --git a/001235_v2/FAIL b/001235_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/001235_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/001291/FAIL b/001291/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..12cce8a603c327d6a0a6f65ea8c6628a5ec55c6b --- /dev/null +++ b/001291/FAIL @@ -0,0 +1 @@ +Too few valid images after filtering diff --git a/001303/FAIL b/001303/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..12cce8a603c327d6a0a6f65ea8c6628a5ec55c6b --- /dev/null +++ b/001303/FAIL @@ -0,0 +1 @@ +Too few valid images after filtering diff --git a/001313/FAIL b/001313/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..12cce8a603c327d6a0a6f65ea8c6628a5ec55c6b --- /dev/null +++ b/001313/FAIL @@ -0,0 +1 @@ +Too few valid images after filtering diff --git a/001322_v2/FAIL b/001322_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/001322_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/001356_v2/data.json b/001356_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..d216ff861100770810de30aa4757e44f5ef6c8c8 --- /dev/null +++ b/001356_v2/data.json @@ -0,0 +1,788 @@ +{ + "action_start": 15, + "action_end": 29, + "object_name": "purple figure", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.8246640000000001, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.527228, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 0.0, + -1.3877787807814457e-17, + 8.399001988181739e-08, + -2.693842755262851e-07, + -2.1143321622734976e-07, + 1.0 + ], + [ + -0.0004419378679288988, + 0.003419444170214031, + -0.00154446329402394, + 0.005589911022082792, + -0.01015219841048303, + 0.003761495872851775, + 1.0 + ], + [ + 0.0016789189066328536, + 0.016152082061680006, + 0.0013241718570655286, + 0.04069932173831394, + -0.047755391340642515, + 0.07993692954896658, + 1.0 + ], + [ + 0.0019829649370491365, + 0.027038526517974726, + 0.0007558640963941654, + 0.02023395038901059, + -0.027698457746370288, + 0.13024686204558927, + 1.0 + ], + [ + 0.001073558207690506, + 0.026745014192007727, + 0.0036602094566158955, + -0.00033378961732539233, + -0.007898653279261753, + 0.1211764894520874, + 1.0 + ], + [ + -0.0031006611520367766, + 0.022822132332231182, + -0.006018159512962355, + -0.034252007920824876, + 0.06766245634326255, + 0.09204629390181965, + 1.0 + ], + [ + -0.0036861228543365043, + 0.015470909724678517, + -0.011139215661981214, + 0.0034552414264166238, + 0.03951716736965636, + 0.03768086632605008, + 1.0 + ], + [ + -0.0026809485732349203, + 0.012721975793816565, + -0.010011817882734683, + -0.01964891497008167, + 0.022318394329013513, + 0.03508886227248145, + 1.0 + ], + [ + -0.002694301937679, + 0.006676861779546572, + -0.010929184528340706, + -0.010272792207707765, + -0.013943427248361609, + -0.00827086235133417, + 1.0 + ], + [ + 0.005352136358316217, + -0.0014686866553033084, + -0.0013497622702592846, + -0.04458251670258775, + -0.040919153172442116, + -0.026554791789219916, + 1.0 + ], + [ + 0.008102350684658144, + 0.0012096652013690035, + 0.0010923675888950407, + -0.014089288427587592, + -0.02597271086138126, + 0.010666546173615014, + 1.0 + ], + [ + 0.005920989070217375, + 0.0005884336195650097, + -0.003759097726385323, + -0.008781762719620669, + -0.0019397085743273305, + 0.008761631887475498, + 1.0 + ], + [ + 0.0023725239122672215, + -0.00048723908831516116, + -0.003454202007322174, + 0.003749182237900551, + 0.012984085665689789, + 0.010411072452573462, + 1.0 + ], + [ + -0.0018120636497673814, + 0.001520133057533568, + -0.007255299119208421, + 0.009152727148515895, + 0.024998290340326603, + 0.012957737153619924, + 1.0 + ], + [ + -0.0006829192595906863, + 0.001911999117025387, + -0.008585253089382051, + 0.01333046561211783, + 0.006285587735986228, + 0.012795689133039998, + 1.0 + ], + [ + -1.2161442427549574e-05, + 0.0030120779410758303, + -0.005841549551276488, + 0.004161408354369749, + 0.005626986096661615, + 0.03152706553395809, + 0.8246640000000001 + ], + [ + 0.0005542106441138173, + 0.0015513352297354954, + -0.0022015244578687913, + -0.00039072434710212575, + -0.0008555848343679928, + -0.0020999492761553315, + 0.0 + ], + [ + -0.0002120250044246874, + 0.0007565386854894163, + -0.00014070700473318293, + -0.004216932125535891, + -0.0010822895156392283, + 0.006214747796236961, + 0.0 + ], + [ + -0.005027710134345054, + -0.009742208184885248, + 0.013858438227221912, + -0.0264675611205015, + -0.017923079561675555, + -0.006153878959758974, + 0.0 + ], + [ + -0.008912305545477561, + -0.018212791217022628, + 0.017650371490197086, + -0.02132107773740474, + -0.03252010729390937, + -0.05083214557705313, + 0.0 + ], + [ + -0.012996623002914154, + -0.02241005915904054, + 0.01819367534726057, + -0.011691056789339906, + -0.041528235351886524, + -0.06674247621967133, + 0.0 + ], + [ + -0.020486880440410082, + -0.02329649156082833, + 0.01104128924133102, + -0.005328590891100518, + -0.025593180213990745, + -0.0718922311796956, + 0.0 + ], + [ + -0.02403409486624103, + -0.019467524896616906, + -0.0008420535858693623, + -0.001696696424897232, + 0.0028876846286275343, + -0.0679135710303807, + 0.0 + ], + [ + -0.025657067526088706, + -0.012928876200355738, + -0.014719885433999005, + 0.015973330684978426, + 0.02217436043515419, + -0.060140389821264496, + 0.0 + ], + [ + -0.01153020459268711, + -0.003841159789654963, + -0.01376472872461093, + 0.016753091008524956, + 0.02277433422613608, + -0.02526063442865412, + 0.0 + ], + [ + -0.00324640229054568, + 0.0008073231391706459, + -0.012864076070768546, + 0.0159951823393198, + 0.01720452401093619, + -0.007598074641378286, + 0.0 + ], + [ + 0.0010315441692790306, + 0.00018208624827020792, + -0.010416317496032515, + 0.013041035388849419, + 0.016189924463313986, + -0.004073969208935832, + 0.0 + ], + [ + 0.00034445026743412654, + -0.003112677248085588, + -0.00405919454698353, + 0.0008125709636445694, + 0.020298306385135342, + -0.003163622903123847, + 0.0 + ], + [ + -0.001279831700557399, + -0.000509320459545215, + -0.002827981541678126, + -0.01399210163369576, + 0.050701057194438674, + -0.0025385143360037742, + 0.0 + ], + [ + -0.0008950270417442674, + -0.0001371186809085989, + 0.0009158267060768652, + -0.013361848332971441, + 0.018257714455364456, + -0.00934738438852552, + 0.527228 + ], + [ + 0.0001552923264135364, + 0.000530073723933655, + 0.005187123337259795, + -0.03163000948414745, + -0.0015222560071425071, + -0.0029436158433277424, + 1.0 + ], + [ + -1.2904953871240021e-05, + 0.0006795550524445193, + 0.0025318042481514147, + -0.008197083290928765, + -0.0046777062190016296, + -0.0014939606814593498, + 1.0 + ], + [ + -0.0017085814111501008, + -0.0004919777631630928, + 0.0015555164475127246, + -0.010161064574253127, + 0.002421301419070346, + -0.004014874781433836, + 1.0 + ], + [ + -0.0013468670500779156, + -0.001231457929396329, + 0.003213860377461311, + -0.009264922554764092, + -0.0010607514701623832, + -0.0037339518136984932, + 1.0 + ], + [ + -0.00040115947211905034, + -0.0007904152940014786, + 0.012612380208407853, + -0.0179105553266012, + -0.02191350876279129, + -0.004815731070695349, + 1.0 + ], + [ + 0.0032010307466854016, + 0.007629358261333652, + 0.027630019859950637, + 0.005777950978693109, + -0.039142023634146775, + 0.03318058476748438, + 1.0 + ], + [ + 0.00209672407962036, + 0.012190644324941519, + 0.027228799403989173, + 0.076609450876882, + 0.03253398920065547, + 0.013568228566482541, + 1.0 + ], + [ + -0.0021259697592847515, + 0.0032940972196365548, + 0.026203622156787537, + -0.03907504792466012, + 0.0006330284272884883, + 0.0017425514910557234, + 1.0 + ], + [ + -0.008207909161626115, + -0.0022682856196926393, + 0.0020220955153045853, + -0.03964240956251168, + 0.1432408745302277, + -0.02371937576806261, + 1.0 + ], + [ + -0.0017698862608278576, + -0.002601570623846805, + -0.005894858831921979, + -0.007945942077725157, + 0.011367499411814726, + -0.04350099330777149, + 1.0 + ] + ], + "gripper_centers": [ + [ + 135.494873046875, + 116.57243347167969 + ], + [ + 136.87820434570312, + 128.08837890625 + ], + [ + 137.85293579101562, + 135.3376007080078 + ], + [ + 145.5706787109375, + 140.46896362304688 + ], + [ + 114.08824920654297, + 134.3574676513672 + ], + [ + 97.66399383544922, + 125.93339538574219 + ], + [ + 77.84550476074219, + 121.82951354980469 + ], + [ + 64.02068328857422, + 131.71768188476562 + ], + [ + 60.9182243347168, + 138.89984130859375 + ], + [ + 51.19684982299805, + 144.51055908203125 + ], + [ + 52.63825607299805, + 151.45907592773438 + ], + [ + 58.61088180541992, + 141.35595703125 + ], + [ + 61.48628234863281, + 150.0965576171875 + ], + [ + 59.10883331298828, + 147.05978393554688 + ], + [ + 57.51869201660156, + 156.48208618164062 + ], + [ + 56.13828659057617, + 158.36627197265625 + ], + [ + 57.98101043701172, + 158.47305297851562 + ], + [ + 58.42176055908203, + 157.68756103515625 + ], + [ + 58.7576904296875, + 157.2887420654297 + ], + [ + 60.32891082763672, + 159.5340118408203 + ], + [ + 65.45509338378906, + 170.04483032226562 + ], + [ + 64.74079895019531, + 160.02886962890625 + ], + [ + 60.91455078125, + 156.69564819335938 + ], + [ + 48.33165740966797, + 171.2447509765625 + ], + [ + 31.638965606689453, + 201.47337341308594 + ], + [ + 26.95020866394043, + 227.130126953125 + ], + [ + 25.29094123840332, + 235.06166076660156 + ], + [ + 24.32685089111328, + 239.6981201171875 + ], + [ + 23.90337371826172, + 246.68551635742188 + ], + [ + 24.474132537841797, + 255.44972229003906 + ], + [ + 24.757938385009766, + 249.8245849609375 + ], + [ + 27.15154266357422, + 243.01614379882812 + ], + [ + 27.60015106201172, + 242.90069580078125 + ], + [ + 28.07828140258789, + 243.511474609375 + ], + [ + 23.97352409362793, + 244.49224853515625 + ], + [ + 24.49209976196289, + 238.59454345703125 + ], + [ + 13.645389556884766, + 207.75167846679688 + ], + [ + -8.412942886352539, + 173.6533966064453 + ], + [ + -30.10281753540039, + 138.29190063476562 + ], + [ + -53.55052185058594, + 112.02365112304688 + ] + ], + "depth_max": 2.1592257022857666, + "depth_min": 0.6662545204162598, + "intrinsic": [ + [ + 595.1570434570312, + 0.0, + 259.0 + ], + [ + 0.0, + 593.77734375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.656465459149331e-05, + -9.314138878835365e-06, + 1.151769538410008e-06 + ], + [ + -7.656477100681514e-05, + 1.0, + -1.2046185474900994e-05, + -1.7080174075090326e-05 + ], + [ + 9.313216651207767e-06, + 1.2046898518747184e-05, + 1.0, + -3.547850610630121e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 39 + ], + "object_trajectory": [ + [ + 76.25, + 179.5 + ], + [ + 76.64256286621094, + 179.6725616455078 + ], + [ + 76.7738265991211, + 179.68020629882812 + ], + [ + 76.74737548828125, + 179.71356201171875 + ], + [ + 76.77531433105469, + 179.70545959472656 + ], + [ + 76.6877670288086, + 179.64627075195312 + ], + [ + 76.6271743774414, + 179.70156860351562 + ], + [ + 76.64823150634766, + 179.9678192138672 + ], + [ + 76.47305297851562, + 179.94322204589844 + ], + [ + 76.25962829589844, + 179.9951934814453 + ], + [ + 76.48226928710938, + 180.23260498046875 + ], + [ + 76.54322814941406, + 179.83384704589844 + ], + [ + 76.48441314697266, + 180.1066131591797 + ], + [ + 76.30470275878906, + 180.08395385742188 + ], + [ + 75.39200592041016, + 179.80331420898438 + ], + [ + 69.38944244384766, + 175.5572509765625 + ], + [ + 68.74407196044922, + 174.8724822998047 + ], + [ + 69.08328247070312, + 173.71006774902344 + ], + [ + 69.12872314453125, + 173.43505859375 + ], + [ + 70.22151947021484, + 174.72586059570312 + ], + [ + 77.38780212402344, + 187.480712890625 + ], + [ + 79.02759552001953, + 180.22988891601562 + ], + [ + 79.0879898071289, + 177.2908935546875 + ], + [ + 71.26537322998047, + 189.81033325195312 + ], + [ + 66.25773620605469, + 220.72232055664062 + ], + [ + 59.25927734375, + 241.83224487304688 + ], + [ + 57.584327697753906, + 248.65475463867188 + ], + [ + 55.49925994873047, + 250.88824462890625 + ], + [ + 52.78474426269531, + 266.12799072265625 + ], + [ + 52.520626068115234, + 278.83013916015625 + ], + [ + 52.452415466308594, + 275.5249328613281 + ], + [ + 56.47119140625, + 278.26397705078125 + ], + [ + 58.43394088745117, + 280.19158935546875 + ], + [ + 61.38549041748047, + 284.5720520019531 + ], + [ + 61.577911376953125, + 284.8936462402344 + ], + [ + 62.10285186767578, + 283.5550842285156 + ], + [ + 63.65977096557617, + 277.33551025390625 + ], + [ + 63.36600875854492, + 277.75018310546875 + ], + [ + 63.02772521972656, + 277.3880615234375 + ], + [ + 62.841957092285156, + 277.08642578125 + ] + ] +} \ No newline at end of file diff --git a/001356_v2/lang.txt b/001356_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..7e97b2972b4003e35a8b7fb741196a2d970a5de5 --- /dev/null +++ b/001356_v2/lang.txt @@ -0,0 +1 @@ +put the purple figure in the bottom left of the cloth diff --git a/001356_v2/object.ply b/001356_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..17d5c52d592b81501067c7b460c81e3b5c793179 Binary files /dev/null and b/001356_v2/object.ply differ diff --git a/001375_v2/data.json b/001375_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..90d33575f598cfb241d431d97a591cd260bda503 --- /dev/null +++ b/001375_v2/data.json @@ -0,0 +1,769 @@ +{ + "action_start": 17, + "action_end": 31, + "object_name": "white ball", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 4.2255565713134047e-10, + -5.584574469530423e-12, + 2.2379725503340886e-10, + -1.1429791224780546e-07, + -5.478754945893271e-08, + 1.9354082112701774e-07, + 1.0 + ], + [ + 0.01329009145639437, + 0.024939925374362466, + 0.019982229864274524, + -0.03806459793884205, + -0.06301855192091818, + 0.14405686628549902, + 1.0 + ], + [ + 0.011013568990339007, + 0.02682112469360132, + 0.01218482672998504, + -0.02408571703316537, + -0.042930535833585706, + 0.16794220724105705, + 1.0 + ], + [ + 0.005505473398706662, + 0.018763268217040205, + 0.010091719839460445, + 0.009264618954135823, + -0.03270930810948664, + 0.09053689150854477, + 1.0 + ], + [ + 0.003877740747341263, + 0.019979542875595266, + 0.00858306524782658, + 0.055113745054502956, + -0.051432425161032976, + 0.09758240428536388, + 1.0 + ], + [ + 0.004766098974434141, + 0.01645541320819349, + 0.006816025902358962, + 0.03502265251637592, + -0.04552272263338989, + 0.07372539370745375, + 1.0 + ], + [ + 0.0073012439870916435, + 0.013420548564492131, + 0.0010749620275962019, + 0.032573781016766085, + -0.03791940457653254, + 0.06278792018828025, + 1.0 + ], + [ + 0.00856556192694291, + 0.008717857449519542, + -0.0014757263651637431, + 0.013645648232875634, + -0.06098777065266863, + 0.038401899575847886, + 1.0 + ], + [ + 0.012251783815153405, + 0.006314020539330459, + -0.0032269229230063867, + 0.041144552095983944, + -0.06423901757100466, + 0.07758448167107104, + 1.0 + ], + [ + 0.012564832620340027, + 0.0045753234570311, + -0.001824803203052422, + 0.0003648565905296139, + -0.04104357090566802, + 0.08599832625868507, + 1.0 + ], + [ + 0.011872964063005198, + 0.003800244127404581, + -0.001570971288232595, + -0.024161212608183737, + -0.025342809795895982, + 0.07116613538556535, + 1.0 + ], + [ + 0.012263529229449677, + -0.001789815958994842, + -0.00801259994806542, + -0.00860399678261903, + 0.017998125992985958, + 0.022074039769645965, + 1.0 + ], + [ + 0.012309284826856448, + -0.0014961448360442942, + -0.007260041151130978, + 0.011743008147069007, + 0.012045015798491777, + 0.00865017482695341, + 1.0 + ], + [ + 0.009442177774377836, + -0.00026812653972010936, + -0.0068439564943162876, + 0.015159829482489801, + 0.002391223367753414, + 0.006354232256026823, + 1.0 + ], + [ + 0.008269426856952533, + -0.0006277235527964789, + -0.0047799359323545815, + -0.002772656660284125, + 0.00581652798238269, + 0.0007254568417451154, + 1.0 + ], + [ + 0.007818758749158994, + -0.0013591336772048115, + -0.0027672379119431517, + -0.00033389538017981706, + -0.004559672440312221, + 0.00023069897863583022, + 1.0 + ], + [ + 0.0073170580224983794, + -0.0015516384491862448, + -0.005021362566920977, + -0.003017412718699913, + 0.004350493020049815, + -0.0026587032146770176, + 1.0 + ], + [ + 0.006064702960870749, + -0.0009427706008363623, + -0.009366492566444822, + 0.0016980488242579717, + 0.009233910740088285, + 0.006616017547654454, + 1.0 + ], + [ + 0.002750894074665333, + -0.0037991347970593517, + -0.008134975228806463, + 0.02083585054162912, + -0.010378538040232135, + 0.007547337261785647, + 0.0 + ], + [ + 0.0018891262644158413, + -0.0040213015616170425, + -0.00279908158164522, + 0.0025739337641337433, + -0.0008787908285308637, + -0.004702615142701398, + 0.0 + ], + [ + -0.0009260013334779771, + -0.003473766841414004, + 0.0041948421498019094, + 0.005512363526147109, + -0.012847246317951668, + -0.009416975209340057, + 0.0 + ], + [ + -0.004465310877866557, + -0.0014150438687858743, + 0.015716082807865586, + -0.006232499221178919, + -0.025796287581360877, + -0.022929086510839136, + 0.0 + ], + [ + -0.008985674903439822, + -0.004166244869973662, + 0.023523834484644783, + -0.0258721464625965, + -0.06871003553064478, + -0.033651903671220854, + 0.0 + ], + [ + -0.013481668036187722, + -0.016574156660756286, + 0.0173681741502242, + 0.012062538021951086, + -0.06494095865271908, + -0.08682636134627433, + 0.0 + ], + [ + -0.018990720496319446, + -0.024149047195127032, + 0.0048402555750897275, + -0.0022852274926018984, + -0.011397071756386438, + -0.08529637300854209, + 0.0 + ], + [ + -0.028734811926316994, + -0.039210501658612555, + -0.009979590541617914, + -0.006328651186401533, + 0.03012679647393072, + -0.124990132481871, + 0.0 + ], + [ + -0.02504269282615823, + -0.041178360702939676, + -0.006400807210944444, + -0.01465317832387033, + 0.03306111231514968, + -0.11643544039945207, + 0.0 + ], + [ + -0.022068260734854017, + -0.03909778786318784, + -0.007086255115528607, + -0.004492089523870386, + 0.026136049961422835, + -0.09521226121597386, + 0.0 + ], + [ + -0.013752634084344184, + -0.02942298800151552, + -0.007198144012895612, + 0.012253936924709049, + 0.0046511008815355226, + -0.06693417985197066, + 0.0 + ], + [ + -0.003206764545186369, + -0.022291244178629682, + -0.013943909053543257, + 0.02729740914295586, + 0.00866161476999265, + -0.036527877391405096, + 0.0 + ], + [ + 0.0011207324577550692, + -0.015643323603579673, + -0.019592173685094798, + 0.03546533126791803, + 0.009537262467820835, + -0.023887779444608445, + 0.0 + ], + [ + -0.002388763724831655, + -0.008761407747313377, + -0.009698906619247345, + 0.014752300622886945, + 0.01019393310220609, + -0.027380781393764205, + 0.0 + ], + [ + -0.001366759825841779, + -0.0020827608117715557, + 0.005187077322273919, + 0.00320342004087124, + 0.0068799648275141515, + -0.034605913813697375, + 1.0 + ], + [ + -0.001348023916193597, + 0.004878439332106355, + 0.012565271366501447, + -0.03294875315502687, + -0.008256282759430585, + -0.0034071867627929182, + 1.0 + ], + [ + -0.0009119300639444106, + 0.00919631133364271, + 0.016045686603702775, + -0.028557560863795805, + 0.007038762658969233, + -0.014967728937375573, + 1.0 + ], + [ + -0.002650342432869379, + 0.025852321961425118, + 0.022368051940011326, + 0.0008915838327565425, + 0.02328936379116428, + -0.015472148529764331, + 1.0 + ], + [ + -0.0006530667077034868, + 0.04715732686802901, + 0.025294251286002677, + -0.004393380947275089, + 0.01619811138601126, + 0.05159347456113438, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 350.76544189453125, + 333.4581298828125 + ], + [ + 348.5078125, + 340.8160705566406 + ], + [ + 344.32550048828125, + 332.15252685546875 + ], + [ + 324.86981201171875, + 292.0736389160156 + ], + [ + 304.4135437011719, + 268.165771484375 + ], + [ + 282.3194580078125, + 248.27626037597656 + ], + [ + 268.8543701171875, + 231.54397583007812 + ], + [ + 257.79345703125, + 220.9686279296875 + ], + [ + 253.18441772460938, + 217.70452880859375 + ], + [ + 248.2200927734375, + 212.833984375 + ], + [ + 249.51156616210938, + 205.43356323242188 + ], + [ + 257.5755310058594, + 197.33248901367188 + ], + [ + 264.6693420410156, + 200.99453735351562 + ], + [ + 271.2003479003906, + 203.20855712890625 + ], + [ + 281.6759948730469, + 205.6671905517578 + ], + [ + 285.30926513671875, + 206.5323944091797 + ], + [ + 288.60626220703125, + 203.70680236816406 + ], + [ + 298.38330078125, + 204.86441040039062 + ], + [ + 299.855224609375, + 211.39732360839844 + ], + [ + 300.5963439941406, + 213.3013458251953 + ], + [ + 305.2441711425781, + 214.38980102539062 + ], + [ + 305.43255615234375, + 214.44818115234375 + ], + [ + 305.80816650390625, + 217.86422729492188 + ], + [ + 310.29241943359375, + 206.48077392578125 + ], + [ + 312.7299499511719, + 198.04786682128906 + ], + [ + 326.8924255371094, + 213.4365234375 + ], + [ + 344.57623291015625, + 251.15724182128906 + ], + [ + 368.4422607421875, + 295.9378662109375 + ], + [ + 400.8714294433594, + 347.1829528808594 + ], + [ + 441.2785339355469, + 389.6239318847656 + ], + [ + 461.78350830078125, + 427.795654296875 + ], + [ + 478.66314697265625, + 443.850341796875 + ], + [ + 489.67681884765625, + 482.51947021484375 + ], + [ + 492.3805847167969, + 482.296875 + ], + [ + 495.659423828125, + 484.3799133300781 + ], + [ + 495.373779296875, + 439.9154052734375 + ], + [ + 470.73199462890625, + 412.1634216308594 + ], + [ + 397.82928466796875, + 358.2542724609375 + ], + [ + 377.67572021484375, + 334.86688232421875 + ] + ], + "depth_max": 3.02917742729187, + "depth_min": 0.18750733137130737, + "intrinsic": [ + [ + 604.7620239257812, + 0.0, + 259.0 + ], + [ + 0.0, + 603.8353881835938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -2.7193056666874327e-05, + -0.00016374068218283355, + -5.7101904531009495e-05 + ], + [ + 2.717780262173619e-05, + 1.0, + -9.315483475802466e-05, + 1.0723420018621255e-05 + ], + [ + 0.0001637432142160833, + 9.315038187196478e-05, + 1.0, + -0.00023745893849991262 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 38 + ], + "object_trajectory": [ + [ + 301.5, + 220.00001525878906 + ], + [ + 301.71337890625, + 220.0269317626953 + ], + [ + 301.786865234375, + 219.90267944335938 + ], + [ + 301.4813537597656, + 219.92572021484375 + ], + [ + 301.79498291015625, + 220.1856231689453 + ], + [ + 301.8324890136719, + 220.75094604492188 + ], + [ + 301.8572998046875, + 220.67324829101562 + ], + [ + 301.8684997558594, + 220.37762451171875 + ], + [ + 301.8304443359375, + 220.1339111328125 + ], + [ + 302.0215148925781, + 220.44578552246094 + ], + [ + 301.9413757324219, + 220.17086791992188 + ], + [ + 301.9427795410156, + 219.9796142578125 + ], + [ + 301.83538818359375, + 219.92333984375 + ], + [ + 301.8414611816406, + 220.25723266601562 + ], + [ + 301.9844665527344, + 220.1160888671875 + ], + [ + 301.9335632324219, + 220.09779357910156 + ], + [ + 301.48931884765625, + 220.534912109375 + ], + [ + 301.1756286621094, + 220.48707580566406 + ], + [ + 305.9661560058594, + 219.79856872558594 + ], + [ + 302.25970458984375, + 219.67767333984375 + ], + [ + 307.2396240234375, + 219.97811889648438 + ], + [ + 307.9578857421875, + 219.6231231689453 + ], + [ + 309.12408447265625, + 221.98707580566406 + ], + [ + 321.07183837890625, + 222.99209594726562 + ], + [ + 320.1441650390625, + 209.58517456054688 + ], + [ + 335.75396728515625, + 215.82205200195312 + ], + [ + 345.3146667480469, + 251.29025268554688 + ], + [ + 372.7957763671875, + 295.450439453125 + ], + [ + 403.96630859375, + 339.4683837890625 + ], + [ + 436.63458251953125, + 384.4543762207031 + ], + [ + 459.576171875, + 422.68609619140625 + ], + [ + 483.0683288574219, + 431.47357177734375 + ], + [ + 488.37713623046875, + 449.97528076171875 + ], + [ + 491.1251220703125, + 445.8277282714844 + ], + [ + 490.938720703125, + 448.3790283203125 + ], + [ + 491.90771484375, + 443.34405517578125 + ], + [ + 492.8653564453125, + 438.61676025390625 + ], + [ + 501.30377197265625, + 436.5303955078125 + ], + [ + 495.7846374511719, + 433.1125183105469 + ] + ] +} \ No newline at end of file diff --git a/001375_v2/lang.txt b/001375_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..0dc8f62523951ed5146244a6fe0678a01ae9f810 --- /dev/null +++ b/001375_v2/lang.txt @@ -0,0 +1 @@ +take the white ball from the orange cloth diff --git a/001375_v2/object.ply b/001375_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d095b8e82e434b9e42a373ad21d05c1c64b5592 Binary files /dev/null and b/001375_v2/object.ply differ diff --git a/001377_v2/data.json b/001377_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..7234b686913707bb13a2eda3a32b1e6853e83463 --- /dev/null +++ b/001377_v2/data.json @@ -0,0 +1,659 @@ +{ + "action_start": 9, + "action_end": 24, + "object_name": "red object", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.9011431318105565e-10, + 9.852529556098055e-11, + -2.8977792387863133e-11, + -1.6622722827145403e-07, + -5.569678195414215e-08, + -1.0844784487026305e-06, + 1.0 + ], + [ + 0.046166047328742146, + -0.008509679535223236, + -0.030786184517058113, + -0.038032285227256435, + 0.014750455319699261, + -0.10112215501071824, + 1.0 + ], + [ + 0.04489894977447792, + -0.011059334011599444, + -0.030076668248105343, + -0.009116181689635957, + -0.0013174280785077333, + -0.01854804381301179, + 1.0 + ], + [ + 0.047301455544823956, + -0.020574389117983566, + -0.0356724223840903, + 0.01232136313503413, + -0.02111715256683175, + -0.03700710412421317, + 1.0 + ], + [ + 0.04347439860563554, + -0.025916379795594587, + -0.03367680821775884, + -0.016307696785829027, + -0.017441004775380874, + -0.08723537402382822, + 1.0 + ], + [ + 0.03993463325599683, + -0.02278675964168074, + -0.028461397609741063, + 0.018133279595663927, + -0.06744826363269536, + -0.08999452695717178, + 1.0 + ], + [ + 0.03093784672336286, + -0.018716114474831444, + -0.023741457934667642, + -0.03805524356746243, + -0.03342244740893182, + -0.05197924851881598, + 1.0 + ], + [ + 0.02032378559497522, + -0.02006975886224599, + -0.021724916989495607, + -0.059802091988378395, + -0.028352139970513994, + -0.0387501911828237, + 1.0 + ], + [ + 0.005364759086666504, + -0.01548180280723048, + -0.0076052700248737115, + -0.004067347870079712, + -0.020832066336506767, + 0.03391066052407542, + 1.0 + ], + [ + -0.0019328753309352797, + -0.012310532487701115, + -0.009043369140912142, + -0.00779016335262879, + 0.027726918653299692, + 0.05281419885877162, + 1.0 + ], + [ + 0.0013929732290629548, + -0.00820065421482602, + -0.004619612797310494, + 0.016054778276852064, + 0.002329860706358853, + 0.015485108626597336, + 1.0 + ], + [ + 0.004916211892942501, + 0.001796623129635494, + -0.00781906631272859, + 0.07976990430410869, + 0.0029391795883810462, + 0.016685593956015335, + 1.0 + ], + [ + 0.0020122414106916175, + 0.008538678824757673, + -0.006874448392971839, + 0.08323098494006873, + 0.010090045296758452, + 0.0653946768532953, + 0.0 + ], + [ + -0.005825833962521065, + 0.00810277990968572, + 0.0014923195687373478, + 0.0765401852494471, + 0.03661946750134678, + 0.03851913065185159, + 0.0 + ], + [ + -0.006233173834550965, + 0.009236814229600682, + 0.019288613303091576, + -0.044929844735731625, + 0.004734787565818046, + -0.011619675238420724, + 0.0 + ], + [ + -0.0021211551260099104, + 0.010555922896596903, + 0.03247625516196023, + -0.21330741751524154, + -0.026585270530504284, + -0.06843842962490007, + 0.0 + ], + [ + -0.012910869671356406, + 0.02239320793693811, + 0.0179350487073007, + -0.011045618668768969, + 0.07577186792581059, + -0.0656792826996241, + 0.0 + ], + [ + -0.011314890360559882, + 0.031068726579843747, + -0.012397495009056571, + 0.11953644174412259, + 0.06104222872128572, + -0.07075953558258015, + 0.0 + ], + [ + -0.015368696251832348, + 0.018048931138289426, + -0.007633206592695185, + 0.11716481030518731, + 0.023859551829454737, + -0.11338914463404648, + 0.0 + ], + [ + -0.014424986148953711, + 0.007109771893624772, + 0.005582046393837296, + 0.04572056377027228, + 0.0005375717159352421, + -0.16185927627582272, + 0.0 + ], + [ + -0.010650736500870839, + 0.009094922232126254, + 0.004201764829290591, + -0.009245637858917634, + -0.01439585680563056, + -0.1461184808543829, + 0.0 + ], + [ + -0.010382404942871515, + 0.010633155875322944, + 0.004699704332132501, + -0.024610359061112988, + -0.018441639024348432, + -0.09261810560850635, + 0.0 + ], + [ + -0.00826822309775549, + 0.008636866224986328, + -0.0053920186500932, + 0.0010651642084239308, + -0.007949472393925594, + -0.048326581996614264, + 0.0 + ], + [ + -0.00643835203271631, + 0.011728709014401983, + -0.017856839960413914, + 0.02494555548305707, + 0.012384258438803116, + 0.004145862806814863, + 0.0 + ], + [ + -0.004277060779028896, + 0.003937786633086547, + -0.020881297435877827, + 0.03753428554812082, + -0.00651759321150722, + -0.0002512432762017069, + 0.0 + ], + [ + 0.0022860145378301167, + 0.007453209139530674, + -0.012245994528278965, + 0.0174546804789642, + -0.006009214149073741, + 0.028355945654788356, + 0.0 + ], + [ + 0.0011740384563452277, + 0.002980461018592253, + -0.011052322922102984, + -0.028847519751066468, + -0.0035892338920751887, + 0.02350859111605863, + 0.0 + ], + [ + 0.003038367311650858, + 0.00026237194010098573, + 0.0072813766475631194, + -0.050907126452926325, + -0.021365424402880452, + 0.05312243665795372, + 1.0 + ], + [ + 0.001991502144304602, + -0.0031371389962128043, + 0.009829473718626637, + -0.004834327090661141, + -0.001334554133637554, + 0.007329047661051887, + 1.0 + ], + [ + -0.0019745647670723065, + -0.002630321224375544, + 0.02056743272098973, + -0.01524687217193979, + -0.02593984369309004, + 0.0010703615571948045, + 1.0 + ], + [ + -0.010890066469390336, + 0.001061592663568891, + 0.05382867616238615, + 0.03593173390537304, + 0.01686893847497058, + -0.014582010565317863, + 1.0 + ], + [ + -0.02034277266343376, + 0.011553773962050441, + 0.07181584673834109, + 0.015603536453923593, + -0.05493466357508547, + 0.12261001038223225, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 101.77532958984375, + 173.05685424804688 + ], + [ + 203.21388244628906, + 204.43765258789062 + ], + [ + 299.5047302246094, + 231.29159545898438 + ], + [ + 376.18603515625, + 257.53460693359375 + ], + [ + 431.83197021484375, + 274.8194580078125 + ], + [ + 471.7709045410156, + 288.1824645996094 + ], + [ + 499.0960693359375, + 302.2215881347656 + ], + [ + 520.6119384765625, + 313.61346435546875 + ], + [ + 535.1490478515625, + 335.16925048828125 + ], + [ + 542.0403442382812, + 338.3394775390625 + ], + [ + 542.7261962890625, + 348.00115966796875 + ], + [ + 530.0422973632812, + 344.9818115234375 + ], + [ + 521.3258056640625, + 341.2164306640625 + ], + [ + 518.8897705078125, + 349.9833068847656 + ], + [ + 516.8411254882812, + 319.0426330566406 + ], + [ + 464.7969970703125, + 275.28985595703125 + ], + [ + 435.62603759765625, + 274.101806640625 + ], + [ + 399.8442687988281, + 282.6424255371094 + ], + [ + 385.972412109375, + 273.4406433105469 + ], + [ + 374.4259033203125, + 276.89459228515625 + ], + [ + 353.0172119140625, + 272.6754455566406 + ], + [ + 340.16009521484375, + 280.0675964355469 + ], + [ + 305.71221923828125, + 296.47393798828125 + ], + [ + 292.485107421875, + 313.35150146484375 + ], + [ + 290.15362548828125, + 323.4781188964844 + ], + [ + 288.5905456542969, + 332.3592224121094 + ], + [ + 300.3367614746094, + 329.8811950683594 + ], + [ + 298.625, + 328.931640625 + ], + [ + 301.22003173828125, + 307.28875732421875 + ], + [ + 296.050048828125, + 257.75091552734375 + ], + [ + 270.6708068847656, + 202.1136932373047 + ], + [ + 267.3856506347656, + 194.24571228027344 + ] + ], + "depth_max": 2.468532085418701, + "depth_min": 0.1758398562669754, + "intrinsic": [ + [ + 544.198974609375, + 0.0, + 259.0 + ], + [ + 0.0, + 543.9909057617188, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.6189074813155457e-05, + 9.423221740689769e-07, + -2.29358920478262e-06 + ], + [ + -1.6189049347303808e-05, + 1.0, + -2.745386700553354e-05, + -5.283922655507922e-05 + ], + [ + -9.427665759176307e-07, + 2.745385245361831e-05, + 1.0, + 7.893821930338163e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 31 + ], + "object_trajectory": [ + [ + 523.25, + 360.25 + ], + [ + 523.43896484375, + 360.36224365234375 + ], + [ + 523.177001953125, + 360.66314697265625 + ], + [ + 523.1412353515625, + 360.6335144042969 + ], + [ + 523.2996826171875, + 360.50921630859375 + ], + [ + 523.231689453125, + 360.42730712890625 + ], + [ + 523.1673583984375, + 360.6888122558594 + ], + [ + 522.8727416992188, + 360.2453918457031 + ], + [ + 522.570556640625, + 361.20428466796875 + ], + [ + 523.1761474609375, + 360.8749084472656 + ], + [ + 524.640380859375, + 361.3752136230469 + ], + [ + 521.5894165039062, + 362.1772155761719 + ], + [ + 511.39776611328125, + 360.0133361816406 + ], + [ + 508.2943420410156, + 368.92913818359375 + ], + [ + 504.0260925292969, + 347.4674377441406 + ], + [ + 450.14556884765625, + 300.0434875488281 + ], + [ + 415.90545654296875, + 293.66973876953125 + ], + [ + 381.90313720703125, + 296.79931640625 + ], + [ + 360.8318786621094, + 289.7308654785156 + ], + [ + 345.82965087890625, + 290.79278564453125 + ], + [ + 328.660888671875, + 286.7859191894531 + ], + [ + 308.8468017578125, + 294.11260986328125 + ], + [ + 295.6715087890625, + 301.7555847167969 + ], + [ + 283.9508361816406, + 317.27752685546875 + ], + [ + 278.51318359375, + 326.712646484375 + ], + [ + 277.1439514160156, + 334.58050537109375 + ], + [ + 279.13690185546875, + 345.1170349121094 + ], + [ + 282.4910583496094, + 344.625244140625 + ], + [ + 273.70892333984375, + 349.3338928222656 + ], + [ + 281.41302490234375, + 346.3206481933594 + ], + [ + 283.92669677734375, + 346.7450866699219 + ], + [ + 280.8734436035156, + 346.491455078125 + ] + ] +} \ No newline at end of file diff --git a/001377_v2/lang.txt b/001377_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..0b1c5a72a0e53182262962b92513e66df76942aa --- /dev/null +++ b/001377_v2/lang.txt @@ -0,0 +1 @@ +put the red object on the bottom of the cloth diff --git a/001377_v2/object.ply b/001377_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..1af9182163f0d58dea634e94683d35688e9430ac Binary files /dev/null and b/001377_v2/object.ply differ diff --git a/001385/FAIL b/001385/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001385/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001401/FAIL b/001401/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001401/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001416_v2/FAIL b/001416_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001416_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001438/FAIL b/001438/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/001438/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/001454_v2/data.json b/001454_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..95730bf950f8b91c9d4de2ab16dc267180587107 --- /dev/null +++ b/001454_v2/data.json @@ -0,0 +1,696 @@ +{ + "action_start": 10, + "action_end": 25, + "object_name": "pink object", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.1102230246251565e-16, + -3.469446951953614e-17, + 0.0, + -7.684287370834323e-07, + 4.8607995036658033e-08, + 1.2716598679712118e-07, + 1.0 + ], + [ + -0.00814994252749901, + -0.006931454654175551, + -0.006105494601503836, + 0.01095244802311629, + 0.009794989770349285, + -0.01516754329005778, + 1.0 + ], + [ + -0.010497331985568625, + -0.011118865436044734, + -0.010946166496183782, + 0.004912821940689536, + 0.02363535073900161, + -0.02439331902982504, + 1.0 + ], + [ + -0.010998628255389664, + -0.009737145028674336, + -0.012078691918693471, + 0.0102893663943001, + 0.02863353883364166, + -0.014511178939105864, + 1.0 + ], + [ + -0.007111100042241525, + -0.0057986972229127146, + -0.01392428544956606, + 0.02435424271123145, + 0.04929027803089308, + -0.010141213419941952, + 1.0 + ], + [ + -0.0031650880202472864, + 0.0005180296109060095, + -0.015153228946931482, + 0.04360657144237882, + 0.051327243459285486, + 0.007068601426938216, + 1.0 + ], + [ + -0.0016539375173090787, + 0.00028354089809760896, + -0.018524062215676033, + 0.05273306112010548, + 0.04542696078326174, + -0.0006096147805220423, + 1.0 + ], + [ + -0.0017477623294184785, + -0.0009564993700524951, + -0.013455143836849134, + 0.03590600502539207, + 0.025683146879278446, + -0.00591771277345636, + 1.0 + ], + [ + -0.003625560850403664, + 0.0006977450496204463, + -0.011874107746586617, + 0.0190579470037932, + 0.049126345281602805, + 0.0040480004131473535, + 1.0 + ], + [ + -0.002261138480867453, + -0.0018814480958350907, + -0.00502830416298072, + 0.00932138902556047, + 0.01831528529412996, + -0.004366780574727159, + 1.0 + ], + [ + -0.0007823042931582314, + -0.0022091204812831125, + -0.004404314689750468, + 0.000417279686232034, + 0.004882234649023922, + 0.007980528352167102, + 1.0 + ], + [ + 8.471173573076918e-05, + -0.0012769781841993344, + 0.0019915101019037165, + -0.007018359567583264, + -0.015021732196917614, + 0.002906400438850024, + 0.0 + ], + [ + 0.0011521756247927506, + -0.0034912701505158614, + 0.005068579079272462, + -0.011508313062776209, + -0.014118401165526703, + -0.005242743850121224, + 0.0 + ], + [ + 0.0026552893848056924, + -0.002151870390210857, + 0.0076778638869426895, + -0.01793791279151264, + -0.013025356874002733, + 0.0005739127843291968, + 0.0 + ], + [ + 0.0035966368892653144, + -0.004415806504907492, + 0.01599848497006712, + -0.02676932571408849, + -0.02393051204286774, + 0.0019677579072072925, + 0.0 + ], + [ + 0.009527104308488799, + -0.004045102592818421, + 0.030325320240849836, + -0.008462202467489138, + -0.07067226730646546, + 0.01086536974507784, + 0.0 + ], + [ + 0.010137942945567191, + -0.017849858241500705, + 0.007837431641034655, + -0.04318237868841683, + 0.0033560407236900187, + -0.008955574532338199, + 0.0 + ], + [ + 0.012595201925873545, + -0.03039479434212894, + -0.010260194231053454, + -0.010585356573249261, + 0.036292973765882974, + -0.029656593458309694, + 0.0 + ], + [ + 0.009160135054224805, + -0.02895192586753803, + -0.0064002232368469275, + -0.002878813247093349, + 0.019373619559534164, + -0.027736645345953846, + 0.0 + ], + [ + 0.005878809165105636, + -0.025452802278457254, + -0.011503359830978062, + 0.007708110290443721, + 0.0181863981352262, + -0.02522712967007316, + 0.0 + ], + [ + 0.006439849892917071, + -0.016959779004254855, + -0.012979525132876597, + 0.011264364100114738, + 0.012630884049633934, + 0.0009457508812976422, + 0.0 + ], + [ + 0.005407582821899848, + -0.006385497940311707, + -0.008118112562383019, + 0.01381593059126106, + 0.004467578497290898, + 0.0013359685710176998, + 0.0 + ], + [ + 0.0035921571872636338, + -0.006600159032698089, + -0.006644291478866998, + 0.0042428757166612235, + 0.005447917433644148, + -0.009474252927320733, + 0.0 + ], + [ + 0.004760633777457113, + -0.005875396281993461, + 0.0016306046398385787, + -0.017647733979570767, + -0.014805797937137167, + -0.004505490454175658, + 0.0 + ], + [ + 0.0052860348837098226, + -0.006691440175693009, + -0.0005631464512381862, + -0.016102825575116404, + -0.013384863198767354, + -0.008950280318100811, + 0.0 + ], + [ + 0.0037746664727902335, + -0.003298441809777758, + 0.00027912020181848976, + -0.011706544468331886, + -0.0026758524866433682, + -0.003319552345508531, + 0.0 + ], + [ + 0.000579557337531289, + 0.0024831807074586487, + 0.0021910831575067714, + 0.0007830654214864014, + -0.004390133586884098, + 0.0016133831571954254, + 1.0 + ], + [ + -0.002795053206907483, + 0.004373422603001081, + 0.007710250955392246, + -0.005261317860879668, + -0.008090905333118159, + -0.004355242202858948, + 1.0 + ], + [ + -0.0027800277867993106, + 0.0058239230509557205, + 0.012746620031333523, + -0.022745704652673292, + -0.011027033653963379, + 0.005659349279753994, + 1.0 + ], + [ + -0.0058097069881306584, + 0.016013481190918444, + 0.023177104533956248, + -0.017212354295069322, + -0.03318728077964215, + -0.006340715552567836, + 1.0 + ], + [ + -0.011589796072304981, + 0.030925316192553842, + 0.019294379605566903, + 0.011233417779063596, + -0.029361451792336016, + 0.0063141281221047165, + 1.0 + ], + [ + -0.01602004436483717, + 0.043069506031423566, + 0.0238640694745427, + -0.015514477459233742, + -0.03507776791767418, + 0.04258247468580805, + 1.0 + ], + [ + -0.01838717086088676, + 0.03805105170439413, + 0.02747087557260676, + -0.03388785263206913, + -0.022233799146518896, + 0.026817908987371897, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 362.71234130859375, + 127.3115234375 + ], + [ + 361.31689453125, + 140.5762481689453 + ], + [ + 356.7260437011719, + 167.49383544921875 + ], + [ + 365.43829345703125, + 194.71517944335938 + ], + [ + 369.2569885253906, + 222.6566162109375 + ], + [ + 372.15716552734375, + 235.3763427734375 + ], + [ + 368.73956298828125, + 251.28050231933594 + ], + [ + 361.7057800292969, + 272.8512878417969 + ], + [ + 363.24456787109375, + 289.6461181640625 + ], + [ + 356.8426818847656, + 304.67938232421875 + ], + [ + 354.34283447265625, + 309.6632080078125 + ], + [ + 359.41241455078125, + 321.6833190917969 + ], + [ + 360.32568359375, + 319.2501525878906 + ], + [ + 361.27764892578125, + 319.8406066894531 + ], + [ + 363.9749755859375, + 320.80499267578125 + ], + [ + 372.01171875, + 305.9365234375 + ], + [ + 382.676025390625, + 270.76458740234375 + ], + [ + 417.79296875, + 247.55548095703125 + ], + [ + 455.78436279296875, + 260.6790466308594 + ], + [ + 506.32525634765625, + 276.8409423828125 + ], + [ + 540.619873046875, + 295.42572021484375 + ], + [ + 564.219970703125, + 321.0043029785156 + ], + [ + 570.880126953125, + 325.2041015625 + ], + [ + 572.0157470703125, + 331.7296142578125 + ], + [ + 590.13623046875, + 331.1363830566406 + ], + [ + 595.0702514648438, + 332.13909912109375 + ], + [ + 602.0833740234375, + 325.0137634277344 + ], + [ + 601.1000366210938, + 326.32159423828125 + ], + [ + 595.0184326171875, + 336.5373229980469 + ], + [ + 592.1371459960938, + 338.08673095703125 + ], + [ + 588.2552490234375, + 307.2906494140625 + ], + [ + 548.029296875, + 266.6321105957031 + ], + [ + 491.20892333984375, + 227.62576293945312 + ], + [ + 425.9193420410156, + 180.54046630859375 + ], + [ + 412.1996154785156, + 159.4574432373047 + ] + ], + "depth_max": 2.6438794136047363, + "depth_min": 0.09820417314767838, + "intrinsic": [ + [ + 658.5745849609375, + 0.0, + 259.0 + ], + [ + 0.0, + 656.1616821289062, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.296865467447788e-05, + 6.669503636658192e-05, + 1.8065918993670493e-05 + ], + [ + -6.296805804595351e-05, + 1.0, + -9.018886885314714e-06, + -1.6860907635418698e-05 + ], + [ + -6.669560389127582e-05, + 9.014686838781927e-06, + 1.0, + 4.856724262936041e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 34 + ], + "object_trajectory": [ + [ + 366.75, + 332.25 + ], + [ + 366.68505859375, + 332.2169494628906 + ], + [ + 366.82879638671875, + 332.52813720703125 + ], + [ + 366.79376220703125, + 332.25140380859375 + ], + [ + 366.5212707519531, + 332.135986328125 + ], + [ + 366.7424011230469, + 332.4086608886719 + ], + [ + 366.75323486328125, + 332.1185607910156 + ], + [ + 365.9753723144531, + 334.79730224609375 + ], + [ + 366.3519287109375, + 334.939697265625 + ], + [ + 365.279052734375, + 334.8734130859375 + ], + [ + 363.8797302246094, + 335.22265625 + ], + [ + 363.37738037109375, + 334.78094482421875 + ], + [ + 363.1024169921875, + 333.1521911621094 + ], + [ + 363.6070861816406, + 332.8199157714844 + ], + [ + 365.26873779296875, + 332.052734375 + ], + [ + 371.5439453125, + 320.6858215332031 + ], + [ + 381.70428466796875, + 286.6819152832031 + ], + [ + 416.5526123046875, + 261.56817626953125 + ], + [ + 455.7306823730469, + 276.7783203125 + ], + [ + 501.5158386230469, + 289.604248046875 + ], + [ + 533.7738037109375, + 307.47967529296875 + ], + [ + 559.2964477539062, + 330.0888366699219 + ], + [ + 566.2529296875, + 335.5498046875 + ], + [ + 568.5023193359375, + 339.0779724121094 + ], + [ + 584.8558349609375, + 341.58197021484375 + ], + [ + 591.8971557617188, + 341.76116943359375 + ], + [ + 600.7472534179688, + 337.2083435058594 + ], + [ + 603.5092163085938, + 340.7265930175781 + ], + [ + 600.8502197265625, + 339.0627746582031 + ], + [ + 601.926513671875, + 339.871826171875 + ], + [ + 602.1317138671875, + 340.1556396484375 + ], + [ + 610.0167846679688, + 340.77862548828125 + ], + [ + 610.8187255859375, + 341.7105712890625 + ], + [ + 610.48291015625, + 341.4968566894531 + ], + [ + 609.9744873046875, + 341.3870849609375 + ] + ] +} \ No newline at end of file diff --git a/001454_v2/lang.txt b/001454_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..459c13285a00fc8e1e796e3e3422c1a71408e879 --- /dev/null +++ b/001454_v2/lang.txt @@ -0,0 +1 @@ +move the pink object to the top right of the table diff --git a/001454_v2/object.ply b/001454_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..f8ddc7938330c1142cd0efb29cb777d6808d0339 Binary files /dev/null and b/001454_v2/object.ply differ diff --git a/001462/data.json b/001462/data.json new file mode 100644 index 0000000000000000000000000000000000000000..74e34cf447457389578dcf403eacf3bcf21a4896 --- /dev/null +++ b/001462/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 18, + "action_end": 32, + "object_name": "broccoli", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 5.551115123125783e-17, + 0.0, + 0.0, + 1.008594141685335e-07, + -1.9315770625593665e-08, + -5.355879851259823e-07, + 1.0 + ], + [ + -0.00539287540149222, + -0.010522233191195267, + -0.005098859794415378, + 0.03316526329441776, + -0.015065397735763254, + 0.025952419453273375, + 1.0 + ], + [ + -0.014209994438011436, + -0.014276515501147093, + -0.006350370102877312, + 0.010603403217959799, + -0.0446151088535727, + 0.06803515450160197, + 1.0 + ], + [ + -0.014543534471735703, + -0.015259934006164249, + 0.00035629942355447364, + 0.009440736686050197, + -0.036964199373017544, + 0.04448187528916473, + 1.0 + ], + [ + -0.008764745346470038, + -0.013596820976340723, + 0.00015785652760155755, + 0.018835912335200693, + -0.029520894203122906, + 0.02989212528912213, + 1.0 + ], + [ + 0.0008702586532021994, + -0.012531585986878008, + -0.014134304121504987, + -0.04254830420736916, + 0.03809063924177479, + -0.02622333703936525, + 1.0 + ], + [ + 0.000854110634044225, + -0.011265319941785711, + -0.011498570897906846, + -0.017682504429570024, + 0.02851345642910482, + -0.027704198752174888, + 1.0 + ], + [ + -0.00140742029168206, + -0.007794952979521586, + -0.015547237438710337, + -0.007250646043452468, + -0.014085753052124795, + 0.007595885093121956, + 1.0 + ], + [ + -0.0074233502623583525, + -0.004054001814522645, + -0.011958253524667478, + 0.0038058528179939063, + -0.025853308806928096, + 0.04382325150323798, + 1.0 + ], + [ + -0.003506211414500915, + 0.0008500407907732418, + -0.013715895067916845, + -0.016459955217045016, + -0.006119541438335894, + 0.03537347470285157, + 1.0 + ], + [ + 0.0043888715844954684, + 0.005270418532301174, + -0.01086598972611881, + -0.022085774498203325, + -0.00954640812758693, + -0.012464798042526294, + 1.0 + ], + [ + 0.006920894646800624, + 0.000843261906390988, + -0.012275748524634339, + -0.025323425523618968, + 0.00023009707652519378, + -0.001245613103792769, + 1.0 + ], + [ + 0.004211684729901771, + 0.0004223481406798596, + -0.008619221341956848, + -0.012435931351365637, + -0.003536185944846333, + -0.01903302243452384, + 1.0 + ], + [ + -0.0037457400557741605, + -0.005049782120595009, + -0.01046046822557653, + -0.00595534046520255, + -0.01440488681600276, + 0.034901478449976604, + 1.0 + ], + [ + -0.004156441459094495, + 0.0005716593255580549, + -0.0050770571536868925, + 0.004869597639504812, + -0.013682694446874791, + 0.02435423580001429, + 1.0 + ], + [ + -0.0016476880703937269, + 0.002693971768322055, + -0.003954974913085774, + 0.001491965075460946, + -0.00675237420849815, + 0.0097982456038047, + 1.0 + ], + [ + 0.0007864928565834151, + -0.0025018852662291313, + -0.0038682281401486857, + -0.024184448508224682, + 0.01785105095555776, + -0.015291134295178081, + 1.0 + ], + [ + 0.005445642371698062, + -0.0019290103821275884, + -0.010383076612774267, + -0.011992954806477992, + 0.009139739239214134, + -0.02322953880714406, + 1.0 + ], + [ + 0.00221301899800902, + -0.0002823736247455841, + -0.011856036130497946, + 0.0005408311348547611, + -0.0022166165889995065, + -0.01422867800332883, + 1.0 + ], + [ + -0.00013885239052766063, + 0.004614684797259044, + -0.0064492324953858635, + 0.01223643014446578, + -0.056213620619597796, + -0.004147981897650805, + 0.0 + ], + [ + -0.003748415627663676, + 0.001579241913604125, + 0.007721972136718904, + 0.013684932651773911, + 0.010774968863794348, + 0.009500461035686043, + 0.0 + ], + [ + -0.004689762833454791, + -0.0032349453064864225, + 0.013626303412696106, + -0.005677815014456111, + 0.029499431756396008, + 0.012980101315208206, + 0.0 + ], + [ + 0.0005009332432003855, + -0.002983277989136404, + 0.029638810390925814, + -0.012111260753372767, + 0.05555127864441846, + 0.004500689428683576, + 0.0 + ], + [ + 0.007388795506087786, + 0.00795093474554729, + 0.044780179794728356, + 0.0219012543034393, + 0.06252472830270132, + -0.02585780295255501, + 0.0 + ], + [ + 0.02880069010776612, + 0.021880947356067867, + 0.015519664154865984, + 0.032599605425289904, + -0.018278049084752012, + -0.06326108110124073, + 0.0 + ], + [ + 0.05074744179045587, + 0.03186625374452676, + -0.0038184522993587183, + 0.03654045908667597, + -0.03677211113533418, + -0.14490652915976923, + 0.0 + ], + [ + 0.03967926689963738, + 0.013767635798584942, + -0.005225618690147857, + 0.023206358916600854, + -0.005495610214038661, + -0.08865811251072368, + 0.0 + ], + [ + 0.022938922803508732, + 0.006799371138211428, + -0.008057662003003105, + -0.008235651597505774, + -0.004478058072544074, + -0.05468170700695881, + 0.0 + ], + [ + 0.005298294726759412, + 0.008067449867798594, + 0.00402993285488519, + 0.012831402333980276, + -0.021636861262524062, + 0.008653255457915189, + 0.0 + ], + [ + 0.0013456767845252404, + 0.010858548600725375, + 0.0012682438032804721, + 0.024979369127515146, + -0.03646360479908222, + 0.01344600777029388, + 0.0 + ], + [ + 0.000548482126388472, + 0.00992287733164508, + -0.0016286163627307337, + -0.014057855710016557, + -0.02636789878068471, + -0.018454536672167208, + 0.0 + ], + [ + -0.0035361889992583384, + 0.014376599631069381, + -0.0032963351478351027, + -0.026158529403740704, + 0.05597884038311292, + -0.00010338776073539584, + 0.0 + ], + [ + -0.006992777309661524, + 0.012741091287109499, + -0.003796842240610887, + -0.01932510598555588, + 0.03945921450865109, + -0.0034933972679886023, + 0.0 + ], + [ + -0.006191020740169473, + 0.0005535669611524269, + -0.0012933391093213897, + -0.00394423701510036, + -0.0038767303759423785, + 0.004226358203077154, + 1.0 + ], + [ + -0.004343702963556406, + -0.0035711722437770516, + -0.00254476476619242, + 0.0013953324676060043, + 0.005529615946577832, + 0.01592404275062243, + 1.0 + ], + [ + -0.0031834989409629255, + -0.004537498349992508, + 0.0026488482422638987, + 0.010966815685620697, + -0.006906848770213089, + 0.006554995271845249, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 205.00343322753906, + 62.33778381347656 + ], + [ + 204.9824676513672, + 69.26289367675781 + ], + [ + 200.46902465820312, + 99.46730041503906 + ], + [ + 223.1219940185547, + 133.48162841796875 + ], + [ + 225.2504425048828, + 160.9841766357422 + ], + [ + 230.64178466796875, + 180.31466674804688 + ], + [ + 265.89508056640625, + 212.40069580078125 + ], + [ + 275.2170715332031, + 228.83184814453125 + ], + [ + 293.81488037109375, + 264.502685546875 + ], + [ + 291.03509521484375, + 295.7181091308594 + ], + [ + 291.63568115234375, + 322.4901123046875 + ], + [ + 291.59417724609375, + 332.14837646484375 + ], + [ + 292.6343994140625, + 331.40380859375 + ], + [ + 299.523681640625, + 337.12310791015625 + ], + [ + 295.80767822265625, + 352.1142578125 + ], + [ + 295.3497314453125, + 368.89691162109375 + ], + [ + 293.3836669921875, + 372.9233093261719 + ], + [ + 298.0728454589844, + 379.76495361328125 + ], + [ + 304.7705078125, + 391.6229553222656 + ], + [ + 309.96697998046875, + 394.3604736328125 + ], + [ + 302.364990234375, + 395.9037170410156 + ], + [ + 292.62939453125, + 397.1102294921875 + ], + [ + 284.1412658691406, + 393.71722412109375 + ], + [ + 289.70849609375, + 367.036376953125 + ], + [ + 298.87554931640625, + 304.10577392578125 + ], + [ + 295.57403564453125, + 231.1001434326172 + ], + [ + 304.981201171875, + 170.49330139160156 + ], + [ + 303.7373046875, + 129.5666961669922 + ], + [ + 317.48828125, + 115.25591278076172 + ], + [ + 327.7845458984375, + 108.29238891601562 + ], + [ + 317.7755432128906, + 102.13612365722656 + ], + [ + 304.7901306152344, + 102.09040832519531 + ], + [ + 287.35968017578125, + 93.46022033691406 + ], + [ + 262.94189453125, + 98.96096801757812 + ], + [ + 249.05691528320312, + 101.15812683105469 + ], + [ + 251.72219848632812, + 116.13191223144531 + ], + [ + 254.60699462890625, + 124.68177032470703 + ], + [ + 257.4166259765625, + 119.43740844726562 + ] + ], + "depth_max": 1.3083235025405884, + "depth_min": 0.12019588053226471, + "intrinsic": [ + [ + 496.943115234375, + 0.0, + 259.0 + ], + [ + 0.0, + 496.5157470703125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.2121222425776068e-05, + -6.928348011570051e-05, + -7.186145012383349e-06 + ], + [ + -1.212146435136674e-05, + 1.0, + -3.488678203211748e-06, + -2.427878644084558e-05 + ], + [ + 6.928343645995483e-05, + 3.48951789419516e-06, + 1.0, + -2.692716589081101e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 287.75, + 396.0 + ], + [ + 287.9595642089844, + 396.0513610839844 + ], + [ + 287.9460754394531, + 396.1016845703125 + ], + [ + 287.9028015136719, + 396.0983581542969 + ], + [ + 287.95904541015625, + 395.99676513671875 + ], + [ + 287.95172119140625, + 396.0582275390625 + ], + [ + 287.94671630859375, + 395.9950866699219 + ], + [ + 287.95843505859375, + 396.11016845703125 + ], + [ + 287.831298828125, + 396.03045654296875 + ], + [ + 288.04852294921875, + 396.05450439453125 + ], + [ + 287.8614501953125, + 396.19598388671875 + ], + [ + 288.1348876953125, + 396.25323486328125 + ], + [ + 288.08038330078125, + 396.13812255859375 + ], + [ + 288.1236572265625, + 396.0509033203125 + ], + [ + 288.3055725097656, + 396.0400085449219 + ], + [ + 288.35015869140625, + 396.00408935546875 + ], + [ + 288.4664306640625, + 396.0992431640625 + ], + [ + 286.15704345703125, + 396.29290771484375 + ], + [ + 286.52105712890625, + 396.0453186035156 + ], + [ + 295.74127197265625, + 394.5794982910156 + ], + [ + 297.85992431640625, + 400.95538330078125 + ], + [ + 299.5067138671875, + 403.3702392578125 + ], + [ + 300.9328918457031, + 405.0560302734375 + ], + [ + 305.4410400390625, + 391.8494873046875 + ], + [ + 310.34136962890625, + 346.7353210449219 + ], + [ + 304.35125732421875, + 283.7523498535156 + ], + [ + 308.8303527832031, + 221.0412139892578 + ], + [ + 308.85858154296875, + 178.4503173828125 + ], + [ + 319.89556884765625, + 166.08486938476562 + ], + [ + 327.3053283691406, + 157.39431762695312 + ], + [ + 318.94024658203125, + 150.98336791992188 + ], + [ + 309.4480895996094, + 150.22555541992188 + ], + [ + 295.3978271484375, + 146.34605407714844 + ], + [ + 276.68988037109375, + 151.7322998046875 + ], + [ + 267.012451171875, + 157.90533447265625 + ], + [ + 272.9709777832031, + 185.29576110839844 + ], + [ + 276.57073974609375, + 187.98138427734375 + ], + [ + 278.927978515625, + 188.96005249023438 + ] + ] +} \ No newline at end of file diff --git a/001462/lang.txt b/001462/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f66bae477970d3eeb491e8da4678835fdb133daa --- /dev/null +++ b/001462/lang.txt @@ -0,0 +1 @@ +put broccoli in pot diff --git a/001462/object.ply b/001462/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..7b3d9a4800060191172fe3a1a400ae552ce446a1 Binary files /dev/null and b/001462/object.ply differ diff --git a/001477_v2/FAIL b/001477_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001477_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001487/FAIL b/001487/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001487/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001508/data.json b/001508/data.json new file mode 100644 index 0000000000000000000000000000000000000000..f6f70eb692a3dd368338e2d762f46e592f1ae4e3 --- /dev/null +++ b/001508/data.json @@ -0,0 +1,659 @@ +{ + "action_start": 14, + "action_end": 25, + "object_name": "broccoli", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.551115123125783e-17, + 0.0, + 0.0, + -7.310199433841958e-08, + -3.237266473489229e-08, + 6.584467822860212e-07, + 1.0 + ], + [ + -0.009872769406719273, + -0.022566896218227023, + -0.0004141766577773487, + -0.0578010891894883, + -0.02093977470617687, + 0.02047156153093833, + 1.0 + ], + [ + -0.009462819863656158, + -0.025747344288656118, + 0.006813515491269795, + 0.007463172376185379, + -0.009779316959302894, + 0.024442490789396348, + 1.0 + ], + [ + -0.007521886618334139, + -0.025471743582949957, + 0.0036186284914223876, + -0.009803195498513793, + -0.027920386337823875, + 0.02108345992091431, + 1.0 + ], + [ + -0.007089930074584749, + -0.02251952835295537, + -0.009730607720171203, + -0.044933693828236386, + 0.012449837650656163, + -0.00737530300477371, + 1.0 + ], + [ + -0.012370485562079314, + -0.02291815122034772, + -0.015554284412385155, + -0.038318001909081585, + 0.004079339013097312, + 0.014074491882358013, + 1.0 + ], + [ + -0.013011642659491285, + -0.017084643871556258, + -0.007554977861959314, + -0.016026093312771047, + -0.009780843503183959, + 0.013138414630832988, + 1.0 + ], + [ + -0.012305489466049091, + -0.019769543033377718, + -0.004454341174912127, + 0.008760445689717913, + -0.022431735444526507, + -0.008778887199098749, + 1.0 + ], + [ + 0.0007125801032518142, + -0.012186024906905651, + -0.012693300421050366, + -0.010336341463160951, + -0.014906175261272912, + -0.01835397927275704, + 1.0 + ], + [ + 0.0072221162161998365, + -0.00323676686272259, + -0.01617567669654267, + 0.0020572639440462983, + 0.004429190120010083, + -0.014959155658730787, + 1.0 + ], + [ + 0.00529258108748315, + 0.002085529473163844, + -0.009781272500211019, + -0.0016154963943561858, + -0.0042032792621590825, + 0.005384642391508777, + 1.0 + ], + [ + 0.002331502118465001, + 0.0014582040251029937, + -0.005573562352282985, + -0.005021487059780876, + 0.005990547551970833, + -0.00011059019712164337, + 1.0 + ], + [ + -0.0015644383741004186, + 0.0002795228192869273, + -0.013434786890807099, + -0.015057874941192368, + -0.0023640523699973853, + 0.025611162278346544, + 1.0 + ], + [ + -0.0004983844096108081, + 0.004910582942473277, + -0.0146855204936285, + -0.0059079548728024405, + -0.0032116274464736847, + 0.017562474403591707, + 1.0 + ], + [ + 0.0001387813370233859, + 0.0034607754760987014, + -0.011617915014429027, + -0.01819262309326961, + -0.006897411913069398, + 0.0038439104844980323, + 1.0 + ], + [ + 0.0017613637010910344, + 0.0069701612379773625, + -0.009531136487787063, + 0.0021417382842825864, + -0.010874980312914994, + -0.017638481406647054, + 0.0 + ], + [ + 0.0012264075996399337, + 0.004597026817121541, + -0.0014402244655821878, + 0.023822889274809817, + 0.0060747192832425545, + -0.021069692529122826, + 0.0 + ], + [ + 0.0004019133877710135, + 0.0011384189537373898, + -0.00017026605171243867, + -0.0021106969118563678, + 0.006862260236726265, + 0.002448088486966344, + 0.0 + ], + [ + 0.001929678554033254, + 0.01058602927299232, + 0.026391671530326177, + 0.020806049273009383, + 0.012377373450631906, + 0.015934404330727497, + 0.0 + ], + [ + 0.003988632467045061, + 0.020730116332945685, + 0.023943053670568377, + 0.05722907873071031, + -0.015871255170998716, + 0.02884075219144247, + 0.0 + ], + [ + 0.00817507138249185, + 0.024796876774415846, + 0.018954768775920068, + 0.04686083414548346, + 0.009124594497687561, + 0.037920517761335926, + 0.0 + ], + [ + 0.008875597686527181, + 0.025882527841778847, + -0.0010758008597174656, + 0.07854484031347998, + -0.04073128579224603, + 0.06827526937083149, + 0.0 + ], + [ + 0.01116732621834654, + 0.03660929299187207, + -0.015953130672057017, + -0.01425535242908231, + 0.011787296553807135, + -0.0032054361141925056, + 0.0 + ], + [ + 0.003726258027019813, + 0.03669093907808222, + -0.007831360777093677, + 0.005359380144094897, + 0.007722793868381638, + -0.02744783310038305, + 0.0 + ], + [ + -0.004357888937773391, + 0.03881674731942163, + -0.003515795129140964, + 0.043631039707080106, + -0.023409399495272626, + 0.0027425301306082317, + 0.0 + ], + [ + -0.004867039549877661, + 0.010009513116557053, + -0.0011079204854232277, + -0.005859674684980827, + -0.04052356915313539, + 0.021467605912848634, + 0.0 + ], + [ + 0.0015102613192782832, + -0.007407632617122295, + -0.00762916542603017, + -0.0309810710211858, + 0.04182453351750257, + 0.013679599304839443, + 1.0 + ], + [ + 0.007539720735552757, + -0.006890181613633889, + 0.0006354372620441043, + -0.0018764724497316136, + 0.03547395122937215, + -0.023854562888905435, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 177.63778686523438, + 31.964679718017578 + ], + [ + 178.51419067382812, + 39.905364990234375 + ], + [ + 185.6448516845703, + 74.7193603515625 + ], + [ + 213.01409912109375, + 76.84526824951172 + ], + [ + 248.5919189453125, + 88.09928894042969 + ], + [ + 277.044677734375, + 115.70111083984375 + ], + [ + 285.2306213378906, + 154.41140747070312 + ], + [ + 313.17205810546875, + 190.95953369140625 + ], + [ + 322.23876953125, + 215.48385620117188 + ], + [ + 349.2196960449219, + 236.28280639648438 + ], + [ + 360.0036926269531, + 254.5333251953125 + ], + [ + 360.60028076171875, + 259.11163330078125 + ], + [ + 361.7960510253906, + 263.4598083496094 + ], + [ + 358.396728515625, + 281.88671875 + ], + [ + 352.4605712890625, + 296.9151916503906 + ], + [ + 344.74853515625, + 303.48626708984375 + ], + [ + 339.44329833984375, + 306.08819580078125 + ], + [ + 335.214599609375, + 302.7209167480469 + ], + [ + 333.2965087890625, + 302.000244140625 + ], + [ + 311.1846923828125, + 287.78448486328125 + ], + [ + 289.2732849121094, + 242.61431884765625 + ], + [ + 271.2322998046875, + 202.28070068359375 + ], + [ + 240.39276123046875, + 183.55825805664062 + ], + [ + 220.1002960205078, + 175.35177612304688 + ], + [ + 166.63441467285156, + 162.30099487304688 + ], + [ + 132.20556640625, + 157.68882751464844 + ], + [ + 112.61820983886719, + 153.8565216064453 + ], + [ + 107.76589965820312, + 162.89263916015625 + ], + [ + 122.36363220214844, + 162.74916076660156 + ], + [ + 136.56271362304688, + 162.26150512695312 + ], + [ + 133.59349060058594, + 162.8863525390625 + ], + [ + 133.09890747070312, + 163.14239501953125 + ], + [ + 133.06893920898438, + 163.00247192382812 + ] + ], + "depth_max": 1.590567946434021, + "depth_min": 0.3618032932281494, + "intrinsic": [ + [ + 542.0217895507812, + 0.0, + 259.0 + ], + [ + 0.0, + 542.1785888671875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.786200745205861e-06, + -8.03599541541189e-05, + 2.4627443053759634e-06 + ], + [ + -5.7885840760718565e-06, + 1.0, + -2.9653218007297255e-05, + -8.786302714725025e-06 + ], + [ + 8.035977953113616e-05, + 2.9653683668584563e-05, + 1.0, + -2.71197368419962e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 32 + ], + "object_trajectory": [ + [ + 348.75, + 310.0000305175781 + ], + [ + 348.9893798828125, + 310.14263916015625 + ], + [ + 348.84600830078125, + 310.42303466796875 + ], + [ + 349.450927734375, + 310.707763671875 + ], + [ + 349.448486328125, + 310.2724609375 + ], + [ + 349.23101806640625, + 309.9928283691406 + ], + [ + 349.2449035644531, + 310.3437805175781 + ], + [ + 349.23980712890625, + 310.39984130859375 + ], + [ + 349.3254089355469, + 310.29669189453125 + ], + [ + 349.0647888183594, + 310.3853759765625 + ], + [ + 349.0901184082031, + 310.2696533203125 + ], + [ + 349.13360595703125, + 310.383544921875 + ], + [ + 348.9436340332031, + 310.07537841796875 + ], + [ + 348.8115539550781, + 310.1838073730469 + ], + [ + 348.3399658203125, + 310.5574645996094 + ], + [ + 346.9769592285156, + 311.16302490234375 + ], + [ + 350.51116943359375, + 311.0372619628906 + ], + [ + 346.7829895019531, + 308.03839111328125 + ], + [ + 343.4818115234375, + 306.95208740234375 + ], + [ + 322.2898864746094, + 293.8274841308594 + ], + [ + 302.662841796875, + 260.5561828613281 + ], + [ + 284.8913879394531, + 222.65261840820312 + ], + [ + 257.7110595703125, + 204.1048583984375 + ], + [ + 238.81338500976562, + 197.10247802734375 + ], + [ + 189.02001953125, + 182.46560668945312 + ], + [ + 151.0001983642578, + 175.83506774902344 + ], + [ + 133.67999267578125, + 172.51513671875 + ], + [ + 138.92059326171875, + 197.58348083496094 + ], + [ + 136.15589904785156, + 209.8426513671875 + ], + [ + 148.0214385986328, + 214.8704071044922 + ], + [ + 152.63949584960938, + 208.7349395751953 + ], + [ + 151.965576171875, + 210.40414428710938 + ], + [ + 151.40484619140625, + 210.05328369140625 + ] + ] +} \ No newline at end of file diff --git a/001508/lang.txt b/001508/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f66bae477970d3eeb491e8da4678835fdb133daa --- /dev/null +++ b/001508/lang.txt @@ -0,0 +1 @@ +put broccoli in pot diff --git a/001508/object.ply b/001508/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..d8aab3453148a41b6c2cb43f8b641bdd4f05d064 Binary files /dev/null and b/001508/object.ply differ diff --git a/001535_v2/data.json b/001535_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..3a4d32b8601b42a56016888a22cbf1c010627b26 --- /dev/null +++ b/001535_v2/data.json @@ -0,0 +1,678 @@ +{ + "action_start": 13, + "action_end": 24, + "object_name": "orange object", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.931136, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.8369328280698483e-10, + 3.770872503139344e-10, + 7.972986992843545e-10, + 6.689991152230976e-10, + -3.237800760458835e-07, + -5.465011284019683e-07, + 1.0 + ], + [ + 0.0008035496679300591, + 0.00558309608906446, + -0.001098850132396384, + -0.019484045726570576, + 0.015401975795887457, + 0.0008601888954761729, + 1.0 + ], + [ + -0.004405080191435151, + -0.009646772388529158, + -0.011946998677189707, + 0.007799625213319, + 0.017137708797309255, + -0.001745174565184555, + 1.0 + ], + [ + -0.007879845441896016, + -0.013019786509203303, + -0.018672034727106407, + 0.02807267662265178, + 0.019238672013846762, + -0.015035903166574015, + 1.0 + ], + [ + -0.005491521199902372, + -0.015909987012888684, + -0.0210202178936576, + 0.020882999381903408, + 0.0189088402248298, + -0.023728721804865235, + 1.0 + ], + [ + -0.002307812127405995, + -0.016880313509740688, + -0.013030540542682864, + -0.009563816952965586, + 0.015435063458565733, + -0.001830516422423027, + 1.0 + ], + [ + -0.001578688199913969, + -0.017313220355834904, + -0.014559440613612307, + -0.0268132739832917, + 0.03221171967338189, + 0.012275989620069625, + 1.0 + ], + [ + -0.00044056065976394443, + -0.005954135764480031, + -0.013850578494159937, + -0.08274398686760921, + 0.031384203869229264, + 0.009570865325305657, + 1.0 + ], + [ + -0.0030380191154860126, + -0.006818167771314714, + -0.009659310976611463, + -0.06007141677701204, + 0.019869894701357655, + -0.001129925162899539, + 1.0 + ], + [ + -0.004382051325539427, + -0.005496140053902525, + -0.006541717501164647, + 0.00589753628191442, + 0.002198905777344825, + -0.009425948367907161, + 1.0 + ], + [ + -0.0029249740892716147, + -0.007199713181993134, + -0.010279659398444878, + 0.014092562131966618, + 0.005174593067620275, + -0.013630237981071314, + 1.0 + ], + [ + -0.00120331315439004, + -0.008988587349036958, + -0.005261959878483907, + 0.012165397681985815, + -0.006403406921015881, + -0.011137167981886806, + 1.0 + ], + [ + -0.0005512194917891566, + -0.008250228785821021, + -0.005777022048531231, + 0.010183050846130698, + 0.0019549400607652193, + -0.012549638410682762, + 1.0 + ], + [ + 0.001023742076566636, + -0.0035259801119936415, + -0.008175007757066793, + 0.02183385931158801, + 0.007010686098756804, + 0.0006617659190022025, + 0.931136 + ], + [ + 0.0009255908291674886, + 0.001915569671170056, + -0.008657282265375585, + 0.02065483868343651, + 0.02544842510257688, + 0.026093783203378067, + 0.0 + ], + [ + -0.00030249126323028674, + 0.004402900860069531, + -0.004374315042952084, + 0.019318072427315695, + 0.012002788169353587, + -0.0005980834252444647, + 0.0 + ], + [ + -0.0003005432274956754, + -0.0009032816730389012, + 0.006910025292715495, + -0.013631814969588598, + 0.005035462339585634, + -0.011465820117046178, + 0.0 + ], + [ + 0.005445512039273515, + -0.01158643545624756, + 0.017592614944276604, + -0.03582907684675759, + -0.022812717663558583, + -0.01507598231286749, + 0.0 + ], + [ + 0.014132918116788074, + -0.02477003362400789, + 0.028774301267609777, + -0.05050325564995002, + -0.03503368212104305, + 0.008224722701504388, + 0.0 + ], + [ + 0.0104955666691528, + -0.020447075219476342, + 0.011255708665415597, + 0.030161221072362302, + -0.015245706736117132, + 0.0037056485202492224, + 0.0 + ], + [ + 0.010617009761095753, + -0.027348777424774, + -0.0037390023314805287, + 0.01462922357485665, + -0.0134707783013277, + 0.007129100549888471, + 0.0 + ], + [ + 0.009768275896144651, + -0.02376712372945329, + -0.00721228678110393, + -4.6660312825916007e-05, + 0.010557134035618506, + -0.008389639990070157, + 0.0 + ], + [ + 0.00692390245542901, + -0.013721137248248694, + -0.006997132765421507, + 0.006012062736665646, + 0.0034594019770136904, + 0.00425083166416634, + 0.0 + ], + [ + 0.003953389269561569, + -0.013466286412009032, + -0.007733029836341762, + 0.013244181743345287, + 0.004016845492148961, + -0.001314868964891506, + 0.0 + ], + [ + 0.0036580302519321206, + -0.005980770760799836, + -0.004345316542083779, + 0.007827505390524299, + 0.0053073589051078505, + 0.009095104366575199, + 0.0 + ], + [ + 0.0026730233284019134, + -0.005058444224416508, + -0.00027635823231048767, + -0.007114511640210684, + 0.004489467698700187, + -0.000946060736885177, + 1.0 + ], + [ + 0.0011801790522745215, + -0.006345880729880932, + 0.004096296506228312, + -0.013316939362896133, + 0.0005411085711067862, + -0.008238397221537897, + 1.0 + ], + [ + -0.00012790003573698305, + -0.0027267353164790176, + 0.006827347344961373, + -0.01164771669722117, + -0.004045163105937464, + -0.008614399210286566, + 1.0 + ], + [ + -0.002224201163133488, + 0.005103928365216781, + 0.01704903649755147, + -0.034287938316127385, + -0.021620879905502353, + -0.008264265239137977, + 1.0 + ], + [ + -0.010065557058726804, + 0.024490541842893288, + 0.030978364901684416, + -0.04278031524187104, + -0.03048478784361751, + 0.007967788043400816, + 1.0 + ], + [ + -0.0173358784690687, + 0.038539138650949156, + 0.025729579983200496, + -0.017402282075530268, + -0.03186416735553286, + 0.022646700949693812, + 1.0 + ], + [ + -0.03111651801809545, + 0.07057353699627267, + 0.02719903467235596, + 0.047597512103041154, + -0.05986683857882446, + 0.022468966539349388, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 262.42852783203125, + 59.662513732910156 + ], + [ + 261.6597900390625, + 77.09195709228516 + ], + [ + 263.6785888671875, + 84.29946899414062 + ], + [ + 256.06060791015625, + 98.39629364013672 + ], + [ + 271.52459716796875, + 135.62289428710938 + ], + [ + 284.3903503417969, + 165.8025665283203 + ], + [ + 297.2713317871094, + 181.64697265625 + ], + [ + 315.11090087890625, + 212.36814880371094 + ], + [ + 329.6543884277344, + 231.5146026611328 + ], + [ + 331.82525634765625, + 238.01416015625 + ], + [ + 326.85968017578125, + 249.10401916503906 + ], + [ + 335.6568603515625, + 269.47137451171875 + ], + [ + 343.29583740234375, + 276.3832092285156 + ], + [ + 352.2828674316406, + 289.93603515625 + ], + [ + 355.2089538574219, + 298.2785339355469 + ], + [ + 350.97991943359375, + 305.2608642578125 + ], + [ + 352.1203308105469, + 305.3511657714844 + ], + [ + 351.7054443359375, + 304.9960632324219 + ], + [ + 362.84344482421875, + 303.1197509765625 + ], + [ + 392.7442321777344, + 283.287841796875 + ], + [ + 439.2829895019531, + 259.5097961425781 + ], + [ + 473.11932373046875, + 262.98529052734375 + ], + [ + 520.4154663085938, + 283.8576965332031 + ], + [ + 532.7861938476562, + 290.5560302734375 + ], + [ + 541.53857421875, + 296.38726806640625 + ], + [ + 558.167724609375, + 306.66143798828125 + ], + [ + 566.2532348632812, + 305.27716064453125 + ], + [ + 573.551513671875, + 299.51617431640625 + ], + [ + 575.4337768554688, + 299.726806640625 + ], + [ + 571.8453369140625, + 308.62298583984375 + ], + [ + 566.1793212890625, + 266.43963623046875 + ], + [ + 502.663330078125, + 224.34359741210938 + ], + [ + 417.82183837890625, + 167.1906280517578 + ], + [ + 420.33001708984375, + 160.71739196777344 + ] + ], + "depth_max": 2.516204833984375, + "depth_min": 0.13914111256599426, + "intrinsic": [ + [ + 554.5090942382812, + 0.0, + 259.0 + ], + [ + 0.0, + 553.5925903320312, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.524044223013334e-05, + -3.164502413710579e-05, + 2.3904383851913735e-05 + ], + [ + -3.5239758290117607e-05, + 1.0, + 2.16777316381922e-05, + -2.9177059332141653e-05 + ], + [ + 3.164578811265528e-05, + -2.1676614778698422e-05, + 1.0, + 9.969118764274754e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33 + ], + "object_trajectory": [ + [ + 346.75, + 319.0 + ], + [ + 347.0280456542969, + 319.0605773925781 + ], + [ + 347.06622314453125, + 318.9206848144531 + ], + [ + 347.1697998046875, + 318.9830322265625 + ], + [ + 347.12164306640625, + 318.9041442871094 + ], + [ + 347.12091064453125, + 319.09527587890625 + ], + [ + 347.033935546875, + 319.033447265625 + ], + [ + 347.1929016113281, + 319.10528564453125 + ], + [ + 347.4519958496094, + 318.756103515625 + ], + [ + 347.2725524902344, + 318.7910461425781 + ], + [ + 347.4357604980469, + 318.8757629394531 + ], + [ + 347.89202880859375, + 319.24713134765625 + ], + [ + 347.8385314941406, + 318.8551940917969 + ], + [ + 348.11480712890625, + 318.3710632324219 + ], + [ + 348.51416015625, + 317.4300231933594 + ], + [ + 349.019287109375, + 319.2880554199219 + ], + [ + 349.364990234375, + 318.9722595214844 + ], + [ + 349.4381408691406, + 318.70294189453125 + ], + [ + 359.2886047363281, + 317.18890380859375 + ], + [ + 387.00634765625, + 297.3093566894531 + ], + [ + 435.72259521484375, + 272.1673583984375 + ], + [ + 471.721435546875, + 281.5105285644531 + ], + [ + 511.9402160644531, + 302.099365234375 + ], + [ + 527.93896484375, + 307.736083984375 + ], + [ + 536.7650756835938, + 313.97113037109375 + ], + [ + 551.8033447265625, + 325.40655517578125 + ], + [ + 558.5682373046875, + 332.2293395996094 + ], + [ + 551.2847900390625, + 332.4643859863281 + ], + [ + 536.9010009765625, + 325.7946472167969 + ], + [ + 521.9510498046875, + 324.31243896484375 + ], + [ + 522.816162109375, + 325.2156982421875 + ], + [ + 522.89697265625, + 325.0736389160156 + ], + [ + 520.60498046875, + 323.9119567871094 + ], + [ + 520.927001953125, + 324.1808776855469 + ] + ] +} \ No newline at end of file diff --git a/001535_v2/lang.txt b/001535_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..023475468e0748a5f517d98bb65d23e6c5450ffc --- /dev/null +++ b/001535_v2/lang.txt @@ -0,0 +1 @@ +put the orange object to the right outside the cloth diff --git a/001535_v2/object.ply b/001535_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..13a51e7302cd8fae452591b8d471b10fd98af449 Binary files /dev/null and b/001535_v2/object.ply differ diff --git a/001537_v2/FAIL b/001537_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/001537_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/001539_v2/FAIL b/001539_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/001539_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/001552/FAIL b/001552/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/001552/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/001563/data.json b/001563/data.json new file mode 100644 index 0000000000000000000000000000000000000000..d3f4f446c25bb3e6f52a93de40ac3503a9e7fdf5 --- /dev/null +++ b/001563/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 13, + "action_end": 23, + "object_name": "broccoli", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.33089100000000005, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -6.060824064846315e-11, + 2.824059042172422e-11, + 3.0983390852945547e-10, + -7.675305907247775e-08, + -1.9604984502428838e-07, + 1.227409029259195e-07, + 1.0 + ], + [ + -0.011828949633937852, + -0.03471349844506047, + -0.003513464328772198, + -0.0057187042752453055, + -0.026600904637955933, + 0.10430227259861699, + 1.0 + ], + [ + -0.00371300984414219, + -0.027254527162022577, + 0.0018810622991592002, + -0.009053385813672796, + -0.06832249803218277, + 0.017416656394385936, + 1.0 + ], + [ + -0.003334916254060405, + -0.034569729534335576, + 0.0019747703263056915, + -0.006772327942308805, + -0.04082620669111822, + 0.02289231131091526, + 1.0 + ], + [ + 0.00082167524561369, + -0.023441997618030945, + -0.008020053555060136, + 0.0016608055288752593, + -0.012206238927044097, + 0.04219777187581714, + 1.0 + ], + [ + -0.0002930372676263615, + -0.015369004912576992, + -0.01923117843725422, + -0.014745834090660182, + -0.004158988158556541, + 0.02079363240341403, + 1.0 + ], + [ + -0.0028383166346073185, + -0.0055782993161084815, + -0.0195752802279979, + -0.021858000242315916, + 0.002477296736933133, + 0.01884980996474266, + 1.0 + ], + [ + -0.006568301849429775, + -0.006370879361750851, + -0.013756300204822089, + 0.010975384967546235, + -0.0005183619287535585, + 0.04454470225610645, + 1.0 + ], + [ + -0.008163632664721504, + 0.0011934152105292223, + -0.016583492149494575, + 0.014683240277564378, + -0.01734220509074701, + 0.0359568960758136, + 1.0 + ], + [ + -0.005269475799380946, + 0.00195832596298659, + -0.009155730757689745, + -0.00959751220669548, + -0.000700094110046459, + 0.012550438117073614, + 1.0 + ], + [ + -0.0008679725526778426, + 0.002395892793887147, + -0.006164334699431638, + 0.009115781300194168, + 0.0026785308260757353, + 0.009017429467699192, + 1.0 + ], + [ + 0.0025457418651728125, + 0.0008523165516228573, + -0.0048353641942095495, + -0.011520467920883936, + 0.014745655450492754, + -0.0172893913921058, + 1.0 + ], + [ + 0.003808821066624085, + -0.005866872879533344, + -0.008607122042760054, + -0.021108152334709668, + 0.0020817917235364685, + 0.0029490692003438434, + 1.0 + ], + [ + 0.0032464800858349185, + -0.003429343266502266, + -0.01753631774129901, + -0.0316764055755177, + -0.008748734963431688, + -0.019609126079203357, + 0.33089100000000005 + ], + [ + 0.0027061822149355985, + 0.0030188737494083115, + -0.0026103952844262436, + -0.02458581012047534, + 0.013024410733358062, + -0.007887053946653795, + 0.0 + ], + [ + 0.0030635259376449453, + 0.0035744918603067416, + 0.023837412855682347, + 0.05259029101415057, + -0.03310171165703927, + -0.007515495213604895, + 0.0 + ], + [ + 0.0098983993466574, + 0.010556074992843494, + 0.050045886671224504, + 0.04890390619225479, + -0.04704321536067327, + -0.009192968719539747, + 0.0 + ], + [ + 0.01709517208719108, + 0.019351295033907055, + 0.04987485620251791, + 0.09268225999188072, + -0.016521092726095307, + 0.00018885400596735686, + 0.0 + ], + [ + 0.028125703448089845, + 0.049773625794179766, + 0.02553985951577542, + 0.13813662182897887, + -0.02467844859285191, + -0.09821244992941204, + 0.0 + ], + [ + 0.021822737021241573, + 0.05822815004320224, + -0.011507525608715319, + 0.07056041351949671, + -0.01000066919901676, + -0.105270298099951, + 0.0 + ], + [ + 0.011106984839185152, + 0.04853270564755061, + -0.014855457982172998, + -0.004882864042121965, + 0.043430914806336395, + -0.033155023775344225, + 0.0 + ], + [ + -0.005152319792336102, + 0.01997638067062031, + -0.02434519887103878, + -0.008666781961918193, + 0.0024037877501509675, + 0.03368503058237848, + 0.0 + ], + [ + -0.007872703133835313, + 0.016955662352434286, + -0.019467546012666995, + -0.04382122284542646, + 0.01733217836456714, + 0.044254897300523774, + 0.0 + ], + [ + -0.006110746201136108, + 0.001272814480672707, + -0.0075066038173356026, + -0.04813788385215369, + -0.012701264869084078, + 0.04217597831563446, + 0.0 + ], + [ + 0.00142522261396677, + -0.0005854092625996454, + -0.0035525206569078094, + -0.005010846906520004, + -0.01157874736558316, + 0.004305614988585491, + 1.0 + ], + [ + -0.0012437114297688123, + -0.0009567755904430209, + -0.00246497954385054, + 0.008994674475353712, + -0.009697792957872946, + -0.0016283052070258856, + 1.0 + ], + [ + 0.003483680490136698, + -0.0034757788140478696, + 0.005939517567894334, + 0.01378117762407033, + 0.009798031888048531, + -0.006926741390059858, + 1.0 + ], + [ + 0.002497805344323034, + -0.005336818009286287, + 0.004894689993544504, + -0.0022484038473373764, + 0.017044676649592895, + -0.02270230604849969, + 1.0 + ], + [ + 0.0005782357236662206, + -0.00691586003813266, + 0.004816987990718023, + -0.040386311904776845, + 0.03087996901618104, + 0.0073109840185090445, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 70.50399017333984, + 114.99673461914062 + ], + [ + 71.18034362792969, + 120.69068908691406 + ], + [ + 93.47598266601562, + 170.00900268554688 + ], + [ + 142.57052612304688, + 184.91177368164062 + ], + [ + 171.3686065673828, + 198.52581787109375 + ], + [ + 215.41082763671875, + 224.8120574951172 + ], + [ + 240.05252075195312, + 258.64703369140625 + ], + [ + 258.03582763671875, + 296.15850830078125 + ], + [ + 250.812255859375, + 315.9302062988281 + ], + [ + 254.3067169189453, + 353.37945556640625 + ], + [ + 244.30184936523438, + 367.52215576171875 + ], + [ + 242.7373504638672, + 372.1701354980469 + ], + [ + 244.21383666992188, + 378.1565246582031 + ], + [ + 247.03074645996094, + 383.3746643066406 + ], + [ + 261.2613525390625, + 391.23260498046875 + ], + [ + 264.8030090332031, + 388.3153076171875 + ], + [ + 250.11509704589844, + 379.564208984375 + ], + [ + 241.8627166748047, + 309.0936279296875 + ], + [ + 235.18820190429688, + 223.9015350341797 + ], + [ + 204.97459411621094, + 133.8753204345703 + ], + [ + 164.25253295898438, + 99.84972381591797 + ], + [ + 132.48037719726562, + 90.25743865966797 + ], + [ + 76.87589263916016, + 105.6258773803711 + ], + [ + 86.13447570800781, + 131.44261169433594 + ], + [ + 66.96416473388672, + 147.82711791992188 + ], + [ + 63.172760009765625, + 150.2283172607422 + ], + [ + 74.00918579101562, + 156.49102783203125 + ], + [ + 72.35421752929688, + 160.1640625 + ], + [ + 80.10523986816406, + 158.0106201171875 + ], + [ + 93.59927368164062, + 150.53518676757812 + ], + [ + 90.64651489257812, + 149.16859436035156 + ], + [ + 88.78825378417969, + 149.54391479492188 + ], + [ + 89.10310363769531, + 149.8291473388672 + ], + [ + 88.94491577148438, + 149.51319885253906 + ], + [ + 89.0633544921875, + 150.10531616210938 + ], + [ + 89.12039184570312, + 149.85507202148438 + ], + [ + 89.17701721191406, + 149.96188354492188 + ], + [ + 89.1778793334961, + 150.1189727783203 + ] + ], + "depth_max": 1.349426507949829, + "depth_min": 0.2322935163974762, + "intrinsic": [ + [ + 509.95050048828125, + 0.0, + 259.0 + ], + [ + 0.0, + 509.303955078125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.418341945391148e-05, + -7.04915655660443e-05, + -2.4363540433114395e-05 + ], + [ + -6.418453995138407e-05, + 1.0, + -1.5990957763278857e-05, + -2.4962460884125903e-05 + ], + [ + 7.049053238006309e-05, + 1.5995479770936072e-05, + 1.0, + -4.039075065520592e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 265.25, + 394.75 + ], + [ + 265.4179992675781, + 394.7586975097656 + ], + [ + 265.5365905761719, + 394.89630126953125 + ], + [ + 265.3799743652344, + 395.23583984375 + ], + [ + 265.62103271484375, + 395.5008544921875 + ], + [ + 265.3800354003906, + 395.3033142089844 + ], + [ + 265.0162658691406, + 395.1699523925781 + ], + [ + 265.063720703125, + 395.16845703125 + ], + [ + 265.2975158691406, + 395.3798828125 + ], + [ + 265.5213623046875, + 395.6930236816406 + ], + [ + 265.7784423828125, + 395.8368225097656 + ], + [ + 265.291748046875, + 396.01678466796875 + ], + [ + 264.935791015625, + 395.8414306640625 + ], + [ + 264.52569580078125, + 395.37060546875 + ], + [ + 263.7530212402344, + 395.27142333984375 + ], + [ + 266.54150390625, + 393.5375671386719 + ], + [ + 251.66578674316406, + 384.62591552734375 + ], + [ + 245.4379425048828, + 323.42327880859375 + ], + [ + 236.5659637451172, + 240.01885986328125 + ], + [ + 201.430908203125, + 143.43768310546875 + ], + [ + 157.55487060546875, + 107.73728942871094 + ], + [ + 127.28004455566406, + 98.79122924804688 + ], + [ + 74.15753173828125, + 114.85017395019531 + ], + [ + 80.35091400146484, + 139.431640625 + ], + [ + 63.80396270751953, + 155.8055419921875 + ], + [ + 75.52548217773438, + 196.08346557617188 + ], + [ + 73.8566665649414, + 215.2410888671875 + ], + [ + 60.8316535949707, + 222.91104125976562 + ], + [ + 59.68302917480469, + 220.6143798828125 + ], + [ + 58.75331497192383, + 220.81787109375 + ], + [ + 58.82891845703125, + 221.01602172851562 + ], + [ + 59.133056640625, + 221.38572692871094 + ], + [ + 60.43988800048828, + 220.57130432128906 + ], + [ + 62.13669204711914, + 221.0959014892578 + ], + [ + 61.67206573486328, + 221.04954528808594 + ], + [ + 63.00100326538086, + 219.86956787109375 + ], + [ + 62.49219512939453, + 218.8505859375 + ], + [ + 63.389102935791016, + 219.83453369140625 + ] + ] +} \ No newline at end of file diff --git a/001563/lang.txt b/001563/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f66bae477970d3eeb491e8da4678835fdb133daa --- /dev/null +++ b/001563/lang.txt @@ -0,0 +1 @@ +put broccoli in pot diff --git a/001563/object.ply b/001563/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..221a721bf6da6f937c84fe345afac9c031c5261a Binary files /dev/null and b/001563/object.ply differ diff --git a/001574/FAIL b/001574/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/001574/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/001589/FAIL b/001589/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/001589/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/001594_v2/data.json b/001594_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..7135fadaa0048a663c646b0a69b4535b77568f76 --- /dev/null +++ b/001594_v2/data.json @@ -0,0 +1,678 @@ +{ + "action_start": 11, + "action_end": 21, + "object_name": "green block", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.892064, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 3.619012312050529e-10, + -3.232118739315837e-11, + -2.4644769558435087e-10, + -1.4038790548614581e-08, + 6.361408145363257e-07, + -8.439560454679151e-08, + 1.0 + ], + [ + -0.0015768852891067109, + 0.007382848428942504, + 6.370142229317199e-06, + -0.005900914238995773, + 0.014294149227230808, + 0.025205672088669986, + 1.0 + ], + [ + -0.0009794988545659966, + 0.008666510602846227, + -0.00044112369649070005, + -0.0010007035279214276, + 0.021986764596829165, + 0.0173758412959924, + 1.0 + ], + [ + -0.0020117028800616943, + 0.013757615362361288, + 0.001010538240960368, + 0.0031781630338617757, + 0.0026325513678442172, + 0.033939264582256067, + 1.0 + ], + [ + -0.004715764377671405, + 0.01779422931647434, + -0.0034284003423171727, + 0.016127109381880823, + 0.013506258663499547, + 0.04779304793726019, + 1.0 + ], + [ + -0.005508492622720185, + 0.021126329717227194, + -0.011424715215123324, + 0.01085693711713175, + 0.028499026081898964, + 0.049987933867084534, + 1.0 + ], + [ + -0.004162420516946264, + 0.012527884461919214, + -0.013275638927147351, + -0.0031642089630561886, + 0.030913767025462554, + 0.035182748338804755, + 1.0 + ], + [ + -0.0028659785477905264, + 0.0076109785594746515, + -0.011647643541427402, + -0.006043396725609873, + 0.024097857235456918, + 0.021272363676863103, + 1.0 + ], + [ + -0.0010857191684348622, + 0.00035205015825562347, + -0.0074972698820387484, + -0.005612405344212287, + 0.01125706621043259, + 0.009852076100338735, + 1.0 + ], + [ + 0.0011273347567373748, + -0.00588086274803673, + -0.00667964797289082, + -0.00514111573067214, + 0.0065453235430609855, + -0.0018099420237149748, + 1.0 + ], + [ + 0.0010578588992188331, + -0.004657187730024576, + -0.006236093819237398, + -0.003963869330248214, + 0.0053912656521075105, + 0.004814882468405129, + 1.0 + ], + [ + -0.000442324050713927, + -0.0038109785236920546, + -0.0055254188752764805, + 0.0066115954569963544, + -0.0029315319229486253, + 0.003456783397191878, + 0.892064 + ], + [ + -0.00013165624144390042, + -0.003286015997530478, + -0.0011733826136143266, + 0.006816104331377599, + -0.014084596737986135, + 0.008106247185716474, + 0.0 + ], + [ + 0.0032479897119604972, + -0.007656607155909004, + 0.0077200797620870995, + 0.011451782799061247, + -0.021478673199182834, + -0.029166007714163254, + 0.0 + ], + [ + 0.008217948740014414, + -0.019819706992865435, + 0.016834599538815664, + 0.018715179809360178, + -0.04275479571125441, + -0.06886141634552656, + 0.0 + ], + [ + 0.006283228697784915, + -0.03016239446525827, + 0.007948286996079384, + 0.004984927710814016, + -0.025386804471150444, + -0.0930005551544958, + 0.0 + ], + [ + -0.0015962743517127231, + -0.02477801057993413, + -0.007035725900048598, + -0.022195075432202893, + 0.007790057546372307, + -0.06329425737157583, + 0.0 + ], + [ + -0.00579423119311373, + -0.019856404446612463, + -0.015379059771750497, + -0.016877789347660637, + 0.03583134058452068, + -0.03651659642388337, + 0.0 + ], + [ + -0.011752877491573943, + -0.022960063295732195, + -0.017952497793816226, + -0.019420872072824825, + 0.04538379142580767, + -0.038556272499230694, + 0.0 + ], + [ + -0.006597678336118129, + -0.01691224461311376, + -0.007875109228027276, + 0.00035796693410476433, + 0.013089189806697469, + -0.03662452736723419, + 0.0 + ], + [ + -0.0072600374591635375, + -0.01319836943816007, + -0.007301163525953384, + 0.0010484897776871973, + 0.011691179146984062, + -0.027601281864859484, + 0.0 + ], + [ + -0.0025173744194663117, + -0.00020035469462481234, + -0.004557439984626065, + 0.006606502318694362, + 0.0028268205012219644, + 0.0007651057078075998, + 0.0 + ], + [ + 0.0005511397552563913, + 0.00930121884668085, + -0.004380675214589999, + 0.008912101652387225, + 0.0069978325047604754, + 0.01734538908047087, + 1.0 + ], + [ + 0.0012021697240844897, + 0.002443676513281253, + 0.00014558530112153412, + 0.006533244499082418, + -0.0004148140649697619, + 0.002559317974346812, + 1.0 + ], + [ + 0.003067518017909887, + -0.0005701256354069054, + 0.017297943493251387, + -0.0020058210689498234, + -0.039941339183534846, + -0.0037874618136234635, + 1.0 + ], + [ + 0.0030362428032479905, + 0.0025359834410101662, + 0.028821216582737952, + -0.02360225988446201, + -0.06807779192440915, + 0.017181734234680345, + 1.0 + ], + [ + 0.005695512197699704, + 0.010886652299671168, + 0.020425446824507296, + -0.024204292931362618, + -0.04098323528757371, + 0.03367060871962777, + 1.0 + ], + [ + 0.008904046070029425, + 0.02065766761839395, + 0.011342402817491173, + 0.0045200284019203, + -0.022075747569068185, + 0.047622762169075156, + 1.0 + ], + [ + 0.007131953295657689, + 0.027617437275257763, + 0.0002861160421211151, + 0.012209758353409718, + -0.0014091173344428912, + 0.06393115163963277, + 1.0 + ], + [ + 0.004728891613212327, + 0.024194649707632437, + -0.008271254833559116, + 0.01194140861411135, + 0.016462377709282338, + 0.05267840501185714, + 1.0 + ], + [ + 0.0020539734273045673, + 0.008221853214001866, + -0.004392004269153121, + 0.0005990356717633624, + 0.007650855435839193, + 0.014030570510942008, + 1.0 + ], + [ + 0.000466809536888102, + 0.001276775709137118, + -0.0018072497782204017, + 0.008763696170601248, + -0.006180185507712619, + -0.010401644118201334, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 234.0499725341797, + 140.55946350097656 + ], + [ + 234.82275390625, + 147.93829345703125 + ], + [ + 234.16932678222656, + 152.01275634765625 + ], + [ + 217.662353515625, + 157.74148559570312 + ], + [ + 198.58053588867188, + 148.09649658203125 + ], + [ + 177.31387329101562, + 148.11141967773438 + ], + [ + 152.04505920410156, + 159.4420166015625 + ], + [ + 140.03318786621094, + 169.0647430419922 + ], + [ + 131.5834197998047, + 179.1038818359375 + ], + [ + 131.67987060546875, + 185.77462768554688 + ], + [ + 133.84222412109375, + 195.71444702148438 + ], + [ + 140.10733032226562, + 200.36978149414062 + ], + [ + 145.21925354003906, + 214.05592346191406 + ], + [ + 146.04367065429688, + 219.0106201171875 + ], + [ + 155.24258422851562, + 220.90211486816406 + ], + [ + 180.40545654296875, + 201.86349487304688 + ], + [ + 214.34092712402344, + 201.37680053710938 + ], + [ + 238.38702392578125, + 222.17906188964844 + ], + [ + 259.6149597167969, + 245.96783447265625 + ], + [ + 275.65631103515625, + 285.3121643066406 + ], + [ + 286.64208984375, + 311.07763671875 + ], + [ + 298.5943908691406, + 331.23919677734375 + ], + [ + 298.91094970703125, + 340.8310852050781 + ], + [ + 300.67340087890625, + 343.694580078125 + ], + [ + 292.5665283203125, + 341.8614501953125 + ], + [ + 290.1769104003906, + 339.95843505859375 + ], + [ + 288.715576171875, + 300.26708984375 + ], + [ + 276.112060546875, + 261.7806396484375 + ], + [ + 257.3314208984375, + 225.38079833984375 + ], + [ + 231.44569396972656, + 202.8408203125 + ], + [ + 211.022216796875, + 201.0163116455078 + ], + [ + 204.65875244140625, + 201.45907592773438 + ], + [ + 203.14572143554688, + 199.91171264648438 + ], + [ + 203.20545959472656, + 199.5142364501953 + ] + ], + "depth_max": 1.4953749179840088, + "depth_min": 0.1978377103805542, + "intrinsic": [ + [ + 575.7365112304688, + 0.0, + 259.0 + ], + [ + 0.0, + 575.8268432617188, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.433284579543397e-05, + 1.129708380176453e-05, + 2.081984894175548e-05 + ], + [ + -6.433203088818118e-05, + 1.0, + -7.241489220177755e-05, + -7.790120434947312e-05 + ], + [ + -1.1301744052616414e-05, + 7.241416460601613e-05, + 1.0, + -1.6214393326663412e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33 + ], + "object_trajectory": [ + [ + 154.5, + 212.75 + ], + [ + 154.5728302001953, + 213.0044708251953 + ], + [ + 154.37405395507812, + 212.90472412109375 + ], + [ + 154.73373413085938, + 213.02906799316406 + ], + [ + 155.05039978027344, + 212.31546020507812 + ], + [ + 154.74057006835938, + 212.72494506835938 + ], + [ + 154.4295654296875, + 213.0184783935547 + ], + [ + 154.13912963867188, + 213.02471923828125 + ], + [ + 153.55528259277344, + 212.8841552734375 + ], + [ + 153.70504760742188, + 213.31654357910156 + ], + [ + 153.4888916015625, + 213.27391052246094 + ], + [ + 153.00843811035156, + 213.49867248535156 + ], + [ + 152.88075256347656, + 213.4081573486328 + ], + [ + 154.524169921875, + 215.0723876953125 + ], + [ + 164.9207763671875, + 214.02572631835938 + ], + [ + 183.678955078125, + 202.61895751953125 + ], + [ + 210.5192413330078, + 203.85244750976562 + ], + [ + 233.01043701171875, + 221.45176696777344 + ], + [ + 254.34854125976562, + 244.61798095703125 + ], + [ + 270.53363037109375, + 286.2276306152344 + ], + [ + 282.452392578125, + 306.3599548339844 + ], + [ + 292.8968200683594, + 328.8271789550781 + ], + [ + 293.9837951660156, + 339.29443359375 + ], + [ + 296.11737060546875, + 352.25592041015625 + ], + [ + 293.5443420410156, + 353.4543151855469 + ], + [ + 294.490234375, + 351.9058837890625 + ], + [ + 300.1846923828125, + 345.47442626953125 + ], + [ + 306.5458068847656, + 348.2936096191406 + ], + [ + 306.0200500488281, + 348.7940368652344 + ], + [ + 305.68408203125, + 349.42828369140625 + ], + [ + 305.53167724609375, + 349.5379333496094 + ], + [ + 305.1856384277344, + 349.8887939453125 + ], + [ + 305.56463623046875, + 349.5665588378906 + ], + [ + 305.42877197265625, + 350.46832275390625 + ] + ] +} \ No newline at end of file diff --git a/001594_v2/lang.txt b/001594_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..03dfc28195f66cbcb4a4eb2385a673cd0b515302 --- /dev/null +++ b/001594_v2/lang.txt @@ -0,0 +1 @@ +move the green block from the yellow block to the middle of the table diff --git a/001594_v2/object.ply b/001594_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..b482642d06a4922f7d6cf175a3e717c2397d4ce1 Binary files /dev/null and b/001594_v2/object.ply differ diff --git a/001633_v2/data.json b/001633_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..d6792f593f05a2d1bc546a62562005266963f817 --- /dev/null +++ b/001633_v2/data.json @@ -0,0 +1,678 @@ +{ + "action_start": 9, + "action_end": 22, + "object_name": "green box", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.16654500000000005, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.376226910210221e-10, + -4.380015516947111e-10, + 1.846696545682036e-10, + 3.162966724944385e-07, + 6.056758751675823e-07, + -2.7841594266079086e-07, + 1.0 + ], + [ + 5.2601294424803324e-05, + -0.00541132021600238, + -0.001647604029525615, + -0.0028526461476636048, + 0.0012621378680359016, + -0.01314206942264879, + 1.0 + ], + [ + -0.0006640891022177686, + -0.008161964728674503, + -0.0057379189317615376, + -0.012413305406333616, + 0.004014880275991506, + -0.02304765454126944, + 1.0 + ], + [ + -0.0022007708228776734, + -0.014517477877492108, + -0.01120290170803813, + -0.02594959594331755, + 0.021070949527357496, + -0.02589360279802893, + 1.0 + ], + [ + -0.00476347676286043, + -0.02644291068468901, + -0.01569561421718313, + -0.029361287832443815, + 0.027350180178087723, + -0.053133821881656856, + 1.0 + ], + [ + -0.005628800398040978, + -0.023388768315430818, + -0.010750614569365963, + -0.005171499660111547, + 0.014911432211489726, + -0.05214965307894389, + 1.0 + ], + [ + -0.005263762415300688, + -0.01614481779668402, + -0.007344668618965697, + 0.012160888088011919, + 0.008304524283744823, + -0.035694636455391233, + 1.0 + ], + [ + -0.0021443428797596753, + -0.0062017330795918965, + -0.009303408678484948, + 0.0169714516554671, + 0.013426607563506766, + -0.009787212504922602, + 1.0 + ], + [ + -0.0003621579901404992, + 0.00023208127573670634, + -0.008905462864098934, + 0.017020241885583938, + 0.01682836640888748, + 0.004019125312497535, + 1.0 + ], + [ + 0.0027423705330139603, + -0.00033526537764565906, + -0.010018743094483952, + 0.01725287357576482, + 0.03400522604615976, + 0.029456143874624682, + 1.0 + ], + [ + 0.0037128066946171545, + -0.002324166559012242, + -0.0019492266569454547, + 0.009142123350718784, + -0.0014588004108084405, + 0.02333464557646354, + 0.0 + ], + [ + 0.002890680013458713, + 0.0028565944710823993, + 0.0049796363563829535, + -0.0031640728464713617, + -0.00871024440461023, + 0.02040198276630793, + 0.0 + ], + [ + 0.0021088492310770146, + 0.013333030933417825, + 0.01438809113726542, + -0.00795983196535192, + -0.025004267918617065, + 0.03454366970388344, + 0.0 + ], + [ + 0.0020993620690494263, + 0.027365050804543507, + 0.020225926861147915, + 0.013778472161247692, + -0.012325317929941173, + 0.07355834930804107, + 0.0 + ], + [ + 0.0021556437593096, + 0.03367968548993732, + 0.010320049540732817, + -0.018921226562760334, + -0.008782344543236075, + 0.07249281762299624, + 0.0 + ], + [ + -0.0011971946722535987, + 0.039162858024606444, + 0.005538589998678636, + -0.0020617287667068227, + -0.0018676010534461292, + 0.08540388023110611, + 0.0 + ], + [ + 0.0002469083127271121, + 0.02755248145968045, + 0.0010158751960309548, + -0.005917612057645721, + 0.003296878191653944, + 0.05745898111318138, + 0.0 + ], + [ + 0.0018299289310747535, + 0.01800560073521018, + 0.002512548369771786, + -0.0018203629849046577, + -0.0033630877412622585, + 0.034196538756690834, + 0.0 + ], + [ + 0.0021653317240718506, + 0.01398938524017157, + -0.002038491164336617, + -0.0009960602520566358, + 0.004921525965376409, + 0.028465256409740566, + 0.0 + ], + [ + 0.0032458857414479625, + 0.0033926954981396973, + -0.007405846134081323, + -0.005511590068749442, + 0.012483527501421957, + 0.003930544207293566, + 0.0 + ], + [ + 0.004989751614497828, + -0.0007846753705611498, + -0.006722498184023276, + -0.0017898472761623352, + 0.01121795209888766, + -0.00340350988713569, + 0.0 + ], + [ + 0.0024247727130637386, + -0.0007653237543325253, + -0.005898463126502523, + 0.0038800356510833977, + 0.013865926227316104, + -0.004725510913281903, + 0.0 + ], + [ + 0.0002409082802045659, + 0.0016514492493767824, + -0.002559513783429536, + 0.001755712538266144, + 0.014135507256780932, + -0.003842052626317717, + 0.16654500000000005 + ], + [ + 0.0006537759898803674, + -0.0001329904226991807, + 0.002518467748628267, + 0.006837316236720214, + -0.0010118808451312397, + -0.0007034405969984855, + 1.0 + ], + [ + 0.003020000624067043, + -0.0009405286990032402, + 0.017497592358991162, + -0.006491221619293579, + -0.03677666669981639, + 0.0059316445243258195, + 1.0 + ], + [ + 0.002564573833675199, + -0.002452534971041892, + 0.022416025744605966, + -0.00037850223137843786, + -0.04732607544717909, + -0.0005763378644436102, + 1.0 + ], + [ + 0.0003439183881462915, + -0.0006671967142686946, + 0.020367284505572847, + 0.007796529864462184, + -0.03982563773601802, + 0.0018530957729126782, + 1.0 + ], + [ + 0.0016822244216730953, + -0.004762113675382582, + 0.010781127941265609, + 0.014078075001023265, + -0.021806732354680364, + -0.025970376151936436, + 1.0 + ], + [ + 0.007737757867267658, + -0.021416966933324705, + 0.0003815540991045918, + 0.0010597235800162879, + -0.0006607736421517807, + -0.11767149252031953, + 1.0 + ], + [ + 0.006406881378849261, + -0.024689685587157534, + -0.005763571763439473, + -0.00799205643030446, + 0.015804352300713097, + -0.08677659162674735, + 1.0 + ], + [ + 0.006694829150477533, + -0.024653633895901028, + -0.007808515477502859, + 8.997393724296869e-05, + 0.017676720548960655, + -0.06762443766350232, + 1.0 + ], + [ + 0.0040125118046120956, + -0.01969722233231902, + -0.004989442758857016, + 0.010682231770494224, + 0.008632387061947421, + -0.056739891457186185, + 1.0 + ], + [ + 0.0003617003424026266, + -0.009909208463782414, + -0.004131238090470765, + 0.014158954654636362, + 0.004797011424809371, + -0.03028195960011143, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 216.24948120117188, + 180.75148010253906 + ], + [ + 216.20982360839844, + 190.9295654296875 + ], + [ + 221.55056762695312, + 195.42982482910156 + ], + [ + 230.887451171875, + 205.175537109375 + ], + [ + 249.07496643066406, + 228.24227905273438 + ], + [ + 276.1552734375, + 266.1508483886719 + ], + [ + 299.9107666015625, + 298.0767822265625 + ], + [ + 317.7272033691406, + 322.4425964355469 + ], + [ + 323.55596923828125, + 337.6869201660156 + ], + [ + 323.56842041015625, + 345.36102294921875 + ], + [ + 320.9269104003906, + 361.9173278808594 + ], + [ + 324.6233215332031, + 358.0537109375 + ], + [ + 325.523681640625, + 355.3260498046875 + ], + [ + 309.5390930175781, + 340.6139221191406 + ], + [ + 280.7017517089844, + 294.58807373046875 + ], + [ + 248.52676391601562, + 267.3641357421875 + ], + [ + 196.81106567382812, + 239.38946533203125 + ], + [ + 164.31700134277344, + 217.1269989013672 + ], + [ + 147.39382934570312, + 206.98721313476562 + ], + [ + 135.0946044921875, + 201.2332305908203 + ], + [ + 136.6846923828125, + 209.05337524414062 + ], + [ + 139.399658203125, + 212.48597717285156 + ], + [ + 143.2692413330078, + 221.08045959472656 + ], + [ + 144.0988311767578, + 216.35031127929688 + ], + [ + 144.6168975830078, + 218.4531707763672 + ], + [ + 148.2661895751953, + 205.18150329589844 + ], + [ + 146.98785400390625, + 175.0198974609375 + ], + [ + 142.50003051757812, + 153.24642944335938 + ], + [ + 139.07412719726562, + 136.59524536132812 + ], + [ + 168.13433837890625, + 139.89227294921875 + ], + [ + 202.17185974121094, + 145.57232666015625 + ], + [ + 238.39474487304688, + 157.31216430664062 + ], + [ + 268.467041015625, + 167.74046325683594 + ], + [ + 282.39239501953125, + 177.00082397460938 + ] + ], + "depth_max": 1.5184470415115356, + "depth_min": 0.16961096227169037, + "intrinsic": [ + [ + 587.3878173828125, + 0.0, + 259.0 + ], + [ + 0.0, + 587.451416015625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.504729415406473e-05, + 2.6990824153472204e-06, + -9.871528163785115e-07 + ], + [ + -5.5047061323421076e-05, + 1.0, + -8.521732524968684e-05, + -7.21944379620254e-05 + ], + [ + -2.7037733616452897e-06, + 8.521717973053455e-05, + 1.0, + 5.8003315643873066e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33 + ], + "object_trajectory": [ + [ + 343.5, + 366.0 + ], + [ + 343.8770446777344, + 365.3246154785156 + ], + [ + 343.8963928222656, + 365.3224792480469 + ], + [ + 343.73193359375, + 365.8338928222656 + ], + [ + 343.41552734375, + 365.85791015625 + ], + [ + 343.2869873046875, + 365.653564453125 + ], + [ + 343.4411315917969, + 365.32879638671875 + ], + [ + 343.4414978027344, + 366.4320983886719 + ], + [ + 342.15576171875, + 366.1007080078125 + ], + [ + 341.5570068359375, + 366.2528381347656 + ], + [ + 340.68609619140625, + 366.8284912109375 + ], + [ + 337.85443115234375, + 369.23443603515625 + ], + [ + 338.46832275390625, + 367.59320068359375 + ], + [ + 323.4554138183594, + 352.3710632324219 + ], + [ + 296.4691467285156, + 309.5272216796875 + ], + [ + 265.52923583984375, + 281.4437255859375 + ], + [ + 216.64410400390625, + 251.98123168945312 + ], + [ + 184.05419921875, + 227.87730407714844 + ], + [ + 170.12442016601562, + 217.37710571289062 + ], + [ + 159.25355529785156, + 210.92250061035156 + ], + [ + 159.09681701660156, + 218.2482147216797 + ], + [ + 157.5584259033203, + 213.89306640625 + ], + [ + 162.66217041015625, + 226.2314910888672 + ], + [ + 158.60968017578125, + 217.212890625 + ], + [ + 157.84820556640625, + 218.85955810546875 + ], + [ + 161.32505798339844, + 219.10955810546875 + ], + [ + 161.80886840820312, + 217.6882781982422 + ], + [ + 162.33163452148438, + 216.75210571289062 + ], + [ + 162.18154907226562, + 217.1027069091797 + ], + [ + 161.86962890625, + 216.98406982421875 + ], + [ + 162.4154052734375, + 217.29669189453125 + ], + [ + 162.26290893554688, + 217.73170471191406 + ], + [ + 162.1824951171875, + 217.342529296875 + ], + [ + 162.35009765625, + 217.1099853515625 + ] + ] +} \ No newline at end of file diff --git a/001633_v2/lang.txt b/001633_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..d71d9a11e22a31608ba5ce77515b8c41e0943110 --- /dev/null +++ b/001633_v2/lang.txt @@ -0,0 +1 @@ +put the green box on top of yellow box diff --git a/001641/FAIL b/001641/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001641/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001663_v2/FAIL b/001663_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/001663_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/001669/FAIL b/001669/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/001669/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/001678/FAIL b/001678/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/001678/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/001681_v2/FAIL b/001681_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/001681_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/001684_v2/FAIL b/001684_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/001684_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/001695/data.json b/001695/data.json new file mode 100644 index 0000000000000000000000000000000000000000..d6b28aab26c1c76e3dfe8634c99c51ae0e83f0f8 --- /dev/null +++ b/001695/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 11, + "action_end": 18, + "object_name": "broccoli", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.44444399999999995, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.516422625831183e-10, + -7.948377511723947e-10, + -1.2449541397785424e-11, + -1.6977310425652916e-08, + -1.4170007430487205e-07, + 4.0107212715668645e-07, + 1.0 + ], + [ + -0.0001920277427248096, + 0.032657921359436085, + 0.010015652843460718, + -0.012467512566007533, + 0.0038231865908958966, + -0.05817866019898425, + 1.0 + ], + [ + 0.01364089724574552, + 0.038423682445233046, + 0.006111082105135973, + 0.03075989224103319, + 0.01043943173580357, + -0.05590821382654053, + 1.0 + ], + [ + 0.010193444202516555, + 0.02792848990166341, + 0.0011919149468497675, + 0.012463193054698998, + -0.009233167642631645, + -0.061377363659166476, + 1.0 + ], + [ + 0.006989074864832856, + 0.03514389629562303, + -0.0027068331459126765, + -0.00794900446154091, + -0.02132178981907927, + -0.07621394194072775, + 1.0 + ], + [ + 0.0027979319031031236, + 0.018411047125743003, + -0.013015802271743357, + -0.012420217325190462, + -0.03349083684012116, + -0.02946603798765173, + 1.0 + ], + [ + 0.002099866264874961, + 0.011627384396854797, + -0.013829456213171665, + -0.004514522840439691, + -0.02330353373152107, + -0.003663570794331267, + 1.0 + ], + [ + 0.0047694203436799976, + 0.0030576453721394004, + -0.013320808241714985, + -0.04127478882336149, + -0.028389220842165618, + -0.011767315447122421, + 1.0 + ], + [ + 0.0035136086494468866, + -0.00019388916928854416, + -0.016670658570570082, + -0.022339230021307173, + -0.02217383022991491, + 0.0077634990427128195, + 1.0 + ], + [ + 0.003690009657858706, + 0.003570193849531257, + -0.011866412276898407, + -0.026759188372856332, + -0.013575054057073361, + -0.014619861003693502, + 1.0 + ], + [ + 0.0011271599583767, + 0.005915612641804659, + -0.01121497586966995, + 0.0084501446873863, + 0.00031506780790171394, + -0.006601042685148047, + 1.0 + ], + [ + -0.000877537234413972, + 0.003742995987772807, + -0.0034315047815389778, + 0.007499619882141419, + 0.0029709601596070996, + 0.01112639377985836, + 0.44444399999999995 + ], + [ + -0.0018470796239152265, + -0.0018071030660583715, + 0.0009053260857968537, + 0.0009198212717458411, + 0.006634924194261874, + 0.011047221109541152, + 0.0 + ], + [ + -0.008683805042051351, + 0.0006949117561527995, + 0.02301210723310431, + 0.05364003483573351, + 0.05519957614811106, + 0.005596698026123686, + 0.0 + ], + [ + -0.018465560435827366, + 0.026374905144633705, + 0.03748297806820596, + 0.09905847286830212, + 0.07988575675735562, + -0.03365954169838765, + 0.0 + ], + [ + -0.010985301817843518, + 0.03678311325652323, + 0.02762718052377035, + 0.03643610220707732, + 0.030702023823592856, + -0.06338526681772509, + 0.0 + ], + [ + -0.002068969508433438, + 0.041592859647000414, + 0.008410155287253043, + 0.12395891920134099, + -0.009765928703953698, + -0.14234111776874211, + 0.0 + ], + [ + 0.011320674951024956, + 0.038749989889762707, + -0.0019130062006225551, + 0.037027104518411506, + 0.005863333595336297, + -0.1354193190370009, + 0.0 + ], + [ + 0.0035938127851638524, + 0.0113091739481061, + -0.008087469118071927, + -0.0022841284265311393, + -0.017830162494923956, + -0.0779315090061395, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 513.3509521484375, + 157.97735595703125 + ], + [ + 513.6077880859375, + 158.10354614257812 + ], + [ + 501.6611328125, + 180.1586151123047 + ], + [ + 458.42138671875, + 162.43966674804688 + ], + [ + 406.5401306152344, + 133.54727172851562 + ], + [ + 390.42608642578125, + 118.66255950927734 + ], + [ + 349.727294921875, + 98.34121704101562 + ], + [ + 335.201904296875, + 107.69339752197266 + ], + [ + 324.71429443359375, + 111.54771423339844 + ], + [ + 322.2755126953125, + 118.60409545898438 + ], + [ + 325.96673583984375, + 137.12429809570312 + ], + [ + 321.7014465332031, + 142.25123596191406 + ], + [ + 315.4541320800781, + 145.27886962890625 + ], + [ + 312.80877685546875, + 146.3462371826172 + ], + [ + 308.88970947265625, + 146.486083984375 + ], + [ + 294.01458740234375, + 146.55343627929688 + ], + [ + 274.7128601074219, + 108.80314636230469 + ], + [ + 226.0247802734375, + 70.36515808105469 + ], + [ + 203.74368286132812, + 54.6947135925293 + ], + [ + 162.91729736328125, + 24.586729049682617 + ], + [ + 170.00184631347656, + 37.7998046875 + ], + [ + 169.6270294189453, + 36.177207946777344 + ], + [ + 169.5186767578125, + 35.89057922363281 + ], + [ + 170.37454223632812, + 36.68032455444336 + ] + ], + "depth_max": 1.706114649772644, + "depth_min": 0.5446248650550842, + "intrinsic": [ + [ + 531.4454345703125, + 0.0, + 259.0 + ], + [ + 0.0, + 532.2078247070312, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.5711566447862424e-05, + -9.643826342653483e-05, + -1.8150978576159105e-05 + ], + [ + -1.571458597027231e-05, + 1.0, + -3.132563142571598e-05, + 3.2463685784023255e-07 + ], + [ + 9.643776866141707e-05, + 3.132714482489973e-05, + 1.0, + 4.731792796519585e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 316.25, + 149.25 + ], + [ + 316.27142333984375, + 149.26795959472656 + ], + [ + 316.3153076171875, + 149.2796630859375 + ], + [ + 316.19317626953125, + 149.18626403808594 + ], + [ + 316.50567626953125, + 149.33941650390625 + ], + [ + 316.4327392578125, + 149.40579223632812 + ], + [ + 316.06768798828125, + 149.46688842773438 + ], + [ + 316.21832275390625, + 149.6209716796875 + ], + [ + 316.74285888671875, + 149.4866943359375 + ], + [ + 316.3973083496094, + 150.03114318847656 + ], + [ + 316.5065002441406, + 150.16616821289062 + ], + [ + 322.7693176269531, + 151.82394409179688 + ], + [ + 317.7242126464844, + 151.77940368652344 + ], + [ + 313.5284423828125, + 151.48483276367188 + ], + [ + 309.26446533203125, + 150.192138671875 + ], + [ + 291.6142883300781, + 153.71627807617188 + ], + [ + 271.30029296875, + 120.7271957397461 + ], + [ + 218.54544067382812, + 81.26705169677734 + ], + [ + 197.590576171875, + 67.62664794921875 + ], + [ + 193.13092041015625, + 76.3114013671875 + ], + [ + 189.94239807128906, + 78.3363037109375 + ], + [ + 187.75103759765625, + 81.4652099609375 + ], + [ + 188.90492248535156, + 81.97906494140625 + ], + [ + 183.55911254882812, + 91.73518371582031 + ] + ] +} \ No newline at end of file diff --git a/001695/lang.txt b/001695/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..11a6769ff7b21457b6d9077df636dbdfd6534a6e --- /dev/null +++ b/001695/lang.txt @@ -0,0 +1 @@ +put broccoli in pot or pan diff --git a/001695/object.ply b/001695/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..b845842893d272ee4fa7792e196a85188bbc05fa Binary files /dev/null and b/001695/object.ply differ diff --git a/001710_v2/data.json b/001710_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..c241f2c378dc4fd935283460166bcd5e0a0df9ef --- /dev/null +++ b/001710_v2/data.json @@ -0,0 +1,531 @@ +{ + "action_start": 6, + "action_end": 17, + "object_name": "yellow cloth", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.592186, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.382256614197331e-10, + -2.6567422567458365e-10, + 1.70080966671593e-10, + 3.4526109515039177e-07, + 1.404629067985185e-07, + -4.2792931587230904e-07, + 1.0 + ], + [ + 0.017800953899406557, + 0.0017416632789176226, + 0.021747036698715395, + -0.007393302071952446, + -0.06544586063625579, + -0.005775439898312538, + 1.0 + ], + [ + 0.02597816019107163, + 0.0014573659334411806, + 0.027621287110009198, + -0.0022749670281331457, + -0.1037269557034783, + -0.014511993759967217, + 1.0 + ], + [ + 0.0243889760078575, + 0.002309912095895511, + 0.012179668709649191, + 0.004553913514178638, + -0.11126422977135232, + -0.00043337493359300275, + 1.0 + ], + [ + 0.018581643968627104, + 0.0025800909384312426, + -0.004117804394885696, + -0.022530258304411143, + -0.04405878188455718, + 0.0356292794127867, + 1.0 + ], + [ + 0.013390038717508435, + 0.0012659808072514045, + -0.013380418463498717, + -0.011650641844641775, + 0.007731530723469102, + 0.022298610425292627, + 1.0 + ], + [ + 0.0018911954656875563, + -0.0015584298644566938, + -0.010581543255991852, + -0.0026109840636461316, + 0.013875842236324182, + 0.0052220558040672795, + 0.592186 + ], + [ + -0.00427050354223385, + -0.0018184330607718888, + -0.0021956015309898685, + 0.008328635218466421, + 0.0023122212405315753, + 0.00015322893212506582, + 0.0 + ], + [ + -0.004101122168232663, + -0.00608766261293834, + 0.004643802738718707, + -0.000689777572021995, + -0.011925378723374042, + -0.02100529830861301, + 0.0 + ], + [ + -0.004345163377331374, + -0.0033062671866743443, + 0.008955012173783493, + 0.016883299007719163, + -0.02112924044147177, + -0.006258171391613387, + 0.0 + ], + [ + -0.009295562121431789, + 0.0032282840307555835, + 0.014736008948684383, + -0.005545969614504344, + -0.02574797322323584, + 0.009901558530960952, + 0.0 + ], + [ + -0.022850035091750154, + 0.016802607529045117, + 0.010348045464957586, + 0.03586150321429533, + 0.014854785364930213, + 0.07348665299227902, + 0.0 + ], + [ + -0.03322113995455367, + 0.03116472905894243, + -0.020434674150580617, + 0.04032722428495058, + 0.15054858769945, + 0.11840815022638385, + 0.0 + ], + [ + -0.033652756827387, + 0.01070789675559563, + -0.028994856359408388, + -0.03137574348681806, + 0.15162311856292812, + -0.012008997946843408, + 0.0 + ], + [ + -0.02659702078324394, + -0.004710833017129407, + -0.02096366613513505, + -0.0454005338886817, + 0.07082827043262299, + -0.056990577866145545, + 0.0 + ], + [ + -0.016268652275205187, + -0.008424043358167335, + -0.012269959757347036, + -0.009134671613312948, + 0.026396248151967432, + -0.030461923004184446, + 0.0 + ], + [ + -0.005437812575978501, + -0.00045355264824865904, + -0.010486281381161033, + 0.04600445950310217, + 0.005302587270666539, + 0.03569535999847226, + 0.0 + ], + [ + 0.003353627852761276, + 0.01486285499102466, + -0.0095053363095816, + 0.04596905346337202, + -0.03197265516194373, + 0.10291305236223676, + 0.0 + ], + [ + 0.0019521164497471044, + 0.0063820912115476885, + -0.0012851325627624404, + 0.008879228390293743, + -0.013721681369249105, + 0.04576787778905863, + 1.0 + ], + [ + 0.0013952412863734998, + -0.006147306488662088, + 0.004689322556470154, + 0.006322513582646897, + -0.021573801453691876, + -0.009298144693942056, + 1.0 + ], + [ + 0.0022455059171365976, + -0.010349790306278722, + 0.011523689205141945, + -0.06516318865243231, + -0.037189879073804, + -0.04848253710082753, + 1.0 + ], + [ + 0.004435036135750664, + -0.01381607915122085, + 0.016499066125295312, + -0.06634412703151578, + -0.03211755904245979, + -0.06719637152720406, + 1.0 + ], + [ + 0.0018836703219739792, + -0.00926141705954707, + 0.01070887883906451, + -0.049137225667499465, + -0.010245993791282887, + -0.036030298321626755, + 1.0 + ], + [ + 0.002634758738986831, + 0.00020154761123977738, + -0.007602889983626276, + 0.04522890991463004, + 0.050041459222547845, + 0.027705392655973392, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 288.55279541015625, + 229.7961883544922 + ], + [ + 288.1673278808594, + 234.7041473388672 + ], + [ + 296.15911865234375, + 222.05758666992188 + ], + [ + 310.8701477050781, + 182.9252471923828 + ], + [ + 323.97222900390625, + 147.86317443847656 + ], + [ + 332.6010437011719, + 130.6329345703125 + ], + [ + 332.9811706542969, + 133.77069091796875 + ], + [ + 325.3179931640625, + 131.49179077148438 + ], + [ + 318.9407653808594, + 131.30288696289062 + ], + [ + 312.0715026855469, + 131.7470703125 + ], + [ + 324.72869873046875, + 149.72775268554688 + ], + [ + 327.66156005859375, + 144.47540283203125 + ], + [ + 299.294921875, + 139.568359375 + ], + [ + 254.70993041992188, + 152.4820098876953 + ], + [ + 211.51681518554688, + 194.47537231445312 + ], + [ + 195.95838928222656, + 238.87966918945312 + ], + [ + 189.02427673339844, + 271.788818359375 + ], + [ + 184.00860595703125, + 284.38250732421875 + ], + [ + 185.9785919189453, + 289.3841857910156 + ], + [ + 172.97802734375, + 288.7373962402344 + ], + [ + 175.85696411132812, + 290.8067321777344 + ], + [ + 192.9010772705078, + 282.02099609375 + ], + [ + 207.0637969970703, + 273.09051513671875 + ], + [ + 217.49505615234375, + 266.5486755371094 + ], + [ + 213.68685913085938, + 259.3910827636719 + ], + [ + 218.14964294433594, + 264.81109619140625 + ] + ], + "depth_max": 1.5702582597732544, + "depth_min": 0.4370771646499634, + "intrinsic": [ + [ + 559.3469848632812, + 0.0, + 259.0 + ], + [ + 0.0, + 558.3631591796875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 0.00013375502021517605, + 0.00011495435319375247, + -2.252026206406299e-06 + ], + [ + -0.00013375341950450093, + 1.0, + -1.3890442460251506e-05, + -6.661908628302626e-06 + ], + [ + -0.0001149562158389017, + 1.3875066542823333e-05, + 1.0, + 1.206827255373355e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 25 + ], + "object_trajectory": [ + [ + 402.25, + 119.0 + ], + [ + 401.853759765625, + 119.37455749511719 + ], + [ + 401.726806640625, + 119.18559265136719 + ], + [ + 401.70703125, + 118.98448181152344 + ], + [ + 401.40252685546875, + 119.52653503417969 + ], + [ + 400.93585205078125, + 119.55486297607422 + ], + [ + 401.295166015625, + 120.54812622070312 + ], + [ + 395.3113098144531, + 117.60667419433594 + ], + [ + 386.5361328125, + 111.42817687988281 + ], + [ + 381.19525146484375, + 112.50482940673828 + ], + [ + 386.273681640625, + 126.12660217285156 + ], + [ + 389.3189697265625, + 126.22947692871094 + ], + [ + 367.7850036621094, + 124.55498504638672 + ], + [ + 325.43145751953125, + 144.21456909179688 + ], + [ + 279.37493896484375, + 191.73794555664062 + ], + [ + 268.6947021484375, + 239.48538208007812 + ], + [ + 264.1546936035156, + 273.563232421875 + ], + [ + 255.8587646484375, + 279.4412841796875 + ], + [ + 254.99571228027344, + 277.1002197265625 + ], + [ + 242.84298706054688, + 276.25140380859375 + ], + [ + 236.83139038085938, + 281.93377685546875 + ], + [ + 230.09010314941406, + 288.9111328125 + ], + [ + 224.30648803710938, + 288.6029052734375 + ], + [ + 222.02513122558594, + 288.54425048828125 + ], + [ + 221.74305725097656, + 289.62615966796875 + ], + [ + 221.60076904296875, + 288.92156982421875 + ] + ] +} \ No newline at end of file diff --git a/001710_v2/lang.txt b/001710_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..c2c38ac33ae8d16a727def4f2e0248cf00631bdf --- /dev/null +++ b/001710_v2/lang.txt @@ -0,0 +1 @@ +pick yellow cloth out of the washing machine and place it inside the bin diff --git a/001714_v2/FAIL b/001714_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/001714_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/001717_v2/FAIL b/001717_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/001717_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/001728/data.json b/001728/data.json new file mode 100644 index 0000000000000000000000000000000000000000..87d297c60f5f1026c5afc11e92d2b1c4e09306af --- /dev/null +++ b/001728/data.json @@ -0,0 +1,549 @@ +{ + "action_start": 11, + "action_end": 21, + "object_name": "broccoli", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.06251499999999999, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.2799678811580293e-10, + -2.222122486017497e-11, + -8.87991485898354e-11, + 6.21410933741451e-07, + 5.68701918086854e-07, + -5.560359199218917e-07, + 1.0 + ], + [ + -0.024160131390940587, + -0.03231237249974803, + 0.024436389041129047, + 0.08704258909692446, + -0.05067845286019455, + 0.08948243010421535, + 1.0 + ], + [ + -0.029410646801263818, + -0.035452539924655274, + 0.019574943040470746, + 0.024624436974481707, + -0.029677999735613064, + 0.026080345392422544, + 1.0 + ], + [ + -0.03219305190044719, + -0.0348159156251517, + 0.012186154580026809, + -0.009048565986880109, + 0.004153212348020701, + 0.027774427193642544, + 1.0 + ], + [ + -0.025447631037989527, + -0.029309977262691134, + 0.005136852169222578, + 0.012258188723381592, + -0.0046741287650130855, + -0.0002313608952095314, + 1.0 + ], + [ + -0.016845071311617388, + -0.01974608021552527, + -0.021238888920919533, + -0.010886018510365057, + -0.013874995840742515, + -0.049982553739254566, + 1.0 + ], + [ + -0.008308015693918175, + -0.009000772126186496, + -0.016617059104975268, + 0.009977835034785096, + 0.014599555707448595, + -0.02638996420374993, + 1.0 + ], + [ + -0.0020950081276439048, + 0.0025206674563007826, + -0.015489192136527746, + 0.018902296487304023, + 0.026310492085424488, + -0.029354076423891033, + 1.0 + ], + [ + -0.002548155006542263, + 0.005403876819919131, + -0.014966805205457859, + -0.03005319578297746, + -0.007262151594242016, + -0.014089728115611584, + 1.0 + ], + [ + -0.0017301468307976131, + 0.004233978998195371, + -0.013115637772430022, + -0.012528458703387679, + -0.018276619613481475, + 0.00012888505314364188, + 1.0 + ], + [ + -0.0007113707459363017, + 0.006905005430048696, + -0.014811492281970866, + 0.009052564270103359, + -0.028398609988048953, + 0.007957692113766441, + 1.0 + ], + [ + 0.0024346093821583648, + 0.00412492145041315, + -0.012992117779445051, + -0.021832367566658472, + -0.02259852124465809, + 0.00012698026413282662, + 1.0 + ], + [ + 0.002511687226350978, + -0.0008804007099607238, + -0.0037851738244084423, + -0.02786994973169042, + -0.0010633104884673322, + 0.03332392184875468, + 0.0 + ], + [ + -0.0006868617254561782, + -0.005036405026138063, + 0.011056848995628362, + 0.0013680767765518807, + 0.029148109062725507, + 0.015171489047847016, + 0.0 + ], + [ + 0.0022971595068676798, + -0.007800041060713541, + 0.02854511006286986, + 0.007177581896213499, + 0.043111628279529864, + 0.02286061914172855, + 0.0 + ], + [ + 0.028910715840398366, + -0.008029196053181399, + 0.03431532965016868, + 0.015335523196986719, + -0.00048091804705731, + 0.0031033973608977096, + 0.0 + ], + [ + 0.06257273142783962, + -0.012813881093724017, + 0.016822606856168744, + -0.0018134197320764142, + -0.06162332445546752, + -0.015890697463615586, + 0.0 + ], + [ + 0.0727820139646525, + -0.005515463486025413, + -0.0009217268581063892, + -0.007975439693560423, + -0.05350103446478667, + -0.07037843324839439, + 0.06251499999999999 + ], + [ + 0.07197443557677752, + -0.00047163206880510705, + -0.004986146016681597, + 0.004288162785165974, + -0.054429419762255564, + -0.06105158362031101, + 0.0 + ], + [ + 0.05075661104493895, + -0.011689195747958542, + -0.0015094470231572371, + -0.016110911496053665, + -0.07133047645201665, + -0.026113482418903367, + 0.0 + ], + [ + 0.01809875886928264, + -0.008575135281243124, + 0.002394490619177181, + -0.0073247258414132965, + -0.038931130179419605, + -0.0249542181277775, + 0.0 + ], + [ + 0.010281299714773817, + -0.0019497743495868053, + -0.0013615853372006062, + -0.008901754601294122, + -0.0028415345000834154, + -0.0453865724200694, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 222.07269287109375, + 104.01315307617188 + ], + [ + 222.12606811523438, + 103.89277648925781 + ], + [ + 218.52154541015625, + 132.32449340820312 + ], + [ + 236.89341735839844, + 139.41558837890625 + ], + [ + 250.6568603515625, + 141.4183349609375 + ], + [ + 266.7643127441406, + 161.93588256835938 + ], + [ + 279.98431396484375, + 189.92269897460938 + ], + [ + 287.36041259765625, + 245.550537109375 + ], + [ + 290.6328125, + 265.7149963378906 + ], + [ + 287.65936279296875, + 285.73883056640625 + ], + [ + 278.89154052734375, + 300.8448181152344 + ], + [ + 271.1795959472656, + 314.2230224609375 + ], + [ + 262.80426025390625, + 324.5560302734375 + ], + [ + 265.07586669921875, + 323.276123046875 + ], + [ + 265.72064208984375, + 323.39508056640625 + ], + [ + 264.7073669433594, + 330.9682922363281 + ], + [ + 283.68743896484375, + 291.04644775390625 + ], + [ + 322.29534912109375, + 223.56161499023438 + ], + [ + 374.4620056152344, + 181.21875 + ], + [ + 415.74298095703125, + 156.19094848632812 + ], + [ + 442.4015808105469, + 133.48040771484375 + ], + [ + 471.8977966308594, + 117.83279418945312 + ], + [ + 488.2335510253906, + 103.27739715576172 + ], + [ + 494.9451904296875, + 107.054931640625 + ], + [ + 495.863525390625, + 106.8550796508789 + ], + [ + 495.7534484863281, + 106.8190689086914 + ], + [ + 495.8271789550781, + 106.07042694091797 + ] + ], + "depth_max": 1.7865644693374634, + "depth_min": 0.17769084870815277, + "intrinsic": [ + [ + 514.0936889648438, + 0.0, + 259.0 + ], + [ + 0.0, + 514.519775390625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.7131310818949714e-05, + -0.00010955754260066897, + -1.1419633665354922e-06 + ], + [ + -3.713565456564538e-05, + 1.0, + -3.962724804296158e-05, + 2.6455345505382866e-05 + ], + [ + 0.0001095560728572309, + 3.963131530326791e-05, + 1.0, + -6.702175596728921e-06 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 26 + ], + "object_trajectory": [ + [ + 272.5, + 319.5 + ], + [ + 272.7254943847656, + 319.6626281738281 + ], + [ + 272.4913635253906, + 319.7942199707031 + ], + [ + 272.52032470703125, + 320.24542236328125 + ], + [ + 272.7518005371094, + 319.7037658691406 + ], + [ + 272.5933532714844, + 319.8620300292969 + ], + [ + 272.39227294921875, + 319.90869140625 + ], + [ + 272.62310791015625, + 319.84442138671875 + ], + [ + 272.745849609375, + 319.78131103515625 + ], + [ + 272.64599609375, + 319.87640380859375 + ], + [ + 272.7152099609375, + 319.77569580078125 + ], + [ + 271.9901123046875, + 319.9308166503906 + ], + [ + 265.9251403808594, + 321.2259216308594 + ], + [ + 265.30059814453125, + 319.9126892089844 + ], + [ + 266.014892578125, + 319.98681640625 + ], + [ + 265.4405212402344, + 325.9438171386719 + ], + [ + 284.72314453125, + 288.5866394042969 + ], + [ + 321.47100830078125, + 223.31112670898438 + ], + [ + 373.2342224121094, + 179.27487182617188 + ], + [ + 415.69140625, + 153.8040008544922 + ], + [ + 443.34063720703125, + 135.10902404785156 + ], + [ + 473.171630859375, + 118.4184799194336 + ], + [ + 489.1088562011719, + 104.23783874511719 + ], + [ + 498.0020751953125, + 107.54608154296875 + ], + [ + 501.15325927734375, + 134.1761016845703 + ], + [ + 511.5290222167969, + 151.08688354492188 + ], + [ + 506.64361572265625, + 150.39822387695312 + ] + ] +} \ No newline at end of file diff --git a/001728/lang.txt b/001728/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..11a6769ff7b21457b6d9077df636dbdfd6534a6e --- /dev/null +++ b/001728/lang.txt @@ -0,0 +1 @@ +put broccoli in pot or pan diff --git a/001728/object.ply b/001728/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..5d1031434c6d82ccc7439eb2a3291a0f03fda656 Binary files /dev/null and b/001728/object.ply differ diff --git a/001734/data.json b/001734/data.json new file mode 100644 index 0000000000000000000000000000000000000000..532ccfd45da5cd6065df3b372410090826e202a9 --- /dev/null +++ b/001734/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 9, + "action_end": 19, + "object_name": "carrot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.669597, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.319902, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 5.1865539640871816e-11, + -1.7951917730130162e-11, + 2.6309510126054647e-12, + 2.005417417236911e-07, + -6.108327930528111e-07, + -8.568036097763553e-07, + 1.0 + ], + [ + 0.016953880322259363, + -0.006960344383500572, + -0.015284518876484632, + 0.0020584731112306205, + -0.037165869563997984, + -0.017284876593038408, + 1.0 + ], + [ + 0.009475358705335363, + -0.004147111449856994, + -0.007856020166402092, + 0.0012180720294099486, + -0.03253783155031773, + -0.011437836292134658, + 1.0 + ], + [ + 0.005877929135770454, + -0.004875358588856099, + -0.014593598526905477, + -0.011303455551258754, + -0.032153304489343455, + 0.0007610562019057262, + 1.0 + ], + [ + 0.0011027315995760234, + -0.0019572958421573694, + -0.008083794098146163, + -0.030500424948102567, + -0.012615386982752514, + -0.00036507521496348427, + 1.0 + ], + [ + 0.0015834586465119649, + 0.00011929983729581928, + -0.006591207271960373, + -0.02144693375882766, + -0.0089498093273101, + -0.010180489398977243, + 1.0 + ], + [ + 0.00548071719644036, + 0.0007094931356442791, + -0.007285997986740754, + -0.01268795106181141, + -0.015012215628012592, + -0.009689532935207813, + 1.0 + ], + [ + 0.002269324422508906, + 0.0014877271357850372, + -0.004974738792787731, + -0.018625141136470912, + -0.001446573752278022, + -0.011453856462647488, + 1.0 + ], + [ + 0.001704349762327556, + -0.0017520275926076606, + -0.005545013321719208, + -0.015387761621389119, + 0.0004906489885421339, + 0.0015059903540139672, + 1.0 + ], + [ + -0.0038159342714267352, + -0.004270493169283712, + -0.0037924160984569334, + -0.011608877033614016, + 0.0076077605626137575, + 0.009151958851983263, + 0.669597 + ], + [ + -0.0015328364665101735, + -0.0009179263968330936, + -0.004924617287063431, + -0.009168976744747665, + 0.0002142074155368175, + 0.0015655738720011924, + 0.0 + ], + [ + 0.0006701728428648579, + 0.0008228973463576331, + 0.000477393268205676, + -0.0002033694782342571, + 0.0016856223301698788, + -0.0005722501677556209, + 0.0 + ], + [ + 0.018035946620590243, + 0.008211440575008729, + 0.02525071324528656, + 0.07898583772424203, + 0.001911796601387185, + -0.005047551241073463, + 0.0 + ], + [ + 0.024284709947933886, + 0.018676480671066358, + 0.02375480385020584, + 0.04172058012138692, + 0.015409566867451258, + -0.04866974193418454, + 0.0 + ], + [ + 0.025570622325944786, + 0.014587441004022657, + 0.0001497350944754186, + 0.04733648787846072, + -0.006245971959818579, + -0.06288583852603012, + 0.0 + ], + [ + 0.013306119323621551, + 0.008271955152718946, + -0.018919713816169026, + 0.00043265570961693953, + -0.020472471343865782, + -0.047127908769893, + 0.0 + ], + [ + 0.008815506907901172, + 0.009059745257502999, + -0.020241461953575048, + -0.0020850959226180175, + -0.014964391767662013, + -0.03801596396488127, + 0.0 + ], + [ + 0.008359508473047783, + 0.007870528548309066, + -0.019258281436642072, + -0.019253927922596295, + -0.010963974809812867, + -0.04453186293857098, + 0.0 + ], + [ + 0.005198140196072065, + 0.0005211651522786104, + -0.012095887723417574, + -0.021937232009480803, + 0.0010969969398456224, + -0.0319138409289895, + 0.0 + ], + [ + 0.004198561363299436, + -0.003834085742701679, + -0.007680056730650222, + -0.033317766753444625, + -0.0003661441467908358, + -0.03032648181336521, + 0.319902 + ], + [ + -0.00034750255114263107, + -0.002012552068522383, + -0.0025353365458967055, + -0.02480304394607817, + 0.003054970903177295, + -0.006201516215186035, + 1.0 + ], + [ + -0.00026548190993402887, + -0.0012085419383264795, + 0.0002908039204582574, + -0.025157627609871298, + 0.03216274396800412, + 0.0065187914107884635, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 68.6531753540039, + 260.42437744140625 + ], + [ + 68.56440734863281, + 260.25408935546875 + ], + [ + 72.84016418457031, + 268.12908935546875 + ], + [ + 114.81254577636719, + 275.97528076171875 + ], + [ + 128.733154296875, + 280.56109619140625 + ], + [ + 142.4069366455078, + 294.25885009765625 + ], + [ + 155.78761291503906, + 302.406982421875 + ], + [ + 159.81573486328125, + 305.1668701171875 + ], + [ + 165.84426879882812, + 307.8212585449219 + ], + [ + 168.9686279296875, + 309.5929870605469 + ], + [ + 170.23876953125, + 311.7875671386719 + ], + [ + 170.07998657226562, + 320.1422119140625 + ], + [ + 174.2768096923828, + 321.748291015625 + ], + [ + 172.2360076904297, + 318.1615905761719 + ], + [ + 172.61614990234375, + 264.3507080078125 + ], + [ + 173.1349639892578, + 212.4834747314453 + ], + [ + 182.71914672851562, + 198.38441467285156 + ], + [ + 192.48028564453125, + 209.50833129882812 + ], + [ + 193.66159057617188, + 216.92799377441406 + ], + [ + 194.5113067626953, + 224.3017578125 + ], + [ + 199.492919921875, + 229.7113037109375 + ], + [ + 204.68508911132812, + 233.1383056640625 + ], + [ + 206.62969970703125, + 235.58885192871094 + ], + [ + 207.97244262695312, + 232.89031982421875 + ] + ], + "depth_max": 1.5175328254699707, + "depth_min": 0.3389899432659149, + "intrinsic": [ + [ + 489.8921813964844, + 0.0, + 259.0 + ], + [ + 0.0, + 490.2595520019531, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.614188168896362e-05, + -5.4681760957464576e-05, + -1.7217465938301757e-05 + ], + [ + -6.614439917029813e-05, + 1.0, + -4.611905023921281e-05, + -1.0165204002987593e-06 + ], + [ + 5.467871233122423e-05, + 4.612266639014706e-05, + 1.0, + -1.8009695850196294e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 181.0, + 343.25 + ], + [ + 181.46432495117188, + 343.2666931152344 + ], + [ + 181.42919921875, + 343.4090576171875 + ], + [ + 181.2978515625, + 343.4721984863281 + ], + [ + 181.252197265625, + 343.72222900390625 + ], + [ + 181.18202209472656, + 343.8450927734375 + ], + [ + 181.20962524414062, + 343.8969421386719 + ], + [ + 181.20594787597656, + 343.68792724609375 + ], + [ + 181.45050048828125, + 343.6639404296875 + ], + [ + 181.56248474121094, + 343.6407775878906 + ], + [ + 181.4793243408203, + 343.76385498046875 + ], + [ + 181.60337829589844, + 343.85321044921875 + ], + [ + 184.9632568359375, + 345.2260437011719 + ], + [ + 185.915771484375, + 344.41082763671875 + ], + [ + 179.9777374267578, + 288.82568359375 + ], + [ + 180.61790466308594, + 239.35830688476562 + ], + [ + 191.37591552734375, + 226.8228759765625 + ], + [ + 198.55990600585938, + 236.903564453125 + ], + [ + 203.9197540283203, + 242.1811065673828 + ], + [ + 208.8160400390625, + 250.05792236328125 + ], + [ + 217.46693420410156, + 257.22174072265625 + ], + [ + 225.33114624023438, + 260.79315185546875 + ], + [ + 228.58779907226562, + 271.5851135253906 + ], + [ + 230.24969482421875, + 274.66839599609375 + ] + ] +} \ No newline at end of file diff --git a/001734/lang.txt b/001734/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..a055a1aa82b11b73be60368640120a9bd4638295 --- /dev/null +++ b/001734/lang.txt @@ -0,0 +1 @@ +put carrot on cutting board diff --git a/001734/object.ply b/001734/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..0435e5292e5e12056bd1dee3cfa1fce168ac5df4 Binary files /dev/null and b/001734/object.ply differ diff --git a/001740/FAIL b/001740/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..aaf6c42c619234f9c8379cbcf60a65cd17ba1254 --- /dev/null +++ b/001740/FAIL @@ -0,0 +1 @@ +Too large intersection between gripper and object mask diff --git a/001747_v2/FAIL b/001747_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/001747_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/001760_v2/FAIL b/001760_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/001760_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/001761_v2/FAIL b/001761_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/001761_v2/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/001777_v2/data.json b/001777_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..556a1919b77c3d1050afb72bae0097a72d8d98ff --- /dev/null +++ b/001777_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 10, + "action_end": 30, + "object_name": "blue towel", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.992674, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 2.7755575615628914e-17, + -1.3877787807814457e-17, + 0.0, + 2.9849595551596527e-07, + -6.208935658073793e-07, + -3.692417417721824e-07, + 1.0 + ], + [ + 0.04094459946187831, + -0.002653751785169481, + -0.029258887123179006, + -0.032042000758712365, + 0.06111958424383084, + 0.008846505158486217, + 1.0 + ], + [ + 0.038856200805323066, + -0.018193582343578638, + -0.026928832038327355, + 0.09215298902403447, + -0.013468790623157277, + -0.016267585548198765, + 1.0 + ], + [ + 0.023108885932538736, + -0.015635346063720218, + -0.04499413430029822, + 0.04838565185763096, + 0.03433351999242121, + -0.08085236396011711, + 1.0 + ], + [ + 0.005974641326718905, + -0.011290988929594445, + -0.04327717222170782, + -0.0004900633819549884, + 0.024797568678419653, + -0.06643431118126626, + 1.0 + ], + [ + 0.0031772680067397308, + -0.010813191650993079, + -0.03723634875061692, + 0.0010386686022834666, + -0.012734956626968124, + -0.04951632682547724, + 1.0 + ], + [ + -0.004227334425876944, + 0.0016495360571752438, + -0.02509331128547119, + -0.014484096391236328, + -0.02262746287142721, + -0.02032537725490018, + 1.0 + ], + [ + -0.003819813296066843, + 0.0025462518583700966, + -0.02781427451903632, + -0.005681167030891987, + 0.01278565729537249, + -0.008427382664710582, + 1.0 + ], + [ + 0.006728960777087484, + -0.0021599402171166016, + -0.01931951237116264, + -0.0059197192897082465, + -0.026353096979472978, + 0.00411150837525201, + 1.0 + ], + [ + 0.005243384027413617, + -0.007056027740685228, + -0.006390982263508205, + 0.013798053749485778, + -0.018338944011756148, + -0.028027894951666306, + 1.0 + ], + [ + -0.0009271786441536478, + -0.0018124801741885577, + -0.009518886517443481, + 0.016249078443703362, + 0.02029360408672691, + -0.018284837837416877, + 0.992674 + ], + [ + -0.0016548158819279513, + -0.0015893233273534257, + -0.0012621730947254411, + 0.0011272248036784858, + 0.0036482091228287688, + -0.011575488569809757, + 0.0 + ], + [ + -0.00234230530804036, + -0.0031562982872657686, + 0.0006762172195551169, + -0.016915170754231296, + 0.004292954603476613, + -0.014519122337180834, + 0.0 + ], + [ + -0.0008029740742442892, + -0.0004969510982892333, + 0.0066668686343948486, + -0.008028792258386574, + -0.003094590217020104, + 0.0016383408169845998, + 0.0 + ], + [ + 0.002365668701466983, + 0.000611738418139024, + 0.017820462617095925, + 0.013252852569022632, + 0.0011982793682343102, + 0.005248246983939853, + 0.0 + ], + [ + 0.0026528152400475957, + 0.0008497949561112883, + 0.03568691856612971, + 0.0033715281563468287, + -0.0046065583021166, + 0.011054119998579281, + 0.0 + ], + [ + -0.002304292288863391, + 0.011064647444540415, + 0.03620599237583612, + 0.02866091833507905, + 0.022389647399645596, + 0.03970150750132427, + 0.0 + ], + [ + -0.00519518233450611, + 0.014698837904476625, + 0.03415240681464246, + 0.010291294881609457, + 0.004333624506816871, + 0.023434039493449552, + 0.0 + ], + [ + -0.011109503227170525, + 0.033207274126954595, + 0.027124357594708586, + 0.08014279459797763, + 0.0750338397732364, + 0.06582561771846436, + 0.0 + ], + [ + -0.008501515568024892, + 0.04571677777691481, + 0.009729202273380502, + 0.038822806450371145, + 0.07094688517957976, + 0.09862953099690892, + 0.0 + ], + [ + 0.004158359856621774, + 0.04816205660083382, + -4.275725307520406e-06, + 0.031239274405868225, + 0.025414345421994076, + 0.07565829812463204, + 0.0 + ], + [ + 0.006257818292559114, + 0.043596761169108496, + -0.008989018038502189, + 0.030739732951140925, + 0.026867172814230976, + 0.045270785525273055, + 0.0 + ], + [ + 0.006755142910075784, + 0.028765404186404005, + -0.014539145506098541, + 0.031135904810211616, + -0.024080906730550442, + 0.012933498508146525, + 0.0 + ], + [ + 0.010472536912283809, + 0.02224016641609579, + -0.015354352979667488, + 0.04616665981552306, + -0.03712912331868771, + -0.031577154647534786, + 0.0 + ], + [ + -0.0002360199450970324, + 0.01741206935154925, + -0.01622311997428464, + 0.036310728696533484, + -0.043313552411408246, + -0.035184852667021094, + 0.0 + ], + [ + 0.001104819730875839, + 0.011194581073428536, + -0.01856409563741857, + 0.003540767529209878, + 0.009402483876212456, + -0.0034995105749559556, + 0.0 + ], + [ + 0.0018858923291462104, + 0.004724788742615629, + -0.018244836397996126, + 0.016952836894468727, + 0.0198191841671606, + -0.02792807412900865, + 0.0 + ], + [ + -0.00014731186765654103, + 0.0014163411886322086, + -0.016708701264065623, + 0.02931742615472155, + 0.015084296644693367, + -0.002665039065464396, + 0.0 + ], + [ + -0.006091130207837914, + 0.0015567222035166584, + -0.005546274685003795, + 0.03270763146819877, + -0.038529378352825494, + 0.00866816449139476, + 0.0 + ], + [ + -0.01081672566742764, + 0.007652638561117697, + -0.005095263372836754, + -0.0381983588432515, + -0.042589361229804994, + 0.021993840249613244, + 0.0 + ], + [ + -0.0013751244161583076, + 0.002223895369004192, + -0.008723741043536307, + -0.01654986895134431, + 0.009527901739348777, + 0.001806463469379309, + 0.0 + ], + [ + -0.00040113225130769536, + 0.0018226981720965985, + 0.0009753610492296422, + 0.00678223481786377, + -0.008201029639508297, + 0.024883092283604, + 1.0 + ], + [ + -0.0011069878081113593, + 0.004504687894576226, + 0.012144736488536027, + 0.0031313177065344297, + -0.005918348348761278, + 0.004732169288722998, + 1.0 + ], + [ + 0.002167484518116436, + -0.0026348709052681496, + 0.007802065217289225, + 0.009546884586969291, + 0.007156123977260925, + -0.0052622807950057394, + 1.0 + ], + [ + 0.002656374441640713, + -0.0026948210352861768, + 0.019147981562448686, + 0.02337764729021606, + -0.012864378004384563, + 0.02130253937983397, + 1.0 + ], + [ + 0.00020664445319112934, + -0.008439540884848551, + 0.02607482622202119, + 0.03003529649549878, + -0.0263930708479248, + 0.016968735772871057, + 1.0 + ], + [ + 0.00479627581540662, + -0.02406160041440994, + 0.015789317797219947, + -0.007926900280661175, + -0.017848601176631996, + -0.03761224479037091, + 1.0 + ], + [ + -0.00010474277966171508, + -0.023426232915083944, + 0.009768187604637196, + -0.05716803729631811, + -0.014927700171271038, + -0.007740842194637437, + 1.0 + ], + [ + 0.00013380820835839913, + -0.029898438122224688, + 0.0058990786654106245, + -0.11193879913036053, + -0.008239353546472499, + -0.01229524952871869, + 1.0 + ], + [ + 0.0016110437293665458, + -0.03368587489366674, + 0.0019545387533469807, + -0.07898374756074604, + -0.002012113740572174, + -0.04624799723434324, + 1.0 + ], + [ + 0.005173876475410288, + -0.03493164791089314, + 0.008796445535683137, + -0.08416220509657539, + 0.0037175623421318534, + -0.022298833544340056, + 1.0 + ], + [ + 0.0038133709618480283, + -0.03706497386155456, + 0.011289194774565518, + -0.09340708594320797, + 0.021399571228608694, + -0.015203914883068692, + 1.0 + ], + [ + 0.005054004149542379, + -0.029209375629746036, + 0.014633838385530215, + -0.04649973184146513, + -0.00992424975790666, + -0.027997810581903523, + 1.0 + ], + [ + 0.0052927445321368505, + -0.02305123347021803, + 0.018461430176172147, + -0.024884003864539296, + -0.030587295861862224, + 0.005242896805705327, + 1.0 + ], + [ + 0.0035981772971450665, + -0.023952557035223712, + 0.003928291503579345, + -0.018039952408545782, + -0.02769792390136899, + 0.011817158454329997, + 1.0 + ], + [ + -0.0002192562731210823, + -0.02282224523982794, + 0.003269208199792692, + -0.0007010232108423782, + -0.032090689029174876, + -0.0359401153946983, + 1.0 + ], + [ + -0.002126484115366589, + -0.014086187552580912, + 0.0004336139250804838, + -0.02258129603203619, + 0.006391589947764915, + -0.0071127299909532656, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 285.54290771484375, + 277.59686279296875 + ], + [ + 283.97705078125, + 282.5647888183594 + ], + [ + 339.30633544921875, + 279.8351745605469 + ], + [ + 405.0108947753906, + 265.9176025390625 + ], + [ + 447.19677734375, + 310.4254455566406 + ], + [ + 465.7908630371094, + 358.06072998046875 + ], + [ + 470.968994140625, + 396.86785888671875 + ], + [ + 462.5372314453125, + 423.250244140625 + ], + [ + 449.31610107421875, + 448.33465576171875 + ], + [ + 448.01800537109375, + 457.91937255859375 + ], + [ + 452.8040771484375, + 456.8961181640625 + ], + [ + 459.05072021484375, + 455.16827392578125 + ], + [ + 470.64471435546875, + 459.06854248046875 + ], + [ + 477.69378662109375, + 462.4593200683594 + ], + [ + 476.8424987792969, + 470.5970458984375 + ], + [ + 464.2501525878906, + 471.27618408203125 + ], + [ + 474.48919677734375, + 440.4656982421875 + ], + [ + 474.2361145019531, + 407.41961669921875 + ], + [ + 462.37078857421875, + 368.5765380859375 + ], + [ + 415.9298400878906, + 331.77044677734375 + ], + [ + 350.42169189453125, + 283.3314208984375 + ], + [ + 288.73187255859375, + 251.06320190429688 + ], + [ + 231.1993408203125, + 231.66957092285156 + ], + [ + 202.95892333984375, + 230.91647338867188 + ], + [ + 186.7827606201172, + 229.4972381591797 + ], + [ + 174.3123779296875, + 233.05532836914062 + ], + [ + 167.98641967773438, + 244.19151306152344 + ], + [ + 164.56849670410156, + 259.99603271484375 + ], + [ + 163.14427185058594, + 275.99365234375 + ], + [ + 158.80966186523438, + 287.00592041015625 + ], + [ + 153.54348754882812, + 303.14447021484375 + ], + [ + 145.31500244140625, + 303.6782531738281 + ], + [ + 144.36721801757812, + 303.259033203125 + ], + [ + 140.50045776367188, + 303.0031433105469 + ], + [ + 134.34585571289062, + 293.7841491699219 + ], + [ + 133.8756103515625, + 279.072998046875 + ], + [ + 136.87490844726562, + 252.37643432617188 + ], + [ + 156.27490234375, + 242.99307250976562 + ], + [ + 179.05340576171875, + 239.1060333251953 + ], + [ + 206.51470947265625, + 245.7479248046875 + ], + [ + 244.96249389648438, + 259.52520751953125 + ], + [ + 290.42822265625, + 262.9457092285156 + ], + [ + 343.4871826171875, + 262.495849609375 + ], + [ + 387.0615539550781, + 254.35626220703125 + ], + [ + 432.2840270996094, + 245.68600463867188 + ], + [ + 481.33355712890625, + 244.9744415283203 + ], + [ + 526.62158203125, + 251.88616943359375 + ], + [ + 552.088623046875, + 261.0498046875 + ] + ], + "depth_max": 1.4794107675552368, + "depth_min": 0.11929425597190857, + "intrinsic": [ + [ + 596.5538940429688, + 0.0, + 259.0 + ], + [ + 0.0, + 594.6641845703125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 9.888432396110147e-05, + 0.00012920120207127184, + 2.801196023938246e-05 + ], + [ + -9.88802348729223e-05, + 1.0, + -3.167964314343408e-05, + 2.1404566723504104e-06 + ], + [ + -0.00012920434528496116, + 3.1666862923884764e-05, + 1.0, + -7.3626661105663516e-06 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 446.25, + 443.2500305175781 + ], + [ + 446.56005859375, + 443.44207763671875 + ], + [ + 446.3576354980469, + 443.1955261230469 + ], + [ + 446.2623596191406, + 443.4025573730469 + ], + [ + 446.25140380859375, + 443.39215087890625 + ], + [ + 446.3419189453125, + 443.3426208496094 + ], + [ + 446.71356201171875, + 443.22467041015625 + ], + [ + 446.9531555175781, + 443.62371826171875 + ], + [ + 446.59088134765625, + 444.1201171875 + ], + [ + 447.60394287109375, + 444.1948547363281 + ], + [ + 450.2850341796875, + 443.5085144042969 + ], + [ + 455.3517150878906, + 441.61737060546875 + ], + [ + 459.609619140625, + 442.30902099609375 + ], + [ + 471.5132751464844, + 447.4539794921875 + ], + [ + 476.9042663574219, + 450.87115478515625 + ], + [ + 467.002685546875, + 450.8022155761719 + ], + [ + 464.6145935058594, + 442.9339904785156 + ], + [ + 442.3551940917969, + 414.3263244628906 + ], + [ + 434.772705078125, + 379.86041259765625 + ], + [ + 389.899658203125, + 352.6117858886719 + ], + [ + 324.5827941894531, + 305.07745361328125 + ], + [ + 288.9586181640625, + 294.47491455078125 + ], + [ + 235.77755737304688, + 278.2989807128906 + ], + [ + 218.6860809326172, + 267.0636291503906 + ], + [ + 199.8094024658203, + 268.6449279785156 + ], + [ + 189.66693115234375, + 269.61285400390625 + ], + [ + 184.16055297851562, + 279.71160888671875 + ], + [ + 179.2560272216797, + 289.74786376953125 + ], + [ + 176.31346130371094, + 301.8948669433594 + ], + [ + 172.42881774902344, + 313.3613586425781 + ], + [ + 176.8951416015625, + 321.60736083984375 + ], + [ + 165.17572021484375, + 324.479736328125 + ], + [ + 165.61734008789062, + 325.0862121582031 + ], + [ + 165.921142578125, + 329.8872375488281 + ], + [ + 162.9338836669922, + 331.02520751953125 + ], + [ + 162.20452880859375, + 329.1552429199219 + ], + [ + 162.12681579589844, + 327.38665771484375 + ], + [ + 162.85911560058594, + 327.2567443847656 + ], + [ + 162.42340087890625, + 326.7169189453125 + ], + [ + 162.44285583496094, + 327.4147033691406 + ], + [ + 155.59320068359375, + 325.3061218261719 + ], + [ + 161.91090393066406, + 326.7345886230469 + ], + [ + 162.20529174804688, + 326.7577209472656 + ], + [ + 161.74903869628906, + 326.4869384765625 + ], + [ + 161.40045166015625, + 327.1687927246094 + ], + [ + 162.14529418945312, + 327.58062744140625 + ], + [ + 162.13955688476562, + 327.04217529296875 + ], + [ + 162.40032958984375, + 327.4627685546875 + ] + ] +} \ No newline at end of file diff --git a/001777_v2/lang.txt b/001777_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..7b90d1c95fb43499b0ec50d13099b3c9c3b1c5cf --- /dev/null +++ b/001777_v2/lang.txt @@ -0,0 +1 @@ +put the blue towel to the left side of the table diff --git a/001787_v2/FAIL b/001787_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001787_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001807/FAIL b/001807/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/001807/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/001817/data.json b/001817/data.json new file mode 100644 index 0000000000000000000000000000000000000000..bb25613b83281b3399a8a52ee3299045b32170c1 --- /dev/null +++ b/001817/data.json @@ -0,0 +1,476 @@ +{ + "action_start": 5, + "action_end": 18, + "object_name": "carrot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.005128000000000021, + 0.008059000000000038, + 0.06642199999999998, + 0.09645899999999996, + 0.10818099999999997, + 0.15604399999999996, + 0.16092799999999996, + 0.18315000000000003, + 0.22026900000000005, + 0.5545789999999999, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 5.0079662639035405e-11, + -1.1554143752867674e-10, + -4.0075190388400017e-10, + 3.1564168743818456e-07, + -1.9308592769907464e-08, + -7.350357266046885e-07, + 1.0 + ], + [ + 0.007925231317556014, + 0.0038300795982750407, + -0.007024111676639064, + -0.0006961816093564744, + -0.012369267907691555, + -0.02036283537294875, + 1.0 + ], + [ + 0.006322901157614802, + 0.0022203527927870254, + -0.005276760937579679, + -0.00047855434256046053, + -0.005747956049674695, + -0.012317956702363814, + 1.0 + ], + [ + 0.005309102039959934, + 0.003472882560662069, + -0.005393551725028957, + -0.00226360539858208, + -0.0008117315625255907, + -0.011523057087097074, + 1.0 + ], + [ + 0.003545842935320509, + 0.004413797116465862, + -0.004733939980038057, + -9.068844013639086e-05, + -0.0057674386306000676, + -0.0011911202839452338, + 1.0 + ], + [ + 0.0031013839437224466, + 0.004841561458985261, + -0.004397704460677249, + -0.008665905425153332, + -0.005327413469607058, + -0.0026354247247820156, + 1.0 + ], + [ + 0.0018649533797049922, + 0.0019457960262503626, + 0.00021554975400314355, + -0.012787525919297328, + 0.011208101608565692, + 0.0033260806516846905, + 0.0 + ], + [ + -0.0023606544367467674, + -0.0007810601325985711, + 0.005969189744642445, + 0.006389338021842641, + 0.005011444730610104, + 0.00456535780684998, + 0.0 + ], + [ + -0.005201863601878798, + -0.0029882276042473843, + 0.018814168557868813, + 0.03338711475238091, + 0.0010440235730596176, + 0.0155890036663283, + 0.0 + ], + [ + -0.004923484398180633, + -0.0035054896916532907, + 0.022513405594287793, + 0.03643870576179661, + 0.007152995415808446, + 0.017416563877156732, + 0.005128000000000021 + ], + [ + -0.004555028251774951, + -0.011641850607809423, + 0.012663662435761558, + -0.003124982261903556, + 0.0019474874595260935, + 0.013029772537753, + 0.008059000000000038 + ], + [ + -0.005474098254117543, + -0.03212068353271852, + 0.00278239620199177, + -0.032126057738401124, + 0.001866335650029908, + 0.032148444597134625, + 0.06642199999999998 + ], + [ + -0.00860995872922865, + -0.023855654903065737, + 0.001122836448076453, + -0.02084958666967137, + 0.003051037252304774, + 0.039748007138760616, + 0.09645899999999996 + ], + [ + -0.002542347760575936, + -0.015037102594203933, + -0.006407068991966636, + -0.03015471838151465, + -0.019110563081672062, + 0.015232631494237444, + 0.10818099999999997 + ], + [ + 0.004578949680955291, + -0.0077305953097553115, + -0.013483781101652076, + -0.02621542595958767, + -0.02181144308924053, + 0.00186218615581093, + 0.15604399999999996 + ], + [ + 0.00849450454979156, + -0.001842287407538508, + -0.009858190873811928, + -0.029540230969031564, + -0.01683319330077296, + -0.01913166395441122, + 0.16092799999999996 + ], + [ + 0.00724095649443085, + -0.0008125687313096236, + -0.0024101022468417665, + 0.0001661630111827908, + -0.010938628348825077, + -0.010077915571606588, + 0.18315000000000003 + ], + [ + 0.004284987054534506, + -0.0006320904345315723, + -0.0027300242743034525, + -0.023958328605157276, + 0.0023470648597093066, + -0.015619168039101027, + 0.22026900000000005 + ], + [ + 0.002869788383908889, + -0.0013451917517995696, + -0.0026558809024608693, + -0.010434996314208623, + -0.006077546258231428, + -0.010356733426021185, + 0.5545789999999999 + ], + [ + 0.001173617314387032, + -0.0008630620438140543, + -0.0002448291548240722, + -0.019786700803528186, + -0.0053818557413856894, + -0.01297071761724098, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 291.7406005859375, + 47.15964889526367 + ], + [ + 291.7764892578125, + 50.43970489501953 + ], + [ + 294.6224670410156, + 69.68090057373047 + ], + [ + 299.886962890625, + 73.54034423828125 + ], + [ + 303.06610107421875, + 77.67027282714844 + ], + [ + 304.5877685546875, + 76.49739074707031 + ], + [ + 300.18572998046875, + 80.4107894897461 + ], + [ + 295.6021728515625, + 82.86453247070312 + ], + [ + 292.4080810546875, + 82.6009521484375 + ], + [ + 290.35394287109375, + 82.47523498535156 + ], + [ + 284.18353271484375, + 77.00027465820312 + ], + [ + 290.3857421875, + 52.51568603515625 + ], + [ + 298.2652587890625, + 56.062835693359375 + ], + [ + 333.1066589355469, + 58.27022933959961 + ], + [ + 346.11627197265625, + 64.19477081298828 + ], + [ + 352.11224365234375, + 77.58061218261719 + ], + [ + 363.79107666015625, + 74.39727020263672 + ], + [ + 370.14801025390625, + 83.97085571289062 + ], + [ + 373.9288635253906, + 79.16508483886719 + ], + [ + 379.60687255859375, + 83.41502380371094 + ], + [ + 382.09375, + 84.69813537597656 + ], + [ + 383.49041748046875, + 81.84478759765625 + ], + [ + 380.8213195800781, + 81.70893859863281 + ] + ], + "depth_max": 1.4158908128738403, + "depth_min": 0.6516487002372742, + "intrinsic": [ + [ + 524.9637451171875, + 0.0, + 259.0 + ], + [ + 0.0, + 525.6235961914062, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.0090777979930863e-05, + -8.596495899837464e-05, + -1.2063064787071198e-05 + ], + [ + -2.0091360056539997e-05, + 1.0, + -6.753360594302649e-06, + -4.6589520934503525e-06 + ], + [ + 8.596482803113759e-05, + 6.7550877247413155e-06, + 1.0, + 4.302581146475859e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 22 + ], + "object_trajectory": [ + [ + 308.0, + 99.00000762939453 + ], + [ + 308.0720520019531, + 100.41793823242188 + ], + [ + 306.56494140625, + 104.50291442871094 + ], + [ + 305.33282470703125, + 103.461181640625 + ], + [ + 305.0077819824219, + 103.94611358642578 + ], + [ + 305.83160400390625, + 102.5003662109375 + ], + [ + 303.7069091796875, + 105.205322265625 + ], + [ + 302.6535949707031, + 106.9482650756836 + ], + [ + 302.7289733886719, + 105.0433349609375 + ], + [ + 301.1412658691406, + 105.1207275390625 + ], + [ + 295.924072265625, + 102.12127685546875 + ], + [ + 297.651611328125, + 79.0838623046875 + ], + [ + 304.7946472167969, + 82.69351959228516 + ], + [ + 338.1356201171875, + 86.07241821289062 + ], + [ + 348.24713134765625, + 92.31454467773438 + ], + [ + 355.6888427734375, + 102.78792572021484 + ], + [ + 366.0076904296875, + 99.76944732666016 + ], + [ + 372.595458984375, + 107.06757354736328 + ], + [ + 378.4519958496094, + 103.1928939819336 + ], + [ + 383.59521484375, + 106.63430786132812 + ], + [ + 385.8338623046875, + 108.25152587890625 + ], + [ + 387.3652038574219, + 109.32923889160156 + ], + [ + 387.80413818359375, + 110.79438781738281 + ] + ] +} \ No newline at end of file diff --git a/001817/lang.txt b/001817/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..460c0f31b4dbb6631fb36ad01409918ef0e3861b --- /dev/null +++ b/001817/lang.txt @@ -0,0 +1 @@ +put carrot on plate diff --git a/001817/object.ply b/001817/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..2302febd514bce12cad4fa4904c2ebc98d1c985d Binary files /dev/null and b/001817/object.ply differ diff --git a/001848_v2/FAIL b/001848_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/001848_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/001887_v2/FAIL b/001887_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/001887_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/001888_v2/FAIL b/001888_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001888_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001893_v2/FAIL b/001893_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/001893_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/001894_v2/data.json b/001894_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..c3cca1d9eeca69538e1dd7fa234d29f463e92614 --- /dev/null +++ b/001894_v2/data.json @@ -0,0 +1,641 @@ +{ + "action_start": 6, + "action_end": 19, + "object_name": "white basket", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 5.358273824640492e-10, + 1.7755289599685753e-10, + 2.34783401054095e-10, + 4.209748090867905e-07, + -9.901560051046709e-08, + 8.823891194307188e-09, + 1.0 + ], + [ + 0.014595347404088854, + -0.000583086889644837, + 0.006784105182837091, + 0.0018730538292404974, + -0.013832553122615466, + -0.0020665600325233836, + 1.0 + ], + [ + 0.012046263005867891, + -1.7071573302364362e-05, + -0.004728073753500095, + 0.012778445929457996, + 0.03066846541031627, + 0.015755298612676053, + 1.0 + ], + [ + 0.009523434890541527, + -0.0059170069252338815, + -0.009819207782238864, + 0.02250131245293848, + 0.03778671613904969, + 0.005229946421160625, + 1.0 + ], + [ + 0.004494301578494619, + -0.005562148835861765, + -0.017087898473187133, + 0.042754458504499264, + 0.059819456935882274, + -0.0019205499885188008, + 1.0 + ], + [ + 0.0011944424386900465, + -0.002287010264869334, + -0.018686706071465428, + 0.033546588964304, + 0.05519081655719083, + 0.0010768879473944956, + 1.0 + ], + [ + 0.0005505723482325808, + -0.00044603844629734907, + -0.019644909270834524, + 0.020868231265238003, + 0.04270717211102401, + 0.015278145430397837, + 1.0 + ], + [ + -0.002940063545234628, + -0.0007558354319274103, + -0.013844790267240142, + 0.03448711727447238, + 0.011649425028576792, + 0.024410869324048397, + 0.0 + ], + [ + -0.0012635792876606877, + 8.3489084382906e-05, + 0.0018790739953750135, + -0.006261591707037398, + -0.01584494576149442, + 0.009424593872264898, + 0.0 + ], + [ + -0.002365083047390193, + 0.00026027449662993987, + 0.0030363330025216725, + -0.0030509707022073054, + -0.003617984720043053, + 0.002911041040160282, + 0.0 + ], + [ + -0.0004255117153170729, + -0.0014832222004541804, + 0.007022470214794033, + -0.014512551012252985, + -0.013675367650660087, + -0.0006613423461192358, + 0.0 + ], + [ + -0.0011197812085459447, + -0.006188515820867858, + 0.013001590750462276, + -0.01678558243226489, + -0.0037037194282334, + -0.009248011265002364, + 0.0 + ], + [ + -0.0010521984206012247, + -0.010112743164613107, + 0.019308643596170787, + 0.0045904842314081215, + -0.012212722614604214, + 0.0019543453816062983, + 0.0 + ], + [ + -0.0008097497247985808, + -0.021465899691584214, + 0.027056582740857104, + -0.021082152422554696, + -0.034357655687250105, + -0.03130887652941826, + 0.0 + ], + [ + -0.0008670798664739965, + -0.027252837322388195, + 0.014772176785866564, + -0.011091922139095003, + -0.015934220810128647, + -0.049953082897355554, + 0.0 + ], + [ + -0.0037105710266299163, + -0.028777726600782483, + -0.004131015499978553, + -0.01422090965983239, + 0.014930379273295448, + -0.05386884098240836, + 0.0 + ], + [ + -0.0005007321635617235, + -0.021939835952949918, + -0.011508486494095901, + -0.0025320779951960764, + 0.009995691034742266, + -0.039245339555989855, + 0.0 + ], + [ + -0.0008600299921029952, + -0.017559498623972575, + -0.016283249987516395, + -0.013255684448673938, + 0.003444936957081214, + -0.006823215196048001, + 0.0 + ], + [ + 0.0032090345565448097, + -0.01127290432075606, + -0.016410358207340776, + 0.01109250433275508, + 0.032618184326277506, + -0.012870294944174498, + 0.0 + ], + [ + 0.0017289102118207, + -0.0061758767213833665, + -0.011653571877022015, + -0.023689048672174425, + 0.030316923292156833, + 0.005067952494252937, + 0.0 + ], + [ + 0.00038806181531214623, + 0.0012772259784697149, + -0.0017204337683177258, + -0.006317111272544404, + 0.014161111473822634, + 0.030347383817108362, + 1.0 + ], + [ + 0.0006980999826393108, + 0.0019346109111913756, + 0.00023632874075135354, + 0.002758613042550571, + -0.007620407711525947, + -0.011125445447355465, + 1.0 + ], + [ + -0.0008570572996940418, + -4.3907479174709607e-07, + 0.0005887402255056635, + 0.005659794866178364, + -0.007307629366130357, + -0.019726612839249886, + 1.0 + ], + [ + -0.0013469432656845748, + -0.0016281709699144942, + 0.0008943517712603488, + 0.009002957552049445, + -0.006119746550260261, + -0.021115687900105647, + 1.0 + ], + [ + 0.00018761924864812984, + -9.221040100140798e-05, + 0.006467636585431719, + -0.007993405912618646, + -0.01571860094693697, + -0.026888475756231527, + 1.0 + ], + [ + -0.00037005432112818815, + 0.0015457221707774471, + 0.0123778718334702, + -0.03709506297002323, + -0.02072057640913381, + -0.016472439419648002, + 1.0 + ], + [ + -0.0010339341927302903, + 0.006785573528946404, + 0.02291035782766855, + -0.050665746046762765, + -0.05358273449852174, + -0.0034531275905678384, + 1.0 + ], + [ + -0.0016225250180035289, + 0.00956780513552799, + 0.03793386211340531, + -0.03355688179235664, + -0.07209751535907864, + -0.008170884959943071, + 1.0 + ], + [ + -0.0035161746458147736, + 0.0042212026440599515, + 0.026035502107520966, + 0.020667340827605643, + -0.0377524407161969, + -0.04374053211097135, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 249.69061279296875, + 290.39532470703125 + ], + [ + 248.9683837890625, + 295.1003112792969 + ], + [ + 254.33001708984375, + 287.6243591308594 + ], + [ + 265.20526123046875, + 279.34918212890625 + ], + [ + 280.49713134765625, + 279.8494873046875 + ], + [ + 290.07232666015625, + 290.33331298828125 + ], + [ + 297.1895446777344, + 306.3992004394531 + ], + [ + 298.20916748046875, + 321.96875 + ], + [ + 296.70654296875, + 335.2547912597656 + ], + [ + 298.3883972167969, + 339.78857421875 + ], + [ + 297.5248718261719, + 340.768310546875 + ], + [ + 292.93194580078125, + 335.88812255859375 + ], + [ + 293.98486328125, + 328.8284912109375 + ], + [ + 303.73223876953125, + 320.10211181640625 + ], + [ + 328.9312438964844, + 313.95989990234375 + ], + [ + 358.8028564453125, + 313.7806396484375 + ], + [ + 395.3191833496094, + 325.5278015136719 + ], + [ + 427.35272216796875, + 351.89093017578125 + ], + [ + 453.373046875, + 379.61334228515625 + ], + [ + 468.82745361328125, + 397.2235107421875 + ], + [ + 480.54180908203125, + 407.18743896484375 + ], + [ + 485.6937561035156, + 412.2322082519531 + ], + [ + 485.3529052734375, + 411.0366516113281 + ], + [ + 481.4056396484375, + 408.95672607421875 + ], + [ + 478.849609375, + 407.862548828125 + ], + [ + 473.8038330078125, + 410.99908447265625 + ], + [ + 480.7001953125, + 405.4181823730469 + ], + [ + 474.40301513671875, + 385.1747741699219 + ], + [ + 468.8385009765625, + 351.59967041015625 + ], + [ + 461.96087646484375, + 315.9705810546875 + ], + [ + 461.00250244140625, + 309.0618896484375 + ], + [ + 460.6339111328125, + 310.0263366699219 + ] + ], + "depth_max": 1.2378405332565308, + "depth_min": 0.1724720597267151, + "intrinsic": [ + [ + 533.3873901367188, + 0.0, + 259.0 + ], + [ + 0.0, + 532.0735473632812, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.4575925888493657e-05, + 4.561711830319837e-05, + -1.3876545381208416e-05 + ], + [ + -1.4576655303244479e-05, + 1.0, + 1.5986770449671894e-05, + 1.797983713913709e-05 + ], + [ + -4.5616885472554713e-05, + -1.5987436199793592e-05, + 1.0, + -3.776134690269828e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 31 + ], + "object_trajectory": [ + [ + 228.75, + 340.7500305175781 + ], + [ + 228.89454650878906, + 340.993896484375 + ], + [ + 228.8685302734375, + 340.8758239746094 + ], + [ + 229.10374450683594, + 340.7852783203125 + ], + [ + 229.0254669189453, + 340.7235107421875 + ], + [ + 229.007080078125, + 340.79840087890625 + ], + [ + 228.7779998779297, + 340.70379638671875 + ], + [ + 228.6075439453125, + 340.7872314453125 + ], + [ + 228.39382934570312, + 341.182373046875 + ], + [ + 228.4446258544922, + 341.0753479003906 + ], + [ + 227.4434814453125, + 341.6231384277344 + ], + [ + 224.2005157470703, + 338.6187744140625 + ], + [ + 228.70249938964844, + 334.87335205078125 + ], + [ + 244.24224853515625, + 331.55279541015625 + ], + [ + 269.7457275390625, + 328.177734375 + ], + [ + 296.3426513671875, + 325.75445556640625 + ], + [ + 302.532470703125, + 335.34991455078125 + ], + [ + 331.34197998046875, + 355.0022888183594 + ], + [ + 381.731201171875, + 381.74005126953125 + ], + [ + 391.87115478515625, + 394.17559814453125 + ], + [ + 395.931396484375, + 399.0519104003906 + ], + [ + 397.8065490722656, + 402.674072265625 + ], + [ + 399.55694580078125, + 409.14013671875 + ], + [ + 396.629638671875, + 412.3801574707031 + ], + [ + 396.1475830078125, + 412.1981201171875 + ], + [ + 396.0124206542969, + 412.0951843261719 + ], + [ + 396.3290710449219, + 412.3246154785156 + ], + [ + 396.60791015625, + 412.44073486328125 + ], + [ + 397.01995849609375, + 412.6618347167969 + ], + [ + 396.99871826171875, + 412.54742431640625 + ], + [ + 396.7552490234375, + 412.7560729980469 + ], + [ + 396.9967956542969, + 412.8291320800781 + ] + ] +} \ No newline at end of file diff --git a/001894_v2/lang.txt b/001894_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..5b9c9b1a7151cff6dc5180d68582aa406cb44e5f --- /dev/null +++ b/001894_v2/lang.txt @@ -0,0 +1 @@ +moved the white basket to the right diff --git a/001918/data.json b/001918/data.json new file mode 100644 index 0000000000000000000000000000000000000000..7a79f78cdbf78d05b8ed74f6c5700dc063b00cb5 --- /dev/null +++ b/001918/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 15, + "action_end": 29, + "object_name": "carrot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7558, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.551115123125783e-17, + -2.7755575615628914e-17, + 0.0, + 2.681728940377424e-07, + -4.665684889003232e-07, + -4.1818866933139556e-07, + 1.0 + ], + [ + 0.009099035276327272, + -0.019126468308968456, + 0.012270348760493655, + 0.08312500150225133, + -0.09684020584330698, + -0.16178030706241892, + 1.0 + ], + [ + 0.0063761663015895476, + -0.01684005615115608, + 0.0067481975666114705, + 0.008647388249180106, + -0.026322801646515872, + -0.04328897036818499, + 1.0 + ], + [ + 0.003883077928175438, + -0.015975585956750527, + 0.005672339851993044, + -0.018636682286666928, + -0.05708840724405435, + -0.02675943438707226, + 1.0 + ], + [ + 0.0057323321349688205, + -0.015195279893425548, + -0.0056541894445037155, + -0.058321706334754995, + -0.054741869540477106, + -0.027544361640860625, + 1.0 + ], + [ + 0.006119764706988107, + -0.011715202431428748, + 0.004341437295915435, + -0.057764155271301076, + 0.005645979625501649, + -0.020001063386317453, + 1.0 + ], + [ + 0.0074302480694425355, + -0.005683991254847379, + -0.001254111496746424, + -0.05453915516017645, + 0.014089568101387161, + -0.02080340850951036, + 1.0 + ], + [ + 0.010121200454497992, + -0.0009088548736315566, + -0.0012972973982970926, + -0.017733188112837917, + -0.005103420518547619, + -0.028925628442881386, + 1.0 + ], + [ + 0.009548069965378547, + 0.000294912926620719, + -0.004654153879522907, + -0.020844254555368293, + -0.010073515557309672, + -0.028709423761468466, + 1.0 + ], + [ + 0.006245186893887256, + -0.002855048174411637, + -0.0041007463263216665, + -0.0278591570943906, + -0.005261776550785031, + -0.01553236437594407, + 1.0 + ], + [ + 0.0019255164485240672, + -0.0048634982238925095, + -0.008844610004129422, + -0.029094289131353156, + 0.011367588219799803, + -0.0015977720532613672, + 1.0 + ], + [ + -0.0014209518912722818, + -0.004219620996444184, + -0.006153482990730388, + -0.023182726924742676, + -0.004367018052407091, + 0.006230684539618554, + 1.0 + ], + [ + -0.0014784460613824213, + -0.005831031884612328, + -0.00647272127689754, + -0.03341921657316812, + 0.004376496297629652, + -0.0014552337073652408, + 1.0 + ], + [ + -0.0010027565670773786, + -0.004699638238091983, + -0.006899501681259038, + -0.03389844611150116, + 0.004191361794581366, + -0.004148943836743617, + 1.0 + ], + [ + -0.0014388629326870794, + -0.0032554292463320006, + -0.009372139792752053, + -0.01966123667330147, + -0.01017644105958827, + -0.0014942986203992752, + 1.0 + ], + [ + 0.010607598169970645, + -0.0002490590858406361, + -0.0047204299247934275, + -0.01128533779632671, + -0.015446924576682996, + -0.007501016821495947, + 1.0 + ], + [ + 0.0013642273467564525, + 0.0035358446031000385, + 0.00499179009674872, + 0.015848388522141772, + -0.00011711777748330743, + -0.018241445617302173, + 0.0 + ], + [ + -0.0029054331548333256, + 0.004350815407411161, + 0.013113932968285544, + 0.05239604314795837, + 0.014674317210388331, + 0.007097573465976636, + 0.0 + ], + [ + -0.004509118229600595, + 0.01167286935881573, + 0.01817872773604803, + 0.0447602248780743, + -0.018948499199534154, + 0.0023970422266664146, + 0.0 + ], + [ + -0.008068364422691876, + 0.008881131103013251, + 0.01900307776131621, + 0.03871115216316177, + -0.020154276573762224, + 0.02121234266178728, + 0.0 + ], + [ + -0.012425695647232893, + 0.004392619050756219, + 0.0025820416415740788, + -0.024816968141198638, + -0.010133040434262327, + 0.048001473049030095, + 0.0 + ], + [ + -0.01710336064340301, + -0.00542259993309703, + -0.011984920810780494, + -0.05840926582558018, + 0.021891248101946512, + 0.054062620733932365, + 0.0 + ], + [ + -0.0130237176124966, + -0.0015380027203147073, + -0.004674281117964765, + -0.005157656087956468, + 0.010098353438916857, + 0.030706669914722647, + 0.0 + ], + [ + -0.010203255914222553, + 0.008771113175832623, + -0.010658282681969403, + 0.03931007007319611, + 0.0030669606730443096, + 0.0017573892952139618, + 0.0 + ], + [ + -0.0033515822268445072, + 0.008253992217874706, + -0.003391374717416913, + -0.0009669067103466336, + 0.046964576309959614, + -0.03283609972514919, + 0.0 + ], + [ + 0.0006152818399078885, + 0.020186353868842793, + 0.009149117052591582, + 0.05708101128888742, + 0.07202201716240333, + -0.060474832768873485, + 0.0 + ], + [ + 0.0008906035344077856, + 0.020550540759446456, + -0.0017592405563120889, + 0.05191804809096993, + 0.013800944792253128, + -0.05909632841050876, + 0.0 + ], + [ + 0.00300553232249845, + 0.005275851186248473, + -0.014372012062461914, + -0.028027215636594324, + -0.02060645719207186, + -0.010252292869655628, + 0.0 + ], + [ + -0.0039462003578269456, + -0.012616646616193383, + -0.0150348069019779, + -0.0304479595756798, + -0.02890140824956229, + 0.06611096699403583, + 0.0 + ], + [ + -0.005915845996800284, + -0.009969035356621692, + -0.004984337400030743, + 0.009418243137434626, + -0.02264040302262923, + 0.05350990275489244, + 0.7558 + ], + [ + 0.00017014306819823632, + -0.005641933271908539, + 0.0007226189662329283, + 6.357452090747281e-05, + -0.01296040504327044, + 0.03363476084948892, + 1.0 + ], + [ + 0.002858958182427873, + -0.002733279060153207, + 0.0037437664916928973, + 0.012648649582387846, + -0.017863651244560217, + 0.018772937822928694, + 1.0 + ], + [ + 0.0014111179692182785, + -0.0014552871772037235, + 0.008425125740363096, + 0.016035650100526638, + -0.0017699325225835178, + 0.01703686138019437, + 1.0 + ], + [ + -0.00028007430922788457, + -0.0019076105586853381, + 0.01559727291034975, + 0.10797981838825418, + -0.0430475593800083, + 0.001086694295212406, + 1.0 + ], + [ + 0.0009360038069218812, + 0.00483792688306732, + 0.01891398919004108, + 0.08839553601541693, + -0.0187195426423391, + -0.009927809820346063, + 1.0 + ], + [ + 0.006204969367530455, + 0.002871677648982676, + 0.03009339563277004, + 0.16208289994088412, + 0.006032133391855901, + -0.05077206949754942, + 1.0 + ], + [ + 0.0047632822456967205, + -0.017393715944443458, + 0.02953758684161341, + 0.18368041656766754, + 0.05355868819911506, + 0.0180262378390069, + 1.0 + ], + [ + 0.003666261721868347, + -0.018232807606162582, + 0.018210073039896787, + 0.11929113308486972, + 0.02932782735757057, + 0.03085391048266169, + 1.0 + ] + ], + "gripper_centers": [ + [ + 151.51116943359375, + 152.4712371826172 + ], + [ + 153.14443969726562, + 159.66744995117188 + ], + [ + 166.46261596679688, + 166.5054931640625 + ], + [ + 203.04617309570312, + 155.1437530517578 + ], + [ + 213.70489501953125, + 154.5350341796875 + ], + [ + 234.18028259277344, + 157.8132781982422 + ], + [ + 252.20794677734375, + 159.1214599609375 + ], + [ + 266.02044677734375, + 151.6319580078125 + ], + [ + 273.18890380859375, + 143.86094665527344 + ], + [ + 281.732421875, + 141.96380615234375 + ], + [ + 290.11004638671875, + 142.38235473632812 + ], + [ + 294.93841552734375, + 151.08966064453125 + ], + [ + 299.7963562011719, + 150.19073486328125 + ], + [ + 304.00634765625, + 161.59046936035156 + ], + [ + 307.8550720214844, + 168.98233032226562 + ], + [ + 311.90106201171875, + 176.9644775390625 + ], + [ + 315.61376953125, + 187.69229125976562 + ], + [ + 318.03125, + 181.8857421875 + ], + [ + 312.59136962890625, + 182.42880249023438 + ], + [ + 301.01641845703125, + 161.34918212890625 + ], + [ + 284.46185302734375, + 140.18057250976562 + ], + [ + 268.2579345703125, + 138.77978515625 + ], + [ + 260.299560546875, + 160.85348510742188 + ], + [ + 254.48216247558594, + 177.43698120117188 + ], + [ + 240.619384765625, + 193.67416381835938 + ], + [ + 224.9473114013672, + 194.9822540283203 + ], + [ + 205.69332885742188, + 176.26687622070312 + ], + [ + 182.16635131835938, + 167.63340759277344 + ], + [ + 178.90359497070312, + 180.32847595214844 + ], + [ + 187.19393920898438, + 197.36294555664062 + ], + [ + 186.91346740722656, + 210.24530029296875 + ], + [ + 193.47879028320312, + 211.5299835205078 + ], + [ + 215.653076171875, + 219.11270141601562 + ], + [ + 215.9436798095703, + 210.80874633789062 + ], + [ + 212.0611572265625, + 202.26702880859375 + ], + [ + 216.2223358154297, + 188.25961303710938 + ], + [ + 203.40420532226562, + 159.93527221679688 + ], + [ + 225.22332763671875, + 132.0223846435547 + ] + ], + "depth_max": 1.3477147817611694, + "depth_min": 0.40391984581947327, + "intrinsic": [ + [ + 500.1614685058594, + 0.0, + 259.0 + ], + [ + 0.0, + 500.0703125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.8434879166306928e-05, + -0.00010766125342343003, + -2.2765103494748473e-05 + ], + [ + -1.8436308891978115e-05, + 1.0, + -1.3278868209454231e-05, + -3.8781599869253114e-05 + ], + [ + 0.00010766100604087114, + 1.32808527268935e-05, + 1.0, + -2.41794314206345e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 315.5, + 207.0 + ], + [ + 315.6884460449219, + 207.1282958984375 + ], + [ + 315.6170654296875, + 207.19090270996094 + ], + [ + 315.64739990234375, + 207.21945190429688 + ], + [ + 315.7178649902344, + 207.31678771972656 + ], + [ + 315.93341064453125, + 207.37171936035156 + ], + [ + 316.15380859375, + 207.72596740722656 + ], + [ + 316.2096252441406, + 207.73428344726562 + ], + [ + 316.0126953125, + 207.92730712890625 + ], + [ + 315.8859558105469, + 207.74957275390625 + ], + [ + 315.8813781738281, + 207.82777404785156 + ], + [ + 315.6610412597656, + 207.84832763671875 + ], + [ + 315.86968994140625, + 207.59222412109375 + ], + [ + 315.80224609375, + 207.80673217773438 + ], + [ + 315.476806640625, + 208.09278869628906 + ], + [ + 314.45037841796875, + 208.70358276367188 + ], + [ + 312.7219543457031, + 208.96054077148438 + ], + [ + 315.7763366699219, + 203.80007934570312 + ], + [ + 304.61724853515625, + 201.86285400390625 + ], + [ + 293.78875732421875, + 185.998291015625 + ], + [ + 277.48809814453125, + 164.25115966796875 + ], + [ + 257.7397155761719, + 163.88983154296875 + ], + [ + 251.39820861816406, + 187.79388427734375 + ], + [ + 244.32772827148438, + 205.63626098632812 + ], + [ + 233.7647705078125, + 220.3993377685547 + ], + [ + 219.01739501953125, + 220.5120849609375 + ], + [ + 197.69924926757812, + 202.13653564453125 + ], + [ + 174.2774658203125, + 192.134521484375 + ], + [ + 171.61752319335938, + 202.97828674316406 + ], + [ + 179.12985229492188, + 219.53115844726562 + ], + [ + 177.8297119140625, + 223.74563598632812 + ], + [ + 182.53367614746094, + 227.1147003173828 + ], + [ + 197.65020751953125, + 230.8422393798828 + ], + [ + 200.1494140625, + 232.17984008789062 + ], + [ + 194.03323364257812, + 224.08792114257812 + ], + [ + 160.0079803466797, + 216.82858276367188 + ], + [ + 160.03952026367188, + 220.19500732421875 + ], + [ + 160.30841064453125, + 220.2840118408203 + ] + ] +} \ No newline at end of file diff --git a/001918/lang.txt b/001918/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..460c0f31b4dbb6631fb36ad01409918ef0e3861b --- /dev/null +++ b/001918/lang.txt @@ -0,0 +1 @@ +put carrot on plate diff --git a/001918/object.ply b/001918/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..23aa62b2ab21dec396bdbc989acdd382e9b32dc4 Binary files /dev/null and b/001918/object.ply differ diff --git a/001921_v2/FAIL b/001921_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/001921_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/001925/FAIL b/001925/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001925/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001927_v2/data.json b/001927_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..0de004e627f6484bb96310dfd428468f554ee601 --- /dev/null +++ b/001927_v2/data.json @@ -0,0 +1,714 @@ +{ + "action_start": 6, + "action_end": 24, + "object_name": "purple cloth", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 6.386488560217174e-11, + 9.928940655767882e-11, + -5.34238387035757e-11, + 3.111698935744137e-08, + -1.4966303889611492e-07, + -3.856841002097026e-07, + 1.0 + ], + [ + 0.005658738476307268, + 0.0023702706444876584, + -0.01228434085288973, + 0.023110504784730007, + 0.007730249331886184, + 0.00922475480155728, + 1.0 + ], + [ + 0.00513150279130517, + 0.00548561201716314, + -0.010366507589373334, + 0.008931713370324829, + 0.016032696932988613, + 0.0157017770409871, + 1.0 + ], + [ + 0.0068166276058978514, + 0.005436908141005867, + -0.010795613067871263, + 0.008484252958852074, + 0.011091637545989968, + 0.01931518349193303, + 1.0 + ], + [ + 0.007319637336441975, + -0.003653782572895387, + -0.01805149228326225, + 0.0006165799701074371, + -0.008536932454082543, + -0.006527262721946362, + 1.0 + ], + [ + 0.006970607672063034, + -0.003639380069242068, + -0.019193926613819905, + 0.004839660273241906, + -0.004190090067676683, + 0.004798438739047007, + 1.0 + ], + [ + 0.003465349784248062, + -0.003096491887235736, + -0.014327169973023968, + 0.0091944933553039, + -0.01873591908739867, + -0.008123085102788507, + 1.0 + ], + [ + -0.00038972684330690344, + -0.0004621605082849138, + -0.005066350437442552, + 0.036905314545653864, + -0.010306158967045016, + 0.021110309828329312, + 0.0 + ], + [ + -0.0017706338109870212, + 0.0012909114504046672, + 0.008691000015861275, + 0.018380017192483018, + 0.00340716383985805, + 0.001338942013254373, + 0.0 + ], + [ + -0.0051445216278566686, + 0.0034359602526867917, + 0.012401453189491055, + -0.00435925490206814, + -0.01183238022946041, + 0.015519932814608641, + 0.0 + ], + [ + -0.0036978353981846346, + 0.0030144057492540663, + 0.00991685969946035, + -0.006571917267342913, + -0.007306686368465335, + 0.005993144940860736, + 0.0 + ], + [ + 0.0004400847842990774, + 0.002651154590785746, + 0.017052441138703717, + -0.03202356270722299, + -0.027107153880583077, + 0.010959461845662148, + 0.0 + ], + [ + 0.0022213094540855516, + 0.0027450442030122965, + 0.01776793038385558, + -0.05051724877996926, + -0.03139200557029693, + 0.013099535521854961, + 0.0 + ], + [ + 0.005636904360117878, + 0.0002876498529327358, + 0.021778615532933594, + -0.043299665441479, + -0.0448985382854693, + 0.004641483086439638, + 0.0 + ], + [ + 0.006926808985762201, + -0.0012619466496559505, + 0.021615636376688258, + -0.028085986548432588, + -0.05483599469354585, + -0.002474390911926902, + 0.0 + ], + [ + 0.006203178979678259, + -0.0016648240846519596, + 0.022946746571200643, + -0.04754827937657985, + -0.06857547232976784, + -0.002846306719572505, + 0.0 + ], + [ + 0.0004418828748080639, + 0.0014545430981281332, + 0.02528812052247146, + -0.024231300913194503, + -0.047227546505213575, + 0.0023931991095963263, + 0.0 + ], + [ + 0.0017750596494754967, + 0.0014939653367975567, + 0.01733960721843271, + -0.007914750441590656, + -0.0269275520886038, + -0.0010972771831002817, + 0.0 + ], + [ + 0.0022840566553531394, + 0.0066483331500966185, + 0.026042641180757622, + -0.03562840597587665, + -0.044854671520140436, + 0.014523420574319004, + 0.0 + ], + [ + 0.011563767026412708, + 0.003192221426475236, + 0.011212423417005596, + 0.001051081579843689, + -0.02491038638737286, + 0.01613742008232076, + 0.0 + ], + [ + 0.02399880398974752, + 0.0031000351769271822, + -0.005211431014774365, + -0.012197052287763641, + 0.020827161648730948, + 3.325091716196234e-05, + 0.0 + ], + [ + 0.02794080376514907, + 0.0028694521375198286, + -0.006255110093489266, + 0.02138809330109056, + 0.022498079965516532, + 0.021098412173085102, + 0.0 + ], + [ + 0.025523062472854796, + 0.00257322748417047, + -0.00781313619041571, + 0.011414985084308662, + 0.009118731841991485, + 0.01625655973920819, + 0.0 + ], + [ + 0.016495937275590955, + -0.001666446181546509, + -0.006957165671100093, + 0.01346956921732565, + 0.003668914831154603, + -0.0037574557178580896, + 0.0 + ], + [ + 0.005474799129616292, + -0.005725537239619448, + -0.009495061962878623, + 0.016357542214355255, + 0.045572430013276155, + -0.05909568643684474, + 0.0 + ], + [ + -0.008285148910685658, + -0.001986363792754235, + -0.0007079478662369576, + -0.026161237261939366, + 0.0008697255302733236, + 0.02888054773458955, + 1.0 + ], + [ + -0.007266710152645128, + 0.0011074476364364462, + 0.005396671380530765, + -0.006509382857337694, + -0.004228102257561714, + -0.003127656169962906, + 1.0 + ], + [ + -0.004974496292236286, + 0.00020949915080162654, + 0.002737019854611236, + -0.006462525595741458, + 0.00042862988391457606, + -0.0004995687607487814, + 1.0 + ], + [ + -0.004914216321554088, + -0.001481222406246574, + 0.005439360461846329, + 0.0013865316732381986, + -0.009678829563323844, + -0.0019320471400250346, + 1.0 + ], + [ + -0.014240446420656583, + 0.0014631884927785647, + 0.008826443902488407, + -0.0032726978427275373, + 0.012995933985726939, + -0.015306594369487213, + 1.0 + ], + [ + -0.026182880924755958, + 0.001289541408390698, + 0.006147847596521039, + 0.015477677203764228, + 0.03868811216402357, + 0.026478873693882195, + 1.0 + ], + [ + -0.027953771357229207, + -0.00442235878178904, + -0.005122074801299184, + -0.005752171333696943, + 0.022548560993022587, + -0.037979342513319074, + 1.0 + ], + [ + -0.024023499696496697, + -0.004333063367729, + -0.023344284032797313, + 0.030600569337673748, + 0.09199054399219732, + -0.039260944757831776, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 319.24530029296875, + 338.54534912109375 + ], + [ + 318.19842529296875, + 342.7684020996094 + ], + [ + 313.6026611328125, + 355.91546630859375 + ], + [ + 317.4351501464844, + 357.42523193359375 + ], + [ + 313.3203430175781, + 357.4188232421875 + ], + [ + 318.191650390625, + 362.4929504394531 + ], + [ + 325.7791748046875, + 369.2216796875 + ], + [ + 328.8955078125, + 367.6497802734375 + ], + [ + 329.9552001953125, + 365.85296630859375 + ], + [ + 331.3855895996094, + 363.069580078125 + ], + [ + 326.09442138671875, + 363.4437255859375 + ], + [ + 320.6083068847656, + 368.41876220703125 + ], + [ + 316.9434814453125, + 365.23602294921875 + ], + [ + 313.0682067871094, + 346.8400573730469 + ], + [ + 316.5268249511719, + 323.4792175292969 + ], + [ + 321.58819580078125, + 303.1585998535156 + ], + [ + 324.7105712890625, + 276.5942077636719 + ], + [ + 322.83349609375, + 252.60736083984375 + ], + [ + 320.646240234375, + 227.21560668945312 + ], + [ + 312.37200927734375, + 194.3333282470703 + ], + [ + 311.18365478515625, + 160.54183959960938 + ], + [ + 324.15911865234375, + 145.01199340820312 + ], + [ + 333.56072998046875, + 130.47406005859375 + ], + [ + 351.2862548828125, + 121.48406982421875 + ], + [ + 352.61334228515625, + 117.30874633789062 + ], + [ + 362.1340637207031, + 127.0783462524414 + ], + [ + 361.22052001953125, + 137.42002868652344 + ], + [ + 369.0975036621094, + 140.61764526367188 + ], + [ + 369.50689697265625, + 135.20619201660156 + ], + [ + 368.0174255371094, + 133.89381408691406 + ], + [ + 361.40374755859375, + 130.04415893554688 + ], + [ + 343.462646484375, + 137.4019775390625 + ], + [ + 329.42041015625, + 159.082763671875 + ], + [ + 309.25701904296875, + 200.78077697753906 + ], + [ + 306.4457092285156, + 207.7349395751953 + ], + [ + 306.8660888671875, + 207.5711669921875 + ] + ], + "depth_max": 1.2353572845458984, + "depth_min": 0.38372403383255005, + "intrinsic": [ + [ + 538.3436889648438, + 0.0, + 259.0 + ], + [ + 0.0, + 538.3795166015625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 8.917689410736784e-05, + 6.441577716032043e-05, + -5.9137346397619694e-06 + ], + [ + -8.917778177419677e-05, + 1.0, + 1.369458459521411e-05, + -1.1772191101044882e-05 + ], + [ + -6.441455479944125e-05, + -1.3700328054255806e-05, + 1.0, + 9.843297448242083e-07 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 35 + ], + "object_trajectory": [ + [ + 340.0, + 392.5 + ], + [ + 340.09576416015625, + 392.29461669921875 + ], + [ + 339.79241943359375, + 392.77496337890625 + ], + [ + 339.8628845214844, + 392.82220458984375 + ], + [ + 340.15887451171875, + 392.70367431640625 + ], + [ + 339.9044494628906, + 392.9308776855469 + ], + [ + 340.43218994140625, + 391.9418640136719 + ], + [ + 341.4494323730469, + 390.0563659667969 + ], + [ + 342.3179931640625, + 387.183349609375 + ], + [ + 342.799560546875, + 384.6289367675781 + ], + [ + 342.552978515625, + 385.5296630859375 + ], + [ + 341.2121276855469, + 389.85577392578125 + ], + [ + 340.70391845703125, + 394.1265563964844 + ], + [ + 327.8699645996094, + 376.4877624511719 + ], + [ + 323.6276550292969, + 359.6123352050781 + ], + [ + 329.2574768066406, + 338.3690490722656 + ], + [ + 335.6736145019531, + 313.1734619140625 + ], + [ + 336.7588806152344, + 289.4459228515625 + ], + [ + 343.1413879394531, + 261.42852783203125 + ], + [ + 328.597412109375, + 234.6737060546875 + ], + [ + 339.3416748046875, + 195.8936004638672 + ], + [ + 340.65863037109375, + 186.63504028320312 + ], + [ + 347.7857971191406, + 170.75894165039062 + ], + [ + 362.48193359375, + 159.99411010742188 + ], + [ + 368.41693115234375, + 154.22836303710938 + ], + [ + 378.9272766113281, + 161.8041534423828 + ], + [ + 389.9964294433594, + 163.5717010498047 + ], + [ + 390.593017578125, + 165.48184204101562 + ], + [ + 390.9573974609375, + 165.42373657226562 + ], + [ + 382.59698486328125, + 175.1012420654297 + ], + [ + 381.64788818359375, + 174.50743103027344 + ], + [ + 390.31005859375, + 164.1908721923828 + ], + [ + 390.690673828125, + 164.89022827148438 + ], + [ + 391.59796142578125, + 164.46917724609375 + ], + [ + 391.9673156738281, + 164.02133178710938 + ], + [ + 391.9095764160156, + 164.34024047851562 + ] + ] +} \ No newline at end of file diff --git a/001927_v2/lang.txt b/001927_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..15e9f9351d505a77f6690a6bbf5df49638baa709 --- /dev/null +++ b/001927_v2/lang.txt @@ -0,0 +1 @@ +take the purple cloth and put it inside the machine diff --git a/001935_v2/FAIL b/001935_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001935_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001947/FAIL b/001947/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001947/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001969/data.json b/001969/data.json new file mode 100644 index 0000000000000000000000000000000000000000..68232f878741c544f8091d0f0bbe4369422e4478 --- /dev/null +++ b/001969/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 9, + "action_end": 23, + "object_name": "carrot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.72359579334136e-10, + -7.251801936725144e-11, + -4.039449330583977e-12, + 2.1546872688325136e-07, + 2.858207294355783e-07, + 6.204894123469633e-08, + 1.0 + ], + [ + -0.0049443650025733366, + -0.015005227354984774, + 0.011766931561655064, + 0.017499691198278856, + -0.000814666945764024, + 0.023955267589138126, + 1.0 + ], + [ + -0.007195966016334543, + -0.027361677899808673, + 0.00990513204142969, + 0.04547096308973887, + -0.0025984471925147024, + 0.04782501698285384, + 1.0 + ], + [ + -0.006326381606266002, + -0.02296917350492536, + 0.0031118325222210252, + 0.0006143476638570631, + -0.012067271022284555, + 0.0031898917004562705, + 1.0 + ], + [ + -0.002571850598386799, + -0.025533125510821764, + -0.024925641143594482, + -0.023432080763278428, + -0.01707830015546368, + 0.016685846524079475, + 1.0 + ], + [ + 0.005969842562554534, + -0.0064920499787367095, + -0.023140690181408394, + -0.02634112617118576, + -0.018031320822852935, + -0.022404133032375515, + 1.0 + ], + [ + 0.009448446897614121, + 0.0010548283774242974, + -0.012457325025515109, + 0.042634545669856146, + -0.041164196504475926, + -0.12473084321098066, + 1.0 + ], + [ + 0.00540797108544, + 0.0035509072991435145, + -0.004435930282958467, + 0.02237156773512583, + -0.02086897288573668, + -0.019324072939438927, + 1.0 + ], + [ + 0.0023481993666842893, + 0.0008422803454213867, + -0.00751861321286338, + 0.004181505221846583, + 0.007990814580785769, + 0.0008541765758693988, + 1.0 + ], + [ + -8.183962592883676e-05, + 3.794265850665113e-05, + -0.00915668724717067, + -0.018659366508105416, + -0.012162290215439096, + 0.00015295256784456183, + 1.0 + ], + [ + 0.0011845380203475697, + 0.0005004327533283115, + -0.005315474527168143, + -0.013691401358791593, + -0.004127986067652097, + -0.0034733996231377583, + 0.0 + ], + [ + -0.0016631101452742048, + -0.0036579711849334257, + 0.008272231671739523, + 0.0330787325985352, + 0.0033670258589167243, + 0.02850372208503044, + 0.0 + ], + [ + -0.0063862190309246225, + -0.010500411566832873, + 0.020466659152350686, + -0.00020586897113491717, + -0.0021630120242442704, + 0.08551396846875756, + 0.0 + ], + [ + -0.0005967499069846061, + -0.009683593635883982, + 0.02401380830379752, + -0.0649928787508163, + -0.005907359991557067, + 0.030802641763502087, + 0.0 + ], + [ + 0.0017337783261419104, + 0.01475420971955458, + 0.0161533645037584, + 0.058775937867471185, + -0.005430002004618968, + -0.018316859949520183, + 0.0 + ], + [ + -0.0011598859834067166, + 0.02780387271486049, + 0.008148177736359175, + 0.03750994424069768, + 0.0009671263616199791, + 0.020100552164229058, + 0.0 + ], + [ + -0.0021782107873890566, + 0.02846789679911744, + 0.007494014494691982, + 0.001662931742035483, + 0.046841387120248885, + 0.05553275733105254, + 0.0 + ], + [ + -0.004221931301362808, + 0.024820172032832682, + 0.0013978214057406846, + 0.049196018632501774, + 0.05728615686309493, + 0.24386203276448498, + 0.0 + ], + [ + 0.0013078931013081052, + 0.021206863918817875, + -0.0008694453937831553, + -0.029238051104863213, + -0.0030191067972964764, + 0.1658457595137317, + 0.0 + ], + [ + -0.001189657423241619, + 0.009110218952421534, + -0.010157528590409623, + -0.040299043473368004, + -0.007178682985952628, + 0.07814992965196565, + 0.0 + ], + [ + 0.0047446149691866835, + 0.006921627784252843, + -0.01841192170433932, + -0.014220625135083934, + -0.02468811252486233, + 0.013558128945253814, + 0.0 + ], + [ + 0.015547008777718141, + 0.001032296819313605, + -0.009738731979617554, + -0.027063893994595002, + -0.003514981686906585, + -0.029057370550277233, + 0.0 + ], + [ + 0.015139668836389286, + 0.00014074108930883789, + -0.008812395973593505, + -0.011254640423858802, + -0.01740950846891492, + -0.03036116101302405, + 0.0 + ], + [ + 0.00314407714936632, + 0.0005417544856476386, + -0.0012070204395833728, + 0.0018167717684978385, + -0.01489792561099366, + -0.002389431355387438, + 0.0 + ], + [ + -0.003627329854352712, + 0.0011854432978983254, + 0.00853383085092433, + 0.001186310587521597, + -0.016982149449805112, + -0.014356584360644947, + 1.0 + ], + [ + 0.00071533489569231, + -0.0001604609602937901, + 0.016366445089464485, + 0.05459308251892048, + 0.02773110076006068, + -0.043777766120574886, + 1.0 + ], + [ + 0.003788270187900289, + -0.0056841755059132415, + 0.04041271824316088, + 0.10319812413525264, + 0.0700648017522724, + -0.021127847927257467, + 1.0 + ], + [ + 0.0031339577468794677, + -0.01680957925816956, + 0.0458906092264867, + 0.06801306830341255, + 0.07883662794900577, + 0.0015151984352699786, + 1.0 + ], + [ + -0.0013269241942429066, + -0.02502097344443223, + 0.010448642186404497, + -0.012676172755359252, + -0.021641666724873655, + -0.08116025239105343, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 169.27554321289062, + 149.6226806640625 + ], + [ + 170.47537231445312, + 153.11871337890625 + ], + [ + 172.71414184570312, + 170.25511169433594 + ], + [ + 190.8121795654297, + 173.92210388183594 + ], + [ + 224.7232666015625, + 182.6588592529297 + ], + [ + 234.8610076904297, + 216.03775024414062 + ], + [ + 272.7100830078125, + 245.18984985351562 + ], + [ + 268.3621826171875, + 246.9317626953125 + ], + [ + 282.66339111328125, + 249.60147094726562 + ], + [ + 278.43389892578125, + 254.41305541992188 + ], + [ + 284.7998962402344, + 258.1831359863281 + ], + [ + 283.4021911621094, + 258.6553955078125 + ], + [ + 279.768798828125, + 260.0504150390625 + ], + [ + 281.31463623046875, + 253.00051879882812 + ], + [ + 289.1751403808594, + 244.89501953125 + ], + [ + 280.9112854003906, + 222.19998168945312 + ], + [ + 253.0026092529297, + 200.47384643554688 + ], + [ + 213.06900024414062, + 170.7923583984375 + ], + [ + 173.52471923828125, + 163.315673828125 + ], + [ + 161.18038940429688, + 159.16107177734375 + ], + [ + 139.02642822265625, + 168.22129821777344 + ], + [ + 147.79931640625, + 174.1434326171875 + ], + [ + 167.23434448242188, + 182.98690795898438 + ], + [ + 178.17709350585938, + 180.73294067382812 + ], + [ + 182.75460815429688, + 179.663330078125 + ], + [ + 181.57516479492188, + 180.2840118408203 + ], + [ + 167.7380828857422, + 168.54934692382812 + ], + [ + 166.7239532470703, + 132.21368408203125 + ], + [ + 192.85008239746094, + 70.03227996826172 + ], + [ + 215.8531494140625, + 46.8009033203125 + ], + [ + 211.8762969970703, + 43.40788650512695 + ], + [ + 208.99539184570312, + 43.83744812011719 + ], + [ + 212.23028564453125, + 43.72319793701172 + ], + [ + 211.8851318359375, + 44.17787170410156 + ], + [ + 212.0311279296875, + 43.74653625488281 + ], + [ + 211.89505004882812, + 43.99192428588867 + ], + [ + 212.02330017089844, + 43.77394104003906 + ], + [ + 211.9615936279297, + 43.70431137084961 + ] + ], + "depth_max": 1.4214094877243042, + "depth_min": 0.39761707186698914, + "intrinsic": [ + [ + 516.0352172851562, + 0.0, + 259.0 + ], + [ + 0.0, + 516.30859375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.1927800339180976e-05, + -0.00010688884503906593, + -1.545224768051412e-05 + ], + [ + -4.19322241214104e-05, + 1.0, + -4.141753015574068e-05, + -3.1598425266565755e-05 + ], + [ + 0.00010688711336115375, + 4.1422012145631015e-05, + 1.0, + 8.699669706402346e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 285.25, + 273.75 + ], + [ + 285.6658630371094, + 273.7515563964844 + ], + [ + 285.6424255371094, + 273.68975830078125 + ], + [ + 285.5325012207031, + 274.3288879394531 + ], + [ + 285.5955810546875, + 274.63580322265625 + ], + [ + 285.5116882324219, + 275.0893249511719 + ], + [ + 284.63299560546875, + 275.6080322265625 + ], + [ + 286.6767272949219, + 277.18670654296875 + ], + [ + 284.0510559082031, + 276.43072509765625 + ], + [ + 285.7050476074219, + 278.41534423828125 + ], + [ + 282.3512878417969, + 278.73382568359375 + ], + [ + 284.7515563964844, + 279.89434814453125 + ], + [ + 283.95147705078125, + 280.7840576171875 + ], + [ + 285.3027648925781, + 278.1114196777344 + ], + [ + 292.19439697265625, + 278.0227966308594 + ], + [ + 279.3515625, + 255.437255859375 + ], + [ + 247.8460693359375, + 234.55145263671875 + ], + [ + 210.2235107421875, + 205.92686462402344 + ], + [ + 177.22735595703125, + 188.59115600585938 + ], + [ + 166.0819549560547, + 179.90304565429688 + ], + [ + 148.3878936767578, + 182.44253540039062 + ], + [ + 158.46636962890625, + 192.63150024414062 + ], + [ + 177.0358123779297, + 198.88389587402344 + ], + [ + 187.96609497070312, + 198.40963745117188 + ], + [ + 192.5570068359375, + 197.10031127929688 + ], + [ + 189.8311309814453, + 200.692626953125 + ], + [ + 177.5430908203125, + 200.20628356933594 + ], + [ + 166.68392944335938, + 200.8861541748047 + ], + [ + 157.0011444091797, + 200.7100830078125 + ], + [ + 157.0650634765625, + 200.587890625 + ], + [ + 157.10853576660156, + 200.8632049560547 + ], + [ + 156.94577026367188, + 200.12197875976562 + ], + [ + 156.56109619140625, + 200.9840087890625 + ], + [ + 156.4900360107422, + 200.69378662109375 + ], + [ + 156.25086975097656, + 200.8912353515625 + ], + [ + 156.44775390625, + 201.13485717773438 + ], + [ + 155.6649932861328, + 201.6944122314453 + ], + [ + 155.9924774169922, + 201.78089904785156 + ] + ] +} \ No newline at end of file diff --git a/001969/lang.txt b/001969/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..460c0f31b4dbb6631fb36ad01409918ef0e3861b --- /dev/null +++ b/001969/lang.txt @@ -0,0 +1 @@ +put carrot on plate diff --git a/001969/object.ply b/001969/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..3f31ff218b4412b8bb8795fc3f30e569f377828d Binary files /dev/null and b/001969/object.ply differ diff --git a/001970_v2/FAIL b/001970_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001970_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001998/FAIL b/001998/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/001998/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/002008_v2/FAIL b/002008_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/002008_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/002030/data.json b/002030/data.json new file mode 100644 index 0000000000000000000000000000000000000000..16dc14215dcc3356b8305031851c511569e95457 --- /dev/null +++ b/002030/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 16, + "action_end": 29, + "object_name": "carrot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.439072, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.9540297985519715e-10, + 2.128464071660119e-11, + -5.240582967580565e-11, + 1.1659711856193279e-07, + -3.7553209232446225e-08, + 4.63564914493232e-07, + 1.0 + ], + [ + 0.0009095124548477163, + -0.007016411772061137, + 0.012957905791758713, + 0.009269032333927535, + 0.018812776250286895, + 0.026988892662063193, + 1.0 + ], + [ + -0.006788949711483472, + -0.012632060307269516, + 0.02257678955424668, + -0.01714740882580137, + 0.07131966848408539, + 0.059535793868240545, + 1.0 + ], + [ + -0.0040101468942318474, + -0.0028512594086388954, + 0.027071223392407223, + 0.02692541576233038, + 0.011751555551765824, + 0.027448394635786577, + 1.0 + ], + [ + -0.012950597016132603, + -0.009952580812288142, + 0.012586269136224487, + -0.010296306399085674, + 0.0003632928036528302, + 0.08765834009457689, + 1.0 + ], + [ + -0.030437835097851862, + -0.027059936603916646, + -0.0015032740627883012, + -0.1355954524829402, + 0.022073845799327498, + 0.2191121550935439, + 1.0 + ], + [ + -0.01829504547070998, + -0.021598659131652986, + -0.001794086736699979, + -0.043733338458340924, + 0.0130649240975174, + 0.12592591996872915, + 1.0 + ], + [ + -0.011147034304269388, + -0.02320560080896991, + 0.002555899582178209, + -0.06297156393939088, + 0.0012322605569056201, + 0.09811219012090729, + 1.0 + ], + [ + -0.004643027777977482, + -0.02021748813005174, + 0.003934977286395386, + -0.025258696758113586, + -0.00971426166778338, + 0.034541111676043255, + 1.0 + ], + [ + -0.006718509814846618, + -0.024769073572212898, + -0.003055962764366399, + 0.020758965532363925, + -0.01263467982868192, + 0.02951173692075341, + 1.0 + ], + [ + -0.005672583581039087, + -0.0232476682109801, + -0.009030009731267483, + 0.08811952156110081, + 0.017182682066407405, + -0.010245493468507371, + 1.0 + ], + [ + -0.003757459202203828, + -0.01179834236119211, + -0.008082622940260256, + 0.07735070177703046, + 0.060785894520151006, + -0.011440917054717222, + 1.0 + ], + [ + -0.0030194714773717213, + -0.005268367513135634, + -0.00972768648097054, + -0.029415233067136153, + 0.013515739856323844, + -0.007000080986851401, + 1.0 + ], + [ + -0.004884048036603805, + -0.004317307139266632, + -0.01060365970776761, + -0.017488745656853124, + -0.018684185410335098, + 0.020358554623514814, + 1.0 + ], + [ + -0.0021011987689905642, + -0.0013437239444737195, + -0.013108792841956138, + -0.03653273580304341, + -0.008922466221318943, + 0.023434106245304363, + 1.0 + ], + [ + -8.945325860085229e-05, + 0.0023707495785035976, + -0.014839915355800176, + -0.02151844765940921, + -0.006393409765167038, + 0.005902580305979092, + 1.0 + ], + [ + 0.00042330205135601706, + 0.003074493137617283, + -0.01179463590629963, + -0.005129313150106134, + -0.014033645702327775, + -0.010616295681633477, + 1.0 + ], + [ + 0.0002606320122339467, + 0.0025293607421791667, + -0.006090024362395856, + -0.007997573893543374, + -0.007799700717116441, + -0.011739973761943514, + 0.0 + ], + [ + 0.002046559225496958, + 0.0010338022691026988, + 0.01145092304292012, + 0.013346581033049571, + 0.014517577509601084, + -0.0020132981377962134, + 0.0 + ], + [ + 0.0041746368843045, + -0.003227361810007323, + 0.016334055647090742, + -0.13631694796871588, + 0.0650198437926201, + 0.01310180862125526, + 0.0 + ], + [ + 0.007977598357904181, + 0.007241776775508781, + 0.022407635220646396, + -0.05588499550257879, + 0.05565600281001193, + -0.0021932272048436883, + 0.0 + ], + [ + 0.013610016687940096, + 0.024237836825810315, + 0.009190142777216338, + 0.03217967706706212, + -0.023347783159948537, + -0.06305840070591863, + 0.0 + ], + [ + 0.013689386475271681, + 0.032589514327019876, + -0.00900693602251719, + 0.07287055526030675, + -0.07332281926166631, + -0.09908452378065333, + 0.0 + ], + [ + 0.010385894527770445, + 0.022415178938492483, + -0.011660127893110675, + 0.03247350077825111, + -0.02593533831660233, + -0.07561005862050364, + 0.0 + ], + [ + 0.01587305484960977, + 0.01931843105865693, + -0.006852570887500922, + 0.006885475441875012, + 0.02103581870357879, + -0.0865725050021566, + 0.0 + ], + [ + 0.015525189577554555, + 0.0111174549303195, + -0.010337369940249266, + -0.006656581425328228, + -0.012096624774571709, + -0.05905235084917281, + 0.0 + ], + [ + 0.0037997024266662183, + -0.0006524542604692818, + -0.013678413167524037, + -0.0057102644682906056, + -0.04021406670980412, + 0.010665603927604584, + 0.0 + ], + [ + -0.0056037770659714825, + -0.0018467663364071935, + -0.004147515358754544, + 0.002954934405842661, + -0.06290962510262313, + 0.07190528638857653, + 0.0 + ], + [ + -0.0018875897917466355, + -0.0001650375450345798, + 0.0074981275410754035, + 0.016604583409679703, + 0.0006475133848459157, + 0.011210398716675039, + 0.0 + ], + [ + 0.011393630220657258, + -0.004584009936614411, + 0.001669409532394129, + -0.012966424537834654, + 0.01726125023789804, + -0.012608768545923377, + 0.439072 + ], + [ + 0.0033668779185397346, + -0.0006469784280059704, + 0.005280560036585769, + 0.013265188835909547, + -0.003475646906680456, + 0.019097679958907352, + 1.0 + ], + [ + -0.001879957529828169, + -0.0019022407225201682, + 0.013087984131877041, + 0.02935851746298877, + -0.007900649114832143, + 0.02264873589489457, + 1.0 + ], + [ + -0.0028561453796414615, + -0.0019446247178808579, + 0.009398264418243256, + 0.019446949731777474, + -0.008396571791600105, + 0.014596081448774861, + 1.0 + ], + [ + -0.0033961558092437394, + -0.000490361535905863, + 0.015290687294646117, + 0.03781990346600355, + 0.0006555596974648678, + 0.013760806135964306, + 1.0 + ], + [ + -0.002340054216185772, + -0.0012857093660336993, + 0.01690172917927095, + 0.02854313992626686, + 0.003838058619273998, + 0.012971243465688091, + 1.0 + ], + [ + -0.00273302329384989, + 0.003380149685579148, + 0.005365133750747139, + 0.016729162933886137, + 0.0037689929806787995, + -0.0023189258862732734, + 1.0 + ], + [ + -0.003326857727823762, + 0.0005102132013076882, + 0.004217640415797266, + -0.0007172165713967733, + 0.009177746065446812, + 0.004655928964734371, + 1.0 + ], + [ + -0.00507666182165506, + -0.0007335828229661362, + -0.0008215062010521329, + -0.02018300574187434, + 0.010486250317007662, + 0.009337301367157637, + 1.0 + ] + ], + "gripper_centers": [ + [ + 241.9984893798828, + 138.1843719482422 + ], + [ + 241.2836456298828, + 148.159423828125 + ], + [ + 236.80123901367188, + 158.08633422851562 + ], + [ + 244.05039978027344, + 154.9886474609375 + ], + [ + 256.5704040527344, + 118.77987670898438 + ], + [ + 246.314208984375, + 106.6085205078125 + ], + [ + 238.82266235351562, + 125.55043029785156 + ], + [ + 248.852783203125, + 148.54107666015625 + ], + [ + 270.12640380859375, + 165.2520751953125 + ], + [ + 291.1293640136719, + 172.0769805908203 + ], + [ + 315.61468505859375, + 193.6527099609375 + ], + [ + 346.573486328125, + 218.43875122070312 + ], + [ + 363.20294189453125, + 248.9899444580078 + ], + [ + 374.53363037109375, + 256.6600341796875 + ], + [ + 370.6778564453125, + 278.6202392578125 + ], + [ + 375.3477478027344, + 296.86163330078125 + ], + [ + 375.55096435546875, + 315.06317138671875 + ], + [ + 368.77410888671875, + 325.4764404296875 + ], + [ + 365.4090270996094, + 327.97430419921875 + ], + [ + 358.9597473144531, + 326.56622314453125 + ], + [ + 371.9277038574219, + 310.05877685546875 + ], + [ + 360.642333984375, + 262.60308837890625 + ], + [ + 350.1292724609375, + 220.22378540039062 + ], + [ + 318.352783203125, + 200.9477081298828 + ], + [ + 294.00628662109375, + 192.312255859375 + ], + [ + 296.75555419921875, + 182.36318969726562 + ], + [ + 296.5460510253906, + 177.57958984375 + ], + [ + 294.0640563964844, + 176.85220336914062 + ], + [ + 292.29718017578125, + 200.08316040039062 + ], + [ + 288.4297180175781, + 201.97494506835938 + ], + [ + 295.57177734375, + 182.49366760253906 + ], + [ + 305.06439208984375, + 183.86534118652344 + ], + [ + 307.2433166503906, + 185.06979370117188 + ], + [ + 306.4239501953125, + 171.96554565429688 + ], + [ + 303.34466552734375, + 161.55752563476562 + ], + [ + 303.9359130859375, + 142.507568359375 + ], + [ + 303.40679931640625, + 139.13180541992188 + ], + [ + 297.3157958984375, + 140.17990112304688 + ] + ], + "depth_max": 1.4660489559173584, + "depth_min": 0.3339763283729553, + "intrinsic": [ + [ + 514.9911499023438, + 0.0, + 259.0 + ], + [ + 0.0, + 515.3846435546875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.780453178274911e-05, + -7.191240729298443e-05, + -2.271985613333527e-05 + ], + [ + -2.7808198865386657e-05, + 1.0, + -5.102277282276191e-05, + -6.495172783615999e-06 + ], + [ + 7.191099575720727e-05, + 5.1024777349084616e-05, + 1.0, + -3.6296245525591075e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 384.75, + 341.5 + ], + [ + 385.04547119140625, + 341.912109375 + ], + [ + 385.0222473144531, + 341.8804931640625 + ], + [ + 385.0423889160156, + 341.73394775390625 + ], + [ + 385.2124328613281, + 341.6486511230469 + ], + [ + 385.28985595703125, + 341.52020263671875 + ], + [ + 385.1986999511719, + 341.6916198730469 + ], + [ + 385.249755859375, + 341.70208740234375 + ], + [ + 385.26239013671875, + 341.89532470703125 + ], + [ + 385.4011535644531, + 341.563720703125 + ], + [ + 385.206787109375, + 341.6298828125 + ], + [ + 384.8993835449219, + 341.7437744140625 + ], + [ + 385.1198425292969, + 341.81610107421875 + ], + [ + 385.1560974121094, + 341.74676513671875 + ], + [ + 385.1440734863281, + 341.50238037109375 + ], + [ + 385.0318603515625, + 341.4561462402344 + ], + [ + 384.6788635253906, + 341.553466796875 + ], + [ + 384.6444396972656, + 341.64276123046875 + ], + [ + 382.5517578125, + 341.90386962890625 + ], + [ + 370.3728942871094, + 338.5581359863281 + ], + [ + 382.43182373046875, + 324.76641845703125 + ], + [ + 375.4079895019531, + 275.00372314453125 + ], + [ + 361.22662353515625, + 234.6143035888672 + ], + [ + 322.562255859375, + 220.47743225097656 + ], + [ + 292.97137451171875, + 205.89012145996094 + ], + [ + 291.8120422363281, + 197.0565185546875 + ], + [ + 289.5316467285156, + 192.28086853027344 + ], + [ + 288.3576354980469, + 192.44627380371094 + ], + [ + 290.586181640625, + 216.00259399414062 + ], + [ + 286.7838439941406, + 217.67694091796875 + ], + [ + 293.1356201171875, + 198.95916748046875 + ], + [ + 310.2528076171875, + 205.99237060546875 + ], + [ + 326.5738830566406, + 213.2481231689453 + ], + [ + 333.6154479980469, + 211.158203125 + ], + [ + 338.9577941894531, + 213.25741577148438 + ], + [ + 340.91534423828125, + 213.0690155029297 + ], + [ + 339.1777648925781, + 213.15907287597656 + ], + [ + 339.50262451171875, + 214.14088439941406 + ] + ] +} \ No newline at end of file diff --git a/002030/lang.txt b/002030/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..460c0f31b4dbb6631fb36ad01409918ef0e3861b --- /dev/null +++ b/002030/lang.txt @@ -0,0 +1 @@ +put carrot on plate diff --git a/002030/object.ply b/002030/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..9ff8b6c3be1d251a95554ce2ea5efe0d892a0770 Binary files /dev/null and b/002030/object.ply differ diff --git a/002073/data.json b/002073/data.json new file mode 100644 index 0000000000000000000000000000000000000000..39037a6baceb142c3496ebd688fd13396dd64f75 --- /dev/null +++ b/002073/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 10, + "action_end": 25, + "object_name": "carrot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.23052499999999998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.42277031770044e-10, + 7.390802206352909e-11, + -1.5621288984579706e-10, + -1.5301215772292717e-07, + -3.9429307248207736e-07, + 9.206457380333312e-08, + 1.0 + ], + [ + -0.004496627211228343, + 0.025183875954713004, + 0.0029780838075188915, + 0.1628803014492824, + -0.040845823762274455, + 0.04419437248109982, + 1.0 + ], + [ + -0.0011465202517175754, + 0.02785112455777845, + 0.0028678931402396773, + 0.1360772278566827, + -0.02776964943706787, + 0.008901243861112944, + 1.0 + ], + [ + -0.006044366573870252, + 0.025241169774709735, + 0.0012219362003789008, + 0.06479241744900187, + -0.0056803754663479035, + 0.026900099676581028, + 1.0 + ], + [ + -0.013514404311574968, + 0.021176572240852926, + -0.003087816031634688, + 0.011310117217508877, + 0.02800685460868516, + 0.06269994788623476, + 1.0 + ], + [ + -0.016532383334636858, + 0.025539441549434327, + -0.0055091527046558925, + 0.005181474702287389, + 0.04579075366909102, + 0.07551254252205376, + 1.0 + ], + [ + -0.007252267581594918, + 0.022055035610133417, + -0.009323639275417892, + -0.017043011310585242, + 0.03323120373732829, + 0.042494067136826935, + 1.0 + ], + [ + 0.001439832947484343, + 0.014749040268876717, + -0.015054772193427948, + -0.019517000055876293, + 0.0037922445242892146, + 0.005579124769041078, + 1.0 + ], + [ + 0.00631404763554877, + 0.003367514348427303, + -0.023519104294507445, + -0.037801052276201834, + -0.018759051459379124, + -0.02666316298969635, + 1.0 + ], + [ + 0.006319683319542857, + -0.0010679897179043385, + -0.016181110128449777, + -0.04494113522560247, + 0.0007702848368361451, + -0.015403050267351864, + 1.0 + ], + [ + 0.003409269282208194, + -0.0024397504530214997, + -0.005760263037035061, + -0.010017315864452076, + 0.01096928898556823, + -0.006367835683648869, + 0.23052499999999998 + ], + [ + 0.0008518411703332118, + -0.0007813192830219973, + 0.008448630563424021, + -0.007641040461296285, + 0.002630265625912337, + 0.004655383473506159, + 0.0 + ], + [ + -0.0026326906006319817, + -0.00693960975279434, + 0.01445640048715485, + -0.015485726566764463, + 0.004198497673122365, + 0.00606264986652131, + 0.0 + ], + [ + -0.0027852214256546826, + -0.011983276731865472, + 0.020831193021895695, + -0.0218207125114563, + 0.006035998170936704, + 0.007916586136667804, + 0.0 + ], + [ + 0.0016684470927276762, + -0.018772557647099064, + 0.023072899293146813, + -0.018023114121774812, + -0.011852191691710201, + 0.04418103544516369, + 0.0 + ], + [ + 0.005325450147770305, + -0.011936544186321951, + 0.02201508819322151, + -0.0027563840578728738, + -0.01437454082725164, + 0.02081356049157744, + 0.0 + ], + [ + 0.0039024210634364676, + -0.0190383009074927, + 0.013099803366040538, + -0.027546089110529186, + 0.0073982694638220926, + 0.024066682675160593, + 0.0 + ], + [ + 0.005760804759057936, + -0.028741095556882576, + -0.0004701158846263792, + -0.07075628273551082, + -0.04473850294946102, + -0.03663464389391637, + 0.0 + ], + [ + 0.0007720161824770755, + -0.024483157812461104, + -0.007923076466453086, + -0.08359249518576663, + -0.026148294110306784, + 0.002297936069456618, + 0.0 + ], + [ + -0.0019374898025620868, + -0.015668603289251362, + -0.0085569193092484, + -0.030298514439542696, + 0.015528282175806658, + -0.0011353887985355445, + 0.0 + ], + [ + -0.006692709441608546, + -0.010598875315973755, + -0.01563062638905316, + 0.012053899790477109, + 0.03314990278089478, + -0.016621531699347655, + 0.0 + ], + [ + -0.007852179517954583, + -0.009121792998874154, + -0.013423067680083028, + 0.012956366157185834, + 0.009136663614918716, + -0.011006021608401735, + 0.0 + ], + [ + -0.005875731332402823, + -0.014142798263614375, + -0.014102017723080576, + 0.02113809004103671, + 0.008935080956502507, + 0.017895290003161063, + 0.0 + ], + [ + 0.00047687650334643505, + -0.008139709524755841, + -0.01608640878495006, + -0.013489179951035902, + -0.027817798126105533, + 0.013506827984219486, + 0.0 + ], + [ + 0.0024109765879582468, + -0.0004403660925689332, + -0.01486314401912519, + -0.0002082087122156829, + -0.02278184662200149, + -0.002092122927813214, + 0.0 + ], + [ + 0.0014737064819950185, + 0.00107199541881078, + -0.00038187765607586993, + -0.014748678592799231, + 0.01953427255466424, + 0.0015879621827261038, + 0.0 + ], + [ + 0.0010076017803583581, + 0.0019107055777964237, + 0.001994921037201291, + 0.017235081292829454, + -0.012738621593436195, + 0.010314096310423822, + 1.0 + ], + [ + 0.00035429076897863787, + 0.0001587810441638813, + 0.004126934208256296, + 0.008085340823311882, + -0.00679873496480839, + 0.0029212478506762344, + 1.0 + ], + [ + 0.00406841338814018, + 0.003133323711287982, + 0.008414643742363247, + 0.0367943933003135, + -0.024835516120623038, + 0.017782996048117092, + 1.0 + ], + [ + 0.007864977602598355, + 0.012951372497847986, + 0.02809479842819984, + 0.09518907676255281, + -0.018846099505785967, + 0.02043819865995229, + 1.0 + ], + [ + 0.0020579956325001425, + 0.007763887266610737, + 0.032634630058887115, + 0.024034524756759185, + 0.02802808664969012, + -0.005238716009982937, + 1.0 + ], + [ + 0.0012846077867504913, + 0.004098595680564624, + 0.019164461895456078, + 0.005823715973912181, + 0.025822510926502788, + -0.01747410902832405, + 1.0 + ], + [ + -0.00242550656815943, + 5.488344024497799e-06, + 0.012323887462719146, + 0.023253901375711265, + 0.014764557797170764, + 0.0045440413664581064, + 1.0 + ], + [ + -0.01051659322667442, + 0.000638312028303431, + 0.0004488666217949272, + -0.02423425564025775, + 0.004897075059933898, + -0.015641131085782883, + 1.0 + ], + [ + -0.007584561988157046, + -0.00299343284326635, + -0.00560009071325146, + -0.016068286349090664, + -0.03269735243260352, + -0.013201140229381046, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 374.71673583984375, + 113.3235092163086 + ], + [ + 373.88494873046875, + 118.081298828125 + ], + [ + 348.0369567871094, + 135.067138671875 + ], + [ + 324.45648193359375, + 127.17967987060547 + ], + [ + 290.22247314453125, + 124.28373718261719 + ], + [ + 255.78176879882812, + 123.17683410644531 + ], + [ + 225.85177612304688, + 127.7745361328125 + ], + [ + 188.40621948242188, + 129.67640686035156 + ], + [ + 176.57069396972656, + 141.88186645507812 + ], + [ + 178.14512634277344, + 161.84512329101562 + ], + [ + 188.49703979492188, + 169.77078247070312 + ], + [ + 191.30499267578125, + 166.29144287109375 + ], + [ + 191.48109436035156, + 162.2194061279297 + ], + [ + 192.21914672851562, + 164.9854736328125 + ], + [ + 193.0886688232422, + 152.74864196777344 + ], + [ + 216.17967224121094, + 124.044921875 + ], + [ + 234.60226440429688, + 98.55611419677734 + ], + [ + 241.61074829101562, + 85.55299377441406 + ], + [ + 272.4190368652344, + 81.94532775878906 + ], + [ + 317.6921081542969, + 98.38188934326172 + ], + [ + 320.79351806640625, + 107.85780334472656 + ], + [ + 330.03704833984375, + 131.26644897460938 + ], + [ + 349.3233642578125, + 166.27743530273438 + ], + [ + 350.0326232910156, + 186.88397216796875 + ], + [ + 368.0696716308594, + 208.29364013671875 + ], + [ + 375.1609802246094, + 226.92431640625 + ], + [ + 372.86663818359375, + 227.8892059326172 + ], + [ + 369.9427490234375, + 232.54971313476562 + ], + [ + 366.530029296875, + 233.70065307617188 + ], + [ + 362.9622802734375, + 231.91217041015625 + ], + [ + 358.261474609375, + 186.22442626953125 + ], + [ + 350.0681457519531, + 139.8438720703125 + ], + [ + 349.9457092285156, + 116.47908020019531 + ], + [ + 344.1153564453125, + 103.75692749023438 + ], + [ + 343.57659912109375, + 92.84478759765625 + ], + [ + 335.8262939453125, + 110.10723876953125 + ], + [ + 335.8772277832031, + 107.44639587402344 + ], + [ + 335.41314697265625, + 107.37083435058594 + ] + ], + "depth_max": 1.438467025756836, + "depth_min": 0.4884054362773895, + "intrinsic": [ + [ + 530.268798828125, + 0.0, + 259.0 + ], + [ + 0.0, + 530.4503784179688, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.6096558940480463e-05, + -7.640720286872238e-05, + -2.334624332434032e-05 + ], + [ + -2.610107731015887e-05, + 1.0, + -5.9130128647666425e-05, + -1.0665862646419555e-05 + ], + [ + 7.640566036570817e-05, + 5.913212226005271e-05, + 1.0, + 1.7122289136750624e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 212.5, + 172.75 + ], + [ + 207.75161743164062, + 172.13919067382812 + ], + [ + 207.90692138671875, + 172.20501708984375 + ], + [ + 207.77224731445312, + 172.2103729248047 + ], + [ + 207.6128387451172, + 172.2416229248047 + ], + [ + 207.4129638671875, + 172.1693115234375 + ], + [ + 207.63287353515625, + 172.24493408203125 + ], + [ + 212.84637451171875, + 173.46405029296875 + ], + [ + 212.69500732421875, + 173.6414794921875 + ], + [ + 207.57701110839844, + 173.0459442138672 + ], + [ + 207.55487060546875, + 173.4509735107422 + ], + [ + 209.09365844726562, + 167.18121337890625 + ], + [ + 209.331298828125, + 167.34661865234375 + ], + [ + 212.4413299560547, + 167.5274200439453 + ], + [ + 211.6126708984375, + 156.37806701660156 + ], + [ + 235.60935974121094, + 134.6135711669922 + ], + [ + 255.56065368652344, + 110.77589416503906 + ], + [ + 262.8716735839844, + 99.10237121582031 + ], + [ + 294.748046875, + 94.88472747802734 + ], + [ + 338.52862548828125, + 102.43467712402344 + ], + [ + 342.9137268066406, + 112.66210174560547 + ], + [ + 351.9981994628906, + 136.09512329101562 + ], + [ + 368.97454833984375, + 169.2893524169922 + ], + [ + 368.7642822265625, + 189.81045532226562 + ], + [ + 385.1224365234375, + 207.0810546875 + ], + [ + 390.62335205078125, + 225.25469970703125 + ], + [ + 388.8670654296875, + 226.2762451171875 + ], + [ + 385.2285461425781, + 239.9678192138672 + ], + [ + 381.8571472167969, + 243.39697265625 + ], + [ + 378.8305358886719, + 246.220703125 + ], + [ + 374.86676025390625, + 243.1028289794922 + ], + [ + 371.1698913574219, + 242.63844299316406 + ], + [ + 372.126220703125, + 247.03305053710938 + ], + [ + 371.9949951171875, + 248.67835998535156 + ], + [ + 371.99603271484375, + 248.35250854492188 + ], + [ + 372.0892333984375, + 248.52978515625 + ], + [ + 372.5873107910156, + 248.7877197265625 + ], + [ + 372.74761962890625, + 248.8884735107422 + ] + ] +} \ No newline at end of file diff --git a/002073/lang.txt b/002073/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..460c0f31b4dbb6631fb36ad01409918ef0e3861b --- /dev/null +++ b/002073/lang.txt @@ -0,0 +1 @@ +put carrot on plate diff --git a/002073/object.ply b/002073/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..849f488b4ee5a7eb611afe973303190fc3d5700c Binary files /dev/null and b/002073/object.ply differ diff --git a/002089/data.json b/002089/data.json new file mode 100644 index 0000000000000000000000000000000000000000..dd6a2ba8c08d04631531c7c38f285153fb3709d4 --- /dev/null +++ b/002089/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 9, + "action_end": 20, + "object_name": "corn", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.07814399999999999, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.09304000000000001, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 7.098971410712807e-11, + 3.179656538065956e-11, + 3.12597864260411e-11, + 6.287271603886157e-08, + -1.250221894273696e-08, + -3.587647694150501e-07, + 1.0 + ], + [ + 0.00405651364116022, + -0.0010534146806383954, + -0.004844224353060894, + -0.003785345080037873, + -0.010763218707370284, + -0.019001335225906326, + 1.0 + ], + [ + 0.0015276678440656055, + 0.0019620595953924735, + -0.0007716144847931608, + -0.0028938955092794203, + 0.003085994085904564, + -0.006025680922758993, + 1.0 + ], + [ + -0.00027544693286690736, + 0.000643380481741257, + -0.0036581353168846295, + -0.006076784699000394, + -0.006208562558031392, + 0.0007186378767706154, + 1.0 + ], + [ + -0.002460177809426922, + 6.867586315142948e-06, + -0.008015128861249388, + -0.011757981867035317, + -0.009381943426111658, + 0.015707549863058255, + 1.0 + ], + [ + -0.0017196167364493808, + 0.0018428655908840769, + -0.006767692042744758, + -0.022129215651843226, + -0.0008242049784316472, + 0.010613947421332011, + 1.0 + ], + [ + -0.0023384588680821494, + 0.0015551320365126409, + -0.007747224559156642, + -0.0340274887503338, + 0.005428230732741356, + 0.028352830753433058, + 1.0 + ], + [ + -0.001410866707663494, + 0.0026152018674477084, + -0.008446606324561255, + -0.019434214593219055, + -0.015873478797595836, + 0.008002647666097226, + 1.0 + ], + [ + -0.0009731887262792727, + -0.0005658269931585469, + -0.0035693887760733824, + -0.009049836440881276, + -0.009083678502692866, + 0.010586457780668279, + 1.0 + ], + [ + -0.0002110649436483647, + -0.001218326370118178, + -0.0021165638367639326, + 0.0013186694037014607, + -0.004227307843507322, + 0.01680298100408696, + 0.07814399999999999 + ], + [ + 0.0006528923267690723, + -0.004245750576091362, + 0.007047938036433743, + 0.02835651142416433, + 0.0009920267270567351, + 0.007499798380271578, + 0.0 + ], + [ + 0.004381083361037708, + -0.0029878364484561826, + 0.02325799726477111, + 0.06700664223555493, + 0.05051453067795901, + -0.015006177798973107, + 0.0 + ], + [ + 0.00413115934806102, + -0.0044473679121564, + 0.023268690516929667, + 0.07874041239234747, + -0.010503510498387193, + -0.05411999884205862, + 0.0 + ], + [ + 0.0029481103472281944, + -0.002488166220664889, + 0.01727817992992592, + 0.021722813105150562, + 0.03389363476650699, + -0.006423467642576517, + 0.0 + ], + [ + 0.008529914239647884, + 0.016242338923697315, + 0.012646962596620903, + 0.02832382775591306, + 0.01376237484653891, + -0.061976660955803814, + 0.0 + ], + [ + 0.008519663880599881, + 0.016277978232494446, + 0.0047440267005064984, + 0.010937018947823148, + -0.004390871041080547, + -0.06437355914556607, + 0.0 + ], + [ + 0.011556928529350918, + 0.021291357030630502, + 0.0026687378564868025, + 0.03251179092287477, + -0.010106205585625546, + -0.07740145439019012, + 0.0 + ], + [ + 0.007730481020825131, + 0.01763594025670137, + -0.008409795455789792, + -0.02320928065362177, + -0.015554202989323208, + -0.051921740793337, + 0.0 + ], + [ + 0.0010773059775497362, + 0.006053056720581443, + -0.012105084471771083, + -0.00043359568295124314, + -0.03052706710368055, + -0.03115010192820011, + 0.0 + ], + [ + 0.002173646972222665, + 0.005091938092026016, + -0.005044151308695108, + -0.015791676791203947, + -0.0012305550731021196, + -0.020056774473279266, + 0.0 + ], + [ + -0.00029046526618486945, + 0.0016346136461777294, + -0.0031535968734332648, + -0.010244127373793498, + -0.00192485014590637, + -0.004592001164074829, + 0.09304000000000001 + ], + [ + -0.00019989923546887, + -0.00020739381802428736, + -0.0008281256781200591, + -0.021124457492005103, + -0.003978637608037046, + -0.007998929475461224, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 294.08819580078125, + 101.25141906738281 + ], + [ + 294.193115234375, + 101.3344955444336 + ], + [ + 293.2083740234375, + 123.37723541259766 + ], + [ + 295.48284912109375, + 123.5534439086914 + ], + [ + 297.11773681640625, + 124.8464126586914 + ], + [ + 299.7486267089844, + 125.569580078125 + ], + [ + 300.4230041503906, + 135.4429473876953 + ], + [ + 297.6942138671875, + 143.9542694091797 + ], + [ + 292.74798583984375, + 150.13623046875 + ], + [ + 289.2518310546875, + 161.44212341308594 + ], + [ + 286.66241455078125, + 164.06361389160156 + ], + [ + 285.9431457519531, + 165.94052124023438 + ], + [ + 281.54412841796875, + 167.0224609375 + ], + [ + 292.20623779296875, + 149.0334014892578 + ], + [ + 306.5296630859375, + 140.22421264648438 + ], + [ + 321.32977294921875, + 116.08766174316406 + ], + [ + 311.30133056640625, + 84.00215911865234 + ], + [ + 290.9015197753906, + 58.38202667236328 + ], + [ + 281.908203125, + 51.12681198120117 + ], + [ + 278.98016357421875, + 55.52616500854492 + ], + [ + 264.75244140625, + 59.804222106933594 + ], + [ + 260.7187805175781, + 64.1963119506836 + ], + [ + 264.1309814453125, + 67.30580139160156 + ], + [ + 266.09393310546875, + 68.54129028320312 + ] + ], + "depth_max": 1.6121994256973267, + "depth_min": 0.5932304859161377, + "intrinsic": [ + [ + 504.8348083496094, + 0.0, + 259.0 + ], + [ + 0.0, + 504.7916564941406, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.5052677301573567e-05, + -9.924628102453426e-05, + -1.7379443306708708e-06 + ], + [ + -2.5051789634744637e-05, + 1.0, + 8.930653166316915e-06, + -2.8628237487282604e-06 + ], + [ + 9.924649930326268e-05, + -8.928166607802268e-06, + 1.0, + 2.277934254379943e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 296.0, + 178.25001525878906 + ], + [ + 295.81512451171875, + 178.5054473876953 + ], + [ + 295.7239990234375, + 178.44369506835938 + ], + [ + 295.7483215332031, + 178.46127319335938 + ], + [ + 295.94580078125, + 178.50332641601562 + ], + [ + 295.47503662109375, + 178.31884765625 + ], + [ + 295.7294006347656, + 178.86038208007812 + ], + [ + 295.5775451660156, + 178.45314025878906 + ], + [ + 295.0382385253906, + 178.35952758789062 + ], + [ + 294.6885681152344, + 179.23715209960938 + ], + [ + 294.04364013671875, + 179.495849609375 + ], + [ + 293.9715576171875, + 179.29058837890625 + ], + [ + 289.3463134765625, + 181.0658416748047 + ], + [ + 297.32269287109375, + 165.3174285888672 + ], + [ + 311.1227111816406, + 157.7109832763672 + ], + [ + 323.9176330566406, + 135.45773315429688 + ], + [ + 313.4646301269531, + 102.37564849853516 + ], + [ + 291.8453369140625, + 78.80077362060547 + ], + [ + 281.535400390625, + 70.28823852539062 + ], + [ + 278.9388427734375, + 74.3418960571289 + ], + [ + 265.2293701171875, + 78.08707427978516 + ], + [ + 261.1949157714844, + 83.79373931884766 + ], + [ + 265.3514099121094, + 86.52760314941406 + ], + [ + 271.7765808105469, + 98.44454956054688 + ] + ] +} \ No newline at end of file diff --git a/002089/lang.txt b/002089/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..35db9342ac6f780d99d30619ad8c5454d568fe8f --- /dev/null +++ b/002089/lang.txt @@ -0,0 +1 @@ +put corn in pan which is on stove diff --git a/002089/object.ply b/002089/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..f2394f5b617e7762a85ad6c5272a284fc3a295f1 Binary files /dev/null and b/002089/object.ply differ diff --git a/002089_v2/FAIL b/002089_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/002089_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/002116_v2/FAIL b/002116_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/002116_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/002118/data.json b/002118/data.json new file mode 100644 index 0000000000000000000000000000000000000000..8df985a231573b3ad04c86a2cd98d1d1740e5335 --- /dev/null +++ b/002118/data.json @@ -0,0 +1,439 @@ +{ + "action_start": 5, + "action_end": 15, + "object_name": "corn", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.748718, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.052259000000000055, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 4.4181697189671354e-10, + 2.5780085011195553e-10, + 2.2550871586757282e-10, + -3.1829248055576206e-07, + -3.8973300157921904e-07, + -8.225821032213272e-07, + 1.0 + ], + [ + 0.00014890445153242782, + 0.00102938143771443, + -0.0019045613041036372, + -0.008083981699834847, + -0.0005008728942208698, + 0.000811938209165474, + 1.0 + ], + [ + 0.0009513058655840068, + 0.0022378065588369717, + -0.0014890554657187582, + -0.0063543732527892435, + -0.0007321758448981176, + -0.004040461477791353, + 1.0 + ], + [ + 0.0004884427009577696, + 0.0017461158919331726, + -0.005206000273848568, + -0.04153229594141413, + 0.001529255103401213, + 0.015012956985742404, + 1.0 + ], + [ + 0.0010931678279999524, + 0.0025850629543662934, + -0.006042996249894045, + -0.017754844071333077, + -0.013760856631134482, + 0.003170932133613598, + 1.0 + ], + [ + 0.0007130785309605314, + 0.0014142488426682615, + -0.0033318704576914583, + 0.00017979892561529077, + -0.005241232213639033, + 0.01125117629123249, + 0.748718 + ], + [ + 0.0004890807594789548, + -8.307505160849715e-05, + -0.0002748479537820689, + 0.002667988572640173, + -0.003727817341315046, + 0.006377567522407736, + 0.0 + ], + [ + 0.0027730995897823907, + 0.0006587294742313593, + 0.009100490759163603, + 0.03790027414487736, + 0.006578452993091567, + -0.007843883044420652, + 0.0 + ], + [ + 0.006239976686115756, + 0.009620665146869989, + 0.026936357437618293, + 0.08767409445087285, + -0.014013053688732463, + -0.03055177669822764, + 0.0 + ], + [ + 0.003807292280821717, + 0.004467121271338373, + 0.028888742011558697, + 0.08793221744030924, + 0.0004762041829092002, + 0.000364589172888507, + 0.0 + ], + [ + 0.005426730766060095, + 0.010097256347932113, + 0.026949724704850776, + 0.08119448739986869, + 0.002770063030378272, + -0.03336891687826534, + 0.0 + ], + [ + 0.01122017509083667, + 0.011050045384935717, + 0.012385932121187299, + 0.06395055469757663, + -0.019852401479146794, + -0.05194246978645304, + 0.0 + ], + [ + 0.017846827094294804, + 0.014361669397318505, + -0.004347684128451712, + -0.013580213358590588, + -0.010551985171039847, + -0.07578082364823911, + 0.0 + ], + [ + 0.015034723696210173, + 0.00746526883742317, + -0.01073998783415013, + -0.03535776036790584, + -0.014086818097566222, + -0.05134421329413554, + 0.0 + ], + [ + 0.008920941203994504, + 0.0019906246052907584, + -0.016431251259470703, + -0.0649179146769163, + 0.0015306648697141964, + -0.012778939667855071, + 0.0 + ], + [ + 0.0001976487168082186, + -0.00031841949587871343, + -0.012736880816776514, + -0.06147782665395061, + 0.004258443466449405, + 0.00018737649986791432, + 0.052259000000000055 + ], + [ + 0.0014881216928034346, + 0.0011907515061062302, + 0.00045363373456584755, + -0.003342974932297732, + 0.0007194054109117158, + -0.023825336035034103, + 1.0 + ], + [ + -0.0004575535051886681, + -0.0004428455312362467, + -0.0004920605662256453, + -0.016103599529967358, + 0.0031026873961590286, + -0.003491088246770511, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 273.511962890625, + 136.41224670410156 + ], + [ + 273.5269775390625, + 136.25628662109375 + ], + [ + 272.529541015625, + 155.7063446044922 + ], + [ + 274.72509765625, + 156.94114685058594 + ], + [ + 274.6386413574219, + 157.05911254882812 + ], + [ + 269.7047119140625, + 166.1291961669922 + ], + [ + 265.48187255859375, + 166.20712280273438 + ], + [ + 266.4996032714844, + 166.87286376953125 + ], + [ + 268.32574462890625, + 165.41317749023438 + ], + [ + 261.427734375, + 164.33648681640625 + ], + [ + 254.544677734375, + 141.6624755859375 + ], + [ + 254.03990173339844, + 101.72724914550781 + ], + [ + 261.9829406738281, + 77.02848815917969 + ], + [ + 261.5142822265625, + 53.86698913574219 + ], + [ + 261.08697509765625, + 28.398662567138672 + ], + [ + 254.21530151367188, + 42.7701416015625 + ], + [ + 258.2198486328125, + 54.029972076416016 + ], + [ + 267.4258728027344, + 67.50601959228516 + ], + [ + 266.1241455078125, + 62.35969543457031 + ], + [ + 262.6431579589844, + 61.602622985839844 + ], + [ + 261.9744873046875, + 61.86205291748047 + ] + ], + "depth_max": 1.6204479932785034, + "depth_min": 0.48219725489616394, + "intrinsic": [ + [ + 507.8025207519531, + 0.0, + 259.0 + ], + [ + 0.0, + 507.8270568847656, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.3456704436975997e-05, + -8.913548663258553e-05, + -3.6905112210661173e-06 + ], + [ + -1.345588043477619e-05, + 1.0, + 9.241878615284804e-06, + -2.816660526150372e-06 + ], + [ + 8.913561759982258e-05, + -9.240679901267868e-06, + 1.0, + 4.251945028954651e-06 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 20 + ], + "object_trajectory": [ + [ + 273.25, + 178.0 + ], + [ + 273.19635009765625, + 178.02517700195312 + ], + [ + 273.5460205078125, + 178.95327758789062 + ], + [ + 273.3930969238281, + 179.42056274414062 + ], + [ + 273.31982421875, + 179.8638458251953 + ], + [ + 272.8294982910156, + 179.98489379882812 + ], + [ + 273.446533203125, + 180.00225830078125 + ], + [ + 269.2558898925781, + 179.95809936523438 + ], + [ + 269.7842102050781, + 179.7898406982422 + ], + [ + 260.8463134765625, + 178.52859497070312 + ], + [ + 251.66592407226562, + 157.41021728515625 + ], + [ + 249.6864471435547, + 120.48312377929688 + ], + [ + 256.4530029296875, + 94.33880615234375 + ], + [ + 255.85894775390625, + 70.93871307373047 + ], + [ + 256.4512939453125, + 43.061073303222656 + ], + [ + 251.1243896484375, + 58.549320220947266 + ], + [ + 256.69970703125, + 69.87818908691406 + ], + [ + 268.0152587890625, + 84.13105010986328 + ], + [ + 284.67608642578125, + 98.61627197265625 + ], + [ + 282.8002014160156, + 99.11736297607422 + ], + [ + 282.97076416015625, + 99.4134521484375 + ] + ] +} \ No newline at end of file diff --git a/002118/lang.txt b/002118/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..35db9342ac6f780d99d30619ad8c5454d568fe8f --- /dev/null +++ b/002118/lang.txt @@ -0,0 +1 @@ +put corn in pan which is on stove diff --git a/002118/object.ply b/002118/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..9bfc22bc511dbf2a6c0b99ddbdf639e498c3a816 Binary files /dev/null and b/002118/object.ply differ diff --git a/002139_v2/FAIL b/002139_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/002139_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/002142_v2/FAIL b/002142_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/002142_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/002153/FAIL b/002153/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/002153/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/002160/data.json b/002160/data.json new file mode 100644 index 0000000000000000000000000000000000000000..61db21f999df3d16e39dc91373f46243f19235da --- /dev/null +++ b/002160/data.json @@ -0,0 +1,403 @@ +{ + "action_start": 5, + "action_end": 15, + "object_name": "corn", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.34187999999999996, + 0.915507, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 8.363809644862386e-12, + -3.018064548276911e-10, + -8.07819783288366e-12, + 9.022495695085444e-09, + 2.63025047174587e-08, + -9.822717784804828e-08, + 1.0 + ], + [ + 0.0010126971640104787, + 0.003819078100807047, + -0.0091589411507699, + -0.003210886632376068, + -0.014145571266631579, + 0.000710869859861267, + 1.0 + ], + [ + 0.0014177292319960677, + 0.0032103777174100345, + -0.011279589537707899, + -0.0032571930642244376, + -0.02588587189498564, + -0.003026245608019886, + 1.0 + ], + [ + -0.0016995682891811636, + 0.0014407223322394636, + -0.012842135555708727, + 0.0053376926617390765, + -0.019660812104808637, + 0.0012327778952375028, + 1.0 + ], + [ + -0.0017742823929097762, + 0.002174400731113982, + -0.0077260573915839716, + -0.004821805668630026, + -0.01070353160113954, + 0.0006489934479874744, + 1.0 + ], + [ + -0.0014305281742322817, + 0.0014517837444309734, + -0.008190283197137174, + -0.0050547314916018216, + -0.019422610927121466, + 0.003520449277821539, + 1.0 + ], + [ + 0.0007052609112033204, + -0.00038012216387636744, + 0.0038925577600987474, + 0.014092843196538368, + 0.0017913992687284227, + -0.0002383998907681223, + 0.0 + ], + [ + 0.0017518680328810765, + -0.00028981865858918043, + 0.016314058888441483, + 0.020084259183134206, + 0.02387819142446457, + 0.0017661595498516273, + 0.0 + ], + [ + 0.0016902349433185748, + -0.0007251940271260082, + 0.03270719625475621, + 0.040193117030631054, + 0.06505421989584356, + 0.0047807261726814905, + 0.0 + ], + [ + 0.012437313410622375, + 0.0007788346224249232, + 0.036167806452704315, + 0.0628180802273764, + 0.0395085926184142, + -0.02629371453671697, + 0.0 + ], + [ + 0.019794376312727735, + 0.002023401857936896, + 0.010027092483815433, + 0.03468210279796355, + -0.007936498474121595, + -0.07047932091574588, + 0.0 + ], + [ + 0.013240977200528137, + 0.00473121177178408, + -0.010405191851220838, + -0.004994706218801132, + -0.029304429699668302, + -0.0541201803205471, + 0.0 + ], + [ + 0.007089661605285735, + 0.011656223492923612, + -0.017246305928836816, + -0.03193667294407411, + -0.024404085841497555, + -0.04556740775642426, + 0.0 + ], + [ + 0.006262207777738837, + 0.00817329942644103, + -0.013561041404347704, + 0.019991935478927345, + -0.06320752636807264, + -0.06822848642275303, + 0.0 + ], + [ + 0.004736754631215756, + -0.00023157717685517998, + -0.003380325386864641, + 0.020688981682824157, + -0.04338948990138065, + -0.04406229992968411, + 0.34187999999999996 + ], + [ + 0.0035644625017243192, + -0.002658693550919744, + 0.0026035074254006224, + -0.023244808027881737, + 0.008762369910217312, + -0.0007283491401624596, + 0.915507 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 169.263427734375, + 173.82745361328125 + ], + [ + 169.1722412109375, + 173.8114776611328 + ], + [ + 170.79855346679688, + 185.12435913085938 + ], + [ + 175.033447265625, + 192.1480255126953 + ], + [ + 173.7080078125, + 203.92495727539062 + ], + [ + 176.33370971679688, + 218.24420166015625 + ], + [ + 172.48423767089844, + 224.83416748046875 + ], + [ + 172.17356872558594, + 234.29864501953125 + ], + [ + 168.6832275390625, + 235.8784942626953 + ], + [ + 161.17088317871094, + 223.34890747070312 + ], + [ + 162.46176147460938, + 180.67343139648438 + ], + [ + 170.03515625, + 133.26669311523438 + ], + [ + 182.9116973876953, + 101.51567077636719 + ], + [ + 195.77066040039062, + 111.98174285888672 + ], + [ + 187.33935546875, + 124.08638000488281 + ], + [ + 193.46141052246094, + 122.59455108642578 + ], + [ + 197.32839965820312, + 122.5872573852539 + ], + [ + 200.602294921875, + 122.92196655273438 + ], + [ + 200.26138305664062, + 122.64002227783203 + ] + ], + "depth_max": 1.6447012424468994, + "depth_min": 0.46116188168525696, + "intrinsic": [ + [ + 529.0404663085938, + 0.0, + 259.0 + ], + [ + 0.0, + 529.8151245117188, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.3782438297057524e-05, + -5.731609053327702e-05, + -1.1882597391377203e-05 + ], + [ + -4.378588710096665e-05, + 1.0, + -6.0169000789755955e-05, + 5.155462531547528e-06 + ], + [ + 5.7313456636620685e-05, + 6.017151099513285e-05, + 1.0, + -2.4550095986342058e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18 + ], + "object_trajectory": [ + [ + 182.0, + 250.75 + ], + [ + 182.00640869140625, + 250.65036010742188 + ], + [ + 182.03656005859375, + 251.0588836669922 + ], + [ + 181.71473693847656, + 250.36541748046875 + ], + [ + 181.64712524414062, + 250.2636260986328 + ], + [ + 181.61920166015625, + 249.90310668945312 + ], + [ + 181.2967529296875, + 250.59255981445312 + ], + [ + 181.3292999267578, + 251.77047729492188 + ], + [ + 181.25634765625, + 253.71719360351562 + ], + [ + 175.35379028320312, + 243.0541229248047 + ], + [ + 171.61834716796875, + 206.43832397460938 + ], + [ + 173.11334228515625, + 160.16995239257812 + ], + [ + 181.25927734375, + 125.05722045898438 + ], + [ + 194.13746643066406, + 136.65463256835938 + ], + [ + 188.99925231933594, + 148.43089294433594 + ], + [ + 194.43690490722656, + 148.22216796875 + ], + [ + 197.7269287109375, + 150.05213928222656 + ], + [ + 199.18531799316406, + 156.69772338867188 + ], + [ + 197.15841674804688, + 151.3788604736328 + ] + ] +} \ No newline at end of file diff --git a/002160/lang.txt b/002160/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..35db9342ac6f780d99d30619ad8c5454d568fe8f --- /dev/null +++ b/002160/lang.txt @@ -0,0 +1 @@ +put corn in pan which is on stove diff --git a/002160/object.ply b/002160/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..91a0766c09172882f75ee188a84c13b4eaed3419 Binary files /dev/null and b/002160/object.ply differ diff --git a/002160_v2/data.json b/002160_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..4b27fe226a01cde2a01e85cb367d28b5c99781a2 --- /dev/null +++ b/002160_v2/data.json @@ -0,0 +1,733 @@ +{ + "action_start": 5, + "action_end": 23, + "object_name": "purple cloth", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.9202750500824095e-10, + -7.716688399383997e-12, + 7.432888332603582e-11, + 9.97290121597337e-08, + -3.42771577851418e-07, + -4.963976773952022e-08, + 1.0 + ], + [ + 0.007038608824710191, + -0.0012015703540025069, + -0.017205140195265194, + -0.0075749574826405154, + -0.0022571974027825524, + 0.01812822511438662, + 1.0 + ], + [ + 0.006405556927376266, + -0.003997099290286049, + -0.01815372373533968, + 0.01343102312256626, + 0.02390361544945475, + 0.016878254474659283, + 1.0 + ], + [ + 0.006380100686062706, + -0.004923773742690402, + -0.018468911364107915, + 0.011785881038169544, + -0.0020726926212505693, + 0.003250232839530244, + 1.0 + ], + [ + 0.006699763283115057, + -0.0005348353451348764, + -0.015648886786869116, + 0.013955803477786289, + 0.004258531047680957, + 0.02834217782945333, + 1.0 + ], + [ + 0.003342241968310622, + 0.0016661481352569785, + -0.015160265344972036, + -0.00888028601087606, + 0.03780856180774039, + 0.0006038251293280195, + 1.0 + ], + [ + -0.0012729621428823612, + -0.0001405567219371351, + -0.012459152072680078, + 0.00487639893880004, + 0.019541364204626845, + 0.01945361135010751, + 0.0 + ], + [ + -0.0038338568602594436, + -0.0009499454016139719, + -0.0032857518504009614, + 0.006659222012057645, + 0.010590204013273924, + 0.0157722621575763, + 0.0 + ], + [ + -0.003397701359240224, + 0.00022852523829719473, + 0.0010241220302211196, + -0.007819571009010307, + 0.001998835157408983, + 0.011019203252951424, + 0.0 + ], + [ + -0.0014804267710552543, + 0.00302771070914562, + 0.0027885099617597775, + 0.0014533146693086777, + -0.0024194674623323727, + 0.00567413736763393, + 0.0 + ], + [ + 0.002199579739236901, + 0.0033123571629812554, + 0.008796433184347266, + 0.003523176464007962, + -0.01768176814982519, + -0.005853344110854848, + 0.0 + ], + [ + 0.0012976645270941778, + 0.004249758985972657, + 0.0162372638627927, + -0.005919959724339234, + -0.04046542295612707, + 0.00021227076218965758, + 0.0 + ], + [ + -0.0003102996655436896, + 0.007590510345484192, + 0.02147012321900442, + -0.006614418285712131, + -0.046122545470603946, + 0.005288238954804594, + 0.0 + ], + [ + -0.0017829136212734187, + 0.007716193456082626, + 0.0181362564570155, + -0.014124701078634378, + -0.03473738838376434, + 0.004831073762520651, + 0.0 + ], + [ + -0.005540110272773735, + 0.01390431061385726, + 0.02468736922466675, + -0.007262870353937272, + -0.051096904673904375, + 0.01995179342178654, + 0.0 + ], + [ + -0.012157187187654572, + 0.030079117065556632, + 0.029126591265308706, + -0.0003911086564149234, + -0.03340645671176076, + 0.060373439102973936, + 0.0 + ], + [ + -0.00822003050106751, + 0.03189705919354521, + 0.01939435286013942, + 0.012513228026889514, + -0.023758847503084136, + 0.0662188435925949, + 0.0 + ], + [ + -0.006149262303256187, + 0.03039143893739857, + 0.007383760283041045, + 0.006543971662608023, + -0.011192754126041917, + 0.08214726146619114, + 0.0 + ], + [ + 0.0008831271857965006, + 0.025221296812846117, + -0.009817346968043247, + 0.027487904892831077, + 0.03335369632499992, + 0.06566142410998285, + 0.0 + ], + [ + 0.002594179520040041, + 0.024870420532427964, + -0.00687090531950918, + 0.020684870482545678, + 0.018685941357360642, + 0.08044586249840782, + 0.0 + ], + [ + 0.0016144685518998947, + 0.017042075001293518, + -0.011427003453712704, + 0.0002000593753566828, + 0.025569942807732293, + 0.06182070971444697, + 0.0 + ], + [ + 0.0022748008949459164, + 0.008740091370348396, + -0.013343164914790123, + 0.023115209104190723, + 0.03700467808839017, + 0.027594507544036515, + 0.0 + ], + [ + 0.0005488148237280388, + 0.0018524663287207074, + -0.016871358972524557, + -0.007676227630114505, + 0.03805799605856982, + 0.007305928645647037, + 0.0 + ], + [ + -0.002536281201837659, + -0.005964417800441914, + -0.021032347339520106, + -0.015651126028984826, + 0.020670750923597766, + 0.01823544628956669, + 0.0 + ], + [ + -0.0073937036748513985, + -0.0017495701843822792, + -0.008401344233287405, + -0.021393166059225033, + 0.011401828015393843, + 0.08684474884356001, + 1.0 + ], + [ + 0.0007064264883853422, + -0.0014573181056731915, + -0.0034368189454710256, + -0.006969769166767362, + 0.026934073296259776, + 0.011386619187668904, + 1.0 + ], + [ + 0.002521220119621803, + -0.0034350545448229644, + 0.002582613806282552, + 0.000601985011569364, + 0.0037341960616170265, + -0.016317488926540318, + 1.0 + ], + [ + -0.00022978919572796963, + -0.0008056553407534278, + 0.0008746923199477313, + -0.006161444144472843, + 0.004853436843323768, + -0.00474202941950911, + 1.0 + ], + [ + 0.0020295415555109664, + -0.00047378757267269034, + 0.0035606320224116474, + -0.013876079259013099, + -0.017796916231631904, + -0.000478604343568654, + 1.0 + ], + [ + 0.002363592374931084, + -0.0014423403536835896, + 0.0036994925661727306, + -0.012030071129233608, + -0.013194645159290091, + -0.0056273436159268, + 1.0 + ], + [ + 0.003478172667374324, + -0.004495771499524251, + 0.009608914684229235, + -0.004436291203951401, + -0.02506918865029633, + -0.01833337766220713, + 1.0 + ], + [ + 0.0028706976634642334, + -0.0037707072460616275, + 0.017715401625395352, + -0.028724462031370968, + 0.011867045058818288, + -0.05985806615606235, + 1.0 + ], + [ + -0.0022049969676982695, + -0.0015963568196807262, + 0.01845643349781618, + 0.04232844415450923, + -0.007217093815207672, + -0.016571972867012966, + 1.0 + ], + [ + 0.0005010556119653675, + -0.004593288206567802, + 0.016812573128721392, + 0.04708896063112784, + -0.031062860237374017, + -0.08018397253346304, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 477.3465576171875, + 369.5174560546875 + ], + [ + 477.5995788574219, + 376.09881591796875 + ], + [ + 470.5611572265625, + 394.14556884765625 + ], + [ + 469.5416564941406, + 404.8359680175781 + ], + [ + 470.34075927734375, + 411.07867431640625 + ], + [ + 471.2890625, + 415.5011901855469 + ], + [ + 475.7275085449219, + 426.46771240234375 + ], + [ + 474.23577880859375, + 428.8347473144531 + ], + [ + 476.2966613769531, + 429.6879577636719 + ], + [ + 476.34539794921875, + 431.68536376953125 + ], + [ + 477.9647216796875, + 436.09405517578125 + ], + [ + 475.3165283203125, + 435.6502380371094 + ], + [ + 457.74114990234375, + 428.415771484375 + ], + [ + 451.6435546875, + 411.472412109375 + ], + [ + 442.50421142578125, + 394.7438049316406 + ], + [ + 423.76123046875, + 374.9454650878906 + ], + [ + 378.47857666015625, + 340.69012451171875 + ], + [ + 329.408203125, + 309.0518798828125 + ], + [ + 279.02239990234375, + 289.0645751953125 + ], + [ + 247.625, + 285.46697998046875 + ], + [ + 221.6365966796875, + 283.06549072265625 + ], + [ + 198.47601318359375, + 277.81011962890625 + ], + [ + 192.23272705078125, + 284.5433349609375 + ], + [ + 196.4241943359375, + 298.5141296386719 + ], + [ + 203.8134765625, + 314.75103759765625 + ], + [ + 205.07095336914062, + 320.6650695800781 + ], + [ + 214.857177734375, + 327.5622253417969 + ], + [ + 220.373779296875, + 335.2255554199219 + ], + [ + 214.77857971191406, + 337.1891174316406 + ], + [ + 216.51295471191406, + 339.14801025390625 + ], + [ + 215.17074584960938, + 338.41094970703125 + ], + [ + 219.9656524658203, + 329.00933837890625 + ], + [ + 230.9072265625, + 305.6363525390625 + ], + [ + 223.2798614501953, + 289.432861328125 + ], + [ + 225.50497436523438, + 275.9886474609375 + ], + [ + 226.28407287597656, + 272.52197265625 + ], + [ + 226.4564666748047, + 272.8441162109375 + ] + ], + "depth_max": 1.31063711643219, + "depth_min": 0.19678162038326263, + "intrinsic": [ + [ + 533.4634399414062, + 0.0, + 259.0 + ], + [ + 0.0, + 532.0587768554688, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.4544111511204392e-05, + 1.108800461224746e-05, + 8.035613063839264e-06 + ], + [ + -2.4544318875996396e-05, + 1.0, + 1.8748427464743145e-05, + 3.626743819040712e-06 + ], + [ + -1.108754349843366e-05, + -1.8748700313153677e-05, + 1.0, + 9.775312719284557e-07 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36 + ], + "object_trajectory": [ + [ + 417.75, + 409.5000305175781 + ], + [ + 417.8743591308594, + 409.7015686035156 + ], + [ + 417.7180480957031, + 409.9693908691406 + ], + [ + 417.8059387207031, + 409.8654479980469 + ], + [ + 418.1259765625, + 409.9742736816406 + ], + [ + 418.32568359375, + 410.1434020996094 + ], + [ + 419.3805236816406, + 411.1856994628906 + ], + [ + 420.0546569824219, + 411.2255554199219 + ], + [ + 420.61920166015625, + 411.2953796386719 + ], + [ + 421.2107238769531, + 411.7352600097656 + ], + [ + 421.38055419921875, + 411.9041442871094 + ], + [ + 416.1377258300781, + 413.59588623046875 + ], + [ + 400.936767578125, + 415.8155822753906 + ], + [ + 396.8602600097656, + 405.6959228515625 + ], + [ + 398.2731628417969, + 395.0935363769531 + ], + [ + 382.10870361328125, + 377.2687683105469 + ], + [ + 341.3910827636719, + 350.513427734375 + ], + [ + 298.15264892578125, + 330.63458251953125 + ], + [ + 245.3705291748047, + 313.0603332519531 + ], + [ + 205.4751434326172, + 306.2122497558594 + ], + [ + 179.80624389648438, + 307.84112548828125 + ], + [ + 159.69091796875, + 313.3290100097656 + ], + [ + 153.37391662597656, + 324.8121643066406 + ], + [ + 155.94371032714844, + 333.1289367675781 + ], + [ + 165.48370361328125, + 332.2926940917969 + ], + [ + 167.6212158203125, + 334.4644470214844 + ], + [ + 176.67832946777344, + 337.66571044921875 + ], + [ + 185.0311279296875, + 343.02178955078125 + ], + [ + 182.4820556640625, + 350.2665100097656 + ], + [ + 184.31820678710938, + 342.5364685058594 + ], + [ + 191.0926513671875, + 346.0112609863281 + ], + [ + 176.11082458496094, + 338.179443359375 + ], + [ + 156.11203002929688, + 332.75543212890625 + ], + [ + 156.99005126953125, + 332.07275390625 + ], + [ + 157.06173706054688, + 332.1598205566406 + ], + [ + 156.97909545898438, + 332.1998291015625 + ], + [ + 156.98931884765625, + 332.23443603515625 + ] + ] +} \ No newline at end of file diff --git a/002160_v2/lang.txt b/002160_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..0e053ce6cba53df87504088bd2797f297687c0b7 --- /dev/null +++ b/002160_v2/lang.txt @@ -0,0 +1 @@ +put the purple cloth in the white basket diff --git a/002198/data.json b/002198/data.json new file mode 100644 index 0000000000000000000000000000000000000000..e76e7ce75d3265c47d2625f7e06b99870f5152a0 --- /dev/null +++ b/002198/data.json @@ -0,0 +1,421 @@ +{ + "action_start": 5, + "action_end": 15, + "object_name": "corn", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.008546999999999971, + 0.054701, + 0.688401, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.551115123125783e-17, + 6.938893903907228e-18, + 1.3877787807814457e-17, + 1.235073168774827e-07, + -4.556299760728537e-09, + 1.659922915000249e-07, + 1.0 + ], + [ + 0.001140205658850757, + 0.005860940974146755, + -0.013468591494126311, + -0.011558745392082894, + -0.02919493156884924, + 0.004941261605941547, + 1.0 + ], + [ + 0.0012378007657816714, + 0.004633828994663761, + -0.011983121916075867, + -0.02610556211012397, + -0.011295152643729097, + 0.009548122611216247, + 1.0 + ], + [ + -0.0017758760611142343, + 0.0003690168837132829, + -0.015186556840600045, + 0.0032275065592828585, + -0.03193849082243019, + 0.016647503691438723, + 1.0 + ], + [ + -0.0009079880414009089, + -0.00020587409813375285, + -0.009419677924828576, + -0.006980017910519536, + -0.01962136096145065, + 0.0097516882022926, + 1.0 + ], + [ + -0.00016086029529244206, + 0.00047104391254404465, + -0.0048472515963532865, + 0.0006297257835347212, + -0.01648033463533164, + 0.009842336231539048, + 1.0 + ], + [ + 0.001145917003501029, + 0.0020416020599544338, + 0.002758188529666172, + -0.008135548628738264, + 0.009935455017791, + -0.0022357592359241404, + 0.0 + ], + [ + -0.0016459114722878199, + 0.0013751153013672884, + 0.010555079408951035, + 0.025322431457482864, + 0.017067970560117728, + -0.0009322717930731211, + 0.0 + ], + [ + -0.0030785626157988077, + 0.002463137202253371, + 0.034817895310791325, + 0.07127598830013332, + 0.06506298946058973, + -0.002477764142400403, + 0.0 + ], + [ + 0.0002488863038850875, + 0.004332022541629364, + 0.030642775139563712, + 0.07577987984316707, + 0.028683787311959627, + -0.001625323772706629, + 0.0 + ], + [ + 0.004688258778158039, + 0.004608488263155901, + 0.021489580869769487, + 0.05587951079286461, + 0.00388517701870174, + -0.01999521620636663, + 0.0 + ], + [ + 0.021275505215701096, + 0.018863504239034094, + -0.0008769990296691316, + 0.022978002941347185, + -0.03548279749535607, + -0.09574393729259638, + 0.0 + ], + [ + 0.01786330941475528, + 0.01706281554255514, + -0.013219102574699965, + -0.030276508181600395, + -0.01233008583671781, + -0.08625095982930545, + 0.0 + ], + [ + 0.019651130261776673, + 0.017058167523345408, + -0.013346216504089708, + -0.06401837518554658, + 0.018493103906419492, + -0.07794502069384655, + 0.008546999999999971 + ], + [ + 0.007033571478230138, + 0.007820857961270272, + -0.007869141940352528, + -0.03030152220247675, + 0.008478683904023163, + -0.032195073259420774, + 0.054701 + ], + [ + -7.499674157679381e-05, + 0.0014790394527907091, + -0.006143462810149311, + -0.0060314233560725345, + -0.012087653437763773, + -0.02152176363273432, + 0.688401 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 268.3680419921875, + 207.50013732910156 + ], + [ + 268.4995422363281, + 207.37803649902344 + ], + [ + 268.3594970703125, + 218.36753845214844 + ], + [ + 264.44573974609375, + 229.7315673828125 + ], + [ + 260.8301696777344, + 241.17034912109375 + ], + [ + 259.18359375, + 257.9344482421875 + ], + [ + 260.2519836425781, + 268.07354736328125 + ], + [ + 260.70355224609375, + 270.421630859375 + ], + [ + 255.10360717773438, + 272.03497314453125 + ], + [ + 245.2164764404297, + 266.9261474609375 + ], + [ + 243.65548706054688, + 222.22967529296875 + ], + [ + 236.44371032714844, + 187.05935668945312 + ], + [ + 234.64651489257812, + 156.79185485839844 + ], + [ + 234.03138732910156, + 133.03211975097656 + ], + [ + 233.58201599121094, + 133.02386474609375 + ], + [ + 235.69061279296875, + 132.27166748046875 + ], + [ + 236.91970825195312, + 133.56500244140625 + ], + [ + 236.5851287841797, + 132.11013793945312 + ], + [ + 237.23715209960938, + 132.41432189941406 + ], + [ + 237.30392456054688, + 132.9903564453125 + ] + ], + "depth_max": 1.6552753448486328, + "depth_min": 0.4255257248878479, + "intrinsic": [ + [ + 522.081298828125, + 0.0, + 259.0 + ], + [ + 0.0, + 522.788330078125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.6093774775072234e-06, + -7.894520240370184e-05, + -5.734056685469113e-06 + ], + [ + -1.612371875125973e-06, + 1.0, + -3.7929858081042767e-05, + 4.186754267720971e-06 + ], + [ + 7.894514419604093e-05, + 3.792998177232221e-05, + 1.0, + 1.9650387912406586e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 19 + ], + "object_trajectory": [ + [ + 258.0, + 285.75 + ], + [ + 258.2394104003906, + 285.6501770019531 + ], + [ + 258.2144775390625, + 286.53363037109375 + ], + [ + 258.2721862792969, + 286.84027099609375 + ], + [ + 258.3121643066406, + 287.04241943359375 + ], + [ + 258.2601318359375, + 286.6355895996094 + ], + [ + 258.6746520996094, + 288.3919677734375 + ], + [ + 258.4648132324219, + 289.094970703125 + ], + [ + 252.58587646484375, + 290.2121887207031 + ], + [ + 241.16395568847656, + 286.535888671875 + ], + [ + 235.94012451171875, + 241.21771240234375 + ], + [ + 229.2322998046875, + 208.1488800048828 + ], + [ + 226.0778045654297, + 177.84423828125 + ], + [ + 226.9465789794922, + 151.0753173828125 + ], + [ + 226.92837524414062, + 152.72520446777344 + ], + [ + 229.55792236328125, + 151.11370849609375 + ], + [ + 231.9492645263672, + 151.14425659179688 + ], + [ + 232.5252685546875, + 150.81797790527344 + ], + [ + 233.5306396484375, + 169.55694580078125 + ], + [ + 242.0013427734375, + 165.4514923095703 + ] + ] +} \ No newline at end of file diff --git a/002198/lang.txt b/002198/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..35db9342ac6f780d99d30619ad8c5454d568fe8f --- /dev/null +++ b/002198/lang.txt @@ -0,0 +1 @@ +put corn in pan which is on stove diff --git a/002198/object.ply b/002198/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..4ae614bfe5da1cbd5d2c3812bbf5b5670fd09934 Binary files /dev/null and b/002198/object.ply differ diff --git a/002214_v2/data.json b/002214_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..30c4f13d2bdbbb370a4105ed205e6711089f38f1 --- /dev/null +++ b/002214_v2/data.json @@ -0,0 +1,806 @@ +{ + "action_start": 14, + "action_end": 27, + "object_name": "basket", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.8556779999999999, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.44053699999999996, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 2.142520882930654e-10, + -3.883674493110334e-10, + -1.0246092039048471e-10, + 2.881921131055738e-07, + -4.7208928013125e-08, + -1.5276376781884614e-08, + 1.0 + ], + [ + 0.01654399777080015, + -0.04683052497780673, + 0.0010804077842054647, + -0.01319241174874472, + -0.009004755811635142, + -0.1487386946806275, + 1.0 + ], + [ + 0.011855948554171658, + -0.040513793261311694, + 0.0013816725987764872, + -0.007227157302489074, + -0.014246779394266343, + -0.13214138185012406, + 1.0 + ], + [ + 0.006610224888318361, + -0.03942908411700504, + 0.000564034610946576, + -0.02414524280207287, + -0.012074698262502775, + -0.11294342193697209, + 1.0 + ], + [ + 0.002842015255036967, + -0.04525292550371951, + 0.002865852707740576, + 0.009316061139518642, + -0.015877437785709565, + -0.13893275878544156, + 1.0 + ], + [ + -0.0001629981710435935, + -0.0346450512820978, + 0.009701718229338189, + 0.009712589565345275, + -0.050568497002646665, + -0.12519631249113192, + 1.0 + ], + [ + -0.0009733404297107562, + -0.026856219698520575, + 0.00035612145567666224, + 0.016982712764681152, + -0.015495811870249027, + -0.12422374161865753, + 1.0 + ], + [ + -0.002289685094750027, + 0.005763529268188239, + -0.011556961225919309, + 0.021302623879109823, + 0.03183029476566327, + 0.02014575197547155, + 1.0 + ], + [ + 0.0012232823698816175, + 0.016324363805555187, + -0.006363855106973694, + 0.0157250458065108, + 0.020088836167919087, + 0.05689639915235002, + 1.0 + ], + [ + 0.00037263907549583974, + 0.009773980429111206, + 0.006161205124761132, + 0.01296414600441843, + -0.01387007998667565, + 0.03569548211357672, + 1.0 + ], + [ + -0.0024521301419658803, + 0.007991073806672827, + 0.010951481084280162, + -0.005270697699766062, + -0.03354159991071068, + 0.0374252189527749, + 1.0 + ], + [ + 0.0005222568545535933, + 0.0005266494476104389, + -0.00718041137871499, + 0.010447454775905814, + 0.02795994009819567, + -0.004808464916804075, + 1.0 + ], + [ + -0.0004634279407104702, + -0.000229691713981503, + 4.96713775370312e-05, + -0.0035890098749938428, + -0.006874200936373351, + 0.007104425535554413, + 1.0 + ], + [ + 0.0002038513039329115, + 4.80310110240606e-05, + -0.01066970348309057, + 0.00056779107098015, + 0.03885667824595639, + 0.0008739101726906518, + 1.0 + ], + [ + 0.005588444294248318, + -0.002207551498828078, + -0.012640377993151925, + -0.001435647183538932, + 0.018993459060561015, + 0.003103471179003043, + 0.8556779999999999 + ], + [ + 0.0035956473667921873, + -0.0025219115405057113, + -0.010734551296935214, + -0.00015837132730659267, + 0.018499011753464713, + -0.0018412016458634777, + 0.0 + ], + [ + -0.00048566878360201127, + 0.001360721258326314, + -0.00204208034772934, + 0.010644977043891366, + -0.00347284515747424, + 0.013225868163545946, + 0.0 + ], + [ + -0.00031329776010918797, + 0.001978423054692674, + 0.0014830860190763323, + 0.009658183952440003, + -0.004687248100392958, + 0.011108269746074487, + 0.0 + ], + [ + 0.0007072338770838238, + 0.00590061245160034, + 0.0033317938029182592, + 0.00271788113157551, + -0.009484514842903507, + 0.021973176304526124, + 0.0 + ], + [ + 0.001578365140623872, + 0.010540675713820002, + 0.008619117451244038, + -0.003885187857961774, + -0.015523670985567325, + 0.0327028105535488, + 0.0 + ], + [ + -0.0005045911679473214, + 0.0149788783001428, + 0.014984888022215606, + -0.00333059750392026, + -0.015048838347231436, + 0.033187078936417036, + 0.0 + ], + [ + -0.0032543212993569326, + 0.017209003920005544, + 0.012637969837353664, + -0.013747826208486441, + -0.012757351028532038, + 0.043851545605142206, + 0.0 + ], + [ + -0.0038485967313511282, + 0.026877717216431347, + 0.0013716082022695742, + 0.018882733943297685, + 0.00376107835182055, + 0.07212420412789415, + 0.0 + ], + [ + -0.0004791624473767242, + 0.026455953331755173, + -0.011085264722456304, + 0.019770195275788854, + 0.03234450821211148, + 0.07388053892727381, + 0.0 + ], + [ + 0.00031876807030789545, + 0.030304500901237204, + -0.009741560244705752, + 0.0032469421317931975, + 0.029333311872220564, + 0.09431691928043082, + 0.0 + ], + [ + 0.0030860443100442225, + 0.025583184518779604, + -0.005447995704058205, + 0.006020877916044976, + 0.007424288537487313, + 0.0714261914952409, + 0.0 + ], + [ + -0.002039125202387082, + 0.0025708030576708576, + -0.015071413219420494, + -0.015769697198799153, + 0.03432524292665238, + 0.01189899313883741, + 0.0 + ], + [ + -0.008676664539786105, + -0.003729254998896342, + -0.01022328787473338, + -0.004519629502003825, + 0.04884048753249588, + 0.03037429097419233, + 0.44053699999999996 + ], + [ + 0.00046995244039543804, + -0.003771551848885883, + 0.0025247556417807224, + 0.018584521745153987, + -0.0027875365037203347, + -0.010037495410349172, + 1.0 + ], + [ + 0.0010532732176248283, + -0.0029293550968730736, + 0.008391656779418957, + 0.012022641086865866, + -0.018087767863988604, + -0.016131247728644327, + 1.0 + ], + [ + -0.0020772135965944627, + 0.0005178550979531363, + 0.012704114656234618, + 0.013771645366220457, + -0.026362601343577752, + -0.016185885694598882, + 1.0 + ], + [ + -0.001884754539864919, + 0.0028107160934134276, + 0.018473436474147568, + 0.011148187961537001, + -0.050116937798543974, + -0.005458623332586466, + 1.0 + ], + [ + -0.003861117139111969, + 0.0011454073961070232, + 0.023036508360936354, + 0.02035826983690601, + -0.05849670868663447, + -0.01106581951694081, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 190.3023681640625, + 277.0965576171875 + ], + [ + 190.99085998535156, + 282.048828125 + ], + [ + 225.84243774414062, + 287.74847412109375 + ], + [ + 285.8062438964844, + 301.9378662109375 + ], + [ + 336.4459228515625, + 317.9994812011719 + ], + [ + 386.9552917480469, + 336.7276611328125 + ], + [ + 435.31396484375, + 363.6773681640625 + ], + [ + 475.05926513671875, + 379.8767395019531 + ], + [ + 475.0059814453125, + 393.94110107421875 + ], + [ + 455.0531311035156, + 380.6531982421875 + ], + [ + 438.85430908203125, + 381.1860656738281 + ], + [ + 425.8716735839844, + 373.8056945800781 + ], + [ + 422.76702880859375, + 373.9932861328125 + ], + [ + 424.714599609375, + 372.3547058105469 + ], + [ + 423.65203857421875, + 379.1985778808594 + ], + [ + 423.81805419921875, + 380.9521484375 + ], + [ + 430.56341552734375, + 383.1101989746094 + ], + [ + 432.7848815917969, + 381.23773193359375 + ], + [ + 432.4140319824219, + 380.4619140625 + ], + [ + 430.65155029296875, + 381.6289978027344 + ], + [ + 417.10980224609375, + 374.2149963378906 + ], + [ + 397.1966247558594, + 356.4693603515625 + ], + [ + 365.9322509765625, + 333.1393737792969 + ], + [ + 330.70526123046875, + 321.3166198730469 + ], + [ + 300.30328369140625, + 310.8847351074219 + ], + [ + 272.27178955078125, + 306.42901611328125 + ], + [ + 250.95103454589844, + 296.352783203125 + ], + [ + 238.55653381347656, + 296.6096496582031 + ], + [ + 239.33505249023438, + 305.8622131347656 + ], + [ + 236.22433471679688, + 324.32049560546875 + ], + [ + 241.95130920410156, + 326.604736328125 + ], + [ + 239.89431762695312, + 323.1656494140625 + ], + [ + 238.07318115234375, + 308.59259033203125 + ], + [ + 230.27947998046875, + 293.3886413574219 + ], + [ + 228.95123291015625, + 288.68798828125 + ], + [ + 228.70193481445312, + 288.75567626953125 + ], + [ + 228.60037231445312, + 288.70184326171875 + ], + [ + 228.9007568359375, + 288.99066162109375 + ], + [ + 228.56910705566406, + 289.00982666015625 + ], + [ + 228.633544921875, + 288.61517333984375 + ], + [ + 228.385009765625, + 288.66748046875 + ] + ], + "depth_max": 1.261735200881958, + "depth_min": 0.360196053981781, + "intrinsic": [ + [ + 541.48046875, + 0.0, + 259.0 + ], + [ + 0.0, + 540.675048828125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.952056431444362e-05, + -2.0470488379942253e-05, + 1.1359603377059102e-05 + ], + [ + -3.9520717109553516e-05, + 1.0, + -7.5603365985443816e-06, + 1.3321347068995237e-05 + ], + [ + 2.0470190065680072e-05, + 7.561145139334258e-06, + 1.0, + -6.871126242913306e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 40 + ], + "object_trajectory": [ + [ + 489.75, + 354.0000305175781 + ], + [ + 489.8044738769531, + 354.1832275390625 + ], + [ + 489.77838134765625, + 354.12957763671875 + ], + [ + 489.8680419921875, + 354.1238708496094 + ], + [ + 489.8956604003906, + 354.08428955078125 + ], + [ + 489.9748840332031, + 354.15423583984375 + ], + [ + 490.30426025390625, + 354.17291259765625 + ], + [ + 490.305908203125, + 354.2047119140625 + ], + [ + 490.3509216308594, + 354.28961181640625 + ], + [ + 489.69415283203125, + 354.21038818359375 + ], + [ + 482.2637939453125, + 349.3814697265625 + ], + [ + 483.48834228515625, + 350.9395751953125 + ], + [ + 483.6175842285156, + 351.166748046875 + ], + [ + 483.9980163574219, + 351.43988037109375 + ], + [ + 484.64080810546875, + 351.72216796875 + ], + [ + 489.56121826171875, + 352.32562255859375 + ], + [ + 502.28021240234375, + 356.7582092285156 + ], + [ + 526.3302001953125, + 379.81866455078125 + ], + [ + 532.81103515625, + 395.9031066894531 + ], + [ + 532.0947265625, + 396.644775390625 + ], + [ + 516.6119995117188, + 390.0667724609375 + ], + [ + 493.2889099121094, + 372.1029357910156 + ], + [ + 455.8897705078125, + 362.134033203125 + ], + [ + 428.5242004394531, + 350.0754089355469 + ], + [ + 406.2148132324219, + 337.7225341796875 + ], + [ + 379.000732421875, + 331.4023742675781 + ], + [ + 358.5667724609375, + 317.9466857910156 + ], + [ + 328.8214416503906, + 297.7242431640625 + ], + [ + 326.29949951171875, + 298.8379821777344 + ], + [ + 325.1361083984375, + 300.3644104003906 + ], + [ + 325.1946716308594, + 300.2464599609375 + ], + [ + 324.8351745605469, + 299.7398681640625 + ], + [ + 324.916748046875, + 299.81707763671875 + ], + [ + 324.7669372558594, + 299.8278503417969 + ], + [ + 324.8636169433594, + 300.02252197265625 + ], + [ + 324.8887939453125, + 299.8875427246094 + ], + [ + 324.902587890625, + 299.9242248535156 + ], + [ + 324.9501647949219, + 299.9498291015625 + ], + [ + 324.91387939453125, + 299.8753662109375 + ], + [ + 324.87274169921875, + 299.83135986328125 + ], + [ + 324.93304443359375, + 299.9140625 + ] + ] +} \ No newline at end of file diff --git a/002214_v2/lang.txt b/002214_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..dea8e72b3def97a8f8d0f42cccdb63e932444d32 --- /dev/null +++ b/002214_v2/lang.txt @@ -0,0 +1 @@ +move the basket to the center of the wooden table diff --git a/002217/data.json b/002217/data.json new file mode 100644 index 0000000000000000000000000000000000000000..734c9484d5033f3e488063be7d4eb08b3b1fb4bd --- /dev/null +++ b/002217/data.json @@ -0,0 +1,384 @@ +{ + "action_start": 4, + "action_end": 14, + "object_name": "corn", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.08327200000000001, + 0.891575, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 9.838863057609615e-11, + 2.6225611959862505e-11, + -1.0325570953817476e-10, + 2.0835782252185e-08, + 6.197132915640417e-08, + -1.065500102443917e-07, + 1.0 + ], + [ + 0.003022707836043137, + 0.0007667177480780787, + -0.006472965147642951, + 0.0026447072037879917, + -0.02626061848011162, + -0.008180710381505153, + 1.0 + ], + [ + 0.0045332344149976445, + 0.0033230471455195504, + -0.004863862141321236, + 0.00436940871748435, + -0.025713171939483866, + -0.00407649889183409, + 1.0 + ], + [ + 0.0026056256764668273, + 0.0008710828451485922, + -0.009176046108081037, + -0.025422215592214883, + -0.007120639364794925, + -0.006407419071993437, + 1.0 + ], + [ + 0.0005898481811306144, + 0.0011760805987361886, + -0.009730057265256248, + -0.025100792193565473, + -0.007361410872407071, + 0.003146863565764379, + 1.0 + ], + [ + 0.002176690267897241, + 0.00017548945177257858, + -0.002687758183897059, + 0.00017000419571678424, + -0.005542660752747903, + -0.0027387042769474804, + 0.0 + ], + [ + 0.005120654160587879, + 0.004932271279533558, + 0.010977493742801905, + 0.012378557318906625, + 0.006351746444376479, + -0.014652629256862967, + 0.0 + ], + [ + 0.0029901682658760587, + 0.004357322150534859, + 0.014921192021276756, + 0.05323830546508023, + -0.015183155577442327, + -0.006098817022182082, + 0.0 + ], + [ + -0.0054427912859833505, + 0.008190772110504896, + 0.02766655516150157, + 0.0892037875719523, + -0.01425593337758986, + 0.012721709804356083, + 0.0 + ], + [ + -0.015292744847897388, + 0.015407965697554038, + 0.019951592288917887, + 0.052681566919942246, + 0.008234743598851525, + 0.010841129441099797, + 0.0 + ], + [ + -0.010421124867379783, + 0.010233280472812786, + 0.019099503590225372, + 0.047180258702580524, + 0.0089498781384051, + 0.0005160692527859944, + 0.0 + ], + [ + -0.0180714659123426, + 0.0030685573162142626, + 0.006090892099289973, + -0.01652233814574054, + 0.0371974577689181, + 0.04700880023047925, + 0.0 + ], + [ + -0.021032200981744964, + 0.0064816225034797365, + -0.008669949146736841, + -0.028346958460104377, + -0.008183249366040988, + 0.049523826317635355, + 0.0 + ], + [ + -0.014692518143747113, + 0.0010636429624256843, + -0.011037875976796382, + -0.03096092771927887, + -0.00018503989977623544, + 0.030684133392018226, + 0.08327200000000001 + ], + [ + -0.009035053404371496, + 0.000787994142364537, + -0.012112003207338129, + -0.02607600505789047, + -0.03481782908822829, + 0.011150525146664004, + 0.891575 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 397.70159912109375, + 56.564292907714844 + ], + [ + 397.80035400390625, + 56.49440002441406 + ], + [ + 392.65924072265625, + 89.80625915527344 + ], + [ + 397.71966552734375, + 91.48556518554688 + ], + [ + 400.9559326171875, + 89.58894348144531 + ], + [ + 400.49505615234375, + 103.6170654296875 + ], + [ + 399.1628112792969, + 103.29742431640625 + ], + [ + 395.6424560546875, + 110.9354476928711 + ], + [ + 395.98541259765625, + 99.63873291015625 + ], + [ + 389.3404541015625, + 98.28738403320312 + ], + [ + 375.3265686035156, + 89.09567260742188 + ], + [ + 369.7361755371094, + 52.68992614746094 + ], + [ + 361.12335205078125, + 42.82134246826172 + ], + [ + 349.24835205078125, + 35.97139358520508 + ], + [ + 331.1354064941406, + 56.122474670410156 + ], + [ + 311.960693359375, + 70.22576904296875 + ], + [ + 304.6887512207031, + 90.47468566894531 + ], + [ + 304.90350341796875, + 89.63296508789062 + ] + ], + "depth_max": 2.1676430702209473, + "depth_min": 0.16269928216934204, + "intrinsic": [ + [ + 496.95263671875, + 0.0, + 259.0 + ], + [ + 0.0, + 497.87255859375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.496162778697908e-06, + -8.538183465134352e-05, + -6.8106255639577284e-06 + ], + [ + -2.4997359560074983e-06, + 1.0, + -4.185221405350603e-05, + 1.1828949027403723e-05 + ], + [ + 8.538173278793693e-05, + 4.185242505627684e-05, + 1.0, + -1.4586312317987904e-06 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 17 + ], + "object_trajectory": [ + [ + 390.5, + 108.50000762939453 + ], + [ + 390.87677001953125, + 108.68838500976562 + ], + [ + 388.0903625488281, + 110.37786865234375 + ], + [ + 387.99603271484375, + 110.84759521484375 + ], + [ + 388.10626220703125, + 110.60618591308594 + ], + [ + 391.822021484375, + 109.91266632080078 + ], + [ + 391.9697265625, + 109.91214752197266 + ], + [ + 391.5382385253906, + 110.89923095703125 + ], + [ + 389.40570068359375, + 109.50350952148438 + ], + [ + 385.6856384277344, + 107.93140411376953 + ], + [ + 378.3917236328125, + 101.4071044921875 + ], + [ + 371.38311767578125, + 68.68879699707031 + ], + [ + 362.4924621582031, + 58.41804122924805 + ], + [ + 350.74383544921875, + 54.507381439208984 + ], + [ + 331.43365478515625, + 72.62164306640625 + ], + [ + 311.87298583984375, + 86.8663330078125 + ], + [ + 300.72900390625, + 121.56930541992188 + ], + [ + 304.6405944824219, + 119.64678955078125 + ] + ] +} \ No newline at end of file diff --git a/002217/lang.txt b/002217/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..35db9342ac6f780d99d30619ad8c5454d568fe8f --- /dev/null +++ b/002217/lang.txt @@ -0,0 +1 @@ +put corn in pan which is on stove diff --git a/002217/object.ply b/002217/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..f077fbfc230aac48e8948b5660b0dac7cecfa5a5 Binary files /dev/null and b/002217/object.ply differ diff --git a/002241_v2/data.json b/002241_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..89f425c9d6bdcfaad808dacf0c9b0178346aeb89 --- /dev/null +++ b/002241_v2/data.json @@ -0,0 +1,641 @@ +{ + "action_start": 7, + "action_end": 23, + "object_name": "orange cloth", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.762149, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 0.0, + 1.3877787807814457e-17, + -5.139239289936809e-07, + 1.2965690579368123e-07, + -4.952096405346363e-07, + 1.0 + ], + [ + 0.018329259279080024, + -0.00933322513176496, + -0.023270705218718366, + -0.01004493307932673, + 0.00305868919637649, + -0.04257798717507931, + 1.0 + ], + [ + 0.015825613147571443, + -0.011315244376087143, + -0.02681725121804044, + 0.002543212368204729, + 0.026664999724785293, + -0.06131418313686831, + 1.0 + ], + [ + 0.01247786977494103, + -0.009779601544480078, + -0.030227293326314623, + 0.027971266132493178, + -0.018009034742881125, + -0.030109256873100114, + 1.0 + ], + [ + 0.00801471731402753, + -0.005327989405239798, + -0.01558390984339659, + 0.0281510313996705, + -0.009252685938631431, + -0.010398691350821235, + 1.0 + ], + [ + 0.0058897128120289355, + -0.0022226413657319977, + -0.014696036243819967, + 0.017565452042655347, + -0.004121023577872648, + 0.0071829638802460285, + 1.0 + ], + [ + 0.00470977369511677, + -0.0009903542235677604, + -0.01303863468044699, + 0.0065327571246784465, + 0.029897129473719728, + -0.00926486531039606, + 1.0 + ], + [ + 0.0027363896120485287, + -0.005171137529390274, + -0.01386752671044214, + -0.012372123080593754, + 0.02479799929074633, + -0.0025737757631551267, + 1.0 + ], + [ + -0.0023251723017721493, + -0.004289727942513449, + -0.004691366068088454, + 0.004517672385131382, + 0.0012016212658460584, + 0.0025283660282159463, + 0.0 + ], + [ + -0.0010303187652902501, + -0.002501517896044275, + 0.0035618129408823, + 0.01067406875951985, + -0.0028646432121211306, + -0.010989174232256003, + 0.0 + ], + [ + -0.0014136258439659266, + -0.002877447646989717, + 0.003179127385974534, + -0.005101909305637427, + -0.001339501155228901, + -0.007685291692186161, + 0.0 + ], + [ + -0.0015014095009378003, + -0.00021789663072989407, + 0.005312105641758852, + -0.02828006924908128, + 0.0007626461507913023, + -0.007803940190538935, + 0.0 + ], + [ + 0.0007037186921623473, + -0.0052294078085124845, + 0.013790692055580062, + -0.04233646667857086, + -0.008031800364849117, + -0.03153384941825641, + 0.0 + ], + [ + -0.003562401914926794, + -0.007697409769459845, + 0.020164975450731842, + -0.047093178296116596, + -0.04462873380671193, + -0.021766571973965185, + 0.0 + ], + [ + -0.007648550076386429, + 0.00012530000460350688, + 0.030057076053680888, + -0.008979402869793056, + -0.03208717598836788, + -0.018994569057847688, + 0.0 + ], + [ + -0.008199416691109518, + 0.01624695899443636, + 0.03286846342096508, + -0.009413507768821142, + -0.04212906602133149, + 0.029817836805789227, + 0.0 + ], + [ + -0.003495386281644197, + 0.02794036748898976, + 0.028963102013699626, + 0.024401726470279717, + -0.029319268968702423, + 0.06967689422960653, + 0.0 + ], + [ + 0.000798130235353911, + 0.03816426077070078, + 0.013799294644092464, + 0.010402308110733016, + -0.023482926596789393, + 0.1109803205639136, + 0.0 + ], + [ + 0.0025022516583776966, + 0.03497082056055245, + -0.009305464675818886, + 0.022888016432633433, + -0.019610779247451447, + 0.10449165327338435, + 0.0 + ], + [ + -0.00021515653222403675, + 0.026907750108338086, + -0.025144221894835755, + -0.02013291866880963, + 0.02848384612305473, + 0.07685006390332713, + 0.0 + ], + [ + -0.00021054196232128675, + 0.007409037367958848, + -0.02399713663249825, + 0.01603821903715361, + 0.02923013338324738, + 0.022809915228456757, + 0.0 + ], + [ + -0.003569518863972443, + 0.0038502734360269034, + -0.024151055395611663, + -0.004160511343386718, + 0.02832554028838206, + 0.025166997140413327, + 0.0 + ], + [ + -0.004971173780695531, + 0.002461285885904399, + -0.015577923061787164, + 0.0005498930338932902, + 0.021170086728288993, + 0.04482256348517393, + 0.0 + ], + [ + -0.005721775804003709, + 0.0009708587809930114, + -0.0037958323794605904, + -0.0021394225652948693, + 0.03468725575778927, + 0.0167002430203341, + 0.762149 + ], + [ + 0.003064613821592427, + -0.003333695732915684, + 0.009893913859529823, + 0.007845351576010018, + -0.006955962696057902, + -0.013306519541183765, + 1.0 + ], + [ + 0.0007463510616627922, + -0.0032774633572176942, + 0.0047862414305287135, + -0.008799737679382408, + -0.0009995627096644397, + -0.013280641579770075, + 1.0 + ], + [ + 0.00015625756301526628, + -0.0033767114216416774, + 0.008536080676111984, + -0.01237145587229613, + 0.0015296218192526313, + -0.014224650784765884, + 1.0 + ], + [ + 0.0011040828717685247, + -0.0067194225983776765, + 0.025503874076729792, + 0.006208683201194318, + 0.003271366395527169, + -0.023918738833578694, + 1.0 + ], + [ + -0.0023168530979323088, + -0.0073207347308464, + 0.028636091580162372, + 0.02834515748117772, + 0.0014262995826471111, + -0.05053115260526309, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 298.95013427734375, + 303.7564392089844 + ], + [ + 298.8002624511719, + 307.576171875 + ], + [ + 316.5464172363281, + 325.75531005859375 + ], + [ + 344.4310607910156, + 336.6642761230469 + ], + [ + 363.48907470703125, + 353.3585205078125 + ], + [ + 373.9619140625, + 360.4956359863281 + ], + [ + 378.94390869140625, + 367.63226318359375 + ], + [ + 381.61529541015625, + 374.2573547363281 + ], + [ + 386.56396484375, + 372.486328125 + ], + [ + 385.19482421875, + 367.54779052734375 + ], + [ + 383.333984375, + 363.8376159667969 + ], + [ + 383.64129638671875, + 363.4552001953125 + ], + [ + 387.1600341796875, + 367.156982421875 + ], + [ + 394.40557861328125, + 387.1248779296875 + ], + [ + 406.2613220214844, + 376.5433349609375 + ], + [ + 406.37640380859375, + 361.4638366699219 + ], + [ + 394.7865905761719, + 347.45050048828125 + ], + [ + 359.43017578125, + 301.3835754394531 + ], + [ + 313.2859802246094, + 267.90289306640625 + ], + [ + 266.5038146972656, + 253.5826416015625 + ], + [ + 234.79122924804688, + 265.5679016113281 + ], + [ + 226.5171356201172, + 282.3585205078125 + ], + [ + 222.86727905273438, + 301.84375 + ], + [ + 223.09591674804688, + 320.2071838378906 + ], + [ + 221.14141845703125, + 328.5360412597656 + ], + [ + 215.38211059570312, + 331.4367370605469 + ], + [ + 220.127197265625, + 327.29736328125 + ], + [ + 221.7248992919922, + 323.38543701171875 + ], + [ + 229.9393310546875, + 303.7011413574219 + ], + [ + 231.62957763671875, + 284.7223205566406 + ], + [ + 230.8847198486328, + 278.2210693359375 + ], + [ + 230.1954345703125, + 278.77813720703125 + ] + ], + "depth_max": 1.2457232475280762, + "depth_min": 0.3303025960922241, + "intrinsic": [ + [ + 518.7872924804688, + 0.0, + 259.0 + ], + [ + 0.0, + 517.7439575195312, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.679835496470332e-05, + 4.086942135472782e-05, + 1.9711162167368457e-05 + ], + [ + -6.679836951661855e-05, + 1.0, + 4.462698086626915e-07, + -5.991122634441126e-06 + ], + [ + -4.086939225089736e-05, + -4.489997991186101e-07, + 1.0, + 2.6314883143641055e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 31 + ], + "object_trajectory": [ + [ + 400.5, + 402.5 + ], + [ + 411.81427001953125, + 395.5592041015625 + ], + [ + 411.7586669921875, + 395.33306884765625 + ], + [ + 411.95794677734375, + 395.29754638671875 + ], + [ + 400.8880615234375, + 402.4864807128906 + ], + [ + 400.91900634765625, + 402.4908752441406 + ], + [ + 400.88189697265625, + 402.67822265625 + ], + [ + 400.9410400390625, + 402.2633972167969 + ], + [ + 403.40423583984375, + 399.64727783203125 + ], + [ + 404.0127868652344, + 396.9620056152344 + ], + [ + 409.8392028808594, + 390.2508850097656 + ], + [ + 410.68212890625, + 389.93121337890625 + ], + [ + 415.451171875, + 394.423095703125 + ], + [ + 424.8998107910156, + 417.3277587890625 + ], + [ + 435.39239501953125, + 412.27435302734375 + ], + [ + 433.1033020019531, + 401.9559631347656 + ], + [ + 421.20928955078125, + 388.1513977050781 + ], + [ + 382.62127685546875, + 345.80694580078125 + ], + [ + 342.98760986328125, + 311.1585998535156 + ], + [ + 301.6191711425781, + 294.13848876953125 + ], + [ + 272.49151611328125, + 299.2975158691406 + ], + [ + 261.4823913574219, + 312.6679382324219 + ], + [ + 259.2994384765625, + 334.80523681640625 + ], + [ + 252.3565673828125, + 346.3367614746094 + ], + [ + 247.40130615234375, + 350.4091796875 + ], + [ + 245.12423706054688, + 353.7507629394531 + ], + [ + 243.63507080078125, + 352.6242370605469 + ], + [ + 253.02914428710938, + 360.1180419921875 + ], + [ + 252.53480529785156, + 357.5660095214844 + ], + [ + 252.0867919921875, + 355.11920166015625 + ], + [ + 242.59188842773438, + 344.5850830078125 + ], + [ + 242.38525390625, + 344.4176025390625 + ] + ] +} \ No newline at end of file diff --git a/002241_v2/lang.txt b/002241_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..830350a90dabc65654eb9313b239aa30ac9f262d --- /dev/null +++ b/002241_v2/lang.txt @@ -0,0 +1 @@ +pick up orange cloth and place it inside basket diff --git a/002249/data.json b/002249/data.json new file mode 100644 index 0000000000000000000000000000000000000000..8750491e1ca4b7690f7ce0c581a427c30a7ca046 --- /dev/null +++ b/002249/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 6, + "action_end": 20, + "object_name": "corn", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.768987, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.825253612812276e-10, + 6.74118538768198e-11, + -4.4167956791962837e-10, + -1.30590397298948e-07, + -5.76161191840021e-08, + -4.631596031226266e-09, + 1.0 + ], + [ + 0.0004478384737017782, + 0.0016420412504135062, + -0.001894865620628558, + -0.0024118387433391193, + -0.01476112340530636, + -0.027701596110288256, + 1.0 + ], + [ + 0.0011719437506516606, + 0.0023029674827867996, + -0.003927672348122614, + -0.004857378045298429, + -0.02967934804567403, + -0.02923929342376327, + 1.0 + ], + [ + 0.0010735985656735725, + 0.0016245097815573428, + -0.00354058422586246, + -0.013901328269445075, + -0.023338234588965723, + -0.014126982639123495, + 1.0 + ], + [ + 0.0016168303721609822, + 0.002198875685917645, + -0.002453757835369212, + 0.0073559303455481345, + -0.02292471538760397, + -0.017930517676019816, + 1.0 + ], + [ + 0.0026102864020428607, + 0.003263983566285239, + -0.0004752644933483756, + -0.007003002380383546, + -0.01452911116129009, + -0.02319883194854952, + 1.0 + ], + [ + 0.0028691012280745443, + 0.0023876348912081208, + 0.0004595269353635488, + -0.003725665681477393, + -0.01232446246150409, + -0.01884464695794947, + 1.0 + ], + [ + 0.002007283894962464, + -0.0007899708951004253, + -0.0019132058946400368, + -0.0022690211099028897, + -0.012981799681154088, + 0.01233311384638732, + 0.0 + ], + [ + -0.0007801459413970813, + -0.0013772482213324083, + -0.000661523055467959, + -0.011272499463222584, + 0.013431029610602637, + 0.008259199431225881, + 0.0 + ], + [ + -0.0027262574052930866, + -0.0025587822141832084, + 0.00572992436287572, + -0.006714819868828847, + 0.01413677920754833, + 0.02509600871520725, + 0.0 + ], + [ + -0.007841589470788446, + 0.004532757048974573, + 0.018631268972803577, + 0.04704247553600874, + 0.029798915137186778, + 0.021281561031082766, + 0.0 + ], + [ + -0.009147558870667705, + 0.01526811824067735, + 0.022281061463499657, + 0.05825863613279295, + 0.03470093944701789, + -0.002988883650313733, + 0.0 + ], + [ + -0.015109016198597836, + 0.025404458099890753, + 0.008173566122102058, + 0.044865318546238, + 0.008327414366489545, + -0.01194302091447106, + 0.0 + ], + [ + -0.022411651838378455, + 0.0348697498377432, + -0.001357394722600186, + 0.0027699133923445793, + -0.0024284848050686444, + -0.024183766948718512, + 0.0 + ], + [ + -0.029914612568711196, + 0.037494545462827544, + -0.010764309191208993, + 0.027143705936325053, + -0.01915996563418118, + -0.0036656200811639207, + 0.0 + ], + [ + -0.024230326380143552, + 0.027540465821862366, + -0.010020283877042888, + 0.009831318720752557, + -0.008515775082660021, + 0.003305929006663331, + 0.0 + ], + [ + -0.017709067574032455, + 0.016094576109214515, + -0.017344945660431627, + -0.03137452395906642, + -0.018686631348508523, + 0.0017563371560196173, + 0.0 + ], + [ + -0.0043601244616064405, + 0.009840981806106177, + -0.020896423522942964, + -0.007434024939799357, + -0.032188591952421554, + -0.024165240457194984, + 0.0 + ], + [ + 0.003590990426756091, + 0.015160115290951036, + -0.015607427128511271, + -0.037167209321129394, + -0.012031699623094187, + -0.02723562015419735, + 0.0 + ], + [ + 0.0027150089621690854, + 0.005030854219800464, + -0.0066035526131334385, + -0.0031864310872047174, + -0.011747559155806622, + -0.015480256259094266, + 0.0 + ], + [ + 0.005126214696479503, + 0.002740636411010182, + -0.00464034562796755, + -0.00490357717006855, + -0.0152428609674365, + -0.028221113701057954, + 0.768987 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 576.6422119140625, + 146.40670776367188 + ], + [ + 576.63232421875, + 146.54638671875 + ], + [ + 566.3955078125, + 173.7966766357422 + ], + [ + 564.181884765625, + 181.55059814453125 + ], + [ + 559.5919189453125, + 192.50563049316406 + ], + [ + 555.29833984375, + 199.87359619140625 + ], + [ + 547.6485595703125, + 202.8566131591797 + ], + [ + 545.8052368164062, + 201.34634399414062 + ], + [ + 540.107421875, + 199.4008331298828 + ], + [ + 545.2254028320312, + 197.6207275390625 + ], + [ + 545.0928344726562, + 198.17555236816406 + ], + [ + 544.5006103515625, + 201.2559814453125 + ], + [ + 536.4038696289062, + 179.41290283203125 + ], + [ + 537.0171508789062, + 152.451416015625 + ], + [ + 513.8978271484375, + 143.37722778320312 + ], + [ + 445.68035888671875, + 132.9800567626953 + ], + [ + 366.5683898925781, + 143.22628784179688 + ], + [ + 332.0031433105469, + 164.20143127441406 + ], + [ + 287.609130859375, + 194.7718505859375 + ], + [ + 277.1319580078125, + 195.77194213867188 + ], + [ + 282.8544921875, + 210.62713623046875 + ], + [ + 261.1209716796875, + 206.23818969726562 + ], + [ + 273.039306640625, + 211.47360229492188 + ], + [ + 274.95428466796875, + 210.20733642578125 + ] + ], + "depth_max": 1.571610927581787, + "depth_min": 0.1497948318719864, + "intrinsic": [ + [ + 527.659423828125, + 0.0, + 259.0 + ], + [ + 0.0, + 528.3375854492188, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.0834387618815526e-05, + -3.3641696063568816e-05, + -7.735872713965364e-06 + ], + [ + -4.0836854168446735e-05, + 1.0, + -7.33440974727273e-05, + 4.628224360203603e-06 + ], + [ + 3.363869836903177e-05, + 7.334546535275877e-05, + 1.0, + -2.9496533898054622e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 552.25, + 212.75001525878906 + ], + [ + 552.4300537109375, + 212.7510223388672 + ], + [ + 552.3645629882812, + 212.54937744140625 + ], + [ + 552.1100463867188, + 212.6624298095703 + ], + [ + 552.1237182617188, + 213.74432373046875 + ], + [ + 551.8928833007812, + 214.04383850097656 + ], + [ + 551.899169921875, + 214.59432983398438 + ], + [ + 551.907470703125, + 214.50587463378906 + ], + [ + 555.7427368164062, + 216.08883666992188 + ], + [ + 554.894287109375, + 214.42491149902344 + ], + [ + 554.0416870117188, + 215.50531005859375 + ], + [ + 552.712890625, + 218.8129119873047 + ], + [ + 539.85693359375, + 201.12661743164062 + ], + [ + 540.8577880859375, + 173.93899536132812 + ], + [ + 517.2232666015625, + 166.0303497314453 + ], + [ + 453.3461608886719, + 153.23106384277344 + ], + [ + 373.54290771484375, + 162.90957641601562 + ], + [ + 336.8582458496094, + 183.97659301757812 + ], + [ + 291.2572326660156, + 212.4269256591797 + ], + [ + 282.0091552734375, + 213.6452178955078 + ], + [ + 286.0456848144531, + 225.57424926757812 + ], + [ + 267.65447998046875, + 225.66360473632812 + ], + [ + 276.9418029785156, + 246.6119842529297 + ], + [ + 281.78729248046875, + 246.17333984375 + ] + ] +} \ No newline at end of file diff --git a/002249/lang.txt b/002249/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..98c5c4b3379c7c25d3d8ad202dd51823f871f837 --- /dev/null +++ b/002249/lang.txt @@ -0,0 +1 @@ +put corn in pot which is in sink diff --git a/002249/object.ply b/002249/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..1de30f244f61249b870544430bab8db1477b2407 Binary files /dev/null and b/002249/object.ply differ diff --git a/002260/data.json b/002260/data.json new file mode 100644 index 0000000000000000000000000000000000000000..90e9992ff571a98a206b82770afc143817a98863 --- /dev/null +++ b/002260/data.json @@ -0,0 +1,458 @@ +{ + "action_start": 5, + "action_end": 18, + "object_name": "corn", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.128938, + 0.500366, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 5.551115123125783e-17, + 2.7755575615628914e-17, + -2.0816681711721685e-17, + 4.3918813999499865e-08, + 2.74309935950474e-08, + -6.097771381275041e-07, + 1.0 + ], + [ + 0.007270759371288293, + 0.0031731193952160563, + -0.0038868244596638596, + 0.00740944731103374, + -0.028504731958743364, + -0.03469322929924458, + 1.0 + ], + [ + 0.00329755343942828, + -0.0008802662930489091, + -0.0020028275332867745, + -0.009611134929642742, + -0.00983767867397546, + -0.013322149484063234, + 1.0 + ], + [ + 0.005349852505999342, + -0.00023233131090669157, + -0.005302410984582041, + -0.02503071176302218, + -0.009735938706247836, + -0.011804697352531979, + 1.0 + ], + [ + 0.004572512714492605, + 0.0008616276324794336, + -0.0032169737432249726, + -0.005668686647010631, + -0.005821532635231491, + -0.009246371938010672, + 1.0 + ], + [ + 0.0013447574644421811, + -0.0005140136147786245, + -0.0019894505494128245, + -0.0031662689530714493, + -0.00812343377980917, + -0.014718443911165058, + 1.0 + ], + [ + 0.0001886586252174416, + -0.002051340367580312, + -0.0006895003697536609, + 0.0029555931144670806, + -0.012175792717403822, + 0.006481968487469609, + 0.0 + ], + [ + 0.0007763020876203619, + -0.0019663246690641567, + 0.00038586664586560265, + 0.008130793931352517, + -0.009992294566833733, + -0.0020130788705956014, + 0.0 + ], + [ + -0.0033718792819458776, + -0.000985958891099037, + 0.002022507737688098, + -0.0014087721629046672, + -0.008632794097098355, + 0.0049141436481684245, + 0.0 + ], + [ + -0.006104915295760738, + 0.002874896418059547, + 0.016479053612011615, + 0.032202969830447736, + 0.014834942735254165, + 0.007727051747731391, + 0.0 + ], + [ + -0.010613108987135522, + 0.004700975155112502, + 0.014769390891073557, + 0.02685444206485816, + 0.005236224155281177, + -0.002864410577080486, + 0.0 + ], + [ + -0.010671840872808425, + 0.009035636238009057, + 0.009998218485165696, + 0.006384390996075519, + 0.019436354376996555, + 0.01252472129588992, + 0.0 + ], + [ + -0.02487287374821784, + 0.011243237406226361, + 0.008524471469420418, + 0.02905902157158662, + 0.005005743275330729, + 0.028891854672932902, + 0.0 + ], + [ + -0.01362993403836138, + 0.008073819622648692, + 0.0054236126761490686, + -0.0041904179163599516, + 0.020198805293854, + 0.025654231049835486, + 0.0 + ], + [ + -0.011862660933291747, + 0.017450846447598783, + -0.0007124849845774189, + 0.0048923205282833645, + 0.013481333795724219, + 0.02129624134207116, + 0.0 + ], + [ + -0.00499412175220959, + 0.018650861774841168, + -0.004571649072925392, + -0.017851942214673146, + 0.02949353884918324, + 0.042316950645413395, + 0.0 + ], + [ + -0.0057729571048570905, + 0.025519425904643164, + -0.012174150677170245, + -0.048217762900517186, + 0.02463295174915156, + 0.0340009464398044, + 0.0 + ], + [ + -0.008137626855016955, + 0.015005474314592732, + -0.01769776487571352, + -0.01630934441221495, + -0.006229677350720427, + 0.02491677952810566, + 0.128938 + ], + [ + -0.0048382855081933185, + 0.002645367795265141, + -0.014460137081401661, + -0.019867537496838224, + 0.04268635463251926, + 0.030617786237152046, + 0.500366 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 569.1395874023438, + 157.7105712890625 + ], + [ + 569.0177001953125, + 157.73480224609375 + ], + [ + 558.2822265625, + 181.01217651367188 + ], + [ + 562.9783325195312, + 182.0499267578125 + ], + [ + 556.8211669921875, + 183.61134338378906 + ], + [ + 558.0806884765625, + 188.78347778320312 + ], + [ + 556.2383422851562, + 189.09803771972656 + ], + [ + 556.2406005859375, + 188.00421142578125 + ], + [ + 554.6557006835938, + 184.02304077148438 + ], + [ + 553.8543701171875, + 183.07191467285156 + ], + [ + 553.993896484375, + 183.95697021484375 + ], + [ + 549.57666015625, + 187.4365997314453 + ], + [ + 546.9288330078125, + 173.528076171875 + ], + [ + 540.9010009765625, + 169.32369995117188 + ], + [ + 517.3796997070312, + 166.2271728515625 + ], + [ + 510.0258483886719, + 167.13925170898438 + ], + [ + 478.6042785644531, + 166.6540069580078 + ], + [ + 452.83502197265625, + 168.72537231445312 + ], + [ + 411.3778381347656, + 178.16920471191406 + ], + [ + 390.62762451171875, + 196.858642578125 + ], + [ + 388.97003173828125, + 196.1284942626953 + ], + [ + 389.9713134765625, + 195.81175231933594 + ] + ], + "depth_max": 1.5041370391845703, + "depth_min": 0.12406684458255768, + "intrinsic": [ + [ + 538.52783203125, + 0.0, + 259.0 + ], + [ + 0.0, + 538.955810546875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.228222678648308e-05, + -7.306751649593934e-05, + -1.3872742783860303e-05 + ], + [ + -4.2288938857382163e-05, + 1.0, + -9.182064241031185e-05, + 8.68719052959932e-06 + ], + [ + 7.306362385861576e-05, + 9.182372741634026e-05, + 1.0, + -4.63595351902768e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21 + ], + "object_trajectory": [ + [ + 543.75, + 194.50001525878906 + ], + [ + 544.9080810546875, + 194.8371124267578 + ], + [ + 545.1757202148438, + 196.58956909179688 + ], + [ + 545.8121337890625, + 196.76284790039062 + ], + [ + 546.6390991210938, + 196.9661865234375 + ], + [ + 547.079833984375, + 197.9658966064453 + ], + [ + 547.154052734375, + 198.21383666992188 + ], + [ + 547.3458862304688, + 197.9932098388672 + ], + [ + 549.4478759765625, + 199.2908935546875 + ], + [ + 549.1246337890625, + 198.078369140625 + ], + [ + 548.1637573242188, + 199.80218505859375 + ], + [ + 543.649169921875, + 203.30703735351562 + ], + [ + 539.155517578125, + 190.2827911376953 + ], + [ + 532.335205078125, + 186.9796142578125 + ], + [ + 509.27337646484375, + 184.29098510742188 + ], + [ + 500.4157409667969, + 185.44261169433594 + ], + [ + 471.66650390625, + 185.42532348632812 + ], + [ + 446.0816955566406, + 187.64938354492188 + ], + [ + 405.4283752441406, + 197.490478515625 + ], + [ + 391.88653564453125, + 213.07168579101562 + ], + [ + 389.27789306640625, + 214.98675537109375 + ], + [ + 381.3269958496094, + 274.7579650878906 + ] + ] +} \ No newline at end of file diff --git a/002260/lang.txt b/002260/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..98c5c4b3379c7c25d3d8ad202dd51823f871f837 --- /dev/null +++ b/002260/lang.txt @@ -0,0 +1 @@ +put corn in pot which is in sink diff --git a/002260/object.ply b/002260/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..4fd58328d97d5df2e7ec6a529b7eaa7e56451df9 Binary files /dev/null and b/002260/object.ply differ diff --git a/002277_v2/FAIL b/002277_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/002277_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/002283_v2/FAIL b/002283_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/002283_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/002285_v2/FAIL b/002285_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/002285_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/002306_v2/FAIL b/002306_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/002306_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/002314/data.json b/002314/data.json new file mode 100644 index 0000000000000000000000000000000000000000..898f93cbd42f18c2b8d73cf421f06afee94ed3f7 --- /dev/null +++ b/002314/data.json @@ -0,0 +1,348 @@ +{ + "action_start": 4, + "action_end": 11, + "object_name": "corn", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.115263, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 5.757233578762566e-11, + 6.297051768910933e-11, + 1.0419859419741329e-11, + 1.3523004715573652e-08, + -5.943047528391424e-08, + -6.294032768602244e-07, + 1.0 + ], + [ + -0.001463258910698484, + 0.0036455200119973677, + -0.011781222308221775, + -0.010851821152707235, + -0.013503864337793936, + 0.011275854664237504, + 1.0 + ], + [ + 0.0020436684192025045, + 0.004498878401107048, + -0.012074441605742774, + -0.004084770576770332, + -0.01992299772713451, + -0.014380702029539349, + 1.0 + ], + [ + 0.00413499193228728, + 0.0049312449283424875, + -0.00826658593348166, + -0.06426726040967129, + -0.020933326243995954, + -0.02294268676013979, + 1.0 + ], + [ + 0.004200165100968267, + 0.0023509993924636582, + -0.007902420113424277, + -0.0039035869663746493, + -0.025727148567947968, + -0.022620234089915668, + 1.0 + ], + [ + -3.5272647036177496e-05, + -0.0011346328627544686, + -0.004799391813260709, + -0.014890919369651116, + -0.017500152113622203, + 0.017906830094135167, + 0.0 + ], + [ + -0.0005950791419541135, + 0.0007308687382484511, + -0.0011277544753972649, + -0.00970401376119172, + -0.009407004058363738, + -0.0026126331916323927, + 0.0 + ], + [ + 0.000807559870589003, + 0.006054637209066488, + 0.007877767475911589, + 0.038347611155147426, + 0.01470610406615927, + -0.03349451416009499, + 0.0 + ], + [ + 0.0001853750688150524, + 0.023424885201195483, + 0.024017974497734185, + 0.12005968579858042, + 0.0666106251692056, + -0.10797775212625758, + 0.0 + ], + [ + 0.010221010375744022, + 0.020549656464668817, + 0.004300426447853599, + 0.02323200650103139, + -0.0025944934699038166, + -0.08514015251864246, + 0.0 + ], + [ + 0.011372313025374947, + 0.018111877907050676, + -0.004171469807048939, + -0.015543743841521811, + -0.02356962250885566, + -0.07147998468725612, + 0.0 + ], + [ + 0.009964448635305378, + 0.014897275371626804, + -0.013920076421475386, + -0.021246349554148558, + -0.03084442025920763, + -0.059574527257721485, + 0.115263 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 414.0612487792969, + 225.58453369140625 + ], + [ + 414.2181091308594, + 225.58966064453125 + ], + [ + 407.74176025390625, + 242.17054748535156 + ], + [ + 404.6163024902344, + 254.4727783203125 + ], + [ + 396.4842529296875, + 265.5978698730469 + ], + [ + 391.3143310546875, + 263.4864196777344 + ], + [ + 392.1733093261719, + 269.4659729003906 + ], + [ + 391.1301574707031, + 271.97808837890625 + ], + [ + 391.6053771972656, + 271.5523681640625 + ], + [ + 381.14971923828125, + 270.62677001953125 + ], + [ + 348.7762451171875, + 231.45681762695312 + ], + [ + 338.5228271484375, + 212.7333984375 + ], + [ + 329.2178039550781, + 196.25021362304688 + ], + [ + 317.21795654296875, + 199.08518981933594 + ], + [ + 318.5543212890625, + 199.05258178710938 + ], + [ + 318.28411865234375, + 198.6101837158203 + ] + ], + "depth_max": 1.8036482334136963, + "depth_min": 0.3376065194606781, + "intrinsic": [ + [ + 520.16748046875, + 0.0, + 259.0 + ], + [ + 0.0, + 520.469970703125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.257663775002584e-05, + -0.00010706383181968704, + -1.9718354451470077e-06 + ], + [ + -3.258172364439815e-05, + 1.0, + -4.747835191665217e-05, + 1.1596300282690208e-05 + ], + [ + 0.00010706228931667283, + 4.748183710034937e-05, + 1.0, + 1.4102231034485158e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15 + ], + "object_trajectory": [ + [ + 403.5, + 283.25 + ], + [ + 403.8937683105469, + 283.6767272949219 + ], + [ + 403.5361328125, + 283.98028564453125 + ], + [ + 404.2296142578125, + 284.0943603515625 + ], + [ + 404.08062744140625, + 283.5921630859375 + ], + [ + 404.0521240234375, + 282.93145751953125 + ], + [ + 401.16851806640625, + 283.02642822265625 + ], + [ + 398.2251281738281, + 282.8590087890625 + ], + [ + 398.0603332519531, + 281.9158020019531 + ], + [ + 383.72186279296875, + 281.62054443359375 + ], + [ + 350.7567138671875, + 245.48252868652344 + ], + [ + 337.40411376953125, + 226.50869750976562 + ], + [ + 328.35943603515625, + 208.66348266601562 + ], + [ + 319.6802978515625, + 211.74082946777344 + ], + [ + 323.08416748046875, + 253.33731079101562 + ], + [ + 317.8438415527344, + 256.06707763671875 + ] + ] +} \ No newline at end of file diff --git a/002314/lang.txt b/002314/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..98c5c4b3379c7c25d3d8ad202dd51823f871f837 --- /dev/null +++ b/002314/lang.txt @@ -0,0 +1 @@ +put corn in pot which is in sink diff --git a/002314/object.ply b/002314/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..e0b9e5decac688375c2ba801f13d4adfe4253583 Binary files /dev/null and b/002314/object.ply differ diff --git a/002321/data.json b/002321/data.json new file mode 100644 index 0000000000000000000000000000000000000000..06ccea12e299a3571b72a4abc1bf707f3c07dd0c --- /dev/null +++ b/002321/data.json @@ -0,0 +1,476 @@ +{ + "action_start": 7, + "action_end": 18, + "object_name": "corn", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.9428570000000001, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.873993, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -7.592998452210509e-11, + 7.430155102294833e-11, + 4.973789435869236e-11, + -1.2031640906871256e-07, + 8.296727240417387e-08, + -5.497384199291024e-08, + 1.0 + ], + [ + 0.009512213734411856, + -0.00017251776531215096, + -0.0021823133398757716, + -0.0035810719343845774, + -0.01195094482882148, + -0.015956340034392728, + 1.0 + ], + [ + 0.003085776312789612, + 0.0013947246671925373, + -0.016784539018864647, + -0.02295924704777722, + -0.0446626332364004, + -0.02132086765863265, + 1.0 + ], + [ + -0.0007847398073360656, + -0.003158808045782606, + -0.007909283078067403, + -0.02028933565483634, + -0.025967237066336843, + 0.0005524043115025653, + 1.0 + ], + [ + 0.001129267699727543, + -0.005063214907115206, + -0.010352586097324298, + -0.032597987283674926, + -0.01939647153833022, + 0.002603402568834071, + 1.0 + ], + [ + -0.0005289544203619934, + -0.003276892354751669, + -0.005518964642927775, + -0.03325081554474767, + -0.011500991430746633, + 0.006276866257716815, + 1.0 + ], + [ + -0.002295985544800594, + -0.002483690017646714, + -0.005245583500160821, + -0.0024673294474773406, + -0.004985262439620623, + 0.012778548284429377, + 1.0 + ], + [ + -0.0018081806933479272, + -0.0007526096596823864, + -0.003289886033773743, + -0.0016097164871728123, + 0.0009589899695890454, + 0.017306555576701427, + 0.9428570000000001 + ], + [ + -0.00100601332870498, + 0.0005595138195884225, + -0.0037953368306684002, + -0.003398975262573458, + -0.00940824298580893, + 0.007139900771012147, + 0.0 + ], + [ + 0.0012158693084769467, + 0.0021525063546656772, + 0.0008085449798605707, + 0.00350796308354093, + -0.0060927765247430375, + -0.006635727391356644, + 0.0 + ], + [ + 0.0023217756736506057, + 0.006648830717524867, + 0.015963764547349032, + 0.04438495524878628, + 0.010760877638316834, + -0.01572215931701444, + 0.0 + ], + [ + 0.007364198653795784, + 0.01304334430625842, + 0.020019545138943804, + 0.0556710636297096, + 0.011152688502769629, + -0.02862118420258458, + 0.0 + ], + [ + 0.014592374053242263, + 0.024555485331665225, + 0.013736526244806566, + 0.05114435146863627, + 0.0054686747943011775, + -0.05329819847075391, + 0.0 + ], + [ + 0.016277184636357522, + 0.028105050903751864, + 0.005338948787113308, + 0.034226309549409646, + -0.007451190925203389, + -0.0657129168721323, + 0.0 + ], + [ + 0.015643384478169264, + 0.025057425723275042, + -0.00407772172503567, + 0.024338227335502463, + -0.030092857871835695, + -0.059748412268363006, + 0.0 + ], + [ + 0.01657500130564782, + 0.02612393276533447, + -0.010904426414935331, + 0.024370661778147118, + -0.04140535292668948, + -0.07170438095621429, + 0.0 + ], + [ + 0.014208390570832119, + 0.024309532756860534, + -0.010580761468574187, + -0.002124224293455454, + -0.02511911565473013, + -0.06652936909443705, + 0.0 + ], + [ + 0.008343846138074817, + 0.01942407441437112, + -0.006512305702121066, + 0.041163115543920395, + -0.02348141005911943, + -0.0613171154897122, + 0.0 + ], + [ + 0.004654521668226275, + 0.01242526608186309, + -0.003358452934882926, + 0.02259360212454318, + -0.0234342110671706, + -0.04027407030083825, + 0.873993 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 371.6502990722656, + 242.562744140625 + ], + [ + 371.71429443359375, + 242.53305053710938 + ], + [ + 368.54254150390625, + 251.48927307128906 + ], + [ + 374.2135925292969, + 255.15188598632812 + ], + [ + 371.65203857421875, + 268.3712158203125 + ], + [ + 376.983642578125, + 276.1767272949219 + ], + [ + 380.60516357421875, + 288.8610534667969 + ], + [ + 385.582763671875, + 296.4630432128906 + ], + [ + 381.3487854003906, + 303.1551208496094 + ], + [ + 378.9337463378906, + 307.0489501953125 + ], + [ + 380.0313415527344, + 307.29425048828125 + ], + [ + 380.1307678222656, + 306.65582275390625 + ], + [ + 365.7781982421875, + 298.0008544921875 + ], + [ + 361.708251953125, + 260.7057800292969 + ], + [ + 339.4656066894531, + 218.55564880371094 + ], + [ + 322.33477783203125, + 182.70933532714844 + ], + [ + 306.7794189453125, + 171.6999969482422 + ], + [ + 289.6910095214844, + 165.12684631347656 + ], + [ + 279.4385986328125, + 158.4053955078125 + ], + [ + 269.2879638671875, + 151.8861083984375 + ], + [ + 264.5220642089844, + 150.23130798339844 + ], + [ + 260.92510986328125, + 148.62808227539062 + ], + [ + 261.1541748046875, + 149.33187866210938 + ] + ], + "depth_max": 1.7670153379440308, + "depth_min": 0.28717830777168274, + "intrinsic": [ + [ + 508.0928039550781, + 0.0, + 259.0 + ], + [ + 0.0, + 508.56085205078125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.644252137746662e-05, + -0.00011317000462440774, + -1.0637102604960091e-05 + ], + [ + -3.644944081315771e-05, + 1.0, + -6.116172153269872e-05, + 6.316434337350074e-06 + ], + [ + 0.0001131677781813778, + 6.116583972470835e-05, + 1.0, + 2.5751660359674133e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 22 + ], + "object_trajectory": [ + [ + 380.0, + 325.5000305175781 + ], + [ + 380.0748291015625, + 325.44598388671875 + ], + [ + 379.8658447265625, + 325.76336669921875 + ], + [ + 378.7353820800781, + 324.9632263183594 + ], + [ + 379.69464111328125, + 326.0211486816406 + ], + [ + 378.48785400390625, + 325.0867919921875 + ], + [ + 378.32403564453125, + 325.06536865234375 + ], + [ + 378.43841552734375, + 324.78057861328125 + ], + [ + 378.2228698730469, + 325.1344909667969 + ], + [ + 378.2033996582031, + 326.06805419921875 + ], + [ + 378.4986877441406, + 325.36627197265625 + ], + [ + 379.3353271484375, + 325.550537109375 + ], + [ + 362.68701171875, + 319.7624816894531 + ], + [ + 356.4306640625, + 282.9670104980469 + ], + [ + 333.9119567871094, + 239.5876922607422 + ], + [ + 316.2355041503906, + 203.45150756835938 + ], + [ + 296.9508056640625, + 193.7022705078125 + ], + [ + 281.25726318359375, + 183.23825073242188 + ], + [ + 269.8925476074219, + 173.5409698486328 + ], + [ + 260.6094055175781, + 167.69195556640625 + ], + [ + 260.4847412109375, + 183.7965545654297 + ], + [ + 262.52142333984375, + 186.78631591796875 + ], + [ + 267.635009765625, + 188.63677978515625 + ] + ] +} \ No newline at end of file diff --git a/002321/lang.txt b/002321/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..98c5c4b3379c7c25d3d8ad202dd51823f871f837 --- /dev/null +++ b/002321/lang.txt @@ -0,0 +1 @@ +put corn in pot which is in sink diff --git a/002321/object.ply b/002321/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..b8a1f2e7346ecddd1720df08f40319fe618cdcfc Binary files /dev/null and b/002321/object.ply differ diff --git a/002329/data.json b/002329/data.json new file mode 100644 index 0000000000000000000000000000000000000000..a610db8c8c2f3e2eaec8077198f6e3f85c63bf98 --- /dev/null +++ b/002329/data.json @@ -0,0 +1,384 @@ +{ + "action_start": 5, + "action_end": 13, + "object_name": "corn", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.47350400000000004, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.842979, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.2016499734434092e-10, + 2.986455527320686e-11, + -7.270466867437264e-11, + 1.1986587682917717e-08, + 1.564898509648014e-09, + -2.832092958129419e-07, + 1.0 + ], + [ + 0.006275472001075033, + -3.037778738775726e-05, + -0.0061011339657582805, + -0.007476701059486458, + -0.017497879135389548, + -0.03625661741262872, + 1.0 + ], + [ + 0.006618588336546827, + -0.004841493636413008, + -0.005666396157644048, + -0.006988068103104375, + -0.016937627906294717, + -0.015072660078555521, + 1.0 + ], + [ + 0.0010778227386316064, + -0.00048098231271904296, + -0.009776725324810963, + -0.017148689362501055, + -0.021606615494597674, + -0.00700625130129141, + 1.0 + ], + [ + 0.001573190594463647, + -0.0013717452350065912, + -0.004788545067495816, + -0.009072558165734794, + -0.007811916311334314, + -0.0013362580825232854, + 1.0 + ], + [ + 0.0024903046612205215, + 0.0028333676353069076, + -0.004514820148132662, + -0.02108550521137386, + -0.01029058901066659, + -0.002160545337514464, + 0.47350400000000004 + ], + [ + 0.00039568954612606566, + 0.003146723470928467, + 0.0005017006338530108, + 0.008393802906433745, + 0.008875555597599871, + -0.003441458303085287, + 0.0 + ], + [ + -0.002818249654798044, + 0.015077129594149516, + 0.012593118160370391, + 0.06649396854164356, + 0.02794908555468222, + -0.01296878379540055, + 0.0 + ], + [ + -0.007399679988729035, + 0.02036476970961125, + 0.01646467834282355, + 0.07469170808569406, + 0.03906995483726532, + -0.013765217058326347, + 0.0 + ], + [ + -0.008334109077810792, + 0.029893471411177368, + 0.0118918240497474, + 0.038096485549739385, + 0.02390851694087826, + -0.007634009986013886, + 0.0 + ], + [ + -0.008385430468460076, + 0.023348441875831568, + 0.0037512258818238227, + 0.04831430844188709, + 0.01604943379791993, + 0.002024444253562409, + 0.0 + ], + [ + -0.008875755268553331, + 0.023148127102254973, + -0.002447543474509435, + 0.03478736739946373, + -0.0001820132845209365, + -0.004861923371855433, + 0.0 + ], + [ + -0.006006879517421959, + 0.017344033192222733, + -0.007842761004835497, + 0.011921316500447386, + -0.013671730959474444, + -0.0022587172257366676, + 0.0 + ], + [ + -0.0018135434383525495, + 0.011312365362473924, + -0.006156331188785308, + 0.01032892897846267, + -0.024236850548661832, + -0.0350055297217774, + 0.842979 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 430.24560546875, + 163.74757385253906 + ], + [ + 430.0630798339844, + 163.55474853515625 + ], + [ + 425.9963073730469, + 181.95111083984375 + ], + [ + 430.09429931640625, + 184.80856323242188 + ], + [ + 431.7340087890625, + 191.79705810546875 + ], + [ + 436.5269775390625, + 197.0291748046875 + ], + [ + 439.3843078613281, + 200.03643798828125 + ], + [ + 440.49591064453125, + 202.16351318359375 + ], + [ + 438.32147216796875, + 201.99758911132812 + ], + [ + 417.40478515625, + 195.9312286376953 + ], + [ + 384.23516845703125, + 187.94943237304688 + ], + [ + 355.5452880859375, + 158.11666870117188 + ], + [ + 330.8354797363281, + 153.57052612304688 + ], + [ + 300.181396484375, + 152.6673126220703 + ], + [ + 281.37298583984375, + 155.86199951171875 + ], + [ + 270.43707275390625, + 159.80894470214844 + ], + [ + 270.147216796875, + 159.24229431152344 + ], + [ + 270.81024169921875, + 159.39520263671875 + ] + ], + "depth_max": 1.8113311529159546, + "depth_min": 0.29718130826950073, + "intrinsic": [ + [ + 514.8919067382812, + 0.0, + 259.0 + ], + [ + 0.0, + 514.8389282226562, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.5094282288337126e-05, + -0.00014246789214666933, + -2.771539584500715e-07 + ], + [ + -5.510216215043329e-05, + 1.0, + -5.5342938139801845e-05, + 1.081409845937742e-05 + ], + [ + 0.00014246483624447137, + 5.5350792536046356e-05, + 1.0, + 1.1938584066228941e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 17 + ], + "object_trajectory": [ + [ + 436.0, + 211.5 + ], + [ + 435.9578857421875, + 212.3576202392578 + ], + [ + 439.45751953125, + 215.148681640625 + ], + [ + 440.27899169921875, + 213.36769104003906 + ], + [ + 440.0021057128906, + 208.8082733154297 + ], + [ + 442.4576416015625, + 209.01025390625 + ], + [ + 442.3011474609375, + 209.06944274902344 + ], + [ + 438.57586669921875, + 209.15902709960938 + ], + [ + 435.8507080078125, + 208.91209411621094 + ], + [ + 415.21246337890625, + 203.45999145507812 + ], + [ + 378.74090576171875, + 196.39349365234375 + ], + [ + 356.64501953125, + 169.6686553955078 + ], + [ + 332.4748229980469, + 168.74801635742188 + ], + [ + 302.7197265625, + 163.83460998535156 + ], + [ + 283.36083984375, + 168.60830688476562 + ], + [ + 286.47589111328125, + 206.43824768066406 + ], + [ + 297.3302001953125, + 218.09344482421875 + ], + [ + 303.6470031738281, + 218.8756103515625 + ] + ] +} \ No newline at end of file diff --git a/002329/lang.txt b/002329/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..98c5c4b3379c7c25d3d8ad202dd51823f871f837 --- /dev/null +++ b/002329/lang.txt @@ -0,0 +1 @@ +put corn in pot which is in sink diff --git a/002329/object.ply b/002329/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..c7c41b2fdf40b6aecbafc2586ef81dea91fedcaf Binary files /dev/null and b/002329/object.ply differ diff --git a/002342_v2/FAIL b/002342_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/002342_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/002353/data.json b/002353/data.json new file mode 100644 index 0000000000000000000000000000000000000000..21e1d41e41870339e5e6ce0023174dbd1762fe3b --- /dev/null +++ b/002353/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 15, + "action_end": 26, + "object_name": "corn", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 2.108657692900806e-11, + -4.539993381236229e-11, + -1.5383930240808752e-11, + 9.20879992748376e-08, + -5.566642679871902e-07, + -8.634654156327294e-08, + 1.0 + ], + [ + -0.020537532144921378, + -0.013238303604318324, + 0.013637479936430663, + 0.007694877366895077, + -0.0009410186825671278, + 0.046031336202348686, + 1.0 + ], + [ + -0.021706391494573374, + -0.01932217611287851, + 0.013647730238369148, + -0.016254441739524207, + 0.02123935666259734, + 0.044508481763829086, + 1.0 + ], + [ + -0.026649496323361332, + -0.025074842630206845, + 0.008659827586988744, + -0.05420489909153504, + 0.018486067800298964, + 0.04885696119865702, + 1.0 + ], + [ + -0.025884760598676726, + -0.013866216415873031, + 0.0006947278821801961, + -0.00011718479112380084, + -0.019456534509787682, + 0.0447309059977863, + 1.0 + ], + [ + -0.019147453104469414, + -0.004817787998048259, + -0.004468718368226626, + 0.006674878356987771, + -0.026495987228332425, + -0.0015693993795142353, + 1.0 + ], + [ + -0.01501685678449266, + -0.004104214952995594, + -0.012327140167954581, + -0.006163153862165521, + -0.04206285925663067, + 0.03618043486039647, + 1.0 + ], + [ + -0.005422954855757028, + -0.00868067387071133, + -0.006197991939598621, + 0.019592472455789822, + -0.03730222300269571, + 0.013772141817142692, + 1.0 + ], + [ + -0.005921658499092403, + -0.002005698317398344, + -0.005318495979443991, + 0.014040854860989545, + -0.027084350687361574, + 0.0020178111690169497, + 1.0 + ], + [ + -0.005806382526463816, + 0.002531776356466127, + -0.005140165330834501, + -0.020385085559325278, + -0.015674048342452947, + 0.0023047712666530973, + 1.0 + ], + [ + -0.0095669848279685, + 0.00046328110774038894, + -0.005982553058772336, + 0.011638825347159997, + -0.03153739725662022, + -0.008823397365150679, + 1.0 + ], + [ + -0.0032581613615140226, + -0.0018344559355463544, + -0.012617316954738486, + -0.026421270425581657, + -0.022788435329279832, + -0.02594147290247258, + 1.0 + ], + [ + 0.0018566414731695235, + -0.0026817762618961127, + -0.012956715873531609, + -0.013780577944642049, + -0.026441999618870237, + -0.0059466110629905625, + 1.0 + ], + [ + 0.0018860785665390234, + -0.0030950116755540935, + -0.008495788349374853, + -0.007038519405264612, + -0.020984634568752436, + 0.0021516104662080995, + 1.0 + ], + [ + -0.0026501548423744914, + -0.0022741444124613486, + -0.007237765259621512, + 0.01572971934981656, + -0.03571942580630371, + 0.022661279914819754, + 1.0 + ], + [ + 0.00029309727770718275, + -0.0019613754913563874, + -0.00824005406622963, + -0.04306015185563736, + 0.008384907666689008, + 0.0005694775502183484, + 1.0 + ], + [ + -0.0002925696168114278, + -0.0004313353860856267, + -0.0016393043401049245, + 0.007600071105922049, + -0.00201523073563074, + 0.010872907269403792, + 0.0 + ], + [ + 0.001619720888537568, + -0.0004991898336762432, + 0.0003905700966013552, + 0.006873862446206118, + 0.0016350616456042506, + 0.0008055269085342123, + 0.0 + ], + [ + 0.01291320599197296, + -0.0026096131218960525, + 0.023286797923739715, + -0.00115950219062469, + 0.025047145480442918, + -0.01615690329299276, + 0.0 + ], + [ + 0.023822497859847552, + -0.020322869331508814, + 0.0370669204128413, + 0.017228127742002608, + 0.01704996588149481, + 0.010609367060280109, + 0.0 + ], + [ + 0.021567329177122146, + -0.03733167455495445, + 0.034501263447264126, + 0.006644413331766675, + 0.013368271842808742, + 0.03947048252266062, + 0.0 + ], + [ + 0.030721409926631804, + -0.03982962289052505, + 0.019140740288761865, + -0.026491784389413527, + 0.02654101880899139, + 0.06451615198483836, + 0.0 + ], + [ + 0.03128593051675671, + -0.030462606105470552, + 0.004989524572126175, + -0.011254113293079624, + -0.0011004548829893013, + 0.028555550304871936, + 0.0 + ], + [ + 0.02587757373065791, + -0.007732982071074909, + -0.0044648899827912925, + -0.018792830586852882, + -0.023213256339844304, + -0.021011147933138512, + 0.0 + ], + [ + 0.018272455304711666, + -0.009216527349099543, + -0.007131974189749091, + 0.004272694925768069, + -0.03636061430206006, + 0.00010340577861495196, + 0.0 + ], + [ + 0.01115778197278261, + 0.0022278706592401554, + -0.01070464961275941, + -0.03610538213314608, + -0.0229067629906667, + -0.025222326932129613, + 0.0 + ], + [ + 0.0031640681973410523, + -0.002663927423110099, + -0.007783707030430548, + -0.029172910957449193, + -0.00987055407884006, + -0.024173216582359082, + 0.0 + ], + [ + -0.00021495393587356304, + 0.0005334147632157227, + -0.0025329322870500104, + -0.009538624557651292, + -0.0025217776694924205, + -0.008723186649468403, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 222.6268310546875, + 90.9432601928711 + ], + [ + 222.6302490234375, + 90.86148071289062 + ], + [ + 223.24456787109375, + 111.58413696289062 + ], + [ + 220.21401977539062, + 130.8065185546875 + ], + [ + 225.81858825683594, + 120.063232421875 + ], + [ + 225.448974609375, + 134.06884765625 + ], + [ + 220.1637725830078, + 155.2074432373047 + ], + [ + 207.52078247070312, + 175.3388671875 + ], + [ + 199.96542358398438, + 209.1779327392578 + ], + [ + 206.86549377441406, + 222.54861450195312 + ], + [ + 201.2377166748047, + 235.2164306640625 + ], + [ + 194.35360717773438, + 246.6295166015625 + ], + [ + 187.09652709960938, + 262.12957763671875 + ], + [ + 186.6578826904297, + 275.5411682128906 + ], + [ + 194.29148864746094, + 288.8060302734375 + ], + [ + 199.00823974609375, + 295.32574462890625 + ], + [ + 202.19161987304688, + 309.9902038574219 + ], + [ + 207.5644989013672, + 317.6565856933594 + ], + [ + 205.81002807617188, + 316.4980773925781 + ], + [ + 206.2164306640625, + 317.1097717285156 + ], + [ + 218.00296020507812, + 282.47308349609375 + ], + [ + 268.9701232910156, + 233.53427124023438 + ], + [ + 342.732177734375, + 190.3837127685547 + ], + [ + 418.86737060546875, + 163.5447235107422 + ], + [ + 484.40582275390625, + 149.46539306640625 + ], + [ + 512.7327270507812, + 142.6739501953125 + ], + [ + 524.275634765625, + 141.87274169921875 + ], + [ + 532.3992919921875, + 147.53195190429688 + ], + [ + 531.9436645507812, + 145.15185546875 + ] + ], + "depth_max": 1.7695860862731934, + "depth_min": 0.2876012623310089, + "intrinsic": [ + [ + 512.7154541015625, + 0.0, + 259.0 + ], + [ + 0.0, + 513.1289672851562, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.411398549564183e-05, + -0.00012175317533547059, + 8.019829692784697e-06 + ], + [ + -4.411783447721973e-05, + 1.0, + -3.1641644454794005e-05, + 1.4986989299359266e-05 + ], + [ + 0.00012175177835160866, + 3.164701774949208e-05, + 1.0, + -2.079760088236071e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 207.5, + 321.0 + ], + [ + 207.8248748779297, + 320.35675048828125 + ], + [ + 207.73851013183594, + 320.3906555175781 + ], + [ + 207.83883666992188, + 320.35504150390625 + ], + [ + 208.02325439453125, + 320.36334228515625 + ], + [ + 208.02926635742188, + 320.2403869628906 + ], + [ + 208.1212921142578, + 320.13153076171875 + ], + [ + 208.099609375, + 320.51373291015625 + ], + [ + 207.9532928466797, + 320.3499755859375 + ], + [ + 208.1225128173828, + 320.1466064453125 + ], + [ + 208.13882446289062, + 320.31256103515625 + ], + [ + 208.29151916503906, + 320.16192626953125 + ], + [ + 208.1782989501953, + 319.61041259765625 + ], + [ + 208.27273559570312, + 320.293212890625 + ], + [ + 208.37503051757812, + 321.0856628417969 + ], + [ + 208.30764770507812, + 321.41961669921875 + ], + [ + 207.56900024414062, + 322.28021240234375 + ], + [ + 211.25743103027344, + 321.98455810546875 + ], + [ + 212.111328125, + 322.20318603515625 + ], + [ + 213.47998046875, + 324.191650390625 + ], + [ + 224.70790100097656, + 298.7713928222656 + ], + [ + 264.8359069824219, + 258.9500732421875 + ], + [ + 328.5981750488281, + 215.38143920898438 + ], + [ + 399.85809326171875, + 188.10369873046875 + ], + [ + 461.3428955078125, + 174.5532684326172 + ], + [ + 489.9839172363281, + 166.87950134277344 + ], + [ + 502.0497131347656, + 164.9097900390625 + ], + [ + 511.9780578613281, + 168.742919921875 + ], + [ + 513.1467895507812, + 166.33470153808594 + ] + ] +} \ No newline at end of file diff --git a/002353/lang.txt b/002353/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..a951126f35cbdd0c16c90d4588115193a300d59b --- /dev/null +++ b/002353/lang.txt @@ -0,0 +1 @@ +put corn into bowl diff --git a/002353/object.ply b/002353/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..eac8f2f0db863c2d665e7c57aea1b3bf7ec8e90c Binary files /dev/null and b/002353/object.ply differ diff --git a/002368/FAIL b/002368/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/002368/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/002371_v2/FAIL b/002371_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/002371_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/002374_v2/FAIL b/002374_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/002374_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/002398_v2/FAIL b/002398_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/002398_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/002400_v2/data.json b/002400_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..c35c012f4830ec748d9ed2751ee9c1b2fdcfdd23 --- /dev/null +++ b/002400_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 21, + "action_end": 40, + "object_name": "banana", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.7755575615628914e-17, + 0.0, + 5.551115123125783e-17, + -7.720825793703096e-08, + -3.859400723886203e-08, + -6.886485287797488e-08, + 1.0 + ], + [ + 0.009193677323055746, + 0.01086429018968593, + -0.006158141901872138, + 0.021307068220705626, + -0.02490736778015687, + 0.0811451143331372, + 1.0 + ], + [ + 0.004703194954536083, + 0.01907354157085467, + -0.01249606749067314, + 0.008278707631828992, + -0.01800634888185127, + 0.07232716075095275, + 1.0 + ], + [ + 0.005424462199794811, + 0.015715908012492504, + -0.011013682798159952, + 0.014699132093612278, + 0.011127324291043263, + 0.03411367258140491, + 1.0 + ], + [ + 0.004271369986804496, + 0.012443607300146329, + -0.014033187636434796, + 0.019263742348520636, + -0.009726140515407674, + -0.0004271259257036726, + 1.0 + ], + [ + 0.014933736036548656, + 0.019685970415847666, + -0.013633336695311443, + -0.001893285376352504, + -0.010925303450330428, + 0.009810994181569955, + 1.0 + ], + [ + 0.01932580670854267, + 0.022047905341303575, + -0.006977153470411196, + 0.017196395659283412, + -0.0047484540996765665, + 0.029009170922452993, + 1.0 + ], + [ + 0.015759459911865586, + 0.016749471787291692, + -0.010975742138054329, + 0.0029651498289886354, + 0.011593776368617645, + 0.016143693690220996, + 1.0 + ], + [ + 0.013050385194499414, + 0.0137402913992338, + -0.01847947870545183, + 0.0004652735862364128, + 0.025844232181802547, + 0.0069952206048387085, + 1.0 + ], + [ + 0.011355930665860464, + 0.005035768504069046, + -0.019461474322524736, + 0.017541336087401507, + 0.01977790137284076, + -0.022821902478039897, + 1.0 + ], + [ + 0.013382379133587113, + 0.004887595012193172, + -0.014835897225282169, + 0.023391173722645753, + 0.014842597010332375, + -0.030999776746160345, + 1.0 + ], + [ + 0.013319931877627422, + 0.0023775158176801425, + -0.01454907911572463, + 0.022529067385849654, + -0.003244655580958467, + -0.026936928878649184, + 1.0 + ], + [ + 0.015808423859112214, + 0.003474967206309451, + -0.004355493225007112, + 0.032959198646695845, + 0.012724302482371523, + -0.022063921936898108, + 1.0 + ], + [ + 0.015517795053022226, + 0.007143688216110708, + -0.0036211927460667453, + -0.008577184359761177, + -0.017650174519419467, + 0.017103521946562478, + 1.0 + ], + [ + 0.011157518223451068, + 0.010055413536488145, + -0.005443720133127883, + 0.014809632494973034, + -0.011207125023862896, + 0.02064529102816823, + 1.0 + ], + [ + 0.0031119958718319185, + 0.011092075939599655, + -0.007540303524258371, + 0.026965773078661003, + -0.012123953102392759, + 0.07715259568154424, + 1.0 + ], + [ + -0.002266344077416993, + 0.006052146890637322, + -0.006959932429762672, + 0.0009286675581701651, + -0.003312476544432538, + 0.05588689227291948, + 1.0 + ], + [ + -0.000524187693871192, + -6.601813260992406e-05, + -0.01026243400404657, + -0.0008753806866987226, + 0.011331070346825204, + 0.0044986214227932175, + 1.0 + ], + [ + -0.0024956911774663415, + 3.087404910787073e-05, + -0.008999476562878528, + -0.006922329865623029, + 0.0034089733957304194, + 0.014911973734145068, + 1.0 + ], + [ + -0.002937748755995062, + -0.000761964946154936, + -0.011013485960024098, + 0.006333445572944883, + 0.005561344498826386, + 0.01618483554559002, + 1.0 + ], + [ + -0.0026360941341151967, + -0.0009575058447690576, + -0.010382362120473498, + 0.0009823193020647445, + 0.014243140894351698, + 0.0038342552129243613, + 1.0 + ], + [ + -0.0007977335140182951, + -0.00044278059676744475, + -0.007982813223750263, + -0.004407210185114569, + 0.0066838129412929706, + -0.0025609115031424053, + 1.0 + ], + [ + -0.004684325437476544, + 0.003524322407726821, + -0.007173397337343106, + -0.020957585422182453, + 0.01698644154567888, + 0.014110327639822458, + 0.0 + ], + [ + -0.004700265450032048, + 0.0030751005402609166, + 0.00020845966304326724, + 0.0025722971653492567, + 0.012602137157430717, + 0.0055919645085000585, + 0.0 + ], + [ + 0.0016996804900313855, + 0.001587670678868447, + 0.009784523952897825, + -0.011351808833998311, + -0.012512667470187701, + 0.006266018907766771, + 0.0 + ], + [ + 0.01012384021125623, + -0.008005090780183327, + 0.033511589007697656, + -0.014382530481735784, + -0.03702199693733734, + -0.009557737048435594, + 0.0 + ], + [ + 0.008265173162003259, + -0.010258263424592434, + 0.03304119204940288, + -0.006457356178064408, + -0.03504247363721656, + -0.008065129837634783, + 0.0 + ], + [ + 0.0033052571195044123, + -0.012629863800699581, + 0.036568368044029596, + -0.013977261272995367, + -0.02052145977275728, + -0.013583595563965569, + 0.0 + ], + [ + 0.002615611438829102, + -0.017106387671486034, + 0.031827040682461075, + -0.02369305440418211, + -0.013567615079564754, + -0.02980096935451028, + 0.0 + ], + [ + 0.016982653317691665, + -0.031121287479919005, + 0.030853982811335806, + -0.03587323871806964, + -0.02586346495585521, + -0.06376706300916639, + 0.0 + ], + [ + 0.02425680075112907, + -0.02871983206360698, + 0.00967608043349788, + -0.03902748701817099, + -0.010565706269005035, + -0.0430430287030802, + 0.0 + ], + [ + 0.019106668861306686, + -0.018744107613726975, + -0.0047849197091855145, + -0.004550332519899222, + -0.0038582490375899904, + -0.0404577090492077, + 0.0 + ], + [ + 0.01730668719434819, + -0.01568253808249951, + -0.0035680990624984144, + 0.00548520296813489, + -0.013534999718871548, + -0.01971234784575927, + 0.0 + ], + [ + 0.010173549260363013, + -0.006964707857971965, + -0.0067094597122030475, + 0.015968840840990938, + 0.007448320700587874, + -0.005917501540326501, + 0.0 + ], + [ + -0.0018739709154032003, + 0.0014890539355000183, + -0.007166079406316306, + 0.01603342578742551, + 0.004411181198664166, + 0.025341781641762148, + 0.0 + ], + [ + -0.006678609158183413, + 0.004604337999695729, + -0.007302722206415202, + 0.0052287441749368745, + 0.02271047967770923, + 0.031235179565987866, + 0.0 + ], + [ + -0.007683719950354884, + 0.007954534822340188, + -0.012342216818671259, + 0.007337302123357545, + 0.022568633495716663, + 0.022805000308389434, + 0.0 + ], + [ + -0.00311424140594585, + 0.003538459328219414, + -0.010356004567943555, + 0.0042291592957389625, + 0.018587535272218868, + 0.003359013415469454, + 0.0 + ], + [ + -0.0012089355840077531, + 0.0021926035038301456, + -0.008992529203396799, + 0.0041676697546756255, + 0.009520617116944982, + -0.0016462644464411852, + 0.0 + ], + [ + 0.004178278125520685, + -0.0003180519108517965, + -0.00557748259877297, + 0.004030571984564271, + 0.0032182093129183055, + -0.01069373143312799, + 0.0 + ], + [ + 0.012687887762150574, + -0.00610960031849897, + -0.0022981227930380377, + -0.009773924888115756, + -0.013621277107432243, + -0.012414633153251434, + 0.0 + ], + [ + 0.006218618028318468, + -0.002188291563412964, + 0.002437286797868518, + 0.017092475592876178, + -0.00167750746258835, + -3.474380995994313e-05, + 1.0 + ], + [ + -0.0006862529129977868, + -0.0035690289849909587, + 0.008114452776489686, + -0.0003027733427845781, + -0.015075304906851439, + 0.004554338455470303, + 1.0 + ], + [ + -0.004660548724529867, + -0.0053251502649965705, + 0.0203875179564995, + 0.004886101786428017, + -0.03240068014690468, + -0.0076923922912621534, + 1.0 + ], + [ + -0.015214711015750948, + 0.004352283407189725, + 0.02640711549828534, + 0.012395003408654603, + -0.022830887388608147, + 0.02805480111509031, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 73.72296142578125, + 70.61869812011719 + ], + [ + 72.533203125, + 72.97012329101562 + ], + [ + 74.23991394042969, + 71.49441528320312 + ], + [ + 52.1719970703125, + 85.9561767578125 + ], + [ + 36.81436538696289, + 92.76058959960938 + ], + [ + 29.344635009765625, + 112.3777847290039 + ], + [ + 31.097068786621094, + 111.34333801269531 + ], + [ + 34.85978698730469, + 103.09036254882812 + ], + [ + 52.61988067626953, + 95.88009643554688 + ], + [ + 57.769203186035156, + 104.89076232910156 + ], + [ + 62.54350662231445, + 116.89754486083984 + ], + [ + 75.3541488647461, + 134.4130096435547 + ], + [ + 86.71346282958984, + 141.7864227294922 + ], + [ + 105.95630645751953, + 138.5574951171875 + ], + [ + 120.83780670166016, + 130.58566284179688 + ], + [ + 124.74161529541016, + 125.24681091308594 + ], + [ + 118.89901733398438, + 126.67251586914062 + ], + [ + 111.89313507080078, + 127.90231323242188 + ], + [ + 110.82026672363281, + 136.695556640625 + ], + [ + 111.14616394042969, + 150.07383728027344 + ], + [ + 109.66883087158203, + 164.73577880859375 + ], + [ + 109.03927612304688, + 177.114501953125 + ], + [ + 109.82172393798828, + 183.0843048095703 + ], + [ + 109.7669448852539, + 196.79791259765625 + ], + [ + 99.24118041992188, + 195.33541870117188 + ], + [ + 100.14077758789062, + 197.60623168945312 + ], + [ + 101.7160873413086, + 172.48509216308594 + ], + [ + 108.99563598632812, + 129.92327880859375 + ], + [ + 120.37977600097656, + 91.164794921875 + ], + [ + 134.19949340820312, + 48.33778381347656 + ], + [ + 168.50509643554688, + 17.313390731811523 + ], + [ + 230.41058349609375, + -24.670181274414062 + ], + [ + 282.1383972167969, + -26.931047439575195 + ], + [ + 316.68389892578125, + -17.524240493774414 + ], + [ + 338.59722900390625, + 14.926063537597656 + ], + [ + 338.1700134277344, + 16.559001922607422 + ], + [ + 334.64483642578125, + 15.474160194396973 + ], + [ + 320.6854248046875, + 38.90264892578125 + ], + [ + 306.50714111328125, + 48.472206115722656 + ], + [ + 303.94189453125, + 58.64626693725586 + ], + [ + 303.61358642578125, + 59.92431640625 + ], + [ + 308.30828857421875, + 68.86428833007812 + ], + [ + 318.3782958984375, + 64.09393310546875 + ], + [ + 325.8276062011719, + 60.88025665283203 + ], + [ + 326.25653076171875, + 55.905967712402344 + ], + [ + 326.27288818359375, + 29.067214965820312 + ], + [ + 325.47637939453125, + 18.22125816345215 + ], + [ + 326.05999755859375, + 17.427574157714844 + ] + ], + "depth_max": 2.139587163925171, + "depth_min": 0.265969842672348, + "intrinsic": [ + [ + 478.1423645019531, + 0.0, + 259.0 + ], + [ + 0.0, + 478.0103454589844, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.7915273676626384e-05, + -2.3092065021046437e-05, + -3.9657104935031384e-05 + ], + [ + -2.791739461827092e-05, + 1.0, + -9.183535439660773e-05, + 4.096867996850051e-06 + ], + [ + 2.3089500245987438e-05, + 9.183599468087777e-05, + 1.0, + -4.7526918933726847e-07 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 114.0, + 194.0 + ], + [ + 114.11641693115234, + 194.39303588867188 + ], + [ + 114.25187683105469, + 193.95028686523438 + ], + [ + 113.96055603027344, + 193.9482421875 + ], + [ + 114.01360321044922, + 193.89549255371094 + ], + [ + 113.9994888305664, + 194.05999755859375 + ], + [ + 113.8868179321289, + 194.00437927246094 + ], + [ + 113.82138061523438, + 193.9097900390625 + ], + [ + 113.82484436035156, + 193.9624786376953 + ], + [ + 113.74790954589844, + 193.99713134765625 + ], + [ + 113.78472900390625, + 194.3076171875 + ], + [ + 113.89106750488281, + 194.52691650390625 + ], + [ + 113.99681854248047, + 194.20401000976562 + ], + [ + 113.8072509765625, + 194.13143920898438 + ], + [ + 113.96048736572266, + 194.04470825195312 + ], + [ + 113.95394897460938, + 193.76980590820312 + ], + [ + 113.92413330078125, + 192.3179168701172 + ], + [ + 113.82723999023438, + 193.45176696777344 + ], + [ + 113.66445922851562, + 193.6142578125 + ], + [ + 113.57350158691406, + 194.12074279785156 + ], + [ + 113.3830337524414, + 193.26980590820312 + ], + [ + 113.67524719238281, + 193.96192932128906 + ], + [ + 113.80873107910156, + 195.30892944335938 + ], + [ + 116.40999603271484, + 200.59689331054688 + ], + [ + 101.54696655273438, + 201.79022216796875 + ], + [ + 101.64327239990234, + 204.575927734375 + ], + [ + 103.72503662109375, + 183.30264282226562 + ], + [ + 103.65126037597656, + 151.594970703125 + ], + [ + 113.30059814453125, + 119.33738708496094 + ], + [ + 126.29785919189453, + 76.11762237548828 + ], + [ + 159.97402954101562, + 29.191017150878906 + ], + [ + 228.96844482421875, + 8.449143409729004 + ], + [ + 274.7430114746094, + 6.242334842681885 + ], + [ + 308.5576171875, + 9.120367050170898 + ], + [ + 332.49884033203125, + 17.387928009033203 + ], + [ + 332.45855712890625, + 23.31910514831543 + ], + [ + 323.5799865722656, + 40.79863739013672 + ], + [ + 313.849365234375, + 64.50897216796875 + ], + [ + 300.16986083984375, + 73.35501098632812 + ], + [ + 296.733154296875, + 83.67432403564453 + ], + [ + 296.2610168457031, + 85.89221954345703 + ], + [ + 301.1219177246094, + 94.03861999511719 + ], + [ + 307.78717041015625, + 117.23077392578125 + ], + [ + 304.76116943359375, + 140.84703063964844 + ], + [ + 304.150146484375, + 140.37864685058594 + ], + [ + 303.94940185546875, + 139.9255828857422 + ], + [ + 303.97259521484375, + 140.08364868164062 + ], + [ + 304.14910888671875, + 139.2875213623047 + ] + ] +} \ No newline at end of file diff --git a/002400_v2/lang.txt b/002400_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..92cc43fa00e5165a9868089471ccd7b8302518f0 --- /dev/null +++ b/002400_v2/lang.txt @@ -0,0 +1 @@ +put the banana in the drawer diff --git a/002400_v2/object.ply b/002400_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..b2a29c7b1ea89c14b5efd96b5d083488d9eaef38 Binary files /dev/null and b/002400_v2/object.ply differ diff --git a/002442_v2/FAIL b/002442_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/002442_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/002446_v2/data.json b/002446_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..62773b6f7d653624c97e7ca834b811793f703f16 --- /dev/null +++ b/002446_v2/data.json @@ -0,0 +1,788 @@ +{ + "action_start": 9, + "action_end": 29, + "object_name": "yellow toy", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.548718, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 2.7755575615628914e-17, + -1.3877787807814457e-17, + 1.4964301490723077e-07, + 5.065894021240245e-07, + 5.521313482943218e-08, + 1.0 + ], + [ + -0.0013131493008346484, + -0.004988963931322116, + -0.013778989572235528, + 0.012428081332378008, + 0.011908944038342192, + -0.036316200906144756, + 1.0 + ], + [ + -0.0030837531810549157, + -0.0037103240194121256, + -0.008693408707434666, + 0.004876682713839739, + -0.002006618303282344, + -0.03410261281419964, + 1.0 + ], + [ + -0.004973637639284212, + -0.0016492761230365721, + -0.009512634488420435, + 0.03226948277684089, + -0.01868198873881289, + -0.06860213876625959, + 1.0 + ], + [ + -0.0030555494966773844, + -0.00036235997607206305, + -0.01069568737438839, + 0.015531156064763274, + -0.013141014195609084, + -0.047493805194842885, + 1.0 + ], + [ + 0.0008698081522904577, + -0.0005351818816500264, + -0.009111499116967639, + 0.009121825440845844, + 0.0011015739203523152, + -0.015203351378801164, + 1.0 + ], + [ + 0.004286587365528782, + 0.00044825906902856705, + -0.010441722104726554, + 0.005711787175656209, + 0.011290969303582633, + -0.008892694230126749, + 1.0 + ], + [ + 0.006235138126788081, + 0.0037979280899484713, + -0.00821441106923592, + 0.004638483661380058, + 0.017073960353023287, + 0.008459653286806304, + 1.0 + ], + [ + 0.006287864917899483, + 0.005972042855106691, + -0.011298814432525891, + 0.00428685367986006, + 0.01461154196602509, + 0.011864434104234281, + 1.0 + ], + [ + 0.006107124381904694, + 0.004879328657420773, + -0.00907027385437413, + -0.003758400161055063, + 0.016596213382908738, + 0.016945300284368803, + 1.0 + ], + [ + 0.0018652327874729702, + 0.005911256274523935, + -0.006471870110431033, + -0.02959226761618839, + 0.01070838334763477, + 0.0606150366111654, + 0.0 + ], + [ + -0.0028054043928876227, + 0.0007390533488894901, + 0.012550915394630737, + -0.016755521552113083, + -0.020622079644973694, + 0.017468366294825424, + 0.0 + ], + [ + -0.011173340162160872, + -0.0038156857613485806, + 0.023367680330068724, + -0.024189217121340163, + -0.017818718132947945, + -0.00029393614116929263, + 0.0 + ], + [ + -0.01691696925977676, + -0.005260770949889415, + 0.04169764177921895, + -0.004915152657228925, + -0.0056871357918776835, + 0.015106364041429772, + 0.0 + ], + [ + -0.011539107236818835, + -0.0029595026716362494, + 0.038253185610225726, + -0.00010071710189743484, + -0.02449303099352965, + 0.02092392917369982, + 0.0 + ], + [ + 0.002382105662581402, + -0.013250896131026507, + 0.02195038164372483, + -0.0352691427994241, + -0.017315966422843065, + -0.007830654371234596, + 0.0 + ], + [ + 0.014924032602611603, + -0.02325564488998913, + 0.005858326356829369, + 0.00904956059016577, + 0.004835153404049888, + -0.018891628275230266, + 0.0 + ], + [ + 0.015531312406958903, + -0.01882409516315288, + 0.00221168952364742, + 0.009352331026674654, + -0.023791443039169306, + -0.0232564006820902, + 0.0 + ], + [ + 0.0219162217747437, + -0.02212171515881929, + 0.0013676548843266634, + -0.016984191500101168, + -0.01789194661997071, + -0.012826271690424863, + 0.0 + ], + [ + 0.019367203377368525, + -0.0168522297115698, + -0.000859494010507722, + -0.009630958693080987, + -0.009864413007352725, + 0.017220135721391285, + 0.0 + ], + [ + 0.01872440900032002, + -0.012517282836237598, + -0.0022108841318940475, + -0.022693584664668764, + 0.007396462601639709, + 0.03924435068526288, + 0.0 + ], + [ + 0.015489481008223505, + -0.009069040717352185, + -0.00610913517718728, + 0.0028057418556204877, + 0.0056076352885092405, + 0.04487627010563879, + 0.0 + ], + [ + 0.014813781460832842, + -0.012659213513799797, + -0.0033605968317870494, + -0.011069423248126839, + -0.001785678608863821, + 0.03438295855898551, + 0.0 + ], + [ + 0.010897274774209487, + -0.010982623348519994, + -0.00016976506471130803, + -0.02053356440620305, + -0.0024319398577434493, + 0.024050829139867058, + 0.0 + ], + [ + 0.011441353752387473, + -0.012530317301416592, + 0.0033560153907577772, + -0.011889355491403552, + -0.005087248490554658, + 0.008975869520845404, + 0.0 + ], + [ + 0.006526982652436231, + -0.006174287142174984, + 0.002064623213673039, + -0.01207757452554138, + -0.011027542193335264, + 0.010583506237681865, + 0.0 + ], + [ + 0.005370488712996335, + -0.0036782260302153265, + 0.0015575325380515759, + -0.023412325702656063, + -0.02924872576097946, + 0.05287987520425662, + 0.0 + ], + [ + 0.005664873975009144, + 0.0005663401604999764, + -0.000842408364241487, + -0.022651436974578307, + -0.017826516485491713, + 0.07408249645079788, + 0.0 + ], + [ + 0.005681323745227118, + 0.002912226261035702, + -0.0006945599022847027, + -0.01600206499773896, + -0.007357926937177146, + 0.06421828467235624, + 0.0 + ], + [ + 0.00463514786946867, + 0.0015792407308987053, + -0.0027632268589623116, + -0.008133626451428545, + 0.0031589265556464, + 0.03260825307017667, + 0.548718 + ], + [ + -0.0030779734958118476, + 0.0028099748733935426, + -0.0013911293037392886, + 0.007608873547562287, + -0.011004244609162703, + 0.02327080066291772, + 1.0 + ], + [ + -0.010584361090826666, + 0.00045246835975067904, + 0.005754449339938308, + -0.005512526148013312, + -0.014607704495986477, + 0.0003293234538059146, + 1.0 + ], + [ + -0.013330310566498194, + 0.004542852268558388, + 0.010570375084959935, + -0.01534209862862564, + -0.022070059847757142, + 0.0005555767435796709, + 1.0 + ], + [ + -0.021537676918189474, + 0.018572531039893037, + 0.017102164382366294, + -0.01591345770984773, + -0.02885763585785901, + -0.001990444587273144, + 1.0 + ], + [ + -0.022092171243574488, + 0.017086350704879107, + -0.002704892870866088, + 0.01880697675808599, + 0.06836159139145348, + -0.08644438633347999, + 1.0 + ], + [ + -0.018403469819251506, + 0.009199360838599319, + -0.02404479353886259, + 0.15397508354565712, + 0.09875830553030183, + -0.13446853108703097, + 1.0 + ], + [ + -0.012275506276415937, + 0.001928101685314817, + -0.02913012785741466, + 0.1274395959288372, + 0.07159208427287807, + -0.08896881066486598, + 1.0 + ], + [ + -0.006557273011484233, + -0.0002541363844438399, + -0.02152627491269106, + 0.03513329523517675, + 0.019414130447965434, + -0.04737504511693733, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 83.893798828125, + 109.82305145263672 + ], + [ + 84.68305969238281, + 112.3450698852539 + ], + [ + 87.61066436767578, + 138.38397216796875 + ], + [ + 93.92449188232422, + 153.78318786621094 + ], + [ + 90.86277770996094, + 175.55575561523438 + ], + [ + 90.96038055419922, + 190.82896423339844 + ], + [ + 93.04823303222656, + 193.4605255126953 + ], + [ + 98.99906921386719, + 206.0719451904297 + ], + [ + 104.64793395996094, + 213.74354553222656 + ], + [ + 107.50811004638672, + 215.9927215576172 + ], + [ + 116.04174041748047, + 203.11285400390625 + ], + [ + 119.86201477050781, + 189.8734893798828 + ], + [ + 117.95464324951172, + 186.73109436035156 + ], + [ + 97.19588470458984, + 203.26434326171875 + ], + [ + 78.36248016357422, + 168.44351196289062 + ], + [ + 52.295875549316406, + 133.05247497558594 + ], + [ + 50.82344055175781, + 99.04548645019531 + ], + [ + 72.10910034179688, + 89.58390808105469 + ], + [ + 114.8670883178711, + 88.7203140258789 + ], + [ + 166.9504852294922, + 77.89093017578125 + ], + [ + 210.7607421875, + 78.03901672363281 + ], + [ + 250.96881103515625, + 78.91087341308594 + ], + [ + 274.10980224609375, + 79.54838562011719 + ], + [ + 301.3397216796875, + 85.645751953125 + ], + [ + 323.4674987792969, + 86.84426879882812 + ], + [ + 344.38909912109375, + 82.90675354003906 + ], + [ + 365.2371520996094, + 84.95509338378906 + ], + [ + 372.9465026855469, + 81.79972076416016 + ], + [ + 377.9691162109375, + 80.7370376586914 + ], + [ + 382.26202392578125, + 82.29519653320312 + ], + [ + 382.8662109375, + 80.30677032470703 + ], + [ + 382.31866455078125, + 82.807373046875 + ], + [ + 374.65765380859375, + 97.24368286132812 + ], + [ + 364.72723388671875, + 84.72158813476562 + ], + [ + 334.60394287109375, + 64.6233139038086 + ], + [ + 290.5487365722656, + 45.536319732666016 + ], + [ + 253.43429565429688, + 71.52462768554688 + ], + [ + 241.06861877441406, + 114.46659851074219 + ], + [ + 228.80593872070312, + 146.12826538085938 + ], + [ + 226.74720764160156, + 154.21588134765625 + ] + ], + "depth_max": 2.62180495262146, + "depth_min": 0.5391006469726562, + "intrinsic": [ + [ + 502.34564208984375, + 0.0, + 259.0 + ], + [ + 0.0, + 501.8286437988281, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.861448516952805e-05, + 4.300153523217887e-05, + -3.6008590541314334e-05 + ], + [ + -5.861212048330344e-05, + 1.0, + -5.4947227908996865e-05, + -2.067448804154992e-06 + ], + [ + -4.300476211938076e-05, + 5.494471042766236e-05, + 1.0, + 2.4187733288272284e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 39 + ], + "object_trajectory": [ + [ + 105.25, + 210.25001525878906 + ], + [ + 105.78679656982422, + 210.42950439453125 + ], + [ + 105.05316162109375, + 210.68182373046875 + ], + [ + 104.54700469970703, + 211.88966369628906 + ], + [ + 103.66867065429688, + 213.1096649169922 + ], + [ + 103.1420669555664, + 213.3498077392578 + ], + [ + 103.38661193847656, + 213.20114135742188 + ], + [ + 109.37183380126953, + 216.5399169921875 + ], + [ + 111.26917266845703, + 218.3525390625 + ], + [ + 112.53689575195312, + 218.98468017578125 + ], + [ + 118.98599243164062, + 222.69915771484375 + ], + [ + 115.30686950683594, + 214.91949462890625 + ], + [ + 111.16119384765625, + 210.39471435546875 + ], + [ + 85.50208282470703, + 220.9841766357422 + ], + [ + 66.3169174194336, + 190.5325927734375 + ], + [ + 29.894296646118164, + 167.77853393554688 + ], + [ + 24.269588470458984, + 136.5338134765625 + ], + [ + 48.69526290893555, + 126.36892700195312 + ], + [ + 92.91313171386719, + 124.89134216308594 + ], + [ + 147.49948120117188, + 114.26306915283203 + ], + [ + 191.6863250732422, + 114.24810028076172 + ], + [ + 234.69424438476562, + 113.48876190185547 + ], + [ + 260.41314697265625, + 113.04998016357422 + ], + [ + 289.45562744140625, + 117.67420196533203 + ], + [ + 314.0335693359375, + 119.3733901977539 + ], + [ + 335.66571044921875, + 115.51494598388672 + ], + [ + 355.5182189941406, + 115.20741271972656 + ], + [ + 365.91015625, + 111.49870300292969 + ], + [ + 373.71832275390625, + 110.79800415039062 + ], + [ + 379.45880126953125, + 111.9874496459961 + ], + [ + 380.8524169921875, + 110.26174926757812 + ], + [ + 392.4630126953125, + 126.9153823852539 + ], + [ + 407.91107177734375, + 150.66024780273438 + ], + [ + 401.2524719238281, + 154.5082550048828 + ], + [ + 399.2508239746094, + 154.34832763671875 + ], + [ + 398.778564453125, + 153.99102783203125 + ], + [ + 397.4855651855469, + 153.8638153076172 + ], + [ + 398.4162902832031, + 153.10862731933594 + ], + [ + 398.6147766113281, + 153.34400939941406 + ], + [ + 398.5667419433594, + 153.6986083984375 + ] + ] +} \ No newline at end of file diff --git a/002446_v2/lang.txt b/002446_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..78708c38060a236195dd6f7475829ca413a073c2 --- /dev/null +++ b/002446_v2/lang.txt @@ -0,0 +1 @@ +Put the yellow toy in the drawer diff --git a/002446_v2/object.ply b/002446_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..d64b7324d113606bf22f4bc8b0b6ed688edc8d19 Binary files /dev/null and b/002446_v2/object.ply differ diff --git a/002449_v2/FAIL b/002449_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/002449_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/002454/data.json b/002454/data.json new file mode 100644 index 0000000000000000000000000000000000000000..0659507bb74c4eba258207de16d0b3f5bdaf083e --- /dev/null +++ b/002454/data.json @@ -0,0 +1,384 @@ +{ + "action_start": 3, + "action_end": 14, + "object_name": "eggplant", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.939059244397527e-10, + 1.535803428875937e-11, + -6.905942484536354e-11, + 3.610668944326556e-08, + 2.987152040838893e-07, + 6.195698063513173e-07, + 1.0 + ], + [ + 0.0010470895863436414, + 0.0007206839591201164, + -0.001091039614752841, + 0.0034864295625722606, + -0.0016560159234925024, + -0.00012541042534722593, + 1.0 + ], + [ + 0.001388358169123416, + 0.00039240471287783907, + -0.004016305011928498, + -0.007879490542375394, + -0.004296547472431038, + 0.0012401014267606606, + 1.0 + ], + [ + 0.00132259576452054, + 0.0002288710893851159, + -0.0019145710366301888, + -0.01844611949154357, + -0.004459624507034248, + 0.0003405298888364543, + 1.0 + ], + [ + 0.0016591283024796066, + -0.0006393424363636269, + -0.002040870072057853, + -0.00883837952562797, + -0.004969786908688161, + 0.00364606497298034, + 0.0 + ], + [ + 0.0031170826325828127, + 0.0013311749787178057, + -0.002334901463414231, + -0.02072794220841231, + -0.008344165206352998, + -0.0033150617449698933, + 0.0 + ], + [ + 0.001708317278825533, + 0.0024152373775298414, + 0.0035028834707653868, + 0.0142118355046282, + 0.0033978694196799696, + -0.0031479830823183904, + 0.0 + ], + [ + 0.005949162182083023, + 0.004881112777777398, + 0.019676213215505518, + 0.06848711900160681, + -0.008383221736784362, + 0.013780603638634127, + 0.0 + ], + [ + -0.0014676960812973205, + 0.006966961906551106, + 0.021631812149719862, + 0.055164270974965124, + 0.006500500625812939, + 0.01632444509809704, + 0.0 + ], + [ + -0.009865147508599514, + 0.009631454904968091, + 0.009861505889946227, + 0.02530435291338312, + 0.0035030862079188283, + 0.015927813302032877, + 0.0 + ], + [ + -0.019011471062590102, + 0.014888775160724128, + 0.006796937540512513, + 0.04362313440816214, + 0.021215962371120157, + -0.01417957935463211, + 0.0 + ], + [ + -0.019997377669952132, + 0.012750615060907466, + 0.006640731084369758, + 0.018771394964479236, + 0.0359660400494361, + -0.01636022969057964, + 0.0 + ], + [ + -0.014274675193719, + 0.004731286798614641, + 0.005188349657070636, + 0.008874273119402695, + 0.028537896068906655, + -0.008211648847151615, + 0.0 + ], + [ + -0.010808130429199425, + 0.004275582906344114, + -0.008305494513577025, + -0.03263595250916517, + 0.028559530603643943, + -0.0020017477338507075, + 0.0 + ], + [ + -0.00833541720373887, + 0.0050075636332890736, + -0.012592120037884832, + -0.013852815392046938, + -0.028839139670001554, + -0.012996025257423313, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 520.4659423828125, + 107.27531433105469 + ], + [ + 520.4385375976562, + 107.66454315185547 + ], + [ + 510.8358154296875, + 134.35769653320312 + ], + [ + 510.8586120605469, + 134.27415466308594 + ], + [ + 513.9558715820312, + 133.53004455566406 + ], + [ + 517.6998901367188, + 134.8026123046875 + ], + [ + 515.215576171875, + 136.44906616210938 + ], + [ + 515.1322021484375, + 134.62001037597656 + ], + [ + 510.99212646484375, + 132.84136962890625 + ], + [ + 507.5944519042969, + 107.77818298339844 + ], + [ + 500.0157470703125, + 100.33659362792969 + ], + [ + 488.7386779785156, + 110.6468505859375 + ], + [ + 477.7684631347656, + 95.245361328125 + ], + [ + 458.2330322265625, + 94.57160949707031 + ], + [ + 450.2227783203125, + 89.3318862915039 + ], + [ + 437.10821533203125, + 109.7469711303711 + ], + [ + 420.09576416015625, + 119.44972229003906 + ], + [ + 421.18951416015625, + 119.36546325683594 + ] + ], + "depth_max": 1.4247137308120728, + "depth_min": 0.13317981362342834, + "intrinsic": [ + [ + 500.79608154296875, + 0.0, + 259.0 + ], + [ + 0.0, + 501.571044921875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.2749994210898876e-05, + -9.386897727381438e-05, + -1.6918382243602537e-05 + ], + [ + -5.275356670608744e-05, + 1.0, + -3.807098983088508e-05, + 3.277865289419424e-06 + ], + [ + 9.386696910951287e-05, + 3.807593748206273e-05, + 1.0, + -4.2601022869348526e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 17 + ], + "object_trajectory": [ + [ + 526.25, + 160.5 + ], + [ + 526.0718994140625, + 160.4833526611328 + ], + [ + 525.935302734375, + 161.63340759277344 + ], + [ + 524.3673095703125, + 164.913330078125 + ], + [ + 526.532470703125, + 163.0916748046875 + ], + [ + 529.6646728515625, + 163.9549102783203 + ], + [ + 526.9784545898438, + 170.69349670410156 + ], + [ + 527.1183471679688, + 169.21908569335938 + ], + [ + 522.8985595703125, + 168.70278930664062 + ], + [ + 517.9326171875, + 145.59463500976562 + ], + [ + 508.3815612792969, + 138.31288146972656 + ], + [ + 495.5731201171875, + 149.07769775390625 + ], + [ + 484.14166259765625, + 135.57708740234375 + ], + [ + 463.9477844238281, + 135.68600463867188 + ], + [ + 456.67340087890625, + 131.4261474609375 + ], + [ + 445.64752197265625, + 153.45738220214844 + ], + [ + 429.80670166015625, + 160.9920654296875 + ], + [ + 422.216064453125, + 189.01205444335938 + ] + ] +} \ No newline at end of file diff --git a/002454/lang.txt b/002454/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..7ed8832c7c67b4d9e1196c12118415376146aac0 --- /dev/null +++ b/002454/lang.txt @@ -0,0 +1 @@ +put eggplant in pot or pan diff --git a/002454/object.ply b/002454/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..13eb92936535c2eaba4868cbf2712c24d1cd850b Binary files /dev/null and b/002454/object.ply differ diff --git a/002462/FAIL b/002462/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/002462/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/002471_v2/FAIL b/002471_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/002471_v2/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/002499_v2/FAIL b/002499_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/002499_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/002511/data.json b/002511/data.json new file mode 100644 index 0000000000000000000000000000000000000000..98587a542a21d4f98d0182cc2ff91fabf55b7e5f --- /dev/null +++ b/002511/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 10, + "action_end": 19, + "object_name": "eggplant", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.41098900000000005, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.730891, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 6.794900198059395e-10, + -6.421335338457901e-11, + -1.5157972099721917e-10, + 1.90189886607107e-07, + -3.434315092527663e-07, + -1.0708267169741763e-06, + 1.0 + ], + [ + 0.0019528735710333534, + 0.001955971999059433, + 0.0022108182687392147, + -0.004408513339082977, + 0.004528656842914224, + 0.10427194669558107, + 1.0 + ], + [ + 0.004318525729105571, + 0.001684372455927348, + -1.8786559270470016e-05, + -0.024975935183770108, + 0.020990488156638516, + 0.1058250596607448, + 1.0 + ], + [ + 0.007875404171464762, + 0.0011432183664240175, + -0.0074477508320636154, + -0.03126247443536096, + 0.0021262206017657642, + 0.1336268025306232, + 1.0 + ], + [ + 0.002664132958874743, + -0.005658826952921171, + -0.011003384534101157, + 0.016374481332962085, + -0.006970196477029062, + 0.1348728301456036, + 1.0 + ], + [ + -0.0021921577944004067, + 0.0019138710639564419, + -0.009494507300301769, + 0.024185877140207368, + -0.02366552292118928, + 0.09978952174891433, + 1.0 + ], + [ + -0.0012951622288131515, + 0.004170940784802291, + -0.010262400308607887, + -0.004759077077477734, + -0.020337597195574826, + 0.05695458850063791, + 1.0 + ], + [ + -0.006714469186828775, + 0.0018268647046866399, + -0.006737016569508057, + -0.012497533115074174, + -0.0022465504228933813, + 0.05088494729827141, + 1.0 + ], + [ + -0.005924586563358869, + 0.004201070655102539, + -0.009180399877479442, + 0.009096249452954272, + -0.019605785172210788, + 0.04071522136640674, + 1.0 + ], + [ + -0.0028191068715002765, + 0.00610590097389738, + -0.010153560934604969, + -0.002538358457225733, + -0.017072828317750127, + 0.014004559730770347, + 1.0 + ], + [ + 0.002607416602487478, + 0.007976753057157115, + -0.015690019004873507, + -0.03229236243909389, + -0.02043805639936302, + 0.0272968991742109, + 0.41098900000000005 + ], + [ + 0.0032222861984864126, + -0.0006837624442263407, + -0.0004303317423154304, + 0.005974356207087844, + -0.009698589987141114, + 0.01789931925567752, + 0.0 + ], + [ + -0.000946552608790896, + 0.0037537392121947677, + 0.02559647560600406, + 0.039404763398192516, + 0.020241430747330768, + -0.007797341246851245, + 0.0 + ], + [ + 0.0013587671831549186, + 0.007414632807971472, + 0.029355298906851388, + 0.05366727618302389, + 0.011838281532965917, + -0.015247781727801493, + 0.0 + ], + [ + 0.006656568919859995, + 0.007060921036849577, + 0.02412263606970627, + 0.040318283308587125, + -0.005512691826199025, + -0.011256149761331106, + 0.0 + ], + [ + 0.012390174037063661, + 0.013499837278202705, + 0.02012098349791057, + 0.06958982904347503, + -0.03644883684874228, + -0.03163202010547682, + 0.0 + ], + [ + 0.025149754287882353, + 0.018825084420175664, + 0.010876586292639212, + 0.059235339956434756, + -0.03583909796277846, + -0.07001855234328054, + 0.0 + ], + [ + 0.03115753071869648, + 0.01241904188766213, + -0.012142449305574954, + 0.044724776392941056, + -0.0648408956019264, + -0.05698264079243424, + 0.0 + ], + [ + 0.02620742765821593, + 0.0125460241629798, + -0.002290992978893097, + 0.006725277112475573, + -0.043637157313891804, + -0.04470663161274199, + 0.0 + ], + [ + 0.007985783047806005, + 0.0036506670350643228, + -0.003106051536274662, + 0.011492591044516874, + -0.04371155968852226, + -0.028801577110869576, + 0.730891 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 330.794189453125, + 169.5435333251953 + ], + [ + 330.9253845214844, + 169.7744140625 + ], + [ + 327.9974670410156, + 182.213134765625 + ], + [ + 327.50347900390625, + 177.21717834472656 + ], + [ + 334.421875, + 178.68756103515625 + ], + [ + 332.8604736328125, + 181.97930908203125 + ], + [ + 336.93438720703125, + 192.05599975585938 + ], + [ + 335.2814025878906, + 198.51882934570312 + ], + [ + 332.7279968261719, + 212.22671508789062 + ], + [ + 321.3341064453125, + 222.601806640625 + ], + [ + 316.78070068359375, + 233.01800537109375 + ], + [ + 321.06646728515625, + 230.55953979492188 + ], + [ + 303.13671875, + 222.29464721679688 + ], + [ + 303.44940185546875, + 221.95947265625 + ], + [ + 299.35107421875, + 222.52676391601562 + ], + [ + 287.3336181640625, + 188.58908081054688 + ], + [ + 282.9222717285156, + 158.28024291992188 + ], + [ + 284.58245849609375, + 126.38343811035156 + ], + [ + 283.006103515625, + 83.21627807617188 + ], + [ + 294.9521789550781, + 91.18234252929688 + ], + [ + 293.1640625, + 79.8404541015625 + ], + [ + 295.49212646484375, + 73.06990051269531 + ], + [ + 295.5465087890625, + 73.3184814453125 + ], + [ + 260.9051208496094, + 90.43269348144531 + ] + ], + "depth_max": 1.5163302421569824, + "depth_min": 0.4788641333580017, + "intrinsic": [ + [ + 507.85516357421875, + 0.0, + 259.0 + ], + [ + 0.0, + 508.41741943359375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 9.53757898969343e-06, + -0.00010742385347839445, + -1.9789869838859886e-05 + ], + [ + -9.539310667605605e-06, + 1.0, + -1.612166852282826e-05, + -2.4444152586511336e-06 + ], + [ + 0.00010742369340732694, + 1.612269443285186e-05, + 1.0, + 3.5386590752750635e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 326.5, + 240.75001525878906 + ], + [ + 326.5560302734375, + 240.8616943359375 + ], + [ + 326.6382751464844, + 241.03761291503906 + ], + [ + 326.4405517578125, + 240.9357147216797 + ], + [ + 326.57659912109375, + 240.7471923828125 + ], + [ + 326.5980224609375, + 240.62155151367188 + ], + [ + 326.635498046875, + 240.7918701171875 + ], + [ + 326.464111328125, + 240.59295654296875 + ], + [ + 326.3312072753906, + 240.33120727539062 + ], + [ + 325.420166015625, + 240.12106323242188 + ], + [ + 319.73895263671875, + 242.23294067382812 + ], + [ + 316.1296081542969, + 241.24610900878906 + ], + [ + 306.5212097167969, + 230.9638214111328 + ], + [ + 306.104248046875, + 230.5048828125 + ], + [ + 301.7821960449219, + 230.8414306640625 + ], + [ + 293.4503173828125, + 204.77577209472656 + ], + [ + 293.0116882324219, + 173.43930053710938 + ], + [ + 292.0530090332031, + 142.13206481933594 + ], + [ + 289.57073974609375, + 98.35055541992188 + ], + [ + 300.91192626953125, + 102.05065155029297 + ], + [ + 303.2110595703125, + 97.69851684570312 + ], + [ + 303.9996337890625, + 88.34559631347656 + ], + [ + 283.3646240234375, + 130.32571411132812 + ], + [ + 290.9502258300781, + 125.0898208618164 + ] + ] +} \ No newline at end of file diff --git a/002511/lang.txt b/002511/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..7ed8832c7c67b4d9e1196c12118415376146aac0 --- /dev/null +++ b/002511/lang.txt @@ -0,0 +1 @@ +put eggplant in pot or pan diff --git a/002511/object.ply b/002511/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..504d34eff8aeda0d5a2ca6020eda6cdde9337218 Binary files /dev/null and b/002511/object.ply differ diff --git a/002521_v2/FAIL b/002521_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/002521_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/002525/data.json b/002525/data.json new file mode 100644 index 0000000000000000000000000000000000000000..888bd8a07688b0740aca058a3eb167b69940883c --- /dev/null +++ b/002525/data.json @@ -0,0 +1,439 @@ +{ + "action_start": 8, + "action_end": 16, + "object_name": "eggplant", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.47643500000000005, + 0.065446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.541148, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 9.526268662796156e-13, + -6.639327976287746e-11, + 7.745090957467227e-10, + -1.832627576698164e-07, + 2.958201157566848e-09, + 6.290602750775843e-07, + 1.0 + ], + [ + 0.005258022176351629, + 0.0016312848577599848, + -0.004882787462528321, + -0.014900774577150553, + -0.012945210689239905, + 0.16948277595643427, + 1.0 + ], + [ + 0.003862364477930036, + 0.002427127030534104, + -0.001827518049915669, + -0.02850276617725007, + 0.021878794828840017, + 0.050209464678822056, + 1.0 + ], + [ + 0.0011793390673988657, + 0.0025629226700114027, + -0.004127424363373537, + -0.0027201896382489663, + -0.0008256858012852624, + 0.021820012928635796, + 1.0 + ], + [ + 0.0020291465933234276, + 0.0053321441145016135, + -0.006393192624274617, + -0.011194297469861655, + 0.0027386382479694326, + 0.005499952705715615, + 1.0 + ], + [ + 0.003040298435118771, + 0.0016755588573084679, + -0.006053383274764179, + -0.0007969108899888469, + 0.0062915048123576645, + 0.015737931715409353, + 1.0 + ], + [ + 0.0007864491165105458, + 0.0019238311488932458, + -0.002900522001058621, + -0.001468318537581591, + -0.003564384821302824, + 0.0059250667873451705, + 1.0 + ], + [ + 0.0006560241514212417, + -0.00158541290741529, + -0.004036445908393499, + 0.023501015231103716, + -0.015234511229657858, + 0.00791163122844241, + 0.47643500000000005 + ], + [ + -0.001885538493816341, + -0.005852103156124527, + 0.0015660473267448162, + 0.03574299955789145, + -0.005806287464531619, + 0.004772319065738924, + 0.065446 + ], + [ + -0.0009777362023486447, + -0.002191181232034184, + 0.015251041454152556, + 0.019425073952622843, + 0.023839060418101805, + 0.0074893381657437615, + 0.0 + ], + [ + -0.0012577853463682231, + 0.0004335727738555284, + 0.026351142409902665, + 0.08034046648077865, + 0.01823439051454124, + 0.015280284471002114, + 0.0 + ], + [ + 0.0017067491215160824, + -0.008918988089507196, + 0.017855188159585922, + -0.018692416050554345, + 0.0015521918376027847, + 0.040906714973943575, + 0.0 + ], + [ + 0.001497915737973532, + -0.02569989446858853, + 0.015038386671950905, + -0.011873258938912688, + -0.019930481461431254, + 0.07094210450540532, + 0.0 + ], + [ + 0.0037403079367197556, + -0.029066532831424186, + -0.006506995691552359, + 0.02245856592572528, + -0.034837001740748455, + 0.047124108984336215, + 0.0 + ], + [ + -0.00019925188882091716, + -0.023465645707998778, + -0.014331173350779769, + -0.04089324883272063, + -0.03599041836782296, + 0.010632041470423, + 0.0 + ], + [ + -0.0028133356691940614, + -0.002992046370583895, + -0.01808326897722519, + -0.013114992543188141, + -0.02906326396326848, + 0.001127690550807801, + 0.0 + ], + [ + 0.0003013423823696737, + 0.006220427458578759, + -0.007314045901831254, + -0.008118873785686296, + -0.03499070304793167, + -0.020410868871717402, + 0.541148 + ], + [ + 0.0018712626156950907, + -0.0028434616569559534, + -0.009984336910059538, + 0.016192342236343568, + -0.06058874254016071, + -0.0030376975550814953, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 100.30477905273438, + 99.18624877929688 + ], + [ + 100.42710876464844, + 99.16355895996094 + ], + [ + 106.72071838378906, + 120.55233764648438 + ], + [ + 105.95863342285156, + 122.63954162597656 + ], + [ + 108.93801879882812, + 125.27690124511719 + ], + [ + 111.181396484375, + 130.25814819335938 + ], + [ + 115.08332824707031, + 134.75790405273438 + ], + [ + 116.0692138671875, + 137.1903076171875 + ], + [ + 116.72090911865234, + 135.8997802734375 + ], + [ + 117.3308334350586, + 136.002197265625 + ], + [ + 117.36932373046875, + 138.20188903808594 + ], + [ + 110.89889526367188, + 141.49253845214844 + ], + [ + 118.11847686767578, + 112.67156982421875 + ], + [ + 117.9891128540039, + 102.44267272949219 + ], + [ + 141.07554626464844, + 80.28480529785156 + ], + [ + 177.00674438476562, + 107.56907653808594 + ], + [ + 193.22183227539062, + 126.32093811035156 + ], + [ + 197.62709045410156, + 142.4046630859375 + ], + [ + 189.77786254882812, + 145.75131225585938 + ], + [ + 194.1977081298828, + 159.3900604248047 + ], + [ + 194.0369110107422, + 159.02127075195312 + ] + ], + "depth_max": 1.5877875089645386, + "depth_min": 0.6232088208198547, + "intrinsic": [ + [ + 507.07281494140625, + 0.0, + 259.0 + ], + [ + 0.0, + 507.8948974609375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.389532164670527e-05, + -8.195665577659383e-05, + -1.4236662536859512e-05 + ], + [ + -2.3894652258604765e-05, + 1.0, + 8.151335350703448e-06, + 4.391650691104587e-06 + ], + [ + 8.19568449514918e-05, + -8.149378118105233e-06, + 1.0, + 2.2387588614947163e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 20 + ], + "object_trajectory": [ + [ + 112.25, + 144.0 + ], + [ + 112.54595947265625, + 144.24252319335938 + ], + [ + 111.91014099121094, + 144.77420043945312 + ], + [ + 111.95335388183594, + 144.7958526611328 + ], + [ + 112.77122497558594, + 145.20144653320312 + ], + [ + 112.30644226074219, + 142.0427703857422 + ], + [ + 113.4131851196289, + 144.76171875 + ], + [ + 114.75675201416016, + 144.6002197265625 + ], + [ + 115.70821380615234, + 144.0823974609375 + ], + [ + 116.78367614746094, + 143.96791076660156 + ], + [ + 116.4205322265625, + 145.1616973876953 + ], + [ + 111.66608428955078, + 146.127685546875 + ], + [ + 116.65792846679688, + 124.07743835449219 + ], + [ + 117.7789306640625, + 116.3068618774414 + ], + [ + 132.752197265625, + 99.06695556640625 + ], + [ + 166.4789581298828, + 122.90789794921875 + ], + [ + 182.95921325683594, + 142.89076232910156 + ], + [ + 187.253173828125, + 158.63671875 + ], + [ + 184.686279296875, + 157.11940002441406 + ], + [ + 196.21817016601562, + 165.56277465820312 + ], + [ + 195.25021362304688, + 169.11619567871094 + ] + ] +} \ No newline at end of file diff --git a/002525/lang.txt b/002525/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..7ed8832c7c67b4d9e1196c12118415376146aac0 --- /dev/null +++ b/002525/lang.txt @@ -0,0 +1 @@ +put eggplant in pot or pan diff --git a/002525/object.ply b/002525/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..4343ee3e17ccfc7a257ce1d2d63d42c405535f6a Binary files /dev/null and b/002525/object.ply differ diff --git a/002550/data.json b/002550/data.json new file mode 100644 index 0000000000000000000000000000000000000000..b679e8aeb8bec437b87fdaf55eabf8535d92444a --- /dev/null +++ b/002550/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 14, + "action_end": 22, + "object_name": "eggplant", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.707692, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.944078 + ], + "gripper_actions": [ + [ + -7.994932493815554e-11, + 5.4176125391380836e-11, + -2.5882629373086274e-12, + 5.729495223252447e-09, + 1.93568975613156e-08, + 1.4113218249444542e-07, + 1.0 + ], + [ + 0.002729221005006943, + -0.0006108888781862463, + 0.0026360876461982152, + 0.020325901667201485, + -0.006878049965887151, + 0.13529122216266576, + 1.0 + ], + [ + 0.0036136766269386777, + -0.002474760562480083, + 0.0009645053900651651, + -0.018551646728963846, + -0.017213980582400472, + 0.15201172612767425, + 1.0 + ], + [ + 0.0040639773390017675, + -0.0024725467372418916, + -0.001425229633731366, + -0.04561989207101749, + -0.013667944957200267, + 0.11766420910597428, + 1.0 + ], + [ + 0.0032906333022068024, + -0.0015063754399182866, + -0.0038756712370461577, + -0.02920546175273013, + -0.032604037605646514, + 0.08573027327371856, + 1.0 + ], + [ + 0.005235454476284207, + -0.001799639271838782, + -0.0071611814744931, + -0.04317183393572282, + -0.03189108838132924, + 0.06919994734200376, + 1.0 + ], + [ + 0.0028309420109179917, + 0.00027871957563923005, + -0.004453870851831562, + -0.019630715094667003, + -0.015053660380402, + 0.05605276152050237, + 1.0 + ], + [ + 0.002402199184221243, + 0.0004981707592976716, + -0.005830863078291282, + -0.01903440149764569, + -0.013843048466138371, + 0.04383768668310188, + 1.0 + ], + [ + 2.346073618614275e-05, + 0.0019621350222087802, + -0.004615141645331444, + -0.01951707103428904, + -0.005093488143227468, + 0.009909236339881928, + 1.0 + ], + [ + -0.0007547077819273773, + 0.0020353964494506764, + -0.008262307201406444, + -0.020713843708557854, + -0.01060467988981177, + 0.013873949361349934, + 1.0 + ], + [ + -0.0009849095671319863, + 0.0021457503962289716, + -0.005056389649500059, + -0.007008190045667416, + -0.00867465378653027, + 0.00938231714365134, + 1.0 + ], + [ + -0.00031461962806778043, + 0.001486692710294453, + -0.0061512346126116856, + -0.013418067928936751, + -0.008211985192868924, + 0.0038301307021020676, + 1.0 + ], + [ + -0.0010281015934849314, + 0.000741691722691, + -0.006519614094442246, + -0.0060617224018004335, + -0.01585031274692813, + 0.011066226312741649, + 1.0 + ], + [ + 0.0001535484241974583, + 0.002660016467537123, + -0.0052185269239775, + -0.02131262662522002, + -0.008377746206685787, + -0.0012986153818760038, + 1.0 + ], + [ + 0.0006893104734070898, + 0.0008233062199676129, + -0.0032760075483801478, + -0.008987798831851435, + -0.006687352487372567, + 0.005830248452060682, + 0.707692 + ], + [ + 0.0011894394707092637, + 3.571498111460021e-05, + 0.0027141195060270736, + 0.0042079456230363355, + 0.016205178194255484, + 0.0021679295509760338, + 0.0 + ], + [ + 0.0008975995452879526, + 0.0026620239444989056, + 0.007078375538817348, + -0.0008039143345169337, + 0.021607701750076324, + -0.020366726534696025, + 0.0 + ], + [ + -0.004339150363194433, + -0.006752404217294129, + 0.028452098156434368, + 0.004866974135351759, + 0.07177927720713866, + 0.010226758505087172, + 0.0 + ], + [ + -0.01633354208405835, + -0.023322066483783713, + 0.010791024010865409, + 0.02670997604533911, + -0.00017271413915510468, + 0.11044748212529817, + 0.0 + ], + [ + -0.019839801955634784, + -0.015407518061756324, + 0.00114002394979432, + -0.0085907497514626, + -0.01438616550913244, + 0.08919123620899512, + 0.0 + ], + [ + -0.015872140858932682, + -0.01480069360032979, + -0.001677284071174151, + 0.004773350033542877, + -0.02003066249044131, + 0.07594173885891722, + 0.0 + ], + [ + -0.010613004223935685, + -0.01184126934014515, + -0.006679790613838936, + -0.0005282285581073796, + -0.03069283216558639, + 0.059346258562420894, + 0.0 + ], + [ + -0.0017249135707368968, + -0.009657385513910328, + -0.005985575533729713, + 0.0010705404705387514, + -0.018529063376836616, + 0.023481983686652837, + 0.0 + ], + [ + 0.0003315918028329312, + 0.0009101957651920928, + -0.0008675465472674504, + -0.018893578744397458, + -0.02039846407322043, + -0.03230777282964537, + 0.944078 + ] + ], + "gripper_centers": [ + [ + 374.0645751953125, + 152.51303100585938 + ], + [ + 373.5201416015625, + 153.01104736328125 + ], + [ + 370.25408935546875, + 164.1627655029297 + ], + [ + 385.87969970703125, + 165.69830322265625 + ], + [ + 390.46453857421875, + 162.531005859375 + ], + [ + 397.88916015625, + 162.9659881591797 + ], + [ + 402.7305603027344, + 161.71353149414062 + ], + [ + 403.1536865234375, + 166.48670959472656 + ], + [ + 402.3404541015625, + 171.82546997070312 + ], + [ + 403.9894104003906, + 177.77239990234375 + ], + [ + 398.970947265625, + 181.2603759765625 + ], + [ + 395.5218811035156, + 191.35665893554688 + ], + [ + 392.4989318847656, + 193.74209594726562 + ], + [ + 389.16680908203125, + 203.05389404296875 + ], + [ + 386.94525146484375, + 206.62924194335938 + ], + [ + 387.98846435546875, + 204.5504913330078 + ], + [ + 388.141357421875, + 202.72604370117188 + ], + [ + 387.00390625, + 202.71536254882812 + ], + [ + 383.68133544921875, + 203.5502166748047 + ], + [ + 380.20135498046875, + 194.0362091064453 + ], + [ + 406.78106689453125, + 202.922119140625 + ], + [ + 404.21527099609375, + 221.87689208984375 + ], + [ + 422.53997802734375, + 246.0474853515625 + ], + [ + 424.48602294921875, + 264.22137451171875 + ] + ], + "depth_max": 1.5202370882034302, + "depth_min": 0.34636321663856506, + "intrinsic": [ + [ + 509.5917053222656, + 0.0, + 259.0 + ], + [ + 0.0, + 510.0781555175781, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.703904364258051e-05, + -9.177073661703616e-05, + -5.510391929419711e-06 + ], + [ + -6.704163388349116e-05, + 1.0, + -2.8267437301110476e-05, + 1.2396239981171675e-06 + ], + [ + 9.176883759209886e-05, + 2.8273590942262672e-05, + 1.0, + -1.97261124412762e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 393.0, + 215.25 + ], + [ + 393.4202880859375, + 215.28643798828125 + ], + [ + 393.3756103515625, + 216.271240234375 + ], + [ + 394.8479309082031, + 215.5952911376953 + ], + [ + 393.38604736328125, + 214.94940185546875 + ], + [ + 393.4910888671875, + 215.12075805664062 + ], + [ + 393.56640625, + 215.00628662109375 + ], + [ + 393.217529296875, + 215.14576721191406 + ], + [ + 392.98516845703125, + 215.18849182128906 + ], + [ + 392.75872802734375, + 215.0315399169922 + ], + [ + 392.0085754394531, + 214.7607879638672 + ], + [ + 390.69305419921875, + 214.84164428710938 + ], + [ + 392.2383117675781, + 214.5702667236328 + ], + [ + 389.5209045410156, + 214.6116943359375 + ], + [ + 387.7864074707031, + 214.05361938476562 + ], + [ + 385.4132080078125, + 212.40505981445312 + ], + [ + 384.3204650878906, + 210.49984741210938 + ], + [ + 382.4560546875, + 211.19540405273438 + ], + [ + 378.66204833984375, + 214.6390838623047 + ], + [ + 376.41448974609375, + 206.1722869873047 + ], + [ + 403.5439453125, + 216.70155334472656 + ], + [ + 402.20257568359375, + 234.827880859375 + ], + [ + 419.9813537597656, + 255.37059020996094 + ], + [ + 422.08251953125, + 272.1494140625 + ] + ] +} \ No newline at end of file diff --git a/002550/lang.txt b/002550/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..242ccc8de81788a4a92873740dee5ebdb22933a6 --- /dev/null +++ b/002550/lang.txt @@ -0,0 +1 @@ +put eggplant on plate diff --git a/002550/object.ply b/002550/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..101f7bf166643dddfa0900a1881b459e2997595f Binary files /dev/null and b/002550/object.ply differ diff --git a/002551_v2/data.json b/002551_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..c085aeeaef2e6e6e35e4852853415752e8d47f02 --- /dev/null +++ b/002551_v2/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 12, + "action_end": 21, + "object_name": "banana toy", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.896703, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.438828, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + -2.7755575615628914e-17, + 2.7755575615628914e-17, + 5.293545660158676e-07, + -3.986133459919368e-07, + -2.1585964594804301e-07, + 1.0 + ], + [ + 0.02472370284294903, + 0.027455177952193696, + -0.004035779324852398, + 0.03517164467749266, + 0.02893894637372064, + 0.09967915912061281, + 1.0 + ], + [ + 0.03230120805751582, + 0.029005267648861993, + -0.004957689675452029, + 0.008017367231790296, + 0.016609153518467305, + 0.1263459609915418, + 1.0 + ], + [ + 0.03415591145111596, + 0.02836166309991861, + -0.009945982995429564, + 0.005134618199517694, + 0.014437272684119672, + 0.13872920265530747, + 1.0 + ], + [ + 0.022254329743164603, + 0.018217808419992987, + -0.01095143429265169, + 0.009025509935711046, + 0.01150164498107149, + 0.08653932294311072, + 1.0 + ], + [ + 0.01379367898000916, + 0.009605781657955226, + -0.016896466484868394, + 0.007699021847075897, + 0.014044132110670012, + 0.11207111926453937, + 1.0 + ], + [ + 0.01016319063191684, + -0.0014048871009027242, + -0.0166443088768193, + -0.013640458246422254, + 0.018109453593387403, + 0.05244845787653819, + 1.0 + ], + [ + 0.006564536878079563, + -0.01003924935564346, + -0.012110419640686626, + -0.027926089797793926, + 0.010607267876834558, + 0.01620156433662891, + 1.0 + ], + [ + 0.004612951118330599, + -0.012432054162390294, + -0.006624204099309486, + -0.009850953462093795, + 0.007372499261708495, + -0.015473077507083315, + 1.0 + ], + [ + 0.004498700288256718, + -0.004200379881952265, + 0.003129021635009936, + 0.012361656080523895, + -0.011274360756761578, + -0.01172504863202038, + 1.0 + ], + [ + 0.007998014324418823, + 0.0059318064214763655, + -0.005355214360424146, + 0.018008857980027774, + 0.005154252462790498, + 0.002901624747927993, + 1.0 + ], + [ + 0.0073520547753068155, + 0.010486397125028968, + -0.007419761722920758, + 0.01678134430673155, + 0.018590953914052945, + 0.0048095785277027184, + 1.0 + ], + [ + -0.005102228573377943, + -0.00012029914086217341, + -0.006226647912065588, + -0.007711728995682146, + 0.008012234632901252, + -0.009953794967247258, + 0.896703 + ], + [ + -0.008434366280177075, + -0.012213737704398486, + 0.004905801404030767, + -0.0021900867829967438, + -0.007616306247582753, + -0.021249774419263717, + 0.0 + ], + [ + 0.002858720254519276, + -0.009473007540798606, + 0.01051021159770638, + -0.003780368640782985, + -0.03433046989154184, + -0.027148307701919873, + 0.0 + ], + [ + 0.01842014573093037, + -0.02108681676528512, + 0.013398199082413492, + -0.028841959340750022, + -0.058881696423704874, + -0.04373117359910927, + 0.0 + ], + [ + 0.02085256222149967, + -0.031113737373734615, + 0.003618621608373151, + -0.02063222557546145, + -0.022158627216068597, + -0.07691185214985112, + 0.0 + ], + [ + 0.015831816816253175, + -0.036042577576982635, + -0.003443925984373394, + -0.024004450842025356, + 0.005062234298743388, + -0.08677539568972172, + 0.0 + ], + [ + 0.005873356568933064, + -0.025467987900088834, + -0.005171716681577839, + 0.000862094688612009, + 0.014043597242314151, + -0.06990298158671798, + 0.0 + ], + [ + -0.007514947602283939, + -0.010213182290334619, + -0.0052331323271066245, + 0.01820192733502868, + 0.02485999990991024, + -0.02190011192480567, + 0.0 + ], + [ + -0.008162609881681993, + -0.001877772957499274, + -0.013510971824740032, + -0.014406823335265273, + 0.05613227734554285, + 0.011586002779968274, + 0.0 + ], + [ + -0.002313575091639153, + 0.0001676536594351699, + -0.005029087369113996, + -0.007144725524445602, + 0.025970573131151118, + 0.001535932755783384, + 0.438828 + ], + [ + 0.002589054402768076, + -0.0005012284930936695, + 0.009390320404260124, + -0.007500138048552843, + -0.0037857345155869744, + -0.00011256778482374711, + 1.0 + ], + [ + 0.002034191727512513, + 0.0007311317606827697, + 0.019336454746960045, + -0.005761621559811889, + -0.029304154150054523, + 0.0077894407398534475, + 1.0 + ], + [ + -0.002699056580857173, + 0.00337152014826593, + 0.032199772570204815, + 0.00564298222209393, + -0.03901463248553408, + 0.034350397047994, + 1.0 + ], + [ + -0.01272955961953498, + 0.008818882299943848, + 0.023250114624037012, + 0.014195969326210072, + 0.006548692252613927, + 0.06704398112968386, + 1.0 + ], + [ + -0.015276822052552375, + 0.008956645828999632, + 0.003727524466151766, + -0.020239752157836584, + 0.03271902143733787, + 0.041201899322383044, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 144.97125244140625, + 117.21958923339844 + ], + [ + 144.1934814453125, + 121.91687774658203 + ], + [ + 149.02133178710938, + 116.32366943359375 + ], + [ + 152.25572204589844, + 88.51007843017578 + ], + [ + 147.65591430664062, + 69.46282958984375 + ], + [ + 151.94744873046875, + 64.47978973388672 + ], + [ + 150.82028198242188, + 70.56000518798828 + ], + [ + 152.20306396484375, + 84.09910583496094 + ], + [ + 168.30303955078125, + 101.82452392578125 + ], + [ + 183.7151336669922, + 111.26720428466797 + ], + [ + 194.3113250732422, + 112.00127410888672 + ], + [ + 194.26507568359375, + 107.71827697753906 + ], + [ + 194.2064208984375, + 110.37992095947266 + ], + [ + 195.53892517089844, + 112.90034484863281 + ], + [ + 195.27159118652344, + 120.65496826171875 + ], + [ + 196.25015258789062, + 125.33832550048828 + ], + [ + 217.6453094482422, + 125.91055297851562 + ], + [ + 253.78643798828125, + 116.73687744140625 + ], + [ + 298.77874755859375, + 109.73816680908203 + ], + [ + 328.1600646972656, + 117.13517761230469 + ], + [ + 342.2559814453125, + 128.88876342773438 + ], + [ + 340.676025390625, + 138.48785400390625 + ], + [ + 338.6650390625, + 150.98452758789062 + ], + [ + 339.81146240234375, + 152.6609344482422 + ], + [ + 340.8177185058594, + 150.34600830078125 + ], + [ + 345.9093322753906, + 125.8755111694336 + ], + [ + 342.61865234375, + 87.98837280273438 + ], + [ + 324.2039794921875, + 82.80764770507812 + ], + [ + 310.16351318359375, + 80.08073425292969 + ] + ], + "depth_max": 2.437807559967041, + "depth_min": 0.40566137433052063, + "intrinsic": [ + [ + 414.4410400390625, + 0.0, + 259.0 + ], + [ + 0.0, + 413.63226318359375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -4.6392116928473115e-05, + -0.0001273631351068616, + -2.7626405426417477e-05 + ], + [ + 4.639066173695028e-05, + 1.0, + -1.1409817489038687e-05, + -4.1043917008209974e-05 + ], + [ + 0.0001273636589758098, + 1.1403907592466567e-05, + 1.0, + -4.327206625021063e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 199.0, + 124.0 + ], + [ + 199.19471740722656, + 125.21804809570312 + ], + [ + 199.32777404785156, + 123.85041809082031 + ], + [ + 200.61874389648438, + 119.26709747314453 + ], + [ + 197.13555908203125, + 104.26997375488281 + ], + [ + 202.1502227783203, + 105.32916259765625 + ], + [ + 196.40628051757812, + 103.2645263671875 + ], + [ + 197.0781707763672, + 105.93161010742188 + ], + [ + 206.4166717529297, + 118.68437957763672 + ], + [ + 213.95249938964844, + 122.52903747558594 + ], + [ + 211.25640869140625, + 123.08917999267578 + ], + [ + 207.73165893554688, + 122.05699157714844 + ], + [ + 206.6785888671875, + 120.3651351928711 + ], + [ + 205.50531005859375, + 120.65827178955078 + ], + [ + 202.91346740722656, + 124.44974517822266 + ], + [ + 203.6555633544922, + 127.86788940429688 + ], + [ + 224.0599822998047, + 128.7542724609375 + ], + [ + 256.5738220214844, + 123.75273132324219 + ], + [ + 294.83319091796875, + 119.21688079833984 + ], + [ + 323.50311279296875, + 124.80905151367188 + ], + [ + 336.010009765625, + 135.93226623535156 + ], + [ + 332.82025146484375, + 144.61825561523438 + ], + [ + 331.2002258300781, + 155.8245849609375 + ], + [ + 333.5273132324219, + 159.9670867919922 + ], + [ + 337.5843200683594, + 158.20223999023438 + ], + [ + 349.3538818359375, + 145.5645751953125 + ], + [ + 349.9815368652344, + 140.47161865234375 + ], + [ + 349.1974792480469, + 138.2972412109375 + ], + [ + 346.4076843261719, + 141.94891357421875 + ] + ] +} \ No newline at end of file diff --git a/002551_v2/lang.txt b/002551_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..3b4c3c4da29e766ad3e22194785646cd3057db57 --- /dev/null +++ b/002551_v2/lang.txt @@ -0,0 +1 @@ +move the banana toy at the middle of the table diff --git a/002551_v2/object.ply b/002551_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..2053b964bc433aa40ab66d80ade127f008bfec82 Binary files /dev/null and b/002551_v2/object.ply differ diff --git a/002571/data.json b/002571/data.json new file mode 100644 index 0000000000000000000000000000000000000000..798c07b0631bf9d103c400a67ac4996cbff438b1 --- /dev/null +++ b/002571/data.json @@ -0,0 +1,476 @@ +{ + "action_start": 6, + "action_end": 18, + "object_name": "eggplant", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.19999999999999996, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -7.748685026953694e-11, + -1.0946915596221629e-10, + -4.637126099771294e-11, + 4.945075494255669e-08, + -3.223565505244454e-07, + 3.2365115107202624e-07, + 1.0 + ], + [ + -8.510154721202978e-05, + 0.003396979706824982, + -0.004954455697859753, + 0.024560935634995576, + -0.008604620265400577, + -0.03532144041603786, + 1.0 + ], + [ + 0.0016941962925639542, + 0.007303381749076535, + -0.005662273503566323, + 0.04722591461430913, + 0.005966588699825541, + -0.07603521329897642, + 1.0 + ], + [ + 0.0014867818232784935, + 0.003011915234705162, + -0.0053239676289753846, + 0.03142373161634745, + 0.0046152885500148465, + -0.036560116984946205, + 1.0 + ], + [ + 0.0017444495117841519, + 0.0035582290844897446, + -0.00644184383854321, + -0.017036024873816658, + 0.010026155953667215, + -0.012042819087206103, + 1.0 + ], + [ + -0.00031138489666759916, + 0.0033345700195161476, + -0.009668658828081331, + -0.014845799987254887, + 0.012917177971447669, + -0.01933687598652389, + 1.0 + ], + [ + -0.0023250778496270996, + 0.005333447644557621, + -0.016091242207504665, + 0.00024239083464821563, + 0.00744372172550318, + -0.030909058363721213, + 1.0 + ], + [ + -0.0009112201233081318, + 0.003456567716105141, + -0.006308332596598132, + 0.004210663894061907, + -0.008626560108426625, + 0.004971668183671093, + 0.0 + ], + [ + 0.003768701444165079, + 0.003056957274620853, + 0.0022732432980648596, + -0.00315984886309081, + 0.017152355014280356, + -0.0007997227529614973, + 0.0 + ], + [ + 0.00016152227412041809, + -0.0046422380402496854, + 0.013687082123814677, + 0.023257994346586885, + 0.026377965009858142, + 0.009165577679174489, + 0.0 + ], + [ + 0.0030380278833089247, + -0.009044216014615858, + 0.026006669934087775, + 0.025106975645049774, + 0.02899013743458681, + 0.01783856870073038, + 0.0 + ], + [ + -0.003427616839236425, + -0.011298194631581049, + 0.014611382302436145, + -0.03533077620319484, + -0.048400138340853396, + 0.08585924098348531, + 0.0 + ], + [ + -0.0010887211594808321, + -0.0040991033847204705, + 0.010220730143127525, + -0.01186340833385149, + -0.014848675609660019, + 0.020512753536631064, + 0.0 + ], + [ + -0.0008652115170637575, + -0.013985277026017096, + 0.011831278150120597, + -0.011975978448870177, + -0.07176742645510623, + 0.05838911880195282, + 0.0 + ], + [ + 0.0002531772174216851, + -0.02400914771904039, + 0.005793168931697276, + -0.04983941434337244, + -0.05114035085738331, + 0.08035472923222525, + 0.0 + ], + [ + -0.0007235712390827875, + -0.024651145771676847, + 0.003353134543756728, + -0.04510897985008032, + -0.046181135951446114, + 0.06567159326987869, + 0.0 + ], + [ + 0.0022736407382731305, + -0.024902980598149133, + -0.0005316879020855342, + -0.058625500416980884, + -0.01982475167112205, + 0.07176631683267207, + 0.0 + ], + [ + -0.004250566449405524, + -0.017132054327960777, + -0.01032631234124938, + -0.05145880303125588, + -0.011633542093997383, + 0.058952472451543635, + 0.0 + ], + [ + -0.00489675881325824, + 0.0011323019359651063, + -0.01421191827746135, + -0.04561053723902898, + -0.007235709530383655, + -0.00936823752070318, + 0.19999999999999996 + ], + [ + -0.002198695945807738, + 0.005771214354093938, + -0.011150104644831973, + -0.016910800039488742, + -0.011731591454978521, + -0.026977114380892335, + 1.0 + ], + [ + 0.0006468532008955807, + 0.0013565080618653837, + -0.0017815281963763988, + -0.022650352002663427, + -0.0018267069738624768, + -0.007962281014622192, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 230.524169921875, + 142.56790161132812 + ], + [ + 230.66909790039062, + 142.56964111328125 + ], + [ + 232.55545043945312, + 159.689453125 + ], + [ + 229.6138458251953, + 160.20196533203125 + ], + [ + 226.15252685546875, + 162.6417694091797 + ], + [ + 225.35044860839844, + 166.62783813476562 + ], + [ + 226.70706176757812, + 175.87026977539062 + ], + [ + 228.1503143310547, + 172.8317413330078 + ], + [ + 228.63865661621094, + 170.0750732421875 + ], + [ + 231.31539916992188, + 169.921875 + ], + [ + 231.83726501464844, + 168.69422912597656 + ], + [ + 232.46575927734375, + 168.00482177734375 + ], + [ + 229.34725952148438, + 170.85342407226562 + ], + [ + 228.1444091796875, + 157.60507202148438 + ], + [ + 226.49404907226562, + 154.31546020507812 + ], + [ + 242.26710510253906, + 144.99703979492188 + ], + [ + 265.206787109375, + 149.01173400878906 + ], + [ + 292.3221130371094, + 150.65045166015625 + ], + [ + 317.14520263671875, + 157.435302734375 + ], + [ + 328.2023010253906, + 177.97848510742188 + ], + [ + 330.4951171875, + 194.11732482910156 + ], + [ + 319.11883544921875, + 195.421142578125 + ], + [ + 318.225830078125, + 194.97877502441406 + ] + ], + "depth_max": 1.4305975437164307, + "depth_min": 0.5482357144355774, + "intrinsic": [ + [ + 522.2080078125, + 0.0, + 259.0 + ], + [ + 0.0, + 523.1175537109375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 8.178818461601622e-06, + -8.182742021745071e-05, + -3.0035802410566248e-05 + ], + [ + -8.180693839676678e-06, + 1.0, + -2.2918989998288453e-05, + 8.071646334428806e-06 + ], + [ + 8.182723104255274e-05, + 2.2919659386388958e-05, + 1.0, + 2.408013097010553e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 22 + ], + "object_trajectory": [ + [ + 233.25, + 202.25 + ], + [ + 233.50177001953125, + 202.481689453125 + ], + [ + 233.28680419921875, + 202.82115173339844 + ], + [ + 233.2314910888672, + 202.4631805419922 + ], + [ + 233.09915161132812, + 202.09478759765625 + ], + [ + 233.10589599609375, + 201.93934631347656 + ], + [ + 233.15557861328125, + 201.5461883544922 + ], + [ + 237.21710205078125, + 198.59881591796875 + ], + [ + 237.93789672851562, + 197.90008544921875 + ], + [ + 236.72454833984375, + 197.6340789794922 + ], + [ + 236.49722290039062, + 197.15579223632812 + ], + [ + 236.26791381835938, + 197.07012939453125 + ], + [ + 231.71820068359375, + 201.80709838867188 + ], + [ + 234.42251586914062, + 187.9722900390625 + ], + [ + 237.42642211914062, + 190.0791015625 + ], + [ + 255.47950744628906, + 178.77577209472656 + ], + [ + 282.5377197265625, + 181.8216552734375 + ], + [ + 312.25482177734375, + 182.2229766845703 + ], + [ + 335.682373046875, + 182.91357421875 + ], + [ + 347.9160461425781, + 201.23277282714844 + ], + [ + 345.7517395019531, + 209.4258575439453 + ], + [ + 338.7697448730469, + 222.12413024902344 + ], + [ + 338.44061279296875, + 222.17645263671875 + ] + ] +} \ No newline at end of file diff --git a/002571/lang.txt b/002571/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..242ccc8de81788a4a92873740dee5ebdb22933a6 --- /dev/null +++ b/002571/lang.txt @@ -0,0 +1 @@ +put eggplant on plate diff --git a/002571/object.ply b/002571/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..2eeb2631158b9342d8338683e2a14c9a097fb708 Binary files /dev/null and b/002571/object.ply differ diff --git a/002603/FAIL b/002603/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/002603/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/002628/FAIL b/002628/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/002628/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/002647_v2/data.json b/002647_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..f58d65136e7b33f28885ff8a22ee465432a5ca9a --- /dev/null +++ b/002647_v2/data.json @@ -0,0 +1,513 @@ +{ + "action_start": 10, + "action_end": 18, + "object_name": "sushi", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.201465, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 5.331310948264445e-10, + -3.7479971903842113e-10, + 1.2086540102096421e-11, + -6.975368023247905e-08, + 2.435119036576961e-07, + -6.514584745253726e-07, + 1.0 + ], + [ + -0.023811462105185366, + 0.027238700656935302, + -0.0030649625177583545, + 0.013882276197028393, + 0.005013769414824228, + 0.030310980029726525, + 1.0 + ], + [ + -0.019830777053274296, + 0.024678676480016662, + -0.00019436968946327793, + 0.04124457885262482, + -0.009483493421706598, + 0.029165956955947224, + 1.0 + ], + [ + -0.022969202989598703, + 0.0262408161704262, + -0.0018953324686219186, + 0.04416406853436153, + -0.011136093848837198, + 0.013166437148720655, + 1.0 + ], + [ + -0.017885227306478402, + 0.023215470087516815, + -0.01575891714592749, + 0.019450264095141962, + 0.02475720514646934, + 0.028734273456139933, + 1.0 + ], + [ + -0.019779237936172422, + 0.018250536826132757, + -0.016235439944415363, + -0.006537085211838024, + 0.02134823964386107, + 0.030000285907172953, + 1.0 + ], + [ + -0.01539082559189131, + 0.008709365429769883, + -0.011593524455489113, + -0.009395002071184499, + 0.0356249006836466, + 0.016115505565320896, + 1.0 + ], + [ + -0.012051224610998723, + 0.00445006825097391, + -0.010801957577085339, + 0.014338377084957882, + 0.04842305116743664, + 0.006810982503437799, + 1.0 + ], + [ + -0.007203319205641712, + 0.0033520096824354306, + -0.014838477020350703, + 0.006808052181268767, + 0.05729382454610041, + 0.010961223337330276, + 1.0 + ], + [ + -0.0020887060783786326, + -0.002331600296091779, + -0.014975942978404565, + 0.016785545429109924, + 0.05839161064869017, + 0.005728036256434694, + 1.0 + ], + [ + -7.304690347370579e-05, + -0.0019285695076218246, + -0.0053533060772445185, + 0.01012727414342477, + 0.01692282217827181, + 0.010585312383850588, + 0.201465 + ], + [ + 0.005148515507662543, + -0.011073764631323507, + 0.020907563993196987, + 0.001438341224360118, + -0.05151268740216013, + -0.03436326087069221, + 0.0 + ], + [ + 0.008325218372267629, + -0.03144621823422755, + 0.023011029964456392, + -0.02600928143040555, + -0.09107027291118526, + -0.042601392538001534, + 0.0 + ], + [ + 0.0020258736124868504, + -0.04233483713662686, + 0.0071828536439209716, + -0.04481313391256861, + -0.07464971992115702, + -0.01219906012851332, + 0.0 + ], + [ + -0.0031936450061076926, + -0.0385185575247988, + -0.004939848363739015, + -0.026055179729170853, + 0.0013794615622563448, + -0.0784579165552471, + 0.0 + ], + [ + -0.01110892868285579, + -0.04414352188228973, + -0.014160863352559082, + -0.02212878195225542, + 0.02342802149088144, + -0.10286088677967013, + 0.0 + ], + [ + -0.014184724116671987, + -0.02801102867735432, + -0.010121713665046307, + -0.010516568961054098, + 0.025277692036747915, + -0.07903900113788381, + 0.0 + ], + [ + -0.015446164093525117, + -0.025804313444157644, + -0.008923204994542343, + -0.008783638337489926, + 0.031903872010604316, + -0.06775770748279149, + 0.0 + ], + [ + -0.005036878713212872, + -0.0038067686801618525, + -0.003647188676838541, + 0.002674922948596523, + 0.007638443167946626, + 0.015366831807601115, + 0.0 + ], + [ + 0.001586185973015769, + 0.006686559586258767, + 0.0019283901613998226, + 0.011967677149446134, + 0.0029659444038632452, + 0.10009055014447865, + 1.0 + ], + [ + 0.002590747463865728, + 0.005830997105086487, + 0.012942916304588395, + -0.015133920192539344, + -0.021340329501300628, + 0.0774135867314121, + 1.0 + ], + [ + 0.002092793308023755, + 0.006288059121074651, + 0.02868425206153572, + -0.004661298228617527, + -0.0497798071961049, + 0.05987457700709479, + 1.0 + ], + [ + -9.29662683046284e-05, + 0.004118062987281781, + 0.02671452478028078, + -0.014323778556241246, + -0.047008800397121284, + -0.008685601609934453, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 288.3546142578125, + 40.256935119628906 + ], + [ + 287.85076904296875, + 47.408058166503906 + ], + [ + 270.649169921875, + 91.86836242675781 + ], + [ + 223.04931640625, + 85.73179626464844 + ], + [ + 185.13265991210938, + 85.06057739257812 + ], + [ + 148.30474853515625, + 95.73432922363281 + ], + [ + 121.4968490600586, + 109.62957763671875 + ], + [ + 91.12310028076172, + 122.24152374267578 + ], + [ + 83.35723876953125, + 131.5458984375 + ], + [ + 76.85679626464844, + 150.0404052734375 + ], + [ + 71.25288391113281, + 163.04684448242188 + ], + [ + 75.34471893310547, + 162.0590057373047 + ], + [ + 77.85943603515625, + 165.12257385253906 + ], + [ + 102.64109802246094, + 155.43649291992188 + ], + [ + 139.19912719726562, + 158.15838623046875 + ], + [ + 178.87594604492188, + 186.0977020263672 + ], + [ + 213.22467041015625, + 232.21986389160156 + ], + [ + 221.27069091796875, + 263.7016906738281 + ], + [ + 240.52822875976562, + 304.30859375 + ], + [ + 239.222900390625, + 315.4729919433594 + ], + [ + 237.56582641601562, + 316.04168701171875 + ], + [ + 229.2779541015625, + 298.37518310546875 + ], + [ + 226.67364501953125, + 264.99755859375 + ], + [ + 219.32652282714844, + 230.8004608154297 + ], + [ + 219.2846221923828, + 223.33935546875 + ] + ], + "depth_max": 2.378720998764038, + "depth_min": 0.2348514199256897, + "intrinsic": [ + [ + 445.0970153808594, + 0.0, + 259.0 + ], + [ + 0.0, + 444.8082580566406, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -3.811627539107576e-05, + -2.664101884874981e-05, + -6.213558663148433e-05 + ], + [ + 3.811370697803795e-05, + 1.0, + -9.647371189203113e-05, + -1.951158992596902e-05 + ], + [ + 2.664469684532378e-05, + 9.647269325796515e-05, + 1.0, + 2.227638651675079e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24 + ], + "object_trajectory": [ + [ + 101.0, + 174.75 + ], + [ + 101.27467346191406, + 174.9752655029297 + ], + [ + 101.33137512207031, + 174.96109008789062 + ], + [ + 100.70834350585938, + 174.70245361328125 + ], + [ + 100.74462890625, + 174.67889404296875 + ], + [ + 100.80110168457031, + 174.7142791748047 + ], + [ + 100.89035034179688, + 174.85910034179688 + ], + [ + 101.11290740966797, + 174.94659423828125 + ], + [ + 97.39659118652344, + 171.81651306152344 + ], + [ + 87.95579528808594, + 172.11163330078125 + ], + [ + 77.19313049316406, + 173.24783325195312 + ], + [ + 78.41342163085938, + 170.78237915039062 + ], + [ + 82.98695373535156, + 173.89678955078125 + ], + [ + 107.99537658691406, + 165.28884887695312 + ], + [ + 144.39102172851562, + 168.283447265625 + ], + [ + 180.1569061279297, + 195.41552734375 + ], + [ + 214.62782287597656, + 242.7881317138672 + ], + [ + 222.2559356689453, + 277.31231689453125 + ], + [ + 240.8893280029297, + 319.0424499511719 + ], + [ + 240.83737182617188, + 331.1165771484375 + ], + [ + 239.7763214111328, + 329.5549011230469 + ], + [ + 242.22509765625, + 327.4623107910156 + ], + [ + 247.13485717773438, + 326.852783203125 + ], + [ + 242.15109252929688, + 334.0523681640625 + ], + [ + 240.49530029296875, + 328.99212646484375 + ] + ] +} \ No newline at end of file diff --git a/002647_v2/lang.txt b/002647_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..56b4468e67bfcf5d598048fbcd147a824f4943cb --- /dev/null +++ b/002647_v2/lang.txt @@ -0,0 +1 @@ +move the sushi to the bottom center of the table diff --git a/002647_v2/object.ply b/002647_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..0db05adce975eddb504355c12d127d4f23c15344 Binary files /dev/null and b/002647_v2/object.ply differ diff --git a/002658/data.json b/002658/data.json new file mode 100644 index 0000000000000000000000000000000000000000..b388990cb9c2bc90af8f2c05f461fca47db71606 --- /dev/null +++ b/002658/data.json @@ -0,0 +1,458 @@ +{ + "action_start": 9, + "action_end": 17, + "object_name": "green squash", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.9174599999999999, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 2.7130758750715245e-10, + -2.635114348947809e-11, + 4.325942382088499e-11, + -4.251399749990997e-07, + -1.9162594438291877e-07, + -1.2900289557682639e-08, + 1.0 + ], + [ + 0.00818508509931165, + 0.0026635189544594873, + -0.0006055984692735772, + 0.008972339065719571, + -0.021464290975670198, + -0.14115241558383437, + 1.0 + ], + [ + 0.0012840130779535608, + 0.0039460806764435585, + -0.004363058994213395, + -0.040141069627756175, + -0.026319253095767516, + -0.15039682100572055, + 1.0 + ], + [ + -0.0032622993797947197, + 0.0002737644796999006, + -0.009049530198935923, + 0.009614532495359845, + 0.05441100404851505, + -0.08432473146229123, + 1.0 + ], + [ + -0.005573263376672799, + 0.0034673940933964142, + -0.006647992628264099, + -0.02124562981698146, + 0.0443558831412989, + -0.040468822188966226, + 1.0 + ], + [ + 0.0007266098554680189, + 0.00013201229524245628, + -0.006600722232883591, + -0.025984131554001717, + -0.020906371678350615, + -0.020873886230275373, + 1.0 + ], + [ + 0.003921673060698405, + -0.002370838082245308, + -0.0078113638921590844, + -0.02105626434653627, + -0.016571345408257592, + 0.0062474633201895224, + 1.0 + ], + [ + 0.00219015173816145, + -0.008482381393099092, + -0.009056849024300942, + -0.003521849098118407, + -0.03108041983234912, + 0.005817734166753863, + 1.0 + ], + [ + 0.0025176406946345598, + -0.009241092650519589, + -0.0062137020292434356, + -0.0018997627950589388, + -0.022610889452897978, + 0.009455286502062106, + 1.0 + ], + [ + -0.00010258212714414627, + -0.005318691910497442, + -0.0102161688164219, + 0.004433218232286535, + -0.021779183735864512, + -0.0016465217741195215, + 1.0 + ], + [ + 0.0013869732181706618, + 0.0007280294723393532, + -0.0012775121714458937, + 0.012193985117574368, + 0.009692577760449917, + 0.009313486719730719, + 0.0 + ], + [ + 0.002963721429601218, + -0.0008437663100688275, + 0.0155367585117667, + 0.06402968874373219, + -0.007389691438699259, + -0.009840653542628986, + 0.0 + ], + [ + 0.00452056596718009, + -0.004435175757227239, + 0.0327939592197645, + 0.10126903485484805, + 0.018035867557873626, + 0.0183526574204655, + 0.0 + ], + [ + 0.0002622201422642356, + 0.0003714544401031694, + 0.03529163326434086, + 0.07893466940236947, + 0.041852784280244644, + 0.038318950598547265, + 0.0 + ], + [ + 0.0013903278810765696, + -0.006617530448734532, + 0.01794783329655067, + 0.07994198099176235, + 0.028018315054602817, + 0.02959667402848767, + 0.0 + ], + [ + 0.010719285507874099, + -0.013954631618228353, + 0.005285478055655768, + -0.0066554923407090676, + 0.023757391317136757, + -0.021714259270921975, + 0.0 + ], + [ + 0.009952031337640221, + -0.006796604044403659, + 0.002087404913514418, + 0.0013154297803950755, + 0.09070947588443082, + -0.12701290309647295, + 0.0 + ], + [ + 0.009307352534835944, + -0.0015674712319564965, + 0.001734512545522246, + -0.01825172315303446, + 0.06747447980927412, + -0.07105129289649287, + 0.9174599999999999 + ], + [ + 1.2620461252166315e-06, + -0.0008171189213208585, + -0.00549197706941304, + -0.024773563403931685, + -0.01857438392110452, + -0.008070865655053725, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 46.302154541015625, + 32.07820129394531 + ], + [ + 46.173301696777344, + 32.43039321899414 + ], + [ + 51.72985076904297, + 56.68440628051758 + ], + [ + 59.27770233154297, + 52.41279602050781 + ], + [ + 64.6762466430664, + 58.08445739746094 + ], + [ + 57.705223083496094, + 66.4199447631836 + ], + [ + 58.207313537597656, + 75.24971008300781 + ], + [ + 64.84455871582031, + 76.9395980834961 + ], + [ + 67.7070083618164, + 81.9735336303711 + ], + [ + 72.65560913085938, + 101.99703216552734 + ], + [ + 80.97006225585938, + 116.55757904052734 + ], + [ + 84.34526824951172, + 120.35281372070312 + ], + [ + 84.49176025390625, + 118.365966796875 + ], + [ + 89.27352142333984, + 113.55271911621094 + ], + [ + 91.8429183959961, + 73.67546844482422 + ], + [ + 91.10771179199219, + 51.86126708984375 + ], + [ + 94.88934326171875, + 30.088359832763672 + ], + [ + 113.98540496826172, + 15.72535228729248 + ], + [ + 123.69187927246094, + 1.4130873680114746 + ], + [ + 131.86968994140625, + -1.3946495056152344 + ], + [ + 137.4105987548828, + -1.0740022659301758 + ], + [ + 136.75045776367188, + -1.7816166877746582 + ] + ], + "depth_max": 1.7374662160873413, + "depth_min": 0.6336889863014221, + "intrinsic": [ + [ + 515.304443359375, + 0.0, + 259.0 + ], + [ + 0.0, + 515.7333374023438, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.5761414841981605e-05, + -0.00010110685252584517, + -1.3477727407007478e-05 + ], + [ + -5.576476905844174e-05, + 1.0, + -3.315947833471e-05, + 6.481011041614693e-06 + ], + [ + 0.00010110500443261117, + 3.3165117201860994e-05, + 1.0, + 1.6079025954240933e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21 + ], + "object_trajectory": [ + [ + 109.5, + 108.75 + ], + [ + 109.64630889892578, + 109.10623931884766 + ], + [ + 109.76205444335938, + 108.94386291503906 + ], + [ + 109.48338317871094, + 109.40080261230469 + ], + [ + 109.29710388183594, + 109.13056182861328 + ], + [ + 109.0853500366211, + 109.47257995605469 + ], + [ + 108.85594177246094, + 109.44129180908203 + ], + [ + 108.89102935791016, + 109.69705963134766 + ], + [ + 110.8708724975586, + 110.052001953125 + ], + [ + 106.88121032714844, + 117.70816802978516 + ], + [ + 113.86859130859375, + 112.5740737915039 + ], + [ + 115.16404724121094, + 122.27257537841797 + ], + [ + 116.01560974121094, + 121.44065856933594 + ], + [ + 125.40641784667969, + 107.45866394042969 + ], + [ + 127.96174621582031, + 63.85871505737305 + ], + [ + 116.85151672363281, + 46.90911865234375 + ], + [ + 118.0853271484375, + 20.378145217895508 + ], + [ + 130.05120849609375, + 9.799297332763672 + ], + [ + 144.45327758789062, + -6.771864414215088 + ], + [ + 158.77639770507812, + 6.891968727111816 + ], + [ + 198.7378692626953, + 56.17863845825195 + ], + [ + 217.7110137939453, + 61.07835388183594 + ] + ] +} \ No newline at end of file diff --git a/002658/lang.txt b/002658/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..893f1294566f069e91b66d995c1944eba962ea18 --- /dev/null +++ b/002658/lang.txt @@ -0,0 +1 @@ +put green squash in pot or pan diff --git a/002658/object.ply b/002658/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..8552f201254e4672978d22edfc9e897bb03c61a6 Binary files /dev/null and b/002658/object.ply differ diff --git a/002668_v2/data.json b/002668_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..9166f9548c75691360c237fb65f770295a2bc168 --- /dev/null +++ b/002668_v2/data.json @@ -0,0 +1,476 @@ +{ + "action_start": 6, + "action_end": 13, + "object_name": "yellow bell pepper", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.294261, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.9785859062260158e-10, + -3.1157375290913336e-11, + 1.6351700549144255e-10, + -7.56009734814998e-08, + -5.142129579156819e-07, + -7.593199376576249e-08, + 1.0 + ], + [ + 0.00657599961392627, + 0.008651000042868763, + 0.009848599852362055, + -0.002884908941397491, + -0.04168141594679566, + 0.02976417626936777, + 1.0 + ], + [ + 0.0023468077589649528, + -0.006312347614105394, + -0.004270733864906964, + -0.01453792580405338, + -0.025275761986553163, + -0.0028958904914115125, + 1.0 + ], + [ + 0.0038762194977928766, + -0.005506282584011472, + -0.013082218682049007, + 0.008147867565237483, + -0.024844252495846923, + 0.009751152042141858, + 1.0 + ], + [ + 0.004563833202066575, + 0.0008117692076143809, + -0.014541889669344672, + 0.026879243248125725, + 0.0030708170435779733, + 0.022782314281421433, + 1.0 + ], + [ + 0.0016620521368572172, + 0.0039568161747216765, + -0.020543847316601666, + 0.022064440904336482, + 0.04872138809991081, + 0.006791588128495265, + 1.0 + ], + [ + 5.06780454125888e-05, + 0.0030573983544267755, + -0.010242059688474057, + 0.01699787678288071, + 0.029041351640228048, + 0.004328085144282181, + 1.0 + ], + [ + 0.002262217363228125, + 0.0005192952831501174, + 0.007828480510353727, + 0.016792839192084883, + -0.011561094621712183, + -0.007607559323781585, + 0.0 + ], + [ + 0.00491628273225192, + 0.010644810353479944, + 0.023403666443438033, + 0.0009931426474041626, + -0.05341302447364275, + 0.014676905567877695, + 0.0 + ], + [ + -0.0014230791757584016, + 0.031087599326015243, + 0.018132341017910825, + 0.00982312655369179, + -0.029701443490078142, + 0.03812573478488561, + 0.0 + ], + [ + -0.005970622892348981, + 0.0334941506523755, + -0.013290396008591512, + -0.0073481223676721535, + 0.03320473614550363, + 0.10439742267911448, + 0.0 + ], + [ + -0.0030597371440751198, + 0.02681153164283133, + -0.019180556628451362, + -0.01286372496485971, + 0.01279783215150556, + 0.0684457295185036, + 0.0 + ], + [ + 0.0030487664322605412, + 0.01652844477783552, + -0.01937854108456734, + -0.006723136318911548, + 0.037543097588273296, + 0.040984620390276415, + 0.0 + ], + [ + -0.0007517716662310547, + 0.0034160085859257783, + -0.0024089385897037296, + -0.02530273562851948, + 0.012201903030972808, + 0.0012555875567456395, + 0.294261 + ], + [ + 0.0011930790226306054, + -0.003967538620030714, + 0.03943427613490772, + -0.026671759512034314, + -0.07645902929676338, + 0.002269190518537865, + 1.0 + ], + [ + 0.006846031628651633, + -0.005547743477968159, + 0.037939009835772655, + 0.014404292153224583, + -0.07558618002001438, + -0.02277584568574426, + 1.0 + ], + [ + -0.0008149657001155775, + -0.003084780753738192, + 0.00958354167259285, + 0.027027519399211972, + 0.02122841185523144, + -0.0648540916456878, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 188.9489288330078, + 218.1038360595703 + ], + [ + 188.62857055664062, + 219.7763214111328 + ], + [ + 187.79522705078125, + 223.36061096191406 + ], + [ + 191.70468139648438, + 214.930908203125 + ], + [ + 199.94557189941406, + 224.8377227783203 + ], + [ + 204.41050720214844, + 240.1307373046875 + ], + [ + 200.77505493164062, + 256.81500244140625 + ], + [ + 196.82852172851562, + 269.02728271484375 + ], + [ + 193.58518981933594, + 269.3979797363281 + ], + [ + 199.4701385498047, + 248.06912231445312 + ], + [ + 171.2950439453125, + 211.5834197998047 + ], + [ + 131.6607666015625, + 190.82711791992188 + ], + [ + 103.04415893554688, + 202.23974609375 + ], + [ + 85.32194519042969, + 211.04574584960938 + ], + [ + 85.45219421386719, + 202.76904296875 + ], + [ + 83.53942108154297, + 197.89877319335938 + ], + [ + 81.64540100097656, + 150.64132690429688 + ], + [ + 73.09767150878906, + 131.48910522460938 + ], + [ + 76.09848022460938, + 132.09967041015625 + ], + [ + 76.65219116210938, + 132.5675506591797 + ], + [ + 76.89350128173828, + 132.39305114746094 + ], + [ + 76.75111389160156, + 132.50741577148438 + ], + [ + 76.74522399902344, + 132.59762573242188 + ] + ], + "depth_max": 1.9741191864013672, + "depth_min": 0.417079359292984, + "intrinsic": [ + [ + 437.0557556152344, + 0.0, + 259.0 + ], + [ + 0.0, + 436.1344299316406, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -2.6276389689883217e-05, + -8.408071880694479e-05, + -8.924967914936133e-06 + ], + [ + 2.6274003175785765e-05, + 1.0, + -2.837655665643979e-05, + -3.792727511608973e-05 + ], + [ + 8.408146095462143e-05, + 2.837434658431448e-05, + 1.0, + 3.609281702665612e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 22 + ], + "object_trajectory": [ + [ + 205.0, + 281.75 + ], + [ + 205.2581024169922, + 282.1312561035156 + ], + [ + 205.09646606445312, + 282.23773193359375 + ], + [ + 205.6123809814453, + 280.7091064453125 + ], + [ + 205.67221069335938, + 281.242431640625 + ], + [ + 205.5732421875, + 280.3663024902344 + ], + [ + 204.86441040039062, + 279.8293762207031 + ], + [ + 199.87489318847656, + 280.3701171875 + ], + [ + 193.5621337890625, + 277.05474853515625 + ], + [ + 196.14830017089844, + 265.6667785644531 + ], + [ + 171.23643493652344, + 221.8544921875 + ], + [ + 130.97357177734375, + 206.83839416503906 + ], + [ + 103.23131561279297, + 213.63978576660156 + ], + [ + 87.64877319335938, + 218.7357177734375 + ], + [ + 84.80990600585938, + 210.587890625 + ], + [ + 90.32749938964844, + 208.9113006591797 + ], + [ + 94.17792510986328, + 207.2639923095703 + ], + [ + 94.17877197265625, + 207.83670043945312 + ], + [ + 94.30120086669922, + 208.03431701660156 + ], + [ + 94.26776123046875, + 208.306396484375 + ], + [ + 94.2594985961914, + 208.35122680664062 + ], + [ + 94.15956115722656, + 208.32192993164062 + ], + [ + 94.0491943359375, + 208.00051879882812 + ] + ] +} \ No newline at end of file diff --git a/002668_v2/lang.txt b/002668_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..65900f3c288671ca6cd5592f90b20b8526f69098 --- /dev/null +++ b/002668_v2/lang.txt @@ -0,0 +1 @@ +moved the yellow bell pepper to the left bottom corner of the table diff --git a/002668_v2/object.ply b/002668_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..7ad469fc6286dc22d29aa19d6d57c2d3477ed8aa Binary files /dev/null and b/002668_v2/object.ply differ diff --git a/002674/data.json b/002674/data.json new file mode 100644 index 0000000000000000000000000000000000000000..f10aa739321d44d4fb674856d46a0251d9963db3 --- /dev/null +++ b/002674/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 9, + "action_end": 19, + "object_name": "green squash", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.479854, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 5.955025361714661e-11, + 2.494010831188831e-10, + -1.0648712467364874e-10, + 4.7543180333085466e-07, + -1.3260556211003775e-07, + -2.5375981884652535e-07, + 1.0 + ], + [ + 0.009311977295529184, + 0.008893050396777902, + -0.007324442847528784, + 0.08022741223353363, + -0.0033936726070529335, + 0.16409212174526533, + 1.0 + ], + [ + 0.0069530606220298274, + 0.00230870250849069, + -0.00805787157287223, + 0.02008217469772332, + -0.016068233784211846, + 0.14396007920326384, + 1.0 + ], + [ + 0.002796140922446233, + -0.0015015228305428063, + -0.01052726893211324, + -0.015014038303113895, + -0.023409804694746746, + 0.12339727548701518, + 1.0 + ], + [ + -0.0013092560405534859, + 0.0021930392944471966, + -0.01525408266509326, + -0.026081797272741764, + -0.04317614430200445, + 0.08059828404689379, + 1.0 + ], + [ + -0.003054365788179636, + 0.00628434964589375, + -0.01052349709359842, + -0.07561936601796082, + -0.04224121232521755, + 0.03676212840954709, + 1.0 + ], + [ + -0.0027919335614264296, + 0.004387047188651766, + -0.008897849992785173, + -0.08199906549513453, + -0.04039681806382783, + 0.03302422548628901, + 1.0 + ], + [ + -0.0030033478107671097, + 1.713806491854264e-05, + -0.006606896878540873, + -0.057617387123817886, + -0.030778344509242824, + 0.028664118367744056, + 1.0 + ], + [ + -0.0006751044645666449, + 0.0014769883016433893, + -0.0034721367092484627, + -0.028132600140026408, + -0.01479082351918651, + 0.006461163352004574, + 1.0 + ], + [ + 0.0028516378759932404, + -0.0031765201476023353, + -0.005412665954480034, + 0.015419070074516796, + -0.02446799922107804, + 0.06104938562532162, + 1.0 + ], + [ + 0.005237920993355183, + 0.0013262856282687252, + 0.0005145314963233179, + -0.01046669242703501, + -0.00035530841770617296, + 0.0461114310849052, + 0.0 + ], + [ + 0.005511473438979841, + -0.001156101126613518, + 0.0091175120590709, + -0.01050391671684914, + 0.018839530091037192, + -0.03512686737007641, + 0.0 + ], + [ + 0.0062119614445699245, + -0.00023530219832998411, + 0.0319789348558568, + 0.04683487703374123, + 0.08280924591560293, + -0.042757448238461254, + 0.0 + ], + [ + -0.01051281526266451, + 0.0037741957402643023, + 0.04380075306437503, + 0.04161486533226267, + 0.10017283073041766, + -0.0070354649806092465, + 0.0 + ], + [ + -0.004366252720373165, + -0.005290221168799708, + 0.03621030624603157, + 0.053248611737988324, + 0.08825825302829718, + 0.013296381960219355, + 0.0 + ], + [ + -0.0057196044621660724, + -0.016117761647915785, + 0.02411747327092323, + 0.04894915307728892, + 0.03749384229830887, + 0.025558374201730065, + 0.0 + ], + [ + 0.006846591649442069, + -0.027219015473931074, + 0.01399835552070336, + 0.005851497833099841, + 0.0290629957487524, + 0.0057223096419529215, + 0.0 + ], + [ + 0.009991644938849742, + -0.02559234939862201, + -0.0017554551044071665, + 0.05573569966243771, + 0.024960624784815193, + -0.000496901066018998, + 0.0 + ], + [ + 0.0024069853166423516, + -0.022270215600780643, + -0.013919070627408742, + 0.032196714288950566, + -0.02783638960743374, + -0.0046152676353689815, + 0.0 + ], + [ + -0.0034806048327399863, + -0.011436482688692809, + -0.014151546700609169, + -0.007856094087723685, + -0.03208363657663793, + -0.014695521882959622, + 0.479854 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 145.2203369140625, + 87.4625015258789 + ], + [ + 145.71385192871094, + 87.55121612548828 + ], + [ + 148.31712341308594, + 102.24496459960938 + ], + [ + 149.5685272216797, + 114.95227813720703 + ], + [ + 152.22561645507812, + 119.00090026855469 + ], + [ + 156.6957550048828, + 124.80689239501953 + ], + [ + 171.05662536621094, + 143.27444458007812 + ], + [ + 160.12646484375, + 149.81390380859375 + ], + [ + 158.81851196289062, + 156.66156005859375 + ], + [ + 159.0817413330078, + 163.33367919921875 + ], + [ + 158.0037841796875, + 166.00564575195312 + ], + [ + 158.73828125, + 165.83596801757812 + ], + [ + 159.86331176757812, + 162.3817596435547 + ], + [ + 161.1376953125, + 153.8673095703125 + ], + [ + 164.1559295654297, + 128.53855895996094 + ], + [ + 132.76113891601562, + 79.62645721435547 + ], + [ + 152.3947296142578, + 50.337833404541016 + ], + [ + 154.61180114746094, + 22.169933319091797 + ], + [ + 197.3203582763672, + 8.359570503234863 + ], + [ + 238.3808135986328, + 14.52903938293457 + ], + [ + 269.18829345703125, + 42.500152587890625 + ], + [ + 278.5626220703125, + 68.79766082763672 + ], + [ + 279.51763916015625, + 68.49944305419922 + ], + [ + 279.65484619140625, + 67.4873046875 + ] + ], + "depth_max": 1.536253809928894, + "depth_min": 0.5662268996238708, + "intrinsic": [ + [ + 519.0335083007812, + 0.0, + 259.0 + ], + [ + 0.0, + 519.5853271484375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.163892688462511e-05, + -8.888999582268298e-05, + -3.129035758320242e-05 + ], + [ + -3.1641968234907836e-05, + 1.0, + -3.4253385820193216e-05, + 1.8314756744075567e-05 + ], + [ + 8.888891898095608e-05, + 3.425619433983229e-05, + 1.0, + 4.076131881447509e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 146.75, + 180.50001525878906 + ], + [ + 147.16183471679688, + 180.74620056152344 + ], + [ + 146.93603515625, + 180.59034729003906 + ], + [ + 146.67572021484375, + 180.62181091308594 + ], + [ + 146.68092346191406, + 180.6806182861328 + ], + [ + 146.24842834472656, + 180.81796264648438 + ], + [ + 146.4486846923828, + 180.55661010742188 + ], + [ + 146.99847412109375, + 180.24794006347656 + ], + [ + 148.3555450439453, + 180.3009796142578 + ], + [ + 148.47848510742188, + 180.97286987304688 + ], + [ + 149.01922607421875, + 181.23240661621094 + ], + [ + 149.93356323242188, + 178.902587890625 + ], + [ + 151.63499450683594, + 176.81256103515625 + ], + [ + 155.53985595703125, + 170.4749755859375 + ], + [ + 157.25067138671875, + 145.83413696289062 + ], + [ + 131.68240356445312, + 103.96784210205078 + ], + [ + 140.22897338867188, + 72.19709777832031 + ], + [ + 144.49656677246094, + 41.12339401245117 + ], + [ + 167.59561157226562, + 19.951574325561523 + ], + [ + 208.16436767578125, + 21.520732879638672 + ], + [ + 236.99984741210938, + 51.85580825805664 + ], + [ + 242.77569580078125, + 81.08529663085938 + ], + [ + 255.49356079101562, + 129.35447692871094 + ], + [ + 261.3512268066406, + 138.4228515625 + ] + ] +} \ No newline at end of file diff --git a/002674/lang.txt b/002674/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..893f1294566f069e91b66d995c1944eba962ea18 --- /dev/null +++ b/002674/lang.txt @@ -0,0 +1 @@ +put green squash in pot or pan diff --git a/002674/object.ply b/002674/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..a0b8b4553328104e71af818f0fd25e9569d147a6 Binary files /dev/null and b/002674/object.ply differ diff --git a/002690_v2/data.json b/002690_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..b325845bc7684ac6f99f2454bc646c2ceffca3ec --- /dev/null +++ b/002690_v2/data.json @@ -0,0 +1,531 @@ +{ + "action_start": 8, + "action_end": 19, + "object_name": "object", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.551115123125783e-17, + 0.0, + 0.0, + -2.972257736426137e-07, + 1.4809511591708956e-07, + 2.0243715897378214e-08, + 1.0 + ], + [ + 0.013180685024514693, + -0.034390750034258316, + 0.016110863425726374, + 0.0074183891350647025, + -0.02100838957066902, + -0.07050083269101895, + 1.0 + ], + [ + 0.014368613469507352, + -0.03707787124104888, + 0.011803420936321515, + 0.0281644276561084, + 0.009743212476122027, + -0.06304811792588053, + 1.0 + ], + [ + 0.01052234610021513, + -0.034660519011495035, + 0.011779873017948889, + -0.019987873512688176, + -0.028423252891310917, + -0.04713399501557401, + 1.0 + ], + [ + 0.007461670850207713, + -0.03417920113282522, + 0.007049493426176445, + -0.010912116238038642, + -0.02239068188595923, + -0.04208969449868394, + 1.0 + ], + [ + 0.001224740433571625, + -0.02217954488044971, + -0.00897639936541278, + -0.00313188014057967, + 0.0272507929398892, + -0.04753056424931278, + 1.0 + ], + [ + -0.008363065077988008, + -0.008740038652476079, + -0.020517547928154578, + 0.009150196236954549, + 0.061401262523541875, + -0.027431298898233814, + 1.0 + ], + [ + -0.008381002846161001, + 0.0024630092775363432, + -0.022645468064598565, + 0.029519753492773994, + 0.06459519437371342, + -0.006462508749526887, + 1.0 + ], + [ + -0.006987433902459594, + 0.006233444080806769, + -0.023506278998209756, + 0.04793719298898291, + 0.04997180428952629, + -0.008021292890468658, + 1.0 + ], + [ + 0.0004200569148961053, + 0.0020076392388900105, + 0.006625813875870315, + -0.017365267130422714, + -0.017751204322402642, + -0.0013950000968861586, + 0.0 + ], + [ + 0.004894686749993216, + 0.011465131120633118, + 0.01774322579359644, + -0.000287772639767075, + -0.0339575451478327, + -0.003544508539733851, + 0.0 + ], + [ + 0.002816567060299091, + 0.037592894193496915, + 0.012684477620807405, + 0.024177211360987185, + -0.03051100741209524, + 0.044501421781649605, + 0.0 + ], + [ + 0.003118048051462541, + 0.043575316783257205, + 0.002422912851495679, + 0.004258093618259838, + -0.05118023038232908, + 0.026847569374371435, + 0.0 + ], + [ + -0.00029284743096774646, + 0.04523492111591219, + -0.009210023322702612, + 0.004653243077131292, + -0.010363464390274435, + 0.01902717930437057, + 0.0 + ], + [ + -0.003036422459071264, + 0.03641304914078787, + -0.013116824397840066, + 0.04574416807799083, + -0.01322216253502673, + 0.016850480707854054, + 0.0 + ], + [ + 0.002660373525833981, + 0.03911080976301097, + -0.011607691674436732, + 0.004877557859893911, + 0.009993848066516587, + 0.08611235832463238, + 0.0 + ], + [ + 0.0015476163945524757, + 0.031407384090140184, + -0.00964683061389901, + -0.02036799217581254, + -0.0004061421129504986, + 0.050673416849985956, + 0.0 + ], + [ + -0.0002691735463235534, + 0.024195458882755733, + -0.013867934307263852, + 0.003982280002234813, + 0.0022162837228962276, + 0.015901141711117412, + 0.0 + ], + [ + -0.004421119060467771, + 0.016916135126843812, + -0.013606318358767924, + 0.025475291067420157, + 0.028924491586003045, + -0.02020926529078615, + 0.0 + ], + [ + -0.00542772492353949, + 0.008558319406122533, + -0.01334655285844353, + 0.0017883744129120807, + 0.016454847462053626, + -0.028091977959369362, + 0.0 + ], + [ + -0.00022163439691735842, + 0.0036143516367216355, + 0.001735549483615817, + -0.012279232467609714, + 0.006176916080618201, + -0.024625797994188563, + 1.0 + ], + [ + 0.0018107738283823505, + 0.0018267753413427068, + 0.01568661714381519, + 0.008377907058004355, + -0.02817761466490605, + 0.012153549730818319, + 1.0 + ], + [ + -0.0013413541023647446, + -0.001674618857982313, + 0.021567811205803998, + 0.006816991214216909, + -0.023030146839253276, + 0.0067401936689342745, + 1.0 + ], + [ + -0.0030375592011000485, + -0.002415914629125465, + 0.009463423338795865, + 0.0167261689454701, + -0.014625926639115376, + -0.023879341238313055, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 239.78868103027344, + 51.345680236816406 + ], + [ + 239.33468627929688, + 58.65423583984375 + ], + [ + 256.7043762207031, + 62.720680236816406 + ], + [ + 324.618408203125, + 50.224632263183594 + ], + [ + 379.44219970703125, + 49.49629592895508 + ], + [ + 433.42376708984375, + 45.9524040222168 + ], + [ + 471.8193054199219, + 64.39762878417969 + ], + [ + 481.00030517578125, + 96.87206268310547 + ], + [ + 462.46453857421875, + 125.84196472167969 + ], + [ + 444.09381103515625, + 139.46478271484375 + ], + [ + 441.27264404296875, + 136.23690795898438 + ], + [ + 429.76275634765625, + 132.04913330078125 + ], + [ + 417.2580261230469, + 118.34898376464844 + ], + [ + 361.1669006347656, + 86.31820678710938 + ], + [ + 305.34149169921875, + 66.21422576904297 + ], + [ + 254.23928833007812, + 59.931358337402344 + ], + [ + 218.48101806640625, + 63.9359130859375 + ], + [ + 180.33709716796875, + 61.09199523925781 + ], + [ + 160.56170654296875, + 66.11894226074219 + ], + [ + 143.98068237304688, + 74.20591735839844 + ], + [ + 133.62294006347656, + 81.92402648925781 + ], + [ + 129.10084533691406, + 88.63868713378906 + ], + [ + 131.259033203125, + 89.56260681152344 + ], + [ + 129.1284942626953, + 77.91270446777344 + ], + [ + 127.07323455810547, + 52.804893493652344 + ], + [ + 126.74559783935547, + 52.39141082763672 + ] + ], + "depth_max": 2.5311756134033203, + "depth_min": 0.5389510989189148, + "intrinsic": [ + [ + 452.083984375, + 0.0, + 259.0 + ], + [ + 0.0, + 451.12042236328125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -1.8634657408256317e-06, + -4.968598295818083e-05, + -3.604634548537433e-05 + ], + [ + 1.861584564721852e-06, + 1.0, + -3.7860136217204854e-05, + -2.5628778530517593e-05 + ], + [ + 4.968605571775697e-05, + 3.786004162975587e-05, + 1.0, + 2.215798303950578e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 25 + ], + "object_trajectory": [ + [ + 468.75, + 134.5 + ], + [ + 468.87042236328125, + 134.72935485839844 + ], + [ + 468.90777587890625, + 134.67257690429688 + ], + [ + 468.8287048339844, + 134.62298583984375 + ], + [ + 468.9574890136719, + 134.5768280029297 + ], + [ + 468.9526672363281, + 134.59463500976562 + ], + [ + 468.9821472167969, + 134.54139709472656 + ], + [ + 469.39959716796875, + 134.2674560546875 + ], + [ + 446.4781799316406, + 130.5001678466797 + ], + [ + 425.6176452636719, + 140.6612548828125 + ], + [ + 427.6297302246094, + 144.5075225830078 + ], + [ + 413.6499938964844, + 145.875732421875 + ], + [ + 397.466064453125, + 134.82705688476562 + ], + [ + 345.6029052734375, + 102.37300109863281 + ], + [ + 291.43902587890625, + 84.24900817871094 + ], + [ + 241.33160400390625, + 77.1445083618164 + ], + [ + 207.90667724609375, + 80.735107421875 + ], + [ + 171.28646850585938, + 77.92420196533203 + ], + [ + 150.71441650390625, + 83.99381256103516 + ], + [ + 132.31858825683594, + 90.5135726928711 + ], + [ + 122.26065063476562, + 99.01294708251953 + ], + [ + 116.95252990722656, + 105.13372802734375 + ], + [ + 129.46766662597656, + 135.21372985839844 + ], + [ + 157.91439819335938, + 145.14376831054688 + ], + [ + 154.5133056640625, + 143.2133026123047 + ], + [ + 142.62893676757812, + 139.43312072753906 + ] + ] +} \ No newline at end of file diff --git a/002690_v2/lang.txt b/002690_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e4da7443d2c44074d49e625760bba1b2e538118 --- /dev/null +++ b/002690_v2/lang.txt @@ -0,0 +1 @@ +take the object on top of the drawer then put it in the middle left of the table diff --git a/002690_v2/object.ply b/002690_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..54f4210d88193914cb941c7802657bfd655914f8 Binary files /dev/null and b/002690_v2/object.ply differ diff --git a/002705_v2/FAIL b/002705_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/002705_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/002715_v2/FAIL b/002715_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/002715_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/002726/FAIL b/002726/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..aaf6c42c619234f9c8379cbcf60a65cd17ba1254 --- /dev/null +++ b/002726/FAIL @@ -0,0 +1 @@ +Too large intersection between gripper and object mask diff --git a/002743_v2/data.json b/002743_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..79d4cfa9a3a99ac181d9e7db28732688230dee41 --- /dev/null +++ b/002743_v2/data.json @@ -0,0 +1,641 @@ +{ + "action_start": 13, + "action_end": 25, + "object_name": "broccoli", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.10647099999999998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.551115123125783e-17, + 3.469446951953614e-18, + 0.0, + 3.4251187500613314e-07, + 3.5761517082112337e-07, + -4.820102301010216e-07, + 1.0 + ], + [ + 0.011156720078509041, + 0.06256599478533847, + 0.0006307054186801414, + 0.012888424181929653, + -0.0055550248039656375, + 0.1272145887468803, + 1.0 + ], + [ + 0.006630889831334419, + 0.05348330036804977, + -0.0035539602551944577, + 0.007280809440810291, + -9.734477304451219e-05, + 0.08197150100309876, + 1.0 + ], + [ + 0.005653860488240403, + 0.028046540457212374, + -0.0028785352835243166, + -0.002151644741084676, + -0.007277488388308503, + 0.02919656464086157, + 1.0 + ], + [ + 0.007253166327301275, + 0.020336206379006266, + -0.0007702274311680857, + 0.00825105808827595, + -0.020732864054646378, + -0.007784849371033896, + 1.0 + ], + [ + 0.010427125400353343, + 0.01595038786468836, + -0.0014719193227788752, + -0.008420482997535403, + -0.027562834402866533, + 0.018406240764192713, + 1.0 + ], + [ + 0.01169332983823379, + 0.018110094448871655, + -0.008062007555798265, + 0.021657232342568597, + 0.02092598830133212, + 0.013737240625703676, + 1.0 + ], + [ + 0.0009138773153929969, + 0.01403397844146903, + -0.014128979601618734, + 0.00565744871600317, + 0.03882999669537327, + 0.0179178130070679, + 1.0 + ], + [ + 0.006148776966837577, + 0.00357273023767124, + -0.015789507400120355, + -0.005088807429499692, + 0.03503572689130633, + -0.007643793302418724, + 1.0 + ], + [ + 0.006012162815704547, + 0.0011830728557935821, + -0.007747850715924404, + 0.012142297307978622, + 0.025119210749643642, + -0.023908536367466714, + 1.0 + ], + [ + 0.004476182082650826, + -0.0004745748645157144, + -0.008224113712821706, + -7.967225993496138e-05, + 0.009626484481335471, + -0.00033038074382327464, + 1.0 + ], + [ + 0.007877093108363264, + 0.001112385434379859, + -0.0021664669643223066, + 0.007748427738588669, + 0.005510413465660948, + -0.002424062534497512, + 1.0 + ], + [ + 0.003236289284043403, + 0.001892426471682973, + -0.006091527215485595, + -0.005722387644855181, + -0.00190834296487455, + 0.015610408595553888, + 1.0 + ], + [ + -0.0022803367132568364, + -0.00012055721270756714, + -0.002032008205692705, + -0.0003446729564717801, + -0.0026754276919977024, + 0.00804590335703323, + 0.10647099999999998 + ], + [ + -0.0038058788874449356, + -0.010629131983690532, + 0.014427478426205858, + 0.0008991529585785609, + -0.024386633901089094, + 0.0037001373804463576, + 0.0 + ], + [ + -0.010812138385673298, + -0.024579895447068872, + 0.028203228525580156, + 0.018624667464793264, + -0.05029400899051512, + -0.012280294080240386, + 0.0 + ], + [ + -0.015018467215928477, + -0.037995445518509974, + 0.016961872311676486, + -0.03799229563010231, + -0.08327701304524009, + -0.005267572527940656, + 0.0 + ], + [ + -0.025502663518480795, + -0.043721056519762075, + 0.000577930268122237, + -0.025322038170609504, + -0.009174509020682505, + -0.021804312994125944, + 0.0 + ], + [ + -0.026414645923865887, + -0.04637853246159236, + -0.006582271112358422, + -0.006108728744602738, + 0.014475244223809839, + -0.08768198783684379, + 0.0 + ], + [ + -0.02725031182029447, + -0.028416284900250346, + -0.004867125612433763, + -0.01439835845007594, + 0.0030028893577853802, + -0.05127370798361251, + 0.0 + ], + [ + -0.025031773022870463, + -0.014289069144877688, + -0.0041897143536989145, + -0.01711725070358851, + 0.012638773872653677, + -0.014778929457576698, + 0.0 + ], + [ + -0.027386218769352155, + -0.008345922922774852, + -0.011871552933719005, + -0.005879612382904694, + 0.04947562219295061, + -0.010615962966887193, + 0.0 + ], + [ + -0.01804534614070935, + -0.001284385538286123, + -0.009664334116315176, + -0.014630246925528554, + 0.022419564576254877, + 0.02148501773198934, + 0.0 + ], + [ + -0.013051613362870529, + 0.001026653451376456, + -0.0175677208063887, + -0.013136507378120684, + 0.026673852621300526, + 0.028315118323909417, + 0.0 + ], + [ + -0.002284934242814035, + 0.006705271347018543, + -0.0204334273922655, + -0.013033741714115988, + 0.025552262097748933, + 0.03651778827325117, + 0.0 + ], + [ + 0.0020030267697855875, + 0.0012725256320680733, + -0.00969644287389429, + -0.006222613183706483, + 0.014719816126975616, + 0.005041648310533776, + 0.0 + ], + [ + -0.0006760231118513871, + 0.0003655633389943423, + 0.0059187113819672505, + 0.010524296763076669, + -0.010442765201669155, + 0.00011623751770311386, + 1.0 + ], + [ + 0.0017181763432240482, + -0.001042039627321984, + 0.025532840237373643, + 0.030935386603683158, + -0.024498548668487923, + -0.026844175601753218, + 1.0 + ], + [ + -0.00281915701669444, + -0.0015380600583657193, + 0.02552933489634098, + 0.0150725840335264, + -0.03836100791292781, + 0.012109969827831605, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 343.3959045410156, + 100.58328247070312 + ], + [ + 341.76922607421875, + 108.92515563964844 + ], + [ + 324.53070068359375, + 108.91053771972656 + ], + [ + 251.80050659179688, + 76.48356628417969 + ], + [ + 223.26644897460938, + 67.16627502441406 + ], + [ + 219.59767150878906, + 60.0824089050293 + ], + [ + 204.74069213867188, + 50.926513671875 + ], + [ + 200.86691284179688, + 50.791099548339844 + ], + [ + 193.68096923828125, + 60.06276321411133 + ], + [ + 189.2332763671875, + 69.51878356933594 + ], + [ + 189.38525390625, + 76.91795349121094 + ], + [ + 190.0312957763672, + 81.0147705078125 + ], + [ + 192.33163452148438, + 85.55545043945312 + ], + [ + 197.94259643554688, + 85.19573974609375 + ], + [ + 198.25247192382812, + 85.34674835205078 + ], + [ + 197.25753784179688, + 89.40978240966797 + ], + [ + 198.3657989501953, + 95.66642761230469 + ], + [ + 223.60409545898438, + 77.05642700195312 + ], + [ + 241.09759521484375, + 96.85157012939453 + ], + [ + 263.9269714355469, + 130.53973388671875 + ], + [ + 282.4967346191406, + 166.76446533203125 + ], + [ + 273.0733947753906, + 191.63783264160156 + ], + [ + 263.3052978515625, + 225.55946350097656 + ], + [ + 246.35519409179688, + 257.2236328125 + ], + [ + 236.10887145996094, + 282.0516662597656 + ], + [ + 229.71939086914062, + 296.7294921875 + ], + [ + 227.47500610351562, + 306.8800964355469 + ], + [ + 224.01776123046875, + 308.3424987792969 + ], + [ + 222.78807067871094, + 283.47882080078125 + ], + [ + 223.14837646484375, + 259.7552795410156 + ], + [ + 225.1975555419922, + 253.2848663330078 + ], + [ + 224.63470458984375, + 253.82760620117188 + ] + ], + "depth_max": 1.9586178064346313, + "depth_min": 0.23047281801700592, + "intrinsic": [ + [ + 426.92083740234375, + 0.0, + 259.0 + ], + [ + 0.0, + 426.47222900390625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -6.711066089337692e-05, + -0.00010770000517368317, + -3.324690987938084e-05 + ], + [ + 6.710646994179115e-05, + 1.0, + -3.889402432832867e-05, + -1.8836421077139676e-05 + ], + [ + 0.00010770261724246666, + 3.8886799302417785e-05, + 1.0, + 4.203413845971227e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 31 + ], + "object_trajectory": [ + [ + 200.5, + 99.50000762939453 + ], + [ + 200.34652709960938, + 96.99589538574219 + ], + [ + 200.76080322265625, + 99.63606262207031 + ], + [ + 200.5670166015625, + 99.84154510498047 + ], + [ + 200.39743041992188, + 97.29818725585938 + ], + [ + 200.7830047607422, + 99.76051330566406 + ], + [ + 200.74147033691406, + 99.71270751953125 + ], + [ + 200.67904663085938, + 99.73442077636719 + ], + [ + 200.67091369628906, + 100.06541442871094 + ], + [ + 200.19183349609375, + 100.0232162475586 + ], + [ + 199.77804565429688, + 99.79310607910156 + ], + [ + 199.12684631347656, + 99.9090805053711 + ], + [ + 199.2098388671875, + 99.66458129882812 + ], + [ + 200.02503967285156, + 99.7791976928711 + ], + [ + 199.828369140625, + 100.02081298828125 + ], + [ + 199.20849609375, + 104.33692932128906 + ], + [ + 201.0048828125, + 110.18670654296875 + ], + [ + 225.77850341796875, + 90.4755859375 + ], + [ + 243.50079345703125, + 110.94598388671875 + ], + [ + 266.33673095703125, + 145.94482421875 + ], + [ + 282.4739990234375, + 182.22824096679688 + ], + [ + 273.4786682128906, + 208.40338134765625 + ], + [ + 262.39837646484375, + 243.09463500976562 + ], + [ + 246.41851806640625, + 274.0582580566406 + ], + [ + 236.79830932617188, + 298.4461364746094 + ], + [ + 230.6465606689453, + 313.1923828125 + ], + [ + 228.89340209960938, + 322.9807434082031 + ], + [ + 228.7792205810547, + 328.26715087890625 + ], + [ + 227.75534057617188, + 325.5989990234375 + ], + [ + 228.35208129882812, + 325.6796569824219 + ], + [ + 228.4473876953125, + 325.49078369140625 + ], + [ + 228.25831604003906, + 325.61956787109375 + ] + ] +} \ No newline at end of file diff --git a/002743_v2/lang.txt b/002743_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..9834965c4d329aeebd2ba43bc0365735779c07da --- /dev/null +++ b/002743_v2/lang.txt @@ -0,0 +1 @@ +move the broccoli below the duck diff --git a/002743_v2/object.ply b/002743_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..0f95613c6066b5742d89a1bb057928d0a52446aa Binary files /dev/null and b/002743_v2/object.ply differ diff --git a/002758_v2/FAIL b/002758_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/002758_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/002774_v2/FAIL b/002774_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/002774_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/002777_v2/data.json b/002777_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..e2f9dfde3e529b7001eb1e1ba8eafebab454b39b --- /dev/null +++ b/002777_v2/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 11, + "action_end": 22, + "object_name": "red object", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.38656900000000005, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6837610000000001, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -7.854977779331307e-11, + -7.0051922596015e-11, + -2.407105209600857e-10, + 3.966236876462336e-07, + 3.24797793182909e-07, + -1.3869891162705996e-07, + 1.0 + ], + [ + 0.0075576294104727215, + -0.024071026183952196, + 0.026002528976182507, + 0.003535053338204306, + -0.04639405612640023, + -0.02396416914085205, + 1.0 + ], + [ + 0.019409298503847427, + -0.03994261272288134, + 0.03847499243220452, + -0.004625544137494319, + -0.07529423939290898, + -0.036630101690233674, + 1.0 + ], + [ + 0.014478161272121814, + -0.037678577144227204, + 0.020930398833813618, + -0.008357418598509333, + -0.05178692165990073, + -0.027212201293751445, + 1.0 + ], + [ + 0.00989774946736327, + -0.03595338771871544, + -0.0002039725898404232, + -0.005655672178136921, + 0.005325120143459632, + -0.06592318508240572, + 1.0 + ], + [ + 0.0021877988874017817, + -0.021169117940896882, + -0.012979290971017993, + 0.028317647976608188, + 0.03665399133004333, + -0.03656369346556794, + 1.0 + ], + [ + 0.00010829099857612157, + 0.00130481817509491, + -0.018342690209422308, + 0.030842873213733614, + 0.05694382806155304, + 8.953392564842142e-05, + 1.0 + ], + [ + -0.0011479863101289678, + 0.010368507946269215, + -0.005916772856513236, + 0.020615963716283662, + 0.020962196345920225, + 0.017653701343671696, + 1.0 + ], + [ + -0.0024063711713826486, + 0.002086275767481424, + -0.011046549391769134, + 0.01889786428347911, + 0.026825529716488265, + -0.009492577493937638, + 1.0 + ], + [ + -0.005309034725171358, + -0.008202640964861459, + -0.01659855387874587, + 0.006063577318795657, + 0.03852515927307037, + -0.026642428606097612, + 1.0 + ], + [ + -0.0038297763793422313, + -0.00311862995199106, + -0.014463001896747055, + 0.01571167022462837, + 0.03558402838107446, + -0.012400775582410399, + 1.0 + ], + [ + -0.0010221425194590905, + 0.007544831824936274, + -0.000583494143458485, + 0.005773277243468671, + -0.01867896679656004, + 0.008822680944555178, + 0.38656900000000005 + ], + [ + -0.0021266769100937166, + 0.02089236236747115, + 0.013555341225390607, + -0.023958407965306, + -0.04826569283758125, + 0.02173832470114681, + 0.0 + ], + [ + -0.005419843386388068, + 0.02330783055427843, + 0.004780842875416899, + -0.016336403750777877, + -0.019161815995423236, + 0.01374099170387992, + 0.0 + ], + [ + -0.02344464613011954, + 0.0603783874886088, + -0.004066030376641827, + -0.04482219467479034, + -0.04033983807119334, + -0.0072057567742196535, + 0.0 + ], + [ + -0.01469842960741935, + 0.061199122248486296, + -0.023462959931052324, + 0.002778961374662624, + 0.007776850907555396, + 0.031395870581850505, + 0.0 + ], + [ + -0.007779778895098788, + 0.05515080335283634, + -0.02441620554918153, + 0.016160218703963707, + 0.013268852738520428, + 0.05454767218560384, + 0.0 + ], + [ + -0.013011626352153804, + 0.04763525256766571, + -0.022400735657432835, + 0.029425117603364987, + 0.009471569575845178, + 0.04722536236641501, + 0.0 + ], + [ + -0.012837274613447858, + 0.032284055438304066, + -0.01591162399150227, + 0.06380134370182243, + 0.006890646472953098, + 0.014566768439691978, + 0.0 + ], + [ + -0.009330215686465804, + 0.013732147702529035, + -0.01697228488001011, + 0.03265764457133585, + 0.02211643889947784, + 0.0009938109675624845, + 0.0 + ], + [ + -0.0031447082418024908, + 0.006273774789104597, + -0.013609400104590101, + -0.008780452482819182, + -0.0036220221217192236, + -0.006978784073300833, + 0.0 + ], + [ + 0.0024891563655106974, + 0.001971776216417087, + -0.009804725831959439, + -0.007473574043836138, + 0.019610685192702842, + 0.0007615258757979461, + 0.0 + ], + [ + 0.0013001670755973527, + -0.0021284323889085577, + 0.0021282227362850407, + 0.0009125043771003249, + 0.005139820376388781, + -0.017957673151357812, + 0.6837610000000001 + ], + [ + -6.760746607478718e-05, + -0.0016982035002597318, + 0.01817524437628395, + 0.0020812317793634525, + 0.00031928885749252727, + -0.020763885698692957, + 1.0 + ], + [ + -0.0017419329522769533, + -0.0003817260593022842, + 0.020847394824881026, + -0.020826126449173338, + -0.0064973229052837774, + -0.03976937434018062, + 1.0 + ], + [ + -0.003503680239266449, + -0.0012780242346273063, + 0.022575472712468108, + -0.006076027013704677, + -0.009501770696614155, + -0.01280090261579529, + 1.0 + ], + [ + -0.002057792247487672, + -0.004055546583904529, + 0.015092937008611688, + 0.02790931677655736, + -0.006426033042006345, + -0.016341470866367412, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 182.38475036621094, + 76.86038208007812 + ], + [ + 182.74594116210938, + 78.43817901611328 + ], + [ + 202.26075744628906, + 86.21453857421875 + ], + [ + 268.072021484375, + 43.85533905029297 + ], + [ + 331.03497314453125, + 25.299448013305664 + ], + [ + 399.5635986328125, + 21.335451126098633 + ], + [ + 438.2013244628906, + 45.13463592529297 + ], + [ + 440.7193908691406, + 70.65648651123047 + ], + [ + 434.5067443847656, + 77.25975036621094 + ], + [ + 419.1252746582031, + 82.19056701660156 + ], + [ + 409.6524963378906, + 109.69111633300781 + ], + [ + 416.8584899902344, + 131.65048217773438 + ], + [ + 408.4098205566406, + 137.73654174804688 + ], + [ + 390.900146484375, + 132.1632080078125 + ], + [ + 354.60308837890625, + 109.928466796875 + ], + [ + 289.72283935546875, + 112.65554809570312 + ], + [ + 199.28689575195312, + 103.34823608398438 + ], + [ + 131.29934692382812, + 121.12852478027344 + ], + [ + 79.94184875488281, + 137.72836303710938 + ], + [ + 30.99907684326172, + 147.4573211669922 + ], + [ + 7.38404655456543, + 158.85772705078125 + ], + [ + 2.0393199920654297, + 169.1009063720703 + ], + [ + -3.4758071899414062, + 178.48892211914062 + ], + [ + -5.311120986938477, + 179.38418579101562 + ], + [ + -2.4178361892700195, + 184.58261108398438 + ], + [ + -7.213596343994141, + 165.29537963867188 + ], + [ + -11.301980972290039, + 151.08236694335938 + ], + [ + -14.092601776123047, + 140.2977752685547 + ], + [ + -14.622361183166504, + 134.52137756347656 + ] + ], + "depth_max": 2.3939175605773926, + "depth_min": 0.43612438440322876, + "intrinsic": [ + [ + 426.19879150390625, + 0.0, + 259.0 + ], + [ + 0.0, + 425.2601013183594, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -4.171592809143476e-05, + -6.909318472025916e-05, + -4.641239866032265e-05 + ], + [ + 4.171480759396218e-05, + 1.0, + -1.622430318093393e-05, + -2.1372849005274475e-05 + ], + [ + 6.909385410835966e-05, + 1.6221421901718713e-05, + 1.0, + 3.168703551637009e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 373.75, + 166.50001525878906 + ], + [ + 373.8648681640625, + 166.6348876953125 + ], + [ + 373.803466796875, + 166.61593627929688 + ], + [ + 373.84930419921875, + 166.56646728515625 + ], + [ + 373.8703918457031, + 166.5579833984375 + ], + [ + 373.83673095703125, + 166.7352294921875 + ], + [ + 373.84210205078125, + 166.7960205078125 + ], + [ + 374.0310974121094, + 166.7727813720703 + ], + [ + 374.01104736328125, + 166.8262939453125 + ], + [ + 374.0339660644531, + 166.92750549316406 + ], + [ + 373.99615478515625, + 167.70233154296875 + ], + [ + 378.3842468261719, + 174.4485321044922 + ], + [ + 380.09075927734375, + 175.64913940429688 + ], + [ + 363.8154296875, + 170.53074645996094 + ], + [ + 327.4447937011719, + 150.16586303710938 + ], + [ + 260.2767028808594, + 146.97682189941406 + ], + [ + 171.93710327148438, + 136.4218292236328 + ], + [ + 109.39479064941406, + 145.09214782714844 + ], + [ + 60.750701904296875, + 160.9003448486328 + ], + [ + 7.997113227844238, + 174.84762573242188 + ], + [ + -11.402012825012207, + 187.77365112304688 + ], + [ + -12.107778549194336, + 196.7796630859375 + ], + [ + -10.312707901000977, + 198.91094970703125 + ], + [ + -10.048821449279785, + 198.78384399414062 + ], + [ + -7.347519397735596, + 205.26901245117188 + ], + [ + -4.435149192810059, + 204.10440063476562 + ], + [ + -1.607984185218811, + 201.73455810546875 + ], + [ + -0.25081372261047363, + 201.69387817382812 + ], + [ + -3.860595703125, + 203.9577178955078 + ] + ] +} \ No newline at end of file diff --git a/002777_v2/lang.txt b/002777_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..5963f148cf1e375788d11b42a7df6b7ad258b0f5 --- /dev/null +++ b/002777_v2/lang.txt @@ -0,0 +1 @@ +move the red object from the top of the drawer to the left lower edge of the table diff --git a/002805_v2/FAIL b/002805_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/002805_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/002813/data.json b/002813/data.json new file mode 100644 index 0000000000000000000000000000000000000000..83d87326e56e3b7c8114cec091f642c9ae7e3a8b --- /dev/null +++ b/002813/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 14, + "action_end": 26, + "object_name": "lid", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.696948, + 0.025397000000000003, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.606105, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.1235624370063988e-11, + -4.290540145390764e-12, + -5.657534163372446e-11, + 2.1461196346291367e-08, + -4.9287037159967226e-08, + -3.878933152403769e-07, + 1.0 + ], + [ + 0.00880648155790334, + -0.03499529309074066, + 0.008814591961809184, + 0.0030499181514129564, + 0.0031745114701567383, + 0.04860657111920777, + 1.0 + ], + [ + 0.0063002710487080615, + -0.0356685555226855, + 0.002561407447539951, + -0.003120718823896635, + -0.016390540947091164, + 0.017511587897367592, + 1.0 + ], + [ + 0.009037308588017823, + -0.02903071430054882, + 0.0011932072666638177, + -0.022056130667187493, + -0.011879389606064638, + -0.006542915262029906, + 1.0 + ], + [ + 0.0168384229390188, + -0.04241834528260679, + -0.004374175261059668, + -0.0039514224671547225, + 0.035285631179243576, + -0.0325958542895274, + 1.0 + ], + [ + 0.010208573710310975, + -0.026204425468351406, + -0.014174853043542324, + 0.0406964584231796, + 0.027706413294412716, + -0.0289659246758692, + 1.0 + ], + [ + 0.0026736784029423866, + -0.0050788247484741394, + -0.030342926657528857, + -0.00042054445191305566, + -0.0451070028658911, + -0.004191926572170533, + 1.0 + ], + [ + -0.001964506219250789, + 0.008480242586734424, + -0.021389576384181694, + 0.022068251110584185, + -0.04357341799685895, + 0.00044413116432118953, + 1.0 + ], + [ + -0.0024883909834447493, + 0.008156534198759335, + -0.014829648639748977, + -0.020877967807413134, + -0.031178959897756778, + 0.0050070347954501325, + 1.0 + ], + [ + -0.0003770236816005579, + -0.0017272318862932845, + -0.015428086741140087, + -0.003083209512740145, + -0.04018210940907892, + -0.007724212981671396, + 1.0 + ], + [ + -0.00022561741832488602, + -0.0010487322715325709, + -0.0035107177204752905, + -0.01688119854287401, + -0.007240510731339013, + -0.0038642233752890147, + 1.0 + ], + [ + 0.0014618842665916898, + -0.004394703698735528, + 0.0016214919819032107, + 0.0023100866994404277, + -0.001959122806326551, + -0.004279615412963141, + 1.0 + ], + [ + 0.001578384401016708, + -0.0018575946786679454, + 0.005700730690533928, + -0.00021048800140447224, + 0.01541724532529813, + 0.0027405979457619887, + 1.0 + ], + [ + 0.0031374344213153937, + 0.0033257951024674576, + -0.00773632546688879, + -0.026877601286019213, + -0.012677862315479647, + -0.0047066471553438545, + 0.696948 + ], + [ + 0.005635201389241756, + 0.0031681869539638835, + -0.00013866186375764006, + -0.034590703664296445, + 0.006149617879041856, + -0.010462084746681904, + 0.025397000000000003 + ], + [ + 0.0013788848750584948, + 0.002742547848760657, + -0.0018693488613505966, + -0.02090291289283619, + 0.000288094652624411, + -0.005971439944904176, + 0.0 + ], + [ + 0.00031184502163145167, + 0.0001950658887380774, + 0.012643064517786913, + 0.00040320217848492646, + 0.022131287399842683, + 0.004812637384344266, + 0.0 + ], + [ + -2.367030726091457e-06, + -0.001750336606391803, + 0.0399453451413625, + 0.03667898761258914, + 0.05746070104544646, + 0.01967539614417236, + 0.0 + ], + [ + 0.007279117860271828, + -0.007897174030755641, + 0.044417179557111504, + 0.05477189870001115, + 0.022429500678250242, + 0.04610729114492433, + 0.0 + ], + [ + 0.020687932833770406, + -0.015676026264194176, + 0.030581454940770775, + 0.02355326002334296, + -0.022831143374485947, + 0.03980319714580295, + 0.0 + ], + [ + 0.025264549157658744, + -0.011878134733203677, + 0.01305095969415504, + -0.01881621807206833, + -0.023817943515437843, + 0.005400997641612093, + 0.0 + ], + [ + 0.02526718588742688, + -0.01516803902667277, + -0.00454998945993787, + -0.009181957130642092, + -0.030401279090539468, + 0.009203752156966881, + 0.0 + ], + [ + 0.013718444162556631, + -0.0118495229559102, + -0.01043679566724981, + -0.017843481421480935, + -0.01464942416260787, + -0.013783528764198737, + 0.0 + ], + [ + 0.004830590218553699, + -0.009191880099975444, + -0.012653661607054473, + -0.03586919460359193, + -0.0029240311901473012, + -0.0034057629414288473, + 0.0 + ], + [ + 0.002670744837265815, + -0.005222638934828966, + -0.008320799243107982, + -0.003533384015823727, + -0.01566978994999369, + -0.0036955312898094665, + 0.0 + ], + [ + 0.005905928993302723, + 0.00641373380268101, + -0.013577423213822784, + 0.00020955432905547916, + -0.012186422409212671, + -0.0260107832295757, + 0.0 + ], + [ + 0.0024293751887088932, + 0.00299045015865812, + -0.003851210053668036, + -0.005736684802073047, + -0.01359566322842242, + -0.02095560240411988, + 0.606105 + ], + [ + -0.0013210393041081514, + 0.0016832341350385138, + -0.0035325284962277187, + 0.00024312245137505639, + -0.011737235165255155, + 0.011461377407281646, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 103.58381652832031, + 177.1366424560547 + ], + [ + 103.49475860595703, + 177.19818115234375 + ], + [ + 110.3962631225586, + 186.30874633789062 + ], + [ + 174.33935546875, + 197.890869140625 + ], + [ + 230.95407104492188, + 211.61692810058594 + ], + [ + 285.6524353027344, + 213.16688537597656 + ], + [ + 367.1270446777344, + 235.7281494140625 + ], + [ + 404.94818115234375, + 262.9105529785156 + ], + [ + 398.58990478515625, + 293.80908203125 + ], + [ + 383.18402099609375, + 314.39971923828125 + ], + [ + 368.86474609375, + 326.74981689453125 + ], + [ + 377.682861328125, + 330.2655029296875 + ], + [ + 372.9871520996094, + 346.49749755859375 + ], + [ + 372.9429626464844, + 347.352294921875 + ], + [ + 377.5474853515625, + 343.0733947753906 + ], + [ + 380.0992431640625, + 339.7875061035156 + ], + [ + 381.3781433105469, + 331.9543151855469 + ], + [ + 380.6661376953125, + 329.83734130859375 + ], + [ + 384.49298095703125, + 325.39410400390625 + ], + [ + 385.32171630859375, + 264.559326171875 + ], + [ + 424.03271484375, + 212.765625 + ], + [ + 475.787841796875, + 156.63558959960938 + ], + [ + 512.6715087890625, + 129.31861877441406 + ], + [ + 538.7274780273438, + 137.3531494140625 + ], + [ + 563.012939453125, + 148.22573852539062 + ], + [ + 571.2496337890625, + 159.33544921875 + ], + [ + 579.475830078125, + 167.22824096679688 + ], + [ + 569.2431030273438, + 179.01266479492188 + ], + [ + 563.6639404296875, + 181.53884887695312 + ] + ], + "depth_max": 1.7285524606704712, + "depth_min": 0.24822662770748138, + "intrinsic": [ + [ + 487.4891052246094, + 0.0, + 259.0 + ], + [ + 0.0, + 487.5141906738281, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 8.2292033766862e-05, + -0.00011213940160814673, + -3.141543857054785e-05 + ], + [ + -8.229501690948382e-05, + 1.0, + -2.6642503144103102e-05, + -8.447907930531073e-06 + ], + [ + 0.00011213720426894724, + 2.665173087734729e-05, + 1.0, + 9.548062735120766e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 395.25, + 387.75 + ], + [ + 395.5223388671875, + 387.89434814453125 + ], + [ + 395.569580078125, + 387.96893310546875 + ], + [ + 395.56768798828125, + 387.920654296875 + ], + [ + 395.6809997558594, + 387.9238586425781 + ], + [ + 395.523193359375, + 388.12652587890625 + ], + [ + 395.3410949707031, + 387.89837646484375 + ], + [ + 395.51025390625, + 387.8763732910156 + ], + [ + 395.5212707519531, + 387.75457763671875 + ], + [ + 395.2961120605469, + 387.60302734375 + ], + [ + 395.0037841796875, + 387.24554443359375 + ], + [ + 399.1712646484375, + 381.470458984375 + ], + [ + 390.23516845703125, + 370.9912414550781 + ], + [ + 389.54693603515625, + 369.6875305175781 + ], + [ + 389.7187805175781, + 369.3136291503906 + ], + [ + 389.0159606933594, + 365.9720764160156 + ], + [ + 388.22674560546875, + 360.32208251953125 + ], + [ + 387.2978820800781, + 358.0867004394531 + ], + [ + 374.1827697753906, + 359.6275329589844 + ], + [ + 383.42138671875, + 307.7685852050781 + ], + [ + 410.6585693359375, + 260.34161376953125 + ], + [ + 462.54827880859375, + 204.8471221923828 + ], + [ + 495.3232421875, + 177.09255981445312 + ], + [ + 523.9293212890625, + 180.86924743652344 + ], + [ + 547.3019409179688, + 191.84771728515625 + ], + [ + 557.4214477539062, + 200.31610107421875 + ], + [ + 563.695068359375, + 206.52171325683594 + ], + [ + 555.5442504882812, + 216.94491577148438 + ], + [ + 557.4725341796875, + 223.55029296875 + ] + ] +} \ No newline at end of file diff --git a/002813/lang.txt b/002813/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..93182ed14dd97ff3b963b924134ea2626f95a9ed --- /dev/null +++ b/002813/lang.txt @@ -0,0 +1 @@ +put lid on pot or pan diff --git a/002819/FAIL b/002819/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/002819/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/002832/FAIL b/002832/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/002832/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/002834_v2/data.json b/002834_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..542d636b1528b9c9df1beb4cf56a7ca4cad66af8 --- /dev/null +++ b/002834_v2/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 11, + "action_end": 22, + "object_name": "object", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.847619, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.551115123125783e-17, + -6.938893903907228e-18, + 0.0, + 2.5348586947729303e-07, + 1.231615734113225e-07, + -6.69464399162827e-07, + 1.0 + ], + [ + -0.03110289945827438, + 0.008222613416716849, + -0.00665788857371577, + -0.0011045671859242828, + 0.013628893213241297, + -0.023450361986565145, + 1.0 + ], + [ + -0.04020404605128103, + 0.01075740488894552, + -0.015941406706046338, + 0.015130517885296735, + 0.02715556479921815, + -0.036438901450323996, + 1.0 + ], + [ + -0.043053236941817175, + 0.007265297471344358, + -0.023218961363467933, + 0.049943457589345035, + 0.03605999811850379, + -0.059831174644072053, + 1.0 + ], + [ + -0.03066555307115687, + 0.007820311789320536, + -0.03113023824258543, + 0.057563010940730776, + 0.043329199806000314, + -0.040129486092822, + 1.0 + ], + [ + -0.0055671692037910225, + 0.0014007094186557767, + -0.016304443819331695, + 0.004289235006666668, + 0.021191241165885756, + -0.02423037403102171, + 1.0 + ], + [ + 0.0012643834329051917, + -0.0014993072903572088, + -0.013051438497485114, + -0.002248194464707089, + 0.025556488498113747, + -0.022889170472443963, + 1.0 + ], + [ + 0.0021893583421754292, + -0.006343102822934918, + -0.007896721526743838, + -0.016279722005722787, + 0.024077413469962807, + -0.020164209812939784, + 1.0 + ], + [ + 0.002758232316626835, + -0.0035662872126478243, + -0.00407172475830005, + -0.04340578516705211, + 0.004097373501681174, + -0.001342144503038767, + 1.0 + ], + [ + 0.0031291138345671266, + -0.00024813044533970874, + -0.0034290722751455747, + 0.0091452071460299, + 0.011969508741125885, + -0.0021121621965383107, + 1.0 + ], + [ + 0.0026983654216660713, + 0.0006517553109092952, + -0.005010170488011823, + 0.02559875720013255, + 0.020354048106199087, + 0.0029757836786395635, + 1.0 + ], + [ + 0.0030075891375747066, + 0.0022349826701400025, + -0.0037117819159225044, + 0.012075645500306736, + 0.02479023354821433, + 0.01790902927232698, + 0.847619 + ], + [ + -0.0008768765954372815, + -0.00048016678862227574, + 0.001649322360410474, + 0.020341471944508856, + -0.0020042734927989375, + -0.008786966927714022, + 0.0 + ], + [ + -0.00027815046778140173, + -0.0013910263984287241, + 0.006446463509143214, + 0.04298227610414969, + -0.01765911182636118, + -0.002162027080479493, + 0.0 + ], + [ + 0.014781811418067198, + -0.01904271808649828, + 0.016857725345966967, + -0.03361207509364239, + -0.03406927691474183, + 0.014702250045049289, + 0.0 + ], + [ + 0.03139244872846389, + -0.030849755177339865, + 0.021336570727900413, + -0.03646681879209904, + -0.07095819314955941, + -0.006845382400498309, + 0.0 + ], + [ + 0.03732916619883048, + -0.02739563596224784, + 0.01245703767249609, + -0.0488709239809246, + -0.054950045399344, + 0.011548307016856243, + 0.0 + ], + [ + 0.03153003321432557, + -0.01701277200050043, + 0.00020596683871348942, + -0.02897354554744684, + -0.02846712304934698, + 0.009177420231919364, + 0.0 + ], + [ + 0.030396084107891574, + -0.007297477611546421, + -0.00496409102919574, + -0.01233824119485669, + -0.006212737226817028, + 0.027644332664138443, + 0.0 + ], + [ + 0.03158748799924388, + -0.0014434479060652997, + -0.007964068019667744, + 0.008754178098273915, + -0.022494115843586918, + 0.02967385282124345, + 0.0 + ], + [ + 0.02682805275515343, + 0.0006702400248592352, + -0.010595063935242698, + 0.00938408988013312, + -0.016542141414476946, + 0.01728956258627485, + 0.0 + ], + [ + 0.01143442105232595, + 0.0018734674792702313, + -0.012748166228360891, + 0.014950128781426751, + 0.017259297755915247, + 0.011216029520300791, + 0.0 + ], + [ + 0.0006495465489577135, + 0.002130429563984161, + -0.005711821686081137, + 0.014680177361121656, + 0.02631313003212742, + 0.00407381082305563, + 0.0 + ], + [ + 0.001065019496686137, + -0.0007769497998579289, + 0.009389766061003384, + -0.008621535287564756, + -0.006017337400134768, + 0.006687824182716532, + 1.0 + ], + [ + 0.004261193205602032, + -0.0012156592068955849, + 0.02847061784432351, + -0.013350218428514835, + -0.05560437755356206, + 0.008478781717866176, + 1.0 + ], + [ + -0.0005998812823383992, + -0.0010409527764952825, + 0.030575415065906875, + -0.032021720552867027, + -0.05763760921206955, + 0.013476248087320147, + 1.0 + ], + [ + -0.006877637240658152, + 0.0019563994396311277, + 0.023138619227477272, + -0.008087908254744897, + -0.029514408870970902, + -0.002733132782653507, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 351.75238037109375, + 48.44670104980469 + ], + [ + 350.7823791503906, + 53.60907745361328 + ], + [ + 326.2127380371094, + 109.95213317871094 + ], + [ + 270.9462890625, + 127.40904235839844 + ], + [ + 225.39242553710938, + 182.58079528808594 + ], + [ + 180.86483764648438, + 234.32518005371094 + ], + [ + 173.60247802734375, + 249.91946411132812 + ], + [ + 175.5891571044922, + 264.87811279296875 + ], + [ + 184.47662353515625, + 274.3440856933594 + ], + [ + 191.57089233398438, + 283.20037841796875 + ], + [ + 192.13632202148438, + 283.45806884765625 + ], + [ + 191.7886199951172, + 284.19476318359375 + ], + [ + 194.52906799316406, + 282.3460388183594 + ], + [ + 192.6377410888672, + 281.47796630859375 + ], + [ + 193.11920166015625, + 281.98565673828125 + ], + [ + 218.95855712890625, + 271.81109619140625 + ], + [ + 277.6913757324219, + 242.90301513671875 + ], + [ + 340.30926513671875, + 210.8974609375 + ], + [ + 385.7110290527344, + 197.77426147460938 + ], + [ + 409.1259765625, + 185.1601104736328 + ], + [ + 425.68377685546875, + 178.4652099609375 + ], + [ + 437.065673828125, + 177.81581115722656 + ], + [ + 438.74755859375, + 182.20101928710938 + ], + [ + 438.8157958984375, + 180.54481506347656 + ], + [ + 438.372314453125, + 181.86187744140625 + ], + [ + 439.8326416015625, + 180.57803344726562 + ], + [ + 458.8570556640625, + 141.81256103515625 + ], + [ + 461.817138671875, + 111.88465881347656 + ], + [ + 460.78875732421875, + 107.45215606689453 + ] + ], + "depth_max": 2.2410223484039307, + "depth_min": 0.13793326914310455, + "intrinsic": [ + [ + 466.43023681640625, + 0.0, + 259.0 + ], + [ + 0.0, + 466.1803283691406, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.6454801880172454e-05, + -6.141095946077257e-05, + -1.1693169653881341e-05 + ], + [ + -1.6457110177725554e-05, + 1.0, + -3.755470606847666e-05, + -2.7105872504762374e-05 + ], + [ + 6.141034828033298e-05, + 3.7555717426585034e-05, + 1.0, + -1.4974750229157507e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 201.75, + 323.5 + ], + [ + 202.18756103515625, + 323.5612487792969 + ], + [ + 202.25161743164062, + 323.5001220703125 + ], + [ + 202.22006225585938, + 323.5435485839844 + ], + [ + 202.35406494140625, + 323.4252014160156 + ], + [ + 202.36476135253906, + 323.4422912597656 + ], + [ + 202.29470825195312, + 323.4828186035156 + ], + [ + 202.78555297851562, + 325.5340881347656 + ], + [ + 202.70602416992188, + 325.3622131347656 + ], + [ + 200.61715698242188, + 323.7987060546875 + ], + [ + 200.30775451660156, + 323.29132080078125 + ], + [ + 198.8096160888672, + 321.48931884765625 + ], + [ + 194.19483947753906, + 315.9301452636719 + ], + [ + 188.5011749267578, + 310.85467529296875 + ], + [ + 188.28451538085938, + 312.9747619628906 + ], + [ + 206.70643615722656, + 306.03729248046875 + ], + [ + 262.1460876464844, + 279.02655029296875 + ], + [ + 320.1704406738281, + 246.4141387939453 + ], + [ + 363.2644348144531, + 236.98153686523438 + ], + [ + 387.9295959472656, + 223.32785034179688 + ], + [ + 405.571044921875, + 214.2883758544922 + ], + [ + 417.59674072265625, + 212.134033203125 + ], + [ + 419.2716979980469, + 215.533447265625 + ], + [ + 419.1297912597656, + 214.10279846191406 + ], + [ + 417.84490966796875, + 215.32948303222656 + ], + [ + 417.4333801269531, + 215.30892944335938 + ], + [ + 417.129638671875, + 214.93812561035156 + ], + [ + 416.67462158203125, + 215.10595703125 + ], + [ + 416.879638671875, + 215.01620483398438 + ] + ] +} \ No newline at end of file diff --git a/002834_v2/lang.txt b/002834_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..50356d096cebb990589c4b1b78ab2aed802c756b --- /dev/null +++ b/002834_v2/lang.txt @@ -0,0 +1 @@ +move the object to the upper right side of the table diff --git a/002834_v2/object.ply b/002834_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..64703dbe4e9047908da73a8b527a9711be62e11a Binary files /dev/null and b/002834_v2/object.ply differ diff --git a/002844_v2/FAIL b/002844_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/002844_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/002874_v2/FAIL b/002874_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/002874_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/002893_v2/FAIL b/002893_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/002893_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/002900_v2/data.json b/002900_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..713894ded59b66b29dc8571deb936215b21942aa --- /dev/null +++ b/002900_v2/data.json @@ -0,0 +1,476 @@ +{ + "action_start": 6, + "action_end": 15, + "object_name": "duck", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.2632342928404796e-11, + -6.417061326757789e-11, + -7.54485501852642e-11, + -3.715916342882865e-07, + -2.736877522201039e-07, + -5.34829515107743e-08, + 1.0 + ], + [ + 0.025596351199625555, + 0.022923918501726315, + -0.012821504690211066, + -0.017460658361161414, + 0.005581345666473084, + 0.06090821980876606, + 1.0 + ], + [ + 0.02262481032471997, + 0.024769815534943312, + -0.017888135075875125, + 0.01990344373509716, + 0.00922092732288888, + 0.04597379238081829, + 1.0 + ], + [ + 0.017280175258635067, + 0.015698110026592355, + -0.021378689629347705, + 0.005765048423978904, + 0.03701525993338723, + 0.017240190952857875, + 1.0 + ], + [ + 0.001543737388547184, + 0.011644421420298895, + -0.01693287590553338, + 0.015293300327266363, + 0.04388979705034363, + 0.00509122608604682, + 1.0 + ], + [ + -0.005152104601224283, + 0.0025105034320480335, + -0.02253318340421813, + -0.009459787609896367, + 0.05401577303829874, + 0.01567924102608892, + 1.0 + ], + [ + -0.0037075614338857865, + 0.005116591276531857, + -0.012003518923260788, + 0.0003764278478805052, + 0.049444363829548865, + 0.025419089191335696, + 1.0 + ], + [ + -0.005552643114129008, + 0.006766270484436537, + -0.00010038772758954283, + -0.007261303596103065, + -0.0022410381366468014, + 0.01517633948144863, + 0.0 + ], + [ + 0.0068435010009106345, + -0.008817929361935345, + 0.037901363508719296, + -0.011487246684120773, + -0.07991763519107382, + 0.007113302943700167, + 0.0 + ], + [ + 0.018838586421665693, + -0.030061708284488592, + 0.06126375492554986, + -0.013562294917199375, + -0.13676008994230365, + 0.015469265368352188, + 0.0 + ], + [ + 0.00882944793032725, + -0.0431667348745218, + 0.04834945786633284, + 0.011226564243718864, + -0.046806959654806114, + -0.026367806569204427, + 0.0 + ], + [ + 0.0026793293091465498, + -0.056943078085973264, + 0.009223088547213903, + -0.004750479606823592, + -0.009439322828969973, + -0.060269761804700395, + 0.0 + ], + [ + -0.003887535454723312, + -0.046155736872141806, + 0.00013156256678906186, + 0.014434265544640012, + 0.0007281129929307224, + -0.055922589083567675, + 0.0 + ], + [ + -0.010516740912529632, + -0.029677592471984437, + -0.01352681905038454, + 0.0025114135360092583, + 0.0253601168010029, + -0.052930457168781433, + 0.0 + ], + [ + -0.009531396184805474, + -0.016420062667849306, + -0.014616966503862044, + -0.02285451086038938, + 0.026742139852744904, + -0.023595189014210698, + 0.0 + ], + [ + -0.010049581617656178, + -0.0068695032881971405, + -0.009933841963120776, + -0.0022682324335329455, + 0.02984768059139332, + 0.005622854929311166, + 0.0 + ], + [ + -0.0033258147437640884, + -3.724794708601098e-05, + -0.005282347034097898, + 5.1115802951708095e-05, + 0.0167486184805703, + 0.023840164906124454, + 1.0 + ], + [ + 0.006863852764944001, + 0.0022597965066125224, + 0.014877858654652507, + -0.004273500658159925, + -0.02950960012701532, + 0.03443973200639098, + 1.0 + ], + [ + 0.005140359532933181, + 0.0007965041775179239, + 0.030244270121077832, + -0.009463316786144878, + -0.062001096277816005, + 0.010164518332127434, + 1.0 + ], + [ + -0.005775832545087289, + 0.003975335839645041, + 0.03272744465077414, + -0.032495162475888004, + -0.031933391282138374, + 0.01079456033891022, + 1.0 + ], + [ + -0.011419694922782941, + 0.010430917649971283, + 0.006387583916407674, + -0.02065561604796266, + 0.03295001755806402, + -0.05029672681110469, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 247.44305419921875, + 44.8062744140625 + ], + [ + 247.37872314453125, + 51.469608306884766 + ], + [ + 254.5687255859375, + 70.79360961914062 + ], + [ + 244.1593017578125, + 66.50044250488281 + ], + [ + 236.5806884765625, + 74.22627258300781 + ], + [ + 235.552490234375, + 89.64850616455078 + ], + [ + 220.2792205810547, + 102.20475769042969 + ], + [ + 217.72105407714844, + 114.22314453125 + ], + [ + 219.054443359375, + 111.67325592041016 + ], + [ + 216.31976318359375, + 109.9478988647461 + ], + [ + 224.0459747314453, + 65.63277435302734 + ], + [ + 255.52630615234375, + 16.25743865966797 + ], + [ + 316.19793701171875, + 10.400869369506836 + ], + [ + 360.8758544921875, + 25.662628173828125 + ], + [ + 400.70562744140625, + 50.81657409667969 + ], + [ + 411.50054931640625, + 88.96147918701172 + ], + [ + 405.938720703125, + 111.82560729980469 + ], + [ + 410.60589599609375, + 121.06350708007812 + ], + [ + 408.3917541503906, + 121.8082504272461 + ], + [ + 420.6814270019531, + 82.3677978515625 + ], + [ + 432.4535827636719, + 39.117279052734375 + ], + [ + 419.65625, + 22.581024169921875 + ], + [ + 397.87237548828125, + 20.01092529296875 + ] + ], + "depth_max": 2.401763677597046, + "depth_min": 0.48324131965637207, + "intrinsic": [ + [ + 433.1732482910156, + 0.0, + 259.0 + ], + [ + 0.0, + 432.7024230957031, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -4.963232640875503e-06, + -7.287714106496423e-05, + -5.530214184545912e-05 + ], + [ + 4.9591012611927e-06, + 1.0, + -5.6698012485867366e-05, + -1.6262434655800462e-05 + ], + [ + 7.287741755135357e-05, + 5.669764868798666e-05, + 1.0, + 4.327519127400592e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 22 + ], + "object_trajectory": [ + [ + 217.25, + 121.75000762939453 + ], + [ + 217.50997924804688, + 122.00946044921875 + ], + [ + 217.34738159179688, + 122.14503479003906 + ], + [ + 217.42056274414062, + 121.95585632324219 + ], + [ + 217.2962188720703, + 121.86004638671875 + ], + [ + 217.44931030273438, + 119.78773498535156 + ], + [ + 211.06314086914062, + 118.09757995605469 + ], + [ + 213.26516723632812, + 121.01081848144531 + ], + [ + 213.01197814941406, + 122.22352600097656 + ], + [ + 217.65347290039062, + 122.597412109375 + ], + [ + 220.10606384277344, + 95.06631469726562 + ], + [ + 251.67950439453125, + 49.13450241088867 + ], + [ + 312.1233825683594, + 42.8552131652832 + ], + [ + 348.4324951171875, + 58.91679382324219 + ], + [ + 386.5709228515625, + 85.1541976928711 + ], + [ + 393.43218994140625, + 118.29551696777344 + ], + [ + 390.66259765625, + 138.45338439941406 + ], + [ + 396.1708679199219, + 142.49078369140625 + ], + [ + 401.5351867675781, + 164.2761993408203 + ], + [ + 402.4853210449219, + 169.73153686523438 + ], + [ + 404.3191223144531, + 170.1331787109375 + ], + [ + 404.53192138671875, + 170.27633666992188 + ], + [ + 403.90093994140625, + 170.38699340820312 + ] + ] +} \ No newline at end of file diff --git a/002900_v2/lang.txt b/002900_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..6d658293ae3f184b238c00beadf98a322beb9e96 --- /dev/null +++ b/002900_v2/lang.txt @@ -0,0 +1 @@ +put the duck inside the drawer diff --git a/002900_v2/object.ply b/002900_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..6407d8b4a03e832f0415ce49582266ce62d272ab Binary files /dev/null and b/002900_v2/object.ply differ diff --git a/002911_v2/FAIL b/002911_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/002911_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/002942_v2/FAIL b/002942_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..aaf6c42c619234f9c8379cbcf60a65cd17ba1254 --- /dev/null +++ b/002942_v2/FAIL @@ -0,0 +1 @@ +Too large intersection between gripper and object mask diff --git a/002947_v2/FAIL b/002947_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/002947_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/002979/data.json b/002979/data.json new file mode 100644 index 0000000000000000000000000000000000000000..41e5b93a8e9fe2ecb2bccd1287481f229d1a762d --- /dev/null +++ b/002979/data.json @@ -0,0 +1,513 @@ +{ + "action_start": 11, + "action_end": 20, + "object_name": "pear", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.528938, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + -6.938893903907228e-18, + 0.0, + -2.2148099228890192e-08, + 2.67427052975781e-08, + 4.3184623589182277e-07, + 1.0 + ], + [ + 0.01743404951137284, + 0.038403084333430246, + 0.014950622347418938, + 0.08410613696682906, + -0.1027810882169195, + 0.07836685948138063, + 1.0 + ], + [ + 0.03135823821677336, + 0.04315135803479819, + 0.002793823113986016, + 0.10339002410290608, + -0.17076256506053916, + 0.04962542417464101, + 1.0 + ], + [ + 0.027766571824095976, + 0.04652181087707012, + 0.015513843659136467, + 0.04107123611398786, + -0.07177943423319766, + -0.06151166677094019, + 1.0 + ], + [ + 0.028711780233126816, + 0.04310598992878911, + -0.0011872853807528838, + 0.0023563886560843267, + -0.04759251655859588, + -0.09163669351472968, + 1.0 + ], + [ + 0.024308868361197444, + 0.021091225390187054, + -0.020210417676961745, + 0.0317695901895473, + -0.07674881670452599, + -0.0617464548541412, + 1.0 + ], + [ + 0.019091626605509837, + 0.019937864440230615, + -0.008606505383755805, + 0.022515091118339072, + -0.012423544202243316, + -0.06889551221111734, + 1.0 + ], + [ + 0.009639937704315538, + 0.013771764258126998, + -0.006582241038992381, + 0.0006928654686229413, + 0.001645665364903447, + -0.05347745607374503, + 1.0 + ], + [ + 0.006221466577532919, + 0.00713286097758406, + -0.005257682404731512, + -0.006608061102091197, + 0.008968603669310028, + -0.03168930343661124, + 1.0 + ], + [ + 0.005420302884983852, + 0.008124370888818677, + -0.012338898609724681, + -0.027190647407234116, + 0.0009732486672670966, + -0.037125877850291714, + 1.0 + ], + [ + 0.004763430558287207, + 0.005462321724826885, + -0.01168211416211394, + -0.017124557886850293, + 0.0012574424638268082, + -0.03591456386335883, + 1.0 + ], + [ + 0.0028533889999936, + 0.001633449833618933, + -0.008891425340848226, + -0.027418308309405198, + -0.00667834753609124, + -0.00995622659536992, + 1.0 + ], + [ + 0.00044855939824833824, + -0.0026907419128783527, + -0.0007106764934633747, + -0.022167629061228253, + 0.026403137122984897, + -0.011847611999029964, + 0.0 + ], + [ + 0.005503282998048142, + -0.0035882159781925604, + -0.0038436560649240253, + -0.010677866517002275, + -0.0007076436845468969, + -0.0019808442033324484, + 0.0 + ], + [ + -0.008173209060035547, + -0.023433028328145866, + 0.036231190378466165, + 0.04705084324302272, + 0.04905989323623787, + 0.05466596760218717, + 0.0 + ], + [ + -0.025175799918515318, + -0.05959126401859255, + 0.028435183012698127, + 0.00039540209109501927, + 0.04984616966199254, + 0.09280999030834322, + 0.0 + ], + [ + -0.01343073712248588, + -0.07102666878234248, + -0.004691950342591213, + -0.039250813555870914, + 0.029827269372972844, + 0.04885936880420448, + 0.0 + ], + [ + -0.0010732628287489776, + -0.07880034057390181, + -0.016776502256715384, + -0.008315554154165171, + -0.030276263824319027, + 0.08036244623868564, + 0.0 + ], + [ + 0.0043088864658925585, + -0.06703402214193291, + -0.022425176506573538, + -0.0058193215448815415, + -0.07073200502765789, + 0.037394618459395616, + 0.0 + ], + [ + 0.008729682300518349, + -0.037335137363479404, + -0.008666849179297706, + 0.02380337309163263, + -0.012472683247075882, + -0.04186809866017647, + 0.0 + ], + [ + 0.004593310322305977, + -0.010804455232570176, + -0.004105264784820158, + 0.023644817243962543, + -0.032908053240667215, + -0.017071837531634073, + 0.528938 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 369.0817565917969, + 223.9736328125 + ], + [ + 369.03192138671875, + 223.97845458984375 + ], + [ + 363.83990478515625, + 228.9271697998047 + ], + [ + 311.4390563964844, + 182.83966064453125 + ], + [ + 284.96356201171875, + 138.57321166992188 + ], + [ + 252.4864501953125, + 79.70753479003906 + ], + [ + 232.85574340820312, + 59.200538635253906 + ], + [ + 239.88644409179688, + 72.51240539550781 + ], + [ + 234.28768920898438, + 64.50434875488281 + ], + [ + 225.94723510742188, + 59.69542694091797 + ], + [ + 227.09103393554688, + 62.49739074707031 + ], + [ + 224.4902801513672, + 75.30686950683594 + ], + [ + 231.58792114257812, + 82.30949401855469 + ], + [ + 230.58074951171875, + 88.04867553710938 + ], + [ + 230.2837677001953, + 83.28318786621094 + ], + [ + 231.71563720703125, + 83.70426177978516 + ], + [ + 255.06228637695312, + 75.60272216796875 + ], + [ + 288.4591979980469, + 58.190574645996094 + ], + [ + 326.8394775390625, + 91.93449401855469 + ], + [ + 385.83489990234375, + 123.44468688964844 + ], + [ + 435.96734619140625, + 150.45208740234375 + ], + [ + 479.98382568359375, + 177.73077392578125 + ], + [ + 480.40679931640625, + 180.31724548339844 + ], + [ + 480.37127685546875, + 179.4320526123047 + ], + [ + 481.27923583984375, + 179.578857421875 + ] + ], + "depth_max": 1.6535980701446533, + "depth_min": 0.5369152426719666, + "intrinsic": [ + [ + 528.4476928710938, + 0.0, + 259.0 + ], + [ + 0.0, + 529.2304077148438, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -1.557229779791669e-06, + -0.00014952363562770188, + -2.1552405087277293e-05 + ], + [ + 1.5574121334793745e-06, + 1.0, + 1.2198188414913602e-06, + -1.8073613318847492e-05 + ], + [ + 0.00014952363562770188, + -1.2200517858218518e-06, + 1.0, + 2.3977670934982598e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24 + ], + "object_trajectory": [ + [ + 233.75, + 84.5 + ], + [ + 234.49783325195312, + 79.59115600585938 + ], + [ + 234.5299530029297, + 79.64983367919922 + ], + [ + 234.56614685058594, + 79.74607849121094 + ], + [ + 235.1011199951172, + 80.10431671142578 + ], + [ + 234.72244262695312, + 80.32562255859375 + ], + [ + 234.40219116210938, + 79.80634307861328 + ], + [ + 234.6652069091797, + 79.77372741699219 + ], + [ + 234.09268188476562, + 79.30351257324219 + ], + [ + 234.00994873046875, + 79.6648941040039 + ], + [ + 233.8566131591797, + 79.83917236328125 + ], + [ + 232.45758056640625, + 85.22003936767578 + ], + [ + 233.35940551757812, + 86.99580383300781 + ], + [ + 236.0355682373047, + 88.95037078857422 + ], + [ + 237.60113525390625, + 87.55896759033203 + ], + [ + 237.81265258789062, + 87.59668731689453 + ], + [ + 252.4217529296875, + 80.40386962890625 + ], + [ + 284.7173156738281, + 66.08447265625 + ], + [ + 320.2688903808594, + 98.81309509277344 + ], + [ + 377.51788330078125, + 125.74588012695312 + ], + [ + 424.1990661621094, + 154.15927124023438 + ], + [ + 465.4259338378906, + 180.2342529296875 + ], + [ + 470.25762939453125, + 183.68959045410156 + ], + [ + 469.2826843261719, + 188.89645385742188 + ], + [ + 468.0162353515625, + 185.6122589111328 + ] + ] +} \ No newline at end of file diff --git a/002979/lang.txt b/002979/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..6a398d6f4e36170da05a42d2eed1b0e122c68b1f --- /dev/null +++ b/002979/lang.txt @@ -0,0 +1 @@ +put pear in bowl diff --git a/002979/object.ply b/002979/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..b60967e932698b102d2fde662f41f1da5673f972 Binary files /dev/null and b/002979/object.ply differ diff --git a/002990_v2/FAIL b/002990_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/002990_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/002996/data.json b/002996/data.json new file mode 100644 index 0000000000000000000000000000000000000000..20cc8d401e98c811c4d5d53296073be6173dfec7 --- /dev/null +++ b/002996/data.json @@ -0,0 +1,549 @@ +{ + "action_start": 12, + "action_end": 23, + "object_name": "pepper", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.956777, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.3729228864889365e-10, + -4.2638788333437816e-11, + 4.57681698096124e-10, + 1.5223219281349123e-07, + 2.2122220190400005e-07, + -7.18078656009421e-08, + 1.0 + ], + [ + 0.013863537850699936, + 0.00828734600561204, + -0.0007760489813787713, + 0.05273664973435558, + -0.029710973475222318, + -0.007765127678784937, + 1.0 + ], + [ + 0.017592379390573593, + 0.027489807985227675, + 0.007074430901072792, + 0.017857503784383284, + 0.048047485974783574, + 0.05683240799672457, + 1.0 + ], + [ + 0.02095207579844413, + 0.026099421457436312, + 0.005056448554289425, + 0.07049946758016512, + -0.009407836585243438, + 0.035868899193001694, + 1.0 + ], + [ + 0.028032385130683457, + 0.03731246041183167, + 0.000853810327943294, + 0.053603090815444836, + -0.015881379652238684, + 0.056433072605446985, + 1.0 + ], + [ + 0.023244719701016547, + 0.029900945492928398, + 0.0012052140337732442, + 0.0391217997801299, + -0.019943182041851217, + 0.017291983599667087, + 1.0 + ], + [ + 0.01918523322236798, + 0.03190407559462016, + 0.0038040874198662367, + -0.0023222325062508087, + -0.019200098790004526, + -0.013324947284059398, + 1.0 + ], + [ + 0.021886129405749855, + 0.030307671220630383, + -0.005344811834383456, + 0.02837747940602559, + -0.040152726251234776, + -0.029847334009954048, + 1.0 + ], + [ + 0.01570671587990352, + 0.02421483740591812, + -0.004129506262480542, + 0.0329009508185214, + 0.004099017132881393, + 0.001299907090184293, + 1.0 + ], + [ + 0.0034817337848924157, + 0.012798694077417377, + -0.002368739900991429, + 0.021063937614503724, + -0.013399833944919195, + 0.009419295668849782, + 1.0 + ], + [ + -0.0017588313882171414, + 0.008081667230083384, + -0.014580913520033711, + -0.03762870824829665, + -0.01848147396525286, + -0.0011566988001105749, + 1.0 + ], + [ + -0.0017812338563481522, + 0.006420374873766094, + -0.017508368462491763, + -0.027303668998288, + -0.030296610145204114, + -0.0062625751534475015, + 1.0 + ], + [ + 0.0022902212219287343, + 0.001400249851070956, + -0.012124776192511642, + -0.022427771913970187, + -0.02756595118811959, + -0.0006817726795479095, + 1.0 + ], + [ + 0.0004047913740074516, + -0.008767107997412843, + -0.005406852232797691, + -0.01293763840235738, + -0.02119308952958231, + 0.059228619484446646, + 0.0 + ], + [ + -0.0067108075561889136, + -0.016262885575907937, + 0.010038743953631867, + 0.0062203755250895935, + 0.024348566320485467, + 0.04159794994120993, + 0.0 + ], + [ + -0.016686083196516488, + -0.03541982192583612, + 0.033035870107920896, + -0.0017130106351426458, + 0.061840370266021, + 0.071105315487014, + 0.0 + ], + [ + -0.02164779620738394, + -0.05226838064626904, + 0.015919431616997243, + -0.02837903112620701, + 0.02573694186110338, + 0.06746543017352116, + 0.0 + ], + [ + -0.013598205573809863, + -0.07572113870520603, + 0.007052623393957111, + -0.07539403314836246, + 0.04532933242153731, + 0.07513714806683426, + 0.0 + ], + [ + -0.004383058718526733, + -0.08225803431906831, + 0.00603416018043558, + -0.01589285162948194, + 0.020890788493797257, + 0.07521651848051371, + 0.0 + ], + [ + -0.001910440107207978, + -0.08290830080597321, + -0.010340202579440544, + -0.07526580323349209, + -0.006156557423860571, + 0.06557240389848042, + 0.0 + ], + [ + -0.005505428878315122, + -0.06971064189250864, + -0.008496950593741198, + -0.06211797826921613, + -0.07043213688566531, + 0.017247238227499902, + 0.0 + ], + [ + 0.0015534640176099734, + -0.042954785190008414, + -0.0014533340241887627, + -0.03775026821401914, + -0.024218545266007502, + -0.0899156547962119, + 0.0 + ], + [ + 0.006128078894388045, + -0.013484659684604577, + -0.006476840023356134, + -0.00020438708871771535, + -0.04191276574558157, + -0.08574325115107607, + 0.0 + ], + [ + 0.002772650787250197, + 0.0031817216227766065, + -0.0023603644224202275, + 0.04124683845153551, + -0.0682286369594526, + -0.08451439351603897, + 0.956777 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 308.70404052734375, + 275.8629150390625 + ], + [ + 308.68048095703125, + 275.7744445800781 + ], + [ + 305.4021301269531, + 281.2915344238281 + ], + [ + 301.9217224121094, + 263.7228088378906 + ], + [ + 272.2563171386719, + 221.54116821289062 + ], + [ + 264.7672119140625, + 187.31686401367188 + ], + [ + 237.57667541503906, + 153.08456420898438 + ], + [ + 230.51205444335938, + 126.26687622070312 + ], + [ + 206.8725128173828, + 102.8492431640625 + ], + [ + 200.33786010742188, + 90.53898620605469 + ], + [ + 191.4313507080078, + 88.04170227050781 + ], + [ + 184.6900177001953, + 80.627685546875 + ], + [ + 177.00814819335938, + 96.47065734863281 + ], + [ + 173.20437622070312, + 111.64862060546875 + ], + [ + 176.26181030273438, + 120.59354400634766 + ], + [ + 180.3248291015625, + 123.43891906738281 + ], + [ + 188.37437438964844, + 132.82318115234375 + ], + [ + 211.8597412109375, + 120.08741760253906 + ], + [ + 250.9868621826172, + 123.881591796875 + ], + [ + 290.12371826171875, + 139.8987579345703 + ], + [ + 356.98333740234375, + 161.50543212890625 + ], + [ + 410.80755615234375, + 181.59677124023438 + ], + [ + 483.1416015625, + 229.7571258544922 + ], + [ + 524.1734619140625, + 241.66195678710938 + ], + [ + 546.7059936523438, + 245.57009887695312 + ], + [ + 536.6826171875, + 252.11793518066406 + ], + [ + 537.69873046875, + 251.69607543945312 + ] + ], + "depth_max": 2.0825562477111816, + "depth_min": 0.3021875023841858, + "intrinsic": [ + [ + 487.74951171875, + 0.0, + 259.0 + ], + [ + 0.0, + 488.71240234375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.8309433623217046e-05, + -0.00013291336654219776, + -2.978843986056745e-05 + ], + [ + -4.831569458474405e-05, + 1.0, + -4.7076686314539984e-05, + 5.306819730321877e-07 + ], + [ + 0.00013291109644342214, + 4.70831073471345e-05, + 1.0, + 2.0251587557140738e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 26 + ], + "object_trajectory": [ + [ + 198.5, + 120.5 + ], + [ + 198.78314208984375, + 120.78421020507812 + ], + [ + 198.7759552001953, + 120.93473052978516 + ], + [ + 198.74546813964844, + 120.9305419921875 + ], + [ + 198.719970703125, + 120.79666900634766 + ], + [ + 198.6460723876953, + 121.11568450927734 + ], + [ + 198.63430786132812, + 121.14338684082031 + ], + [ + 198.94839477539062, + 121.55989074707031 + ], + [ + 198.6441192626953, + 121.00831604003906 + ], + [ + 198.50282287597656, + 121.58438110351562 + ], + [ + 198.74586486816406, + 122.92566680908203 + ], + [ + 202.99813842773438, + 122.41146850585938 + ], + [ + 201.95928955078125, + 123.1856460571289 + ], + [ + 182.1056365966797, + 126.72067260742188 + ], + [ + 181.99151611328125, + 129.8382110595703 + ], + [ + 184.71533203125, + 131.24093627929688 + ], + [ + 189.94400024414062, + 140.58267211914062 + ], + [ + 210.87425231933594, + 129.44747924804688 + ], + [ + 246.34066772460938, + 133.46029663085938 + ], + [ + 285.712890625, + 148.39407348632812 + ], + [ + 348.2016296386719, + 176.14418029785156 + ], + [ + 409.22076416015625, + 202.390869140625 + ], + [ + 482.1800842285156, + 246.27784729003906 + ], + [ + 519.2011108398438, + 259.82659912109375 + ], + [ + 541.2034912109375, + 260.0194396972656 + ], + [ + 513.8746337890625, + 261.4241943359375 + ], + [ + 507.72039794921875, + 261.3834533691406 + ] + ] +} \ No newline at end of file diff --git a/002996/lang.txt b/002996/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..b41538a9ae876935340de7733b6591cede6def29 --- /dev/null +++ b/002996/lang.txt @@ -0,0 +1 @@ +put pepper in pan diff --git a/002996/object.ply b/002996/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..68cb272c2e1d814dc58c85761b681ad054cfcfa7 Binary files /dev/null and b/002996/object.ply differ diff --git a/003003_v2/FAIL b/003003_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/003003_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/003032/FAIL b/003032/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/003032/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/003033_v2/FAIL b/003033_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/003033_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/003047/FAIL b/003047/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/003047/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/003049_v2/FAIL b/003049_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/003049_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/003097_v2/FAIL b/003097_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/003097_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/003119_v2/data.json b/003119_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..3cc91368987ea11f443730fadf7af5e4d2ec4e9f --- /dev/null +++ b/003119_v2/data.json @@ -0,0 +1,806 @@ +{ + "action_start": 14, + "action_end": 30, + "object_name": "green object", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -7.31720239954825e-12, + 8.708284093827956e-12, + -1.662317505868316e-10, + 4.5528264266229674e-07, + -4.33751085471936e-07, + 7.566521488281624e-08, + 1.0 + ], + [ + 0.002656830700352719, + 0.019699439558358733, + 0.009585509939461834, + 0.04433619768480856, + -0.04838768254995592, + -0.31996420653088264, + 1.0 + ], + [ + -0.009632125817897241, + -0.0003289937109454827, + 0.009123099352635278, + -0.008575110419474168, + -0.02523254170859619, + -0.2097095043881592, + 1.0 + ], + [ + -0.00819993379324968, + -0.02439773073464735, + 0.014732865477162987, + -0.014452321732131831, + 0.0185687966187209, + -0.15124347675181402, + 1.0 + ], + [ + -0.012445027231698935, + -0.0380420121807675, + -0.006367775577112739, + 0.054967719646569345, + 0.06352640436641252, + -0.13706823305091076, + 1.0 + ], + [ + -0.00943962578862173, + -0.05453034361360737, + -0.010080639671644617, + 0.09572452046576357, + -0.006446412264694621, + -0.1539212113005816, + 1.0 + ], + [ + -0.0074795103700419086, + -0.04869281314158032, + -0.006229264731451883, + 0.0706894372896463, + 0.0339797543181481, + -0.15569423898443663, + 1.0 + ], + [ + -0.004754807891308721, + -0.026996840323960075, + -0.010887039258537581, + 0.021448237270604974, + 0.050999669610921367, + -0.060943155161932945, + 1.0 + ], + [ + -0.0010150641141570826, + -0.012022767518748635, + -0.010206632855001556, + -0.020677961523161845, + 0.06676782559176278, + -0.0477299650565104, + 1.0 + ], + [ + -0.0017975622030134697, + -0.006091453305338109, + -0.011892976265522173, + -0.00661804206783338, + 0.011219068005931823, + -0.02188356193696156, + 1.0 + ], + [ + -0.003404548298863941, + -0.004656533126045656, + -0.011883220243617383, + 0.010723556502885128, + 0.01577628755651358, + -0.02763544250252634, + 1.0 + ], + [ + -0.004920560108575334, + -0.006918087336140327, + -0.004559361983213273, + -0.008445823056760225, + 0.007967078144705812, + -0.026406838275855708, + 1.0 + ], + [ + -0.005611739869754273, + -0.007765902958220945, + -0.0020108280153330604, + -0.00506345587977636, + -0.007617651866750849, + -0.023769658431917258, + 1.0 + ], + [ + -0.002428046269418893, + -0.005390582511768299, + -0.0032943723627444424, + 0.006169939856473319, + -0.010262035372381422, + -0.010437797651516836, + 1.0 + ], + [ + 0.0017542475722922557, + -0.002057780625921518, + -0.006636107042942291, + 0.014136538057063565, + -0.0046144490218037815, + 0.013566900974320797, + 1.0 + ], + [ + 0.002725106744478678, + 0.004245872193120351, + -0.013389944793661714, + 0.027529063830343415, + -0.015332692078590024, + 0.03188925602998875, + 0.0 + ], + [ + 0.00045189008096918615, + 0.004107933247975017, + -0.00835386199820199, + 0.0218334945712883, + -0.01650843319593506, + 0.008852576143932676, + 0.0 + ], + [ + -0.00041255715099541845, + 0.006118860617760662, + 0.004258407710168026, + -0.007853139601105091, + -0.016713641772919487, + 0.01209855499195977, + 0.0 + ], + [ + 0.004780204202982252, + 0.01489637912406089, + 0.02465459133820596, + -0.04950344849181124, + -0.0435717231297572, + 0.04725925042767956, + 0.0 + ], + [ + 0.011419954675635391, + 0.03030818283930408, + 0.032576205189762286, + -0.06936351732739346, + -0.041859368619073745, + 0.1115607130213034, + 0.0 + ], + [ + 0.0073524407487767784, + 0.03426755656457753, + 0.02058548620873342, + -0.04172821131457032, + -0.012499808840254959, + 0.11152413974599527, + 0.0 + ], + [ + 0.008611540123008465, + 0.041858945831366866, + 0.007198909670422665, + -0.009910262917016549, + -0.009705533222392884, + 0.11444401745975745, + 0.0 + ], + [ + 0.007053009038841429, + 0.03725472599336864, + -0.005490884803185131, + 0.005183942609498532, + 0.0060444760174215625, + 0.07562302963215198, + 0.0 + ], + [ + 0.004186307471330697, + 0.032596344598709776, + -0.008826174092231354, + 0.024363942453728506, + 0.0014420851491764532, + 0.06998815723773195, + 0.0 + ], + [ + -0.00040131660626641086, + 0.024323052648049598, + -0.007375488245720638, + 0.024480699503090442, + 0.004453177269312542, + 0.04470412020049726, + 0.0 + ], + [ + -0.004056486017733452, + 0.024097461322878183, + -0.005687230457642328, + 0.056676374602609186, + -0.017702212044905782, + 0.017390233882906114, + 0.0 + ], + [ + -0.0028918686564277096, + 0.02906061876809163, + -0.008694022904963308, + 0.035823937526182265, + 0.004699661650927166, + 0.055636194657416066, + 0.0 + ], + [ + -0.001960508033657604, + 0.01847590543131178, + -0.009966104371199956, + 0.037834909418058775, + 0.012038265233564717, + 0.021558996151068332, + 0.0 + ], + [ + -0.001602674808480753, + 0.015173166002473482, + -0.005255722698723271, + 0.0116661651510924, + 0.015243689113606965, + 0.02715870234185994, + 0.0 + ], + [ + -0.007733005509604429, + 0.004001752212305365, + -0.0010299987316631613, + -0.008087857583136245, + 0.02574077778561977, + 0.008872561005655893, + 0.0 + ], + [ + -0.006950164220074051, + -0.0031864816756103087, + -0.0017447380943037064, + -0.0016787993622887905, + 0.013258487252308465, + -0.00863713003445118, + 0.0 + ], + [ + -0.004122587575813075, + -0.0028572669796343986, + -0.0009874224931001666, + 0.0006582985613060423, + 0.018694046283192718, + 0.028716756831441852, + 1.0 + ], + [ + -0.000884053827665432, + -0.003336880216181115, + 0.0010378335641186669, + 0.0018611741179468664, + 0.007926519837314723, + 0.025601558354657484, + 1.0 + ], + [ + 0.0017579770283869256, + -0.008015437701805184, + 0.00882591612680142, + -0.009990187545153184, + -0.012938916062176026, + -0.017747700301736644, + 1.0 + ], + [ + 0.001606525160044281, + -0.01158525832459717, + 0.01987978965125562, + -0.020985486248732785, + -0.011993573819892137, + -0.015535966945716299, + 1.0 + ], + [ + 0.0011005312434954617, + -0.01433533892937544, + 0.023511409550462832, + 0.010860925929918502, + 0.004898199528417576, + -0.026399832213804753, + 1.0 + ], + [ + -0.0011968430073409642, + -0.0121845852441686, + 0.02826043852629216, + -0.008608062510771418, + 0.0535601755631735, + -0.01878630512635343, + 1.0 + ], + [ + -0.0009566543026053309, + -0.010999337900948536, + 0.03261793463095433, + -0.030258098396471585, + 0.0031359885705228912, + 0.011553326026660737, + 1.0 + ], + [ + -0.002721701647374397, + -0.018377988471892842, + 0.02458359197683961, + -0.0837540806051269, + -0.01395997960983496, + -0.018999521194934945, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 150.76449584960938, + 124.65200805664062 + ], + [ + 167.73809814453125, + 131.36520385742188 + ], + [ + 158.9437255859375, + 129.5952606201172 + ], + [ + 128.9794921875, + 126.96617126464844 + ], + [ + 139.84130859375, + 118.91804504394531 + ], + [ + 158.67697143554688, + 143.04617309570312 + ], + [ + 201.769287109375, + 185.39718627929688 + ], + [ + 235.53273010253906, + 225.4171905517578 + ], + [ + 263.94482421875, + 248.8774871826172 + ], + [ + 278.735107421875, + 276.6462097167969 + ], + [ + 286.5789794921875, + 284.9483642578125 + ], + [ + 290.04351806640625, + 303.0207824707031 + ], + [ + 294.6546630859375, + 316.51739501953125 + ], + [ + 297.33941650390625, + 330.0661315917969 + ], + [ + 302.499755859375, + 344.5650634765625 + ], + [ + 307.74407958984375, + 344.45330810546875 + ], + [ + 304.1883239746094, + 354.9656066894531 + ], + [ + 306.1436462402344, + 348.6574401855469 + ], + [ + 306.2081298828125, + 346.8857421875 + ], + [ + 281.9676513671875, + 331.76177978515625 + ], + [ + 255.91778564453125, + 272.3062744140625 + ], + [ + 219.0458984375, + 224.69622802734375 + ], + [ + 181.9932861328125, + 186.52572631835938 + ], + [ + 153.29013061523438, + 175.78131103515625 + ], + [ + 128.79840087890625, + 170.03225708007812 + ], + [ + 111.17047119140625, + 169.590576171875 + ], + [ + 88.4295425415039, + 172.20309448242188 + ], + [ + 69.04631042480469, + 171.17764282226562 + ], + [ + 51.133399963378906, + 176.698974609375 + ], + [ + 45.38488006591797, + 179.18572998046875 + ], + [ + 35.50504684448242, + 183.6226806640625 + ], + [ + 34.448360443115234, + 186.61509704589844 + ], + [ + 33.311058044433594, + 194.71368408203125 + ], + [ + 32.637908935546875, + 199.9461212158203 + ], + [ + 31.136165618896484, + 190.57241821289062 + ], + [ + 36.5658073425293, + 173.9042510986328 + ], + [ + 37.84375762939453, + 147.2333221435547 + ], + [ + 40.657718658447266, + 131.12881469726562 + ], + [ + 30.94312286376953, + 89.80819702148438 + ], + [ + 29.13201141357422, + 55.55396270751953 + ], + [ + 28.735496520996094, + 52.44819641113281 + ] + ], + "depth_max": 1.731749176979065, + "depth_min": 0.20715029537677765, + "intrinsic": [ + [ + 576.8231201171875, + 0.0, + 259.0 + ], + [ + 0.0, + 576.2097778320312, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.877381070400588e-05, + 4.2690189729910344e-05, + -1.1462350812507793e-05 + ], + [ + -4.87723336846102e-05, + 1.0, + -3.45211083185859e-05, + -1.6295965906465426e-05 + ], + [ + -4.269187047611922e-05, + 3.4519027394708246e-05, + 1.0, + 4.2237788875354454e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 40 + ], + "object_trajectory": [ + [ + 334.5, + 368.25 + ], + [ + 334.70123291015625, + 368.62646484375 + ], + [ + 334.81915283203125, + 368.6035461425781 + ], + [ + 335.07574462890625, + 368.7217102050781 + ], + [ + 335.08062744140625, + 368.84710693359375 + ], + [ + 334.98046875, + 369.0779113769531 + ], + [ + 334.7919616699219, + 369.1156005859375 + ], + [ + 334.7543640136719, + 369.0832824707031 + ], + [ + 334.7535095214844, + 368.7318115234375 + ], + [ + 335.0307922363281, + 368.9264221191406 + ], + [ + 334.6596374511719, + 368.9715270996094 + ], + [ + 334.8746032714844, + 368.7044372558594 + ], + [ + 335.0993347167969, + 369.04022216796875 + ], + [ + 335.18292236328125, + 369.76898193359375 + ], + [ + 335.2265625, + 370.4255676269531 + ], + [ + 334.93255615234375, + 370.4869689941406 + ], + [ + 321.1214599609375, + 374.46343994140625 + ], + [ + 323.11444091796875, + 367.6717224121094 + ], + [ + 323.86737060546875, + 364.856689453125 + ], + [ + 302.57122802734375, + 353.9508972167969 + ], + [ + 283.07073974609375, + 298.2022705078125 + ], + [ + 246.80984497070312, + 246.55313110351562 + ], + [ + 207.64865112304688, + 208.8764190673828 + ], + [ + 178.46292114257812, + 195.79745483398438 + ], + [ + 153.2595977783203, + 188.66383361816406 + ], + [ + 131.33053588867188, + 185.5733642578125 + ], + [ + 108.76216888427734, + 187.60443115234375 + ], + [ + 89.50471496582031, + 185.6902313232422 + ], + [ + 71.61280822753906, + 190.73565673828125 + ], + [ + 64.75313568115234, + 193.67236328125 + ], + [ + 53.64829635620117, + 198.1549072265625 + ], + [ + 51.47576904296875, + 201.50607299804688 + ], + [ + 51.15578079223633, + 208.87452697753906 + ], + [ + 49.81291961669922, + 210.31117248535156 + ], + [ + 49.03375244140625, + 211.4906005859375 + ], + [ + 48.91707229614258, + 211.23544311523438 + ], + [ + 47.89907455444336, + 211.02178955078125 + ], + [ + 48.04579544067383, + 210.85272216796875 + ], + [ + 51.71989440917969, + 207.34341430664062 + ], + [ + 49.810585021972656, + 211.77252197265625 + ], + [ + 51.327301025390625, + 207.53912353515625 + ] + ] +} \ No newline at end of file diff --git a/003119_v2/lang.txt b/003119_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..1440ae2845e5b92d2e8397da0393600d24397ecc --- /dev/null +++ b/003119_v2/lang.txt @@ -0,0 +1 @@ +move green object to bottom left of cloth diff --git a/003119_v2/object.ply b/003119_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..d833d8ba2e820f7f43031f575deb25f8bfbf3fd9 Binary files /dev/null and b/003119_v2/object.ply differ diff --git a/003135/FAIL b/003135/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/003135/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/003136/data.json b/003136/data.json new file mode 100644 index 0000000000000000000000000000000000000000..5a15ae34dc90f911d902723d4c21d04cf2b386cf --- /dev/null +++ b/003136/data.json @@ -0,0 +1,421 @@ +{ + "action_start": 3, + "action_end": 15, + "object_name": "pepper", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.03663000000000005, + 0.29157500000000003, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 8.680944851846562e-12, + -5.93476753851796e-10, + 2.6025255561723526e-10, + -9.42644622229772e-07, + 1.652487479917642e-07, + 2.9013255750012274e-07, + 1.0 + ], + [ + 0.008012622562156513, + 0.006056637887874403, + -0.01834443568830793, + -0.03991081901927658, + -0.043162523349358425, + -0.005961997887205464, + 1.0 + ], + [ + 0.002963110969461613, + 0.0009523997369104559, + -0.007419915926369876, + -0.0208303177883683, + -0.008727640305003165, + 0.00034594484070442236, + 1.0 + ], + [ + -0.0005370262890975197, + -0.0004352145513458333, + -0.00884721108894821, + -0.04369010244469278, + -0.02054203697504356, + 0.003912840480228386, + 1.0 + ], + [ + 0.0001280297909755923, + 0.0012850917063935985, + 0.0007824341920587598, + -0.04081082534693061, + 0.007520087832949709, + 0.005659684893813236, + 0.0 + ], + [ + -0.0004620420019649796, + -0.0026020200316376196, + 0.021555016138817374, + -0.00027191957319825527, + 0.02473098519640789, + 0.002208630724701585, + 0.0 + ], + [ + 0.002177863643858413, + -0.0003299435122363775, + 0.03367988900193278, + 0.045803869526276894, + 0.02790751373396144, + 0.0014104152141560117, + 0.0 + ], + [ + 0.005759596465513939, + -0.0006121196035104443, + 0.03417554286175377, + 0.050098111347101265, + 0.020207617565199436, + -0.016022234248447953, + 0.0 + ], + [ + -0.00852976828323393, + -0.004627065482753531, + 0.02120497284776139, + 0.00672043290016238, + 0.05360104996367757, + 0.02858847954376665, + 0.0 + ], + [ + -0.024500041454963928, + 0.009704056561539373, + 0.009253585451460919, + 0.05753137217339655, + 0.0350928851708532, + 0.02507558820991539, + 0.0 + ], + [ + -0.02168431117548114, + 0.013854718982717548, + 0.013384497669539072, + 0.052181689446985945, + 0.025863665312500325, + 0.004761869248599049, + 0.0 + ], + [ + -0.02294777356283484, + 0.014496176713595862, + 0.007819403279023154, + 0.06772317330873963, + 0.017752806351172965, + 0.02350551066630969, + 0.0 + ], + [ + -0.02441236385818124, + 0.022471311803724775, + -0.0076941311660488065, + 0.055318290891694544, + -0.01468106572791608, + 0.03515925079910012, + 0.0 + ], + [ + -0.017276536339816573, + 0.019988342366169136, + -0.011719538289775261, + 0.02504414126196588, + -0.022051886254322868, + 0.011524612513010367, + 0.0 + ], + [ + -0.011392176703579393, + 0.010039834685046472, + -0.009870515602380864, + 0.027388870264370844, + -0.01720278914063222, + 0.017316640125583066, + 0.03663000000000005 + ], + [ + -0.007971314054607825, + 0.01092006793948624, + -0.012511815722640457, + 0.050512876840862524, + -0.022867406752392735, + 0.019305785371035163, + 0.29157500000000003 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 488.47216796875, + 155.81317138671875 + ], + [ + 488.5108337402344, + 155.86019897460938 + ], + [ + 482.43182373046875, + 176.97097778320312 + ], + [ + 473.1730041503906, + 189.58966064453125 + ], + [ + 478.4137878417969, + 188.55465698242188 + ], + [ + 475.32183837890625, + 191.59715270996094 + ], + [ + 472.71746826171875, + 193.28448486328125 + ], + [ + 469.2550048828125, + 192.66123962402344 + ], + [ + 480.5587158203125, + 147.48770141601562 + ], + [ + 505.4505615234375, + 111.30604553222656 + ], + [ + 501.475341796875, + 98.56190490722656 + ], + [ + 486.9500732421875, + 80.8682861328125 + ], + [ + 464.872802734375, + 69.99666595458984 + ], + [ + 450.1800537109375, + 57.47745132446289 + ], + [ + 404.6048889160156, + 85.53971862792969 + ], + [ + 367.90655517578125, + 136.45419311523438 + ], + [ + 331.5255126953125, + 127.70008087158203 + ], + [ + 312.6483459472656, + 146.54454040527344 + ], + [ + 314.10687255859375, + 145.4485626220703 + ], + [ + 314.35980224609375, + 145.38784790039062 + ] + ], + "depth_max": 1.4515854120254517, + "depth_min": 0.4816357493400574, + "intrinsic": [ + [ + 518.2353515625, + 0.0, + 259.0 + ], + [ + 0.0, + 518.4515991210938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.7055320465005934e-05, + -8.990598871605471e-05, + -1.613145650480874e-05 + ], + [ + -4.705751416622661e-05, + 1.0, + -2.4363562260987237e-05, + -3.3075621104217134e-06 + ], + [ + 8.990483911475167e-05, + 2.4367793230339885e-05, + 1.0, + 3.560449476935901e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 19 + ], + "object_trajectory": [ + [ + 459.75, + 201.75 + ], + [ + 459.966064453125, + 201.92828369140625 + ], + [ + 459.66522216796875, + 202.18048095703125 + ], + [ + 459.4765625, + 202.49270629882812 + ], + [ + 459.5597839355469, + 202.3249969482422 + ], + [ + 459.10540771484375, + 202.68980407714844 + ], + [ + 460.1982727050781, + 202.8558349609375 + ], + [ + 456.022705078125, + 201.00888061523438 + ], + [ + 462.27630615234375, + 156.8706817626953 + ], + [ + 483.30120849609375, + 126.38804626464844 + ], + [ + 485.1257019042969, + 110.08121490478516 + ], + [ + 471.82757568359375, + 91.0455093383789 + ], + [ + 445.6120910644531, + 83.21344757080078 + ], + [ + 415.1966247558594, + 78.54812622070312 + ], + [ + 375.6978759765625, + 99.47065734863281 + ], + [ + 327.46875, + 117.83118438720703 + ], + [ + 308.5176696777344, + 134.0474395751953 + ], + [ + 292.4207458496094, + 148.7852783203125 + ], + [ + 304.35882568359375, + 162.71078491210938 + ], + [ + 301.26861572265625, + 166.925537109375 + ] + ] +} \ No newline at end of file diff --git a/003136/lang.txt b/003136/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..a563677ccf03c7248659514c35a38423471b4c1d --- /dev/null +++ b/003136/lang.txt @@ -0,0 +1 @@ +put pepper in pot or pan diff --git a/003136/object.ply b/003136/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..4be55812a4063e7c4af998e8b6681fc7feb5fd09 Binary files /dev/null and b/003136/object.ply differ diff --git a/003137/FAIL b/003137/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f1fa61eaac4c0a91180b93b56955ff62e306ff97 --- /dev/null +++ b/003137/FAIL @@ -0,0 +1 @@ +Detect gripper centers fail diff --git a/003163_v2/FAIL b/003163_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..12cce8a603c327d6a0a6f65ea8c6628a5ec55c6b --- /dev/null +++ b/003163_v2/FAIL @@ -0,0 +1 @@ +Too few valid images after filtering diff --git a/003176_v2/FAIL b/003176_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/003176_v2/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/003215_v2/FAIL b/003215_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/003215_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/003216/FAIL b/003216/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..aaf6c42c619234f9c8379cbcf60a65cd17ba1254 --- /dev/null +++ b/003216/FAIL @@ -0,0 +1 @@ +Too large intersection between gripper and object mask diff --git a/003239_v2/FAIL b/003239_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/003239_v2/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/003283/FAIL b/003283/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/003283/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/003301/data.json b/003301/data.json new file mode 100644 index 0000000000000000000000000000000000000000..bdfe8e5621dfb0759c56a8bf5c8d5974fcdf36c0 --- /dev/null +++ b/003301/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 13, + "action_end": 24, + "object_name": "red bottle", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.07594599999999996, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.582744491024357e-10, + 2.2146090516983463e-11, + -3.593764036358138e-10, + 7.147804822527678e-08, + 2.8615712496935966e-07, + 3.0213813199090014e-07, + 1.0 + ], + [ + -0.007784879907431319, + -0.03514933232335593, + 0.04089930456648114, + 0.025781699356667805, + -0.008570761277346071, + 0.009644147446353526, + 1.0 + ], + [ + -0.010524053545970136, + -0.027611318960877373, + 0.025282050493754482, + 0.011335910283997044, + 0.004663041863583012, + -0.007514891640270516, + 1.0 + ], + [ + -0.016806795815488218, + -0.03340250801920344, + 0.01287310671583515, + 0.018963678877106496, + 0.0056670260010210725, + 0.04261738872457526, + 1.0 + ], + [ + -0.020413838691352215, + -0.025626783077128013, + -0.0014159063301568686, + -0.011960625490197127, + 0.011820559303569508, + 0.049051774638761966, + 1.0 + ], + [ + -0.019678139135574008, + -0.013766497090109589, + -0.00884495884440889, + -0.005340926767333405, + -0.009141911329937474, + 0.026327006259611773, + 1.0 + ], + [ + -0.013250719137306577, + -0.007410341511848953, + -0.012596457201189154, + -0.03951661920354492, + -0.03152560677870264, + -0.00892698702528939, + 1.0 + ], + [ + -0.008257246652789318, + -0.012224481746097068, + -0.00580478810873486, + -0.013501386648990173, + -0.010372707340029807, + 0.015154733531862273, + 1.0 + ], + [ + -0.0005981512431019465, + -0.008159792539377486, + -0.008506564208137932, + -0.019223662692772682, + -0.019124087780288027, + 0.010120144305581186, + 1.0 + ], + [ + 0.0038076359210855726, + -0.0022152164680432837, + -0.008827070628858485, + -0.012679103231564362, + -0.025807056613993982, + -0.019920265249815786, + 1.0 + ], + [ + 0.0016068650406045881, + -0.0016876514526115716, + -0.006118723530549347, + -0.022003934052156147, + 0.0036068749280208797, + -0.0033298680666022525, + 1.0 + ], + [ + 0.001320102312613508, + 0.0009704366045722793, + -0.007888883016379897, + -0.013552751540637217, + -0.009751247772539929, + 0.00171570365190202, + 1.0 + ], + [ + 0.0003508135884107144, + 0.000348057033922055, + -0.005875703432263998, + -0.03240469682213995, + -0.0005889756449783709, + -0.0005528066091170186, + 1.0 + ], + [ + -0.003860766011193034, + -0.006643846293023489, + -0.0037989677656332654, + -0.017879786881221424, + 0.006880991420697525, + 0.01692301735495347, + 0.07594599999999996 + ], + [ + 0.0012378997402160974, + 0.003655199349721909, + -0.002661939518627754, + -0.008373570575914776, + -0.008248959456553429, + -0.009696970357852396, + 0.0 + ], + [ + 0.0008645800889751643, + 0.0029282303083710097, + -0.0008001578679044108, + -0.0013444041779141123, + -0.0008197754354925315, + -0.004648280724216189, + 0.0 + ], + [ + 0.001537448299867128, + 0.002002041788097819, + 0.0028487939920932986, + 0.013911297496481486, + 0.003262964820374325, + 0.0026294488106095282, + 0.0 + ], + [ + 0.003352623467760968, + 0.006281143755578075, + 0.005906150674177574, + 0.02278739848738033, + 0.005861985138881346, + -0.006898799669641963, + 0.0 + ], + [ + 0.009449894096346473, + 0.008128348513134286, + 0.009800857738414492, + 0.028289852133588003, + 0.009903719297691753, + -0.01739681398256594, + 0.0 + ], + [ + 0.015127092241193102, + 0.010137482125992872, + 0.006618346685658152, + 0.029532741222087402, + 0.01031804326514289, + -0.02781814210767094, + 0.0 + ], + [ + 0.020064786432002657, + 0.019471215374746297, + -0.00275268488896932, + 0.038630116526151434, + 0.01628592249902226, + -0.0588093852581871, + 0.0 + ], + [ + 0.013852475338588854, + 0.013939026441731277, + -0.021856387177876233, + 0.020232457674872265, + 0.00845195464381215, + -0.04689132180613475, + 0.0 + ], + [ + 0.005361372733710457, + 0.013172652027924392, + -0.016250345226613047, + -0.0015002664787428673, + 0.13546695215017168, + 0.01897300423099923, + 0.0 + ], + [ + 0.0035689533248320082, + 0.013473059254497308, + -0.025070503100678175, + 0.006237905653540991, + 0.07016320291942746, + 0.014050309955593447, + 0.0 + ], + [ + 0.008307190917511753, + 0.010191073220534613, + -0.021459593163888208, + -0.07107067017670678, + -0.04999386264107115, + -0.00405205715158268, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 90.13351440429688, + 116.41397857666016 + ], + [ + 90.19290161132812, + 116.45677185058594 + ], + [ + 93.20516967773438, + 130.7276611328125 + ], + [ + 121.06590270996094, + 100.79342651367188 + ], + [ + 117.11660766601562, + 85.93598937988281 + ], + [ + 149.54872131347656, + 92.82679748535156 + ], + [ + 153.4832763671875, + 124.20811462402344 + ], + [ + 146.8704833984375, + 165.64108276367188 + ], + [ + 144.82919311523438, + 199.27996826171875 + ], + [ + 154.8231658935547, + 222.6125946044922 + ], + [ + 168.44284057617188, + 240.7933349609375 + ], + [ + 179.75347900390625, + 249.96556091308594 + ], + [ + 184.76162719726562, + 254.53732299804688 + ], + [ + 186.5028533935547, + 264.47698974609375 + ], + [ + 188.9988555908203, + 269.4952087402344 + ], + [ + 188.33078002929688, + 284.545654296875 + ], + [ + 187.18069458007812, + 280.1151123046875 + ], + [ + 182.106689453125, + 279.3363342285156 + ], + [ + 178.09291076660156, + 279.6417236328125 + ], + [ + 172.23834228515625, + 266.65399169921875 + ], + [ + 172.1591339111328, + 236.33648681640625 + ], + [ + 177.23281860351562, + 205.9367218017578 + ], + [ + 177.3140869140625, + 183.7731475830078 + ], + [ + 178.91505432128906, + 200.0272216796875 + ], + [ + 175.464599609375, + 203.16241455078125 + ], + [ + 172.82081604003906, + 221.77610778808594 + ], + [ + 169.34799194335938, + 223.69338989257812 + ], + [ + 171.90609741210938, + 222.52102661132812 + ], + [ + 171.62823486328125, + 224.48709106445312 + ] + ], + "depth_max": 1.5667721033096313, + "depth_min": 0.2649485170841217, + "intrinsic": [ + [ + 512.25341796875, + 0.0, + 259.0 + ], + [ + 0.0, + 513.063720703125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.861340418457985e-05, + -6.594874139409512e-05, + -1.0089032002724707e-05 + ], + [ + -7.861565973144025e-05, + 1.0, + -3.4155240427935496e-05, + 1.8585942598292604e-05 + ], + [ + 6.594605656573549e-05, + 3.4160420909756795e-05, + 1.0, + -3.714082413353026e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 200.25, + 312.75 + ], + [ + 200.6522979736328, + 312.88397216796875 + ], + [ + 200.509765625, + 312.83660888671875 + ], + [ + 200.61810302734375, + 312.9368591308594 + ], + [ + 200.56558227539062, + 312.95068359375 + ], + [ + 200.596435546875, + 313.0975341796875 + ], + [ + 200.72084045410156, + 312.9281921386719 + ], + [ + 200.6317138671875, + 312.9979248046875 + ], + [ + 200.52854919433594, + 312.8453369140625 + ], + [ + 200.58843994140625, + 312.6253967285156 + ], + [ + 200.64077758789062, + 312.9044494628906 + ], + [ + 200.3529510498047, + 313.2394104003906 + ], + [ + 197.73207092285156, + 315.39105224609375 + ], + [ + 197.88125610351562, + 315.6141052246094 + ], + [ + 197.96295166015625, + 315.549560546875 + ], + [ + 199.57244873046875, + 317.0624694824219 + ], + [ + 201.51808166503906, + 316.86492919921875 + ], + [ + 199.2069091796875, + 316.1480712890625 + ], + [ + 200.8148651123047, + 314.3901672363281 + ], + [ + 193.487548828125, + 302.91436767578125 + ], + [ + 189.83999633789062, + 276.81396484375 + ], + [ + 185.1929168701172, + 247.98690795898438 + ], + [ + 188.6227569580078, + 226.20230102539062 + ], + [ + 186.8816680908203, + 239.82308959960938 + ], + [ + 178.3172149658203, + 245.56472778320312 + ], + [ + 173.338134765625, + 262.7728271484375 + ], + [ + 171.96507263183594, + 260.4993591308594 + ], + [ + 165.02969360351562, + 264.9099426269531 + ], + [ + 168.81594848632812, + 261.26226806640625 + ] + ] +} \ No newline at end of file diff --git a/003301/lang.txt b/003301/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..12383ece24d69fc483b274cc6e57f64256c7a437 --- /dev/null +++ b/003301/lang.txt @@ -0,0 +1 @@ +put red bottle in sink diff --git a/003301/object.ply b/003301/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..bceb2eba78b1d36c332faa118515f97fc8d1b94e Binary files /dev/null and b/003301/object.ply differ diff --git a/003306/FAIL b/003306/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/003306/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/003308_v2/FAIL b/003308_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/003308_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/003323_v2/FAIL b/003323_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f1fa61eaac4c0a91180b93b56955ff62e306ff97 --- /dev/null +++ b/003323_v2/FAIL @@ -0,0 +1 @@ +Detect gripper centers fail diff --git a/003332_v2/FAIL b/003332_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/003332_v2/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/003348/FAIL b/003348/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/003348/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/003379_v2/FAIL b/003379_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/003379_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/003441/data.json b/003441/data.json new file mode 100644 index 0000000000000000000000000000000000000000..8e967010f1d3eb3113c2d48dd485468e70f46613 --- /dev/null +++ b/003441/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 12, + "action_end": 24, + "object_name": "sushi", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.599512, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.13431000000000004, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 5.957705995207618e-10, + 4.807988035482325e-10, + 3.4559147210622143e-10, + 1.8734790738137304e-08, + 1.4900354042481082e-07, + 8.587928095369879e-07, + 1.0 + ], + [ + -0.0179251018362383, + -0.006740302741267787, + -0.0009588759198223551, + 0.057949300428173894, + -0.10341857402471562, + -0.3673514418675654, + 1.0 + ], + [ + -0.013978985110645381, + -0.015425820815293197, + -0.004097685501668474, + 0.062076887718228835, + 0.022886941111937453, + -0.30659125938496623, + 1.0 + ], + [ + -0.012821814001313603, + -0.008847309132208561, + -0.00461987016506496, + 0.00792163756074017, + 0.021226046400247302, + -0.24407586215292953, + 1.0 + ], + [ + -0.010251656817711785, + -0.007089810909630297, + -0.018036580465688637, + -0.03746836749272265, + -0.018526716223034107, + -0.16428120960191459, + 1.0 + ], + [ + -0.008383784523909477, + -0.0003263144389896583, + -0.019339340260485963, + -0.03880547035169577, + -0.04004042190018912, + -0.1223220202475014, + 1.0 + ], + [ + -0.001583972140556833, + 0.010614470770393125, + -0.020111288006913794, + -0.055238462513159864, + -0.02222236410001778, + -0.03716582657692731, + 1.0 + ], + [ + -0.00024044256578426015, + 0.008135312500695685, + -0.020497602673404017, + -0.03019985250665613, + -0.027568754909984464, + -0.0013523299967482753, + 1.0 + ], + [ + 0.0011699163668594248, + 0.0041772221255772235, + -0.015473440750042998, + -0.06022671152108342, + 0.007664787037718108, + 0.002859886533045165, + 1.0 + ], + [ + -0.0032314981791904396, + -0.0012803861537099004, + -0.004695665453059408, + -0.015400725654937232, + -0.0012240714131636402, + 0.016515736160322994, + 1.0 + ], + [ + -0.004699185527577199, + -0.0020422998288776723, + 0.0004919371792344064, + -0.004392849712313463, + 0.006139310808769135, + 0.02116620470749215, + 1.0 + ], + [ + -0.003420009573413707, + 0.0017176288086204056, + -0.008602250078168325, + -0.0013114262377418302, + -0.0003568388888971796, + 0.025474188244254684, + 1.0 + ], + [ + 0.00010012608500137299, + 0.0030395758130376677, + -0.003705508169138512, + 0.0020919215596883907, + 0.03758493129952733, + 0.03854421807914111, + 0.599512 + ], + [ + -0.00038295447166492025, + 0.00018545301801979608, + 0.0011529845817463604, + 0.011482759478466642, + 0.013165439166150728, + 0.031317580542693874, + 0.0 + ], + [ + 0.0005813371762056763, + -0.007969626200366467, + 0.009242967729396692, + -0.0026297696483568492, + 0.012189307959360237, + 0.03770606105810008, + 0.0 + ], + [ + 0.011370853606453513, + -0.018494161372097792, + 0.029701902384612303, + -0.01064245793566944, + 0.006200904073987532, + 0.02562783373520582, + 0.0 + ], + [ + 0.005945569130955786, + -0.02556634824489444, + 0.04063737771810891, + 0.011466822903892055, + -0.0019707622375658173, + 0.0811826700865733, + 0.0 + ], + [ + 0.015266458424495588, + -0.02753955763617154, + 0.01739067539551071, + -0.042182843751249484, + -0.031902380729874946, + 0.06702749349084487, + 0.0 + ], + [ + 0.03184503872085481, + -0.03717092345288237, + 0.0008215447255096875, + -0.007311418121275033, + -0.0840942657907778, + 0.07562024173634055, + 0.0 + ], + [ + 0.019396043289159726, + -0.019054649477488715, + -0.005392525533309905, + -0.0223024123922288, + -0.03293209556115317, + 0.025395935785621975, + 0.0 + ], + [ + 0.01567287464434547, + -0.019520237292842506, + -0.015498906548961272, + -0.08552380017803794, + -0.040380567485431396, + 0.01598354220378598, + 0.0 + ], + [ + 0.0053136107309134095, + -0.003593930289212406, + -0.017027144001042993, + -0.0573800602610423, + -0.05054713217446297, + 0.007548605406874318, + 0.0 + ], + [ + 0.005084473852689675, + -0.02631046914556468, + -0.007558459509958371, + -0.013095703953525717, + -0.02943737361761147, + 0.04205504542229887, + 0.0 + ], + [ + 0.004191744329602232, + -0.0044662496717945005, + -0.009067618242378214, + -0.013751160472142915, + 0.004112011646685419, + -0.011580248552209899, + 0.0 + ], + [ + -0.0020809786737945313, + -0.0027284204080912505, + -0.01821808460225316, + -0.025715570985173387, + 0.03824755395550993, + 0.0259223192932955, + 0.13431000000000004 + ], + [ + 0.0008187333843842071, + -0.0050704077245804086, + -0.003611292758455481, + -0.005062588697093453, + 0.004425306956002523, + 0.040032053910388936, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 272.200439453125, + 18.364826202392578 + ], + [ + 297.46307373046875, + 50.38058853149414 + ], + [ + 292.51910400390625, + 46.55743408203125 + ], + [ + 265.15185546875, + 58.6185302734375 + ], + [ + 279.72509765625, + 71.62947082519531 + ], + [ + 277.9886169433594, + 92.65055084228516 + ], + [ + 256.7001037597656, + 120.04331970214844 + ], + [ + 249.54129028320312, + 138.7626953125 + ], + [ + 238.88479614257812, + 151.60397338867188 + ], + [ + 236.37863159179688, + 173.5740509033203 + ], + [ + 232.16822814941406, + 186.275634765625 + ], + [ + 232.4152374267578, + 190.59466552734375 + ], + [ + 230.79641723632812, + 198.8216552734375 + ], + [ + 229.1542510986328, + 202.68218994140625 + ], + [ + 225.8046417236328, + 203.88278198242188 + ], + [ + 226.46926879882812, + 203.13641357421875 + ], + [ + 236.0373992919922, + 198.2191162109375 + ], + [ + 265.0201416015625, + 167.06394958496094 + ], + [ + 296.8354187011719, + 130.74496459960938 + ], + [ + 361.0543212890625, + 120.60797882080078 + ], + [ + 416.4532470703125, + 115.41386413574219 + ], + [ + 432.06396484375, + 115.92649841308594 + ], + [ + 462.9193115234375, + 132.95562744140625 + ], + [ + 467.0198059082031, + 143.0166473388672 + ], + [ + 501.181396484375, + 166.68417358398438 + ], + [ + 492.7835693359375, + 175.43093872070312 + ], + [ + 492.2253112792969, + 196.45849609375 + ], + [ + 496.60955810546875, + 198.71424865722656 + ], + [ + 497.65252685546875, + 198.5350341796875 + ] + ], + "depth_max": 1.7030558586120605, + "depth_min": 0.4540294408798218, + "intrinsic": [ + [ + 519.4642944335938, + 0.0, + 259.0 + ], + [ + 0.0, + 520.1621704101562, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.877490937360562e-06, + -0.00010548242426011711, + -7.3685223469510674e-06 + ], + [ + -4.881729182670824e-06, + 1.0, + -4.0179904317483306e-05, + 1.1346710380166769e-05 + ], + [ + 0.00010548223508521914, + 4.018042091047391e-05, + 1.0, + 1.2472399248508736e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 249.5, + 231.00003051757812 + ], + [ + 249.7222137451172, + 230.96417236328125 + ], + [ + 249.5994873046875, + 230.9219970703125 + ], + [ + 249.66676330566406, + 230.9125213623047 + ], + [ + 249.55006408691406, + 230.9659881591797 + ], + [ + 249.42837524414062, + 230.93113708496094 + ], + [ + 249.407958984375, + 230.94818115234375 + ], + [ + 248.9996795654297, + 230.82260131835938 + ], + [ + 248.99288940429688, + 230.52955627441406 + ], + [ + 248.65664672851562, + 229.5164794921875 + ], + [ + 247.29449462890625, + 223.46990966796875 + ], + [ + 247.34197998046875, + 222.94554138183594 + ], + [ + 248.09002685546875, + 223.02854919433594 + ], + [ + 248.07681274414062, + 224.03005981445312 + ], + [ + 242.93331909179688, + 223.33004760742188 + ], + [ + 241.97991943359375, + 223.56344604492188 + ], + [ + 246.15853881835938, + 222.68756103515625 + ], + [ + 269.5287170410156, + 197.42755126953125 + ], + [ + 300.6609191894531, + 165.09719848632812 + ], + [ + 327.16900634765625, + 151.86399841308594 + ], + [ + 387.69232177734375, + 151.3255157470703 + ], + [ + 408.20318603515625, + 151.77734375 + ], + [ + 438.2013854980469, + 169.76229858398438 + ], + [ + 444.8397216796875, + 176.5381622314453 + ], + [ + 477.70782470703125, + 195.93612670898438 + ], + [ + 475.9385986328125, + 202.68234252929688 + ], + [ + 480.5368957519531, + 214.76112365722656 + ], + [ + 483.8035583496094, + 210.88702392578125 + ], + [ + 484.35015869140625, + 208.15350341796875 + ] + ] +} \ No newline at end of file diff --git a/003441/lang.txt b/003441/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..272b39e5cf14c2638c6610dac0f4e40aa4aafaf1 --- /dev/null +++ b/003441/lang.txt @@ -0,0 +1 @@ +put sushi on plate diff --git a/003441/object.ply b/003441/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..c60cc9e12ed6be775f23013ce166730a1273bc7f Binary files /dev/null and b/003441/object.ply differ diff --git a/003450/data.json b/003450/data.json new file mode 100644 index 0000000000000000000000000000000000000000..e273d204fa9f8fd6291fe99ae3c67ae981066f97 --- /dev/null +++ b/003450/data.json @@ -0,0 +1,476 @@ +{ + "action_start": 7, + "action_end": 18, + "object_name": "sweet potato", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.151648, + 0.864225, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 0.0, + 0.0, + 5.2585806150440294e-08, + -2.9993507140904065e-08, + -4.701030555977395e-07, + 1.0 + ], + [ + 0.0012657741043394233, + 0.0045940590773589085, + -0.00919212328119802, + -0.023016322940270326, + -0.014530480780270095, + 0.002587986162546037, + 1.0 + ], + [ + 0.0033270583265274656, + 0.0030997934753814876, + -0.008408055784753246, + -0.025397670368306882, + -0.01378503355033067, + -0.0031607392876580355, + 1.0 + ], + [ + 0.004042033406983059, + -0.002179908086408597, + -0.011080652131219601, + -0.003323591817889133, + -0.01938743005879113, + 0.009338019704284491, + 1.0 + ], + [ + 0.005118942891443767, + -0.0004867968348587215, + -0.006110905714492437, + -0.015169518246229951, + 0.010615194812912522, + 0.01623479657389755, + 1.0 + ], + [ + -0.00042028869872645647, + -0.0022277766813915273, + -0.010002444552417618, + 0.014938864663687264, + -0.013871638011476941, + 0.018440691450662444, + 1.0 + ], + [ + -0.002916756383933572, + -0.0018690891167640888, + -0.008911077503996404, + 0.022283294420041278, + -0.03192614562850688, + 0.021632853082712532, + 1.0 + ], + [ + -0.0021043286076340983, + -0.0020027463880717272, + -0.004232711343168889, + 0.0024099676142596395, + -0.020109840727503835, + 0.01207134258212411, + 1.0 + ], + [ + -0.0007690800170995216, + -0.003030983720118882, + 0.0008302825011839519, + -0.010513784680840533, + -0.0006657800358525187, + 0.028461290719147533, + 0.0 + ], + [ + 0.0008884274470514208, + -0.0016346430211571644, + 0.005378154600241855, + -0.0024314847385902573, + 0.010134047866693318, + -0.0030275731397712245, + 0.0 + ], + [ + 0.0032651611127796354, + -0.009601956928538019, + 0.024401605292599146, + 0.05917212851696366, + -0.006630977621880169, + 0.0052100325640696415, + 0.0 + ], + [ + 0.004557250092453752, + -0.005642033386951552, + 0.014197594531195967, + 0.05457521217606863, + -0.021171605689805143, + 0.015098454574727771, + 0.0 + ], + [ + 0.017941670134880072, + 0.0001936169809656843, + 0.04188463291470539, + 0.008706366744178662, + 0.024612278637849188, + -0.06741093042842797, + 0.0 + ], + [ + 0.02295787276093514, + 0.0057069693544101775, + 0.011240980387299648, + 0.03443790800756754, + -0.04743198578814636, + -0.09734331436531629, + 0.0 + ], + [ + 0.015065237947809285, + 0.0032401269333295624, + 0.00432023441724122, + -0.014369601750297605, + -0.03333781182100995, + -0.08038481786917379, + 0.0 + ], + [ + 0.007423377623103411, + 0.002666793935219288, + -0.01283967134472129, + -0.021101795129700215, + -0.018211333123038458, + -0.05064282576223891, + 0.0 + ], + [ + 0.007376021589809434, + 0.007345806590382538, + -0.014174091438183226, + -0.036807147534955446, + -0.01790681286541117, + -0.06651059077018522, + 0.0 + ], + [ + 0.00345317699230252, + 0.0048518806344631515, + -0.012628247833713385, + -0.044978301408283836, + 0.0036004594891102435, + -0.02901657528587516, + 0.151648 + ], + [ + 0.002153193539319531, + 0.0030055043393170597, + -0.010309061499233232, + -0.025656529231321428, + -0.01896161085325308, + -0.01271278621666968, + 0.864225 + ], + [ + 0.001043888302316609, + -0.0006492359739568229, + -0.0021686042474928224, + -0.008480549619038097, + -0.025549053893773023, + 0.00036119598994859106, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 217.49606323242188, + 193.02105712890625 + ], + [ + 217.6936492919922, + 193.4593048095703 + ], + [ + 220.38479614257812, + 203.2079620361328 + ], + [ + 219.09214782714844, + 208.6477508544922 + ], + [ + 221.6921844482422, + 212.74658203125 + ], + [ + 225.54905700683594, + 225.66305541992188 + ], + [ + 228.2184600830078, + 231.82489013671875 + ], + [ + 229.9386749267578, + 239.78546142578125 + ], + [ + 229.14231872558594, + 251.1932373046875 + ], + [ + 227.8887481689453, + 256.4871826171875 + ], + [ + 232.53530883789062, + 257.7880859375 + ], + [ + 232.35452270507812, + 263.08648681640625 + ], + [ + 245.39759826660156, + 234.53549194335938 + ], + [ + 256.302978515625, + 212.58151245117188 + ], + [ + 268.2723693847656, + 147.2720947265625 + ], + [ + 283.9923095703125, + 121.74734497070312 + ], + [ + 287.96563720703125, + 110.00396728515625 + ], + [ + 294.0059814453125, + 121.16796112060547 + ], + [ + 289.68756103515625, + 132.93069458007812 + ], + [ + 290.21466064453125, + 143.41824340820312 + ], + [ + 292.6880798339844, + 143.7675323486328 + ], + [ + 294.93157958984375, + 146.14920043945312 + ], + [ + 294.8586120605469, + 146.11764526367188 + ] + ], + "depth_max": 1.7783987522125244, + "depth_min": 0.38422322273254395, + "intrinsic": [ + [ + 508.48016357421875, + 0.0, + 259.0 + ], + [ + 0.0, + 508.8661804199219, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.6822838006191887e-05, + -1.670630808803253e-05, + -6.101170583860949e-06 + ], + [ + -1.68229471455561e-05, + 1.0, + -6.456541086663492e-06, + -3.3010503102559596e-05 + ], + [ + 1.6706198948668316e-05, + 6.45682212052634e-06, + 1.0, + 1.0222117452940438e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 22 + ], + "object_trajectory": [ + [ + 235.50001525878906, + 267.7500305175781 + ], + [ + 236.01455688476562, + 267.9421691894531 + ], + [ + 235.94876098632812, + 268.13897705078125 + ], + [ + 235.73876953125, + 268.1121826171875 + ], + [ + 235.60739135742188, + 267.98468017578125 + ], + [ + 235.3967742919922, + 267.95941162109375 + ], + [ + 235.28843688964844, + 267.8643493652344 + ], + [ + 235.2722930908203, + 268.40081787109375 + ], + [ + 235.8961181640625, + 270.9903869628906 + ], + [ + 238.06192016601562, + 274.57086181640625 + ], + [ + 241.84017944335938, + 277.6203918457031 + ], + [ + 242.4801025390625, + 282.00067138671875 + ], + [ + 254.02371215820312, + 248.3524169921875 + ], + [ + 260.8453369140625, + 226.90542602539062 + ], + [ + 277.4376525878906, + 163.7320556640625 + ], + [ + 290.45416259765625, + 138.76092529296875 + ], + [ + 293.8883361816406, + 128.16517639160156 + ], + [ + 297.1117858886719, + 138.68081665039062 + ], + [ + 291.4947509765625, + 150.5124969482422 + ], + [ + 289.7547302246094, + 162.28515625 + ], + [ + 295.2373962402344, + 168.79794311523438 + ], + [ + 297.74102783203125, + 179.18411254882812 + ], + [ + 298.7878112792969, + 179.18545532226562 + ] + ] +} \ No newline at end of file diff --git a/003450/lang.txt b/003450/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a7a514e97db0da65c4c505d25e593ea8195b68a --- /dev/null +++ b/003450/lang.txt @@ -0,0 +1 @@ +put sweet potato in pan which is on stove diff --git a/003450/object.ply b/003450/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..ff896341608d0f0d36bda520a4b4a6b5f5033306 Binary files /dev/null and b/003450/object.ply differ diff --git a/003452_v2/data.json b/003452_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..04ed75fa201e60af84b9402899a5be1d9e2a0367 --- /dev/null +++ b/003452_v2/data.json @@ -0,0 +1,788 @@ +{ + "action_start": 9, + "action_end": 29, + "object_name": "red fork", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 6.074818426071715e-11, + -7.695900167137282e-10, + 1.8946544333431348e-10, + 1.4405414512059462e-07, + -6.680167583930829e-07, + 4.688861322831302e-07, + 1.0 + ], + [ + -0.0032527727698171693, + 0.015769145018225836, + -0.008023282135821624, + 0.037856741519341396, + 0.0354266260067771, + -0.010057748188129642, + 1.0 + ], + [ + -0.005125044213449725, + 0.021407793982572407, + -0.009968105515385614, + 0.03745484456205829, + 0.028079929421262907, + -0.023579582877009786, + 1.0 + ], + [ + -0.004458025001771004, + 0.01444476321034742, + -0.004037234330490372, + 0.03564477338372659, + 0.017943723724650994, + -0.05157308724506953, + 1.0 + ], + [ + 0.0002925337279824358, + 0.0053737456269591505, + -0.012727218637002907, + 0.051133174418312756, + 0.045997671489024575, + -0.06882888996095961, + 1.0 + ], + [ + 0.0067408377240639195, + -0.007229822053052781, + -0.017200957542275616, + 0.03662181587758454, + 0.05117403777692179, + -0.0716510491875836, + 1.0 + ], + [ + 0.0038633832429588733, + -0.004008497101490732, + -0.01141583955314053, + 0.02764217480310665, + 0.03485626128044167, + -0.031058509946988812, + 1.0 + ], + [ + 0.0023412861824398945, + -0.0034857660917191613, + -0.00980465873722508, + 0.008913169941662375, + 0.022240346603284392, + -0.017334607181576762, + 1.0 + ], + [ + 0.004524708373062181, + -0.005134984072375351, + -0.004025251386503691, + -0.0015233700178413207, + 0.012241994237497743, + -0.01521750072304058, + 1.0 + ], + [ + 0.00439622376974913, + 0.003213379515282541, + -0.0076268455521090045, + -0.00017862929277889634, + 0.012264602751489578, + 0.009051571511706128, + 1.0 + ], + [ + 0.0015049977481200738, + 0.006687235018602182, + -0.004371846545359874, + -0.006716046890817847, + -0.008561176514769982, + 0.03212040476626129, + 0.0 + ], + [ + 3.837120180200104e-05, + 0.0007542745786411759, + -0.001546209107461824, + -0.002052381105220322, + 0.004730476623066755, + 0.008487873712715486, + 0.0 + ], + [ + -0.0016041125262661327, + -0.0008724960455843145, + -0.0007053550008698783, + 0.0031203221437612247, + 0.0014177084896165831, + 0.00245462634119729, + 0.0 + ], + [ + -0.00035837441816150006, + 0.0038046543802900887, + 0.0031273537282648367, + -0.0073373997942579915, + -0.010183738550030708, + 0.025617009492125725, + 0.0 + ], + [ + 0.0032923007261226878, + 0.0035606626171011263, + 0.00599398559346883, + -0.037862981185636545, + -0.028710057696452605, + 0.05248162271107711, + 0.0 + ], + [ + 0.008144428408769833, + 0.006225498219234061, + 0.011748727005409132, + -0.03835461013291325, + -0.0048230269069231115, + 0.0942508610957069, + 0.0 + ], + [ + 0.008141060265298261, + 0.007452339564812907, + 0.02090897167648629, + -0.026857473155777446, + -0.048811257278208016, + 0.0671252111775854, + 0.0 + ], + [ + 0.002406329277919894, + 0.007648513460938283, + 0.017591561102702068, + -0.009764441228920957, + -0.020740571730752323, + 0.06033185480225496, + 0.0 + ], + [ + 0.001799102046201595, + 0.004021227601033489, + 0.019826304471675285, + -0.01929443694083576, + -0.044335589243708805, + 0.03173880687746595, + 0.0 + ], + [ + -0.0030564064548527226, + 0.008058851908858439, + 0.019846908060836638, + 0.005352139472889274, + -0.040308105186255765, + 0.032357418605047095, + 0.0 + ], + [ + -0.0076927609388057205, + 0.030745765715088764, + 0.005166065790680172, + 0.011624864761812051, + 0.0029428175927444203, + 0.07952930676756723, + 0.0 + ], + [ + 0.0004005334291245499, + 0.04237582373676792, + 0.00028525930146253153, + 0.008749520982123199, + 0.004793489512294406, + 0.0792660462211365, + 0.0 + ], + [ + 0.0017714866306186017, + 0.04839202733005123, + -0.005189932168533945, + 0.02179829167783262, + 0.026055087337241278, + 0.0806959084069554, + 0.0 + ], + [ + -0.004415755533301646, + 0.04501215168690638, + -0.010069299770064835, + 0.011512671218541427, + 0.028106555785296954, + 0.051536114586285056, + 0.0 + ], + [ + -0.010179107218408978, + 0.03649657052376297, + -0.016135421989395576, + 0.005738332618153762, + 0.031018821958059876, + 0.03941064341833473, + 0.0 + ], + [ + -0.0019545328380637383, + 0.02280885172057931, + -0.01731518882878659, + 0.01426864883878608, + 0.02377992783274403, + 0.00744410640410271, + 0.0 + ], + [ + 0.0016135811704223735, + 0.013680986353903662, + -0.016563160839312918, + 0.0020838285846191762, + -0.011052638194596611, + -0.01637286276008964, + 0.0 + ], + [ + 0.0013443375889970466, + 0.004371081206688665, + -0.01600328559877405, + -0.012461263016035765, + 0.04268475111038907, + 0.0049434252519347565, + 0.0 + ], + [ + 0.0025784598811588455, + -0.002673492643996911, + -0.005840106492464074, + -0.009566677432862707, + 0.011945676276246929, + -0.011764656119606755, + 0.0 + ], + [ + 0.0025247359402928438, + -0.0034299983244422128, + -0.001619509237601409, + -0.022128426676318782, + 0.008094582895694894, + -0.024844618160332368, + 0.0 + ], + [ + -0.0012273309252366915, + -0.0007072301150277682, + 0.0014940773823674258, + 0.009884152612162049, + 0.00810045749115781, + 0.018035704426827226, + 1.0 + ], + [ + -0.0003450253739052944, + 3.686827748466959e-05, + 0.005067162936237039, + 0.006563230836117892, + -0.007119241629231888, + 0.00949617604014267, + 1.0 + ], + [ + -0.00203597780937953, + -0.0007484876426520071, + 0.010095019617265687, + 0.020597438248107787, + -0.00981283958652174, + 0.02106525141528987, + 1.0 + ], + [ + -0.0030368579986802535, + -0.0024789110512285495, + 0.017650321423286798, + 0.033712812351033065, + -0.027412138372597424, + 0.022287967548830067, + 1.0 + ], + [ + -0.006028965201909431, + -0.004402359727545102, + 0.02412428809379056, + 0.008478305081218345, + -0.03772724573917589, + 0.029453634239667726, + 1.0 + ], + [ + -0.0012202335316489066, + -0.00764840743558462, + 0.01776021212533252, + 0.009804936725890459, + -0.04823621218708892, + 0.0074385129929899615, + 1.0 + ], + [ + 7.99278825484584e-05, + -0.013721503655667822, + -0.003994910653789374, + -0.06907988942042625, + -0.17941639624429612, + 0.06503968743057492, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 512.825927734375, + 115.18681335449219 + ], + [ + 510.66864013671875, + 120.9196548461914 + ], + [ + 493.8083801269531, + 143.3707275390625 + ], + [ + 447.26959228515625, + 151.70724487304688 + ], + [ + 422.6150207519531, + 156.18634033203125 + ], + [ + 411.1988525390625, + 154.15423583984375 + ], + [ + 410.74298095703125, + 177.5374298095703 + ], + [ + 424.729736328125, + 189.10641479492188 + ], + [ + 423.3614807128906, + 198.22718811035156 + ], + [ + 430.37188720703125, + 200.63624572753906 + ], + [ + 438.1313781738281, + 199.36614990234375 + ], + [ + 438.6228332519531, + 196.00625610351562 + ], + [ + 436.5533447265625, + 195.0950927734375 + ], + [ + 436.39752197265625, + 194.94972229003906 + ], + [ + 436.3584289550781, + 195.19064331054688 + ], + [ + 435.21380615234375, + 195.51760864257812 + ], + [ + 431.388916015625, + 193.18911743164062 + ], + [ + 414.00201416015625, + 174.67745971679688 + ], + [ + 413.2413330078125, + 149.1612091064453 + ], + [ + 406.98797607421875, + 126.44190979003906 + ], + [ + 401.9205017089844, + 98.71239471435547 + ], + [ + 375.865478515625, + 72.91619110107422 + ], + [ + 317.56341552734375, + 64.05441284179688 + ], + [ + 262.7935485839844, + 44.00275421142578 + ], + [ + 211.0264129638672, + 48.32453155517578 + ], + [ + 162.2257080078125, + 57.65007400512695 + ], + [ + 133.13851928710938, + 74.05753326416016 + ], + [ + 130.63009643554688, + 88.89390563964844 + ], + [ + 123.10369110107422, + 103.16510009765625 + ], + [ + 126.91175842285156, + 110.4511947631836 + ], + [ + 127.85865020751953, + 109.70103454589844 + ], + [ + 129.59068298339844, + 110.30011749267578 + ], + [ + 127.68295288085938, + 110.29447174072266 + ], + [ + 126.91441345214844, + 110.753173828125 + ], + [ + 126.5075454711914, + 102.817138671875 + ], + [ + 118.2209243774414, + 75.89561462402344 + ], + [ + 111.8450698852539, + 57.074798583984375 + ], + [ + 127.20275115966797, + 62.25524139404297 + ], + [ + 123.24403381347656, + 61.367088317871094 + ], + [ + 122.82090759277344, + 60.872100830078125 + ] + ], + "depth_max": 1.9565507173538208, + "depth_min": 0.48866698145866394, + "intrinsic": [ + [ + 429.72711181640625, + 0.0, + 259.0 + ], + [ + 0.0, + 429.826416015625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.0858213247265667e-05, + -4.66093079012353e-05, + -7.14548077667132e-05 + ], + [ + -2.0861007214989513e-05, + 1.0, + -5.993160084472038e-05, + -2.262730777147226e-05 + ], + [ + 4.660805643652566e-05, + 5.993257582304068e-05, + 1.0, + 0.00018525312771089375 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 39 + ], + "object_trajectory": [ + [ + 424.25, + 204.75001525878906 + ], + [ + 428.67510986328125, + 208.34275817871094 + ], + [ + 428.5124816894531, + 208.40843200683594 + ], + [ + 428.3859558105469, + 208.68788146972656 + ], + [ + 423.8837585449219, + 205.35829162597656 + ], + [ + 428.41741943359375, + 208.87606811523438 + ], + [ + 428.1712341308594, + 208.67469787597656 + ], + [ + 423.91815185546875, + 209.123779296875 + ], + [ + 424.01068115234375, + 208.9121551513672 + ], + [ + 424.1681213378906, + 209.00100708007812 + ], + [ + 424.9312438964844, + 209.11764526367188 + ], + [ + 423.9199523925781, + 209.57571411132812 + ], + [ + 422.40478515625, + 210.30943298339844 + ], + [ + 423.3767395019531, + 211.4849090576172 + ], + [ + 422.8121032714844, + 211.90408325195312 + ], + [ + 422.224365234375, + 212.36512756347656 + ], + [ + 419.7735900878906, + 211.67869567871094 + ], + [ + 406.49420166015625, + 198.39256286621094 + ], + [ + 402.98199462890625, + 179.6580810546875 + ], + [ + 395.2931823730469, + 162.3907012939453 + ], + [ + 391.0304260253906, + 136.26739501953125 + ], + [ + 366.51910400390625, + 111.83078002929688 + ], + [ + 311.90673828125, + 99.36549377441406 + ], + [ + 257.94964599609375, + 83.20907592773438 + ], + [ + 210.9468231201172, + 78.61802673339844 + ], + [ + 163.17648315429688, + 87.64270782470703 + ], + [ + 136.5658721923828, + 101.27293395996094 + ], + [ + 133.235595703125, + 116.13246154785156 + ], + [ + 126.45022583007812, + 127.84272766113281 + ], + [ + 130.72833251953125, + 133.80445861816406 + ], + [ + 131.93734741210938, + 133.02334594726562 + ], + [ + 137.1648712158203, + 124.2230224609375 + ], + [ + 139.09933471679688, + 123.39976501464844 + ], + [ + 140.598388671875, + 122.2221450805664 + ], + [ + 141.8797149658203, + 121.9254379272461 + ], + [ + 142.39801025390625, + 122.84253692626953 + ], + [ + 142.88128662109375, + 122.66465759277344 + ], + [ + 142.55740356445312, + 122.80332946777344 + ], + [ + 142.32192993164062, + 123.18769073486328 + ], + [ + 142.3902130126953, + 123.0725326538086 + ] + ] +} \ No newline at end of file diff --git a/003452_v2/lang.txt b/003452_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..ebbdea6f542d4d7063bb8d817c49348b21a9485a --- /dev/null +++ b/003452_v2/lang.txt @@ -0,0 +1 @@ +moved the red fork and put it on the left side of the table diff --git a/003452_v2/object.ply b/003452_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..7e9c70bb7256630606eaffb6b38e15aa0141b639 Binary files /dev/null and b/003452_v2/object.ply differ diff --git a/003453/FAIL b/003453/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/003453/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/003458/data.json b/003458/data.json new file mode 100644 index 0000000000000000000000000000000000000000..ab820b0fbc83d5b7e0cfbdb349115c8e3ac61e54 --- /dev/null +++ b/003458/data.json @@ -0,0 +1,476 @@ +{ + "action_start": 7, + "action_end": 18, + "object_name": "sweet potato", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.48644699999999996, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.726252, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 8.879064150590921e-11, + -2.47499645777971e-10, + -1.0569860542375409e-09, + 5.147995666572681e-08, + -1.835927450790108e-07, + 2.7173577457439474e-07, + 1.0 + ], + [ + 0.002544995969601116, + 0.004541273580164401, + -0.009158908678013819, + -0.0008046743961785752, + -0.008838265869059723, + 0.00032692336268267134, + 1.0 + ], + [ + 0.0008229969684327432, + 0.005806152602329417, + -0.009709697970562557, + 0.005638570046329452, + -0.0005113952012152138, + -0.0003218207033220863, + 1.0 + ], + [ + -0.0006232491592535472, + 0.0061022824894409605, + -0.010582498327177232, + 0.0009547367106184473, + -0.006801736024035066, + 0.006770951067171869, + 1.0 + ], + [ + 0.003228935522925136, + 0.0030091706950968605, + -0.010842902336787086, + -0.012597795702034932, + -0.008448147057072277, + -0.001742209657462875, + 1.0 + ], + [ + 0.006010744043486116, + 0.004324578281755906, + -0.010926238209328087, + -0.01951388669736629, + -0.015576918160796961, + -0.007772972152973322, + 1.0 + ], + [ + 0.00587708182319624, + 0.00355496324103885, + -0.005160436336741892, + -0.0010648724885879018, + -0.028457464859071725, + -0.010255556928642709, + 1.0 + ], + [ + 0.005819737178564821, + 0.002525275585800915, + -0.0022395811029737173, + 0.015661319707696485, + -0.037516560297601496, + -0.008797628180424965, + 0.48644699999999996 + ], + [ + 0.00046541834790064796, + -0.003627438926073742, + 0.008613773640002015, + 0.014107002251007432, + -0.005552878226368905, + 0.01515292387123971, + 0.0 + ], + [ + -0.004355761204546893, + -0.0037223483867726004, + 0.023616261380816912, + 0.05625382138477981, + -0.021913736494832678, + 0.009804538344591038, + 0.0 + ], + [ + 0.0009814866509462727, + -0.0030816005724832868, + 0.028992719580691842, + 0.04494860771693934, + -0.02588783569917269, + 0.012064388218243393, + 0.0 + ], + [ + -0.005074195594858222, + -0.0055736528405374575, + 0.02251243711511812, + 0.033011938987745515, + -0.012165741853134727, + 0.034528998831894565, + 0.0 + ], + [ + -0.01395752253280741, + -0.006419166601032325, + 0.013002475623180007, + -0.008632918953047228, + 0.021196378489161043, + 0.0344456488088496, + 0.0 + ], + [ + -0.01982151707479174, + -0.008357437770571033, + 0.0022715512784044767, + -0.028546781256933672, + 0.02615068626489865, + 0.044502343722022025, + 0.0 + ], + [ + -0.020141298937864704, + -0.008088288595739193, + -0.0034327104686148052, + -0.021834001819134325, + 0.01255968636442065, + 0.04392467762329259, + 0.0 + ], + [ + -0.014633742475366585, + -0.007747773174206454, + -0.012493327255398853, + -0.03611969785533635, + -0.007690083639882412, + 0.03447361148782213, + 0.0 + ], + [ + -0.010584513023398023, + -0.006740245594296396, + -0.005264351728387406, + -0.03003307164228833, + 0.007763976695241795, + 0.022938870202513426, + 0.0 + ], + [ + -0.011163235101280145, + -0.00421033292899603, + -0.0071582435660967475, + -0.025264360730167672, + -0.0002832857038676936, + 0.013949812204823808, + 0.0 + ], + [ + -0.003991991325475397, + 7.318705467519726e-05, + -0.009755735821136327, + -0.027874114047775574, + -0.03947679902157277, + 0.004224487897617214, + 0.726252 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 309.05548095703125, + 75.62246704101562 + ], + [ + 309.14349365234375, + 76.10664367675781 + ], + [ + 306.58111572265625, + 93.4926528930664 + ], + [ + 309.62347412109375, + 99.18534851074219 + ], + [ + 301.15020751953125, + 111.19401550292969 + ], + [ + 296.9775085449219, + 117.42021179199219 + ], + [ + 330.07049560546875, + 138.03097534179688 + ], + [ + 294.6540222167969, + 127.3900375366211 + ], + [ + 295.40606689453125, + 126.44304656982422 + ], + [ + 295.8802490234375, + 125.97900390625 + ], + [ + 295.2264099121094, + 126.03421783447266 + ], + [ + 292.07012939453125, + 124.16119384765625 + ], + [ + 295.87872314453125, + 90.8814468383789 + ], + [ + 301.05169677734375, + 74.35289001464844 + ], + [ + 297.9471740722656, + 63.30628967285156 + ], + [ + 290.1390075683594, + 74.78560638427734 + ], + [ + 290.72332763671875, + 88.21852111816406 + ], + [ + 285.3995056152344, + 113.81922912597656 + ], + [ + 283.08624267578125, + 125.08489990234375 + ], + [ + 282.957763671875, + 144.35415649414062 + ], + [ + 287.79791259765625, + 155.96697998046875 + ], + [ + 285.8392333984375, + 154.09649658203125 + ], + [ + 286.30169677734375, + 154.2932586669922 + ] + ], + "depth_max": 1.7648687362670898, + "depth_min": 0.5515608787536621, + "intrinsic": [ + [ + 511.05255126953125, + 0.0, + 259.0 + ], + [ + 0.0, + 511.76568603515625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.1658988771378063e-05, + -4.226381133776158e-05, + -1.18960870167939e-05 + ], + [ + -2.1659912817995064e-05, + 1.0, + -2.1882780856685713e-05, + -2.0861767552560195e-05 + ], + [ + 4.226333476253785e-05, + 2.18836976273451e-05, + 1.0, + 1.0496187314856797e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 22 + ], + "object_trajectory": [ + [ + 295.25, + 114.0 + ], + [ + 295.6787109375, + 114.36573028564453 + ], + [ + 295.7213134765625, + 114.72349548339844 + ], + [ + 295.68438720703125, + 114.5912094116211 + ], + [ + 296.8546447753906, + 116.34368896484375 + ], + [ + 297.1262512207031, + 116.41336059570312 + ], + [ + 297.61865234375, + 119.15790557861328 + ], + [ + 297.4594421386719, + 118.29893493652344 + ], + [ + 297.56744384765625, + 117.6859359741211 + ], + [ + 297.4322509765625, + 117.2449951171875 + ], + [ + 296.5771484375, + 116.90505981445312 + ], + [ + 294.6890869140625, + 115.70924377441406 + ], + [ + 293.067138671875, + 85.30422973632812 + ], + [ + 294.98291015625, + 69.272216796875 + ], + [ + 293.3465881347656, + 59.23575973510742 + ], + [ + 285.59381103515625, + 69.11090087890625 + ], + [ + 287.14935302734375, + 82.77952575683594 + ], + [ + 281.7657470703125, + 104.5756607055664 + ], + [ + 281.04046630859375, + 114.96662902832031 + ], + [ + 279.3119812011719, + 134.76187133789062 + ], + [ + 282.7756652832031, + 145.1162567138672 + ], + [ + 287.435791015625, + 147.92578125 + ], + [ + 292.6341247558594, + 155.51644897460938 + ] + ] +} \ No newline at end of file diff --git a/003458/lang.txt b/003458/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a7a514e97db0da65c4c505d25e593ea8195b68a --- /dev/null +++ b/003458/lang.txt @@ -0,0 +1 @@ +put sweet potato in pan which is on stove diff --git a/003458/object.ply b/003458/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..2a20e16dba9b2201d4203922b4f217512e47356b Binary files /dev/null and b/003458/object.ply differ diff --git a/003462/data.json b/003462/data.json new file mode 100644 index 0000000000000000000000000000000000000000..5479724f019a93e79a16e2e7aa07d119e0cd3477 --- /dev/null +++ b/003462/data.json @@ -0,0 +1,403 @@ +{ + "action_start": 5, + "action_end": 14, + "object_name": "sweet potato", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.04468899999999998, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 5.2581550225028195e-11, + -1.3534137525972323e-10, + 6.024722387643067e-12, + -1.5264199293012887e-08, + -6.904872902992677e-08, + -1.6322698842952918e-07, + 1.0 + ], + [ + 0.002128417504351332, + 0.004023588888956748, + -0.014554213988715384, + -0.006066062249067101, + -0.028650354534606744, + 0.01386509391331243, + 1.0 + ], + [ + 0.004678749432478924, + 0.0017657207662739559, + -0.007369273315184013, + -0.005363283214215292, + -0.012006821053050237, + -0.00416668113949161, + 1.0 + ], + [ + 0.0010506467170044442, + -0.0016824602080009344, + -0.011811087620199508, + -0.00944912095017777, + -0.019573364471196956, + 0.016007188886952278, + 1.0 + ], + [ + 0.0005116510381967254, + -4.8145456389475996e-05, + -0.00855366043900669, + -0.012487856921438271, + -0.0127975719809017, + 0.00972083383600874, + 1.0 + ], + [ + 2.977521246971815e-05, + 0.00042379579534619193, + -0.009130857937002516, + -0.03585051857255489, + -0.0037063932796387506, + 0.01732870931438791, + 1.0 + ], + [ + 0.0014659416705847805, + 0.001531758837497522, + -0.0029215060426908343, + -0.0003799720705979164, + -0.007851167972835544, + 0.013329806906349004, + 0.0 + ], + [ + 1.2869457361563974e-05, + -0.003477759011298185, + 0.025076900351757067, + 0.02092400087787587, + 0.046505526081475894, + 0.020746208816927174, + 0.0 + ], + [ + -0.009811508999683083, + -0.00903898976543649, + 0.03023317635004364, + 0.05860648163676115, + 0.019801211051696813, + 0.0449241424685933, + 0.0 + ], + [ + -0.00546841168858242, + 0.0011540664109317544, + 0.028446685773111366, + 0.06701627847998301, + 0.013827938060705855, + 0.01904974569649801, + 0.0 + ], + [ + 0.004667701157041737, + 0.022631266350083896, + 0.016380795969544525, + 0.024193010332058257, + 0.010819537131589974, + -0.04852511646543875, + 0.0 + ], + [ + 0.011902811748026043, + 0.02672832087071028, + -0.0005519689877419159, + 0.016234287505804832, + -0.033238249524867265, + -0.07204927119314432, + 0.0 + ], + [ + 0.011180209867959923, + 0.020031555404350625, + -0.00595657371816212, + 0.007852507670652953, + -0.048834707529715096, + -0.056484921315011635, + 0.0 + ], + [ + 0.007207861803769866, + 0.01945602607511147, + -0.012644777983478045, + -0.008004998449449697, + -0.029947180597087453, + -0.04739458194894674, + 0.0 + ], + [ + -0.0003223754372199128, + 0.006667490298630799, + -0.010481356035798806, + -0.005109590322371035, + -0.01638619778591624, + -0.028659082392919744, + 0.04468899999999998 + ], + [ + -0.003743363326491833, + 0.004657362462844469, + -0.010144466223750245, + -0.015679751980684175, + -0.009957966288100428, + -0.0022206273626996943, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 364.892578125, + 189.034912109375 + ], + [ + 364.68701171875, + 188.9207000732422 + ], + [ + 362.8951416015625, + 203.53488159179688 + ], + [ + 362.2366943359375, + 215.50738525390625 + ], + [ + 359.88818359375, + 218.59136962890625 + ], + [ + 358.79498291015625, + 232.68124389648438 + ], + [ + 361.32672119140625, + 239.94921875 + ], + [ + 362.30322265625, + 240.08535766601562 + ], + [ + 361.73583984375, + 238.78494262695312 + ], + [ + 353.84991455078125, + 235.68946838378906 + ], + [ + 368.0716857910156, + 208.8651580810547 + ], + [ + 365.03790283203125, + 180.72683715820312 + ], + [ + 344.0017395019531, + 152.3440704345703 + ], + [ + 318.8619079589844, + 131.35504150390625 + ], + [ + 305.42279052734375, + 119.61582946777344 + ], + [ + 288.2752380371094, + 121.0064697265625 + ], + [ + 289.98443603515625, + 132.1051025390625 + ], + [ + 281.4378967285156, + 140.99891662597656 + ], + [ + 281.95318603515625, + 140.6683807373047 + ] + ], + "depth_max": 1.724029302597046, + "depth_min": 0.4609038531780243, + "intrinsic": [ + [ + 516.6226806640625, + 0.0, + 259.0 + ], + [ + 0.0, + 516.9773559570312, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 8.606447408965323e-06, + -8.109205373330042e-05, + -8.792090739007108e-06 + ], + [ + -8.611400517111178e-06, + 1.0, + -6.108754314482212e-05, + -1.0178910997638013e-05 + ], + [ + 8.10915298643522e-05, + 6.108824163675308e-05, + 1.0, + -1.1258380254730582e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18 + ], + "object_trajectory": [ + [ + 365.25, + 251.25 + ], + [ + 365.32122802734375, + 251.34176635742188 + ], + [ + 366.11199951171875, + 250.81094360351562 + ], + [ + 366.2396240234375, + 250.7999725341797 + ], + [ + 365.20428466796875, + 251.2767333984375 + ], + [ + 364.75799560546875, + 252.05746459960938 + ], + [ + 364.8316955566406, + 252.1590576171875 + ], + [ + 365.6634521484375, + 252.34164428710938 + ], + [ + 367.10137939453125, + 259.5045166015625 + ], + [ + 357.4149475097656, + 259.3912353515625 + ], + [ + 363.272216796875, + 225.58035278320312 + ], + [ + 357.6885986328125, + 200.38470458984375 + ], + [ + 338.7427673339844, + 171.502197265625 + ], + [ + 321.17413330078125, + 153.11380004882812 + ], + [ + 306.95599365234375, + 139.81118774414062 + ], + [ + 289.7372131347656, + 140.29283142089844 + ], + [ + 288.9749450683594, + 151.65890502929688 + ], + [ + 280.15081787109375, + 163.3155517578125 + ], + [ + 276.8841552734375, + 176.5929718017578 + ] + ] +} \ No newline at end of file diff --git a/003462/lang.txt b/003462/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a7a514e97db0da65c4c505d25e593ea8195b68a --- /dev/null +++ b/003462/lang.txt @@ -0,0 +1 @@ +put sweet potato in pan which is on stove diff --git a/003462/object.ply b/003462/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..716151a6ec093c7de89d8a1f45f6fa14f2ff1d30 Binary files /dev/null and b/003462/object.ply differ diff --git a/003481_v2/FAIL b/003481_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/003481_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/003504/data.json b/003504/data.json new file mode 100644 index 0000000000000000000000000000000000000000..eb634889565421d856dfcf2e73b8c5ac250dfa8a --- /dev/null +++ b/003504/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 8, + "action_end": 20, + "object_name": "sweet potato", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.472039, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -4.056810443131553e-11, + 6.494667303957868e-11, + 3.5098937645194894e-12, + -3.985015239601571e-08, + 1.0351498988883331e-08, + -3.852182837593323e-07, + 1.0 + ], + [ + 0.006614849064014217, + -0.0013575833554326927, + -0.00023123345846612353, + -0.01293330246433119, + -0.006436900381974736, + -0.01651798904282399, + 1.0 + ], + [ + 0.003133905021904082, + -0.003394292096850604, + -0.0022148248118823016, + -0.0116020342206004, + -0.014105752921537429, + -0.00824720875877869, + 1.0 + ], + [ + 0.002278559267280711, + -0.0031046064229658873, + -0.005855037090287042, + -0.017615948637707893, + -0.004454380118408557, + -0.0015677133935833986, + 1.0 + ], + [ + -0.002227329826645086, + -0.0030284164818547565, + -0.00979741739565966, + -0.022839693451667205, + -0.019068888116574405, + 0.010056186319431592, + 1.0 + ], + [ + -0.003269225215851934, + -0.00296873474492838, + -0.005991246692985536, + -0.016013031454018282, + -0.014008970294316232, + 0.005812429798594359, + 1.0 + ], + [ + -0.0043746813159810105, + -0.00308778430964202, + -0.00918494671334364, + -0.012262672152719369, + -0.026521104751655655, + 0.007173742628667748, + 1.0 + ], + [ + 0.003449993516100258, + 0.003875777349045026, + -0.0013776475470928598, + -0.0035567527585276637, + -0.008829814018809714, + -0.020856793753707862, + 1.0 + ], + [ + 0.002943423446985838, + 0.003722348480892479, + -0.00408789630061494, + -0.021615299776361424, + -0.008975897473045868, + -0.007962167880087717, + 1.0 + ], + [ + 0.003145919818888454, + 0.0037962014908452385, + -0.0025256306691161176, + 0.013685881922344559, + -0.01919960684132317, + -0.01038644796519828, + 0.0 + ], + [ + 2.299533209515481e-06, + 0.002091387821030074, + -0.002827823643433071, + -0.007941508104353946, + -0.009386815431113764, + -0.006457180858229129, + 0.0 + ], + [ + 0.0005819356315965862, + 0.0008804014033975786, + 0.0030646391184048667, + 0.0021338427678399027, + 0.0028164813485484228, + -0.006992046325295537, + 0.0 + ], + [ + 0.006851078397391741, + 0.004909537200412109, + 0.02212870467473357, + 0.05395750636719097, + 0.04118006035464418, + -0.02509022050029907, + 0.0 + ], + [ + 0.00987862290345698, + 0.01697420494888255, + 0.02504059074176858, + 0.10805836977469511, + 0.028575967094260562, + -0.060601084202790007, + 0.0 + ], + [ + 0.008209628450772388, + 0.01849808266092616, + 0.004008355641044049, + 0.00942827355726308, + 0.012324787246692153, + -0.05288711340057668, + 0.0 + ], + [ + 0.016759463987911893, + 0.028460257089514295, + -0.004476014034410621, + 0.006668058268035452, + -0.01293209648127258, + -0.09948925378895881, + 0.0 + ], + [ + 0.01577173171018037, + 0.01971097008024354, + -0.008426818207008524, + -0.021638562658973078, + -0.017765843709681397, + -0.06823495643755968, + 0.0 + ], + [ + 0.014756882945095529, + 0.01576512048212513, + -0.011094777501894255, + -0.03215886616839062, + -0.018117433397744236, + -0.05888613176775195, + 0.0 + ], + [ + 0.0057287143047392575, + 0.012666836192310786, + -0.012902970412922807, + -0.026253388119721957, + -0.024509238941186336, + -0.03369111876956309, + 0.0 + ], + [ + 0.006050613770688329, + 0.007749988066079884, + -0.005138748924629427, + 0.003171201464073243, + -0.024493894867500563, + -0.039394866055627566, + 0.0 + ], + [ + 0.002370756597931567, + 0.0037507214478994383, + -0.004622549722295782, + 0.0006930144564113421, + -0.0248233888516347, + -0.023687265213273287, + 0.472039 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 326.58197021484375, + 253.98870849609375 + ], + [ + 326.38323974609375, + 254.4320068359375 + ], + [ + 325.5877990722656, + 262.94122314453125 + ], + [ + 331.45068359375, + 267.32232666015625 + ], + [ + 335.7358703613281, + 267.0907287597656 + ], + [ + 344.1917724609375, + 271.1791076660156 + ], + [ + 344.48974609375, + 283.02679443359375 + ], + [ + 341.9405517578125, + 291.92144775390625 + ], + [ + 344.78759765625, + 302.53753662109375 + ], + [ + 347.08868408203125, + 307.0524597167969 + ], + [ + 339.5165100097656, + 299.66546630859375 + ], + [ + 338.1256103515625, + 296.7127685546875 + ], + [ + 337.9778747558594, + 295.9029541015625 + ], + [ + 333.69384765625, + 298.8501892089844 + ], + [ + 328.706298828125, + 268.95330810546875 + ], + [ + 323.8970031738281, + 228.66921997070312 + ], + [ + 307.90838623046875, + 201.81622314453125 + ], + [ + 292.9600830078125, + 180.9291534423828 + ], + [ + 285.503173828125, + 172.2587127685547 + ], + [ + 285.5943603515625, + 171.78445434570312 + ], + [ + 274.15203857421875, + 178.60723876953125 + ], + [ + 256.643310546875, + 173.63555908203125 + ], + [ + 272.4033203125, + 171.29986572265625 + ], + [ + 272.4978942871094, + 171.488037109375 + ] + ], + "depth_max": 1.6716806888580322, + "depth_min": 0.2493261694908142, + "intrinsic": [ + [ + 504.6487121582031, + 0.0, + 259.0 + ], + [ + 0.0, + 504.9358215332031, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.0811841750401072e-05, + -9.521045285509899e-05, + 5.354813765734434e-06 + ], + [ + -2.0816620235564187e-05, + 1.0, + -5.0160670070908964e-05, + 5.073686224932317e-06 + ], + [ + 9.520940511720255e-05, + 5.016264913138002e-05, + 1.0, + -1.830674045777414e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 329.75, + 306.5000305175781 + ], + [ + 330.1191711425781, + 306.4851379394531 + ], + [ + 329.83758544921875, + 306.6477355957031 + ], + [ + 329.66534423828125, + 306.89154052734375 + ], + [ + 329.7344055175781, + 306.42852783203125 + ], + [ + 329.78900146484375, + 306.6237487792969 + ], + [ + 329.9044494628906, + 306.3489685058594 + ], + [ + 334.50164794921875, + 310.2166442871094 + ], + [ + 341.208740234375, + 314.83551025390625 + ], + [ + 343.5746154785156, + 316.40313720703125 + ], + [ + 341.3736267089844, + 315.6500549316406 + ], + [ + 336.80670166015625, + 315.4804382324219 + ], + [ + 337.2149658203125, + 313.006103515625 + ], + [ + 333.2662658691406, + 312.567626953125 + ], + [ + 323.7942199707031, + 288.3735656738281 + ], + [ + 317.6452331542969, + 250.58377075195312 + ], + [ + 302.9440002441406, + 226.31690979003906 + ], + [ + 290.1972351074219, + 208.5072479248047 + ], + [ + 283.61016845703125, + 201.7578125 + ], + [ + 285.31488037109375, + 202.09088134765625 + ], + [ + 277.99017333984375, + 205.4578857421875 + ], + [ + 274.3132019042969, + 202.89559936523438 + ], + [ + 277.3348083496094, + 202.97071838378906 + ], + [ + 291.310791015625, + 212.7992401123047 + ] + ] +} \ No newline at end of file diff --git a/003504/lang.txt b/003504/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..63c66cf843e428fcb4216e9e396eb57216b0f7e3 --- /dev/null +++ b/003504/lang.txt @@ -0,0 +1 @@ +put sweet potato in pot which is in sink diff --git a/003504/object.ply b/003504/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..574c7d59c0494136305df682cc2ed73deda952c3 Binary files /dev/null and b/003504/object.ply differ diff --git a/003519_v2/FAIL b/003519_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/003519_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/003522/FAIL b/003522/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/003522/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/003540/FAIL b/003540/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/003540/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/003541/FAIL b/003541/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/003541/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/003583_v2/FAIL b/003583_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/003583_v2/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/003613_v2/FAIL b/003613_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/003613_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/003628_v2/FAIL b/003628_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/003628_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/003631_v2/data.json b/003631_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..8e108e997cced42603a0fa0dc0990ae18263f3d8 --- /dev/null +++ b/003631_v2/data.json @@ -0,0 +1,623 @@ +{ + "action_start": 5, + "action_end": 19, + "object_name": "orange object", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.4313256963282015e-10, + 3.4808561588661746e-10, + -2.8478726321612413e-10, + 8.568340471763014e-07, + 2.488888653276307e-07, + 6.803838719647896e-07, + 1.0 + ], + [ + 0.009030653135924549, + 0.0013894656219753734, + -0.015523818750695029, + 0.017289437952326164, + 0.04311700397470029, + -0.0122289732064126, + 1.0 + ], + [ + 0.006800918171689541, + 0.001496412358395434, + -0.02224209010994002, + -0.005968091720632061, + 0.05016677669906548, + -0.0018722548448652351, + 1.0 + ], + [ + 0.006091547743628745, + -0.0011047336192636578, + -0.019335143714821368, + 0.01876352797673141, + 0.04511585866323732, + -0.0023093147179227298, + 1.0 + ], + [ + 0.002468227810390744, + 0.0023942576117111022, + -0.013892785481617896, + 0.028480974291929643, + 0.037735803958872674, + 0.017296257191345775, + 1.0 + ], + [ + 0.0022606481113568444, + 0.002083597705456207, + -0.014344627016023957, + 0.02049130820636003, + 0.03802147830614471, + 0.0023440286343456877, + 1.0 + ], + [ + 0.00032611461469334024, + -0.0011751313001315891, + -0.005905445346254225, + 0.010450741758274694, + -0.004581846977348616, + -0.0005754500721040576, + 0.0 + ], + [ + -0.00046094236306126746, + -0.0012757354860538778, + -0.0010088724315269989, + -0.001216763453940468, + 0.003726679328378532, + 0.0002311500318158219, + 0.0 + ], + [ + -0.0008220710619482596, + 0.0014670458433460182, + -0.0009079748646471566, + -0.002663404805700296, + 0.0020302464060359135, + 0.006858944887386235, + 0.0 + ], + [ + 0.0009802788921049466, + 0.0035234281437312442, + 0.005364953200238746, + -0.013386796515474534, + -0.004879590731503159, + 0.006484460755496622, + 0.0 + ], + [ + 0.008577189059235824, + 0.007672548279201469, + 0.012613444696956237, + -0.019744771525792515, + -0.02103984887581793, + 0.026782368276004147, + 0.0 + ], + [ + 0.022205107017111536, + 0.017940226908859068, + 0.03358695991117096, + 0.010405306305287606, + -0.08418720152923273, + 0.08519172646360036, + 0.0 + ], + [ + 0.029560132760724833, + 0.0108472620957052, + 0.023365878608715526, + -0.021234253105660808, + -0.056632175026357014, + 0.06920800536186705, + 0.0 + ], + [ + 0.03769106360164748, + 0.018128736542726044, + 0.01639979885130763, + 0.026127970213488998, + -0.031344925864825963, + 0.11742164498801601, + 0.0 + ], + [ + 0.031974720804076096, + 0.01988822566574834, + 0.002069849705060134, + -0.011737677936492524, + -0.012342565598526554, + 0.06468553625965406, + 0.0 + ], + [ + 0.018213801260753726, + 0.013661337776641452, + -0.012130520996255681, + 0.009419628232726974, + 0.026283688372090535, + 0.032412385922049036, + 0.0 + ], + [ + 0.011407841209146119, + 0.015120361159842055, + -0.01897996386969717, + 0.030496196397809993, + 0.05138298672209173, + 0.026092289845424926, + 0.0 + ], + [ + 0.0066579698756508154, + 0.011481272557346683, + -0.01885055123426635, + 0.007508755365123259, + 0.03638746052955013, + 0.013594779521828351, + 0.0 + ], + [ + 0.002513877028649525, + 0.007306666590809807, + -0.01765726369750991, + 0.0055798394233535975, + 0.03651071072091724, + 0.008279459888358261, + 0.0 + ], + [ + -4.278660584888794e-05, + 0.0021844695658107954, + -0.0015496413052224715, + -0.005954231963249429, + -0.0035936992948419587, + 0.007827192244744739, + 0.0 + ], + [ + -0.002228593673207435, + -0.0004946657194639242, + -0.00019780125508278394, + -0.022829770427617777, + 0.005823613506550395, + 0.006664556074988458, + 1.0 + ], + [ + -0.0019295351187673115, + -0.0008706830193270093, + 0.0032655954705655237, + -0.008464061239344385, + 0.0007514527063167007, + 0.001348424837624514, + 1.0 + ], + [ + -0.0004868899172631447, + -0.000806570427920858, + 0.0033059994205446377, + 0.001171063065486961, + -0.0021618913395485234, + 0.0007347263263274118, + 1.0 + ], + [ + -0.002362797032902708, + 0.0021017003216508845, + 0.01196823237962771, + 0.010538110246189046, + -0.021336171469828885, + 0.014885929688190776, + 1.0 + ], + [ + -0.0029351996697676297, + 0.000282556402711881, + 0.023673139453530015, + -0.002355960499872751, + -0.05754444750045129, + 0.011237184266588273, + 1.0 + ], + [ + -0.0016158734335941505, + -0.0021423750992793367, + 0.021890534876036823, + -0.010906675495784827, + -0.06176618707126502, + 0.0015197937581825176, + 1.0 + ], + [ + -0.006182720329897751, + -0.000427234783086497, + 0.016927472384315384, + -0.006209552654332441, + -0.051339261016638923, + 0.00938188790669702, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 393.66851806640625, + 180.53707885742188 + ], + [ + 392.27386474609375, + 186.9849853515625 + ], + [ + 391.7866516113281, + 208.88446044921875 + ], + [ + 395.76953125, + 221.54632568359375 + ], + [ + 393.7530822753906, + 236.55841064453125 + ], + [ + 389.7396545410156, + 246.80165100097656 + ], + [ + 386.94598388671875, + 256.50677490234375 + ], + [ + 387.3440246582031, + 262.2871398925781 + ], + [ + 388.92919921875, + 262.6922302246094 + ], + [ + 388.98773193359375, + 262.7637939453125 + ], + [ + 388.9421691894531, + 262.67547607421875 + ], + [ + 382.67431640625, + 255.8564453125 + ], + [ + 375.4632568359375, + 216.858642578125 + ], + [ + 375.43536376953125, + 154.30780029296875 + ], + [ + 378.9036865234375, + 105.44353485107422 + ], + [ + 379.18548583984375, + 75.26980590820312 + ], + [ + 362.89508056640625, + 70.20082092285156 + ], + [ + 362.2288818359375, + 80.64744567871094 + ], + [ + 354.441650390625, + 95.10064697265625 + ], + [ + 343.50811767578125, + 107.56636047363281 + ], + [ + 342.59625244140625, + 109.63664245605469 + ], + [ + 345.310546875, + 109.75944519042969 + ], + [ + 341.50738525390625, + 110.91435241699219 + ], + [ + 340.2985534667969, + 111.07138061523438 + ], + [ + 338.8639221191406, + 114.16189575195312 + ], + [ + 336.9615478515625, + 109.92404174804688 + ], + [ + 338.72564697265625, + 80.15667724609375 + ], + [ + 334.5609436035156, + 66.99170684814453 + ], + [ + 328.59564208984375, + 57.33586120605469 + ], + [ + 328.70489501953125, + 57.386962890625 + ], + [ + 329.11773681640625, + 56.66101837158203 + ] + ], + "depth_max": 1.9046427011489868, + "depth_min": 0.1502021700143814, + "intrinsic": [ + [ + 415.5390319824219, + 0.0, + 259.0 + ], + [ + 0.0, + 415.9771728515625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.363904685713351e-05, + -6.36312979622744e-05, + -3.2829648262122646e-05 + ], + [ + -6.364128785207868e-05, + 1.0, + -3.512395778670907e-05, + -4.826235453947447e-05 + ], + [ + 6.362905696732923e-05, + 3.512801049510017e-05, + 1.0, + -7.152876787586138e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30 + ], + "object_trajectory": [ + [ + 399.25, + 286.5 + ], + [ + 399.1701965332031, + 286.68072509765625 + ], + [ + 399.0108337402344, + 286.1025695800781 + ], + [ + 398.6839599609375, + 286.7711486816406 + ], + [ + 398.4496765136719, + 286.4656982421875 + ], + [ + 400.45880126953125, + 282.2723693847656 + ], + [ + 398.1387023925781, + 281.36651611328125 + ], + [ + 391.5001525878906, + 280.2771301269531 + ], + [ + 389.0673828125, + 279.8026123046875 + ], + [ + 388.4331970214844, + 279.126708984375 + ], + [ + 388.1124267578125, + 279.00018310546875 + ], + [ + 381.62847900390625, + 273.2971496582031 + ], + [ + 373.6564025878906, + 242.7027587890625 + ], + [ + 369.775390625, + 188.27267456054688 + ], + [ + 372.8633117675781, + 139.67535400390625 + ], + [ + 371.9571533203125, + 109.63108825683594 + ], + [ + 358.3055419921875, + 104.44673919677734 + ], + [ + 356.0653991699219, + 114.35914611816406 + ], + [ + 348.7948303222656, + 126.09501647949219 + ], + [ + 341.5894775390625, + 137.33111572265625 + ], + [ + 341.08441162109375, + 141.3326873779297 + ], + [ + 343.7967529296875, + 141.1102294921875 + ], + [ + 343.3887023925781, + 141.0374755859375 + ], + [ + 342.75653076171875, + 141.19088745117188 + ], + [ + 341.4745178222656, + 142.31932067871094 + ], + [ + 341.3551940917969, + 140.68475341796875 + ], + [ + 342.2142028808594, + 140.05447387695312 + ], + [ + 342.3821716308594, + 140.37384033203125 + ], + [ + 342.4171447753906, + 139.9814910888672 + ], + [ + 342.5974426269531, + 140.35714721679688 + ], + [ + 342.5709533691406, + 139.83993530273438 + ] + ] +} \ No newline at end of file diff --git a/003631_v2/lang.txt b/003631_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..81b2e39382988698c7357bc8cf31c1f9d75ccc6b --- /dev/null +++ b/003631_v2/lang.txt @@ -0,0 +1 @@ +moved the orange object to the top left corner of the table diff --git a/003631_v2/object.ply b/003631_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..95f6879e50ca41f1e87695c4c34058c584b16d0c Binary files /dev/null and b/003631_v2/object.ply differ diff --git a/003635/data.json b/003635/data.json new file mode 100644 index 0000000000000000000000000000000000000000..2aa4d8acb62eb24ac36b185ea4d147a2bc554ced --- /dev/null +++ b/003635/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 15, + "action_end": 24, + "object_name": "broccoli", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.7169719999999999, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.029059999999999975, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.7755575615628914e-17, + 0.0, + 0.0, + 5.242374800733358e-08, + -3.8894706584910934e-07, + -4.185713785095922e-07, + 1.0 + ], + [ + 0.026442778333997413, + 0.03390579203763894, + 0.008159247625669871, + 0.02748053563326312, + -0.0007305081739428339, + -0.03163323808185579, + 1.0 + ], + [ + 0.030042557082654492, + 0.03626732118413155, + 0.01005417014642862, + 0.023677833385044398, + -0.005944007800444454, + -0.007773387914749273, + 1.0 + ], + [ + 0.021894951600534035, + 0.03141018937154359, + 0.0007963135840275692, + -0.003216824821504687, + -0.010970433638886412, + 0.019167307185850982, + 1.0 + ], + [ + 0.01424061579541075, + 0.027466890683669143, + -0.011115734606998884, + 0.06508601263113357, + -0.06757588946664364, + 0.08409617916538815, + 1.0 + ], + [ + 0.009437307616776303, + 0.01878520314426385, + -0.01603174717589334, + 0.029805318720897762, + -0.06311132574527602, + 0.005744645900503336, + 1.0 + ], + [ + 0.008800713550814188, + 0.028152781449231598, + -0.01614575705923592, + -0.02347346315193211, + -0.026875048336001073, + -0.0013594646448235822, + 1.0 + ], + [ + 0.0032378136589680806, + 0.02130722393525697, + -0.00693965098145323, + 0.010015731384109943, + -0.021917713159076587, + -0.025754826582979822, + 1.0 + ], + [ + 0.00010747942782113329, + 0.012753805206375285, + -0.0198491375007772, + -0.014375066121558217, + -0.03391739232379423, + -0.011047433825045876, + 1.0 + ], + [ + -0.003610011046328132, + 0.006854393177748386, + -0.00736882255163783, + -0.009900753479594578, + 0.00035427198033036563, + -0.005122926651457353, + 1.0 + ], + [ + -0.004284225297258026, + 0.004276844861205276, + -0.003467608570195617, + -0.022547988673638508, + 0.014424153239183314, + -0.009539830818322192, + 1.0 + ], + [ + -0.006027991709993741, + 0.0018395483833284487, + -0.002540898282827442, + -0.013381119673143689, + 0.009461541320417459, + -0.010866103731483775, + 1.0 + ], + [ + -0.00041487096625242303, + -0.002251726503309237, + -0.007858716715722795, + -0.01205759245598138, + -0.024271226604862323, + 0.00025832088963378383, + 1.0 + ], + [ + 0.0005582593466026964, + 0.0008074438440638099, + -0.009087852140247855, + -0.015867898185673752, + -0.04027033038353233, + 0.000742026622050943, + 1.0 + ], + [ + 0.000837820354552099, + 0.0010847277484322682, + -0.005860483910889301, + 0.0038192186192974554, + -0.026922050495585586, + -0.001963224793011775, + 1.0 + ], + [ + 0.0016605911966858788, + -0.0007413539071774167, + -0.004985688907961368, + -0.006837526441552836, + -0.023174139170496846, + 0.01725627891706981, + 0.7169719999999999 + ], + [ + 0.0021179059257017685, + -0.0018735861947013766, + 0.0014795834885881314, + -0.017107126034658488, + 0.005607425466070811, + 0.018014511936757203, + 0.0 + ], + [ + 0.0025403627776629523, + -0.005828353689799476, + 0.021332336859134056, + -0.00348832949208032, + 0.054224059922759124, + -0.04097934855794438, + 0.0 + ], + [ + 0.00426504379972531, + -0.015962445627989486, + 0.03701214108003863, + 0.0762733242533081, + 0.03542285954237777, + 0.023069062302930803, + 0.0 + ], + [ + 0.002134340247728128, + -0.020327570692580427, + 0.022633914887874952, + 0.08684848563213438, + -0.015381599056405638, + 0.020919361777964898, + 0.0 + ], + [ + -0.003652228673751867, + -0.032093147296109764, + 0.0072096682197736045, + 0.015699676297714547, + 0.010014301831378586, + 0.037946300821041314, + 0.0 + ], + [ + -0.0027618233179507734, + -0.029669747125027263, + -0.00823904455831806, + -0.03870057198657199, + 0.013833774287221911, + 0.0337487304195503, + 0.0 + ], + [ + -0.0025224665926504852, + -0.02282632785701197, + -0.02805445151495814, + -0.06580641926650618, + -0.007873388223582203, + -0.010252244957133835, + 0.0 + ], + [ + 0.0009914121390289798, + 0.0006313228796851061, + -0.02158489419487089, + -0.007458782690138899, + -0.022042483116218724, + -0.010991309850540237, + 0.0 + ], + [ + 0.001881771180900882, + 0.009044724791613709, + -0.012008679260765431, + -0.015185395680256827, + -0.021889103467812736, + -0.04460647055685305, + 0.029059999999999975 + ], + [ + 0.004537666400668994, + 0.002840767169065464, + -0.007459637560918969, + -0.07888637234334214, + -0.07208875016085703, + 0.05682220137938503, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 278.65972900390625, + 205.97256469726562 + ], + [ + 278.8526306152344, + 206.06832885742188 + ], + [ + 277.6345520019531, + 214.34048461914062 + ], + [ + 245.89793395996094, + 150.45993041992188 + ], + [ + 231.06854248046875, + 104.43244934082031 + ], + [ + 207.3899383544922, + 78.90657806396484 + ], + [ + 188.33303833007812, + 77.99618530273438 + ], + [ + 181.43594360351562, + 81.03266906738281 + ], + [ + 161.38717651367188, + 98.98348999023438 + ], + [ + 144.44403076171875, + 93.25486755371094 + ], + [ + 140.3514404296875, + 111.53463745117188 + ], + [ + 132.15704345703125, + 112.69474029541016 + ], + [ + 127.44503021240234, + 121.17362976074219 + ], + [ + 120.86222839355469, + 125.47050476074219 + ], + [ + 126.00782012939453, + 135.78005981445312 + ], + [ + 125.56536865234375, + 142.16256713867188 + ], + [ + 124.53736877441406, + 144.08726501464844 + ], + [ + 127.15150451660156, + 148.51199340820312 + ], + [ + 125.61847686767578, + 147.57579040527344 + ], + [ + 127.28549194335938, + 139.7593994140625 + ], + [ + 147.5317840576172, + 110.86878967285156 + ], + [ + 170.83216857910156, + 80.91545104980469 + ], + [ + 203.0277099609375, + 90.24407958984375 + ], + [ + 233.89639282226562, + 114.79754638671875 + ], + [ + 251.0852508544922, + 149.3403778076172 + ], + [ + 253.5693817138672, + 165.06588745117188 + ], + [ + 244.4160614013672, + 173.41026306152344 + ], + [ + 244.7178192138672, + 173.43658447265625 + ], + [ + 243.92877197265625, + 172.94781494140625 + ] + ], + "depth_max": 1.6764353513717651, + "depth_min": 0.4607301354408264, + "intrinsic": [ + [ + 533.7335205078125, + 0.0, + 259.0 + ], + [ + 0.0, + 534.1907958984375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.613999863067875e-06, + -9.149593097390607e-05, + -2.429323831165675e-05 + ], + [ + -4.616118530975655e-06, + 1.0, + -2.3151360437623225e-05, + -7.990576705196872e-06 + ], + [ + 9.149582911049947e-05, + 2.3151782443164848e-05, + 1.0, + 2.7456564566818997e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 123.75, + 148.00001525878906 + ], + [ + 123.9398422241211, + 148.03245544433594 + ], + [ + 123.99640655517578, + 148.01080322265625 + ], + [ + 124.06558990478516, + 148.0538330078125 + ], + [ + 124.06950378417969, + 148.10986328125 + ], + [ + 124.0904312133789, + 148.0801239013672 + ], + [ + 124.17536926269531, + 148.19781494140625 + ], + [ + 124.13431549072266, + 148.1226806640625 + ], + [ + 124.04419708251953, + 148.20957946777344 + ], + [ + 124.1594467163086, + 148.24168395996094 + ], + [ + 124.18656158447266, + 148.18170166015625 + ], + [ + 124.25249481201172, + 148.44786071777344 + ], + [ + 123.6901626586914, + 148.70631408691406 + ], + [ + 123.04961395263672, + 148.82688903808594 + ], + [ + 125.60011291503906, + 150.06161499023438 + ], + [ + 124.78668975830078, + 150.90357971191406 + ], + [ + 123.25389099121094, + 152.43328857421875 + ], + [ + 126.9697265625, + 153.4096221923828 + ], + [ + 125.35993957519531, + 152.50608825683594 + ], + [ + 127.3509750366211, + 143.99673461914062 + ], + [ + 144.43560791015625, + 118.47404479980469 + ], + [ + 162.37237548828125, + 91.95095825195312 + ], + [ + 193.8581085205078, + 101.35661315917969 + ], + [ + 222.48452758789062, + 119.12483215332031 + ], + [ + 240.95819091796875, + 152.77078247070312 + ], + [ + 244.62661743164062, + 169.68812561035156 + ], + [ + 237.80316162109375, + 177.9908447265625 + ], + [ + 236.13485717773438, + 190.1050567626953 + ], + [ + 226.9835662841797, + 197.4660186767578 + ] + ] +} \ No newline at end of file diff --git a/003635/lang.txt b/003635/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2dcec07a73efbfc9b570f02f0fe721202d4b5441 --- /dev/null +++ b/003635/lang.txt @@ -0,0 +1 @@ +take broccoli out of pan diff --git a/003635/object.ply b/003635/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..14c0b4157ce0fb48983b74d5427740163159ddb6 Binary files /dev/null and b/003635/object.ply differ diff --git a/003643/FAIL b/003643/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/003643/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/003644/FAIL b/003644/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/003644/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/003645/data.json b/003645/data.json new file mode 100644 index 0000000000000000000000000000000000000000..cb96b080f3e6d4c69c726a40c78ee5ad372d9fc5 --- /dev/null +++ b/003645/data.json @@ -0,0 +1,531 @@ +{ + "action_start": 12, + "action_end": 21, + "object_name": "broccoli", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5457879999999999, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.476289090973637e-10, + -5.474259934246106e-11, + -2.478521554660773e-11, + -1.1381619390981736e-07, + -8.873768740128535e-08, + 7.330357958060637e-07, + 1.0 + ], + [ + -0.004779867605325505, + -0.011714455483286118, + 0.01526101174144906, + -0.011304012154307158, + 0.040774341681954346, + 0.00011096764686137281, + 1.0 + ], + [ + -0.026973171957291098, + -0.040300412542289166, + 0.03530982741045715, + 0.035993183321879084, + 0.012690746734441047, + 0.04487334305935327, + 1.0 + ], + [ + -0.022788308620047215, + -0.04613708631675789, + 0.009180566510953996, + -0.04318143137397539, + -0.014135727167938242, + 0.029496473397594678, + 1.0 + ], + [ + -0.013056014129094407, + -0.04175810418659802, + -0.006032390465972662, + -0.0382935593061733, + -0.015340345038222146, + 0.030624340393791256, + 1.0 + ], + [ + -0.006959834412611554, + -0.02271573404632571, + -0.013753315318286927, + -0.007253448110551205, + -0.006803048374861642, + 0.004094408289875007, + 1.0 + ], + [ + -0.0033357363423723307, + -0.014058391162573458, + -0.022699689749070065, + -0.02935979636859008, + -0.06624996391520338, + -0.010937954226185912, + 1.0 + ], + [ + 0.0021957832061726967, + -0.009760576486613255, + -0.010986958546655323, + 0.006908672777446266, + -0.03971936288674693, + -0.005048841947759782, + 1.0 + ], + [ + 0.006322615268375353, + 0.0010335143474703573, + -0.009007059521724578, + -0.015851151659191966, + -0.024715180327521593, + -0.02606312693401317, + 1.0 + ], + [ + 0.0037544153423435533, + -0.0043510321178172225, + -0.011215873852435249, + -0.008361876476747994, + -0.035350176906514125, + -0.004284461811091619, + 1.0 + ], + [ + 0.0023350007590918764, + 0.002262168710824755, + -0.008412263441042941, + -0.015193163505666015, + -0.0075386151029772, + -0.010449595751274682, + 1.0 + ], + [ + 9.039988981007774e-05, + 5.867560397955496e-05, + -0.00916756176038451, + -0.0267017727417275, + -0.004224419175858085, + 0.007137581564137683, + 1.0 + ], + [ + 0.0011063352891825806, + 0.0029997536583238546, + -0.008563781070570362, + -0.02208506881824676, + 0.002349790635549461, + 0.016866292607947385, + 1.0 + ], + [ + 0.002763853856502352, + 0.0020841835353787273, + -0.0030803459566376527, + -0.028625941928166792, + 0.019040772990402372, + 0.018550840078143626, + 0.0 + ], + [ + -0.001060502026180521, + -0.001164127635820831, + 0.0002800363857055274, + -0.014231713386521553, + 0.006898512993832912, + 0.004158032720952982, + 0.0 + ], + [ + 0.0021239437682338824, + 0.005763692870336623, + 0.027437685181543447, + 0.035293743708666614, + 0.0665059920280469, + -0.012838784117642915, + 0.0 + ], + [ + 0.007228775728467529, + 0.01543049143473705, + 0.04027330237563616, + 0.09936636413811056, + 0.04774598433242863, + -0.034980467968247365, + 0.0 + ], + [ + 0.015017227333148253, + 0.02131981870888283, + 0.015274673763488941, + 0.06715391039277797, + -0.012350334173059477, + -0.03324043029531234, + 0.0 + ], + [ + 0.018906104413320135, + 0.022581882520038087, + -0.01244894993253852, + 0.02640647424227544, + -0.03743039391276106, + -0.06923702163337526, + 0.0 + ], + [ + 0.012311474469295758, + 0.010105530213159939, + -0.020961647749337772, + -0.02869998177700708, + -0.030556365463659196, + -0.04162086695878545, + 0.0 + ], + [ + 0.009580677587034736, + 0.006485051709301581, + -0.02651742071674626, + -0.03659368014468806, + -0.0566224636234166, + -0.04709630515489486, + 0.0 + ], + [ + 0.0024781593781991185, + -0.0013522059380995169, + -0.0080039137686502, + -0.025733405178873184, + -0.013168995628325898, + -0.0006587897858831215, + 0.5457879999999999 + ], + [ + -0.003283910491653219, + -0.00273625860569051, + -0.002727228156483172, + -0.010566452094441042, + -0.024534905586323784, + 0.01158234670079306, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 222.8385009765625, + 61.50058364868164 + ], + [ + 222.89401245117188, + 61.43689727783203 + ], + [ + 225.61695861816406, + 86.83085632324219 + ], + [ + 231.0580596923828, + 93.23146057128906 + ], + [ + 267.48095703125, + 65.39915466308594 + ], + [ + 291.249755859375, + 79.15093994140625 + ], + [ + 336.47454833984375, + 118.00929260253906 + ], + [ + 348.1603088378906, + 148.9351043701172 + ], + [ + 362.88311767578125, + 189.90126037597656 + ], + [ + 375.260009765625, + 196.09051513671875 + ], + [ + 379.87103271484375, + 196.98690795898438 + ], + [ + 381.2471923828125, + 204.56552124023438 + ], + [ + 383.42950439453125, + 212.97659301757812 + ], + [ + 380.45147705078125, + 221.48611450195312 + ], + [ + 375.2598571777344, + 226.31236267089844 + ], + [ + 374.69140625, + 227.0602264404297 + ], + [ + 371.80828857421875, + 227.0401153564453 + ], + [ + 370.28741455078125, + 193.93588256835938 + ], + [ + 366.23651123046875, + 138.86767578125 + ], + [ + 355.58416748046875, + 98.46992492675781 + ], + [ + 337.0709228515625, + 106.43991088867188 + ], + [ + 338.69647216796875, + 118.6700439453125 + ], + [ + 332.0252685546875, + 138.7391357421875 + ], + [ + 336.86163330078125, + 138.07354736328125 + ], + [ + 334.84454345703125, + 148.39617919921875 + ], + [ + 334.78594970703125, + 148.45980834960938 + ] + ], + "depth_max": 1.6989045143127441, + "depth_min": 0.5533353090286255, + "intrinsic": [ + [ + 539.1181030273438, + 0.0, + 259.0 + ], + [ + 0.0, + 539.8600463867188, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.8137283404939808e-05, + -7.347427890636027e-05, + -2.620059240143746e-05 + ], + [ + -1.8138825907954015e-05, + 1.0, + -2.0992201825720258e-05, + -2.615520315885078e-06 + ], + [ + 7.347390055656433e-05, + 2.0993533325963654e-05, + 1.0, + 1.1351717148500029e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 25 + ], + "object_trajectory": [ + [ + 373.75, + 231.0 + ], + [ + 373.9473876953125, + 231.2711944580078 + ], + [ + 373.955078125, + 231.13168334960938 + ], + [ + 373.9740295410156, + 231.13441467285156 + ], + [ + 375.3693542480469, + 236.62136840820312 + ], + [ + 375.0304260253906, + 236.51571655273438 + ], + [ + 374.84869384765625, + 236.49879455566406 + ], + [ + 374.93377685546875, + 236.58578491210938 + ], + [ + 373.2032775878906, + 231.07591247558594 + ], + [ + 373.4115905761719, + 231.1810302734375 + ], + [ + 373.2530517578125, + 231.72267150878906 + ], + [ + 373.095703125, + 231.8551483154297 + ], + [ + 372.7913818359375, + 231.91815185546875 + ], + [ + 373.00152587890625, + 232.88978576660156 + ], + [ + 371.0007629394531, + 235.16592407226562 + ], + [ + 370.8154296875, + 234.85826110839844 + ], + [ + 362.4791564941406, + 233.9358673095703 + ], + [ + 364.659912109375, + 211.8017578125 + ], + [ + 358.7012023925781, + 158.82305908203125 + ], + [ + 347.2466125488281, + 118.95642852783203 + ], + [ + 327.82275390625, + 123.45632934570312 + ], + [ + 330.391357421875, + 133.7625274658203 + ], + [ + 325.61541748046875, + 150.9625244140625 + ], + [ + 339.00146484375, + 161.203369140625 + ], + [ + 339.6174011230469, + 167.56597900390625 + ], + [ + 341.34466552734375, + 166.63746643066406 + ] + ] +} \ No newline at end of file diff --git a/003645/lang.txt b/003645/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2dcec07a73efbfc9b570f02f0fe721202d4b5441 --- /dev/null +++ b/003645/lang.txt @@ -0,0 +1 @@ +take broccoli out of pan diff --git a/003645/object.ply b/003645/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..d087fcffa0c92e67d119e6f39725c549ad9f84d3 Binary files /dev/null and b/003645/object.ply differ diff --git a/003653/data.json b/003653/data.json new file mode 100644 index 0000000000000000000000000000000000000000..78f7ab71ae91f39671a0ce3c54cf1fdd67e0e445 --- /dev/null +++ b/003653/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 20, + "action_end": 35, + "object_name": "broccoli", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 5.551115123125783e-17, + 1.214306433183765e-17, + 0.0, + -4.7567184764821526e-07, + -2.0870017918253668e-07, + -6.236905358120096e-08, + 1.0 + ], + [ + 0.0074042709303731025, + 0.014087613763579391, + 0.03402962457591378, + 0.07328516940170442, + -0.05652418018396728, + -0.016481815822064507, + 1.0 + ], + [ + -0.0005426735668079274, + 0.009997713194289042, + 0.027808897406250165, + 0.07372212351064025, + -0.020604714434513248, + 0.02307384983562831, + 1.0 + ], + [ + -0.014892786710181405, + 0.005909575400539907, + 0.016263755093549638, + 0.04084299171319909, + 0.008497325987224481, + 0.040642983668930606, + 1.0 + ], + [ + -0.028115707375384713, + 0.002766670301909961, + 0.012383173035038636, + 0.04082482938622497, + 0.03419818096583909, + 0.05729863512370557, + 1.0 + ], + [ + -0.027116223690388297, + -0.0032770405492496893, + 0.004493318286067319, + 0.011870182718195827, + 0.029846819090994146, + 0.042032480113263763, + 1.0 + ], + [ + -0.022306567317834314, + -0.009469072947696909, + 0.0003168044924481278, + -0.008916073626716557, + 0.03703036967372422, + 0.018823665917347392, + 1.0 + ], + [ + -0.017786121343681127, + -0.013163451103010773, + -0.010683046427886353, + -0.025621001422582168, + 0.008189182539560852, + 0.048107601908148466, + 1.0 + ], + [ + -0.011080685573524846, + -0.008440613202205786, + -0.014719943857509951, + -0.017469126741202247, + -0.0353323956405729, + 0.07291612332420372, + 1.0 + ], + [ + -0.0028959836290191887, + -0.005656225692220513, + -0.014554337449968119, + -0.029173528654730503, + -0.026359537625714673, + 0.029120645603002492, + 1.0 + ], + [ + -6.750117715959014e-05, + -0.002820668619090549, + -0.012807180883633335, + -0.029514358034556726, + -0.02156865664075082, + -0.0016422572084622302, + 1.0 + ], + [ + -0.0017045210980582426, + -0.00232539375178315, + -0.012467200600232778, + -0.01876631698170645, + -0.034285856789414704, + -0.014128275425035624, + 1.0 + ], + [ + -0.0037887928019987027, + -0.004503542391546589, + -0.01276172424966382, + -0.03429950221749261, + 0.010389573464614024, + 0.01874166369566521, + 1.0 + ], + [ + 0.0015000644865879875, + -0.0005384676886609832, + -0.006536442118544719, + -0.008186299296366072, + -0.00036009474008822257, + -0.010101469073975283, + 1.0 + ], + [ + 0.003424997549040937, + -0.00041455813495328703, + -0.004935523138932106, + 0.03226730419661641, + -0.011677059887395246, + -0.04789538194013932, + 1.0 + ], + [ + -0.0015207049995445143, + -0.003120435056290727, + -0.005915516572977515, + 0.05994122134300708, + -0.061764767638255856, + -0.04914612124540778, + 1.0 + ], + [ + 0.002207974623188308, + -0.0018612654640955337, + -0.005203013803747256, + -0.003392473247335796, + -0.004758445485973145, + -0.019383363811097332, + 1.0 + ], + [ + 0.001980703525833072, + -0.002516017371743076, + -0.0054031489906418775, + -0.006632481236510069, + -0.005355175935718361, + -0.01893924263848704, + 1.0 + ], + [ + 0.0030166678604162944, + -0.0015550951212920106, + -0.00556283698595297, + -0.006427491686452964, + -0.0037333517107741706, + -0.02749608607611515, + 1.0 + ], + [ + 0.0019622062858200284, + -0.00034672206884046874, + -0.005660281109039503, + 0.0023887811205498344, + -0.02069610641183465, + -0.03081212609571229, + 1.0 + ], + [ + -0.00022084765622085167, + 0.0004013956114622755, + -0.0030610575704962534, + 0.005815835608966289, + -0.021872714406169346, + -0.004907406346279399, + 1.0 + ], + [ + -0.004420518334543738, + 0.0007410420967495258, + 0.001755850981646886, + 0.03220705017291658, + -0.00990936505433462, + 0.021459216929524544, + 0.0 + ], + [ + 0.005724560742112167, + -0.0010152524908466354, + 0.006307723764546796, + 0.022464394110382684, + 0.004886524176589534, + 0.015002521210254876, + 0.0 + ], + [ + -0.004089851287803703, + -0.0037377642922061353, + 0.019786990920724327, + 0.05533443238970437, + 0.028748479967225533, + 0.03228441242044694, + 0.0 + ], + [ + -0.0007902662729807053, + 0.0047604541240368475, + 0.023999958530114926, + 0.06225256426936939, + -0.024983082260178372, + 0.016412996305810824, + 0.0 + ], + [ + 0.0040962953783284795, + 0.01155165115040633, + 0.019903628744243083, + 0.008993999553049815, + -0.02227558547242067, + 0.027603877532628576, + 0.0 + ], + [ + 0.008693019009594127, + 0.033946100261826116, + 0.008877839690813946, + -0.002005542100439818, + 0.04021662968360841, + 0.015020423596180386, + 0.0 + ], + [ + 0.01544538206793486, + 0.035341778777772614, + 0.0016716595492076713, + 0.018021223690616196, + 0.021398317802836804, + -0.04896398237214358, + 0.0 + ], + [ + 0.016904323163261598, + 0.019716916657284998, + -0.005460800039267438, + 0.0098296349427905, + 0.010050021958492866, + -0.0022856792976569816, + 0.0 + ], + [ + 0.026359117997390907, + -0.0011739735665565604, + 0.003884055217853552, + 0.004980322881315851, + 0.01684507973904307, + -0.04976307485051015, + 0.0 + ], + [ + 0.022636782337663308, + -0.008775293673694895, + 8.95902286154604e-05, + -0.014726059182039243, + 0.009457975521328632, + -0.023800747763793106, + 0.0 + ], + [ + 0.01761524706937584, + -0.014224914325308972, + -0.007400957483342213, + -0.031126323594060385, + -0.008968537060150942, + -0.017251431038105395, + 0.0 + ], + [ + 0.002757599384831222, + -0.019231950577428616, + -0.006969044814477424, + -0.033576848301858836, + -0.007441739561283522, + 0.021991624423554183, + 0.0 + ], + [ + -0.0055844782107831725, + -0.020503870429874185, + -0.011086941405985706, + -0.031196321727945262, + -0.08971114440789893, + 0.12787828984203253, + 0.0 + ], + [ + 0.0015356141265794876, + -0.01790366188263471, + -0.018852937033907113, + -0.018600721815249226, + 0.012846497236332391, + 0.011564084280145664, + 0.0 + ], + [ + -0.0005161024663087321, + -0.005330284651995181, + -0.01777557331475976, + -0.061050184254140556, + 0.050671706420153166, + -0.016242241867940054, + 0.0 + ], + [ + 0.005087425464679052, + 0.001495596390069926, + 0.002874187683330632, + -0.010348288672949676, + -0.0181307318400422, + -0.006003198573947652, + 1.0 + ], + [ + 0.006216951188747488, + 0.0033765391243649016, + 0.014936873565088934, + 0.04214658793326755, + -0.020023730051525666, + -0.021695657745458872, + 1.0 + ] + ], + "gripper_centers": [ + [ + 377.41302490234375, + 212.0438995361328 + ], + [ + 375.8224182128906, + 218.34625244140625 + ], + [ + 364.88629150390625, + 210.17422485351562 + ], + [ + 352.1607666015625, + 165.0247039794922 + ], + [ + 335.6469421386719, + 146.80276489257812 + ], + [ + 313.1483154296875, + 145.38006591796875 + ], + [ + 295.28289794921875, + 157.08236694335938 + ], + [ + 283.577392578125, + 175.86907958984375 + ], + [ + 281.9724426269531, + 208.18310546875 + ], + [ + 286.0153503417969, + 248.0396270751953 + ], + [ + 294.3288879394531, + 272.5528259277344 + ], + [ + 301.06195068359375, + 290.16949462890625 + ], + [ + 302.8583984375, + 306.1249694824219 + ], + [ + 308.82647705078125, + 328.77008056640625 + ], + [ + 314.85528564453125, + 335.5637512207031 + ], + [ + 313.83154296875, + 334.62933349609375 + ], + [ + 313.6791076660156, + 347.14752197265625 + ], + [ + 323.2740478515625, + 351.6129455566406 + ], + [ + 324.35430908203125, + 352.7332763671875 + ], + [ + 329.36187744140625, + 354.0653076171875 + ], + [ + 330.9610595703125, + 355.58868408203125 + ], + [ + 331.48663330078125, + 356.9510498046875 + ], + [ + 333.0855712890625, + 360.1988525390625 + ], + [ + 330.2530517578125, + 358.77227783203125 + ], + [ + 322.6585693359375, + 351.5943603515625 + ], + [ + 326.1345520019531, + 330.1181335449219 + ], + [ + 317.77935791015625, + 301.5450744628906 + ], + [ + 283.90643310546875, + 261.69525146484375 + ], + [ + 250.8544921875, + 224.45584106445312 + ], + [ + 245.96482849121094, + 204.4551544189453 + ], + [ + 252.4833984375, + 179.21823120117188 + ], + [ + 282.9025573730469, + 163.0340118408203 + ], + [ + 315.4380187988281, + 160.7313995361328 + ], + [ + 336.89678955078125, + 171.13925170898438 + ], + [ + 354.04632568359375, + 193.25584411621094 + ], + [ + 383.91448974609375, + 210.38719177246094 + ], + [ + 397.58782958984375, + 233.94583129882812 + ], + [ + 390.09625244140625, + 229.28472900390625 + ] + ], + "depth_max": 1.3568618297576904, + "depth_min": 0.21699286997318268, + "intrinsic": [ + [ + 508.8568420410156, + 0.0, + 259.0 + ], + [ + 0.0, + 508.98883056640625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -2.6253266696585342e-05, + -0.00013454805593937635, + -4.565974450088106e-06 + ], + [ + 2.6245583285344765e-05, + 1.0, + -5.7120654673781246e-05, + -2.6489906304050237e-06 + ], + [ + 0.0001345495693385601, + 5.711712583433837e-05, + 1.0, + -8.044473361223936e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 314.0, + 367.25 + ], + [ + 313.8928527832031, + 367.3734130859375 + ], + [ + 314.04364013671875, + 367.4705810546875 + ], + [ + 313.85736083984375, + 367.411376953125 + ], + [ + 313.785888671875, + 367.22564697265625 + ], + [ + 313.95458984375, + 367.1901550292969 + ], + [ + 313.9117736816406, + 367.2203674316406 + ], + [ + 313.86126708984375, + 367.302978515625 + ], + [ + 313.8414306640625, + 367.3470764160156 + ], + [ + 314.3769836425781, + 367.29248046875 + ], + [ + 314.4346618652344, + 367.39874267578125 + ], + [ + 314.5907287597656, + 367.3861999511719 + ], + [ + 314.639892578125, + 367.88397216796875 + ], + [ + 314.5901794433594, + 367.9198303222656 + ], + [ + 314.4896240234375, + 367.9722900390625 + ], + [ + 314.19677734375, + 367.7629089355469 + ], + [ + 313.85968017578125, + 368.18035888671875 + ], + [ + 314.60650634765625, + 368.41448974609375 + ], + [ + 316.1048583984375, + 368.85394287109375 + ], + [ + 317.82916259765625, + 370.1775817871094 + ], + [ + 318.6399230957031, + 371.1724853515625 + ], + [ + 319.7032165527344, + 372.4244079589844 + ], + [ + 326.1620178222656, + 376.3796081542969 + ], + [ + 322.75177001953125, + 375.5493469238281 + ], + [ + 315.6365661621094, + 367.99627685546875 + ], + [ + 317.08734130859375, + 351.646240234375 + ], + [ + 310.4787292480469, + 324.3951110839844 + ], + [ + 276.8095397949219, + 280.669677734375 + ], + [ + 244.35592651367188, + 243.564697265625 + ], + [ + 238.91461181640625, + 222.32101440429688 + ], + [ + 245.12423706054688, + 197.20620727539062 + ], + [ + 274.154296875, + 182.60037231445312 + ], + [ + 308.41082763671875, + 179.78961181640625 + ], + [ + 329.7012023925781, + 190.08935546875 + ], + [ + 349.32513427734375, + 212.49191284179688 + ], + [ + 379.0334167480469, + 228.62130737304688 + ], + [ + 391.93634033203125, + 249.08489990234375 + ], + [ + 378.4362487792969, + 249.84124755859375 + ] + ] +} \ No newline at end of file diff --git a/003653/lang.txt b/003653/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2dcec07a73efbfc9b570f02f0fe721202d4b5441 --- /dev/null +++ b/003653/lang.txt @@ -0,0 +1 @@ +take broccoli out of pan diff --git a/003653/object.ply b/003653/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..4ab061ffff12ae21f8e5ba0047da7ce907940c99 Binary files /dev/null and b/003653/object.ply differ diff --git a/003694_v2/FAIL b/003694_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/003694_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/003705/FAIL b/003705/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/003705/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/003718/data.json b/003718/data.json new file mode 100644 index 0000000000000000000000000000000000000000..5bd755a9b3dd910f9e14864dd1e4adc75448f79a --- /dev/null +++ b/003718/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 18, + "action_end": 31, + "object_name": "broccoli", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.304029, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -4.369260508951811e-11, + -2.606785204362083e-10, + -4.0079733976128296e-10, + 3.657067790450551e-07, + -3.26560144417942e-07, + 4.4456619651202743e-07, + 1.0 + ], + [ + 0.002279883074870148, + -0.015391181748642235, + 0.017801230284536645, + 0.026082409761320362, + 0.05517035101112892, + 0.03626480677412849, + 1.0 + ], + [ + -0.006667947837978472, + -0.03069665460051657, + 0.01873607645376814, + 0.020298620962057888, + 0.00046577359456418077, + 0.08914992518999687, + 1.0 + ], + [ + -0.007539354413113403, + -0.037542297400458516, + 0.007253685248438835, + 0.04009668510588302, + -0.06954771073104261, + 0.06842578811756915, + 1.0 + ], + [ + -0.007416385796533864, + -0.04174904103488156, + -0.0044778866123038885, + -0.020827778358684303, + -0.031088338436502046, + 0.09637438144288454, + 1.0 + ], + [ + -0.00794430826034126, + -0.026846784250817067, + -0.013594981333959838, + -0.037292778354109324, + -0.015863923663181928, + 0.10750028901147143, + 1.0 + ], + [ + -0.002846608319271221, + -0.016885732740024827, + -0.019679434356116715, + -0.06351032085501877, + -0.015613694404867342, + 0.002283705077869884, + 1.0 + ], + [ + -0.0027223996511361315, + -0.007054351761649355, + -0.014933033763136594, + -0.0380913371754922, + -0.021532478014579175, + -2.3769023870854707e-05, + 1.0 + ], + [ + -0.0017439808887135533, + -0.006394347052985347, + -0.018701824338027903, + -0.053506544725584776, + -0.022943613880125377, + -0.0021381399553496243, + 1.0 + ], + [ + -0.0005057489346726174, + -0.005537709679920531, + -0.016918128398791546, + -0.007649888407841354, + -0.02438459183678897, + 0.005400431968060131, + 1.0 + ], + [ + -0.0011746367899853616, + -0.00472976589988932, + -0.010123247555418144, + 0.010931356645899983, + -0.014063319748335064, + -0.0012108950289025317, + 1.0 + ], + [ + -0.003651253639164437, + -0.007096361777887708, + -0.0035480127177855494, + 0.005133148233406235, + 0.001830832313402174, + 0.016597648419604233, + 1.0 + ], + [ + -0.005816456042364138, + -0.007968016770378464, + -0.008114187250347224, + 0.004435178429511155, + -0.01466587978580372, + 0.017977871984750024, + 1.0 + ], + [ + -0.0015824319192250524, + -0.0034879902528697354, + -0.0072407147691922955, + -0.003454885340973693, + -0.015154139165548005, + 0.010487736902927803, + 1.0 + ], + [ + 0.0006140087008478512, + 0.0035966705864714094, + -0.008266543006028984, + -0.0011711290773517128, + -0.0035757758997915666, + -0.011509419284352604, + 1.0 + ], + [ + 0.0034567763189022327, + 0.0034546138327574277, + -0.00696330165966115, + -0.0016329787075648205, + -0.004591702685656609, + -0.03674059517411202, + 1.0 + ], + [ + 0.0016625336292199477, + 0.0019516423158166957, + -0.0018417300931695274, + -0.004782063727420073, + 0.00355844154404116, + -0.01616373051630407, + 1.0 + ], + [ + -0.0003666968861552877, + 0.00027340377854524756, + -0.005479488415061497, + -0.0351877808497844, + 0.007187015514257274, + -0.021947908396544577, + 1.0 + ], + [ + -0.0057843802860727545, + -0.005990716425504847, + -0.0007842786545514124, + 0.023283414154494253, + 0.001549241253097748, + 0.02295721472841716, + 1.0 + ], + [ + -0.00519443385271659, + -0.0019524572540065982, + 0.004075939689671952, + 0.007088423235457898, + 0.006845372988500447, + 0.0068242730643335555, + 0.0 + ], + [ + 0.0003425613786025017, + 0.00013133879599371012, + 0.008657332876896049, + 0.024224987090339368, + 0.011722088843560949, + -0.014485166855142688, + 0.0 + ], + [ + 0.012286584192113703, + 0.00392062791755611, + 0.029690961403531554, + 0.055861230343698824, + 0.010713610869216537, + -0.02551185183646749, + 0.0 + ], + [ + 0.021931063360882658, + 0.007004148907911983, + 0.0488270102163286, + 0.009279381052615145, + 0.010435665959731092, + -0.05359549783137745, + 0.0 + ], + [ + 0.017826059342679917, + 0.024054973078635675, + 0.050658962996263254, + 0.05078929995120932, + 0.08192338630489109, + -0.04397671136986495, + 0.0 + ], + [ + 0.018698652806708238, + 0.05533478344363865, + 0.0028722126894761973, + 0.047764002325026, + -0.03111737064232429, + -0.14527504188730248, + 0.0 + ], + [ + -0.0007762963343950213, + 0.03837589408161252, + -0.00832104885591503, + -0.04891457881355568, + 0.019223507862943377, + -0.03696627246687535, + 0.0 + ], + [ + -0.009744582462583917, + 0.012900510515515844, + -0.017411694994255794, + 0.0015350156232184855, + -0.03447521109345347, + 0.03459884933208073, + 0.0 + ], + [ + -0.0035395016181153927, + 0.003831253594211194, + -0.017457680852663776, + -0.029672139614478756, + -0.02255325933536441, + 0.030873296053406444, + 0.0 + ], + [ + 0.0028766534998543314, + -0.0015994527206622672, + -0.03679193415552079, + -0.02278321831817467, + -0.10425474223186353, + -0.010522470180843974, + 0.0 + ], + [ + 0.007590276976110366, + 0.0006634521224030861, + -0.032942453365127605, + 0.059831087406398725, + -0.1725486199104644, + -0.04827919925103528, + 0.0 + ], + [ + 0.0007681082019393992, + 0.00254134375522571, + -0.013393769127413968, + 0.00532003819965581, + -0.038998592188068074, + 4.2406106647686525e-05, + 0.0 + ], + [ + -0.0011235450695935567, + -0.0023163398258874424, + 0.00036052381288614876, + 0.01954954366563847, + -0.04444410834342422, + -0.021990724073090395, + 0.304029 + ], + [ + -0.004340205558735544, + -0.0040854733928214135, + 0.04082858509716838, + 0.10545142158273849, + 0.08343587116362822, + -0.010397974826713193, + 1.0 + ], + [ + -0.006772605391550945, + -0.005644224401970207, + 0.06704040707764862, + 0.05668084459928767, + 0.1260747273841556, + -0.05073760337354162, + 1.0 + ], + [ + 0.0014781074849853915, + -0.004145361614983044, + 0.06479647695660139, + 0.04525665597389698, + 0.07423610067507339, + 0.01917877562194893, + 1.0 + ], + [ + -0.008714921766392214, + -0.001264520214695794, + 0.019066207381602, + 0.016992290735657622, + -0.015344635357438364, + 0.013638818844982432, + 1.0 + ], + [ + -0.00587460877333873, + -0.00655036394515035, + -0.0066611899771718, + -0.09570388105312687, + 0.013734384575111547, + 0.04076768686263043, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 181.14431762695312, + 115.38539123535156 + ], + [ + 182.28323364257812, + 122.40445709228516 + ], + [ + 183.02764892578125, + 121.615234375 + ], + [ + 224.73614501953125, + 109.94403076171875 + ], + [ + 255.75987243652344, + 117.04052734375 + ], + [ + 307.247314453125, + 142.07887268066406 + ], + [ + 359.88214111328125, + 196.70838928222656 + ], + [ + 372.7519226074219, + 229.02401733398438 + ], + [ + 379.9029541015625, + 255.0172882080078 + ], + [ + 389.9411926269531, + 280.8538818359375 + ], + [ + 391.3670349121094, + 305.7400817871094 + ], + [ + 400.62774658203125, + 322.91461181640625 + ], + [ + 407.2038879394531, + 332.37164306640625 + ], + [ + 412.7755126953125, + 355.4766540527344 + ], + [ + 419.4940490722656, + 368.9598083496094 + ], + [ + 414.38800048828125, + 375.0997314453125 + ], + [ + 412.80926513671875, + 374.92425537109375 + ], + [ + 413.5655517578125, + 374.921875 + ], + [ + 411.1763610839844, + 379.41583251953125 + ], + [ + 407.8782653808594, + 385.25201416015625 + ], + [ + 406.40484619140625, + 392.42315673828125 + ], + [ + 404.3138427734375, + 386.26318359375 + ], + [ + 414.1566467285156, + 348.40472412109375 + ], + [ + 443.7475280761719, + 277.26116943359375 + ], + [ + 436.348876953125, + 159.460693359375 + ], + [ + 387.10565185546875, + 112.17092895507812 + ], + [ + 320.6531066894531, + 98.92195129394531 + ], + [ + 280.5254821777344, + 127.52720642089844 + ], + [ + 294.7320251464844, + 159.08175659179688 + ], + [ + 287.2220153808594, + 194.02267456054688 + ], + [ + 297.0685729980469, + 227.4974365234375 + ], + [ + 303.4945068359375, + 238.52183532714844 + ], + [ + 305.5849304199219, + 244.48724365234375 + ], + [ + 295.6378173828125, + 223.43545532226562 + ], + [ + 306.106201171875, + 168.89529418945312 + ], + [ + 304.7958679199219, + 91.98625946044922 + ], + [ + 303.00018310546875, + 64.01393127441406 + ], + [ + 317.60797119140625, + 65.15498352050781 + ] + ], + "depth_max": 1.4557101726531982, + "depth_min": 0.24378865957260132, + "intrinsic": [ + [ + 507.5964050292969, + 0.0, + 259.0 + ], + [ + 0.0, + 507.89111328125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.055205135955475e-05, + -0.00011423641262808815, + -1.9952194634242915e-05 + ], + [ + -4.055713725392707e-05, + 1.0, + -4.4523734686663374e-05, + -9.234613571607042e-06 + ], + [ + 0.00011423460819059983, + 4.452836947166361e-05, + 1.0, + -2.644157393660862e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 399.25, + 404.75 + ], + [ + 399.3507080078125, + 404.833740234375 + ], + [ + 399.5074768066406, + 404.9009094238281 + ], + [ + 399.6710510253906, + 404.86474609375 + ], + [ + 399.0902404785156, + 398.1293029785156 + ], + [ + 398.4326171875, + 398.4613342285156 + ], + [ + 397.9916687011719, + 398.58447265625 + ], + [ + 398.1777648925781, + 398.4215087890625 + ], + [ + 398.2898864746094, + 398.4895324707031 + ], + [ + 398.4478454589844, + 398.5090026855469 + ], + [ + 398.5572204589844, + 398.6459655761719 + ], + [ + 398.59954833984375, + 398.58428955078125 + ], + [ + 398.5652160644531, + 398.458740234375 + ], + [ + 398.5439147949219, + 398.85101318359375 + ], + [ + 398.5986633300781, + 398.74908447265625 + ], + [ + 402.92279052734375, + 400.1852111816406 + ], + [ + 402.58416748046875, + 400.3990478515625 + ], + [ + 401.68634033203125, + 400.485595703125 + ], + [ + 401.495849609375, + 400.4654541015625 + ], + [ + 401.9970703125, + 400.9389343261719 + ], + [ + 399.32769775390625, + 401.09356689453125 + ], + [ + 398.1961975097656, + 396.5657043457031 + ], + [ + 406.6457824707031, + 362.85693359375 + ], + [ + 431.2772521972656, + 299.52874755859375 + ], + [ + 426.9090576171875, + 180.80856323242188 + ], + [ + 368.55767822265625, + 132.3373565673828 + ], + [ + 301.9940185546875, + 118.3359603881836 + ], + [ + 267.8919372558594, + 147.90406799316406 + ], + [ + 280.64678955078125, + 181.03897094726562 + ], + [ + 278.50421142578125, + 209.7449188232422 + ], + [ + 290.806396484375, + 242.73233032226562 + ], + [ + 295.5904235839844, + 253.26828002929688 + ], + [ + 297.79296875, + 257.75897216796875 + ], + [ + 303.0020751953125, + 280.95928955078125 + ], + [ + 297.6802978515625, + 281.4136047363281 + ], + [ + 297.58935546875, + 275.2100524902344 + ], + [ + 298.55029296875, + 274.5807189941406 + ], + [ + 297.94696044921875, + 279.76458740234375 + ] + ] +} \ No newline at end of file diff --git a/003718/lang.txt b/003718/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2dcec07a73efbfc9b570f02f0fe721202d4b5441 --- /dev/null +++ b/003718/lang.txt @@ -0,0 +1 @@ +take broccoli out of pan diff --git a/003718/object.ply b/003718/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..ee15b5cc3851aec92c19bc8c08edaf4c3c659323 Binary files /dev/null and b/003718/object.ply differ diff --git a/003739_v2/FAIL b/003739_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/003739_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/003797_v2/FAIL b/003797_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/003797_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/003808_v2/FAIL b/003808_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/003808_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/003815_v2/FAIL b/003815_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/003815_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/003816/data.json b/003816/data.json new file mode 100644 index 0000000000000000000000000000000000000000..c6001ce2105f9355951b6d35323e842e15f26b2c --- /dev/null +++ b/003816/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 19, + "action_end": 31, + "object_name": "broccoli", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.6522589999999999, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + -4.163336342344337e-17, + 0.0, + 4.6011313123615595e-07, + -7.435984756011275e-07, + -2.226599922137411e-08, + 1.0 + ], + [ + -0.0018334678078115174, + -0.012767619899467092, + 0.01928280433343492, + 0.03333899255939815, + 0.006322163768975558, + 0.09936079049154684, + 1.0 + ], + [ + -0.005888779600511429, + -0.016029059768673387, + 0.027002830588624308, + 0.0029395458953731615, + 0.01653520460598895, + 0.12747897745520084, + 1.0 + ], + [ + -0.012608067573272708, + -0.025316591089180024, + 0.014091651750869377, + -0.0013415347090249593, + -0.09457654733944619, + 0.20694243819089697, + 1.0 + ], + [ + -0.015767964644666344, + -0.023929678986602504, + -0.0022425078570240398, + -0.007567668245936302, + -0.04525359630652798, + 0.1096704200445823, + 1.0 + ], + [ + -0.009221054115142624, + -0.012675707926428657, + -0.012176986304059445, + -0.040654647159138774, + -0.029808645516604646, + 0.01400009885998801, + 1.0 + ], + [ + -0.010193533670326216, + -0.01673472766514178, + -0.01653571213484628, + -0.0062576931360302694, + -0.0066284234969247275, + 0.03270263100495402, + 1.0 + ], + [ + -0.010133090094430475, + -0.011634378539319413, + -0.017289559596789017, + -0.007342456292085845, + -0.014335658048236825, + 0.01941840001244001, + 1.0 + ], + [ + -0.012947062322797354, + -0.014960015007711672, + -0.017711909844168316, + -0.016679488177440915, + 0.008233348213444385, + 0.03184955669599118, + 1.0 + ], + [ + -0.0068746931138922995, + -0.0050291280169900456, + -0.008791647467748825, + -0.0016892155218899204, + 0.005931600003928183, + 0.0006551015546085114, + 1.0 + ], + [ + -0.0023832921623468395, + 0.0002078625347407964, + -0.012538007111950425, + -0.014323319387063637, + 0.0005491954814220028, + -0.02834939568287894, + 1.0 + ], + [ + -0.0004879417284813503, + -0.0007146781201246254, + -0.00857074349480301, + -0.02988174894317311, + 0.011921926572561817, + 0.006134958484189142, + 1.0 + ], + [ + -0.003114563899362377, + -0.0018759035755764805, + -0.01244668702301481, + -0.03322954222803129, + 0.009155088820913718, + 0.016605333282456367, + 1.0 + ], + [ + -0.0002093598802917207, + 0.00041356077277991676, + -0.003960514468779194, + -0.015231748196196817, + 0.006555039868287867, + 0.0026292606924396716, + 1.0 + ], + [ + -0.0038423556404079684, + 0.0018025205930369617, + -0.012440097539527531, + -0.020954682650895583, + 0.00967878895598577, + 0.006604564993266955, + 1.0 + ], + [ + -0.00045294872627313354, + 0.0018486655493033383, + -0.006903840588046058, + -0.026032859535356594, + 0.008219239432608105, + -0.0012341734022463763, + 1.0 + ], + [ + -0.002190852111315089, + 0.0010386893700997275, + -0.01341423006230448, + -0.01485148419472169, + -0.00044704005374233047, + 0.004885330453171287, + 1.0 + ], + [ + 0.0029976485792057306, + 0.0011545736365765266, + -0.005808249156841472, + -0.005883450507121228, + -0.007860846012852177, + -0.0015365002034407463, + 1.0 + ], + [ + 0.005621478151655979, + -0.0033052920353860912, + -0.005384597414585367, + 0.0038907754240457225, + -0.02114576473574863, + -0.005198354241009152, + 1.0 + ], + [ + 0.0005981624428516019, + -0.0015877109513841615, + -0.004734227997079621, + -0.007137768504893048, + -0.009694513358461807, + -0.010601154427180027, + 0.6522589999999999 + ], + [ + -0.000642104948222505, + -0.0016783644617985385, + -0.001495945588519584, + -0.006951373369342956, + 0.01919309369052142, + -0.004224091635462457, + 0.0 + ], + [ + -0.0012266921542190001, + 0.002110439679394581, + 0.006382831630411692, + -0.001985044096428781, + 0.01119901721561135, + -0.011694371686978781, + 0.0 + ], + [ + 0.004033921704043236, + 0.008553978235957, + 0.018305503198046448, + 0.018581948525390697, + 0.014421200582045947, + -0.014429210394278797, + 0.0 + ], + [ + 0.005862190747256135, + 0.01593385122382579, + 0.031598966553446906, + 0.030416158396593413, + 0.035006139573598924, + -0.01860743894600565, + 0.0 + ], + [ + -0.00015120153730380226, + 0.019915990766395636, + 0.019358018459052155, + 0.026303640533971193, + 0.014995288722792438, + -0.031150056431705694, + 0.0 + ], + [ + 0.010845515024200475, + 0.03237333484853559, + 0.02185034374720589, + 0.052466061600463215, + 0.048911644738302174, + -0.07781445556788415, + 0.0 + ], + [ + 0.021488629310962987, + 0.039053333760641004, + 0.0011096596823454152, + 0.0912568758119484, + -0.015300578741828401, + -0.14641291766989983, + 0.0 + ], + [ + 0.03165081927174307, + 0.038182386486485254, + -0.010295407172133578, + 0.0500507803387973, + -0.04962741687967531, + -0.173925786394946, + 0.0 + ], + [ + 0.02557391558947586, + 0.02714231061360218, + -0.009763690860903687, + 0.03095440718132264, + -0.04588885878228857, + -0.11764916591293303, + 0.0 + ], + [ + 0.018178934467820818, + 0.01570103498708743, + -0.009368122465561762, + 0.02038620038549066, + -0.052486143836562166, + -0.06798739980137658, + 0.0 + ], + [ + 0.015527233914617633, + 0.009635346305946452, + -0.010699927186263086, + 0.06038812485205079, + -0.1386110273733343, + -0.044662252777196355, + 0.0 + ], + [ + 0.01335722800612632, + 0.0040373018153382345, + -0.011256884515117305, + 0.031136544812406304, + -0.12040562916886899, + -0.04874140340673863, + 0.0 + ], + [ + -0.0003719546847723021, + 0.00032427468668716486, + -0.008461524035353288, + -0.02832361912786808, + -0.05491687975372838, + -0.009733235709451525, + 1.0 + ], + [ + -0.0031348206237746257, + 0.000514514081413675, + 0.0009572783152471537, + -0.009169227869784803, + 0.016367289404323727, + -0.0066450917214235785, + 1.0 + ], + [ + -0.0017046576197275454, + -0.0024581343735105565, + 0.01012880391005385, + 0.004819016665085095, + 0.04065306702194697, + -0.0023960325184454053, + 1.0 + ], + [ + -0.00227218182682537, + -0.011357939917995441, + 0.02444368761705442, + -0.07760137090087806, + 0.13727905274665, + 0.023846076805748823, + 1.0 + ], + [ + -0.0004483709125622237, + -0.010013008432249726, + 0.030220909484933278, + 0.029048317525618143, + -0.0020740438158521083, + 0.028320115456176447, + 1.0 + ], + [ + -0.0029826882151460787, + -0.007668386252607878, + 0.01249957823333131, + -0.025869856007632527, + -0.00661612316736341, + 0.013922156104309087, + 1.0 + ] + ], + "gripper_centers": [ + [ + 247.97669982910156, + 80.79157257080078 + ], + [ + 249.23556518554688, + 88.06864929199219 + ], + [ + 242.14324951171875, + 98.66053771972656 + ], + [ + 266.25152587890625, + 72.87982177734375 + ], + [ + 288.5208740234375, + 58.51842498779297 + ], + [ + 296.94439697265625, + 72.1881103515625 + ], + [ + 321.09173583984375, + 100.47955322265625 + ], + [ + 316.00311279296875, + 138.5341796875 + ], + [ + 340.6830139160156, + 191.73370361328125 + ], + [ + 343.19757080078125, + 229.94461059570312 + ], + [ + 351.7111511230469, + 255.02264404296875 + ], + [ + 353.361328125, + 271.0883483886719 + ], + [ + 355.3580322265625, + 281.39300537109375 + ], + [ + 352.76287841796875, + 298.1334228515625 + ], + [ + 355.4869384765625, + 302.0331726074219 + ], + [ + 349.34967041015625, + 319.142822265625 + ], + [ + 347.375, + 325.3202209472656 + ], + [ + 341.02130126953125, + 340.3980407714844 + ], + [ + 344.278564453125, + 344.14324951171875 + ], + [ + 347.65087890625, + 344.68682861328125 + ], + [ + 347.8433532714844, + 345.1087646484375 + ], + [ + 348.8487548828125, + 343.1121520996094 + ], + [ + 347.19866943359375, + 344.8793640136719 + ], + [ + 343.3583984375, + 329.09515380859375 + ], + [ + 333.52099609375, + 290.6904296875 + ], + [ + 306.6575927734375, + 253.19061279296875 + ], + [ + 276.96038818359375, + 189.4508056640625 + ], + [ + 251.9761962890625, + 159.06787109375 + ], + [ + 246.09771728515625, + 131.54563903808594 + ], + [ + 231.5421905517578, + 112.73876953125 + ], + [ + 230.82183837890625, + 108.33405303955078 + ], + [ + 239.5369415283203, + 104.14466094970703 + ], + [ + 247.36825561523438, + 107.50091552734375 + ], + [ + 249.30252075195312, + 113.37077331542969 + ], + [ + 240.49435424804688, + 115.17215728759766 + ], + [ + 239.5602264404297, + 122.29238891601562 + ], + [ + 242.92050170898438, + 102.51020812988281 + ], + [ + 251.81622314453125, + 85.68377685546875 + ] + ], + "depth_max": 1.3635934591293335, + "depth_min": 0.2458842247724533, + "intrinsic": [ + [ + 505.8897399902344, + 0.0, + 259.0 + ], + [ + 0.0, + 505.9180603027344, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.459168510744348e-05, + -8.322794747073203e-05, + -2.5115208700299263e-05 + ], + [ + -3.4596821933519095e-05, + 1.0, + -6.175005546538159e-05, + -2.2429167074733414e-06 + ], + [ + 8.322580833919346e-05, + 6.175293674459681e-05, + 1.0, + -8.858431101543829e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 341.5, + 369.0 + ], + [ + 341.84716796875, + 368.9930114746094 + ], + [ + 341.98187255859375, + 369.18865966796875 + ], + [ + 341.6722717285156, + 369.158447265625 + ], + [ + 341.47021484375, + 369.2235107421875 + ], + [ + 341.23309326171875, + 369.234619140625 + ], + [ + 341.2931213378906, + 369.3274841308594 + ], + [ + 341.5420837402344, + 369.34722900390625 + ], + [ + 341.3078918457031, + 369.30059814453125 + ], + [ + 341.7193908691406, + 369.6534118652344 + ], + [ + 341.71624755859375, + 369.66387939453125 + ], + [ + 341.610107421875, + 369.4483947753906 + ], + [ + 341.5948181152344, + 369.4860534667969 + ], + [ + 341.92364501953125, + 369.6304016113281 + ], + [ + 342.06201171875, + 369.7508850097656 + ], + [ + 342.2207946777344, + 369.99615478515625 + ], + [ + 342.4647216796875, + 370.1705627441406 + ], + [ + 342.7219543457031, + 370.02178955078125 + ], + [ + 345.4170837402344, + 368.7571716308594 + ], + [ + 349.72991943359375, + 367.5022888183594 + ], + [ + 366.37530517578125, + 362.16998291015625 + ], + [ + 365.64959716796875, + 365.970703125 + ], + [ + 361.7507019042969, + 368.09967041015625 + ], + [ + 357.6440124511719, + 354.4953308105469 + ], + [ + 348.20263671875, + 314.83453369140625 + ], + [ + 319.6972961425781, + 274.5442199707031 + ], + [ + 285.85870361328125, + 216.66555786132812 + ], + [ + 254.1374969482422, + 184.50473022460938 + ], + [ + 246.3890838623047, + 149.76895141601562 + ], + [ + 229.95938110351562, + 130.93307495117188 + ], + [ + 224.7661590576172, + 127.3681869506836 + ], + [ + 235.9029083251953, + 122.78560638427734 + ], + [ + 248.83242797851562, + 122.5938491821289 + ], + [ + 249.69577026367188, + 148.0542449951172 + ], + [ + 272.3950500488281, + 155.7583770751953 + ], + [ + 272.55609130859375, + 161.3277130126953 + ], + [ + 271.724365234375, + 160.3024139404297 + ], + [ + 271.2710266113281, + 160.39263916015625 + ] + ] +} \ No newline at end of file diff --git a/003816/lang.txt b/003816/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2dcec07a73efbfc9b570f02f0fe721202d4b5441 --- /dev/null +++ b/003816/lang.txt @@ -0,0 +1 @@ +take broccoli out of pan diff --git a/003816/object.ply b/003816/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..02edf941df4972b1be8aef9c25ba5d64359c02b1 Binary files /dev/null and b/003816/object.ply differ diff --git a/003833_v2/FAIL b/003833_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/003833_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/003851/data.json b/003851/data.json new file mode 100644 index 0000000000000000000000000000000000000000..f70281949a6fc337327817e9a6ad10da47385bc0 --- /dev/null +++ b/003851/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 15, + "action_end": 24, + "object_name": "can", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.969231, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05616600000000005, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -4.103253847809185e-11, + 2.2103873939527396e-10, + 5.6417343019532495e-11, + 2.0083627462881166e-07, + -2.902112011014893e-07, + -1.6031085579227297e-07, + 1.0 + ], + [ + 0.026366523973376937, + -0.010530148178142087, + 0.005258031781884762, + -0.008030726419722915, + 0.0024452337039442902, + 0.014222543491514967, + 1.0 + ], + [ + 0.01740258569934683, + -0.02075049793875783, + 0.00012849569496301005, + -0.003894826377169961, + -0.0076931680142079675, + 0.028190864752924705, + 1.0 + ], + [ + 0.028592371614411777, + -0.03756785653674339, + 0.004867084627241752, + 0.0005890165026917736, + -0.023204038055170358, + 0.027758935953858727, + 1.0 + ], + [ + 0.025145787863155855, + -0.03022878700092697, + -0.0035819529371115544, + 0.0038313252327347824, + -0.04573984179093413, + -0.004427036321138235, + 1.0 + ], + [ + 0.03784413197975611, + -0.03124174305963376, + 0.0013360743340106729, + 0.015426693550429785, + -0.03054067142561375, + -0.03322488874926382, + 1.0 + ], + [ + 0.026579845103135602, + -0.010112725622065721, + -0.005595909337454269, + -0.001372955508879515, + -0.027764542384120263, + -0.04682887251340485, + 1.0 + ], + [ + 0.020834372246703314, + -0.0027041730884191373, + -0.007095080323512359, + -0.02080791396428135, + -0.02644882860591977, + -0.047517340074184504, + 1.0 + ], + [ + 0.008758792596043286, + 0.006424322577818498, + -0.003329846567915365, + 0.0004180679264355748, + -0.011611236297265293, + -0.017986429541563605, + 1.0 + ], + [ + 0.007243235230297518, + 0.007773523711466557, + -0.004354235543907792, + -0.0010832246462869034, + -0.00417500999920155, + -0.02730680978521175, + 1.0 + ], + [ + 0.006336002079520842, + 0.010395915664074523, + -0.006161128153044246, + -0.02333071650401833, + 0.001491881947402254, + -0.03029307789755712, + 1.0 + ], + [ + 0.0025495714511165057, + 0.003872482883101075, + -0.011480869671121052, + -0.020601498581202415, + -0.014680921314776125, + -0.006605154990975399, + 1.0 + ], + [ + 0.0006932988958938124, + 0.004553515199506614, + -0.008554134977824049, + -0.0024411841988106133, + -0.008392096505154593, + -0.0032853860868855057, + 1.0 + ], + [ + -0.0009026910641105057, + -0.0017122582239273432, + -0.006394636292948813, + -0.01924265037593726, + -0.01384071574403227, + 0.0037021455294051564, + 1.0 + ], + [ + 0.0004499129577678618, + 0.0007653573137272746, + -0.004693957626531367, + -0.01116182986959046, + -0.008090223910589299, + -0.002914403234617625, + 1.0 + ], + [ + 0.00109867296740912, + 0.0010407116037169928, + -0.005849621013244689, + -0.01584566059617874, + -0.000189739510225331, + 0.0022402138625526933, + 0.969231 + ], + [ + 0.00044272806315220903, + -0.003642575452700636, + 0.009624212236289169, + 0.006721423141287394, + 0.023286308454686766, + 0.008218091431348992, + 0.0 + ], + [ + -0.000592849797037831, + -0.005228287360370926, + 0.02217176821417565, + 0.024394388358653502, + 0.025332597759297384, + 0.0034185985840488858, + 0.0 + ], + [ + -0.001517279018605544, + -0.004702892602807249, + 0.026439237573807638, + 0.022992682476657193, + 0.023125421862293, + 0.010007416716037668, + 0.0 + ], + [ + -0.020472948632050625, + 0.005452544327170489, + 0.01572371024985343, + 0.036821332459186326, + 0.02282308861563015, + 0.06557504577077258, + 0.0 + ], + [ + -0.0325087578260726, + 0.006556885440067273, + 0.006891594541454937, + 0.03878618892904148, + 0.007869413492833592, + 0.060411279998435, + 0.0 + ], + [ + -0.03717909911336592, + -0.0013126203191788782, + -0.001715152826975097, + -0.0032583814537637096, + 0.022832636097260967, + 0.05388191463764421, + 0.0 + ], + [ + -0.022400887392664715, + 0.005297491362470527, + -0.022489359867811615, + -0.045964940308833094, + -0.03312592359123232, + -0.0009877407207087145, + 0.0 + ], + [ + -0.007534629632186041, + 0.0008317800289611432, + -0.023191143318490495, + -0.09637502319944508, + -0.010232300619380488, + 0.0035187495694368985, + 0.0 + ], + [ + -0.005218497097214003, + -0.004164575491239067, + -0.008473814435307953, + -0.01057698535418816, + -0.004446834120990016, + 0.009277527189540564, + 0.05616600000000005 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 219.05911254882812, + 195.1172637939453 + ], + [ + 218.99742126464844, + 195.22311401367188 + ], + [ + 223.19631958007812, + 203.01402282714844 + ], + [ + 270.41156005859375, + 182.26425170898438 + ], + [ + 321.4943542480469, + 176.36293029785156 + ], + [ + 404.981201171875, + 170.7799072265625 + ], + [ + 461.95794677734375, + 162.8727264404297 + ], + [ + 525.7989501953125, + 157.35049438476562 + ], + [ + 547.6637573242188, + 154.95120239257812 + ], + [ + 556.662353515625, + 151.40805053710938 + ], + [ + 545.8135986328125, + 142.3038330078125 + ], + [ + 537.5166625976562, + 143.91094970703125 + ], + [ + 522.5003662109375, + 137.44374084472656 + ], + [ + 515.0346069335938, + 148.28968811035156 + ], + [ + 510.69390869140625, + 154.510009765625 + ], + [ + 507.586669921875, + 161.24642944335938 + ], + [ + 507.19866943359375, + 162.83755493164062 + ], + [ + 503.04638671875, + 168.47811889648438 + ], + [ + 502.2170715332031, + 161.64895629882812 + ], + [ + 517.6883544921875, + 141.45640563964844 + ], + [ + 533.5411376953125, + 121.90290832519531 + ], + [ + 516.5320434570312, + 122.57766723632812 + ], + [ + 509.38580322265625, + 122.9815444946289 + ], + [ + 492.2769470214844, + 154.20440673828125 + ], + [ + 465.52850341796875, + 206.03173828125 + ], + [ + 446.18743896484375, + 234.02732849121094 + ], + [ + 450.4800720214844, + 243.36009216308594 + ], + [ + 450.2377014160156, + 243.30824279785156 + ], + [ + 450.4511413574219, + 243.3994903564453 + ] + ], + "depth_max": 1.5031417608261108, + "depth_min": 0.28779658675193787, + "intrinsic": [ + [ + 493.9077453613281, + 0.0, + 259.0 + ], + [ + 0.0, + 494.18218994140625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.054032903397456e-05, + -9.099072485696524e-05, + -2.4231343559222296e-05 + ], + [ + -7.054303569020703e-05, + 1.0, + -2.980380850203801e-05, + -5.654484084516298e-06 + ], + [ + 9.098862938117236e-05, + 2.981022589665372e-05, + 1.0, + 1.9382150640012696e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 492.75, + 181.25 + ], + [ + 492.96942138671875, + 181.5023651123047 + ], + [ + 493.0204162597656, + 181.5681610107422 + ], + [ + 493.15203857421875, + 181.6023712158203 + ], + [ + 493.15753173828125, + 181.66094970703125 + ], + [ + 493.0313720703125, + 181.50863647460938 + ], + [ + 492.4005432128906, + 181.78111267089844 + ], + [ + 492.31439208984375, + 181.38560485839844 + ], + [ + 491.9208984375, + 181.30599975585938 + ], + [ + 491.9394226074219, + 181.3223114013672 + ], + [ + 492.0914306640625, + 181.30044555664062 + ], + [ + 492.1296081542969, + 181.43716430664062 + ], + [ + 491.8565368652344, + 181.17977905273438 + ], + [ + 491.7373352050781, + 181.15036010742188 + ], + [ + 491.16986083984375, + 180.9822235107422 + ], + [ + 490.89093017578125, + 181.12905883789062 + ], + [ + 491.2321472167969, + 180.18121337890625 + ], + [ + 490.2090148925781, + 181.13990783691406 + ], + [ + 488.9595947265625, + 175.03109741210938 + ], + [ + 502.6728515625, + 162.94302368164062 + ], + [ + 515.7788696289062, + 145.32147216796875 + ], + [ + 494.7752380371094, + 137.37652587890625 + ], + [ + 490.2192077636719, + 150.4130859375 + ], + [ + 472.33203125, + 175.30145263671875 + ], + [ + 449.2972412109375, + 225.9191436767578 + ], + [ + 434.09283447265625, + 252.47906494140625 + ], + [ + 437.4266662597656, + 260.54388427734375 + ], + [ + 437.2234802246094, + 260.7132568359375 + ], + [ + 437.3866271972656, + 260.81982421875 + ] + ] +} \ No newline at end of file diff --git a/003851/lang.txt b/003851/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..ba2e4171a1ad32145b9d0a5d2a53210d2a261c47 --- /dev/null +++ b/003851/lang.txt @@ -0,0 +1 @@ +take can out of pan diff --git a/003851/object.ply b/003851/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..97b157a18efb0ff60b0acea61572f1d383f6c2cf Binary files /dev/null and b/003851/object.ply differ diff --git a/003896/data.json b/003896/data.json new file mode 100644 index 0000000000000000000000000000000000000000..3e8f78857b9809e7bbb28e4bca0f55573189a46c --- /dev/null +++ b/003896/data.json @@ -0,0 +1,513 @@ +{ + "action_start": 12, + "action_end": 20, + "object_name": "carrot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.759219, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.506598734657416e-10, + 5.231805544347878e-10, + 4.6131472253296835e-10, + -8.771108075514078e-07, + 2.4318312702254225e-07, + 5.326202777116982e-08, + 1.0 + ], + [ + -0.007153931575913042, + -0.018407305167936455, + 0.014930535768867215, + 0.06807861638976703, + -0.046290760225895074, + -0.1870478355365131, + 1.0 + ], + [ + -0.006763086546754893, + -0.017361815123667163, + 0.008953590917825618, + 0.05518690266498375, + -0.08631762362361979, + -0.1167474169951517, + 1.0 + ], + [ + -0.02439627173422848, + -0.02919147921067817, + 0.007844806156022413, + 0.04393748504623354, + -0.06395623609612476, + -0.283367984459675, + 1.0 + ], + [ + -0.018745283402463564, + -0.03224078966960105, + 0.0013562753056280616, + 7.742618455159089e-05, + 0.0262471927368121, + -0.10563802648155667, + 1.0 + ], + [ + -0.008852998280393654, + -0.009713882723934295, + -0.014339553454387519, + 0.018092032203757664, + 0.048173758935375226, + -0.05630265147043731, + 1.0 + ], + [ + -0.013669742187156442, + -0.006975447102447525, + -0.008779318739874545, + -0.025561138352409044, + 0.04321358191436523, + 0.008591669838476361, + 1.0 + ], + [ + -0.008926601057242634, + 0.005985386902756001, + -0.0038450849190878045, + 0.01356502876340968, + 0.007160672291818843, + -0.020709444340662648, + 1.0 + ], + [ + -0.0026110491369805144, + 0.0018691748009894774, + -0.013771337748820348, + -0.015041640913721569, + -0.015153197320759936, + -0.008520876144667773, + 1.0 + ], + [ + 0.0028419662551608105, + 0.005012859516144663, + -0.010573612535028039, + 0.00708697077063718, + 0.020336203610806926, + -0.009869807837234927, + 1.0 + ], + [ + 0.004307191041930447, + 0.006693212635263249, + -0.011209070967235855, + -0.03464223290090922, + 0.015164606869776293, + 0.01659435148489273, + 1.0 + ], + [ + 0.001749572288182899, + -8.574950019096805e-05, + -0.010967763589092409, + -0.043649589265813485, + 0.00574310167994482, + 0.029468499944133263, + 1.0 + ], + [ + 0.002741231066930694, + 0.0009296597421893371, + -0.009333460806238337, + -0.06773357232863389, + 0.019365121552029973, + 0.04945265425251179, + 0.759219 + ], + [ + 0.0037856900153250828, + -0.0015438593619474944, + -5.7134570678083266e-05, + 0.02385307417109725, + 0.014505735784897592, + 0.039220787496987576, + 0.0 + ], + [ + 0.001373487051669564, + -0.0011812099418066768, + 0.009249463301648223, + 0.005510012213760446, + 0.02388721139212635, + 0.02012515513145731, + 0.0 + ], + [ + 0.0029248108896595126, + 0.007192676634428512, + 0.014034030025416186, + -0.005727046229429037, + 0.03616413377022711, + -0.009165172053554736, + 0.0 + ], + [ + 0.003043646970064373, + 0.022658823149466108, + 0.020654187624769664, + 0.06652120723083291, + 0.021124513239591938, + 0.03332811452936511, + 0.0 + ], + [ + 0.008418658762041453, + 0.03554603608580338, + 0.0107127222920642, + 0.05635673909171609, + -0.007970764131723191, + 0.010210595265043657, + 0.0 + ], + [ + 0.008757326795802545, + 0.03236909509740789, + -0.00921987159316904, + 0.018416379769842783, + 0.002469795723144206, + 0.018553854522740252, + 0.0 + ], + [ + 0.003909087469308015, + 0.016485351459543968, + -0.01369386034696235, + 0.005831315769867065, + -0.035281519614899254, + 0.007309469905642501, + 0.0 + ], + [ + 0.004057565483712777, + 0.005049632789448616, + -0.011410886808241871, + -0.027388017408277843, + -0.023381390618361905, + -0.03920283451825247, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 224.85897827148438, + 80.00529479980469 + ], + [ + 224.76919555664062, + 80.14756774902344 + ], + [ + 224.76644897460938, + 111.54901123046875 + ], + [ + 237.72396850585938, + 112.835693359375 + ], + [ + 247.33993530273438, + 111.92507934570312 + ], + [ + 255.51611328125, + 127.4403305053711 + ], + [ + 280.8572998046875, + 150.5942840576172 + ], + [ + 275.9476623535156, + 171.349609375 + ], + [ + 275.625, + 196.79833984375 + ], + [ + 264.5402526855469, + 206.80001831054688 + ], + [ + 260.43475341796875, + 214.1533203125 + ], + [ + 257.86944580078125, + 225.76593017578125 + ], + [ + 255.23374938964844, + 231.14437866210938 + ], + [ + 260.0528869628906, + 227.66848754882812 + ], + [ + 260.9114990234375, + 219.17514038085938 + ], + [ + 263.2945556640625, + 221.88250732421875 + ], + [ + 260.02117919921875, + 221.92279052734375 + ], + [ + 253.0693359375, + 207.84324645996094 + ], + [ + 231.2176513671875, + 175.3543243408203 + ], + [ + 199.17941284179688, + 139.65074157714844 + ], + [ + 181.5696258544922, + 146.24627685546875 + ], + [ + 172.1242218017578, + 151.44459533691406 + ], + [ + 169.01992797851562, + 150.70928955078125 + ], + [ + 193.93548583984375, + 171.22821044921875 + ], + [ + 170.59780883789062, + 149.514892578125 + ] + ], + "depth_max": 1.7035980224609375, + "depth_min": 0.44069185853004456, + "intrinsic": [ + [ + 524.4432983398438, + 0.0, + 259.0 + ], + [ + 0.0, + 525.60546875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.2641408829949796e-05, + -0.00010214097710559145, + -3.1937597668729722e-06 + ], + [ + -1.2644019989238586e-05, + 1.0, + -2.5562741939211264e-05, + 6.323133675323334e-06 + ], + [ + 0.00010214065696345642, + 2.5564033421687782e-05, + 1.0, + 4.405172148835845e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24 + ], + "object_trajectory": [ + [ + 278.25, + 239.75 + ], + [ + 277.61322021484375, + 239.92428588867188 + ], + [ + 278.1440734863281, + 239.96881103515625 + ], + [ + 278.58526611328125, + 240.08358764648438 + ], + [ + 278.7582092285156, + 240.06138610839844 + ], + [ + 278.64642333984375, + 239.83963012695312 + ], + [ + 279.02569580078125, + 239.84347534179688 + ], + [ + 279.1667175292969, + 240.09288024902344 + ], + [ + 277.05523681640625, + 240.3476104736328 + ], + [ + 275.7720642089844, + 240.18919372558594 + ], + [ + 274.5652160644531, + 240.16697692871094 + ], + [ + 273.01129150390625, + 239.63134765625 + ], + [ + 268.5126647949219, + 239.38560485839844 + ], + [ + 262.59197998046875, + 231.1886444091797 + ], + [ + 254.62765502929688, + 227.57760620117188 + ], + [ + 254.90756225585938, + 228.1050567626953 + ], + [ + 250.68417358398438, + 229.44927978515625 + ], + [ + 243.0880584716797, + 218.77688598632812 + ], + [ + 226.26353454589844, + 187.31124877929688 + ], + [ + 189.4179229736328, + 148.48573303222656 + ], + [ + 169.12103271484375, + 152.98605346679688 + ], + [ + 166.9722900390625, + 160.2594451904297 + ], + [ + 165.13516235351562, + 158.77716064453125 + ], + [ + 166.43931579589844, + 158.49342346191406 + ], + [ + 169.1614990234375, + 157.72715759277344 + ] + ] +} \ No newline at end of file diff --git a/003896/lang.txt b/003896/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..bed03068e775b49ca8bd183fe7e2570e3357f057 --- /dev/null +++ b/003896/lang.txt @@ -0,0 +1 @@ +take carrot off plate diff --git a/003896/object.ply b/003896/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..095606c0b6e606e729ec0efe8efcc378118d7753 Binary files /dev/null and b/003896/object.ply differ diff --git a/003934_v2/data.json b/003934_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..830ed29006d12072fb17dd77545429c8cc31db41 --- /dev/null +++ b/003934_v2/data.json @@ -0,0 +1,659 @@ +{ + "action_start": 11, + "action_end": 25, + "object_name": "red object", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.295238, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 0.0, + -1.3877787807814457e-17, + 4.464537033786766e-07, + 2.3835514643632272e-08, + -6.471603961400572e-08, + 1.0 + ], + [ + -0.03603506844762977, + -0.02120964360311728, + 0.02062526054194637, + 0.03374553177892319, + -0.052293243593425395, + -0.06044601928778013, + 1.0 + ], + [ + -0.033293578719648886, + -0.012128639754851067, + 0.02156911334518758, + 0.005422140246662566, + -0.05644664135304079, + -0.029499303177411274, + 1.0 + ], + [ + -0.02903763895038064, + -0.015685011068887783, + 0.002404416574545501, + -0.03631813635860728, + -0.013949809302975407, + -0.08039320827769646, + 1.0 + ], + [ + -0.017205105728417824, + -0.012388749288623963, + -0.013774445512387448, + -0.008269435223278589, + 0.03997961613179076, + -0.07684911071229622, + 1.0 + ], + [ + -0.010850995178179113, + -0.012760985635403593, + -0.022441304981885304, + 0.025996022262128545, + 0.04206340851146859, + -0.06190663614012168, + 1.0 + ], + [ + -0.005158493769981953, + -0.011516699134088204, + -0.022112225629637078, + 0.034210057525165045, + 0.046370477498734304, + -0.04651015930103318, + 1.0 + ], + [ + -0.004305027289309038, + -0.00489624956821709, + -0.017850104206627207, + 0.02299374329124226, + 0.025153147830524577, + -0.02097437209638835, + 1.0 + ], + [ + -0.0006680177796570819, + -0.002516414539650638, + -0.012574423208625445, + 0.02847193747013507, + 0.015698532220639504, + -0.005735696832162113, + 1.0 + ], + [ + 0.0045647364048101435, + 0.0039224276303835015, + -0.00975771155650676, + 0.011944226746670865, + 0.012035832864982688, + 0.023238783134857798, + 1.0 + ], + [ + 0.007111125665694995, + 0.003064429321826212, + -0.0036192508930900716, + 0.011687302968128538, + 0.0026673862843286014, + 0.02010491852669977, + 1.0 + ], + [ + 0.008742778415266717, + 0.002175977590298292, + 0.0011534656392995536, + -0.0091287923130577, + -0.013146369395928479, + 0.01157824735014269, + 1.0 + ], + [ + 0.0044593240181808325, + 0.002146066933470206, + 0.011893644152866568, + -0.0067244891455577015, + -0.027211229614345866, + -0.0035646930430703497, + 0.0 + ], + [ + 0.002777759390764467, + 0.0021739604870221613, + 0.018132909313655052, + -0.007217402191391308, + -0.042943235123666795, + 0.0025297957757757423, + 0.0 + ], + [ + 0.009272280169054403, + 0.004232520036190776, + 0.01960569975263427, + -0.016552760784390566, + -0.023349530438192264, + 0.03773406311240595, + 0.0 + ], + [ + 0.013850187939833447, + 0.03390804259896074, + 0.01222629414434187, + -0.011569805998330478, + -0.033146250074632296, + 0.10780002280962069, + 0.0 + ], + [ + 0.005532166976447095, + 0.003619618412585443, + -0.0026219564378807264, + -0.01696224747824349, + 0.01007139613616838, + -0.0202701251237193, + 0.0 + ], + [ + 0.0018944590973171693, + -0.029697610132284002, + 0.0005477061724606103, + 0.01115004126370473, + 0.0013846138273305795, + -0.08760348733577852, + 0.0 + ], + [ + 0.0008154404770002177, + -0.03703712622090698, + -0.0018387379382419494, + 0.015949346407989756, + -0.004236744610314823, + -0.09550578179866479, + 0.0 + ], + [ + -0.008889097250285471, + -0.04154499161828411, + -0.011404245121178935, + 0.03349672432014331, + 0.00564652730833855, + -0.11091801783253936, + 0.0 + ], + [ + -0.013919950589112995, + -0.030890010446132495, + -0.011997964790000759, + 0.037039458040517476, + 0.0054336742101832826, + -0.08112613217038236, + 0.0 + ], + [ + -0.012287650522853966, + -0.017285924829502683, + -0.012177900400950202, + 0.012029818400423204, + 0.01739382830730978, + -0.04053282592654814, + 0.0 + ], + [ + -0.007677506536030221, + -0.011926527385791521, + -0.008429261517354215, + 0.0009417373694342656, + 0.01668643970244128, + -0.03451512593659886, + 0.0 + ], + [ + -0.008167457506842779, + -0.015593347674734175, + -0.0033006123573160323, + -0.016083250524423987, + 0.015744451220733133, + -0.041009964868012734, + 0.0 + ], + [ + -0.007531256356160754, + -0.014081869180190772, + 0.00596775864821332, + -0.022694598536674316, + 0.006720407040185755, + -0.036947174511054386, + 0.0 + ], + [ + -0.003733111611622375, + -0.0023513326305373353, + 0.006759426690905811, + -0.012372723703841678, + 0.020305470452782744, + 0.012300376045369077, + 0.295238 + ], + [ + 0.005180131576950742, + 0.007945488944463324, + 0.0065870812326602746, + -0.009381573010259986, + 0.011878708098578676, + 0.049534085930939005, + 1.0 + ], + [ + 0.0036905786445606825, + 0.006865929586088129, + 0.009186627736560322, + 0.0009288048642242507, + 0.008850141360717238, + 0.0330639990266354, + 1.0 + ], + [ + -0.0006103978953062306, + 0.01134268228470053, + 0.025412708654409567, + 0.007188148221067179, + -0.03346470198859996, + 0.0536027579760509, + 1.0 + ], + [ + 0.00029762838478500364, + 0.02165256316408175, + 0.036262192402780155, + -0.02122327063601188, + -0.01675392291361522, + 0.11094031598864541, + 1.0 + ], + [ + 0.0027731419233088805, + 0.02331500634371598, + 0.011758428177436372, + -0.0007656592488229167, + 0.04813372025664378, + 0.11011077684967935, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 173.3055877685547, + 47.82838439941406 + ], + [ + 174.75296020507812, + 57.78711700439453 + ], + [ + 172.39271545410156, + 101.78868103027344 + ], + [ + 155.83546447753906, + 73.5506362915039 + ], + [ + 135.12942504882812, + 91.23629760742188 + ], + [ + 130.8411865234375, + 117.93351745605469 + ], + [ + 138.75784301757812, + 164.37571716308594 + ], + [ + 154.2102813720703, + 190.08078002929688 + ], + [ + 161.481201171875, + 215.7930145263672 + ], + [ + 166.50656127929688, + 230.47796630859375 + ], + [ + 169.9159698486328, + 236.58407592773438 + ], + [ + 174.18710327148438, + 226.587890625 + ], + [ + 179.1494140625, + 218.83676147460938 + ], + [ + 180.04977416992188, + 217.89096069335938 + ], + [ + 172.810302734375, + 203.0281524658203 + ], + [ + 172.14443969726562, + 173.59405517578125 + ], + [ + 146.44329833984375, + 129.58399963378906 + ], + [ + 134.3542938232422, + 125.03269958496094 + ], + [ + 158.03610229492188, + 140.388427734375 + ], + [ + 202.23876953125, + 149.95265197753906 + ], + [ + 244.505615234375, + 188.16526794433594 + ], + [ + 268.7259216308594, + 226.22116088867188 + ], + [ + 282.21038818359375, + 259.1060791015625 + ], + [ + 293.54388427734375, + 278.4211120605469 + ], + [ + 305.8578796386719, + 298.94647216796875 + ], + [ + 319.9991760253906, + 306.00006103515625 + ], + [ + 318.8412170410156, + 311.1415710449219 + ], + [ + 321.8472900390625, + 297.3865966796875 + ], + [ + 313.7210693359375, + 280.8402404785156 + ], + [ + 297.6632995605469, + 242.4092254638672 + ], + [ + 265.3331298828125, + 186.05767822265625 + ], + [ + 231.99227905273438, + 147.9275665283203 + ], + [ + 226.49742126464844, + 146.22250366210938 + ] + ], + "depth_max": 1.840750813484192, + "depth_min": 0.1838633269071579, + "intrinsic": [ + [ + 555.1633911132812, + 0.0, + 259.0 + ], + [ + 0.0, + 554.1209716796875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.724274160456844e-05, + 0.0001868095714598894, + -1.8693188394536264e-05 + ], + [ + -5.723244248656556e-05, + 1.0, + -5.512562711373903e-05, + -2.3298438463825732e-05 + ], + [ + -0.00018681272922549397, + 5.5114935094024986e-05, + 1.0, + 2.924640830315184e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 32 + ], + "object_trajectory": [ + [ + 181.25, + 223.25003051757812 + ], + [ + 181.39352416992188, + 223.46839904785156 + ], + [ + 181.56097412109375, + 223.50482177734375 + ], + [ + 181.5274658203125, + 223.3913116455078 + ], + [ + 181.40419006347656, + 223.27532958984375 + ], + [ + 181.30638122558594, + 223.32940673828125 + ], + [ + 181.10488891601562, + 223.61976623535156 + ], + [ + 181.31529235839844, + 224.21536254882812 + ], + [ + 181.58396911621094, + 225.24041748046875 + ], + [ + 181.805419921875, + 226.12391662597656 + ], + [ + 182.63912963867188, + 226.74490356445312 + ], + [ + 184.44850158691406, + 221.07232666015625 + ], + [ + 186.7930450439453, + 214.16378784179688 + ], + [ + 186.3403778076172, + 212.4795684814453 + ], + [ + 181.63046264648438, + 199.23446655273438 + ], + [ + 179.657470703125, + 171.2362518310547 + ], + [ + 157.45803833007812, + 127.23324584960938 + ], + [ + 147.3721466064453, + 124.04077911376953 + ], + [ + 167.57000732421875, + 137.59616088867188 + ], + [ + 207.19485473632812, + 148.11859130859375 + ], + [ + 242.02566528320312, + 184.94656372070312 + ], + [ + 265.6957702636719, + 221.00131225585938 + ], + [ + 280.5306701660156, + 251.3133544921875 + ], + [ + 292.4948425292969, + 270.7422180175781 + ], + [ + 302.6917724609375, + 290.58697509765625 + ], + [ + 314.74383544921875, + 296.79852294921875 + ], + [ + 316.5328369140625, + 299.7579345703125 + ], + [ + 324.4231872558594, + 297.8558349609375 + ], + [ + 326.67431640625, + 296.4792175292969 + ], + [ + 341.98876953125, + 304.71923828125 + ], + [ + 361.2794189453125, + 319.1456604003906 + ], + [ + 347.8227233886719, + 307.8875732421875 + ], + [ + 351.661865234375, + 308.629638671875 + ] + ] +} \ No newline at end of file diff --git a/003934_v2/lang.txt b/003934_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..dc054d23ca21ecf675fbe5d77111d8e8557ffa2a --- /dev/null +++ b/003934_v2/lang.txt @@ -0,0 +1 @@ +moved the red object to the lower right side of the table diff --git a/003934_v2/object.ply b/003934_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..22678abb39b2b7461fb5b2dfe69341d0f4b8d5fe Binary files /dev/null and b/003934_v2/object.ply differ diff --git a/003936_v2/FAIL b/003936_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/003936_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/003944_v2/FAIL b/003944_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/003944_v2/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/003947_v2/FAIL b/003947_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..aaf6c42c619234f9c8379cbcf60a65cd17ba1254 --- /dev/null +++ b/003947_v2/FAIL @@ -0,0 +1 @@ +Too large intersection between gripper and object mask diff --git a/003955/data.json b/003955/data.json new file mode 100644 index 0000000000000000000000000000000000000000..b63e316ca76d1e6bc9f72a7dea0151ee2b2aaa2c --- /dev/null +++ b/003955/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 15, + "action_end": 30, + "object_name": "carrot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.877656, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.572086987839839e-10, + -1.3225676109840379e-10, + 9.45472450331053e-11, + -2.632918435418985e-07, + 4.5996351338631715e-07, + 5.646984025279039e-07, + 1.0 + ], + [ + 0.009777121528625365, + 0.016064732968921296, + 0.01110425932259293, + 0.02522758292616196, + -0.02141774835770611, + 0.030594640188007997, + 1.0 + ], + [ + 0.010933749771354584, + 0.018538282459863047, + 0.0111908482907037, + 0.011675972052124485, + -0.0037710208896993445, + -0.021010477568811064, + 1.0 + ], + [ + 0.006734810962836679, + 0.015767185398564587, + 0.009329913334612763, + 0.045337267850631066, + -0.0037067942566530064, + -0.021642769638943474, + 1.0 + ], + [ + 0.0061804502029916275, + 0.02558883015713244, + 0.000750699430350471, + 0.050292176746590575, + 0.008415275874612565, + 0.0066331156786128415, + 1.0 + ], + [ + 0.003600163930096989, + 0.024958863947184495, + -0.006082232820988853, + 0.04467317059541391, + -0.0046876150248651525, + 0.056634686028377415, + 1.0 + ], + [ + 0.0026081195140641444, + 0.014778779639544298, + -0.011371569646625113, + -0.003328095882380637, + 0.018229413338608006, + 0.0248108520610747, + 1.0 + ], + [ + 0.0021781345205404423, + 0.007504697098627472, + -0.015762369450961378, + -0.02640087907268422, + -0.020705125953062082, + 0.00807918440621697, + 1.0 + ], + [ + 0.0007253081590268828, + 0.000481776656737376, + -0.007478574768549073, + -0.020275820706142693, + -0.004530848752274621, + -0.007670430646116943, + 1.0 + ], + [ + -0.0006361968025330733, + 0.0003822048394740152, + -0.005775954916109501, + -0.01610016025327227, + -0.007560913844136386, + -0.003351657732947698, + 1.0 + ], + [ + 0.0002433941381777549, + 0.00032963451418224765, + -0.004187658508490857, + -0.0040226418871021265, + -0.009702516909197177, + -0.00485574634797717, + 1.0 + ], + [ + -0.0033301999980990815, + -0.0002862394231343268, + -0.006408175535919512, + -0.009108627128774777, + -0.006399515787326119, + -0.007039304336226478, + 1.0 + ], + [ + -0.0001827636750859618, + 0.002315710115932512, + -0.003923301183842265, + -0.011853131581970253, + -0.0064765792288660725, + -0.007870870106340829, + 1.0 + ], + [ + 9.28881665201442e-05, + 0.004654627623694146, + -0.005400945958410092, + 0.0025158543062318646, + -0.012304794413530516, + -0.006786521846162556, + 1.0 + ], + [ + 0.00018169688972508036, + 0.0054866897629215206, + -0.0036791482089923028, + 0.013511445273989366, + -0.025496230480699596, + -0.006020465444321375, + 1.0 + ], + [ + 0.00203127819063581, + 0.005996897926897143, + 0.0011579051127587232, + -0.0014731770339109682, + 0.0020114312915502164, + -0.015987960447391297, + 0.877656 + ], + [ + 0.0018222404667769254, + 0.0017279571068322674, + 0.006163990848257146, + 0.01991596551536374, + 0.0212576190497046, + -0.014374074800653626, + 0.0 + ], + [ + 0.0027069944019122993, + -0.0032101453158454862, + 0.012167943572926096, + 0.0779940532506318, + -0.0035438650985049848, + 0.009677846599510204, + 0.0 + ], + [ + 0.007910710134929777, + -0.0016317413515125334, + 0.014642067178736479, + 0.023179227478285484, + 0.013449396409789224, + 0.018826693746483786, + 0.0 + ], + [ + 0.009648944652328184, + -0.007653405970994981, + 0.01836533761909106, + 0.010642777755711229, + 0.01240382307791783, + 0.05313938649558028, + 0.0 + ], + [ + 0.009274918685783395, + -0.018775419332244025, + 0.02513567645597757, + -0.025655432243749755, + 0.04607352839791173, + 0.16256421721395653, + 0.0 + ], + [ + 0.005752045480001522, + -0.026878049460825254, + -0.002086255390530256, + -0.08623013357793377, + 0.007172777169538098, + 0.2276547403783533, + 0.0 + ], + [ + 0.006560574945774222, + -0.023578519478986093, + -0.011275348055235626, + -0.03702416200684846, + 0.0030059801334024186, + 0.14674766121724434, + 0.0 + ], + [ + 0.0026928955916495356, + -0.015044014185944893, + -0.01114397901420508, + -0.022259778489160015, + -0.02616766773407936, + 0.09726303364771798, + 0.0 + ], + [ + 0.0005709868864056666, + -0.014496338815291096, + -0.007415510268787021, + 0.0008576932802946115, + -0.00992908238515356, + 0.04011948431209588, + 0.0 + ], + [ + -0.0006182435980356948, + -0.014668517086061664, + -0.007603692336645804, + -0.024488157019396082, + 0.003347331238617514, + 0.003033891150839441, + 0.0 + ], + [ + -0.00022128894964806856, + -0.01349439483713899, + -0.008468268575392318, + 0.02491812916411398, + -0.017986637168691776, + -0.025274696698094387, + 0.0 + ], + [ + -7.59279920232725e-05, + -0.009360884070829238, + -0.009092778761551762, + -0.011580478329461878, + 0.002146752770387208, + -0.030000476074856917, + 0.0 + ], + [ + 0.0015603007219223697, + -0.0023881836529708877, + -0.007378456885411333, + 0.0026831193700745937, + -0.03315313619953378, + -0.0031871410553577255, + 0.0 + ], + [ + 0.004832887416764575, + -0.0005981692472246183, + -0.0051372196078738885, + 0.009740264189822118, + -0.009832659850603342, + -0.024635292169172884, + 0.0 + ], + [ + 0.004650449110939481, + 0.0016259484427835341, + -0.001734629343670878, + -0.002633708850332377, + -0.0044496944835525284, + -0.02826445669840955, + 0.0 + ], + [ + 0.002351301722680277, + 0.005935605788369058, + 0.005861412578748726, + 0.030635550038971972, + -0.013348612902261173, + -0.04537659055819453, + 1.0 + ], + [ + 0.002323065578240635, + 0.004648829145729741, + 0.01006152445094758, + 0.022621921873160727, + 0.0007316364424471669, + -0.01830917587534909, + 1.0 + ], + [ + 0.005617763319197722, + 0.004634171841931926, + 0.014519956358525196, + 0.028346242364522056, + 0.00621419423802466, + -0.002608207829329039, + 1.0 + ], + [ + 0.009733048713382264, + 0.005272971331243617, + 0.02532882613935427, + 0.042767593887856455, + 0.02796189343867461, + 0.017158698928738416, + 1.0 + ], + [ + 0.003937394414601614, + 0.00327571752378146, + 0.011160493376787428, + 0.003033748492346377, + 0.012740433327934952, + -0.019111175060690672, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 269.1376953125, + 207.3975830078125 + ], + [ + 268.6022644042969, + 210.7587127685547 + ], + [ + 266.44586181640625, + 205.00155639648438 + ], + [ + 250.23556518554688, + 174.24905395507812 + ], + [ + 234.21438598632812, + 147.80941772460938 + ], + [ + 226.93101501464844, + 131.72750854492188 + ], + [ + 196.52464294433594, + 123.43783569335938 + ], + [ + 182.8863525390625, + 128.54380798339844 + ], + [ + 181.75704956054688, + 136.94573974609375 + ], + [ + 178.90264892578125, + 144.7882843017578 + ], + [ + 183.6215362548828, + 150.24383544921875 + ], + [ + 184.41004943847656, + 152.87091064453125 + ], + [ + 185.77236938476562, + 161.38473510742188 + ], + [ + 185.75833129882812, + 166.66293334960938 + ], + [ + 186.4898223876953, + 168.11456298828125 + ], + [ + 186.3841552734375, + 170.5418243408203 + ], + [ + 183.67803955078125, + 170.75025939941406 + ], + [ + 178.50271606445312, + 168.2706298828125 + ], + [ + 178.36602783203125, + 168.66546630859375 + ], + [ + 178.38604736328125, + 151.68228149414062 + ], + [ + 177.9232177734375, + 134.26025390625 + ], + [ + 184.44984436035156, + 105.93348693847656 + ], + [ + 224.66537475585938, + 88.24580383300781 + ], + [ + 248.0411834716797, + 98.21356964111328 + ], + [ + 262.23883056640625, + 105.18666076660156 + ], + [ + 285.25390625, + 119.40908813476562 + ], + [ + 306.76812744140625, + 133.21902465820312 + ], + [ + 317.9831237792969, + 149.6597442626953 + ], + [ + 329.8804931640625, + 159.9257354736328 + ], + [ + 338.78125, + 172.02792358398438 + ], + [ + 339.7691650390625, + 174.60218811035156 + ], + [ + 339.8926086425781, + 181.0529327392578 + ], + [ + 339.9887390136719, + 180.63009643554688 + ], + [ + 337.6790466308594, + 172.7355194091797 + ], + [ + 335.99969482421875, + 156.9876251220703 + ], + [ + 333.33599853515625, + 123.01510620117188 + ], + [ + 334.125732421875, + 92.209228515625 + ], + [ + 334.78973388671875, + 87.04647827148438 + ] + ], + "depth_max": 1.3901687860488892, + "depth_min": 0.433175653219223, + "intrinsic": [ + [ + 516.8202514648438, + 0.0, + 259.0 + ], + [ + 0.0, + 516.8566284179688, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.967622564639896e-05, + -0.00010274702799506485, + -3.316042784717865e-05 + ], + [ + -5.968090408714488e-05, + 1.0, + -4.552412065095268e-05, + -1.3664132893609349e-05 + ], + [ + 0.00010274430678691715, + 4.553025428322144e-05, + 1.0, + 2.6317418814869598e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 171.75, + 176.0 + ], + [ + 171.98269653320312, + 176.34385681152344 + ], + [ + 172.0316162109375, + 176.16847229003906 + ], + [ + 171.99330139160156, + 176.0419464111328 + ], + [ + 172.03237915039062, + 176.01708984375 + ], + [ + 172.33961486816406, + 175.66867065429688 + ], + [ + 172.37966918945312, + 175.7554931640625 + ], + [ + 171.79254150390625, + 175.6693572998047 + ], + [ + 171.69798278808594, + 175.850830078125 + ], + [ + 171.7648162841797, + 175.8960418701172 + ], + [ + 171.7704620361328, + 176.39306640625 + ], + [ + 171.6736297607422, + 176.7388458251953 + ], + [ + 180.0388641357422, + 180.2832489013672 + ], + [ + 181.38388061523438, + 181.87274169921875 + ], + [ + 178.99795532226562, + 181.76971435546875 + ], + [ + 178.89419555664062, + 181.70941162109375 + ], + [ + 178.30075073242188, + 182.60519409179688 + ], + [ + 176.4108123779297, + 181.14208984375 + ], + [ + 174.83497619628906, + 180.60540771484375 + ], + [ + 173.3287811279297, + 163.1068115234375 + ], + [ + 175.302734375, + 143.852294921875 + ], + [ + 183.04818725585938, + 115.58485412597656 + ], + [ + 224.1365203857422, + 96.5684585571289 + ], + [ + 247.49478149414062, + 102.23233032226562 + ], + [ + 262.1653137207031, + 110.19903564453125 + ], + [ + 285.24578857421875, + 127.76679992675781 + ], + [ + 306.1107482910156, + 140.34848022460938 + ], + [ + 316.858154296875, + 155.93312072753906 + ], + [ + 328.58880615234375, + 166.74948120117188 + ], + [ + 338.0483093261719, + 178.7876739501953 + ], + [ + 339.46392822265625, + 181.13052368164062 + ], + [ + 339.90374755859375, + 186.77890014648438 + ], + [ + 342.740234375, + 201.92413330078125 + ], + [ + 344.69171142578125, + 199.73983764648438 + ], + [ + 344.931884765625, + 199.1851806640625 + ], + [ + 347.3424377441406, + 202.75180053710938 + ], + [ + 347.45550537109375, + 202.08465576171875 + ], + [ + 347.6690673828125, + 202.1378173828125 + ] + ] +} \ No newline at end of file diff --git a/003955/lang.txt b/003955/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..bed03068e775b49ca8bd183fe7e2570e3357f057 --- /dev/null +++ b/003955/lang.txt @@ -0,0 +1 @@ +take carrot off plate diff --git a/003955/object.ply b/003955/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..30a8e8a4afff030d8758e9e69f4e852556fea9ae Binary files /dev/null and b/003955/object.ply differ diff --git a/003955_v2/data.json b/003955_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..fe93541acaea75747a2ce91ebeef2312e9d920cd --- /dev/null +++ b/003955_v2/data.json @@ -0,0 +1,604 @@ +{ + "action_start": 10, + "action_end": 22, + "object_name": "green bell pepper", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.645177, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.3659395836640442e-10, + -1.2744925254049022e-10, + -3.897999423241316e-10, + -2.1271214036448803e-07, + 2.2262886954004005e-07, + 1.005989409690421e-07, + 1.0 + ], + [ + -0.012956442814465341, + 0.025173784293758147, + -0.003908179262319941, + -0.0070326288255783504, + 0.012432300369553685, + 0.06682702542071202, + 1.0 + ], + [ + -0.01189962840848574, + 0.027330606310451262, + -0.002955133613131808, + 0.023440645291289273, + 0.014566578945396376, + 0.06360611241831354, + 1.0 + ], + [ + -0.014637844226979613, + 0.039290036247540905, + -0.0044107918469013935, + 0.04842952835704586, + 0.008995160333068495, + 0.06011489390326436, + 1.0 + ], + [ + -0.014325879358632498, + 0.04238842116851517, + -0.0010087496547754177, + 0.02232809793262967, + 0.00469165557875089, + 0.08465197939750063, + 1.0 + ], + [ + 0.0004105358228112532, + 0.021896812129335946, + 0.004739717705560587, + 0.0015876845211039833, + -0.016774481901612712, + 0.060049418241217435, + 1.0 + ], + [ + 0.005596561157805435, + 0.006598633297053319, + -0.00893840369230868, + -0.0066800053184462955, + 0.009747420843028647, + 0.034081725462378774, + 1.0 + ], + [ + 0.008128075526979028, + -0.0037535410025894556, + -0.01765953589147015, + -0.02346703175617004, + 0.015579541061872367, + 0.007461752014202188, + 1.0 + ], + [ + 0.006911944664031278, + -0.0030304481895022384, + -0.009669491163967397, + -3.655402770887133e-05, + 0.008241972507359875, + 0.0024800873481294465, + 1.0 + ], + [ + 0.00431117365294531, + 0.0020401383080171087, + -0.010046695971142001, + 0.01669166910974415, + 0.016267987509199694, + -0.0005886143061700538, + 1.0 + ], + [ + -0.0010608154037179962, + 0.0021856866495283955, + -0.006127574243937332, + -0.00203095877009116, + 0.006328856519777952, + 0.007531988302690148, + 0.645177 + ], + [ + 0.0008050446353660701, + -0.0014882510509620361, + 0.001191769464666849, + 0.00134729199831183, + -0.0002591110579011202, + -0.011449484740180833, + 0.0 + ], + [ + 0.002108166866510386, + -0.007456103931044955, + 0.0203035191093979, + 0.014154583674581611, + -0.04773355298594064, + -0.02098289887464618, + 0.0 + ], + [ + 0.0054442579403002345, + -0.033778003445368354, + 0.04968824680350029, + 0.051529711700390814, + -0.10068459011073928, + -0.08478551567104835, + 0.0 + ], + [ + 0.00013250806107006907, + -0.05218892061413044, + 0.026354524519508885, + 0.016455114047357, + -0.053310782499382516, + -0.08544719763951199, + 0.0 + ], + [ + -0.004033702824539909, + -0.06979144405453418, + 0.002321431149649583, + -0.026649499211453688, + -0.021026948636223126, + -0.12261211907879695, + 0.0 + ], + [ + -0.018821801056636056, + -0.06632745854671063, + -0.012994784253812758, + -0.04866977721816026, + 0.042403825924931804, + -0.02290167801380522, + 0.0 + ], + [ + -0.021813183691966, + -0.03684053334556622, + -0.021336325466861664, + -0.044807475799377786, + 0.04820896440896988, + 0.05107012096353679, + 0.0 + ], + [ + -0.016783837633054355, + -0.01183316741422588, + -0.028492240733603902, + -0.013192623331111526, + 0.07123641967421844, + 0.04092189740416107, + 0.0 + ], + [ + -0.011424997022710937, + -0.017035198731921913, + -0.03500757941697143, + 0.006653542893670052, + 0.06817468895676984, + -0.03304405957061387, + 0.0 + ], + [ + -0.009757297413351962, + -0.015270389108048094, + -0.01587097244192067, + 0.018361439800686476, + 0.04046352333461806, + -0.03722689392064344, + 0.0 + ], + [ + -0.009555968054611785, + -0.013468636727531985, + -0.006295660137996421, + -0.0027122294709251986, + 0.005766817282326319, + -0.02481816351319787, + 0.0 + ], + [ + -0.00536712816908641, + -0.004662319177826252, + 0.00044307037174574904, + 0.0047936964981543815, + -0.00857472160230654, + -0.006091819174048568, + 0.0 + ], + [ + -0.00043787957302476865, + 0.00789477021236494, + 0.009467604876379633, + 0.017113686932261715, + -0.03714649491802088, + 0.03820997846823316, + 1.0 + ], + [ + 0.0007669710997043333, + 0.004409531605730058, + 0.014339580832657496, + -0.005340821422513496, + -0.030155278635419128, + 0.0006648966942754068, + 1.0 + ], + [ + 0.0006449994751882016, + -0.0014543512922359503, + 0.026795348695564297, + -0.029066088031826295, + -0.056815480703453776, + -0.029659928278250997, + 1.0 + ], + [ + 0.0005844921564643057, + -0.0012602812990498702, + 0.015899500214807086, + -0.02411899471934596, + -0.015624272706038713, + -0.02128517436262172, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 334.33392333984375, + 67.82662963867188 + ], + [ + 333.9005126953125, + 71.67326354980469 + ], + [ + 325.9371643066406, + 101.65155029296875 + ], + [ + 276.17962646484375, + 111.40203857421875 + ], + [ + 237.83868408203125, + 110.69244384765625 + ], + [ + 180.4694366455078, + 106.15982818603516 + ], + [ + 138.66409301757812, + 101.00984191894531 + ], + [ + 137.50491333007812, + 87.95382690429688 + ], + [ + 143.5430145263672, + 106.53865814208984 + ], + [ + 152.00881958007812, + 116.29308319091797 + ], + [ + 162.34893798828125, + 123.76676940917969 + ], + [ + 162.3167724609375, + 128.26368713378906 + ], + [ + 161.813232421875, + 128.1385498046875 + ], + [ + 162.29180908203125, + 128.07960510253906 + ], + [ + 167.30593872070312, + 102.6717300415039 + ], + [ + 215.40512084960938, + 49.78969955444336 + ], + [ + 270.9508972167969, + 63.44740295410156 + ], + [ + 306.60064697265625, + 91.18010711669922 + ], + [ + 357.2274169921875, + 155.22311401367188 + ], + [ + 375.25970458984375, + 209.22715759277344 + ], + [ + 381.51123046875, + 269.7391662597656 + ], + [ + 393.97320556640625, + 305.94873046875 + ], + [ + 407.66375732421875, + 333.71917724609375 + ], + [ + 411.1223449707031, + 338.058837890625 + ], + [ + 401.4400329589844, + 346.9643249511719 + ], + [ + 404.3369445800781, + 327.614990234375 + ], + [ + 404.7379150390625, + 303.82940673828125 + ], + [ + 409.61517333984375, + 288.47296142578125 + ], + [ + 408.4474182128906, + 282.05328369140625 + ], + [ + 408.38372802734375, + 282.4681396484375 + ] + ], + "depth_max": 1.915479302406311, + "depth_min": 0.23974399268627167, + "intrinsic": [ + [ + 524.5791015625, + 0.0, + 259.0 + ], + [ + 0.0, + 523.3736572265625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.177600178285502e-05, + 0.00017485955322626978, + -2.6694275220506825e-05 + ], + [ + -5.176267586648464e-05, + 1.0, + -7.624515274073929e-05, + 4.919244929624256e-06 + ], + [ + -0.0001748635113472119, + 7.623610144946724e-05, + 1.0, + 5.587862688116729e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 29 + ], + "object_trajectory": [ + [ + 167.0, + 134.0 + ], + [ + 167.52099609375, + 134.11807250976562 + ], + [ + 167.48681640625, + 134.2486572265625 + ], + [ + 167.42367553710938, + 134.14414978027344 + ], + [ + 167.064208984375, + 134.2662353515625 + ], + [ + 167.48741149902344, + 134.0691375732422 + ], + [ + 167.22979736328125, + 134.3260498046875 + ], + [ + 167.46612548828125, + 133.9930419921875 + ], + [ + 167.35418701171875, + 134.19955444335938 + ], + [ + 167.30545043945312, + 134.0992889404297 + ], + [ + 167.54995727539062, + 134.33889770507812 + ], + [ + 168.02049255371094, + 134.23446655273438 + ], + [ + 167.29994201660156, + 134.30958557128906 + ], + [ + 167.54257202148438, + 133.9974365234375 + ], + [ + 173.8435821533203, + 119.51993560791016 + ], + [ + 210.89198303222656, + 73.38605499267578 + ], + [ + 259.6441650390625, + 82.41205596923828 + ], + [ + 292.93316650390625, + 103.28834533691406 + ], + [ + 340.4430847167969, + 163.14280700683594 + ], + [ + 358.6381530761719, + 217.17649841308594 + ], + [ + 364.59136962890625, + 277.083984375 + ], + [ + 375.87200927734375, + 312.3843994140625 + ], + [ + 388.35125732421875, + 338.564697265625 + ], + [ + 391.9760437011719, + 342.459716796875 + ], + [ + 385.48583984375, + 351.9166259765625 + ], + [ + 387.0779113769531, + 347.70849609375 + ], + [ + 393.8881530761719, + 336.9849548339844 + ], + [ + 395.4363708496094, + 335.5672302246094 + ], + [ + 394.92529296875, + 335.2287902832031 + ], + [ + 394.6722106933594, + 335.0791320800781 + ] + ] +} \ No newline at end of file diff --git a/003955_v2/lang.txt b/003955_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..a2dc328bec7895b7f7c4c0642db6dc6e53c0baba --- /dev/null +++ b/003955_v2/lang.txt @@ -0,0 +1 @@ +move the green bell pepper on lower right of the table diff --git a/003955_v2/object.ply b/003955_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..75c6a149a78506dcf075a89bb7b932857cb08baf Binary files /dev/null and b/003955_v2/object.ply differ diff --git a/003975/data.json b/003975/data.json new file mode 100644 index 0000000000000000000000000000000000000000..46702a08c0fdae139a75a4b1ec9d73cab02d4141 --- /dev/null +++ b/003975/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 15, + "action_end": 34, + "object_name": "carrot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.915507, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.7157328335848376e-10, + -4.301203837542289e-11, + -4.3455100628975174e-11, + -1.6828159377402817e-08, + 6.682048089788474e-08, + 7.740013101688381e-09, + 1.0 + ], + [ + 0.011086411215676578, + 0.002621838684561159, + 0.015168613642365894, + 0.02246544321711197, + 0.0234347099340963, + 0.011625614356898184, + 1.0 + ], + [ + 0.010553181768804487, + -0.00038729535240077106, + 0.02089694370847571, + 0.1006910606585025, + 0.00015025940398329617, + -0.013472821685285099, + 1.0 + ], + [ + 0.006524394316369697, + -0.004582792939367822, + 0.014644648343690808, + 0.03987720073633708, + -0.006866249834346406, + 0.038186438942589246, + 1.0 + ], + [ + 0.007695073418135301, + -0.006526906854101483, + 0.010301536089821137, + -0.06725879258740475, + 0.016474987714047623, + 0.20780045730691082, + 1.0 + ], + [ + 0.00954438662299767, + -0.004345234677026161, + 0.013177819405984961, + -0.06525206138107228, + -0.005120389317196096, + 0.17319195032600795, + 1.0 + ], + [ + 0.018666017985660782, + 0.003955855886859205, + 0.00305177556711346, + -0.05284090803725244, + -0.009399714741750208, + 0.2517871978596562, + 1.0 + ], + [ + 0.01859858798587627, + 0.011870909503131855, + -0.004982632838460191, + -0.04383838922433831, + -0.027955566882532232, + 0.09958616482720707, + 1.0 + ], + [ + 0.007653275099982981, + 0.0038953324042117488, + -0.008794506025505536, + 0.05081188635987752, + -0.03377203622828997, + 0.07761943446349301, + 1.0 + ], + [ + 0.00314164233883224, + 0.005115176986507736, + -0.011165076771030152, + 0.03477898620710589, + -0.008582687691245726, + 0.025523185272648866, + 1.0 + ], + [ + 0.00346897419137554, + 0.00643904672921615, + -0.012641860580011238, + -0.004517265811656029, + 0.0045189418887849, + 0.020286944561268436, + 1.0 + ], + [ + 0.005628816379951829, + 0.0075157687120395444, + -0.009368320253454576, + -0.024439056649332585, + 0.009046131475377502, + -0.011769481257014991, + 1.0 + ], + [ + 0.002169503061859812, + 0.0015979569244014002, + -0.004534366272147504, + -0.004058271568649694, + 0.016594748854942852, + 0.024847644281946673, + 1.0 + ], + [ + -0.003439410844229107, + 0.0026753641086207924, + -0.003953194302200161, + -0.00503563694608393, + -0.010759463878231214, + -0.00023750296917879676, + 1.0 + ], + [ + -0.0034283180092889443, + 0.0006303490160348979, + -0.007874012105873116, + -0.01762320757504287, + -0.022237645672778812, + 0.006428242928508693, + 1.0 + ], + [ + -0.004331450025560735, + 0.00012321988512234427, + -0.002389495321984736, + -0.0197552609030754, + -0.01080121408881588, + 0.008487717405272703, + 0.915507 + ], + [ + -0.0015381252343724117, + 0.004705726489211248, + -0.005766893215696289, + -0.0397184208131652, + -0.012385155946216551, + -0.02473345544602731, + 0.0 + ], + [ + 0.0021048393822118427, + 0.0013156664569822785, + 0.0030302458953158674, + -0.004670947641314565, + 0.009427566710994088, + -0.009131415875581526, + 0.0 + ], + [ + 0.004296836537932669, + -0.0007394230287362524, + 0.0207850716926109, + 0.03224647256470921, + 0.014021715084542596, + -0.0390739952015854, + 0.0 + ], + [ + 0.007959569209652628, + -0.0023578012002912485, + 0.02148419066026369, + 0.031934126890712206, + -0.009739094493666459, + -0.0400455197143302, + 0.0 + ], + [ + 0.008293596499931999, + -0.017486044708004328, + 0.023347085909189484, + 0.03873578559860403, + 0.01347473267107105, + 0.016739204899521676, + 0.0 + ], + [ + 0.008268864181696978, + -0.02626957706392946, + 0.01201546453110229, + -0.05746674708494019, + 0.03909882349573362, + 0.004459572987125979, + 0.0 + ], + [ + 0.0005259634313720674, + -0.024659968840963747, + -0.0017783573582678958, + 0.036906180850781976, + -0.001027432135288982, + -0.03649877845383664, + 0.0 + ], + [ + 0.00031408744199540317, + -0.030264229457087552, + -0.015105514405807915, + 0.05696626363958519, + -0.0279128624845454, + -0.01290856706467351, + 0.0 + ], + [ + -0.0016066678516120647, + -0.017571046680956715, + -0.018166313340243836, + -0.06679461272558194, + -0.022126690781714645, + 0.024624449779628372, + 0.0 + ], + [ + 0.005269233095801462, + -0.006415936159901207, + -0.0076708953110767725, + 0.008045451911969972, + -0.018694985069904083, + 0.02867464933583077, + 0.0 + ], + [ + 0.007371491174028355, + -0.0013654114183275778, + 0.0016546333259853455, + -0.007208242669202472, + 0.017631092027697932, + 0.010817491419582074, + 0.0 + ], + [ + 0.0027743880371846052, + -0.0062406681537530845, + -0.00034773549706369755, + -0.043793786702014274, + 0.039268821740437804, + 0.07452711178836871, + 0.0 + ], + [ + 0.004755822362608075, + -0.0016952421741586662, + -0.008717845660171017, + -0.039050279004897194, + 0.00671110930290548, + 0.058641548359257244, + 0.0 + ], + [ + -0.0016367161931973295, + -0.003920317597124828, + -0.013927907232585204, + -0.06031688792823815, + 0.001231834200167991, + 0.0390743674176525, + 0.0 + ], + [ + -0.007320717343887562, + -0.008652382902888354, + -0.009420609193404386, + -0.004752093116257634, + -0.03975748737856335, + 0.038592730729884485, + 0.0 + ], + [ + -0.008376316591317823, + -0.01379742281152323, + -0.0010761987212018, + 0.026308544968188637, + -0.018099198509187994, + 0.04469177692319934, + 0.0 + ], + [ + -0.007851314254461672, + -0.01230716494794601, + -0.0028838845438832264, + 0.03438115788515905, + -0.030027530024574776, + 0.04406537451109285, + 0.0 + ], + [ + -0.003562478817141057, + -0.012330838779832109, + 0.0020686050926476615, + 0.020040558332611737, + -0.031308308617221885, + 0.040131290256329964, + 0.0 + ], + [ + -0.0031283423787717424, + -0.00853928768605036, + 0.00043314497039421973, + 0.0029605444485103724, + -0.015813172689606365, + 0.05995228914272203, + 0.0 + ], + [ + 0.003451772830658728, + -0.0013525199620783128, + 0.003098745254914489, + -0.04054474724617498, + -0.01718265141980166, + 0.024567304341227336, + 1.0 + ], + [ + 0.0018954608239527548, + 0.0019768010578070996, + 0.00026192622496792536, + 0.020172356987877085, + -0.006190685074347039, + 0.00526064195574465, + 1.0 + ], + [ + 0.001491768185551079, + 0.00019549083641427767, + 0.001507744382116094, + 0.008276167403324982, + -0.017259342019490795, + 0.023222866065297353, + 1.0 + ] + ], + "gripper_centers": [ + [ + 175.8050994873047, + 259.78216552734375 + ], + [ + 176.2679443359375, + 264.2603759765625 + ], + [ + 173.4921875, + 251.01890563964844 + ], + [ + 180.22666931152344, + 228.8343048095703 + ], + [ + 192.0889892578125, + 206.27548217773438 + ], + [ + 197.3131103515625, + 181.38623046875 + ], + [ + 205.64300537109375, + 161.80300903320312 + ], + [ + 219.22911071777344, + 143.11477661132812 + ], + [ + 223.9086151123047, + 130.67025756835938 + ], + [ + 209.45924377441406, + 126.18846130371094 + ], + [ + 219.52151489257812, + 136.39108276367188 + ], + [ + 227.29116821289062, + 146.2808837890625 + ], + [ + 221.59451293945312, + 156.66659545898438 + ], + [ + 216.99147033691406, + 158.49545288085938 + ], + [ + 222.54042053222656, + 160.68556213378906 + ], + [ + 220.77694702148438, + 170.1397705078125 + ], + [ + 215.23699951171875, + 178.59133911132812 + ], + [ + 213.6622772216797, + 176.96853637695312 + ], + [ + 201.3014678955078, + 176.71304321289062 + ], + [ + 201.06858825683594, + 168.40231323242188 + ], + [ + 207.03233337402344, + 149.08517456054688 + ], + [ + 216.21945190429688, + 120.51994323730469 + ], + [ + 262.4307556152344, + 92.48492431640625 + ], + [ + 286.4833984375, + 100.34803009033203 + ], + [ + 315.51837158203125, + 138.2707061767578 + ], + [ + 364.85711669921875, + 168.12472534179688 + ], + [ + 343.3746032714844, + 158.8612518310547 + ], + [ + 367.69921875, + 163.3173828125 + ], + [ + 381.4639587402344, + 161.94454956054688 + ], + [ + 380.89837646484375, + 165.6366424560547 + ], + [ + 384.1352844238281, + 172.41653442382812 + ], + [ + 377.40386962890625, + 196.78562927246094 + ], + [ + 379.1314697265625, + 212.5099639892578 + ], + [ + 397.0451965332031, + 228.61306762695312 + ], + [ + 411.4373779296875, + 237.6185760498047 + ], + [ + 422.7688903808594, + 245.92813110351562 + ], + [ + 430.37255859375, + 248.09588623046875 + ], + [ + 427.8588562011719, + 241.97998046875 + ] + ], + "depth_max": 1.4195680618286133, + "depth_min": 0.4096272885799408, + "intrinsic": [ + [ + 510.99072265625, + 0.0, + 259.0 + ], + [ + 0.0, + 510.98394775390625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.128393266000785e-05, + -6.9054527557455e-05, + -2.8467840820667334e-05 + ], + [ + -4.128784712520428e-05, + 1.0, + -5.6745429901639e-05, + -2.0007864804938436e-05 + ], + [ + 6.905218469910324e-05, + 5.674828207702376e-05, + 1.0, + 7.6290598371997476e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 234.25, + 168.75 + ], + [ + 234.42916870117188, + 169.02859497070312 + ], + [ + 234.48184204101562, + 168.98745727539062 + ], + [ + 234.81617736816406, + 169.23135375976562 + ], + [ + 235.10513305664062, + 169.58212280273438 + ], + [ + 234.24594116210938, + 169.4097900390625 + ], + [ + 234.0267333984375, + 169.44039916992188 + ], + [ + 234.2032470703125, + 169.1964111328125 + ], + [ + 234.42787170410156, + 168.9600067138672 + ], + [ + 234.49082946777344, + 169.19874572753906 + ], + [ + 234.35850524902344, + 168.9660186767578 + ], + [ + 234.3886260986328, + 169.08795166015625 + ], + [ + 234.08596801757812, + 169.01123046875 + ], + [ + 233.8810577392578, + 168.61932373046875 + ], + [ + 233.84767150878906, + 168.85870361328125 + ], + [ + 233.6598663330078, + 169.32334899902344 + ], + [ + 224.94552612304688, + 173.1256103515625 + ], + [ + 217.4837646484375, + 173.75732421875 + ], + [ + 209.7812042236328, + 171.52755737304688 + ], + [ + 209.51043701171875, + 164.8480224609375 + ], + [ + 214.90725708007812, + 146.42935180664062 + ], + [ + 223.34881591796875, + 117.06266021728516 + ], + [ + 264.95635986328125, + 95.33180236816406 + ], + [ + 283.9432373046875, + 103.86773681640625 + ], + [ + 313.426513671875, + 138.88978576660156 + ], + [ + 361.017578125, + 168.12814331054688 + ], + [ + 341.11187744140625, + 159.8330078125 + ], + [ + 364.99554443359375, + 165.0469207763672 + ], + [ + 379.474609375, + 164.39801025390625 + ], + [ + 384.65411376953125, + 166.68679809570312 + ], + [ + 387.31280517578125, + 174.42137145996094 + ], + [ + 381.0627746582031, + 199.5197296142578 + ], + [ + 385.50225830078125, + 216.24298095703125 + ], + [ + 403.3852233886719, + 234.3380126953125 + ], + [ + 416.7751159667969, + 243.44337463378906 + ], + [ + 427.07586669921875, + 251.994873046875 + ], + [ + 428.6905517578125, + 255.2876434326172 + ], + [ + 421.992919921875, + 255.32284545898438 + ] + ] +} \ No newline at end of file diff --git a/003975/lang.txt b/003975/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..bed03068e775b49ca8bd183fe7e2570e3357f057 --- /dev/null +++ b/003975/lang.txt @@ -0,0 +1 @@ +take carrot off plate diff --git a/003975/object.ply b/003975/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..96d395c438e0f937715d819cc6b2b9258cb0926c Binary files /dev/null and b/003975/object.ply differ diff --git a/003983_v2/data.json b/003983_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..8600d816642702f0e0baab5c0a740cf954d9ab93 --- /dev/null +++ b/003983_v2/data.json @@ -0,0 +1,604 @@ +{ + "action_start": 8, + "action_end": 20, + "object_name": "green object", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 4.8904436056318445e-11, + 9.405483857027885e-11, + 1.0601532152154647e-10, + 6.043924887218763e-07, + 5.15514693531571e-07, + 2.4242495587965997e-07, + 1.0 + ], + [ + -0.002743290096150597, + -0.024077000101401406, + 0.00636500001851914, + 0.0010567924864745067, + -0.04415695707109959, + -0.041817035173102736, + 1.0 + ], + [ + 0.0019144830911713706, + -0.024632035424419583, + -0.002164700833113223, + -0.028421548242518035, + -0.016145457687547174, + -0.001914296826011375, + 1.0 + ], + [ + 0.005887258386990946, + -0.021040193476152682, + -0.0010038327207157194, + -0.02450751816861368, + -0.0375561429749332, + -0.0033013510309116167, + 1.0 + ], + [ + 0.0031875094486571443, + -0.010274747319371176, + -0.013744810763242923, + -0.036769576289773453, + 0.00783110928429532, + 0.0034872704268741747, + 1.0 + ], + [ + -0.0013435412455373164, + -0.00424160816507075, + -0.018249273566160656, + -0.008815982187599995, + 0.04318219358418533, + 0.00226681573201302, + 1.0 + ], + [ + -0.006733897006733491, + -0.0006706284386908123, + -0.018715679145675415, + 0.0047849044895491525, + 0.04351215994329745, + 0.0055258719247983255, + 1.0 + ], + [ + -0.004084048213181368, + -0.002987439438292744, + -0.011353596386871806, + 0.005312753316811159, + 0.03310507210261659, + -0.0016958228823195703, + 1.0 + ], + [ + -0.003968926138914808, + -0.002009725181942451, + -0.003931543659260094, + 0.026791431234777844, + 0.013531884883424973, + -0.007855359350337496, + 1.0 + ], + [ + -0.001156193606266065, + 0.0003469278167913953, + -0.001953855450194386, + 0.01852158685306837, + 0.008787045521927273, + -0.009165788562587988, + 0.0 + ], + [ + 0.0010972270888524593, + 0.0026613615695824655, + 0.005352814371975753, + 0.0030547277537251614, + -0.0030061329940102525, + -0.0004505259880676888, + 0.0 + ], + [ + 0.005045961801286469, + 0.00449600901706218, + 0.020119580287621286, + 0.0005316515795914018, + -0.023712251132594547, + -0.008576724488565451, + 0.0 + ], + [ + 0.005060992662097197, + 0.011573263396598865, + 0.036048779001094586, + -0.013648873197114728, + -0.06164686771955708, + 0.019949921477952097, + 0.0 + ], + [ + -0.008228777608628002, + 0.02714543767131726, + 0.021125715780343973, + -0.01845666640551636, + -0.029712531164587733, + 0.06388347620363741, + 0.0 + ], + [ + -0.02119113429543168, + 0.051625902809579016, + 0.0016782354737126803, + 0.011717717964428411, + 0.015171234013816072, + 0.09608602072931656, + 0.0 + ], + [ + -0.02214066686663374, + 0.05712788986576009, + -0.002336880687498155, + 0.0021638274903804443, + 0.0017058333144661158, + 0.08838137569356692, + 0.0 + ], + [ + -0.01861489958478113, + 0.04891885607950997, + -0.00923840727215923, + 0.003242325193372559, + 0.005058646718988958, + 0.06615888384771113, + 0.0 + ], + [ + -0.006223666092170621, + 0.028854890798706984, + -0.010222784095664642, + 0.022852675700560918, + 0.004020460002774892, + 0.04966432388875669, + 0.0 + ], + [ + 0.006578328175534498, + 0.01964293816167234, + -0.01118491724726002, + 0.03071671714370183, + -0.009210399560781008, + 0.048931117841437936, + 0.0 + ], + [ + 0.01234591552546735, + 0.009778273019445421, + -0.005913795824180529, + 0.007057443179341143, + -0.009776733160697177, + 0.007993070047076438, + 0.0 + ], + [ + 0.01089779598117202, + 0.007005580417536572, + -0.0003065290029767437, + 0.009700619476512882, + -0.008888430033763212, + 0.00042982940014982854, + 0.0 + ], + [ + 0.00099923318443923, + -0.0024005409635178, + 0.003927315283383512, + 0.00784460481033543, + 0.014669253485304687, + -0.00955279751517658, + 1.0 + ], + [ + -0.0014108880385654832, + -0.004128477653088575, + 0.009825108378987132, + 0.0039593493388872265, + 0.003962550716571307, + -0.013310411598657554, + 1.0 + ], + [ + -0.0003115189044359812, + -0.004768991156726188, + 0.01672006951977477, + -0.0027813734690729846, + -0.008938894344450748, + -0.0591012946038964, + 1.0 + ], + [ + 0.002135224878242803, + -0.006591752420936237, + 0.01433619848698385, + 0.011076708109570925, + 0.00270429494266265, + -0.07625047851879362, + 1.0 + ], + [ + 0.002090062898908507, + -0.008148823073905631, + -0.0001685453676290305, + -0.00573861307776651, + 0.01008462664665898, + -0.07459956291538357, + 1.0 + ], + [ + 0.0043406302938976404, + -0.007888679616891159, + -0.0016635454680446193, + 0.0032430999331798695, + 0.03380878968654924, + -0.09004255155215467, + 1.0 + ], + [ + 0.0008672583926697119, + -0.0008664369963549134, + -0.005568133238380429, + 0.015723522777592952, + 0.019512247363823426, + -0.027192539503964944, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 319.2783203125, + 137.46177673339844 + ], + [ + 319.5770568847656, + 140.54318237304688 + ], + [ + 331.7428283691406, + 160.45211791992188 + ], + [ + 372.6972961425781, + 174.24224853515625 + ], + [ + 401.5433654785156, + 179.746337890625 + ], + [ + 421.95184326171875, + 189.91598510742188 + ], + [ + 427.779052734375, + 210.59288024902344 + ], + [ + 421.89190673828125, + 238.03469848632812 + ], + [ + 425.14990234375, + 238.57879638671875 + ], + [ + 429.6064453125, + 236.75552368164062 + ], + [ + 430.62841796875, + 236.41505432128906 + ], + [ + 431.0514221191406, + 236.2091064453125 + ], + [ + 423.3642883300781, + 245.13125610351562 + ], + [ + 413.52490234375, + 216.41567993164062 + ], + [ + 384.52020263671875, + 168.35903930664062 + ], + [ + 307.7100830078125, + 157.2411651611328 + ], + [ + 216.73324584960938, + 154.46484375 + ], + [ + 143.63922119140625, + 159.09124755859375 + ], + [ + 86.52323913574219, + 158.51551818847656 + ], + [ + 73.84529876708984, + 172.68951416015625 + ], + [ + 78.66299438476562, + 165.53884887695312 + ], + [ + 83.17626953125, + 155.73797607421875 + ], + [ + 80.3917236328125, + 152.64236450195312 + ], + [ + 83.7730941772461, + 152.75601196289062 + ], + [ + 79.93666076660156, + 132.66554260253906 + ], + [ + 81.61264038085938, + 116.0954360961914 + ], + [ + 94.16703796386719, + 110.03712463378906 + ], + [ + 105.78434753417969, + 110.13880920410156 + ], + [ + 114.27885437011719, + 109.3407974243164 + ], + [ + 113.5242691040039, + 109.70369720458984 + ] + ], + "depth_max": 2.038402557373047, + "depth_min": 0.3270586431026459, + "intrinsic": [ + [ + 511.5963439941406, + 0.0, + 259.0 + ], + [ + 0.0, + 511.12481689453125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.767148493556306e-05, + 0.00013995225890539587, + -3.127886157017201e-05 + ], + [ + -4.766134588862769e-05, + 1.0, + -7.244024891406298e-05, + 2.3471075110137463e-06 + ], + [ + -0.00013995572226122022, + 7.243357686093077e-05, + 1.0, + 5.300468546920456e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 29 + ], + "object_trajectory": [ + [ + 410.0, + 257.75 + ], + [ + 410.04095458984375, + 257.9176940917969 + ], + [ + 410.3040771484375, + 257.9482727050781 + ], + [ + 409.9794616699219, + 257.9986877441406 + ], + [ + 410.1927490234375, + 258.14581298828125 + ], + [ + 409.82806396484375, + 257.999755859375 + ], + [ + 409.5777893066406, + 258.512939453125 + ], + [ + 408.56024169921875, + 260.3560791015625 + ], + [ + 410.81781005859375, + 260.095947265625 + ], + [ + 420.11883544921875, + 264.312255859375 + ], + [ + 420.7829284667969, + 264.19873046875 + ], + [ + 420.9875183105469, + 264.24639892578125 + ], + [ + 412.2276611328125, + 276.23358154296875 + ], + [ + 402.8004150390625, + 249.41018676757812 + ], + [ + 374.63421630859375, + 202.216552734375 + ], + [ + 300.0245056152344, + 191.0186767578125 + ], + [ + 211.347900390625, + 188.05728149414062 + ], + [ + 142.384765625, + 191.5673065185547 + ], + [ + 88.53250122070312, + 190.8790740966797 + ], + [ + 75.98320007324219, + 202.02052307128906 + ], + [ + 82.82701110839844, + 193.6694793701172 + ], + [ + 86.95819854736328, + 183.2868194580078 + ], + [ + 84.46833801269531, + 180.79983520507812 + ], + [ + 90.39256286621094, + 201.0165252685547 + ], + [ + 83.1932601928711, + 200.33200073242188 + ], + [ + 83.92999267578125, + 199.98980712890625 + ], + [ + 83.63733673095703, + 199.81857299804688 + ], + [ + 83.74850463867188, + 200.22100830078125 + ], + [ + 83.87559509277344, + 200.205322265625 + ], + [ + 84.04419708251953, + 200.173095703125 + ] + ] +} \ No newline at end of file diff --git a/003983_v2/lang.txt b/003983_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..b04a189e62833f0ad83507172cbfef5650af7447 --- /dev/null +++ b/003983_v2/lang.txt @@ -0,0 +1 @@ +moved the green object to the bottom left of the table diff --git a/003983_v2/object.ply b/003983_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..7b509a1db04a3297734b8acb7adcdc843b59f842 Binary files /dev/null and b/003983_v2/object.ply differ diff --git a/004014_v2/FAIL b/004014_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004014_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004015_v2/object.ply b/004015_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..7d20eac616beba24864465af6c3c4e805becd3c9 Binary files /dev/null and b/004015_v2/object.ply differ diff --git a/004031/FAIL b/004031/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/004031/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/004042_v2/FAIL b/004042_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/004042_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/004046_v2/FAIL b/004046_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/004046_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/004070/FAIL b/004070/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/004070/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/004115_v2/data.json b/004115_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..e0ceac3429e29bc4ae4c99fb269bbcfd4af6cd82 --- /dev/null +++ b/004115_v2/data.json @@ -0,0 +1,476 @@ +{ + "action_start": 5, + "action_end": 16, + "object_name": "blue spatula", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.015629000000000004, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 2.3331447884800127e-11, + -1.6835801502912418e-10, + -3.4452898867165516e-11, + 1.5061274086378505e-07, + 2.619937327280709e-07, + -2.8361614386513428e-08, + 1.0 + ], + [ + -0.004720046444287362, + -0.007837576207856271, + -0.012844183339951541, + -0.001181988045465737, + 0.01752747610460494, + -0.002802756325800978, + 1.0 + ], + [ + -0.0018233388153464092, + -0.009326714378630288, + -0.007604952099680498, + 0.00922240967776354, + -0.00447953008315233, + -0.003938019638046267, + 1.0 + ], + [ + 0.00012090301697831318, + -0.008785719335456172, + -0.0037194233503783716, + 0.0019937583775328773, + -0.007949149217592075, + -0.011135103878049925, + 1.0 + ], + [ + 0.0022666288933254064, + -0.0036859655960107254, + -0.0013858548833599674, + 0.005020949672184646, + -0.01017480315274517, + -0.004929320505647398, + 1.0 + ], + [ + 0.002106137614603709, + 0.0011971759775692165, + -0.007554098514617726, + 0.01965116081611925, + -0.00206630076500365, + 0.012297766701921859, + 1.0 + ], + [ + 0.0004374442011116919, + -0.0011983508495537927, + -0.004210994431524052, + 0.00488116254610116, + 0.006742116984632854, + -0.005923916465239264, + 0.0 + ], + [ + 0.0004499166335997784, + -7.907230822213479e-06, + 0.002260033102352347, + 0.0007749792812354399, + -0.00600134752687287, + 0.0028910454028931937, + 0.0 + ], + [ + 0.0005201072278988028, + 0.0005086631600423192, + 0.00385449201910806, + -0.013741122150592982, + -0.006311578312007811, + 0.0013927284385231674, + 0.0 + ], + [ + -9.557400296178464e-05, + 0.0033650192270678475, + 0.013383964974239444, + -0.02080287958418766, + -0.013330614794659225, + 0.0067684120190071575, + 0.0 + ], + [ + 0.004713703405107239, + 0.019343063818424655, + 0.028744710764092865, + -0.010291022148177675, + -0.05297851273277885, + 0.046152979634380226, + 0.0 + ], + [ + 0.006656237216902117, + 0.026200624083694266, + 0.01321332414988223, + 0.006248784388446811, + -0.021976521159229472, + 0.06486034455380056, + 0.0 + ], + [ + 0.014100909757057634, + 0.03676533066009859, + -0.010174361535250934, + 0.021014103539446057, + 0.02263309926543886, + 0.059152144726519404, + 0.0 + ], + [ + 0.013155220805043388, + 0.02110866840303157, + -0.011114130269012742, + 0.021110489366477074, + 0.011387159064316435, + 0.026253738954698302, + 0.0 + ], + [ + 0.015105736894426514, + 0.016046308090418265, + -0.013452339985508092, + 0.042659225919667115, + 0.012428175383079786, + 0.0044109686826085785, + 0.0 + ], + [ + 0.011428504358070635, + 0.009374084035909266, + -0.00459493142096265, + 0.020757218268623, + -0.009073191776863297, + -0.0051012260986356955, + 0.0 + ], + [ + 0.0035033093051337616, + 0.006739478603807178, + -0.0005249692125966071, + -0.014494056585809986, + -0.012719655284789575, + 0.02131074739340644, + 0.015629000000000004 + ], + [ + -0.002497953824912136, + -0.00039512211424397314, + 0.008610677245879848, + -0.02022477487718021, + -0.011123738247663238, + -0.0030006982442097583, + 1.0 + ], + [ + -0.004520424695120651, + 0.00042574129218725387, + 0.01849395078867338, + -0.026509881265815573, + -0.018866219796939972, + -0.010303220961050833, + 1.0 + ], + [ + -0.009241357937140482, + 0.0011958758772279837, + 0.023015786138472577, + -0.020169515650538525, + -0.023547438462843052, + -0.020352524797384648, + 1.0 + ], + [ + -0.005760467056970586, + 0.0025227460074718627, + 0.006904622086631715, + -0.009964845963692898, + -0.001975788643617238, + -0.014078449720341413, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 291.7382507324219, + 209.23309326171875 + ], + [ + 291.0580139160156, + 211.7468719482422 + ], + [ + 288.7602233886719, + 234.63197326660156 + ], + [ + 303.2224426269531, + 252.54507446289062 + ], + [ + 313.846923828125, + 259.54010009765625 + ], + [ + 319.8149108886719, + 264.80718994140625 + ], + [ + 320.52581787109375, + 269.62603759765625 + ], + [ + 322.58251953125, + 274.93756103515625 + ], + [ + 325.9352111816406, + 276.8155822753906 + ], + [ + 325.8887939453125, + 276.497802734375 + ], + [ + 321.4815368652344, + 273.5292663574219 + ], + [ + 306.18804931640625, + 240.48287963867188 + ], + [ + 279.4468994140625, + 201.4459686279297 + ], + [ + 251.425537109375, + 172.78797912597656 + ], + [ + 228.0231475830078, + 168.67868041992188 + ], + [ + 224.77658081054688, + 164.593017578125 + ], + [ + 225.96240234375, + 161.7581787109375 + ], + [ + 224.03890991210938, + 157.50668334960938 + ], + [ + 216.0515594482422, + 154.9583740234375 + ], + [ + 218.82553100585938, + 150.54771423339844 + ], + [ + 204.28945922851562, + 123.68324279785156 + ], + [ + 194.7250213623047, + 106.09796142578125 + ], + [ + 188.1642608642578, + 109.324462890625 + ] + ], + "depth_max": 2.0173308849334717, + "depth_min": 0.4059252142906189, + "intrinsic": [ + [ + 543.62548828125, + 0.0, + 259.0 + ], + [ + 0.0, + 542.0921020507812, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.287094973027706e-05, + 0.00013332164962776005, + -3.924460907001048e-05 + ], + [ + -5.285915540298447e-05, + 1.0, + -8.847275603329763e-05, + 7.207995622593444e-06 + ], + [ + -0.00013332634989637882, + 8.846570563036948e-05, + 1.0, + 0.00010082749940920621 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 22 + ], + "object_trajectory": [ + [ + 358.75, + 266.5000305175781 + ], + [ + 358.7880859375, + 266.8796691894531 + ], + [ + 358.8292541503906, + 266.94586181640625 + ], + [ + 358.698974609375, + 266.6379699707031 + ], + [ + 358.5770568847656, + 266.62286376953125 + ], + [ + 358.3638610839844, + 266.65338134765625 + ], + [ + 358.3657531738281, + 266.6488037109375 + ], + [ + 357.4031982421875, + 266.52911376953125 + ], + [ + 353.67657470703125, + 264.18511962890625 + ], + [ + 352.6925354003906, + 263.4905700683594 + ], + [ + 348.470703125, + 261.6076965332031 + ], + [ + 338.6523742675781, + 232.5865936279297 + ], + [ + 313.52789306640625, + 184.90499877929688 + ], + [ + 287.1044616699219, + 158.22898864746094 + ], + [ + 266.8545227050781, + 159.37301635742188 + ], + [ + 259.33624267578125, + 154.0297088623047 + ], + [ + 256.22833251953125, + 151.0802001953125 + ], + [ + 251.39224243164062, + 146.35369873046875 + ], + [ + 241.0401153564453, + 149.2710418701172 + ], + [ + 235.79962158203125, + 168.48948669433594 + ], + [ + 238.001953125, + 165.5132598876953 + ], + [ + 237.10552978515625, + 162.91275024414062 + ], + [ + 237.0201873779297, + 162.913818359375 + ] + ] +} \ No newline at end of file diff --git a/004115_v2/lang.txt b/004115_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..70c8d2201099f8b2454d41b50d9b88db3cfd872e --- /dev/null +++ b/004115_v2/lang.txt @@ -0,0 +1 @@ +moved the blue spatula to the left side of the table diff --git a/004115_v2/object.ply b/004115_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..46ee394c30e6cc7e9a2bfe73652f1acbb4988721 Binary files /dev/null and b/004115_v2/object.ply differ diff --git a/004132_v2/FAIL b/004132_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004132_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004136_v2/FAIL b/004136_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004136_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004144/data.json b/004144/data.json new file mode 100644 index 0000000000000000000000000000000000000000..9bc82f39c273ac795fc55b2010ce4e465f15f057 --- /dev/null +++ b/004144/data.json @@ -0,0 +1,513 @@ +{ + "action_start": 8, + "action_end": 20, + "object_name": "lid", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.985592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.68083, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -6.524003559604807e-11, + -3.6878487763569723e-10, + 6.117222978163639e-10, + -2.661006915899424e-07, + 2.2157910829494958e-08, + -3.2479855931025293e-07, + 1.0 + ], + [ + 0.009557851698469455, + 0.031758878441791594, + 0.006032059901588449, + 0.028547649499827382, + 0.04054542588678373, + -0.0715584815176459, + 1.0 + ], + [ + 0.012213575940498322, + 0.033620760021813995, + -0.0009831228930128194, + 0.037218965471637694, + 0.0024978118478228444, + -0.07983084262362135, + 1.0 + ], + [ + 0.010893353974334219, + 0.0314190897796109, + -0.005833195949026065, + -0.0017082674960573144, + -0.0032620981944436384, + -0.09142992610706707, + 1.0 + ], + [ + 0.010035512291106718, + 0.02086510349777948, + -0.014906408689796702, + 0.010323996857037365, + -0.024158187999000554, + -0.072864104089655, + 1.0 + ], + [ + 0.0033086355847006255, + 0.012185087270584236, + -0.01612387175200497, + -0.002563521270992455, + -0.037661413317109566, + -0.04753908030737712, + 1.0 + ], + [ + 0.002125814804149251, + 0.009380310607045233, + -0.013452665532724922, + 0.002467032437660968, + -0.02725500711702009, + -0.03666161421800782, + 1.0 + ], + [ + 0.005905705459125554, + 0.011873243150112432, + -0.004969901689301004, + 0.004366088192616149, + -0.0059792953798217955, + -0.03463812899151875, + 1.0 + ], + [ + 0.004729608348291614, + 0.01304341857526772, + -0.011529588701010493, + -0.021330646143588018, + -0.005146413777518214, + -0.03853748942322352, + 0.985592 + ], + [ + 0.00041798267814502355, + -0.00022651089434357063, + -0.0026454463980528503, + -0.012721304626498231, + 0.0040171343929575635, + 0.0042230514490105, + 0.0 + ], + [ + -0.0011366595848727457, + 0.0007312539775248122, + 0.00024962534792442176, + -0.027436030887570094, + 0.01300704709874456, + -0.003112106606709025, + 0.0 + ], + [ + -0.0023409129558700226, + -0.005252617573387117, + 0.01058167030905386, + 0.01606946624508272, + 0.010102348279480367, + 0.00040181878326869293, + 0.0 + ], + [ + 0.0007895240122669511, + -0.004001163391121512, + 0.02251721954229667, + 0.06137187532081486, + 0.006372205710309802, + -0.030805398295352802, + 0.0 + ], + [ + 0.0022237102623222094, + 0.007779209720754597, + 0.014590794558679183, + 0.047448739506592175, + 0.014485601239081752, + -0.03782386166444437, + 0.0 + ], + [ + 0.0021745859834108594, + 0.02614170626274556, + 0.00684326214542702, + 0.08006493776559019, + -0.007725787802110474, + -0.0768975001385902, + 0.0 + ], + [ + 0.0034140691548269486, + 0.03126105151527208, + -0.00264406475042199, + 0.01228589653925319, + 0.00020228606185516566, + -0.10017776711081353, + 0.0 + ], + [ + 0.006674305557915816, + 0.02566778251174636, + -0.009788737752710316, + 0.010384249821489217, + -0.016537862428509298, + -0.09248962043426524, + 0.0 + ], + [ + 0.00475396139156492, + 0.015377166907033252, + -0.009520352412944216, + -0.008330801775012104, + -0.014720863237626593, + -0.052962869949410525, + 0.0 + ], + [ + -0.0017999545366164105, + 0.009369641069534335, + -0.017036012516990717, + -0.03892266142099326, + -0.007714655061963046, + -0.018287349082487678, + 0.0 + ], + [ + -0.0038264447224803377, + -0.001323801196543184, + -0.008351277046544855, + -0.03492516567133431, + 0.004475035479070804, + 0.006912163252860104, + 0.0 + ], + [ + -0.0078078523136955735, + -0.005940468262021548, + -0.005576162194976607, + -0.0340319704440608, + 0.015477457594473124, + 0.030146145107417584, + 0.68083 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 447.9938659667969, + 230.7505340576172 + ], + [ + 448.14874267578125, + 230.98611450195312 + ], + [ + 444.7843017578125, + 239.1943359375 + ], + [ + 386.0127258300781, + 201.97607421875 + ], + [ + 351.097900390625, + 178.59408569335938 + ], + [ + 314.19317626953125, + 162.3380126953125 + ], + [ + 302.2635192871094, + 161.30126953125 + ], + [ + 290.2216796875, + 167.46824645996094 + ], + [ + 281.0977478027344, + 174.7928009033203 + ], + [ + 271.9425964355469, + 178.05987548828125 + ], + [ + 261.7480163574219, + 178.83230590820312 + ], + [ + 263.63934326171875, + 180.82073974609375 + ], + [ + 264.294189453125, + 178.6544647216797 + ], + [ + 262.6761474609375, + 177.78860473632812 + ], + [ + 267.7479553222656, + 161.9556884765625 + ], + [ + 260.7336730957031, + 139.67459106445312 + ], + [ + 231.10501098632812, + 122.1446762084961 + ], + [ + 197.9349822998047, + 101.01014709472656 + ], + [ + 190.16270446777344, + 108.52903747558594 + ], + [ + 171.7367706298828, + 106.39395904541016 + ], + [ + 166.0535888671875, + 119.6683349609375 + ], + [ + 164.8521270751953, + 122.90873718261719 + ], + [ + 166.4296875, + 137.52218627929688 + ], + [ + 166.96603393554688, + 139.1722412109375 + ], + [ + 167.1985626220703, + 139.95791625976562 + ] + ], + "depth_max": 1.660758137702942, + "depth_min": 0.4642154276371002, + "intrinsic": [ + [ + 518.1630249023438, + 0.0, + 259.0 + ], + [ + 0.0, + 519.1442260742188, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -1.5686518963775598e-05, + -9.996453445637599e-05, + 2.9868042474845424e-06 + ], + [ + 1.5683050150983036e-05, + 1.0, + -3.468866998446174e-05, + -5.810270522488281e-07 + ], + [ + 9.996507287723944e-05, + 3.468710565357469e-05, + 1.0, + 2.3589460397488438e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24 + ], + "object_trajectory": [ + [ + 246.5, + 226.50001525878906 + ], + [ + 246.6841278076172, + 226.71502685546875 + ], + [ + 246.70750427246094, + 226.6063232421875 + ], + [ + 246.55247497558594, + 226.60186767578125 + ], + [ + 246.61752319335938, + 226.6310272216797 + ], + [ + 246.63272094726562, + 226.6552734375 + ], + [ + 246.45899963378906, + 226.42486572265625 + ], + [ + 246.27919006347656, + 226.52398681640625 + ], + [ + 246.060791015625, + 226.47360229492188 + ], + [ + 245.60313415527344, + 226.55810546875 + ], + [ + 244.9385528564453, + 226.67227172851562 + ], + [ + 244.83917236328125, + 226.76089477539062 + ], + [ + 243.7027587890625, + 226.08164978027344 + ], + [ + 240.76443481445312, + 224.81076049804688 + ], + [ + 237.760009765625, + 209.07168579101562 + ], + [ + 228.15655517578125, + 185.04025268554688 + ], + [ + 208.26702880859375, + 171.8879852294922 + ], + [ + 187.37771606445312, + 153.20094299316406 + ], + [ + 174.05673217773438, + 157.32522583007812 + ], + [ + 168.78961181640625, + 157.26272583007812 + ], + [ + 165.26194763183594, + 172.85935974121094 + ], + [ + 165.69656372070312, + 176.472412109375 + ], + [ + 167.65960693359375, + 183.7190704345703 + ], + [ + 162.9408721923828, + 189.46900939941406 + ], + [ + 163.19476318359375, + 189.3352508544922 + ] + ] +} \ No newline at end of file diff --git a/004144/lang.txt b/004144/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f4fc3a9bdaad8d2b87e88da3fe081d3d5cb5f6bb --- /dev/null +++ b/004144/lang.txt @@ -0,0 +1 @@ +take lid off pot or pan diff --git a/004150_v2/data.json b/004150_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..fb28da66c22d493283022b249b1e47d3264477de --- /dev/null +++ b/004150_v2/data.json @@ -0,0 +1,604 @@ +{ + "action_start": 10, + "action_end": 22, + "object_name": "red fork", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + -2.7755575615628914e-17, + -1.3877787807814457e-17, + 3.048448723627257e-07, + -1.8167509326118588e-07, + 7.141593666965661e-07, + 1.0 + ], + [ + 0.022508276750601686, + 0.03389494593293468, + 0.009363589893558288, + -0.008751233934674418, + -0.009353236908020876, + 0.0707388996648989, + 1.0 + ], + [ + 0.022405167295089568, + 0.03975762888712433, + 0.005629267617354786, + -0.021276387229785403, + -0.01912968430938564, + 0.0926219867969632, + 1.0 + ], + [ + 0.016544823321279323, + 0.041715051508763895, + -0.006244787475736549, + -0.009244499585953416, + -0.005026179345784594, + 0.0735255308507211, + 1.0 + ], + [ + 0.010950746157927738, + 0.03932206700071901, + -0.022280449191201493, + 0.046658719771898845, + 0.002563079389869481, + 0.04223976107604593, + 1.0 + ], + [ + 0.0029996677010951656, + 0.027229824745446163, + -0.0217941265617541, + 0.04934535921856841, + 0.013325766096465944, + 0.04444738492667877, + 1.0 + ], + [ + 0.004856390136931676, + 0.014881060699233228, + -0.010551396225441573, + 0.04566808983691053, + -0.004232729823886536, + 0.024732397208279883, + 1.0 + ], + [ + 0.0020474072384922826, + 0.005395878949402855, + 0.0011278789111803106, + 0.011059981836218962, + -0.0011086574189742174, + 0.006625567856981404, + 1.0 + ], + [ + -0.00025518324162454586, + 0.010960212726105006, + 0.0010291802763399832, + 0.0052393283093883115, + -0.001592637511065659, + 0.03717267741340306, + 1.0 + ], + [ + -0.00151934721470115, + 0.006797848160292497, + -0.007475513467538594, + -0.007900127661306142, + 0.022164778201315193, + 0.02742921155123382, + 1.0 + ], + [ + -0.0008859537466380796, + 0.004694181507752304, + -0.012184323884081506, + -0.006780549437827426, + 0.038202115953550234, + 0.02603071754545535, + 1.0 + ], + [ + 0.0008317684742999432, + -0.001579333798640531, + -0.006146471098144372, + -0.008099974638876142, + 0.0030024758398789135, + 0.00580862411800717, + 0.0 + ], + [ + -0.00018125954720665804, + -0.004826197771044205, + 0.015068039850732483, + 0.004964203605460623, + -0.021796619583999147, + -0.016737959022292102, + 0.0 + ], + [ + -0.004061445735506042, + -0.008490586456444016, + 0.031308009249777814, + 0.012894360859416297, + -0.023280188050833147, + 0.02684541851910104, + 0.0 + ], + [ + -0.005145296649964992, + -0.025171391517260944, + 0.038384440360749054, + 0.026952114593268295, + -0.02294323986073385, + 0.06326848287687636, + 0.0 + ], + [ + 0.005273785816755028, + -0.046583390148853265, + 0.018798304824885315, + -0.010008628896916574, + -0.0038242490511230754, + -0.019126855812548013, + 0.0 + ], + [ + 0.01422970815748592, + -0.06691394435723626, + 0.0010249838021210017, + -0.04099021467234207, + -0.0063454078151661975, + -0.10158759263828254, + 0.0 + ], + [ + 0.012087531290437825, + -0.06571359112261543, + -0.01957387622204014, + -0.021140655713498078, + 0.024333722307699816, + -0.09003603347613301, + 0.0 + ], + [ + 0.014924529922508423, + -0.03667726032635177, + -0.026674168100095597, + -0.009692511155486947, + 0.028221259082894638, + -0.023156723583695377, + 0.0 + ], + [ + 0.01022493081962006, + -0.012911318097457856, + -0.019603920504132163, + 0.006626873767865581, + 0.02362158731120989, + -0.022475797825467093, + 0.0 + ], + [ + 0.007938465353347468, + -0.011112013283951505, + -0.016192407207324025, + 0.006582674806838947, + 0.022732835283336403, + -0.03098468556727955, + 0.0 + ], + [ + 0.007622167175205918, + -0.0008480233757778843, + -0.00038405401631508296, + 0.01996066072028697, + -0.0008596549426152398, + -0.013055679009502415, + 0.0 + ], + [ + 0.0024799084592148635, + 0.0012139568625189959, + -0.0016988193026445109, + -0.003179881346550358, + -0.0060680098140968594, + -0.00976571380797022, + 0.0 + ], + [ + -0.003480634430225671, + -0.0014195826655192326, + 0.009228735731417047, + -0.024210110703274654, + -0.029336694298026676, + -0.015153479582474462, + 1.0 + ], + [ + -0.003191377262636963, + -0.002287973335546839, + 0.025147576979448548, + -0.023215990513135908, + -0.05785727375633414, + -0.006282762029929756, + 1.0 + ], + [ + -0.010381683193694369, + 0.0017253786624696482, + 0.02638432674157728, + -0.025740112929673865, + -0.05076626036326023, + 0.021348532615817355, + 1.0 + ], + [ + -0.012107178339655744, + 0.002286843315093906, + 0.0063160381279223216, + -0.021167162464090315, + -0.007527231072416553, + 0.007536727073882228, + 1.0 + ], + [ + -0.013262487913314192, + 0.0029407808929258344, + -0.0023679372833642076, + 0.03788076518194346, + 0.030700778666136533, + 0.020770846262085144, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 349.25537109375, + 221.02037048339844 + ], + [ + 348.33270263671875, + 226.48951721191406 + ], + [ + 332.6673889160156, + 202.85516357421875 + ], + [ + 293.7005615234375, + 156.04534912109375 + ], + [ + 260.55584716796875, + 134.31277465820312 + ], + [ + 219.4242706298828, + 134.02207946777344 + ], + [ + 201.78158569335938, + 145.25469970703125 + ], + [ + 186.145263671875, + 150.32589721679688 + ], + [ + 185.55569458007812, + 145.65528869628906 + ], + [ + 178.00851440429688, + 140.91099548339844 + ], + [ + 167.33900451660156, + 146.83328247070312 + ], + [ + 168.22305297851562, + 147.88717651367188 + ], + [ + 171.99481201171875, + 146.05734252929688 + ], + [ + 172.20713806152344, + 146.41375732421875 + ], + [ + 158.896484375, + 146.1895751953125 + ], + [ + 157.31137084960938, + 105.33078002929688 + ], + [ + 200.37701416015625, + 86.63031768798828 + ], + [ + 260.9622802734375, + 94.38873291015625 + ], + [ + 331.5201110839844, + 106.01361083984375 + ], + [ + 388.62457275390625, + 148.54702758789062 + ], + [ + 414.58050537109375, + 171.97315979003906 + ], + [ + 428.27984619140625, + 189.634033203125 + ], + [ + 434.7139892578125, + 186.53347778320312 + ], + [ + 435.2437438964844, + 184.82424926757812 + ], + [ + 436.69183349609375, + 192.25100708007812 + ], + [ + 440.225341796875, + 172.03622436523438 + ], + [ + 439.9642333984375, + 152.04714965820312 + ], + [ + 438.43096923828125, + 144.62933349609375 + ], + [ + 421.0527038574219, + 154.17684936523438 + ], + [ + 418.35626220703125, + 156.395263671875 + ] + ], + "depth_max": 2.0728108882904053, + "depth_min": 0.26458585262298584, + "intrinsic": [ + [ + 556.5054931640625, + 0.0, + 259.0 + ], + [ + 0.0, + 554.6519775390625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.77841604151763e-05, + 0.00017078749078791589, + -3.4170465369243175e-05 + ], + [ + -4.777454523718916e-05, + 1.0, + -5.629155566566624e-05, + -1.6777581549831666e-05 + ], + [ + -0.0001707901683403179, + 5.628339567920193e-05, + 1.0, + 5.98860569880344e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 29 + ], + "object_trajectory": [ + [ + 204.5, + 138.0 + ], + [ + 204.89495849609375, + 138.1445770263672 + ], + [ + 204.83203125, + 138.13714599609375 + ], + [ + 204.8948211669922, + 138.02944946289062 + ], + [ + 204.73416137695312, + 138.18820190429688 + ], + [ + 204.62911987304688, + 138.10226440429688 + ], + [ + 195.51962280273438, + 144.9132537841797 + ], + [ + 194.82058715820312, + 145.2035675048828 + ], + [ + 195.57769775390625, + 145.10421752929688 + ], + [ + 194.79736328125, + 144.4905242919922 + ], + [ + 193.0980682373047, + 144.77694702148438 + ], + [ + 193.09878540039062, + 144.471923828125 + ], + [ + 192.23663330078125, + 145.45143127441406 + ], + [ + 190.01934814453125, + 146.6207275390625 + ], + [ + 180.14169311523438, + 149.60499572753906 + ], + [ + 166.8050537109375, + 123.59281921386719 + ], + [ + 201.4154815673828, + 116.84696197509766 + ], + [ + 237.59857177734375, + 130.8629150390625 + ], + [ + 312.26025390625, + 142.8014373779297 + ], + [ + 370.3122863769531, + 178.46282958984375 + ], + [ + 397.9439697265625, + 197.97390747070312 + ], + [ + 410.4679870605469, + 209.86798095703125 + ], + [ + 417.5610046386719, + 208.4160919189453 + ], + [ + 372.05670166015625, + 197.71165466308594 + ], + [ + 378.5693359375, + 200.7742919921875 + ], + [ + 424.0926513671875, + 206.80137634277344 + ], + [ + 423.2570495605469, + 209.30291748046875 + ], + [ + 422.982421875, + 208.734375 + ], + [ + 389.7120666503906, + 205.0716094970703 + ], + [ + 392.82867431640625, + 207.61328125 + ] + ] +} \ No newline at end of file diff --git a/004150_v2/lang.txt b/004150_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..db09ad622aaad866179ffdbfa4c287498b7ae1a7 --- /dev/null +++ b/004150_v2/lang.txt @@ -0,0 +1 @@ +moved the red fork on the upper right side of the table over the pot diff --git a/004150_v2/object.ply b/004150_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..507b8b3d742320ad34294443f4403bd9395b8cc0 Binary files /dev/null and b/004150_v2/object.ply differ diff --git a/004195_v2/FAIL b/004195_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/004195_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/004203/data.json b/004203/data.json new file mode 100644 index 0000000000000000000000000000000000000000..7ddfdc4a3ecc1c768e9620e051c1d6d7141cf485 --- /dev/null +++ b/004203/data.json @@ -0,0 +1,678 @@ +{ + "action_start": 13, + "action_end": 25, + "object_name": "banana", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.002929999999999988, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 2.4999952108473167e-10, + 2.089017708817309e-10, + 3.826381433924553e-10, + 5.795774256990698e-07, + -8.315954851206471e-07, + 5.471406611880118e-07, + 1.0 + ], + [ + -0.0030340288582237918, + 0.020800824694303208, + -0.0064635035820845566, + -0.061789081529586655, + 0.023097417503952583, + 0.11427011551370497, + 1.0 + ], + [ + -0.006477470863377466, + 0.01691041056760028, + -0.009223475343367038, + -0.03333393033164819, + -0.008227401720052973, + 0.059528291438003325, + 1.0 + ], + [ + -0.00463878217136765, + 0.021360157624150097, + -0.012674909049211092, + -0.06114798889979128, + -0.0660410438810586, + 0.11583310636072977, + 1.0 + ], + [ + -0.0029674960872738687, + 0.01889564193771158, + -0.020106429621560923, + -0.027275354307961543, + -0.04809729869681585, + 0.10432715799487743, + 1.0 + ], + [ + 0.0015879499906613637, + 0.01412140943655589, + -0.01659138080158551, + -0.025818721171046256, + 0.006020639199554963, + 0.11025844839355906, + 1.0 + ], + [ + -0.002246335138974903, + 0.006198525526724619, + -0.014008385796584616, + 0.007544197838994471, + 0.03562667903156787, + 0.08397849752518002, + 1.0 + ], + [ + -0.003108086483330108, + 0.002856537863480474, + -0.010595374347869821, + 0.016250608505263286, + 0.045976433401787066, + 0.055594653747331226, + 1.0 + ], + [ + -0.009996706200280758, + -0.003014101384284623, + -0.0030929123605410447, + 0.00852216248568252, + 0.05116334587881465, + 0.03172881588079398, + 1.0 + ], + [ + -0.00587844026080428, + -0.002513364986097194, + -0.002675083550184011, + 0.0114720084282626, + 0.036636211823028966, + 0.04868552466874128, + 1.0 + ], + [ + -0.0014602416551687258, + -0.0019743947168439357, + -0.006857925879254677, + 0.010635928917300374, + 0.022464265944162964, + 0.028847438092632082, + 1.0 + ], + [ + 0.0007020042310083852, + 0.0008496272408999306, + -0.011018407159459072, + 0.012979730928732489, + 0.0008062094933918441, + 0.02824861338081936, + 1.0 + ], + [ + -0.0036917947550646757, + 0.0027921148102340865, + -0.011292781935606417, + 0.017125311233914288, + 0.022057526011917756, + 0.01596334381634947, + 1.0 + ], + [ + -0.002599354182842767, + 0.0002952376651250421, + -0.005736260887058892, + 0.0026422906111139436, + -0.010910464596939349, + -0.023954664207909055, + 1.0 + ], + [ + -0.0004344218105922504, + -0.0019484552482726403, + 0.0009980130766197477, + -0.031407522749417625, + -0.051607913819619405, + -0.06165433027948494, + 0.0 + ], + [ + 0.006270831339867722, + -0.0040287684291096665, + 0.008894963039296835, + -0.0495751416191129, + 0.05590083863476503, + -0.0873510647203684, + 0.0 + ], + [ + 0.006701887069383378, + -0.0036666459988843603, + 0.01515159032162333, + 0.0005102766817830878, + -0.004075244644333998, + 0.012684186336046947, + 0.0 + ], + [ + 0.007787889587483637, + -0.013292455433663891, + 0.03175429827431829, + -0.0389247861850857, + -0.025159611247137725, + 0.026050661487747494, + 0.0 + ], + [ + 0.014095287030394116, + -0.011934751306145491, + 0.023117517358526154, + -0.034695804746223156, + -0.0067520267290663155, + 0.039401275602479115, + 0.0 + ], + [ + 0.018682997843978588, + -0.006542623408636511, + 0.022119201544987227, + -0.02597841187979073, + -0.04130166934833594, + 0.04497640365661351, + 0.0 + ], + [ + 0.023333770748485305, + 0.0053903137268180995, + 0.0056976867424570615, + -0.014110817030511286, + 0.024322468336406562, + 0.07294324771166248, + 0.0 + ], + [ + 0.028110404213534, + 0.009598244929345065, + -0.007513069064294942, + 0.01682634368779105, + 0.027746440546927854, + 0.09178138766009648, + 0.0 + ], + [ + 0.013974700280309671, + 0.014776251961883716, + -0.013207621644716797, + 0.041980592341370866, + -0.020974356959069528, + 0.02054577731704752, + 0.0 + ], + [ + 0.010658663358947884, + 0.013874365435872865, + -0.011855474398063823, + 0.02849661399985361, + -0.0005293130354711848, + 0.03022964520113255, + 0.0 + ], + [ + 0.006938309189625069, + 0.00981549629404091, + -0.008310970210557433, + 0.0274454645198143, + -0.009852958945823864, + 0.014288973369878472, + 0.0 + ], + [ + -3.4543744636628126e-05, + 0.0007988335562888194, + -0.0071245222211187564, + 0.017455122096469346, + 0.023036295211557065, + -0.024371700684257216, + 0.002929999999999988 + ], + [ + -0.002044132990377978, + -0.0012775623791129176, + 0.0015149165089372446, + 0.008244552383425068, + -0.008211476309293352, + -0.01889679733286249, + 1.0 + ], + [ + -0.0030091852740940506, + -0.010517804413970266, + 0.017192761290077574, + -0.01519720362734879, + -0.0423328193913615, + -0.031658419537334996, + 1.0 + ], + [ + -0.00856891599676296, + -0.01617919751683486, + 0.019994253456726938, + -0.025156070509255696, + -0.03441074402493035, + -0.0504621413827059, + 1.0 + ], + [ + -0.01346911933317041, + -0.02282330765499517, + 0.02095197391881469, + -0.027145590546988986, + -0.010772533699451603, + -0.0789879724100025, + 1.0 + ], + [ + -0.010055328488319915, + -0.019167909904954844, + 0.02166270963647897, + -0.018496211813037955, + 0.004189443684969505, + -0.08337370047330113, + 1.0 + ], + [ + -0.0014759988003438251, + -0.00554750063559558, + 0.011327575161932446, + 0.05270626598938489, + 0.048202449369080844, + -0.13992116428554927, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 242.43124389648438, + 70.67957305908203 + ], + [ + 241.1264190673828, + 77.646728515625 + ], + [ + 240.61427307128906, + 93.37787628173828 + ], + [ + 184.7932891845703, + 98.0645751953125 + ], + [ + 179.3777618408203, + 118.96241760253906 + ], + [ + 143.4210968017578, + 137.68209838867188 + ], + [ + 127.56568908691406, + 151.9736785888672 + ], + [ + 133.0018310546875, + 166.28274536132812 + ], + [ + 124.33548736572266, + 180.56407165527344 + ], + [ + 116.03851318359375, + 197.15487670898438 + ], + [ + 113.6131362915039, + 207.6513214111328 + ], + [ + 118.24928283691406, + 211.31472778320312 + ], + [ + 121.56997680664062, + 222.12904357910156 + ], + [ + 121.01873779296875, + 231.80723571777344 + ], + [ + 126.23268127441406, + 238.67379760742188 + ], + [ + 128.70147705078125, + 243.30630493164062 + ], + [ + 124.86559295654297, + 238.6871337890625 + ], + [ + 136.2071990966797, + 227.30484008789062 + ], + [ + 139.15957641601562, + 200.6334228515625 + ], + [ + 155.32070922851562, + 160.96078491210938 + ], + [ + 182.39218139648438, + 125.09447479248047 + ], + [ + 191.13067626953125, + 79.92315673828125 + ], + [ + 198.7491912841797, + 67.07579803466797 + ], + [ + 210.28977966308594, + 72.17962646484375 + ], + [ + 212.36483764648438, + 78.40763854980469 + ], + [ + 198.25253295898438, + 79.34053802490234 + ], + [ + 193.2886962890625, + 83.32221984863281 + ], + [ + 194.68487548828125, + 88.45286560058594 + ], + [ + 200.80050659179688, + 92.88469696044922 + ], + [ + 201.375, + 74.2898941040039 + ], + [ + 203.07986450195312, + 58.54954528808594 + ], + [ + 216.87014770507812, + 40.24839782714844 + ], + [ + 221.8463134765625, + 31.895612716674805 + ], + [ + 222.56240844726562, + 28.609477996826172 + ] + ], + "depth_max": 2.6490445137023926, + "depth_min": 0.51933753490448, + "intrinsic": [ + [ + 563.0497436523438, + 0.0, + 259.0 + ], + [ + 0.0, + 563.1094970703125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.52828207926359e-05, + -1.792636794561986e-05, + 7.132061909942422e-06 + ], + [ + -4.528337376541458e-05, + 1.0, + -3.084616400883533e-05, + -9.383987162436824e-06 + ], + [ + 1.7924970961757936e-05, + 3.084697891608812e-05, + 1.0, + 1.483584401285043e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33 + ], + "object_trajectory": [ + [ + 122.75, + 247.25 + ], + [ + 123.04293060302734, + 247.21463012695312 + ], + [ + 122.87921142578125, + 247.13327026367188 + ], + [ + 122.70917510986328, + 246.94729614257812 + ], + [ + 122.66742706298828, + 247.12538146972656 + ], + [ + 122.18367767333984, + 246.8390350341797 + ], + [ + 122.20210266113281, + 247.1062774658203 + ], + [ + 122.40514373779297, + 247.2349090576172 + ], + [ + 122.40487670898438, + 246.9957733154297 + ], + [ + 122.29885864257812, + 246.95396423339844 + ], + [ + 122.48419189453125, + 246.97267150878906 + ], + [ + 122.75263214111328, + 246.84658813476562 + ], + [ + 122.53315734863281, + 246.89447021484375 + ], + [ + 122.31598663330078, + 246.9922332763672 + ], + [ + 122.46147155761719, + 246.91201782226562 + ], + [ + 124.77676391601562, + 245.75567626953125 + ], + [ + 126.40467071533203, + 243.16485595703125 + ], + [ + 137.7789306640625, + 232.85690307617188 + ], + [ + 144.8440704345703, + 213.28868103027344 + ], + [ + 161.6304931640625, + 176.5094757080078 + ], + [ + 189.70101928710938, + 142.70455932617188 + ], + [ + 201.42698669433594, + 100.78868103027344 + ], + [ + 207.19662475585938, + 91.24150085449219 + ], + [ + 215.4886474609375, + 92.41860961914062 + ], + [ + 217.09024047851562, + 97.90962219238281 + ], + [ + 208.49465942382812, + 102.59959411621094 + ], + [ + 200.6587371826172, + 108.40399932861328 + ], + [ + 201.6239471435547, + 132.8880615234375 + ], + [ + 203.9438934326172, + 140.9689178466797 + ], + [ + 199.2520294189453, + 143.05300903320312 + ], + [ + 198.73912048339844, + 142.75392150878906 + ], + [ + 199.1839141845703, + 142.72093200683594 + ], + [ + 199.15000915527344, + 142.74002075195312 + ], + [ + 199.52122497558594, + 142.68243408203125 + ] + ] +} \ No newline at end of file diff --git a/004203/lang.txt b/004203/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2a54d1c3e4ece32d78772c0149fbedd236ea75cc --- /dev/null +++ b/004203/lang.txt @@ -0,0 +1 @@ +put banana in pot cardboard fence diff --git a/004203/object.ply b/004203/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..8645466ea822703e8bdeb90ef181ad4ce188572d Binary files /dev/null and b/004203/object.ply differ diff --git a/004220/FAIL b/004220/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/004220/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/004220_v2/data.json b/004220_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..86fb0ddfc93f409bdfbdbd4a1f0c1927f8dec344 --- /dev/null +++ b/004220_v2/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 10, + "action_end": 22, + "object_name": "red object", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.43150200000000005, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.07081800000000005, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 0.0, + 1.3877787807814457e-17, + 9.364686698307234e-07, + 3.956291649544238e-07, + -1.187310495216437e-07, + 1.0 + ], + [ + -0.01890617236012465, + -0.00449996209759751, + -0.0079417275190658, + -0.036159172073083085, + -0.03697563633642479, + -0.023967661540145943, + 1.0 + ], + [ + -0.03143377832966765, + -0.007467742108504344, + 0.0026411135391911783, + -0.04381829039248084, + -0.007007345798122112, + -0.04111034365170314, + 1.0 + ], + [ + -0.03583226992260641, + -0.010340757714220966, + -0.0008253926511286869, + 0.016308023615776258, + -0.002866479360733902, + -0.069441474176545, + 1.0 + ], + [ + -0.02092761118169928, + -0.0085732576354281, + -0.0018944965798090713, + 0.050158450777131276, + -0.021054808251811333, + -0.041744588243120384, + 1.0 + ], + [ + -0.006582077978278478, + -0.012121875678955951, + -0.0009789142132135553, + -0.0029511708546210522, + -0.022382301691300895, + -0.016116778584516895, + 1.0 + ], + [ + -0.003003262160973519, + -0.010440257057883512, + -0.005679342252650696, + 0.01489800664144058, + -0.010315907797877479, + -0.021668074935015515, + 1.0 + ], + [ + -0.0019084993341650924, + -0.008814369790057147, + -0.015078253992453633, + 0.021276646718166942, + 0.029410956028577427, + -0.008216113056785932, + 1.0 + ], + [ + 0.0008198417681021253, + -0.0009353594847774926, + -0.0110417036635969, + 0.03582175606402127, + 0.020655716858672124, + 0.010788884554925852, + 1.0 + ], + [ + 0.0006905468705702966, + 0.0038635170648238237, + -0.0033438669396333026, + 0.01890844054277459, + 0.00888750199166896, + 0.02218260533519874, + 1.0 + ], + [ + 0.00033445599141038174, + 0.00257921834965201, + -0.0015584145108568162, + 0.004566266237342909, + 0.005176514374092709, + 0.00831384764435912, + 0.43150200000000005 + ], + [ + 0.00013082117461415965, + 0.0027701125557020173, + -0.0021167572999169146, + 0.005821961175439727, + 0.007997308051676802, + 0.00970522016837738, + 0.0 + ], + [ + 2.555526507660999e-05, + 0.0033175873660488686, + -0.002536657242189766, + 0.017176635429029148, + 0.01773884847066865, + 0.009344309672312558, + 0.0 + ], + [ + 0.006439461566678323, + -0.0034851987284373886, + 0.014907741416967303, + -0.016559662156370593, + -0.02237138348808865, + -0.0016101092091250638, + 0.0 + ], + [ + 0.025153553031942888, + -0.028082464753069927, + 0.04686209013156593, + -0.03690103787179678, + -0.10111348524993662, + -0.03481485788243938, + 0.0 + ], + [ + 0.02268834693507349, + -0.030721313833688674, + 0.031025997854636625, + -0.0202679242762359, + -0.08244961464077036, + -0.0412615484296573, + 0.0 + ], + [ + 0.02559714431909077, + -0.02914727404544698, + 0.005242683660664715, + -0.030904917189123988, + -0.013456626356679489, + -0.03328630819663128, + 0.0 + ], + [ + 0.025457782847087773, + -0.014320752986509137, + -0.0148575077382406, + 0.0005537561545532162, + 0.03097057166447676, + 0.010449074284976264, + 0.0 + ], + [ + 0.01761263473383956, + -0.004215937936246365, + -0.023660514467050794, + 0.019304014842064867, + 0.04138206011182947, + 0.016268366428182635, + 0.0 + ], + [ + 0.012607005497742518, + -0.008549830599444402, + -0.0227811734739852, + 0.02896487281611976, + 0.03602722001688306, + -0.01068293796947256, + 0.0 + ], + [ + 0.0091708555027602, + -0.009320988061144586, + -0.010573929669181636, + 0.003021968075805816, + 0.012937002012259044, + -0.01432628523630168, + 0.0 + ], + [ + 0.003964001330244327, + -0.006541659072601361, + -0.00551392411485134, + 0.003744152279171317, + 0.005284248673996926, + -0.0069248770209154355, + 0.0 + ], + [ + 0.001103572501317096, + -0.0012035643678795487, + -0.002647716936724498, + -0.0009157893320903943, + 0.007293434196329308, + 0.004695654432237625, + 0.07081800000000005 + ], + [ + 0.0002451766846844894, + 0.002212611465031815, + 0.0130225166374386, + 0.0018976664465695206, + -0.007477231430809934, + 0.015608661828234963, + 1.0 + ], + [ + -0.0074082866653204515, + 0.007451810160441032, + 0.03023824174439138, + 0.06901253021555255, + 0.004296614963205878, + 0.07276426719019596, + 1.0 + ], + [ + -0.013268105596809687, + 0.01185632948454362, + 0.01313862818720711, + 0.041187174680365486, + 0.0243631928009162, + 0.05427634463656457, + 1.0 + ], + [ + -0.010750429245897752, + 0.012640647470774482, + -0.014664127796562773, + 0.0012084367597495812, + 0.07159365098911645, + 0.06729224199282688, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 172.71788024902344, + 40.02986145019531 + ], + [ + 173.34371948242188, + 45.764427185058594 + ], + [ + 181.836669921875, + 96.23600769042969 + ], + [ + 160.33934020996094, + 109.45096588134766 + ], + [ + 133.03358459472656, + 130.56768798828125 + ], + [ + 122.89183044433594, + 150.68179321289062 + ], + [ + 121.38533020019531, + 161.89828491210938 + ], + [ + 130.88279724121094, + 176.35848999023438 + ], + [ + 144.38839721679688, + 195.55667114257812 + ], + [ + 150.41470336914062, + 205.59776306152344 + ], + [ + 148.25238037109375, + 208.08665466308594 + ], + [ + 145.92648315429688, + 212.37109375 + ], + [ + 146.05572509765625, + 211.96334838867188 + ], + [ + 144.0381622314453, + 208.76040649414062 + ], + [ + 142.61903381347656, + 206.52093505859375 + ], + [ + 167.5320587158203, + 172.73133850097656 + ], + [ + 219.2024383544922, + 112.044189453125 + ], + [ + 265.5997009277344, + 75.30908203125 + ], + [ + 316.3136901855469, + 76.67747497558594 + ], + [ + 341.4823913574219, + 94.366943359375 + ], + [ + 350.7791442871094, + 117.14246368408203 + ], + [ + 375.5081787109375, + 135.77490234375 + ], + [ + 378.6079406738281, + 138.96131896972656 + ], + [ + 389.12615966796875, + 145.62628173828125 + ], + [ + 388.596923828125, + 144.2559051513672 + ], + [ + 378.9901123046875, + 131.02273559570312 + ], + [ + 371.93780517578125, + 95.22401428222656 + ], + [ + 363.1481018066406, + 95.886474609375 + ], + [ + 346.76104736328125, + 94.84922790527344 + ] + ], + "depth_max": 1.9113205671310425, + "depth_min": 0.536598801612854, + "intrinsic": [ + [ + 540.2545776367188, + 0.0, + 259.0 + ], + [ + 0.0, + 539.1805419921875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.423955371952616e-05, + 0.0001802709884941578, + -1.3056299394520465e-05 + ], + [ + -5.4230913519859314e-05, + 1.0, + -4.7925172111717984e-05, + -1.3112014130456373e-05 + ], + [ + -0.00018027357873506844, + 4.791539686266333e-05, + 1.0, + 3.597686009015888e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 162.25, + 226.5 + ], + [ + 162.64776611328125, + 226.8300323486328 + ], + [ + 162.6743621826172, + 226.68798828125 + ], + [ + 162.62144470214844, + 226.80963134765625 + ], + [ + 162.70228576660156, + 226.82144165039062 + ], + [ + 162.5868682861328, + 226.6673583984375 + ], + [ + 162.66995239257812, + 226.74249267578125 + ], + [ + 162.61575317382812, + 226.77377319335938 + ], + [ + 162.82223510742188, + 227.14340209960938 + ], + [ + 164.9412078857422, + 228.19580078125 + ], + [ + 165.74740600585938, + 228.6065673828125 + ], + [ + 167.9230499267578, + 228.65277099609375 + ], + [ + 168.491943359375, + 227.83755493164062 + ], + [ + 166.40673828125, + 225.52468872070312 + ], + [ + 164.49118041992188, + 224.17822265625 + ], + [ + 174.6009521484375, + 198.89874267578125 + ], + [ + 222.50302124023438, + 142.20091247558594 + ], + [ + 264.91900634765625, + 113.55877685546875 + ], + [ + 309.1672668457031, + 110.96961975097656 + ], + [ + 331.90484619140625, + 125.15733337402344 + ], + [ + 338.5882873535156, + 143.52349853515625 + ], + [ + 361.95697021484375, + 163.84732055664062 + ], + [ + 364.3529357910156, + 165.62371826171875 + ], + [ + 373.3988342285156, + 169.82196044921875 + ], + [ + 369.7253112792969, + 169.1729278564453 + ], + [ + 366.4817810058594, + 168.1877899169922 + ], + [ + 367.1507568359375, + 167.05154418945312 + ], + [ + 366.9871826171875, + 167.2766876220703 + ], + [ + 367.18511962890625, + 166.86761474609375 + ] + ] +} \ No newline at end of file diff --git a/004220_v2/lang.txt b/004220_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..95ae67d5448547ea2abf25dea237ca7e595f3e3f --- /dev/null +++ b/004220_v2/lang.txt @@ -0,0 +1 @@ +Put the red object in the silver pot. diff --git a/004220_v2/object.ply b/004220_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..26e9582e391332040cbddd10311892b00ffff937 Binary files /dev/null and b/004220_v2/object.ply differ diff --git a/004235_v2/data.json b/004235_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..2cd4d5373d5b242caf5dff4164c0916a7481e0c8 --- /dev/null +++ b/004235_v2/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 7, + "action_end": 17, + "object_name": "orange fork", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.991697, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 5.551115123125783e-17, + 0.0, + 0.0, + 1.888606552558105e-07, + -4.350994102886654e-07, + 3.548907347212517e-07, + 1.0 + ], + [ + 0.02255267131197597, + 0.0022626666980012644, + -0.012588840988284444, + -0.0036550086497211466, + -0.00201914564769088, + 0.021744265694918236, + 1.0 + ], + [ + 0.022510410653151514, + 0.00018606365436744932, + -0.01624489375074918, + -0.007316084432541039, + 0.011442528606742438, + 0.025861909605850955, + 1.0 + ], + [ + 0.022775284365693982, + 0.0003087442906209714, + -0.01078131075183783, + 0.016180577337027848, + -0.010271063702431266, + 0.015065981040244963, + 1.0 + ], + [ + 0.018443732917647115, + 0.0023104281010076916, + -0.011687816753989139, + -0.01933589182867501, + -0.00652900496237144, + 0.02694168182797812, + 1.0 + ], + [ + 0.008346945739861777, + -0.003488638753240611, + -0.012112003265810772, + -0.028885374779396546, + 0.001846800264981674, + 0.01207242701546291, + 1.0 + ], + [ + -0.0006391513509437785, + -0.007754431495213723, + -0.011037007314836547, + -0.03354949382892634, + 0.012107120412658842, + 0.0013457040858240012, + 1.0 + ], + [ + -0.005168417146847071, + -0.011246731715340685, + -0.013756887419439309, + -0.02499572708822037, + 0.030698603971842472, + -0.020839989801721456, + 0.991697 + ], + [ + -0.0038086210808812027, + 0.0005740701070194587, + 0.0006847947206453583, + 0.013508815974512613, + 0.004400517379138777, + -0.02321821275485695, + 0.0 + ], + [ + -0.0010016870598659744, + 0.00669361566670118, + 0.00773515469277801, + 0.0017931373898562469, + -0.012817652829325536, + -0.008136910191132359, + 0.0 + ], + [ + -0.001199541268421589, + 0.015188671703647988, + 0.016373516753546445, + 0.003946376678832201, + -0.03303624954088581, + 0.0010492634050853766, + 0.0 + ], + [ + 0.0005819289771240022, + 0.02220702425575226, + 0.01966358582087291, + -0.0010771223122727977, + -0.04145959886481266, + 0.014731607245536436, + 0.0 + ], + [ + -0.006700935153284404, + 0.029062287360867606, + 0.00737226609473824, + -0.0005214989083017354, + -0.02043322814061059, + -0.011792751931443362, + 0.0 + ], + [ + -0.0102191505034388, + 0.029182690647273996, + -0.003913645143497561, + 0.019587969363924044, + 0.024465771014300808, + 0.028858368512022343, + 0.0 + ], + [ + -0.0036201153598380276, + 0.020985555781673937, + -0.005442608726896003, + 0.013354141400938307, + 0.012751727552312672, + 0.02901638685691445, + 0.0 + ], + [ + -0.00407973299498815, + 0.014350476595206385, + -0.012354540003459223, + 0.016692297906976076, + 0.032688699512613495, + 0.014299740398469282, + 0.0 + ], + [ + -0.004813052614818403, + 0.006881168176821689, + -0.011952375164489715, + 0.020245906564806435, + 0.04330562553143776, + -0.0035806001611610443, + 0.0 + ], + [ + -0.005059631663095643, + 0.0028378375145723667, + -0.010002087191112133, + 0.01413384379492825, + 0.03503918769179439, + -0.013322658479708097, + 0.0 + ], + [ + -0.0011620784570865461, + -0.005213551302504393, + 0.003193782409756679, + 0.0035094287766817838, + 0.01023806474767232, + -0.03680123905786232, + 1.0 + ], + [ + -0.0009015662156240389, + -0.00967532206134708, + 0.029828470575351415, + 0.039394936329063324, + -0.027727034045814482, + -0.03786710306229221, + 1.0 + ], + [ + -0.0038780258575738524, + -0.005181385571161323, + 0.027604742533353682, + 0.005531132259628277, + -0.03439341516734146, + -0.01566391095617373, + 1.0 + ], + [ + -0.00831639253049904, + -0.0015576785609297261, + 0.020032925857773776, + -0.015401410781092096, + -0.01698148592382361, + 0.025257232775593268, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 193.27325439453125, + 90.96363830566406 + ], + [ + 193.61093139648438, + 93.0760269165039 + ], + [ + 201.83746337890625, + 110.83979797363281 + ], + [ + 225.38299560546875, + 112.894775390625 + ], + [ + 243.50717163085938, + 116.78935241699219 + ], + [ + 256.9670104980469, + 115.60216522216797 + ], + [ + 268.49713134765625, + 127.86538696289062 + ], + [ + 275.4010009765625, + 135.1124725341797 + ], + [ + 279.50653076171875, + 138.30685424804688 + ], + [ + 281.3379821777344, + 138.21768188476562 + ], + [ + 282.2226867675781, + 135.86825561523438 + ], + [ + 280.1395568847656, + 139.02005004882812 + ], + [ + 254.94271850585938, + 136.70697021484375 + ], + [ + 221.86459350585938, + 111.11519622802734 + ], + [ + 182.94398498535156, + 103.53474426269531 + ], + [ + 154.46078491210938, + 95.02011108398438 + ], + [ + 139.9441680908203, + 101.50421142578125 + ], + [ + 129.28475952148438, + 114.44108581542969 + ], + [ + 128.89340209960938, + 117.78271484375 + ], + [ + 127.57217407226562, + 117.65003967285156 + ], + [ + 124.75666046142578, + 124.41999816894531 + ], + [ + 124.68948364257812, + 93.94088745117188 + ], + [ + 118.03276062011719, + 67.35826110839844 + ], + [ + 112.47721862792969, + 57.49798583984375 + ] + ], + "depth_max": 1.918180227279663, + "depth_min": 0.484845370054245, + "intrinsic": [ + [ + 515.5558471679688, + 0.0, + 259.0 + ], + [ + 0.0, + 515.1974487304688, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.24101487826556e-05, + 5.8281817473471165e-05, + -6.675748409179505e-06 + ], + [ + -5.240792961558327e-05, + 1.0, + -3.810016642091796e-05, + -1.374974635837134e-05 + ], + [ + -5.828381108585745e-05, + 3.809711051872e-05, + 1.0, + 4.072718184033874e-06 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 288.0, + 152.5 + ], + [ + 288.376220703125, + 152.5825653076172 + ], + [ + 288.2994689941406, + 152.49713134765625 + ], + [ + 288.68035888671875, + 152.4898223876953 + ], + [ + 288.50946044921875, + 152.821533203125 + ], + [ + 288.4647216796875, + 152.90695190429688 + ], + [ + 288.15167236328125, + 152.86517333984375 + ], + [ + 286.5196533203125, + 152.56036376953125 + ], + [ + 285.34930419921875, + 152.89337158203125 + ], + [ + 284.21014404296875, + 153.69122314453125 + ], + [ + 281.08709716796875, + 154.11053466796875 + ], + [ + 277.13018798828125, + 158.67039489746094 + ], + [ + 254.61032104492188, + 154.8621368408203 + ], + [ + 220.53701782226562, + 135.46261596679688 + ], + [ + 181.38458251953125, + 127.23601531982422 + ], + [ + 151.70684814453125, + 118.44126892089844 + ], + [ + 137.840576171875, + 125.57770538330078 + ], + [ + 127.50032043457031, + 142.20111083984375 + ], + [ + 128.0413818359375, + 143.63287353515625 + ], + [ + 127.06578826904297, + 142.88253784179688 + ], + [ + 127.09387969970703, + 139.88156127929688 + ], + [ + 129.09686279296875, + 138.88992309570312 + ], + [ + 130.56771850585938, + 137.45252990722656 + ], + [ + 130.64804077148438, + 136.997802734375 + ] + ] +} \ No newline at end of file diff --git a/004235_v2/lang.txt b/004235_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..8da243d67c8cd9e3f13cfab4c80962a7705d5aee --- /dev/null +++ b/004235_v2/lang.txt @@ -0,0 +1 @@ +move the orange fork to the left side of the table diff --git a/004235_v2/object.ply b/004235_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..a3977e18a73edba3595a1307d7f65f26fb1e94cc Binary files /dev/null and b/004235_v2/object.ply differ diff --git a/004256_v2/FAIL b/004256_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004256_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004313/data.json b/004313/data.json new file mode 100644 index 0000000000000000000000000000000000000000..612415b62807ce1f20f556043f79ea39ec44f1f2 --- /dev/null +++ b/004313/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 7, + "action_end": 20, + "object_name": "bowl", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.045421000000000045, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.6864677149518457e-11, + 2.443875830870912e-12, + 3.1397801025789818e-12, + -4.1725432747600486e-07, + -9.760661188466085e-08, + 5.422460644418149e-08, + 1.0 + ], + [ + -0.016408883691375165, + -0.022112510349459078, + -0.013630020781114971, + -0.024302612470811624, + 0.027792898768192843, + -0.10198719442699514, + 1.0 + ], + [ + -0.01588572916046238, + -0.0009967647286998269, + -0.008122971343420507, + -0.07227110453900194, + -0.0068228408552322, + -0.11231423240564652, + 1.0 + ], + [ + -0.010856740705256218, + 0.008664789322871201, + -0.013929366495368495, + -0.025216891723803186, + -0.014740869030992256, + -0.05974530106651526, + 1.0 + ], + [ + -0.009399344218444211, + -0.0020509725466111017, + -0.015092236397356407, + 0.022774967966932375, + 0.013665031976569273, + -0.034620835061025756, + 1.0 + ], + [ + -0.001595588546040222, + 0.0007601157894289636, + -0.012894796219281433, + 0.006781763729557893, + 0.010576195366926494, + -0.0017914970744793651, + 1.0 + ], + [ + 0.000560581440814889, + 0.0004342022341365763, + -0.006756187651820643, + 0.005629050364467692, + -0.010265339720758522, + 0.0005268621984314486, + 1.0 + ], + [ + -0.0009618306095134643, + 0.0021811192506146146, + -0.003741567864255897, + 0.00870654515986822, + 0.012533208825594989, + 0.004155736639965207, + 0.045421000000000045 + ], + [ + 0.0022330770835928826, + 0.003138329536023683, + 0.005872154467232771, + -0.024655840557086098, + -0.01553275044876281, + 0.04726420630214847, + 0.0 + ], + [ + 0.0024210100276725044, + 0.0029981154624897505, + 0.003642098785231777, + -0.014727178876469935, + 0.004969719263250886, + 0.03773193087739424, + 0.0 + ], + [ + 0.0020145695542757858, + 0.0028562679130036597, + 0.0054636134872435, + -0.02251354305377863, + 0.003381187581255841, + 0.05497636108080495, + 0.0 + ], + [ + 0.00856816940359223, + 0.006651205345363832, + 0.012071643593456308, + -0.03560464300011081, + -0.015217966340500587, + 0.08649336925800798, + 0.0 + ], + [ + 0.022970153542694466, + 0.017332184392039755, + 0.018749032225459986, + -0.013018597909839265, + -0.052310643803994014, + 0.20411111031576834, + 0.0 + ], + [ + 0.022934272424845914, + 0.02499140023269928, + 0.01672559922100688, + 0.004716664582326167, + -0.06770835996918911, + 0.22133149147496944, + 0.0 + ], + [ + 0.01190094878982978, + 0.023900902146898648, + 0.002945418587978338, + 0.039166013450732555, + -0.012913934202720023, + 0.138179085764879, + 0.0 + ], + [ + 0.008894294797311852, + 0.0162067957682073, + -0.0037497084882993637, + 0.00822104029944431, + 0.013277305550670483, + 0.06441904084466446, + 0.0 + ], + [ + 0.007267822107989652, + 0.014329218492950338, + -0.003953941063376029, + 0.0011633578174102398, + 0.0285753455753362, + 0.08057842073171588, + 0.0 + ], + [ + 0.003514859391492653, + 0.010263386013370498, + -0.007914504053275866, + 0.011933504837409235, + 0.03138284024078042, + 0.046560080002240524, + 0.0 + ], + [ + 0.0022763487561683338, + 0.0042490475644448855, + -0.0026121594449265914, + 0.0025234220891704666, + 0.015601195711333489, + 0.022942504431952396, + 0.0 + ], + [ + -0.002272176552886418, + -0.0020878159952271297, + -0.00680797325174929, + 0.006197429659612801, + 0.021860976059535804, + -0.016194415819505686, + 0.0 + ], + [ + -0.0010773898077748312, + -0.0034005723039043506, + -0.0022361697635649366, + 0.00816495291652607, + 0.01878218693007513, + -0.014971099686088942, + 0.0 + ], + [ + 0.0031890759876313512, + -0.0004344304326784898, + 0.0027102646354671897, + -0.004677376165647747, + 0.00902071185590724, + 0.013136363748459752, + 1.0 + ], + [ + 0.002536593504641138, + -0.0032632947393675116, + 0.009668303765070892, + -0.007634012432900826, + -0.0219433381735281, + 0.0016890106278677854, + 1.0 + ], + [ + 0.0036978902919047596, + -0.0076969658262359825, + 0.014386678512492222, + -0.024492133306490544, + -0.03657294247525054, + -0.016477108374605032, + 1.0 + ], + [ + 0.002650682130942994, + -0.013550225666773177, + 0.02029016582482414, + -0.014195926506492073, + -0.053810983899789756, + -0.03273685946274289, + 1.0 + ], + [ + 0.00041485141111602397, + -0.0118353798506044, + 0.02374501692919387, + 0.008288407539727318, + -0.05386028469533631, + -0.06042627076363254, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 313.950927734375, + 150.60244750976562 + ], + [ + 313.58453369140625, + 153.90139770507812 + ], + [ + 310.9762878417969, + 194.70513916015625 + ], + [ + 340.1570739746094, + 247.36990356445312 + ], + [ + 297.01300048828125, + 256.8302307128906 + ], + [ + 293.3183898925781, + 276.3788757324219 + ], + [ + 302.7235412597656, + 298.2972412109375 + ], + [ + 293.056884765625, + 297.6527099609375 + ], + [ + 291.6279296875, + 301.7323303222656 + ], + [ + 292.0299072265625, + 305.4992370605469 + ], + [ + 281.4547119140625, + 304.515625 + ], + [ + 278.60064697265625, + 296.3594055175781 + ], + [ + 278.5855407714844, + 277.1823425292969 + ], + [ + 272.95733642578125, + 230.42730712890625 + ], + [ + 259.5592956542969, + 185.25796508789062 + ], + [ + 210.36221313476562, + 150.42376708984375 + ], + [ + 214.98495483398438, + 137.6397705078125 + ], + [ + 217.41128540039062, + 127.43891906738281 + ], + [ + 199.34051513671875, + 129.32774353027344 + ], + [ + 191.99940490722656, + 132.51654052734375 + ], + [ + 192.4114990234375, + 137.62368774414062 + ], + [ + 190.8629608154297, + 137.4903564453125 + ], + [ + 189.0172119140625, + 142.2574005126953 + ], + [ + 203.91329956054688, + 138.49925231933594 + ], + [ + 212.23936462402344, + 133.36819458007812 + ], + [ + 176.16253662109375, + 122.81571960449219 + ], + [ + 225.23947143554688, + 77.80908203125 + ], + [ + 237.56407165527344, + 64.3638916015625 + ] + ], + "depth_max": 1.7809714078903198, + "depth_min": 0.34581202268600464, + "intrinsic": [ + [ + 561.1646728515625, + 0.0, + 259.0 + ], + [ + 0.0, + 561.2299194335938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.452304321806878e-05, + -2.448602390359156e-05, + -5.2670275181299075e-06 + ], + [ + -5.452441837405786e-05, + 1.0, + -5.602446253760718e-05, + -1.4213560461939778e-05 + ], + [ + 2.44829680013936e-05, + 5.6025794037850574e-05, + 1.0, + 6.633355951635167e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 329.0, + 356.2500305175781 + ], + [ + 328.97235107421875, + 356.4469909667969 + ], + [ + 329.0032043457031, + 356.377685546875 + ], + [ + 329.42449951171875, + 355.9736328125 + ], + [ + 329.36749267578125, + 356.25067138671875 + ], + [ + 329.261474609375, + 356.2608947753906 + ], + [ + 329.24639892578125, + 356.501953125 + ], + [ + 328.93975830078125, + 356.05401611328125 + ], + [ + 329.1033020019531, + 356.4126281738281 + ], + [ + 329.47015380859375, + 356.7984313964844 + ], + [ + 329.6325378417969, + 356.75750732421875 + ], + [ + 332.36053466796875, + 345.61328125 + ], + [ + 335.1834716796875, + 324.0927734375 + ], + [ + 331.0221252441406, + 267.9147033691406 + ], + [ + 311.8875732421875, + 212.7083740234375 + ], + [ + 294.8101806640625, + 175.6169891357422 + ], + [ + 276.69415283203125, + 160.2613983154297 + ], + [ + 267.7994384765625, + 154.35557556152344 + ], + [ + 256.5695495605469, + 152.50486755371094 + ], + [ + 249.2537841796875, + 156.4134521484375 + ], + [ + 245.89749145507812, + 160.32595825195312 + ], + [ + 243.99343872070312, + 160.9387664794922 + ], + [ + 238.55091857910156, + 175.66641235351562 + ], + [ + 253.49667358398438, + 176.7610626220703 + ], + [ + 256.9833984375, + 176.2013702392578 + ], + [ + 257.69891357421875, + 176.18765258789062 + ], + [ + 257.6575927734375, + 176.10247802734375 + ], + [ + 258.38372802734375, + 176.17388916015625 + ] + ] +} \ No newline at end of file diff --git a/004313/lang.txt b/004313/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..7896894fb7d0e82303aaa4d736b4b6fc0f85e6b5 --- /dev/null +++ b/004313/lang.txt @@ -0,0 +1 @@ +put bowl on plate diff --git a/004322_v2/FAIL b/004322_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004322_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004335_v2/FAIL b/004335_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/004335_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/004337_v2/FAIL b/004337_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004337_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004355/data.json b/004355/data.json new file mode 100644 index 0000000000000000000000000000000000000000..541538310dfbd30f4d45cfcde992e6dfbb94d5eb --- /dev/null +++ b/004355/data.json @@ -0,0 +1,549 @@ +{ + "action_start": 6, + "action_end": 19, + "object_name": "bowl", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.24126999999999998, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 6.134942553970291e-11, + -1.278822134992419e-10, + -9.026902836328787e-11, + 4.6081401208013525e-07, + -2.2585006095660773e-07, + -7.331041978702712e-07, + 1.0 + ], + [ + -0.0027545274753626448, + 0.03150880018611609, + 0.0063049567021403186, + -0.0032393088284036232, + -0.05186995061122782, + 0.18005780378098488, + 1.0 + ], + [ + -0.0023499923655553867, + 0.029202198355547743, + -0.009813980884176912, + -0.0007658887221123182, + 0.030301396111743366, + 0.04344101605747794, + 1.0 + ], + [ + -0.0026212822027215366, + 0.019785790891184638, + -0.01150510560682333, + 0.009039894070865414, + 0.011639656935271078, + 0.04765951796516501, + 1.0 + ], + [ + 0.005049812439028745, + 0.010549068900638517, + -0.02078882275060838, + -0.02345272742925831, + 0.014173781198817409, + 0.0787700154094921, + 1.0 + ], + [ + 0.0024976898428333283, + -0.0013432938692851254, + -0.015097183645440791, + -0.017150174138557177, + 0.0040911296705608315, + 0.005582774276220265, + 1.0 + ], + [ + -0.00026630331545049457, + -0.0016531253331877466, + -0.00941272485411819, + 0.020161250243659345, + 0.000894120522532964, + -0.013140475325696592, + 1.0 + ], + [ + -0.00029431798382331675, + -0.0012146965691740563, + -0.0013440085012365287, + -0.018897136228875386, + 0.006177053295833345, + 0.012884576890277442, + 0.0 + ], + [ + 0.0004031694646010331, + -0.0011799782299983103, + -0.0018213015971767135, + 0.005389847986063376, + 0.007852901901928774, + -0.01567859310997282, + 0.0 + ], + [ + 0.0004650357854741882, + 3.454930280440138e-05, + 0.005645628283517289, + 0.0017276028368231554, + -0.012933170159631994, + 0.008201232074052166, + 0.0 + ], + [ + 0.0006699819588985023, + -0.0011600445921829128, + 0.007963381227631199, + 0.02087554492249678, + -0.0063064393218558905, + -0.018973947535264074, + 0.0 + ], + [ + 0.01130532618365146, + -0.009186149850489607, + 0.03243137626519563, + 0.058844930826603865, + 0.005135599720598469, + -0.024803226560372472, + 0.0 + ], + [ + 0.01632063055775612, + -0.01945113637742015, + 0.016553815174244046, + 0.023140585009388245, + 0.012453258919043874, + -0.10453198152516119, + 0.0 + ], + [ + 0.021830928415302098, + -0.018180352684837493, + 0.003962371994166963, + 0.019989183497728606, + 0.05952078564991902, + -0.14420788734218326, + 0.0 + ], + [ + 0.011521661501156799, + -0.013635695764453979, + -0.012760114523013365, + -0.020070537317632472, + 0.042282122475482645, + -0.1704946649087778, + 0.0 + ], + [ + 0.0047857000110021475, + -0.006873555926269678, + -0.01689582514620533, + -0.07044825559287235, + -0.0045441088657846105, + -0.06308888141884837, + 0.0 + ], + [ + 0.0010354731392688832, + -0.012227614821841305, + -0.009779482218165207, + -0.04695118668115884, + -0.018244576836048576, + -0.04477958433138376, + 0.0 + ], + [ + 0.00447700073278251, + -0.009073916549724547, + -0.0034053778160039946, + -0.030600061366236827, + -0.019865295138747165, + -0.025913842065030123, + 0.0 + ], + [ + 0.0019486064338016251, + 0.0029594954461853833, + 0.0004775512661084891, + 0.008866391646132659, + -0.0005775422105753552, + 0.003693214879198156, + 0.0 + ], + [ + 0.00036625100431669777, + 0.004773643190656153, + -0.006118625488547934, + 0.011451385055049342, + -0.024344928080740146, + 0.05723987733507376, + 0.24126999999999998 + ], + [ + -0.001072268043242175, + 0.0001568599310366181, + 0.0037158411433001054, + 0.008768802996353143, + 0.021677878324660057, + 0.022181688110799895, + 1.0 + ], + [ + -0.0019337061774110098, + 0.000533781353379642, + 0.00475864767060671, + 0.005753498112252816, + 0.005152810299817578, + 0.0020758545156546503, + 1.0 + ], + [ + -0.0028261098661281348, + -0.005030822104407693, + 0.03005607749875587, + -0.018863098839332043, + -0.0165278977756585, + 0.020767493165957208, + 1.0 + ], + [ + -0.0012756865956826124, + -0.004327639236718528, + 0.03292358708590291, + -0.014486241964250869, + -0.023291970214657627, + 0.003132339395975383, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 316.25048828125, + 207.08859252929688 + ], + [ + 313.8926696777344, + 213.082763671875 + ], + [ + 282.9397277832031, + 210.62811279296875 + ], + [ + 223.09588623046875, + 193.3289337158203 + ], + [ + 212.4526824951172, + 206.3302001953125 + ], + [ + 201.3402099609375, + 223.20201110839844 + ], + [ + 196.71664428710938, + 231.40313720703125 + ], + [ + 206.78634643554688, + 242.7474365234375 + ], + [ + 212.54083251953125, + 245.6790771484375 + ], + [ + 211.06210327148438, + 249.18487548828125 + ], + [ + 210.31442260742188, + 250.056884765625 + ], + [ + 204.36166381835938, + 246.52975463867188 + ], + [ + 213.60865783691406, + 211.49493408203125 + ], + [ + 256.2530517578125, + 182.60101318359375 + ], + [ + 297.9975280761719, + 161.675048828125 + ], + [ + 318.7640380859375, + 165.27029418945312 + ], + [ + 351.9532165527344, + 186.85182189941406 + ], + [ + 360.2713317871094, + 195.99591064453125 + ], + [ + 369.13446044921875, + 202.30377197265625 + ], + [ + 368.8476867675781, + 202.61659240722656 + ], + [ + 368.2380676269531, + 203.44932556152344 + ], + [ + 364.5972900390625, + 208.8568572998047 + ], + [ + 360.8978576660156, + 212.4505615234375 + ], + [ + 363.39495849609375, + 193.9876251220703 + ], + [ + 367.6807556152344, + 154.87721252441406 + ], + [ + 372.0452880859375, + 144.21839904785156 + ], + [ + 372.1192626953125, + 144.27456665039062 + ] + ], + "depth_max": 1.8305035829544067, + "depth_min": 0.4611002206802368, + "intrinsic": [ + [ + 552.27197265625, + 0.0, + 259.0 + ], + [ + 0.0, + 552.4252319335938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.182463741628453e-05, + -4.8438188969157636e-05, + -1.4653117432317231e-05 + ], + [ + -7.182834815466776e-05, + 1.0, + -7.648245082236826e-05, + -1.2714507647615392e-05 + ], + [ + 4.843269562115893e-05, + 7.648592873010784e-05, + 1.0, + 2.099799894494936e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 26 + ], + "object_trajectory": [ + [ + 174.0, + 249.00001525878906 + ], + [ + 174.0974884033203, + 249.26747131347656 + ], + [ + 174.25897216796875, + 249.31695556640625 + ], + [ + 174.5242462158203, + 249.2292938232422 + ], + [ + 174.69174194335938, + 249.15185546875 + ], + [ + 174.6669921875, + 249.03558349609375 + ], + [ + 174.38671875, + 248.7378692626953 + ], + [ + 174.8815460205078, + 249.2961883544922 + ], + [ + 174.77029418945312, + 249.12213134765625 + ], + [ + 174.22015380859375, + 249.13363647460938 + ], + [ + 173.4706268310547, + 249.01235961914062 + ], + [ + 168.39205932617188, + 250.29055786132812 + ], + [ + 174.82101440429688, + 216.48092651367188 + ], + [ + 211.03114318847656, + 182.227783203125 + ], + [ + 253.48789978027344, + 159.3635711669922 + ], + [ + 291.1698913574219, + 166.19883728027344 + ], + [ + 316.19610595703125, + 183.70916748046875 + ], + [ + 326.55145263671875, + 192.6246795654297 + ], + [ + 334.8158874511719, + 198.73680114746094 + ], + [ + 335.201904296875, + 198.9754638671875 + ], + [ + 332.73858642578125, + 207.24974060058594 + ], + [ + 333.9000244140625, + 208.52655029296875 + ], + [ + 336.7794189453125, + 208.8885498046875 + ], + [ + 337.61907958984375, + 208.96612548828125 + ], + [ + 337.6478576660156, + 209.20230102539062 + ], + [ + 337.076904296875, + 209.23199462890625 + ], + [ + 337.53509521484375, + 209.3421173095703 + ] + ] +} \ No newline at end of file diff --git a/004355/lang.txt b/004355/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..6d367503008589781b462108c87b75cdc36f0f39 --- /dev/null +++ b/004355/lang.txt @@ -0,0 +1 @@ +put bowl on plate cardboard fence diff --git a/004356_v2/FAIL b/004356_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/004356_v2/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/004369_v2/FAIL b/004369_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/004369_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/004390/FAIL b/004390/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/004390/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/004395/data.json b/004395/data.json new file mode 100644 index 0000000000000000000000000000000000000000..601820c0c9d78556767a43956c99ec4730e56d65 --- /dev/null +++ b/004395/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 8, + "action_end": 21, + "object_name": "bowl", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.66105, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.21465199999999995, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.9231821690723905e-10, + 1.3402119691807712e-11, + 3.392837399918136e-11, + 6.075451611263211e-07, + -9.224352734856373e-08, + -3.639637138265464e-08, + 1.0 + ], + [ + 0.0048076081949599, + 0.028483975353610747, + 0.012227613719999073, + -0.007038322206664431, + -0.04782730577275405, + 0.14537657358941922, + 1.0 + ], + [ + 0.006094489080670451, + 0.03504040652109276, + -0.005087631606071341, + -0.007056640067286967, + -0.013859400915899508, + 0.19899824062858684, + 1.0 + ], + [ + -0.006527119722214536, + 0.028820371829378272, + -0.01541400333098085, + 0.018227345735983527, + 0.019469443735710475, + 0.008854078480306731, + 1.0 + ], + [ + -0.009151737713809838, + 0.014741711642450944, + -0.013932244737898822, + 0.0069924013724124235, + 0.002762735215675113, + -0.03505422844603961, + 1.0 + ], + [ + -0.0042154930638775845, + 0.0018980856698100068, + -0.015053618469926436, + 0.039986947370922656, + 0.007467330864429764, + 0.006953834834352356, + 1.0 + ], + [ + -0.0013273793729703942, + -0.007304216720376233, + -0.013864777274043082, + -0.018996449955761687, + 0.023278548963761782, + -0.008689184642618674, + 1.0 + ], + [ + 0.0026764231845538555, + -0.005550328422890216, + -0.00998803947792484, + -0.007610918040343934, + 0.00866536263717784, + 0.003948785289347355, + 1.0 + ], + [ + -0.0010780786207631454, + 4.051124498150038e-05, + -0.0029243486443096753, + -0.0013791646100360796, + 0.002377335199372693, + 0.008567551330376838, + 0.66105 + ], + [ + -0.0012760236202131736, + 0.00494950513598294, + 0.0058755639870471405, + 0.0010866457848626428, + -0.007069739901998473, + -0.0038784652199802035, + 0.0 + ], + [ + 0.0006848501550756336, + 0.005164475177325989, + 0.005494618287758917, + 0.016670526831908228, + -0.011688082569182422, + -0.006982963111949485, + 0.0 + ], + [ + 0.0001658223244586643, + 0.0007063251467226972, + 0.009095817077414345, + -0.0008046788357563556, + -0.00411295215469036, + -0.011326990516933954, + 0.0 + ], + [ + 0.007663451734338744, + -2.9941200222344255e-05, + 0.02996200013547175, + -0.006413406531459189, + -0.016623099533781684, + 0.011100307211412168, + 0.0 + ], + [ + 0.012312764460902292, + -0.010237494177881168, + 0.013473761132562559, + -0.022680276022591657, + 0.0440875894799255, + -0.07558175850956975, + 0.0 + ], + [ + 0.019384130611647343, + -0.009994224663420592, + -0.004509577920131055, + 0.02116332251884278, + -0.01618243196840284, + -0.07984775969833449, + 0.0 + ], + [ + 0.015186318584600955, + -0.010257567891406721, + -0.004159082090052141, + 0.02412707412070686, + -0.03204558866110514, + -0.14723178450316193, + 0.0 + ], + [ + 0.01785906172232099, + -0.006370051269151189, + -0.0023233835455704482, + -0.041239115277696865, + -0.0030191918168804978, + -0.1977031918385415, + 0.0 + ], + [ + 0.010279358211685963, + -0.005501602965779326, + -0.005051465692094137, + 0.011017800773095667, + -0.031727595795632696, + -0.03762908211348104, + 0.0 + ], + [ + 0.004770637276997225, + 8.079132363299213e-05, + -0.010006769342090369, + -0.0029621623832751607, + 0.014072476398024647, + 0.007560903647349176, + 0.0 + ], + [ + -9.34077509759379e-05, + 0.0005768283263541674, + -0.010855563548356886, + 0.014089000849399243, + 0.02509017794387638, + 0.010373876528133177, + 0.0 + ], + [ + 0.00039040500585663107, + -0.00017786011574517924, + -0.009399654690441628, + 0.025722476329160877, + 0.017834396146575993, + 0.018761058712521234, + 0.0 + ], + [ + -0.001319382910122402, + 0.00022164207732480734, + -0.0017251563610551635, + 0.030876264826125686, + 0.006434145465818281, + 0.050096059305708165, + 0.21465199999999995 + ], + [ + 0.004552688828686924, + 0.002663449589825395, + -0.00021707690598378113, + 0.02980342548125637, + 0.0002738643776898876, + 0.03288306504155683, + 1.0 + ], + [ + 0.0030331876943935354, + -0.002756026754043628, + 0.00992576526917843, + -0.007739903071834585, + -0.019056486922096574, + 0.0036608742482591747, + 1.0 + ], + [ + -0.0018486939598383878, + -0.009346452929349894, + 0.018627121996842487, + -0.008313291570269278, + -0.02051786271615065, + -0.0021768217896249433, + 1.0 + ], + [ + -0.002937377900354754, + -0.01103897704852809, + 0.017463680117431032, + -0.02792682588340048, + -0.021901918347246363, + -0.014838616395315817, + 1.0 + ], + [ + -0.0036067658491900634, + -0.005880027493855924, + 0.014904366952046257, + -0.012963274436963837, + -0.01011411209557128, + 0.016517706937008294, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 253.04122924804688, + 132.92442321777344 + ], + [ + 251.63404846191406, + 139.62136840820312 + ], + [ + 242.72120666503906, + 132.222900390625 + ], + [ + 195.69692993164062, + 117.48843383789062 + ], + [ + 160.64834594726562, + 127.61184692382812 + ], + [ + 139.6680145263672, + 134.31280517578125 + ], + [ + 123.54740905761719, + 155.193603515625 + ], + [ + 132.41041564941406, + 173.57420349121094 + ], + [ + 145.20468139648438, + 184.33670043945312 + ], + [ + 150.6324462890625, + 185.47650146484375 + ], + [ + 151.13397216796875, + 185.99658203125 + ], + [ + 147.71588134765625, + 185.53738403320312 + ], + [ + 141.15762329101562, + 187.88905334472656 + ], + [ + 137.05841064453125, + 154.77560424804688 + ], + [ + 135.9936065673828, + 119.17675018310547 + ], + [ + 157.1773223876953, + 104.970703125 + ], + [ + 202.5644989013672, + 102.4720687866211 + ], + [ + 228.87161254882812, + 107.45279693603516 + ], + [ + 237.435546875, + 109.60240173339844 + ], + [ + 229.70672607421875, + 111.08467864990234 + ], + [ + 244.17807006835938, + 126.86357879638672 + ], + [ + 244.91432189941406, + 136.68484497070312 + ], + [ + 236.18658447265625, + 134.46946716308594 + ], + [ + 239.77342224121094, + 133.28269958496094 + ], + [ + 242.78294372558594, + 132.5794677734375 + ], + [ + 244.8730010986328, + 131.00189208984375 + ], + [ + 254.72943115234375, + 102.70256805419922 + ], + [ + 262.31072998046875, + 89.3424072265625 + ], + [ + 261.71929931640625, + 82.08308410644531 + ] + ], + "depth_max": 1.7642022371292114, + "depth_min": 0.5604650974273682, + "intrinsic": [ + [ + 563.3748779296875, + 0.0, + 259.0 + ], + [ + 0.0, + 563.3782348632812, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.822678551543504e-05, + -4.8479207180207595e-05, + -1.2672780940192752e-05 + ], + [ + -6.822895375080407e-05, + 1.0, + -4.463442382984795e-05, + 2.4377072804782074e-07 + ], + [ + 4.847615855396725e-05, + 4.46377343905624e-05, + 1.0, + 4.1626561142038554e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 96.0, + 201.5 + ], + [ + 96.40093994140625, + 201.5255126953125 + ], + [ + 96.29326629638672, + 201.61221313476562 + ], + [ + 96.12490844726562, + 201.75900268554688 + ], + [ + 95.83606719970703, + 201.9256134033203 + ], + [ + 96.15499877929688, + 201.5463104248047 + ], + [ + 95.88188171386719, + 201.51174926757812 + ], + [ + 95.59957885742188, + 201.69491577148438 + ], + [ + 95.96684265136719, + 201.88247680664062 + ], + [ + 96.55349731445312, + 201.34671020507812 + ], + [ + 96.42765808105469, + 201.39968872070312 + ], + [ + 97.85828399658203, + 200.54266357421875 + ], + [ + 95.36088562011719, + 199.06243896484375 + ], + [ + 92.5151596069336, + 170.00094604492188 + ], + [ + 90.38908386230469, + 138.55941772460938 + ], + [ + 109.08721923828125, + 119.09851837158203 + ], + [ + 160.8428955078125, + 111.07501983642578 + ], + [ + 193.35723876953125, + 112.38456726074219 + ], + [ + 192.14102172851562, + 109.56472778320312 + ], + [ + 196.83840942382812, + 114.09163665771484 + ], + [ + 203.89068603515625, + 126.06580352783203 + ], + [ + 204.4112548828125, + 134.0689697265625 + ], + [ + 200.37600708007812, + 139.55630493164062 + ], + [ + 201.94393920898438, + 139.98155212402344 + ], + [ + 202.30906677246094, + 139.95797729492188 + ], + [ + 202.01853942871094, + 140.15054321289062 + ], + [ + 202.0758514404297, + 140.17454528808594 + ], + [ + 202.07037353515625, + 140.14898681640625 + ], + [ + 202.00732421875, + 140.322265625 + ] + ] +} \ No newline at end of file diff --git a/004395/lang.txt b/004395/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..6d367503008589781b462108c87b75cdc36f0f39 --- /dev/null +++ b/004395/lang.txt @@ -0,0 +1 @@ +put bowl on plate cardboard fence diff --git a/004400/data.json b/004400/data.json new file mode 100644 index 0000000000000000000000000000000000000000..596579033148508424d1809a297a3015e57b5d5d --- /dev/null +++ b/004400/data.json @@ -0,0 +1,531 @@ +{ + "action_start": 6, + "action_end": 18, + "object_name": "bowl", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.551115123125783e-17, + 2.7755575615628914e-17, + -1.3877787807814457e-17, + -1.1466003325072495e-07, + -2.0992957372402408e-07, + -5.157751810050883e-08, + 1.0 + ], + [ + -0.003866712406881745, + -0.023780710260218302, + -0.005829098687730988, + -0.004643278285233437, + -0.0513581525767683, + -0.12203464608053388, + 1.0 + ], + [ + -0.0030468114619772724, + -0.019961725890287413, + -0.008274593164976994, + -0.05072900438208957, + 0.022409540367982327, + -0.1076937496197405, + 1.0 + ], + [ + -0.004211867645696865, + -0.019263894355317834, + -0.006635202610689679, + -0.03636961151253284, + 0.007100507057805252, + -0.045150517441624995, + 1.0 + ], + [ + -0.0037624286517835004, + -0.005744361241197565, + -0.01661538442221719, + 0.059087616138643696, + 0.029446815462245056, + -0.013921775324215114, + 1.0 + ], + [ + -0.0028646300480107967, + 0.000757634361754897, + -0.015973446009519048, + 0.031088219673614446, + 0.025049974355211186, + -0.03940195753860762, + 1.0 + ], + [ + 0.0008986622074866335, + -0.0005274446631077789, + -0.007149811629102568, + 0.004090057080412261, + 0.008084776387905591, + -0.00845038707847596, + 1.0 + ], + [ + -0.0012331006830771651, + -0.0018974276092868225, + -0.005265836656406037, + -0.02534285320259317, + 0.00782317370577925, + -0.01256096807512919, + 0.0 + ], + [ + 0.00017787236479505086, + 0.0001445124092618183, + 0.0006846614802097049, + -0.031100160221863363, + 0.00395428559563615, + 0.0010231227714335102, + 0.0 + ], + [ + 0.0016889657176662465, + -0.000303467806943597, + -0.002136003639694583, + -0.0032418547606174204, + -0.005109761075373593, + 0.04006393710625126, + 0.0 + ], + [ + 0.000833193226186496, + -0.0016572240346805905, + 0.011988074387731446, + -0.012908099838668368, + -0.021865184060235975, + 0.06750504115234875, + 0.0 + ], + [ + 0.01119742546951552, + -0.003918912755576709, + 0.02949568170240074, + -0.03697543207141348, + -0.01600429170619997, + 0.22171220798939717, + 0.0 + ], + [ + 0.012622102267744156, + -0.006605505950991214, + 0.011810135398084454, + -0.03474050086081291, + -0.008014534546826558, + 0.08785140596259117, + 0.0 + ], + [ + 0.0168377980393149, + -0.011572140234524741, + -0.004242277679472765, + -0.021382028726916216, + -0.002062811616912873, + 0.08936859996783383, + 0.0 + ], + [ + 0.011778881213889036, + -0.011688460111635102, + -0.009763352774895095, + -0.02473978359538963, + 0.012632546792595354, + 0.0495261387593841, + 0.0 + ], + [ + 0.006653062093161299, + -0.008560127964032743, + -0.010809006289542018, + -0.007203183739937165, + 0.009709394492652498, + 0.012563727060694911, + 0.0 + ], + [ + 0.0027844188689398197, + -0.008207828849023019, + -0.006926002692896602, + 0.0006260646177194821, + 0.0031807054006882827, + -0.006879806065973377, + 0.0 + ], + [ + -0.0009906576163370984, + -0.007771927748328883, + -0.00621635865776831, + 0.007260749442526725, + 0.0015832860956888574, + -0.018153815734982034, + 0.0 + ], + [ + -0.0001638684315077299, + -0.0031613339701566934, + -0.0033994406214056735, + 0.0070572651644356145, + -0.0015142795927346202, + -0.01155745677285906, + 0.0 + ], + [ + -0.0002409395367850009, + -0.0008387218775986749, + -0.0026081053036729855, + 0.02466756997425105, + 0.00046745706550218544, + -0.011978538397147888, + 1.0 + ], + [ + -0.004416272748687999, + 0.0009575592910401678, + 0.0007322782772149067, + 0.015338299543923238, + 0.023335824501514533, + -0.020807451649877153, + 1.0 + ], + [ + -0.003697851268440633, + 0.002982832346080308, + 0.022783956138708306, + -0.029534697315495708, + -0.02131977857098657, + 0.007334959752248286, + 1.0 + ], + [ + 0.0012500685229493436, + 0.005721259519183723, + 0.026434696240340887, + -0.008382548696675731, + -0.036252845566280285, + 0.01654030505531943, + 1.0 + ], + [ + 0.0002452780114975961, + 0.00943655572173778, + 0.019842648138831416, + 0.04314956609303643, + -0.037981385373392414, + -0.015035953252724225, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 79.86253356933594, + 103.58914184570312 + ], + [ + 80.46979522705078, + 106.9693603515625 + ], + [ + 95.73521423339844, + 144.66156005859375 + ], + [ + 127.68644714355469, + 158.11415100097656 + ], + [ + 146.0074005126953, + 180.01364135742188 + ], + [ + 149.63485717773438, + 198.15219116210938 + ], + [ + 163.45811462402344, + 213.763671875 + ], + [ + 159.70529174804688, + 222.61314392089844 + ], + [ + 164.17843627929688, + 227.64825439453125 + ], + [ + 167.04629516601562, + 231.99551391601562 + ], + [ + 163.81216430664062, + 236.63592529296875 + ], + [ + 162.27285766601562, + 237.0301513671875 + ], + [ + 159.50869750976562, + 194.6211395263672 + ], + [ + 172.61012268066406, + 169.16136169433594 + ], + [ + 199.62049865722656, + 155.83291625976562 + ], + [ + 225.52670288085938, + 164.94195556640625 + ], + [ + 236.14764404296875, + 175.94216918945312 + ], + [ + 246.44754028320312, + 183.19207763671875 + ], + [ + 266.55609130859375, + 184.49771118164062 + ], + [ + 273.9310302734375, + 190.650390625 + ], + [ + 271.34869384765625, + 192.4392852783203 + ], + [ + 268.1711120605469, + 196.7782745361328 + ], + [ + 269.0419616699219, + 194.31756591796875 + ], + [ + 261.814453125, + 166.5823974609375 + ], + [ + 240.89218139648438, + 137.77938842773438 + ], + [ + 233.98672485351562, + 131.94012451171875 + ] + ], + "depth_max": 1.7396632432937622, + "depth_min": 0.4862055778503418, + "intrinsic": [ + [ + 582.3826904296875, + 0.0, + 259.0 + ], + [ + 0.0, + 582.2164306640625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.975150947459042e-05, + -2.6854257157538086e-05, + -9.039639735419769e-06 + ], + [ + -7.975258631631732e-05, + 1.0, + -4.005202936241403e-05, + 1.0298070264980197e-05 + ], + [ + 2.685106301214546e-05, + 4.00541684939526e-05, + 1.0, + 2.0769779439433478e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 25 + ], + "object_trajectory": [ + [ + 218.75, + 264.5000305175781 + ], + [ + 219.15530395507812, + 264.5509033203125 + ], + [ + 219.0023956298828, + 264.9385681152344 + ], + [ + 219.04083251953125, + 264.4873046875 + ], + [ + 218.90011596679688, + 264.580322265625 + ], + [ + 218.42111206054688, + 265.16143798828125 + ], + [ + 218.3350830078125, + 265.31005859375 + ], + [ + 217.66232299804688, + 265.5872497558594 + ], + [ + 217.39804077148438, + 266.11376953125 + ], + [ + 217.7360382080078, + 265.890869140625 + ], + [ + 220.37322998046875, + 265.08929443359375 + ], + [ + 226.70428466796875, + 258.4164123535156 + ], + [ + 234.05844116210938, + 220.74505615234375 + ], + [ + 245.52499389648438, + 192.26998901367188 + ], + [ + 265.5381164550781, + 177.4127960205078 + ], + [ + 289.4855651855469, + 183.7635955810547 + ], + [ + 306.0311279296875, + 192.05613708496094 + ], + [ + 314.902587890625, + 198.75189208984375 + ], + [ + 316.114990234375, + 197.95208740234375 + ], + [ + 331.4883117675781, + 207.85369873046875 + ], + [ + 328.837158203125, + 209.85130310058594 + ], + [ + 329.2489318847656, + 210.27008056640625 + ], + [ + 328.9602355957031, + 210.39772033691406 + ], + [ + 328.4622802734375, + 209.8616943359375 + ], + [ + 319.4494323730469, + 207.51116943359375 + ], + [ + 319.7861633300781, + 207.24400329589844 + ] + ] +} \ No newline at end of file diff --git a/004400/lang.txt b/004400/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..6d367503008589781b462108c87b75cdc36f0f39 --- /dev/null +++ b/004400/lang.txt @@ -0,0 +1 @@ +put bowl on plate cardboard fence diff --git a/004431/data.json b/004431/data.json new file mode 100644 index 0000000000000000000000000000000000000000..da183b3c50b26b3b1cd5e7fc90f9f426499b7562 --- /dev/null +++ b/004431/data.json @@ -0,0 +1,458 @@ +{ + "action_start": 6, + "action_end": 20, + "object_name": "cap", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.983394, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.729182, + 1.0 + ], + "gripper_actions": [ + [ + -6.551426068313049e-13, + 4.282952395517903e-10, + -4.4172823732147037e-10, + 5.83268361364321e-07, + 4.67619312118471e-08, + -3.5517835765178963e-08, + 1.0 + ], + [ + -0.0009797116995372557, + -0.0007438564427775587, + -0.011127528427488653, + 0.005068029387285423, + -0.003931478980826619, + -0.0015679670826333637, + 1.0 + ], + [ + 0.001308118292689564, + 2.8977814050680506e-05, + -0.018819382071942586, + 0.01153986617264354, + -0.011637958132713865, + 0.013602581892564745, + 1.0 + ], + [ + 0.003600642243807073, + -0.0016981409056590208, + -0.010932366930109877, + 0.009904694024469581, + -0.03009246967755466, + 0.0036225874315137237, + 1.0 + ], + [ + 0.007779637549242879, + 0.0017538730883782938, + -0.01248740546998741, + 0.0019723673058087174, + -0.015027726315256633, + -0.006465165914184793, + 1.0 + ], + [ + 0.004136313205262365, + -0.0025368534655235628, + -0.011266943346847733, + 0.001771738794198795, + 0.008953217317511662, + 0.012874370542260672, + 1.0 + ], + [ + 0.0013712850755663863, + -0.0013526059344308172, + -0.004761969377762276, + -0.0012667519691481216, + 0.015497182757988594, + 0.0066591920749178145, + 0.983394 + ], + [ + 0.009383833637906569, + -0.002047572038314148, + 0.022757817216434946, + -0.021455113405354925, + -0.020715919603522755, + 0.01194282121124594, + 0.0 + ], + [ + 0.024863992328934048, + 0.00682794125661592, + 0.0497059350638677, + -0.012255691352222396, + -0.01710444924507957, + -0.027686416704619927, + 0.0 + ], + [ + 0.015947861403020847, + 0.00976084977127608, + 0.029216372344411906, + -0.009880302920193597, + 0.004475579673122252, + 0.003543695112516161, + 0.0 + ], + [ + 0.03052427405380087, + 0.01818558446288444, + 0.03259172070621097, + -0.0013830997815482036, + 0.02892620705510738, + -0.0006701596750131708, + 0.0 + ], + [ + 0.01468091717006026, + 0.016141020964592565, + -0.0023062412785161412, + 0.05518528793009018, + 0.01593765432666347, + 0.0029245249995264117, + 0.0 + ], + [ + 0.001491706974312501, + 0.011119372880450742, + -0.01930022616593674, + 0.03362755346455629, + -0.018556247982817072, + 0.0017768377278008403, + 0.0 + ], + [ + 0.0018829496477394403, + 0.009367350887636306, + -0.0011700936243924653, + 0.01765801774160995, + -0.022223146487722834, + -0.02404223858521072, + 0.0 + ], + [ + 0.012500151232257894, + 0.007860548715185316, + -0.008188063038759047, + -0.0007264801589237203, + -0.05008188810866711, + -0.0025414593429143135, + 0.0 + ], + [ + 0.009864636007791472, + -0.002647038015807797, + 0.0011211805578273393, + -0.004418990486402589, + -0.019110867665970928, + 0.022722378562833583, + 0.0 + ], + [ + 0.007731018202809192, + 0.0044336992562332145, + -0.0065221347828696985, + 0.010575866627150807, + -0.025329622650926795, + 0.001011777771516533, + 0.0 + ], + [ + 0.001951477051880257, + -0.006014793793952575, + -0.009182828109036575, + -0.008097496709755925, + -0.021123122252242662, + 0.02634413169105639, + 0.0 + ], + [ + 0.001572734992596747, + -0.0082038866884808, + -0.006710277105735976, + 0.004404418740791593, + -0.013567899428434171, + 0.022242676189674546, + 0.0 + ], + [ + 0.005733579835033087, + 0.0012700808091819435, + -0.008354661755285583, + 0.04534243588080057, + 0.0079738901979395, + 0.017716208239153475, + 0.0 + ], + [ + 0.004282485038527961, + 0.0048281591575704205, + 0.00575132052002679, + 0.036134586176308534, + 0.10411831185661485, + 0.022946997133743957, + 0.729182 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 321.4420166015625, + 176.39698791503906 + ], + [ + 319.79266357421875, + 182.35450744628906 + ], + [ + 314.95733642578125, + 204.3887939453125 + ], + [ + 311.99945068359375, + 225.69580078125 + ], + [ + 315.2903137207031, + 233.20236206054688 + ], + [ + 321.14044189453125, + 244.69113159179688 + ], + [ + 320.7113952636719, + 256.6986999511719 + ], + [ + 324.46978759765625, + 252.0191192626953 + ], + [ + 331.7066345214844, + 243.05381774902344 + ], + [ + 354.37091064453125, + 180.3545379638672 + ], + [ + 354.9483337402344, + 110.74456787109375 + ], + [ + 356.8705749511719, + 26.072147369384766 + ], + [ + 337.7894287109375, + 9.178757667541504 + ], + [ + 322.71405029296875, + 22.751407623291016 + ], + [ + 317.89990234375, + 27.386079788208008 + ], + [ + 318.71319580078125, + 26.543039321899414 + ], + [ + 313.89178466796875, + 30.784420013427734 + ], + [ + 318.32525634765625, + 28.175954818725586 + ], + [ + 322.6258239746094, + 36.4437370300293 + ], + [ + 319.84393310546875, + 34.790470123291016 + ], + [ + 329.31640625, + 36.10401153564453 + ], + [ + 331.68206787109375, + 36.375091552734375 + ] + ], + "depth_max": 1.5880500078201294, + "depth_min": 0.2737167179584503, + "intrinsic": [ + [ + 559.948486328125, + 0.0, + 259.0 + ], + [ + 0.0, + 560.61669921875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -2.293401394126704e-06, + -9.839279664447531e-05, + -2.4058972485363483e-06 + ], + [ + 2.2851634184917202e-06, + 1.0, + -8.372621232410893e-05, + 3.652962732303422e-06 + ], + [ + 9.839298581937328e-05, + 8.37259940453805e-05, + 1.0, + 2.555943683546502e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21 + ], + "object_trajectory": [ + [ + 332.25, + 280.75 + ], + [ + 332.4072570800781, + 281.197021484375 + ], + [ + 332.49176025390625, + 281.15753173828125 + ], + [ + 332.10791015625, + 280.910400390625 + ], + [ + 332.6058349609375, + 280.3062438964844 + ], + [ + 331.60125732421875, + 279.00872802734375 + ], + [ + 329.02734375, + 276.77288818359375 + ], + [ + 329.821044921875, + 276.45294189453125 + ], + [ + 335.9996032714844, + 268.7236328125 + ], + [ + 345.4678955078125, + 207.67703247070312 + ], + [ + 352.8071594238281, + 141.240478515625 + ], + [ + 353.71917724609375, + 52.92051315307617 + ], + [ + 333.99871826171875, + 34.72972869873047 + ], + [ + 321.6387939453125, + 46.26720428466797 + ], + [ + 316.35418701171875, + 49.77883529663086 + ], + [ + 315.04156494140625, + 47.342071533203125 + ], + [ + 313.5907287597656, + 52.67418670654297 + ], + [ + 318.6492919921875, + 49.52189636230469 + ], + [ + 323.217529296875, + 57.999996185302734 + ], + [ + 321.63134765625, + 56.06968688964844 + ], + [ + 328.6261901855469, + 56.73007583618164 + ], + [ + 328.4472961425781, + 57.14073944091797 + ] + ] +} \ No newline at end of file diff --git a/004431/lang.txt b/004431/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2c08817e81d47514f9fb4baa0398b5527e297dc3 --- /dev/null +++ b/004431/lang.txt @@ -0,0 +1 @@ +put cap on container diff --git a/004431/object.ply b/004431/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..f8721eaae603af1e9fe804a7e488fa1d3d70c712 Binary files /dev/null and b/004431/object.ply differ diff --git a/004436/data.json b/004436/data.json new file mode 100644 index 0000000000000000000000000000000000000000..07bca3c9cb57e43598f1c20ed6d934d218f89277 --- /dev/null +++ b/004436/data.json @@ -0,0 +1,476 @@ +{ + "action_start": 7, + "action_end": 21, + "object_name": "cap", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "gripper_actions": [ + [ + 0.0, + -3.469446951953614e-18, + 0.0, + 3.7140984055107444e-08, + 1.101949873141497e-07, + 4.903959434620326e-07, + 1.0 + ], + [ + 0.012225045264286555, + -0.00794211060352928, + -0.011281803400258403, + -0.013414718956636353, + -0.0014723695823085571, + 0.04066299709391441, + 1.0 + ], + [ + 0.02043783841684796, + -0.006051348033652176, + -0.018363526968899355, + 0.012779734153169311, + -0.05287165781940527, + 0.04300738520857419, + 1.0 + ], + [ + 0.010194594628647358, + -0.005814206283938592, + -0.005289302641083585, + -0.02533445174937641, + -0.046124240710522194, + 0.004952679989689135, + 1.0 + ], + [ + 0.0037161340105028584, + -0.008222367572046994, + -0.004997717124032235, + -0.016913468776148813, + 0.012333280706443472, + 0.026294055393300073, + 1.0 + ], + [ + 0.000392402131838554, + -0.013211676460430997, + -0.006676514023346014, + 0.03177393419275586, + -0.019266597008566394, + 0.024574411373661783, + 1.0 + ], + [ + 0.005241547217901044, + -0.00971412656296454, + -0.01125421161649999, + 0.03979016393819824, + 0.020139046299120427, + 0.019064138254635248, + 1.0 + ], + [ + 0.002423444278198572, + -0.007931544930189646, + -0.011493973601844228, + 0.03190362628386549, + -0.004932934653603394, + 0.017470568450084222, + 1.0 + ], + [ + 0.004893113498492807, + -7.780921268639093e-05, + -0.012279034438973359, + 0.03798534392622475, + -0.005495513835465624, + 0.03375824253135366, + 0.0 + ], + [ + 0.008019464202149829, + 0.012563037510873953, + 0.02387124872752413, + -0.020446816777473818, + 0.004969700005052249, + -0.010941764314539113, + 0.0 + ], + [ + 0.011828335868089068, + 0.02867726165624379, + 0.034142213710648656, + -0.02874504106888658, + 0.01740389060309119, + -0.0028121840827355017, + 0.0 + ], + [ + 0.008809117250492382, + 0.03427462675846842, + 0.0280236737690938, + -0.036367548128611114, + 0.00854121393372245, + -0.007049430085584161, + 0.0 + ], + [ + 0.005640480832046324, + 0.028711331096047045, + -0.00012662692850101687, + 0.014548959431360487, + 0.012829915108821694, + -0.010442645637321451, + 0.0 + ], + [ + 0.007240956966429513, + 0.021468130687497457, + -0.002276517538535347, + -0.0005733403932568986, + 0.008993881369673802, + 0.0055574986212590625, + 0.0 + ], + [ + 0.005150525376289017, + 0.012174983346613169, + 0.0013028888033793928, + 0.006848384746964634, + -0.0012942336711404263, + 0.005877391282955119, + 0.0 + ], + [ + 0.0045586260111701304, + 0.0022080327574769965, + -0.00798642279796595, + 0.024636292604991197, + -0.003394342356661508, + 0.016140182285318525, + 0.0 + ], + [ + 0.007123853826783599, + 0.003857372896936398, + -0.009912443520360761, + 0.024659532589089754, + 0.009563433128300729, + 0.01999842776562423, + 0.0 + ], + [ + 0.0010642591169005566, + 0.0010762589158238578, + -0.01371748524132943, + 0.017372945965452746, + -0.01229691684475566, + -0.011208640669541916, + 0.0 + ], + [ + -0.0031549792713516656, + -0.005464885677222711, + -0.003196230425640538, + -0.014786323513420286, + 0.01209315967291798, + -0.01757775135497917, + 0.0 + ], + [ + -0.004307057666436076, + -0.007419993186868673, + -0.0008731813599891503, + -0.015344442618746111, + 0.013704458686509978, + -0.004414791036530049, + 0.0 + ], + [ + -0.001160814376450714, + -0.0041369824024135304, + -0.0023175630285773782, + -0.000576672679836156, + 0.00031280708073517724, + 0.0018537554890409585, + 0.0 + ], + [ + 0.004370155231303241, + -0.003330692972789734, + -0.01117347738171779, + 0.027598310914117567, + -0.0014613261646800255, + 0.016730525864675345, + 0.0 + ], + [ + 0.004538431273139298, + -0.0004701276006510158, + -0.009717376885772282, + 0.03666122394589939, + -0.010684048544518591, + 0.02004057423093557, + 0.0 + ] + ], + "gripper_centers": [ + [ + 215.25619506835938, + 187.4939422607422 + ], + [ + 215.11801147460938, + 195.13107299804688 + ], + [ + 230.542236328125, + 211.5356903076172 + ], + [ + 259.1786804199219, + 221.45362854003906 + ], + [ + 275.7040100097656, + 217.05865478515625 + ], + [ + 284.4219970703125, + 220.38079833984375 + ], + [ + 304.99896240234375, + 226.43389892578125 + ], + [ + 326.7862548828125, + 246.27371215820312 + ], + [ + 322.3426513671875, + 250.10585021972656 + ], + [ + 329.4085693359375, + 245.64892578125 + ], + [ + 329.08380126953125, + 243.0562286376953 + ], + [ + 311.22406005859375, + 192.06881713867188 + ], + [ + 260.6937255859375, + 132.62339782714844 + ], + [ + 221.6831817626953, + 97.99764251708984 + ], + [ + 219.82275390625, + 98.27091979980469 + ], + [ + 207.9883575439453, + 85.43243408203125 + ], + [ + 192.26553344726562, + 92.42141723632812 + ], + [ + 198.1871337890625, + 99.70558166503906 + ], + [ + 203.84442138671875, + 104.5346908569336 + ], + [ + 204.76171875, + 111.67436218261719 + ], + [ + 209.90957641601562, + 121.24899291992188 + ], + [ + 217.91024780273438, + 125.15245056152344 + ], + [ + 221.16143798828125, + 123.6494369506836 + ] + ], + "depth_max": 1.595994472503662, + "depth_min": 0.2734096944332123, + "intrinsic": [ + [ + 567.290283203125, + 0.0, + 259.0 + ], + [ + 0.0, + 567.7218017578125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.422284746397054e-06, + -8.771560533205047e-05, + -4.246526259521488e-07 + ], + [ + -4.429775344760856e-06, + 1.0, + -8.53965975693427e-05, + -1.3689654224435799e-05 + ], + [ + 8.771522698225453e-05, + 8.539699047105387e-05, + 1.0, + 5.268327186058741e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 22 + ], + "object_trajectory": [ + [ + 322.5, + 260.7500305175781 + ], + [ + 323.0103454589844, + 260.8740539550781 + ], + [ + 322.7110290527344, + 260.4437561035156 + ], + [ + 322.7924499511719, + 260.3143005371094 + ], + [ + 322.77734375, + 259.66961669921875 + ], + [ + 322.27606201171875, + 259.9906311035156 + ], + [ + 322.4523010253906, + 259.7447814941406 + ], + [ + 323.2711181640625, + 258.15234375 + ], + [ + 318.84661865234375, + 255.6109619140625 + ], + [ + 324.710693359375, + 250.14590454101562 + ], + [ + 322.32049560546875, + 247.48739624023438 + ], + [ + 302.95953369140625, + 197.75074768066406 + ], + [ + 262.95001220703125, + 147.6072998046875 + ], + [ + 223.22528076171875, + 105.25579833984375 + ], + [ + 223.92420959472656, + 107.54360961914062 + ], + [ + 212.61671447753906, + 98.36878967285156 + ], + [ + 197.0193634033203, + 106.47384643554688 + ], + [ + 202.67526245117188, + 113.42327117919922 + ], + [ + 209.9108428955078, + 113.81539154052734 + ], + [ + 212.05020141601562, + 119.99851989746094 + ], + [ + 212.26220703125, + 129.17605590820312 + ], + [ + 219.93328857421875, + 133.6420440673828 + ], + [ + 225.79568481445312, + 132.01910400390625 + ] + ] +} \ No newline at end of file diff --git a/004436/lang.txt b/004436/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2c08817e81d47514f9fb4baa0398b5527e297dc3 --- /dev/null +++ b/004436/lang.txt @@ -0,0 +1 @@ +put cap on container diff --git a/004436/object.ply b/004436/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..cc0a55506a9b4076a3d9b5ea4948e18727874060 Binary files /dev/null and b/004436/object.ply differ diff --git a/004467/data.json b/004467/data.json new file mode 100644 index 0000000000000000000000000000000000000000..a293108c459f80dd5ac1fc0254b02d576b2c9075 --- /dev/null +++ b/004467/data.json @@ -0,0 +1,623 @@ +{ + "action_start": 13, + "action_end": 23, + "object_name": "carrot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.05176999999999998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.4626034544894537e-10, + 1.0717195186860096e-10, + -4.7578468942433005e-12, + -3.31186379244424e-08, + 1.0978032150868079e-07, + -4.083817931822166e-07, + 1.0 + ], + [ + -0.0005477691826742959, + -0.0032302385054134852, + 0.0050951484537717084, + -0.10816706324156596, + -0.06607956462267464, + 0.16801992066614801, + 1.0 + ], + [ + 0.00022079956431519943, + -0.00685157035531056, + 0.006411267985879279, + -0.036310125822025766, + -0.027593509092858775, + 0.19500313556030185, + 1.0 + ], + [ + 0.00758747439608537, + -0.0044567992690115465, + 0.001973379285250279, + -0.05084540004877648, + -0.030867836603202845, + 0.17868502219843738, + 1.0 + ], + [ + 0.0053090614745492926, + -0.010097441035160373, + -0.004641338346207724, + -0.049279264411365535, + 0.01865093654693748, + 0.25278724312889095, + 1.0 + ], + [ + 0.004643736802111886, + -0.0077013682300399455, + -0.005492471659821571, + -0.055360144594097126, + 0.0031977289898041626, + 0.1528904146611709, + 1.0 + ], + [ + 0.0058281581916109215, + -0.005110068125096012, + -0.009490053583404684, + -0.02038938178945395, + -0.0025575252220231873, + 0.11415468450443704, + 1.0 + ], + [ + 0.007098096350702354, + -0.001815197423027111, + -0.015394768643121365, + -0.003519999815363959, + -0.0068006742671331945, + 0.047546131946669144, + 1.0 + ], + [ + 0.007197976019538532, + -0.0008808770451541187, + -0.012699642674793482, + 0.018134064937769225, + -0.00843892859806934, + 0.017687466708988436, + 1.0 + ], + [ + 0.004959812433322941, + -0.0016501406254293832, + -0.008629080862741792, + 0.01924965723139719, + -0.012191748070673301, + 0.011018145006098302, + 1.0 + ], + [ + 0.0014580392875343517, + -0.0021776944974040043, + -0.010122974071665215, + 0.01492818358639136, + 0.00718285832865044, + -0.005245246425741103, + 1.0 + ], + [ + 0.0023840631440454896, + 0.00014636413440530585, + -0.010362336035548717, + 0.02454595072504011, + -0.006172207909316453, + 0.00018497962387793262, + 1.0 + ], + [ + 0.002402546519780724, + -0.0002987324115688618, + -0.006903702744909514, + 0.006934920393410245, + 0.005514191439806533, + -0.005165166520167642, + 1.0 + ], + [ + 0.0002435861247835347, + -0.0015304614790133675, + -0.0025614941613086237, + 0.015165158607568487, + -0.01708101130544144, + -0.003467552719276689, + 0.05176999999999998 + ], + [ + -0.0024546112883989113, + -0.002357261794555001, + -3.4809309561142573e-05, + 0.00563204267046821, + -0.007356396429592417, + -0.010786309497987354, + 0.0 + ], + [ + -0.0013387449220758074, + -0.005644739564665789, + 0.012615308228070004, + 0.0026800564331091498, + -0.03321406118948665, + -0.028561345631291785, + 0.0 + ], + [ + -0.0034788840064980397, + -0.01139424736236591, + 0.02254405805156927, + -0.0388808712941983, + -0.019475145870690318, + -0.026743394416945867, + 0.0 + ], + [ + -0.0024540532949452465, + -0.004431372065280785, + 0.025852137287689973, + -0.03630615477048848, + -0.07495373974407583, + -0.024848188484437404, + 0.0 + ], + [ + -0.009843667114588728, + 0.0025770466585931964, + 0.025959934231921854, + -0.033322988853421893, + -0.09340132656766813, + -0.022595422014570862, + 0.0 + ], + [ + -0.028398032662993622, + 0.011047489125644018, + 0.010159898882024315, + -0.022608779505884996, + 0.07580084769973852, + -0.03863656326907429, + 0.0 + ], + [ + -0.024400296047770165, + 0.021580301467633733, + -0.012157543042135899, + 0.05213454810357052, + 0.047236502329855136, + -0.0434668384388607, + 0.0 + ], + [ + -0.010178649153247066, + 0.023562427173835755, + -0.023688589152631945, + 0.0655783609790998, + 0.04572658611188001, + 0.010431889574516191, + 0.0 + ], + [ + -0.005509969595804687, + 0.006459149510131039, + -0.025620461772576722, + 0.050560077484915505, + 0.04802316930158511, + -0.022293418105410846, + 0.0 + ], + [ + -0.002082967122408491, + 0.0006357004535345392, + -0.00926933078971321, + 0.019380938182962226, + 0.006708731090329507, + -9.60627012770778e-05, + 0.0 + ], + [ + -0.0017112553613861659, + -0.0018082160917660128, + 0.0065658930139648256, + 0.007307590868151622, + -0.0002476792928265665, + -0.009326730123087443, + 1.0 + ], + [ + -0.00020101418853052389, + 0.002882555593123212, + 0.023292184632421067, + 0.017993915714757554, + -0.05361130428152694, + 0.04117301152564776, + 1.0 + ], + [ + 0.003874966489400944, + -0.0006437680808901447, + 0.029021101859208427, + -0.015784247425513133, + -0.04337959142888527, + 0.038732547078443355, + 1.0 + ], + [ + 0.007113704013024219, + -0.004150107587489918, + 0.035763128622551515, + -0.030647775559790338, + -0.04197233739566294, + 0.03581245110582797, + 1.0 + ], + [ + 0.005370518243716815, + 0.0002872521256068461, + 0.021731654412732643, + -0.02306335396882902, + 0.008772960502708562, + 0.004313298020438245, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 236.65638732910156, + 132.35574340820312 + ], + [ + 236.28964233398438, + 137.44369506835938 + ], + [ + 247.2952880859375, + 151.54043579101562 + ], + [ + 246.59991455078125, + 147.69235229492188 + ], + [ + 248.9290771484375, + 137.77789306640625 + ], + [ + 261.14129638671875, + 134.7640380859375 + ], + [ + 281.54132080078125, + 139.10076904296875 + ], + [ + 292.828369140625, + 145.11944580078125 + ], + [ + 296.1942138671875, + 157.10440063476562 + ], + [ + 297.8124084472656, + 168.63876342773438 + ], + [ + 302.3946533203125, + 175.75914001464844 + ], + [ + 309.3082275390625, + 183.2474822998047 + ], + [ + 316.000732421875, + 195.1028594970703 + ], + [ + 316.984375, + 199.06863403320312 + ], + [ + 320.7858581542969, + 199.78543090820312 + ], + [ + 329.24383544921875, + 201.53500366210938 + ], + [ + 321.66717529296875, + 203.50640869140625 + ], + [ + 334.58203125, + 189.779541015625 + ], + [ + 343.4124450683594, + 168.51426696777344 + ], + [ + 342.5733337402344, + 151.1966552734375 + ], + [ + 315.54058837890625, + 137.45281982421875 + ], + [ + 264.50335693359375, + 153.8857421875 + ], + [ + 226.2910614013672, + 177.201416015625 + ], + [ + 202.35379028320312, + 208.0167236328125 + ], + [ + 201.58486938476562, + 223.38485717773438 + ], + [ + 198.13949584960938, + 229.24095153808594 + ], + [ + 191.35614013671875, + 215.0294952392578 + ], + [ + 186.31063842773438, + 183.74203491210938 + ], + [ + 185.01351928710938, + 130.92523193359375 + ], + [ + 188.03250122070312, + 82.5952377319336 + ], + [ + 189.63858032226562, + 69.00112915039062 + ] + ], + "depth_max": 2.8496782779693604, + "depth_min": 0.3212951421737671, + "intrinsic": [ + [ + 558.8855590820312, + 0.0, + 259.0 + ], + [ + 0.0, + 559.0297241210938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 8.419575897278264e-05, + -8.673430420458317e-05, + 9.879664503387176e-06 + ], + [ + -8.420265658060089e-05, + 1.0, + -7.950201688800007e-05, + -2.404122642474249e-05 + ], + [ + 8.672761032357812e-05, + 7.950932194944471e-05, + 1.0, + -7.220268162200227e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30 + ], + "object_trajectory": [ + [ + 322.25, + 218.75001525878906 + ], + [ + 322.423828125, + 218.80178833007812 + ], + [ + 322.3529357910156, + 218.68603515625 + ], + [ + 322.2384948730469, + 218.73605346679688 + ], + [ + 322.55584716796875, + 218.44204711914062 + ], + [ + 322.10162353515625, + 218.59593200683594 + ], + [ + 322.0671691894531, + 218.9373779296875 + ], + [ + 321.9115295410156, + 218.69869995117188 + ], + [ + 322.13848876953125, + 218.86419677734375 + ], + [ + 322.7640075683594, + 219.06353759765625 + ], + [ + 323.47735595703125, + 219.2273406982422 + ], + [ + 324.1670227050781, + 219.17189025878906 + ], + [ + 325.82940673828125, + 219.26832580566406 + ], + [ + 327.50146484375, + 218.66078186035156 + ], + [ + 328.4078369140625, + 221.3911895751953 + ], + [ + 330.5249328613281, + 221.4450225830078 + ], + [ + 331.3421630859375, + 227.19659423828125 + ], + [ + 347.90057373046875, + 215.2596893310547 + ], + [ + 361.6996765136719, + 194.87246704101562 + ], + [ + 361.6388244628906, + 173.5847625732422 + ], + [ + 336.68353271484375, + 165.2967529296875 + ], + [ + 286.8145751953125, + 184.77188110351562 + ], + [ + 242.20339965820312, + 205.05545043945312 + ], + [ + 216.2754669189453, + 234.9998016357422 + ], + [ + 214.51675415039062, + 252.456787109375 + ], + [ + 213.28541564941406, + 273.2415771484375 + ], + [ + 208.88674926757812, + 296.3472900390625 + ], + [ + 210.18580627441406, + 292.5225524902344 + ], + [ + 218.75405883789062, + 298.3004150390625 + ], + [ + 221.03094482421875, + 302.360107421875 + ], + [ + 218.61155700683594, + 303.4598083496094 + ] + ] +} \ No newline at end of file diff --git a/004467/lang.txt b/004467/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..684b93deadfe2c05262f6ae2f078964eb6251839 --- /dev/null +++ b/004467/lang.txt @@ -0,0 +1 @@ +put carrot in pot cardboard fence diff --git a/004467/object.ply b/004467/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..2a9ba7953baef64a251536c794319efb189a300d Binary files /dev/null and b/004467/object.ply differ diff --git a/004484_v2/data.json b/004484_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..d56d9dfd13c834c3049d1f6e432d06a0a031793d --- /dev/null +++ b/004484_v2/data.json @@ -0,0 +1,714 @@ +{ + "action_start": 7, + "action_end": 25, + "object_name": "yellow bottle", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.07643500000000003, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.1102230246251565e-16, + 0.0, + 0.0, + 5.58185487144123e-07, + -3.47371081790437e-07, + 5.986551407814124e-07, + 1.0 + ], + [ + 0.004884545065181989, + -0.005849715388497684, + -0.005950884804178977, + -0.019243971700226296, + -0.0015887568922773366, + 0.07003795353816296, + 1.0 + ], + [ + 0.0012091157769105743, + -0.01035588145432395, + -0.007510519295996873, + 0.014605520783074744, + 0.005552394704038953, + 0.09094167250725704, + 1.0 + ], + [ + 0.005798605092740772, + -0.01590918437526667, + -0.007955602021925107, + -0.05155919602394369, + -0.014075621423175323, + 0.061876801983666394, + 1.0 + ], + [ + 0.004818264910863401, + -0.011100670591892264, + -0.004631580399401571, + -0.03614963567980998, + -0.007214403939567612, + 0.09812559016477766, + 1.0 + ], + [ + 0.00451939805513335, + -0.0024272684994832983, + -0.0055381377252492585, + -0.023990940504827155, + 0.0069337084125145314, + 0.052670541900071526, + 1.0 + ], + [ + 0.003829428009731961, + 0.0003648832279498915, + -0.012740146699562218, + -0.07503505619495937, + -0.003116353555560235, + 0.01196069100888724, + 1.0 + ], + [ + -8.556609337018184e-05, + -0.0009076705654589567, + -0.013518112178557716, + -0.04255797653227363, + -0.022320491160374763, + 0.029442228580893674, + 0.07643500000000003 + ], + [ + -0.0016042007241072742, + 0.0003879805918919621, + -0.0015407819022723339, + -0.009273159857294811, + -0.0062951586676740084, + 0.0026723644376130825, + 0.0 + ], + [ + -0.0009689275733841818, + 0.0015451353188699057, + 0.005662119311868835, + -0.006835362893839726, + -0.009792644598259894, + -0.013929602929518559, + 0.0 + ], + [ + 0.0012292772162120214, + 0.0008609328116673809, + 0.01613711678520005, + 0.017700867406431404, + -0.013298651739765015, + -0.05011337069688209, + 0.0 + ], + [ + -0.0003022310407881923, + -0.0014689370207482955, + 0.019034088989834788, + 0.01210763538788348, + -0.015292915328303678, + -0.07186974775853806, + 0.0 + ], + [ + -0.002823208508595021, + -0.005833263003504827, + 0.02613018582342507, + 0.051695333381013356, + -0.011684832769816954, + -0.14195804132629308, + 0.0 + ], + [ + -0.00986257143798086, + -0.009969832809841872, + 0.014565819566653322, + 0.01023223120698675, + -0.02987911720178811, + -0.11584086876399113, + 0.0 + ], + [ + -0.015892982262981747, + -0.02347412117527445, + 0.008944548598135309, + 0.02390405515821125, + -0.005782047162472003, + -0.19098102206669504, + 0.0 + ], + [ + -0.010558866874291584, + -0.032586036501143986, + 0.0005565951428979782, + 0.05901196103549633, + -0.0035333065630163327, + -0.22686900776498398, + 0.0 + ], + [ + -0.005953732957362179, + -0.03300180211100291, + -0.005881669825709562, + 0.04166097076111887, + 0.002887835548589714, + -0.22690325915985854, + 0.0 + ], + [ + -0.0033915301345973092, + -0.024613442691453172, + -0.008545574577053613, + 0.070979577888735, + -0.008527605934887373, + -0.19723143624648723, + 0.0 + ], + [ + -0.0042014893359014205, + -0.017956743795430996, + -0.009967569773876153, + 0.05783472923026603, + -0.009968632734203542, + -0.20788034528729907, + 0.0 + ], + [ + -0.005977239244578492, + -0.01893460668342506, + -0.011236549290213262, + 0.04681760048194348, + 0.0036577614743001593, + -0.196416526034782, + 0.0 + ], + [ + -0.008143175006193715, + -0.019445850007752015, + -0.011338652490607032, + 0.02084584430832266, + 0.01423916521348768, + -0.13603575618923405, + 0.0 + ], + [ + -0.0015959066069613503, + -0.011257105420635884, + -0.005335053004124964, + 0.011492933903593105, + 0.011804743241238556, + -0.0352110255081279, + 0.0 + ], + [ + 0.004573285821528716, + -0.006097472657758139, + -0.006573395538129301, + 0.010417193368105855, + 0.017351113176837636, + -0.009470035126895832, + 0.0 + ], + [ + 0.007299555292475557, + -0.0016579110290117771, + -0.015666111791399717, + 0.019681298830018283, + 0.043734151511139206, + 0.012431447921213725, + 0.0 + ], + [ + 0.004301604834419048, + -0.004385108876311286, + -0.0105909766407594, + 0.021111977806075464, + 0.01575571253319592, + -0.009301634467610178, + 0.0 + ], + [ + 0.003076349228470554, + -0.005397030003807479, + -0.00344969054008522, + -0.014231509923720733, + 0.01734290195221777, + -0.0031468092742202255, + 0.0 + ], + [ + 0.0006838010610973333, + -0.00148998876687928, + 0.0005452992276015526, + 0.0161885068321127, + 0.004486545660493022, + 0.008738824588752718, + 1.0 + ], + [ + -0.0007515781709011571, + 0.001303919940845527, + 0.004353545511945663, + 5.369734089539426e-05, + -0.004045824304168567, + 0.011519086122692552, + 1.0 + ], + [ + -2.419965819178138e-06, + 0.0009575443633721564, + 0.007318679337820002, + -0.019467391396689314, + -0.013820699957654808, + 0.020569856043822558, + 1.0 + ], + [ + 0.0017295943358300314, + 0.001218977404459004, + 0.012904380755638174, + -0.020297336686958857, + -0.020889252022187593, + 0.01004842271392837, + 1.0 + ], + [ + 0.0020888631410536096, + -0.0008363880639142979, + 0.01961535804060037, + -0.0299389641383868, + -0.02644033824275259, + 0.0033071900613386384, + 1.0 + ], + [ + -0.0004676737958837496, + 0.0010414119459482007, + 0.02016572362814075, + -0.023250896578209536, + -0.022641559583841755, + -0.006250088652528769, + 1.0 + ], + [ + -0.0031485685952601927, + 0.009250253268931925, + 0.0024074287104103795, + -0.006833524795599294, + -0.03730625096877511, + 0.05976989034461183, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 178.43899536132812, + 75.28296661376953 + ], + [ + 178.1798553466797, + 76.724365234375 + ], + [ + 182.11865234375, + 102.8343505859375 + ], + [ + 195.06875610351562, + 105.08064270019531 + ], + [ + 215.1902618408203, + 112.25138854980469 + ], + [ + 225.93258666992188, + 126.83399200439453 + ], + [ + 236.31338500976562, + 129.58987426757812 + ], + [ + 247.54627990722656, + 137.97836303710938 + ], + [ + 246.87026977539062, + 142.4908447265625 + ], + [ + 255.718994140625, + 140.63626098632812 + ], + [ + 255.42593383789062, + 140.23434448242188 + ], + [ + 240.86834716796875, + 142.69427490234375 + ], + [ + 206.96005249023438, + 131.24168395996094 + ], + [ + 235.22393798828125, + 107.34156799316406 + ], + [ + 244.56643676757812, + 93.5648193359375 + ], + [ + 241.78700256347656, + 95.1908950805664 + ], + [ + 267.8194885253906, + 106.79710388183594 + ], + [ + 300.46337890625, + 133.91714477539062 + ], + [ + 328.031494140625, + 164.28704833984375 + ], + [ + 347.159423828125, + 196.5958251953125 + ], + [ + 358.9805908203125, + 220.386962890625 + ], + [ + 380.41241455078125, + 248.3943328857422 + ], + [ + 396.0889892578125, + 260.0131530761719 + ], + [ + 403.9795227050781, + 270.9207458496094 + ], + [ + 409.1490783691406, + 276.37176513671875 + ], + [ + 416.49298095703125, + 283.76812744140625 + ], + [ + 425.3713684082031, + 288.71734619140625 + ], + [ + 426.3487243652344, + 287.5614013671875 + ], + [ + 428.64263916015625, + 289.9980163574219 + ], + [ + 429.6404113769531, + 289.78875732421875 + ], + [ + 434.89569091796875, + 276.97991943359375 + ], + [ + 436.21136474609375, + 259.0723876953125 + ], + [ + 436.6971435546875, + 239.96774291992188 + ], + [ + 431.4808349609375, + 224.85501098632812 + ], + [ + 423.2581787109375, + 222.14608764648438 + ], + [ + 423.0359191894531, + 223.0310516357422 + ] + ], + "depth_max": 1.5452617406845093, + "depth_min": 0.413101464509964, + "intrinsic": [ + [ + 529.3087158203125, + 0.0, + 259.0 + ], + [ + 0.0, + 528.6714477539062, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.69330799812451e-05, + -2.4195618607336655e-05, + -3.4925265026686247e-06 + ], + [ + -7.693453517276794e-05, + 1.0, + -6.0013513575540856e-05, + -1.3580520317191258e-06 + ], + [ + 2.4191002012230456e-05, + 6.0015376220690086e-05, + 1.0, + -1.234582032338949e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 35 + ], + "object_trajectory": [ + [ + 268.75, + 158.25001525878906 + ], + [ + 269.0670471191406, + 158.58074951171875 + ], + [ + 268.8246765136719, + 158.47206115722656 + ], + [ + 268.9794921875, + 158.6679229736328 + ], + [ + 268.83331298828125, + 158.77117919921875 + ], + [ + 268.9032897949219, + 158.4493865966797 + ], + [ + 269.21002197265625, + 158.25582885742188 + ], + [ + 269.27374267578125, + 158.03317260742188 + ], + [ + 268.4918212890625, + 157.49111938476562 + ], + [ + 266.97467041015625, + 157.38865661621094 + ], + [ + 267.0705261230469, + 157.1153106689453 + ], + [ + 264.8477478027344, + 160.25192260742188 + ], + [ + 263.2296447753906, + 153.60757446289062 + ], + [ + 258.2079772949219, + 130.84002685546875 + ], + [ + 263.0767517089844, + 118.31694030761719 + ], + [ + 260.3251953125, + 124.15354919433594 + ], + [ + 280.0453186035156, + 141.80361938476562 + ], + [ + 304.0311279296875, + 167.3698272705078 + ], + [ + 322.8563232421875, + 195.66293334960938 + ], + [ + 336.9044189453125, + 226.78536987304688 + ], + [ + 345.22900390625, + 249.9564666748047 + ], + [ + 361.237060546875, + 274.7551574707031 + ], + [ + 375.8244934082031, + 283.1709289550781 + ], + [ + 383.1011962890625, + 292.209228515625 + ], + [ + 388.3662109375, + 296.0383605957031 + ], + [ + 400.435302734375, + 301.1671447753906 + ], + [ + 408.0379638671875, + 305.2401428222656 + ], + [ + 409.84814453125, + 304.35223388671875 + ], + [ + 409.9537658691406, + 304.64691162109375 + ], + [ + 411.240966796875, + 305.4472351074219 + ], + [ + 411.88873291015625, + 304.7493896484375 + ], + [ + 411.54388427734375, + 305.0262145996094 + ], + [ + 411.0809326171875, + 304.5118103027344 + ], + [ + 410.7203674316406, + 304.8686218261719 + ], + [ + 410.7301940917969, + 305.102294921875 + ], + [ + 410.88836669921875, + 304.79254150390625 + ] + ] +} \ No newline at end of file diff --git a/004484_v2/lang.txt b/004484_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..0eeff1e5693324d826a8e628d34f98492ecf97dd --- /dev/null +++ b/004484_v2/lang.txt @@ -0,0 +1 @@ +moved the yellow bottle to the right side of the table diff --git a/004484_v2/object.ply b/004484_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..050a41a09f4c250af791227240f249599ec89fde Binary files /dev/null and b/004484_v2/object.ply differ diff --git a/004504/data.json b/004504/data.json new file mode 100644 index 0000000000000000000000000000000000000000..17fcfaf7a504284ec652ac4fe7b28dd022b448f0 --- /dev/null +++ b/004504/data.json @@ -0,0 +1,623 @@ +{ + "action_start": 10, + "action_end": 18, + "object_name": "carrot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 3.603398135432201e-11, + 1.8396818096677592e-10, + -3.188699443379406e-10, + -5.219505380764581e-07, + 1.117421430205755e-07, + 2.8796425309698317e-07, + 1.0 + ], + [ + 0.007106279381144859, + 0.02159060338906106, + 0.0075818162391007166, + -0.001743275160477727, + 0.03833945126690587, + -0.1535171225599486, + 1.0 + ], + [ + 0.006628674926115741, + 0.017566013890324444, + -0.003935992060988325, + 0.027499980249448247, + 0.07651128659579375, + -0.23411299687139162, + 1.0 + ], + [ + 0.0163539455747721, + 0.005174084965660894, + -0.00638187564609656, + 0.016796395730315092, + 0.027913549818921853, + -0.24619068561667146, + 1.0 + ], + [ + 0.016916030244461977, + -0.00856658975050846, + -0.014177055501710348, + -0.004234096083676557, + 0.004025864530949106, + -0.09754533274845643, + 1.0 + ], + [ + 0.00937976531530077, + -0.005510930579431406, + -0.012210327658516762, + 0.013660912472843723, + -0.00539819952454927, + -0.01943776521317486, + 1.0 + ], + [ + 0.003827524346142641, + 0.005700103798619557, + -0.016504806878126, + 0.02897252815794655, + 0.01894650481831738, + 0.01721163864441625, + 1.0 + ], + [ + -0.001138512045003759, + 0.005339169678645256, + -0.014174147936901207, + 0.012715618125766654, + 0.017824169686522465, + 0.018937714342210667, + 1.0 + ], + [ + -0.0016869532129444864, + 0.0044390794882994255, + -0.012508410859191237, + 0.016474218802762584, + 0.009940774209816436, + 0.03174314507154736, + 1.0 + ], + [ + 0.001715774735736586, + 0.002683364053838358, + -0.006296822812329732, + 0.022244792070221946, + 0.009941881151629733, + 0.020083310732873266, + 1.0 + ], + [ + -0.0015411151226097375, + 0.0006988976663771778, + -0.006889820068055226, + 0.005601053364793939, + -0.009416192724960918, + 0.03145591858453153, + 1.0 + ], + [ + -0.0012730929454379258, + -0.004331671870141161, + -0.0008640291393468419, + -0.023010444963363134, + -0.006967403984053167, + 0.002271005588185128, + 0.0 + ], + [ + -0.0022797011385736754, + -0.0014081467383374544, + 0.0032603421041854756, + -0.004994794223750727, + -0.0027262391874581385, + -0.00791971670002688, + 0.0 + ], + [ + -0.002863925435943382, + -0.00116072082210948, + 0.024579208145890527, + -0.042416799425913185, + -0.03320065846983577, + 0.006513072172830866, + 0.0 + ], + [ + 0.011187287384530342, + 0.005697105842414107, + 0.04298251068392791, + -0.02880890509073867, + -0.08487113990394105, + 0.07547599589095173, + 0.0 + ], + [ + 0.016456837855560846, + 0.021272228232874855, + 0.010225851511765485, + 0.01803868851509291, + -0.008218529926857563, + 0.0979468476600741, + 0.0 + ], + [ + 0.01671206831955596, + 0.035838440405188535, + -0.0033223739167990846, + 0.09227963744475007, + -0.08853864607974397, + 0.09088147192365206, + 0.0 + ], + [ + 0.008470777417158015, + 0.02780718400649417, + -0.0008212339925195572, + 0.04145188384811368, + -0.0050352253204363675, + 0.07106795234658872, + 0.0 + ], + [ + 0.0005803012357936121, + 0.015634264103941642, + -0.010245842925867513, + 0.037039458483084854, + 0.033635988882696116, + 0.0012073486832110693, + 0.0 + ], + [ + 0.005617635502096208, + 0.0038924246149448505, + -0.005105498139512152, + 0.01453180058885958, + 0.023381089575426218, + 0.058938942325106734, + 1.0 + ], + [ + 0.002728166152604239, + -0.00039327930336262307, + -0.0030629284761121284, + -0.003331719083854414, + 0.012060096528857003, + 0.02071194986902808, + 1.0 + ], + [ + 0.002066965459086356, + -0.004589215348641956, + 0.00834319071025219, + -0.014464530986355358, + -0.017280260069439776, + -0.00485279249906011, + 1.0 + ], + [ + 0.0004602547860960704, + -0.017315895452187216, + 0.03264443553140159, + -0.04155286441103262, + -0.056436697049428, + -0.01065685119089737, + 1.0 + ], + [ + 0.0006360172252777296, + -0.015018866602278885, + 0.03312175298570688, + -0.0523548786238225, + -0.04050525001765307, + -0.0018681512223242718, + 1.0 + ], + [ + 0.0004447731571836644, + -0.010275703298759098, + 0.03019218063680125, + -0.06705252270142636, + -0.06194892562072687, + -0.010627418395782176, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 339.66357421875, + 230.8533935546875 + ], + [ + 337.41845703125, + 237.65301513671875 + ], + [ + 317.6364440917969, + 225.3004150390625 + ], + [ + 294.885009765625, + 200.40850830078125 + ], + [ + 321.0937805175781, + 194.6190185546875 + ], + [ + 332.74871826171875, + 193.40557861328125 + ], + [ + 348.38494873046875, + 200.89662170410156 + ], + [ + 356.2898864746094, + 220.07638549804688 + ], + [ + 347.6508483886719, + 224.765869140625 + ], + [ + 336.720703125, + 232.7895965576172 + ], + [ + 329.95635986328125, + 239.2348175048828 + ], + [ + 328.9831848144531, + 243.1978759765625 + ], + [ + 331.30487060546875, + 248.95904541015625 + ], + [ + 331.95391845703125, + 249.70408630371094 + ], + [ + 334.73138427734375, + 240.94158935546875 + ], + [ + 337.38720703125, + 193.62847900390625 + ], + [ + 321.349609375, + 146.2810516357422 + ], + [ + 287.3016662597656, + 124.89352416992188 + ], + [ + 256.6780090332031, + 108.81083679199219 + ], + [ + 233.0543975830078, + 111.64724731445312 + ], + [ + 223.72848510742188, + 112.29672241210938 + ], + [ + 227.302001953125, + 115.90640258789062 + ], + [ + 232.03016662597656, + 113.66040802001953 + ], + [ + 250.79757690429688, + 91.36820983886719 + ], + [ + 269.2547607421875, + 46.34004211425781 + ], + [ + 286.0697937011719, + 20.466306686401367 + ], + [ + 288.4998474121094, + -14.297342300415039 + ], + [ + 284.34454345703125, + -15.774553298950195 + ], + [ + 284.07501220703125, + -15.193668365478516 + ], + [ + 284.16802978515625, + -14.709541320800781 + ], + [ + 283.9861145019531, + -14.17056655883789 + ] + ], + "depth_max": 2.874399423599243, + "depth_min": 0.33259549736976624, + "intrinsic": [ + [ + 542.598388671875, + 0.0, + 259.0 + ], + [ + 0.0, + 542.710205078125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.8431676734471694e-05, + -5.731642522732727e-05, + 2.230677637271583e-06 + ], + [ + -5.843605686095543e-05, + 1.0, + -7.646942685823888e-05, + -2.178357681259513e-05 + ], + [ + 5.7311957789352164e-05, + 7.64727737987414e-05, + 1.0, + 2.7285608666716143e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30 + ], + "object_trajectory": [ + [ + 327.75, + 271.25 + ], + [ + 328.3796691894531, + 271.24713134765625 + ], + [ + 327.602294921875, + 271.4830017089844 + ], + [ + 328.1703796386719, + 271.6146240234375 + ], + [ + 327.7148742675781, + 271.6689453125 + ], + [ + 326.7355041503906, + 271.9578857421875 + ], + [ + 326.8043518066406, + 272.289794921875 + ], + [ + 326.47052001953125, + 272.1522521972656 + ], + [ + 326.27838134765625, + 272.0504455566406 + ], + [ + 325.84771728515625, + 271.9614562988281 + ], + [ + 324.83673095703125, + 272.09332275390625 + ], + [ + 324.8913879394531, + 272.26263427734375 + ], + [ + 325.15081787109375, + 273.33135986328125 + ], + [ + 324.04193115234375, + 269.51611328125 + ], + [ + 324.6851501464844, + 262.54217529296875 + ], + [ + 324.220703125, + 216.5905303955078 + ], + [ + 309.89923095703125, + 177.37142944335938 + ], + [ + 278.85498046875, + 152.37521362304688 + ], + [ + 249.71446228027344, + 133.42379760742188 + ], + [ + 225.4427490234375, + 136.02703857421875 + ], + [ + 231.53466796875, + 152.828857421875 + ], + [ + 257.8376770019531, + 181.8026123046875 + ], + [ + 262.2511901855469, + 179.71112060546875 + ], + [ + 269.62567138671875, + 174.1303253173828 + ], + [ + 269.54815673828125, + 173.8980712890625 + ], + [ + 269.7657470703125, + 173.72779846191406 + ], + [ + 270.9869079589844, + 174.10702514648438 + ], + [ + 271.7320556640625, + 174.46505737304688 + ], + [ + 271.15802001953125, + 174.27313232421875 + ], + [ + 270.95416259765625, + 174.7173614501953 + ], + [ + 271.1296691894531, + 175.35797119140625 + ] + ] +} \ No newline at end of file diff --git a/004504/lang.txt b/004504/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..684b93deadfe2c05262f6ae2f078964eb6251839 --- /dev/null +++ b/004504/lang.txt @@ -0,0 +1 @@ +put carrot in pot cardboard fence diff --git a/004504/object.ply b/004504/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..2b80acf71e6bdd3dd1885ed8aff31bc6e3764d1c Binary files /dev/null and b/004504/object.ply differ diff --git a/004528_v2/FAIL b/004528_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/004528_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/004545_v2/data.json b/004545_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..2bb8de2e0ddee487edbdc97b8aba503f1887b94e --- /dev/null +++ b/004545_v2/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 11, + "action_end": 28, + "object_name": "blue fork", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + -1.3877787807814457e-17, + 0.0, + -4.0712436273411557e-07, + 3.6314946608080497e-07, + 2.665713421397551e-07, + 1.0 + ], + [ + 0.018089375480001585, + -0.006264220541645701, + 0.00149302994192399, + -0.020995378106742003, + 0.0011985242604015864, + 0.026771651351611515, + 1.0 + ], + [ + 0.013295116192785866, + -0.0009521351459378102, + -0.00298486243867728, + -0.013292505274947406, + 0.01453987418748262, + 0.011035113605807622, + 1.0 + ], + [ + 0.022535636210977428, + -0.0073194931361152404, + -0.0027126924496255617, + -0.04142986054732633, + 0.0012665875042702666, + -0.005097762363044553, + 1.0 + ], + [ + 0.02020954183719298, + -0.0108551360754989, + -0.002204606119140126, + -0.04128022633117714, + -0.009504867122132396, + 0.010881530424378408, + 1.0 + ], + [ + 0.01453796117555256, + -0.007706614674304765, + -0.0029736382230338906, + 0.0007492620029088576, + 0.0013708171183170585, + -0.012142551102323478, + 1.0 + ], + [ + 0.012110008508087966, + -0.008828158825508622, + -0.00564432067181618, + -0.01359286179572752, + 0.021447714978052194, + -0.013097939323938898, + 1.0 + ], + [ + 0.013187337543781541, + -0.0046597999570766255, + -0.010238011565526513, + 0.02174577185273014, + 0.013231466587391418, + -0.02932391559042595, + 1.0 + ], + [ + 0.008455361550056717, + -0.006068721816486114, + -0.006324103201411073, + -0.012840669024840611, + 0.02172531042395822, + -0.003418495774630674, + 1.0 + ], + [ + 0.006242328816239373, + -0.003747540612678627, + -0.005602260019336391, + -0.005380382706380157, + 0.011160650290668133, + -0.025263744518027056, + 1.0 + ], + [ + 0.00029737132412310796, + -0.001568451054121487, + -0.004140627475651, + 0.012760500045801567, + 0.021208349362005476, + -0.004375826712364373, + 1.0 + ], + [ + -0.000608421371118939, + -0.002282476730585771, + -0.004980912912212407, + -0.005407317645135931, + 0.016512335526015116, + -0.007536278392143703, + 1.0 + ], + [ + -0.0016912774278500797, + 0.0021242955547150118, + -0.0005235847675863041, + 0.011017511032507482, + -0.006577375217950704, + 0.01682080819176111, + 0.0 + ], + [ + -0.001060302656739065, + 0.0006659261773639506, + 0.0004216839333181467, + 0.0013940297909840417, + -0.0044090159994664875, + 0.004624495865260183, + 0.0 + ], + [ + -0.003318140289895244, + 0.002551424385848964, + 0.002597026804062968, + 0.0015331022587626035, + -0.008934961592417077, + 0.012812263461323187, + 0.0 + ], + [ + -0.004322372739844149, + 0.008051590732736907, + 0.006076137087097276, + 0.0021140114084180687, + -0.021189090799389406, + 0.031001781460914698, + 0.0 + ], + [ + -0.0029981310361745783, + 0.008722158187289285, + 0.012956166559178816, + 0.01587039134389718, + -0.015825130158232326, + 0.028250467759653744, + 0.0 + ], + [ + -0.004902183121648418, + 0.013748472620013111, + 0.017181889854109872, + 0.004391691602808306, + -0.016452475512495207, + 0.026929582013178133, + 0.0 + ], + [ + -0.008105788820539805, + 0.018734730018431033, + 0.01703709898760795, + 0.024581107129810147, + -0.025833884280553086, + 0.04326151574670626, + 0.0 + ], + [ + -0.014100389245653211, + 0.0246130421966273, + 0.013440591480437171, + 0.09720411159048375, + -0.004386792253945679, + 0.06952802569256925, + 0.0 + ], + [ + -0.016488453351776677, + 0.021895720683227482, + 0.005179542666018597, + -0.004086090763985981, + -0.027041126526017794, + 0.03063785571178515, + 0.0 + ], + [ + -0.020181946820133856, + 0.020920431454062027, + -0.006306810590616732, + 0.0046066211651845, + 0.00886059592421964, + 0.03336000251142528, + 0.0 + ], + [ + -0.01319529754075316, + 0.01192037009667303, + -0.009523321268803453, + -0.0024660454428347997, + 0.04349260074544662, + 0.017866255680183855, + 0.0 + ], + [ + -0.01672270832167483, + 0.017412619166370213, + -0.014803614023815186, + -0.006963755617345086, + 0.06383259113974482, + 0.047924397059952044, + 0.0 + ], + [ + -0.012959140025626037, + 0.01114219051297008, + -0.019962303699319756, + 0.0007610490313414869, + 0.06312168618653774, + 0.03699585328582143, + 0.0 + ], + [ + -0.010823307506492352, + 0.006104340941838787, + -0.017187210034024666, + -0.020509866774110302, + 0.040606453223984214, + 0.010475181179495198, + 0.0 + ], + [ + -0.007034622189713818, + 0.006166323779210309, + -0.008776668396736576, + -0.015503886145674677, + 0.02053959906564771, + 0.023677174478042698, + 0.0 + ], + [ + -0.00424220262622238, + 0.0010146253580411435, + -0.008951075822261172, + -0.008306972140465661, + 0.045130793223210675, + -0.0020032666696420676, + 0.0 + ], + [ + 0.0015784359683781168, + -0.001135051943092491, + -0.0009655305169264672, + -0.015996345756098873, + 0.012637803972770301, + -0.02263593768176169, + 0.0 + ], + [ + 0.0021153942625772304, + -0.0012486830461389542, + 0.0013817209487475973, + 0.0054164928468095515, + 0.023745188166445635, + 0.012595014034865092, + 1.0 + ], + [ + 0.004391915149421138, + -0.004052149867680377, + 0.008529518544331222, + 0.039794075735957946, + 0.014095315770532494, + -0.03853911516883456, + 1.0 + ], + [ + 0.005135766582300083, + -0.0044725303994230525, + 0.01165874084591958, + 0.02697069095138616, + -0.030513779326345712, + -0.02727463686032394, + 1.0 + ], + [ + 0.009224302293345504, + -0.008168647179665478, + 0.027380686935785638, + 0.047417138768365195, + -0.05943273415954328, + -0.04124856120806044, + 1.0 + ], + [ + 0.014655896218263964, + -0.008913050592355115, + 0.027615531371862345, + 0.013430812770978165, + -0.1067481596586545, + -0.049291663719374525, + 1.0 + ], + [ + 0.010168878252209135, + -0.005811303863243605, + 0.00883500722747868, + 0.013444894359808269, + -0.04243823367458399, + -0.04140858501978209, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 195.64669799804688, + 223.69178771972656 + ], + [ + 195.6015167236328, + 228.28260803222656 + ], + [ + 210.42681884765625, + 229.0102996826172 + ], + [ + 226.4090576171875, + 217.8539581298828 + ], + [ + 244.5540008544922, + 204.62112426757812 + ], + [ + 275.1374816894531, + 192.96080017089844 + ], + [ + 293.7839660644531, + 186.78724670410156 + ], + [ + 312.5802917480469, + 187.51895141601562 + ], + [ + 326.6634826660156, + 189.11329650878906 + ], + [ + 339.102294921875, + 193.65371704101562 + ], + [ + 343.7719421386719, + 193.70152282714844 + ], + [ + 347.4817199707031, + 198.482421875 + ], + [ + 351.1377868652344, + 202.32806396484375 + ], + [ + 349.59967041015625, + 204.54360961914062 + ], + [ + 352.1632080078125, + 203.32150268554688 + ], + [ + 351.99346923828125, + 203.5772247314453 + ], + [ + 345.5038146972656, + 209.88941955566406 + ], + [ + 330.9036865234375, + 206.06591796875 + ], + [ + 318.849365234375, + 180.27731323242188 + ], + [ + 292.0345458984375, + 164.7264404296875 + ], + [ + 261.61474609375, + 149.24838256835938 + ], + [ + 231.0657958984375, + 144.36351013183594 + ], + [ + 188.8072509765625, + 147.16806030273438 + ], + [ + 159.0390625, + 162.1673583984375 + ], + [ + 134.13192749023438, + 171.17291259765625 + ], + [ + 114.54026794433594, + 197.23570251464844 + ], + [ + 104.77859497070312, + 219.392578125 + ], + [ + 92.54867553710938, + 234.73983764648438 + ], + [ + 89.8016357421875, + 245.89120483398438 + ], + [ + 89.9588851928711, + 247.2230987548828 + ], + [ + 87.36021423339844, + 249.2406463623047 + ], + [ + 88.6364974975586, + 247.8300018310547 + ], + [ + 100.54766082763672, + 239.95013427734375 + ], + [ + 102.77400970458984, + 212.15518188476562 + ], + [ + 115.32923889160156, + 175.27273559570312 + ], + [ + 124.00103759765625, + 158.46255493164062 + ], + [ + 130.82321166992188, + 157.70852661132812 + ], + [ + 131.3971710205078, + 157.79913330078125 + ] + ], + "depth_max": 1.6113969087600708, + "depth_min": 0.37879979610443115, + "intrinsic": [ + [ + 543.7734375, + 0.0, + 259.0 + ], + [ + 0.0, + 543.1055908203125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 8.825424447422847e-05, + -3.9507394831161946e-05, + -3.491142706479877e-05 + ], + [ + -8.825770783005282e-05, + 1.0, + -8.760474884184077e-05, + -1.1378236195014324e-05 + ], + [ + 3.949966048821807e-05, + 8.760824130149558e-05, + 1.0, + -4.104686013306491e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 357.5, + 210.75 + ], + [ + 357.43218994140625, + 210.86065673828125 + ], + [ + 357.65191650390625, + 210.85763549804688 + ], + [ + 357.6585388183594, + 210.765625 + ], + [ + 357.91778564453125, + 211.057861328125 + ], + [ + 357.8448791503906, + 210.9751739501953 + ], + [ + 358.1072082519531, + 211.46981811523438 + ], + [ + 357.94732666015625, + 211.37899780273438 + ], + [ + 357.5645751953125, + 211.1771240234375 + ], + [ + 357.0404052734375, + 210.23770141601562 + ], + [ + 356.7457275390625, + 209.4181365966797 + ], + [ + 357.23565673828125, + 209.47132873535156 + ], + [ + 357.5593566894531, + 209.79312133789062 + ], + [ + 357.81427001953125, + 210.4036865234375 + ], + [ + 357.55804443359375, + 212.14370727539062 + ], + [ + 357.4402160644531, + 213.0365447998047 + ], + [ + 348.8747863769531, + 216.53370666503906 + ], + [ + 335.28021240234375, + 214.88735961914062 + ], + [ + 326.9000244140625, + 194.78648376464844 + ], + [ + 301.3425598144531, + 180.8836669921875 + ], + [ + 270.32598876953125, + 164.32366943359375 + ], + [ + 240.2332763671875, + 158.86224365234375 + ], + [ + 200.35494995117188, + 163.4564208984375 + ], + [ + 170.0928955078125, + 175.83213806152344 + ], + [ + 144.2646484375, + 184.7462921142578 + ], + [ + 123.52006530761719, + 211.20318603515625 + ], + [ + 112.4731216430664, + 232.25885009765625 + ], + [ + 101.5064926147461, + 247.17388916015625 + ], + [ + 97.49063873291016, + 258.1847839355469 + ], + [ + 96.15481567382812, + 258.2264404296875 + ], + [ + 93.08299255371094, + 258.2963562011719 + ], + [ + 89.94287872314453, + 261.22259521484375 + ], + [ + 90.66796875, + 261.58514404296875 + ], + [ + 88.775146484375, + 261.3792419433594 + ], + [ + 89.01632690429688, + 260.90350341796875 + ], + [ + 88.67377471923828, + 260.5334777832031 + ], + [ + 88.71086883544922, + 260.47503662109375 + ], + [ + 88.96422576904297, + 261.1099853515625 + ] + ] +} \ No newline at end of file diff --git a/004545_v2/lang.txt b/004545_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2c0b42cd010a7737948b2545177f00aa567a8aeb --- /dev/null +++ b/004545_v2/lang.txt @@ -0,0 +1 @@ +moved the blue fork to the left side of the table diff --git a/004545_v2/object.ply b/004545_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..392aa7a4f34cdc0102d18f67566c5763d325e304 Binary files /dev/null and b/004545_v2/object.ply differ diff --git a/004556_v2/data.json b/004556_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..1a43de72035509f05d9edbbda1e6cf8ef45de53d --- /dev/null +++ b/004556_v2/data.json @@ -0,0 +1,788 @@ +{ + "action_start": 8, + "action_end": 24, + "object_name": "blue spoon", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 0.0, + -2.7755575615628914e-17, + 1.8480785733075346e-07, + -1.782027986302e-07, + -3.2878062827397266e-07, + 1.0 + ], + [ + -0.027102073711314123, + -0.005252488758461734, + 0.007143169325480189, + 0.028741949161948416, + 0.01879397209260355, + 0.04219256716978092, + 1.0 + ], + [ + -0.020068563418997876, + -0.0028462159026607543, + -0.0034254314274388825, + -0.034113467857104056, + 0.023806150984550738, + 0.035190354279507285, + 1.0 + ], + [ + -0.013398519347116, + 0.0012281397239481961, + -0.0035688121519458355, + 0.044858370238828486, + 0.03344688599526953, + 0.03482364817223668, + 1.0 + ], + [ + -0.005014979164167044, + -0.00011478720050808744, + -0.0141647559897672, + 0.021800531002644008, + 0.034735777029538305, + 0.007670516555034213, + 1.0 + ], + [ + -0.0015527722213620754, + -0.000888709603629325, + -0.016379732244883892, + 0.01922103855187024, + 0.06217080528159815, + 0.05353952029906506, + 1.0 + ], + [ + -0.004169494269986862, + 0.0030932305383201894, + -0.014801264865804603, + 0.030827932535598093, + 0.05595786425348694, + 0.007951303853962793, + 1.0 + ], + [ + -0.0043594328781920155, + 0.0019955706440839063, + -0.01056515374574676, + 0.010228385672535069, + 0.03795131257951681, + 0.002013879567380498, + 1.0 + ], + [ + 0.00047692125113368844, + -0.00046462425406492563, + -0.01359620739797859, + -0.01908974659953014, + 0.024821128507882817, + -0.0018242402938040872, + 1.0 + ], + [ + -0.0015541170753657352, + 0.0009588612459181592, + -0.009000735587275818, + 0.004651487736411939, + -0.010678976670360954, + 0.005394070265191748, + 0.0 + ], + [ + -0.00020333472903089067, + -0.0017793548612651741, + 0.002235646418896689, + -0.006843511256724704, + -0.015892971984182883, + 0.0023025955154807975, + 0.0 + ], + [ + -0.0011350672406614803, + 0.0009449337304347702, + 0.0028914817072958044, + -0.0034402278447101093, + -0.0027631140396570217, + 0.0013391044825519915, + 0.0 + ], + [ + 0.001684151343582907, + 0.0023399602756954893, + 0.013890023869914496, + -0.016667844764920288, + -0.023669395122487582, + -0.009327086270279776, + 0.0 + ], + [ + 0.011904868053198625, + 0.0161901382276107, + 0.023792489211682775, + -0.04057104575151682, + -0.05713050975857907, + -0.002131220485144204, + 0.0 + ], + [ + 0.013869929978389595, + 0.024169176143490588, + 0.017290134434781335, + -0.023400060436585324, + -0.045152780317678096, + 0.029177304036549962, + 0.0 + ], + [ + 0.017625913366485113, + 0.03008993110504512, + 0.013101899359607844, + 0.00945084523515551, + -0.011118562248299626, + -0.004465379683670865, + 0.0 + ], + [ + 0.014275418937216677, + 0.03794323778048192, + 0.010363899033585297, + 0.0036060049541950666, + 0.0056995270293134104, + 0.012470992181271135, + 0.0 + ], + [ + 0.013252990274167264, + 0.03082071574425032, + 0.0038890704562591083, + 0.014962850452205743, + 0.001868619556529381, + 0.02595066954146466, + 0.0 + ], + [ + 0.012799531484748439, + 0.03018292847509073, + -0.008106791064606406, + 0.028634663389154054, + 0.007686525472862557, + 0.024364721000919534, + 0.0 + ], + [ + 0.008398554991864482, + 0.031775185262212194, + -0.015333112534149262, + 0.006887483692701206, + 0.04696152982497536, + 0.0529033137190583, + 0.0 + ], + [ + 0.006046562619426377, + 0.01971432860878064, + -0.009990678892321872, + -0.008040461208495437, + 0.017490191908993633, + 0.05700875166968937, + 0.0 + ], + [ + 0.00657267469868783, + 0.019461617758272126, + -0.0038252135464971054, + 0.0008607272570704851, + -0.00799166537724487, + 0.05219346742586274, + 0.0 + ], + [ + 0.004845992090358964, + 0.009045285377874468, + -0.00755098151395028, + -0.0003405990122286136, + 0.030723149611963606, + 0.02404074739803042, + 0.0 + ], + [ + -0.0007735207424077739, + 0.0001057023479611452, + -0.014231770148140862, + 0.0012178271947189396, + 0.03586336165855301, + -0.0009701086917210977, + 0.0 + ], + [ + -0.003624411445821263, + -0.0055214352822119395, + -0.007180654319637901, + 0.024325410557803948, + 0.021501966740050945, + -0.020138942312463368, + 0.0 + ], + [ + -0.00025644833081417406, + -0.0022996274724521037, + -0.003152769245058692, + -0.01609974950307605, + 0.007051830371498969, + -0.0038454968359134577, + 1.0 + ], + [ + 0.0009733795230107978, + -0.003982754286175533, + 0.007973230149311136, + 0.011556170869778466, + -0.007971804191552155, + -0.008849055214985538, + 1.0 + ], + [ + 0.006123744077034754, + -0.009389846268015756, + 0.016997224497641676, + 0.029891587188468124, + -0.030559019315681384, + -0.03223976884415876, + 1.0 + ], + [ + 0.00588549766478319, + -0.007571178432804693, + 0.02611128123812573, + 0.011083655862682194, + -0.05780468811733641, + -0.014263113107078734, + 1.0 + ], + [ + 0.004371065186712875, + -0.008120970325756205, + 0.028738331781554875, + 0.01833006442523101, + -0.04953566903821157, + -0.026571739067478995, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 417.8103942871094, + 136.11550903320312 + ], + [ + 417.1900939941406, + 144.3272247314453 + ], + [ + 399.659423828125, + 180.6812744140625 + ], + [ + 399.0699768066406, + 191.68064880371094 + ], + [ + 383.0933532714844, + 205.09446716308594 + ], + [ + 383.738525390625, + 216.2925567626953 + ], + [ + 375.39697265625, + 239.07228088378906 + ], + [ + 370.44757080078125, + 260.0284729003906 + ], + [ + 366.08953857421875, + 272.0866394042969 + ], + [ + 368.33831787109375, + 287.9732360839844 + ], + [ + 372.801513671875, + 289.6643371582031 + ], + [ + 378.06732177734375, + 287.17510986328125 + ], + [ + 376.8944396972656, + 287.9910888671875 + ], + [ + 370.525634765625, + 285.8622131347656 + ], + [ + 355.19183349609375, + 247.43234252929688 + ], + [ + 343.30413818359375, + 215.3580322265625 + ], + [ + 314.2543029785156, + 159.44677734375 + ], + [ + 287.7332763671875, + 129.8735809326172 + ], + [ + 259.2799377441406, + 100.4034652709961 + ], + [ + 240.06698608398438, + 89.33382415771484 + ], + [ + 217.39517211914062, + 91.89198303222656 + ], + [ + 199.45907592773438, + 97.70420837402344 + ], + [ + 191.72821044921875, + 94.80935668945312 + ], + [ + 179.7639617919922, + 96.35826110839844 + ], + [ + 180.45938110351562, + 107.13401794433594 + ], + [ + 178.74484252929688, + 116.03288269042969 + ], + [ + 182.34710693359375, + 117.74974060058594 + ], + [ + 180.841552734375, + 119.26673889160156 + ], + [ + 186.2653350830078, + 121.98497009277344 + ], + [ + 204.60948181152344, + 100.30474853515625 + ], + [ + 199.26515197753906, + 65.06375122070312 + ], + [ + 202.45062255859375, + 55.087486267089844 + ], + [ + 202.29107666015625, + 55.580787658691406 + ], + [ + 201.8733673095703, + 54.696327209472656 + ], + [ + 202.00746154785156, + 55.07233428955078 + ], + [ + 202.193359375, + 55.23304748535156 + ], + [ + 202.10276794433594, + 54.99810028076172 + ], + [ + 202.17332458496094, + 55.202110290527344 + ], + [ + 201.947509765625, + 55.022762298583984 + ], + [ + 202.14273071289062, + 55.15336990356445 + ] + ], + "depth_max": 1.5583709478378296, + "depth_min": 0.4417595863342285, + "intrinsic": [ + [ + 521.28662109375, + 0.0, + 259.0 + ], + [ + 0.0, + 520.9359130859375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.48672471975442e-05, + -9.417086403118446e-05, + -1.98141933651641e-05 + ], + [ + -4.487285696086474e-05, + 1.0, + -5.958782276138663e-05, + -5.559384590014815e-06 + ], + [ + 9.416818647878245e-05, + 5.9592050092760473e-05, + 1.0, + -1.159838939202018e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 39 + ], + "object_trajectory": [ + [ + 343.25, + 287.25 + ], + [ + 343.50665283203125, + 287.37164306640625 + ], + [ + 343.36163330078125, + 287.41925048828125 + ], + [ + 343.25018310546875, + 287.41937255859375 + ], + [ + 343.3858642578125, + 287.5437927246094 + ], + [ + 343.1899108886719, + 287.4765319824219 + ], + [ + 343.62738037109375, + 288.05126953125 + ], + [ + 344.8592834472656, + 288.6446838378906 + ], + [ + 345.95489501953125, + 288.3751220703125 + ], + [ + 347.8395080566406, + 288.50762939453125 + ], + [ + 353.83538818359375, + 286.70849609375 + ], + [ + 370.8831787109375, + 280.4789733886719 + ], + [ + 370.35211181640625, + 280.96929931640625 + ], + [ + 359.9259338378906, + 281.8638916015625 + ], + [ + 351.1992492675781, + 245.06805419921875 + ], + [ + 342.4140625, + 215.55413818359375 + ], + [ + 314.39202880859375, + 162.93687438964844 + ], + [ + 287.3944091796875, + 130.23529052734375 + ], + [ + 258.7970275878906, + 102.39606475830078 + ], + [ + 239.291015625, + 92.51394653320312 + ], + [ + 216.5414276123047, + 95.06610107421875 + ], + [ + 197.779541015625, + 102.44548034667969 + ], + [ + 192.51397705078125, + 101.46085357666016 + ], + [ + 181.11427307128906, + 103.14875030517578 + ], + [ + 180.75735473632812, + 114.37857055664062 + ], + [ + 177.6890411376953, + 121.18977355957031 + ], + [ + 178.09902954101562, + 122.34294891357422 + ], + [ + 174.73214721679688, + 124.23674774169922 + ], + [ + 173.91224670410156, + 124.53193664550781 + ], + [ + 172.14883422851562, + 122.49308776855469 + ], + [ + 167.5909881591797, + 126.17152404785156 + ], + [ + 175.5535430908203, + 118.45817565917969 + ], + [ + 171.74436950683594, + 122.13475036621094 + ], + [ + 171.743896484375, + 122.11621856689453 + ], + [ + 172.1414794921875, + 121.90778350830078 + ], + [ + 172.8987274169922, + 121.45344543457031 + ], + [ + 173.1005859375, + 121.35980224609375 + ], + [ + 173.07763671875, + 121.40220642089844 + ], + [ + 173.0677032470703, + 121.35610961914062 + ], + [ + 173.16342163085938, + 121.42496490478516 + ] + ] +} \ No newline at end of file diff --git a/004556_v2/lang.txt b/004556_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..6316ab3a7d433e0ee4656242f1d04c7f32c1733a --- /dev/null +++ b/004556_v2/lang.txt @@ -0,0 +1 @@ +move the blue spoon to the upper left of the table diff --git a/004556_v2/object.ply b/004556_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..c668b0ce8c7686468d71112c912a44b8d469b670 Binary files /dev/null and b/004556_v2/object.ply differ diff --git a/004566_v2/data.json b/004566_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..b466e5d15aef881084b2b44d443a8d03da87c8dd --- /dev/null +++ b/004566_v2/data.json @@ -0,0 +1,806 @@ +{ + "action_start": 11, + "action_end": 30, + "object_name": "silver pot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.8115697830722866e-10, + 2.497888007546578e-11, + -4.7277501358244933e-11, + -1.561414936566781e-07, + -1.2935509072596805e-07, + -3.745280628036967e-07, + 1.0 + ], + [ + -0.011258127203585877, + 0.010178161225021687, + 0.0028344468981488513, + -0.027619873451572845, + -0.009050917955235657, + 0.02654650683417283, + 1.0 + ], + [ + -0.010509926097901023, + 0.00966016309107548, + 0.006412095734957296, + -0.0032964998736105832, + -0.014544299553903827, + 0.005892706496388843, + 1.0 + ], + [ + -0.01729791858942159, + 0.014695260472736449, + 0.010524743764260935, + -0.011993605313617666, + -0.04513384483343521, + -0.008138432480912982, + 1.0 + ], + [ + -0.01979811566474443, + 0.006612517420206243, + -0.002046594544582017, + -0.015419754044313077, + 0.0021957677703265165, + -0.017051494727357924, + 1.0 + ], + [ + -0.02632042902775611, + 0.01819654429276113, + -0.003862878030478495, + 0.044722253648472605, + 0.017322617752693063, + 0.03168121837985333, + 1.0 + ], + [ + -0.015334607551221846, + 0.010356191534546588, + -0.008792505175292564, + -0.026271990587818646, + 0.026395545240576208, + -0.002989801904966181, + 1.0 + ], + [ + -0.012494692581439981, + 0.011380071784570955, + -0.01225499433390892, + -0.0045759434710978784, + 0.029729778920087234, + 0.009078722418485142, + 1.0 + ], + [ + -0.003872366476045108, + 0.00913227103991715, + -0.01201810870102897, + -0.0140891005140528, + 0.02813030370447975, + 0.017884458788493925, + 1.0 + ], + [ + -0.000481653707570584, + -0.0005833868588706326, + -0.012225839496628726, + 0.011479360032150809, + 0.03014834873964099, + -0.012456605707576226, + 1.0 + ], + [ + -0.00514995166412785, + 0.0022859520295533398, + -0.010851324177689643, + 6.615031384119127e-05, + 0.034486076274429026, + 0.00213465623250377, + 1.0 + ], + [ + 0.002117826042340565, + -0.0037097470763416407, + -0.004345805561398498, + 0.003942201595763586, + 0.007521867557542414, + 0.007219482424046115, + 1.0 + ], + [ + 0.0020390411043645917, + -0.006299175107409516, + -0.005917321716567118, + 0.0001808402802588227, + 0.007504339324399361, + -0.0030014660553719214, + 0.0 + ], + [ + 0.0009615128935149264, + -0.0025137859922170214, + -0.001757169048155656, + -0.0018246779699680816, + -0.003864223388129381, + 0.0021830446144359508, + 0.0 + ], + [ + 0.00016565133038953794, + -0.0012239023022628248, + 0.00011070525162188219, + 0.012329147151854297, + 0.003433816884774102, + 0.008527087524795252, + 0.0 + ], + [ + -0.0014501135367665507, + 0.0009453299749834221, + 0.0003366422836844768, + 0.004870162998722688, + -0.004482061070447463, + 0.0075989498317556355, + 0.0 + ], + [ + -0.0008879132963273695, + 0.0009037749233513637, + 0.010620103883809757, + -0.0037649851561399644, + -0.03043156173998797, + 0.00483005604080249, + 0.0 + ], + [ + -0.0012218022939745055, + 0.0008134495325582969, + 0.020720850778432602, + -0.0029610981444076526, + -0.04013243813657216, + 0.008510306805142292, + 0.0 + ], + [ + -0.00040949143586571646, + -0.0041769918811569995, + 0.025607061439703448, + -0.01940914195125821, + -0.07187864472316316, + 0.0018760066098978743, + 0.0 + ], + [ + 0.0012347454909688582, + -0.012078031820100116, + 0.024195937909662166, + -0.03058806597632821, + -0.0591792706547335, + -0.019337551606205816, + 0.0 + ], + [ + 0.005216529562583783, + -0.022226961290358116, + 0.012977728731043206, + -0.03588281390307397, + -0.03607988039723267, + -0.04136166849266316, + 0.0 + ], + [ + 0.009568493645581044, + -0.030520143316765336, + 0.007201121853592993, + -0.06311806901157077, + -0.029836963654023527, + -0.06075472845805285, + 0.0 + ], + [ + 0.012705243636720931, + -0.037534675349274876, + 0.002177088740937888, + -0.05861339053570881, + -0.01706434874411921, + -0.07170169156924265, + 0.0 + ], + [ + 0.019983000819267405, + -0.040793905988955825, + -0.005784664755408606, + -0.025492628085477934, + 0.004431433546829262, + -0.06626135834595318, + 0.0 + ], + [ + 0.02826504312902456, + -0.03182656593231317, + -0.014993470149746294, + -0.043953617810957864, + 0.012984077925169328, + -0.06406816149009482, + 0.0 + ], + [ + 0.023493014146912294, + -0.026086452981734634, + -0.013761130349051479, + -0.009810797070883285, + 0.01800347281893108, + -0.050042905543938684, + 0.0 + ], + [ + 0.01786602855739, + -0.011159690648140486, + -0.018148735075995612, + -0.02106103211357647, + 0.025946831758714796, + -0.010945131736491052, + 0.0 + ], + [ + 0.0159374717958099, + -0.00982346494360338, + -0.011251103704638013, + -0.009714691032542975, + 0.010989262167799016, + -0.014809315491063745, + 0.0 + ], + [ + 0.00926353191094842, + -0.00023263728515255516, + -0.008337399423374345, + 0.010264996765011887, + 0.0002069154062358812, + 0.0023385468569805377, + 0.0 + ], + [ + 0.004984952429305134, + -0.0047015651146575105, + -0.008049381661090454, + -0.0013756503902189045, + -0.00025307573632273316, + -0.012668427392146407, + 0.0 + ], + [ + 0.00032707012068816654, + -0.0035480801897433377, + -0.0057584575257544485, + 0.0071120457892505425, + 0.005852974863238766, + -0.01855496741151516, + 0.0 + ], + [ + -0.0011217962062493037, + -0.0006515259707790058, + -0.0007651065958916708, + 0.018830729296246216, + 0.013613354465741736, + -0.0016549202756608236, + 1.0 + ], + [ + -0.0022175827860931308, + 0.0007269419535903196, + 0.0007251895080182189, + 0.012734185355440977, + 0.0016017215442189873, + 0.005797901336467896, + 1.0 + ], + [ + -0.0025889296471662826, + 0.0029864871652925153, + 0.0038999500786893113, + 0.0037779825669321246, + -0.003129692927515367, + 0.00884787890111004, + 1.0 + ], + [ + -0.0004794905373088909, + 0.004674094931311143, + 0.0122072563311389, + 0.012031909305157101, + -0.023508517189952383, + 0.01691203615791756, + 1.0 + ], + [ + -0.001191156937007165, + 0.00854743831962108, + 0.02284769114955766, + 0.02487316287512239, + -0.0421842779862255, + 0.023959420076379294, + 1.0 + ], + [ + -0.0017705420796544358, + 0.010702561113547948, + 0.02745435581761454, + 0.07934940901768557, + -0.06325970486765393, + 0.04518204168059335, + 1.0 + ], + [ + -0.008438879044299075, + 0.012984940917918013, + 0.009382178879786193, + 0.12260588134181036, + -0.0279205992198823, + 0.021252936062763343, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 192.45510864257812, + 59.50365447998047 + ], + [ + 198.5418243408203, + 67.74952697753906 + ], + [ + 194.48887634277344, + 85.87031555175781 + ], + [ + 169.08648681640625, + 94.18255615234375 + ], + [ + 151.19932556152344, + 89.5443344116211 + ], + [ + 116.3895263671875, + 90.49772644042969 + ], + [ + 91.85029602050781, + 105.56893157958984 + ], + [ + 61.603572845458984, + 113.9966812133789 + ], + [ + 46.258026123046875, + 121.5087890625 + ], + [ + 34.58243179321289, + 142.51319885253906 + ], + [ + 31.16196060180664, + 153.50552368164062 + ], + [ + 31.58547019958496, + 165.98385620117188 + ], + [ + 33.279232025146484, + 170.66732788085938 + ], + [ + 42.73475646972656, + 172.78756713867188 + ], + [ + 43.79938507080078, + 176.1501007080078 + ], + [ + 45.451454162597656, + 174.73696899414062 + ], + [ + 46.945526123046875, + 172.03732299804688 + ], + [ + 47.88037872314453, + 167.59454345703125 + ], + [ + 46.32398223876953, + 156.4612579345703 + ], + [ + 35.38835906982422, + 141.21937561035156 + ], + [ + 23.69622230529785, + 114.29737854003906 + ], + [ + 28.202014923095703, + 99.5724105834961 + ], + [ + 60.970298767089844, + 91.75531005859375 + ], + [ + 97.63154602050781, + 85.87255859375 + ], + [ + 158.1654052734375, + 88.78616333007812 + ], + [ + 225.88189697265625, + 97.50409698486328 + ], + [ + 281.6040954589844, + 112.80416870117188 + ], + [ + 320.5884094238281, + 127.965576171875 + ], + [ + 331.85052490234375, + 131.4610595703125 + ], + [ + 347.19757080078125, + 140.98458862304688 + ], + [ + 351.576416015625, + 142.10418701171875 + ], + [ + 358.701904296875, + 144.71914672851562 + ], + [ + 356.0941467285156, + 150.07997131347656 + ], + [ + 354.0362548828125, + 150.96505737304688 + ], + [ + 353.4041748046875, + 153.66525268554688 + ], + [ + 350.8820495605469, + 154.19650268554688 + ], + [ + 347.5899658203125, + 130.02435302734375 + ], + [ + 333.9561767578125, + 97.73458862304688 + ], + [ + 314.16510009765625, + 82.01101684570312 + ], + [ + 312.4268493652344, + 81.1576156616211 + ], + [ + 313.08026123046875, + 80.92902374267578 + ] + ], + "depth_max": 1.5443015098571777, + "depth_min": 0.5486217141151428, + "intrinsic": [ + [ + 530.2191772460938, + 0.0, + 259.0 + ], + [ + 0.0, + 529.3258666992188, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.461596785811707e-05, + -6.175081944093108e-05, + -3.3538686693646014e-05 + ], + [ + -6.462172314058989e-05, + 1.0, + -9.31801987462677e-05, + 1.4318648027256131e-05 + ], + [ + 6.174479494802654e-05, + 9.318418597104028e-05, + 1.0, + -1.0767959793156479e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 40 + ], + "object_trajectory": [ + [ + 109.75, + 189.50001525878906 + ], + [ + 109.9442367553711, + 189.82716369628906 + ], + [ + 110.13438415527344, + 189.7878875732422 + ], + [ + 110.10038757324219, + 189.76275634765625 + ], + [ + 110.10721588134766, + 189.6839599609375 + ], + [ + 109.9543228149414, + 189.7730712890625 + ], + [ + 109.81370544433594, + 189.8018798828125 + ], + [ + 109.68376159667969, + 189.73306274414062 + ], + [ + 109.88751220703125, + 189.66806030273438 + ], + [ + 110.02117919921875, + 189.76795959472656 + ], + [ + 109.8060302734375, + 189.89483642578125 + ], + [ + 109.83056640625, + 189.97659301757812 + ], + [ + 109.81148529052734, + 190.1488037109375 + ], + [ + 109.97506713867188, + 190.07998657226562 + ], + [ + 114.70881652832031, + 188.915771484375 + ], + [ + 119.37704467773438, + 179.47634887695312 + ], + [ + 114.95137786865234, + 169.86058044433594 + ], + [ + 125.98506927490234, + 172.11575317382812 + ], + [ + 129.3870391845703, + 171.404296875 + ], + [ + 116.83352661132812, + 165.3802947998047 + ], + [ + 103.6999740600586, + 138.85159301757812 + ], + [ + 112.32933044433594, + 131.44985961914062 + ], + [ + 147.69528198242188, + 124.11514282226562 + ], + [ + 184.74359130859375, + 118.8157958984375 + ], + [ + 241.10208129882812, + 122.8187255859375 + ], + [ + 299.7398376464844, + 131.36178588867188 + ], + [ + 352.09027099609375, + 147.7321014404297 + ], + [ + 383.7005615234375, + 161.1023712158203 + ], + [ + 391.04962158203125, + 164.4036407470703 + ], + [ + 405.79400634765625, + 172.7361297607422 + ], + [ + 410.42742919921875, + 169.97769165039062 + ], + [ + 414.09228515625, + 169.991455078125 + ], + [ + 420.293701171875, + 178.9890594482422 + ], + [ + 417.5419006347656, + 180.7611541748047 + ], + [ + 417.9924011230469, + 181.28941345214844 + ], + [ + 418.46209716796875, + 181.57960510253906 + ], + [ + 417.7154541015625, + 181.2240447998047 + ], + [ + 417.5101013183594, + 181.09030151367188 + ], + [ + 417.7625732421875, + 181.16859436035156 + ], + [ + 417.8726806640625, + 180.97544860839844 + ], + [ + 417.981201171875, + 180.99612426757812 + ] + ] +} \ No newline at end of file diff --git a/004566_v2/lang.txt b/004566_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..15b0a430cdce9abc6de71812c55aa45d40282a54 --- /dev/null +++ b/004566_v2/lang.txt @@ -0,0 +1 @@ +move the silver pot to the top right of the table diff --git a/004571/data.json b/004571/data.json new file mode 100644 index 0000000000000000000000000000000000000000..930cee970326824db667b51007ba0c4b1ab741c0 --- /dev/null +++ b/004571/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 13, + "action_end": 29, + "object_name": "knife", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.551115123125783e-17, + -2.0816681711721685e-17, + -2.7755575615628914e-17, + 1.6305187831176623e-07, + 6.232199915997855e-08, + -2.2842999709754736e-07, + 1.0 + ], + [ + -0.021874728070248095, + -0.0012879676224754073, + 0.00190792365580697, + -0.06597788583613999, + 0.007800145900361927, + 0.13104724118726654, + 1.0 + ], + [ + -0.02403998523199563, + -0.0045684829109969155, + -0.00559949757347189, + -0.05457585506388001, + -0.06201043189230099, + 0.28561968002900434, + 1.0 + ], + [ + -0.01907823229474337, + -0.002055712425891563, + -0.008435524655448653, + 0.03858707023988022, + -0.030393857148211023, + 0.2031936967732112, + 1.0 + ], + [ + -0.01011027768941447, + -0.004403677421761072, + -0.006968683245482887, + -0.005307166278126319, + -0.05764711470410607, + 0.20382723347729717, + 1.0 + ], + [ + -0.00766247531481043, + -0.006452890942773244, + -0.015899202932939213, + -0.02774270931741151, + 0.03440918894493884, + 0.17575006920432634, + 1.0 + ], + [ + -0.009300485398250236, + -0.009502286446990728, + -0.016134641548617656, + 0.02097654860749956, + -0.03363706361628558, + 0.04906826911522594, + 1.0 + ], + [ + -0.005135296267136047, + -0.0032281874109432937, + -0.012480328945346536, + -0.06799606474026543, + 0.05404939558118412, + 0.11347255480980957, + 1.0 + ], + [ + -0.009791533530837448, + -0.008413093716961716, + -0.012980048159272922, + -0.033185986206826626, + 0.017166185392189105, + 0.04999529429954902, + 1.0 + ], + [ + -0.003130022002908822, + -0.0036841182631649483, + -0.012328830278963358, + 0.004008556535360205, + -0.02929954976280982, + 0.03426084429422318, + 1.0 + ], + [ + -0.00028369676403527944, + 9.434583731626756e-05, + -0.011472500169289017, + -0.0007129452495677004, + -0.014268534306485715, + 0.03471564786770036, + 1.0 + ], + [ + -3.8066927577184995e-05, + 0.0009275655225381568, + -0.011867501742246378, + 0.024853519385763637, + -0.008493187750860061, + -0.022195269523237963, + 1.0 + ], + [ + -0.0016851477267721682, + 0.00443590419598397, + -0.006360782111140644, + 0.0028542577722728254, + 0.014903119081912638, + 0.017194194522182734, + 1.0 + ], + [ + -0.0042637124367752854, + -0.0014813738366801221, + -0.01484930935899845, + -0.009520084750338878, + 0.05998116271911716, + -0.038759450244456296, + 1.0 + ], + [ + 0.0009951926794003751, + -0.001564271556988503, + -0.0024883395511479727, + -0.026618208508638472, + -0.0038746547922397572, + -0.05673941605542317, + 0.0 + ], + [ + 0.0028185090957207337, + 0.00017394532056067002, + 0.004968339387310025, + -0.058953295332264365, + -0.019477902715417873, + 0.02483766343527086, + 0.0 + ], + [ + 0.00086267368671053, + 0.002991937287370558, + 0.012912171953654782, + -0.0582046629874266, + 0.0051342399237219415, + 0.07772813416667511, + 0.0 + ], + [ + -0.003701567472492784, + 0.000607709808235754, + 0.020723156876831808, + -0.02206326807766849, + -0.02565146233091284, + 0.04719358195280679, + 0.0 + ], + [ + 0.006280418139831739, + 0.005610841827059204, + 0.030427448242850652, + -0.02980753736646949, + -0.0018046785155486902, + 0.12751193615138937, + 0.0 + ], + [ + 0.019971657430868484, + 0.013291775034585625, + 0.029837464765624898, + 0.06843333360179482, + -0.08172276792078956, + 0.10859131762731068, + 0.0 + ], + [ + 0.0189446123557781, + 0.01804049769367861, + 0.00409901787242703, + 0.013908825429365836, + 0.023938070123464612, + 0.12015708248685783, + 0.0 + ], + [ + 0.02452844643046448, + 0.025890828663938954, + 0.002097558756249937, + 0.026339749164489293, + 0.019176322317769293, + 0.12890351407537762, + 0.0 + ], + [ + 0.014081213479702204, + 0.020528408261857495, + -0.00846299961098032, + -0.00498115552553754, + 0.049634101806009356, + 0.093871566998584, + 0.0 + ], + [ + 0.013730363922641375, + 0.020140268774993267, + -0.001151230053281646, + -0.009949667852123248, + 0.018132598074284276, + 0.10924404326348895, + 0.0 + ], + [ + 0.006766776220508308, + 0.005964139562259309, + -0.006003073246031804, + 0.002380655535597013, + 0.018101887711351974, + 0.040860733767625584, + 0.0 + ], + [ + 0.00951244447842986, + 0.002172334838294765, + -0.00957588006878407, + 0.013042598605059501, + 0.011132981668443363, + 0.01926310275660381, + 0.0 + ], + [ + 0.007554802184665976, + -0.004242826945732185, + -0.007327531725295752, + 0.0051047018613987576, + 0.014064545234665252, + 0.003412857861944914, + 0.0 + ], + [ + 0.007561148367999426, + -0.007479755367201024, + -0.00239502374568782, + 0.003930925289652059, + 0.004394677366591294, + 0.0002952282708092522, + 0.0 + ], + [ + 0.004204577712374646, + -0.00830862270451201, + 0.001188187273302846, + -0.0005307187331218445, + -0.0028145547154970613, + -0.003209204991894716, + 0.0 + ], + [ + 0.0009203870498625255, + -0.009665510622897814, + 0.0008496216488384639, + -0.01028048075336711, + -0.01714383364710873, + -0.051423855688093656, + 0.0 + ], + [ + -0.005120700277582879, + -0.005995526950977223, + 0.0009480941625058803, + -0.017321176211619823, + 0.020746858600577914, + -0.03136599508656886, + 1.0 + ], + [ + -0.0034352563249835377, + -0.0021710165643691872, + 0.0069256444047628915, + 0.018367972748012558, + -0.02062203695406699, + 0.0003559672000357516, + 1.0 + ], + [ + -0.001968465611335124, + 0.00046568030578298964, + 0.006330278715401247, + -0.01269294137660427, + -0.009546548025090591, + 0.00029713000597277365, + 1.0 + ], + [ + -0.0022169729258739723, + -0.004926171811731167, + 0.006942656580446904, + -0.010235982843234135, + -0.009089659610607377, + -0.014989721943981626, + 1.0 + ], + [ + -0.0018724593965261382, + -0.003917051799993226, + 0.02867514268297114, + 0.052344330078226475, + -0.04297050069330573, + -0.07853200979234348, + 1.0 + ], + [ + -0.0008751078495464748, + 0.006840194537438525, + 0.04147302418689819, + 0.011733495460334989, + -0.12157456048235185, + -0.060882018874409534, + 1.0 + ], + [ + -0.0053793728646295835, + 0.010892625817901735, + 0.03403338177103239, + -0.06885419791423261, + -0.010254700103481756, + -0.10008457365662098, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 401.2173156738281, + 95.40276336669922 + ], + [ + 398.628662109375, + 103.15998840332031 + ], + [ + 391.70330810546875, + 141.76797485351562 + ], + [ + 371.06109619140625, + 170.03909301757812 + ], + [ + 348.6341857910156, + 199.02455139160156 + ], + [ + 359.177734375, + 231.19876098632812 + ], + [ + 361.213623046875, + 256.53399658203125 + ], + [ + 353.33221435546875, + 284.9292297363281 + ], + [ + 378.61700439453125, + 326.6993408203125 + ], + [ + 362.0699462890625, + 338.486328125 + ], + [ + 374.473876953125, + 374.8363952636719 + ], + [ + 375.37158203125, + 386.5641174316406 + ], + [ + 369.20526123046875, + 393.24725341796875 + ], + [ + 365.5585632324219, + 395.8497619628906 + ], + [ + 362.7156677246094, + 402.36431884765625 + ], + [ + 364.04931640625, + 404.15179443359375 + ], + [ + 366.1198425292969, + 407.97705078125 + ], + [ + 364.37139892578125, + 407.02215576171875 + ], + [ + 362.1858215332031, + 390.14208984375 + ], + [ + 355.6036071777344, + 349.966064453125 + ], + [ + 350.9262390136719, + 281.87786865234375 + ], + [ + 356.15960693359375, + 235.3310546875 + ], + [ + 338.361083984375, + 187.4686279296875 + ], + [ + 323.65240478515625, + 165.6086883544922 + ], + [ + 303.07586669921875, + 145.228759765625 + ], + [ + 286.80328369140625, + 136.69171142578125 + ], + [ + 290.35357666015625, + 139.24154663085938 + ], + [ + 298.451171875, + 142.74874877929688 + ], + [ + 313.692626953125, + 144.3459930419922 + ], + [ + 329.34967041015625, + 145.50308227539062 + ], + [ + 339.84893798828125, + 148.2496337890625 + ], + [ + 346.4049377441406, + 154.91281127929688 + ], + [ + 346.6294860839844, + 167.50213623046875 + ], + [ + 348.65472412109375, + 158.2894287109375 + ], + [ + 347.77874755859375, + 157.22738647460938 + ], + [ + 346.0133361816406, + 138.35487365722656 + ], + [ + 350.5917663574219, + 103.83326721191406 + ], + [ + 323.23931884765625, + 54.92344665527344 + ] + ], + "depth_max": 2.688683032989502, + "depth_min": 0.16098201274871826, + "intrinsic": [ + [ + 544.1990966796875, + 0.0, + 259.0 + ], + [ + 0.0, + 544.0083618164062, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.864274862688035e-05, + -9.075301932170987e-05, + 3.1317245884565637e-05 + ], + [ + -5.864901686436497e-05, + 1.0, + -6.901036249473691e-05, + -2.4033612135099247e-05 + ], + [ + 9.074896661331877e-05, + 6.901568849571049e-05, + 1.0, + -2.0351797502371483e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 315.75, + 409.5000305175781 + ], + [ + 315.7901306152344, + 409.55914306640625 + ], + [ + 315.9222106933594, + 409.5442199707031 + ], + [ + 315.6916809082031, + 409.44769287109375 + ], + [ + 315.8298034667969, + 409.5213317871094 + ], + [ + 315.76568603515625, + 409.44873046875 + ], + [ + 315.8003234863281, + 409.6656188964844 + ], + [ + 315.5430908203125, + 409.6110534667969 + ], + [ + 315.4229431152344, + 409.51947021484375 + ], + [ + 315.32012939453125, + 409.6922912597656 + ], + [ + 314.93328857421875, + 409.80670166015625 + ], + [ + 315.1796875, + 410.153564453125 + ], + [ + 314.9454345703125, + 410.31988525390625 + ], + [ + 314.0067443847656, + 410.20220947265625 + ], + [ + 313.02032470703125, + 410.78375244140625 + ], + [ + 314.25018310546875, + 407.6440734863281 + ], + [ + 315.6275634765625, + 396.95648193359375 + ], + [ + 312.3143005371094, + 395.16461181640625 + ], + [ + 309.5530700683594, + 382.6142578125 + ], + [ + 307.53289794921875, + 354.35040283203125 + ], + [ + 304.9356994628906, + 296.67755126953125 + ], + [ + 303.66876220703125, + 253.89744567871094 + ], + [ + 290.60870361328125, + 213.81341552734375 + ], + [ + 275.8608093261719, + 196.080078125 + ], + [ + 258.29925537109375, + 178.58914184570312 + ], + [ + 243.62034606933594, + 174.14039611816406 + ], + [ + 245.69137573242188, + 177.5221710205078 + ], + [ + 252.04962158203125, + 178.0311279296875 + ], + [ + 266.3313293457031, + 178.3589324951172 + ], + [ + 281.51715087890625, + 177.0565643310547 + ], + [ + 294.41351318359375, + 177.97055053710938 + ], + [ + 300.85369873046875, + 202.5444793701172 + ], + [ + 302.7431640625, + 217.5291290283203 + ], + [ + 302.9832763671875, + 217.8991241455078 + ], + [ + 303.52862548828125, + 218.34747314453125 + ], + [ + 303.4044494628906, + 218.21864318847656 + ], + [ + 303.82159423828125, + 218.17466735839844 + ], + [ + 303.70135498046875, + 218.3463134765625 + ] + ] +} \ No newline at end of file diff --git a/004571/lang.txt b/004571/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..bc1d788d22e3762baca9ca5cb7f7fe67e9787f21 --- /dev/null +++ b/004571/lang.txt @@ -0,0 +1 @@ +put knife in pot cardboard fence diff --git a/004574/FAIL b/004574/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/004574/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/004620_v2/FAIL b/004620_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/004620_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/004635_v2/FAIL b/004635_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004635_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004672_v2/FAIL b/004672_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/004672_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/004677_v2/data.json b/004677_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..ef246b6ebf61e05111782cba662c0892d7b2fece --- /dev/null +++ b/004677_v2/data.json @@ -0,0 +1,659 @@ +{ + "action_start": 10, + "action_end": 23, + "object_name": "black object", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.73431, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.1067019523025579e-10, + -1.2253203313106198e-10, + 5.1038905740652396e-11, + -1.1298904996829406e-07, + 1.1564905913937208e-07, + 5.352012736453531e-07, + 1.0 + ], + [ + -0.009104750211817114, + -0.007599981581692953, + 0.004617210817300002, + 0.011116593588968623, + -0.021474672352156114, + -0.09728289083902088, + 1.0 + ], + [ + -0.009761283577549518, + -0.0014087624328681103, + 0.0004924495574821913, + -0.0029696385174743443, + -0.01186392195130134, + -0.13701679947723117, + 1.0 + ], + [ + -0.00858604806279023, + -0.01725774141975265, + -0.003953195868870451, + 0.05783209034929607, + -0.01254896713946119, + -0.2274757503161568, + 1.0 + ], + [ + -0.002521721152526274, + -0.02258577362854504, + -0.013803725347272224, + 0.0642257452553098, + 0.022995483405452384, + -0.2918508781758188, + 1.0 + ], + [ + 0.00040204537731056145, + -0.021158842224973863, + -0.017180670770847725, + 0.04819665455284134, + 0.07051611067669931, + -0.239760699630922, + 1.0 + ], + [ + 0.0011938014007726039, + -0.016667996695747336, + -0.011917904325214137, + 0.012085153938345715, + 0.006990752644880611, + -0.09364070287772705, + 1.0 + ], + [ + -1.1931985530011513e-05, + -0.012225841241433388, + -0.010383238918549476, + 0.006786827595845405, + 0.00939001826079959, + -0.05476933817983678, + 1.0 + ], + [ + -0.00010406436026016985, + -0.010792043116840642, + -0.006645122162716847, + 0.000958551482855612, + 0.005585844681731901, + -0.040311845882709335, + 1.0 + ], + [ + 0.0007551379906150235, + -0.009082003967475077, + -0.005712551302294429, + -0.013447830400561512, + 0.005696745092391987, + -0.022046227932567875, + 1.0 + ], + [ + 0.0010689192443718576, + -0.003365563125337312, + -0.00856138469253985, + 0.012372477998370188, + 0.006071819258306131, + -0.009704510552639243, + 0.73431 + ], + [ + 0.0008863846428477928, + 0.0021077375427402817, + -0.0025964428005469456, + 0.013885057144961684, + -0.015186269690402862, + 0.0374424090475885, + 0.0 + ], + [ + 0.0003868327185301834, + 0.003668160641964749, + 0.00020744559496431447, + -0.013405794449863718, + -0.00290743990047973, + 0.01749369373751299, + 0.0 + ], + [ + 0.000585645103163307, + 0.007892922848426326, + 0.009709390378570291, + -0.011795314460481068, + -0.021453572669152026, + 0.026285785753821067, + 0.0 + ], + [ + 0.0026773309931829026, + 0.010113611190072702, + 0.0214612621739309, + -0.05910796974397184, + -0.0326088560183368, + 0.05370295157937745, + 0.0 + ], + [ + 0.004185410208545515, + 0.020683702251999607, + 0.033077192630643334, + -0.040822907197941564, + -0.05912323075588085, + 0.09065629620800203, + 0.0 + ], + [ + 0.01001501988236464, + 0.03136873390027505, + 0.01943333545635882, + -0.0026305352439482755, + -0.04614384104123428, + 0.13084514255650864, + 0.0 + ], + [ + 0.028742995116856324, + 0.04281787731415146, + -0.00342867029949479, + 0.021385123846129957, + 0.0028745827360586703, + 0.1688116868609528, + 0.0 + ], + [ + 0.02451693636225938, + 0.028958607703587234, + -0.008846108426821465, + 0.010226101270465675, + 0.01379344824795291, + 0.10294913440536076, + 0.0 + ], + [ + 0.01823321870954936, + 0.025641161057752923, + -0.013087604445958226, + -0.002646614333626162, + 0.030888052440533668, + 0.07357704835608586, + 0.0 + ], + [ + 0.011777552130371904, + 0.02176046757582986, + -0.011069141350949196, + 0.01118499353642423, + 0.012259345765564766, + 0.07284246752194981, + 0.0 + ], + [ + -0.0002358655226866735, + 0.011194725703543865, + -0.014607134045160853, + 0.022875859208102107, + 0.04618969363727181, + 0.036157103680384745, + 0.0 + ], + [ + -0.0030359473186274966, + 0.008701303223914422, + -0.016414822121248843, + -0.035645089559713454, + 0.03735250858676558, + 0.02850513106415919, + 0.0 + ], + [ + -0.0017853405267358458, + 0.0065173441182908715, + -0.007126856530242497, + -0.0041882645503569125, + 0.026571370837433304, + 0.012197689583407936, + 0.0 + ], + [ + -0.0018547127872156621, + 0.0009358723291063298, + 0.0009354015806773211, + -0.009591850198600751, + 0.018951866996458358, + 0.010957816213477549, + 1.0 + ], + [ + 0.0012772818208106607, + -0.0013512998335850068, + 0.0115371751821325, + 0.003152488238845981, + -0.02255978061491137, + 0.002875278161066129, + 1.0 + ], + [ + -0.0021608181894786638, + -0.00048526218683464517, + 0.019831913459248902, + 0.011619395738619274, + -0.030184345944025054, + 0.017055954840670212, + 1.0 + ], + [ + 0.0015416188075148551, + -0.0009021897067810203, + 0.029411441138621302, + 0.014338913245162552, + -0.07258678970425667, + -0.0003581944929013389, + 1.0 + ], + [ + 0.0020476625189345676, + -0.003826764829571311, + 0.020334226671507673, + 0.006217775141735284, + -0.058966600744759776, + -0.0065484536577563235, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 276.3324890136719, + 253.54641723632812 + ], + [ + 275.6287841796875, + 256.719482421875 + ], + [ + 272.3963623046875, + 280.0010986328125 + ], + [ + 274.54815673828125, + 290.6632385253906 + ], + [ + 268.00726318359375, + 305.4005126953125 + ], + [ + 295.260986328125, + 332.08013916015625 + ], + [ + 313.83123779296875, + 364.98406982421875 + ], + [ + 334.95281982421875, + 387.6461181640625 + ], + [ + 351.14459228515625, + 404.8055419921875 + ], + [ + 364.68115234375, + 416.79449462890625 + ], + [ + 377.6197509765625, + 425.51617431640625 + ], + [ + 384.43023681640625, + 436.134521484375 + ], + [ + 385.337890625, + 432.761474609375 + ], + [ + 385.32122802734375, + 431.71661376953125 + ], + [ + 374.92828369140625, + 432.0835266113281 + ], + [ + 359.84564208984375, + 408.5828857421875 + ], + [ + 340.3165588378906, + 366.75665283203125 + ], + [ + 306.6214904785156, + 325.83746337890625 + ], + [ + 288.42742919921875, + 285.29254150390625 + ], + [ + 261.7345886230469, + 251.49148559570312 + ], + [ + 252.51495361328125, + 237.5028533935547 + ], + [ + 238.6474151611328, + 228.03126525878906 + ], + [ + 228.44546508789062, + 233.21685791015625 + ], + [ + 225.09368896484375, + 243.79322814941406 + ], + [ + 213.21481323242188, + 247.86570739746094 + ], + [ + 212.12384033203125, + 247.6610107421875 + ], + [ + 211.94117736816406, + 249.38861083984375 + ], + [ + 208.48463439941406, + 243.70150756835938 + ], + [ + 205.2314453125, + 219.4833984375 + ], + [ + 204.16864013671875, + 195.04583740234375 + ], + [ + 204.08065795898438, + 189.8876953125 + ], + [ + 203.98458862304688, + 189.53639221191406 + ], + [ + 203.9239501953125, + 189.45986938476562 + ] + ], + "depth_max": 1.5844860076904297, + "depth_min": 0.2790012061595917, + "intrinsic": [ + [ + 568.9342041015625, + 0.0, + 259.0 + ], + [ + 0.0, + 567.894287109375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.666119927307591e-05, + 7.269674097187817e-05, + -1.701070686976891e-05 + ], + [ + -7.665541488677263e-05, + 1.0, + -7.952651503728703e-05, + 3.917048161383718e-06 + ], + [ + -7.270283822435886e-05, + 7.952094165375456e-05, + 1.0, + -2.5146819098154083e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 32 + ], + "object_trajectory": [ + [ + 390.0, + 427.0 + ], + [ + 390.1940002441406, + 427.23626708984375 + ], + [ + 390.1088562011719, + 427.2705383300781 + ], + [ + 390.11480712890625, + 427.2578430175781 + ], + [ + 390.1159973144531, + 427.24371337890625 + ], + [ + 390.1003112792969, + 427.3468322753906 + ], + [ + 390.02679443359375, + 427.3175048828125 + ], + [ + 390.0765686035156, + 427.45263671875 + ], + [ + 389.4974060058594, + 426.90704345703125 + ], + [ + 389.6033935546875, + 427.6251220703125 + ], + [ + 389.633544921875, + 428.2892761230469 + ], + [ + 390.9742431640625, + 425.85064697265625 + ], + [ + 394.1737060546875, + 423.8070373535156 + ], + [ + 393.80499267578125, + 422.4038391113281 + ], + [ + 383.41680908203125, + 420.15826416015625 + ], + [ + 368.79998779296875, + 404.46533203125 + ], + [ + 353.83929443359375, + 366.74969482421875 + ], + [ + 325.317138671875, + 324.71185302734375 + ], + [ + 303.6812744140625, + 282.85870361328125 + ], + [ + 274.978759765625, + 249.00564575195312 + ], + [ + 268.2501525878906, + 237.69044494628906 + ], + [ + 253.74868774414062, + 228.9990692138672 + ], + [ + 241.81666564941406, + 232.8614501953125 + ], + [ + 237.5973358154297, + 242.98007202148438 + ], + [ + 225.6647186279297, + 246.40757751464844 + ], + [ + 225.58786010742188, + 244.43031311035156 + ], + [ + 220.95767211914062, + 244.208251953125 + ], + [ + 221.5294647216797, + 240.0926971435547 + ], + [ + 220.54232788085938, + 240.66729736328125 + ], + [ + 219.9342803955078, + 240.59259033203125 + ], + [ + 220.26275634765625, + 240.97494506835938 + ], + [ + 219.89820861816406, + 240.91062927246094 + ], + [ + 220.06021118164062, + 240.6600799560547 + ] + ] +} \ No newline at end of file diff --git a/004677_v2/lang.txt b/004677_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..6665a2e446b8f19f96d49924850eca3e435045d2 --- /dev/null +++ b/004677_v2/lang.txt @@ -0,0 +1 @@ +move the black object to the middle part of the table diff --git a/004677_v2/object.ply b/004677_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..724cbe64abd3b6d0c8d6badf8dc43cc9f86973d6 Binary files /dev/null and b/004677_v2/object.ply differ diff --git a/004688_v2/FAIL b/004688_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004688_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004696_v2/data.json b/004696_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..79b121bf84d76c46df1cd738437d99da4c96dcce --- /dev/null +++ b/004696_v2/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 8, + "action_end": 20, + "object_name": "silver pot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.892796, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 2.0660845256870175e-10, + 3.222340727582207e-10, + -3.2278485440073723e-12, + -1.1164396746852142e-07, + 2.761228916523271e-07, + -3.035478808496286e-07, + 1.0 + ], + [ + 0.007225570188964137, + -0.04194444122029614, + -0.016585363982678222, + -0.0429681197852305, + -0.0049064558225803976, + -0.05897752256158495, + 1.0 + ], + [ + 0.008313279592964129, + -0.03269405862496358, + -0.0028274214873463543, + -0.007940596025500537, + -0.02253386577337822, + -0.04564724872413062, + 1.0 + ], + [ + 0.006230334764307399, + -0.041396573259663595, + -0.005405743474182559, + 0.001243352620126579, + -0.03445523820847001, + -0.04363657548792114, + 1.0 + ], + [ + 0.019213565628137863, + -0.05487859484277854, + -0.0060353723570860385, + 0.050352017482218916, + 0.016498882409069524, + -0.0690891351679024, + 1.0 + ], + [ + 0.020420939512218184, + -0.028696969969323548, + -0.0034372926117011565, + 0.0017311141917337504, + -0.005686971419809515, + 0.005016183539675687, + 1.0 + ], + [ + 0.019649589324359396, + -0.008872150854876325, + -0.009517245776913694, + 0.0024236022992647536, + 0.00494015280339813, + 0.011283557829911342, + 1.0 + ], + [ + 0.005692845262366408, + -0.00580639518714246, + -0.01511803785192313, + 0.016952464247559414, + 0.03043946610817009, + -0.018492181949813582, + 1.0 + ], + [ + -0.003141513162250309, + -0.002810979886760115, + -0.022247785215586627, + 0.028882190209007973, + 0.04522201999295588, + -0.01980731614809628, + 0.892796 + ], + [ + -0.002953658342358889, + 7.38322520722895e-05, + -0.009743408138744133, + 0.016894165336860577, + 0.0220788518712663, + -0.011957206460023193, + 0.0 + ], + [ + -0.000646717655510276, + 0.0007284646865255706, + 0.004951964606502279, + 0.00397580196592031, + -0.006771036949001419, + -0.004725279235790306, + 0.0 + ], + [ + 0.0014339684073343406, + 0.0018447427355711282, + 0.0209581770910125, + -0.01811871617211418, + -0.037108753220654406, + 0.0068614308203225755, + 0.0 + ], + [ + 0.0022360725684658633, + 0.004586707703188836, + 0.022856781772335785, + -0.02572614088577332, + -0.033405087426829745, + 0.013430948606899732, + 0.0 + ], + [ + -0.006865416594680096, + 0.016517273217348763, + 0.03119393800981446, + -0.020814381924050572, + -0.04172679538254653, + 0.030534862467744377, + 0.0 + ], + [ + -0.005354252151031469, + 0.039033533565290886, + 0.019460217680542832, + -0.0033864533168961935, + -0.02996294579991811, + 0.08260902735929512, + 0.0 + ], + [ + 0.006933489628365763, + 0.04669012054864785, + -0.012620805215285053, + 0.022418575530988062, + 0.0149693571763499, + 0.07846381771737317, + 0.0 + ], + [ + 0.009878593178880346, + 0.03973960999456967, + -0.02193189260106146, + 0.03166221725885032, + 0.035226991844977906, + 0.0660647629061742, + 0.0 + ], + [ + 0.005380121386856174, + 0.026655865240986586, + -0.01851198752900987, + 0.019008170228101272, + 0.028904479054694465, + 0.0470745067456904, + 0.0 + ], + [ + 0.0010975780556105041, + 0.018434255351897758, + -0.01678269860521487, + 0.018328021699229504, + 0.043562047294868615, + 0.033580937406949084, + 0.0 + ], + [ + -0.0007583622489167885, + 0.018160246039163275, + -0.009400737631522136, + 0.004398463682304932, + 0.027424027334292864, + 0.037667412238840924, + 0.0 + ], + [ + -0.0016146106664805537, + 0.006901491806477006, + -0.005878952554233301, + -0.0017889888137886173, + 0.017921652895051928, + 0.011038950200123401, + 0.0 + ], + [ + -0.00031729506549216246, + -0.009311561748934827, + 0.0016855487671872393, + -0.008293884332721132, + 0.0053360247592064355, + -0.050639685252753405, + 1.0 + ], + [ + -0.00040208623854731673, + -0.007121242420286236, + 0.012015631377519553, + -0.006912652060882532, + -0.016469896927806645, + -0.039903774023196975, + 1.0 + ], + [ + -0.004802728442319992, + -0.0012214507696788474, + 0.022751357826211627, + 0.01589199165362209, + -0.034597688317756815, + 0.002428277298815599, + 1.0 + ], + [ + -0.006067509238136315, + 0.0009604803285422209, + 0.018400490699494988, + 0.009989375937796741, + -0.011978261579374256, + -0.0032962664236452117, + 1.0 + ], + [ + -0.0028214821305623805, + -0.0008344654593722689, + 0.005542649281563644, + -0.0027590775812156316, + 0.0139683457502655, + -0.004015162876946622, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 151.17782592773438, + 108.58908081054688 + ], + [ + 151.7349853515625, + 109.8633041381836 + ], + [ + 193.02743530273438, + 150.2576446533203 + ], + [ + 253.6731414794922, + 170.63079833984375 + ], + [ + 300.2489013671875, + 193.4534454345703 + ], + [ + 377.3104248046875, + 203.41439819335938 + ], + [ + 437.8566589355469, + 211.74871826171875 + ], + [ + 451.8662109375, + 206.0323486328125 + ], + [ + 462.85504150390625, + 215.50701904296875 + ], + [ + 459.1918640136719, + 242.57492065429688 + ], + [ + 454.1988525390625, + 242.82464599609375 + ], + [ + 451.91912841796875, + 241.34291076660156 + ], + [ + 452.92724609375, + 231.51797485351562 + ], + [ + 463.4354553222656, + 217.10577392578125 + ], + [ + 445.57257080078125, + 175.67959594726562 + ], + [ + 408.89593505859375, + 147.37921142578125 + ], + [ + 341.6263427734375, + 125.55316925048828 + ], + [ + 302.19830322265625, + 133.59597778320312 + ], + [ + 272.5976257324219, + 140.4101104736328 + ], + [ + 258.2865295410156, + 151.50936889648438 + ], + [ + 242.1951141357422, + 148.32135009765625 + ], + [ + 231.27769470214844, + 147.46243286132812 + ], + [ + 233.46865844726562, + 152.17453002929688 + ], + [ + 242.48812866210938, + 159.69357299804688 + ], + [ + 241.2548370361328, + 150.5081787109375 + ], + [ + 237.47439575195312, + 125.08451843261719 + ], + [ + 233.08731079101562, + 118.733642578125 + ], + [ + 233.21351623535156, + 119.335693359375 + ] + ], + "depth_max": 1.5893633365631104, + "depth_min": 0.46193012595176697, + "intrinsic": [ + [ + 542.8322143554688, + 0.0, + 259.0 + ], + [ + 0.0, + 541.3139038085938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.523982301587239e-05, + -4.974338480678853e-06, + -4.4017506297677755e-06 + ], + [ + -6.524014315800741e-05, + 1.0, + -6.530904647661373e-05, + 1.2218411029607523e-05 + ], + [ + 4.9700774980010465e-06, + 6.530936661874875e-05, + 1.0, + -1.0947838745778427e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 402.75, + 186.25 + ], + [ + 402.8403625488281, + 186.41358947753906 + ], + [ + 402.9608459472656, + 186.4796142578125 + ], + [ + 403.16802978515625, + 186.44683837890625 + ], + [ + 403.13824462890625, + 186.37269592285156 + ], + [ + 402.579345703125, + 186.6103057861328 + ], + [ + 388.33416748046875, + 186.337158203125 + ], + [ + 387.7953186035156, + 186.22116088867188 + ], + [ + 403.037109375, + 186.65704345703125 + ], + [ + 400.2952575683594, + 187.42120361328125 + ], + [ + 400.20556640625, + 187.9715118408203 + ], + [ + 403.12261962890625, + 190.79115295410156 + ], + [ + 402.0811462402344, + 194.88858032226562 + ], + [ + 395.373291015625, + 198.49362182617188 + ], + [ + 373.2828369140625, + 164.24488830566406 + ], + [ + 337.32904052734375, + 145.156005859375 + ], + [ + 284.9581298828125, + 126.07720947265625 + ], + [ + 264.87750244140625, + 128.2210235595703 + ], + [ + 236.80751037597656, + 136.24404907226562 + ], + [ + 223.3826141357422, + 147.73306274414062 + ], + [ + 205.8333740234375, + 139.9637908935547 + ], + [ + 196.2278594970703, + 137.27235412597656 + ], + [ + 197.67620849609375, + 138.84521484375 + ], + [ + 201.27056884765625, + 139.4019775390625 + ], + [ + 207.25709533691406, + 143.30050659179688 + ], + [ + 208.7789764404297, + 142.4154052734375 + ], + [ + 209.1783905029297, + 142.5972900390625 + ], + [ + 209.43521118164062, + 142.36813354492188 + ] + ] +} \ No newline at end of file diff --git a/004696_v2/lang.txt b/004696_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..c16fe29cee74d7028d49b088ccd176728d30ce21 --- /dev/null +++ b/004696_v2/lang.txt @@ -0,0 +1 @@ +move the silver pot to the upper left side of the table diff --git a/004702_v2/FAIL b/004702_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004702_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004703_v2/FAIL b/004703_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/004703_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/004709_v2/FAIL b/004709_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004709_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004727/FAIL b/004727/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/004727/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/004743/FAIL b/004743/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/004743/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/004753/data.json b/004753/data.json new file mode 100644 index 0000000000000000000000000000000000000000..f9b0a4451d2197a15af0c5b999d72c58dd29283d --- /dev/null +++ b/004753/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 8, + "action_end": 26, + "object_name": "lid", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.23711800000000005, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 8.144762642103842e-12, + -2.0659050858906625e-10, + -1.6420961812535495e-11, + -5.164017763932111e-08, + 4.6800522257342023e-07, + -1.2099579310049175e-08, + 1.0 + ], + [ + 0.014508432514748981, + -0.000821367165134917, + -0.02171339746730383, + 0.0037778989320363682, + -0.06443743601872452, + -0.020262795687232833, + 1.0 + ], + [ + -0.006973320399348726, + -0.005675064457719127, + -0.020548161786227176, + -0.01089176563818386, + -0.008619967710277959, + 0.0057987562604606075, + 1.0 + ], + [ + 0.0011995325193958073, + -0.0032183317228423507, + -0.012700759376167499, + -0.018870219165315984, + 0.028037917873327906, + -0.011849409318094596, + 1.0 + ], + [ + 0.0033108834388291264, + -0.0032820565746334352, + -0.009595442383489104, + 0.00633491919943813, + -0.000601180126878014, + -0.0016126505397120398, + 1.0 + ], + [ + 0.008044510637630675, + -0.0007713911470886934, + -0.006127741020820018, + -0.0035255792353012226, + -0.003446199295023966, + 0.017221702332071195, + 1.0 + ], + [ + 0.004947383505599867, + 0.0017755814395070072, + -0.0025186747901839238, + -0.0003342081594497183, + 0.0015828754407929255, + 0.008145157469722272, + 1.0 + ], + [ + 0.004755689866263513, + 0.0013110673553956708, + -0.0023292224929038624, + 0.002724982626963774, + -0.0008817183448896864, + 0.0069821419951253735, + 1.0 + ], + [ + 0.004215011194138585, + 0.002146098990052792, + 8.760463671400598e-05, + 0.004789403832544242, + -0.0027203731961400373, + -0.00020317148709826158, + 1.0 + ], + [ + 0.0007757178968573752, + 0.0022955443100756215, + -0.00397570858224492, + 0.03655209800016722, + -0.048557694888838814, + 0.038202126241685425, + 0.0 + ], + [ + -0.0031287455749693938, + -0.0007342271470312141, + 0.002116230387162509, + -0.004609565680776544, + 0.039866055732914005, + -0.03766899727166392, + 0.0 + ], + [ + -0.001813578495762025, + -0.00015062144809380043, + 0.0013615377176234497, + 0.01736461668387053, + 0.010070279279359197, + -0.023999752705469668, + 0.0 + ], + [ + -0.0012118696879445667, + -0.0030920327600359966, + 0.009400059060129112, + 0.006288629108431691, + 0.005991881531989886, + 0.00990793068955276, + 0.0 + ], + [ + -0.008218496294615407, + -0.009260626969065095, + 0.021715234836537898, + -0.0304810033185517, + 0.011794609537336569, + -0.014015787117753578, + 0.0 + ], + [ + -0.013473103698230071, + -0.009247405798746677, + 0.019090414083578085, + -0.02184902272594917, + -0.00837287178911342, + -0.01969488113718532, + 0.0 + ], + [ + -0.006672161648777153, + -0.002523054238062407, + 0.014308466985737955, + -0.012185261486328343, + -0.027885467258288336, + -0.008978775077122367, + 0.0 + ], + [ + -0.009314035397072706, + 0.003662439724945201, + 0.006120650524658114, + -0.00883614620838826, + 0.013116586897366509, + -0.023107231745936752, + 0.0 + ], + [ + -0.015060907384692956, + 0.010908569553875525, + 0.0007354812199074634, + 0.000181190345840724, + 0.05291428031804743, + -0.034896223755406616, + 0.0 + ], + [ + -0.0007657327455641294, + 0.01737182838417783, + 0.006280689253024302, + 0.000982756788939225, + 0.025930369124935206, + -0.028845909295553123, + 0.0 + ], + [ + -0.005922866153782902, + 0.01177550111614346, + -0.00016237470281520172, + -0.0030141365648316304, + -0.030932390852531435, + -0.0177953357979239, + 0.0 + ], + [ + -0.007024237346259954, + 0.007320742551884765, + -0.005444258797478813, + 0.010550964818877188, + -0.007468030886085069, + -0.02645449787246665, + 0.0 + ], + [ + -0.013099128339038035, + 0.003113710663359928, + -0.01279202673946736, + 0.029912503005250456, + -0.038884444951826656, + -0.04128199997001341, + 0.0 + ], + [ + -0.01151084922864759, + -0.011076567299835204, + -0.009786932877713553, + 0.0004979159082106983, + 0.032276369872962334, + -0.029217724126402028, + 0.0 + ], + [ + -0.009560169849615774, + -0.011297230659972315, + -0.01146351845509909, + 0.00811806438238979, + 0.0078093044939009735, + -0.01837927194242463, + 0.0 + ], + [ + -7.410206788302509e-05, + -0.007579097276732307, + -0.011394501488141931, + 0.01370117242159308, + 0.011111277696584059, + 0.007858323875674665, + 0.0 + ], + [ + -0.0012639151548605454, + -0.006989240562867911, + -0.01105150051366563, + 0.01655787959732537, + -0.013969138451215444, + -0.0010410114289360198, + 0.0 + ], + [ + 0.0056353562661660694, + -0.0028487475010063254, + -0.0027237316578156492, + 0.007675528538958288, + 0.006397082988534415, + 0.027152912150277788, + 0.23711800000000005 + ], + [ + 0.0028249699103773673, + -0.00022145349997715032, + 0.004344626550480506, + -0.016131908710220903, + 0.018078750030290216, + -0.006509082257549806, + 1.0 + ], + [ + 0.0030026495834554745, + 0.0012834194917716278, + 0.014732427444916353, + -0.03357550138525627, + -0.00678893058237722, + 0.01708087349412745, + 1.0 + ], + [ + 0.0023138744107428777, + 0.003299694917471961, + 0.020868430142701518, + -0.02316701941473612, + 0.0034777435501874, + 0.01042122194461082, + 1.0 + ], + [ + -0.0013695542511200642, + 5.877714998545492e-05, + 0.020427113729927962, + -0.019756319541322065, + 0.0031541387686919273, + -0.004841234724006469, + 1.0 + ], + [ + -0.00488393326653061, + -0.0028888207427132965, + 0.020957529849188958, + -0.01348086106448282, + -0.01587680110324738, + -0.01489702012176803, + 1.0 + ], + [ + 0.0011103173245387565, + 0.005527007873969474, + 0.017789434320758427, + -0.015064504365110384, + 0.00780588855846446, + -0.0048579849714954, + 1.0 + ], + [ + 0.0021354156005197744, + 0.005097420989359449, + 0.00203035320442356, + 0.04313980683465763, + 0.020883846931726006, + -0.025400461871275447, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 334.0446472167969, + 85.83247375488281 + ], + [ + 333.61859130859375, + 87.75898742675781 + ], + [ + 339.6923828125, + 119.44251251220703 + ], + [ + 342.87969970703125, + 146.4137725830078 + ], + [ + 348.4483642578125, + 161.48532104492188 + ], + [ + 351.2066650390625, + 180.320068359375 + ], + [ + 356.8124084472656, + 189.3936004638672 + ], + [ + 359.7760009765625, + 189.15341186523438 + ], + [ + 362.5379333496094, + 185.03652954101562 + ], + [ + 362.6043395996094, + 182.7840576171875 + ], + [ + 360.82977294921875, + 181.1958770751953 + ], + [ + 355.7521667480469, + 183.404052734375 + ], + [ + 355.80792236328125, + 188.3714599609375 + ], + [ + 355.6852722167969, + 189.16336059570312 + ], + [ + 359.3582458496094, + 190.0681915283203 + ], + [ + 369.21490478515625, + 161.7148895263672 + ], + [ + 373.53662109375, + 150.66989135742188 + ], + [ + 370.0711364746094, + 143.80772399902344 + ], + [ + 348.8585205078125, + 144.86651611328125 + ], + [ + 321.2060241699219, + 142.48968505859375 + ], + [ + 297.4570617675781, + 127.81684112548828 + ], + [ + 280.1776428222656, + 133.2979736328125 + ], + [ + 260.62115478515625, + 165.27073669433594 + ], + [ + 257.0296630859375, + 177.6430206298828 + ], + [ + 268.449462890625, + 211.222412109375 + ], + [ + 283.1160583496094, + 228.3742218017578 + ], + [ + 287.5297546386719, + 234.31903076171875 + ], + [ + 295.1179504394531, + 232.50515747070312 + ], + [ + 308.8674621582031, + 227.92330932617188 + ], + [ + 309.390625, + 230.0369873046875 + ], + [ + 302.3646240234375, + 203.7957305908203 + ], + [ + 299.21832275390625, + 176.22018432617188 + ], + [ + 296.603271484375, + 151.7400360107422 + ], + [ + 289.5189208984375, + 116.92398071289062 + ], + [ + 280.16192626953125, + 96.22712707519531 + ], + [ + 281.48779296875, + 96.85420227050781 + ], + [ + 281.9728088378906, + 96.74160766601562 + ], + [ + 282.01898193359375, + 96.91807556152344 + ] + ], + "depth_max": 2.3661537170410156, + "depth_min": 0.5876066088676453, + "intrinsic": [ + [ + 607.0228881835938, + 0.0, + 259.0 + ], + [ + 0.0, + 606.2220458984375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 0.00011423700925661251, + 4.3576790631050244e-05, + 3.181361171300523e-05 + ], + [ + -0.00011423764954088256, + 1.0, + 1.4592655134038068e-05, + -4.9242156819673255e-05 + ], + [ + -4.3575124436756596e-05, + -1.4597633708035573e-05, + 1.0, + -1.5267061826307327e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 349.75, + 212.5 + ], + [ + 349.81890869140625, + 212.79611206054688 + ], + [ + 349.92108154296875, + 212.53196716308594 + ], + [ + 349.7384033203125, + 212.6863555908203 + ], + [ + 349.65234375, + 212.42593383789062 + ], + [ + 349.7225036621094, + 212.51416015625 + ], + [ + 349.62890625, + 212.6680450439453 + ], + [ + 351.247314453125, + 217.5381317138672 + ], + [ + 351.62408447265625, + 217.490478515625 + ], + [ + 351.9632873535156, + 217.33828735351562 + ], + [ + 352.410888671875, + 217.715087890625 + ], + [ + 352.894287109375, + 214.60873413085938 + ], + [ + 355.1437072753906, + 223.81158447265625 + ], + [ + 352.39959716796875, + 220.23043823242188 + ], + [ + 357.35736083984375, + 227.87832641601562 + ], + [ + 363.9659118652344, + 198.32476806640625 + ], + [ + 368.6142578125, + 189.93106079101562 + ], + [ + 365.64056396484375, + 185.25491333007812 + ], + [ + 345.52813720703125, + 187.81886291503906 + ], + [ + 322.3168029785156, + 192.02500915527344 + ], + [ + 300.7650146484375, + 180.48773193359375 + ], + [ + 285.04132080078125, + 185.3247528076172 + ], + [ + 265.16033935546875, + 213.4263153076172 + ], + [ + 266.05377197265625, + 216.21243286132812 + ], + [ + 269.8925476074219, + 258.5697021484375 + ], + [ + 282.6568603515625, + 274.4408264160156 + ], + [ + 286.4021301269531, + 272.9215087890625 + ], + [ + 293.41851806640625, + 271.6289978027344 + ], + [ + 296.4029235839844, + 270.9174499511719 + ], + [ + 291.7042541503906, + 269.8344421386719 + ], + [ + 292.4667053222656, + 268.9502868652344 + ], + [ + 292.3118896484375, + 268.3616027832031 + ], + [ + 292.351806640625, + 268.14276123046875 + ], + [ + 292.53778076171875, + 268.1962585449219 + ], + [ + 292.41180419921875, + 268.3328552246094 + ], + [ + 292.3345947265625, + 268.5489807128906 + ], + [ + 292.25042724609375, + 268.49432373046875 + ], + [ + 292.4111633300781, + 268.6094055175781 + ] + ] +} \ No newline at end of file diff --git a/004753/lang.txt b/004753/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f801a148be3b1856e9e73bdf2192f95067526cdb --- /dev/null +++ b/004753/lang.txt @@ -0,0 +1 @@ +put lid on pot diff --git a/004778_v2/FAIL b/004778_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004778_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004787_v2/FAIL b/004787_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/004787_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/004789_v2/FAIL b/004789_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/004789_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/004828_v2/data.json b/004828_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..64e0d99b1e299a167d16019421535b209f729a36 --- /dev/null +++ b/004828_v2/data.json @@ -0,0 +1,623 @@ +{ + "action_start": 11, + "action_end": 23, + "object_name": "silver pot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -8.939238238525604e-12, + 3.879339557921746e-11, + 1.7742099456263816e-11, + -1.9246691973210315e-07, + 1.0864499330556283e-07, + -1.6650398971777641e-07, + 1.0 + ], + [ + 0.009517271784525383, + 0.023479016963293978, + -0.0006526876474841348, + -0.006251396002275046, + -0.0055732562156084724, + 0.08452686937199036, + 1.0 + ], + [ + 0.012747851190499176, + 0.029859654142958016, + 0.004028507689255681, + 0.006244965854348783, + -0.014431726202237385, + 0.10879229534329757, + 1.0 + ], + [ + 0.008946813025909661, + 0.02970091550899729, + 0.00029653128977998044, + 0.021500102295626298, + -0.015524084672737975, + 0.10313278897882776, + 1.0 + ], + [ + 0.0010173844382649344, + 0.018497565707495375, + -0.010171750350459696, + 0.037547221380517984, + 0.0247990886219901, + 0.06893309616095904, + 1.0 + ], + [ + -0.0037786606164816883, + 0.012317005672507014, + -0.0074508591750707814, + 0.015532228319617127, + 0.008492771932177066, + 0.06813579939439451, + 1.0 + ], + [ + 0.002614875788778781, + 0.004973040701414216, + 0.005682898367267354, + -0.03450336497703682, + -0.007455671674480258, + -0.0036098977687344146, + 1.0 + ], + [ + 0.0046269664159336865, + 0.0005827330246562512, + 0.002525623215541596, + -0.016051310012078362, + 0.0014242906701918071, + -0.02762791531334578, + 1.0 + ], + [ + 0.004772526696196933, + -3.1352655871230706e-05, + -0.009416234210319022, + -0.03441949331083319, + -0.0002227675486257835, + -0.04023002464086267, + 1.0 + ], + [ + 0.004453098345706286, + -0.006396558265316071, + -0.01587788208762147, + -0.017228794692263294, + 0.049008650353623257, + -0.01827420894986092, + 1.0 + ], + [ + -8.159242171018599e-05, + -0.004043279652131276, + -0.011195988031809607, + 0.003173797782390149, + 0.032385963383980185, + -0.008701995636662782, + 1.0 + ], + [ + -0.0013770649243805555, + -0.0037825760120771823, + -0.008098162958538324, + -0.016102292587353448, + 0.020860519504412915, + 0.007495245161630453, + 1.0 + ], + [ + -0.001602686496904815, + -0.005877453400879348, + -0.005742089698259215, + 0.0035994232333018093, + 0.02739618637937872, + -0.011217535194757948, + 0.0 + ], + [ + -0.0024181709991910605, + -0.003994347205828197, + -0.0033533474794814454, + 0.0025855699081185927, + 0.020165943621118083, + -0.008139559639589677, + 0.0 + ], + [ + -0.0020827949532669088, + -0.004607853272674989, + 0.0025869842848703917, + 0.009582736979588447, + 0.004005048696806636, + -0.0115842997487554, + 0.0 + ], + [ + -3.3906192363930554e-05, + -0.0024038283139161537, + 0.014208474717257445, + 0.060105573122318304, + -0.014785584354132911, + -0.018241895686052265, + 0.0 + ], + [ + 0.010064602132722478, + -0.00681595327621827, + 0.03102330163649325, + 0.06246060633449322, + -0.06730367307137083, + -0.0265580826933927, + 0.0 + ], + [ + 0.0251672406974352, + -0.02371985505703164, + 0.018242736178111375, + 0.009955530163248273, + -0.06227378605785784, + -0.06768295866643959, + 0.0 + ], + [ + 0.022120145797265622, + -0.029178710397258965, + -0.010679799209601729, + -0.03697731575444541, + 0.007045453292177453, + -0.07565986539783354, + 0.0 + ], + [ + 0.018660172488674243, + -0.019711437544961276, + -0.01368625665929682, + -0.026120285822734405, + 0.014041926406402082, + -0.043378359912081645, + 0.0 + ], + [ + 0.014212107179216116, + -0.007801775050080815, + -0.009634341612999642, + -0.01730554413999554, + 0.008770736241400692, + -0.013237197774811759, + 0.0 + ], + [ + 0.004579678800312681, + -0.0038693203931558346, + -0.009334471073000367, + -0.004571292688100359, + 0.013323317172326857, + -0.0177590050045064, + 0.0 + ], + [ + 0.007441053947541354, + -0.005622458885930822, + -0.007370167161847133, + -0.010801930607962976, + 0.004982501553857133, + -0.024144354758493042, + 0.0 + ], + [ + 0.002692819208239161, + -0.004800049171500436, + -0.004841955440277091, + -0.013213855061483312, + 0.01464001398484773, + -0.01094620627662354, + 0.0 + ], + [ + 0.00010904180141274589, + -0.003346490149983946, + 0.007254496125327893, + -0.00037899944572884054, + -0.005191286669099285, + -0.002934364981504506, + 1.0 + ], + [ + 0.0005458877209154611, + -0.002002364276500041, + 0.021213206236741906, + -0.005423932157960417, + -0.03905177022650247, + -0.026116911379465563, + 1.0 + ], + [ + -0.004935354520044344, + -0.0006888088680946473, + 0.023878072289893283, + -0.01571500748954246, + -0.047456762149334655, + -0.022734718866943424, + 1.0 + ], + [ + -0.006209377154246687, + 0.0032280836114126858, + 0.007591396558688651, + -0.002307762090707767, + 0.0009467581453630682, + -0.002131640685805678, + 1.0 + ], + [ + -0.005318886409137913, + 0.006308500997356956, + -0.005050630283927181, + 0.022301002175073335, + 0.017979782129393804, + 0.019322655527307372, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 262.2550048828125, + 230.051025390625 + ], + [ + 262.32318115234375, + 232.63021850585938 + ], + [ + 249.80934143066406, + 233.9862060546875 + ], + [ + 227.2938690185547, + 207.26840209960938 + ], + [ + 193.47677612304688, + 188.54800415039062 + ], + [ + 172.2530975341797, + 184.7762451171875 + ], + [ + 156.8650360107422, + 189.5634002685547 + ], + [ + 149.39878845214844, + 183.24696350097656 + ], + [ + 148.80218505859375, + 176.11056518554688 + ], + [ + 158.72735595703125, + 179.94696044921875 + ], + [ + 164.50552368164062, + 193.03733825683594 + ], + [ + 170.06546020507812, + 206.95159912109375 + ], + [ + 176.48922729492188, + 214.1892852783203 + ], + [ + 179.46615600585938, + 220.21595764160156 + ], + [ + 187.56857299804688, + 222.80393981933594 + ], + [ + 184.1362762451172, + 227.54354858398438 + ], + [ + 184.25765991210938, + 226.02117919921875 + ], + [ + 204.64825439453125, + 201.7930450439453 + ], + [ + 226.43365478515625, + 174.21507263183594 + ], + [ + 276.06427001953125, + 158.77127075195312 + ], + [ + 315.3819580078125, + 173.44007873535156 + ], + [ + 335.26898193359375, + 175.0296630859375 + ], + [ + 340.3099365234375, + 175.75900268554688 + ], + [ + 347.10467529296875, + 178.16177368164062 + ], + [ + 350.8583068847656, + 176.23536682128906 + ], + [ + 357.8643493652344, + 181.20425415039062 + ], + [ + 367.3005065917969, + 184.57949829101562 + ], + [ + 371.9318542480469, + 162.7876434326172 + ], + [ + 372.15167236328125, + 148.76406860351562 + ], + [ + 361.5687255859375, + 156.1591033935547 + ], + [ + 357.11712646484375, + 158.49847412109375 + ] + ], + "depth_max": 1.5442405939102173, + "depth_min": 0.32780757546424866, + "intrinsic": [ + [ + 534.1528930664062, + 0.0, + 259.0 + ], + [ + 0.0, + 533.4381713867188, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.711075260071084e-05, + 2.259732355014421e-05, + -1.0150888556381688e-05 + ], + [ + -3.7108831747900695e-05, + 1.0, + -8.512615750078112e-05, + 9.10374910745304e-06 + ], + [ + -2.2600481315748766e-05, + 8.512531348969787e-05, + 1.0, + -6.075526471249759e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30 + ], + "object_trajectory": [ + [ + 132.0, + 241.75 + ], + [ + 132.33807373046875, + 241.9520263671875 + ], + [ + 132.46878051757812, + 241.9185028076172 + ], + [ + 132.40719604492188, + 241.94354248046875 + ], + [ + 132.44259643554688, + 241.82025146484375 + ], + [ + 132.32989501953125, + 241.92205810546875 + ], + [ + 132.39752197265625, + 241.77947998046875 + ], + [ + 132.4348602294922, + 241.81666564941406 + ], + [ + 132.55142211914062, + 241.79745483398438 + ], + [ + 132.4569854736328, + 241.79086303710938 + ], + [ + 132.42453002929688, + 241.85586547851562 + ], + [ + 132.5889129638672, + 241.81246948242188 + ], + [ + 132.59495544433594, + 241.606201171875 + ], + [ + 132.47911071777344, + 241.63917541503906 + ], + [ + 132.62838745117188, + 241.9696044921875 + ], + [ + 137.9650421142578, + 245.26174926757812 + ], + [ + 139.89999389648438, + 246.11587524414062 + ], + [ + 151.61978149414062, + 234.38345336914062 + ], + [ + 173.6226806640625, + 208.8326416015625 + ], + [ + 225.0886688232422, + 192.2089080810547 + ], + [ + 264.6841735839844, + 206.32369995117188 + ], + [ + 281.67938232421875, + 204.7608184814453 + ], + [ + 288.8212585449219, + 200.363525390625 + ], + [ + 295.056396484375, + 198.05084228515625 + ], + [ + 298.7545166015625, + 194.24725341796875 + ], + [ + 304.5917053222656, + 197.138916015625 + ], + [ + 307.67083740234375, + 202.470947265625 + ], + [ + 307.6967468261719, + 202.55990600585938 + ], + [ + 307.7734069824219, + 202.68118286132812 + ], + [ + 307.6726379394531, + 202.63009643554688 + ], + [ + 308.02197265625, + 202.71018981933594 + ] + ] +} \ No newline at end of file diff --git a/004828_v2/lang.txt b/004828_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..0a874e95f5ee60ffc7952429299d3153fe798ac8 --- /dev/null +++ b/004828_v2/lang.txt @@ -0,0 +1 @@ +move the silver pot to the middle top of the table diff --git a/004831/data.json b/004831/data.json new file mode 100644 index 0000000000000000000000000000000000000000..9873b62434b0893dde49a15c6def84de43c3fa7d --- /dev/null +++ b/004831/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 14, + "action_end": 33, + "object_name": "lid", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 3.239292167833696e-11, + -1.0053230470319363e-10, + -3.8311548378189286e-11, + -4.659059756040995e-08, + -4.259356144215848e-07, + -3.1678018930974025e-08, + 1.0 + ], + [ + 0.0115241343708255, + -0.02043960251727356, + 0.002310353341733948, + -0.06156715371956953, + 0.03951552686507439, + 0.002276177821341655, + 1.0 + ], + [ + 0.006399756327291672, + -0.02323556286430903, + 0.003480946326910969, + -0.049359059235637444, + 0.011301163217245364, + -0.03998954943615648, + 1.0 + ], + [ + 0.008817324621329059, + -0.030957391853955185, + -0.0037999385619324755, + -0.044284368257075324, + -0.030682025261265334, + -0.022175443783213546, + 1.0 + ], + [ + 0.002265023829280788, + -0.021452432084251565, + -0.010001986831948334, + -0.009283369192921461, + -0.0027017124358831505, + -0.03639722391063835, + 1.0 + ], + [ + -0.0022533896194671943, + -0.022918052405922193, + -0.020640846653698836, + -0.006094908289884419, + 0.0018570430827745137, + -0.043066760108324297, + 1.0 + ], + [ + -0.005549765793276817, + -0.018996516549727237, + -0.020052646257872814, + 0.026699567709215246, + -0.0028143405201541097, + -0.0397953741496348, + 1.0 + ], + [ + -0.002714271675847424, + -0.010537574824901308, + -0.01785036342294638, + 0.017446135639672337, + -0.007749031004520343, + -0.02914318283439978, + 1.0 + ], + [ + 0.003559014674509753, + -0.00012730025349734497, + -0.01791641860701733, + 0.02494218679574576, + -0.02746592462305519, + 0.0015426540412162358, + 1.0 + ], + [ + 0.005480795296819718, + 0.004698934160601652, + -0.0011615841599448631, + -0.003541577588684854, + -0.013602363444424725, + 0.016866685863714415, + 1.0 + ], + [ + -0.0006170997172201265, + 0.007814630451505176, + 0.001026181853365303, + -0.010538857911876486, + -0.00548385791084343, + 0.004222794744982738, + 1.0 + ], + [ + -0.004422724395437838, + -4.8684245174179797e-05, + -0.00892419883716622, + 0.02449898056808301, + 0.003820702575670263, + -0.015841255259465812, + 1.0 + ], + [ + -0.0009245780967366279, + -0.0001695735124620651, + -0.00519834446265963, + -0.00383129362510838, + 0.024909167724530987, + -0.00813250528511257, + 1.0 + ], + [ + 0.002249209105186889, + -0.0017851418400646468, + -0.003478766166504898, + -0.012351147541375028, + 0.029065940868145224, + 0.004324267578163405, + 1.0 + ], + [ + 0.0030777413294937883, + -0.002544340961520654, + -0.0010735980913235514, + -0.012622670528924811, + 0.02466019090875014, + -0.002058607158541557, + 1.0 + ], + [ + 0.001770416105992656, + 0.0014125511419953996, + 0.0018586869207670824, + -0.006832197592081641, + 0.0019560316865289734, + 0.002108563018546021, + 0.0 + ], + [ + -0.0020800720626876212, + 5.997551010814006e-05, + -0.00029318159506743977, + 0.004237081700575172, + -0.013653671545221029, + -0.006878365457444417, + 0.0 + ], + [ + -0.0007010515271957396, + 0.0017026485721425635, + 0.006806290199603247, + -0.014802873434044317, + 0.004127937223676548, + 0.003731098606463184, + 0.0 + ], + [ + -0.004111717691522354, + -0.0007887715890932886, + 0.010866390895301978, + -0.0066160248448794865, + -0.003811636634096934, + -0.012682784969076679, + 0.0 + ], + [ + -0.0009565449819600169, + 0.005773285552314086, + 0.029191173579285367, + -0.015590607455856087, + -0.030301014917374667, + 0.008307784002962629, + 0.0 + ], + [ + -0.0049552913566, + 0.0012539172147185834, + 0.020390064475607095, + -0.020984922329661253, + -0.030295015510183782, + -0.0007565492405575003, + 0.0 + ], + [ + -0.01029930634414361, + 0.003641557397154868, + 0.017115786975607547, + -0.03170691234313511, + 0.006555641127037577, + -0.018669077187916452, + 0.0 + ], + [ + -0.015535683959898294, + 0.00435002568095548, + -0.0031430031068358094, + 0.011174293837667146, + 0.0018435972186500043, + -0.04338589740973841, + 0.0 + ], + [ + -0.006664641975557717, + -0.0021056322292071633, + -0.009887949335815424, + 0.0235693075136166, + 0.006628173744163662, + -0.011195361111562416, + 0.0 + ], + [ + -0.015233650400232779, + -0.009621432527139585, + -0.011299786290773772, + 0.007895914731135179, + -0.0034018578011440104, + -0.02583522554971286, + 0.0 + ], + [ + -0.011348497636409327, + -0.005639581901061251, + -0.00906256646977241, + 0.011297937350483971, + -0.003206616976588299, + -0.0237427183869703, + 0.0 + ], + [ + -0.005943651441872644, + -0.003643107840281948, + -0.004645878807594234, + 0.0094995086770395, + -0.003578673085998348, + -0.011981650181150999, + 0.0 + ], + [ + -0.004240835013101213, + -0.0008450002633904677, + -0.007126543080925418, + 0.010445706775071062, + -0.007698522872460456, + -0.009476692880471883, + 0.0 + ], + [ + -0.002306911583822291, + 0.004337675681585704, + -0.005382387548839754, + 0.013228062172870012, + -0.006092149286152768, + -0.014551511483203765, + 0.0 + ], + [ + -0.007156652437661198, + 0.0045601622639622405, + -0.0006516460112137093, + -0.0003365693934108521, + 0.0002719425384033148, + -0.01301241866681537, + 0.0 + ], + [ + -0.007660187314529082, + 0.0030240977290475757, + -0.002366891855193211, + 0.0030191232517962643, + 0.0020511093031769043, + -0.015754242898935747, + 0.0 + ], + [ + -0.005491724741746529, + -0.00014387740109512992, + -0.0006228005133584597, + 0.0004707550371717271, + -0.00219397314019367, + -0.012648215296163605, + 0.0 + ], + [ + -0.00222298262875148, + 0.0008324467028233071, + 0.0020854577140084346, + -0.0057220493030828105, + 0.01337748633477538, + -0.00884188751881918, + 0.0 + ], + [ + -0.0026121448194516006, + 0.0017821227246800284, + 0.0015887982472094844, + -0.0031937709388543656, + 0.014656928580724945, + -0.0070014898287270415, + 0.0 + ], + [ + 0.002182513534415925, + 1.1688180578936502e-05, + -0.0009839488521213927, + 0.0160804383124075, + 0.021311146121171194, + 0.013912799278917296, + 1.0 + ], + [ + 0.007561893392233482, + -0.0016378627369415671, + 0.003011200317067128, + -0.016194562707982387, + -0.0037470319707081155, + 0.024892935016883132, + 1.0 + ], + [ + 0.010573675356218643, + -0.0020704914004987807, + 0.005949989957333368, + -0.009087845268579415, + 0.0002672557910720727, + 0.01928486524380344, + 1.0 + ], + [ + 0.0046659873549457775, + -0.001979525239356475, + 0.013992448657034265, + -0.023869828855267842, + 0.0013589447880192188, + 0.007118307761276078, + 1.0 + ] + ], + "gripper_centers": [ + [ + 213.371826171875, + 36.71952819824219 + ], + [ + 213.957275390625, + 40.0028076171875 + ], + [ + 239.4174346923828, + 60.19367599487305 + ], + [ + 278.074951171875, + 56.29133605957031 + ], + [ + 319.7619323730469, + 54.38654708862305 + ], + [ + 361.000732421875, + 77.10197448730469 + ], + [ + 389.34576416015625, + 108.84848022460938 + ], + [ + 409.89056396484375, + 157.38934326171875 + ], + [ + 424.0877685546875, + 191.13565063476562 + ], + [ + 424.29132080078125, + 211.76358032226562 + ], + [ + 424.7070617675781, + 214.2005615234375 + ], + [ + 415.05926513671875, + 208.9231719970703 + ], + [ + 406.02508544921875, + 215.87310791015625 + ], + [ + 406.4766845703125, + 224.43130493164062 + ], + [ + 408.6461181640625, + 232.66688537597656 + ], + [ + 412.8559875488281, + 231.77659606933594 + ], + [ + 414.6694641113281, + 226.9680633544922 + ], + [ + 412.3067626953125, + 225.58694458007812 + ], + [ + 411.51861572265625, + 227.36561584472656 + ], + [ + 409.3594970703125, + 225.02066040039062 + ], + [ + 407.2749938964844, + 194.88137817382812 + ], + [ + 400.71868896484375, + 164.8123016357422 + ], + [ + 396.33990478515625, + 145.4640350341797 + ], + [ + 375.43182373046875, + 152.52328491210938 + ], + [ + 363.88177490234375, + 171.24826049804688 + ], + [ + 366.364501953125, + 205.57203674316406 + ], + [ + 366.83831787109375, + 229.93106079101562 + ], + [ + 366.4963073730469, + 247.72854614257812 + ], + [ + 364.53973388671875, + 261.48028564453125 + ], + [ + 359.72430419921875, + 266.33270263671875 + ], + [ + 348.8065490722656, + 275.385498046875 + ], + [ + 338.2291564941406, + 282.7357482910156 + ], + [ + 333.56353759765625, + 287.509033203125 + ], + [ + 329.2598876953125, + 290.29150390625 + ], + [ + 323.1043395996094, + 290.3525695800781 + ], + [ + 321.1269226074219, + 290.6318054199219 + ], + [ + 332.24676513671875, + 280.87628173828125 + ], + [ + 343.99603271484375, + 265.5440979003906 + ] + ], + "depth_max": 2.5848569869995117, + "depth_min": 0.19967597723007202, + "intrinsic": [ + [ + 581.7456665039062, + 0.0, + 259.0 + ], + [ + 0.0, + 581.171875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 9.21371829463169e-05, + -7.041632488835603e-05, + 2.079575824609492e-05 + ], + [ + -9.213952580466866e-05, + 1.0, + -3.32153431372717e-05, + -2.080801823467482e-05 + ], + [ + 7.041326898615807e-05, + 3.3221833291463554e-05, + 1.0, + -3.1073483114596456e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 403.0, + 263.5 + ], + [ + 402.9524230957031, + 263.68084716796875 + ], + [ + 402.9698181152344, + 263.7721862792969 + ], + [ + 402.81365966796875, + 263.7958679199219 + ], + [ + 402.9226989746094, + 263.62445068359375 + ], + [ + 403.00799560546875, + 263.6693115234375 + ], + [ + 403.048828125, + 263.6025390625 + ], + [ + 403.3434143066406, + 263.37860107421875 + ], + [ + 403.34954833984375, + 263.1430969238281 + ], + [ + 403.2256774902344, + 263.2559509277344 + ], + [ + 403.31878662109375, + 263.3349609375 + ], + [ + 403.222412109375, + 263.2709045410156 + ], + [ + 403.237548828125, + 263.30731201171875 + ], + [ + 403.09686279296875, + 263.4250793457031 + ], + [ + 403.0755615234375, + 263.4353332519531 + ], + [ + 403.6820373535156, + 263.5965881347656 + ], + [ + 406.3338623046875, + 264.20977783203125 + ], + [ + 412.2733154296875, + 265.6827392578125 + ], + [ + 411.6328125, + 266.9203186035156 + ], + [ + 409.10107421875, + 265.91058349609375 + ], + [ + 407.90496826171875, + 240.3323974609375 + ], + [ + 406.49615478515625, + 212.08807373046875 + ], + [ + 403.16876220703125, + 197.7154541015625 + ], + [ + 386.0805969238281, + 204.7308349609375 + ], + [ + 375.67388916015625, + 221.4617919921875 + ], + [ + 377.5379638671875, + 254.949462890625 + ], + [ + 377.3321838378906, + 278.69610595703125 + ], + [ + 376.08477783203125, + 294.5711669921875 + ], + [ + 374.4903259277344, + 306.7472839355469 + ], + [ + 371.49798583984375, + 311.33892822265625 + ], + [ + 370.18109130859375, + 305.9886474609375 + ], + [ + 359.73883056640625, + 313.599609375 + ], + [ + 354.1493225097656, + 319.2217102050781 + ], + [ + 349.2819519042969, + 323.2397155761719 + ], + [ + 345.44293212890625, + 323.9429016113281 + ], + [ + 349.2996520996094, + 322.3576965332031 + ], + [ + 349.52001953125, + 320.7454528808594 + ], + [ + 349.03521728515625, + 320.0810852050781 + ] + ] +} \ No newline at end of file diff --git a/004831/lang.txt b/004831/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f801a148be3b1856e9e73bdf2192f95067526cdb --- /dev/null +++ b/004831/lang.txt @@ -0,0 +1 @@ +put lid on pot diff --git a/004847_v2/data.json b/004847_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..016e911563b5bc9a86fa236b84a4666393ec65e7 --- /dev/null +++ b/004847_v2/data.json @@ -0,0 +1,574 @@ +{ + "action_start": 8, + "action_end": 12, + "object_name": "cover", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.536752, + 0.0, + 0.0, + 0.0, + 0.512332, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.1517320430698419e-10, + -5.017843085486362e-11, + -8.065680068281011e-11, + 2.59392038197582e-07, + 4.640634405105243e-07, + 2.9695428193465685e-07, + 1.0 + ], + [ + -0.004496039603939184, + -0.0393498934703088, + -0.004086763675392693, + 0.00963764011478823, + -0.009182951182488807, + -0.06393864431158687, + 1.0 + ], + [ + 0.0017549152270729396, + -0.04106891211291195, + -0.0010971629041504755, + 0.013891271463760143, + -0.032840058574183345, + -0.10545418402763508, + 1.0 + ], + [ + 0.0004921509315447548, + -0.04127160997271953, + -0.0054925153062497095, + 0.0036373255006618053, + -0.028593373259232887, + -0.11507609162379258, + 1.0 + ], + [ + 0.000950237406526222, + -0.01850522677447758, + -0.01010426461229419, + -0.013601694168050769, + 0.010788577333624918, + -0.022246782803684816, + 1.0 + ], + [ + 0.0034088482170696044, + -0.007824043730203518, + -0.011635470426908462, + -0.020624598079805344, + 0.018312489585340427, + -0.004587475038179293, + 1.0 + ], + [ + 0.0030162656901080442, + -0.010522247863621492, + -0.018735345321897322, + -0.03375151980666993, + 0.030091333968697388, + -0.02277654857630703, + 1.0 + ], + [ + 0.0001271754605174924, + -0.010612938252213475, + -0.015372782502738429, + -0.005640034987464887, + 0.032368622803649195, + -0.018372329088459174, + 1.0 + ], + [ + -0.0009293034840051062, + -0.001932176097945916, + -0.010977365177186189, + 0.020589390118422486, + 0.02562133939522781, + -0.008909003237460529, + 0.536752 + ], + [ + -0.0002970440407514263, + 0.002635568258024995, + 0.0014394434290631933, + 0.013498919471946527, + -0.002964967090485755, + -0.0008486582170631266, + 0.0 + ], + [ + -0.0019470831546861134, + 0.0021065941089273843, + 0.004522709027467247, + 0.013215294004256303, + -0.002523961971214283, + -0.015214711383145892, + 0.0 + ], + [ + -0.0045033883299734345, + 0.0013144653885597962, + 0.013009918492040463, + -0.008407687269672847, + -0.018307338853819903, + -0.017032084518012112, + 0.0 + ], + [ + -0.004492480676233812, + -0.003364281535015723, + 0.003400167709579332, + -0.020982294364017887, + 0.0019164553218912707, + -0.01484038455488594, + 0.512332 + ], + [ + -0.002319408425431879, + -0.0012315505858287307, + -0.0016215473318362157, + -0.0009644175351938285, + 0.0049894223903043594, + 0.00015642284722130185, + 1.0 + ], + [ + -0.00289538178745119, + 0.00013253069542551454, + -0.003036329524733223, + 0.007233668997994528, + 0.009959102446914241, + -0.0027806469379391793, + 1.0 + ], + [ + -0.002634871192307986, + 0.0018725536910975255, + -0.005190714610998216, + 0.009274394942490778, + 0.011602232281243683, + 0.0007519870259114717, + 1.0 + ], + [ + -0.00016965311458078114, + 0.008015598161767085, + -0.0017950442351159362, + 0.054042814460649534, + -0.00763107750736491, + -0.01260277504310467, + 1.0 + ], + [ + 0.010528270389452643, + 0.021346099855054278, + 0.012802502126711503, + 0.017759491443324317, + -0.0642668445803405, + 0.039533746851651924, + 1.0 + ], + [ + 0.0014551629834498592, + 0.010896898273710452, + -0.0008112749669854265, + -0.005854705224435886, + 0.010412425582649947, + 0.033700936686295424, + 1.0 + ], + [ + -0.0031661692931099217, + -0.002460765752148583, + -0.0076524764257469464, + 0.0030954085222096254, + 0.025710712729141345, + -0.006595253103408937, + 0.18925499999999995 + ], + [ + -0.0015997560480217055, + 0.0008650631133806548, + -0.006258790567301775, + 5.592706490530957e-06, + 0.01784493769138626, + 0.0030690983932071484, + 0.0 + ], + [ + -0.002472718371253846, + 0.001195735254249479, + -0.0057439542370944785, + 0.005263073305681777, + 0.018682593740066967, + -0.0029213552173165654, + 0.0 + ], + [ + 0.004592773375587, + 0.006329738637279595, + 0.01695479694375678, + -0.015923739236447253, + -0.03543488391203324, + 0.031098949207778524, + 0.0 + ], + [ + 0.01374665635242242, + 0.025033321270953816, + 0.05332809567102671, + -0.07151037960918297, + -0.11653615117785153, + 0.11582748065637673, + 0.0 + ], + [ + 0.011150489119699375, + 0.04621596081750444, + 0.03748009661254604, + -0.05875003272630624, + -0.02887372701570309, + 0.16121062168765957, + 0.0 + ], + [ + -0.004440651795121653, + 0.06857055574913073, + 0.0030703578365015444, + -0.006178792745098785, + 0.04504872136448892, + 0.19737957819708737, + 0.0 + ], + [ + -0.007054905348543861, + 0.06936156839785701, + -0.016690637175405032, + 0.006776914055409447, + 0.06343075250896753, + 0.13904248028253266, + 0.0 + ], + [ + -0.007099917678050072, + 0.04586394532522359, + -0.0204436322584782, + 0.02713518583160933, + 0.048440104947930274, + 0.06000795647863618, + 0.0 + ], + [ + 0.0019526936684270135, + 0.013647510410976088, + -0.024399655362949024, + 0.02822777000927163, + 0.02494068060814539, + 0.043936734262149314, + 0.0 + ], + [ + 0.0080360249726317, + 0.011132150368046795, + -0.025231761234158746, + 0.0100555929733737, + 0.025646667722119165, + 0.03544286031159744, + 0.0 + ], + [ + 0.0018689720550202904, + -0.004001709381195873, + -0.01517707597165905, + -0.01960245880754108, + 0.014608441886865081, + -0.019147030221060984, + 0.0 + ], + [ + -0.0009628750259487728, + -0.004214644817593566, + -0.0032001520956493577, + -0.006796431792169989, + 0.010599074976649943, + -0.020778730007825905, + 0.0 + ], + [ + -0.0039699047857440495, + -0.0016205391137692482, + 0.025619091281934625, + 0.030804163814511044, + -0.05430906149352765, + -0.026827849366372856, + 1.0 + ], + [ + -0.005556632388652505, + 0.0024792992785607204, + 0.03552815507338419, + 0.07361462506295481, + -0.07527330458916714, + -0.048710258733788904, + 1.0 + ], + [ + -0.004093817886918816, + -0.002017539329590784, + 0.018622802357698878, + 0.025517788398777382, + -0.01906656810420839, + -0.0567886344699358, + 1.0 + ], + [ + -0.002650514434550888, + -0.0034315185600871656, + -0.007739719740328499, + 0.029839837580070326, + 0.03097057081239807, + -0.010616911561696111, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 168.97079467773438, + 150.04254150390625 + ], + [ + 169.218994140625, + 151.2376708984375 + ], + [ + 184.0629425048828, + 188.87608337402344 + ], + [ + 241.77444458007812, + 208.9879608154297 + ], + [ + 303.99267578125, + 241.71697998046875 + ], + [ + 333.22772216796875, + 254.7027587890625 + ], + [ + 344.98974609375, + 273.37896728515625 + ], + [ + 355.3443603515625, + 291.9841613769531 + ], + [ + 367.8182373046875, + 307.8888244628906 + ], + [ + 378.852294921875, + 302.7845458984375 + ], + [ + 385.041259765625, + 299.9578857421875 + ], + [ + 389.02093505859375, + 297.5207214355469 + ], + [ + 382.81768798828125, + 295.4944152832031 + ], + [ + 379.2271728515625, + 295.51141357421875 + ], + [ + 380.37548828125, + 299.495361328125 + ], + [ + 379.062744140625, + 304.1931457519531 + ], + [ + 377.4143981933594, + 307.159912109375 + ], + [ + 353.2995910644531, + 316.83392333984375 + ], + [ + 343.24169921875, + 316.47027587890625 + ] + ], + "depth_max": 1.5672447681427002, + "depth_min": 0.24427270889282227, + "intrinsic": [ + [ + 526.2063598632812, + 0.0, + 259.0 + ], + [ + 0.0, + 525.1384887695312, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.563709055422805e-05, + -4.8150672228075564e-05, + 2.2650814571534283e-05 + ], + [ + -5.56389604753349e-05, + 1.0, + -3.883164026774466e-05, + 3.841449142782949e-06 + ], + [ + 4.814851126866415e-05, + 3.883431782014668e-05, + 1.0, + -4.626638110494241e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18 + ], + "object_trajectory": [ + [ + 363.0, + 346.25 + ], + [ + 363.2331237792969, + 346.52130126953125 + ], + [ + 363.2904052734375, + 346.46502685546875 + ], + [ + 363.20599365234375, + 346.3973388671875 + ], + [ + 363.2571105957031, + 346.3099365234375 + ], + [ + 363.17926025390625, + 346.4256591796875 + ], + [ + 362.9203186035156, + 346.54150390625 + ], + [ + 362.94842529296875, + 346.21075439453125 + ], + [ + 365.5300598144531, + 349.6315612792969 + ], + [ + 366.18212890625, + 350.904052734375 + ], + [ + 365.703369140625, + 351.7083435058594 + ], + [ + 370.1340026855469, + 338.05218505859375 + ], + [ + 362.8540344238281, + 336.4444885253906 + ], + [ + 359.048583984375, + 334.904296875 + ], + [ + 353.6505432128906, + 333.6842956542969 + ], + [ + 344.4176025390625, + 330.5246276855469 + ], + [ + 337.5738830566406, + 327.5321960449219 + ], + [ + 337.09954833984375, + 327.09197998046875 + ], + [ + 337.4145812988281, + 326.4666442871094 + ] + ] +} \ No newline at end of file diff --git a/004847_v2/lang.txt b/004847_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..0008cc234eb4b386f9038d20ed0dc4c590634b88 --- /dev/null +++ b/004847_v2/lang.txt @@ -0,0 +1 @@ +pick up the cover of the silver pan and place it to the bottom left side of the table diff --git a/004860_v2/FAIL b/004860_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004860_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004883_v2/data.json b/004883_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..7db3755bdaf362c2d9b76b1fd9f58831ba35f2a3 --- /dev/null +++ b/004883_v2/data.json @@ -0,0 +1,678 @@ +{ + "action_start": 9, + "action_end": 24, + "object_name": "pot lid", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.023931999999999953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 5.51713674745713e-11, + 8.194125933336238e-11, + 3.506117618456983e-11, + 3.804307381202169e-07, + 7.00483552730869e-08, + 3.935513490093903e-07, + 1.0 + ], + [ + 0.0301022424639123, + -0.033021899922006784, + 0.00142065466141586, + -0.028533865201192506, + -0.023661961505534863, + -0.08319908183771918, + 1.0 + ], + [ + 0.03228181771338601, + -0.030874182285999793, + -0.0015906023137946326, + -0.013524371501178864, + -0.014205649427695206, + -0.06015049972966688, + 1.0 + ], + [ + 0.03975079631232853, + -0.03563101333193544, + 0.0022931064702241613, + -0.05021784941110129, + -0.041370000659006645, + -0.0529703665594973, + 1.0 + ], + [ + 0.028154401248311034, + -0.02488184129433966, + -0.005709698145629397, + -0.04036736897336367, + -0.02662543866475035, + -0.03890420479824903, + 1.0 + ], + [ + 0.010818043372162633, + -0.015934461147165502, + -0.0104127803891403, + -0.018186276149409864, + 0.020132959673355495, + -0.025975999438007782, + 1.0 + ], + [ + 0.0006254824731766195, + -0.006055229892571276, + -0.014198844501384703, + -0.006791028274874042, + 0.028146743301413958, + -0.010544561871587454, + 1.0 + ], + [ + 0.0013780495266287884, + -0.007926023266552111, + -0.01600399106914168, + -0.006836072358102671, + 0.019125683780703086, + -0.021135740552420373, + 1.0 + ], + [ + 0.0029296993292088347, + -0.0075371160538780235, + -0.009963149507110487, + 0.0024674733800221964, + 0.0009621787755029515, + -0.016949243889062826, + 1.0 + ], + [ + 0.0014210323037878725, + -0.002064620149435606, + -0.00722005581618195, + 0.0036925537571581538, + -0.003149809858871847, + -0.014739280800934453, + 0.023931999999999953 + ], + [ + -8.356518615093567e-05, + -0.0003813186401706026, + -0.000596123995832888, + 0.002806909937739811, + -0.0026044922064375063, + -0.005375705902655838, + 0.0 + ], + [ + -0.003105124006774207, + 0.00011999813570585244, + 0.005270869561778503, + 0.0034451531244033833, + -0.00572297938109874, + -0.001266761189293173, + 0.0 + ], + [ + -0.0031093663702501106, + 0.009229421386229897, + 0.024334830581735502, + -0.009958914786538979, + -0.05138625887631932, + 0.04682999482438722, + 0.0 + ], + [ + -0.003821035830704922, + 0.016690408311807094, + 0.032593852409654636, + -0.02473233046017535, + -0.07340311448796884, + 0.07329846776617023, + 0.0 + ], + [ + -0.017007362529953496, + 0.02476852776530668, + 0.01944295000705031, + -0.015519824685195594, + -0.039293215013871084, + 0.07383352209593388, + 0.0 + ], + [ + -0.024187093853643205, + 0.03226018207949249, + -0.0034760143091516413, + 0.0033383017964267498, + 0.017154049995501325, + 0.08030997287982491, + 0.0 + ], + [ + -0.026358928666133763, + 0.03802654085925287, + -0.01234715461212895, + 0.032112451331231154, + 0.04411143224983247, + 0.08313422087660378, + 0.0 + ], + [ + -0.01753506513473807, + 0.03399994876415403, + -0.01312888080223299, + 0.023184594974596115, + 0.037189036125989, + 0.07792309298865667, + 0.0 + ], + [ + -0.010451203913181273, + 0.0303659792780724, + -0.007227914000461508, + 0.030438599865130464, + 0.020692559504206696, + 0.06442788187631597, + 0.0 + ], + [ + -0.012225610167927614, + 0.023725902846627275, + -0.005815960172847287, + 0.03438888554519966, + 0.023013769328411465, + 0.047093793122732666, + 0.0 + ], + [ + -0.005797495562986421, + 0.005770482880567418, + -0.0039040116240098843, + -0.00871264964129522, + 0.012652380383323072, + 0.01697298248248374, + 0.0 + ], + [ + -0.010742648337265404, + 0.0003902893148914899, + -0.0009579944121719114, + -0.0015503382160212238, + 0.013916442170831825, + 5.614222451359675e-06, + 0.0 + ], + [ + -0.009928622690622002, + 0.0046071417570557605, + 0.0005110293345325159, + -0.005526926295653142, + 0.004771130467415187, + 0.014813979923840195, + 0.0 + ], + [ + -0.0016204380667851903, + 0.008513925374017017, + 0.002205083595914467, + 0.0005193907251008511, + -0.009324530497720657, + 0.024558464463871898, + 0.0 + ], + [ + 0.0010862303305073095, + 0.008921428639797113, + 0.0014760753532861368, + -0.005247952393169576, + -0.008238362874522256, + 0.01599710195322359, + 0.0 + ], + [ + -0.0005224308150508228, + 0.003976588834222611, + -0.0011019066279892506, + -0.0168463109237878, + 0.0022554503084946127, + 0.0074093838275698315, + 1.0 + ], + [ + -0.0003538650926828979, + -0.002070538996045812, + 0.002408137122415402, + -0.008855122205280752, + 0.0007779445162424592, + -0.028725479355235502, + 1.0 + ], + [ + 0.004083459021022778, + -0.007238574312680324, + 0.005070325947882044, + -0.01227768219566755, + -0.030496159083709683, + -0.025247026500582546, + 1.0 + ], + [ + 0.004186513167338507, + -0.007768202932375234, + 0.012528822153340016, + 0.011229371790669249, + -0.014596292800077166, + -0.051759017282079704, + 1.0 + ], + [ + 0.004321944227433372, + -0.006130833349529852, + 0.01247895342028111, + 0.03190785553451994, + 0.00690601869487764, + -0.11684721426156768, + 1.0 + ], + [ + 0.0033640815711019623, + -0.004669855429290007, + 0.0027526770831708958, + 0.036958319071724435, + 0.04048799315784008, + -0.16862492935104192, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 161.52542114257812, + 197.62954711914062 + ], + [ + 161.95425415039062, + 199.6736602783203 + ], + [ + 207.62826538085938, + 203.94293212890625 + ], + [ + 270.15380859375, + 191.99105834960938 + ], + [ + 337.4549560546875, + 174.41392517089844 + ], + [ + 382.52386474609375, + 169.1018524169922 + ], + [ + 405.58355712890625, + 173.67709350585938 + ], + [ + 414.540771484375, + 192.9095001220703 + ], + [ + 418.15240478515625, + 207.48582458496094 + ], + [ + 430.25250244140625, + 203.87991333007812 + ], + [ + 440.41302490234375, + 204.21563720703125 + ], + [ + 445.5850830078125, + 202.38177490234375 + ], + [ + 447.70513916015625, + 203.153564453125 + ], + [ + 433.44464111328125, + 212.94371032714844 + ], + [ + 416.1905517578125, + 200.25924682617188 + ], + [ + 375.0767517089844, + 162.1528778076172 + ], + [ + 323.32745361328125, + 167.22256469726562 + ], + [ + 266.5113220214844, + 184.12396240234375 + ], + [ + 221.6664581298828, + 196.0927734375 + ], + [ + 185.68594360351562, + 196.09881591796875 + ], + [ + 150.14273071289062, + 196.0572967529297 + ], + [ + 137.78578186035156, + 198.69265747070312 + ], + [ + 135.07923889160156, + 202.93719482421875 + ], + [ + 128.02101135253906, + 208.24365234375 + ], + [ + 120.19951629638672, + 210.59024047851562 + ], + [ + 99.45045471191406, + 214.76333618164062 + ], + [ + 94.2990493774414, + 212.7326202392578 + ], + [ + 95.77569580078125, + 213.4691619873047 + ], + [ + 100.893798828125, + 212.5744171142578 + ], + [ + 100.73931884765625, + 199.03334045410156 + ], + [ + 111.43966674804688, + 187.17787170410156 + ], + [ + 120.85352325439453, + 181.1217041015625 + ], + [ + 123.00143432617188, + 181.72418212890625 + ], + [ + 123.0181655883789, + 181.05429077148438 + ] + ], + "depth_max": 1.5242478847503662, + "depth_min": 0.15513241291046143, + "intrinsic": [ + [ + 530.6682739257812, + 0.0, + 259.0 + ], + [ + 0.0, + 529.7590942382812, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.3797863074578345e-05, + 3.5444722925603855e-06, + 9.3205690063769e-06 + ], + [ + -5.3797688451595604e-05, + 1.0, + -4.9576348828850314e-05, + 6.0495949583128095e-06 + ], + [ + -3.5471393857733347e-06, + 4.9576159653952345e-05, + 1.0, + 5.622046046482865e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33 + ], + "object_trajectory": [ + [ + 439.0, + 216.50001525878906 + ], + [ + 439.2388916015625, + 216.5642547607422 + ], + [ + 439.1452941894531, + 216.72763061523438 + ], + [ + 439.01806640625, + 216.61257934570312 + ], + [ + 438.91156005859375, + 216.376220703125 + ], + [ + 438.734130859375, + 216.41958618164062 + ], + [ + 438.4110107421875, + 216.49783325195312 + ], + [ + 438.1598815917969, + 216.58726501464844 + ], + [ + 438.7786560058594, + 216.26918029785156 + ], + [ + 447.72564697265625, + 213.93838500976562 + ], + [ + 451.999267578125, + 211.6179962158203 + ], + [ + 451.8804931640625, + 209.95376586914062 + ], + [ + 451.6715087890625, + 210.01019287109375 + ], + [ + 437.3150634765625, + 218.15771484375 + ], + [ + 421.2385559082031, + 207.48504638671875 + ], + [ + 384.171630859375, + 169.9476318359375 + ], + [ + 334.7607421875, + 176.46099853515625 + ], + [ + 274.5983581542969, + 190.6209716796875 + ], + [ + 237.24142456054688, + 197.77944946289062 + ], + [ + 202.78199768066406, + 193.4586181640625 + ], + [ + 170.36367797851562, + 192.5666046142578 + ], + [ + 161.19857788085938, + 192.44149780273438 + ], + [ + 158.4307861328125, + 197.31703186035156 + ], + [ + 152.20730590820312, + 200.66319274902344 + ], + [ + 143.95729064941406, + 203.70596313476562 + ], + [ + 127.24362182617188, + 206.4921875 + ], + [ + 123.41859436035156, + 213.75157165527344 + ], + [ + 121.68055725097656, + 214.8740692138672 + ], + [ + 121.81895446777344, + 215.4933319091797 + ], + [ + 130.2265625, + 214.8592529296875 + ], + [ + 131.10633850097656, + 214.5219268798828 + ], + [ + 121.05976867675781, + 215.02047729492188 + ], + [ + 121.14014434814453, + 214.86766052246094 + ], + [ + 121.01866912841797, + 214.66043090820312 + ] + ] +} \ No newline at end of file diff --git a/004883_v2/lang.txt b/004883_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..d636805219798a76edb4ee7dfd0f1c3f5ca82fbb --- /dev/null +++ b/004883_v2/lang.txt @@ -0,0 +1 @@ +put the pot lid on the silver pot diff --git a/004888_v2/FAIL b/004888_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004888_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004892/FAIL b/004892/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/004892/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/004916_v2/FAIL b/004916_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004916_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004925/data.json b/004925/data.json new file mode 100644 index 0000000000000000000000000000000000000000..806dc79e47769048e558b393dbe5fbee706fa947 --- /dev/null +++ b/004925/data.json @@ -0,0 +1,604 @@ +{ + "action_start": 14, + "action_end": 23, + "object_name": "pear", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.049709846296821e-10, + -3.024726302758296e-11, + -1.8883672403546825e-11, + -3.829797075169483e-07, + 1.869838328541897e-08, + 4.489465999219095e-08, + 1.0 + ], + [ + 0.015809913981382484, + 0.02925185639678013, + 0.0013249003853228747, + 0.014799375410906644, + -0.07030467576645756, + -0.16057641235751355, + 1.0 + ], + [ + 0.013259570978399221, + 0.030873891158575854, + 0.00231998740760328, + -0.03531799649061671, + -0.028640954122167026, + 0.00021585144212391441, + 1.0 + ], + [ + 0.01198571572846091, + 0.025342393237135847, + -0.0038846621551507643, + -0.01577431614064367, + -0.05433833526696933, + 0.12311597421692792, + 1.0 + ], + [ + 0.016407995615916382, + 0.013115786969583196, + -0.005779776794834879, + -0.042421154282097015, + -0.026713511863052677, + 0.23752289761461745, + 1.0 + ], + [ + 0.019302388251008606, + 0.012327569121380139, + -0.012520303235666802, + -0.03268349528087261, + 0.0044485638525419615, + 0.18379319745287215, + 1.0 + ], + [ + 0.016707533399113628, + 0.009168770143116164, + -0.014747989649020937, + -0.0060106743939127025, + 0.058449356331625686, + 0.24053328305126642, + 1.0 + ], + [ + 0.001842436131940961, + 0.004753168262150942, + -0.016812632936740013, + 0.0010062595406192764, + 0.05919559924720824, + 0.04416419093235639, + 1.0 + ], + [ + -0.00894357286438302, + 0.005176489253169707, + -0.011755800120940935, + -0.021718329674760558, + 0.053598018802784156, + -0.09887616674066863, + 1.0 + ], + [ + -0.007375304354836909, + 0.005739165707233013, + -0.013021516362319269, + -0.0018710707481513478, + 0.031844753429468076, + -0.11769896579126486, + 1.0 + ], + [ + -0.00533786372684153, + 0.005847959125245515, + -0.015632795772606026, + 0.038936954274551544, + 0.017931579564555246, + -0.10570118799510315, + 1.0 + ], + [ + -0.0003356407689600882, + 0.003170537810120014, + -0.009024343558391004, + 0.027535003014837443, + -0.009967371406952467, + 0.0002884211133849173, + 1.0 + ], + [ + 0.004590858905066719, + 0.006544107695656748, + -0.018009566910133716, + 0.0348578582059564, + 0.013786408916671553, + -0.015163961203188936, + 1.0 + ], + [ + 0.0035709587179142965, + 0.0020474372532841845, + -0.006180829903408652, + 0.01176868782089414, + 0.0016412303617383335, + 0.0036517959948795414, + 1.0 + ], + [ + -0.003243445265508571, + -0.001486433159649525, + -0.013053027872041597, + 0.02651261117332938, + 0.009884524928988217, + -0.01431809570347911, + 1.0 + ], + [ + -0.0019028776987228824, + -0.0025729339737343565, + -0.0031648965864373643, + 0.0024187351899034658, + -0.007457696645528047, + -0.029460754087593802, + 0.0 + ], + [ + -0.0009816751678262126, + -0.0023957086834189567, + 0.002789190710460167, + -0.02045897532034187, + -0.0028532958513968623, + -0.014015579564161091, + 0.0 + ], + [ + 0.006526750396391334, + -0.00449382699788288, + 0.019136407560293146, + -0.024170019016283212, + -0.03487155178649028, + 0.014643799194129042, + 0.0 + ], + [ + 0.014754681283147497, + -0.029889192107669743, + 0.04328642327016399, + -0.04629842944215127, + -0.060249784045476866, + -0.006649576338648846, + 0.0 + ], + [ + 0.008396035644759658, + -0.0313106456836873, + 0.018884753572795544, + -0.04904699357524225, + 0.015815633925798368, + -0.03271933384626938, + 0.0 + ], + [ + 0.009002191152854, + -0.032985064809805315, + 0.001903042491504539, + -0.001165099567846267, + 0.03534610627620516, + -0.06037938274034805, + 0.0 + ], + [ + 0.006809067821062498, + -0.01875185281973512, + -0.015006963804112192, + 0.008225199747009877, + 0.0327731106470202, + -0.049930066804333983, + 0.0 + ], + [ + 0.005975171447214045, + -0.00038100410166416743, + -0.011943872432090774, + 0.02889028592448118, + 0.0034246802048401867, + 0.008474895316206621, + 0.0 + ], + [ + -0.0034016377195427716, + 0.009603264903310947, + -0.0015135570730626657, + 0.01661706164570263, + -0.012338518835014177, + 0.005342094534139375, + 0.0 + ], + [ + -0.002450568784778895, + 0.008613509458522647, + 0.007323369282485941, + -0.02835081421225092, + 0.05472025874193817, + 0.00016905059040767397, + 1.0 + ], + [ + -0.0013371304826045316, + -0.0012737272553716029, + 0.014060586835662858, + -0.03327169013216943, + -0.026336129317215743, + -0.013035920507847378, + 1.0 + ], + [ + -0.0034172987079771344, + -0.008406049638247329, + 0.020234194851677184, + 0.002857320928490403, + -0.033007266038795925, + -0.05691368027563591, + 1.0 + ], + [ + -0.00873124461518826, + -0.006382794474416427, + 0.030662729250081122, + 0.03969529543133276, + -0.040948092345538124, + -0.08320987981683246, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 403.1456298828125, + 107.22722625732422 + ], + [ + 402.26861572265625, + 109.72610473632812 + ], + [ + 377.8277282714844, + 102.45658874511719 + ], + [ + 335.3382568359375, + 76.34304809570312 + ], + [ + 294.03961181640625, + 54.11286163330078 + ], + [ + 277.9973449707031, + 51.54747009277344 + ], + [ + 278.8586120605469, + 48.667388916015625 + ], + [ + 275.2606506347656, + 55.10408401489258 + ], + [ + 274.60211181640625, + 73.06986999511719 + ], + [ + 268.57269287109375, + 89.4635238647461 + ], + [ + 255.91632080078125, + 103.58413696289062 + ], + [ + 245.404541015625, + 123.62313842773438 + ], + [ + 240.18898010253906, + 136.6044921875 + ], + [ + 239.0784454345703, + 150.06475830078125 + ], + [ + 237.79823303222656, + 162.26210021972656 + ], + [ + 236.64572143554688, + 169.9392852783203 + ], + [ + 241.72506713867188, + 181.86917114257812 + ], + [ + 243.00523376464844, + 183.17494201660156 + ], + [ + 247.30897521972656, + 184.7344970703125 + ], + [ + 265.76483154296875, + 139.30276489257812 + ], + [ + 316.42694091796875, + 107.87458801269531 + ], + [ + 356.2809143066406, + 92.34426879882812 + ], + [ + 403.8653564453125, + 116.49801635742188 + ], + [ + 407.1923828125, + 134.41624450683594 + ], + [ + 404.089599609375, + 134.9282989501953 + ], + [ + 391.5354309082031, + 134.1844024658203 + ], + [ + 381.90533447265625, + 127.67633819580078 + ], + [ + 385.5798645019531, + 109.42390441894531 + ], + [ + 400.448974609375, + 75.82945251464844 + ], + [ + 407.769775390625, + 55.24076461791992 + ] + ], + "depth_max": 2.437448740005493, + "depth_min": 0.6015488505363464, + "intrinsic": [ + [ + 603.7027587890625, + 0.0, + 259.0 + ], + [ + 0.0, + 602.7748413085938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.409476918634027e-05, + 4.693051232607104e-05, + 1.4718395505042281e-05 + ], + [ + -6.409459456335753e-05, + 1.0, + -3.75999707102892e-06, + -2.149025385733694e-05 + ], + [ + -4.693075243267231e-05, + 3.756989372050157e-06, + 1.0, + 1.898732989502605e-06 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 29 + ], + "object_trajectory": [ + [ + 248.25, + 183.25 + ], + [ + 248.16827392578125, + 182.088623046875 + ], + [ + 247.95082092285156, + 183.4580078125 + ], + [ + 247.75137329101562, + 182.92803955078125 + ], + [ + 247.8961639404297, + 183.37196350097656 + ], + [ + 247.8925018310547, + 182.6172637939453 + ], + [ + 247.9622802734375, + 183.10296630859375 + ], + [ + 247.8601837158203, + 182.48318481445312 + ], + [ + 247.59957885742188, + 182.70932006835938 + ], + [ + 247.84365844726562, + 182.3756103515625 + ], + [ + 247.67005920410156, + 181.90139770507812 + ], + [ + 247.4503631591797, + 182.67929077148438 + ], + [ + 247.35430908203125, + 181.87750244140625 + ], + [ + 247.23370361328125, + 183.98260498046875 + ], + [ + 246.496826171875, + 183.86289978027344 + ], + [ + 243.63534545898438, + 183.6031494140625 + ], + [ + 243.20664978027344, + 187.1642608642578 + ], + [ + 245.44412231445312, + 188.58978271484375 + ], + [ + 250.00723266601562, + 191.64987182617188 + ], + [ + 269.87261962890625, + 148.47268676757812 + ], + [ + 320.56707763671875, + 118.82386779785156 + ], + [ + 360.3107604980469, + 103.35611724853516 + ], + [ + 406.861083984375, + 130.4678497314453 + ], + [ + 406.98895263671875, + 146.7279510498047 + ], + [ + 403.185546875, + 146.9332733154297 + ], + [ + 385.03192138671875, + 186.04905700683594 + ], + [ + 405.772705078125, + 185.61538696289062 + ], + [ + 391.37890625, + 177.02841186523438 + ], + [ + 390.2863464355469, + 183.241455078125 + ], + [ + 388.6985778808594, + 188.93118286132812 + ] + ] +} \ No newline at end of file diff --git a/004925/lang.txt b/004925/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..6a398d6f4e36170da05a42d2eed1b0e122c68b1f --- /dev/null +++ b/004925/lang.txt @@ -0,0 +1 @@ +put pear in bowl diff --git a/004925/object.ply b/004925/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..d577dc03a86cb93a47ecff022d7c5f9b0f6f17d6 Binary files /dev/null and b/004925/object.ply differ diff --git a/004926_v2/FAIL b/004926_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/004926_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/004935_v2/FAIL b/004935_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/004935_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/004936_v2/FAIL b/004936_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004936_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004953/data.json b/004953/data.json new file mode 100644 index 0000000000000000000000000000000000000000..d74ea125dfe38817a910e6a2c346c747107a6aca --- /dev/null +++ b/004953/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 15, + "action_end": 25, + "object_name": "potato", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.993895, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.21855899999999995, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.0646122872159935e-10, + -8.236666904082313e-11, + 2.2891549766868025e-11, + -5.609405534312382e-08, + -2.649396679881047e-08, + 5.026593705899294e-08, + 1.0 + ], + [ + -0.009317982957987747, + -0.041177879261446976, + 8.56521665273946e-05, + -0.1055174322314593, + -0.0017999209002989441, + 0.01470001301002593, + 1.0 + ], + [ + -0.004036158473097268, + -0.03360595989564197, + -0.016626528579342492, + -0.09142805821587044, + 0.029507749874036773, + -0.005266100447450879, + 1.0 + ], + [ + -0.0024780631910475692, + -0.023422714965158575, + -0.014790976914721699, + -0.01435122209160032, + -0.005228838159313682, + 0.01810094465124436, + 1.0 + ], + [ + -0.0015779494953801765, + -0.0030241593880953044, + -0.016150256924178652, + 0.009142913795696254, + -0.020532164701680226, + 0.0026379918822779643, + 1.0 + ], + [ + -0.0006801484177559602, + -0.010748521378467471, + -0.027610224614418588, + 0.05349045759664549, + -0.012048673593816516, + -0.0143086051189801, + 1.0 + ], + [ + 0.003966782542928982, + -0.007246743701789332, + -0.01675710284187762, + 0.022646733519342384, + -0.004822631410575502, + -0.002575119590819099, + 1.0 + ], + [ + 0.004174777962844239, + 0.0018376828724672306, + -0.016525179638462492, + 0.028766613511528663, + -0.004487947901075029, + 0.006840137264947547, + 1.0 + ], + [ + 0.0021223148052194607, + 0.002187725966092624, + -0.009313081424667108, + 0.018066755160689354, + 0.004316253928980981, + -0.0055502994436392086, + 1.0 + ], + [ + 0.0016361216110716004, + 0.0014077622470894183, + -0.0076267179233183435, + 0.013427800688600116, + 0.00816616105369871, + -0.005296680929925617, + 1.0 + ], + [ + -0.00016107778606219703, + 0.005674783164717194, + -0.001716782452930908, + 0.0007896604723527281, + 0.002484191199768656, + -0.010220651473518038, + 1.0 + ], + [ + 0.0005139842964159425, + 0.006702161994080254, + -0.007255994178222258, + 0.017480806852255296, + 0.0063087037050442215, + -0.0034597826676421393, + 1.0 + ], + [ + -9.352705336210243e-05, + 0.000309671600926641, + -0.009833647027426506, + 0.020496251082356566, + -0.0037404773995179407, + -0.006205214152993887, + 1.0 + ], + [ + -0.0018118600829264142, + -0.007147022139291175, + -0.005431492310338942, + -0.0011765066928987069, + 0.02108132044352047, + -0.0020569093203586454, + 1.0 + ], + [ + -0.0037795505720207845, + -0.008726323472228896, + -0.004877215386121535, + 0.003653557366393405, + 0.004611258313570562, + -0.003639472009608847, + 1.0 + ], + [ + -0.0015157349339868231, + 0.003710296627078495, + -0.005472199442714116, + 0.00761850534208451, + -0.02122786580501289, + -0.006265423815411263, + 0.993895 + ], + [ + 0.0003844393924928857, + 0.0018891161183200375, + -0.00921212071364418, + 0.023432330614556133, + -0.007840966961092852, + 0.0008959125249935717, + 0.0 + ], + [ + 0.0022194019612478133, + 0.0009106733454175443, + 0.0004271865682164925, + -0.015191521926016657, + 0.004228998845631612, + 0.03468331334970621, + 0.0 + ], + [ + 0.0012438811323060572, + 0.004014780360259729, + 0.01529860969725775, + -0.017813500170486732, + -0.002220484546587046, + 0.01857025446872902, + 0.0 + ], + [ + 0.004057956414138031, + 0.012258262448571838, + 0.05239081687696363, + -0.017593719102843665, + 0.0008348532474695568, + 0.05269848798232331, + 0.0 + ], + [ + 0.007542358699649893, + 0.027166369711758398, + 0.047479932790716835, + 0.004354099854057473, + -0.022566429476823458, + 0.05420753130295381, + 0.0 + ], + [ + 0.013055670028497057, + 0.04272408752063862, + 0.011748684835745662, + 0.02792871367086029, + -0.07182449174495224, + 0.08923429603770702, + 0.0 + ], + [ + 0.009253888044046088, + 0.047096952117761694, + -0.008827866012810048, + 0.026276598130454635, + -0.02216221681867919, + 0.0747844833833909, + 0.0 + ], + [ + 0.0033055882468190634, + 0.022504569571022162, + -0.006606957149964315, + 0.011933843559730102, + -0.007373078307106992, + 0.03943040182315438, + 0.0 + ], + [ + -0.003946983150158179, + 0.0037704777662464772, + -0.008340680229353956, + -0.002209482533750974, + 0.0014542786857255428, + -0.005292042742395112, + 0.0 + ], + [ + -0.014492012273251503, + -0.009556007902211477, + -0.009261753122435198, + -0.0037482682221463256, + 0.03201016530969182, + -0.059008094715521646, + 0.21855899999999995 + ], + [ + -0.01649207608976322, + -0.020331268828605642, + -0.004545718485743214, + 0.007979964971567468, + -0.008194298361038308, + -0.12025097729747915, + 1.0 + ], + [ + -0.0032776102287156716, + -0.006267976573422457, + 0.00751160043858172, + -0.03365190867774958, + -0.0025275953194201627, + 0.016183303888389445, + 1.0 + ], + [ + 0.007296930850699934, + -0.0005745639463456687, + 0.011104604620957664, + -0.023832794675544295, + -0.020258189720550296, + 0.044171327934307995, + 1.0 + ], + [ + 0.007651015825186208, + -0.008232709861755089, + 0.026196929715593675, + -0.015793637037149023, + -0.02410534175008738, + 0.01900571005191525, + 1.0 + ], + [ + 0.0001795269201673999, + -0.016118857005367637, + 0.02586995884607904, + 0.008870182661810036, + 0.02010650355673788, + 0.003380795976769828, + 1.0 + ], + [ + 0.004413197694147303, + -0.014980460535946497, + 0.013346681503733027, + 0.006677474019839185, + 0.02544658175430066, + -0.0006699554134466362, + 1.0 + ], + [ + 0.003242146990637962, + -0.0037018694823721665, + 0.005518768176673627, + 0.0245962740571897, + 0.031737641285023606, + -0.014204060406714628, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 75.03133392333984, + 44.430442810058594 + ], + [ + 75.29936981201172, + 48.765892028808594 + ], + [ + 103.84426879882812, + 80.45965576171875 + ], + [ + 177.47125244140625, + 129.46170043945312 + ], + [ + 206.3412322998047, + 169.24362182617188 + ], + [ + 230.68014526367188, + 210.7423095703125 + ], + [ + 238.72137451171875, + 247.4351806640625 + ], + [ + 262.911376953125, + 277.6692199707031 + ], + [ + 266.310546875, + 291.9813537597656 + ], + [ + 269.19720458984375, + 299.2431335449219 + ], + [ + 268.12646484375, + 304.78607177734375 + ], + [ + 268.392822265625, + 304.131591796875 + ], + [ + 255.39312744140625, + 307.1775817871094 + ], + [ + 252.77406311035156, + 314.82147216796875 + ], + [ + 259.738525390625, + 325.3785400390625 + ], + [ + 262.86468505859375, + 331.8546142578125 + ], + [ + 260.8359375, + 335.6531982421875 + ], + [ + 256.51580810546875, + 347.10577392578125 + ], + [ + 257.67266845703125, + 350.9259948730469 + ], + [ + 254.34349060058594, + 347.3349609375 + ], + [ + 247.0122528076172, + 283.62786865234375 + ], + [ + 208.94216918945312, + 201.50485229492188 + ], + [ + 168.29608154296875, + 151.05657958984375 + ], + [ + 114.92741394042969, + 125.58168029785156 + ], + [ + 73.7449951171875, + 118.44596099853516 + ], + [ + 67.38555908203125, + 119.85073852539062 + ], + [ + 71.53999328613281, + 149.59521484375 + ], + [ + 68.18626403808594, + 179.2202606201172 + ], + [ + 76.65965270996094, + 183.2664031982422 + ], + [ + 76.0693130493164, + 174.41424560546875 + ], + [ + 77.6748275756836, + 135.35675048828125 + ], + [ + 83.86483001708984, + 103.193115234375 + ], + [ + 103.4732666015625, + 75.55279541015625 + ], + [ + 121.11187744140625, + 57.955657958984375 + ], + [ + 121.68913269042969, + 56.19275665283203 + ], + [ + 121.00418090820312, + 55.668453216552734 + ], + [ + 120.80204010009766, + 55.3385009765625 + ], + [ + 120.84613037109375, + 55.77003479003906 + ] + ], + "depth_max": 1.3811992406845093, + "depth_min": 0.23417223989963531, + "intrinsic": [ + [ + 569.1920776367188, + 0.0, + 259.0 + ], + [ + 0.0, + 569.2183837890625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 0.00010881904017878696, + -7.53088534111157e-05, + 3.0318233257276006e-05 + ], + [ + -0.00010882445349125192, + 1.0, + -7.197401282610372e-05, + -1.2757864169543609e-05 + ], + [ + 7.530102448072284e-05, + 7.19822128303349e-05, + 1.0, + -5.3831950936000794e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 283.0, + 354.5 + ], + [ + 283.32177734375, + 354.43450927734375 + ], + [ + 283.09283447265625, + 354.4390869140625 + ], + [ + 282.0444030761719, + 353.7384033203125 + ], + [ + 281.5910339355469, + 353.7999267578125 + ], + [ + 281.6583251953125, + 353.46820068359375 + ], + [ + 281.3014221191406, + 353.8775329589844 + ], + [ + 281.42681884765625, + 353.71038818359375 + ], + [ + 280.8988037109375, + 354.30810546875 + ], + [ + 280.9923400878906, + 355.2698974609375 + ], + [ + 281.3920593261719, + 355.9723205566406 + ], + [ + 281.233642578125, + 356.51898193359375 + ], + [ + 280.8544006347656, + 356.1885986328125 + ], + [ + 277.65167236328125, + 356.24127197265625 + ], + [ + 272.1361389160156, + 357.619140625 + ], + [ + 270.819091796875, + 358.2659912109375 + ], + [ + 268.04254150390625, + 357.4053955078125 + ], + [ + 256.4891357421875, + 353.3788146972656 + ], + [ + 256.2327575683594, + 356.09716796875 + ], + [ + 252.89199829101562, + 353.8537902832031 + ], + [ + 245.92092895507812, + 295.9105224609375 + ], + [ + 210.28958129882812, + 219.3898468017578 + ], + [ + 169.85440063476562, + 165.28955078125 + ], + [ + 122.8798599243164, + 140.79107666015625 + ], + [ + 82.89350891113281, + 141.0254669189453 + ], + [ + 76.51350402832031, + 140.78106689453125 + ], + [ + 78.39207458496094, + 166.15093994140625 + ], + [ + 81.92747497558594, + 220.4797821044922 + ], + [ + 118.60964965820312, + 243.3968048095703 + ], + [ + 123.01555633544922, + 245.13961791992188 + ], + [ + 123.09259033203125, + 249.0615997314453 + ], + [ + 117.40693664550781, + 251.64666748046875 + ], + [ + 117.1305923461914, + 253.5882568359375 + ], + [ + 114.49620819091797, + 253.12844848632812 + ], + [ + 113.45409393310547, + 253.65354919433594 + ], + [ + 113.5037841796875, + 253.4735107421875 + ], + [ + 113.51345825195312, + 253.52565002441406 + ], + [ + 113.3289566040039, + 253.7161102294922 + ] + ] +} \ No newline at end of file diff --git a/004953/lang.txt b/004953/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..353f9b38595efd2a9fb0dad17a3d7a2368415e1c --- /dev/null +++ b/004953/lang.txt @@ -0,0 +1 @@ +put potato in pot cardboard fence diff --git a/004953/object.ply b/004953/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..b99c4fda4a2eda603a73cc88b88790da3fbe21e8 Binary files /dev/null and b/004953/object.ply differ diff --git a/004964/FAIL b/004964/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/004964/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/004980_v2/FAIL b/004980_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004980_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004988_v2/FAIL b/004988_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/004988_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/004989/FAIL b/004989/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/004989/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/004990_v2/FAIL b/004990_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004990_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004992/FAIL b/004992/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/004992/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/005007/data.json b/005007/data.json new file mode 100644 index 0000000000000000000000000000000000000000..6b4829759d3f61c180221e2e15260c7b56bb1bd4 --- /dev/null +++ b/005007/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 13, + "action_end": 21, + "object_name": "potato", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.820757, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 3.462302666790151e-11, + 1.3231861786811017e-11, + -2.089486500489457e-10, + -5.424723026187051e-08, + 4.9376139231965405e-08, + 2.625703915885585e-07, + 1.0 + ], + [ + -0.012144564533916824, + 0.012818595078033504, + -0.008892419808964325, + -0.001534715830529582, + -0.10290978395333855, + -0.0825730573518528, + 1.0 + ], + [ + -0.011831700649817256, + 0.019402912753403875, + -0.006477343878386194, + -0.03822064685707637, + -0.08790327592447694, + -0.08107959995743524, + 1.0 + ], + [ + -0.014367167555446314, + 0.027385824576396718, + 0.0003865157145542808, + -0.04227985140647312, + -0.09058831495169369, + -0.06891654316311333, + 1.0 + ], + [ + -0.004563847760063855, + 0.019795789488443065, + -0.005377819938780268, + -0.016619536047399696, + -0.02517457016505502, + 0.022772176177647464, + 1.0 + ], + [ + -0.0024464550291012632, + 0.013620878526265742, + -0.004066527723314353, + -0.014990429019046226, + -0.004635636908602056, + 0.03099812326852441, + 1.0 + ], + [ + -0.005852253612794567, + 0.007448185022986428, + -0.009506142957133534, + -0.022147702654813996, + 0.02055326803401695, + 0.05023209441267561, + 1.0 + ], + [ + -0.01040974634830194, + 0.00545562260520345, + -0.00955989148821118, + -0.008660765269242202, + 0.004381741881955584, + 0.060079629969070854, + 1.0 + ], + [ + -0.008887243421098645, + 0.004904310485299157, + -0.01090276386064637, + -0.005235422772211704, + 0.03248888728332635, + 0.055381101379666946, + 1.0 + ], + [ + -0.0002668352415031716, + -0.0037289525044857247, + -0.014018547944442877, + 0.061931608406760916, + 0.038424461580029996, + 0.02286530703603319, + 1.0 + ], + [ + 0.0008742012571208713, + 0.00027204430235823474, + -0.012897372901955799, + 0.009240918297542386, + 0.008239329101904213, + 0.028836445947233322, + 1.0 + ], + [ + 0.00014610070109041806, + -0.0032677570543463152, + -0.0149067161548966, + 0.018502021546931095, + 0.014595811813065228, + -0.002296065833434497, + 1.0 + ], + [ + -0.0049704742450519535, + -0.004285167606075932, + -0.012858758600079623, + 0.0333832768184119, + -0.012813234413666923, + -0.025307463058497622, + 1.0 + ], + [ + -0.0034243669316696146, + -9.108069853577816e-05, + -0.007397377078482991, + 0.012441206136968424, + -0.004262174646151221, + -0.02807850804240604, + 0.820757 + ], + [ + -0.0013693734563723636, + 0.002893197286375021, + 0.006832014844235138, + -0.006088854670436422, + -0.03728730815718465, + -0.001384611896490873, + 0.0 + ], + [ + 0.004283029102182201, + 0.003112837223273282, + 0.026600333455340994, + -0.01954921344735599, + -0.017665530255652952, + 0.01924736549523042, + 0.0 + ], + [ + 0.007560838924374147, + -0.01824596910493008, + 0.030338749937621944, + -0.05104753945468973, + 0.028254695468240852, + -0.0008167260402433519, + 0.0 + ], + [ + 0.0032300854799209577, + -0.021905892051070464, + 0.018629508981936348, + -0.014691502285067002, + -0.016007624608966195, + 0.009538755052574073, + 0.0 + ], + [ + 0.0004617377694074998, + -0.029304691348842296, + 0.004808177343393671, + -0.011183710929287275, + 0.042257085974548095, + -0.04397742121983082, + 0.0 + ], + [ + -0.008938155966478428, + -0.03287676354787622, + -0.0046729070476244985, + 0.013571386921857043, + 0.03604250633037583, + -0.04857506096023984, + 0.0 + ], + [ + 0.0026309338726946963, + -0.02496016721923666, + -0.009323299146406908, + -0.052183696942627575, + 0.033939858132178716, + -0.04162480409330984, + 0.0 + ], + [ + 0.0016720460242939938, + -0.013340600410361208, + -0.009037915510856045, + -0.0007575220204903609, + -0.028253502690870493, + 0.002903664432270903, + 0.0 + ], + [ + 0.001262424954289021, + -0.00593767474719992, + -0.00877873701293165, + -0.00026309207081863013, + -0.0011723789923808335, + -0.024721263997358363, + 1.0 + ], + [ + -0.002264222123914028, + 0.003124091997020191, + 0.0023441035304639715, + -0.031745507069748144, + -0.007706432335249216, + -0.005844596208587262, + 1.0 + ], + [ + 0.0035869293001445646, + 0.004301421441628667, + 0.013892081458454789, + -0.0034480615182474277, + -0.019467598682665056, + 0.009855307839557905, + 1.0 + ], + [ + 0.01530265424553734, + 0.014814735137444624, + 0.03269369559301796, + -0.038578961992133856, + -0.0074144253584390455, + 0.0610399331704073, + 1.0 + ], + [ + 0.02418540222673579, + 0.027689215932258576, + 0.027578860967524377, + -0.005532013776306991, + -0.06977244909539995, + 0.19100267090908415, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 314.2767028808594, + 95.04159545898438 + ], + [ + 311.2667236328125, + 106.01451110839844 + ], + [ + 298.1195068359375, + 148.063720703125 + ], + [ + 254.53903198242188, + 150.7530517578125 + ], + [ + 192.4290771484375, + 154.05642700195312 + ], + [ + 155.53150939941406, + 155.13516235351562 + ], + [ + 139.80686950683594, + 154.88037109375 + ], + [ + 130.788330078125, + 164.72024536132812 + ], + [ + 117.27789306640625, + 181.96751403808594 + ], + [ + 109.27473449707031, + 198.65325927734375 + ], + [ + 104.2091064453125, + 217.57882690429688 + ], + [ + 127.45797729492188, + 230.88449096679688 + ], + [ + 126.03807067871094, + 247.36135864257812 + ], + [ + 139.57196044921875, + 268.15570068359375 + ], + [ + 146.0863800048828, + 265.1318359375 + ], + [ + 143.9597625732422, + 264.0736083984375 + ], + [ + 125.8248291015625, + 258.2237548828125 + ], + [ + 126.88907623291016, + 222.64950561523438 + ], + [ + 157.2475128173828, + 207.4465789794922 + ], + [ + 181.41583251953125, + 210.5075225830078 + ], + [ + 231.1950225830078, + 229.89498901367188 + ], + [ + 270.186767578125, + 252.69992065429688 + ], + [ + 284.26348876953125, + 261.5826416015625 + ], + [ + 304.35198974609375, + 284.2727966308594 + ], + [ + 310.13763427734375, + 292.6424560546875 + ], + [ + 295.154296875, + 279.39947509765625 + ], + [ + 295.26312255859375, + 221.71749877929688 + ], + [ + 264.60699462890625, + 147.50436401367188 + ], + [ + 240.21902465820312, + 132.11737060546875 + ] + ], + "depth_max": 2.4567923545837402, + "depth_min": 0.318541556596756, + "intrinsic": [ + [ + 555.5579223632812, + 0.0, + 259.0 + ], + [ + 0.0, + 555.3715209960938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.048356226528995e-05, + -8.387710840906948e-05, + 2.7158286684425548e-05 + ], + [ + -6.0489121096907184e-05, + 1.0, + -6.62942256894894e-05, + -4.000257467851043e-05 + ], + [ + 8.387309208046645e-05, + 6.62993043079041e-05, + 1.0, + -1.0409898095531389e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 129.75, + 244.75003051757812 + ], + [ + 130.11190795898438, + 244.80572509765625 + ], + [ + 130.02987670898438, + 244.90879821777344 + ], + [ + 130.18582153320312, + 244.92333984375 + ], + [ + 129.9744873046875, + 244.99209594726562 + ], + [ + 130.0027618408203, + 244.7521514892578 + ], + [ + 129.79376220703125, + 244.59715270996094 + ], + [ + 129.77264404296875, + 244.5428466796875 + ], + [ + 129.666015625, + 244.4424591064453 + ], + [ + 127.67452239990234, + 236.6522674560547 + ], + [ + 127.21981048583984, + 237.18736267089844 + ], + [ + 127.2522201538086, + 238.08580017089844 + ], + [ + 126.74671936035156, + 246.84335327148438 + ], + [ + 128.4952392578125, + 254.161376953125 + ], + [ + 129.28005981445312, + 259.41790771484375 + ], + [ + 126.773681640625, + 260.6840515136719 + ], + [ + 126.03684997558594, + 249.19476318359375 + ], + [ + 123.5839614868164, + 236.44808959960938 + ], + [ + 150.2350616455078, + 227.1406707763672 + ], + [ + 168.25296020507812, + 218.68666076660156 + ], + [ + 201.61837768554688, + 233.83164978027344 + ], + [ + 241.4971160888672, + 257.528564453125 + ], + [ + 257.6557922363281, + 267.4570007324219 + ], + [ + 279.55999755859375, + 302.8841552734375 + ], + [ + 265.3260192871094, + 302.88433837890625 + ], + [ + 276.7204284667969, + 306.72344970703125 + ], + [ + 277.48980712890625, + 312.5626220703125 + ], + [ + 279.0863037109375, + 306.96142578125 + ], + [ + 279.7143859863281, + 306.7102966308594 + ] + ] +} \ No newline at end of file diff --git a/005007/lang.txt b/005007/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..353f9b38595efd2a9fb0dad17a3d7a2368415e1c --- /dev/null +++ b/005007/lang.txt @@ -0,0 +1 @@ +put potato in pot cardboard fence diff --git a/005007/object.ply b/005007/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..826ea4132ad097324bd29deac5d1b741c5a45035 Binary files /dev/null and b/005007/object.ply differ diff --git a/005028_v2/FAIL b/005028_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/005028_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/005033/FAIL b/005033/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/005033/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/005034/data.json b/005034/data.json new file mode 100644 index 0000000000000000000000000000000000000000..2963c63ff0793dee1e7bc7697665aaa43e0eed74 --- /dev/null +++ b/005034/data.json @@ -0,0 +1,677 @@ +{ + "action_start": 15, + "action_end": 24, + "object_name": "potato", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 5.86207193897792e-11, + -7.390252299011024e-11, + 4.1579045761963584e-11, + 5.625698580307749e-08, + -1.2698595306198654e-07, + -2.0883392288855512e-07, + 1.0 + ], + [ + -0.003455882996577897, + -0.020036555324864425, + -0.005726122462982611, + -0.05492114703517399, + 0.014182660106377126, + 0.25420044309833695, + 1.0 + ], + [ + -0.006963399996477826, + -0.017486350067227707, + 0.0010181704799189922, + -0.08068278672957124, + 0.022527444499144924, + 0.22800483256541637, + 1.0 + ], + [ + -0.0015944410349192362, + -0.015604149504397369, + 0.004445327413028569, + -0.05725894278489037, + -0.011433764478982313, + 0.2308067780124957, + 1.0 + ], + [ + 0.006685786559197493, + -0.012777501961648646, + -0.0021880519580333713, + -0.028247276651181704, + -0.0184218997683255, + 0.1425523899473646, + 1.0 + ], + [ + 0.011117787100407284, + -0.010439856111507079, + -0.0106735956329434, + -0.03250404907267647, + -0.03204538007604421, + 0.05630443999533745, + 1.0 + ], + [ + 0.00861295813978269, + -0.005969676412578104, + -0.010271624378979369, + -0.00729533919211654, + 0.0015952058360739017, + 0.04776924070767517, + 1.0 + ], + [ + -0.0035357603846289387, + -0.00683974216086676, + -0.005958379486471141, + -0.022139528503237776, + -0.028347630580839844, + -0.051958051846773004, + 1.0 + ], + [ + -0.0021438124833536576, + -0.003352497838749649, + -0.010705322285842367, + 0.022739710068222153, + -0.010690557417845891, + -0.01895054901074497, + 1.0 + ], + [ + 0.0048516361000608965, + 0.00035695412686101435, + -0.01193879234413503, + 0.00339631979123222, + 0.004386336638081798, + 0.011327577359821876, + 1.0 + ], + [ + 0.009675929770371072, + -0.00024450842726680966, + -0.009756372704992675, + 0.012324317004587346, + -0.00578300123948064, + 0.041160684073350086, + 1.0 + ], + [ + -0.0002479302598950017, + -0.0024103947189300923, + -0.009806005044161584, + 0.03848234933144203, + 0.015138560140958286, + 0.04343281850853908, + 1.0 + ], + [ + -0.005177299061694063, + -0.004156532280578398, + -0.006675831250751205, + 0.022916561542226304, + 0.017355340058701565, + 0.018135322450224634, + 1.0 + ], + [ + -0.0021637753782386415, + -0.005185848638215307, + -0.007117335055848523, + 0.001984684094274403, + 0.0175148540853364, + -0.000960795156996974, + 1.0 + ], + [ + -9.920470380381241e-05, + -0.004912778838711912, + -0.007754215737133058, + 0.014057409511349917, + 0.0037720676061018398, + 0.0013195306425593755, + 1.0 + ], + [ + 0.0026596710914074118, + 0.0010130972756642043, + -0.010370046871636743, + 0.021662756746039295, + 0.008961371611428707, + 0.0188868438556793, + 1.0 + ], + [ + -0.0011443806337513296, + 0.007927914686438275, + -0.01135548695664634, + 0.020673601529895558, + 0.014380008950768125, + 0.006578500926471216, + 1.0 + ], + [ + -0.0017117214454039353, + -0.0011540141425198797, + -0.006907552375646978, + 0.02138835344529074, + 0.0055405794034397585, + -0.005645555233725081, + 1.0 + ], + [ + -0.002217833839165906, + -0.0012353313506200392, + -0.00035805951040492664, + 0.006880925407727673, + 0.008460095946688336, + 0.0008013139462780244, + 0.0 + ], + [ + -0.0024617887585893228, + 0.0002437286973388797, + 0.006836175490798216, + -0.0173310269571282, + 0.004078398205917305, + 0.003980959619719809, + 0.0 + ], + [ + 0.003155195734788785, + 0.0036080455620892543, + 0.018876613265509986, + -0.04131921999459881, + -0.016810748753010415, + -0.00239623484111925, + 0.0 + ], + [ + -0.009688442994317759, + 0.0023528949763849324, + 0.042260112800064274, + -0.07169653477120932, + 0.026186921237492562, + -0.04302121143520549, + 0.0 + ], + [ + -0.03307427962400922, + 0.005615833385812986, + 0.01831454198436135, + -0.08522412201105947, + 0.07016107621683339, + -0.1302031719143527, + 0.0 + ], + [ + -0.03361493640766161, + 0.01114508076298764, + 0.00699788055983, + -0.0020673696955321764, + -0.019999990483976986, + -0.0999994008203481, + 0.0 + ], + [ + -0.03422408890555989, + 0.0048314718654348665, + -0.004816516394183359, + -0.015352034060567373, + 0.041157958283574464, + -0.10175878479677172, + 0.0 + ], + [ + -0.017689890942384545, + 0.007560881978512457, + -0.011356647974753928, + 0.037811028059336615, + -0.024153767310260983, + -0.03362732026809904, + 0.0 + ], + [ + 0.0066584481862966005, + -0.002284380766050892, + -0.01642355983451614, + 0.031907231217662695, + 0.046332901369001644, + 0.01892257518429327, + 0.0 + ], + [ + 0.004735337774505827, + -0.0037704007007506313, + -0.015477483633792338, + 0.049912670965664804, + 0.0008529926606641021, + -0.006333875644478937, + 1.0 + ], + [ + 0.0026840734144315537, + -0.004365795180660589, + -0.0007747247852669531, + -0.0006433052520323143, + -0.005620534920486264, + 8.286428440747912e-05, + 1.0 + ], + [ + 0.0029616508334573133, + -0.002364294114616264, + 0.0033981715749137054, + -0.014123371698875597, + 0.014685952294744165, + 0.006871646140065205, + 1.0 + ], + [ + 0.007140851796162223, + 0.0038621864130678196, + 0.024006982568882514, + 0.03553499140712949, + -0.0019405758456359473, + -0.026769358114441123, + 1.0 + ], + [ + 0.018313611449503192, + 0.00940948360939664, + 0.047602754287560244, + -0.010106426208300589, + -0.06092306038415801, + 0.07187499996039243, + 1.0 + ], + [ + 0.02849074331344248, + 0.013149072277648582, + 0.01176832828167483, + 0.09469991098930582, + -0.07568651259037223, + 0.14502435881537437, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 155.06959533691406, + 35.93302917480469 + ], + [ + 185.00662231445312, + 46.81420135498047 + ], + [ + 146.37661743164062, + 55.83369445800781 + ], + [ + 157.53738403320312, + 61.01643371582031 + ], + [ + 238.26318359375, + 49.92925262451172 + ], + [ + 261.3426513671875, + 52.842044830322266 + ], + [ + 266.62249755859375, + 72.44108581542969 + ], + [ + 262.7618103027344, + 90.78670501708984 + ], + [ + 267.77069091796875, + 90.46781921386719 + ], + [ + 273.4937744140625, + 105.44993591308594 + ], + [ + 275.2626953125, + 109.18963623046875 + ], + [ + 280.35595703125, + 122.65973663330078 + ], + [ + 286.8512268066406, + 130.78457641601562 + ], + [ + 287.05078125, + 144.90127563476562 + ], + [ + 292.2547912597656, + 156.53932189941406 + ], + [ + 292.15362548828125, + 165.44534301757812 + ], + [ + 287.47210693359375, + 170.88626098632812 + ], + [ + 286.5274353027344, + 171.42770385742188 + ], + [ + 287.53741455078125, + 173.38272094726562 + ], + [ + 291.07427978515625, + 178.02810668945312 + ], + [ + 281.4368591308594, + 128.43312072753906 + ], + [ + 246.7627716064453, + 112.06019592285156 + ], + [ + 205.14434814453125, + 118.021728515625 + ], + [ + 158.35885620117188, + 138.08486938476562 + ], + [ + 132.89468383789062, + 168.1542510986328 + ], + [ + 128.31085205078125, + 170.85006713867188 + ], + [ + 154.4715576171875, + 191.7877197265625 + ], + [ + 167.68971252441406, + 195.40396118164062 + ], + [ + 162.0211181640625, + 193.03900146484375 + ], + [ + 161.76942443847656, + 169.23141479492188 + ], + [ + 170.2589111328125, + 107.70138549804688 + ], + [ + 158.70553588867188, + 46.55918884277344 + ], + [ + 161.07489013671875, + 41.49064254760742 + ] + ], + "depth_max": 2.682756185531616, + "depth_min": 0.584433376789093, + "intrinsic": [ + [ + 579.5294189453125, + 0.0, + 259.0 + ], + [ + 0.0, + 579.2144775390625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.987824938027188e-05, + -6.0456732171587646e-05, + 6.248468707781285e-06 + ], + [ + -7.988044671947137e-05, + 1.0, + -3.626377656473778e-05, + 8.885551778803347e-07 + ], + [ + 6.04538363404572e-05, + 3.62686078005936e-05, + 1.0, + 8.980563507066108e-06 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 32 + ], + "object_trajectory": [ + [ + 301.75, + 161.75 + ], + [ + 301.8665771484375, + 161.97259521484375 + ], + [ + 302.0216369628906, + 161.9613037109375 + ], + [ + 301.9283447265625, + 162.029296875 + ], + [ + 301.9064025878906, + 161.94386291503906 + ], + [ + 302.00531005859375, + 162.26266479492188 + ], + [ + 302.04205322265625, + 162.20712280273438 + ], + [ + 301.76177978515625, + 162.4320068359375 + ], + [ + 301.84063720703125, + 162.2581329345703 + ], + [ + 301.9962158203125, + 162.59036254882812 + ], + [ + 302.1282043457031, + 162.49838256835938 + ], + [ + 304.8501281738281, + 163.31698608398438 + ], + [ + 304.8224182128906, + 163.25909423828125 + ], + [ + 304.3896179199219, + 163.09524536132812 + ], + [ + 298.4838562011719, + 166.252685546875 + ], + [ + 285.1905517578125, + 171.73863220214844 + ], + [ + 280.37744140625, + 177.8166046142578 + ], + [ + 284.20123291015625, + 179.41571044921875 + ], + [ + 288.0306396484375, + 182.8624725341797 + ], + [ + 291.9145812988281, + 187.69415283203125 + ], + [ + 282.66229248046875, + 139.5832977294922 + ], + [ + 251.3269805908203, + 122.97055053710938 + ], + [ + 211.93048095703125, + 127.9200439453125 + ], + [ + 170.27639770507812, + 151.25498962402344 + ], + [ + 145.65457153320312, + 178.30374145507812 + ], + [ + 139.4229278564453, + 183.46902465820312 + ], + [ + 165.4346160888672, + 220.37120056152344 + ], + [ + 166.2372589111328, + 227.87188720703125 + ], + [ + 162.28318786621094, + 231.80166625976562 + ], + [ + 163.59893798828125, + 231.4019012451172 + ], + [ + 166.5358428955078, + 229.6995849609375 + ], + [ + 168.01397705078125, + 231.742919921875 + ], + [ + 172.6761016845703, + 234.37648010253906 + ] + ] +} \ No newline at end of file diff --git a/005034/lang.txt b/005034/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..353f9b38595efd2a9fb0dad17a3d7a2368415e1c --- /dev/null +++ b/005034/lang.txt @@ -0,0 +1 @@ +put potato in pot cardboard fence diff --git a/005034/object.ply b/005034/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..9f64dfd594eeced2594724cad86e3738129e8825 Binary files /dev/null and b/005034/object.ply differ diff --git a/005082/data.json b/005082/data.json new file mode 100644 index 0000000000000000000000000000000000000000..374a4686cc576b4a95d947f38b115ee2134d8bf5 --- /dev/null +++ b/005082/data.json @@ -0,0 +1,604 @@ +{ + "action_start": 12, + "action_end": 22, + "object_name": "sushi", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.10524999999999995, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -4.4988901493070443e-11, + -1.4112909452190792e-10, + 8.830743081222892e-11, + 5.5540771462086116e-08, + 1.131047049799555e-06, + -1.9124829845589784e-07, + 1.0 + ], + [ + 0.0007716174462659153, + -0.007453877768532291, + 0.013721912384179052, + -0.059692999740406774, + -0.004895352036352327, + 0.1167062910511489, + 1.0 + ], + [ + -0.003026636653854442, + -0.020817459240241226, + 0.0034420074355806657, + -0.08407449151685034, + -0.0023186244431082814, + 0.14610915917400347, + 1.0 + ], + [ + -0.0033946961550019306, + -0.023083682864943417, + -0.0009538692245340402, + -0.01684354913467375, + 0.007313185983125727, + 0.13090392435340367, + 1.0 + ], + [ + -0.0060506696072013255, + -0.03878156324507895, + -0.0077343003942106775, + 0.03761407806792102, + 0.026268860698086004, + 0.25151882276017945, + 1.0 + ], + [ + -0.008499219597085605, + -0.025015739806962006, + -0.007551960135286931, + -0.015091545954272858, + 0.04482506039138123, + 0.22752048259290725, + 1.0 + ], + [ + -0.003932999147522709, + -0.013846094964884377, + -0.012266146354025634, + -0.017540383801095405, + -0.05944251194570071, + 0.11696545695792558, + 1.0 + ], + [ + 0.0011712801654997218, + -0.006726459777478181, + -0.014128533869820908, + -0.010388811136573615, + -0.0672933488358391, + 0.04753026999223433, + 1.0 + ], + [ + 0.007160475302418312, + -0.005137009248262159, + -0.008612719329861379, + -0.005397364657573551, + -0.05044553545422555, + 0.036403693839461466, + 1.0 + ], + [ + 0.010498422043941219, + -0.002088985940517523, + -0.002089931883342784, + -0.004662648024792995, + -0.018235465779073454, + 0.024144081790242255, + 1.0 + ], + [ + 0.0029803729282530944, + 0.0001974992636487108, + -0.008764486167041424, + 0.00950680650508861, + 0.022638111508049775, + 0.014843963194274097, + 1.0 + ], + [ + -1.877858175239333e-05, + -0.0014267878817623009, + -0.010172753278017676, + 0.012913157114419488, + 0.052541440977577035, + 0.04381218322646343, + 1.0 + ], + [ + 0.0005550006954630204, + 0.0002715726760736774, + -0.0065608612051016625, + 0.018458787436211044, + 0.0034701611720267286, + 0.004017996122364077, + 0.10524999999999995 + ], + [ + 0.0002554164544581461, + 6.420452130582663e-05, + 0.000486069949212577, + -0.008908647429463365, + 0.0035790228103039284, + -0.016526904803594616, + 0.0 + ], + [ + 0.0011887658353077202, + 0.002044104227222964, + 0.010372399757718935, + 0.01239847666362515, + -0.05284684242308016, + 0.00038864084569123844, + 0.0 + ], + [ + 0.005178818219599202, + 0.007833536182072238, + 0.028556474951235894, + -0.032550164745900424, + -0.026827534787614172, + 0.026293703982215123, + 0.0 + ], + [ + 0.006141748736871178, + 0.02194572093447061, + 0.025577498944185567, + -0.029229385641171342, + -0.05356801259041533, + 0.050496488835969945, + 0.0 + ], + [ + 0.004887873964010997, + 0.03276199572961752, + 0.006288731654486103, + 0.007937304412608877, + -0.010856592225301309, + 0.032777032091152486, + 0.0 + ], + [ + 0.0064815661850277095, + 0.030074007724529252, + -0.00450332067216927, + 0.009708059466077312, + -0.00014558415486676756, + 0.003617985582812939, + 0.0 + ], + [ + 0.006068772173340842, + 0.015455306244517103, + -0.008339630542420595, + -0.021724795964310945, + 0.06149203123090344, + 0.004915199046842162, + 0.0 + ], + [ + 0.00012565099860012419, + 0.0044607132191081394, + -0.011745642592295297, + 0.03576667474014021, + 0.00026688711469472496, + -0.003423267682001671, + 0.0 + ], + [ + -0.004910829131308525, + -0.0037149469422290277, + -0.006495235231531171, + 0.0062738540702032605, + 0.002775648479051944, + -0.023166725083849725, + 0.0 + ], + [ + -0.0026070036447691236, + -0.0013528189788267614, + -0.0004263335739077903, + 0.001183637757156218, + 0.001642143174616884, + -0.005301578674727175, + 0.0 + ], + [ + -0.0009590727980359204, + 0.0022090617314204086, + 0.0006437757030698862, + 0.0013728288510881591, + 0.012506440760917857, + 0.02328747152737038, + 1.0 + ], + [ + 0.0011378178506120662, + 0.001992283694152802, + 0.0062115637383998445, + -0.005214744875825597, + -0.0033530937670905063, + 0.005897435404361672, + 1.0 + ], + [ + -0.0008376614980656893, + -0.004739165308125987, + 0.0196887592004463, + -0.024604565467331235, + -0.0348535954456097, + -0.012049728458574408, + 1.0 + ], + [ + -0.0019031059127876393, + -0.007413830956146242, + 0.029120145180115437, + -0.0372795577773087, + -0.05635632147483226, + -0.016953548613652544, + 1.0 + ], + [ + -0.0027365560955118218, + -0.0035203966903048917, + 0.025166726701673553, + -0.023207961943588696, + -0.0007908934763548938, + -0.032455379672407594, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 136.20513916015625, + 168.35491943359375 + ], + [ + 136.31869506835938, + 171.51876831054688 + ], + [ + 140.5691375732422, + 183.124267578125 + ], + [ + 150.72608947753906, + 180.04367065429688 + ], + [ + 176.9519805908203, + 191.55255126953125 + ], + [ + 209.56883239746094, + 211.06634521484375 + ], + [ + 274.8895263671875, + 243.1267852783203 + ], + [ + 272.7088623046875, + 261.68621826171875 + ], + [ + 302.0139465332031, + 293.1134338378906 + ], + [ + 309.22637939453125, + 290.28131103515625 + ], + [ + 314.3476257324219, + 290.3934631347656 + ], + [ + 319.49249267578125, + 290.69891357421875 + ], + [ + 319.1165466308594, + 300.75653076171875 + ], + [ + 322.8045654296875, + 304.4815979003906 + ], + [ + 324.3135070800781, + 305.67242431640625 + ], + [ + 323.1531066894531, + 299.7622985839844 + ], + [ + 326.8206481933594, + 280.3492736816406 + ], + [ + 305.65765380859375, + 234.9949493408203 + ], + [ + 259.0669250488281, + 189.24476623535156 + ], + [ + 232.01327514648438, + 171.210205078125 + ], + [ + 204.71426391601562, + 165.40118408203125 + ], + [ + 202.52999877929688, + 167.3826141357422 + ], + [ + 203.66844177246094, + 182.14918518066406 + ], + [ + 203.9510498046875, + 189.4249267578125 + ], + [ + 201.28443908691406, + 194.40530395507812 + ], + [ + 200.07192993164062, + 195.2662811279297 + ], + [ + 202.64964294433594, + 182.57432556152344 + ], + [ + 204.65757751464844, + 150.00137329101562 + ], + [ + 199.56088256835938, + 112.59691619873047 + ], + [ + 195.8023681640625, + 106.43419647216797 + ] + ], + "depth_max": 2.868899345397949, + "depth_min": 0.196406289935112, + "intrinsic": [ + [ + 553.32958984375, + 0.0, + 259.0 + ], + [ + 0.0, + 553.3041381835938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 8.150420762831345e-05, + -5.8839494158746675e-05, + 1.4665491107734852e-05 + ], + [ + -8.150663779815659e-05, + 1.0, + -4.128932414459996e-05, + -1.6895650333026424e-05 + ], + [ + 5.883612539037131e-05, + 4.1294119000667706e-05, + 1.0, + -2.3325475922320038e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 29 + ], + "object_trajectory": [ + [ + 315.25, + 298.25 + ], + [ + 315.7132873535156, + 298.24859619140625 + ], + [ + 315.7169189453125, + 298.4210205078125 + ], + [ + 315.4837646484375, + 298.2693176269531 + ], + [ + 316.2552490234375, + 298.45172119140625 + ], + [ + 316.21820068359375, + 298.6053466796875 + ], + [ + 316.3279113769531, + 298.43829345703125 + ], + [ + 315.56219482421875, + 298.29986572265625 + ], + [ + 315.32421875, + 298.2181396484375 + ], + [ + 315.6788330078125, + 298.05889892578125 + ], + [ + 307.3179626464844, + 297.13226318359375 + ], + [ + 315.3448486328125, + 298.9767150878906 + ], + [ + 314.7966003417969, + 299.2235107421875 + ], + [ + 314.39324951171875, + 298.8539123535156 + ], + [ + 313.7020263671875, + 299.18707275390625 + ], + [ + 309.91510009765625, + 300.0204162597656 + ], + [ + 309.6784973144531, + 285.2668151855469 + ], + [ + 299.960693359375, + 251.25259399414062 + ], + [ + 264.7852783203125, + 215.07354736328125 + ], + [ + 249.49537658691406, + 195.60012817382812 + ], + [ + 230.69947814941406, + 182.93641662597656 + ], + [ + 228.77450561523438, + 181.34039306640625 + ], + [ + 227.14059448242188, + 192.82412719726562 + ], + [ + 226.24896240234375, + 196.6098175048828 + ], + [ + 227.681884765625, + 212.251220703125 + ], + [ + 222.43502807617188, + 226.10556030273438 + ], + [ + 220.90118408203125, + 221.7870635986328 + ], + [ + 215.53138732910156, + 211.86590576171875 + ], + [ + 213.30934143066406, + 210.68402099609375 + ], + [ + 212.5517120361328, + 211.42218017578125 + ] + ] +} \ No newline at end of file diff --git a/005082/lang.txt b/005082/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..97c041551690e8b21234f1330fbee9cce6a19789 --- /dev/null +++ b/005082/lang.txt @@ -0,0 +1 @@ +put sushi in pot cardboard fence diff --git a/005082/object.ply b/005082/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..4bef4817f7353bd4cbf8652d67def75a12a62779 Binary files /dev/null and b/005082/object.ply differ diff --git a/005083/data.json b/005083/data.json new file mode 100644 index 0000000000000000000000000000000000000000..e831d41fa76a9f2b8d4767b2d69a42b6dc01a97f --- /dev/null +++ b/005083/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 10, + "action_end": 20, + "object_name": "sushi", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.342468913811956e-10, + -2.6786923373878224e-10, + 1.2627986156754645e-10, + 1.3718196872001001e-07, + 4.6712444577177015e-07, + 3.9298860200815644e-07, + 1.0 + ], + [ + 0.010883570279319549, + 0.018239075906577272, + 0.001846714099049393, + -0.03574782833758817, + -0.004860848838707935, + -0.04406491223455622, + 1.0 + ], + [ + 0.009192666912135217, + 0.01575061253126103, + -0.0018433217399339286, + -0.02544371472942885, + 0.011202988413022865, + -0.039615962029575534, + 1.0 + ], + [ + 0.007608008158794949, + 0.01443217784239202, + -0.006453519261953561, + -0.022151272739336886, + -0.0016201348825856739, + -4.664651919217307e-06, + 1.0 + ], + [ + 0.008898342521367897, + 0.011278579942754326, + -0.00899310665573913, + -0.0058933323414749805, + 0.021533998831831273, + -0.007598661033841535, + 1.0 + ], + [ + 0.004495074269947386, + 0.0010431700912362334, + -0.015648697245277912, + 0.0024809540091602646, + 0.011047627783542199, + -0.016280281189557787, + 1.0 + ], + [ + 0.004475671672948933, + 0.004076299012824691, + -0.003715077867359029, + -0.020934636770824633, + 0.014923719337041558, + 0.016189388011620055, + 1.0 + ], + [ + 0.0003270512430726402, + -0.003366722421618222, + -0.0051700878120822455, + -0.024449202419433616, + 0.004711696903808814, + 0.0054135901337357675, + 1.0 + ], + [ + 0.001071307987365655, + -0.0024271081023225505, + -0.0024958735409455063, + -0.0011861963607111734, + -0.0051979231762857535, + 0.005246824980047294, + 1.0 + ], + [ + 0.002023823838650296, + 0.002281853508270433, + -0.014835198087052859, + 0.028446508793442547, + 0.021592556328429987, + 0.01226672698560546, + 1.0 + ], + [ + 0.0020842797208630026, + 0.0007515580857913665, + -0.009728907462088342, + 0.03501949547844534, + -0.0014900758041818784, + 0.006910006195636569, + 1.0 + ], + [ + 0.0010196630594796474, + -0.00038583639168164596, + -0.008062794270198103, + 0.004975169090292197, + 0.0023676868972128473, + -0.005036447124525768, + 0.0 + ], + [ + -0.0004754565269247113, + 5.0162992595470524e-05, + 0.00125791786715828, + -0.0017918576054419353, + -0.02063767291303201, + -0.017617157361370463, + 0.0 + ], + [ + 0.0008148598859461509, + -0.00029312702737907537, + 0.012792291483564125, + -0.013552520214236913, + -0.028225313293201257, + 0.0012462864174680398, + 0.0 + ], + [ + -0.0008707651136167782, + 0.005453226160725251, + 0.037940407376413715, + -0.05572605590779804, + -0.03544749096389083, + 0.024963612318450405, + 0.0 + ], + [ + -0.013630470334257294, + 0.015058106564857544, + 0.024125239670741334, + -0.03315134258910425, + -0.0456976095529491, + -0.004054734821878866, + 0.0 + ], + [ + -0.018782630129722033, + 0.023031910661265587, + 0.0016674722536422215, + 0.010554841284535982, + -0.0029677842199696347, + -0.019688899955955127, + 0.0 + ], + [ + -0.010507022796890364, + 0.020086927234970103, + -0.018721845596653436, + 0.03675244271012764, + 0.05518159177777686, + -0.024499587104600717, + 0.0 + ], + [ + -0.0027504201864244626, + 0.008748919796702878, + -0.016321260848265365, + 0.029489865508076637, + 0.014481845169257117, + -0.00541755602363088, + 0.0 + ], + [ + -0.0027459751069028593, + 0.003945240093971555, + -0.013417486623237877, + 0.02329874290357711, + 0.01296860670150605, + -0.013419780828011969, + 0.0 + ], + [ + 0.0004460005922688193, + 0.0022362022425982675, + -0.006028176302527728, + 0.01683933715771118, + 0.007734954811934591, + 0.0007627445899496354, + 0.0 + ], + [ + -0.0010777124328842647, + -2.9767063962349294e-06, + 0.002010644579095347, + 0.0069518848749286965, + -0.0064374927884246385, + 0.012025584774409199, + 1.0 + ], + [ + -0.001743442271260498, + 0.0005009954103607495, + 0.009876094959442125, + -0.012227931105377558, + -0.00500063631189573, + -0.014168428608402103, + 1.0 + ], + [ + -0.0007175805770512078, + -0.0014306095588323825, + 0.01969213503229458, + -0.006242718072805586, + -0.026752426002664677, + -0.0051772335787599166, + 1.0 + ], + [ + 0.0005902167893369892, + -0.004783909649745718, + 0.035747379308969984, + -0.013622580162141936, + -0.039004389471101415, + 0.009634323252872291, + 1.0 + ], + [ + 0.0031699881362515225, + -0.011875738335138969, + 0.028684311893372005, + -0.023119054309723993, + -0.002582031545257798, + 0.009284143056835167, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 294.95281982421875, + 220.5465087890625 + ], + [ + 292.8507385253906, + 228.2747802734375 + ], + [ + 294.547607421875, + 228.23983764648438 + ], + [ + 259.71221923828125, + 200.18014526367188 + ], + [ + 261.51171875, + 196.38687133789062 + ], + [ + 252.392822265625, + 191.41473388671875 + ], + [ + 243.61622619628906, + 201.78903198242188 + ], + [ + 255.852294921875, + 201.88278198242188 + ], + [ + 260.21575927734375, + 208.33123779296875 + ], + [ + 261.75347900390625, + 206.84072875976562 + ], + [ + 260.3751220703125, + 220.42062377929688 + ], + [ + 258.1297302246094, + 226.35394287109375 + ], + [ + 263.72430419921875, + 230.53440856933594 + ], + [ + 263.06182861328125, + 229.79954528808594 + ], + [ + 263.49627685546875, + 231.29989624023438 + ], + [ + 261.8712158203125, + 198.57456970214844 + ], + [ + 225.83302307128906, + 161.40481567382812 + ], + [ + 176.00942993164062, + 159.59255981445312 + ], + [ + 140.46360778808594, + 164.7313995361328 + ], + [ + 129.30130004882812, + 185.26092529296875 + ], + [ + 128.26559448242188, + 201.41317749023438 + ], + [ + 128.3695068359375, + 206.6258087158203 + ], + [ + 130.2137451171875, + 215.75045776367188 + ], + [ + 130.56417846679688, + 217.14752197265625 + ], + [ + 127.07820892333984, + 201.80783081054688 + ], + [ + 115.64794921875, + 164.76953125 + ], + [ + 106.94691467285156, + 125.58392333984375 + ], + [ + 109.08441162109375, + 116.12751770019531 + ] + ], + "depth_max": 2.842161178588867, + "depth_min": 0.5074303150177002, + "intrinsic": [ + [ + 553.4373779296875, + 0.0, + 259.0 + ], + [ + 0.0, + 553.8511962890625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.7968762626405805e-05, + -2.2244859792408533e-05, + 1.0763727004814427e-05 + ], + [ + -3.7969788536429405e-05, + 1.0, + -4.612608245224692e-05, + -1.339054597337963e-05 + ], + [ + 2.2243109924602322e-05, + 4.6126926463330165e-05, + 1.0, + 7.880636076151859e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 272.75, + 237.5 + ], + [ + 273.080078125, + 237.890625 + ], + [ + 273.4503173828125, + 238.31753540039062 + ], + [ + 271.7406005859375, + 237.55572509765625 + ], + [ + 271.2246398925781, + 237.25827026367188 + ], + [ + 270.8966064453125, + 236.88302612304688 + ], + [ + 271.12677001953125, + 237.37586975097656 + ], + [ + 271.40863037109375, + 237.47610473632812 + ], + [ + 271.5801086425781, + 237.6210174560547 + ], + [ + 271.8158874511719, + 237.54522705078125 + ], + [ + 272.1815490722656, + 237.9962158203125 + ], + [ + 271.5158996582031, + 237.8470001220703 + ], + [ + 271.1292419433594, + 237.4846649169922 + ], + [ + 270.09710693359375, + 236.77609252929688 + ], + [ + 269.9075622558594, + 238.08758544921875 + ], + [ + 268.63482666015625, + 211.4619140625 + ], + [ + 235.7447052001953, + 201.78823852539062 + ], + [ + 186.461669921875, + 190.791015625 + ], + [ + 148.73728942871094, + 197.90109252929688 + ], + [ + 136.51901245117188, + 208.636474609375 + ], + [ + 134.61231994628906, + 224.16690063476562 + ], + [ + 133.33009338378906, + 228.21002197265625 + ], + [ + 133.98471069335938, + 244.8705291748047 + ], + [ + 152.07345581054688, + 255.22366333007812 + ], + [ + 156.2404022216797, + 262.03570556640625 + ], + [ + 160.03936767578125, + 260.8471984863281 + ], + [ + 160.26097106933594, + 260.22857666015625 + ], + [ + 161.78482055664062, + 256.6650695800781 + ] + ] +} \ No newline at end of file diff --git a/005083/lang.txt b/005083/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..97c041551690e8b21234f1330fbee9cce6a19789 --- /dev/null +++ b/005083/lang.txt @@ -0,0 +1 @@ +put sushi in pot cardboard fence diff --git a/005083/object.ply b/005083/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..673b854a6a61066fc7f317521f8bdd2b379817a5 Binary files /dev/null and b/005083/object.ply differ diff --git a/005108_v2/data.json b/005108_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..2fe3d2e9bbe7dd6165dfc8143b9e3c45a245fd67 --- /dev/null +++ b/005108_v2/data.json @@ -0,0 +1,843 @@ +{ + "action_start": 21, + "action_end": 35, + "object_name": "ball", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.6297319877244263e-10, + -3.4111691249449905e-10, + -8.997574907354533e-11, + 2.3065375353510778e-08, + 2.296737298445733e-08, + 3.8802561479204927e-07, + 1.0 + ], + [ + 0.022233368242801754, + 0.013688783123341944, + -0.012393998922069743, + 0.01201426057825711, + 0.024645762508046887, + 0.03876400724354191, + 1.0 + ], + [ + 0.018338647169216737, + 0.011137116432781632, + -0.012103499847320037, + 0.0083132995564336, + 0.022503532700271785, + 0.02020083639711605, + 1.0 + ], + [ + 0.017298857023288206, + 0.015309811549450561, + -0.015600973182723757, + 0.015628618967965045, + 0.03777482555703744, + -0.04099308750000093, + 1.0 + ], + [ + 0.006315709223208232, + 0.01749528452041759, + -0.010808503548138837, + -0.0054509888665313115, + 0.13103114420266365, + -0.1692693131912745, + 1.0 + ], + [ + -0.0038381251225576007, + 0.015535354762630182, + -0.006079475163768111, + 0.00524153993197372, + 0.036578435381540285, + -0.08936059307646393, + 1.0 + ], + [ + -0.004218084554139023, + 0.01488141758868125, + -0.010101171041966818, + 0.0006796964673953203, + 0.0279002147113845, + -0.01823679937835981, + 1.0 + ], + [ + -0.005653014330128381, + 0.013218854278813363, + -0.008195186285245251, + -0.0014997416137549472, + -0.001686106530481104, + -0.035278674648676275, + 1.0 + ], + [ + -0.007076531184759094, + 0.01314798133252068, + -0.012830922217396817, + -0.032771992674130786, + -0.08894624393997239, + -0.06026240806665626, + 1.0 + ], + [ + -0.006179191412860829, + -0.0023076721676910106, + -0.006972434207053995, + -0.07240397663149946, + -0.04184098985975884, + -0.1132053552654866, + 1.0 + ], + [ + 0.0005724725426439203, + -0.003491819837181942, + -0.0021359574463282807, + -0.07411521661865093, + -0.062085663132756264, + -0.04935558768859557, + 1.0 + ], + [ + 0.006639345362504989, + -0.004028252510416358, + 0.010456463612441045, + -0.05943794116771909, + -0.05351198455061759, + -0.036051331949716756, + 1.0 + ], + [ + 0.008805335340395126, + -0.0009653427045776541, + -0.008185551787189028, + 0.01250052396733995, + -0.03152764591466738, + 0.025282854352665904, + 1.0 + ], + [ + 0.010934405025984084, + 0.001819595068480423, + -0.00627357428141128, + 0.05326125022432086, + -0.035837904886090205, + 0.02296384861032007, + 1.0 + ], + [ + 0.005653289162572184, + 4.0141259360637616e-05, + -0.00259373808872641, + 0.024228256252540634, + -0.006486419263520494, + 0.009628012020793334, + 1.0 + ], + [ + -0.0009347851027482479, + -0.007187886609759275, + -0.005742855313252353, + -0.021798431301888434, + 0.022316388915233694, + -0.01704794168777224, + 1.0 + ], + [ + 0.0014823249634278168, + -0.005498051193737946, + -0.003178885876023466, + -0.0021321997894446854, + -0.0004162139850865792, + -0.01437367123280436, + 1.0 + ], + [ + 0.00422689043658081, + -0.0009806225733527962, + -0.009300916549023173, + 0.037184325227200464, + -0.00081581927164679, + 0.009449162573465068, + 1.0 + ], + [ + 0.004190233247296615, + -0.0005082482312899483, + -0.010680889743990316, + 0.02870721689136789, + 0.015463981453242555, + 0.006947337600251086, + 1.0 + ], + [ + 0.0038758483195597826, + 0.0014826663447424226, + -0.009843140795453436, + 0.009959987798147905, + 0.02324805103484579, + 0.015195990617267485, + 1.0 + ], + [ + 0.003985368462795569, + 0.0012357649492645284, + -0.011085709493360973, + 0.014171287170016212, + 0.030677978821262015, + 0.019960567515252933, + 1.0 + ], + [ + 0.0027839431657958325, + 0.0015203571517247438, + -0.00453979814256375, + 0.012383577501910163, + 0.010099183032556462, + 0.012773006556666178, + 1.0 + ], + [ + -0.0017401724058355716, + 0.0002715477936780786, + 0.00804293960573646, + -0.012609435059103762, + -0.01586763668693952, + 0.041188325195127974, + 0.0 + ], + [ + -0.0057170659833191695, + -0.004654752830707848, + 0.021856936901756188, + -0.04091732024296884, + -0.02915958103148344, + 0.031148994483496333, + 0.0 + ], + [ + -0.009916292990225894, + -0.008698969044652338, + 0.029217224471786298, + 0.014403969833695678, + -0.004662058114336332, + 0.04740988167560178, + 0.0 + ], + [ + -0.007321820004804136, + -0.012290485665503698, + 0.020153798265540816, + 8.773770203780762e-06, + -0.026020761091495676, + -0.0051615064613302, + 0.0 + ], + [ + -0.00787374148403347, + -0.01140473227111069, + 0.012459745675191704, + -1.3362124053531394e-05, + 0.011518455985463949, + -0.01438275077882231, + 0.0 + ], + [ + -0.007719209809141314, + -0.015165192050357962, + 0.0019666775055204016, + 0.001571484256631372, + 0.04856968140883063, + -0.033002901110062835, + 0.0 + ], + [ + -0.006163526121879204, + -0.02313083501655902, + -0.000683472246086652, + -0.026734757646404126, + 0.03772164235138491, + -0.04785831468949898, + 0.0 + ], + [ + -0.0026764309878642423, + -0.017862084598881958, + 0.0008258976724830232, + -0.018830177975012897, + 0.0073729452008069775, + -0.0334976187201923, + 0.0 + ], + [ + -0.00043465640259027216, + -0.015412353046999422, + -0.00034995592377464954, + -0.014586651115311863, + 0.0076073870275246555, + -0.026694873725263683, + 0.0 + ], + [ + 0.0021633823617146497, + -0.006597624773269611, + 0.0010090362483829787, + -0.009533927657864852, + -0.001937269960179672, + -0.004133222760786325, + 0.0 + ], + [ + -3.8305313843245425e-05, + -0.0077696536393349475, + -0.005696315960722967, + -0.00788340151215691, + 0.022663828080505412, + -0.00935478451530887, + 0.0 + ], + [ + -0.0003227458464218902, + -0.003821287886414254, + -0.005984246691622119, + 0.009087906021676672, + 0.007600805655994687, + -0.006875938485272163, + 0.0 + ], + [ + 0.0001110219907565213, + -0.0028403523711239137, + -0.006480577600180448, + -0.004446588857811035, + 0.014571974856892532, + -0.003564546523576271, + 0.0 + ], + [ + 0.001068129614581692, + -0.003541371992872397, + -0.005654228177905923, + -0.0027212091794498023, + 0.008893380852172679, + -0.003756767148283812, + 0.0 + ], + [ + 0.0015271434123527161, + 0.001860400483293126, + -0.000875970105026963, + 0.002859138133873378, + -0.0006688058725466239, + 0.011378165560702709, + 1.0 + ], + [ + -0.00042691247456266845, + 0.0017658753003330085, + 0.0050692999979175465, + -0.018693833562514164, + -0.021852113564342624, + 0.008981026491210919, + 1.0 + ], + [ + -0.0005609937480366423, + 0.0026046831581661017, + 0.011222610407868983, + -0.008451646887870458, + -0.03344649375552413, + 0.00855729000825094, + 1.0 + ], + [ + 0.002853727432700348, + 0.015306073240343512, + 0.03056624253588945, + 0.021190606611331823, + -0.042761036697734275, + 0.0730409051192139, + 1.0 + ], + [ + 0.005087292300713753, + 0.03645851255486608, + 0.022150795749981717, + 0.11786459114772313, + 0.00935166299079488, + 0.15375288902125706, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 344.9640197753906, + 140.33033752441406 + ], + [ + 344.87652587890625, + 149.66842651367188 + ], + [ + 347.55987548828125, + 170.306884765625 + ], + [ + 345.94476318359375, + 169.22433471679688 + ], + [ + 342.7816467285156, + 178.228515625 + ], + [ + 335.9747314453125, + 183.66976928710938 + ], + [ + 322.357421875, + 183.93797302246094 + ], + [ + 306.8923645019531, + 189.12826538085938 + ], + [ + 293.28753662109375, + 198.63296508789062 + ], + [ + 281.7359313964844, + 237.2650909423828 + ], + [ + 268.2447509765625, + 236.85487365722656 + ], + [ + 272.31463623046875, + 240.160888671875 + ], + [ + 273.1914367675781, + 236.72479248046875 + ], + [ + 243.8614959716797, + 230.6387939453125 + ], + [ + 242.7126922607422, + 231.97891235351562 + ], + [ + 282.55694580078125, + 230.46478271484375 + ], + [ + 284.4434814453125, + 232.06369018554688 + ], + [ + 287.9217224121094, + 231.2552032470703 + ], + [ + 292.5994873046875, + 230.81080627441406 + ], + [ + 298.91363525390625, + 246.9667205810547 + ], + [ + 297.5396728515625, + 250.76718139648438 + ], + [ + 295.9986572265625, + 262.9484558105469 + ], + [ + 301.1525573730469, + 261.3258056640625 + ], + [ + 300.72509765625, + 261.7059020996094 + ], + [ + 302.54931640625, + 267.897705078125 + ], + [ + 296.22576904296875, + 250.72251892089844 + ], + [ + 301.1452941894531, + 226.2583465576172 + ], + [ + 309.44512939453125, + 224.07574462890625 + ], + [ + 315.3124694824219, + 222.66412353515625 + ], + [ + 334.9715881347656, + 241.68765258789062 + ], + [ + 351.08892822265625, + 238.01724243164062 + ], + [ + 361.0872802734375, + 236.0635223388672 + ], + [ + 373.53509521484375, + 239.21792602539062 + ], + [ + 373.6625671386719, + 240.69757080078125 + ], + [ + 383.90423583984375, + 241.8620147705078 + ], + [ + 384.9486999511719, + 242.66693115234375 + ], + [ + 385.8857116699219, + 252.84222412109375 + ], + [ + 386.4737548828125, + 251.56692504882812 + ], + [ + 390.12152099609375, + 251.65086364746094 + ], + [ + 390.7662353515625, + 255.24984741210938 + ], + [ + 377.3466796875, + 233.71270751953125 + ], + [ + 356.3434753417969, + 178.7039031982422 + ], + [ + 354.0023193359375, + 168.98419189453125 + ] + ], + "depth_max": 1.8287813663482666, + "depth_min": 0.19878533482551575, + "intrinsic": [ + [ + 535.170654296875, + 0.0, + 259.0 + ], + [ + 0.0, + 536.7281494140625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -2.8797217964893207e-05, + 2.54960195888998e-05, + 1.4333798389998265e-05 + ], + [ + 2.8798887797165662e-05, + 1.0, + -6.546350778080523e-05, + 3.766389454540331e-06 + ], + [ + -2.5494135115877725e-05, + 6.546423537656665e-05, + 1.0, + -2.8368751372909173e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 39, + 42 + ], + "object_trajectory": [ + [ + 303.25, + 256.25 + ], + [ + 303.6695861816406, + 256.53271484375 + ], + [ + 303.7597351074219, + 256.586181640625 + ], + [ + 303.8282470703125, + 256.6747131347656 + ], + [ + 303.5495300292969, + 256.56402587890625 + ], + [ + 303.9796142578125, + 256.7081604003906 + ], + [ + 303.5801086425781, + 257.0561828613281 + ], + [ + 303.7965087890625, + 256.86102294921875 + ], + [ + 304.9613037109375, + 257.75518798828125 + ], + [ + 304.82666015625, + 258.61041259765625 + ], + [ + 305.508056640625, + 258.90911865234375 + ], + [ + 306.1455078125, + 259.11474609375 + ], + [ + 306.10369873046875, + 258.8495788574219 + ], + [ + 305.7120361328125, + 258.57879638671875 + ], + [ + 305.7669372558594, + 258.3491516113281 + ], + [ + 305.8063049316406, + 259.07537841796875 + ], + [ + 305.2889709472656, + 258.9574890136719 + ], + [ + 305.06390380859375, + 258.91650390625 + ], + [ + 304.7760925292969, + 258.49462890625 + ], + [ + 304.1778869628906, + 258.87774658203125 + ], + [ + 303.22271728515625, + 258.864013671875 + ], + [ + 301.86614990234375, + 258.65020751953125 + ], + [ + 303.27191162109375, + 259.0397033691406 + ], + [ + 302.3843994140625, + 259.4296875 + ], + [ + 303.14300537109375, + 265.9460144042969 + ], + [ + 298.05322265625, + 250.1936492919922 + ], + [ + 301.4696044921875, + 230.9107208251953 + ], + [ + 307.8528747558594, + 230.03981018066406 + ], + [ + 313.208251953125, + 229.40383911132812 + ], + [ + 330.4520568847656, + 244.03518676757812 + ], + [ + 346.90338134765625, + 240.3304443359375 + ], + [ + 353.4005432128906, + 236.71572875976562 + ], + [ + 365.1964111328125, + 240.13446044921875 + ], + [ + 366.5473937988281, + 242.00161743164062 + ], + [ + 375.8727111816406, + 243.69808959960938 + ], + [ + 377.25665283203125, + 243.80026245117188 + ], + [ + 378.4181823730469, + 254.34515380859375 + ], + [ + 376.00933837890625, + 277.5492858886719 + ], + [ + 377.8809814453125, + 279.714599609375 + ], + [ + 377.93798828125, + 280.18768310546875 + ], + [ + 378.06683349609375, + 279.45123291015625 + ], + [ + 377.40679931640625, + 280.1500549316406 + ], + [ + 378.43994140625, + 279.5126647949219 + ] + ] +} \ No newline at end of file diff --git a/005108_v2/lang.txt b/005108_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..1e91f4eeb353fb06ca4978240074eeaf50b206d9 --- /dev/null +++ b/005108_v2/lang.txt @@ -0,0 +1 @@ +Put the ball on the cup diff --git a/005108_v2/object.ply b/005108_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..c2ae21e91a98873c207a29534ad81d7c77b29afb Binary files /dev/null and b/005108_v2/object.ply differ diff --git a/005110/FAIL b/005110/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/005110/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/005114_v2/FAIL b/005114_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/005114_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/005123_v2/data.json b/005123_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..5c48aca3577e861e34a0bade3b1f612721d22310 --- /dev/null +++ b/005123_v2/data.json @@ -0,0 +1,806 @@ +{ + "action_start": 13, + "action_end": 33, + "object_name": "ball", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 4.163336342344337e-17, + 0.0, + -4.018499690703442e-09, + 3.933758505045197e-08, + 7.589341613074867e-07, + 1.0 + ], + [ + -0.001676928663362165, + 0.011363128510715609, + 0.0009837047880000907, + -0.000738662027561382, + -0.01430525555059545, + 0.034414214180369156, + 1.0 + ], + [ + -0.004134504663115157, + 0.011465437099225914, + 0.0011646429226288627, + -0.0011562210004256114, + 3.918479727105887e-05, + 0.05355019219752493, + 1.0 + ], + [ + -0.0009374073987137299, + 0.009696620765204028, + 0.001681908721253754, + -0.0008489442488370725, + -0.005868687979734995, + 0.056080086684552215, + 1.0 + ], + [ + -0.0014178929109386895, + 0.014295366151390543, + -0.0032364497103277157, + 0.006340105679474148, + -0.0007023558627697348, + 0.07601882907749631, + 1.0 + ], + [ + -3.7386648238324494e-05, + 0.01077911809834306, + -0.006889707749873603, + 0.0408155870243007, + 0.005615510665386724, + 0.05844853333613692, + 1.0 + ], + [ + -1.7519403499699493e-05, + 0.005720395317657306, + -0.0031929885518201945, + 0.05641581592554639, + 0.02027866735353361, + 0.05180954302966411, + 1.0 + ], + [ + 0.0024099502765055347, + 0.008357681367993808, + -0.00576257440283727, + 0.012715874634174423, + 0.010080041545040068, + 0.04957357324300818, + 1.0 + ], + [ + 0.0035879191470742366, + 0.004121110982147208, + -0.004304103089713386, + 0.006628629366117313, + 0.0033481845787035704, + 0.020280975756481915, + 1.0 + ], + [ + 0.004954254696961591, + 0.004541933316705049, + -0.007448334849075184, + 0.0163713889717287, + 0.005148480272408207, + 0.019479328293252555, + 1.0 + ], + [ + 0.004398860739701804, + 0.006603102784324216, + -0.003570568503574011, + 0.01241787001970879, + 0.009522234613310792, + 0.023448103329279348, + 1.0 + ], + [ + 0.0036819197780575408, + 0.0064486211504449775, + -0.004021254613929437, + 0.019106010357340043, + 0.008942479341698279, + 0.025517398402842166, + 1.0 + ], + [ + 0.002872870782969106, + 0.002780078297732441, + -0.0004215168360847286, + -0.00461454726882834, + -0.0017750902712269125, + 0.006578766761979845, + 1.0 + ], + [ + 0.003156743259188466, + -5.817501139798731e-05, + 0.008330262654241872, + -0.025238837942530783, + -0.026648035228746737, + -0.017149941257056062, + 1.0 + ], + [ + 0.002483329655223354, + 0.0028989527750553357, + 0.0038498296941271272, + -0.015270998020789284, + -0.022646538534013654, + 0.0034546035501365332, + 0.0 + ], + [ + -2.784878498962584e-05, + 0.001173174219200268, + 0.0009896986200703755, + -0.003646749080125359, + -0.008185725418421913, + 0.0019281938928652769, + 0.0 + ], + [ + -0.002572603962223974, + -0.0027593263250691724, + 0.001920847150742661, + -0.00724061762922967, + -0.009902722947279338, + -0.01242627717870421, + 0.0 + ], + [ + -0.004404336253465702, + -0.0074109249345766515, + 0.008415387802972126, + -0.004694057291185073, + -0.02552606994549308, + -0.03615445565446808, + 0.0 + ], + [ + -0.003875863247658873, + -0.0003649586156117546, + 0.009514504716386658, + -0.006142355728181148, + -0.026148702118656317, + -0.004440212378212539, + 0.0 + ], + [ + -0.005147244959515407, + 0.008673368910908807, + 0.011291520400173094, + -0.017130978391867092, + -0.01663880120537766, + 0.03287569367578011, + 0.0 + ], + [ + -0.005749771814448357, + 0.01604219065967316, + 0.006596431203607218, + -0.019626576310256178, + 0.01746672520621037, + 0.05474299492837677, + 0.0 + ], + [ + -0.007345254426419978, + 0.012094670241720451, + -0.00022987726067544116, + -0.019398096945849184, + 0.09476717356683458, + 0.015729514039477473, + 0.0 + ], + [ + -0.0016509663638772931, + 0.007052601773704814, + 0.0017876889083834613, + -0.006653486401345529, + -0.0027612292351558835, + 0.02743144004291401, + 0.0 + ], + [ + 0.0002548107862528348, + 0.0004881530200572526, + -0.007639884961416182, + 0.009381388686503733, + 0.01697053050671553, + -0.0016701911341339695, + 0.0 + ], + [ + -0.00036616129530386843, + 0.0012372740901701873, + -0.006468823170446732, + 0.02287833362598452, + 0.0072170938071464096, + 0.00311890173234288, + 0.0 + ], + [ + 0.0002547923528009033, + 0.002170098251580932, + -0.008845058958829102, + 0.022917085435450624, + -0.00013382294981652493, + 0.007016677645317088, + 0.0 + ], + [ + 0.0025994189090802755, + -0.0003957959882071038, + -0.003911364115206865, + 0.00406402018799294, + -0.0013528768228308831, + 0.002441629896494179, + 0.0 + ], + [ + 0.0061303969060189645, + -0.00608044670215907, + -0.003997514768916844, + -0.004750518785307658, + 0.0025900682513737964, + -0.007726960143021777, + 0.0 + ], + [ + 0.005084470436544031, + -0.003680207588807244, + -0.0011412532346901476, + 5.370773257959581e-05, + -0.0003132491068790157, + -0.000272886871251876, + 0.0 + ], + [ + 0.003929735635858578, + -0.0017901124159670767, + -0.0027413361237137533, + 0.0070990430576898895, + 0.0026656558015555796, + 0.004033294700964551, + 0.0 + ], + [ + 0.0020547881734694906, + 0.0014697393919683999, + -0.002440608987229127, + 0.01072745206103997, + 0.0030342137461850994, + 0.008224740826553162, + 0.0 + ], + [ + 0.0004669404050992587, + 0.0036664351246878113, + 0.0005869024339219906, + -0.002145207140143304, + 0.003399276755523759, + 0.015431129593414342, + 0.0 + ], + [ + -0.0030128159869901583, + 0.005564324234547308, + 0.003560668868642425, + -0.0118099091587463, + -0.008884332614814673, + 0.010500899903931701, + 0.0 + ], + [ + -0.0037473453469257234, + 0.004437534812532257, + 0.001706302159450765, + -0.013272574983790718, + -0.011239112903285853, + -0.0017785194474248891, + 0.0 + ], + [ + -0.0035289360522059443, + 0.002130735983594423, + 0.003520993034623261, + 0.002033481637970932, + -0.009709388119354987, + -0.0029845569492840175, + 1.0 + ], + [ + -0.001962042566970079, + -0.002216926663562435, + 0.008730074504542999, + 0.002478180264796056, + -0.030004113162776184, + -0.03157742196532381, + 1.0 + ], + [ + -0.0008269572631264266, + -0.002712025308242244, + 0.016041225246491563, + -0.020793881157652266, + -0.04332613547611563, + -0.01228280932331797, + 1.0 + ], + [ + 0.001534713877393068, + -0.002775701585663426, + 0.021923004583770233, + -0.02352812774136352, + -0.05934882503902289, + -0.015226954584890366, + 1.0 + ], + [ + 0.002109019897867326, + -0.004147879292073053, + 0.02507251335580321, + -0.029073557449023978, + -0.06737910065208323, + -0.03684609256022542, + 1.0 + ], + [ + 0.0025509599934495086, + 0.0017253978975176054, + 0.007175446486912165, + 0.04340862184200765, + -0.0023531425952729693, + -0.032182890618432235, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 300.9705810546875, + 265.7425537109375 + ], + [ + 300.5391845703125, + 275.656494140625 + ], + [ + 299.3684387207031, + 280.9967041015625 + ], + [ + 275.3321533203125, + 279.1958923339844 + ], + [ + 271.744384765625, + 278.769287109375 + ], + [ + 253.10472106933594, + 274.056396484375 + ], + [ + 242.91659545898438, + 279.93902587890625 + ], + [ + 231.7089385986328, + 280.1593322753906 + ], + [ + 231.82757568359375, + 283.6314697265625 + ], + [ + 232.4324951171875, + 281.6790466308594 + ], + [ + 229.68466186523438, + 288.6075439453125 + ], + [ + 228.91180419921875, + 287.472900390625 + ], + [ + 227.8455810546875, + 287.05712890625 + ], + [ + 229.0242919921875, + 283.47369384765625 + ], + [ + 231.122802734375, + 281.10015869140625 + ], + [ + 232.580322265625, + 278.75653076171875 + ], + [ + 231.762451171875, + 278.93060302734375 + ], + [ + 230.27798461914062, + 279.04754638671875 + ], + [ + 230.9974365234375, + 284.584716796875 + ], + [ + 231.45115661621094, + 275.1800231933594 + ], + [ + 221.40899658203125, + 267.35821533203125 + ], + [ + 198.20013427734375, + 254.69540405273438 + ], + [ + 185.46023559570312, + 237.3914794921875 + ], + [ + 184.2009735107422, + 240.25140380859375 + ], + [ + 174.55325317382812, + 244.43191528320312 + ], + [ + 172.43780517578125, + 244.2096405029297 + ], + [ + 170.42672729492188, + 251.32798767089844 + ], + [ + 172.58956909179688, + 258.38568115234375 + ], + [ + 180.25625610351562, + 260.8446960449219 + ], + [ + 192.36378479003906, + 261.50262451171875 + ], + [ + 192.63185119628906, + 260.10296630859375 + ], + [ + 194.53407287597656, + 257.93035888671875 + ], + [ + 194.6668243408203, + 255.9184112548828 + ], + [ + 194.35107421875, + 255.57949829101562 + ], + [ + 192.11683654785156, + 255.40316772460938 + ], + [ + 185.68666076660156, + 258.4239501953125 + ], + [ + 185.49844360351562, + 267.751953125 + ], + [ + 182.8801727294922, + 248.3531494140625 + ], + [ + 177.72927856445312, + 228.67543029785156 + ], + [ + 178.43887329101562, + 208.20889282226562 + ], + [ + 167.973876953125, + 198.94833374023438 + ] + ], + "depth_max": 2.2529191970825195, + "depth_min": 0.23235981166362762, + "intrinsic": [ + [ + 533.1572265625, + 0.0, + 259.0 + ], + [ + 0.0, + 534.0064086914062, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -2.920854058174882e-05, + 3.0006156066519907e-06, + 3.0061284633120522e-05 + ], + [ + 2.9208646083134227e-05, + 1.0, + -3.505593122099526e-05, + -3.062338873860426e-05 + ], + [ + -2.9995915156177944e-06, + 3.505601853248663e-05, + 1.0, + 1.2133870768593624e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 40 + ], + "object_trajectory": [ + [ + 222.25, + 284.0000305175781 + ], + [ + 222.496337890625, + 284.6335144042969 + ], + [ + 222.2293701171875, + 284.8711242675781 + ], + [ + 221.45098876953125, + 285.2078552246094 + ], + [ + 221.88858032226562, + 284.7855529785156 + ], + [ + 222.34718322753906, + 284.81787109375 + ], + [ + 222.84564208984375, + 285.3728942871094 + ], + [ + 222.3665313720703, + 285.47509765625 + ], + [ + 221.82872009277344, + 285.8441162109375 + ], + [ + 222.14895629882812, + 285.57403564453125 + ], + [ + 222.59512329101562, + 285.48492431640625 + ], + [ + 223.45045471191406, + 284.6324157714844 + ], + [ + 223.82241821289062, + 282.49761962890625 + ], + [ + 224.886962890625, + 280.90777587890625 + ], + [ + 226.3014678955078, + 278.87213134765625 + ], + [ + 228.46974182128906, + 276.33734130859375 + ], + [ + 229.96127319335938, + 281.7768859863281 + ], + [ + 229.17996215820312, + 281.3748474121094 + ], + [ + 230.6031036376953, + 287.06793212890625 + ], + [ + 230.83245849609375, + 278.1258544921875 + ], + [ + 221.2271270751953, + 271.02862548828125 + ], + [ + 197.76065063476562, + 259.0325012207031 + ], + [ + 184.38925170898438, + 241.97555541992188 + ], + [ + 182.74295043945312, + 244.93930053710938 + ], + [ + 174.67893981933594, + 247.94972229003906 + ], + [ + 172.35231018066406, + 249.6864776611328 + ], + [ + 169.77093505859375, + 256.482666015625 + ], + [ + 170.79776000976562, + 262.53997802734375 + ], + [ + 179.1009521484375, + 264.51263427734375 + ], + [ + 190.51815795898438, + 265.4705505371094 + ], + [ + 191.28561401367188, + 263.7227783203125 + ], + [ + 192.55264282226562, + 261.4331359863281 + ], + [ + 193.1552734375, + 259.9179382324219 + ], + [ + 192.78945922851562, + 259.6080322265625 + ], + [ + 186.67967224121094, + 260.67987060546875 + ], + [ + 182.12591552734375, + 260.97479248046875 + ], + [ + 182.6275634765625, + 255.6388702392578 + ], + [ + 182.0468292236328, + 255.48727416992188 + ], + [ + 182.77676391601562, + 253.95875549316406 + ], + [ + 182.00804138183594, + 254.2855682373047 + ], + [ + 181.99278259277344, + 254.16534423828125 + ] + ] +} \ No newline at end of file diff --git a/005123_v2/lang.txt b/005123_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..b1d8000291870afb784e6c485955dc965b301e37 --- /dev/null +++ b/005123_v2/lang.txt @@ -0,0 +1 @@ +put the ball in the cup diff --git a/005123_v2/object.ply b/005123_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..50d4f5e920b1584d9aee3c9ecd469a767e766a54 Binary files /dev/null and b/005123_v2/object.ply differ diff --git a/005125_v2/data.json b/005125_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..4067575f61a79b1640968fc36c6e199bdea09114 --- /dev/null +++ b/005125_v2/data.json @@ -0,0 +1,861 @@ +{ + "action_start": 16, + "action_end": 35, + "object_name": "ball", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.924298, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.34877331525729e-10, + 1.5968072697436497e-10, + 1.1663393861827132e-10, + 3.450870892465657e-07, + -3.966573465589064e-07, + 7.70644096231509e-07, + 1.0 + ], + [ + 0.005085493719759748, + 0.003945044018683522, + 0.007537564445106948, + -0.015743787651834238, + -0.007161447563094588, + 0.05370464308001667, + 1.0 + ], + [ + 0.0058973275377703915, + 0.002695325711321514, + 0.007538897996522298, + -0.009445258741254547, + 0.005104223733593228, + 0.04557278804124223, + 1.0 + ], + [ + 0.005811963672055831, + 0.0028294060722117292, + 0.009455213591945316, + 0.013268785723273035, + -0.024563388200822798, + 0.02911487257255234, + 1.0 + ], + [ + 0.006897839444331477, + 0.013798039725803207, + 0.005161397424141706, + 0.04522201657201323, + 0.004481202580988575, + 0.11011596709222331, + 1.0 + ], + [ + 0.005351194304587081, + 0.020451837034611314, + 0.00027637051802852086, + 0.07094972698559315, + 0.04667156616790185, + 0.1998589627280164, + 1.0 + ], + [ + 0.0052247660693443, + 0.019723634324369715, + 0.00023776572648663563, + -0.0025684574527036624, + 0.00549583766511641, + 0.16349454313237274, + 1.0 + ], + [ + 0.007035117909206801, + 0.01569776150190963, + -0.0019551963726765487, + -0.03506730861668611, + -0.011944751206378388, + 0.15059053459459149, + 1.0 + ], + [ + 0.0068931125006772564, + 0.011047875745420238, + -0.010120721447883438, + -0.021787796081275696, + -0.011362255783333443, + 0.0625717745109318, + 1.0 + ], + [ + 0.009780564990771179, + 0.010143268164709396, + -0.027974873780409845, + 0.00322852546177536, + 0.017734822689889643, + -0.01224808144472283, + 1.0 + ], + [ + 0.011647502506412333, + 0.0009900422040112489, + -0.02587476638113271, + 0.0007115507981795511, + 0.007143183396601527, + -0.04461444792658235, + 1.0 + ], + [ + 0.011067395378861644, + 0.002932329763528585, + -0.017369011885568622, + -0.007341594234431047, + 0.01359868664553879, + -0.013125081521555905, + 1.0 + ], + [ + 0.004817510917246581, + 0.0008861985718872645, + -0.011334488244674017, + -0.013220997574446098, + 0.01075765611225668, + 0.0036245581471163603, + 1.0 + ], + [ + -0.0005400383663215491, + -0.004896897754531476, + -0.0030068161483915185, + -0.0437138114141268, + -0.004105747311149782, + -0.0030632800180575817, + 1.0 + ], + [ + -0.0017198198513742047, + -0.012597005537561684, + 0.003592225429705203, + -0.05112920939179613, + -0.02101028669409586, + -0.026206076148625, + 1.0 + ], + [ + -0.002558368124229049, + -0.006555432500268271, + -0.0028268854824696314, + -0.008007265118238455, + 0.011642691614331244, + -0.01070064533935975, + 1.0 + ], + [ + -0.00635669322277177, + 0.0010605155940185407, + -0.01174057996519403, + 0.02123921300077315, + 0.05123241308248022, + -0.003367893069886876, + 0.924298 + ], + [ + -0.0019485193099232911, + 0.0012537859023995512, + 0.0016098695042972583, + 0.01924697139121925, + -0.012619651712058599, + -0.0010342286241260986, + 0.0 + ], + [ + 0.001912566548766148, + -0.006893611323000426, + 0.01648111472371503, + 0.00025207476952623643, + -0.03843992789815491, + -0.015642269057231175, + 0.0 + ], + [ + 0.0023582218363266683, + -0.005383710954115134, + 0.03191265283737194, + -0.012143853824238653, + -0.06481937052297687, + -0.012724643361989573, + 0.0 + ], + [ + 0.004101309520723462, + -0.005956919190860499, + 0.049045652766392125, + 0.003120007689818649, + -0.09786993132394325, + -0.005414072181321298, + 0.0 + ], + [ + -0.0021885971211513255, + -0.0020978669608417155, + 0.021535437426521684, + 0.06351814773371359, + -0.026551442389798615, + -0.011139631462072568, + 0.0 + ], + [ + -0.007166831357898029, + -0.012167599440371338, + 0.016324865990607437, + -0.01030487346656299, + -0.0068126793369377514, + -0.04339833271261065, + 0.0 + ], + [ + -0.013034062900190047, + -0.022457826287705027, + 0.018179014977973376, + -0.04769897822749188, + 0.026804687623688143, + -0.07408298758000606, + 0.0 + ], + [ + -0.01710550634845176, + -0.022942024144134224, + 0.008767775536661249, + -0.04077081540662948, + 0.04645765328105666, + -0.07086861159761945, + 0.0 + ], + [ + -0.011444612981282354, + -0.02226197306803382, + -0.0036927331669247, + -0.0031511959870484892, + 0.06364307296701657, + -0.0776528191333664, + 0.0 + ], + [ + -0.005458462200808256, + -0.012997033572443722, + -0.017039638870806312, + 0.026051843099749263, + 0.044170331229887935, + -0.046274151938619626, + 0.0 + ], + [ + -0.0042416724446441845, + -0.003728424835061271, + -0.022611893121885954, + 0.037796307973199945, + 0.042239404265323424, + -0.021997137406188458, + 0.0 + ], + [ + -0.0013761003333930821, + 3.022680821154755e-05, + -0.00795738836461865, + 0.015679198299032332, + 0.010686194808403847, + -0.00646185805599316, + 0.0 + ], + [ + 0.0001156047909127711, + 0.0057774816597784134, + 0.0020068988927099823, + -0.000526572546916812, + -0.008126736461686653, + 0.01659398529348007, + 0.0 + ], + [ + -0.001184418333324666, + 0.007107257216404608, + 0.0037512899319977616, + -0.0013759916283763588, + -0.005156971780113229, + 0.020665912463628675, + 0.0 + ], + [ + -0.0036661196526798223, + 0.0059502071357602285, + 0.0013151364189628728, + -0.0012297320726472553, + 0.0016444352422465831, + 0.012842367755743034, + 0.0 + ], + [ + -0.003929910662439917, + 0.0017876842545583374, + -0.003279497294722669, + 0.0056889287810481404, + 0.005745146682708932, + -0.0031538702423585265, + 0.0 + ], + [ + -0.0026612825693419495, + -0.002768291295206629, + -0.0019252616578500636, + 0.0019664728316606183, + -0.000943580992610879, + -0.010433689464649148, + 0.0 + ], + [ + -0.0008720782617792633, + -0.004550088913984708, + -0.0003315463618797365, + -0.0008583741519359523, + -0.011205450200744637, + -0.009522590138550146, + 0.0 + ], + [ + 0.002115931575121466, + -0.0006069911626762764, + -0.0003897306228640429, + 0.004418670135193319, + -0.014277172661580686, + 0.004691783451078701, + 0.0 + ], + [ + 0.0018734989180498873, + 0.0006768129014822974, + -0.001361753515554967, + 0.006108617702669489, + -0.015425825272624942, + 0.005538576687076894, + 1.0 + ], + [ + 0.0011832776620872565, + -5.858299361602426e-06, + 0.00037830894074893096, + 0.0022957022380103225, + -0.007994760227560543, + 0.0030648641206578466, + 1.0 + ], + [ + 0.0008195834669337265, + 0.00011820904112239128, + 0.0024275560607841667, + 0.0030497783132911534, + -0.0055315908406071475, + 0.00454429727411688, + 1.0 + ], + [ + 0.0008101996650345389, + 0.0008786457573913206, + 0.0009527014944623186, + -0.0009913041222430787, + -0.0018951889801750762, + 0.005166426694995778, + 1.0 + ], + [ + 0.0008058502015110824, + 0.0016528738900670956, + 0.010126036583018902, + -0.006883901121434325, + -0.027105234054547518, + -0.009268719677403982, + 1.0 + ], + [ + -0.000872928037832843, + 0.011394943264590257, + 0.027109286417803247, + 0.003100881659589971, + -0.09377398728783719, + -0.024214660348068608, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 334.06011962890625, + 254.77236938476562 + ], + [ + 333.2463684082031, + 261.6006774902344 + ], + [ + 334.572509765625, + 266.355712890625 + ], + [ + 337.5596008300781, + 250.08419799804688 + ], + [ + 336.4683837890625, + 240.90078735351562 + ], + [ + 327.23309326171875, + 225.4128875732422 + ], + [ + 307.4350280761719, + 217.79713439941406 + ], + [ + 297.65423583984375, + 209.47360229492188 + ], + [ + 277.57080078125, + 206.4435577392578 + ], + [ + 275.83087158203125, + 209.29129028320312 + ], + [ + 267.594970703125, + 228.02554321289062 + ], + [ + 273.8671875, + 252.1724395751953 + ], + [ + 278.60272216796875, + 259.6862487792969 + ], + [ + 280.35833740234375, + 267.71990966796875 + ], + [ + 286.177734375, + 270.72589111328125 + ], + [ + 293.9520263671875, + 277.77825927734375 + ], + [ + 293.662841796875, + 284.4235534667969 + ], + [ + 292.9034729003906, + 286.0186767578125 + ], + [ + 293.12835693359375, + 286.9424133300781 + ], + [ + 292.6702880859375, + 290.85308837890625 + ], + [ + 299.98675537109375, + 270.39080810546875 + ], + [ + 306.63885498046875, + 218.91831970214844 + ], + [ + 303.35784912109375, + 198.48577880859375 + ], + [ + 317.1142272949219, + 187.0289306640625 + ], + [ + 322.6204528808594, + 171.28012084960938 + ], + [ + 341.30804443359375, + 165.51161193847656 + ], + [ + 355.26434326171875, + 176.22511291503906 + ], + [ + 368.7248840332031, + 201.74005126953125 + ], + [ + 373.8730773925781, + 223.5985870361328 + ], + [ + 371.6484375, + 231.97105407714844 + ], + [ + 371.9199523925781, + 232.776611328125 + ], + [ + 363.40740966796875, + 230.8509521484375 + ], + [ + 353.95306396484375, + 229.1680908203125 + ], + [ + 345.81317138671875, + 238.23509216308594 + ], + [ + 344.26055908203125, + 245.16012573242188 + ], + [ + 344.40399169921875, + 252.44912719726562 + ], + [ + 347.385009765625, + 253.48040771484375 + ], + [ + 349.2990417480469, + 244.11953735351562 + ], + [ + 349.20947265625, + 245.4792022705078 + ], + [ + 349.1112060546875, + 245.87460327148438 + ], + [ + 348.8717041015625, + 245.75393676757812 + ], + [ + 351.4375915527344, + 244.5728302001953 + ], + [ + 349.73419189453125, + 210.21865844726562 + ], + [ + 329.9151611328125, + 193.51031494140625 + ] + ], + "depth_max": 2.6602964401245117, + "depth_min": 0.2368583083152771, + "intrinsic": [ + [ + 533.1594848632812, + 0.0, + 259.0 + ], + [ + 0.0, + 533.7890625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -1.6959234926616773e-05, + 6.292078614933416e-05, + -3.2667276173015125e-06 + ], + [ + 1.696649269433692e-05, + 1.0, + -0.00011537809041328728, + 1.3514702004613355e-05 + ], + [ + -6.291883619269356e-05, + 0.00011537915270309895, + 1.0, + 4.783063195645809e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 39, + 43 + ], + "object_trajectory": [ + [ + 298.0, + 305.5 + ], + [ + 298.2762756347656, + 305.77410888671875 + ], + [ + 298.4607849121094, + 306.1320495605469 + ], + [ + 297.9935607910156, + 306.1534423828125 + ], + [ + 298.2384033203125, + 305.8303527832031 + ], + [ + 298.1214904785156, + 305.94732666015625 + ], + [ + 298.370361328125, + 305.92071533203125 + ], + [ + 298.0857849121094, + 305.4725036621094 + ], + [ + 297.911865234375, + 306.24713134765625 + ], + [ + 297.8416748046875, + 305.8857421875 + ], + [ + 298.29608154296875, + 305.9620361328125 + ], + [ + 298.4378356933594, + 306.529052734375 + ], + [ + 298.6861572265625, + 306.21356201171875 + ], + [ + 298.58111572265625, + 305.9628601074219 + ], + [ + 299.75830078125, + 306.882568359375 + ], + [ + 299.6199035644531, + 306.81085205078125 + ], + [ + 298.6264953613281, + 307.2900085449219 + ], + [ + 298.8377380371094, + 307.51007080078125 + ], + [ + 298.02093505859375, + 308.2055969238281 + ], + [ + 299.6206359863281, + 311.5080871582031 + ], + [ + 309.3126525878906, + 291.14453125 + ], + [ + 318.267333984375, + 238.0016632080078 + ], + [ + 314.79754638671875, + 216.24826049804688 + ], + [ + 328.4538269042969, + 204.78189086914062 + ], + [ + 335.22119140625, + 192.85032653808594 + ], + [ + 352.1614074707031, + 189.6234893798828 + ], + [ + 365.5560302734375, + 203.26449584960938 + ], + [ + 375.8092956542969, + 227.42462158203125 + ], + [ + 379.98358154296875, + 246.43212890625 + ], + [ + 377.8324279785156, + 255.7947998046875 + ], + [ + 377.4631652832031, + 257.05126953125 + ], + [ + 368.66046142578125, + 255.26419067382812 + ], + [ + 359.55133056640625, + 254.19427490234375 + ], + [ + 351.1701965332031, + 263.1617126464844 + ], + [ + 350.36767578125, + 270.22601318359375 + ], + [ + 349.238525390625, + 278.2959899902344 + ], + [ + 351.9139404296875, + 279.1309814453125 + ], + [ + 356.7010192871094, + 288.63201904296875 + ], + [ + 357.40899658203125, + 290.8969421386719 + ], + [ + 357.56146240234375, + 291.2867736816406 + ], + [ + 357.6392822265625, + 291.0507507324219 + ], + [ + 357.2912292480469, + 291.3297424316406 + ], + [ + 357.0706481933594, + 291.0185852050781 + ], + [ + 357.9899597167969, + 290.2366027832031 + ] + ] +} \ No newline at end of file diff --git a/005125_v2/lang.txt b/005125_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..b1d8000291870afb784e6c485955dc965b301e37 --- /dev/null +++ b/005125_v2/lang.txt @@ -0,0 +1 @@ +put the ball in the cup diff --git a/005125_v2/object.ply b/005125_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..d8ee6ba48fb814f50cd2e64a411c1a7bdd296709 Binary files /dev/null and b/005125_v2/object.ply differ diff --git a/005126_v2/data.json b/005126_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..10c6b126b86d016f632c3e4b72fa5e5f6c7eef67 --- /dev/null +++ b/005126_v2/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 16, + "action_end": 29, + "object_name": "cup", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.09401700000000002, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -3.1409252976288826e-10, + -3.8702835380988176e-10, + -6.729811430350452e-10, + 5.390036750914114e-07, + -3.92189842862643e-07, + 1.8162602725716323e-07, + 1.0 + ], + [ + 0.003707036211235637, + -0.0013818706926100877, + -0.005326321772911091, + 0.01310737799977763, + 0.008944048465042303, + -0.0020502266327362393, + 1.0 + ], + [ + 0.002153085684248768, + -0.0037284237286174665, + -0.006628010790604821, + 0.014009876144137309, + 0.008876345625989166, + -0.002494952763832882, + 1.0 + ], + [ + 0.0006946430227018907, + -0.004944558172823174, + -0.0028325658984802576, + 0.008736090202177322, + 0.0016078572138095676, + -0.005866920826703227, + 1.0 + ], + [ + 0.0014899672448378531, + -0.0037683946580434682, + -0.0057381227034448284, + 0.029958186157846685, + 0.018841731687213634, + 0.002768259723611432, + 1.0 + ], + [ + -0.00017070193093499109, + -0.0021549316916648423, + -0.002829233941076731, + 0.03574801822947356, + 0.04666683909458877, + -0.010316866310664039, + 1.0 + ], + [ + -0.001909801284961321, + -0.0009855014996547132, + -0.004451929596324539, + 0.0524559006731124, + 0.0629194503044684, + -0.00953872748213467, + 1.0 + ], + [ + -0.0007215902498104443, + -0.001574294482609366, + -0.0041922977069923095, + 0.01335811280727602, + 0.01582284521753258, + -0.004282885865638548, + 1.0 + ], + [ + -0.0007832044501075996, + -0.0005829574385666919, + -0.0016856678423104038, + 0.005705151079356668, + 0.011251235541677288, + -0.006926058262858116, + 1.0 + ], + [ + 2.9257639826474335e-05, + 0.00041497754390224656, + -0.0028081028773867533, + 0.011700068943791284, + -0.002073716472649001, + 0.0016087407819089538, + 1.0 + ], + [ + 0.0009341374488567866, + 0.0021040814186295068, + -0.0021710065726535527, + 0.005753128805157766, + -0.0006249022034964814, + 0.006927618193859318, + 1.0 + ], + [ + 0.0013511071340349123, + 0.002159750138510906, + -0.004145938414064951, + 0.008867650621287809, + -0.0026136539383854614, + 0.007034015350507989, + 1.0 + ], + [ + 0.0010840430929793254, + 0.0024305806864822546, + -0.005437581567472025, + 0.003944229502881612, + 0.0013258492217100343, + 0.009184904049241762, + 1.0 + ], + [ + -0.0005984941250294917, + 0.001953034813995079, + -0.00514659039347673, + 0.007807541706186622, + 0.00258483403298837, + 0.005314368886616991, + 1.0 + ], + [ + -1.529897305507788e-07, + 0.0017331455513045282, + -0.0047001209026507895, + 0.0033307998150668688, + 0.00808255099081694, + 0.00941662464873911, + 1.0 + ], + [ + 0.0005280157533633645, + 0.0015726301124329573, + -0.0020152354096071856, + 0.0017579146709565837, + 0.0015708849694076653, + 0.016519499908398225, + 1.0 + ], + [ + 0.0007006354363115475, + 0.0012221161673885012, + -0.006281403136400243, + 0.002813391714759597, + 0.013111374388139047, + 0.01594870408738896, + 1.0 + ], + [ + 0.00041689583539999964, + 7.854441539952017e-06, + -0.0008678914398065479, + -0.0023713362349439384, + 0.003950368576243679, + 0.004421512194873904, + 0.0 + ], + [ + 0.0011300271548320695, + 0.00037422718290478635, + 0.00055904050664176, + -0.0012993085995821163, + -0.0021514273998049136, + 0.001538563540110296, + 0.0 + ], + [ + 0.0006355296841917824, + 0.0018099586346759164, + 0.004274900574779646, + -0.0017064440946042254, + -0.006797277516155012, + 0.006514869196556126, + 0.0 + ], + [ + 0.00027660821311309425, + 0.0008860187039317347, + 0.023145210987329704, + -0.047796582281350655, + -0.035218969005677274, + 0.006378431622977595, + 0.0 + ], + [ + 0.004129315620264085, + 0.006489850050541521, + 0.022928204484930714, + -0.05945806977321188, + -0.036022425521684595, + 0.03163362175905084, + 0.0 + ], + [ + 0.006965301693323711, + 0.020800016457000872, + 0.01756440914186598, + -0.03991480440311162, + -0.04692506981604235, + 0.06737947802573006, + 0.0 + ], + [ + 0.010387285240171462, + 0.028207565213288627, + -0.004399465410090217, + 0.004016558428572288, + -0.0017611528174680717, + 0.09236749993807597, + 0.0 + ], + [ + 0.015990429398652917, + 0.03069394025183901, + -0.012138110743079772, + 0.02471463164678835, + 0.03221653267909847, + 0.10140566769287089, + 0.0 + ], + [ + 0.016748804406948647, + 0.026148980170889985, + -0.022702032699019853, + 0.03741788199749711, + 0.028425241773215666, + 0.0702871066803442, + 0.0 + ], + [ + 0.012938940606716798, + 0.013979694852354868, + -0.028162526073717928, + 0.026746762293900564, + 0.004888147847196517, + 0.012056661482077192, + 0.0 + ], + [ + 0.006229465826704639, + 0.0030885926295866895, + -0.0307703027546017, + 0.032725233380419105, + 0.010074277946296983, + -0.020459978991450464, + 0.0 + ], + [ + -0.0010799233760179772, + -0.0018186043187595202, + -0.019355286670191627, + 0.015520309928135584, + 0.002714523783140507, + -0.028430728501655466, + 0.0 + ], + [ + -0.0016674278326235803, + -0.00022573280399018625, + -0.004981954623798459, + -0.010641393035035885, + -0.006397543371294158, + 0.010939374736188189, + 0.09401700000000002 + ], + [ + -0.002301564479848306, + -0.0020703808159037995, + 0.007880041817756088, + -0.026317281171619317, + -0.032342299693292574, + 0.0042965362146410325, + 1.0 + ], + [ + -0.002021311198307618, + -0.00196521841127123, + 0.015914046641296593, + -0.033503355924370704, + -0.035224690418893805, + -0.0043313635150623855, + 1.0 + ], + [ + -0.0012514898670757946, + 0.00037272418442926836, + 0.020309552898043405, + -0.019807545284687346, + -0.035297125168017654, + 0.01143230777596543, + 1.0 + ], + [ + -0.0008181005411705966, + 0.001652518284965404, + 0.014317785418806477, + -0.005731300667435541, + -0.03177888815625631, + 0.010752940655685172, + 1.0 + ], + [ + -0.003396486017939848, + 0.002414160885802541, + 0.015895340255147036, + -0.005155159803620455, + -0.018736051292946636, + 0.005649642504609653, + 1.0 + ], + [ + -0.010558285892869168, + 0.005953797934695915, + 0.006868271113721736, + 0.010555458870870392, + 0.04833716229383104, + -0.041293853931873306, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 333.1697692871094, + 193.6578369140625 + ], + [ + 332.90118408203125, + 203.57098388671875 + ], + [ + 335.07159423828125, + 212.42111206054688 + ], + [ + 342.1397399902344, + 221.0396728515625 + ], + [ + 349.9333190917969, + 226.6242218017578 + ], + [ + 351.51019287109375, + 231.2970733642578 + ], + [ + 356.1710205078125, + 244.66549682617188 + ], + [ + 357.0768737792969, + 250.19537353515625 + ], + [ + 358.0945129394531, + 253.1950225830078 + ], + [ + 356.6130676269531, + 256.7376708984375 + ], + [ + 357.3410339355469, + 255.1671142578125 + ], + [ + 356.77679443359375, + 256.47943115234375 + ], + [ + 355.47967529296875, + 259.8988342285156 + ], + [ + 355.44140625, + 265.476806640625 + ], + [ + 355.2796630859375, + 268.66339111328125 + ], + [ + 355.9180603027344, + 274.50469970703125 + ], + [ + 355.67462158203125, + 273.93243408203125 + ], + [ + 359.8314514160156, + 275.59112548828125 + ], + [ + 357.5560302734375, + 278.4837646484375 + ], + [ + 357.61663818359375, + 278.6183166503906 + ], + [ + 357.21246337890625, + 278.879638671875 + ], + [ + 347.22259521484375, + 277.408447265625 + ], + [ + 346.00469970703125, + 240.40249633789062 + ], + [ + 322.4355163574219, + 210.7552490234375 + ], + [ + 296.72125244140625, + 188.838134765625 + ], + [ + 278.77862548828125, + 190.726806640625 + ], + [ + 264.5270080566406, + 196.97010803222656 + ], + [ + 261.830322265625, + 223.2510223388672 + ], + [ + 260.3042907714844, + 240.91189575195312 + ], + [ + 260.08734130859375, + 248.50469970703125 + ], + [ + 260.6091003417969, + 248.55133056640625 + ], + [ + 262.6063232421875, + 260.3119812011719 + ], + [ + 267.045166015625, + 268.18743896484375 + ], + [ + 262.4074401855469, + 242.54800415039062 + ], + [ + 260.1492614746094, + 229.30368041992188 + ], + [ + 256.6548156738281, + 221.4447784423828 + ], + [ + 211.0597381591797, + 217.7896728515625 + ], + [ + 240.72569274902344, + 211.90316772460938 + ] + ], + "depth_max": 2.481942892074585, + "depth_min": 0.24998034536838531, + "intrinsic": [ + [ + 533.3086547851562, + 0.0, + 259.0 + ], + [ + 0.0, + 534.3428955078125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -2.2060836272430606e-05, + 4.596073995344341e-05, + -1.6973813217191491e-06 + ], + [ + 2.20658093894599e-05, + 1.0, + -0.00010821590694831684, + 3.8964840314292815e-06 + ], + [ + -4.5958353439345956e-05, + 0.00010821692558238283, + 1.0, + 1.595939465914853e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 364.0, + 329.0000305175781 + ], + [ + 364.29296875, + 329.3818664550781 + ], + [ + 364.20965576171875, + 329.3409423828125 + ], + [ + 364.17340087890625, + 329.3532409667969 + ], + [ + 364.14764404296875, + 329.2433166503906 + ], + [ + 364.25933837890625, + 329.30816650390625 + ], + [ + 364.4052734375, + 329.31646728515625 + ], + [ + 364.2789306640625, + 329.4772644042969 + ], + [ + 364.4953308105469, + 329.4233093261719 + ], + [ + 364.5071105957031, + 329.43109130859375 + ], + [ + 364.37005615234375, + 329.2806091308594 + ], + [ + 364.26348876953125, + 329.1537170410156 + ], + [ + 364.26971435546875, + 329.19775390625 + ], + [ + 364.0513610839844, + 329.4102783203125 + ], + [ + 363.5726318359375, + 329.0943603515625 + ], + [ + 362.42462158203125, + 328.54840087890625 + ], + [ + 362.19744873046875, + 327.90423583984375 + ], + [ + 369.4186706542969, + 333.5672607421875 + ], + [ + 367.502197265625, + 333.347412109375 + ], + [ + 366.88922119140625, + 333.0335693359375 + ], + [ + 366.7786560058594, + 333.36590576171875 + ], + [ + 357.4014587402344, + 333.9245910644531 + ], + [ + 360.0215759277344, + 297.90423583984375 + ], + [ + 335.9129943847656, + 275.53338623046875 + ], + [ + 321.13763427734375, + 258.861083984375 + ], + [ + 306.22589111328125, + 257.7470397949219 + ], + [ + 282.9108581542969, + 250.6562957763672 + ], + [ + 279.8642272949219, + 270.26031494140625 + ], + [ + 282.0474853515625, + 278.7579040527344 + ], + [ + 282.00299072265625, + 285.4751892089844 + ], + [ + 281.9179992675781, + 285.8377990722656 + ], + [ + 285.3953857421875, + 287.42388916015625 + ], + [ + 289.2165222167969, + 289.61907958984375 + ], + [ + 290.26690673828125, + 288.05078125 + ], + [ + 290.40936279296875, + 287.6702575683594 + ], + [ + 290.4417724609375, + 287.6605529785156 + ], + [ + 290.1516418457031, + 287.91973876953125 + ], + [ + 290.1334228515625, + 287.7056884765625 + ] + ] +} \ No newline at end of file diff --git a/005126_v2/lang.txt b/005126_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..65498f1f96839569e93852027e1e60cba84abfcb --- /dev/null +++ b/005126_v2/lang.txt @@ -0,0 +1 @@ +take the cup along with ball on top to the left diff --git a/005150_v2/FAIL b/005150_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/005150_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/005152/data.json b/005152/data.json new file mode 100644 index 0000000000000000000000000000000000000000..ba864048ff0f1bf74858c1e79e9868531061c1a5 --- /dev/null +++ b/005152/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 16, + "action_end": 30, + "object_name": "sushi", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.14651999999999998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.9233210000000001, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.551115123125783e-17, + 0.0, + 0.0, + 1.9135987308720295e-08, + 2.1151338045245742e-07, + -2.8553810853072937e-07, + 1.0 + ], + [ + -0.0006204165418192686, + 0.007963893892547563, + 0.01277498787676605, + 0.0006763484131492633, + 0.04699121905348706, + -0.3021995375329209, + 1.0 + ], + [ + -0.011624751617543283, + 0.01914789044103149, + 0.01374765354311526, + -0.037865539515646654, + 0.05148164094040982, + -0.2960061895219915, + 1.0 + ], + [ + -0.014892478120230812, + 0.01684179938237581, + 0.0006665039454085558, + -0.039325500186755076, + 0.09004050337472708, + -0.25179734634263434, + 1.0 + ], + [ + -0.013281556603617461, + 0.019550316264945737, + -0.00020836388239703352, + -0.028262280743732843, + 0.01799161644579489, + -0.16769639057541913, + 1.0 + ], + [ + -0.014015732692780086, + 0.02983544865606621, + -0.022290296397740494, + 0.02115392884865066, + -0.07279854032432603, + -0.10062657800585365, + 1.0 + ], + [ + -0.013423844536758711, + 0.022581551954361807, + -0.022945747872105987, + 0.06058828641109589, + -0.06407032758070792, + -0.11495265826197874, + 1.0 + ], + [ + -0.009412470390176841, + 0.01393047912813232, + -0.007422420409781208, + 0.00013985021892764133, + -0.010804418254284937, + -0.03874171223155588, + 1.0 + ], + [ + -0.0031798528940721604, + 0.009971138884394312, + -0.013925970913523544, + 0.011102034776681017, + 0.02970630892827553, + -0.010597407806922952, + 1.0 + ], + [ + -0.0024219466450410565, + 0.005692122332966398, + -0.008219103703133654, + 0.003962337512721425, + 0.03229516228781641, + -0.03455039116576701, + 1.0 + ], + [ + 0.000457476283785313, + 0.0070670572021706846, + -0.01436380868472184, + 0.015802648670238614, + 0.008023246353705151, + -0.024696896250459836, + 1.0 + ], + [ + -0.002657214288159432, + 1.9582850058041945e-05, + -0.01077900048041995, + 0.009122819364330731, + 0.011753181034629185, + -0.013106099533272575, + 1.0 + ], + [ + -0.003894426360331993, + -0.00132744917719535, + -0.012375206481089876, + 0.018073951427988767, + 0.010871401080442052, + -0.012518270000188608, + 1.0 + ], + [ + -0.0011552558758647913, + -0.0018952990798584424, + -0.00739802135191691, + 0.009894364280101318, + -0.006763430868118413, + -0.004691483437251208, + 1.0 + ], + [ + -0.001586244684089022, + -0.0015502326258609866, + -0.006982562029844208, + 0.018721916910323294, + -0.003946063133226888, + -0.009523467294879375, + 1.0 + ], + [ + -0.0010087246469734357, + -0.0015319922367139083, + -0.009729180240542847, + 0.03837889467967545, + 0.03066225281211607, + -0.0015137413911764021, + 1.0 + ], + [ + 0.0005380852380957035, + 0.0007672924501874734, + -0.004441242529776443, + 0.0045619415935070256, + -0.018789558419044547, + 0.01277202589386794, + 0.14651999999999998 + ], + [ + -0.00044462729905203613, + 0.00045230019729503024, + -0.0009586836183879863, + -0.00446804619959512, + 0.07211462863331251, + -0.0038009100319331877, + 0.0 + ], + [ + -0.0015451609130569255, + 0.0002465026362124534, + 0.011229039773968417, + -0.0046611323726382424, + -0.035485338862224394, + 0.005420745209732576, + 0.0 + ], + [ + -0.003656483865374399, + -0.0005609452044766094, + 0.016908021340726387, + 0.01968660681832966, + -0.03199876413435193, + 0.015916018305952784, + 0.0 + ], + [ + 0.004689331582252432, + 0.0011433778318951926, + 0.03887377825512979, + 0.017899560170595304, + -0.07532167334693979, + 0.04635600526120205, + 0.0 + ], + [ + 0.013693623784350212, + -0.011098758873574727, + 0.03843359072596998, + -0.07220769517799207, + -0.03578391425493889, + 0.07149522571846481, + 0.0 + ], + [ + 0.013773351525748989, + -0.02213919687332014, + 0.0042156595062711605, + -0.029720286944770642, + 0.02703175229472201, + 0.027055994060207013, + 0.0 + ], + [ + 0.016438889035710502, + -0.020617228987089023, + -0.005950183202196271, + -0.010008157004786614, + 0.034162156584584595, + 0.0391741577375926, + 0.0 + ], + [ + 0.013492036723705164, + -0.018860805187865343, + -0.013336796566296535, + -0.017671825556956008, + 0.042012422760089936, + 0.02750607884549606, + 0.0 + ], + [ + 0.008113667832688742, + -0.018128500936192643, + -0.017122809537875122, + -0.009186957256882084, + 0.02745951556565275, + 0.006877552901699933, + 0.0 + ], + [ + 0.004851011713749631, + -0.01492744123536588, + -0.015430257264908057, + -0.02340055205821483, + -0.0446695719575765, + 0.012023289214045472, + 0.0 + ], + [ + 0.0023703788995225183, + -0.007626980243960586, + -0.010298654734592336, + -0.02642929825233309, + -0.013256744354395207, + -0.016197316647224177, + 0.0 + ], + [ + -4.636243652872407e-05, + -0.0024964039594445493, + -0.011512557537190285, + 0.009370659341203336, + -0.005736308720572143, + -0.00491229284244932, + 0.0 + ], + [ + 0.0011161180970161722, + 0.002575143090267226, + -0.009247508626092686, + 0.009016040109380199, + -0.006592777864756333, + 0.010150387461918223, + 0.0 + ], + [ + -0.0005992218188683451, + -0.00030148198253676303, + -0.0036858109792424, + -0.003294573417281357, + -0.006775731466484627, + 0.0031095253428515468, + 0.9233210000000001 + ], + [ + -0.0013387167228399721, + -0.0010067036247053164, + 0.0030671802741431553, + -0.01177170655704185, + -0.004114930072394342, + 0.008232775489185107, + 1.0 + ], + [ + -0.0012399775729896034, + -0.0005046796871043153, + 0.015244337844510385, + -0.023355325319025132, + -0.017907557661784295, + 0.0025585468558463067, + 1.0 + ], + [ + 0.0015499258023969342, + -0.0007817861263670692, + 0.028164612969775734, + -0.0695665360717727, + -0.04535015162743965, + 0.028409839545642863, + 1.0 + ], + [ + 0.0018396912739988558, + 0.0031282014743613702, + 0.025645331312314168, + -0.013197269111921574, + -0.03901039687211308, + 0.024164139110455524, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 322.07012939453125, + 121.4949951171875 + ], + [ + 320.52606201171875, + 131.054931640625 + ], + [ + 320.15679931640625, + 125.28829956054688 + ], + [ + 280.017333984375, + 101.84098815917969 + ], + [ + 212.36972045898438, + 108.33798217773438 + ], + [ + 176.00103759765625, + 113.90077209472656 + ], + [ + 149.51559448242188, + 125.68742370605469 + ], + [ + 109.68325805664062, + 156.81787109375 + ], + [ + 97.69185638427734, + 170.60140991210938 + ], + [ + 64.83919525146484, + 176.56333923339844 + ], + [ + 76.68972778320312, + 188.80035400390625 + ], + [ + 72.2153091430664, + 201.9698028564453 + ], + [ + 69.59562683105469, + 216.60568237304688 + ], + [ + 68.83158874511719, + 236.3719024658203 + ], + [ + 73.35324096679688, + 246.59283447265625 + ], + [ + 76.86013793945312, + 255.71743774414062 + ], + [ + 81.03863525390625, + 268.2511901855469 + ], + [ + 92.7412109375, + 270.40087890625 + ], + [ + 92.18978881835938, + 267.8428649902344 + ], + [ + 88.5744400024414, + 271.2982177734375 + ], + [ + 73.4984359741211, + 255.88168334960938 + ], + [ + 62.51646423339844, + 221.2455291748047 + ], + [ + 62.50598907470703, + 158.64883422851562 + ], + [ + 86.02379608154297, + 137.01358032226562 + ], + [ + 150.712890625, + 130.03492736816406 + ], + [ + 183.79933166503906, + 132.62451171875 + ], + [ + 219.4559326171875, + 150.34222412109375 + ], + [ + 258.4558410644531, + 188.1656494140625 + ], + [ + 268.5124206542969, + 204.46890258789062 + ], + [ + 268.65814208984375, + 215.27926635742188 + ], + [ + 270.7200927734375, + 226.47589111328125 + ], + [ + 270.2988586425781, + 235.69212341308594 + ], + [ + 271.12744140625, + 238.78997802734375 + ], + [ + 269.49383544921875, + 214.56546020507812 + ], + [ + 262.60443115234375, + 182.2489013671875 + ], + [ + 239.74224853515625, + 141.88900756835938 + ], + [ + 238.8585205078125, + 135.05477905273438 + ], + [ + 242.62554931640625, + 138.1193084716797 + ] + ], + "depth_max": 2.0713014602661133, + "depth_min": 0.45412272214889526, + "intrinsic": [ + [ + 554.9999389648438, + 0.0, + 259.0 + ], + [ + 0.0, + 555.0328369140625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.696906686760485e-05, + -7.308362546609715e-05, + 2.3028434952721e-05 + ], + [ + -7.697373803239316e-05, + 1.0, + -6.39944919385016e-05, + -3.4946297091664746e-05 + ], + [ + 7.307869964279234e-05, + 6.400012352969497e-05, + 1.0, + -1.0584968549665064e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 105.0, + 294.75 + ], + [ + 105.23123168945312, + 294.8156433105469 + ], + [ + 105.22032928466797, + 294.8258361816406 + ], + [ + 105.1641616821289, + 294.8955383300781 + ], + [ + 105.27364349365234, + 294.9767150878906 + ], + [ + 105.32369995117188, + 294.9310607910156 + ], + [ + 105.14323425292969, + 294.8609924316406 + ], + [ + 105.15687561035156, + 294.74462890625 + ], + [ + 105.23963165283203, + 294.7403564453125 + ], + [ + 105.08075714111328, + 294.6441345214844 + ], + [ + 105.04673767089844, + 294.734619140625 + ], + [ + 105.31758117675781, + 294.6492919921875 + ], + [ + 105.27803802490234, + 294.7925720214844 + ], + [ + 104.95358276367188, + 294.6647644042969 + ], + [ + 105.16425323486328, + 294.4300537109375 + ], + [ + 105.241455078125, + 294.571044921875 + ], + [ + 105.48827362060547, + 294.46142578125 + ], + [ + 105.52023315429688, + 294.1089172363281 + ], + [ + 105.49777221679688, + 290.8041076660156 + ], + [ + 104.08627319335938, + 294.391357421875 + ], + [ + 90.85934448242188, + 278.70538330078125 + ], + [ + 81.89311218261719, + 244.32247924804688 + ], + [ + 87.8956069946289, + 186.52415466308594 + ], + [ + 109.28092956542969, + 161.10336303710938 + ], + [ + 170.62982177734375, + 162.0498809814453 + ], + [ + 206.32717895507812, + 172.52171325683594 + ], + [ + 237.8548583984375, + 195.18606567382812 + ], + [ + 276.8284912109375, + 209.87799072265625 + ], + [ + 281.84454345703125, + 223.96438598632812 + ], + [ + 286.6261291503906, + 236.6335906982422 + ], + [ + 287.06915283203125, + 244.987060546875 + ], + [ + 285.9441833496094, + 268.1451416015625 + ], + [ + 284.7177734375, + 267.34033203125 + ], + [ + 284.2754211425781, + 268.73663330078125 + ], + [ + 284.6098937988281, + 268.8536682128906 + ], + [ + 284.25897216796875, + 268.61932373046875 + ], + [ + 284.2459411621094, + 268.5579833984375 + ], + [ + 284.47833251953125, + 268.57244873046875 + ] + ] +} \ No newline at end of file diff --git a/005152/lang.txt b/005152/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..97c041551690e8b21234f1330fbee9cce6a19789 --- /dev/null +++ b/005152/lang.txt @@ -0,0 +1 @@ +put sushi in pot cardboard fence diff --git a/005152/object.ply b/005152/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..81c7aed05566ac2617e5163b5fa366c0a3f3aea8 Binary files /dev/null and b/005152/object.ply differ diff --git a/005175_v2/FAIL b/005175_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/005175_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/005187_v2/FAIL b/005187_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/005187_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/005194/data.json b/005194/data.json new file mode 100644 index 0000000000000000000000000000000000000000..4dd1828ce1dcd7c7ae29b1fe85ef5fdc2c2ae25c --- /dev/null +++ b/005194/data.json @@ -0,0 +1,549 @@ +{ + "action_start": 8, + "action_end": 20, + "object_name": "bowl", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.819048, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.9369959999999999, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 5.0782766880530517e-11, + 3.3214681005588886e-11, + 8.95244295362474e-11, + 4.0055358301442343e-07, + 1.2380364134810506e-07, + -4.2707314269500545e-07, + 1.0 + ], + [ + -0.01690149093093274, + -0.020932601770373538, + 0.014303504951026558, + -0.1190158076950726, + -0.021582962098782688, + 0.025247980766136033, + 1.0 + ], + [ + -0.021978232276524345, + -0.013455910659029596, + 0.007332518178731533, + -0.04871134328738614, + 0.026815943233921214, + 0.008357520873057404, + 1.0 + ], + [ + -0.018746028365351775, + -0.006529901637696331, + -0.0009005603008975377, + 0.0034568997313173828, + 0.005169860832698532, + 0.012190682674406695, + 1.0 + ], + [ + -0.0112113206050177, + -0.001894150920403792, + -0.008544567773422898, + 0.03399366264412228, + 0.02144188753468872, + 0.044088925356974944, + 1.0 + ], + [ + -0.006863179222594218, + -0.005228368291204752, + -0.0157220759520424, + -0.0061448767551086775, + 0.011926867061334348, + 0.00858993871848004, + 1.0 + ], + [ + -0.004163688435976448, + -0.008223162587668115, + -0.02219194313971102, + -0.02999148455852634, + 0.01004100352519517, + -0.013174933214329373, + 1.0 + ], + [ + -0.005037365979741193, + -0.0069514320428100546, + -0.00639418014202427, + -0.04233809652555037, + 0.01579762333888856, + -0.013841678635718654, + 1.0 + ], + [ + -0.0015031823305148018, + -0.0026443862132976698, + -0.005353867632399548, + -0.013093736492413825, + 0.027903064010111615, + -0.005641577799149455, + 0.819048 + ], + [ + 0.002484332088783986, + -0.0003942267797398674, + -0.00091732369412003, + -0.005977171511941483, + -0.012647222987524753, + 0.03132491733770592, + 0.0 + ], + [ + -0.00011546349559685143, + -0.0023907382268009425, + -0.0024306817557230576, + 0.00877799234498726, + -0.0016398990470940474, + -0.004874604404166628, + 0.0 + ], + [ + -0.0007253472928861193, + -0.0006531008358120552, + 0.0031903872647528145, + -0.003704882142263271, + -0.00391755282100886, + -0.0088594465414987, + 0.0 + ], + [ + 0.003209320519312331, + 0.002427967368120662, + 0.01339321131581728, + -0.01536327166693209, + -0.017901087469462555, + 0.012606075576786752, + 0.0 + ], + [ + 0.011333986803902407, + 0.0011184803328312398, + 0.02553418731407654, + -0.03160539023186282, + -0.012351431517520748, + 0.06902697568378713, + 0.0 + ], + [ + 0.024099902945011437, + -0.008076632506149165, + 0.006154639374728391, + -0.02246737160861819, + -0.0011532095677579792, + 0.08443531870511051, + 0.0 + ], + [ + 0.02291082632723565, + -0.012476909368166783, + -0.011698810114725747, + 0.009917271938415033, + 0.011892052668287294, + 0.056722555260185784, + 0.0 + ], + [ + 0.011490518145594958, + -0.011547617493422264, + -0.010621122668131325, + 0.008590585264770152, + -0.006294228997372559, + 0.009711371364008393, + 0.0 + ], + [ + 0.011615495689762112, + -0.011867464554935023, + -0.007645518093059828, + -0.001773441940631551, + 0.002006459969247891, + 0.01437020644809793, + 0.0 + ], + [ + 0.006055052476705958, + -0.005274203993843766, + -0.0031179010860197566, + 0.0029423913061305063, + 0.0016297021609669967, + 0.0064766333792960675, + 0.0 + ], + [ + 0.0060836844472132445, + -0.0008568358017220744, + -0.0039032370365072976, + 0.00874026057040157, + 0.002283536497020135, + 0.0077851911268216525, + 0.0 + ], + [ + 0.001424202093029292, + -0.0013307632944356707, + -0.0022758614291028077, + 0.012122499595355924, + 0.0203598351598336, + -0.03204088429829826, + 0.9369959999999999 + ], + [ + -0.0020968036298637527, + -0.0017104713415674075, + 0.0054094085515417265, + -0.0054419782102936125, + -0.014932825362010217, + -0.04128401704152222, + 1.0 + ], + [ + -0.0020552429033854347, + 0.0054571550596721205, + 0.012769763223596898, + 0.003307484297506062, + -0.01795533625553364, + -0.020956829170652617, + 1.0 + ], + [ + -0.005734218015979842, + 0.011981879037962377, + 0.02000257562570587, + 0.006300917867422442, + -0.04058363755147795, + -0.015065419020727657, + 1.0 + ], + [ + -0.014483694279730175, + 0.012740863220085531, + 0.018913429263305123, + 0.019039793723838117, + 0.016408210843077167, + -0.0688308378103029, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 167.8145751953125, + 157.60145568847656 + ], + [ + 168.8588409423828, + 164.82669067382812 + ], + [ + 178.24497985839844, + 185.0493927001953 + ], + [ + 174.51300048828125, + 191.9163818359375 + ], + [ + 162.41940307617188, + 211.92286682128906 + ], + [ + 146.64501953125, + 233.88258361816406 + ], + [ + 150.7879638671875, + 254.3609161376953 + ], + [ + 162.76708984375, + 290.09271240234375 + ], + [ + 170.4675750732422, + 303.11334228515625 + ], + [ + 172.90194702148438, + 312.46685791015625 + ], + [ + 175.69403076171875, + 312.1702880859375 + ], + [ + 177.61761474609375, + 312.92388916015625 + ], + [ + 180.3186798095703, + 318.0596923828125 + ], + [ + 179.154296875, + 312.96429443359375 + ], + [ + 179.71124267578125, + 270.8116760253906 + ], + [ + 189.30172729492188, + 235.69186401367188 + ], + [ + 239.55303955078125, + 228.9722900390625 + ], + [ + 268.7822570800781, + 234.7939453125 + ], + [ + 287.65386962890625, + 236.47589111328125 + ], + [ + 302.2197265625, + 237.37933349609375 + ], + [ + 312.17791748046875, + 237.2313995361328 + ], + [ + 311.9864196777344, + 237.79977416992188 + ], + [ + 313.113525390625, + 240.8539276123047 + ], + [ + 311.0291748046875, + 235.03622436523438 + ], + [ + 302.91632080078125, + 213.51036071777344 + ], + [ + 268.01727294921875, + 191.72836303710938 + ], + [ + 247.6136474609375, + 180.23922729492188 + ] + ], + "depth_max": 1.6076390743255615, + "depth_min": 0.3677347004413605, + "intrinsic": [ + [ + 572.67578125, + 0.0, + 259.0 + ], + [ + 0.0, + 572.8626708984375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.434012175304815e-05, + -5.8519512094790116e-05, + 6.431859674194129e-06 + ], + [ + -6.434576789615676e-05, + 1.0, + -9.645229874877259e-05, + -6.196973117766902e-06 + ], + [ + 5.851330570294522e-05, + 9.645606769481674e-05, + 1.0, + -7.313083915505558e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 26 + ], + "object_trajectory": [ + [ + 233.75, + 298.7500305175781 + ], + [ + 234.11988830566406, + 298.90045166015625 + ], + [ + 233.8502655029297, + 298.85040283203125 + ], + [ + 234.24647521972656, + 298.72210693359375 + ], + [ + 234.13546752929688, + 299.1923828125 + ], + [ + 234.0937042236328, + 299.26593017578125 + ], + [ + 234.0511932373047, + 299.40338134765625 + ], + [ + 233.9275665283203, + 299.469482421875 + ], + [ + 233.79983520507812, + 299.7078857421875 + ], + [ + 234.58128356933594, + 299.98388671875 + ], + [ + 235.43885803222656, + 299.6925964355469 + ], + [ + 245.3980712890625, + 299.499267578125 + ], + [ + 253.2382049560547, + 308.30548095703125 + ], + [ + 255.5962677001953, + 308.58245849609375 + ], + [ + 257.239990234375, + 267.56634521484375 + ], + [ + 264.5931701660156, + 227.99996948242188 + ], + [ + 298.612548828125, + 223.5454864501953 + ], + [ + 325.683837890625, + 228.32484436035156 + ], + [ + 340.720458984375, + 229.22265625 + ], + [ + 352.3862609863281, + 230.0604248046875 + ], + [ + 359.7543640136719, + 229.99917602539062 + ], + [ + 359.7357482910156, + 231.68252563476562 + ], + [ + 358.68670654296875, + 232.91131591796875 + ], + [ + 359.0406494140625, + 233.6627655029297 + ], + [ + 357.5447692871094, + 233.7648162841797 + ], + [ + 357.14813232421875, + 234.66937255859375 + ], + [ + 356.9984436035156, + 234.6905059814453 + ] + ] +} \ No newline at end of file diff --git a/005194/lang.txt b/005194/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..747e0a4aef4969d84eadf9310657cc2cdc11703d --- /dev/null +++ b/005194/lang.txt @@ -0,0 +1 @@ +take bowl off plate diff --git a/005225_v2/data.json b/005225_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..e99cdbadb423928c87d3c999cef9552d6790f7b0 --- /dev/null +++ b/005225_v2/data.json @@ -0,0 +1,898 @@ +{ + "action_start": 28, + "action_end": 39, + "object_name": "red hexagon", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.997558, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.3207472615572868e-10, + -6.762193929810145e-11, + -9.218792396126219e-11, + -5.260293091218477e-07, + 1.7734791508675371e-07, + -2.2038149453281621e-07, + 1.0 + ], + [ + 0.01604648701242717, + 0.007250563904333568, + -0.015373375936270917, + 0.03838396954432706, + -0.007514068975741496, + 0.02612762150164238, + 1.0 + ], + [ + 0.017712758765428993, + 0.01079797379435235, + -0.01945698297463208, + 0.03887799376515819, + 0.0013752164534724836, + 0.03596228250505247, + 1.0 + ], + [ + 0.01624823372804199, + 0.010049934634718632, + -0.017296408579134837, + 0.023040859958409324, + -0.017132789288020134, + 0.020183014505939276, + 1.0 + ], + [ + 0.02135785543391186, + 0.012855752540740457, + -0.026010968959795433, + 0.05081863709312454, + -0.01895220129053095, + 0.011289372384243383, + 1.0 + ], + [ + 0.015670741564539986, + 0.005152377802288964, + -0.022984113481790164, + -0.023003748395761952, + 0.03975821532500863, + -0.024356199742487185, + 1.0 + ], + [ + 0.015059428966611915, + 0.002420429668084933, + -0.017415007676077177, + -0.03619506994291079, + -0.015226183609452328, + -0.08890958566178994, + 1.0 + ], + [ + 0.011845376345202024, + 0.004288009683035332, + -0.02335648290156768, + -0.02765431386444231, + 0.0031303877852754272, + -0.022006605135683244, + 1.0 + ], + [ + 0.009289574453413496, + 0.003030467664066689, + -0.020352679386843764, + -0.0028440659485239415, + -0.05187960111047722, + -0.041803216110646364, + 1.0 + ], + [ + 0.010128705579456054, + 7.829173383693683e-05, + -0.011094906533267487, + 0.014721648655334948, + -0.055478104111795164, + -0.009154892414968193, + 1.0 + ], + [ + 0.013471031820265073, + -0.0029521690531542077, + -0.010442266506541176, + 0.0007468163134925242, + 0.003266485084635149, + 0.029463853831465037, + 1.0 + ], + [ + 0.014594231201390584, + -0.0009515164121500566, + -0.012236826594373508, + -0.005140925531894353, + 0.014865911102621985, + 0.022717992913205077, + 1.0 + ], + [ + 0.011155608884439394, + -0.0007030503491887025, + -0.009699090011601935, + -0.0052634804395150486, + 0.020162067815212424, + 0.028461120616710002, + 1.0 + ], + [ + 0.006402595119691656, + -0.003811051001759942, + -0.006702824564306063, + 0.006587695112926986, + 0.015010420477254502, + 0.01393875544245227, + 1.0 + ], + [ + 0.0021087686412953333, + -0.0018646798786559823, + -0.004246661513281926, + -0.0002839668061022862, + 0.009165868139063258, + 0.003932525167028879, + 1.0 + ], + [ + 0.00229918480340352, + -0.004382059692866817, + -0.000579708826445622, + -0.008773621816841668, + 0.004496173928075562, + 0.0021819922871451672, + 1.0 + ], + [ + 0.003077617876386829, + -0.00445496547392471, + -0.002814080441420565, + -0.0015420110895431017, + 0.00305800253682438, + 0.007433127854392842, + 1.0 + ], + [ + 0.004890983083179312, + -0.002780591934245954, + -0.004215605494671202, + -0.00563237965988688, + 0.01204447204910129, + 0.01156760717251626, + 1.0 + ], + [ + 0.0030522985967016414, + -0.002801953173696612, + -0.0010345855182370065, + 0.003137780954870601, + 0.0018987274195501839, + 0.00597192593055528, + 1.0 + ], + [ + 0.0015894690759202246, + -0.0021394896529216, + -0.00340943270019843, + 0.0031619765791546365, + 0.011243425320418086, + 0.00642238159971823, + 1.0 + ], + [ + -0.0008717731099806558, + -0.0028061157987101966, + 0.0008077186129701198, + -0.008631169335868546, + 0.00818159882409135, + -0.0018972221881218252, + 1.0 + ], + [ + -0.0023870642940050923, + -0.003402409685040469, + 0.003248300899530765, + -0.009368324889989123, + 0.0017772438536476612, + -0.005390580355954254, + 1.0 + ], + [ + -0.001874874347670863, + -0.0006648753678474683, + 0.0010593539953031314, + -0.0044215725404007245, + 0.005373240207837976, + -0.0024375168552388114, + 1.0 + ], + [ + -0.00441847475879964, + -0.0010713618612404642, + 0.002191635915688803, + -0.009214711303501134, + 0.0038500207640618524, + -0.006314205167684427, + 1.0 + ], + [ + -0.00322554982607115, + -0.001529949268362047, + -0.0013861895633745383, + 0.004557963846294391, + 0.006189099382534635, + -0.007811472084771197, + 1.0 + ], + [ + 0.0024617623855306414, + 0.0008549508304216405, + -0.0029753262158599266, + 0.00840434400986428, + 0.004624739769113045, + 0.008400630300886424, + 1.0 + ], + [ + 0.005178667773021117, + 0.0015190148076837558, + -0.005512965937447829, + 0.0143541414048503, + 0.00623235016965818, + 0.013538651439059881, + 1.0 + ], + [ + 0.0030393976538549694, + 0.0003123118854931337, + -0.004446177208229222, + 0.01494621904256441, + 0.0060433542552706995, + 0.0063977276685482564, + 1.0 + ], + [ + 0.002015724029305499, + 0.0018573249363627664, + -0.006530229104200226, + 0.024915730201914184, + 0.007853580788590197, + 0.005004855874991286, + 1.0 + ], + [ + 0.0006604973608356768, + 0.0018964014306658474, + -0.0018302547105317844, + 0.012094652845201191, + 0.007313676246826908, + 0.00616356765061186, + 0.0 + ], + [ + 0.0015243902524735842, + -0.0005442226642913446, + 0.00916859141028559, + -0.015152572244574046, + -0.01248288443661713, + 0.0006558030721006985, + 0.0 + ], + [ + 0.007802861178193399, + 0.0010496211779118473, + 0.018654557215954895, + -0.03042849112297769, + -0.028787696181587212, + 0.021917454863168005, + 0.0 + ], + [ + 0.013821754832094135, + 0.0045396381607940555, + 0.016261966568561267, + -0.026027793694206144, + -0.026039682820959812, + 0.04150665574489725, + 0.0 + ], + [ + 0.020623363390660676, + 0.01609495493752431, + 0.009209382609979225, + -0.012053826046918572, + -0.009381575314867661, + 0.07114606034985152, + 0.0 + ], + [ + 0.015125100196670349, + 0.013301869173694733, + -0.0017392622595595632, + 0.001203811707298244, + 0.005710109354030205, + 0.04710610532066292, + 0.0 + ], + [ + 0.016582215241125797, + 0.014121709359757442, + -0.0032956566104835328, + 0.023737946339836856, + 0.0023520374340317085, + 0.03755861805403922, + 0.0 + ], + [ + 0.009576233830187741, + 0.008937575661117289, + -0.00609503171095243, + 0.007002886822002532, + 0.01107379462329805, + 0.025650298224917777, + 0.0 + ], + [ + 0.002898255801974059, + 0.006536495907473891, + -0.01203546834957869, + 0.021262055690282052, + 0.020732511078501582, + 0.01189984432152174, + 0.0 + ], + [ + 0.0007304838885075493, + 0.00604485327260601, + -0.009044866253884768, + 0.006860221937622851, + 0.02110829785906565, + 0.013722416451796263, + 0.0 + ], + [ + -0.0009346938527203252, + 0.0010486848909567054, + 0.0008789455505920345, + 0.019616841003708762, + -0.01617643021776819, + 0.03761925434578067, + 0.997558 + ], + [ + -0.0008750018807446303, + -0.0027970808670902264, + 0.014204293343171527, + -0.026215484709935177, + -0.025010611448267304, + -0.001685933494722113, + 1.0 + ], + [ + 0.0006630474592414504, + -0.0007649802284032947, + 0.022826677721221177, + -0.02698994174634626, + -0.04266298590388789, + 0.016187207220466196, + 1.0 + ], + [ + 0.0004927337765336937, + 0.002195144918161182, + 0.034420455030477456, + -0.016997472147860463, + -0.07924788937461912, + 0.016273228950641698, + 1.0 + ], + [ + -0.014215848593621183, + 0.007532409336961726, + 0.04914115782831182, + 0.03258729109339246, + 0.013400114967279858, + 0.027889992458574535, + 1.0 + ], + [ + -0.0054925855532027, + 0.0013042140223699233, + 0.007853443228062112, + 0.025961308600369232, + -0.007714338077934482, + 0.006025429160480282, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 195.520751953125, + 229.58987426757812 + ], + [ + 210.17947387695312, + 259.9913024902344 + ], + [ + 224.33511352539062, + 266.52032470703125 + ], + [ + 239.17698669433594, + 275.81903076171875 + ], + [ + 246.19969177246094, + 288.62982177734375 + ], + [ + 254.9095458984375, + 309.58648681640625 + ], + [ + 269.86273193359375, + 321.627197265625 + ], + [ + 285.39239501953125, + 332.0948486328125 + ], + [ + 292.1534729003906, + 351.819091796875 + ], + [ + 297.0799865722656, + 367.5820617675781 + ], + [ + 302.1522216796875, + 369.5722351074219 + ], + [ + 313.3614501953125, + 377.96038818359375 + ], + [ + 323.6592102050781, + 379.19415283203125 + ], + [ + 330.23333740234375, + 376.87164306640625 + ], + [ + 342.7229919433594, + 379.2530517578125 + ], + [ + 344.72955322265625, + 383.60162353515625 + ], + [ + 352.1346435546875, + 383.8583984375 + ], + [ + 359.09173583984375, + 388.92645263671875 + ], + [ + 362.7738037109375, + 387.53753662109375 + ], + [ + 368.7656555175781, + 385.9979248046875 + ], + [ + 379.4480285644531, + 386.66766357421875 + ], + [ + 379.30572509765625, + 386.9205322265625 + ], + [ + 379.9706115722656, + 389.1397705078125 + ], + [ + 379.70819091796875, + 391.5782775878906 + ], + [ + 378.49127197265625, + 399.11029052734375 + ], + [ + 377.68212890625, + 404.02618408203125 + ], + [ + 377.2709045410156, + 403.75335693359375 + ], + [ + 378.2016296386719, + 398.3995361328125 + ], + [ + 379.1879577636719, + 400.47296142578125 + ], + [ + 379.73297119140625, + 405.1790771484375 + ], + [ + 380.1247253417969, + 402.4696044921875 + ], + [ + 380.48162841796875, + 404.13519287109375 + ], + [ + 386.5889892578125, + 387.2139892578125 + ], + [ + 386.50799560546875, + 357.86602783203125 + ], + [ + 385.85723876953125, + 319.205810546875 + ], + [ + 374.3885498046875, + 305.0812683105469 + ], + [ + 371.1241455078125, + 292.32745361328125 + ], + [ + 364.85113525390625, + 287.63763427734375 + ], + [ + 360.31072998046875, + 299.89398193359375 + ], + [ + 359.4219970703125, + 302.46600341796875 + ], + [ + 354.25079345703125, + 302.0353698730469 + ], + [ + 355.9867248535156, + 308.2654724121094 + ], + [ + 358.73809814453125, + 277.6604309082031 + ], + [ + 353.9906921386719, + 252.44427490234375 + ], + [ + 344.8461608886719, + 214.26239013671875 + ], + [ + 336.8275146484375, + 182.18402099609375 + ] + ], + "depth_max": 2.4608495235443115, + "depth_min": 0.18193066120147705, + "intrinsic": [ + [ + 529.6644287109375, + 0.0, + 259.0 + ], + [ + 0.0, + 530.3327026367188, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -3.012757770193275e-05, + 0.00013326393673196435, + -5.758469342254102e-06 + ], + [ + 3.0134529879433103e-05, + 1.0, + -5.2176445024088025e-05, + -8.075415280472953e-06 + ], + [ + -0.00013326236512511969, + 5.2180461352691054e-05, + 1.0, + 6.166394450701773e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 39, + 42, + 45 + ], + "object_trajectory": [ + [ + 383.25, + 410.75 + ], + [ + 383.3818054199219, + 410.9974060058594 + ], + [ + 383.485107421875, + 411.00323486328125 + ], + [ + 383.53369140625, + 411.07171630859375 + ], + [ + 383.6954345703125, + 411.0622863769531 + ], + [ + 383.577880859375, + 411.06427001953125 + ], + [ + 383.8219299316406, + 410.98529052734375 + ], + [ + 383.69915771484375, + 411.154052734375 + ], + [ + 383.0427551269531, + 411.1513671875 + ], + [ + 383.2655944824219, + 410.9644775390625 + ], + [ + 383.24713134765625, + 410.9624328613281 + ], + [ + 383.47430419921875, + 410.86181640625 + ], + [ + 383.8809509277344, + 411.2200927734375 + ], + [ + 383.84881591796875, + 410.924560546875 + ], + [ + 384.14105224609375, + 411.08526611328125 + ], + [ + 384.00677490234375, + 411.52105712890625 + ], + [ + 384.07000732421875, + 411.3699035644531 + ], + [ + 384.455322265625, + 411.6717224121094 + ], + [ + 385.0913391113281, + 411.96295166015625 + ], + [ + 385.29730224609375, + 414.3365173339844 + ], + [ + 387.2404479980469, + 422.3807067871094 + ], + [ + 385.3348388671875, + 429.22760009765625 + ], + [ + 390.1498718261719, + 417.85321044921875 + ], + [ + 390.53173828125, + 410.3416442871094 + ], + [ + 390.5577697753906, + 411.9538269042969 + ], + [ + 393.27032470703125, + 415.72027587890625 + ], + [ + 393.497314453125, + 415.9857177734375 + ], + [ + 394.12225341796875, + 414.5802307128906 + ], + [ + 394.31378173828125, + 414.3558349609375 + ], + [ + 393.845458984375, + 414.25885009765625 + ], + [ + 393.9234313964844, + 412.0960388183594 + ], + [ + 394.1080017089844, + 412.409912109375 + ], + [ + 397.401611328125, + 396.7462158203125 + ], + [ + 397.35150146484375, + 365.9526062011719 + ], + [ + 394.59185791015625, + 327.6025695800781 + ], + [ + 382.7451477050781, + 310.2854919433594 + ], + [ + 378.3309631347656, + 297.5972900390625 + ], + [ + 372.3428955078125, + 292.50408935546875 + ], + [ + 367.2602844238281, + 304.35107421875 + ], + [ + 365.1767578125, + 307.44573974609375 + ], + [ + 360.62481689453125, + 308.1664733886719 + ], + [ + 361.68035888671875, + 311.3031005859375 + ], + [ + 362.65643310546875, + 311.0538330078125 + ], + [ + 360.6974792480469, + 308.7730712890625 + ], + [ + 361.27337646484375, + 309.3810729980469 + ], + [ + 360.9187927246094, + 309.62237548828125 + ] + ] +} \ No newline at end of file diff --git a/005225_v2/lang.txt b/005225_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..825223e5afb679e68102a3ad741137f300241b06 --- /dev/null +++ b/005225_v2/lang.txt @@ -0,0 +1 @@ +move the red hexagon to the right side of the table diff --git a/005225_v2/object.ply b/005225_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..f6f0b8a12d0725b5d29659298c053f07cc24562a Binary files /dev/null and b/005225_v2/object.ply differ diff --git a/005234_v2/FAIL b/005234_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/005234_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/005280_v2/FAIL b/005280_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/005280_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/005285_v2/data.json b/005285_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..c0f1c1e8728f41e780f7d18b2f4346cedcd93e4a --- /dev/null +++ b/005285_v2/data.json @@ -0,0 +1,788 @@ +{ + "action_start": 15, + "action_end": 30, + "object_name": "orange fish", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.6261289999999999, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -8.831851916468736e-11, + -3.8200463625681635e-11, + -8.977119048125815e-11, + 8.971498128806255e-08, + -2.0739997886468582e-07, + -2.06789978893287e-08, + 1.0 + ], + [ + 0.0014968883664841504, + 0.015625767265769586, + -0.0017688721666863777, + 0.04609394594349679, + 0.05022957296984078, + -0.05015953109913007, + 1.0 + ], + [ + -0.003535138558608708, + 0.02378931076206018, + -0.003963515411370924, + 0.011268310660080294, + 0.0426840667636981, + -0.06991003013916061, + 1.0 + ], + [ + -0.0035104403007162333, + 0.034854173429587576, + 0.0011029981838712594, + -0.013629285666371388, + 0.06719047933634476, + -0.2278352777501153, + 1.0 + ], + [ + -0.004259572642202836, + 0.02595958012820517, + 0.0059220388061237555, + 0.040820919717837, + 0.04230987613023218, + -0.19368225046076762, + 1.0 + ], + [ + -0.009959825745976869, + 0.024445773507926136, + -0.0018739289960870986, + 0.02240908124916661, + 0.039097181434368786, + -0.1805271757129224, + 1.0 + ], + [ + -0.012551624815166473, + 0.018052503977405175, + -0.0023295443046194714, + 0.037538946356347525, + -0.010057851953809998, + -0.07813723897742168, + 1.0 + ], + [ + -0.01416363366950868, + 0.02302157899175797, + -0.02809091627241457, + 0.016331423086408045, + 0.05485475343545525, + 0.04232726833216004, + 1.0 + ], + [ + -0.0019136057989235233, + 0.007917700564226415, + -0.009560863732811065, + -0.015880350817970932, + -0.02760293799942001, + 0.014311190292494733, + 1.0 + ], + [ + 0.0009317001106509404, + 0.0028793827631925367, + -0.005782854511741056, + -0.0017699587050869043, + 0.019152892885444042, + 0.01343576387410644, + 1.0 + ], + [ + 0.005844854512593978, + 0.007398697015357891, + -0.009104227339542852, + -0.01679980317211858, + 0.002322974787077636, + -0.003691745524197455, + 1.0 + ], + [ + 0.005408950429570375, + 0.0035056207149670865, + -0.0211156787953928, + 0.018200857695970955, + 0.046135557932774095, + -0.00970414272051779, + 1.0 + ], + [ + 0.0003670259774014861, + 0.005072822102429875, + -0.00846559197231378, + 0.017774711419399885, + 0.00824736491117262, + 0.017946007569812728, + 1.0 + ], + [ + -0.001781356359172065, + 0.007457147555061494, + -0.008328804031575878, + 0.0056265874273161215, + 0.022342842344301884, + 0.02409452622500336, + 1.0 + ], + [ + 0.0029866961901741373, + 0.002449315131746954, + -0.00538003093413906, + 0.00822214089350847, + 0.01924993018839244, + 0.0029719479297129693, + 1.0 + ], + [ + 0.0012737801814956817, + -0.00032927717719108407, + -0.003968756499487665, + 0.002799145302567838, + 0.02756215482175645, + 0.010435809998773264, + 0.6261289999999999 + ], + [ + -0.0007161587154917437, + 0.00016254828413428402, + 0.0003401071045615045, + 0.005394891652998998, + 0.003087471343966364, + 0.015664463313785675, + 0.0 + ], + [ + -0.00021019146080902829, + -0.00028570611612432906, + -7.865489783645194e-05, + -0.0036809910997980103, + 0.007261211000168739, + 0.01119266209523351, + 0.0 + ], + [ + 0.0018354025737333524, + -0.005554832764035039, + 0.005412137745742782, + -0.014092573907173878, + -0.010286586647940339, + -0.004437739797552998, + 0.0 + ], + [ + 0.003835846574244711, + -0.012519228514175362, + 0.018626289410810355, + 0.006214337927468582, + -0.02701577203445424, + -0.00751740884316084, + 0.0 + ], + [ + 0.004101635221007843, + -0.015177705681079179, + 0.017719001080033745, + -0.029675089592274644, + -0.07868632591800823, + 0.04061441098537929, + 0.0 + ], + [ + 0.004437842552392907, + -0.015804887685271107, + 0.017232749110168977, + 0.008661629573181225, + -0.02633327478507906, + 0.11581922976828624, + 0.0 + ], + [ + 0.009907172991932528, + -0.029206978193849154, + 0.004171625971772029, + -0.04176649536347541, + -0.040979335863477906, + 0.10623193146741865, + 0.0 + ], + [ + 0.01883753237106145, + -0.03497760788722995, + 0.0043413409366091366, + -0.0029670404129864777, + -0.009992762929663609, + 0.07871156997273888, + 0.0 + ], + [ + 0.02143799947512326, + -0.03307597421652003, + 0.007690741068653001, + -0.07393764813654012, + -0.07249869382097683, + 0.09514309027609608, + 0.0 + ], + [ + 0.020958708027122852, + -0.02875476444134179, + -0.0056209216405323364, + -0.014311243966268426, + -0.026055835538301132, + 0.021533539448803127, + 0.0 + ], + [ + 0.015442855670324274, + -0.01700849418540338, + -0.009790851035808942, + -0.012511749119833427, + -0.017571722170554166, + 0.05027558271043627, + 0.0 + ], + [ + 0.00639935749647863, + -0.007913041329773909, + -0.013849188576402972, + -0.00976536423101307, + 0.01142575985261659, + 0.01045455406678296, + 0.0 + ], + [ + -0.0004146304125327016, + -0.007147369713024904, + -0.020696202929804335, + -0.005891388684259805, + 0.03182980862248182, + -0.006818383067826033, + 0.0 + ], + [ + 0.0028834901139753177, + -0.0035272106835366884, + -0.013949429920202058, + 0.004392632313965413, + 0.04538238324290735, + -0.025134409690792402, + 0.0 + ], + [ + 0.002226697003025968, + -0.0043016469617237, + -0.009297288016100804, + -0.010325851115538114, + 0.017786251887635947, + -0.018368941333954964, + 0.0 + ], + [ + -0.0008962677360443982, + -0.0001288923963795527, + 0.0031201196262949284, + 0.012729150270580566, + 0.02852422701921554, + -0.009990343184110767, + 1.0 + ], + [ + -0.0002371666070205003, + 0.0006068062756561937, + 0.01101188995404384, + -0.011472438526458992, + -0.03978094146076288, + 0.007813601208335831, + 1.0 + ], + [ + 0.005942450291253232, + -0.0033146447520677746, + 0.019065492315682754, + 0.005549453122687531, + -0.02556563225811128, + -0.025906399421880808, + 1.0 + ], + [ + 0.006021460312113314, + -0.0029701534498187757, + 0.026817195784416645, + 0.003622447468480281, + -0.04755992271230325, + -0.01774396718419606, + 1.0 + ], + [ + 0.005110001632274486, + -0.0007477178494490616, + 0.02314162877095237, + 0.013727696006813941, + -0.04224711313758338, + -0.010399749314669028, + 1.0 + ], + [ + -0.0013345193848253167, + -0.0003424045250629698, + 0.012411517042245648, + -0.037684754327126084, + -0.055677446880345184, + -0.05019419750948825, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 376.67620849609375, + 221.9672393798828 + ], + [ + 377.0302734375, + 225.3834991455078 + ], + [ + 355.0284423828125, + 231.7967529296875 + ], + [ + 323.5806884765625, + 220.39077758789062 + ], + [ + 284.81451416015625, + 198.7819366455078 + ], + [ + 248.11497497558594, + 177.08383178710938 + ], + [ + 214.51956176757812, + 168.59524536132812 + ], + [ + 184.18186950683594, + 172.77455139160156 + ], + [ + 151.2147216796875, + 189.44497680664062 + ], + [ + 137.9020233154297, + 209.37559509277344 + ], + [ + 134.04916381835938, + 218.88446044921875 + ], + [ + 138.52786254882812, + 223.177978515625 + ], + [ + 138.0877227783203, + 232.88705444335938 + ], + [ + 137.10330200195312, + 244.87680053710938 + ], + [ + 137.13442993164062, + 248.61138916015625 + ], + [ + 134.17108154296875, + 251.53842163085938 + ], + [ + 134.2027130126953, + 251.3223419189453 + ], + [ + 133.78988647460938, + 251.57432556152344 + ], + [ + 134.08493041992188, + 251.23477172851562 + ], + [ + 136.95742797851562, + 253.019775390625 + ], + [ + 151.94851684570312, + 240.2591552734375 + ], + [ + 160.42013549804688, + 223.88104248046875 + ], + [ + 176.22634887695312, + 209.95924377441406 + ], + [ + 211.8240966796875, + 211.1287078857422 + ], + [ + 269.64373779296875, + 199.62625122070312 + ], + [ + 318.934814453125, + 185.80157470703125 + ], + [ + 360.9550476074219, + 189.3265380859375 + ], + [ + 388.5564270019531, + 191.11410522460938 + ], + [ + 404.4576416015625, + 206.40164184570312 + ], + [ + 406.38177490234375, + 229.6406707763672 + ], + [ + 413.9837646484375, + 241.332275390625 + ], + [ + 417.16143798828125, + 244.6444091796875 + ], + [ + 419.208740234375, + 244.72433471679688 + ], + [ + 414.5748291015625, + 247.8480682373047 + ], + [ + 415.0601806640625, + 228.1626434326172 + ], + [ + 432.3924255371094, + 208.9256134033203 + ], + [ + 441.168212890625, + 167.46456909179688 + ], + [ + 450.22442626953125, + 157.91336059570312 + ], + [ + 448.04241943359375, + 150.49639892578125 + ], + [ + 448.504638671875, + 150.5911865234375 + ] + ], + "depth_max": 1.4496797323226929, + "depth_min": 0.4655720591545105, + "intrinsic": [ + [ + 524.4142456054688, + 0.0, + 259.0 + ], + [ + 0.0, + 524.814453125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.806128057069145e-05, + -2.2056817670090823e-06, + -1.0111828487424646e-05 + ], + [ + -1.806141881388612e-05, + 1.0, + -6.233190651983023e-05, + -1.3395871974353213e-05 + ], + [ + 2.2045558125682874e-06, + 6.233195017557591e-05, + 1.0, + -1.356743996439036e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 39 + ], + "object_trajectory": [ + [ + 135.0, + 270.5 + ], + [ + 135.2067413330078, + 270.95166015625 + ], + [ + 135.2846221923828, + 271.01885986328125 + ], + [ + 135.26405334472656, + 270.89959716796875 + ], + [ + 135.27899169921875, + 270.94647216796875 + ], + [ + 135.25210571289062, + 271.141357421875 + ], + [ + 135.17794799804688, + 270.9292297363281 + ], + [ + 135.04098510742188, + 271.06903076171875 + ], + [ + 135.09471130371094, + 270.98284912109375 + ], + [ + 135.10284423828125, + 270.9715576171875 + ], + [ + 135.0894775390625, + 271.0376892089844 + ], + [ + 135.25466918945312, + 270.9486389160156 + ], + [ + 135.24954223632812, + 271.16827392578125 + ], + [ + 135.23971557617188, + 271.02001953125 + ], + [ + 135.43832397460938, + 270.9108581542969 + ], + [ + 135.7547149658203, + 271.51043701171875 + ], + [ + 135.76364135742188, + 271.577880859375 + ], + [ + 137.51168823242188, + 271.41802978515625 + ], + [ + 137.35134887695312, + 272.68951416015625 + ], + [ + 140.36964416503906, + 275.5561218261719 + ], + [ + 156.93243408203125, + 256.3790283203125 + ], + [ + 167.60073852539062, + 243.0474395751953 + ], + [ + 178.38108825683594, + 233.5952606201172 + ], + [ + 206.22100830078125, + 229.39984130859375 + ], + [ + 265.48431396484375, + 226.95840454101562 + ], + [ + 312.2670593261719, + 210.69651794433594 + ], + [ + 351.9185485839844, + 208.02667236328125 + ], + [ + 390.80743408203125, + 211.99594116210938 + ], + [ + 405.5047607421875, + 226.51895141601562 + ], + [ + 408.6999816894531, + 249.4236602783203 + ], + [ + 415.58148193359375, + 262.02313232421875 + ], + [ + 417.8892822265625, + 265.56109619140625 + ], + [ + 420.1755065917969, + 261.57330322265625 + ], + [ + 421.23724365234375, + 261.4876708984375 + ], + [ + 420.29913330078125, + 260.8609619140625 + ], + [ + 419.19610595703125, + 260.141357421875 + ], + [ + 411.80792236328125, + 253.91029357910156 + ], + [ + 411.78961181640625, + 254.15159606933594 + ], + [ + 411.9994812011719, + 254.08767700195312 + ], + [ + 412.01690673828125, + 254.166015625 + ] + ] +} \ No newline at end of file diff --git a/005285_v2/lang.txt b/005285_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..d0c9541fcef980e1d6250bc273b226c5173b0136 --- /dev/null +++ b/005285_v2/lang.txt @@ -0,0 +1 @@ +put the orange fish at the right side of the stove diff --git a/005285_v2/object.ply b/005285_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..9f9f0b586d513d09c4b0e64471b131596a12db15 Binary files /dev/null and b/005285_v2/object.ply differ diff --git a/005315/FAIL b/005315/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/005315/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/005349_v2/data.json b/005349_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..62ad5561365c9e17255e942ebc23091442fb9dc9 --- /dev/null +++ b/005349_v2/data.json @@ -0,0 +1,696 @@ +{ + "action_start": 8, + "action_end": 21, + "object_name": "brush", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.551115123125783e-17, + -1.3877787807814457e-17, + 1.3877787807814457e-17, + -5.048319175384438e-07, + -2.708999206220955e-08, + -2.456365281143184e-07, + 1.0 + ], + [ + 0.017022525554658163, + -0.010022975109241855, + -0.010823313991199797, + 0.0068817735029097086, + 0.05100622807782667, + -0.009459709305109221, + 1.0 + ], + [ + 0.020975646240732226, + -0.009910407398219329, + -0.01882696688456561, + 0.0017924027773077332, + 0.025886701247675836, + -0.018174026075334984, + 1.0 + ], + [ + 0.020635001880486614, + -0.00731826807512137, + -0.016979094107535557, + -0.012347555220759933, + 0.0092924054122808, + -0.03315650313907549, + 1.0 + ], + [ + 0.021811313594833404, + -0.007240976694427997, + -0.018228048816065545, + -0.0009189071564442645, + 0.003036465431514757, + 0.0007430563697947976, + 1.0 + ], + [ + 0.01430424704698624, + 0.00044295610582966577, + -0.007351180483952675, + 0.011318486776776725, + -0.0063391375562830195, + -0.0028466265084403216, + 1.0 + ], + [ + 0.006850595688619399, + 0.005208558919261634, + -0.011400829556055876, + 0.023822969133976142, + 0.00716436850040775, + -0.0016616391630816852, + 1.0 + ], + [ + 0.0004382977956752798, + 0.0037840543429023196, + -0.007288924568621319, + 0.028529768516095275, + 0.009484922661738922, + -0.005996021367968101, + 1.0 + ], + [ + -0.005807462958065945, + 0.00023533702531530754, + -0.0016043261024693625, + 0.010191087989997318, + 0.0021817931514015463, + -0.010125788360758843, + 1.0 + ], + [ + -0.0034801825436707734, + -0.0004510372166983412, + -0.004316513785330642, + 0.0030602126407408047, + 0.0007341828722387875, + -0.016788466312966033, + 0.0 + ], + [ + -0.0018989430733886148, + -0.0008559808697713583, + 0.0015096115032883078, + 0.00223067000256491, + -0.004783648991563099, + -0.0038935124897035572, + 0.0 + ], + [ + -0.0026226279860812607, + -0.003211477505796402, + 0.003977595384499946, + -0.026904976946045375, + 0.004374642955886223, + -0.021436035471462295, + 0.0 + ], + [ + -0.002345470745355349, + -0.0029595089001300534, + 0.013722384871597812, + 0.007240054845432471, + -0.013191458304026306, + -0.021598375963527948, + 0.0 + ], + [ + -0.0036770623658767265, + 0.000547843427591288, + 0.019532610224188708, + 0.006189705190740987, + -0.01214317099695868, + 0.00653246847629802, + 0.0 + ], + [ + -0.012288308144641491, + 0.00032970839668055446, + 0.027899777378281324, + -0.016967946475658066, + -0.05372300577476755, + 0.016508211719923026, + 0.0 + ], + [ + -0.02962123439179093, + -0.00021576285538760925, + 0.020377609241991945, + -0.02446939217862192, + -0.038488542736323045, + 0.014674684861519785, + 0.0 + ], + [ + -0.034920820112656126, + 0.005453202298935311, + 0.00010063030509060988, + 0.01414505619875963, + -0.019390297093693734, + -0.007688075490163617, + 0.0 + ], + [ + -0.02104520279514377, + 0.007312753534218126, + -0.009522373149906296, + -0.0023582636540084028, + -0.004947890094796229, + 0.0035359650265833335, + 0.0 + ], + [ + -0.011485337613407143, + 0.007448735074132108, + -0.01875781486300404, + 0.05249597289129203, + -0.030648471257920452, + 0.02842726717184163, + 0.0 + ], + [ + -0.003017099828448888, + 0.0014175825088459798, + -0.015808147803420942, + 0.06071502500141296, + -0.03098791452254582, + 0.019002501541854074, + 0.0 + ], + [ + 0.0003012139998437302, + -0.001328000276140523, + -0.017569369967479907, + -0.007846560334245812, + 0.03454619228321271, + -0.019519272581966906, + 0.0 + ], + [ + -0.00032813569772238704, + -7.230726227125395e-05, + -0.013749793155773158, + -0.010874816594505867, + 0.0362888015323986, + -0.012672555472081086, + 0.0 + ], + [ + -0.00035225985970932516, + -0.0004197874522448991, + -0.0012483623819579334, + -0.02345526796915337, + 0.0382031553601631, + -0.001410408710013993, + 1.0 + ], + [ + 0.000774293020320338, + -0.0039552168458614895, + 0.007461193226062847, + -0.04269681847337135, + -0.012042931388025545, + 0.009457334463816214, + 1.0 + ], + [ + -0.00014317981612083086, + -0.0037102655179871713, + 0.010157957340165925, + -0.01929262232151208, + 8.076108669422529e-05, + -0.006187016625033805, + 1.0 + ], + [ + 0.002076670422511917, + -0.0009083246660661765, + 0.018354895653729816, + -0.02429739905293856, + -0.009357802900165855, + 0.0394181796816267, + 1.0 + ], + [ + 0.0012798649727122913, + 0.006278305643945076, + 0.024006215475180864, + 0.00029841960652785346, + 0.04195298701004615, + 0.19853986235070936, + 1.0 + ], + [ + 0.0005730441769719041, + 0.005124046844860036, + 0.027492110157708832, + -0.03756668617644582, + 0.012812529943148989, + 0.2728866205649021, + 1.0 + ], + [ + -0.003087288654690379, + -0.004361363967776366, + 0.016348256967665085, + -0.06045349125955706, + 0.0130199709472304, + 0.22789422936763487, + 1.0 + ], + [ + -0.00733307820101553, + -0.0072619546409404545, + 0.006677654683858475, + -0.13876659572158861, + -0.0018306880241629401, + 0.1585811295388677, + 1.0 + ], + [ + -0.0029710438021779695, + -0.005519345885255739, + 0.003573863549834716, + -0.09557907485125668, + -0.026074773233777198, + 0.10231387926115702, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 232.89271545410156, + 183.61117553710938 + ], + [ + 233.66485595703125, + 194.395751953125 + ], + [ + 247.5240478515625, + 203.89202880859375 + ], + [ + 277.59521484375, + 208.45433044433594 + ], + [ + 297.1647033691406, + 213.71539306640625 + ], + [ + 314.47711181640625, + 217.2048797607422 + ], + [ + 327.0516662597656, + 216.4222869873047 + ], + [ + 326.610595703125, + 222.54922485351562 + ], + [ + 324.6951599121094, + 219.08572387695312 + ], + [ + 323.89105224609375, + 217.91000366210938 + ], + [ + 325.47320556640625, + 218.93173217773438 + ], + [ + 322.5998840332031, + 219.80584716796875 + ], + [ + 320.9564208984375, + 221.28341674804688 + ], + [ + 317.6129455566406, + 233.89547729492188 + ], + [ + 314.22991943359375, + 230.42160034179688 + ], + [ + 310.99993896484375, + 207.87222290039062 + ], + [ + 297.61016845703125, + 209.18087768554688 + ], + [ + 264.14776611328125, + 225.64816284179688 + ], + [ + 243.7196807861328, + 251.96498107910156 + ], + [ + 229.99911499023438, + 266.58929443359375 + ], + [ + 219.95590209960938, + 282.25689697265625 + ], + [ + 223.7489013671875, + 298.3154296875 + ], + [ + 228.325439453125, + 308.5572204589844 + ], + [ + 230.6304931640625, + 310.9964294433594 + ], + [ + 232.62820434570312, + 314.70526123046875 + ], + [ + 235.1057586669922, + 306.97088623046875 + ], + [ + 236.89479064941406, + 291.48291015625 + ], + [ + 228.36582946777344, + 267.5569152832031 + ], + [ + 213.7054443359375, + 232.7132568359375 + ], + [ + 209.72528076171875, + 216.27964782714844 + ], + [ + 204.4775390625, + 212.03128051757812 + ], + [ + 205.45263671875, + 208.35166931152344 + ], + [ + 219.18994140625, + 200.09320068359375 + ], + [ + 218.95880126953125, + 200.2570343017578 + ], + [ + 219.17337036132812, + 200.3990020751953 + ] + ], + "depth_max": 1.333435297012329, + "depth_min": 0.1527603715658188, + "intrinsic": [ + [ + 511.0116882324219, + 0.0, + 259.0 + ], + [ + 0.0, + 511.19384765625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.011826189933345e-05, + -5.969078301859554e-06, + 6.7793080233968794e-06 + ], + [ + -6.0118625697214156e-05, + 1.0, + -6.145583029137924e-05, + 5.396581400418654e-06 + ], + [ + 5.965383479633601e-06, + 6.145619408925995e-05, + 1.0, + -5.686120130121708e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 34 + ], + "object_trajectory": [ + [ + 311.25, + 230.00001525878906 + ], + [ + 312.044677734375, + 229.88314819335938 + ], + [ + 312.4282531738281, + 230.04190063476562 + ], + [ + 311.7900390625, + 230.26419067382812 + ], + [ + 311.8166809082031, + 230.4384765625 + ], + [ + 312.201416015625, + 230.09130859375 + ], + [ + 312.6973876953125, + 230.31947326660156 + ], + [ + 312.8453369140625, + 230.4111785888672 + ], + [ + 313.6532897949219, + 230.73690795898438 + ], + [ + 314.3417663574219, + 230.9530792236328 + ], + [ + 320.19915771484375, + 227.60348510742188 + ], + [ + 323.9736328125, + 225.67613220214844 + ], + [ + 322.76898193359375, + 229.8867645263672 + ], + [ + 319.2131042480469, + 240.83717346191406 + ], + [ + 316.1611633300781, + 239.59280395507812 + ], + [ + 312.62939453125, + 226.61004638671875 + ], + [ + 299.3053894042969, + 221.99606323242188 + ], + [ + 267.4625244140625, + 238.19024658203125 + ], + [ + 246.47361755371094, + 260.60125732421875 + ], + [ + 230.14869689941406, + 277.03948974609375 + ], + [ + 227.0850372314453, + 292.1650390625 + ], + [ + 228.79930114746094, + 305.7867736816406 + ], + [ + 231.92108154296875, + 314.77703857421875 + ], + [ + 231.107177734375, + 318.03057861328125 + ], + [ + 230.0910186767578, + 317.7366943359375 + ], + [ + 228.96640014648438, + 317.7374267578125 + ], + [ + 227.51300048828125, + 316.55108642578125 + ], + [ + 227.17633056640625, + 316.218505859375 + ], + [ + 226.71507263183594, + 316.4319763183594 + ], + [ + 226.87222290039062, + 316.2672119140625 + ], + [ + 226.86795043945312, + 316.1208801269531 + ], + [ + 226.8960418701172, + 316.3914794921875 + ], + [ + 227.09896850585938, + 316.3619384765625 + ], + [ + 227.05133056640625, + 316.1319274902344 + ], + [ + 227.1220245361328, + 316.1327819824219 + ] + ] +} \ No newline at end of file diff --git a/005349_v2/lang.txt b/005349_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..491056a82804d5968ecb6febe12667bcb9f357d4 --- /dev/null +++ b/005349_v2/lang.txt @@ -0,0 +1 @@ +put the brush on the orange cloth diff --git a/005349_v2/object.ply b/005349_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..97ea0e3ae3fced18366c4bf44b5d1edd6207ba26 Binary files /dev/null and b/005349_v2/object.ply differ diff --git a/005364/FAIL b/005364/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/005364/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/005366_v2/FAIL b/005366_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/005366_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/005367_v2/FAIL b/005367_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/005367_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/005368/FAIL b/005368/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/005368/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/005370/FAIL b/005370/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/005370/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/005391_v2/FAIL b/005391_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/005391_v2/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/005409_v2/FAIL b/005409_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/005409_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/005429_v2/FAIL b/005429_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/005429_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/005450/FAIL b/005450/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/005450/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/005463/data.json b/005463/data.json new file mode 100644 index 0000000000000000000000000000000000000000..0b1378f2db2a0537864529620dae241431bf275d --- /dev/null +++ b/005463/data.json @@ -0,0 +1,733 @@ +{ + "action_start": 15, + "action_end": 28, + "object_name": "sushi", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.764103, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -9.349349072707014e-11, + -4.383205569336024e-10, + 1.4021352134907517e-10, + 3.034950117675463e-07, + -4.291903225153483e-07, + -5.621014223442221e-07, + 1.0 + ], + [ + 0.0013320765842987359, + 0.008331706370252615, + 0.020552051488693893, + -0.07125203531342528, + -0.04425030794422098, + 0.07456069799957334, + 1.0 + ], + [ + 0.0018591331523401533, + 0.010995410579361136, + 0.01607634686400175, + -1.093209387556195e-05, + -0.0557327438507188, + 0.06672524244874233, + 1.0 + ], + [ + 0.0024568516423000286, + 0.013679462613457517, + 0.01187616585161319, + -0.023685327852103193, + -0.046673592314614036, + 0.11145874219773508, + 1.0 + ], + [ + 0.00840951807089596, + 0.0268445294829594, + 0.008176721815328636, + -0.04956812806809763, + 0.02427712463427059, + 0.19942585081957756, + 1.0 + ], + [ + 0.013743466685651295, + 0.022341308664302936, + 0.005646342498819415, + -0.07229147400828205, + 0.029539051465172817, + 0.15121453964974613, + 1.0 + ], + [ + 0.006754264191908055, + 0.007476967443084834, + -0.011570798087855938, + -0.027748740302685787, + 0.0508263150097062, + 0.007690273067364482, + 1.0 + ], + [ + 0.005694819841056964, + 0.009869306621281465, + -0.018564997257955948, + 0.002805258033245786, + 0.03373640499574385, + 0.02679336697915681, + 1.0 + ], + [ + 0.00592759108752533, + 0.0036315765704637293, + -0.014131041727996951, + -0.030373310092985863, + 0.032899509884947484, + -0.017231041239418945, + 1.0 + ], + [ + 0.0030410490744265384, + -0.003296414149763005, + -0.013538933759578473, + -0.09332298247921846, + 0.029054075220181906, + -0.009228411998548913, + 1.0 + ], + [ + -0.0008143950831480673, + -0.0006643816817527709, + -0.0048965798778247555, + -0.005850179910632446, + -0.0002535142286062762, + 0.02294614284032764, + 1.0 + ], + [ + 6.903532614882524e-05, + -0.0016164339604315542, + -0.007116504964126032, + 0.0005662461350047871, + -0.0012042452240865625, + 0.00699297545791513, + 1.0 + ], + [ + 0.0006259316245718627, + -0.001981094401579772, + -0.00961334851481438, + 0.010561957684921474, + 0.019771786895107828, + 0.0044268830389280174, + 1.0 + ], + [ + -0.0006617701686121857, + -0.0019483575522068058, + -0.008839761411952946, + 0.007462595958057691, + 0.010274157611326993, + 0.00047721811686371414, + 1.0 + ], + [ + -0.0007421475770710839, + -0.00013091691488036072, + -0.007545207432917627, + 0.01444871852668488, + 0.010099715830678545, + -0.002871568723432934, + 1.0 + ], + [ + -0.0008610738917789185, + -0.0008032497856961529, + -0.00036544501024425233, + 0.009152627735763245, + -0.0075957653586852525, + -0.006916731974094204, + 0.764103 + ], + [ + 0.0005669243041467875, + 0.0005167447098422678, + 0.00037854606464942514, + 0.006823636133867809, + -0.00823451039312112, + -0.008014788164257996, + 0.0 + ], + [ + 0.003143253674176727, + 0.0016739263289398676, + 0.007135331240174302, + 0.06008450573076639, + -0.033651545312226694, + -0.04087821426523899, + 0.0 + ], + [ + -0.0007661189220078968, + 0.003256156379089145, + 0.022541483750037908, + 0.07404422972308833, + -0.028255782816444974, + -0.006562387053076825, + 0.0 + ], + [ + -8.11480918627705e-07, + -0.006252460202865948, + 0.04515270358169669, + -0.010193502194655478, + -0.11717127005464016, + 0.011145740732971284, + 0.0 + ], + [ + -0.007789640589161095, + -0.015915409675628517, + 0.04059592556420576, + -0.04775144803576137, + -0.04945049023541659, + -0.0141927027585674, + 0.0 + ], + [ + -0.021532571404829504, + -0.035347668137868396, + 0.002363658115640932, + -0.06257564332415157, + 0.07677918915263653, + -0.08431257378597136, + 0.0 + ], + [ + -0.020345161427891778, + -0.0281857156834915, + -0.031078138403131533, + -0.023024586076418833, + 0.1076964568783488, + -0.12525449311515813, + 0.0 + ], + [ + -0.013359467504711009, + -0.02327268439412542, + -0.03466226392624036, + 0.04801289805974306, + 0.02631875560595306, + -0.09137868856998438, + 0.0 + ], + [ + -0.004346009992757416, + -0.019530407300529934, + -0.033903355053127845, + 0.010509366023495155, + 0.07254080205981729, + -0.06683002033378882, + 0.0 + ], + [ + -0.003119759184618154, + -0.011856866825776833, + -0.02224160230006028, + 0.03889942623320967, + 0.0040993154400746565, + -0.04747777352949713, + 0.0 + ], + [ + -0.004637964080091261, + -0.006479651057670031, + -0.01567457789874196, + 0.04632281821558292, + 0.01038324869991887, + -0.06436469117298871, + 0.0 + ], + [ + -0.006714587552843099, + -0.0024039526321984403, + -0.004508648985130207, + -0.009432497412595914, + -0.008653785206351022, + -0.12444683169515922, + 0.0 + ], + [ + -0.003866275781692907, + -0.0033251141502173287, + -0.0007343742130419221, + -0.028868867608191216, + 0.053864539168993024, + -0.10468686955239243, + 0.0 + ], + [ + 0.0022919509730093823, + 0.004085712945565707, + 0.0038939568917671433, + -0.0046951358895612185, + -0.016596105917457884, + 0.018546833352307824, + 1.0 + ], + [ + 0.005318714907934369, + 0.005727875777703027, + 0.011612178152564623, + -0.01254121929266582, + -0.04603864247549021, + 0.013740132160441329, + 1.0 + ], + [ + 0.007501910041944337, + 0.0038866300514896063, + 0.02958128341547526, + -0.03921672907428475, + -0.03142967539624096, + 0.03597794376815541, + 1.0 + ], + [ + 0.010594644864664493, + 0.004532115638431154, + 0.03602503146388068, + -0.04560628225524475, + -0.05964118054212326, + 0.053714496558486965, + 1.0 + ], + [ + 0.009956132241105198, + 0.004503685500563791, + 0.030130209631565208, + -0.011637431804360438, + -0.05094277149114891, + 0.04333818244217721, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 309.5984191894531, + 166.72816467285156 + ], + [ + 308.4561767578125, + 172.78939819335938 + ], + [ + 312.895751953125, + 179.87646484375 + ], + [ + 285.029541015625, + 149.26901245117188 + ], + [ + 266.0941162109375, + 126.4078369140625 + ], + [ + 259.0746154785156, + 92.59095764160156 + ], + [ + 214.53338623046875, + 66.87258911132812 + ], + [ + 199.113525390625, + 59.45133590698242 + ], + [ + 214.07191467285156, + 81.67286682128906 + ], + [ + 219.54873657226562, + 92.97023010253906 + ], + [ + 220.80075073242188, + 106.70801544189453 + ], + [ + 219.98947143554688, + 112.04078674316406 + ], + [ + 221.3391571044922, + 113.42495727539062 + ], + [ + 221.41189575195312, + 123.81306457519531 + ], + [ + 225.76040649414062, + 136.7748260498047 + ], + [ + 229.73641967773438, + 145.2274169921875 + ], + [ + 231.0347137451172, + 149.06646728515625 + ], + [ + 230.75189208984375, + 150.20437622070312 + ], + [ + 230.84210205078125, + 150.50994873046875 + ], + [ + 230.3385009765625, + 143.97830200195312 + ], + [ + 228.88711547851562, + 101.47702026367188 + ], + [ + 225.6583251953125, + 53.37881088256836 + ], + [ + 224.2635498046875, + 42.839683532714844 + ], + [ + 264.06817626953125, + 88.14076232910156 + ], + [ + 285.264892578125, + 164.76541137695312 + ], + [ + 301.6436767578125, + 217.74612426757812 + ], + [ + 319.76300048828125, + 258.64501953125 + ], + [ + 326.9449462890625, + 283.47845458984375 + ], + [ + 326.1351318359375, + 283.740966796875 + ], + [ + 325.3690490722656, + 288.818115234375 + ], + [ + 326.8263854980469, + 304.81927490234375 + ], + [ + 326.227294921875, + 299.76495361328125 + ], + [ + 321.05291748046875, + 268.9888916015625 + ], + [ + 320.6148681640625, + 215.5858154296875 + ], + [ + 314.4086608886719, + 162.11512756347656 + ], + [ + 307.3751525878906, + 146.7654266357422 + ], + [ + 312.36480712890625, + 148.1683349609375 + ] + ], + "depth_max": 2.823561668395996, + "depth_min": 0.39485448598861694, + "intrinsic": [ + [ + 552.375, + 0.0, + 259.0 + ], + [ + 0.0, + 552.1181640625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.337649054126814e-05, + -5.96962017880287e-05, + 1.2255084584467113e-05 + ], + [ + -5.3378396842163056e-05, + 1.0, + -3.19620048685465e-05, + -7.924172678031027e-06 + ], + [ + 5.969449921394698e-05, + 3.196519173798151e-05, + 1.0, + 1.2065654118487146e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36 + ], + "object_trajectory": [ + [ + 237.5, + 162.25001525878906 + ], + [ + 237.5093536376953, + 162.56655883789062 + ], + [ + 237.450927734375, + 162.45278930664062 + ], + [ + 237.31915283203125, + 162.30931091308594 + ], + [ + 237.57192993164062, + 162.65187072753906 + ], + [ + 237.453857421875, + 162.32997131347656 + ], + [ + 237.06591796875, + 161.70458984375 + ], + [ + 237.0886993408203, + 162.52676391601562 + ], + [ + 237.1400146484375, + 162.31765747070312 + ], + [ + 237.4019317626953, + 161.4724578857422 + ], + [ + 237.63584899902344, + 161.4106903076172 + ], + [ + 237.85289001464844, + 161.35134887695312 + ], + [ + 237.97145080566406, + 161.28829956054688 + ], + [ + 237.69143676757812, + 161.5125732421875 + ], + [ + 236.62115478515625, + 162.55789184570312 + ], + [ + 236.28842163085938, + 163.19241333007812 + ], + [ + 236.6488494873047, + 163.31695556640625 + ], + [ + 237.73968505859375, + 163.62216186523438 + ], + [ + 237.6719512939453, + 163.91310119628906 + ], + [ + 235.0991973876953, + 159.8871612548828 + ], + [ + 235.04119873046875, + 120.11212921142578 + ], + [ + 234.92123413085938, + 71.69432830810547 + ], + [ + 235.2449188232422, + 59.767547607421875 + ], + [ + 271.0605163574219, + 117.52952575683594 + ], + [ + 289.8671569824219, + 184.69667053222656 + ], + [ + 304.498291015625, + 234.66000366210938 + ], + [ + 321.12042236328125, + 274.5570983886719 + ], + [ + 321.8454284667969, + 294.5662536621094 + ], + [ + 324.2137145996094, + 298.0650329589844 + ], + [ + 322.8983154296875, + 302.9496765136719 + ], + [ + 320.96832275390625, + 312.898681640625 + ], + [ + 321.2388610839844, + 313.25311279296875 + ], + [ + 322.20098876953125, + 311.6045837402344 + ], + [ + 323.86053466796875, + 310.2151184082031 + ], + [ + 322.0654602050781, + 308.9414367675781 + ], + [ + 322.98382568359375, + 308.3240661621094 + ], + [ + 323.3988952636719, + 307.81451416015625 + ] + ] +} \ No newline at end of file diff --git a/005463/lang.txt b/005463/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..bdbf9938a87b593324b7f7ad19f55f2c28d21d36 --- /dev/null +++ b/005463/lang.txt @@ -0,0 +1 @@ +take sushi out of pot cardboard fence diff --git a/005463/object.ply b/005463/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..4df92d8be3018a04248c9c2311881914b589515d Binary files /dev/null and b/005463/object.ply differ diff --git a/005463_v2/data.json b/005463_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..c968637d4d8bfcbeeef87cb3156ddfbf006b4b72 --- /dev/null +++ b/005463_v2/data.json @@ -0,0 +1,769 @@ +{ + "action_start": 12, + "action_end": 29, + "object_name": "silver lid", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.137253152234564e-10, + -5.800161045899088e-11, + -2.34043534552697e-10, + 3.0138402155551766e-07, + -6.821898861950933e-08, + 3.9263693448005565e-07, + 1.0 + ], + [ + -0.0009798783980338177, + 0.0014094437857886527, + 0.0056707733074007755, + 0.02977335802549842, + -0.027314309363748054, + -0.07715392627725362, + 1.0 + ], + [ + -0.00698407169071702, + 0.001635767888575973, + 0.009333963036243148, + 0.08121711760528266, + -0.011361793674211043, + -0.11806478358772403, + 1.0 + ], + [ + -0.013283742295668588, + 0.002164108918156507, + 0.006068976786159863, + 0.0051522794001362775, + -0.03199570135265551, + -0.16410900854693983, + 1.0 + ], + [ + -0.006940502756195954, + -0.006567040321971682, + -0.001006974734578281, + 0.06658554286180225, + -0.008584075187473209, + -0.18885430245604454, + 1.0 + ], + [ + -0.010564554262941173, + -0.006884059929845837, + -0.001621664365023201, + 0.05565699478676785, + -0.028744475016146062, + -0.18294610931960317, + 1.0 + ], + [ + -0.002204347396964068, + -0.007878012007864255, + -0.008410851169785932, + 0.06494558618571851, + -0.015919881290281778, + -0.15858380285144455, + 1.0 + ], + [ + -0.0009308564098800542, + -0.01255855859239581, + -0.010295718098993878, + 0.0640569633832689, + 0.006405497021760542, + -0.1267852183937244, + 1.0 + ], + [ + -0.001910088219994277, + -0.010754168079239484, + -0.01812520207339547, + 0.05108571713811754, + 0.02835056967901135, + -0.11249385171976109, + 1.0 + ], + [ + -0.003899784200299794, + -0.0019453145259036297, + -0.01158536020405252, + 0.032609098858261576, + 0.01275504786582551, + -0.03726814250488736, + 1.0 + ], + [ + 0.0025186913710818493, + 0.0016727320200114193, + -0.012418658065680308, + 0.024862589965785966, + 0.017627535586301483, + -0.0017187095299948426, + 1.0 + ], + [ + 0.004295912706322402, + -0.003217582280110015, + -0.008155714170953194, + 0.03246309482981489, + 0.021815422107442535, + 0.005278072228439044, + 1.0 + ], + [ + 0.002064228871713758, + -0.0029147921181311015, + -0.008693521064884715, + 0.007178881172798024, + 0.024177388298240555, + -0.005518418065027394, + 1.0 + ], + [ + 0.000539159508680831, + -0.0005620244023719634, + -0.0022797601450651826, + -0.021511775859882783, + -0.01886982106359073, + 0.019704510513528964, + 0.0 + ], + [ + 0.0005079777679273811, + -0.0005677717342150862, + -0.002776816800219629, + -0.006659015496219249, + 0.015493912496988059, + 0.004018203632902144, + 0.0 + ], + [ + -0.00023894964690907017, + -0.001156363845549263, + -0.0028376132930463824, + 0.006775037867647024, + 0.013534833662855301, + 0.0023528446486142033, + 0.0 + ], + [ + 0.00019601025318538579, + -0.0010323004742413405, + -0.0014026466259381785, + -0.0008959804700415588, + 0.008628174944156457, + 0.0016427235229849095, + 0.0 + ], + [ + -0.0004373718976116714, + -0.0013074434398072515, + -0.0012395389915100946, + -0.011338955999354498, + 0.011007298476850565, + -0.0010289655659919473, + 0.0 + ], + [ + 1.2079644485241126e-06, + -0.001127893507951644, + 0.005380965624307203, + -0.01309231249872695, + -0.004847897783243297, + -0.002279494135610637, + 0.0 + ], + [ + -0.003089458310828075, + -0.0020520585542823794, + 0.011158103054021686, + -0.02182039559070151, + 0.023570261063315806, + 0.002167803070751048, + 0.0 + ], + [ + -0.008025950798628001, + 0.004013825258488368, + 0.017994884387031496, + -0.028597285517535282, + -0.027425003519774983, + 0.0346325292893581, + 0.0 + ], + [ + -0.0003383722979365955, + 0.014895411015968155, + 0.020174531546351022, + 0.004777063881567237, + -0.05044126294627768, + 0.09384724280132498, + 0.0 + ], + [ + 0.006148679338820184, + 0.01960431926352875, + 0.016069096240443, + -0.0049887895323062325, + -0.053098900978455044, + 0.11533296735678097, + 0.0 + ], + [ + 0.004158003049304082, + 0.017365056092900892, + 0.0026701711292035912, + 0.001844626581405643, + -0.0013488776356109344, + 0.10779758945016982, + 0.0 + ], + [ + -0.007118650747715782, + 0.010923865120653756, + -0.015056661005847224, + -0.04052277724497812, + 0.03830818508554179, + 0.07287455464062427, + 0.0 + ], + [ + -0.009717168889671834, + 0.005100229183793936, + -0.012484464514328934, + 0.0031348294327480093, + 0.03285107134290834, + 0.05194426915154959, + 0.0 + ], + [ + -0.007135283930330583, + 0.0057985874712584914, + -0.022044859528959022, + 0.03422997524582083, + 0.06770076324445795, + 0.07194607446348258, + 0.0 + ], + [ + -0.000617126417094771, + 0.01167941042045521, + -0.016114713744127474, + 0.010287976694397814, + 0.0252098537091241, + 0.058438703334063986, + 0.0 + ], + [ + -0.004838094791007663, + 0.003243951642868337, + -0.01414070051812939, + 0.03387302497147855, + 0.03555491105830401, + -0.0044014873190663896, + 0.0 + ], + [ + -0.0022823803800814946, + -0.002192079166568897, + 0.0002511407679877684, + 0.0007436793527452192, + -0.0027619492310894766, + -0.022742555118020667, + 0.0 + ], + [ + -0.003341498692446987, + -0.0008634483872803599, + 0.0024610011801726736, + -0.04022183700010508, + -0.009787739245373928, + 0.013508862351245168, + 1.0 + ], + [ + -0.0013408412296819772, + -0.00010746910245719443, + 0.012107028038549343, + -0.012049989713438352, + -0.006379436333894172, + 0.024478196867839676, + 1.0 + ], + [ + 0.0025178602944292416, + -0.000688067634647304, + 0.010213778442849842, + -0.020549570595617375, + -0.020965800915166543, + 0.011300932366391798, + 1.0 + ], + [ + 0.00041747974900147033, + -0.002410507113471457, + 0.021351569860720163, + 0.00605475588265956, + -0.06164156293232424, + 0.01234310880866323, + 1.0 + ], + [ + 0.0025832568140315426, + -0.007128060440861821, + 0.02100237063817686, + -0.024857228807007234, + -0.05500559675663054, + -0.030436260710084442, + 1.0 + ], + [ + 0.005671006066801376, + -0.009791170503328974, + 0.008664886922046776, + -0.013925251387497584, + -0.020966729143304646, + -0.024036670499902667, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 431.3271789550781, + 192.23443603515625 + ], + [ + 430.54840087890625, + 195.60121154785156 + ], + [ + 425.55352783203125, + 207.36666870117188 + ], + [ + 415.9370422363281, + 210.32064819335938 + ], + [ + 414.01934814453125, + 212.81549072265625 + ], + [ + 406.1395263671875, + 214.22579956054688 + ], + [ + 411.0821533203125, + 236.68875122070312 + ], + [ + 414.9105224609375, + 248.5415802001953 + ], + [ + 431.5727233886719, + 261.070068359375 + ], + [ + 443.46331787109375, + 285.50836181640625 + ], + [ + 445.8682861328125, + 307.1689453125 + ], + [ + 436.6669921875, + 318.55511474609375 + ], + [ + 437.0118103027344, + 324.39013671875 + ], + [ + 445.23681640625, + 332.37841796875 + ], + [ + 449.6878662109375, + 333.16162109375 + ], + [ + 450.547119140625, + 338.0524597167969 + ], + [ + 442.42596435546875, + 341.49908447265625 + ], + [ + 441.46673583984375, + 329.9300537109375 + ], + [ + 442.9363708496094, + 329.43603515625 + ], + [ + 445.7210998535156, + 337.2579345703125 + ], + [ + 443.74359130859375, + 340.9679870605469 + ], + [ + 447.3811340332031, + 338.36993408203125 + ], + [ + 434.4735107421875, + 317.0355529785156 + ], + [ + 416.99957275390625, + 289.1278991699219 + ], + [ + 388.2523498535156, + 264.48699951171875 + ], + [ + 380.2850341796875, + 274.3720703125 + ], + [ + 353.4844055175781, + 286.8301696777344 + ], + [ + 343.3204650878906, + 308.0726318359375 + ], + [ + 331.87353515625, + 322.31939697265625 + ], + [ + 320.3010559082031, + 327.33477783203125 + ], + [ + 320.3589172363281, + 328.1268310546875 + ], + [ + 320.8489990234375, + 330.90924072265625 + ], + [ + 314.60186767578125, + 340.5401611328125 + ], + [ + 318.25335693359375, + 334.578857421875 + ], + [ + 318.89154052734375, + 316.1848449707031 + ], + [ + 327.1332702636719, + 295.0165100097656 + ], + [ + 334.22869873046875, + 287.21209716796875 + ], + [ + 344.3636474609375, + 285.08447265625 + ], + [ + 345.6029968261719, + 285.93121337890625 + ] + ], + "depth_max": 1.4766056537628174, + "depth_min": 0.333515465259552, + "intrinsic": [ + [ + 531.980712890625, + 0.0, + 259.0 + ], + [ + 0.0, + 531.5428466796875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -8.197127385756175e-07, + 1.9015078578377143e-05, + 5.584492100751959e-06 + ], + [ + 8.202646313293371e-07, + 1.0, + -2.90231873805169e-05, + -4.9978984861809295e-06 + ], + [ + -1.9015053112525493e-05, + 2.902320193243213e-05, + 1.0, + -4.862832429353148e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 38 + ], + "object_trajectory": [ + [ + 409.0, + 346.2500305175781 + ], + [ + 408.85833740234375, + 345.978271484375 + ], + [ + 408.2426452636719, + 345.6180725097656 + ], + [ + 408.66790771484375, + 346.6183776855469 + ], + [ + 408.85968017578125, + 346.7240905761719 + ], + [ + 409.35321044921875, + 346.90106201171875 + ], + [ + 409.87017822265625, + 347.326416015625 + ], + [ + 409.8774719238281, + 347.1273498535156 + ], + [ + 409.9113464355469, + 347.3541259765625 + ], + [ + 409.8252258300781, + 347.095458984375 + ], + [ + 409.8040771484375, + 347.1739501953125 + ], + [ + 409.5791931152344, + 347.3753356933594 + ], + [ + 409.351318359375, + 347.7276611328125 + ], + [ + 409.87335205078125, + 348.19293212890625 + ], + [ + 410.0361022949219, + 348.1159362792969 + ], + [ + 410.1481628417969, + 347.73785400390625 + ], + [ + 410.8961181640625, + 347.7183837890625 + ], + [ + 412.8780212402344, + 345.9164123535156 + ], + [ + 414.0856018066406, + 345.4312438964844 + ], + [ + 414.2670593261719, + 345.21343994140625 + ], + [ + 412.8139953613281, + 348.63714599609375 + ], + [ + 414.8076171875, + 348.59466552734375 + ], + [ + 406.9258117675781, + 343.04168701171875 + ], + [ + 410.3633117675781, + 322.07427978515625 + ], + [ + 388.0116882324219, + 299.0962829589844 + ], + [ + 370.6547546386719, + 307.3899230957031 + ], + [ + 362.4161071777344, + 316.1678771972656 + ], + [ + 347.0389099121094, + 336.69549560546875 + ], + [ + 346.9466857910156, + 340.38482666015625 + ], + [ + 336.9066467285156, + 343.62005615234375 + ], + [ + 337.49713134765625, + 343.47442626953125 + ], + [ + 336.873046875, + 343.8560485839844 + ], + [ + 335.95794677734375, + 344.62591552734375 + ], + [ + 320.7008056640625, + 343.6141052246094 + ], + [ + 320.3830261230469, + 342.510009765625 + ], + [ + 319.97369384765625, + 340.9377136230469 + ], + [ + 316.220703125, + 351.55474853515625 + ], + [ + 319.2965087890625, + 340.9370422363281 + ], + [ + 319.4012145996094, + 341.118896484375 + ] + ] +} \ No newline at end of file diff --git a/005463_v2/lang.txt b/005463_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..0090d9dbd4dece7c89e96f20e4cebdc417001fd3 --- /dev/null +++ b/005463_v2/lang.txt @@ -0,0 +1 @@ +put the silver lid on the right side burner diff --git a/005476/FAIL b/005476/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/005476/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/005485/FAIL b/005485/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/005485/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/005489/FAIL b/005489/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/005489/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/005499_v2/FAIL b/005499_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/005499_v2/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/005587/data.json b/005587/data.json new file mode 100644 index 0000000000000000000000000000000000000000..c520212a8a0438431e54a269cd4dfdc1494396a1 --- /dev/null +++ b/005587/data.json @@ -0,0 +1,329 @@ +{ + "action_start": 5, + "action_end": 13, + "object_name": "bowl", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.889866, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "gripper_actions": [ + [ + 0.0, + 0.0, + 0.0, + 2.272601970267911e-08, + -4.767798822060756e-08, + -1.4818596319697126e-07, + 1.0 + ], + [ + -0.003016878111648358, + 1.488478099581636e-05, + -0.016464678211581027, + -0.03519033296779201, + -0.003786174853039071, + -0.0005255379999018502, + 1.0 + ], + [ + -0.0014301150950600805, + 0.0005296118765308055, + -0.015716460074290325, + -0.03823448204282071, + -0.025108070913619197, + 0.006215323279927755, + 1.0 + ], + [ + -0.0021772000204381414, + 0.0001545345305736523, + -0.009569909913977166, + -0.011331801526367518, + -0.004161869931610333, + 0.0019666164526780613, + 1.0 + ], + [ + -0.0015619918688302148, + 0.003337220003912955, + -0.006651637793777934, + -0.00509833755820709, + 0.00021479256295039214, + -0.012003260968960013, + 1.0 + ], + [ + -0.0019207584914628373, + 0.002344325097558164, + -0.011299466403100047, + -0.007477634101580555, + -0.010825366808361447, + 0.003845221110452681, + 0.889866 + ], + [ + -0.0009502631534853423, + 7.267195536592164e-06, + -0.008787078968194875, + -0.0053657359844570835, + -0.0032585391535401988, + 0.01905327516038042, + 0.0 + ], + [ + -0.0008968114869755128, + -0.00018961264259859112, + -0.002926862095935151, + -0.006303244071382139, + -0.0006445593281937031, + 0.009547861297440606, + 0.0 + ], + [ + -0.00014386109126957036, + -0.0019527411565077868, + 0.0032101709178375733, + 0.006751236025095164, + 0.005051476411008786, + 0.01039255719926808, + 0.0 + ], + [ + -0.00017732199220621414, + -0.001675226393903717, + 0.013107880415004994, + 0.020671154181826003, + 0.006647112338687108, + -0.001905442731091073, + 0.0 + ], + [ + -0.0028169616298643896, + 0.00291634901192106, + 0.025065467754125915, + 0.038249931269684276, + 0.01255899598249077, + -0.002849884741162755, + 0.0 + ], + [ + -0.003871003379816773, + 0.008121948597048692, + 0.037110219528469976, + 0.037011207790362065, + 0.014852077925923864, + -0.02617350214806044, + 0.0 + ], + [ + 0.0008515348504885556, + 0.013090083409468739, + 0.02922879066327249, + 0.07096512819419946, + 0.004472403618899839, + -0.02929276216197285, + 0.0 + ], + [ + 0.004619228088521887, + 0.0066394739973727745, + 0.006338803202368459, + -0.0024969520352300005, + -0.010513384282499247, + -0.014199781766757867, + 0.0 + ], + [ + 0.0015807812242809582, + -0.0060525280984966845, + 0.0015211562198635953, + 0.0058200790692539885, + -0.0025831742956389115, + 0.0015584116324652304, + 0.0 + ] + ], + "gripper_centers": [ + [ + 184.8955841064453, + 91.71502685546875 + ], + [ + 185.00115966796875, + 91.7279052734375 + ], + [ + 185.50616455078125, + 106.36199951171875 + ], + [ + 194.21121215820312, + 130.11300659179688 + ], + [ + 189.49856567382812, + 151.14093017578125 + ], + [ + 188.0308380126953, + 160.58514404296875 + ], + [ + 188.6357421875, + 165.95401000976562 + ], + [ + 184.67034912109375, + 182.5753173828125 + ], + [ + 182.72952270507812, + 188.52590942382812 + ], + [ + 181.19468688964844, + 190.26123046875 + ], + [ + 180.65469360351562, + 188.07461547851562 + ], + [ + 179.64590454101562, + 188.1654815673828 + ], + [ + 166.76187133789062, + 155.28759765625 + ], + [ + 159.63352966308594, + 113.21310424804688 + ], + [ + 143.93212890625, + 71.27322387695312 + ] + ], + "depth_max": 1.4165380001068115, + "depth_min": 0.6792784333229065, + "intrinsic": [ + [ + 610.1314086914062, + 0.0, + 259.0 + ], + [ + 0.0, + 609.5582275390625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 0.00010519886563997716, + -1.6316571418428794e-05, + -4.617768354364671e-06 + ], + [ + -0.00010519889474380761, + 1.0, + -1.996112814595108e-06, + -2.4960754672065377e-05 + ], + [ + 1.6316360415657982e-05, + 1.9978290310973534e-06, + 1.0, + 3.665625990834087e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 14 + ], + "object_trajectory": [ + [ + 215.0, + 192.75001525878906 + ], + [ + 215.0897216796875, + 192.76922607421875 + ], + [ + 214.960205078125, + 192.8441162109375 + ], + [ + 214.83786010742188, + 192.8336181640625 + ], + [ + 214.4923553466797, + 193.2779541015625 + ], + [ + 214.3085479736328, + 193.4874725341797 + ], + [ + 214.3114013671875, + 193.2442626953125 + ], + [ + 214.4423065185547, + 193.25514221191406 + ], + [ + 215.6597442626953, + 192.95526123046875 + ], + [ + 223.63571166992188, + 193.67967224121094 + ], + [ + 224.57754516601562, + 198.56689453125 + ], + [ + 222.1012725830078, + 204.08840942382812 + ], + [ + 207.8498077392578, + 169.40809631347656 + ], + [ + 194.63209533691406, + 130.95773315429688 + ], + [ + 179.1375732421875, + 93.59776306152344 + ] + ] +} \ No newline at end of file diff --git a/005587/lang.txt b/005587/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..8edd4c055c2fca38ff0ffeb89b3ec18a191d0754 --- /dev/null +++ b/005587/lang.txt @@ -0,0 +1 @@ +lift bowl diff --git a/005609/FAIL b/005609/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/005609/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/005610/data.json b/005610/data.json new file mode 100644 index 0000000000000000000000000000000000000000..11f8ef4911387d728567569fa8d7cb01151bda1f --- /dev/null +++ b/005610/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 15, + "action_end": 25, + "object_name": "can", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.28254, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.2327638909681582e-11, + 2.809441568274451e-11, + -1.3756751293669822e-10, + 6.953380815269759e-07, + -2.9863305741849393e-07, + 1.8865403613277738e-07, + 1.0 + ], + [ + 0.004523898764456469, + -0.037424695299260846, + 0.014941834023590117, + 0.02598053344853915, + -0.009388766357922308, + 0.02625736360908261, + 1.0 + ], + [ + 0.007515963527472358, + -0.03404366224014532, + 0.021395368471641904, + 0.002828614453584435, + 0.024672149556982416, + 0.037554729963822565, + 1.0 + ], + [ + 0.016520070249163576, + -0.020827264760366185, + 0.012295426170924911, + 0.008798292406150524, + -0.07052001872742068, + -0.011200342979119858, + 1.0 + ], + [ + 0.02292401665088739, + -0.00681000690425472, + -0.000966400219347241, + 0.012258885026070334, + -0.05945758211146866, + -0.0490070025920608, + 1.0 + ], + [ + 0.018317355682062775, + 0.001801330607676871, + -0.00617976393331679, + 0.011233016556226893, + -0.037506588375764, + -0.02026471257020677, + 1.0 + ], + [ + 0.01624809109873071, + 0.006488194488314364, + -0.006606166028413268, + 0.014649806898606735, + -0.07318972459955146, + -0.04253761202814513, + 1.0 + ], + [ + 0.013919668049826195, + 0.008318081728262691, + -0.005518282703897731, + 0.01288135052831623, + -0.040260546127209376, + -0.04024991748289192, + 1.0 + ], + [ + 0.012376763338100893, + 0.012024371291820532, + -0.015936416261167777, + -0.011027495892731424, + -0.04232876785318093, + -0.03033383218386579, + 1.0 + ], + [ + 0.009315744151301708, + 0.004537719995774639, + -0.013849569733657932, + -0.019125529205560095, + -0.029693184891795767, + -0.011956645368170846, + 1.0 + ], + [ + 0.006874641307166474, + 0.004029951704147383, + -0.0041772675743113885, + -0.020423291771026, + 0.0043819774122264375, + -0.026235844302464863, + 1.0 + ], + [ + 0.006928594303095392, + 0.002936734214918177, + -0.004089648674268323, + -0.008129726044733674, + -0.013082044767840648, + -0.022231856160943576, + 1.0 + ], + [ + 0.00538757778189447, + -0.0031239017091785615, + -0.004578462884114634, + -0.019756565305197905, + -0.011407780853319694, + -0.01264099990645437, + 1.0 + ], + [ + 0.005479692614788534, + -0.002322812060444046, + -0.005103102699531369, + -0.028147501408259445, + 0.005977543261588786, + -0.014419767930659714, + 1.0 + ], + [ + 0.005112263119293747, + 0.001073741681861154, + -0.007590598046518772, + -0.016434754575297975, + -0.01618937496327617, + -0.009539442325231691, + 1.0 + ], + [ + 0.006827834858783743, + 0.0006945118356272845, + -0.00588290516734586, + -0.019198790869301947, + -0.015080061082820869, + -0.0031283424525006824, + 1.0 + ], + [ + 0.0052841450941877866, + -0.002628088272256565, + -0.0006199803916178623, + -0.01762578093917998, + -0.011120337221911475, + 0.006363444829893051, + 0.0 + ], + [ + -0.003566410063204739, + -0.00850857820716007, + 0.009463580991507937, + 0.005644876356671612, + 0.006535141934320923, + 0.01448082732904738, + 0.0 + ], + [ + -0.016597144797193042, + -0.015417181383870604, + 0.023559198425345786, + 0.017887600234223214, + 0.04803927608287208, + 0.04443675684352137, + 0.0 + ], + [ + -0.023289120011223408, + -0.012391504140137649, + 0.027039142586668806, + 0.047827606200536485, + 0.025193304834787555, + 0.07260784836325238, + 0.0 + ], + [ + -0.019193565059026363, + -0.010081233334005998, + 0.027299993026235425, + 0.06822920206863603, + 0.010645865429898206, + 0.05908239804099296, + 0.0 + ], + [ + -0.015372028131709736, + -0.036339583103501175, + 0.023486821319638126, + 0.015857682454349976, + 0.03876328579527856, + 0.08809242969188269, + 0.0 + ], + [ + -0.010264956819143245, + -0.0369913792393113, + 0.008218898821703874, + -0.03506509483341085, + 0.056261979402370585, + 0.05428539052854029, + 0.0 + ], + [ + -0.005615564105810211, + -0.029493368251699494, + -0.007070274454605147, + -0.06515982044474526, + 0.03080868236809092, + 0.04641320222348665, + 0.0 + ], + [ + -0.007425615952362907, + -0.017551923185338103, + -0.003198749222825148, + -0.02953709595019171, + 0.01143859759673186, + 0.04993355159145125, + 0.0 + ], + [ + -0.007255457740607263, + -0.0008896584679306263, + -0.007628748076812575, + -0.030224643667812228, + -0.011671005329349686, + -0.011289172926609978, + 0.28254 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 141.59426879882812, + 63.17790222167969 + ], + [ + 141.64065551757812, + 63.30638122558594 + ], + [ + 142.68756103515625, + 79.92922973632812 + ], + [ + 181.48989868164062, + 88.09162902832031 + ], + [ + 250.55865478515625, + 70.01419830322266 + ], + [ + 258.27667236328125, + 60.1272087097168 + ], + [ + 282.28515625, + 37.267906188964844 + ], + [ + 306.6012268066406, + 42.34545135498047 + ], + [ + 313.68731689453125, + 36.56391525268555 + ], + [ + 314.57147216796875, + 40.29230880737305 + ], + [ + 309.1698303222656, + 49.06554412841797 + ], + [ + 300.42327880859375, + 58.64537048339844 + ], + [ + 306.33148193359375, + 54.34637451171875 + ], + [ + 313.7588195800781, + 59.11748123168945 + ], + [ + 317.294921875, + 61.20746612548828 + ], + [ + 323.249267578125, + 67.81755828857422 + ], + [ + 326.7154846191406, + 72.37619018554688 + ], + [ + 327.7247314453125, + 76.05911254882812 + ], + [ + 328.97821044921875, + 74.95401000976562 + ], + [ + 328.4287109375, + 76.03640747070312 + ], + [ + 331.3373107910156, + 65.64785766601562 + ], + [ + 344.38232421875, + 43.49055480957031 + ], + [ + 357.89031982421875, + 25.116086959838867 + ], + [ + 374.46392822265625, + 24.549625396728516 + ], + [ + 449.7918395996094, + 21.28008270263672 + ], + [ + 488.0954284667969, + 31.560640335083008 + ], + [ + 482.8283386230469, + 32.69799041748047 + ], + [ + 487.67633056640625, + 60.189613342285156 + ], + [ + 490.0048828125, + 60.587738037109375 + ] + ], + "depth_max": 1.736562728881836, + "depth_min": 0.599373459815979, + "intrinsic": [ + [ + 553.7520751953125, + 0.0, + 259.0 + ], + [ + 0.0, + 554.4264526367188, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.925583925796673e-05, + -7.794543489580974e-05, + 6.7830687839887105e-06 + ], + [ + -4.926137626171112e-05, + 1.0, + -7.10158419678919e-05, + -2.941628008557018e-05 + ], + [ + 7.794194243615493e-05, + 7.101968367351219e-05, + 1.0, + -3.542591002769768e-07 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 335.25, + 98.0 + ], + [ + 335.56011962890625, + 98.10612487792969 + ], + [ + 335.5757751464844, + 97.73960876464844 + ], + [ + 335.6512451171875, + 97.7015380859375 + ], + [ + 335.7102966308594, + 97.91001892089844 + ], + [ + 335.60400390625, + 98.17252349853516 + ], + [ + 335.57330322265625, + 98.32501983642578 + ], + [ + 335.47119140625, + 97.89390563964844 + ], + [ + 335.5180969238281, + 98.18578338623047 + ], + [ + 335.56512451171875, + 97.90409088134766 + ], + [ + 335.4330139160156, + 97.751708984375 + ], + [ + 335.167236328125, + 96.82305908203125 + ], + [ + 336.8245849609375, + 92.56477355957031 + ], + [ + 337.2948913574219, + 92.188232421875 + ], + [ + 338.5700988769531, + 92.02757263183594 + ], + [ + 341.9060974121094, + 91.32685852050781 + ], + [ + 343.4300537109375, + 89.95503997802734 + ], + [ + 345.3552551269531, + 86.02581787109375 + ], + [ + 346.6844177246094, + 84.32054138183594 + ], + [ + 346.3332214355469, + 84.41877746582031 + ], + [ + 347.6873474121094, + 77.07877349853516 + ], + [ + 350.2807922363281, + 66.90703582763672 + ], + [ + 362.1301574707031, + 45.83234405517578 + ], + [ + 374.1708679199219, + 46.83345413208008 + ], + [ + 431.20751953125, + 59.027687072753906 + ], + [ + 452.9383850097656, + 79.34762573242188 + ], + [ + 461.45135498046875, + 76.15443420410156 + ], + [ + 459.9682922363281, + 92.45112609863281 + ], + [ + 459.557861328125, + 149.90469360351562 + ] + ] +} \ No newline at end of file diff --git a/005610/lang.txt b/005610/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..3ac7db67ebe42f72466e2a0aaed073c6b2535b05 --- /dev/null +++ b/005610/lang.txt @@ -0,0 +1 @@ +put can in pot diff --git a/005610/object.ply b/005610/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..9e69a351ea2803a2a1ce8cd15cf01672edba8057 Binary files /dev/null and b/005610/object.ply differ diff --git a/005629/FAIL b/005629/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/005629/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/005642/data.json b/005642/data.json new file mode 100644 index 0000000000000000000000000000000000000000..2222a1034b7aa6aa1ec345f4706a4850a587d4e3 --- /dev/null +++ b/005642/data.json @@ -0,0 +1,513 @@ +{ + "action_start": 11, + "action_end": 19, + "object_name": "can", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7159949999999999, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 6.325459600553529e-10, + -5.6623900013264006e-11, + 1.0835803088138363e-10, + -3.558818872993376e-07, + 7.962495333634599e-07, + 4.867163261010822e-07, + 1.0 + ], + [ + 0.002868242363096851, + 0.03540287871860112, + 0.009948044717868518, + 0.04575954219985766, + -0.08103573200890436, + -0.05643657708959638, + 1.0 + ], + [ + 0.008596909335444658, + 0.021485041995805698, + 0.002129134752238915, + 0.05093813373618136, + -0.09440339685676921, + -0.014698906732988687, + 1.0 + ], + [ + 0.024493034430273286, + 0.020647135775621592, + 0.001654834440371039, + 0.03984759321035601, + -0.0788709153871524, + -0.04308717214138873, + 1.0 + ], + [ + 0.025695699943475037, + 0.012245823234547842, + -0.0036931051088982952, + -0.01087783890177656, + -0.049246952816740616, + -0.03664859279008104, + 1.0 + ], + [ + 0.01795271785896202, + 0.013063922132687228, + -0.00678315126970834, + -0.03902875435427959, + -0.03559364989646124, + -0.0418120514275961, + 1.0 + ], + [ + 0.012560231938980093, + 0.011987398716089337, + -0.005132972977059891, + -0.0026736498675131166, + -0.0329627068368491, + -0.022138905194826, + 1.0 + ], + [ + 0.00626035271873987, + 0.010935853325519034, + -0.0020548484156380845, + 0.007682478602356518, + -0.02794572056916595, + -0.000771368817528251, + 1.0 + ], + [ + 0.0065698992826368485, + 0.009943047338010453, + -0.0008408186731453868, + 0.012592215005266366, + -0.02220415538160624, + -0.009383999539520514, + 1.0 + ], + [ + 0.009977888928507594, + 0.001041302375414107, + -0.002899100814386886, + -0.011990274161800395, + -0.028906047855016548, + -0.02755552341451734, + 1.0 + ], + [ + 0.011292508088752262, + -0.0006698250702708436, + -0.003930820802276788, + -0.004961644677654125, + -0.026824925611965488, + -0.03357359971114168, + 1.0 + ], + [ + 0.008401724239255726, + 0.003222031272053817, + 0.0007674454059966654, + -0.0032584043971102482, + -0.0237728158917424, + -0.023240880296617666, + 1.0 + ], + [ + -0.00778075558274699, + -0.007307067752478609, + 0.007746337260847488, + -0.009899547329992545, + 0.03009068374016319, + 0.03748930845987478, + 0.0 + ], + [ + -0.023959513989178227, + -0.004546017463686942, + 0.010243298669227876, + 0.002246622453391882, + 0.03616938942525984, + 0.03936959852831046, + 0.0 + ], + [ + -0.03879194022868565, + 0.014413371266905041, + 0.01717620198132553, + 0.05270660797639835, + 0.07728783005084888, + 0.01346792338247494, + 0.0 + ], + [ + -0.029578290078248026, + 0.03279855412687198, + 0.020847227865899556, + 0.09779212361548564, + 0.05338688819445408, + -0.025048973025262284, + 0.0 + ], + [ + -0.014641720474177444, + 0.03757592978543749, + 0.002064019834380232, + 0.043234044398169746, + 0.02758458282468673, + -0.057035592411538036, + 0.0 + ], + [ + -0.006172322895638294, + 0.027155199949787268, + -0.00638977806784774, + 0.04693879022431555, + 0.0018098240456879515, + -0.029904145821725167, + 0.0 + ], + [ + -0.0033994331521718935, + 0.01884538412931834, + -0.010428093004275316, + -0.04635849302115086, + 0.010528369825805914, + -0.046211036258728404, + 0.0 + ], + [ + -0.00010203967922933765, + 0.0017068052377157833, + -0.011233104310389846, + -0.03190131771605456, + -0.006299396027962877, + -0.014982594957162792, + 0.7159949999999999 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 551.2003173828125, + 255.86553955078125 + ], + [ + 550.9324951171875, + 256.0045166015625 + ], + [ + 527.3032836914062, + 274.34442138671875 + ], + [ + 483.0998229980469, + 241.41705322265625 + ], + [ + 453.6738586425781, + 218.78204345703125 + ], + [ + 449.800537109375, + 189.9627685546875 + ], + [ + 451.53668212890625, + 169.012939453125 + ], + [ + 442.6895751953125, + 161.31663513183594 + ], + [ + 427.9399719238281, + 152.00262451171875 + ], + [ + 419.81439208984375, + 143.71002197265625 + ], + [ + 420.2066955566406, + 141.68084716796875 + ], + [ + 421.92755126953125, + 137.02890014648438 + ], + [ + 429.00457763671875, + 136.92442321777344 + ], + [ + 432.10235595703125, + 132.00872802734375 + ], + [ + 423.3428039550781, + 135.1969451904297 + ], + [ + 412.40472412109375, + 139.73190307617188 + ], + [ + 385.478271484375, + 129.10037231445312 + ], + [ + 328.74041748046875, + 102.0845947265625 + ], + [ + 271.4108581542969, + 94.27438354492188 + ], + [ + 243.721435546875, + 94.28427124023438 + ], + [ + 240.5663604736328, + 91.78977966308594 + ], + [ + 218.5761260986328, + 102.16183471679688 + ], + [ + 228.5400390625, + 101.6591796875 + ], + [ + 228.8681640625, + 101.22228240966797 + ], + [ + 228.8934783935547, + 100.97032165527344 + ] + ], + "depth_max": 1.911683201789856, + "depth_min": 0.3613435626029968, + "intrinsic": [ + [ + 581.4735717773438, + 0.0, + 259.0 + ], + [ + 0.0, + 580.9176635742188, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.608710514730774e-05, + 8.752696885494515e-06, + -3.611364809330553e-05 + ], + [ + -4.60866758658085e-05, + 1.0, + -4.914727105642669e-05, + -1.9693508875207044e-05 + ], + [ + -8.75496152730193e-06, + 4.914687087875791e-05, + 1.0, + 3.5341232432983816e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24 + ], + "object_trajectory": [ + [ + 442.0, + 136.25001525878906 + ], + [ + 442.1453857421875, + 136.50599670410156 + ], + [ + 442.2413330078125, + 136.54153442382812 + ], + [ + 441.91949462890625, + 136.78494262695312 + ], + [ + 442.0704345703125, + 136.32327270507812 + ], + [ + 442.0982666015625, + 136.44927978515625 + ], + [ + 442.18817138671875, + 136.8876495361328 + ], + [ + 441.9757995605469, + 136.73355102539062 + ], + [ + 441.91015625, + 136.80117797851562 + ], + [ + 441.5760498046875, + 136.93673706054688 + ], + [ + 441.6725158691406, + 137.16998291015625 + ], + [ + 440.9905700683594, + 135.77528381347656 + ], + [ + 443.0703125, + 135.71006774902344 + ], + [ + 443.2838134765625, + 133.18185424804688 + ], + [ + 435.5837097167969, + 136.7518310546875 + ], + [ + 424.51141357421875, + 141.3492889404297 + ], + [ + 403.130859375, + 129.91397094726562 + ], + [ + 341.1723937988281, + 103.11414337158203 + ], + [ + 279.70550537109375, + 97.60921478271484 + ], + [ + 247.5783233642578, + 95.03694915771484 + ], + [ + 241.95657348632812, + 101.4959945678711 + ], + [ + 219.49459838867188, + 115.74250793457031 + ], + [ + 235.53228759765625, + 147.47903442382812 + ], + [ + 218.35137939453125, + 153.69174194335938 + ], + [ + 225.27142333984375, + 152.485107421875 + ] + ] +} \ No newline at end of file diff --git a/005642/lang.txt b/005642/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..3ac7db67ebe42f72466e2a0aaed073c6b2535b05 --- /dev/null +++ b/005642/lang.txt @@ -0,0 +1 @@ +put can in pot diff --git a/005642/object.ply b/005642/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..b6dff86f32f716739f3fe651c33301aa00410a23 Binary files /dev/null and b/005642/object.ply differ diff --git a/005643_v2/data.json b/005643_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..5d14e9052fc9e5745ad985bce73dfa4d76b5d760 --- /dev/null +++ b/005643_v2/data.json @@ -0,0 +1,549 @@ +{ + "action_start": 4, + "action_end": 18, + "object_name": "silver pot lid", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.786813, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 3.21677740000581e-10, + 8.041016810733659e-11, + 7.579162427870378e-10, + 3.993834091327731e-07, + -5.22490745289499e-07, + -5.934577106068548e-07, + 1.0 + ], + [ + -0.006269749247605205, + 0.004758320601449997, + -0.006705267057524951, + -0.011728970155690039, + 0.007431489688482194, + 0.005902818288762558, + 1.0 + ], + [ + -0.00661925025766652, + 0.005885772980289836, + -0.011760019704042704, + 0.01757136587342911, + 0.025237579152565255, + 0.01768617875138661, + 1.0 + ], + [ + -0.0019366932842305173, + 0.005036711205575951, + -0.007266782861170874, + -0.00048045067578450203, + 0.019181702300464093, + 0.01184536602505236, + 1.0 + ], + [ + 0.0002357376830187663, + 0.00414124691694984, + -0.010862028652308241, + -0.01089909767738955, + 0.029084026292465603, + 0.019220649656012674, + 1.0 + ], + [ + -0.0015526027565871958, + 0.0018126085077396908, + -0.0009162508982956535, + -0.0006181800915516076, + -0.002118820473514902, + 0.034585296021761365, + 0.0 + ], + [ + 0.0023001245535245185, + 0.00020836435724738006, + -0.001474966233847505, + 0.004383352523538071, + 0.016081515850801146, + -0.006060364537552424, + 0.0 + ], + [ + 0.0014076876166106422, + -0.0013854961276234257, + 0.0011175729095411133, + 0.0015620699818862844, + 0.007712022830857637, + -0.0056615282697215965, + 0.0 + ], + [ + 0.00014174125561988715, + -0.0009160853925389012, + 0.004560354997636233, + -0.011055987274392762, + -0.005101307834778905, + -0.003806802273869161, + 0.0 + ], + [ + -0.0025361861215657533, + 0.0020284969351161697, + 0.013324460600422937, + 0.00935398011391408, + -0.0016020331174821645, + 0.006501006351975704, + 0.0 + ], + [ + 0.010329827941051806, + -0.0015029676622284674, + 0.017429964105058093, + 0.024342065239144735, + -0.022007648066804386, + -0.05376709688805806, + 0.0 + ], + [ + 0.01825972626836808, + -0.005597694075732709, + 0.022806420306121605, + 0.030133501074867765, + -0.03784692183065829, + -0.0689148018955745, + 0.0 + ], + [ + 0.03663781604350236, + -0.010832381159341556, + 0.019944430257157447, + -0.004162233372763805, + -0.014403599306546257, + -0.07691004402047293, + 0.0 + ], + [ + 0.03488541840664111, + -0.009226611944743186, + 0.0006981069389286852, + -0.06089728877734414, + -0.011142599076064148, + -0.08035056777329919, + 0.0 + ], + [ + 0.030969960664883556, + -0.007686106485599909, + -0.009499849728136105, + -0.029343038337151163, + 0.023226835110271196, + -0.052352039016318914, + 0.0 + ], + [ + 0.016282876794331824, + -0.00847117768191799, + -0.016591255292593827, + 0.002206387305381333, + 0.04790293907299428, + -0.02848101568587449, + 0.0 + ], + [ + 0.005623287971483204, + -0.004275431629780393, + -0.018656369515069045, + 0.024750078190904672, + 0.05050593094440747, + -0.025901860990547167, + 0.0 + ], + [ + 0.00039184092269695103, + -0.002695730992410765, + -0.01300842575332706, + -0.0044760519692959595, + 0.023689933941022107, + -0.01559624021137846, + 0.0 + ], + [ + 2.466329088413044e-05, + 0.0008776007942915345, + -0.0008400338170087701, + 0.006448031331159184, + 0.021813094268354257, + -0.004388782752250361, + 0.786813 + ], + [ + -0.0012026084986114238, + 0.0021480606490111524, + 0.007685282557791103, + 0.0005058360945916377, + -0.006867573202132749, + 0.010475497210851864, + 1.0 + ], + [ + -0.0020165249471802427, + 0.003230967170547632, + 0.009708627233294631, + -0.006751896784345694, + -0.014259573258278023, + 0.02126647576546066, + 1.0 + ], + [ + 0.0009249640410747828, + -0.0004126510155835466, + 0.013693039382211874, + -0.0022817917782226344, + -0.022952985219510294, + -0.00039572252486864593, + 1.0 + ], + [ + -0.0018217458304489176, + -0.00019391220345806037, + 0.02102846983797977, + -0.0032921344776549698, + -0.03326391199938115, + 0.0060597848913717615, + 1.0 + ], + [ + -0.006532399498307084, + 0.0002002755466398859, + 0.022442870759180188, + -0.0028904303416880193, + -0.05860633628243215, + 0.017932429725489918, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 311.252197265625, + 286.89630126953125 + ], + [ + 307.09893798828125, + 290.130126953125 + ], + [ + 305.11785888671875, + 306.48223876953125 + ], + [ + 293.84002685546875, + 317.81378173828125 + ], + [ + 281.5982666015625, + 318.61578369140625 + ], + [ + 287.32598876953125, + 319.0638427734375 + ], + [ + 289.2734069824219, + 317.8000793457031 + ], + [ + 292.28399658203125, + 315.66973876953125 + ], + [ + 294.7601013183594, + 312.02301025390625 + ], + [ + 294.5762939453125, + 311.785400390625 + ], + [ + 289.71942138671875, + 316.053466796875 + ], + [ + 284.7388916015625, + 302.44970703125 + ], + [ + 299.2799377441406, + 274.40301513671875 + ], + [ + 336.1400146484375, + 214.83316040039062 + ], + [ + 366.5076904296875, + 193.97354125976562 + ], + [ + 391.72705078125, + 180.24154663085938 + ], + [ + 400.758056640625, + 184.0064239501953 + ], + [ + 406.400390625, + 210.37899780273438 + ], + [ + 416.33685302734375, + 200.64590454101562 + ], + [ + 416.6134338378906, + 201.69467163085938 + ], + [ + 415.0971984863281, + 208.77316284179688 + ], + [ + 413.39141845703125, + 210.16995239257812 + ], + [ + 411.496826171875, + 207.75965881347656 + ], + [ + 413.8912353515625, + 186.29127502441406 + ], + [ + 411.04449462890625, + 171.047119140625 + ], + [ + 413.17608642578125, + 161.97393798828125 + ], + [ + 413.2319641113281, + 160.42735290527344 + ] + ], + "depth_max": 1.4454351663589478, + "depth_min": 0.11010290682315826, + "intrinsic": [ + [ + 527.5760498046875, + 0.0, + 259.0 + ], + [ + 0.0, + 527.7154541015625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.598480543587357e-05, + -2.652160037541762e-05, + 1.1257161531830207e-06 + ], + [ + -3.598707553464919e-05, + 1.0, + -8.569029887439683e-05, + 1.7653101167525165e-05 + ], + [ + 2.6518513550399803e-05, + 8.56912593008019e-05, + 1.0, + -6.596947059733793e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 26 + ], + "object_trajectory": [ + [ + 289.75, + 328.75 + ], + [ + 289.5238342285156, + 329.3937683105469 + ], + [ + 292.67962646484375, + 330.3182067871094 + ], + [ + 289.13714599609375, + 333.8437805175781 + ], + [ + 288.88018798828125, + 329.0568542480469 + ], + [ + 285.16259765625, + 333.90289306640625 + ], + [ + 285.44158935546875, + 333.4095153808594 + ], + [ + 285.5365905761719, + 332.3606262207031 + ], + [ + 285.10992431640625, + 331.81103515625 + ], + [ + 284.3709716796875, + 331.828857421875 + ], + [ + 283.4903869628906, + 335.733642578125 + ], + [ + 277.37646484375, + 323.9849853515625 + ], + [ + 287.33642578125, + 296.8829650878906 + ], + [ + 325.833984375, + 246.59112548828125 + ], + [ + 356.4294128417969, + 233.95843505859375 + ], + [ + 383.2264404296875, + 223.7325439453125 + ], + [ + 390.86846923828125, + 228.1819610595703 + ], + [ + 397.20770263671875, + 242.40573120117188 + ], + [ + 396.70465087890625, + 242.45204162597656 + ], + [ + 396.8914794921875, + 242.67291259765625 + ], + [ + 397.8919677734375, + 242.23406982421875 + ], + [ + 397.9065246582031, + 243.15850830078125 + ], + [ + 397.0725402832031, + 242.8082275390625 + ], + [ + 396.9715270996094, + 236.9661865234375 + ], + [ + 396.7638244628906, + 236.47344970703125 + ], + [ + 397.10772705078125, + 236.39549255371094 + ], + [ + 397.746337890625, + 236.36526489257812 + ] + ] +} \ No newline at end of file diff --git a/005643_v2/lang.txt b/005643_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f929000b90b192942c91bd75ae219b1f8565df36 --- /dev/null +++ b/005643_v2/lang.txt @@ -0,0 +1 @@ +move the silver pot lid in the up right side of the stove diff --git a/005679_v2/FAIL b/005679_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/005679_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/005685/FAIL b/005685/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..aaf6c42c619234f9c8379cbcf60a65cd17ba1254 --- /dev/null +++ b/005685/FAIL @@ -0,0 +1 @@ +Too large intersection between gripper and object mask diff --git a/005713/data.json b/005713/data.json new file mode 100644 index 0000000000000000000000000000000000000000..5013b41a15d8c186faef784a919365ef02a42589 --- /dev/null +++ b/005713/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 12, + "action_end": 19, + "object_name": "corn", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.965568, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.1474077243889269e-10, + 5.676534242660125e-10, + 3.9459796541407854e-10, + -1.0312556169530378e-06, + -2.0105630332960822e-07, + -2.354763743381165e-08, + 1.0 + ], + [ + -0.012982159426045081, + 0.02367515670666201, + 0.004284369936543811, + 0.008651238414046908, + 0.05430831452052639, + 0.034426873521929136, + 1.0 + ], + [ + -0.011311863301527447, + 0.03318651431591388, + 0.004264665213920826, + 0.021598374538576562, + 0.054122257216850427, + 0.02036522491300938, + 1.0 + ], + [ + -0.012625227769471392, + 0.026717490626563423, + -0.01047513929499759, + 0.004286229043069647, + 0.014403417895761132, + 0.03542162847426102, + 1.0 + ], + [ + -0.01066096598555949, + 0.026703509820368773, + -0.02054489696062002, + -0.012282287865786425, + 0.024566773693778462, + 0.020999100654697476, + 1.0 + ], + [ + -0.00916414845420932, + 0.01591105947704874, + -0.013881791897493459, + 0.002466916471185735, + 0.015316076412575385, + 0.03491932227713774, + 1.0 + ], + [ + -0.013513035691360309, + 0.0024555211366102773, + -0.007873594878958182, + -0.012337706818009959, + -0.006136778481011366, + 0.010130852145818244, + 1.0 + ], + [ + -0.010161923747177337, + 0.0018448085805793622, + -0.009707132942376587, + -0.02432968069862225, + 0.00011341025563206027, + -0.007779238954327426, + 1.0 + ], + [ + -0.004990930608159028, + 0.0027012566065578447, + -0.0078094103334273995, + -0.016360932677656367, + -0.009166973042601223, + -0.0011139408784890282, + 1.0 + ], + [ + 0.003091194615426507, + 0.0010696225095069498, + -0.008051256411368064, + -0.02394536997808097, + 0.005174399755469241, + -0.0168716324114403, + 1.0 + ], + [ + 0.005936568414860205, + 0.0001363391010594031, + -0.006378697983846861, + -0.008261407749723183, + -0.013437211299008125, + -0.011954136717479932, + 1.0 + ], + [ + 0.0006961588049519407, + -0.004111046779255971, + -0.003584939725112264, + -0.0039653030620867185, + -0.005208685351710391, + -0.004553541714996295, + 1.0 + ], + [ + -0.0019797654501781947, + -0.0016455386286655885, + -0.005944990243368274, + -0.005760085847821201, + 0.0029350273573851937, + 0.01023748859661728, + 0.965568 + ], + [ + 0.008268512207833256, + 0.003399059139295042, + 0.00023665701675942147, + 0.003423807154266385, + 5.71399893271631e-05, + 0.017607450219750933, + 0.0 + ], + [ + 0.013318246752545504, + 0.0029129182580768555, + 0.007010306201084816, + 0.0073842301033721375, + -0.002021326473722646, + -0.012557893146376412, + 0.0 + ], + [ + 0.01808939195624859, + -0.003938044410849027, + 0.015854449239438562, + 0.024919699479788917, + -0.0216897806666934, + -0.032222691134132925, + 0.0 + ], + [ + 0.03377036708918468, + -0.007647761709501707, + 0.026853771356433465, + 0.04681457122670645, + -0.010689552542798669, + -0.06098485577685294, + 0.0 + ], + [ + 0.022578537888521932, + -0.01708119876485829, + 0.007917321282824963, + 0.009368148314863932, + -0.00525554773531397, + -0.04371158696220599, + 0.0 + ], + [ + 0.011184172092854994, + -0.009814855795669285, + -0.005886321351928153, + -0.01746804247018599, + -0.003466422791774748, + -0.01954044992440684, + 0.0 + ], + [ + 0.001557370680198622, + -0.007463230344084443, + -0.0053596389906663405, + -0.01610056962936823, + -0.007093574169879514, + -0.004198802747406837, + 0.0 + ], + [ + 0.004631769535433872, + 0.0001815987084740761, + -0.002496369875513174, + -0.01957751593763376, + -0.034960047591752426, + -0.06901741714518535, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 593.6187133789062, + 156.76319885253906 + ], + [ + 593.3733520507812, + 157.34275817871094 + ], + [ + 545.017822265625, + 169.46463012695312 + ], + [ + 559.929931640625, + 198.75531005859375 + ], + [ + 487.9533386230469, + 157.2642059326172 + ], + [ + 423.2779235839844, + 168.87289428710938 + ], + [ + 391.83038330078125, + 201.04632568359375 + ], + [ + 348.1480712890625, + 210.0760040283203 + ], + [ + 335.5093688964844, + 227.04855346679688 + ], + [ + 330.9693603515625, + 254.634521484375 + ], + [ + 321.4523010253906, + 262.2098388671875 + ], + [ + 326.04107666015625, + 258.21923828125 + ], + [ + 328.93218994140625, + 262.11187744140625 + ], + [ + 331.7790222167969, + 262.9462585449219 + ], + [ + 329.19305419921875, + 271.1676025390625 + ], + [ + 333.14349365234375, + 266.93701171875 + ], + [ + 342.65850830078125, + 243.16683959960938 + ], + [ + 358.4974365234375, + 213.41497802734375 + ], + [ + 399.3185729980469, + 156.37112426757812 + ], + [ + 434.61993408203125, + 145.72848510742188 + ], + [ + 466.24481201171875, + 152.85037231445312 + ], + [ + 471.3382873535156, + 158.12359619140625 + ], + [ + 478.971435546875, + 160.72811889648438 + ], + [ + 478.7970886230469, + 159.74264526367188 + ] + ], + "depth_max": 1.5577658414840698, + "depth_min": 0.3967328667640686, + "intrinsic": [ + [ + 544.7196655273438, + 0.0, + 259.0 + ], + [ + 0.0, + 545.3482055664062, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.1138599802507088e-05, + -4.860228727920912e-05, + 2.026097172347363e-05 + ], + [ + -1.1141481991217006e-05, + 1.0, + -5.9291607612976804e-05, + -1.8376544176135212e-05 + ], + [ + 4.860162516706623e-05, + 5.9292146033840254e-05, + 1.0, + -5.223425250733271e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 351.5, + 280.75 + ], + [ + 351.927001953125, + 280.81622314453125 + ], + [ + 351.9395751953125, + 280.8965148925781 + ], + [ + 352.099853515625, + 280.81781005859375 + ], + [ + 351.7412109375, + 281.05938720703125 + ], + [ + 351.41790771484375, + 281.2851867675781 + ], + [ + 350.8334045410156, + 281.4990539550781 + ], + [ + 350.1005554199219, + 281.33587646484375 + ], + [ + 350.04302978515625, + 280.75262451171875 + ], + [ + 349.6517333984375, + 280.401611328125 + ], + [ + 348.3966064453125, + 279.91778564453125 + ], + [ + 347.35833740234375, + 280.8388671875 + ], + [ + 350.76776123046875, + 284.273193359375 + ], + [ + 350.42669677734375, + 284.36370849609375 + ], + [ + 344.9693603515625, + 284.6886291503906 + ], + [ + 342.46453857421875, + 280.75384521484375 + ], + [ + 351.6429748535156, + 256.8682861328125 + ], + [ + 364.14892578125, + 227.75267028808594 + ], + [ + 403.12945556640625, + 174.53756713867188 + ], + [ + 436.48486328125, + 166.7776336669922 + ], + [ + 467.4917297363281, + 174.3101348876953 + ], + [ + 472.4527587890625, + 181.21083068847656 + ], + [ + 471.0274353027344, + 187.99948120117188 + ], + [ + 470.5403137207031, + 191.1047821044922 + ] + ] +} \ No newline at end of file diff --git a/005713/lang.txt b/005713/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..c24584c8c56c187b2f64cc463e33549d4bcb895b --- /dev/null +++ b/005713/lang.txt @@ -0,0 +1 @@ +put corn on plate diff --git a/005713/object.ply b/005713/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..c87eaa49e9bf4c626df871894af0e65a0d313232 Binary files /dev/null and b/005713/object.ply differ diff --git a/005714_v2/FAIL b/005714_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/005714_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/005731_v2/data.json b/005731_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..2e3502e09e9a4c145b3e21ec35cb930b9aa6b03c --- /dev/null +++ b/005731_v2/data.json @@ -0,0 +1,678 @@ +{ + "action_start": 10, + "action_end": 25, + "object_name": "yellow banana", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 2.7755575615628914e-17, + 0.0, + -2.6355998692740374e-07, + 7.507150065892173e-07, + -1.7855540150314546e-07, + 1.0 + ], + [ + 0.012576616439219646, + -0.023597301769752554, + 0.007830543944514268, + 0.016800174767092262, + -0.0159469687502857, + -0.060237353456655665, + 1.0 + ], + [ + 0.022284940136980402, + -0.02564673204683296, + 0.010704701309756245, + 0.042796679194676085, + -0.03350636321423785, + -0.062311591933912454, + 1.0 + ], + [ + 0.024429245780254016, + -0.029465259721073417, + 0.0073000592378733575, + 0.019144633222918685, + -0.036880289837309045, + -0.06896842684849984, + 1.0 + ], + [ + 0.02134953447013027, + -0.016224481648509537, + -0.0022490732813443826, + 0.0061340438211486235, + -0.0013889477039566727, + -0.04258371633291907, + 1.0 + ], + [ + 0.00732642800558353, + -0.005867789916620736, + -0.013447114978192246, + 0.0003276815225263552, + 0.019508397164617032, + -0.01138647584796196, + 1.0 + ], + [ + 0.003138639191564374, + -0.0025617203441639785, + -0.02251159529185931, + 0.01358344623509102, + 0.027248504820674906, + -0.011301505449925269, + 1.0 + ], + [ + -0.0006571154536073043, + -0.0026308031964510925, + -0.014057758290567685, + -0.01006779724281794, + 0.025783030208380506, + -0.010850455809055273, + 1.0 + ], + [ + 0.0026335239810739153, + -0.002439802072216918, + -0.013898001623859131, + -0.03618847260433331, + 0.0050509448499502195, + -0.015108870571887192, + 1.0 + ], + [ + 0.004621781898100696, + 0.0024766666881393257, + -0.008649130303748795, + 0.007728491732667916, + -0.004162886256423248, + 0.0031461335862680443, + 1.0 + ], + [ + 0.005564103250888741, + -0.0016091513308482824, + -0.007552661246139345, + 0.009150859349357075, + 0.01570305083710687, + -0.0037246339088206366, + 1.0 + ], + [ + 0.0014725690020199744, + 3.608050743519886e-05, + -0.004800950352669181, + -0.03298282468882813, + -0.004472382198989166, + -0.006749004074030261, + 0.0 + ], + [ + -0.001603033515674035, + -0.0002890699994744089, + -0.001842806073679636, + -0.0025405555674828336, + 0.010406073611915454, + 0.00489214295862012, + 0.0 + ], + [ + -0.0024000209100051295, + -0.0017561145694434677, + 0.00415647779995139, + -0.001380965234700942, + 0.0005654187065002472, + -0.009644810535254617, + 0.0 + ], + [ + -0.0038136530859631534, + -0.0037234092271078295, + 0.018378516290583072, + -0.006118615203219371, + -0.02674947966255051, + -0.011972641148063743, + 0.0 + ], + [ + -0.0033158931790376878, + 0.0009394842037977746, + 0.028489972905670024, + -0.0009147530740828141, + -0.04483775694070285, + 0.0058822793119972655, + 0.0 + ], + [ + -0.011341444602630257, + 0.015728252313383553, + 0.02778726847256021, + -0.0058744319925525534, + -0.04515076457149055, + 0.04012269543760139, + 0.0 + ], + [ + -0.01944693048072127, + 0.032314316383874955, + 0.01408870541592111, + 0.022460310498485854, + -0.05499578355964764, + 0.06645412967801313, + 0.0 + ], + [ + -0.021225701420483467, + 0.025002455585405536, + 0.004711946365757946, + 0.021822466937798435, + -0.022233796093491923, + 0.030821900340591808, + 0.0 + ], + [ + -0.02018284709738266, + 0.020873320461702094, + -0.01316523755178127, + 0.021719510585302283, + 0.030822511038000055, + 0.041312749175022506, + 0.0 + ], + [ + -0.006517262591673456, + -0.0005107149446839931, + -0.023361724246043533, + 0.029086423641395114, + 0.05393178530615682, + 0.0030493556846518596, + 0.0 + ], + [ + 0.0031624444762209936, + -0.007079921236450265, + -0.02473106562942278, + -0.039244074650317345, + 0.040578504330251945, + -0.019783581673376564, + 0.0 + ], + [ + 0.01059936486879176, + -0.005798353827938307, + -0.011266831109270577, + -0.01922937245109225, + 0.017847904455950997, + -0.01673280717922433, + 0.0 + ], + [ + 0.008859461255962264, + -0.002895388842431873, + -0.008203756910459513, + -0.009237258858372293, + 0.014106124601785919, + -0.009170523622763502, + 0.0 + ], + [ + 0.0037025094391845426, + 0.001986118100558071, + -0.009414335988748175, + 0.018308531184316863, + 0.02823879798202797, + 0.01892248829099406, + 0.0 + ], + [ + -0.0014590430474070715, + 0.004409760700927218, + -0.004770390790542461, + 0.03428294769376375, + 0.01823131384790987, + 0.04381792849661236, + 0.0 + ], + [ + -0.0018730120044853638, + 0.002676769048349903, + -7.031939058347106e-05, + 0.002495238796109047, + 0.012880475491626067, + 0.04307068344845104, + 1.0 + ], + [ + 0.0008591811861891063, + -0.00010335395321681151, + 0.004655437008368902, + -0.011514130099612014, + 0.0035724170323548367, + 0.008676751666486814, + 1.0 + ], + [ + 0.002213544595329797, + -0.003738046981809795, + 0.011125591703669292, + 0.012049609532163939, + -0.014489793464336003, + -0.009197478909948945, + 1.0 + ], + [ + 0.006463877604330259, + -0.003474872731142359, + 0.02684809903196457, + 0.005260695591792632, + -0.06225676909562289, + -0.0011057998073255324, + 1.0 + ], + [ + 0.005549373794884793, + -0.005602802606808205, + 0.025469448779068822, + 0.005886566703419938, + -0.07164619226661013, + 0.013719286591048192, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 55.59520721435547, + 130.64297485351562 + ], + [ + 56.49644470214844, + 134.0509033203125 + ], + [ + 65.27924346923828, + 153.12286376953125 + ], + [ + 110.6802978515625, + 137.233642578125 + ], + [ + 160.12509155273438, + 126.7861099243164 + ], + [ + 197.50942993164062, + 109.95513153076172 + ], + [ + 216.8685302734375, + 116.87754821777344 + ], + [ + 223.48318481445312, + 136.02293395996094 + ], + [ + 231.19781494140625, + 151.16604614257812 + ], + [ + 237.83421325683594, + 168.60646057128906 + ], + [ + 239.19163513183594, + 174.2882537841797 + ], + [ + 240.46873474121094, + 181.62879943847656 + ], + [ + 247.7283935546875, + 184.243896484375 + ], + [ + 246.47760009765625, + 183.85299682617188 + ], + [ + 246.36111450195312, + 183.76571655273438 + ], + [ + 246.17530822753906, + 187.14703369140625 + ], + [ + 244.83958435058594, + 161.37918090820312 + ], + [ + 228.11985778808594, + 131.88339233398438 + ], + [ + 192.83116149902344, + 119.33749389648438 + ], + [ + 131.6123046875, + 115.38275146484375 + ], + [ + 95.45386505126953, + 130.51914978027344 + ], + [ + 80.27691650390625, + 152.06088256835938 + ], + [ + 100.20062255859375, + 178.261962890625 + ], + [ + 109.71650695800781, + 189.33648681640625 + ], + [ + 134.29281616210938, + 191.7633819580078 + ], + [ + 134.0294952392578, + 199.0513153076172 + ], + [ + 132.92832946777344, + 201.45632934570312 + ], + [ + 131.08712768554688, + 202.31893920898438 + ], + [ + 133.392578125, + 200.02146911621094 + ], + [ + 131.26913452148438, + 199.7840576171875 + ], + [ + 132.62118530273438, + 177.8086700439453 + ], + [ + 132.04298400878906, + 146.5924530029297 + ], + [ + 131.50283813476562, + 138.033203125 + ], + [ + 130.60861206054688, + 136.94918823242188 + ] + ], + "depth_max": 1.4655277729034424, + "depth_min": 0.5503363609313965, + "intrinsic": [ + [ + 517.884765625, + 0.0, + 259.0 + ], + [ + 0.0, + 518.45361328125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.008842683513649e-05, + -6.542082701344043e-05, + 4.540333065961022e-06 + ], + [ + -6.0091846535215154e-05, + 1.0, + -5.233071351540275e-05, + -2.535805606385111e-06 + ], + [ + 6.54176837997511e-05, + 5.233464253251441e-05, + 1.0, + 7.333869689318817e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33 + ], + "object_trajectory": [ + [ + 255.0, + 182.75 + ], + [ + 254.9604949951172, + 183.21104431152344 + ], + [ + 254.96275329589844, + 183.3967742919922 + ], + [ + 255.36831665039062, + 183.25900268554688 + ], + [ + 255.33050537109375, + 183.29190063476562 + ], + [ + 255.11026000976562, + 183.1620330810547 + ], + [ + 255.13526916503906, + 183.27395629882812 + ], + [ + 255.01889038085938, + 183.11070251464844 + ], + [ + 255.01324462890625, + 183.65370178222656 + ], + [ + 254.44227600097656, + 183.6640625 + ], + [ + 253.63726806640625, + 183.46142578125 + ], + [ + 253.3948516845703, + 183.72544860839844 + ], + [ + 252.01364135742188, + 184.85781860351562 + ], + [ + 248.85523986816406, + 186.14468383789062 + ], + [ + 248.2017059326172, + 187.20111083984375 + ], + [ + 247.56240844726562, + 192.18431091308594 + ], + [ + 247.20362854003906, + 169.91693115234375 + ], + [ + 230.85049438476562, + 143.27430725097656 + ], + [ + 195.8519287109375, + 132.64080810546875 + ], + [ + 137.17880249023438, + 127.65833282470703 + ], + [ + 100.03458404541016, + 143.31982421875 + ], + [ + 85.7635726928711, + 162.824462890625 + ], + [ + 106.21687316894531, + 189.649658203125 + ], + [ + 114.6763916015625, + 200.2380828857422 + ], + [ + 138.33026123046875, + 203.97174072265625 + ], + [ + 136.8841094970703, + 210.03506469726562 + ], + [ + 135.88534545898438, + 207.57351684570312 + ], + [ + 139.02957153320312, + 208.67343139648438 + ], + [ + 143.5974578857422, + 209.6558074951172 + ], + [ + 143.37364196777344, + 208.70216369628906 + ], + [ + 144.2047119140625, + 208.77757263183594 + ], + [ + 144.4151611328125, + 208.54721069335938 + ], + [ + 143.43267822265625, + 208.2583770751953 + ], + [ + 143.75384521484375, + 207.71240234375 + ] + ] +} \ No newline at end of file diff --git a/005731_v2/lang.txt b/005731_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..904b73fd3ce158c7689c294af07da83405d3cea1 --- /dev/null +++ b/005731_v2/lang.txt @@ -0,0 +1 @@ +put the yellow banana in the silver pot diff --git a/005731_v2/object.ply b/005731_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..8bb1ea9051e9368ecb5a282634912eb1c247fead Binary files /dev/null and b/005731_v2/object.ply differ diff --git a/005736/FAIL b/005736/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/005736/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/005760_v2/FAIL b/005760_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/005760_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/005768/FAIL b/005768/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/005768/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/005790/data.json b/005790/data.json new file mode 100644 index 0000000000000000000000000000000000000000..705bb10cba7aa70116c3279876b8d5fa00c2ae84 --- /dev/null +++ b/005790/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 14, + "action_end": 25, + "object_name": "lemon", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.857876, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.010745000000000005, + 0.22612900000000002, + 0.38315, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 5.551115123125783e-17, + 0.0, + 0.0, + -1.0501763011514692e-07, + -7.48520625356739e-09, + 2.3965420097615306e-07, + 1.0 + ], + [ + -0.0020849084350662017, + -0.02740972153007909, + 0.01949883649357252, + 0.004520914897278047, + -0.001768270900133264, + -0.023219021367361852, + 1.0 + ], + [ + -0.0036221742650234257, + -0.03175148585053583, + 0.019177353929254792, + 0.01196048842055404, + 0.003316377069549456, + -0.024326208874193817, + 1.0 + ], + [ + -5.061061024147495e-05, + -0.024994859232852953, + 0.01785169595412285, + -0.00498746136330269, + 0.0022653357328542008, + -0.06687493471885114, + 1.0 + ], + [ + -0.003821086398209994, + -0.025991483626160564, + 0.011513399314208014, + 0.035046413750083584, + -0.02195497708934492, + -0.06091912182403278, + 1.0 + ], + [ + -0.00736454262972408, + -0.022050807499452856, + 5.112567046820782e-05, + 0.021240039144502326, + -0.018236612518381514, + -0.027590589620616782, + 1.0 + ], + [ + -0.006435920682167251, + -0.018458886113799956, + -0.010179828116377285, + -0.06094068746442139, + 0.010402638672059037, + -0.006069380609445993, + 1.0 + ], + [ + -0.0008421772132370386, + -0.014681463384137117, + -0.008366889907706329, + -0.015288215505060211, + 0.003910677704030821, + -0.005346660162244368, + 1.0 + ], + [ + 0.007243501113918083, + 0.003164106753616891, + -0.008871370407628587, + -0.013413388935793469, + -0.009799337264902187, + -0.02080548956137183, + 1.0 + ], + [ + 0.0034152282268774536, + -0.0006268386705171047, + -0.004055943973267653, + -0.012707247292070692, + -0.0008681449863934975, + -0.013285389187696547, + 1.0 + ], + [ + 0.0006384982265833505, + -0.001973756762981102, + -0.0071287180432131475, + -0.012591150223191976, + 0.00031352384352675687, + -0.003309607718162923, + 1.0 + ], + [ + -0.0012437279325718809, + -6.205386053492745e-05, + -0.010197902266591022, + -0.017174604029112178, + -0.0015823642687307292, + 0.0028262311323804124, + 1.0 + ], + [ + -1.714596637647503e-05, + 0.0008901528367327161, + -0.009185780507374813, + -0.0008774974234405038, + -0.003207350109511805, + -0.0052031572482839974, + 1.0 + ], + [ + 0.0017776300846061854, + 7.445847742790224e-05, + -0.011166797048783608, + -0.02333526961397617, + 0.00791677682725781, + 0.04158579790449863, + 1.0 + ], + [ + 0.0037200553272344616, + -0.0033624118549531318, + -0.007492259840373161, + -0.016876366477349625, + 0.009020685433720407, + 0.033220482372587526, + 0.857876 + ], + [ + 0.0013313200324991392, + 0.0038517392035022913, + 0.01426714995066741, + 0.04226458811349887, + 0.021672870169588503, + 0.015229364858408284, + 0.0 + ], + [ + -0.0047794294541269045, + 0.030192144475521376, + 0.03517330680508385, + 0.12506785194618528, + 0.030867741524844575, + 0.022089451487914823, + 0.0 + ], + [ + -0.005647577187395114, + 0.05483336714247729, + 0.04036182850018513, + 0.1380818201553307, + 0.027615238874776033, + 0.00479097025939562, + 0.0 + ], + [ + -0.003031214146248795, + 0.06345508098456479, + -0.011602730418356827, + 0.04915647310558385, + -0.024271198833561478, + -0.0014544865810081908, + 0.0 + ], + [ + -0.0037777352870589365, + 0.06485716235089346, + -0.04159063063087906, + -0.08214515625067842, + -0.05130366872183076, + -0.04932945100133838, + 0.0 + ], + [ + 0.005240398534069657, + 0.026704669272976343, + -0.03964565193129142, + -0.05781739497506527, + -0.052881770149765965, + 0.007678466057897428, + 0.0 + ], + [ + 0.005918638216499461, + 0.009371634387776995, + -0.02994205457831059, + -0.0687893495376147, + 0.004771835460745563, + -0.018929721013680057, + 0.0 + ], + [ + -0.003843396537512034, + -0.004755127379026183, + -0.02398880946515545, + -0.05376188878696733, + -0.005844111549652977, + -0.006965141366003238, + 0.0 + ], + [ + -0.005460064142447096, + -0.012166687684901853, + -0.007664138584290209, + -0.01153004520327863, + 0.0026539832894376123, + 0.0204036943867465, + 0.010745000000000005 + ], + [ + -0.008657437586147121, + -0.006400173377825752, + -0.004709666039081517, + -0.008006706865767491, + 0.020802151958859556, + 0.008088493268788072, + 0.22612900000000002 + ], + [ + -0.005528597328387175, + -0.006600344369958044, + -0.006136537758687895, + -0.014229439257330312, + -0.017352688420172638, + 0.008465502544297789, + 0.38315 + ], + [ + 0.0013278893843083894, + -0.008317245966470849, + 0.0013839230779291792, + -0.016357014128521516, + -0.02377136080281909, + 0.007612322274395579, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 318.140380859375, + 98.14764404296875 + ], + [ + 318.0623474121094, + 98.23238372802734 + ], + [ + 314.25579833984375, + 119.77104187011719 + ], + [ + 339.86370849609375, + 122.65232849121094 + ], + [ + 396.02374267578125, + 122.62544250488281 + ], + [ + 418.62945556640625, + 116.51824951171875 + ], + [ + 439.339599609375, + 100.913330078125 + ], + [ + 492.8443908691406, + 134.0196075439453 + ], + [ + 496.53399658203125, + 151.76564025878906 + ], + [ + 501.1568603515625, + 149.79034423828125 + ], + [ + 520.6270751953125, + 161.04052734375 + ], + [ + 518.6939697265625, + 163.28656005859375 + ], + [ + 512.01513671875, + 172.07786560058594 + ], + [ + 507.4008483886719, + 183.0716094970703 + ], + [ + 507.79833984375, + 198.08892822265625 + ], + [ + 504.4327392578125, + 204.27734375 + ], + [ + 504.95184326171875, + 203.543212890625 + ], + [ + 496.9093017578125, + 191.35751342773438 + ], + [ + 499.782958984375, + 175.465576171875 + ], + [ + 413.6563720703125, + 69.69776916503906 + ], + [ + 343.75115966796875, + 80.43270874023438 + ], + [ + 298.77569580078125, + 101.51052856445312 + ], + [ + 256.38336181640625, + 139.59909057617188 + ], + [ + 274.6502685546875, + 162.41989135742188 + ], + [ + 265.24249267578125, + 184.79115295410156 + ], + [ + 267.774658203125, + 198.3060302734375 + ], + [ + 276.473388671875, + 211.60812377929688 + ], + [ + 280.7073974609375, + 224.95297241210938 + ], + [ + 281.3147277832031, + 228.81756591796875 + ] + ], + "depth_max": 1.7912607192993164, + "depth_min": 0.5639718174934387, + "intrinsic": [ + [ + 556.6792602539062, + 0.0, + 259.0 + ], + [ + 0.0, + 557.130859375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.35984698520042e-05, + -8.22280126158148e-05, + 1.337423782388214e-05 + ], + [ + -2.3601267457706854e-05, + 1.0, + -3.40187871188391e-05, + -1.6485919331898913e-05 + ], + [ + 8.222721226047724e-05, + 3.402072979952209e-05, + 1.0, + 8.148766937665641e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 496.5, + 207.25 + ], + [ + 496.6778259277344, + 207.50680541992188 + ], + [ + 496.6490478515625, + 207.12002563476562 + ], + [ + 497.00262451171875, + 207.18548583984375 + ], + [ + 497.33197021484375, + 207.4205780029297 + ], + [ + 497.3933410644531, + 207.61099243164062 + ], + [ + 497.646240234375, + 208.5074462890625 + ], + [ + 497.34857177734375, + 209.63473510742188 + ], + [ + 496.35467529296875, + 210.48287963867188 + ], + [ + 496.06927490234375, + 210.72378540039062 + ], + [ + 496.3602294921875, + 210.3123779296875 + ], + [ + 495.6871032714844, + 210.54318237304688 + ], + [ + 494.7428283691406, + 210.7751922607422 + ], + [ + 494.705322265625, + 211.16932678222656 + ], + [ + 493.0334167480469, + 211.49627685546875 + ], + [ + 491.7048034667969, + 212.66012573242188 + ], + [ + 494.768310546875, + 210.54147338867188 + ], + [ + 483.854736328125, + 196.19520568847656 + ], + [ + 446.51715087890625, + 158.8657989501953 + ], + [ + 392.6477355957031, + 77.30999755859375 + ], + [ + 321.75927734375, + 90.14617156982422 + ], + [ + 277.8793640136719, + 113.45660400390625 + ], + [ + 238.46197509765625, + 149.27682495117188 + ], + [ + 252.73239135742188, + 173.77127075195312 + ], + [ + 248.41754150390625, + 199.50096130371094 + ], + [ + 249.4862518310547, + 210.9661865234375 + ], + [ + 258.6125793457031, + 223.31382751464844 + ], + [ + 264.9880676269531, + 236.35556030273438 + ], + [ + 262.9731750488281, + 249.85501098632812 + ] + ] +} \ No newline at end of file diff --git a/005790/lang.txt b/005790/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..6068ad6a118d2a1d2495708d8b26935f905a67cd --- /dev/null +++ b/005790/lang.txt @@ -0,0 +1 @@ +put lemon on plate diff --git a/005790/object.ply b/005790/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..72601ee9a4be0c4517ba401a0034161967e0dd5a Binary files /dev/null and b/005790/object.ply differ diff --git a/005861/FAIL b/005861/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/005861/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/005867/data.json b/005867/data.json new file mode 100644 index 0000000000000000000000000000000000000000..06e964d7f04f5f458273fa58f1101146f21efe79 --- /dev/null +++ b/005867/data.json @@ -0,0 +1,458 @@ +{ + "action_start": 6, + "action_end": 18, + "object_name": "pear", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.810989, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.995849, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -3.984529928224845e-10, + 4.782531246028121e-10, + -2.851983232909916e-10, + -7.51132590950988e-08, + 1.1135004248208787e-07, + 6.235934380619301e-07, + 1.0 + ], + [ + 0.004692244015205793, + 0.004627353505687319, + -0.014374358721629527, + -0.017385831968609513, + -0.006674263428828369, + 0.002092157357929205, + 1.0 + ], + [ + -0.001618970037468137, + 0.003994193506008846, + -0.011319245410724307, + -0.03920640910018882, + 0.005877764350967276, + -0.019077292898484186, + 1.0 + ], + [ + 0.0045053871584265215, + 0.0027062314495461606, + -0.007447048837522972, + -0.00919402329953652, + -0.0024282295898002937, + -0.02103621131994656, + 1.0 + ], + [ + 0.0028674952517976915, + 0.0005804192067160943, + -0.0056272681067432925, + -0.009832877789456974, + -0.012328335254114272, + -0.0034130282517429904, + 1.0 + ], + [ + 0.0007449682689344428, + -0.002552870332587498, + -0.008254480985157533, + 0.004378787812627687, + -0.037132820543095045, + -0.0018877705294011358, + 1.0 + ], + [ + 0.0006023870960860656, + -0.0008455584156314075, + -0.007774603752894488, + -0.009803555700631936, + -0.02397312243466301, + -0.015383548108353448, + 0.810989 + ], + [ + 0.00043382690619164777, + -0.0014910650888323856, + -0.0013357521396533678, + 0.0037117129716477725, + -0.0007281866707371629, + 0.00888343241215876, + 0.0 + ], + [ + -0.002971452360824467, + -0.001937800686350799, + 0.0033736873666085354, + -0.00565445042771493, + 0.011786503309247078, + 0.0108061166021839, + 0.0 + ], + [ + 0.0014021374429972755, + -0.005278272269467907, + 0.02939552461864979, + 0.0440031294631235, + 0.029721426358003285, + 0.022080984860284824, + 0.0 + ], + [ + -0.001955740799799488, + -0.004904565894162639, + 0.033031270570415674, + 0.05674098523098454, + 0.024081347952126728, + 0.014837214591248175, + 0.0 + ], + [ + -9.878709369320893e-05, + -0.008220511480881057, + 0.04096613033754531, + 0.07590147698978196, + -0.0003042965196573853, + -0.0004863378636559033, + 0.0 + ], + [ + 0.0020744857319288657, + -0.007887871978626192, + 0.036573423326154916, + 0.06148985416990493, + 0.02285387474121922, + 0.0032385014462135053, + 0.0 + ], + [ + 0.008264564174874478, + -0.004620075334971344, + 0.03450518895255312, + 0.07515248496115788, + -0.0011871540177052515, + -0.05352663196255519, + 0.0 + ], + [ + 0.01945017535177379, + -0.007484333480073782, + 0.010831509104998228, + 0.02358991324234809, + -0.03597020693742535, + -0.09665951190221138, + 0.0 + ], + [ + 0.019387806753004055, + 0.001116635739750113, + -0.006847314712089936, + -0.020989728237569054, + -0.04238564309297557, + -0.08839374675931763, + 0.0 + ], + [ + 0.02069715081379936, + 0.006894739086074714, + -0.004012155977024812, + -0.018498930318685314, + 0.009120185043073928, + -0.048135434353202125, + 0.0 + ], + [ + 0.00758611878062232, + 0.005158553151175235, + -0.012156704135002513, + -0.032245928450512946, + -0.009629594466947385, + -0.02996132370625692, + 0.0 + ], + [ + 0.0011129002413352018, + 0.003228368832383491, + -0.007495943814240361, + -0.041107175192684475, + -0.007086592952498809, + -0.007559412717552897, + 0.995849 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 391.6280212402344, + 310.87335205078125 + ], + [ + 391.68096923828125, + 310.87591552734375 + ], + [ + 387.427490234375, + 322.99395751953125 + ], + [ + 384.33807373046875, + 335.2744140625 + ], + [ + 377.64337158203125, + 337.31195068359375 + ], + [ + 374.86932373046875, + 340.27777099609375 + ], + [ + 378.7213134765625, + 340.78314208984375 + ], + [ + 378.494384765625, + 345.1547546386719 + ], + [ + 379.78570556640625, + 349.8717041015625 + ], + [ + 379.1391296386719, + 349.3413391113281 + ], + [ + 375.82794189453125, + 354.3548583984375 + ], + [ + 383.82293701171875, + 334.7488098144531 + ], + [ + 397.352783203125, + 310.62689208984375 + ], + [ + 416.5850524902344, + 276.4420166015625 + ], + [ + 441.04986572265625, + 240.96920776367188 + ], + [ + 464.7481689453125, + 202.6313934326172 + ], + [ + 498.7750549316406, + 171.3253631591797 + ], + [ + 513.2840576171875, + 172.75912475585938 + ], + [ + 513.3904418945312, + 157.48133850097656 + ], + [ + 497.4818115234375, + 150.48065185546875 + ], + [ + 493.0794677734375, + 155.92190551757812 + ], + [ + 497.3990478515625, + 157.6536865234375 + ] + ], + "depth_max": 1.5116690397262573, + "depth_min": 0.2554185688495636, + "intrinsic": [ + [ + 609.320556640625, + 0.0, + 259.0 + ], + [ + 0.0, + 609.0106201171875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 8.230920502683148e-05, + -4.34008652518969e-05, + -2.1565301722148433e-06 + ], + [ + -8.23118825792335e-05, + 1.0, + -6.170599954202771e-05, + -1.1918257769139018e-05 + ], + [ + 4.33957866334822e-05, + 6.170956476125866e-05, + 1.0, + -7.518954589613713e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21 + ], + "object_trajectory": [ + [ + 391.75, + 356.0 + ], + [ + 391.93389892578125, + 356.0419921875 + ], + [ + 391.65289306640625, + 356.35150146484375 + ], + [ + 391.4266662597656, + 356.68408203125 + ], + [ + 390.8223876953125, + 356.3116455078125 + ], + [ + 389.8602294921875, + 356.00970458984375 + ], + [ + 389.7506103515625, + 356.22747802734375 + ], + [ + 389.2557373046875, + 356.6453857421875 + ], + [ + 389.3045654296875, + 354.167236328125 + ], + [ + 388.43963623046875, + 353.5970764160156 + ], + [ + 384.1843566894531, + 358.8093566894531 + ], + [ + 391.5482482910156, + 339.55877685546875 + ], + [ + 403.3167724609375, + 318.475830078125 + ], + [ + 421.27264404296875, + 283.19732666015625 + ], + [ + 445.3502502441406, + 249.59799194335938 + ], + [ + 468.0661926269531, + 210.54022216796875 + ], + [ + 501.41192626953125, + 179.94314575195312 + ], + [ + 515.0521850585938, + 180.53564453125 + ], + [ + 513.3228759765625, + 166.60250854492188 + ], + [ + 500.0732421875, + 158.75965881347656 + ], + [ + 478.15814208984375, + 205.3839111328125 + ], + [ + 491.5693054199219, + 230.68142700195312 + ] + ] +} \ No newline at end of file diff --git a/005867/lang.txt b/005867/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..6a398d6f4e36170da05a42d2eed1b0e122c68b1f --- /dev/null +++ b/005867/lang.txt @@ -0,0 +1 @@ +put pear in bowl diff --git a/005867/object.ply b/005867/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..6d36b774ae78a0176220d4ebde31993876fafb6e Binary files /dev/null and b/005867/object.ply differ diff --git a/005927_v2/FAIL b/005927_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/005927_v2/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/005946_v2/FAIL b/005946_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/005946_v2/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/005958_v2/FAIL b/005958_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/005958_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/005994_v2/data.json b/005994_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..5127fcf73495744c746ad3a6f2fb13099f9165f6 --- /dev/null +++ b/005994_v2/data.json @@ -0,0 +1,549 @@ +{ + "action_start": 7, + "action_end": 18, + "object_name": "blue cube", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + -5.551115123125783e-17, + 0.0, + 3.976629993909044e-07, + -4.1140883700070263e-07, + -1.3074104823378904e-07, + 1.0 + ], + [ + -0.00916329005827421, + 0.007186665507839066, + -0.007140961967989093, + 0.05196543673269035, + 0.03345767100755342, + 0.06787993272702508, + 1.0 + ], + [ + -0.01969096759719602, + 0.013531158885906482, + -0.0031613839251818238, + -0.015998256629124692, + 0.017875519954460725, + 0.10880514521633484, + 1.0 + ], + [ + -0.02060942032418478, + 0.007839278818181451, + -0.005589520865261766, + 0.006331728061592496, + -0.001123724219342812, + 0.0427601871797661, + 1.0 + ], + [ + -0.01209428328190576, + 0.004946783116264796, + -0.018297165317918918, + 0.026464421450524953, + 0.04728274853072481, + 0.058151821139002684, + 1.0 + ], + [ + 0.0020857781300134826, + 0.004277897528066503, + -0.015118365384540866, + 0.012846001749018997, + 0.028035271202672848, + 0.05091023560816929, + 1.0 + ], + [ + 0.0063219694529965675, + 0.002312703207047786, + -0.010317940433867745, + 0.005889573302284078, + 0.02425229336502055, + 0.016507373028899937, + 1.0 + ], + [ + 0.00092436943859453, + 0.005373350800147475, + -0.009551147813334736, + -0.005056924684798918, + 0.01617359378094957, + 0.01921969150429551, + 1.0 + ], + [ + -0.0026374537441854473, + 0.004786151452485692, + 0.0012197962138800478, + -0.006846770274161939, + -0.006990759704904014, + 0.01756251240540482, + 0.0 + ], + [ + -0.0056558563766442305, + 0.008204677295372914, + 0.01392639548436888, + -0.011165125562983012, + -0.03952978761160363, + 0.02236967073402117, + 0.0 + ], + [ + -0.00039858829954048103, + 0.006982998415793581, + 0.009874026953827789, + 0.003300345788884746, + -0.027862328294963646, + 0.024118007302834584, + 0.0 + ], + [ + 0.011405087565439842, + 0.015572453239883613, + 0.014749072372480479, + 0.0003806670840486044, + -0.020927746806928493, + 0.0683309004814037, + 0.0 + ], + [ + 0.02565403637618563, + 0.024530123810487206, + 0.013637699377931786, + -0.017755724878528494, + -0.03418464359809756, + 0.10208303050267044, + 0.0 + ], + [ + 0.03094816044566895, + 0.02963835750689036, + 0.0015331967084831893, + -0.0016031734376090456, + -0.020302047596764797, + 0.10421426276954507, + 0.0 + ], + [ + 0.01977251631452487, + 0.023812842146439625, + -0.011315091977276093, + 0.02241135815134697, + 0.03525407087081396, + 0.08781600918693516, + 0.0 + ], + [ + 0.011537107800614232, + 0.01821181525009366, + -0.013335737349617904, + 0.007251079585067083, + 0.021824805667344762, + 0.05537050380368425, + 0.0 + ], + [ + 0.008603206084340287, + 0.010922300309438776, + -0.011765208369676747, + 0.005914296047427981, + 0.015573262286314915, + 0.024211628497547686, + 0.0 + ], + [ + 0.004773504362960979, + 0.004327466514148809, + -0.005202805168268154, + 0.015038769813490132, + 0.0027865043583199627, + 0.0036006750343102827, + 0.0 + ], + [ + 0.0038020702367848047, + 0.0010679367072370383, + -0.0032186207848975343, + -0.006237837249931224, + -0.008651207875449903, + -0.008532218105967278, + 0.0 + ], + [ + -0.0014599999093641292, + -1.4376980713520782e-05, + -0.0003090307693267638, + -0.009235919924687464, + 0.00292525207810626, + 0.01963075870073542, + 1.0 + ], + [ + -0.0018860143716342703, + -0.00010500736050855775, + 0.004597452695058263, + -0.004186543404535696, + -0.007967404823233545, + 0.008064263393904451, + 1.0 + ], + [ + -0.0019468703486849037, + -0.000606088527498605, + 0.010764450622707589, + -0.002391348236924058, + -0.02264866178495206, + -0.003403794541300466, + 1.0 + ], + [ + -0.0014558538583676617, + 0.0002957181965289879, + 0.01889964299580016, + 0.007830085486389748, + -0.031293913079748305, + -0.006098652584296822, + 1.0 + ], + [ + -0.0036897825377547044, + -0.004207317445355047, + 0.02576264341841593, + 0.03142042983252995, + -0.0693283183821909, + -0.014369727683917788, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 395.90594482421875, + 100.63285827636719 + ], + [ + 395.54083251953125, + 106.49436950683594 + ], + [ + 376.6972961425781, + 132.28256225585938 + ], + [ + 361.2110595703125, + 160.37892150878906 + ], + [ + 328.718505859375, + 171.15570068359375 + ], + [ + 311.971435546875, + 194.25051879882812 + ], + [ + 308.1255798339844, + 207.60391235351562 + ], + [ + 308.91131591796875, + 220.0946044921875 + ], + [ + 306.35595703125, + 226.13040161132812 + ], + [ + 301.2696533203125, + 222.3804931640625 + ], + [ + 288.7397155761719, + 216.82000732421875 + ], + [ + 278.29901123046875, + 200.31845092773438 + ], + [ + 267.1193542480469, + 174.214111328125 + ], + [ + 256.896484375, + 127.3829345703125 + ], + [ + 238.16122436523438, + 94.19622039794922 + ], + [ + 228.8780975341797, + 84.137939453125 + ], + [ + 222.33489990234375, + 88.56312561035156 + ], + [ + 214.60107421875, + 95.5709228515625 + ], + [ + 214.98617553710938, + 95.55712890625 + ], + [ + 215.66102600097656, + 92.84814453125 + ], + [ + 218.35609436035156, + 96.96548461914062 + ], + [ + 218.53750610351562, + 99.35176086425781 + ], + [ + 217.38583374023438, + 103.24104309082031 + ], + [ + 212.25814819335938, + 89.45225524902344 + ], + [ + 205.79759216308594, + 66.08969116210938 + ], + [ + 203.55587768554688, + 53.01990509033203 + ], + [ + 203.36361694335938, + 52.38844680786133 + ] + ], + "depth_max": 1.505152940750122, + "depth_min": 0.5900202393531799, + "intrinsic": [ + [ + 528.4293212890625, + 0.0, + 259.0 + ], + [ + 0.0, + 528.9534301757812, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.7978167054243386e-05, + -2.8870306323369732e-06, + -2.4240198399638757e-06 + ], + [ + -2.7978308935416862e-05, + 1.0, + -4.919809362036176e-05, + -1.1764590453822166e-05 + ], + [ + 2.88565411210584e-06, + 4.9198173655895516e-05, + 1.0, + 1.9281871573184617e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 26 + ], + "object_trajectory": [ + [ + 301.0, + 236.75001525878906 + ], + [ + 301.1580810546875, + 237.08456420898438 + ], + [ + 301.29754638671875, + 237.16030883789062 + ], + [ + 301.275634765625, + 237.18008422851562 + ], + [ + 301.29742431640625, + 237.05197143554688 + ], + [ + 301.3663330078125, + 237.45860290527344 + ], + [ + 301.7789001464844, + 237.18521118164062 + ], + [ + 301.8428955078125, + 237.150390625 + ], + [ + 301.4281311035156, + 236.83480834960938 + ], + [ + 301.0468444824219, + 236.38333129882812 + ], + [ + 288.1490478515625, + 232.52345275878906 + ], + [ + 276.92706298828125, + 215.24075317382812 + ], + [ + 265.78045654296875, + 191.60243225097656 + ], + [ + 261.7880554199219, + 149.36502075195312 + ], + [ + 244.1501922607422, + 112.28839874267578 + ], + [ + 234.65834045410156, + 105.63510131835938 + ], + [ + 228.12030029296875, + 109.08351135253906 + ], + [ + 220.4332275390625, + 114.63106536865234 + ], + [ + 220.48704528808594, + 113.41515350341797 + ], + [ + 221.19229125976562, + 110.67322540283203 + ], + [ + 221.64036560058594, + 109.74325561523438 + ], + [ + 221.76808166503906, + 109.60218811035156 + ], + [ + 221.27378845214844, + 110.00537872314453 + ], + [ + 221.12904357910156, + 110.23782348632812 + ], + [ + 220.89566040039062, + 110.5384521484375 + ], + [ + 220.79652404785156, + 110.21533203125 + ], + [ + 220.53216552734375, + 110.34954071044922 + ] + ] +} \ No newline at end of file diff --git a/005994_v2/lang.txt b/005994_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..bf65943ec5c85bb4aa8dc973bf0dacdabc93e4ea --- /dev/null +++ b/005994_v2/lang.txt @@ -0,0 +1 @@ +moved the blue cube to the upper left side of the stove diff --git a/005994_v2/object.ply b/005994_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..27c07f3690a808c7f54ddf39fcb5946091706d70 Binary files /dev/null and b/005994_v2/object.ply differ diff --git a/006011_v2/FAIL b/006011_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/006011_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/006022_v2/FAIL b/006022_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/006022_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/006033/FAIL b/006033/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/006033/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/006037/data.json b/006037/data.json new file mode 100644 index 0000000000000000000000000000000000000000..87051de81bc3a5767b0a50f8fc4d9f1e4ac0c7f7 --- /dev/null +++ b/006037/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 9, + "action_end": 19, + "object_name": "potato", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.61685, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.9648410676254002e-10, + -1.2251130665497101e-11, + -2.726414094489371e-10, + -4.7851188856842796e-08, + -1.3286075251401317e-07, + -8.412777593526544e-07, + 1.0 + ], + [ + 0.021889130314889926, + -0.010075857312908373, + -0.0053749273811785625, + -0.003623361274256702, + -0.08482330247181487, + -0.032754346011683914, + 1.0 + ], + [ + 0.022646463765815972, + -0.01628211871080018, + -0.008900938350978077, + 0.01205524993937622, + -0.11685637952643546, + -0.008205373107602481, + 1.0 + ], + [ + 0.02668220766618351, + -0.010298316723183522, + -0.0020634530997856865, + -0.003993728377186215, + -0.04257530416717019, + -0.047767245944140724, + 1.0 + ], + [ + 0.026361464385586286, + -0.02157293339219061, + -0.010159514206576375, + 0.017531986452519143, + -0.0553500452346813, + -0.05409670437152848, + 1.0 + ], + [ + 0.01703622542649763, + -0.011596481345426422, + -0.005946802341110821, + -0.0042317207603976585, + 0.0052461439067967505, + -0.015891529158859236, + 1.0 + ], + [ + 0.007742314002769146, + -0.0013381232240679032, + -0.00810953711187, + 0.005989672829159174, + 0.006731581406448594, + -0.019949186343906872, + 1.0 + ], + [ + 0.006381973346158087, + 0.004743626738877699, + -0.01341148198704932, + -0.029342206552041436, + -0.0011835786658605596, + 0.0012884147526874895, + 1.0 + ], + [ + 0.0019493595388258012, + 0.009075002801613344, + -0.008334240097002885, + 0.011688188121358542, + 0.005079792840243146, + -0.00040743868339678717, + 1.0 + ], + [ + 0.0024617327300868186, + 0.004828420644746128, + -0.011899156363945083, + -0.010134314121939405, + -0.018182652861112415, + -0.000787133888840729, + 1.0 + ], + [ + 0.001832335896747972, + -0.0021400008636743503, + -0.01224972665657894, + -0.05263809026115804, + -0.0010009934614491833, + 0.0534585158649277, + 0.0 + ], + [ + -0.007128385131369874, + 0.0015403014520018743, + 0.00981291978143694, + -0.014399743383567903, + 0.04057104430904512, + -0.002101497834098401, + 0.0 + ], + [ + -0.037094468480289244, + 0.014860515130246256, + 0.037664161399199016, + 0.08431463387535151, + 0.10391487637384948, + 0.048563197317271274, + 0.0 + ], + [ + -0.04039929180633445, + 0.02735861157574223, + 0.026525445119241275, + 0.007797612171941441, + 0.10671066671334155, + 0.008167364495321374, + 0.0 + ], + [ + -0.023841670054884134, + 0.023294581554863768, + -0.008708363807255835, + -0.017228363267978716, + 0.03683189619281011, + 0.05875146347058826, + 0.0 + ], + [ + -0.013720416850321937, + 0.016160813243840055, + -0.02286678939591545, + 0.011599419698984993, + 0.015119588601142138, + 0.06400263874132836, + 0.0 + ], + [ + -0.006754247808017755, + 0.014441181943298326, + -0.006661257178841189, + -0.012986687896043557, + 0.012491811272456571, + 0.028929800655160237, + 0.0 + ], + [ + -0.005285768692365134, + 0.004660027187019758, + -0.009663749989978786, + -0.016776883697712523, + 0.012397538409432248, + 0.0259429058774831, + 0.0 + ], + [ + -0.0060874856549042455, + 0.008381723305308009, + -0.00921707870285074, + 0.0008420673620071545, + 0.0009093766383430717, + 0.002280786116715797, + 0.0 + ], + [ + -0.003466336155969585, + 0.009206141987502137, + -0.004032674705372538, + 0.00228396847467794, + -0.014888795621765406, + -0.017356274928111214, + 0.61685 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 241.43255615234375, + 68.41749572753906 + ], + [ + 241.47360229492188, + 68.20155334472656 + ], + [ + 241.114990234375, + 79.7064437866211 + ], + [ + 260.69122314453125, + 87.06147766113281 + ], + [ + 303.7737121582031, + 85.69705963134766 + ], + [ + 344.5189208984375, + 94.2422866821289 + ], + [ + 358.3395690917969, + 92.04037475585938 + ], + [ + 403.1716003417969, + 98.76889038085938 + ], + [ + 416.48455810546875, + 109.5977783203125 + ], + [ + 407.27703857421875, + 117.48027801513672 + ], + [ + 393.7544860839844, + 119.70580291748047 + ], + [ + 391.0592041015625, + 123.99229431152344 + ], + [ + 391.5992431640625, + 129.68881225585938 + ], + [ + 386.87078857421875, + 134.535400390625 + ], + [ + 358.12274169921875, + 113.04541015625 + ], + [ + 316.1553955078125, + 82.26629638671875 + ], + [ + 250.1170196533203, + 97.05494689941406 + ], + [ + 223.458984375, + 124.08848571777344 + ], + [ + 222.99166870117188, + 122.74537658691406 + ], + [ + 201.99746704101562, + 130.09622192382812 + ], + [ + 195.0957489013672, + 140.10848999023438 + ], + [ + 191.10281372070312, + 141.128173828125 + ], + [ + 178.03811645507812, + 141.86672973632812 + ], + [ + 181.96368408203125, + 142.6027069091797 + ] + ], + "depth_max": 1.8406263589859009, + "depth_min": 0.48276346921920776, + "intrinsic": [ + [ + 622.2630004882812, + 0.0, + 259.0 + ], + [ + 0.0, + 621.0234985351562, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.205737347248942e-05, + 4.2534127715043724e-05, + 5.811856681248173e-06 + ], + [ + -7.205698057077825e-05, + 1.0, + -9.365916412207298e-06, + -5.653316293319222e-06 + ], + [ + -4.253480437910184e-05, + 9.362851415062323e-06, + 1.0, + 4.118663491681218e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 396.75, + 143.0 + ], + [ + 396.7281494140625, + 143.28248596191406 + ], + [ + 396.5732727050781, + 143.17922973632812 + ], + [ + 396.555908203125, + 143.0413360595703 + ], + [ + 396.5458679199219, + 143.20004272460938 + ], + [ + 396.4454650878906, + 142.90135192871094 + ], + [ + 396.5740966796875, + 142.94204711914062 + ], + [ + 396.735595703125, + 143.253662109375 + ], + [ + 396.7469177246094, + 143.99729919433594 + ], + [ + 396.2161865234375, + 144.15118408203125 + ], + [ + 394.9707336425781, + 143.99862670898438 + ], + [ + 394.7811279296875, + 144.3046417236328 + ], + [ + 391.4547119140625, + 141.359375 + ], + [ + 385.7439880371094, + 147.58694458007812 + ], + [ + 353.45965576171875, + 127.24505615234375 + ], + [ + 310.2851867675781, + 101.70547485351562 + ], + [ + 245.94223022460938, + 112.90122985839844 + ], + [ + 219.60646057128906, + 136.36572265625 + ], + [ + 217.5851287841797, + 136.06719970703125 + ], + [ + 197.32470703125, + 144.08493041992188 + ], + [ + 189.6435089111328, + 153.3338623046875 + ], + [ + 185.27735900878906, + 154.88722229003906 + ], + [ + 169.8783416748047, + 168.22520446777344 + ], + [ + 173.71128845214844, + 176.63539123535156 + ] + ] +} \ No newline at end of file diff --git a/006037/lang.txt b/006037/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..458c9c858572f4651232771e7e5b07ce6e5173d3 --- /dev/null +++ b/006037/lang.txt @@ -0,0 +1 @@ +put potato on plate diff --git a/006037/object.ply b/006037/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..6b75fec2eea3233bad0f95968142ceaea87d4385 Binary files /dev/null and b/006037/object.ply differ diff --git a/006043/data.json b/006043/data.json new file mode 100644 index 0000000000000000000000000000000000000000..ceec6e754d61c1d8e803339c6db9b5993c910384 --- /dev/null +++ b/006043/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 15, + "action_end": 24, + "object_name": "potato", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.017094000000000054, + 0.9272279999999999, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.7755575615628914e-17, + 0.0, + 0.0, + 3.212183766287934e-07, + 2.3770029619522085e-07, + -4.5567460937298825e-07, + 1.0 + ], + [ + 0.004059803261566325, + 0.010998228156562553, + -0.026900190989668393, + 0.05267510171258954, + -0.13093583073766507, + -0.017296710553389702, + 1.0 + ], + [ + 0.042985141137940025, + 0.012852426690102711, + -0.022301886406812244, + -0.02617455385149699, + -0.030580192642739746, + -0.057124884587856264, + 1.0 + ], + [ + 0.03830831682389321, + 0.01183523407414655, + -0.009871885648779721, + -0.005714271906617172, + -0.01807858620864484, + -0.07805187370354706, + 1.0 + ], + [ + 0.028559590283264547, + 0.004897502491299631, + -0.010807074790001106, + -0.00291188648147178, + -0.01471487825195752, + -0.009808237739452809, + 1.0 + ], + [ + 0.016827395955385238, + 0.005353026627029113, + -0.012659149702551054, + 0.0067678857023496545, + -0.015570141961651296, + 0.006000014918898098, + 1.0 + ], + [ + 0.014560062452027123, + 0.012453307384625183, + -0.018821364745672864, + 0.03129470785258668, + -0.09245542390418754, + -0.01957166287679105, + 1.0 + ], + [ + 0.023286097234593017, + 0.020336673559361022, + -0.0032421658777366663, + 0.02245004543669562, + -0.01591769571193201, + -0.042624882167417256, + 1.0 + ], + [ + 0.009345189563621403, + 0.008262350088088177, + -0.0023486463678134284, + 0.00033487596695360556, + 0.0030073908335423996, + -0.003785641610779826, + 1.0 + ], + [ + 0.011839755725765122, + 0.01817463092534997, + -0.007967825480250684, + -0.011746407963647582, + 0.0006684289228738351, + -0.027743719070802173, + 1.0 + ], + [ + 0.0031833426932995623, + 0.005916612687452498, + -0.007011178540607621, + -0.011384215272009503, + -0.0006409194321566589, + 0.0019675886534812202, + 1.0 + ], + [ + -0.0004548364276937278, + -0.0014431937997275157, + -0.008856219526764159, + -0.01180098917055488, + -0.00011495256268715168, + 0.010182918622463602, + 1.0 + ], + [ + -0.0009670842690114867, + 0.0008803574621643051, + -0.010667101041985143, + -0.008676689389289458, + -0.008204257095963893, + 0.009027052636777963, + 1.0 + ], + [ + -0.002438823283661129, + -0.004653080659197922, + -0.011291385499096938, + -0.020901562526459912, + -0.006870050342511059, + 0.014130793182277423, + 1.0 + ], + [ + 0.001960177568046617, + -0.00418850782661759, + -0.010297409816884324, + -0.02387359369225248, + -0.0005845467100198983, + -0.001077144605377346, + 1.0 + ], + [ + 0.004643384919566951, + -0.002560884778909294, + -0.0037628446539695395, + -0.012627007167766748, + 0.006506196818155906, + -0.003352046612890448, + 1.0 + ], + [ + -9.768206536425739e-05, + -0.0017827757348182413, + 0.001807086254731409, + 0.003167734689563982, + 0.005756540728796389, + 0.034645532704800586, + 0.0 + ], + [ + -0.0038137906689258982, + 0.0018122774436738296, + 0.023904519878277186, + 0.04598372262760649, + 0.017017058532934705, + 0.005426199232420796, + 0.0 + ], + [ + -0.012850560194321736, + 0.007439592402654398, + 0.027510312940486427, + 0.0778172368524015, + -0.021961055939412895, + 0.004431185526139647, + 0.0 + ], + [ + -0.01291908645097306, + 0.0037841770517072935, + 0.0235402431884446, + 0.056684729733120456, + -0.017653963726876727, + -0.007551369114540207, + 0.0 + ], + [ + -0.01704783315787195, + 0.0013131915923975182, + 0.0002767524446153774, + -0.013550952077020343, + 0.030832761740863922, + 0.052335800684264466, + 0.0 + ], + [ + -0.017378453063075616, + 0.006225619764342782, + -0.011155278212845551, + -0.03456780768408127, + 0.04363022813351232, + 0.036886992282522985, + 0.0 + ], + [ + -0.013585148122635893, + -0.0006208251367270379, + -0.02126153234663608, + -0.05988107330591035, + 0.01709062828519866, + -0.0045163291140228, + 0.0 + ], + [ + -0.006575737710652951, + -0.003959502531256768, + -0.009472406173081982, + -0.033035249661594816, + 0.01394197118940323, + -0.0012786730287102444, + 0.017094000000000054 + ], + [ + -0.003338621382595053, + -0.005864174167154745, + -0.005332421575445889, + -0.07390664547965317, + 0.0023825886136651874, + 0.017233090501843892, + 0.9272279999999999 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 461.4610595703125, + 99.94859313964844 + ], + [ + 461.4602966308594, + 99.8746337890625 + ], + [ + 451.0196228027344, + 118.94319915771484 + ], + [ + 423.960205078125, + 164.29779052734375 + ], + [ + 430.31695556640625, + 158.3369598388672 + ], + [ + 431.18170166015625, + 124.28877258300781 + ], + [ + 458.8192443847656, + 126.52680206298828 + ], + [ + 460.1052551269531, + 129.1332550048828 + ], + [ + 445.790283203125, + 128.0413360595703 + ], + [ + 433.99810791015625, + 114.47427368164062 + ], + [ + 420.2317810058594, + 101.14335632324219 + ], + [ + 419.6856689453125, + 108.91323852539062 + ], + [ + 405.0413818359375, + 107.20173645019531 + ], + [ + 402.375244140625, + 111.02954864501953 + ], + [ + 405.2691955566406, + 122.40608215332031 + ], + [ + 405.0, + 134.4565887451172 + ], + [ + 407.2913513183594, + 148.16030883789062 + ], + [ + 409.1989440917969, + 145.41903686523438 + ], + [ + 405.884521484375, + 145.54229736328125 + ], + [ + 402.74102783203125, + 149.662353515625 + ], + [ + 401.095703125, + 105.90278625488281 + ], + [ + 393.6905517578125, + 96.28970336914062 + ], + [ + 380.23394775390625, + 104.96037292480469 + ], + [ + 374.5725402832031, + 124.22405242919922 + ], + [ + 354.14447021484375, + 159.65261840820312 + ], + [ + 349.23858642578125, + 167.85874938964844 + ], + [ + 359.61590576171875, + 177.0762481689453 + ], + [ + 361.0861511230469, + 177.8692626953125 + ] + ], + "depth_max": 2.2059121131896973, + "depth_min": 0.3745306432247162, + "intrinsic": [ + [ + 556.531494140625, + 0.0, + 259.0 + ], + [ + 0.0, + 557.1312255859375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.8072888855822384e-05, + -0.00011156424443470314, + 3.594352165237069e-06 + ], + [ + -3.808008841588162e-05, + 1.0, + -6.458262214437127e-05, + 9.564099855197128e-06 + ], + [ + 0.00011156178516102955, + 6.458687130361795e-05, + 1.0, + 3.772685886360705e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 417.25, + 135.0 + ], + [ + 417.5382385253906, + 135.41212463378906 + ], + [ + 417.58013916015625, + 135.46658325195312 + ], + [ + 417.4444580078125, + 135.6662139892578 + ], + [ + 417.5274658203125, + 135.01620483398438 + ], + [ + 417.6068115234375, + 134.66793823242188 + ], + [ + 417.2958068847656, + 134.74810791015625 + ], + [ + 417.50506591796875, + 134.94927978515625 + ], + [ + 417.52093505859375, + 135.18609619140625 + ], + [ + 417.15460205078125, + 134.50119018554688 + ], + [ + 417.3177490234375, + 134.82090759277344 + ], + [ + 416.99395751953125, + 135.06849670410156 + ], + [ + 416.20892333984375, + 135.6322021484375 + ], + [ + 415.66241455078125, + 136.30653381347656 + ], + [ + 415.1542663574219, + 136.83984375 + ], + [ + 415.1131286621094, + 138.46624755859375 + ], + [ + 414.41827392578125, + 140.34414672851562 + ], + [ + 414.48101806640625, + 140.34011840820312 + ], + [ + 413.9141540527344, + 143.92422485351562 + ], + [ + 410.1100769042969, + 148.18869018554688 + ], + [ + 404.7666015625, + 105.74555206298828 + ], + [ + 396.8786315917969, + 97.4992446899414 + ], + [ + 384.9959411621094, + 105.33873748779297 + ], + [ + 379.31072998046875, + 124.55384063720703 + ], + [ + 359.3904724121094, + 160.9192352294922 + ], + [ + 356.0985107421875, + 169.22244262695312 + ], + [ + 362.6976623535156, + 196.23187255859375 + ], + [ + 368.44781494140625, + 176.53121948242188 + ] + ] +} \ No newline at end of file diff --git a/006043/lang.txt b/006043/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..458c9c858572f4651232771e7e5b07ce6e5173d3 --- /dev/null +++ b/006043/lang.txt @@ -0,0 +1 @@ +put potato on plate diff --git a/006043/object.ply b/006043/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..26e43528d44598a07ee67fa41566175105bcd907 Binary files /dev/null and b/006043/object.ply differ diff --git a/006078_v2/FAIL b/006078_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/006078_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/006086_v2/FAIL b/006086_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/006086_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/006091_v2/data.json b/006091_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..473748900c63db746a2f5567eaba32eee6b8b18d --- /dev/null +++ b/006091_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 17, + "action_end": 36, + "object_name": "blue spatula", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.935287, + 1.0, + 1.0, + 0.907937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.905739, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 7.767442244954736e-11, + -4.9257181666817473e-11, + 2.6247115592070713e-11, + -4.341549773438512e-08, + -1.7958658656882883e-07, + -7.120476467492399e-07, + 1.0 + ], + [ + 0.0009063086956043187, + 0.0281875622970508, + -0.014942990939068063, + -0.019958579773334015, + 0.021498426993258577, + 0.06262632774786951, + 1.0 + ], + [ + 0.0023270078683341744, + 0.03729085578189431, + -0.01498825474366236, + 0.012922790650638866, + 0.02681136885152065, + 0.09592994212379778, + 1.0 + ], + [ + -0.0014869160648862678, + 0.04310046831372808, + -0.02026629059583754, + -0.01951522885988222, + 0.026575490469004263, + 0.10652147433270973, + 1.0 + ], + [ + -0.0013818375626709622, + 0.04602991204234892, + -0.029678403614392557, + 0.016573968797514476, + 0.0361671318535043, + 0.10094500914253193, + 1.0 + ], + [ + 0.0004817203375683532, + 0.03182059677479186, + -0.018385896100682864, + 0.004677035458176229, + 0.013444045944271574, + 0.06117951904337359, + 1.0 + ], + [ + 0.004356534049311522, + 0.0285815262899713, + -0.020754131908247722, + 0.008263700225702905, + 0.01078691074935992, + 0.06188622044463289, + 1.0 + ], + [ + 0.0049291106609086754, + 0.01613923535316801, + -0.018645374205857698, + 0.016437789414906017, + -0.00202538054533676, + 0.01335784748262578, + 1.0 + ], + [ + -0.002841032176255809, + 0.020446423640801126, + -0.024399812562017717, + -0.012580898514323657, + -0.008967488467390797, + -0.005749113559893901, + 1.0 + ], + [ + 0.0012981578866037569, + 0.01518110334837701, + -0.01632740085396222, + 0.004549482364987883, + -0.015050917807790136, + 0.01199292262317962, + 1.0 + ], + [ + 0.004423166182126653, + 0.011458194459626037, + -0.012299406066571067, + -0.006128140974935518, + -0.024937410519277826, + 0.022885608239118598, + 1.0 + ], + [ + 0.010422782211829712, + -0.008477492459656372, + 0.005084761730120005, + 0.017523354280046043, + -0.025174086624894478, + -0.029350553385578942, + 1.0 + ], + [ + 0.007445668949910805, + -0.01152358440312079, + 0.0034339741542078594, + 0.0022897267427776607, + -0.02004097001026904, + -0.01684965752765103, + 1.0 + ], + [ + 0.00012896666472358986, + -0.003356219381844855, + -0.006214911251703087, + 0.002227463512676015, + 0.011244781489580087, + 0.011513099249672878, + 1.0 + ], + [ + -0.002076709898522877, + -8.144738944421137e-05, + -0.007764454260106817, + 0.009809736282631229, + 0.015518072457921812, + -0.0007396178053368496, + 0.935287 + ], + [ + -0.0033199364210405036, + 0.002784054755561066, + -0.008216570914785058, + 0.004957837681224974, + 0.008595771778210063, + 0.024494757378081163, + 1.0 + ], + [ + -0.0022188062571370515, + 0.0014217837529534594, + -0.006182375156532881, + -0.007240317776344598, + 0.011840659172790124, + 0.0005700797874643356, + 1.0 + ], + [ + -0.0006610424414565386, + 0.0010549616843949783, + -0.0022309597313341575, + -0.003224232007705028, + 0.003525856882285009, + 0.004475845660090806, + 0.907937 + ], + [ + 0.0006459957582486964, + 0.00040460450812851434, + -0.001457827371762685, + 0.009130707088733425, + -0.001015383497121112, + -0.003979203309831106, + 0.0 + ], + [ + 0.0003309994313209219, + 0.0013885112918795572, + 0.008985407205891298, + 0.008032316391852461, + -0.014442458312111937, + 0.0022772496878430935, + 0.0 + ], + [ + 0.001427003869506338, + 0.0018471726896189256, + 0.009984296891443614, + -0.0016452859259372212, + -0.014780171404737924, + 0.004479122994167427, + 0.0 + ], + [ + 0.0009174222176391855, + -3.5957974890504785e-05, + 0.015425745990452669, + 0.0014559801728954947, + -0.01970424155442569, + 0.010090749353552505, + 0.0 + ], + [ + 0.0009250372100646498, + 0.0020874551801513264, + 0.01701487306232049, + 0.012770055243235932, + -0.006859139435351097, + 0.004767914596319278, + 0.0 + ], + [ + 0.002714440732218215, + 0.0017637015089791985, + 0.01623552209929652, + 0.007909644906802524, + -0.008911457329736958, + 0.0067256836914081726, + 0.0 + ], + [ + -0.0006709748534825533, + -0.017811613485025496, + 0.015030940949009697, + 0.026505586937871913, + -0.00626598357911948, + -0.0343266442338555, + 0.0 + ], + [ + -0.0028991347392952616, + -0.03834863466413985, + 0.016346294408760176, + 0.017445588632345885, + -0.02452654340059694, + -0.08038519911873945, + 0.0 + ], + [ + -0.004657915811636215, + -0.0365410378265527, + 0.006851116100394863, + -0.00549509187716589, + 0.006643376165741753, + -0.07711800624073746, + 0.0 + ], + [ + -0.0042297874108944145, + -0.03715809618849181, + -0.004658045305127735, + -0.052003179596565335, + 0.060579459824101595, + -0.06683033321699128, + 0.0 + ], + [ + -0.005807540616647455, + -0.03864253232535329, + -0.008323730174702455, + -0.02367128606682913, + 0.044548537238535066, + -0.08221232925852588, + 0.0 + ], + [ + -0.008889649483033085, + -0.031262094231095175, + -0.01161337226654794, + -0.011044971199170224, + 0.052556294087110204, + -0.07679454837319852, + 0.0 + ], + [ + -0.008240033561765447, + -0.020545046501813158, + -0.012659034199471411, + 0.0013788944254187223, + 0.057515220113243316, + -0.050612787357488205, + 0.0 + ], + [ + -0.004881739223360326, + -0.005752586541771902, + -0.01770763437918399, + -0.027306592756275457, + 0.06553323867679058, + -0.010268589984358699, + 0.0 + ], + [ + -0.0024969326939261183, + -0.003472109344314217, + -0.013490659306351738, + 0.0026343582394436718, + 0.03768622290871092, + -0.017739854442223698, + 0.0 + ], + [ + -0.0028736990525629613, + -0.0006107981003947993, + -0.00474384978920029, + 0.01238720245142859, + 0.014897123584823703, + -0.01598099218899521, + 0.0 + ], + [ + -0.001469455663732161, + 0.003086266487079367, + -0.005245085790569596, + -0.0062465472423095586, + 0.011576237803703662, + 0.004339403167128998, + 0.0 + ], + [ + -0.0001658247168555005, + 0.0003594993952873021, + 0.0002832309428511554, + -0.010165052381856955, + 0.0035990191095208635, + 0.008394699939959598, + 0.0 + ], + [ + -0.00047811844059486575, + -8.224427294942216e-05, + -0.003342385017453213, + -0.013741009108801846, + 0.017703094786505308, + 0.005005060516046584, + 0.905739 + ], + [ + 0.002694557698442873, + 0.0030025101198105086, + 0.008082279954862458, + 0.0008220420045363874, + -0.021118060100436226, + 0.005657507071159037, + 1.0 + ], + [ + 0.0052205619798207925, + 0.0042466907810197185, + 0.01262314344546342, + 0.009037767807992618, + -0.03461929352953406, + 0.004829334134856271, + 1.0 + ], + [ + 0.006143936436635078, + 0.005123416183325694, + 0.025173369495543663, + 0.003507945396007316, + -0.06056702018864724, + 0.014948774248111519, + 1.0 + ], + [ + 0.010275317841369758, + 0.0089457679664618, + 0.012653783300707419, + 0.006628724527037754, + -0.03642337649868956, + 0.026189071678739424, + 1.0 + ], + [ + 0.013780691393554978, + 0.015504193181725419, + 0.01096456602713429, + 0.03550135079243994, + -0.08866602487784367, + -0.003068727926701596, + 1.0 + ], + [ + 0.012280444427285209, + 0.010317141989582633, + 0.012106226757728558, + 0.019856151559253795, + -0.055125274512611074, + 0.024524373070467426, + 1.0 + ], + [ + 0.012001963953310602, + 0.0009342390864553705, + 0.004433106593424718, + -0.018546171394797542, + -0.027087624599161905, + 0.020526878748913294, + 1.0 + ], + [ + 0.012347202927411816, + -0.017873767618473115, + 0.013618728803457505, + -0.005711182683974904, + -0.039856255123013676, + -0.017763703506876588, + 1.0 + ], + [ + 0.019843622544329476, + -0.01929511173877621, + 0.013951577942085083, + -0.012151500156002465, + -0.03741705046547165, + -0.021917447293249986, + 1.0 + ], + [ + 0.02212591685332993, + 0.0014827231884661646, + 0.004427572210595268, + 0.013351447380872789, + -0.014387562936942046, + 0.008283915908219539, + 1.0 + ], + [ + 0.022508323504099592, + 0.005159960023019716, + 0.0016309398526181407, + -0.016979748727916286, + -0.03728767004817836, + 0.009077168528616003, + 1.0 + ] + ], + "gripper_centers": [ + [ + 479.62786865234375, + 139.02847290039062 + ], + [ + 478.3940124511719, + 146.19952392578125 + ], + [ + 442.80999755859375, + 183.39378356933594 + ], + [ + 362.17919921875, + 177.92628479003906 + ], + [ + 297.1836242675781, + 189.66012573242188 + ], + [ + 238.47642517089844, + 201.5628204345703 + ], + [ + 183.89923095703125, + 213.49142456054688 + ], + [ + 155.02056884765625, + 226.52352905273438 + ], + [ + 145.16583251953125, + 235.9023895263672 + ], + [ + 133.0759735107422, + 248.92601013183594 + ], + [ + 122.11782836914062, + 261.96759033203125 + ], + [ + 117.90846252441406, + 264.7736511230469 + ], + [ + 119.0411605834961, + 264.9233703613281 + ], + [ + 140.92276000976562, + 260.4064025878906 + ], + [ + 144.27163696289062, + 256.4314880371094 + ], + [ + 144.12608337402344, + 260.8197021484375 + ], + [ + 145.60350036621094, + 270.118408203125 + ], + [ + 147.70004272460938, + 276.11163330078125 + ], + [ + 148.15350341796875, + 278.028564453125 + ], + [ + 148.77099609375, + 278.3631896972656 + ], + [ + 148.3191680908203, + 277.55511474609375 + ], + [ + 142.51107788085938, + 272.8763427734375 + ], + [ + 137.50328063964844, + 260.7882385253906 + ], + [ + 130.390869140625, + 245.5869903564453 + ], + [ + 126.06355285644531, + 227.9052734375 + ], + [ + 122.65873718261719, + 212.05381774902344 + ], + [ + 156.0628204345703, + 213.79306030273438 + ], + [ + 184.95745849609375, + 222.53591918945312 + ], + [ + 226.4764862060547, + 240.47055053710938 + ], + [ + 277.5760192871094, + 273.3089599609375 + ], + [ + 316.57965087890625, + 313.0989685058594 + ], + [ + 339.36822509765625, + 349.1509094238281 + ], + [ + 349.7781982421875, + 378.1676025390625 + ], + [ + 350.19085693359375, + 393.3783874511719 + ], + [ + 351.6458740234375, + 401.455810546875 + ], + [ + 348.75140380859375, + 410.40435791015625 + ], + [ + 348.49224853515625, + 408.9471435546875 + ], + [ + 347.92071533203125, + 413.6865539550781 + ], + [ + 343.8597412109375, + 410.5598449707031 + ], + [ + 340.30548095703125, + 392.83001708984375 + ], + [ + 338.734619140625, + 362.1298828125 + ], + [ + 331.6828918457031, + 330.6313781738281 + ], + [ + 319.24749755859375, + 298.7841491699219 + ], + [ + 314.7908020019531, + 270.86065673828125 + ], + [ + 319.30548095703125, + 244.6785888671875 + ], + [ + 338.90826416015625, + 219.22113037109375 + ], + [ + 385.46661376953125, + 198.04324340820312 + ], + [ + 411.8165283203125, + 175.43528747558594 + ] + ], + "depth_max": 1.3995634317398071, + "depth_min": 0.25334256887435913, + "intrinsic": [ + [ + 513.3511962890625, + 0.0, + 259.0 + ], + [ + 0.0, + 513.848388671875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.7308163882698864e-06, + -1.1674537745420821e-05, + 1.1275487850070931e-05 + ], + [ + -3.731634478754131e-06, + 1.0, + -7.006320083746687e-05, + 2.2008063751854934e-05 + ], + [ + 1.167427581094671e-05, + 7.006324449321255e-05, + 1.0, + -1.4488203305518255e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 158.0, + 284.5 + ], + [ + 158.37718200683594, + 284.8642883300781 + ], + [ + 158.39846801757812, + 284.61102294921875 + ], + [ + 158.47348022460938, + 284.77447509765625 + ], + [ + 158.497802734375, + 284.79656982421875 + ], + [ + 158.207275390625, + 284.7077331542969 + ], + [ + 157.98263549804688, + 284.8738098144531 + ], + [ + 157.9437255859375, + 284.6583251953125 + ], + [ + 157.7382049560547, + 284.9543151855469 + ], + [ + 157.56130981445312, + 285.1858825683594 + ], + [ + 157.6996612548828, + 285.2761535644531 + ], + [ + 157.41636657714844, + 285.3707275390625 + ], + [ + 157.452880859375, + 285.4623718261719 + ], + [ + 157.9029541015625, + 285.63128662109375 + ], + [ + 157.9009552001953, + 285.53240966796875 + ], + [ + 157.9258575439453, + 285.4304504394531 + ], + [ + 157.63186645507812, + 285.803466796875 + ], + [ + 157.411865234375, + 286.05938720703125 + ], + [ + 157.2986297607422, + 286.34796142578125 + ], + [ + 155.1243133544922, + 285.5217590332031 + ], + [ + 158.2635040283203, + 285.9248962402344 + ], + [ + 152.9398193359375, + 281.8921813964844 + ], + [ + 148.31884765625, + 271.4639587402344 + ], + [ + 141.46177673339844, + 256.4058837890625 + ], + [ + 136.4195556640625, + 239.6759796142578 + ], + [ + 132.94534301757812, + 224.35906982421875 + ], + [ + 165.60540771484375, + 226.47604370117188 + ], + [ + 194.0011749267578, + 235.38079833984375 + ], + [ + 232.8497314453125, + 257.4378662109375 + ], + [ + 280.8257141113281, + 288.15972900390625 + ], + [ + 320.4396057128906, + 330.3110046386719 + ], + [ + 342.2328186035156, + 367.21673583984375 + ], + [ + 350.3564758300781, + 393.69512939453125 + ], + [ + 351.38421630859375, + 411.7869873046875 + ], + [ + 352.65191650390625, + 418.6461181640625 + ], + [ + 349.2496032714844, + 427.01904296875 + ], + [ + 349.80316162109375, + 421.9691162109375 + ], + [ + 352.1168212890625, + 442.2294616699219 + ], + [ + 351.3802490234375, + 440.242919921875 + ], + [ + 351.56158447265625, + 439.5736083984375 + ], + [ + 352.62689208984375, + 437.96624755859375 + ], + [ + 351.20416259765625, + 434.6358642578125 + ], + [ + 351.75408935546875, + 427.3677062988281 + ], + [ + 351.42926025390625, + 425.0002136230469 + ], + [ + 353.7124328613281, + 426.1558532714844 + ], + [ + 356.3811340332031, + 425.2206726074219 + ], + [ + 355.4404296875, + 422.5185241699219 + ], + [ + 355.50994873046875, + 423.4892272949219 + ] + ] +} \ No newline at end of file diff --git a/006091_v2/lang.txt b/006091_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..fcef3e3a1b8052ca237b2aee220327be14ea2513 --- /dev/null +++ b/006091_v2/lang.txt @@ -0,0 +1 @@ +move the blue spatula into the silver pot diff --git a/006091_v2/object.ply b/006091_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..c46fea7d4471741fdd3a60bd4d900f81051837e2 Binary files /dev/null and b/006091_v2/object.ply differ diff --git a/006109/FAIL b/006109/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/006109/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/006118_v2/FAIL b/006118_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/006118_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/006162_v2/FAIL b/006162_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..aaf6c42c619234f9c8379cbcf60a65cd17ba1254 --- /dev/null +++ b/006162_v2/FAIL @@ -0,0 +1 @@ +Too large intersection between gripper and object mask diff --git a/006172/data.json b/006172/data.json new file mode 100644 index 0000000000000000000000000000000000000000..536c345a12aa25f73914b4ecbaaab0d9df31f59f --- /dev/null +++ b/006172/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 9, + "action_end": 20, + "object_name": "strawberry", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.9119745503791705e-10, + 2.0620757879008522e-10, + 1.5842031853008365e-10, + -2.848285135025609e-07, + 1.6098576613479458e-07, + -5.883689452742574e-07, + 1.0 + ], + [ + 0.004180895738587431, + 0.003933114430191037, + -0.010382255171347457, + 0.003400229869395925, + -0.01873498415143859, + 0.022215321357681613, + 1.0 + ], + [ + 0.007803783394974173, + 0.0018189810303150672, + -0.00047451884734880934, + 0.0056797785578306375, + -0.014610859682555877, + 0.005838295460611231, + 1.0 + ], + [ + 0.007740080402355243, + 0.0007512240506451912, + -0.004994912387871905, + 0.012471438524299416, + -0.03248570222212852, + 0.0008152973306505003, + 1.0 + ], + [ + 0.0060346988633820375, + 0.003234903296602351, + -0.00831816347140081, + -0.003275639426247171, + -0.02777992139321149, + -0.004271208218980857, + 1.0 + ], + [ + 0.0025869094972931217, + 0.002347679034872152, + -0.007565994664574083, + -0.002799853217974366, + -0.009833904406381728, + 0.004025040635983667, + 1.0 + ], + [ + 0.0005038130980344335, + 0.007061946537491995, + -0.006261771514463638, + -0.008208027564320531, + 0.005948678698430779, + -0.0037662902826975796, + 1.0 + ], + [ + -0.0011017912739691438, + 0.003693201902409071, + -0.007732816932825997, + -0.023223469956004075, + 0.01913541375422645, + 0.02423255208669507, + 1.0 + ], + [ + -0.0021728572842795724, + -0.0005220900849917387, + -0.010578502591751401, + 0.015260687917108674, + -0.03138936273312726, + 0.022060143052219587, + 1.0 + ], + [ + 0.002685231194082316, + 0.0030034386850204403, + -0.006638777454195437, + 0.0012772976664852192, + -0.03424092077630042, + -0.005571284219947527, + 1.0 + ], + [ + -0.0019412807664848097, + -0.005193107269585551, + -0.001834923247818962, + 0.038740170273380906, + -0.029444144189377103, + 0.033508694648195204, + 0.0 + ], + [ + -0.002472447574665082, + -0.007479714798639486, + 0.004171098929786926, + -0.00013438735564181583, + 0.0017514367705561951, + 0.032614649663414465, + 0.0 + ], + [ + -0.0068138166705999925, + -0.011468367530630671, + 0.017809634384040582, + -0.02277452609407486, + 0.04185292900603599, + 0.03743247711638466, + 0.0 + ], + [ + -0.01399887709900266, + -0.004378670757976044, + 0.031938158713717246, + 0.027348636889102163, + 0.04669385237923792, + 0.04695105679251827, + 0.0 + ], + [ + -0.014175545492626451, + -1.07455500993614e-05, + 0.04445857806298187, + 0.08718995553352935, + 0.05239421434817648, + 0.024337894290381253, + 0.0 + ], + [ + -0.011322571520912261, + -0.026509228055615328, + 0.03183206537523248, + -0.004525530202140115, + -0.00039531585610164973, + -0.0008829462868435937, + 0.0 + ], + [ + -0.005644786404493007, + -0.04450032505382491, + 0.02362610329565472, + -0.051119842480586916, + -0.04067163906083852, + 0.03729015831478218, + 0.0 + ], + [ + 0.0014326933660837038, + -0.037430715318987146, + 0.00025073543939549414, + -0.14995341911573204, + -0.0401743242949914, + 0.0513589697743474, + 0.0 + ], + [ + 0.006457754298579976, + -0.027942242251812674, + 0.0005823937037541804, + -0.04163770299131658, + 0.0646009971746784, + -0.06100214324688697, + 0.0 + ], + [ + 0.0009374862605839862, + -0.014242289877154885, + -0.0007061665053874344, + -0.04724764712850222, + 0.06327968975034037, + -0.043374689111650995, + 0.0 + ], + [ + 0.0034466169457640916, + -0.0072647056559409715, + -0.0008652100139910357, + -0.04381681164276638, + -0.026655293163817914, + 0.000688656427961572, + 0.0 + ], + [ + -0.0045896703040495535, + 0.002807504925732042, + -0.005549505501778823, + -0.01191504721888365, + -0.030982112633901313, + 0.0010392683495232707, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 263.3646240234375, + 88.17829895019531 + ], + [ + 263.2672424316406, + 87.99851989746094 + ], + [ + 263.2795104980469, + 104.94935607910156 + ], + [ + 266.5555725097656, + 111.90047454833984 + ], + [ + 268.372314453125, + 111.76119995117188 + ], + [ + 271.4756774902344, + 114.02593231201172 + ], + [ + 277.44287109375, + 118.58959197998047 + ], + [ + 276.29364013671875, + 124.62622833251953 + ], + [ + 268.07708740234375, + 133.27029418945312 + ], + [ + 263.9700012207031, + 135.88522338867188 + ], + [ + 262.396728515625, + 144.0890655517578 + ], + [ + 262.78460693359375, + 150.4750518798828 + ], + [ + 259.4688720703125, + 150.54197692871094 + ], + [ + 259.6030578613281, + 153.7525177001953 + ], + [ + 268.6058349609375, + 156.11288452148438 + ], + [ + 265.58197021484375, + 119.45696258544922 + ], + [ + 250.76385498046875, + 70.46842956542969 + ], + [ + 279.3923034667969, + 50.78790283203125 + ], + [ + 341.0352783203125, + 43.93329620361328 + ], + [ + 396.01214599609375, + 51.88410949707031 + ], + [ + 416.6704406738281, + 41.74802017211914 + ], + [ + 478.3631591796875, + 54.98826599121094 + ], + [ + 486.1016845703125, + 53.46628952026367 + ], + [ + 472.9436950683594, + 77.0032958984375 + ] + ], + "depth_max": 1.3368580341339111, + "depth_min": 0.6011890172958374, + "intrinsic": [ + [ + 569.4866333007812, + 0.0, + 259.0 + ], + [ + 0.0, + 569.6791381835938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.4061776609160006e-05, + -6.978499732213095e-05, + 2.164183388231322e-05 + ], + [ + -5.406529817264527e-05, + 1.0, + -5.051061089034192e-05, + -2.1834272047271952e-05 + ], + [ + 6.978226156206802e-05, + 5.051439075032249e-05, + 1.0, + 1.240409164893208e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 271.75, + 144.25001525878906 + ], + [ + 271.946044921875, + 144.16049194335938 + ], + [ + 271.8970642089844, + 144.34024047851562 + ], + [ + 271.92315673828125, + 144.10093688964844 + ], + [ + 271.86114501953125, + 144.0133056640625 + ], + [ + 271.682373046875, + 144.11434936523438 + ], + [ + 271.6647033691406, + 144.01527404785156 + ], + [ + 271.4825439453125, + 143.85533142089844 + ], + [ + 271.6802978515625, + 143.80877685546875 + ], + [ + 271.3734130859375, + 143.8358917236328 + ], + [ + 269.2524719238281, + 143.5477294921875 + ], + [ + 267.4140319824219, + 143.4039306640625 + ], + [ + 264.99896240234375, + 143.228759765625 + ], + [ + 264.23492431640625, + 146.5418701171875 + ], + [ + 273.447998046875, + 148.9331817626953 + ], + [ + 272.552001953125, + 114.45604705810547 + ], + [ + 258.5896911621094, + 64.78656005859375 + ], + [ + 288.1283874511719, + 43.213706970214844 + ], + [ + 354.5794677734375, + 32.22114944458008 + ], + [ + 404.04937744140625, + 42.21058654785156 + ], + [ + 425.8158874511719, + 25.90451431274414 + ], + [ + 486.86871337890625, + 44.67098617553711 + ], + [ + 493.59796142578125, + 42.054325103759766 + ], + [ + 499.4775390625, + 42.23571014404297 + ] + ] +} \ No newline at end of file diff --git a/006172/lang.txt b/006172/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..720496d53662f62b9ff90cf9fcb334cef8cbbeb3 --- /dev/null +++ b/006172/lang.txt @@ -0,0 +1 @@ +put strawberry in pot diff --git a/006172/object.ply b/006172/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..ca8e2a2c5ea9d937290e993539aae925648f2d84 Binary files /dev/null and b/006172/object.ply differ diff --git a/006178_v2/FAIL b/006178_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/006178_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/006188_v2/FAIL b/006188_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/006188_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/006193/FAIL b/006193/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/006193/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/006197/data.json b/006197/data.json new file mode 100644 index 0000000000000000000000000000000000000000..14fe776eb3f980c71c1b693a81930b9c74e57eb1 --- /dev/null +++ b/006197/data.json @@ -0,0 +1,439 @@ +{ + "action_start": 6, + "action_end": 15, + "object_name": "strawberry", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 0.0, + 1.3877787807814457e-17, + 7.735350536670168e-08, + -2.551050833351387e-07, + -1.4263899665016772e-07, + 1.0 + ], + [ + -0.0045348759889063395, + 0.000948801626148299, + -0.015090406683545249, + -0.0004756688970630793, + -0.018464257869827954, + -0.005947326399084361, + 1.0 + ], + [ + -0.006719692354873519, + 0.0018071294231141732, + -0.014960416554085393, + 0.0033462792404456826, + -0.009134459693723798, + -0.004618611366174009, + 1.0 + ], + [ + -0.001082861754631459, + 0.0033894602335740737, + -0.013882760999317262, + -0.0001712612258718236, + -0.014487243837460752, + -0.011460784371576601, + 1.0 + ], + [ + 0.0020014114278057993, + 0.003107565966959644, + -0.007836542047003958, + 0.004183846659029723, + -0.017579857652824236, + -0.01995287627059461, + 1.0 + ], + [ + 0.006074503120513136, + -0.001765759355374541, + -0.0065759955038408105, + -0.0038750184059289316, + -0.03389515656809013, + -0.005573777765494919, + 1.0 + ], + [ + 0.004895352831238042, + -0.0012442567778341573, + -0.010447169756825456, + -0.021275942216895806, + -0.030374581573748116, + 0.012790563626078342, + 1.0 + ], + [ + 0.00013084926278383868, + -0.0035814134983364054, + -0.009872901057590117, + -0.05041496597501251, + -0.015348238274319094, + 0.023074785149468206, + 0.0 + ], + [ + 0.0030834841300982907, + -0.003929197526929579, + 0.0071933887584595315, + 0.0038791299060362875, + 0.01563525627941826, + 0.00012702174932359146, + 0.0 + ], + [ + 0.0063247600756294875, + -0.002055508278269891, + 0.031473444162935627, + 0.02924008972544913, + 0.05725919089475547, + -0.0014616120133214496, + 0.0 + ], + [ + 0.0067941784995673715, + -0.0072037807502709425, + 0.03418145156297737, + 0.06374817532322405, + 0.031035989537447652, + -0.0012338924626907831, + 0.0 + ], + [ + 0.016490672039136622, + -0.01157807528759583, + 0.021746020745715466, + 0.01591201927230862, + 0.00979353488632374, + -0.03195717101788652, + 0.0 + ], + [ + 0.013225357053682774, + -0.01389148909146238, + 0.009422267009048343, + 0.010457658917542478, + -0.021493069714571295, + -0.017782955757855275, + 0.0 + ], + [ + 0.015273315076469784, + -0.009574488727011176, + 0.0016852026096638856, + 0.007406791455164223, + -0.04884681445152993, + -0.031145595232165965, + 0.0 + ], + [ + 0.007937505464391259, + -0.009507731165901295, + -0.010235412465869564, + -0.018007809607973036, + -0.06928602536678759, + -0.0016591666149201947, + 0.0 + ], + [ + 0.008261731599960576, + -0.0038375804903850487, + -0.004907939153497853, + -0.035123449260878535, + -0.031816734825718486, + -0.004411334386239521, + 0.0 + ], + [ + 0.0014975911331070457, + -0.0061024502472520475, + -0.007441236560882428, + 0.025879585822776465, + -0.07160009428992718, + -0.0126961536299507, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 245.632568359375, + 134.7015838623047 + ], + [ + 245.70419311523438, + 134.4967498779297 + ], + [ + 244.40829467773438, + 151.51492309570312 + ], + [ + 242.21774291992188, + 173.79171752929688 + ], + [ + 235.2360076904297, + 194.90786743164062 + ], + [ + 232.97174072265625, + 209.03244018554688 + ], + [ + 233.04757690429688, + 211.3111572265625 + ], + [ + 240.41549682617188, + 216.14669799804688 + ], + [ + 248.74688720703125, + 225.14505004882812 + ], + [ + 251.40411376953125, + 226.53561401367188 + ], + [ + 249.66549682617188, + 230.90850830078125 + ], + [ + 256.00457763671875, + 193.69564819335938 + ], + [ + 272.8382568359375, + 154.98220825195312 + ], + [ + 307.6714172363281, + 116.82936096191406 + ], + [ + 328.12493896484375, + 100.35950469970703 + ], + [ + 355.1523742675781, + 95.03286743164062 + ], + [ + 373.76446533203125, + 99.37339782714844 + ], + [ + 384.492919921875, + 107.54766845703125 + ], + [ + 377.0135192871094, + 122.87428283691406 + ], + [ + 387.76025390625, + 126.68358612060547 + ], + [ + 386.68389892578125, + 126.76030731201172 + ] + ], + "depth_max": 1.3292806148529053, + "depth_min": 0.5471550226211548, + "intrinsic": [ + [ + 625.9869384765625, + 0.0, + 259.0 + ], + [ + 0.0, + 625.4191284179688, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 0.00010472600843058899, + -2.5565015675965697e-05, + 4.483617885853164e-06 + ], + [ + -0.00010472648864379153, + 1.0, + -1.8759945305646397e-05, + -2.733035580604337e-05 + ], + [ + 2.5563051167409867e-05, + 1.8762622858048417e-05, + 1.0, + 3.2573327189311385e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 20 + ], + "object_trajectory": [ + [ + 248.25, + 232.00001525878906 + ], + [ + 248.32525634765625, + 232.13258361816406 + ], + [ + 248.44956970214844, + 231.954833984375 + ], + [ + 248.26028442382812, + 232.07244873046875 + ], + [ + 248.14772033691406, + 231.73243713378906 + ], + [ + 248.39810180664062, + 231.77786254882812 + ], + [ + 248.6214141845703, + 232.2903289794922 + ], + [ + 249.01649475097656, + 232.37188720703125 + ], + [ + 255.43463134765625, + 229.80787658691406 + ], + [ + 261.8287048339844, + 228.04833984375 + ], + [ + 260.3468017578125, + 233.7589569091797 + ], + [ + 263.8763122558594, + 204.89950561523438 + ], + [ + 280.9150390625, + 171.73797607421875 + ], + [ + 301.586181640625, + 142.15542602539062 + ], + [ + 317.0673828125, + 125.95036315917969 + ], + [ + 343.86199951171875, + 121.56151580810547 + ], + [ + 364.09991455078125, + 123.76995849609375 + ], + [ + 372.4058837890625, + 129.4432830810547 + ], + [ + 382.62835693359375, + 167.19479370117188 + ], + [ + 389.3391418457031, + 174.64761352539062 + ], + [ + 391.50732421875, + 180.12049865722656 + ] + ] +} \ No newline at end of file diff --git a/006197/lang.txt b/006197/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..720496d53662f62b9ff90cf9fcb334cef8cbbeb3 --- /dev/null +++ b/006197/lang.txt @@ -0,0 +1 @@ +put strawberry in pot diff --git a/006197/object.ply b/006197/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..dcb6fe25dfc590672ded9fa8778560d82516d907 Binary files /dev/null and b/006197/object.ply differ diff --git a/006214/data.json b/006214/data.json new file mode 100644 index 0000000000000000000000000000000000000000..3d2b80baab4bc6f8c5ca430aad62f031fa48c79a --- /dev/null +++ b/006214/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 11, + "action_end": 18, + "object_name": "strawberry", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.796825, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.03589699999999996, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.0795248028827586e-10, + 6.835355892409467e-11, + 4.861983593507091e-10, + 3.1933017365756267e-07, + 6.734934782344942e-07, + -1.1718986915105401e-07, + 1.0 + ], + [ + 0.00016518593421574468, + 0.00729686054549282, + -0.005108971000539614, + -0.02773154337193861, + 0.005189124556995004, + -0.000962529099768862, + 1.0 + ], + [ + -0.0005843769945127752, + 0.007119194268052277, + -0.013634830684591467, + -0.0034900202685156706, + -0.01501493013120312, + 0.006422408325959446, + 1.0 + ], + [ + 0.0010264760971604725, + 0.004104269424884656, + -0.0073501826170453005, + -0.010550520106545514, + 0.0018008526458603584, + 0.009234692299870034, + 1.0 + ], + [ + -0.0008394555258808278, + 0.001685084450242097, + -0.004798951169194168, + 0.00898374285428184, + -0.007271529752044697, + -0.0004046533714113886, + 1.0 + ], + [ + -0.0016209751033353093, + 0.007120616319860447, + -0.006869053276467488, + -0.005845179942936071, + -0.008735074211790515, + -0.013345839839617202, + 1.0 + ], + [ + -0.003841879230030376, + 0.002681572616029096, + -0.008770106783530254, + 0.0015795892498906196, + -0.018383423256450312, + -0.005066060209661152, + 1.0 + ], + [ + -0.0021986377650308753, + 0.0027390654622957283, + -0.006208415238590503, + -0.014250034728146815, + -0.001900173808721603, + -0.009456857447909639, + 1.0 + ], + [ + 6.445247058153858e-05, + 0.0024386187425397138, + -0.006329094766865412, + -0.005043353604967184, + -0.011018864390917121, + -0.00879348639078455, + 1.0 + ], + [ + 0.0011591089189476045, + 0.004941067383650355, + -0.007972724234659771, + -0.008236994177969489, + -0.010101931310371607, + -0.012105751933163702, + 1.0 + ], + [ + -0.0018648313558458918, + -0.0005715880450448824, + -0.00814584741297935, + -0.004767333315525528, + -0.008388045507879865, + -0.0022646769504742347, + 1.0 + ], + [ + -0.0037080147516070916, + -0.0008815540102848352, + -0.0075652106894719545, + 0.0037834615594032075, + -0.018833033791147397, + 0.014216958852417779, + 0.796825 + ], + [ + -0.00250086218903689, + -0.0037999608594175144, + -0.00022937738883338152, + 0.0069940670316292345, + -0.005798176056425047, + 0.006488262570398761, + 0.0 + ], + [ + 0.00709094571681837, + -0.009765984248310294, + 0.011246025473152715, + -0.007349626641921991, + -0.007618132974902932, + -0.02108771444832401, + 0.0 + ], + [ + 0.023714135228742744, + -0.02244737018593841, + 0.01787607863393484, + 0.02393701503661213, + -0.008600676604723823, + -0.03670477324218921, + 0.0 + ], + [ + 0.018617632604977563, + -0.019622791209244664, + 0.00045392633587863773, + -0.039639007132025735, + -0.006228086724015, + -0.0969756650451077, + 0.0 + ], + [ + 0.0200535282442518, + -0.008583049160827066, + 0.007086858649912438, + -0.060050399759063906, + 0.0193010568774028, + -0.06247980474036861, + 0.0 + ], + [ + -0.0009433209538278198, + -0.015300703822213563, + -0.0024591343887064993, + -0.007806485471109958, + -0.010425902081681863, + -0.05458061467687073, + 0.0 + ], + [ + -0.0029927424529884727, + -0.015917936391556343, + -0.0041964462322592044, + -0.057259887005994166, + -0.017684749843217978, + -0.06238848152800909, + 0.03589699999999996 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 206.50794982910156, + 194.21629333496094 + ], + [ + 206.6212615966797, + 194.2978515625 + ], + [ + 205.574462890625, + 202.6341094970703 + ], + [ + 200.44131469726562, + 205.46182250976562 + ], + [ + 192.59422302246094, + 222.65728759765625 + ], + [ + 191.5675048828125, + 225.49986267089844 + ], + [ + 188.6054229736328, + 233.34991455078125 + ], + [ + 179.57211303710938, + 238.78903198242188 + ], + [ + 175.45118713378906, + 251.97402954101562 + ], + [ + 172.27345275878906, + 256.902099609375 + ], + [ + 172.16250610351562, + 263.4236755371094 + ], + [ + 168.82034301757812, + 269.0234375 + ], + [ + 168.94810485839844, + 280.46319580078125 + ], + [ + 169.53355407714844, + 283.1611633300781 + ], + [ + 169.2465057373047, + 284.63299560546875 + ], + [ + 184.294921875, + 288.556640625 + ], + [ + 241.47640991210938, + 260.89239501953125 + ], + [ + 272.9708557128906, + 254.426513671875 + ], + [ + 301.59393310546875, + 232.2327880859375 + ], + [ + 316.38165283203125, + 244.79441833496094 + ], + [ + 340.5601806640625, + 264.5154113769531 + ], + [ + 337.1578063964844, + 263.24578857421875 + ], + [ + 335.26318359375, + 262.09893798828125 + ], + [ + 335.0140686035156, + 262.94720458984375 + ] + ], + "depth_max": 1.3543057441711426, + "depth_min": 0.28793254494667053, + "intrinsic": [ + [ + 633.0775146484375, + 0.0, + 259.0 + ], + [ + 0.0, + 632.3508911132812, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.592986756004393e-05, + -1.0154979463550262e-05, + 6.741816832800396e-06 + ], + [ + -6.593002763111144e-05, + 1.0, + -1.6450489056296647e-05, + -3.263280450482853e-05 + ], + [ + 1.0153895345865749e-05, + 1.645115844439715e-05, + 1.0, + 1.950473233591765e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 180.75, + 298.7500305175781 + ], + [ + 181.12950134277344, + 299.1385192871094 + ], + [ + 181.033447265625, + 299.3188781738281 + ], + [ + 181.22610473632812, + 298.67877197265625 + ], + [ + 180.8616485595703, + 299.1572265625 + ], + [ + 181.0281524658203, + 299.0638122558594 + ], + [ + 180.96148681640625, + 298.7362060546875 + ], + [ + 180.45458984375, + 298.5130615234375 + ], + [ + 180.32859802246094, + 298.53265380859375 + ], + [ + 179.91229248046875, + 298.48175048828125 + ], + [ + 180.1400146484375, + 298.5158996582031 + ], + [ + 178.2469482421875, + 296.7520751953125 + ], + [ + 177.55569458007812, + 296.7104797363281 + ], + [ + 177.20687866210938, + 296.0780334472656 + ], + [ + 177.3551483154297, + 297.480712890625 + ], + [ + 190.7796173095703, + 301.29998779296875 + ], + [ + 240.55642700195312, + 271.0936279296875 + ], + [ + 273.2254638671875, + 264.34832763671875 + ], + [ + 301.14111328125, + 242.63934326171875 + ], + [ + 315.5923767089844, + 255.93887329101562 + ], + [ + 334.58575439453125, + 279.171875 + ], + [ + 342.5400390625, + 347.1989440917969 + ], + [ + 358.6093444824219, + 339.3607482910156 + ], + [ + 369.50750732421875, + 339.83294677734375 + ] + ] +} \ No newline at end of file diff --git a/006214/lang.txt b/006214/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..720496d53662f62b9ff90cf9fcb334cef8cbbeb3 --- /dev/null +++ b/006214/lang.txt @@ -0,0 +1 @@ +put strawberry in pot diff --git a/006214/object.ply b/006214/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..99b5671e3de6257216fb2ce817b5c933ec9fd469 Binary files /dev/null and b/006214/object.ply differ diff --git a/006238_v2/FAIL b/006238_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/006238_v2/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/006242/data.json b/006242/data.json new file mode 100644 index 0000000000000000000000000000000000000000..c14eb49803e6b20af3564137ae7ba37d371e4e43 --- /dev/null +++ b/006242/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 11, + "action_end": 22, + "object_name": "sushi", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.538110832617235e-10, + -1.2486088551977303e-10, + 4.368218009531688e-10, + 1.8639573535414703e-07, + -2.9275585409211285e-07, + -1.37336072293764e-07, + 1.0 + ], + [ + 0.0039052952489722625, + -0.0008368593139546562, + 0.005414821125702601, + -0.0068959617824922905, + 0.007992497071456202, + -0.11202278634704961, + 1.0 + ], + [ + 0.003372417625780444, + 0.0019395388715391787, + 0.0013682780973659214, + 0.023149601732485488, + -0.028024300240762325, + -0.09587280405432269, + 1.0 + ], + [ + 0.003839767864507182, + 0.001850104168623204, + -0.0027168651372986713, + 0.005239062236081492, + -0.023783825659152616, + -0.044158709986993366, + 1.0 + ], + [ + 0.003762688553486604, + 0.0026958500394190094, + -0.006225388819027622, + -0.024184948199237964, + -0.026117744614160866, + -0.023819180346156193, + 1.0 + ], + [ + 0.0018354074714219681, + 0.0012294084869233363, + -0.0059642154017364585, + 0.0017924727945220317, + -0.01716882375684191, + -0.010897329249644443, + 1.0 + ], + [ + -0.0008568124498891105, + 0.0031945635297236513, + -0.009036770890550355, + 0.004685511062419768, + -0.018030717684277674, + -0.0013603683997750044, + 1.0 + ], + [ + 0.00021725157422436414, + 0.003978101337898332, + -0.008145268778896098, + -0.0027108669683463464, + -0.013114848468003808, + -0.00023037984168883897, + 1.0 + ], + [ + -0.0004207577840208421, + -0.0017945369678769446, + -0.007106690890020868, + -0.0062794161910016185, + -0.014194232446183192, + -0.0025429078713932237, + 1.0 + ], + [ + 0.0020754247673399062, + 0.0011391226466828386, + -0.004508683573385616, + -0.016019858335705458, + -0.006821377558738406, + 0.017472277260070154, + 1.0 + ], + [ + -0.001936165707003279, + -0.002081297853731859, + -0.0056873643473262375, + -0.02840307652592206, + -0.008743436655238253, + 0.02259067552842809, + 1.0 + ], + [ + 0.00018078902432894228, + -0.0007395177770534583, + -0.005731975790439749, + -0.00041191266655657774, + -0.006649434890245813, + 0.008062692242942928, + 1.0 + ], + [ + 0.0038228202456064286, + -0.0018006488382248803, + -0.0013478840982833265, + 0.012344024952961675, + -0.0023758211265358198, + 0.01710130689245511, + 0.0 + ], + [ + 0.0067311005340783825, + -8.113690690020325e-05, + 0.0009360351140421351, + -0.015170281318382337, + -0.0033822569341731687, + 0.0030137606582789295, + 0.0 + ], + [ + -0.0002132543303013934, + -0.001978111924059847, + 0.0018091420710493779, + 0.005172667911937552, + 0.0023775081623022545, + 0.010027002307898922, + 0.0 + ], + [ + -0.006464489364693293, + -0.006561094850929386, + 0.013325383774668208, + 0.02653495809465937, + 0.022304894588829064, + 0.030463681544526496, + 0.0 + ], + [ + -0.00533307092887747, + -0.009758205047692772, + 0.015603464506633065, + 0.02288625769093229, + 0.02579294838764967, + 0.04723093229861965, + 0.0 + ], + [ + 0.0026810948003024304, + -0.012837670532447748, + 0.007715334655749487, + 0.017327534623306114, + -0.01208596030888467, + 0.02412391216369098, + 0.0 + ], + [ + 0.011795488276490018, + -0.012520337175590077, + 0.0020285946018174794, + -0.02699214672456018, + -0.015039297008934775, + 0.008865157740686554, + 0.0 + ], + [ + 0.00829446822129809, + -0.01625023981150782, + -0.005606886572701371, + -0.008926572977864434, + -0.02155539992341388, + 0.005146489143860756, + 0.0 + ], + [ + 0.0059745362259862045, + -0.01158867109255294, + -0.006108781724194524, + -0.012073709978338754, + -0.021295820045121427, + 0.007732539920041358, + 0.0 + ], + [ + -0.000839085950205265, + -0.010068569519762621, + -0.009573224242126005, + -0.014300268332029438, + -0.01858923856592816, + 0.014066468217507138, + 0.0 + ], + [ + -0.0037308425648908683, + -0.004238365163014891, + -0.009715503804526043, + -0.01860919964758205, + -0.017741518961177635, + 0.0024196612929781817, + 0.0 + ], + [ + -0.0009316552175637205, + 7.735778847954913e-05, + -0.007591589076399494, + -0.027546553391029113, + -0.0223451116979098, + -0.004528353612276687, + 1.0 + ] + ], + "gripper_centers": [ + [ + 296.80889892578125, + 69.95266723632812 + ], + [ + 296.5560302734375, + 70.1718978881836 + ], + [ + 297.1072692871094, + 91.27812194824219 + ], + [ + 302.34954833984375, + 87.87757873535156 + ], + [ + 305.7330322265625, + 83.06265258789062 + ], + [ + 309.3013916015625, + 78.10401153564453 + ], + [ + 307.6557922363281, + 79.55245971679688 + ], + [ + 302.6253662109375, + 87.57697296142578 + ], + [ + 304.2030029296875, + 98.55894470214844 + ], + [ + 301.4422607421875, + 105.36656188964844 + ], + [ + 299.5591735839844, + 112.11627197265625 + ], + [ + 302.77947998046875, + 119.91950988769531 + ], + [ + 302.41845703125, + 125.93648529052734 + ], + [ + 302.0799865722656, + 125.35677337646484 + ], + [ + 297.4113464355469, + 132.71273803710938 + ], + [ + 301.5032043457031, + 130.11962890625 + ], + [ + 300.12677001953125, + 131.21368408203125 + ], + [ + 303.0317077636719, + 130.40284729003906 + ], + [ + 315.3594970703125, + 120.23794555664062 + ], + [ + 333.61505126953125, + 121.83949279785156 + ], + [ + 353.8508605957031, + 110.60881805419922 + ], + [ + 364.78912353515625, + 108.45408630371094 + ], + [ + 386.24981689453125, + 121.08545684814453 + ], + [ + 399.576416015625, + 133.51287841796875 + ] + ], + "depth_max": 1.347995400428772, + "depth_min": 0.6036041378974915, + "intrinsic": [ + [ + 635.723388671875, + 0.0, + 259.0 + ], + [ + 0.0, + 635.1248168945312, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.164516136981547e-05, + 5.847867578268051e-05, + -1.7220558220287785e-05 + ], + [ + -7.164198905229568e-05, + 1.0, + -5.412866084952839e-05, + -1.302513737755362e-05 + ], + [ + -5.848255386808887e-05, + 5.412446989794262e-05, + 1.0, + 1.839861215557903e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 311.0, + 135.00001525878906 + ], + [ + 311.18109130859375, + 135.12094116210938 + ], + [ + 310.9847412109375, + 135.29388427734375 + ], + [ + 311.1734313964844, + 135.263671875 + ], + [ + 310.9072570800781, + 135.4456787109375 + ], + [ + 311.0362243652344, + 135.62518310546875 + ], + [ + 310.73333740234375, + 135.54684448242188 + ], + [ + 310.5670166015625, + 135.51512145996094 + ], + [ + 310.558837890625, + 135.5086669921875 + ], + [ + 310.45635986328125, + 135.54116821289062 + ], + [ + 310.4771728515625, + 135.6309051513672 + ], + [ + 310.53741455078125, + 135.46768188476562 + ], + [ + 310.73760986328125, + 135.92092895507812 + ], + [ + 311.00946044921875, + 136.446533203125 + ], + [ + 312.849609375, + 136.57008361816406 + ], + [ + 314.3030700683594, + 136.2470703125 + ], + [ + 315.099853515625, + 136.78384399414062 + ], + [ + 316.1468505859375, + 136.3715057373047 + ], + [ + 322.0854797363281, + 131.4283905029297 + ], + [ + 334.5787353515625, + 132.2731170654297 + ], + [ + 341.05474853515625, + 135.35275268554688 + ], + [ + 344.9461364746094, + 134.39971923828125 + ], + [ + 350.6377868652344, + 136.75779724121094 + ], + [ + 354.8731994628906, + 140.06121826171875 + ] + ] +} \ No newline at end of file diff --git a/006242/lang.txt b/006242/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..272b39e5cf14c2638c6610dac0f4e40aa4aafaf1 --- /dev/null +++ b/006242/lang.txt @@ -0,0 +1 @@ +put sushi on plate diff --git a/006242/object.ply b/006242/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..082d3f1b9706bc2b7023414db3d16bf88b4fda20 Binary files /dev/null and b/006242/object.ply differ diff --git a/006269/FAIL b/006269/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/006269/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/006282/data.json b/006282/data.json new file mode 100644 index 0000000000000000000000000000000000000000..d1d3e6edff5aba77b554701bd078ead36d6f7ecd --- /dev/null +++ b/006282/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 10, + "action_end": 18, + "object_name": "sweet potato", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.33479899999999996, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.016058124418521e-10, + -5.624563315098641e-10, + -2.0066531769558082e-10, + 1.3732966896104002e-07, + -1.2274802820008327e-07, + 5.240966933179237e-07, + 1.0 + ], + [ + -0.0007333860507997003, + 0.003968602523865522, + -0.006496641184162544, + 0.012681018699347518, + -0.055436417272901675, + 0.030085305665993534, + 1.0 + ], + [ + 0.0024879148474376556, + -0.002101893015725692, + -0.01220431045876269, + -0.02484063319527065, + -0.03149113422866829, + 0.02151233316351403, + 1.0 + ], + [ + 0.002340359894593025, + 0.0030548393721588074, + -0.010396231367406819, + -0.0021519792774914595, + -0.044954411121928425, + -0.009249741406420087, + 1.0 + ], + [ + 0.0014464377391184002, + 0.005430599829084115, + -0.008350203347642013, + 0.006510560188333359, + -0.0377236019046141, + -0.01226065539504817, + 1.0 + ], + [ + 0.003405882995532239, + 0.0051180786177792426, + -0.009742189810572052, + -0.012486456374890377, + -0.015361469743632774, + -0.007130670697224335, + 1.0 + ], + [ + 0.003071950523168887, + 0.0036105877401114705, + -0.011014618434479817, + -0.01802337573803065, + -0.00789491130257512, + -0.010185228988052504, + 1.0 + ], + [ + 0.0017518612753462115, + 0.0002588239659901681, + -0.009602574792647853, + -0.020596913166745247, + -0.001920411382620666, + 0.005737620837596324, + 1.0 + ], + [ + 0.0013160544535569807, + -0.0001518324749338884, + -0.007935344174339463, + -0.004034971602623355, + -0.007905483287536286, + 0.010022818013009372, + 1.0 + ], + [ + 0.0030853635555654346, + 0.0009586945886100318, + -0.007286848569170577, + -0.008665131187940156, + -0.004034322169118071, + 0.005115238411183843, + 1.0 + ], + [ + 0.002295379488106042, + -0.00020698845912409114, + -0.009136027281689989, + -0.015133974510399774, + -0.020154635262831483, + -0.001154530356839742, + 1.0 + ], + [ + -0.0009652548088910362, + -0.00205132975035624, + -0.003625200364553185, + 0.001263181429595092, + -0.00034025088078170387, + 0.009883748319267034, + 0.0 + ], + [ + -0.0016395281822753072, + -0.002187096726222637, + 0.007428786816341192, + 0.021155487082963113, + 0.011693132626175983, + 0.001545448846354911, + 0.0 + ], + [ + -0.003168053685459804, + -0.00019294312283074655, + 0.030612072130227142, + 0.07322965930607762, + 0.03185429584609406, + -0.005418258822268945, + 0.0 + ], + [ + 0.001500860880599475, + -0.0008855881097845353, + 0.04414981663219643, + 0.10265500990874903, + 0.05675175193171548, + -0.001205192573211886, + 0.0 + ], + [ + 0.01348820991164873, + -0.017484250776022087, + 0.03694761792819968, + 0.04099202893590403, + -0.030652770032647887, + -0.01341129331882052, + 0.0 + ], + [ + 0.030291987115522945, + -0.044910702684152176, + 0.019366423167666402, + -0.05510169248030822, + -0.06201361538278983, + -0.0728285760134734, + 0.0 + ], + [ + 0.009450383274221208, + -0.03521498880120025, + 0.0006559014913413708, + -0.04316903314320178, + 0.004563381795085816, + 0.007683711974123368, + 0.0 + ], + [ + -0.001230251594455778, + -0.008981187626011619, + -0.0013953310693289867, + -0.009477265766324912, + -0.011590864853722679, + -0.008095692522851246, + 0.33479899999999996 + ], + [ + 6.406591568192121e-05, + -0.0032173849971037782, + -0.0026991949723145503, + -0.02101091908196479, + 0.006139564423011229, + -0.008786598942551127, + 1.0 + ], + [ + -0.0005811483533048611, + 0.0005796316758675257, + -0.006427085881846206, + -0.00014207244253190525, + 0.013765417320839907, + 0.026569528466921198, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 140.26638793945312, + 22.046092987060547 + ], + [ + 140.23678588867188, + 22.01457977294922 + ], + [ + 142.44424438476562, + 30.95825958251953 + ], + [ + 149.16065979003906, + 47.679779052734375 + ], + [ + 150.3233642578125, + 58.333221435546875 + ], + [ + 154.5672607421875, + 66.05782318115234 + ], + [ + 152.22030639648438, + 73.05371856689453 + ], + [ + 150.14599609375, + 84.98831176757812 + ], + [ + 154.9097900390625, + 97.48789978027344 + ], + [ + 156.2061767578125, + 105.08311462402344 + ], + [ + 158.6585693359375, + 109.93756103515625 + ], + [ + 162.56796264648438, + 117.17647552490234 + ], + [ + 165.46319580078125, + 121.94496154785156 + ], + [ + 163.25242614746094, + 124.05339813232422 + ], + [ + 163.19357299804688, + 125.83245849609375 + ], + [ + 149.5810089111328, + 105.37434387207031 + ], + [ + 148.74484252929688, + 58.27237319946289 + ], + [ + 184.17901611328125, + 7.9766035079956055 + ], + [ + 235.9942626953125, + -13.706995964050293 + ], + [ + 295.42095947265625, + -12.609432220458984 + ], + [ + 309.3598937988281, + -11.266288757324219 + ], + [ + 300.49530029296875, + -12.688859939575195 + ], + [ + 309.06903076171875, + -10.214088439941406 + ], + [ + 315.2791748046875, + -9.287349700927734 + ] + ], + "depth_max": 2.7735695838928223, + "depth_min": 0.36521652340888977, + "intrinsic": [ + [ + 545.6416015625, + 0.0, + 259.0 + ], + [ + 0.0, + 546.5125122070312, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 8.244896889664233e-06, + -0.00011102157441200688, + 7.885264494689181e-06 + ], + [ + -8.253491614595987e-06, + 1.0, + -7.742131856502965e-05, + 8.829217676975532e-07 + ], + [ + 0.00011102093412773684, + 7.742223533568904e-05, + 1.0, + 9.429031706531532e-06 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 185.0, + 142.25 + ], + [ + 185.4033966064453, + 142.74363708496094 + ], + [ + 185.37269592285156, + 142.63548278808594 + ], + [ + 185.6260223388672, + 142.40512084960938 + ], + [ + 185.50283813476562, + 142.51791381835938 + ], + [ + 185.40841674804688, + 142.628662109375 + ], + [ + 185.3836212158203, + 142.66290283203125 + ], + [ + 185.20465087890625, + 142.595458984375 + ], + [ + 185.59393310546875, + 142.7093048095703 + ], + [ + 185.9383087158203, + 142.54518127441406 + ], + [ + 185.95155334472656, + 142.49319458007812 + ], + [ + 186.55349731445312, + 143.54380798339844 + ], + [ + 186.88772583007812, + 144.52496337890625 + ], + [ + 187.12615966796875, + 146.5691680908203 + ], + [ + 186.72152709960938, + 148.28211975097656 + ], + [ + 167.57044982910156, + 135.38694763183594 + ], + [ + 162.96754455566406, + 92.85234069824219 + ], + [ + 190.15762329101562, + 42.002445220947266 + ], + [ + 237.90643310546875, + 23.850553512573242 + ], + [ + 300.31591796875, + 20.497638702392578 + ], + [ + 316.18231201171875, + 25.713773727416992 + ], + [ + 307.5557861328125, + 85.94286346435547 + ], + [ + 265.98968505859375, + 109.99131774902344 + ], + [ + 274.4771728515625, + 122.42933654785156 + ] + ] +} \ No newline at end of file diff --git a/006282/lang.txt b/006282/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..0854e419104fb75149055fbcd623d9b8f3c8bc0a --- /dev/null +++ b/006282/lang.txt @@ -0,0 +1 @@ +put sweet potato in pot diff --git a/006282/object.ply b/006282/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..64911a0259e50c4dfde82978e8fdb3681be55788 Binary files /dev/null and b/006282/object.ply differ diff --git a/006314/data.json b/006314/data.json new file mode 100644 index 0000000000000000000000000000000000000000..7eaaa520de91567b7a02141c8edc3fac68c308c8 --- /dev/null +++ b/006314/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 9, + "action_end": 21, + "object_name": "sweet potato", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.348718, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.10744799999999999, + 0.15457900000000002, + 0.700611, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + -2.7755575615628914e-17, + 3.469446951953614e-18, + 1.3430391981365576e-08, + -7.16952733714371e-07, + 7.011907172064205e-08, + 1.0 + ], + [ + 0.007437461141945351, + 0.004748088142865647, + -0.014768957144907745, + -0.04564338750886171, + -0.061687755622998657, + 0.013266388360917149, + 1.0 + ], + [ + 0.004180917217783853, + 0.0016203684172866883, + -0.009061280901313355, + -0.03646018784675506, + -0.038673961811849074, + -0.0036299198561584958, + 1.0 + ], + [ + 0.0033841644320286857, + 0.0005533354585697536, + -0.010245734556172024, + -0.040313849829474134, + -0.030264213634687644, + -0.009824499258576173, + 1.0 + ], + [ + 0.0008912660216726653, + -0.001886166617099616, + -0.008534356558852176, + -0.02377968167475281, + -0.01625838353064665, + 0.0020192077174660565, + 1.0 + ], + [ + 0.001125659890576447, + -0.0016035141421019417, + -0.009470581399126793, + -0.03286519966954653, + -0.01435194081201867, + 0.0021586530510613678, + 1.0 + ], + [ + 0.0015789476204013941, + -0.0004694588084619977, + -0.009391711593453998, + -0.035158568943627046, + -0.008626390924970109, + -0.0010380979048439177, + 1.0 + ], + [ + 0.0102175430163301, + 0.0009939986867773531, + -0.005259875362222291, + -0.013239214592140556, + -0.015699907898602334, + -0.00396695164186721, + 1.0 + ], + [ + 0.0034472108015698444, + -0.0011355589099814878, + -0.006865184303464271, + -0.013601873489074812, + -0.010010287513035, + -0.002436768459322261, + 1.0 + ], + [ + -0.0004674489664513448, + -0.001029415226040803, + -0.007018707214394966, + -0.008967690048821158, + 0.007618049315176896, + 0.02142583621424411, + 0.348718 + ], + [ + -0.002770239180856726, + -0.0005713727118304146, + 0.003232068854598938, + -0.00708612543675974, + 0.017283650677431504, + 0.00956896647513673, + 0.0 + ], + [ + -0.00801123818006988, + 6.138900914551271e-05, + 0.01773597406737508, + 0.02775199076006521, + 0.044222457455342576, + 0.00996774685998317, + 0.0 + ], + [ + -0.007483580824882985, + 0.004745363580923728, + 0.024480457494081453, + 0.054129901001692134, + 0.05704018686560069, + 0.009001410053570887, + 0.0 + ], + [ + -0.012757405827122925, + 0.0052354528636181785, + 0.02966653590381451, + 0.07212624321793301, + 0.037469040175821575, + 0.007757453389361745, + 0.0 + ], + [ + 0.0025834310603001787, + -0.00674226687271165, + 0.029585081943417017, + 0.05857661397370603, + -0.008006664040927786, + 0.006710197854410922, + 0.0 + ], + [ + 0.005541153831720408, + -0.00846739359095669, + 0.024689249122301627, + 0.05739559205959191, + -0.025492471101663777, + -0.021884932950435365, + 0.0 + ], + [ + 0.015096881944242913, + -0.0049672984588000485, + 0.02700803798743507, + 0.06161108749961638, + -0.034299122318402465, + -0.06108465764672577, + 0.0 + ], + [ + 0.01977241964314319, + -0.005062828495006402, + 0.015498059105718734, + 0.04518964764081125, + -0.017069850261256396, + -0.046192469352120444, + 0.0 + ], + [ + 0.021235775771078436, + 0.001884947445050772, + 0.006123322742665499, + 0.04787262226067339, + -0.04027914912453724, + -0.08408497826299136, + 0.0 + ], + [ + 0.021387755900089955, + 0.004708755091327177, + 0.006423638552563324, + 0.007750177034075639, + -0.007314085791838925, + -0.060446276571162, + 0.10744799999999999 + ], + [ + 0.013134658411566968, + 0.004914569917217754, + -0.0063154488218288285, + -0.011313251047994178, + -0.015100701465831028, + -0.04903634790972641, + 0.15457900000000002 + ], + [ + 0.01092129229861577, + 0.012080277643292128, + -0.00925642959575615, + 0.019297196593183564, + -0.019065164238642168, + -0.08203951271294797, + 0.700611 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 154.68832397460938, + 200.35975646972656 + ], + [ + 154.6313934326172, + 200.4960479736328 + ], + [ + 159.931396484375, + 210.7930450439453 + ], + [ + 170.53628540039062, + 220.2247772216797 + ], + [ + 169.94667053222656, + 224.68417358398438 + ], + [ + 180.148681640625, + 230.9253692626953 + ], + [ + 179.9833526611328, + 236.23849487304688 + ], + [ + 182.9031219482422, + 243.89503479003906 + ], + [ + 183.61070251464844, + 245.4859619140625 + ], + [ + 187.7815704345703, + 244.08143615722656 + ], + [ + 192.1436767578125, + 253.27813720703125 + ], + [ + 192.35943603515625, + 254.04434204101562 + ], + [ + 191.28121948242188, + 254.86280822753906 + ], + [ + 178.99313354492188, + 250.795166015625 + ], + [ + 167.34637451171875, + 232.30726623535156 + ], + [ + 147.62257385253906, + 210.662353515625 + ], + [ + 153.48223876953125, + 181.58090209960938 + ], + [ + 168.34425354003906, + 159.5287322998047 + ], + [ + 174.00965881347656, + 124.66608428955078 + ], + [ + 205.38726806640625, + 92.71841430664062 + ], + [ + 225.8017578125, + 75.28475952148438 + ], + [ + 232.0108642578125, + 49.98102951049805 + ], + [ + 247.9083251953125, + 57.42523956298828 + ], + [ + 238.43075561523438, + 57.15008544921875 + ] + ], + "depth_max": 1.4657032489776611, + "depth_min": 0.6362661123275757, + "intrinsic": [ + [ + 590.5409545898438, + 0.0, + 259.0 + ], + [ + 0.0, + 590.758544921875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.70969314139802e-05, + -1.2873457308160141e-05, + 6.248639692785218e-06 + ], + [ + -5.709738252335228e-05, + 1.0, + -3.529694731696509e-05, + -1.1183316928509157e-05 + ], + [ + 1.2871441867901012e-05, + 3.529768218868412e-05, + 1.0, + -2.0379797206260264e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 189.0, + 254.75 + ], + [ + 189.00025939941406, + 254.92825317382812 + ], + [ + 189.15316772460938, + 255.318603515625 + ], + [ + 189.16854858398438, + 255.29702758789062 + ], + [ + 188.7811279296875, + 255.9518280029297 + ], + [ + 188.6375274658203, + 255.2593994140625 + ], + [ + 188.42190551757812, + 255.89633178710938 + ], + [ + 188.8775634765625, + 256.49969482421875 + ], + [ + 190.25453186035156, + 257.46026611328125 + ], + [ + 191.18380737304688, + 257.314208984375 + ], + [ + 192.45823669433594, + 257.57769775390625 + ], + [ + 192.4046173095703, + 257.4856262207031 + ], + [ + 190.63858032226562, + 258.8120422363281 + ], + [ + 179.63739013671875, + 260.25726318359375 + ], + [ + 167.45401000976562, + 244.79458618164062 + ], + [ + 148.1776123046875, + 223.24847412109375 + ], + [ + 152.7813720703125, + 196.19961547851562 + ], + [ + 161.02362060546875, + 172.22735595703125 + ], + [ + 165.81600952148438, + 137.29266357421875 + ], + [ + 194.63258361816406, + 104.96940612792969 + ], + [ + 215.1501922607422, + 85.95712280273438 + ], + [ + 229.3238067626953, + 63.01941680908203 + ], + [ + 244.5280303955078, + 70.55496978759766 + ], + [ + 236.87213134765625, + 71.8858642578125 + ] + ] +} \ No newline at end of file diff --git a/006314/lang.txt b/006314/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..0854e419104fb75149055fbcd623d9b8f3c8bc0a --- /dev/null +++ b/006314/lang.txt @@ -0,0 +1 @@ +put sweet potato in pot diff --git a/006314/object.ply b/006314/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..a6caa539fd1046a58c4af85a67c32b6a88c3f34e Binary files /dev/null and b/006314/object.ply differ diff --git a/006338/FAIL b/006338/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/006338/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/006341_v2/FAIL b/006341_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/006341_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/006343_v2/FAIL b/006343_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..aaf6c42c619234f9c8379cbcf60a65cd17ba1254 --- /dev/null +++ b/006343_v2/FAIL @@ -0,0 +1 @@ +Too large intersection between gripper and object mask diff --git a/006351/FAIL b/006351/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/006351/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/006369_v2/FAIL b/006369_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/006369_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/006374/data.json b/006374/data.json new file mode 100644 index 0000000000000000000000000000000000000000..0317e77f8990709360842dde287b51b2d7760672 --- /dev/null +++ b/006374/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 8, + "action_end": 20, + "object_name": "carrot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.6335488517427166e-10, + -1.0424034899148005e-10, + 6.281988818024331e-11, + -4.994897897264954e-08, + -1.8574225346575884e-07, + 4.26739922817453e-07, + 1.0 + ], + [ + 0.0052453063953422085, + 0.04451448662800071, + 0.010483014407710017, + 0.06348447897613269, + 0.02841743151228096, + 0.018585942851610804, + 1.0 + ], + [ + 0.011831277783227845, + 0.040577500737687976, + 0.0006298637566725662, + 0.05911566367667639, + -0.02732696316401439, + -0.10298985036089459, + 1.0 + ], + [ + 0.011026166851242442, + 0.031129456370371282, + -0.012711013356531436, + 0.02006080819139733, + -0.03940055810439028, + -0.06931112371954677, + 1.0 + ], + [ + 0.0023957888037881847, + 0.019615926904127487, + -0.01892946942871293, + -0.04773197148328718, + -0.040199397641014434, + -0.04266360657170781, + 1.0 + ], + [ + -0.000594685669928291, + 0.008270120922087176, + -0.016691370829797603, + -0.022822801781180246, + -0.01488116321483893, + -0.023009557960295385, + 1.0 + ], + [ + -0.0015488844959453685, + 0.002128681868737714, + -0.012162067252833614, + -0.06568954690712796, + 0.008037059036601214, + -0.01566540484043867, + 1.0 + ], + [ + -0.0018239305842722986, + -0.0011186610335001956, + -0.010599607313449569, + -0.05582176875474355, + 0.009395096278284406, + -0.008517637671186486, + 1.0 + ], + [ + -0.0035793605494703618, + 0.0008387458764412825, + -0.0156643196512853, + -0.029083739774477754, + 0.001805248944199639, + 0.0032630743525884185, + 1.0 + ], + [ + -0.0019678968156025545, + 0.0015363102421946384, + -0.013499150084215462, + -0.006737073510305507, + -0.009614637159243135, + -0.00315826301658824, + 0.0 + ], + [ + -0.00035602601253578725, + -0.006430209015801214, + 0.007819340778690238, + 0.008738556179687397, + 0.005174691825996275, + 0.03528096523751919, + 0.0 + ], + [ + 0.0008227568277557606, + -0.023330658049616204, + 0.03376745913606554, + 0.04182262521227361, + 0.018868345546438195, + 0.06993869723336879, + 0.0 + ], + [ + -0.004315532815046236, + -0.049298386047695264, + 0.04009409466986561, + 2.5263547900362204e-05, + 0.042082020364079445, + 0.14842343512088635, + 0.0 + ], + [ + -0.004331690125422366, + -0.06068990182974454, + 0.006582625403987144, + -0.07896981266621697, + 0.0077708737015731765, + 0.15262542852498998, + 0.0 + ], + [ + -0.0023240292549832064, + -0.06870062425632456, + 0.0007013217926883641, + -0.09899118434582038, + 0.023271716586325847, + 0.14608811914798905, + 0.0 + ], + [ + 0.002632450338557607, + -0.05316382631089433, + 0.00354516383127923, + -0.0524644721238651, + 0.006603000596232842, + 0.10824622783401903, + 0.0 + ], + [ + 0.0006571264200488924, + -0.04275580948834356, + -0.012891423890221243, + -0.06428952615680525, + -0.019977437683771943, + 0.11546939169238106, + 0.0 + ], + [ + 0.00647934607532763, + -0.027617928224069, + -0.004364472334741298, + -0.041901330830898774, + -0.0077925048708401634, + 0.0750880821660258, + 0.0 + ], + [ + 0.0048623919355197665, + -0.015104385292962971, + -0.017703392663900946, + -0.03826126211853665, + -0.05310584621978124, + 0.0445697390908785, + 0.0 + ], + [ + 0.002037039700505755, + -0.00035393241166239986, + -0.0027032670403053377, + -0.0014844176040157246, + -0.01580732112627403, + 0.0015384371851629665, + 0.0 + ], + [ + 0.003702267267777004, + -0.009154562907528724, + -0.002160808743203374, + -0.012885372350105603, + -0.03448072911935375, + 0.03853913743986897, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 226.20828247070312, + 174.70220947265625 + ], + [ + 225.3254852294922, + 181.9633331298828 + ], + [ + 166.9989013671875, + 146.64230346679688 + ], + [ + 134.125, + 115.3656005859375 + ], + [ + 114.62474060058594, + 107.07325744628906 + ], + [ + 100.51405334472656, + 116.004150390625 + ], + [ + 95.04707336425781, + 131.24032592773438 + ], + [ + 95.92308044433594, + 149.11669921875 + ], + [ + 99.46900939941406, + 160.95166015625 + ], + [ + 100.90577697753906, + 179.80181884765625 + ], + [ + 98.48103332519531, + 195.9473876953125 + ], + [ + 96.05830383300781, + 198.89283752441406 + ], + [ + 118.09234619140625, + 170.41720581054688 + ], + [ + 163.75924682617188, + 150.34487915039062 + ], + [ + 219.97459411621094, + 147.93365478515625 + ], + [ + 286.07476806640625, + 170.1551513671875 + ], + [ + 370.16107177734375, + 194.02853393554688 + ], + [ + 450.9655456542969, + 225.4179229736328 + ], + [ + 504.08966064453125, + 261.76251220703125 + ], + [ + 539.2985229492188, + 280.6341247558594 + ], + [ + 543.8521728515625, + 283.88812255859375 + ], + [ + 559.5947875976562, + 284.4219970703125 + ], + [ + 562.099365234375, + 287.84185791015625 + ], + [ + 559.1265258789062, + 288.89459228515625 + ] + ], + "depth_max": 1.8111364841461182, + "depth_min": 0.20824234187602997, + "intrinsic": [ + [ + 520.6761474609375, + 0.0, + 259.0 + ], + [ + 0.0, + 520.2901000976562, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -2.4634866804262856e-06, + -7.077301415847614e-05, + 1.4305300283012912e-05 + ], + [ + 2.464841600158252e-06, + 1.0, + 1.914112363010645e-05, + -1.232053000421729e-05 + ], + [ + 7.077297050273046e-05, + -1.914129825308919e-05, + 1.0, + -1.4197603377397172e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 119.75, + 213.75 + ], + [ + 119.89604187011719, + 213.91055297851562 + ], + [ + 120.14584350585938, + 213.79364013671875 + ], + [ + 120.86463928222656, + 213.81271362304688 + ], + [ + 121.00497436523438, + 213.75831604003906 + ], + [ + 120.72782897949219, + 213.79563903808594 + ], + [ + 120.69241333007812, + 214.12265014648438 + ], + [ + 120.5986557006836, + 213.82589721679688 + ], + [ + 120.29711151123047, + 214.25709533691406 + ], + [ + 114.5357437133789, + 215.34823608398438 + ], + [ + 113.00240325927734, + 215.6190643310547 + ], + [ + 112.4997787475586, + 216.87557983398438 + ], + [ + 127.69338989257812, + 193.49139404296875 + ], + [ + 167.58303833007812, + 182.93701171875 + ], + [ + 222.57205200195312, + 186.50308227539062 + ], + [ + 293.55596923828125, + 209.5362548828125 + ], + [ + 366.00726318359375, + 237.68133544921875 + ], + [ + 448.65301513671875, + 266.0338439941406 + ], + [ + 498.2073974609375, + 294.0662841796875 + ], + [ + 526.8789672851562, + 312.7165222167969 + ], + [ + 531.908203125, + 313.023681640625 + ], + [ + 547.8094482421875, + 316.1723937988281 + ], + [ + 526.920654296875, + 341.60662841796875 + ], + [ + 567.923095703125, + 393.04205322265625 + ] + ] +} \ No newline at end of file diff --git a/006374/lang.txt b/006374/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..4eaef1bd41497a34a472bf655452e411a70d9e9f --- /dev/null +++ b/006374/lang.txt @@ -0,0 +1 @@ +put carrot in bowl diff --git a/006374/object.ply b/006374/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..efaa0e97864ee7767840ec12484a0db7f61f7a71 Binary files /dev/null and b/006374/object.ply differ diff --git a/006398/data.json b/006398/data.json new file mode 100644 index 0000000000000000000000000000000000000000..419ce17c4d9eca52196975d186d38f450b9f331d --- /dev/null +++ b/006398/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 13, + "action_end": 21, + "object_name": "carrot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.551115123125783e-17, + 0.0, + 0.0, + 2.4743707007800454e-07, + -5.266504669841487e-07, + 8.514602701581591e-08, + 1.0 + ], + [ + -0.007542928427931528, + -0.05014100458025081, + 0.023541552439006783, + -0.024332725925728403, + 0.029711108105243803, + -0.013159671199428328, + 1.0 + ], + [ + -0.0033057500520629057, + -0.04936495129161908, + 0.01169117466364604, + -0.03629355982936047, + -0.023058978992334455, + -0.08014456953406322, + 1.0 + ], + [ + -0.0012349908092880724, + -0.06543326915475851, + 0.010360791918625892, + 0.00042727148551118796, + -0.012307696070161911, + 0.06723287519581468, + 1.0 + ], + [ + 0.00251222719274663, + -0.07292605402863482, + -0.0019969544358043045, + -0.016927394805716128, + -0.02415267073713228, + 0.0921991259853308, + 1.0 + ], + [ + -0.003403105009457952, + -0.058102522297232714, + -0.0018227366768095998, + -0.056773258542429476, + -0.006692857909713051, + 0.13583798500322025, + 1.0 + ], + [ + -0.0035863848864410852, + -0.02343769939887804, + 0.0029953745684576927, + 0.00983221998921277, + -0.0007257969657165616, + 0.09183803162560084, + 1.0 + ], + [ + -0.003387938656414846, + -0.0025818493363019973, + -0.02106713902205129, + -0.017465458013442223, + -0.0473043771890703, + 0.04242559599551055, + 1.0 + ], + [ + 0.006822402805098715, + 0.008131197328220041, + -0.016913690018019623, + 0.009009692130968968, + -0.05846956771443987, + 0.004510938458670862, + 1.0 + ], + [ + 0.011293402979308753, + 0.0018517600886757413, + -0.01685148358857269, + -0.020573750783750355, + -0.05303105876591078, + 0.005928801588511527, + 1.0 + ], + [ + 0.000991148574122802, + -0.00040209323102217975, + -0.014023437738004227, + -0.0013805610428118207, + -0.016797863832561738, + 0.014983537125591861, + 1.0 + ], + [ + -0.0028357794450234453, + 0.0007285350579416677, + -0.013223656776502446, + -0.008449215982551992, + -0.01366341583298399, + 0.006315151332691319, + 1.0 + ], + [ + 0.0024908194511877313, + 0.0025351503220250593, + -0.012384551669306562, + -0.007478501104519223, + -0.019439616373205237, + -0.0033558050562447136, + 1.0 + ], + [ + 0.002448364791956037, + 0.0017821634627787908, + -0.01529738566857522, + -0.008739282478209561, + -0.02340833192121931, + 0.012712119232687434, + 1.0 + ], + [ + 0.0018069652056049157, + -0.00664438297206886, + -0.002440955915587649, + -0.014114951760628396, + -0.0036122365396531525, + 0.013991827684408632, + 0.0 + ], + [ + -0.0003075472838726112, + -0.0018708104817730803, + 0.0028660490373661578, + 0.00784424116900415, + -0.0013482014125922436, + 0.005302644949020895, + 0.0 + ], + [ + 0.0023514510103258, + 0.006456241770444224, + 0.013898357916050642, + 0.021864410805193538, + 0.004105222751977465, + 0.011023790561461898, + 0.0 + ], + [ + 0.01100508308892817, + 0.02026330655250322, + 0.03561048819422717, + 0.08136510168756407, + -0.0019005450093247456, + 0.0036089272335082133, + 0.0 + ], + [ + 0.020273151585085802, + 0.024755596347161873, + 0.01798755428533605, + 0.10455728591697004, + -0.04229572743907314, + -0.041302572692410305, + 0.0 + ], + [ + 0.02482133766200506, + 0.03256327435626946, + -0.0018164368133428838, + 0.07392499330935011, + -0.06638126101415354, + -0.07590924687357942, + 0.0 + ], + [ + 0.023478691907466154, + 0.021480535659749646, + -0.013439647120512543, + 0.042329997595916914, + -0.09913363007135231, + -0.04139845111925155, + 0.0 + ], + [ + 0.011715332320101912, + 0.010338406090373824, + -0.003632301013936731, + 0.014410231453316573, + -0.07449108940451499, + -0.028309379167964624, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 133.32443237304688, + 71.30045318603516 + ], + [ + 135.2811737060547, + 84.12005615234375 + ], + [ + 178.9532470703125, + 94.39556884765625 + ], + [ + 226.6057891845703, + 90.53898620605469 + ], + [ + 296.94952392578125, + 101.3258056640625 + ], + [ + 358.35516357421875, + 117.31892395019531 + ], + [ + 443.6716003417969, + 150.19049072265625 + ], + [ + 477.4727783203125, + 158.27572631835938 + ], + [ + 479.24603271484375, + 195.72866821289062 + ], + [ + 467.6953430175781, + 210.1447296142578 + ], + [ + 461.2704162597656, + 219.0603485107422 + ], + [ + 459.0355224609375, + 227.58502197265625 + ], + [ + 450.27532958984375, + 245.877197265625 + ], + [ + 448.86090087890625, + 259.4625244140625 + ], + [ + 443.68804931640625, + 273.8587646484375 + ], + [ + 442.3766174316406, + 277.001708984375 + ], + [ + 444.7607421875, + 279.3538818359375 + ], + [ + 441.1707763671875, + 274.63458251953125 + ], + [ + 435.4864196777344, + 221.8654327392578 + ], + [ + 425.8670654296875, + 166.4323272705078 + ], + [ + 400.1744079589844, + 135.29623413085938 + ], + [ + 379.7077941894531, + 123.05667114257812 + ], + [ + 372.48944091796875, + 110.80534362792969 + ], + [ + 373.3778076171875, + 109.52578735351562 + ] + ], + "depth_max": 1.86237370967865, + "depth_min": 0.289283812046051, + "intrinsic": [ + [ + 518.08837890625, + 0.0, + 259.0 + ], + [ + 0.0, + 517.3107299804688, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -4.599360636348138e-06, + -0.00010276129614794627, + 1.035707100527361e-05 + ], + [ + 4.604991318046814e-06, + 1.0, + 5.479170067701489e-05, + -3.2070041925180703e-05 + ], + [ + 0.00010276104876538739, + -5.479217361425981e-05, + 1.0, + -1.66085173987085e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 442.75, + 286.5 + ], + [ + 443.0318603515625, + 286.689208984375 + ], + [ + 443.244873046875, + 286.6453857421875 + ], + [ + 443.19744873046875, + 286.5099792480469 + ], + [ + 443.2279052734375, + 286.28436279296875 + ], + [ + 443.32220458984375, + 286.30316162109375 + ], + [ + 443.3172607421875, + 286.36724853515625 + ], + [ + 443.2034912109375, + 286.6168518066406 + ], + [ + 443.2314453125, + 286.4876708984375 + ], + [ + 443.263427734375, + 286.1878356933594 + ], + [ + 443.1717529296875, + 286.5252990722656 + ], + [ + 443.135498046875, + 286.3121643066406 + ], + [ + 443.01910400390625, + 286.7677307128906 + ], + [ + 442.88983154296875, + 286.76983642578125 + ], + [ + 443.61322021484375, + 280.96484375 + ], + [ + 444.7430419921875, + 279.66094970703125 + ], + [ + 446.0807800292969, + 282.4810485839844 + ], + [ + 441.80010986328125, + 278.7650146484375 + ], + [ + 432.551025390625, + 234.2162322998047 + ], + [ + 421.6534423828125, + 178.18948364257812 + ], + [ + 402.0526428222656, + 144.2904052734375 + ], + [ + 383.80499267578125, + 132.40087890625 + ], + [ + 376.7681884765625, + 118.77894592285156 + ], + [ + 378.3982849121094, + 138.31056213378906 + ] + ] +} \ No newline at end of file diff --git a/006398/lang.txt b/006398/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..4eaef1bd41497a34a472bf655452e411a70d9e9f --- /dev/null +++ b/006398/lang.txt @@ -0,0 +1 @@ +put carrot in bowl diff --git a/006398/object.ply b/006398/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..0db988ae28a8de5f78c3df34bf469ece63c28ee4 Binary files /dev/null and b/006398/object.ply differ diff --git a/006402/data.json b/006402/data.json new file mode 100644 index 0000000000000000000000000000000000000000..c034e17984301cc5e088415849aa180d15638a41 --- /dev/null +++ b/006402/data.json @@ -0,0 +1,403 @@ +{ + "action_start": 6, + "action_end": 13, + "object_name": "detergent", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 2.748602179192261e-10, + 3.2211966427553307e-10, + 5.057774199457299e-10, + -2.9304230834812286e-07, + 5.441561351019036e-07, + -3.9148022526367165e-07, + 1.0 + ], + [ + 0.014701391788654677, + -0.0045241284094721945, + -0.017044917711280416, + -0.028983106601382185, + -0.0371776261099145, + -0.005715201508034186, + 1.0 + ], + [ + 0.006857190450700601, + -0.00537087883641249, + -0.015405991631670862, + -0.04827103613107765, + -0.039871546064844055, + 0.033275926471836435, + 1.0 + ], + [ + 0.0081998131587038, + 0.0006899016490371224, + -0.009611487465069068, + -0.02399211145433932, + -0.007643324757906303, + -0.01940431705935206, + 1.0 + ], + [ + 0.009166764744282269, + 0.001766147385917724, + -0.011033802000667017, + -0.0174469882628515, + -0.002168479035384047, + 0.009308986974527603, + 1.0 + ], + [ + 0.008360537721545436, + 0.0019418336750978288, + -0.009983232435601619, + 0.007968786559886391, + -0.023889018726811283, + 0.010204390390372504, + 1.0 + ], + [ + 0.0023741449920519075, + 0.004320559765701185, + -0.011027584528353299, + 0.03900785967919321, + -0.01604870831077173, + 0.049203586161096886, + 1.0 + ], + [ + 0.0004120559958060155, + 0.0013787616985053291, + -0.013864495753582493, + 0.047182823098594895, + -0.10143838749495869, + 0.01836778405440349, + 0.0 + ], + [ + -0.000712583886371021, + -0.0010868561017326195, + -0.0019404808583496774, + -0.012056993617779357, + -0.051442188339076655, + 0.029867084706066145, + 0.0 + ], + [ + -0.002288248273490834, + -0.007694017389153596, + 0.009496705981469317, + -0.09115573960326473, + -0.020233649974528933, + -0.05124434688249864, + 0.0 + ], + [ + -0.0009727336044672019, + -0.01835728928425795, + 0.020838958568189382, + -0.04723291077851228, + 0.030592267676256054, + -0.028281544907796437, + 0.0 + ], + [ + 0.006090596096743284, + -0.015557642460430843, + -0.006845376212798862, + -0.03991811646259512, + 0.0008727405797993918, + -0.032871804353182675, + 0.0 + ], + [ + 0.007501411087248888, + -0.008703395856202945, + -0.01561970644267105, + -0.0708435276163311, + -0.0029375137051557906, + -0.013046799299870682, + 0.0 + ], + [ + 0.002413291999204481, + -0.004021363879781109, + -0.009735131655810775, + -0.029045510669833206, + -0.012988149486308106, + -0.028324677002340076, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 455.341064453125, + 202.98699951171875 + ], + [ + 449.071044921875, + 214.28439331054688 + ], + [ + 463.242431640625, + 233.19223022460938 + ], + [ + 469.434326171875, + 251.13577270507812 + ], + [ + 471.7222595214844, + 254.12677001953125 + ], + [ + 470.8961181640625, + 256.9455871582031 + ], + [ + 470.7750244140625, + 261.1199951171875 + ], + [ + 459.6768798828125, + 263.9378662109375 + ], + [ + 442.81488037109375, + 281.3180236816406 + ], + [ + 448.7460021972656, + 282.9732666015625 + ], + [ + 451.0828857421875, + 291.19329833984375 + ], + [ + 482.290771484375, + 282.5593566894531 + ], + [ + 517.6470947265625, + 294.51129150390625 + ], + [ + 539.048583984375, + 306.9557189941406 + ], + [ + 540.677490234375, + 310.922607421875 + ], + [ + 540.1817626953125, + 311.1417541503906 + ], + [ + 540.0618896484375, + 311.4859619140625 + ], + [ + 542.2548217773438, + 311.4132385253906 + ], + [ + 539.8216552734375, + 311.4292907714844 + ] + ], + "depth_max": 1.6400494575500488, + "depth_min": 0.050182364881038666, + "intrinsic": [ + [ + 508.461181640625, + 0.0, + 259.0 + ], + [ + 0.0, + 508.46710205078125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -2.244209326818236e-06, + -8.194200199795887e-05, + 6.186895916471258e-06 + ], + [ + 2.245027417302481e-06, + 1.0, + 9.98370614979649e-06, + -2.8191436285851523e-05 + ], + [ + 8.194197289412841e-05, + -9.983889867726248e-06, + 1.0, + 1.152962795458734e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18 + ], + "object_trajectory": [ + [ + 444.75, + 300.5000305175781 + ], + [ + 444.9741516113281, + 300.9197998046875 + ], + [ + 444.78399658203125, + 301.0843505859375 + ], + [ + 444.66009521484375, + 301.4399719238281 + ], + [ + 444.4433898925781, + 301.70697021484375 + ], + [ + 444.2195129394531, + 301.71240234375 + ], + [ + 445.01092529296875, + 302.05841064453125 + ], + [ + 445.0586242675781, + 302.52972412109375 + ], + [ + 444.2944030761719, + 305.01605224609375 + ], + [ + 443.8292541503906, + 297.3653259277344 + ], + [ + 454.3510437011719, + 304.7462158203125 + ], + [ + 483.8445129394531, + 304.9667663574219 + ], + [ + 513.486328125, + 307.35833740234375 + ], + [ + 540.85791015625, + 321.87384033203125 + ], + [ + 539.4803466796875, + 331.0588073730469 + ], + [ + 543.1004028320312, + 351.1015930175781 + ], + [ + 536.9288330078125, + 340.8841552734375 + ], + [ + 533.9459838867188, + 336.4296875 + ], + [ + 539.8829345703125, + 337.322021484375 + ] + ] +} \ No newline at end of file diff --git a/006402/lang.txt b/006402/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f4c8a2bbf9bbfe59e5feb15be9435dc50e55890d --- /dev/null +++ b/006402/lang.txt @@ -0,0 +1 @@ +put detergent in sink diff --git a/006408_v2/FAIL b/006408_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/006408_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/006409/FAIL b/006409/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/006409/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/006424_v2/data.json b/006424_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..b7dd881617231ac24d60fe895bffdbb92688ff2d --- /dev/null +++ b/006424_v2/data.json @@ -0,0 +1,513 @@ +{ + "action_start": 6, + "action_end": 12, + "object_name": "thing", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.794864588182236e-12, + 4.1386838400825354e-11, + -1.9359390479589678e-10, + -1.0047297618673713e-07, + -3.5103392958828826e-07, + -6.538562415648492e-08, + 1.0 + ], + [ + -0.0006255949645538883, + 0.027500393336844953, + -0.01246916308929541, + -0.01801855978691316, + -0.0016289294009620352, + 0.04978635076047615, + 1.0 + ], + [ + -0.00478636289746337, + 0.04071448155864227, + -0.011512641189489192, + 0.028546647411050452, + -0.0554350396868562, + 0.0011205526115797863, + 1.0 + ], + [ + -0.0007239044218613211, + 0.030136515774344896, + -0.011791946270281017, + 0.05268117662043669, + 0.04115990691631519, + -0.10093848313932621, + 1.0 + ], + [ + 0.00338621308621867, + 0.014805499076805478, + -0.022077976855337446, + 0.0029408763578926862, + 0.03362983647137505, + -0.055326289861932214, + 1.0 + ], + [ + 0.0071723578447214775, + -0.002544192868507017, + -0.021463716703076383, + -0.0408245231369781, + 0.01870580509428685, + 0.0025471686409324667, + 1.0 + ], + [ + 0.009193648573982804, + -0.010040135289707292, + -0.0011836115665675145, + -0.011630287184706677, + 0.0013892834916538004, + -0.010769657303574931, + 1.0 + ], + [ + -0.0013889221106888061, + -0.004015487449156474, + 0.022242285957688145, + 0.03607475582764428, + -0.027991028643088063, + 0.0049110290192253955, + 0.0 + ], + [ + -0.007694203069426531, + -0.010816751390269108, + 0.03910162990598559, + 0.029419763923154978, + -0.07992300399264403, + 0.04392788397798719, + 0.0 + ], + [ + -0.025877179329277633, + -0.027915073593162587, + 0.022521362746768258, + 0.0053592767553026464, + -0.032298413940604065, + 0.0412211337246029, + 0.0 + ], + [ + -0.03528850171541481, + -0.05169048715723287, + -0.0022485820966228753, + -0.04752094079854912, + 0.0022676307209816143, + 0.004317439988232451, + 0.0 + ], + [ + -0.011172983592170171, + -0.041298263597897705, + -0.029023818483204233, + -0.0275163974397813, + 0.04502840460370577, + -0.051754692779464886, + 0.0 + ], + [ + -0.006808564094059388, + -0.012646696182854397, + -0.031804341453008214, + -0.003975462235472399, + 0.039597095309622285, + -0.01999175291289232, + 0.0 + ], + [ + -0.007225124768165836, + 0.004611712838487075, + -0.024032931225023403, + -0.010365941279052162, + 0.020561127323193984, + 0.03281098471273403, + 1.0 + ], + [ + -0.001430615780403266, + -0.0034870811575162253, + 0.010793289971196492, + 0.018993618258139017, + -0.026643858353997286, + -0.02328632002412621, + 1.0 + ], + [ + 0.000413954516954973, + -0.00540647394874387, + 0.023911165813760814, + 0.0354511829818551, + -0.032247533173854516, + -0.03172153594450474, + 1.0 + ], + [ + 0.00038069427540443623, + -0.005838874418909276, + 0.021160693232901477, + -0.00854797458516508, + -0.03924876190563085, + -0.032545945148729646, + 1.0 + ], + [ + -0.0005418830386898499, + -0.003407437886038492, + 0.008542787331863297, + -0.02740679866501927, + -0.019154934313190708, + -0.04518089372006007, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 193.78428649902344, + 68.83092498779297 + ], + [ + 195.557861328125, + 74.95352172851562 + ], + [ + 195.67379760742188, + 98.53950500488281 + ], + [ + 150.74285888671875, + 104.86677551269531 + ], + [ + 112.86380767822266, + 106.40128326416016 + ], + [ + 119.07759094238281, + 119.79788208007812 + ], + [ + 126.26380157470703, + 136.10775756835938 + ], + [ + 130.1597900390625, + 141.82095336914062 + ], + [ + 142.4631805419922, + 142.55819702148438 + ], + [ + 126.85627746582031, + 103.65419006347656 + ], + [ + 118.19959259033203, + 95.74172973632812 + ], + [ + 134.58636474609375, + 117.01109313964844 + ], + [ + 171.41175842285156, + 170.79090881347656 + ], + [ + 194.14913940429688, + 210.21194458007812 + ], + [ + 199.19976806640625, + 246.0252685546875 + ], + [ + 194.19607543945312, + 250.59432983398438 + ], + [ + 194.25033569335938, + 226.635986328125 + ], + [ + 194.25762939453125, + 208.87518310546875 + ], + [ + 198.2530517578125, + 201.09844970703125 + ], + [ + 194.9014129638672, + 200.4906768798828 + ], + [ + 195.61448669433594, + 200.43923950195312 + ], + [ + 195.34466552734375, + 200.5924835205078 + ], + [ + 195.50921630859375, + 200.63848876953125 + ], + [ + 195.48928833007812, + 200.5371856689453 + ], + [ + 195.2783203125, + 200.51651000976562 + ] + ], + "depth_max": 2.164907455444336, + "depth_min": 0.43696722388267517, + "intrinsic": [ + [ + 470.2217102050781, + 0.0, + 259.0 + ], + [ + 0.0, + 469.6694030761719, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.131511766696349e-05, + -2.175382860514219e-06, + -1.6920443158596754e-05 + ], + [ + -3.131524135824293e-05, + 1.0, + -5.709106699214317e-05, + -8.764640369918197e-06 + ], + [ + 2.1735952486778842e-06, + 5.70911324757617e-05, + 1.0, + -2.9286375138326548e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24 + ], + "object_trajectory": [ + [ + 125.25, + 143.0 + ], + [ + 130.6317901611328, + 145.40333557128906 + ], + [ + 130.33795166015625, + 145.17401123046875 + ], + [ + 130.48475646972656, + 145.108642578125 + ], + [ + 130.1225128173828, + 144.9610595703125 + ], + [ + 130.42266845703125, + 145.07545471191406 + ], + [ + 130.6142578125, + 145.26246643066406 + ], + [ + 135.1226043701172, + 152.31263732910156 + ], + [ + 152.67501831054688, + 156.43492126464844 + ], + [ + 129.4530487060547, + 116.20787048339844 + ], + [ + 126.69551849365234, + 118.03988647460938 + ], + [ + 142.14675903320312, + 130.85287475585938 + ], + [ + 183.1027069091797, + 183.6271514892578 + ], + [ + 195.83731079101562, + 221.1730499267578 + ], + [ + 194.51461791992188, + 254.86196899414062 + ], + [ + 198.8736572265625, + 253.8646697998047 + ], + [ + 204.43545532226562, + 268.5876770019531 + ], + [ + 207.332763671875, + 269.1925048828125 + ], + [ + 208.64608764648438, + 269.0676574707031 + ], + [ + 216.03164672851562, + 270.2001647949219 + ], + [ + 215.95191955566406, + 270.6575012207031 + ], + [ + 215.87156677246094, + 270.65948486328125 + ], + [ + 215.95730590820312, + 270.7824401855469 + ], + [ + 216.04568481445312, + 270.7762451171875 + ], + [ + 215.86619567871094, + 270.78533935546875 + ] + ] +} \ No newline at end of file diff --git a/006424_v2/lang.txt b/006424_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..674462376ed8c3b2321139e7bc5af342e1728473 --- /dev/null +++ b/006424_v2/lang.txt @@ -0,0 +1 @@ +move the thing into center of the table diff --git a/006424_v2/object.ply b/006424_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..3cb8c4a21c13359847b91fd1e31425821fa06ae2 Binary files /dev/null and b/006424_v2/object.ply differ diff --git a/006447/data.json b/006447/data.json new file mode 100644 index 0000000000000000000000000000000000000000..2397245abbf09d7589b471d723752ff66d7af036 --- /dev/null +++ b/006447/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 15, + "action_end": 22, + "object_name": "detergent", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.829304, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "gripper_actions": [ + [ + 0.0, + -2.7755575615628914e-17, + -1.3877787807814457e-17, + 3.9900712830887166e-07, + 1.6656797522318342e-07, + 2.821573581425352e-07, + 1.0 + ], + [ + -0.0013563340304550975, + -0.06485963947101947, + 0.0331738531263847, + 0.06577284375782128, + -0.014537749699417507, + 0.2904396558826939, + 1.0 + ], + [ + -0.0047501484959382445, + -0.06599432351084808, + 0.013832968218129515, + -0.013466458101539583, + -0.028297101767509165, + 0.23262571049784253, + 1.0 + ], + [ + 0.007974188933318083, + -0.06580782239049066, + 0.007048736516720444, + -0.003142935492079152, + -0.09131834899906062, + 0.16172258836906886, + 1.0 + ], + [ + 0.012850545727857487, + -0.0493222411846516, + 0.001979364882355311, + 0.0026262336488776317, + -0.07023748646484052, + 0.11121753659320914, + 1.0 + ], + [ + 0.0161075527020908, + -0.02538157619788705, + -0.0065781355790147655, + 0.003910529067586032, + -0.06868302183688672, + 0.06778438566657226, + 1.0 + ], + [ + 0.00946960588662793, + -0.007011942551166703, + -0.004887922060542255, + 0.03903601288755195, + -0.03932246848181114, + 0.029177869495449687, + 1.0 + ], + [ + 0.007992337176858544, + 0.005884093240165637, + -0.01158552715764341, + 0.046112232963095134, + -0.04753484624405165, + 0.03304296875346681, + 1.0 + ], + [ + 0.006884288487963297, + 0.002477337078616113, + -0.014344434090677705, + 0.06302257826796591, + -0.06862826974875158, + 0.05468138868131183, + 1.0 + ], + [ + 1.8675986256655452e-05, + 0.004617863345936512, + -0.01627421531570003, + 0.049292952695434565, + -0.05777218556816749, + 0.039732154824595994, + 1.0 + ], + [ + -0.0019151645408234108, + 0.0024871733825575296, + -0.01017617769935214, + 0.03884077001570169, + -0.016590561688676612, + 0.0327842064825316, + 1.0 + ], + [ + 0.00425002591275081, + 0.006393282773201354, + -0.008236520427742838, + 0.04335372094679171, + -0.03911393568722751, + 0.022678153719313945, + 1.0 + ], + [ + 0.00723943616338335, + 0.010024711599506433, + -0.007819220213414163, + 0.046869100408390624, + -0.04203921077715517, + 0.014187458609701716, + 1.0 + ], + [ + 0.004767348731108456, + 0.011244641988609628, + -0.006463524629241865, + 0.03767580555409655, + -0.025901820773192127, + 0.015702249506457468, + 1.0 + ], + [ + 0.0011935493996444446, + 0.011927415017481405, + -0.009234021274185239, + 0.018332797957549482, + -0.006520308726587384, + 0.015830689443066714, + 1.0 + ], + [ + -0.005399721886261255, + 0.020084821847574916, + -0.007820887674912624, + 0.019750011002575375, + 0.024075603011678912, + 0.0013638429724709875, + 0.829304 + ], + [ + 0.00246102286874339, + -0.0011559021662667437, + 0.004279896740197464, + -0.026012522911373563, + 0.011846547026879088, + 0.026016888917716776, + 0.0 + ], + [ + 0.002660063755643205, + -0.01783263270163321, + 0.013293864943509322, + -0.0015005867998040016, + 0.015138454675068155, + 0.053187338074212755, + 0.0 + ], + [ + -0.0006523405780642921, + -0.015865150022735267, + 0.013715428555086312, + -0.004680711754567379, + 0.002980358088831981, + 0.026199457358079166, + 0.0 + ], + [ + -0.005560813499285944, + -0.027487639581719556, + 0.022414402311546053, + -0.03151282373591674, + 0.02503684075415734, + 0.0640089041821377, + 0.0 + ], + [ + -0.011293167438409468, + -0.030981082267658683, + 0.00689160180288835, + -0.04569725799042588, + 0.01746552040772078, + 0.076917455588414, + 0.0 + ], + [ + -0.01549993055796367, + -0.03231965353238851, + 0.011183515967323837, + -0.027285386838695844, + 0.046535554434531085, + 0.07346113496599825, + 0.0 + ], + [ + -0.0009818662625931118, + -0.033353179074555546, + 0.006118706008554228, + -0.06326313587650617, + -0.006195641713103483, + 0.08160655591772377, + 0.0 + ], + [ + -0.003445176722913501, + -0.023523101438717317, + -0.012336101483028564, + -0.008544041050927419, + -0.009691860312140203, + 0.05552598992052387, + 0.0 + ] + ], + "gripper_centers": [ + [ + 76.2410888671875, + 93.12115478515625 + ], + [ + 78.34336853027344, + 104.29367065429688 + ], + [ + 114.63236999511719, + 104.66314697265625 + ], + [ + 163.85635375976562, + 85.88679504394531 + ], + [ + 237.2742919921875, + 93.24968719482422 + ], + [ + 307.9259033203125, + 101.81124877929688 + ], + [ + 373.68145751953125, + 114.76519012451172 + ], + [ + 395.5509033203125, + 118.28207397460938 + ], + [ + 399.4671936035156, + 119.38245391845703 + ], + [ + 390.99652099609375, + 131.95985412597656 + ], + [ + 387.78277587890625, + 160.4163818359375 + ], + [ + 381.373046875, + 171.20913696289062 + ], + [ + 377.45849609375, + 175.08389282226562 + ], + [ + 373.0474853515625, + 176.74267578125 + ], + [ + 367.27532958984375, + 177.14125061035156 + ], + [ + 358.95928955078125, + 179.11749267578125 + ], + [ + 352.3072509765625, + 176.528076171875 + ], + [ + 355.34716796875, + 170.369140625 + ], + [ + 361.82489013671875, + 162.56744384765625 + ], + [ + 375.9212341308594, + 160.25730895996094 + ], + [ + 397.5396728515625, + 153.84808349609375 + ], + [ + 425.6488342285156, + 155.59336853027344 + ], + [ + 446.399169921875, + 164.48399353027344 + ], + [ + 497.16827392578125, + 172.03439331054688 + ] + ], + "depth_max": 1.793197751045227, + "depth_min": 0.3373779058456421, + "intrinsic": [ + [ + 526.0791625976562, + 0.0, + 259.0 + ], + [ + 0.0, + 525.8279418945312, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.273852027836256e-06, + -7.43227283237502e-05, + 5.563346348935738e-06 + ], + [ + -4.269813871360384e-06, + 1.0, + 5.433025216916576e-05, + -1.614293250895571e-05 + ], + [ + 7.432296115439385e-05, + -5.4329932027030736e-05, + 1.0, + -2.7429492547526024e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 344.5, + 179.5 + ], + [ + 344.74481201171875, + 179.49075317382812 + ], + [ + 344.585693359375, + 179.53823852539062 + ], + [ + 344.65765380859375, + 179.56983947753906 + ], + [ + 344.654541015625, + 179.67086791992188 + ], + [ + 344.7906494140625, + 179.76885986328125 + ], + [ + 344.75225830078125, + 179.68846130371094 + ], + [ + 344.7770080566406, + 179.81661987304688 + ], + [ + 344.76385498046875, + 179.60818481445312 + ], + [ + 344.7102966308594, + 179.61474609375 + ], + [ + 344.7763671875, + 179.30767822265625 + ], + [ + 344.50640869140625, + 179.15756225585938 + ], + [ + 344.56536865234375, + 179.1203155517578 + ], + [ + 344.2119445800781, + 178.79507446289062 + ], + [ + 343.8944091796875, + 178.50704956054688 + ], + [ + 340.6022644042969, + 176.5905303955078 + ], + [ + 312.6286926269531, + 169.83917236328125 + ], + [ + 297.1083068847656, + 167.69973754882812 + ], + [ + 308.9901428222656, + 158.61614990234375 + ], + [ + 334.5816345214844, + 153.864013671875 + ], + [ + 360.6241455078125, + 144.12518310546875 + ], + [ + 393.9035339355469, + 147.8251953125 + ], + [ + 436.3284912109375, + 163.74276733398438 + ], + [ + 498.1473693847656, + 173.258544921875 + ] + ] +} \ No newline at end of file diff --git a/006447/lang.txt b/006447/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f4c8a2bbf9bbfe59e5feb15be9435dc50e55890d --- /dev/null +++ b/006447/lang.txt @@ -0,0 +1 @@ +put detergent in sink diff --git a/006471_v2/FAIL b/006471_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/006471_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/006473/FAIL b/006473/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/006473/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/006498_v2/data.json b/006498_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..3da83b2f75c41580808b43a544490d50de0ee8c5 --- /dev/null +++ b/006498_v2/data.json @@ -0,0 +1,714 @@ +{ + "action_start": 16, + "action_end": 29, + "object_name": "carrot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.41220999999999997, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 2.7755575615628914e-17, + -1.3877787807814457e-17, + 1.027193738312115e-06, + -1.7731492315360043e-07, + -2.0036891309650084e-07, + 1.0 + ], + [ + 0.0021687963665394383, + 0.0025771323022633907, + 0.01087691976322143, + 0.003648967144183586, + -0.020618724878405395, + 0.008628769275391595, + 1.0 + ], + [ + 0.005560645393488772, + -0.0007271585930867103, + 0.016535011712761394, + 0.011617658415398975, + -0.045625772201665714, + -0.0024184237373367306, + 1.0 + ], + [ + 0.015745190280617605, + -0.017426971173650926, + 0.022401135689868942, + -0.0186768054870585, + -0.08575796872587856, + -0.05756254855315047, + 1.0 + ], + [ + 0.014475699933971686, + -0.02585636058390349, + 0.0028254567135099495, + -0.02986441066287772, + -0.0334110671253463, + -0.09756025333057916, + 1.0 + ], + [ + 0.009652704835985848, + -0.02695568805837923, + -0.0012174708539084977, + 0.01208866247595303, + -0.0017196978213895732, + -0.11455358637306205, + 1.0 + ], + [ + 0.0026548247380801526, + -0.01717509427877392, + -0.006485287385374516, + 0.003151431790161962, + 0.008373024375970031, + -0.07045894072001105, + 1.0 + ], + [ + -0.001182040126449957, + -0.003760180947776268, + -0.006239324664075743, + 0.00212802163404256, + 0.017475692822555143, + -0.01871044825479298, + 1.0 + ], + [ + -0.004899503721010667, + 0.0011775270264924465, + -0.008889211541458775, + -0.004582691693709945, + 0.021624689320445183, + -0.007168097501551574, + 1.0 + ], + [ + -0.0070463795893810355, + 0.003910021128288293, + -0.014417083861251179, + 0.008846466882729807, + 0.04674888718821734, + 0.0010285085858220012, + 1.0 + ], + [ + -0.0027535221639427565, + -0.0024167261026908655, + -0.01769363581639094, + -0.026562675352101803, + 0.0392815563983901, + -0.013607055324091729, + 1.0 + ], + [ + 0.003007459374007704, + -0.002832449548005632, + -0.011187744107224964, + -0.027154891182887227, + 0.013584607322783798, + -0.00045962085197145546, + 1.0 + ], + [ + -0.0011320020116638574, + -0.000622441275860584, + -0.013457205633907718, + -0.004016933536916785, + 0.027911243761955397, + -0.003059719174189307, + 1.0 + ], + [ + -0.0031478563704789297, + -0.00010583966257947039, + -0.014553741839821714, + -0.0037176781919583827, + 0.03034753874215609, + -0.009884483020649037, + 1.0 + ], + [ + -0.0026818953415249647, + 0.0011801883024632163, + -0.009598765085123827, + 0.0008209511653533268, + 0.024095407173369714, + -0.006941883752067496, + 1.0 + ], + [ + 0.0004973029260641471, + 0.004918101008634461, + -0.010631711949487276, + -0.0029286051325952364, + 0.023271543078790133, + 0.01623498219783606, + 1.0 + ], + [ + -0.00108624993662787, + 0.003886971071627254, + -0.010784300897052526, + -0.024249448267110688, + 0.026967679049901168, + 0.011382777334839169, + 0.41220999999999997 + ], + [ + 0.0011858468978052095, + -0.00037855496031783016, + 0.006016221790387841, + 0.0005662715949222956, + -0.01204018725164917, + 0.003934422025990438, + 0.0 + ], + [ + 0.0013027908270233368, + -0.0011036351639565484, + 0.011333844736049335, + 0.004427756864023461, + -0.02922386381489266, + -0.012390482464570795, + 0.0 + ], + [ + -0.0009645529781034945, + 0.001000822825781636, + 0.018238375231064113, + 0.018394384673657407, + -0.04094485519591268, + -0.005669119431984113, + 0.0 + ], + [ + -0.0030061180966493017, + 0.007300443594427806, + 0.028534842618834072, + 0.0063535881942690985, + -0.05712766079190149, + 0.023451332251359407, + 0.0 + ], + [ + -0.00491569056206953, + 0.013679494657610442, + 0.03029435576191803, + -0.0020964910291425224, + -0.04598228590608645, + 0.04886579277525859, + 0.0 + ], + [ + -0.008472005989160925, + 0.018707779738307492, + 0.017176805512968074, + -0.011181658161845019, + -0.009635141718743929, + 0.04854615991692489, + 0.0 + ], + [ + -0.007792250296762504, + 0.031444106032697955, + 0.008259191235042165, + 0.01672142875687996, + -0.0028953368386172257, + 0.07589002862840641, + 0.0 + ], + [ + -0.005334017987969064, + 0.036639831808864855, + -0.005565514490422113, + 0.023833794656442288, + -0.010406122462672682, + 0.06377787667034139, + 0.0 + ], + [ + -0.002402680709454874, + 0.04086650608886257, + -0.01916419814419372, + 0.008049766190455302, + -0.008589295394685358, + 0.02728921481529731, + 0.0 + ], + [ + 0.0069500562874300065, + 0.040195073674598306, + -0.03136761384478702, + -0.00610012081752412, + 0.008725589924744242, + 0.005737161649365601, + 0.0 + ], + [ + 0.013031892911325393, + 0.021844407781752978, + -0.03303835845561544, + 0.0008561121955591467, + 0.03562223591524977, + -0.03894879635945839, + 0.0 + ], + [ + 0.01128304272148073, + 0.001490038679297978, + -0.021951672548417796, + 0.024121077244377842, + -0.015732878692209924, + -0.06013316863458073, + 0.0 + ], + [ + 0.0014342343102755617, + -0.0023228397502462195, + -0.004277035529393101, + 0.021116618400177176, + -0.002882483466073175, + -0.03270984276871391, + 0.0 + ], + [ + -0.0007417133588712987, + -0.0004839985361796695, + 0.011347543989179386, + 0.012099054315027702, + -0.0014693819324519252, + -0.016304083674269495, + 1.0 + ], + [ + 0.0012546682972805479, + -0.0037546588787588098, + 0.02298697606699222, + 0.013676704147998623, + 0.023266470011605585, + 0.011854075815457393, + 1.0 + ], + [ + 0.0009447513295746113, + -0.004670153077711153, + 0.02088413346060205, + 0.016606672727767002, + 0.01132676586707115, + -0.012150643630510589, + 1.0 + ], + [ + -0.002117529312858135, + -0.004417604363482069, + 0.01812627819885708, + 0.0316519467036015, + -0.00402258165001924, + 0.0012195067118977146, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 264.71661376953125, + 102.10324096679688 + ], + [ + 265.19488525390625, + 106.36113739013672 + ], + [ + 265.5746765136719, + 117.8428955078125 + ], + [ + 267.2789306640625, + 109.12855529785156 + ], + [ + 276.62835693359375, + 81.77116394042969 + ], + [ + 319.97613525390625, + 65.78456115722656 + ], + [ + 357.069580078125, + 57.42164993286133 + ], + [ + 389.3611145019531, + 67.60198211669922 + ], + [ + 395.8729248046875, + 68.40762329101562 + ], + [ + 393.8802795410156, + 81.13848876953125 + ], + [ + 389.7431640625, + 101.75376892089844 + ], + [ + 390.5863037109375, + 125.8789291381836 + ], + [ + 392.69708251953125, + 142.37059020996094 + ], + [ + 391.056884765625, + 157.8596954345703 + ], + [ + 390.587158203125, + 170.3090362548828 + ], + [ + 390.06573486328125, + 172.11865234375 + ], + [ + 391.22198486328125, + 172.82643127441406 + ], + [ + 390.1034240722656, + 170.8292236328125 + ], + [ + 389.3360595703125, + 167.82962036132812 + ], + [ + 389.55828857421875, + 167.62939453125 + ], + [ + 388.2240905761719, + 168.6212158203125 + ], + [ + 373.5345458984375, + 163.18966674804688 + ], + [ + 357.2618408203125, + 122.20872497558594 + ], + [ + 330.18646240234375, + 93.11236572265625 + ], + [ + 288.7702941894531, + 75.91654968261719 + ], + [ + 243.3314666748047, + 72.96739196777344 + ], + [ + 196.62698364257812, + 71.80093383789062 + ], + [ + 166.2366943359375, + 101.69473266601562 + ], + [ + 155.13571166992188, + 118.77651977539062 + ], + [ + 163.61343383789062, + 143.8223876953125 + ], + [ + 167.28677368164062, + 144.4799346923828 + ], + [ + 168.63543701171875, + 148.32073974609375 + ], + [ + 167.25149536132812, + 148.88394165039062 + ], + [ + 172.1571502685547, + 112.9690933227539 + ], + [ + 168.02450561523438, + 100.31765747070312 + ], + [ + 168.27020263671875, + 86.98316192626953 + ] + ], + "depth_max": 1.842753291130066, + "depth_min": 0.5036935210227966, + "intrinsic": [ + [ + 473.7427062988281, + 0.0, + 259.0 + ], + [ + 0.0, + 473.5411682128906, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.785461376537569e-05, + -9.694054460851476e-05, + -1.971861820493359e-06 + ], + [ + -3.785438821068965e-05, + 1.0, + 2.33537980420806e-06, + -3.5820139601128176e-05 + ], + [ + 9.694063192000613e-05, + -2.331709993086406e-06, + 1.0, + 4.1518393118167296e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 35 + ], + "object_trajectory": [ + [ + 380.25, + 189.75 + ], + [ + 380.3826599121094, + 190.0053253173828 + ], + [ + 380.170166015625, + 189.93362426757812 + ], + [ + 380.2771911621094, + 189.89492797851562 + ], + [ + 380.18035888671875, + 189.83982849121094 + ], + [ + 380.48370361328125, + 190.040283203125 + ], + [ + 380.5408020019531, + 189.6804656982422 + ], + [ + 380.38531494140625, + 189.8717803955078 + ], + [ + 380.2848815917969, + 189.95216369628906 + ], + [ + 380.33880615234375, + 189.98727416992188 + ], + [ + 380.3248291015625, + 189.6724395751953 + ], + [ + 380.24993896484375, + 189.52548217773438 + ], + [ + 379.9193420410156, + 189.3577880859375 + ], + [ + 379.8590393066406, + 189.40756225585938 + ], + [ + 379.4388427734375, + 189.63735961914062 + ], + [ + 378.3608703613281, + 189.3214569091797 + ], + [ + 377.5234680175781, + 189.40463256835938 + ], + [ + 380.28289794921875, + 190.03887939453125 + ], + [ + 382.52728271484375, + 190.9837188720703 + ], + [ + 382.3616638183594, + 190.8284912109375 + ], + [ + 379.067138671875, + 192.94845581054688 + ], + [ + 366.2719421386719, + 188.155029296875 + ], + [ + 349.8888244628906, + 149.41152954101562 + ], + [ + 324.4995422363281, + 119.2621078491211 + ], + [ + 288.3084411621094, + 104.16813659667969 + ], + [ + 244.8307647705078, + 102.3954086303711 + ], + [ + 198.94451904296875, + 100.67608642578125 + ], + [ + 169.78033447265625, + 127.3924560546875 + ], + [ + 157.93594360351562, + 143.044677734375 + ], + [ + 166.30784606933594, + 169.086181640625 + ], + [ + 167.61117553710938, + 166.93321228027344 + ], + [ + 169.3265380859375, + 172.54702758789062 + ], + [ + 160.86334228515625, + 173.87213134765625 + ], + [ + 166.33189392089844, + 167.68453979492188 + ], + [ + 170.65628051757812, + 167.91629028320312 + ], + [ + 168.98826599121094, + 168.35047912597656 + ] + ] +} \ No newline at end of file diff --git a/006498_v2/lang.txt b/006498_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..1465d2f3127a7f5cd50cb36baf0ead2550c54cba --- /dev/null +++ b/006498_v2/lang.txt @@ -0,0 +1 @@ +Move the carrot out of the drawer to the left diff --git a/006498_v2/object.ply b/006498_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..983df92578c6dc204d624248b1020c09dd7aee48 Binary files /dev/null and b/006498_v2/object.ply differ diff --git a/006599_v2/FAIL b/006599_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/006599_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/006602/data.json b/006602/data.json new file mode 100644 index 0000000000000000000000000000000000000000..b56c1e0bdcb9c99f53c50eafd4f9c59b15c08ff5 --- /dev/null +++ b/006602/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 8, + "action_end": 20, + "object_name": "beet", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.792918, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.0294026742130313e-10, + -1.896441337301269e-12, + 1.1546576195176073e-10, + 2.987480250846195e-07, + -4.530878345158161e-07, + -4.134474494736867e-08, + 1.0 + ], + [ + -0.01927697278921031, + 0.008847465833873205, + 0.004516661521500945, + -0.04950287937220139, + -0.020341809754362086, + -0.07011340378732364, + 1.0 + ], + [ + -0.017153199152526277, + 0.013752973523958462, + 0.00017629239069181374, + 0.006705741345231868, + 0.00011194955021408262, + -0.05266905844531118, + 1.0 + ], + [ + -0.014245309720175292, + 0.015082959613636468, + 0.0038812422594140875, + 0.018436140514998353, + 0.009185913535678918, + -0.024494596355530144, + 1.0 + ], + [ + -0.003125266959703832, + 0.013874596733892158, + 0.0028431684155562006, + 0.022942837599575827, + -0.01997492797730704, + 0.02092348775415111, + 1.0 + ], + [ + -0.0015530847464857445, + 0.0017958733591486378, + -0.00795934164552236, + 0.012243469799821593, + 0.021273494003487808, + -0.019598816958752152, + 1.0 + ], + [ + 0.0023119867128315597, + -0.0023958561507041384, + -0.02265904327489255, + 0.015320517132816245, + 0.037401532251881205, + -0.024860224523985924, + 1.0 + ], + [ + 0.00262030137181396, + -0.0031494397721707063, + -0.013852767855031138, + 0.009484220642527715, + 0.02027397849719721, + -0.0004399981638391785, + 1.0 + ], + [ + 0.0004116421346077037, + 0.0033356989519071345, + -0.006204860974848278, + -0.009578445590583603, + -0.016373357894505617, + 0.007161071336051433, + 0.792918 + ], + [ + 0.0010533408031423441, + 0.002166109801134193, + 0.004827169308587467, + -0.08033923176096756, + 0.06294677662315708, + 0.009787754484264739, + 0.0 + ], + [ + -1.5740868677560638e-05, + 0.00015871853230029279, + 0.005451857847326203, + 0.02008898296239666, + 0.038907883789806044, + -0.0145870167500761, + 0.0 + ], + [ + -0.005345441283262475, + 0.0035740608208381097, + 0.015604655884489584, + 0.006049856278749483, + 0.009698837508147021, + -0.014656724967774168, + 0.0 + ], + [ + -0.0032707345212912298, + 0.0011620959184145251, + 0.027001737230222138, + -0.022649408019266577, + -0.009227133679173377, + 0.026995071423035352, + 0.0 + ], + [ + 0.00541150628111331, + 0.008896842828328595, + 0.028488477834820315, + -0.06400398720068352, + -0.02041146329111805, + 0.056252056127042434, + 0.0 + ], + [ + 0.011266132127237871, + 0.0177747260903887, + 0.009846197349772226, + 0.015971494349198666, + -0.1098968515278196, + 0.08699465752912036, + 0.0 + ], + [ + 0.022569577292543108, + 0.01996539370216787, + 0.006610954310126829, + 0.03107654489156635, + -0.03235789790475807, + 0.07393670208603904, + 0.0 + ], + [ + 0.007773488973939313, + 0.016857952550411986, + -0.0025034917448936433, + -0.007505242446037138, + 0.0037315909153405546, + -0.0018486651082530918, + 0.0 + ], + [ + -0.0034943454174636845, + -0.0028912430941564066, + -0.01942207468618709, + 0.003973806442809699, + 0.013248562314749204, + 0.013599534765106428, + 0.0 + ], + [ + -0.0015895185084505714, + -0.0017427554997532443, + -0.014983833987376072, + 0.005893681407216939, + 0.022753643526206332, + -0.019332866984755573, + 0.0 + ], + [ + 0.0037321423039301527, + -0.0028250536099764106, + -0.013909283520832275, + 0.04154765401378267, + -0.0082354967791683, + -0.0020424508261612244, + 0.0 + ], + [ + 0.006971576552583236, + 0.0013603457871150804, + -0.000855925490211143, + 0.0014676988871617951, + -0.026714646530154887, + 0.014205511274594136, + 0.0 + ], + [ + 0.003515298437963499, + 0.0009127328106046662, + -0.001369674824656858, + -0.00572158929700761, + 0.02334113901787409, + 0.029692441207144815, + 1.0 + ], + [ + 0.0003966372503784177, + -0.001393022740389424, + 0.0010220485374781568, + -0.0053903587051645965, + -0.001087597422268966, + -0.006560748493995963, + 1.0 + ], + [ + -0.0020579339905412164, + -0.0036681655274387395, + 0.00974409391323322, + 0.005245427919396965, + -0.03403256767810414, + 0.013019370635818553, + 1.0 + ], + [ + -0.00018787814618803633, + -0.006232101109975276, + 0.010773470739027721, + 0.014761114004733825, + -0.04758386199146497, + 0.01845199401258905, + 1.0 + ], + [ + -0.005262327266474742, + -0.006390837253477062, + 0.01871709980919585, + -0.039372010847735096, + -0.030670589346689665, + -0.005491759659255779, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 490.4728088378906, + 171.45465087890625 + ], + [ + 488.65020751953125, + 176.79605102539062 + ], + [ + 473.6184387207031, + 215.64549255371094 + ], + [ + 445.170654296875, + 213.46998596191406 + ], + [ + 405.7873229980469, + 211.79962158203125 + ], + [ + 379.76751708984375, + 207.28668212890625 + ], + [ + 375.04638671875, + 204.01889038085938 + ], + [ + 374.107177734375, + 224.23651123046875 + ], + [ + 375.8917236328125, + 240.6528778076172 + ], + [ + 381.08270263671875, + 245.53057861328125 + ], + [ + 385.34539794921875, + 249.76890563964844 + ], + [ + 365.8319091796875, + 229.88809204101562 + ], + [ + 361.48846435546875, + 233.11618041992188 + ], + [ + 363.5356140136719, + 205.38844299316406 + ], + [ + 364.0330505371094, + 165.37124633789062 + ], + [ + 319.1900939941406, + 128.87948608398438 + ], + [ + 319.5093688964844, + 94.38462829589844 + ], + [ + 324.9002380371094, + 85.11843872070312 + ], + [ + 306.6226501464844, + 122.66322326660156 + ], + [ + 299.26739501953125, + 119.84315490722656 + ], + [ + 310.122314453125, + 134.87445068359375 + ], + [ + 321.5394592285156, + 141.35617065429688 + ], + [ + 323.26409912109375, + 144.611328125 + ], + [ + 324.40960693359375, + 143.564208984375 + ], + [ + 325.25787353515625, + 141.709716796875 + ], + [ + 325.4515380859375, + 128.10227966308594 + ], + [ + 341.1597900390625, + 116.0631103515625 + ], + [ + 343.5727844238281, + 108.94717407226562 + ] + ], + "depth_max": 1.4021739959716797, + "depth_min": 0.5521022081375122, + "intrinsic": [ + [ + 555.7705688476562, + 0.0, + 259.0 + ], + [ + 0.0, + 556.7110595703125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.022218879777938e-05, + -8.200627235055435e-06, + -1.0426620065118186e-05 + ], + [ + -3.0222694476833567e-05, + 1.0, + -6.155610753921792e-05, + -2.0412906451383606e-05 + ], + [ + 8.198766408895608e-06, + 6.15563549217768e-05, + 1.0, + -3.865515282086562e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 364.25, + 249.75 + ], + [ + 364.63214111328125, + 249.95542907714844 + ], + [ + 364.357177734375, + 249.83975219726562 + ], + [ + 364.3250732421875, + 249.93780517578125 + ], + [ + 362.9284973144531, + 249.7591552734375 + ], + [ + 363.890869140625, + 250.141845703125 + ], + [ + 363.842041015625, + 250.0640869140625 + ], + [ + 363.81121826171875, + 250.08340454101562 + ], + [ + 363.79046630859375, + 250.38623046875 + ], + [ + 365.6656188964844, + 251.63809204101562 + ], + [ + 374.25091552734375, + 260.57843017578125 + ], + [ + 369.9014892578125, + 259.3529052734375 + ], + [ + 365.5238037109375, + 260.0897216796875 + ], + [ + 359.8299865722656, + 240.96888732910156 + ], + [ + 374.333251953125, + 211.54319763183594 + ], + [ + 339.1200866699219, + 182.5574188232422 + ], + [ + 323.0207214355469, + 150.75767517089844 + ], + [ + 329.1834411621094, + 141.7199249267578 + ], + [ + 320.16461181640625, + 160.34341430664062 + ], + [ + 319.6158142089844, + 174.9642333984375 + ], + [ + 328.4200744628906, + 185.28970336914062 + ], + [ + 333.57598876953125, + 185.40945434570312 + ], + [ + 333.09332275390625, + 188.11968994140625 + ], + [ + 317.8999328613281, + 187.7864990234375 + ], + [ + 316.08465576171875, + 186.6545867919922 + ], + [ + 316.5811462402344, + 187.2744140625 + ], + [ + 316.115966796875, + 187.970458984375 + ], + [ + 316.3663024902344, + 188.04632568359375 + ] + ] +} \ No newline at end of file diff --git a/006602/lang.txt b/006602/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..950ba2f0449bdca748f679007ac7b2448ab8c1f8 --- /dev/null +++ b/006602/lang.txt @@ -0,0 +1 @@ +put beet in pot sink diff --git a/006602/object.ply b/006602/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..660c7b4995252629813c8396c20c92b17e40c625 Binary files /dev/null and b/006602/object.ply differ diff --git a/006617/data.json b/006617/data.json new file mode 100644 index 0000000000000000000000000000000000000000..03f67b13e7733d51d835b798610721a0b8a784cc --- /dev/null +++ b/006617/data.json @@ -0,0 +1,604 @@ +{ + "action_start": 11, + "action_end": 24, + "object_name": "beet", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.750916, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.757265, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 2.538108612171186e-11, + -1.6610030018071598e-10, + -9.756387364667773e-11, + -2.0662887695898327e-07, + 4.7145280691004015e-07, + -6.158742677976279e-07, + 1.0 + ], + [ + 0.015147830450982586, + -0.024562348554531516, + -0.010847799806462999, + -0.05199239137342349, + 0.009733991484905315, + 0.06231700740717341, + 1.0 + ], + [ + 0.023637996834449115, + -0.019410599121135692, + -0.015437448020093475, + -0.05291339027633075, + -0.010907005951822894, + 0.0036795639912199653, + 1.0 + ], + [ + 0.022579899133227083, + -0.016341629068869594, + -0.024202043488971647, + 0.0015617995322550124, + 0.0007855233191703539, + 0.030837528676941065, + 1.0 + ], + [ + 0.01271044940506244, + -0.012576379036436582, + -0.020380854932755307, + -0.029504238672505442, + -0.05212286809397466, + 0.01090952411585488, + 1.0 + ], + [ + 0.01659918543867231, + -0.011766927223259492, + -0.015718683500121927, + -0.022036167020290865, + -0.05390033952854521, + 0.06013163239574196, + 1.0 + ], + [ + 0.017146424287319773, + -0.012517602069653794, + -0.016385727333062275, + 0.04163129725183866, + 0.006085505420186386, + 0.0021727303823175677, + 1.0 + ], + [ + 0.005328410399331018, + -0.0010441289844809812, + -0.014547702014167843, + 0.015482907079437395, + 0.01758681242196073, + 0.03508332613826124, + 1.0 + ], + [ + -0.000800233500682479, + -0.005079161582555811, + -0.015825487567102725, + 0.0037655093205794877, + 0.020304570963080183, + 0.00826259401224715, + 1.0 + ], + [ + -0.006349485191998405, + 0.00018136845254319856, + -0.013270782809258287, + 0.03862760459703159, + -0.012417576700302026, + 0.016912061066453765, + 1.0 + ], + [ + -0.0019378212776941517, + -0.0035678574393848764, + -0.013452702266252989, + 0.022575013901617084, + 0.013857314199041185, + -0.0004266113662727703, + 1.0 + ], + [ + -0.002396675727986186, + -0.0028823933546960057, + -0.009560642869176563, + 0.021661669713688766, + 0.006218619355868375, + -0.009375491568888093, + 0.750916 + ], + [ + 0.00035093787524126396, + -0.0007964821917308199, + -0.002994984080302826, + -0.00044464545943176387, + -0.007318781119534898, + 0.008281698533114888, + 0.0 + ], + [ + -0.002246973897452653, + -0.002538534018134503, + 0.010724719251059157, + -0.010152209536324678, + -0.034816514335132186, + 0.015564588902507231, + 0.0 + ], + [ + -0.005242911310560205, + -0.0020582014335187512, + 0.012808712992569683, + -0.024825873511552115, + 0.009956154725204502, + 0.03228395982498294, + 0.0 + ], + [ + -0.005959394876128454, + -0.010203907264079312, + 0.015733942814491694, + -0.045539079995030776, + 0.020148868730584864, + -0.008615458729816557, + 0.0 + ], + [ + 0.006690890780178038, + -0.002132797774518365, + 0.023843208474505856, + -0.01711859783094232, + -0.062415969684946324, + 0.027309598372558676, + 0.0 + ], + [ + 0.02052740627547628, + 0.015600730911466076, + 0.02533352287507912, + -0.035154048505393276, + -0.04316499453918371, + 0.04792914192499516, + 0.0 + ], + [ + 0.01616794353339307, + 0.02743290987722357, + 0.014027577596470345, + 0.008767514401905749, + -0.060635820526130764, + 0.1046993350339734, + 0.0 + ], + [ + 0.0072239363860692185, + 0.02694552741524973, + -0.0057160703660439, + 0.03620102723593335, + 0.018044484064832608, + 0.07913776047608606, + 0.0 + ], + [ + -0.005495664627747365, + 0.017487359165322066, + -0.0019365675274406607, + 0.04730701351568587, + -0.001911947312516896, + 0.004114331423719887, + 0.0 + ], + [ + 0.00862169543424407, + 0.008386126933618603, + -0.014934452120102394, + 0.02528100081263114, + 0.037664684649239805, + 0.030481689138460354, + 0.0 + ], + [ + 0.010576039564931417, + -0.00045546698468454383, + -0.01743558377760191, + 0.012367301702426399, + 0.04811473227355611, + 0.005336822361082563, + 0.0 + ], + [ + 0.005035070418877685, + -0.004848612062968563, + -0.012214554334518922, + 0.022825145434615852, + 0.01349526487066977, + -0.025026496178415174, + 0.0 + ], + [ + -0.0012744752087981426, + 0.0006229639600529302, + 0.003873318352943224, + -0.018862502703048123, + 0.020178415615277785, + 0.022624204981460186, + 0.757265 + ], + [ + -0.0018154843451906877, + 2.0943238565329647e-05, + 0.008412896411002038, + -0.03678628312859017, + -0.00685876967099447, + 0.03200391305497194, + 1.0 + ], + [ + -3.839085952639376e-06, + -4.406844013225136e-05, + 0.020460428843613685, + 0.02006183052833905, + 0.013873238046459247, + 0.02684857958204111, + 1.0 + ], + [ + 0.0008755584455937826, + -0.0013659334251469313, + 0.022844635958180814, + -0.008418940428470715, + -0.02791731705880387, + 1.856404267054118e-05, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 127.60643005371094, + 141.786865234375 + ], + [ + 127.29664611816406, + 150.3533935546875 + ], + [ + 164.29653930664062, + 154.56288146972656 + ], + [ + 248.61859130859375, + 183.0650177001953 + ], + [ + 278.2056884765625, + 191.5850067138672 + ], + [ + 340.41387939453125, + 214.03106689453125 + ], + [ + 352.89605712890625, + 218.22186279296875 + ], + [ + 373.99334716796875, + 231.79830932617188 + ], + [ + 401.6573486328125, + 250.70068359375 + ], + [ + 396.27166748046875, + 263.89105224609375 + ], + [ + 387.76251220703125, + 274.082275390625 + ], + [ + 392.2179260253906, + 290.98907470703125 + ], + [ + 395.51031494140625, + 302.2675476074219 + ], + [ + 404.15679931640625, + 307.9836730957031 + ], + [ + 401.1011047363281, + 305.0186767578125 + ], + [ + 397.0567626953125, + 305.98431396484375 + ], + [ + 399.9365539550781, + 303.13055419921875 + ], + [ + 408.36907958984375, + 278.5632019042969 + ], + [ + 427.1474609375, + 240.3004150390625 + ], + [ + 389.9754638671875, + 192.2418212890625 + ], + [ + 352.57525634765625, + 160.51312255859375 + ], + [ + 331.9720458984375, + 159.51390075683594 + ], + [ + 328.48382568359375, + 170.38841247558594 + ], + [ + 332.81048583984375, + 176.02833557128906 + ], + [ + 333.6384582519531, + 186.27963256835938 + ], + [ + 343.6934509277344, + 190.34432983398438 + ], + [ + 347.407470703125, + 195.2012939453125 + ], + [ + 339.9608459472656, + 172.1304931640625 + ], + [ + 336.85491943359375, + 147.1898651123047 + ], + [ + 338.2892761230469, + 133.24000549316406 + ] + ], + "depth_max": 1.6156240701675415, + "depth_min": 0.41240814328193665, + "intrinsic": [ + [ + 562.66015625, + 0.0, + 259.0 + ], + [ + 0.0, + 563.0362548828125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.742019544006325e-05, + -2.9581782655441202e-05, + -1.0035073501057923e-05 + ], + [ + -3.742178887478076e-05, + 1.0, + -5.398526627686806e-05, + -2.446860889904201e-05 + ], + [ + 2.9579763577203266e-05, + 5.3986372222425416e-05, + 1.0, + -1.9166433048667386e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 29 + ], + "object_trajectory": [ + [ + 395.25, + 287.2500305175781 + ], + [ + 395.46575927734375, + 287.4863586425781 + ], + [ + 395.3980407714844, + 287.614501953125 + ], + [ + 395.3785400390625, + 287.59356689453125 + ], + [ + 395.33721923828125, + 287.396240234375 + ], + [ + 395.3494873046875, + 287.3987731933594 + ], + [ + 395.5123291015625, + 287.05755615234375 + ], + [ + 395.6766662597656, + 286.7832946777344 + ], + [ + 395.5435791015625, + 286.58868408203125 + ], + [ + 395.70367431640625, + 286.4342956542969 + ], + [ + 395.7442626953125, + 286.7398681640625 + ], + [ + 395.8081359863281, + 286.8773498535156 + ], + [ + 396.71673583984375, + 285.3939514160156 + ], + [ + 398.0984191894531, + 283.6321716308594 + ], + [ + 398.6257019042969, + 283.0033264160156 + ], + [ + 400.59320068359375, + 281.0933532714844 + ], + [ + 404.79949951171875, + 281.8055725097656 + ], + [ + 411.2974853515625, + 271.3880615234375 + ], + [ + 421.27130126953125, + 241.92208862304688 + ], + [ + 397.3103332519531, + 218.79908752441406 + ], + [ + 376.96490478515625, + 195.6123809814453 + ], + [ + 367.5314025878906, + 201.20391845703125 + ], + [ + 367.781005859375, + 208.3320770263672 + ], + [ + 367.295166015625, + 211.73733520507812 + ], + [ + 365.1728515625, + 216.5610809326172 + ], + [ + 364.74432373046875, + 212.6433868408203 + ], + [ + 378.20562744140625, + 226.49098205566406 + ], + [ + 372.46807861328125, + 224.0690155029297 + ], + [ + 370.42034912109375, + 226.01043701171875 + ], + [ + 369.8670959472656, + 227.63394165039062 + ] + ] +} \ No newline at end of file diff --git a/006617/lang.txt b/006617/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..950ba2f0449bdca748f679007ac7b2448ab8c1f8 --- /dev/null +++ b/006617/lang.txt @@ -0,0 +1 @@ +put beet in pot sink diff --git a/006617/object.ply b/006617/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..8730975bed509ed81648000cfd4d8fcafa6e3e41 Binary files /dev/null and b/006617/object.ply differ diff --git a/006625/FAIL b/006625/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/006625/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/006648/FAIL b/006648/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/006648/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/006656/data.json b/006656/data.json new file mode 100644 index 0000000000000000000000000000000000000000..96dc1e3d597a98c48852085f491440ad1223cf45 --- /dev/null +++ b/006656/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 11, + "action_end": 22, + "object_name": "blueberries", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.394872, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.1252299092490148e-10, + -2.572928675670383e-11, + -1.4614739973772828e-11, + 2.902366055507508e-07, + 5.086661619048034e-07, + -1.285220409482241e-07, + 1.0 + ], + [ + 0.006909443908991175, + -0.028039535668818234, + -0.01332593556026905, + 0.0029625776006901544, + -0.009735488756676238, + -0.03642800881879049, + 1.0 + ], + [ + 0.0036240097695519613, + -0.02714837551539745, + -0.013293627472429084, + 0.008355221456821629, + -0.016351521435501986, + -0.051641238099212214, + 1.0 + ], + [ + 0.006659018246671422, + -0.024997994303351683, + -0.017384124499704612, + 0.007468611623363661, + -0.04739191764027302, + -0.07878824447330215, + 1.0 + ], + [ + 0.015671351884046225, + -0.01391520727877277, + -0.012486083080608376, + -0.008216684480233364, + -0.055218094244859565, + 0.01983733652499582, + 1.0 + ], + [ + 0.011448607840873037, + -0.0015888836375660964, + -0.003426003548209211, + 0.00523229159614344, + -0.03710507495146122, + 0.03450559043072616, + 1.0 + ], + [ + 0.011054210976537582, + -0.0010400367819769496, + -0.005549294390754821, + 0.007833351419288622, + -0.010598128568606122, + 0.02285008838975423, + 1.0 + ], + [ + 0.00747793006613201, + 0.003485261684670983, + -0.004625488007879933, + 0.0014894703145998584, + -0.0017641783709186256, + 0.024029033653384112, + 1.0 + ], + [ + 0.0038535618032101704, + 0.00785533254219347, + -0.004670864072990135, + 0.010317084147964353, + -0.005074755544703025, + 0.021765559136169867, + 1.0 + ], + [ + 0.0034447614235331714, + 0.0027167923493355423, + -0.011229502768418715, + 0.012514720221141706, + 0.025972427574003063, + 0.024816320134317775, + 1.0 + ], + [ + 0.003237608231514255, + 0.00205121684713774, + -0.006014530575032231, + 0.008466905043315381, + 0.004178919080804588, + 0.023070359977764597, + 1.0 + ], + [ + 0.0009396676304938012, + 0.001380415049371371, + -0.0012623266519480232, + -0.005682192354985436, + -0.0017436933924950696, + 0.00960680559787347, + 1.0 + ], + [ + -0.002239156671885234, + -0.00022868592929446013, + -0.001305264366081845, + -0.009045997880143514, + 0.009508381228668735, + -0.007903737745152642, + 0.0 + ], + [ + 0.00017304599566075884, + -0.0008023370694962492, + 0.002510098794126465, + -0.0023716699056202484, + -0.006657840079310913, + 0.012575027548418834, + 0.0 + ], + [ + 0.0003258051184958921, + 0.0010260452539130258, + 0.005591552113722916, + 0.010416897101511, + -0.025294675443108067, + 0.005944230799368178, + 0.0 + ], + [ + 0.0014123529093246212, + 0.0011898779939372162, + 0.018240602348432118, + -0.006709771457269155, + -0.03801012089571136, + 0.013131983361666155, + 0.0 + ], + [ + -0.004464366703947231, + -0.0027075344973417487, + 0.019940678844282484, + -0.030867678414841344, + -0.028997057425259393, + 0.00036979909561866763, + 0.0 + ], + [ + -0.01374122417029916, + -0.008145078616428582, + 0.011342437546089785, + -0.043574141209786345, + 0.004191627781445315, + -0.015137718747760376, + 0.0 + ], + [ + -0.02276331078831534, + -0.018452722574666843, + -0.002872680187805853, + -0.03562213225886848, + 0.07349286462530023, + -0.0672202726399365, + 0.0 + ], + [ + -0.015562150717036649, + -0.017485320073308858, + -0.011246021186669924, + -1.6214934460842203e-05, + 0.03566885460475167, + -0.05227196767442227, + 0.0 + ], + [ + -0.0018632136599973093, + -0.01161486777422803, + -0.014970208531574478, + 0.029288159952349173, + 0.015679274684132233, + -0.013680241483719708, + 0.0 + ], + [ + 0.0034491580441518566, + -0.005020001643177868, + -0.006200961046753231, + 0.016396871139600814, + -0.011378539180633017, + 0.012677036511406397, + 0.0 + ], + [ + 0.0005378138964053369, + -0.0037486082683980126, + -0.006869981473326969, + 0.023399782140179095, + 0.018263862969538636, + 0.0069482961246536265, + 0.394872 + ], + [ + -0.00032641927561433137, + 0.0011469027963569023, + 0.006991879478619796, + -0.04464235330876507, + 0.02423698349290561, + 0.023676771768116403, + 1.0 + ], + [ + 0.004985998809251824, + 0.006578062059936038, + 0.023098416059853695, + -0.04833480773026645, + -0.03004123463298611, + 0.03843564283029987, + 1.0 + ], + [ + 0.004381504826582006, + 0.012814567623553291, + 0.02985934189787402, + -0.024915390404278325, + -0.006523117045872766, + 0.018298343916325205, + 1.0 + ], + [ + 0.0043083078158209775, + 0.023568007344596048, + 0.028054138859578893, + 0.009373695908646161, + -0.027111080192946495, + 0.005536660860055231, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 260.88250732421875, + 135.14303588867188 + ], + [ + 261.87347412109375, + 138.54293823242188 + ], + [ + 278.6212158203125, + 161.2462921142578 + ], + [ + 344.0951843261719, + 195.53677368164062 + ], + [ + 363.4338073730469, + 219.08255004882812 + ], + [ + 387.83087158203125, + 235.5081787109375 + ], + [ + 416.6282653808594, + 234.656982421875 + ], + [ + 416.5568542480469, + 228.70440673828125 + ], + [ + 418.93963623046875, + 227.86831665039062 + ], + [ + 415.3240966796875, + 228.8306884765625 + ], + [ + 406.211669921875, + 226.89952087402344 + ], + [ + 402.7196044921875, + 227.98104858398438 + ], + [ + 402.40228271484375, + 230.95823669433594 + ], + [ + 404.241943359375, + 231.3511505126953 + ], + [ + 403.6218566894531, + 230.86703491210938 + ], + [ + 404.3423156738281, + 230.88238525390625 + ], + [ + 403.45440673828125, + 220.66009521484375 + ], + [ + 406.2587585449219, + 200.4603271484375 + ], + [ + 404.8887939453125, + 199.46954345703125 + ], + [ + 403.7279052734375, + 214.6883087158203 + ], + [ + 418.92291259765625, + 251.13243103027344 + ], + [ + 438.320068359375, + 270.75482177734375 + ], + [ + 440.457275390625, + 282.9136962890625 + ], + [ + 441.26190185546875, + 286.3920593261719 + ], + [ + 451.071533203125, + 295.760498046875 + ], + [ + 452.49493408203125, + 279.07867431640625 + ], + [ + 444.06494140625, + 232.82516479492188 + ], + [ + 425.0966796875, + 181.49368286132812 + ], + [ + 395.15069580078125, + 158.47035217285156 + ] + ], + "depth_max": 1.4839762449264526, + "depth_min": 0.3077579438686371, + "intrinsic": [ + [ + 578.3135375976562, + 0.0, + 259.0 + ], + [ + 0.0, + 578.6348266601562, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.8889240386197343e-05, + 3.018589450221043e-05, + -9.650997526478022e-06 + ], + [ + -3.8887814298504964e-05, + 1.0, + -4.7167461161734536e-05, + -1.0441434824315365e-05 + ], + [ + -3.0187728043529205e-05, + 4.716628973255865e-05, + 1.0, + -8.784119017946068e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 392.2500305175781, + 247.75001525878906 + ], + [ + 392.66693115234375, + 248.0107421875 + ], + [ + 392.6016845703125, + 248.0733642578125 + ], + [ + 392.6316833496094, + 247.88104248046875 + ], + [ + 392.50726318359375, + 247.66244506835938 + ], + [ + 392.1885681152344, + 247.98635864257812 + ], + [ + 392.1639709472656, + 248.0338897705078 + ], + [ + 392.2168273925781, + 247.95860290527344 + ], + [ + 392.2373962402344, + 248.0188446044922 + ], + [ + 392.2658386230469, + 248.1490020751953 + ], + [ + 392.2071533203125, + 248.02413940429688 + ], + [ + 392.2870178222656, + 247.9965057373047 + ], + [ + 391.5068664550781, + 248.189453125 + ], + [ + 391.1072082519531, + 248.41961669921875 + ], + [ + 391.0665283203125, + 248.3304443359375 + ], + [ + 391.2789306640625, + 248.2734832763672 + ], + [ + 390.60369873046875, + 239.31092834472656 + ], + [ + 394.593994140625, + 219.84396362304688 + ], + [ + 394.6395263671875, + 219.85702514648438 + ], + [ + 392.8591003417969, + 238.18502807617188 + ], + [ + 405.6761474609375, + 274.60919189453125 + ], + [ + 424.6321716308594, + 292.2521057128906 + ], + [ + 426.1253662109375, + 303.5997009277344 + ], + [ + 425.728515625, + 305.6411437988281 + ], + [ + 437.12567138671875, + 329.1741943359375 + ], + [ + 441.6202087402344, + 330.10211181640625 + ], + [ + 441.4215393066406, + 326.44561767578125 + ], + [ + 441.259765625, + 326.5814514160156 + ], + [ + 441.58355712890625, + 326.382080078125 + ] + ] +} \ No newline at end of file diff --git a/006656/lang.txt b/006656/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..b229cbf1c1ef8bc2cedf95d3ec902fb25e15dcd8 --- /dev/null +++ b/006656/lang.txt @@ -0,0 +1 @@ +put blueberries on plate sink diff --git a/006656/object.ply b/006656/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..2dd1abe543da5b1df4ee5c67c4ca8fb1e1778a19 Binary files /dev/null and b/006656/object.ply differ diff --git a/006660_v2/data.json b/006660_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..e5ded4b2edbae45c2180969217c2a02cce1534f6 --- /dev/null +++ b/006660_v2/data.json @@ -0,0 +1,513 @@ +{ + "action_start": 11, + "action_end": 19, + "object_name": "light green object", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.348962, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.1680922895607182e-10, + 4.505548781286173e-10, + 1.1942122984942571e-10, + 1.734492646378573e-07, + -8.225140994852465e-07, + -5.150474360633172e-07, + 1.0 + ], + [ + 0.03001457203060537, + 0.030573718084757635, + 0.0063731389747361256, + 0.02346087685320774, + -0.016130629860978383, + 0.06368037103516892, + 1.0 + ], + [ + 0.0341180041369068, + 0.03430670166557353, + 0.009343192559942502, + 0.0039260492538374615, + -0.03973690106312911, + 0.03206693237576672, + 1.0 + ], + [ + 0.02754202139253903, + 0.031053336972571947, + 0.006960535282237251, + 0.02131492342470485, + -0.03977612533279155, + -0.02493256695218055, + 1.0 + ], + [ + 0.02953329339705746, + 0.03397576912929601, + -0.006065463709623402, + 0.039831800879586585, + -0.019294155791425485, + -0.019729524404186793, + 1.0 + ], + [ + 0.024450815438683327, + 0.03230191924924103, + -0.009269480454555813, + 0.02135723289255295, + -0.009150490902146752, + 0.0037635083861745446, + 1.0 + ], + [ + 0.011701923951445481, + 0.02990619521728327, + -0.004968770314160362, + 0.0041490221664540194, + 0.014811452773063572, + 0.049933872680562014, + 1.0 + ], + [ + 0.0002974992552735589, + 0.023500132470135715, + -0.004962448900285618, + 0.011414023290944271, + 0.013013220343064418, + 0.042185058735473666, + 1.0 + ], + [ + -0.0051056157367116994, + -0.0013121213440499269, + -0.019246554845364944, + -0.01812589985676718, + 0.04214910328600057, + 0.006368765144808228, + 1.0 + ], + [ + -0.001654559754047824, + -0.01558378549448683, + -0.01444797352801138, + -0.024474862993921202, + 0.026322974220521392, + -0.012161759819346741, + 1.0 + ], + [ + 0.004867518606279209, + -0.01327800611931823, + -0.0031418539106810306, + -0.005934438747990877, + -0.000861840765873545, + -0.029607523433790698, + 1.0 + ], + [ + 0.0020309282145379304, + -0.001731653723622495, + 0.0026748501483336773, + 0.01581467903507534, + -0.0031856066241064893, + -0.010516265761140158, + 0.348962 + ], + [ + 0.002202122846254151, + -0.0015887056824755164, + 0.006317622425929561, + 0.020913304114113296, + -0.008842573085310201, + -0.0042289505786980205, + 0.0 + ], + [ + 0.005090972379544201, + -0.00793548806068159, + 0.014218357834235994, + 0.013853609453599742, + -0.02928796885505331, + -0.01712975096122241, + 0.0 + ], + [ + 0.007220752418424958, + -0.03886250999756395, + 0.02556905613250072, + -0.0012761901262671408, + -0.05898080223655587, + -0.06292618312884932, + 0.0 + ], + [ + 0.0011883796001400104, + -0.054981078895795996, + -0.006828346089063348, + -0.04456109576676911, + -0.00013663753838506851, + -0.08350866065679968, + 0.0 + ], + [ + -0.0010235880790235852, + -0.03472388642213769, + -0.023965882443481953, + 0.005642507950003346, + 0.04573823830743502, + -0.026495756271912738, + 0.0 + ], + [ + -0.003696112291552034, + -0.0037714839181462213, + -0.02485867561153317, + 0.006405122242228488, + 0.055141566468337996, + 0.006418100134909472, + 0.0 + ], + [ + -0.007964997005176722, + -0.002091546842826686, + -0.01691411035487517, + 0.009960507051789956, + 0.05106966115259948, + 0.004330426178964626, + 0.0 + ], + [ + -0.004665016483986706, + 0.00010429707856486788, + 0.006852152207842441, + 0.004923230263182775, + -0.00809421179229689, + 0.020240218379545837, + 0.0 + ], + [ + 0.0002305134838859746, + -0.0017191261031067676, + 0.029852622330147, + -0.006284392991302254, + -0.06298469459036501, + 0.0435813204487363, + 1.0 + ], + [ + 0.0008606011342326969, + -0.003028880792349902, + 0.05491960392876931, + -0.009197312341825272, + -0.11721318418126919, + 0.03956716642415062, + 1.0 + ], + [ + -0.008030960700976753, + -0.001756463984658535, + 0.031327860689557264, + 0.006184047552226406, + -0.03400531738440125, + 0.02172593274815414, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 325.0163269042969, + 309.219482421875 + ], + [ + 324.29156494140625, + 310.83807373046875 + ], + [ + 318.963134765625, + 291.3280944824219 + ], + [ + 298.16864013671875, + 224.9960479736328 + ], + [ + 282.9523010253906, + 182.78546142578125 + ], + [ + 269.4154052734375, + 155.54806518554688 + ], + [ + 253.8921661376953, + 140.1706085205078 + ], + [ + 235.06121826171875, + 127.8701171875 + ], + [ + 210.60438537597656, + 128.23553466796875 + ], + [ + 206.311279296875, + 134.18460083007812 + ], + [ + 214.54257202148438, + 158.98208618164062 + ], + [ + 223.14303588867188, + 164.8970184326172 + ], + [ + 234.63992309570312, + 163.85350036621094 + ], + [ + 232.15457153320312, + 163.96612548828125 + ], + [ + 238.0423583984375, + 163.18209838867188 + ], + [ + 264.360107421875, + 144.34893798828125 + ], + [ + 313.28045654296875, + 150.0425567626953 + ], + [ + 353.16094970703125, + 168.70574951171875 + ], + [ + 367.3401794433594, + 207.0596466064453 + ], + [ + 364.9510192871094, + 209.8009490966797 + ], + [ + 365.243408203125, + 210.48208618164062 + ], + [ + 356.8553161621094, + 219.9005126953125 + ], + [ + 360.7027587890625, + 169.9472198486328 + ], + [ + 364.08990478515625, + 140.3966827392578 + ], + [ + 365.15283203125, + 133.40380859375 + ] + ], + "depth_max": 1.9021053314208984, + "depth_min": 0.2914368212223053, + "intrinsic": [ + [ + 565.7815551757812, + 0.0, + 259.0 + ], + [ + 0.0, + 564.6116333007812, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.8916932933498174e-05, + 0.00016009034879971296, + -5.8271296438761055e-05 + ], + [ + -2.8904732971568592e-05, + 1.0, + -7.620685937581584e-05, + -6.048275281500537e-06 + ], + [ + -0.00016009256069082767, + 7.620223186677322e-05, + 1.0, + 1.6583886463195086e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24 + ], + "object_trajectory": [ + [ + 229.25, + 163.50001525878906 + ], + [ + 229.84588623046875, + 163.70455932617188 + ], + [ + 229.64175415039062, + 163.5362091064453 + ], + [ + 229.7397918701172, + 163.5677490234375 + ], + [ + 229.71372985839844, + 164.16876220703125 + ], + [ + 229.48753356933594, + 164.11337280273438 + ], + [ + 229.40013122558594, + 163.9000244140625 + ], + [ + 229.91323852539062, + 163.7895965576172 + ], + [ + 229.96920776367188, + 163.96615600585938 + ], + [ + 230.6002197265625, + 166.66122436523438 + ], + [ + 222.70675659179688, + 167.81973266601562 + ], + [ + 222.36607360839844, + 165.06832885742188 + ], + [ + 227.7405548095703, + 170.32220458984375 + ], + [ + 227.01321411132812, + 171.3915252685547 + ], + [ + 233.37855529785156, + 170.9558563232422 + ], + [ + 257.04901123046875, + 153.28890991210938 + ], + [ + 306.5099182128906, + 162.10690307617188 + ], + [ + 343.5457763671875, + 177.71641540527344 + ], + [ + 358.9740905761719, + 215.7734375 + ], + [ + 357.7247009277344, + 216.61976623535156 + ], + [ + 363.08734130859375, + 215.27734375 + ], + [ + 361.8145446777344, + 227.82911682128906 + ], + [ + 362.9120788574219, + 227.93763732910156 + ], + [ + 364.65850830078125, + 227.1050567626953 + ], + [ + 365.2806701660156, + 227.3936004638672 + ] + ] +} \ No newline at end of file diff --git a/006660_v2/lang.txt b/006660_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..b04cd085ba9f460b7de6e220a7cd6153749a89b7 --- /dev/null +++ b/006660_v2/lang.txt @@ -0,0 +1 @@ +take the light green object on top of the blue cloth and put it in the middle of the table diff --git a/006660_v2/object.ply b/006660_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..f97ebd43d9e154c855e5d403fba5d3d090dfa1e0 Binary files /dev/null and b/006660_v2/object.ply differ diff --git a/006662/data.json b/006662/data.json new file mode 100644 index 0000000000000000000000000000000000000000..10786ef266f2789f0c8d579e4fe7b5faa01e7332 --- /dev/null +++ b/006662/data.json @@ -0,0 +1,604 @@ +{ + "action_start": 11, + "action_end": 23, + "object_name": "blueberries", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.742857, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -4.273309484048582e-11, + 1.032062352246399e-10, + 6.575344435599817e-11, + 1.32719810753783e-07, + -1.282917720599406e-07, + -7.262864076757366e-08, + 1.0 + ], + [ + -0.014097037012132052, + -0.008272358193325405, + 0.0056639304070590715, + -0.04721756581574584, + 0.031734310120266326, + -0.060584185230406006, + 1.0 + ], + [ + -0.015542501228764827, + -0.004698299434158691, + 0.0124772235328076, + -0.04006433145491584, + -0.009276773501151645, + -0.05271261523837265, + 1.0 + ], + [ + -0.019522131206643145, + -0.005567057227403208, + 0.012890428202147565, + -0.03983213141206603, + 0.01815789014300365, + -0.05090760902652638, + 1.0 + ], + [ + -0.024430741884522877, + -0.0076510862179169775, + 0.007897536175483874, + -0.003799310731680524, + -0.006248977390908313, + -0.06910850670645316, + 1.0 + ], + [ + -0.016857294646046184, + -0.010810212248613976, + 0.0019352263557352867, + -0.0004218615563517157, + -0.013412110445062145, + -0.06603526937020912, + 1.0 + ], + [ + -0.010138741275297486, + -0.005909036902139439, + -0.002541684209733122, + 0.00614418496809313, + 0.0032339505803780757, + -0.03693710022256507, + 1.0 + ], + [ + -0.0036535475489295477, + -0.005884047572900328, + -0.012145128989470691, + 0.03551852367670189, + -0.0003964304280225852, + -0.011526425321572043, + 1.0 + ], + [ + -0.002314595035089767, + -0.0005044505300995372, + -0.01225327853932938, + 0.025395997914572907, + -0.018826211596184406, + -8.97990360806043e-06, + 1.0 + ], + [ + -0.0022087758489954534, + 0.0017734969307486165, + -0.00820465295594125, + 0.010983316445232448, + -0.011436439689199319, + 0.008306400683847432, + 1.0 + ], + [ + -0.0001695890759549068, + 0.0001116130922214631, + -0.007272266338386332, + 0.016157840120921828, + -0.01573494512202526, + 0.015510990042466049, + 1.0 + ], + [ + 0.0037930800660105624, + -0.0012744848781247181, + -0.004785175575589898, + 0.001269370191603982, + 0.0021987782262713257, + 0.02317064524243449, + 0.742857 + ], + [ + 0.00024441627575483293, + 0.0008312919678692132, + -0.0029219567119650666, + 0.0026656369060691003, + -0.01031550472882294, + -0.003712547096145717, + 0.0 + ], + [ + 0.001556201385657402, + 0.0011911821900245922, + 0.0022380965089600774, + -0.009669306708420288, + 0.003112982350588654, + 0.0016035283225515652, + 0.0 + ], + [ + 0.006654587426430297, + 0.0010082373003287431, + 0.007169276996282621, + -0.0119072187947062, + -0.0011155184944216215, + 0.018507283053089504, + 0.0 + ], + [ + 0.009475141975896773, + 0.004637723412414668, + 0.014841032450892938, + -0.03365767964510973, + 0.00729428284164595, + 0.02994786246823903, + 0.0 + ], + [ + 0.015163828945336605, + 0.008439568438678005, + 0.013921383578049798, + -0.03348768359804389, + 0.001789461145931751, + 0.047264495719006205, + 0.0 + ], + [ + 0.02258999050611471, + 0.009136657901664486, + 0.0006078993273408162, + -0.0009668441076626018, + 0.005334692169618768, + 0.06041617987530836, + 0.0 + ], + [ + 0.02893905437969163, + 0.012300768327754896, + -0.01171805394076976, + 0.01565285562318173, + -0.002121657971339882, + 0.08486432834651249, + 0.0 + ], + [ + 0.022847150699115526, + 0.013299347471713054, + -0.012661956232809524, + 0.01198706123322252, + -0.02804351569745151, + 0.06361524070226157, + 0.0 + ], + [ + 0.02218396531183614, + 0.006589922235962921, + -0.010487333627965098, + 0.014496567985897274, + -0.03121131994784498, + 0.04804029062780863, + 0.0 + ], + [ + 0.013302646528181528, + 0.002770034898783434, + -0.016595987689506014, + 0.03872014551006825, + -0.025371324736175996, + 0.011505650802521734, + 0.0 + ], + [ + 0.0029960055349546044, + -0.002479107494639851, + -0.010420931397570582, + 0.022235723180146105, + -0.005898720988647149, + -0.007145672135444663, + 0.0 + ], + [ + -0.0015984579779619312, + -0.003212719731192408, + -0.0055812454936435725, + 1.5043610807031063e-05, + 0.02870529021787434, + -0.007658602121202493, + 0.0 + ], + [ + 0.001746214890012976, + 0.0005104255106634821, + 0.005327810871392082, + -0.01844288339425162, + -0.013152767968331942, + 0.028895484014200917, + 1.0 + ], + [ + 0.003279052451263198, + -0.00180875467625162, + 0.017622464760081016, + -0.0286756600118393, + -0.010873278488638297, + 0.017524673148722008, + 1.0 + ], + [ + -0.0036661038553576497, + -0.003053899264789557, + 0.023164677665803345, + -0.03825997087309383, + -0.006006195949981071, + -0.011315912763131175, + 1.0 + ], + [ + -0.011127920110638234, + -0.004296268044920892, + 0.027255575451790384, + -0.03719673174001762, + 0.019393286941045428, + -0.02708454757413873, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 423.8230895996094, + 216.20211791992188 + ], + [ + 422.70318603515625, + 220.2404327392578 + ], + [ + 418.3470764160156, + 243.57789611816406 + ], + [ + 413.7727355957031, + 248.12271118164062 + ], + [ + 406.65325927734375, + 253.6927490234375 + ], + [ + 390.397705078125, + 266.3454284667969 + ], + [ + 397.966796875, + 297.16253662109375 + ], + [ + 402.9465637207031, + 322.86077880859375 + ], + [ + 402.9863586425781, + 333.8402099609375 + ], + [ + 403.98175048828125, + 359.6800231933594 + ], + [ + 398.1941833496094, + 370.97332763671875 + ], + [ + 393.20550537109375, + 376.1052551269531 + ], + [ + 400.5162048339844, + 374.49871826171875 + ], + [ + 401.80438232421875, + 367.7815856933594 + ], + [ + 402.45135498046875, + 367.8359069824219 + ], + [ + 402.81060791015625, + 366.8184814453125 + ], + [ + 408.86859130859375, + 354.2611999511719 + ], + [ + 409.62701416015625, + 311.39410400390625 + ], + [ + 411.2368469238281, + 268.9168701171875 + ], + [ + 415.75616455078125, + 246.2901153564453 + ], + [ + 410.4901123046875, + 227.5419464111328 + ], + [ + 405.670166015625, + 212.9801025390625 + ], + [ + 404.291748046875, + 213.07675170898438 + ], + [ + 400.6737060546875, + 220.38229370117188 + ], + [ + 407.7643737792969, + 228.77273559570312 + ], + [ + 415.2470397949219, + 232.1400604248047 + ], + [ + 419.9986877441406, + 227.75408935546875 + ], + [ + 425.16278076171875, + 211.17543029785156 + ], + [ + 428.19195556640625, + 184.08236694335938 + ], + [ + 428.41619873046875, + 172.46380615234375 + ] + ], + "depth_max": 1.5454821586608887, + "depth_min": 0.20449623465538025, + "intrinsic": [ + [ + 537.3114624023438, + 0.0, + 259.0 + ], + [ + 0.0, + 537.6134033203125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.9256672860356048e-05, + -8.028265438042581e-05, + -3.072927938774228e-07 + ], + [ + -2.926224442489911e-05, + 1.0, + -6.93919719196856e-05, + -8.48664694785839e-06 + ], + [ + 8.028061711229384e-05, + 6.939431477803737e-05, + 1.0, + 1.3324697647476569e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 29 + ], + "object_trajectory": [ + [ + 371.25, + 398.25 + ], + [ + 371.7160949707031, + 398.31231689453125 + ], + [ + 371.653564453125, + 398.4434509277344 + ], + [ + 371.6176452636719, + 398.46966552734375 + ], + [ + 371.588623046875, + 398.4305419921875 + ], + [ + 371.48162841796875, + 398.36663818359375 + ], + [ + 371.3392333984375, + 398.39208984375 + ], + [ + 371.039794921875, + 398.6460266113281 + ], + [ + 370.9707336425781, + 398.6969909667969 + ], + [ + 371.04644775390625, + 398.8802490234375 + ], + [ + 371.2650146484375, + 400.1330261230469 + ], + [ + 371.2226257324219, + 400.0240478515625 + ], + [ + 375.4660949707031, + 398.9930725097656 + ], + [ + 376.50262451171875, + 398.14996337890625 + ], + [ + 378.19464111328125, + 398.47442626953125 + ], + [ + 378.87994384765625, + 398.169921875 + ], + [ + 384.27166748046875, + 388.9801330566406 + ], + [ + 387.4399719238281, + 349.914306640625 + ], + [ + 391.37548828125, + 308.00921630859375 + ], + [ + 397.9759521484375, + 283.7724914550781 + ], + [ + 395.2455139160156, + 263.2445983886719 + ], + [ + 392.00823974609375, + 246.29132080078125 + ], + [ + 390.15350341796875, + 244.80056762695312 + ], + [ + 386.7266845703125, + 251.56344604492188 + ], + [ + 392.572509765625, + 258.6220397949219 + ], + [ + 399.70111083984375, + 259.75860595703125 + ], + [ + 405.90228271484375, + 266.4703369140625 + ], + [ + 406.2345886230469, + 265.6978759765625 + ], + [ + 406.1488037109375, + 264.5570983886719 + ], + [ + 406.0497131347656, + 264.1907653808594 + ] + ] +} \ No newline at end of file diff --git a/006662/lang.txt b/006662/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..b229cbf1c1ef8bc2cedf95d3ec902fb25e15dcd8 --- /dev/null +++ b/006662/lang.txt @@ -0,0 +1 @@ +put blueberries on plate sink diff --git a/006662/object.ply b/006662/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..4a86a6bce5487bb9d755500affcb44670be4df32 Binary files /dev/null and b/006662/object.ply differ diff --git a/006679/FAIL b/006679/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/006679/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/006684_v2/FAIL b/006684_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/006684_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/006693/FAIL b/006693/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/006693/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/006701_v2/data.json b/006701_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..4db662a8451f164bda27a80c6cba41b4a43cfaee --- /dev/null +++ b/006701_v2/data.json @@ -0,0 +1,659 @@ +{ + "action_start": 5, + "action_end": 24, + "object_name": "silver pot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 0.0, + 0.0, + 3.267598495846218e-07, + -9.008975472117577e-08, + -4.071723952661993e-07, + 1.0 + ], + [ + 0.043039933828752985, + -0.02635367615226905, + 0.0032930559899634754, + -0.010326149175944124, + -0.03058622812839838, + -0.039602226465411845, + 1.0 + ], + [ + 0.03299951641159915, + -0.015729033444739637, + -0.000451239364264229, + 0.014189391354988234, + -0.008849963965578885, + -0.010282003535287298, + 1.0 + ], + [ + 0.02578178194309272, + -0.016030491967691775, + -0.0030893636753403717, + -0.0036103829215453154, + -0.006311265400470129, + -0.01010863131197012, + 1.0 + ], + [ + 0.015126127592607841, + -0.013107624874110674, + -0.00875653773290095, + 0.0007492690233366751, + 0.0023054352593547428, + -0.015686905786755453, + 1.0 + ], + [ + 0.009314744264280528, + -0.003201607277788494, + -0.012351432505065034, + 0.017789671836062636, + 0.011670846632225586, + -0.0005611025899534363, + 1.0 + ], + [ + 0.0020238169111313487, + 0.0018078963186273795, + -0.008254303371858625, + -0.004792626302767495, + 0.008845710530662697, + 0.008186772849706597, + 0.0 + ], + [ + -0.0009571247537458749, + 0.0009785514163126174, + -0.001331150805395316, + 0.005994439585478372, + 0.005340800538327982, + -0.0005428925957491188, + 0.0 + ], + [ + -0.0011785286123788818, + 0.002105784876296664, + 0.0019568452963210237, + -3.090023783644275e-05, + 0.0002482176014482882, + -0.0005299298275026071, + 0.0 + ], + [ + -0.00190958255119561, + 0.0031309371503437876, + 0.012117474920417993, + -0.008243429256651919, + -0.012212649540903961, + -0.020844763692252764, + 0.0 + ], + [ + -0.00800671196633057, + -0.007815454597030973, + 0.02419972697198296, + -0.020853181345251354, + -0.06707027715558679, + -0.124386974551751, + 0.0 + ], + [ + -0.016403818235211864, + -0.020704989716746763, + 0.011364011714191033, + 0.014217938582147868, + -0.026139215892497843, + -0.15059518231739025, + 0.0 + ], + [ + -0.004872561698842259, + -0.00441793312631825, + 0.0011863345933068453, + 0.01596795582489852, + -0.011081358153017076, + -0.03402214774622091, + 0.0 + ], + [ + -0.0011408180233244414, + 0.0011919017032462214, + 0.0013587906607053293, + 0.04305185954716362, + -0.016328587734740593, + 0.05902970446937492, + 0.0 + ], + [ + -0.0006726469522184142, + 0.0008431965698727506, + 0.00044622032197413203, + 0.029405023545648206, + -0.01008745066682276, + 0.03823349047720321, + 0.0 + ], + [ + -0.054739022141071236, + 0.09531321204356778, + 0.01548211136156876, + 0.015356528650403082, + -0.0072490329852233455, + 0.01781881911916188, + 0.0 + ], + [ + -0.015598220608998403, + 0.07298601580602188, + -0.013340978236777934, + 0.04159950572783365, + 0.03671502705303114, + 0.023332740689563914, + 0.0 + ], + [ + -0.006629743051871806, + 0.048106386118231294, + 0.0005913475956184633, + 0.0010339246686984047, + 0.006047821266334879, + 0.0431906538705825, + 0.0 + ], + [ + -0.0009406165450468462, + 0.016094595566980216, + -0.005699432585020425, + -0.0127333979529959, + 0.01675111251236193, + 0.03311899928970424, + 0.0 + ], + [ + 0.0004844748939388799, + 0.0012175114938708376, + -0.020092214566517365, + -0.022081121609143634, + 0.042692881058897285, + -0.013390379740546347, + 0.0 + ], + [ + -0.012540354672511411, + -0.008911265784063982, + -0.0351798782936662, + 0.017553280315841698, + 0.09429389065660852, + -0.03754188275713425, + 0.0 + ], + [ + -0.01995796940431549, + -0.015553635428005197, + -0.022904087448452622, + 0.013694663142605503, + 0.05748659854223129, + -0.06267226599359191, + 0.0 + ], + [ + -0.01587893315770078, + -0.01442643520424304, + -0.00795464704145794, + 0.012351807740673102, + 0.02106883506715547, + -0.05401694741388686, + 0.0 + ], + [ + -0.007639268294068746, + -0.01158968837598355, + -0.0030943061906035492, + -0.005290827717641725, + 0.006953084849524385, + -0.04366167028298658, + 0.0 + ], + [ + -0.005951117733827144, + -0.010134794974195921, + 0.004303669986855829, + -0.0009691414928691271, + -0.011774583526093218, + -0.022384162518684435, + 0.0 + ], + [ + 0.002107308822047599, + 0.011705020571418479, + 0.004473641812272548, + -0.04849358679214661, + -0.00868192871895733, + 0.1364685452492242, + 1.0 + ], + [ + 0.013800134003845305, + 0.021533365466120127, + 0.019280866649259605, + -0.05706429150423419, + -0.0422225090041608, + 0.13766441953293132, + 1.0 + ], + [ + 0.004882379074619747, + 0.006195382387776685, + 0.02794148164411255, + -0.04981255883834833, + -0.05586116743355483, + 0.03558449415795882, + 1.0 + ], + [ + -0.0021193400294303444, + 5.9848604745074696e-05, + 0.01659308065192314, + -0.024438585075513664, + -0.020780418431473758, + 0.017501625302778885, + 1.0 + ], + [ + -0.003926580733525531, + -0.0013108616214169422, + 0.0028788018493701995, + 0.016865417892216145, + 0.021962979059417524, + -0.026418472064651106, + 1.0 + ], + [ + -0.001226814452929187, + 0.0009366378291037758, + -0.0029433911219865078, + 0.03134853738043511, + 0.01877654615966581, + -0.019001939353071682, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 201.25357055664062, + 199.09347534179688 + ], + [ + 201.2783203125, + 204.60321044921875 + ], + [ + 233.159423828125, + 193.89166259765625 + ], + [ + 299.64874267578125, + 176.06478881835938 + ], + [ + 314.0587158203125, + 162.01129150390625 + ], + [ + 348.79925537109375, + 168.5888671875 + ], + [ + 354.7557067871094, + 172.60098266601562 + ], + [ + 355.39129638671875, + 176.02218627929688 + ], + [ + 351.8804626464844, + 176.57176208496094 + ], + [ + 352.2858581542969, + 176.4132080078125 + ], + [ + 349.2275390625, + 177.3509063720703 + ], + [ + 346.7574768066406, + 164.3720245361328 + ], + [ + 352.779296875, + 163.6109619140625 + ], + [ + 369.9129333496094, + 170.80169677734375 + ], + [ + 358.8527526855469, + 173.76791381835938 + ], + [ + 365.56787109375, + 169.60333251953125 + ], + [ + 323.99273681640625, + 182.27203369140625 + ], + [ + 223.83612060546875, + 170.5457763671875 + ], + [ + 185.4801025390625, + 163.2286376953125 + ], + [ + 151.00051879882812, + 158.1627197265625 + ], + [ + 146.33724975585938, + 180.9832000732422 + ], + [ + 151.55868530273438, + 209.20468139648438 + ], + [ + 156.1312713623047, + 240.62533569335938 + ], + [ + 158.1361846923828, + 251.0157470703125 + ], + [ + 159.57061767578125, + 261.86407470703125 + ], + [ + 162.61724853515625, + 275.3961486816406 + ], + [ + 166.75588989257812, + 288.2664489746094 + ], + [ + 150.51083374023438, + 270.1625671386719 + ], + [ + 141.16847229003906, + 247.27035522460938 + ], + [ + 132.798828125, + 227.4285888671875 + ], + [ + 126.12779235839844, + 229.00230407714844 + ], + [ + 122.70023345947266, + 228.52432250976562 + ], + [ + 123.1333999633789, + 228.51983642578125 + ] + ], + "depth_max": 1.948095440864563, + "depth_min": 0.21531616151332855, + "intrinsic": [ + [ + 549.6991577148438, + 0.0, + 259.0 + ], + [ + 0.0, + 548.3579711914062, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.886092549189925e-05, + 0.00018383513088338077, + -2.9498263756977394e-05 + ], + [ + -5.884459460503422e-05, + 1.0, + -8.885290299076587e-05, + -1.359631642117165e-05 + ], + [ + -0.0001838403841247782, + 8.884208364179358e-05, + 1.0, + 4.64501790702343e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 32 + ], + "object_trajectory": [ + [ + 311.75, + 164.75 + ], + [ + 311.9201965332031, + 164.84066772460938 + ], + [ + 311.98583984375, + 164.71670532226562 + ], + [ + 311.806396484375, + 165.07284545898438 + ], + [ + 311.386474609375, + 164.96942138671875 + ], + [ + 311.09503173828125, + 165.0882110595703 + ], + [ + 311.0592041015625, + 165.3597412109375 + ], + [ + 311.0574035644531, + 165.518310546875 + ], + [ + 310.6526794433594, + 165.86474609375 + ], + [ + 306.131591796875, + 171.95114135742188 + ], + [ + 300.8997802734375, + 177.2683563232422 + ], + [ + 303.6187744140625, + 177.00729370117188 + ], + [ + 310.62506103515625, + 175.20762634277344 + ], + [ + 326.06475830078125, + 178.57379150390625 + ], + [ + 314.23345947265625, + 179.0816650390625 + ], + [ + 317.0751647949219, + 173.2542266845703 + ], + [ + 290.24847412109375, + 185.45761108398438 + ], + [ + 203.11439514160156, + 165.73487854003906 + ], + [ + 173.37905883789062, + 163.6066436767578 + ], + [ + 140.81507873535156, + 164.63180541992188 + ], + [ + 142.2714385986328, + 187.01568603515625 + ], + [ + 140.57032775878906, + 203.58311462402344 + ], + [ + 142.39447021484375, + 222.8271484375 + ], + [ + 144.36907958984375, + 228.89466857910156 + ], + [ + 145.71072387695312, + 232.6199188232422 + ], + [ + 148.03738403320312, + 242.00009155273438 + ], + [ + 145.75746154785156, + 247.84371948242188 + ], + [ + 149.92591857910156, + 243.57522583007812 + ], + [ + 147.2091522216797, + 239.93148803710938 + ], + [ + 145.82933044433594, + 238.61940002441406 + ], + [ + 144.45684814453125, + 238.22091674804688 + ], + [ + 144.6942901611328, + 238.24972534179688 + ], + [ + 143.91415405273438, + 238.76205444335938 + ] + ] +} \ No newline at end of file diff --git a/006701_v2/lang.txt b/006701_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..4da3800713edcdebb511287aeba9f9892f17b321 --- /dev/null +++ b/006701_v2/lang.txt @@ -0,0 +1 @@ +move the silver pot to the bottom left of the table diff --git a/006703_v2/data.json b/006703_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..0dd1534f7f4b231d16d8430bab0695bb01b92ddc --- /dev/null +++ b/006703_v2/data.json @@ -0,0 +1,513 @@ +{ + "action_start": 8, + "action_end": 17, + "object_name": "blue brush", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.7613382974346337e-10, + -7.858513839664738e-11, + -6.22938436944942e-11, + 8.963194088781901e-08, + 4.3095288863961234e-07, + -3.136215006875316e-07, + 1.0 + ], + [ + -0.019845478542747486, + -0.03846087018675501, + 0.006944711270941657, + -0.029754466426412527, + -0.011733630796579934, + -0.07496918739077336, + 1.0 + ], + [ + -0.0166324472729818, + -0.034959163786379185, + 0.007589819369530425, + -0.015228854223832921, + -0.0202843296679567, + -0.08562496603268016, + 1.0 + ], + [ + -0.015437196759546856, + -0.019117326653339844, + 0.0009364147568125397, + 0.0007692984242888435, + -0.0040039569831079, + -0.052553038246706055, + 1.0 + ], + [ + -0.011115343183307758, + -0.011113892519297522, + -0.017485870305509514, + 0.014476874212394637, + 0.031188861026483064, + -0.018997359852616115, + 1.0 + ], + [ + 2.8387867977153203e-05, + -0.0030183612275702654, + -0.013798989137796737, + 0.016279967442221016, + 0.023898404150157065, + 0.01415615313530625, + 1.0 + ], + [ + 0.0026691408217558443, + -0.0011086174008213684, + -0.016297386778178217, + 0.01944911099472857, + 0.0276434206084943, + 0.029935531124603496, + 1.0 + ], + [ + 0.0026025474913508595, + 0.000724140238476223, + -0.015602233470569757, + 0.01562558378305701, + 0.026349427439215006, + 0.0292955133350077, + 1.0 + ], + [ + 0.0031726368499176427, + 0.006198639554750855, + -0.012971153250603752, + 0.011372737692507507, + 0.015904380756787018, + 0.015002847524676021, + 1.0 + ], + [ + 0.0006380594993839472, + 0.006857698078826857, + -0.005591880574160997, + 0.0050817092925014365, + 0.008489199652272317, + 0.024680205561042962, + 0.0 + ], + [ + 0.001426495934535088, + 0.0010604995609249657, + 0.008323538977842907, + -0.0034888848215629178, + -0.009123932243104024, + -0.011236352983411309, + 0.0 + ], + [ + 0.0048613080158098065, + 0.0011098975808639666, + 0.01399601825194499, + -0.02114293552600928, + -0.015978647812676973, + -0.00796564336394084, + 0.0 + ], + [ + 0.01986917857070919, + 0.007931323267641968, + 0.034455983626961346, + -0.04923017203616639, + -0.04920090870880607, + 0.005692364039222319, + 0.0 + ], + [ + 0.03083709853722688, + 0.018197864905327557, + 0.030141301893012146, + -0.03498295214894981, + -0.06233921169762472, + 0.0319714021388213, + 0.0 + ], + [ + 0.01849710116651987, + 0.023163823734008798, + -0.0006328391098283162, + 0.013571681410124853, + -0.014272855919600964, + 0.02801408789542493, + 0.0 + ], + [ + 0.017597752849683068, + 0.03012626772412605, + -0.01967507356088851, + 0.060850624902525734, + 0.025401658982774696, + 0.01189572821830644, + 0.0 + ], + [ + 0.005328388339365109, + 0.020520128825277067, + -0.015260132586835576, + 0.03922742046811364, + 0.02001374049905546, + 0.00787454275860661, + 0.0 + ], + [ + -0.0008294951838603293, + 0.008460772593999188, + -0.011685757046366853, + 0.006179351252289919, + 0.028024433953154397, + 0.00478808867627768, + 0.0 + ], + [ + -0.0042128001650537095, + -0.003818696966311319, + 0.005377863607627362, + -0.01903438320615151, + -0.0009752274217826191, + -0.011897439278001656, + 1.0 + ], + [ + 0.0011513468624497758, + -0.0013383716192993944, + 0.0237279127877374, + -0.013979456792119342, + -0.03383536187778074, + 0.009140379882427156, + 1.0 + ], + [ + 0.002964819366099103, + -0.000288223426336387, + 0.03232634938135258, + -0.021257301933861984, + -0.040327944809358175, + 0.002286663390352253, + 1.0 + ], + [ + -0.001328593493593877, + -0.005206931506930967, + 0.014556930986782745, + -0.03264442440025035, + -0.018441595178388146, + -0.011355872641947314, + 1.0 + ], + [ + -0.005856534198481644, + -0.006438226010000436, + 0.002193187180857481, + -0.017616072633045377, + 0.006723628586888032, + -0.019779554300199304, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 185.52716064453125, + 107.78984069824219 + ], + [ + 187.35723876953125, + 115.92774963378906 + ], + [ + 196.1283416748047, + 162.7559814453125 + ], + [ + 224.34024047851562, + 165.69195556640625 + ], + [ + 229.101318359375, + 182.3916015625 + ], + [ + 236.73672485351562, + 208.13394165039062 + ], + [ + 241.35623168945312, + 216.13021850585938 + ], + [ + 245.10528564453125, + 236.47296142578125 + ], + [ + 246.9512176513672, + 246.63600158691406 + ], + [ + 253.4739990234375, + 234.00657653808594 + ], + [ + 257.4621887207031, + 228.59237670898438 + ], + [ + 257.5462951660156, + 227.703369140625 + ], + [ + 256.0004577636719, + 227.25433349609375 + ], + [ + 246.13497924804688, + 205.97515869140625 + ], + [ + 244.29208374023438, + 145.25164794921875 + ], + [ + 229.82835388183594, + 112.48894500732422 + ], + [ + 221.94320678710938, + 116.64034271240234 + ], + [ + 207.7181854248047, + 125.256591796875 + ], + [ + 198.29672241210938, + 131.2352294921875 + ], + [ + 199.0955810546875, + 133.27642822265625 + ], + [ + 200.59005737304688, + 133.72406005859375 + ], + [ + 197.46237182617188, + 99.4768295288086 + ], + [ + 190.96469116210938, + 80.66287231445312 + ], + [ + 193.27059936523438, + 82.40817260742188 + ], + [ + 191.57086181640625, + 71.90662384033203 + ] + ], + "depth_max": 1.9416247606277466, + "depth_min": 0.5357462167739868, + "intrinsic": [ + [ + 560.5301513671875, + 0.0, + 259.0 + ], + [ + 0.0, + 559.341796875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.21700970036909e-05, + 0.00018358838860876858, + -3.171957723679952e-05 + ], + [ + -4.215551234665327e-05, + 1.0, + -7.94307779869996e-05, + -2.919912731158547e-05 + ], + [ + -0.0001835917355492711, + 7.942303636809811e-05, + 1.0, + 5.373650128603913e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24 + ], + "object_trajectory": [ + [ + 249.75, + 245.00001525878906 + ], + [ + 249.99081420898438, + 245.06903076171875 + ], + [ + 250.0809783935547, + 245.05503845214844 + ], + [ + 250.14495849609375, + 245.08831787109375 + ], + [ + 250.13955688476562, + 245.113525390625 + ], + [ + 250.04519653320312, + 245.06211853027344 + ], + [ + 249.77088928222656, + 245.44398498535156 + ], + [ + 249.99139404296875, + 245.6519775390625 + ], + [ + 250.85513305664062, + 245.1966552734375 + ], + [ + 252.92198181152344, + 244.82443237304688 + ], + [ + 255.86004638671875, + 241.940673828125 + ], + [ + 255.90223693847656, + 241.0840301513672 + ], + [ + 253.94415283203125, + 240.9738311767578 + ], + [ + 243.4436798095703, + 222.34280395507812 + ], + [ + 243.06065368652344, + 162.2826385498047 + ], + [ + 229.42735290527344, + 126.83029174804688 + ], + [ + 220.2700958251953, + 130.27061462402344 + ], + [ + 205.75360107421875, + 138.3223114013672 + ], + [ + 196.7750244140625, + 143.8453369140625 + ], + [ + 197.78970336914062, + 143.88052368164062 + ], + [ + 200.59913635253906, + 146.77581787109375 + ], + [ + 201.24252319335938, + 146.38755798339844 + ], + [ + 202.4877471923828, + 146.35659790039062 + ], + [ + 207.22451782226562, + 138.42996215820312 + ], + [ + 206.11582946777344, + 137.59811401367188 + ] + ] +} \ No newline at end of file diff --git a/006703_v2/lang.txt b/006703_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..597f800e58864e4a4742d2efc5776eca6504d1d5 --- /dev/null +++ b/006703_v2/lang.txt @@ -0,0 +1 @@ +put the blue brush on top of the blue cloth diff --git a/006703_v2/object.ply b/006703_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..69d1bd759604849a2d6a17566f2e6b37cc4119b0 Binary files /dev/null and b/006703_v2/object.ply differ diff --git a/006734/data.json b/006734/data.json new file mode 100644 index 0000000000000000000000000000000000000000..ed2c74c658d882574faf41cd09ce8a7a68004da5 --- /dev/null +++ b/006734/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 10, + "action_end": 22, + "object_name": "corn", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.934554, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.0322598331669042e-10, + 2.6398735628041514e-10, + 4.1342687606693573e-10, + -9.067804035987829e-09, + 6.658302792416176e-07, + 1.0566440192721547e-08, + 1.0 + ], + [ + -0.03037646700872859, + -0.003078323593258157, + -0.0008278716974194217, + -0.026454296554967036, + 0.0256736935084762, + -0.10198108333020181, + 1.0 + ], + [ + -0.015879294581983727, + -0.01640078316460607, + -0.004834207229723095, + -0.040042031610558276, + 0.019461511880972147, + -0.11689290678686222, + 1.0 + ], + [ + -0.0057869532626202425, + -0.014930172441033368, + -0.004762665524865692, + -0.014856430866569702, + 0.01919421009337734, + -0.025314810876698655, + 1.0 + ], + [ + 0.0010536363502379187, + -0.00896538707952949, + -0.01200979407832306, + 0.02233232876471646, + 0.018203079013705145, + 0.00871289233787539, + 1.0 + ], + [ + -0.0014030783850456086, + -0.010545197989488362, + -0.009218262715176888, + 0.006072548411309449, + 0.005044725764098467, + -0.007195474714216308, + 1.0 + ], + [ + 0.0009387061448696832, + -0.0017171110436436654, + -0.0056318512962243925, + 0.02478724542323421, + -7.675287731579466e-05, + 0.016413744435837176, + 1.0 + ], + [ + 0.003582993776261423, + -0.0020915464643335956, + -0.01443400578368267, + 0.015203201815847977, + 0.026732034541944064, + -0.0023817158400676625, + 1.0 + ], + [ + 0.0024376685224321015, + -0.0008444218507887014, + -0.008856937778689658, + 0.044799914515262905, + -0.0063602890321448795, + 0.006597037262919721, + 1.0 + ], + [ + 0.0034571788586968966, + -0.004671674791744747, + -0.008392585471914972, + 0.0026127707135105383, + 0.03536967531621289, + -0.02770266911275851, + 1.0 + ], + [ + 0.0010033814786157835, + -0.004199841786830055, + 0.0002763332324667552, + -0.012624039499385831, + -1.882310643400909e-05, + -0.0058680694500163316, + 1.0 + ], + [ + -0.0009090072705873475, + -0.0008884028566916932, + -0.0007936490971127245, + 0.007236711752697229, + -0.0029347929440314497, + -0.007848290007126404, + 0.0 + ], + [ + -0.0017659939655883528, + -1.751862672372262e-05, + 0.008263842866777334, + -0.02849761465994541, + 0.007163713130709878, + 0.004004267043251053, + 0.0 + ], + [ + 0.0017847156082810844, + -0.000708022021123085, + 0.019207726647278628, + -0.04115839905363445, + -0.002309035245836239, + 0.023994374720534086, + 0.0 + ], + [ + 0.0015426203695924068, + -0.004275119720462649, + 0.025989617774568284, + -0.05825707581352202, + -0.0068228040786666245, + 0.0327966955767199, + 0.0 + ], + [ + 0.012638160422253575, + -0.008871566374879476, + 0.018752611479705035, + -0.050188483313668424, + -0.010967419712029964, + 0.04493129650874579, + 0.0 + ], + [ + 0.025602240754952488, + -0.011067383897971135, + -0.0038386826954375786, + -6.521769906303883e-05, + -0.002967012204621697, + 0.055614155134793404, + 0.0 + ], + [ + 0.016871779853161406, + -0.012184446835972966, + -0.008946130525951716, + -0.004817152422867037, + 0.01390110198771103, + 0.030479491822106953, + 0.0 + ], + [ + 0.012638787901665782, + -0.006054571665106347, + -0.005289725410950963, + -0.003260361265159302, + -0.011969053707756926, + 0.014811525817440292, + 0.0 + ], + [ + 0.0028305092800768317, + -0.007168377560831912, + -0.010434630289013168, + 0.003027609880649914, + 0.01325857963753196, + -0.0012205054226521114, + 0.0 + ], + [ + -0.0015972486339868586, + -0.010565660603283775, + -0.008737290524687476, + 0.010625867340424826, + -0.005809973193844542, + -0.028988572240138375, + 0.0 + ], + [ + 0.0036528961424278084, + -0.00494731848912891, + -0.008497125620041214, + 0.009127187220476986, + 0.018582627352163327, + 0.00171792528828127, + 0.0 + ], + [ + -0.00038246699838068166, + -0.005882061024072335, + -0.001638778451039928, + -0.010524649500017453, + 0.0066804023047985885, + -0.019675388345866778, + 0.934554 + ], + [ + -0.004665864791634722, + -0.003268393657509694, + 0.0023777916023745094, + -0.0183484969973761, + 0.012909833412866202, + -0.005669480859632514, + 1.0 + ], + [ + -0.004322475205089549, + 0.0033757956498093877, + 0.010919695179645838, + -0.011980011023500959, + 0.01826563122825228, + -0.0011742341730661893, + 1.0 + ], + [ + 0.0009464114956303504, + 0.009663715711421342, + 0.017172311457513523, + 0.02480535373903807, + -0.04375861957770474, + 0.016188308932582655, + 1.0 + ], + [ + 0.0007328612078317254, + 0.018779610314850606, + 0.017204987870883953, + 0.040817672468009006, + -0.08981131097857133, + 0.010175558740020654, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 345.09686279296875, + 121.44180297851562 + ], + [ + 343.1846923828125, + 134.10208129882812 + ], + [ + 332.5894775390625, + 176.17684936523438 + ], + [ + 333.87646484375, + 190.04962158203125 + ], + [ + 337.33953857421875, + 203.79489135742188 + ], + [ + 357.4862060546875, + 212.46847534179688 + ], + [ + 370.98162841796875, + 229.53660583496094 + ], + [ + 374.81768798828125, + 238.69937133789062 + ], + [ + 372.330078125, + 254.491943359375 + ], + [ + 371.9688720703125, + 257.724609375 + ], + [ + 386.63055419921875, + 265.77392578125 + ], + [ + 391.4984130859375, + 267.60772705078125 + ], + [ + 390.5724792480469, + 267.2143859863281 + ], + [ + 392.28021240234375, + 266.7725830078125 + ], + [ + 392.40032958984375, + 262.31597900390625 + ], + [ + 406.54681396484375, + 233.57859802246094 + ], + [ + 424.44586181640625, + 204.4967498779297 + ], + [ + 446.45697021484375, + 177.01779174804688 + ], + [ + 461.254150390625, + 175.1220703125 + ], + [ + 480.57177734375, + 179.10166931152344 + ], + [ + 489.04425048828125, + 187.58822631835938 + ], + [ + 493.4768981933594, + 196.12890625 + ], + [ + 505.8858947753906, + 214.3524169921875 + ], + [ + 516.8677978515625, + 220.24981689453125 + ], + [ + 518.1102294921875, + 222.11367797851562 + ], + [ + 516.21728515625, + 227.1169891357422 + ], + [ + 515.8713989257812, + 205.70758056640625 + ], + [ + 501.1956787109375, + 188.33323669433594 + ], + [ + 494.1748352050781, + 174.28892517089844 + ] + ], + "depth_max": 1.7254307270050049, + "depth_min": 0.12915264070034027, + "intrinsic": [ + [ + 547.23095703125, + 0.0, + 259.0 + ], + [ + 0.0, + 547.7352294921875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -1.1732656275853515e-05, + -7.217799429781735e-05, + 5.456731742015108e-07 + ], + [ + 1.1729462130460888e-05, + 1.0, + -4.426780287758447e-05, + -3.7955105653963983e-06 + ], + [ + 7.217851816676557e-05, + 4.426695886650123e-05, + 1.0, + 1.2202774087199941e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 386.75, + 268.5 + ], + [ + 386.75982666015625, + 268.3236999511719 + ], + [ + 386.26361083984375, + 268.1337890625 + ], + [ + 386.3047180175781, + 268.04388427734375 + ], + [ + 386.1361389160156, + 268.15130615234375 + ], + [ + 386.1232604980469, + 268.0818786621094 + ], + [ + 386.748779296875, + 268.26812744140625 + ], + [ + 386.6899719238281, + 267.8265380859375 + ], + [ + 384.20123291015625, + 266.69622802734375 + ], + [ + 382.235107421875, + 266.2323303222656 + ], + [ + 385.0526428222656, + 267.64752197265625 + ], + [ + 387.2802429199219, + 263.883544921875 + ], + [ + 386.8032531738281, + 264.4155578613281 + ], + [ + 390.0511779785156, + 266.0224304199219 + ], + [ + 389.4796142578125, + 268.8359375 + ], + [ + 404.08770751953125, + 248.09056091308594 + ], + [ + 421.86676025390625, + 230.14837646484375 + ], + [ + 444.1747741699219, + 201.85292053222656 + ], + [ + 458.0976867675781, + 200.97024536132812 + ], + [ + 471.87432861328125, + 208.4458770751953 + ], + [ + 480.0140686035156, + 217.01161193847656 + ], + [ + 485.2762451171875, + 224.46771240234375 + ], + [ + 494.984619140625, + 240.36239624023438 + ], + [ + 501.5980529785156, + 244.34268188476562 + ], + [ + 496.7769775390625, + 248.79171752929688 + ], + [ + 501.1092529296875, + 245.98068237304688 + ], + [ + 501.66461181640625, + 244.92498779296875 + ], + [ + 501.6288757324219, + 244.4835662841797 + ], + [ + 501.75640869140625, + 245.09326171875 + ] + ] +} \ No newline at end of file diff --git a/006734/lang.txt b/006734/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..841569154fadadeee8abcca35d3cec0c57fe6724 --- /dev/null +++ b/006734/lang.txt @@ -0,0 +1 @@ +put corn in bowl sink diff --git a/006734/object.ply b/006734/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..28bc813cb4ba5df4ed27cc3aabf138251e232ebe Binary files /dev/null and b/006734/object.ply differ diff --git a/006764/FAIL b/006764/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/006764/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/006774_v2/FAIL b/006774_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/006774_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/006779_v2/FAIL b/006779_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/006779_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/006819_v2/FAIL b/006819_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/006819_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/006860_v2/FAIL b/006860_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/006860_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/006862_v2/FAIL b/006862_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/006862_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/006871_v2/FAIL b/006871_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/006871_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/006923_v2/FAIL b/006923_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/006923_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/006949_v2/data.json b/006949_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..71906b2ae8eed7fd7f9fc6aedf74a4d3fdac1284 --- /dev/null +++ b/006949_v2/data.json @@ -0,0 +1,806 @@ +{ + "action_start": 12, + "action_end": 31, + "object_name": "silver pot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 5.551115123125783e-17, + -2.7755575615628914e-17, + 0.0, + -4.3687331251404007e-07, + 9.037576481115612e-07, + -9.259686639361423e-08, + 1.0 + ], + [ + -0.0016123640801201655, + 0.002670328827513363, + 0.015141591070723173, + -0.011263973952427361, + -0.034344017328872066, + 0.01862492223041943, + 1.0 + ], + [ + -0.0011951435778115305, + 0.0012034338076263307, + 0.021470197205138417, + -0.05045184152645262, + -0.054527093029360645, + 0.01053295799942843, + 1.0 + ], + [ + -0.013671608336726426, + 0.002318270357842711, + 0.027326577818491266, + -0.01323785493138001, + -0.06638980370481427, + 0.02107740609207975, + 1.0 + ], + [ + -0.02361359874321095, + 0.00036481455489753567, + 0.014267969279113488, + -0.003819281557202628, + -0.029496760796883126, + 0.018683113433731163, + 1.0 + ], + [ + -0.03187036568767576, + -0.0014502757548683909, + -0.005030942889352394, + -0.03402575496484298, + -0.0009315272453809425, + 0.06254419398373887, + 1.0 + ], + [ + -0.0240345178161524, + -0.01297170850642243, + -0.023632318309336015, + -0.03534194944977897, + 0.003931085649315712, + 0.06372925943684926, + 1.0 + ], + [ + -0.009483127276847081, + -0.01191941839310609, + -0.02898860262030631, + -0.017210286286164205, + 0.028899546826817786, + 0.025676021484717843, + 1.0 + ], + [ + 0.00036299637293374376, + -0.016678302643429926, + -0.02515156096407982, + -0.012347955564015743, + 0.025509955483502315, + -0.04249691105068862, + 1.0 + ], + [ + 0.00544812864684896, + -0.010733310875787855, + -0.017435617752958862, + 0.010095070251900056, + 0.05784207949923513, + -0.023688352854748088, + 1.0 + ], + [ + 0.0016873893728651668, + -0.006438210021171106, + -0.015915790001538272, + -0.03739206036461908, + 0.023608977295189706, + -0.01751488606796701, + 1.0 + ], + [ + -0.002168796051659483, + -0.0014833913165002016, + -0.012990157544837951, + 0.0034588385471602755, + 0.042767714096457125, + -0.008613392200571841, + 1.0 + ], + [ + -0.0002675272765228498, + -0.001526736873071477, + -0.005420265485758728, + 0.0008619662077398731, + 0.011982923982844326, + -0.018241144514889607, + 1.0 + ], + [ + -8.557398275815808e-05, + -0.0001881126323232396, + -0.0007984413298104951, + -0.015712504346171212, + -0.01980864575708384, + -0.015706307246016557, + 0.0 + ], + [ + -0.0017299263212026128, + -0.0009552052615266621, + 0.004113742947030799, + -0.001532997258535759, + -0.011181937161931542, + 0.0030782089940307148, + 0.0 + ], + [ + -0.0005503094951397891, + 0.0007520973983916879, + 0.004521306187591608, + 0.0064096744547875, + -0.011492606445951237, + 0.003310500485614184, + 0.0 + ], + [ + 0.0017673351455584907, + 0.0008947629320186778, + 0.012538184241542395, + 0.010493558875837033, + -0.028557315639105855, + -0.017538943080206194, + 0.0 + ], + [ + 0.004461894862598514, + 0.0014175064977790947, + 0.025780753992524517, + 0.0015150992585675283, + -0.042809756440091745, + -0.029129909603636196, + 0.0 + ], + [ + 0.0075870930461129915, + -0.0010525438644067991, + 0.03072274250150459, + 0.0043699349236048695, + -0.04241001354465266, + -0.0984594305727801, + 0.0 + ], + [ + 0.01293581713036901, + -0.01117566925645045, + 0.029162797000178507, + 0.0005421184590270536, + 0.01522911430517037, + -0.15553040489386855, + 0.0 + ], + [ + 0.02217094743630116, + -0.02340093516743138, + 0.014859516246516505, + 0.040869427882711994, + 0.037305327843687945, + -0.19145882209957774, + 0.0 + ], + [ + 0.031498253948598065, + -0.013340274324765597, + -0.0003689920697585586, + 0.041482768672553655, + 0.029154798575256057, + -0.21621115631131704, + 0.0 + ], + [ + 0.02535855650024388, + 0.0017734253858438902, + -0.007321040921092689, + 0.020907302559876058, + 0.009897156275309389, + -0.21148576624771143, + 0.0 + ], + [ + 0.017966980585519265, + -0.000808256627743649, + -0.013104162760590995, + 0.031593391528729274, + 0.03889253947324158, + -0.19144904376692098, + 0.0 + ], + [ + 0.009419869388865798, + -0.0050119817778355655, + -0.02186685312947055, + -0.00030427373522166207, + 0.033212122201934834, + -0.04588219081473442, + 0.0 + ], + [ + 0.0037916006865861274, + -0.014290419062507095, + -0.02345307641971136, + -0.0077572247989101594, + 0.02257730576445891, + 0.007274347175174436, + 0.0 + ], + [ + 0.0009878506553093747, + -0.015124841666888864, + -0.013922318588284834, + -0.012255003250392917, + -0.005026917770925244, + 0.0003846662143033738, + 0.0 + ], + [ + 0.001610099769202289, + -0.018425098450303865, + -0.005553422778785087, + -0.03136558234531449, + -0.01835954560423502, + -0.013624166810640524, + 0.0 + ], + [ + 0.0029116775528019168, + -0.009539191984866992, + -0.0037262738524559205, + -0.015975475609080438, + -0.011713513858181632, + 0.02032610505769458, + 0.0 + ], + [ + 0.009951844354172679, + 0.00226551639460803, + -0.011446342564750772, + 0.012109762824638024, + 0.013748591074468417, + 0.023682054570236966, + 0.0 + ], + [ + 0.0030982312334533746, + -0.002654395365563375, + -0.009840959677205875, + 0.0029315561610985187, + 0.004608231995813755, + -0.0004105345667919493, + 0.0 + ], + [ + -0.002046070690017998, + -0.0033326679882270793, + -0.006891311046675468, + 0.016972035248186353, + 0.015138869637271526, + -0.006594825898912633, + 0.0 + ], + [ + -0.001389436634294694, + 0.00029687183239213806, + 0.008121242994843205, + 0.008469553043488546, + -0.007240525750676436, + 0.03850061212009521, + 1.0 + ], + [ + -0.0028599574549081908, + -2.728327924089377e-06, + 0.01213199311891694, + -0.005765515288300293, + -0.02572281043412634, + 0.007532531413028907, + 1.0 + ], + [ + -0.0036380957985834295, + -0.002362322335635948, + 0.011778459693456297, + -0.00713829780505082, + -0.019999526541948035, + -0.0007611650444310802, + 1.0 + ], + [ + -0.0033142200515775544, + -0.0013308723375869518, + 0.019441739049638702, + -0.0236460467587887, + -0.03935375095680444, + 0.00039119132439171893, + 1.0 + ], + [ + -0.0012706476671665023, + -0.001062305154844699, + 0.0313533572354291, + -0.022545409289350723, + -0.07530647231524915, + -0.011586661461907222, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 215.1907196044922, + 62.905513763427734 + ], + [ + 215.196533203125, + 66.19351959228516 + ], + [ + 217.0391845703125, + 85.22856140136719 + ], + [ + 219.20635986328125, + 80.68977355957031 + ], + [ + 196.90481567382812, + 49.78638458251953 + ], + [ + 179.3227996826172, + 31.455093383789062 + ], + [ + 149.92935180664062, + 32.8787727355957 + ], + [ + 129.7764129638672, + 69.514404296875 + ], + [ + 125.49205780029297, + 121.06109619140625 + ], + [ + 141.06259155273438, + 152.6575927734375 + ], + [ + 160.89334106445312, + 181.38876342773438 + ], + [ + 175.76953125, + 202.4012451171875 + ], + [ + 176.5680389404297, + 216.1415557861328 + ], + [ + 178.86978149414062, + 221.07766723632812 + ], + [ + 181.7537384033203, + 218.1732940673828 + ], + [ + 178.24752807617188, + 220.93728637695312 + ], + [ + 177.9687042236328, + 225.40933227539062 + ], + [ + 178.1403045654297, + 216.31021118164062 + ], + [ + 178.04693603515625, + 197.23867797851562 + ], + [ + 180.16543579101562, + 163.01974487304688 + ], + [ + 182.73023986816406, + 121.23384094238281 + ], + [ + 219.80767822265625, + 92.53521728515625 + ], + [ + 271.70745849609375, + 85.19187927246094 + ], + [ + 294.5968017578125, + 87.00196075439453 + ], + [ + 304.54425048828125, + 93.06072235107422 + ], + [ + 321.24725341796875, + 112.15998840332031 + ], + [ + 331.9801025390625, + 131.82215881347656 + ], + [ + 348.3988037109375, + 152.4829559326172 + ], + [ + 365.87261962890625, + 166.36534118652344 + ], + [ + 380.6896667480469, + 173.39633178710938 + ], + [ + 379.94378662109375, + 186.32772827148438 + ], + [ + 380.10052490234375, + 188.947021484375 + ], + [ + 381.1962890625, + 189.65255737304688 + ], + [ + 381.6439208984375, + 193.8565673828125 + ], + [ + 380.53076171875, + 200.02798461914062 + ], + [ + 377.50030517578125, + 201.4394989013672 + ], + [ + 382.9027404785156, + 195.72450256347656 + ], + [ + 390.133544921875, + 177.02447509765625 + ], + [ + 394.218994140625, + 153.35751342773438 + ], + [ + 394.45806884765625, + 153.93572998046875 + ], + [ + 394.9436950683594, + 153.46560668945312 + ] + ], + "depth_max": 1.7634341716766357, + "depth_min": 0.12842589616775513, + "intrinsic": [ + [ + 488.6753845214844, + 0.0, + 259.0 + ], + [ + 0.0, + 488.3019104003906, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.814130807062611e-05, + 2.0598919945769012e-05, + -1.1213763173145708e-05 + ], + [ + -4.814148269360885e-05, + 1.0, + 8.353528755833395e-06, + -2.3637468984816223e-05 + ], + [ + -2.0598516130121425e-05, + -8.354521014553029e-06, + 1.0, + 2.4312888854183257e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 40 + ], + "object_trajectory": [ + [ + 225.5, + 258.25 + ], + [ + 225.7965545654297, + 258.47369384765625 + ], + [ + 225.8972625732422, + 258.5319519042969 + ], + [ + 225.96429443359375, + 258.5688781738281 + ], + [ + 225.80584716796875, + 258.3018493652344 + ], + [ + 225.82969665527344, + 258.4053955078125 + ], + [ + 225.82350158691406, + 258.52008056640625 + ], + [ + 225.74560546875, + 258.456787109375 + ], + [ + 227.27685546875, + 257.7447814941406 + ], + [ + 227.4088897705078, + 257.745849609375 + ], + [ + 226.04063415527344, + 258.34893798828125 + ], + [ + 225.89712524414062, + 258.32293701171875 + ], + [ + 226.023193359375, + 257.96929931640625 + ], + [ + 226.42835998535156, + 257.96270751953125 + ], + [ + 227.18589782714844, + 257.7677001953125 + ], + [ + 233.60411071777344, + 263.3875732421875 + ], + [ + 240.80569458007812, + 269.55035400390625 + ], + [ + 246.10476684570312, + 262.8790283203125 + ], + [ + 247.0509033203125, + 244.48655700683594 + ], + [ + 248.76470947265625, + 210.9161834716797 + ], + [ + 250.36087036132812, + 173.60739135742188 + ], + [ + 279.529052734375, + 143.92103576660156 + ], + [ + 317.183837890625, + 138.8470001220703 + ], + [ + 333.46820068359375, + 141.08509826660156 + ], + [ + 325.763427734375, + 131.81906127929688 + ], + [ + 337.88134765625, + 149.4630126953125 + ], + [ + 347.5095520019531, + 179.8235321044922 + ], + [ + 364.63092041015625, + 201.34654235839844 + ], + [ + 382.858154296875, + 215.20120239257812 + ], + [ + 399.1519775390625, + 220.9656219482422 + ], + [ + 396.8179016113281, + 234.415283203125 + ], + [ + 395.7655334472656, + 236.0740966796875 + ], + [ + 396.41876220703125, + 235.9790802001953 + ], + [ + 398.16119384765625, + 236.23666381835938 + ], + [ + 398.09820556640625, + 236.91673278808594 + ], + [ + 398.6711120605469, + 237.5471649169922 + ], + [ + 399.1927795410156, + 237.413818359375 + ], + [ + 399.5438537597656, + 237.68112182617188 + ], + [ + 399.35498046875, + 237.75628662109375 + ], + [ + 399.2527770996094, + 237.90704345703125 + ], + [ + 399.2078857421875, + 238.1448516845703 + ] + ] +} \ No newline at end of file diff --git a/006949_v2/lang.txt b/006949_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..15b0a430cdce9abc6de71812c55aa45d40282a54 --- /dev/null +++ b/006949_v2/lang.txt @@ -0,0 +1 @@ +move the silver pot to the top right of the table diff --git a/006963_v2/FAIL b/006963_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f1fa61eaac4c0a91180b93b56955ff62e306ff97 --- /dev/null +++ b/006963_v2/FAIL @@ -0,0 +1 @@ +Detect gripper centers fail diff --git a/006972/FAIL b/006972/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/006972/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/006991/FAIL b/006991/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/006991/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007017/data.json b/007017/data.json new file mode 100644 index 0000000000000000000000000000000000000000..753d4af37fdbe83ab499b3877954074d36e274e5 --- /dev/null +++ b/007017/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 10, + "action_end": 21, + "object_name": "corn", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.779731, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.007326000000000055, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.551115123125783e-17, + 0.0, + -2.7755575615628914e-17, + -8.289456450094606e-07, + -5.821339477041722e-07, + 4.8201378962205444e-08, + 1.0 + ], + [ + -0.018191627792579323, + 0.00399584182505024, + -0.0022678268821279407, + -0.014257538736389819, + -0.018662036559706056, + -0.01581587541946482, + 1.0 + ], + [ + -0.02030827238452726, + -0.0013055549804350738, + -0.0017198741235501455, + -0.015625664718847652, + 0.024281156315737188, + -0.036624861177839724, + 1.0 + ], + [ + -0.013734401263839457, + 0.0010201885636239687, + -0.005634549636175663, + 0.0046299866448438285, + -0.0020842830946658673, + -0.008520020183080724, + 1.0 + ], + [ + -0.007516244336108813, + 0.0020233813403680197, + -0.01250772392310398, + 0.01964017388603656, + 0.01698709612939552, + -0.013171635652225793, + 1.0 + ], + [ + -0.006116633183011699, + -0.003415148304907009, + -0.014277791366084591, + -0.0019542034571356447, + 0.03977715893768536, + -0.001670095230772283, + 1.0 + ], + [ + 0.0005447609582204804, + -0.0030321939567903924, + -0.010353276330274296, + 0.014681682734466206, + 0.020588550952354394, + -0.013365390662237771, + 1.0 + ], + [ + -0.00018660838334505492, + -0.0017158669269193745, + -0.008771885714225214, + 0.00765666669266583, + 0.015187081359819663, + -0.012484907885654433, + 1.0 + ], + [ + -0.003988463649964802, + -0.00328415323705316, + -0.00467100564563467, + 0.005960244138360136, + 0.006215824614373939, + -0.010070953983983541, + 1.0 + ], + [ + -5.710082725851606e-05, + -0.00011387650869205262, + -0.0022870653646904493, + 0.0022201844281077915, + 0.0033168520059017512, + 0.012095965870293325, + 1.0 + ], + [ + 0.0002658721864922664, + -0.00018074888483107787, + -0.0004871852133143985, + 0.005978214242084748, + -0.0124267357363294, + 0.0010201858187639996, + 0.779731 + ], + [ + -0.00019277557471231166, + 0.0009213193298749818, + 0.0019996017947357322, + -0.00026222082808665303, + 0.0010571678965855852, + 0.005796369312911618, + 0.0 + ], + [ + 0.00124799832786876, + 0.00447247862413469, + 0.010823884375047959, + 0.002490635359341066, + 0.0017700328197876839, + 0.030674796745790815, + 0.0 + ], + [ + 0.0035320793926453264, + 0.001879004348944495, + 0.018763550198134284, + -0.04440882319040964, + -0.01617881820628623, + 0.03373492566804912, + 0.0 + ], + [ + 0.011516509893502891, + 0.0007932550997487506, + 0.023405358727611746, + -0.0373162451847993, + -0.04222057159165999, + 0.05371125643639846, + 0.0 + ], + [ + 0.01392707259624193, + -0.00027281652844411003, + 0.014118373388823394, + -0.044331012586388295, + -0.019897691610485126, + 0.008593728847242257, + 0.0 + ], + [ + 0.021548880260953807, + 0.002196680331412279, + -0.006191794589708477, + 0.010801871974868975, + 0.007496062902116951, + 0.046521059379020305, + 0.0 + ], + [ + 0.015209425523659892, + 0.000582946125525223, + -0.0059360084062664645, + -0.009303588850470845, + 0.006302911698061555, + 0.023345881923316682, + 0.0 + ], + [ + 0.008515087544210098, + 0.0008672835339015236, + -0.016585181073634735, + 0.048015470290162295, + 0.034197532355323385, + 0.02057593341229323, + 0.0 + ], + [ + 0.008905678010903195, + 0.00565455035967493, + -0.012746218125953085, + 0.025252600430654915, + 0.016918353977221613, + 0.03254799434857085, + 0.0 + ], + [ + 0.003231488788618786, + 0.0007815734456218526, + -0.013426856585844606, + 0.03882707863102123, + 0.013350708337646624, + -0.0016262915739046564, + 0.0 + ], + [ + -0.0013788491237344824, + -0.0003534347030846041, + 0.0031062646610022625, + -0.0030985138689053086, + -0.009137125369629637, + -0.006188252146155031, + 0.007326000000000055 + ], + [ + -6.668520422059565e-05, + 6.182480065598794e-06, + 0.008529663730346176, + -0.02042361979491156, + -0.0031092147572268124, + 0.005846546309882256, + 1.0 + ], + [ + 0.006785368311795936, + 0.002342235326498389, + 0.012477350743189003, + 0.020904067137583148, + -0.043756817518274996, + 0.008431087735855533, + 1.0 + ], + [ + 0.002569742261857244, + 0.0007668116781196985, + 0.021092471705878735, + -0.037703927042892764, + -0.030076083283005168, + -0.004715650858779036, + 1.0 + ], + [ + -0.004598727805411484, + 0.0036394470719893907, + 0.019606352328224944, + -0.044954455286884354, + 0.010050916643584434, + -0.04976114506296219, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 344.40283203125, + 101.34925079345703 + ], + [ + 343.84661865234375, + 107.60515594482422 + ], + [ + 338.8621826171875, + 146.81121826171875 + ], + [ + 327.93536376953125, + 156.9100341796875 + ], + [ + 311.149658203125, + 174.025390625 + ], + [ + 301.87115478515625, + 186.6724090576172 + ], + [ + 298.7615966796875, + 194.1144256591797 + ], + [ + 296.51922607421875, + 208.61260986328125 + ], + [ + 301.44744873046875, + 219.544189453125 + ], + [ + 303.64862060546875, + 229.72616577148438 + ], + [ + 305.78729248046875, + 230.9771270751953 + ], + [ + 304.52386474609375, + 232.78860473632812 + ], + [ + 304.8392028808594, + 232.47683715820312 + ], + [ + 301.56597900390625, + 234.6858673095703 + ], + [ + 306.4436340332031, + 218.75660705566406 + ], + [ + 305.8770751953125, + 189.65167236328125 + ], + [ + 312.9398498535156, + 157.073486328125 + ], + [ + 321.0116271972656, + 131.0993194580078 + ], + [ + 326.51776123046875, + 130.36544799804688 + ], + [ + 326.2464294433594, + 135.71649169921875 + ], + [ + 330.52911376953125, + 145.46507263183594 + ], + [ + 331.0380859375, + 155.07003784179688 + ], + [ + 331.64007568359375, + 161.498291015625 + ], + [ + 335.22265625, + 162.76580810546875 + ], + [ + 335.90118408203125, + 158.88075256347656 + ], + [ + 339.9774169921875, + 140.9911651611328 + ], + [ + 343.11376953125, + 115.51632690429688 + ], + [ + 325.90472412109375, + 102.78914642333984 + ] + ], + "depth_max": 3.0788733959198, + "depth_min": 0.5485419034957886, + "intrinsic": [ + [ + 531.6378173828125, + 0.0, + 259.0 + ], + [ + 0.0, + 532.1953735351562, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -4.156664999754867e-06, + -9.078442235477269e-05, + 1.0419453246868216e-06 + ], + [ + 4.152557266934309e-06, + 1.0, + -4.5245364162838086e-05, + -1.70746716321446e-06 + ], + [ + 9.078461152967066e-05, + 4.524498581304215e-05, + 1.0, + 6.535204738611355e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 317.0, + 244.50001525878906 + ], + [ + 317.2959899902344, + 245.00563049316406 + ], + [ + 316.89111328125, + 244.75289916992188 + ], + [ + 316.72332763671875, + 244.66175842285156 + ], + [ + 316.5832824707031, + 244.9857177734375 + ], + [ + 316.9006652832031, + 244.89271545410156 + ], + [ + 316.8798828125, + 244.9570770263672 + ], + [ + 316.4765319824219, + 245.23086547851562 + ], + [ + 315.68109130859375, + 245.16455078125 + ], + [ + 314.63360595703125, + 244.89492797851562 + ], + [ + 314.03375244140625, + 244.81402587890625 + ], + [ + 314.0133056640625, + 245.52645874023438 + ], + [ + 311.6004333496094, + 245.36351013183594 + ], + [ + 309.4803466796875, + 246.2145538330078 + ], + [ + 309.5444641113281, + 242.42697143554688 + ], + [ + 310.1297607421875, + 218.4837188720703 + ], + [ + 320.08172607421875, + 191.6839141845703 + ], + [ + 324.91387939453125, + 171.1704559326172 + ], + [ + 330.0090637207031, + 169.58290100097656 + ], + [ + 327.65087890625, + 174.9921875 + ], + [ + 329.71380615234375, + 180.55157470703125 + ], + [ + 327.72161865234375, + 189.85032653808594 + ], + [ + 328.7569885253906, + 191.6437225341797 + ], + [ + 331.8155517578125, + 193.42713928222656 + ], + [ + 330.7370910644531, + 192.5426025390625 + ], + [ + 329.7929382324219, + 194.05648803710938 + ], + [ + 330.2619323730469, + 191.52182006835938 + ], + [ + 330.34515380859375, + 191.30960083007812 + ] + ] +} \ No newline at end of file diff --git a/007017/lang.txt b/007017/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f0f8b461d7a38b4c1ed8c79432388d1457c6c609 --- /dev/null +++ b/007017/lang.txt @@ -0,0 +1 @@ +take corn out of bowl sink diff --git a/007017/object.ply b/007017/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..7a23be45cb3f6e93b17000198b69e7bfc6133dc3 Binary files /dev/null and b/007017/object.ply differ diff --git a/007033/FAIL b/007033/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/007033/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/007048/FAIL b/007048/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007048/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007057_v2/data.json b/007057_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..1d74526f7373cfa9871ceb4fd7a796e7b3d67652 --- /dev/null +++ b/007057_v2/data.json @@ -0,0 +1,769 @@ +{ + "action_start": 12, + "action_end": 29, + "object_name": "lid", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.3033374379745055e-10, + 7.390768830273231e-10, + -2.5698162348097853e-10, + 6.19249707324586e-08, + 8.685325113397423e-07, + 6.857060142460306e-07, + 1.0 + ], + [ + 0.0018447664509872452, + -0.015479120589954543, + 0.0009523002385719362, + 0.0553759265819669, + 0.030361639840247288, + -0.04348953875919375, + 1.0 + ], + [ + -0.0037847658054752653, + -0.0109859843571532, + 0.009389764498305614, + 0.01028971334463168, + -0.016682727055456727, + -0.03137254317908827, + 1.0 + ], + [ + -0.019202414265325096, + -0.016994249944010165, + 0.0024125762822722226, + -0.008399067313561704, + 0.013744850748796106, + -0.05128944167447498, + 1.0 + ], + [ + -0.03225542820080357, + -0.023000002698695565, + -0.007115696319288149, + 0.011776368674564512, + 0.06792235469889146, + -0.0767726826102855, + 1.0 + ], + [ + -0.036401042708679665, + -0.01687636600087508, + -0.0054240712320382, + 0.012225481986985682, + 0.07059761860609591, + -0.05962797752019523, + 1.0 + ], + [ + -0.033611207058575676, + -0.008080110308218938, + 0.002717850602758476, + 0.016699009924906742, + 0.03130536547511375, + -0.05220244892231457, + 1.0 + ], + [ + -0.023985444878742934, + -0.0024047148351702685, + -0.0026933925344882204, + 0.01182875807132455, + 0.020541452252758614, + -0.02408642894937922, + 1.0 + ], + [ + -0.007856243484944597, + -0.00432970408149605, + -0.013389080511643663, + 0.016803408528633892, + 0.015559938513418439, + -0.026642815305164484, + 1.0 + ], + [ + 0.005512576483833909, + -0.006098172328229429, + -0.01968029932096991, + 0.026392016265483757, + 0.021683164450297325, + -0.04223897475711097, + 1.0 + ], + [ + 0.005116621009119582, + -0.0019866154671853847, + -0.0104833154096639, + 0.0009719325959638801, + 0.0068773303672814805, + -0.010645108155425, + 1.0 + ], + [ + 0.006708545354138867, + 0.0028717715261677434, + -0.009717155199054268, + -0.01757784509988829, + 0.016300287496917528, + 0.007669921667156233, + 1.0 + ], + [ + 0.0013141534956829237, + 0.000830409810261043, + -0.002363366874442138, + -0.007552083486617123, + -0.003978607102784102, + 0.006157715220286419, + 1.0 + ], + [ + -8.059799260684564e-05, + -0.0010395231202196958, + -0.0013255096346145676, + -0.004465832825000449, + -0.012766995549885606, + -0.005076571869178418, + 0.0 + ], + [ + 0.00013779671018529505, + 0.0002795439793855242, + -0.0004066186673475059, + 0.0010174911973421439, + -0.005826966611657094, + 0.0008548138827369114, + 0.0 + ], + [ + -0.000349515900798375, + -1.4679442670972875e-05, + -0.00047117877923912336, + -0.0053697490444003125, + -0.0030312180512409802, + -0.000823428398753251, + 0.0 + ], + [ + 5.432563412419156e-05, + -7.596717875174575e-05, + 0.00041069446265414164, + -0.000951706973141238, + -0.004315815164400486, + -0.007426295929910756, + 0.0 + ], + [ + 0.0017480545326567232, + 0.0008310740317740012, + 0.008201617653468003, + -0.02303182355051293, + -0.03021895046551911, + 0.008836098830357499, + 0.0 + ], + [ + 0.0019190718393698458, + -0.0028492264624540853, + 0.018926619196256038, + -0.029688736605221356, + -0.05557227529431351, + 4.636868562694122e-05, + 0.0 + ], + [ + -0.0002854530974180647, + -0.0020467212293175108, + 0.020549508237007325, + -0.00897665013216379, + -0.0545340153938993, + -0.002846661650140334, + 0.0 + ], + [ + 0.0039969889116419355, + -0.001179481488506079, + 0.019243657025493167, + -0.020086890112438673, + -0.0343572937803621, + 0.00907680207512122, + 0.0 + ], + [ + 0.010853927170124594, + -0.012903803141385103, + 0.01843108065486261, + -0.04887467752261915, + -0.030431438689350554, + -0.0251000742704125, + 0.0 + ], + [ + 0.0137585673980406, + -0.013098834131348644, + 0.011441924064832507, + -0.029723155645605234, + -0.0034677018187802716, + -0.019102326287194465, + 0.0 + ], + [ + 0.02038079627080991, + -0.01892494855376467, + -0.0014039539710282434, + -0.0003325645736816996, + -0.003032179564062709, + -0.037509115520159245, + 0.0 + ], + [ + 0.01834407327012172, + -0.012295522410130405, + -0.012020055620411349, + 0.010274700115255742, + 0.03780232917549958, + -0.015755627767134052, + 0.0 + ], + [ + 0.010163358792627863, + -0.0072020490028793585, + -0.01647430825213636, + 0.01991388568252416, + 0.027693851252053862, + -0.018573744875346163, + 0.0 + ], + [ + 0.0038045640557927696, + -0.0028521550146523855, + -0.008203911432671553, + 0.01980355125107507, + 0.017522989831587052, + -0.010074771386919151, + 0.0 + ], + [ + 0.003547651351887171, + -0.0034236828895049184, + -0.009821694707374679, + 0.006646408131849847, + 0.0177786617570026, + -0.022619421295439254, + 0.0 + ], + [ + 0.0024446860744006815, + 0.0008184242896114684, + -0.005501547522523985, + 0.019842383557081195, + 0.010527845126780223, + -0.0025084208547516513, + 0.0 + ], + [ + 0.0003888284273059761, + 0.0027720662374471385, + -0.0005166809569710357, + -0.0005316525220101543, + 0.0037657125625980403, + 0.010134526591909809, + 0.0 + ], + [ + -0.0013942430427540953, + 0.0029035457666166907, + 0.002467746264959006, + 0.0034410229124557496, + 0.011848953821236918, + 0.01603658762137634, + 1.0 + ], + [ + -0.0022109154790393992, + 0.0002731967554756923, + 0.0009314993183074591, + -0.009568149529756242, + 0.00028685793922783245, + 0.0023678968477272642, + 1.0 + ], + [ + -0.0018753103911406388, + -0.000658621479628807, + 0.004256825329604592, + -0.005242524789208027, + -0.007826156931773062, + -0.004230203642204213, + 1.0 + ], + [ + -0.0003936812824898994, + 0.0009188195325841968, + 0.005228974141993546, + -0.004667360197777252, + -0.014685265688660782, + 0.004940542139943609, + 1.0 + ], + [ + 0.001685839861792937, + 0.0025924163418719094, + 0.01386958463638776, + -0.008034421834915003, + -0.034507080166360955, + -0.0015697824539537071, + 1.0 + ], + [ + 0.0034546823116252123, + 0.008881178983576626, + 0.024283545826504375, + -0.025039547168196386, + -0.05220166263187804, + 0.00535050540070534, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 162.99642944335938, + 66.14171600341797 + ], + [ + 164.25338745117188, + 73.19377899169922 + ], + [ + 164.77716064453125, + 93.72688293457031 + ], + [ + 187.21200561523438, + 107.02911376953125 + ], + [ + 180.58065795898438, + 107.05534362792969 + ], + [ + 176.82247924804688, + 131.62008666992188 + ], + [ + 168.3865966796875, + 164.51937866210938 + ], + [ + 144.80914306640625, + 187.88934326171875 + ], + [ + 123.15113067626953, + 208.13446044921875 + ], + [ + 109.43144226074219, + 229.5831298828125 + ], + [ + 126.18312072753906, + 245.64321899414062 + ], + [ + 135.14117431640625, + 257.3318176269531 + ], + [ + 143.8033447265625, + 262.90167236328125 + ], + [ + 147.3727569580078, + 263.3558349609375 + ], + [ + 145.80364990234375, + 266.53314208984375 + ], + [ + 146.352294921875, + 265.6689758300781 + ], + [ + 146.73069763183594, + 265.4085998535156 + ], + [ + 146.25198364257812, + 265.39569091796875 + ], + [ + 144.1094512939453, + 264.87066650390625 + ], + [ + 143.17433166503906, + 248.21835327148438 + ], + [ + 138.78086853027344, + 229.37088012695312 + ], + [ + 137.4315948486328, + 212.76034545898438 + ], + [ + 148.46963500976562, + 185.228271484375 + ], + [ + 175.23785400390625, + 161.38330078125 + ], + [ + 214.59719848632812, + 154.55230712890625 + ], + [ + 253.07147216796875, + 163.82940673828125 + ], + [ + 275.8123474121094, + 177.78724670410156 + ], + [ + 285.05767822265625, + 187.27674865722656 + ], + [ + 288.7734680175781, + 196.7684783935547 + ], + [ + 294.6221618652344, + 197.07391357421875 + ], + [ + 295.38177490234375, + 195.381103515625 + ], + [ + 292.9615173339844, + 198.52178955078125 + ], + [ + 292.68359375, + 198.4583282470703 + ], + [ + 290.4412841796875, + 198.41781616210938 + ], + [ + 288.89593505859375, + 196.17115783691406 + ], + [ + 287.37994384765625, + 184.58981323242188 + ], + [ + 280.08355712890625, + 159.892822265625 + ], + [ + 274.0451965332031, + 143.97427368164062 + ], + [ + 275.3490295410156, + 144.2741241455078 + ] + ], + "depth_max": 1.7969551086425781, + "depth_min": 0.2202792465686798, + "intrinsic": [ + [ + 461.66668701171875, + 0.0, + 259.0 + ], + [ + 0.0, + 462.132080078125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.90126887295628e-06, + -2.2620461095357314e-05, + -1.1500728760438506e-05 + ], + [ + -7.901876415417064e-06, + 1.0, + -2.6891038942267187e-05, + -1.2597182831086684e-05 + ], + [ + 2.2620250092586502e-05, + 2.6891217203228734e-05, + 1.0, + -3.065663986490108e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 38 + ], + "object_trajectory": [ + [ + 146.25, + 308.5 + ], + [ + 146.518798828125, + 308.6311950683594 + ], + [ + 146.610595703125, + 308.6148376464844 + ], + [ + 146.71876525878906, + 308.6343078613281 + ], + [ + 146.72671508789062, + 308.5978088378906 + ], + [ + 146.65200805664062, + 308.49969482421875 + ], + [ + 146.69676208496094, + 308.6058349609375 + ], + [ + 146.5992431640625, + 308.5419616699219 + ], + [ + 146.30783081054688, + 308.5615234375 + ], + [ + 146.296875, + 308.8179016113281 + ], + [ + 146.3291015625, + 308.78436279296875 + ], + [ + 146.5912628173828, + 308.70361328125 + ], + [ + 154.75311279296875, + 304.6841735839844 + ], + [ + 146.6868896484375, + 308.6856384277344 + ], + [ + 146.51513671875, + 308.42132568359375 + ], + [ + 146.72592163085938, + 303.80194091796875 + ], + [ + 147.14634704589844, + 303.548828125 + ], + [ + 147.30929565429688, + 303.37249755859375 + ], + [ + 147.50726318359375, + 303.736572265625 + ], + [ + 155.66360473632812, + 288.02569580078125 + ], + [ + 150.50289916992188, + 268.5384521484375 + ], + [ + 153.70770263671875, + 258.8448181152344 + ], + [ + 167.28330993652344, + 237.60128784179688 + ], + [ + 193.76666259765625, + 220.1494598388672 + ], + [ + 231.95396423339844, + 218.6329803466797 + ], + [ + 247.4306640625, + 225.05618286132812 + ], + [ + 261.7546081542969, + 236.4514617919922 + ], + [ + 265.58563232421875, + 241.47776794433594 + ], + [ + 262.3045959472656, + 245.43345642089844 + ], + [ + 263.8808898925781, + 242.8125 + ], + [ + 264.5955505371094, + 241.0880584716797 + ], + [ + 263.7245178222656, + 241.35308837890625 + ], + [ + 263.751953125, + 241.338134765625 + ], + [ + 263.83819580078125, + 241.5653076171875 + ], + [ + 264.052978515625, + 241.51681518554688 + ], + [ + 263.7610778808594, + 241.551513671875 + ], + [ + 271.3936767578125, + 241.81149291992188 + ], + [ + 264.60723876953125, + 240.6564178466797 + ], + [ + 264.6259460449219, + 240.53463745117188 + ] + ] +} \ No newline at end of file diff --git a/007057_v2/lang.txt b/007057_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..89de0683891554487969fe064040bcb4bb7781b5 --- /dev/null +++ b/007057_v2/lang.txt @@ -0,0 +1 @@ +Take the lid from the bottom left side of the table and put it on the orange pot diff --git a/007103/FAIL b/007103/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007103/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007103_v2/FAIL b/007103_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007103_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007105_v2/FAIL b/007105_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/007105_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/007106/FAIL b/007106/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007106/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007119/FAIL b/007119/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/007119/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/007165_v2/FAIL b/007165_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/007165_v2/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/007220_v2/FAIL b/007220_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/007220_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/007224_v2/FAIL b/007224_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/007224_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/007279_v2/FAIL b/007279_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007279_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007300_v2/data.json b/007300_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..bcd39311e03d0987fd769bb3f64bf0ad974fca12 --- /dev/null +++ b/007300_v2/data.json @@ -0,0 +1,641 @@ +{ + "action_start": 9, + "action_end": 24, + "object_name": "plush toy", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.3302670076598133e-10, + -7.396112888802264e-11, + 6.365349913828311e-11, + -2.0481006880458424e-07, + 3.0457025414012704e-07, + -4.049623379167184e-07, + 1.0 + ], + [ + 0.00012631503170235092, + 0.021286488528009885, + 0.007527098957565967, + 0.010280315869815357, + -0.0027505365002008526, + 0.048023369964425466, + 1.0 + ], + [ + -0.0028689529238851152, + 0.03164185811036996, + 0.00999955048419321, + 0.029889308860916106, + -0.009048400938842825, + 0.08524540148759029, + 1.0 + ], + [ + -0.003955291168372954, + 0.027962092777167005, + 0.004384558918929346, + 0.04314457110303109, + -0.014769284179993541, + 0.062308323405031805, + 1.0 + ], + [ + 0.0012823027272993448, + 0.02793887600682058, + -0.0006419043528171908, + 0.015570443461151853, + -0.014758844681899605, + 0.03865059865735565, + 1.0 + ], + [ + 0.013055384806176296, + 0.011256148907571012, + -0.009931498775563999, + 0.010092661028684245, + 0.01906929144632818, + -0.028434454153468746, + 1.0 + ], + [ + 0.010929785035480366, + 0.011251810905928621, + -0.010575934314522126, + 0.015312426323677136, + 0.021053004883287086, + -0.02415171305746484, + 1.0 + ], + [ + 0.012858114063411419, + 0.0024721642347079013, + -0.01396095706087283, + -0.043076149847146555, + 0.03536216677980437, + -0.036225969650147766, + 1.0 + ], + [ + 0.005355189501184077, + 0.0005791286986084471, + -0.01553482935309039, + -0.0018757781645711979, + 0.03582598936947043, + -0.01916520393593709, + 1.0 + ], + [ + -0.0005274533806804427, + -0.0016169193973257778, + -0.013684295017308189, + 0.001947571216160793, + 0.03394487528234286, + -0.009916969974910485, + 1.0 + ], + [ + -0.004570536549635518, + -0.01008580729281474, + -0.004582949869710182, + -0.01313525389298729, + -0.031052301115036384, + -0.008286000651749335, + 0.0 + ], + [ + -0.0050024761907582205, + -0.010685927900138531, + 0.005056213590034581, + -0.0005235739918434365, + -0.01967342316179767, + -0.00824591826850779, + 0.0 + ], + [ + -0.006582200112191461, + -0.011097343429613826, + 0.009963764078415815, + -0.0020719846999764473, + -0.020306956190914386, + -0.00353424412112951, + 0.0 + ], + [ + -0.008788084175522015, + -0.003221030512223867, + 0.022467073955722866, + 0.0009799229964185861, + -0.050339538769219525, + 0.019028271108485328, + 0.0 + ], + [ + -0.01925519204686904, + 0.02216533075740512, + 0.029640280142319217, + 0.007499947715056545, + -0.07317258893418767, + 0.11622011749344514, + 0.0 + ], + [ + -0.032516937358908204, + 0.05129659690541117, + 0.025138218026949183, + -0.02187332260511358, + -0.05123557227967811, + 0.2068784291948904, + 0.0 + ], + [ + -0.03858675883270091, + 0.055418451943227656, + -0.0030568083819258324, + 0.01789115433640335, + -0.0025877062391495296, + 0.15064705655477145, + 0.0 + ], + [ + -0.03599816110145354, + 0.05283185359062528, + -0.012808031218639798, + 0.024278839052863335, + 0.05317931822475528, + 0.1644496490359483, + 0.0 + ], + [ + -0.029960336479226995, + 0.040700931213192015, + -0.005565759786954727, + -0.03334222579785196, + -0.016041776591012163, + 0.13312166130617367, + 0.0 + ], + [ + -0.012063891765465518, + 0.008762642550251998, + -0.012081759830724903, + -0.038117936642261395, + -0.022813345590983896, + 0.014219741507604215, + 0.0 + ], + [ + 0.0022487797036054857, + -0.008407578529462056, + -0.013093492062531353, + -0.01479351054470522, + 0.004955358560305459, + -0.08699911502234871, + 0.0 + ], + [ + 0.009642957851765194, + -0.008427412334750417, + -0.001923965227921945, + -0.0153176097657809, + -0.013424890094109134, + -0.05899885261327691, + 0.0 + ], + [ + 0.012300589124669664, + -0.010929677807095611, + -0.002704053947013757, + -0.011570635122389317, + -0.012237726754729927, + -0.0636329523941814, + 0.0 + ], + [ + 0.009743488019354207, + -0.007923130056061517, + -0.005135542126329606, + -0.0026886243678968043, + 0.009887110778939865, + -0.04443774044534537, + 0.0 + ], + [ + 0.0002476752987811415, + 0.0010268182431825423, + -0.0066322195571627, + 0.0036413745931605118, + 0.036909180367103535, + -0.003370053438462866, + 0.0 + ], + [ + 0.00012347760073930236, + 2.391847519267465e-05, + -0.0034350356719575342, + -0.0033589051348035365, + 0.07237211083644388, + -0.028212418028479933, + 1.0 + ], + [ + 0.0023666559497648176, + -0.002907929521883429, + -0.0019369920584622058, + 0.0008198552016361538, + 0.009457141287254825, + 0.008297074188983324, + 1.0 + ], + [ + 0.00672634673194622, + -0.006797602752021625, + 0.011433479023520196, + 0.019810218033255955, + -0.014332791173815333, + -0.03204811371970012, + 1.0 + ], + [ + 0.010595356015141277, + -0.008576778175949817, + 0.02425692155200032, + 0.0288211713827948, + -0.05898597435723838, + -0.02659310336964623, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 480.05029296875, + 128.31617736816406 + ], + [ + 476.927001953125, + 137.41143798828125 + ], + [ + 459.4698181152344, + 145.1866455078125 + ], + [ + 414.2030029296875, + 120.88501739501953 + ], + [ + 384.3807373046875, + 100.15901184082031 + ], + [ + 349.734619140625, + 90.57689666748047 + ], + [ + 333.91943359375, + 73.87283325195312 + ], + [ + 337.69866943359375, + 81.91461181640625 + ], + [ + 337.3574523925781, + 84.26232147216797 + ], + [ + 335.72113037109375, + 97.911376953125 + ], + [ + 337.6842956542969, + 103.73741149902344 + ], + [ + 339.93310546875, + 104.49885559082031 + ], + [ + 344.05621337890625, + 107.04901123046875 + ], + [ + 349.5225830078125, + 117.51463317871094 + ], + [ + 359.1554870605469, + 123.18599700927734 + ], + [ + 339.03369140625, + 87.89236450195312 + ], + [ + 268.9339904785156, + 55.15761947631836 + ], + [ + 174.9956817626953, + 44.16695785522461 + ], + [ + 85.78131103515625, + 57.8624267578125 + ], + [ + 23.48965072631836, + 62.287620544433594 + ], + [ + -18.994892120361328, + 79.46365356445312 + ], + [ + -17.004098892211914, + 98.7730484008789 + ], + [ + -5.301782608032227, + 102.27677917480469 + ], + [ + 21.79579734802246, + 106.2818603515625 + ], + [ + 42.45362854003906, + 107.84701538085938 + ], + [ + 45.44097137451172, + 117.80587005615234 + ], + [ + 50.062042236328125, + 126.66108703613281 + ], + [ + 56.728572845458984, + 129.16680908203125 + ], + [ + 62.58816146850586, + 127.77659606933594 + ], + [ + 77.16468048095703, + 97.4656982421875 + ], + [ + 79.0958251953125, + 87.09011840820312 + ], + [ + 79.75944519042969, + 88.16394805908203 + ] + ], + "depth_max": 2.457563877105713, + "depth_min": 0.5398883819580078, + "intrinsic": [ + [ + 449.2291259765625, + 0.0, + 259.0 + ], + [ + 0.0, + 449.3726806640625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.714029349386692e-05, + -1.3621734069602098e-05, + -5.973266524961218e-05 + ], + [ + -1.7141297576017678e-05, + 1.0, + -7.382625335594639e-05, + -8.443081242148764e-06 + ], + [ + 1.3620467143482529e-05, + 7.382648618659005e-05, + 1.0, + 1.553555193822831e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 31 + ], + "object_trajectory": [ + [ + 330.25, + 121.25001525878906 + ], + [ + 330.51806640625, + 121.48607635498047 + ], + [ + 330.42236328125, + 121.3919677734375 + ], + [ + 330.3813781738281, + 121.548583984375 + ], + [ + 330.09368896484375, + 121.30738067626953 + ], + [ + 330.37689208984375, + 121.39997863769531 + ], + [ + 330.2244873046875, + 121.492919921875 + ], + [ + 330.358154296875, + 121.59295654296875 + ], + [ + 330.226806640625, + 121.89940643310547 + ], + [ + 331.5230712890625, + 119.98828887939453 + ], + [ + 333.24462890625, + 121.10707092285156 + ], + [ + 336.006591796875, + 121.82674407958984 + ], + [ + 341.9588317871094, + 123.33125305175781 + ], + [ + 346.62860107421875, + 125.9948501586914 + ], + [ + 347.28375244140625, + 130.23892211914062 + ], + [ + 333.78668212890625, + 102.1717529296875 + ], + [ + 272.8634033203125, + 76.64127349853516 + ], + [ + 189.0137939453125, + 60.07608413696289 + ], + [ + 101.13150024414062, + 70.17745971679688 + ], + [ + 34.238494873046875, + 73.75163269042969 + ], + [ + 11.41530704498291, + 88.86663818359375 + ], + [ + -1.4215633869171143, + 105.69503021240234 + ], + [ + 9.954756736755371, + 113.5436782836914 + ], + [ + 32.816490173339844, + 114.11344146728516 + ], + [ + 54.10109329223633, + 122.48860168457031 + ], + [ + 57.32426834106445, + 131.87826538085938 + ], + [ + 79.9013900756836, + 153.81515502929688 + ], + [ + 83.4482650756836, + 154.66241455078125 + ], + [ + 84.1612777709961, + 147.86624145507812 + ], + [ + 84.72139739990234, + 147.5124969482422 + ], + [ + 84.10023498535156, + 147.48782348632812 + ], + [ + 84.21481323242188, + 147.46939086914062 + ] + ] +} \ No newline at end of file diff --git a/007300_v2/lang.txt b/007300_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e60b06821bda21e8a10938bc51332d412953194 --- /dev/null +++ b/007300_v2/lang.txt @@ -0,0 +1 @@ +put the plush toy in the silver pot on the bottom left corner of the table diff --git a/007300_v2/object.ply b/007300_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..b4362320cda395858a21f183deba72adb81607a9 Binary files /dev/null and b/007300_v2/object.ply differ diff --git a/007311_v2/FAIL b/007311_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/007311_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/007315_v2/FAIL b/007315_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007315_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007317_v2/FAIL b/007317_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/007317_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/007321/FAIL b/007321/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/007321/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/007373/FAIL b/007373/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/007373/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/007403_v2/FAIL b/007403_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/007403_v2/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/007406_v2/FAIL b/007406_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007406_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007411/FAIL b/007411/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/007411/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/007418_v2/FAIL b/007418_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/007418_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/007426/FAIL b/007426/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007426/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007454/FAIL b/007454/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f1fa61eaac4c0a91180b93b56955ff62e306ff97 --- /dev/null +++ b/007454/FAIL @@ -0,0 +1 @@ +Detect gripper centers fail diff --git a/007478_v2/data.json b/007478_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..156af9d041846d024bb63a24602b07f7c1bc7a3b --- /dev/null +++ b/007478_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 19, + "action_end": 34, + "object_name": "brown cylinder", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.629792, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -3.869182751969902e-12, + -3.764148159834946e-10, + 2.301187851383446e-10, + -8.310479738305908e-07, + 4.290201064219808e-08, + -2.2817815654841392e-07, + 1.0 + ], + [ + 0.009242877381977266, + -0.007053404519469411, + 0.011617982495722906, + 0.01674607535983366, + -0.032673917166752345, + -0.03721934588581529, + 1.0 + ], + [ + 0.00431388028177776, + -0.0037989012196961713, + 0.007728830842798962, + 0.005448135350656685, + -0.020443421784208788, + -0.014177360784024609, + 1.0 + ], + [ + -0.001101215672732636, + -0.0006734079434040641, + 0.009585514783678223, + 0.010262824975190854, + -0.01189934946078216, + -0.008390058313652258, + 1.0 + ], + [ + -0.000933623521488014, + 0.0066560589419134356, + 0.021352194618638715, + -0.04354477212952849, + -0.025731223658839047, + 0.022513998895735937, + 1.0 + ], + [ + 0.0008149574042540242, + 0.0075902084751745535, + 0.0296421311153032, + -0.03256931358968313, + -0.06918045099150277, + 0.022587926237914068, + 1.0 + ], + [ + 0.0007740617363988234, + 0.009468531898834585, + 0.016474740182816583, + -0.04111351672152454, + -0.0023657823938180874, + 0.01836281021855136, + 1.0 + ], + [ + -0.0016089686535176728, + 0.014875849906932033, + 0.011495750695072443, + -0.014284938837671917, + -0.001505511895422771, + 0.03543437401637577, + 1.0 + ], + [ + 0.003124287584309937, + 0.014599325972018365, + 0.000645562511231268, + 0.005846022521864532, + 0.013954275160239834, + 0.034627911206001935, + 1.0 + ], + [ + 0.004842039216709115, + 0.01721121970323833, + -0.007635766751872081, + 0.037029478422638894, + 0.04925424135986599, + 0.046976193342701145, + 1.0 + ], + [ + -0.001716758343198732, + 0.01375537425665416, + 0.0018454049578672804, + 0.0051473138667655835, + 0.012386001250051003, + 0.03920793161298177, + 1.0 + ], + [ + -0.0067023019612466594, + 0.015760592445650402, + -0.0016059191524471217, + -0.0047905751302645665, + 0.026137679819165302, + 0.038280524632206527, + 1.0 + ], + [ + -0.00570308369056266, + 0.012712293468773263, + -0.00034931690476761035, + -0.024213843293457694, + 0.023054349392003338, + 0.02986703391549295, + 1.0 + ], + [ + -0.005907758957115428, + 0.013282945543543874, + -0.009204537072756508, + -0.016267714162485597, + 0.04339303656044486, + 0.03776014623930147, + 1.0 + ], + [ + 0.0016572222948745274, + -0.003176727249622001, + -0.010115199397372265, + 0.0030486387337254647, + 0.011718980037799125, + -0.010083378584455273, + 1.0 + ], + [ + 0.005561662466963657, + -0.010551255383009016, + -0.009187208435552374, + 0.008352799390522608, + 0.006766951833732123, + -0.02770961373341111, + 1.0 + ], + [ + 0.006927247957013105, + -0.011328803929719466, + -0.0024138710024333987, + 0.010549210357142083, + -0.00600691953819259, + -0.024170778634802464, + 1.0 + ], + [ + 0.007793207462596319, + -0.0030761676162682494, + -0.002685544252255867, + 0.005873759202456572, + -0.008903550470476855, + 0.0036776004209673674, + 1.0 + ], + [ + 0.006519594650114646, + 0.0048245841832574785, + -0.007182250656976752, + 0.005331221567610478, + 0.04006126499769028, + 0.018203906806724377, + 1.0 + ], + [ + 0.0022995316267746535, + 0.006737648463000592, + -0.005553881231058405, + -0.005884855138002818, + 0.02214603327227617, + 0.030271280146811793, + 1.0 + ], + [ + -0.00037986806868206546, + 0.0014782161670919731, + -0.002586919033491092, + -0.0012588335994680247, + 0.01894625461832029, + 0.014479611597463533, + 0.0 + ], + [ + -0.00010428600375894659, + -0.0017411280395953077, + 0.002174622108172236, + -0.0059311902240919406, + -0.0049835599536931265, + -0.005826531374063022, + 0.0 + ], + [ + -3.4685733999451074e-06, + -0.0026849191721847777, + 0.0015644851264093873, + 0.004885385442487747, + 0.0009315996391844814, + -0.018945853231396578, + 0.0 + ], + [ + -0.000196298500724168, + -0.012974040824485175, + 0.010826352606866652, + 0.026958206772477688, + -0.016730656191280672, + -0.04172680595937249, + 0.0 + ], + [ + -0.0003565422343509983, + -0.031096191854037933, + 0.015842912339747633, + -0.0041965625829860475, + -0.058702868580473806, + -0.11012221027026341, + 0.0 + ], + [ + -0.0009818548197253474, + -0.031914511538293486, + -0.014846382472889552, + -0.041767695825751, + 0.03181106144416823, + -0.10845351867857819, + 0.0 + ], + [ + 0.0020826024695257406, + -0.01960743756712891, + -0.04406416340842029, + -0.004999589422906104, + 0.0326971144971564, + -0.08788560433832088, + 0.0 + ], + [ + 0.0034390200737182686, + -0.008989203962598877, + -0.04433504888679099, + 0.014794694510274358, + 0.062092677090749414, + -0.08216894206542005, + 0.0 + ], + [ + 0.003757173284669957, + -0.003112664657972053, + -0.029754627437115294, + 0.019855305953090447, + -0.006024245925101384, + -0.05604434973649907, + 0.0 + ], + [ + 0.005317237023432009, + 0.0006440536930775315, + -0.017387821891887617, + 0.013673882242663195, + -0.01429546623339217, + -0.025960400639210967, + 0.0 + ], + [ + 0.008172108681465062, + 0.004013100277300924, + -0.010214370532901626, + 0.017213822492977204, + -0.05789569609790928, + 0.024452543714299068, + 0.0 + ], + [ + 0.006143466763467609, + 0.0017531985119052032, + -0.011383517018722436, + -0.01977142977329356, + 0.006955714045866153, + 0.016580551652226497, + 0.0 + ], + [ + 0.002283537845185424, + 0.0008276011915126225, + -0.005441884671948838, + -0.01683660542768494, + 0.0044621149911477104, + 0.010738499864422314, + 0.0 + ], + [ + 0.001827605832296797, + -0.0010344365521220145, + -0.005510368673504358, + -0.01673688786814571, + 0.020519462317859963, + 0.003948694495109754, + 0.0 + ], + [ + -0.0002622895269246972, + 0.0017639248483526937, + 0.000684072317606893, + 0.0074345358436833054, + 0.018003821126331792, + 0.01787145928793499, + 0.629792 + ], + [ + -0.00030010704158617285, + -0.0006109882856558807, + 0.01304159484376309, + -0.02534322886183867, + -0.03808279934687144, + 0.024020241335096372, + 1.0 + ], + [ + -0.002222800779512424, + -0.0061442726175998455, + 0.0477994659192526, + -0.0027971315422705644, + -0.09982755660813862, + 0.01227971302551936, + 1.0 + ], + [ + 5.4781790447877565e-05, + -0.010278096613778348, + 0.047352053377724204, + 0.02496890528004225, + -0.07801094650621694, + -0.031100457579852282, + 1.0 + ], + [ + -0.006293633579390889, + -0.006034627445580587, + 0.02922192055860276, + 0.00849384180696333, + -0.017240754396826777, + -0.01735134243363087, + 1.0 + ], + [ + -0.006966392330030324, + 0.014978548418749668, + 0.001569877971868111, + -0.0015855948480061745, + 0.04713384419401706, + 0.08994109497937376, + 1.0 + ], + [ + -0.005703057650314536, + 0.021677027149726233, + -0.006198402504240724, + -0.016337329621713317, + 0.03826649139212019, + 0.10478201629640095, + 1.0 + ], + [ + -0.005540137959741953, + 0.012861595676526442, + -0.006711368241165, + -0.01069820867448296, + 0.023734617101214835, + 0.050933298540310847, + 1.0 + ], + [ + -0.0009329107430798289, + 0.002917207334131741, + -0.0037903754991079064, + -0.0015218458080708923, + 0.01089554494498889, + -0.005729181358401128, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 520.2058715820312, + 206.8223876953125 + ], + [ + 517.7642822265625, + 220.61544799804688 + ], + [ + 523.8907470703125, + 210.01014709472656 + ], + [ + 544.51318359375, + 196.69876098632812 + ], + [ + 545.4208984375, + 185.430419921875 + ], + [ + 555.0698852539062, + 168.48793029785156 + ], + [ + 543.7874145507812, + 106.29827880859375 + ], + [ + 537.371337890625, + 61.11249542236328 + ], + [ + 513.839599609375, + 39.10464859008789 + ], + [ + 483.3269348144531, + 28.353683471679688 + ], + [ + 459.20526123046875, + 10.15573501586914 + ], + [ + 434.1485900878906, + 26.56763458251953 + ], + [ + 401.8200988769531, + 6.3554487228393555 + ], + [ + 375.68304443359375, + 4.7540202140808105 + ], + [ + 347.44940185546875, + 9.981191635131836 + ], + [ + 337.79296875, + 35.23604965209961 + ], + [ + 357.6755676269531, + 38.714176177978516 + ], + [ + 377.73956298828125, + 49.831146240234375 + ], + [ + 394.49468994140625, + 65.55928039550781 + ], + [ + 395.4552001953125, + 66.59954071044922 + ], + [ + 392.02490234375, + 82.25515747070312 + ], + [ + 380.0889587402344, + 77.39814758300781 + ], + [ + 379.2539978027344, + 77.81050872802734 + ], + [ + 379.881103515625, + 77.10548400878906 + ], + [ + 396.1609802246094, + 70.5995864868164 + ], + [ + 444.253173828125, + 68.7276611328125 + ], + [ + 499.04913330078125, + 74.7633056640625 + ], + [ + 519.8056030273438, + 148.63479614257812 + ], + [ + 519.54541015625, + 215.19204711914062 + ], + [ + 518.8615112304688, + 267.1924133300781 + ], + [ + 512.6453857421875, + 288.66131591796875 + ], + [ + 505.7243347167969, + 293.0401306152344 + ], + [ + 508.3255310058594, + 309.991943359375 + ], + [ + 501.87322998046875, + 311.9039611816406 + ], + [ + 502.3208923339844, + 313.27569580078125 + ], + [ + 501.26611328125, + 319.45916748046875 + ], + [ + 504.6030578613281, + 318.54058837890625 + ], + [ + 514.89501953125, + 265.859130859375 + ], + [ + 547.6827392578125, + 220.94815063476562 + ], + [ + 567.617919921875, + 175.65518188476562 + ], + [ + 564.17529296875, + 166.64100646972656 + ], + [ + 522.9464111328125, + 162.72708129882812 + ], + [ + 491.11175537109375, + 164.4930419921875 + ], + [ + 483.3805847167969, + 168.96939086914062 + ], + [ + 483.06463623046875, + 168.61598205566406 + ], + [ + 483.0973205566406, + 168.2142791748047 + ], + [ + 482.09417724609375, + 168.44125366210938 + ], + [ + 482.19140625, + 168.59671020507812 + ] + ], + "depth_max": 2.1465578079223633, + "depth_min": 0.15082672238349915, + "intrinsic": [ + [ + 524.4755859375, + 0.0, + 259.0 + ], + [ + 0.0, + 525.7001953125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -5.5177908507175744e-05, + 2.8080348783987574e-05, + 6.575182396773016e-06 + ], + [ + 5.51808116142638e-05, + 1.0, + -0.00010330304212402552, + 2.6353296561865136e-05 + ], + [ + -2.8074646252207458e-05, + 0.00010330458462703973, + 1.0, + 0.00010216534428764135 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 378.5, + 133.5 + ], + [ + 379.096435546875, + 134.13890075683594 + ], + [ + 378.93853759765625, + 134.2799835205078 + ], + [ + 379.0759582519531, + 134.65322875976562 + ], + [ + 378.8518981933594, + 134.64346313476562 + ], + [ + 378.97607421875, + 134.3917694091797 + ], + [ + 378.65802001953125, + 134.41709899902344 + ], + [ + 378.574951171875, + 134.25137329101562 + ], + [ + 378.66070556640625, + 133.9189453125 + ], + [ + 378.5771789550781, + 134.0712890625 + ], + [ + 378.6800537109375, + 134.05758666992188 + ], + [ + 378.71685791015625, + 134.09774780273438 + ], + [ + 378.34234619140625, + 134.45779418945312 + ], + [ + 378.6760559082031, + 134.41009521484375 + ], + [ + 378.25152587890625, + 134.3922576904297 + ], + [ + 378.54010009765625, + 134.5061492919922 + ], + [ + 378.42144775390625, + 134.45816040039062 + ], + [ + 378.20184326171875, + 133.9868927001953 + ], + [ + 378.20953369140625, + 134.265625 + ], + [ + 378.0426940917969, + 134.21694946289062 + ], + [ + 377.53570556640625, + 134.2265625 + ], + [ + 377.177734375, + 134.60850524902344 + ], + [ + 374.83978271484375, + 134.33071899414062 + ], + [ + 375.24761962890625, + 134.2080841064453 + ], + [ + 389.9510498046875, + 127.54278564453125 + ], + [ + 435.23382568359375, + 128.84054565429688 + ], + [ + 491.24053955078125, + 138.97869873046875 + ], + [ + 509.6640625, + 211.87057495117188 + ], + [ + 508.72930908203125, + 274.09222412109375 + ], + [ + 505.4310302734375, + 320.6878356933594 + ], + [ + 498.9773864746094, + 340.4513854980469 + ], + [ + 493.6055908203125, + 343.2908630371094 + ], + [ + 497.1021728515625, + 358.061279296875 + ], + [ + 491.8144226074219, + 359.3536376953125 + ], + [ + 486.673095703125, + 348.1015930175781 + ], + [ + 487.9185791015625, + 348.3673095703125 + ], + [ + 490.6936950683594, + 359.93646240234375 + ], + [ + 487.7751159667969, + 348.9258117675781 + ], + [ + 490.6114807128906, + 359.9750671386719 + ], + [ + 487.9156494140625, + 348.618408203125 + ], + [ + 491.29925537109375, + 358.6800231933594 + ], + [ + 488.38348388671875, + 348.4599609375 + ], + [ + 491.2740478515625, + 358.781494140625 + ], + [ + 491.75946044921875, + 358.9656677246094 + ], + [ + 491.2732849121094, + 358.82135009765625 + ], + [ + 491.3288269042969, + 358.0617370605469 + ], + [ + 491.40155029296875, + 358.1410217285156 + ], + [ + 491.9175109863281, + 357.953369140625 + ] + ] +} \ No newline at end of file diff --git a/007478_v2/lang.txt b/007478_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..0c7cb1319fc3d6fec93ed180fb574dd6d462347e --- /dev/null +++ b/007478_v2/lang.txt @@ -0,0 +1 @@ +Move the brown cylinder to the table diff --git a/007478_v2/object.ply b/007478_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..abde0ce96e7d3a15dee54cb9366ee5c30e25d40a Binary files /dev/null and b/007478_v2/object.ply differ diff --git a/007482/data.json b/007482/data.json new file mode 100644 index 0000000000000000000000000000000000000000..6a63305583493ac57120f3bea6be277cc0cd6d9d --- /dev/null +++ b/007482/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 3, + "action_end": 22, + "object_name": "carrot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 0.976801, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.610262254762688e-11, + -3.8874459207249856e-13, + 3.6497277422498087e-11, + -3.2244579160682283e-07, + -5.8400014680660865e-08, + -7.32300184196435e-08, + 1.0 + ], + [ + 0.0016490000519195913, + -0.0006920000128417675, + -0.008249000009947799, + -0.0009693765786858052, + 0.025663905545656125, + -0.000419780746792005, + 1.0 + ], + [ + 0.0021691265211084554, + -7.568532976055808e-05, + -0.00722956203328709, + -0.006368209321206514, + 0.019230184343276707, + -0.006942419187916653, + 1.0 + ], + [ + 0.00010694109667491736, + 0.00025912906264086155, + -0.0025664484880632277, + 0.013927147190668858, + 0.0027547377798129327, + 0.013894591610466158, + 0.976801 + ], + [ + -0.0009621419888000138, + 0.0011009420157469668, + 0.0017531529255507827, + -0.0016688503829347067, + -0.019124136379316058, + 0.014148524861735666, + 0.0 + ], + [ + -0.0006527031649207204, + 0.0011209986172156378, + 0.006395441296469059, + 0.0019567877936223243, + -0.014787820350956538, + 0.012679070204291395, + 0.0 + ], + [ + 0.00048013510645456003, + -0.00012512110666645926, + 0.009329892745895962, + -0.000965051126524189, + -0.02115678202708181, + 0.0038679527936883013, + 0.0 + ], + [ + -0.0006143209867857657, + 0.001896831462869189, + 0.015316158301768495, + 0.0062949786235527595, + -0.022134580416447187, + 0.016233171561051092, + 0.0 + ], + [ + 4.001677651577218e-05, + 0.0030271766230563213, + 0.015751348968419537, + 0.010807997874643024, + -0.021009284652004627, + 0.014912192255903893, + 0.0 + ], + [ + -0.0007081449975229748, + -0.00017587695788329194, + 0.013520680324145704, + -0.0035615053373387632, + -0.01990403886538372, + 0.008365502399643227, + 0.0 + ], + [ + -0.005202930336217215, + 0.00793495872045967, + 0.005081566196420945, + -0.04035982900968534, + 0.0024331409688477367, + 0.04337891371499051, + 0.0 + ], + [ + -0.003658978866962037, + 0.016900100588609607, + -0.002111656123275546, + -0.00568721365443922, + 0.01701382463760849, + 0.036589169635987545, + 0.0 + ], + [ + -0.007311512140010468, + 0.013741926693896699, + -0.0034393661811141646, + -3.432149614878422e-05, + 0.020038502604409706, + 0.03281608046658934, + 0.0 + ], + [ + -0.0077906758570812085, + 0.005701147874279472, + -0.0050109383329355744, + -0.014152242847894106, + 0.029100445847249932, + 0.010998981978721973, + 0.0 + ], + [ + -0.011693236600746892, + 0.0004738146877694832, + -0.0018092401306662037, + -0.017015208156657746, + 0.012548320512099415, + 0.00914424738100428, + 0.0 + ], + [ + -0.013447149920812418, + -0.005312720107950815, + -0.002435152846576777, + -0.003713022820803969, + 0.014280135678298904, + 0.005615340855843548, + 0.0 + ], + [ + -0.006030524219273914, + -0.004351806758393792, + -0.002627695031658134, + -0.011629106091883109, + 0.011873948885072823, + -0.005327550331387386, + 0.0 + ], + [ + -0.004919467564489688, + -0.0020950045455200086, + -0.004406798333506198, + -0.0007634859326172434, + 0.01462535155888854, + 0.0012931581373627989, + 0.0 + ], + [ + -0.0038474975945057555, + -0.003792138629615645, + -0.010941884035764224, + -0.0022744432521894704, + 0.029079278773301225, + -0.005185414766969001, + 0.0 + ], + [ + -0.0019129560639045695, + 0.0003712084689945494, + -0.01641067369543367, + -0.020411708406597055, + 0.03916701739251744, + 0.0027204825614662886, + 0.0 + ], + [ + 0.0011344558019352746, + 0.0009684791738313187, + -0.01724900965222341, + -0.017388472364672107, + 0.0229315345168109, + 0.006303428490998613, + 0.0 + ], + [ + 3.4471266575047954e-05, + 0.004162351541846895, + -0.010952293124812065, + -0.01554631776787218, + 0.013641017697968966, + 0.023168273090488592, + 0.0 + ], + [ + -0.004013478803949561, + 0.007727821435620515, + 0.0034693106212397573, + 0.01400186945842914, + -0.008799794449314615, + 0.0511913282323303, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 479.4327087402344, + 193.2955322265625 + ], + [ + 479.3614501953125, + 193.23280334472656 + ], + [ + 474.8672790527344, + 207.79104614257812 + ], + [ + 472.874755859375, + 220.38473510742188 + ], + [ + 474.8812255859375, + 222.99063110351562 + ], + [ + 472.5037536621094, + 222.47384643554688 + ], + [ + 470.36444091796875, + 220.22900390625 + ], + [ + 469.72509765625, + 221.41012573242188 + ], + [ + 469.3995666503906, + 212.97010803222656 + ], + [ + 465.91949462890625, + 196.18873596191406 + ], + [ + 465.7701416015625, + 177.24513244628906 + ], + [ + 466.8373107910156, + 162.67364501953125 + ], + [ + 456.4228515625, + 144.50828552246094 + ], + [ + 422.648193359375, + 149.01226806640625 + ], + [ + 399.00140380859375, + 148.69784545898438 + ], + [ + 387.544677734375, + 164.21759033203125 + ], + [ + 376.4049377441406, + 172.99310302734375 + ], + [ + 368.18438720703125, + 188.5537109375 + ], + [ + 370.84332275390625, + 199.95579528808594 + ], + [ + 369.0213928222656, + 212.964111328125 + ], + [ + 373.41143798828125, + 224.8695068359375 + ], + [ + 374.34637451171875, + 251.91091918945312 + ], + [ + 374.3746032714844, + 262.75958251953125 + ], + [ + 374.4989318847656, + 257.02630615234375 + ] + ], + "depth_max": 1.6690759658813477, + "depth_min": 0.3276152014732361, + "intrinsic": [ + [ + 519.3737182617188, + 0.0, + 259.0 + ], + [ + 0.0, + 519.1568603515625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.5299042540136725e-05, + -6.128208042355254e-05, + 5.784959284937941e-07 + ], + [ + -4.530088335741311e-05, + 1.0, + -3.01008767564781e-05, + -2.9320137400645763e-05 + ], + [ + 6.128071254352108e-05, + 3.0103652534307912e-05, + 1.0, + 3.0241581043810584e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 457.5, + 211.00001525878906 + ], + [ + 457.6576232910156, + 211.20668029785156 + ], + [ + 457.32757568359375, + 211.53977966308594 + ], + [ + 457.4913635253906, + 212.13714599609375 + ], + [ + 457.9089050292969, + 213.1559600830078 + ], + [ + 455.3893127441406, + 213.2933349609375 + ], + [ + 461.29083251953125, + 215.60052490234375 + ], + [ + 461.5840759277344, + 217.02133178710938 + ], + [ + 459.29217529296875, + 218.69583129882812 + ], + [ + 455.5237121582031, + 203.33770751953125 + ], + [ + 454.4977111816406, + 184.52687072753906 + ], + [ + 455.1747741699219, + 169.7068328857422 + ], + [ + 446.42645263671875, + 143.59127807617188 + ], + [ + 414.96490478515625, + 147.18716430664062 + ], + [ + 392.2622375488281, + 147.48788452148438 + ], + [ + 380.76611328125, + 162.16839599609375 + ], + [ + 369.56982421875, + 170.94091796875 + ], + [ + 361.2406005859375, + 187.41073608398438 + ], + [ + 363.3862609863281, + 198.38832092285156 + ], + [ + 361.7225036621094, + 211.51571655273438 + ], + [ + 366.1082763671875, + 223.9149627685547 + ], + [ + 367.5064392089844, + 260.483642578125 + ], + [ + 372.5346374511719, + 264.48992919921875 + ], + [ + 373.84918212890625, + 260.14251708984375 + ] + ] +} \ No newline at end of file diff --git a/007482/lang.txt b/007482/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..460c0f31b4dbb6631fb36ad01409918ef0e3861b --- /dev/null +++ b/007482/lang.txt @@ -0,0 +1 @@ +put carrot on plate diff --git a/007482/object.ply b/007482/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..cfd21a912293a8cdfcbf3a3883f6a5bd17b5ae56 Binary files /dev/null and b/007482/object.ply differ diff --git a/007591/data.json b/007591/data.json new file mode 100644 index 0000000000000000000000000000000000000000..6489ed6914c15c5c43c1c89ff4977fb38b45471d --- /dev/null +++ b/007591/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 13, + "action_end": 22, + "object_name": "eggplant", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "gripper_actions": [ + [ + 0.0, + 0.0, + 0.0, + -1.3012264015981783e-07, + -4.978849098555482e-07, + -3.210700710653407e-07, + 1.0 + ], + [ + 0.004983962157158128, + -0.01214597364314468, + -0.005634152718786825, + 0.011075713750652014, + 0.02601795025654617, + -0.11181456041108778, + 1.0 + ], + [ + 0.0026257741229240295, + -0.009125333453160966, + -0.0034951454017547318, + 0.04082309414357893, + 0.051336273360327776, + -0.08237040880426486, + 1.0 + ], + [ + 0.0064074434056485274, + -0.0004670002731651246, + -0.0062621116080299605, + -0.002857491791964401, + 0.06148303377522727, + -0.002540479471041643, + 1.0 + ], + [ + 0.0010957025042032664, + 0.0035721253003923176, + -0.0068322405127961144, + -0.01049432331723496, + 0.06064374113761243, + 0.018910676120298644, + 1.0 + ], + [ + -0.0013512469633270574, + 0.006367284618257266, + -0.0002966240963744732, + -0.0060114715164850665, + 0.02022870964120626, + 0.026892297959891936, + 1.0 + ], + [ + -0.001921219210709979, + 0.005135556140631312, + 0.00041926675279256587, + -0.00655793333140184, + 0.007283127128485098, + 0.008929519962428306, + 1.0 + ], + [ + -0.0003795572671456693, + 0.0014409699836750445, + -0.008200040474177911, + -0.01786816123868525, + 0.003833699435271243, + -0.0036650251472718103, + 1.0 + ], + [ + 0.0016307646656437136, + 0.00014432159083312135, + -0.007894997105590426, + -0.011740510398437876, + 0.0011565300209173202, + 0.0021495289216118207, + 1.0 + ], + [ + -0.00027282380155096986, + 0.0001707760285759724, + -0.012966788176126134, + -0.016027539711699693, + -0.00476370269204791, + 0.0050258704656246465, + 1.0 + ], + [ + -0.00018891567203660475, + -0.004998990014351529, + -0.00453866789078558, + 0.04645785477603516, + -0.02047251281675432, + 0.022229739706352804, + 1.0 + ], + [ + -0.0027794699143008916, + 0.00047659556688853244, + -0.0025659256258519364, + 0.0505853895308758, + -0.03457194778212008, + 0.028403153841380202, + 1.0 + ], + [ + -0.004334293150837554, + 0.006095180142358755, + 0.00035526158801565955, + 0.0382991745165224, + -0.024799806479875237, + 0.02328060005909767, + 1.0 + ], + [ + -0.00210696632091234, + 0.005731315062383446, + -0.0030786149713741134, + 0.06034647205241168, + -0.007914259469259992, + 0.01332525495246847, + 1.0 + ], + [ + 0.001931557093653502, + 0.0023736716715758166, + -0.00034834535222864893, + 0.025321566766249526, + -0.01553349557010745, + 0.01058355953189259, + 0.0 + ], + [ + 0.004758131756629758, + -0.002019986501415827, + -0.007524796465537366, + 0.018268271290778546, + 0.0025084521122546973, + -0.007250497421100739, + 0.0 + ], + [ + 0.005498012363667426, + -0.003466307591633161, + 0.003515085798537071, + -0.0046857140383656645, + -0.005912216450427217, + -0.01510755368422826, + 0.0 + ], + [ + 0.0024891645326421408, + -0.006778504549797462, + 0.02062335407578139, + 0.009392565490945349, + -0.03507387600916715, + 0.01031831683161414, + 0.0 + ], + [ + -0.004681180688930031, + 0.0013424603100477689, + 0.01726346382177711, + 0.03388097895263147, + 0.005591954956125622, + 0.03513907812341278, + 0.0 + ], + [ + -0.0032968111384795717, + 0.010613512393842783, + 0.02968383715977503, + 0.01894652960883339, + -0.025265722572488443, + 0.054742383456615445, + 0.0 + ], + [ + -0.004061894004080857, + 0.01045355666082505, + 0.00904946786446291, + 0.023947947667832967, + -0.010633471136875459, + 0.02146266344335133, + 0.0 + ], + [ + -0.007793701566853273, + 0.016845287562515576, + 0.00792310903984847, + 0.02949965305238091, + -0.0339905097610129, + 0.05439575415559606, + 0.0 + ], + [ + -0.006233932880146509, + 0.02007101156428931, + 0.0004847751503961606, + 0.02696094813629097, + 0.015228029834856873, + 0.0841524530006603, + 0.0 + ], + [ + -0.011715196658081795, + 0.020013577741053973, + -0.00731671105896059, + -0.00969923390156822, + 0.022818409317034532, + 0.06288036340381864, + 0.0 + ] + ], + "gripper_centers": [ + [ + 489.1798095703125, + 164.73973083496094 + ], + [ + 489.31182861328125, + 164.8429412841797 + ], + [ + 485.36419677734375, + 180.05491638183594 + ], + [ + 505.29510498046875, + 197.4738311767578 + ], + [ + 520.9290771484375, + 200.27874755859375 + ], + [ + 522.8062133789062, + 206.37399291992188 + ], + [ + 514.1444702148438, + 209.4720458984375 + ], + [ + 505.75262451171875, + 202.87200927734375 + ], + [ + 499.11309814453125, + 203.27145385742188 + ], + [ + 497.03363037109375, + 206.44052124023438 + ], + [ + 495.9042053222656, + 219.32095336914062 + ], + [ + 495.7339782714844, + 228.72659301757812 + ], + [ + 496.7201843261719, + 231.34634399414062 + ], + [ + 497.2413330078125, + 234.61859130859375 + ], + [ + 485.0574645996094, + 238.92405700683594 + ], + [ + 479.4133605957031, + 239.8226776123047 + ], + [ + 474.4140319824219, + 237.0346221923828 + ], + [ + 478.0597229003906, + 231.12387084960938 + ], + [ + 480.6700134277344, + 229.2263641357422 + ], + [ + 486.8016357421875, + 232.54989624023438 + ], + [ + 487.42840576171875, + 212.15908813476562 + ], + [ + 484.0169372558594, + 172.95980834960938 + ], + [ + 473.29046630859375, + 161.11402893066406 + ], + [ + 436.8552551269531, + 143.0649871826172 + ] + ], + "depth_max": 1.7176036834716797, + "depth_min": 0.6200090646743774, + "intrinsic": [ + [ + 497.0213928222656, + 0.0, + 259.0 + ], + [ + 0.0, + 496.1647644042969, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.97434253297979e-05, + -0.0001049226411851123, + 1.996515493374318e-06 + ], + [ + -2.974475319206249e-05, + 1.0, + -1.264237562281778e-05, + -1.973342295968905e-05 + ], + [ + 0.00010492226283531636, + 1.2645496099139564e-05, + 1.0, + 7.565166743006557e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 503.2500305175781, + 251.75001525878906 + ], + [ + 503.2291564941406, + 252.13433837890625 + ], + [ + 503.21453857421875, + 252.43502807617188 + ], + [ + 503.6034851074219, + 252.1646728515625 + ], + [ + 503.95391845703125, + 251.93948364257812 + ], + [ + 503.398193359375, + 251.890380859375 + ], + [ + 503.26898193359375, + 251.9151611328125 + ], + [ + 503.0197448730469, + 252.20315551757812 + ], + [ + 503.4429016113281, + 252.41354370117188 + ], + [ + 503.3058166503906, + 252.63844299316406 + ], + [ + 503.6131591796875, + 252.96780395507812 + ], + [ + 502.7558288574219, + 253.30007934570312 + ], + [ + 501.6277160644531, + 253.37557983398438 + ], + [ + 499.8863525390625, + 253.51036071777344 + ], + [ + 490.478515625, + 253.2595977783203 + ], + [ + 481.55999755859375, + 252.72848510742188 + ], + [ + 475.7868957519531, + 249.75494384765625 + ], + [ + 478.0182189941406, + 243.50033569335938 + ], + [ + 479.8690185546875, + 241.34628295898438 + ], + [ + 484.5560607910156, + 244.968017578125 + ], + [ + 484.08978271484375, + 224.84625244140625 + ], + [ + 480.4366760253906, + 184.4261016845703 + ], + [ + 469.4730529785156, + 172.53024291992188 + ], + [ + 434.88922119140625, + 154.99790954589844 + ] + ] +} \ No newline at end of file diff --git a/007591/lang.txt b/007591/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..51031e5359f64e6112e760ba2ea59b70067281f4 --- /dev/null +++ b/007591/lang.txt @@ -0,0 +1 @@ +put eggplant into pot or pan diff --git a/007591/object.ply b/007591/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..0f5c79053569adf0379159925aa1eb7fd7d1c465 Binary files /dev/null and b/007591/object.ply differ diff --git a/007593/data.json b/007593/data.json new file mode 100644 index 0000000000000000000000000000000000000000..6cec5aacc7ae193838f2868c2ab8aadf80b1fc9b --- /dev/null +++ b/007593/data.json @@ -0,0 +1,384 @@ +{ + "action_start": 4, + "action_end": 13, + "object_name": "eggplant", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.03492099999999998, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.731828652180468e-10, + -9.758481349375625e-11, + -2.4273780208083906e-10, + -1.0220804219495071e-07, + -2.1448495312879291e-07, + 1.3794904113868434e-07, + 1.0 + ], + [ + 0.005229663219841363, + -0.0005621815375712845, + -0.009407334616451685, + -0.003198804799949079, + 0.025566804044401828, + 0.013476810138602609, + 1.0 + ], + [ + 0.005118134807974406, + -0.00025555951250257796, + -0.004483874198152771, + -0.007049255839660091, + 0.013595177158435081, + -0.0025414730232014722, + 1.0 + ], + [ + 0.001557718201773306, + 0.0001280165372725614, + -0.004929368126391054, + -0.009463911335787471, + 0.013023524583198554, + -0.004305630401083177, + 1.0 + ], + [ + 0.0030683224761535177, + -0.00037456084566809926, + -0.009587477967578029, + -0.016463480012105933, + 0.021255116807986613, + -0.0012254710238410902, + 1.0 + ], + [ + 0.0013093083766597124, + -0.0007916438595345623, + -0.004841340751880696, + -0.011510001752458176, + 0.007730738961865515, + 0.017578795423884016, + 0.0 + ], + [ + -0.001562978177074903, + -0.0018719931625229376, + -0.0024501080715545326, + -0.000908388178222996, + 0.03425466560341191, + 0.01086896136193732, + 0.0 + ], + [ + -0.010000962643547773, + -0.004025706842669816, + 0.005907098624070017, + 0.010489809737828253, + 0.019663055212724417, + 0.03819925068145839, + 0.0 + ], + [ + -0.02835080406667212, + -0.007970433823105152, + 0.0011164158489667536, + -0.023878740535010507, + 0.012566855007203634, + 0.0839390027923442, + 0.0 + ], + [ + -0.03158824173152103, + -0.015253433274165978, + 0.002558954945693817, + -0.003175080975782553, + 0.01686451535260138, + 0.07283201788950057, + 0.0 + ], + [ + -0.03256752054785833, + -0.021521986702174156, + 0.0005627505567368241, + -0.020998084152538524, + 0.034965468285423754, + 0.08234639809395165, + 0.0 + ], + [ + -0.014167803453910333, + -0.02751995298445857, + -0.0019062520686225493, + -0.07157555883290945, + 0.06623431465179169, + 0.013182178134878764, + 0.0 + ], + [ + -0.0001412745534394022, + -0.024266261635966208, + 0.004219112702310734, + -0.01692415970471514, + -0.060577834650344435, + -0.014683644448885107, + 0.0 + ], + [ + 0.0008927683731859148, + -0.01775694583411956, + -0.002018911733664197, + -0.025154808140519867, + -0.012432817350711183, + -0.014404653205834424, + 0.03492099999999998 + ], + [ + 0.0007128597734918085, + -0.003937667143494486, + -0.0072604893779461555, + -0.056136412451719235, + 0.015719885526271626, + 0.024365194787097234, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 378.024658203125, + 30.33740234375 + ], + [ + 377.68359375, + 30.019105911254883 + ], + [ + 377.5824279785156, + 41.93865203857422 + ], + [ + 378.73236083984375, + 61.544898986816406 + ], + [ + 382.7147521972656, + 67.46173095703125 + ], + [ + 385.20941162109375, + 74.56434631347656 + ], + [ + 388.9502258300781, + 84.08501434326172 + ], + [ + 389.6372375488281, + 81.99300384521484 + ], + [ + 390.3988037109375, + 81.91839599609375 + ], + [ + 385.77001953125, + 89.04438781738281 + ], + [ + 378.2210693359375, + 118.5709228515625 + ], + [ + 383.1256103515625, + 150.8357696533203 + ], + [ + 401.460693359375, + 186.93795776367188 + ], + [ + 439.4537353515625, + 214.87246704101562 + ], + [ + 484.86102294921875, + 231.3022918701172 + ], + [ + 507.0982360839844, + 241.33984375 + ], + [ + 521.0887451171875, + 242.6539306640625 + ], + [ + 519.54150390625, + 241.900390625 + ] + ], + "depth_max": 2.2559471130371094, + "depth_min": 0.4105055630207062, + "intrinsic": [ + [ + 474.9750671386719, + 0.0, + 259.0 + ], + [ + 0.0, + 474.4041748046875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -2.3400529244099744e-05, + -0.0001107560601667501, + -5.433445039670914e-06 + ], + [ + 2.3397800759994425e-05, + 1.0, + -2.463372948113829e-05, + -1.9566461560316384e-05 + ], + [ + 0.00011075664224335924, + 2.463113924022764e-05, + 1.0, + 7.672671927139163e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 17 + ], + "object_trajectory": [ + [ + 391.0, + 93.25 + ], + [ + 391.2666320800781, + 92.95137786865234 + ], + [ + 391.0184020996094, + 93.2463150024414 + ], + [ + 390.7972717285156, + 93.51932525634766 + ], + [ + 390.39788818359375, + 93.2322769165039 + ], + [ + 390.90093994140625, + 93.29534912109375 + ], + [ + 394.2083435058594, + 93.55972290039062 + ], + [ + 395.5154724121094, + 93.03337097167969 + ], + [ + 398.7880554199219, + 88.54712677001953 + ], + [ + 390.97576904296875, + 101.70825958251953 + ], + [ + 382.5476989746094, + 131.63636779785156 + ], + [ + 387.02197265625, + 164.6497039794922 + ], + [ + 405.10101318359375, + 200.35369873046875 + ], + [ + 442.5617370605469, + 229.13223266601562 + ], + [ + 487.3658447265625, + 246.4339599609375 + ], + [ + 510.0572814941406, + 256.4925231933594 + ], + [ + 469.3031921386719, + 307.812744140625 + ], + [ + 457.33984375, + 328.23211669921875 + ] + ] +} \ No newline at end of file diff --git a/007593/lang.txt b/007593/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..51031e5359f64e6112e760ba2ea59b70067281f4 --- /dev/null +++ b/007593/lang.txt @@ -0,0 +1 @@ +put eggplant into pot or pan diff --git a/007593/object.ply b/007593/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..4a6ba6630dc9db236b44793408eb61032f201efe Binary files /dev/null and b/007593/object.ply differ diff --git a/007595/data.json b/007595/data.json new file mode 100644 index 0000000000000000000000000000000000000000..c9a7161e9edfd8a4380631934f388e16e3fb515a --- /dev/null +++ b/007595/data.json @@ -0,0 +1,476 @@ +{ + "action_start": 8, + "action_end": 18, + "object_name": "eggplant", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.815873, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.7755575615628914e-17, + 6.938893903907228e-18, + -2.7755575615628914e-17, + -6.642623930487372e-07, + 1.7222492459264527e-07, + -1.7797992199696973e-08, + 1.0 + ], + [ + -0.003875004808193111, + -0.0033113020405341614, + -0.011494438362070925, + -0.013641392493709307, + -0.055920275643625277, + 0.06615616385000009, + 1.0 + ], + [ + 0.0005671011015411509, + -0.0017382865096711407, + -0.010606352442563707, + -0.026342704236183775, + -0.005338295816046751, + 0.04400877498782646, + 1.0 + ], + [ + 0.0020612317246047895, + 4.3050282646301535e-05, + -0.011091625277978107, + -0.02068883185349441, + -0.011627722371387594, + 0.05575185355666976, + 1.0 + ], + [ + 0.009800250278005684, + 0.004661601261789998, + -0.0033847806962602756, + -0.0018599587099346487, + 0.001561942328613603, + 0.022292802618766233, + 1.0 + ], + [ + 0.003756696429650125, + 0.005075280404761191, + -0.002211042020797957, + 0.002583776120453003, + 0.012463620970117745, + 0.02928006987705389, + 1.0 + ], + [ + 8.894811525175794e-05, + 0.003545287542697945, + -0.010086556977689926, + -0.01995287293164451, + 0.018991057643607877, + 0.011477857720616037, + 1.0 + ], + [ + 0.001332181930835702, + 0.0007250423727280051, + -0.009918636652679627, + -0.01791933337303906, + 0.049863364169777734, + 0.003854744006091937, + 1.0 + ], + [ + 0.003536445883178835, + -0.0012170536554162725, + -0.012876191284167532, + -0.015729998078554543, + 0.03599593059843759, + 0.0007082342171171089, + 0.815873 + ], + [ + 0.00632265898875814, + -0.004822014650312187, + -0.003488009314971584, + 0.011053847702122704, + 0.059799778014525136, + -0.017653774691336985, + 0.0 + ], + [ + -0.0011840530064700094, + 0.000994615480864278, + 0.007196625951959211, + 0.009417045141888928, + -0.02440832548419541, + -0.009862711592221554, + 0.0 + ], + [ + 0.004840780970587544, + 0.001306732103968142, + 0.023587648001349798, + 0.03586988043377341, + -0.03596026340077208, + -0.008440792856239963, + 0.0 + ], + [ + 0.002954212649387944, + 0.0004372561207176256, + 0.022486374266076525, + 0.028864799336341555, + -0.05530347436350252, + 0.013554083500938284, + 0.0 + ], + [ + -0.0014912928933084046, + -0.0036350647748146746, + 0.012539577142446745, + -0.00270103724178994, + -0.027126582248653205, + 0.016975632129894343, + 0.0 + ], + [ + 0.00119553894387614, + -0.013551623151659867, + 0.007793208490384049, + -0.025217456184755842, + -0.037811240405774715, + -0.0071795740660400625, + 0.0 + ], + [ + 0.0013542395975624233, + -0.023341086028387973, + 0.005806923968954977, + -0.040277133167812326, + -0.03128199080158079, + -0.0026085697261423895, + 0.0 + ], + [ + -0.0014839834039362954, + -0.021428424836559025, + 0.003602360773911545, + -0.03013318937477316, + -0.00990461823145659, + -0.00401059753199332, + 0.0 + ], + [ + -0.00447914069315003, + -0.014805003447538559, + -0.0025343981388868952, + -0.021093480588701582, + -0.008469739427645489, + -0.016609435902169362, + 0.0 + ], + [ + 0.0013141747293742845, + -0.010005812674185786, + -0.0026735619669068234, + -0.03287386371373054, + -0.013943633425707118, + -0.015083505841934238, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 287.4338073730469, + 165.1531524658203 + ], + [ + 287.3446960449219, + 165.1802978515625 + ], + [ + 285.34600830078125, + 178.60165405273438 + ], + [ + 286.43115234375, + 205.2841796875 + ], + [ + 292.06085205078125, + 214.85671997070312 + ], + [ + 295.8144836425781, + 224.43508911132812 + ], + [ + 298.66650390625, + 229.15646362304688 + ], + [ + 295.7449951171875, + 225.306640625 + ], + [ + 294.2901611328125, + 231.651611328125 + ], + [ + 297.2696838378906, + 241.63453674316406 + ], + [ + 304.08331298828125, + 231.20391845703125 + ], + [ + 310.8975830078125, + 223.263671875 + ], + [ + 305.0435791015625, + 227.3492889404297 + ], + [ + 304.4970703125, + 210.04547119140625 + ], + [ + 304.52496337890625, + 183.64466857910156 + ], + [ + 307.5465087890625, + 174.6896209716797 + ], + [ + 331.5082702636719, + 173.87335205078125 + ], + [ + 366.02880859375, + 178.38970947265625 + ], + [ + 398.40191650390625, + 185.2624969482422 + ], + [ + 421.6958312988281, + 187.925537109375 + ], + [ + 433.3564453125, + 191.97659301757812 + ], + [ + 434.5255126953125, + 192.33200073242188 + ], + [ + 434.23876953125, + 193.5959014892578 + ] + ], + "depth_max": 1.9346733093261719, + "depth_min": 0.2633839547634125, + "intrinsic": [ + [ + 463.8355407714844, + 0.0, + 259.0 + ], + [ + 0.0, + 463.3002624511719, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -2.0453320757951587e-05, + -0.00010259795817546546, + 5.963775038253516e-06 + ], + [ + 2.0452083845157176e-05, + 1.0, + -1.2070844604750164e-05, + -2.698749813134782e-05 + ], + [ + 0.00010259820555802435, + 1.2068747309967875e-05, + 1.0, + 7.07379003870301e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 22 + ], + "object_trajectory": [ + [ + 293.25, + 242.25001525878906 + ], + [ + 293.7008972167969, + 242.4390869140625 + ], + [ + 293.67034912109375, + 242.760009765625 + ], + [ + 294.0325012207031, + 241.93869018554688 + ], + [ + 294.35772705078125, + 241.5771484375 + ], + [ + 294.3473815917969, + 241.50009155273438 + ], + [ + 294.3596496582031, + 241.2574005126953 + ], + [ + 294.6884460449219, + 241.2698516845703 + ], + [ + 295.34722900390625, + 241.8804931640625 + ], + [ + 301.15338134765625, + 242.9752960205078 + ], + [ + 308.572998046875, + 234.2364501953125 + ], + [ + 313.2420654296875, + 229.41368103027344 + ], + [ + 308.57305908203125, + 230.16622924804688 + ], + [ + 306.71826171875, + 213.8738555908203 + ], + [ + 300.9604797363281, + 190.77493286132812 + ], + [ + 303.25128173828125, + 179.80941772460938 + ], + [ + 333.5518493652344, + 175.1802978515625 + ], + [ + 367.1725769042969, + 180.92538452148438 + ], + [ + 399.11248779296875, + 188.9276580810547 + ], + [ + 421.64056396484375, + 191.32577514648438 + ], + [ + 435.94696044921875, + 195.30172729492188 + ], + [ + 452.3211669921875, + 250.28158569335938 + ], + [ + 459.85638427734375, + 266.67864990234375 + ] + ] +} \ No newline at end of file diff --git a/007595/lang.txt b/007595/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..51031e5359f64e6112e760ba2ea59b70067281f4 --- /dev/null +++ b/007595/lang.txt @@ -0,0 +1 @@ +put eggplant into pot or pan diff --git a/007595/object.ply b/007595/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..6a8f099aa7ab2cabd0ccb6218e51c3f52b382814 Binary files /dev/null and b/007595/object.ply differ diff --git a/007627/FAIL b/007627/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007627/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007647_v2/FAIL b/007647_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/007647_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/007652/FAIL b/007652/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007652/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007656/FAIL b/007656/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..aaf6c42c619234f9c8379cbcf60a65cd17ba1254 --- /dev/null +++ b/007656/FAIL @@ -0,0 +1 @@ +Too large intersection between gripper and object mask diff --git a/007697_v2/FAIL b/007697_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007697_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007703_v2/FAIL b/007703_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/007703_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/007707_v2/FAIL b/007707_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/007707_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/007714_v2/FAIL b/007714_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/007714_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/007721_v2/FAIL b/007721_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/007721_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/007763_v2/FAIL b/007763_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007763_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007775_v2/FAIL b/007775_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007775_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007800_v2/FAIL b/007800_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/007800_v2/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/007813_v2/FAIL b/007813_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/007813_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/007832_v2/FAIL b/007832_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/007832_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/007851_v2/data.json b/007851_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..38015856410d8cc2a4e315e202a1d2269b3c9986 --- /dev/null +++ b/007851_v2/data.json @@ -0,0 +1,623 @@ +{ + "action_start": 10, + "action_end": 24, + "object_name": "ball", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.901343, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.805372, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.64153579618187e-10, + -1.6496290444756312e-11, + -6.343536806951988e-12, + -1.1432230749978585e-08, + -5.1625662174521424e-08, + -5.11078426941621e-07, + 1.0 + ], + [ + -0.007412841736887943, + -0.0005085192750295814, + 0.015095880948204424, + 0.014321482234318809, + -0.06475668613085478, + -0.0301452232606021, + 1.0 + ], + [ + 0.0016852100361042788, + 0.0012717743894830325, + 0.004717954465318683, + 0.025238867276683022, + -0.03195850505733904, + -0.026886825793795893, + 1.0 + ], + [ + -0.003964284988200506, + 0.0009717626664525608, + 0.003899498261080006, + 0.02243849826686799, + -0.02101854923905067, + -0.012612806114239844, + 1.0 + ], + [ + -0.006435242471350522, + -0.003445276548625073, + -0.005400840801309037, + 0.013892582323057541, + 0.00698434104197145, + -0.0216421052046861, + 1.0 + ], + [ + -0.007043559785844478, + -0.003051219622324991, + -0.008080203980915468, + -0.007797458930301172, + 0.010419975401639395, + -0.010404346556276907, + 1.0 + ], + [ + -0.00715256321044333, + -0.0029140425131044673, + -0.01199041985236074, + -0.011926481247710176, + 0.027013929753966777, + 0.003004283495347249, + 1.0 + ], + [ + -0.005569312202949456, + -0.004727129139366362, + -0.007626855869790929, + -0.005075065508127126, + 0.01577775683057384, + -0.010259666892562056, + 1.0 + ], + [ + -0.005488389913403252, + -0.008130403830205593, + -0.005533204751336618, + 0.004074586454859872, + 0.007881902311237794, + -0.013338631985929309, + 1.0 + ], + [ + -0.0020605348979503835, + -0.0062755723865298985, + -0.005993640821774081, + -6.744241598806875e-05, + 0.0029707176066900935, + -0.008200789644553652, + 1.0 + ], + [ + 0.0012284103471588703, + -0.0022456745982966514, + -0.01287801698077861, + -0.0001551265094028162, + 0.029839721451950733, + -0.016179781177670133, + 0.901343 + ], + [ + 0.002096894124023585, + 0.00014604188992453637, + 0.0012130542888747, + 0.01171502430230492, + -0.011723223072785493, + 0.013509273714433672, + 0.0 + ], + [ + 0.004963409638182287, + -0.0009404505444417233, + 0.011684294062619425, + 0.001677752513692501, + -0.028661944651813296, + -0.0033909070656638536, + 0.0 + ], + [ + 0.01127407862322502, + -0.006870954524164086, + 0.03373375382521927, + -0.014977559179833358, + -0.03980108348079799, + -0.016189608413744033, + 0.0 + ], + [ + 0.011929796680169719, + -0.008073630311777727, + 0.031086430270526585, + -0.017249998821328417, + -0.03488106179213051, + -0.051211894586207285, + 0.0 + ], + [ + 0.0157168009371611, + -0.002906976270629469, + 0.017529337483301877, + 0.01856564956657558, + -0.03390940439174333, + -0.044574021523929336, + 0.0 + ], + [ + 0.02507649211017343, + -0.002167514162164874, + 0.004537753181269963, + 0.02834690784940681, + -0.028814894391012036, + -0.04797002573543832, + 0.0 + ], + [ + 0.025023206973870615, + -0.003242656363621234, + 0.0016435092323205114, + -0.003346403783721593, + -0.028951520640522525, + -0.03452268364365421, + 0.0 + ], + [ + 0.0247477516793444, + -0.005290566091097633, + 0.004440161443996615, + -0.0077213301426641906, + -0.005664630773629612, + -0.016914008629386336, + 0.0 + ], + [ + 0.01877715697217225, + 0.0010480390131854117, + 0.0023048949983158346, + -0.006653558451664702, + -0.007560683720812462, + -0.0018089564970200538, + 0.0 + ], + [ + 0.024485756487666654, + -0.0034897906422421965, + -0.010332822117591817, + -0.007577326876028779, + 0.006775333539204037, + -0.002099014422223237, + 0.0 + ], + [ + 0.012771549711501018, + -0.005478553128749897, + -0.010053053746966106, + 0.004317186809026001, + 0.007255172482216989, + -0.004585475483193156, + 0.0 + ], + [ + 0.010289334748127488, + -0.009737084369286261, + -0.011803009640386941, + 0.0017255670386050592, + 0.007046432266443899, + -0.009805510191079109, + 0.0 + ], + [ + 0.004788750807282971, + -0.0068332010800501025, + -0.00788513434864728, + 0.009852294893095923, + 0.002829792660146433, + -0.008264903651945252, + 0.0 + ], + [ + -0.00012586385106222453, + -0.0004547029570788619, + -0.0040281247422769145, + -0.007117012553280995, + -0.010965872055765746, + 0.05055189134185406, + 0.805372 + ], + [ + -0.005404176988398235, + 0.0020301189788232074, + 0.002604093747149927, + 0.013528766134100567, + -0.035171389402936605, + 0.02042236649072852, + 1.0 + ], + [ + -0.006377947509845938, + 0.001806452760238282, + 0.011701493570143412, + -0.0069039338916198215, + -0.0237140661507166, + -0.00017774863285945186, + 1.0 + ], + [ + -0.019755147040269372, + 0.01046067255369458, + 0.03240923509254738, + -0.023441835216622808, + -0.03254677769722371, + 0.010132582326113823, + 1.0 + ], + [ + -0.034537727974526033, + 0.009945940198440612, + 0.04439699138039911, + -0.013309257035896013, + -0.06003425209607315, + 0.02987612905056776, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 199.31219482421875, + 126.47557830810547 + ], + [ + 198.64297485351562, + 136.03997802734375 + ], + [ + 198.67254638671875, + 146.97100830078125 + ], + [ + 196.45265197753906, + 132.52505493164062 + ], + [ + 193.0568084716797, + 134.65670776367188 + ], + [ + 185.57461547851562, + 140.291015625 + ], + [ + 183.2733154296875, + 157.8162841796875 + ], + [ + 179.97088623046875, + 174.2989501953125 + ], + [ + 177.64495849609375, + 188.24130249023438 + ], + [ + 172.49391174316406, + 204.96182250976562 + ], + [ + 172.26034545898438, + 215.9427490234375 + ], + [ + 178.8441162109375, + 221.0702362060547 + ], + [ + 180.13470458984375, + 222.79833984375 + ], + [ + 182.2204132080078, + 224.54324340820312 + ], + [ + 192.91748046875, + 190.36105346679688 + ], + [ + 211.80453491210938, + 143.54583740234375 + ], + [ + 227.25277709960938, + 108.03168487548828 + ], + [ + 249.3717498779297, + 78.5582275390625 + ], + [ + 281.0289306640625, + 64.90838623046875 + ], + [ + 305.3177490234375, + 45.40022277832031 + ], + [ + 328.95867919921875, + 33.830848693847656 + ], + [ + 344.27044677734375, + 29.283973693847656 + ], + [ + 362.3524475097656, + 39.33258056640625 + ], + [ + 377.1021423339844, + 51.72346115112305 + ], + [ + 389.2872314453125, + 68.14453125 + ], + [ + 393.3967590332031, + 65.65289306640625 + ], + [ + 393.3773498535156, + 67.1944580078125 + ], + [ + 389.91961669921875, + 70.49235534667969 + ], + [ + 386.9032897949219, + 61.33515548706055 + ], + [ + 365.15625, + 15.469402313232422 + ], + [ + 348.0904541015625, + -5.197940349578857 + ] + ], + "depth_max": 2.8941147327423096, + "depth_min": 0.45881739258766174, + "intrinsic": [ + [ + 575.3361206054688, + 0.0, + 259.0 + ], + [ + 0.0, + 574.70751953125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 9.973050327971578e-05, + -1.8104803530150093e-05, + 2.175653207814321e-06 + ], + [ + -9.973073611035943e-05, + 1.0, + -1.2961031643499155e-05, + -3.4858785511460155e-05 + ], + [ + 1.8103510228684172e-05, + 1.2962836990482174e-05, + 1.0, + -2.487554411345627e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30 + ], + "object_trajectory": [ + [ + 182.0, + 240.00001525878906 + ], + [ + 182.3424835205078, + 240.19541931152344 + ], + [ + 182.29180908203125, + 240.2892608642578 + ], + [ + 182.31871032714844, + 240.3197479248047 + ], + [ + 182.40182495117188, + 240.61444091796875 + ], + [ + 182.56265258789062, + 240.72140502929688 + ], + [ + 182.44522094726562, + 240.50982666015625 + ], + [ + 182.46511840820312, + 240.71697998046875 + ], + [ + 182.40530395507812, + 240.2938232421875 + ], + [ + 181.3438262939453, + 239.42259216308594 + ], + [ + 174.61050415039062, + 240.14666748046875 + ], + [ + 176.71165466308594, + 240.2615509033203 + ], + [ + 178.60736083984375, + 239.85215759277344 + ], + [ + 180.05923461914062, + 241.85667419433594 + ], + [ + 191.2991180419922, + 209.1418914794922 + ], + [ + 209.11798095703125, + 161.61439514160156 + ], + [ + 224.9783172607422, + 127.07525634765625 + ], + [ + 246.2384490966797, + 97.85179901123047 + ], + [ + 276.4014587402344, + 83.08757019042969 + ], + [ + 301.3257141113281, + 64.0335693359375 + ], + [ + 326.20098876953125, + 49.64862060546875 + ], + [ + 341.1927795410156, + 44.074790954589844 + ], + [ + 356.5720520019531, + 56.724525451660156 + ], + [ + 371.9815979003906, + 67.89061737060547 + ], + [ + 383.77227783203125, + 82.91956329345703 + ], + [ + 389.30352783203125, + 82.72830200195312 + ], + [ + 394.67852783203125, + 96.51261901855469 + ], + [ + 387.05108642578125, + 101.94249725341797 + ], + [ + 374.7065124511719, + 103.61957550048828 + ], + [ + 374.3769836425781, + 102.24559020996094 + ], + [ + 373.8384704589844, + 101.81837463378906 + ] + ] +} \ No newline at end of file diff --git a/007851_v2/lang.txt b/007851_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..b1d8000291870afb784e6c485955dc965b301e37 --- /dev/null +++ b/007851_v2/lang.txt @@ -0,0 +1 @@ +put the ball in the cup diff --git a/007851_v2/object.ply b/007851_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..6d819fab3f93bc604bd1af6374869e38a96b976d Binary files /dev/null and b/007851_v2/object.ply differ diff --git a/007864_v2/FAIL b/007864_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007864_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007869/FAIL b/007869/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/007869/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/007907/data.json b/007907/data.json new file mode 100644 index 0000000000000000000000000000000000000000..26ba6fa41e1cb0a197ba1c541dfc2d75a652a1ba --- /dev/null +++ b/007907/data.json @@ -0,0 +1,458 @@ +{ + "action_start": 7, + "action_end": 17, + "object_name": "detergent", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.551115123125783e-17, + -6.938893903907228e-18, + 0.0, + 4.256500448754363e-09, + -2.804925714627322e-07, + 2.7900039520722088e-08, + 1.0 + ], + [ + 0.0015062179648594187, + -0.004927077800971361, + 0.012453543231999958, + 0.018577618070155025, + -0.024600963903946, + -0.3129605508094775, + 1.0 + ], + [ + 0.0008089985819741963, + -0.0077486279866504845, + 0.010958644687575458, + 0.05226447702112666, + -0.034847143187817266, + -0.22959741039003734, + 1.0 + ], + [ + -0.0035157565214179454, + -0.0028973051001843497, + -0.0045936236850958045, + -0.058274299499248616, + -0.06776966199493387, + -0.2662127611955933, + 1.0 + ], + [ + -0.004801132343461523, + 0.006788976867081499, + -0.012946655520272188, + -0.01988640785540629, + -0.08984146034413097, + -0.13469467969130747, + 1.0 + ], + [ + 0.0009969793318658493, + 0.007637686214194972, + -0.012510959688073003, + -0.012221905222588618, + -0.04426152357757882, + -0.0465007329519165, + 1.0 + ], + [ + 0.004946427430398165, + 0.006261151665200779, + -0.014643382159609142, + -0.02665158506333834, + -0.03368249461508975, + -0.02654610375758243, + 1.0 + ], + [ + -0.0007637431175107623, + 0.0019080605083616857, + -0.01719320434081764, + -0.04819766316342832, + -0.01752655122272984, + -0.0041295009459196615, + 1.0 + ], + [ + -0.010721610217829358, + -0.0010016315967437623, + -0.012020538986539361, + -0.0407127223027464, + -0.00472152165763027, + 0.03591109310135923, + 0.0 + ], + [ + -0.004862010729302313, + -0.001807842993945763, + -0.00026280127815020426, + -0.00661134535761074, + -0.005419091150832359, + 0.024440750374628027, + 0.0 + ], + [ + 0.0038662131371235697, + -0.0015398802261775736, + 0.005416853733348367, + 0.009328360936403378, + 0.0010922339888929016, + 0.00949288139661071, + 0.0 + ], + [ + 0.0037893975051211115, + 0.0003351131451028999, + 0.0016415574303198927, + 0.003241223861034022, + -0.0029670467614549244, + 0.01708227669751094, + 0.0 + ], + [ + 0.012270351983969169, + 0.01153567744563011, + 0.02203972190031875, + 0.039611311418447745, + -0.04282090298596867, + 0.04562308865900468, + 0.0 + ], + [ + 0.017858377574271278, + 0.017636676322137425, + 0.02208227013494589, + 0.06113977907205263, + -0.052628689324282746, + 0.10873754251051489, + 0.0 + ], + [ + 0.024191804365177733, + 0.028841764651159348, + 0.015152328800262044, + 0.09088403134440912, + -0.0625912984959775, + 0.0947002310497752, + 0.0 + ], + [ + 0.01592396538532928, + 0.028349890890791585, + 0.023721012045159445, + 0.04753120783345429, + 0.007981339330043422, + 0.06614553529561375, + 0.0 + ], + [ + -0.0030815707811600035, + 0.018614984946928786, + 0.00844457669784976, + -0.00740106691700425, + 0.04268903117593745, + 0.04188571895775006, + 0.0 + ], + [ + -0.005471249445258591, + 0.01422919952348782, + -0.012346022995326722, + -0.04858439625571185, + 0.0526532197564344, + 0.032439857908430805, + 0.0 + ], + [ + -0.004230058488954941, + 0.0036124721335090842, + -0.015389921820538083, + -0.04248643221784509, + 0.025595708558629887, + 0.02551008212995679, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 248.8804473876953, + 199.95948791503906 + ], + [ + 248.82859802246094, + 199.95716857910156 + ], + [ + 247.68646240234375, + 204.4804229736328 + ], + [ + 255.10723876953125, + 194.36392211914062 + ], + [ + 267.5785217285156, + 184.45175170898438 + ], + [ + 267.322509765625, + 191.88595581054688 + ], + [ + 234.7955780029297, + 219.0828857421875 + ], + [ + 225.21658325195312, + 230.92642211914062 + ], + [ + 222.76980590820312, + 239.7489013671875 + ], + [ + 219.33139038085938, + 256.331787109375 + ], + [ + 217.1409149169922, + 270.863525390625 + ], + [ + 214.62246704101562, + 270.04656982421875 + ], + [ + 215.15106201171875, + 270.362548828125 + ], + [ + 214.60015869140625, + 255.29244995117188 + ], + [ + 209.8443603515625, + 220.46034240722656 + ], + [ + 205.434326171875, + 174.64813232421875 + ], + [ + 197.97805786132812, + 116.70142364501953 + ], + [ + 162.88092041015625, + 58.88374710083008 + ], + [ + 127.43495178222656, + 37.817466735839844 + ], + [ + 103.72682189941406, + 49.164710998535156 + ], + [ + 98.19174194335938, + 60.917503356933594 + ], + [ + 98.63749694824219, + 61.550926208496094 + ] + ], + "depth_max": 1.4572346210479736, + "depth_min": 0.04872272163629532, + "intrinsic": [ + [ + 492.13787841796875, + 0.0, + 259.0 + ], + [ + 0.0, + 491.7720947265625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -1.0566044693405274e-05, + -5.556071118917316e-05, + -1.1637789611995686e-05 + ], + [ + 1.0565602678980213e-05, + 1.0, + -7.950676263135392e-06, + -3.984531213063747e-05 + ], + [ + 5.556079850066453e-05, + 7.950088729558047e-06, + 1.0, + 4.822399205295369e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21 + ], + "object_trajectory": [ + [ + 273.75, + 305.7500305175781 + ], + [ + 274.05267333984375, + 305.9107666015625 + ], + [ + 273.7576599121094, + 305.79425048828125 + ], + [ + 259.01580810546875, + 311.92498779296875 + ], + [ + 259.0304260253906, + 311.97222900390625 + ], + [ + 259.1640930175781, + 312.2518310546875 + ], + [ + 259.3858642578125, + 312.785888671875 + ], + [ + 259.67242431640625, + 313.267822265625 + ], + [ + 276.051513671875, + 307.1203308105469 + ], + [ + 279.8079528808594, + 314.09356689453125 + ], + [ + 295.87939453125, + 316.24786376953125 + ], + [ + 298.645263671875, + 313.3718566894531 + ], + [ + 300.33587646484375, + 316.36956787109375 + ], + [ + 300.0954284667969, + 300.67340087890625 + ], + [ + 297.95611572265625, + 242.41482543945312 + ], + [ + 280.1300048828125, + 191.03732299804688 + ], + [ + 267.5080261230469, + 122.19189453125 + ], + [ + 235.81008911132812, + 79.20840454101562 + ], + [ + 199.72265625, + 65.81695556640625 + ], + [ + 175.4527587890625, + 83.2101821899414 + ], + [ + 155.2901611328125, + 147.69677734375 + ], + [ + 163.32115173339844, + 151.59767150878906 + ] + ] +} \ No newline at end of file diff --git a/007907/lang.txt b/007907/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..3cca7ebd771bcf4a923f37921433e242eb6ffe45 --- /dev/null +++ b/007907/lang.txt @@ -0,0 +1 @@ +put detergent from sink into drying rack diff --git a/007932_v2/data.json b/007932_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..63286efafd0f561fd11a3aa3f46bbdc53224c6f3 --- /dev/null +++ b/007932_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 20, + "action_end": 45, + "object_name": "ring", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -3.7981739975379014e-10, + -1.0126274818667014e-10, + 1.3711601298815879e-11, + 6.992426998790656e-08, + 5.921606782114378e-10, + 5.9529575697548736e-08, + 1.0 + ], + [ + -0.022382129592154687, + 0.025136687013983444, + 0.0013157988432440232, + 0.020679677443605767, + -0.017711273217458415, + 0.017993659523500828, + 1.0 + ], + [ + -0.02087992543715461, + 0.021067582331997806, + -0.001498809507788787, + 0.004006586700040402, + -0.011656502670816943, + 0.026943454284580785, + 1.0 + ], + [ + -0.01883985052628534, + 0.011522892248908345, + -0.002191618480397714, + -0.0008376438276862006, + -0.008547177876086385, + 0.0019726508386117194, + 1.0 + ], + [ + -0.01249151856831382, + 0.012817718293807075, + -0.0010843333518968101, + 0.009022148895173032, + 0.010901448967149731, + 0.05376867566001841, + 1.0 + ], + [ + -0.00399600504499828, + 0.013491908428109494, + -0.011984119322865916, + 0.007030234262880859, + 0.031015125205907053, + 0.07552671861789473, + 1.0 + ], + [ + -0.0002801396715887694, + 0.017719252815898947, + -0.019162207651130497, + 0.00891121679137749, + -0.002508699042717277, + 0.10412313959194262, + 1.0 + ], + [ + 0.00598805724835641, + 0.01024510999069678, + -0.011055806066384746, + 0.008127989053583886, + -0.00962102748272274, + 0.11096030053160016, + 1.0 + ], + [ + 0.008003504687158325, + 0.01177055500290828, + -0.00535084487732336, + 0.0007398902718355348, + -0.018305966634974944, + 0.08859487877514077, + 1.0 + ], + [ + 0.0037984436781587916, + 0.015532871710559955, + -0.00473857172370469, + -0.020625469583730634, + -0.026498836705805853, + 0.08162758061717851, + 1.0 + ], + [ + 0.0036736972278590962, + 0.007483674851049414, + -0.003596417091410259, + -0.016222881583967796, + -0.02983320983208673, + 0.05127931565435638, + 1.0 + ], + [ + 0.0011569881023218154, + 0.00447349402598568, + -0.005261453868910963, + -0.02439290008087619, + -0.006532712089395242, + 0.032633017001780944, + 1.0 + ], + [ + 0.0014506423345047037, + 0.00014829118064457053, + -0.002328996190860959, + -0.026604639143163335, + -0.011406486604915347, + 0.0026010908788195305, + 1.0 + ], + [ + 0.0008514775085946003, + -0.002663183140800572, + 0.0003975255749771381, + -0.022378301915167445, + -0.01228035552124784, + -0.008770715507838953, + 1.0 + ], + [ + 0.0007486181300803418, + -0.0007483626264388685, + -0.0009898884226247143, + -0.009563107806149565, + -0.001920631221896257, + -0.0036472312673296674, + 1.0 + ], + [ + -0.00011000730581914309, + 0.00036445168081530865, + -0.003514398885783712, + -0.003084274474102893, + 0.007295091487026375, + 0.0022533516487725047, + 1.0 + ], + [ + -0.0018754203725508678, + 0.0024110864948840155, + -0.004942519048512964, + 0.0032218294061694412, + 0.015518227317284965, + 0.0036548444555160116, + 1.0 + ], + [ + -0.0017819259431718637, + 0.001553678290109356, + -0.003553561840855063, + -0.012190289419486598, + 0.0061085807087471935, + 0.007862132583867249, + 1.0 + ], + [ + -0.0007782651198813273, + -0.0017471017720816565, + -0.00084348376503985, + -0.04178382129774395, + -0.014354844500587329, + -0.003827808168230463, + 1.0 + ], + [ + -0.0007665506964691926, + 0.00014879570479321008, + -0.0020638885273606966, + -0.015714626763347728, + 0.0010894300002319993, + 0.0020461853071944386, + 1.0 + ], + [ + -0.000698952856883317, + 0.002331401808397575, + -0.0060339275216757735, + -0.015782977468977843, + 0.012610177280278634, + 0.0187121938263024, + 1.0 + ], + [ + -0.00018148502475165418, + 2.44200253212562e-05, + -0.004006895662928375, + -0.0007485494231396576, + 0.011018485232383378, + 0.025960740907294808, + 0.0 + ], + [ + -0.0010870488456085348, + -0.001573261756474216, + -0.001939801476815297, + 0.02136266191940604, + 0.008283564055851967, + 0.003206305266320854, + 0.0 + ], + [ + 0.006356356323466511, + -0.013272366472236403, + 0.025470612233605503, + 0.00603592635846748, + -0.06090821685479054, + -0.07821524253855469, + 0.0 + ], + [ + 0.013935684923733094, + -0.02836723884803625, + 0.047336186712075165, + -0.016533187047635563, + -0.08591332267230505, + -0.0804943967639908, + 0.0 + ], + [ + 0.010070622538056573, + -0.021969032984134763, + 0.03872247158154445, + -0.013135391897775843, + -0.06995338159578825, + -0.0748790924400174, + 0.0 + ], + [ + 0.005929243958815722, + -0.01897427292791493, + 0.02463529211855016, + -0.00967893879568389, + -0.026550643366235725, + -0.08009903473971915, + 0.0 + ], + [ + 0.01254289479227677, + -0.017270414819703202, + 0.0020101507861527146, + 0.03527817061071288, + 0.027473144829271965, + -0.04383285862058369, + 0.0 + ], + [ + 0.006397389743523607, + -0.010088288903719655, + -0.004357143491951404, + 0.009131591387275562, + 0.02371228684973993, + -0.050903071008895684, + 0.0 + ], + [ + 0.014773741348886982, + -0.01718986036504601, + -0.009103938446875376, + 0.013913174855315496, + 0.023453649526226326, + -0.03772813227099651, + 0.0 + ], + [ + 0.011264524560675615, + -0.011171494323134315, + -0.009004489965224377, + 0.011995271989325759, + 0.027323534518479003, + -0.020844888889484183, + 0.0 + ], + [ + 0.0056511848224836125, + -0.0037843148574663726, + -0.003664340098932961, + -0.00505499007753447, + 0.008334853121920177, + -0.003896665383709007, + 0.0 + ], + [ + 0.00115055182971191, + -0.0006125674264089026, + -0.002652249273484286, + 0.008059994680142207, + 0.0069064143576199385, + 0.0017465635107115443, + 0.0 + ], + [ + -0.00216993149281014, + 0.0012566515160806618, + -0.00039528607761743495, + 0.0003813698663122566, + 0.005445711067359088, + 0.0026770559231781726, + 0.0 + ], + [ + -0.003364641511917399, + 0.0007883478250300946, + 0.004187693942183449, + 0.008737019682364948, + -0.006137796144952909, + 0.0017103251100863241, + 0.0 + ], + [ + -0.002775414322673919, + -0.00022738176379846764, + 0.0011536001647338423, + -0.0070619307664938485, + 0.004053132983385843, + -0.00042763575817121493, + 0.0 + ], + [ + -0.0012257643159360176, + -0.0015103558192353095, + 4.3748662464634935e-05, + -0.0075663544810807715, + 0.01235393415723841, + 0.001749607227725799, + 0.0 + ], + [ + -0.0002528027343228767, + -0.0011841854470052288, + -0.0016344295177151552, + -0.006772650085358574, + 0.015751814714378417, + -0.0006696412632142785, + 0.0 + ], + [ + 8.703035921808766e-05, + 0.002316006075386512, + -0.0015177745887119398, + 0.004704046289161798, + 0.00864396142366109, + 0.00633284983136402, + 0.0 + ], + [ + -0.000293087536028247, + 0.0018054430061221483, + 0.0002966113883575011, + 0.003255193228760897, + -0.0025194115372301745, + 0.0023057861986310675, + 0.0 + ], + [ + -0.0001463599144458927, + 0.0021077367222332444, + -0.0005636520182605992, + 0.00405773073061301, + -0.0010709540889343578, + 0.0006061048425561433, + 0.0 + ], + [ + -0.000221914789083566, + 0.0016174857359284311, + -0.0025048824704559935, + 0.0055527427032936155, + 0.006206902739337075, + 0.0008333592525065412, + 0.0 + ], + [ + -0.001590723648054293, + 0.0012833030448033689, + -0.0004763189377940541, + 0.0003632298437978562, + 0.005431430301524685, + 0.002364018135275155, + 0.0 + ], + [ + -0.002670579942877338, + 0.0007766163633933371, + 4.607103513395994e-05, + 0.0006007973298362633, + 0.006533036807644108, + 0.003055100731249233, + 0.0 + ], + [ + -0.001833150244462678, + 0.00031174530957446545, + -1.6336358941118623e-05, + -0.0007509347330382289, + 0.007994811056604554, + 0.0011079091712121267, + 0.0 + ], + [ + -0.0012328743126474029, + 0.0008570442278807849, + -0.0021052553932456447, + 0.005479787949374005, + 0.00529570976227898, + -0.001838258780378942, + 0.0 + ], + [ + -0.0003739408736976868, + -0.0032918455328896923, + 0.005154283190674264, + 0.042911992059481714, + -0.017081063722339206, + -0.030762291065664527, + 1.0 + ], + [ + -0.0014234901453764048, + -0.0005295903124662299, + 0.0038444787674711822, + -6.181322182044568e-05, + -0.012118487283879648, + -0.0030887872987347335, + 1.0 + ] + ], + "gripper_centers": [ + [ + 514.734375, + 140.2743682861328 + ], + [ + 511.2811584472656, + 147.60372924804688 + ], + [ + 485.1584777832031, + 166.5099334716797 + ], + [ + 416.9934387207031, + 172.6695556640625 + ], + [ + 377.0934143066406, + 181.36459350585938 + ], + [ + 347.8057861328125, + 186.97706604003906 + ], + [ + 316.88494873046875, + 191.55429077148438 + ], + [ + 290.4466857910156, + 207.052001953125 + ], + [ + 273.7572021484375, + 211.442138671875 + ], + [ + 265.76812744140625, + 211.4974365234375 + ], + [ + 252.8788604736328, + 205.38536071777344 + ], + [ + 245.2428436279297, + 199.41299438476562 + ], + [ + 241.97113037109375, + 199.58102416992188 + ], + [ + 240.73406982421875, + 200.84060668945312 + ], + [ + 245.14259338378906, + 200.95028686523438 + ], + [ + 248.033935546875, + 200.8129425048828 + ], + [ + 248.12210083007812, + 205.24441528320312 + ], + [ + 245.30191040039062, + 208.96453857421875 + ], + [ + 240.83712768554688, + 213.8723907470703 + ], + [ + 241.43594360351562, + 217.0145263671875 + ], + [ + 242.2566680908203, + 217.2318572998047 + ], + [ + 240.90603637695312, + 223.50491333007812 + ], + [ + 238.8613739013672, + 225.98294067382812 + ], + [ + 237.44558715820312, + 225.633056640625 + ], + [ + 235.80621337890625, + 221.32107543945312 + ], + [ + 264.4175720214844, + 190.67877197265625 + ], + [ + 308.8489990234375, + 140.2579345703125 + ], + [ + 343.23651123046875, + 103.79267120361328 + ], + [ + 380.2102355957031, + 81.62770080566406 + ], + [ + 412.7795715332031, + 89.13347625732422 + ], + [ + 437.7330322265625, + 100.71571350097656 + ], + [ + 472.6185302734375, + 115.70360565185547 + ], + [ + 485.9958801269531, + 125.22398376464844 + ], + [ + 486.10491943359375, + 128.6246337890625 + ], + [ + 485.10784912109375, + 129.40988159179688 + ], + [ + 483.197509765625, + 129.9925079345703 + ], + [ + 484.2470703125, + 131.64596557617188 + ], + [ + 484.10943603515625, + 134.92926025390625 + ], + [ + 484.7855529785156, + 137.13397216796875 + ], + [ + 484.1899719238281, + 137.90908813476562 + ], + [ + 483.4352111816406, + 137.98179626464844 + ], + [ + 482.777099609375, + 137.58908081054688 + ], + [ + 482.04266357421875, + 137.5749969482422 + ], + [ + 481.3777160644531, + 137.6937255859375 + ], + [ + 478.99761962890625, + 141.216552734375 + ], + [ + 476.684814453125, + 142.44949340820312 + ], + [ + 476.12762451171875, + 142.59344482421875 + ], + [ + 467.3338623046875, + 140.747802734375 + ] + ], + "depth_max": 1.996727466583252, + "depth_min": 0.4683479964733124, + "intrinsic": [ + [ + 600.6544189453125, + 0.0, + 259.0 + ], + [ + 0.0, + 599.2735595703125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.776921534561552e-05, + -4.099423676962033e-06, + -4.427357907843543e-06 + ], + [ + -5.7769499107962474e-05, + 1.0, + -6.940522143850103e-05, + -8.411961971432902e-06 + ], + [ + 4.095414624316618e-06, + 6.940545426914468e-05, + 1.0, + -2.7206260710954666e-06 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 252.75, + 248.75003051757812 + ], + [ + 252.9425048828125, + 248.73190307617188 + ], + [ + 252.8305206298828, + 248.903076171875 + ], + [ + 253.01361083984375, + 248.86123657226562 + ], + [ + 252.91232299804688, + 249.0732421875 + ], + [ + 252.90377807617188, + 249.01116943359375 + ], + [ + 252.83546447753906, + 248.93527221679688 + ], + [ + 252.63623046875, + 248.7432403564453 + ], + [ + 252.29873657226562, + 248.82913208007812 + ], + [ + 252.20382690429688, + 248.96607971191406 + ], + [ + 252.29306030273438, + 248.7748260498047 + ], + [ + 252.56253051757812, + 248.64309692382812 + ], + [ + 252.88665771484375, + 248.42922973632812 + ], + [ + 253.27085876464844, + 248.325439453125 + ], + [ + 253.25689697265625, + 248.59722900390625 + ], + [ + 253.2142791748047, + 248.66485595703125 + ], + [ + 253.2359619140625, + 248.6338653564453 + ], + [ + 253.0747833251953, + 248.7401123046875 + ], + [ + 252.04190063476562, + 249.337646484375 + ], + [ + 252.07315063476562, + 249.2556610107422 + ], + [ + 252.4174041748047, + 248.7991485595703 + ], + [ + 249.7665252685547, + 247.22232055664062 + ], + [ + 245.5650634765625, + 245.83868408203125 + ], + [ + 245.00399780273438, + 244.43194580078125 + ], + [ + 241.95428466796875, + 241.0115509033203 + ], + [ + 271.8199462890625, + 218.58892822265625 + ], + [ + 296.82122802734375, + 167.7512969970703 + ], + [ + 331.68829345703125, + 131.3676300048828 + ], + [ + 362.1650390625, + 116.48468780517578 + ], + [ + 392.7081298828125, + 120.09066772460938 + ], + [ + 417.9296875, + 132.10855102539062 + ], + [ + 448.8277282714844, + 145.7684326171875 + ], + [ + 462.64276123046875, + 154.79551696777344 + ], + [ + 462.0762023925781, + 158.5205535888672 + ], + [ + 460.9414978027344, + 158.9373779296875 + ], + [ + 459.6225891113281, + 158.8970184326172 + ], + [ + 459.6861267089844, + 160.0894317626953 + ], + [ + 459.5313415527344, + 162.9670867919922 + ], + [ + 457.5113830566406, + 161.7093048095703 + ], + [ + 456.36859130859375, + 162.612548828125 + ], + [ + 455.70257568359375, + 161.89077758789062 + ], + [ + 455.0380859375, + 161.99363708496094 + ], + [ + 454.5311279296875, + 161.63214111328125 + ], + [ + 453.5086669921875, + 161.61978149414062 + ], + [ + 454.2862548828125, + 168.26858520507812 + ], + [ + 452.0010681152344, + 169.72909545898438 + ], + [ + 451.575439453125, + 170.35247802734375 + ], + [ + 449.81982421875, + 181.64944458007812 + ] + ] +} \ No newline at end of file diff --git a/007932_v2/lang.txt b/007932_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..9f7a7549c2c89ee3c3137956cb9f89d4e89d5743 --- /dev/null +++ b/007932_v2/lang.txt @@ -0,0 +1 @@ +Put the ring on the cylinder diff --git a/007932_v2/object.ply b/007932_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..80b80db3ebdb7db42fe751d2c3266709957a5c80 Binary files /dev/null and b/007932_v2/object.ply differ diff --git a/008001/FAIL b/008001/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/008001/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/008019_v2/FAIL b/008019_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/008019_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/008022_v2/FAIL b/008022_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/008022_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/008033/data.json b/008033/data.json new file mode 100644 index 0000000000000000000000000000000000000000..b32280a6f1cfb66d323f3a19cc077b147602e89a --- /dev/null +++ b/008033/data.json @@ -0,0 +1,458 @@ +{ + "action_start": 5, + "action_end": 16, + "object_name": "lid", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.960684, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -7.621209219266234e-11, + -1.8623413922114196e-10, + -9.422251867619025e-11, + 4.405318336504971e-07, + -3.1913179980305816e-07, + -3.8486575870220556e-07, + 1.0 + ], + [ + -0.004402590955861041, + -0.002324663560014484, + -0.013494039699892546, + -0.011617325139928867, + 0.015313498328573986, + 0.016053983556171953, + 1.0 + ], + [ + -0.0009673929640593992, + -0.0009011368833206357, + -0.008958439784105154, + -0.007000715475517662, + 0.018457004350792908, + 0.025012063230720617, + 1.0 + ], + [ + -0.0005547843250046924, + -0.0013544431780163485, + -0.006068602367916204, + -0.007829746161329183, + 0.0039792688562568365, + -0.00596468562716976, + 1.0 + ], + [ + -0.000627543958821225, + 0.001243139961906961, + -0.005482853572841867, + -0.008421278017513325, + 0.004545058745291867, + -0.001487686664492673, + 1.0 + ], + [ + 0.0018332523696152903, + 0.002276545081125278, + -0.006122472213547531, + -0.008090327594781779, + -0.0019110056442555156, + 0.00015727359472233842, + 0.960684 + ], + [ + 0.0006665476883871424, + 0.0009904550898376108, + -0.0024075945074713834, + -0.0012603743970292498, + 0.0026468630932423762, + 0.003451472055084448, + 0.0 + ], + [ + -0.0007090632409913755, + 0.0005558229507599405, + -0.0055964626877263585, + -0.013001459436039194, + 0.011143481829093374, + 0.0012863390507060334, + 0.0 + ], + [ + -0.0037410854669152616, + 0.00046354793974774655, + 0.005247982277359231, + 0.009432600895933136, + -0.00935700715113458, + -0.005332753943337299, + 0.0 + ], + [ + 0.014213700704342996, + 0.0018211864834511565, + 0.012222920120636985, + 0.03553693300860065, + -0.04312163003516726, + -0.03374112901322428, + 0.0 + ], + [ + 0.024702136832950805, + 0.00862820351600907, + 0.011714558588561408, + 0.025635177545803786, + -0.031061272975477765, + -0.04107599292013702, + 0.0 + ], + [ + 0.022788707582517387, + 0.007222671648138598, + 0.00538425297295822, + 0.023701438697029245, + -0.05898393206716701, + -0.03808573687944947, + 0.0 + ], + [ + 0.02674840496489228, + 0.01041174826171598, + -0.0037975693883215977, + 0.006180443441527655, + -0.012391558023499413, + 0.003153561175204017, + 0.0 + ], + [ + 0.023964229576660723, + 0.007656046121424773, + -0.00968710737806508, + -0.004300191683394252, + -0.020613749327276693, + -0.020349690604784157, + 0.0 + ], + [ + 0.011443528920103418, + 0.006419103057658568, + -0.005976820156876644, + -0.00024214776172670207, + -0.03205373230230025, + 0.002219792326695596, + 0.0 + ], + [ + -0.000842325301675162, + 0.006069283613839391, + -0.0005040006364636085, + -0.005019452147703945, + 0.05446800687638452, + 0.009719590780076904, + 0.0 + ], + [ + -0.012804387464302847, + 0.0017222971179235436, + 0.0034111376341630084, + 0.012047614478168938, + -0.015820580646233675, + 0.019369535143850806, + 0.0 + ], + [ + -0.007758455445925627, + -0.0012159340811766506, + 0.004627342387866412, + -0.005003416848112896, + 0.010406775583080055, + -0.0012229502683341273, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 136.3703155517578, + 75.4019546508789 + ], + [ + 136.6404266357422, + 75.86753845214844 + ], + [ + 138.03271484375, + 91.43797302246094 + ], + [ + 142.51231384277344, + 116.76744079589844 + ], + [ + 145.27383422851562, + 129.03244018554688 + ], + [ + 148.20664978027344, + 139.8017120361328 + ], + [ + 152.06703186035156, + 149.42535400390625 + ], + [ + 153.37142944335938, + 151.7561492919922 + ], + [ + 150.18563842773438, + 153.13571166992188 + ], + [ + 150.57720947265625, + 152.28904724121094 + ], + [ + 145.82742309570312, + 154.7534637451172 + ], + [ + 146.57054138183594, + 130.56307983398438 + ], + [ + 163.188232421875, + 89.55532836914062 + ], + [ + 176.1440887451172, + 67.1576919555664 + ], + [ + 193.86788940429688, + 57.93681716918945 + ], + [ + 210.72238159179688, + 56.316184997558594 + ], + [ + 216.33187866210938, + 54.16155242919922 + ], + [ + 212.403076171875, + 53.217193603515625 + ], + [ + 201.34616088867188, + 63.07807159423828 + ], + [ + 197.68679809570312, + 52.970977783203125 + ], + [ + 198.85865783691406, + 54.76054382324219 + ], + [ + 198.89549255371094, + 54.96448516845703 + ] + ], + "depth_max": 1.5020267963409424, + "depth_min": 0.45039135217666626, + "intrinsic": [ + [ + 464.8937683105469, + 0.0, + 259.0 + ], + [ + 0.0, + 464.7427978515625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.037294977228157e-05, + -7.64034703024663e-05, + -1.729401083139237e-05 + ], + [ + -5.037369919591583e-05, + 1.0, + -9.792704076971859e-06, + -1.8724407709669322e-05 + ], + [ + 7.640297553734854e-05, + 9.79655214905506e-06, + 1.0, + 6.037894490873441e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21 + ], + "object_trajectory": [ + [ + 163.5, + 191.25 + ], + [ + 163.87709045410156, + 191.53868103027344 + ], + [ + 163.41790771484375, + 191.7678680419922 + ], + [ + 163.02508544921875, + 192.0400390625 + ], + [ + 162.92733764648438, + 192.151611328125 + ], + [ + 163.13160705566406, + 192.1743621826172 + ], + [ + 163.35826110839844, + 192.24639892578125 + ], + [ + 163.7290802001953, + 191.966064453125 + ], + [ + 165.8788604736328, + 192.63955688476562 + ], + [ + 166.62477111816406, + 192.88088989257812 + ], + [ + 163.16531372070312, + 196.15147399902344 + ], + [ + 163.04627990722656, + 170.35272216796875 + ], + [ + 176.01646423339844, + 131.34091186523438 + ], + [ + 188.03994750976562, + 108.55850219726562 + ], + [ + 203.68417358398438, + 96.72067260742188 + ], + [ + 219.58453369140625, + 92.27565002441406 + ], + [ + 224.96356201171875, + 89.23081970214844 + ], + [ + 220.5579376220703, + 90.42530059814453 + ], + [ + 209.83026123046875, + 98.4703598022461 + ], + [ + 207.75125122070312, + 112.39332580566406 + ], + [ + 207.9123077392578, + 112.57405090332031 + ], + [ + 207.796142578125, + 112.66605377197266 + ] + ] +} \ No newline at end of file diff --git a/008033/lang.txt b/008033/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..93182ed14dd97ff3b963b924134ea2626f95a9ed --- /dev/null +++ b/008033/lang.txt @@ -0,0 +1 @@ +put lid on pot or pan diff --git a/008065/FAIL b/008065/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/008065/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/008068_v2/FAIL b/008068_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/008068_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/008080/FAIL b/008080/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/008080/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/008099/FAIL b/008099/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/008099/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/008137_v2/data.json b/008137_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..4d84a6e17b1e31dc9af19698588271f7c20903e1 --- /dev/null +++ b/008137_v2/data.json @@ -0,0 +1,861 @@ +{ + "action_start": 17, + "action_end": 33, + "object_name": "big pawn", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.69304, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.657143, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.711192629931361e-11, + 1.3081345034970937e-11, + 1.9050984401136617e-10, + 3.786932402034651e-07, + -1.4501407933062266e-07, + -7.69410420572584e-08, + 1.0 + ], + [ + 0.0005782732986095995, + 0.03316270255631616, + 0.00877148647249712, + -0.024774215532918812, + -0.09144467562296664, + 0.06050560120440432, + 1.0 + ], + [ + 0.0016826374576418002, + 0.03135532697732819, + 0.007192471006359752, + -0.011382066944678316, + -0.06660259050272826, + 0.08333663885697724, + 1.0 + ], + [ + -0.005504607610664458, + 0.021654190728930954, + 0.0068820774735108, + -0.008504703272833853, + -0.02838894770358005, + 0.07757854154818303, + 1.0 + ], + [ + -0.004770966581960523, + 0.008361124569106801, + 0.0013423994295551495, + -0.016659424084599417, + -0.005442833543745458, + 0.04507133760278166, + 1.0 + ], + [ + -0.00010615594617763291, + 0.0029452559205074766, + 0.000768331959150978, + 0.0013373832490177291, + -0.008801138922396607, + 0.011716612820714933, + 1.0 + ], + [ + 0.007323640508695606, + 0.011055766456441768, + 0.016903055652585763, + 0.04902079113688832, + -0.02985062219162746, + 0.030143595343995973, + 1.0 + ], + [ + 0.0059034519467317526, + 0.012723923124921613, + 0.018119202299339277, + 0.0535086510728259, + -0.03096843695917438, + 0.008803528558618372, + 1.0 + ], + [ + 0.004487694579380863, + 0.009548990616109074, + 0.008786501822583337, + 0.061102866911408094, + 0.007954962377753729, + 0.003940350355176983, + 1.0 + ], + [ + -0.004077429985024805, + 0.01255940130634027, + 0.0016740673525486305, + 0.01708636257514331, + 0.04473643470585159, + 0.057878921686964804, + 1.0 + ], + [ + -0.0019474300167651726, + 0.017616865071606633, + -0.007726380154108009, + -0.004398749122182259, + 0.01675546595150773, + 0.0894224108569103, + 1.0 + ], + [ + -0.0038478124766622712, + 0.0196389584844886, + -0.00811824828735519, + -0.04861635648448121, + -0.00796660009229499, + 0.06881796403994406, + 1.0 + ], + [ + -0.0035549297007952396, + 0.012522667627535261, + -0.01109419944356567, + -0.04169648257433428, + 0.008006235722928124, + 0.04204753243345331, + 1.0 + ], + [ + 0.001327472345750369, + 0.001393898672058802, + -0.01070304171132469, + -0.026753579385637084, + 0.0057878782948342904, + 0.022682259551229163, + 1.0 + ], + [ + 0.004488394487209113, + -0.001483973064547256, + -0.011375026256615961, + -0.020275030483612434, + 0.0021855038165211654, + 0.01015733161101927, + 1.0 + ], + [ + 0.006749484693868102, + -0.0021827035884354196, + -0.011840723688800445, + -0.018271432969380677, + 0.0024208479043763584, + 0.020792720616785113, + 1.0 + ], + [ + 0.003956921734527885, + 0.002819185570408278, + -0.010340531621030505, + -0.005797241999806639, + 0.01646750956971038, + 0.02440898964453411, + 1.0 + ], + [ + 0.0012747533020965873, + 0.004714411700148802, + -0.009194322141693065, + -0.009624502075469754, + 0.016539704856614892, + 0.03154196307543349, + 0.69304 + ], + [ + 0.00024987878740795333, + 0.000688865476443673, + -0.002787375290210267, + -0.006303481978612806, + 0.008575491348867407, + 0.0024508213452371984, + 0.0 + ], + [ + 0.0005097955533613363, + -0.004098018161603018, + 0.001828886723857226, + -0.008130445779650079, + 0.0030613945205730663, + -0.013848112176968335, + 0.0 + ], + [ + -0.002044257478325373, + -0.022989939364803674, + 0.02329368943120047, + 0.05013409865886777, + -0.02854649195988023, + -0.04799218059699822, + 0.0 + ], + [ + 0.0061089321051070455, + -0.038314846851840306, + 0.036758468546612, + 0.10532683018490979, + 0.00450502118186142, + -0.11646747439767739, + 0.0 + ], + [ + 0.002288356256192281, + -0.03745019661593196, + 0.027180363783770797, + 0.05483684769826817, + -0.02090813355513773, + -0.10179815351462759, + 0.0 + ], + [ + 0.001026637585262613, + -0.026301319012175847, + 0.003099522174251218, + -0.03777916379952602, + 0.003990051237755806, + -0.08859532217822931, + 0.0 + ], + [ + 0.004359745195451181, + -0.034529310262258445, + -0.013152920610652152, + -0.06067754655980514, + 0.026475612636756605, + -0.16151897398767717, + 0.0 + ], + [ + 0.009269407583236466, + -0.054807988761467294, + -0.017919196189006198, + -0.04388769780029256, + 0.03326879573408392, + -0.1938317560623203, + 0.0 + ], + [ + 0.0035947468168706087, + -0.057865362375341546, + -0.014527389425608522, + -0.05512140221591433, + 0.015705489583548324, + -0.1600851988603078, + 0.0 + ], + [ + -0.0028494397032352015, + -0.04677538420462139, + -0.01599351234387654, + -0.0250314694175302, + 0.04445618816902129, + -0.09522332705957184, + 0.0 + ], + [ + -0.0016738347066425074, + -0.02081969074663327, + -0.016450403218560047, + -0.016597625732249575, + 0.042863938832672935, + -0.04343943068928028, + 0.0 + ], + [ + -0.002537417803066433, + 0.002545480035080122, + -0.02105011703207267, + 0.005556159172857427, + 0.023010102679437944, + 0.03009689599914717, + 0.0 + ], + [ + -0.00644669357458727, + 0.020176793329633097, + -0.014001396225748267, + 0.015186280253781015, + 0.03517288959681777, + 0.10012999065456114, + 0.0 + ], + [ + 0.0007150358946402258, + 0.016096295260455418, + -0.0010970834935380355, + 0.004085510916064896, + -0.011437402757561513, + 0.07066250497925948, + 0.0 + ], + [ + 0.0008721100687907879, + 0.007038953715916535, + 0.0006240784808208416, + 0.011914090166172064, + -0.008813777386845125, + 0.03175336135388121, + 0.0 + ], + [ + 0.0012017761594299015, + 0.0020824436467224983, + -1.0466659960822744e-05, + 0.00925413145202661, + 0.004402054381333078, + 0.019552716394021997, + 0.657143 + ], + [ + 0.0009077470552698585, + -0.0005910785658876094, + 0.0011724945589210445, + 0.010952942059120039, + 0.004253491504624651, + -0.007562431522068243, + 1.0 + ], + [ + 0.0016300743209986535, + 0.0004532847305971366, + 0.009263656019840742, + 0.010564334363903567, + -0.023317109558014727, + 0.0053729218074840025, + 1.0 + ], + [ + 0.005404023115959389, + 0.0061688998745078605, + 0.023731308349151853, + -0.0005078832427708673, + -0.07611547814588558, + 0.0411101761739204, + 1.0 + ], + [ + 0.004727211188499891, + 0.006960991645600573, + 0.023855505165777835, + -0.009234276448625928, + -0.04780804084900655, + 0.01728619637601951, + 1.0 + ], + [ + 0.0037902558262746244, + 0.008307371845916012, + 0.026370348311133454, + 0.010206167472109196, + -0.05618399227942187, + 0.024162276992446545, + 1.0 + ], + [ + -0.0008074483553939249, + 0.014334297623295827, + 0.011345282040203158, + -0.006742952900040419, + -0.024390431939573444, + 0.04505641700751874, + 1.0 + ], + [ + -0.006372150203753035, + 0.02454306758416755, + -0.013421248820856824, + 0.007798757400373625, + 0.05431369115093942, + 0.06290692367586388, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 417.1639404296875, + 139.99755859375 + ], + [ + 416.13531494140625, + 143.12274169921875 + ], + [ + 407.86431884765625, + 158.26979064941406 + ], + [ + 349.8822326660156, + 127.44868469238281 + ], + [ + 319.0409240722656, + 110.859375 + ], + [ + 293.6531982421875, + 97.2003173828125 + ], + [ + 286.4253234863281, + 99.16090393066406 + ], + [ + 281.2811279296875, + 95.66099548339844 + ], + [ + 277.4517822265625, + 57.675743103027344 + ], + [ + 268.98565673828125, + 31.37014389038086 + ], + [ + 258.91217041015625, + 20.256938934326172 + ], + [ + 244.8821258544922, + 19.217004776000977 + ], + [ + 220.32144165039062, + 21.960376739501953 + ], + [ + 194.50057983398438, + 26.297794342041016 + ], + [ + 184.33486938476562, + 34.07315444946289 + ], + [ + 190.83087158203125, + 44.312530517578125 + ], + [ + 194.89541625976562, + 58.28852462768555 + ], + [ + 199.201904296875, + 70.89845275878906 + ], + [ + 201.6311492919922, + 80.3587417602539 + ], + [ + 201.7548828125, + 82.73268127441406 + ], + [ + 202.02964782714844, + 82.50042724609375 + ], + [ + 200.70851135253906, + 82.83705139160156 + ], + [ + 221.573974609375, + 57.60544204711914 + ], + [ + 286.15887451171875, + 31.89606475830078 + ], + [ + 315.7655029296875, + 28.32754135131836 + ], + [ + 345.1142578125, + 37.36335754394531 + ], + [ + 399.7733154296875, + 69.6844482421875 + ], + [ + 470.0677795410156, + 129.04034423828125 + ], + [ + 533.568359375, + 178.5474853515625 + ], + [ + 593.7229614257812, + 237.6539764404297 + ], + [ + 588.5987548828125, + 262.06695556640625 + ], + [ + 583.1430053710938, + 273.6759948730469 + ], + [ + 565.6427001953125, + 272.86883544921875 + ], + [ + 545.61865234375, + 263.5372619628906 + ], + [ + 540.36083984375, + 263.39642333984375 + ], + [ + 536.0096435546875, + 260.298828125 + ], + [ + 532.7847290039062, + 258.83355712890625 + ], + [ + 522.3023681640625, + 252.22616577148438 + ], + [ + 529.6495971679688, + 212.98297119140625 + ], + [ + 527.1485595703125, + 174.49029541015625 + ], + [ + 528.4697265625, + 141.69871520996094 + ], + [ + 504.2900390625, + 123.55558013916016 + ], + [ + 458.68389892578125, + 122.77900695800781 + ], + [ + 460.5308837890625, + 123.36029052734375 + ] + ], + "depth_max": 2.2152979373931885, + "depth_min": 0.2716869115829468, + "intrinsic": [ + [ + 525.8292236328125, + 0.0, + 259.0 + ], + [ + 0.0, + 525.5177612304688, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -1.0855897926376201e-05, + -6.375581870088354e-05, + 1.1650545275188051e-05 + ], + [ + 1.0849996215256397e-05, + 1.0, + -9.257928468286991e-05, + -9.08954916667426e-06 + ], + [ + 6.37568227830343e-05, + 9.257858619093895e-05, + 1.0, + -9.840616257861257e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 39, + 43 + ], + "object_trajectory": [ + [ + 200.5, + 115.75 + ], + [ + 200.93899536132812, + 115.85367584228516 + ], + [ + 200.87301635742188, + 115.80062103271484 + ], + [ + 200.8018341064453, + 115.44930267333984 + ], + [ + 200.4302520751953, + 115.74794006347656 + ], + [ + 200.97747802734375, + 116.03436279296875 + ], + [ + 200.94171142578125, + 115.8697738647461 + ], + [ + 200.79620361328125, + 116.11283874511719 + ], + [ + 200.72213745117188, + 116.06831359863281 + ], + [ + 201.04893493652344, + 116.18937683105469 + ], + [ + 200.9387664794922, + 115.88276672363281 + ], + [ + 201.08203125, + 116.295166015625 + ], + [ + 200.9432373046875, + 116.2755126953125 + ], + [ + 201.03155517578125, + 116.0965347290039 + ], + [ + 200.83615112304688, + 116.31707763671875 + ], + [ + 200.8991241455078, + 116.61061096191406 + ], + [ + 203.51849365234375, + 116.80459594726562 + ], + [ + 208.44854736328125, + 116.46284484863281 + ], + [ + 214.26705932617188, + 116.46331787109375 + ], + [ + 217.40306091308594, + 115.82461547851562 + ], + [ + 217.9981689453125, + 115.57991027832031 + ], + [ + 216.6505889892578, + 114.777587890625 + ], + [ + 232.0296630859375, + 91.50419616699219 + ], + [ + 290.70452880859375, + 57.68194580078125 + ], + [ + 321.9006652832031, + 51.508644104003906 + ], + [ + 352.28619384765625, + 64.61156463623047 + ], + [ + 403.3217468261719, + 100.07298278808594 + ], + [ + 475.19451904296875, + 173.1964111328125 + ], + [ + 535.2637939453125, + 224.15957641601562 + ], + [ + 594.7590942382812, + 283.1944580078125 + ], + [ + 590.8253173828125, + 308.486083984375 + ], + [ + 586.9376220703125, + 308.76025390625 + ], + [ + 566.4208374023438, + 306.3942565917969 + ], + [ + 546.8836669921875, + 297.32525634765625 + ], + [ + 538.4692993164062, + 285.31939697265625 + ], + [ + 538.0740356445312, + 295.52294921875 + ], + [ + 537.3326416015625, + 294.8976745605469 + ], + [ + 529.01513671875, + 291.4373779296875 + ], + [ + 523.1757202148438, + 286.8294982910156 + ], + [ + 523.6156005859375, + 286.2569580078125 + ], + [ + 523.78857421875, + 286.2110900878906 + ], + [ + 523.60888671875, + 285.9516296386719 + ], + [ + 523.6051025390625, + 286.3504333496094 + ], + [ + 523.5392456054688, + 285.89459228515625 + ] + ] +} \ No newline at end of file diff --git a/008137_v2/lang.txt b/008137_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..6b42caf03c5c175c182b593ebb3255e8cdf70a91 --- /dev/null +++ b/008137_v2/lang.txt @@ -0,0 +1 @@ +move the big pawn to the right of the table diff --git a/008137_v2/object.ply b/008137_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..d8cb1727833665f88b08113e18aa07d8b912c866 Binary files /dev/null and b/008137_v2/object.ply differ diff --git a/008188_v2/FAIL b/008188_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/008188_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/008236_v2/FAIL b/008236_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/008236_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/008238_v2/data.json b/008238_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..c13d8f572b88d4076885468e0e02e82f93e931fc --- /dev/null +++ b/008238_v2/data.json @@ -0,0 +1,879 @@ +{ + "action_start": 12, + "action_end": 35, + "object_name": "rectangle block", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.017337999999999965, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -3.6652686441485116e-10, + -1.620942546853854e-10, + 3.1114896770212397e-10, + -4.221317068256359e-07, + -7.33874148288073e-08, + -4.145385187492418e-08, + 1.0 + ], + [ + -0.01268496446054529, + -0.014723403445527472, + -0.014400103535033959, + -0.008959738708041428, + 0.02762316946772104, + -0.07502220992950744, + 1.0 + ], + [ + -0.01931909659496278, + -0.016214456676278854, + -0.015430995154524646, + 0.0006222855846459579, + 0.0461389400910913, + -0.06648027505005183, + 1.0 + ], + [ + -0.017359042281397175, + -0.009761387560795518, + -0.012304823947988847, + -0.002684484180221117, + 0.033479900414129404, + -0.07552208710187688, + 1.0 + ], + [ + -0.01812929612857428, + -0.010052667552089195, + -0.009198982849622145, + -0.0027660848519828456, + 0.03668995406022972, + -0.0901944306647324, + 1.0 + ], + [ + -0.013427062760972108, + -0.00811900088640874, + -0.012206440763789336, + -0.0015702801139459766, + 0.037886736191646155, + -0.14068711159641908, + 1.0 + ], + [ + -0.010093259091922269, + -0.006942188009996048, + -0.018852236453852658, + -0.021841667948283246, + 0.029431839615723567, + -0.08685238471713783, + 1.0 + ], + [ + -0.002728493842441726, + -0.009205608230622886, + -0.020194230474007493, + 0.018910103479515935, + 0.005568766088679096, + -0.018654297539088684, + 1.0 + ], + [ + -0.0011976428588628685, + -0.009646821692807561, + -0.021788737887907708, + -0.013783499612574492, + 0.011277899499218353, + -0.010784654716025154, + 1.0 + ], + [ + -0.0016745895698325186, + -0.006476541774213085, + -0.011575967548373256, + -0.0006626088855130017, + 0.009377293516505467, + -0.013297123017279035, + 1.0 + ], + [ + -0.003937712923999415, + -0.003647913357308852, + -0.0119394427440494, + -0.007970386754660557, + 0.02178384373548187, + -0.023265884549758326, + 1.0 + ], + [ + 0.00019096418691194605, + 0.001814240185059296, + -0.004469545399299647, + 0.008264732345700502, + 0.01280794777325689, + 0.0007210935949656976, + 1.0 + ], + [ + 0.0029285022462516297, + 0.0014104258326338992, + -0.003168996124935434, + 0.0029237383318848494, + 0.007745233484504062, + 0.002727138318184605, + 1.0 + ], + [ + 0.0038784643529795604, + 0.0015123178996995917, + 0.0012036205188826546, + -0.0018296229258870215, + -0.010718528643000477, + 0.01916866839824063, + 0.0 + ], + [ + 0.01136432699427381, + -0.0028494075840906907, + 0.014487573520193999, + -0.0024449620732587517, + -0.047205981678961555, + -0.00025614212366118313, + 0.0 + ], + [ + 0.017606693493918357, + 0.00029199243236217864, + 0.026016107629727107, + -0.03580479059457531, + -0.06539085738994138, + 0.030835088209070143, + 0.0 + ], + [ + 0.01841469598015044, + 0.011544816794577695, + 0.03945824471749835, + 0.03168523031086069, + -0.05990390191408732, + 0.00468895083045285, + 0.0 + ], + [ + 0.013266362099324025, + 0.012724143316059339, + 0.029586943253648884, + 0.04497669608578986, + -0.04431906189141327, + 0.013276094476633613, + 0.0 + ], + [ + 0.017362308726977027, + 0.02071998910496385, + 0.009866108571275109, + 0.08854451492242102, + 0.02127289423384642, + 0.016885310591280317, + 0.0 + ], + [ + 0.019240710887480306, + 0.029276363872903374, + 0.005501385014551066, + 0.06354382852478899, + 0.01583698191831686, + 0.061102698977474966, + 0.0 + ], + [ + 0.01951384896579411, + 0.021209662504238058, + 0.009059218220565074, + -0.019921855296972518, + 0.031805281156255645, + 0.031472751845797585, + 0.0 + ], + [ + 0.014875865523156007, + 0.012590051284498811, + 0.00367274088138278, + -0.054122202358980236, + 0.0027955154186238952, + 0.022378295412144276, + 0.0 + ], + [ + 0.012341666401535334, + 0.007075515698426529, + 0.004165195453769449, + -0.046173471451574466, + -0.0014217891889170607, + 0.013565719402816562, + 0.0 + ], + [ + 0.004371370960426668, + 0.000636413831462887, + -0.003630571447399672, + -0.019130530151160657, + 0.006552352294756612, + -0.001465104589227402, + 0.0 + ], + [ + 0.004841392803897671, + -0.001668737740063965, + -0.010314665903025572, + 0.008695768454861037, + 0.026132074591936453, + -0.020894709759727743, + 0.0 + ], + [ + -0.0006894295551551077, + 0.0002667587736804103, + -0.00540178446861464, + -0.006180620432739669, + 0.013814723078154647, + -0.003592472870911684, + 0.0 + ], + [ + -0.0035979075416254225, + -0.003287363077332406, + -0.011237041969353129, + 0.00560829966602765, + 0.019537567965562698, + -0.014206518698930583, + 0.0 + ], + [ + 0.0003687998304466311, + -0.00040419090087717366, + -0.0035850701257552353, + 0.0015781174906735218, + 0.006472421389266942, + -0.003724180364812074, + 0.0 + ], + [ + 0.0031977590725235094, + 0.0013161010534333516, + 0.000661241435142873, + -0.002624480572221941, + -0.0020329948855483176, + 0.003806697518862546, + 0.0 + ], + [ + 0.003284193223326737, + -0.00011309503504913082, + 4.959405119903115e-05, + -0.007968495234121619, + 9.745356855129722e-05, + 0.0011792269639101774, + 0.0 + ], + [ + 0.0022618536506974762, + -0.0009347046745972441, + -0.001253039701863773, + -0.0019220349916874756, + 0.00318452770320902, + -0.002777868832389115, + 0.0 + ], + [ + 0.0011256044760984962, + -3.11260884867659e-05, + -0.00038332134118400363, + 9.355709890124802e-05, + 0.001124820219794735, + 0.0020443164731315886, + 0.0 + ], + [ + -0.00029141850715558304, + 7.780133460831909e-05, + -0.0020345978906131518, + -0.0008062268721869046, + 0.005463414385813899, + 0.00174498108396495, + 0.0 + ], + [ + -0.00028574618642479566, + 0.0009334418241664227, + -0.002768426132535376, + 0.0009949023139736873, + 0.005472872411458896, + 0.0017120221962965078, + 0.0 + ], + [ + -4.596701380804591e-05, + 0.0012244228669789498, + -0.0017068804155825484, + 0.0024397950017547333, + -0.0026762868092678996, + 0.003412650173755302, + 0.0 + ], + [ + 0.0009258891586240159, + -8.951445970150143e-05, + -0.0016359364638362794, + 0.0021104079690654406, + 0.005520253837872033, + 0.0077215514673085635, + 0.017337999999999965 + ], + [ + 0.0005909871525733301, + 0.0009129449239348927, + -0.00014718225083461267, + 0.003993864437666285, + 0.0022778456728341796, + 0.011582464283533454, + 1.0 + ], + [ + 1.367067908542019e-06, + 0.00047967420631152627, + -0.00025064658215678826, + 0.0043843544617154385, + 0.000562878221453898, + 0.004427122334995978, + 1.0 + ], + [ + 2.246211031337042e-05, + -0.00042437191805563823, + 0.0001980769109556635, + 0.0024160886878524324, + -0.001547572364565283, + -0.0025020051966554496, + 1.0 + ], + [ + -0.0006982760902362606, + 0.001080352069880556, + 0.004751506905138175, + 0.0040754312302220775, + -0.011141933926924964, + 0.004103027509020308, + 1.0 + ], + [ + -0.0012760921832150607, + 0.003703962931735994, + 0.025570956320445343, + -0.011345681828985727, + -0.08561429438228901, + 0.02417289950803115, + 1.0 + ], + [ + -0.00415464361984047, + 0.008638151969071129, + 0.04060618818229714, + -0.002051960056330344, + -0.10970587016017058, + 0.04096247397245476, + 1.0 + ], + [ + -0.009528710872914015, + 0.01065598878081813, + 0.031939404068991234, + -0.0901640473695807, + -0.0010534196744236563, + 0.1165861551566052, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 518.2244873046875, + 37.24747848510742 + ], + [ + 517.5045166015625, + 30.582157135009766 + ], + [ + 517.1181030273438, + 32.232479095458984 + ], + [ + 504.94891357421875, + 64.6058349609375 + ], + [ + 508.30853271484375, + 100.58543395996094 + ], + [ + 504.1926574707031, + 131.34764099121094 + ], + [ + 501.53692626953125, + 160.98480224609375 + ], + [ + 494.9695129394531, + 193.852294921875 + ], + [ + 495.86224365234375, + 222.2083740234375 + ], + [ + 502.2810974121094, + 254.57200622558594 + ], + [ + 503.8370361328125, + 280.9303894042969 + ], + [ + 505.2315673828125, + 302.18756103515625 + ], + [ + 500.1140441894531, + 312.5697937011719 + ], + [ + 496.3158874511719, + 316.8377380371094 + ], + [ + 495.10235595703125, + 317.682861328125 + ], + [ + 503.84625244140625, + 305.788818359375 + ], + [ + 524.9688720703125, + 281.8679504394531 + ], + [ + 555.6885986328125, + 228.064208984375 + ], + [ + 563.8233642578125, + 158.29885864257812 + ], + [ + 570.4906005859375, + 100.10398864746094 + ], + [ + 555.6470336914062, + 63.50250244140625 + ], + [ + 528.9052734375, + 35.615257263183594 + ], + [ + 518.158203125, + 4.294583320617676 + ], + [ + 512.2318115234375, + -10.535784721374512 + ], + [ + 508.8013916015625, + -12.582405090332031 + ], + [ + 508.94091796875, + -5.843445777893066 + ], + [ + 505.5567321777344, + 6.133693695068359 + ], + [ + 503.48028564453125, + 12.801326751708984 + ], + [ + 502.01165771484375, + 15.429939270019531 + ], + [ + 501.13311767578125, + 17.56012725830078 + ], + [ + 503.53924560546875, + 18.23185920715332 + ], + [ + 505.7239990234375, + 16.611289978027344 + ], + [ + 505.8673095703125, + 18.874156951904297 + ], + [ + 506.676025390625, + 17.407989501953125 + ], + [ + 506.97308349609375, + 17.356689453125 + ], + [ + 507.433837890625, + 17.90737533569336 + ], + [ + 507.09747314453125, + 18.551877975463867 + ], + [ + 502.05401611328125, + 38.88880920410156 + ], + [ + 475.0773010253906, + 27.171157836914062 + ], + [ + 501.4957275390625, + 40.551700592041016 + ], + [ + 469.5332336425781, + 28.765352249145508 + ], + [ + 501.7323303222656, + 27.697851181030273 + ], + [ + 506.6636962890625, + 20.417144775390625 + ], + [ + 508.2542724609375, + 23.31789779663086 + ], + [ + 508.680419921875, + 24.394357681274414 + ] + ], + "depth_max": 2.5646469593048096, + "depth_min": 0.16777843236923218, + "intrinsic": [ + [ + 623.4652709960938, + 0.0, + 259.0 + ], + [ + 0.0, + 622.5088500976562, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.578620377695188e-05, + 7.157220534281805e-05, + -7.98040764493635e-06 + ], + [ + -6.57822674838826e-05, + 1.0, + -5.48650132259354e-05, + -3.3630087273195386e-05 + ], + [ + -7.157581421779469e-05, + 5.486030568135902e-05, + 1.0, + -2.6608609914546832e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 44 + ], + "object_trajectory": [ + [ + 470.5, + 322.0 + ], + [ + 470.7868957519531, + 322.06341552734375 + ], + [ + 470.29473876953125, + 322.073486328125 + ], + [ + 470.58135986328125, + 322.2081298828125 + ], + [ + 470.96929931640625, + 322.1256408691406 + ], + [ + 470.8204040527344, + 322.228759765625 + ], + [ + 470.38433837890625, + 322.4108581542969 + ], + [ + 470.5457763671875, + 322.099365234375 + ], + [ + 470.52392578125, + 322.04913330078125 + ], + [ + 470.4652404785156, + 322.255615234375 + ], + [ + 470.24041748046875, + 322.01080322265625 + ], + [ + 469.6820068359375, + 322.35491943359375 + ], + [ + 469.70428466796875, + 322.1792297363281 + ], + [ + 469.10638427734375, + 321.8905944824219 + ], + [ + 471.6952209472656, + 326.2406005859375 + ], + [ + 481.833740234375, + 322.0 + ], + [ + 499.40789794921875, + 300.00006103515625 + ], + [ + 519.8040161132812, + 245.56459045410156 + ], + [ + 530.4838256835938, + 183.86972045898438 + ], + [ + 537.3453369140625, + 147.07879638671875 + ], + [ + 520.8474731445312, + 107.88341522216797 + ], + [ + 503.9166259765625, + 68.04168701171875 + ], + [ + 492.2285461425781, + 44.37525177001953 + ], + [ + 490.5544738769531, + 29.277128219604492 + ], + [ + 489.2509765625, + 23.687686920166016 + ], + [ + 490.7627868652344, + 31.24661636352539 + ], + [ + 487.49957275390625, + 41.40244674682617 + ], + [ + 484.9367980957031, + 49.77030944824219 + ], + [ + 482.6061706542969, + 53.61720275878906 + ], + [ + 482.4872741699219, + 56.5653076171875 + ], + [ + 484.5277404785156, + 56.25956344604492 + ], + [ + 485.81915283203125, + 55.52251434326172 + ], + [ + 487.230712890625, + 57.345821380615234 + ], + [ + 487.9229736328125, + 56.43349075317383 + ], + [ + 488.2203674316406, + 56.48395919799805 + ], + [ + 488.9486999511719, + 56.47079849243164 + ], + [ + 488.5125732421875, + 57.830101013183594 + ], + [ + 482.3035888671875, + 74.64675903320312 + ], + [ + 476.5776672363281, + 73.26960754394531 + ], + [ + 476.8511962890625, + 72.95953369140625 + ], + [ + 476.5157165527344, + 73.39429473876953 + ], + [ + 477.0048522949219, + 72.40569305419922 + ], + [ + 479.232666015625, + 62.8610725402832 + ], + [ + 479.5600280761719, + 62.07238006591797 + ], + [ + 479.12518310546875, + 62.078269958496094 + ] + ] +} \ No newline at end of file diff --git a/008238_v2/lang.txt b/008238_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..892d4f19452633d06f52470b2b3e24647d497f34 --- /dev/null +++ b/008238_v2/lang.txt @@ -0,0 +1 @@ +put the rectangle block on top of the written rectangle block diff --git a/008246_v2/data.json b/008246_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..d66edcff26bc2322fabe2e1653ba531ebfe5b33c --- /dev/null +++ b/008246_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 12, + "action_end": 37, + "object_name": "cup", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.11184400000000005, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -8.326672684688674e-17, + 0.0, + 0.0, + 2.7860365893239104e-08, + 1.510495085943729e-07, + 6.55504297969158e-08, + 1.0 + ], + [ + 0.0008908647776350864, + 0.004102488171894042, + -0.0021900569952114646, + 0.02477236755251449, + -0.0009517401238666463, + 0.012266644011379505, + 1.0 + ], + [ + 0.001790771625566956, + 0.006114067255364904, + -0.003592911951514649, + 0.05419383737633859, + 0.00015547090932074403, + 0.006746838750925802, + 1.0 + ], + [ + 0.0027010570097371622, + 0.005215365851743439, + -0.004630546686477083, + 0.01643881829671432, + -0.0011671857620490713, + 0.00628993763925992, + 1.0 + ], + [ + 0.002841042500674046, + 0.002671216963432199, + -0.009944361900119186, + 0.02801069495875422, + 0.009071814384945531, + 0.0075534388467338506, + 1.0 + ], + [ + 0.0028070118473665917, + -0.0008051469693241275, + -0.008732717164750645, + -0.006869927058111299, + 0.019752230058800443, + 0.0012034526871914917, + 1.0 + ], + [ + 0.004296768711107124, + -0.004430577156114057, + -0.0070652613348329285, + -0.015944897714068644, + 0.014246739834142349, + -0.007475271558382707, + 1.0 + ], + [ + 0.005263505030824123, + -0.0040847218256780116, + 0.0009744064516104267, + -0.013650326604178815, + -0.0028181264510646277, + -0.009118518774901604, + 1.0 + ], + [ + 0.003207395065777996, + -0.0012939264579575616, + -0.0004981058522031678, + -0.00034927447961323585, + -0.0003661054761676577, + -0.0023586907007246928, + 1.0 + ], + [ + -0.004491964333869614, + 0.005518929182501797, + -0.014676442108827792, + 0.014910995808142284, + 0.02439422780332609, + 0.0007711492112334005, + 1.0 + ], + [ + -0.00526230604202077, + 0.0037441749610045566, + -0.012199616295863969, + 0.016801407180334463, + 0.020747922388070782, + -0.0044205224834704335, + 1.0 + ], + [ + -0.0027109085112746456, + 0.002248805807365778, + -0.006210061555938673, + 0.008312785336588132, + 0.014272785121692774, + 0.0033229166579556713, + 1.0 + ], + [ + -0.0022006072069870597, + 0.0038909480983788103, + -0.00460563706225961, + 0.0026513944152033895, + 0.014572406580492208, + 0.025331593651843648, + 0.11184400000000005 + ], + [ + 0.0034283689147761587, + 0.002696621947525679, + 0.01331385737514408, + 0.00030225274476342756, + -0.03415681308123185, + 0.022267886535334416, + 0.0 + ], + [ + 0.008037145746182, + 0.0033104221528348216, + 0.03465625520246873, + -0.007955309404356412, + -0.06152950366186324, + 0.02504224271836551, + 0.0 + ], + [ + 0.007774339816154441, + 0.0019125994476409253, + 0.028770713876708126, + -0.014627897740493466, + -0.03575783330187581, + -0.0030205974262256944, + 0.0 + ], + [ + 0.007784394091528368, + 0.00025853735173700376, + 0.018957157116808468, + 0.025146802880082933, + -0.029330114912757787, + -0.020692161529279697, + 0.0 + ], + [ + 0.013658975298734777, + -0.0026211458511599117, + -0.0034138549614357028, + 0.018204284349551427, + 0.024529438862596824, + -0.029965204038309108, + 0.0 + ], + [ + 0.0156391567064888, + 0.0010850866460883068, + -0.0062424939356048315, + 0.012908674538275775, + 0.0223241597430365, + -0.015835255055276064, + 0.0 + ], + [ + 0.011689946528064543, + 0.004226586439282795, + -0.005550519876789478, + -0.007567392795349759, + 0.018171548466364446, + 0.0023090347204458165, + 0.0 + ], + [ + 0.003153509807879762, + 0.004312578386480276, + -0.005770651892575113, + 0.005282902219472002, + 0.013404585619305928, + 0.005739569289485888, + 0.0 + ], + [ + -0.002518624862111407, + 0.0010861432959948375, + -0.009983448060901318, + 0.0012341760391662475, + 0.019185204828068625, + -0.0021072795710644215, + 0.0 + ], + [ + -0.0026762418557810808, + -3.387231008016023e-05, + -0.009046259093885817, + 0.004001771024143019, + 0.009385174464201205, + -0.0005454743203231993, + 0.0 + ], + [ + -0.00047414087772745805, + -0.0013054537847682485, + -0.00551109718107845, + 4.4100141483432374e-06, + 0.006242313261626624, + -0.0029103131142815633, + 0.0 + ], + [ + 0.0013120531070573982, + 0.00013223220812395853, + -0.0013446549498770666, + -0.002145988926506368, + -0.00017853013399026283, + 0.005216424051352187, + 0.0 + ], + [ + 0.0017847597324431308, + -0.0022505800665475195, + -0.002279392243173181, + -0.0030045639514041577, + -0.0003411701012540608, + -0.0057293793348975035, + 0.0 + ], + [ + 0.0024586633793685087, + -0.0016968317620428969, + 0.0006096693045975765, + 0.0019445492136597581, + -0.004633988386839381, + -0.0032775894720786097, + 0.0 + ], + [ + 0.001593968428666881, + 0.0007485130610519752, + -0.001114409583162182, + 0.0007900633358141659, + 0.0009179713017332562, + 0.004494740637920236, + 0.0 + ], + [ + 0.0018586503281877165, + -9.759345118381946e-05, + -0.0007252501382767201, + -0.0010231969793545463, + 0.0016111135351205448, + 3.4162399934184974e-05, + 0.0 + ], + [ + 0.0021169970283842487, + 0.0002645578406154925, + -0.0008237618371016997, + -0.0028843727733736148, + 0.002135545536503846, + 0.001753785608682698, + 0.0 + ], + [ + 0.0042625307286685565, + 0.0010660718885343173, + 0.0003341132634102212, + -0.0026930696927610813, + -0.0012572197293867931, + 0.004804981017096898, + 0.0 + ], + [ + 0.0038128050361523336, + 7.639719578168835e-05, + 0.0002359606432243283, + -0.0007637555868183199, + 0.0007647034384148789, + -9.307813831677804e-05, + 0.0 + ], + [ + 0.003968017468346519, + 1.4891225324734081e-05, + 0.003672668636931012, + -0.004035805053023448, + -0.006404772662725075, + 0.003490670370255489, + 0.0 + ], + [ + 0.003274456017872185, + -0.0008472497581867577, + 0.0036040193368019197, + -0.005743558894557833, + -0.0050248705167605726, + 0.002505126275298129, + 0.0 + ], + [ + 0.0008200623379110428, + 0.0015336990638782633, + -0.0022287269099736523, + -0.001191134591799913, + 0.0062625624316068815, + 0.003440010055406825, + 0.0 + ], + [ + -0.0002993230820728665, + 0.0019618700411945106, + -0.004604276460736037, + 0.0027473269121713138, + 0.007116293392799674, + 0.001265715315818997, + 0.0 + ], + [ + -0.002670348266256617, + 0.0035102453437972914, + -0.00639325007158581, + 0.004095640592889918, + 0.011511101639217017, + 0.0037222833965456204, + 0.0 + ], + [ + -0.0018704785453388384, + 0.00047932059924282733, + -0.003321834757959996, + 0.0026705262307558475, + 0.004626104644763503, + -0.008404184130554597, + 0.0 + ], + [ + -0.0021754119097592284, + -0.0011374177693836973, + 0.0002685260955999913, + 0.006437080501419019, + 0.004726238811970191, + 0.0017125253300511638, + 1.0 + ], + [ + -0.0015599332060962645, + -0.0013914900890821813, + 0.004985421308186841, + 0.003078059555055302, + -0.009502506019536734, + -0.004957184324185125, + 1.0 + ], + [ + -0.002013738037053514, + -0.002014649921032896, + 0.005763544814292407, + 0.0009544500850856718, + -0.011292353864941151, + -0.0027007984874163993, + 1.0 + ], + [ + -0.0018830638299254243, + -0.00212242013058922, + 0.009413979322933863, + 0.0019999532294704713, + -0.019489438315096464, + -0.0012879703153035923, + 1.0 + ], + [ + -0.0028923720437653566, + -0.0024837536445699165, + 0.011564356936126424, + 0.002494713871017052, + -0.023251461260944142, + -0.0052159622464839055, + 1.0 + ], + [ + -0.005197082613634607, + -0.0009595939651044216, + 0.01038262001996279, + 0.005859643517753175, + -0.021462867093993067, + 0.0008578379771077565, + 1.0 + ], + [ + -0.009175716459580818, + -0.0012482801531315257, + 0.011651719184825007, + 0.015066928892438299, + -0.017190004018985124, + -0.012970269370858089, + 1.0 + ], + [ + -0.02270690272902115, + 0.006713478019351543, + 0.030422835165492546, + 0.04318940180643942, + -0.07236508714780714, + -0.0006820188417387183, + 1.0 + ], + [ + -0.027326200526151034, + 0.003897296644711154, + 0.035999875441758866, + 0.01759534135619767, + -0.026891955956471585, + -0.01243446390053136, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 229.6619415283203, + 76.0505142211914 + ], + [ + 229.31973266601562, + 78.35739135742188 + ], + [ + 224.85333251953125, + 86.01493835449219 + ], + [ + 216.28443908691406, + 85.95142364501953 + ], + [ + 212.4281005859375, + 88.12501525878906 + ], + [ + 208.37081909179688, + 98.53015899658203 + ], + [ + 209.5363311767578, + 107.03733825683594 + ], + [ + 219.2931671142578, + 121.59757995605469 + ], + [ + 229.90542602539062, + 127.52836608886719 + ], + [ + 235.2052459716797, + 123.97801208496094 + ], + [ + 234.24388122558594, + 132.3549346923828 + ], + [ + 230.23533630371094, + 150.85231018066406 + ], + [ + 225.18505859375, + 160.632080078125 + ], + [ + 224.45065307617188, + 162.67156982421875 + ], + [ + 223.90550231933594, + 162.61447143554688 + ], + [ + 221.99014282226562, + 131.75433349609375 + ], + [ + 224.18836975097656, + 82.16214752197266 + ], + [ + 224.18450927734375, + 42.67670440673828 + ], + [ + 225.4481964111328, + 27.356273651123047 + ], + [ + 244.76190185546875, + 29.378604888916016 + ], + [ + 254.51393127441406, + 29.345413208007812 + ], + [ + 257.62066650390625, + 31.21673011779785 + ], + [ + 257.2088928222656, + 35.92399597167969 + ], + [ + 255.1966094970703, + 44.644134521484375 + ], + [ + 254.5186767578125, + 56.522010803222656 + ], + [ + 254.53529357910156, + 56.449249267578125 + ], + [ + 255.03536987304688, + 64.07598114013672 + ], + [ + 256.6459045410156, + 63.6346435546875 + ], + [ + 258.72039794921875, + 64.9413833618164 + ], + [ + 258.98944091796875, + 67.3831558227539 + ], + [ + 261.1091003417969, + 64.69703674316406 + ], + [ + 263.4622497558594, + 62.23987579345703 + ], + [ + 266.3364562988281, + 59.20920944213867 + ], + [ + 268.7060241699219, + 57.557411193847656 + ], + [ + 271.88629150390625, + 48.46331787109375 + ], + [ + 273.8091125488281, + 50.24644470214844 + ], + [ + 273.664794921875, + 54.353668212890625 + ], + [ + 274.36407470703125, + 53.18164825439453 + ], + [ + 274.9122619628906, + 52.627471923828125 + ], + [ + 271.94696044921875, + 58.675079345703125 + ], + [ + 269.8631286621094, + 62.88483810424805 + ], + [ + 268.96173095703125, + 66.03404235839844 + ], + [ + 268.35662841796875, + 53.47352981567383 + ], + [ + 266.7306213378906, + 42.91316223144531 + ], + [ + 264.1894226074219, + 34.72235107421875 + ], + [ + 259.810791015625, + 27.63492774963379 + ], + [ + 247.7696533203125, + 16.12590789794922 + ], + [ + 241.55252075195312, + -20.409984588623047 + ] + ], + "depth_max": 2.3975167274475098, + "depth_min": 0.5241855978965759, + "intrinsic": [ + [ + 584.2195434570312, + 0.0, + 259.0 + ], + [ + 0.0, + 583.9620971679688, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.0198748542461544e-05, + 4.224563599564135e-05, + -1.5893965610302985e-07 + ], + [ + -6.019675493007526e-05, + 1.0, + -4.722147423308343e-05, + -4.206048106425442e-05 + ], + [ + -4.2248480895068496e-05, + 4.721893128589727e-05, + 1.0, + 2.4958866561064497e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 240.25, + 188.75001525878906 + ], + [ + 240.63998413085938, + 188.873291015625 + ], + [ + 240.715087890625, + 189.18597412109375 + ], + [ + 240.7677001953125, + 189.00811767578125 + ], + [ + 240.86573791503906, + 188.92483520507812 + ], + [ + 240.82655334472656, + 189.00990295410156 + ], + [ + 240.6251678466797, + 189.14991760253906 + ], + [ + 240.70846557617188, + 188.87135314941406 + ], + [ + 240.76773071289062, + 189.05242919921875 + ], + [ + 240.70005798339844, + 188.7911376953125 + ], + [ + 241.15513610839844, + 188.66793823242188 + ], + [ + 240.50531005859375, + 189.07943725585938 + ], + [ + 234.89114379882812, + 188.12998962402344 + ], + [ + 235.0301513671875, + 187.30038452148438 + ], + [ + 233.78250122070312, + 187.4703826904297 + ], + [ + 232.98045349121094, + 162.6449737548828 + ], + [ + 240.3811798095703, + 118.61268615722656 + ], + [ + 253.08282470703125, + 92.82349395751953 + ], + [ + 252.1683349609375, + 69.71195220947266 + ], + [ + 268.2762756347656, + 73.31250762939453 + ], + [ + 275.2513427734375, + 73.09571075439453 + ], + [ + 277.1634826660156, + 76.15754699707031 + ], + [ + 276.3306579589844, + 81.50125885009766 + ], + [ + 273.61944580078125, + 91.71195220947266 + ], + [ + 272.5062255859375, + 101.5663833618164 + ], + [ + 273.1729431152344, + 101.25296020507812 + ], + [ + 268.3292236328125, + 101.45120239257812 + ], + [ + 274.78485107421875, + 107.83224487304688 + ], + [ + 271.6109924316406, + 102.47288513183594 + ], + [ + 272.13677978515625, + 104.10580444335938 + ], + [ + 278.2533874511719, + 108.71293640136719 + ], + [ + 280.2178955078125, + 105.82667541503906 + ], + [ + 283.0040588378906, + 103.06230163574219 + ], + [ + 285.22412109375, + 100.93630981445312 + ], + [ + 288.410888671875, + 93.45603942871094 + ], + [ + 290.2239990234375, + 95.57118225097656 + ], + [ + 290.1037292480469, + 98.46981811523438 + ], + [ + 290.3132629394531, + 97.33394622802734 + ], + [ + 290.6819763183594, + 96.5206069946289 + ], + [ + 289.7334289550781, + 96.55493927001953 + ], + [ + 288.69012451171875, + 96.6021499633789 + ], + [ + 288.98193359375, + 97.07752990722656 + ], + [ + 288.20465087890625, + 96.37904357910156 + ], + [ + 288.01092529296875, + 95.57371520996094 + ], + [ + 288.4556884765625, + 95.0893783569336 + ], + [ + 283.22174072265625, + 88.14607238769531 + ], + [ + 283.29962158203125, + 88.23710632324219 + ], + [ + 285.48699951171875, + 86.13348388671875 + ] + ] +} \ No newline at end of file diff --git a/008246_v2/lang.txt b/008246_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..aa16d3ffa419dae0803b2810b2da61552ca8fc52 --- /dev/null +++ b/008246_v2/lang.txt @@ -0,0 +1 @@ +put the cup on top of the cylinder diff --git a/008258_v2/FAIL b/008258_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/008258_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/008307_v2/data.json b/008307_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..bbec0eb005d7ca240c5146eb484853a4b0958839 --- /dev/null +++ b/008307_v2/data.json @@ -0,0 +1,842 @@ +{ + "action_start": 16, + "action_end": 34, + "object_name": "white cylinder", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.982418, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -3.8264519330866165e-10, + -1.2957441369865208e-10, + 7.206372443224751e-10, + -4.303337222878951e-08, + -6.317403370117022e-07, + 2.7640010676481783e-09, + 1.0 + ], + [ + -0.00774431965100586, + -0.006780168979218584, + -0.002233564134835553, + -0.029628660113308572, + -0.05347473615181596, + 0.16073281568636422, + 1.0 + ], + [ + -0.0053179791222844885, + -0.009207461903158479, + 0.00024129601782968413, + -0.025287075474463506, + -0.05224492182254001, + 0.14138116286819488, + 1.0 + ], + [ + -0.010328947831606483, + -0.006140924842107071, + 0.002173897073244835, + -0.03332329765407239, + -0.07809378356288102, + 0.2252000149254683, + 1.0 + ], + [ + -0.010874487758637863, + -0.002401449502864958, + -0.0024508378554847776, + -0.0008581533175543088, + -0.050266059607473115, + 0.1700224599325745, + 1.0 + ], + [ + -0.0012820655002004355, + 0.0055470760266757135, + -0.009333667635648496, + 0.0213175263156851, + 0.009748718671140279, + -0.006698056860959868, + 1.0 + ], + [ + -0.00024358275679475794, + 0.004408883797319942, + -0.015064291237146754, + 0.003090018137743003, + 0.03433914415352537, + -0.01578806678458863, + 1.0 + ], + [ + -0.007414237459937856, + -0.0009744333984398335, + -0.010436591005829166, + -0.027184813189205632, + 0.013678605693696546, + 0.02221360632466766, + 1.0 + ], + [ + -0.006038023152781402, + -0.0071482557839742805, + -0.007878966274781213, + -0.0441504409339051, + -0.011067837726679844, + 0.01927740161538985, + 1.0 + ], + [ + -0.003889093197976201, + -0.010850635606571186, + -0.008753825528828946, + -0.044572243256653446, + 0.006658805565942865, + -0.015603333442130262, + 1.0 + ], + [ + -0.0038862524461616976, + -0.009441440640410288, + -0.01047120454015596, + -0.013730047160178, + 0.018088938441511108, + -0.021723683069556767, + 1.0 + ], + [ + -0.0029910419735859617, + -0.007319390622588807, + -0.009568018875052708, + 0.022209604242553374, + 0.03917599173944529, + -0.023503832227078598, + 1.0 + ], + [ + -0.0017478965752976694, + -0.0034774325822706613, + -0.004383203363947846, + 0.0016008901731010164, + 0.0107806493220613, + -0.01388193594643902, + 1.0 + ], + [ + -0.0018934348136898094, + -0.005772350275167194, + -0.00670884996071433, + 0.00030226157294323594, + 0.023507861993069857, + -0.035846118551947616, + 1.0 + ], + [ + -0.002577783405826428, + -0.005595603574882628, + -0.007153885043134828, + 0.0014247053731137698, + 0.021355830674439608, + -0.01839649748555676, + 1.0 + ], + [ + -0.0001593471663922097, + -0.0004991378391444191, + -0.00965618997508004, + -0.0038853138865177677, + 0.022791606092541047, + -0.010963950793528783, + 1.0 + ], + [ + 0.0013683283615422703, + -0.0007540842230596805, + -0.0118254359664266, + -0.0030713262740886334, + 0.02821269463496348, + -0.01796907585005395, + 1.0 + ], + [ + -0.0005262092116237183, + 0.0021415579627602314, + -0.006579801197204804, + -0.00526056540722802, + 0.013182807796128015, + -0.0015186397814087973, + 1.0 + ], + [ + 0.0009022150630783599, + 0.0020833876149109233, + -0.004813790305708068, + 0.0070677666741303345, + 0.002828270513808577, + -0.009015139797011223, + 0.982418 + ], + [ + 0.0030057249253310214, + 0.0022387223808415443, + -0.00046330260675231383, + 0.018941935061271654, + -0.010588676776963136, + -0.04120142700195487, + 0.0 + ], + [ + 0.006049785127784035, + 0.00020132875360333313, + 0.005310949756106385, + 0.03218612994018409, + -0.01460110220985727, + -0.0506645894659601, + 0.0 + ], + [ + 0.007908764905797894, + -0.0017964782651317748, + 0.009665237142231862, + 0.004653613174960586, + -0.03231098334098688, + -0.047669066695021904, + 0.0 + ], + [ + 0.01738831202279656, + -0.0016799814942913514, + 0.030761739594862995, + 0.012647416255946198, + -0.07669887517058557, + -0.019308888038337812, + 0.0 + ], + [ + 0.017624226114822727, + 0.005604134460732751, + 0.02977514588223041, + 0.005130043281652239, + -0.06842179976424839, + 0.012216021882726184, + 0.0 + ], + [ + 0.00867774167231744, + 0.01592557124783537, + 0.009427811215263829, + -0.03749763524303059, + 0.000816415593117697, + 0.027307168963253713, + 0.0 + ], + [ + 0.008864790733547512, + 0.01607009086971595, + 0.00282908664779824, + -0.026541872552448442, + 0.002988737286778225, + 0.011997214464237623, + 0.0 + ], + [ + 0.010927205097102655, + 0.014024287728133428, + 0.007725233903150497, + -0.016757048778941158, + 0.0014790756803462865, + 0.015991013627503752, + 0.0 + ], + [ + 0.007033277203419008, + 0.010021465128510786, + 0.006321876221562453, + -0.00865139551799921, + -0.0003819594758991199, + 2.494721113251498e-05, + 0.0 + ], + [ + 0.004874232857814187, + 0.006021457996288584, + -0.0022757504985347204, + -0.010533395932728357, + 0.02019632497304683, + -0.012807223133361962, + 0.0 + ], + [ + 0.0012058709781301857, + 0.0033523503371957752, + -0.0022382090452922887, + 0.0036333637586601604, + 0.025018301234299743, + -0.012727791700847096, + 0.0 + ], + [ + -0.0007051766369299273, + 0.0024863104944685896, + -0.007262881641660071, + 0.003717624974738663, + 0.03267562603442993, + -0.01810043962113122, + 0.0 + ], + [ + 0.000575952518998335, + 0.0013458168532486034, + -0.0038202453525938013, + 0.0024137437378717033, + 0.005929668416179881, + -0.007349939420280743, + 0.0 + ], + [ + 0.0016048752968595426, + 0.0015537978513214187, + -0.0017936848808111083, + -0.00028250179127497783, + 0.005265027758818236, + -0.0062902220126637935, + 0.0 + ], + [ + 0.00031823954017101697, + 0.0027776688214618678, + -0.001779248992067134, + 0.0021628004133746933, + 0.007407617303764831, + -0.00041552137009959704, + 0.0 + ], + [ + 0.0006070793098886251, + 0.003149879291324098, + -0.001647280967430248, + 0.003144158063742991, + 0.004722950622557545, + 0.0011199985787359226, + 0.0 + ], + [ + 0.00032352691597153926, + 0.0030619638132408505, + -0.0010861095834485135, + 0.0005817634913941541, + 0.002438661986201568, + 0.004457737687615225, + 0.0 + ], + [ + -0.0006092319822522674, + 0.0006637403692517571, + -0.0013508085911752982, + 0.0003108770013882195, + 0.0030906975444258966, + 0.002918766048669015, + 0.0 + ], + [ + -0.0018040455702950098, + -0.0011415173972227355, + -0.0016435254919350273, + 0.0008809124442135981, + 0.0029290375814494396, + 0.010188927764270122, + 1.0 + ], + [ + -0.0007351939736253699, + -0.0015632936231235947, + -0.001282632323519467, + 0.005165831724294485, + -0.0012138538612254384, + -0.002880494755381844, + 1.0 + ], + [ + 0.0004173273067438754, + -0.0003967553516187189, + 0.005137946660805595, + 0.003666914264284431, + -0.010996181739454361, + -0.007047124411638998, + 1.0 + ], + [ + -0.0018655338733924998, + 0.0011666099460737461, + 0.02450205999376176, + 0.029934533489345314, + -0.05291939191952054, + -0.007220236489494849, + 1.0 + ], + [ + -0.009056811869080916, + 0.00469062963179389, + 0.03888741779979815, + 0.11198158047688676, + -0.08263095131871868, + -0.019523751570949117, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 387.54876708984375, + 15.672589302062988 + ], + [ + 381.31622314453125, + 25.291166305541992 + ], + [ + 380.1510009765625, + 24.257957458496094 + ], + [ + 381.15985107421875, + 28.87972068786621 + ], + [ + 372.54217529296875, + 37.3728141784668 + ], + [ + 367.66949462890625, + 43.572425842285156 + ], + [ + 367.1804504394531, + 63.00751876831055 + ], + [ + 365.9784240722656, + 89.269287109375 + ], + [ + 367.4989318847656, + 111.94790649414062 + ], + [ + 370.3023681640625, + 125.27122497558594 + ], + [ + 369.66180419921875, + 133.3382110595703 + ], + [ + 378.37957763671875, + 149.88333129882812 + ], + [ + 377.7120361328125, + 153.50209045410156 + ], + [ + 384.92596435546875, + 167.98448181152344 + ], + [ + 386.71783447265625, + 181.84158325195312 + ], + [ + 384.74688720703125, + 196.73651123046875 + ], + [ + 382.8792724609375, + 211.75457763671875 + ], + [ + 383.27081298828125, + 214.42706298828125 + ], + [ + 382.2773132324219, + 215.00347900390625 + ], + [ + 380.93939208984375, + 208.25439453125 + ], + [ + 385.53057861328125, + 196.39065551757812 + ], + [ + 399.731689453125, + 176.08380126953125 + ], + [ + 419.996826171875, + 126.19528198242188 + ], + [ + 436.5865783691406, + 99.76924133300781 + ], + [ + 421.15423583984375, + 68.2363052368164 + ], + [ + 409.2366943359375, + 52.35523986816406 + ], + [ + 405.94683837890625, + 31.5347843170166 + ], + [ + 401.81842041015625, + 26.56906509399414 + ], + [ + 397.29278564453125, + 29.069252014160156 + ], + [ + 396.0401611328125, + 26.499366760253906 + ], + [ + 391.96063232421875, + 34.90333557128906 + ], + [ + 392.56829833984375, + 34.62739944458008 + ], + [ + 392.35137939453125, + 37.48646545410156 + ], + [ + 385.451416015625, + 37.2904052734375 + ], + [ + 383.66192626953125, + 35.75393295288086 + ], + [ + 381.8090515136719, + 34.120243072509766 + ], + [ + 377.40020751953125, + 36.31803894042969 + ], + [ + 376.92041015625, + 35.552371978759766 + ], + [ + 376.19256591796875, + 35.65290451049805 + ], + [ + 374.08209228515625, + 34.29547119140625 + ], + [ + 362.1008605957031, + 12.923492431640625 + ], + [ + 359.66558837890625, + -17.669021606445312 + ] + ], + "depth_max": 2.7638139724731445, + "depth_min": 0.38762766122817993, + "intrinsic": [ + [ + 590.3211669921875, + 0.0, + 259.0 + ], + [ + 0.0, + 588.9044799804688, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.3685740820365027e-05, + -2.0626786863431334e-05, + 3.635060784290545e-05 + ], + [ + -4.368609006633051e-05, + 1.0, + -1.7048409063136205e-05, + -2.795784530462697e-05 + ], + [ + 2.062604107777588e-05, + 1.7049311281880364e-05, + 1.0, + 6.711026071570814e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 41 + ], + "object_trajectory": [ + [ + 376.25, + 224.25 + ], + [ + 376.47503662109375, + 224.22406005859375 + ], + [ + 376.1728820800781, + 224.39859008789062 + ], + [ + 376.450439453125, + 224.08856201171875 + ], + [ + 376.65252685546875, + 224.2227783203125 + ], + [ + 376.8063659667969, + 224.230224609375 + ], + [ + 376.7413330078125, + 224.41537475585938 + ], + [ + 377.05401611328125, + 224.3536376953125 + ], + [ + 377.26416015625, + 223.7259979248047 + ], + [ + 377.16070556640625, + 223.66458129882812 + ], + [ + 376.6356506347656, + 224.0596466064453 + ], + [ + 376.6266784667969, + 223.6745147705078 + ], + [ + 376.4339904785156, + 224.02723693847656 + ], + [ + 376.5250244140625, + 223.84097290039062 + ], + [ + 376.31097412109375, + 224.0773468017578 + ], + [ + 376.3475036621094, + 224.65052795410156 + ], + [ + 375.5884704589844, + 224.50430297851562 + ], + [ + 375.6033020019531, + 224.53460693359375 + ], + [ + 375.8070373535156, + 224.26548767089844 + ], + [ + 372.84149169921875, + 218.5418243408203 + ], + [ + 376.7016296386719, + 206.55377197265625 + ], + [ + 389.45330810546875, + 187.12744140625 + ], + [ + 410.42633056640625, + 141.43536376953125 + ], + [ + 426.3809814453125, + 118.18034362792969 + ], + [ + 415.20599365234375, + 85.42078399658203 + ], + [ + 404.95428466796875, + 69.04277801513672 + ], + [ + 399.865966796875, + 45.90875244140625 + ], + [ + 394.7991638183594, + 38.09012985229492 + ], + [ + 390.96258544921875, + 41.87998962402344 + ], + [ + 389.49603271484375, + 38.40057373046875 + ], + [ + 386.13348388671875, + 50.09807586669922 + ], + [ + 386.1756896972656, + 50.1129150390625 + ], + [ + 385.5252380371094, + 53.04055404663086 + ], + [ + 379.3819885253906, + 51.971710205078125 + ], + [ + 377.3168640136719, + 51.35042953491211 + ], + [ + 375.26605224609375, + 49.85763168334961 + ], + [ + 374.4657897949219, + 54.527496337890625 + ], + [ + 373.9072265625, + 54.85187530517578 + ], + [ + 372.9028625488281, + 55.2242317199707 + ], + [ + 373.13677978515625, + 55.049617767333984 + ], + [ + 372.2078857421875, + 55.6419563293457 + ], + [ + 372.54473876953125, + 55.811649322509766 + ] + ] +} \ No newline at end of file diff --git a/008307_v2/lang.txt b/008307_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..4db171aa68fa8610783e34de6ab81fdb822313bb --- /dev/null +++ b/008307_v2/lang.txt @@ -0,0 +1 @@ +place the white cylinder on top of the tower diff --git a/008307_v2/object.ply b/008307_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..d8e5b21827628bea22d9caeba3e3d90bef51450a Binary files /dev/null and b/008307_v2/object.ply differ diff --git a/008317_v2/data.json b/008317_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..e505cec5b865fb4c1ae5ac2329e34c7d39acf351 --- /dev/null +++ b/008317_v2/data.json @@ -0,0 +1,916 @@ +{ + "action_start": 10, + "action_end": 36, + "object_name": "red box", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + -1.3877787807814457e-17, + -1.3877787807814457e-17, + -7.463096992986725e-08, + 3.9817227612898186e-07, + 2.6990918721532957e-07, + 1.0 + ], + [ + -0.014968125341502603, + -0.016171651390355597, + 0.01632361839664749, + -0.017372258399655432, + -0.044366888915180876, + -0.05304402210147681, + 1.0 + ], + [ + -0.0065194790368764965, + -0.01238679684605025, + 0.008592373588090188, + -0.029810477966181873, + -0.029771840423380182, + -0.04245416959393573, + 1.0 + ], + [ + -0.003261539146554082, + -0.013358417065030034, + 0.009744436790599012, + -0.015819787290621935, + -0.039481525519429406, + -0.04411594103254667, + 1.0 + ], + [ + -0.0012336208957586248, + -0.012268223134608305, + 0.004525627513642633, + -0.015430079906526374, + -0.012456222284253329, + -0.04493065349272887, + 1.0 + ], + [ + 0.0019585365588486447, + -0.008833934665489387, + -0.0027028809021063804, + -0.0033217649876156378, + 0.043109894374055026, + -0.05392507681434558, + 1.0 + ], + [ + 0.006421610333556538, + -0.010809753660381657, + -0.005053815168185163, + 0.027759791273360816, + 0.007845238020084678, + -0.03428922067737347, + 1.0 + ], + [ + 0.009913675869258398, + -0.006940561877865584, + -0.0061349243250175545, + -0.005417035957437096, + 0.013814614789932594, + -0.02190392053584843, + 1.0 + ], + [ + 0.004075860170592749, + -0.006980052505803552, + -0.007027432973882697, + 0.0020505813262346913, + 0.016936239253975627, + -0.029829734233343168, + 1.0 + ], + [ + -0.001006259318828584, + -0.0030464793358605524, + -0.007292400634147808, + 0.01938489266611018, + -0.0018185409568922247, + -0.0073499591395855286, + 1.0 + ], + [ + -0.00064551741163138, + 0.004548205167128727, + -0.014022310926633662, + 0.026412336703777003, + 0.024122077849149635, + 0.017423658892079325, + 1.0 + ], + [ + -0.0009612442108337116, + 0.004232975740854461, + -0.004877098853775623, + 0.00873265579017688, + 0.013166758087767917, + 0.013310988258784547, + 0.0 + ], + [ + -0.002075498378102947, + 0.002702279584043815, + 0.002758245339458114, + 0.0004364043963445168, + 0.004878214553096165, + 0.006408923650810224, + 0.0 + ], + [ + 0.002780459870165952, + 0.0011637986335031603, + 0.01417997052902939, + -0.02068678612172571, + -0.016096689211160736, + 0.012805558742165253, + 0.0 + ], + [ + 0.015332469596624487, + 0.00592028458314485, + 0.020092063181307455, + -0.04028740676478701, + -0.013585527154692887, + 0.052894444970291166, + 0.0 + ], + [ + 0.02069843985071268, + 0.005645252409970047, + 0.014844805896059549, + -0.018158981924969723, + -0.004364257063935662, + 0.06448401164109081, + 0.0 + ], + [ + 0.023173911178235584, + 0.004727509583645956, + 0.010691192267103952, + -0.005487793407944436, + 0.003148153007311178, + 0.05677767780254747, + 0.0 + ], + [ + 0.018337080122632077, + 0.014208802552666294, + 0.010435937297227638, + -0.0012837328370396328, + -0.00418410130817318, + 0.07440499543660989, + 0.0 + ], + [ + 0.019512357697225313, + 0.015807113232480033, + 0.004527319693699905, + -0.008532286841050906, + -0.0053672107918835334, + 0.052895088930295445, + 0.0 + ], + [ + 0.013419418250659676, + 0.018959873139220193, + -0.004952700331226273, + 0.007336910499414827, + 0.009953104263730507, + 0.04682474684473679, + 0.0 + ], + [ + 0.008228445921937, + 0.012292530650414843, + -0.006756598370922712, + 0.009464565640574059, + 0.014185784240446187, + 0.023735218534938894, + 0.0 + ], + [ + 0.0013553569610953997, + 0.011055376473917779, + -0.0030831856741151686, + 0.01222376081990638, + 0.0033514387454760724, + 0.02258293295186797, + 0.0 + ], + [ + -0.0018724901635648328, + 0.006057851076756278, + -0.0020172362246303616, + 0.006897437203528797, + 0.0050588556582127795, + 0.011479780928897848, + 0.0 + ], + [ + -0.00401668457792137, + 0.0057419902939450165, + 0.003742718383644192, + 0.006501558136477976, + -0.015382125941915768, + 0.01389669097930895, + 0.0 + ], + [ + -0.0008945029498221291, + 0.0030436364490746964, + 0.00021714273897445457, + -0.0004121503667467132, + -0.0027498478097298575, + 0.007562034570855796, + 0.0 + ], + [ + -0.001374733417274565, + 0.0038975423413385203, + -0.0032875392667457842, + 0.006367741105492448, + 0.004846005484138482, + 0.006216453333165127, + 0.0 + ], + [ + -0.0011050192720937213, + 0.0037441290642957724, + -0.00044756134779924683, + 0.005547428851125982, + -0.003384082671436545, + 0.00749867098341251, + 0.0 + ], + [ + -0.0024111574320942464, + 0.003677665261865106, + 0.00211670073338735, + -0.0005185031527855889, + -0.007040354748829219, + 0.012155279189422406, + 0.0 + ], + [ + -0.002785393394049762, + 0.0023186025681032375, + 0.0038594890925010145, + -0.0008436059096664195, + -0.012121295912720749, + 0.00676506708616422, + 0.0 + ], + [ + -0.0025485204687296092, + 0.0019013754273856757, + 0.0015907844145933714, + -0.0035727224377743996, + -0.009471835044861057, + 0.005702473237121874, + 0.0 + ], + [ + -0.0009745004421601311, + 0.00041622808276390796, + -0.000939714616352269, + 0.0005864867729141351, + 0.0018477021021501598, + 0.0008036933434055992, + 0.0 + ], + [ + -0.0007401297030765752, + -0.0007479277414287715, + -0.0016740365419799924, + 0.0020603333801890557, + 0.0029220805126834123, + -0.002109643224813113, + 0.0 + ], + [ + -0.0007238202215109069, + -0.0018601127369026593, + -0.004360513275407846, + 0.0026593939499538755, + 0.008218985045074671, + -0.004964259092429314, + 0.0 + ], + [ + -0.0015313187788121296, + -0.003412002815110308, + -0.0038896055792905504, + -0.0011701465904685982, + 0.008191379163197563, + -0.00738287780424648, + 0.0 + ], + [ + -0.0015566793431298076, + -0.0026642085643616524, + -0.0013844536332813379, + 0.00010702549971762088, + 0.002893772107278632, + -0.0038085236001208604, + 0.0 + ], + [ + -0.0007371889974283063, + -0.002556857063736562, + -0.0025196591919350864, + 0.0010675887110642424, + -0.0001751616247174562, + -0.002409260137416729, + 0.0 + ], + [ + -0.0006354241034082775, + -0.001759046267737211, + -0.0023426892268668953, + 0.0029993489385357875, + 0.0010059060095783542, + -0.0011742020574529678, + 0.0 + ], + [ + -0.00024679270873817494, + -0.0012531680948273012, + -0.0005091541050585013, + -0.00044698232278923535, + 0.003216113399017206, + 0.0022090814146212942, + 1.0 + ], + [ + 0.00022361671579024245, + -0.0002974446036800721, + 0.000792601392783282, + -0.0023635626754659167, + -0.0014007749189476673, + -3.4970750334476306e-05, + 1.0 + ], + [ + 0.0002861138535221741, + -2.4000015272702957e-05, + 0.0017762437071060372, + -0.004844200585743437, + -0.0021607726298129644, + -0.0009068000676086648, + 1.0 + ], + [ + -0.0008002971589946561, + 0.00047752384004486406, + 0.00758857657660883, + 0.0031821546207066536, + -0.021076977738400997, + -0.001995298754808377, + 1.0 + ], + [ + -0.0022081439077730747, + 0.002474818788208915, + 0.009178239288549633, + 0.0025438411775023768, + -0.028598116890538275, + 0.009438568488752706, + 1.0 + ], + [ + -0.007554536536692802, + 0.005550508829529847, + 0.018966422010471898, + 0.0024622380002110897, + -0.06236085140104057, + 0.014349073710019854, + 1.0 + ], + [ + -0.010401125216924378, + 0.004879904447196156, + 0.024155548922360062, + -0.013682661505192286, + -0.07858876384046576, + 0.0170055601002181, + 1.0 + ], + [ + -0.016604099099964853, + 0.006673487566034458, + 0.021321156592431154, + 0.019912428441731876, + -0.06164561961969985, + -0.01360216466759934, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 466.4215393066406, + 169.12490844726562 + ], + [ + 463.89410400390625, + 173.5277099609375 + ], + [ + 450.635986328125, + 196.10809326171875 + ], + [ + 476.4497375488281, + 198.2469482421875 + ], + [ + 486.6797180175781, + 198.89120483398438 + ], + [ + 509.5267333984375, + 201.8389434814453 + ], + [ + 522.8765258789062, + 202.57725524902344 + ], + [ + 540.9016723632812, + 209.57806396484375 + ], + [ + 557.9130859375, + 218.10040283203125 + ], + [ + 565.3013916015625, + 222.42990112304688 + ], + [ + 568.1652221679688, + 230.48880004882812 + ], + [ + 563.246826171875, + 240.65797424316406 + ], + [ + 555.099853515625, + 249.22251892089844 + ], + [ + 554.329345703125, + 249.336669921875 + ], + [ + 553.2708740234375, + 251.75628662109375 + ], + [ + 561.0855712890625, + 246.4514923095703 + ], + [ + 579.115966796875, + 190.343505859375 + ], + [ + 585.19384765625, + 149.71202087402344 + ], + [ + 591.1231079101562, + 125.42525482177734 + ], + [ + 581.0369873046875, + 97.76332092285156 + ], + [ + 565.9240112304688, + 81.52703857421875 + ], + [ + 545.93701171875, + 75.64883422851562 + ], + [ + 533.1928100585938, + 77.28692626953125 + ], + [ + 523.2750244140625, + 73.63816833496094 + ], + [ + 512.8161010742188, + 81.1640396118164 + ], + [ + 505.79931640625, + 86.908935546875 + ], + [ + 503.7738037109375, + 87.09273529052734 + ], + [ + 498.7484130859375, + 85.98667907714844 + ], + [ + 493.23486328125, + 85.23118591308594 + ], + [ + 486.1077880859375, + 84.21231079101562 + ], + [ + 484.48895263671875, + 77.19805145263672 + ], + [ + 481.37493896484375, + 78.64585876464844 + ], + [ + 480.2872009277344, + 78.18397521972656 + ], + [ + 478.9426574707031, + 80.28300476074219 + ], + [ + 477.6611022949219, + 82.26971435546875 + ], + [ + 476.81072998046875, + 85.17514038085938 + ], + [ + 475.9808654785156, + 86.76966094970703 + ], + [ + 475.8963317871094, + 87.01995849609375 + ], + [ + 472.96319580078125, + 92.48041534423828 + ], + [ + 473.43585205078125, + 92.05564880371094 + ], + [ + 473.7593078613281, + 92.45700073242188 + ], + [ + 473.8738098144531, + 93.19300079345703 + ], + [ + 474.294921875, + 80.50112915039062 + ], + [ + 471.14715576171875, + 69.90203857421875 + ], + [ + 469.521240234375, + 40.663299560546875 + ], + [ + 466.90936279296875, + 15.329851150512695 + ], + [ + 458.8359680175781, + 11.970458984375 + ] + ], + "depth_max": 1.9417446851730347, + "depth_min": 0.15408667922019958, + "intrinsic": [ + [ + 611.6610717773438, + 0.0, + 259.0 + ], + [ + 0.0, + 611.0302734375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.963485530926846e-05, + 4.810194241144927e-06, + 6.517491783597507e-06 + ], + [ + -2.963449151138775e-05, + 1.0, + -7.548441499238834e-05, + -1.966800664376933e-05 + ], + [ + -4.812431143363938e-06, + 7.548426947323605e-05, + 1.0, + -8.86240741237998e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 39, + 42, + 46 + ], + "object_trajectory": [ + [ + 565.25, + 270.25 + ], + [ + 565.136474609375, + 270.3517150878906 + ], + [ + 565.1333618164062, + 270.511474609375 + ], + [ + 565.030517578125, + 270.42510986328125 + ], + [ + 565.3782348632812, + 270.32891845703125 + ], + [ + 565.1362915039062, + 270.369140625 + ], + [ + 565.2506103515625, + 270.30633544921875 + ], + [ + 565.572998046875, + 269.9439697265625 + ], + [ + 565.20166015625, + 270.05401611328125 + ], + [ + 564.9498291015625, + 270.3228454589844 + ], + [ + 564.9413452148438, + 270.36334228515625 + ], + [ + 567.9246215820312, + 271.40545654296875 + ], + [ + 568.8729248046875, + 272.3930969238281 + ], + [ + 568.7061157226562, + 272.11297607421875 + ], + [ + 568.4205932617188, + 273.8223571777344 + ], + [ + 578.5849609375, + 268.0604248046875 + ], + [ + 595.1980590820312, + 221.5848388671875 + ], + [ + 604.7578735351562, + 177.64137268066406 + ], + [ + 610.234619140625, + 157.09136962890625 + ], + [ + 598.8436279296875, + 128.4974822998047 + ], + [ + 582.3488159179688, + 111.18998718261719 + ], + [ + 562.2977905273438, + 103.77070617675781 + ], + [ + 549.0626220703125, + 104.31808471679688 + ], + [ + 539.2962646484375, + 100.29959106445312 + ], + [ + 528.2249755859375, + 107.45951843261719 + ], + [ + 520.1019897460938, + 112.74932098388672 + ], + [ + 517.43505859375, + 113.40801239013672 + ], + [ + 512.5001220703125, + 111.85000610351562 + ], + [ + 506.85809326171875, + 112.13516235351562 + ], + [ + 500.2157897949219, + 111.04019927978516 + ], + [ + 498.6473083496094, + 103.04817199707031 + ], + [ + 496.0699462890625, + 104.03150177001953 + ], + [ + 495.0451965332031, + 103.41118621826172 + ], + [ + 493.1914978027344, + 106.6889877319336 + ], + [ + 491.6569519042969, + 109.15258026123047 + ], + [ + 490.51190185546875, + 112.45402526855469 + ], + [ + 489.5333251953125, + 113.99378967285156 + ], + [ + 489.41632080078125, + 114.02352905273438 + ], + [ + 488.375244140625, + 114.73890686035156 + ], + [ + 488.62188720703125, + 114.49018096923828 + ], + [ + 488.6066589355469, + 114.72602844238281 + ], + [ + 488.4507751464844, + 114.62200927734375 + ], + [ + 488.8884582519531, + 114.98013305664062 + ], + [ + 487.20184326171875, + 114.89547729492188 + ], + [ + 487.05389404296875, + 115.26344299316406 + ], + [ + 487.0179443359375, + 115.08096313476562 + ], + [ + 487.2232666015625, + 114.89967346191406 + ] + ] +} \ No newline at end of file diff --git a/008317_v2/lang.txt b/008317_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..996cc56d12ffd90db764197d0a80690a0e74b13a --- /dev/null +++ b/008317_v2/lang.txt @@ -0,0 +1 @@ +put the red box diff --git a/008317_v2/object.ply b/008317_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..caa438a462f084f0b417037d735c7fc549e7ea55 Binary files /dev/null and b/008317_v2/object.ply differ diff --git a/008339_v2/data.json b/008339_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..e3ab466c69b04a4b957bb269a5e99cd904107050 --- /dev/null +++ b/008339_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 13, + "action_end": 37, + "object_name": "arch", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.015140000000000042, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 2.0301538228295612e-11, + 3.19178902058459e-10, + 1.841331531693413e-10, + 6.31746676042228e-07, + -3.458921543120249e-07, + -1.2235201313360405e-07, + 1.0 + ], + [ + 0.0027221978627983145, + 0.022909105596525668, + -0.017334920190630793, + -0.03878420796002595, + 0.036617619365487, + 0.017074809847107013, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 1.6951013925847747e-09, + -4.424963884891442e-09, + -1.2408721827839031e-08, + 2.57777991844913e-07, + 1.289604551529665e-07, + -6.009397901572094e-09, + 1.0 + ], + [ + -8.302192393205843e-05, + 0.03186000106219365, + -0.032868661167299085, + -0.010087651702921727, + 0.04710518844833188, + 0.1250651886203662, + 1.0 + ], + [ + 0.002490733114635768, + 0.0167808661020055, + -0.019886988923832255, + -0.03340222012634257, + 0.01873719396621924, + 0.07086121705438954, + 1.0 + ], + [ + 0.004152156994181921, + 0.0018688879813159448, + -0.012951393463034006, + -0.03661301634883918, + -0.0014246552150674022, + 0.02184569736303897, + 1.0 + ], + [ + -0.0011615885115099367, + -0.0017964983476280033, + -0.008478175541460756, + -0.06034141403331717, + -0.02266007286634259, + 0.035841037467238095, + 1.0 + ], + [ + -0.00034578406270791007, + 0.0038562509391929234, + -0.014474706012087682, + -0.022180436021624433, + -0.009689280745368047, + 0.04472768534040125, + 1.0 + ], + [ + 0.0004312338934226445, + 0.004718899839558387, + -0.015371674854538733, + 0.02253259027163299, + 0.00203366653312046, + 0.025658920256068526, + 1.0 + ], + [ + 0.0011486485637737798, + 0.007564060704564064, + -0.008658089809503722, + 0.018381138104000133, + -0.0017584677399156675, + 0.021608960943243733, + 1.0 + ], + [ + 0.005139402817684491, + 0.0066510382176127175, + -0.005640565240055212, + 0.008553225994525876, + -0.0003532264348611265, + 0.020142616381166392, + 1.0 + ], + [ + 0.0057843492069966085, + 0.007121301345931849, + -0.00958385444560926, + -0.0022409701835225788, + 0.019522785347469155, + 0.011323950936454106, + 1.0 + ], + [ + 0.00342997127391792, + 0.004915389820614166, + -0.007312724194789531, + -0.006680454313729537, + 0.014857032967676424, + 0.01074073750040814, + 1.0 + ], + [ + -0.0009472763395347306, + 0.001935071614657377, + 0.004088536429727407, + -0.004858061861304264, + -0.007024958435716408, + 0.012521866866817095, + 0.0 + ], + [ + -0.002630699989426055, + -0.003329138575797669, + 0.021754988696549217, + -0.012327990132676821, + -0.03499467294209661, + 0.000595991434664023, + 0.0 + ], + [ + -0.007336880644370547, + -0.004277688686673137, + 0.031210284765355263, + 0.0031447378531672954, + -0.05956000828185921, + 0.013916128905306155, + 0.0 + ], + [ + -0.011838299700019539, + -0.002703327515306622, + 0.03522795098237428, + 0.018488350428913593, + -0.06422112656534212, + 0.014108054360527826, + 0.0 + ], + [ + -0.016569464551330737, + -0.007744208736260388, + 0.02928916714884497, + -0.008609479824977942, + -0.037595164859250796, + -0.0041927674972903495, + 0.0 + ], + [ + -0.01749161377015057, + -0.022474206182003756, + 0.014911896278978931, + 0.018215340137985123, + 0.004103004996401467, + -0.04300542348972824, + 0.0 + ], + [ + -0.0058231230480097484, + -0.036236398666564903, + 0.004936473230581606, + 0.011672085500889058, + 0.011710225824595813, + -0.08741337563446963, + 0.0 + ], + [ + -6.2987645824130745e-06, + -0.03507849834342878, + 0.005600839408694075, + 0.0272933477059342, + -0.0011664221783276572, + -0.12757413408153853, + 0.0 + ], + [ + -0.005208461362309014, + -0.0369075219271867, + -0.0025198638383882033, + 0.039349601758282504, + 0.02338455828855121, + -0.16983884696307014, + 0.0 + ], + [ + -0.011605928009340516, + -0.026091153026415362, + -0.017718248981152818, + 0.012233663071217088, + 0.057657391932049946, + -0.10660802547534054, + 0.0 + ], + [ + -0.013641139195067375, + -0.021928352729659262, + -0.020462960116811174, + 0.01725643450867904, + 0.05986311199158625, + -0.08826426280803411, + 0.0 + ], + [ + -0.011325835988099331, + -0.017705057022830373, + -0.014459227884351916, + 0.016086367165101145, + 0.03759635373171704, + -0.0748991363629546, + 0.0 + ], + [ + -0.007261637270819243, + -0.01455168482541093, + -0.009413505178403447, + 0.008493119701536362, + 0.025620474780107788, + -0.06376507063123094, + 0.0 + ], + [ + -0.0013272663804736462, + -0.005412648089959629, + -0.0006359528838067452, + -0.00018387776041772495, + 0.008680558986261596, + -0.017687356566445826, + 0.0 + ], + [ + 0.0020028863903557015, + -0.0035459746912794576, + -0.00017678424479145027, + -0.006997497924917667, + 0.003050214165814785, + -0.0038732948897310603, + 0.0 + ], + [ + 0.009054287542262396, + -0.003802595659605973, + -0.0038181588099785585, + -0.0025259606881864838, + 0.008871511044898977, + 0.0021417508786490676, + 0.0 + ], + [ + 0.006074303435041867, + -0.0028046201957391825, + 0.0003010956318310193, + -0.0005522329682383144, + -0.0018532950100791704, + 0.00505049809970207, + 0.0 + ], + [ + 0.001909180321923415, + -0.001643767833796328, + 0.0023691153970832046, + -0.002102070662578437, + -0.0051346759715486376, + 0.004693836191274638, + 0.0 + ], + [ + 0.0006985207670388571, + 0.0003900687044918194, + -0.0006352743970331198, + -0.0012347451832472375, + 0.001450361908690171, + 0.004349946025740109, + 0.0 + ], + [ + 0.0006058406206383149, + 0.002319906251499526, + -0.0030727258069510738, + 0.0006422964810446194, + 0.00925914738518973, + 0.008176076278511853, + 0.0 + ], + [ + 0.000703272464184751, + 0.001143880961909538, + -0.007518357019789965, + 0.0051254080760999915, + 0.017675443195880727, + 0.0029473565882872925, + 0.0 + ], + [ + 0.0019009944553439462, + -0.0016439306869932557, + -0.006157381473063689, + 0.005629068615966333, + 0.008822411831195582, + -0.0025561677281999936, + 0.0 + ], + [ + 0.002797327425794638, + 0.000671642521717114, + -0.0050761797503268286, + 0.005245627041944707, + 0.0043509569495919715, + 0.0023135493471078067, + 0.0 + ], + [ + 0.002884121256583161, + 0.0029454984400405226, + -0.0033759977588568857, + 0.015268322470162514, + 0.009786332262869455, + 0.03060149529098266, + 0.015140000000000042 + ], + [ + 0.0029903232476074237, + 0.0025802472952134725, + 0.0034735264398369353, + -0.0034557578885606012, + -0.007663990214847811, + 0.018031213335279225, + 1.0 + ], + [ + 0.0025787513812417506, + 0.0029515483259193454, + 0.003290482762582078, + -0.0024251975087667852, + -0.005888872573008615, + 0.011783876658703594, + 1.0 + ], + [ + 0.0015663653624412022, + 0.003974364894431676, + 0.005403387078899022, + -0.005693978459064309, + -0.007455253075345934, + 0.007664422978715103, + 1.0 + ], + [ + 0.002001421494626343, + 0.009211264904008587, + 0.021653897169849626, + -0.022133821503981882, + -0.04094391302853231, + 0.04036453673707608, + 1.0 + ], + [ + 0.000556252153700032, + 0.013306851940689868, + 0.02744911370077409, + -0.03253147756684264, + -0.053261197583959294, + 0.05360135014497038, + 1.0 + ], + [ + -0.0037705455022578604, + 0.015232929212125892, + 0.03480111900650405, + -0.03491562321443598, + -0.0523565622081322, + 0.03905357673104515, + 1.0 + ], + [ + -0.005476056690031539, + 0.021087572332238555, + 0.03564116229702838, + -0.03696243926818046, + -0.06274238361135276, + 0.06334042350076909, + 1.0 + ], + [ + -0.0045201980660721786, + 0.02788501011484673, + 0.020252192858970314, + 0.06990316226021073, + -0.04658738712364685, + 0.0906365733503628, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 429.9119873046875, + -13.9952392578125 + ], + [ + 430.6964111328125, + -14.733379364013672 + ], + [ + 433.3280029296875, + -1.1086807250976562 + ], + [ + 404.6918029785156, + -0.39780616760253906 + ], + [ + 404.74420166015625, + 1.1245813369750977 + ], + [ + 403.5357971191406, + 32.107337951660156 + ], + [ + 357.10980224609375, + 46.1915283203125 + ], + [ + 349.1129455566406, + 64.41108703613281 + ], + [ + 350.44549560546875, + 78.38542175292969 + ], + [ + 345.71435546875, + 93.6944580078125 + ], + [ + 336.87530517578125, + 113.15194702148438 + ], + [ + 332.097412109375, + 122.83425903320312 + ], + [ + 322.608154296875, + 126.85747528076172 + ], + [ + 319.0847473144531, + 131.75253295898438 + ], + [ + 315.43841552734375, + 136.5818328857422 + ], + [ + 312.05023193359375, + 138.59629821777344 + ], + [ + 312.5876770019531, + 134.29969787597656 + ], + [ + 312.71490478515625, + 106.27574157714844 + ], + [ + 307.234619140625, + 69.01410675048828 + ], + [ + 297.0264892578125, + 32.235328674316406 + ], + [ + 282.7720642089844, + 22.190288543701172 + ], + [ + 318.06640625, + 9.10143756866455 + ], + [ + 360.3349609375, + 32.245262145996094 + ], + [ + 417.11279296875, + 49.91436004638672 + ], + [ + 455.8172302246094, + 94.11398315429688 + ], + [ + 473.700439453125, + 145.94882202148438 + ], + [ + 485.53289794921875, + 204.3943634033203 + ], + [ + 502.829345703125, + 251.23312377929688 + ], + [ + 514.384521484375, + 269.6034851074219 + ], + [ + 515.3153686523438, + 273.69793701171875 + ], + [ + 528.5985107421875, + 279.104248046875 + ], + [ + 541.2239990234375, + 278.078857421875 + ], + [ + 549.872314453125, + 272.4329528808594 + ], + [ + 548.2781982421875, + 272.4285888671875 + ], + [ + 549.715087890625, + 273.767578125 + ], + [ + 549.42138671875, + 283.41387939453125 + ], + [ + 548.0355224609375, + 291.0470886230469 + ], + [ + 549.0626220703125, + 296.1856994628906 + ], + [ + 554.5732421875, + 293.73626708984375 + ], + [ + 550.327392578125, + 296.5001220703125 + ], + [ + 541.79736328125, + 290.06121826171875 + ], + [ + 538.39697265625, + 286.80047607421875 + ], + [ + 532.244140625, + 265.87017822265625 + ], + [ + 530.7049560546875, + 212.35980224609375 + ], + [ + 515.4755859375, + 155.75057983398438 + ], + [ + 499.56396484375, + 78.2605209350586 + ], + [ + 452.65740966796875, + -46.42890930175781 + ], + [ + 422.04486083984375, + -74.83426666259766 + ] + ], + "depth_max": 2.2300806045532227, + "depth_min": 0.21963800489902496, + "intrinsic": [ + [ + 602.3795166015625, + 0.0, + 259.0 + ], + [ + 0.0, + 601.5020141601562, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.912777876597829e-05, + 7.544040272478014e-05, + 9.234940080204979e-06 + ], + [ + -4.9123296776087955e-05, + 1.0, + -5.9447793319122866e-05, + -1.467460606363602e-05 + ], + [ + -7.544332765974104e-05, + 5.944408621871844e-05, + 1.0, + 3.0194447390385903e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 319.25, + 143.75 + ], + [ + 319.5520324707031, + 143.7216796875 + ], + [ + 319.8304748535156, + 143.70779418945312 + ], + [ + 319.44024658203125, + 143.85838317871094 + ], + [ + 319.35107421875, + 143.79248046875 + ], + [ + 319.24493408203125, + 144.04296875 + ], + [ + 319.0941467285156, + 143.9115753173828 + ], + [ + 319.1398010253906, + 143.92239379882812 + ], + [ + 319.1679382324219, + 143.84005737304688 + ], + [ + 319.1258544921875, + 144.02728271484375 + ], + [ + 319.0308837890625, + 144.05499267578125 + ], + [ + 318.865966796875, + 144.14859008789062 + ], + [ + 318.8277893066406, + 144.80014038085938 + ], + [ + 318.240478515625, + 145.00856018066406 + ], + [ + 318.27191162109375, + 145.3936767578125 + ], + [ + 310.7011413574219, + 142.79364013671875 + ], + [ + 307.7489013671875, + 138.72410583496094 + ], + [ + 308.92449951171875, + 115.70083618164062 + ], + [ + 306.9367370605469, + 84.70670318603516 + ], + [ + 294.0155334472656, + 54.21360397338867 + ], + [ + 281.55389404296875, + 40.099952697753906 + ], + [ + 310.27154541015625, + 38.66767883300781 + ], + [ + 353.9363098144531, + 54.200660705566406 + ], + [ + 393.2510070800781, + 83.45057678222656 + ], + [ + 421.6620788574219, + 123.44405364990234 + ], + [ + 436.1073303222656, + 163.76515197753906 + ], + [ + 457.094970703125, + 212.92489624023438 + ], + [ + 472.4257507324219, + 253.96214294433594 + ], + [ + 470.8466491699219, + 272.72210693359375 + ], + [ + 473.20587158203125, + 278.6317443847656 + ], + [ + 486.83782958984375, + 282.24462890625 + ], + [ + 499.56341552734375, + 281.62506103515625 + ], + [ + 508.75238037109375, + 277.9612121582031 + ], + [ + 508.3459777832031, + 277.88641357421875 + ], + [ + 509.63092041015625, + 279.2969970703125 + ], + [ + 510.4246826171875, + 285.7664794921875 + ], + [ + 510.93853759765625, + 293.2752685546875 + ], + [ + 510.97576904296875, + 297.03155517578125 + ], + [ + 518.3443603515625, + 296.2425842285156 + ], + [ + 517.3939208984375, + 299.70758056640625 + ], + [ + 513.5394287109375, + 291.72711181640625 + ], + [ + 512.2283935546875, + 287.3433837890625 + ], + [ + 495.3584899902344, + 285.3534851074219 + ], + [ + 491.6055603027344, + 279.74090576171875 + ], + [ + 503.8970642089844, + 283.03216552734375 + ], + [ + 503.46697998046875, + 281.4648742675781 + ], + [ + 502.69647216796875, + 280.94671630859375 + ], + [ + 503.3563232421875, + 282.760986328125 + ] + ] +} \ No newline at end of file diff --git a/008339_v2/lang.txt b/008339_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..de6eaf91756f4a34dd1d72617368bf49173d40b5 --- /dev/null +++ b/008339_v2/lang.txt @@ -0,0 +1 @@ +put the arch on top of the blue block diff --git a/008339_v2/object.ply b/008339_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..29346b36b690e0e99d519e9aed576fed39e65e39 Binary files /dev/null and b/008339_v2/object.ply differ diff --git a/008344_v2/data.json b/008344_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..879df5246db38e03a5114f79ffb86dfc0b4cae5c --- /dev/null +++ b/008344_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 17, + "action_end": 39, + "object_name": "blue cube", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.856899, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.3365419881949947e-11, + 2.2176494668402214e-10, + 2.1452400966737173e-10, + -4.1736396091452124e-07, + -8.111129051638943e-07, + -2.7154013594432506e-08, + 1.0 + ], + [ + 0.007478533307561652, + -0.032741749020925436, + -0.0028951432499958463, + -0.004795402712059565, + 0.00398099718093872, + -0.08562548058979136, + 1.0 + ], + [ + 0.013019361578572586, + -0.03196048121398139, + -0.00443971925555027, + -0.0007025167351905194, + 0.00911224202010603, + -0.10003665949040869, + 1.0 + ], + [ + 0.00658161555221376, + -0.02371986663647124, + -0.00025056564684027005, + -0.0017282791019438862, + -0.0021033300432301938, + -0.0745872030726192, + 1.0 + ], + [ + -0.00036129811071516915, + -0.02946397502274628, + -0.0019740756283709443, + -0.03283665565629599, + -0.0070018952912467925, + -0.09298746207382255, + 1.0 + ], + [ + -0.008388594579675834, + -0.02620193796565569, + 0.0023088858697340453, + -0.028430320685612017, + -0.011360062074550875, + -0.04053650089346198, + 1.0 + ], + [ + -0.008780537352027218, + -0.019727203755405, + 0.010361290591210229, + -0.011277876490892466, + -0.041510669563024544, + 0.0028050127743185233, + 1.0 + ], + [ + -0.011961186986148009, + -0.011724891712226404, + 0.005445596558255203, + -0.025302174941531416, + -0.016535497558250185, + -0.033968218706194084, + 1.0 + ], + [ + -0.00828957537813202, + -0.00734040558694779, + -0.0010231601387847011, + -0.019732449446469978, + 0.014273728357787568, + -0.027836123548494355, + 1.0 + ], + [ + -0.013659624176223295, + -5.633974594301816e-05, + -0.007174216223191768, + -0.03633502488052139, + 0.061666564313918475, + -0.0589596408680622, + 1.0 + ], + [ + -0.005646433112493882, + -0.003348937670219432, + -0.020238221436571627, + 0.12705672534870335, + 0.05515876379115669, + -0.3487071587111888, + 1.0 + ], + [ + -0.004230336659261258, + -0.007542270150702635, + 0.0015340808864436062, + 0.12685283083477933, + -0.12854835313113636, + -0.3332497096611397, + 1.0 + ], + [ + -0.0021011322029725332, + -0.0023813109710392466, + 0.003017983666761037, + 0.021921393797881102, + -0.1108770724161573, + -0.09542260313050792, + 1.0 + ], + [ + 0.0010333442843068197, + -0.00013243251057745709, + -0.003195641488250467, + -0.0005899838095129699, + -0.0066766813345489565, + -0.00039932400988917254, + 1.0 + ], + [ + 0.0036502905883420145, + 0.002023666396316487, + -0.009146297827870922, + -0.0019707903053943878, + -0.0027911949648154457, + 0.033984566234538015, + 1.0 + ], + [ + 0.008603695352437213, + 0.004666310893441772, + -0.009171679475726668, + -0.01894022414256966, + 0.01644930634909286, + 0.04230998322292246, + 1.0 + ], + [ + 0.008133338320827216, + 0.003636845967760677, + -0.009568284146983769, + -0.01859916785213131, + 0.017986798494669595, + 0.018668038675661663, + 1.0 + ], + [ + 0.011673498295081464, + 0.0018290939089759817, + -0.01735555162909523, + -0.011613168338584383, + 0.03640596753920984, + 0.006274295808821943, + 1.0 + ], + [ + 0.0039938577465810365, + 0.005875548919412943, + -0.01466222436313483, + -0.015114064076893788, + 0.03892422635368113, + 0.05094006959726538, + 0.0 + ], + [ + -0.0006051273066096652, + 0.007399181553308071, + 0.01440158615307291, + -0.04106490572279522, + -0.052902836210844705, + 0.03879988501319447, + 0.0 + ], + [ + 0.00518483808125797, + 0.019031644252461732, + 0.021634770478869546, + -0.059706742832826086, + -0.039945047006092214, + 0.06879572452195622, + 0.0 + ], + [ + 0.006769433915170375, + 0.03064158483637243, + 0.0211223445690272, + -0.004642810534950645, + -0.005447310062965333, + 0.13318412580262073, + 0.0 + ], + [ + 0.010614457828197366, + 0.028212167839763602, + 0.01838237215138737, + 0.005079660407183248, + 0.0035333117241881334, + 0.1255357854968443, + 0.0 + ], + [ + 0.006225603304800431, + 0.01852382676684345, + 0.003071270021782535, + 0.004638890576860125, + 0.010405114165898531, + 0.08230425025819182, + 0.0 + ], + [ + 0.0038534279739297905, + 0.017274262373925334, + -0.0013183799230116339, + -0.023312660743135632, + 0.022293214881843746, + 0.11559019015289983, + 0.0 + ], + [ + 0.005242264629627957, + 0.014609604224065303, + 0.000998352016613649, + -0.04366848108414939, + 0.004034270488990937, + 0.13214008741361674, + 0.0 + ], + [ + 0.005574010469660551, + 0.01153392388134791, + 0.005306263940191916, + -0.024997622442573426, + -0.018612971654851984, + 0.1041858655148723, + 0.0 + ], + [ + 0.010249642846074491, + 0.008727930229240182, + -0.0020146452868910064, + -0.03115542943822866, + -0.020136219921696584, + 0.059081171923850186, + 0.0 + ], + [ + 0.01427190856120747, + 0.004786168183662589, + -0.00694913561204151, + 0.016999691806005884, + 0.03229148745116831, + 0.029491144947925485, + 0.0 + ], + [ + 0.010389424111545753, + 0.0056214218262366205, + -0.0006777394680202026, + 0.007420287025894435, + -0.01507684922760922, + -0.01748010000502301, + 0.0 + ], + [ + 0.007731672634187559, + 0.007308186911161214, + -0.0007205884914177896, + 0.029477473367093096, + 0.013870568804142376, + -0.017331783019208766, + 0.0 + ], + [ + -0.0006253631191789344, + 0.008128695038938979, + 0.006104086341728501, + 0.013036018409618506, + 0.001681797202083282, + 0.008515054650333703, + 0.0 + ], + [ + -0.004284891233670318, + 0.0056556486785641555, + 0.005081492520156564, + -0.0044591159905986045, + -0.005288888580877976, + 0.009165113426539561, + 0.0 + ], + [ + -0.00270634268030151, + 0.003876864332697502, + -0.0024339183057745517, + -0.00038473224296648904, + 0.012037726969390207, + 0.0001033336474409788, + 0.0 + ], + [ + -0.003522601361185318, + 0.0024856716523874098, + -0.0032158133006311845, + -0.007551951524551069, + 0.0016571122541275557, + 0.008080481957446959, + 0.0 + ], + [ + 0.0001597898734166936, + 0.0006528815473974964, + -0.0023284853484742823, + -0.002314650591552328, + 0.001966770776734141, + 0.0012117706191701674, + 0.0 + ], + [ + 0.0013157608691207745, + 0.0005332489573581026, + -0.002456277870016496, + -0.0021798235715415385, + 0.0015753857710753257, + -0.0021824644031768203, + 0.0 + ], + [ + 0.0008481101073681274, + 0.001106185014645697, + -0.0027113733876176355, + -0.0016627393230861682, + 0.003752825960811576, + 0.0015097130926431507, + 0.0 + ], + [ + 0.0006414761441417838, + 0.000781501701492375, + -0.001574909916227496, + 0.00038835975970264195, + 0.00721904156168328, + 0.000545976928831911, + 0.0 + ], + [ + -0.0007802309749262437, + 0.001021189476198843, + -0.0002781300708126211, + -0.0031444828979887846, + 0.005391379800013691, + 0.0011609593432730712, + 0.856899 + ], + [ + -0.0005133213808680148, + -0.00013781086984927804, + -0.00021825802527818128, + -3.582823853634746e-05, + 0.00432983881603636, + -0.00474687267755285, + 1.0 + ], + [ + -0.001342199436227487, + -0.0004728885257521409, + 0.0015571148326053719, + 0.002504290713372718, + -0.002888118263657538, + -0.001208982425650742, + 1.0 + ], + [ + -0.0007688282444405226, + -0.00036642319912552623, + 0.007182838079515572, + 0.004020970186943342, + -0.012402480348418976, + -0.00021407425940525636, + 1.0 + ], + [ + -0.004393021449960899, + -0.004831476674575119, + 0.022187768621118584, + 0.0321613220056704, + -0.04591419086313074, + 0.007454291852471458, + 1.0 + ], + [ + -0.00892493380038839, + -0.0058613115303381425, + 0.0291830309749746, + 0.04175717941554709, + -0.06771530598071086, + 0.004006323860857009, + 1.0 + ], + [ + -0.012216092041219817, + -0.003306247532634199, + 0.02151416676712306, + 0.009271602806469492, + -0.07451127277627577, + 0.007254412572475642, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 300.2098083496094, + 77.59346008300781 + ], + [ + 298.69635009765625, + 83.84698486328125 + ], + [ + 317.442138671875, + 100.00396728515625 + ], + [ + 375.2267150878906, + 125.59291076660156 + ], + [ + 422.7799377441406, + 142.72239685058594 + ], + [ + 466.7703857421875, + 155.55577087402344 + ], + [ + 505.4263000488281, + 184.270263671875 + ], + [ + 541.8526611328125, + 204.85882568359375 + ], + [ + 562.60302734375, + 218.20680236816406 + ], + [ + 564.8759155273438, + 232.36773681640625 + ], + [ + 560.4777221679688, + 257.7017822265625 + ], + [ + 547.9841918945312, + 268.15362548828125 + ], + [ + 547.585205078125, + 304.7411193847656 + ], + [ + 540.7846069335938, + 321.2987365722656 + ], + [ + 538.2372436523438, + 318.19830322265625 + ], + [ + 540.2355346679688, + 322.685302734375 + ], + [ + 542.716064453125, + 339.1081237792969 + ], + [ + 542.6593627929688, + 329.5060729980469 + ], + [ + 533.8853149414062, + 334.7604675292969 + ], + [ + 548.2276611328125, + 325.44189453125 + ], + [ + 539.4404296875, + 316.91064453125 + ], + [ + 483.06622314453125, + 302.1112365722656 + ], + [ + 459.03900146484375, + 249.9652099609375 + ], + [ + 431.9404296875, + 185.67874145507812 + ], + [ + 411.4144287109375, + 154.41864013671875 + ], + [ + 391.2308044433594, + 137.1306610107422 + ], + [ + 367.73046875, + 122.98636627197266 + ], + [ + 355.1324462890625, + 113.5296401977539 + ], + [ + 348.882568359375, + 99.45413208007812 + ], + [ + 347.2118225097656, + 94.89203643798828 + ], + [ + 353.8666687011719, + 92.10838317871094 + ], + [ + 353.8543701171875, + 79.86450958251953 + ], + [ + 351.1177673339844, + 72.986572265625 + ], + [ + 338.4533386230469, + 68.94434356689453 + ], + [ + 331.546630859375, + 66.77412414550781 + ], + [ + 326.49407958984375, + 69.70783996582031 + ], + [ + 322.5037841796875, + 74.30050659179688 + ], + [ + 322.9638671875, + 73.77137756347656 + ], + [ + 322.6045227050781, + 72.93519592285156 + ], + [ + 321.0979919433594, + 72.50323486328125 + ], + [ + 320.4158020019531, + 73.43285369873047 + ], + [ + 317.92401123046875, + 72.71180725097656 + ], + [ + 317.425048828125, + 72.48660278320312 + ], + [ + 315.68359375, + 73.23685455322266 + ], + [ + 312.669921875, + 60.30775451660156 + ], + [ + 303.5080871582031, + 28.4340877532959 + ], + [ + 295.5499267578125, + 12.933664321899414 + ], + [ + 296.0151672363281, + -30.62748908996582 + ] + ], + "depth_max": 2.2067863941192627, + "depth_min": 0.1646045595407486, + "intrinsic": [ + [ + 584.0350341796875, + 0.0, + 259.0 + ], + [ + 0.0, + 582.7611694335938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.501381408772431e-05, + -1.187174621009035e-05, + 8.02205795480404e-06 + ], + [ + -4.501408329815604e-05, + 1.0, + -2.2741403881809674e-05, + -2.1358700905693695e-05 + ], + [ + 1.1870721209561452e-05, + 2.2741938664694317e-05, + 1.0, + 6.80454249959439e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 529.0, + 351.0 + ], + [ + 529.2872314453125, + 351.127197265625 + ], + [ + 529.3302001953125, + 351.15887451171875 + ], + [ + 529.322021484375, + 351.121826171875 + ], + [ + 529.3115234375, + 351.4272155761719 + ], + [ + 529.2855834960938, + 351.24774169921875 + ], + [ + 529.326416015625, + 351.2346496582031 + ], + [ + 529.1065673828125, + 351.375732421875 + ], + [ + 528.85205078125, + 351.1672668457031 + ], + [ + 528.9384765625, + 351.3739013671875 + ], + [ + 528.704833984375, + 351.378173828125 + ], + [ + 528.73388671875, + 351.5745849609375 + ], + [ + 528.9683837890625, + 351.16888427734375 + ], + [ + 528.6021728515625, + 351.09808349609375 + ], + [ + 528.5348510742188, + 350.93328857421875 + ], + [ + 528.4493408203125, + 350.69366455078125 + ], + [ + 528.988037109375, + 350.7569580078125 + ], + [ + 528.8887329101562, + 350.95025634765625 + ], + [ + 529.02978515625, + 350.73968505859375 + ], + [ + 537.97998046875, + 349.86993408203125 + ], + [ + 533.9652099609375, + 341.90252685546875 + ], + [ + 485.9085998535156, + 320.5074462890625 + ], + [ + 462.0202331542969, + 267.71044921875 + ], + [ + 428.9916076660156, + 210.9073028564453 + ], + [ + 409.0179443359375, + 175.11993408203125 + ], + [ + 390.8636779785156, + 158.49014282226562 + ], + [ + 374.1973876953125, + 137.35821533203125 + ], + [ + 363.5177307128906, + 124.31501007080078 + ], + [ + 359.6754455566406, + 108.76239013671875 + ], + [ + 358.3099365234375, + 101.53536224365234 + ], + [ + 363.4345397949219, + 96.74821472167969 + ], + [ + 363.4451904296875, + 84.7985610961914 + ], + [ + 361.2870178222656, + 77.52765655517578 + ], + [ + 349.0999450683594, + 73.7086181640625 + ], + [ + 341.0430603027344, + 71.35376739501953 + ], + [ + 335.44720458984375, + 74.68890380859375 + ], + [ + 332.10107421875, + 78.66648864746094 + ], + [ + 331.85626220703125, + 78.91160583496094 + ], + [ + 324.05706787109375, + 79.59455108642578 + ], + [ + 323.45941162109375, + 78.99518585205078 + ], + [ + 332.5757141113281, + 88.85247802734375 + ], + [ + 333.0467224121094, + 87.88815307617188 + ], + [ + 333.2238464355469, + 87.49763488769531 + ], + [ + 332.9649963378906, + 87.41253662109375 + ], + [ + 332.7108154296875, + 87.38885498046875 + ], + [ + 334.59979248046875, + 87.53099060058594 + ], + [ + 334.6795654296875, + 87.98260498046875 + ], + [ + 335.0142517089844, + 87.6309814453125 + ] + ] +} \ No newline at end of file diff --git a/008344_v2/lang.txt b/008344_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..6471ffd9b4bc313054c831fffd871123951ffb5a --- /dev/null +++ b/008344_v2/lang.txt @@ -0,0 +1 @@ +take the blue cube on the red block and placed it on the white arc diff --git a/008344_v2/object.ply b/008344_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..9e547decf604bbf682e0fe28b3307a16dcb458e5 Binary files /dev/null and b/008344_v2/object.ply differ diff --git a/008374_v2/FAIL b/008374_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/008374_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/008401_v2/FAIL b/008401_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/008401_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/008443_v2/FAIL b/008443_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/008443_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/008449_v2/FAIL b/008449_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/008449_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/008456_v2/FAIL b/008456_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/008456_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/008518_v2/data.json b/008518_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..d4897fa0075c335f2aaa863027da1d68a5a4b087 --- /dev/null +++ b/008518_v2/data.json @@ -0,0 +1,714 @@ +{ + "action_start": 9, + "action_end": 24, + "object_name": "blue toy", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.380288743886183e-10, + 9.063563788380691e-11, + -4.631500738483396e-11, + -2.853466894105229e-07, + 4.141664162137765e-07, + 4.7634147851487115e-07, + 1.0 + ], + [ + 0.02144093609585973, + -0.007279003234926244, + -0.01039526315104107, + -0.0030445383803382044, + 0.05789712227782749, + -0.11721307757601215, + 1.0 + ], + [ + 0.02044514589347357, + -0.014008068909642499, + -0.009021751548274032, + -0.00791437737479292, + 0.022131886337322618, + -0.1351627764983772, + 1.0 + ], + [ + 0.030213933587381447, + -0.02603966575526824, + -0.011777429058726224, + -0.05626205338921967, + -0.04058921072501569, + -0.20119693598530117, + 1.0 + ], + [ + 0.01698225639803752, + -0.025736518032894132, + -0.007220352313554529, + 0.009546671289276542, + -0.03226962279272887, + -0.12686861880755124, + 1.0 + ], + [ + 0.012501692746309356, + -0.017973354800208, + -0.008307990473971474, + 0.022275539013476904, + -0.0004216449008247393, + -0.05810859733632061, + 1.0 + ], + [ + 0.006677515558028202, + -0.0033489850605880507, + -0.009100102951728806, + 0.021359155610751898, + -0.01687755501796147, + 0.0015707797303062823, + 1.0 + ], + [ + 0.004477897104522122, + -0.00022114998329633706, + -0.012964113593116368, + 0.0034803765992886546, + 0.02995569824312406, + -0.0017150631359821528, + 1.0 + ], + [ + 0.0022778352442217598, + 0.0010079742161532707, + -0.013549830623914967, + 0.005857457999551799, + 0.0305196237004324, + -0.009150467629510937, + 1.0 + ], + [ + 0.00043165013046481127, + 0.0002635435735000996, + -0.012616806701351246, + 0.0010550524961508777, + 0.029206637357258144, + -0.009984706769188391, + 1.0 + ], + [ + -0.003633029537736643, + 0.003437898526072094, + -0.007051931283475593, + 0.007943226183272997, + 0.019912904833352413, + 0.012451249847167384, + 0.0 + ], + [ + -0.0053465707099668025, + 0.005404186891683125, + 0.007842100523697814, + -0.000588970325894509, + -0.02894915839970003, + 0.01556807548745344, + 0.0 + ], + [ + -0.001699424881131506, + 0.0033041730581701984, + 0.006721278702011114, + -0.008092620410295962, + -0.013794598720862163, + 0.01638933392963321, + 0.0 + ], + [ + -0.001405438666470027, + 0.0024184955577725466, + 0.005943431909183974, + 0.01002551955837651, + -0.006408278697034796, + 0.008380201919239497, + 0.0 + ], + [ + -0.0007301973325801736, + 0.0060943558319575125, + 0.009079072752749181, + -0.021503673549436126, + 0.011452957121912065, + 0.024385043507742246, + 0.0 + ], + [ + 0.0114442441383108, + 0.011618532053761526, + 0.02038722399086963, + -0.007787729258178463, + -0.02025353414286649, + 0.04662510112365594, + 0.0 + ], + [ + 0.01926870306439038, + 0.018644140950418768, + 0.015824938991654266, + -0.007813260786758092, + -0.038645803615736975, + 0.03759756176274841, + 0.0 + ], + [ + 0.01896525179369296, + 0.019398280886145668, + 0.009293626506413653, + -0.00754531534999591, + -0.03576893865584492, + 0.04257966097992015, + 0.0 + ], + [ + 0.015528666801423174, + 0.014980612097615783, + 0.001701906893049887, + -0.019247625343820605, + -0.016525011354098798, + 0.039340788390059854, + 0.0 + ], + [ + 0.011714573253971294, + 0.013891448617635319, + -0.007395931121296884, + 0.012057874709177836, + 0.013836557792162267, + 0.03408012979455225, + 0.0 + ], + [ + 0.008610745750924798, + 0.010919660988354195, + -0.00957958396393857, + -0.0019959518429584363, + 0.008950424232837593, + 0.02731029759726362, + 0.0 + ], + [ + 0.01280360051086249, + 0.005833301390801245, + -0.01181158440323632, + -0.0015179091207072417, + 0.003586664810913563, + 0.0030487686979447873, + 0.0 + ], + [ + 0.008591905041996084, + 0.004196707802403887, + -0.011705652958713238, + -0.021815670230672258, + 0.007748921112302406, + 0.01456396345571522, + 0.0 + ], + [ + 0.0034103718251735637, + 0.0007760504225879372, + -0.00952362954398115, + -0.017631062339778222, + 0.015921956918582492, + 0.008049908530981668, + 0.0 + ], + [ + -0.0006267762562012225, + 0.0010618773527344277, + -0.010857284199695142, + 0.004741230376836049, + 0.03882972241293317, + -0.001316751437894024, + 0.0 + ], + [ + -0.0014386642074235012, + -0.0010341189105525922, + -0.0022608645415725867, + -0.00897939017395208, + 0.005071452346511406, + -0.010887202204135353, + 1.0 + ], + [ + -0.0004802454171782822, + -0.0020728300132264316, + 0.0058329813913446955, + 0.013345678520449664, + -0.002759807170013739, + 0.007944502898612456, + 1.0 + ], + [ + 0.0018745566907414912, + -0.0022793385862462517, + 0.008568704139985669, + -0.01929565990848575, + -0.02647876665238763, + 0.0062822569764872434, + 1.0 + ], + [ + 0.0018775199351110938, + -0.002771177545787429, + 0.013583707180966948, + 0.004556936123909507, + -0.011347894130479664, + -0.015922575908399232, + 1.0 + ], + [ + -0.0006475959279021448, + -0.007414874893923021, + 0.023540017214070678, + 0.0003900491033461518, + -0.04548198428623153, + -0.021022250213846346, + 1.0 + ], + [ + -0.0008473803408361458, + -0.013688196368614687, + 0.027139757489576935, + 0.0143531898465414, + -0.03657818585406131, + -0.036373695485711635, + 1.0 + ], + [ + -0.012444142428497507, + -0.0014226542250560942, + 0.02780684332082302, + 0.05789515974835165, + 0.009731712395434904, + -0.0009309396631718422, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 240.50704956054688, + 104.3407211303711 + ], + [ + 240.79299926757812, + 106.04289245605469 + ], + [ + 245.50689697265625, + 123.96250915527344 + ], + [ + 278.3431396484375, + 125.44190979003906 + ], + [ + 323.78497314453125, + 129.50796508789062 + ], + [ + 374.81268310546875, + 143.15896606445312 + ], + [ + 420.49029541015625, + 155.81771850585938 + ], + [ + 438.4770202636719, + 168.46182250976562 + ], + [ + 439.3310546875, + 175.5169219970703 + ], + [ + 440.62921142578125, + 186.7989501953125 + ], + [ + 437.67095947265625, + 202.6070556640625 + ], + [ + 436.870849609375, + 209.8435516357422 + ], + [ + 437.9093933105469, + 212.04571533203125 + ], + [ + 431.5132751464844, + 217.89837646484375 + ], + [ + 431.88800048828125, + 209.99745178222656 + ], + [ + 431.17401123046875, + 206.5337371826172 + ], + [ + 421.170654296875, + 189.36959838867188 + ], + [ + 415.9295654296875, + 153.67279052734375 + ], + [ + 405.0006103515625, + 108.6274185180664 + ], + [ + 395.1881103515625, + 74.13124084472656 + ], + [ + 384.22027587890625, + 67.55976867675781 + ], + [ + 380.41455078125, + 69.6492691040039 + ], + [ + 373.17083740234375, + 74.09886932373047 + ], + [ + 375.8736572265625, + 79.9337158203125 + ], + [ + 374.4960632324219, + 89.47325897216797 + ], + [ + 372.2598876953125, + 94.2470703125 + ], + [ + 369.613525390625, + 99.39629364013672 + ], + [ + 368.6043701171875, + 99.72120666503906 + ], + [ + 368.47015380859375, + 99.28636169433594 + ], + [ + 370.6435546875, + 101.23960876464844 + ], + [ + 371.9705505371094, + 86.17002868652344 + ], + [ + 376.098876953125, + 51.47309494018555 + ], + [ + 385.4511413574219, + 35.289772033691406 + ], + [ + 392.6592102050781, + 16.51990509033203 + ], + [ + 390.61199951171875, + 17.97547721862793 + ], + [ + 391.24609375, + 17.88254165649414 + ] + ], + "depth_max": 2.443718194961548, + "depth_min": 0.05824408680200577, + "intrinsic": [ + [ + 640.67529296875, + 0.0, + 259.0 + ], + [ + 0.0, + 639.3894653320312, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.232882434327621e-05, + 7.656995876459405e-06, + -8.449635970464442e-06 + ], + [ + -2.2328918930725195e-05, + 1.0, + 1.2571388651849702e-05, + 7.716870641161222e-06 + ], + [ + -7.656715752091259e-06, + -1.2571559636853635e-05, + 1.0, + 0.00011531139898579568 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 35 + ], + "object_trajectory": [ + [ + 427.5, + 206.0 + ], + [ + 427.4836730957031, + 206.08323669433594 + ], + [ + 427.399169921875, + 206.22952270507812 + ], + [ + 427.36083984375, + 206.1416473388672 + ], + [ + 427.2934265136719, + 206.1056365966797 + ], + [ + 427.3733215332031, + 206.18431091308594 + ], + [ + 427.45550537109375, + 206.2368927001953 + ], + [ + 427.5390930175781, + 205.89541625976562 + ], + [ + 427.9225769042969, + 206.2659149169922 + ], + [ + 428.6627197265625, + 206.26913452148438 + ], + [ + 428.9024963378906, + 206.73068237304688 + ], + [ + 429.1417541503906, + 207.2589111328125 + ], + [ + 428.15966796875, + 207.0656280517578 + ], + [ + 425.1152648925781, + 211.09384155273438 + ], + [ + 424.5535583496094, + 206.20570373535156 + ], + [ + 423.63616943359375, + 203.30174255371094 + ], + [ + 414.8934326171875, + 188.009765625 + ], + [ + 410.00567626953125, + 153.80221557617188 + ], + [ + 401.5909118652344, + 109.91490173339844 + ], + [ + 390.4492492675781, + 76.40191650390625 + ], + [ + 381.4606018066406, + 70.8609619140625 + ], + [ + 375.375, + 73.02195739746094 + ], + [ + 368.5451965332031, + 78.68602752685547 + ], + [ + 369.9760437011719, + 83.55256652832031 + ], + [ + 369.3210144042969, + 94.82205963134766 + ], + [ + 366.8516845703125, + 98.80599975585938 + ], + [ + 365.3698425292969, + 102.78612518310547 + ], + [ + 365.0758056640625, + 103.79884338378906 + ], + [ + 364.6835021972656, + 104.18435668945312 + ], + [ + 364.182861328125, + 103.98902893066406 + ], + [ + 364.13275146484375, + 103.77873229980469 + ], + [ + 362.756103515625, + 104.21702575683594 + ], + [ + 361.81488037109375, + 104.12511444091797 + ], + [ + 361.30682373046875, + 104.05648040771484 + ], + [ + 361.3271179199219, + 104.10150146484375 + ], + [ + 360.94921875, + 104.05945587158203 + ] + ] +} \ No newline at end of file diff --git a/008518_v2/lang.txt b/008518_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..dfad4c53b015a167322c373300732d5a70a2a00d --- /dev/null +++ b/008518_v2/lang.txt @@ -0,0 +1 @@ +move the blue toy to the upper of the table diff --git a/008518_v2/object.ply b/008518_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..4c5d1b86351f7023db226e68dda7e3ab364b3008 Binary files /dev/null and b/008518_v2/object.ply differ diff --git a/008519_v2/data.json b/008519_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..2c4efe5d955b26fbe0ffc5dc27e64da28661c6e4 --- /dev/null +++ b/008519_v2/data.json @@ -0,0 +1,769 @@ +{ + "action_start": 12, + "action_end": 25, + "object_name": "yellow thing", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.1102230246251565e-16, + -1.3877787807814457e-17, + 0.0, + 1.7197690462713676e-07, + -5.101279100865893e-07, + 7.444848689164326e-07, + 1.0 + ], + [ + -0.007834764954760765, + -0.0026153185146899904, + -0.008054078113613819, + 0.0051011467910237, + 0.0037479783873246896, + -0.02847968383915805, + 1.0 + ], + [ + 0.0010698003133529643, + -0.01964729131092586, + -0.0011495649192587581, + -0.057004718002954674, + -0.09466437988802626, + -0.06084521252376811, + 1.0 + ], + [ + -0.00246893083791605, + -0.04363797579721086, + 0.0031972371702510133, + -0.033802066941907745, + -0.04608570605154567, + -0.06438104315578332, + 1.0 + ], + [ + -0.007090910889694879, + -0.027077637486553296, + 0.0038722065530995414, + 0.02819942439273204, + -0.020855124824283484, + -0.03791045398956811, + 1.0 + ], + [ + -0.006930016128461947, + -0.03335781991050207, + -0.003742958496044696, + -0.007084100063224478, + 0.017487840717795886, + -0.06984970450588403, + 1.0 + ], + [ + -0.013207152411739642, + -0.020509571780470345, + -0.008756044124390905, + 0.05120328404152143, + 0.05218131560383566, + -0.01996963053241498, + 1.0 + ], + [ + -0.01047042402627596, + -0.011453216161023044, + -0.010695849274276747, + -0.011942266955340251, + 0.03365404537587964, + -0.017578817293577288, + 1.0 + ], + [ + -0.01272200821633257, + -0.004604216046245016, + -0.012571126777238102, + 0.019162570966074526, + 0.06283259814370112, + -0.01494411088418146, + 1.0 + ], + [ + -0.007350902416893679, + 0.0009040254121152891, + -0.01543016414512842, + 0.025163456978263325, + 0.057664158597726396, + -0.012037345098897952, + 1.0 + ], + [ + -0.0013288497969151103, + 0.003508804004268423, + -0.018582962156432348, + -0.015180836986530364, + 0.03501783305821318, + -0.007432782691133703, + 1.0 + ], + [ + -0.0017580426765188006, + 0.003556269889655822, + -0.012776985600238142, + 0.007468745022292033, + 0.02082489643522437, + 0.011225066390372797, + 1.0 + ], + [ + -0.0002841252823262419, + 0.0029936290667223614, + -0.01168737398884217, + 0.006502828255376904, + 0.020728163695671948, + 0.008216393050118533, + 1.0 + ], + [ + 0.000901856456128558, + 0.0029912684357791958, + -0.004963889011349212, + -0.0015879890057070441, + -0.0029370332986406954, + 0.0113096439118744, + 0.0 + ], + [ + 0.0018145961692382917, + 0.0008338193994446713, + 0.0013357384448911425, + 0.004126792883385622, + -0.01061669098305369, + 0.0008258504548904207, + 0.0 + ], + [ + 0.002112991739012915, + 0.0018763300714495917, + 0.0040862580256483495, + -0.0004027333139974161, + -0.004868755747938672, + -0.002997912292126206, + 0.0 + ], + [ + 0.004070289356158496, + 0.009495083779651886, + 0.026099963613457233, + 0.00656023417568761, + -0.05047308977327297, + 0.01003208815395256, + 0.0 + ], + [ + 0.01629489013708474, + 0.011566393348357934, + 0.02540340221019878, + -0.043654629433113074, + -0.037002769894287274, + -0.006938244308589372, + 0.0 + ], + [ + 0.02410902947151683, + 0.008205693710062856, + 0.009661409791932307, + -0.02973332452522218, + -0.045620850006652884, + 0.023864950821931033, + 0.0 + ], + [ + 0.031156330727337644, + 0.012552268694245805, + 0.006867408521903921, + 0.0024059599686260197, + -0.03666449311877249, + 0.02292178532349152, + 0.0 + ], + [ + 0.02870340969654578, + 0.008248530836659732, + 0.005265599312911581, + -0.008970417073042846, + -0.03860762851955123, + 0.012038423497526096, + 0.0 + ], + [ + 0.02488375491897854, + 0.0018608975509978865, + 0.0019318489084216572, + 0.015106588371705835, + -0.034006341345598975, + -0.005046753365126101, + 0.0 + ], + [ + 0.016747906866149465, + 0.002148466176986462, + -0.004423069994758763, + 0.0027867760843987275, + -0.00088834447371079, + -0.005679567515266004, + 0.0 + ], + [ + 0.006910260423434456, + -0.0011656994878413776, + -0.00878180083253794, + -0.0019430074763566044, + 0.007814395895571957, + -0.009946733003425268, + 0.0 + ], + [ + 0.0022125119223996847, + -0.002800193023703962, + -0.009424571635095774, + 0.002055296270908933, + 0.012065536623690185, + -0.01581625586548916, + 0.0 + ], + [ + -0.001164989046496756, + -0.00038348995518638906, + -0.007167770156454072, + 0.00957281468965561, + 0.03737039496531935, + -0.00022474624988234803, + 0.0 + ], + [ + -0.0010980627725314385, + -0.0013204801757014176, + 0.0031397694648425505, + 0.0009692950255183107, + 0.010981716297399047, + 0.006999826332583089, + 1.0 + ], + [ + -0.0009142061117561884, + 0.0006868816579730097, + 0.006819380084276405, + -0.0046685899674388165, + -0.023121454400987406, + 0.007065865977243588, + 1.0 + ], + [ + -0.0009086444603527144, + 0.0003039026585934662, + 0.006561578713013841, + 0.010666024322877197, + -0.014916552009845367, + -0.00406328079707525, + 1.0 + ], + [ + -0.0015214468262911285, + -0.0035706323161038486, + 0.009000715398621174, + -0.0020872714995167005, + -0.013156690457744393, + -0.006125610991278256, + 1.0 + ], + [ + -0.0017271819912693664, + -0.0031633795471164156, + 0.016444949808713277, + -0.0034994599886365055, + -0.03193763789619154, + -0.0006497358974175986, + 1.0 + ], + [ + -0.003569221868676975, + 0.00219940222695484, + 0.014622876454088676, + -0.00021973068610102754, + -0.027369386491798597, + 0.0041394018682529505, + 1.0 + ], + [ + -0.005149156867613192, + 0.004617825313282288, + 0.01587450932044565, + 0.0040367127381355705, + -0.02441911123889599, + 0.014538919703203814, + 1.0 + ], + [ + -0.0027265109308065583, + 0.003307513120577886, + 0.005415358135564166, + 0.003731008028202374, + 0.004246312202031824, + 0.0013735857956154915, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 391.2195739746094, + 17.8351993560791 + ], + [ + 390.8116149902344, + 20.432207107543945 + ], + [ + 384.5035705566406, + 48.36560821533203 + ], + [ + 386.1366271972656, + 74.55583953857422 + ], + [ + 412.43463134765625, + 74.33293914794922 + ], + [ + 467.02362060546875, + 92.43750762939453 + ], + [ + 489.83001708984375, + 100.6903076171875 + ], + [ + 525.6781616210938, + 124.01390075683594 + ], + [ + 544.2584228515625, + 152.483154296875 + ], + [ + 542.365478515625, + 171.88995361328125 + ], + [ + 540.2025756835938, + 189.4170379638672 + ], + [ + 530.75927734375, + 213.68475341796875 + ], + [ + 535.574951171875, + 222.46905517578125 + ], + [ + 537.32275390625, + 226.37509155273438 + ], + [ + 541.6785888671875, + 224.9752655029297 + ], + [ + 545.4942626953125, + 223.47564697265625 + ], + [ + 546.0986328125, + 223.18292236328125 + ], + [ + 537.251708984375, + 225.31600952148438 + ], + [ + 517.3702392578125, + 208.63906860351562 + ], + [ + 511.6814270019531, + 161.13980102539062 + ], + [ + 524.5560302734375, + 117.94891357421875 + ], + [ + 517.9993896484375, + 101.74078369140625 + ], + [ + 522.974365234375, + 78.56976318359375 + ], + [ + 531.443359375, + 68.81878662109375 + ], + [ + 534.3333129882812, + 75.27101135253906 + ], + [ + 535.062744140625, + 79.2313003540039 + ], + [ + 532.119140625, + 91.02294921875 + ], + [ + 527.5693359375, + 90.4417724609375 + ], + [ + 527.2940673828125, + 90.75927734375 + ], + [ + 525.42919921875, + 99.20120239257812 + ], + [ + 523.3626708984375, + 99.63229370117188 + ], + [ + 526.00341796875, + 83.26914978027344 + ], + [ + 529.0278930664062, + 64.255126953125 + ], + [ + 530.1212158203125, + 50.476959228515625 + ], + [ + 532.1093139648438, + 35.73492431640625 + ], + [ + 531.8367309570312, + 34.65693664550781 + ], + [ + 531.77978515625, + 34.74504852294922 + ], + [ + 531.56787109375, + 34.838375091552734 + ], + [ + 531.6981201171875, + 34.85114288330078 + ] + ], + "depth_max": 1.5476993322372437, + "depth_min": 0.08399928361177444, + "intrinsic": [ + [ + 649.8355102539062, + 0.0, + 259.0 + ], + [ + 0.0, + 647.6939086914062, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.756346864567604e-05, + 2.894004683184903e-05, + -1.66611498571001e-05 + ], + [ + -1.756351957737934e-05, + 1.0, + 1.815905875446333e-06, + 1.8931878003058955e-05 + ], + [ + -2.8940014090039767e-05, + -1.8164142829846242e-06, + 1.0, + 8.045447611948475e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 38 + ], + "object_trajectory": [ + [ + 523.5, + 216.5 + ], + [ + 523.689208984375, + 216.61734008789062 + ], + [ + 523.610595703125, + 216.61009216308594 + ], + [ + 523.6845703125, + 216.5790252685547 + ], + [ + 523.7141723632812, + 216.6243133544922 + ], + [ + 523.7006225585938, + 216.70736694335938 + ], + [ + 523.5699462890625, + 216.5878143310547 + ], + [ + 523.6142578125, + 216.63352966308594 + ], + [ + 523.67822265625, + 216.6571502685547 + ], + [ + 524.2127075195312, + 216.820068359375 + ], + [ + 524.4939575195312, + 217.33436584472656 + ], + [ + 526.8032836914062, + 220.41407775878906 + ], + [ + 532.3978271484375, + 224.72430419921875 + ], + [ + 535.7158813476562, + 221.26502990722656 + ], + [ + 538.3153076171875, + 218.38803100585938 + ], + [ + 539.5570068359375, + 217.07054138183594 + ], + [ + 539.4547119140625, + 215.33462524414062 + ], + [ + 532.341064453125, + 214.94384765625 + ], + [ + 517.22265625, + 202.14193725585938 + ], + [ + 512.4542236328125, + 158.39663696289062 + ], + [ + 521.5595092773438, + 120.1513900756836 + ], + [ + 510.7950439453125, + 104.52839660644531 + ], + [ + 513.21484375, + 81.61597442626953 + ], + [ + 520.14306640625, + 73.02247619628906 + ], + [ + 522.246826171875, + 78.33448791503906 + ], + [ + 521.7550659179688, + 81.9178695678711 + ], + [ + 523.0579223632812, + 87.89781951904297 + ], + [ + 521.178466796875, + 89.06472778320312 + ], + [ + 520.6866455078125, + 91.45035552978516 + ], + [ + 522.8193969726562, + 96.41940307617188 + ], + [ + 518.88427734375, + 98.2496337890625 + ], + [ + 502.71209716796875, + 92.88113403320312 + ], + [ + 486.3376159667969, + 107.35736846923828 + ], + [ + 493.3160400390625, + 115.90420532226562 + ], + [ + 486.7026062011719, + 107.06150817871094 + ], + [ + 485.68414306640625, + 99.2254409790039 + ], + [ + 486.4457092285156, + 101.83818054199219 + ], + [ + 486.64569091796875, + 101.86924743652344 + ], + [ + 486.5003356933594, + 101.85602569580078 + ] + ] +} \ No newline at end of file diff --git a/008519_v2/lang.txt b/008519_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..98c49cf5922d94eb8543b48b1a981c90e33367b2 --- /dev/null +++ b/008519_v2/lang.txt @@ -0,0 +1 @@ +move the yellow thing to the top right of the table diff --git a/008519_v2/object.ply b/008519_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..056c5cd1a6ab6f8cd752838662767aa98cf7d3aa Binary files /dev/null and b/008519_v2/object.ply differ diff --git a/008560_v2/FAIL b/008560_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/008560_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/008584_v2/data.json b/008584_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..6ff215697329363381430d16873cba319b3be81b --- /dev/null +++ b/008584_v2/data.json @@ -0,0 +1,879 @@ +{ + "action_start": 9, + "action_end": 24, + "object_name": "green object", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.717705, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 0.0, + 0.0, + -9.408395496316258e-08, + -4.772953933253634e-07, + 5.894544857433313e-07, + 1.0 + ], + [ + -0.0005500367379885907, + -0.001961256347644682, + -0.00790522853581252, + 0.0060087658734652005, + 0.0016664272000834043, + -1.2417616909004634e-05, + 1.0 + ], + [ + -0.0008615105570993487, + -0.0009864175589360952, + -0.009799037919629633, + 0.009377386445196794, + -0.01026894953640645, + -0.0005150372589969953, + 1.0 + ], + [ + -0.002049694985274353, + 0.001482379473402462, + -0.01032803772258789, + 0.009800707334150942, + 0.005192399414364986, + 0.006069189208199766, + 1.0 + ], + [ + -0.002616615671916067, + 0.0015966126429468666, + -0.009451279581436767, + 0.00374620430157487, + -0.006324754535447632, + 0.02255065208654239, + 1.0 + ], + [ + -0.004302387200586066, + 0.0034848723975622227, + -0.007850155191403245, + 0.0032232975764456867, + -0.011457095962513725, + 0.0315403270232705, + 1.0 + ], + [ + -0.004229901194684277, + 0.002584285824356297, + -0.003777366322056261, + 0.0006635155915872058, + -0.004694803274943268, + 0.022835666158055302, + 1.0 + ], + [ + -0.003257175704296178, + 0.0011472262521044392, + -0.0005115100103091214, + -0.0012712564542346257, + -0.004731595881121366, + 0.009739628509430616, + 1.0 + ], + [ + -0.0038989174407293437, + 0.0034517752158442945, + -0.003209605364230428, + -0.002370663178086717, + 0.017569972597475385, + 0.01086017923813763, + 1.0 + ], + [ + -0.0011149791612805604, + 0.0033410562304323384, + -0.00030198951201155025, + 0.023838058411850716, + -0.023929385704958964, + 0.03146980330255731, + 0.717705 + ], + [ + -0.000853417113756999, + 0.0014784210000298552, + 0.001131052722775347, + 0.00906914324564808, + -0.016976627777753828, + 0.021532771599061213, + 0.0 + ], + [ + -0.0018770422525918318, + 0.0015413740892690122, + 0.00291374037547526, + -0.0007452360041867826, + -0.013240905254256662, + 0.01862913455921383, + 0.0 + ], + [ + 0.0008063541846133893, + -0.0019743859480443986, + 0.011541920341174152, + -0.003721446399191603, + -0.024191064430499058, + -0.011643741710852128, + 0.0 + ], + [ + 0.008050083236399053, + -0.00915548547934347, + 0.03097424881804175, + -0.04586408552485171, + -0.04414124974158689, + -0.010707826821280004, + 0.0 + ], + [ + 0.01334120070774683, + -0.009110887078471795, + 0.03569505916605958, + -0.0583192921981018, + -0.03288493691040504, + -0.0006025630016243351, + 0.0 + ], + [ + 0.01611215378112288, + -0.006615576497061782, + 0.03088697702934126, + -0.05805925635009718, + -0.034484822703928705, + -0.008079036186984166, + 0.0 + ], + [ + 0.020643090965233812, + -0.0041692340401334425, + 0.02609958504811849, + -0.045360446012564365, + -0.04890298574457456, + -0.022014173812265992, + 0.0 + ], + [ + 0.03732783163687092, + 0.004555144014575005, + 0.02606213719582881, + -0.032149923520844725, + -0.045998215789846406, + 0.0015222560444012243, + 0.0 + ], + [ + 0.03320934368218756, + 0.006683591974332936, + 0.011220931840192683, + -0.010025369728567993, + -0.021965004189257998, + 0.011627213812840929, + 0.0 + ], + [ + 0.0355869294705711, + 0.008379841444486592, + -0.0035034446818010267, + 0.027542685860227543, + 0.01462283598952327, + 0.008606799666575179, + 0.0 + ], + [ + 0.022184303279738082, + 0.013098911785281074, + -0.01738958610120056, + 0.030238761978769277, + 0.03448946265679453, + 0.03170217642450804, + 0.0 + ], + [ + 0.011287838150286389, + 0.016485339927843824, + -0.015299423169022608, + 0.02781302512114581, + 0.01908076276286085, + 0.03629743778390036, + 0.0 + ], + [ + 0.0082871533659154, + 0.019359551708632627, + -0.00700018047768472, + -0.0016358603883731223, + 0.010783397570096633, + 0.03956215038467642, + 0.0 + ], + [ + 0.0038392436853609824, + 0.011384280268226011, + -0.007951271874352073, + 0.007864953609006076, + 0.007448041017257207, + 0.024389930123233032, + 0.0 + ], + [ + 0.00435399241971296, + 0.009825270116111263, + -0.003824594099890055, + 0.004366853241836121, + 0.007195454266627559, + 0.021688351415328808, + 0.0 + ], + [ + 0.0011273395210412152, + 0.0026147578521377446, + 0.0006438815515766028, + -0.009440002560064643, + -0.0009906959326870858, + 0.004785957262041905, + 1.0 + ], + [ + -0.002055164375575569, + -0.004400374625031789, + 0.0010470324804756903, + -0.004170216150187951, + -0.000416405237129064, + -0.010459718053154763, + 1.0 + ], + [ + -0.004312472065034267, + -0.004144841630545987, + 0.004987062085706262, + -0.007615233820494842, + -0.003512834975346097, + -0.007070937262215946, + 1.0 + ], + [ + -0.0028001077809557406, + -0.004607070961633528, + 0.011014898508934112, + -0.005013255809553831, + -0.015144441389360786, + -0.012400818079160315, + 1.0 + ], + [ + -0.009365989862473445, + -0.00999435191169823, + 0.021656619199215327, + -0.004410689347242114, + -0.027265275118631374, + -0.026170775436418957, + 1.0 + ], + [ + -0.011426972819642445, + -0.006513535350679469, + 0.006926542944459907, + 0.011615675315172462, + 0.011132708835437276, + -0.0399184799916983, + 1.0 + ], + [ + -0.014911061102626466, + -0.0021784177173048425, + -0.0029074645103459307, + 0.1091438586949527, + 0.12069310819302181, + -0.19374529125173295, + 1.0 + ], + [ + -0.005470029220718986, + -0.0010154653534117722, + -0.010766675868534664, + 0.05990151593441246, + 0.11361467803937278, + -0.1582134852872432, + 1.0 + ], + [ + -0.001888621649246136, + 0.0001285682571895673, + -0.0031361611838837122, + 0.007225485294614336, + 0.03450784111323481, + -0.06466864231955849, + 1.0 + ], + [ + -0.0038566800245096178, + -0.0014307416231034778, + -0.00026253935629433345, + -0.02797788555500972, + 0.0004231435771922117, + -0.023215795447811337, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 291.1417541503906, + 312.5530700683594 + ], + [ + 288.500732421875, + 317.8206787109375 + ], + [ + 284.8764953613281, + 328.8278503417969 + ], + [ + 283.4230041503906, + 338.83892822265625 + ], + [ + 280.184326171875, + 350.6877746582031 + ], + [ + 275.90460205078125, + 363.0146484375 + ], + [ + 270.16949462890625, + 372.35833740234375 + ], + [ + 263.2823486328125, + 382.8475646972656 + ], + [ + 259.3890380859375, + 387.26123046875 + ], + [ + 258.0271301269531, + 390.5456848144531 + ], + [ + 254.5229949951172, + 389.28662109375 + ], + [ + 246.8585968017578, + 387.6609191894531 + ], + [ + 237.70079040527344, + 391.88287353515625 + ], + [ + 231.87855529785156, + 386.4461669921875 + ], + [ + 244.0237579345703, + 354.023681640625 + ], + [ + 267.49365234375, + 305.8187255859375 + ], + [ + 298.08740234375, + 252.36224365234375 + ], + [ + 322.2143859863281, + 186.55496215820312 + ], + [ + 364.23333740234375, + 89.623779296875 + ], + [ + 391.91650390625, + 36.689727783203125 + ], + [ + 419.2474365234375, + -1.624094009399414 + ], + [ + 423.6421813964844, + 1.345071792602539 + ], + [ + 399.16290283203125, + 25.812463760375977 + ], + [ + 380.4330139160156, + 25.178932189941406 + ], + [ + 357.7227478027344, + 30.55211639404297 + ], + [ + 352.47802734375, + 27.300857543945312 + ], + [ + 346.18597412109375, + 24.514080047607422 + ], + [ + 346.82867431640625, + 23.660621643066406 + ], + [ + 347.82647705078125, + 24.593421936035156 + ], + [ + 346.8524475097656, + 21.124441146850586 + ], + [ + 351.9538879394531, + 1.6196460723876953 + ], + [ + 347.88787841796875, + -12.104178428649902 + ], + [ + 340.04339599609375, + -2.5799272060394287 + ], + [ + 326.44927978515625, + 14.101581573486328 + ], + [ + 324.70880126953125, + 20.46599578857422 + ], + [ + 329.26300048828125, + 21.482284545898438 + ], + [ + 330.75958251953125, + 23.104305267333984 + ], + [ + 330.33392333984375, + 23.151058197021484 + ], + [ + 330.63348388671875, + 23.128707885742188 + ], + [ + 330.5808410644531, + 23.127002716064453 + ], + [ + 330.46319580078125, + 23.142024993896484 + ], + [ + 330.5341796875, + 23.07427406311035 + ], + [ + 330.6607360839844, + 23.147741317749023 + ], + [ + 330.66131591796875, + 23.117177963256836 + ], + [ + 330.7633361816406, + 23.086624145507812 + ] + ], + "depth_max": 2.945136070251465, + "depth_min": 0.08407086133956909, + "intrinsic": [ + [ + 638.3719482421875, + 0.0, + 259.0 + ], + [ + 0.0, + 635.5751342773438, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -1.0677398677216843e-05, + 9.266374399885535e-05, + 9.356094778922852e-06 + ], + [ + 1.0669741641322616e-05, + 1.0, + 8.262483606813475e-05, + -3.47127606801223e-05 + ], + [ + -9.266463166568428e-05, + -8.262384653789923e-05, + 1.0, + 9.298663644585758e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 44 + ], + "object_trajectory": [ + [ + 297.0, + 383.25 + ], + [ + 297.20196533203125, + 383.347900390625 + ], + [ + 289.7020263671875, + 387.139404296875 + ], + [ + 296.852294921875, + 383.3699951171875 + ], + [ + 289.4881591796875, + 386.8204345703125 + ], + [ + 289.58221435546875, + 385.7478332519531 + ], + [ + 279.9439392089844, + 393.83380126953125 + ], + [ + 269.1877746582031, + 405.9380798339844 + ], + [ + 265.51483154296875, + 408.8634948730469 + ], + [ + 264.1828918457031, + 410.0292663574219 + ], + [ + 261.8832092285156, + 407.8377685546875 + ], + [ + 254.35821533203125, + 405.77886962890625 + ], + [ + 246.13937377929688, + 409.54888916015625 + ], + [ + 241.80624389648438, + 404.3281555175781 + ], + [ + 255.94044494628906, + 374.2266540527344 + ], + [ + 283.4977722167969, + 329.70184326171875 + ], + [ + 318.1564636230469, + 277.90142822265625 + ], + [ + 347.4293212890625, + 218.60797119140625 + ], + [ + 397.9427490234375, + 125.60098266601562 + ], + [ + 421.9421691894531, + 57.57081604003906 + ], + [ + 436.84814453125, + 28.546110153198242 + ], + [ + 437.2406311035156, + 30.06976890563965 + ], + [ + 417.4930114746094, + 46.828800201416016 + ], + [ + 398.339599609375, + 47.249752044677734 + ], + [ + 376.6474914550781, + 47.709476470947266 + ], + [ + 370.7228698730469, + 50.9088134765625 + ], + [ + 366.0867919921875, + 44.801963806152344 + ], + [ + 356.9859924316406, + 107.69757843017578 + ], + [ + 356.02337646484375, + 112.1647720336914 + ], + [ + 356.4937744140625, + 111.60826110839844 + ], + [ + 356.6996765136719, + 113.42727661132812 + ], + [ + 357.1160888671875, + 113.5183334350586 + ], + [ + 357.6179504394531, + 113.02383422851562 + ], + [ + 357.5754699707031, + 112.55673217773438 + ], + [ + 357.96978759765625, + 112.5706558227539 + ], + [ + 357.81475830078125, + 111.91519165039062 + ], + [ + 357.7357177734375, + 112.27281188964844 + ], + [ + 358.006591796875, + 112.6028823852539 + ], + [ + 358.0409240722656, + 112.55734252929688 + ], + [ + 357.67578125, + 112.46198272705078 + ], + [ + 357.6591796875, + 112.73931884765625 + ], + [ + 357.70025634765625, + 112.97724914550781 + ], + [ + 357.705322265625, + 113.15658569335938 + ], + [ + 357.677490234375, + 113.52828979492188 + ], + [ + 357.81866455078125, + 112.85154724121094 + ] + ] +} \ No newline at end of file diff --git a/008584_v2/lang.txt b/008584_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..ee7875199eef21596fce5bdce8d73d0b6ef61209 --- /dev/null +++ b/008584_v2/lang.txt @@ -0,0 +1 @@ +put the green object inside the drawe diff --git a/008584_v2/object.ply b/008584_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..c10e453f4c379d15046c62d65e882cf9b7e08f10 Binary files /dev/null and b/008584_v2/object.ply differ diff --git a/008609_v2/data.json b/008609_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..ed5747be1de9acf0ec5bc0c104a0b20f0f38efe4 --- /dev/null +++ b/008609_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 18, + "action_end": 34, + "object_name": "strawberry", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.944811, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.980421713402961e-11, + 2.62070254386515e-10, + 1.6137521874348693e-10, + 5.017455551610072e-07, + 3.292681846222626e-07, + -3.4090018976179745e-08, + 1.0 + ], + [ + 0.020956186254115966, + -0.0031722372253791473, + -0.003290981529568776, + 0.05886281306406534, + -0.03026201232856441, + -0.1848967801147812, + 1.0 + ], + [ + 0.011688904635457381, + 0.003611151353336034, + -0.0036675301470007887, + 0.009435565022218213, + -0.03210551042641862, + -0.06702410448831275, + 1.0 + ], + [ + 0.004261682154469454, + 0.0020932528650534077, + -0.0010063111726486412, + -0.0057367033828438505, + -0.021397716226967282, + -0.06631674703495873, + 1.0 + ], + [ + 0.004201318278164307, + -0.0014168196327744437, + -0.004937452539997916, + -0.013749798932556016, + -0.016160946340573586, + -0.09741372014184643, + 1.0 + ], + [ + 0.0056654040900137315, + -0.0075485740345831095, + -0.006806358723335217, + -0.004548847827646946, + 0.005590628871685193, + -0.1509257817270641, + 1.0 + ], + [ + 0.004334811442281233, + -0.006014597064907472, + -0.005772584778208419, + -0.0012558738892833239, + -0.01692298031120361, + -0.1009288286276197, + 1.0 + ], + [ + 0.003039797755958251, + -0.004251318985596261, + -0.000568689521985348, + 0.0006157388641872763, + -0.00708079435498818, + -0.021423934249845497, + 1.0 + ], + [ + 0.0016848930116075411, + -0.009199208666633353, + -0.0005393707956342017, + -0.020925642905601685, + -0.016359852221995715, + -0.02237123339762596, + 1.0 + ], + [ + 0.004992765555619311, + -0.01019797540384778, + 0.004778589551131945, + -0.015840471616256263, + -0.016491665877060004, + -0.033389244008054035, + 1.0 + ], + [ + 0.008368883120225212, + -0.009399312685207752, + 0.004399293203685074, + -0.005803397922226629, + -0.04165013343551965, + -0.025172396574447885, + 1.0 + ], + [ + 0.0066146922160224275, + -0.004241479113749835, + 0.003423216720918547, + 0.017077026827565404, + -0.019635190638849567, + -0.03020771479384036, + 1.0 + ], + [ + 0.003226542005506039, + 0.000313541737476164, + -0.006622092752457495, + 0.021558728535072184, + -0.00045741269927101775, + -0.017881752298954227, + 1.0 + ], + [ + 0.004543869735260941, + 0.003756389298923704, + -0.00566364771054613, + 0.01950024366907292, + 0.01772508147434, + -0.006544864466632246, + 1.0 + ], + [ + 0.003321404643719994, + 0.005410711176038072, + -0.004826216541248346, + 0.00326181600779964, + 0.013649553376868993, + 0.00567945095037635, + 1.0 + ], + [ + -0.00012589215968000778, + 0.007219206151511719, + -0.010390752415835237, + -0.0009295321726653222, + 0.017069323952204847, + 0.008967687585114563, + 1.0 + ], + [ + -0.0022799742012880597, + 0.003412743020463703, + -0.007406349674998834, + -0.0026513099962824365, + 0.021638959168472627, + 0.013448457047247194, + 1.0 + ], + [ + -0.0015266033527022715, + 0.0010998230493470262, + -0.008750993734312876, + -0.0037502925012670735, + 0.016143477153298294, + 0.0027767858018252086, + 1.0 + ], + [ + -0.0019151430049739737, + 0.001538984340884758, + -0.00316492635076669, + -0.005885135548696737, + 0.01850483815965667, + 0.02494706345226102, + 0.944811 + ], + [ + -0.0019260771848281788, + 0.0009073662869016064, + -0.0008863871199858847, + -0.010946420744917345, + -0.0037304212454279556, + 0.01892991219144598, + 0.0 + ], + [ + -0.002238608438468459, + 0.0011530635615533205, + 0.00047782513559467554, + -0.004322027172824965, + -0.007219817054187893, + 0.021476626298267656, + 0.0 + ], + [ + -0.005073428220923437, + -0.000443528874170665, + 0.004145731039629603, + -0.00228347818273016, + -0.01395892692087436, + 0.010661517206079465, + 0.0 + ], + [ + 0.00037341483964209443, + -0.003132857837852547, + 0.016833526984380308, + -0.00839475087293079, + -0.037885463778705074, + 0.00017945423465274554, + 0.0 + ], + [ + 0.0024648222820936594, + -0.001123213397048052, + 0.030870074407225813, + -0.01147108211480567, + -0.043552297671649406, + 0.027284681872050878, + 0.0 + ], + [ + 0.0022464757075748576, + -0.0006057427941720608, + 0.023425506228585476, + -0.04140405239412377, + -0.042608456869163834, + 0.01381797778339747, + 0.0 + ], + [ + 0.007854624756563067, + -0.00024317248613746345, + 0.027230264219227376, + -0.016619847860156165, + -0.04065491892124478, + -0.012036440509828059, + 0.0 + ], + [ + 0.011583681058230155, + -0.0005271697199228792, + 0.014265033068666721, + -0.012640870419622677, + -0.027338850311013182, + -0.009260185712019912, + 0.0 + ], + [ + 0.015782673980580475, + -0.000779237194845836, + 0.0011549768161009666, + -0.01144016652188755, + -0.00028171827339326595, + -0.011020816221667779, + 0.0 + ], + [ + 0.019779967204184123, + -0.0002901030942921573, + -0.00850547291340148, + 0.005158092937135421, + 0.02678919694698119, + -0.0017438222855445263, + 0.0 + ], + [ + 0.014340881586665244, + 0.0007757384527483369, + -0.015816543963966895, + 0.010608429270661433, + 0.04029462336097076, + -0.0012577488601196198, + 0.0 + ], + [ + 0.008199289564995715, + -0.000195174882872233, + -0.011531478492197766, + -0.0019055979613338192, + 0.03439815046602568, + -0.0010370269021130179, + 0.0 + ], + [ + 0.006891993816068587, + -0.0009355732939806474, + -0.009069302041118013, + -0.005444194524175413, + 0.015314891194503976, + -0.009490524717201835, + 0.0 + ], + [ + 0.009097858528148983, + -0.004884945734554322, + 0.0062696071369715, + 0.010106043295514507, + -0.017753062932138165, + -0.021021019349895826, + 0.0 + ], + [ + 0.007904402855367698, + -0.006614558463926473, + 0.007051648366165661, + -0.001801223169636604, + -0.016344024338468422, + -0.020172502088353805, + 0.0 + ], + [ + 0.005467023576999408, + -0.007399304947922208, + -0.004062513229042983, + 0.0027042004876376056, + 0.0007168204805071259, + -0.015716801633304963, + 0.0 + ], + [ + -0.00014187941794813197, + -0.0014885335896960075, + 0.002991505140603895, + 0.006984716967251415, + 0.01959477893790706, + 0.013618231394591208, + 1.0 + ], + [ + -0.012334103288211551, + 0.00766405657101963, + 0.00381763078498934, + 0.0034581054348010835, + 0.019748817518515326, + 0.044459674867649686, + 1.0 + ], + [ + -0.021466403131955525, + 0.010473365179294349, + 0.022315710172140762, + 0.0013287996988636604, + -0.01919121715359385, + 0.056771986370304096, + 1.0 + ], + [ + -0.024226303775408464, + 0.004625374404837866, + 0.023230247869659576, + 0.02171887844003135, + 0.01649819054424469, + 0.02359625658764848, + 1.0 + ], + [ + -0.01788136052414907, + -0.0008847992394375795, + 0.0018675490607534262, + 0.00629008753333611, + 0.026231236940332678, + -0.0046591029811172855, + 1.0 + ], + [ + -0.014918826094813209, + 0.0034570760249597737, + -0.012585810901356007, + 0.03205973243813455, + 0.1503908529588263, + 0.013520548127039617, + 1.0 + ], + [ + -0.006721232198785787, + 0.003803322142718661, + -0.0006360342434866134, + 0.0629895118738272, + 0.08443271391347525, + 0.020610856517668304, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 162.90374755859375, + 208.51995849609375 + ], + [ + 163.07437133789062, + 210.37222290039062 + ], + [ + 161.82492065429688, + 217.60720825195312 + ], + [ + 186.55166625976562, + 208.38720703125 + ], + [ + 191.75076293945312, + 204.2117156982422 + ], + [ + 198.49168395996094, + 205.79644775390625 + ], + [ + 205.09007263183594, + 207.69992065429688 + ], + [ + 221.27699279785156, + 211.1031036376953 + ], + [ + 231.09896850585938, + 210.36932373046875 + ], + [ + 241.94041442871094, + 210.61318969726562 + ], + [ + 257.5200500488281, + 214.5154266357422 + ], + [ + 271.76055908203125, + 217.71124267578125 + ], + [ + 282.26904296875, + 215.39120483398438 + ], + [ + 294.1307373046875, + 210.39999389648438 + ], + [ + 292.75482177734375, + 209.28741455078125 + ], + [ + 293.7787170410156, + 210.40274047851562 + ], + [ + 294.6448059082031, + 216.64666748046875 + ], + [ + 294.74871826171875, + 223.92271423339844 + ], + [ + 292.035888671875, + 231.11009216308594 + ], + [ + 289.0220947265625, + 236.9597625732422 + ], + [ + 287.115966796875, + 238.01089477539062 + ], + [ + 286.619140625, + 237.2550048828125 + ], + [ + 283.06365966796875, + 241.33523559570312 + ], + [ + 277.900390625, + 242.67276000976562 + ], + [ + 279.4302978515625, + 220.76321411132812 + ], + [ + 278.74127197265625, + 188.41152954101562 + ], + [ + 277.36859130859375, + 156.05099487304688 + ], + [ + 281.5163269042969, + 118.93867492675781 + ], + [ + 292.0129089355469, + 85.13902282714844 + ], + [ + 302.0896911621094, + 76.3578872680664 + ], + [ + 311.2020263671875, + 81.95262145996094 + ], + [ + 323.15594482421875, + 82.99330139160156 + ], + [ + 332.20343017578125, + 80.23983764648438 + ], + [ + 338.6643371582031, + 97.60558319091797 + ], + [ + 343.26007080078125, + 85.6999740600586 + ], + [ + 360.88189697265625, + 77.78314971923828 + ], + [ + 369.2165222167969, + 87.34105682373047 + ], + [ + 368.88177490234375, + 83.32331848144531 + ], + [ + 358.73492431640625, + 91.69464111328125 + ], + [ + 337.1250305175781, + 61.005584716796875 + ], + [ + 315.2188720703125, + 46.79548645019531 + ], + [ + 300.41949462890625, + 60.751869201660156 + ], + [ + 276.0519714355469, + 77.74720001220703 + ], + [ + 264.0098876953125, + 73.011962890625 + ], + [ + 263.9609680175781, + 73.0352783203125 + ], + [ + 263.98748779296875, + 72.91450500488281 + ], + [ + 263.9794921875, + 73.03257751464844 + ], + [ + 263.9967956542969, + 72.96846008300781 + ] + ], + "depth_max": 3.6636147499084473, + "depth_min": 0.26238110661506653, + "intrinsic": [ + [ + 502.7532653808594, + 0.0, + 259.0 + ], + [ + 0.0, + 502.327392578125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.900127194356173e-05, + -8.268772216979414e-05, + -6.152728929009754e-06 + ], + [ + -3.9002996345516294e-05, + 1.0, + -2.086404310830403e-05, + -5.325146048562601e-05 + ], + [ + 8.268690726254135e-05, + 2.0867266357527114e-05, + 1.0, + -2.8016513169859536e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 291.75, + 249.25 + ], + [ + 292.01300048828125, + 249.436279296875 + ], + [ + 292.0281982421875, + 249.37136840820312 + ], + [ + 292.0245666503906, + 249.30853271484375 + ], + [ + 292.0779113769531, + 249.39181518554688 + ], + [ + 291.9178466796875, + 249.44171142578125 + ], + [ + 291.8278503417969, + 249.50927734375 + ], + [ + 292.10235595703125, + 249.4332275390625 + ], + [ + 291.8800964355469, + 249.58056640625 + ], + [ + 291.75469970703125, + 249.743408203125 + ], + [ + 291.57464599609375, + 249.80947875976562 + ], + [ + 291.638427734375, + 249.60208129882812 + ], + [ + 291.7862548828125, + 249.7641143798828 + ], + [ + 291.5839538574219, + 249.64686584472656 + ], + [ + 291.86126708984375, + 249.89764404296875 + ], + [ + 291.8548889160156, + 250.03469848632812 + ], + [ + 291.9984436035156, + 250.03634643554688 + ], + [ + 292.470703125, + 245.71311950683594 + ], + [ + 301.53668212890625, + 252.5703125 + ], + [ + 303.7497863769531, + 252.40402221679688 + ], + [ + 303.4958801269531, + 252.55702209472656 + ], + [ + 303.13555908203125, + 251.5404052734375 + ], + [ + 294.401611328125, + 250.95150756835938 + ], + [ + 296.3721923828125, + 256.63665771484375 + ], + [ + 297.24176025390625, + 234.19593811035156 + ], + [ + 300.0791931152344, + 207.01513671875 + ], + [ + 305.0342712402344, + 175.8765869140625 + ], + [ + 303.069580078125, + 142.77200317382812 + ], + [ + 313.41864013671875, + 109.81111145019531 + ], + [ + 321.65557861328125, + 101.48394775390625 + ], + [ + 329.27777099609375, + 105.95825958251953 + ], + [ + 337.7484130859375, + 105.9927749633789 + ], + [ + 346.19378662109375, + 102.54920959472656 + ], + [ + 349.9273681640625, + 116.49343872070312 + ], + [ + 353.623046875, + 106.7184829711914 + ], + [ + 364.43316650390625, + 103.28890228271484 + ], + [ + 368.1522216796875, + 112.65171813964844 + ], + [ + 377.79718017578125, + 128.6534423828125 + ], + [ + 376.267822265625, + 128.63528442382812 + ], + [ + 375.64263916015625, + 128.43310546875 + ], + [ + 375.88232421875, + 129.24655151367188 + ], + [ + 375.597412109375, + 130.3852081298828 + ], + [ + 378.18194580078125, + 130.7954864501953 + ], + [ + 378.49176025390625, + 129.2290496826172 + ], + [ + 379.5777587890625, + 130.04925537109375 + ], + [ + 381.10443115234375, + 129.0614013671875 + ], + [ + 380.66180419921875, + 129.78738403320312 + ], + [ + 381.66943359375, + 129.51101684570312 + ] + ] +} \ No newline at end of file diff --git a/008609_v2/lang.txt b/008609_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f416875a1bbb587fd705c8c721787a2b9c464668 --- /dev/null +++ b/008609_v2/lang.txt @@ -0,0 +1 @@ +put the strawberry in the drawer diff --git a/008609_v2/object.ply b/008609_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..418023e52f77b7189b177185f04047743e60cc04 Binary files /dev/null and b/008609_v2/object.ply differ diff --git a/008636_v2/FAIL b/008636_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/008636_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/008679_v2/FAIL b/008679_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/008679_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/008681_v2/data.json b/008681_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..3aa55d9e19d7f14b3e9a40db0e5b1fa13fec2423 --- /dev/null +++ b/008681_v2/data.json @@ -0,0 +1,678 @@ +{ + "action_start": 15, + "action_end": 26, + "object_name": "black and white object", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.7755575615628914e-17, + -1.3877787807814457e-17, + 0.0, + 3.865949196354131e-07, + -7.885747902486433e-07, + 1.2039596797356937e-07, + 1.0 + ], + [ + 0.010811899343363712, + -0.003202048466331736, + 0.01963570268367982, + 0.013560581551892562, + -0.035648266862479586, + -0.017513567710950362, + 1.0 + ], + [ + 0.012186603690749614, + 0.0014310548848430193, + 0.015898155031339855, + 0.003938069793690166, + -0.035837472335348224, + -0.006349918224328149, + 1.0 + ], + [ + 0.009854046809356504, + 0.008709503240805938, + 0.03299089308028018, + -0.011279001692780634, + -0.06651726289520145, + -0.0009601027337978225, + 1.0 + ], + [ + 0.0064152674042478874, + 0.018245749074799672, + 0.04494953494163, + -0.008995491334879578, + -0.07020973281893936, + -0.0122070081660646, + 1.0 + ], + [ + 0.0010463440294420923, + 0.02364985019637146, + 0.0302610137509724, + 0.012649301132419166, + -0.05172638806170714, + 0.0028830864351761056, + 1.0 + ], + [ + -0.002272148210501146, + 0.03861765566366522, + 0.024388179885179218, + 0.03124309517867282, + -0.045573135306072966, + -0.008755261717799697, + 1.0 + ], + [ + -0.004672602760502131, + 0.03274773773284943, + 0.011375100283347511, + 0.04766161078117924, + -0.03483840194305652, + 0.006453712599793617, + 1.0 + ], + [ + -0.006511611387109317, + 0.03309921229979036, + 0.0036176297584391004, + 0.022582886806755294, + -0.015810096536246585, + 0.03828857190978488, + 1.0 + ], + [ + 0.0010369901290796513, + 0.025174421805897317, + -0.005223174191997887, + 0.02628826387857496, + 0.027484267515080218, + 0.04408125639559976, + 1.0 + ], + [ + 0.0045546295033694895, + 0.02673994568806156, + -0.01639285368726137, + 0.027586657396785744, + 0.05568547590962952, + 0.05064749569209066, + 1.0 + ], + [ + 0.0017544985676146707, + 0.015798487111735468, + -0.014865679130297904, + 0.005236017703335074, + 0.05033150530210802, + 0.02358601895396476, + 1.0 + ], + [ + -0.0019110230346037205, + 0.014562445098403834, + -0.013063343860781368, + -0.0019552381565846374, + 0.046878059756828405, + 0.022423755331001913, + 1.0 + ], + [ + -0.0030603541110628685, + 0.002507032190775249, + -0.012982142262872698, + -0.03333308132179791, + 0.04408046228437985, + 0.0014420922240324168, + 1.0 + ], + [ + -0.0034858654024542135, + -0.003900767103096489, + -0.016239283770169685, + -0.03360575757257143, + 0.05744881522193908, + 0.004573757828021839, + 1.0 + ], + [ + 0.00024058750985084254, + -0.009171534151691044, + -0.005970596214675328, + -0.003563809871888814, + 0.024002095744863765, + -0.021621913902764005, + 1.0 + ], + [ + 0.0007494821529370477, + -0.007071901600046185, + 0.0008402762652983675, + 0.015179766931040969, + -0.006236811315943808, + -0.014670021907024454, + 0.0 + ], + [ + 0.007840990430812822, + -0.013410328162651225, + 0.014504216424786609, + 0.02273140204743293, + -0.04308209336717992, + -0.02306214650295471, + 0.0 + ], + [ + 0.019593766170170973, + -0.023171783625674278, + 0.015568109773894487, + 0.004841277646983905, + -0.05156154920049498, + -0.043536324527154814, + 0.0 + ], + [ + 0.03569763671286991, + -0.03702613442025238, + 0.004781178260278254, + -0.04463818319857111, + -0.02999629041990948, + -0.06873262219978782, + 0.0 + ], + [ + 0.03981836241990683, + -0.03137560371745752, + -0.012970828228144826, + -0.06770696653000637, + -0.013953751515618827, + -0.029050275307146753, + 0.0 + ], + [ + 0.03203959474160589, + -0.024866508788404552, + -0.021783753599723427, + -0.03658836974609183, + -0.01830912941251157, + -0.002035846089936591, + 0.0 + ], + [ + 0.030890765762232986, + -0.02563962233610364, + -0.026452044608343647, + -0.00422403634682003, + 0.00408394968924344, + 0.024036228457878846, + 0.0 + ], + [ + 0.030176857366570664, + -0.02457517911030777, + -0.022863326201105455, + 0.02999089145143073, + -0.02378346385640317, + 0.045642797696351024, + 0.0 + ], + [ + 0.017188168929229974, + -0.008199821676712488, + -0.022383170857711694, + 0.03580317247719436, + 0.04403411089242802, + 0.004458935665661162, + 0.0 + ], + [ + 0.0016808604529531257, + 0.002535738739182336, + -0.024220360489734274, + 0.019792751410904183, + 0.0568456678750047, + -0.0064323840356795385, + 0.0 + ], + [ + -0.0034396590742644118, + 0.0003254619635425504, + 0.0001676805179580826, + -0.006236177718859322, + -0.003548716978809219, + 0.0006730080697028067, + 0.0 + ], + [ + -0.0016807530872577914, + -0.0012006136271962842, + 0.01797044434461159, + -0.008163590329058706, + -0.02780062934745096, + -0.01738804013361237, + 1.0 + ], + [ + -0.003477456968097814, + -0.002387946337230787, + 0.035899509040287825, + -0.010446897949480867, + -0.07049998973849717, + 0.012809174896162897, + 1.0 + ], + [ + -0.0058391823433033285, + -0.005360886734002479, + 0.03061370976272783, + -0.0125435052660731, + -0.0560558702407111, + 0.0015564452913000406, + 1.0 + ], + [ + -0.00891016409648887, + -0.0014577368397640372, + 0.014573626147224995, + -0.013581488165373976, + -0.015569052530185295, + 0.004364727528344684, + 1.0 + ], + [ + -0.012040139082666657, + 0.0021744278561528912, + -0.0011274418840076933, + -0.005804636801424012, + 0.04522907802005031, + -0.02557714184709849, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 479.098388671875, + 365.6139831542969 + ], + [ + 473.45184326171875, + 371.9573059082031 + ], + [ + 473.7782287597656, + 363.14068603515625 + ], + [ + 489.01739501953125, + 334.513916015625 + ], + [ + 501.5946044921875, + 297.53472900390625 + ], + [ + 492.77679443359375, + 222.59445190429688 + ], + [ + 466.3879699707031, + 152.4976043701172 + ], + [ + 420.8868713378906, + 97.49442291259766 + ], + [ + 361.6566162109375, + 48.9300537109375 + ], + [ + 295.7660827636719, + 25.839624404907227 + ], + [ + 257.19921875, + 21.702930450439453 + ], + [ + 218.38470458984375, + 29.70400047302246 + ], + [ + 201.28933715820312, + 36.287567138671875 + ], + [ + 183.05520629882812, + 48.87250900268555 + ], + [ + 172.19740295410156, + 63.68389892578125 + ], + [ + 175.136962890625, + 80.77676391601562 + ], + [ + 177.12655639648438, + 99.99357604980469 + ], + [ + 175.3232421875, + 106.43522644042969 + ], + [ + 191.98248291015625, + 104.44464111328125 + ], + [ + 220.85595703125, + 82.41613006591797 + ], + [ + 284.10614013671875, + 48.53062438964844 + ], + [ + 370.2978515625, + 44.92130661010742 + ], + [ + 431.8465576171875, + 57.7322883605957 + ], + [ + 477.132080078125, + 78.75115966796875 + ], + [ + 517.3204345703125, + 107.08000946044922 + ], + [ + 545.274169921875, + 128.73324584960938 + ], + [ + 542.0836181640625, + 152.2432861328125 + ], + [ + 541.9091796875, + 152.97860717773438 + ], + [ + 539.0337524414062, + 159.56793212890625 + ], + [ + 538.1531372070312, + 148.94189453125 + ], + [ + 552.6114501953125, + 104.52436828613281 + ], + [ + 564.6405029296875, + 88.673583984375 + ], + [ + 565.1839599609375, + 83.37562561035156 + ], + [ + 561.832275390625, + 90.316162109375 + ] + ], + "depth_max": 3.451274871826172, + "depth_min": 0.09112373739480972, + "intrinsic": [ + [ + 611.148193359375, + 0.0, + 259.0 + ], + [ + 0.0, + 609.2744750976562, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.7598194719757885e-05, + -4.6047966861806344e-06, + -2.0751842384925112e-05 + ], + [ + -2.7598347514867783e-05, + 1.0, + -3.3491927752038464e-05, + -3.4689612220972776e-05 + ], + [ + 4.603872639563633e-06, + 3.3492051443317905e-05, + 1.0, + 8.7245054601226e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33 + ], + "object_trajectory": [ + [ + 185.25, + 111.75 + ], + [ + 185.52783203125, + 111.749755859375 + ], + [ + 185.62173461914062, + 111.74921417236328 + ], + [ + 185.5749053955078, + 111.80680084228516 + ], + [ + 185.55838012695312, + 111.69403839111328 + ], + [ + 185.6022186279297, + 111.71012115478516 + ], + [ + 185.4943084716797, + 111.79571533203125 + ], + [ + 185.69674682617188, + 111.75376892089844 + ], + [ + 185.74859619140625, + 111.78900146484375 + ], + [ + 185.5924835205078, + 111.71537780761719 + ], + [ + 185.53147888183594, + 111.95183563232422 + ], + [ + 185.60780334472656, + 112.02108764648438 + ], + [ + 185.33163452148438, + 112.11315155029297 + ], + [ + 185.09510803222656, + 112.32560729980469 + ], + [ + 183.97291564941406, + 112.70537567138672 + ], + [ + 181.59945678710938, + 112.0627212524414 + ], + [ + 182.47518920898438, + 111.95179748535156 + ], + [ + 176.9337158203125, + 112.13233947753906 + ], + [ + 193.67361450195312, + 110.0455093383789 + ], + [ + 217.7481689453125, + 96.00340270996094 + ], + [ + 286.59027099609375, + 62.02748107910156 + ], + [ + 373.48968505859375, + 55.34928894042969 + ], + [ + 433.2089538574219, + 67.4041748046875 + ], + [ + 477.7638244628906, + 87.06734466552734 + ], + [ + 513.1172485351562, + 113.83587646484375 + ], + [ + 541.3851928710938, + 135.12217712402344 + ], + [ + 538.3775634765625, + 158.99554443359375 + ], + [ + 537.5521240234375, + 158.99510192871094 + ], + [ + 536.6410522460938, + 157.27838134765625 + ], + [ + 534.9295043945312, + 155.72747802734375 + ], + [ + 535.4356079101562, + 155.68963623046875 + ], + [ + 535.3456420898438, + 155.87437438964844 + ], + [ + 535.3317260742188, + 155.96160888671875 + ], + [ + 535.2320556640625, + 155.9862060546875 + ] + ] +} \ No newline at end of file diff --git a/008681_v2/lang.txt b/008681_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..6c8ab005838cf591f84096cbe5f8639bd40cb407 --- /dev/null +++ b/008681_v2/lang.txt @@ -0,0 +1 @@ +put the black and white object onto the table diff --git a/008681_v2/object.ply b/008681_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..49efd0756fa32ae8340f5c3a196e955d4db5a1f2 Binary files /dev/null and b/008681_v2/object.ply differ diff --git a/008683_v2/FAIL b/008683_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/008683_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/008690_v2/FAIL b/008690_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/008690_v2/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/008695_v2/FAIL b/008695_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/008695_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/008794_v2/data.json b/008794_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..992f7f4b3d774951e384b6d8e81593aa65812f80 --- /dev/null +++ b/008794_v2/data.json @@ -0,0 +1,641 @@ +{ + "action_start": 9, + "action_end": 23, + "object_name": "red object", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.511844, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.9876883472491613e-10, + 1.7540865981935383e-10, + -2.616129535226719e-11, + 3.401572112800278e-07, + -4.3442646792321414e-07, + 1.232689490869806e-07, + 1.0 + ], + [ + -0.028630520090286604, + -0.002670711807725365, + -0.006508158112403628, + -0.014293263569650733, + 0.008758715923686836, + -0.025436925495935507, + 1.0 + ], + [ + -0.024535046391529036, + -0.004809060901035486, + 7.44206625381133e-05, + -0.018331228893966274, + -0.011235632925581837, + -0.031421211109601895, + 1.0 + ], + [ + -0.018718186080804167, + -0.0021181668587712116, + -0.0034467858798125084, + -0.017170450800049808, + -0.01050258876427911, + -0.026438178493832034, + 1.0 + ], + [ + -0.011790838890149424, + -0.004422290778421489, + -0.022320891011511426, + -0.012785487436272412, + 0.04123495316259474, + -0.04333434803000775, + 1.0 + ], + [ + -0.012333488536097836, + 0.0004834507479416633, + -0.024007290898525546, + 0.024954241290830063, + 0.0605807825778793, + -0.033341675339123425, + 1.0 + ], + [ + -0.00399702182627662, + 0.004266093520808374, + -0.018912371995542535, + 0.0113614037468931, + 0.04274973437090083, + -0.011789905183633336, + 1.0 + ], + [ + 0.001470335833972991, + -0.002205430893202083, + -0.013167665484744621, + 0.02940273901627051, + 0.03696809223237373, + -0.027595323944562766, + 1.0 + ], + [ + 0.0030222743394367757, + -0.003377175314932243, + -0.006532492112373965, + 0.014770238076606391, + 0.007522307825829541, + -0.011520654309003947, + 1.0 + ], + [ + 0.0023811221234971702, + -0.000701859291408459, + -0.0031284375056888115, + 0.019264021505623025, + 0.00885393457393312, + -0.005985577608705653, + 1.0 + ], + [ + 0.003283239235035762, + -0.006117591896147433, + 0.0060960208306100605, + -0.007489516946446917, + -0.028786800629791328, + -0.011139800784835643, + 0.0 + ], + [ + 0.00479530117586674, + -0.008242089369167233, + 0.013120737332120106, + -0.010250742291336901, + -0.031637562919748334, + -0.021356842141522663, + 0.0 + ], + [ + 0.0077440133097293196, + -0.006201367168687147, + 0.03782930111851977, + -0.009811902529408919, + -0.0437968929064207, + -0.0047517373286254765, + 0.0 + ], + [ + 0.014978848513023807, + 0.009193932519825872, + 0.04924262864719212, + -0.009051535126052638, + -0.057439121295201574, + 0.05704053374860012, + 0.0 + ], + [ + 0.01710941738095173, + 0.02396533557447171, + 0.029711495460376852, + -0.01941533798123029, + -0.038813148559714385, + 0.08048521266275531, + 0.0 + ], + [ + 0.01870343644193767, + 0.03603831019914804, + 0.009339684147988941, + 0.007838606652707483, + -0.018005814184103724, + 0.09300801117058194, + 0.0 + ], + [ + 0.0129853970468779, + 0.021736052381209008, + -0.007637110647615741, + 0.003928280378702847, + 0.011940179744594456, + 0.056935561467613326, + 0.0 + ], + [ + 0.013669454747379961, + 0.012810949246294454, + -0.012873069333947662, + 0.005348957650555898, + 0.02061519426983833, + 0.027545357827561685, + 0.0 + ], + [ + 0.0064903592717777125, + 0.00046983969053011887, + -0.015841081587147754, + -0.0162002002895869, + 0.03239096482752041, + -0.0015337992584728722, + 0.0 + ], + [ + -0.0006443193755468757, + 0.0005368247648968906, + -0.01534311173242478, + 0.016414026257513786, + 0.03944724385375246, + -0.0018579039386188946, + 0.0 + ], + [ + -0.00029708717097376436, + 0.006577115475877339, + -0.011006206960609416, + 0.013495539757798325, + 0.02211670929845349, + 0.015563440711852354, + 0.0 + ], + [ + 4.0935304980893594e-05, + 0.005342547148313122, + -0.008054949716149853, + 0.007560144363946026, + 0.01738830876779528, + 0.012413060519553725, + 0.0 + ], + [ + -0.0007458698492490146, + 0.002908007871071476, + -0.004934943912760892, + 0.0002312128734742366, + 0.010135973374362601, + 0.0030349354122969547, + 0.0 + ], + [ + -0.0017720802161691473, + 0.00032655087420397494, + -0.004651109514860974, + -0.001243519791236407, + 0.015664996904807233, + 0.0005272627701141155, + 0.511844 + ], + [ + -0.0006963308463027729, + -0.0006409735110089188, + -0.0015977440204127669, + -0.006496431553689658, + 0.004924101498935558, + 0.0012640132529379963, + 1.0 + ], + [ + 0.002791810497757674, + -0.0037086023110318236, + 0.009882651411494928, + -0.004284456036387811, + -0.024659858826829216, + -0.00754570711925608, + 1.0 + ], + [ + 0.003283691500413799, + -0.00340410907480794, + 0.02610118698037256, + 0.011449407403174766, + -0.05619254333459972, + -0.0044444084013231175, + 1.0 + ], + [ + -0.0015979348596299459, + -0.0038915354677345054, + 0.033567339810451194, + 0.010734032883565083, + -0.06422173520914, + -0.01194634877887377, + 1.0 + ], + [ + -0.003983105171837253, + -0.001936064349485983, + 0.013177067879814569, + 0.0013100705434433196, + -0.022987008372883595, + -0.0030163444610484874, + 1.0 + ], + [ + -0.0050929994568238435, + -0.0006006019841262103, + -0.0009482125712049483, + 0.02611317711327703, + 0.012532839331969662, + -0.007971941079672638, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 459.4697570800781, + 78.9712905883789 + ], + [ + 456.8854064941406, + 85.51065826416016 + ], + [ + 437.31781005859375, + 130.89468383789062 + ], + [ + 413.0511169433594, + 151.9136505126953 + ], + [ + 396.591064453125, + 175.00265502929688 + ], + [ + 387.2207946777344, + 203.1612548828125 + ], + [ + 375.58465576171875, + 251.48297119140625 + ], + [ + 368.04022216796875, + 278.62628173828125 + ], + [ + 362.91558837890625, + 293.1971435546875 + ], + [ + 365.963134765625, + 301.56329345703125 + ], + [ + 371.2093811035156, + 303.32171630859375 + ], + [ + 374.88458251953125, + 303.8388977050781 + ], + [ + 389.8565673828125, + 298.438232421875 + ], + [ + 407.14276123046875, + 265.8437194824219 + ], + [ + 432.37823486328125, + 194.14224243164062 + ], + [ + 437.74786376953125, + 120.0402603149414 + ], + [ + 397.5350646972656, + 57.81351852416992 + ], + [ + 365.3597717285156, + 38.18326187133789 + ], + [ + 353.4548034667969, + 38.32710647583008 + ], + [ + 351.35064697265625, + 49.82194519042969 + ], + [ + 351.44549560546875, + 66.42314147949219 + ], + [ + 348.20196533203125, + 77.92599487304688 + ], + [ + 342.2855529785156, + 88.3022689819336 + ], + [ + 336.29248046875, + 95.10301208496094 + ], + [ + 334.62353515625, + 96.46498107910156 + ], + [ + 334.3368225097656, + 103.85890197753906 + ], + [ + 335.1510009765625, + 105.76895141601562 + ], + [ + 333.73211669921875, + 99.69457244873047 + ], + [ + 333.2414245605469, + 47.98245620727539 + ], + [ + 329.5871887207031, + 26.416711807250977 + ], + [ + 325.8089904785156, + 23.848684310913086 + ], + [ + 328.7497863769531, + 24.552824020385742 + ] + ], + "depth_max": 3.8602800369262695, + "depth_min": 0.28956338763237, + "intrinsic": [ + [ + 612.0687255859375, + 0.0, + 259.0 + ], + [ + 0.0, + 611.4309692382812, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.0048759072087705e-05, + -2.2976613763603382e-05, + -3.3129101211670786e-05 + ], + [ + -3.0049683118704706e-05, + 1.0, + -4.025247835670598e-05, + -8.880995665094815e-06 + ], + [ + 2.2975405954639427e-05, + 4.0253169572679326e-05, + 1.0, + 5.8267280110158026e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 31 + ], + "object_trajectory": [ + [ + 365.25, + 317.7500305175781 + ], + [ + 365.82757568359375, + 317.81591796875 + ], + [ + 365.32080078125, + 318.04071044921875 + ], + [ + 365.3778076171875, + 317.9800109863281 + ], + [ + 365.23199462890625, + 317.9120788574219 + ], + [ + 365.4864807128906, + 317.69110107421875 + ], + [ + 365.3280029296875, + 317.5189208984375 + ], + [ + 365.1139831542969, + 317.7281188964844 + ], + [ + 364.5041198730469, + 318.6583557128906 + ], + [ + 369.40704345703125, + 320.34478759765625 + ], + [ + 373.9084167480469, + 319.1983337402344 + ], + [ + 377.3206787109375, + 319.8309326171875 + ], + [ + 390.96337890625, + 314.74365234375 + ], + [ + 405.6216735839844, + 291.0746154785156 + ], + [ + 434.9358215332031, + 224.63858032226562 + ], + [ + 438.9223327636719, + 154.9550018310547 + ], + [ + 405.8157653808594, + 90.94364929199219 + ], + [ + 373.2150573730469, + 64.42462921142578 + ], + [ + 362.7796325683594, + 63.869842529296875 + ], + [ + 361.0073547363281, + 79.02351379394531 + ], + [ + 361.5923156738281, + 93.82135772705078 + ], + [ + 357.86907958984375, + 104.13882446289062 + ], + [ + 351.97210693359375, + 113.38299560546875 + ], + [ + 345.8364562988281, + 119.9892578125 + ], + [ + 344.0936279296875, + 121.78245544433594 + ], + [ + 330.70159912109375, + 124.74130249023438 + ], + [ + 339.3080749511719, + 128.06500244140625 + ], + [ + 339.06005859375, + 128.24423217773438 + ], + [ + 344.69146728515625, + 130.07293701171875 + ], + [ + 344.44415283203125, + 129.67001342773438 + ], + [ + 344.4980773925781, + 129.79832458496094 + ], + [ + 344.67034912109375, + 129.97630310058594 + ] + ] +} \ No newline at end of file diff --git a/008794_v2/lang.txt b/008794_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..abffa9036d43cbbdd01d4c9f1d34247d246ae25d --- /dev/null +++ b/008794_v2/lang.txt @@ -0,0 +1 @@ +picks the red object from the floor and puts it in the drawer diff --git a/008845_v2/FAIL b/008845_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/008845_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/008857_v2/FAIL b/008857_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/008857_v2/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/008891_v2/FAIL b/008891_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/008891_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/008938_v2/FAIL b/008938_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/008938_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/008938_v2/data.json b/008938_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..bd3017982ccde22d9a1402df0cc3295c560439f2 --- /dev/null +++ b/008938_v2/data.json @@ -0,0 +1,421 @@ +{ + "action_start": 9, + "action_end": 14, + "object_name": "object above the drawer", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 2.668575915798499e-10, + -5.7391716379306956e-11, + 2.330744625078651e-10, + -6.00013592854889e-08, + -9.056840817866846e-07, + -1.1364728478169053e-07, + 1.0 + ], + [ + -0.00529815945201878, + 0.04788782881486155, + 0.02353592158605701, + -0.0007755994605142953, + 0.0047517934470447274, + 0.07134220513647091, + 1.0 + ], + [ + -0.0060301870626703336, + 0.04733642565085822, + 0.017996872097027897, + -0.005090446000350123, + -0.0017653138196038675, + 0.07063885048488648, + 1.0 + ], + [ + -0.010312818400559198, + 0.04223295560824801, + 0.017044695082975375, + -0.020454952045912328, + -0.030297385397524187, + 0.03689152679134158, + 1.0 + ], + [ + -0.017051581402243277, + 0.04572335309482457, + 0.00997800850156133, + 0.030046785656377594, + -0.031853983923453386, + -0.005364716592656695, + 1.0 + ], + [ + -0.011225405124798027, + 0.03090027807254804, + -6.291114355516658e-06, + 0.06802789052596464, + 0.01524889750579935, + -0.007335220083917539, + 1.0 + ], + [ + -0.00018314067673902423, + 0.018583026201497668, + -0.013917672983172064, + 0.045263560479014586, + 0.02885436539370974, + 0.010628727835971056, + 1.0 + ], + [ + 0.00719241178349489, + 0.008921321448514846, + -0.024934909607810335, + 0.0016064873474459155, + 0.06042472305619323, + 0.02898250281383223, + 1.0 + ], + [ + 0.013539332678119853, + 0.0036031369627150256, + -0.028402534428412368, + -0.014800109900830381, + 0.06939738050888411, + 0.021365197962417246, + 1.0 + ], + [ + 0.0111660599205472, + -0.0033433131526459936, + -0.011619946380004367, + -0.01862634345649602, + 0.025238890347275077, + -0.0057862689204957575, + 1.0 + ], + [ + 0.002141092618015761, + -0.01402769323684852, + 0.005998451951721023, + -0.004991379371979425, + -0.03582195979442546, + -0.017134482637593422, + 0.0 + ], + [ + 0.0048359360428775755, + -0.022902593019118955, + 0.012011853000675116, + -0.013880321194519804, + -0.03779336903485711, + -0.02102651416079688, + 0.0 + ], + [ + 0.010231707601417173, + -0.04197054354116675, + 0.0021541810342021878, + -0.038374991768480825, + -0.013100385023765038, + -0.023951041211925504, + 0.0 + ], + [ + 0.01581367303947201, + -0.029936290658939782, + -0.001341236945676505, + -0.020138566762886383, + -0.0009362323861190094, + -0.02517459842067249, + 0.0 + ], + [ + 0.008275221758173301, + -0.016819054724135307, + -0.00865360944311884, + 0.010947851168938313, + 0.028257022522681998, + -0.009229840503852447, + 0.0 + ], + [ + -0.0077668132244966825, + -6.393402883704546e-05, + -0.004312703898080444, + 0.0034640802449151914, + 0.016827810581498917, + 0.057014829021343645, + 1.0 + ], + [ + -0.0015865155117334995, + -7.15931807942563e-05, + 0.003586278579715163, + 0.0034039567926593775, + -0.018763863527997686, + 0.033206468629432793, + 1.0 + ], + [ + -0.0012427812801337201, + -0.0027278583684755137, + 0.009185723091229614, + 0.02276438507731863, + -0.008844042951440173, + 0.012988952247037413, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 539.3377685546875, + 88.64691162109375 + ], + [ + 536.412109375, + 94.2013931274414 + ], + [ + 509.80780029296875, + 97.740478515625 + ], + [ + 420.48956298828125, + 44.22674560546875 + ], + [ + 366.23028564453125, + 22.162017822265625 + ], + [ + 296.0269775390625, + -6.274605751037598 + ], + [ + 327.1689758300781, + -0.5759577751159668 + ], + [ + 311.12786865234375, + -0.8363456726074219 + ], + [ + 309.6725158691406, + 24.677949905395508 + ], + [ + 193.28390502929688, + 24.196887969970703 + ], + [ + 199.65682983398438, + 33.50827407836914 + ], + [ + 205.58572387695312, + 30.888261795043945 + ], + [ + 218.41043090820312, + 31.816225051879883 + ], + [ + 261.05078125, + 37.1479377746582 + ], + [ + 322.99212646484375, + 42.49073791503906 + ], + [ + 357.3789978027344, + 35.202659606933594 + ], + [ + 368.86376953125, + 47.284122467041016 + ], + [ + 364.4083557128906, + 61.079444885253906 + ], + [ + 361.8111572265625, + 57.39232635498047 + ], + [ + 366.5349426269531, + 52.20378112792969 + ] + ], + "depth_max": 4.0498223304748535, + "depth_min": 0.47523435950279236, + "intrinsic": [ + [ + 561.4400024414062, + 0.0, + 259.0 + ], + [ + 0.0, + 561.244873046875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.8218830013647676e-05, + -0.00010714466770878062, + -2.291779310326092e-05 + ], + [ + -3.8222584407776594e-05, + 1.0, + -3.501465471345e-05, + -1.9395585695747286e-05 + ], + [ + 0.0001071433289325796, + 3.5018751077586785e-05, + 1.0, + -4.955950316798408e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 19 + ], + "object_trajectory": [ + [ + 219.75, + 29.0 + ], + [ + 219.97662353515625, + 29.106014251708984 + ], + [ + 220.06671142578125, + 29.224632263183594 + ], + [ + 220.0332794189453, + 29.13788604736328 + ], + [ + 220.00851440429688, + 29.16997528076172 + ], + [ + 219.89816284179688, + 29.188270568847656 + ], + [ + 219.96005249023438, + 29.314525604248047 + ], + [ + 219.89187622070312, + 29.257957458496094 + ], + [ + 219.97962951660156, + 29.405410766601562 + ], + [ + 219.56472778320312, + 29.43488883972168 + ], + [ + 219.109375, + 29.299362182617188 + ], + [ + 218.84698486328125, + 27.402372360229492 + ], + [ + 231.91522216796875, + 31.014909744262695 + ], + [ + 275.433837890625, + 36.93815612792969 + ], + [ + 334.1061706542969, + 43.836097717285156 + ], + [ + 368.6029052734375, + 35.062740325927734 + ], + [ + 381.5101318359375, + 48.74513244628906 + ], + [ + 381.5135803222656, + 127.37969970703125 + ], + [ + 380.5641784667969, + 125.15428924560547 + ], + [ + 380.37286376953125, + 125.32868957519531 + ] + ] +} \ No newline at end of file diff --git a/008938_v2/lang.txt b/008938_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..267251631f76618fdb22ae2f3aac8121c4c01342 --- /dev/null +++ b/008938_v2/lang.txt @@ -0,0 +1 @@ +take the object above the drawer and put it inside the drawer with a blue cloth diff --git a/008938_v2/object.ply b/008938_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..df9ca8cb657c5dcaba4282ad0af79c28ec6150e9 Binary files /dev/null and b/008938_v2/object.ply differ diff --git a/009054_v2/FAIL b/009054_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/009054_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/009072_v2/FAIL b/009072_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/009072_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/009078_v2/data.json b/009078_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..4db777fb2cfbcc7b616e503c8f6a2a03d2f112e9 --- /dev/null +++ b/009078_v2/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 7, + "action_end": 15, + "object_name": "green object", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.7365079999999999, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 5.551115123125783e-17, + 1.3877787807814457e-17, + 6.938893903907228e-18, + -3.9412137345135575e-08, + -6.917924566461965e-08, + -2.2451481826759632e-08, + 1.0 + ], + [ + -0.00332649742128166, + -0.04173787658881668, + -0.009397803378474746, + -0.007655643950484405, + 0.02341163677184599, + -0.07308561477046358, + 1.0 + ], + [ + -0.0007831921311236001, + -0.03019139319091424, + -0.004965800769926788, + 0.0022415952821041524, + -0.010612588160918824, + -0.043201008640726436, + 1.0 + ], + [ + -0.002972398541400134, + -0.03256970928200767, + -0.010726122536327804, + 0.021106406156924936, + -0.007166814445608306, + 0.01137229347895129, + 1.0 + ], + [ + 0.001816264624972641, + -0.011492871556658416, + -0.009225872079783188, + 0.030613407962472295, + -0.010991153366779458, + 0.012633545458220487, + 1.0 + ], + [ + 0.00406801131289003, + 0.014057140679441528, + -0.012218651082130636, + 0.03024703105979507, + 0.023478004960926557, + 0.04742314417376065, + 1.0 + ], + [ + 0.0008539693193096443, + 0.017229472951238167, + -0.007104088037646332, + 0.033682180219388874, + 0.01225610555029165, + 0.05204723501386198, + 1.0 + ], + [ + 0.001809588921034555, + 0.015438871544987864, + -0.0017005631935841578, + 0.013789488648148409, + -0.013878545129036624, + 0.01561439750628356, + 0.7365079999999999 + ], + [ + 0.004139074772361584, + 0.006082961424922894, + 0.010886176662366832, + -0.0005064968116528827, + -0.021850517085486944, + -0.003202059403909825, + 0.0 + ], + [ + 0.012346933844976649, + 0.009950415191624465, + 0.032102916921381314, + -0.012763500461528545, + -0.09175666501596054, + -0.016765684210795547, + 0.0 + ], + [ + 0.020692196144475317, + 0.04383092942100841, + 0.03269195806333142, + 0.0075003593778197675, + -0.0735412838034469, + 0.08783263311541145, + 0.0 + ], + [ + 0.007805170164191022, + 0.06371446361752511, + -0.002592829522758782, + -0.019529435901366105, + 0.012748750709638601, + 0.1184543995058532, + 0.0 + ], + [ + -0.0024452983741108936, + 0.051217986058013226, + -0.011939261751430869, + 0.019027765714234778, + 0.03356020508771453, + 0.06761730787351936, + 0.0 + ], + [ + -0.009372664796235164, + 0.023528100778585165, + -0.011602784876306647, + 0.014468959178615735, + 0.05196389292250646, + 0.01263893651470133, + 0.0 + ], + [ + -0.008232996031799278, + 0.0017680058491057193, + -0.008264137534985665, + 0.005958866540115873, + 0.02989874306723822, + -0.004894535250305853, + 0.0 + ], + [ + -0.006969757462496173, + 0.0030059390846102763, + -0.007076229085471588, + 0.0008739713946687664, + 0.028565215437661166, + 0.015922629488957004, + 0.0 + ], + [ + 0.0019475515990327597, + -0.0010411426180164385, + 0.005004153803766452, + -0.003911394824500788, + -0.01034405957831668, + -0.007230344841680479, + 1.0 + ], + [ + 0.006459929177176582, + -0.008251165229239993, + 0.013876119344877699, + 0.002883764164230578, + -0.03289058643825933, + -0.0306928748233571, + 1.0 + ], + [ + 0.009097929928936377, + -0.021430336668700867, + 0.024222786111751562, + -0.010089274060173134, + -0.04397334055799168, + -0.06500215280527608, + 1.0 + ], + [ + 0.0010785156447348787, + -0.01721625373709651, + 0.011174441766926287, + -0.00227137048444755, + -0.0044490190404651644, + -0.06662327521098982, + 1.0 + ], + [ + -0.0033098134900217957, + -0.013723324774837231, + 0.004007447746037071, + -0.01108624066898656, + 0.024052123304429296, + -0.003133317747875827, + 1.0 + ], + [ + -0.005543213333236763, + -0.005282661912643094, + -0.0036695723957312298, + -0.03190307698908799, + 0.04352226602195154, + -0.042394041474663136, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 310.06207275390625, + 120.53998565673828 + ], + [ + 309.45556640625, + 127.82080078125 + ], + [ + 316.2435302734375, + 158.51705932617188 + ], + [ + 367.11273193359375, + 190.517333984375 + ], + [ + 383.11602783203125, + 209.69325256347656 + ], + [ + 419.48846435546875, + 227.34133911132812 + ], + [ + 413.4725341796875, + 231.39898681640625 + ], + [ + 408.5804138183594, + 234.4892120361328 + ], + [ + 402.911376953125, + 230.2036895751953 + ], + [ + 383.6375732421875, + 218.37904357910156 + ], + [ + 380.4035339355469, + 212.55953979492188 + ], + [ + 368.8430480957031, + 156.86087036132812 + ], + [ + 320.4461669921875, + 104.50922393798828 + ], + [ + 269.921875, + 102.82302856445312 + ], + [ + 236.54013061523438, + 104.73040771484375 + ], + [ + 222.69046020507812, + 114.09808349609375 + ], + [ + 220.57745361328125, + 117.8820571899414 + ], + [ + 221.32504272460938, + 121.66373443603516 + ], + [ + 223.40240478515625, + 125.12471771240234 + ], + [ + 227.66244506835938, + 115.93585205078125 + ], + [ + 241.32931518554688, + 91.26577758789062 + ], + [ + 257.87860107421875, + 98.78953552246094 + ], + [ + 260.10418701171875, + 104.37158203125 + ], + [ + 260.7800598144531, + 105.84194946289062 + ] + ], + "depth_max": 1.7323609590530396, + "depth_min": 0.15463316440582275, + "intrinsic": [ + [ + 538.5681762695312, + 0.0, + 259.0 + ], + [ + 0.0, + 539.3905029296875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.9905957742594182e-05, + -9.114116983255371e-05, + -1.4083561836741865e-06 + ], + [ + -1.9907211026293226e-05, + 1.0, + -1.3718638001591899e-05, + 6.139811375760473e-06 + ], + [ + 9.114089334616438e-05, + 1.3720451534027234e-05, + 1.0, + -1.7913722331286408e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 407.75, + 238.0 + ], + [ + 407.8997497558594, + 238.13446044921875 + ], + [ + 407.8307800292969, + 238.1970977783203 + ], + [ + 408.78485107421875, + 238.2596435546875 + ], + [ + 408.1732482910156, + 238.47918701171875 + ], + [ + 407.86737060546875, + 238.58151245117188 + ], + [ + 411.0025634765625, + 239.39572143554688 + ], + [ + 410.37200927734375, + 240.23243713378906 + ], + [ + 405.343994140625, + 239.66360473632812 + ], + [ + 381.5459899902344, + 231.55661010742188 + ], + [ + 373.26116943359375, + 227.0928192138672 + ], + [ + 363.3210144042969, + 183.64288330078125 + ], + [ + 315.408447265625, + 133.75827026367188 + ], + [ + 264.79144287109375, + 130.7551727294922 + ], + [ + 232.01611328125, + 130.86656188964844 + ], + [ + 219.34925842285156, + 139.04598999023438 + ], + [ + 216.8856964111328, + 142.8839874267578 + ], + [ + 221.29486083984375, + 168.032958984375 + ], + [ + 238.47967529296875, + 171.7659149169922 + ], + [ + 222.19569396972656, + 171.08184814453125 + ], + [ + 220.4441375732422, + 171.12890625 + ], + [ + 220.25094604492188, + 170.91661071777344 + ], + [ + 220.236083984375, + 170.90963745117188 + ], + [ + 220.10791015625, + 171.1621856689453 + ] + ] +} \ No newline at end of file diff --git a/009078_v2/lang.txt b/009078_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..af9e70a7a3cad1a49c492f74046f23812d100898 --- /dev/null +++ b/009078_v2/lang.txt @@ -0,0 +1 @@ +Move the green object to the left of the stove diff --git a/009078_v2/object.ply b/009078_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..d1a0340fc985654751b1623326d32dcaa5a0b54a Binary files /dev/null and b/009078_v2/object.ply differ diff --git a/009081_v2/FAIL b/009081_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/009081_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/009122_v2/data.json b/009122_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..04e5f09343d0f3a686eb6e566804ac65c527348b --- /dev/null +++ b/009122_v2/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 11, + "action_end": 20, + "object_name": "red paprika", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + -1.3877787807814457e-17, + 6.938893903907228e-18, + -1.3300578009199092e-07, + 1.773768882410543e-07, + 6.072536172317483e-07, + 1.0 + ], + [ + 0.00011248738309960205, + -0.021741537588180204, + 0.005571522843054424, + -0.01627048326730349, + -0.006625219723302756, + -0.02984179635959918, + 1.0 + ], + [ + -0.0005978765095142613, + -0.027673294941065837, + 0.008777369881082275, + -0.0038856250369008723, + -0.01608424527203402, + -0.05451895407814337, + 1.0 + ], + [ + -0.003573199781316705, + -0.020768761878196373, + 0.0017965264093381759, + -0.04308497122959711, + -0.013641340049628662, + -0.024514406659034923, + 1.0 + ], + [ + -0.0020531307450269987, + -0.023997907301964, + 0.0066204030458318665, + -0.06268115489415133, + -0.013017868966020597, + -0.01529668831194937, + 1.0 + ], + [ + -0.0002335420672666677, + -0.01583096420855072, + -0.006427131063061807, + -0.07818495636766626, + -0.016952503173169223, + 0.008866458337649043, + 1.0 + ], + [ + 0.0010897460196934716, + -0.011350155255865618, + -0.009879086761960136, + -0.017131599689724015, + 0.010728241974668479, + 0.004061597839703828, + 1.0 + ], + [ + 0.002533939502828264, + -0.0069787478972495025, + -0.010910487861285553, + 0.02519358045657305, + -0.008648983950536716, + 0.002171246051576067, + 1.0 + ], + [ + 0.0015783657228464754, + 0.0001568664312998399, + -0.016507856808302794, + 0.018079993827776367, + 0.01332792136052537, + 0.02536780204925568, + 1.0 + ], + [ + 0.0063514899177744, + 0.0022859221020135705, + -0.020756907836728122, + 0.017236986550258803, + 0.010594947024293843, + 0.04477704520108985, + 1.0 + ], + [ + 0.006430163229074692, + 0.0006093143667875445, + -0.011312658740524475, + -0.020122256194067836, + -0.0014757801931869093, + 0.049752509136353984, + 1.0 + ], + [ + 0.002376064364965458, + 0.003266141630585422, + -0.004458642431493458, + -0.0022111530332780635, + -0.001604534802136267, + 0.0002222483698625049, + 1.0 + ], + [ + 0.00174663358939936, + 0.007097144484352828, + 0.00770411859318542, + 0.016664874359124223, + -0.029757656570330835, + -0.005562466801844641, + 0.0 + ], + [ + 0.010358661957735993, + 0.02800840165667113, + 0.023675418651190876, + 0.010752467007461205, + -0.06344781120347202, + 0.030249590247887526, + 0.0 + ], + [ + 0.029349324752188433, + 0.029715945114342824, + 0.01641928219074637, + -0.012769432599299406, + -0.052356849068102895, + 0.06428513299813579, + 0.0 + ], + [ + 0.027221173013412148, + 0.027701147623965715, + -0.009993256615417903, + 0.021850849186982216, + 0.017413782541486126, + 0.01584336910789768, + 0.0 + ], + [ + 0.01611857882572032, + 0.013100241451606681, + -0.013383080882176851, + 0.0057496771913785535, + 0.010328355251297458, + -0.01755809390071006, + 0.0 + ], + [ + 0.010623177375497783, + 0.015547634532889765, + -0.013783592749081655, + 0.029449634127139156, + 0.017562848495857965, + 0.02598556329281156, + 0.0 + ], + [ + 0.011655087361484795, + 0.015842258141292948, + -0.006873468596034632, + 0.010996706674901578, + -0.0019045734943522416, + 0.041853031411497765, + 0.0 + ], + [ + 0.0044105936977335, + 0.014345697808302207, + 0.0014963799867275251, + 0.0026119740339270677, + 0.005931716471801671, + 0.026440079665704268, + 0.0 + ], + [ + -0.003119373127250691, + 0.004559075135921797, + -0.0011325388684614232, + -0.01189594662319179, + -0.00027402071408366116, + 0.015004166111812548, + 0.0 + ], + [ + -0.0038909368981274173, + -0.018038364036583585, + 0.000786398786855963, + -0.04736037018014613, + -0.0027257891142884396, + -0.062469390780565036, + 1.0 + ], + [ + -0.0035527863054426456, + -0.01718223609829933, + 0.03436802313206349, + -0.017598340806140266, + -0.012164605736641238, + -0.08643141808803458, + 1.0 + ], + [ + -0.0065154464122784694, + -0.009057414616745585, + 0.025623200211097444, + -0.01883388297124044, + -0.04634457643746871, + -0.04273227161678278, + 1.0 + ], + [ + -0.01890744760360391, + 0.004159313482890115, + 0.013340492922564617, + 0.006154329726881659, + -0.013724766094827928, + -0.040163552953101325, + 1.0 + ], + [ + -0.01666825729071253, + 0.005676392692578067, + -0.004718145716036914, + 0.020760213608198894, + 0.02191318595921114, + -0.003619541593498784, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 278.33514404296875, + 133.7364044189453 + ], + [ + 276.9786376953125, + 143.50204467773438 + ], + [ + 277.0836181640625, + 164.4960174560547 + ], + [ + 297.78692626953125, + 175.39730834960938 + ], + [ + 328.74560546875, + 175.20936584472656 + ], + [ + 338.4722900390625, + 183.58851623535156 + ], + [ + 364.29779052734375, + 186.4371795654297 + ], + [ + 372.8251953125, + 189.25390625 + ], + [ + 385.2855224609375, + 198.1496124267578 + ], + [ + 388.59716796875, + 215.07305908203125 + ], + [ + 385.23577880859375, + 232.69021606445312 + ], + [ + 390.8760986328125, + 243.24703979492188 + ], + [ + 393.0143737792969, + 242.18580627441406 + ], + [ + 392.575927734375, + 240.52383422851562 + ], + [ + 389.77471923828125, + 235.02407836914062 + ], + [ + 360.3898010253906, + 182.7063446044922 + ], + [ + 351.7961120605469, + 142.75335693359375 + ], + [ + 350.69769287109375, + 146.73703002929688 + ], + [ + 343.23968505859375, + 146.7889404296875 + ], + [ + 332.4608154296875, + 144.778564453125 + ], + [ + 319.22821044921875, + 136.84988403320312 + ], + [ + 320.1204528808594, + 136.107177734375 + ], + [ + 319.54132080078125, + 142.99261474609375 + ], + [ + 324.1798400878906, + 152.80250549316406 + ], + [ + 326.6151123046875, + 125.46956634521484 + ], + [ + 325.5041198730469, + 114.9736557006836 + ], + [ + 318.957763671875, + 117.85345458984375 + ], + [ + 315.44482421875, + 122.70529174804688 + ] + ], + "depth_max": 1.7202612161636353, + "depth_min": 0.16978447139263153, + "intrinsic": [ + [ + 546.879638671875, + 0.0, + 259.0 + ], + [ + 0.0, + 547.3788452148438, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.263719190726988e-05, + -7.30259416741319e-05, + 3.457174898358062e-06 + ], + [ + -3.263913458795287e-05, + 1.0, + -2.6646563128451817e-05, + 6.0756774473702535e-06 + ], + [ + 7.30250685592182e-05, + 2.6648946004570462e-05, + 1.0, + -1.6115296602947637e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 394.0, + 223.00001525878906 + ], + [ + 394.2739562988281, + 223.30133056640625 + ], + [ + 394.3076171875, + 223.1239776611328 + ], + [ + 394.51806640625, + 223.3710174560547 + ], + [ + 394.5488586425781, + 224.32489013671875 + ], + [ + 394.43170166015625, + 224.3949432373047 + ], + [ + 394.66851806640625, + 225.1503143310547 + ], + [ + 394.2251281738281, + 225.26499938964844 + ], + [ + 393.7644348144531, + 225.10903930664062 + ], + [ + 392.568603515625, + 225.99285888671875 + ], + [ + 391.59765625, + 226.9424591064453 + ], + [ + 391.7210998535156, + 226.83370971679688 + ], + [ + 392.1210021972656, + 227.3029022216797 + ], + [ + 393.3136901855469, + 227.9663848876953 + ], + [ + 393.99481201171875, + 223.4438934326172 + ], + [ + 363.20977783203125, + 183.00721740722656 + ], + [ + 354.54095458984375, + 146.579833984375 + ], + [ + 353.3243408203125, + 150.73228454589844 + ], + [ + 345.17193603515625, + 150.52880859375 + ], + [ + 333.637451171875, + 148.62396240234375 + ], + [ + 321.50201416015625, + 145.0660400390625 + ], + [ + 322.60028076171875, + 143.97564697265625 + ], + [ + 321.8189392089844, + 147.13577270507812 + ], + [ + 327.5927429199219, + 151.1111297607422 + ], + [ + 323.300048828125, + 137.9109344482422 + ], + [ + 322.7030029296875, + 134.6195526123047 + ], + [ + 322.0765380859375, + 134.6946258544922 + ], + [ + 321.41217041015625, + 135.8259735107422 + ] + ] +} \ No newline at end of file diff --git a/009122_v2/lang.txt b/009122_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..7d908af7710da403cf4ae20e11570edbe3622f43 --- /dev/null +++ b/009122_v2/lang.txt @@ -0,0 +1 @@ +move the red paprika to the upper left burner diff --git a/009122_v2/object.ply b/009122_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..ced26c4d4227aa9b2a2a862499837317dd955907 Binary files /dev/null and b/009122_v2/object.ply differ diff --git a/009165_v2/data.json b/009165_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..79aa823ea288de0b3d7b82083462587479b8af11 --- /dev/null +++ b/009165_v2/data.json @@ -0,0 +1,476 @@ +{ + "action_start": 7, + "action_end": 15, + "object_name": "banana", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.1099105795840956e-10, + 1.1264304419777993e-10, + 2.5411170737066335e-10, + 1.9557985650815132e-08, + -1.6760771625325303e-07, + 6.720340661650382e-07, + 1.0 + ], + [ + 0.028917874063855764, + 0.028278218348514232, + -0.00019650920077658035, + -0.0070029487455325915, + -0.06571108536760865, + 0.03560448236745938, + 1.0 + ], + [ + 0.03810570319932621, + 0.031840373943759354, + -0.0018206263925564896, + 0.05499104325057214, + -0.03309191925447768, + 0.00418091230735081, + 1.0 + ], + [ + 0.028581237010504412, + 0.033494445618436196, + -0.000507448974015539, + 0.05251132668480981, + -0.0223674329676509, + 0.025395826944780042, + 1.0 + ], + [ + 0.012156454682840268, + 0.025517661780065995, + -0.008806705131489942, + -0.0023312724790419386, + 0.004274705100862201, + 0.012179288780566146, + 1.0 + ], + [ + -0.00604598722431382, + 0.010697502040952572, + -0.0225955726543384, + -0.01987270140222087, + 0.0695212509729132, + -0.01792296888930191, + 1.0 + ], + [ + -0.00028200651946258537, + -0.0020442012561998207, + -0.023000505691785446, + -0.05716843285664206, + 0.0218958381756809, + -0.016522165929119165, + 1.0 + ], + [ + 0.0009036727109345555, + -0.007797769794582771, + -0.013845865147449093, + -0.007288355926174003, + 0.053543187211246984, + -0.01928829283701887, + 1.0 + ], + [ + 0.0037496086857850552, + -0.0003330695522330285, + -0.00037888804217778294, + 0.00336479822040249, + -0.028454179473121153, + 0.018421241377085656, + 0.0 + ], + [ + 0.0037698850898155722, + -0.0037932032204605892, + 0.01306865952347594, + 0.010737394462232916, + -0.035467602967201896, + -0.014495161769928667, + 0.0 + ], + [ + 0.005633938135022498, + -0.022691496132661568, + 0.02848116709874223, + -0.007244611265200694, + -0.063481878688254, + -0.03230869427039937, + 0.0 + ], + [ + -0.02389608990809816, + -0.037479512788015035, + 0.0233409930523105, + 0.0035837916219915284, + -0.019948958195050066, + -0.013986527618862316, + 0.0 + ], + [ + -0.03261495606487219, + -0.02763247936717239, + -0.0022757386507035945, + 0.003948035205315026, + 0.040673167796361966, + -0.021727830099491655, + 0.0 + ], + [ + -0.02952145654887761, + -0.019946945622598022, + -0.02548663053223202, + 0.013460720409829846, + 0.047486257454694494, + -0.00019998137759230343, + 0.0 + ], + [ + -0.005443295924638936, + -0.010421452252541819, + -0.011668064762060457, + 0.03161042950003428, + -0.0064312386320694755, + -0.004019196036046262, + 0.0 + ], + [ + 0.0020228727196980323, + -0.004838966232956227, + -0.00837147633565899, + 0.006958729100452829, + -0.001579272234679384, + -0.011236996541745713, + 0.0 + ], + [ + 0.0018729826916031311, + -0.0028088478355670216, + 0.0034998269782192323, + 0.0023913903846326657, + 0.02658904642591658, + 0.009912195168139416, + 1.0 + ], + [ + 0.0017466826181566364, + 0.00024784485543359255, + 0.018184708300608123, + 0.03298064719722459, + -0.03047120164020422, + 0.015081546213138322, + 1.0 + ], + [ + -0.01144735888424131, + -0.00598652449161912, + 0.042788340089988754, + 0.006964818313906111, + -0.01112413317792042, + 0.05071653677656148, + 1.0 + ], + [ + -0.018728169968494635, + -0.004073060229600063, + 0.012608842112863929, + -0.07052383922171443, + 0.04227478882180569, + -0.010877038384804784, + 1.0 + ], + [ + -0.012638262806753398, + -0.0018059690541914939, + -0.00033552049782246095, + -0.03426890579526208, + 0.07214170615210382, + -0.013253335631541227, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 365.8926696777344, + 181.34555053710938 + ], + [ + 363.5872802734375, + 187.83447265625 + ], + [ + 367.16998291015625, + 186.28988647460938 + ], + [ + 350.06781005859375, + 151.14866638183594 + ], + [ + 344.4530944824219, + 128.5614471435547 + ], + [ + 325.1717529296875, + 114.9632339477539 + ], + [ + 310.8890686035156, + 122.06609344482422 + ], + [ + 309.7264099121094, + 148.725341796875 + ], + [ + 311.64447021484375, + 159.91427612304688 + ], + [ + 311.99298095703125, + 156.66676330566406 + ], + [ + 309.2294616699219, + 157.57936096191406 + ], + [ + 307.43487548828125, + 156.7490692138672 + ], + [ + 332.284912109375, + 147.99697875976562 + ], + [ + 354.9066467285156, + 156.2830810546875 + ], + [ + 350.021484375, + 196.316162109375 + ], + [ + 358.84716796875, + 229.08584594726562 + ], + [ + 365.8972473144531, + 230.89508056640625 + ], + [ + 368.6636962890625, + 233.00743103027344 + ], + [ + 367.7862243652344, + 231.13339233398438 + ], + [ + 372.1813659667969, + 203.79287719726562 + ], + [ + 377.6998596191406, + 184.66616821289062 + ], + [ + 381.0207214355469, + 195.7708282470703 + ], + [ + 379.3075256347656, + 200.53646850585938 + ] + ], + "depth_max": 1.6946663856506348, + "depth_min": 0.17861154675483704, + "intrinsic": [ + [ + 557.3243408203125, + 0.0, + 259.0 + ], + [ + 0.0, + 557.9937744140625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.9776590710971504e-05, + -8.693288691574708e-05, + 1.0277930414304137e-05 + ], + [ + -3.977880987804383e-05, + 1.0, + -2.5558560082572512e-05, + 1.2921129382448271e-05 + ], + [ + 8.693186828168109e-05, + 2.556201616243925e-05, + 1.0, + 2.4046164980973117e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 22 + ], + "object_trajectory": [ + [ + 297.75, + 162.75 + ], + [ + 297.531494140625, + 163.93699645996094 + ], + [ + 297.68829345703125, + 163.1100311279297 + ], + [ + 297.816650390625, + 162.76666259765625 + ], + [ + 297.99627685546875, + 162.2755126953125 + ], + [ + 297.09783935546875, + 163.00502014160156 + ], + [ + 297.1723327636719, + 165.30776977539062 + ], + [ + 297.40380859375, + 168.70472717285156 + ], + [ + 305.3478088378906, + 166.67735290527344 + ], + [ + 308.1696472167969, + 166.8670196533203 + ], + [ + 310.4187927246094, + 164.46238708496094 + ], + [ + 309.913330078125, + 163.7762451171875 + ], + [ + 331.43475341796875, + 157.991455078125 + ], + [ + 353.50341796875, + 166.95326232910156 + ], + [ + 350.42913818359375, + 207.5823974609375 + ], + [ + 358.063232421875, + 235.17343139648438 + ], + [ + 364.5277099609375, + 237.14846801757812 + ], + [ + 362.55157470703125, + 254.849609375 + ], + [ + 373.1226806640625, + 253.20834350585938 + ], + [ + 374.1972961425781, + 252.1419677734375 + ], + [ + 376.0571594238281, + 243.55813598632812 + ], + [ + 376.382568359375, + 244.2490997314453 + ], + [ + 376.3138427734375, + 244.5375518798828 + ] + ] +} \ No newline at end of file diff --git a/009165_v2/lang.txt b/009165_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..c4f4cf7e235fb7c1fe8bdabe4b801ef2f592139c --- /dev/null +++ b/009165_v2/lang.txt @@ -0,0 +1 @@ +put the banana on the lower right burner diff --git a/009165_v2/object.ply b/009165_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..94e7bc03dc162d1259236b3eef7a98b78593abf9 Binary files /dev/null and b/009165_v2/object.ply differ diff --git a/009238_v2/data.json b/009238_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..056d7eb4e8718d5e2255aaee7f424cf745eda1a7 --- /dev/null +++ b/009238_v2/data.json @@ -0,0 +1,513 @@ +{ + "action_start": 4, + "action_end": 15, + "object_name": "blue spatula", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.551115123125783e-17, + 1.3877787807814457e-17, + -1.0408340855860843e-17, + -1.5021150918122105e-07, + 8.330964636344915e-08, + -3.0600017017539103e-07, + 1.0 + ], + [ + 0.010449526294548761, + -0.00501048977835003, + -0.006124511245135911, + 0.026288371054337994, + -0.008699994591379621, + -0.014933601426525691, + 1.0 + ], + [ + 0.015816606997688276, + 0.0007033792644929454, + -0.014929982293210006, + 0.0028548247347412233, + 0.012261409746193368, + 0.01304748888268921, + 1.0 + ], + [ + 0.01079608676475824, + 0.0022582902483527373, + -0.004724819597874665, + 0.002027296861542249, + -0.012798853372603308, + 0.00868815681002473, + 1.0 + ], + [ + 0.007736746892317625, + 0.0017530555685178403, + -0.004237383839647654, + 0.008881982663174286, + -0.008175748235660378, + -0.011660935636027643, + 1.0 + ], + [ + -0.003123011113586094, + 0.0003348600826392767, + -0.013932903117260906, + -0.02158688099235308, + 0.032745397594905835, + 0.03619029603620026, + 0.0 + ], + [ + -0.0033424460923199284, + -0.001596939940030899, + 0.003696915515005589, + 0.010113309216880624, + 0.00784370864045501, + -0.015386554619243728, + 0.0 + ], + [ + -0.0031319124617992244, + -0.003044750386055596, + 0.007448634684625796, + 0.015353030556331854, + -0.017104432089000112, + -0.025929471675506882, + 0.0 + ], + [ + 0.009715021532796964, + -0.018265644172691362, + 0.02467563747402457, + 0.004180714043182255, + -0.13484800225622035, + -0.08667507462521108, + 0.0 + ], + [ + 0.029691113283518922, + -0.03610791886198163, + 0.014788854262672742, + -0.007960556256022572, + -0.07958135116235392, + -0.07636512629995326, + 0.0 + ], + [ + 0.03028972128994345, + -0.02378128192588202, + -0.0005998790601213638, + 0.006696049722916999, + -0.06250366756901539, + -0.05801215509685297, + 0.0 + ], + [ + 0.01725519622430094, + -0.005956481879421993, + -0.0026048901445202798, + 0.006503980670363191, + -0.054592826471152545, + 0.01939887089984728, + 0.0 + ], + [ + 0.012761872894950288, + 0.005596317034611521, + -0.00555616191914475, + 0.019912727642972475, + -0.01728864940986788, + 0.034146915983573986, + 0.0 + ], + [ + 0.010150897792963076, + 0.01306135883872673, + -0.007825375747618185, + 0.013498717296608058, + 0.008151063693393086, + 0.04899366658842017, + 0.0 + ], + [ + 0.008398739583543313, + 0.0004712253865409334, + -0.0023609366437924786, + -0.001001355862446286, + -0.0009049704965842151, + 0.009432652553599971, + 0.0 + ], + [ + 0.0021678970232095196, + -0.002144005707766355, + 0.00011676501108799642, + -0.001970674074941781, + 0.005563140289407069, + -0.01248489030368405, + 0.0 + ], + [ + -0.009613302054563677, + -0.0033222477332997685, + 0.0032051481055696274, + -0.024008977400943363, + -0.011634132789368017, + 0.057583371640471843, + 1.0 + ], + [ + -0.01249355081785164, + 0.0012668712601698329, + 0.016224589708047035, + 0.0013901806271306028, + -0.03939162342822209, + -0.012443595998495548, + 1.0 + ], + [ + -0.03328380891695404, + 0.007131096126439182, + 0.026360714262354236, + 0.001009609714645617, + -0.01581716141006801, + 0.010508098199640227, + 1.0 + ], + [ + -0.05111920242932383, + -0.00020708622648949772, + 0.0034163067161450955, + -0.03438102072998195, + 0.11722575038652837, + 0.013714383215759018, + 1.0 + ], + [ + -0.0505888998484208, + 0.003103333093034042, + 0.002250562752376409, + 0.010347535459441722, + 0.09695343990956262, + 0.024064708526013306, + 1.0 + ], + [ + -0.026578619927867975, + -0.003914788412152497, + -0.004158794999623891, + -0.0022642805219365626, + 0.06249211893316321, + -0.026069434841787382, + 1.0 + ], + [ + -0.013234010167229804, + -0.010116050807104815, + -0.0023094916349798017, + 0.0418875131663115, + 0.07524162490127431, + 0.006939537539917657, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 350.94586181640625, + 166.8739776611328 + ], + [ + 349.35711669921875, + 172.70925903320312 + ], + [ + 345.3360900878906, + 198.22691345214844 + ], + [ + 357.5693359375, + 192.6458740234375 + ], + [ + 362.94195556640625, + 190.5018310546875 + ], + [ + 365.07476806640625, + 190.08151245117188 + ], + [ + 365.8678283691406, + 190.5516357421875 + ], + [ + 366.0741882324219, + 191.4415740966797 + ], + [ + 363.7900695800781, + 191.5364990234375 + ], + [ + 359.7479553222656, + 192.88998413085938 + ], + [ + 394.086669921875, + 191.96429443359375 + ], + [ + 457.1069030761719, + 169.7901611328125 + ], + [ + 465.1504211425781, + 171.4088134765625 + ], + [ + 480.9430847167969, + 176.25204467773438 + ], + [ + 479.797119140625, + 163.85064697265625 + ], + [ + 467.78448486328125, + 168.5088653564453 + ], + [ + 481.6729736328125, + 158.80149841308594 + ], + [ + 480.8814697265625, + 158.1817626953125 + ], + [ + 459.5115661621094, + 170.75921630859375 + ], + [ + 450.6624755859375, + 176.94387817382812 + ], + [ + 441.97344970703125, + 165.87342834472656 + ], + [ + 417.32177734375, + 192.6976776123047 + ], + [ + 400.9937744140625, + 203.602294921875 + ], + [ + 388.6986389160156, + 214.86758422851562 + ], + [ + 391.7972717285156, + 222.250732421875 + ] + ], + "depth_max": 1.7107136249542236, + "depth_min": 0.18820399045944214, + "intrinsic": [ + [ + 546.5400390625, + 0.0, + 259.0 + ], + [ + 0.0, + 546.8594970703125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.481486030272208e-06, + -2.7981530365650542e-05, + -5.05244497617241e-06 + ], + [ + -4.482699750951724e-06, + 1.0, + -4.3379874114179984e-05, + 6.5523704506631475e-06 + ], + [ + 2.7981337552773766e-05, + 4.3379997805459425e-05, + 1.0, + -1.5798190361238085e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24 + ], + "object_trajectory": [ + [ + 348.0, + 202.25001525878906 + ], + [ + 347.633544921875, + 203.3477325439453 + ], + [ + 346.12200927734375, + 205.18382263183594 + ], + [ + 349.4319152832031, + 201.96099853515625 + ], + [ + 348.7181091308594, + 202.96505737304688 + ], + [ + 348.38494873046875, + 203.17929077148438 + ], + [ + 347.956298828125, + 203.4674072265625 + ], + [ + 346.80780029296875, + 205.9158172607422 + ], + [ + 346.21490478515625, + 207.15440368652344 + ], + [ + 345.1766357421875, + 210.70425415039062 + ], + [ + 373.87646484375, + 214.46728515625 + ], + [ + 437.2230224609375, + 198.1192169189453 + ], + [ + 443.7196044921875, + 197.79544067382812 + ], + [ + 447.9380187988281, + 194.3227996826172 + ], + [ + 452.9903564453125, + 189.81918334960938 + ], + [ + 457.0361328125, + 185.66761779785156 + ], + [ + 460.6517028808594, + 179.32412719726562 + ], + [ + 460.2510070800781, + 178.95436096191406 + ], + [ + 451.40594482421875, + 175.15724182128906 + ], + [ + 440.82171630859375, + 172.94241333007812 + ], + [ + 442.3877258300781, + 172.20077514648438 + ], + [ + 443.2396240234375, + 169.01950073242188 + ], + [ + 450.3267822265625, + 163.65333557128906 + ], + [ + 450.1615905761719, + 167.8089141845703 + ], + [ + 449.27484130859375, + 168.57711791992188 + ] + ] +} \ No newline at end of file diff --git a/009238_v2/lang.txt b/009238_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2d92d926b7fa66dbc4b7bc42a4afe0ebe7a5d934 --- /dev/null +++ b/009238_v2/lang.txt @@ -0,0 +1 @@ +move the blue spatula to the right top burner diff --git a/009238_v2/object.ply b/009238_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..874930916fb942f2691c18a1720b807e10553bbd Binary files /dev/null and b/009238_v2/object.ply differ diff --git a/009264_v2/data.json b/009264_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..02cfe6d5f57ea728e04235911da66a32880e8cca --- /dev/null +++ b/009264_v2/data.json @@ -0,0 +1,696 @@ +{ + "action_start": 14, + "action_end": 27, + "object_name": "red fork", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 5.551115123125783e-17, + 1.3877787807814457e-17, + -3.469446951953614e-18, + 1.7199429724118e-07, + -4.3085068484541386e-08, + 2.47760538914165e-07, + 1.0 + ], + [ + 0.014534403056520706, + 0.04384507758687641, + -0.0036803052403886066, + 0.011054524009090776, + -0.0323410312525684, + 0.09567134429369485, + 1.0 + ], + [ + 0.0142910625622642, + 0.04149357707022413, + -0.003927543329445819, + 0.0631435628759757, + 0.024020374185311458, + 0.07537976979336736, + 1.0 + ], + [ + 0.010701786626313048, + 0.04069261445227325, + -0.0017046994646208171, + -0.018295954917861224, + -0.0249377756194045, + 0.12320879489771411, + 1.0 + ], + [ + -0.0006266079010335823, + 0.04206968944327294, + -0.0011159827562790719, + 0.007328926533773063, + -0.018921350810847185, + 0.1163795741834403, + 1.0 + ], + [ + -0.00964235001442848, + 0.026085375607599215, + -0.0016506904546969205, + -0.0009690066926518146, + 0.014527452163467807, + 0.05983535864201537, + 1.0 + ], + [ + -0.009997529568827102, + 0.004805792259823749, + -0.012344841815431936, + -0.056309691092004295, + 0.027427931920946516, + 0.03094858922195442, + 1.0 + ], + [ + -0.007524843989329344, + -0.009937106962464776, + -0.018507857306153393, + -0.055169091440926264, + 0.03921442879194168, + 0.004789325343495719, + 1.0 + ], + [ + -0.0043630523331727455, + -0.013169060688835998, + -0.015747139989027437, + -0.04397999665227403, + 0.029263460625250554, + -0.012015564171365406, + 1.0 + ], + [ + 0.002677182111961496, + -0.006683839842356737, + -0.000784039922799018, + 0.015813948661880406, + 0.0016838212236084693, + -0.02118036683893152, + 1.0 + ], + [ + 0.0029988721519491612, + -0.0024903745541298428, + 0.0026931684453119636, + 0.01193965365716415, + -0.002983548238823756, + -0.014598000650320925, + 1.0 + ], + [ + 0.006036034770463439, + -0.003800224079669401, + 0.008561131580374626, + 0.033046409092819605, + -0.021370427345254125, + -0.021787056950528096, + 1.0 + ], + [ + 0.0045817778915615, + -0.007850386674372878, + 0.004316521799117803, + 0.001684551828438794, + -0.014956502191928117, + -0.030952725061317125, + 1.0 + ], + [ + 0.0038266815890179995, + -0.007538821881334257, + 0.004408768133635686, + 0.02547254240328654, + -0.006441679680822602, + -0.016733958230328846, + 1.0 + ], + [ + 0.0022940050218949737, + 0.00176839181074262, + -0.004033392850292812, + 0.005754063421698749, + -0.002881369752378435, + -0.0041582350174363646, + 1.0 + ], + [ + -0.005449343568025233, + -0.0006092923411534779, + -0.004094250199273668, + -0.015951396084928182, + 0.025877081254733567, + 0.015024797815276419, + 0.0 + ], + [ + -0.0016058832126012446, + -0.0015748255967979463, + -0.0020728290513724185, + -0.0016683920630307706, + 0.0046985416526825665, + -0.003495248630428931, + 0.0 + ], + [ + -0.000737045743900655, + -0.0040418394552171055, + -0.005097941127494947, + 0.001390456713060275, + 0.007239419665231172, + -0.022897252081510826, + 0.0 + ], + [ + 0.005523434756001144, + -0.021718225711839928, + 0.02976807009104404, + 0.018771738966224284, + -0.08674543204158003, + -0.08197248602061889, + 0.0 + ], + [ + 0.0013624183505079324, + -0.03529215640084413, + 0.03470621236598817, + 0.05077430059890895, + -0.11468044871484519, + -0.12501002391893146, + 0.0 + ], + [ + -0.016463191138259115, + -0.040723384980580535, + 0.01897586575545273, + 0.014576616799924638, + -0.03230999279411019, + -0.07345895249520444, + 0.0 + ], + [ + -0.024680816442678333, + -0.029910623947987214, + -0.006064180502350861, + -0.002956886946362204, + 0.01873425307528486, + -0.09296712741196952, + 0.0 + ], + [ + -0.013666648280050542, + -0.03005233387377173, + -0.022236215178811337, + 0.016733482634922487, + 0.057645866652039204, + -0.06543348012012706, + 0.0 + ], + [ + 0.003021538798920975, + -0.019617824410621487, + -0.016635444254375176, + 0.02333989039034406, + 0.06619374743497242, + -0.030254942862993232, + 0.0 + ], + [ + 0.011816043841433699, + -0.007627118615913121, + -0.02420876345709181, + 0.01813543606082102, + 0.04672121950027292, + 0.033934314578293295, + 0.0 + ], + [ + 0.002927304377797646, + 0.004684198438866128, + -0.014926877723163232, + -0.03640733063961319, + 0.039420330969742616, + 0.06056765784532736, + 0.0 + ], + [ + 0.006170463307892005, + 0.001935626612335234, + -0.00675977269757657, + 0.019562705354777866, + 0.022957376171672414, + 0.0349587013156487, + 0.0 + ], + [ + 0.0011833100019202902, + 0.005131679401869862, + 0.004695744441408876, + -0.0032052543126104803, + -0.00999049004353782, + 0.023705493004821943, + 0.0 + ], + [ + 0.004035285751966322, + -0.002335673916442753, + 0.01972798677834784, + 0.014698864106216443, + -0.05163276862642235, + 0.004474473554467617, + 1.0 + ], + [ + -0.0048348078709381515, + -0.0037718123154769616, + 0.03071344612361563, + -0.02151519612377158, + -0.028958533198032464, + -0.029538586749194785, + 1.0 + ], + [ + -0.009962250380811444, + -0.0037999086811038064, + 0.024677315450878663, + -0.07295779716998906, + -0.03280931749709055, + 0.03310599325727636, + 1.0 + ], + [ + -0.003763892115756562, + 0.004697536207548413, + -0.00012707823404403944, + -0.03565234963209166, + 0.0070270960780837695, + -0.004745361442390742, + 1.0 + ], + [ + -0.0011147468229348312, + 0.007965999105684412, + 0.0034970513249391495, + 0.01590824095634911, + 0.014067240370715, + -0.049573506140790514, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 352.5347900390625, + 151.29403686523438 + ], + [ + 350.81988525390625, + 159.84739685058594 + ], + [ + 346.49847412109375, + 168.80751037597656 + ], + [ + 304.3250427246094, + 143.1563262939453 + ], + [ + 284.36041259765625, + 133.09432983398438 + ], + [ + 240.162109375, + 118.02706909179688 + ], + [ + 204.77032470703125, + 117.84876251220703 + ], + [ + 190.6365509033203, + 124.43086242675781 + ], + [ + 189.70114135742188, + 137.47463989257812 + ], + [ + 190.9262237548828, + 138.71978759765625 + ], + [ + 191.4296875, + 139.45816040039062 + ], + [ + 190.91212463378906, + 139.16744995117188 + ], + [ + 192.0391082763672, + 138.89108276367188 + ], + [ + 202.1180419921875, + 147.83566284179688 + ], + [ + 212.77420043945312, + 158.03439331054688 + ], + [ + 212.69378662109375, + 157.76101684570312 + ], + [ + 214.18328857421875, + 159.4099884033203 + ], + [ + 211.86756896972656, + 160.38397216796875 + ], + [ + 212.11312866210938, + 159.8020782470703 + ], + [ + 215.15769958496094, + 163.37342834472656 + ], + [ + 251.1860809326172, + 162.98916625976562 + ], + [ + 275.3976745605469, + 145.21444702148438 + ], + [ + 292.6255798339844, + 169.88247680664062 + ], + [ + 306.2589416503906, + 205.62408447265625 + ], + [ + 333.43048095703125, + 234.7054443359375 + ], + [ + 353.8914794921875, + 252.3863983154297 + ], + [ + 362.14404296875, + 267.35760498046875 + ], + [ + 365.8060607910156, + 270.17962646484375 + ], + [ + 365.101318359375, + 271.217041015625 + ], + [ + 362.734619140625, + 267.4122009277344 + ], + [ + 370.1023254394531, + 236.11380004882812 + ], + [ + 372.00152587890625, + 221.4846954345703 + ], + [ + 363.46044921875, + 210.72747802734375 + ], + [ + 352.468505859375, + 209.15121459960938 + ], + [ + 349.103271484375, + 208.068115234375 + ] + ], + "depth_max": 1.7005525827407837, + "depth_min": 0.1266046017408371, + "intrinsic": [ + [ + 551.9356689453125, + 0.0, + 259.0 + ], + [ + 0.0, + 552.5458374023438, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.5391392884775996e-05, + -0.00011988601181656122, + -2.249105818918906e-06 + ], + [ + -3.539383033057675e-05, + 1.0, + -2.0333940483396873e-05, + -8.997247277875431e-06 + ], + [ + 0.00011988529877271503, + 2.0338184185675345e-05, + 1.0, + -9.851617505773902e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 34 + ], + "object_trajectory": [ + [ + 218.75, + 149.75 + ], + [ + 218.79989624023438, + 150.1395263671875 + ], + [ + 218.95352172851562, + 150.04872131347656 + ], + [ + 218.7315673828125, + 150.03448486328125 + ], + [ + 218.79391479492188, + 150.14724731445312 + ], + [ + 223.8406219482422, + 147.9646759033203 + ], + [ + 223.41368103027344, + 148.4984130859375 + ], + [ + 223.5838623046875, + 148.96156311035156 + ], + [ + 223.87644958496094, + 149.31716918945312 + ], + [ + 218.93470764160156, + 151.6588592529297 + ], + [ + 224.5030517578125, + 149.72799682617188 + ], + [ + 224.28732299804688, + 149.9427490234375 + ], + [ + 224.60415649414062, + 150.05111694335938 + ], + [ + 226.7604522705078, + 151.0538330078125 + ], + [ + 229.39089965820312, + 150.12939453125 + ], + [ + 222.46218872070312, + 149.71536254882812 + ], + [ + 223.58677673339844, + 150.74937438964844 + ], + [ + 225.0229034423828, + 152.6563720703125 + ], + [ + 225.076904296875, + 152.93826293945312 + ], + [ + 227.95216369628906, + 155.9475555419922 + ], + [ + 255.98464965820312, + 160.02700805664062 + ], + [ + 271.0017395019531, + 148.7157440185547 + ], + [ + 293.07177734375, + 176.33355712890625 + ], + [ + 306.4490661621094, + 208.53948974609375 + ], + [ + 332.9974670410156, + 237.35684204101562 + ], + [ + 351.8438720703125, + 253.83648681640625 + ], + [ + 361.318115234375, + 268.6012268066406 + ], + [ + 358.27239990234375, + 276.0904541015625 + ], + [ + 364.58331298828125, + 272.0250244140625 + ], + [ + 364.80816650390625, + 266.71051025390625 + ], + [ + 359.59210205078125, + 268.6341247558594 + ], + [ + 361.3319091796875, + 267.63189697265625 + ], + [ + 361.64410400390625, + 267.480224609375 + ], + [ + 371.84716796875, + 262.97125244140625 + ], + [ + 371.53369140625, + 262.96282958984375 + ] + ] +} \ No newline at end of file diff --git a/009264_v2/lang.txt b/009264_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..013d97cb5c5d83553ec7f32cd406b0c5c1180fc8 --- /dev/null +++ b/009264_v2/lang.txt @@ -0,0 +1 @@ +put the red fork on the lower right burner diff --git a/009264_v2/object.ply b/009264_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..f1283d139835f0ed2e6c62c1db65f7a3cdc84017 Binary files /dev/null and b/009264_v2/object.ply differ diff --git a/009295_v2/FAIL b/009295_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/009295_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/009310_v2/data.json b/009310_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..1b45d65a480bcdc468d0365a14a85a7a60db2c79 --- /dev/null +++ b/009310_v2/data.json @@ -0,0 +1,439 @@ +{ + "action_start": 4, + "action_end": 14, + "object_name": "green thing", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.682051, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 0.0, + -2.0816681711721685e-17, + -1.7374552620847723e-07, + -4.856813754672232e-07, + 5.683377371990879e-07, + 1.0 + ], + [ + 0.002487068228489986, + 0.00591651852239755, + -0.018941517713075978, + 0.0031571274919195993, + 0.027237261957873175, + 0.027436439547370146, + 1.0 + ], + [ + 0.0021648374132031134, + 0.004002360173896944, + -0.02135394850444764, + -0.01859632839875634, + 0.03674457022044405, + 0.010946873256820108, + 1.0 + ], + [ + -0.003160660151323158, + 0.00035042157050025127, + -0.013304396165175847, + -0.02222537372298973, + 0.05292304229520924, + 0.013455734387818753, + 1.0 + ], + [ + -0.001486040418570922, + -0.002401580952991174, + -0.005196862081588378, + -0.020751336584029622, + 0.045496821472712376, + 0.031824734955900685, + 1.0 + ], + [ + 0.004326505136617476, + 0.0003123177671310144, + 0.006452058489490039, + -0.006153273303952843, + -0.05614426682019576, + -0.025265546776478152, + 0.0 + ], + [ + 0.010803708760439179, + -0.0001634390610664952, + 0.01046162183342479, + 0.009532056603032637, + -0.04740380633356424, + -0.018969908544576714, + 0.0 + ], + [ + 0.01745314866453168, + 0.020917332639085125, + 0.03649972519858179, + 0.036038827007623876, + -0.09289739758536748, + 0.01353831380142734, + 0.0 + ], + [ + 0.013496925403808424, + 0.04116253377544971, + 0.024954013194753065, + 0.0012018462903823474, + -0.08080467733086774, + 0.10775369898263626, + 0.0 + ], + [ + 0.003472292036574176, + 0.03350607688784506, + -0.00972933280691576, + -0.02123687276181687, + -0.01169499939075877, + 0.04627657234612852, + 0.0 + ], + [ + 0.0033520948813554052, + 0.016845013594072145, + -0.013597103944568584, + 0.02749089297296456, + 0.05094090886059408, + -0.00014559836896698135, + 0.0 + ], + [ + 0.008227382631901647, + 0.009610657302389303, + -0.019114305007560367, + 0.020054925646990334, + 0.04743523405619789, + 0.007226098336179277, + 0.0 + ], + [ + 0.00622830833288196, + -0.0006658550489060805, + -0.01886578429988206, + -0.01777732593355545, + 0.018399757510715584, + 0.0188902413650004, + 0.0 + ], + [ + 0.005163746619648857, + 0.005006524118693401, + -0.011144440229327972, + 0.012691743635107005, + 0.021466527053673606, + -0.0041563038481368915, + 0.0 + ], + [ + -0.001218962115564437, + 0.0015000738552986559, + 0.004755866861796288, + -0.008599130432114677, + -0.003199151139184912, + 0.011077728851584742, + 0.682051 + ], + [ + 0.002411670092751339, + -0.015640061329408317, + 0.024240798845279174, + -0.008654282438878409, + -0.04808809628708093, + -0.024858848993935798, + 1.0 + ], + [ + -0.005501349240130016, + -0.02366790883042777, + 0.02449379296203073, + -0.033803759597387156, + -0.05252568875986629, + -0.01858190803920649, + 1.0 + ], + [ + -0.02468418266518585, + -0.005057874636098192, + 0.024394519882352153, + 0.06214462696132309, + 0.059656965168937856, + -0.0019977418736072945, + 1.0 + ], + [ + -0.028518644186289466, + 0.0009735816577573358, + -0.005631316935297139, + 0.16750939234732753, + 0.06164172341921903, + 0.04100911080239201, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 422.64935302734375, + 139.731689453125 + ], + [ + 421.14288330078125, + 144.8369598388672 + ], + [ + 414.6554260253906, + 172.91958618164062 + ], + [ + 412.170166015625, + 196.23158264160156 + ], + [ + 403.0018310546875, + 209.78680419921875 + ], + [ + 404.3980712890625, + 219.9170379638672 + ], + [ + 406.7196044921875, + 218.9759979248047 + ], + [ + 408.10675048828125, + 213.63018798828125 + ], + [ + 410.1912841796875, + 189.17108154296875 + ], + [ + 384.66217041015625, + 125.59173583984375 + ], + [ + 339.6658020019531, + 101.81398010253906 + ], + [ + 319.4092712402344, + 102.91746520996094 + ], + [ + 318.73828125, + 110.52880859375 + ], + [ + 319.47406005859375, + 129.68870544433594 + ], + [ + 321.39569091796875, + 136.47010803222656 + ], + [ + 320.6078186035156, + 140.00112915039062 + ], + [ + 321.2713623046875, + 143.3657684326172 + ], + [ + 325.44696044921875, + 122.5616683959961 + ], + [ + 323.9322509765625, + 102.0804672241211 + ], + [ + 314.24517822265625, + 112.07564544677734 + ], + [ + 319.2845458984375, + 123.83837890625 + ] + ], + "depth_max": 1.7068482637405396, + "depth_min": 0.22415271401405334, + "intrinsic": [ + [ + 549.8998413085938, + 0.0, + 259.0 + ], + [ + 0.0, + 550.495849609375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.0699751328502316e-05, + -0.000113630187115632, + -9.885821782518178e-06 + ], + [ + -1.0702146028052084e-05, + 1.0, + -2.106461579387542e-05, + -6.839019988547079e-06 + ], + [ + 0.00011362996883690357, + 2.1065830878796987e-05, + 1.0, + -6.790824045310728e-06 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 20 + ], + "object_trajectory": [ + [ + 414.75, + 229.5 + ], + [ + 414.9688720703125, + 230.13125610351562 + ], + [ + 414.93707275390625, + 230.62730407714844 + ], + [ + 414.3182373046875, + 231.57363891601562 + ], + [ + 413.5853576660156, + 232.0098876953125 + ], + [ + 413.5636901855469, + 232.79029846191406 + ], + [ + 414.1551208496094, + 232.54510498046875 + ], + [ + 415.2430725097656, + 229.69195556640625 + ], + [ + 415.6476135253906, + 211.05072021484375 + ], + [ + 392.4403076171875, + 152.83853149414062 + ], + [ + 349.77044677734375, + 128.67236328125 + ], + [ + 329.810791015625, + 130.39027404785156 + ], + [ + 327.22821044921875, + 136.11135864257812 + ], + [ + 327.71649169921875, + 152.6689910888672 + ], + [ + 330.1877136230469, + 158.913818359375 + ], + [ + 331.6842346191406, + 159.19528198242188 + ], + [ + 331.7169189453125, + 150.65802001953125 + ], + [ + 332.84326171875, + 145.7765655517578 + ], + [ + 333.9946594238281, + 144.94097900390625 + ], + [ + 330.8898620605469, + 144.50558471679688 + ], + [ + 332.9979248046875, + 145.364990234375 + ] + ] +} \ No newline at end of file diff --git a/009310_v2/lang.txt b/009310_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..06c6438bb0504f97b2f820167269fa384ff8a407 --- /dev/null +++ b/009310_v2/lang.txt @@ -0,0 +1 @@ +move the green thing to the bottom upper left side of the burner diff --git a/009310_v2/object.ply b/009310_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..b811412ac5c046d9ee42af48a54857e340b89a70 Binary files /dev/null and b/009310_v2/object.ply differ diff --git a/009383_v2/FAIL b/009383_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/009383_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/009402_v2/data.json b/009402_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..09a70345c14f0183808bc36d90f4151232e5e5b5 --- /dev/null +++ b/009402_v2/data.json @@ -0,0 +1,476 @@ +{ + "action_start": 6, + "action_end": 15, + "object_name": "red and white object", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 3.6413183579497854e-10, + 3.7660743967826704e-10, + 1.4592528227441726e-10, + 6.69551948828988e-07, + -5.31905829874123e-07, + -1.452449534927258e-07, + 1.0 + ], + [ + 0.008936178948714013, + -0.02157316585973948, + -0.0005582201702996892, + -0.03424138707191689, + -0.017886347982618622, + -0.0375846561301586, + 1.0 + ], + [ + 0.01433549009306706, + -0.020124510470236362, + -0.006752455002510262, + -0.02214947307810765, + 0.001966760775738204, + -0.048341020328308774, + 1.0 + ], + [ + 0.013133931382107278, + -0.012804614878530171, + -0.004831458807245071, + -0.01177524020917486, + -0.013004949034439398, + -0.021798836628384326, + 1.0 + ], + [ + 0.012676289817935948, + -0.006117328446026971, + -0.011880037602068632, + -0.0014682216815728167, + -0.0016933551921389969, + -0.002769055701857353, + 1.0 + ], + [ + 0.00896460953022743, + 0.004092547857164022, + -0.012060912349754645, + 0.026674019944434583, + 0.012637220394085205, + 0.017756477011697303, + 1.0 + ], + [ + 0.0007840241891742816, + 0.003572942485828748, + -0.0067326914233774085, + 0.0093482460352561, + 0.02011279817063816, + 0.01281302933261904, + 1.0 + ], + [ + -0.003224256140739623, + -0.006653242832958865, + -0.0013530557262866824, + 0.00027860710526225453, + 0.008476024694007895, + -0.03616088806461983, + 0.0 + ], + [ + -0.000687128431381856, + -0.007469959616831133, + 0.01087798580407573, + 0.007443534299291972, + -0.026719104259283206, + -0.027602778688336226, + 0.0 + ], + [ + -0.0015710641792793245, + -0.010422990613944035, + 0.019148938081756873, + -0.010680507187834828, + -0.05685196122667294, + -0.039945376013923166, + 0.0 + ], + [ + -0.009983190533173314, + -0.016270658476357613, + 0.015006662821337356, + -0.009627082126006941, + -0.044660762133961286, + -0.03843904172428344, + 0.0 + ], + [ + -0.020677354312742202, + -0.01367151211465275, + 0.002394981431795864, + -0.006669022714010063, + 0.01153430005436072, + -0.015796163625775874, + 0.0 + ], + [ + -0.017267862388135935, + -0.006188772331290646, + -0.006169714108689533, + -0.014390756381160717, + 0.04090334582156723, + 0.003548859314980008, + 0.0 + ], + [ + -0.016653052436906124, + -0.005194488019790066, + -0.012119320018532304, + -0.02752194569000457, + 0.07770031028622658, + 0.006942823073026246, + 0.0 + ], + [ + -0.009977192402415458, + -0.008567933477669777, + -0.01384515370432264, + -0.02673073543376983, + 0.07250165848160135, + -0.007751434068460189, + 0.0 + ], + [ + -0.0016124973256765873, + -0.004415495150264117, + -0.00805658875078543, + -0.0018452970160435578, + 0.02608186664493968, + -0.009824070668635087, + 0.0 + ], + [ + 0.0034130207891441278, + 0.0014446621127459645, + 0.0013594682882100279, + 0.0029587034871045225, + -0.0058874459267320165, + 0.00011708805660056263, + 1.0 + ], + [ + 0.0038204362039944706, + 0.0030253675964160395, + 0.010925974629728535, + 0.002710177646091438, + -0.029832225764494166, + 0.001293206228069742, + 1.0 + ], + [ + 0.001725045676038428, + 0.0016590616860696031, + 0.029125988225010852, + 0.008887289473081213, + -0.08197818605504786, + 0.009422362628010593, + 1.0 + ], + [ + -0.0007671549975346581, + 0.0043616445402662445, + 0.020047963120641162, + 0.007500637852321774, + -0.058905478838718134, + 0.0005651973649389991, + 1.0 + ], + [ + -0.002967607959969365, + 0.012642150867966762, + -0.004155590573305262, + 0.028992307851801024, + 0.0061518305925475705, + 0.008148158781639077, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 280.7552490234375, + 115.94197082519531 + ], + [ + 281.3277282714844, + 120.72065734863281 + ], + [ + 284.7289733886719, + 144.7561492919922 + ], + [ + 317.50457763671875, + 145.81893920898438 + ], + [ + 339.3721618652344, + 153.08761596679688 + ], + [ + 351.3152770996094, + 156.2784423828125 + ], + [ + 359.05548095703125, + 162.7184600830078 + ], + [ + 356.49444580078125, + 168.59750366210938 + ], + [ + 356.1158752441406, + 168.77337646484375 + ], + [ + 356.395263671875, + 171.20973205566406 + ], + [ + 355.7608947753906, + 170.22830200195312 + ], + [ + 379.2512512207031, + 166.50335693359375 + ], + [ + 384.0301513671875, + 172.2115478515625 + ], + [ + 382.71295166015625, + 185.56378173828125 + ], + [ + 379.3246765136719, + 205.82937622070312 + ], + [ + 379.99365234375, + 213.3126220703125 + ], + [ + 384.8001708984375, + 230.781982421875 + ], + [ + 388.31304931640625, + 231.21890258789062 + ], + [ + 388.49493408203125, + 229.1244659423828 + ], + [ + 391.6163635253906, + 203.21475219726562 + ], + [ + 392.0389099121094, + 185.036376953125 + ], + [ + 388.650634765625, + 179.92056274414062 + ], + [ + 384.89923095703125, + 180.1357421875 + ] + ], + "depth_max": 1.718220829963684, + "depth_min": 0.1415807455778122, + "intrinsic": [ + [ + 549.8817138671875, + 0.0, + 259.0 + ], + [ + 0.0, + 550.5429077148438, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.1754960471298546e-05, + -7.245823508128524e-05, + 3.045885023311712e-06 + ], + [ + -2.1755720808869228e-05, + 1.0, + -1.0501104952709284e-05, + -6.218259841261897e-06 + ], + [ + 7.245800225064158e-05, + 1.0502680197532754e-05, + 1.0, + 7.685979653615505e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 22 + ], + "object_trajectory": [ + [ + 369.75, + 177.75 + ], + [ + 369.9767761230469, + 177.9821319580078 + ], + [ + 369.9495849609375, + 177.89776611328125 + ], + [ + 370.1893310546875, + 177.92645263671875 + ], + [ + 370.17974853515625, + 178.0105743408203 + ], + [ + 369.7018737792969, + 178.3232421875 + ], + [ + 369.47760009765625, + 178.46630859375 + ], + [ + 368.8814697265625, + 179.099365234375 + ], + [ + 367.26409912109375, + 174.4997100830078 + ], + [ + 367.85723876953125, + 175.616943359375 + ], + [ + 368.3465881347656, + 174.936767578125 + ], + [ + 387.5477294921875, + 178.29733276367188 + ], + [ + 391.0252685546875, + 184.39596557617188 + ], + [ + 390.4145202636719, + 197.28240966796875 + ], + [ + 388.571533203125, + 216.69699096679688 + ], + [ + 390.3752136230469, + 225.30035400390625 + ], + [ + 390.3965148925781, + 239.0708770751953 + ], + [ + 392.9333801269531, + 239.9219512939453 + ], + [ + 394.14691162109375, + 238.6328125 + ], + [ + 397.6488342285156, + 244.44357299804688 + ], + [ + 398.61376953125, + 243.19061279296875 + ], + [ + 398.64202880859375, + 243.25820922851562 + ], + [ + 398.6451110839844, + 243.39785766601562 + ] + ] +} \ No newline at end of file diff --git a/009402_v2/lang.txt b/009402_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..af49c1ba6a735d76fdb3aca66f060991b39e7c8a --- /dev/null +++ b/009402_v2/lang.txt @@ -0,0 +1 @@ +move the red and white object to the lower right burner diff --git a/009402_v2/object.ply b/009402_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..a840520ea4a3e5bc9fe3a21fcc07129ab10942bd Binary files /dev/null and b/009402_v2/object.ply differ diff --git a/009417_v2/data.json b/009417_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..c0e03a628c82b79168af1ebea12415948d0aad09 --- /dev/null +++ b/009417_v2/data.json @@ -0,0 +1,604 @@ +{ + "action_start": 8, + "action_end": 21, + "object_name": "red spoon", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.959463, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.4748374743689396e-10, + -1.884974435654302e-11, + 1.1420140007267765e-11, + 2.3015320448352898e-07, + -1.2314694245493818e-07, + -8.171872182128676e-07, + 1.0 + ], + [ + 0.03590150276220033, + -0.004928419256074363, + 0.002367119729729989, + -0.008127568684880283, + -0.04511647415323685, + -0.07867968615319572, + 1.0 + ], + [ + 0.03408951229846341, + -0.0008695887911232339, + 0.00214212369061538, + -0.012262358374311444, + -0.03650398959554537, + -0.04898184780544476, + 1.0 + ], + [ + 0.03417152660576506, + -0.0004787826293090672, + 0.010232465258101226, + 0.015664751191108023, + -0.05286251394924322, + -0.030323594033715946, + 1.0 + ], + [ + 0.02310858209888106, + 0.0042788345711730815, + 0.000486693810366777, + 0.009318259775413692, + -0.014294918464936957, + -0.011132557207815223, + 1.0 + ], + [ + 0.004355072192289422, + 0.005634671492902449, + -0.01458965052223472, + -0.014435989853688632, + 0.030509853994666762, + 0.01581724476216243, + 1.0 + ], + [ + -0.0009996409509698267, + -0.000177186492461475, + -0.010031938738426269, + -0.010690271289425459, + 0.02706641695569638, + 0.007864715880471933, + 1.0 + ], + [ + -0.0010905969783595038, + -0.004084330264262275, + -0.015137632382500765, + -0.013447017064517936, + 0.042432503847492996, + -0.004098617093886949, + 1.0 + ], + [ + -0.004823560994121234, + -0.0021230364842776826, + -0.011971763719707172, + -0.012195897448469373, + 0.031191358485013726, + 0.009875676221237565, + 0.959463 + ], + [ + -0.00358962041798333, + -0.0011920961989770988, + -0.006791887849392407, + -0.004239330409196588, + 0.014342291039065223, + 0.008576417894826964, + 0.0 + ], + [ + -0.001732642996743916, + 0.000664824871068748, + 0.0025582992027780443, + -0.0052994157100860724, + -0.00921675810007314, + -0.002321434117483841, + 0.0 + ], + [ + 0.008193487881244632, + 0.0017796932581583096, + 0.023085937823274887, + 0.012018075343635543, + -0.06271237208877248, + -0.021091032128254437, + 0.0 + ], + [ + 0.00802233524133339, + 0.017742871040905946, + 0.032887622742474164, + 0.032126904498007196, + -0.08664028827651041, + -0.009372608953879567, + 0.0 + ], + [ + -0.012202583273773993, + 0.037957489902172695, + 0.025594498692887664, + 0.027551735099917034, + -0.0697364356453546, + 0.06483933450367207, + 0.0 + ], + [ + -0.02772614477972324, + 0.03625602008699286, + 0.004541340725390135, + 0.019863848141447392, + 0.01872762023768557, + 0.07326418623826379, + 0.0 + ], + [ + -0.03327997008818734, + 0.039730269698271835, + -0.0056207800021922365, + 0.026612931849766784, + 0.029995603205845715, + 0.07096629387490505, + 0.0 + ], + [ + -0.028045462904885243, + 0.03632617141395282, + -0.0128300963913902, + 0.02032786542596002, + 0.06462224963906506, + 0.04120169418089055, + 0.0 + ], + [ + -0.021130034941885034, + 0.024602827504386346, + -0.020556809801767023, + -0.0011235514709200898, + 0.06302312629854064, + 0.019291848806952047, + 0.0 + ], + [ + -0.01303823124279102, + 0.011014162200573108, + -0.02382540587371469, + -0.021475540994850693, + 0.055460866867125834, + 0.029931483253923526, + 0.0 + ], + [ + -0.0030961178370056963, + 0.007806003055905425, + -0.02172363438976638, + -0.044150359905306906, + 0.04480760175663482, + 0.04775329758222933, + 0.0 + ], + [ + 0.0022018075744651977, + -0.002673714576320707, + -0.01697497817845161, + -0.03522969651943325, + 0.04116116983896453, + 0.001497413978669107, + 0.0 + ], + [ + 0.0017456961030226648, + -0.00564812582820165, + -0.012603232924425653, + -0.03182580090171481, + 0.026905595836900546, + 0.004305557342479037, + 0.0 + ], + [ + 0.004449356197597454, + -0.005573573991570213, + 0.009623025916715995, + 0.01675974955344203, + -0.010966785752526206, + -0.011508534982079788, + 1.0 + ], + [ + 0.008976662054248852, + -0.008696485830428091, + 0.020237872522060087, + 0.025564217356019946, + -0.037589249998511494, + -0.0237589958066475, + 1.0 + ], + [ + 0.013747237590167882, + -0.01528364639104382, + 0.03771210880932532, + 0.03668852911703248, + -0.05653578755877709, + -0.07807417916078686, + 1.0 + ], + [ + 0.0051878256904512865, + -0.013983288333012156, + 0.024658624580517555, + 0.03208012680877133, + -0.03606756048000369, + -0.06344757324815734, + 1.0 + ], + [ + -0.0030104748779813395, + -0.01413736154007425, + 0.014865821702839708, + -0.004947163936507835, + -0.011984648874366292, + -0.03762759663851101, + 1.0 + ], + [ + -0.005179756896196874, + -0.009492963158286322, + -0.005425165852951069, + -0.014844678764133614, + 0.01948834750541997, + -0.024643182403251605, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 390.61798095703125, + 207.8974609375 + ], + [ + 389.2056579589844, + 212.4586181640625 + ], + [ + 399.0487976074219, + 214.7445068359375 + ], + [ + 423.1957092285156, + 191.39529418945312 + ], + [ + 439.2550964355469, + 168.38058471679688 + ], + [ + 453.3741455078125, + 145.9087371826172 + ], + [ + 456.9782409667969, + 152.24209594726562 + ], + [ + 456.1031188964844, + 162.39358520507812 + ], + [ + 455.0771484375, + 173.32269287109375 + ], + [ + 451.22637939453125, + 189.07623291015625 + ], + [ + 449.59521484375, + 192.5023651123047 + ], + [ + 450.8375549316406, + 193.00936889648438 + ], + [ + 450.787841796875, + 193.40969848632812 + ], + [ + 448.342529296875, + 182.69473266601562 + ], + [ + 435.003173828125, + 145.38253784179688 + ], + [ + 376.273681640625, + 121.87190246582031 + ], + [ + 332.5924072265625, + 130.93838500976562 + ], + [ + 279.0475769042969, + 135.37759399414062 + ], + [ + 235.11927795410156, + 141.17318725585938 + ], + [ + 215.1577606201172, + 156.76223754882812 + ], + [ + 207.98133850097656, + 183.0875701904297 + ], + [ + 206.734130859375, + 181.186279296875 + ], + [ + 211.83250427246094, + 175.37924194335938 + ], + [ + 214.2310791015625, + 174.26751708984375 + ], + [ + 220.06796264648438, + 176.046875 + ], + [ + 222.71273803710938, + 184.57093811035156 + ], + [ + 245.60353088378906, + 151.02090454101562 + ], + [ + 256.39263916015625, + 139.0836181640625 + ], + [ + 258.4212341308594, + 140.7978057861328 + ], + [ + 262.1390075683594, + 145.806396484375 + ] + ], + "depth_max": 1.74184250831604, + "depth_min": 0.21598424017429352, + "intrinsic": [ + [ + 551.57568359375, + 0.0, + 259.0 + ], + [ + 0.0, + 552.1578369140625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.545876461430453e-05, + -6.947037036297843e-05, + -6.033635145286098e-06 + ], + [ + -3.54595722455997e-05, + 1.0, + -1.1626238119788468e-05, + -7.163716873037629e-07 + ], + [ + 6.946996290935203e-05, + 1.1628701031440869e-05, + 1.0, + 2.3707656509941444e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 29 + ], + "object_trajectory": [ + [ + 465.75, + 167.5 + ], + [ + 464.00823974609375, + 170.54086303710938 + ], + [ + 463.3766174316406, + 171.38174438476562 + ], + [ + 439.12548828125, + 191.40628051757812 + ], + [ + 450.46417236328125, + 179.50265502929688 + ], + [ + 463.7567138671875, + 167.7692108154297 + ], + [ + 464.52325439453125, + 167.35244750976562 + ], + [ + 464.5271301269531, + 167.57603454589844 + ], + [ + 461.3957214355469, + 170.7288818359375 + ], + [ + 456.16455078125, + 182.31549072265625 + ], + [ + 454.29180908203125, + 190.59030151367188 + ], + [ + 452.39361572265625, + 196.9684295654297 + ], + [ + 451.81549072265625, + 198.53343200683594 + ], + [ + 448.60992431640625, + 190.14564514160156 + ], + [ + 433.8933410644531, + 152.4558868408203 + ], + [ + 378.67572021484375, + 129.52987670898438 + ], + [ + 334.1076965332031, + 136.48126220703125 + ], + [ + 280.469970703125, + 143.14620971679688 + ], + [ + 236.29483032226562, + 148.3336181640625 + ], + [ + 214.85293579101562, + 166.47557067871094 + ], + [ + 207.836181640625, + 192.5677032470703 + ], + [ + 207.83700561523438, + 190.97781372070312 + ], + [ + 211.4667205810547, + 182.69363403320312 + ], + [ + 216.89129638671875, + 183.876220703125 + ], + [ + 223.28524780273438, + 180.523681640625 + ], + [ + 227.6064453125, + 183.8067626953125 + ], + [ + 235.97872924804688, + 176.51089477539062 + ], + [ + 236.947509765625, + 175.5460205078125 + ], + [ + 236.921630859375, + 175.78472900390625 + ], + [ + 236.4273223876953, + 178.20713806152344 + ] + ] +} \ No newline at end of file diff --git a/009417_v2/lang.txt b/009417_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..147a1cf86efa0b99fd21cb5675374ef9dc1b6d8c --- /dev/null +++ b/009417_v2/lang.txt @@ -0,0 +1 @@ +put the red spoon on the lower left burner diff --git a/009417_v2/object.ply b/009417_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..bc268ff52a6db538c693c0f5560ed740da947299 Binary files /dev/null and b/009417_v2/object.ply differ diff --git a/009442_v2/FAIL b/009442_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/009442_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/009491_v2/data.json b/009491_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..53a15085e026aab3a9d6c18ca336203b3835e4cd --- /dev/null +++ b/009491_v2/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 8, + "action_end": 21, + "object_name": "silver pot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.25348000000000004, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 2.0816681711721685e-17, + 6.938893903907228e-18, + -4.3448844418256264e-07, + 1.8384703879255364e-07, + -7.94641030827298e-09, + 1.0 + ], + [ + 0.01466985772119378, + 0.027529462369700084, + 0.0016965349912416994, + 0.011506252607636156, + -0.017454338584711775, + 0.040273805073713656, + 1.0 + ], + [ + 0.020453101682746222, + 0.031937030634373316, + 0.007605489807256005, + 0.01859124007004764, + -0.04735954516829645, + 0.04308901787032207, + 1.0 + ], + [ + 0.013596803197350293, + 0.028541312909815132, + 0.005797465520719032, + 0.03132753283463081, + -0.0379506487017759, + 0.03491822607534919, + 1.0 + ], + [ + 0.00996643654607482, + 0.026629267213636572, + -0.0016030935272768679, + 0.00516251295594903, + -0.02380335715167066, + 0.04258229455309133, + 1.0 + ], + [ + 0.012647608852896897, + 0.015617871300214331, + -0.013640977459235405, + -0.01737918938540083, + -0.011754806810006745, + 0.03040057040907346, + 1.0 + ], + [ + 0.01109250323526112, + 0.004611112520068086, + -0.01970693713679077, + -0.04165048661114768, + 0.020182931356974063, + 0.00913763709154134, + 1.0 + ], + [ + 0.003076905567867161, + 0.000254283317464965, + -0.020658441616024925, + -0.039418697148016636, + 0.03618484942104191, + 0.025392406653788446, + 1.0 + ], + [ + 0.00044696071845345964, + -0.003003267986969163, + -0.010903092241382244, + -0.01656653800478217, + 0.013538515138120153, + 0.017163956649198637, + 1.0 + ], + [ + 0.0013922305145417924, + -0.0008037991887801937, + -0.00037222100640742217, + 0.00289754342403872, + -0.009493511033642689, + -0.010755207214724111, + 0.0 + ], + [ + 0.003107444783749025, + -0.0018736930863884338, + 0.006259032375719845, + 0.0024920668293528414, + -0.01741433141549754, + -0.018884415660070104, + 0.0 + ], + [ + 0.0018531665692055332, + -0.0029047133594895524, + 0.013521430658294059, + 0.013277468488930282, + -0.026002046117148778, + -0.03222826509531351, + 0.0 + ], + [ + 1.4164089667700885e-05, + -0.0014681818383961223, + 0.02180760445558222, + 0.04177429329653725, + -0.023692274085704765, + -0.07596480273811708, + 0.0 + ], + [ + -0.008835040563662577, + 0.009883942729533593, + 0.027468005644086815, + 0.07422485186312398, + -0.03088648524365271, + -0.049130225707168726, + 0.0 + ], + [ + -0.019175206118608568, + 0.021292845659065238, + 0.019738405889608273, + 0.06725694095388429, + -0.013203506439439924, + 0.005970416685104605, + 0.0 + ], + [ + -0.025143933440241073, + 0.023490868631741157, + -0.003010970821873793, + 0.025265951906225347, + 0.02798729018231919, + 0.04185721414808453, + 0.0 + ], + [ + -0.01800303123029723, + 0.020629711068734277, + -0.01933086757460833, + -0.023298013020454936, + 0.042055292195686336, + 0.041740378334428334, + 0.0 + ], + [ + -0.007816117107541043, + 0.009781637959647732, + -0.019841487234559183, + -0.02804925440598355, + 0.038348277787158304, + 0.01250327234146946, + 0.0 + ], + [ + -0.0024633289197820707, + 0.007728669716136893, + -0.01956840904934727, + -0.027072798587436938, + 0.03554677500137993, + 0.017185370124364257, + 0.0 + ], + [ + 0.0038850988665204977, + 0.005821598728702693, + -0.009552683446447954, + -0.021307145441770342, + 0.006412181532835605, + 0.016132616969505742, + 0.0 + ], + [ + 0.006415130582305917, + -0.001373642033113076, + -0.010354525588642964, + -0.016328437571543637, + 0.015264654133172486, + -0.000802852175540593, + 0.0 + ], + [ + 0.006711661483263631, + -0.0015436845645134811, + -9.442522754279578e-05, + -0.0008821178071862676, + 0.004819104330889546, + -0.0029437859520373877, + 0.25348000000000004 + ], + [ + 0.0061649909625725585, + -0.002372942688428331, + 0.020223632552620358, + 0.03233361588605747, + -0.018851883435921712, + 0.009890854480160003, + 1.0 + ], + [ + 0.0053076896524389405, + -0.005682555428331293, + 0.03712312066503655, + 0.047004823406467264, + -0.060040237669383975, + -0.008077073722826804, + 1.0 + ], + [ + 0.0004144260826930424, + -0.013004703373690363, + 0.028863936389447564, + 0.029293761131155296, + -0.05769481503486175, + -0.028094616478528976, + 1.0 + ], + [ + -0.01654455886161299, + -0.021888983415227603, + 0.007866458871564314, + -0.009703054537536017, + -0.0006942860657232042, + -0.024407734485442048, + 1.0 + ], + [ + -0.027557126625156636, + -0.019380038877284872, + 0.004595239143009182, + 0.06904655550875331, + 0.008983445338871186, + 0.035656373051668515, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 457.04351806640625, + 152.52462768554688 + ], + [ + 455.303466796875, + 159.73101806640625 + ], + [ + 447.8563537597656, + 177.0363311767578 + ], + [ + 423.8859558105469, + 132.21121215820312 + ], + [ + 397.69171142578125, + 112.5556640625 + ], + [ + 382.96270751953125, + 98.12825775146484 + ], + [ + 362.8456115722656, + 99.80731201171875 + ], + [ + 362.010986328125, + 108.19713592529297 + ], + [ + 362.03460693359375, + 125.50547790527344 + ], + [ + 359.83258056640625, + 137.22073364257812 + ], + [ + 358.79901123046875, + 135.18310546875 + ], + [ + 358.22857666015625, + 134.3790283203125 + ], + [ + 358.520751953125, + 130.14047241210938 + ], + [ + 356.64337158203125, + 119.56098175048828 + ], + [ + 346.5687255859375, + 112.173583984375 + ], + [ + 333.4826354980469, + 85.90232849121094 + ], + [ + 320.4486389160156, + 86.52116394042969 + ], + [ + 287.1668395996094, + 104.46612548828125 + ], + [ + 261.2547607421875, + 105.1370849609375 + ], + [ + 259.6458740234375, + 123.37244415283203 + ], + [ + 251.67706298828125, + 135.6483612060547 + ], + [ + 252.0788116455078, + 132.663330078125 + ], + [ + 255.1154022216797, + 136.43414306640625 + ], + [ + 255.21095275878906, + 133.8560791015625 + ], + [ + 251.92103576660156, + 126.04545593261719 + ], + [ + 256.90325927734375, + 77.08646392822266 + ], + [ + 271.29144287109375, + 74.45002746582031 + ], + [ + 271.32574462890625, + 86.30110931396484 + ], + [ + 282.4642333984375, + 85.31591796875 + ] + ], + "depth_max": 1.7636343240737915, + "depth_min": 0.21972040832042694, + "intrinsic": [ + [ + 546.2175903320312, + 0.0, + 259.0 + ], + [ + 0.0, + 546.8855590820312, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.803500526875723e-05, + -2.3436747142113745e-05, + 7.061840733513236e-06 + ], + [ + -1.80360148078762e-05, + 1.0, + -4.301057560951449e-05, + 7.721492693235632e-06 + ], + [ + 2.3435972252627835e-05, + 4.301099761505611e-05, + 1.0, + 9.87245402939152e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 311.75, + 125.25 + ], + [ + 312.08233642578125, + 125.52315521240234 + ], + [ + 312.0533447265625, + 125.249267578125 + ], + [ + 312.2142028808594, + 125.13111877441406 + ], + [ + 311.9560852050781, + 125.09577941894531 + ], + [ + 311.9931945800781, + 125.28890991210938 + ], + [ + 311.95452880859375, + 125.40200805664062 + ], + [ + 311.8630065917969, + 125.45396423339844 + ], + [ + 311.5484619140625, + 125.24609375 + ], + [ + 310.8519287109375, + 124.38665008544922 + ], + [ + 310.98028564453125, + 123.60104370117188 + ], + [ + 319.37371826171875, + 120.77705383300781 + ], + [ + 310.9988708496094, + 122.97075653076172 + ], + [ + 304.8309631347656, + 121.62051391601562 + ], + [ + 294.2491455078125, + 114.08985900878906 + ], + [ + 290.7248840332031, + 91.13899993896484 + ], + [ + 274.00970458984375, + 79.73533630371094 + ], + [ + 244.6234130859375, + 107.98149871826172 + ], + [ + 219.5323944091797, + 112.72976684570312 + ], + [ + 217.8525390625, + 130.8365020751953 + ], + [ + 212.31846618652344, + 144.1884307861328 + ], + [ + 213.3592987060547, + 141.1162109375 + ], + [ + 215.47763061523438, + 141.26121520996094 + ], + [ + 215.3872833251953, + 141.06385803222656 + ], + [ + 216.5397186279297, + 133.52532958984375 + ], + [ + 215.29290771484375, + 141.71527099609375 + ], + [ + 215.22332763671875, + 141.80709838867188 + ], + [ + 215.06277465820312, + 141.97166442871094 + ], + [ + 215.07308959960938, + 141.95533752441406 + ] + ] +} \ No newline at end of file diff --git a/009491_v2/lang.txt b/009491_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..e4f55b91069500ef858c1f65e4c96475ef2f989b --- /dev/null +++ b/009491_v2/lang.txt @@ -0,0 +1 @@ +move the silver pot to the bottom left burner diff --git a/009581_v2/FAIL b/009581_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/009581_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/009593_v2/FAIL b/009593_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/009593_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/009641_v2/data.json b/009641_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..e53a0f773d42bf54d8ee99bb3eb604bd2569169a --- /dev/null +++ b/009641_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 13, + "action_end": 38, + "object_name": "rectangular block", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.05665399999999998, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 2.9323210526399635e-11, + -4.418941462747128e-10, + 2.9950886215601713e-10, + 7.146208137642361e-07, + 5.832925190442827e-07, + 4.711657729811385e-07, + 1.0 + ], + [ + -0.004051202416095245, + 0.004892866524683757, + -0.001325295265873841, + -0.021121951266299562, + -0.010842632942928488, + 0.09983651126622321, + 1.0 + ], + [ + -0.0019336392761031274, + 0.004083932971358789, + 0.0020000698835422256, + -0.001205667351532404, + 0.0031741435668555316, + 0.055792204913063206, + 1.0 + ], + [ + -3.551260476186702e-05, + 0.00405285363803148, + 0.0034569594783308982, + 0.01359686018293079, + 0.01729131620192971, + 0.06496522233780937, + 1.0 + ], + [ + 0.00018692277301946003, + 0.0033205494903771303, + -0.0029507124014875458, + -0.011058168224763115, + -0.006177970834149424, + 0.1775250028810983, + 1.0 + ], + [ + -0.0016853058648824137, + 0.0002107801583831892, + -0.005417470517407291, + -0.040384265274311694, + 0.037527838036866414, + 0.29480025123810866, + 1.0 + ], + [ + -0.0006623940911151815, + -0.001757152782200913, + -0.0007499329433451607, + 0.010002079036997536, + -0.031158034889150588, + 0.24485458877875202, + 1.0 + ], + [ + -0.004734026951968506, + -0.0013690900394073072, + -0.004268867045682009, + -0.010522589047170976, + -0.0445664876853132, + 0.20550140536144068, + 1.0 + ], + [ + -0.0012482930678179849, + 0.0011227598964498597, + -0.005813165560784296, + 0.004458054263580854, + -0.024755761170549343, + 0.17437373145059265, + 1.0 + ], + [ + 0.0041209581788488325, + 0.002416153189189762, + -0.0014482505416011926, + 0.005542386468731286, + 0.025152166612160347, + 0.06841242202813794, + 1.0 + ], + [ + 0.003186906837994108, + 0.0030484268397394463, + -0.003983674999314665, + -0.007242888960482882, + 0.022699506626521676, + 0.054806812080188214, + 1.0 + ], + [ + 0.0018672227722635881, + 0.004724176291068118, + -0.007579500121804278, + -0.04092770329840235, + -0.029548731422582925, + 0.01898030370804311, + 1.0 + ], + [ + -0.0017105546340540068, + 0.0046666952314449285, + -0.0030451599535290877, + -0.011203543360879545, + 0.01274392685630207, + 0.022270548763497107, + 1.0 + ], + [ + -0.0045541772239856, + 0.0037467512076460024, + -0.003667109187341408, + -0.015417592305127412, + -7.715964676416494e-05, + 0.023209368130311925, + 1.0 + ], + [ + -0.0035716565806396816, + 0.000557122097264405, + -0.005486815905459817, + -0.014439204632102784, + 0.007032690509784147, + 0.014957562995985692, + 0.0 + ], + [ + -0.0006899755701390009, + -0.0011489582946850475, + -0.0020403289403702687, + -0.0016945506946603067, + -0.0015638967780818602, + 0.000430679552963433, + 0.0 + ], + [ + 0.0018949163965097382, + 0.00012032323269385494, + 0.0016608181212447587, + 0.0037217154805783497, + 0.005526626982808572, + -0.02753500286283214, + 0.0 + ], + [ + 0.003476437196573645, + 0.0027259102842487875, + 0.008663796096749922, + 0.01391838282125013, + -0.010101211202147862, + -0.08294895391285308, + 0.0 + ], + [ + 0.0035673737766256375, + 0.0030501502124070795, + 0.01846142397681738, + 0.05972678459882278, + 0.01628085549837265, + -0.30369037885578926, + 0.0 + ], + [ + -0.005387405651633592, + -0.014761078904148767, + 0.023974741876285087, + 0.09832716948792278, + 0.02003515371901336, + -0.2757117068656391, + 0.0 + ], + [ + 0.0004157351781948204, + -0.03181889270842837, + 0.012418193411877942, + 0.0318176547243267, + 0.002142548166240079, + -0.2738382326942458, + 0.0 + ], + [ + 0.016691543272872145, + -0.029058987581171154, + -0.006886647959325018, + -0.02886402189732168, + 0.00478976807701372, + -0.2508979433232886, + 0.0 + ], + [ + 0.024333187959552915, + -0.030086183614811343, + -0.008740410459508505, + -0.08316585664173923, + 0.013756036784035964, + -0.2350562727022379, + 0.0 + ], + [ + 0.006971408127254941, + -0.009378929191364072, + 0.0011865182783780404, + -0.014067732099516577, + -0.03497887714203167, + -0.06932049147482247, + 0.0 + ], + [ + 0.0036496116776021936, + -0.003680429326648277, + 0.002858660118716577, + 0.0011275769949031923, + -0.03082236641733059, + -0.05200407030913167, + 0.0 + ], + [ + 0.0003178194968886938, + -0.0004479657995477143, + -0.0007219662803755952, + 0.010987682610969041, + 0.010506025818733828, + 0.008900327632421871, + 0.0 + ], + [ + -0.001249031954165869, + 0.000953817384553135, + 0.0010604694068477583, + 0.030012452848124777, + 0.01111547233161499, + 0.03884887127514766, + 0.0 + ], + [ + -0.0002703158332556521, + 0.0025880240391953635, + -0.0020504884070545112, + 0.017875825082608748, + 0.041648256857294765, + 0.043721430387202546, + 0.0 + ], + [ + 0.0027739910279662716, + 0.0021863532362420557, + -0.004595019006603418, + 0.008625762703401181, + 0.05467841207050353, + 0.035436722004836246, + 0.0 + ], + [ + -0.0353065725864245, + 0.010319810901316243, + -0.009856714761582952, + -0.03800069169649736, + 0.01409165099330401, + -0.0030171690485132005, + 0.0 + ], + [ + -0.016492554296809625, + 0.009039335849479052, + -0.009211548623958524, + -0.014701672924000077, + 0.05132542704452217, + 0.052765913778493316, + 0.0 + ], + [ + -0.00811210134592033, + 0.0017628067518894314, + -0.0020656255579829183, + -0.0024323228804667934, + 0.01863163931149532, + 0.02651984127246737, + 0.0 + ], + [ + 0.0033959942881829353, + -0.0027917897043266138, + -0.0010487445134450268, + -4.13609748282277e-05, + 0.000267653917539966, + -0.02579027268954518, + 0.0 + ], + [ + 0.010511937185608833, + -0.003957795173756204, + 0.004683374126400408, + 0.01062948984198286, + -0.028042043720413256, + -0.031003562242627278, + 0.0 + ], + [ + 0.012983610933280848, + -0.0034708924411439163, + 0.007930866339435308, + 0.01798762273349344, + -0.04335557810288312, + -0.03323200226768795, + 0.0 + ], + [ + 0.007084191357744407, + -0.001592037020400408, + 0.0040014531684758325, + 0.006782845039284385, + -0.022445027484118134, + -0.013581959651529916, + 0.0 + ], + [ + 0.0008728121221808216, + 0.0006441514281580601, + 0.00046120331364297995, + 0.001636166285911446, + -0.00159444056539791, + 0.0064906768181618515, + 0.0 + ], + [ + -0.00216350604072324, + -0.00045473139262248996, + -0.0016214437686112235, + -0.005474818119016062, + 0.00685169186890127, + 0.004883820431910291, + 0.0 + ], + [ + -0.001954417142298659, + -0.0012640311467081305, + -0.0009262694567951299, + -0.00400048310136502, + 0.013658589299838176, + 0.005973250872858176, + 0.05665399999999998 + ], + [ + 0.0004729416663329933, + -0.00194321903962541, + -0.0015668089532573093, + 0.005096512687143753, + 0.02671239762587313, + -0.01573231810048032, + 1.0 + ], + [ + -0.0008407795940385543, + 0.00017885977311678236, + 0.0006815076938349804, + -0.0009759308652475126, + 5.6749005920473294e-05, + 0.00934231781251203, + 1.0 + ], + [ + 2.877366243980717e-05, + 0.0044690136349149895, + 0.008899829414779042, + -0.005178280144579351, + -0.04197640206163762, + 0.02711553549377409, + 1.0 + ], + [ + 0.002964084244959697, + 0.01362892648608062, + 0.026531081750256084, + 0.009997616859349618, + -0.10602564849373898, + 0.06261674196352161, + 1.0 + ], + [ + -0.0018878207680587122, + 0.02008334055366856, + 0.016857884152374783, + 0.00201000725648885, + -0.05809299107557221, + 0.08479713715546776, + 1.0 + ], + [ + -0.0076780321521223716, + 0.020326997381379178, + 0.01314623647362477, + 0.0056235727574034736, + -0.018366811488245875, + 0.073758793287354, + 1.0 + ], + [ + 0.001054512861819068, + 0.01757870997112257, + -0.006858351702069998, + 0.012439810432191056, + 0.07349920548556971, + 0.03186137232174859, + 1.0 + ], + [ + 0.012212139748838946, + 0.024188361317116006, + -0.01677218332670055, + -0.07548082429946386, + 0.034916729127307936, + -0.0317135174461951, + 1.0 + ], + [ + 0.0026954981123500366, + 0.005224964633809413, + -0.016417084554224387, + -0.023099748579227402, + 0.03803699946619856, + -0.03007738992387785, + 1.0 + ] + ], + "gripper_centers": [ + [ + 397.5985107421875, + 193.4180908203125 + ], + [ + 393.9388122558594, + 199.74990844726562 + ], + [ + 386.7103271484375, + 214.86000061035156 + ], + [ + 381.7628173828125, + 219.2843017578125 + ], + [ + 373.19805908203125, + 220.06494140625 + ], + [ + 365.878173828125, + 216.05303955078125 + ], + [ + 360.3818359375, + 217.56471252441406 + ], + [ + 353.3229064941406, + 213.13555908203125 + ], + [ + 342.02978515625, + 218.5210723876953 + ], + [ + 339.3543701171875, + 221.27297973632812 + ], + [ + 337.77423095703125, + 225.12677001953125 + ], + [ + 346.90777587890625, + 221.4084930419922 + ], + [ + 350.42156982421875, + 225.46636962890625 + ], + [ + 341.3583984375, + 224.2245635986328 + ], + [ + 334.25433349609375, + 231.38157653808594 + ], + [ + 330.3258361816406, + 235.58334350585938 + ], + [ + 330.2386474609375, + 236.63467407226562 + ], + [ + 330.35888671875, + 236.6372833251953 + ], + [ + 331.22052001953125, + 237.41571044921875 + ], + [ + 327.19842529296875, + 227.2646484375 + ], + [ + 328.3057861328125, + 203.8851318359375 + ], + [ + 365.22747802734375, + 207.37832641601562 + ], + [ + 409.52813720703125, + 224.80081176757812 + ], + [ + 457.2264404296875, + 234.13697814941406 + ], + [ + 493.6626892089844, + 241.60797119140625 + ], + [ + 505.6421813964844, + 243.1272430419922 + ], + [ + 507.3734130859375, + 239.9679412841797 + ], + [ + 507.84112548828125, + 236.7024383544922 + ], + [ + 505.9720458984375, + 238.3364715576172 + ], + [ + 510.29510498046875, + 239.669677734375 + ], + [ + 486.7950744628906, + 273.25762939453125 + ], + [ + 453.76544189453125, + 300.88507080078125 + ], + [ + 444.6980285644531, + 306.73150634765625 + ], + [ + 443.4483337402344, + 308.59246826171875 + ], + [ + 450.68865966796875, + 300.0992431640625 + ], + [ + 465.2044982910156, + 278.4371032714844 + ], + [ + 474.6480712890625, + 264.7271423339844 + ], + [ + 476.1635437011719, + 261.7254638671875 + ], + [ + 476.53472900390625, + 262.4580078125 + ], + [ + 476.74267578125, + 264.4766845703125 + ], + [ + 476.92059326171875, + 270.18072509765625 + ], + [ + 478.7251892089844, + 270.31695556640625 + ], + [ + 478.0159606933594, + 267.3037109375 + ], + [ + 473.21087646484375, + 238.74423217773438 + ], + [ + 460.9984130859375, + 204.1312255859375 + ], + [ + 424.4022216796875, + 175.53631591796875 + ], + [ + 324.2866516113281, + 142.92938232421875 + ], + [ + 374.586669921875, + 166.83621215820312 + ] + ], + "depth_max": 1.6007592678070068, + "depth_min": 0.37426045536994934, + "intrinsic": [ + [ + 619.8231201171875, + 0.0, + 259.0 + ], + [ + 0.0, + 617.8133544921875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.7587138649541885e-05, + 9.205976675730199e-05, + -3.62600403605029e-05 + ], + [ + -3.758573438972235e-05, + 1.0, + -1.5225325114442967e-05, + -3.556193405529484e-05 + ], + [ + -9.206033428199589e-05, + 1.5221865396597423e-05, + 1.0, + 3.715872298926115e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 316.0, + 244.00001525878906 + ], + [ + 316.3679504394531, + 244.3974609375 + ], + [ + 316.2613525390625, + 244.56446838378906 + ], + [ + 316.902587890625, + 244.58985900878906 + ], + [ + 316.8875732421875, + 244.70816040039062 + ], + [ + 316.82623291015625, + 245.10882568359375 + ], + [ + 317.4142761230469, + 245.1975555419922 + ], + [ + 317.7669677734375, + 245.21121215820312 + ], + [ + 318.3526306152344, + 245.63739013671875 + ], + [ + 319.5760498046875, + 246.39801025390625 + ], + [ + 320.0459899902344, + 246.6023406982422 + ], + [ + 320.4923400878906, + 246.74766540527344 + ], + [ + 321.0274658203125, + 247.0877685546875 + ], + [ + 321.5239562988281, + 247.56558227539062 + ], + [ + 321.3458251953125, + 248.22064208984375 + ], + [ + 326.3217468261719, + 248.51528930664062 + ], + [ + 325.66595458984375, + 250.55531311035156 + ], + [ + 320.6856689453125, + 252.78392028808594 + ], + [ + 325.6939392089844, + 251.257080078125 + ], + [ + 322.56512451171875, + 245.22393798828125 + ], + [ + 324.23211669921875, + 229.21380615234375 + ], + [ + 361.0543518066406, + 232.07228088378906 + ], + [ + 398.250732421875, + 245.8675537109375 + ], + [ + 441.8018798828125, + 255.07264709472656 + ], + [ + 475.5799865722656, + 263.65234375 + ], + [ + 487.3460388183594, + 265.3836975097656 + ], + [ + 488.1021728515625, + 264.3671875 + ], + [ + 488.236328125, + 261.357666015625 + ], + [ + 486.3765563964844, + 262.57769775390625 + ], + [ + 493.03961181640625, + 263.7877197265625 + ], + [ + 466.93218994140625, + 300.2059020996094 + ], + [ + 440.58795166015625, + 326.84136962890625 + ], + [ + 432.46014404296875, + 333.90228271484375 + ], + [ + 431.8745422363281, + 335.54412841796875 + ], + [ + 438.3997802734375, + 327.93731689453125 + ], + [ + 449.5750427246094, + 306.8211364746094 + ], + [ + 456.99285888671875, + 290.894775390625 + ], + [ + 459.2143859863281, + 287.568115234375 + ], + [ + 459.4019775390625, + 288.457275390625 + ], + [ + 459.1100158691406, + 290.63287353515625 + ], + [ + 450.764404296875, + 302.1145324707031 + ], + [ + 448.8229064941406, + 302.5987548828125 + ], + [ + 448.1474609375, + 302.9161376953125 + ], + [ + 448.08831787109375, + 303.1247863769531 + ], + [ + 447.56854248046875, + 303.23931884765625 + ], + [ + 446.8369445800781, + 304.0791015625 + ], + [ + 447.41546630859375, + 304.35797119140625 + ], + [ + 447.31591796875, + 304.1851806640625 + ] + ] +} \ No newline at end of file diff --git a/009641_v2/lang.txt b/009641_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..fb9a5fccc04c6cfd368042034fdaeabbe7e6c7ea --- /dev/null +++ b/009641_v2/lang.txt @@ -0,0 +1 @@ +take the rectangular block off of the cube and put it on top of the other rectangular block diff --git a/009641_v2/object.ply b/009641_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..a80d84c8364512ae111f01fbbad34f6d9d77fe83 Binary files /dev/null and b/009641_v2/object.ply differ diff --git a/009670_v2/data.json b/009670_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..e8e3c77475da44c9b2ff0d7c0b7009c8e83b1427 --- /dev/null +++ b/009670_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 13, + "action_end": 33, + "object_name": "blue block", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.260317, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.551115123125783e-17, + -1.3877787807814457e-17, + -2.7755575615628914e-17, + 2.396059392714001e-07, + 1.461010059095023e-07, + 7.910550319684938e-07, + 1.0 + ], + [ + -0.0032629921711590515, + -0.011896134274116746, + -0.010250579525145853, + -0.009962133730863982, + -0.026995535319155436, + -0.03582540716456206, + 1.0 + ], + [ + 0.0015655986727036164, + -0.012838607438201824, + -0.01316248128860803, + -0.016366306328454133, + -0.013077752157862088, + -0.05241955934462126, + 1.0 + ], + [ + -0.0013185738097326039, + -0.010145916856818413, + -0.01632542999887071, + -0.028255433128873946, + 0.02960339116487784, + -0.04282391151848437, + 1.0 + ], + [ + -0.005700392500872786, + -0.005796660009635052, + -0.015685690830763405, + 0.0228095833543328, + 0.06611167829359511, + -0.019664436522839154, + 1.0 + ], + [ + -0.003924194907574674, + -0.0065928220896201845, + -0.020256195889910872, + -0.02327058147283552, + 0.011724704612710227, + -0.019160720156461346, + 1.0 + ], + [ + 0.0028073285697324812, + -0.005214359379258959, + -0.008680331251083417, + 0.015487249377489055, + 0.015221018636073159, + -0.010451847919300093, + 1.0 + ], + [ + 0.00412495415405062, + -0.0008990597003997319, + -0.0034372412928354995, + 0.009405071049178421, + 0.008226382825886133, + 0.016181857233804026, + 1.0 + ], + [ + 0.004733473524788034, + 0.0032222764498503614, + -0.004056373216916237, + 0.012923189326204306, + 0.006885863037599068, + 0.0160793454513817, + 1.0 + ], + [ + 0.0033394326019459686, + 0.003509085655354363, + -0.0012938449699588517, + 0.0009078691365870832, + 0.0027976171029173934, + 0.009842725595411961, + 1.0 + ], + [ + 0.00159847302499605, + 0.003879708687665892, + -0.0024429361929834623, + -0.0016590392780687802, + 0.009303193634192774, + 0.006522180904887258, + 1.0 + ], + [ + 0.0009833581970292715, + 0.0028024305794420723, + -0.0029470083959250576, + -0.0015845554045544603, + 0.005011915868100007, + 0.006776330946853629, + 1.0 + ], + [ + -0.0006935485979305822, + 0.00010509082043268225, + -0.007541042124220902, + 0.0004927009968584993, + 0.017516835160262846, + -3.739935065797582e-05, + 1.0 + ], + [ + -0.0016643367780485585, + 0.0028717241630993318, + -0.012891127259979675, + -0.012779774344244309, + 0.03727528972333467, + 0.015379809187715686, + 1.0 + ], + [ + -0.0001909443025237545, + 0.0017694555260912848, + -0.0022377897723415557, + -0.002216768634162903, + 0.008186878994884324, + 0.028542533422929738, + 0.0 + ], + [ + 0.000924411092652011, + 0.0029191369807831935, + 0.010494919990313585, + 0.010183220636456401, + -0.025951018924923974, + 0.025055461051631298, + 0.0 + ], + [ + 0.008267607254801523, + 0.0031431231674146215, + 0.041854503465717396, + 0.01964066564572049, + -0.11082840128094813, + 0.041911428573200356, + 0.0 + ], + [ + 0.021877413172894766, + 0.010341118600881785, + 0.06692024588814516, + 0.01326132054250771, + -0.16685059923990958, + 0.1235641265654079, + 0.0 + ], + [ + 0.011950819206839602, + 0.020732008931818542, + 0.05843893385803464, + -0.0013177432111014368, + -0.07225469727773207, + 0.09276379442627171, + 0.0 + ], + [ + 0.010020506548664043, + 0.01903339770511782, + 0.0066184328355538, + -0.001723925089468509, + 0.014332632719621149, + 0.04436310621787292, + 0.0 + ], + [ + 0.013255022505341274, + 0.015667580366355162, + -0.0077840600416567984, + -0.007525178630554831, + 0.04647252001419403, + 0.05014425415656391, + 0.0 + ], + [ + 0.0027703777443346955, + 0.00946480517736559, + -0.011168564695528682, + -0.010183313379208279, + 0.016504957323551672, + 0.03054118613719196, + 0.0 + ], + [ + -0.0007417538418892922, + 0.006631846708722929, + -0.014388267994522252, + -0.014725042053051937, + 0.040590399224171965, + 0.012097363685199475, + 0.0 + ], + [ + 0.0016090467923349228, + 0.0037265885042373132, + -0.006980915384915881, + -0.015205139647976358, + 0.02205101035685718, + -0.0014969766046469123, + 0.0 + ], + [ + -0.0002836549188427462, + 0.0014204059185691205, + -0.009681759772119741, + 0.00103921325397642, + 0.035555237677475995, + -0.01229437595621021, + 0.0 + ], + [ + -0.00029158438352255844, + 0.002761155491761851, + -0.01138948482878964, + -0.0072698966911800495, + 0.020075052604190447, + -0.009329244461336947, + 0.0 + ], + [ + 0.0010877043591724922, + 0.0019272281306295567, + -0.007624438343294529, + 0.0038114219193483754, + 0.019171957552565805, + -0.00782671269246266, + 0.0 + ], + [ + -0.0012654706229078827, + 0.002443842472248556, + -0.0070485650168093245, + -0.003008052737388603, + 0.015758530675794483, + -0.0010930994227320617, + 0.0 + ], + [ + -0.0004214250354500626, + 0.0028244660035264876, + -0.0073498844435664346, + -0.009850134136978045, + 0.013782176485464929, + 0.0005482411167590212, + 0.0 + ], + [ + 0.00015568867959558919, + 0.0007565343543403588, + -0.00560256477887229, + -0.005530275148127034, + 0.009869459836332493, + -0.003210046031542707, + 0.0 + ], + [ + 0.0001137897057557069, + 0.0013354626590741658, + -0.004983652327385735, + -0.00801642925288792, + 0.009325531599136752, + 0.0011932226117848301, + 0.0 + ], + [ + -0.0004709027857585646, + 0.0010685601344274896, + -0.0031848328281493116, + -0.003787328542641087, + 0.0059993364258166815, + 0.002796816379948283, + 0.0 + ], + [ + -0.00017229351061326392, + -0.001199934765963917, + -0.001613152983752253, + -0.0018755280257903623, + 0.0023849546920358877, + -0.0011348891045912632, + 0.0 + ], + [ + -0.0005247053704534599, + 0.0005418798861968263, + -0.0001795624586113237, + -0.001910576442222249, + -0.000775612593677031, + 0.008192547036466486, + 0.260317 + ], + [ + -0.0004279251545091234, + 0.000732916744838441, + 0.008384669946469789, + -0.0009153089471500357, + -0.03012781695896722, + 0.0029524079818993064, + 1.0 + ], + [ + 0.00021047492746822938, + -0.001816562085388277, + 0.0097961037272912, + -0.008338407648288942, + -0.03415038707301502, + 0.019687453254965043, + 1.0 + ], + [ + -0.0006858749924441576, + -0.001087449554024237, + 0.01740483497815261, + 0.004646674878861916, + -0.037262586283519576, + 0.02335661115898387, + 1.0 + ], + [ + 0.0001665532350210719, + 0.0008251039712003708, + 0.025969206834883962, + 0.0231851961196279, + -0.05550893419299552, + 0.017721957018488367, + 1.0 + ], + [ + -0.003117182598550372, + -0.0029831836185467884, + 0.031179359676562574, + 0.04590734046051266, + -0.05159579094160431, + -0.02315073383992612, + 1.0 + ], + [ + -0.008916188447680273, + -0.010994297307032835, + 0.0259456994001869, + 0.06696316043009162, + -0.03307725621178924, + -0.0540950084074976, + 1.0 + ], + [ + -0.017207081975560867, + -0.018159898362309215, + 0.0073337740410409635, + 0.03792603562287116, + 0.0006927723678646915, + -0.04984792582544984, + 1.0 + ], + [ + -0.015190169098718231, + -0.015412126954257501, + -0.017397548712583116, + -0.024261987843583476, + 0.037187698622539185, + -0.03278233481721105, + 1.0 + ], + [ + -0.008982782121234212, + 0.003685730296337327, + -0.02788052961556617, + -0.022794061876326564, + 0.07461089027064516, + 0.035948613368027196, + 1.0 + ], + [ + -0.0014385242307203838, + 0.012956794611692149, + -0.018908758494208006, + -0.015138940257272528, + 0.01673083070598912, + 0.053848560192673534, + 1.0 + ], + [ + 0.007005582200413252, + 0.0069693950378072154, + -0.01869195200884069, + -0.033506554376586235, + 0.0056595082363172615, + 0.024491641784514146, + 1.0 + ], + [ + 0.008768972953228982, + 0.0022680862169128964, + -0.002095286284980402, + -0.009427656877177506, + -0.006482156735058972, + -0.02275570733290065, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 447.1072692871094, + 101.34809875488281 + ], + [ + 443.95855712890625, + 106.04047393798828 + ], + [ + 439.6597900390625, + 131.97787475585938 + ], + [ + 461.3052978515625, + 162.93634033203125 + ], + [ + 470.82379150390625, + 192.29556274414062 + ], + [ + 471.04083251953125, + 218.45523071289062 + ], + [ + 471.3149108886719, + 247.88864135742188 + ], + [ + 471.9958190917969, + 272.1006774902344 + ], + [ + 475.4858703613281, + 275.98046875 + ], + [ + 477.96282958984375, + 276.94635009765625 + ], + [ + 478.28802490234375, + 276.86871337890625 + ], + [ + 478.12005615234375, + 278.800048828125 + ], + [ + 477.9573059082031, + 279.900390625 + ], + [ + 470.9749450683594, + 286.7924499511719 + ], + [ + 465.9156799316406, + 300.347412109375 + ], + [ + 458.2911376953125, + 298.97137451171875 + ], + [ + 457.8362121582031, + 297.45806884765625 + ], + [ + 461.2539978027344, + 265.32098388671875 + ], + [ + 480.73687744140625, + 195.60333251953125 + ], + [ + 489.2015380859375, + 107.90103149414062 + ], + [ + 469.82281494140625, + 41.64120864868164 + ], + [ + 454.327392578125, + 32.78396987915039 + ], + [ + 435.288330078125, + 35.01031494140625 + ], + [ + 429.456298828125, + 36.8865852355957 + ], + [ + 416.83697509765625, + 58.71129608154297 + ], + [ + 410.4161071777344, + 68.6419677734375 + ], + [ + 407.3944091796875, + 79.5234603881836 + ], + [ + 401.3163146972656, + 84.47309112548828 + ], + [ + 398.9295654296875, + 96.65382385253906 + ], + [ + 395.16259765625, + 101.013671875 + ], + [ + 387.8607482910156, + 111.54341888427734 + ], + [ + 389.26690673828125, + 113.30068969726562 + ], + [ + 385.736328125, + 119.63294982910156 + ], + [ + 384.26043701171875, + 119.94945526123047 + ], + [ + 384.72528076171875, + 120.18831634521484 + ], + [ + 383.573486328125, + 125.51980590820312 + ], + [ + 384.7161865234375, + 126.53951263427734 + ], + [ + 386.90936279296875, + 105.49472045898438 + ], + [ + 388.4114990234375, + 79.46534729003906 + ], + [ + 381.3983154296875, + 43.384517669677734 + ], + [ + 382.2925720214844, + 19.403411865234375 + ], + [ + 412.196044921875, + -9.22413444519043 + ], + [ + 420.7884216308594, + 23.10758399963379 + ], + [ + 417.0765380859375, + 61.06841278076172 + ], + [ + 405.05438232421875, + 97.53328704833984 + ], + [ + 382.341064453125, + 119.32936096191406 + ], + [ + 381.0254821777344, + 130.45132446289062 + ], + [ + 383.8927917480469, + 127.47039794921875 + ] + ], + "depth_max": 1.7416523694992065, + "depth_min": 0.42146041989326477, + "intrinsic": [ + [ + 594.1087646484375, + 0.0, + 259.0 + ], + [ + 0.0, + 592.1303100585938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.729660188080743e-05, + 6.710923480568454e-05, + -5.4376279877033085e-05 + ], + [ + -5.729069380322471e-05, + 1.0, + -8.806690311757848e-05, + -3.3754989999579266e-05 + ], + [ + -6.71142915962264e-05, + 8.806306141195819e-05, + 1.0, + -1.4533819921780378e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 462.75, + 301.0000305175781 + ], + [ + 462.97601318359375, + 301.111572265625 + ], + [ + 462.9007873535156, + 300.9910888671875 + ], + [ + 462.90374755859375, + 301.06048583984375 + ], + [ + 462.7236633300781, + 301.1653137207031 + ], + [ + 462.69671630859375, + 301.0345458984375 + ], + [ + 462.7501525878906, + 301.5172424316406 + ], + [ + 462.5618896484375, + 301.3106689453125 + ], + [ + 462.85113525390625, + 300.8944091796875 + ], + [ + 463.2749328613281, + 300.8424377441406 + ], + [ + 463.1831970214844, + 299.9377746582031 + ], + [ + 463.51617431640625, + 299.7182312011719 + ], + [ + 463.78778076171875, + 299.55419921875 + ], + [ + 463.58929443359375, + 299.6346435546875 + ], + [ + 463.57415771484375, + 300.78826904296875 + ], + [ + 463.1248474121094, + 300.74920654296875 + ], + [ + 462.47265625, + 298.6943359375 + ], + [ + 466.091796875, + 269.21258544921875 + ], + [ + 484.0211181640625, + 201.06800842285156 + ], + [ + 494.73602294921875, + 113.12814331054688 + ], + [ + 476.7174987792969, + 39.38465118408203 + ], + [ + 462.71539306640625, + 25.161924362182617 + ], + [ + 443.70562744140625, + 28.736295700073242 + ], + [ + 439.98956298828125, + 37.304710388183594 + ], + [ + 424.1293029785156, + 56.23484420776367 + ], + [ + 419.7554626464844, + 70.13599395751953 + ], + [ + 416.49615478515625, + 80.985107421875 + ], + [ + 409.90423583984375, + 86.45956420898438 + ], + [ + 408.6904296875, + 104.70661163330078 + ], + [ + 404.7057189941406, + 110.28385162353516 + ], + [ + 398.01788330078125, + 113.87315368652344 + ], + [ + 398.4178161621094, + 115.36377716064453 + ], + [ + 395.0364990234375, + 120.89828491210938 + ], + [ + 393.28533935546875, + 121.26182556152344 + ], + [ + 393.8905334472656, + 122.24011993408203 + ], + [ + 395.395751953125, + 125.12200927734375 + ], + [ + 391.034423828125, + 121.523193359375 + ], + [ + 391.04632568359375, + 121.41722869873047 + ], + [ + 390.9742126464844, + 121.75689697265625 + ], + [ + 390.66217041015625, + 122.27313232421875 + ], + [ + 389.552978515625, + 122.40853118896484 + ], + [ + 389.64208984375, + 122.47036743164062 + ], + [ + 390.41766357421875, + 121.46002960205078 + ], + [ + 390.2523193359375, + 121.529541015625 + ], + [ + 390.2773742675781, + 121.35966491699219 + ], + [ + 390.1259765625, + 121.19468688964844 + ], + [ + 392.57537841796875, + 128.54345703125 + ], + [ + 390.7455139160156, + 120.91749572753906 + ] + ] +} \ No newline at end of file diff --git a/009670_v2/lang.txt b/009670_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2baa082e17e241b17043bada74220a141ff9984f --- /dev/null +++ b/009670_v2/lang.txt @@ -0,0 +1 @@ +put the blue block in the top of the green bolck diff --git a/009670_v2/object.ply b/009670_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..b1873a3598da2a0c6ef898d580e060329a3424ba Binary files /dev/null and b/009670_v2/object.ply differ diff --git a/009695_v2/data.json b/009695_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..94b92356a951bc9ddd860823f683113afa28771e --- /dev/null +++ b/009695_v2/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 13, + "action_end": 27, + "object_name": "box", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 3.7830627519497284e-11, + 3.395985125054235e-10, + 2.0302398651139697e-10, + -4.778831054157111e-07, + 1.892351468889053e-07, + -1.238240957659237e-08, + 1.0 + ], + [ + 0.0037420418815173884, + -0.0038131916144686293, + 0.0006965813149265102, + -0.0065615050038449136, + 0.00037271618537663146, + -0.05708269515812334, + 1.0 + ], + [ + 0.0012278835984261827, + -0.007945235235702935, + 0.000989490636186842, + -0.010261822097785547, + -0.00921575988032969, + -0.017910119072828357, + 1.0 + ], + [ + 0.0010603477282619678, + -0.017038823544223706, + -0.0035835927095500403, + -0.00564785256948306, + -0.010576263344263823, + -0.05391250765635235, + 1.0 + ], + [ + -0.0011225729344018776, + -0.02285212960647142, + -0.013240158510790433, + 0.0020309075460592874, + 0.030108514150929775, + -0.07226027207919385, + 1.0 + ], + [ + -0.002195892477108774, + -0.01821323928788518, + -0.006414085392444306, + -0.017586788218330464, + 0.010427258957741624, + -0.051399543227351, + 1.0 + ], + [ + -0.0009059666289791823, + -0.0121901373093799, + 0.000322575882950437, + 0.004910973849710691, + 0.0025268508817993425, + -0.0336916166943351, + 1.0 + ], + [ + -0.0033841134152168273, + -0.001995903592825962, + 0.00923105795487467, + -0.003437093844699947, + -0.02027698818214264, + 0.006495508594794712, + 1.0 + ], + [ + -0.0017391056730275412, + -0.005295383864471426, + 0.004777142344884255, + 0.007531658196659476, + -0.009408291010834147, + -0.008779288274532778, + 1.0 + ], + [ + -0.0021348559252044597, + -0.010546162344572854, + -0.00510409598248894, + -0.009863703595501509, + 0.01999304524317844, + -0.027517730810964595, + 1.0 + ], + [ + -0.002412177606720106, + -0.010407630163452225, + -0.005488678230993048, + -0.009439384008824651, + 0.019512694766387655, + -0.03065271290909373, + 1.0 + ], + [ + 0.0002764353648817275, + -0.005045151194125103, + -0.005149291624279247, + -0.0009573460152236869, + 0.012203873640580416, + -0.011560126197930159, + 1.0 + ], + [ + 0.0019161040411290464, + 0.0006498123955768487, + -0.010661126077382791, + 0.010697048190577815, + 0.0294420728872109, + 0.004686285884327733, + 1.0 + ], + [ + 0.000758900584080402, + 0.003146511867757107, + -0.01578062786570699, + 0.027098218971743582, + 0.05200303030161077, + 0.017378008022962646, + 1.0 + ], + [ + 0.0011660963378948286, + 0.0024099283670730998, + -0.009533376541034153, + 0.024191305911918023, + 0.02892575056753374, + 0.02145359300495614, + 0.0 + ], + [ + -0.001424647829316672, + 0.0030639087736899773, + 0.005777624874407274, + -0.012728217290113399, + -0.024437198885078545, + 0.019784744628232327, + 0.0 + ], + [ + -0.0006660008115865201, + 0.00032639939051698486, + 0.018264523851057993, + 0.002829851431866737, + -0.05142887253244021, + 0.009462549822165474, + 0.0 + ], + [ + 0.006314145640112456, + -0.001703227639519439, + 0.026163687257942575, + -0.006383673813758905, + -0.08071707231281237, + -0.0027039892248163543, + 0.0 + ], + [ + 0.004260736794086173, + 0.0010192330390056403, + 0.016711901190517898, + 0.0021222203405141583, + -0.049697179130568814, + 0.012977542817070574, + 0.0 + ], + [ + 0.009194072158433986, + 0.000624872690120376, + 0.011476394807206837, + -0.04294979171504534, + -0.032903221152169974, + 0.0074383343604739055, + 0.0 + ], + [ + 0.014709538786592147, + 0.013834402892660205, + -0.004481148160595624, + -0.006506702179334181, + 0.031191081666150984, + 0.06635024438244312, + 0.0 + ], + [ + 0.007057027537243299, + 0.02323555141797383, + -0.009133690396397123, + -0.010350513547853647, + 0.027954141136622757, + 0.07253765085328787, + 0.0 + ], + [ + 0.003170331944552296, + 0.021387996049513885, + -0.014115574858111865, + 0.010106491492362283, + 0.042226325449645614, + 0.05655969131222495, + 0.0 + ], + [ + -0.0023775885314384904, + 0.007837073727737134, + -0.008078332294111978, + 0.0021569237588446315, + 0.02505921247494623, + 0.013377888121718093, + 0.0 + ], + [ + -0.006293992754118516, + 0.004682743618911883, + -0.011954092246826597, + 0.029220447060383146, + 0.029668851843365825, + 0.0006789834894935808, + 0.0 + ], + [ + -0.009236198359072911, + 0.007726329797094117, + -0.01850631506239868, + 0.002476088181246859, + 0.01947757853291307, + 0.03605470578004392, + 0.0 + ], + [ + -0.005633453151959955, + 0.008931001083755781, + -0.014858003561100633, + 0.005597052609190654, + -0.0017993919916670714, + 0.06118389966814474, + 0.0 + ], + [ + 0.0008815050287588888, + 0.0015211261928105568, + -0.003853794716053196, + -0.00845349830395133, + 0.00850218081688459, + 0.00613047699024018, + 0.0 + ], + [ + -0.0002596782217039184, + -0.0013101687748648602, + 0.009403791977793452, + -0.006682823664579847, + -0.024909886951512628, + 0.010563449460795807, + 1.0 + ], + [ + 0.00016510945129338817, + -0.007307883885702103, + 0.0291051213425448, + -0.02644338489598972, + -0.08284131044918819, + 0.006195877702926246, + 1.0 + ], + [ + 0.004590983774337698, + -0.009250897535823803, + 0.040975314282396605, + -0.012226358228899142, + -0.08907097564103411, + 0.004186598098245993, + 1.0 + ], + [ + 0.0038493370185930798, + -0.0061372694086501076, + 0.027155927815957066, + 0.03956788733401753, + -0.04648658748435173, + -0.04320801557629388, + 1.0 + ], + [ + -0.000991302027241292, + -0.0014960186435617057, + 0.002402985703065977, + 0.02226598739019306, + 0.03121928366574576, + -0.03573324458434622, + 1.0 + ], + [ + 0.0017335349193858818, + -0.0006490192921034116, + -0.007678229400333886, + 0.023514554049707318, + 0.01830430727111602, + -0.028907916091293888, + 1.0 + ], + [ + -0.004362217489032871, + -0.0006120446769110471, + -0.009142989695788098, + -0.0035533142541709535, + 0.038442551906559354, + -0.008485929065532494, + 1.0 + ], + [ + -0.0018482227388223471, + -0.0003781012669258066, + -0.007274201768641755, + -0.027558329938062218, + 0.088021217771526, + 0.0010593792149381804, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 367.38702392578125, + 226.52102661132812 + ], + [ + 364.3209533691406, + 233.1356964111328 + ], + [ + 364.60894775390625, + 239.14532470703125 + ], + [ + 370.4088439941406, + 239.9783935546875 + ], + [ + 383.49761962890625, + 248.23355102539062 + ], + [ + 412.5517578125, + 276.13275146484375 + ], + [ + 438.74822998046875, + 307.6337890625 + ], + [ + 457.2541809082031, + 317.6285705566406 + ], + [ + 462.59552001953125, + 321.44805908203125 + ], + [ + 467.8668212890625, + 317.21307373046875 + ], + [ + 480.1261901855469, + 330.2428894042969 + ], + [ + 492.73992919921875, + 347.1958312988281 + ], + [ + 499.34417724609375, + 357.43109130859375 + ], + [ + 499.3408508300781, + 364.54229736328125 + ], + [ + 494.3457336425781, + 374.8951416015625 + ], + [ + 500.1077880859375, + 368.5177001953125 + ], + [ + 500.18365478515625, + 366.27252197265625 + ], + [ + 491.6897888183594, + 370.40838623046875 + ], + [ + 499.0411376953125, + 342.36236572265625 + ], + [ + 500.9661865234375, + 321.3839111328125 + ], + [ + 513.6348876953125, + 309.1817932128906 + ], + [ + 527.2967529296875, + 289.5440673828125 + ], + [ + 494.3883972167969, + 267.8832702636719 + ], + [ + 461.575439453125, + 257.094482421875 + ], + [ + 441.30706787109375, + 259.422119140625 + ], + [ + 426.703125, + 273.5234069824219 + ], + [ + 410.81280517578125, + 291.7667541503906 + ], + [ + 401.52532958984375, + 296.2247619628906 + ], + [ + 401.6498718261719, + 294.938232421875 + ], + [ + 403.6533508300781, + 295.1961669921875 + ], + [ + 330.09149169921875, + 271.1629638671875 + ], + [ + 398.49591064453125, + 257.0958251953125 + ], + [ + 416.1606140136719, + 228.77056884765625 + ], + [ + 429.4295654296875, + 214.7783660888672 + ], + [ + 427.49822998046875, + 219.22100830078125 + ], + [ + 428.20782470703125, + 230.03115844726562 + ], + [ + 428.9489440917969, + 245.7728729248047 + ], + [ + 433.20147705078125, + 249.7398223876953 + ] + ], + "depth_max": 1.6322766542434692, + "depth_min": 0.3617737889289856, + "intrinsic": [ + [ + 584.6599731445312, + 0.0, + 259.0 + ], + [ + 0.0, + 582.6246948242188, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.510438182274811e-05, + 8.819214417599142e-05, + -7.227449259517016e-06 + ], + [ + -3.510016176733188e-05, + 1.0, + -4.783908661920577e-05, + -2.606698399176821e-05 + ], + [ + -8.819381764624268e-05, + 4.7835994337219745e-05, + 1.0, + 7.34142231522128e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 484.0, + 381.25 + ], + [ + 484.4926452636719, + 381.3176574707031 + ], + [ + 484.3298645019531, + 381.44622802734375 + ], + [ + 484.45367431640625, + 381.4307861328125 + ], + [ + 484.3970031738281, + 381.620849609375 + ], + [ + 484.41259765625, + 381.6858215332031 + ], + [ + 484.3403625488281, + 381.90252685546875 + ], + [ + 484.3779296875, + 381.8634338378906 + ], + [ + 484.22747802734375, + 381.8930358886719 + ], + [ + 484.19000244140625, + 382.23565673828125 + ], + [ + 484.02166748046875, + 381.9281311035156 + ], + [ + 484.0160217285156, + 382.258056640625 + ], + [ + 483.8977966308594, + 382.3565979003906 + ], + [ + 483.4998779296875, + 381.9499816894531 + ], + [ + 483.50250244140625, + 382.0426330566406 + ], + [ + 483.43310546875, + 381.7567138671875 + ], + [ + 481.5853271484375, + 380.0400390625 + ], + [ + 473.39178466796875, + 384.1443176269531 + ], + [ + 479.37921142578125, + 356.5381774902344 + ], + [ + 482.56103515625, + 336.1253662109375 + ], + [ + 494.57049560546875, + 323.94512939453125 + ], + [ + 508.9092712402344, + 306.73956298828125 + ], + [ + 478.36492919921875, + 284.63323974609375 + ], + [ + 448.0457763671875, + 274.63214111328125 + ], + [ + 427.17572021484375, + 276.7066955566406 + ], + [ + 411.63421630859375, + 291.1671142578125 + ], + [ + 396.2640686035156, + 308.2772216796875 + ], + [ + 387.82135009765625, + 312.155517578125 + ], + [ + 388.9891357421875, + 311.01580810546875 + ], + [ + 389.79132080078125, + 309.7752380371094 + ], + [ + 386.9749450683594, + 308.4066162109375 + ], + [ + 387.77984619140625, + 308.71331787109375 + ], + [ + 387.7432556152344, + 308.5369567871094 + ], + [ + 387.2501220703125, + 308.7335205078125 + ], + [ + 386.8978576660156, + 308.59417724609375 + ], + [ + 387.08758544921875, + 308.5672912597656 + ], + [ + 386.8804016113281, + 308.68115234375 + ], + [ + 387.0693359375, + 308.66357421875 + ] + ] +} \ No newline at end of file diff --git a/009695_v2/lang.txt b/009695_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..d1bef73cac7431e3b878036ca064c011580e8d10 --- /dev/null +++ b/009695_v2/lang.txt @@ -0,0 +1 @@ +Pick a box diff --git a/009695_v2/object.ply b/009695_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..626fd618f3e548f0c315b51c5319515e505fdc6e Binary files /dev/null and b/009695_v2/object.ply differ diff --git a/009696_v2/data.json b/009696_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..f93a3c1fd0d02d923b10aa700c81e70b1d73e666 --- /dev/null +++ b/009696_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 15, + "action_end": 35, + "object_name": "blue cube", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -3.930578085231673e-11, + -1.3228619588634416e-10, + 1.0001613426346978e-10, + -3.894175463640856e-07, + -1.675214219885821e-08, + 8.237996176408316e-08, + 1.0 + ], + [ + 0.006813343092391122, + 0.000744211979981757, + 0.012852317195834531, + 0.00896576677214572, + -0.012884077444617257, + -0.04553804483151379, + 1.0 + ], + [ + 0.00578434273080064, + -0.0024948156339947014, + 0.013898452695133928, + 0.00886795703619439, + -0.025753333395538217, + -0.020641883254275916, + 1.0 + ], + [ + -0.0023132045614972507, + 0.004982101133683886, + 0.012664308468397487, + 0.010645250332141056, + -0.010455088135704565, + -0.005026620634578089, + 1.0 + ], + [ + -0.009821089020181972, + 0.01871956817829372, + 0.006857547934956354, + 0.0282147503908284, + 0.021878351695367573, + -0.020241180026132125, + 1.0 + ], + [ + -0.006643167752783119, + 0.017537276046265107, + 0.008797254463145776, + -0.00021704141053432668, + 0.016388293152368134, + 0.001088631583012865, + 1.0 + ], + [ + 0.0003279689405567554, + 0.010165054669222025, + 0.009630935108130984, + -0.014539476004836576, + -0.02166355340059515, + 0.009620531616065566, + 1.0 + ], + [ + 0.0015085729119839741, + 0.018803352728164167, + 0.00918280197145191, + -0.05341168692347459, + -0.035795431161814245, + 0.037218288299867446, + 1.0 + ], + [ + 0.000828283811636743, + 0.019610324694524846, + 0.0039571196515296725, + -0.019961509636728415, + -0.014852250009073236, + 0.03703911223221434, + 1.0 + ], + [ + -0.001886946698522074, + 0.017083386277465976, + 0.001656254332025292, + 0.007877479325274026, + 0.008932922337448454, + 0.017651744282493553, + 1.0 + ], + [ + -0.0046355469303242525, + 0.002079052474088172, + -0.005670846105676558, + 0.011756122549199706, + 0.02689950217025806, + -0.018479412424205022, + 1.0 + ], + [ + -0.0007881329560315842, + -0.00541723326926527, + -0.014582271229512278, + -0.0015964264576856417, + 0.0467847321391167, + -0.02710793468850584, + 1.0 + ], + [ + -0.003307026635789412, + -0.005659538184296133, + -0.009656535878323436, + -0.008658270051849878, + 0.030219987449181057, + -0.013169828600463509, + 1.0 + ], + [ + -0.0024080846571808423, + 0.001169299789262706, + -0.009483940431934637, + -0.009083018448473012, + 0.024746698555405414, + 0.006236658895931233, + 1.0 + ], + [ + -0.0014764408529175377, + 0.004242227272858869, + -0.010446981160931651, + -0.015802387409039092, + 0.01860319944019307, + 0.017298978062086277, + 1.0 + ], + [ + 0.005621246221891474, + -0.0005321557703692921, + -0.007639782858287772, + -0.008962424699026781, + 0.02211159475423789, + 0.00025706357615751924, + 1.0 + ], + [ + 0.0022056185739293688, + -0.0013702890020292902, + -0.002991795135861855, + -0.0013679630077822224, + -0.0008786989800251114, + 0.008644126428643373, + 0.0 + ], + [ + 0.0014751902529237526, + 0.0005450284726581933, + 0.001659912113589998, + 0.004683410464155259, + -0.007320576914316255, + 0.013182247710199326, + 0.0 + ], + [ + 0.0011985090568344403, + -2.261776688023548e-05, + 0.003333843992682911, + -0.00013007801748838002, + -0.008223639530344601, + 0.013646987559595657, + 0.0 + ], + [ + 0.0018358937818283572, + -0.0081548445335375, + 0.017799490437920618, + 0.038488925635908305, + -0.031120665687450214, + -0.0009449695814065542, + 0.0 + ], + [ + 0.006444448885199516, + -0.02674421480877628, + 0.028294355434856325, + 0.054934609782956674, + -0.052483801603197267, + -0.058591460646421324, + 0.0 + ], + [ + 0.015772581719423473, + -0.04229910041254619, + -0.003768298773231926, + -0.00721010314469468, + -0.00023743603972992467, + -0.13495644542838722, + 0.0 + ], + [ + 0.013722422512300048, + -0.03327983524603345, + -0.02482836994381421, + -0.06874525385448464, + 0.018930776639894877, + -0.11081886340024437, + 0.0 + ], + [ + 0.00428811507454524, + -0.010772214279639036, + -0.022285118843600515, + -0.011782269490213727, + 0.04009854358731552, + -0.051326932385253626, + 0.0 + ], + [ + 0.0034228129294709975, + -0.0013212524717109153, + -0.01533268735866572, + -0.008259657828640968, + 0.020023227937693865, + -0.010963018334067808, + 0.0 + ], + [ + 0.002134364928719046, + 0.0008299639997413899, + -0.005890097755018933, + 0.004653558983335748, + 0.003108722917278725, + -2.429381490010959e-05, + 0.0 + ], + [ + 0.001694421148136671, + 2.9879582692432516e-05, + -0.006368138800728423, + 0.002696055583678754, + 0.007502502215651193, + -0.005541774327955677, + 0.0 + ], + [ + 0.0014387409287328623, + -0.004391298087845358, + -0.006862277646081799, + -0.002420082877059, + 0.010840904802054857, + -0.012922912303556529, + 0.0 + ], + [ + 0.0021793217574719304, + -0.0035163426486815447, + -0.006010730416506613, + -0.0013364004446202945, + -0.013347252411213735, + -0.0014672030736289305, + 0.0 + ], + [ + 0.001382693975027105, + -0.0009515420099841798, + -0.00522186083410936, + -0.004551188096646388, + -0.006179624631186689, + 0.0017723117028274867, + 0.0 + ], + [ + -3.823009977016456e-05, + -0.0001728778313950241, + -0.004272413418809899, + -0.0053736572638072005, + 0.0016173952852797339, + 0.006521635796461519, + 0.0 + ], + [ + -0.00018792945031492758, + 0.0008574515001146393, + -0.003891219395769918, + 0.005153046923965518, + 0.007679733666599843, + 0.018744567735873685, + 0.0 + ], + [ + 0.0004307210755457591, + 0.0019453608401024114, + -0.003804530139340734, + -0.0014972765224026863, + 0.003847589847050726, + 0.009147868357614383, + 0.0 + ], + [ + 0.0021552070921795896, + 0.002295236319655211, + -0.002769707148872244, + -0.0038401550144031714, + 0.006047089203724559, + 0.006635454282018932, + 0.0 + ], + [ + 0.0016306330840842875, + 0.003288767099310419, + -0.0018554477047507123, + -0.005500131021489417, + 0.004475217421321108, + 0.009245213139855097, + 0.0 + ], + [ + 0.0008394128499298881, + 0.0033049519774056985, + -0.000776978565073444, + -0.004643383541381158, + -0.003916439838728565, + 0.011180056810341689, + 0.0 + ], + [ + 0.001096183697206543, + -0.0013177966284236842, + 0.003909080852822655, + 0.00234882158457883, + 0.0006520841673718724, + 0.001945554173459437, + 1.0 + ], + [ + -0.003211939747306214, + 0.00183259473750437, + 0.015248255240479916, + -0.023113922089883613, + -0.052610556069835133, + 0.0438610240202484, + 1.0 + ], + [ + -0.004482598268118698, + 0.00384676875218104, + 0.024600927358238225, + -0.009546872256235463, + -0.07253441347145548, + 0.03696996982688552, + 1.0 + ], + [ + -0.008574718483007226, + 0.003099807724203707, + 0.028476854468536518, + 0.01306829167255727, + -0.06138778400451585, + 0.028236357583173985, + 1.0 + ], + [ + -0.012479153155255995, + 0.0037178707922956578, + 0.025865031960383325, + 0.0265389931129269, + -0.030286815511684675, + -0.00507927893257574, + 1.0 + ], + [ + -0.016617782994673314, + 0.014832024483895853, + 0.016420699616745388, + 0.058196114039760626, + -0.000333028339280704, + 0.05388818039502987, + 1.0 + ], + [ + -0.010808449534811082, + 0.024428057033273845, + 0.010452752734050053, + -0.0015697391542211893, + -0.026169039743468858, + 0.048412104234110194, + 1.0 + ], + [ + 0.0027121276326242394, + 0.01094397662953206, + -0.010259426374919611, + 0.022437178091740947, + 0.009041949736370573, + 0.0436040206467106, + 1.0 + ], + [ + 0.005800803177243907, + -0.004870054508876238, + -0.015281939247103499, + -0.029645609541610458, + 0.040826698690647756, + -0.050096643904977735, + 1.0 + ], + [ + 0.010366422819836352, + -0.01001327199951444, + -0.012890605007719075, + -0.03185637389191864, + 0.024209387770859472, + -0.046991511836637335, + 1.0 + ], + [ + 0.007400064307902909, + -0.006419204051246234, + -0.0076416260801868, + -0.009598575104964653, + 0.015576632327365699, + -0.02108254345300651, + 1.0 + ], + [ + 0.002350530609364132, + 0.0006959106855131125, + 0.0004836895838288141, + 0.005852546661807315, + 0.015682827372246043, + 0.04203713097119273, + 1.0 + ] + ], + "gripper_centers": [ + [ + 474.0016174316406, + 191.22865295410156 + ], + [ + 472.8961486816406, + 195.32859802246094 + ], + [ + 469.2492370605469, + 199.62657165527344 + ], + [ + 477.6968078613281, + 178.11392211914062 + ], + [ + 477.8695068359375, + 167.18801879882812 + ], + [ + 471.47515869140625, + 151.00643920898438 + ], + [ + 457.9137268066406, + 134.46023559570312 + ], + [ + 431.47161865234375, + 110.85714721679688 + ], + [ + 413.04962158203125, + 83.70942687988281 + ], + [ + 377.5347900390625, + 62.0301399230957 + ], + [ + 352.5452880859375, + 54.334922790527344 + ], + [ + 337.9954833984375, + 50.229736328125 + ], + [ + 332.1260986328125, + 57.03466033935547 + ], + [ + 327.56231689453125, + 77.88912963867188 + ], + [ + 327.0706481933594, + 89.44929504394531 + ], + [ + 326.7188720703125, + 111.57249450683594 + ], + [ + 327.62554931640625, + 124.83944702148438 + ], + [ + 287.9422302246094, + 119.42666625976562 + ], + [ + 327.33746337890625, + 127.63377380371094 + ], + [ + 329.069580078125, + 124.1793441772461 + ], + [ + 329.0860900878906, + 113.30487060546875 + ], + [ + 350.11175537109375, + 91.20232391357422 + ], + [ + 439.8785400390625, + 77.63719177246094 + ], + [ + 498.1237487792969, + 125.97506713867188 + ], + [ + 516.6174926757812, + 164.87493896484375 + ], + [ + 512.6625366210938, + 191.18450927734375 + ], + [ + 510.54541015625, + 198.0693359375 + ], + [ + 509.9915771484375, + 204.63235473632812 + ], + [ + 511.9173583984375, + 209.5513916015625 + ], + [ + 511.0815734863281, + 217.3291778564453 + ], + [ + 516.0009765625, + 219.04818725585938 + ], + [ + 516.5612182617188, + 224.7588653564453 + ], + [ + 517.8765258789062, + 224.8121795654297 + ], + [ + 516.0133056640625, + 231.40234375 + ], + [ + 513.769287109375, + 235.2014617919922 + ], + [ + 514.7457885742188, + 235.56326293945312 + ], + [ + 514.4155883789062, + 235.53749084472656 + ], + [ + 515.2282104492188, + 241.33984375 + ], + [ + 515.75439453125, + 246.7567901611328 + ], + [ + 520.2450561523438, + 227.7389678955078 + ], + [ + 521.0126953125, + 196.72897338867188 + ], + [ + 518.2085571289062, + 160.7528533935547 + ], + [ + 504.3483581542969, + 131.24293518066406 + ], + [ + 477.8488464355469, + 116.5798110961914 + ], + [ + 435.594970703125, + 96.47830963134766 + ], + [ + 435.9881896972656, + 114.58405303955078 + ], + [ + 447.37359619140625, + 138.3347930908203 + ], + [ + 459.22015380859375, + 151.1102294921875 + ] + ], + "depth_max": 1.6444979906082153, + "depth_min": 0.16696572303771973, + "intrinsic": [ + [ + 588.6492919921875, + 0.0, + 259.0 + ], + [ + 0.0, + 586.8511352539062, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.512299943191465e-05, + 6.501079769805074e-05, + -3.9906546589918435e-05 + ], + [ + -2.5119812562479638e-05, + 1.0, + -4.900670683127828e-05, + -5.3193001804174855e-05 + ], + [ + -6.501203461084515e-05, + 4.90050770167727e-05, + 1.0, + 2.0169671188341454e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 339.0, + 120.50000762939453 + ], + [ + 339.220458984375, + 120.5367202758789 + ], + [ + 339.10882568359375, + 120.37814331054688 + ], + [ + 338.8417663574219, + 120.6412124633789 + ], + [ + 338.9983215332031, + 120.7979507446289 + ], + [ + 338.8001708984375, + 120.5316162109375 + ], + [ + 338.70697021484375, + 120.51249694824219 + ], + [ + 338.8270568847656, + 120.51484680175781 + ], + [ + 338.77435302734375, + 120.41537475585938 + ], + [ + 339.3267822265625, + 120.9249267578125 + ], + [ + 339.2013854980469, + 120.9886474609375 + ], + [ + 339.07989501953125, + 120.73931884765625 + ], + [ + 339.05426025390625, + 120.64610290527344 + ], + [ + 339.11590576171875, + 120.42216491699219 + ], + [ + 338.958251953125, + 120.65425872802734 + ], + [ + 338.30169677734375, + 120.4375 + ], + [ + 337.6422119140625, + 120.39392852783203 + ], + [ + 338.19036865234375, + 120.6686019897461 + ], + [ + 340.0585021972656, + 120.01776123046875 + ], + [ + 342.259033203125, + 116.70244598388672 + ], + [ + 342.8030090332031, + 114.96158599853516 + ], + [ + 359.4363098144531, + 98.01336669921875 + ], + [ + 440.7123718261719, + 86.12631225585938 + ], + [ + 494.4530029296875, + 122.37836456298828 + ], + [ + 515.7530517578125, + 151.4447479248047 + ], + [ + 512.9078979492188, + 177.98574829101562 + ], + [ + 512.0277709960938, + 184.465576171875 + ], + [ + 511.59613037109375, + 191.75576782226562 + ], + [ + 511.9979248046875, + 197.41554260253906 + ], + [ + 512.8704223632812, + 204.80722045898438 + ], + [ + 517.750732421875, + 206.74026489257812 + ], + [ + 519.3204345703125, + 212.1873779296875 + ], + [ + 519.8821411132812, + 212.727294921875 + ], + [ + 518.45703125, + 219.8645477294922 + ], + [ + 508.76324462890625, + 217.12503051757812 + ], + [ + 511.89556884765625, + 219.117431640625 + ], + [ + 511.11993408203125, + 219.2404327392578 + ], + [ + 512.7135009765625, + 222.53390502929688 + ], + [ + 518.7660522460938, + 226.14723205566406 + ], + [ + 519.826416015625, + 225.11460876464844 + ], + [ + 519.2153930664062, + 226.25326538085938 + ], + [ + 519.98046875, + 225.33370971679688 + ], + [ + 519.9017944335938, + 225.37962341308594 + ], + [ + 520.086669921875, + 225.03872680664062 + ], + [ + 519.835205078125, + 224.54396057128906 + ], + [ + 519.5291748046875, + 224.33555603027344 + ], + [ + 519.3451538085938, + 225.17306518554688 + ], + [ + 519.557861328125, + 225.15744018554688 + ] + ] +} \ No newline at end of file diff --git a/009696_v2/lang.txt b/009696_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..7cdd0371602210c88a966d0a739551e3107b7a74 --- /dev/null +++ b/009696_v2/lang.txt @@ -0,0 +1 @@ +remove the blue cube from the tower and put it on top of the red cube diff --git a/009696_v2/object.ply b/009696_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..8a31058fa63b6d77a4cb4eb0b823170f9e184440 Binary files /dev/null and b/009696_v2/object.ply differ diff --git a/009706_v2/data.json b/009706_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..c378166ce1182f7436928e3376f4a94b97b73a2a --- /dev/null +++ b/009706_v2/data.json @@ -0,0 +1,916 @@ +{ + "action_start": 16, + "action_end": 35, + "object_name": "blue block", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 0.0, + 0.0, + -1.2062238129265606e-07, + -3.3549604109738444e-08, + 9.058721110472328e-08, + 1.0 + ], + [ + 0.005444937122868587, + -0.009412804837629518, + -0.002466305676641495, + -0.0016159547269544185, + 0.014855847728088406, + -0.19060838912741235, + 1.0 + ], + [ + 0.002568953505710514, + -0.02221423096197686, + -0.005422606809786151, + -0.048902145301014714, + -0.031027292315885066, + -0.0970319662649303, + 1.0 + ], + [ + 0.0022257980861120075, + -0.0247898427698421, + -0.009735414888753902, + -0.07033941607122286, + -0.02303771342475584, + -0.09704348016129462, + 1.0 + ], + [ + 0.0003448694336296576, + -0.008294035778071751, + -0.015723015941658883, + 0.0006110406302264665, + 0.03997912528363454, + -0.0060158989154059615, + 1.0 + ], + [ + 0.0027401934813298667, + 0.007978594500716238, + -0.004226642406189043, + 0.0004395287975366193, + 0.003287540267881607, + 0.03335638225986084, + 1.0 + ], + [ + 0.006647154997450222, + 0.01208192538469531, + 0.0006049785395386281, + 0.028882842723675216, + -0.0035437617246090215, + 0.04572743817552637, + 1.0 + ], + [ + 0.004354913066973776, + 0.0058862517131645226, + 0.006592945275073425, + 0.025489469487684623, + -0.022648393501146006, + 0.021616960502210267, + 1.0 + ], + [ + 0.005256449675108854, + 0.0038489498566234293, + 0.0017720464232032357, + 0.017987559894164614, + -0.008625621684471091, + 0.006629212961201355, + 1.0 + ], + [ + 0.004705165078347506, + -0.001949637831103565, + -0.005049240724643522, + -0.0094310608350181, + 0.01320651416530579, + -0.011489193563713002, + 1.0 + ], + [ + 0.003150793098301241, + -0.0011571105572005524, + -0.006145652508345215, + 0.008894986807926218, + 0.0244554508373254, + -0.001301922138802586, + 1.0 + ], + [ + 0.0019933555969033345, + 0.005053124869893316, + -0.00816408369679307, + 0.003492159908867281, + 0.030699911164063256, + 0.027746789167818517, + 1.0 + ], + [ + 0.0037096513748983706, + 0.0061404864416608335, + -0.003427046134542505, + -0.0012795514170093323, + 0.010056515961934034, + 0.02427442541851123, + 1.0 + ], + [ + 0.00270220503168378, + 0.005603994497989456, + -0.0037424606907550256, + -0.003916231191696174, + 0.014245565111513585, + 0.02073520133994818, + 1.0 + ], + [ + 0.0005531713961402507, + 0.0021739022577829115, + -0.005340952981257446, + -0.002285695454584152, + 0.018205685167275793, + 0.01555026746879263, + 1.0 + ], + [ + -9.162813640406497e-05, + -0.0031565976148596603, + 1.829996613236795e-05, + -0.002537151638769421, + -0.000981739636976541, + -0.0025983283196949944, + 1.0 + ], + [ + -0.0007342262615404049, + -0.006201524619652815, + 0.0008218233132430905, + 0.0017139527577368192, + -0.0010201278725472586, + -0.011873947390997461, + 1.0 + ], + [ + -3.897227796612057e-05, + -0.002862919297917252, + -0.004519117723056257, + 0.0050450199366242265, + 0.010339628275285125, + 4.5051012556410514e-05, + 0.0 + ], + [ + 0.0007257858022641228, + -0.001020034235601125, + -0.0005512599552369782, + 1.029167432295649e-05, + -0.008064672613969835, + 0.0019314609709535414, + 0.0 + ], + [ + -2.875646340022575e-05, + -0.0011876826520940548, + 0.0007673685892364973, + 0.0030407358744388483, + -0.005861080399955102, + 0.0005528495943780769, + 0.0 + ], + [ + -0.0033149573445482305, + 0.011778882607252988, + 0.045509505747287085, + -0.0013855927018989638, + -0.09902070344507347, + 0.07378792578795952, + 0.0 + ], + [ + -0.0031722113822778564, + 0.030443840804629183, + 0.06114436476829159, + -0.042472367158068305, + -0.13136390129681808, + 0.06903515918298651, + 0.0 + ], + [ + -0.006358853067260917, + 0.025900202883424164, + 0.0039994649160984, + -0.020893818222023394, + 0.04801614582374968, + -0.07143910894462113, + 0.0 + ], + [ + -0.014979339550800164, + 0.029486524502984113, + -0.02425059034080193, + 0.030500220598934532, + 0.1136972688795168, + 0.049523315692923064, + 0.0 + ], + [ + -0.0074332903361747915, + 0.01603711908733829, + -0.006104776224720498, + 0.03630477899997229, + 0.01576054064841693, + 0.027961046021122617, + 0.0 + ], + [ + -0.010154590181751522, + 0.014526759750441876, + -0.0015408117265491572, + 0.034219515462365464, + 0.0397094002279658, + 0.054552237361306176, + 0.0 + ], + [ + -0.006640666409106266, + 0.007132444498271381, + -0.007691813281348034, + -0.004951749631806089, + 0.018411211375641893, + 0.030397891072138326, + 0.0 + ], + [ + -0.003754739306534749, + -0.0022388839865666726, + -0.0041918211643010295, + -0.011124757694561577, + 0.017768283655160772, + 0.002860311554983802, + 0.0 + ], + [ + -0.008805895529401031, + -0.006971499693330205, + -0.009317328625395596, + -0.037270749017395056, + 0.015625445015242198, + -0.001898773539526846, + 0.0 + ], + [ + 0.0027444414066067346, + -0.012709322104372374, + -0.006423450897672017, + -0.008702179866274326, + 0.013387314848941283, + -0.04142485297061128, + 0.0 + ], + [ + -0.00015694384040426668, + -0.0059747337214586665, + -0.008053339605467932, + -0.010343981421125917, + 0.01283232515695782, + -0.008837848789379576, + 0.0 + ], + [ + 0.004366530097216825, + -0.004348483473885381, + -0.005949658488765164, + -0.008448229888681677, + 0.008187395256364076, + -0.02001603208364097, + 0.0 + ], + [ + 0.00321503471300838, + -0.0034583507850679263, + -0.003734312759393066, + -0.00042851992099517805, + 0.004603070834184268, + -0.014721814587698214, + 0.0 + ], + [ + 0.0005806892800642727, + -0.00016156212351308048, + -0.0015964476544401973, + 0.006216722726845686, + 0.002710568037391958, + 0.014799846988274025, + 0.0 + ], + [ + 0.0003257139650533203, + 0.0019500457356846235, + 0.0015311468038576026, + 0.007218796247198527, + -0.007546444584296387, + 0.01635616657541132, + 0.0 + ], + [ + 0.0004712057322747154, + 0.003535180932342643, + 0.0032410446103254137, + 0.0030463559613145333, + -0.00710612742747803, + 0.019631906361132177, + 0.0 + ], + [ + -0.0006030072583882995, + 0.0024106959877789567, + 0.0003696935703686455, + -0.0003336961702568205, + 0.02706179464137351, + 0.0314473923144977, + 1.0 + ], + [ + 0.00022796505850075643, + -0.002079589844110257, + 0.011055581970193976, + 0.006788611226104213, + -0.03096286377266073, + 0.028681199434303403, + 1.0 + ], + [ + 0.0035116838271132544, + -0.008580905420913007, + 0.03795852867918664, + 0.02421413373518145, + -0.11196155350430907, + 0.0037260604511334433, + 1.0 + ], + [ + 0.0007586461957481694, + -0.012665175989461671, + 0.030642687460336937, + 0.04271543866008828, + -0.062173083341175155, + -0.050842355154946554, + 1.0 + ], + [ + -0.001831878354187244, + -0.01690956669672277, + 0.017097396684858268, + 0.08443614333227806, + 0.019166648219352777, + -0.04681260484888769, + 1.0 + ], + [ + 0.00803173517060668, + -0.02081306362741104, + -0.016134948076490657, + -0.01234805039746479, + 0.024923480953995367, + -0.06552683814249385, + 1.0 + ], + [ + -0.004605921703569382, + -0.013047543336824736, + -0.03320735320817922, + -0.05683584440485758, + 0.08521519071431713, + 0.01322955737579606, + 1.0 + ], + [ + -0.006687745613838503, + -0.003549433360952689, + -0.01885317984544138, + -0.03971825967622895, + 0.03506345322049816, + 0.014004560688910137, + 1.0 + ], + [ + -0.001329365067023025, + 0.0015452440621869165, + -0.013892319366697298, + -0.007036636440308893, + 0.014577313627203865, + 0.09455897830189007, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 472.18414306640625, + 135.7791748046875 + ], + [ + 470.3151550292969, + 138.7490234375 + ], + [ + 464.22906494140625, + 156.0443572998047 + ], + [ + 476.605712890625, + 164.95993041992188 + ], + [ + 523.0040893554688, + 184.89434814453125 + ], + [ + 549.393310546875, + 215.03607177734375 + ], + [ + 543.5609741210938, + 233.3411102294922 + ], + [ + 540.0635986328125, + 230.681396484375 + ], + [ + 527.7862548828125, + 222.68801879882812 + ], + [ + 530.063720703125, + 208.01455688476562 + ], + [ + 532.3497924804688, + 203.27749633789062 + ], + [ + 532.1043701171875, + 209.5089111328125 + ], + [ + 530.9530029296875, + 217.18222045898438 + ], + [ + 518.7921752929688, + 218.7884979248047 + ], + [ + 513.7313232421875, + 210.29592895507812 + ], + [ + 504.0714416503906, + 213.22314453125 + ], + [ + 501.75177001953125, + 218.05154418945312 + ], + [ + 502.7543640136719, + 217.08201599121094 + ], + [ + 504.645751953125, + 215.41580200195312 + ], + [ + 502.7941589355469, + 219.6815948486328 + ], + [ + 502.8452453613281, + 219.72731018066406 + ], + [ + 503.2532043457031, + 214.390869140625 + ], + [ + 517.212890625, + 146.41635131835938 + ], + [ + 467.27130126953125, + 74.92726135253906 + ], + [ + 424.91961669921875, + 60.7916259765625 + ], + [ + 362.6407165527344, + 84.61457824707031 + ], + [ + 344.90087890625, + 91.09640502929688 + ], + [ + 316.7973937988281, + 97.54669952392578 + ], + [ + 303.026123046875, + 108.51828002929688 + ], + [ + 303.03790283203125, + 120.730224609375 + ], + [ + 304.094482421875, + 131.48837280273438 + ], + [ + 310.4939270019531, + 136.03439331054688 + ], + [ + 316.19720458984375, + 150.48541259765625 + ], + [ + 322.8603515625, + 164.13040161132812 + ], + [ + 325.97052001953125, + 163.148681640625 + ], + [ + 326.3031005859375, + 163.85140991210938 + ], + [ + 325.9850158691406, + 163.398193359375 + ], + [ + 326.10650634765625, + 157.8585205078125 + ], + [ + 327.2470703125, + 156.3765411376953 + ], + [ + 329.8826599121094, + 131.14219665527344 + ], + [ + 352.01092529296875, + 74.53521728515625 + ], + [ + 385.5775451660156, + 54.3299560546875 + ], + [ + 428.857666015625, + 60.62763595581055 + ], + [ + 449.007568359375, + 105.93699645996094 + ], + [ + 445.8164367675781, + 158.64801025390625 + ], + [ + 444.5755310058594, + 187.77328491210938 + ], + [ + 441.7092590332031, + 201.14306640625 + ] + ], + "depth_max": 1.6112382411956787, + "depth_min": 0.5097286701202393, + "intrinsic": [ + [ + 589.8421020507812, + 0.0, + 259.0 + ], + [ + 0.0, + 588.2247314453125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.8019039240898564e-05, + 8.461765537504107e-05, + -3.6803772673010826e-05 + ], + [ + -4.8014371714089066e-05, + 1.0, + -5.5146832892205566e-05, + -3.90489112760406e-05 + ], + [ + -8.462031109957024e-05, + 5.5142769269878045e-05, + 1.0, + 9.075027264771052e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 39, + 42, + 46 + ], + "object_trajectory": [ + [ + 519.75, + 238.25001525878906 + ], + [ + 520.3147583007812, + 238.40711975097656 + ], + [ + 520.5831298828125, + 238.8029022216797 + ], + [ + 521.0765380859375, + 239.11239624023438 + ], + [ + 520.9434204101562, + 238.88079833984375 + ], + [ + 521.417724609375, + 239.11207580566406 + ], + [ + 521.261474609375, + 239.21774291992188 + ], + [ + 521.1231689453125, + 239.19728088378906 + ], + [ + 520.5322875976562, + 238.757080078125 + ], + [ + 520.0628662109375, + 238.8220977783203 + ], + [ + 521.073974609375, + 238.32452392578125 + ], + [ + 521.3619995117188, + 238.66055297851562 + ], + [ + 521.4552001953125, + 238.96795654296875 + ], + [ + 521.1138916015625, + 239.08277893066406 + ], + [ + 520.7398071289062, + 239.06192016601562 + ], + [ + 519.96240234375, + 239.16873168945312 + ], + [ + 518.3344116210938, + 238.18214416503906 + ], + [ + 518.0897216796875, + 238.30343627929688 + ], + [ + 515.3626708984375, + 236.34133911132812 + ], + [ + 511.4193115234375, + 232.905029296875 + ], + [ + 509.98486328125, + 230.91798400878906 + ], + [ + 509.560302734375, + 225.39035034179688 + ], + [ + 518.4267578125, + 173.5226287841797 + ], + [ + 473.67864990234375, + 99.69337463378906 + ], + [ + 432.6844177246094, + 87.85781860351562 + ], + [ + 374.0572509765625, + 107.60615539550781 + ], + [ + 352.16790771484375, + 113.72779846191406 + ], + [ + 325.2098083496094, + 121.04937744140625 + ], + [ + 311.6617736816406, + 131.2417755126953 + ], + [ + 311.1094970703125, + 143.50929260253906 + ], + [ + 313.89501953125, + 152.89065551757812 + ], + [ + 319.83251953125, + 158.04270935058594 + ], + [ + 326.4341735839844, + 171.38681030273438 + ], + [ + 331.4425964355469, + 183.43028259277344 + ], + [ + 334.4744567871094, + 183.18923950195312 + ], + [ + 335.8099670410156, + 183.4174346923828 + ], + [ + 335.55523681640625, + 183.6191864013672 + ], + [ + 336.4670715332031, + 183.67788696289062 + ], + [ + 336.9922790527344, + 183.7247772216797 + ], + [ + 337.5670471191406, + 183.82354736328125 + ], + [ + 337.2234191894531, + 183.92019653320312 + ], + [ + 337.2896728515625, + 183.8071746826172 + ], + [ + 336.4656982421875, + 183.59019470214844 + ], + [ + 336.42510986328125, + 183.54995727539062 + ], + [ + 337.0733642578125, + 183.9066925048828 + ], + [ + 336.6859130859375, + 183.92657470703125 + ], + [ + 337.0151672363281, + 183.93838500976562 + ] + ] +} \ No newline at end of file diff --git a/009706_v2/lang.txt b/009706_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..31514579d9f9c8a8e7805244029b1e3c0842ce99 --- /dev/null +++ b/009706_v2/lang.txt @@ -0,0 +1 @@ +put the blue block on top of yellow rectangular block diff --git a/009706_v2/object.ply b/009706_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..820cabe9285cbd879f680b2230cbf1289a25fdd7 Binary files /dev/null and b/009706_v2/object.ply differ diff --git a/009739_v2/data.json b/009739_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..14ff74d90d9fe40578b0d9e509fad3f351fb4b1e --- /dev/null +++ b/009739_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 13, + "action_end": 37, + "object_name": "red object", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.901587, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.834774554509977e-10, + -1.403238567010412e-10, + -3.262121267555429e-10, + 6.322108712087728e-07, + 6.193528421422977e-07, + 4.02955962442516e-07, + 1.0 + ], + [ + 0.008922814647394639, + 0.01467594004627825, + -0.004914742143148951, + -0.005554277459526797, + -0.0015041981128663502, + 0.005304806725002891, + 1.0 + ], + [ + 0.006479027212207111, + 0.011661343123331204, + -0.004336208541926512, + -0.01866883997118668, + -0.00033125813747160584, + 0.010971308528230958, + 1.0 + ], + [ + 0.0031234468681901606, + 0.0034736519181079867, + -0.002892722692557935, + -0.011741228061166396, + -0.011045074755850991, + 0.009642337154106369, + 1.0 + ], + [ + 0.0008147565266036771, + 0.0004610212677777642, + -0.0038091070731835486, + -0.006523708061967309, + 0.0023326185599790304, + -0.00872665142841183, + 1.0 + ], + [ + -0.0005282367192524506, + -0.005235212350713982, + -0.010559869586336028, + -0.008443284517338568, + 0.014551210575127706, + -0.026323485074730514, + 1.0 + ], + [ + 0.0019184187377526696, + -0.005456706203953748, + -0.009831430880717407, + -0.015062560578518257, + 0.009581344950729802, + -0.024808124852277024, + 1.0 + ], + [ + 0.0017972162320396556, + -0.000916951438527748, + -0.005955259837183854, + -0.013128241745367239, + 0.004373383821774753, + -0.006275057096904889, + 1.0 + ], + [ + 0.0004566188920860914, + 0.0011778979006941553, + -0.00489281095824829, + -0.007131996891797749, + 0.007460025941444308, + 0.0070524925071338606, + 1.0 + ], + [ + 0.0004981043288803111, + 0.0016378451742848146, + -0.004389167157916333, + -0.004417988283791655, + 0.007494849433857586, + 0.009284044825099366, + 1.0 + ], + [ + 0.0004965923458099541, + 0.0022828311208076754, + -0.0049918909579112405, + -0.005262588378430759, + 0.00698016622374649, + 0.007794815595654914, + 1.0 + ], + [ + -0.0014760470430464911, + 0.004302727763744872, + -0.006734281129846191, + -0.00914331205942231, + 0.018150956431847807, + 0.01932965544706848, + 1.0 + ], + [ + 0.0006897155993874637, + 0.004073974345510968, + -0.0019057537651391374, + -0.013539764300173892, + -0.0077803308777879224, + 0.026253314209440656, + 1.0 + ], + [ + -0.0008400392879979734, + 0.002386708843207533, + -0.0025765350153579714, + -0.0071727720781470505, + 0.002325817233528625, + 0.013447257866519126, + 0.901587 + ], + [ + -0.0008118308658658369, + 0.00011391126793317691, + 0.0011786063585246878, + -0.004344981218831675, + -0.011943971128112603, + 0.0007217681573667091, + 0.0 + ], + [ + 0.005396420533211155, + -0.0024592003684671543, + 0.013437574669918566, + 0.01839578800368036, + -0.04408366750244601, + -0.017742439343240723, + 0.0 + ], + [ + 0.010656997625887232, + -0.012886628325394979, + 0.03875409781716998, + 0.04916307588685301, + -0.07150208021611747, + -0.023171414481595484, + 0.0 + ], + [ + -0.0003180361136488896, + -0.03191771889231183, + 0.0443793104283923, + 0.0018314023856832956, + -0.020232306409299978, + 0.08533556467231616, + 0.0 + ], + [ + -0.018842155695478147, + -0.03044607445690347, + 0.020238778752722127, + 0.0147466608807342, + 0.04942960760397524, + -0.003921934535959739, + 0.0 + ], + [ + -0.019536137054981806, + -0.038704616581548154, + -0.0026005313975534516, + -0.034839964761089304, + 0.009105494674568622, + -0.037995699905527223, + 0.0 + ], + [ + -0.020763685736618798, + -0.010607142756397096, + -0.002265619983801717, + -0.017296297333472165, + 0.0221170579918895, + 0.02246695124339021, + 0.0 + ], + [ + -0.015589841211603284, + 0.0014906665591052914, + -0.007154108626267086, + 0.0026069354608346386, + 0.02690554188894681, + 0.030799696700505613, + 0.0 + ], + [ + -0.0030048244702568505, + 0.004006862876733144, + -0.014868878130656085, + -0.002196538157449087, + 0.024585503526472083, + 0.0029941365742602874, + 0.0 + ], + [ + 0.0029105745746184075, + 0.003563559715640617, + -0.014667586137019767, + -0.00868234692115578, + -0.01766779600412381, + -0.009375221590329021, + 0.0 + ], + [ + 0.0012961966115001, + -0.007462687071099178, + -0.0073216050464210425, + -0.014496391399546438, + -0.006447272381094439, + -0.03531057661274971, + 0.0 + ], + [ + -0.0021134472737157073, + -0.008719629724004564, + -0.008535966586168953, + -0.021705514449839446, + 0.026136823351745664, + -0.027326973870691235, + 0.0 + ], + [ + -0.005056514393501688, + -0.002852738529905939, + -0.004430220690993865, + -0.0038723546150751693, + 0.027430074766599578, + -0.00034835137415974144, + 0.0 + ], + [ + -0.0016062332854012151, + 3.0377220853028408e-05, + -0.004392956917021865, + -0.0019483363048697694, + 0.017044470296519683, + -0.006945417261727031, + 0.0 + ], + [ + -0.0024083124472537576, + 0.0012622961114006279, + -0.0028331152858080202, + -0.011605032001386541, + 0.006879677056053343, + 0.007107629473124776, + 0.0 + ], + [ + 0.0025343799901170194, + -0.002616123263222886, + -0.002191935897035889, + -0.01058026743546092, + -0.008062555812989343, + -0.01658136632261881, + 0.0 + ], + [ + -0.0010395424276465337, + -0.0030987468057261103, + -0.0001891136799657342, + -0.0032890824659011168, + 0.005580170681871745, + -0.009627841690077748, + 0.0 + ], + [ + -0.004492167321965779, + -0.0049028016731504365, + -1.975054990903391e-05, + -0.009679317346215327, + 0.015638178511575968, + -0.012008016426541642, + 0.0 + ], + [ + -0.0014845484948979304, + -0.0010460048572189101, + -0.0036515813899333227, + -0.00728354473229828, + 0.010519929359344283, + -0.007522759337945736, + 0.0 + ], + [ + -0.0009483092297953299, + 0.004315790928878502, + -0.0019550291755456722, + 0.0030323208302964265, + 0.00025092306339499174, + 0.00664314548810074, + 0.0 + ], + [ + 0.0006805983011501648, + 0.004154036566361388, + -1.2705164034787497e-05, + 0.0025249275073835403, + -0.002614161058894465, + 0.007404809669394334, + 0.0 + ], + [ + 0.0007463224977960203, + 0.004685943957980276, + 3.605303231127982e-05, + 0.005746825372610638, + -0.001369987862457221, + 0.006103216255873088, + 0.0 + ], + [ + 0.0005748567639652646, + 0.0019126566090640756, + -0.0009339243931495017, + -0.002640219127657002, + 0.0013562572917959217, + 0.0026640541200171498, + 0.0 + ], + [ + 0.0004933323321941463, + 0.0006211191725406517, + -0.00037272172501046086, + -0.003534352014423213, + 0.0026535628402558804, + -0.0019293685879287396, + 0.0 + ], + [ + 0.00019944029390006612, + 0.00103712464583898, + -8.127356833862592e-05, + -0.022824859843634613, + -0.005354285880844204, + -0.0014611186760087717, + 1.0 + ], + [ + 0.0025463935759643674, + 0.0010681983940750706, + 0.003077278383766348, + 0.0008236962675135026, + -0.007470851494945874, + 0.004219148646676293, + 1.0 + ], + [ + 0.0026939931686220664, + 1.355149828093094e-05, + 0.002910109301740474, + 0.0031932357866173893, + -0.007482928246260176, + -0.006688988753953569, + 1.0 + ], + [ + 0.007335863769745099, + -0.0006981804653379275, + 0.007682145133146079, + 0.002688787248435126, + -0.032774591282381714, + -0.018506213590999264, + 1.0 + ], + [ + 0.021459875844958204, + 0.006207558937008473, + 0.03688924522309072, + 0.0812158888777182, + -0.08566751015888024, + -0.033302833686311685, + 1.0 + ], + [ + 0.013145981621564329, + 0.01903525996183633, + 0.022991196373318305, + 0.06739068707779311, + -0.017453512800405316, + -0.008197390115231892, + 1.0 + ], + [ + 0.0012146498804748718, + 0.028095121893081006, + -0.0017040259654535483, + 0.03436051777751016, + 0.010080620014815012, + 0.03807102130118443, + 1.0 + ], + [ + -0.004001668888432897, + 0.02714306203169949, + -0.009901376977515836, + 0.015161092204565782, + 0.036606759031771366, + 0.045412095647658475, + 1.0 + ], + [ + -0.00876144070618412, + 0.012266934451210068, + -0.014875951173526109, + 0.0005161476883750864, + 0.04939918378578976, + 0.026734649648623956, + 1.0 + ], + [ + -0.0019978082983589385, + 0.0009534138682196032, + -0.011382310033523288, + 0.009448952604335406, + 0.02750883575589697, + -0.03142270501896479, + 1.0 + ] + ], + "gripper_centers": [ + [ + 338.5965881347656, + 141.7144775390625 + ], + [ + 337.25897216796875, + 147.9407501220703 + ], + [ + 336.15020751953125, + 163.91201782226562 + ], + [ + 324.23748779296875, + 155.8658905029297 + ], + [ + 319.9333190917969, + 152.10342407226562 + ], + [ + 318.06787109375, + 149.78884887695312 + ], + [ + 319.0323791503906, + 159.86158752441406 + ], + [ + 320.42437744140625, + 172.472900390625 + ], + [ + 322.22174072265625, + 181.89028930664062 + ], + [ + 323.98162841796875, + 185.99139404296875 + ], + [ + 324.84454345703125, + 187.3476104736328 + ], + [ + 325.5122985839844, + 191.75592041015625 + ], + [ + 325.48492431640625, + 197.35874938964844 + ], + [ + 320.04571533203125, + 199.14385986328125 + ], + [ + 317.13629150390625, + 196.05410766601562 + ], + [ + 317.47369384765625, + 197.68893432617188 + ], + [ + 317.6730651855469, + 197.59902954101562 + ], + [ + 315.9055480957031, + 170.34661865234375 + ], + [ + 341.692626953125, + 138.92164611816406 + ], + [ + 388.52825927734375, + 115.82421875 + ], + [ + 421.4335632324219, + 127.44912719726562 + ], + [ + 442.37457275390625, + 170.47381591796875 + ], + [ + 424.98651123046875, + 187.5543670654297 + ], + [ + 415.8761901855469, + 206.7149658203125 + ], + [ + 411.40924072265625, + 219.8418731689453 + ], + [ + 416.48822021484375, + 234.0732421875 + ], + [ + 421.12628173828125, + 244.19297790527344 + ], + [ + 422.7158203125, + 254.00927734375 + ], + [ + 419.6736145019531, + 262.92388916015625 + ], + [ + 417.89605712890625, + 271.622802734375 + ], + [ + 421.02655029296875, + 275.0393981933594 + ], + [ + 420.3021240234375, + 277.247314453125 + ], + [ + 424.55352783203125, + 279.82305908203125 + ], + [ + 427.47064208984375, + 283.09765625 + ], + [ + 423.26141357421875, + 287.62750244140625 + ], + [ + 422.605224609375, + 289.886962890625 + ], + [ + 420.8028259277344, + 289.2501525878906 + ], + [ + 419.36090087890625, + 289.3680114746094 + ], + [ + 416.770751953125, + 287.42059326171875 + ], + [ + 417.6211853027344, + 289.57586669921875 + ], + [ + 410.4075622558594, + 285.533447265625 + ], + [ + 410.32171630859375, + 285.2546081542969 + ], + [ + 415.29461669921875, + 275.79656982421875 + ], + [ + 423.4959716796875, + 238.79212951660156 + ], + [ + 432.68255615234375, + 179.23138427734375 + ], + [ + 423.2418212890625, + 159.55718994140625 + ], + [ + 383.36669921875, + 137.88613891601562 + ], + [ + 346.6967468261719, + 134.04025268554688 + ] + ], + "depth_max": 1.677002191543579, + "depth_min": 0.3634376525878906, + "intrinsic": [ + [ + 627.6799926757812, + 0.0, + 259.0 + ], + [ + 0.0, + 626.19970703125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.398604869493283e-05, + 0.00012391660129651427, + -2.202075847890228e-05 + ], + [ + -4.398267628857866e-05, + 1.0, + -2.7179339667782187e-05, + -3.964417919632979e-05 + ], + [ + -0.000123917794553563, + 2.717388815653976e-05, + 1.0, + -1.0143658073502593e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 309.5, + 216.75 + ], + [ + 309.9295654296875, + 217.3382568359375 + ], + [ + 311.6549072265625, + 214.9911346435547 + ], + [ + 309.64556884765625, + 217.28253173828125 + ], + [ + 309.71722412109375, + 217.33856201171875 + ], + [ + 309.6981506347656, + 217.32049560546875 + ], + [ + 309.7565002441406, + 217.61190795898438 + ], + [ + 309.6448059082031, + 217.5875244140625 + ], + [ + 309.6744079589844, + 217.25430297851562 + ], + [ + 309.6127014160156, + 216.9778594970703 + ], + [ + 309.8563537597656, + 216.5928955078125 + ], + [ + 309.328369140625, + 216.6645050048828 + ], + [ + 308.3598937988281, + 217.21556091308594 + ], + [ + 307.90179443359375, + 217.7784881591797 + ], + [ + 307.25146484375, + 217.88027954101562 + ], + [ + 305.6941833496094, + 220.89279174804688 + ], + [ + 306.5010986328125, + 223.6754150390625 + ], + [ + 305.4411926269531, + 198.5156707763672 + ], + [ + 328.175537109375, + 166.5161590576172 + ], + [ + 371.4064025878906, + 148.1678924560547 + ], + [ + 395.43585205078125, + 165.5598907470703 + ], + [ + 419.854736328125, + 208.14610290527344 + ], + [ + 402.64630126953125, + 224.64315795898438 + ], + [ + 394.19293212890625, + 241.81051635742188 + ], + [ + 391.8923645019531, + 255.7579345703125 + ], + [ + 396.3131103515625, + 267.341552734375 + ], + [ + 401.4256286621094, + 275.7837219238281 + ], + [ + 400.002685546875, + 281.3514404296875 + ], + [ + 397.83447265625, + 290.0916442871094 + ], + [ + 396.5289001464844, + 298.9744873046875 + ], + [ + 400.33660888671875, + 302.0110168457031 + ], + [ + 400.3334045410156, + 305.580810546875 + ], + [ + 403.50885009765625, + 309.7872314453125 + ], + [ + 406.73626708984375, + 313.4203796386719 + ], + [ + 404.70294189453125, + 319.8076477050781 + ], + [ + 403.5362854003906, + 321.82763671875 + ], + [ + 401.9362487792969, + 321.5140380859375 + ], + [ + 401.72515869140625, + 322.328369140625 + ], + [ + 400.8892822265625, + 321.11968994140625 + ], + [ + 405.08782958984375, + 329.23553466796875 + ], + [ + 406.61395263671875, + 330.3592529296875 + ], + [ + 406.6470031738281, + 330.106201171875 + ], + [ + 406.2295837402344, + 330.36785888671875 + ], + [ + 404.758544921875, + 330.53460693359375 + ], + [ + 406.1026306152344, + 329.13763427734375 + ], + [ + 405.9305419921875, + 329.669921875 + ], + [ + 404.3028869628906, + 328.89202880859375 + ], + [ + 405.02630615234375, + 328.30072021484375 + ] + ] +} \ No newline at end of file diff --git a/009739_v2/lang.txt b/009739_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..7f95e1f639d2edc5684cc31bd1a95757e832d9cf --- /dev/null +++ b/009739_v2/lang.txt @@ -0,0 +1 @@ +move the red object diff --git a/009739_v2/object.ply b/009739_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..db40d664399dd6049bc29c27cb795af649236c4d Binary files /dev/null and b/009739_v2/object.ply differ diff --git a/009745_v2/data.json b/009745_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..9f03f3c2a1c5999ca05ece5ffc652309b218380c --- /dev/null +++ b/009745_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 20, + "action_end": 38, + "object_name": "red arch", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.4391948743863736e-10, + 5.6408641646576996e-11, + -1.8808352097998693e-10, + 1.4612203094267635e-07, + 6.873449584083478e-07, + 3.9709597611270026e-07, + 1.0 + ], + [ + -0.005849185931018741, + -0.0013878938240152825, + 0.003699105925410548, + 0.012691675185616307, + -0.013896043567591016, + 0.15542852922032896, + 1.0 + ], + [ + -0.0006056102644713679, + -0.0030116072993945607, + 0.0008199133764330152, + 0.011169018934319597, + 0.020458735826624084, + 0.0499203830729364, + 1.0 + ], + [ + 0.00047908425607462446, + -0.005190858739283016, + 0.0071022397882320315, + 0.03922922053055225, + 0.006616719486441096, + 0.05962248392900195, + 1.0 + ], + [ + -0.005659921167481929, + -0.012230411807620287, + 0.00601301739045159, + 0.015649367487455493, + -0.0007324840367129662, + 0.2696079958223365, + 1.0 + ], + [ + -0.009653699063747911, + -0.014229778547776288, + 0.009727840540759244, + 0.07070538028108571, + -0.04168432527596881, + 0.36651421635515186, + 1.0 + ], + [ + -0.009013072158862545, + 0.0001275112649900094, + 0.00035686149471755857, + -0.04212819840457554, + -0.04065747743308811, + 0.29283449867520656, + 1.0 + ], + [ + -0.0008410503141311754, + 0.00363431230346227, + -0.000676300463820334, + -0.03624737661373327, + -0.013238202779404554, + 0.17862724223651236, + 1.0 + ], + [ + 0.0028576642271763153, + 0.00451570890919601, + -0.0018104167554387762, + 0.001506518385098375, + 0.01948120937513417, + 0.07263295807416732, + 1.0 + ], + [ + 0.005856528903606856, + -0.0018990297174429557, + -0.008308961841009807, + -0.029494778433442344, + 0.022024407211728204, + 0.11714371102659937, + 1.0 + ], + [ + 0.0029509220831698546, + -0.0013333878174626237, + -0.0030581770107803996, + -0.02545167591268977, + -0.0003947761462108347, + 0.07438294593067216, + 1.0 + ], + [ + -0.008637145223547193, + -0.0001920893826032541, + -0.004090866855430336, + 0.017645290894079187, + 0.00600039915349702, + 0.030052037554434707, + 1.0 + ], + [ + -0.0031786604811510077, + -0.0002944698223716555, + -0.0016529643813153055, + -0.00477534635106733, + 0.0010772464425698224, + 0.029264747470875336, + 1.0 + ], + [ + -0.005430629518859309, + 0.0032691020556115183, + 0.001452789163221821, + 0.021569235627210186, + 0.0046314144505772885, + 0.04177380745720324, + 1.0 + ], + [ + -0.004378505370530417, + 0.0024880087284034, + -0.004232143833369263, + 0.004038788262291534, + 0.0075545640541696485, + 0.027086206576210407, + 1.0 + ], + [ + 0.0027778738662922187, + -0.0016397718500418199, + -0.009264633604346983, + -0.013809089031025904, + 0.02076999192022474, + 0.009604788905475618, + 1.0 + ], + [ + 0.00434798010329146, + -0.0016030163843891582, + -0.00588016544319777, + -0.010151343121678985, + 0.0038057393315339572, + 0.018991165553289446, + 1.0 + ], + [ + 0.004536591641707388, + -0.0006718573522428994, + -0.007263472287920167, + -0.008353024389312552, + 0.015836462028128537, + 0.0018187508383231024, + 1.0 + ], + [ + 0.0030503817298753455, + 0.0033435559512873594, + -0.006321104766655088, + -0.000286597908849552, + 0.023558120955969868, + 0.012630850980817253, + 1.0 + ], + [ + 0.0016069640556950482, + 0.004678766116669092, + -0.0035719493460693932, + -0.0027695091455421875, + 0.00945676397744601, + 0.018704984197818905, + 1.0 + ], + [ + 0.00023041763802891801, + 0.002185186453734486, + -0.0029032170720063553, + 0.002013035620532897, + 0.011430429354432954, + 0.0007246185899779285, + 1.0 + ], + [ + -0.0006670175129408484, + -0.00044125682512666936, + -0.0015646349857095405, + 0.0012591452340934633, + 0.006193994879457947, + -0.002511436606349586, + 0.0 + ], + [ + 0.0010932188656075092, + -0.0013579689197551342, + 8.781886217582718e-05, + 0.0010417842915908227, + 0.003272894161548931, + -0.015044467586556537, + 0.0 + ], + [ + 0.0022946274197747085, + -0.0012727689657825308, + 0.002181329668012131, + -0.0034657083948324468, + -0.006356191273207459, + -0.012678459213951897, + 0.0 + ], + [ + 0.005603953348332497, + 0.0012219575853499032, + 0.008670679226507237, + -0.003011582737414662, + -0.027660041372094674, + -0.01072333255662314, + 0.0 + ], + [ + 0.016597156910177546, + 0.0018039161509885715, + 0.01412251471958284, + -0.024660293424112086, + -0.07900315406162278, + 0.014305237715366067, + 0.0 + ], + [ + 0.019485268262263045, + 0.00623521318293245, + 0.009707522447355926, + 0.000631277112286645, + -0.030850643414376263, + -0.044679272486725694, + 0.0 + ], + [ + 0.018485336757172843, + 0.008087231627895916, + 0.0066567110676590616, + 0.05537582400970176, + 0.04963817001171174, + -0.08628341115570284, + 0.0 + ], + [ + 0.010317521347159075, + 0.01041876274228258, + -0.007058834040462862, + -0.0071746383626804695, + 0.06326571184895369, + -0.025223284439434696, + 0.0 + ], + [ + 0.0013982945116374212, + 0.011527269351265385, + -0.014166708704340336, + -0.00022888840190694786, + 0.06209083900207395, + 0.016342907190764835, + 0.0 + ], + [ + -0.0025860432915554843, + 0.018444797447230904, + -0.014481363640147439, + -0.009524368587951443, + 0.03863615536334344, + 0.04810006216722505, + 0.0 + ], + [ + -0.00408178547730198, + 0.014496807627674989, + -0.009393476463479947, + 0.002988573199271598, + 0.022185377597902133, + 0.04321456657435806, + 0.0 + ], + [ + -0.0026301395743190126, + 0.007023533396715657, + -0.009235833109625988, + -0.003235354681720735, + 0.017243013525269645, + 0.026865150667462534, + 0.0 + ], + [ + 0.0026781561255038167, + 0.002646377658394405, + -0.013778291063121118, + -0.011195413132214853, + 0.02767286148876746, + -0.006991044846378187, + 0.0 + ], + [ + 0.006437985722382855, + -0.006755600313670554, + -0.0020901796920687866, + 0.00885156507833719, + 0.016935028522806993, + -0.0387584167024092, + 0.0 + ], + [ + 0.005079685197048878, + -0.011090308615751832, + 0.0011375508265447868, + 0.0056219480375752865, + -0.0027735058414290322, + -0.03545084493749321, + 0.0 + ], + [ + 0.0009791048120922907, + -0.010478058107431814, + -0.0009892192147160517, + -0.007140563915961965, + -0.0005900349235165186, + -0.026361757480786712, + 0.0 + ], + [ + -0.0009912829843912174, + -0.00661987214421013, + -0.000826923291250288, + 0.008546794324606699, + 0.001834043955675736, + -0.027852292537240506, + 0.0 + ], + [ + -0.003630564329208552, + -0.0056197719642390115, + -0.003123485442666298, + -0.0005818259857456679, + 0.009974747972661327, + -0.014703375811394874, + 0.0 + ], + [ + -0.0017849859715668992, + 0.000693919772987335, + -0.0038656498837914095, + -0.009628534837035666, + 0.0051038652857242125, + -0.008416867763552945, + 1.0 + ], + [ + -0.0001392433611455135, + 0.0018409819647065319, + 0.006965669551116357, + 0.003000012147551963, + -0.03876301934910463, + 0.003046316927758209, + 1.0 + ], + [ + 0.0011992174797768596, + 0.0013157541015690784, + 0.021623083866501816, + 0.023913381003723415, + -0.06885875061797711, + -0.017475119777438694, + 1.0 + ], + [ + 0.008092603785216312, + -0.0021178208599383352, + 0.0333009908271807, + 0.042475032347070014, + -0.11420702555084161, + -0.046298342111699156, + 1.0 + ], + [ + 0.007602792626802191, + -0.009183788210827323, + 0.027598453849637092, + 0.006414330359379812, + -0.09791625556622909, + -0.07102409951284613, + 1.0 + ], + [ + -0.011629532574033152, + -0.001312413210451363, + 0.011656212195715415, + 0.016029933710497955, + -0.04752066856881802, + -0.40057187874001354, + 1.0 + ], + [ + -0.03153706048984517, + -0.0048864983215264335, + 0.002371149281109222, + 0.00877983467729682, + 0.0865285118389233, + -0.7000656898667929, + 1.0 + ], + [ + -0.02476316994453498, + -0.011747402974291693, + 0.0038750523586145447, + 0.0038809790046268364, + 0.06556195289388932, + -0.881440965730587, + 1.0 + ], + [ + -0.0024016655739219073, + -0.0022784351615674214, + 0.007763603387252252, + 0.044906166574050076, + -0.004813365637825242, + -0.8896364768273214, + 1.0 + ] + ], + "gripper_centers": [ + [ + 393.01666259765625, + 200.91445922851562 + ], + [ + 391.5535888671875, + 205.14324951171875 + ], + [ + 383.08697509765625, + 222.73031616210938 + ], + [ + 380.3437805175781, + 227.06503295898438 + ], + [ + 385.2778625488281, + 224.86785888671875 + ], + [ + 398.82867431640625, + 228.9478302001953 + ], + [ + 413.1982421875, + 223.75680541992188 + ], + [ + 429.00616455078125, + 235.19264221191406 + ], + [ + 429.0394287109375, + 242.2539520263672 + ], + [ + 421.7830810546875, + 233.91287231445312 + ], + [ + 420.027099609375, + 235.60699462890625 + ], + [ + 422.29754638671875, + 238.39808654785156 + ], + [ + 423.9411315917969, + 238.47727966308594 + ], + [ + 412.8640441894531, + 253.9434814453125 + ], + [ + 407.772216796875, + 255.4317626953125 + ], + [ + 394.3682861328125, + 259.46875 + ], + [ + 395.7794189453125, + 263.962646484375 + ], + [ + 395.9549255371094, + 276.10650634765625 + ], + [ + 402.04669189453125, + 282.76336669921875 + ], + [ + 400.4000244140625, + 282.5784606933594 + ], + [ + 395.5502014160156, + 281.3515625 + ], + [ + 390.37384033203125, + 281.1695556640625 + ], + [ + 391.57855224609375, + 284.2745056152344 + ], + [ + 394.52728271484375, + 280.927978515625 + ], + [ + 396.1277160644531, + 278.2186279296875 + ], + [ + 400.7674255371094, + 273.0221862792969 + ], + [ + 410.96343994140625, + 261.40301513671875 + ], + [ + 422.64642333984375, + 223.77940368652344 + ], + [ + 437.717529296875, + 189.56094360351562 + ], + [ + 448.2601318359375, + 175.07315063476562 + ], + [ + 430.59796142578125, + 175.56866455078125 + ], + [ + 413.3177490234375, + 186.05859375 + ], + [ + 384.46783447265625, + 185.7506866455078 + ], + [ + 367.2757568359375, + 192.1324462890625 + ], + [ + 360.65765380859375, + 203.67486572265625 + ], + [ + 361.06463623046875, + 209.72396850585938 + ], + [ + 364.2140197753906, + 204.12362670898438 + ], + [ + 377.6180114746094, + 208.04139709472656 + ], + [ + 390.62835693359375, + 213.98828125 + ], + [ + 396.96002197265625, + 217.59136962890625 + ], + [ + 396.61151123046875, + 221.14039611816406 + ], + [ + 392.8233642578125, + 229.67654418945312 + ], + [ + 388.47772216796875, + 227.68838500976562 + ], + [ + 392.36480712890625, + 194.1250457763672 + ], + [ + 414.3397216796875, + 161.6341552734375 + ], + [ + 423.05755615234375, + 150.479248046875 + ], + [ + 410.27142333984375, + 151.03738403320312 + ], + [ + 396.6241455078125, + 176.65487670898438 + ] + ], + "depth_max": 1.6789544820785522, + "depth_min": 0.13535407185554504, + "intrinsic": [ + [ + 627.794921875, + 0.0, + 259.0 + ], + [ + 0.0, + 626.180419921875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.902098226011731e-05, + 7.063528755679727e-05, + -2.075025622616522e-05 + ], + [ + -4.901816646452062e-05, + 1.0, + -3.983950227848254e-05, + -2.9959144740132615e-05 + ], + [ + -7.063723751343787e-05, + 3.983603892265819e-05, + 1.0, + -1.7598371414351277e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 392.5, + 310.7500305175781 + ], + [ + 392.45458984375, + 310.75018310546875 + ], + [ + 392.40936279296875, + 311.0665283203125 + ], + [ + 392.84814453125, + 311.11004638671875 + ], + [ + 392.84893798828125, + 311.1266174316406 + ], + [ + 393.16778564453125, + 311.2577209472656 + ], + [ + 393.4686279296875, + 311.47381591796875 + ], + [ + 393.1675720214844, + 311.46923828125 + ], + [ + 393.61505126953125, + 311.5638732910156 + ], + [ + 393.77777099609375, + 311.7552490234375 + ], + [ + 393.6697692871094, + 311.689208984375 + ], + [ + 393.90557861328125, + 311.7547607421875 + ], + [ + 393.75640869140625, + 311.62408447265625 + ], + [ + 394.42010498046875, + 311.82598876953125 + ], + [ + 394.4277038574219, + 311.75250244140625 + ], + [ + 394.1512451171875, + 311.9224853515625 + ], + [ + 394.1191101074219, + 311.494140625 + ], + [ + 394.50189208984375, + 311.484130859375 + ], + [ + 394.6938781738281, + 311.4026184082031 + ], + [ + 394.9407958984375, + 311.57373046875 + ], + [ + 395.4933166503906, + 311.82415771484375 + ], + [ + 395.5879821777344, + 311.0970764160156 + ], + [ + 395.7923889160156, + 311.599853515625 + ], + [ + 397.5020751953125, + 308.7837219238281 + ], + [ + 399.7286376953125, + 306.31988525390625 + ], + [ + 403.8502197265625, + 301.8137512207031 + ], + [ + 416.3597106933594, + 290.2688293457031 + ], + [ + 424.00030517578125, + 248.46145629882812 + ], + [ + 434.511962890625, + 215.91514587402344 + ], + [ + 442.7748718261719, + 203.09124755859375 + ], + [ + 424.76123046875, + 204.0889129638672 + ], + [ + 409.2485656738281, + 212.81341552734375 + ], + [ + 381.7926025390625, + 212.62298583984375 + ], + [ + 365.46746826171875, + 219.85983276367188 + ], + [ + 366.62518310546875, + 225.96163940429688 + ], + [ + 366.5727233886719, + 231.32566833496094 + ], + [ + 370.6455993652344, + 226.40805053710938 + ], + [ + 382.02691650390625, + 228.7916717529297 + ], + [ + 393.02850341796875, + 233.93020629882812 + ], + [ + 398.2720031738281, + 238.365234375 + ], + [ + 398.647216796875, + 244.98739624023438 + ], + [ + 398.7166748046875, + 245.8982391357422 + ], + [ + 397.6192932128906, + 246.48599243164062 + ], + [ + 392.4517822265625, + 254.14071655273438 + ], + [ + 392.6160888671875, + 254.25123596191406 + ], + [ + 392.1917724609375, + 254.4134521484375 + ], + [ + 391.8867492675781, + 254.27679443359375 + ], + [ + 392.3553161621094, + 254.77560424804688 + ] + ] +} \ No newline at end of file diff --git a/009745_v2/lang.txt b/009745_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..5eb90977b2fe61f36678972c443e69f9f2ac6467 --- /dev/null +++ b/009745_v2/lang.txt @@ -0,0 +1 @@ +move the red arch to the left side diff --git a/009760_v2/FAIL b/009760_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/009760_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/009769_v2/data.json b/009769_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..8e5d85f893059fe1244cc3af8f3d7d649bc44c09 --- /dev/null +++ b/009769_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 12, + "action_end": 33, + "object_name": "blue rectangular block", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.59536, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -3.0632979486355794e-10, + 7.798434120687148e-11, + 2.159725731587514e-10, + -2.1682713273574083e-07, + -5.811503966063721e-07, + 2.55244735008295e-07, + 1.0 + ], + [ + 0.003992393258891502, + 0.01893969814385989, + 0.0012068433442437992, + -0.03315915082928546, + -0.03562036271464055, + 0.1857511221448379, + 1.0 + ], + [ + 0.0074345137963727215, + 0.008603266461671448, + -0.0005702633948240846, + -0.022609377295356146, + 0.006464100899300386, + 0.09931642204379197, + 1.0 + ], + [ + 0.0032484107474347046, + 0.006410487941595449, + -0.0007545555979128551, + -0.004926954843298094, + -0.013269103413940856, + 0.10220754164333605, + 1.0 + ], + [ + 0.01070694983879994, + -0.002233767000807435, + -0.006559604694266391, + 0.04662176920689486, + 0.03729237722525737, + 0.31077909932783915, + 1.0 + ], + [ + 0.001649741215178746, + -0.008010987997643049, + -0.004035805725907206, + 0.02987339883268468, + 0.026595634034049742, + 0.31978211029496656, + 1.0 + ], + [ + -0.0027085890537764112, + -0.0014826926172131355, + -0.0010442769732393817, + 0.03013252346839578, + 0.033853326235621616, + 0.22010818121923872, + 1.0 + ], + [ + -0.0012113637713203063, + -0.0011672271600103347, + -0.0053817687968440026, + -0.003310294729053904, + 0.025370957321210478, + 0.0830223803923938, + 1.0 + ], + [ + -0.0060994297902868255, + 0.004561924850404546, + 0.0003790018642397322, + 0.005659692859733676, + -0.010170099763271942, + -0.03303781473563346, + 1.0 + ], + [ + -0.009085331660287133, + 0.002450782025314426, + -0.013495554022953, + -0.03655609318047596, + 0.04938521962251363, + -0.08606954977029, + 1.0 + ], + [ + -0.0024206381641447283, + 0.0015987584248171524, + -0.01287762382211076, + -0.015867783809032383, + 0.035763112818488055, + -0.06332914886072465, + 1.0 + ], + [ + 0.00044215196437269455, + 0.0014612162074216129, + -0.013325533349703468, + -0.024270416175544637, + 0.006498004447998054, + -0.013865210584235762, + 1.0 + ], + [ + 0.001828270464597881, + 0.0007102563728781934, + -0.010291249011868973, + -0.014926562782791418, + -0.008926031123200668, + -0.0010531363700988859, + 0.59536 + ], + [ + 0.00269790099436229, + 0.0006759611379681036, + 0.006347154381852707, + 0.01849761738923807, + -0.02950287024639098, + 0.004731452968710079, + 0.0 + ], + [ + 0.004243230376373974, + -0.0015735319232097161, + 0.013475153788565123, + 0.0022267753675664303, + -0.043304217401373, + 0.002006465949257512, + 0.0 + ], + [ + 0.005472143983714983, + 1.7114037404519084e-05, + 0.02531979732653955, + 0.018965168424054133, + -0.07716363088883035, + 0.007474230845666695, + 0.0 + ], + [ + 0.009869110047451168, + -0.0056937966687069744, + 0.039909601509149184, + 0.015131746300244414, + -0.13642087598931027, + 0.03125582915096762, + 0.0 + ], + [ + 0.013577487791444132, + -0.014984288081119353, + 0.02819761774879591, + 0.0007542853611394197, + -0.06632925083066211, + 0.002175705218943932, + 0.0 + ], + [ + 0.010920772510415289, + -0.02817494687375253, + 0.01779890062983, + 0.0005476883068269449, + 0.006300128534466962, + -0.018479776952438964, + 0.0 + ], + [ + 0.008940371930913626, + -0.030033888487608323, + 0.008109029728569112, + 0.026897695646069645, + 0.0290793342708314, + -0.02279155435495898, + 0.0 + ], + [ + -0.0011313666994020588, + -0.016975504596161352, + 0.002174203726615906, + -0.02609605850902825, + 0.015843508873012693, + 0.01141520362699871, + 0.0 + ], + [ + -0.0015280754290297738, + -0.002940409750181741, + -0.005299284271639171, + -0.026004603829707432, + 0.004572433369172932, + 0.021005464539249556, + 0.0 + ], + [ + -0.005668474087293651, + 0.003808218918276346, + -0.011092320678958364, + -0.002636300832211388, + 0.0360975163351853, + 0.015650147060169185, + 0.0 + ], + [ + -0.003946565878576558, + 0.00611664865352847, + -0.012674897061053764, + 0.0003634953796865954, + 0.03135957842058674, + 0.011909249695594464, + 0.0 + ], + [ + -0.00015585432408665723, + 0.001585727300171716, + -0.0075913881256892, + 0.006074652201234872, + 0.022614511921825904, + -0.010258630218102544, + 0.0 + ], + [ + 0.002545231546577875, + -0.002282290808455864, + -0.001223275789883807, + -0.0038232837807496063, + 0.005535395830344045, + -0.009923058493700482, + 0.0 + ], + [ + 0.004178409011288242, + -0.0017037409195013176, + -0.0011077264297323502, + 0.016976706610431876, + 0.004446344998883894, + -0.024603235687907985, + 0.0 + ], + [ + 0.00024460176045276727, + 0.003845751700670627, + -0.006188205394919988, + 0.02100948448804061, + 0.031004086349267507, + -0.0077187494339787, + 0.0 + ], + [ + -0.0015347841074570545, + 0.006070315188836842, + -0.0088929556589359, + 0.0006771072355852715, + 0.027189064389381713, + 0.009550460919572847, + 0.0 + ], + [ + -0.0005581522253239601, + 0.0030169852221723498, + -0.0032907870051402943, + -0.003949726219614286, + 0.008805861009719277, + 0.0052752702365500915, + 0.0 + ], + [ + 3.031863089830722e-05, + 0.0009120184899703704, + -0.002014634362171766, + -0.005920153323420357, + 0.00700249468030226, + 0.0017369445598794783, + 0.0 + ], + [ + 0.00019730992772420963, + -5.096957221006893e-07, + -0.0011581935820496186, + -0.005528297364105005, + 0.00237129135998426, + -0.00010564479169388031, + 0.0 + ], + [ + 0.00047940141256569424, + 0.00038519625433779126, + -0.0003898436889025886, + -0.00163923144938889, + 0.0009757401486516769, + -0.0005492046760458575, + 0.0 + ], + [ + 0.0008140293269729981, + 0.00037565480099145676, + -9.60431329003475e-05, + -0.003617804153532357, + 0.0008246745729904557, + -0.00215782551470677, + 0.0 + ], + [ + 0.0011528532977923556, + -0.0003738237892059043, + -0.0017468253406794643, + -0.021375513039450296, + 0.004426085741426176, + -0.02740669585770433, + 1.0 + ], + [ + 0.0014863176267509437, + -0.0015203161923580816, + 0.0001988233474890938, + -0.0002439418269065035, + 0.0044856439131457475, + -0.010058318940438665, + 1.0 + ], + [ + 0.001321434449766845, + 0.0006727671209295488, + 0.003585173641230441, + 0.0015395952857515949, + -0.011722939549571956, + -0.0014822186156586946, + 1.0 + ], + [ + 0.0030393739636200845, + 0.0032551595422697227, + 0.013360355563846057, + -0.002975570999683407, + -0.04407428752408128, + -0.0016864231229614536, + 1.0 + ], + [ + 0.004592797410340854, + 0.005678733509594011, + 0.026407812042598122, + 0.007639785507512681, + -0.08240556487196442, + -0.003917872171460851, + 1.0 + ], + [ + -0.00463029664807707, + 0.00906079925468243, + 0.00611156715530084, + -0.014004128712520787, + -0.029085248985853705, + 0.029568282716385515, + 1.0 + ], + [ + -0.01509690679692055, + 0.013410091345677222, + 0.00512870708023902, + 0.031507845522370896, + 0.0005167161696958274, + -0.025410509264145186, + 1.0 + ], + [ + -0.031398379006188915, + 0.022134136861564457, + -0.006510039130102313, + 0.05799657696698026, + 0.045162003721094045, + -0.10848188258597215, + 1.0 + ], + [ + -0.03599996407314571, + 0.027433531773188483, + 0.0003102142634785615, + 0.06236449199442291, + 0.020250905440970274, + -0.12823303921969997, + 1.0 + ], + [ + -0.020570168967849023, + 0.01635617328120316, + -0.012037013746468317, + 0.06545295054820083, + 0.016567042535364573, + -0.1956073065184915, + 1.0 + ], + [ + -0.005735942937893229, + 0.007054770946061096, + -0.020426179903760167, + -0.02506689295933384, + -0.02267187490273013, + -0.17945623225180643, + 1.0 + ], + [ + 0.008425997190322887, + -0.006755255192444699, + -0.016447302423175533, + -0.0043851771494752825, + -0.029851121488830342, + -0.08844219939804722, + 1.0 + ], + [ + 0.019404776738876722, + -0.012629279533389336, + -0.01614716675059849, + -0.011330262791111729, + 0.007349151904122885, + -0.13210434282941824, + 1.0 + ], + [ + 0.015723142217814234, + -0.010134589672942996, + -0.005020114287801317, + 0.0029449916416618323, + 0.0161116295790322, + -0.038446648790685385, + 1.0 + ] + ], + "gripper_centers": [ + [ + 390.4852294921875, + 208.1632537841797 + ], + [ + 389.6103515625, + 209.52645874023438 + ], + [ + 388.15509033203125, + 223.63348388671875 + ], + [ + 361.26983642578125, + 209.2984619140625 + ], + [ + 358.4010009765625, + 204.12380981445312 + ], + [ + 351.6609191894531, + 198.95278930664062 + ], + [ + 351.5318298339844, + 200.03591918945312 + ], + [ + 353.73046875, + 197.7811279296875 + ], + [ + 353.658447265625, + 198.47476196289062 + ], + [ + 348.62445068359375, + 213.51947021484375 + ], + [ + 345.3978271484375, + 222.33290100097656 + ], + [ + 340.8459777832031, + 240.18099975585938 + ], + [ + 339.198974609375, + 256.6402587890625 + ], + [ + 341.7222900390625, + 263.85333251953125 + ], + [ + 346.248046875, + 262.70928955078125 + ], + [ + 340.01177978515625, + 260.4686584472656 + ], + [ + 343.0851135253906, + 239.96682739257812 + ], + [ + 350.5521545410156, + 198.75863647460938 + ], + [ + 362.0582275390625, + 158.28598022460938 + ], + [ + 404.1036376953125, + 133.9622039794922 + ], + [ + 461.0144348144531, + 115.96542358398438 + ], + [ + 511.6770935058594, + 128.95864868164062 + ], + [ + 526.0049438476562, + 129.228271484375 + ], + [ + 526.724365234375, + 139.60073852539062 + ], + [ + 513.84375, + 166.70748901367188 + ], + [ + 508.4233703613281, + 179.04019165039062 + ], + [ + 506.5313415527344, + 187.87107849121094 + ], + [ + 505.10211181640625, + 191.7646026611328 + ], + [ + 506.3250427246094, + 188.8647918701172 + ], + [ + 500.8824157714844, + 198.90597534179688 + ], + [ + 500.5252380371094, + 198.95529174804688 + ], + [ + 492.01068115234375, + 198.69895935058594 + ], + [ + 491.7977294921875, + 200.52525329589844 + ], + [ + 490.6481628417969, + 200.44546508789062 + ], + [ + 490.1081237792969, + 202.13156127929688 + ], + [ + 486.1681823730469, + 206.7375030517578 + ], + [ + 484.66259765625, + 211.09140014648438 + ], + [ + 487.08892822265625, + 208.05738830566406 + ], + [ + 486.2804870605469, + 206.97021484375 + ], + [ + 489.00384521484375, + 174.57052612304688 + ], + [ + 488.28302001953125, + 141.27484130859375 + ], + [ + 461.31036376953125, + 135.2913818359375 + ], + [ + 418.38348388671875, + 140.63259887695312 + ], + [ + 345.2417297363281, + 146.9499053955078 + ], + [ + 282.85345458984375, + 156.47482299804688 + ], + [ + 257.6697082519531, + 179.37301635742188 + ], + [ + 259.4834899902344, + 195.35195922851562 + ], + [ + 275.7008361816406, + 212.5186767578125 + ] + ], + "depth_max": 1.7697104215621948, + "depth_min": 0.4530574083328247, + "intrinsic": [ + [ + 613.126708984375, + 0.0, + 259.0 + ], + [ + 0.0, + 611.2786865234375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.99686757393647e-05, + 8.095683733699843e-05, + -2.9141432605683804e-05 + ], + [ + -4.996499410481192e-05, + 1.0, + -4.54573892056942e-05, + -2.5792409360292368e-05 + ], + [ + -8.095910743577406e-05, + 4.545334377326071e-05, + 1.0, + -2.9281254683155566e-06 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 338.75, + 263.25 + ], + [ + 339.15606689453125, + 263.5413513183594 + ], + [ + 338.873779296875, + 264.2156677246094 + ], + [ + 339.3795471191406, + 263.74542236328125 + ], + [ + 339.8203430175781, + 263.5122985839844 + ], + [ + 339.7220153808594, + 263.33941650390625 + ], + [ + 339.7159729003906, + 263.7451477050781 + ], + [ + 339.73614501953125, + 263.55633544921875 + ], + [ + 339.3206481933594, + 263.6280517578125 + ], + [ + 339.8100891113281, + 263.22821044921875 + ], + [ + 340.089111328125, + 263.00567626953125 + ], + [ + 341.1319885253906, + 263.4122314453125 + ], + [ + 341.220947265625, + 264.4112548828125 + ], + [ + 342.9156494140625, + 265.7355651855469 + ], + [ + 345.6585693359375, + 264.3830871582031 + ], + [ + 340.658447265625, + 268.48126220703125 + ], + [ + 344.09503173828125, + 250.0623016357422 + ], + [ + 351.2868347167969, + 210.7451171875 + ], + [ + 364.3971862792969, + 171.84271240234375 + ], + [ + 408.1141052246094, + 149.34957885742188 + ], + [ + 465.45123291015625, + 133.59690856933594 + ], + [ + 517.33642578125, + 144.95376586914062 + ], + [ + 531.3002319335938, + 140.69143676757812 + ], + [ + 533.7081298828125, + 156.85824584960938 + ], + [ + 520.9336547851562, + 182.87693786621094 + ], + [ + 514.571533203125, + 193.35694885253906 + ], + [ + 512.384521484375, + 202.3330841064453 + ], + [ + 511.06549072265625, + 205.27288818359375 + ], + [ + 510.415771484375, + 202.85491943359375 + ], + [ + 505.66650390625, + 212.13604736328125 + ], + [ + 504.243408203125, + 212.34933471679688 + ], + [ + 496.89801025390625, + 211.49813842773438 + ], + [ + 495.1801452636719, + 208.63143920898438 + ], + [ + 493.8248291015625, + 208.39169311523438 + ], + [ + 493.02294921875, + 210.32095336914062 + ], + [ + 488.57940673828125, + 224.29544067382812 + ], + [ + 488.39813232421875, + 226.0526580810547 + ], + [ + 488.4310607910156, + 224.81643676757812 + ], + [ + 488.43682861328125, + 223.6195068359375 + ], + [ + 486.816162109375, + 222.64541625976562 + ], + [ + 485.98455810546875, + 223.0815887451172 + ], + [ + 486.0308532714844, + 222.97348022460938 + ], + [ + 485.57867431640625, + 224.56825256347656 + ], + [ + 488.4869689941406, + 215.86672973632812 + ], + [ + 488.25775146484375, + 215.59915161132812 + ], + [ + 488.5331726074219, + 215.5277557373047 + ], + [ + 488.8607482910156, + 215.8192138671875 + ], + [ + 489.0685119628906, + 216.66929626464844 + ] + ] +} \ No newline at end of file diff --git a/009769_v2/lang.txt b/009769_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..a72129eb4201ac3d310d73a2523a1df4b98c73ff --- /dev/null +++ b/009769_v2/lang.txt @@ -0,0 +1 @@ +put the blue rectangular block on top of the cylinder diff --git a/009769_v2/object.ply b/009769_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..e0dca153483ca412b6d1b3a3c7a22f79dcd446bf Binary files /dev/null and b/009769_v2/object.ply differ diff --git a/009789_v2/FAIL b/009789_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/009789_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/009819_v2/FAIL b/009819_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/009819_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/009833_v2/FAIL b/009833_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/009833_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/009853_v2/data.json b/009853_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..8d4eed2fab7a325e3564c7775068a01a4d3fc0bc --- /dev/null +++ b/009853_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 19, + "action_end": 42, + "object_name": "wedge block", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 0.0, + 5.551115123125783e-17, + 5.148408742476281e-07, + -1.2807812739839814e-07, + 1.0571502261786423e-07, + 1.0 + ], + [ + 0.005503846535432788, + -0.012010969385598827, + -0.0046310741314669335, + 0.023435672736348903, + 0.005772755128450889, + -0.05479741617512324, + 1.0 + ], + [ + 0.002257466994590729, + -0.014672782524925654, + 0.0006833566090064941, + 0.024315633102965695, + -0.02538243714095911, + -0.022368041992175274, + 1.0 + ], + [ + -0.00025668116203186875, + -0.011472388663084698, + -0.0036680485094345017, + -0.0015020017234114672, + -0.010609701504494844, + -0.046979481844743584, + 1.0 + ], + [ + -0.005090038058297053, + -0.0036607983291373075, + -0.013060180071426036, + -0.008594690490873273, + -0.0211617558360512, + -0.02584541379245679, + 1.0 + ], + [ + -0.00156581613227591, + -0.01043343141940331, + -0.014101751247697816, + -0.006076405682651785, + -0.03587054152513994, + -0.078062863645588, + 1.0 + ], + [ + -0.004313131171810147, + -0.008502139499030836, + -0.005877897695801063, + 0.01140946212367903, + 0.009656555048784585, + -0.027479018468488974, + 1.0 + ], + [ + -0.007202351465627421, + -0.008241999953550003, + -0.005424000483824486, + 0.00448191552582814, + 0.019801375559810635, + -0.018727404589428242, + 1.0 + ], + [ + -0.0016947805501199564, + -0.0034856569845278518, + -0.010297133781956784, + 0.006329665630761542, + -0.005838101318916476, + -0.01825329299494633, + 1.0 + ], + [ + 0.002355658773569913, + 0.0011093498215066777, + -0.018146202340702376, + -0.032463251655019044, + -0.015667984257699656, + 0.013428930007013635, + 1.0 + ], + [ + 0.005929438111210994, + 0.0011314546330037645, + -0.01447718866273686, + -0.0618233033141315, + -0.009198690523189753, + -0.007630718287555013, + 1.0 + ], + [ + 0.0025457555282650812, + 0.004126602371181787, + -0.009300740827881853, + -0.06425507599874516, + 0.012541524919055289, + 0.004647707934401414, + 1.0 + ], + [ + 0.004273039740659068, + 0.001715677575859137, + -0.0038901274129673306, + 0.005646654377956114, + 0.011517794850712273, + 0.015890805890668686, + 1.0 + ], + [ + 0.004758539570928921, + 0.000154508113722307, + 5.363516955289582e-05, + 0.03164327441026661, + 0.01123590967724703, + 0.005909824393347562, + 1.0 + ], + [ + 0.003894508138490793, + -0.0004854873572364693, + 0.0035365082667520257, + 0.012908095844466809, + -0.013042732849547925, + 0.0036097127765776092, + 1.0 + ], + [ + 0.0007644742720712694, + -0.007899636523564485, + -0.0007293365402492816, + 0.01234536204616326, + 0.000980368256260505, + -0.02339223253426778, + 1.0 + ], + [ + 0.004543077839287535, + -0.0032506495441223804, + -0.0019604819899376787, + -0.010854545618575627, + -0.006272706630698187, + -0.013041723393259947, + 1.0 + ], + [ + 0.00423236829101159, + -0.004277316984725832, + -0.004986866521043434, + 0.0006087340162821951, + 0.010948372745137927, + -0.01897837070921113, + 1.0 + ], + [ + 0.0012924204783850146, + -0.0024164293764550038, + -0.004349041571989594, + 0.003057183035549364, + 0.013597578345536383, + -0.005775705982091346, + 1.0 + ], + [ + 0.0008154159439237585, + -0.00012367521576142626, + -0.0063889108000928715, + -0.0011637259881401997, + 0.019535786648795846, + 0.004597795928026406, + 1.0 + ], + [ + -0.0005782868681383779, + 0.0007248799683645113, + -0.006298848206662964, + -0.004871013554071178, + 0.013200615892495294, + 0.012097602045379728, + 0.0 + ], + [ + 0.0015299520275069423, + 0.0014817576810801925, + 0.0055378901394992006, + -0.030145210558302462, + -0.023052571637325204, + 0.006837784322876946, + 0.0 + ], + [ + 0.0034516987329612503, + 0.004604305096090333, + 0.023743339233814154, + 0.006006977225384126, + -0.039064383757332094, + 0.02283083705933339, + 0.0 + ], + [ + 0.011789976286517567, + 0.015115809729750379, + 0.058954360614106714, + -0.035518479864872075, + -0.0724367945818036, + 0.05135001348964096, + 0.0 + ], + [ + 0.014756201776073619, + 0.018705974336799713, + 0.06937566825825595, + -0.04370569129434548, + -0.08415446412828666, + 0.07114576274779139, + 0.0 + ], + [ + -0.0004915809777722435, + 0.02551030325537937, + 0.04230052342342363, + -0.003637976300621881, + 0.03297533685952267, + 0.0844206080560682, + 0.0 + ], + [ + -0.006243866390217068, + 0.02829071395631018, + 0.00959892250666565, + 0.01613876994411407, + -0.02941962902556308, + 0.0621966039276803, + 0.0 + ], + [ + -0.008885115109896091, + 0.01953527635674307, + 0.009988691524469018, + 0.012954253424958689, + 0.003400901162154068, + 0.03538089763388833, + 0.0 + ], + [ + -0.0011950557901825865, + 0.019365183548115117, + 0.005582261280242529, + 0.019897119048699716, + -0.010625990692322462, + 0.03910949499299906, + 0.0 + ], + [ + -0.0061401558155031455, + 0.019727155386623667, + 0.003178008759786355, + 0.04200468353287362, + 0.023281488939221974, + 0.06306445424098878, + 0.0 + ], + [ + -0.004529365519624018, + 0.015965582541038532, + -0.003618960422795414, + 0.014550850744536692, + 0.03138473238036562, + 0.04806868560104986, + 0.0 + ], + [ + -0.008114014037356343, + 0.009600238945603135, + -0.005130753867049254, + -0.007856792079731573, + 0.011373015042722171, + 0.015969888948955645, + 0.0 + ], + [ + -0.00840087169253989, + 0.0042871096408259556, + -0.0055730943806939215, + -0.010476322513576272, + 0.009432714893175055, + 0.01624513318617471, + 0.0 + ], + [ + -0.002705558353242321, + -0.0011267893274599997, + -0.007302300849720639, + -0.008509346141811383, + 0.020456866754322515, + -0.0027092295466459846, + 0.0 + ], + [ + -0.002246952008929992, + -0.00030610224818885395, + -0.004713359527621447, + -0.007720669962022662, + 0.003460348743151829, + 0.008978882147372308, + 0.0 + ], + [ + 0.0035758599390030565, + -0.0005977812635652655, + -0.008585856054130508, + -0.006790243344096235, + 0.013180357839725518, + -0.00702135980653239, + 0.0 + ], + [ + 0.0024119569148170483, + 0.004114967768284208, + -0.006215498379933904, + -0.011833718325105193, + 0.007658824916956721, + 0.008869311267211575, + 0.0 + ], + [ + 0.0007560578897902182, + 0.003934571219217149, + -0.003380261694439002, + -0.006971549017404088, + 0.0018130362920546544, + 0.00936430226944548, + 0.0 + ], + [ + 0.0007523659752424194, + 0.0018700157000787407, + -0.004596934072165826, + -0.009362464298082648, + 0.01332340409112589, + 0.0005730799522194935, + 0.0 + ], + [ + -2.727026438903435e-05, + 0.0007442858058623741, + -0.0003801320991067003, + -0.0015380262433502374, + 0.0017879823448159297, + -0.0021809885801686115, + 0.0 + ], + [ + -0.0006020564696360697, + -0.0021326682157975507, + -0.0031608546948435623, + -0.0013672410455621486, + 0.010186413098512034, + -0.007632568405380427, + 0.0 + ], + [ + -0.000508991475774101, + -4.624455333223504e-05, + -0.0011391909451689969, + -0.004285626361237346, + 0.0069660939008721005, + -0.0013531555995851116, + 0.0 + ], + [ + -0.0023806747351817203, + 0.0021409402581790554, + -0.0023377595642526255, + -0.00986142187082483, + 0.010255960512972033, + 0.009540003062640775, + 0.0 + ], + [ + 6.896747580192875e-05, + 0.0006602829859088458, + -0.0018733282372645627, + -0.004437254812833979, + 0.019176410138767443, + -0.00940237860861987, + 1.0 + ], + [ + 0.0015968773854468932, + -0.0003131278061416984, + 0.005052150534135616, + -0.0007346886669988501, + -0.017785959350969955, + 0.017234545036862947, + 1.0 + ], + [ + -0.0003125915950102365, + 0.0014429379392258829, + 0.0029653382141814483, + 0.00027406070761562193, + -0.009785041482394822, + 0.013936277842064238, + 1.0 + ], + [ + 0.0026491394586266592, + -0.0036671162058669396, + 0.009255730478121407, + 0.007087249322832069, + -0.017269993658231203, + -0.00781333946805469, + 1.0 + ], + [ + 0.007370478169796468, + -0.012530171179750457, + 0.03183848093867074, + 0.09619997849204526, + -0.03142779509988367, + -0.04512746266873739, + 1.0 + ] + ], + "gripper_centers": [ + [ + 454.7240905761719, + 175.90060424804688 + ], + [ + 453.42547607421875, + 177.7020263671875 + ], + [ + 445.3155517578125, + 197.79974365234375 + ], + [ + 469.83135986328125, + 205.3418426513672 + ], + [ + 492.6075134277344, + 216.45330810546875 + ], + [ + 500.89508056640625, + 237.2191925048828 + ], + [ + 496.4234619140625, + 258.2631530761719 + ], + [ + 512.4031372070312, + 285.065185546875 + ], + [ + 517.156494140625, + 301.2659606933594 + ], + [ + 516.998779296875, + 323.501708984375 + ], + [ + 512.4776611328125, + 339.17852783203125 + ], + [ + 515.75390625, + 360.69769287109375 + ], + [ + 514.0001831054688, + 370.02044677734375 + ], + [ + 501.0428161621094, + 363.39093017578125 + ], + [ + 501.4762268066406, + 360.89276123046875 + ], + [ + 505.984375, + 350.3907470703125 + ], + [ + 509.8310546875, + 344.2784423828125 + ], + [ + 510.7528381347656, + 349.73394775390625 + ], + [ + 516.902587890625, + 348.43194580078125 + ], + [ + 523.84423828125, + 353.5987854003906 + ], + [ + 522.5680541992188, + 359.0274658203125 + ], + [ + 523.8804931640625, + 359.7911071777344 + ], + [ + 525.88427734375, + 361.8900146484375 + ], + [ + 525.3206176757812, + 362.23809814453125 + ], + [ + 544.66796875, + 318.78656005859375 + ], + [ + 538.623291015625, + 240.24237060546875 + ], + [ + 532.6099853515625, + 160.11448669433594 + ], + [ + 499.992919921875, + 103.25025939941406 + ], + [ + 460.34033203125, + 78.77760314941406 + ], + [ + 430.40771484375, + 55.5903434753418 + ], + [ + 398.75262451171875, + 46.398162841796875 + ], + [ + 367.8485412597656, + 36.405277252197266 + ], + [ + 344.2362060546875, + 40.354248046875 + ], + [ + 321.1845397949219, + 47.906822204589844 + ], + [ + 309.10693359375, + 53.13652801513672 + ], + [ + 308.2598571777344, + 62.194297790527344 + ], + [ + 308.958984375, + 67.17084503173828 + ], + [ + 311.31317138671875, + 76.40547180175781 + ], + [ + 304.41802978515625, + 78.74282836914062 + ], + [ + 299.47216796875, + 83.39337921142578 + ], + [ + 299.3648681640625, + 87.36907196044922 + ], + [ + 299.5775451660156, + 87.530029296875 + ], + [ + 299.44439697265625, + 91.61751556396484 + ], + [ + 300.2508239746094, + 95.60528564453125 + ], + [ + 295.68011474609375, + 98.11300659179688 + ], + [ + 297.2367248535156, + 102.72327423095703 + ], + [ + 297.62408447265625, + 102.26272583007812 + ], + [ + 297.2142333984375, + 97.822265625 + ] + ], + "depth_max": 1.8450188636779785, + "depth_min": 0.0964222401380539, + "intrinsic": [ + [ + 580.8056030273438, + 0.0, + 259.0 + ], + [ + 0.0, + 579.2062377929688, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.1680545362178236e-05, + 8.724837243789807e-05, + -9.234420758730266e-06 + ], + [ + -3.167545219184831e-05, + 1.0, + -5.841266829520464e-05, + -4.088717469130643e-05 + ], + [ + -8.725022053113207e-05, + 5.840990343131125e-05, + 1.0, + 1.2108990631531924e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 495.5, + 382.5 + ], + [ + 495.62005615234375, + 382.57684326171875 + ], + [ + 496.15679931640625, + 382.31512451171875 + ], + [ + 496.5189208984375, + 382.0228271484375 + ], + [ + 496.37841796875, + 382.15240478515625 + ], + [ + 496.27130126953125, + 382.37823486328125 + ], + [ + 495.62713623046875, + 382.78814697265625 + ], + [ + 495.5611572265625, + 383.0492248535156 + ], + [ + 495.2812194824219, + 383.08489990234375 + ], + [ + 495.102783203125, + 383.513916015625 + ], + [ + 494.8265686035156, + 383.767578125 + ], + [ + 494.6885986328125, + 383.948974609375 + ], + [ + 495.23504638671875, + 383.605224609375 + ], + [ + 494.9590148925781, + 382.741943359375 + ], + [ + 495.08685302734375, + 383.08404541015625 + ], + [ + 495.55914306640625, + 382.3408508300781 + ], + [ + 495.9135437011719, + 381.85260009765625 + ], + [ + 495.43389892578125, + 382.6933288574219 + ], + [ + 496.1325378417969, + 382.1243896484375 + ], + [ + 495.6247253417969, + 382.33917236328125 + ], + [ + 496.26385498046875, + 383.3150634765625 + ], + [ + 503.33831787109375, + 388.50311279296875 + ], + [ + 511.7381591796875, + 394.98382568359375 + ], + [ + 512.23095703125, + 394.3600769042969 + ], + [ + 527.6434936523438, + 355.4370422363281 + ], + [ + 521.9976806640625, + 291.2367858886719 + ], + [ + 511.4848937988281, + 221.89675903320312 + ], + [ + 482.99725341796875, + 167.5360565185547 + ], + [ + 445.55108642578125, + 144.70199584960938 + ], + [ + 415.5284423828125, + 122.32504272460938 + ], + [ + 384.3067932128906, + 110.63249969482422 + ], + [ + 359.15966796875, + 86.09149169921875 + ], + [ + 336.4058837890625, + 90.47709655761719 + ], + [ + 310.39044189453125, + 111.83419799804688 + ], + [ + 305.04248046875, + 107.95406341552734 + ], + [ + 303.9815673828125, + 117.06069946289062 + ], + [ + 305.3847961425781, + 121.16523742675781 + ], + [ + 304.1141357421875, + 139.7184295654297 + ], + [ + 298.489501953125, + 141.37709045410156 + ], + [ + 294.597412109375, + 144.06077575683594 + ], + [ + 294.5120849609375, + 147.64703369140625 + ], + [ + 294.5013732910156, + 147.56492614746094 + ], + [ + 294.1519775390625, + 152.09957885742188 + ], + [ + 294.1810607910156, + 156.22703552246094 + ], + [ + 290.2784423828125, + 166.0535125732422 + ], + [ + 291.25506591796875, + 165.79823303222656 + ], + [ + 291.18115234375, + 166.27565002441406 + ], + [ + 291.51214599609375, + 164.98106384277344 + ] + ] +} \ No newline at end of file diff --git a/009853_v2/lang.txt b/009853_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..eecee956e41287c9bc7e552cfa07361cdddef5f5 --- /dev/null +++ b/009853_v2/lang.txt @@ -0,0 +1 @@ +put the wedge block on top of the tower diff --git a/009867_v2/data.json b/009867_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..c45e7c20890877b3ec4c4be8845e775b625469ce --- /dev/null +++ b/009867_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 19, + "action_end": 41, + "object_name": "red cube", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -3.448290541996357e-10, + 1.4249370433594422e-10, + -1.421717049643334e-10, + -1.8745801134547435e-07, + -3.500613610862445e-07, + -3.218404126098737e-07, + 1.0 + ], + [ + 0.0037404532049195582, + 0.0005763240901608263, + -0.003800484842973448, + 0.04295358295007604, + 0.0027528464904403266, + 0.041634482502655674, + 1.0 + ], + [ + 0.008314768864160604, + -0.007039368210548888, + -0.0033174481822280666, + 0.04482046237941214, + -0.009932507353458329, + 0.053898959460692196, + 1.0 + ], + [ + 0.0033151607711378595, + -0.00798679908678867, + -0.003408954171456216, + -0.011778152382640131, + -0.01888943491846908, + 0.06685428898008293, + 1.0 + ], + [ + 0.001851722675120071, + -0.006830458528347946, + -0.007491738035069778, + -0.02799554466043721, + -0.02825770151266794, + 0.08386052808208586, + 1.0 + ], + [ + -0.0005631154553072948, + -0.002538831266856112, + -0.00675496256740566, + -0.030505986159847717, + -0.009596095960641387, + 0.05867884573945096, + 1.0 + ], + [ + -0.0015891177851704574, + -0.0005081481793186779, + -0.009197007642235126, + 0.001046509138575822, + -0.00810356081043998, + 0.08091884229619856, + 1.0 + ], + [ + 0.002664492696197729, + -0.002027904260628599, + -0.0057056715856361115, + 0.032424986697868495, + -0.0011953800257315176, + 0.05063765116866264, + 1.0 + ], + [ + 0.003390643625087675, + -0.0024160438919564667, + -0.004227642536884721, + -5.945021580231925e-05, + -0.001547112568841003, + 0.039546906054386995, + 1.0 + ], + [ + 0.001102320240190302, + -0.0008233839191394039, + -0.005624032917048355, + -0.013050232109070888, + -0.00014955081345648433, + 0.030270770650645762, + 1.0 + ], + [ + -0.0011709600618375893, + 0.00020768808950712495, + -0.00495688802494967, + -0.00938627884879588, + -0.0007883688336828556, + 0.015654957509364596, + 1.0 + ], + [ + -0.003374294361022212, + 0.0021881368757374967, + -0.007550562631562497, + -0.012399811374730474, + 0.005360588148401811, + 0.018413885826073034, + 1.0 + ], + [ + -0.003779506888927864, + 0.004957924153808904, + -0.009082915755844434, + -0.010322135980368715, + 0.016524162074026023, + 0.012868719913105725, + 1.0 + ], + [ + -0.0025133250094540593, + 0.003093674904186109, + -0.0026957716776420003, + -0.002305928705126136, + 0.011685004131888879, + 0.005988816402385483, + 1.0 + ], + [ + 0.0005635652157360282, + 0.0024291939252551534, + -0.003761439547536448, + -0.0019221981871339303, + 0.0002892540903124446, + -0.0007703946455582081, + 1.0 + ], + [ + 0.0012843499763491861, + 0.0037391754038958204, + -0.0017366281598793693, + 0.0055794524358403225, + -0.005888252150363726, + 0.0004968246058643137, + 1.0 + ], + [ + 0.0018767994034186164, + 0.002834865251131014, + -0.002313068441738296, + 0.003961314883457923, + -0.006340817647771283, + -0.003239681762046349, + 1.0 + ], + [ + 0.001790544434405128, + 0.0017415490686140019, + -0.004102793110083776, + -0.007453763264753824, + -0.005075126101502978, + 0.0021847699291102874, + 1.0 + ], + [ + 0.0036752407527278486, + 0.0023959672588898043, + -0.003403645055306267, + -0.010144111490729893, + -0.011662949225680877, + -0.0031414917405361825, + 1.0 + ], + [ + 0.0007629403278627822, + 0.0013650443366845233, + -0.0026584423346966667, + -0.009108162086452263, + 0.002553483759971313, + 0.006963391013133046, + 1.0 + ], + [ + 0.00012769618496744073, + 0.0013608233438136483, + -0.0025694656443709073, + -0.0035655900543724245, + -0.006705896661503948, + 0.013809098745455484, + 0.0 + ], + [ + -0.000629912361540752, + 0.0032945418513881247, + 0.003621506890746102, + 0.0033686996995279635, + -0.006514049935849039, + 0.00785908247933921, + 0.0 + ], + [ + -0.0034424422951758182, + 0.004483182890104659, + 0.0123031234949014, + 0.019392769701455776, + -0.013462143808657748, + 0.009136085781184312, + 0.0 + ], + [ + -0.005242279626544222, + 0.0071486333953456015, + 0.05151774197037849, + 0.03549432517124604, + -0.09889731452568842, + -0.039193679781412236, + 0.0 + ], + [ + -0.005469638565759549, + 0.004672984868965217, + 0.060492180364149425, + 0.03570816332806213, + -0.06994103383649913, + -0.1329413139975545, + 0.0 + ], + [ + 0.0026182521323845354, + -0.005218813419295174, + 0.04689074357956302, + 0.03499651057650512, + 0.003308790018305515, + -0.20868560204162834, + 0.0 + ], + [ + 0.008276807866880342, + -0.008780232373014235, + 0.021714982149933004, + 0.03556178572347339, + -0.0013682302407175323, + -0.17988579032087434, + 0.0 + ], + [ + 0.009075742944037735, + -0.01307148197008053, + 0.009303437698796962, + 0.017953218827031856, + 0.02193232912880427, + -0.16018114832062746, + 0.0 + ], + [ + 0.006752320354938668, + -0.016546325196800188, + 0.0017492388336548537, + -0.006515644696442006, + 0.01722029465587735, + -0.10938001450067912, + 0.0 + ], + [ + 0.005880434785054345, + -0.01992585360678611, + -0.0012106531494788242, + -0.008948423472527379, + 0.027496332262768545, + -0.09875526771401512, + 0.0 + ], + [ + 0.0012560046467491315, + -0.005157183169757051, + -0.008897561830759848, + -0.024399434713127034, + 0.02523868578400095, + -0.01147362995663414, + 0.0 + ], + [ + 0.0036934126195764527, + -0.00823303483343343, + -0.0053209775521742, + 0.009756528893285595, + 0.025696664374731195, + -0.039553184639685504, + 0.0 + ], + [ + 0.0010193580521761225, + -0.006415965720270998, + -0.006881837742294533, + -0.0004606021518823779, + 0.024916912136855682, + -0.009081519206125052, + 0.0 + ], + [ + 0.003038130064756117, + -0.007600254173165958, + -0.004496626835062911, + 0.0013943058696921358, + 0.013440756019994352, + -0.016027436376981834, + 0.0 + ], + [ + 5.488392279401344e-05, + -0.006907037092819524, + -0.002835624740182674, + -0.0031353611772275284, + 0.0028057499868318746, + -0.01282243338049365, + 0.0 + ], + [ + -0.0019942813733037634, + -0.0068974562909704315, + -0.005394575997012291, + -0.0015493142118411486, + 0.02116479414558858, + -0.015210257870143061, + 0.0 + ], + [ + -0.0033835228132452766, + -0.005323846937877533, + -0.0031229051343603653, + -0.0018390849614081963, + 0.016281909665079603, + -0.004701031675629687, + 0.0 + ], + [ + -0.001351758443153106, + -0.0018173684119002498, + -0.005952613264218559, + 0.002542677395773161, + 0.01949964560298137, + 0.0021102120762818348, + 0.0 + ], + [ + -2.3868407309002304e-05, + 0.0009496578027579083, + -0.0051482018650502726, + 0.001056106283550338, + 0.019953951913367355, + 0.006922669412330413, + 0.0 + ], + [ + -0.00122081352678155, + 0.004165178617695164, + -0.0030613984763891294, + 0.0008947879794627108, + 0.009025986090234436, + 0.019991644185756424, + 0.0 + ], + [ + 0.0007606327294003568, + 0.0017847057190567214, + -0.004901190319885118, + 3.890655745964772e-07, + 0.014396671064217988, + 0.0018580054847613541, + 0.0 + ], + [ + 7.311703371848388e-05, + 0.0016781766985528093, + -0.00271109106249999, + -0.001567502437604902, + 0.008013547987389867, + 0.004088963627038462, + 0.0 + ], + [ + 0.0018044539233624812, + 0.0011309104286755939, + -0.0020141462842532126, + -0.0016565400735828407, + 0.01058843820633548, + 0.010884220145199429, + 1.0 + ], + [ + 0.0005646300403970295, + 0.0017302002158457591, + 0.005338486785956498, + 0.0015465854511036536, + -0.02547005934426483, + 0.026205601571976017, + 1.0 + ], + [ + 0.002369333790441519, + 0.0075435691783566974, + 0.015962411287185535, + -0.008806793765521924, + -0.050175870862826696, + 0.04512774049356155, + 1.0 + ], + [ + 0.005143326461886588, + 0.015740487132533593, + 0.03055075745935197, + -0.010217275994359717, + -0.08143000387428215, + 0.04422478571217517, + 1.0 + ], + [ + -0.0072212008193651145, + 0.01957486653630671, + 0.01314159854996061, + -0.01580247184001914, + -0.008820544732232753, + 0.03766758245253036, + 1.0 + ], + [ + -0.013021324157492797, + 0.020344923980989697, + -0.01478234018413846, + -0.004781631689794032, + 0.06729740810950846, + 0.049195294112161995, + 1.0 + ] + ], + "gripper_centers": [ + [ + 288.7637939453125, + 148.91796875 + ], + [ + 287.2156982421875, + 154.0999755859375 + ], + [ + 284.37176513671875, + 162.26104736328125 + ], + [ + 281.9971923828125, + 168.1436767578125 + ], + [ + 304.06317138671875, + 175.595703125 + ], + [ + 312.23468017578125, + 176.01712036132812 + ], + [ + 317.03375244140625, + 188.20321655273438 + ], + [ + 316.048828125, + 201.99609375 + ], + [ + 313.39337158203125, + 208.2298583984375 + ], + [ + 320.9828796386719, + 216.98208618164062 + ], + [ + 323.8673095703125, + 223.601318359375 + ], + [ + 326.90740966796875, + 225.9181671142578 + ], + [ + 325.7498779296875, + 236.858154296875 + ], + [ + 322.3345642089844, + 250.40533447265625 + ], + [ + 316.89825439453125, + 249.40008544921875 + ], + [ + 314.37249755859375, + 253.19802856445312 + ], + [ + 312.0966491699219, + 252.27137756347656 + ], + [ + 308.6396789550781, + 253.64328002929688 + ], + [ + 308.7906188964844, + 255.78768920898438 + ], + [ + 307.1749267578125, + 257.8451232910156 + ], + [ + 305.48040771484375, + 258.5656433105469 + ], + [ + 306.24310302734375, + 256.50274658203125 + ], + [ + 303.58428955078125, + 256.0633544921875 + ], + [ + 296.3470458984375, + 254.1641082763672 + ], + [ + 286.7056579589844, + 215.39053344726562 + ], + [ + 273.9784240722656, + 165.81979370117188 + ], + [ + 276.02825927734375, + 90.78289794921875 + ], + [ + 277.2222595214844, + 46.138999938964844 + ], + [ + 309.4681396484375, + 30.47979164123535 + ], + [ + 334.9337158203125, + 16.134122848510742 + ], + [ + 341.8428039550781, + 26.1348819732666 + ], + [ + 364.1666259765625, + 34.76973342895508 + ], + [ + 403.2507629394531, + 49.58262634277344 + ], + [ + 418.295654296875, + 64.22198486328125 + ], + [ + 397.7109375, + 55.858280181884766 + ], + [ + 438.8104248046875, + 82.03532409667969 + ], + [ + 446.1443176269531, + 89.53648376464844 + ], + [ + 457.46246337890625, + 100.65057373046875 + ], + [ + 457.1212158203125, + 105.22220611572266 + ], + [ + 455.751708984375, + 116.04673767089844 + ], + [ + 454.2238464355469, + 120.51554870605469 + ], + [ + 452.8070068359375, + 127.48717498779297 + ], + [ + 453.0514221191406, + 130.8260498046875 + ], + [ + 453.1424560546875, + 136.49070739746094 + ], + [ + 454.47344970703125, + 137.46408081054688 + ], + [ + 454.5980529785156, + 126.44808959960938 + ], + [ + 444.2496643066406, + 85.8476333618164 + ], + [ + 419.6767578125, + 43.215885162353516 + ] + ], + "depth_max": 1.90156090259552, + "depth_min": 0.5222606658935547, + "intrinsic": [ + [ + 625.2568969726562, + 0.0, + 259.0 + ], + [ + 0.0, + 623.9638061523438, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.846627780352719e-05, + 0.00010168190055992454, + -1.5120701391424518e-05 + ], + [ + -4.846474985242821e-05, + 1.0, + -1.5046362022985704e-05, + -4.277385596651584e-05 + ], + [ + -0.00010168262815568596, + 1.5041434380691499e-05, + 1.0, + 1.1335577255522367e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 320.75, + 273.5000305175781 + ], + [ + 320.7275695800781, + 273.98974609375 + ], + [ + 320.73760986328125, + 273.72723388671875 + ], + [ + 320.9444885253906, + 273.7987060546875 + ], + [ + 320.7919921875, + 273.18389892578125 + ], + [ + 321.11700439453125, + 273.03662109375 + ], + [ + 320.6756286621094, + 273.3638916015625 + ], + [ + 320.3223876953125, + 273.640625 + ], + [ + 319.8746337890625, + 273.49725341796875 + ], + [ + 319.96368408203125, + 273.5294189453125 + ], + [ + 319.7268981933594, + 273.5545349121094 + ], + [ + 320.0381164550781, + 273.3140869140625 + ], + [ + 319.93701171875, + 273.4449462890625 + ], + [ + 319.8074951171875, + 273.37371826171875 + ], + [ + 319.47357177734375, + 273.3505859375 + ], + [ + 319.4581298828125, + 272.7052917480469 + ], + [ + 319.4053955078125, + 272.84197998046875 + ], + [ + 319.12640380859375, + 272.403564453125 + ], + [ + 319.0321044921875, + 272.6601867675781 + ], + [ + 318.92059326171875, + 272.7001953125 + ], + [ + 317.6235046386719, + 271.8642883300781 + ], + [ + 312.16162109375, + 269.83782958984375 + ], + [ + 307.9898376464844, + 268.1890563964844 + ], + [ + 299.93463134765625, + 266.33770751953125 + ], + [ + 289.7725830078125, + 227.71173095703125 + ], + [ + 278.17474365234375, + 180.57583618164062 + ], + [ + 275.1512145996094, + 116.24259948730469 + ], + [ + 279.55035400390625, + 65.5916976928711 + ], + [ + 300.5185241699219, + 38.801849365234375 + ], + [ + 329.26031494140625, + 36.28651809692383 + ], + [ + 362.68084716796875, + 45.320919036865234 + ], + [ + 383.37908935546875, + 60.8279914855957 + ], + [ + 391.0373229980469, + 73.0294418334961 + ], + [ + 405.6600646972656, + 83.23300170898438 + ], + [ + 413.26788330078125, + 92.46630859375 + ], + [ + 425.9446716308594, + 103.98674774169922 + ], + [ + 431.5997619628906, + 107.52529907226562 + ], + [ + 442.190673828125, + 116.77609252929688 + ], + [ + 442.5513916015625, + 121.58787536621094 + ], + [ + 442.0101623535156, + 130.96926879882812 + ], + [ + 440.0039978027344, + 137.5169677734375 + ], + [ + 438.9931640625, + 142.953125 + ], + [ + 439.4039306640625, + 147.0799560546875 + ], + [ + 439.1762390136719, + 155.86666870117188 + ], + [ + 439.786376953125, + 157.0125274658203 + ], + [ + 440.3055114746094, + 157.91566467285156 + ], + [ + 441.4200744628906, + 158.42115783691406 + ], + [ + 442.99163818359375, + 156.79161071777344 + ] + ] +} \ No newline at end of file diff --git a/009867_v2/lang.txt b/009867_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..b3eb454f269504973dc6add19861cb515e1030d7 --- /dev/null +++ b/009867_v2/lang.txt @@ -0,0 +1 @@ +move the red cube onto the top of the yellow cube. diff --git a/009867_v2/object.ply b/009867_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..4040a7338aade207a6aeefe4bfee7a413622c79b Binary files /dev/null and b/009867_v2/object.ply differ diff --git a/009878_v2/data.json b/009878_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..2dd8301f4869780d98a8f2c21d3336cfa66d0318 --- /dev/null +++ b/009878_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 15, + "action_end": 34, + "object_name": "blue rectangle", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 3.469446951953614e-18, + 0.0, + 5.868314584151839e-07, + -3.695819934967725e-07, + -3.5886799368755047e-07, + 1.0 + ], + [ + -0.004717580677042865, + -0.006471776644181863, + 0.0031953691674585505, + 0.009908804227538258, + -0.025698395191291256, + 0.10099890377157592, + 1.0 + ], + [ + -0.003988962072093594, + -0.004355151755110157, + 0.0014260222073342044, + 0.020853626028733332, + -0.002559566820872817, + 0.035980658800504106, + 1.0 + ], + [ + -0.008418154089462004, + -0.007813950600526101, + 0.0008672129884864238, + 0.009575139065995997, + -0.008131644219390255, + 0.20857462221251832, + 1.0 + ], + [ + -0.0018740325300995453, + -0.009234014689869226, + -0.013915692228036736, + 0.024964799750646992, + 0.006996212910654514, + 0.19107668156173613, + 1.0 + ], + [ + -0.0018454950543616566, + -0.00785667097949445, + -0.005153340676603724, + 0.030496990234358982, + 0.0008765274890816427, + 0.1358539725962954, + 1.0 + ], + [ + -0.0020160859348214988, + -0.004328460851966682, + -0.0001393608589191908, + 0.07531559463696486, + -0.017001684919460993, + 0.12407505807658928, + 1.0 + ], + [ + -0.00019365151218453391, + -0.00042132675917375996, + -0.002137687940830635, + -0.009969147499252116, + -0.024328232806834757, + 0.10800788381954468, + 1.0 + ], + [ + -0.0016371850775542263, + 0.006450352050914238, + 0.003695416155157401, + 0.04128798709387518, + 0.05915486040511131, + 0.0871651487660283, + 1.0 + ], + [ + -0.004143057259716032, + 0.006748992463356137, + -0.004623709398834441, + -0.051357563327036775, + -0.06910446692202353, + 0.09091075037565234, + 1.0 + ], + [ + -0.005488126392339421, + 0.0016568783257741512, + -0.004240353406279998, + -0.021123875291894925, + -0.01238202270072387, + 0.08525979837643653, + 1.0 + ], + [ + -0.0016947145026857402, + -0.0037919106674619008, + -0.0034855843058616, + -0.009314807743301248, + 0.018478703561060673, + 0.0435040112785222, + 1.0 + ], + [ + 0.0009340417843824167, + -0.004780028760170231, + -0.004049838132981869, + -0.021940593906551564, + -0.005806312206550395, + 0.03257878132597905, + 1.0 + ], + [ + 0.0038895596301155577, + -0.006426720742136252, + -0.0072920447270701655, + -0.020050051542953962, + 0.0060989465437164565, + -0.0001301275393017617, + 1.0 + ], + [ + 0.0013431191490113348, + -0.0008796213538562747, + -0.0029583095351014693, + 0.005721877071426712, + 0.025493179870197093, + -0.0025814325842039004, + 1.0 + ], + [ + -0.0012389770590396365, + 0.0024872516114999646, + -0.006222102264333139, + -0.009755249760558119, + 0.013278604052070098, + 0.019463775571370658, + 1.0 + ], + [ + 0.001183579142225083, + 0.003920922367811164, + -0.005426359364251808, + -0.03778071666295549, + 0.003538013555334391, + -0.037897616591652084, + 0.0 + ], + [ + 0.0021125030187097993, + -7.302265166139743e-05, + 0.0007702561755700069, + -0.005767825730290724, + 0.012964188371242257, + -0.032339728877545555, + 0.0 + ], + [ + 0.00698239309203863, + -0.0035800557907204322, + 0.004938895221736614, + -0.010859211231077153, + -0.03843351038575079, + 0.0019115827133155368, + 0.0 + ], + [ + 0.021528267478499175, + -0.0026101573296757885, + 0.016904786880314958, + 0.055434452535242464, + -0.043464590042568946, + -0.03145262145512528, + 0.0 + ], + [ + 0.017792012021402626, + 0.005708817063702, + 0.019066362218290625, + 0.04640901707625504, + -0.06708317408772113, + 0.007833188464465853, + 0.0 + ], + [ + 0.009529822728222392, + 0.01116179240067651, + 0.01237160334197003, + 0.02765227618733796, + -0.040382874569328826, + 0.0427048469764299, + 0.0 + ], + [ + 0.0009257267037168782, + 0.013831059855073664, + 0.00045688190465796585, + -0.01047517944139635, + -0.019871072442043877, + 0.05307435779525542, + 0.0 + ], + [ + -0.0010850513644617976, + 0.016192030260752843, + -0.0003351234008084625, + -0.023066786631850963, + -0.02781571543826643, + 0.09676854368170147, + 0.0 + ], + [ + 0.0052486125266889005, + 0.014439324541073335, + -0.001964545557470873, + -0.011617329196351675, + 0.006145203494498714, + 0.07155391610168833, + 0.0 + ], + [ + 0.006827451623362457, + 0.013617262352845862, + -0.0028779760232499896, + -0.0016394576073292789, + 0.014680588724224038, + 0.055303094766225046, + 0.0 + ], + [ + 0.008704503260847818, + 0.007612349842784232, + -0.0033279684600101, + -0.021068288221114877, + -0.0037175690447904617, + 0.044642788898035586, + 0.0 + ], + [ + 0.0074012799870694645, + 0.004356349443549793, + -0.0040934928156223516, + -0.019091829666194573, + -0.002972085742010839, + 0.02013693243068779, + 0.0 + ], + [ + 0.004952805792299564, + 0.005340912042464792, + -0.00592529240498911, + -0.01764218444924552, + 0.003864272232507444, + 0.019169341412155178, + 0.0 + ], + [ + 0.001738048522612834, + 0.0027807811259394147, + -0.005638404175813058, + -0.011969352995568812, + 0.012679020248451899, + 0.006553332674267343, + 0.0 + ], + [ + 0.002994911473829298, + 0.0008017734465615572, + -0.008322550289637534, + -0.015687773639122306, + 0.01316698064715505, + 0.0047321567844967145, + 0.0 + ], + [ + 0.0027286657218105193, + 0.0025710853856727237, + -0.004527054538142866, + -0.006474689884391782, + 0.012489836379128203, + 0.008082193066087427, + 0.0 + ], + [ + 0.002618713700034192, + 0.0025343831042633977, + -0.004467518632301444, + -0.01078927629721942, + 0.013162075608664706, + -0.0012081538519118095, + 0.0 + ], + [ + 0.00041153661633869243, + 0.0011574043817422636, + -0.003495968078622208, + -0.009898494273693194, + 0.0007290491916181344, + 0.01085869672307915, + 0.0 + ], + [ + -0.0008393024528710602, + 0.00021751213620629928, + -0.0008777041515446518, + -0.008029055827228166, + -0.00075604860080956, + 0.004043210318096686, + 0.0 + ], + [ + -0.0005958035652600668, + -0.003742826586632407, + -0.0008838325871808606, + -0.027743190937949254, + 0.002964873864600311, + -0.015000692275629042, + 1.0 + ], + [ + -0.0007789468577590886, + -0.0016740577223003095, + 0.006344298464883942, + 0.006603986293775827, + -0.017698150469792413, + 0.0013175825592960347, + 1.0 + ], + [ + -0.0021792154020862653, + 0.0015313368980660533, + 0.011796337888623276, + 0.01463875507985945, + -0.026870923486841253, + 0.0033467571123087813, + 1.0 + ], + [ + 0.004096475018308621, + -0.0006143783654740734, + 0.0281834967862806, + 0.037134821145373156, + -0.018866635226707687, + -0.04970960727163961, + 1.0 + ], + [ + 0.0026433165105725354, + -0.02477126565516878, + 0.031228023296153345, + 0.023268778487351337, + -0.03412959836344422, + -0.1271433055362551, + 1.0 + ], + [ + -0.019804890921322704, + -0.03141582982544964, + 0.023566025543025365, + 0.054541943843202836, + 0.0843690916669442, + -0.29515499064133155, + 1.0 + ], + [ + -0.032889659056268616, + -0.03726895875075434, + 0.019722959325805173, + 0.03441089053817157, + 0.022589319199954702, + -0.6157222164509722, + 1.0 + ], + [ + -0.02581906594574193, + -0.021039876516458778, + -0.0055862855346584805, + -0.012002467719878649, + 0.0507111426672295, + -0.6241467590181002, + 1.0 + ], + [ + -0.02017419078123478, + -0.0017403850992520065, + 0.0013332198695409636, + -0.03662504876714105, + -0.048889558473008854, + -0.5609510768518821, + 1.0 + ], + [ + -0.0012915963880469339, + -0.004410436472552598, + -0.009631469513224494, + -0.037495672459839154, + -0.019463796611003795, + -0.46091931153574717, + 1.0 + ], + [ + 0.024158419299578182, + 0.003825573130808252, + -0.02245430195991327, + -0.08314486944268076, + -0.005042640081586486, + -0.3623002708321695, + 1.0 + ], + [ + 0.020857733191814304, + 0.008677655060472814, + -0.014901973125677592, + -0.009358294874208197, + 0.0412094838614681, + -0.24420912945130402, + 1.0 + ], + [ + 0.011074237570891265, + 0.004131143594968599, + -0.01294314464171463, + 0.025788689100695, + 0.03343886450088772, + 0.0039363340721590935, + 1.0 + ] + ], + "gripper_centers": [ + [ + 361.7206726074219, + 159.37876892089844 + ], + [ + 360.1727294921875, + 163.01913452148438 + ], + [ + 354.9476623535156, + 179.24839782714844 + ], + [ + 351.4521484375, + 183.507080078125 + ], + [ + 356.4403381347656, + 194.0734100341797 + ], + [ + 364.70184326171875, + 205.62826538085938 + ], + [ + 376.9678955078125, + 224.31256103515625 + ], + [ + 382.49786376953125, + 228.39715576171875 + ], + [ + 386.173583984375, + 233.42373657226562 + ], + [ + 382.4182434082031, + 235.23098754882812 + ], + [ + 380.3339538574219, + 245.77183532714844 + ], + [ + 368.3961181640625, + 250.61936950683594 + ], + [ + 364.8509521484375, + 256.8155517578125 + ], + [ + 368.06634521484375, + 258.935791015625 + ], + [ + 373.45556640625, + 266.2041320800781 + ], + [ + 374.3209533691406, + 274.2630615234375 + ], + [ + 376.78240966796875, + 276.899169921875 + ], + [ + 382.33758544921875, + 281.9068298339844 + ], + [ + 379.530029296875, + 279.6095275878906 + ], + [ + 382.13897705078125, + 277.5303039550781 + ], + [ + 390.76617431640625, + 251.29953002929688 + ], + [ + 408.3453369140625, + 206.72056579589844 + ], + [ + 412.3232116699219, + 184.01170349121094 + ], + [ + 414.0328369140625, + 175.56350708007812 + ], + [ + 392.783203125, + 163.10525512695312 + ], + [ + 370.69342041015625, + 153.03421020507812 + ], + [ + 358.4593811035156, + 141.00900268554688 + ], + [ + 349.95611572265625, + 135.61688232421875 + ], + [ + 349.8746337890625, + 130.68991088867188 + ], + [ + 349.80792236328125, + 130.705322265625 + ], + [ + 342.9367370605469, + 134.78883361816406 + ], + [ + 344.89483642578125, + 140.26904296875 + ], + [ + 345.20587158203125, + 143.09585571289062 + ], + [ + 342.702392578125, + 141.67123413085938 + ], + [ + 341.82659912109375, + 146.5 + ], + [ + 341.91046142578125, + 145.420654296875 + ], + [ + 342.2886962890625, + 145.86610412597656 + ], + [ + 341.40899658203125, + 146.27963256835938 + ], + [ + 337.7563781738281, + 146.8897247314453 + ], + [ + 336.5501708984375, + 126.83226013183594 + ], + [ + 339.50213623046875, + 86.61164855957031 + ], + [ + 384.22161865234375, + 74.11762237548828 + ], + [ + 420.081298828125, + 79.5216064453125 + ], + [ + 437.24224853515625, + 102.87377166748047 + ], + [ + 420.1172180175781, + 140.4637451171875 + ], + [ + 401.8349914550781, + 160.2373046875 + ], + [ + 411.1871337890625, + 175.79417419433594 + ], + [ + 421.12701416015625, + 177.86944580078125 + ] + ], + "depth_max": 1.6774641275405884, + "depth_min": 0.3209630250930786, + "intrinsic": [ + [ + 588.2079467773438, + 0.0, + 259.0 + ], + [ + 0.0, + 586.814453125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.5332450604764745e-05, + 6.632200529566035e-05, + -2.3004911781754345e-05 + ], + [ + -2.532844155211933e-05, + 1.0, + -6.044279143679887e-05, + -3.1888248486211523e-05 + ], + [ + -6.632353324675933e-05, + 6.0441110690589994e-05, + 1.0, + 5.105786840431392e-06 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 361.25, + 292.75 + ], + [ + 352.81658935546875, + 286.4228515625 + ], + [ + 352.6972961425781, + 286.4606018066406 + ], + [ + 352.4873962402344, + 286.36968994140625 + ], + [ + 352.5693054199219, + 286.9424743652344 + ], + [ + 352.56036376953125, + 286.7546081542969 + ], + [ + 352.7310485839844, + 287.4088439941406 + ], + [ + 352.63897705078125, + 287.235595703125 + ], + [ + 352.8720397949219, + 287.1608581542969 + ], + [ + 353.17547607421875, + 287.1374206542969 + ], + [ + 353.4806823730469, + 286.9209899902344 + ], + [ + 353.6546630859375, + 286.8800354003906 + ], + [ + 353.6695861816406, + 287.1441345214844 + ], + [ + 354.3863830566406, + 287.19927978515625 + ], + [ + 354.8399963378906, + 287.386962890625 + ], + [ + 355.1143493652344, + 287.4075927734375 + ], + [ + 355.4434509277344, + 287.4447937011719 + ], + [ + 354.95184326171875, + 286.9825744628906 + ], + [ + 362.7369689941406, + 290.2127990722656 + ], + [ + 365.3171081542969, + 288.308837890625 + ], + [ + 373.97088623046875, + 266.2594909667969 + ], + [ + 381.61297607421875, + 219.65713500976562 + ], + [ + 393.9462890625, + 200.63729858398438 + ], + [ + 395.5030212402344, + 191.5157470703125 + ], + [ + 376.7758483886719, + 178.95382690429688 + ], + [ + 355.05902099609375, + 170.09164428710938 + ], + [ + 342.92431640625, + 158.3587188720703 + ], + [ + 334.1541442871094, + 153.10183715820312 + ], + [ + 334.64544677734375, + 148.30548095703125 + ], + [ + 335.5530700683594, + 148.6933135986328 + ], + [ + 329.8277282714844, + 152.8540496826172 + ], + [ + 331.5160217285156, + 158.16505432128906 + ], + [ + 332.00177001953125, + 160.66357421875 + ], + [ + 329.57476806640625, + 159.4803466796875 + ], + [ + 328.2928771972656, + 163.12100219726562 + ], + [ + 328.12225341796875, + 162.3442840576172 + ], + [ + 328.5163269042969, + 161.71542358398438 + ], + [ + 328.90118408203125, + 161.32432556152344 + ], + [ + 329.3984375, + 160.57492065429688 + ], + [ + 329.5796203613281, + 161.0894775390625 + ], + [ + 322.20855712890625, + 157.7205810546875 + ], + [ + 322.43170166015625, + 157.3199462890625 + ], + [ + 322.52777099609375, + 157.33644104003906 + ], + [ + 322.27020263671875, + 157.18399047851562 + ], + [ + 322.19866943359375, + 157.21717834472656 + ], + [ + 321.55926513671875, + 157.7593231201172 + ], + [ + 321.8974609375, + 157.7752685546875 + ], + [ + 322.60723876953125, + 157.71148681640625 + ] + ] +} \ No newline at end of file diff --git a/009878_v2/lang.txt b/009878_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..1f848a3ba5a53be402beb5d9484110a83ee95cf8 --- /dev/null +++ b/009878_v2/lang.txt @@ -0,0 +1 @@ +put the blue rectangle on top of the cylinder and the yellow cube. diff --git a/009913_v2/FAIL b/009913_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/009913_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/009918_v2/data.json b/009918_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..6a1f4310bf289b067b8abc9da4f0c962a0e1d3d0 --- /dev/null +++ b/009918_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 15, + "action_end": 43, + "object_name": "red arch", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 6.938893903907228e-18, + 0.0, + 7.375157387003445e-08, + -2.0311558319964085e-07, + 3.836199701919147e-08, + 1.0 + ], + [ + -0.005506704822282438, + -0.0012184922841206418, + 0.000906650802778311, + -0.0050294534638364264, + -0.018974372645135542, + 0.017894190730749337, + 1.0 + ], + [ + -0.005614068088914292, + -0.0018165826036234088, + 0.0009855864349371801, + -0.0028265518863360923, + -0.004828247395851704, + 0.012535005012718209, + 1.0 + ], + [ + -0.0028938198960519745, + -0.000753756242731933, + 0.0021224685005336065, + -0.0019345534685072726, + -0.007896748655105005, + 0.008052019058057578, + 1.0 + ], + [ + -0.00406952556922785, + -0.0024619223793546086, + -0.0016644501716774202, + -0.014780616338947518, + 0.006653152279079443, + 0.010450708107583959, + 1.0 + ], + [ + -0.0058955039239143026, + -0.0024596501622349866, + -0.0019448304180200125, + -0.021657367128301734, + 0.013054421000213028, + 0.032447495558352066, + 1.0 + ], + [ + -0.005121981110420892, + -0.0033151158163070397, + -0.0020095796430783693, + -0.013910137526928398, + 0.017114901541197193, + 0.04127235196916132, + 1.0 + ], + [ + -0.003557313164513798, + -0.002611729618722386, + -0.0022059439239596017, + -0.022238994724745262, + 0.016981370190819464, + 0.017914588193532588, + 1.0 + ], + [ + -0.0013435789821993893, + -0.0007045706446993857, + -0.002489630356370988, + -0.01003039444259169, + 0.007777625539153982, + 0.004739910081690135, + 1.0 + ], + [ + 0.0003827351225388631, + 0.0024823572322125037, + -0.0009107053734708492, + 0.0023073218093931764, + 0.005026942459361768, + 0.008757119167841726, + 1.0 + ], + [ + 0.0007587120404210779, + 0.0036315603588107648, + 7.139453792118222e-05, + 0.006416113318449301, + -0.0005227269347752747, + 0.009439331320670145, + 1.0 + ], + [ + -0.0015146986933443907, + 0.0034810338096419244, + 0.0001609304936906683, + 0.008816019159860028, + 0.004930586791372606, + 0.014255321113804167, + 1.0 + ], + [ + -0.004573101107796462, + 0.0016719099508644697, + -0.0006911983732933169, + 0.004054377335435388, + 0.007392348568532335, + 0.024917388032726886, + 1.0 + ], + [ + -0.0034028047868644162, + 0.0013494386033530148, + -0.00416208245162801, + -0.00045251406514288593, + -0.00459297246160777, + 0.01039669035330898, + 1.0 + ], + [ + -0.002015730683249478, + -0.0033422086425512892, + -0.007250905736033566, + -0.02345908474635174, + -0.00899086975746751, + 0.01785748089298259, + 1.0 + ], + [ + 0.000821465792773951, + 0.0004582691158103655, + -0.004390749523954613, + -0.008093749031631127, + 0.001770553629331979, + -0.00681213406041132, + 1.0 + ], + [ + 0.0024761491907782374, + 0.0007303617765205273, + -0.003135089727284091, + -0.0049569328451601925, + 0.0027464054965274146, + -0.011526848444263197, + 0.0 + ], + [ + 0.0026654471189264117, + 0.0011460780253705269, + -0.0003111459830815039, + 0.004849641852429511, + -0.005342385405548357, + -0.01540066489643697, + 0.0 + ], + [ + 0.001879799626833878, + 0.0009919076136603172, + -5.957804390093607e-05, + 0.0002891575663894048, + -0.002748102904895966, + -0.009820680158508335, + 0.0 + ], + [ + 0.009661789184731845, + 0.005732157965183192, + 0.007638321152429668, + 0.028938810595071054, + -0.03134018430537848, + -0.02689841683949305, + 0.0 + ], + [ + 0.019116410766722103, + 0.014505641965849761, + 0.014548303401373076, + 0.034740306067611665, + -0.061446614384412714, + -0.04770318992512296, + 0.0 + ], + [ + 0.018055144399407558, + 0.016731662597287474, + 0.011182147576698546, + 0.043854456494089915, + -0.04841692489699235, + -0.021429250839414084, + 0.0 + ], + [ + 0.008397798368573628, + 0.00898802705513871, + -0.0002816898194876252, + -0.03272422317076759, + 0.025091561456701276, + 0.026995744625270313, + 0.0 + ], + [ + 0.007545516686378373, + 0.005777930616612426, + 0.0013620054647385874, + -0.007965264321843508, + -0.011183377595008457, + 0.011707478420477748, + 0.0 + ], + [ + 0.004474068536565845, + 0.003038741800119614, + 0.003051039919155521, + -0.018761014243697083, + -0.019016761888999933, + 0.023771469516465995, + 0.0 + ], + [ + 0.0030038720820856346, + 0.001458829644671103, + 0.0019783550695774074, + -0.002733252342574628, + 0.0059821777730286515, + -0.005865923496103326, + 0.0 + ], + [ + 0.0018015385521558125, + -0.004357860103559499, + -0.0004462212327338705, + 0.002625479258762493, + 0.01645700307596638, + -0.03526329769451666, + 0.0 + ], + [ + 0.0036697350766385917, + -0.011322693009472778, + -0.008199171876625645, + -0.025169225323691643, + 0.04610721028147082, + -0.0694331633982497, + 0.0 + ], + [ + 0.004223337348255696, + -0.0034569853325270797, + -0.005693368836723049, + -0.022827124682596296, + 0.007114370508006876, + -0.035248804026115424, + 0.0 + ], + [ + -1.590614436713933e-05, + 0.001239058468779185, + -0.0026373036036736394, + -0.004870171921923407, + 0.0014609693107587374, + -0.001363672538047893, + 0.0 + ], + [ + -0.000925248884565244, + 0.002270739360418751, + 0.0011964654553222737, + 0.004915779344140059, + 0.0012299934897946493, + 0.00430228910895279, + 0.0 + ], + [ + -0.002212373169302617, + 0.003038770271584267, + 0.002055884449853475, + 0.004302454550597247, + -0.0056551142581801024, + 0.007397323022773839, + 0.0 + ], + [ + -0.0022076411696310694, + 0.0021190279592706515, + 0.0009929247353315657, + -0.0036840382424780586, + -0.006788947242628019, + 0.005083767112892474, + 0.0 + ], + [ + -0.0005024626531610066, + 0.0008946975299443886, + 0.0006625098884390015, + -0.005967586867065121, + -0.0010937916302734881, + -0.00325788806784704, + 0.0 + ], + [ + -0.0012612653201062862, + 0.0014954617939199107, + 0.0007748465254524134, + -0.003103994806942456, + -0.0018753626278935846, + 0.0008578450963492374, + 0.0 + ], + [ + -0.0014012396584117126, + 0.0016756021492952099, + -9.737864580632027e-05, + -0.005291140517029928, + 0.001262255830431698, + 0.002554063330984474, + 0.0 + ], + [ + -0.001024683745421806, + 0.0010935847730713499, + -0.00011238212796154529, + -0.0007540469660031788, + 0.00315812325175414, + 0.000988973368730471, + 0.0 + ], + [ + -0.00285134069892673, + 0.0037117929699872175, + 0.00280505394815396, + 0.014568455461065975, + 0.010337445157769343, + 0.006995773379427696, + 0.0 + ], + [ + -0.0029555663127344145, + 0.00742792952371376, + 0.003617883722813499, + 0.01458917110916027, + -0.0029044998023508334, + 0.010932713833758854, + 0.0 + ], + [ + -0.0007719692325502958, + 0.001986269725911604, + 0.0003902986509316808, + 0.0016191599984723222, + 0.0008900120256150475, + 8.643923960462431e-05, + 0.0 + ], + [ + 0.0012473676753499419, + -0.0023094853877245435, + -0.0032419961519548207, + -0.012755751836102893, + 0.0027686066517862906, + -0.011929180063649212, + 0.0 + ], + [ + 0.001565838686805654, + -0.0009735531345987751, + -0.0014057707879820136, + -0.0014244503543950594, + -0.0020191813540833513, + -0.0026659301887372953, + 0.0 + ], + [ + 0.0029184017828360886, + -0.0030063917717833843, + -0.0004549301342036821, + -0.004405282585779706, + -0.0016422599904583636, + -0.012585903691193893, + 0.0 + ], + [ + 0.002237301355365373, + -0.0030322025670818133, + -0.0006217039352279172, + -0.005984650615195829, + -0.0005924522708995293, + -0.011171172534672234, + 0.0 + ], + [ + 0.0009415189058257223, + -0.001026323577232164, + 0.0019248112163971556, + -0.0040096972694329104, + 0.0027698880469248137, + 0.000532306884861429, + 1.0 + ], + [ + 0.0005548368484557531, + 0.0004268033629376, + 0.011321396733145056, + 0.024804615410581172, + -0.003216710968646356, + -0.014362428466737851, + 1.0 + ], + [ + -0.0020706646056231626, + -6.657124420832508e-05, + 0.01833995465329792, + 0.029362583745729247, + -0.04490160667228324, + 0.007706220281640927, + 1.0 + ], + [ + 0.0022818110268454372, + -0.004874696005349044, + 0.02725850156935227, + 0.043261894456449866, + -0.048126445679493424, + -0.054119649176121644, + 1.0 + ] + ], + "gripper_centers": [ + [ + 376.096435546875, + 229.85472106933594 + ], + [ + 374.6758728027344, + 232.68312072753906 + ], + [ + 368.1412048339844, + 247.5162811279297 + ], + [ + 359.4400634765625, + 257.2080383300781 + ], + [ + 357.4879455566406, + 255.31234741210938 + ], + [ + 356.28656005859375, + 259.41058349609375 + ], + [ + 356.0885009765625, + 267.0157775878906 + ], + [ + 354.86187744140625, + 277.9893798828125 + ], + [ + 356.70294189453125, + 283.119140625 + ], + [ + 358.23211669921875, + 287.5535888671875 + ], + [ + 357.7815246582031, + 287.8701171875 + ], + [ + 357.5077819824219, + 288.04705810546875 + ], + [ + 355.9859619140625, + 287.5633544921875 + ], + [ + 349.06634521484375, + 295.21441650390625 + ], + [ + 344.241943359375, + 302.36474609375 + ], + [ + 345.66253662109375, + 311.0826416015625 + ], + [ + 348.28497314453125, + 312.115234375 + ], + [ + 347.22308349609375, + 308.0227966308594 + ], + [ + 346.04168701171875, + 307.8455810546875 + ], + [ + 347.5193176269531, + 306.136962890625 + ], + [ + 349.11480712890625, + 294.2208251953125 + ], + [ + 347.50164794921875, + 269.83209228515625 + ], + [ + 346.0712585449219, + 232.2259979248047 + ], + [ + 346.9659423828125, + 203.42649841308594 + ], + [ + 343.44036865234375, + 194.0168914794922 + ], + [ + 344.59161376953125, + 183.86390686035156 + ], + [ + 343.7069091796875, + 176.46566772460938 + ], + [ + 346.1416931152344, + 174.30783081054688 + ], + [ + 353.8592834472656, + 179.28622436523438 + ], + [ + 365.92919921875, + 176.90206909179688 + ], + [ + 369.87335205078125, + 175.91453552246094 + ], + [ + 370.2929992675781, + 175.5359344482422 + ], + [ + 370.1624755859375, + 175.89944458007812 + ], + [ + 369.6363220214844, + 176.1470489501953 + ], + [ + 369.46002197265625, + 176.96218872070312 + ], + [ + 369.35662841796875, + 177.67877197265625 + ], + [ + 369.15875244140625, + 178.20718383789062 + ], + [ + 368.1140441894531, + 178.6372833251953 + ], + [ + 364.3839111328125, + 179.6954345703125 + ], + [ + 356.9753112792969, + 180.13497924804688 + ], + [ + 345.006591796875, + 177.76214599609375 + ], + [ + 344.91876220703125, + 177.63571166992188 + ], + [ + 344.57489013671875, + 177.58340454101562 + ], + [ + 344.4568176269531, + 177.40011596679688 + ], + [ + 346.5229797363281, + 177.140869140625 + ], + [ + 343.95196533203125, + 181.8740692138672 + ], + [ + 343.31781005859375, + 178.76124572753906 + ], + [ + 341.1043701171875, + 160.77723693847656 + ] + ], + "depth_max": 1.5637907981872559, + "depth_min": 0.32173967361450195, + "intrinsic": [ + [ + 591.9666748046875, + 0.0, + 259.0 + ], + [ + 0.0, + 591.0036010742188, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.9224316929467022e-05, + 4.8710349801694974e-05, + -6.088124791858718e-06 + ], + [ + -1.922194132930599e-05, + 1.0, + -4.877538958680816e-05, + -4.583179179462604e-05 + ], + [ + -4.8711288400227204e-05, + 4.877445098827593e-05, + 1.0, + -3.8488426071126014e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 328.25, + 316.75 + ], + [ + 328.2962341308594, + 317.1531982421875 + ], + [ + 327.9110412597656, + 317.60382080078125 + ], + [ + 327.6498107910156, + 317.9796447753906 + ], + [ + 327.84906005859375, + 317.9149475097656 + ], + [ + 328.2495422363281, + 317.92657470703125 + ], + [ + 328.2060852050781, + 317.69342041015625 + ], + [ + 327.8729248046875, + 317.7659912109375 + ], + [ + 327.61285400390625, + 317.7271423339844 + ], + [ + 327.6310729980469, + 317.7593078613281 + ], + [ + 327.80572509765625, + 317.7217102050781 + ], + [ + 327.674072265625, + 317.59521484375 + ], + [ + 327.48394775390625, + 317.74072265625 + ], + [ + 327.58819580078125, + 317.1465759277344 + ], + [ + 327.3581237792969, + 316.77655029296875 + ], + [ + 327.7122497558594, + 318.44891357421875 + ], + [ + 327.6903381347656, + 319.1546936035156 + ], + [ + 327.49420166015625, + 319.1484375 + ], + [ + 325.76861572265625, + 320.9031677246094 + ], + [ + 326.6577453613281, + 319.3014831542969 + ], + [ + 327.04180908203125, + 307.2492370605469 + ], + [ + 326.3067626953125, + 283.56890869140625 + ], + [ + 333.98406982421875, + 248.11903381347656 + ], + [ + 335.30975341796875, + 223.66427612304688 + ], + [ + 333.23193359375, + 215.9970245361328 + ], + [ + 334.5225524902344, + 209.20709228515625 + ], + [ + 334.572021484375, + 202.37640380859375 + ], + [ + 336.3076477050781, + 199.18212890625 + ], + [ + 340.6326904296875, + 201.75196838378906 + ], + [ + 349.961181640625, + 199.245361328125 + ], + [ + 354.3349609375, + 197.68313598632812 + ], + [ + 354.25665283203125, + 197.40699768066406 + ], + [ + 353.9284973144531, + 197.56504821777344 + ], + [ + 353.8714904785156, + 197.35240173339844 + ], + [ + 354.0174255371094, + 197.47903442382812 + ], + [ + 354.5231628417969, + 197.89637756347656 + ], + [ + 354.79449462890625, + 198.38308715820312 + ], + [ + 355.34014892578125, + 198.3017578125 + ], + [ + 352.9919738769531, + 199.30274963378906 + ], + [ + 348.38848876953125, + 199.79946899414062 + ], + [ + 344.26177978515625, + 198.34774780273438 + ], + [ + 343.83892822265625, + 198.43516540527344 + ], + [ + 343.4830017089844, + 198.08084106445312 + ], + [ + 343.9296875, + 197.87066650390625 + ], + [ + 344.9903259277344, + 197.37229919433594 + ], + [ + 347.2020263671875, + 197.75799560546875 + ], + [ + 348.35638427734375, + 197.55740356445312 + ], + [ + 346.92724609375, + 196.36483764648438 + ] + ] +} \ No newline at end of file diff --git a/009918_v2/lang.txt b/009918_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..96a4db7c21ea4780a9948f8acad07c1f9f2e645f --- /dev/null +++ b/009918_v2/lang.txt @@ -0,0 +1 @@ +put the red arch on the yellow block diff --git a/009918_v2/object.ply b/009918_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..11381e7513b6829e39d1a031ca823929b696d360 Binary files /dev/null and b/009918_v2/object.ply differ diff --git a/009928_v2/FAIL b/009928_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/009928_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/009999_v2/FAIL b/009999_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/009999_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/010003_v2/FAIL b/010003_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/010003_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/010021_v2/data.json b/010021_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..1830ac9bf3dc245d1951538793ea5a154773740f --- /dev/null +++ b/010021_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 17, + "action_end": 32, + "object_name": "yellow cube", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.271551, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 3.8415937098079667e-11, + -1.4884253898839184e-10, + -5.230524346977461e-12, + 2.6368177723749537e-08, + -1.3876565810493353e-07, + -2.384408419175911e-08, + 1.0 + ], + [ + 0.014599445775897557, + 0.009654412539575469, + 0.012410765487136446, + -0.02512601887927341, + 0.0773245723176999, + -0.40220972470106015, + 1.0 + ], + [ + 0.011219014995024812, + 0.009391819944731483, + 0.007756740632380674, + 0.033026910212953293, + 0.06072568500783035, + -0.40281568420240443, + 1.0 + ], + [ + 0.005777328274190585, + 0.0049045164434105976, + -0.000810487214029515, + -0.05401111346670919, + -0.100775245338534, + -0.4888989274452797, + 1.0 + ], + [ + -0.005364823469619473, + 0.0006098918656184532, + -0.009392133485808779, + -0.05952823971892922, + -0.0725260092026944, + -0.5029586640967967, + 1.0 + ], + [ + -0.0015751757844887915, + -0.006607416272083694, + -0.00897450361618285, + -0.07530857906486785, + -0.1022471278893312, + -0.47140156470443273, + 1.0 + ], + [ + -0.0024830405587958904, + 0.0019883147406841994, + -0.002882117457433414, + 0.02298725252852466, + 0.00048634186932625985, + -0.47108680787224927, + 1.0 + ], + [ + -0.0015811133605783123, + 0.006985796988346192, + -0.00652367795542122, + 0.034813075472385456, + 0.05889528239817152, + -0.26138487313243164, + 1.0 + ], + [ + 0.0019300560754987317, + 0.006030701731603631, + -0.0008270993996311315, + 0.03822234148867902, + 0.004042839851576908, + 0.009941884159816977, + 1.0 + ], + [ + -0.0019121159539234878, + 0.004444545099807393, + -0.003974917866614275, + 0.012685531502759547, + 0.015451738624771614, + 0.05692762173105946, + 1.0 + ], + [ + -0.005521698621812121, + 0.0020739307683272784, + -0.007731179229822915, + -0.013057068090774763, + 0.019911996603283837, + 0.082443810099459, + 1.0 + ], + [ + -0.005743207589781252, + 0.0027649555484908633, + -0.0019478410820319009, + -0.008262791088171932, + -0.024081852656467045, + 0.08636450420256717, + 1.0 + ], + [ + -0.0018897357284887173, + 0.0030287265619134834, + -0.005263305367448873, + -0.0040821375572904104, + 0.008736336971374836, + 0.019150358812209486, + 1.0 + ], + [ + 0.0011373308234486346, + 0.0051651284525773555, + 0.0028136392050287506, + 0.009475100643159592, + -0.02396794695034642, + 0.018055489213035028, + 1.0 + ], + [ + 0.002501119087423065, + 0.0007093751663971026, + -0.00871784994296175, + -0.014810735085527129, + 0.004264811431764956, + 0.01354861105104109, + 1.0 + ], + [ + 0.0012931918991799796, + -0.00016391080875045871, + -0.013784523967737002, + -0.035314181869922946, + 0.021823059045031096, + 0.007992874149504881, + 1.0 + ], + [ + -0.000950574717217989, + -0.0026106728226606007, + -0.008144098983954358, + -0.017065044067758772, + 0.02006142640867266, + 0.003937020816746519, + 1.0 + ], + [ + -0.00022468467121522506, + -0.0010088984861803402, + -0.009650049825066849, + -0.018720968346253856, + 0.021929138780133424, + 0.003419326801031057, + 0.271551 + ], + [ + 0.001561280551123978, + -0.0016656206168820867, + 0.00039596667620800385, + 0.0006321081676820212, + -0.0050206198780303945, + -0.014091139506934415, + 0.0 + ], + [ + 0.006054700980161198, + -0.0060542769593141255, + 0.015344850636467261, + 0.015938693298746254, + -0.031151657614128567, + -0.014585362866715057, + 0.0 + ], + [ + 0.015954231920962125, + -0.016404547284702753, + 0.04727531580863483, + 0.07472127793129468, + -0.06721537001697724, + -0.04515877078286028, + 0.0 + ], + [ + 0.015316754288278112, + -0.022093769122706663, + 0.030724436970876033, + 0.04472414258935072, + -0.025685240695574693, + -0.06603596044862048, + 0.0 + ], + [ + -0.0005441858588395854, + -0.02594133203685285, + -0.007166169474823, + -0.018197772331210327, + 0.03599478609158188, + -0.0628037778325497, + 0.0 + ], + [ + -0.008146116514294144, + -0.015369354038115025, + -0.014129686287063861, + -0.0339060854515815, + 0.03832991138252053, + -0.03152856212135695, + 0.0 + ], + [ + -0.005937831114291248, + -0.01384260272087863, + -0.014426444878603534, + -0.025914202307752373, + 0.05742691535210907, + -0.055676346866900615, + 0.0 + ], + [ + -0.005765979162262125, + -0.0035501675918778106, + -0.010952551006730427, + 0.002419212075623093, + 0.042690750581858276, + -0.021517163250133267, + 0.0 + ], + [ + -0.0031229948621033787, + -0.004164332288827788, + -0.003852096023534729, + -0.016513684972426335, + -0.010259816770137485, + -0.023406023150887932, + 0.0 + ], + [ + 0.0020110608386050277, + -0.00367005444811027, + -0.0022326697123916384, + -0.00019113971466953693, + 0.004951945466300176, + -0.018935859728411608, + 0.0 + ], + [ + 0.0006132558716211989, + -0.005194492802601466, + 0.0005149059851890792, + -0.012683279504682645, + -0.015577555351249373, + -0.013820342002470929, + 0.0 + ], + [ + 0.0021124978679078477, + -0.005856743856583281, + 8.660041080905956e-05, + -0.0060801730048219505, + -0.011578984681175356, + -0.012230842810908707, + 0.0 + ], + [ + 0.004528635416106319, + -0.0037192595999249456, + -0.004537928741640926, + -0.010589467796076522, + -2.667345426728366e-05, + -0.0024987434077500055, + 0.0 + ], + [ + 0.0026937307867002658, + -0.0014547608558357975, + -0.006131974861761258, + 0.002448024236318156, + 0.019100047364555582, + 0.0037549498456081517, + 0.0 + ], + [ + 5.123718240951369e-05, + 7.40310594705279e-05, + -0.007724759068091065, + -0.001963321708640944, + 0.027567869342405394, + 0.014419203181347155, + 0.0 + ], + [ + -0.0012039105609368828, + 0.0036459425135862006, + -0.0009731912681506458, + -0.0033813186808831575, + 0.0061453185719981965, + 0.04785480679840384, + 1.0 + ], + [ + 0.00023314873551777415, + 0.0028100798353027645, + 0.007690370848854787, + 0.001616918666104164, + -0.006869128477756049, + 0.030129232460581686, + 1.0 + ], + [ + 0.003128740452859158, + 0.009413938552989089, + 0.02093053206533039, + -0.00013292423661701646, + -0.05547931417439697, + 0.04202274074953644, + 1.0 + ], + [ + 0.008335477394494917, + 0.013959029107717978, + 0.02430228025919607, + 0.0065657542725054, + -0.06602246892531319, + 0.03512016236104942, + 1.0 + ], + [ + 0.001162590832486321, + 0.014938933432129327, + 0.009211211981938888, + 0.004233724167839714, + -0.022078756074131713, + 0.03336443389516507, + 1.0 + ], + [ + -0.004577199407557464, + 0.024160782174864705, + 0.0013125179749251814, + 0.007774053146467244, + 0.011216034395579692, + 0.04832974895866573, + 1.0 + ], + [ + -0.0003715883707806067, + 0.034718556313144064, + 0.00010481082894903127, + 0.02640069490244976, + -0.01121463926705052, + 0.06418533116925838, + 1.0 + ], + [ + 0.00033675992303933144, + 0.025597848529617814, + -0.0031292118582681022, + 0.014372382955131711, + -0.005926928656015808, + 0.048170985197263795, + 1.0 + ], + [ + -0.0017592510894323676, + 0.011605610225483051, + -0.01016811592458508, + 0.021214644464641108, + -0.0008632299542764872, + 0.0055869208526538264, + 1.0 + ], + [ + -0.000796510898046443, + -0.0026842202592979175, + -0.0070454681165361965, + 0.0204344890257956, + 0.0081813443539527, + -0.018400238413487417, + 1.0 + ], + [ + 9.281672391614482e-05, + -0.009436765680289047, + -0.0005118867024180851, + 0.0029176111145861787, + 0.02824409121751764, + 0.016972169135062023, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 318.8089599609375, + 106.35698699951172 + ], + [ + 317.09869384765625, + 109.8099136352539 + ], + [ + 316.7890625, + 113.61517333984375 + ], + [ + 317.5186462402344, + 86.26873779296875 + ], + [ + 330.1251220703125, + 80.69275665283203 + ], + [ + 332.965087890625, + 93.03497314453125 + ], + [ + 331.0678405761719, + 114.34859466552734 + ], + [ + 325.858154296875, + 121.8931884765625 + ], + [ + 316.8599853515625, + 117.4866714477539 + ], + [ + 307.3005065917969, + 118.72159576416016 + ], + [ + 303.042724609375, + 117.43545532226562 + ], + [ + 304.6491394042969, + 124.80589294433594 + ], + [ + 297.8152770996094, + 138.3086395263672 + ], + [ + 289.8361511230469, + 145.4876251220703 + ], + [ + 285.87921142578125, + 143.7138671875 + ], + [ + 282.83062744140625, + 144.33694458007812 + ], + [ + 284.8528747558594, + 149.25592041015625 + ], + [ + 283.5424499511719, + 165.234130859375 + ], + [ + 284.10675048828125, + 173.23338317871094 + ], + [ + 282.5853271484375, + 177.59886169433594 + ], + [ + 283.8780822753906, + 175.47274780273438 + ], + [ + 293.7560119628906, + 141.73220825195312 + ], + [ + 346.44622802734375, + 85.365478515625 + ], + [ + 384.7831115722656, + 78.89933776855469 + ], + [ + 412.339599609375, + 104.23657989501953 + ], + [ + 419.31658935546875, + 135.15621948242188 + ], + [ + 424.54400634765625, + 163.11598205566406 + ], + [ + 418.97808837890625, + 178.38031005859375 + ], + [ + 422.1247253417969, + 185.06326293945312 + ], + [ + 425.74713134765625, + 186.10568237304688 + ], + [ + 435.063232421875, + 189.322021484375 + ], + [ + 446.0338134765625, + 191.49624633789062 + ], + [ + 447.52374267578125, + 196.69776916503906 + ], + [ + 448.35516357421875, + 196.17431640625 + ], + [ + 453.62078857421875, + 199.3516387939453 + ], + [ + 460.8836669921875, + 201.61985778808594 + ], + [ + 455.451904296875, + 198.7105712890625 + ], + [ + 449.8279724121094, + 167.3600616455078 + ], + [ + 437.7900085449219, + 133.14443969726562 + ], + [ + 416.1412353515625, + 119.39698791503906 + ], + [ + 379.7513122558594, + 96.12037658691406 + ], + [ + 333.0003967285156, + 80.42500305175781 + ], + [ + 308.365966796875, + 74.61570739746094 + ], + [ + 298.5342712402344, + 82.88367462158203 + ], + [ + 294.3226013183594, + 85.14930725097656 + ], + [ + 296.56585693359375, + 90.43212890625 + ], + [ + 296.34820556640625, + 90.48695373535156 + ], + [ + 296.6826171875, + 90.50625610351562 + ] + ], + "depth_max": 2.1150357723236084, + "depth_min": 0.4553338587284088, + "intrinsic": [ + [ + 549.561279296875, + 0.0, + 259.0 + ], + [ + 0.0, + 548.4300537109375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.229813592042774e-05, + 1.6558504285058007e-05, + 1.0168842891289387e-05 + ], + [ + -3.229737194487825e-05, + 1.0, + -4.6145127271302044e-05, + -2.954816591227427e-05 + ], + [ + -1.6559995856368914e-05, + 4.614459612639621e-05, + 1.0, + 3.1308991310652345e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 264.0, + 197.5 + ], + [ + 264.1700134277344, + 197.83291625976562 + ], + [ + 264.3354187011719, + 197.93443298339844 + ], + [ + 264.45318603515625, + 197.55474853515625 + ], + [ + 264.3631591796875, + 197.6522674560547 + ], + [ + 264.74267578125, + 197.69969177246094 + ], + [ + 264.8073425292969, + 197.8649444580078 + ], + [ + 264.75445556640625, + 197.69876098632812 + ], + [ + 273.2169189453125, + 193.844970703125 + ], + [ + 273.0369873046875, + 193.4895477294922 + ], + [ + 265.03424072265625, + 197.99488830566406 + ], + [ + 265.15606689453125, + 198.24459838867188 + ], + [ + 265.03668212890625, + 198.19329833984375 + ], + [ + 264.71484375, + 198.1071014404297 + ], + [ + 264.70501708984375, + 197.69268798828125 + ], + [ + 264.45098876953125, + 197.75350952148438 + ], + [ + 264.775634765625, + 198.3189239501953 + ], + [ + 272.9494323730469, + 194.01739501953125 + ], + [ + 269.8432922363281, + 200.16310119628906 + ], + [ + 280.71826171875, + 197.80313110351562 + ], + [ + 282.3147888183594, + 195.91851806640625 + ], + [ + 289.3669738769531, + 165.8834991455078 + ], + [ + 345.031005859375, + 108.73933410644531 + ], + [ + 378.64398193359375, + 101.31316375732422 + ], + [ + 404.88775634765625, + 123.59715270996094 + ], + [ + 411.716064453125, + 155.2707061767578 + ], + [ + 417.7216491699219, + 181.25697326660156 + ], + [ + 412.2625732421875, + 196.80258178710938 + ], + [ + 415.9410400390625, + 204.43624877929688 + ], + [ + 419.34649658203125, + 206.0931854248047 + ], + [ + 427.38232421875, + 209.75469970703125 + ], + [ + 437.60870361328125, + 211.88560485839844 + ], + [ + 439.7718200683594, + 217.03549194335938 + ], + [ + 440.7944030761719, + 216.66812133789062 + ], + [ + 446.22418212890625, + 220.62937927246094 + ], + [ + 447.3079833984375, + 221.28509521484375 + ], + [ + 446.4998779296875, + 221.064208984375 + ], + [ + 445.72998046875, + 220.9150390625 + ], + [ + 446.35162353515625, + 221.21823120117188 + ], + [ + 447.1882019042969, + 220.49546813964844 + ], + [ + 447.2059020996094, + 221.0222625732422 + ], + [ + 447.14398193359375, + 220.7532958984375 + ], + [ + 446.92169189453125, + 221.19276428222656 + ], + [ + 447.312255859375, + 220.3278350830078 + ], + [ + 447.6018371582031, + 221.3468780517578 + ], + [ + 447.3800964355469, + 220.91683959960938 + ], + [ + 447.1580505371094, + 220.98446655273438 + ], + [ + 447.19866943359375, + 220.54287719726562 + ] + ] +} \ No newline at end of file diff --git a/010021_v2/lang.txt b/010021_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..994dbeaf677550655f2af45aebc801175f6fd8e3 --- /dev/null +++ b/010021_v2/lang.txt @@ -0,0 +1 @@ +put the yellow cube on top of the blue block diff --git a/010021_v2/object.ply b/010021_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..961b235615c15823f6c7d332d80c75167b09a4d7 Binary files /dev/null and b/010021_v2/object.ply differ diff --git a/010061_v2/data.json b/010061_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..500ccb2a29f5e69af26f0a67d08fbfcd1198cf01 --- /dev/null +++ b/010061_v2/data.json @@ -0,0 +1,788 @@ +{ + "action_start": 10, + "action_end": 27, + "object_name": "red cube", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 2.7755575615628914e-17, + 1.3877787807814457e-17, + 3.282147545244523e-07, + -1.614815716933354e-08, + 4.2217192692863814e-08, + 1.0 + ], + [ + -0.0002643946453163015, + 0.002316013268951811, + -0.012415903923952282, + 0.011995826471180806, + 0.03453657316665192, + 0.00888533411801208, + 1.0 + ], + [ + 0.0019513060325515585, + -0.0029237087555118724, + -0.019474177715718674, + 0.04335562870317639, + 0.025754107348678605, + 0.004296619531529759, + 1.0 + ], + [ + 0.0028509747950135056, + -0.005829177736434377, + -0.017337587969620663, + -0.005568936580347982, + 0.008197740222066294, + -0.0016011271478280713, + 1.0 + ], + [ + 0.002848624637728947, + 0.000995718436393768, + -0.01752088361737157, + -0.025908077146455814, + 0.01982988549862002, + 0.004654298423216931, + 1.0 + ], + [ + 0.00023953471749887933, + 0.005832630037453747, + -0.00794314804905677, + -0.011333999197057364, + 0.0046772400464607546, + 0.028703509414881406, + 1.0 + ], + [ + 0.0033271441593973328, + 0.0044857106859856125, + -0.006031103853284765, + -0.004842350870460905, + 0.003826284064188103, + 0.02043494019966824, + 1.0 + ], + [ + 0.0024499508223424504, + 0.005508040887977739, + -0.0027609319474353744, + 0.0005895227227545878, + 0.004814844407609093, + 0.014140405106763893, + 1.0 + ], + [ + 0.003579332505848576, + 0.0033610396317152527, + -0.007991526704489382, + -0.011488346957286705, + 0.012741601388359796, + 0.0027053836490042982, + 1.0 + ], + [ + 0.0023172664597921333, + 0.0008507525241363695, + -0.008564235175957603, + -0.00805872326695105, + 0.017140041555817637, + 0.00017586155246803823, + 1.0 + ], + [ + -0.0007841106288485888, + -0.002809866504320052, + -0.0062002851251583176, + -0.0015942506802136696, + 0.017400271072635278, + -0.003960493064294673, + 1.0 + ], + [ + 0.0006656135613127834, + -0.0013216945472157987, + -0.00276474272880463, + -0.0046017300945807365, + 0.0012549486764498285, + 0.003723861761914297, + 0.0 + ], + [ + -0.0008218211904196804, + 0.00389504784278559, + 0.016156166595463796, + 0.014430371807256323, + -0.040644909405312235, + 0.01657294034702165, + 0.0 + ], + [ + -0.0012935748187759, + 0.005972717500713286, + 0.04208486477444136, + 0.021852061708158246, + -0.06547831374948904, + -0.013444701474946877, + 0.0 + ], + [ + -0.0015585808095750497, + 0.016253419519362725, + 0.054968338800149744, + 0.011420552151553924, + -0.02837900566410222, + -0.06733945112898791, + 0.0 + ], + [ + 0.0044619785453449134, + 0.0256984021011814, + 0.05056626842538346, + 0.019679615770289018, + 0.003884753038573449, + -0.028799947204545873, + 0.0 + ], + [ + 0.006691923370678421, + 0.023948327703626055, + 0.017137271425156794, + 0.004482892659459403, + 0.002839667746572042, + -0.0019130783416013522, + 0.0 + ], + [ + 0.001983707522554057, + 0.019975293661364524, + 0.010017994296598137, + -0.002401913122871379, + -0.012316128891858022, + 0.018427377758436104, + 0.0 + ], + [ + -0.00021758453080411577, + 0.016504298658533933, + -0.0017216887122480096, + 0.0011549690096658604, + 0.03272680762320106, + -0.01727898934089256, + 0.0 + ], + [ + -0.005570630789501596, + 0.010870793006473818, + -0.011238984206567826, + -0.0010954095274915757, + 0.015379860822429236, + 0.002365918974774319, + 0.0 + ], + [ + 0.0008708575387205708, + 0.00557909928556459, + -0.010408210509262522, + -0.002620626577618259, + 0.02569673343573587, + -0.006825436626500392, + 0.0 + ], + [ + -0.00047019301699946503, + 0.005939508136513588, + -0.0046992310760682054, + 0.002488447143826492, + 0.0034812499221717344, + 0.004128695861123543, + 0.0 + ], + [ + -6.0580647233243745e-05, + 0.0034367637334742906, + -0.006669495282300653, + -0.009221613593909628, + 0.007675484449362937, + 0.006128277231268076, + 0.0 + ], + [ + 0.0005659848512010179, + -0.00384918367988267, + -0.004878673644383075, + -0.008692774201366233, + 0.008501841537995766, + -0.015394457988747001, + 0.0 + ], + [ + 0.0005688401585228764, + -0.008147118093791123, + -0.010140190791042225, + -0.01319717283441274, + 0.015576158815616607, + -0.022551823129788172, + 0.0 + ], + [ + 0.003370858580922398, + -0.008646772619976553, + -0.0020713587247611076, + -0.007037310375096911, + 0.0013156722114333582, + -0.014584864917076031, + 0.0 + ], + [ + 0.0009246135015840151, + -0.002374244756232602, + -0.0027763260314631333, + -0.00332712378919156, + 0.002594082636631443, + 0.0004955468286415276, + 0.0 + ], + [ + -0.0011336537764715104, + 0.0031111665065536864, + -0.0049006053978049025, + 0.002231048049297425, + 0.014296737733545641, + 0.03430324230097731, + 0.0 + ], + [ + -0.0004560638784134041, + 0.0025850934313509377, + 0.0034605592252421047, + 0.0023648484510918138, + -0.004001215426270629, + 0.04045949662797139, + 1.0 + ], + [ + -0.0018498668395632856, + 0.002379795864729667, + 0.01742659966529811, + 0.01643387790012501, + -0.04220076581868351, + 0.03959013242743338, + 1.0 + ], + [ + -0.0006306785984084295, + -0.0008478479942689854, + 0.02519983647425736, + 0.020156323520940902, + -0.048105475123899975, + 0.007511418967612461, + 1.0 + ], + [ + -0.006870059325282396, + -0.005570565072062092, + 0.013685809252996894, + 0.015557344130592588, + -0.010333130473047143, + -0.009974984396129795, + 1.0 + ], + [ + -0.014722761965000664, + -0.012370132888212239, + 0.007490938862668772, + 0.010769813499113325, + 0.011282474918060732, + -0.039600758826496225, + 1.0 + ], + [ + -0.02380731188858004, + -0.017520298148801905, + -0.014280956675980866, + -0.008068272612530469, + 0.05753520859284023, + -0.03951353778130756, + 1.0 + ], + [ + -0.01736707497289175, + -0.006363913461077411, + -0.021308706753774914, + -0.03550108725416086, + 0.025740355355385578, + 0.004163797510374161, + 1.0 + ], + [ + -0.011601202526019982, + 0.0033571483924041065, + -0.017094073960634698, + -0.02898072968473837, + 0.007989942741937744, + 0.038440514930832136, + 1.0 + ], + [ + -0.0016362477437172063, + 0.004770212010942958, + -0.019597179998617487, + 0.005584122644081644, + -0.000982600058679283, + 0.05889730580433564, + 1.0 + ], + [ + 0.008825543236671424, + -0.0022828501528624166, + -0.008522206998393539, + 0.013101130500907979, + -0.0031978070914581323, + 0.003944184817288606, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 443.6077575683594, + 153.29977416992188 + ], + [ + 440.76593017578125, + 161.70745849609375 + ], + [ + 436.4404602050781, + 176.90260314941406 + ], + [ + 428.0141296386719, + 193.14573669433594 + ], + [ + 433.1327209472656, + 212.39584350585938 + ], + [ + 435.74383544921875, + 239.37355041503906 + ], + [ + 436.8186950683594, + 252.59976196289062 + ], + [ + 436.29998779296875, + 258.4051513671875 + ], + [ + 426.42633056640625, + 257.776123046875 + ], + [ + 420.084228515625, + 262.18359375 + ], + [ + 417.53985595703125, + 266.55126953125 + ], + [ + 415.1700744628906, + 272.10491943359375 + ], + [ + 414.50457763671875, + 276.98333740234375 + ], + [ + 413.95013427734375, + 273.6778564453125 + ], + [ + 417.0649108886719, + 241.88536071777344 + ], + [ + 417.1269226074219, + 191.6786651611328 + ], + [ + 403.7196350097656, + 101.45657348632812 + ], + [ + 341.0826416015625, + 29.916175842285156 + ], + [ + 358.30157470703125, + 11.653141021728516 + ], + [ + 328.6390075683594, + -27.941007614135742 + ], + [ + 308.055419921875, + -28.870283126831055 + ], + [ + 292.127685546875, + 10.747366905212402 + ], + [ + 293.636962890625, + 15.675318717956543 + ], + [ + 283.0692138671875, + 16.815256118774414 + ], + [ + 284.1932373046875, + 22.34783935546875 + ], + [ + 285.43011474609375, + 26.84593391418457 + ], + [ + 290.2105712890625, + 31.681293487548828 + ], + [ + 297.95513916015625, + 33.088157653808594 + ], + [ + 296.6200866699219, + 33.88245391845703 + ], + [ + 301.636474609375, + 38.74684143066406 + ], + [ + 301.08642578125, + 37.504913330078125 + ], + [ + 297.162841796875, + 21.94771957397461 + ], + [ + 290.0130615234375, + -17.80099868774414 + ], + [ + 286.4443664550781, + -24.768701553344727 + ], + [ + 288.9021911621094, + 14.93638801574707 + ], + [ + 287.73968505859375, + 41.646942138671875 + ], + [ + 279.44561767578125, + 83.6608657836914 + ], + [ + 266.9088134765625, + 116.27410888671875 + ], + [ + 269.4805908203125, + 125.02153015136719 + ], + [ + 269.34417724609375, + 129.99725341796875 + ] + ], + "depth_max": 2.0101139545440674, + "depth_min": 0.5852546095848083, + "intrinsic": [ + [ + 578.3519897460938, + 0.0, + 259.0 + ], + [ + 0.0, + 576.9765014648438, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.745334783568978e-05, + 7.294823444681242e-05, + 9.50833418755792e-06 + ], + [ + -5.7450379244983196e-05, + 1.0, + -4.072410592925735e-05, + -3.1683412089478225e-05 + ], + [ + -7.295057730516419e-05, + 4.071991497767158e-05, + 1.0, + 6.248748832149431e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 39 + ], + "object_trajectory": [ + [ + 412.0, + 278.25 + ], + [ + 412.32037353515625, + 280.0611267089844 + ], + [ + 412.29022216796875, + 280.0716552734375 + ], + [ + 412.5145263671875, + 279.8642578125 + ], + [ + 412.6470031738281, + 279.212646484375 + ], + [ + 413.0457763671875, + 278.90740966796875 + ], + [ + 412.9098205566406, + 278.92926025390625 + ], + [ + 413.24908447265625, + 278.46661376953125 + ], + [ + 412.932861328125, + 278.4881286621094 + ], + [ + 413.2137756347656, + 279.57159423828125 + ], + [ + 413.86529541015625, + 277.9746398925781 + ], + [ + 413.5423583984375, + 278.527587890625 + ], + [ + 413.5207824707031, + 278.8563232421875 + ], + [ + 411.3230285644531, + 275.5479431152344 + ], + [ + 413.6730041503906, + 243.07054138183594 + ], + [ + 412.04595947265625, + 195.45449829101562 + ], + [ + 404.7302551269531, + 109.33763122558594 + ], + [ + 387.6297912597656, + 38.85398483276367 + ], + [ + 360.40362548828125, + 7.49282169342041 + ], + [ + 332.072509765625, + -19.712848663330078 + ], + [ + 310.88616943359375, + -16.40457534790039 + ], + [ + 295.0928955078125, + -4.256330490112305 + ], + [ + 292.19482421875, + 2.2455639839172363 + ], + [ + 288.9643249511719, + 6.847489833831787 + ], + [ + 289.0248107910156, + 15.176929473876953 + ], + [ + 292.40997314453125, + 25.38775062561035 + ], + [ + 290.85736083984375, + 33.99937438964844 + ], + [ + 299.4105529785156, + 39.64247131347656 + ], + [ + 292.31976318359375, + 38.77125549316406 + ], + [ + 298.75421142578125, + 35.461326599121094 + ], + [ + 306.9496765136719, + 36.47184753417969 + ], + [ + 307.9063720703125, + 36.95624923706055 + ], + [ + 307.97052001953125, + 41.16053771972656 + ], + [ + 308.53765869140625, + 40.55132293701172 + ], + [ + 307.6924133300781, + 35.346343994140625 + ], + [ + 306.1959533691406, + 34.26936721801758 + ], + [ + 308.1405334472656, + 39.45225524902344 + ], + [ + 313.4424133300781, + 40.57697296142578 + ], + [ + 314.1070251464844, + 36.524837493896484 + ], + [ + 318.27587890625, + 36.85558319091797 + ] + ] +} \ No newline at end of file diff --git a/010061_v2/lang.txt b/010061_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..0c7a017d6cf12d7a5f47612f5ec69bfd7d7b94a8 --- /dev/null +++ b/010061_v2/lang.txt @@ -0,0 +1 @@ +put the red cube on top of the green arch from the tower diff --git a/010061_v2/object.ply b/010061_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..783677e687a1297de951a6c4fda1e833bea20a6f Binary files /dev/null and b/010061_v2/object.ply differ diff --git a/010096_v2/data.json b/010096_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..2e069e6d95ed97323932b74ad73729c345359ef7 --- /dev/null +++ b/010096_v2/data.json @@ -0,0 +1,769 @@ +{ + "action_start": 3, + "action_end": 22, + "object_name": "green cube", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + -5.204170427930421e-18, + 2.7755575615628914e-17, + 3.9309727045427186e-07, + -6.126270557219321e-07, + 3.7706754197508564e-07, + 1.0 + ], + [ + -0.008682806773595786, + -0.0027886967766172464, + -0.014044949274709013, + -0.03791210298034055, + 0.021863700991102093, + -0.0028789774697791895, + 1.0 + ], + [ + -0.006190127231783582, + -0.003984943660840337, + -0.004088562691976393, + -0.00907858873742225, + 0.009432886411776883, + -0.007236794268271068, + 1.0 + ], + [ + -0.005335651444523082, + -0.0020716727915124273, + -0.0018707134924262642, + 0.00023941804163513732, + 0.003085991818374919, + 0.0036100065886929987, + 1.0 + ], + [ + 0.00041619401306119963, + 0.0004535984888698009, + -0.010601367002328948, + -0.0015492317980597234, + -0.003934927150026876, + 0.021839696646696743, + 0.0 + ], + [ + 0.0012414656344147401, + 0.0005062735264857532, + 0.002645333704440077, + 0.015555485196550417, + -0.03549972743651986, + 0.0330224483449389, + 0.0 + ], + [ + 0.006602195087343277, + 0.0022881102588964983, + 0.006128766442934624, + 0.0011994972966006387, + -0.03553781956147696, + 0.023999207692678857, + 0.0 + ], + [ + 0.003578428929147337, + 0.012635909903056002, + 0.016356535424172387, + 0.015199772511614848, + -0.047835714973887056, + 0.0532613858946084, + 0.0 + ], + [ + 0.0028709702262799675, + 0.02380920552779246, + 0.015904078111589667, + 0.03634510174858509, + -0.04240554933466662, + 0.04856939234599614, + 0.0 + ], + [ + 0.004052263875291395, + 0.015392406099969582, + 0.0007740665167326605, + -0.014163743724070742, + -0.03318643885643101, + 0.01382992986579825, + 0.0 + ], + [ + -0.0018247400149641324, + 0.006866854930968148, + -0.004561310294863098, + 0.0015133671124981274, + 0.02739763861305741, + 0.012123579028967216, + 0.0 + ], + [ + 0.003069753251668028, + 0.004622736390722353, + -0.007845444605890678, + -0.028384183896070756, + 0.011516467596765476, + 0.009090652154174742, + 0.0 + ], + [ + -0.0010520139730550992, + 0.00516433322594409, + -0.001473730972800829, + -0.00033326948579439806, + 0.017414943644178716, + 0.006080444703465501, + 0.0 + ], + [ + -0.0063236981789167035, + 0.005297605324118777, + -0.004144278225552127, + 0.003915666447230317, + 0.02895629322011279, + 0.014334364578384828, + 0.0 + ], + [ + -0.004355214107868377, + 0.00434691067072078, + -0.0017400122776461795, + -0.0035011488022704796, + 0.011034513815071104, + 0.014256318629286823, + 0.0 + ], + [ + -0.005548281636122476, + 0.002199551301452385, + -0.003047257430298659, + 0.0069719384922305346, + 0.015241025324482354, + 0.007394187185030473, + 0.0 + ], + [ + -0.0012737152534173513, + -0.0010519622065760098, + -0.004979570379435284, + -0.005438867592008034, + 0.015090866366704252, + -0.005419489725768604, + 0.0 + ], + [ + 0.0005616490014067055, + -0.003676282509287046, + -0.003910479645416593, + -0.0044268177440209356, + 0.00861903016721828, + -0.010001672032633505, + 0.0 + ], + [ + 0.003036332793142804, + -0.004844175642786636, + -0.002193376469281477, + -0.005130390085931487, + 0.0013205695765781495, + -0.014133904345222539, + 0.0 + ], + [ + 0.0019399751942256738, + -0.002033422754873976, + -0.001984003547316192, + -0.0040295773535637056, + -0.0025020025129681126, + -0.003329681191299533, + 0.0 + ], + [ + 0.0016853406422191464, + -0.0003355896782333001, + -0.00284365517280069, + -0.006887891281897005, + -0.0030783866602053433, + -0.0008348081613094581, + 0.0 + ], + [ + 0.003221221192881596, + -0.002744946114608404, + -0.0010296102683971333, + -0.0038866279405663368, + -0.0005530074025311596, + -0.007866826666454033, + 0.0 + ], + [ + -0.0004914576116820668, + -0.0012741088067038248, + -0.0030021778323315027, + -0.0012123461830537286, + 0.012068061463766292, + 0.0024799990198122526, + 0.0 + ], + [ + -0.0007572928079098151, + 0.0017205538517116037, + -0.003440395196762163, + -0.012888892148757552, + 0.018529291253755444, + 0.012537262826310961, + 1.0 + ], + [ + 0.001030906041384505, + 0.0004981283776672035, + 0.001190281345660472, + -5.590566963467981e-05, + 0.011037925899732712, + -0.0026514430057666045, + 1.0 + ], + [ + -0.0011262537665732708, + 5.8543908239450104e-05, + 0.012748417155107937, + 0.01627082740861523, + -0.020198323644448114, + 0.01667668965840045, + 1.0 + ], + [ + 0.005881956671630717, + -0.00437718093517802, + 0.026998534917006073, + 0.0605266910088146, + -0.047484327695287425, + -0.04661511132423142, + 1.0 + ], + [ + 0.005984011223593322, + -0.016527231169235476, + 0.027253639533561982, + 0.06074633730087372, + 0.019681375815889274, + -0.08222000371749999, + 1.0 + ], + [ + 0.004080078839811041, + -0.01983041867058348, + 0.01647163546059356, + 0.005933856311476045, + 0.01579181272479142, + -0.08397952015062975, + 1.0 + ], + [ + 0.00034499559749617825, + -0.019128791375555936, + 0.002408568694353637, + -0.007550966979189447, + 0.0032694471771242384, + -0.054367354645536804, + 1.0 + ], + [ + -0.0053690643155770434, + -0.015009753707793717, + 0.00244243318642369, + -0.02652291066477855, + -0.01342476578547355, + -0.014376873266372053, + 1.0 + ], + [ + -0.009070237361618605, + -0.013709143581605148, + 0.0012408343370168828, + -0.02704041077247162, + -0.018498524739322467, + -0.017635094684048013, + 1.0 + ], + [ + -0.006871964897379623, + -0.006765578743814263, + -0.0003231368038597998, + -0.007753568737924296, + -0.016959367996542584, + -0.0056020309212329675, + 1.0 + ], + [ + -0.007096971466934221, + -0.006370914618641671, + -0.006124464013097172, + 0.004350265702480019, + -8.80599180054158e-05, + -0.015546058561674176, + 1.0 + ], + [ + -0.004693003882591751, + -0.009321001673802433, + -0.007054594924317439, + 0.0009570842677276335, + 0.01255200100148257, + -0.024280473026744905, + 1.0 + ], + [ + -0.0038787799507117304, + -0.010105498096440076, + -0.008206194839267336, + -0.006201190309527681, + 0.014725782560298143, + -0.02112664854855167, + 1.0 + ], + [ + 0.001713730934451707, + -0.0007068844879840677, + -0.002571367980873082, + -0.011201482651918258, + 0.005138768448894659, + 0.03596161585206663, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 351.0706481933594, + 197.31478881835938 + ], + [ + 350.5068664550781, + 198.37493896484375 + ], + [ + 346.08160400390625, + 222.07470703125 + ], + [ + 343.8024597167969, + 240.58798217773438 + ], + [ + 338.3536682128906, + 252.4796142578125 + ], + [ + 337.26318359375, + 258.2761535644531 + ], + [ + 336.8224792480469, + 261.2838134765625 + ], + [ + 336.455078125, + 262.556396484375 + ], + [ + 338.0048828125, + 253.35140991210938 + ], + [ + 322.6111755371094, + 219.39495849609375 + ], + [ + 299.0457458496094, + 199.3123321533203 + ], + [ + 284.86322021484375, + 188.74459838867188 + ], + [ + 283.41650390625, + 189.66957092285156 + ], + [ + 277.29638671875, + 189.873779296875 + ], + [ + 268.37030029296875, + 191.18016052246094 + ], + [ + 261.3266906738281, + 191.4405059814453 + ], + [ + 253.10308837890625, + 194.0879669189453 + ], + [ + 251.1688690185547, + 198.38619995117188 + ], + [ + 251.01675415039062, + 203.60763549804688 + ], + [ + 251.62033081054688, + 210.43234252929688 + ], + [ + 252.77671813964844, + 212.10574340820312 + ], + [ + 254.31678771972656, + 215.12123107910156 + ], + [ + 255.75772094726562, + 215.5634307861328 + ], + [ + 257.19677734375, + 213.97860717773438 + ], + [ + 259.2243347167969, + 221.29525756835938 + ], + [ + 260.10455322265625, + 220.21253967285156 + ], + [ + 258.91204833984375, + 219.97897338867188 + ], + [ + 256.98944091796875, + 200.775634765625 + ], + [ + 275.8154602050781, + 177.28317260742188 + ], + [ + 311.05780029296875, + 159.89373779296875 + ], + [ + 333.16094970703125, + 163.69613647460938 + ], + [ + 358.8130798339844, + 167.87692260742188 + ], + [ + 365.3782653808594, + 173.44833374023438 + ], + [ + 373.951416015625, + 186.99513244628906 + ], + [ + 373.19219970703125, + 199.58615112304688 + ], + [ + 376.6432800292969, + 220.44393920898438 + ], + [ + 387.93353271484375, + 235.03237915039062 + ], + [ + 395.5601806640625, + 242.77430725097656 + ], + [ + 396.0633544921875, + 245.9156494140625 + ] + ], + "depth_max": 1.6657634973526, + "depth_min": 0.4664803147315979, + "intrinsic": [ + [ + 586.23583984375, + 0.0, + 259.0 + ], + [ + 0.0, + 585.0389404296875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -1.2861787013207504e-07, + 4.288044510758482e-05, + 3.2810576158226468e-06 + ], + [ + 1.30961282707176e-07, + 1.0, + -5.465004142024554e-05, + -3.2680756703484803e-05 + ], + [ + -4.2880437831627205e-05, + 5.465004869620316e-05, + 1.0, + 3.5365599615033716e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 38 + ], + "object_trajectory": [ + [ + 347.25, + 279.2500305175781 + ], + [ + 347.6924133300781, + 279.90093994140625 + ], + [ + 346.9996643066406, + 280.5252990722656 + ], + [ + 346.92828369140625, + 281.1324157714844 + ], + [ + 343.472900390625, + 280.075927734375 + ], + [ + 343.258544921875, + 280.4774475097656 + ], + [ + 341.6560974121094, + 278.91534423828125 + ], + [ + 340.898193359375, + 279.11114501953125 + ], + [ + 344.56109619140625, + 269.5314636230469 + ], + [ + 326.6285705566406, + 237.74755859375 + ], + [ + 306.7125244140625, + 217.12376403808594 + ], + [ + 292.5729064941406, + 206.392822265625 + ], + [ + 291.75823974609375, + 207.3341827392578 + ], + [ + 287.10809326171875, + 208.0476531982422 + ], + [ + 279.1014709472656, + 210.20562744140625 + ], + [ + 273.17315673828125, + 210.03408813476562 + ], + [ + 266.09576416015625, + 213.33773803710938 + ], + [ + 263.60919189453125, + 216.82266235351562 + ], + [ + 263.3401184082031, + 220.89620971679688 + ], + [ + 262.39111328125, + 226.81581115722656 + ], + [ + 263.3136901855469, + 228.51673889160156 + ], + [ + 264.90252685546875, + 230.8704376220703 + ], + [ + 266.0332946777344, + 231.5978240966797 + ], + [ + 266.9799499511719, + 229.87164306640625 + ], + [ + 268.2969055175781, + 228.47341918945312 + ], + [ + 271.4132080078125, + 225.65586853027344 + ], + [ + 268.6763916015625, + 227.93753051757812 + ], + [ + 268.3315734863281, + 228.32566833496094 + ], + [ + 268.82623291015625, + 227.83213806152344 + ], + [ + 271.46533203125, + 224.30279541015625 + ], + [ + 268.5592346191406, + 226.75083923339844 + ], + [ + 268.56719970703125, + 226.6261749267578 + ], + [ + 272.6405944824219, + 223.47674560546875 + ], + [ + 272.7337341308594, + 223.94772338867188 + ], + [ + 272.7286682128906, + 224.03367614746094 + ], + [ + 269.1378479003906, + 226.89654541015625 + ], + [ + 269.0394592285156, + 226.94146728515625 + ], + [ + 269.4163513183594, + 226.8284149169922 + ], + [ + 272.57672119140625, + 224.20361328125 + ] + ] +} \ No newline at end of file diff --git a/010096_v2/lang.txt b/010096_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..4d8c0fd729086ae1de82192415b4325f8ef14f70 --- /dev/null +++ b/010096_v2/lang.txt @@ -0,0 +1 @@ +move the green cube next to the yellow cube diff --git a/010096_v2/object.ply b/010096_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..43b1c457bad4f8fcdff97f62eaa0bd91b60c906f Binary files /dev/null and b/010096_v2/object.ply differ diff --git a/010102_v2/FAIL b/010102_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..aaf6c42c619234f9c8379cbcf60a65cd17ba1254 --- /dev/null +++ b/010102_v2/FAIL @@ -0,0 +1 @@ +Too large intersection between gripper and object mask diff --git a/010153_v2/data.json b/010153_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..15abde8e5953aea3a6e64df0671da3efec3fdeaf --- /dev/null +++ b/010153_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 18, + "action_end": 38, + "object_name": "green triangle", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.808303, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.88083, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 1.3877787807814457e-17, + 0.0, + 3.787264736016629e-07, + -6.552927103037224e-08, + -3.176933442133373e-07, + 1.0 + ], + [ + -0.003024904831703118, + -0.013235772021590028, + 0.01088606893408825, + -0.009681111741080706, + -0.04824228797480167, + -0.02631637827179707, + 1.0 + ], + [ + -0.004635155609201608, + -0.011307073327482209, + 0.011485444345190651, + 0.0008807376799547102, + 0.009494044723159734, + 0.008388805359871986, + 1.0 + ], + [ + -0.004949547012014804, + -0.007415064450636652, + 0.01681677297547124, + -0.009254794510432799, + -0.008242036547252642, + -0.0122092141142582, + 1.0 + ], + [ + 0.013750528447418725, + -0.014844826939188288, + -0.001998553724252089, + 0.01775927205925821, + 0.031032768569970837, + -0.04451601092431092, + 1.0 + ], + [ + 0.007351836819993934, + -0.011956110663861583, + -0.004299250555849843, + -0.01702560292749244, + 0.015277413454051526, + -0.015897155953551366, + 1.0 + ], + [ + 0.00945685649047695, + -0.008141504015725012, + -0.0060438767863510295, + -0.0433059969402824, + 0.028528916900409595, + -0.03928115880659715, + 1.0 + ], + [ + 0.007844064436222237, + -0.0021610456646453044, + -0.009863257509658885, + -0.0154398644416205, + 0.03278907590282271, + 0.0005601934178653904, + 1.0 + ], + [ + 0.0034720872849916817, + -0.002380254244814181, + -0.0008459478507466811, + -0.014725833498581468, + 0.010930596960494431, + -0.008986339370495883, + 1.0 + ], + [ + 0.0022302030814792817, + -0.005118068134517609, + -0.0009963532876233472, + -0.012233415122889382, + 0.014226261710764118, + -0.025945071426788407, + 1.0 + ], + [ + -0.0005908614559095582, + -0.004596297013585122, + 0.0018167807230337063, + -6.819319176498624e-05, + 0.009401590702943672, + -0.012537057556726702, + 1.0 + ], + [ + -0.0008028404043029513, + -0.006611287830075811, + 0.0003375210183523131, + -0.003366413217432419, + 0.010415574954939335, + -0.02348726399275984, + 1.0 + ], + [ + -0.0013989810493919286, + -0.0010526814790112957, + -0.0047707986226063065, + -0.010011059437077134, + 0.020699443952936103, + 0.01519308900298221, + 1.0 + ], + [ + -0.0005963531860663507, + 0.0015238162705669342, + -0.00588917736332574, + -0.0016576544946785901, + 0.02024941242925146, + 0.01563210565217876, + 1.0 + ], + [ + -0.00044428542170618646, + 0.0017713005377725122, + -0.0035956798710294058, + -0.002875510568647624, + 0.017477527161366007, + 0.016567166423176558, + 1.0 + ], + [ + 0.00031916016035848926, + 0.0003168780892847233, + -0.005478094041305975, + -0.0026033486365556343, + 0.014141154017198884, + 0.009854285044111817, + 1.0 + ], + [ + 0.0014406586750961847, + -0.0038897921986128896, + -0.004147179898388184, + 0.003740113523114474, + 0.01357554639841574, + 0.0005997191316340821, + 1.0 + ], + [ + 0.0034117178503597634, + -0.0011337776653534207, + -0.012088413303909445, + 0.003947069906687692, + -0.008552344783530327, + 0.037062329921342556, + 1.0 + ], + [ + -0.0011723946800788476, + -0.0005645601006814133, + -0.010306165059597902, + -0.020777931915232608, + 0.00838587614028212, + 0.018980273011955463, + 0.808303 + ], + [ + -0.0009418624746206361, + 0.003406488235534206, + -0.0015160655798554246, + -0.022221203690863812, + -0.015275848305095818, + 0.0200996644135429, + 0.0 + ], + [ + -0.0025882965427511673, + 0.0008956739015100936, + 0.002963036065951531, + -0.0016332396942394269, + -0.0008744829653348031, + 0.003960891391322572, + 0.0 + ], + [ + -0.0032687596579090705, + -0.002608300061942061, + 0.007328431222916251, + 0.008340609740817158, + -0.012270718490299131, + -0.003528927070751383, + 0.0 + ], + [ + -0.0023325589633228505, + 0.00048614520956529253, + 0.004703570476871921, + 0.012687962748435871, + -0.009539734891928735, + 0.0038781308308924625, + 0.0 + ], + [ + -0.0004188025577009369, + 0.002081977315967462, + 0.005478729250483323, + 0.019084193461013477, + -0.011194922621259651, + 0.00034645032353343506, + 0.0 + ], + [ + 0.0021490185139079465, + -0.0034867513002992895, + 0.009758489003305594, + 0.02563277192173808, + -0.02801472675111453, + -0.018481883674806646, + 0.0 + ], + [ + 0.0030193522454868837, + -0.025284512995113556, + 0.008712278517853708, + 0.021807513909190432, + -0.021936551113674582, + -0.06412205992557454, + 0.0 + ], + [ + 0.0015141104976758024, + -0.01973284147313588, + 0.0027606339738811964, + 0.00014126062685916534, + -0.02933099656419276, + -0.043498113668607, + 0.0 + ], + [ + 0.0022631035645492292, + -0.01882574646732945, + -0.0075691722774895165, + -0.011944388973109876, + 0.009247237903443782, + -0.04633881557348874, + 0.0 + ], + [ + 0.000501937110718137, + -0.012095379179395335, + -0.011161257693943563, + 0.0053949555737281395, + 0.031211334528041316, + -0.010599172215672427, + 0.0 + ], + [ + -0.00037919928990073903, + -0.013478558556792718, + -0.003924026386791887, + 0.01324931600013379, + -0.002275389445978482, + -0.02094301660999655, + 0.0 + ], + [ + -0.0015430586436358251, + -0.013458234123067112, + -0.009942732526818668, + -0.0003900949870919935, + 0.002949274114673358, + -0.01510940277902438, + 0.0 + ], + [ + -0.0014278508157643255, + -0.0156802256695404, + -0.01470737848388231, + 0.009079968439526492, + 0.027591057577613997, + -0.02561914551964533, + 0.0 + ], + [ + 0.0009666482787773489, + -0.012199804613405321, + -0.009364879410466445, + 0.008304643154086987, + 0.014618244755868518, + -0.026135430418739315, + 0.0 + ], + [ + -0.0016155501479475365, + -0.006717060177484843, + -0.008338975317831857, + -0.004274307696040644, + 0.01826695554543152, + -0.009099635385990765, + 0.0 + ], + [ + -0.003681411278847635, + -0.001473783874829604, + -0.007623074491677859, + -0.004541662792286714, + 0.004183054617579198, + 0.01321302029752509, + 0.0 + ], + [ + -0.0019711968259549795, + 0.005632044577618817, + -0.007174335227096252, + -0.012314470281551759, + 0.0010958054762641837, + 0.03742626448043491, + 0.0 + ], + [ + -0.000791287062714946, + 0.004524359920564741, + -0.009635428755992655, + 0.013402552049726985, + 0.026307457049148383, + 0.007059729069470986, + 0.0 + ], + [ + 0.0020488725697659915, + 0.004065336758222765, + -0.009454092112134146, + 0.027716414355395385, + 0.03272152985679861, + -0.014714629140535923, + 0.0 + ], + [ + -0.0015895160533083152, + -0.002068081758393639, + -0.003668600351360363, + 0.009683769195027678, + 0.016016753220142635, + 0.0010513525699791023, + 0.88083 + ], + [ + -0.0011035456900292673, + -0.00343308217577927, + 0.002601611428955503, + 0.006293203077670244, + 4.909186343364921e-05, + -0.005672288740554259, + 1.0 + ], + [ + -0.00287723005176449, + 0.0007884343240994601, + 0.011986854607392556, + -0.014265244017259038, + -0.02727859602214247, + 0.018389052294936994, + 1.0 + ], + [ + -0.00039553929019897627, + 0.01207439675685576, + 0.03288893995413911, + 0.014731423325791268, + -0.0963144931317394, + 0.01683593247329221, + 1.0 + ], + [ + 0.019751870200010513, + 0.03138120550117868, + 0.043137078969701245, + -0.0038350004579402706, + -0.1389468228129002, + 0.04438023833131585, + 1.0 + ], + [ + 0.021108483245512982, + 0.034568211786869224, + 0.014886828847329683, + -0.011225876037209676, + -0.017820857347094564, + 0.05087703190458165, + 1.0 + ], + [ + -0.0016644694721095754, + 0.01539195140560741, + 0.0007277388519541655, + 0.013628360972536278, + 0.019579098297096115, + 0.013943975457551414, + 1.0 + ], + [ + -0.00574816345682716, + 0.012730509382881533, + -0.0064290747103795814, + 0.0013139453918656393, + 0.021271232526927135, + 0.025509351674489825, + 1.0 + ], + [ + -0.0026811163524724235, + 0.003871202496763086, + -0.00081649963845426, + 0.001427151098012666, + 0.00017045611580282863, + 0.013611789562221213, + 1.0 + ], + [ + -0.006539137756672642, + 0.002592936140181785, + 0.00441864726092954, + -0.0068333018530377715, + -0.0015417034906141619, + 0.012790530062710501, + 1.0 + ] + ], + "gripper_centers": [ + [ + 174.57797241210938, + 139.13693237304688 + ], + [ + 174.23483276367188, + 140.99252319335938 + ], + [ + 175.17066955566406, + 154.516357421875 + ], + [ + 177.6040802001953, + 145.10418701171875 + ], + [ + 180.9545135498047, + 140.93630981445312 + ], + [ + 189.381591796875, + 128.76901245117188 + ], + [ + 230.31710815429688, + 134.61280822753906 + ], + [ + 255.14120483398438, + 142.6839599609375 + ], + [ + 269.7077331542969, + 147.64488220214844 + ], + [ + 276.543212890625, + 152.56991577148438 + ], + [ + 284.14422607421875, + 148.570068359375 + ], + [ + 295.34063720703125, + 153.27220153808594 + ], + [ + 299.14459228515625, + 154.44317626953125 + ], + [ + 306.8160400390625, + 159.79409790039062 + ], + [ + 307.50775146484375, + 169.06483459472656 + ], + [ + 306.887939453125, + 176.04183959960938 + ], + [ + 308.5151672363281, + 180.70162963867188 + ], + [ + 308.0416259765625, + 189.1680908203125 + ], + [ + 312.3453369140625, + 193.99505615234375 + ], + [ + 314.11114501953125, + 205.78890991210938 + ], + [ + 315.212646484375, + 214.56732177734375 + ], + [ + 313.5777587890625, + 214.91323852539062 + ], + [ + 309.29815673828125, + 217.9292449951172 + ], + [ + 306.5606689453125, + 211.57484436035156 + ], + [ + 302.52679443359375, + 208.25889587402344 + ], + [ + 298.6311950683594, + 195.95663452148438 + ], + [ + 317.70904541015625, + 195.15798950195312 + ], + [ + 355.2130126953125, + 205.68243408203125 + ], + [ + 379.20355224609375, + 215.2793731689453 + ], + [ + 401.3095703125, + 237.68270874023438 + ], + [ + 413.7147216796875, + 256.3035888671875 + ], + [ + 436.52783203125, + 273.2779846191406 + ], + [ + 450.54852294921875, + 302.34515380859375 + ], + [ + 468.7646484375, + 329.5079040527344 + ], + [ + 478.07135009765625, + 348.94091796875 + ], + [ + 482.17425537109375, + 356.5877685546875 + ], + [ + 476.06756591796875, + 367.2265930175781 + ], + [ + 469.849365234375, + 377.3360595703125 + ], + [ + 470.7377624511719, + 376.9337158203125 + ], + [ + 475.38214111328125, + 379.5677490234375 + ], + [ + 480.5196533203125, + 381.4624328613281 + ], + [ + 470.2516784667969, + 382.5587463378906 + ], + [ + 453.33648681640625, + 366.6112060546875 + ], + [ + 459.1958923339844, + 296.40460205078125 + ], + [ + 420.4971008300781, + 232.54104614257812 + ], + [ + 390.92559814453125, + 191.88729858398438 + ], + [ + 380.7916259765625, + 189.7550048828125 + ], + [ + 358.13189697265625, + 191.371826171875 + ] + ], + "depth_max": 1.7823139429092407, + "depth_min": 0.32378411293029785, + "intrinsic": [ + [ + 601.0271606445312, + 0.0, + 259.0 + ], + [ + 0.0, + 598.9966430664062, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.443440280330833e-05, + 8.908635936677456e-05, + 8.973343938123435e-06 + ], + [ + -2.443093399051577e-05, + 1.0, + -3.892987297149375e-05, + -1.546097337268293e-05 + ], + [ + -8.90873052412644e-05, + 3.892769746016711e-05, + 1.0, + 1.8326196368434466e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 313.0, + 208.5 + ], + [ + 313.1847839355469, + 208.51910400390625 + ], + [ + 312.94500732421875, + 208.91238403320312 + ], + [ + 312.8230285644531, + 209.17791748046875 + ], + [ + 312.9398193359375, + 208.8372802734375 + ], + [ + 313.017333984375, + 208.54684448242188 + ], + [ + 312.53900146484375, + 209.3031005859375 + ], + [ + 312.804931640625, + 209.4924774169922 + ], + [ + 312.379638671875, + 210.2093505859375 + ], + [ + 312.5303039550781, + 210.0092010498047 + ], + [ + 312.193115234375, + 210.4387664794922 + ], + [ + 312.3668212890625, + 210.70083618164062 + ], + [ + 312.1792907714844, + 210.82870483398438 + ], + [ + 312.212646484375, + 210.58865356445312 + ], + [ + 312.3731384277344, + 210.12509155273438 + ], + [ + 312.44659423828125, + 210.08265686035156 + ], + [ + 312.86309814453125, + 209.71009826660156 + ], + [ + 313.03912353515625, + 209.65408325195312 + ], + [ + 312.5793151855469, + 210.34727478027344 + ], + [ + 314.46002197265625, + 210.66360473632812 + ], + [ + 315.6916198730469, + 212.8066864013672 + ], + [ + 315.512451171875, + 212.78126525878906 + ], + [ + 312.446044921875, + 215.59429931640625 + ], + [ + 309.90423583984375, + 208.67137145996094 + ], + [ + 306.1806945800781, + 205.31289672851562 + ], + [ + 302.6005859375, + 192.63168334960938 + ], + [ + 321.000732421875, + 192.53416442871094 + ], + [ + 357.57379150390625, + 201.24989318847656 + ], + [ + 381.96636962890625, + 212.86212158203125 + ], + [ + 403.2345275878906, + 236.2388153076172 + ], + [ + 416.75732421875, + 254.94256591796875 + ], + [ + 436.2016296386719, + 274.6253356933594 + ], + [ + 451.6571350097656, + 304.0107727050781 + ], + [ + 469.42144775390625, + 329.82855224609375 + ], + [ + 479.17913818359375, + 350.5947265625 + ], + [ + 483.120849609375, + 358.1309509277344 + ], + [ + 478.15643310546875, + 368.211181640625 + ], + [ + 472.2994079589844, + 378.3158264160156 + ], + [ + 471.894775390625, + 378.58367919921875 + ], + [ + 474.8463134765625, + 391.1365661621094 + ], + [ + 473.6531982421875, + 399.3621826171875 + ], + [ + 471.4764404296875, + 399.1259765625 + ], + [ + 464.7402648925781, + 390.4105224609375 + ], + [ + 463.29034423828125, + 391.2684326171875 + ], + [ + 464.720947265625, + 389.48883056640625 + ], + [ + 464.6459655761719, + 389.36322021484375 + ], + [ + 464.9002380371094, + 389.41583251953125 + ], + [ + 465.0845031738281, + 389.7940368652344 + ] + ] +} \ No newline at end of file diff --git a/010153_v2/lang.txt b/010153_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..9b6d73792b45af38cbe4efcfc30b0af18776807c --- /dev/null +++ b/010153_v2/lang.txt @@ -0,0 +1 @@ +remove the green triangle from the tower and put it in the lower right side of the table diff --git a/010153_v2/object.ply b/010153_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..8fbae688c2488bd5d98d5596a9e76423c5802656 Binary files /dev/null and b/010153_v2/object.ply differ diff --git a/010332_v2/FAIL b/010332_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/010332_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/010357_v2/data.json b/010357_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..db2d6185153f26262ea8da5d19caa836b1a72419 --- /dev/null +++ b/010357_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 19, + "action_end": 36, + "object_name": "square with hole in middle", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.11623899999999998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -4.6431725131412804e-10, + 2.536298948641047e-11, + -5.289214899395489e-11, + 9.873500884302021e-08, + -3.7451276895628264e-07, + -2.7936782764227665e-07, + 1.0 + ], + [ + 0.002794157169926703, + 0.009465512769693013, + -0.010063868141992019, + 0.008221348477583476, + 0.008612303994526987, + 0.0035175062215435184, + 1.0 + ], + [ + 0.0021038571894675395, + 0.007151292842353128, + -0.004299012774517455, + 0.007813512186778945, + 0.0008539690788264657, + -0.010640607988708233, + 1.0 + ], + [ + -0.0012740791738133361, + 0.01336864846725739, + -0.009437029448976259, + 0.03586206006808977, + -0.018190413941628555, + -0.05359830253744534, + 1.0 + ], + [ + -0.0024083472573236397, + 0.013118826417046356, + -0.012928232867140552, + 0.08164330934249231, + -0.02623898828628629, + -0.011780728378957371, + 1.0 + ], + [ + -0.003445860168267534, + 0.008946181683003745, + -0.014711717999152267, + 0.04263368906162466, + 0.04212157111056816, + -0.008574344526307906, + 1.0 + ], + [ + -0.0012249807470877672, + 0.004679864923610997, + -0.01087333172329396, + -0.013385229956946331, + 0.020551717794724974, + 0.0010412527983231766, + 1.0 + ], + [ + 0.003860320688647778, + -0.0019362907162921578, + -0.0023179974398241446, + -0.014078195019840587, + -0.003884980001313569, + 0.0028606127967034283, + 1.0 + ], + [ + 0.004871334630802415, + -0.0011597044116904726, + 0.005750759924778755, + 0.005344583088551347, + -0.014335706542077924, + 0.008432899056466941, + 1.0 + ], + [ + 0.0037593597671053414, + 0.00016980278614815714, + 0.007972472535680699, + 0.019209066824334795, + -0.02129933999444064, + 0.014693334741091437, + 1.0 + ], + [ + 0.0033647054866697834, + -0.0005579928479536363, + 0.0031030314818568834, + 0.007384099834433374, + -0.0030013196203508364, + 0.003173958206701275, + 1.0 + ], + [ + 0.0028543663585561263, + 0.001433365015991202, + -0.000677873738652357, + 0.004015758264508738, + 0.00373967698959289, + 0.006756571739888769, + 1.0 + ], + [ + 0.0006155874437466791, + 0.007655140792221054, + -0.005066324333127099, + 0.0012059126613736904, + 0.013725823172156057, + 0.009922967617835727, + 1.0 + ], + [ + -0.00014589861785702096, + 0.0034519325601782593, + -0.0031485558155282117, + 0.0002714822408591585, + 0.012587734145557677, + 0.008812264904962095, + 1.0 + ], + [ + -0.0027512396881658185, + 0.003119977411725993, + -0.0021890111982537375, + 0.0042041413172168775, + 0.016378987324402183, + 0.01810574628424371, + 1.0 + ], + [ + -0.0019862030932144004, + 0.002208327148469604, + -0.0029197806778697086, + -6.267349976062194e-05, + 0.011267513591106407, + 0.012782239227200358, + 1.0 + ], + [ + -0.001840493757160333, + -0.0008202932431782516, + -0.0010259756873672622, + -0.003469731132915398, + 0.005904681260026457, + 0.006332385569070262, + 1.0 + ], + [ + -0.0029403290432544194, + -0.005196788442329035, + -0.0003486867698137084, + -0.006535705194868053, + -0.00035664568663120637, + -0.0014413627659371903, + 1.0 + ], + [ + -0.00025923036459374327, + -0.0036500061827501352, + -0.003705813055802398, + -0.009646990377219136, + 0.01202497640017392, + -0.0065355984028061176, + 1.0 + ], + [ + -0.0027140645847871236, + -0.0007491530583187966, + -0.007627263304684179, + -0.019633836708020574, + 0.009688117227261461, + 0.017077718778555788, + 0.11623899999999998 + ], + [ + -0.00021021350158428875, + -0.002287429364518718, + -0.002919336619457478, + -0.009671298414264888, + 0.001733589385716156, + -0.0058655956031873355, + 0.0 + ], + [ + 0.0016588417214601359, + -0.004444835919333661, + 0.0012059392023835054, + -0.004244798459243978, + -0.0016727716556142608, + -0.014953730185961661, + 0.0 + ], + [ + 0.008624396697512082, + -0.010790641214185359, + 0.03507115006273365, + -0.01674764737867484, + -0.07325006041814917, + -0.026358953496913293, + 0.0 + ], + [ + 0.018278068568156336, + -0.01646590468401029, + 0.057807876660466995, + -0.033827854773018806, + -0.09878329324131407, + -0.004137713293581566, + 0.0 + ], + [ + 0.010604718835484084, + 0.006898858031934539, + 0.0364523741960036, + -0.060874220271208306, + -0.045144248045421075, + 0.0911331692692233, + 0.0 + ], + [ + 0.0027428075830731036, + 0.01714321133516476, + 0.01647526228180063, + -0.0026098636594306186, + 0.002297209850269896, + 0.0805395453785683, + 0.0 + ], + [ + -0.009545632850309516, + 0.02214285747056935, + 0.024084132211778977, + 0.0071934653958176855, + 0.003653823767696098, + 0.1053220005103723, + 0.0 + ], + [ + -0.01572388547310216, + 0.02389259161377735, + 0.021105046994874116, + 0.047718308494619575, + 0.02293088000090041, + 0.10327514095369637, + 0.0 + ], + [ + -0.008817120089602115, + 0.010756650934843758, + 0.011076787607248867, + 0.01280620112486659, + 0.031550697851205546, + 0.07691199044498999, + 0.0 + ], + [ + -0.01977188892228332, + 0.006298146553292652, + 0.0018219019427347383, + 0.002746876599238401, + 0.039586072496385134, + 0.16990105407680944, + 0.0 + ], + [ + -0.018799071938382983, + -0.00019172147127966, + -0.018893081362049036, + -0.020638525451111684, + 0.06277298859139646, + 0.026787945522545296, + 0.0 + ], + [ + -0.010959414859316119, + -0.00044481306415734834, + -0.02462198540285407, + -0.02277526603854759, + 0.07645979394960026, + -0.00510702503760678, + 0.0 + ], + [ + -0.00838711358217803, + -0.0017569568284689085, + -0.019278897656062638, + -0.02094915919693932, + 0.02976480338271224, + 0.03945414011234604, + 0.0 + ], + [ + 0.0049822245688625755, + -0.0019788800895927106, + -0.010681810825550864, + -0.04531831613859461, + 0.015134850153411926, + -0.007401492475176372, + 0.0 + ], + [ + 0.005709209203325322, + 0.0032013075246924982, + -0.00354816300555047, + -0.008261416936394523, + -0.015913164180534057, + -0.0051833222612926895, + 0.0 + ], + [ + 0.004677025938757018, + 0.002772253818077469, + 0.0014434373417210045, + 0.015265219953447201, + -0.022051807169631756, + -0.0067643423198718265, + 0.0 + ], + [ + 0.003295754371303916, + 0.0028764672946973435, + 0.0033789636560776215, + 0.0101983651389291, + -0.009967168568883031, + 0.0034524289648878116, + 0.0 + ], + [ + 0.0007089491184615049, + 0.0025253518878897707, + 0.0023931936315696456, + 0.0007511408270095227, + -0.0035858570423167304, + 0.005506861228429211, + 1.0 + ], + [ + 0.0019605686983753534, + -0.0004018904466612655, + 0.001971515313592992, + 0.012555629272665271, + -0.010343393237536755, + -0.00030210699789161543, + 1.0 + ], + [ + 8.822564701332913e-06, + 0.00026454297121197845, + 0.002183605729039806, + 0.0025965011616307884, + -0.009168574392244461, + 0.00790943418239337, + 1.0 + ], + [ + 0.005025257089516094, + -0.0036256340924703534, + 0.005925075325836637, + 0.00278860600170173, + -0.0277685302127722, + -0.049090497891632175, + 1.0 + ], + [ + 0.013766294353072361, + -0.016333500755885726, + 0.013538163663063235, + 0.07858875043302749, + -0.03621242971535375, + -0.15634580595338202, + 1.0 + ], + [ + 0.007231981487292538, + -0.019557682895522524, + 6.831273280014094e-05, + 0.04445126455641182, + -0.020564450673627912, + -0.13871711169957848, + 1.0 + ], + [ + 0.0015382839015087857, + -0.0190580332467281, + -0.008298551599507958, + -0.004504464616930552, + 0.010007136034486394, + -0.07166673914848971, + 1.0 + ], + [ + 0.002757745222246477, + -0.01438948281174024, + -0.01036758458135037, + -0.046492289207229476, + 0.007470033960037278, + -0.027141552949165437, + 1.0 + ], + [ + 0.007723826952332813, + -0.006500372508791378, + -0.0046268891493199404, + -0.07910342494661339, + -0.04658978329600788, + -0.018008913982898455, + 1.0 + ], + [ + 0.008571586887210492, + -0.00626087945386823, + -0.005821443539073101, + 0.007691711992579816, + -0.00757425561628233, + -0.031621428938125, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 413.91937255859375, + 170.22015380859375 + ], + [ + 411.55810546875, + 176.77728271484375 + ], + [ + 406.57989501953125, + 190.67372131347656 + ], + [ + 402.5608215332031, + 195.99615478515625 + ], + [ + 388.99688720703125, + 194.39572143554688 + ], + [ + 366.0692443847656, + 199.1981201171875 + ], + [ + 347.9942321777344, + 213.65640258789062 + ], + [ + 340.39813232421875, + 222.3779754638672 + ], + [ + 338.35955810546875, + 224.9264678955078 + ], + [ + 340.9296875, + 223.60726928710938 + ], + [ + 340.18328857421875, + 219.38165283203125 + ], + [ + 341.2248840332031, + 212.32205200195312 + ], + [ + 344.12353515625, + 205.23733520507812 + ], + [ + 344.99078369140625, + 202.78659057617188 + ], + [ + 341.555908203125, + 207.41021728515625 + ], + [ + 336.86810302734375, + 206.24427795410156 + ], + [ + 331.96051025390625, + 211.91958618164062 + ], + [ + 329.8412780761719, + 211.28326416015625 + ], + [ + 330.552490234375, + 213.41961669921875 + ], + [ + 331.47747802734375, + 215.79917907714844 + ], + [ + 331.6930847167969, + 219.76516723632812 + ], + [ + 331.37567138671875, + 220.45028686523438 + ], + [ + 331.78857421875, + 221.29519653320312 + ], + [ + 338.57904052734375, + 221.61996459960938 + ], + [ + 369.37921142578125, + 172.58580017089844 + ], + [ + 402.8858337402344, + 115.51823425292969 + ], + [ + 400.3872375488281, + 74.56465911865234 + ], + [ + 371.95281982421875, + 45.1024055480957 + ], + [ + 333.79949951171875, + 12.601759910583496 + ], + [ + 298.4978942871094, + -42.833824157714844 + ], + [ + 274.6577453613281, + -46.139259338378906 + ], + [ + 255.2519073486328, + -22.235198974609375 + ], + [ + 233.7172393798828, + 23.997068405151367 + ], + [ + 226.1637420654297, + 46.72657775878906 + ], + [ + 229.68453979492188, + 66.91202545166016 + ], + [ + 233.26954650878906, + 77.91243743896484 + ], + [ + 233.44761657714844, + 75.63089752197266 + ], + [ + 239.22250366210938, + 63.62586975097656 + ], + [ + 231.38095092773438, + 58.92796325683594 + ], + [ + 235.77943420410156, + 54.1467170715332 + ], + [ + 231.25375366210938, + 56.27695846557617 + ], + [ + 232.2701416015625, + 50.28536605834961 + ], + [ + 231.28871154785156, + 38.674705505371094 + ], + [ + 289.67449951171875, + 37.052207946777344 + ], + [ + 321.30096435546875, + 50.136558532714844 + ], + [ + 341.4410400390625, + 64.49991607666016 + ], + [ + 353.52349853515625, + 69.4695053100586 + ], + [ + 373.0313720703125, + 78.95252990722656 + ] + ], + "depth_max": 1.9375591278076172, + "depth_min": 0.5244383215904236, + "intrinsic": [ + [ + 607.7702026367188, + 0.0, + 259.0 + ], + [ + 0.0, + 606.2515258789062, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.6238027203362435e-05, + 8.927348972065374e-05, + -3.4713193599600345e-06 + ], + [ + -2.6234147298964672e-05, + 1.0, + -4.343221371527761e-05, + -3.6444151191972196e-05 + ], + [ + -8.927462477004156e-05, + 4.3429870856925845e-05, + 1.0, + 2.5834608095465228e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 336.25, + 236.75 + ], + [ + 336.31036376953125, + 236.84307861328125 + ], + [ + 336.3109436035156, + 236.79522705078125 + ], + [ + 336.3728332519531, + 236.79481506347656 + ], + [ + 336.552978515625, + 236.8732452392578 + ], + [ + 336.5959167480469, + 236.91177368164062 + ], + [ + 336.576904296875, + 236.94094848632812 + ], + [ + 336.5762939453125, + 237.43594360351562 + ], + [ + 336.43792724609375, + 237.51083374023438 + ], + [ + 336.88140869140625, + 237.64126586914062 + ], + [ + 336.8489990234375, + 237.48902893066406 + ], + [ + 336.84033203125, + 237.31321716308594 + ], + [ + 336.8441162109375, + 237.41693115234375 + ], + [ + 336.99615478515625, + 237.53363037109375 + ], + [ + 337.16766357421875, + 237.42494201660156 + ], + [ + 336.9721984863281, + 237.4285888671875 + ], + [ + 336.3361511230469, + 237.24034118652344 + ], + [ + 335.1838073730469, + 236.44320678710938 + ], + [ + 335.2069091796875, + 236.2096710205078 + ], + [ + 335.532958984375, + 236.18374633789062 + ], + [ + 336.75335693359375, + 238.08236694335938 + ], + [ + 336.9301452636719, + 238.78848266601562 + ], + [ + 337.38824462890625, + 239.69540405273438 + ], + [ + 344.8603820800781, + 241.25047302246094 + ], + [ + 370.5537414550781, + 199.52989196777344 + ], + [ + 406.2303466796875, + 144.29916381835938 + ], + [ + 406.97015380859375, + 101.95968627929688 + ], + [ + 377.859619140625, + 78.06948852539062 + ], + [ + 339.2276916503906, + 28.891738891601562 + ], + [ + 307.89410400390625, + 2.9116291999816895 + ], + [ + 288.28729248046875, + -6.31543493270874 + ], + [ + 260.6747741699219, + 2.316662549972534 + ], + [ + 241.6815185546875, + 40.71928405761719 + ], + [ + 231.45077514648438, + 83.2459945678711 + ], + [ + 237.3186798095703, + 101.02409362792969 + ], + [ + 241.28282165527344, + 110.7379150390625 + ], + [ + 238.9686279296875, + 102.6583251953125 + ], + [ + 242.80557250976562, + 100.04946899414062 + ], + [ + 237.19479370117188, + 105.16395568847656 + ], + [ + 235.112060546875, + 106.9974365234375 + ], + [ + 235.11196899414062, + 106.97296905517578 + ], + [ + 235.01522827148438, + 106.4616470336914 + ], + [ + 235.02963256835938, + 106.81149291992188 + ], + [ + 234.7139892578125, + 106.69613647460938 + ], + [ + 234.43487548828125, + 106.10093688964844 + ], + [ + 234.92222595214844, + 106.40865325927734 + ], + [ + 234.69146728515625, + 106.55653381347656 + ], + [ + 234.84542846679688, + 106.35173034667969 + ] + ] +} \ No newline at end of file diff --git a/010357_v2/lang.txt b/010357_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..fd7706b711fd3e47f279fd8e86ef64eae8380769 --- /dev/null +++ b/010357_v2/lang.txt @@ -0,0 +1 @@ +put the square with hole in the middle on top of the blue arch diff --git a/010357_v2/object.ply b/010357_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..32e0c47a2d870b277c1869589aa4a0efc30612db Binary files /dev/null and b/010357_v2/object.ply differ diff --git a/010359_v2/FAIL b/010359_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/010359_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed