diff --git a/000022_v2/data.json b/000022_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..b851d77e1dd8ca14aa9f80239aed975cb57ee301 --- /dev/null +++ b/000022_v2/data.json @@ -0,0 +1,659 @@ +{ + "action_start": 13, + "action_end": 25, + "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, + 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": [ + [ + -8.297990072847483e-11, + -9.148390517355054e-10, + 3.8312145816954413e-10, + -8.649177301877446e-07, + -1.4786002965306239e-08, + -2.0012004128932164e-07, + 1.0 + ], + [ + 0.013544961811626177, + 0.020381215108721193, + 0.011931297959258947, + -0.051334342248764236, + -0.02200020024281455, + 0.07203456559736579, + 1.0 + ], + [ + 0.018861936135149582, + 0.027866190373663446, + 0.012778684519880318, + -0.05498175215126677, + -0.02340146645730708, + 0.09373356129194092, + 1.0 + ], + [ + 0.027911751482028957, + 0.04364588171150219, + 0.012837814277985353, + -0.029002805560872716, + -0.02842832052522005, + 0.12551865638686713, + 1.0 + ], + [ + 0.030210347004028693, + 0.02750163105191523, + -0.0024494602251700567, + 0.03994733970675825, + -0.01897245038356821, + 0.05154569526651202, + 1.0 + ], + [ + 0.02252925512388293, + 0.019857215914559204, + -0.01241833122303676, + 0.04166703345368443, + -0.017478383851543485, + 0.038646147687802425, + 1.0 + ], + [ + 0.015508221518795717, + 0.015419277896581526, + -0.01706823159443028, + 0.025482345451188028, + -0.013614200142152186, + 0.0584820448910504, + 1.0 + ], + [ + 0.014176724367476023, + 0.0049727177708927955, + -0.008716705048068343, + 0.008872396966672897, + -0.003297256135684847, + 0.01722371415304127, + 1.0 + ], + [ + 0.01425803512482876, + 0.005466416584895259, + -0.007087926943451497, + 0.008128057527384679, + 0.016516034383630144, + 0.000967752221748605, + 1.0 + ], + [ + 0.008924700588661516, + 0.011528415648880241, + -0.008729531902173727, + 0.0005087717915105397, + 0.02925230353016054, + 0.013887061584701972, + 1.0 + ], + [ + 0.003887789552970311, + 0.010127799855931194, + -0.011556820353455274, + -0.004693388090917389, + 0.024939250890699583, + 0.01976777750613961, + 1.0 + ], + [ + 0.0029690691685159143, + 0.007639157799331789, + -0.009736698761528599, + -0.00039779879697296764, + 0.03299880656928643, + 0.010039731346738972, + 1.0 + ], + [ + 0.0007582043349602663, + 0.004603900127166272, + 0.002647433039748001, + 0.0026824278793535637, + -0.0053286582454509695, + 0.009192495989982724, + 1.0 + ], + [ + -0.0019976192380709024, + -0.00030124991956721747, + -0.007047390208519404, + -0.01761899232948732, + 0.014071422107197506, + 0.00020662471672799697, + 1.0 + ], + [ + -0.0027380697666465337, + -0.0053170752410464095, + -0.016422675448828618, + -0.0034439805463854084, + 0.03882212716394474, + -0.013461812609039467, + 0.0 + ], + [ + -0.0034528383705970667, + -0.006977971692420357, + -0.006954756510082566, + -0.00770411825503286, + 0.029386258279973928, + -0.027139059279362384, + 0.0 + ], + [ + -0.0007828025413667006, + -0.008076263190457095, + 0.005425911290376145, + -0.010073268917938026, + 0.0001249141147002161, + -0.0247546471680961, + 0.0 + ], + [ + 0.005614885280548487, + -0.010442967955641397, + 0.0378150947109942, + 0.014031518458727011, + -0.09159347621566886, + -0.0052876070809291555, + 0.0 + ], + [ + -0.007775031466052684, + -0.00023736306890453918, + 0.04658974491714157, + -0.0001126588413470227, + -0.12075218597598279, + 0.03791472476848999, + 0.0 + ], + [ + -0.02407434477533682, + 0.010802422542607451, + 0.013591548559894584, + -0.0003600629869473341, + -0.02402085689795087, + 0.0552139849521697, + 0.0 + ], + [ + -0.02702290820887132, + 0.009177427563709137, + -0.013446599310235539, + -0.019169142860541465, + 0.038572062098055186, + 0.034152225520643766, + 0.0 + ], + [ + -0.0244778854178041, + 0.0030402851664759895, + -0.012634478468340385, + 0.004196645866314762, + 0.060963817923386884, + 0.02084048540326081, + 0.0 + ], + [ + -0.0265376105655451, + 0.008518751110079326, + -0.017234750963032505, + 0.005898853374486102, + 0.06600790618573393, + 0.03922956620197543, + 0.0 + ], + [ + -0.015999647262635253, + 0.011168303002006469, + -0.007304078095798871, + -0.003007072546999563, + 0.01970248075255008, + 0.03200061660020321, + 0.0 + ], + [ + -0.007960376135537683, + 0.0077470859886272225, + -0.008239483149100345, + -0.009625165500537559, + 0.01952758709315782, + 0.01755199312268388, + 0.0 + ], + [ + 0.00221557006470402, + 0.007305054018595547, + -0.003673959413578563, + 0.015935244284352626, + -0.017347929685514654, + 0.011555539715556288, + 0.0 + ], + [ + 0.0003773288221041171, + 0.00027951201312673146, + 0.0005904785300883016, + -0.012505904566957807, + -0.013297411346346866, + -0.001688085590869494, + 1.0 + ], + [ + 0.00213735920299446, + -0.003918870076468933, + 0.011143059633480515, + 0.025809384193720836, + -0.016011298377352066, + -0.026086524403862946, + 1.0 + ], + [ + 0.0055722493067010825, + -0.007586941928768257, + 0.017451570788788232, + 0.006566395525458501, + -0.03146449886202544, + -0.06586719142800622, + 1.0 + ], + [ + 0.004514966922051722, + -0.00946430383172664, + 0.016272056650501486, + -0.013494453220101664, + -0.026819542601177374, + -0.05843733473200848, + 1.0 + ], + [ + 0.0034172358314558116, + -0.005530979588267787, + 0.008476829317925256, + -0.028447643302352412, + -0.03417465116258119, + -0.06454833427036724, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 410.87005615234375, + 304.5394592285156 + ], + [ + 409.63751220703125, + 307.05621337890625 + ], + [ + 406.93115234375, + 320.1534423828125 + ], + [ + 378.2535400390625, + 280.26483154296875 + ], + [ + 346.7271728515625, + 236.93218994140625 + ], + [ + 309.18255615234375, + 205.7191619873047 + ], + [ + 309.6558837890625, + 198.9451904296875 + ], + [ + 308.4668884277344, + 208.0007781982422 + ], + [ + 303.322021484375, + 213.29290771484375 + ], + [ + 304.2033996582031, + 209.51321411132812 + ], + [ + 306.7326354980469, + 214.48751831054688 + ], + [ + 300.72906494140625, + 218.5587158203125 + ], + [ + 290.921142578125, + 218.97494506835938 + ], + [ + 290.52252197265625, + 228.38070678710938 + ], + [ + 291.883544921875, + 226.6314697265625 + ], + [ + 288.64263916015625, + 231.57455444335938 + ], + [ + 283.4212646484375, + 229.5768280029297 + ], + [ + 282.0346984863281, + 229.2958984375 + ], + [ + 282.01580810546875, + 230.91555786132812 + ], + [ + 283.4029235839844, + 226.98468017578125 + ], + [ + 281.496826171875, + 179.0655975341797 + ], + [ + 271.9425048828125, + 200.67835998535156 + ], + [ + 244.72398376464844, + 223.72616577148438 + ], + [ + 231.8785400390625, + 240.75143432617188 + ], + [ + 208.78213500976562, + 263.8303527832031 + ], + [ + 190.1505584716797, + 268.6632080078125 + ], + [ + 190.3441619873047, + 267.744140625 + ], + [ + 192.20956420898438, + 268.10235595703125 + ], + [ + 181.826904296875, + 269.4349365234375 + ], + [ + 182.835693359375, + 245.62774658203125 + ], + [ + 185.17626953125, + 230.3667449951172 + ], + [ + 192.02000427246094, + 220.48048400878906 + ], + [ + 195.0704345703125, + 215.326171875 + ] + ], + "depth_max": 1.3286564350128174, + "depth_min": 0.07268735766410828, + "intrinsic": [ + [ + 498.6217346191406, + 0.0, + 259.0 + ], + [ + 0.0, + 497.6932067871094, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.138782621041173e-06, + -0.00010171129542868584, + 9.223837878380436e-06 + ], + [ + -7.133916824386688e-06, + 1.0, + 4.783314579981379e-05, + -4.166786675341427e-05 + ], + [ + 0.0001017116301227361, + -4.7832418204052374e-05, + 1.0, + 7.215267396531999e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 32 + ], + "object_trajectory": [ + [ + 284.75, + 232.25001525878906 + ], + [ + 285.22216796875, + 232.3845977783203 + ], + [ + 284.9011535644531, + 232.5011444091797 + ], + [ + 285.2157897949219, + 232.8928680419922 + ], + [ + 284.8559265136719, + 233.01089477539062 + ], + [ + 285.83837890625, + 232.58966064453125 + ], + [ + 284.82354736328125, + 232.8275146484375 + ], + [ + 284.9393310546875, + 232.6123504638672 + ], + [ + 284.5521545410156, + 232.98130798339844 + ], + [ + 284.9511413574219, + 232.7819366455078 + ], + [ + 284.5472412109375, + 233.37193298339844 + ], + [ + 284.7052307128906, + 233.80191040039062 + ], + [ + 279.807373046875, + 241.1912384033203 + ], + [ + 281.342529296875, + 242.57510375976562 + ], + [ + 282.07464599609375, + 241.97425842285156 + ], + [ + 284.90875244140625, + 243.80776977539062 + ], + [ + 283.7325439453125, + 241.99566650390625 + ], + [ + 282.59478759765625, + 242.17190551757812 + ], + [ + 283.0533752441406, + 243.51205444335938 + ], + [ + 283.02264404296875, + 241.20358276367188 + ], + [ + 280.2891845703125, + 231.56195068359375 + ], + [ + 273.02044677734375, + 224.1682891845703 + ], + [ + 250.1444091796875, + 240.9716796875 + ], + [ + 237.40280151367188, + 254.5543212890625 + ], + [ + 218.81614685058594, + 275.56878662109375 + ], + [ + 202.68423461914062, + 281.28131103515625 + ], + [ + 201.24124145507812, + 283.63922119140625 + ], + [ + 199.9031982421875, + 284.8407897949219 + ], + [ + 190.82989501953125, + 286.9980773925781 + ], + [ + 200.49136352539062, + 283.4112243652344 + ], + [ + 202.30093383789062, + 280.38525390625 + ], + [ + 200.2132568359375, + 281.8145751953125 + ], + [ + 198.328369140625, + 281.39276123046875 + ] + ] +} \ No newline at end of file diff --git a/000022_v2/lang.txt b/000022_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..1156de76e5ffcdf66468c18ce0094dfbaaf8c24e --- /dev/null +++ b/000022_v2/lang.txt @@ -0,0 +1 @@ +move the blue fork to the lower left burner diff --git a/000022_v2/object.ply b/000022_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..d70bb4f688be0e5f19a37f6680b827bb3b6acadd Binary files /dev/null and b/000022_v2/object.ply differ diff --git a/000068/FAIL b/000068/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..12cce8a603c327d6a0a6f65ea8c6628a5ec55c6b --- /dev/null +++ b/000068/FAIL @@ -0,0 +1 @@ +Too few valid images after filtering diff --git a/000078/FAIL b/000078/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/000078/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/000081_v2/FAIL b/000081_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/000081_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/000105/FAIL b/000105/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/000105/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/000125/FAIL b/000125/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/000125/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/000149_v2/data.json b/000149_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..d56b274c38afd54f7a066b16971f699707571cc3 --- /dev/null +++ b/000149_v2/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 10, + "action_end": 18, + "object_name": "green 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, + 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, + 0.0, + -1.3877787807814457e-17, + -2.7281101719682764e-07, + -3.0863620253913343e-07, + -5.689753733259123e-07, + 1.0 + ], + [ + 0.00045082091762460585, + 0.019340279767392565, + -0.0004357303149784761, + -0.02841671724514183, + 0.017235535946820164, + 0.07205127572039009, + 1.0 + ], + [ + 0.003545066951001319, + 0.02425571503181603, + 0.005902569546501951, + -0.013101094581154892, + 0.010625423142359453, + 0.0803123393366797, + 1.0 + ], + [ + 0.010503902428524114, + 0.05452831700595175, + 0.01107876128301967, + 0.024038218340644613, + -0.028135621943365628, + 0.1612814158584183, + 1.0 + ], + [ + 0.005520589933038278, + 0.05022172812886745, + 0.0007018850903793838, + 0.04206512201915708, + 0.002867872037761578, + 0.10139328351408029, + 1.0 + ], + [ + 0.005484231032957199, + 0.03490086430531965, + -0.015696662013002613, + 0.03386867252331506, + 0.005503760471428075, + 0.06680172419720802, + 1.0 + ], + [ + 0.013289010557326064, + 0.016658987774508638, + -0.022208592442014737, + -0.006407882640785589, + 0.01896049047339697, + 0.009116285815679175, + 1.0 + ], + [ + 0.015052883669847195, + -0.0021862321474385715, + -0.013567231621433196, + -0.00872858556776864, + 0.019300339047731884, + -0.030162665885949513, + 1.0 + ], + [ + 0.013870936016664781, + -0.006681203354715171, + -0.015294652468086232, + -0.006487717036534483, + 0.043149802646964296, + -0.050673875773182976, + 1.0 + ], + [ + 7.943446611019533e-05, + -0.003242809281597425, + -0.013654503000994082, + -0.0017700989430784837, + 0.052667790516455024, + -0.03169255831054315, + 1.0 + ], + [ + -0.005591513822297167, + -0.0037967828760038513, + -0.005868010797428526, + -0.0009379329572196546, + 0.035391314272721665, + -0.004195659099263681, + 1.0 + ], + [ + 0.00011012172682794974, + -0.01059506011999603, + 0.01399281531074526, + 0.009666529217610827, + -0.03741693636976352, + -0.02534656826333675, + 0.0 + ], + [ + 0.013424782658144951, + -0.016016141367317882, + 0.0276856247897139, + 0.029775023788939942, + -0.07543257963269542, + -0.04303233307824338, + 0.0 + ], + [ + 0.03760780013847376, + -0.03924374511789047, + 0.01698384434363026, + -0.058790602992562016, + -0.13346283884369955, + -0.06755075247094698, + 0.0 + ], + [ + 0.022745688912085837, + -0.03344483801486338, + -0.008013473709694659, + -0.033712146873295074, + -0.0276553083903882, + -0.049927941851365364, + 0.0 + ], + [ + 0.016432182804240303, + -0.03011534810728552, + -0.014986424494441174, + -0.01864467073078006, + -0.0033703228443151293, + -0.047724652414486084, + 0.0 + ], + [ + 0.011841923503610574, + -0.018876367997490533, + -0.015100023691760358, + -0.0032409769648509917, + 0.01298929070201891, + -0.020158286891594244, + 0.0 + ], + [ + 0.003674015306080247, + -0.005672055391102257, + -0.012682674431352042, + -0.004942511831388326, + 0.02270997095544128, + -0.007898828085579925, + 0.0 + ], + [ + -0.004192940847074222, + 0.0007332752122720439, + -0.014280953018931744, + -0.006422298305484116, + 0.03272764481653867, + 0.00730954165680846, + 0.0 + ], + [ + -0.0017455377127191252, + 0.004586198996767377, + 0.003814670477407696, + 0.0018612349066145723, + 0.0011366143617631778, + 0.008101497081670026, + 1.0 + ], + [ + -0.0020146919559051457, + 0.005653652632250389, + 0.019973694605940822, + 0.012509514394726568, + -0.03459456555069321, + 0.0007472367790600218, + 1.0 + ], + [ + -0.010549321047545579, + 0.01125625704677723, + 0.02259645869574371, + 0.035117710100034685, + -0.039348549998899786, + 0.00904068870186017, + 1.0 + ], + [ + -0.02275674874071759, + 0.01702612293236141, + 0.01122357221188464, + 0.022979286790194557, + -0.0107341903023584, + 0.025755546533057262, + 1.0 + ], + [ + -0.018946648165147184, + 0.008400504132952877, + 0.0076682895996209935, + 0.0023986683223873127, + -0.011182579914891154, + 0.009249576878780186, + 1.0 + ], + [ + -0.011928081439470106, + -0.0012220339150741596, + 0.0059706003934144195, + -0.005737049764086369, + 0.004552538638272852, + -0.008458970644784718, + 1.0 + ], + [ + -0.005609844521395513, + 0.001032482748769728, + -0.0032496033306799385, + 0.049167567575071694, + -0.0347404055445862, + 0.0006814800477523966, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 362.76385498046875, + 216.28573608398438 + ], + [ + 362.1236572265625, + 217.26454162597656 + ], + [ + 360.23175048828125, + 240.96331787109375 + ], + [ + 353.1919250488281, + 239.24276733398438 + ], + [ + 314.8095703125, + 209.926025390625 + ], + [ + 260.7329406738281, + 180.33993530273438 + ], + [ + 215.2571258544922, + 177.47280883789062 + ], + [ + 201.58120727539062, + 189.21109008789062 + ], + [ + 206.15692138671875, + 203.90896606445312 + ], + [ + 209.54981994628906, + 205.90423583984375 + ], + [ + 212.67173767089844, + 221.6388397216797 + ], + [ + 210.468505859375, + 229.7797088623047 + ], + [ + 209.14447021484375, + 233.04690551757812 + ], + [ + 211.5130615234375, + 235.54995727539062 + ], + [ + 237.1593017578125, + 202.48623657226562 + ], + [ + 294.06640625, + 189.50857543945312 + ], + [ + 324.76580810546875, + 180.3330841064453 + ], + [ + 348.9903564453125, + 204.34832763671875 + ], + [ + 371.63763427734375, + 218.48606872558594 + ], + [ + 371.4764404296875, + 228.42144775390625 + ], + [ + 368.6665954589844, + 239.56582641601562 + ], + [ + 366.87353515625, + 243.42855834960938 + ], + [ + 359.3104248046875, + 246.56076049804688 + ], + [ + 357.0806579589844, + 210.30862426757812 + ], + [ + 346.10858154296875, + 214.92250061035156 + ], + [ + 339.11785888671875, + 212.06800842285156 + ], + [ + 334.2370300292969, + 211.951171875 + ], + [ + 325.7650146484375, + 214.62118530273438 + ] + ], + "depth_max": 1.3811745643615723, + "depth_min": 0.06015143543481827, + "intrinsic": [ + [ + 512.2926025390625, + 0.0, + 259.0 + ], + [ + 0.0, + 511.3748474121094, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -6.157326879474567e-06, + -7.249179907375947e-05, + 1.3359266631596256e-05 + ], + [ + 6.158938504086109e-06, + 1.0, + 2.2230209651752375e-05, + -2.4824370484566316e-05 + ], + [ + 7.249166810652241e-05, + -2.2230657123145647e-05, + 1.0, + 1.757955214998219e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 191.75, + 250.50001525878906 + ], + [ + 192.3046875, + 250.66722106933594 + ], + [ + 192.09490966796875, + 250.45736694335938 + ], + [ + 192.10787963867188, + 250.42166137695312 + ], + [ + 192.18162536621094, + 250.45724487304688 + ], + [ + 192.0122528076172, + 250.62152099609375 + ], + [ + 192.17124938964844, + 250.47314453125 + ], + [ + 192.0523223876953, + 250.29104614257812 + ], + [ + 192.17501831054688, + 250.54989624023438 + ], + [ + 196.88343811035156, + 250.45396423339844 + ], + [ + 207.545166015625, + 256.00787353515625 + ], + [ + 206.96139526367188, + 256.2259216308594 + ], + [ + 207.81182861328125, + 258.0262756347656 + ], + [ + 212.68402099609375, + 255.6900177001953 + ], + [ + 235.57723999023438, + 226.324951171875 + ], + [ + 294.534912109375, + 214.86463928222656 + ], + [ + 328.9033203125, + 206.09031677246094 + ], + [ + 354.6381530761719, + 227.73007202148438 + ], + [ + 370.5517578125, + 239.60292053222656 + ], + [ + 369.5192565917969, + 246.490478515625 + ], + [ + 364.8436584472656, + 258.1775817871094 + ], + [ + 363.6293029785156, + 260.7612609863281 + ], + [ + 359.26007080078125, + 260.2984313964844 + ], + [ + 358.1732177734375, + 263.4252624511719 + ], + [ + 360.83294677734375, + 264.1248474121094 + ], + [ + 360.3966369628906, + 263.9360656738281 + ], + [ + 360.3707580566406, + 263.7491149902344 + ], + [ + 360.4224853515625, + 264.0106201171875 + ] + ] +} \ No newline at end of file diff --git a/000149_v2/lang.txt b/000149_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..5a84e3505d71986ae4fe682e09d4b88537baebd6 --- /dev/null +++ b/000149_v2/lang.txt @@ -0,0 +1 @@ +move the green pepper to the center of the stove diff --git a/000149_v2/object.ply b/000149_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..3cdecafe6b2ce30f50da9f4754eb44b7d075cdfe Binary files /dev/null and b/000149_v2/object.ply differ diff --git a/000184/FAIL b/000184/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000184/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000219/data.json b/000219/data.json new file mode 100644 index 0000000000000000000000000000000000000000..5b9f30ee752f229ad3ae4da0ba437a113584adb6 --- /dev/null +++ b/000219/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, + 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 + ], + "gripper_actions": [ + [ + 1.0528272698095975e-10, + 3.30770688616866e-11, + 4.5305301177300805e-10, + 8.174749274817697e-08, + -1.869540512785413e-07, + 4.3476931924446005e-07, + 1.0 + ], + [ + -0.0019346560766652088, + 0.018582997742600554, + 0.007264597060291478, + -0.010661325114744626, + -0.013740564884683712, + 0.015024929889999027, + 1.0 + ], + [ + -0.00478601782232041, + 0.01953858044000184, + 0.01033055230720481, + 0.019545611839364787, + -0.0035460423125506005, + -0.04572263566883238, + 1.0 + ], + [ + -0.0046878799979758745, + 0.023899157755193412, + 0.011115018728068415, + -0.001830755496465595, + 0.016965128672575495, + 0.0025488379722983646, + 1.0 + ], + [ + -0.010768224802054416, + 0.018493179388419767, + -0.0020462808686440848, + 0.00771995412657223, + 0.0053342012259953225, + -0.014503566658256925, + 1.0 + ], + [ + -0.01406422795867851, + 0.005952348985741984, + -0.015946339184938957, + 0.00858859587406165, + 0.009909929307227205, + -0.01628137749185391, + 1.0 + ], + [ + -0.00791692362440749, + -0.00864744383410454, + -0.02088372281889761, + 0.01032580253524675, + 0.0047391196464495215, + -0.010242053699214134, + 1.0 + ], + [ + -0.0001704751164358087, + -0.0034190427292995207, + -0.018095905368369705, + 0.017670452273512938, + -0.011893623700134956, + 0.005735778323903515, + 1.0 + ], + [ + 0.0025161476689087303, + -0.0019510008848505622, + -0.01341416020826923, + 0.006290124565624162, + -0.01859165870084152, + 0.017417114933594477, + 1.0 + ], + [ + 0.008643605316687897, + 0.0018144596136406566, + 0.0005576115205270515, + -0.01323879912818746, + 0.009923413542130678, + 0.029445450524674288, + 0.0 + ], + [ + 0.006017964450229174, + -0.0033723619088731893, + 0.015564803743074722, + -0.01428965509759381, + -0.02370202650574685, + 0.02046627122063149, + 0.0 + ], + [ + 0.008304578772289517, + -0.026444058474476645, + 0.015361503794091819, + -0.01823612507033159, + -0.0035541582651515886, + 0.03646929909128218, + 0.0 + ], + [ + 0.007607571733200036, + -0.04948009499092684, + 0.014607272110901057, + -0.03809238697940913, + -0.03077639949461691, + 0.037196924947065196, + 0.0 + ], + [ + 0.0067241192351327195, + -0.051714940531790154, + 0.009931983925640653, + -0.02462877630692765, + 0.00154030372742746, + 0.04174922445608719, + 0.0 + ], + [ + 0.0037823014789474807, + -0.050186208003310695, + -0.0004845409335853257, + -0.020195398989276386, + 0.021027253391873765, + 0.03715242308848265, + 0.0 + ], + [ + -0.005026994942967822, + -0.028309845629998595, + -0.017169117269568823, + 0.018969867726211773, + 0.0007053345389173958, + 0.013986095684994312, + 0.0 + ], + [ + -0.0012035878667751576, + -0.005306028576324152, + -0.020041981118910812, + 0.04054537359851032, + -0.03806790576700515, + -0.005142482725718269, + 0.0 + ], + [ + 0.0008744886931256191, + -0.006152172802478661, + -0.0056075058957793245, + 0.008643387826883536, + -0.009755348076479785, + -0.007641999421675228, + 0.0 + ], + [ + 0.0008434632392848584, + -0.01747781837672849, + -0.00137796479049139, + 0.007879792517380864, + -0.005612149012567239, + 0.001011367241855577, + 0.0 + ], + [ + -0.0035173628507709775, + -0.018306564458862112, + -0.0009434669677585716, + 0.002098002994686546, + 0.007154376364241867, + -0.008136919480478176, + 0.0 + ], + [ + -0.0064641734730521705, + -0.011460059197517069, + -9.682599866889241e-05, + -0.0046440059740775344, + -0.009528296921698575, + 5.575830124470798e-05, + 0.0 + ], + [ + -0.009040351281087489, + -0.009310064500622828, + 0.0011969837689245755, + -0.01743844682247101, + 0.0008418279017556383, + -0.03698284812542942, + 0.0 + ], + [ + -0.017574015611674654, + -0.0127468200026703, + 0.0025862439010534005, + -0.03090991594091293, + -0.011425386409667627, + -0.07349748977794282, + 0.0 + ], + [ + -0.0028504040091456018, + -0.012664158346854727, + -0.0013258458350101643, + 0.006329672325114771, + 0.005742087596877669, + -0.017016520514727816, + 0.0 + ], + [ + -0.0020300976240596458, + -0.00873722096004425, + -0.0007573038681643746, + -0.0025166462094820814, + -0.00029033136350954225, + -0.0007880044132235255, + 0.0 + ], + [ + 0.009393320699116914, + 0.005708219321956698, + 0.0009695460143069462, + -0.007316491242287021, + -0.07320325760060574, + 0.031076100562919044, + 0.0 + ], + [ + 0.01907726952523059, + 0.016554724625101006, + -0.010380521460946077, + -0.0047732228995812165, + -0.0750394862377532, + 0.0581055654576197, + 0.0 + ], + [ + 0.0022190359362506684, + 0.015336577654685699, + 0.0012468009639421962, + -0.01819257327362616, + -0.06030207918784579, + 0.01840124956023706, + 0.0 + ] + ], + "gripper_centers": [ + [ + 167.0693359375, + 25.271060943603516 + ], + [ + 169.4591064453125, + 32.42555236816406 + ], + [ + 167.48016357421875, + 32.2203369140625 + ], + [ + 124.72322082519531, + 19.98361587524414 + ], + [ + 95.36766052246094, + 14.488758087158203 + ], + [ + 77.08998107910156, + 13.819737434387207 + ], + [ + 51.449344635009766, + 29.126178741455078 + ], + [ + 54.434303283691406, + 75.34906005859375 + ], + [ + 68.74981689453125, + 90.12533569335938 + ], + [ + 75.47076416015625, + 98.38694763183594 + ], + [ + 74.21980285644531, + 85.13967895507812 + ], + [ + 76.56381225585938, + 74.64114379882812 + ], + [ + 88.81956481933594, + 73.00836944580078 + ], + [ + 138.85107421875, + 46.78168487548828 + ], + [ + 217.2405242919922, + 39.12207794189453 + ], + [ + 270.1372985839844, + 42.89154052734375 + ], + [ + 326.5108642578125, + 89.43614196777344 + ], + [ + 331.19512939453125, + 118.75617980957031 + ], + [ + 329.1716003417969, + 121.7012939453125 + ], + [ + 345.6014099121094, + 128.21234130859375 + ], + [ + 366.81982421875, + 138.83718872070312 + ], + [ + 376.9521484375, + 148.72323608398438 + ], + [ + 395.1003112792969, + 166.49244689941406 + ], + [ + 394.7251892089844, + 180.94525146484375 + ], + [ + 411.1288757324219, + 185.38748168945312 + ], + [ + 431.91912841796875, + 197.52748107910156 + ], + [ + 433.59942626953125, + 198.568359375 + ], + [ + 422.5722961425781, + 178.8800048828125 + ] + ], + "depth_max": 1.8096680641174316, + "depth_min": 0.479605108499527, + "intrinsic": [ + [ + 509.552490234375, + 0.0, + 259.0 + ], + [ + 0.0, + 509.1347351074219, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.652346201008186e-05, + -4.007166717201471e-05, + -7.879345503170043e-06 + ], + [ + -6.65249172016047e-05, + 1.0, + -3.6303186789155006e-05, + -1.0629643838910852e-05 + ], + [ + 4.0069247916108e-05, + 3.63058497896418e-05, + 1.0, + 1.9249962861067615e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 73.25, + 118.75000762939453 + ], + [ + 73.4947738647461, + 118.99081420898438 + ], + [ + 73.44049072265625, + 119.01312255859375 + ], + [ + 73.33202362060547, + 118.95630645751953 + ], + [ + 73.49217224121094, + 118.93680572509766 + ], + [ + 73.42572021484375, + 118.95805358886719 + ], + [ + 73.55915832519531, + 118.99833679199219 + ], + [ + 81.60108947753906, + 117.02261352539062 + ], + [ + 80.9240951538086, + 117.77017974853516 + ], + [ + 80.35610961914062, + 118.0482177734375 + ], + [ + 81.66374969482422, + 115.99507904052734 + ], + [ + 87.4663314819336, + 108.49281311035156 + ], + [ + 102.9896240234375, + 107.51114654541016 + ], + [ + 155.65151977539062, + 84.10369110107422 + ], + [ + 233.39794921875, + 79.97013854980469 + ], + [ + 286.8427734375, + 87.62117767333984 + ], + [ + 341.2007751464844, + 137.1300811767578 + ], + [ + 341.85882568359375, + 163.58445739746094 + ], + [ + 342.755859375, + 164.58523559570312 + ], + [ + 357.6504821777344, + 172.21995544433594 + ], + [ + 374.77716064453125, + 184.34400939941406 + ], + [ + 387.7586364746094, + 196.61231994628906 + ], + [ + 404.5938415527344, + 216.24392700195312 + ], + [ + 402.4052734375, + 235.50701904296875 + ], + [ + 417.51116943359375, + 243.7847900390625 + ], + [ + 436.75750732421875, + 257.1441955566406 + ], + [ + 437.8841552734375, + 255.26809692382812 + ], + [ + 431.9462585449219, + 242.46145629882812 + ] + ] +} \ No newline at end of file diff --git a/000219/lang.txt b/000219/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2443f8c084b20a68faa2e57eaf5bbd6f73e953cb --- /dev/null +++ b/000219/lang.txt @@ -0,0 +1 @@ +pick up sponge and wipe plate diff --git a/000227/data.json b/000227/data.json new file mode 100644 index 0000000000000000000000000000000000000000..3db6c505ee95454b3240ecd168ead8dd2ac1f682 --- /dev/null +++ b/000227/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 9, + "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, + 0.96801, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + [ + -3.07046332803651e-11, + 2.942503740666069e-10, + 3.031508100104219e-10, + -5.690608139904651e-07, + 3.308808571350199e-07, + -9.489873905143952e-08, + 1.0 + ], + [ + -0.007612909748662161, + -0.005345422467534083, + 0.001445727921696921, + -0.046575078477642196, + 0.00955249799864557, + -0.023937488158596962, + 1.0 + ], + [ + -0.010776573365038566, + -0.015291958716361784, + 0.0032474188670892357, + -0.041146491175697686, + 0.0005477439868532631, + -0.008769302392778781, + 1.0 + ], + [ + -0.008902781150345068, + -0.02084465194101394, + -0.0025194179858872845, + 0.00960124541121412, + 0.003960148772382278, + -0.01863963581542093, + 1.0 + ], + [ + -0.003992836832708541, + -0.014692952359983524, + -0.00844175097635086, + 0.034639089830709756, + -0.01576005441589256, + -0.0020639797570498725, + 1.0 + ], + [ + 0.002192332706096589, + -0.01088805573608076, + -0.019941622898503042, + 0.03633892493995449, + -0.0017333484819187003, + -0.00027789323862001766, + 1.0 + ], + [ + 0.0019817671328079822, + -0.01074148621223249, + -0.025700309456334253, + 0.036424357330366856, + -0.0012567414010194414, + 0.006474865136335518, + 1.0 + ], + [ + -0.003348558495527343, + -0.005951071489014387, + -0.015539638043211734, + -0.015170144759437896, + -0.035472332053981336, + 0.013208306691080226, + 1.0 + ], + [ + -0.0017754601443987217, + -0.011398394948571911, + -0.015322964407924577, + 0.007168694024996284, + -0.0044779666510060614, + 0.004818049677917077, + 1.0 + ], + [ + 0.0030640270925808843, + 0.0004497036220531131, + -0.010421905940139725, + 0.03040422647665626, + 0.02332324669795403, + 0.027639196021078, + 0.96801 + ], + [ + -0.0008819358395017463, + 0.003925305893490367, + -0.006301559142439017, + 0.03102243176449365, + -0.0034054973490859684, + 0.01997084709370283, + 0.0 + ], + [ + 0.01333373404009111, + 0.012709635098027765, + 0.021001800966045037, + -0.0431019799099699, + 0.011150444275807976, + 0.02477123362591177, + 0.0 + ], + [ + 0.029402645517023207, + 0.008471026770084687, + 0.028553303807091243, + -0.06772964312607634, + -0.02265721887895476, + 0.05460203727480337, + 0.0 + ], + [ + 0.03458069788758997, + 0.014765973953632418, + 0.012662878459294938, + -0.022682856574143262, + -0.031520656714963846, + 0.05882416978140021, + 0.0 + ], + [ + 0.023538621036826524, + 0.02503442139462672, + -0.0077754282219172355, + 0.02872098071525039, + -0.02687004114091533, + 0.06154379376914681, + 0.0 + ], + [ + 0.023650558926200882, + 0.03295809485892902, + -0.0010267156308729763, + 0.006266401069554564, + 0.05967867989852875, + 0.08498121645284622, + 0.0 + ], + [ + 0.01231188738461858, + 0.026899054325293423, + -0.008767803236523292, + 0.008037617228328067, + 0.045118241436327894, + 0.029026222949076794, + 0.0 + ], + [ + -0.0021428445501698867, + 0.012236438137818523, + -0.021783999688917977, + 0.036329113583789645, + -0.016489393033062363, + 0.008398943614111061, + 0.0 + ], + [ + -0.006864065584994139, + 0.015733647911680942, + -0.009528049385920737, + 0.01624315363820695, + -0.03541842288612163, + 0.025987990488362513, + 0.0 + ], + [ + -0.014752790419615136, + 0.0167727866051334, + -2.8001346644268565e-05, + 0.029311799879485134, + -0.04301112265685251, + -0.0013584210596790265, + 0.0 + ], + [ + -0.009064385552613685, + 0.02538419038315176, + 0.0113574145548469, + -0.005755904021585969, + -0.015672793354697998, + 0.0014655072548538054, + 0.0 + ], + [ + -0.014759141931480368, + 0.030232032002625142, + 0.0024172574691522786, + 0.025422578800441707, + -0.008426317581741716, + -0.010889686379781733, + 0.0 + ], + [ + -0.020835425221313153, + 0.018700424523084125, + 0.0013215317386879588, + 0.009233163241998509, + -0.020793340253808898, + -0.036372474730126836, + 0.0 + ], + [ + -0.02572557697415684, + 0.009632865871147117, + 0.007922079916686697, + 0.0058698372470450955, + -0.01578878729310891, + -0.0294217536288972, + 0.0 + ], + [ + -0.006297414075022545, + -0.009924430082599911, + 0.01395272687667111, + -0.021165187738976157, + -0.009383165370561808, + -0.003563575933209316, + 0.0 + ], + [ + 0.01420426700617261, + -0.03833017417115603, + -0.005850046859077307, + -0.004388340831354687, + 0.02133687375885823, + 0.02109381097156677, + 0.0 + ], + [ + 0.02150343024565876, + -0.03222344458422477, + -0.01144869129171304, + 0.013847575285463317, + 0.022788388942273575, + 0.06111570691007955, + 0.0 + ], + [ + 0.018243721105344002, + -0.021462237827888836, + -0.013137093732767793, + 0.035956694541574095, + 0.03129182958167285, + 0.07809970472602704, + 0.0 + ] + ], + "gripper_centers": [ + [ + 123.9927978515625, + 51.71656036376953 + ], + [ + 125.6317138671875, + 56.567352294921875 + ], + [ + 132.80152893066406, + 69.1685791015625 + ], + [ + 119.59224700927734, + 74.07823181152344 + ], + [ + 142.8614501953125, + 101.89569091796875 + ], + [ + 169.4355010986328, + 129.82635498046875 + ], + [ + 188.89263916015625, + 166.52984619140625 + ], + [ + 222.14256286621094, + 210.23019409179688 + ], + [ + 230.19430541992188, + 239.35049438476562 + ], + [ + 243.45046997070312, + 262.97235107421875 + ], + [ + 253.06930541992188, + 272.448974609375 + ], + [ + 247.17312622070312, + 273.4136962890625 + ], + [ + 237.56747436523438, + 235.2952117919922 + ], + [ + 246.95066833496094, + 170.5554656982422 + ], + [ + 256.9927673339844, + 113.19314575195312 + ], + [ + 249.83119201660156, + 93.897705078125 + ], + [ + 230.83790588378906, + 68.91224670410156 + ], + [ + 209.14573669433594, + 60.66991424560547 + ], + [ + 195.34417724609375, + 77.07122039794922 + ], + [ + 193.2126007080078, + 79.19485473632812 + ], + [ + 184.32994079589844, + 82.4002685546875 + ], + [ + 151.4801788330078, + 81.93209075927734 + ], + [ + 81.50149536132812, + 82.83250427246094 + ], + [ + 58.2930908203125, + 85.31626892089844 + ], + [ + 20.94032096862793, + 96.66216278076172 + ], + [ + -8.559730529785156, + 97.83210754394531 + ], + [ + 23.383813858032227, + 105.09507751464844 + ], + [ + 110.01570129394531, + 110.39196014404297 + ] + ], + "depth_max": 1.395697832107544, + "depth_min": 0.3017120659351349, + "intrinsic": [ + [ + 486.05438232421875, + 0.0, + 259.0 + ], + [ + 0.0, + 486.05841064453125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -3.960390677093528e-05, + -6.897833372931927e-05, + -2.7234365916228853e-05 + ], + [ + 3.959867899538949e-05, + 1.0, + -7.570740126539022e-05, + -7.929409912321717e-05 + ], + [ + 6.898133869981393e-05, + 7.570466550532728e-05, + 1.0, + -6.604392547160387e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 244.25, + 315.7500305175781 + ], + [ + 248.9180450439453, + 320.7522888183594 + ], + [ + 248.77581787109375, + 320.83612060546875 + ], + [ + 244.0445098876953, + 316.8418273925781 + ], + [ + 243.92518615722656, + 316.857421875 + ], + [ + 245.27920532226562, + 311.8528747558594 + ], + [ + 245.22122192382812, + 311.78900146484375 + ], + [ + 244.7657928466797, + 311.89727783203125 + ], + [ + 245.64041137695312, + 312.60198974609375 + ], + [ + 247.73330688476562, + 314.2872009277344 + ], + [ + 249.37086486816406, + 319.585693359375 + ], + [ + 249.04916381835938, + 317.6730041503906 + ], + [ + 248.4383544921875, + 286.8756103515625 + ], + [ + 244.8673858642578, + 226.65663146972656 + ], + [ + 266.1618957519531, + 167.7299346923828 + ], + [ + 257.6882019042969, + 144.4459228515625 + ], + [ + 246.3654327392578, + 118.77076721191406 + ], + [ + 223.64346313476562, + 121.89895629882812 + ], + [ + 213.00990295410156, + 134.3961181640625 + ], + [ + 213.24887084960938, + 136.70855712890625 + ], + [ + 208.32244873046875, + 137.7494354248047 + ], + [ + 169.59176635742188, + 135.6171417236328 + ], + [ + 100.04426574707031, + 138.09774780273438 + ], + [ + 75.56239318847656, + 140.2604217529297 + ], + [ + 46.848602294921875, + 146.72113037109375 + ], + [ + 17.483522415161133, + 154.7943115234375 + ], + [ + 45.61687088012695, + 164.75314331054688 + ], + [ + 122.18064880371094, + 154.6405487060547 + ] + ] +} \ No newline at end of file diff --git a/000227/lang.txt b/000227/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2443f8c084b20a68faa2e57eaf5bbd6f73e953cb --- /dev/null +++ b/000227/lang.txt @@ -0,0 +1 @@ +pick up sponge and wipe plate diff --git a/000245/data.json b/000245/data.json new file mode 100644 index 0000000000000000000000000000000000000000..2733a742efa9297885c693bf4dd59fbbff86c0ee --- /dev/null +++ b/000245/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 10, + "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, + 0.713553, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + [ + -1.9783719107380193e-10, + -1.3537293508392167e-10, + -5.221788279552442e-11, + 2.0288512902962466e-07, + 1.6265063838970628e-07, + -4.2676440090775e-07, + 1.0 + ], + [ + -0.022875583302562064, + -0.00039256237356929957, + 0.017640555388584556, + 0.08971733849560067, + -0.16880249167090017, + 0.05295305839610996, + 1.0 + ], + [ + -0.004246163268745162, + 0.009655529896840875, + 0.00546753004323261, + 0.10599541360153775, + -0.030835263703162436, + 0.0669331854438849, + 1.0 + ], + [ + -0.009625880659001718, + 0.0017682835848885359, + -0.004646161924995645, + 0.07386796788916865, + 0.00216349748218243, + 0.04857884942718716, + 1.0 + ], + [ + -0.0016459095698119486, + 0.003671445775102089, + -0.006351553714754862, + -0.008483678808914673, + 0.0014789332816364403, + 0.10952334723232564, + 1.0 + ], + [ + -0.005780945842897567, + -0.0003317507293358335, + -0.009311922626956778, + -0.019723109017798838, + 0.017213201512581294, + 0.05493251781351021, + 1.0 + ], + [ + -0.008247801762940904, + 0.0012808828474057676, + -0.008401222493277724, + -0.008420553718930865, + -0.01772656726958857, + 0.01784703379870117, + 1.0 + ], + [ + -0.0033428440176490604, + -0.0018874901869272986, + -0.0045317967752532134, + -0.05950863509507031, + -0.006322786236845681, + 0.02439731619368872, + 1.0 + ], + [ + -0.004369984540865651, + -0.0019095860975439638, + -0.015439405236411297, + -0.017621997895925553, + -0.01701487618067968, + 0.02053863545375828, + 1.0 + ], + [ + -0.0013734656175046767, + 0.0009859552170544406, + -0.013669925740363714, + -0.03754555248400034, + -0.018532932416402106, + -3.9872277276021405e-05, + 1.0 + ], + [ + 0.0030897227091198076, + -0.0018451661689558307, + -0.01190676050951922, + -0.013586993686664403, + 0.0037103953454173705, + -0.032892035070472815, + 0.713553 + ], + [ + 0.006055649956623443, + 0.0014213406846579069, + -0.0036867280725534912, + -0.0075571335827177765, + -0.0003325227207964443, + 0.011037069369839392, + 0.0 + ], + [ + 0.001610542851046004, + 0.0033300149109894706, + -0.00048754594855525413, + -0.00041458951237775425, + -0.023776603629186925, + 0.0021357278741845173, + 0.0 + ], + [ + 0.011757310581156949, + -0.01062851196378431, + 0.027004019148043255, + -0.026291881451642015, + -0.02061249370093907, + -0.04182686894398086, + 0.0 + ], + [ + 0.012906441461048218, + -0.026570919340569876, + 0.03263284587213662, + 0.009814595186382608, + -0.019774195626512277, + -0.06417998878491987, + 0.0 + ], + [ + -0.0023552952842615382, + -0.027350282713821478, + 0.0019492887949890958, + 0.05122097832006198, + 0.06977174873097305, + -0.035303096706326295, + 0.0 + ], + [ + 0.004853803009974178, + -0.021983612690257393, + -0.011265653082890709, + 0.03240278264469434, + -0.007285058766101704, + 0.04863889795839628, + 0.0 + ], + [ + 0.0061127356735881655, + -0.006131512119129018, + -0.018859168781541785, + 0.07929532359873723, + 0.024516547050448634, + 0.04779932632160494, + 0.0 + ], + [ + 0.005572498763370792, + -0.006563128615692582, + -0.006495731632982185, + 0.02227344678083478, + 0.029688330031614914, + 0.03184449726297268, + 0.0 + ], + [ + 0.003740690209373565, + -0.007187015631991658, + -0.010518542851879281, + 0.03215658758763374, + -0.001568198915192094, + 0.009294202858924773, + 0.0 + ], + [ + 0.008595974788472627, + -0.010838818607880898, + -0.0047206110703235105, + 0.004973524775693222, + -0.008999190706987978, + 0.011087161337410376, + 0.0 + ], + [ + 0.013156680028724943, + -0.022278676783786713, + 0.0020095163260833854, + -0.009066483903682022, + -0.020620573946981597, + 0.02163288460287227, + 0.0 + ], + [ + 0.004999136187453679, + -0.026881930608909865, + 0.0014388705545915342, + -0.013343640679226462, + -0.021443148647329657, + 0.020030774502516804, + 0.0 + ], + [ + 0.00533244635966218, + -0.02648691005226171, + -0.0008882780662533285, + -0.01610651328960804, + -0.04043048596856131, + 0.020474848943120745, + 0.0 + ], + [ + 0.008551819555002393, + -0.02558573909751883, + 0.0032004720246437413, + -0.015097596469361034, + -0.008222585522337936, + 0.023268768371452753, + 0.0 + ], + [ + -0.001623578751582977, + -0.020360327371847568, + -0.0007267918151415975, + -0.010562749562377861, + -0.011820660168559581, + 0.014358110563973597, + 0.0 + ], + [ + -0.0013229865873030655, + -0.019712488924249285, + 0.0015461661632151374, + -0.011304823522478616, + 0.010481890494593762, + 0.033251071537628844, + 0.0 + ], + [ + 0.004322882267283279, + -0.012352029335262707, + -0.0012964518669358743, + -0.008529653790539323, + -0.016611372135512205, + 0.019745683283365525, + 0.0 + ] + ], + "gripper_centers": [ + [ + 84.31031036376953, + 27.271846771240234 + ], + [ + 86.7103042602539, + 32.48903274536133 + ], + [ + 86.93748474121094, + 57.08504104614258 + ], + [ + 44.935550689697266, + 37.951515197753906 + ], + [ + 54.002906799316406, + 57.657474517822266 + ], + [ + 47.95777130126953, + 55.6842041015625 + ], + [ + 44.170616149902344, + 68.3237075805664 + ], + [ + 47.13130569458008, + 89.84693145751953 + ], + [ + 41.60720443725586, + 95.11910247802734 + ], + [ + 43.696533203125, + 115.48287963867188 + ], + [ + 49.93093490600586, + 133.57437133789062 + ], + [ + 49.79631423950195, + 140.04928588867188 + ], + [ + 43.50505065917969, + 137.65206909179688 + ], + [ + 43.31958770751953, + 135.6217041015625 + ], + [ + 52.21881103515625, + 123.85494995117188 + ], + [ + 76.50489044189453, + 82.95511627197266 + ], + [ + 110.3893051147461, + 72.41563415527344 + ], + [ + 153.78866577148438, + 96.8309326171875 + ], + [ + 169.82080078125, + 105.4300765991211 + ], + [ + 187.5752716064453, + 123.03623962402344 + ], + [ + 196.38674926757812, + 125.57945251464844 + ], + [ + 205.5565643310547, + 127.84120178222656 + ], + [ + 226.25741577148438, + 126.58822631835938 + ], + [ + 264.51947021484375, + 129.62008666992188 + ], + [ + 300.57659912109375, + 134.96136474609375 + ], + [ + 345.81903076171875, + 137.1361846923828 + ], + [ + 369.9783935546875, + 142.40869140625 + ], + [ + 401.20166015625, + 150.22406005859375 + ] + ], + "depth_max": 1.443556308746338, + "depth_min": 0.46102479100227356, + "intrinsic": [ + [ + 540.040283203125, + 0.0, + 259.0 + ], + [ + 0.0, + 540.4374389648438, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.0537536076735705e-05, + -2.1575819118879735e-05, + -8.355087629752234e-06 + ], + [ + -3.053889668080956e-05, + 1.0, + -6.322840636130422e-05, + -9.749951459525619e-06 + ], + [ + 2.1573885533143766e-05, + 6.32290611974895e-05, + 1.0, + 4.434313450474292e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 67.25, + 198.5 + ], + [ + 68.00881958007812, + 198.64442443847656 + ], + [ + 67.64865112304688, + 198.81710815429688 + ], + [ + 67.796142578125, + 198.6723175048828 + ], + [ + 67.59060668945312, + 198.6758575439453 + ], + [ + 67.40706634521484, + 198.55035400390625 + ], + [ + 67.53135681152344, + 198.68359375 + ], + [ + 67.35395812988281, + 198.77557373046875 + ], + [ + 67.7425537109375, + 198.8968963623047 + ], + [ + 67.57221984863281, + 198.83026123046875 + ], + [ + 67.61347961425781, + 198.90567016601562 + ], + [ + 67.01390838623047, + 197.786865234375 + ], + [ + 62.39220428466797, + 196.1326904296875 + ], + [ + 61.54703903198242, + 194.3032989501953 + ], + [ + 69.660400390625, + 179.98306274414062 + ], + [ + 93.04629516601562, + 147.8763427734375 + ], + [ + 121.8194351196289, + 141.2488555908203 + ], + [ + 167.66201782226562, + 167.96653747558594 + ], + [ + 188.10247802734375, + 178.06072998046875 + ], + [ + 201.39088439941406, + 192.09506225585938 + ], + [ + 207.799072265625, + 192.8163604736328 + ], + [ + 214.81478881835938, + 196.72824096679688 + ], + [ + 235.3549346923828, + 196.11354064941406 + ], + [ + 268.8360595703125, + 199.73452758789062 + ], + [ + 305.3515930175781, + 206.02569580078125 + ], + [ + 351.3802490234375, + 210.41351318359375 + ], + [ + 380.0335388183594, + 216.83692932128906 + ], + [ + 415.234619140625, + 227.5979461669922 + ] + ] +} \ No newline at end of file diff --git a/000245/lang.txt b/000245/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2443f8c084b20a68faa2e57eaf5bbd6f73e953cb --- /dev/null +++ b/000245/lang.txt @@ -0,0 +1 @@ +pick up sponge and wipe plate diff --git a/000263/FAIL b/000263/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/000263/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/000271/data.json b/000271/data.json new file mode 100644 index 0000000000000000000000000000000000000000..bfd18d599afb23aed5e80c9cee00778b36187d4f --- /dev/null +++ b/000271/data.json @@ -0,0 +1,458 @@ +{ + "action_start": 12, + "action_end": 20, + "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, + 0.921123, + 0.09719199999999995, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "gripper_actions": [ + [ + 2.0319690374748234e-11, + -1.0195222790998493e-10, + -4.975095335701951e-10, + 2.137297836032613e-07, + 2.4806002863914752e-08, + -4.165700471782995e-08, + 1.0 + ], + [ + 2.9845513738691043e-05, + -0.0058499349425033785, + -0.010467652657609704, + 0.013445579616367477, + 0.013372809096890769, + 0.033211928967111955, + 1.0 + ], + [ + 0.0012214419928935905, + -0.008383376515209946, + -0.013468030802716517, + 0.02432413264029247, + -0.005598148442009716, + 0.027426541773304683, + 1.0 + ], + [ + 0.007336040188620996, + -0.005826596393686299, + -0.01728613293337318, + 0.01293992174086615, + -0.010312571034825435, + 0.032470020278565395, + 1.0 + ], + [ + 0.013733481190853103, + -0.0063280349085796245, + -0.01861958181123559, + 0.029650889771548693, + -0.013256129553154675, + 0.008748613501716712, + 1.0 + ], + [ + 0.0100506440746157, + -0.004353890725154817, + -0.017691925654193193, + 0.029334819425461133, + -0.002778315122348462, + 0.021762989713459746, + 1.0 + ], + [ + 0.002220658859100222, + -0.0037253746459052703, + -0.018905326809775365, + -0.0008780086367236014, + -0.030755978874586365, + 0.016969519848262633, + 1.0 + ], + [ + -0.005044559190661102, + -0.002423846922149288, + -0.009402694006252349, + -0.014733957070191856, + 0.009463141656455051, + -0.012129968432421367, + 1.0 + ], + [ + -0.003984649604872215, + -0.0018748114319641213, + -0.009052618763241982, + 0.015418422346825295, + -0.005568559456213438, + -0.020501666597619126, + 1.0 + ], + [ + 0.0002064535390795541, + -0.0007262248710731833, + -0.006289348378805702, + 0.02077203834864252, + 0.005236287774087954, + 0.006151932472396672, + 1.0 + ], + [ + 0.0007936834279896332, + 0.0008666321279456116, + -0.004821855379871592, + 0.0198914116393468, + 0.007451179475308832, + 0.002548636347927703, + 1.0 + ], + [ + 0.0011460725617499223, + -0.0007367952048554574, + -0.005217502069681343, + 0.017090043165600994, + 0.0011590402972844306, + 0.006254832035509818, + 0.921123 + ], + [ + -0.0004051110448214934, + 0.001001325794957507, + -0.007033643760230565, + 0.0278322953085409, + 5.716803853160426e-05, + -0.0024005599592105773, + 0.09719199999999995 + ], + [ + 0.0015041312236640514, + 0.000564293575574637, + -0.0007796332435755504, + 0.009033399806798664, + 0.006186110858511048, + 0.005518853925649181, + 0.0 + ], + [ + 0.0001742346136340278, + 4.80131462987643e-06, + 0.0016176754369275625, + -0.0014533003230203115, + -0.001471686760678831, + 0.002363689086231289, + 0.0 + ], + [ + -8.166968606621028e-05, + 0.001747989079313353, + 0.009152486909232926, + -0.002034713390866697, + -0.0030613823209937993, + -0.013173899625123695, + 0.0 + ], + [ + -0.002680699797984465, + 0.0020636281909094806, + 0.030491918836233672, + -0.031016346030242, + -0.004360056854654722, + -0.03854769227995627, + 0.0 + ], + [ + 0.00047087680942392574, + 0.0005538900835853761, + 0.030776880715408877, + -0.024386832294820915, + 0.022075509993368162, + -0.01920029715371044, + 0.0 + ], + [ + 0.0023995217155410864, + 0.0003154857527003854, + 0.03308142047483747, + -0.01398492097527118, + 0.0010967132178776708, + -0.007908462034151652, + 0.0 + ], + [ + 0.0022659895860489554, + -0.002715881046613626, + 0.038179198272214845, + -0.023257875688053348, + 0.028364851999764747, + -0.0019345373161430404, + 0.0 + ], + [ + -0.010667313537992162, + 0.0014764149511189012, + 0.02435465169146249, + -0.0064821624496201324, + 0.047444279691369, + -0.016125783232167724, + 0.0 + ], + [ + -0.009303335452072126, + 0.003670458863341969, + 0.008783109101321334, + -0.011556385416237134, + 0.06671172281140117, + -0.03968876716649599, + 0.0 + ] + ], + "gripper_centers": [ + [ + 405.676513671875, + 173.2609405517578 + ], + [ + 403.6734619140625, + 183.09768676757812 + ], + [ + 402.55322265625, + 198.73110961914062 + ], + [ + 418.43743896484375, + 220.91259765625 + ], + [ + 432.69305419921875, + 245.97512817382812 + ], + [ + 437.2821044921875, + 254.1869354248047 + ], + [ + 445.1654357910156, + 260.4163818359375 + ], + [ + 450.39593505859375, + 277.5584411621094 + ], + [ + 377.50018310546875, + 284.4623107910156 + ], + [ + 449.56427001953125, + 298.1910095214844 + ], + [ + 446.713623046875, + 305.3981018066406 + ], + [ + 446.3211669921875, + 310.2021484375 + ], + [ + 444.46051025390625, + 312.8748474121094 + ], + [ + 435.0054626464844, + 314.6069030761719 + ], + [ + 429.13995361328125, + 313.1639404296875 + ], + [ + 426.5272521972656, + 312.16754150390625 + ], + [ + 425.37408447265625, + 312.74298095703125 + ], + [ + 423.20098876953125, + 303.96551513671875 + ], + [ + 442.442626953125, + 285.1798400878906 + ], + [ + 454.08660888671875, + 254.9466094970703 + ], + [ + 460.2386169433594, + 207.611328125 + ], + [ + 453.3844909667969, + 185.12496948242188 + ] + ], + "depth_max": 1.6236481666564941, + "depth_min": 0.0865747481584549, + "intrinsic": [ + [ + 503.3398742675781, + 0.0, + 259.0 + ], + [ + 0.0, + 503.5843811035156, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.542730261571705e-05, + -5.203526234254241e-05, + -2.4843371647875756e-05 + ], + [ + -6.542862684000283e-05, + 1.0, + -2.555025821493473e-05, + -3.3823478588601574e-05 + ], + [ + 5.203358887229115e-05, + 2.5553663363098167e-05, + 1.0, + -6.706261774525046e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21 + ], + "object_trajectory": [ + [ + 458.75, + 322.75 + ], + [ + 458.611328125, + 323.2237548828125 + ], + [ + 459.1555480957031, + 322.75830078125 + ], + [ + 460.2523193359375, + 322.237060546875 + ], + [ + 460.34320068359375, + 322.4822082519531 + ], + [ + 460.15667724609375, + 322.5346984863281 + ], + [ + 460.3662109375, + 322.04425048828125 + ], + [ + 460.6678466796875, + 322.3288269042969 + ], + [ + 460.59442138671875, + 322.9944763183594 + ], + [ + 461.22930908203125, + 322.70135498046875 + ], + [ + 462.0105285644531, + 322.55059814453125 + ], + [ + 462.5458984375, + 322.07366943359375 + ], + [ + 463.0860595703125, + 321.81097412109375 + ], + [ + 462.8316955566406, + 321.95355224609375 + ], + [ + 463.15338134765625, + 321.964599609375 + ], + [ + 463.64276123046875, + 321.79595947265625 + ], + [ + 463.8785400390625, + 322.5423583984375 + ], + [ + 464.40771484375, + 318.1243591308594 + ], + [ + 485.3866882324219, + 301.37640380859375 + ], + [ + 491.7359313964844, + 270.1312255859375 + ], + [ + 489.49615478515625, + 239.01889038085938 + ], + [ + 480.14935302734375, + 214.03521728515625 + ] + ] +} \ No newline at end of file diff --git a/000271/lang.txt b/000271/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..c3a5c2ecb2b7cd3d20610e4e6d5087c3291e1df5 --- /dev/null +++ b/000271/lang.txt @@ -0,0 +1 @@ +pick up any cup diff --git a/000297_v2/FAIL b/000297_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000297_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000299/data.json b/000299/data.json new file mode 100644 index 0000000000000000000000000000000000000000..32999ff05169a3d0d0a6b2a961bb3039adcbd2e7 --- /dev/null +++ b/000299/data.json @@ -0,0 +1,549 @@ +{ + "action_start": 10, + "action_end": 25, + "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, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + [ + -5.722772256078201e-11, + -1.7952572761714691e-10, + -3.09960529465414e-11, + 2.093190003813425e-07, + -4.142775448587394e-08, + 7.370352285618612e-07, + 1.0 + ], + [ + 0.008171333931544067, + 0.001670425113418611, + -0.014739676082044864, + 0.01185040250668838, + 0.01635588584283729, + -0.009420055964466552, + 1.0 + ], + [ + 0.0036108657306677117, + 0.005331132306428427, + -0.019048665234240397, + 0.021150122694813277, + -0.022346792412516286, + -0.008549858192849761, + 1.0 + ], + [ + 0.004214411482531988, + 0.006736003082932596, + -0.01924549622450991, + 0.010960971492203608, + -0.01593801958282055, + -0.0008004516669401033, + 1.0 + ], + [ + 0.0015675996234114087, + 0.006669756311157737, + -0.016056671115645276, + 0.01634223303938361, + -0.008684087453624438, + 0.007351796896914656, + 1.0 + ], + [ + 0.005918135129875102, + 0.008119827009843594, + -0.015332444060346662, + 0.027632370038089517, + 0.005310660842900068, + 0.05405105051382441, + 1.0 + ], + [ + 0.0076164523667970885, + 0.008041717877757537, + -0.014953152340317986, + 0.013251686975652802, + 0.023444574892507793, + 0.04141421532146382, + 1.0 + ], + [ + 0.003424403310970603, + 0.004170166435602696, + -0.013755097302043655, + -0.02392409500566027, + 0.007228504756334845, + 0.040896134385870316, + 1.0 + ], + [ + 0.0006955496937759431, + 0.0030603209823790722, + -0.011046073568687496, + -0.019945794777822802, + 0.00908685384162816, + 0.004832778266991608, + 1.0 + ], + [ + -0.0006500648984831825, + 0.003463074043222103, + -0.014238161773726006, + 0.001357669141534359, + 0.007430066463140615, + 0.003021713435031775, + 1.0 + ], + [ + 0.0004040268164162697, + 0.0016901538493777069, + -0.009011569138520206, + 0.0027184746730294592, + -0.01756734472386742, + 0.005032624036716877, + 1.0 + ], + [ + 0.005864214442413862, + 0.0015151984977028465, + -0.007069652609753507, + 0.0017763536412249204, + 0.007347020016637649, + 0.008280142601859285, + 0.0 + ], + [ + 0.0030798173702076825, + -0.0008261593114166632, + 0.0013310870652066542, + -0.01713943034061461, + -0.00267176278831434, + 0.003000182680907789, + 0.0 + ], + [ + 5.4842068712646075e-05, + -0.001442748186980758, + 0.0029019089378123364, + -0.021680999402560994, + -0.01075816970844898, + 0.004097775267200651, + 0.0 + ], + [ + 0.0006888456157433942, + -0.0013828168120010031, + 0.007561244698402664, + -0.03451194069386735, + -0.01819970193332902, + -0.0019261892426837943, + 0.0 + ], + [ + 0.004112272670145467, + -0.0024272266325984226, + 0.017307440417359043, + -0.06122624246978326, + -0.022198840750923612, + -0.008571228902175907, + 0.0 + ], + [ + 0.0007918257294470266, + -0.003315521078390976, + 0.019866935880725994, + -0.029802204340193997, + 0.020767589528600833, + -0.04350468045485933, + 0.0 + ], + [ + -0.0014586183130089192, + -0.003828867050924639, + 0.02241160075596807, + -0.01567167902104391, + 0.03831522328578742, + -0.08338844318584039, + 0.0 + ], + [ + 0.003295255553464549, + -0.002009802188956078, + 0.017280643431260886, + -0.04060788662258616, + 0.016145009979449874, + -0.06882319453904856, + 0.0 + ], + [ + -0.0009648771351620788, + -0.0021122252768329963, + 0.012744511468603711, + -0.05090493744786888, + -0.009088047924364328, + -0.057646046501206825, + 0.0 + ], + [ + -0.0008793248531544506, + 4.974353469255899e-05, + 0.014400004530682083, + -0.03390269363216907, + -0.0220518827917311, + -0.04552070719625143, + 0.0 + ], + [ + -0.004472623401099496, + 0.002539408006172722, + 0.020130235938196774, + -0.020497526046894126, + 0.020072157892243057, + -0.03555058627079919, + 0.0 + ], + [ + -0.003491865512496639, + 0.005310937821938755, + 0.01874401978774718, + 0.025371274819392036, + -0.002935244989487493, + -0.05585598810416329, + 0.0 + ], + [ + -0.008579339040345968, + 0.00018634498818029255, + 0.01002321287026605, + 0.022622860632796497, + -0.05734218257036542, + -0.04552847002425106, + 0.0 + ], + [ + -0.006123873366485066, + -0.0030469853663835644, + 0.013592987738832989, + -0.01048338037759649, + 0.0022113583757674897, + -0.03280132462708129, + 0.0 + ], + [ + 0.0049715493716173675, + 0.0011420634886721293, + 0.018621002315104718, + -0.01627412378966966, + -0.0016417190383107543, + -0.012586051219480646, + 0.0 + ], + [ + -0.0030935977056707475, + -0.0006191662062899062, + 0.0027695500649071655, + 0.0065009520570261745, + 0.013384175581049833, + -0.020926130160999454, + 0.0 + ] + ], + "gripper_centers": [ + [ + 171.15573120117188, + 69.34158325195312 + ], + [ + 170.0245819091797, + 81.6280517578125 + ], + [ + 176.58587646484375, + 104.88369750976562 + ], + [ + 183.7653350830078, + 110.7311782836914 + ], + [ + 190.03919982910156, + 131.1976776123047 + ], + [ + 192.31796264648438, + 143.9066925048828 + ], + [ + 188.08367919921875, + 157.6042022705078 + ], + [ + 188.55636596679688, + 165.52874755859375 + ], + [ + 193.04351806640625, + 173.88238525390625 + ], + [ + 195.88424682617188, + 182.83230590820312 + ], + [ + 192.82272338867188, + 193.01010131835938 + ], + [ + 190.83255004882812, + 195.86874389648438 + ], + [ + 190.2657470703125, + 195.95257568359375 + ], + [ + 190.71043395996094, + 196.70672607421875 + ], + [ + 187.94879150390625, + 196.78140258789062 + ], + [ + 183.9473419189453, + 196.66111755371094 + ], + [ + 183.42202758789062, + 194.6539306640625 + ], + [ + 184.64080810546875, + 190.9418182373047 + ], + [ + 187.09130859375, + 185.00527954101562 + ], + [ + 189.86117553710938, + 162.875244140625 + ], + [ + 197.38168334960938, + 152.12713623046875 + ], + [ + 199.13201904296875, + 145.8809814453125 + ], + [ + 183.53311157226562, + 126.73007202148438 + ], + [ + 171.57345581054688, + 117.27178955078125 + ], + [ + 162.23361206054688, + 88.69602966308594 + ], + [ + 152.36575317382812, + 64.30282592773438 + ], + [ + 143.24273681640625, + 47.13034439086914 + ] + ], + "depth_max": 1.4741872549057007, + "depth_min": 0.5995789766311646, + "intrinsic": [ + [ + 575.0227661132812, + 0.0, + 259.0 + ], + [ + 0.0, + 574.4303588867188, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 0.00012278251233510673, + 3.447752169449814e-05, + 1.441278618585784e-05 + ], + [ + -0.0001227819302584976, + 1.0, + -1.7040731108863838e-05, + -2.2788517526350915e-05 + ], + [ + -3.447960989433341e-05, + 1.7036498320521787e-05, + 1.0, + -1.2257978596608154e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 26 + ], + "object_trajectory": [ + [ + 219.0, + 241.0 + ], + [ + 219.17874145507812, + 241.25973510742188 + ], + [ + 219.29525756835938, + 241.43466186523438 + ], + [ + 219.25454711914062, + 241.2085723876953 + ], + [ + 219.17633056640625, + 241.3351287841797 + ], + [ + 219.08245849609375, + 241.22137451171875 + ], + [ + 219.2128448486328, + 241.40953063964844 + ], + [ + 219.26406860351562, + 241.67098999023438 + ], + [ + 219.35824584960938, + 241.66024780273438 + ], + [ + 219.41087341308594, + 241.4263153076172 + ], + [ + 219.40090942382812, + 241.33358764648438 + ], + [ + 219.27516174316406, + 241.16893005371094 + ], + [ + 218.42510986328125, + 239.44650268554688 + ], + [ + 219.86436462402344, + 236.56201171875 + ], + [ + 221.17710876464844, + 236.49618530273438 + ], + [ + 224.419189453125, + 241.69161987304688 + ], + [ + 225.53250122070312, + 240.85244750976562 + ], + [ + 227.83877563476562, + 240.98403930664062 + ], + [ + 220.28773498535156, + 245.97381591796875 + ], + [ + 222.00942993164062, + 225.69903564453125 + ], + [ + 226.21728515625, + 214.84368896484375 + ], + [ + 226.08477783203125, + 208.4524383544922 + ], + [ + 217.1048126220703, + 191.9851531982422 + ], + [ + 207.2275848388672, + 181.25363159179688 + ], + [ + 199.88775634765625, + 155.2784423828125 + ], + [ + 192.41082763671875, + 134.92706298828125 + ], + [ + 179.9730682373047, + 118.80226135253906 + ] + ] +} \ No newline at end of file diff --git a/000299/lang.txt b/000299/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..c3a5c2ecb2b7cd3d20610e4e6d5087c3291e1df5 --- /dev/null +++ b/000299/lang.txt @@ -0,0 +1 @@ +pick up any cup diff --git a/000310/FAIL b/000310/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/000310/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/000314_v2/FAIL b/000314_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000314_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000332_v2/FAIL b/000332_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/000332_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/000353_v2/FAIL b/000353_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/000353_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/000357/FAIL b/000357/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/000357/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/000361/FAIL b/000361/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000361/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000392_v2/FAIL b/000392_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/000392_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/000398_v2/FAIL b/000398_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/000398_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/000403_v2/FAIL b/000403_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/000403_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/000407_v2/FAIL b/000407_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/000407_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/000416/data.json b/000416/data.json new file mode 100644 index 0000000000000000000000000000000000000000..d2c093faa0c0a81eb6ad3f16b0d5873cd430c8bd --- /dev/null +++ b/000416/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 16, + "action_end": 26, + "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, + 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": [ + [ + 6.030365096165724e-11, + 5.4548338068727276e-11, + -1.7616769154571443e-11, + -4.240579679746868e-07, + -4.922903314457365e-08, + 9.72733654521637e-07, + 1.0 + ], + [ + -0.015535264586728215, + -0.0018342414282257746, + 0.0055865573562331045, + -0.04756468943455055, + 0.005368630910112659, + -0.005377131250407534, + 1.0 + ], + [ + -0.029869324587210144, + -0.003238637451949758, + 0.014046573334788039, + -0.0841465292902476, + 0.022358637807484563, + -0.02299288687950594, + 1.0 + ], + [ + -0.031840910961632884, + -0.00637898372432151, + 0.002564170358034112, + -0.04225614016394718, + 0.03664180865927266, + -0.007726811140510215, + 1.0 + ], + [ + -0.036513672206179515, + -0.010573925004219012, + -0.0045278470176355265, + -0.022419728235409404, + 0.001154998380132731, + -0.021567402247156503, + 1.0 + ], + [ + -0.030807710429703983, + -0.009841926290140093, + -0.0021442784899168635, + -0.022347062134986148, + 0.02518403629809894, + 0.00849254448424489, + 1.0 + ], + [ + -0.023262286042821934, + -0.01894284181715125, + 0.0015855554614802175, + 0.01890862411711012, + 0.02036323810421108, + -0.02339127129813091, + 1.0 + ], + [ + -0.018492424854995415, + -0.025210324365362413, + -0.007432532961448704, + 0.014247085292478805, + 0.0346843893584692, + 0.019814739477041054, + 1.0 + ], + [ + -0.004209750719461142, + -0.01795869795726175, + -0.010845885780068912, + -0.027013184875332018, + 0.011917500878020975, + 0.07656516026119768, + 1.0 + ], + [ + -0.003402692200644236, + -0.015849918305492726, + -0.014071246380502708, + -0.00800580971221773, + 0.01479730291950857, + 0.031177198067682543, + 1.0 + ], + [ + 0.004820666603451873, + -0.0209733287772434, + -0.024027319607346206, + 0.03313702196902693, + 0.024404505976809456, + 0.06353230379458986, + 1.0 + ], + [ + -0.0008752451915540471, + -0.012093434974379199, + -0.01409441879860419, + 0.0256926559956976, + -0.02366395285271181, + 0.03405744422427048, + 1.0 + ], + [ + -0.0019260327886445883, + -0.003542879162103921, + -0.01567773340611877, + 0.02385842290133095, + -0.017062958237075303, + 0.012627033591438215, + 1.0 + ], + [ + -0.008201689817568886, + -0.0031227784162013543, + -0.01558752184369636, + 0.021898614579542015, + -0.034546442304488126, + 0.018085327707260297, + 1.0 + ], + [ + -0.002208517542078625, + -0.0032041688313486534, + -0.008979899710054702, + 0.0038984239382519647, + -0.04215457605741646, + 0.023306419582315246, + 1.0 + ], + [ + 0.006482711618863046, + -0.004921504935603446, + -0.003916129441720439, + -0.002342231392947963, + -0.04688847993630154, + 0.03590748954463507, + 1.0 + ], + [ + 0.007551891180433978, + -0.0029178188130668144, + -0.007377146791107229, + 0.03259159339302277, + -0.009218185843176258, + 0.019643979135303555, + 1.0 + ], + [ + 0.00588947359867395, + -0.0008931011191125639, + -0.004283208928593303, + 0.014883379335158148, + -0.0536887048771151, + 0.021215179842712838, + 0.0 + ], + [ + -0.0005066502508137283, + 0.0001301116267343333, + -3.147526101367204e-05, + 0.014699365002538196, + 0.0008858778827228219, + 0.011975850460166951, + 0.0 + ], + [ + 0.0003550381235178923, + -0.0008686514286194505, + -0.00026082966599999535, + -0.012673636530231585, + -0.0073678350105548475, + 0.009634852798955977, + 0.0 + ], + [ + -0.00010626474011998788, + 5.389505658127264e-05, + 0.00021785596256269218, + 0.0029549571648111537, + 0.007700487525194063, + -0.00915161315435378, + 0.0 + ], + [ + -0.0007567528781005639, + 0.00025947058735862477, + 1.3366682609053382e-05, + 0.0024256112198659903, + 0.014198694193408188, + 0.003822103166279342, + 0.0 + ], + [ + -0.0015798969182762024, + -8.849284561284615e-05, + 0.0002157748639366533, + 0.004042038740035866, + 0.015734691895010852, + 0.029487919752962444, + 0.0 + ], + [ + -0.00117402686112425, + -0.001275074095366726, + 0.03413186505676657, + 0.01639061063689954, + 0.008202451177519382, + 0.04424744575038036, + 0.0 + ], + [ + -0.014475450104626836, + 0.000539930234539715, + 0.03108833688589764, + 0.022516739614920362, + 0.05933108916535844, + -0.010455148843053435, + 0.0 + ], + [ + -0.0013193709902063755, + 0.00018731241115522296, + 0.022143379364615395, + 0.018624303929731377, + 0.049101476145922, + -0.0034488200283815705, + 0.0 + ], + [ + 0.007939987799633286, + -0.0024765886251760655, + 0.029673886514897496, + -0.017561210534277588, + -0.009524329406367533, + -0.009350260721176427, + 0.0 + ], + [ + 0.0039261119197298855, + -0.00762206157943171, + 0.02544084632262191, + -0.014840786783668484, + 0.02745311014334635, + -0.0074447394693256, + 0.0 + ] + ], + "gripper_centers": [ + [ + 305.6638488769531, + 56.57209014892578 + ], + [ + 305.41357421875, + 76.13951110839844 + ], + [ + 306.54302978515625, + 105.5213394165039 + ], + [ + 289.7621154785156, + 96.7587890625 + ], + [ + 252.18899536132812, + 108.68594360351562 + ], + [ + 242.115234375, + 137.30068969726562 + ], + [ + 237.3462371826172, + 165.41009521484375 + ], + [ + 218.41453552246094, + 186.28884887695312 + ], + [ + 247.37339782714844, + 221.41390991210938 + ], + [ + 269.16607666015625, + 243.29165649414062 + ], + [ + 279.2308654785156, + 263.220703125 + ], + [ + 316.42132568359375, + 296.1397705078125 + ], + [ + 337.1675109863281, + 318.833740234375 + ], + [ + 336.3270263671875, + 335.798095703125 + ], + [ + 331.7574462890625, + 357.8000183105469 + ], + [ + 341.7920837402344, + 373.47113037109375 + ], + [ + 345.4117431640625, + 367.5110168457031 + ], + [ + 353.877197265625, + 368.11090087890625 + ], + [ + 357.5449523925781, + 364.97723388671875 + ], + [ + 356.04400634765625, + 370.1749572753906 + ], + [ + 362.118408203125, + 371.71820068359375 + ], + [ + 367.10858154296875, + 372.7520751953125 + ], + [ + 375.3764953613281, + 371.88140869140625 + ], + [ + 375.95086669921875, + 371.3664855957031 + ], + [ + 365.1114501953125, + 366.0240783691406 + ], + [ + 354.7893981933594, + 346.6141357421875 + ], + [ + 354.4156494140625, + 325.85931396484375 + ], + [ + 366.4999084472656, + 289.97747802734375 + ] + ], + "depth_max": 1.639089584350586, + "depth_min": 0.3049233555793762, + "intrinsic": [ + [ + 635.7064819335938, + 0.0, + 259.0 + ], + [ + 0.0, + 633.6563720703125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 8.167709893314168e-05, + 5.5503314797533676e-05, + 8.78058017406147e-06 + ], + [ + -8.167642954504117e-05, + 1.0, + -1.2010700629616622e-05, + -3.8012243749108166e-05 + ], + [ + -5.550429705181159e-05, + 1.2006167708022986e-05, + 1.0, + -7.993411418283358e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 303.75, + 425.5000305175781 + ], + [ + 304.047607421875, + 425.6749267578125 + ], + [ + 304.0061340332031, + 425.7459411621094 + ], + [ + 304.0799255371094, + 425.72186279296875 + ], + [ + 303.97509765625, + 425.77117919921875 + ], + [ + 303.889892578125, + 425.7500915527344 + ], + [ + 303.8239440917969, + 425.84307861328125 + ], + [ + 303.9741516113281, + 425.83721923828125 + ], + [ + 303.855224609375, + 425.6453857421875 + ], + [ + 304.0086975097656, + 425.6524658203125 + ], + [ + 304.312744140625, + 425.5152587890625 + ], + [ + 304.47735595703125, + 425.4954833984375 + ], + [ + 304.52215576171875, + 425.6567687988281 + ], + [ + 304.3131103515625, + 425.93865966796875 + ], + [ + 303.8206787109375, + 426.2020263671875 + ], + [ + 303.6754455566406, + 426.298828125 + ], + [ + 303.9066467285156, + 426.1702575683594 + ], + [ + 303.91790771484375, + 426.2705993652344 + ], + [ + 303.9178771972656, + 426.16961669921875 + ], + [ + 303.9092102050781, + 425.69439697265625 + ], + [ + 303.6901550292969, + 419.17523193359375 + ], + [ + 306.36773681640625, + 417.57550048828125 + ], + [ + 308.02618408203125, + 418.1269226074219 + ], + [ + 307.8020935058594, + 418.8997802734375 + ], + [ + 295.7995300292969, + 414.8347473144531 + ], + [ + 279.2318420410156, + 402.1064147949219 + ], + [ + 274.20343017578125, + 383.5832824707031 + ], + [ + 279.0611877441406, + 351.3880920410156 + ] + ] +} \ No newline at end of file diff --git a/000416/lang.txt b/000416/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..134dad6566267b319bd900429cd8cbfc162e0466 --- /dev/null +++ b/000416/lang.txt @@ -0,0 +1 @@ +pick up green mug diff --git a/000417_v2/FAIL b/000417_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/000417_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/000428_v2/FAIL b/000428_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000428_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000443_v2/FAIL b/000443_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/000443_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/000453_v2/FAIL b/000453_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/000453_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/000460/data.json b/000460/data.json new file mode 100644 index 0000000000000000000000000000000000000000..0f23b641b9f94d4201de959c06c4731b82607ebc --- /dev/null +++ b/000460/data.json @@ -0,0 +1,476 @@ +{ + "action_start": 7, + "action_end": 16, + "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, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.551115123125783e-17, + 0.0, + 1.3877787807814457e-17, + -6.492399247492681e-08, + -6.633325733431016e-07, + 9.72903374176221e-07, + 1.0 + ], + [ + 0.04099006900051938, + -0.005279674828331124, + -0.018884572568798205, + 0.004384292729168993, + -0.024404554809416328, + -0.019578652336815196, + 1.0 + ], + [ + 0.02642837356157135, + -0.0007814921460705809, + -0.017384756534824186, + 0.001984842338860727, + -0.00537773526248458, + -0.025373378865528037, + 1.0 + ], + [ + 0.01675350872795517, + 0.0008959508449498388, + -0.017635360371123635, + -0.013102343585246168, + -0.027735392736791313, + -0.044853522167676504, + 1.0 + ], + [ + 0.005112203582480157, + 0.0009753412994264882, + -0.012038918568932688, + -0.009736396970967998, + -0.015848862438367705, + 0.002917482492308006, + 1.0 + ], + [ + 0.0013523246062456251, + 0.006492652839594021, + -0.011855901599603397, + 0.026435181812194612, + 0.00012995115657280626, + 0.020102906403198992, + 1.0 + ], + [ + 0.00346246119512017, + -0.001645879096701136, + -0.011593343843208426, + 0.018033300214960506, + 0.009045648601548838, + 0.005168785272500742, + 1.0 + ], + [ + -0.0001722203870994643, + -0.004115865728571283, + -0.000760485727368549, + -0.02033538158811732, + 0.01205569059033372, + 0.009435753764405959, + 1.0 + ], + [ + 0.0010327662375547164, + -0.001481237545508135, + -0.004700440456693691, + 0.015184824938020756, + 0.03466640593924718, + 0.013815277397147961, + 0.0 + ], + [ + -0.0014084998360391343, + 0.002767016197586167, + 0.005523384782448949, + -0.02207179518349445, + 0.0008137617333362595, + 0.004300379629055761, + 0.0 + ], + [ + -0.0024197620820336496, + 0.00745504390187654, + 0.010262412790516566, + -0.020744499926401476, + -0.002359193818474946, + 0.04614154910557671, + 0.0 + ], + [ + -0.005877860663809076, + 0.01693461625876687, + 0.024540101904870992, + -0.020166091156320252, + -0.0008814957287829536, + 0.0586436224672668, + 0.0 + ], + [ + -0.00964240057674659, + 0.03195000950550118, + 0.023496288161482373, + -0.007843532325353087, + -0.02026923039790868, + 0.07970295724114687, + 0.0 + ], + [ + -0.01818179645588669, + 0.047320638858545754, + 0.00339414739540312, + 0.015309521420229932, + 0.05516882041516545, + 0.015898260257695217, + 0.0 + ], + [ + -0.013700964306238794, + 0.030238156330523517, + 0.0010097311613359305, + -0.0057502432320667915, + -0.01753864995487312, + -0.04002716491686849, + 0.0 + ], + [ + -0.017416677494346833, + 0.02365278318332918, + -0.007917046861972296, + 0.024243622073682147, + -0.011135951047393807, + -0.051331307826589734, + 0.0 + ], + [ + -0.01031358139669486, + 0.0073058545696770075, + 0.0008334027918434905, + -0.010375195416357915, + 0.00038400265011852774, + -0.03353624759687859, + 0.0 + ], + [ + -0.0037278872951493347, + -0.005204561671334679, + -0.009646035305694758, + 0.047137127480942495, + 0.012115833184670221, + 0.005485696642461459, + 1.0 + ], + [ + -0.0011392044873585472, + -0.0038083618878387293, + 0.003602742446317808, + 0.008730275670230644, + -0.009206015522322863, + 0.02475052677432178, + 1.0 + ], + [ + 0.005308824325527262, + -0.005366046249061215, + 0.015084123489363513, + -0.0041158237755282556, + 0.006717253061853953, + 0.047383188919471506, + 1.0 + ], + [ + 0.007271341462381398, + -0.01729396855594134, + 0.02219144779340329, + -0.050089000410270965, + -0.0011388827898719841, + 0.027059903164961686, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 424.18536376953125, + 179.3805389404297 + ], + [ + 421.5058288574219, + 185.83279418945312 + ], + [ + 442.328857421875, + 193.45840454101562 + ], + [ + 471.94708251953125, + 191.44606018066406 + ], + [ + 476.03704833984375, + 196.57574462890625 + ], + [ + 472.01849365234375, + 202.46365356445312 + ], + [ + 468.0184631347656, + 205.8472442626953 + ], + [ + 459.734375, + 219.37277221679688 + ], + [ + 459.4763488769531, + 228.0864715576172 + ], + [ + 462.2498779296875, + 226.16807556152344 + ], + [ + 464.4063720703125, + 230.0900115966797 + ], + [ + 464.20635986328125, + 231.9470672607422 + ], + [ + 448.38543701171875, + 207.58883666992188 + ], + [ + 401.54718017578125, + 163.18231201171875 + ], + [ + 350.878662109375, + 143.96438598632812 + ], + [ + 278.5696105957031, + 139.96725463867188 + ], + [ + 228.9809112548828, + 140.4920654296875 + ], + [ + 215.8367919921875, + 153.98837280273438 + ], + [ + 202.19049072265625, + 166.24542236328125 + ], + [ + 205.4313201904297, + 172.117431640625 + ], + [ + 217.1427001953125, + 166.03445434570312 + ], + [ + 229.8468017578125, + 140.45452880859375 + ], + [ + 245.51998901367188, + 123.27444458007812 + ] + ], + "depth_max": 2.621792793273926, + "depth_min": 0.23036369681358337, + "intrinsic": [ + [ + 498.6637878417969, + 0.0, + 259.0 + ], + [ + 0.0, + 499.3455505371094, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.7665769670857117e-05, + -3.610089697758667e-05, + -1.1015197742381133e-05 + ], + [ + -4.766713027493097e-05, + 1.0, + -3.76805110136047e-05, + -3.7745441659353673e-05 + ], + [ + 3.609909981605597e-05, + 3.768223541555926e-05, + 1.0, + -1.9419587260927074e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 22 + ], + "object_trajectory": [ + [ + 441.0, + 235.75001525878906 + ], + [ + 441.1531982421875, + 235.7816925048828 + ], + [ + 441.3423767089844, + 235.57220458984375 + ], + [ + 441.4660339355469, + 236.03384399414062 + ], + [ + 440.0010070800781, + 236.15528869628906 + ], + [ + 439.82843017578125, + 236.8887481689453 + ], + [ + 440.06195068359375, + 237.4138946533203 + ], + [ + 439.8332214355469, + 238.28546142578125 + ], + [ + 439.90399169921875, + 239.07225036621094 + ], + [ + 440.10333251953125, + 238.08685302734375 + ], + [ + 452.420166015625, + 244.33804321289062 + ], + [ + 453.7412414550781, + 238.0164794921875 + ], + [ + 443.95379638671875, + 228.67416381835938 + ], + [ + 403.4814758300781, + 186.3204803466797 + ], + [ + 355.22625732421875, + 170.06240844726562 + ], + [ + 286.56787109375, + 166.24708557128906 + ], + [ + 236.0784912109375, + 168.58795166015625 + ], + [ + 225.39321899414062, + 176.36160278320312 + ], + [ + 211.97354125976562, + 202.0457305908203 + ], + [ + 200.71112060546875, + 199.61427307128906 + ], + [ + 226.05433654785156, + 209.19754028320312 + ], + [ + 227.533935546875, + 209.1929168701172 + ], + [ + 226.76776123046875, + 209.88604736328125 + ] + ] +} \ No newline at end of file diff --git a/000460/lang.txt b/000460/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f63e2a3a84a9405bb8aa7515de06d894f5c48dd5 --- /dev/null +++ b/000460/lang.txt @@ -0,0 +1 @@ +put banana in colander diff --git a/000460/object.ply b/000460/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..10d855031f6880a0b59365cb8607f51982a8b02b Binary files /dev/null and b/000460/object.ply differ diff --git a/000467/data.json b/000467/data.json new file mode 100644 index 0000000000000000000000000000000000000000..618aaa85393e53e7ad0942a3d1ef29b818ac73e7 --- /dev/null +++ b/000467/data.json @@ -0,0 +1,641 @@ +{ + "action_start": 12, + "action_end": 23, + "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, + 0.6544570000000001, + 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": [ + [ + 1.282581263417626e-10, + 1.1033732087717407e-10, + 1.9900753267521054e-10, + -1.417520596930524e-07, + -8.858085718777034e-07, + 3.418698346277495e-07, + 1.0 + ], + [ + 0.00896599541791121, + 0.03787076581520338, + -0.00439779356536206, + 0.059771905061536165, + 0.07749428638138676, + -0.20742938033036792, + 1.0 + ], + [ + 0.008650133267996074, + 0.04183455017547791, + -0.005850423474211136, + 0.04415928340590326, + 0.07367177656088071, + -0.18752594281327203, + 1.0 + ], + [ + 0.012629252253632428, + 0.0328108578783221, + -0.0032335234181877642, + 0.02110768562516141, + 0.03181144077581085, + -0.19302587275111846, + 1.0 + ], + [ + 0.012349546737585093, + 0.017634500098222386, + -0.005446545268696146, + -0.02122090251715657, + 0.01017199352344104, + -0.1604852830127743, + 1.0 + ], + [ + 0.027888528322101147, + 0.010591574674838525, + -0.013615609059837941, + -0.02327933512064194, + -0.01458609529029838, + -0.06542214439537596, + 1.0 + ], + [ + 0.0129649639295209, + 0.003256766672145847, + -0.016666109140281535, + -0.021532485670145318, + 0.032270870449207636, + -0.04346474710556056, + 1.0 + ], + [ + -0.000130172982859722, + 0.004628538327095422, + -0.00386952828981707, + -0.011451722725541433, + -0.00804402261469043, + -0.02870668252005406, + 1.0 + ], + [ + -0.007496999263492732, + 0.01596011942086624, + 0.0023883524205104006, + -0.0021573597439778075, + -0.020357942467804414, + -0.022603973692849173, + 1.0 + ], + [ + -0.006607265938191664, + 0.00474198966829098, + -0.014232872082988748, + 0.024502809048545186, + 0.018393729111133895, + -0.01087745707573797, + 1.0 + ], + [ + -0.00880524076801631, + -0.0007082421915236281, + -0.010752934740730469, + 0.020343411157822466, + 0.0023556108390456235, + -0.02349825978108578, + 1.0 + ], + [ + -0.0018690326284808156, + -0.0024202680029637436, + -0.007301276152806981, + 0.019143861940309596, + 0.004202509818058637, + 0.004777026023018087, + 1.0 + ], + [ + -0.001203927834601104, + -0.0018761969563800829, + -0.005278022925612174, + 0.009177065314537144, + 0.009391252558795004, + -0.00020444843643803182, + 0.6544570000000001 + ], + [ + -0.0005096995191241627, + -5.847486554660941e-05, + 0.0005468620570340341, + -0.0021724638118072598, + 0.004544448808565493, + 0.004799679123750609, + 0.0 + ], + [ + -0.0014453419060728723, + 0.0015041444181491115, + 0.0055168440546782965, + 0.01002575408244058, + 0.0002184041368725579, + 0.007659337786162086, + 0.0 + ], + [ + 0.0011666644849889773, + 0.002870141100508733, + 0.021143345688007152, + 0.016641426475963506, + -0.04499867369627951, + 0.051527109861215656, + 0.0 + ], + [ + -0.0015626654785407812, + -0.009130147028917651, + 0.03963328492724936, + 0.0002261735662819864, + -0.10378952859771805, + 0.09081429582449645, + 0.0 + ], + [ + -0.009485944566306026, + -0.03631251835967905, + 0.01745030266364902, + -0.05565898003815535, + 0.011856134315437061, + 0.01174317169030243, + 0.0 + ], + [ + -0.011356176239352977, + -0.04339652637414208, + -0.0018229131389578407, + -0.06520066295003793, + 0.06020874283282475, + -0.05139690537988881, + 0.0 + ], + [ + -0.009249759965399673, + -0.05090222600997538, + -0.011905879191941152, + -0.014203945161661452, + 0.06053671614717014, + -0.04473886654990266, + 0.0 + ], + [ + -0.010342231607086916, + -0.04195515029640852, + -0.008226880420957525, + -0.02486139867362417, + 0.01587834662211265, + -0.04695540011222414, + 0.0 + ], + [ + -0.009697101452324663, + -0.045648208826432064, + -0.006643083725142315, + -0.00801781807959325, + -0.02787832384608762, + -0.020611888517759292, + 0.0 + ], + [ + -0.002773833344511034, + -0.02429935967158913, + -0.009105640623568806, + 0.0018166943040029884, + -0.0004855997484021785, + -0.007544975254373499, + 0.0 + ], + [ + -0.014254549459032817, + 0.005756824603119062, + -0.015491932917932577, + 0.015106945367935115, + -0.0026975915841926474, + 0.023082494362702176, + 0.0 + ], + [ + -0.0006601994905381936, + 0.001722105466809315, + -0.0017070567597095854, + 0.013951254791813153, + -0.04163546286389866, + 0.017097860292331006, + 1.0 + ], + [ + 0.0018273450390561274, + 0.009383967136535928, + 0.0005944666665733053, + -0.006293950197692505, + 0.027703126194739105, + 0.005700641621915305, + 1.0 + ], + [ + 0.0032167089665097737, + 0.0006397913435419733, + 0.004433861531969903, + -0.010394323272965316, + 0.0004627935452332816, + 0.014733992420558522, + 1.0 + ], + [ + 0.005750777965177811, + -0.00037343243016936534, + 0.01897588781171801, + -0.036774693554957806, + -0.0027715679867518117, + 0.012795751494962641, + 1.0 + ], + [ + 0.0076674157357913275, + -0.0033897426264531266, + 0.021262845736546215, + -0.034862323017852546, + 0.012193830778567784, + 0.02527728550774075, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 375.267822265625, + 64.52433013916016 + ], + [ + 374.55938720703125, + 72.32624816894531 + ], + [ + 359.6950378417969, + 89.23001098632812 + ], + [ + 297.0328674316406, + 63.50649642944336 + ], + [ + 257.1731872558594, + 46.31331253051758 + ], + [ + 254.89297485351562, + 40.26757049560547 + ], + [ + 274.07373046875, + 40.4793586730957 + ], + [ + 279.917236328125, + 49.566261291503906 + ], + [ + 279.556640625, + 57.87592315673828 + ], + [ + 272.94671630859375, + 60.958805084228516 + ], + [ + 244.8341064453125, + 73.61459350585938 + ], + [ + 228.49505615234375, + 95.81298828125 + ], + [ + 235.26205444335938, + 108.43203735351562 + ], + [ + 241.61288452148438, + 109.28973388671875 + ], + [ + 243.90061950683594, + 110.3064193725586 + ], + [ + 241.1754150390625, + 110.48200225830078 + ], + [ + 238.45953369140625, + 94.29470825195312 + ], + [ + 228.8594970703125, + 53.68677520751953 + ], + [ + 231.784423828125, + 32.17698669433594 + ], + [ + 284.76312255859375, + 44.09001159667969 + ], + [ + 334.336181640625, + 74.31327819824219 + ], + [ + 384.069091796875, + 112.46978759765625 + ], + [ + 434.6852111816406, + 134.1971893310547 + ], + [ + 495.8670959472656, + 159.67437744140625 + ], + [ + 489.57025146484375, + 205.8499755859375 + ], + [ + 451.5657958984375, + 203.85818481445312 + ], + [ + 460.1448974609375, + 212.8603515625 + ], + [ + 461.397216796875, + 204.95660400390625 + ], + [ + 463.0438537597656, + 184.54673767089844 + ], + [ + 477.3010559082031, + 149.42587280273438 + ], + [ + 478.397216796875, + 140.75143432617188 + ], + [ + 477.4372253417969, + 139.96444702148438 + ] + ], + "depth_max": 2.9272546768188477, + "depth_min": 0.45573753118515015, + "intrinsic": [ + [ + 620.0787353515625, + 0.0, + 259.0 + ], + [ + 0.0, + 618.262451171875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.054492430645041e-05, + -4.1932939893740695e-06, + -8.99977567314636e-06 + ], + [ + -5.054504072177224e-05, + 1.0, + -2.8330012355581857e-05, + -6.02223735768348e-05 + ], + [ + 4.191861989966128e-06, + 2.833022335835267e-05, + 1.0, + 0.00013096106704324484 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 31 + ], + "object_trajectory": [ + [ + 252.75, + 111.75000762939453 + ], + [ + 253.07550048828125, + 111.94756317138672 + ], + [ + 253.1630859375, + 111.8825912475586 + ], + [ + 253.15550231933594, + 112.04045867919922 + ], + [ + 253.33120727539062, + 111.94132232666016 + ], + [ + 253.1754608154297, + 111.7058334350586 + ], + [ + 253.06837463378906, + 111.62936401367188 + ], + [ + 253.31106567382812, + 111.7352294921875 + ], + [ + 253.11019897460938, + 111.92037963867188 + ], + [ + 252.89535522460938, + 111.91062927246094 + ], + [ + 253.05258178710938, + 111.79834747314453 + ], + [ + 252.7069854736328, + 111.87981414794922 + ], + [ + 252.58999633789062, + 111.89166259765625 + ], + [ + 252.2705535888672, + 112.01791381835938 + ], + [ + 255.4674835205078, + 115.68999481201172 + ], + [ + 251.82101440429688, + 116.41449737548828 + ], + [ + 248.53240966796875, + 104.30207824707031 + ], + [ + 239.09828186035156, + 62.738075256347656 + ], + [ + 243.85325622558594, + 44.907875061035156 + ], + [ + 287.8656005859375, + 58.27085494995117 + ], + [ + 335.11822509765625, + 89.76935577392578 + ], + [ + 383.0775451660156, + 128.27352905273438 + ], + [ + 431.1865234375, + 147.800537109375 + ], + [ + 490.2637634277344, + 173.0111083984375 + ], + [ + 482.2683410644531, + 214.9886474609375 + ], + [ + 438.5374755859375, + 230.85159301757812 + ], + [ + 440.541259765625, + 228.229736328125 + ], + [ + 441.9132385253906, + 225.66043090820312 + ], + [ + 443.0225524902344, + 224.10977172851562 + ], + [ + 444.2254943847656, + 224.79443359375 + ], + [ + 443.2441711425781, + 222.9291229248047 + ], + [ + 443.9393310546875, + 224.69081115722656 + ] + ] +} \ No newline at end of file diff --git a/000467/lang.txt b/000467/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f63e2a3a84a9405bb8aa7515de06d894f5c48dd5 --- /dev/null +++ b/000467/lang.txt @@ -0,0 +1 @@ +put banana in colander diff --git a/000467/object.ply b/000467/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..82bc4dc8c749f44dc2166bf768e4d16ce1fd02cf Binary files /dev/null and b/000467/object.ply differ diff --git a/000471_v2/FAIL b/000471_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/000471_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/000555_v2/data.json b/000555_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..4ca0593549ec4e7669fab493cac61ef6e24cbde3 --- /dev/null +++ b/000555_v2/data.json @@ -0,0 +1,806 @@ +{ + "action_start": 9, + "action_end": 28, + "object_name": "little dog", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.484982, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + [ + -1.0634593206049203e-10, + -1.612338040857253e-11, + 3.926883818117233e-11, + 3.5352007319931713e-07, + -2.0316013000039437e-07, + -5.131319382473855e-07, + 1.0 + ], + [ + 0.0010274419288114345, + 0.005141763434131488, + -0.011612732537519613, + -0.015317877022616068, + 0.02174631960457624, + 0.009733303084706038, + 1.0 + ], + [ + 0.004240038012401415, + 0.007156994892968532, + -0.007127974575993082, + -0.008422212966663144, + 0.015367185178712755, + 0.00713914183546129, + 1.0 + ], + [ + 0.007054885520896836, + 0.01012011399888936, + -0.003711947971781794, + -0.007481824405025361, + -0.001268420198156515, + 0.0006729514193154893, + 1.0 + ], + [ + 0.0038934596672859367, + 0.008524891980369792, + -0.005547709137867778, + 0.00042459863239318143, + 0.017566700731072526, + 0.01026759968646537, + 1.0 + ], + [ + 0.003783503978687097, + 0.006316302315819297, + -0.00089826943613662, + 0.0070493304098837705, + 0.00900492195949357, + 0.008448235408463515, + 1.0 + ], + [ + 0.002334391780927092, + 0.006895593992541166, + -0.00550137946814705, + 0.0027167377645031616, + 0.010686609019819953, + 0.009486413570834787, + 1.0 + ], + [ + 0.00013477652904764215, + 0.0040138680355013695, + -0.010021281368808414, + -0.011725610912030964, + 0.02340714725496553, + 0.012965752892653054, + 1.0 + ], + [ + 0.0036637643060629665, + 0.0029461203755151294, + -0.0059893876179000945, + -0.00018858642711768023, + 0.015318086742448563, + 0.0035570554802976475, + 1.0 + ], + [ + 0.0019465889080883536, + 4.7671879555843955e-06, + -0.008622063051834251, + -6.67430781291807e-05, + 0.016928844419200766, + 0.0038694971725781856, + 0.484982 + ], + [ + 0.0017063102914227635, + -0.0015350911626762498, + -0.007255218200482173, + 0.005898425089204939, + 0.020018910954660216, + 0.014303014328484357, + 0.0 + ], + [ + 0.0021035131577760713, + -0.00435537257213206, + -0.0013402620173883321, + 0.012931621785399531, + 0.010898174471918994, + -0.005970368513969698, + 0.0 + ], + [ + -0.0018679163408888422, + -0.001824603584991924, + -0.0009438148389781728, + 0.0022374976382252203, + 0.0036085645838046425, + 0.0006227706528994226, + 0.0 + ], + [ + -0.0009141548562807134, + -0.002309460790633225, + 0.004460791900757863, + -0.0008898522327111015, + -0.014155503098725446, + -0.008794454013624312, + 0.0 + ], + [ + 0.0003260670023842449, + -0.004646515113203242, + 0.011299943901934086, + 0.011210629011437757, + -0.02564438034585521, + -0.014034666039985046, + 0.0 + ], + [ + 0.0007945096765320514, + -0.008221208040019315, + 0.016806439947333586, + 0.01692387808523571, + -0.03165180580986871, + -0.022613774203083532, + 0.0 + ], + [ + 0.00025847867554357196, + -0.008168382178993697, + 0.017274977671458577, + 0.016971547572879123, + -0.04004555871543367, + -0.01955098386404831, + 0.0 + ], + [ + -0.0025948591061263904, + -0.008020921284216498, + 0.017479873594483497, + 0.018746223983519262, + -0.03785507606646247, + -0.017984164289486224, + 0.0 + ], + [ + -0.0006298931420146703, + -0.008292173827809515, + 0.017617191451358996, + 0.015341972482378634, + -0.04025716056192728, + -0.019059994623794218, + 0.0 + ], + [ + 0.00908061677606442, + -0.018965940970074625, + 0.013659398869652353, + 0.03513970486014522, + -0.025125030615929474, + -0.05715904615189242, + 0.0 + ], + [ + 0.019634939909926097, + -0.030864118956668254, + 0.0080650099831579, + 0.04497539020835455, + 0.002046520323948682, + -0.10471756710328028, + 0.0 + ], + [ + 0.00975952605193603, + -0.02173059008455002, + -0.0027270496992598536, + 0.029717051739979815, + 0.01127740760532612, + -0.07437010685677278, + 0.0 + ], + [ + 0.007380568480438832, + -0.020204496406713107, + -0.008249768112707737, + 0.020477768715710023, + 0.024989181114373107, + -0.056939909860068874, + 0.0 + ], + [ + 0.003932099264424893, + -0.013865972694184563, + -0.009060564308857447, + 0.020149470623006028, + 0.022104702538927566, + -0.04080502104668547, + 0.0 + ], + [ + 0.0038027095623289764, + -0.012865948563294115, + -0.010865144170612948, + 0.012718896599490286, + 0.030690798238776698, + -0.030070412755086533, + 0.0 + ], + [ + 0.001442386537578555, + -0.005381312726854298, + -0.00802907687929054, + 0.011942489966261188, + 0.01445674919226365, + -0.022417275813200247, + 0.0 + ], + [ + -0.003958897107518344, + -0.0006608181712757372, + -0.017053486811282353, + 0.007509869904261176, + 0.04407257750198642, + -0.008044080667579168, + 0.0 + ], + [ + -0.004997387331868219, + -0.0001628729450233804, + -0.007337896918500723, + -0.0013029289753978077, + 0.02001888463938777, + -0.008252123281969184, + 0.0 + ], + [ + -0.006153753898978043, + 0.0018078534234109503, + -0.006878541521776485, + 0.0001962707142613697, + 0.028156057735185442, + -0.01720567634022829, + 0.0 + ], + [ + -0.003993989928051556, + -0.004565964319851679, + 0.0012974134609226862, + -0.0025304175471411927, + 0.013488537407760768, + -0.021545771489142326, + 1.0 + ], + [ + -0.004030005038161033, + -0.004856348223395382, + 0.00296262791775357, + -0.0024868065684702087, + -0.0009469561129928606, + -0.017232010656639356, + 1.0 + ], + [ + -0.008164755780323718, + -0.0027922662490640696, + 0.0043561146151595495, + 0.0013517886658314438, + -0.0055946846292980025, + -0.004802258120547434, + 1.0 + ], + [ + -0.009200635561207982, + 0.00034684942995014123, + 0.006379445448226391, + -0.01224127977984374, + -0.019252940044547584, + 0.006512004453452748, + 1.0 + ], + [ + -0.009554886534940021, + 0.00017283582951865828, + 0.012270357203050294, + -0.007701346405665072, + -0.03206888045441515, + 0.0004044610244458993, + 1.0 + ], + [ + -0.009458138252375903, + 0.0024435073996642714, + 0.015488118716028142, + -0.01066199433173537, + -0.03654225437580016, + 0.005367627499930332, + 1.0 + ], + [ + -0.009330776080329117, + 0.0007859335119221461, + 0.018227175885530536, + -0.023035646293191703, + -0.049721771355263567, + -0.0010209279996455725, + 1.0 + ], + [ + 0.011317908171668112, + 0.007102155012816011, + 0.017488411545768162, + -0.017417615199260304, + -0.04763285808120845, + -0.013814970229183345, + 1.0 + ], + [ + -0.0039378302444062485, + 0.002691994618064207, + 0.0075734816275986605, + -0.0055238249552066205, + -0.013233953348024253, + -0.006458834508375735, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 187.82630920410156, + 139.5531005859375 + ], + [ + 183.7752685546875, + 152.38351440429688 + ], + [ + 187.80795288085938, + 176.53338623046875 + ], + [ + 190.92453002929688, + 192.95216369628906 + ], + [ + 183.55747985839844, + 202.05364990234375 + ], + [ + 178.079833984375, + 197.29110717773438 + ], + [ + 178.07040405273438, + 203.1269073486328 + ], + [ + 172.20709228515625, + 195.61001586914062 + ], + [ + 168.42527770996094, + 207.51466369628906 + ], + [ + 173.55404663085938, + 203.07003784179688 + ], + [ + 178.67587280273438, + 202.123779296875 + ], + [ + 181.17332458496094, + 199.266357421875 + ], + [ + 181.05975341796875, + 196.6916046142578 + ], + [ + 181.06063842773438, + 195.54563903808594 + ], + [ + 181.38467407226562, + 195.97366333007812 + ], + [ + 179.61553955078125, + 197.83226013183594 + ], + [ + 173.40406799316406, + 200.16940307617188 + ], + [ + 177.010009765625, + 190.38742065429688 + ], + [ + 187.0946044921875, + 169.95619201660156 + ], + [ + 194.44766235351562, + 150.44384765625 + ], + [ + 216.80169677734375, + 140.13998413085938 + ], + [ + 260.447265625, + 135.62338256835938 + ], + [ + 310.0519714355469, + 135.15736389160156 + ], + [ + 331.99127197265625, + 152.91078186035156 + ], + [ + 362.8493957519531, + 166.4654541015625 + ], + [ + 371.78387451171875, + 184.23666381835938 + ], + [ + 385.7518310546875, + 198.95819091796875 + ], + [ + 383.8614501953125, + 214.13461303710938 + ], + [ + 383.48529052734375, + 221.59799194335938 + ], + [ + 384.6175231933594, + 227.32601928710938 + ], + [ + 381.78021240234375, + 232.28457641601562 + ], + [ + 399.72900390625, + 244.09521484375 + ], + [ + 390.5467529296875, + 254.3895721435547 + ], + [ + 388.632080078125, + 241.40992736816406 + ], + [ + 383.8558654785156, + 237.1033935546875 + ], + [ + 388.303955078125, + 222.58755493164062 + ], + [ + 379.2740783691406, + 200.56385803222656 + ], + [ + 382.70513916015625, + 181.22076416015625 + ], + [ + 384.15472412109375, + 165.29141235351562 + ], + [ + 384.67584228515625, + 158.15293884277344 + ], + [ + 384.64605712890625, + 158.37612915039062 + ] + ], + "depth_max": 1.2339506149291992, + "depth_min": 0.45669832825660706, + "intrinsic": [ + [ + 494.68536376953125, + 0.0, + 259.0 + ], + [ + 0.0, + 494.613037109375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.674520409433171e-05, + -6.72920941724442e-05, + -4.236884706187993e-06 + ], + [ + -6.674805626971647e-05, + 1.0, + -4.228076431900263e-05, + -2.9574730433523655e-05 + ], + [ + 6.728927110088989e-05, + 4.228525358485058e-05, + 1.0, + -3.585838931030594e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 40 + ], + "object_trajectory": [ + [ + 187.0, + 216.75001525878906 + ], + [ + 187.21702575683594, + 217.0755615234375 + ], + [ + 187.19517517089844, + 217.18112182617188 + ], + [ + 187.2711181640625, + 217.15928649902344 + ], + [ + 187.0056610107422, + 217.05810546875 + ], + [ + 186.9903564453125, + 217.04132080078125 + ], + [ + 186.99102783203125, + 217.1435089111328 + ], + [ + 187.1029052734375, + 217.171875 + ], + [ + 183.38282775878906, + 219.32440185546875 + ], + [ + 186.7342529296875, + 213.15921020507812 + ], + [ + 186.42791748046875, + 210.67503356933594 + ], + [ + 183.06149291992188, + 208.84951782226562 + ], + [ + 179.39122009277344, + 208.45516967773438 + ], + [ + 178.7755126953125, + 208.73109436035156 + ], + [ + 178.70755004882812, + 210.47494506835938 + ], + [ + 177.4345245361328, + 212.5238037109375 + ], + [ + 171.50537109375, + 217.0348663330078 + ], + [ + 174.462158203125, + 210.71218872070312 + ], + [ + 183.87782287597656, + 191.61068725585938 + ], + [ + 190.38136291503906, + 172.4671630859375 + ], + [ + 212.28594970703125, + 162.00137329101562 + ], + [ + 249.99398803710938, + 157.4034423828125 + ], + [ + 294.8807067871094, + 158.2205810546875 + ], + [ + 316.65570068359375, + 174.29544067382812 + ], + [ + 344.7204895019531, + 186.78492736816406 + ], + [ + 354.3176574707031, + 204.55853271484375 + ], + [ + 367.314453125, + 218.2044677734375 + ], + [ + 366.1069030761719, + 231.39505004882812 + ], + [ + 361.6366882324219, + 236.97084045410156 + ], + [ + 363.19195556640625, + 241.67892456054688 + ], + [ + 361.70941162109375, + 247.29953002929688 + ], + [ + 361.2989807128906, + 253.264892578125 + ], + [ + 361.77740478515625, + 254.05523681640625 + ], + [ + 360.846435546875, + 247.9718017578125 + ], + [ + 360.28973388671875, + 247.55307006835938 + ], + [ + 360.0697021484375, + 247.08212280273438 + ], + [ + 359.92266845703125, + 247.01455688476562 + ], + [ + 359.962890625, + 246.953125 + ], + [ + 359.9515380859375, + 247.18048095703125 + ], + [ + 359.933837890625, + 247.22633361816406 + ], + [ + 359.8432312011719, + 247.2320556640625 + ] + ] +} \ No newline at end of file diff --git a/000555_v2/lang.txt b/000555_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..5a41e2cbb47361c8ff0bda159c3e0cbd23f2501e --- /dev/null +++ b/000555_v2/lang.txt @@ -0,0 +1 @@ +put the little dog on the green cloth diff --git a/000555_v2/object.ply b/000555_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..bab978b1dd06348e05c3c3b4b2422073ee6f0396 Binary files /dev/null and b/000555_v2/object.ply differ diff --git a/000560/FAIL b/000560/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000560/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000583_v2/FAIL b/000583_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/000583_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/000586_v2/FAIL b/000586_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/000586_v2/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/000638/FAIL b/000638/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000638/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000639_v2/FAIL b/000639_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000639_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000651_v2/data.json b/000651_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..71d1e0da529c225ea302b2162346069f4fd36f60 --- /dev/null +++ b/000651_v2/data.json @@ -0,0 +1,879 @@ +{ + "action_start": 13, + "action_end": 33, + "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, + 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, + 0.899634, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.346412981106937e-10, + 6.991471290795914e-11, + -1.0129436178729634e-10, + -2.315891324235346e-07, + 3.527113979120154e-07, + -1.3606015348999462e-07, + 1.0 + ], + [ + 0.009908110214762123, + -0.011192366864291245, + 0.006011158218222665, + -0.0011786453454667477, + -0.0073022908475720025, + -0.022501310435666073, + 1.0 + ], + [ + 0.011819892387814945, + -0.004780409943920538, + 0.008238428016947241, + 0.03798980992703168, + -0.018374662199032932, + -0.11294596268684401, + 1.0 + ], + [ + 0.019595682088560745, + -0.015859923763620047, + 0.0038017843241272414, + 0.013836131901866873, + -0.03033625700511299, + -0.1512259759036126, + 1.0 + ], + [ + 0.02102203724905541, + -0.016969763102028634, + -0.008794260758392194, + 0.03534262618847778, + 0.03567273912609225, + -0.12603338238824538, + 1.0 + ], + [ + 0.007126987746948921, + -0.006889658380849921, + -0.01564053369673661, + 0.009766087213379567, + 0.028704172252800548, + -0.048015600259008244, + 1.0 + ], + [ + 0.0003411244017823001, + -0.00648874831216311, + -0.02175832762594243, + 0.00986284220038563, + 0.006410483351694368, + 0.012224132088554834, + 1.0 + ], + [ + -0.0005154955857877841, + -0.007624453881852955, + -0.017288380274267587, + -0.017628213660236144, + 0.023189225761698205, + 0.02632950436899941, + 1.0 + ], + [ + -0.0006348797417350394, + -0.010564431493985171, + -0.014499696418281055, + -0.005661720790365568, + 0.0042757235209416105, + 0.04090529525469011, + 1.0 + ], + [ + -0.0004814204885663642, + -0.012764013289622365, + -0.010565996801379332, + 0.006130064739324053, + 0.02531984167404789, + 0.031615280115174976, + 1.0 + ], + [ + -0.00061145359427911, + -0.010992111596995048, + -0.006570126669503146, + 0.008621050646325517, + 0.03305852891883925, + 0.010968773424303123, + 1.0 + ], + [ + -0.0013253934209750962, + -0.001740756792977821, + -0.009360648028212955, + 0.007774875265497492, + 0.03528934379266908, + -0.014906223613845, + 1.0 + ], + [ + 0.0008021689176241353, + 0.008016936433928512, + -0.006225245404687321, + 0.007219582753672974, + 0.02075653667797567, + 0.017641329594129774, + 1.0 + ], + [ + 0.002284390729555441, + 0.004579340716583326, + -0.003165583652531257, + -0.0017096239560853157, + 0.01034797485006463, + 0.011175873869265154, + 1.0 + ], + [ + 0.0031070001873772513, + 0.0033617686329960707, + -0.0007719821945249535, + -0.0004197706877582508, + 0.0020062235736476443, + -0.0008433329376991989, + 0.0 + ], + [ + -3.45393172189179e-05, + 0.001397826614951117, + -0.00029958996462400964, + 0.0031089383201779275, + -0.0024095691772479397, + 0.009102128149473204, + 0.0 + ], + [ + 0.0012776388272980888, + 0.0004727308718428455, + 0.0009915191192043926, + -0.0017226892139173425, + 0.006174061443085416, + -0.009536143371644558, + 0.0 + ], + [ + 0.0018563731587601384, + 0.0049225529300512, + 0.007479500881183948, + 0.025042632884955715, + 0.0023245815194076497, + 0.007959144855210196, + 0.0 + ], + [ + 0.0037238487237269413, + 0.00491705537839438, + 0.00964429937041175, + -0.005779635956118212, + -0.01933593365567626, + -0.002989409031261674, + 0.0 + ], + [ + 0.006433675277194184, + 0.0070974336110024, + 0.02090430708094021, + 0.0013398597062639801, + -0.03874629694354672, + -0.0038136837102717216, + 0.0 + ], + [ + 0.011804552339005903, + 0.011353960063921732, + 0.02062024771262552, + -0.0013233523330337795, + -0.03326032261621147, + -0.04688090358415873, + 0.0 + ], + [ + 0.0061107657568522655, + 0.023694545580592415, + 0.016032470654869985, + 0.013784766253030756, + -0.0006148387973041865, + -0.04551787717044335, + 0.0 + ], + [ + 0.002313691085653047, + 0.02316893475468281, + 0.0045094951688658055, + 0.0049135374499399975, + 0.0040305367234881335, + -0.05188012074498135, + 0.0 + ], + [ + 0.005464627824350754, + 0.020158825172450358, + -7.302258992068766e-05, + 0.03856945161368353, + 0.010049741678590924, + -0.04238175938836219, + 0.0 + ], + [ + 0.0033629684213165034, + 0.012211995861091098, + -0.006346887408038598, + 0.053055023353286365, + 0.011766228991519918, + -0.04955356204736968, + 0.0 + ], + [ + 0.0026851215517449956, + 0.004425023530234953, + -0.011947320696330768, + 0.018723054725663327, + 0.025075851732271986, + -0.08034119207151762, + 0.0 + ], + [ + 0.0012740476665397127, + 0.002781622967242381, + -0.01368046213952942, + -0.015600848810112861, + 0.0061165002103677375, + -0.06160382453791305, + 0.0 + ], + [ + 0.0018118275650796378, + 0.0012971240626274763, + -0.008830275961080374, + -0.03451473873868821, + 0.025261720037830712, + -0.08434524296563062, + 0.0 + ], + [ + 0.0020161526935932317, + -0.00043787012524811736, + -0.0063454625095674295, + -0.020985106948237565, + 0.012428329349295369, + -0.0792227700885509, + 0.0 + ], + [ + 0.0005090433206515477, + 0.001258261772823288, + -0.008180299592438985, + -0.011743345918235745, + 0.015648712519882525, + -0.025283761385930727, + 0.0 + ], + [ + 0.002115246306380547, + 0.0012454142684057978, + -0.005248781580749269, + -0.020650512571807986, + 0.0028026458363719664, + -0.006766779770203475, + 0.0 + ], + [ + -0.0004670007392600928, + -0.0027626545079219023, + -0.0065893188426024065, + -0.0238876826531558, + -0.0025299899035745033, + -0.02795868338800351, + 0.0 + ], + [ + -0.0020636275806753535, + -0.003159194068394225, + -0.004214807904827368, + 0.0013825105355778045, + 0.027221738647160525, + -0.011207117172553443, + 0.0 + ], + [ + -3.935694760720532e-05, + -0.0011551910301743906, + -0.0016012213840174375, + 0.018251861776498807, + 0.03953595658771766, + 0.0263574791902073, + 0.899634 + ], + [ + -0.0010715377313842422, + -0.00048526592967551574, + -0.00011252630699945228, + 0.009711069007786729, + 0.012193599665892169, + 0.007915864662537356, + 1.0 + ], + [ + -0.0001645727199093283, + -0.00039891825574460416, + 0.005134040314579965, + 0.007804209528568276, + -0.010341075976415424, + 0.0021626752157064264, + 1.0 + ], + [ + -0.0009632592485926961, + -0.0006820111790310363, + 0.009842704181048684, + -0.021473350646836444, + -0.0509736615695019, + -0.022011727557193186, + 1.0 + ], + [ + 0.0014858632212784717, + -0.0012836754615417334, + 0.017186346273088706, + -0.0012603518977393193, + -0.06857260137527248, + -0.010659558817229435, + 1.0 + ], + [ + 0.0016320990838154525, + -0.0028546950960279677, + 0.006281252149026497, + 0.004119893357288715, + -0.012911143467988587, + -0.00624146733855686, + 1.0 + ], + [ + -0.003198773163199442, + -0.0007493225722431385, + 0.011242954758079224, + 0.030372456362777776, + -0.01661097943868092, + -0.0009146909935882455, + 1.0 + ], + [ + -0.00313039975960705, + -0.00448050456106569, + 0.017771057291528856, + 0.011390966471844883, + -0.036204510515819716, + -0.009063366234208385, + 1.0 + ], + [ + -0.00487738260758408, + -0.004216905113357927, + 0.008270860785795052, + 0.014717451887695014, + 0.006351196454600232, + 0.006095803602410297, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 39.93115997314453, + 115.5855712890625 + ], + [ + 42.5584831237793, + 121.3747329711914 + ], + [ + 43.946876525878906, + 149.91110229492188 + ], + [ + 75.16370391845703, + 145.89674377441406 + ], + [ + 124.87036895751953, + 122.92669677734375 + ], + [ + 172.76058959960938, + 136.06253051757812 + ], + [ + 197.69345092773438, + 150.80056762695312 + ], + [ + 205.52590942382812, + 163.4167938232422 + ], + [ + 223.42555236816406, + 195.44903564453125 + ], + [ + 231.2657012939453, + 210.47076416015625 + ], + [ + 255.07595825195312, + 233.14163208007812 + ], + [ + 267.60113525390625, + 250.6375274658203 + ], + [ + 271.79498291015625, + 268.681396484375 + ], + [ + 269.96478271484375, + 273.12347412109375 + ], + [ + 269.27423095703125, + 280.2176513671875 + ], + [ + 269.8173522949219, + 274.84918212890625 + ], + [ + 272.4384765625, + 275.300048828125 + ], + [ + 272.18597412109375, + 274.23760986328125 + ], + [ + 282.9024658203125, + 279.22735595703125 + ], + [ + 281.01654052734375, + 275.3999328613281 + ], + [ + 275.7132568359375, + 255.60751342773438 + ], + [ + 257.8829650878906, + 217.6797332763672 + ], + [ + 250.10231018066406, + 185.89242553710938 + ], + [ + 219.21058654785156, + 158.2361602783203 + ], + [ + 193.84902954101562, + 134.8211669921875 + ], + [ + 184.9835205078125, + 140.05247497558594 + ], + [ + 182.35980224609375, + 149.61068725585938 + ], + [ + 184.43106079101562, + 163.40252685546875 + ], + [ + 201.0596160888672, + 185.1314239501953 + ], + [ + 199.04061889648438, + 192.66937255859375 + ], + [ + 201.2786102294922, + 194.9720001220703 + ], + [ + 204.5902557373047, + 206.1929931640625 + ], + [ + 206.11062622070312, + 207.59176635742188 + ], + [ + 206.35940551757812, + 210.32595825195312 + ], + [ + 202.51644897460938, + 208.504638671875 + ], + [ + 199.01470947265625, + 208.48561096191406 + ], + [ + 197.8813934326172, + 208.75335693359375 + ], + [ + 199.74453735351562, + 209.35031127929688 + ], + [ + 202.33294677734375, + 197.8666229248047 + ], + [ + 202.6876220703125, + 176.34202575683594 + ], + [ + 196.74044799804688, + 178.35440063476562 + ], + [ + 192.68414306640625, + 151.68038940429688 + ], + [ + 187.8032684326172, + 138.58135986328125 + ], + [ + 186.92977905273438, + 141.8526611328125 + ], + [ + 186.6275634765625, + 141.87542724609375 + ] + ], + "depth_max": 1.244447112083435, + "depth_min": 0.520540177822113, + "intrinsic": [ + [ + 504.4358825683594, + 0.0, + 259.0 + ], + [ + 0.0, + 504.3299560546875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.6941386497346684e-05, + -1.7141504940809682e-05, + 1.7833128367783502e-05 + ], + [ + -3.694184488267638e-05, + 1.0, + -2.676836447790265e-05, + -8.193393114197534e-06 + ], + [ + 1.7140515410574153e-05, + 2.6768997486215085e-05, + 1.0, + -2.1803878553328104e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 44 + ], + "object_trajectory": [ + [ + 243.0, + 290.25 + ], + [ + 243.26246643066406, + 290.19488525390625 + ], + [ + 243.61093139648438, + 289.9796142578125 + ], + [ + 243.25772094726562, + 290.1231689453125 + ], + [ + 243.01138305664062, + 290.24798583984375 + ], + [ + 243.439453125, + 290.0252685546875 + ], + [ + 243.6479949951172, + 289.8817443847656 + ], + [ + 243.45668029785156, + 289.8578186035156 + ], + [ + 243.48858642578125, + 289.86322021484375 + ], + [ + 243.8667755126953, + 289.71942138671875 + ], + [ + 244.19839477539062, + 290.0045166015625 + ], + [ + 244.29833984375, + 289.9764404296875 + ], + [ + 244.32571411132812, + 289.5892333984375 + ], + [ + 244.3878173828125, + 289.7241516113281 + ], + [ + 244.446044921875, + 290.2589111328125 + ], + [ + 244.6468505859375, + 291.1707458496094 + ], + [ + 244.91256713867188, + 293.6766357421875 + ], + [ + 244.84249877929688, + 294.0487976074219 + ], + [ + 241.02459716796875, + 295.1680603027344 + ], + [ + 239.53591918945312, + 291.48187255859375 + ], + [ + 234.74502563476562, + 272.8611755371094 + ], + [ + 230.0709228515625, + 236.12330627441406 + ], + [ + 226.26400756835938, + 204.34007263183594 + ], + [ + 201.5880584716797, + 177.15228271484375 + ], + [ + 185.8447723388672, + 159.18008422851562 + ], + [ + 194.18505859375, + 163.7352752685547 + ], + [ + 191.6194305419922, + 170.25326538085938 + ], + [ + 196.07955932617188, + 183.2452850341797 + ], + [ + 203.393798828125, + 197.14938354492188 + ], + [ + 204.69818115234375, + 206.35906982421875 + ], + [ + 205.5157012939453, + 209.01885986328125 + ], + [ + 206.75778198242188, + 219.59524536132812 + ], + [ + 209.0667724609375, + 220.32244873046875 + ], + [ + 209.41029357910156, + 223.4076690673828 + ], + [ + 209.47940063476562, + 223.17434692382812 + ], + [ + 208.11962890625, + 222.9278564453125 + ], + [ + 207.513916015625, + 222.54248046875 + ], + [ + 207.83258056640625, + 222.57362365722656 + ], + [ + 208.49020385742188, + 222.79360961914062 + ], + [ + 206.1802520751953, + 222.52828979492188 + ], + [ + 205.3214874267578, + 221.76393127441406 + ], + [ + 203.41407775878906, + 220.8953857421875 + ], + [ + 202.76742553710938, + 220.75538635253906 + ], + [ + 202.52366638183594, + 220.76292419433594 + ], + [ + 202.9881591796875, + 220.92576599121094 + ] + ] +} \ No newline at end of file diff --git a/000651_v2/lang.txt b/000651_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..ed70e39ed709e29ad1e07f5c953f8c4538160846 --- /dev/null +++ b/000651_v2/lang.txt @@ -0,0 +1 @@ +move the blue fork to the upper left side of the stove diff --git a/000651_v2/object.ply b/000651_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..e4c864931bab497f3b8fa9c526c59322bffa199b Binary files /dev/null and b/000651_v2/object.ply differ diff --git a/000654_v2/data.json b/000654_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..52880bb6d0b366cbaa4f22bc13247dc4639dfdc8 --- /dev/null +++ b/000654_v2/data.json @@ -0,0 +1,788 @@ +{ + "action_start": 9, + "action_end": 29, + "object_name": "brocolli", + "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": [ + [ + -5.551115123125783e-17, + 0.0, + 0.0, + -2.9637080343283373e-07, + -5.373785935645109e-07, + -2.286100397681557e-07, + 1.0 + ], + [ + 0.00201878210628037, + -0.004884727709912912, + -0.0043392971904802485, + 0.013243559237517844, + 0.013892655444621725, + -0.029544050821426422, + 1.0 + ], + [ + -0.0015770515596283952, + -0.0021887869011811105, + -0.010499839088356194, + -0.007639072434990072, + 0.030124897795504042, + -0.016876168590799476, + 1.0 + ], + [ + -0.00024436051235021683, + -0.0005192953937103797, + -0.007374411330045683, + 0.007402853414755791, + 0.017309705259673694, + -0.0030022472774751036, + 1.0 + ], + [ + 0.0025134926340501518, + -0.002566067789159146, + -0.009153288381149288, + 0.0019464661472503846, + 0.013391224352033153, + -0.018962113837307695, + 1.0 + ], + [ + 0.0017237730038316412, + -0.0005293921114406051, + -0.008672058787739877, + 0.03193813582454252, + 0.03150032896549498, + -0.06809868166821006, + 1.0 + ], + [ + -0.0013398450797961758, + 0.00153488981896986, + -0.007874997105849643, + -0.002638556351831138, + 0.0005598375909471829, + -0.06590784300052095, + 1.0 + ], + [ + 0.0002521931922496168, + 0.003342998307170688, + -0.006730718434152513, + -0.004864456953285296, + 0.00937843322946554, + -0.03845393962146679, + 1.0 + ], + [ + -0.001125795170439703, + 0.0017565835830467974, + -0.00840131761545819, + -0.009655090441921418, + 0.027623482827459814, + -0.007268168184590184, + 1.0 + ], + [ + -0.0034343538295315, + -0.00029545222018179454, + -0.01257621709119576, + -0.014448982722564497, + 0.025812950049211886, + -0.005901305093085019, + 1.0 + ], + [ + -0.0013881743926599244, + 0.0017263571502313807, + -0.0048377162657950905, + 0.01315551774603692, + 0.01870539247572021, + 0.010041245909264286, + 0.0 + ], + [ + 0.0013867862952722243, + 0.0007354106011196737, + -0.001025841904403372, + 0.006994030507253467, + -0.0031917712840371783, + 0.011184305298639343, + 0.0 + ], + [ + -0.0002569676688203848, + 0.0005445752356027581, + 0.00047530574626410073, + 0.0048156785668811986, + -0.0029780738396420576, + 0.00754863421289104, + 0.0 + ], + [ + -0.00035256917153569933, + 0.0003547033970356349, + 0.0034925785297422133, + 0.005364282518439975, + -0.006362821208097269, + 0.0036396770066407748, + 0.0 + ], + [ + 0.0044328759602999535, + 0.0025824344200894023, + 0.013958399857931656, + 0.0024755445737869356, + -0.026776912822651978, + 0.014545282540861432, + 0.0 + ], + [ + 0.006274598864084324, + 0.004378722476175566, + 0.010825578392661375, + 0.016159416871382223, + -0.044490089534177296, + 0.02873925751231739, + 0.0 + ], + [ + 0.017856162055710445, + 0.0001985745988058174, + 0.011866177788476852, + -0.006083672152629601, + -0.041126540245132945, + 0.01198282416992684, + 0.0 + ], + [ + 0.015953118536182698, + -0.0006301856085786858, + 0.017607580293044996, + -0.00587641147879821, + -0.059564742515528325, + 0.007278601656339004, + 0.0 + ], + [ + 0.003647682198946456, + 0.0020317261938878964, + 0.020733954074331717, + -0.0033358184458947993, + -0.03734057614191754, + 0.0023200990142860584, + 0.0 + ], + [ + -0.018038238958320074, + 0.007522530782339484, + 0.02048263283403292, + 0.013733165956298546, + 0.02518847540837431, + 0.020791442996609132, + 0.0 + ], + [ + -0.02463944788076816, + 0.008760566429935342, + 0.010400444930065728, + 0.009602920857954597, + 0.008130753676272577, + 0.032439567277297555, + 0.0 + ], + [ + -0.022911321398022766, + 0.012312704627959095, + -0.00028485422527961546, + 0.004937753429677551, + 0.01470635911757857, + 0.03646343961974519, + 0.0 + ], + [ + -0.015504539979745047, + 0.01574818062614073, + -0.006726013776237272, + 0.008364101649058424, + 0.004769519750026588, + 0.03287741533131176, + 0.0 + ], + [ + -0.017528159715090086, + 0.014730788486642138, + -0.023537450464537688, + -0.008694180405250445, + 0.015777422530922226, + 0.07599736538609993, + 0.0 + ], + [ + -0.0022353648473840415, + 0.005254579950750529, + -0.02564891354634781, + -0.04600050289817522, + -0.018487272320918843, + 0.016499240351249424, + 0.0 + ], + [ + 0.004990582008845168, + -0.00044697853194308745, + -0.016051826216478257, + -0.003029192756244902, + 0.018322343551923186, + -0.006446985934500575, + 0.0 + ], + [ + 0.005309564828781477, + -0.006828414919504561, + -0.008673822517960311, + -0.0009520512206234645, + 0.009756758224052874, + -0.012299979983261067, + 0.0 + ], + [ + 0.008545156072977872, + -0.010871540265713589, + -0.005173624277126646, + 0.0054135505081133635, + 0.012790152467641577, + -0.03202246927990009, + 0.0 + ], + [ + 0.004809579807518116, + -0.006645348001053972, + -0.004289407540093621, + -0.0002012076546013342, + 0.019792931504468807, + -0.020726558039472955, + 0.0 + ], + [ + 0.0022705627447790477, + -0.005180110400994781, + -0.0037096943600684364, + 0.0005455061856847446, + 0.016246663135150653, + -0.01624052104815205, + 0.0 + ], + [ + 0.002026958986764721, + -0.0025010576833538467, + -0.0004318493330034267, + -0.001573421575202901, + 0.019471174639007056, + -0.0006753971577699382, + 1.0 + ], + [ + 0.00031898479760508747, + 0.0007161920360587298, + -0.0005388828062450257, + 0.005813813409878114, + 0.005328773932514569, + 0.011381898566359867, + 1.0 + ], + [ + -0.0003390682810414103, + 0.00021400099849899767, + 0.002660497720209494, + 0.00871954853631363, + 0.006429176109056419, + -0.009034713475217993, + 1.0 + ], + [ + 0.0004474179489881436, + 0.0020310306569199243, + 0.017902568334298992, + 0.03361689531828696, + -0.03990256534202136, + 0.0026667450596980424, + 1.0 + ], + [ + 0.002629835310647033, + 0.0033592501843428962, + 0.0239164266884813, + -0.0010134394487770282, + -0.06661553612937143, + 0.003275779529580853, + 1.0 + ], + [ + 0.0014086733886617409, + -0.00036086338920283956, + 0.02003306915964844, + -0.0036444632927382487, + -0.061165188308029576, + -0.008446717441416809, + 1.0 + ], + [ + -0.0021317185778933767, + -0.001276039089771877, + 0.017453565045578365, + -0.011301445313806155, + -0.08248686405886745, + -0.021702990443876746, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 231.59130859375, + 145.266357421875 + ], + [ + 227.90673828125, + 163.40396118164062 + ], + [ + 224.29351806640625, + 179.6348876953125 + ], + [ + 223.95594787597656, + 192.50537109375 + ], + [ + 224.17994689941406, + 201.8552703857422 + ], + [ + 227.0062713623047, + 215.23434448242188 + ], + [ + 228.14877319335938, + 228.6121826171875 + ], + [ + 233.6422119140625, + 231.67025756835938 + ], + [ + 236.0458221435547, + 242.53515625 + ], + [ + 237.20352172851562, + 251.70895385742188 + ], + [ + 234.88999938964844, + 256.33624267578125 + ], + [ + 238.1399688720703, + 261.91876220703125 + ], + [ + 237.98776245117188, + 262.08367919921875 + ], + [ + 237.75880432128906, + 261.9613342285156 + ], + [ + 238.11572265625, + 262.00048828125 + ], + [ + 233.37774658203125, + 263.161865234375 + ], + [ + 230.82777404785156, + 257.7795104980469 + ], + [ + 237.0345916748047, + 235.51463317871094 + ], + [ + 245.17359924316406, + 215.00796508789062 + ], + [ + 247.16604614257812, + 189.86734008789062 + ], + [ + 240.14816284179688, + 160.23123168945312 + ], + [ + 217.1242218017578, + 132.08291625976562 + ], + [ + 178.05752563476562, + 136.61712646484375 + ], + [ + 146.72537231445312, + 146.29331970214844 + ], + [ + 109.48707580566406, + 179.5984649658203 + ], + [ + 93.11772155761719, + 207.18295288085938 + ], + [ + 96.34334564208984, + 236.37643432617188 + ], + [ + 98.01730346679688, + 246.66342163085938 + ], + [ + 107.61491394042969, + 258.1043395996094 + ], + [ + 120.2278823852539, + 267.271240234375 + ], + [ + 129.36415100097656, + 266.815185546875 + ], + [ + 139.80300903320312, + 273.501708984375 + ], + [ + 139.57778930664062, + 269.2914733886719 + ], + [ + 136.3824920654297, + 271.39788818359375 + ], + [ + 129.73391723632812, + 264.32330322265625 + ], + [ + 129.6996307373047, + 228.33840942382812 + ], + [ + 131.72747802734375, + 199.97305297851562 + ], + [ + 135.7867889404297, + 165.30429077148438 + ], + [ + 136.20115661621094, + 151.63140869140625 + ], + [ + 136.68112182617188, + 151.76377868652344 + ] + ], + "depth_max": 1.2597441673278809, + "depth_min": 0.5628524422645569, + "intrinsic": [ + [ + 504.9603576660156, + 0.0, + 259.0 + ], + [ + 0.0, + 505.1678161621094, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.615019861375913e-05, + -7.479323812731309e-06, + 1.6846235666889697e-05 + ], + [ + -4.6150606067385525e-05, + 1.0, + -5.402753231464885e-05, + -1.2079593034286518e-05 + ], + [ + 7.476830433006398e-06, + 5.402787428465672e-05, + 1.0, + -2.8251066396478564e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 39 + ], + "object_trajectory": [ + [ + 233.25, + 273.5 + ], + [ + 233.41128540039062, + 273.9480895996094 + ], + [ + 233.58697509765625, + 273.88482666015625 + ], + [ + 233.50778198242188, + 274.1517333984375 + ], + [ + 233.51077270507812, + 274.34918212890625 + ], + [ + 233.44830322265625, + 274.32952880859375 + ], + [ + 233.08547973632812, + 274.2552490234375 + ], + [ + 232.74310302734375, + 273.9889221191406 + ], + [ + 229.47752380371094, + 276.535400390625 + ], + [ + 229.1138458251953, + 276.7963562011719 + ], + [ + 226.44357299804688, + 273.4715270996094 + ], + [ + 227.8814697265625, + 274.1046142578125 + ], + [ + 227.4985809326172, + 274.4488830566406 + ], + [ + 230.41204833984375, + 271.93212890625 + ], + [ + 227.36383056640625, + 274.54547119140625 + ], + [ + 223.15118408203125, + 275.62628173828125 + ], + [ + 220.0500946044922, + 268.23602294921875 + ], + [ + 226.57327270507812, + 247.1759796142578 + ], + [ + 236.0987091064453, + 225.88412475585938 + ], + [ + 241.1527557373047, + 198.56297302246094 + ], + [ + 233.43429565429688, + 169.32351684570312 + ], + [ + 209.56964111328125, + 142.1155548095703 + ], + [ + 169.8350830078125, + 147.96194458007812 + ], + [ + 139.09661865234375, + 156.73455810546875 + ], + [ + 103.08120727539062, + 189.0083465576172 + ], + [ + 88.57763671875, + 217.10415649414062 + ], + [ + 92.27882385253906, + 244.71072387695312 + ], + [ + 95.56902313232422, + 255.48553466796875 + ], + [ + 104.50405883789062, + 266.2530822753906 + ], + [ + 120.30010986328125, + 276.01654052734375 + ], + [ + 128.18206787109375, + 276.603759765625 + ], + [ + 136.06961059570312, + 288.34259033203125 + ], + [ + 135.81991577148438, + 288.2231750488281 + ], + [ + 133.13514709472656, + 289.256591796875 + ], + [ + 130.73617553710938, + 289.6699523925781 + ], + [ + 131.27798461914062, + 289.4943542480469 + ], + [ + 131.42576599121094, + 289.36077880859375 + ], + [ + 131.608642578125, + 289.52435302734375 + ], + [ + 131.53872680664062, + 289.5655822753906 + ], + [ + 131.75811767578125, + 289.3367614746094 + ] + ] +} \ No newline at end of file diff --git a/000654_v2/lang.txt b/000654_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..ed78573f5eaf88ce6ff2720a2be7703b993816e7 --- /dev/null +++ b/000654_v2/lang.txt @@ -0,0 +1 @@ +put the brocolli in the silver pot diff --git a/000654_v2/object.ply b/000654_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..fba3df3d9d6057008e1ede2d22a830e6766a1588 Binary files /dev/null and b/000654_v2/object.ply differ diff --git a/000660/data.json b/000660/data.json new file mode 100644 index 0000000000000000000000000000000000000000..c65a4999a1184989f4765d840a7d39c9c0481b0a --- /dev/null +++ b/000660/data.json @@ -0,0 +1,549 @@ +{ + "action_start": 10, + "action_end": 19, + "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, + 0.823199, + 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": [ + [ + -1.9984228161185058e-10, + -3.587216357292533e-10, + -9.911919895966292e-11, + 5.126494960834952e-07, + -2.4707074558723064e-07, + -3.562007765435449e-08, + 1.0 + ], + [ + 0.011815539403742442, + -0.04596807543592168, + 0.020072389874557617, + -0.010945348748310619, + -0.041219443477268865, + -0.17636359491679565, + 1.0 + ], + [ + 0.01041260152818313, + -0.04636690395631563, + 0.009953161249155518, + 0.00897096788229542, + -0.024503182347425472, + -0.14020041544486975, + 1.0 + ], + [ + 0.005041461765376981, + -0.045963364138784546, + -0.0037078604961383183, + -0.04632417210517147, + -0.02293919625666021, + -0.11202405064440407, + 1.0 + ], + [ + 0.00541842713305693, + -0.04167157920656392, + -0.023005110730838385, + -0.0390149447438671, + 0.017779279915875062, + -0.07751146475275024, + 1.0 + ], + [ + 0.010992486572483168, + -0.025868432689566637, + -0.015027456116482027, + -0.03480259503267835, + -0.026144004779132146, + -0.055367265693343264, + 1.0 + ], + [ + 0.011015172203374612, + -0.01256514911296476, + -0.015362407897931113, + 0.0020793726784143944, + -0.005219375863482147, + -0.022327174304318922, + 1.0 + ], + [ + 0.009095780229333578, + -0.006199825616823557, + -0.020049558738803118, + 0.013054284702706784, + 0.01757645693154852, + -0.00971637780212279, + 1.0 + ], + [ + 0.003945788206056566, + -0.005525246944309253, + -0.01650702986045939, + 0.0024368123702298763, + 0.009512834132182783, + -0.007305963999237577, + 1.0 + ], + [ + 0.002754235195878363, + -0.005662212005340145, + -0.008955535658638665, + -0.011749386526611531, + 0.0038757777161066826, + -0.014688055885755667, + 1.0 + ], + [ + -0.0017030852613792724, + 0.0031295485986196636, + 0.0008282737161531362, + 0.022445236246488018, + 0.011426828621387072, + 0.023394929634171946, + 0.823199 + ], + [ + -0.0025810886644603848, + 0.008522294689046944, + 0.0028425094951027626, + -0.00414435417968872, + 0.0006355310853126149, + 0.006682015097068187, + 0.0 + ], + [ + -0.0010666081397026073, + 0.01511637277943706, + 0.012273382837627668, + 0.022420679351879604, + -0.0035603680072419865, + 0.031336652459379916, + 0.0 + ], + [ + 0.0007895921317344345, + 0.025528904820367834, + 0.021709014633977057, + 0.018943676258635977, + -0.017995961532387465, + 0.06546335707372697, + 0.0 + ], + [ + 0.018440350695930113, + 0.030680525290220015, + 0.021236573756790885, + -0.016594733304424892, + -0.034703891183575544, + 0.08576880466572916, + 0.0 + ], + [ + 0.029205433030513595, + 0.012475514570539623, + 0.003388863711433321, + -0.016506237955378148, + -0.021332086231041034, + 0.03204647115783018, + 0.0 + ], + [ + 0.02571828276924104, + -0.006120733763746777, + -0.0037176806634466597, + -0.0039262576623717614, + -0.004420990122422618, + -0.020845909894353535, + 0.0 + ], + [ + 0.01727021304150078, + -0.015371830508400394, + -0.009275852832130782, + -0.012633097084458865, + 0.0029107887924779193, + -0.04411964027404342, + 0.0 + ], + [ + 0.013354777150982544, + -0.01788710899771745, + -0.01326253475151292, + -0.0002819021306761221, + 0.010210462496754466, + -0.03974006942257209, + 0.0 + ], + [ + 0.007968415199747725, + -0.005269493950744816, + -0.00839976310919835, + 0.008328987982723477, + -4.212364893652702e-05, + 0.010011872145493142, + 0.0 + ], + [ + 0.0005352286945515816, + 0.0008874209687127349, + 0.00482940846556228, + -0.0016932501630218034, + -0.021339253041357, + 0.03579213426393987, + 1.0 + ], + [ + -0.004588298249172007, + 0.0027525425962275224, + 0.011876452608984421, + 0.001611959511657751, + -0.02498212010853859, + 0.027317830326325787, + 1.0 + ], + [ + -0.008837272447164368, + 0.007697611258817225, + 0.016467004701510926, + 0.005938023223200038, + -0.025407778789288495, + 0.027938763226986282, + 1.0 + ], + [ + -0.01626499163175782, + 0.010386326432714602, + 0.020141980193646825, + -0.014532006097393552, + -0.017758345140817495, + 0.018923509825059904, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 94.20670318603516, + 239.03485107421875 + ], + [ + 93.79937744140625, + 243.4065399169922 + ], + [ + 158.33621215820312, + 243.23614501953125 + ], + [ + 214.3304443359375, + 248.96282958984375 + ], + [ + 291.0815734863281, + 276.63128662109375 + ], + [ + 364.97900390625, + 326.29498291015625 + ], + [ + 421.5094299316406, + 352.1220703125 + ], + [ + 459.14117431640625, + 369.29119873046875 + ], + [ + 470.2054138183594, + 378.1576232910156 + ], + [ + 472.8672790527344, + 390.34906005859375 + ], + [ + 482.4720458984375, + 392.9556884765625 + ], + [ + 476.7778625488281, + 394.43231201171875 + ], + [ + 474.5838928222656, + 394.1646423339844 + ], + [ + 454.2459716796875, + 383.00860595703125 + ], + [ + 417.7658996582031, + 340.1192626953125 + ], + [ + 383.45965576171875, + 289.0687255859375 + ], + [ + 370.90960693359375, + 231.87274169921875 + ], + [ + 402.78790283203125, + 218.13238525390625 + ], + [ + 431.0082702636719, + 217.2920684814453 + ], + [ + 455.7315368652344, + 225.77047729492188 + ], + [ + 481.54815673828125, + 238.4659423828125 + ], + [ + 484.77215576171875, + 240.88211059570312 + ], + [ + 472.989013671875, + 234.4576416015625 + ], + [ + 466.53619384765625, + 217.8441619873047 + ], + [ + 454.6374816894531, + 206.41558837890625 + ], + [ + 444.77130126953125, + 195.15257263183594 + ], + [ + 443.2748107910156, + 195.24462890625 + ] + ], + "depth_max": 1.959273338317871, + "depth_min": 0.05918038263916969, + "intrinsic": [ + [ + 616.5363159179688, + 0.0, + 259.0 + ], + [ + 0.0, + 614.173095703125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -5.5259664804907516e-05, + 2.9898001230321825e-05, + 1.0588777513476089e-05 + ], + [ + 5.525902452063747e-05, + 1.0, + 2.141724144166801e-05, + -2.3891378077678382e-05 + ], + [ + -2.989918357343413e-05, + -2.141558979928959e-05, + 1.0, + 2.8622291210922413e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 26 + ], + "object_trajectory": [ + [ + 488.5, + 390.0000305175781 + ], + [ + 488.60284423828125, + 389.9935302734375 + ], + [ + 488.86480712890625, + 390.40478515625 + ], + [ + 488.58831787109375, + 390.145751953125 + ], + [ + 488.5148010253906, + 390.132080078125 + ], + [ + 488.6121826171875, + 390.23126220703125 + ], + [ + 488.0289001464844, + 388.8847961425781 + ], + [ + 487.810546875, + 388.4967956542969 + ], + [ + 485.5648193359375, + 392.0503845214844 + ], + [ + 484.99365234375, + 392.859619140625 + ], + [ + 488.1172790527344, + 395.7757263183594 + ], + [ + 490.0135498046875, + 399.9539794921875 + ], + [ + 486.6585388183594, + 400.72637939453125 + ], + [ + 466.3914794921875, + 390.6451110839844 + ], + [ + 428.4189147949219, + 349.8597717285156 + ], + [ + 392.3214111328125, + 297.0861511230469 + ], + [ + 381.6465148925781, + 235.67611694335938 + ], + [ + 411.659423828125, + 220.8631591796875 + ], + [ + 438.9282531738281, + 220.8051300048828 + ], + [ + 463.35418701171875, + 229.78939819335938 + ], + [ + 492.0849609375, + 240.2088165283203 + ], + [ + 497.6418151855469, + 250.44976806640625 + ], + [ + 494.17327880859375, + 254.20660400390625 + ], + [ + 496.8440856933594, + 254.10031127929688 + ], + [ + 499.1058044433594, + 253.44923400878906 + ], + [ + 502.30059814453125, + 252.8896484375 + ], + [ + 502.75445556640625, + 253.64215087890625 + ] + ] +} \ No newline at end of file diff --git a/000660/lang.txt b/000660/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..272b39e5cf14c2638c6610dac0f4e40aa4aafaf1 --- /dev/null +++ b/000660/lang.txt @@ -0,0 +1 @@ +put sushi on plate diff --git a/000660/object.ply b/000660/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..6098d13f8be15e72d25208d09de021c079b52bf5 Binary files /dev/null and b/000660/object.ply differ diff --git a/000670_v2/FAIL b/000670_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/000670_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/000689/data.json b/000689/data.json new file mode 100644 index 0000000000000000000000000000000000000000..301d13baea2b1be1611a122eea35d91e15f732eb --- /dev/null +++ b/000689/data.json @@ -0,0 +1,476 @@ +{ + "action_start": 9, + "action_end": 16, + "object_name": "sushi", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.03833900000000001, + 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": [ + [ + 6.310435507472789e-11, + -1.6827372828487341e-10, + 8.564593478865845e-12, + -3.6889420961565667e-07, + 7.895085594976879e-07, + 1.3675692289805036e-08, + 1.0 + ], + [ + 0.009290291975991793, + -0.038808236783392125, + 0.0018446517178741795, + -0.06389260750814352, + -0.03173685846389561, + -0.290663221372204, + 1.0 + ], + [ + 0.016720417537654936, + -0.03867458915366148, + -0.0013957973522326916, + -0.058812369010977306, + -0.03175703299116668, + -0.32368579066238073, + 1.0 + ], + [ + 0.0020389753731957228, + -0.036314027518935026, + -0.007532592404621979, + -0.03381136464527707, + -0.0012011200483081398, + -0.3376755838151995, + 1.0 + ], + [ + 0.020835502622340962, + -0.012623377068837649, + -0.015928764628443226, + 0.001228907989423806, + -0.00023722752988626866, + -0.2510949279187743, + 1.0 + ], + [ + 0.012592846627357906, + -0.003655268764775642, + -0.016665448015442494, + 0.029408520906092677, + -0.05679192481403442, + -0.055205831782681285, + 1.0 + ], + [ + 0.011050694296970254, + 0.003536460892885271, + -0.009465796013748112, + 0.03250852375393144, + -0.040914006750932, + -0.006429543373620922, + 1.0 + ], + [ + 0.0008429170164834798, + 0.0017277822148309002, + -0.010922783131265656, + -0.005058956479752293, + 0.017443157659034796, + 0.008212002026735861, + 1.0 + ], + [ + -0.0017920730014580888, + 0.0016603823569354484, + -0.012667537157255954, + 0.018868608101230082, + 0.0053879727137223455, + 0.035466871367548086, + 1.0 + ], + [ + -0.0005528173541332337, + 0.004796433493643559, + -0.009129745348867178, + 0.01686411995898562, + -0.0038121599797262735, + 0.029008655703708086, + 0.03833900000000001 + ], + [ + 0.0033699952708146075, + 0.005959748271741318, + 0.002145825190573592, + 0.002875118695421256, + -0.03390869694847506, + 0.04607957121462322, + 0.0 + ], + [ + 0.003616037809171302, + 0.013443354054992723, + 0.00924998927344421, + -0.005320378255606265, + -0.040966065571956665, + 0.10157897139078302, + 0.0 + ], + [ + 0.011422049372016185, + 0.02865381848825155, + 0.022693730525363026, + -0.021948430614206954, + -0.03282584094410425, + 0.1715860306928042, + 0.0 + ], + [ + 0.01762175383923209, + 0.020780624901522354, + 0.009564595327355065, + -0.02974268585692667, + -0.045377045060592494, + 0.0988486529883193, + 0.0 + ], + [ + 0.022271778098533646, + 0.007470050073551518, + -0.0009919669510768947, + -0.007372133198454441, + -0.01515842836793431, + 0.04633094932206751, + 0.0 + ], + [ + 0.02057959888231653, + 0.0010959012803524876, + -0.003931741794437109, + -0.009475345193725438, + -0.0019204598535693747, + -0.007931487137817004, + 0.0 + ], + [ + 0.005216111908554366, + -0.0019470166255771415, + -0.0071701903302519646, + 0.0036940637687907837, + 0.02754246223779834, + -0.00461284524054133, + 0.0 + ], + [ + -0.004190699628056016, + 6.889036772610851e-05, + 0.0031558683827484363, + -0.004843399762210076, + -0.010427752509314527, + 0.03055808705286824, + 1.0 + ], + [ + -0.008731901112454254, + 0.0016663866392596857, + 0.007562237453208838, + -0.0014899920239376137, + 0.004641948313670722, + 0.0323094190337015, + 1.0 + ], + [ + -0.00924995811424123, + 0.0008592068252598339, + 0.019828204666950497, + 0.028080229483541483, + -0.017472059894969506, + 0.0295434125394088, + 1.0 + ], + [ + -0.012486772881990849, + -0.0010513803402442262, + 0.037349033048783085, + 0.028083056309770208, + -0.05064770765900816, + 0.033540869043965256, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 118.0145263671875, + 227.25985717773438 + ], + [ + 118.07137298583984, + 230.5561065673828 + ], + [ + 155.00819396972656, + 241.19171142578125 + ], + [ + 234.915771484375, + 254.64907836914062 + ], + [ + 282.31634521484375, + 274.7703552246094 + ], + [ + 340.9445495605469, + 300.75054931640625 + ], + [ + 346.3440246582031, + 295.7850646972656 + ], + [ + 361.9918518066406, + 301.992919921875 + ], + [ + 361.64801025390625, + 307.2755126953125 + ], + [ + 359.5352783203125, + 312.7170104980469 + ], + [ + 353.56317138671875, + 316.485107421875 + ], + [ + 349.427978515625, + 313.2544250488281 + ], + [ + 331.7492980957031, + 304.2810363769531 + ], + [ + 300.1504211425781, + 269.4210510253906 + ], + [ + 277.55938720703125, + 226.9232635498047 + ], + [ + 270.59771728515625, + 196.9156494140625 + ], + [ + 287.28363037109375, + 183.2250213623047 + ], + [ + 295.47271728515625, + 183.37167358398438 + ], + [ + 298.98065185546875, + 193.2467041015625 + ], + [ + 295.4207763671875, + 195.96011352539062 + ], + [ + 283.93023681640625, + 184.32032775878906 + ], + [ + 266.2225341796875, + 151.99798583984375 + ], + [ + 264.34136962890625, + 135.67916870117188 + ] + ], + "depth_max": 2.9667162895202637, + "depth_min": 0.10843347758054733, + "intrinsic": [ + [ + 488.282958984375, + 0.0, + 259.0 + ], + [ + 0.0, + 488.0797119140625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -0.00010973644384648651, + -9.82913697953336e-05, + 2.5169785658363253e-05 + ], + [ + 0.00010974082397297025, + 1.0, + 4.4517903006635606e-05, + -3.6422585253603756e-05 + ], + [ + 9.828648035181686e-05, + -4.4528685975819826e-05, + 1.0, + 5.776504258392379e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 22 + ], + "object_trajectory": [ + [ + 342.5, + 332.75 + ], + [ + 342.9774475097656, + 332.715576171875 + ], + [ + 343.03839111328125, + 332.699951171875 + ], + [ + 343.4333190917969, + 332.9053955078125 + ], + [ + 341.5694885253906, + 333.3729553222656 + ], + [ + 340.8295593261719, + 333.1252136230469 + ], + [ + 340.4654541015625, + 333.5553283691406 + ], + [ + 340.8243408203125, + 334.58319091796875 + ], + [ + 340.3590393066406, + 335.61407470703125 + ], + [ + 340.56396484375, + 334.80322265625 + ], + [ + 338.9979248046875, + 328.947021484375 + ], + [ + 339.1209716796875, + 319.210205078125 + ], + [ + 322.2674865722656, + 308.37744140625 + ], + [ + 294.896728515625, + 278.88671875 + ], + [ + 276.4425048828125, + 235.49032592773438 + ], + [ + 277.4520263671875, + 204.231201171875 + ], + [ + 287.5399169921875, + 187.25611877441406 + ], + [ + 291.51190185546875, + 193.11083984375 + ], + [ + 297.9350280761719, + 209.31536865234375 + ], + [ + 304.845947265625, + 211.41769409179688 + ], + [ + 300.38836669921875, + 209.11248779296875 + ], + [ + 301.24603271484375, + 208.39735412597656 + ], + [ + 301.558837890625, + 207.69729614257812 + ] + ] +} \ No newline at end of file diff --git a/000689/lang.txt b/000689/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..272b39e5cf14c2638c6610dac0f4e40aa4aafaf1 --- /dev/null +++ b/000689/lang.txt @@ -0,0 +1 @@ +put sushi on plate diff --git a/000689/object.ply b/000689/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..2e2258a1bb3d0534c1c468b612a01836c7627718 Binary files /dev/null and b/000689/object.ply differ diff --git a/000701_v2/FAIL b/000701_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/000701_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/000707_v2/FAIL b/000707_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000707_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000718/data.json b/000718/data.json new file mode 100644 index 0000000000000000000000000000000000000000..eb4091f112924b40af034ac38a4ac680e1dd73dd --- /dev/null +++ b/000718/data.json @@ -0,0 +1,641 @@ +{ + "action_start": 11, + "action_end": 23, + "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, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.1175416975438566e-10, + -3.287411141916774e-10, + 5.943080055859085e-10, + -1.0653512909310192e-07, + 1.28361232650692e-07, + -5.841501485637588e-07, + 1.0 + ], + [ + -0.023468032591516697, + 0.01685074231418445, + 0.005320001914394912, + -0.04561496662598529, + -0.042925660213970755, + -0.026759992432335174, + 1.0 + ], + [ + -0.029101236793341312, + 0.024007615476511014, + 0.006042519285472947, + 0.06131585548289751, + 0.015012750405265817, + -0.08279251352978201, + 1.0 + ], + [ + -0.027178349438904292, + 0.0362254093558663, + 0.004825105390070153, + 0.06915051320542355, + -0.001385807666931475, + 0.009376767468247393, + 1.0 + ], + [ + -0.019997677817609527, + 0.030643675660864556, + -0.010136913809382891, + 0.019715034916733536, + 0.005017002903569227, + -0.04047018156582613, + 1.0 + ], + [ + -0.014211304336418762, + 0.031681325231948596, + -0.013068190979525732, + 0.04960935617467661, + 0.0191822299670149, + 0.012222467028347237, + 1.0 + ], + [ + -0.006357621449215645, + 0.02528702689286917, + -0.01676212915153681, + 0.012781266911557263, + 0.008827869074088085, + 0.026265413209819184, + 1.0 + ], + [ + -0.0031990320735530986, + 0.01251750618714248, + -0.010525771269653428, + 0.0042461005811217385, + -0.00845083131195262, + 0.009344577465364054, + 1.0 + ], + [ + -0.00024015090824758278, + 0.007970545419682507, + -0.013182285772551344, + 0.02041366598822621, + 0.015979630590985134, + 0.018897845575943213, + 1.0 + ], + [ + -0.0008359989828756742, + 0.0017033236693312082, + -0.012444280345636445, + -0.03639343695188062, + 0.013528622318681701, + 0.007051608075512888, + 1.0 + ], + [ + -0.003469058900647387, + -0.0008715237165382306, + -0.014434340675758578, + -0.021096677576501726, + 0.019249656360456256, + -0.0031779708108676716, + 1.0 + ], + [ + -0.0013949839546114895, + 0.0007944267419213447, + -0.004413303351333761, + -0.002027564663374964, + -0.0036361946147299685, + 0.01214417109440953, + 1.0 + ], + [ + -0.0006850026357787253, + 0.0026888151849933928, + 0.004082383760042437, + -0.003014877494030649, + -0.030658226085162447, + 0.018628119592857966, + 0.0 + ], + [ + 0.0002746866154722527, + 0.000814278734404511, + 0.008681722940240274, + 0.007618863528906899, + -0.02671125209588069, + -0.0023155855753338593, + 0.0 + ], + [ + 0.001189132523875397, + -0.0029410373871367745, + 0.008636103307780352, + 0.020514798293844134, + -0.015682433580339647, + -0.0013337044414258572, + 0.0 + ], + [ + 0.003778767493052726, + -0.008333727380769346, + 0.017162773984809625, + 0.013349648571562088, + -0.03712536588765116, + -0.0162808793023993, + 0.0 + ], + [ + 0.005460752186559253, + -0.024592742459873113, + 0.0154522032201794, + -0.02118343422053999, + -0.04279911081728329, + -0.051397029350239855, + 0.0 + ], + [ + 0.0035919249776760753, + -0.04043303100868659, + 0.00026856704479037014, + -0.050141956330384735, + -0.008876928644752214, + -0.10433483408934881, + 0.0 + ], + [ + -0.002455589897417232, + -0.0404147026878834, + -0.007490726687295321, + -0.051843845365819825, + 0.0014347010918904842, + -0.10638425628471128, + 0.0 + ], + [ + -0.005738244944169246, + -0.03735846008620099, + -0.012228087881671672, + -0.04847855319587566, + 0.01825376030074238, + -0.08447040293097409, + 0.0 + ], + [ + -0.005661519079475236, + -0.026165828622332826, + -0.010424873615211362, + 0.016572823994255144, + 0.018218154039592118, + -0.06980372845181132, + 0.0 + ], + [ + -0.0026767149962056425, + -0.012980054973265726, + -0.009423028032475092, + 0.008529238420690166, + 0.015462422117539818, + -0.052725409440374946, + 0.0 + ], + [ + -0.002833559488297499, + 0.0022535048381316473, + -0.009982888986584212, + -0.011462317515370803, + 0.01455821411720866, + -0.0187199402053119, + 0.0 + ], + [ + 0.0017339408191237582, + 0.0005768836514772752, + -0.007289741573939204, + -0.011778185828993535, + 0.020132757585971068, + -0.0049592518789397955, + 0.0 + ], + [ + -0.00014227046705148072, + 0.0010923514727370388, + -0.010425960015625863, + -0.027712257122848135, + 0.004966870410419413, + -0.005881201187678583, + 1.0 + ], + [ + -0.00248546731985802, + -0.0005351561037475368, + -0.0028439462129040763, + -0.011418670182706245, + -0.004498530210971265, + 0.00600734139632522, + 1.0 + ], + [ + -0.0008883655694080783, + 0.003234427449931125, + 0.009202709345441113, + 0.008103728637811307, + -0.023975298825138172, + 0.01932291803734986, + 1.0 + ], + [ + 0.000862550350509389, + 0.0037639100171363935, + 0.023675579912244893, + -0.03200837337879897, + -0.04659316163007897, + 0.03717130624615187, + 1.0 + ], + [ + 0.00204974472853936, + 0.0034375020610695126, + 0.028311176038184713, + 0.007742686915273747, + -0.06252867910713518, + 0.039565546502291535, + 1.0 + ], + [ + 0.0037243720306930628, + 0.00452391201523741, + 0.01901062286879726, + 0.0004950263493328186, + -0.004668512715719677, + 0.05963277318901467, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 414.4132995605469, + 86.23041534423828 + ], + [ + 411.8164978027344, + 97.59430694580078 + ], + [ + 396.1725158691406, + 140.75770568847656 + ], + [ + 331.9714050292969, + 121.22111511230469 + ], + [ + 268.7018737792969, + 121.6453628540039 + ], + [ + 223.47283935546875, + 130.3939208984375 + ], + [ + 159.7187042236328, + 142.28384399414062 + ], + [ + 132.14309692382812, + 148.50027465820312 + ], + [ + 116.6971435546875, + 158.68336486816406 + ], + [ + 107.57070922851562, + 171.21304321289062 + ], + [ + 116.4676513671875, + 185.8484344482422 + ], + [ + 115.6086654663086, + 201.03469848632812 + ], + [ + 115.28829956054688, + 206.5670928955078 + ], + [ + 114.34261322021484, + 207.5432891845703 + ], + [ + 107.54769897460938, + 209.82235717773438 + ], + [ + 102.41191101074219, + 200.17791748046875 + ], + [ + 101.20874786376953, + 183.4710693359375 + ], + [ + 121.89151763916016, + 172.8097381591797 + ], + [ + 165.6881103515625, + 177.90921020507812 + ], + [ + 219.4607696533203, + 207.00115966796875 + ], + [ + 260.1698303222656, + 241.94973754882812 + ], + [ + 291.84527587890625, + 271.50921630859375 + ], + [ + 324.0039367675781, + 295.85260009765625 + ], + [ + 321.0333251953125, + 309.9376220703125 + ], + [ + 316.06427001953125, + 319.75677490234375 + ], + [ + 322.52545166015625, + 323.097412109375 + ], + [ + 317.093505859375, + 327.11907958984375 + ], + [ + 312.2936096191406, + 331.4560241699219 + ], + [ + 304.7938232421875, + 303.554443359375 + ], + [ + 286.57666015625, + 270.9551086425781 + ], + [ + 284.9996337890625, + 251.05331420898438 + ], + [ + 284.0001525878906, + 244.13389587402344 + ] + ], + "depth_max": 3.000558614730835, + "depth_min": 0.07025613635778427, + "intrinsic": [ + [ + 482.23828125, + 0.0, + 259.0 + ], + [ + 0.0, + 482.6210021972656, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -5.997135303914547e-05, + -0.00013890441914554685, + 3.7795576645294204e-05 + ], + [ + 5.9971585869789124e-05, + 1.0, + 1.6620350606899592e-06, + -3.359842594363727e-05 + ], + [ + 0.00013890433183405548, + -1.670365350037173e-06, + 1.0, + -2.7172351110493764e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 31 + ], + "object_trajectory": [ + [ + 134.75, + 211.5 + ], + [ + 135.06842041015625, + 211.69924926757812 + ], + [ + 135.2763214111328, + 211.6444549560547 + ], + [ + 135.33456420898438, + 211.7874298095703 + ], + [ + 135.2470703125, + 211.83262634277344 + ], + [ + 135.1909942626953, + 211.7436981201172 + ], + [ + 135.205810546875, + 212.0189666748047 + ], + [ + 134.44749450683594, + 212.43446350097656 + ], + [ + 134.4355926513672, + 212.54827880859375 + ], + [ + 134.7256317138672, + 213.01402282714844 + ], + [ + 129.99142456054688, + 215.8529510498047 + ], + [ + 130.05569458007812, + 216.02801513671875 + ], + [ + 134.75775146484375, + 213.19894409179688 + ], + [ + 134.59649658203125, + 213.0797119140625 + ], + [ + 132.1223602294922, + 220.24386596679688 + ], + [ + 124.18807983398438, + 210.5400848388672 + ], + [ + 122.20075988769531, + 197.39791870117188 + ], + [ + 137.61468505859375, + 193.0948944091797 + ], + [ + 165.07943725585938, + 202.24977111816406 + ], + [ + 211.73492431640625, + 228.4393768310547 + ], + [ + 259.1139831542969, + 253.0885467529297 + ], + [ + 291.4795837402344, + 284.47711181640625 + ], + [ + 314.8320007324219, + 315.36865234375 + ], + [ + 301.1449890136719, + 302.35638427734375 + ], + [ + 307.01727294921875, + 311.05364990234375 + ], + [ + 306.23876953125, + 312.6128845214844 + ], + [ + 337.7569580078125, + 329.5275573730469 + ], + [ + 337.103515625, + 329.8669738769531 + ], + [ + 341.717041015625, + 331.8601989746094 + ], + [ + 337.0245056152344, + 333.876220703125 + ], + [ + 338.7525939941406, + 330.4312744140625 + ], + [ + 336.922607421875, + 330.81634521484375 + ] + ] +} \ No newline at end of file diff --git a/000718/lang.txt b/000718/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..86cd6b81a945045ec59ebb294c89e82b5f05d9fc --- /dev/null +++ b/000718/lang.txt @@ -0,0 +1 @@ +take sushi off plate diff --git a/000718/object.ply b/000718/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..375c73bd12cae3badd084878603b71da3d06dd24 Binary files /dev/null and b/000718/object.ply differ diff --git a/000746_v2/FAIL b/000746_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000746_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000755/FAIL b/000755/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/000755/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/000758_v2/FAIL b/000758_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000758_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000759/FAIL b/000759/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/000759/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/000777_v2/FAIL b/000777_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/000777_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/000786/FAIL b/000786/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/000786/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/000791_v2/FAIL b/000791_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/000791_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/000797_v2/FAIL b/000797_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f1fa61eaac4c0a91180b93b56955ff62e306ff97 --- /dev/null +++ b/000797_v2/FAIL @@ -0,0 +1 @@ +Detect gripper centers fail diff --git a/000810/FAIL b/000810/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/000810/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/000813/FAIL b/000813/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/000813/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/000814_v2/FAIL b/000814_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/000814_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/000856/FAIL b/000856/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f1fa61eaac4c0a91180b93b56955ff62e306ff97 --- /dev/null +++ b/000856/FAIL @@ -0,0 +1 @@ +Detect gripper centers fail diff --git a/000860_v2/FAIL b/000860_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/000860_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/000901/FAIL b/000901/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/000901/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/000901_v2/FAIL b/000901_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000901_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000910_v2/data.json b/000910_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..cec7c34aa7206a6ea729e6d4c858bfab555e0393 --- /dev/null +++ b/000910_v2/data.json @@ -0,0 +1,843 @@ +{ + "action_start": 23, + "action_end": 33, + "object_name": "red 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, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.814408, + 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": [ + [ + -1.9892432145951489e-10, + -8.019524627700392e-11, + 1.6308078845672647e-10, + 1.9943617914123994e-07, + 1.249508401993331e-07, + 5.499477370364981e-08, + 1.0 + ], + [ + 0.009827794527341893, + 0.024991799900026465, + 0.01056451209650405, + -0.0024767410891394764, + -0.014651328584154978, + 0.03946637116438521, + 1.0 + ], + [ + 0.006229227525320402, + 0.025578861977847964, + 0.006549765100520957, + -0.00837492820482779, + -0.007244409105771287, + 0.04905820061757335, + 1.0 + ], + [ + 0.0032343965771977623, + 0.028484026275131163, + 0.007576184260016593, + 0.008994629241178607, + -0.015284507739228409, + 0.06616079386290466, + 1.0 + ], + [ + -0.004418282534301432, + 0.030749683537222378, + 0.001468851400572773, + 0.012442906285889593, + 0.0022508199100762386, + 0.06100903007130497, + 1.0 + ], + [ + -0.010352363885275773, + 0.009993068756501605, + -0.010848597012806068, + 0.012333229324440663, + 0.04074924087113074, + 0.026268623949491695, + 1.0 + ], + [ + -0.012260611021591206, + 0.009906336331735766, + -0.014861445995836211, + -0.013829864753260144, + 0.04046668142701771, + 0.014138808273102167, + 1.0 + ], + [ + -0.008431568398784395, + -0.0017832977932318306, + -0.007984113007361845, + -0.0044050035874584744, + 0.009559504192236142, + -0.0076375576939958344, + 1.0 + ], + [ + -0.0006939509103870423, + -0.008394145872728659, + -0.004265362305335519, + 0.003939272673465115, + 0.024919232727602762, + -0.02092571213369908, + 1.0 + ], + [ + -0.0027985341161039234, + -0.00138975392989088, + -0.003636569811153732, + 0.0015697719035926763, + 0.009509613569873865, + 0.003363037101915011, + 1.0 + ], + [ + -0.0003254244853067023, + -0.0038965877779576774, + 0.004153051931454604, + 0.014788976415833203, + -0.015672436991187585, + -3.5500491480830916e-05, + 1.0 + ], + [ + 0.0008096034350629222, + -0.004547934524287728, + 0.0036068393912536776, + 0.020467099318066496, + -0.010067107966727808, + -0.010999387628534541, + 1.0 + ], + [ + 0.000570523104844789, + -0.00033534153425548996, + 0.009624505719926676, + 0.03486070236883, + -0.03443964795005452, + 0.013466898354356606, + 1.0 + ], + [ + 0.002654769710073057, + 0.0018495601039922038, + 0.008377728775097504, + 0.00017715308089903803, + -0.05234417594710527, + 0.024540111202640276, + 1.0 + ], + [ + 0.003877564753794971, + -0.00237593964299046, + 0.008692254471242923, + 0.007524918903097968, + -0.033676925728141544, + -0.0005756977573469136, + 1.0 + ], + [ + 0.0007569146796421733, + -0.006083225838830114, + -0.003949816603204176, + -0.004583049014110041, + 0.010332561946218774, + -0.01670569182250602, + 1.0 + ], + [ + -0.003448012584319371, + -0.0039556159790616885, + -0.006666167588242027, + -0.0022856495023499475, + 0.023561763346596466, + -0.0004411387935850559, + 1.0 + ], + [ + -0.0032202871414031, + -0.004646761829889656, + -0.005800246451678896, + 0.0018292619369010507, + 0.016122174060756073, + -0.002072806602887949, + 1.0 + ], + [ + -0.0013843114891917696, + -0.0014572065761070674, + -0.0066822327769627925, + -0.006797314982657318, + 0.024286168308830364, + 0.007763822170190186, + 1.0 + ], + [ + 0.0004717326381271647, + 0.002976399795997592, + -0.00657836148027248, + -0.00941966050644777, + 0.014203485207665765, + 0.009942697609451332, + 1.0 + ], + [ + 0.002928521970559206, + -0.001114191312557855, + -0.004555181971446468, + -0.00026779717040118677, + 0.009434893775096325, + -0.0012595493879412956, + 1.0 + ], + [ + 0.00835345663271575, + -0.001438787803083874, + -0.007256212441924814, + -0.007227285496182821, + 0.012544307972526592, + -0.0022972004703220336, + 1.0 + ], + [ + 0.013343874492182883, + -0.0015699606464710802, + -0.009009710989793605, + -0.0030224517230995006, + 0.0105018270982686, + -0.010266513047017487, + 1.0 + ], + [ + 0.009270183761734885, + -0.0022940087156919364, + -0.005544455853106492, + -0.008725751980251136, + 0.006116503541197174, + -0.006042433821498672, + 0.814408 + ], + [ + 0.0030476219859007503, + -0.002615578670027874, + 0.005116769559801317, + 0.00027806529759287436, + -0.02074337199433446, + -0.00033742048971422485, + 0.0 + ], + [ + 0.0021458364430884114, + 0.0019257356131385517, + 0.016202173796275303, + 0.0017739106169938268, + -0.05739726523313178, + 0.010072931436792762, + 0.0 + ], + [ + -7.248658668435048e-05, + -0.007673154982502095, + 0.039083948506769745, + 0.041128503827114755, + -0.14096930465911345, + -0.025709155038056257, + 0.0 + ], + [ + -0.013762984768535602, + -0.02011813515963333, + 0.014501060747022385, + 0.01169818944849072, + -0.03825003073615165, + -0.043770157455259674, + 0.0 + ], + [ + -0.025151403156965402, + -0.019715468626437666, + -0.006279030432190313, + -0.010370666352363363, + 0.03335580945935655, + -0.039366019144624204, + 0.0 + ], + [ + -0.027821006447770913, + -0.020444618650296037, + -0.01747954913868003, + -0.020784705015858034, + 0.06304842758968342, + -0.02594875149060498, + 0.0 + ], + [ + -0.016209545661645897, + -0.01682903296072609, + -0.013172820578540642, + -0.01632269133075519, + 0.050745844244985516, + -0.019726646818699612, + 0.0 + ], + [ + -0.011327354201067341, + -0.01857783042356223, + -0.0069097480345734165, + -0.01289829690013798, + 0.008518487059377475, + -0.03629067562725262, + 0.0 + ], + [ + -0.00015185775366324816, + -0.015992007635675015, + -0.0074185426207331595, + 0.006792840684212845, + 0.006146889862410927, + -0.0470023376700921, + 0.0 + ], + [ + 0.004494300015913166, + -0.0067520362444375495, + -0.004860234759560227, + 0.00838165314390655, + 0.014620912615300661, + -0.012022320411899604, + 0.0 + ], + [ + 0.007197924535276928, + -0.0017243586857507744, + -0.007930268134528524, + -0.004336243656286514, + 0.048823820983018636, + 0.014323562846378906, + 1.0 + ], + [ + 0.004013942790623198, + 0.004041466126203134, + -0.005585175875459479, + -0.009836565703349724, + 0.02889807445835013, + 0.01870763979325718, + 1.0 + ], + [ + 0.0007466419333475027, + 0.006048237291482076, + 0.00739096446334769, + 0.01704719863731084, + -0.012541089228869897, + 0.032042425515898997, + 1.0 + ], + [ + 0.005259679174655946, + 0.006419547287445192, + 0.020390507992011565, + -0.0010644203648270396, + -0.0649437802812387, + 0.03566653511295498, + 1.0 + ], + [ + 0.007018777367467477, + 0.006834455918068659, + 0.012753623347890632, + -0.022404020389849694, + -0.04083609337590304, + 0.027101644713560063, + 1.0 + ], + [ + 0.005031943908418185, + 0.000983805078888865, + 0.012310469003679997, + -0.02145888357975065, + -0.036369329255734426, + 0.014000171001185443, + 1.0 + ], + [ + 0.0012251070315828505, + 0.0026037458412119657, + 0.0008385860839158973, + 0.026378675702062537, + 0.03202398983702814, + -0.028443986398569925, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 347.09771728515625, + 195.4248809814453 + ], + [ + 345.0559997558594, + 199.750732421875 + ], + [ + 342.7283630371094, + 198.49649047851562 + ], + [ + 313.3987121582031, + 170.7476348876953 + ], + [ + 293.3486633300781, + 149.96493530273438 + ], + [ + 266.1777648925781, + 136.4685516357422 + ], + [ + 232.15155029296875, + 141.03350830078125 + ], + [ + 228.6754150390625, + 154.249267578125 + ], + [ + 211.255126953125, + 171.23220825195312 + ], + [ + 211.94873046875, + 176.1949462890625 + ], + [ + 209.23553466796875, + 180.71484375 + ], + [ + 205.75946044921875, + 185.63743591308594 + ], + [ + 201.79408264160156, + 189.239501953125 + ], + [ + 203.78382873535156, + 187.94332885742188 + ], + [ + 207.21026611328125, + 176.30125427246094 + ], + [ + 208.25363159179688, + 169.19224548339844 + ], + [ + 208.35057067871094, + 166.0203094482422 + ], + [ + 214.64736938476562, + 169.8826904296875 + ], + [ + 213.50030517578125, + 175.898193359375 + ], + [ + 218.18836975097656, + 185.715087890625 + ], + [ + 219.25973510742188, + 193.45721435546875 + ], + [ + 220.29452514648438, + 194.76055908203125 + ], + [ + 226.9705810546875, + 194.0325469970703 + ], + [ + 237.51800537109375, + 198.5999298095703 + ], + [ + 246.7372589111328, + 195.13792419433594 + ], + [ + 250.99484252929688, + 194.43643188476562 + ], + [ + 254.0064239501953, + 192.62954711914062 + ], + [ + 251.53802490234375, + 168.7711181640625 + ], + [ + 247.88336181640625, + 152.1769561767578 + ], + [ + 252.71713256835938, + 179.3569793701172 + ], + [ + 252.4250030517578, + 222.66928100585938 + ], + [ + 255.118896484375, + 258.7397155761719 + ], + [ + 267.3812255859375, + 289.2496337890625 + ], + [ + 286.945556640625, + 297.7424011230469 + ], + [ + 296.23004150390625, + 308.90106201171875 + ], + [ + 307.08721923828125, + 312.3316955566406 + ], + [ + 313.02545166015625, + 311.8892517089844 + ], + [ + 308.4541015625, + 310.7893371582031 + ], + [ + 313.08538818359375, + 284.758056640625 + ], + [ + 306.4698791503906, + 268.79364013671875 + ], + [ + 308.6689758300781, + 248.91702270507812 + ], + [ + 305.6370544433594, + 238.55064392089844 + ], + [ + 305.3135986328125, + 237.36172485351562 + ] + ], + "depth_max": 1.4716644287109375, + "depth_min": 0.28317660093307495, + "intrinsic": [ + [ + 531.7384643554688, + 0.0, + 259.0 + ], + [ + 0.0, + 532.2542724609375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.2797309864254203e-05, + -2.812283310049679e-05, + 3.0723658710485324e-06 + ], + [ + -1.2798403076885734e-05, + 1.0, + -3.888577703037299e-05, + -1.7002639651764184e-05 + ], + [ + 2.812233469740022e-05, + 3.888613355229609e-05, + 1.0, + -2.9341903427848592e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 39, + 42 + ], + "object_trajectory": [ + [ + 226.5, + 221.00001525878906 + ], + [ + 226.84271240234375, + 221.25927734375 + ], + [ + 226.79708862304688, + 221.21157836914062 + ], + [ + 226.64019775390625, + 221.1001739501953 + ], + [ + 226.4932861328125, + 220.96405029296875 + ], + [ + 226.47763061523438, + 220.90960693359375 + ], + [ + 226.77957153320312, + 221.186279296875 + ], + [ + 226.90878295898438, + 221.2292938232422 + ], + [ + 227.53546142578125, + 221.7129364013672 + ], + [ + 225.39715576171875, + 222.07894897460938 + ], + [ + 216.85736083984375, + 222.7344512939453 + ], + [ + 215.9384765625, + 219.14291381835938 + ], + [ + 214.17929077148438, + 212.4554443359375 + ], + [ + 215.62234497070312, + 211.08184814453125 + ], + [ + 218.57254028320312, + 212.27511596679688 + ], + [ + 219.0515899658203, + 212.20327758789062 + ], + [ + 218.8616180419922, + 212.46551513671875 + ], + [ + 218.5957489013672, + 212.018798828125 + ], + [ + 216.8902587890625, + 209.2549591064453 + ], + [ + 216.5391845703125, + 208.95938110351562 + ], + [ + 216.60824584960938, + 208.7471160888672 + ], + [ + 217.796630859375, + 209.91946411132812 + ], + [ + 218.94122314453125, + 211.08346557617188 + ], + [ + 225.09298706054688, + 214.31332397460938 + ], + [ + 236.65359497070312, + 213.3099365234375 + ], + [ + 243.22218322753906, + 213.69479370117188 + ], + [ + 247.0236053466797, + 211.89776611328125 + ], + [ + 244.81077575683594, + 189.4242706298828 + ], + [ + 241.19955444335938, + 174.90106201171875 + ], + [ + 244.2315216064453, + 204.1081085205078 + ], + [ + 242.8694610595703, + 245.46633911132812 + ], + [ + 246.14004516601562, + 279.84088134765625 + ], + [ + 255.619140625, + 310.81463623046875 + ], + [ + 273.7648010253906, + 318.0355224609375 + ], + [ + 282.73486328125, + 327.4420166015625 + ], + [ + 283.4425048828125, + 340.80255126953125 + ], + [ + 282.82330322265625, + 340.1644592285156 + ], + [ + 282.56719970703125, + 340.0802001953125 + ], + [ + 282.7260437011719, + 340.0091552734375 + ], + [ + 282.9107666015625, + 340.112548828125 + ], + [ + 282.9031982421875, + 340.39404296875 + ], + [ + 282.7226257324219, + 340.7928466796875 + ], + [ + 282.72802734375, + 340.8802490234375 + ] + ] +} \ No newline at end of file diff --git a/000910_v2/lang.txt b/000910_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..5dd42ff73963e67e52fe13ce0f65f2b9c8aa4831 --- /dev/null +++ b/000910_v2/lang.txt @@ -0,0 +1 @@ +put the red thing on the orange cloth diff --git a/000910_v2/object.ply b/000910_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..0ebbe5c067cf2b34aa9c2cd47a0e7c8cfab50e54 Binary files /dev/null and b/000910_v2/object.ply differ diff --git a/000918_v2/FAIL b/000918_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/000918_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/000919_v2/FAIL b/000919_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/000919_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/000930/FAIL b/000930/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/000930/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/000931_v2/FAIL b/000931_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/000931_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/000936_v2/FAIL b/000936_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/000936_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/001029/FAIL b/001029/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/001029/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/001033/FAIL b/001033/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/001033/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/001049_v2/data.json b/001049_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..50c0bdee663f31d979b9d4e05db42fc35fad7cb1 --- /dev/null +++ b/001049_v2/data.json @@ -0,0 +1,733 @@ +{ + "action_start": 10, + "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, + 1.0, + 0.540415, + 0.0, + 0.0, + 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": [ + [ + -5.551115123125783e-17, + 6.938893903907228e-18, + 0.0, + 7.270329188265147e-07, + -1.7145396537700357e-07, + 8.109698358472935e-08, + 1.0 + ], + [ + -0.008304622923730742, + 0.007778062541364539, + -0.018274502673506568, + -0.05321772182643653, + 0.004851768345509928, + -0.007231484576024167, + 1.0 + ], + [ + -0.007225675761100947, + -0.0046476958674831915, + -0.011160885148377528, + -0.02210418686861531, + -0.009246167073882563, + -0.03341844201385014, + 1.0 + ], + [ + -0.011834812088725194, + -0.03631237551287685, + 0.01083469655985127, + 0.038922948135488654, + -0.011826069056077193, + -0.06613872222720824, + 1.0 + ], + [ + 5.0905390277106166e-05, + -0.027517950626859147, + 0.004455755445806, + -0.022323389460857164, + 0.01614321666111569, + -0.023958294728100543, + 1.0 + ], + [ + 0.006726021494597084, + -0.020957224602034984, + -0.008118743659592493, + -0.062209874286564146, + 0.010924831602121916, + 0.03834978409504327, + 1.0 + ], + [ + 0.0077952987951230845, + -0.007940923253349635, + -0.012369756545364811, + -0.017659426767429733, + 0.04189931657460196, + 0.025957665282633137, + 1.0 + ], + [ + 0.005839107475609895, + 0.0011548218067867627, + -0.015045135303478264, + -0.03876783008971908, + 0.023769992931275748, + 0.05246350665479895, + 1.0 + ], + [ + 0.008422222590933753, + 0.01102815830801538, + -0.010658736453566341, + -0.02124751806511744, + 0.006408238396528444, + 0.06335516381549483, + 1.0 + ], + [ + 0.0026398259762951404, + 0.008794775231900413, + -0.008818558322066789, + -0.0064515280962506565, + 0.009277819594345253, + 0.02541502087283032, + 1.0 + ], + [ + -0.0010847641759726412, + 0.003445638210450533, + -0.00400991570567197, + -0.007991896271837199, + 0.0016106244105176522, + 0.0034903773533649686, + 0.540415 + ], + [ + 0.00012539971316471998, + 0.000644973508046813, + -0.002133582780898615, + -0.002216059186550531, + -0.0072667069372789155, + 0.00013492893222338036, + 0.0 + ], + [ + -0.0010351523286403763, + 0.0008204668589384401, + -0.0007646646461810687, + -0.0011747338812943301, + -0.001373312759153845, + 0.0022827571617683117, + 0.0 + ], + [ + 0.0009933286666140573, + -0.001100341172286315, + 0.00044462482161530814, + 0.0024830259994255903, + -0.006664249219995812, + -0.01070124275262942, + 0.0 + ], + [ + 0.0009860722464137828, + -0.001913641161398208, + 0.007808299264454945, + 0.022723917605395216, + -0.009911329673320248, + -0.00402635844035116, + 0.0 + ], + [ + 0.005341505254986834, + 0.0010196758401905502, + 0.03406830960558952, + 0.06484112486547543, + -0.05554408257813797, + 0.09082154132477926, + 0.0 + ], + [ + 0.021401384213292296, + 0.0039067652716355365, + 0.030993643079871513, + 0.03051915159067059, + -0.07589920941081821, + 0.1500513602323823, + 0.0 + ], + [ + 0.016851239541195995, + 0.010643190386431004, + 0.00896507755794303, + -0.017550446887982997, + -0.034639833812565114, + 0.0880557446633445, + 0.0 + ], + [ + 0.01975944761041537, + 0.023159319199069404, + -0.012497437250552225, + -0.03404367938076438, + 0.00524273505142571, + 0.07824396236736203, + 0.0 + ], + [ + 0.014533795075270584, + 0.020628180939218935, + -0.014400159832167192, + 0.00011424212006860196, + 0.015834427383673015, + -0.014659358410546304, + 0.0 + ], + [ + 0.014182350069888772, + 0.02559225797453833, + -0.015311914259522323, + 0.02862356087206206, + 0.014208031488207724, + -0.06504628465090916, + 0.0 + ], + [ + 0.00856652187549084, + 0.018316568281692504, + -0.0030753921455184564, + 0.013080437113783495, + -0.005444611041843114, + -0.03243578796494722, + 0.0 + ], + [ + 0.00703842788353809, + 0.011917750458448256, + -0.0012398465919493187, + 0.012342878335293423, + -0.0013991091499379238, + -0.007537535783207179, + 0.0 + ], + [ + 0.00032716159750578733, + 0.0048606298207893375, + -0.003936637561464955, + -0.004633683729421408, + 0.018970254981061297, + 0.007963838130327453, + 0.0 + ], + [ + -0.0015411050669525417, + -0.000250152819193869, + -0.003672382609674711, + -0.01176155247211549, + 0.010478314104343042, + 0.007923323748181605, + 0.0 + ], + [ + -0.001813712006691337, + -0.0019692851068060097, + -5.627065333857484e-05, + -0.03901246102185286, + 0.014496736093080184, + -0.004712874521930308, + 1.0 + ], + [ + 0.003078266922347528, + -0.004418396036035256, + 0.015003254264629251, + 0.008767476836624603, + -0.027303430432852473, + -0.014921272813507134, + 1.0 + ], + [ + 0.002253649208309505, + -0.007625074302213472, + 0.01999468219996814, + 0.006234133970127113, + -0.053221193625331176, + -0.010384938180374947, + 1.0 + ], + [ + -0.0006420722364665621, + -0.010699034888062495, + 0.021709429131231653, + -0.003102315765871248, + -0.05162883915267248, + -0.012831229988804085, + 1.0 + ], + [ + -0.013745872615442856, + -0.006789471436432763, + 0.014167178835943615, + 0.016502918629004066, + -0.0006739554517250579, + -0.028360438166237914, + 1.0 + ], + [ + -0.026178438788997727, + -0.0023430100463366077, + 0.0030270148296033597, + 0.040316553378248667, + 0.055046949771153084, + -0.04009674019966901, + 1.0 + ], + [ + -0.027327578275395614, + 0.0017658843963007861, + -0.0027754097847820097, + 0.03800248237389045, + 0.056622148816890365, + -0.01259538731985872, + 1.0 + ], + [ + -0.011278990953614454, + -0.0001472016247944241, + -0.004353215399695687, + 0.01157949302224927, + 0.010383242618044623, + 0.00862151835566925, + 1.0 + ], + [ + -0.0016435026243638573, + -0.000601690878010562, + -0.00018780210505645045, + -0.0024247186987310836, + -0.0034560621146407593, + -0.004776492815744088, + 1.0 + ], + [ + -0.00040540865657634484, + 0.0035008615087037745, + -0.004358305247767882, + -0.007284981068195438, + 0.0064890756327561005, + -0.03060699237944618, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 308.75921630859375, + 212.41600036621094 + ], + [ + 304.2913818359375, + 222.2226104736328 + ], + [ + 310.85162353515625, + 254.5228729248047 + ], + [ + 308.81463623046875, + 275.429931640625 + ], + [ + 310.08941650390625, + 291.640380859375 + ], + [ + 344.43585205078125, + 310.5854187011719 + ], + [ + 380.9949951171875, + 319.04217529296875 + ], + [ + 396.5315856933594, + 327.24658203125 + ], + [ + 409.4549255371094, + 340.44049072265625 + ], + [ + 413.1409912109375, + 347.6365051269531 + ], + [ + 398.73785400390625, + 344.94781494140625 + ], + [ + 396.8092346191406, + 341.4350280761719 + ], + [ + 393.76318359375, + 341.95318603515625 + ], + [ + 393.2948913574219, + 344.295654296875 + ], + [ + 390.9429626464844, + 341.5015869140625 + ], + [ + 388.3514404296875, + 338.2104187011719 + ], + [ + 380.9015808105469, + 305.5834045410156 + ], + [ + 394.04620361328125, + 254.19195556640625 + ], + [ + 410.66070556640625, + 228.35986328125 + ], + [ + 411.58966064453125, + 218.40469360351562 + ], + [ + 391.1022644042969, + 207.01516723632812 + ], + [ + 377.4783630371094, + 198.78958129882812 + ], + [ + 362.7307434082031, + 189.00115966796875 + ], + [ + 355.57806396484375, + 180.27969360351562 + ], + [ + 352.51885986328125, + 176.82159423828125 + ], + [ + 350.6090087890625, + 180.07809448242188 + ], + [ + 351.82537841796875, + 182.06520080566406 + ], + [ + 351.972412109375, + 184.79489135742188 + ], + [ + 353.9116516113281, + 162.37493896484375 + ], + [ + 355.2132263183594, + 141.55654907226562 + ], + [ + 351.7898864746094, + 131.35305786132812 + ], + [ + 342.20458984375, + 141.69784545898438 + ], + [ + 317.70050048828125, + 158.35809326171875 + ], + [ + 307.2281494140625, + 172.0127716064453 + ], + [ + 306.9268798828125, + 177.00189208984375 + ], + [ + 311.00787353515625, + 178.24261474609375 + ], + [ + 311.3350830078125, + 177.8963165283203 + ] + ], + "depth_max": 1.4295696020126343, + "depth_min": 0.26566916704177856, + "intrinsic": [ + [ + 562.0612182617188, + 0.0, + 259.0 + ], + [ + 0.0, + 561.6544189453125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.313596269232221e-05, + 2.6033971153083257e-05, + 4.878636900684796e-06 + ], + [ + -2.3134667571866885e-05, + 1.0, + -4.9726902943803e-05, + -5.150433935341425e-06 + ], + [ + -2.60351207543863e-05, + 4.972629903932102e-05, + 1.0, + -3.237675264244899e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36 + ], + "object_trajectory": [ + [ + 346.5, + 360.2500305175781 + ], + [ + 346.71014404296875, + 360.4325256347656 + ], + [ + 346.294677734375, + 360.59466552734375 + ], + [ + 346.51910400390625, + 360.4725341796875 + ], + [ + 346.41259765625, + 360.61981201171875 + ], + [ + 346.3101806640625, + 360.58203125 + ], + [ + 347.31707763671875, + 360.5311279296875 + ], + [ + 347.46405029296875, + 360.29486083984375 + ], + [ + 347.46173095703125, + 360.4075927734375 + ], + [ + 347.29803466796875, + 360.2156677246094 + ], + [ + 347.1936950683594, + 360.05621337890625 + ], + [ + 347.38909912109375, + 359.80389404296875 + ], + [ + 348.3713684082031, + 360.19317626953125 + ], + [ + 351.73388671875, + 349.4070129394531 + ], + [ + 353.86083984375, + 343.45751953125 + ], + [ + 353.7044677734375, + 340.8039245605469 + ], + [ + 351.94000244140625, + 323.3360290527344 + ], + [ + 358.0887756347656, + 271.13677978515625 + ], + [ + 369.0301208496094, + 245.13226318359375 + ], + [ + 373.3782043457031, + 235.2743377685547 + ], + [ + 356.546630859375, + 226.62796020507812 + ], + [ + 346.10693359375, + 218.07870483398438 + ], + [ + 338.3236083984375, + 203.75347900390625 + ], + [ + 331.3518371582031, + 194.54249572753906 + ], + [ + 327.72998046875, + 192.36819458007812 + ], + [ + 325.5426940917969, + 194.3341064453125 + ], + [ + 322.5399169921875, + 205.43301391601562 + ], + [ + 322.60723876953125, + 214.1301727294922 + ], + [ + 323.45751953125, + 215.10507202148438 + ], + [ + 323.48480224609375, + 215.545166015625 + ], + [ + 323.5216979980469, + 215.49832153320312 + ], + [ + 323.0409240722656, + 215.4925079345703 + ], + [ + 321.77215576171875, + 214.83663940429688 + ], + [ + 324.1430358886719, + 213.7613983154297 + ], + [ + 323.25006103515625, + 214.0771484375 + ], + [ + 323.4306640625, + 213.81092834472656 + ], + [ + 323.421875, + 213.53880310058594 + ] + ] +} \ No newline at end of file diff --git a/001049_v2/lang.txt b/001049_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..04877a6a81185c57deeabc77ef3e283c642c7748 --- /dev/null +++ b/001049_v2/lang.txt @@ -0,0 +1 @@ +move the silver pot between the two burners diff --git a/001060_v2/FAIL b/001060_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/001060_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/001061/FAIL b/001061/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/001061/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/001131/FAIL b/001131/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/001131/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/001134_v2/FAIL b/001134_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/001134_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/001140/FAIL b/001140/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001140/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001143/FAIL b/001143/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/001143/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/001185_v2/data.json b/001185_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..5f07b3d137e12b56b4319322cb108a06e2341482 --- /dev/null +++ b/001185_v2/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 8, + "action_end": 17, + "object_name": "strawberry", + "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, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.9701340558953007e-10, + 2.800455284335257e-10, + 3.2487215695375937e-10, + -1.0982908741591748e-07, + 3.018648351400639e-08, + -5.091797216515758e-07, + 1.0 + ], + [ + -0.027470407668242547, + -0.019202202639768677, + -0.002102261298573438, + -0.05374664059216053, + -0.06354774616110101, + 0.007459341746001141, + 1.0 + ], + [ + -0.018154150944914127, + -0.015772136962156964, + -0.011848527603981876, + -0.015799783398861945, + 0.06742822344378466, + 0.0018204215463066592, + 1.0 + ], + [ + -0.007094737869771495, + -0.010885332336372944, + -0.01174388068806638, + -0.007329424422517535, + 0.03893221347330926, + 0.0029707309935443436, + 1.0 + ], + [ + 0.002396520461231122, + -0.00284000932828137, + -0.01391489649768362, + -0.011346163976426777, + 0.03354413825313328, + -0.01747798361769027, + 1.0 + ], + [ + 0.002324838879361746, + 0.002748560669676401, + -0.01412132309467578, + 0.016859012027617668, + 0.054809236500435655, + -0.028096473516763854, + 1.0 + ], + [ + -0.0022064795845213037, + 0.0022430871188852063, + -0.014036897057113654, + 0.007100398049829319, + 0.06633698315428543, + -0.020089846321978917, + 1.0 + ], + [ + -0.006409767796681176, + 0.001806830043470823, + -0.015539785156063824, + -0.008664510336675159, + 0.05431795704314637, + -0.007899150534228627, + 1.0 + ], + [ + -0.0039272649262203085, + 0.0004320431593571022, + -0.0028533603177983424, + -0.001001964829449356, + 0.014398048941876235, + -0.002045463751980771, + 1.0 + ], + [ + -0.0055912385140271526, + 0.00106988595187686, + -0.0030233985899910665, + -0.007675543202978633, + -0.0053772744835178365, + -0.006900316528923583, + 0.0 + ], + [ + 0.0008762747167525009, + -0.0005139840459489238, + 0.0009560230276615261, + 0.005282332575778688, + -0.0020245772161926958, + -0.008405092464957256, + 0.0 + ], + [ + 0.008784437036602033, + -0.0008049966950965364, + 0.01648089201855045, + 0.02043734999265904, + -0.05073365716534611, + -0.01075564113531469, + 0.0 + ], + [ + 0.011404753580567695, + 0.005222740466919836, + 0.03506218014709595, + 0.02509101845003319, + -0.1070244149583551, + -0.004985971131328406, + 0.0 + ], + [ + 0.007536425820895476, + 0.014016532519636844, + 0.024943357864265665, + 0.016858491952597098, + -0.049113353911052655, + 0.006886915487085375, + 0.0 + ], + [ + -0.0005514728296647231, + 0.03244307804101523, + 0.00866625908136794, + 0.005519753937288662, + -0.009782397593517823, + 0.06643292718301357, + 0.0 + ], + [ + -0.010903681033153867, + 0.04503308395518841, + -0.004772295751840107, + -0.011632235477868678, + 0.004643272142909351, + 0.11051927372970123, + 0.0 + ], + [ + -0.010932614489630565, + 0.031195331409570967, + -0.011135615292381648, + -0.010084466252613323, + 0.020523226567706415, + 0.06518321974937195, + 0.0 + ], + [ + -0.005820074731019198, + 0.02119186033072891, + -0.011501399980472393, + -0.015515343993857908, + 0.012465157131038702, + 0.03237121685555876, + 0.0 + ], + [ + 0.003189457277531449, + -0.0016896860567622018, + -0.0037531650823584457, + -0.01018874791287011, + 0.015920686330092488, + -0.03198101620469577, + 1.0 + ], + [ + 0.008446917098383522, + -0.013090271535217607, + 0.0030601854675027483, + -0.012632869215633951, + -0.0006825780458212603, + -0.023327490009493492, + 1.0 + ], + [ + 0.01167730350770263, + -0.01981530363608433, + 0.022799855706125915, + 0.039654315534962487, + -0.02526360436137005, + -0.03877015950079694, + 1.0 + ], + [ + 0.011960037266694146, + -0.033782602047871535, + 0.013843037296935784, + -0.026591536889834663, + -0.04989574460759136, + -0.005603923898675793, + 1.0 + ], + [ + 0.00846572029548287, + -0.026899153896922726, + -0.0012449329602505083, + -0.024846768496146806, + 0.0038792309883397273, + -0.014805789164038425, + 1.0 + ], + [ + 0.00527187407072538, + -0.015491297134488408, + -0.003199466504836483, + -0.007022111356621074, + 0.009836746677388243, + -0.011932174107964036, + 1.0 + ], + [ + 0.007439953623013307, + -0.0076346931074006, + -0.0009672963667789816, + -0.005279010997640735, + -0.0003382504829561549, + -0.03426765639024345, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 327.0187683105469, + 129.3036346435547 + ], + [ + 325.6697082519531, + 138.258544921875 + ], + [ + 314.0880432128906, + 183.07408142089844 + ], + [ + 321.0213928222656, + 207.43658447265625 + ], + [ + 330.0155944824219, + 225.85198974609375 + ], + [ + 333.88525390625, + 247.3130340576172 + ], + [ + 331.9510498046875, + 255.90493774414062 + ], + [ + 330.62677001953125, + 268.53826904296875 + ], + [ + 324.9075012207031, + 286.88836669921875 + ], + [ + 325.16351318359375, + 288.5893859863281 + ], + [ + 320.309814453125, + 291.85784912109375 + ], + [ + 320.345703125, + 291.09930419921875 + ], + [ + 319.97509765625, + 291.5297546386719 + ], + [ + 325.8403015136719, + 244.60206604003906 + ], + [ + 325.8333740234375, + 214.31802368164062 + ], + [ + 313.470947265625, + 196.83914184570312 + ], + [ + 251.7841796875, + 174.54843139648438 + ], + [ + 210.56185913085938, + 175.17921447753906 + ], + [ + 185.4944305419922, + 180.42758178710938 + ], + [ + 179.9595947265625, + 182.87750244140625 + ], + [ + 180.92324829101562, + 181.273193359375 + ], + [ + 194.82403564453125, + 174.25311279296875 + ], + [ + 232.3365478515625, + 154.1796875 + ], + [ + 271.0385437011719, + 159.4581298828125 + ], + [ + 295.5671691894531, + 160.40802001953125 + ], + [ + 310.37255859375, + 164.46340942382812 + ], + [ + 313.5027770996094, + 163.482421875 + ], + [ + 313.5245361328125, + 163.56576538085938 + ] + ], + "depth_max": 1.5346078872680664, + "depth_min": 0.3386790156364441, + "intrinsic": [ + [ + 557.30419921875, + 0.0, + 259.0 + ], + [ + 0.0, + 557.5325317382812, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.8950467822141945e-05, + -4.082677151018288e-06, + 1.4402758097276092e-07 + ], + [ + -2.8950544219696894e-05, + 1.0, + -1.8813609131029807e-05, + -2.5735993403941393e-05 + ], + [ + 4.082132363691926e-06, + 1.8813725546351634e-05, + 1.0, + -1.4675442798761651e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 316.25, + 295.0 + ], + [ + 316.456298828125, + 295.175048828125 + ], + [ + 316.3463134765625, + 295.28460693359375 + ], + [ + 316.2926330566406, + 295.92047119140625 + ], + [ + 316.266357421875, + 295.8450927734375 + ], + [ + 309.8435363769531, + 291.0893249511719 + ], + [ + 309.95806884765625, + 291.38916015625 + ], + [ + 309.7876281738281, + 291.6561584472656 + ], + [ + 310.37677001953125, + 294.5599670410156 + ], + [ + 310.73809814453125, + 295.97222900390625 + ], + [ + 315.1929931640625, + 302.90374755859375 + ], + [ + 310.3551940917969, + 299.30340576171875 + ], + [ + 309.95574951171875, + 298.6556091308594 + ], + [ + 318.5190124511719, + 258.6564636230469 + ], + [ + 320.0820007324219, + 227.99749755859375 + ], + [ + 308.26019287109375, + 209.2987823486328 + ], + [ + 255.34654235839844, + 190.4475860595703 + ], + [ + 213.79684448242188, + 190.5678253173828 + ], + [ + 194.19178771972656, + 199.43434143066406 + ], + [ + 192.29830932617188, + 224.23768615722656 + ], + [ + 189.42721557617188, + 223.50128173828125 + ], + [ + 169.7733154296875, + 214.06784057617188 + ], + [ + 170.32852172851562, + 220.33969116210938 + ], + [ + 171.46319580078125, + 218.38584899902344 + ], + [ + 169.3758087158203, + 217.53468322753906 + ], + [ + 172.07168579101562, + 219.6580047607422 + ], + [ + 169.47784423828125, + 217.53497314453125 + ], + [ + 172.80792236328125, + 219.3314666748047 + ] + ] +} \ No newline at end of file diff --git a/001185_v2/lang.txt b/001185_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2ea6cffa43a619ca5d85b25eee313fc88a1772f3 --- /dev/null +++ b/001185_v2/lang.txt @@ -0,0 +1 @@ +move the strawberry to the silver pot diff --git a/001185_v2/object.ply b/001185_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..200d69ac3b103092ff7bf80ffda70c22935a1dba Binary files /dev/null and b/001185_v2/object.ply differ diff --git a/001186/FAIL b/001186/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/001186/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/001189/FAIL b/001189/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001189/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001198/FAIL b/001198/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/001198/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/001217/FAIL b/001217/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001217/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001218_v2/data.json b/001218_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..bdf2badf882ffdf10252be8c9f44be172f8659df --- /dev/null +++ b/001218_v2/data.json @@ -0,0 +1,696 @@ +{ + "action_start": 9, + "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, + 0.22026900000000005, + 0.0, + 0.0, + 0.0, + 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": [ + [ + 5.551115123125783e-17, + 1.3877787807814457e-17, + 0.0, + 3.526111214998118e-07, + 3.626548439579734e-07, + 5.43709766216293e-08, + 1.0 + ], + [ + -0.008091305040945018, + -0.021415875675360407, + -0.0015711917513693968, + -0.00836900488403726, + 0.003136620571980315, + -0.010493418043941577, + 1.0 + ], + [ + -0.0046819286064712085, + -0.01638588672408882, + 0.00019078609536109237, + -0.015301685397473645, + -0.0038429385087034025, + -0.0092899300300029, + 1.0 + ], + [ + -0.015851127908048046, + -0.03354859329389174, + 0.006636238543456401, + -0.013059084915305273, + -0.005580422717237561, + 0.003739016428264364, + 1.0 + ], + [ + -0.014026174858220164, + -0.02496466505281262, + -0.009956627291940745, + -0.03300241118955288, + 0.042801365312540536, + 0.006952588122081475, + 1.0 + ], + [ + -0.0022162521351044018, + -0.003748437224722967, + -0.03210196182017426, + -0.018107264750266996, + 0.05202863039086888, + -0.01011249839685638, + 1.0 + ], + [ + 0.0036010452318980257, + 0.0051452480724246165, + -0.023626088939996723, + 0.019314240491336357, + 0.008928454208554325, + -0.0006188809446454092, + 1.0 + ], + [ + 0.0034194117957229153, + 0.003975241733560193, + -0.017310601660855796, + 0.02757242406206197, + 0.010964801622842342, + -0.009049966049087255, + 1.0 + ], + [ + 0.003334587516475973, + -0.0007644108342703543, + -0.00720805012028947, + 0.003785802445456658, + 0.0011416482655683912, + -0.024870492266779894, + 1.0 + ], + [ + 0.0012383963678089804, + -0.0007879488650287814, + -0.0049611103760725354, + 0.009324368567362393, + -0.004856912158460774, + -0.03004631899616619, + 0.22026900000000005 + ], + [ + 0.0004355508112385831, + 2.9818127080156326e-05, + 0.0015655635919232663, + -0.00019217242308015576, + -0.01852790026921749, + -0.004911667278401651, + 0.0 + ], + [ + 0.0003950211675154969, + 0.0001681278143840035, + 0.002979279093528634, + 0.0022631873957705616, + -0.01362065864616386, + -0.017584136496289652, + 0.0 + ], + [ + -0.0006604540521931712, + 0.0008377109102709491, + 0.007421558941745711, + 0.005644585694740249, + -0.021277056639956705, + -0.0055222031572100625, + 0.0 + ], + [ + -0.0027032677412362482, + 0.0029551598131171176, + 0.016631795400633316, + 0.011377805703573189, + -0.03315837284897377, + -0.022909624809367358, + 0.0 + ], + [ + -0.0010669638014368377, + 0.007700246140681259, + 0.022990689496628015, + 0.030698159248423874, + -0.03114144793395844, + -0.041762485945741445, + 0.0 + ], + [ + 0.012409488073917618, + 0.022953682676434092, + 0.022988809224123982, + 0.02340482376926802, + -0.050435286039971515, + -0.02833683196712885, + 0.0 + ], + [ + 0.022943420949638055, + 0.03787054398500221, + 0.001399212354113416, + 0.02508118277562592, + -0.020593907423298006, + -0.034271537545312, + 0.0 + ], + [ + 0.019801928250023082, + 0.02112642847693485, + -0.012610319765691234, + -0.011166810699498089, + -0.0020223104778265538, + -0.053233838154147936, + 0.0 + ], + [ + 0.021623472905347496, + 0.01714274943658551, + -0.01360418821883145, + 0.004973401242902494, + 0.02981022539958612, + -0.052985483878623604, + 0.0 + ], + [ + 0.01688228238039552, + 0.016697378417424455, + -0.014647561944049772, + 0.0008780726933131611, + 0.0033639444358053825, + -0.05421030002434876, + 0.0 + ], + [ + 0.006476621125557802, + 0.017733460276714602, + -0.011151825430291442, + -0.005436241418625271, + 0.029626442864697677, + 0.008213992228644943, + 0.0 + ], + [ + -0.006469139407677571, + 0.01742735735855515, + -0.009577764619131051, + -0.007426739377847956, + 0.035383748535929564, + 0.03506223085031587, + 0.0 + ], + [ + -0.013023593964518132, + 0.010026794983579529, + -0.005272646696218519, + -0.02317096740389527, + 0.014986310505559507, + 0.03978477935744824, + 0.0 + ], + [ + -0.0047424532683889575, + -0.0027523449816663215, + -0.0026033319660471975, + -0.013658250699141432, + 0.014860370816112807, + 0.01159778730476834, + 0.0 + ], + [ + -0.012196985858251352, + -0.0005540713905117789, + -0.001530106947500498, + -0.011204110701183333, + 0.017124160735276495, + 0.03625432747881425, + 0.0 + ], + [ + -0.005126901061912159, + -0.0074316826469870145, + 0.0008842244340336591, + -0.010592089509314088, + 0.017723947611662134, + 0.005270043161620832, + 1.0 + ], + [ + 0.009162353226083386, + -0.012404057896178294, + 0.012331192079758056, + -0.007202489864410841, + -0.014949029127305793, + -0.018945818294683805, + 1.0 + ], + [ + 0.017111628168319182, + -0.0172901225442893, + 0.027367853834142634, + 0.014329095547745443, + -0.05846265143244827, + -0.021709709546782648, + 1.0 + ], + [ + 0.00901612049724032, + -0.018608250639557372, + 0.030494647736084547, + -0.005588082783745832, + -0.04288603269588802, + 0.033933867381392493, + 1.0 + ], + [ + -0.0026936421215000284, + -0.01738760694184413, + 0.027442004528506023, + -0.04360342660690462, + -0.030657401429528604, + 0.06254732654546458, + 1.0 + ], + [ + -0.011944877093885475, + -0.012836360882399936, + 0.01545723239599725, + -0.004871629743733563, + 0.04357148805678578, + 0.08435536129979261, + 1.0 + ], + [ + -0.016364722134072585, + -0.009665630165816314, + -0.0013831514072040127, + 0.005210118133434677, + 0.08622134562438442, + 0.0686973520175692, + 1.0 + ], + [ + -0.011899091507493575, + -0.007988597212938625, + -0.0019931517911949553, + 0.014632698752447711, + 0.029361344796719164, + -0.005312743719081886, + 1.0 + ], + [ + -0.012648650894537039, + -0.0038323083878283037, + -0.005568958682506758, + -0.04557308902024458, + 0.020050474557423335, + -0.02887425120265485, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 264.31573486328125, + 138.23687744140625 + ], + [ + 264.05615234375, + 145.11654663085938 + ], + [ + 265.5605163574219, + 172.55955505371094 + ], + [ + 286.553955078125, + 184.92922973632812 + ], + [ + 310.03045654296875, + 203.66751098632812 + ], + [ + 333.4693298339844, + 237.4259490966797 + ], + [ + 340.17559814453125, + 275.5243835449219 + ], + [ + 338.7821960449219, + 295.789306640625 + ], + [ + 335.9750671386719, + 309.03143310546875 + ], + [ + 336.91156005859375, + 313.9279479980469 + ], + [ + 338.8883972167969, + 317.7192077636719 + ], + [ + 338.35369873046875, + 314.16351318359375 + ], + [ + 334.17510986328125, + 311.55224609375 + ], + [ + 326.7833251953125, + 306.7001953125 + ], + [ + 321.102294921875, + 293.65509033203125 + ], + [ + 320.1153564453125, + 270.66986083984375 + ], + [ + 322.5531005859375, + 244.83514404296875 + ], + [ + 298.515869140625, + 194.54151916503906 + ], + [ + 297.6678161621094, + 183.05027770996094 + ], + [ + 298.0973205566406, + 171.4515838623047 + ], + [ + 300.3789367675781, + 166.8517303466797 + ], + [ + 289.07513427734375, + 168.8797149658203 + ], + [ + 288.4952697753906, + 167.90963745117188 + ], + [ + 288.03521728515625, + 170.48008728027344 + ], + [ + 281.950927734375, + 174.59384155273438 + ], + [ + 278.88970947265625, + 181.48468017578125 + ], + [ + 270.9074401855469, + 197.71937561035156 + ], + [ + 254.5139923095703, + 199.42616271972656 + ], + [ + 263.6351013183594, + 178.04379272460938 + ], + [ + 278.668701171875, + 144.37503051757812 + ], + [ + 296.5613098144531, + 119.92813873291016 + ], + [ + 296.19219970703125, + 106.2633285522461 + ], + [ + 302.5731201171875, + 110.77827453613281 + ], + [ + 301.4625549316406, + 126.37519836425781 + ], + [ + 301.9132080078125, + 137.2152862548828 + ] + ], + "depth_max": 1.491796612739563, + "depth_min": 0.31396976113319397, + "intrinsic": [ + [ + 560.9721069335938, + 0.0, + 259.0 + ], + [ + 0.0, + 560.9375610351562, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.947421646444127e-05, + -1.4604759599023964e-05, + 3.281986209913157e-06 + ], + [ + -3.947452933061868e-05, + 1.0, + -2.1259751520119607e-05, + -2.4620021576993167e-05 + ], + [ + 1.460392104490893e-05, + 2.1260326320771128e-05, + 1.0, + -3.943901538150385e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 34 + ], + "object_trajectory": [ + [ + 288.5, + 297.2500305175781 + ], + [ + 288.6827392578125, + 297.4062194824219 + ], + [ + 288.6248474121094, + 297.37841796875 + ], + [ + 288.6651306152344, + 297.3703308105469 + ], + [ + 288.6961364746094, + 297.5590515136719 + ], + [ + 288.6990661621094, + 297.52276611328125 + ], + [ + 288.51275634765625, + 297.68292236328125 + ], + [ + 288.0313415527344, + 297.9639587402344 + ], + [ + 287.48956298828125, + 297.870849609375 + ], + [ + 286.5736083984375, + 296.3280029296875 + ], + [ + 279.7596435546875, + 292.203369140625 + ], + [ + 280.9392395019531, + 299.177734375 + ], + [ + 271.4857482910156, + 297.2066650390625 + ], + [ + 262.63916015625, + 305.2190246582031 + ], + [ + 267.2724609375, + 304.252197265625 + ], + [ + 265.73291015625, + 282.5568542480469 + ], + [ + 269.4468688964844, + 256.1739196777344 + ], + [ + 250.645263671875, + 206.72511291503906 + ], + [ + 253.50885009765625, + 194.4987030029297 + ], + [ + 262.9263610839844, + 180.45175170898438 + ], + [ + 271.6717529296875, + 175.07546997070312 + ], + [ + 261.2333679199219, + 178.63690185546875 + ], + [ + 261.880126953125, + 177.26055908203125 + ], + [ + 259.79583740234375, + 178.10128784179688 + ], + [ + 257.87530517578125, + 180.3180694580078 + ], + [ + 254.99899291992188, + 183.3243408203125 + ], + [ + 244.79075622558594, + 195.2758026123047 + ], + [ + 244.30154418945312, + 201.44915771484375 + ], + [ + 237.86981201171875, + 196.84567260742188 + ], + [ + 239.4674835205078, + 196.43206787109375 + ], + [ + 239.28997802734375, + 196.67413330078125 + ], + [ + 239.28982543945312, + 196.60398864746094 + ], + [ + 239.58743286132812, + 196.42808532714844 + ], + [ + 239.37326049804688, + 196.39767456054688 + ], + [ + 239.14794921875, + 196.29925537109375 + ] + ] +} \ No newline at end of file diff --git a/001218_v2/lang.txt b/001218_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f1ff277667ed70d27d777c3780972f8af78d60aa --- /dev/null +++ b/001218_v2/lang.txt @@ -0,0 +1 @@ +put the silver pot on the upper let side of the left burner diff --git a/001221_v2/data.json b/001221_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..c55ba9340a2c7114829abb48b96eb103d606cb9e --- /dev/null +++ b/001221_v2/data.json @@ -0,0 +1,623 @@ +{ + "action_start": 10, + "action_end": 19, + "object_name": "blue object", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.265201, + 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, + 6.938893903907228e-18, + 0.0, + 1.0272250758723202e-06, + -2.4608994068924193e-07, + -2.615259369561093e-07, + 1.0 + ], + [ + -0.0041204138062192475, + 0.013399255140108715, + 0.000590684645972811, + -0.06595488373246454, + -0.09087404831258826, + 0.012902409160279724, + 1.0 + ], + [ + -0.011579220586432515, + 0.01730935754470425, + 0.004559776599011401, + -0.03627482237057546, + -0.048703941412375384, + 0.03762566648864396, + 1.0 + ], + [ + -0.020488918957907, + 0.01934819633931001, + 0.004533151278045027, + -0.004346248163437392, + -0.014939455842418441, + 0.07386260426627042, + 1.0 + ], + [ + -0.020716192785624032, + 0.019797345900417054, + -0.002439092712914863, + -0.00801513473899137, + 0.006796437867162515, + 0.059016383139384836, + 1.0 + ], + [ + -0.009115433167864784, + 0.0009323551007711095, + -0.010125580783483114, + -0.003785611217710029, + 0.04532140012950849, + 0.006194025311138808, + 1.0 + ], + [ + -0.005215650048804948, + -0.004305863109641858, + -0.017978725778266175, + -0.0011136839608910185, + 0.048084887698289135, + -0.015554075815708005, + 1.0 + ], + [ + -0.004361588782322484, + 0.0005841638583544417, + -0.017933878305616033, + -0.005223661614548766, + 0.03274962887559564, + 0.0034456953408323206, + 1.0 + ], + [ + -0.0018641042246043127, + 0.0021079750090577665, + -0.016103517608495137, + -0.011639636770801626, + 0.024154247676374356, + 0.0038116647138725602, + 1.0 + ], + [ + 9.237103410825176e-05, + 0.002829835155309296, + -0.010287219124778788, + -0.0041798647284489515, + 0.013853448198853658, + 0.00239691037456609, + 1.0 + ], + [ + 0.0008905608276701948, + 0.000634737623860876, + -0.006802293286801306, + -0.006644204600188737, + 0.004529489089488141, + -0.004299688832931839, + 0.265201 + ], + [ + 0.0011778140235333967, + -0.0008781248979281842, + -0.0004570213115024646, + 0.006902461345537106, + 0.002867109901267294, + -0.0032709662005079346, + 0.0 + ], + [ + 0.0040756651347436945, + -0.003326630630323263, + 0.008320123597342848, + 0.009903169545538213, + -0.011257893852713668, + -0.021213857445438217, + 0.0 + ], + [ + 0.007652785747298052, + -0.00018775266104056887, + 0.022882865131061317, + 0.03984815340906562, + -0.05888678166634156, + -0.0002602228609552282, + 0.0 + ], + [ + 0.02563918000556084, + 0.0012570511229084563, + 0.02697109004496282, + 0.031339906318238527, + -0.07057707567969268, + -0.037231859360114965, + 0.0 + ], + [ + 0.03279961802272155, + -0.004211999695757945, + 0.011863976439669676, + 0.002033861993227629, + -0.05383249854925446, + -0.06523217128409908, + 0.0 + ], + [ + 0.03232398663081221, + -0.0015765277323077642, + 0.006113562791552011, + -0.004209050611067632, + -0.0327990433188959, + -0.054568293828292314, + 0.0 + ], + [ + 0.01905858167788449, + 0.011374462322502471, + -0.0018346276973758742, + -0.007906557679319401, + 0.00041237928013435966, + -0.0032693110029965423, + 0.0 + ], + [ + 0.004511777989232413, + 0.01827574300002839, + -0.005632365633312611, + -0.005164707333304487, + 0.014642738270107317, + 0.032826374748752184, + 0.0 + ], + [ + -0.0016541266796427645, + 0.016982444746315994, + -0.0027212405559083348, + 0.005345225713353057, + 0.024171090171205133, + 0.03321790977412839, + 0.0 + ], + [ + -0.0035189918421622557, + 0.0030817414450320935, + -0.0019022425738696672, + -0.002879729921321246, + 0.022585834555100118, + 0.0014147944368262347, + 1.0 + ], + [ + -0.003276862266820779, + -0.003980906809823437, + -0.0011397180829477022, + -0.01037992388736578, + 0.015091716749758422, + -0.004518589575426105, + 1.0 + ], + [ + -0.004455270309110304, + -0.007301761272082347, + 0.0029293368181187406, + 0.005421342438094705, + 0.002882521353328097, + -0.012331769951060886, + 1.0 + ], + [ + -0.0042211686151881755, + -0.014356611320337553, + 0.008443803538513995, + 0.0023018525202075585, + -0.021912619173258475, + -0.015859664839783436, + 1.0 + ], + [ + -0.008281295308759096, + -0.017501413039702457, + 0.005055038514101236, + -0.006955288577818777, + -0.012321617268819052, + -0.010720170824635472, + 1.0 + ], + [ + -0.0057350020744663666, + -0.013361762864486273, + -4.279384311789425e-05, + 0.01481547958780084, + 0.02105914493857113, + -0.05291199204262738, + 1.0 + ], + [ + -0.005046198703101301, + -0.005727857651501328, + -0.0015861144929809404, + 0.021163685574942245, + 0.02522733391443585, + -0.024975190358330117, + 1.0 + ], + [ + -0.004296231276646634, + -0.0036099374902945763, + -0.0013725298259118779, + 0.01349627234990628, + 0.010093703820494224, + -0.011777371453265361, + 1.0 + ], + [ + -0.006742766262590905, + -0.0018800956868718494, + -0.00198425834784593, + 0.013554982768381527, + 0.052515505643459505, + 0.002236672971719958, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 292.36993408203125, + 181.95628356933594 + ], + [ + 290.64788818359375, + 192.48822021484375 + ], + [ + 299.563720703125, + 214.83718872070312 + ], + [ + 260.0162353515625, + 202.21463012695312 + ], + [ + 238.5119171142578, + 203.4216766357422 + ], + [ + 189.23818969726562, + 210.14181518554688 + ], + [ + 174.64535522460938, + 220.62242126464844 + ], + [ + 171.67373657226562, + 244.67251586914062 + ], + [ + 172.92181396484375, + 260.5650939941406 + ], + [ + 174.7344207763672, + 278.3828125 + ], + [ + 175.8803253173828, + 285.93341064453125 + ], + [ + 177.13125610351562, + 287.5495300292969 + ], + [ + 176.98043823242188, + 287.35028076171875 + ], + [ + 177.33807373046875, + 287.025634765625 + ], + [ + 174.35279846191406, + 264.6317138671875 + ], + [ + 177.38690185546875, + 233.70123291015625 + ], + [ + 211.20948791503906, + 184.6291046142578 + ], + [ + 239.27247619628906, + 160.39511108398438 + ], + [ + 251.2825469970703, + 143.57553100585938 + ], + [ + 254.95477294921875, + 142.256103515625 + ], + [ + 246.03311157226562, + 141.05796813964844 + ], + [ + 235.19192504882812, + 140.14376831054688 + ], + [ + 234.95176696777344, + 141.256591796875 + ], + [ + 232.41612243652344, + 153.3443603515625 + ], + [ + 229.55990600585938, + 155.63034057617188 + ], + [ + 231.55540466308594, + 158.59213256835938 + ], + [ + 241.2039031982422, + 164.837158203125 + ], + [ + 244.7667236328125, + 174.60240173339844 + ], + [ + 245.77540588378906, + 180.06207275390625 + ], + [ + 241.84835815429688, + 183.89340209960938 + ], + [ + 242.3264617919922, + 184.18569946289062 + ] + ], + "depth_max": 1.4661896228790283, + "depth_min": 0.38704240322113037, + "intrinsic": [ + [ + 558.0099487304688, + 0.0, + 259.0 + ], + [ + 0.0, + 558.592529296875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.835721716110129e-05, + 1.1003446161339525e-05, + -9.047376806847751e-06 + ], + [ + -2.8356944312690757e-05, + 1.0, + -2.4955445041996427e-05, + -2.8416141503839754e-05 + ], + [ + -1.1004153748217504e-05, + 2.4955132175819017e-05, + 1.0, + -2.8061887860530987e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30 + ], + "object_trajectory": [ + [ + 180.5, + 287.75 + ], + [ + 180.88914489746094, + 287.8089904785156 + ], + [ + 180.85562133789062, + 287.830810546875 + ], + [ + 180.7396697998047, + 287.9041748046875 + ], + [ + 180.62765502929688, + 287.8393249511719 + ], + [ + 180.5680389404297, + 288.1695251464844 + ], + [ + 180.3844757080078, + 288.246826171875 + ], + [ + 180.21963500976562, + 288.49267578125 + ], + [ + 179.61703491210938, + 289.2748718261719 + ], + [ + 173.86843872070312, + 289.4903564453125 + ], + [ + 174.2624969482422, + 290.005126953125 + ], + [ + 177.36260986328125, + 289.20654296875 + ], + [ + 177.75711059570312, + 288.8094177246094 + ], + [ + 177.84494018554688, + 288.4361572265625 + ], + [ + 175.30975341796875, + 265.24932861328125 + ], + [ + 177.49859619140625, + 236.09410095214844 + ], + [ + 207.57626342773438, + 190.76455688476562 + ], + [ + 235.4786376953125, + 164.71881103515625 + ], + [ + 249.1150665283203, + 142.91525268554688 + ], + [ + 253.32037353515625, + 142.21786499023438 + ], + [ + 240.9130096435547, + 143.326416015625 + ], + [ + 241.3765411376953, + 153.1664581298828 + ], + [ + 281.18682861328125, + 171.41937255859375 + ], + [ + 281.52264404296875, + 175.8753204345703 + ], + [ + 282.3271789550781, + 176.27435302734375 + ], + [ + 281.9112854003906, + 178.05824279785156 + ], + [ + 279.83447265625, + 181.3750762939453 + ], + [ + 274.5306396484375, + 188.05430603027344 + ], + [ + 272.371337890625, + 190.43321228027344 + ], + [ + 275.671142578125, + 190.726806640625 + ], + [ + 272.3937072753906, + 192.725830078125 + ] + ] +} \ No newline at end of file diff --git a/001221_v2/lang.txt b/001221_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..65fe0f88804142142d4ae51595d1986eebeee8bc --- /dev/null +++ b/001221_v2/lang.txt @@ -0,0 +1 @@ +put the blue object inside the silver pot diff --git a/001221_v2/object.ply b/001221_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..ade74fa19cb5838649ce49dcacfd5d427f7798f5 Binary files /dev/null and b/001221_v2/object.ply differ diff --git a/001265/FAIL b/001265/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..12cce8a603c327d6a0a6f65ea8c6628a5ec55c6b --- /dev/null +++ b/001265/FAIL @@ -0,0 +1 @@ +Too few valid images after filtering diff --git a/001280_v2/data.json b/001280_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..23112d01aa6cce56fb9441165f49b328f4a9dc25 --- /dev/null +++ b/001280_v2/data.json @@ -0,0 +1,623 @@ +{ + "action_start": 10, + "action_end": 24, + "object_name": "orange 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, + 0.0, + 0.0, + 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, + 2.42861286636753e-17, + 0.0, + 4.916100525269001e-07, + 1.2048793827005967e-07, + -1.1894713910007084e-07, + 1.0 + ], + [ + 0.013182506607687772, + 0.03918473154695927, + -0.03752000998273142, + 0.07207645950421618, + 0.1344232341828794, + 0.011317585137452396, + 1.0 + ], + [ + -0.0026003761157251115, + 0.03270238642912939, + -0.027550509705345214, + 0.14408758643258693, + -0.0025642829381777527, + -0.05112267350340589, + 1.0 + ], + [ + -0.003152887457549769, + 0.04240619561046597, + -0.015115349099895689, + 0.054795599936766845, + 0.04644592721898107, + -0.08769054924029399, + 1.0 + ], + [ + -0.019752496678862086, + 0.0196287115364234, + 0.00530436975017861, + -0.011664129788535222, + 0.0002849229698563469, + -0.07847215736671147, + 1.0 + ], + [ + -0.010696934568608873, + 0.01540374021023383, + 0.011759838537521113, + -0.07547384486668761, + -0.026142706123873097, + -0.005914472037430489, + 1.0 + ], + [ + -0.004365908183981249, + 0.0026326039350692276, + -0.004553502265900906, + -0.03426641755164465, + 0.011004773066935647, + 0.011212026045727774, + 1.0 + ], + [ + -0.0005139979722490473, + 0.0018839989532492551, + -0.011480704493499458, + 0.042786652528552606, + 0.020373073086674926, + 0.00977131404784135, + 1.0 + ], + [ + -0.0013321641063883116, + 0.002062682382280856, + -0.017473184082993212, + 0.018479560479172846, + 0.03844847839181909, + 0.010194298816687236, + 1.0 + ], + [ + -7.085506022402877e-05, + 0.0008660169824634134, + -0.014903460485302743, + 0.025809066847391204, + 0.030718147875825153, + 0.006766401459116198, + 1.0 + ], + [ + -0.0019067085983887622, + 0.002580972796036335, + -0.010633599142363944, + 0.017750348761443904, + 0.02418714567715535, + 0.015227078936109495, + 1.0 + ], + [ + -0.003111130303373566, + 0.00291308908547247, + -0.0067134526589426625, + -0.010503630452575758, + 0.014295970661238562, + 0.027963908288613695, + 0.0 + ], + [ + -0.0013084355300503892, + -0.002754322480428395, + 0.0038518551512991862, + -0.013125575885853478, + -0.015579239116850075, + -0.01386078050143325, + 0.0 + ], + [ + 0.003251567243819198, + -0.0035583213541539316, + 0.004200404164998853, + -0.009909281653001593, + -0.008373476601878689, + 0.0008681021835414184, + 0.0 + ], + [ + 0.010016623265353908, + -0.009424599985224102, + 0.014034600247865623, + -0.028978238394242163, + -0.03813115106500621, + 0.019824071718311926, + 0.0 + ], + [ + 0.01949670829165706, + -0.020889280976163438, + 0.013416143416703719, + -0.05278053247591571, + -0.04394893949909701, + 0.0026202516491528978, + 0.0 + ], + [ + 0.02168080429061786, + -0.03291599076852625, + 0.01260567204053992, + -0.019630058132202862, + -0.049549676649481726, + -0.029695008935982373, + 0.0 + ], + [ + 0.008191756361891456, + -0.03789919619993115, + 0.008900170408704187, + -0.022870829864960203, + -0.020220414012343122, + -0.08114466490806209, + 0.0 + ], + [ + 0.0010806719020231559, + -0.047683190349790024, + -0.006503159384689983, + 0.0036641441856997367, + 0.029601535454188085, + -0.10593002532783867, + 0.0 + ], + [ + 0.0006067423131947414, + -0.04520006784735442, + 0.002089643968583403, + 0.015665706128522815, + -0.008371075990349917, + -0.07546140066898548, + 0.0 + ], + [ + -0.0021249052934449453, + -0.038822582037648795, + 0.0051349698947603245, + -0.016197797263550046, + -0.0019322011284919412, + -0.07552288550502596, + 0.0 + ], + [ + 0.0004602762932139348, + -0.029275651154372653, + -0.0034638835611527155, + -0.002876622755329313, + 0.0030741680644245134, + -0.03171954306394523, + 0.0 + ], + [ + -0.0004694281634183284, + -0.02976444530864683, + -0.012427638336384897, + 0.02975256822670443, + 0.004296174791946827, + -0.034350964962919874, + 0.0 + ], + [ + -0.004738692342217576, + -0.024244680859869874, + -0.005742235197940065, + 0.015648515967490968, + -0.009851861437517885, + -0.03791717834892971, + 0.0 + ], + [ + -0.0013225907621022825, + -0.004279999552605662, + -0.008937882742276769, + 0.017694947915741617, + 0.003864409340686363, + -0.0155710222625801, + 0.0 + ], + [ + 0.001839864091636223, + 0.007319969874746146, + -0.0023981978607358276, + 0.012317384986632637, + 0.005531756839754985, + 0.023566796360874, + 1.0 + ], + [ + 0.00218762437813258, + 0.013272906835674697, + 0.008434021892396178, + -0.008254577721149039, + 0.003895789866001351, + 0.010368933664675749, + 1.0 + ], + [ + -0.006680311674408579, + 0.014351341709577137, + 0.031128256158736708, + -0.0706180322719424, + -0.0321367752571855, + -0.005072945775188979, + 1.0 + ], + [ + -0.011452779233261157, + 0.043929193390587776, + 0.05039716919619108, + -0.14481469543335374, + -0.03725323915478765, + 0.00462837775759879, + 1.0 + ], + [ + -0.01863553442647614, + 0.04959541812961414, + 0.03874928001868681, + -0.022918317400497552, + -0.07271886347269826, + 0.0027844947504481656, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 280.45025634765625, + 139.90292358398438 + ], + [ + 280.428955078125, + 149.62326049804688 + ], + [ + 272.6944274902344, + 184.81297302246094 + ], + [ + 228.8785400390625, + 190.74276733398438 + ], + [ + 200.85498046875, + 201.648681640625 + ], + [ + 160.26748657226562, + 200.388916015625 + ], + [ + 138.73980712890625, + 192.6744842529297 + ], + [ + 116.85472869873047, + 190.98956298828125 + ], + [ + 113.78107452392578, + 193.09811401367188 + ], + [ + 119.81611633300781, + 209.38157653808594 + ], + [ + 121.5218734741211, + 223.47274780273438 + ], + [ + 123.75825500488281, + 230.19400024414062 + ], + [ + 123.15303039550781, + 227.10757446289062 + ], + [ + 122.10282897949219, + 227.74136352539062 + ], + [ + 122.23789978027344, + 227.65481567382812 + ], + [ + 127.00688934326172, + 231.83229064941406 + ], + [ + 158.28271484375, + 224.5469970703125 + ], + [ + 198.5777587890625, + 208.5054931640625 + ], + [ + 243.2638397216797, + 206.0673828125 + ], + [ + 289.41143798828125, + 221.2818603515625 + ], + [ + 339.1843566894531, + 244.31143188476562 + ], + [ + 381.37982177734375, + 269.09906005859375 + ], + [ + 421.85107421875, + 277.27777099609375 + ], + [ + 455.9538879394531, + 302.54449462890625 + ], + [ + 488.48187255859375, + 333.1552429199219 + ], + [ + 498.5826110839844, + 350.453125 + ], + [ + 495.5577087402344, + 352.8421325683594 + ], + [ + 482.3854064941406, + 344.516357421875 + ], + [ + 462.91265869140625, + 308.76629638671875 + ], + [ + 412.41754150390625, + 237.25906372070312 + ], + [ + 315.7506103515625, + 156.93118286132812 + ] + ], + "depth_max": 1.8034082651138306, + "depth_min": 0.08817065507173538, + "intrinsic": [ + [ + 642.168701171875, + 0.0, + 259.0 + ], + [ + 0.0, + 640.9429321289062, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.811999628553167e-05, + 5.3228541219141334e-05, + 9.632789442548528e-06 + ], + [ + -6.811894854763523e-05, + 1.0, + -1.9717348550329916e-05, + -3.569680302462075e-06 + ], + [ + -5.322988727129996e-05, + 1.9713725123438053e-05, + 1.0, + 8.466429426334798e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30 + ], + "object_trajectory": [ + [ + 128.5, + 239.25001525878906 + ], + [ + 128.78329467773438, + 239.81329345703125 + ], + [ + 128.7003173828125, + 239.49697875976562 + ], + [ + 128.62002563476562, + 239.880859375 + ], + [ + 128.63473510742188, + 239.37570190429688 + ], + [ + 128.38043212890625, + 240.2588653564453 + ], + [ + 128.0645751953125, + 239.6675567626953 + ], + [ + 127.91593933105469, + 239.77615356445312 + ], + [ + 128.04945373535156, + 240.03395080566406 + ], + [ + 127.99981689453125, + 240.22006225585938 + ], + [ + 127.0862808227539, + 240.57418823242188 + ], + [ + 126.6656265258789, + 240.8450927734375 + ], + [ + 128.21435546875, + 241.7796173095703 + ], + [ + 128.02842712402344, + 241.81349182128906 + ], + [ + 127.92329406738281, + 242.39373779296875 + ], + [ + 131.0657501220703, + 247.39768981933594 + ], + [ + 157.8447265625, + 243.30075073242188 + ], + [ + 195.7401885986328, + 230.60646057128906 + ], + [ + 239.00701904296875, + 229.81494140625 + ], + [ + 281.42919921875, + 236.7710723876953 + ], + [ + 326.2510986328125, + 261.63177490234375 + ], + [ + 366.5189208984375, + 285.64007568359375 + ], + [ + 402.58551025390625, + 297.3323974609375 + ], + [ + 436.1954650878906, + 321.23455810546875 + ], + [ + 467.4991455078125, + 352.9697265625 + ], + [ + 475.9010925292969, + 369.10675048828125 + ], + [ + 469.76513671875, + 374.64117431640625 + ], + [ + 467.181884765625, + 372.2378845214844 + ], + [ + 465.5152893066406, + 357.6908874511719 + ], + [ + 463.4097595214844, + 368.0244140625 + ], + [ + 462.1397399902344, + 367.2425537109375 + ] + ] +} \ No newline at end of file diff --git a/001280_v2/lang.txt b/001280_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..3e8207a67c08070a2b2fbe8bc681eb3d07da9940 --- /dev/null +++ b/001280_v2/lang.txt @@ -0,0 +1 @@ +move the orange toy to the bottom right edge of the cloth diff --git a/001280_v2/object.ply b/001280_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..3755a842e77e824ad3f42339a980692711f7c074 Binary files /dev/null and b/001280_v2/object.ply differ diff --git a/001284/FAIL b/001284/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..12cce8a603c327d6a0a6f65ea8c6628a5ec55c6b --- /dev/null +++ b/001284/FAIL @@ -0,0 +1 @@ +Too few valid images after filtering diff --git a/001300/FAIL b/001300/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..12cce8a603c327d6a0a6f65ea8c6628a5ec55c6b --- /dev/null +++ b/001300/FAIL @@ -0,0 +1 @@ +Too few valid images after filtering diff --git a/001337/data.json b/001337/data.json new file mode 100644 index 0000000000000000000000000000000000000000..2251999e0fad9f509b8118a755890ac239c106d7 --- /dev/null +++ b/001337/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 12, + "action_end": 24, + "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, + 0.6847380000000001, + 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": [ + [ + 1.3332099313423385e-10, + -9.039983692171738e-11, + -1.690161899325915e-11, + 5.380197640753341e-09, + 1.4358800224946374e-09, + -5.070376514809102e-07, + 1.0 + ], + [ + 0.03182743291164056, + -0.02234508472237389, + 0.013934278804641903, + 0.02755759170496292, + -0.004238958107692869, + -0.04521668290043731, + 1.0 + ], + [ + 0.03527558687637969, + -0.02382898971457937, + 0.005282309599976137, + 0.018982013400829546, + -0.03660659718606784, + -0.05790484177466746, + 1.0 + ], + [ + 0.034745019066513616, + -0.016522583569207265, + -0.0027477338594924516, + 0.0028335587642088376, + -0.04498751589446354, + -0.09059264102778379, + 1.0 + ], + [ + 0.03605924077950873, + -0.015044901151242143, + -0.008893037356942246, + 0.0071485630063946246, + -0.054389586472265425, + -0.09799492945418423, + 1.0 + ], + [ + 0.0494957457801955, + 0.0007494736020893372, + -0.013558519090434706, + -0.04164988400873925, + -0.03174994403081707, + -0.09567009872351684, + 1.0 + ], + [ + 0.041681979770127386, + 0.0019128095425829383, + -0.018405067908386086, + -0.06673441135210882, + -0.004735802145445501, + -0.10683030422467302, + 1.0 + ], + [ + 0.023412351194415926, + 0.008789874620536736, + -0.014778482479990834, + -0.02241130497999898, + -0.01485039133903259, + -0.0824545218326757, + 1.0 + ], + [ + 0.008944115270866804, + 0.0026170653405005045, + -0.016005756248156824, + -0.06570482004867052, + -0.028040678276068456, + -0.0344850153119138, + 1.0 + ], + [ + 0.006882924643881405, + 0.009821987494747594, + -0.021404654574809875, + -0.026848888053449444, + -0.04773016753221589, + -0.0501290042721922, + 1.0 + ], + [ + 0.007013275930119411, + 0.006484662831460264, + -0.007965342960925048, + -0.019209238756931847, + 0.008774392820068167, + -0.05948875147800589, + 1.0 + ], + [ + -0.002599128071874235, + -0.0007525338747985805, + -0.007992208425197656, + -0.04231325247598345, + -0.013697372312391612, + 0.016731885347997105, + 1.0 + ], + [ + -0.005387406738601941, + -0.0034026803274494755, + -0.008246023936790345, + -0.05553143298935741, + -0.003664201517035956, + 0.03872780874997916, + 0.6847380000000001 + ], + [ + -0.003040153244993238, + 0.0017977637420268366, + 0.004921851340043562, + 0.011821393915149764, + 0.006342410924228345, + -0.0009640744430746554, + 0.0 + ], + [ + -0.01879751990167894, + 0.01266098741763317, + 0.02729493389629896, + 0.07175577506029183, + 0.043640835084546845, + 0.03185965802479677, + 0.0 + ], + [ + -0.026583534388024632, + 0.03732006538756758, + 0.04435998137239293, + 0.13602982133939548, + 0.03910289291862893, + 0.04870649760709367, + 0.0 + ], + [ + -0.029922175465740497, + 0.03422588308066357, + 0.002513721965669652, + 0.07510360641615425, + -0.011741235964304094, + 0.09260317481530773, + 0.0 + ], + [ + -0.03186917690732388, + 0.022156490505330632, + -0.006930396266367808, + 0.013078266662748682, + 0.024032978553050866, + 0.05988640643689604, + 0.0 + ], + [ + -0.023158726481393332, + 0.022254455155030082, + -0.017012901158653296, + 0.0026490755568912673, + -0.01322984612623304, + 0.016605886714492438, + 0.0 + ], + [ + -0.015415757786366113, + 0.025815642494139514, + -0.029039522519742053, + -0.008357969595426588, + -0.03495951653886088, + 0.025148698123255698, + 0.0 + ], + [ + -0.006148794499234833, + 0.024540773503829404, + -0.030244533119273026, + -0.009565792443309334, + -0.0236040866222546, + -0.010568554088987112, + 0.0 + ], + [ + 0.002500908405163371, + 0.013268046327473804, + -0.021307054673740066, + -0.0057735146774164706, + 0.038326756985293205, + 0.014892550238360029, + 0.0 + ], + [ + -0.0021972684207044457, + 0.020308958590122952, + -0.012044097170376303, + -0.017895645964983845, + -0.017236487955469997, + -0.02287311018155273, + 0.0 + ], + [ + -0.004056738035201235, + 0.02020302573452483, + -0.00808085828689419, + 0.008480871080136355, + -0.02272263126809829, + -2.4404558092100544e-05, + 0.0 + ], + [ + -0.0011538242895134943, + 0.009875287491423385, + -0.007343888710094134, + -0.0075375589846469184, + -0.013286939782705552, + -0.0066780945746464215, + 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": [ + [ + 272.5838623046875, + 166.8935546875 + ], + [ + 272.5010681152344, + 166.72738647460938 + ], + [ + 275.4559326171875, + 171.88356018066406 + ], + [ + 358.9548645019531, + 134.71487426757812 + ], + [ + 424.9288330078125, + 117.37442779541016 + ], + [ + 466.419189453125, + 106.24494934082031 + ], + [ + 512.2919921875, + 105.09198760986328 + ], + [ + 531.266357421875, + 104.39195251464844 + ], + [ + 527.5599365234375, + 105.42485809326172 + ], + [ + 526.3436279296875, + 111.44683837890625 + ], + [ + 520.4191284179688, + 109.86112976074219 + ], + [ + 500.31402587890625, + 129.93214416503906 + ], + [ + 493.55670166015625, + 135.905029296875 + ], + [ + 487.90557861328125, + 148.8911895751953 + ], + [ + 486.818115234375, + 151.1832275390625 + ], + [ + 478.73199462890625, + 152.6451416015625 + ], + [ + 461.8310852050781, + 129.53533935546875 + ], + [ + 436.87017822265625, + 74.56330108642578 + ], + [ + 382.98248291015625, + 86.77369689941406 + ], + [ + 339.3973388671875, + 102.02021026611328 + ], + [ + 296.0406494140625, + 131.1232147216797 + ], + [ + 257.36553955078125, + 159.89691162109375 + ], + [ + 230.7977752685547, + 178.56796264648438 + ], + [ + 226.25717163085938, + 197.49053955078125 + ], + [ + 201.97012329101562, + 198.78079223632812 + ], + [ + 187.3801727294922, + 199.3765869140625 + ], + [ + 177.67477416992188, + 204.06936645507812 + ], + [ + 181.44393920898438, + 206.200927734375 + ], + [ + 181.770751953125, + 206.74693298339844 + ] + ], + "depth_max": 1.8107774257659912, + "depth_min": 0.20912793278694153, + "intrinsic": [ + [ + 524.57421875, + 0.0, + 259.0 + ], + [ + 0.0, + 525.351318359375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.52509367885068e-05, + -6.79887380101718e-05, + -1.8048564015771262e-05 + ], + [ + -7.525368710048497e-05, + 1.0, + -4.0547609387431294e-05, + 2.2399915906134993e-05 + ], + [ + 6.798568210797384e-05, + 4.0552724385634065e-05, + 1.0, + 8.362653716176283e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 470.75, + 158.5 + ], + [ + 471.1603698730469, + 158.67135620117188 + ], + [ + 471.4762268066406, + 158.7113800048828 + ], + [ + 471.24322509765625, + 158.88223266601562 + ], + [ + 470.6520080566406, + 159.1051483154297 + ], + [ + 470.5201110839844, + 158.97645568847656 + ], + [ + 470.59515380859375, + 159.01055908203125 + ], + [ + 470.1231689453125, + 158.97549438476562 + ], + [ + 470.85504150390625, + 158.59939575195312 + ], + [ + 470.5477294921875, + 158.70065307617188 + ], + [ + 470.97802734375, + 159.08619689941406 + ], + [ + 468.3586120605469, + 159.9700927734375 + ], + [ + 466.3921203613281, + 161.18972778320312 + ], + [ + 465.5284729003906, + 167.15155029296875 + ], + [ + 473.69384765625, + 171.6587677001953 + ], + [ + 464.3438720703125, + 172.65670776367188 + ], + [ + 445.79571533203125, + 153.7885284423828 + ], + [ + 417.7945251464844, + 100.37825012207031 + ], + [ + 366.9673156738281, + 112.61046600341797 + ], + [ + 327.6617736816406, + 121.39875030517578 + ], + [ + 284.513427734375, + 149.86024475097656 + ], + [ + 249.0967254638672, + 176.9272918701172 + ], + [ + 222.722412109375, + 194.60523986816406 + ], + [ + 217.93528747558594, + 213.57907104492188 + ], + [ + 194.17526245117188, + 216.20608520507812 + ], + [ + 179.82284545898438, + 218.831298828125 + ], + [ + 174.11134338378906, + 228.8867645263672 + ], + [ + 182.28965759277344, + 247.6302490234375 + ], + [ + 184.11962890625, + 251.8989715576172 + ] + ] +} \ No newline at end of file diff --git a/001337/lang.txt b/001337/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..b25a66ac858bad9ea1814cbe784ca980ebd1fb1a --- /dev/null +++ b/001337/lang.txt @@ -0,0 +1 @@ +put banana on plate diff --git a/001337/object.ply b/001337/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..672467d8af24571745a168ff2927741968b8e1f4 Binary files /dev/null and b/001337/object.ply differ diff --git a/001347/FAIL b/001347/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001347/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001356/data.json b/001356/data.json new file mode 100644 index 0000000000000000000000000000000000000000..8233cac94d0b755a4a3226bff0a12cc4ef1d2a18 --- /dev/null +++ b/001356/data.json @@ -0,0 +1,458 @@ +{ + "action_start": 8, + "action_end": 17, + "object_name": "banana", + "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, + 0.060562000000000005, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 2.4581542357182684e-10, + -1.1288206480664087e-11, + 2.1297848207257886e-10, + -6.84000316231041e-08, + 2.308641329775877e-08, + 1.1595486683863414e-07, + 1.0 + ], + [ + -0.017869680684854783, + 0.03579703537448779, + 0.01419314939156277, + 0.0969170894625546, + 0.011406179290880235, + 0.006170969731886327, + 1.0 + ], + [ + -0.012739924303904193, + 0.036528065242437874, + 0.005669474170352538, + 0.06757609775704955, + 0.019460973139527334, + -0.026190946018967792, + 1.0 + ], + [ + -0.00732171005527954, + 0.0464855385444297, + 0.0007078872930160462, + 0.056368547671275866, + -0.0042862320491239385, + -0.05849175296149616, + 1.0 + ], + [ + 0.0033786337841223424, + 0.03910694683691395, + -0.006274225312493248, + -0.0026624274055723784, + -0.025360563983319487, + -0.043455297497702536, + 1.0 + ], + [ + 0.004588923901406361, + 0.021339946462550257, + -0.010604329214929306, + -0.023228195346742444, + -0.031945349998442014, + -0.007322283377702142, + 1.0 + ], + [ + 0.0032937286722349857, + 0.007228496035629257, + -0.01903668177786315, + -0.07377377030255386, + -0.024833819926987685, + 0.00946422901479645, + 1.0 + ], + [ + 0.005240099677151666, + 0.006800564152333266, + -0.018800905200346857, + -0.04687339951426309, + -0.03382218558686078, + -0.030351909169331507, + 1.0 + ], + [ + 0.004526096844947425, + 0.005828445765028278, + -0.009629471110158432, + -0.045817047143666516, + 0.006981356178355772, + -0.024095008229440874, + 1.0 + ], + [ + 0.0019825221219114675, + -0.0004548855445598854, + -0.0013887618766993386, + -0.03231959373575115, + 0.03648596300797626, + 0.0016458139667309005, + 0.0 + ], + [ + -0.004314571474514972, + -0.007279775516396761, + 0.002103017107306616, + -0.04031162517162578, + 0.031039831019850618, + 0.004725234712042806, + 0.0 + ], + [ + -0.0026087664992758275, + -0.01284432382267621, + 0.031891867960065164, + 0.03348908408095187, + 0.058319620220507275, + 0.03472518245375244, + 0.0 + ], + [ + -0.008877156352510684, + -0.027817140813420932, + 0.039358841835441735, + 0.04492887496121462, + 0.06120245000765588, + 0.08111358311184234, + 0.0 + ], + [ + -0.014681438386143275, + -0.04363950318884266, + 0.01655870736602621, + -0.06950709354795616, + 0.061432518108600634, + 0.1209215500874269, + 0.0 + ], + [ + -0.010590514223215497, + -0.041646207471426694, + -0.005765569514756638, + -0.08997878919203994, + 0.0068529258684487575, + 0.11834839502664803, + 0.0 + ], + [ + -0.01516705541875596, + -0.024234322736005526, + -0.011055820863750163, + -0.036674671600433605, + -0.0016370548474473495, + 0.06648638726360213, + 0.0 + ], + [ + -0.012061025189499586, + -0.010136345619190613, + -0.01470661875776326, + -0.00483939761489181, + -0.019538999397301946, + 0.025699483586342376, + 0.0 + ], + [ + -0.007736141410487063, + -0.004028216084404637, + -0.014282926115512434, + 0.006125608319504125, + -0.05690651144692529, + 0.009847777643446467, + 0.060562000000000005 + ], + [ + 0.0011899957215358858, + -0.00019971352097070127, + -0.010244689228280285, + -0.03205880687006612, + -0.04987961643176015, + -0.003089167388197807, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 535.6927490234375, + 159.01512145996094 + ], + [ + 535.9083862304688, + 158.9174041748047 + ], + [ + 525.7513427734375, + 178.06661987304688 + ], + [ + 473.0460205078125, + 180.64744567871094 + ], + [ + 421.1480712890625, + 153.20370483398438 + ], + [ + 357.8979797363281, + 137.20632934570312 + ], + [ + 314.19427490234375, + 129.59677124023438 + ], + [ + 302.6871032714844, + 128.0433349609375 + ], + [ + 288.7806701660156, + 133.89584350585938 + ], + [ + 287.12103271484375, + 156.0272979736328 + ], + [ + 282.7166442871094, + 163.31680297851562 + ], + [ + 286.13323974609375, + 161.72064208984375 + ], + [ + 287.85614013671875, + 163.62112426757812 + ], + [ + 297.51409912109375, + 149.71224975585938 + ], + [ + 335.725341796875, + 120.03321838378906 + ], + [ + 375.4664306640625, + 117.1727294921875 + ], + [ + 420.35491943359375, + 140.6181640625 + ], + [ + 444.92041015625, + 175.94252014160156 + ], + [ + 442.90545654296875, + 211.5030517578125 + ], + [ + 442.0465393066406, + 231.41506958007812 + ], + [ + 441.49713134765625, + 244.5128631591797 + ], + [ + 441.0169982910156, + 243.33767700195312 + ] + ], + "depth_max": 1.3551747798919678, + "depth_min": 0.23573815822601318, + "intrinsic": [ + [ + 520.4014282226562, + 0.0, + 259.0 + ], + [ + 0.0, + 521.0791015625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -1.5336878277594224e-05, + -0.0001302558957831934, + -2.1591533368336968e-05 + ], + [ + 1.5334544514189474e-05, + 1.0, + -1.7920619939104654e-05, + -1.831875488278456e-05 + ], + [ + 0.00013025615771766752, + 1.791862268873956e-05, + 1.0, + 4.559368790069129e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21 + ], + "object_trajectory": [ + [ + 273.25, + 167.00001525878906 + ], + [ + 273.6293029785156, + 167.42617797851562 + ], + [ + 273.3528747558594, + 167.3436279296875 + ], + [ + 273.3521728515625, + 167.40048217773438 + ], + [ + 273.228271484375, + 167.48843383789062 + ], + [ + 273.3786926269531, + 167.37503051757812 + ], + [ + 273.4552917480469, + 167.17959594726562 + ], + [ + 273.40087890625, + 167.25296020507812 + ], + [ + 272.94366455078125, + 167.45167541503906 + ], + [ + 272.4411315917969, + 168.88133239746094 + ], + [ + 272.00189208984375, + 177.21298217773438 + ], + [ + 276.8605651855469, + 176.4974822998047 + ], + [ + 277.62286376953125, + 180.47735595703125 + ], + [ + 280.90460205078125, + 163.1748046875 + ], + [ + 306.48834228515625, + 141.97341918945312 + ], + [ + 343.399169921875, + 140.6526641845703 + ], + [ + 391.168701171875, + 168.0987548828125 + ], + [ + 418.3916015625, + 200.31442260742188 + ], + [ + 415.8470153808594, + 238.8916015625 + ], + [ + 415.8185729980469, + 259.3816833496094 + ], + [ + 421.3526916503906, + 274.9820861816406 + ], + [ + 423.02630615234375, + 278.2811584472656 + ] + ] +} \ No newline at end of file diff --git a/001356/lang.txt b/001356/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..b25a66ac858bad9ea1814cbe784ca980ebd1fb1a --- /dev/null +++ b/001356/lang.txt @@ -0,0 +1 @@ +put banana on plate diff --git a/001356/object.ply b/001356/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..e8fd682aef2321d83fbe4c6ef0441e5c7546d87d Binary files /dev/null and b/001356/object.ply differ diff --git a/001364_v2/FAIL b/001364_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/001364_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/001368_v2/data.json b/001368_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..e0448fe00ae1341da7aae9f2ef0d62d3ade96947 --- /dev/null +++ b/001368_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 7, + "action_end": 31, + "object_name": "grey item", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.787302, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + [ + 6.086631199053727e-11, + 1.0793134441744456e-10, + 4.372237294436587e-11, + -4.939997444610638e-09, + -2.7632622075257934e-07, + 1.9756094358468167e-08, + 1.0 + ], + [ + 0.007045029537799508, + -0.01059577083770774, + -0.006126324253758773, + 0.02477618361517786, + 0.026323453213526284, + -0.047087967464939005, + 1.0 + ], + [ + 0.005971809582619225, + -0.007118487254995642, + -0.004893351617392513, + 0.022522310139544647, + 0.017756814807944447, + -0.027908101229796697, + 1.0 + ], + [ + 0.0048776038491691875, + -0.005011467748394227, + -0.0041474106640862155, + 0.015435605400684473, + 0.00811262102192991, + -0.019570527830503236, + 1.0 + ], + [ + 0.004258792843709447, + -0.006896035240528037, + -0.0057087332228382285, + 0.020902582843115768, + 0.019172578670109238, + -0.029955093522446175, + 1.0 + ], + [ + 0.002709314262253404, + -0.0036252932923388215, + -0.005193349142038872, + 0.002851555298077671, + 0.03111478594944624, + -0.016045393243751805, + 1.0 + ], + [ + -0.0016523173474637387, + -0.002288503588057822, + -0.004274502277191557, + -0.009453208197529435, + 0.06355240110938581, + 2.4542294598316275e-05, + 1.0 + ], + [ + -0.0006647923146139711, + -0.0003931325455120427, + -0.004797650192489154, + -0.0009456702679008663, + 0.04909357341782613, + 0.013671510291621855, + 0.787302 + ], + [ + 0.00010160776829898355, + 0.0006065899476933312, + -0.002747767541969263, + -0.0019321312855792813, + 0.010470303791735271, + 0.010801487641763863, + 0.0 + ], + [ + 0.0018760893374858423, + -0.0010769145021597704, + -0.004556024778990706, + 0.0006409932878194221, + 0.01139002028069587, + 0.0027424860990154483, + 0.0 + ], + [ + -0.0012463693853900226, + 0.0016423248650497269, + 0.003788564286550556, + -0.000534364647040153, + -0.03173692753903379, + -0.005494578767033848, + 0.0 + ], + [ + -0.005602386792280756, + 0.007092527549757893, + 0.013054474077186372, + 0.006261979671872158, + -0.10764382649161401, + 0.004807390923342159, + 0.0 + ], + [ + -0.009077168376013578, + 0.007231166802598499, + 0.010262116390093733, + 0.021795678708073238, + -0.08888979569383208, + 0.003753746123679484, + 0.0 + ], + [ + -0.010796397218087339, + 0.01815574100586395, + 0.008893849978916473, + -0.023308505108485957, + -0.04223599628829805, + 0.05533882239247083, + 0.0 + ], + [ + -0.002944456994223299, + 0.019017286910180217, + 0.009511750342729403, + -0.05058368327853391, + -0.026500341701024395, + 0.0690624380609045, + 0.0 + ], + [ + 0.0028838091794495258, + 0.03101114993820197, + 0.0016089802084526296, + -0.04573399319194376, + 0.01549502006503291, + 0.1397483596214679, + 0.0 + ], + [ + 0.009619319717411479, + 0.011770289452688966, + -0.014260489570935002, + -0.00368800682485279, + 0.05278658813203308, + 0.08202927178869579, + 0.0 + ], + [ + 0.00022352709326878273, + 0.017707036795599842, + -0.002482911547669494, + -0.0115520657073559, + 0.00739822850822331, + 0.09015280570270645, + 0.0 + ], + [ + -0.006128579720527549, + 0.018258725878355683, + 0.005704850264821908, + -0.0026559554365652056, + -0.018294784924723785, + 0.07424629461437077, + 0.0 + ], + [ + -0.008256250113392982, + 0.012227894961861229, + -0.0019350443606873033, + 0.025424050707841064, + -0.00028864845488978835, + 0.05546363252283318, + 0.0 + ], + [ + -0.010910263278318844, + 0.010229218448807335, + 0.0022300693304058115, + -0.00036406598699611505, + -0.00903018490698996, + 0.04368957184624601, + 0.0 + ], + [ + -0.014159688540467452, + 0.00954975170454473, + 0.007823956836714826, + 0.006231487707029518, + -0.030064696603577478, + 0.04062775171257962, + 0.0 + ], + [ + -0.015978068346528984, + 0.014016429553273249, + -0.003798759430981402, + 0.011144168219483, + 0.001902265353110743, + 0.036961487119438065, + 0.0 + ], + [ + -0.017100329852252294, + 0.018642264595448214, + -0.008781355827603445, + 0.013360307463673445, + 0.017414205114118744, + 0.021359875896945178, + 0.0 + ], + [ + -0.010023528281351668, + 0.017309296021796504, + -0.01275277050130212, + 0.012322893745121011, + 0.0359209480831521, + 0.006999811428564713, + 0.0 + ], + [ + -0.011407100210801158, + 0.02156302103771051, + -0.005799083954238552, + -0.007069259874218553, + 0.011137870436747957, + 0.008011056397963975, + 0.0 + ], + [ + -0.009516240783261964, + 0.01505552720936107, + 0.005043473700882949, + -0.008012148929439376, + -0.018462598124339667, + 0.005475782353268048, + 0.0 + ], + [ + -0.0033915314635758476, + 0.00929790890739586, + -0.004860051449612634, + -0.00510642348131092, + 0.017763044965507655, + -0.004357048467004623, + 0.0 + ], + [ + -0.000927946179244743, + 0.007848012393387754, + -0.006500396272647949, + 0.003419542762884779, + 0.027306543432736443, + 0.0036972320446677837, + 0.0 + ], + [ + -0.0011928272373523119, + 0.010133733662689437, + -0.003145651965345828, + -0.013779702190249458, + 0.007924547002535212, + 0.015169628364807277, + 0.0 + ], + [ + -0.005130680944365251, + 0.010815287730081016, + -0.0009670998251303194, + -0.0067027831523454725, + 0.004500262240365919, + 0.03085960636614179, + 0.0 + ], + [ + -0.006942155659832916, + 0.003971869298030284, + -0.00312334087745636, + -0.0299323948985008, + 0.052353394364253195, + 0.025668912098158983, + 0.0 + ], + [ + 0.0007752846050556594, + -0.0061297066631167685, + 0.0005683231119566375, + 0.008009858674429661, + 0.04685247307004147, + -0.02086369169031483, + 1.0 + ], + [ + 0.002819604060967873, + -0.006118077675567296, + 0.0038702923295609263, + 0.00628377823518369, + -0.007489933489502155, + -0.011727460836110795, + 1.0 + ], + [ + 0.0025080844345168885, + -0.007145765801251064, + 0.010215249835848924, + 0.020024828987002453, + -0.01870422175722771, + -0.012202122136794275, + 1.0 + ], + [ + 0.0011341051386473677, + -0.009527499840884135, + 0.018552466674741846, + -0.001752345804081285, + -0.0518939193701138, + -0.0217844212766384, + 1.0 + ], + [ + 0.0017063916952732572, + -0.012529599158413368, + 0.02578024310546842, + -0.019029833942195516, + -0.07302984173688587, + -0.007641442167464898, + 1.0 + ], + [ + -0.00325247000803372, + -0.005636665445202249, + 0.023158843372818982, + -0.0023265795739626106, + 0.013789587809130466, + 0.2222239824998589, + 1.0 + ], + [ + 0.007910857438526653, + -0.011368551517064535, + 0.005583809327637357, + -0.0014189549072922867, + 0.07965905092043123, + 0.12437184002189905, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 472.9930419921875, + 240.86123657226562 + ], + [ + 468.375732421875, + 256.52349853515625 + ], + [ + 472.104736328125, + 270.42156982421875 + ], + [ + 489.4302978515625, + 277.561279296875 + ], + [ + 491.925048828125, + 277.4331970214844 + ], + [ + 501.872802734375, + 283.3977966308594 + ], + [ + 507.665283203125, + 290.55926513671875 + ], + [ + 511.4996032714844, + 297.2803955078125 + ], + [ + 514.89306640625, + 299.7752380371094 + ], + [ + 515.4515991210938, + 300.4852600097656 + ], + [ + 517.38330078125, + 298.7232360839844 + ], + [ + 517.7900390625, + 298.70391845703125 + ], + [ + 507.37689208984375, + 303.37225341796875 + ], + [ + 482.93475341796875, + 305.64599609375 + ], + [ + 473.60894775390625, + 300.97705078125 + ], + [ + 439.0900573730469, + 278.74810791015625 + ], + [ + 410.6033630371094, + 267.6238708496094 + ], + [ + 393.471923828125, + 246.26486206054688 + ], + [ + 386.497314453125, + 248.07357788085938 + ], + [ + 358.4801025390625, + 255.58682250976562 + ], + [ + 339.4844055175781, + 251.47262573242188 + ], + [ + 322.9173278808594, + 256.8362731933594 + ], + [ + 302.18585205078125, + 250.74273681640625 + ], + [ + 284.1001281738281, + 259.48480224609375 + ], + [ + 253.63400268554688, + 277.2825622558594 + ], + [ + 231.02584838867188, + 276.8636474609375 + ], + [ + 202.21353149414062, + 275.9759826660156 + ], + [ + 176.5932159423828, + 277.01446533203125 + ], + [ + 163.06698608398438, + 275.9058837890625 + ], + [ + 158.59487915039062, + 273.49224853515625 + ], + [ + 148.12010192871094, + 272.30364990234375 + ], + [ + 133.3893280029297, + 271.9041442871094 + ], + [ + 124.6348876953125, + 273.907958984375 + ], + [ + 116.45640563964844, + 274.0150451660156 + ], + [ + 128.58154296875, + 276.8216552734375 + ], + [ + 135.13430786132812, + 274.515625 + ], + [ + 140.81483459472656, + 256.84564208984375 + ], + [ + 146.02188110351562, + 234.82574462890625 + ], + [ + 144.7864532470703, + 216.99546813964844 + ], + [ + 168.742431640625, + 198.85653686523438 + ], + [ + 174.04718017578125, + 198.23829650878906 + ], + [ + 174.35476684570312, + 198.44862365722656 + ], + [ + 174.71115112304688, + 198.28184509277344 + ], + [ + 174.05224609375, + 198.20794677734375 + ], + [ + 174.50457763671875, + 198.630615234375 + ], + [ + 174.50897216796875, + 198.52523803710938 + ], + [ + 174.46591186523438, + 198.32830810546875 + ], + [ + 174.76901245117188, + 198.16525268554688 + ] + ], + "depth_max": 2.8464300632476807, + "depth_min": 0.22981801629066467, + "intrinsic": [ + [ + 655.4974365234375, + 0.0, + 259.0 + ], + [ + 0.0, + 652.9580688476562, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.441300163511187e-05, + 6.229918653843924e-05, + 1.2107201655453537e-05 + ], + [ + -5.4414544138126075e-05, + 1.0, + 2.4747514544287696e-05, + -4.6011205995455384e-05 + ], + [ + -6.2297833210323e-05, + -2.475090695952531e-05, + 1.0, + 3.930759703507647e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 491.0, + 306.0 + ], + [ + 491.01263427734375, + 306.70135498046875 + ], + [ + 491.4928894042969, + 306.98992919921875 + ], + [ + 492.4453430175781, + 307.53564453125 + ], + [ + 493.39581298828125, + 307.7850646972656 + ], + [ + 496.99456787109375, + 307.38104248046875 + ], + [ + 503.0673828125, + 303.8059997558594 + ], + [ + 506.88153076171875, + 302.60272216796875 + ], + [ + 510.3759765625, + 302.5924072265625 + ], + [ + 510.9087829589844, + 303.292724609375 + ], + [ + 513.1301879882812, + 303.11480712890625 + ], + [ + 514.4921875, + 303.3328552246094 + ], + [ + 504.729248046875, + 305.1766662597656 + ], + [ + 484.0587158203125, + 309.20574951171875 + ], + [ + 477.2737731933594, + 301.60693359375 + ], + [ + 439.58209228515625, + 284.99365234375 + ], + [ + 411.64898681640625, + 273.2882995605469 + ], + [ + 396.031982421875, + 257.78851318359375 + ], + [ + 392.18511962890625, + 258.0579833984375 + ], + [ + 363.75054931640625, + 259.607421875 + ], + [ + 350.1319580078125, + 256.5477294921875 + ], + [ + 333.2073669433594, + 259.8151550292969 + ], + [ + 313.3206481933594, + 253.84890747070312 + ], + [ + 290.9600524902344, + 258.7480773925781 + ], + [ + 261.34051513671875, + 275.21405029296875 + ], + [ + 239.424560546875, + 274.82086181640625 + ], + [ + 212.15399169921875, + 274.5423889160156 + ], + [ + 192.38731384277344, + 286.9117126464844 + ], + [ + 179.36378479003906, + 286.37493896484375 + ], + [ + 172.7401580810547, + 284.3658142089844 + ], + [ + 162.3590087890625, + 283.3547668457031 + ], + [ + 149.28158569335938, + 283.7554016113281 + ], + [ + 141.24693298339844, + 286.81121826171875 + ], + [ + 134.01266479492188, + 287.2823486328125 + ], + [ + 139.05386352539062, + 297.8874816894531 + ], + [ + 141.08387756347656, + 300.89306640625 + ], + [ + 138.0336456298828, + 302.83416748046875 + ], + [ + 136.25148010253906, + 302.1167907714844 + ], + [ + 132.8711395263672, + 305.5308837890625 + ], + [ + 132.79356384277344, + 305.2110900878906 + ], + [ + 133.2899169921875, + 305.55596923828125 + ], + [ + 133.25794982910156, + 305.28436279296875 + ], + [ + 132.8749542236328, + 305.2428283691406 + ], + [ + 132.9887237548828, + 305.16802978515625 + ], + [ + 133.07650756835938, + 305.4085693359375 + ], + [ + 132.95352172851562, + 304.7174072265625 + ], + [ + 132.97596740722656, + 304.85491943359375 + ], + [ + 134.9701690673828, + 300.99749755859375 + ] + ] +} \ No newline at end of file diff --git a/001368_v2/lang.txt b/001368_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2c40078986460613bf25a9607e7644256b781ab1 --- /dev/null +++ b/001368_v2/lang.txt @@ -0,0 +1 @@ +put the grey item on the left bottom of the cloth diff --git a/001368_v2/object.ply b/001368_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..ddad23738ab1b980efbd01a08fdce444b92d9f0d Binary files /dev/null and b/001368_v2/object.ply differ diff --git a/001372/FAIL b/001372/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/001372/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/001391/FAIL b/001391/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001391/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001409_v2/FAIL b/001409_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001409_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001432_v2/FAIL b/001432_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/001432_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/001434/data.json b/001434/data.json new file mode 100644 index 0000000000000000000000000000000000000000..6a26aaf33be2c10b5f71aed30f48911fd38c2f35 --- /dev/null +++ b/001434/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 13, + "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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.968254, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.2022993711724439e-11, + -7.404299395830094e-12, + -1.2936146598363507e-10, + 1.1741403983957772e-08, + -3.0388734604344505e-08, + 4.3119569056163883e-07, + 1.0 + ], + [ + 0.058475429152998915, + -0.05526593699651808, + 0.016298898498011624, + -0.015207873850698373, + -0.06759600566656229, + -0.01601898677833257, + 1.0 + ], + [ + 0.05759888800219265, + -0.05607888969421235, + 0.004718991623751667, + -0.015078104026929294, + -0.028064775763725455, + -0.028773705572811958, + 1.0 + ], + [ + 0.04250167619000317, + -0.05656466495356252, + 0.021757994570997308, + 0.016271257066864813, + -0.02741862072079268, + 0.04798303882602882, + 1.0 + ], + [ + 0.02390877672242564, + -0.04432948466314303, + 0.013890551685237382, + -0.023021039758474297, + -0.013335545835189838, + 0.046587089852498244, + 1.0 + ], + [ + 0.025763064574177985, + -0.02597232053343375, + 0.004006406539936239, + 0.010427682055567739, + -0.019092612834882988, + 0.003031768428981213, + 1.0 + ], + [ + 0.022442343999201808, + -0.004936921254078491, + -0.016456225261372165, + 0.009069780191470913, + -0.04494674589781922, + -0.02842321094099575, + 1.0 + ], + [ + 0.02606822133439013, + 0.005321244040819184, + -0.022406353573892313, + -0.01215831200340982, + -0.014639613196934043, + -0.021599436436009322, + 1.0 + ], + [ + 0.017179550114714115, + 0.006064911224481981, + -0.01744627589837279, + -0.02807390756251271, + 0.0007136865084067322, + -0.04132237019488085, + 1.0 + ], + [ + 0.007351572943263607, + -0.003020778276825245, + -0.011821294427439025, + -0.025173721072886224, + -0.02013915761300788, + -0.025844838931266746, + 1.0 + ], + [ + 0.002345361606951868, + -0.0024946292230215023, + -0.014671501699267966, + -0.05340766902085236, + -0.01271129270169662, + -0.011360031326326828, + 1.0 + ], + [ + 0.0018235245971518488, + 0.006816249585797796, + -0.012864910749911078, + -0.05592919975738441, + -0.008396976650192553, + -0.02957028960200485, + 1.0 + ], + [ + 0.0009444411175468792, + 0.004612995150627706, + -0.014066265551884047, + -0.04358289391032888, + 0.002526605676835952, + -0.007955526313149854, + 1.0 + ], + [ + -0.0015867736248743602, + 0.002420191854873341, + -0.010636559648744454, + -0.0430069779838603, + 0.0051467876272781815, + 0.015907202699412204, + 1.0 + ], + [ + -0.00044085012804928603, + -0.0010109961717953767, + -9.230266979683328e-05, + 0.0016312910649171934, + 0.004268064033546193, + -0.0034019414417787866, + 0.0 + ], + [ + 0.0012617446440532643, + -0.0013275719121795745, + 0.012105411817080794, + 0.06845651955450538, + -0.005548120448291654, + 0.01953978444917755, + 0.0 + ], + [ + -0.0026245440957852195, + 0.00583783984855861, + 0.034906700671338706, + 0.13481902739651838, + 0.05216944729298505, + 0.016389831080756055, + 0.0 + ], + [ + -0.01145474204349839, + 0.004645512279367533, + 0.04669661308483984, + 0.12827388020947217, + 0.04702540444907834, + 0.08514035729578744, + 0.0 + ], + [ + -0.02562377703005303, + 0.01177231997956128, + 0.006179053661899914, + 0.01550929026315171, + -0.009038590777680414, + 0.13544225464080456, + 0.0 + ], + [ + -0.037399004519896806, + 0.03385066411312353, + -0.0032861390124679507, + 0.02342284328495113, + 0.04384085129308772, + 0.15500454750138842, + 0.0 + ], + [ + -0.03287284628379811, + 0.034692568868126335, + -0.003511982879879791, + 0.045937525988631864, + 0.03295050785549963, + 0.05945216593686777, + 0.0 + ], + [ + -0.029196124865869144, + 0.03584738392913861, + -0.017329156510032265, + 0.008461105247720178, + 0.031853611017625474, + 0.00021476436926651265, + 0.0 + ], + [ + -0.02405556421485472, + 0.030399690440894897, + -0.024868590247497907, + -0.0445201393613777, + 0.014945259380431588, + -0.0009341729162433501, + 0.0 + ], + [ + -0.020443568675204415, + 0.022810506946838408, + -0.025152897963419636, + -0.049045894593167196, + 0.012608418337282419, + -0.026175761070318854, + 0.0 + ], + [ + -0.0030537336666672243, + -0.0002683425783720772, + -0.006595558758663009, + -0.05100092425226838, + 0.007263433300372399, + -0.006954546406797394, + 0.968254 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 33.370635986328125, + 181.93862915039062 + ], + [ + 33.436214447021484, + 181.79171752929688 + ], + [ + 85.04634094238281, + 179.50137329101562 + ], + [ + 165.90232849121094, + 153.89413452148438 + ], + [ + 266.1981201171875, + 139.8433074951172 + ], + [ + 351.7904052734375, + 103.16948699951172 + ], + [ + 423.1055908203125, + 87.72677612304688 + ], + [ + 469.62200927734375, + 84.63983154296875 + ], + [ + 475.5727233886719, + 103.18824768066406 + ], + [ + 477.5080871582031, + 114.33634948730469 + ], + [ + 466.6202392578125, + 122.79755401611328 + ], + [ + 473.4471130371094, + 131.92306518554688 + ], + [ + 480.7301025390625, + 135.18304443359375 + ], + [ + 462.09552001953125, + 150.23536682128906 + ], + [ + 454.62225341796875, + 160.35137939453125 + ], + [ + 453.73187255859375, + 159.32073974609375 + ], + [ + 449.41632080078125, + 159.0592498779297 + ], + [ + 447.3115234375, + 158.75302124023438 + ], + [ + 451.063720703125, + 143.72247314453125 + ], + [ + 461.3899230957031, + 98.80560302734375 + ], + [ + 434.6634521484375, + 91.89132690429688 + ], + [ + 375.3302001953125, + 104.29597473144531 + ], + [ + 314.3702392578125, + 107.01443481445312 + ], + [ + 254.82672119140625, + 131.8566436767578 + ], + [ + 204.22415161132812, + 168.80856323242188 + ], + [ + 170.23577880859375, + 185.87017822265625 + ], + [ + 177.32598876953125, + 189.1844940185547 + ], + [ + 175.55755615234375, + 189.18609619140625 + ], + [ + 175.4787139892578, + 189.00167846679688 + ] + ], + "depth_max": 1.8911335468292236, + "depth_min": 0.12848907709121704, + "intrinsic": [ + [ + 498.64996337890625, + 0.0, + 259.0 + ], + [ + 0.0, + 498.7364501953125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 8.428591536357999e-05, + -0.00010923378431471065, + -2.143004530807957e-05 + ], + [ + -8.428707951679826e-05, + 1.0, + -1.0713969459175132e-05, + 5.090860213385895e-07 + ], + [ + 0.00010923288209596649, + 1.0723177183535881e-05, + 1.0, + -9.707162462291308e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 460.75, + 169.50001525878906 + ], + [ + 460.808349609375, + 169.81231689453125 + ], + [ + 460.9042053222656, + 169.91505432128906 + ], + [ + 460.91827392578125, + 169.84616088867188 + ], + [ + 460.97607421875, + 169.80410766601562 + ], + [ + 461.0624694824219, + 169.76992797851562 + ], + [ + 460.76531982421875, + 169.84503173828125 + ], + [ + 460.8203125, + 169.88433837890625 + ], + [ + 460.708251953125, + 170.1330108642578 + ], + [ + 460.6239013671875, + 170.1927490234375 + ], + [ + 460.7339172363281, + 170.62371826171875 + ], + [ + 459.61199951171875, + 168.57086181640625 + ], + [ + 459.466064453125, + 168.61407470703125 + ], + [ + 464.21661376953125, + 168.1909637451172 + ], + [ + 458.2410888671875, + 166.35292053222656 + ], + [ + 456.861328125, + 165.4700469970703 + ], + [ + 448.7777404785156, + 165.06930541992188 + ], + [ + 443.96807861328125, + 163.6052703857422 + ], + [ + 444.5662841796875, + 151.9671630859375 + ], + [ + 449.0365905761719, + 113.20303344726562 + ], + [ + 434.3672790527344, + 111.96078491210938 + ], + [ + 383.03106689453125, + 119.39860534667969 + ], + [ + 323.326904296875, + 123.36965942382812 + ], + [ + 262.10626220703125, + 144.11911010742188 + ], + [ + 211.64877319335938, + 180.33721923828125 + ], + [ + 181.0137481689453, + 198.0067138671875 + ], + [ + 210.86770629882812, + 217.3896026611328 + ], + [ + 217.080810546875, + 259.8063659667969 + ], + [ + 210.80703735351562, + 270.76116943359375 + ] + ] +} \ No newline at end of file diff --git a/001434/lang.txt b/001434/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2611984a73c80aee766564b3d94b41c0a3c70bd3 --- /dev/null +++ b/001434/lang.txt @@ -0,0 +1 @@ +put broccoli in bowl diff --git a/001434/object.ply b/001434/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..d32444822a3d02f652ac4f69920ad905d40d7181 Binary files /dev/null and b/001434/object.ply differ diff --git a/001449_v2/FAIL b/001449_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/001449_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/001455_v2/FAIL b/001455_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f1fa61eaac4c0a91180b93b56955ff62e306ff97 --- /dev/null +++ b/001455_v2/FAIL @@ -0,0 +1 @@ +Detect gripper centers fail diff --git a/001459/data.json b/001459/data.json new file mode 100644 index 0000000000000000000000000000000000000000..1fe7d8ece9e955e3419d2c52858c2e68cd7d1505 --- /dev/null +++ b/001459/data.json @@ -0,0 +1,733 @@ +{ + "action_start": 20, + "action_end": 30, + "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, + 0.928694, + 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, + -1.3877787807814457e-17, + 0.0, + 6.221163367114486e-08, + 1.3438248381485676e-07, + 5.123420142549424e-08, + 1.0 + ], + [ + 0.027712518888429655, + 0.01122905361861612, + -0.011152458309214297, + -0.03201815954693895, + 0.042853870472797935, + -0.05103797743739833, + 1.0 + ], + [ + 0.026952772162197935, + 0.013069814982527683, + -0.013181180191558478, + -0.054959594210472064, + 0.03193252453822751, + -0.05315788250054879, + 1.0 + ], + [ + 0.029133347825150202, + 0.013002528898778148, + -0.01286943762480161, + -0.03240394276204417, + -0.006206449973291767, + -0.02933319792985628, + 1.0 + ], + [ + 0.016311835327247226, + 0.011050767912989728, + -0.0017455849744169305, + -0.022587373292562413, + 0.012181469697524606, + 0.028887867656670153, + 1.0 + ], + [ + 0.01766992439758658, + 0.016334697582671913, + -0.01089398062820554, + -0.029819979970525524, + -0.057226728243383415, + 0.0011978369525888378, + 1.0 + ], + [ + 0.01743590624704261, + 0.0151036483837364, + 0.001423554243938585, + -0.020686501158505503, + -0.031732806394092296, + 0.007623230742441945, + 1.0 + ], + [ + 0.0009063497048533709, + 0.01901266805773056, + 0.0027749926899920674, + -0.017096253855419914, + 0.06480959274199796, + 0.07103662636883802, + 1.0 + ], + [ + -0.015482447306703284, + 0.017655806380855572, + -0.0005592588966835121, + 0.019994181967843815, + -0.002256502686090917, + 0.102182608899679, + 1.0 + ], + [ + -0.02323162602553469, + 0.01356034581783204, + -0.004109200588639589, + 0.08385774641146428, + -0.07111253486906179, + 0.1733414582189704, + 1.0 + ], + [ + -0.009469521704373096, + 0.014897381566682459, + 0.0036580049534171294, + 0.10354729225837464, + -0.015301396751677916, + 0.08400892805332796, + 1.0 + ], + [ + 0.0073727122086765795, + 0.015618993646889255, + 0.006633609586301062, + 0.10730964208830622, + 0.08361427213513731, + -0.03420058376833501, + 1.0 + ], + [ + 0.008156905577746898, + 0.013000506154317831, + -0.0027589998753668604, + 0.04046971921306935, + 0.04010595655949279, + -0.0020333156756353987, + 1.0 + ], + [ + -0.00029111478774523913, + 0.003933441377153402, + -0.01575695605361775, + -0.016347760218751135, + 0.01748409562339736, + 0.03246945453722311, + 1.0 + ], + [ + 4.737885758315796e-05, + 0.005190250424175993, + -0.014239559983229871, + -0.012801916874661663, + -0.0010740876049421672, + 0.05693631995796509, + 1.0 + ], + [ + 0.0008486245700969341, + 0.006589636531726367, + -0.022006507426977365, + -0.02683316666516464, + 0.03169169340567627, + -0.021912648068214885, + 1.0 + ], + [ + 0.006993979146345308, + 0.007780663120983564, + -0.015678370116798526, + -0.021819197872032504, + 0.009051731286314656, + -0.028927555106117296, + 1.0 + ], + [ + 0.00952981947469761, + 0.0039006311019350176, + -0.011403703864599088, + -0.007854503056451356, + -0.018947893918265298, + -0.010709000970379929, + 1.0 + ], + [ + 0.007114129416569803, + 0.0015720491172446505, + -0.00820527618003538, + -0.014416820572820021, + -0.0026471782760438575, + -0.004645502748826853, + 1.0 + ], + [ + 0.004560907283637006, + 0.0048129032620539, + -0.0021672733620873227, + 0.00461868886507148, + -0.018994203744380586, + -0.00521841876359983, + 1.0 + ], + [ + 0.006336195547390011, + -0.0005843215707065641, + -0.004981475039865704, + -0.0009357360988326644, + 0.0012787161789983138, + 0.008057545751738025, + 0.928694 + ], + [ + 0.0008714073815349055, + -0.00598694237860925, + -0.0005416846355710964, + -0.0038001821345989228, + 0.0014270091254711098, + 0.014472133690194799, + 0.0 + ], + [ + -0.006361557296643172, + -0.0032082890722168744, + 0.009002987216566036, + 0.011588223427845957, + -0.006475311257974048, + 0.006719500675955632, + 0.0 + ], + [ + -0.014034526841029404, + -0.0088201387154756, + 0.028108980936299804, + 0.017593910616796302, + -0.026101391798262395, + -0.007142104789754311, + 0.0 + ], + [ + -0.010736264200854495, + -0.0072132690489196405, + 0.048406176473625925, + 0.09507032889440385, + -0.015087654994707983, + 0.02393064592027829, + 0.0 + ], + [ + -0.004065594256901228, + -0.0012556554783201695, + 0.027091791835655854, + 0.047392372428936035, + -0.03324848878041879, + -0.0024708864375715513, + 0.0 + ], + [ + -0.01790264126364255, + -0.0008960801919744299, + -0.0004153338634761833, + -0.003202972906785732, + 0.00580795352794617, + 0.026484212951704868, + 0.0 + ], + [ + -0.02718443897432604, + 0.010392116669090706, + -0.02171290884841251, + -0.038716777347894575, + 0.006659023420924319, + 0.051543292581828555, + 0.0 + ], + [ + -0.015816663810892417, + 0.013664672401932088, + -0.017466651662767077, + -0.044688141328898506, + -0.002853248152345666, + -0.011942505166653137, + 0.0 + ], + [ + -0.008271223084807988, + 0.005139899499486483, + -0.0014852597842166804, + 0.008819162566524862, + -0.004042927824608616, + 0.02555726190797745, + 0.0 + ], + [ + -0.006192080448840176, + 0.008232542927532588, + -0.0017162099535156794, + -0.007719538117019606, + -0.02084592278879495, + 0.0022982194863060434, + 0.0 + ], + [ + -0.0010097359878334378, + -0.00236792857223303, + -0.004231452538204394, + -0.01891053983218338, + -0.01949921114142962, + -0.0351124047985204, + 1.0 + ], + [ + 0.00757267887441837, + -8.030044003415338e-05, + -0.0023426951112767574, + -0.027162045726815347, + 0.0023713968409214813, + -0.01698878810661555, + 1.0 + ], + [ + 0.004661429370717812, + -0.00041001925019638896, + 0.003210685882292369, + 0.017532645941363882, + -0.00019324702583343973, + -0.02712665783351545, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 382.501220703125, + 171.4070587158203 + ], + [ + 378.73193359375, + 181.1060333251953 + ], + [ + 393.00384521484375, + 188.5302734375 + ], + [ + 380.3104248046875, + 156.46095275878906 + ], + [ + 390.8450927734375, + 148.86534118652344 + ], + [ + 391.5998840332031, + 134.31533813476562 + ], + [ + 379.02197265625, + 129.2273712158203 + ], + [ + 369.96649169921875, + 108.8778076171875 + ], + [ + 351.2681884765625, + 99.41751098632812 + ], + [ + 320.9193420410156, + 108.06066131591797 + ], + [ + 274.1474304199219, + 120.35926818847656 + ], + [ + 250.86642456054688, + 121.19096374511719 + ], + [ + 240.248046875, + 102.9842529296875 + ], + [ + 235.4720001220703, + 91.91181945800781 + ], + [ + 238.01202392578125, + 100.09730529785156 + ], + [ + 236.39857482910156, + 114.68705749511719 + ], + [ + 233.66268920898438, + 137.04702758789062 + ], + [ + 230.94100952148438, + 152.3907012939453 + ], + [ + 230.96035766601562, + 156.94644165039062 + ], + [ + 223.51048278808594, + 160.78823852539062 + ], + [ + 234.7484130859375, + 160.4806365966797 + ], + [ + 239.55580139160156, + 163.40963745117188 + ], + [ + 238.29872131347656, + 164.69581604003906 + ], + [ + 239.46923828125, + 166.43299865722656 + ], + [ + 233.0363006591797, + 161.6748504638672 + ], + [ + 224.05662536621094, + 114.82386779785156 + ], + [ + 241.8727264404297, + 82.14035034179688 + ], + [ + 220.62374877929688, + 81.09778594970703 + ], + [ + 196.26904296875, + 118.34700775146484 + ], + [ + 167.37374877929688, + 150.23150634765625 + ], + [ + 132.8900909423828, + 162.57717895507812 + ], + [ + 142.2496795654297, + 159.9031982421875 + ], + [ + 117.51548767089844, + 166.76345825195312 + ], + [ + 140.48272705078125, + 165.4225311279297 + ], + [ + 138.64703369140625, + 158.79449462890625 + ], + [ + 139.80581665039062, + 157.79275512695312 + ], + [ + 139.7357940673828, + 157.90011596679688 + ] + ], + "depth_max": 1.2948997020721436, + "depth_min": 0.4606913924217224, + "intrinsic": [ + [ + 497.5291748046875, + 0.0, + 259.0 + ], + [ + 0.0, + 497.51873779296875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.0866096747340634e-05, + -6.745868449797854e-05, + -3.941355680581182e-05 + ], + [ + -2.086516542476602e-05, + 1.0, + 1.3816993487125728e-05, + -3.226057015126571e-05 + ], + [ + 6.74589755362831e-05, + -1.3815585589327384e-05, + 1.0, + 1.4519308024318889e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36 + ], + "object_trajectory": [ + [ + 233.75001525878906, + 174.25 + ], + [ + 233.9685821533203, + 174.4767608642578 + ], + [ + 233.89512634277344, + 174.26902770996094 + ], + [ + 233.832763671875, + 174.33197021484375 + ], + [ + 233.77236938476562, + 173.88330078125 + ], + [ + 233.8597412109375, + 173.47996520996094 + ], + [ + 233.56149291992188, + 173.32186889648438 + ], + [ + 233.7322998046875, + 173.4467315673828 + ], + [ + 233.70074462890625, + 173.255859375 + ], + [ + 233.65838623046875, + 173.0792236328125 + ], + [ + 233.87643432617188, + 173.52981567382812 + ], + [ + 233.77487182617188, + 173.59251403808594 + ], + [ + 233.92059326171875, + 174.17193603515625 + ], + [ + 233.87612915039062, + 173.59292602539062 + ], + [ + 233.84877014160156, + 173.16220092773438 + ], + [ + 233.7554931640625, + 173.21682739257812 + ], + [ + 233.80300903320312, + 173.35000610351562 + ], + [ + 234.33551025390625, + 173.22625732421875 + ], + [ + 233.14141845703125, + 173.4838104248047 + ], + [ + 232.67254638671875, + 175.07916259765625 + ], + [ + 242.4315185546875, + 175.44366455078125 + ], + [ + 247.1134490966797, + 173.5497589111328 + ], + [ + 247.67633056640625, + 175.57342529296875 + ], + [ + 246.20098876953125, + 178.79286193847656 + ], + [ + 241.10821533203125, + 173.7244873046875 + ], + [ + 232.38221740722656, + 131.69766235351562 + ], + [ + 245.23672485351562, + 101.90931701660156 + ], + [ + 226.19192504882812, + 102.64163208007812 + ], + [ + 203.3544921875, + 135.1036376953125 + ], + [ + 176.77960205078125, + 164.59169006347656 + ], + [ + 144.8212890625, + 175.09402465820312 + ], + [ + 154.45545959472656, + 175.662353515625 + ], + [ + 149.2525634765625, + 223.7298583984375 + ], + [ + 140.1156768798828, + 271.8682861328125 + ], + [ + 141.00196838378906, + 274.7898864746094 + ], + [ + 140.31224060058594, + 274.8216552734375 + ], + [ + 140.19154357910156, + 274.9144287109375 + ] + ] +} \ No newline at end of file diff --git a/001459/lang.txt b/001459/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f66bae477970d3eeb491e8da4678835fdb133daa --- /dev/null +++ b/001459/lang.txt @@ -0,0 +1 @@ +put broccoli in pot diff --git a/001459/object.ply b/001459/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..bf08ff3b775d1cd7b0a2d2df28ac72b625a8c8e0 Binary files /dev/null and b/001459/object.ply differ diff --git a/001479_v2/FAIL b/001479_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001479_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001495/FAIL b/001495/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001495/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001505_v2/data.json b/001505_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..0641c0839f5e91f1fe68f3c5d2c01d4bab9889d7 --- /dev/null +++ b/001505_v2/data.json @@ -0,0 +1,696 @@ +{ + "action_start": 12, + "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, + 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": [ + [ + 1.1587969472870441e-10, + -1.2665956304613868e-10, + -1.767938156982396e-10, + 5.016482546965693e-08, + 7.499717003432876e-07, + -5.441985825466057e-07, + 1.0 + ], + [ + -0.019462749255068357, + 0.031098657819403002, + -0.0013687697806148424, + 0.012886250012222366, + -0.06570298454122642, + -0.039118806387700364, + 1.0 + ], + [ + -0.02240087446307265, + 0.03349234064277808, + 0.005916896341257097, + -0.0464552887831493, + -0.017279305128139723, + -0.029840580937445002, + 1.0 + ], + [ + -0.021214773821631783, + 0.025309385913989086, + 0.0008439895227081856, + 0.009221255536757133, + -0.05024002362954595, + -0.04711733963476028, + 1.0 + ], + [ + -0.024989143373153777, + 0.022765496402629815, + 0.00036070258609546824, + 0.0532656273204342, + -0.05473244050055765, + -0.06700038251058885, + 1.0 + ], + [ + -0.011603035788108174, + 0.014948155761025567, + -0.014341206391794759, + 0.0671781302577594, + 0.010822389069259515, + -0.06292086991877807, + 1.0 + ], + [ + -0.004157449867938812, + 0.009515605529726232, + -0.007681218147206029, + 0.06397512758000043, + 0.019947187214062325, + -0.04130422703589859, + 1.0 + ], + [ + 0.000940655987987371, + 0.014319260223427971, + -0.012766096090405257, + 0.02295007557994813, + 0.016184662767976993, + 0.00440337849110916, + 1.0 + ], + [ + 0.00018587194018654385, + 0.011250934392182776, + -0.008865099593174407, + 0.010640712481113897, + 0.018744764822828133, + 0.01145557457560417, + 1.0 + ], + [ + -0.003649334898522927, + 0.006844830422439219, + -0.008380617101578489, + 0.01923930803915555, + 0.005755689074569661, + 0.01108343525746291, + 1.0 + ], + [ + -0.00510412317246367, + 0.002120569351338808, + -0.0063181022361839395, + 0.003559247840341115, + 0.009001741462266545, + -0.001296394474103312, + 1.0 + ], + [ + -0.001559306304371233, + -0.003393768733167074, + -0.009445976361821276, + -0.020403291336163965, + 0.011191906638869627, + 0.02738753128194735, + 1.0 + ], + [ + -0.0012139277568657958, + -0.0041684241146305034, + -0.006333754392692719, + -0.033958405902982866, + -0.003705124865826068, + 0.011050792894735898, + 1.0 + ], + [ + 0.0001213573899652709, + -0.0032536912928271267, + -0.003197670257273421, + -0.01624404267372021, + -0.017092161651550457, + 0.010747347476612703, + 0.0 + ], + [ + -6.966768712957094e-05, + -0.007999438948783799, + -0.0004013611817033219, + -0.022599119972570695, + -0.0051583749843890575, + -0.013824448746473324, + 0.0 + ], + [ + -0.002032804154100065, + -0.012516023703165097, + 0.0014292151730275551, + 0.0038756086643229872, + -0.0018393459345841569, + -0.02859300103981414, + 0.0 + ], + [ + -0.002181853807370182, + -0.018633422643469844, + 0.012992087263192153, + -0.019255118740696055, + -0.008890952045514959, + -0.03742104255646301, + 0.0 + ], + [ + -0.003921951468014828, + -0.03893005708979967, + 0.021057802037748753, + -0.011031469357789479, + -0.019176687508558263, + -0.08624291127900809, + 0.0 + ], + [ + -0.005101857533788001, + -0.03803899088294539, + 0.010723795116224, + -0.01523676957371986, + 0.008638201936870813, + -0.09369488002306321, + 0.0 + ], + [ + -0.008550911038323783, + -0.04643610454064213, + 0.0037988597945914984, + 0.04136687164161469, + -0.011362613721790614, + -0.11571305780889111, + 0.0 + ], + [ + -0.0043384363871233345, + -0.030870510931691214, + -0.007143764267109172, + 0.025333527318999297, + -0.002272467692666585, + -0.06940242587757968, + 0.0 + ], + [ + -0.001746568493574907, + -0.029178453818616362, + -0.013009748909346225, + 0.028253287949420686, + 0.008705966370471756, + -0.04034425421026646, + 0.0 + ], + [ + 0.0009519289526233043, + -0.029335847586850664, + -0.006625573114343829, + 0.014489212472870959, + 0.0006104339443203212, + -0.03125258275748239, + 0.0 + ], + [ + 0.0028106023451486273, + -0.021826206650253005, + -0.004601830363579154, + -0.007484714055283656, + 0.019009344159274796, + -0.029460818394497247, + 0.0 + ], + [ + 0.004535690181444563, + -0.015331205309707094, + -0.004848583764757365, + -0.024748119878628173, + 0.02050771308136682, + -0.024634382838339734, + 0.0 + ], + [ + 0.006730748688599131, + -0.006376757073180653, + -0.004402419204561178, + -0.01712030407594666, + 0.01088723178408851, + -0.013857256048468053, + 0.0 + ], + [ + 0.005165646086630615, + -0.0007830275359460154, + -0.0041498467843765485, + -0.022617391523530286, + 0.006772491198069827, + -0.0055340416628357455, + 1.0 + ], + [ + 0.00276854013546296, + 0.005629858021964973, + -0.0011199690167504502, + -0.0476454808131612, + 0.017982229131297836, + -0.015411589148079835, + 1.0 + ], + [ + -0.002650681591780224, + 0.010024335316412752, + 0.014232329493155543, + -0.06207446817513154, + -0.005050678841687265, + -0.008888727097402882, + 1.0 + ], + [ + -0.006329264933590317, + 0.016819874420645517, + 0.02710115879641644, + -0.08072136894845988, + -0.021997793363825943, + 0.008514467915573212, + 1.0 + ], + [ + -0.009572640300367585, + 0.022253441929561107, + 0.024878908206001887, + -0.047879367648190445, + -0.006117963785953955, + 0.004606429399582564, + 1.0 + ], + [ + -0.014326361709772195, + 0.04012124578096372, + 0.039030547709567015, + -0.06577573589024588, + -0.01609226182724202, + 0.04513870500821881, + 1.0 + ], + [ + -0.007606755583841052, + 0.05103820570196325, + 0.022118294156521154, + 0.01614144231451878, + 0.03422192633332239, + 0.11938649933282085, + 1.0 + ], + [ + -0.017760895107811703, + 0.03487894883987808, + 0.015612807154977815, + 0.06018390986649296, + -0.006853948890854502, + 0.05231899733137357, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 383.059326171875, + 103.58229064941406 + ], + [ + 381.67022705078125, + 127.20951843261719 + ], + [ + 359.4455261230469, + 182.00564575195312 + ], + [ + 293.65692138671875, + 140.87628173828125 + ], + [ + 229.73439025878906, + 151.94325256347656 + ], + [ + 214.19168090820312, + 153.8660888671875 + ], + [ + 187.43975830078125, + 165.8551788330078 + ], + [ + 176.7467041015625, + 169.29034423828125 + ], + [ + 172.42092895507812, + 170.44384765625 + ], + [ + 160.34437561035156, + 181.0211944580078 + ], + [ + 154.9268341064453, + 178.60650634765625 + ], + [ + 152.91629028320312, + 185.26698303222656 + ], + [ + 152.3116912841797, + 198.8235626220703 + ], + [ + 157.185791015625, + 204.2005157470703 + ], + [ + 159.95632934570312, + 210.03958129882812 + ], + [ + 160.91038513183594, + 210.8072509765625 + ], + [ + 161.21054077148438, + 212.5006866455078 + ], + [ + 173.6143798828125, + 227.39804077148438 + ], + [ + 205.70741271972656, + 224.8278045654297 + ], + [ + 233.49154663085938, + 226.74639892578125 + ], + [ + 268.2633056640625, + 246.99563598632812 + ], + [ + 304.4300231933594, + 273.51287841796875 + ], + [ + 335.1875915527344, + 291.5562438964844 + ], + [ + 365.1263122558594, + 323.0335388183594 + ], + [ + 401.1769104003906, + 337.56005859375 + ], + [ + 421.84600830078125, + 348.0464172363281 + ], + [ + 436.3018798828125, + 349.36981201171875 + ], + [ + 444.9680480957031, + 349.65869140625 + ], + [ + 446.9809265136719, + 348.202880859375 + ], + [ + 426.33758544921875, + 346.13751220703125 + ], + [ + 406.19244384765625, + 307.01031494140625 + ], + [ + 369.78436279296875, + 273.563232421875 + ], + [ + 307.08441162109375, + 208.70211791992188 + ], + [ + 235.6475830078125, + 167.2332000732422 + ], + [ + 165.38739013671875, + 130.91940307617188 + ] + ], + "depth_max": 1.9216151237487793, + "depth_min": 0.23030772805213928, + "intrinsic": [ + [ + 531.4786376953125, + 0.0, + 259.0 + ], + [ + 0.0, + 531.3140258789062, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.0429395842947997e-05, + 5.478082584886579e-06, + -4.686964530264959e-06 + ], + [ + -1.0429199392092414e-05, + 1.0, + -3.5781864426098764e-05, + -2.504715848772321e-05 + ], + [ + -5.478455477714306e-06, + 3.578180621843785e-05, + 1.0, + 5.9666952438419685e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 34 + ], + "object_trajectory": [ + [ + 169.5, + 214.25 + ], + [ + 169.7645263671875, + 214.5054931640625 + ], + [ + 169.49688720703125, + 214.31536865234375 + ], + [ + 169.5836181640625, + 214.3832244873047 + ], + [ + 169.44076538085938, + 214.36082458496094 + ], + [ + 169.41244506835938, + 214.4471435546875 + ], + [ + 169.23753356933594, + 214.47845458984375 + ], + [ + 169.4337615966797, + 214.64190673828125 + ], + [ + 169.5248260498047, + 214.60671997070312 + ], + [ + 169.32791137695312, + 214.5518341064453 + ], + [ + 169.37374877929688, + 214.9156951904297 + ], + [ + 169.57470703125, + 214.8898468017578 + ], + [ + 169.56881713867188, + 215.21803283691406 + ], + [ + 169.31710815429688, + 219.95204162597656 + ], + [ + 169.63107299804688, + 219.9134979248047 + ], + [ + 170.24749755859375, + 220.97238159179688 + ], + [ + 170.46902465820312, + 222.5993194580078 + ], + [ + 183.2549591064453, + 238.11526489257812 + ], + [ + 209.52716064453125, + 237.24795532226562 + ], + [ + 236.00869750976562, + 240.30117797851562 + ], + [ + 269.53228759765625, + 261.87139892578125 + ], + [ + 299.4992370605469, + 279.20037841796875 + ], + [ + 329.12713623046875, + 297.32427978515625 + ], + [ + 357.96148681640625, + 327.179443359375 + ], + [ + 391.41400146484375, + 337.1346435546875 + ], + [ + 413.5625305175781, + 347.2234191894531 + ], + [ + 428.7308349609375, + 348.3916015625 + ], + [ + 438.5169982910156, + 368.17510986328125 + ], + [ + 445.4263000488281, + 374.8864440917969 + ], + [ + 424.02886962890625, + 365.9645080566406 + ], + [ + 413.25848388671875, + 373.64337158203125 + ], + [ + 405.9664306640625, + 370.3861389160156 + ], + [ + 413.16259765625, + 372.7696228027344 + ], + [ + 425.1544189453125, + 378.4854431152344 + ], + [ + 425.1917724609375, + 378.25677490234375 + ] + ] +} \ No newline at end of file diff --git a/001505_v2/lang.txt b/001505_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..1fe56b723f1de00768762cb995b0ac94459d8efe --- /dev/null +++ b/001505_v2/lang.txt @@ -0,0 +1 @@ +put carrot on right side of the table diff --git a/001505_v2/object.ply b/001505_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..2ddfaf8521eba8c08692d7ddc41fd56dd626e51e Binary files /dev/null and b/001505_v2/object.ply differ diff --git a/001507_v2/FAIL b/001507_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001507_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001530_v2/FAIL b/001530_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001530_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001531/data.json b/001531/data.json new file mode 100644 index 0000000000000000000000000000000000000000..9e981dbf2a736935c1cdb6d05cd8e25cff336e49 --- /dev/null +++ b/001531/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 19, + "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, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + [ + -2.7755575615628914e-17, + 0.0, + 0.0, + 6.979188968793942e-08, + 2.4476913015394385e-07, + -4.141387818837966e-07, + 1.0 + ], + [ + 0.008045117580081335, + -0.010137195188383935, + 0.006774453879250061, + 0.011576752465212165, + -0.05126480044541905, + -0.08723712408921165, + 1.0 + ], + [ + 0.006697862457214376, + -0.012602794250947152, + 0.0056478471966977944, + 0.019394569763786715, + 0.005872949017305737, + -0.0028686923487743613, + 1.0 + ], + [ + 0.0033069409936235528, + -0.011707873085120585, + 0.010030162013211552, + 0.0009005993472903749, + 0.0032900645485774787, + -0.020704475527510546, + 1.0 + ], + [ + -0.005816503677892104, + -0.017651761300460853, + 0.002836601219011234, + 0.007912343470456693, + 0.0087725835196374, + 0.021814232959281088, + 1.0 + ], + [ + -0.008425470689108538, + -0.0186927246778774, + -0.011773229209977115, + -0.015571663818632245, + -0.01220154023851128, + 0.016007803632563, + 1.0 + ], + [ + -0.008211726092024418, + -0.011378887007218272, + -0.013603096609374449, + -0.010809593013297362, + -0.023748969734734834, + 0.025356208583696874, + 1.0 + ], + [ + -0.0020150066824932422, + -0.009695776634615374, + -0.014554862921083878, + -0.017296789087932626, + 0.004920941602052735, + 0.0010317326601644687, + 1.0 + ], + [ + -0.0017539600609283168, + -0.004990376541725253, + -0.009544806324740931, + -0.01337966958302177, + -0.005266233270415261, + -0.0030502617284475474, + 1.0 + ], + [ + 2.3069533952729815e-05, + -0.004052498492792107, + -0.010075049627568278, + -0.008447112542320478, + 0.0160776488742512, + -0.0024484609229320996, + 1.0 + ], + [ + -0.004570777413706373, + -0.008438389168455847, + -0.009467237495465186, + -0.004763472719186336, + -0.002337149445222299, + -0.013902033274046793, + 1.0 + ], + [ + -0.009632184148744727, + -0.011012579975234192, + -0.010996030781581262, + -0.010109191044405023, + -0.0024404595158091075, + 0.010770270685284694, + 1.0 + ], + [ + -0.011645865080662066, + -0.011884068015154103, + -0.008692912313030099, + 0.008891033348461199, + -0.022945199879673316, + 0.007720724969149172, + 1.0 + ], + [ + -0.0032994789322754736, + -0.008715200400352618, + -0.005411142297434224, + -0.0036918356712483105, + 0.016667032920090072, + -0.010146327828659788, + 1.0 + ], + [ + 0.0053529412616752925, + -0.002992620114827302, + -0.0010286352067928536, + 0.006543802185636311, + 0.0047477532454473755, + -0.018946030797812024, + 1.0 + ], + [ + 0.005151089967239536, + 0.0018965136832314183, + 0.00156540837211383, + 0.009000494589676902, + 0.0034650993502576507, + -0.008262583223093072, + 1.0 + ], + [ + 0.0042306477206240645, + 0.001729495297711603, + -0.004883702296345098, + -0.010748670194512514, + 0.009377295258972164, + -0.003611351181056066, + 1.0 + ], + [ + -0.001071578662921624, + -0.0023399120152029357, + -0.013355790347371915, + -0.018337644329687656, + 0.0007498086005981562, + 0.012127428669821375, + 1.0 + ], + [ + -0.000670942115842843, + 0.002803239608363553, + -0.017731499916300263, + -0.020772823495995577, + -0.0014733049038096065, + 0.0032293103784512326, + 1.0 + ], + [ + 0.0026868779902337603, + 0.007942378262411232, + -0.008369958667585515, + -0.0045756441959809, + 0.002438721960464174, + 0.0007645128348813413, + 1.0 + ], + [ + 0.0035072247393508893, + 0.005017826866185494, + -0.006306007010195303, + -0.018047647953019167, + 0.006708353656601151, + -0.013300284391916632, + 0.0 + ], + [ + 0.0016072079222280433, + -0.00021011511518934795, + 0.010374614532628121, + 0.030925357376431928, + -0.0036588518575977036, + -0.00020787091681051374, + 0.0 + ], + [ + 0.004734350703413298, + 0.003549602788254197, + 0.02740624766909709, + 0.030020111180023727, + 0.010657066071592117, + -0.012758291906804269, + 0.0 + ], + [ + 0.006477494117589355, + 0.008403737708606383, + 0.024012887989546056, + 0.026012218396039198, + -0.011626370984805866, + -0.014697373351206583, + 0.0 + ], + [ + 0.0065808335461809975, + 0.008697210438895361, + 0.019416671227950183, + 0.01880194976880084, + -0.027777572003451566, + -0.009166019826656938, + 0.0 + ], + [ + 0.012946552780686044, + 0.02097812896538888, + 0.0069582244970990345, + 0.016393397836172652, + -0.005084311080069767, + -0.01250225538150367, + 0.0 + ], + [ + 0.024284075549313028, + 0.021774090155932648, + 0.02327586801811103, + 0.04271311997247811, + -0.004035685274607798, + -0.025842137321504324, + 0.0 + ], + [ + 0.025134559406715606, + 0.029842109924660378, + 0.02973635974932315, + 0.02890868589404109, + -0.009021036938988631, + -0.006721512093333108, + 0.0 + ], + [ + 0.005892003923866851, + 0.016093072837787575, + 0.0032506398750446752, + 8.829013675132197e-05, + -0.00039095209969901724, + 0.005792626008609979, + 0.0 + ], + [ + 0.005910498218088978, + 0.013828210752824657, + -0.003969782013364037, + -0.02318928877375611, + 0.01563411216039576, + -0.004068220495822273, + 0.0 + ], + [ + 0.006325922734249645, + 0.015080806666203608, + 0.0017871251305274644, + -0.026635748121904983, + 0.0640113186955387, + -0.001318670314991594, + 0.0 + ], + [ + 0.0033709334909173827, + 0.005442025477402274, + 0.0025377753168235595, + -0.025339100757728737, + 0.0362924475305595, + 0.023284120160131466, + 0.0 + ], + [ + 0.0036085650364393596, + 0.0013438761669652827, + -0.002578506004896744, + -0.014673115359305202, + 0.021864773634073947, + 0.010217690927244448, + 0.0 + ], + [ + 0.006543839203481561, + 0.0013566619713070438, + -0.011955506803126487, + -0.0059252137731046085, + -0.01772969230491664, + -0.017524008816017234, + 0.0 + ], + [ + 0.008035891661358208, + 0.002091623137635973, + -0.016871325054995723, + 0.06300811740105162, + -0.13161952157891277, + -0.029057840063254594, + 0.0 + ], + [ + 0.007727934990430008, + 0.005724026552382383, + -0.0021595741970050764, + 0.0024656878618886245, + -0.041421714191790006, + -0.03307456738712207, + 0.0 + ], + [ + 0.004612529502679263, + 0.0031757275572022736, + 0.002482905783233888, + 0.012463290837295398, + -0.012885157606310024, + -0.029402212751736743, + 1.0 + ], + [ + 0.0023779239788747075, + 0.002688214673813513, + 0.0016251934328300882, + 0.030937368972155408, + 0.011004036815483344, + -0.007716533939526438, + 1.0 + ] + ], + "gripper_centers": [ + [ + 96.7863998413086, + 122.28236389160156 + ], + [ + 97.46688842773438, + 128.84945678710938 + ], + [ + 105.21845245361328, + 131.34463500976562 + ], + [ + 130.06002807617188, + 134.78919982910156 + ], + [ + 158.85122680664062, + 126.01016235351562 + ], + [ + 164.76919555664062, + 116.31077575683594 + ], + [ + 187.3447723388672, + 150.4461669921875 + ], + [ + 205.78994750976562, + 184.952392578125 + ], + [ + 209.13931274414062, + 205.3843994140625 + ], + [ + 216.25770568847656, + 221.1242218017578 + ], + [ + 222.98004150390625, + 235.9033203125 + ], + [ + 231.0367431640625, + 255.41221618652344 + ], + [ + 239.31097412109375, + 285.46368408203125 + ], + [ + 245.55126953125, + 321.6610107421875 + ], + [ + 258.64141845703125, + 330.364990234375 + ], + [ + 263.57379150390625, + 334.50445556640625 + ], + [ + 267.5710754394531, + 326.2467041015625 + ], + [ + 273.4922790527344, + 329.67291259765625 + ], + [ + 280.52801513671875, + 336.3814697265625 + ], + [ + 278.79425048828125, + 355.0667724609375 + ], + [ + 271.4497375488281, + 355.7568664550781 + ], + [ + 265.1253662109375, + 353.505126953125 + ], + [ + 305.82012939453125, + 351.9411315917969 + ], + [ + 256.63702392578125, + 318.1069030761719 + ], + [ + 252.30133056640625, + 283.94171142578125 + ], + [ + 251.11175537109375, + 255.57835388183594 + ], + [ + 236.64578247070312, + 216.32937622070312 + ], + [ + 219.08750915527344, + 157.47665405273438 + ], + [ + 213.67822265625, + 89.52862548828125 + ], + [ + 192.91448974609375, + 66.9189224243164 + ], + [ + 176.59890747070312, + 61.93714904785156 + ], + [ + 168.57601928710938, + 52.98866271972656 + ], + [ + 163.1048583984375, + 44.686832427978516 + ], + [ + 160.11602783203125, + 43.83782958984375 + ], + [ + 167.57318115234375, + 52.78937530517578 + ], + [ + 174.3067626953125, + 82.01315307617188 + ], + [ + 181.08328247070312, + 79.62522888183594 + ], + [ + 181.38186645507812, + 79.66148376464844 + ] + ], + "depth_max": 1.5399832725524902, + "depth_min": 0.25497016310691833, + "intrinsic": [ + [ + 492.989013671875, + 0.0, + 259.0 + ], + [ + 0.0, + 492.9593811035156, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.719287269632332e-05, + -8.652582619106397e-05, + -2.1720839868066832e-05 + ], + [ + -3.719431333593093e-05, + 1.0, + -1.6646727090119384e-05, + -5.9811800383613445e-06 + ], + [ + 8.652520045870915e-05, + 1.6649944882374257e-05, + 1.0, + -2.5897457817336544e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 266.75, + 354.25 + ], + [ + 266.97021484375, + 354.68603515625 + ], + [ + 267.1110534667969, + 354.84149169921875 + ], + [ + 266.9487609863281, + 354.92327880859375 + ], + [ + 267.0628662109375, + 354.72088623046875 + ], + [ + 267.1053161621094, + 354.8446960449219 + ], + [ + 267.16033935546875, + 354.73114013671875 + ], + [ + 267.124267578125, + 355.111572265625 + ], + [ + 267.1094970703125, + 355.00750732421875 + ], + [ + 267.14581298828125, + 355.2851257324219 + ], + [ + 267.18310546875, + 355.2491455078125 + ], + [ + 267.0564880371094, + 355.1503601074219 + ], + [ + 266.800048828125, + 355.0821533203125 + ], + [ + 267.1518859863281, + 356.4131774902344 + ], + [ + 265.5821533203125, + 355.03338623046875 + ], + [ + 265.4873962402344, + 355.0729675292969 + ], + [ + 265.7858581542969, + 354.9237060546875 + ], + [ + 265.99359130859375, + 354.7904052734375 + ], + [ + 266.78802490234375, + 355.0997314453125 + ], + [ + 283.9884338378906, + 359.80889892578125 + ], + [ + 286.5926818847656, + 360.0256042480469 + ], + [ + 272.19586181640625, + 358.06976318359375 + ], + [ + 267.8151550292969, + 357.0445251464844 + ], + [ + 268.4420166015625, + 328.7303466796875 + ], + [ + 263.47491455078125, + 294.62060546875 + ], + [ + 261.1824951171875, + 266.592041015625 + ], + [ + 246.91622924804688, + 227.2176971435547 + ], + [ + 228.574951171875, + 172.30812072753906 + ], + [ + 220.15907287597656, + 108.10247039794922 + ], + [ + 203.14451599121094, + 95.17372131347656 + ], + [ + 189.51258850097656, + 89.76399230957031 + ], + [ + 180.40269470214844, + 76.76160430908203 + ], + [ + 173.56349182128906, + 67.95643615722656 + ], + [ + 174.8165283203125, + 72.97724914550781 + ], + [ + 171.15927124023438, + 64.40890502929688 + ], + [ + 179.5414581298828, + 95.02450561523438 + ], + [ + 184.8306884765625, + 95.74224090576172 + ], + [ + 202.60272216796875, + 153.0858917236328 + ] + ] +} \ No newline at end of file diff --git a/001531/lang.txt b/001531/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f66bae477970d3eeb491e8da4678835fdb133daa --- /dev/null +++ b/001531/lang.txt @@ -0,0 +1 @@ +put broccoli in pot diff --git a/001531/object.ply b/001531/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..9382b578596e051b130cced0c8585762752cab95 Binary files /dev/null and b/001531/object.ply differ diff --git a/001561_v2/data.json b/001561_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..65077eb1ba98665ec60a6dc349e731951d3eed7e --- /dev/null +++ b/001561_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 18, + "action_end": 36, + "object_name": "yellow 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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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, + -2.7755575615628914e-17, + 1.996380778924461e-08, + 4.977923292069462e-07, + -7.278756917484853e-08, + 1.0 + ], + [ + -0.00020155102460689411, + -0.00195585885446848, + 0.0004976350874445756, + 0.0018468195514525895, + 0.0006941556845950259, + -0.0026450115386758757, + 1.0 + ], + [ + 0.0010538559027951089, + -0.00035343236145189, + 0.0013399452322525318, + -0.0010727681412319573, + -0.005162472109753441, + -9.717561188980702e-05, + 1.0 + ], + [ + 0.006544458737368142, + 0.006397511396693152, + 0.00137198489463905, + -0.00022476212279673346, + 0.008057757909127591, + 0.03784155480942801, + 1.0 + ], + [ + 0.0086895239636533, + 0.014157139273096898, + 0.0038568726668508496, + -0.004213256349514384, + 0.0020454162258435253, + 0.05782622191372857, + 1.0 + ], + [ + 0.009510352835879254, + 0.016912895850176392, + 0.0024072683181658727, + 0.009025287750015754, + -0.009103086097527194, + 0.05241860545911904, + 1.0 + ], + [ + 0.008753616447782164, + 0.01896920220563965, + -8.908870006119063e-05, + -0.0008924304543243838, + 0.0016316615633319971, + 0.06424315097008287, + 1.0 + ], + [ + 0.004648583571798204, + 0.02156877399702979, + -0.0033066140358067597, + -0.0008644982289806368, + 0.014046906980096753, + 0.08045040151800106, + 1.0 + ], + [ + -0.0028046719508454387, + 0.019766486746034664, + -0.00437397373238857, + -0.001142343784251926, + 0.012817191951538742, + 0.07353112405458281, + 1.0 + ], + [ + -0.0061726644945152565, + 0.018863441620695948, + -0.009280827521261345, + -0.021883947306760753, + 0.015011091638569079, + 0.09187843321603917, + 1.0 + ], + [ + -0.0036526291747547845, + 0.00952578326732903, + -0.00871842871912197, + -0.04163448015105279, + 0.010775050942443425, + 0.0742081068848901, + 1.0 + ], + [ + -0.0023184540122766495, + 0.003473167543982053, + -0.007981774352655041, + -0.04296575337252995, + -0.006129911478158052, + 0.07126755225325536, + 1.0 + ], + [ + 0.005440445249994652, + -0.004351768645424997, + -0.004191169245412726, + -0.0046071045948946196, + -0.007922002355857504, + -0.002967818008356842, + 1.0 + ], + [ + 0.008715803777751219, + -0.008056392518735661, + -7.494607215713378e-05, + -0.0030109232756893958, + -0.009369744745084686, + -0.013370304321119943, + 1.0 + ], + [ + 0.008037077955627525, + -0.00649798842762081, + 0.00031704221344888706, + -0.0008060099513951761, + -0.012855368375207099, + -0.004993748649585301, + 1.0 + ], + [ + 0.006106688206806599, + -0.00662440038282569, + -0.0025177618682363234, + -0.008235164859384027, + -0.004045579547572928, + -0.006306406243352141, + 1.0 + ], + [ + 0.003652007730516771, + -0.0019340121415187816, + -0.0040213744346097174, + 0.006571300950590666, + 0.01257444582830529, + 0.0022816753983907036, + 1.0 + ], + [ + 0.0012749884892551133, + 0.003706017749639412, + -0.00657693068392802, + 0.008642969510051368, + 0.01930358723378169, + 0.010480527190616727, + 1.0 + ], + [ + 0.0016561609102214159, + 0.0010755698381630652, + -0.006263622305030775, + 0.008984935235858601, + 0.024742156728824648, + 0.002255975962521176, + 1.0 + ], + [ + -0.00029206957214744644, + 0.0007013609516726693, + -0.004977268331960841, + 0.015725367752054024, + -0.007307428461666696, + 0.031937467426580435, + 0.0 + ], + [ + -0.0011040349164533891, + -0.0005384395473899961, + 0.0025935540247408323, + 0.002093785496168714, + -0.028313703157527296, + -0.012110824305451233, + 0.0 + ], + [ + -0.001800203375783238, + -0.0019251920640029618, + 0.008709000468039671, + -0.0068907935481589315, + -0.03264982990799245, + -0.015936137140943326, + 0.0 + ], + [ + -0.007379823200961866, + -0.007337465106133312, + 0.01178323974008616, + -0.02234118422147176, + -0.03413876062182167, + -0.03228482848218606, + 0.0 + ], + [ + -0.013380675590343338, + -0.016333233668212946, + 0.010012153141527619, + -0.02041115912795016, + -0.010130213770664845, + -0.06868869333551467, + 0.0 + ], + [ + -0.020428393521568666, + -0.0232268755153604, + -0.0014181163130362467, + -0.0026773494174976726, + 0.02349435420623668, + -0.10488404819542274, + 0.0 + ], + [ + -0.019952953051133426, + -0.026670043337179525, + -0.012213157342384345, + 0.017034874750944493, + 0.0448358335470959, + -0.10933044298340483, + 0.0 + ], + [ + -0.013380717296217148, + -0.019290044768828923, + -0.001145023574606066, + 0.019707276573707265, + 0.0012851164860541305, + -0.07493579275683566, + 0.0 + ], + [ + -0.00809772986438223, + -0.012364201391681456, + 0.0007710742400691833, + 0.020615715574044003, + -0.0028058069352859174, + -0.04345333140459299, + 0.0 + ], + [ + -0.006725900387723582, + -0.003436608448477478, + 0.0009204234487344698, + 0.01587409483342301, + 0.002350468718484765, + -0.022540735278282518, + 0.0 + ], + [ + -0.009719741171588608, + 0.003765924528272249, + 0.00018054686774003625, + 0.02787148663791951, + 0.01496053736434094, + -0.009532037966170125, + 0.0 + ], + [ + -0.007116781743021439, + 0.005202163811388216, + -0.005898507984429535, + 0.008949530140255397, + 0.01532410693315185, + 0.0009212408965742803, + 0.0 + ], + [ + -0.0012454937324678506, + 0.00011624692220100347, + -0.00053630563444515, + -0.0029984147010335793, + 0.004049453046718214, + -0.002687476547253761, + 0.0 + ], + [ + -0.0002290963869658047, + 0.001707044807229316, + -0.003475685703089329, + -0.007094724099408101, + 0.010235747497992019, + 0.011375828864262959, + 0.0 + ], + [ + 0.0004526354789407272, + 0.002641871169210823, + -0.006206806912711374, + -0.006243148107524492, + 0.021666274865193177, + 0.009568930908451526, + 0.0 + ], + [ + -0.0021569519594558106, + 0.003936704249112105, + -0.008091846647757764, + -0.007129716224716598, + 0.03651419124735301, + 0.01965792381384966, + 0.0 + ], + [ + -0.0025152700243485926, + 0.0012670691402850431, + -0.007676765807766217, + 0.003745218280395039, + 0.02125470792710679, + 0.0019263251680782117, + 0.0 + ], + [ + 0.00037426392816664045, + 0.000599935125123234, + -0.001342547155662635, + -0.0019891381899099607, + 0.016104470330904834, + -0.002647661490923737, + 0.0 + ], + [ + 0.001504053681404105, + -0.004366280497410224, + 0.0016967934096191253, + 0.006812743737702569, + 0.005845928008416486, + -0.00725227295698022, + 1.0 + ], + [ + 0.003367189082001648, + -0.004304874974641638, + 0.005438730226236019, + -0.0008346509142877581, + -0.02122832924817111, + -0.014741207491289135, + 1.0 + ], + [ + 0.007071466398898385, + -0.0019793326251756546, + 0.013651602869621929, + -0.009456623184406893, + -0.046143130921160735, + -0.002555492460535978, + 1.0 + ], + [ + 0.008987310644853364, + 0.00567279242645477, + 0.021357119190942214, + -0.01699643206348765, + -0.06142041632851461, + 0.021202716946473923, + 1.0 + ], + [ + 0.00937826044745907, + 0.007599141337036694, + 0.024619353486214995, + -0.024454440435704994, + -0.0654709466876265, + 0.03421472787877831, + 1.0 + ], + [ + 0.005851401370238651, + 0.0062144206571885935, + 0.017062990262467756, + -0.005988129975534662, + -0.04026756366694235, + 0.02297541211829672, + 1.0 + ], + [ + 0.007074443663158098, + 0.00995234767730585, + 0.010953387556223965, + -0.009624121496018871, + -0.02703750819090828, + 0.032763444516185354, + 1.0 + ], + [ + 0.005937558757734107, + 0.0114156048324828, + 0.0049893910337302505, + -0.0035648795477131287, + -0.011212187131553622, + 0.02736888332866519, + 1.0 + ], + [ + 0.00806078481995623, + 0.008996870199108914, + -0.0020232190590853405, + 0.01842047294654573, + -0.0007186887896028998, + 0.015091720786014515, + 1.0 + ], + [ + 0.01111021403518303, + 0.0059438731268890155, + -0.00788960168090086, + 0.008948466592668588, + 0.014441176341790075, + 0.005836548689858238, + 1.0 + ], + [ + 0.011196413480592748, + 0.0007593245190270492, + -0.005939090265089958, + 0.018254713585621363, + 0.008815749095857124, + -0.029671442385776153, + 1.0 + ] + ], + "gripper_centers": [ + [ + 219.86444091796875, + 173.779052734375 + ], + [ + 219.92263793945312, + 183.8760986328125 + ], + [ + 219.3548583984375, + 184.60780334472656 + ], + [ + 221.25631713867188, + 186.09547424316406 + ], + [ + 224.71047973632812, + 183.21771240234375 + ], + [ + 214.91973876953125, + 167.76223754882812 + ], + [ + 202.86471557617188, + 148.243408203125 + ], + [ + 190.625244140625, + 137.533203125 + ], + [ + 171.60989379882812, + 131.3990478515625 + ], + [ + 152.84744262695312, + 132.34434509277344 + ], + [ + 126.27566528320312, + 143.20339965820312 + ], + [ + 115.21880340576172, + 150.2080078125 + ], + [ + 110.48001098632812, + 155.43797302246094 + ], + [ + 112.50698852539062, + 155.6476287841797 + ], + [ + 129.9252471923828, + 159.92213439941406 + ], + [ + 142.89071655273438, + 161.9813690185547 + ], + [ + 156.52354431152344, + 161.12319946289062 + ], + [ + 162.62799072265625, + 163.09503173828125 + ], + [ + 162.33505249023438, + 173.714599609375 + ], + [ + 161.61077880859375, + 174.76959228515625 + ], + [ + 164.92318725585938, + 174.70797729492188 + ], + [ + 164.605224609375, + 176.33773803710938 + ], + [ + 168.075927734375, + 178.16989135742188 + ], + [ + 161.15060424804688, + 167.65611267089844 + ], + [ + 159.0885009765625, + 168.76577758789062 + ], + [ + 157.84695434570312, + 188.22909545898438 + ], + [ + 167.611572265625, + 227.43997192382812 + ], + [ + 173.77432250976562, + 249.7431182861328 + ], + [ + 177.73487854003906, + 261.6758728027344 + ], + [ + 173.81517028808594, + 269.567626953125 + ], + [ + 160.34706115722656, + 275.8529357910156 + ], + [ + 148.35226440429688, + 286.35009765625 + ], + [ + 146.91458129882812, + 287.51104736328125 + ], + [ + 144.5, + 288.2916564941406 + ], + [ + 144.3963623046875, + 293.97222900390625 + ], + [ + 140.11105346679688, + 304.0749816894531 + ], + [ + 139.39691162109375, + 310.7218017578125 + ], + [ + 139.97650146484375, + 313.05157470703125 + ], + [ + 141.20811462402344, + 318.5702819824219 + ], + [ + 148.45587158203125, + 317.45343017578125 + ], + [ + 156.17041015625, + 294.52288818359375 + ], + [ + 157.22164916992188, + 258.6822204589844 + ], + [ + 148.21762084960938, + 216.04049682617188 + ], + [ + 141.32923889160156, + 182.33499145507812 + ], + [ + 132.2565460205078, + 150.85943603515625 + ], + [ + 124.07894134521484, + 135.8531494140625 + ], + [ + 124.78141784667969, + 131.82867431640625 + ], + [ + 130.8310089111328, + 134.606201171875 + ] + ], + "depth_max": 1.4868615865707397, + "depth_min": 0.3959033191204071, + "intrinsic": [ + [ + 537.168701171875, + 0.0, + 259.0 + ], + [ + 0.0, + 537.7688598632812, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.589071613736451e-05, + 7.093796057233703e-07, + -1.0280443348165136e-05 + ], + [ + -4.589063610183075e-05, + 1.0, + -0.00011423145770095289, + -8.333850564667955e-05 + ], + [ + -7.14621705810714e-07, + 0.00011423142859712243, + 1.0, + 9.097159636439756e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 162.75, + 186.5 + ], + [ + 162.54873657226562, + 187.7994842529297 + ], + [ + 162.695556640625, + 188.1255645751953 + ], + [ + 162.47817993164062, + 187.84228515625 + ], + [ + 162.54318237304688, + 187.06857299804688 + ], + [ + 162.43878173828125, + 186.9918670654297 + ], + [ + 162.6376190185547, + 186.7310791015625 + ], + [ + 162.4626922607422, + 186.81019592285156 + ], + [ + 162.64398193359375, + 186.21600341796875 + ], + [ + 162.82937622070312, + 186.00457763671875 + ], + [ + 162.74365234375, + 186.22195434570312 + ], + [ + 162.32003784179688, + 186.22518920898438 + ], + [ + 162.3419189453125, + 186.06231689453125 + ], + [ + 162.8677978515625, + 185.9766082763672 + ], + [ + 163.19296264648438, + 185.71267700195312 + ], + [ + 163.65838623046875, + 185.04151916503906 + ], + [ + 164.4720916748047, + 184.441162109375 + ], + [ + 164.3140411376953, + 183.94241333007812 + ], + [ + 163.89926147460938, + 185.38351440429688 + ], + [ + 163.99014282226562, + 185.0141143798828 + ], + [ + 164.75537109375, + 185.45553588867188 + ], + [ + 166.31370544433594, + 184.75694274902344 + ], + [ + 169.29710388183594, + 185.9543914794922 + ], + [ + 165.62078857421875, + 180.3055419921875 + ], + [ + 164.19757080078125, + 182.66177368164062 + ], + [ + 162.88307189941406, + 204.89385986328125 + ], + [ + 167.63763427734375, + 244.90521240234375 + ], + [ + 170.76473999023438, + 267.6294860839844 + ], + [ + 172.0048828125, + 280.8211669921875 + ], + [ + 166.09735107421875, + 288.7515869140625 + ], + [ + 151.1118927001953, + 296.9488220214844 + ], + [ + 138.5559539794922, + 308.5488586425781 + ], + [ + 136.074462890625, + 308.4290466308594 + ], + [ + 135.06846618652344, + 310.87945556640625 + ], + [ + 134.3387451171875, + 316.973876953125 + ], + [ + 130.4482879638672, + 326.0844421386719 + ], + [ + 128.22198486328125, + 331.3532409667969 + ], + [ + 129.79510498046875, + 333.8863830566406 + ], + [ + 129.51663208007812, + 337.2501220703125 + ], + [ + 129.26185607910156, + 337.5411682128906 + ], + [ + 129.42050170898438, + 336.4738464355469 + ], + [ + 127.93743896484375, + 335.61358642578125 + ], + [ + 128.00741577148438, + 334.8407897949219 + ], + [ + 127.52323913574219, + 336.20184326171875 + ], + [ + 127.74703979492188, + 337.23455810546875 + ], + [ + 127.48601531982422, + 336.30096435546875 + ], + [ + 128.5828857421875, + 336.1663818359375 + ], + [ + 128.2009735107422, + 336.5748291015625 + ] + ] +} \ No newline at end of file diff --git a/001561_v2/lang.txt b/001561_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..8201e6be12f4fa62ca8efdfbf0b6edbad0d8bf95 --- /dev/null +++ b/001561_v2/lang.txt @@ -0,0 +1 @@ +put the yellow block on top of the blue diff --git a/001561_v2/object.ply b/001561_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..6b1cfc0966f6130e5747bbbe3ceae2a31610fa82 Binary files /dev/null and b/001561_v2/object.ply differ diff --git a/001679/data.json b/001679/data.json new file mode 100644 index 0000000000000000000000000000000000000000..1d55083ba193e5be330825f03c2d720a8e95456f --- /dev/null +++ b/001679/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 17, + "action_end": 27, + "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, + 0.662759, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.840293, + 1.0 + ], + "gripper_actions": [ + [ + 5.551115123125783e-17, + 0.0, + 0.0, + 2.5752095034488614e-07, + -9.833113647939555e-08, + -3.740421387832568e-07, + 1.0 + ], + [ + -0.03736395471578341, + 0.015232549304292992, + 0.024701654497271602, + 0.07280114095407093, + -0.02220774536792047, + 0.09931699575652918, + 1.0 + ], + [ + -0.05139366770409609, + -0.001964704033229042, + 0.022079965845096278, + 0.0927384429254845, + 0.0385364449597024, + 0.14118309345270855, + 1.0 + ], + [ + -0.03715429028257161, + -0.03624248577307582, + 0.0050794199206254526, + -0.04761244527465697, + -0.027585022376545077, + 0.06564404386944445, + 1.0 + ], + [ + -0.0048924204757369305, + -0.0681473545399088, + -0.006142023916370282, + -0.048231024083029594, + -0.03534582899107424, + 0.009042811557476741, + 1.0 + ], + [ + 0.005970375234042952, + -0.08777295623577755, + -0.0015396202275489573, + -0.027178113027701036, + -0.007112759481317316, + -0.06452730737884699, + 1.0 + ], + [ + 0.0009516334939161097, + -0.09096281491591948, + -0.006879615872686179, + 0.029008567343955936, + -0.006118091196792597, + -0.029828897520297815, + 1.0 + ], + [ + 0.003220393313072639, + -0.08084392227714524, + 0.0046309813330554644, + -0.012580362548093157, + 0.025714689497637933, + -0.00352596862865197, + 1.0 + ], + [ + -0.009246624298403477, + -0.05760417277780548, + -0.0031444672098420307, + 0.03788929611637053, + 0.02624056982366666, + -0.08143792966095689, + 1.0 + ], + [ + -0.007870017276487784, + -0.036564063706685176, + -0.008800584411752993, + -0.017749906609630006, + 0.022043357154836473, + -0.027059255759200963, + 1.0 + ], + [ + -0.0002275717362622276, + -0.005492771461576881, + -0.013354024038619211, + -0.018315815685801033, + -0.02306523776316814, + -0.05780531100658291, + 1.0 + ], + [ + -0.0013455002879642908, + 0.0010850913755804797, + -0.01644942724216271, + -0.05373312986104683, + -0.030333840971574377, + 0.0001851482370927086, + 1.0 + ], + [ + -0.0004725909253020244, + 0.007136530406073857, + -0.011045544468498647, + -0.00425488789068682, + -0.048901233085210605, + 0.04121805018739653, + 1.0 + ], + [ + 0.0011312983173352442, + 0.009758246608512003, + -0.007832844221693641, + -0.01060292323239498, + -0.02643469123413537, + -0.0009425761960907386, + 1.0 + ], + [ + 0.003898322842554175, + 0.005627875130211152, + -0.01127732092566168, + -0.025087439881271573, + -0.02368098548953749, + 0.001912468761686776, + 1.0 + ], + [ + 0.0016316652788770925, + 0.002755920168087178, + -0.0077171567248142045, + 0.006022894606539238, + -0.017933508429817824, + 0.00827753307276492, + 1.0 + ], + [ + 0.002301609995547682, + 0.004169971750457704, + -0.012351956700715545, + -0.05992840330098637, + -0.0159939561294835, + 0.027628063599148163, + 1.0 + ], + [ + -0.0015697498415205013, + -0.0020738899932778304, + -0.002360104747039564, + 0.01774961448321662, + -0.009018561792779971, + 0.02864714809046768, + 0.662759 + ], + [ + -0.0006622955344434411, + -0.00013931413224123335, + -0.0013299160642305172, + 0.0017981300639386157, + 0.0019267829121940912, + 0.009953178754991496, + 0.0 + ], + [ + 0.009876876498939952, + 0.008788645107716028, + 0.022669539667785198, + 0.004268020296453773, + 0.04969082113763137, + -0.01190360068602903, + 0.0 + ], + [ + 0.029584650625416625, + 0.023925003210825704, + 0.04790525950567348, + 0.024827225400613096, + 0.07951288054762719, + -0.05445312353479781, + 0.0 + ], + [ + 0.060162199955001994, + 0.011849743000486884, + 0.04188610644475957, + 0.06059090183200876, + 0.014059137248209681, + -0.03173633613486143, + 0.0 + ], + [ + 0.07506438187623282, + -0.0022419114997599687, + 0.0018295933558883648, + -0.021724047448327028, + -0.08045300311110712, + -0.025369456831219966, + 0.0 + ], + [ + 0.06677032295410068, + 0.0026810131416991484, + -0.019908547467483384, + 0.026842055181940796, + -0.1592199850426936, + -0.020334145267441168, + 0.0 + ], + [ + 0.05120107857700612, + 0.005738234811612744, + -0.01235021266856226, + -0.0020374175721969887, + -0.09284741451030752, + -0.037001986484087035, + 0.0 + ], + [ + 0.03015025686824968, + 0.00013636016564970432, + 0.0017962629122774132, + 0.0077945118225577256, + -0.05557923163566713, + -0.027198222446850644, + 0.0 + ], + [ + 0.02125619030237713, + 0.0013227830394269419, + -0.01001353184496881, + -0.04151126830561698, + -0.02790434944735715, + -0.04724792253278756, + 0.0 + ], + [ + -0.006411671065790936, + -0.009434333612727858, + -0.003185260625586238, + -0.024613262862806778, + 0.01700214326316273, + 0.03914212875186699, + 0.840293 + ], + [ + -0.010478718202771353, + -0.006775939457313453, + 0.0015727490475481581, + -0.02672970399546483, + 0.017979757789478492, + 0.03686937606959972, + 1.0 + ] + ], + "gripper_centers": [ + [ + 168.06338500976562, + 82.55908966064453 + ], + [ + 168.2349853515625, + 82.70185852050781 + ], + [ + 168.80328369140625, + 109.47113037109375 + ], + [ + 122.34844970703125, + 109.82164001464844 + ], + [ + 75.31947326660156, + 102.63761138916016 + ], + [ + 68.46098327636719, + 132.23660278320312 + ], + [ + 136.6104278564453, + 163.8672332763672 + ], + [ + 202.31417846679688, + 187.79214477539062 + ], + [ + 266.02734375, + 222.21652221679688 + ], + [ + 340.1933288574219, + 243.81393432617188 + ], + [ + 408.75390625, + 304.56927490234375 + ], + [ + 453.73321533203125, + 343.90350341796875 + ], + [ + 458.82501220703125, + 357.5879211425781 + ], + [ + 445.99664306640625, + 379.50164794921875 + ], + [ + 428.0949401855469, + 386.95111083984375 + ], + [ + 409.42913818359375, + 383.98870849609375 + ], + [ + 401.7741394042969, + 382.50140380859375 + ], + [ + 401.7908935546875, + 387.59552001953125 + ], + [ + 388.5801086425781, + 392.57867431640625 + ], + [ + 392.6626892089844, + 393.6120910644531 + ], + [ + 390.9179992675781, + 395.095947265625 + ], + [ + 386.5550537109375, + 353.6795959472656 + ], + [ + 391.458740234375, + 242.82818603515625 + ], + [ + 433.95062255859375, + 151.50759887695312 + ], + [ + 457.2818603515625, + 124.39151000976562 + ], + [ + 473.78790283203125, + 122.7143783569336 + ], + [ + 485.44091796875, + 107.46418762207031 + ], + [ + 494.341796875, + 89.12690734863281 + ], + [ + 495.60284423828125, + 97.66719055175781 + ] + ], + "depth_max": 1.5699273347854614, + "depth_min": 0.1600051075220108, + "intrinsic": [ + [ + 522.5991821289062, + 0.0, + 259.0 + ], + [ + 0.0, + 522.8763427734375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.300681707216427e-05, + -0.0001144450216088444, + -4.18367562815547e-11 + ], + [ + -6.300971290329471e-05, + 1.0, + -2.5257713787141256e-05, + 1.7035021301126108e-05 + ], + [ + 0.00011444343545008451, + 2.5264926080126315e-05, + 1.0, + -9.56559415499214e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 403.75, + 402.75 + ], + [ + 403.96044921875, + 402.7979431152344 + ], + [ + 404.0468444824219, + 402.9501037597656 + ], + [ + 403.8932189941406, + 402.8531494140625 + ], + [ + 403.90924072265625, + 402.8436279296875 + ], + [ + 404.0112609863281, + 402.85247802734375 + ], + [ + 404.0928955078125, + 402.8258361816406 + ], + [ + 404.1348876953125, + 402.8603820800781 + ], + [ + 404.2440490722656, + 403.1552734375 + ], + [ + 404.62298583984375, + 403.3961486816406 + ], + [ + 404.4813537597656, + 403.150146484375 + ], + [ + 404.05133056640625, + 403.029296875 + ], + [ + 403.9636535644531, + 403.06439208984375 + ], + [ + 403.7337646484375, + 403.4952392578125 + ], + [ + 403.5554504394531, + 403.5831298828125 + ], + [ + 402.7377014160156, + 404.032958984375 + ], + [ + 401.6557312011719, + 404.3021545410156 + ], + [ + 400.8363037109375, + 403.8641052246094 + ], + [ + 391.7626647949219, + 400.7061767578125 + ], + [ + 394.92144775390625, + 401.8204345703125 + ], + [ + 393.6428527832031, + 403.2562255859375 + ], + [ + 387.33966064453125, + 367.3548278808594 + ], + [ + 388.6990051269531, + 263.1414794921875 + ], + [ + 434.2007141113281, + 171.21922302246094 + ], + [ + 455.69580078125, + 143.87191772460938 + ], + [ + 472.1128845214844, + 138.33554077148438 + ], + [ + 483.4508972167969, + 127.36857604980469 + ], + [ + 492.2061767578125, + 109.52040100097656 + ], + [ + 496.05810546875, + 112.27171325683594 + ] + ] +} \ No newline at end of file diff --git a/001679/lang.txt b/001679/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..11a6769ff7b21457b6d9077df636dbdfd6534a6e --- /dev/null +++ b/001679/lang.txt @@ -0,0 +1 @@ +put broccoli in pot or pan diff --git a/001679/object.ply b/001679/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..8253cb97e7ec12bbe638d49e59cf029248e00196 Binary files /dev/null and b/001679/object.ply differ diff --git a/001683_v2/FAIL b/001683_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/001683_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/001687/FAIL b/001687/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/001687/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/001689_v2/FAIL b/001689_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/001689_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/001696/FAIL b/001696/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/001696/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/001699_v2/data.json b/001699_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..f8500714dc0ddc018df5048eac71a2cf3546f106 --- /dev/null +++ b/001699_v2/data.json @@ -0,0 +1,641 @@ +{ + "action_start": 7, + "action_end": 19, + "object_name": "green cloth", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.947009, + 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": [ + [ + 2.3007307170530567e-10, + 1.489332736998028e-10, + 8.328306794203044e-11, + 1.8460751183049157e-07, + -2.3047371881333214e-07, + 5.197058169300396e-07, + 1.0 + ], + [ + -0.0004147725641183708, + 0.02421419160016662, + 0.004490110753941012, + 0.04181820537398419, + -0.0802201906806505, + 0.008344086594821562, + 1.0 + ], + [ + -0.0005995743131015918, + 0.013368525070945606, + 0.0063669445096642685, + 0.03872766580202801, + -0.08269667064277919, + -0.005305054989523526, + 1.0 + ], + [ + 0.002526457151115269, + 0.011218137298748196, + -0.005216863706116428, + 0.006256383937660631, + -0.018254712674856354, + 0.029134837851724882, + 1.0 + ], + [ + 0.003033004996840505, + 0.0071367361163160795, + -0.015697204168095225, + -0.04998831235408456, + 0.022273248984035897, + 0.013442584739489212, + 1.0 + ], + [ + 0.0009914308614998868, + 0.0001923083652588531, + -0.008014687458183841, + -0.027201483194590176, + 0.02494455550888762, + 0.017522993180564106, + 1.0 + ], + [ + -0.00013888991853522326, + -0.0016400586452082755, + -0.0064684166104370415, + -0.015109735140084634, + 0.018251115423120662, + 0.0016582036144757604, + 1.0 + ], + [ + -0.0007230315999793846, + -0.0018044092039309415, + -0.002062154282010998, + -0.0031272101327901856, + 0.002626713560036983, + -0.0008046823285242774, + 0.947009 + ], + [ + -0.00020787877080963302, + -0.002495528151972591, + -0.0007894883671164706, + 0.002893384132794139, + -0.0002996481439190701, + -0.014969990608788172, + 0.0 + ], + [ + -0.0015397339005592259, + -0.0008925525375932108, + 0.0005356741977579557, + 0.0038339600037895064, + -0.002494094909066688, + -0.0025410709510125733, + 0.0 + ], + [ + -0.00116264912938574, + -0.002747452313809004, + -0.0001623528727371596, + -0.0003164667603535313, + 0.0034381331526910823, + -0.002791617828093055, + 0.0 + ], + [ + -0.0019113793853310912, + -0.00513241933500877, + -0.0012297747909840468, + -0.008717784295870229, + 0.006659143201350219, + -0.008266570224042698, + 0.0 + ], + [ + -0.0005858433113795636, + -0.005392004984019573, + 0.007866236643184607, + 0.006547622762671006, + -0.005082561592541416, + -0.012938985834297331, + 0.0 + ], + [ + 0.005483663322051968, + -0.016113692517556344, + 0.035638364761158614, + 0.027783489495494477, + -0.050466901898931264, + -0.038770443223571927, + 0.0 + ], + [ + 0.0166343985266163, + -0.013402373687976718, + 0.04977808622263874, + 0.014764839209068842, + -0.07272025721831375, + -0.04422905276282318, + 0.0 + ], + [ + 0.0308571641167924, + -0.0015212374986808249, + 0.02620166830633249, + -0.036171473427842445, + -0.06614736751994517, + -0.03608695246136122, + 0.0 + ], + [ + 0.03742906647748029, + 0.0039022440153519203, + 0.011875061550702393, + -0.0045357022478856755, + -0.09455942624540999, + -0.04032305363491183, + 0.0 + ], + [ + 0.037628812590579486, + 0.006498610674386951, + 0.023344749025224987, + 0.023293398698035057, + -0.2228486357994707, + -0.08435313927319571, + 0.0 + ], + [ + 0.01277249846497791, + 0.005040698018589286, + -0.003056366598112592, + 0.06455074888420487, + -0.17113456901484955, + -0.07831481879162974, + 0.0 + ], + [ + 5.52412883375597e-06, + 0.010463393558027174, + -0.016211005799988742, + 0.027426636666823594, + -0.07211144942655123, + 0.0011542504802588983, + 0.0 + ], + [ + 0.00039026461541830093, + 0.0036215262010508894, + -0.032106003214687, + -0.03256103351817848, + 0.09485123670612075, + 0.012964090738314055, + 1.0 + ], + [ + -0.0010946933047997764, + -0.0036442699389007648, + -0.0038576281554062314, + -0.021033462837896533, + 0.04127561002806991, + -0.0056938336908517, + 1.0 + ], + [ + -0.003758032464322436, + -0.003801019823473809, + 0.01212700061032769, + -0.025364962134826616, + 0.010153500440560115, + -0.013474192478408155, + 1.0 + ], + [ + -0.013084059566325579, + -0.010299209944618184, + 0.018785249175150134, + -0.019866187635804486, + -0.007402271725546183, + 0.001832909595092065, + 1.0 + ], + [ + -0.026818802942169373, + -0.009874432980971647, + 0.010418062759466953, + -0.006778989890254198, + 0.1031615887491813, + 0.02240717982530176, + 1.0 + ], + [ + -0.035368104071985595, + -0.01022213478123894, + -0.0229617724567151, + -0.0033011769804881805, + 0.19208544518040346, + 0.04570129734401042, + 1.0 + ], + [ + -0.01825108581002799, + -0.0059971153207219454, + -0.035184281086254404, + 0.007414930249002316, + 0.14349666907108913, + 0.02238637128367358, + 1.0 + ], + [ + -0.008464384337763364, + -0.0065898882670749545, + -0.014628013110994889, + 0.03061580458774594, + 0.05223801750395084, + -0.016755815359330538, + 1.0 + ], + [ + -0.001520047499421473, + -0.0009373394711596102, + -0.004450818214013386, + 0.023370351571130245, + 0.012142311524922074, + -0.008557867341967286, + 1.0 + ], + [ + -0.0005041507620048846, + 0.004531230049851669, + -0.005158033402475545, + 0.07880238979781404, + 0.0470631211870644, + 0.030039684295569795, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 310.73736572265625, + 263.08441162109375 + ], + [ + 310.481689453125, + 266.5980224609375 + ], + [ + 292.72064208984375, + 276.5853271484375 + ], + [ + 264.2183837890625, + 260.52056884765625 + ], + [ + 257.4605712890625, + 252.42294311523438 + ], + [ + 252.36221313476562, + 266.5193176269531 + ], + [ + 251.17648315429688, + 270.0174560546875 + ], + [ + 254.14134216308594, + 276.93450927734375 + ], + [ + 254.03355407714844, + 279.06915283203125 + ], + [ + 253.84873962402344, + 277.7442626953125 + ], + [ + 254.35638427734375, + 280.14501953125 + ], + [ + 253.77597045898438, + 282.9929504394531 + ], + [ + 251.8096160888672, + 282.5615539550781 + ], + [ + 260.21539306640625, + 285.5406494140625 + ], + [ + 277.16357421875, + 270.3654479980469 + ], + [ + 298.1299743652344, + 217.5512237548828 + ], + [ + 325.717041015625, + 153.79534912109375 + ], + [ + 339.9915771484375, + 105.22853088378906 + ], + [ + 356.2398681640625, + 63.33042526245117 + ], + [ + 360.50506591796875, + 49.36812973022461 + ], + [ + 355.540283203125, + 68.47102355957031 + ], + [ + 347.2358093261719, + 87.02168273925781 + ], + [ + 345.0506286621094, + 115.13623809814453 + ], + [ + 354.2169189453125, + 111.38296508789062 + ], + [ + 353.94537353515625, + 90.68728637695312 + ], + [ + 359.92913818359375, + 87.0450210571289 + ], + [ + 351.4822998046875, + 116.3701171875 + ], + [ + 346.4088134765625, + 159.7171630859375 + ], + [ + 346.40179443359375, + 205.3746337890625 + ], + [ + 346.9543151855469, + 213.51502990722656 + ], + [ + 340.7076416015625, + 225.04177856445312 + ], + [ + 338.9542541503906, + 227.13929748535156 + ] + ], + "depth_max": 1.222960114479065, + "depth_min": 0.40757763385772705, + "intrinsic": [ + [ + 543.4779663085938, + 0.0, + 259.0 + ], + [ + 0.0, + 542.390625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.540329609881155e-05, + 6.063355249352753e-05, + 3.2465977710671723e-06 + ], + [ + -4.540350710158236e-05, + 1.0, + 3.423619773457176e-06, + -1.072398208634695e-05 + ], + [ + -6.0633399698417634e-05, + -3.4263728139194427e-06, + 1.0, + 6.948296504560858e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 31 + ], + "object_trajectory": [ + [ + 329.0, + 309.2500305175781 + ], + [ + 328.751220703125, + 310.2210388183594 + ], + [ + 327.65777587890625, + 310.50244140625 + ], + [ + 327.7014465332031, + 309.929931640625 + ], + [ + 327.99468994140625, + 309.9162902832031 + ], + [ + 327.6778564453125, + 310.265869140625 + ], + [ + 327.8392333984375, + 309.9262390136719 + ], + [ + 328.27093505859375, + 309.85284423828125 + ], + [ + 328.3729553222656, + 310.02471923828125 + ], + [ + 328.0880432128906, + 310.03326416015625 + ], + [ + 327.57196044921875, + 310.6030578613281 + ], + [ + 327.14898681640625, + 310.7458801269531 + ], + [ + 327.43994140625, + 310.54669189453125 + ], + [ + 331.1116027832031, + 314.89093017578125 + ], + [ + 334.98828125, + 315.1390075683594 + ], + [ + 344.75762939453125, + 275.4432067871094 + ], + [ + 371.2030944824219, + 225.9108123779297 + ], + [ + 398.3396911621094, + 184.49710083007812 + ], + [ + 409.62255859375, + 129.6697540283203 + ], + [ + 416.8984375, + 98.99161529541016 + ], + [ + 415.30816650390625, + 106.10321807861328 + ], + [ + 405.0225524902344, + 121.31085968017578 + ], + [ + 398.1766662597656, + 125.59637451171875 + ], + [ + 398.0111083984375, + 125.23477172851562 + ], + [ + 396.7641906738281, + 124.89734649658203 + ], + [ + 398.3038330078125, + 123.24099731445312 + ], + [ + 397.6898498535156, + 133.17486572265625 + ], + [ + 405.5144958496094, + 126.13946533203125 + ], + [ + 403.3178405761719, + 131.45413208007812 + ], + [ + 404.6042785644531, + 129.61929321289062 + ], + [ + 402.06365966796875, + 126.73527526855469 + ], + [ + 402.04095458984375, + 127.75373840332031 + ] + ] +} \ No newline at end of file diff --git a/001699_v2/lang.txt b/001699_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..b6e75a7a10a10471fcc6e41164aab7334572636a --- /dev/null +++ b/001699_v2/lang.txt @@ -0,0 +1 @@ +put the green cloth inside the washer diff --git a/001703/data.json b/001703/data.json new file mode 100644 index 0000000000000000000000000000000000000000..adfa665ddef17fd997cbe026c80dcfbbfe7bcad0 --- /dev/null +++ b/001703/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 16, + "action_end": 26, + "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, + 0.69475, + 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": [ + [ + 2.774963592244717e-11, + 8.016508290520363e-11, + -4.426944921753773e-12, + 7.107000148463364e-09, + 1.2765986688337798e-08, + 2.8216104585836965e-07, + 1.0 + ], + [ + 0.03700215041567351, + -0.0209811664510567, + 0.005535898495638139, + 0.0515830274034345, + -0.021934688742750674, + 0.056588406103946776, + 1.0 + ], + [ + 0.03228624968393723, + -0.03635970028140255, + 0.006687694682394607, + 0.09846263867111822, + -0.014645166344776049, + 0.048709577136552544, + 1.0 + ], + [ + 0.026981329622793093, + -0.024045446347286635, + 0.014605105110594721, + 0.03545183904375702, + -0.008231508580019656, + 0.012908159883053619, + 1.0 + ], + [ + 0.026805975324034725, + -0.021826741539745956, + 0.00532504368651128, + -0.04230241676605098, + -0.033889655465573564, + 0.01459104405854636, + 1.0 + ], + [ + 0.03051577164655639, + -0.018200023851364527, + -0.00263840230258397, + 0.01259223459112883, + -0.04348957037467087, + -0.009106908348548326, + 1.0 + ], + [ + 0.010210390523736512, + -0.026345557102898966, + -0.006144205797035396, + -0.03179660339986354, + -0.0496279210937904, + 0.010677601565388785, + 1.0 + ], + [ + 0.0043075671090453405, + -0.02254533438389877, + -0.004936752090122537, + -0.07051718117544567, + -0.05762464966666482, + 0.022892682513623128, + 1.0 + ], + [ + 0.011601714537407604, + -0.013558479494759829, + -0.012516185497114488, + -0.0032655169291753035, + -0.06661117182092047, + 0.01334198301358091, + 1.0 + ], + [ + 0.010673174035817135, + -0.010247761927196716, + -0.010646550652277667, + -0.051192060091344124, + -0.033114711547281454, + 0.005263518709033757, + 1.0 + ], + [ + 0.006737646275661313, + -0.006440965251461803, + -0.01822450271490407, + -0.02814714490587712, + -0.02068441129172431, + -0.006955123144179394, + 1.0 + ], + [ + 0.0006359056176408195, + -0.0010671610777289037, + -0.0029645261568296832, + 0.007357894917226868, + -0.003498792551596694, + 0.00214753858188613, + 1.0 + ], + [ + 0.007615772202771931, + -0.001185481832155194, + -0.007163500280959148, + -0.007260444846859868, + -0.024484183224409536, + 0.006779724649127854, + 1.0 + ], + [ + 0.005293223642762246, + 0.005460500264181892, + -0.008494806372989959, + -0.004812605840535883, + -0.018431766182286455, + 0.003878160720058925, + 1.0 + ], + [ + 0.004674195566915562, + 0.003184582663279853, + -0.006517240175242661, + -0.020631585848959834, + -0.007126676509315136, + -0.004977375919272407, + 1.0 + ], + [ + 0.00421349173858615, + 0.008495060635659399, + -0.0049627174777946495, + -0.01973959256215429, + -0.0058954963685077634, + 0.008932918867729657, + 1.0 + ], + [ + 0.004187137631061766, + 0.00575717218788499, + -0.006197939227260873, + -0.027615239727007298, + -0.008891969041660785, + 0.013689823001944799, + 0.69475 + ], + [ + 0.0008469948500283153, + -0.0006392228675346501, + 0.00079767310729985, + -0.012416923610303918, + 0.005841149368411341, + 0.011009319057632768, + 0.0 + ], + [ + -0.002202732624495163, + -0.0020390570560553656, + 0.006348022303560551, + -0.004795127877029363, + 0.017859063130840215, + 0.007680126832136386, + 0.0 + ], + [ + -0.021294104101540923, + 0.00046613666898327744, + 0.03219900118820053, + 0.03521976995208923, + 0.08310445040837285, + 0.04526262529888279, + 0.0 + ], + [ + -0.03483112627454682, + 0.020608579214141054, + 0.030720162179888544, + 0.08663342968908118, + 0.09827479466527081, + 0.06380529505425746, + 0.0 + ], + [ + -0.035358327012122215, + 0.03520525472864797, + 0.014686974932075566, + 0.10987402491429019, + 0.043063551032038946, + 0.021365402053487952, + 0.0 + ], + [ + -0.0315734378788623, + 0.0501038010508435, + 0.011815580020091518, + 0.13874098394251003, + 0.036433739407529066, + -0.011265831817823467, + 0.0 + ], + [ + -0.006411249049280754, + 0.043121630044874716, + 0.009002646391215632, + 0.1277702827149946, + 0.0006791594460550298, + -0.03512749138744395, + 0.0 + ], + [ + 0.014282182279205857, + 0.04301738856997191, + -0.0015066901318784853, + 0.07324072396563573, + -0.029006843268846068, + -0.08030152442883258, + 0.0 + ], + [ + 0.011084795094829847, + 0.03427724844363288, + 0.00022514815382750075, + -0.03929060344896335, + 0.012551203142107692, + -0.09831969966174767, + 0.0 + ], + [ + 0.004089088173995725, + 0.01562834224882971, + -0.012806108484569673, + 0.0053755897750162734, + -0.011312183408589777, + -0.06583472867437182, + 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": [ + [ + 181.57098388671875, + 161.29861450195312 + ], + [ + 181.8260955810547, + 162.201904296875 + ], + [ + 182.43650817871094, + 171.60791015625 + ], + [ + 252.2894744873047, + 155.37002563476562 + ], + [ + 314.5447998046875, + 143.25634765625 + ], + [ + 357.2340087890625, + 114.46066284179688 + ], + [ + 404.87799072265625, + 101.13447570800781 + ], + [ + 438.5263671875, + 101.04208374023438 + ], + [ + 478.1228942871094, + 111.66950988769531 + ], + [ + 509.60455322265625, + 112.34744262695312 + ], + [ + 520.4078369140625, + 132.75013732910156 + ], + [ + 530.0531005859375, + 148.11227416992188 + ], + [ + 533.8912353515625, + 161.14247131347656 + ], + [ + 533.1044311523438, + 160.179443359375 + ], + [ + 530.640380859375, + 173.17434692382812 + ], + [ + 534.1470947265625, + 173.4246063232422 + ], + [ + 525.5301513671875, + 179.17428588867188 + ], + [ + 516.2808227539062, + 173.56607055664062 + ], + [ + 513.4091796875, + 172.88070678710938 + ], + [ + 513.2210693359375, + 172.91883850097656 + ], + [ + 509.1529235839844, + 175.50030517578125 + ], + [ + 497.859375, + 170.02020263671875 + ], + [ + 483.5323181152344, + 132.9331817626953 + ], + [ + 435.6867370605469, + 124.993408203125 + ], + [ + 364.5724182128906, + 97.21014404296875 + ], + [ + 314.5528564453125, + 70.91990661621094 + ], + [ + 273.63006591796875, + 43.34294891357422 + ], + [ + 242.10086059570312, + 35.294029235839844 + ], + [ + 237.17787170410156, + 36.079742431640625 + ] + ], + "depth_max": 1.716589093208313, + "depth_min": 0.13007131218910217, + "intrinsic": [ + [ + 535.8995971679688, + 0.0, + 259.0 + ], + [ + 0.0, + 535.9913940429688, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.7591704565566033e-05, + -6.352586206048727e-05, + -1.6097095794975758e-05 + ], + [ + -2.7594251150730997e-05, + 1.0, + -4.0097071178024635e-05, + 5.815301847178489e-06 + ], + [ + 6.352475611492991e-05, + 4.009882468380965e-05, + 1.0, + 4.0218383219325915e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 524.25, + 175.25 + ], + [ + 524.3997802734375, + 175.6142120361328 + ], + [ + 524.52099609375, + 175.69801330566406 + ], + [ + 524.52001953125, + 175.6832275390625 + ], + [ + 524.4571533203125, + 175.5394287109375 + ], + [ + 524.4539184570312, + 175.4779052734375 + ], + [ + 524.6624755859375, + 175.59620666503906 + ], + [ + 524.661376953125, + 175.63417053222656 + ], + [ + 524.7272338867188, + 175.45912170410156 + ], + [ + 524.5608520507812, + 175.7113800048828 + ], + [ + 524.630126953125, + 175.66659545898438 + ], + [ + 524.8640747070312, + 175.72525024414062 + ], + [ + 525.0902099609375, + 175.47061157226562 + ], + [ + 524.992431640625, + 175.51087951660156 + ], + [ + 525.218994140625, + 175.95164489746094 + ], + [ + 525.2289428710938, + 176.2584991455078 + ], + [ + 523.2360229492188, + 177.86048889160156 + ], + [ + 517.5703125, + 176.8709716796875 + ], + [ + 512.8536376953125, + 174.6250762939453 + ], + [ + 511.448486328125, + 174.80352783203125 + ], + [ + 506.71319580078125, + 176.78880310058594 + ], + [ + 490.4715270996094, + 171.01116943359375 + ], + [ + 477.5065002441406, + 149.7269287109375 + ], + [ + 432.02703857421875, + 137.59396362304688 + ], + [ + 360.7886657714844, + 113.93253326416016 + ], + [ + 311.31549072265625, + 81.59821319580078 + ], + [ + 269.0035705566406, + 53.59271240234375 + ], + [ + 238.2626190185547, + 45.2281494140625 + ], + [ + 239.75035095214844, + 50.084068298339844 + ] + ] +} \ No newline at end of file diff --git a/001703/lang.txt b/001703/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..11a6769ff7b21457b6d9077df636dbdfd6534a6e --- /dev/null +++ b/001703/lang.txt @@ -0,0 +1 @@ +put broccoli in pot or pan diff --git a/001703/object.ply b/001703/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..100a3421c62be43f6cd401b8fba5b38045fa54b2 Binary files /dev/null and b/001703/object.ply differ diff --git a/001739_v2/FAIL b/001739_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/001739_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/001840/data.json b/001840/data.json new file mode 100644 index 0000000000000000000000000000000000000000..d61b4dfe1c9a03a5eeee713cc724b0657ad4efc4 --- /dev/null +++ b/001840/data.json @@ -0,0 +1,531 @@ +{ + "action_start": 11, + "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, + 0.512821, + 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, + -2.7755575615628914e-17, + -1.3877787807814457e-17, + 1.6265202324851557e-07, + 3.9060424803511753e-07, + 4.068532584333257e-07, + 1.0 + ], + [ + -0.008525636085331134, + -0.03456543578294399, + 0.020626941167315147, + 0.01163894143312829, + 0.02150166555896331, + 0.2068613627360408, + 1.0 + ], + [ + -0.01645780227540561, + -0.039731695189392874, + 0.026252701698437318, + -0.040991758147599366, + 0.09626630284393368, + 0.27100813620103625, + 1.0 + ], + [ + -0.015696259348779107, + -0.03734692286522576, + 0.010919527537579347, + 0.01719530406789902, + -0.011099355713017662, + 0.24429402930945265, + 1.0 + ], + [ + -0.02117195201141958, + -0.043651154172227896, + -0.008727385601033671, + -0.04487513929175056, + 0.040895314609529755, + 0.20708047833257287, + 1.0 + ], + [ + -0.009258060340576413, + -0.014478331818402794, + -0.01596631432269069, + -0.06066883779333853, + -0.0185738208071214, + 0.05395828308468188, + 1.0 + ], + [ + -0.008247254323857617, + -0.011612811416152363, + -0.010014809553924017, + -0.04656814233553062, + -0.02929581875364066, + 0.02282332677221564, + 1.0 + ], + [ + -0.004082176911421098, + -0.009876036501449262, + -0.013944167159862304, + -0.022678611293815414, + -0.047726873757326066, + 0.0003366309351596739, + 1.0 + ], + [ + 0.0010996432272451229, + -0.0006027898990733985, + -0.00636513696776278, + -0.0013586163157213297, + -0.03352349371499624, + -0.027727735951930014, + 1.0 + ], + [ + 0.0016215945078500993, + -0.0017844178409629347, + -0.007665305758994375, + 0.0028254705913452623, + -0.03176385856962554, + -0.006120943541941327, + 1.0 + ], + [ + -0.00028053945798936497, + -0.0023151528348804642, + -0.010498576797907628, + 0.01387962372911742, + -0.03272754260094289, + 0.0016330423668892756, + 1.0 + ], + [ + -0.0010085447655073243, + 0.0012991197720742809, + -0.010747437651167228, + 0.0020827282743042306, + -0.010490993712619766, + -0.01052393516767492, + 0.512821 + ], + [ + -0.0009952475299055963, + 0.0021638829307738944, + 0.008065292564818364, + 0.03682781033256897, + 0.030818273882746525, + -0.06323664753678027, + 0.0 + ], + [ + 0.003656921187366463, + 0.008131079303120015, + 0.020801338797666265, + 0.08625112067455606, + 0.016386029693684395, + -0.17809344908127667, + 0.0 + ], + [ + 0.025531199521209885, + 0.014436492546218135, + 0.0256088992863536, + 0.11112720600358418, + -0.014688629142588729, + -0.3308326013643723, + 0.0 + ], + [ + 0.04352605403411017, + 0.008217636710613554, + 0.00809405444860272, + 0.07372152440643148, + -0.01798892719232332, + -0.3806662469393482, + 0.0 + ], + [ + 0.041166318260525026, + 0.0011806024444031699, + -0.00017098868723546684, + 0.06686893180251569, + -0.033827571434890645, + -0.34645947546087563, + 0.0 + ], + [ + 0.04201043905336488, + -0.006676678123490681, + -0.004787437844364542, + -0.059846098675950456, + -0.06597599730345197, + -0.2658595675935369, + 0.0 + ], + [ + 0.02253408020151887, + -0.011517017683076308, + 0.0009380220220222904, + -0.04012033659099515, + -0.019665249256632614, + -0.09288018258674106, + 0.0 + ], + [ + 0.01776975069841985, + -0.0072259041059312, + -0.005455239419417383, + -0.025999897387165728, + -0.029997265346598877, + -0.03630145191009425, + 0.0 + ], + [ + 0.004808900324985765, + -0.014012895813545367, + -0.008741312187223259, + -0.06108831483405259, + -0.02938172867935346, + -0.03447274894469862, + 0.0 + ], + [ + -0.00018610888305747864, + 0.0005482945794603317, + -0.002441250203785196, + -0.031160331822323372, + -0.014344643291989994, + -0.004245004807629227, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 164.34278869628906, + 201.78549194335938 + ], + [ + 164.3055419921875, + 201.7652130126953 + ], + [ + 163.4058837890625, + 214.45640563964844 + ], + [ + 200.09971618652344, + 223.036865234375 + ], + [ + 220.51593017578125, + 216.481689453125 + ], + [ + 264.3529968261719, + 239.35235595703125 + ], + [ + 304.1793518066406, + 290.40533447265625 + ], + [ + 308.0272216796875, + 322.40521240234375 + ], + [ + 317.7216796875, + 349.35491943359375 + ], + [ + 325.1473388671875, + 370.4137878417969 + ], + [ + 327.66510009765625, + 370.832275390625 + ], + [ + 330.8042907714844, + 378.01715087890625 + ], + [ + 331.8597412109375, + 390.9119873046875 + ], + [ + 330.7287902832031, + 395.5765380859375 + ], + [ + 315.9065856933594, + 395.5934753417969 + ], + [ + 313.5646667480469, + 354.7989501953125 + ], + [ + 331.19708251953125, + 295.9158630371094 + ], + [ + 358.7635498046875, + 248.88011169433594 + ], + [ + 392.92523193359375, + 224.47463989257812 + ], + [ + 424.74169921875, + 206.092529296875 + ], + [ + 455.53997802734375, + 194.59584045410156 + ], + [ + 471.2276916503906, + 197.11471557617188 + ], + [ + 487.9674377441406, + 201.25863647460938 + ], + [ + 489.46337890625, + 206.566650390625 + ], + [ + 489.1688537597656, + 206.29754638671875 + ], + [ + 489.1448974609375, + 206.26280212402344 + ] + ], + "depth_max": 1.6996608972549438, + "depth_min": 0.2073313295841217, + "intrinsic": [ + [ + 505.5867919921875, + 0.0, + 259.0 + ], + [ + 0.0, + 505.9637756347656, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.23168089077808e-05, + -0.00010812218533828855, + 3.184844899806194e-06 + ], + [ + -6.231881707208231e-05, + 1.0, + -1.8636334061739035e-05, + 5.970582606096286e-06 + ], + [ + 0.00010812102118507028, + 1.864307159848977e-05, + 1.0, + -1.8801343685481697e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 25 + ], + "object_trajectory": [ + [ + 344.25, + 389.0000305175781 + ], + [ + 342.6203918457031, + 389.95855712890625 + ], + [ + 339.260986328125, + 390.4193115234375 + ], + [ + 340.9612731933594, + 390.31158447265625 + ], + [ + 343.7265625, + 389.504150390625 + ], + [ + 343.87957763671875, + 390.49835205078125 + ], + [ + 340.239013671875, + 391.3252258300781 + ], + [ + 340.31524658203125, + 392.2413024902344 + ], + [ + 341.1999816894531, + 397.3255615234375 + ], + [ + 342.3209533691406, + 404.4476318359375 + ], + [ + 330.80804443359375, + 404.3216857910156 + ], + [ + 330.6748046875, + 404.8374328613281 + ], + [ + 326.588623046875, + 407.45526123046875 + ], + [ + 322.4266662597656, + 409.02386474609375 + ], + [ + 307.1227722167969, + 410.20184326171875 + ], + [ + 300.1015625, + 370.562744140625 + ], + [ + 308.74737548828125, + 309.11444091796875 + ], + [ + 337.0384521484375, + 256.3702087402344 + ], + [ + 369.94818115234375, + 228.82589721679688 + ], + [ + 401.9339599609375, + 209.54095458984375 + ], + [ + 432.2828674316406, + 198.0601348876953 + ], + [ + 451.6942138671875, + 200.85067749023438 + ], + [ + 467.8875427246094, + 205.00155639648438 + ], + [ + 468.5151062011719, + 215.41146850585938 + ], + [ + 463.6787109375, + 215.90396118164062 + ], + [ + 462.8588562011719, + 213.78494262695312 + ] + ] +} \ No newline at end of file diff --git a/001840/lang.txt b/001840/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..460c0f31b4dbb6631fb36ad01409918ef0e3861b --- /dev/null +++ b/001840/lang.txt @@ -0,0 +1 @@ +put carrot on plate diff --git a/001847/FAIL b/001847/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001847/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001857/data.json b/001857/data.json new file mode 100644 index 0000000000000000000000000000000000000000..a9facaca322c9fe9f56ab7818532659250401ffa --- /dev/null +++ b/001857/data.json @@ -0,0 +1,531 @@ +{ + "action_start": 12, + "action_end": 22, + "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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.07472500000000004, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -9.839123960020402e-11, + -1.99269767353627e-12, + 2.728129389062417e-10, + -1.6067582869039775e-07, + 1.3476741449195657e-07, + -1.880911476441162e-07, + 1.0 + ], + [ + 0.014015000097430202, + -0.0010489999805815137, + 0.022758299729778397, + -0.013033628665719943, + 0.045730985560813224, + -0.026271696255430108, + 1.0 + ], + [ + 0.014993142047715208, + 0.00036676603964572174, + 0.023453706138871, + 0.02190472327456169, + 0.04071617512155217, + 0.012180064905088654, + 1.0 + ], + [ + 0.025862418368408163, + 0.00391414780838463, + 0.010131910455329032, + -0.015417733029981399, + -0.03535419470139305, + -0.04303555291136708, + 1.0 + ], + [ + 0.04018007191476752, + 0.01161357630947784, + 0.0052521126597182, + -0.007841176215928766, + -0.03524923663263723, + -0.0952917998110131, + 1.0 + ], + [ + 0.03334001340954468, + 0.0027828761110299666, + 0.00420127524006475, + 0.05866995667382959, + -0.05596643655491264, + -0.05791715982081778, + 1.0 + ], + [ + 0.02644556928942665, + 0.001137082211701751, + 0.00012386664156910365, + -0.002427843991309631, + -0.04903049078026164, + -0.04688175618679446, + 1.0 + ], + [ + 0.019465902737827445, + -0.0016920377428596839, + -0.009244093983529225, + -0.02953048186380342, + -0.05720098368095243, + -0.04078372696532512, + 1.0 + ], + [ + 0.018679639842047457, + 0.0018039916354146979, + -0.012097287689847233, + 0.021350456184951856, + -0.06565315392159123, + -0.02050612300524116, + 1.0 + ], + [ + 0.008817541168983978, + 0.005809362583500802, + -0.0017611488179445217, + 0.013753940772896638, + -0.010608744125907628, + -0.02125654996145335, + 1.0 + ], + [ + 0.008979428490812125, + 0.0018775744122558752, + -0.01200081356672314, + -0.024125706136563525, + -0.02744158783984733, + -0.031240885924831336, + 1.0 + ], + [ + 0.0003652563604640835, + -0.006208954950054912, + -0.014316353376591512, + -0.08297084526824595, + 5.792207921825675e-05, + -0.006864295120310833, + 1.0 + ], + [ + 7.022132160905414e-05, + -0.0013851068194362381, + -0.012560853754613563, + -0.04685652511716916, + 0.0008291016301667272, + -0.0042561375012549725, + 1.0 + ], + [ + 0.0005251683238921556, + 0.002672060217865757, + -0.005107549647135007, + -0.05533195910924933, + 0.04723208297541708, + -0.022488043895916854, + 0.0 + ], + [ + -0.004433822189211845, + 0.00044124473884651905, + 0.003183508956788858, + 0.024723391738312717, + 0.009368825354910156, + 0.007059621596953309, + 0.0 + ], + [ + -0.00760412105530528, + 0.00036714125141247556, + 0.011853645883983396, + 0.022843378964582595, + 0.030369347441839858, + 0.016292227683813446, + 0.0 + ], + [ + -0.01582852185132172, + -0.00964157894245661, + 0.035785585514237925, + 0.028016880943197316, + 0.05062530341024015, + 0.041253885561572896, + 0.0 + ], + [ + -0.02219487628903255, + -0.022862003431962832, + 0.02396353713392912, + 0.001860111180527199, + 0.03901722140909139, + 0.07336656547652415, + 0.0 + ], + [ + -0.031098385683094865, + -0.03996625854716114, + 0.0004512725973715992, + -0.08439590236344181, + 0.0382696304358977, + 0.12378812788587683, + 0.0 + ], + [ + -0.019521123859306544, + -0.026727983172578587, + -0.01787521600019379, + -0.042192933660780564, + -0.026149050958988052, + 0.0900880233172145, + 0.0 + ], + [ + -0.0036074593031807933, + -0.019916642950514957, + -0.026510680198814668, + -0.059612284833154276, + -0.0611392901612765, + 0.05365626906795925, + 0.0 + ], + [ + -0.006823243132283774, + -0.005598720775872991, + -0.01272832373805216, + -0.014843427153719927, + -0.01737993185805186, + 0.021855807981307096, + 0.0 + ], + [ + -0.0010532409427531086, + -0.004133953950986747, + -0.00507846637692172, + -0.022760878309848485, + -0.06011126278302912, + 0.00535948273287, + 0.07472500000000004 + ], + [ + -0.0010639222985811547, + -0.001488377905278445, + 0.0004922895004051617, + 0.007191136240748256, + -0.03107678001231798, + 0.031355452903382604, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 141.38661193847656, + 297.7354431152344 + ], + [ + 141.3330078125, + 297.75286865234375 + ], + [ + 137.90658569335938, + 303.8100891113281 + ], + [ + 152.28982543945312, + 259.44830322265625 + ], + [ + 171.05477905273438, + 218.275634765625 + ], + [ + 191.49215698242188, + 184.91830444335938 + ], + [ + 215.08497619628906, + 144.62863159179688 + ], + [ + 240.19805908203125, + 121.18638610839844 + ], + [ + 259.1374206542969, + 110.02298736572266 + ], + [ + 271.31280517578125, + 113.275634765625 + ], + [ + 280.4490661621094, + 116.95147705078125 + ], + [ + 285.0295104980469, + 111.83090209960938 + ], + [ + 289.22845458984375, + 126.32612609863281 + ], + [ + 293.6207275390625, + 136.87782287597656 + ], + [ + 293.201171875, + 146.6496124267578 + ], + [ + 289.76617431640625, + 153.82752990722656 + ], + [ + 284.77655029296875, + 153.7818603515625 + ], + [ + 279.18267822265625, + 153.29629516601562 + ], + [ + 284.4447937011719, + 119.04405212402344 + ], + [ + 300.120361328125, + 109.49991607666016 + ], + [ + 324.3363037109375, + 149.35894775390625 + ], + [ + 341.9456787109375, + 197.7471923828125 + ], + [ + 358.47113037109375, + 230.89891052246094 + ], + [ + 357.804443359375, + 248.87937927246094 + ], + [ + 361.20147705078125, + 260.27777099609375 + ], + [ + 361.87835693359375, + 261.9466247558594 + ] + ], + "depth_max": 1.65992271900177, + "depth_min": 0.3010641038417816, + "intrinsic": [ + [ + 511.81756591796875, + 0.0, + 259.0 + ], + [ + 0.0, + 512.447509765625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.0369910341978539e-05, + -6.804494478274137e-05, + -1.2654987585847266e-05 + ], + [ + -1.0371057214797474e-05, + 1.0, + -1.685014103713911e-05, + -2.4369357561226934e-05 + ], + [ + 6.804477015975863e-05, + 1.6850846805027686e-05, + 1.0, + 1.082481503544841e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 25 + ], + "object_trajectory": [ + [ + 287.5, + 159.0 + ], + [ + 287.87274169921875, + 159.00279235839844 + ], + [ + 287.9591979980469, + 159.61233520507812 + ], + [ + 287.8994445800781, + 159.44561767578125 + ], + [ + 287.84832763671875, + 159.35011291503906 + ], + [ + 287.79864501953125, + 159.5564422607422 + ], + [ + 287.982421875, + 159.86016845703125 + ], + [ + 288.33087158203125, + 160.7108154296875 + ], + [ + 288.45050048828125, + 160.29556274414062 + ], + [ + 287.96722412109375, + 160.9071807861328 + ], + [ + 287.6876220703125, + 160.3472900390625 + ], + [ + 287.559326171875, + 160.15304565429688 + ], + [ + 286.3367614746094, + 159.37020874023438 + ], + [ + 286.51568603515625, + 160.79896545410156 + ], + [ + 287.79742431640625, + 165.52073669433594 + ], + [ + 288.2294616699219, + 169.55137634277344 + ], + [ + 282.6963806152344, + 170.61349487304688 + ], + [ + 274.8230285644531, + 170.1080322265625 + ], + [ + 279.6042175292969, + 143.26327514648438 + ], + [ + 294.1636657714844, + 132.463134765625 + ], + [ + 320.217041015625, + 168.39830017089844 + ], + [ + 339.91387939453125, + 214.39276123046875 + ], + [ + 358.47320556640625, + 245.27734375 + ], + [ + 358.39312744140625, + 263.0836486816406 + ], + [ + 361.00543212890625, + 273.0840759277344 + ], + [ + 361.91558837890625, + 272.7757568359375 + ] + ] +} \ No newline at end of file diff --git a/001857/lang.txt b/001857/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..460c0f31b4dbb6631fb36ad01409918ef0e3861b --- /dev/null +++ b/001857/lang.txt @@ -0,0 +1 @@ +put carrot on plate diff --git a/001857/object.ply b/001857/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..7c2475d9b28c5ade0e697eff078662eed64174d6 Binary files /dev/null and b/001857/object.ply differ diff --git a/001867/FAIL b/001867/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001867/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001888/data.json b/001888/data.json new file mode 100644 index 0000000000000000000000000000000000000000..69d3b99c7df51f4a86b68b18e898c916912e2a17 --- /dev/null +++ b/001888/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 14, + "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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.930891, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -7.261341528064236e-11, + -2.2380822195522398e-10, + -5.117033186063935e-11, + -4.2188106272340473e-07, + 1.7252614590685308e-07, + 3.2482259814550477e-07, + 1.0 + ], + [ + 0.007413199600696474, + 0.010119397922819767, + -0.003587888982810511, + 0.12932486498607126, + -0.03906014488807111, + 0.05201872211060821, + 1.0 + ], + [ + 0.010760632047626895, + 0.023944274701871437, + 0.0036381561407726193, + 0.11672039666067234, + -0.02701449817955548, + 0.013160202696822993, + 1.0 + ], + [ + 0.0030412459001316616, + 0.01655328540237473, + 0.0017634177189037037, + 0.1661887550330908, + -0.05536844629917932, + -0.042508801496186854, + 1.0 + ], + [ + -0.007135749013718995, + 0.018439701536737296, + -0.003113391948460706, + 0.17097277878592976, + -0.03966095405989739, + -0.01728662235767962, + 1.0 + ], + [ + -0.005928491143089187, + 0.02328015517637691, + -0.010040186078122251, + 0.05449456606891897, + -0.0014684738119851248, + 0.03155597385771343, + 1.0 + ], + [ + -0.011340469845720846, + 0.02186045942210721, + -0.005157389417880506, + 0.016287052162183405, + 0.0011375450546986352, + -0.025693886126827967, + 1.0 + ], + [ + 6.787616046444178e-07, + 0.016516790722037378, + 0.005146541465204914, + -0.002918751778506871, + 0.019848339842045076, + -0.015642771179339626, + 1.0 + ], + [ + 0.009322501954476203, + 0.014751346999356513, + 0.0024539732792247596, + 0.0015937658674247482, + 0.001130506984412589, + -0.02570330226557136, + 1.0 + ], + [ + 0.006959823128499076, + 0.0009704744727367376, + 0.009185537366147689, + 0.030358226114725162, + -0.009750920638048251, + -0.02206826608047353, + 1.0 + ], + [ + 0.006872612836403669, + 0.001753916015169027, + 0.005748297864142771, + 0.028102498696020498, + -0.017215382817847256, + -0.010011894781141308, + 1.0 + ], + [ + 0.0027624678168466366, + 0.005214775378677844, + 0.0016861399242862549, + 0.006447187624084213, + -0.004149358729860805, + -0.007332298149682668, + 1.0 + ], + [ + 0.006062010805294504, + 0.005984562642321278, + -0.005122190321056853, + -0.005264517917740673, + 0.0005291305841902006, + -0.016537427229756787, + 1.0 + ], + [ + 0.005202877777921833, + 0.006390743012446909, + -0.017041750752291966, + -0.035130322653910494, + 0.02862218914265696, + -0.009340187515585963, + 1.0 + ], + [ + 0.003912902638702753, + 0.006736350486395509, + -0.022023839780989554, + -0.04321853645025242, + -0.0017469873138625965, + -0.0031475646439661077, + 1.0 + ], + [ + 0.005721520011652714, + 0.004342164985508545, + -0.0065671644666745865, + -0.012588942298103499, + 0.03520083791638371, + -0.004462934180189196, + 0.0 + ], + [ + 0.005739464023885088, + -0.0022613811964596886, + 0.020440214415026622, + 0.05424359680216348, + -0.002314654826383777, + -0.007186038157625464, + 0.0 + ], + [ + 0.005622416498211991, + 0.0019197995492859499, + 0.02007963574491986, + 0.07215804304789171, + -0.035933006409155935, + -0.026232575412464897, + 0.0 + ], + [ + 0.0017158875808150897, + -0.0008190684813428328, + 0.016596730041753105, + 0.09289095548286311, + 0.031428344934089095, + -0.06533345581161466, + 0.0 + ], + [ + -0.01586665006241661, + -0.013650081418801446, + 0.02028621083044406, + 0.1183224734767205, + 0.014606054427503363, + 0.07172168530888672, + 0.0 + ], + [ + -0.01889661168894169, + -0.03703625500588448, + 0.029012348006652804, + -0.07437543684329424, + -0.018122906405961668, + 0.10409010510048519, + 0.0 + ], + [ + -0.02473252026180317, + -0.04500060146500834, + 0.013555874181704161, + -0.150085550790456, + -0.02250174376638557, + 0.1405437099813029, + 0.0 + ], + [ + -0.017987291166260577, + -0.03602859991253374, + -0.0007285121077362094, + -0.22890101433482743, + -0.02959781285492947, + 0.12098589415634618, + 0.0 + ], + [ + -0.008116678605934069, + -0.022924960013087692, + -0.01720261722183819, + -0.10381434037150966, + -0.009280452446122061, + 0.036123437324857656, + 0.0 + ], + [ + 0.007230799917329889, + -0.023381837098054317, + -0.030427237389822392, + -0.1541987035853286, + 0.04375280463133879, + -0.0530556090182199, + 0.0 + ], + [ + 0.011442294726411839, + -0.012266019909870952, + -0.038033253161238845, + -0.12059799220212054, + -0.006630216790790532, + -0.0913427077443093, + 0.0 + ], + [ + 0.012399411277182693, + 0.0026903386410301877, + -0.026707784126139847, + -0.14507784876293311, + -0.011116996716314897, + -0.022635185256930306, + 0.0 + ], + [ + -0.0021365284127563555, + -0.004184116147963608, + -0.009102137404448714, + -0.04768229520871491, + 0.007305945528864451, + 0.049372657671298836, + 0.0 + ], + [ + -0.004264235505396452, + -0.002546064040834989, + 0.004856146569903779, + 0.0023947846279665664, + -0.02682481276964987, + 0.021930860132732446, + 0.0 + ], + [ + -0.002199044288929586, + -0.0010703947239042028, + 0.01734973332786145, + 0.029532825503215752, + 0.0018800111372591951, + -0.03673665096877415, + 0.930891 + ], + [ + -0.007806093635159883, + -0.005485356829905384, + 0.04570172142601356, + 0.11572919544453651, + 0.04362711356779174, + 0.06013326311420046, + 1.0 + ], + [ + 0.00039172308362633856, + -0.0050353022578489386, + 0.04570362059546954, + 0.04883448409666929, + -0.08608714136530111, + -0.002494897166977321, + 1.0 + ], + [ + 0.00893784915199064, + 0.011007286893081504, + 0.0460029748737074, + 0.16204439708455495, + -0.00453276771589751, + 0.007535119535685135, + 1.0 + ], + [ + -0.0026630819077457235, + 0.006246178542394219, + 0.015366728081189579, + 0.10342499389538067, + -0.0014296256529458741, + -0.019255884371546583, + 1.0 + ], + [ + -0.006455415848735935, + -0.0005822010016415038, + 0.004254754048450965, + 0.06310368276403709, + -0.028889795208243117, + -0.011786854783967782, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 275.58001708984375, + 179.0655975341797 + ], + [ + 274.4971008300781, + 186.18731689453125 + ], + [ + 263.697265625, + 189.57098388671875 + ], + [ + 262.4013977050781, + 178.0492706298828 + ], + [ + 239.72012329101562, + 168.72195434570312 + ], + [ + 215.36805725097656, + 177.9127655029297 + ], + [ + 207.43258666992188, + 168.21910095214844 + ], + [ + 169.22213745117188, + 177.11190795898438 + ], + [ + 148.2830810546875, + 172.724609375 + ], + [ + 150.7861328125, + 160.930908203125 + ], + [ + 142.45388793945312, + 152.47991943359375 + ], + [ + 145.96835327148438, + 145.25723266601562 + ], + [ + 150.7906494140625, + 131.94232177734375 + ], + [ + 151.24624633789062, + 130.82568359375 + ], + [ + 155.4498291015625, + 136.87197875976562 + ], + [ + 152.82032775878906, + 139.13967895507812 + ], + [ + 152.97348022460938, + 136.04580688476562 + ], + [ + 153.60006713867188, + 134.8229522705078 + ], + [ + 169.35125732421875, + 152.971923828125 + ], + [ + 150.40411376953125, + 126.39680480957031 + ], + [ + 141.17205810546875, + 107.38681030273438 + ], + [ + 162.90968322753906, + 87.02961730957031 + ], + [ + 172.47450256347656, + 74.13724517822266 + ], + [ + 185.94915771484375, + 90.71292877197266 + ], + [ + 207.02737426757812, + 123.59283447265625 + ], + [ + 246.0120391845703, + 152.3304443359375 + ], + [ + 290.4901123046875, + 198.6413116455078 + ], + [ + 301.91217041015625, + 224.42837524414062 + ], + [ + 288.78936767578125, + 220.89065551757812 + ], + [ + 294.97332763671875, + 227.77615356445312 + ], + [ + 294.05780029296875, + 233.53399658203125 + ], + [ + 293.9034729003906, + 202.20379638671875 + ], + [ + 309.7603454589844, + 157.03018188476562 + ], + [ + 286.923828125, + 74.14168548583984 + ], + [ + 291.97027587890625, + 45.36867141723633 + ], + [ + 291.9899597167969, + 21.27194595336914 + ], + [ + 280.4158020019531, + 29.328392028808594 + ], + [ + 280.735107421875, + 29.26728057861328 + ] + ], + "depth_max": 1.3430445194244385, + "depth_min": 0.4649381637573242, + "intrinsic": [ + [ + 502.1169128417969, + 0.0, + 259.0 + ], + [ + 0.0, + 502.1413879394531, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.3150270357728004e-05, + -5.3854491852689534e-05, + -3.201113941031508e-05 + ], + [ + -4.315259866416454e-05, + 1.0, + -4.3270119931548834e-05, + -3.9053193177096546e-06 + ], + [ + 5.385262193158269e-05, + 4.327244096202776e-05, + 1.0, + 5.394748768594582e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 168.0, + 136.5 + ], + [ + 168.2692413330078, + 136.6667938232422 + ], + [ + 168.18853759765625, + 136.60691833496094 + ], + [ + 168.45623779296875, + 136.61634826660156 + ], + [ + 168.4154052734375, + 136.66677856445312 + ], + [ + 167.54078674316406, + 137.096923828125 + ], + [ + 167.49517822265625, + 137.1724853515625 + ], + [ + 168.65440368652344, + 139.18479919433594 + ], + [ + 168.33352661132812, + 138.73873901367188 + ], + [ + 167.68028259277344, + 138.78707885742188 + ], + [ + 166.54495239257812, + 138.118896484375 + ], + [ + 165.16075134277344, + 138.33456420898438 + ], + [ + 164.06100463867188, + 138.78042602539062 + ], + [ + 164.20028686523438, + 138.73440551757812 + ], + [ + 163.17117309570312, + 136.89089965820312 + ], + [ + 162.02664184570312, + 135.60690307617188 + ], + [ + 159.12376403808594, + 133.5680694580078 + ], + [ + 158.59744262695312, + 132.5846710205078 + ], + [ + 158.66285705566406, + 131.67745971679688 + ], + [ + 158.61082458496094, + 123.89628601074219 + ], + [ + 144.86729431152344, + 109.68750762939453 + ], + [ + 158.70751953125, + 92.04395294189453 + ], + [ + 166.6490020751953, + 90.77470397949219 + ], + [ + 179.03196716308594, + 115.0589370727539 + ], + [ + 206.55538940429688, + 139.02220153808594 + ], + [ + 238.8090057373047, + 164.03848266601562 + ], + [ + 268.0757141113281, + 202.827392578125 + ], + [ + 287.58642578125, + 233.19985961914062 + ], + [ + 281.5206298828125, + 233.93246459960938 + ], + [ + 288.80267333984375, + 241.07630920410156 + ], + [ + 282.514892578125, + 247.2078094482422 + ], + [ + 294.2283935546875, + 243.9644317626953 + ], + [ + 303.1822509765625, + 240.94015502929688 + ], + [ + 298.3267822265625, + 238.50291442871094 + ], + [ + 303.8470153808594, + 240.6897735595703 + ], + [ + 297.2862854003906, + 237.8009033203125 + ], + [ + 302.93280029296875, + 240.43374633789062 + ], + [ + 297.6847229003906, + 238.6240234375 + ] + ] +} \ No newline at end of file diff --git a/001888/lang.txt b/001888/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..460c0f31b4dbb6631fb36ad01409918ef0e3861b --- /dev/null +++ b/001888/lang.txt @@ -0,0 +1 @@ +put carrot on plate diff --git a/001888/object.ply b/001888/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..363064cac8af306d27f1b316977b0e9e557ec1dc Binary files /dev/null and b/001888/object.ply differ diff --git a/001902/data.json b/001902/data.json new file mode 100644 index 0000000000000000000000000000000000000000..632bb83f4e6b8af989f8b08c0a6b5a17b019d383 --- /dev/null +++ b/001902/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 13, + "action_end": 27, + "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, + 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": [ + [ + -1.0881148759800396e-10, + 1.194212567376396e-10, + 5.337198044630398e-11, + -4.2182507482126794e-07, + -1.3499630063012962e-07, + 2.463268185735281e-07, + 1.0 + ], + [ + 0.0011680299111195835, + 0.020820863253592253, + 0.024972540258965392, + 0.10721624971156975, + 0.0032110218209680376, + -0.10731246415708434, + 1.0 + ], + [ + 0.004950809135557344, + 0.0303824710630858, + 0.011447773861632732, + 0.11518761951004976, + 0.006226544989395406, + -0.17443994906876334, + 1.0 + ], + [ + 0.010614741962203578, + 0.030161912124894434, + 0.010515398118057379, + 0.04874746120589333, + 0.03043689895159437, + -0.14756400458298377, + 1.0 + ], + [ + 0.009784285634782397, + 0.03478768729190747, + -0.011254824590873541, + 0.04958598138726902, + -0.030929558756545586, + -0.2176066686966585, + 1.0 + ], + [ + 0.010350549883781618, + 0.02593323261184334, + -0.00825509447304984, + 0.03109268169284516, + -0.03506672903833547, + -0.11556295875306449, + 1.0 + ], + [ + 0.01025251728354687, + 0.020011507708953727, + -1.635267541476304e-05, + 0.05086468452058262, + -0.020929443228163053, + -0.08450714825167953, + 1.0 + ], + [ + 0.01267377733646391, + 0.013250141703110993, + -0.00273156464325984, + 0.03844315695448624, + -0.01778874850222024, + -0.07295383156831972, + 1.0 + ], + [ + 0.013353669982975547, + 0.011102338108281318, + -0.008732854700610734, + 0.005361147566178897, + -0.01680772836563127, + -0.06694390715949308, + 1.0 + ], + [ + 0.010936992535297507, + 0.008189627833803143, + -0.011569056821504636, + 0.004528905851774854, + -0.027075879570835945, + -0.053108817781316986, + 1.0 + ], + [ + 0.004154690201720435, + 0.008028155253883035, + -0.010374407564628416, + 0.0008579242824959081, + -0.011766220756393983, + -0.016514546618316476, + 1.0 + ], + [ + 0.0023777420403414684, + 0.009124739803809345, + -0.011677036495279625, + 0.006379320367690525, + -0.003700972098541041, + -0.0025112813123861575, + 1.0 + ], + [ + 0.005239293767270614, + 0.006479839458136072, + -0.007652220789010962, + 0.01454789207651971, + 0.0042570156926581455, + -0.005795525336650347, + 1.0 + ], + [ + 0.005058238774311941, + 0.0005201004452720648, + -0.008773468106527849, + -0.008948027793931937, + 0.030034718629578013, + 0.0030054537163375188, + 1.0 + ], + [ + 0.002712208566939711, + -0.007283809996982832, + 0.00584117147972953, + 0.019929788250108337, + 0.002475209695212704, + -0.01961307129264178, + 0.0 + ], + [ + -0.004368271834314763, + -0.008824895252205173, + 0.010152697984522362, + 0.027401534698155986, + 0.029383564846704683, + 0.011634968755017716, + 0.0 + ], + [ + -0.012474568376415807, + -0.012916083241773707, + 0.010188647970416399, + 0.01023960470360951, + 0.01816686396503063, + 0.027209875725616416, + 0.0 + ], + [ + -0.009984301247838778, + -0.008139166250354712, + 0.01906784090031496, + 0.029634351696331784, + -0.015527282024025481, + 0.03356233801327083, + 0.0 + ], + [ + -0.002481814262934423, + 0.0002738311621730549, + 0.014397502861992512, + 0.031125003352843593, + -0.0137882778893476, + 0.02849367096852691, + 0.0 + ], + [ + -0.01239957636925676, + 0.0008903795096872613, + 0.00624331573461781, + 0.00468607099199047, + -0.027996141393259958, + 0.08787863367003287, + 0.0 + ], + [ + -0.019205535842661936, + -0.003018536887093304, + -0.013778981911418423, + -0.008556902712520574, + -0.029915189799216983, + 0.12364290937574608, + 0.0 + ], + [ + -0.014816569461387319, + -0.0021088121724744113, + -0.008564556621649656, + -0.10184842642223527, + 0.022724026208547164, + 0.06906583234442601, + 0.0 + ], + [ + -0.010536848423783829, + -0.004909921610311674, + 0.0010999979344557612, + -0.06247194599567178, + 0.019666103422854003, + 0.07432346847954187, + 0.0 + ], + [ + -0.00443257735514721, + -0.005070629718095243, + 0.003344138058207685, + -0.03633116648406063, + 0.011431208180781844, + 0.04316023590277471, + 0.0 + ], + [ + -0.006310778003450868, + -0.013277280393089536, + -0.005005649074789537, + -0.041469999249932665, + -0.022643381051922467, + 0.03675976147969486, + 0.0 + ], + [ + -0.0030914905376701607, + -0.012625955090069668, + -0.004161843521543043, + -0.03272513577614663, + 3.403064075513382e-05, + 0.03428815414631102, + 0.0 + ], + [ + -0.0021138584348681932, + -0.006915486549886551, + -0.010782338443745466, + -0.03350148619316357, + -0.014595242385803732, + 0.01447570068222974, + 0.0 + ], + [ + 0.004470450049129382, + -0.002864082519912464, + -0.00725838306068273, + -0.03557655856395335, + 0.002675269501359455, + -0.03765801842018691, + 0.0 + ], + [ + -0.0012375779659916653, + -0.0031717967015539583, + -0.006682328757569023, + -0.014661403238132717, + -0.05154986336474031, + -0.015129872333892022, + 1.0 + ], + [ + -5.733809840105519e-05, + 0.004330716651124472, + 0.008118087242865099, + 0.029964224023697333, + 0.0048829815149304175, + -0.018954662861472172, + 1.0 + ], + [ + 0.006777590397680638, + 0.009426202493559091, + 0.018413931598483785, + 0.07040591526543799, + 0.02436455577025929, + -0.05366421380434704, + 1.0 + ], + [ + 0.010158457239921731, + 0.013729397179443131, + 0.035951588340473246, + 0.18135315417798736, + -0.0011839717433340877, + -0.03347682826996426, + 1.0 + ], + [ + 0.008369582267062775, + 0.005241128890480909, + 0.040777301366166294, + 0.10083810495883479, + -0.0037653445041499066, + -0.01029531713595979, + 1.0 + ], + [ + 0.0016125809142079062, + -0.008689339441707522, + 0.019579605465825933, + -0.051629531318627, + -0.007629961953681193, + -0.030054086149981344, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 307.36016845703125, + 280.84539794921875 + ], + [ + 306.4119873046875, + 284.1456298828125 + ], + [ + 282.93634033203125, + 260.20343017578125 + ], + [ + 251.16156005859375, + 219.17916870117188 + ], + [ + 230.13856506347656, + 182.03115844726562 + ], + [ + 212.96554565429688, + 160.6788330078125 + ], + [ + 194.40481567382812, + 153.57518005371094 + ], + [ + 182.34173583984375, + 141.85398864746094 + ], + [ + 191.16770935058594, + 129.81082153320312 + ], + [ + 195.88587951660156, + 127.37975311279297 + ], + [ + 197.39837646484375, + 131.28184509277344 + ], + [ + 188.4861297607422, + 140.29635620117188 + ], + [ + 194.5782470703125, + 147.6635284423828 + ], + [ + 189.78118896484375, + 143.20211791992188 + ], + [ + 186.58631896972656, + 137.67921447753906 + ], + [ + 178.69595336914062, + 141.2175750732422 + ], + [ + 186.88113403320312, + 145.11000061035156 + ], + [ + 200.9398193359375, + 156.124755859375 + ], + [ + 198.4599609375, + 142.73892211914062 + ], + [ + 189.03582763671875, + 129.2161407470703 + ], + [ + 184.94790649414062, + 127.79248046875 + ], + [ + 181.1687774658203, + 158.41708374023438 + ], + [ + 183.28411865234375, + 165.27169799804688 + ], + [ + 177.92196655273438, + 167.646484375 + ], + [ + 180.23890686035156, + 167.30523681640625 + ], + [ + 184.90965270996094, + 175.20645141601562 + ], + [ + 190.25900268554688, + 184.9443359375 + ], + [ + 201.4097442626953, + 195.40823364257812 + ], + [ + 176.25254821777344, + 232.00009155273438 + ], + [ + 209.08843994140625, + 207.06155395507812 + ], + [ + 203.06752014160156, + 209.26742553710938 + ], + [ + 192.1769561767578, + 187.41461181640625 + ], + [ + 185.56719970703125, + 156.34512329101562 + ], + [ + 188.04429626464844, + 109.25009155273438 + ], + [ + 185.245361328125, + 88.88311004638672 + ], + [ + 186.99937438964844, + 86.77889251708984 + ], + [ + 187.21630859375, + 86.73938751220703 + ], + [ + 164.4979248046875, + 63.346221923828125 + ] + ], + "depth_max": 1.339443325996399, + "depth_min": 0.2671644985675812, + "intrinsic": [ + [ + 493.08355712890625, + 0.0, + 259.0 + ], + [ + 0.0, + 492.8417053222656, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.591747710946947e-05, + -8.909239113563672e-05, + -3.7912308471277356e-05 + ], + [ + -4.59222610516008e-05, + 1.0, + -5.3695264796260744e-05, + -1.92176357813878e-05 + ], + [ + 8.908993186196312e-05, + 5.3699353884439915e-05, + 1.0, + 2.3609292838955298e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 197.75, + 161.5 + ], + [ + 197.10397338867188, + 161.74508666992188 + ], + [ + 197.11874389648438, + 161.57933044433594 + ], + [ + 196.42747497558594, + 161.95333862304688 + ], + [ + 196.54608154296875, + 162.3609619140625 + ], + [ + 198.31016540527344, + 162.38619995117188 + ], + [ + 213.8867950439453, + 159.97901916503906 + ], + [ + 221.14857482910156, + 164.84762573242188 + ], + [ + 224.9754638671875, + 165.97601318359375 + ], + [ + 228.72662353515625, + 166.90359497070312 + ], + [ + 230.0248565673828, + 166.57516479492188 + ], + [ + 231.8405303955078, + 167.03936767578125 + ], + [ + 222.26132202148438, + 166.52040100097656 + ], + [ + 221.00146484375, + 166.08309936523438 + ], + [ + 217.54116821289062, + 160.44349670410156 + ], + [ + 218.9965057373047, + 155.6134490966797 + ], + [ + 228.62298583984375, + 164.105224609375 + ], + [ + 243.4328155517578, + 178.4742431640625 + ], + [ + 242.87002563476562, + 163.1272430419922 + ], + [ + 235.8282470703125, + 150.88624572753906 + ], + [ + 231.0051727294922, + 148.88864135742188 + ], + [ + 223.7120361328125, + 175.60806274414062 + ], + [ + 216.39036560058594, + 189.51747131347656 + ], + [ + 208.66375732421875, + 195.51712036132812 + ], + [ + 212.28392028808594, + 197.15924072265625 + ], + [ + 216.4761505126953, + 206.0015106201172 + ], + [ + 223.05833435058594, + 216.60826110839844 + ], + [ + 235.2324676513672, + 224.7071075439453 + ], + [ + 242.40628051757812, + 231.24777221679688 + ], + [ + 250.7402801513672, + 240.46580505371094 + ], + [ + 251.70379638671875, + 260.2337646484375 + ], + [ + 239.1608428955078, + 259.40447998046875 + ], + [ + 233.28851318359375, + 262.3552551269531 + ], + [ + 229.9130401611328, + 279.88348388671875 + ], + [ + 227.9702911376953, + 290.4784240722656 + ], + [ + 230.1036376953125, + 276.72149658203125 + ], + [ + 228.8244171142578, + 279.98907470703125 + ], + [ + 228.69598388671875, + 285.14923095703125 + ] + ] +} \ No newline at end of file diff --git a/001902/lang.txt b/001902/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..460c0f31b4dbb6631fb36ad01409918ef0e3861b --- /dev/null +++ b/001902/lang.txt @@ -0,0 +1 @@ +put carrot on plate diff --git a/001902/object.ply b/001902/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..b300952aac8a044d072ce23819df3528b67a9a48 Binary files /dev/null and b/001902/object.ply differ diff --git a/001902_v2/data.json b/001902_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..9ebb239edab985d324a210794004840ef7133837 --- /dev/null +++ b/001902_v2/data.json @@ -0,0 +1,824 @@ +{ + "action_start": 12, + "action_end": 29, + "object_name": "purple cloth", + "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, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.1385076215120193e-10, + 1.6044355427569101e-10, + -1.2385610592691165e-10, + 2.899786696205113e-07, + 3.5318781549850845e-07, + -2.3978087478322674e-07, + 1.0 + ], + [ + 0.003969568934450357, + -0.030618828317960856, + -0.004119725843936051, + -0.01673379999886036, + 0.001048694353310755, + -0.03975504440026196, + 1.0 + ], + [ + 0.005536902006778338, + -0.03895145847110036, + -0.0064574397937796485, + 0.021859854085469387, + 0.030547216625632, + -0.10269521498150423, + 1.0 + ], + [ + -0.0016762503304105503, + -0.029371318352793364, + -0.009676711759530499, + 0.010138718086117169, + -0.015903211786608876, + -0.0653004462425716, + 1.0 + ], + [ + 0.004231441875985453, + -0.027270438372590557, + -0.028888103004853005, + -0.006852412328668099, + -0.007741475424651643, + -0.09514821108745744, + 1.0 + ], + [ + 0.0019391367844681373, + -0.009971052287853999, + -0.02489092655749494, + 0.0425232413642713, + 0.019754305936060902, + -0.027159037849843668, + 1.0 + ], + [ + 0.0023149150321866985, + -0.0011392197359881007, + -0.02593837868237807, + 0.01104661927490871, + 0.025113680585120195, + -0.011264306518395424, + 1.0 + ], + [ + 8.95009056078866e-05, + -0.005400240912896773, + -0.02445244170766713, + -0.00027314810001622037, + 0.028683680044683635, + -0.01810894764582143, + 1.0 + ], + [ + 7.776889531824205e-06, + -0.0026322103171664, + -0.015385490935086175, + -0.0009047106175377396, + 0.007805446963746401, + -0.01153958243767272, + 1.0 + ], + [ + -5.36920039163058e-05, + -0.003910596406702979, + -0.014806501490007118, + 0.02990140901436337, + 0.0357247454266113, + -0.030449837052838265, + 1.0 + ], + [ + -0.0013585870263799482, + -0.0007149196901724553, + -0.013308421276685467, + 0.02541707992960576, + 0.04493950090652107, + -0.003867397338651739, + 1.0 + ], + [ + -0.0015638690913641617, + 0.00020699933208927213, + -0.009482597280738692, + 0.01585646891248789, + 0.008816762956244721, + -0.0026587674128214084, + 1.0 + ], + [ + 0.0016391116284923957, + -0.0019540428093811346, + 0.004809701445607703, + 0.010303467158781757, + -0.013088200692954806, + -0.004205349643743137, + 1.0 + ], + [ + -0.0007354652996377498, + -0.002369546000095507, + -0.0006265938176734237, + 0.006619081379632155, + -0.0007717352341895937, + -0.013916376424461026, + 0.0 + ], + [ + 7.65600434099456e-06, + -0.0008900285404296188, + 0.004663441298428592, + 0.002848710467970072, + 0.0016596677876717246, + -0.0012911198689931184, + 0.0 + ], + [ + 0.0009356285315373358, + -0.004442917276712824, + 0.005978570024645455, + -0.014925273749615322, + -0.017504979989305034, + -0.010476459748150459, + 0.0 + ], + [ + 0.006705378437387721, + -0.011491561345891813, + 0.012935469345798048, + -0.034106361540468276, + -0.03291903320689699, + -0.02938973499394005, + 0.0 + ], + [ + 0.012598613154296279, + -0.024461105543265832, + 0.02213208289500186, + -0.050362652205506286, + -0.06782320636392764, + -0.07248530759269899, + 0.0 + ], + [ + 0.005558362931815053, + -0.010511271111579623, + 0.022444502508370393, + -0.0271929781451795, + -0.03769193738369778, + -0.022768041026619223, + 0.0 + ], + [ + 0.00606723245332641, + 0.01207499404722523, + 0.023466947569233048, + -0.04389594753441451, + -0.04937965902185206, + 0.03766082940421895, + 0.0 + ], + [ + 0.009383013675295482, + 0.03194053078106532, + 0.0359441773992666, + -0.016354562236560604, + -0.055356523973808046, + 0.07419332885185598, + 0.0 + ], + [ + 0.01399007455948087, + 0.034934319365710814, + 0.02498761103376644, + -0.015593707928196804, + -0.053367379178468746, + 0.07142266070455179, + 0.0 + ], + [ + 0.013340538586761319, + 0.024559988507749902, + 0.015822295105232156, + 0.003906449260718931, + -0.05194283966726377, + 0.037345447517188775, + 0.0 + ], + [ + 0.01700506891901793, + 0.01838788322173507, + 0.01017777702551674, + 0.04114796857638926, + -0.03725553772271319, + 0.01670387943196541, + 0.0 + ], + [ + 0.0185796410135039, + 0.012990997529038532, + 0.010060211437031286, + 0.052581060746826704, + -0.03931572635024373, + 0.02481001505182904, + 0.0 + ], + [ + 0.019666913216141002, + 0.010844453586835022, + 0.004510699177018615, + 0.028189034531635127, + -0.020244615655957685, + 0.03490193773910904, + 0.0 + ], + [ + 0.016929204585262703, + 0.007677939910959077, + -0.004134062544546041, + 0.0002462423726670873, + 0.0025465778792765213, + 0.021349827953116185, + 0.0 + ], + [ + 0.020231413237261908, + 0.012208072989941206, + -0.015361167201804748, + 0.03426045993086774, + 0.03261058436521543, + 0.030488877015261664, + 0.0 + ], + [ + 0.016959994613715, + 0.010130890526981741, + -0.014294080346978447, + 0.019260101724863376, + 0.032686059280902804, + 0.004523170184764543, + 0.0 + ], + [ + 0.01804150781611452, + -0.0005203422822812886, + -0.01080984502701643, + -0.009432908152259216, + -0.009349686594778325, + -0.024365375135088515, + 0.0 + ], + [ + -0.0021393933484260552, + -0.00593967299174053, + -0.0034565857912549486, + -0.0184501733248043, + -0.0003235161759518435, + 0.02397407749775747, + 1.0 + ], + [ + -0.007903518107085616, + -0.007999673872521902, + 2.23110845917196e-05, + -0.009025407506347746, + -0.008303213765491774, + -0.007883002358102624, + 1.0 + ], + [ + -0.003291422894496965, + -0.008291837650254909, + 0.006385105704282412, + 0.0012700561840674226, + 0.0006156725656210549, + -0.031274141957358, + 1.0 + ], + [ + -0.004665296689396359, + -0.0016553043715974193, + 0.010791019713820127, + -0.010900073264588908, + -0.018889820356046975, + -0.0011438086508052015, + 1.0 + ], + [ + -0.005829676071255563, + 0.003153827705999212, + 0.014343511031675596, + -0.0080966773369898, + -0.026027160541552803, + 0.003830154361327711, + 1.0 + ], + [ + -0.01977842923364359, + 0.0049619236890692635, + 0.01642423924356022, + -0.01716410776533935, + 0.0053936912683467154, + -0.004806899661955991, + 1.0 + ], + [ + -0.04435251531976453, + -0.004423441393921597, + 0.005405579208849626, + -0.045408719614357385, + 0.06579889533561357, + -0.06253656603171588, + 1.0 + ], + [ + -0.04576528916059819, + -0.00648065239059387, + -0.005507539426312796, + 0.0035581955931631173, + 0.05517480388328671, + 0.0053662284322383395, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 225.6853790283203, + 202.31582641601562 + ], + [ + 225.65325927734375, + 205.30911254882812 + ], + [ + 255.03875732421875, + 222.6717987060547 + ], + [ + 300.7025146484375, + 247.6187286376953 + ], + [ + 353.76849365234375, + 275.5587158203125 + ], + [ + 398.5418701171875, + 327.13604736328125 + ], + [ + 413.3225402832031, + 359.8256530761719 + ], + [ + 415.4100646972656, + 387.2974853515625 + ], + [ + 414.6768493652344, + 410.0038757324219 + ], + [ + 420.9526672363281, + 420.1595458984375 + ], + [ + 429.4612121582031, + 432.9336242675781 + ], + [ + 429.4090270996094, + 440.9874267578125 + ], + [ + 428.64495849609375, + 441.7962341308594 + ], + [ + 428.11669921875, + 442.219970703125 + ], + [ + 424.7236328125, + 441.66644287109375 + ], + [ + 421.2848205566406, + 440.0348815917969 + ], + [ + 423.5146179199219, + 443.7118225097656 + ], + [ + 440.16326904296875, + 446.70379638671875 + ], + [ + 474.80841064453125, + 440.04779052734375 + ], + [ + 507.97039794921875, + 419.7344970703125 + ], + [ + 518.6021728515625, + 398.0731201171875 + ], + [ + 488.0992431640625, + 339.8784484863281 + ], + [ + 457.07196044921875, + 280.73883056640625 + ], + [ + 421.499755859375, + 237.28823852539062 + ], + [ + 405.2636413574219, + 195.6282958984375 + ], + [ + 425.2882080078125, + 172.7022247314453 + ], + [ + 394.0670166015625, + 131.34548950195312 + ], + [ + 395.872314453125, + 117.90254211425781 + ], + [ + 393.9742431640625, + 116.48028564453125 + ], + [ + 392.21002197265625, + 121.7028579711914 + ], + [ + 394.6058654785156, + 121.77233123779297 + ], + [ + 397.3892822265625, + 121.11660766601562 + ], + [ + 398.9320068359375, + 133.79635620117188 + ], + [ + 409.4826354980469, + 135.67034912109375 + ], + [ + 406.9430236816406, + 130.74032592773438 + ], + [ + 410.5579833984375, + 117.46321105957031 + ], + [ + 406.1497802734375, + 107.51603698730469 + ], + [ + 382.8389587402344, + 112.2119140625 + ], + [ + 351.34429931640625, + 140.88833618164062 + ], + [ + 349.66998291015625, + 155.93734741210938 + ], + [ + 349.45806884765625, + 155.35707092285156 + ], + [ + 348.82684326171875, + 155.0587158203125 + ] + ], + "depth_max": 1.2132377624511719, + "depth_min": 0.20559196174144745, + "intrinsic": [ + [ + 547.02099609375, + 0.0, + 259.0 + ], + [ + 0.0, + 545.4219970703125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 8.729143155505881e-05, + 9.887955093290657e-05, + 1.5214293853205163e-05 + ], + [ + -8.729457476874813e-05, + 1.0, + 3.185262903571129e-05, + 1.8226332031190395e-05 + ], + [ + -9.887677151709795e-05, + -3.186126195942052e-05, + 1.0, + -4.125960549572483e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 41 + ], + "object_trajectory": [ + [ + 377.7500305175781, + 410.5000305175781 + ], + [ + 378.0245666503906, + 410.44171142578125 + ], + [ + 377.9630126953125, + 410.4509582519531 + ], + [ + 377.60601806640625, + 410.399169921875 + ], + [ + 377.63958740234375, + 410.34625244140625 + ], + [ + 377.6902160644531, + 410.53009033203125 + ], + [ + 377.5606689453125, + 410.59576416015625 + ], + [ + 377.37152099609375, + 410.57647705078125 + ], + [ + 376.53668212890625, + 410.7540283203125 + ], + [ + 376.4845275878906, + 410.86993408203125 + ], + [ + 377.042236328125, + 411.2197265625 + ], + [ + 375.91448974609375, + 411.4403991699219 + ], + [ + 376.55169677734375, + 412.1021423339844 + ], + [ + 376.8172302246094, + 411.548583984375 + ], + [ + 377.1382141113281, + 411.82647705078125 + ], + [ + 379.19073486328125, + 412.3249206542969 + ], + [ + 384.188720703125, + 416.91619873046875 + ], + [ + 398.5057373046875, + 428.8170166015625 + ], + [ + 432.68609619140625, + 422.2970275878906 + ], + [ + 474.4130859375, + 410.8414611816406 + ], + [ + 484.6898193359375, + 392.7161865234375 + ], + [ + 455.1148681640625, + 339.8294372558594 + ], + [ + 427.30767822265625, + 289.5400695800781 + ], + [ + 395.1502685546875, + 249.18528747558594 + ], + [ + 380.6778869628906, + 208.3949432373047 + ], + [ + 373.90496826171875, + 172.30780029296875 + ], + [ + 369.98382568359375, + 144.60328674316406 + ], + [ + 372.03515625, + 130.05789184570312 + ], + [ + 367.75732421875, + 126.03451538085938 + ], + [ + 364.92486572265625, + 129.79486083984375 + ], + [ + 365.2774658203125, + 126.22187042236328 + ], + [ + 368.18035888671875, + 126.84825134277344 + ], + [ + 365.4960021972656, + 129.47254943847656 + ], + [ + 365.2982177734375, + 130.49610900878906 + ], + [ + 366.59906005859375, + 130.6599578857422 + ], + [ + 366.572509765625, + 130.35946655273438 + ], + [ + 363.8104248046875, + 129.2439727783203 + ], + [ + 364.3843688964844, + 129.65284729003906 + ], + [ + 368.23236083984375, + 132.78919982910156 + ], + [ + 369.03546142578125, + 135.6796112060547 + ], + [ + 369.91845703125, + 137.22877502441406 + ], + [ + 370.9214782714844, + 137.79566955566406 + ] + ] +} \ No newline at end of file diff --git a/001902_v2/lang.txt b/001902_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..e605a67536079f9cbc21f9ef24d04bd7e36ea0db --- /dev/null +++ b/001902_v2/lang.txt @@ -0,0 +1 @@ +put the purple cloth in the washing machine diff --git a/001912_v2/FAIL b/001912_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/001912_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/001918_v2/FAIL b/001918_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/001918_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/001922_v2/data.json b/001922_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..6be35dcea843cdf4a87932c6b50b159fa82dafba --- /dev/null +++ b/001922_v2/data.json @@ -0,0 +1,696 @@ +{ + "action_start": 10, + "action_end": 23, + "object_name": "cesto blanco", + "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, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 5.551115123125783e-17, + -1.3877787807814457e-17, + 6.938893903907228e-18, + -5.499589444813624e-07, + -5.6349728287705465e-08, + -3.372233695246583e-07, + 1.0 + ], + [ + 0.0014813565247741578, + 0.019936597752847507, + -0.0019892505523366345, + 0.009382587966410113, + 0.018806965886776023, + 0.0584168003366731, + 1.0 + ], + [ + 0.00014427003400274696, + 0.01845333659272995, + 0.003637461439283192, + 0.04667066803894668, + 0.006441289181334074, + 0.008590603148805583, + 1.0 + ], + [ + 0.0009271097195229228, + 0.033510320010618454, + 0.0030974136177225227, + 0.04289313583320944, + -0.003781762462552693, + 0.09545687476516215, + 1.0 + ], + [ + -0.00406222931651451, + 0.02929733008031338, + -0.00648443672633787, + 0.04977191525399305, + -0.009514128329086586, + 0.15535104909278358, + 1.0 + ], + [ + -0.005424229308503226, + 0.02779273257415773, + -0.0159733424365466, + 0.034205260071151586, + 0.05335144491674236, + 0.12617816282954547, + 1.0 + ], + [ + -0.0035575634165750936, + 0.022334755639987068, + -0.012447368985901772, + 0.03011737724203164, + 0.03432178906205264, + 0.1095790231095341, + 1.0 + ], + [ + -0.002176603697591789, + 0.023880500708307537, + -0.002523051385100802, + 0.029291045046904957, + 0.013234659695028635, + 0.11196308959201244, + 1.0 + ], + [ + 0.00011044076533223146, + 0.016044007619813665, + -0.0029339195272044816, + 0.011344463193609617, + 0.015556170523219308, + 0.0673352806094898, + 1.0 + ], + [ + 0.0008755619876595899, + 0.007063303601685236, + -0.00037558386637337113, + 0.007396299423473376, + -0.014466730000933074, + 0.023449383341815122, + 1.0 + ], + [ + -0.0018458009810603526, + 0.005631334455065445, + -0.012810019237756383, + -0.029229249267830455, + 0.014873982996446905, + 0.019116021355300022, + 1.0 + ], + [ + 0.0012341161232592712, + -0.007137594802307065, + -0.014250428688952672, + 0.014228164577628629, + -0.02508483336598756, + -0.0024167377733121504, + 0.0 + ], + [ + 0.0016808676684023915, + -0.010145015140179889, + -0.006246877130168665, + 0.004172470389968501, + 0.006858259852029454, + -0.015169595494918047, + 0.0 + ], + [ + 0.0035477758040000917, + -0.0106276722716631, + -0.0014031527815809783, + -0.0016410196285095745, + 0.017088298144027188, + -0.026712924908272536, + 0.0 + ], + [ + 0.003764849741217824, + -0.006923385388005007, + 0.004449120563154933, + 0.001882001303406644, + 0.0006158328987899703, + -0.028142003873966835, + 0.0 + ], + [ + -0.00023925901005794614, + 0.0008239359646812355, + 0.011379204651983658, + 0.0025043367755962415, + -0.012420602366531072, + 0.0059604426710752785, + 0.0 + ], + [ + 0.001861943329759641, + -0.00288518932486162, + 0.021711708084689148, + 0.014890266219455679, + -0.03248428289858271, + 0.0004964316794710782, + 0.0 + ], + [ + 0.004222258714040472, + -0.020758128836756436, + 0.019383461838709756, + 0.007067602665806096, + -0.024410417758764846, + -0.03935801731196879, + 0.0 + ], + [ + 0.00605067344474719, + -0.03570385971903046, + 0.012562054359416517, + -0.02654774747917661, + -0.02493970935863749, + -0.08077002683631868, + 0.0 + ], + [ + 0.002911345564263257, + -0.042398143693628924, + 0.0032522064697753242, + -0.021586917306897296, + -0.004309824517148832, + -0.08400590857646463, + 0.0 + ], + [ + 0.00012502922452473086, + -0.03502304232982505, + -0.007658532443190556, + -0.03259623150937215, + -0.01970280351810539, + -0.07596923754365356, + 0.0 + ], + [ + 0.0011258576377370377, + -0.03536328085467349, + -0.01297903508619149, + -0.012840589963687848, + 0.012075432775766663, + -0.08902725304801028, + 0.0 + ], + [ + -0.0018525721578115384, + -0.018286998410039973, + -0.015994618601037965, + -0.030127091369352915, + 0.02662793232826474, + -0.06119665913972417, + 0.0 + ], + [ + -0.0038734706211260295, + -0.014360371795735516, + -0.014118009539488833, + -0.031771577239318505, + 0.01801605631496723, + -0.05150237562303242, + 0.0 + ], + [ + -0.002323354052750859, + -0.002393389778252153, + -0.0028035793788810867, + 0.0013888710274795883, + 0.015737478195224062, + -0.009445817574661213, + 1.0 + ], + [ + -0.00027541251326784755, + -0.00014841919653588165, + 0.004378824809928919, + 0.0027811163832251445, + -0.012154468961084004, + 0.003321159855622614, + 1.0 + ], + [ + 0.0004084298241045503, + 0.0013003018829284285, + 0.0037465077625410334, + -5.47436271745275e-05, + -0.012718265886646414, + -0.0006827682434315288, + 1.0 + ], + [ + 0.0018588438245213668, + -0.0016508968879815067, + 0.006479708482134472, + -0.00779223959815403, + -0.013142969798599169, + -0.021104346017535545, + 1.0 + ], + [ + -0.0030735100811130067, + -0.005926816719035277, + 0.013308528506437597, + -0.01803212178952967, + -0.03138732634657287, + -0.02618812320424855, + 1.0 + ], + [ + -0.0024712400281373392, + -0.0038434633875938096, + 0.009111567163733193, + -0.007548283400454389, + -0.016558753658863196, + -0.03433102259902303, + 1.0 + ], + [ + -0.006168110906727975, + -7.272480101319645e-05, + 0.023306613279965457, + -0.023364534707214404, + -0.047918817190395126, + -0.006350369711155926, + 1.0 + ], + [ + -0.002355684526747337, + 0.006589160679492889, + 0.017799060927094337, + -0.0014698297425767652, + -0.05860783815736073, + 0.010060751404069562, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 426.90533447265625, + 330.06744384765625 + ], + [ + 425.0259094238281, + 335.15673828125 + ], + [ + 407.3419494628906, + 336.4129638671875 + ], + [ + 380.10479736328125, + 325.2247314453125 + ], + [ + 336.505615234375, + 305.85888671875 + ], + [ + 302.744384765625, + 308.67742919921875 + ], + [ + 264.3554382324219, + 306.0361328125 + ], + [ + 242.9671630859375, + 313.62823486328125 + ], + [ + 215.78732299804688, + 306.83148193359375 + ], + [ + 197.276123046875, + 302.00335693359375 + ], + [ + 189.6878662109375, + 298.11431884765625 + ], + [ + 186.03683471679688, + 307.275146484375 + ], + [ + 183.11917114257812, + 315.5133056640625 + ], + [ + 194.8406219482422, + 323.4481201171875 + ], + [ + 201.56661987304688, + 325.099853515625 + ], + [ + 204.29702758789062, + 321.65411376953125 + ], + [ + 207.2383575439453, + 319.1358947753906 + ], + [ + 217.5955047607422, + 306.6138916015625 + ], + [ + 235.69845581054688, + 294.4388427734375 + ], + [ + 274.94769287109375, + 294.36212158203125 + ], + [ + 324.2445983886719, + 307.488525390625 + ], + [ + 367.16290283203125, + 331.1636657714844 + ], + [ + 406.4604187011719, + 359.4619140625 + ], + [ + 433.6611022949219, + 391.348388671875 + ], + [ + 442.918212890625, + 410.4074401855469 + ], + [ + 453.03271484375, + 418.2825927734375 + ], + [ + 457.77197265625, + 421.1370849609375 + ], + [ + 458.12554931640625, + 420.7118225097656 + ], + [ + 462.95281982421875, + 414.02227783203125 + ], + [ + 470.543701171875, + 409.1756591796875 + ], + [ + 479.19647216796875, + 408.5032043457031 + ], + [ + 481.13446044921875, + 396.5150146484375 + ], + [ + 474.6669921875, + 380.36712646484375 + ], + [ + 476.54168701171875, + 376.93182373046875 + ], + [ + 476.002685546875, + 377.07513427734375 + ] + ], + "depth_max": 1.273557186126709, + "depth_min": 0.24727895855903625, + "intrinsic": [ + [ + 554.4552612304688, + 0.0, + 259.0 + ], + [ + 0.0, + 553.567138671875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.4228328836907167e-05, + 5.7074321375694126e-05, + 8.336462997249328e-06 + ], + [ + -1.422681179974461e-05, + 1.0, + -2.6586982130538672e-05, + 7.851872396713588e-06 + ], + [ + -5.7074699725490063e-05, + 2.658617086126469e-05, + 1.0, + -0.00011488882591947913 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 34 + ], + "object_trajectory": [ + [ + 147.5, + 327.25 + ], + [ + 147.97308349609375, + 327.3706970214844 + ], + [ + 147.96539306640625, + 327.2130126953125 + ], + [ + 147.813232421875, + 327.348388671875 + ], + [ + 147.8775177001953, + 327.2783508300781 + ], + [ + 147.8299102783203, + 327.17474365234375 + ], + [ + 147.89756774902344, + 327.097412109375 + ], + [ + 147.55612182617188, + 327.2773132324219 + ], + [ + 143.96829223632812, + 325.9219970703125 + ], + [ + 143.39306640625, + 327.2529602050781 + ], + [ + 142.29969787597656, + 326.19427490234375 + ], + [ + 144.3321533203125, + 330.8296813964844 + ], + [ + 146.46519470214844, + 335.1895751953125 + ], + [ + 146.40475463867188, + 322.10272216796875 + ], + [ + 162.7173614501953, + 330.7370910644531 + ], + [ + 167.3809051513672, + 329.00848388671875 + ], + [ + 171.2139892578125, + 327.9957580566406 + ], + [ + 185.51513671875, + 324.50543212890625 + ], + [ + 201.59283447265625, + 311.6037292480469 + ], + [ + 235.5639190673828, + 313.7119140625 + ], + [ + 281.18267822265625, + 324.4099426269531 + ], + [ + 313.05816650390625, + 344.79150390625 + ], + [ + 346.1509704589844, + 368.4224853515625 + ], + [ + 373.6933898925781, + 398.74591064453125 + ], + [ + 381.4911804199219, + 409.7110900878906 + ], + [ + 400.183837890625, + 407.26800537109375 + ], + [ + 399.111083984375, + 407.9180908203125 + ], + [ + 393.8748474121094, + 405.6999816894531 + ], + [ + 394.50848388671875, + 407.52215576171875 + ], + [ + 397.86187744140625, + 400.9552307128906 + ], + [ + 402.3377380371094, + 402.2456359863281 + ], + [ + 404.68231201171875, + 408.61895751953125 + ], + [ + 404.8259582519531, + 408.5539245605469 + ], + [ + 405.2571105957031, + 408.861328125 + ], + [ + 405.1834716796875, + 408.554931640625 + ] + ] +} \ No newline at end of file diff --git a/001922_v2/lang.txt b/001922_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..b1bd78773e1b6b88d6f2d60e6ccde85313613a13 --- /dev/null +++ b/001922_v2/lang.txt @@ -0,0 +1 @@ +poner el cesto blanco sobre el trapo azul diff --git a/001930_v2/data.json b/001930_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..dd90f4b741afa18e8bce66ce2ba2819d78e00fd2 --- /dev/null +++ b/001930_v2/data.json @@ -0,0 +1,714 @@ +{ + "action_start": 6, + "action_end": 20, + "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, + 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": [ + [ + -5.551115123125783e-17, + -1.0842021724855044e-17, + 6.938893903907228e-18, + -7.387292466796185e-08, + 4.3505672279436285e-07, + 6.170256069427002e-07, + 1.0 + ], + [ + -0.005712245902598889, + 0.007180429124094471, + -0.0034565782100978194, + -0.021134981604075582, + 0.05389732492057803, + -0.007100514389665126, + 1.0 + ], + [ + -0.0076985252525769154, + 0.008341013462264618, + -0.0018295131389718076, + 0.024752070514297207, + 0.040432030396640714, + 0.00928501084265881, + 1.0 + ], + [ + -0.0085538328612757, + 0.017393493381934064, + -0.00807590160619485, + 0.0585415160847912, + 0.0682296777184108, + 0.01120671382159509, + 1.0 + ], + [ + -0.002640738402531595, + 0.009044662692623995, + -0.009063653077387608, + 0.01574746991584247, + 0.041240123092726066, + -0.009640822914156898, + 1.0 + ], + [ + -0.0009748353174106605, + 0.00296672168651424, + -0.021732810132250674, + 0.0031957969380339638, + 0.08811094233707908, + -0.0005631817797377687, + 1.0 + ], + [ + 0.0065094754073769245, + -0.0019698294590883084, + -0.01959821907768436, + -0.07178785603256457, + -0.01883546373071952, + -0.02703509534082704, + 1.0 + ], + [ + 0.008149079486284544, + -0.004497338005006679, + -0.0168300393477802, + -0.01193557786483393, + -0.022087019124537338, + -0.0004616756246256343, + 0.0 + ], + [ + 0.0020529264375929723, + -0.0009245165253103371, + -0.0032715937933002967, + 0.009379869276402488, + -0.0039543927048790615, + 0.0037792998535265865, + 0.0 + ], + [ + -0.00027124210885604016, + 0.00015729774417398007, + -0.0014418648727996253, + 0.010996517891444015, + 0.009445754157490873, + 0.005756186388955814, + 0.0 + ], + [ + -0.0010082667501656317, + -0.0012631419101310007, + -3.402882065930979e-05, + 0.006752509195635609, + -0.0002283194428037342, + -0.002178902917463973, + 0.0 + ], + [ + -0.0017727390732961146, + 0.00046221588547566, + 0.0050325180759709515, + 0.002151052618247456, + -0.005463264571863129, + 0.005359947360063029, + 0.0 + ], + [ + -0.010174683272759555, + 0.010453761282342856, + 0.013866964373142485, + 0.012534639006381862, + -0.033023408091887994, + 0.047802341771995494, + 0.0 + ], + [ + -0.00498311699335291, + 0.0073089237605123425, + 0.0184438480601379, + -0.028817423143208763, + -0.05629624511309872, + 0.05166049410316917, + 0.0 + ], + [ + 0.006022500854896917, + -0.01509266667382983, + 0.01418882349875411, + -0.07191328855119218, + -0.04200958144441256, + 0.010065588139530075, + 0.0 + ], + [ + 0.007035774005490686, + -0.021576350688956143, + 0.011978074871778426, + -0.02144579704841249, + -0.035937324039391455, + -0.023535169172438006, + 0.0 + ], + [ + 0.007119349771783912, + -0.026865475935594674, + 0.003984236577475397, + -0.008581010498038019, + -0.022100812724591756, + -0.04268217872206264, + 0.0 + ], + [ + 0.007673447638402775, + -0.024261690921463082, + -0.006818465346327053, + -0.008765851628397372, + 0.021431261491031663, + -0.05987704082747757, + 0.0 + ], + [ + 0.006391932372612208, + -0.0156206401599638, + -0.009596257265432421, + -0.0001999133986539044, + 0.018247289478134157, + -0.05379528638287047, + 0.0 + ], + [ + 0.0071684348939455855, + -0.012432110140571523, + -0.017406997734166783, + -0.013402284687230249, + 0.03009013341703616, + -0.05917565932935313, + 0.0 + ], + [ + 0.0073707586500222355, + -0.005834967569547003, + -0.016989837047312287, + -0.023536645442310763, + 0.027969287453629865, + -0.04108653383417611, + 0.0 + ], + [ + 0.004001729866440984, + -0.0025261011014056367, + -0.004276956736616502, + 0.00930503867939553, + 0.029128470509685724, + -0.021649550031047092, + 1.0 + ], + [ + 0.00019042203335190022, + 0.001867450172203411, + 0.0025883535388865203, + 0.0020179994377632357, + -0.0032296416969945486, + 0.004358489387159775, + 1.0 + ], + [ + -0.004092078539659816, + 0.0029928925141767537, + 0.010072780720890663, + 0.00949746293744855, + -0.01208643299019579, + 0.0034727815962978465, + 1.0 + ], + [ + -0.0035010606493048324, + 0.0007442137743524091, + 0.012151395933805917, + -0.004446666643505066, + -0.03410101743414938, + -0.003974297443903859, + 1.0 + ], + [ + -0.0017463018684250597, + 0.0021791458814313797, + 0.009738514199622184, + -0.005375860137839279, + -0.022187440827600345, + 0.0026883407589140484, + 1.0 + ], + [ + -0.00012283781357158574, + 0.005544863112638465, + 0.015033521881190465, + -0.007460831242220809, + -0.025694941899567034, + 0.014915513800207472, + 1.0 + ], + [ + -0.004177117613543113, + 0.01234648147437041, + 0.015944448162812278, + -0.00550041554174254, + -0.04129549257562212, + 0.022820166937369525, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 306.29766845703125, + 277.7476501464844 + ], + [ + 304.90216064453125, + 283.07171630859375 + ], + [ + 295.5504150390625, + 294.4144287109375 + ], + [ + 279.25775146484375, + 300.07720947265625 + ], + [ + 255.51702880859375, + 306.06011962890625 + ], + [ + 243.1324920654297, + 311.494384765625 + ], + [ + 240.35415649414062, + 330.03472900390625 + ], + [ + 252.89598083496094, + 338.15399169921875 + ], + [ + 250.90663146972656, + 330.32568359375 + ], + [ + 257.18609619140625, + 338.62164306640625 + ], + [ + 258.106689453125, + 337.4452209472656 + ], + [ + 258.7424011230469, + 336.9676513671875 + ], + [ + 261.2104187011719, + 336.4302673339844 + ], + [ + 257.616943359375, + 343.87615966796875 + ], + [ + 236.18753051757812, + 337.3538513183594 + ], + [ + 242.2044677734375, + 324.44677734375 + ], + [ + 268.7444152832031, + 317.5828552246094 + ], + [ + 302.7497863769531, + 324.0460205078125 + ], + [ + 335.15069580078125, + 332.5905456542969 + ], + [ + 354.20660400390625, + 341.4726257324219 + ], + [ + 374.5025634765625, + 356.9263916015625 + ], + [ + 385.15826416015625, + 365.04278564453125 + ], + [ + 391.69293212890625, + 356.4920654296875 + ], + [ + 392.4408874511719, + 356.7764892578125 + ], + [ + 391.09136962890625, + 365.15936279296875 + ], + [ + 390.6677551269531, + 358.54034423828125 + ], + [ + 389.15399169921875, + 351.50238037109375 + ], + [ + 383.0233154296875, + 336.1207580566406 + ], + [ + 366.10748291015625, + 319.5706787109375 + ], + [ + 364.2137451171875, + 313.4554748535156 + ], + [ + 363.95782470703125, + 313.82159423828125 + ], + [ + 363.95904541015625, + 314.1809997558594 + ], + [ + 363.971435546875, + 313.87109375 + ], + [ + 363.9999694824219, + 313.90557861328125 + ], + [ + 363.9192199707031, + 313.89508056640625 + ], + [ + 363.9267578125, + 314.0230712890625 + ] + ], + "depth_max": 1.2496082782745361, + "depth_min": 0.20340749621391296, + "intrinsic": [ + [ + 514.4324340820312, + 0.0, + 259.0 + ], + [ + 0.0, + 513.5280151367188, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.3296459403354675e-05, + 3.637165355030447e-05, + -1.8298123904969543e-06 + ], + [ + -2.3296830477192998e-05, + 1.0, + 1.0184171514993068e-05, + -3.6297024053055793e-06 + ], + [ + -3.6371413443703204e-05, + -1.0185020073549822e-05, + 1.0, + -5.186332782614045e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 35 + ], + "object_trajectory": [ + [ + 343.5, + 369.75 + ], + [ + 343.8311767578125, + 370.0849609375 + ], + [ + 343.7477111816406, + 370.2952880859375 + ], + [ + 343.7539367675781, + 369.99346923828125 + ], + [ + 343.7241516113281, + 370.02630615234375 + ], + [ + 343.61724853515625, + 369.80169677734375 + ], + [ + 343.6734619140625, + 369.58453369140625 + ], + [ + 343.3013000488281, + 369.60540771484375 + ], + [ + 332.9808349609375, + 357.42620849609375 + ], + [ + 344.9008483886719, + 347.08282470703125 + ], + [ + 349.1729431152344, + 348.67828369140625 + ], + [ + 350.3695373535156, + 349.1279296875 + ], + [ + 354.6434326171875, + 351.70550537109375 + ], + [ + 353.1005859375, + 365.38787841796875 + ], + [ + 329.85089111328125, + 364.4825439453125 + ], + [ + 320.30096435546875, + 350.2092590332031 + ], + [ + 348.9804382324219, + 343.2242736816406 + ], + [ + 383.8424072265625, + 353.7391662597656 + ], + [ + 414.74322509765625, + 366.9386291503906 + ], + [ + 435.4471435546875, + 382.3859558105469 + ], + [ + 454.117431640625, + 401.28173828125 + ], + [ + 463.6449279785156, + 408.1125183105469 + ], + [ + 466.50732421875, + 405.5590515136719 + ], + [ + 466.08453369140625, + 405.41583251953125 + ], + [ + 474.3699951171875, + 413.59735107421875 + ], + [ + 474.7033996582031, + 413.39117431640625 + ], + [ + 474.6153564453125, + 413.1313171386719 + ], + [ + 474.55841064453125, + 412.9849548339844 + ], + [ + 474.6666564941406, + 412.8216247558594 + ], + [ + 474.5547180175781, + 412.9043273925781 + ], + [ + 474.61859130859375, + 413.038818359375 + ], + [ + 474.6295471191406, + 413.00146484375 + ], + [ + 474.759033203125, + 413.12158203125 + ], + [ + 474.6834716796875, + 412.8669128417969 + ], + [ + 474.74127197265625, + 412.9384765625 + ], + [ + 474.856689453125, + 412.9248352050781 + ] + ] +} \ No newline at end of file diff --git a/001930_v2/lang.txt b/001930_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..825b64fdd7d600721314f18f49a6e89d75ed5420 --- /dev/null +++ b/001930_v2/lang.txt @@ -0,0 +1 @@ +move the white basket to the lower right corner of the table diff --git a/001953_v2/FAIL b/001953_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/001953_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/001968_v2/data.json b/001968_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..52ca455232d3342a92394e3248d813c0ae99a82e --- /dev/null +++ b/001968_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 11, + "action_end": 35, + "object_name": "orange cloth", + "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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.842247, + 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, + 0.0, + -6.938893903907228e-18, + 2.532338291987084e-07, + 2.5993141677401826e-07, + 5.264260288797875e-07, + 1.0 + ], + [ + 0.022024046003808195, + -0.023208472234803018, + 0.007128656914324787, + -0.018117822646129513, + -0.06037330790607469, + -0.054057484429307336, + 1.0 + ], + [ + 0.02238667875116121, + -0.025130714699544976, + 0.0065518486650386065, + -0.03331357971597533, + -0.0474458227544634, + -0.04791689367504206, + 1.0 + ], + [ + 0.022006568822668132, + -0.03155562433193796, + 0.0011075997259128167, + -0.03185467085662702, + -0.034120707685755126, + -0.06316659594363062, + 1.0 + ], + [ + 0.026040992977705124, + -0.039223030035269536, + -0.006026637272624594, + -0.04959236119073652, + -0.02932279609891908, + -0.1121875277099468, + 1.0 + ], + [ + 0.015527200799003993, + -0.034184391167270615, + -0.004653885167071662, + -0.013688740821397212, + 0.0029834433641675873, + -0.08521054586176488, + 1.0 + ], + [ + 0.008120160302466761, + -0.028300326647003667, + -0.005135692004781112, + -0.0006907335030863104, + 0.012881268619605798, + -0.09075329751034686, + 1.0 + ], + [ + -0.004358385293444289, + -0.023852832852483144, + -0.010705336769515147, + 0.018912293650325682, + 0.04071579775984044, + -0.07191672711955564, + 1.0 + ], + [ + -0.004924721871557458, + -0.0067802225643068675, + -0.010202445148841348, + 0.015794656612223002, + 0.035232818802725344, + -0.014462259917032913, + 1.0 + ], + [ + -0.007898021459919247, + 0.008391142834301632, + -0.01324225143302846, + 0.04367424692959362, + 0.046239677823305896, + 0.03102129648603785, + 1.0 + ], + [ + -0.006359944583086086, + 0.008820799739966967, + -0.00982768887657369, + 0.019235487166044077, + 0.03898706179317535, + 0.024201542400751452, + 1.0 + ], + [ + -0.0023263777768522953, + 0.002497854974044131, + -0.0045103096870760945, + 0.001977654696298812, + 0.011395764418033355, + 0.00011225507006701981, + 1.0 + ], + [ + -0.0008476984695872103, + -0.0013558271788296494, + -0.0011370950352560388, + 0.013837807899347358, + -0.014982087435143206, + 0.014295528728430195, + 0.0 + ], + [ + 0.0006693099708180994, + 0.0009752445675986349, + 0.000883841326386331, + 0.005357881787210631, + -0.0003079735128860883, + 0.0018076969410274154, + 0.0 + ], + [ + 0.0015410316807125124, + 0.0021288922277761108, + 0.0035806887556075057, + 0.0013352561851591388, + -0.004247143225476166, + 0.006363564711597244, + 0.0 + ], + [ + 0.0027255002922046967, + 0.0028740646338238918, + 0.0046638545681463445, + -0.0028276756160535927, + -0.012814724607521907, + 0.006822339781084228, + 0.0 + ], + [ + 0.0037591875261939744, + 0.004884075871080182, + 0.009167937149086737, + 0.004260671903487486, + -0.02354136639628258, + 0.012847651058244532, + 0.0 + ], + [ + 0.00246315259497093, + 0.008169349599487216, + 0.015617321887242686, + 0.06531251308867093, + 0.000675407660923223, + 0.024278524100086532, + 0.0 + ], + [ + 0.0063855635666342225, + 0.009013031357389498, + 0.028900652386831878, + 0.012620309906187796, + -0.08012924238391013, + 0.02850536034820103, + 0.0 + ], + [ + 0.0075026906954204775, + 0.005936170657418388, + 0.021482230440118336, + -9.3432449895318e-05, + -0.06193183858571379, + 0.019470068913966344, + 0.0 + ], + [ + 0.007170142536184809, + 0.0031688726423442504, + 0.012354917676658965, + -0.01378279569433912, + -0.028504019079637156, + -0.002140090930490852, + 0.0 + ], + [ + 0.0003780391829659724, + 0.0030579539282355322, + 0.004594023967235211, + 0.00047195722893648225, + -0.011847860979103807, + 0.008205048236683879, + 0.0 + ], + [ + -0.0004887214829920605, + 0.0025079225414151723, + 0.00035789175586919963, + -0.0019515228500780505, + -7.848831817275935e-05, + 0.004704963106493637, + 0.0 + ], + [ + -0.0030776308443353217, + 0.0040574218053411465, + 0.002930988001055679, + 0.004647804068337114, + 0.00272793789380586, + 0.01637970370791983, + 0.0 + ], + [ + 0.0018702060630775286, + 0.01046057494888035, + 0.013639462575210141, + 0.003352204158043912, + -0.02879859025958774, + 0.025160974987295845, + 0.0 + ], + [ + 0.00013141355426204981, + 0.021239585088418472, + 0.007848694401730055, + 0.003363931948924056, + -0.02323970363009698, + 0.053121653718383476, + 0.0 + ], + [ + 0.0027416863909981992, + 0.014662281223551787, + 0.0020520021884357365, + 0.006664817218627087, + 0.0003714728539488847, + 0.024401235292108237, + 0.0 + ], + [ + 0.008488361497071162, + 0.018787345703738204, + 0.0022248873464192492, + 0.009528491072932983, + 0.004718136539589325, + 0.009475918615588457, + 0.0 + ], + [ + 0.016813746148752362, + 0.014515411571858372, + 0.001790357935561801, + -0.009691286540160722, + -0.03206885856878963, + -0.03058715298312544, + 0.0 + ], + [ + 0.019574373963333114, + 0.00983079589567308, + 0.005194444197053297, + -0.0034955283903106357, + -0.015834138892264784, + 0.0010016785930920039, + 0.0 + ], + [ + 0.023142914978606266, + 0.00432606249229951, + 0.005988323284123256, + 0.004814290253648356, + -0.050080626666042495, + -0.009965154593559653, + 0.0 + ], + [ + 0.021503400462878575, + -0.0005569548482517541, + 0.00286867261344273, + 0.0026017950300735435, + -0.03152528345198495, + -0.02875977356238415, + 0.0 + ], + [ + 0.025553026424331715, + -0.0036550648923890923, + -0.0025926469323525048, + 0.00014558042716875428, + -0.023188231997054425, + -0.027627096202359244, + 0.0 + ], + [ + 0.01425854571192331, + -0.0025666203619614863, + -0.005181562558589897, + 0.009398743753169368, + 0.00909438389312122, + -0.01711259870683231, + 0.0 + ], + [ + 0.011997396299288976, + 0.0016041867241693717, + -0.005308043643748886, + 0.0064829199159401035, + 0.004404265090840917, + -0.01635812634610885, + 0.0 + ], + [ + 0.00787080373898319, + 0.0063868075233260305, + -0.004958825004719544, + -0.002978187116157393, + 0.008048784257525553, + -0.017498448446717024, + 0.842247 + ], + [ + -0.003907529233985407, + -0.0007241165420511821, + -0.0037636829991902487, + -0.0007466651866342474, + 0.016449916990568136, + 0.004563060938959845, + 1.0 + ], + [ + -0.006626246274469838, + -0.006747966029659427, + -0.0007410639165579547, + -0.017882957867351862, + -0.0035899238326275425, + 0.0028538124426454657, + 1.0 + ], + [ + -0.00916663468203971, + -0.00682671897528025, + 0.005947595458451596, + 0.0025808461341153863, + -0.0017354981960918858, + -0.002643396378032776, + 1.0 + ], + [ + -0.007498665674628924, + -0.004963033257288591, + 0.007981452935634237, + 0.01102900888023736, + -0.02490368523527934, + -0.008834687973193377, + 1.0 + ], + [ + -0.013758572720284357, + -0.0006717240469994636, + 0.016935676397849764, + 0.016170151945446364, + -0.0352266090312462, + 0.011738741071071857, + 1.0 + ], + [ + -0.026464600718357434, + 0.0010852232287832143, + 0.011515463264199277, + 0.016454384308611448, + -0.027959670468244574, + 0.039541879653471765, + 1.0 + ], + [ + -0.023126341327312505, + -0.0009108116863028749, + 0.0015280568800157684, + 0.007835204271795774, + -0.0026022017783534812, + 0.0304433437141881, + 1.0 + ], + [ + -0.03153420279697, + -0.006585102360017873, + -0.005356548948637671, + 0.018283455737738822, + 0.010760038199010866, + 0.020830808899495498, + 1.0 + ], + [ + -0.01503225860486851, + -0.009711041997494861, + -0.020006284759308005, + 0.005251053258387804, + 0.05263248756583942, + -0.039939986036531705, + 1.0 + ], + [ + -0.009806496799701858, + -0.02120733655896798, + -0.015543338301807472, + 0.0016953462501401553, + 0.09467513184953372, + -0.06380782174977338, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 159.11151123046875, + 317.7934265136719 + ], + [ + 160.0282440185547, + 321.98828125 + ], + [ + 191.48092651367188, + 316.45562744140625 + ], + [ + 231.901123046875, + 301.1380615234375 + ], + [ + 287.3187561035156, + 295.850341796875 + ], + [ + 349.831298828125, + 295.49737548828125 + ], + [ + 398.47186279296875, + 298.097900390625 + ], + [ + 443.99725341796875, + 312.3826904296875 + ], + [ + 473.1134033203125, + 334.86859130859375 + ], + [ + 481.9473876953125, + 333.1136474609375 + ], + [ + 470.1436462402344, + 346.5531921386719 + ], + [ + 456.22979736328125, + 371.3572998046875 + ], + [ + 448.8116455078125, + 375.5563659667969 + ], + [ + 443.6629333496094, + 374.9051208496094 + ], + [ + 440.7437438964844, + 373.7395935058594 + ], + [ + 437.02655029296875, + 372.7068786621094 + ], + [ + 435.810791015625, + 371.9386291503906 + ], + [ + 434.6621398925781, + 367.75201416015625 + ], + [ + 424.83154296875, + 348.052490234375 + ], + [ + 424.27801513671875, + 309.8817443847656 + ], + [ + 420.9897155761719, + 278.750244140625 + ], + [ + 418.4033203125, + 268.13214111328125 + ], + [ + 413.443115234375, + 258.7309265136719 + ], + [ + 413.1849060058594, + 252.56964111328125 + ], + [ + 407.12744140625, + 249.76524353027344 + ], + [ + 397.32305908203125, + 229.07003784179688 + ], + [ + 374.391845703125, + 213.4660186767578 + ], + [ + 351.9193115234375, + 200.73828125 + ], + [ + 337.6172180175781, + 184.5919189453125 + ], + [ + 327.51141357421875, + 164.4281768798828 + ], + [ + 326.8634033203125, + 136.92892456054688 + ], + [ + 334.39288330078125, + 117.18453216552734 + ], + [ + 347.296142578125, + 98.79055786132812 + ], + [ + 360.94476318359375, + 86.88797760009766 + ], + [ + 366.6461181640625, + 89.2694091796875 + ], + [ + 372.80303955078125, + 91.90592956542969 + ], + [ + 374.18170166015625, + 99.35476684570312 + ], + [ + 375.5199279785156, + 102.53324127197266 + ], + [ + 378.32928466796875, + 103.05332946777344 + ], + [ + 379.9562072753906, + 105.50387573242188 + ], + [ + 384.47222900390625, + 104.55865478515625 + ], + [ + 382.0271911621094, + 94.19441223144531 + ], + [ + 368.28717041015625, + 93.28556060791016 + ], + [ + 358.67803955078125, + 98.17207336425781 + ], + [ + 345.0455322265625, + 123.5662841796875 + ], + [ + 345.3357849121094, + 158.64093017578125 + ], + [ + 356.66131591796875, + 184.48171997070312 + ], + [ + 366.77813720703125, + 200.61138916015625 + ] + ], + "depth_max": 1.238335371017456, + "depth_min": 0.24395790696144104, + "intrinsic": [ + [ + 539.7601318359375, + 0.0, + 259.0 + ], + [ + 0.0, + 538.797119140625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 9.634745219955221e-05, + 5.615166082861833e-05, + 5.866040737600997e-07 + ], + [ + -9.634687012294307e-05, + 1.0, + -1.0297088920196984e-05, + -2.0968454919056967e-06 + ], + [ + -5.615265035885386e-05, + 1.0291678336216137e-05, + 1.0, + -6.191497959662229e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 492.25, + 400.25 + ], + [ + 492.3548583984375, + 400.6597595214844 + ], + [ + 492.28875732421875, + 400.4241943359375 + ], + [ + 492.3791809082031, + 400.4625244140625 + ], + [ + 492.1051940917969, + 400.4998474121094 + ], + [ + 492.4702453613281, + 400.374755859375 + ], + [ + 492.80230712890625, + 400.6193542480469 + ], + [ + 492.74029541015625, + 400.7205810546875 + ], + [ + 493.15509033203125, + 400.84564208984375 + ], + [ + 492.179443359375, + 395.6777648925781 + ], + [ + 471.5076904296875, + 407.32208251953125 + ], + [ + 460.8123474121094, + 421.3214416503906 + ], + [ + 436.47735595703125, + 421.26025390625 + ], + [ + 450.9697265625, + 426.10955810546875 + ], + [ + 451.2539978027344, + 428.8227233886719 + ], + [ + 448.8623962402344, + 429.7724914550781 + ], + [ + 448.9726257324219, + 430.9396667480469 + ], + [ + 448.6935119628906, + 428.2502746582031 + ], + [ + 439.62274169921875, + 412.74456787109375 + ], + [ + 438.9059143066406, + 388.6958312988281 + ], + [ + 434.72674560546875, + 357.0591735839844 + ], + [ + 432.77313232421875, + 345.7915954589844 + ], + [ + 428.40057373046875, + 335.7350769042969 + ], + [ + 427.26898193359375, + 329.3440856933594 + ], + [ + 421.622314453125, + 325.3125 + ], + [ + 412.6372375488281, + 305.603759765625 + ], + [ + 390.47869873046875, + 289.3943176269531 + ], + [ + 363.5931701660156, + 271.23480224609375 + ], + [ + 354.15228271484375, + 253.5322265625 + ], + [ + 343.79766845703125, + 234.2325439453125 + ], + [ + 340.8738098144531, + 205.07913208007812 + ], + [ + 346.31829833984375, + 181.32470703125 + ], + [ + 357.63604736328125, + 162.48475646972656 + ], + [ + 367.56146240234375, + 142.06692504882812 + ], + [ + 361.2977600097656, + 136.38339233398438 + ], + [ + 355.37249755859375, + 138.64552307128906 + ], + [ + 357.302734375, + 142.135498046875 + ], + [ + 364.943359375, + 135.5603790283203 + ], + [ + 363.3277893066406, + 145.91397094726562 + ], + [ + 362.92138671875, + 146.79832458496094 + ], + [ + 363.8332824707031, + 146.99862670898438 + ], + [ + 368.69927978515625, + 137.4647979736328 + ], + [ + 367.3373718261719, + 138.8466796875 + ], + [ + 366.9559326171875, + 140.57061767578125 + ], + [ + 367.24139404296875, + 146.8800048828125 + ], + [ + 368.88214111328125, + 152.61460876464844 + ], + [ + 375.1248779296875, + 156.49002075195312 + ], + [ + 376.5787658691406, + 160.76182556152344 + ] + ] +} \ No newline at end of file diff --git a/001968_v2/lang.txt b/001968_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..68c1cab17fd3d5ac1fbcbe394175f2b93c2d9ffe --- /dev/null +++ b/001968_v2/lang.txt @@ -0,0 +1 @@ +take the orange cloth out of the basket and put it on the washer diff --git a/001986_v2/FAIL b/001986_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/001986_v2/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/002020/data.json b/002020/data.json new file mode 100644 index 0000000000000000000000000000000000000000..464252424ddf7531441174011fbc3e9584b153aa --- /dev/null +++ b/002020/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 13, + "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, + 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, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 2.0847673587454096e-10, + 5.799805080641818e-12, + -6.603215058076373e-10, + -5.392554601092322e-07, + -1.482952391982204e-07, + 5.122212446024188e-07, + 1.0 + ], + [ + 0.00569056351432129, + -0.01191270878218173, + 0.006801701282940359, + -0.003405907673320551, + -0.028636166654289016, + -0.09350154294828754, + 1.0 + ], + [ + 0.006560448770102867, + -0.016989138987870203, + 0.016057213558804156, + 0.009635338470503407, + 0.03925469928475062, + -0.02117310842408586, + 1.0 + ], + [ + -0.0006368830411419557, + -0.022032347205615317, + 0.006254683354365145, + -0.04793336932128166, + -0.04549313912521185, + -0.10913026510294722, + 1.0 + ], + [ + -0.005251286610893802, + -0.01651498854426505, + -0.014098552470880987, + -0.054320604732060074, + -0.08233108324002836, + -0.20502642590631714, + 1.0 + ], + [ + -0.004507403981875602, + -0.01818800199522214, + -0.013122889717707809, + -0.02965012676587709, + -0.06378713199772627, + -0.14799001819460736, + 1.0 + ], + [ + 0.010746465356511803, + -0.011376643059617185, + -0.009456858702939858, + -0.014661241706502084, + -0.07025492326838985, + -0.0781951724696084, + 1.0 + ], + [ + 0.01568013271922425, + -0.009629496520637573, + -0.002739519693089665, + 0.007074876864934372, + -0.015467528014514674, + -0.022484934682769034, + 1.0 + ], + [ + 0.013477489276409071, + -0.005402827313329028, + -0.004797617996666587, + 0.03993958232057797, + -0.009412856052803441, + 0.014237167825405421, + 1.0 + ], + [ + 0.0074753082073459876, + -0.007223649092460399, + -0.012430274008334158, + -0.006535102311552655, + 0.011491809051044419, + -0.005779030574928405, + 1.0 + ], + [ + 0.005409207022186613, + -0.0072907521648159085, + -0.01225731708886979, + 0.008174462810094965, + 0.013969644855631444, + 0.0028146668712102233, + 1.0 + ], + [ + 0.006950424051211934, + -0.0019742760938600556, + -0.015502942925642034, + -0.025209266234007623, + -0.005990895037933287, + -0.021249827152498388, + 1.0 + ], + [ + 0.0045449062424586795, + -0.002415505706414016, + -0.008160488614319991, + -0.0187750249697874, + -0.009203928513063113, + 0.0013055864220906813, + 1.0 + ], + [ + -0.0023166321964266934, + -0.003999930186653039, + -0.006208285976068956, + -0.02390353225257812, + 0.0008961982983436415, + 0.031642851235552, + 1.0 + ], + [ + -0.0019348444915599505, + -0.000788612742491035, + 0.0031115971283071746, + 0.01614582453773256, + -0.0034793628232591906, + 0.012543105260132512, + 0.0 + ], + [ + -0.001173977677921878, + 0.0006589916149499914, + 0.0018347262364221996, + 0.011936887433159831, + 0.007828618003868183, + -0.01217573248359843, + 0.0 + ], + [ + -0.0027789321394970368, + 0.00031163925766872214, + 0.006382388659868525, + 0.010163615297464406, + 0.02416756799781942, + -0.019621182122117616, + 0.0 + ], + [ + -0.005256665569982277, + -0.0004097837546790939, + 0.011596821817570638, + -0.016913902745442792, + 0.035189152430014685, + 0.011801551495549983, + 0.0 + ], + [ + -0.0066019789718329, + 0.004393323155239659, + 0.02465729554576247, + 0.08866091095687417, + 0.010478406647169832, + -0.0012935740938063742, + 0.0 + ], + [ + -0.02130290014983477, + 0.01090154629454343, + 0.01356408090241834, + 0.061493091835174166, + 0.01126317345430989, + 0.00789499307818189, + 0.0 + ], + [ + -0.023019770087260583, + 0.008071749716970944, + -0.0018749503511941018, + 0.026093509991348372, + 0.04624700824652402, + 0.042283783323510495, + 0.0 + ], + [ + -0.023883557364162755, + 0.005707193906249158, + -0.006559533291621081, + 0.04133038071438666, + 0.014251912306240202, + 0.044748165314716565, + 0.0 + ], + [ + -0.011566648689889047, + 0.004113758495254159, + -0.013676450171659457, + 0.0005373876090120047, + -0.0290407657486007, + 0.013971371964406178, + 0.0 + ], + [ + -0.011248436647562032, + -0.002547860643353595, + -0.0189918441082587, + -0.02422214289851712, + -0.03431953413246247, + 0.04297743021429949, + 0.0 + ], + [ + -0.0028824490564089977, + -0.0033811833616830683, + -0.014053235345858818, + -0.020073028093671123, + -0.01918972939854924, + 0.016212216428560865, + 0.0 + ], + [ + -0.002163319157976268, + -0.004645139616339118, + 0.0017927210391978227, + 0.01039794518108371, + 0.006589063936612693, + 0.02352348704287869, + 0.0 + ], + [ + 0.0013948392028984291, + -0.005829320321619272, + 0.0194319174997845, + 0.048461100521207424, + 0.025059478029131624, + 0.026462554325845735, + 1.0 + ], + [ + 0.007511420391364626, + -0.003305823558329181, + 0.03441966540235847, + 0.056379201603880984, + 0.06597562962703478, + -0.005455257115745007, + 1.0 + ], + [ + 0.011989726671057604, + 0.0011455328884938942, + 0.032553638403077775, + 0.040077882149340556, + 0.054913061132931644, + -0.0164468852408542, + 1.0 + ], + [ + 0.014325798631600495, + 0.0027518865957713023, + 0.03018361190694374, + 0.06493703946596223, + 0.058843567627431585, + -0.043292258119702894, + 1.0 + ], + [ + 0.006488153318007006, + -0.005583424343790111, + 0.01250313256305667, + 0.03107962230851276, + 0.031869827957836536, + -0.004344007509159089, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 283.8562927246094, + 124.28384399414062 + ], + [ + 283.76806640625, + 132.53453063964844 + ], + [ + 289.5836181640625, + 136.80482482910156 + ], + [ + 312.9124755859375, + 116.8010025024414 + ], + [ + 355.8384704589844, + 123.31523132324219 + ], + [ + 366.56756591796875, + 147.75961303710938 + ], + [ + 364.751953125, + 172.06893920898438 + ], + [ + 392.7349853515625, + 181.9573516845703 + ], + [ + 409.53424072265625, + 187.7871856689453 + ], + [ + 427.653564453125, + 184.18194580078125 + ], + [ + 444.7067565917969, + 195.6387481689453 + ], + [ + 455.96038818359375, + 206.40541076660156 + ], + [ + 463.6871032714844, + 221.35531616210938 + ], + [ + 468.7915954589844, + 229.09341430664062 + ], + [ + 471.703857421875, + 230.10498046875 + ], + [ + 467.82391357421875, + 231.33670043945312 + ], + [ + 475.78302001953125, + 238.3662872314453 + ], + [ + 462.0577087402344, + 237.10452270507812 + ], + [ + 459.1903381347656, + 232.1345977783203 + ], + [ + 455.204345703125, + 209.22979736328125 + ], + [ + 446.21923828125, + 198.9994659423828 + ], + [ + 422.5075988769531, + 213.6183319091797 + ], + [ + 393.59906005859375, + 236.82290649414062 + ], + [ + 379.71234130859375, + 264.4320068359375 + ], + [ + 376.6014404296875, + 315.15765380859375 + ], + [ + 372.84075927734375, + 311.8492431640625 + ], + [ + 377.25982666015625, + 318.32598876953125 + ], + [ + 384.0830078125, + 313.532470703125 + ], + [ + 402.8598937988281, + 262.28839111328125 + ], + [ + 424.7667236328125, + 202.88479614257812 + ], + [ + 447.52655029296875, + 142.639404296875 + ], + [ + 462.4853210449219, + 74.80836486816406 + ], + [ + 475.87042236328125, + 106.10845184326172 + ], + [ + 474.85040283203125, + 105.94830322265625 + ], + [ + 474.22943115234375, + 106.17314910888672 + ], + [ + 474.06573486328125, + 106.5694808959961 + ], + [ + 474.423828125, + 105.85811614990234 + ], + [ + 473.61016845703125, + 105.00393676757812 + ] + ], + "depth_max": 1.433876872062683, + "depth_min": 0.25312620401382446, + "intrinsic": [ + [ + 500.10748291015625, + 0.0, + 259.0 + ], + [ + 0.0, + 500.2928466796875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.213824311387725e-05, + -5.32710000697989e-05, + -1.2183143553556874e-05 + ], + [ + -3.2139814720721915e-05, + 1.0, + -2.947252505691722e-05, + -1.5805253497092053e-06 + ], + [ + 5.327005419530906e-05, + 2.9474234906956553e-05, + 1.0, + -3.2492593163624406e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 503.7500305175781, + 237.75 + ], + [ + 503.94525146484375, + 237.9630126953125 + ], + [ + 503.9255676269531, + 238.12777709960938 + ], + [ + 503.9810791015625, + 238.02035522460938 + ], + [ + 504.2437744140625, + 237.84449768066406 + ], + [ + 504.11468505859375, + 237.9950408935547 + ], + [ + 504.00067138671875, + 237.8828125 + ], + [ + 504.2482604980469, + 237.79994201660156 + ], + [ + 504.7237243652344, + 237.39942932128906 + ], + [ + 504.8368835449219, + 237.55499267578125 + ], + [ + 504.923828125, + 237.68350219726562 + ], + [ + 505.0460205078125, + 237.7506561279297 + ], + [ + 505.4624938964844, + 237.47067260742188 + ], + [ + 505.8193664550781, + 236.82920837402344 + ], + [ + 505.7450256347656, + 235.9039306640625 + ], + [ + 502.99322509765625, + 231.70285034179688 + ], + [ + 503.7894287109375, + 231.48870849609375 + ], + [ + 496.7624206542969, + 230.8646240234375 + ], + [ + 495.53875732421875, + 229.85501098632812 + ], + [ + 493.8882751464844, + 206.37693786621094 + ], + [ + 489.3902587890625, + 197.51620483398438 + ], + [ + 468.5154724121094, + 213.23782348632812 + ], + [ + 440.13623046875, + 231.97235107421875 + ], + [ + 425.86773681640625, + 258.1988830566406 + ], + [ + 414.6947021484375, + 295.8157958984375 + ], + [ + 418.2655029296875, + 305.5259094238281 + ], + [ + 417.3709411621094, + 307.8063659667969 + ], + [ + 395.0272521972656, + 334.3120422363281 + ], + [ + 360.3897705078125, + 373.8983459472656 + ], + [ + 345.2039489746094, + 387.7760009765625 + ], + [ + 341.6976318359375, + 386.9710693359375 + ], + [ + 340.64239501953125, + 386.9307556152344 + ], + [ + 339.842041015625, + 386.38433837890625 + ], + [ + 339.2997131347656, + 386.18719482421875 + ], + [ + 338.8031005859375, + 386.17578125 + ], + [ + 338.63629150390625, + 386.41827392578125 + ], + [ + 338.2298889160156, + 386.041015625 + ], + [ + 337.0185852050781, + 385.59759521484375 + ] + ] +} \ No newline at end of file diff --git a/002020/lang.txt b/002020/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..460c0f31b4dbb6631fb36ad01409918ef0e3861b --- /dev/null +++ b/002020/lang.txt @@ -0,0 +1 @@ +put carrot on plate diff --git a/002020/object.ply b/002020/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..7238f3dad4eb11f04d3ad7d933f351d86ad1ea57 Binary files /dev/null and b/002020/object.ply differ diff --git a/002033/data.json b/002033/data.json new file mode 100644 index 0000000000000000000000000000000000000000..396a1071efce13dd878a800699b8bc6b4d0bad8e --- /dev/null +++ b/002033/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 11, + "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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5831500000000001, + 1.0, + 1.0, + 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, + 4.163336342344337e-17, + 0.0, + -1.3050293257919936e-07, + -2.7777475588202713e-07, + 1.7099515751878925e-07, + 1.0 + ], + [ + -0.0033225337696486945, + -0.015796186415014284, + 0.016012855381118837, + 0.1119916339787451, + -0.10012068966579274, + -0.09807427684584907, + 1.0 + ], + [ + -0.00834117437881482, + -0.010688994451804018, + 0.015596053033998969, + -0.027353447381782976, + 0.01578992169278219, + -0.09076102903271653, + 1.0 + ], + [ + -0.01413757218518974, + -0.017124396128081545, + 0.0032719415529291612, + -0.016295841574624277, + -0.017132715113105677, + -0.05072796938801105, + 1.0 + ], + [ + -0.01537349119407877, + -0.014429345493848326, + -0.014910593478285286, + -0.02876762442827569, + -0.02628952985135855, + -0.03785702741534406, + 1.0 + ], + [ + -0.010952905167717075, + -0.009178091350864948, + -0.020061340243341497, + -0.0005365887943789472, + 0.00922143833165615, + -0.1105705895017624, + 1.0 + ], + [ + -0.004214802195900869, + -0.0035456723757987113, + -0.01735296350089796, + 0.015468288360211748, + 0.053037244659455286, + -0.04493071897830057, + 1.0 + ], + [ + -6.109510404814222e-05, + 0.002287271856643555, + -0.012458895265430953, + 0.04628508535017571, + 0.020486492107663117, + -0.017737897237510795, + 1.0 + ], + [ + 0.001722522726068959, + -0.00095382712716921, + -0.012649157050922531, + 0.029395105510332566, + 0.016232293783816097, + -0.006084457433228955, + 1.0 + ], + [ + 0.0015560192932363714, + -0.00039103520163315253, + -0.011569653300529725, + 0.014000904484448767, + 0.007340521503508933, + 0.00675441385622564, + 1.0 + ], + [ + 0.002133715431625327, + 0.0009196316205032293, + -0.014103735107140306, + -0.015895117339861417, + 0.028798736695757485, + -0.004029863998355852, + 1.0 + ], + [ + 0.0012419538117925955, + 0.0003722070395024736, + -0.011718810118922167, + -0.028572960609010097, + 0.018556909388096506, + 0.00026105576904038536, + 1.0 + ], + [ + 0.0019043558481605383, + -0.00022523156162116212, + 0.001616017622233554, + -0.001053248567135067, + 0.012421228473593865, + -0.016298947045640548, + 0.0 + ], + [ + 0.002052804342055764, + -0.0010372225205813948, + 0.015905338122547973, + 0.03632742023266424, + 0.019431249691481377, + 0.009247362466212616, + 0.0 + ], + [ + 0.007853627773906191, + -0.0034305843238793023, + 0.02567363980146522, + 0.023046614829834344, + 0.03287904531275734, + -0.006263324833259163, + 0.0 + ], + [ + 0.011004938732628256, + -0.002491694738053607, + 0.01905940638926583, + -9.917445944349919e-05, + 0.01889161447954163, + -0.037242777405181275, + 0.0 + ], + [ + 0.014993533345421195, + -0.0019721098823774572, + 0.010283351565830635, + 0.00273406410181607, + -0.003226081668186239, + -0.061101705973158636, + 0.0 + ], + [ + 0.0250964819466456, + -0.006606176634988862, + -0.007315929431777862, + -0.04769180039068293, + -0.05318620616127121, + -0.20448619867612, + 0.0 + ], + [ + 0.024228584454331126, + -0.0038244134334534004, + -0.004875864560798984, + -0.004841321820783611, + -0.028539093979602612, + -0.08566382034029611, + 0.0 + ], + [ + 0.020675134447008192, + -0.004027563667862182, + -0.0005239865214153108, + -0.00197451882506322, + -0.004136311701702379, + -0.07175345400850734, + 0.0 + ], + [ + 0.0059290809321783655, + -0.005298069922885371, + -0.0046102647230996385, + -0.008795861670080353, + -0.03868513015188028, + -0.06902306621761507, + 0.0 + ], + [ + -0.005562583936200516, + -0.004045868858220762, + -0.005727548699632164, + -0.01319658462934931, + -0.02945363242052179, + -0.028643239296396925, + 0.0 + ], + [ + -0.00559187971642694, + -0.004329352875446604, + -0.002670389329554039, + 0.016689244091525317, + -0.03772155882947189, + -0.026211816748742147, + 0.0 + ], + [ + -0.005566939687358219, + -0.0015353238894800988, + -0.000511145259907822, + 0.004139604155201362, + -0.015127746163890723, + 0.02371536099045839, + 0.5831500000000001 + ], + [ + 0.0006145907755868429, + 0.0016660970601904707, + 0.002867095791588982, + 0.005824584536633133, + -0.0003426760896611393, + 0.00033184205034436263, + 1.0 + ], + [ + 0.005585289010564043, + 0.0040698128305828064, + 0.015524784241412647, + 0.03916177928876699, + -0.023195903532520157, + -0.004392308518781829, + 1.0 + ], + [ + 0.0035688041332597176, + 0.003024510100394416, + 0.020456968203368633, + 0.05561126929305305, + -0.03386811884197081, + 0.008455428058257978, + 1.0 + ], + [ + -0.003875986897229733, + -0.0025599845473010894, + 0.025865846516226157, + 0.044565522847988454, + -0.0038315996785937274, + 0.049327497869591466, + 1.0 + ], + [ + -0.0040005408788042485, + -0.0030522774912564755, + 0.022285388500988934, + 0.030222929672256815, + 0.010821674267863868, + 0.04050531618273377, + 1.0 + ], + [ + -0.008254109771000662, + -0.0017097735170730627, + 0.014570974804415243, + 0.028549706778538735, + -0.0029097387150230094, + 0.04039139486915738, + 1.0 + ], + [ + -0.016811783342598974, + -0.004447525159544358, + 0.00955615516962817, + -0.03913142776699374, + -0.007616131621210206, + 0.10408050247464352, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 245.01280212402344, + 130.97543334960938 + ], + [ + 244.83169555664062, + 135.1153564453125 + ], + [ + 243.8678741455078, + 154.8230438232422 + ], + [ + 271.9005432128906, + 139.32192993164062 + ], + [ + 251.57611083984375, + 139.9403839111328 + ], + [ + 281.5152893066406, + 178.8965301513672 + ], + [ + 267.90826416015625, + 213.6803741455078 + ], + [ + 272.1707458496094, + 235.67678833007812 + ], + [ + 279.329345703125, + 251.24981689453125 + ], + [ + 277.218994140625, + 261.04052734375 + ], + [ + 285.65667724609375, + 274.2077941894531 + ], + [ + 289.2059020996094, + 289.39556884765625 + ], + [ + 286.21002197265625, + 297.361572265625 + ], + [ + 282.4367980957031, + 288.13543701171875 + ], + [ + 286.3320617675781, + 284.46807861328125 + ], + [ + 294.756591796875, + 256.81597900390625 + ], + [ + 304.0110778808594, + 222.21139526367188 + ], + [ + 315.61517333984375, + 190.46734619140625 + ], + [ + 335.76104736328125, + 181.82884216308594 + ], + [ + 359.1126708984375, + 170.056640625 + ], + [ + 372.78668212890625, + 158.52090454101562 + ], + [ + 382.2467041015625, + 159.41249084472656 + ], + [ + 386.7614440917969, + 168.98988342285156 + ], + [ + 383.46673583984375, + 188.4794921875 + ], + [ + 382.4073486328125, + 193.22064208984375 + ], + [ + 380.5706481933594, + 196.06192016601562 + ], + [ + 379.623291015625, + 183.8592529296875 + ], + [ + 380.20751953125, + 157.92611694335938 + ], + [ + 387.10345458984375, + 132.62606811523438 + ], + [ + 396.6602783203125, + 108.06294250488281 + ], + [ + 396.6533203125, + 88.76458740234375 + ], + [ + 401.65765380859375, + 71.84297180175781 + ], + [ + 404.80047607421875, + 66.5062026977539 + ], + [ + 404.19305419921875, + 66.09896850585938 + ], + [ + 403.9602966308594, + 65.3585433959961 + ], + [ + 404.0118408203125, + 65.68202209472656 + ], + [ + 404.0544738769531, + 65.82035827636719 + ], + [ + 403.9775085449219, + 65.97744750976562 + ] + ], + "depth_max": 1.4921553134918213, + "depth_min": 0.24828092753887177, + "intrinsic": [ + [ + 510.148681640625, + 0.0, + 259.0 + ], + [ + 0.0, + 510.3514404296875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.402634320082143e-05, + -5.866348874405958e-05, + -1.0813622793648392e-05 + ], + [ + -3.40290462190751e-05, + 1.0, + -4.6076926082605496e-05, + -9.001377293316182e-06 + ], + [ + 5.866192441317253e-05, + 4.607891969499178e-05, + 1.0, + 3.1201416277326643e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 280.5, + 297.25 + ], + [ + 280.819580078125, + 297.51226806640625 + ], + [ + 280.9659423828125, + 297.06494140625 + ], + [ + 281.027587890625, + 296.77490234375 + ], + [ + 281.24969482421875, + 296.8633117675781 + ], + [ + 281.30499267578125, + 296.5556335449219 + ], + [ + 281.4997253417969, + 296.79400634765625 + ], + [ + 281.62933349609375, + 296.65753173828125 + ], + [ + 281.8135070800781, + 296.6044616699219 + ], + [ + 281.83306884765625, + 296.4914855957031 + ], + [ + 282.3767395019531, + 296.2361145019531 + ], + [ + 281.95965576171875, + 296.1433410644531 + ], + [ + 282.10858154296875, + 295.57891845703125 + ], + [ + 279.59698486328125, + 289.3232727050781 + ], + [ + 281.3695373535156, + 287.333740234375 + ], + [ + 292.54498291015625, + 263.04345703125 + ], + [ + 302.3919677734375, + 230.96075439453125 + ], + [ + 307.4768371582031, + 205.9413299560547 + ], + [ + 328.6286926269531, + 196.7440185546875 + ], + [ + 354.83349609375, + 190.77439880371094 + ], + [ + 367.861572265625, + 180.75074768066406 + ], + [ + 380.791748046875, + 173.00820922851562 + ], + [ + 388.34637451171875, + 180.89125061035156 + ], + [ + 391.08251953125, + 196.15838623046875 + ], + [ + 394.7461853027344, + 198.66046142578125 + ], + [ + 395.7278747558594, + 206.7423095703125 + ], + [ + 405.12353515625, + 203.69537353515625 + ], + [ + 396.05322265625, + 201.97552490234375 + ], + [ + 391.4067077636719, + 196.1270294189453 + ], + [ + 391.1047058105469, + 193.84649658203125 + ], + [ + 390.7655029296875, + 193.6819610595703 + ], + [ + 390.89239501953125, + 193.90066528320312 + ], + [ + 391.3681640625, + 194.0658416748047 + ], + [ + 390.87078857421875, + 193.9059600830078 + ], + [ + 391.4173583984375, + 194.16598510742188 + ], + [ + 391.2864685058594, + 194.0609130859375 + ], + [ + 391.1308288574219, + 194.1711883544922 + ], + [ + 391.8058776855469, + 194.1554412841797 + ] + ] +} \ No newline at end of file diff --git a/002033/lang.txt b/002033/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..460c0f31b4dbb6631fb36ad01409918ef0e3861b --- /dev/null +++ b/002033/lang.txt @@ -0,0 +1 @@ +put carrot on plate diff --git a/002033/object.ply b/002033/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..ea41117a02bbd49dbf69ad6fb02d7617128a6995 Binary files /dev/null and b/002033/object.ply differ diff --git a/002049/data.json b/002049/data.json new file mode 100644 index 0000000000000000000000000000000000000000..3f084596679c2a813e0e3f02598e654c9c3164f0 --- /dev/null +++ b/002049/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 12, + "action_end": 24, + "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, + 0.0, + 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, + 2.7755575615628914e-17, + -1.3877787807814457e-17, + 7.682096163177882e-08, + -4.6781766101779293e-07, + 5.414696076123839e-07, + 1.0 + ], + [ + 0.014185542619112423, + -0.011303932443576803, + 0.020213122239765513, + 0.11344370258156497, + -0.018724405898865905, + 0.08386410374700122, + 1.0 + ], + [ + 0.015009510426731654, + -0.015476068130534731, + 0.024937182759864243, + 0.053418377810224044, + 0.007545072050366683, + 0.02837434599668383, + 1.0 + ], + [ + 0.005915999017353568, + -0.030113026007014404, + 0.005205960244936983, + -0.04126399826138797, + -0.008841276852033685, + 0.1719949318525294, + 1.0 + ], + [ + -5.2726895227450665e-05, + -0.027935069328210882, + -0.010132680177148884, + -0.09076470280286168, + -0.00042890897253403077, + 0.17511258549887276, + 1.0 + ], + [ + 0.003868210229388769, + -0.017616626839162958, + -0.005839830513142991, + -0.07988009979115397, + 0.019255541760556515, + 0.06103630288643212, + 1.0 + ], + [ + 0.004409134687578586, + -0.015557827350684263, + -0.0058375038121130235, + -0.023157000893967414, + -0.03419165879322388, + 0.008786745386079589, + 1.0 + ], + [ + 0.001765437145018145, + -0.008945565500016923, + -0.0029239707098480533, + -0.01377615952456189, + -0.012982883041727742, + 0.0032824883387537534, + 1.0 + ], + [ + -0.001976027902366728, + -0.006197203875406086, + -0.015292296199251557, + -0.02034876996345451, + -0.0021048956142474887, + 0.021397218375681874, + 1.0 + ], + [ + -0.0021495024083432734, + -0.0010035093588169394, + -0.022501590545441374, + 0.006676492736309558, + -0.005007135381866829, + 0.014525465348309693, + 1.0 + ], + [ + 0.0021571108305196707, + 0.0010524794958416965, + -0.01562091587410553, + -0.007569585143707483, + 0.008527367377062599, + -0.0073139526781066085, + 1.0 + ], + [ + 0.0015552666958881245, + 0.00015064844863627675, + -0.00857477482775977, + -0.0207039686917182, + -0.0019063699340502842, + -0.007852676137406329, + 1.0 + ], + [ + 0.001579750585458839, + -0.0011715793548748125, + -0.011850502750382304, + -0.02502319947757116, + -0.009134353731236783, + -0.004940708993713862, + 1.0 + ], + [ + -1.2844491322550056e-05, + -0.0006592087143152078, + -0.0018808752490809127, + -0.0023482483466185553, + 0.0035972503818652475, + -0.003966165671073143, + 0.0 + ], + [ + -0.0004101131923791024, + -0.0008283134156911952, + 0.010029241927192924, + 0.007701801464021682, + 0.010378652671596008, + -0.001765696587242964, + 0.0 + ], + [ + -0.0028370050513020773, + -0.00308209299601841, + 0.017211485930359646, + 0.018242676633195353, + 0.0015807039895167298, + 0.033332274987665826, + 0.0 + ], + [ + -0.008543646182031406, + -0.002199047904115497, + 0.02113443676885119, + -0.015593182518224898, + -0.004094959927259349, + 0.07518582614012541, + 0.0 + ], + [ + -0.011303906003738484, + 0.009035937599624018, + 0.013934004209704712, + 0.01258299103426672, + -0.01351994581780588, + 0.10049772918704808, + 0.0 + ], + [ + -0.01216788673335939, + 0.018592153801100138, + -0.0014932207148928983, + 0.038673833276524, + -0.015431381336507585, + 0.15094352126279928, + 0.0 + ], + [ + -0.008155949837203302, + 0.01612000388760245, + -0.0067380063068566975, + 0.009014094750047637, + -0.00942505381921112, + 0.10343674476952214, + 0.0 + ], + [ + -0.008523237915121995, + 0.007404218307666882, + -0.0106102810756344, + 0.01727883451286985, + -0.030924228448144984, + 0.14671173814283556, + 0.0 + ], + [ + -0.010271670431491797, + -0.0005384578893255637, + -0.011810246209069966, + 0.02518480918191329, + -0.03844153590106243, + 0.08404882592103954, + 0.0 + ], + [ + -0.013714973063615687, + -0.00954019558420191, + -0.008893230503221328, + 0.011451228876431041, + -0.034025224306482846, + 0.060461853949019734, + 0.0 + ], + [ + -0.006452272139944093, + -0.004647673316771982, + -0.0015104893660178517, + 0.00834414735536506, + -0.018036883569481098, + 0.018269900444184528, + 0.0 + ], + [ + -0.002425559251651055, + -0.0007176467422481056, + 0.002298926009577963, + 0.02165977232717499, + -0.02661323012132213, + 0.014609648898136398, + 0.0 + ], + [ + 0.0007778999494890693, + 0.0029801961183897677, + 0.004485343902828058, + 0.008654913412982131, + -0.005562364193705121, + -0.03474603554655958, + 1.0 + ], + [ + 0.002743686412396029, + 0.0037402231966107737, + 0.005245417183723573, + -0.015467349772020548, + 0.00544314009981788, + -0.04025590770000901, + 1.0 + ], + [ + 0.00229739199286777, + 0.0010461237001963344, + 0.010622063395940691, + 0.024850571316932513, + 0.009370250220348543, + -0.007584169153413298, + 1.0 + ], + [ + 0.006912973037559, + 0.004329733591228915, + 0.017710624115173768, + 0.026492121918659038, + 0.028415351041076477, + -0.014050643863206534, + 1.0 + ], + [ + 0.005033627635786908, + 0.003092204621403437, + 0.013174345721146737, + 0.013873368200408664, + 0.0175580948906399, + -0.013615260776947816, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 209.5560302734375, + 140.5762176513672 + ], + [ + 210.61776733398438, + 146.52383422851562 + ], + [ + 211.26287841796875, + 147.54434204101562 + ], + [ + 262.9151306152344, + 115.33554077148438 + ], + [ + 275.8089904785156, + 102.38526916503906 + ], + [ + 306.0777587890625, + 111.18245697021484 + ], + [ + 350.4075927734375, + 124.84493255615234 + ], + [ + 359.53192138671875, + 125.54155731201172 + ], + [ + 369.53863525390625, + 127.80892181396484 + ], + [ + 382.42340087890625, + 154.44029235839844 + ], + [ + 379.9711608886719, + 180.37686157226562 + ], + [ + 382.8585205078125, + 196.71615600585938 + ], + [ + 388.1000671386719, + 203.58509826660156 + ], + [ + 389.6043701171875, + 214.28231811523438 + ], + [ + 385.46112060546875, + 211.33584594726562 + ], + [ + 381.100341796875, + 212.97866821289062 + ], + [ + 375.7958679199219, + 216.1748046875 + ], + [ + 381.70123291015625, + 192.29685974121094 + ], + [ + 376.2328186035156, + 180.9166259765625 + ], + [ + 348.5010070800781, + 178.79510498046875 + ], + [ + 320.3260498046875, + 188.31942749023438 + ], + [ + 293.9436950683594, + 202.59121704101562 + ], + [ + 286.9078063964844, + 221.0560760498047 + ], + [ + 285.114501953125, + 244.23008728027344 + ], + [ + 291.1549987792969, + 257.1852111816406 + ], + [ + 285.123291015625, + 255.59521484375 + ], + [ + 285.0614318847656, + 251.15509033203125 + ], + [ + 284.2878112792969, + 254.16036987304688 + ], + [ + 275.2015686035156, + 233.91302490234375 + ], + [ + 276.6636047363281, + 207.186279296875 + ], + [ + 278.677001953125, + 187.51515197753906 + ], + [ + 279.2583923339844, + 186.0066375732422 + ], + [ + 279.379150390625, + 185.95013427734375 + ], + [ + 279.3309326171875, + 185.90838623046875 + ], + [ + 279.38787841796875, + 185.75550842285156 + ], + [ + 279.3621520996094, + 186.21466064453125 + ], + [ + 279.31903076171875, + 185.91004943847656 + ], + [ + 279.35284423828125, + 185.99525451660156 + ] + ], + "depth_max": 1.521385669708252, + "depth_min": 0.3508676588535309, + "intrinsic": [ + [ + 514.840087890625, + 0.0, + 259.0 + ], + [ + 0.0, + 515.2064819335938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.413572267163545e-05, + -1.4196747542882804e-05, + -1.2983357009943575e-05 + ], + [ + -3.413608646951616e-05, + 1.0, + -2.54274327744497e-05, + -2.1411578927654773e-05 + ], + [ + 1.4195879884937312e-05, + 2.5427916625631042e-05, + 1.0, + -2.576037877588533e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 406.25, + 215.75001525878906 + ], + [ + 406.5694580078125, + 216.09339904785156 + ], + [ + 406.5841979980469, + 215.9976348876953 + ], + [ + 406.55419921875, + 215.77175903320312 + ], + [ + 406.18017578125, + 215.68214416503906 + ], + [ + 406.0293273925781, + 215.66722106933594 + ], + [ + 405.88397216796875, + 215.70236206054688 + ], + [ + 405.95233154296875, + 215.76597595214844 + ], + [ + 405.9085693359375, + 215.485107421875 + ], + [ + 406.20458984375, + 215.56240844726562 + ], + [ + 405.7092590332031, + 215.33676147460938 + ], + [ + 401.7764892578125, + 215.9838409423828 + ], + [ + 391.62493896484375, + 218.92141723632812 + ], + [ + 383.53680419921875, + 222.52383422851562 + ], + [ + 391.06463623046875, + 221.34347534179688 + ], + [ + 385.32232666015625, + 225.54080200195312 + ], + [ + 384.9042053222656, + 228.94497680664062 + ], + [ + 393.27606201171875, + 205.82424926757812 + ], + [ + 388.7001647949219, + 193.64712524414062 + ], + [ + 365.083984375, + 194.239013671875 + ], + [ + 338.1438293457031, + 204.34886169433594 + ], + [ + 316.20574951171875, + 217.56784057617188 + ], + [ + 309.10546875, + 236.75582885742188 + ], + [ + 309.95220947265625, + 258.36297607421875 + ], + [ + 314.7348327636719, + 270.7681884765625 + ], + [ + 308.9917907714844, + 270.7153625488281 + ], + [ + 307.9481201171875, + 300.95526123046875 + ], + [ + 295.19488525390625, + 345.2789001464844 + ], + [ + 294.9288024902344, + 334.0337219238281 + ], + [ + 291.426025390625, + 350.3028564453125 + ], + [ + 291.0782775878906, + 350.5136413574219 + ], + [ + 291.0645751953125, + 350.56158447265625 + ], + [ + 291.1002197265625, + 350.47540283203125 + ], + [ + 290.9888000488281, + 350.65191650390625 + ], + [ + 290.9527587890625, + 350.5803527832031 + ], + [ + 290.90045166015625, + 350.76708984375 + ], + [ + 290.7237854003906, + 350.6763610839844 + ], + [ + 290.2554931640625, + 350.7073974609375 + ] + ] +} \ No newline at end of file diff --git a/002049/lang.txt b/002049/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..460c0f31b4dbb6631fb36ad01409918ef0e3861b --- /dev/null +++ b/002049/lang.txt @@ -0,0 +1 @@ +put carrot on plate diff --git a/002049/object.ply b/002049/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..0cca6b301c17595786db285285a8de24a678a664 Binary files /dev/null and b/002049/object.ply differ diff --git a/002051_v2/FAIL b/002051_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/002051_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/002053_v2/FAIL b/002053_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/002053_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/002065_v2/FAIL b/002065_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/002065_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/002078_v2/data.json b/002078_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..1f33629cb88a9d8441cedfc1b308247f505c8a9e --- /dev/null +++ b/002078_v2/data.json @@ -0,0 +1,861 @@ +{ + "action_start": 15, + "action_end": 29, + "object_name": "yellow cloth", + "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, + 0.005861000000000005, + 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, + -2.7755575615628914e-17, + 1.734723475976807e-18, + -3.596511243409463e-07, + -4.5583986188109555e-08, + -3.307370997973594e-07, + 1.0 + ], + [ + 0.005731430981033014, + 0.026520110633875243, + -0.0034829871903619665, + 0.0330291424513476, + 0.012827495393367408, + 0.04734180995355648, + 1.0 + ], + [ + 0.00989215693757256, + 0.02597216978371414, + 0.0004431227595356256, + -0.011052030056854718, + -0.00845685519755367, + 0.07710566647233456, + 1.0 + ], + [ + 0.0034873404664542695, + 0.02856375743726873, + 0.0061666100741134735, + 0.014160227685098023, + -0.006706332737480653, + 0.07320385576074963, + 1.0 + ], + [ + -0.0017519518028355496, + 0.027505895857062833, + -0.0029406444987930677, + -0.003926793608017622, + -0.006563949009215001, + 0.1066304006020807, + 1.0 + ], + [ + -0.005321636582196532, + 0.034123782228364694, + 0.0002718521717169722, + 0.0041525841974770755, + -0.008676489277432612, + 0.11673435149054073, + 1.0 + ], + [ + -0.009858140381241887, + 0.022603759615759694, + 0.006004773967611702, + 0.03735657667939293, + 0.025371901782672963, + 0.11393451817497385, + 1.0 + ], + [ + -0.009273615769965271, + 0.01868263006209462, + 0.007154379522545463, + 0.006893404281464817, + -0.012496460187740605, + 0.0886966892948211, + 1.0 + ], + [ + -0.0060044294895330586, + 0.014282088905352774, + 0.00125974629902517, + -0.0008386750303535224, + -0.005257905852891487, + 0.06551695694999467, + 1.0 + ], + [ + -0.0001123856555726166, + 0.00533032510089855, + -0.006863500179760637, + -0.013870374595965154, + 0.004835512430590173, + 0.027003301226637806, + 1.0 + ], + [ + 0.006278824231390312, + 0.0011573604319985234, + -0.011279006588191419, + -0.008995909796203874, + 0.01747802457853095, + -0.005472075330997156, + 1.0 + ], + [ + 0.004940488680425292, + 0.0017856247134019065, + -0.009629912234784788, + 9.746135240392678e-05, + 0.0003974014384119745, + 0.00577046545035737, + 1.0 + ], + [ + 0.0027663278676412772, + 0.0007775751406922174, + -0.011411076253436302, + 0.005162151642147185, + -0.006824616204063688, + 0.0015933931366025147, + 1.0 + ], + [ + 0.003479000333908383, + 0.00250645839269973, + -0.010296587028543355, + -0.002940451966326739, + 0.006641052129451579, + 0.002438180581822047, + 1.0 + ], + [ + 0.0010015930630650483, + 0.005458220703851983, + -0.014567160013762692, + -0.014570217780596072, + 0.010167127428832324, + 0.0065605546301688985, + 1.0 + ], + [ + -0.00024789635066502225, + 0.004377997965619017, + -0.006699690995408354, + -0.009418264720972453, + 0.019667390994548496, + -0.001774681376589383, + 1.0 + ], + [ + -0.00528056220960435, + 0.0031796739799510865, + -0.003304594583807094, + 0.009630424250435424, + 0.012159046003246712, + 0.02896271549282089, + 0.0 + ], + [ + 0.001503748463024146, + -0.001981084759089362, + 0.004055766646408464, + -0.013068475744933378, + -0.00944752006044262, + -0.018374786481725004, + 0.0 + ], + [ + 5.655333301540777e-05, + -0.006544204422667774, + 0.003444088694174667, + -0.007246134219274443, + -0.011353257024775574, + -0.02179324637340769, + 0.0 + ], + [ + -0.002021112995647195, + -0.01068135379140888, + 0.007962798415977475, + 0.022668854157068836, + 0.0015243285894528619, + -0.031026989008473962, + 0.0 + ], + [ + -0.00011910574590112688, + -0.008737076185456993, + 0.00990953960514862, + 0.0008262601240307152, + -0.018063828861056636, + -0.03192503276214897, + 0.005861000000000005 + ], + [ + -0.004747437825989936, + -0.00807862098589128, + 0.020223860318049097, + 0.0182713444357748, + -0.02932866682580086, + -0.02783281494507764, + 0.0 + ], + [ + 0.004789004856167095, + -0.010626506702228186, + 0.020461822972791317, + 0.00807163592093951, + -0.09541978808520132, + -0.011627332769441895, + 0.0 + ], + [ + 0.024055478056420943, + -0.017352399611996316, + 0.019343102246821536, + -0.003079546335225993, + -0.09232980907163284, + -0.021150672267461208, + 0.0 + ], + [ + 0.030585028642522355, + -0.009776462102006885, + 0.02169296922370243, + -0.0007631451607139425, + -0.11188176745476729, + -0.04803714061171429, + 0.0 + ], + [ + 0.03483573034237558, + -0.005882888964634066, + 0.012523078736445085, + -0.0203343952624025, + -0.10428120715945519, + -0.04921822527253121, + 0.0 + ], + [ + 0.02668214902358612, + -0.00552624513729834, + 0.0011826059353122476, + -0.040442090599986644, + -0.04192071561712667, + -0.04456803068352344, + 0.0 + ], + [ + 0.025548631055011928, + -0.0008200147429935772, + 0.0024545848223879313, + -0.0629287241045388, + -0.05191444589261807, + -0.01876812645863225, + 0.0 + ], + [ + 0.016955750259572078, + 0.00464843837084513, + -0.0047210609914946355, + -0.025410310188748286, + 0.00030589246008126756, + -0.00493448074829143, + 0.0 + ], + [ + 0.01550059265660414, + 0.008030992248968586, + -0.005335586463081202, + -0.03873551039639647, + -0.013328000584937133, + -0.007845567984394354, + 0.0 + ], + [ + 0.005614207004282612, + 0.002824601571555386, + -0.0030279018173180183, + 0.003499840270437577, + 0.023211287085467693, + -0.03545788068396029, + 1.0 + ], + [ + 0.0012021008737274075, + -0.0015869131908272573, + 0.001192320814785, + 0.03095246257706187, + 0.01541630017412352, + -0.002970778786711177, + 1.0 + ], + [ + -0.0038127682092420345, + -0.00022702337002952354, + 0.0007639910203031258, + 0.0021909849588737304, + 0.0013477184600752556, + 0.00992322999696458, + 1.0 + ], + [ + -0.00378286039607717, + 0.00112003961444583, + 0.0033980816829658825, + 0.03080411908422092, + 0.009867792117595132, + -0.006880088714458153, + 1.0 + ], + [ + -0.004563384885031607, + 0.004637950245115607, + 0.006403034602366013, + 0.010808926774196953, + 0.02143897366709393, + -0.0009578689862299523, + 1.0 + ], + [ + -0.0060157124026534725, + 0.00328095299626694, + 0.010329065598550353, + 0.010218030045249809, + 0.019975210106247955, + 0.00611991296239389, + 1.0 + ], + [ + -0.002305916296115873, + 0.0026359577184661706, + 0.008878196518611818, + 0.006573114971802243, + 0.0038748736282213578, + 0.020178555986249916, + 1.0 + ], + [ + -0.01566154398104208, + 0.005951259551443754, + 0.008025017644198808, + 0.029300891975529975, + 0.029903325696212738, + 0.02714423367597213, + 1.0 + ], + [ + -0.027312707939709358, + 0.006023823959700518, + 0.006066226123037095, + 0.0339011364049605, + 0.038519666764420556, + 0.038490184358259044, + 1.0 + ], + [ + -0.04213483308847882, + 0.0021893246832625207, + -0.010617736565936751, + 0.04084337679231621, + 0.07489898868694655, + 0.0049631588738264145, + 1.0 + ], + [ + -0.030126130834914056, + -0.0038533865263920566, + -0.01051807975584243, + 0.06875249479102591, + 0.0589659615499581, + -0.04164831135719882, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 484.78125, + 366.08685302734375 + ], + [ + 480.3451232910156, + 373.021728515625 + ], + [ + 458.0223388671875, + 371.95904541015625 + ], + [ + 421.82177734375, + 351.1060791015625 + ], + [ + 384.21429443359375, + 332.4440002441406 + ], + [ + 347.7936096191406, + 325.1973876953125 + ], + [ + 305.79156494140625, + 312.8527526855469 + ], + [ + 270.8387451171875, + 306.5928955078125 + ], + [ + 238.14199829101562, + 297.9692687988281 + ], + [ + 218.18637084960938, + 298.493408203125 + ], + [ + 212.83213806152344, + 294.5986328125 + ], + [ + 213.16018676757812, + 304.3493957519531 + ], + [ + 218.24574279785156, + 307.70855712890625 + ], + [ + 220.14508056640625, + 314.09637451171875 + ], + [ + 224.45736694335938, + 317.92706298828125 + ], + [ + 219.93801879882812, + 324.0743713378906 + ], + [ + 216.35630798339844, + 326.229248046875 + ], + [ + 214.3615264892578, + 327.51678466796875 + ], + [ + 213.10305786132812, + 328.4136657714844 + ], + [ + 213.23553466796875, + 334.73712158203125 + ], + [ + 216.88177490234375, + 335.08294677734375 + ], + [ + 225.3289337158203, + 329.953857421875 + ], + [ + 228.3267822265625, + 323.75018310546875 + ], + [ + 238.4236602783203, + 309.19476318359375 + ], + [ + 264.0039978027344, + 287.0091247558594 + ], + [ + 293.74383544921875, + 254.95223999023438 + ], + [ + 325.82464599609375, + 204.29544067382812 + ], + [ + 352.24761962890625, + 185.7317657470703 + ], + [ + 367.6796569824219, + 162.99017333984375 + ], + [ + 373.86724853515625, + 152.97618103027344 + ], + [ + 373.415771484375, + 144.03781127929688 + ], + [ + 372.3197937011719, + 140.2801513671875 + ], + [ + 371.66351318359375, + 135.3385009765625 + ], + [ + 375.2837829589844, + 138.17552185058594 + ], + [ + 371.1890869140625, + 143.15367126464844 + ], + [ + 367.99383544921875, + 144.1418914794922 + ], + [ + 362.9124755859375, + 140.6929931640625 + ], + [ + 358.6359558105469, + 135.2117156982422 + ], + [ + 349.7256774902344, + 118.7662124633789 + ], + [ + 328.651611328125, + 126.15180969238281 + ], + [ + 297.310302734375, + 152.67539978027344 + ], + [ + 278.25128173828125, + 190.371337890625 + ], + [ + 277.41680908203125, + 194.7898406982422 + ], + [ + 276.9446105957031, + 195.33941650390625 + ] + ], + "depth_max": 1.2312527894973755, + "depth_min": 0.17811241745948792, + "intrinsic": [ + [ + 528.8628540039062, + 0.0, + 259.0 + ], + [ + 0.0, + 528.087158203125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.575128696160391e-05, + 5.099248664919287e-05, + -3.028813262062613e-05 + ], + [ + -4.575013736030087e-05, + 1.0, + -2.2551175788976252e-05, + 1.298161532758968e-05 + ], + [ + -5.0993519835174084e-05, + 2.2548843844560906e-05, + 1.0, + -1.813223207136616e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 39, + 43 + ], + "object_trajectory": [ + [ + 205.5, + 350.5 + ], + [ + 205.6651153564453, + 350.61041259765625 + ], + [ + 205.637451171875, + 350.83087158203125 + ], + [ + 205.6198272705078, + 350.4827880859375 + ], + [ + 205.6804656982422, + 350.8370666503906 + ], + [ + 205.70762634277344, + 351.0535888671875 + ], + [ + 205.46385192871094, + 351.42041015625 + ], + [ + 205.30014038085938, + 351.3748779296875 + ], + [ + 205.41290283203125, + 351.58935546875 + ], + [ + 205.53761291503906, + 351.7256164550781 + ], + [ + 205.59303283691406, + 351.5384826660156 + ], + [ + 205.43919372558594, + 352.0682373046875 + ], + [ + 205.69346618652344, + 352.1018371582031 + ], + [ + 208.86627197265625, + 352.61065673828125 + ], + [ + 212.1473846435547, + 353.0129089355469 + ], + [ + 211.86932373046875, + 352.99798583984375 + ], + [ + 211.73948669433594, + 353.8471984863281 + ], + [ + 210.85498046875, + 354.10107421875 + ], + [ + 211.6981658935547, + 354.0277404785156 + ], + [ + 213.8309326171875, + 356.8202209472656 + ], + [ + 219.9342803955078, + 358.80126953125 + ], + [ + 224.76046752929688, + 354.6781005859375 + ], + [ + 227.95217895507812, + 350.19354248046875 + ], + [ + 238.5364227294922, + 336.5235290527344 + ], + [ + 263.4488525390625, + 313.0565185546875 + ], + [ + 293.2472229003906, + 279.8216857910156 + ], + [ + 331.51513671875, + 238.9597625732422 + ], + [ + 360.08160400390625, + 219.83627319335938 + ], + [ + 375.2600402832031, + 196.42593383789062 + ], + [ + 380.1950988769531, + 182.2535858154297 + ], + [ + 381.5701904296875, + 170.15736389160156 + ], + [ + 380.4039611816406, + 164.29408264160156 + ], + [ + 377.0644836425781, + 161.4786834716797 + ], + [ + 373.18316650390625, + 161.54672241210938 + ], + [ + 368.8031921386719, + 163.61935424804688 + ], + [ + 363.2266845703125, + 166.4928741455078 + ], + [ + 359.5223388671875, + 167.7160186767578 + ], + [ + 361.81866455078125, + 175.33978271484375 + ], + [ + 360.4295654296875, + 177.91830444335938 + ], + [ + 361.92938232421875, + 177.3603057861328 + ], + [ + 365.71551513671875, + 175.02171325683594 + ], + [ + 365.6756591796875, + 177.63265991210938 + ], + [ + 366.82196044921875, + 175.58148193359375 + ], + [ + 367.9129943847656, + 172.25686645507812 + ] + ] +} \ No newline at end of file diff --git a/002078_v2/lang.txt b/002078_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..1b85e7ff506fb69987592374d81b0fadfaafca74 --- /dev/null +++ b/002078_v2/lang.txt @@ -0,0 +1 @@ +put the yellow cloth in the washing machine diff --git a/002098/data.json b/002098/data.json new file mode 100644 index 0000000000000000000000000000000000000000..e26b0722e5980dd662a6779fa5f895b6aa08f021 --- /dev/null +++ b/002098/data.json @@ -0,0 +1,439 @@ +{ + "action_start": 6, + "action_end": 17, + "object_name": "corn", + "gripper_opens": [ + 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, + 0.951404, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 2.7755575615628914e-17, + -6.938893903907228e-18, + 1.6461481101692353e-07, + 1.1564956786763723e-07, + 6.960502064793587e-07, + 1.0 + ], + [ + 0.003429746538751721, + 0.00357680831124349, + -0.00692711214854122, + -0.008001484419535208, + -0.03524520734098087, + -0.018989580807438344, + 1.0 + ], + [ + 0.001008263661215092, + 0.0026733166007393283, + -0.0034729297445276752, + -0.0068367681367519145, + -0.01810767045749445, + -0.010869585539260977, + 1.0 + ], + [ + 0.0017089144911124343, + 0.0004160559669859065, + -0.003939643882238643, + -0.0037519010073516113, + -0.01880719238724579, + -0.00036483571827176036, + 1.0 + ], + [ + 0.0014183605866014415, + 0.0015849345581109564, + -0.006295171075848864, + -0.030309242643623554, + -0.012939987123916929, + 0.007716037537540703, + 1.0 + ], + [ + -0.00034748568903641974, + 0.0020437887435282853, + -0.007681878884498013, + -0.024535262905803004, + -0.01678275401518533, + -0.000142026670236518, + 1.0 + ], + [ + 0.00012045698519252968, + 0.0018147211293828014, + -0.004862372694961269, + -0.02769034418868719, + -0.0032284875202792966, + 0.015004669255284066, + 0.73431 + ], + [ + -0.0005984263289021685, + -0.0005130780534788326, + -0.0017839398475957072, + -0.007108566715461892, + -0.009869691433307978, + 0.010658451083752381, + 0.0 + ], + [ + -0.0009389964388736294, + -0.0001588985934668219, + -0.0006043744368261269, + -0.0008606507451675784, + -0.01061934438107519, + 0.007908846235463963, + 0.0 + ], + [ + -0.002995641972744434, + 0.006580075014439107, + 0.024590079787269306, + 0.06551536065099857, + 0.030953945974457015, + 0.013105990430928334, + 0.0 + ], + [ + -0.007006384042612945, + 0.009266873474799125, + 0.03222349408137782, + 0.10850064329282443, + 0.04583010410094962, + 0.022785393737456895, + 0.0 + ], + [ + 0.009365694440649774, + 0.011309813143882574, + 0.022389063853288066, + 0.11346271766943608, + 0.00760370254572854, + -0.04114781380235997, + 0.0 + ], + [ + 0.021796355901151254, + 0.007836487365933925, + 0.01658914641973598, + 0.037196561367647485, + -0.0087707126100369, + -0.05010379395078006, + 0.0 + ], + [ + 0.024689337412274415, + -0.00466577723949671, + -0.0016036959779750781, + 0.0022742978357695193, + -0.05849403382587127, + -0.036000457107886005, + 0.0 + ], + [ + 0.020356605624093804, + -0.0016198500049111608, + -0.011208144775040382, + -0.025849258307784916, + -0.02823605315770353, + -0.03123208523672242, + 0.0 + ], + [ + 0.002414479334868991, + 0.0028645331502581417, + -0.015862890948773856, + -0.05689292888912186, + -0.009124101390895489, + -0.01258229857712439, + 0.0 + ], + [ + -0.00046830582794299414, + 0.0013235943627012692, + -0.008526501751009663, + -0.0364151490895068, + -0.011148656690573848, + -0.016874517657004325, + 0.0 + ], + [ + 0.0008522326933582125, + 0.00018065652688217804, + -0.0006845662626987284, + -0.02469259964139079, + 0.0023822085313696564, + -0.011811692661403856, + 0.951404 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 210.46585083007812, + 110.279296875 + ], + [ + 210.4100341796875, + 110.31776428222656 + ], + [ + 212.806640625, + 134.63983154296875 + ], + [ + 218.00738525390625, + 134.72999572753906 + ], + [ + 213.45889282226562, + 135.5038299560547 + ], + [ + 213.12109375, + 135.88479614257812 + ], + [ + 217.4193572998047, + 146.31077575683594 + ], + [ + 213.74720764160156, + 148.45855712890625 + ], + [ + 210.349365234375, + 155.83248901367188 + ], + [ + 210.73587036132812, + 155.77752685546875 + ], + [ + 209.78164672851562, + 156.4400634765625 + ], + [ + 194.599853515625, + 160.35842895507812 + ], + [ + 171.72518920898438, + 105.96026611328125 + ], + [ + 183.82730102539062, + 76.14630126953125 + ], + [ + 204.44033813476562, + 34.907447814941406 + ], + [ + 210.29403686523438, + 42.205509185791016 + ], + [ + 228.95912170410156, + 50.99488067626953 + ], + [ + 240.93711853027344, + 60.09088897705078 + ], + [ + 236.33360290527344, + 60.28398513793945 + ], + [ + 224.34588623046875, + 68.6104736328125 + ], + [ + 224.05258178710938, + 69.27433013916016 + ] + ], + "depth_max": 1.5967096090316772, + "depth_min": 0.6180430054664612, + "intrinsic": [ + [ + 509.109619140625, + 0.0, + 259.0 + ], + [ + 0.0, + 509.1416931152344, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.246908115921542e-05, + -9.455568215344101e-05, + -1.3673470675712451e-06 + ], + [ + -2.2466676455223933e-05, + 1.0, + 2.5437177100684494e-05, + -6.3859815782052465e-06 + ], + [ + 9.455624967813492e-05, + -2.543505070207175e-05, + 1.0, + 3.504878986859694e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 20 + ], + "object_trajectory": [ + [ + 213.5, + 171.25001525878906 + ], + [ + 213.4068145751953, + 171.8104248046875 + ], + [ + 213.52574157714844, + 172.2851104736328 + ], + [ + 213.8893280029297, + 171.86001586914062 + ], + [ + 213.16677856445312, + 172.18472290039062 + ], + [ + 212.96902465820312, + 172.17556762695312 + ], + [ + 212.94094848632812, + 172.224609375 + ], + [ + 212.24658203125, + 173.00473022460938 + ], + [ + 211.90960693359375, + 172.37612915039062 + ], + [ + 211.87191772460938, + 172.73606872558594 + ], + [ + 210.18597412109375, + 173.26101684570312 + ], + [ + 190.93605041503906, + 178.95999145507812 + ], + [ + 164.32205200195312, + 123.65088653564453 + ], + [ + 172.96829223632812, + 92.40180206298828 + ], + [ + 194.48153686523438, + 48.33420944213867 + ], + [ + 200.79342651367188, + 57.91647720336914 + ], + [ + 220.96942138671875, + 67.64013671875 + ], + [ + 234.54974365234375, + 75.34005737304688 + ], + [ + 230.213134765625, + 76.58724975585938 + ], + [ + 229.36245727539062, + 98.76134490966797 + ], + [ + 226.7542724609375, + 94.16751861572266 + ] + ] +} \ No newline at end of file diff --git a/002098/lang.txt b/002098/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..35db9342ac6f780d99d30619ad8c5454d568fe8f --- /dev/null +++ b/002098/lang.txt @@ -0,0 +1 @@ +put corn in pan which is on stove diff --git a/002098/object.ply b/002098/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..d3f4e746df41454347c6980c07657727d2627c7e Binary files /dev/null and b/002098/object.ply differ diff --git a/002107/data.json b/002107/data.json new file mode 100644 index 0000000000000000000000000000000000000000..155526abb418ac62ccd191714f63d4bfa42e60bf --- /dev/null +++ b/002107/data.json @@ -0,0 +1,458 @@ +{ + "action_start": 7, + "action_end": 17, + "object_name": "corn", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.171184, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.18779, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 0.0, + 1.3877787807814457e-17, + 1.3842182080563099e-07, + -5.333747473769956e-07, + -3.684131017004374e-07, + 1.0 + ], + [ + 0.0024726016845744714, + -0.0014838301268118304, + 0.0013167339803382902, + 0.008529166363816803, + -0.010293728742087936, + -0.015982952056750474, + 1.0 + ], + [ + 0.00419366668912402, + 0.0009632798661100492, + -0.0026841360270833045, + -0.008451915785006313, + -0.011239109716018393, + -0.02176408761166242, + 1.0 + ], + [ + 0.0035590044406793586, + 0.0004687145467678136, + -0.008256272763671059, + -0.0457828897784441, + -0.006884505065439517, + 0.0006546754650464886, + 1.0 + ], + [ + 0.00104053366677348, + 0.0010218581112107494, + -0.009039164133510233, + -0.046400377853999177, + 0.007700285393020486, + -0.0011841049726965195, + 1.0 + ], + [ + -0.0009638838834082897, + -0.0006861504176119623, + -0.007495284690830363, + 0.001659092482614533, + -0.020362488355383446, + 0.007093287137361859, + 1.0 + ], + [ + 0.0001613146614501404, + 0.0027947646210392113, + -0.006566058007726937, + -0.021821180289266252, + 0.004933912916183616, + 0.007897913575222055, + 1.0 + ], + [ + 0.0004593883041644209, + 0.0004727999638946198, + -0.005271987058802562, + -0.0065915740947723135, + -0.007290840448866731, + 0.016041928874498766, + 0.171184 + ], + [ + -0.0005693897372214818, + -0.0007705935345485582, + -0.000267358550336539, + 0.004562062626629417, + -0.005303532379339798, + 0.006562682631441262, + 0.0 + ], + [ + 0.002406305826024524, + 0.00320609131668656, + 0.019005048347643702, + 0.06741303670726836, + 0.007785414948650934, + -0.01770246517326076, + 0.0 + ], + [ + 0.003752106759388585, + 0.012041682190450854, + 0.02567623225789416, + 0.06816071404813329, + -0.006795248021414505, + -0.017853280176373245, + 0.0 + ], + [ + 0.011055692034773357, + 0.021221197007270202, + 0.02516036204765447, + 0.06221782533231258, + -0.02064968472720787, + -0.012910383882855158, + 0.0 + ], + [ + 0.015402955412648689, + 0.020995009570068196, + 0.018835209874519046, + 0.029089787725666606, + -0.0020669246674292065, + -0.04606538053716038, + 0.0 + ], + [ + 0.0281768822641158, + 0.02814130518297793, + 0.012914967197911909, + 0.017800841361906777, + 0.002761017746991857, + -0.08772610573352811, + 0.0 + ], + [ + 0.016936637837502155, + 0.01181691598372056, + -0.006528619542550462, + -0.0064313781761882495, + -0.02131654060850368, + -0.0491351613100337, + 0.0 + ], + [ + 0.008486713492140363, + 5.60897226006829e-05, + -0.021239567591668576, + -0.04760124100196722, + -0.02023121210428154, + -0.013734244627261265, + 0.0 + ], + [ + -0.0028587678958750806, + -0.005297410919673007, + -0.012345187576089572, + -0.032255889363093655, + -0.0021758898754957864, + 0.018509830159908803, + 0.0 + ], + [ + -0.00023613125066246354, + 0.0002532130890575135, + -0.005575052484930579, + -0.014032577860451456, + -0.005553121439096354, + -0.014425344775242972, + 0.18779 + ], + [ + 0.0011744448376733163, + 0.00020192020502687869, + -0.000738630737636331, + -0.032696401593703385, + -0.013717982170767796, + -0.008840511013988318, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 296.09295654296875, + 155.20248413085938 + ], + [ + 295.9283752441406, + 155.2894744873047 + ], + [ + 293.9544982910156, + 170.948486328125 + ], + [ + 295.0428771972656, + 168.4443817138672 + ], + [ + 299.8281555175781, + 173.2598876953125 + ], + [ + 304.8963623046875, + 182.9757080078125 + ], + [ + 298.3221130371094, + 188.56317138671875 + ], + [ + 297.15423583984375, + 188.63339233398438 + ], + [ + 300.8373718261719, + 200.38421630859375 + ], + [ + 298.83807373046875, + 196.9752197265625 + ], + [ + 298.40911865234375, + 196.91648864746094 + ], + [ + 289.529296875, + 195.99819946289062 + ], + [ + 283.20025634765625, + 154.4836883544922 + ], + [ + 277.8975830078125, + 118.22734069824219 + ], + [ + 263.88970947265625, + 64.7563247680664 + ], + [ + 258.388427734375, + 45.18989181518555 + ], + [ + 256.6690368652344, + 41.387847900390625 + ], + [ + 263.2818908691406, + 65.3039779663086 + ], + [ + 267.21710205078125, + 73.30072021484375 + ], + [ + 270.1767883300781, + 73.09799194335938 + ], + [ + 270.15594482421875, + 72.89019012451172 + ], + [ + 265.1179504394531, + 72.452392578125 + ] + ], + "depth_max": 1.6071594953536987, + "depth_min": 0.4529649615287781, + "intrinsic": [ + [ + 506.8476867675781, + 0.0, + 259.0 + ], + [ + 0.0, + 506.840576171875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.0906393072218634e-05, + -7.482619548682123e-05, + -3.718045263667591e-06 + ], + [ + -1.0905689123319462e-05, + 1.0, + 9.408822734258138e-06, + -5.3296789701562375e-06 + ], + [ + 7.482629735022783e-05, + -9.408006008015946e-06, + 1.0, + 1.0773401299957186e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21 + ], + "object_trajectory": [ + [ + 300.5, + 204.5 + ], + [ + 300.7992248535156, + 204.53990173339844 + ], + [ + 300.0669250488281, + 205.10459899902344 + ], + [ + 299.9281921386719, + 204.6817169189453 + ], + [ + 299.755615234375, + 205.1280059814453 + ], + [ + 299.91058349609375, + 204.60079956054688 + ], + [ + 298.9286193847656, + 204.8028564453125 + ], + [ + 299.1231994628906, + 205.03030395507812 + ], + [ + 299.7168273925781, + 206.1984405517578 + ], + [ + 300.60833740234375, + 207.157470703125 + ], + [ + 299.29058837890625, + 207.29290771484375 + ], + [ + 288.4554138183594, + 208.1725311279297 + ], + [ + 281.51123046875, + 167.22671508789062 + ], + [ + 274.07440185546875, + 133.98773193359375 + ], + [ + 258.61676025390625, + 79.10213470458984 + ], + [ + 252.5211181640625, + 58.53103256225586 + ], + [ + 251.16610717773438, + 55.71470260620117 + ], + [ + 258.5062255859375, + 78.80047607421875 + ], + [ + 262.9815673828125, + 86.76542663574219 + ], + [ + 267.4690246582031, + 84.88044738769531 + ], + [ + 275.7564697265625, + 94.8819351196289 + ], + [ + 275.66729736328125, + 100.2134780883789 + ] + ] +} \ No newline at end of file diff --git a/002107/lang.txt b/002107/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..35db9342ac6f780d99d30619ad8c5454d568fe8f --- /dev/null +++ b/002107/lang.txt @@ -0,0 +1 @@ +put corn in pan which is on stove diff --git a/002107/object.ply b/002107/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..f075976cfb2ffbded4bb05d4577f790bda5b7559 Binary files /dev/null and b/002107/object.ply differ diff --git a/002117_v2/data.json b/002117_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..dff3c0e00e22e8f673d74183a00bd10038d24ed0 --- /dev/null +++ b/002117_v2/data.json @@ -0,0 +1,879 @@ +{ + "action_start": 12, + "action_end": 27, + "object_name": "white 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, + 0.0, + 0.0, + 0.0, + 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, + 0.0, + 0.0, + -1.9223188333721747e-07, + 2.2884975939256298e-08, + 2.5813172927966764e-07, + 1.0 + ], + [ + 0.0014573966915243652, + 0.0076446423946167075, + -0.0032329785371697436, + -0.009399073134651992, + 0.005250017956308066, + 0.027159797727024447, + 1.0 + ], + [ + -0.004164444927130695, + -0.002388773090598678, + -0.0044407837950821115, + -0.002432737549003628, + 0.0154782622213533, + -0.00562934747214275, + 1.0 + ], + [ + -0.003069643749465195, + 0.0046926445641768955, + 0.0009993546771486029, + 0.009643775919326813, + -0.0005492658945052261, + 0.01785292637377355, + 1.0 + ], + [ + 0.0032010254792724235, + 0.025628077964535673, + -0.002321467750991132, + 0.039033143610920466, + -0.0019338568230751097, + 0.08565856538016822, + 1.0 + ], + [ + 0.008499592638319703, + 0.01920644149623113, + 0.00482202082325486, + -0.004625478502598457, + -0.021096115824102545, + 0.08714624708814434, + 1.0 + ], + [ + 0.008924716577980746, + 0.016377811087961908, + 0.001496898624757105, + 0.0001430488878148579, + -0.010682189854655896, + 0.07975623359653883, + 1.0 + ], + [ + 0.010357823861728788, + 0.014529102033153149, + -0.004900402876193076, + 0.010406686604811793, + 7.816499103436263e-05, + 0.07740210711483546, + 1.0 + ], + [ + 0.008233801177467803, + 0.014005664647058921, + -0.011040488929979473, + -0.000458389225904674, + -0.00852161046762985, + 0.07495278160261541, + 1.0 + ], + [ + 0.006869198025838824, + 0.00997854694254651, + -0.014210568228055328, + -0.009055245623505646, + -0.005012650191825981, + 0.04939724002040921, + 1.0 + ], + [ + 0.0028956837174871075, + 0.013739359438783821, + -0.008589974646394629, + 0.015267079520321735, + 0.020739315976579534, + 0.05143900999697799, + 1.0 + ], + [ + -0.0022961130310327205, + 0.011616370208513808, + -0.002651723147833386, + 0.015495363034929831, + 0.01696037875985967, + 0.04093235576283866, + 1.0 + ], + [ + -0.003621382795258643, + 0.009323839925374573, + -0.0016102238620304757, + 0.019055214762109987, + 0.0027590585735770175, + 0.0467751916455178, + 1.0 + ], + [ + -0.0015889043562590244, + 0.0009572123828063828, + -0.0032062733475834403, + 0.0186989577961481, + 0.007869092630118583, + 0.01192998551850956, + 0.0 + ], + [ + -4.311244837662542e-05, + -0.005463654563730151, + 0.0007937622194401223, + 0.023583995223168026, + 0.0020806065576111136, + -0.002080780707908719, + 0.0 + ], + [ + -0.0007209901514951822, + -0.0042899066814934585, + -0.0019642753375387276, + 0.00804112188677739, + 0.01335624298742526, + -0.016680544640943804, + 0.0 + ], + [ + -0.0015853518475152373, + -0.004245526545589223, + 0.0006246804750385179, + 0.012010245263198712, + -0.0004692330349042012, + -0.0180361515220453, + 0.0 + ], + [ + -0.002062399261369696, + -0.0021546407420283548, + 0.009696789384199954, + 0.015455788861208401, + -0.014306591170749219, + -0.00565135550310273, + 0.0 + ], + [ + -0.0023575772988466137, + -0.002529138123329916, + 0.007618164939320972, + 0.0008666982625197289, + -0.03534586389368244, + -0.010108031116980906, + 0.0 + ], + [ + -0.0036631369485887744, + -0.006316408972955462, + 0.008565417729678407, + 0.005030503410137445, + -0.010629892683523514, + -0.022649435820600656, + 0.0 + ], + [ + -0.005313774068792965, + -0.008522004874116083, + 0.011856056225901683, + 0.00521190057007948, + -0.01946157030949917, + -0.029040459220733672, + 0.0 + ], + [ + -0.006995721560796392, + -0.0170768489829045, + 0.014913190147517782, + -0.02213272725756122, + -0.05395462846370872, + -0.07922558280797504, + 0.0 + ], + [ + -0.0031162334100535705, + -0.023078540942510738, + 0.006386161080145647, + -0.008562699448847482, + -0.021185560387164144, + -0.07772660078192987, + 0.0 + ], + [ + 0.00593734653190417, + -0.03477441254672679, + -9.820195493717362e-05, + -0.02177699149388074, + -0.011743081324307889, + -0.12361965332614462, + 0.0 + ], + [ + 0.002526429831073318, + -0.029622182602504682, + -0.006251697129141108, + -0.020190747066449997, + -0.002436309631571645, + -0.09872679071949579, + 0.0 + ], + [ + -0.00023137963389210925, + -0.028604445508549126, + -0.003851215376287964, + -0.000981466980702076, + 0.002905818773647173, + -0.10288896895039767, + 0.0 + ], + [ + -0.0038131874766364204, + -0.017412588176046837, + -0.002984612186632188, + -0.009417467984531394, + 0.00567421513733088, + -0.06654830419423384, + 0.0 + ], + [ + -0.004656589117803395, + -0.0058255938041841815, + -0.005307696948616894, + 0.017454252109272334, + 0.014150816187258691, + -0.03459452920201701, + 0.0 + ], + [ + -0.002578974094537445, + 0.001023630735480341, + -0.00452412513720352, + 0.02065990911809585, + 0.04570125405429945, + -0.0004337921539656757, + 1.0 + ], + [ + 9.007414394904267e-05, + 0.0029947183816379785, + -0.0020737708870856957, + 0.003937143399729117, + 0.0066488572054575765, + 0.012323988268855352, + 1.0 + ], + [ + 0.006138138761134199, + 0.002936872738267121, + 0.002598790275104454, + -0.0030457457803273035, + -0.005010882999174448, + 0.013473724790348697, + 1.0 + ], + [ + 0.005494488805322412, + 0.00433665428995178, + 0.004781691166217102, + -0.02305441615043297, + -0.014691608595812186, + 0.01960600174235485, + 1.0 + ], + [ + 0.001297939022093797, + 0.002438288105455988, + 0.006868985788032205, + -0.03439423706550447, + -0.009557599244225688, + 0.0004575831202195569, + 1.0 + ], + [ + -0.002054922273226345, + 0.0022939607719349164, + 0.013214890854241353, + -0.04288827597136738, + -0.02549434143827519, + 0.0056470426890557375, + 1.0 + ], + [ + -0.0009455282883256699, + 0.0019102263294756838, + 0.018153035435794475, + -0.04838548500723849, + -0.0384616488442848, + -0.00992499496199942, + 1.0 + ], + [ + 0.0008346262072410071, + 0.005317458377476769, + 0.015979565089897813, + -0.029543503174360254, + -0.034260799174267664, + -0.004830210652272674, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 408.68408203125, + 381.61444091796875 + ], + [ + 405.94305419921875, + 387.2270202636719 + ], + [ + 397.3038330078125, + 388.31121826171875 + ], + [ + 393.5674133300781, + 394.6338806152344 + ], + [ + 384.8458251953125, + 401.9990234375 + ], + [ + 356.7284851074219, + 392.31304931640625 + ], + [ + 334.613037109375, + 367.74176025390625 + ], + [ + 318.3486328125, + 353.14947509765625 + ], + [ + 305.22039794921875, + 334.8775634765625 + ], + [ + 290.9192810058594, + 332.00830078125 + ], + [ + 294.47784423828125, + 328.50128173828125 + ], + [ + 274.47137451171875, + 331.04864501953125 + ], + [ + 261.93109130859375, + 328.26617431640625 + ], + [ + 252.04327392578125, + 324.2949523925781 + ], + [ + 245.7049560546875, + 326.19921875 + ], + [ + 246.77130126953125, + 327.451904296875 + ], + [ + 249.60531616210938, + 330.9579772949219 + ], + [ + 249.26193237304688, + 331.91766357421875 + ], + [ + 250.5523681640625, + 336.29168701171875 + ], + [ + 251.68077087402344, + 336.5541076660156 + ], + [ + 259.609375, + 335.58184814453125 + ], + [ + 261.2840576171875, + 335.05450439453125 + ], + [ + 269.91552734375, + 340.02325439453125 + ], + [ + 295.4725341796875, + 348.40081787109375 + ], + [ + 338.12664794921875, + 363.79168701171875 + ], + [ + 380.8412170410156, + 386.3837890625 + ], + [ + 425.0960388183594, + 408.633056640625 + ], + [ + 454.41632080078125, + 429.3755798339844 + ], + [ + 454.58160400390625, + 440.6064147949219 + ], + [ + 457.8643798828125, + 452.59930419921875 + ], + [ + 460.4939270019531, + 445.8448181152344 + ], + [ + 455.2824401855469, + 435.388916015625 + ], + [ + 453.3710632324219, + 426.9996643066406 + ], + [ + 452.68951416015625, + 418.3493347167969 + ], + [ + 449.66961669921875, + 409.0901794433594 + ], + [ + 449.2376708984375, + 395.2234802246094 + ], + [ + 445.792724609375, + 371.43988037109375 + ], + [ + 443.620849609375, + 365.8565673828125 + ], + [ + 443.6834411621094, + 366.8206787109375 + ], + [ + 443.08856201171875, + 366.4652099609375 + ], + [ + 443.76629638671875, + 366.76947021484375 + ], + [ + 443.47039794921875, + 366.364013671875 + ], + [ + 443.5080871582031, + 366.675537109375 + ], + [ + 443.5052490234375, + 366.51324462890625 + ], + [ + 443.5919494628906, + 366.67095947265625 + ] + ], + "depth_max": 1.2703945636749268, + "depth_min": 0.10062889009714127, + "intrinsic": [ + [ + 529.47900390625, + 0.0, + 259.0 + ], + [ + 0.0, + 528.3251953125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -4.123506187170278e-06, + 1.1150948012073059e-05, + 1.0661424312274903e-06 + ], + [ + 4.123740836803336e-06, + 1.0, + -2.107244472426828e-05, + 1.201398299599532e-05 + ], + [ + -1.1150860700581688e-05, + 2.1072492017992772e-05, + 1.0, + -1.8399205146124586e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 44 + ], + "object_trajectory": [ + [ + 163.25, + 329.0 + ], + [ + 163.71395874023438, + 329.25335693359375 + ], + [ + 163.72024536132812, + 329.2991638183594 + ], + [ + 163.70960998535156, + 329.288330078125 + ], + [ + 163.6888427734375, + 329.3388671875 + ], + [ + 163.63427734375, + 329.27813720703125 + ], + [ + 163.58045959472656, + 329.2828369140625 + ], + [ + 163.57455444335938, + 329.232666015625 + ], + [ + 163.51742553710938, + 329.22662353515625 + ], + [ + 163.5309295654297, + 329.1142883300781 + ], + [ + 185.34429931640625, + 318.16973876953125 + ], + [ + 162.87918090820312, + 329.161865234375 + ], + [ + 162.7909393310547, + 329.1272888183594 + ], + [ + 162.6617431640625, + 329.2038269042969 + ], + [ + 162.58297729492188, + 329.224365234375 + ], + [ + 162.3024139404297, + 329.1366271972656 + ], + [ + 162.61195373535156, + 326.0187072753906 + ], + [ + 167.30404663085938, + 318.696044921875 + ], + [ + 189.50173950195312, + 316.386962890625 + ], + [ + 195.621826171875, + 321.0715026855469 + ], + [ + 199.0183563232422, + 340.803955078125 + ], + [ + 200.6045379638672, + 337.8253173828125 + ], + [ + 211.9370880126953, + 337.8340148925781 + ], + [ + 238.2216796875, + 338.9211730957031 + ], + [ + 275.1241455078125, + 345.6859130859375 + ], + [ + 320.40069580078125, + 361.414306640625 + ], + [ + 364.5047607421875, + 375.2955322265625 + ], + [ + 390.0964050292969, + 389.9801025390625 + ], + [ + 399.823486328125, + 401.122314453125 + ], + [ + 403.09210205078125, + 413.21514892578125 + ], + [ + 407.1907653808594, + 413.1048278808594 + ], + [ + 406.95721435546875, + 413.6669616699219 + ], + [ + 405.8749084472656, + 413.86175537109375 + ], + [ + 405.5199890136719, + 413.7156982421875 + ], + [ + 410.40045166015625, + 414.9312744140625 + ], + [ + 410.13726806640625, + 413.15643310546875 + ], + [ + 411.0707702636719, + 413.1785583496094 + ], + [ + 411.40283203125, + 413.00592041015625 + ], + [ + 411.78369140625, + 412.4263916015625 + ], + [ + 411.60040283203125, + 412.4267883300781 + ], + [ + 411.50262451171875, + 412.3044738769531 + ], + [ + 411.88458251953125, + 412.1711730957031 + ], + [ + 412.22711181640625, + 412.26263427734375 + ], + [ + 412.08245849609375, + 412.643798828125 + ], + [ + 412.4925537109375, + 412.18707275390625 + ] + ] +} \ No newline at end of file diff --git a/002117_v2/lang.txt b/002117_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..8bf94a9799f26125b90c51f1d27950815d7d1d14 --- /dev/null +++ b/002117_v2/lang.txt @@ -0,0 +1 @@ +place the white basket on top of the green cloth diff --git a/002122_v2/FAIL b/002122_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/002122_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/002187/FAIL b/002187/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/002187/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/002194/data.json b/002194/data.json new file mode 100644 index 0000000000000000000000000000000000000000..dbf7dd26bce1181d70c8ce99d0bafeea7d1e73c6 --- /dev/null +++ b/002194/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, + 0.09987800000000002, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.13113600000000003, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 3.153977079506376e-12, + 1.8862438000422088e-10, + 1.1413683886907222e-10, + 5.370155324118488e-07, + 3.4572060986250727e-07, + -2.810916832828487e-08, + 1.0 + ], + [ + 0.0020902041186927067, + 0.004669672667729798, + -0.010868930642103217, + -0.0121438690922048, + -0.023600540203294704, + -0.009179829955526892, + 1.0 + ], + [ + 0.0016560481471710742, + 0.0027940478396225876, + -0.012991012339045184, + -0.013244194292244308, + -0.02612121030205385, + -0.0035697684655398533, + 1.0 + ], + [ + 0.0014802658386723344, + 0.0016104385148170593, + -0.010629930017801867, + -0.009138163900812636, + -0.019938076548779, + 0.0016191215837379374, + 1.0 + ], + [ + -0.0004893929461530222, + 0.0009538767498180611, + -0.0107756917840399, + -0.015831294140161864, + -0.025179231370453536, + 0.0019352267451749764, + 1.0 + ], + [ + -0.0009916371550339198, + -8.217390233607527e-05, + -0.008663437445288833, + -0.006307134417705202, + -0.030587816485496726, + 0.011203221102203694, + 0.09987800000000002 + ], + [ + -0.00042660120572057814, + -0.0024848573405304025, + 0.006253015067817428, + 0.012367293310810183, + 0.005920614486956931, + 0.0035086256683825776, + 0.0 + ], + [ + -0.0036019520298262164, + 0.0019339821366793457, + 0.019579895821676914, + 0.03389110355706573, + 0.030797780673703187, + 0.00044251706711574056, + 0.0 + ], + [ + -0.0029325038705907414, + 0.0005983639086924626, + 0.031405301317415556, + 0.06448494831095594, + 0.05042037567455243, + -0.003123095849987131, + 0.0 + ], + [ + 0.0049559218926561455, + 0.006861186242824221, + 0.02091682252451075, + 0.06463778048220051, + 0.026422120868977553, + -0.04117047124424161, + 0.0 + ], + [ + 0.014623980146711624, + 0.01288672620294884, + 0.007429805742395761, + -0.003030798946262818, + 0.019134362509655476, + -0.05950917126511956, + 0.0 + ], + [ + 0.022041786064609437, + 0.01760313496844227, + 0.0007841012924163504, + -0.016399198122865426, + 0.0144399635702027, + -0.07569521937451286, + 0.0 + ], + [ + 0.007323786667478238, + 0.011955802701573412, + -0.0078021612046665495, + -0.001705525154656881, + -0.01893461888713247, + -0.04792462897426424, + 0.0 + ], + [ + 0.003881780366299048, + 0.012501965872077997, + -0.010261089110683727, + -0.04245727768915195, + 7.322940843110722e-07, + -0.028166452830371495, + 0.0 + ], + [ + 0.00023166610940272836, + 0.0073870964733938616, + -0.007880296803360026, + -0.0013229869023812792, + -0.01354641896610819, + -0.027562010821049216, + 0.0 + ], + [ + 0.0018734216571553164, + 0.006146837457365592, + -0.00873079235559572, + -0.012593334914561103, + -0.01809002991880947, + -0.028198486419428515, + 0.13113600000000003 + ], + [ + 0.0016263837450263274, + -0.0008855025875616762, + -0.0033031316155826412, + -0.03884339119831895, + -0.030708373009424993, + 0.0037432664565574636, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 287.5995178222656, + 201.64923095703125 + ], + [ + 287.6170654296875, + 201.93707275390625 + ], + [ + 286.3966064453125, + 216.29287719726562 + ], + [ + 283.8824462890625, + 224.05712890625 + ], + [ + 283.7182312011719, + 236.4530029296875 + ], + [ + 283.2728576660156, + 244.89239501953125 + ], + [ + 279.0396423339844, + 257.7602233886719 + ], + [ + 277.811767578125, + 263.0543212890625 + ], + [ + 273.57562255859375, + 266.1671447753906 + ], + [ + 268.39520263671875, + 246.83786010742188 + ], + [ + 269.9976806640625, + 210.82015991210938 + ], + [ + 266.89788818359375, + 182.09085083007812 + ], + [ + 267.154052734375, + 151.40635681152344 + ], + [ + 264.3519287109375, + 130.37210083007812 + ], + [ + 259.18133544921875, + 132.13824462890625 + ], + [ + 247.63519287109375, + 140.0214385986328 + ], + [ + 248.12181091308594, + 136.5064239501953 + ], + [ + 243.33172607421875, + 146.39019775390625 + ], + [ + 248.3018798828125, + 145.15341186523438 + ], + [ + 247.9994354248047, + 145.33224487304688 + ] + ], + "depth_max": 1.6959978342056274, + "depth_min": 0.4126296937465668, + "intrinsic": [ + [ + 508.3207702636719, + 0.0, + 259.0 + ], + [ + 0.0, + 508.9018249511719, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.0425915863597766e-05, + -9.510482050245628e-05, + -4.2015690269181505e-06 + ], + [ + -2.0428804418770596e-05, + 1.0, + -3.038570866920054e-05, + 8.473445632262155e-06 + ], + [ + 9.510419477010146e-05, + 3.0387651349883527e-05, + 1.0, + 1.4657871361123398e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 19 + ], + "object_trajectory": [ + [ + 276.25, + 267.5000305175781 + ], + [ + 276.47900390625, + 267.9756774902344 + ], + [ + 276.0606384277344, + 268.1580810546875 + ], + [ + 276.4808654785156, + 267.8455505371094 + ], + [ + 275.7914123535156, + 267.0480041503906 + ], + [ + 275.8479309082031, + 267.59344482421875 + ], + [ + 275.51251220703125, + 269.62481689453125 + ], + [ + 277.678466796875, + 272.0760498046875 + ], + [ + 272.78680419921875, + 276.3289794921875 + ], + [ + 264.81011962890625, + 259.5787353515625 + ], + [ + 265.69110107421875, + 231.72523498535156 + ], + [ + 266.84307861328125, + 206.9151611328125 + ], + [ + 266.7877502441406, + 179.8913116455078 + ], + [ + 262.0630798339844, + 158.26373291015625 + ], + [ + 257.74371337890625, + 161.4447021484375 + ], + [ + 246.55313110351562, + 168.45394897460938 + ], + [ + 246.69667053222656, + 166.00592041015625 + ], + [ + 243.51419067382812, + 174.1437225341797 + ], + [ + 252.14474487304688, + 182.77247619628906 + ], + [ + 252.4662322998047, + 184.49928283691406 + ] + ] +} \ No newline at end of file diff --git a/002194/lang.txt b/002194/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..35db9342ac6f780d99d30619ad8c5454d568fe8f --- /dev/null +++ b/002194/lang.txt @@ -0,0 +1 @@ +put corn in pan which is on stove diff --git a/002194/object.ply b/002194/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..a036251325b6091f15ab04ae02968e0423364c9c Binary files /dev/null and b/002194/object.ply differ diff --git a/002211/data.json b/002211/data.json new file mode 100644 index 0000000000000000000000000000000000000000..1604c9463015f78206fbb6e75126ecb4f4653d37 --- /dev/null +++ b/002211/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, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.02124499999999996, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -3.288040950621962e-10, + 5.078939976921326e-10, + -2.9778540744374027e-12, + -1.4564210391944951e-08, + 5.652024663436161e-08, + -5.213237879030169e-07, + 1.0 + ], + [ + 0.0013057100200531968, + 0.0018393366929901137, + -0.009637741279475573, + -0.007616306830839245, + -0.020221034418366653, + 0.0009933782831341277, + 1.0 + ], + [ + 0.0007456470636625911, + 0.0017935998019057223, + -0.00975693107277515, + -0.022893257913961074, + -0.01763447274583249, + -0.0008562608219551788, + 1.0 + ], + [ + 0.0007532706405943279, + 0.0001355041285924577, + -0.011477193089546686, + -0.027078448051158263, + -0.017280658748730186, + -0.0057775247337977466, + 1.0 + ], + [ + -6.878778926250328e-05, + 0.002093791089136453, + -0.009488062190492669, + -0.015628681992082588, + -0.005858695189051745, + -0.0003226394295063888, + 1.0 + ], + [ + -0.0024606027185479773, + 0.00014919133993864658, + -0.0096016094561844, + -0.02015079622160192, + -0.013897071483384002, + 0.009437555409355002, + 1.0 + ], + [ + -0.0014273877365223453, + -0.0004876619940391777, + -0.003934162729992176, + -0.011609342350735876, + -0.006654007535021337, + 0.022591708970099197, + 0.0 + ], + [ + 0.001703396615173991, + -0.000287866262451017, + 0.0019049208239238858, + 0.005034468273166041, + -0.0031687091700385098, + 0.005306686021584201, + 0.0 + ], + [ + 0.0008158850432508635, + 0.004097158438644409, + 0.025265590919944864, + 0.06609535042479947, + 0.008173117215644718, + -0.006875197150954832, + 0.0 + ], + [ + 0.0026136995225347626, + 0.009241109568998707, + 0.02926712521277535, + 0.05894155990164231, + 0.017240670939723864, + -0.024110642522184502, + 0.0 + ], + [ + 0.009856307253534757, + 0.014497218940000042, + 0.018985360929123618, + 0.08057242499269375, + -0.039885774017297974, + -0.05924523562399085, + 0.0 + ], + [ + 0.02455408028914191, + 0.015391188595540645, + 0.009838987312145824, + 0.007401668432721298, + -0.03523951474170728, + -0.08961042767708147, + 0.0 + ], + [ + 0.01861195704586749, + 0.012527061011099148, + -0.001884412480309336, + 0.0007367632458158914, + -0.03228234039136522, + -0.06415970960446048, + 0.0 + ], + [ + 0.01116470022267374, + 0.007179943438179931, + -0.001359688003976886, + -0.006510150444424215, + -0.012804299257173805, + -0.06201804771131475, + 0.02124499999999996 + ], + [ + 0.0026042858384806578, + 0.0027612623543855352, + -0.0063631053646102664, + -0.02499783610954996, + -0.03551815636952937, + -0.04463871105835845, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 302.1148681640625, + 153.86671447753906 + ], + [ + 301.9621887207031, + 153.59893798828125 + ], + [ + 300.39215087890625, + 170.51321411132812 + ], + [ + 302.952392578125, + 182.77157592773438 + ], + [ + 302.28521728515625, + 189.53732299804688 + ], + [ + 301.9811706542969, + 200.44369506835938 + ], + [ + 300.80902099609375, + 207.02365112304688 + ], + [ + 298.37322998046875, + 218.62509155273438 + ], + [ + 297.14947509765625, + 218.8994140625 + ], + [ + 296.2232666015625, + 219.55813598632812 + ], + [ + 286.4280700683594, + 206.17019653320312 + ], + [ + 282.089111328125, + 165.57241821289062 + ], + [ + 285.1596984863281, + 142.25393676757812 + ], + [ + 282.01953125, + 94.82382202148438 + ], + [ + 275.13055419921875, + 90.6043701171875 + ], + [ + 284.65106201171875, + 84.64525604248047 + ], + [ + 283.22869873046875, + 81.01576232910156 + ], + [ + 273.39910888671875, + 80.22654724121094 + ] + ], + "depth_max": 2.121652603149414, + "depth_min": 0.4250074326992035, + "intrinsic": [ + [ + 503.05621337890625, + 0.0, + 259.0 + ], + [ + 0.0, + 503.71319580078125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.4745604858035222e-05, + -0.00012858475383836776, + 8.43474299472291e-06 + ], + [ + -1.4746892702532932e-05, + 1.0, + -1.001230521069374e-05, + 1.357325254502939e-05 + ], + [ + 0.00012858460831921548, + 1.0014200597652234e-05, + 1.0, + 5.465907815960236e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 17 + ], + "object_trajectory": [ + [ + 312.0, + 226.5 + ], + [ + 312.0578308105469, + 226.6180419921875 + ], + [ + 311.9528503417969, + 227.29757690429688 + ], + [ + 311.5982666015625, + 227.85491943359375 + ], + [ + 311.3777160644531, + 227.36497497558594 + ], + [ + 311.24017333984375, + 227.54586791992188 + ], + [ + 309.8005065917969, + 228.33474731445312 + ], + [ + 308.8580627441406, + 229.80018615722656 + ], + [ + 303.6944580078125, + 229.05838012695312 + ], + [ + 301.755859375, + 228.5832977294922 + ], + [ + 292.1820373535156, + 215.79525756835938 + ], + [ + 286.3470458984375, + 176.03875732421875 + ], + [ + 287.76177978515625, + 153.93434143066406 + ], + [ + 286.1020812988281, + 105.46161651611328 + ], + [ + 281.2703857421875, + 101.59536743164062 + ], + [ + 287.8997802734375, + 98.02723693847656 + ], + [ + 317.4510803222656, + 122.7971420288086 + ], + [ + 330.4329833984375, + 125.45991516113281 + ] + ] +} \ No newline at end of file diff --git a/002211/lang.txt b/002211/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..35db9342ac6f780d99d30619ad8c5454d568fe8f --- /dev/null +++ b/002211/lang.txt @@ -0,0 +1 @@ +put corn in pan which is on stove diff --git a/002211/object.ply b/002211/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..b6b7078a5780f9fcdd06ff1d9dd46b875536406a Binary files /dev/null and b/002211/object.ply differ diff --git a/002213_v2/FAIL b/002213_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/002213_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/002226_v2/data.json b/002226_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..e271f989a1fb505524adb52652fd0212154c110b --- /dev/null +++ b/002226_v2/data.json @@ -0,0 +1,769 @@ +{ + "action_start": 9, + "action_end": 24, + "object_name": "yellow cloth", + "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, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 4.5534342962838537e-10, + 4.694562794060886e-11, + -2.5113983809221807e-10, + 4.3659906458556126e-07, + -9.113162301875848e-07, + -2.2796531753947367e-07, + 1.0 + ], + [ + -0.0030019121086467537, + 0.031126018582546044, + 0.0011814335288642744, + -0.0034330902670163146, + 0.004394246490281938, + 0.06244719902746661, + 1.0 + ], + [ + -0.0006930256682243507, + 0.04100877096134656, + -0.0017517468721140374, + 0.04255814556379749, + 0.02052885385678568, + 0.028766153855832522, + 1.0 + ], + [ + -0.0047916955098250835, + 0.045047540834997006, + 0.0006662107011342691, + 0.0055906172773644725, + -0.0352051823723586, + 0.11087791048929849, + 1.0 + ], + [ + -0.01074506746030296, + 0.025933952996265587, + -0.019208545062567566, + 0.05040208862104115, + -0.0007243456796195589, + 0.090342655965829, + 1.0 + ], + [ + -0.0030174369960752623, + 0.011883659878562547, + -0.01907172934263074, + 0.0167921535278523, + -0.01562741586452455, + 0.05534470474879832, + 1.0 + ], + [ + 0.00629847141344031, + 0.003263664720823123, + -0.024690555392509705, + -0.0006163307224853819, + 0.024342655685980798, + 0.017583251532276474, + 1.0 + ], + [ + 0.005491558813996683, + 0.0021885312878972135, + -0.02158836673571697, + 0.008612533406695112, + -0.006021277822036848, + 0.021701966509259617, + 1.0 + ], + [ + 0.0003844369623255406, + -0.000807877712771507, + -0.021739469357633136, + -0.00797159082645079, + 0.0016570589408097108, + 0.010858396875451736, + 1.0 + ], + [ + -0.003974461975570165, + -0.0063183301470749464, + -0.01529622407393634, + -0.004891547018632333, + 0.006758473761340637, + 0.021104050175941816, + 1.0 + ], + [ + -0.0023108202191373106, + -0.005219502943516141, + 0.001095983163644551, + 0.018218337350836174, + -0.0031719095437773618, + -0.003849251309945652, + 0.0 + ], + [ + 0.002537514907915983, + -0.00554964498684947, + 0.00583991358942422, + 0.010296378584296164, + -0.004076509758643024, + -0.020627533608664587, + 0.0 + ], + [ + -0.0012630092270635163, + -0.003704476078931075, + 0.005805620691170868, + -0.005514782237454166, + -0.018825562362141904, + -0.004214988952885965, + 0.0 + ], + [ + -0.00048576919230139404, + 0.00014889553189672416, + 0.013260678733505657, + -0.01718578623621179, + -0.017591762852084355, + 0.000579814479578251, + 0.0 + ], + [ + -0.001688480280328447, + -0.0019052305884020085, + 0.027151543834760178, + 0.01298480987057276, + -0.0466066434143737, + 0.04390600401957768, + 0.0 + ], + [ + 0.004908298571325825, + -0.010825896953035534, + 0.030869999177948235, + -0.008367095127417125, + -0.05817479854817626, + -0.04738975737515598, + 0.0 + ], + [ + 0.016934153613803876, + -0.01796346873249545, + 0.03293571559504682, + -0.01459956447225507, + -0.0481263451094641, + -0.05137169657430728, + 0.0 + ], + [ + 0.024618927945232377, + -0.01282234540297509, + 0.023336300763989067, + -0.013252446234503928, + -0.08263213403693462, + -0.05054405416795773, + 0.0 + ], + [ + 0.03782697687093872, + -0.0073376530878670205, + 0.025459133709352072, + -0.0052103514989582, + -0.05996491993114497, + -0.048368398916562194, + 0.0 + ], + [ + 0.04109438759975714, + 0.0050880032795694715, + 0.016783540108533605, + 0.0038540481081882376, + -0.05079938633552336, + -0.03412201046856217, + 0.0 + ], + [ + 0.03737681721611236, + 0.005988598928277266, + 0.010633782374653317, + -0.006561676861220784, + -0.04550761150513781, + -0.019545536103157853, + 0.0 + ], + [ + 0.03311173870557216, + 0.009943203745511723, + -0.0026620489808020648, + -0.02839847467334102, + -0.034344669328081584, + -0.005194990636369471, + 0.0 + ], + [ + 0.025156425937409577, + 0.005005356548671857, + -0.017421261721642947, + -0.010775831440009457, + -0.013920521842976789, + -0.029945170802392482, + 0.0 + ], + [ + 0.024106225047814844, + -0.004799513217487962, + -0.019288952972131818, + -0.03155257209306263, + -0.01717427246446349, + -0.05207005235339066, + 0.0 + ], + [ + 0.004268190188524312, + -0.0062304793864072965, + -0.005381471380513661, + 0.014140989695735899, + 0.05453630596915644, + -0.05840514516013377, + 0.0 + ], + [ + -0.008593123171036499, + 0.00045900380536044796, + 0.003163084879196247, + -0.022473600446650824, + 0.013713089192599913, + 0.023041119279714913, + 1.0 + ], + [ + -0.006164004002289281, + 0.0003374873623361932, + 0.009687915366908474, + -0.014409316057121969, + -0.018697890225094358, + 0.005911043756908064, + 1.0 + ], + [ + -0.0020439847421648283, + -0.003075795906518776, + 0.010105375962382784, + -0.007956099726818057, + -0.02079572761780491, + -0.00717455085677878, + 1.0 + ], + [ + -0.0019768046965114583, + -0.0017102789325737656, + 0.005965424648573109, + 6.226984541805344e-05, + -0.013068555674092475, + -0.00050293109736867, + 1.0 + ], + [ + -0.0007937561288919315, + -0.0010334975804893315, + 0.006623349687136404, + -0.0012866446334128272, + -0.01157072717428704, + 0.0003318660456915715, + 1.0 + ], + [ + -0.006269320527664213, + -0.0026965251194971925, + 0.008066926615899972, + 0.018802798294854817, + 0.0007783346573891445, + -0.015512347081965512, + 1.0 + ], + [ + -0.0099257443099523, + -0.004772677267537798, + 0.00787405244134698, + 0.02216333642405022, + 0.017446729107197755, + -0.003654042219547711, + 1.0 + ], + [ + -0.014649680416428168, + -0.0070421554189513125, + 0.006192227439864681, + 0.01899870380781222, + -0.014042342999325958, + 0.00011139835642418294, + 1.0 + ], + [ + -0.029153243998073897, + -0.007001400547120464, + -0.0021895144460780808, + 0.040946504083072814, + 0.007588721365839094, + -0.008622748868698373, + 1.0 + ], + [ + -0.03592048308935891, + -0.007740910656971137, + -0.014689993531427747, + 0.030219197955084414, + 0.07702248866717461, + -0.025396705965509157, + 1.0 + ], + [ + -0.03575871967853189, + -0.004912638148914579, + -0.01174028334978966, + 0.029348755569775828, + 0.049797940064574886, + -0.01680341421427132, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 391.16064453125, + 339.179443359375 + ], + [ + 389.38739013671875, + 343.08966064453125 + ], + [ + 362.6595764160156, + 353.46868896484375 + ], + [ + 307.1258239746094, + 325.6231994628906 + ], + [ + 254.08168029785156, + 312.82012939453125 + ], + [ + 203.00621032714844, + 314.43701171875 + ], + [ + 186.88064575195312, + 330.00640869140625 + ], + [ + 189.19081115722656, + 347.8209533691406 + ], + [ + 195.02381896972656, + 357.14990234375 + ], + [ + 200.0273895263672, + 374.2074890136719 + ], + [ + 200.4953155517578, + 375.3487548828125 + ], + [ + 203.90850830078125, + 378.09027099609375 + ], + [ + 209.34231567382812, + 381.52398681640625 + ], + [ + 212.0264129638672, + 385.6583251953125 + ], + [ + 206.93402099609375, + 388.93328857421875 + ], + [ + 199.96510314941406, + 374.06500244140625 + ], + [ + 208.2710418701172, + 345.3740234375 + ], + [ + 231.6315155029297, + 323.81671142578125 + ], + [ + 266.2687683105469, + 278.2965087890625 + ], + [ + 296.73345947265625, + 229.58914184570312 + ], + [ + 333.51654052734375, + 166.04957580566406 + ], + [ + 342.3667907714844, + 122.9984130859375 + ], + [ + 354.9944152832031, + 102.23272705078125 + ], + [ + 360.3691711425781, + 102.49506378173828 + ], + [ + 374.976806640625, + 107.9883804321289 + ], + [ + 376.24835205078125, + 117.29594421386719 + ], + [ + 376.2090759277344, + 117.51750183105469 + ], + [ + 378.97808837890625, + 118.99212646484375 + ], + [ + 385.6595458984375, + 109.14569091796875 + ], + [ + 385.5652770996094, + 105.02367401123047 + ], + [ + 386.246337890625, + 97.27718353271484 + ], + [ + 383.00970458984375, + 92.58755493164062 + ], + [ + 387.36541748046875, + 88.95953369140625 + ], + [ + 390.45074462890625, + 92.98628997802734 + ], + [ + 385.44049072265625, + 104.08992767333984 + ], + [ + 374.53985595703125, + 146.1502685546875 + ], + [ + 358.097900390625, + 189.65182495117188 + ], + [ + 355.55621337890625, + 194.81817626953125 + ], + [ + 354.52001953125, + 195.26980590820312 + ] + ], + "depth_max": 1.2500234842300415, + "depth_min": 0.35126975178718567, + "intrinsic": [ + [ + 538.637939453125, + 0.0, + 259.0 + ], + [ + 0.0, + 537.1837768554688, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.3834410462295637e-05, + 0.00011360752978362143, + 6.4401010604342446e-06 + ], + [ + -4.3836102122440934e-05, + 1.0, + 1.4830289728706703e-05, + -1.5190244084806181e-06 + ], + [ + -0.00011360687494743615, + -1.4835270121693611e-05, + 1.0, + 1.223847721121274e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 38 + ], + "object_trajectory": [ + [ + 170.5, + 390.75 + ], + [ + 171.1748046875, + 390.498779296875 + ], + [ + 171.0803985595703, + 390.4947814941406 + ], + [ + 170.9293212890625, + 391.04119873046875 + ], + [ + 171.47796630859375, + 391.559326171875 + ], + [ + 171.3446044921875, + 391.57733154296875 + ], + [ + 170.6153106689453, + 391.43896484375 + ], + [ + 171.5305938720703, + 391.63214111328125 + ], + [ + 171.3212127685547, + 392.2983703613281 + ], + [ + 171.25938415527344, + 392.59844970703125 + ], + [ + 171.90887451171875, + 393.416748046875 + ], + [ + 173.2955322265625, + 394.069580078125 + ], + [ + 175.21067810058594, + 394.74285888671875 + ], + [ + 176.8094482421875, + 397.65716552734375 + ], + [ + 177.19033813476562, + 403.31341552734375 + ], + [ + 178.29901123046875, + 398.5037536621094 + ], + [ + 188.84576416015625, + 379.4658203125 + ], + [ + 206.82550048828125, + 359.27227783203125 + ], + [ + 243.9830322265625, + 316.3004150390625 + ], + [ + 275.97906494140625, + 270.2350158691406 + ], + [ + 315.7559509277344, + 211.3602752685547 + ], + [ + 326.9440002441406, + 166.1323699951172 + ], + [ + 330.3786926269531, + 146.33665466308594 + ], + [ + 333.2085266113281, + 144.39173889160156 + ], + [ + 342.2931823730469, + 147.13259887695312 + ], + [ + 338.9725341796875, + 152.21035766601562 + ], + [ + 339.1219177246094, + 151.97955322265625 + ], + [ + 339.8171081542969, + 150.21141052246094 + ], + [ + 342.4560852050781, + 148.103271484375 + ], + [ + 344.2327880859375, + 153.7105712890625 + ], + [ + 342.7419738769531, + 154.30050659179688 + ], + [ + 341.9486999511719, + 155.92416381835938 + ], + [ + 344.8739318847656, + 157.75662231445312 + ], + [ + 344.8446960449219, + 158.0142059326172 + ], + [ + 345.37548828125, + 158.03599548339844 + ], + [ + 339.2054443359375, + 158.2865753173828 + ], + [ + 348.81842041015625, + 159.72459411621094 + ], + [ + 351.0392761230469, + 156.0063018798828 + ], + [ + 351.4582214355469, + 159.08363342285156 + ] + ] +} \ No newline at end of file diff --git a/002226_v2/lang.txt b/002226_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2fc2ba8377de899008b4206300cee987c1c74109 --- /dev/null +++ b/002226_v2/lang.txt @@ -0,0 +1 @@ +put the yellow cloth inside the washing machine. diff --git a/002244_v2/data.json b/002244_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..718038a327d18f7deedb59ce6427d81acbac6d9f --- /dev/null +++ b/002244_v2/data.json @@ -0,0 +1,733 @@ +{ + "action_start": 7, + "action_end": 24, + "object_name": "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, + 0.0, + 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": [ + [ + -1.42157868809889e-10, + 1.2502911553302631e-10, + 2.4170791756983334e-10, + 3.381217296398141e-07, + 6.281052696799813e-07, + -3.268792199797677e-07, + 1.0 + ], + [ + 0.004331769487005505, + -0.023879867257342414, + -0.01578030111855771, + 0.0035903037292756715, + 0.010132838818958274, + -0.0371499841803012, + 1.0 + ], + [ + 0.003524030493376157, + -0.02519923815907458, + -0.020016682522022003, + 0.0033857527441294713, + 0.023664451765276005, + -0.04855273278965146, + 1.0 + ], + [ + 0.0023607433185428017, + -0.02838174704337785, + -0.02154528518276287, + -0.005351616068549093, + 0.02037093857223581, + -0.05155836120184388, + 1.0 + ], + [ + 0.002821972863381844, + -0.0163191080411415, + -0.019244937496451307, + -0.001454149911493998, + -0.0023073044885872176, + -0.029569930410673555, + 1.0 + ], + [ + 0.003035166659167171, + -0.007424202051901793, + -0.017638396817033854, + 0.012035228329109592, + -0.0007053915414299417, + -0.004198220604290599, + 1.0 + ], + [ + 0.003810558214003834, + -0.004723661451214112, + -0.01714126237071935, + 0.02342773874051649, + -0.003484891091962396, + 0.00342585700596811, + 1.0 + ], + [ + 0.00011529046698288692, + -0.0034730965367778255, + -0.012564283855379034, + 0.004266873931639218, + -0.003933150401186851, + 0.023870349995601094, + 1.0 + ], + [ + -0.001257914548082828, + 0.0004630710296622542, + -0.006530941511869795, + 0.03385707904693629, + 0.008705016844432732, + 0.014156009257400978, + 0.0 + ], + [ + -0.0017544794750569415, + 0.0015223105064466197, + 0.0001461718494237818, + -0.0011255519789294724, + -0.001950264921633787, + 0.023090079170453325, + 0.0 + ], + [ + -0.0023056328564368123, + 0.0029777312280365176, + 0.0026260023916390846, + -0.004906704149897392, + -0.0013164275065717665, + 0.019796028944304826, + 0.0 + ], + [ + -0.006050231726985877, + 0.016549049156966117, + 0.014194707238116874, + -0.010546909384927569, + -0.009557473813706033, + 0.03762314504495036, + 0.0 + ], + [ + -0.0029897826999120136, + 0.013265632559791962, + 0.02828891108010003, + 0.010150456389362844, + -0.032893758362837734, + 0.005635245789041052, + 0.0 + ], + [ + -0.0027377961151499874, + 0.01089455293435733, + 0.029228415151389284, + -0.0016218661671728487, + -0.06017568425872782, + -0.005265474222708672, + 0.0 + ], + [ + 0.0012582190632124957, + 0.008354706111694074, + 0.031247153852146648, + 0.0047621478694786345, + -0.07323030227046862, + -0.020122292931596283, + 0.0 + ], + [ + 0.009560656385320138, + 0.011633985660405854, + 0.04350795471783924, + 0.02153551739016321, + -0.10511161937113137, + -0.0019237278368015533, + 0.0 + ], + [ + 0.008651287714644879, + 0.012005629989305988, + 0.03888861641615729, + 0.011318187910084768, + -0.10264001016388402, + 0.016198061318933945, + 0.0 + ], + [ + 0.011597231373464217, + 0.007023899888854872, + 0.027576472512439956, + 0.0008482683421591235, + -0.08020289883461686, + 0.008229540440092062, + 0.0 + ], + [ + 0.019479952906934273, + 0.005511409737211179, + 0.017051281556728054, + 0.003931873400318475, + -0.058904484435492975, + -0.007706084045935445, + 0.0 + ], + [ + 0.025285906429665717, + 0.006983650178624566, + 0.0009119126663252874, + -0.0032317730454915015, + -0.01238897925342969, + 0.0015715735239418451, + 0.0 + ], + [ + 0.023374844723914212, + 0.005705664287675994, + -0.00897311053989952, + 0.002123282427500423, + 0.013888882814501475, + 0.005171326223083138, + 0.0 + ], + [ + 0.033383607843459784, + 0.007249669889188042, + -0.01833426204096364, + -0.014365468654374228, + 0.0017340112231980958, + 0.012085153485443997, + 0.0 + ], + [ + 0.03127321177197018, + -0.00035197257699466373, + -0.019485574830169078, + 0.0015595326102731016, + 0.0282406131422788, + -0.014433851184784022, + 0.0 + ], + [ + 0.023071717297519778, + -0.002462463682556955, + -0.012125336718916246, + -0.018682449126035564, + -0.006403086923870078, + -0.02226183265812078, + 0.0 + ], + [ + 0.016535808562098853, + -0.0037319332345319258, + -0.008320101820314604, + -0.0003147577042391065, + 0.01027930203415258, + -0.02795945753187436, + 0.0 + ], + [ + -0.0020885329194892943, + 0.0013678758481401078, + -0.0021018372336663316, + -0.017801805722788985, + 0.017828777400809098, + 0.008916379907684098, + 1.0 + ], + [ + -0.004148484399979002, + 0.0014523184772767244, + 0.0008887559418390284, + -0.0010530187980700245, + -0.002135751764056915, + 0.009121983034426748, + 1.0 + ], + [ + -0.004562783613686061, + -1.7588488171923697e-05, + 0.006148618868319078, + -0.010243709935716421, + -0.012313096925538218, + 0.00031236309142602297, + 1.0 + ], + [ + -0.00530639468433014, + -0.00013865665171328145, + 0.009698854208947269, + -0.024216181187205553, + -0.024632994310006085, + -0.00018612706242225437, + 1.0 + ], + [ + -0.0069277944765956945, + 0.0007888399919485549, + 0.012867160794186996, + -0.0013262703191410032, + -0.011426014509495699, + -0.005200029803489099, + 1.0 + ], + [ + -0.021948105415162955, + -0.004169928469975843, + 0.015276064750217769, + -0.018167587012661385, + 0.0022965963982983445, + -0.020421443695333476, + 1.0 + ], + [ + -0.04340059343568897, + -0.007756977103929384, + -0.006002983331682171, + 0.04470641117364478, + 0.10963925308611563, + -0.027693628810956442, + 1.0 + ], + [ + -0.04685085043002446, + -0.010379126937698914, + -0.02015562686347515, + 0.0517509743871857, + 0.1316266617404058, + -0.016429766738998427, + 1.0 + ], + [ + -0.041212669176617756, + -0.002181941524157991, + -0.009279947403275035, + 0.02538566135941915, + 0.05084489461668556, + -0.006798638384649067, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 242.1481170654297, + 268.5861511230469 + ], + [ + 242.80421447753906, + 274.71514892578125 + ], + [ + 275.7215881347656, + 303.27337646484375 + ], + [ + 311.74029541015625, + 334.4619445800781 + ], + [ + 344.556884765625, + 373.2018737792969 + ], + [ + 369.8460693359375, + 394.3074951171875 + ], + [ + 382.95989990234375, + 410.0459899902344 + ], + [ + 391.6766357421875, + 420.7281494140625 + ], + [ + 393.3287353515625, + 426.4544677734375 + ], + [ + 392.39129638671875, + 424.98260498046875 + ], + [ + 393.31146240234375, + 424.62841796875 + ], + [ + 393.21527099609375, + 422.1959533691406 + ], + [ + 367.1356506347656, + 432.7332763671875 + ], + [ + 348.495849609375, + 411.7843933105469 + ], + [ + 327.865478515625, + 384.08355712890625 + ], + [ + 313.3530578613281, + 350.8792724609375 + ], + [ + 295.93060302734375, + 301.39886474609375 + ], + [ + 278.86590576171875, + 245.27981567382812 + ], + [ + 272.0386657714844, + 191.53013610839844 + ], + [ + 277.46014404296875, + 143.9921875 + ], + [ + 289.5308837890625, + 108.78369903564453 + ], + [ + 303.49951171875, + 94.83969116210938 + ], + [ + 320.317138671875, + 92.2948226928711 + ], + [ + 336.5660400390625, + 95.12010192871094 + ], + [ + 352.3909912109375, + 96.15922546386719 + ], + [ + 363.8294372558594, + 97.26124572753906 + ], + [ + 368.84619140625, + 101.88076782226562 + ], + [ + 380.27520751953125, + 111.02278900146484 + ], + [ + 379.4985046386719, + 113.16110229492188 + ], + [ + 375.64715576171875, + 100.68824768066406 + ], + [ + 371.3821716308594, + 91.33573913574219 + ], + [ + 370.09625244140625, + 83.49880981445312 + ], + [ + 341.2285461425781, + 105.61886596679688 + ], + [ + 325.21429443359375, + 166.10011291503906 + ], + [ + 291.64990234375, + 222.5253143310547 + ], + [ + 286.9346923828125, + 224.47354125976562 + ], + [ + 286.85992431640625, + 224.77047729492188 + ] + ], + "depth_max": 1.2202156782150269, + "depth_min": 0.1523599773645401, + "intrinsic": [ + [ + 498.5818176269531, + 0.0, + 259.0 + ], + [ + 0.0, + 497.82965087890625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.367695535416715e-05, + 6.702235987177119e-05, + 1.2898992281407118e-05 + ], + [ + -3.3678512409096584e-05, + 1.0, + 2.318979568372015e-05, + 3.6217115848558024e-06 + ], + [ + -6.702157406834885e-05, + -2.3192051230580546e-05, + 1.0, + -5.352243533707224e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36 + ], + "object_trajectory": [ + [ + 325.0, + 404.5000305175781 + ], + [ + 325.311279296875, + 404.5029296875 + ], + [ + 325.3704528808594, + 404.6752624511719 + ], + [ + 325.480224609375, + 404.69915771484375 + ], + [ + 325.3217468261719, + 405.0898132324219 + ], + [ + 325.45526123046875, + 405.2509765625 + ], + [ + 325.5630187988281, + 405.3988037109375 + ], + [ + 325.806396484375, + 405.66302490234375 + ], + [ + 326.9688415527344, + 405.6845703125 + ], + [ + 327.87744140625, + 406.6488342285156 + ], + [ + 329.2076721191406, + 408.3931579589844 + ], + [ + 329.62554931640625, + 412.2889709472656 + ], + [ + 308.4031066894531, + 429.4861755371094 + ], + [ + 289.016845703125, + 425.3898010253906 + ], + [ + 277.0355224609375, + 403.0556335449219 + ], + [ + 262.35162353515625, + 375.0317687988281 + ], + [ + 247.9613800048828, + 329.7799072265625 + ], + [ + 235.1525115966797, + 274.0185546875 + ], + [ + 231.682373046875, + 224.67803955078125 + ], + [ + 240.0465087890625, + 180.37335205078125 + ], + [ + 254.68670654296875, + 151.5814208984375 + ], + [ + 269.11944580078125, + 138.8399658203125 + ], + [ + 287.035400390625, + 134.57997131347656 + ], + [ + 302.2082214355469, + 135.4553680419922 + ], + [ + 317.83807373046875, + 134.0277862548828 + ], + [ + 327.5576171875, + 136.03172302246094 + ], + [ + 328.8880920410156, + 137.89076232910156 + ], + [ + 328.0186462402344, + 138.37747192382812 + ], + [ + 327.6839294433594, + 138.94509887695312 + ], + [ + 327.7088623046875, + 138.35464477539062 + ], + [ + 327.792236328125, + 137.96755981445312 + ], + [ + 327.9574279785156, + 137.48287963867188 + ], + [ + 328.41485595703125, + 138.37359619140625 + ], + [ + 328.9131774902344, + 137.72140502929688 + ], + [ + 331.38067626953125, + 137.15365600585938 + ], + [ + 330.4683837890625, + 137.7924041748047 + ], + [ + 330.953857421875, + 138.15618896484375 + ] + ] +} \ No newline at end of file diff --git a/002244_v2/lang.txt b/002244_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..58d26e55486b6510389296609783de39352a7766 --- /dev/null +++ b/002244_v2/lang.txt @@ -0,0 +1 @@ +move the cloth and put it on the dryer diff --git a/002257_v2/data.json b/002257_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..f302a87168b29d9017b9e5b157b9649834f211ad --- /dev/null +++ b/002257_v2/data.json @@ -0,0 +1,696 @@ +{ + "action_start": 8, + "action_end": 21, + "object_name": "white tray", + "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": [ + [ + -2.1144075379453398e-10, + 1.751521705450898e-10, + 5.7541246073489205e-11, + -3.195991204253535e-07, + -2.9619096177228314e-07, + -9.411398790173408e-08, + 1.0 + ], + [ + -0.002676839596451819, + 0.00852446818757506, + 0.0003731181190868779, + 0.012951316156175242, + 0.00899847249508153, + 0.04157865904844854, + 1.0 + ], + [ + -0.005301143967488542, + 0.0220838106934413, + 0.0010901774446209801, + 0.011460963335658278, + 0.005986322056801528, + 0.12224885650603454, + 1.0 + ], + [ + -0.0032036524110063413, + 0.02215495854031426, + -0.007853884338592633, + 0.02443361321708882, + 0.021769505992306655, + 0.17860642666917922, + 1.0 + ], + [ + 0.0005088434568298883, + 0.014775808009152413, + -0.012538542612013051, + -0.03164898061141361, + 0.03532280090603869, + 0.22519535631792467, + 1.0 + ], + [ + 0.002801230185021153, + 0.00902721956671554, + -0.005981667793970841, + -0.004246611852286949, + 0.03005849497430771, + 0.16437085143944807, + 1.0 + ], + [ + -0.0010803030644367384, + 0.014387637837590906, + -0.0031812763136367297, + 0.018064359976898862, + 0.033543028501026036, + 0.1173864860991024, + 1.0 + ], + [ + -0.0035568978886843516, + 0.014508298415978463, + -0.0044089901822858095, + 0.014620504228989447, + 0.01689802702577266, + 0.06325631222924705, + 1.0 + ], + [ + 0.0017191205422487643, + 0.0070237654531032315, + -0.01252504409556307, + -0.04490715653440749, + 0.027860244126054312, + -0.008041413171125066, + 1.0 + ], + [ + 0.00336999954442585, + 0.002205760881142501, + -0.007423547352493797, + 0.0016836998465507135, + 0.022963364594131005, + 0.0008948671541232623, + 0.0 + ], + [ + 0.003456275480618193, + -0.0006374740926835794, + -0.0049026913225697355, + 0.003990078748995324, + 0.00660618211228228, + 0.0003580167707011629, + 0.0 + ], + [ + 0.0006297760473607528, + -0.000202243296245231, + -0.001136352193443782, + 0.0021409696806803415, + 0.001955161120193817, + 0.004788292559789186, + 0.0 + ], + [ + 0.0010748647937218192, + -0.001502697963871447, + 0.0015405764152053164, + 0.0007414785361874828, + -0.005644194604092105, + -0.01003039021826831, + 0.0 + ], + [ + -0.0015559093194525697, + -0.004291736988268592, + 0.006305054158621752, + 0.004864378208054864, + -0.010371673819443062, + -0.04931433889526173, + 0.0 + ], + [ + -0.004695058878578073, + -0.010124669208522638, + 0.014848685162872338, + 0.020619978062202268, + -0.019967783372518578, + -0.09367052247909809, + 0.0 + ], + [ + -0.005481579895558919, + -0.017787610274182127, + 0.014496230027175016, + -0.012178600044828092, + -0.04259954985660666, + -0.11487171858737406, + 0.0 + ], + [ + -0.0021820681258824803, + -0.024757423761918817, + 0.011419939315114333, + -0.006525726908798975, + -0.040670945757762714, + -0.12975758907154905, + 0.0 + ], + [ + -0.001023581608492058, + -0.034636204376234506, + 0.007076478674721387, + -0.010275241610221727, + -0.05255725181232457, + -0.1507450335292745, + 0.0 + ], + [ + 0.0008526419842105892, + -0.03749178253380189, + 0.0034990482406127635, + 0.0008151468820811366, + -0.03345088226403179, + -0.12244010382615983, + 0.0 + ], + [ + 0.003663373041464746, + -0.03563687444463125, + -0.005337786226000455, + -0.02827070499318252, + -0.003797809301913745, + -0.12173913253171323, + 0.0 + ], + [ + 0.0012969081991728304, + -0.01970759013678608, + -0.006642368563480092, + 0.010436877746849399, + 0.012047794383680019, + -0.0783847439340066, + 0.0 + ], + [ + -0.0005830587453253822, + -0.0016415133385479785, + -0.008897606835186471, + 0.013685405976204927, + 0.03117176580828218, + -0.01273666852132094, + 0.0 + ], + [ + 8.659452933484912e-05, + 0.004249239663238119, + -0.003919435042500485, + -0.000347895936738475, + 0.03767866005214666, + 0.019326264948907396, + 1.0 + ], + [ + 0.001529580387075069, + 0.002840897726179209, + 0.00010478030753170774, + -0.011990768314882466, + -0.008856914419198843, + 0.00881953848025145, + 1.0 + ], + [ + 0.0016484289125758, + 0.0040650692149025724, + 0.002894037208342114, + -0.021048365683486017, + -0.005656750016497061, + 0.004123930941924782, + 1.0 + ], + [ + 0.0018502658302395059, + 0.0005439301285183884, + 0.0031740594529831604, + -0.01668630255425495, + -0.01369470993429325, + -0.006959720424801631, + 1.0 + ], + [ + 0.0008895844160415611, + 0.0003951275305003332, + 0.004328515272836164, + -0.02899162378561368, + -0.020335911510092466, + -0.02130019091287351, + 1.0 + ], + [ + -0.0031580312311504932, + 0.002240373002571322, + 0.009641451028062586, + -0.045608889962749796, + -0.04678155507783711, + 0.0033585667210244757, + 1.0 + ], + [ + -0.005162503215611375, + 0.004233800123972037, + 0.01708370446626507, + -0.051404759771491615, + -0.06556285181089745, + -0.0009421179387378106, + 1.0 + ], + [ + -0.005837438633407216, + 0.008600460463794868, + 0.0154843544253127, + -0.022336648575952883, + -0.050740341814551025, + 0.030757198257004605, + 1.0 + ], + [ + 0.0002961776751354006, + 0.007179272264701858, + 0.009951894214066788, + -0.016812000841691054, + -0.03708854953778093, + -0.0029151868014251603, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 337.2102966308594, + 365.25079345703125 + ], + [ + 334.521240234375, + 368.43878173828125 + ], + [ + 328.6832580566406, + 371.530517578125 + ], + [ + 311.99224853515625, + 366.85015869140625 + ], + [ + 302.32867431640625, + 364.84417724609375 + ], + [ + 307.3463134765625, + 359.0435791015625 + ], + [ + 295.40118408203125, + 359.52191162109375 + ], + [ + 275.37127685546875, + 355.89208984375 + ], + [ + 259.8927001953125, + 351.91033935546875 + ], + [ + 253.01742553710938, + 362.67523193359375 + ], + [ + 255.11917114257812, + 362.95556640625 + ], + [ + 255.5653076171875, + 363.74664306640625 + ], + [ + 255.25929260253906, + 362.6065673828125 + ], + [ + 252.8229217529297, + 361.9344177246094 + ], + [ + 253.38612365722656, + 361.518310546875 + ], + [ + 264.737060546875, + 361.880615234375 + ], + [ + 273.24847412109375, + 364.3191223144531 + ], + [ + 304.57818603515625, + 375.285400390625 + ], + [ + 345.1244201660156, + 393.81658935546875 + ], + [ + 391.93084716796875, + 418.71337890625 + ], + [ + 438.1689453125, + 449.06689453125 + ], + [ + 463.4503173828125, + 460.43548583984375 + ], + [ + 470.126220703125, + 466.3851318359375 + ], + [ + 470.7962646484375, + 458.4538879394531 + ], + [ + 469.2679443359375, + 444.14605712890625 + ], + [ + 464.91650390625, + 438.5415344238281 + ], + [ + 464.69854736328125, + 432.0680847167969 + ], + [ + 462.7245788574219, + 426.37030029296875 + ], + [ + 454.95654296875, + 426.13177490234375 + ], + [ + 451.544921875, + 426.03228759765625 + ], + [ + 446.6114501953125, + 426.05194091796875 + ], + [ + 443.188232421875, + 423.5188293457031 + ], + [ + 439.8689270019531, + 421.48614501953125 + ], + [ + 440.0074768066406, + 420.86572265625 + ], + [ + 439.72015380859375, + 420.40960693359375 + ] + ], + "depth_max": 1.4038448333740234, + "depth_min": 0.0472412146627903, + "intrinsic": [ + [ + 523.6707153320312, + 0.0, + 259.0 + ], + [ + 0.0, + 522.7802734375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -4.1548864828655496e-05, + 4.1032144508790225e-05, + -5.156161932973191e-07 + ], + [ + 4.155015267315321e-05, + 1.0, + -3.1463390769204125e-05, + -8.97899462870555e-06 + ], + [ + -4.103083483641967e-05, + 3.1465093343285844e-05, + 1.0, + -4.2322462832089514e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 34 + ], + "object_trajectory": [ + [ + 183.25, + 379.0 + ], + [ + 183.44448852539062, + 379.1952819824219 + ], + [ + 183.4532012939453, + 379.2666931152344 + ], + [ + 183.43411254882812, + 379.2816162109375 + ], + [ + 183.48291015625, + 379.3388671875 + ], + [ + 183.39242553710938, + 379.3866271972656 + ], + [ + 183.48056030273438, + 379.5450134277344 + ], + [ + 183.40647888183594, + 379.433349609375 + ], + [ + 183.52633666992188, + 379.40069580078125 + ], + [ + 183.53216552734375, + 379.4383239746094 + ], + [ + 183.67666625976562, + 379.66058349609375 + ], + [ + 183.924072265625, + 380.0441589355469 + ], + [ + 188.2375030517578, + 381.35858154296875 + ], + [ + 187.73670959472656, + 378.3863830566406 + ], + [ + 191.22837829589844, + 376.0348815917969 + ], + [ + 183.55599975585938, + 381.3889465332031 + ], + [ + 198.3598175048828, + 378.806640625 + ], + [ + 227.5036163330078, + 374.4424743652344 + ], + [ + 272.0146789550781, + 375.08209228515625 + ], + [ + 310.561767578125, + 381.6712646484375 + ], + [ + 352.10546875, + 403.57232666015625 + ], + [ + 370.41656494140625, + 412.47296142578125 + ], + [ + 375.516357421875, + 412.6059875488281 + ], + [ + 378.6221008300781, + 415.26153564453125 + ], + [ + 377.7152099609375, + 412.97906494140625 + ], + [ + 378.4676208496094, + 416.7469482421875 + ], + [ + 382.0546875, + 422.47479248046875 + ], + [ + 381.7406921386719, + 421.9195556640625 + ], + [ + 381.86956787109375, + 423.0317687988281 + ], + [ + 382.20587158203125, + 424.4000549316406 + ], + [ + 386.3602294921875, + 425.8379211425781 + ], + [ + 386.21881103515625, + 439.4198303222656 + ], + [ + 384.7437438964844, + 424.4418640136719 + ], + [ + 384.81768798828125, + 424.49237060546875 + ], + [ + 385.08624267578125, + 424.1154479980469 + ] + ] +} \ No newline at end of file diff --git a/002257_v2/lang.txt b/002257_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..b71af64a859a23a0f9af4ee7778a771ad3650766 --- /dev/null +++ b/002257_v2/lang.txt @@ -0,0 +1 @@ +move the white tray to the top of the blue cloth. diff --git a/002271/FAIL b/002271/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/002271/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/002274/data.json b/002274/data.json new file mode 100644 index 0000000000000000000000000000000000000000..aac6d93da9d495f6bc4e3dd23bcfd1c8df9da488 --- /dev/null +++ b/002274/data.json @@ -0,0 +1,439 @@ +{ + "action_start": 4, + "action_end": 15, + "object_name": "corn", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 0.05347999999999997, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.663736, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 2.343786831282557e-10, + -9.460132677219235e-11, + 5.390726823262249e-10, + -1.3445078258283553e-07, + -3.6818595623672476e-07, + -3.0172256410653887e-07, + 1.0 + ], + [ + 0.0035745974409069348, + 0.002974686931758286, + -0.00557201138817448, + -0.04510465467456265, + -0.047856370711041304, + -0.04107555142988762, + 1.0 + ], + [ + 0.0016906382120145391, + 0.002714830731063572, + -0.0022756779777978325, + -0.03933108598279331, + -0.03241509972186714, + -0.021411108216338043, + 1.0 + ], + [ + -0.00013346621221810295, + 0.0018729750282820978, + -0.007443193198069083, + -0.024660665711386337, + -0.058861653144493195, + -0.05093703902757549, + 1.0 + ], + [ + 9.288050236128109e-05, + 0.000785612527104268, + -0.0027688132383901012, + -0.019085666648875146, + -0.019985111160650583, + -0.01085171243129002, + 0.05347999999999997 + ], + [ + -0.0007870159884414973, + -0.002269407255365341, + -0.002481657199981186, + -0.014297346974838823, + -0.015073717094204329, + 0.016790128946946224, + 0.0 + ], + [ + 0.0009486701373672135, + 0.003019311832300531, + 0.00641472523247053, + 0.008453774550908871, + 0.01005350433994028, + -0.021322600331615288, + 0.0 + ], + [ + 0.0016848273800066371, + 0.013457539368684351, + 0.02480360436353648, + 0.020955776341808872, + 0.05226276253686321, + -0.057642114699438154, + 0.0 + ], + [ + -0.002137795823999422, + 0.014972773382817522, + 0.009750425174605226, + 0.052459105567348605, + 0.024640520171653628, + -0.038398327712644634, + 0.0 + ], + [ + -0.003524273926046262, + 0.027241745767494108, + 0.0056000366497177476, + 0.05171928570539715, + 0.0062737433670045925, + -0.06408119424968929, + 0.0 + ], + [ + 0.0006664504172632091, + 0.03427325128331454, + -0.0010903029956711857, + 0.045729873728748364, + -0.013034391126755883, + -0.07873122265313118, + 0.0 + ], + [ + 0.000927857145603117, + 0.0274484808312742, + -0.007527358888830701, + 0.005997435956461532, + -0.02063618077848564, + -0.029639719204104638, + 0.0 + ], + [ + -0.005633411840119118, + 0.027996047892618822, + -0.01404225130923846, + 0.05506145293256231, + -0.042519563960762896, + -0.04913574262935576, + 0.0 + ], + [ + -1.93838365261656e-05, + 0.024528386553553452, + -0.010863968690267747, + 0.015456481737478843, + -0.02757295234391992, + -0.057863482094225885, + 0.0 + ], + [ + -0.0021009347024436575, + 0.020941382143974566, + -0.01075094230628372, + 0.02981025672703754, + -0.06019243829646378, + -0.0340593462384645, + 0.0 + ], + [ + -0.005114873488374472, + 0.008542203703419952, + -0.0024309437708826126, + 0.02103268365983848, + -0.04467767284128362, + -0.009526963770716034, + 0.663736 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 576.93310546875, + 249.20628356933594 + ], + [ + 576.850830078125, + 249.06053161621094 + ], + [ + 570.81201171875, + 267.44500732421875 + ], + [ + 565.4132080078125, + 275.0185546875 + ], + [ + 558.2141723632812, + 278.00732421875 + ], + [ + 552.396728515625, + 290.3327331542969 + ], + [ + 550.683837890625, + 290.0013427734375 + ], + [ + 550.8497924804688, + 288.868896484375 + ], + [ + 544.7191162109375, + 289.22216796875 + ], + [ + 531.30322265625, + 246.7377166748047 + ], + [ + 521.41455078125, + 240.3276824951172 + ], + [ + 484.365966796875, + 204.35015869140625 + ], + [ + 440.977783203125, + 195.5730743408203 + ], + [ + 408.0259704589844, + 193.79481506347656 + ], + [ + 370.93170166015625, + 204.07098388671875 + ], + [ + 333.5486145019531, + 186.91961669921875 + ], + [ + 311.39337158203125, + 192.19558715820312 + ], + [ + 301.3702087402344, + 196.99533081054688 + ], + [ + 301.3433837890625, + 197.75552368164062 + ], + [ + 300.4354248046875, + 197.5001220703125 + ], + [ + 319.16790771484375, + 196.08245849609375 + ] + ], + "depth_max": 1.48250412940979, + "depth_min": 0.27428871393203735, + "intrinsic": [ + [ + 537.840087890625, + 0.0, + 259.0 + ], + [ + 0.0, + 538.8991088867188, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.9568485842901282e-05, + -8.671709656482562e-05, + -2.6541210900177248e-06 + ], + [ + -2.9577227905974723e-05, + 1.0, + -0.00010083258530357853, + 1.9775558030232787e-05 + ], + [ + 8.671411342220381e-05, + 0.00010083514644065872, + 1.0, + -2.423412115604151e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 20 + ], + "object_trajectory": [ + [ + 563.0, + 305.5000305175781 + ], + [ + 562.8457641601562, + 305.98944091796875 + ], + [ + 562.5664672851562, + 306.07379150390625 + ], + [ + 560.095947265625, + 305.36370849609375 + ], + [ + 559.92333984375, + 305.2152404785156 + ], + [ + 554.2747802734375, + 304.21826171875 + ], + [ + 547.1547241210938, + 299.12371826171875 + ], + [ + 546.7135009765625, + 297.1557922363281 + ], + [ + 540.8857421875, + 298.92364501953125 + ], + [ + 530.3870849609375, + 264.7593994140625 + ], + [ + 516.8699340820312, + 259.3423156738281 + ], + [ + 480.0994567871094, + 228.96331787109375 + ], + [ + 437.4420166015625, + 219.80503845214844 + ], + [ + 402.8512268066406, + 220.45335388183594 + ], + [ + 365.8942565917969, + 226.54530334472656 + ], + [ + 346.5579833984375, + 217.78445434570312 + ], + [ + 325.40472412109375, + 220.8783721923828 + ], + [ + 316.8242492675781, + 232.0051727294922 + ], + [ + 328.56011962890625, + 243.23556518554688 + ], + [ + 329.8356018066406, + 238.54336547851562 + ], + [ + 322.90472412109375, + 234.2815399169922 + ] + ] +} \ No newline at end of file diff --git a/002274/lang.txt b/002274/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..98c5c4b3379c7c25d3d8ad202dd51823f871f837 --- /dev/null +++ b/002274/lang.txt @@ -0,0 +1 @@ +put corn in pot which is in sink diff --git a/002274/object.ply b/002274/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..3d124ff5f82edaad00c51edeb47328cc3688d36d Binary files /dev/null and b/002274/object.ply differ diff --git a/002339_v2/FAIL b/002339_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/002339_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/002346_v2/FAIL b/002346_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/002346_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/002364_v2/FAIL b/002364_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/002364_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/002391/FAIL b/002391/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/002391/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/002415_v2/FAIL b/002415_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/002415_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/002464_v2/data.json b/002464_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..1d665f124f5bf2b1b0e4c9005c03fadc4eb27865 --- /dev/null +++ b/002464_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 25, + "action_end": 40, + "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, + 1.0, + 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, + 0.6632480000000001, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 3.2974345476333156e-11, + 4.847160173238052e-11, + -5.183089513138839e-10, + 3.058796635456764e-08, + 6.45079913230648e-08, + -4.451606404449506e-07, + 1.0 + ], + [ + 0.012655838211497766, + 0.010050366929801963, + 0.0015081405350973742, + -0.07729127409048765, + 0.009976388769864189, + 0.28075429885235387, + 1.0 + ], + [ + 0.012485137358298481, + 0.006144916726493893, + -0.010433683973208763, + -0.03223535952539314, + 0.029459339293222975, + 0.24347085224591275, + 1.0 + ], + [ + 0.01051826329218608, + 0.005519070183190811, + -0.010265556436460044, + -0.010684941975882524, + -0.002836425085155696, + 0.1411428064053875, + 1.0 + ], + [ + 0.012306229018738735, + 0.0012635415382285659, + -0.01800876123911077, + -0.012399990820287865, + -0.009240536615320004, + 0.1093062308616341, + 1.0 + ], + [ + 0.014322805853668519, + -0.0038514523022895736, + -0.011155337343924265, + -6.086307788060868e-05, + -0.027105893408836023, + 0.043332607658979304, + 1.0 + ], + [ + 0.01279274303130229, + -0.002473058005272172, + 0.00041263905312355353, + -0.021570789999982652, + -0.04577104722879725, + 0.047892155420431376, + 1.0 + ], + [ + 0.013637271131105189, + -0.00030706395524085495, + 0.004178292657335658, + -0.0222362114141594, + -0.02102724045307984, + 0.024390268009412498, + 1.0 + ], + [ + 0.014201825296637771, + 0.00579901156221449, + 0.003896446824760938, + -0.003888286304113799, + -0.017055285493455537, + 0.03086259113186302, + 1.0 + ], + [ + 0.011431805305794629, + 0.010929007645679709, + -0.003937694035706915, + 0.00033417653971881293, + -0.004503798337781634, + 0.04402509820528636, + 1.0 + ], + [ + 0.0049558412366011995, + 0.012154566131415148, + -0.00929930396854084, + 0.007954405545515443, + 0.009504701069315592, + 0.03377921198691682, + 1.0 + ], + [ + -0.0010299350495166504, + 0.010864986340846552, + -0.005393989155127024, + 0.010004348048825362, + -0.0010418384332608352, + 0.04260151922989313, + 1.0 + ], + [ + -0.0031445580935530737, + 0.007606754513967487, + -0.0060016507730851765, + 0.0013209638525971455, + 0.0028391643000971216, + 0.030463470469683205, + 1.0 + ], + [ + -0.0015969658098829997, + 0.0017733531527864554, + -0.00448015512721231, + -0.00942957097272972, + 0.010788515116789672, + 0.023017231550922, + 1.0 + ], + [ + 0.00010703535413375542, + -0.0011169622707639104, + -0.00021815959629249704, + -0.018572949665010333, + 0.005079884229597163, + 0.04893385149252633, + 1.0 + ], + [ + 0.0016794861565185282, + -0.004852288254765552, + 0.003458930116878145, + -0.033517867549531406, + 0.006283307957328466, + 0.02438288074451931, + 1.0 + ], + [ + 0.003914795692224249, + -0.005883349044549152, + 0.008810979886819045, + -0.03414829589548374, + -0.010760827993077694, + 0.019442771409101837, + 1.0 + ], + [ + 0.0045167047382964065, + -0.00012215687155300858, + 0.00017578436141128806, + -0.014483326348163008, + 0.006386466592086771, + 0.02702987145598613, + 1.0 + ], + [ + 0.002153385942945618, + 0.0040452656109591645, + -0.007218358777769801, + -0.0008482357918043025, + 0.014549381834931652, + 0.019246548143863996, + 1.0 + ], + [ + 0.0002388536789746376, + 0.0006869759716144203, + -0.0065823332316160416, + 0.0015445507781921123, + 0.0126076203320986, + 0.013011587156277357, + 1.0 + ], + [ + 0.00022538204667382766, + -0.003774309931830644, + -0.0023759010500573607, + -0.0059154569632965575, + 0.004235642323579231, + 0.008208249373749987, + 1.0 + ], + [ + -0.0003715446846644932, + -0.005709681230936917, + -0.0034975461151397214, + -0.0112942869686069, + 0.014063756809824197, + 0.0033107443502319108, + 1.0 + ], + [ + 0.00015376069736844356, + -0.006956219333907637, + -0.0007740057915350262, + -0.011769961133992923, + -0.004422921116870555, + -0.005353194937319112, + 1.0 + ], + [ + -0.0013036136395492837, + -0.007594106123649191, + 0.00195765887903801, + -0.012652063885892476, + -0.0007410822939650265, + -0.011943671390525308, + 1.0 + ], + [ + -0.0021630363640980366, + -0.005846940105897869, + 0.0016365298162375752, + -0.00743280599849974, + -0.002551002910387267, + -0.013551659952955498, + 1.0 + ], + [ + -0.002308914057264966, + -0.0015686847532927484, + -0.004021044040855043, + 0.00508553840562855, + 0.014581486790798586, + 0.0008723573411831741, + 1.0 + ], + [ + -0.001000289531670362, + 0.0041753560702897236, + -0.0009519403890522055, + 0.01403727751175555, + -0.009290529905379733, + -0.002753800850519017, + 0.0 + ], + [ + -0.002626246642383201, + -0.0007957514270256899, + 0.016571706889074236, + 0.009983435886011204, + -0.04852618380680753, + -0.061206676690155885, + 0.0 + ], + [ + -0.009820491770065443, + -0.003725796614353391, + 0.02493724854509928, + -0.0041181940281064585, + -0.05519839697563971, + -0.08709593601404349, + 0.0 + ], + [ + -0.018400241310239096, + -0.0015391228047987038, + 0.02167326875323522, + -0.0111182488785618, + -0.041965976746081546, + -0.05604082463923118, + 0.0 + ], + [ + -0.025919500326163913, + 0.008022351445038378, + 0.010085032952795253, + 0.014505275280682586, + -0.020012589287079403, + -0.005408488476132054, + 0.0 + ], + [ + -0.028154532413857514, + 0.018735128180420585, + -0.006528479631235651, + 0.01393296727477217, + -0.003439234749091156, + 0.0003513972109627616, + 0.0 + ], + [ + -0.020743954463069203, + 0.02089777028519084, + -0.014429135648475033, + 0.04301462622755072, + 0.0031975389726305145, + -0.012349684036050065, + 0.0 + ], + [ + -0.010396906806995898, + 0.02235120994986195, + -0.02735262183586462, + 0.036449196344460956, + 0.03348867649839541, + 0.006424290289712807, + 0.0 + ], + [ + -0.0008199571438705089, + 0.013932585015359822, + -0.019021411877027494, + 0.02745129606149522, + 0.013862213863463941, + -0.0014455106436634677, + 0.0 + ], + [ + 0.0002808262672966966, + 0.009859271424911498, + -0.01786061032681492, + 0.03292963667044815, + 0.007074878648176352, + -0.0039548530312919, + 0.0 + ], + [ + -0.0025565722365124, + 0.011171434154372828, + -0.014519079447050595, + 0.017456369879185432, + 0.013003974107679157, + 0.0033689102673035223, + 0.0 + ], + [ + -0.01298192035960366, + 0.008164110275868108, + -0.011056764108527531, + 0.032140035341731904, + 0.0029392762240050283, + -0.021258024398818364, + 0.0 + ], + [ + -0.015034467521011174, + 0.009606757539893152, + -0.010663890000419826, + 0.02799921918490925, + 0.019924346741359834, + -0.009350644510724787, + 0.0 + ], + [ + -0.010248831144726384, + 0.006354505499755275, + -0.006248729152863994, + -0.0007361548453629029, + 0.016963017687927868, + 0.005514448501384412, + 0.0 + ], + [ + -0.005793319955575527, + 0.00687853963700108, + -0.009018408190663713, + -0.014003838635277198, + 0.033800629281747346, + 0.01154721183780716, + 0.6632480000000001 + ], + [ + 0.0004027099315906113, + 0.003709626599784771, + -0.001640734508410381, + 0.000664579578321784, + 0.004726761265850841, + -0.004159272823822916, + 1.0 + ], + [ + 0.0024492455342321195, + 0.0006182207130008277, + 0.007492394654125132, + 0.005925649943620372, + -0.012273247532394985, + -0.02771677126963279, + 1.0 + ], + [ + 0.0019242952621078002, + -0.0038008867523003087, + 0.017495792191739565, + 0.0086656197559926, + -0.039361886113470204, + -0.026060016762601713, + 1.0 + ], + [ + 0.0014099928105649195, + -0.007532722104482387, + 0.024937022392949162, + -0.010408744849064233, + -0.04670965480075376, + -0.018182245203366688, + 1.0 + ], + [ + -0.00040446939133140236, + -0.01403379671730573, + 0.01765355080835021, + 0.03734159530134131, + -0.0033186349970068707, + -0.06854393902445625, + 1.0 + ], + [ + -0.0027101647107546367, + -0.029557242550304424, + 0.00017257702825186627, + 0.06410169619911964, + 0.03677824249192485, + -0.15051137536021866, + 1.0 + ], + [ + -0.0027538999933844066, + -0.042775887395029244, + -0.002177822498881335, + 0.024147366376110087, + 0.07696103887702238, + -0.13659630633311787, + 1.0 + ] + ], + "gripper_centers": [ + [ + 178.98733520507812, + 40.412052154541016 + ], + [ + 178.96754455566406, + 42.06237030029297 + ], + [ + 185.7064666748047, + 37.56132125854492 + ], + [ + 193.77230834960938, + 36.8087043762207 + ], + [ + 194.42807006835938, + 45.460575103759766 + ], + [ + 200.2789306640625, + 58.10074996948242 + ], + [ + 218.3045654296875, + 72.30342102050781 + ], + [ + 232.2811737060547, + 76.56759643554688 + ], + [ + 244.2120361328125, + 62.93047332763672 + ], + [ + 250.414794921875, + 51.90180206298828 + ], + [ + 256.27398681640625, + 46.64158630371094 + ], + [ + 244.9156951904297, + 48.49235916137695 + ], + [ + 235.22491455078125, + 53.225799560546875 + ], + [ + 223.93545532226562, + 48.54914855957031 + ], + [ + 219.34617614746094, + 54.73558807373047 + ], + [ + 219.22508239746094, + 59.15781784057617 + ], + [ + 220.6531524658203, + 60.975189208984375 + ], + [ + 225.62762451171875, + 53.487545013427734 + ], + [ + 228.37989807128906, + 45.206398010253906 + ], + [ + 229.55392456054688, + 54.21510314941406 + ], + [ + 228.5411834716797, + 58.27362823486328 + ], + [ + 230.70260620117188, + 61.4326057434082 + ], + [ + 237.50137329101562, + 63.52349090576172 + ], + [ + 242.71873474121094, + 64.96443939208984 + ], + [ + 249.1971435546875, + 70.36309814453125 + ], + [ + 250.50546264648438, + 79.34931945800781 + ], + [ + 250.43447875976562, + 83.0904541015625 + ], + [ + 251.08538818359375, + 87.66212463378906 + ], + [ + 251.2999267578125, + 83.18074035644531 + ], + [ + 252.6376953125, + 56.082763671875 + ], + [ + 239.7428436279297, + 35.29168701171875 + ], + [ + 210.0732879638672, + 24.198875427246094 + ], + [ + 158.62173461914062, + 25.94809341430664 + ], + [ + 112.6020736694336, + 41.74174499511719 + ], + [ + 78.32835388183594, + 63.84392547607422 + ], + [ + 61.39344024658203, + 92.4207763671875 + ], + [ + 59.551605224609375, + 107.6400146484375 + ], + [ + 53.92074203491211, + 121.03527069091797 + ], + [ + 40.18878936767578, + 140.15130615234375 + ], + [ + 9.604588508605957, + 163.61465454101562 + ], + [ + -4.7327423095703125, + 172.35324096679688 + ], + [ + -15.815141677856445, + 191.79611206054688 + ], + [ + -15.212311744689941, + 193.1055908203125 + ], + [ + -14.227084159851074, + 190.71853637695312 + ], + [ + -13.478532791137695, + 181.64663696289062 + ], + [ + -17.11081314086914, + 161.87612915039062 + ], + [ + -19.30097198486328, + 145.9647216796875 + ], + [ + -7.299654006958008, + 155.43617248535156 + ] + ], + "depth_max": 2.512239694595337, + "depth_min": 0.48384103178977966, + "intrinsic": [ + [ + 449.4960021972656, + 0.0, + 259.0 + ], + [ + 0.0, + 449.36346435546875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 9.088954016078787e-07, + -2.077954741253052e-05, + -2.6829988200915977e-05 + ], + [ + -9.099959470404428e-07, + 1.0, + -5.2964438509661704e-05, + -8.425882697338238e-06 + ], + [ + 2.0779500118806027e-05, + 5.296446033753455e-05, + 1.0, + 3.10866380459629e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 258.0, + 91.25000762939453 + ], + [ + 258.59246826171875, + 91.74179077148438 + ], + [ + 258.2703857421875, + 91.46481323242188 + ], + [ + 257.8805236816406, + 91.35603332519531 + ], + [ + 258.19036865234375, + 91.20114135742188 + ], + [ + 257.69342041015625, + 91.81328582763672 + ], + [ + 257.2467956542969, + 91.97148132324219 + ], + [ + 257.2986145019531, + 92.48076629638672 + ], + [ + 257.6584167480469, + 92.39221954345703 + ], + [ + 257.680908203125, + 91.9833984375 + ], + [ + 257.7560729980469, + 91.84992218017578 + ], + [ + 257.6796875, + 91.98017120361328 + ], + [ + 258.09283447265625, + 92.2416763305664 + ], + [ + 257.3054504394531, + 92.36660766601562 + ], + [ + 257.76397705078125, + 93.20063781738281 + ], + [ + 257.7305908203125, + 95.51548767089844 + ], + [ + 257.7532958984375, + 94.97017669677734 + ], + [ + 257.17547607421875, + 94.77747344970703 + ], + [ + 257.48114013671875, + 94.9134292602539 + ], + [ + 257.83001708984375, + 95.1695556640625 + ], + [ + 259.7102355957031, + 97.44779968261719 + ], + [ + 259.8691711425781, + 97.08797454833984 + ], + [ + 263.1477966308594, + 97.96452331542969 + ], + [ + 264.7408447265625, + 98.0209732055664 + ], + [ + 267.49066162109375, + 102.3892822265625 + ], + [ + 265.01373291015625, + 102.37734985351562 + ], + [ + 264.09063720703125, + 101.8154067993164 + ], + [ + 264.12371826171875, + 104.46312713623047 + ], + [ + 264.6705322265625, + 100.3620376586914 + ], + [ + 266.0877685546875, + 67.83975219726562 + ], + [ + 258.5765686035156, + 52.067115783691406 + ], + [ + 228.9499969482422, + 39.14574432373047 + ], + [ + 182.04562377929688, + 40.757537841796875 + ], + [ + 133.3662567138672, + 58.38622283935547 + ], + [ + 97.23292541503906, + 79.42316436767578 + ], + [ + 78.35913848876953, + 107.43827056884766 + ], + [ + 73.14772033691406, + 122.67565155029297 + ], + [ + 64.92893981933594, + 135.41094970703125 + ], + [ + 45.079925537109375, + 153.9088897705078 + ], + [ + 22.19658851623535, + 170.78988647460938 + ], + [ + 13.265311241149902, + 181.73875427246094 + ], + [ + 6.314878940582275, + 203.0247039794922 + ], + [ + 7.803245544433594, + 203.55352783203125 + ], + [ + 8.206130981445312, + 200.5399169921875 + ], + [ + 13.64727783203125, + 195.27467346191406 + ], + [ + 14.89177131652832, + 191.29251098632812 + ], + [ + 18.319087982177734, + 186.78611755371094 + ], + [ + 18.499900817871094, + 184.95751953125 + ] + ] +} \ No newline at end of file diff --git a/002464_v2/lang.txt b/002464_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..8072c188e2ca906676ab27e50ad485ed761cc856 --- /dev/null +++ b/002464_v2/lang.txt @@ -0,0 +1 @@ +take the red object and put in the left bottom of the table diff --git a/002464_v2/object.ply b/002464_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..d5a0631fbaf7a9fa4e2f9e9007901f566c3834bb Binary files /dev/null and b/002464_v2/object.ply differ diff --git a/002518/data.json b/002518/data.json new file mode 100644 index 0000000000000000000000000000000000000000..04c55a54323cbe0427dc9fe428116d896296912b --- /dev/null +++ b/002518/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 11, + "action_end": 21, + "object_name": "eggplant", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.979487, + 0.998046, + 0.654701, + 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": [ + [ + 0.0, + 1.3877787807814457e-17, + 0.0, + -2.9585659545971166e-07, + 4.678801869354506e-08, + 5.681905268235062e-07, + 1.0 + ], + [ + -0.0026801450702908514, + 0.003399819350244339, + -0.01619786667250596, + 0.11291247678515706, + -0.03511167196034677, + -0.014001571902601938, + 1.0 + ], + [ + -0.0042950101091585036, + 0.00020090671009782846, + -0.011719224991846279, + 0.032539623644993965, + -0.03169180648787136, + 0.0100340246070969, + 1.0 + ], + [ + 0.0034573528064762715, + 0.0022169791047320364, + -0.0063866777942213, + -0.01315512264715707, + -0.01620229758309342, + 0.003639865865561215, + 1.0 + ], + [ + 0.0012626528671408899, + 5.70008734783467e-05, + -0.0036675235530302976, + -0.07434082617851186, + -0.0028064001116463537, + 0.012072482539325607, + 1.0 + ], + [ + 0.0031179707365037446, + 0.00045748527491498714, + -0.003727854479953975, + -0.03250888108149214, + 0.013130978175496978, + 0.009894725797877172, + 1.0 + ], + [ + -0.0006651441226895594, + 0.0009404275261060829, + -0.0036922134150488978, + -0.008395854586911996, + -0.00692110640901914, + 0.006570836182450321, + 1.0 + ], + [ + 0.0005727293780688758, + -0.0005667413368486834, + -0.0012031768395176032, + 0.006902381564669499, + 0.0011369172792947979, + -0.000674688257596746, + 1.0 + ], + [ + -0.0005213365954810922, + -0.002020238620586999, + -0.0019687492476113833, + 0.01807733269930151, + 0.013203356851751592, + -0.06038784837147035, + 1.0 + ], + [ + 0.0016356485904675533, + 0.002505286447187255, + -0.0026759791653794412, + 0.0006298996532684423, + 0.012669770050127345, + -0.04883610362430159, + 0.979487 + ], + [ + 0.001218486483053366, + 0.0008588126992433859, + -0.0051273544185492965, + 0.01990159203488506, + -0.0019590579624034735, + -0.021789778165418622, + 0.998046 + ], + [ + 0.0002498315744271784, + 8.014995492175436e-06, + -0.00523518122240361, + 0.014520590223183555, + -0.02127587987504477, + 0.011677153487118555, + 0.654701 + ], + [ + -0.0011105226984058914, + -0.002647695733885902, + -0.005877080148753166, + 0.03513533206044963, + -0.03245234678105028, + 0.025421507958049337, + 0.0 + ], + [ + -0.0009447786608540731, + -0.0019494810253777167, + 2.0927589785638308e-05, + 0.019923078924743605, + -0.004167342237299349, + 0.0032899714872523496, + 0.0 + ], + [ + -0.0005946719963600966, + 0.00022183402024253396, + 0.011602116735919429, + -0.0018641983822124933, + 0.024642802442330167, + -0.004961738435889986, + 0.0 + ], + [ + -0.0012916645017904682, + 0.0002910721007457623, + 0.022561264007726574, + 0.021116248534038904, + -0.0022948796405542564, + 0.022113449419804688, + 0.0 + ], + [ + 0.002916291608478644, + 0.0030460652962501084, + 0.03260940764531784, + 0.05047735785385339, + -0.011808743585095902, + 0.025165236471664357, + 0.0 + ], + [ + 0.015807306784238084, + 0.00012365925069793976, + 0.015448596019919762, + 0.06927117918479157, + -0.10325550597766195, + -0.012758619614650487, + 0.0 + ], + [ + 0.02639539461557036, + -0.0007518595466117564, + 0.01210291682116943, + 0.07340824033766048, + -0.05839255617547667, + -0.09487949780877016, + 0.0 + ], + [ + 0.029674772931693516, + -0.0062297418312238645, + -0.002060670815963103, + -0.02595971593348126, + -0.07136052848740007, + -0.04707491514875551, + 0.0 + ], + [ + 0.018470800707693358, + -0.009534027138442855, + 0.00040860241125920127, + -0.046570567122235236, + -0.05475221662941737, + -0.039236724514309, + 0.0 + ], + [ + 0.009377399543657183, + -0.019780471334480937, + 0.00045257577558587003, + -0.06488239460899267, + -0.048599608598554556, + 0.0073510256010332, + 0.0 + ], + [ + -0.0008266680793831971, + -0.012486801462149533, + -0.004468229735579837, + -0.04235319525769018, + -0.011851737728063447, + 0.024053209291286317, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 211.8031463623047, + 222.00473022460938 + ], + [ + 211.77859497070312, + 222.31259155273438 + ], + [ + 210.8912353515625, + 229.07980346679688 + ], + [ + 204.2974395751953, + 257.13775634765625 + ], + [ + 202.38479614257812, + 266.017822265625 + ], + [ + 209.07070922851562, + 268.2131042480469 + ], + [ + 211.06495666503906, + 279.03131103515625 + ], + [ + 214.83560180664062, + 278.0269775390625 + ], + [ + 213.8744659423828, + 275.6004943847656 + ], + [ + 212.78408813476562, + 276.1872253417969 + ], + [ + 212.28237915039062, + 279.1004638671875 + ], + [ + 214.8236541748047, + 284.9237060546875 + ], + [ + 213.2948455810547, + 282.0563659667969 + ], + [ + 210.66387939453125, + 282.76629638671875 + ], + [ + 210.3072967529297, + 280.39141845703125 + ], + [ + 210.10467529296875, + 279.783447265625 + ], + [ + 208.6361083984375, + 292.0023193359375 + ], + [ + 200.62168884277344, + 265.6317138671875 + ], + [ + 200.72991943359375, + 226.64785766601562 + ], + [ + 212.29502868652344, + 201.75730895996094 + ], + [ + 240.1358642578125, + 168.28598022460938 + ], + [ + 258.6812744140625, + 159.755615234375 + ], + [ + 289.0653381347656, + 147.39955139160156 + ], + [ + 314.231689453125, + 154.77090454101562 + ] + ], + "depth_max": 1.5235143899917603, + "depth_min": 0.2308434695005417, + "intrinsic": [ + [ + 523.72900390625, + 0.0, + 259.0 + ], + [ + 0.0, + 524.6502075195312, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -1.5393488865811378e-05, + -7.785673369653523e-05, + -1.1480917237349786e-05 + ], + [ + 1.538988362881355e-05, + 1.0, + -4.630484545486979e-05, + -5.691057594958693e-06 + ], + [ + 7.785744674038142e-05, + 4.630364492186345e-05, + 1.0, + -2.0040870367665775e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 221.0, + 283.5000305175781 + ], + [ + 221.17166137695312, + 283.7616271972656 + ], + [ + 221.05665588378906, + 283.5901184082031 + ], + [ + 220.93234252929688, + 284.24200439453125 + ], + [ + 220.68653869628906, + 284.49835205078125 + ], + [ + 221.71022033691406, + 292.4619445800781 + ], + [ + 221.36245727539062, + 292.26617431640625 + ], + [ + 221.42030334472656, + 291.864990234375 + ], + [ + 221.00059509277344, + 291.6675109863281 + ], + [ + 220.8786163330078, + 291.64276123046875 + ], + [ + 220.7331085205078, + 291.9590759277344 + ], + [ + 220.67169189453125, + 293.13006591796875 + ], + [ + 217.7485809326172, + 292.3160400390625 + ], + [ + 215.3563995361328, + 291.29241943359375 + ], + [ + 214.70509338378906, + 288.09503173828125 + ], + [ + 213.71188354492188, + 287.4241027832031 + ], + [ + 210.50502014160156, + 301.29669189453125 + ], + [ + 203.51864624023438, + 277.775390625 + ], + [ + 197.8443603515625, + 241.65879821777344 + ], + [ + 214.99671936035156, + 215.11753845214844 + ], + [ + 233.80267333984375, + 180.63584899902344 + ], + [ + 257.0804443359375, + 173.66128540039062 + ], + [ + 289.103271484375, + 160.32566833496094 + ], + [ + 312.83270263671875, + 164.04722595214844 + ] + ] +} \ No newline at end of file diff --git a/002518/lang.txt b/002518/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..7ed8832c7c67b4d9e1196c12118415376146aac0 --- /dev/null +++ b/002518/lang.txt @@ -0,0 +1 @@ +put eggplant in pot or pan diff --git a/002518/object.ply b/002518/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..0e332d7a48c70a95d6dd9942a7f096e1db0f7123 Binary files /dev/null and b/002518/object.ply differ diff --git a/002539/data.json b/002539/data.json new file mode 100644 index 0000000000000000000000000000000000000000..f7a56a0d6a3e6973edd7b1fa736fc02e02633d62 --- /dev/null +++ b/002539/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, + 0.993895, + 0.902564, + 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, + -2.7755575615628914e-17, + -6.938893903907228e-18, + 1.1302003421811947e-07, + 6.798364331593368e-08, + -2.701187721017609e-07, + 1.0 + ], + [ + 0.0057939412428895665, + 0.003520893948065512, + -0.006034190294593601, + 0.007172162565393775, + 0.009360674267236234, + -0.07730132170108235, + 1.0 + ], + [ + 0.006214698361122151, + 0.0033498272483312996, + -0.009369500239177785, + -0.016201318185582177, + -0.004732012304889521, + -0.048373905646659214, + 1.0 + ], + [ + 0.005036662899954636, + 0.0011207306340430268, + -0.014518222708585155, + -0.026409419660777672, + -0.02119579618126592, + -0.0347701142459832, + 1.0 + ], + [ + -0.0008517456555569569, + 0.0018994748615950297, + -0.014981647116298813, + -0.007921841616473519, + -0.0027743421746022527, + -0.020836602293572995, + 1.0 + ], + [ + -0.0022724440341518326, + 0.004883673927684212, + -0.011281484319747287, + 0.01106036752408899, + 0.008372055901701453, + -0.006379885824452151, + 1.0 + ], + [ + 0.0019482236454621549, + 0.004022214333866958, + -0.007246151273317583, + -0.013059226518246498, + 0.016670031835151807, + -0.003971058346497826, + 1.0 + ], + [ + 0.0029974734356991717, + 0.006533360359785412, + -0.007633224248592706, + 0.008164001234556614, + 0.002234655232754643, + -0.004848017125080758, + 1.0 + ], + [ + 0.0038791863028141416, + 0.0021874851475190416, + -0.003634542394994597, + -0.010443378278325893, + 0.0006192816124495669, + -0.008303216747174186, + 1.0 + ], + [ + 0.0004123563293970678, + -0.0002861918462548907, + -0.00425305168927758, + -0.023987460663414645, + 0.01001897554371319, + 0.002363273996019609, + 1.0 + ], + [ + -0.0008203875431140317, + -0.002058583352105736, + -0.00809597051671132, + 0.010962280601555378, + -0.006741025543072234, + 0.006192285943641708, + 1.0 + ], + [ + -0.0017384108799640696, + -0.0009361243943972197, + -0.006883822957984537, + 0.012352754294403046, + -0.006239097380753136, + -0.0005082675879424153, + 1.0 + ], + [ + -0.0018127628372972548, + -0.002312154570854097, + -0.00534962638824258, + -0.014071936902587269, + -0.021441200016574583, + -0.006634911872741212, + 0.993895 + ], + [ + -0.0065365980765491605, + -0.007533539654537708, + -0.00928750560349443, + 0.01641037030623187, + -0.03288316169493831, + 0.01624971903602693, + 0.902564 + ], + [ + 0.0007580669601003343, + 0.0006119183090744218, + 0.003307008236753839, + 0.027404497083652477, + 0.010077063195822626, + -0.005261909701452299, + 0.0 + ], + [ + 0.0029813131374906154, + -0.0017029500136294673, + 0.004716836284710993, + 0.02971260409906833, + -0.0002604511354622132, + -0.005174143681449723, + 0.0 + ], + [ + 0.0018879022505334797, + -0.0057873934119853365, + 0.015162924930304009, + 0.04817787346116075, + 0.019985948931365384, + 0.00764863503427184, + 0.0 + ], + [ + 0.004322408646365461, + -0.0014260574974429285, + 0.02937647034391091, + 0.12498053548433385, + 0.03124648432510571, + -0.012976394839533384, + 0.0 + ], + [ + 0.004834313572333326, + 0.00881665482014582, + 0.017865278961150484, + 0.03542345721081029, + 0.009879765135377246, + -0.02758830682820316, + 0.0 + ], + [ + 0.005665380019818922, + 0.01613978743028327, + 0.02080891683377549, + 0.03495778050372512, + -0.01778485780729224, + -0.02258195946527987, + 0.0 + ], + [ + 0.006261163477323861, + 0.015279379123545683, + 0.022979185759884134, + 0.08493334359932798, + -0.048866865037293865, + -0.028589723212860883, + 0.0 + ], + [ + 0.016126023664796374, + 0.014465421428869807, + 0.022792036182169535, + 0.007120870192866367, + -0.007819647567801397, + -0.030068563895916844, + 0.0 + ], + [ + 0.025422914012338038, + 0.00931709613190651, + 0.017212085773321634, + 0.011881397754394866, + -0.03375732372693925, + -0.07356625760590448, + 0.0 + ], + [ + 0.032021286404253946, + 0.003899565655907322, + 0.005028012864318143, + -0.034303522604198874, + -0.026048439514456827, + -0.08011809578648862, + 0.0 + ] + ], + "gripper_centers": [ + [ + 142.98562622070312, + 162.89520263671875 + ], + [ + 143.12928771972656, + 163.00375366210938 + ], + [ + 145.7985382080078, + 175.61795043945312 + ], + [ + 150.49380493164062, + 180.9969940185547 + ], + [ + 160.34506225585938, + 186.08131408691406 + ], + [ + 163.12457275390625, + 196.24679565429688 + ], + [ + 165.05599975585938, + 207.09939575195312 + ], + [ + 161.61306762695312, + 216.61056518554688 + ], + [ + 163.02728271484375, + 218.09024047851562 + ], + [ + 162.20138549804688, + 219.97146606445312 + ], + [ + 167.10269165039062, + 221.11212158203125 + ], + [ + 169.07550048828125, + 221.93641662597656 + ], + [ + 171.30264282226562, + 222.06787109375 + ], + [ + 171.17086791992188, + 229.64068603515625 + ], + [ + 172.81985473632812, + 229.0087890625 + ], + [ + 170.91201782226562, + 229.48646545410156 + ], + [ + 170.2374267578125, + 228.60916137695312 + ], + [ + 170.4332275390625, + 230.0130615234375 + ], + [ + 170.52581787109375, + 239.17251586914062 + ], + [ + 176.00442504882812, + 221.49371337890625 + ], + [ + 164.2755126953125, + 208.7236328125 + ], + [ + 157.8492431640625, + 179.40899658203125 + ], + [ + 143.83441162109375, + 153.1157684326172 + ], + [ + 142.51393127441406, + 112.09620666503906 + ] + ], + "depth_max": 1.6287250518798828, + "depth_min": 0.4718102812767029, + "intrinsic": [ + [ + 501.83441162109375, + 0.0, + 259.0 + ], + [ + 0.0, + 502.35003662109375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.69875371386297e-05, + -0.0001109359145630151, + -1.6883108401088975e-05 + ], + [ + -6.699255754938349e-05, + 1.0, + -4.528596400632523e-05, + -1.3091732398606837e-05 + ], + [ + 0.0001109328877646476, + 4.529339639702812e-05, + 1.0, + -9.726967618917115e-06 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 168.0, + 241.25 + ], + [ + 168.269287109375, + 241.41920471191406 + ], + [ + 168.1348114013672, + 241.5368194580078 + ], + [ + 168.30465698242188, + 241.43771362304688 + ], + [ + 168.63259887695312, + 241.08982849121094 + ], + [ + 169.10598754882812, + 240.89678955078125 + ], + [ + 169.51895141601562, + 240.97479248046875 + ], + [ + 169.288818359375, + 241.08282470703125 + ], + [ + 169.4365997314453, + 240.172607421875 + ], + [ + 168.60789489746094, + 240.54019165039062 + ], + [ + 167.3650665283203, + 240.17117309570312 + ], + [ + 166.67938232421875, + 243.2540283203125 + ], + [ + 166.78945922851562, + 244.1028594970703 + ], + [ + 167.30255126953125, + 245.29373168945312 + ], + [ + 168.2102508544922, + 245.2434844970703 + ], + [ + 168.0970916748047, + 244.7413787841797 + ], + [ + 167.6400909423828, + 244.77755737304688 + ], + [ + 167.10939025878906, + 245.86993408203125 + ], + [ + 166.16488647460938, + 255.15138244628906 + ], + [ + 165.8051300048828, + 237.6894989013672 + ], + [ + 154.15631103515625, + 225.96530151367188 + ], + [ + 147.62884521484375, + 204.3673095703125 + ], + [ + 133.0751953125, + 177.49710083007812 + ], + [ + 129.30340576171875, + 137.20249938964844 + ] + ] +} \ No newline at end of file diff --git a/002539/lang.txt b/002539/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..242ccc8de81788a4a92873740dee5ebdb22933a6 --- /dev/null +++ b/002539/lang.txt @@ -0,0 +1 @@ +put eggplant on plate diff --git a/002539/object.ply b/002539/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..de26ce513ea2c9884336d54ee484e5b23e0050eb Binary files /dev/null and b/002539/object.ply differ diff --git a/002557/data.json b/002557/data.json new file mode 100644 index 0000000000000000000000000000000000000000..b50659afa306e8617e4bedc837e4957d1ea38e17 --- /dev/null +++ b/002557/data.json @@ -0,0 +1,458 @@ +{ + "action_start": 9, + "action_end": 17, + "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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.014651999999999998, + 0.7140420000000001, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.2565638246874187e-10, + -3.098207211615911e-10, + -2.9884414387559843e-11, + 4.259862635354849e-07, + -5.69343977359445e-07, + 3.7416398489651143e-07, + 1.0 + ], + [ + -0.0035915537465996406, + -0.000990519587579411, + -0.0033933640254995845, + 0.06291328101841186, + -0.06308958561802161, + -0.15078151545594332, + 1.0 + ], + [ + 4.138236453260502e-05, + 0.00274969257342007, + -0.001356974968039902, + 0.008171618832776645, + 0.023995576551893962, + -0.10228517733514234, + 1.0 + ], + [ + -0.0005326724548690986, + 0.0012166282320771587, + -0.005393401295674172, + 0.021795190808649032, + -0.017359827127790693, + -0.054650341049668816, + 1.0 + ], + [ + 0.0028028046405670914, + 0.005847278996927073, + -0.0028430944213089712, + -0.021230350766850134, + 0.006730074211950323, + -0.04368713360965672, + 1.0 + ], + [ + 0.0009904789021368265, + 0.0018657037070992334, + -0.0036641644645696164, + -0.02979447321899355, + -0.01876340375922066, + -0.02267916471136309, + 1.0 + ], + [ + 0.0013753971048842684, + 0.002522597959829438, + -0.004705794101373131, + -0.01603789526768696, + -0.009252076167728569, + -0.014514438240946349, + 1.0 + ], + [ + -0.00026009432975387936, + 0.0016678247824549342, + -0.00849313973097618, + -0.01515632137732848, + -0.007945553531583225, + -0.00982979653734435, + 1.0 + ], + [ + -0.001447871581722493, + -0.001709013687874475, + -0.0031128738579980567, + 0.0023863859215139394, + -0.008264617296443653, + 0.00314245976703203, + 1.0 + ], + [ + -0.000228408280973591, + 0.0001854714946192739, + -0.004949411996557004, + -0.004981782427971751, + -0.007417165734465218, + -0.006200769758931276, + 1.0 + ], + [ + -0.0004634806478432396, + -0.0004468839422092641, + -0.0036510173099335713, + 0.0054295864210115825, + -0.009669196942378567, + 0.00855272341066837, + 0.0 + ], + [ + 0.00025997097094865307, + 0.0009414352205073927, + -0.00038764775513362715, + -0.003650917326386145, + 0.0009798669820538551, + -0.0029821278559837663, + 0.0 + ], + [ + 0.007119622003221693, + 0.0063620256218077965, + 0.014980851854055816, + 0.04428647218112662, + -0.00039035187425865537, + -0.014887249218977114, + 0.0 + ], + [ + 0.0174609765127815, + 0.015832717493888676, + 0.023883044259334667, + 0.03757996395031224, + -0.018519199442775917, + -0.023264354059087347, + 0.0 + ], + [ + 0.027039557459888952, + 0.010168510170433024, + 0.01350674046263304, + 0.03190189285442984, + -0.04935297140949351, + -0.029058399331813048, + 0.0 + ], + [ + 0.0219460966846311, + 0.011630021219077857, + 0.0011037966235486335, + 0.02850563890411742, + -0.062473850022502456, + -0.03583437197191496, + 0.0 + ], + [ + 0.00999288231119666, + 0.007920743005631711, + -0.011602697069538065, + -0.004135191305502229, + -0.05586103250203591, + -0.033400683078119026, + 0.014651999999999998 + ], + [ + 0.002670862971541843, + 0.005439127171392263, + -0.01541362015371174, + -0.012516260713379157, + -0.04208591314027409, + -0.03200201777523485, + 0.7140420000000001 + ], + [ + 0.005100397418196567, + 0.0028308684844279355, + -0.0072009749439126275, + -0.02478755210847302, + -0.0008856939270233493, + -0.031834266716446465, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 338.17047119140625, + 170.2848663330078 + ], + [ + 338.3382568359375, + 170.46432495117188 + ], + [ + 335.0152893066406, + 185.77972412109375 + ], + [ + 332.0313415527344, + 205.93527221679688 + ], + [ + 333.41778564453125, + 207.0428009033203 + ], + [ + 333.6729431152344, + 207.0465545654297 + ], + [ + 329.115966796875, + 202.9454345703125 + ], + [ + 332.7008361816406, + 198.6237030029297 + ], + [ + 328.3819274902344, + 202.1007843017578 + ], + [ + 330.3202209472656, + 214.55718994140625 + ], + [ + 329.68695068359375, + 216.2589874267578 + ], + [ + 328.5517272949219, + 218.50856018066406 + ], + [ + 328.1496276855469, + 216.34458923339844 + ], + [ + 327.93878173828125, + 216.12753295898438 + ], + [ + 320.0401611328125, + 203.97564697265625 + ], + [ + 316.40899658203125, + 158.752197265625 + ], + [ + 326.8642883300781, + 125.0049057006836 + ], + [ + 325.84747314453125, + 114.2332534790039 + ], + [ + 326.063720703125, + 120.33418273925781 + ], + [ + 321.1737060546875, + 134.84088134765625 + ], + [ + 320.9461669921875, + 139.94479370117188 + ], + [ + 313.6920471191406, + 141.79742431640625 + ] + ], + "depth_max": 1.4435290098190308, + "depth_min": 0.5082048773765564, + "intrinsic": [ + [ + 520.5383911132812, + 0.0, + 259.0 + ], + [ + 0.0, + 521.328857421875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.367098022659775e-05, + -0.000116156050353311, + -8.387170964851975e-06 + ], + [ + -2.3674676413065754e-05, + 1.0, + -3.1836134439799935e-05, + 5.686739314114675e-06 + ], + [ + 0.00011615529365371913, + 3.1838884751778096e-05, + 1.0, + 2.1458168703247793e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21 + ], + "object_trajectory": [ + [ + 339.0, + 237.5 + ], + [ + 339.2525939941406, + 237.7858123779297 + ], + [ + 339.08453369140625, + 237.8824462890625 + ], + [ + 339.0, + 238.20462036132812 + ], + [ + 338.893798828125, + 238.35647583007812 + ], + [ + 338.87042236328125, + 238.23504638671875 + ], + [ + 338.943359375, + 238.38319396972656 + ], + [ + 338.83282470703125, + 238.74606323242188 + ], + [ + 338.795654296875, + 238.8220672607422 + ], + [ + 338.67156982421875, + 238.4469451904297 + ], + [ + 338.4858093261719, + 238.09893798828125 + ], + [ + 338.3338317871094, + 237.23902893066406 + ], + [ + 338.0360107421875, + 236.26806640625 + ], + [ + 338.22991943359375, + 235.78924560546875 + ], + [ + 333.9595947265625, + 224.3019561767578 + ], + [ + 317.743408203125, + 179.6259765625 + ], + [ + 324.40997314453125, + 151.35740661621094 + ], + [ + 323.8457336425781, + 138.76072692871094 + ], + [ + 324.3983459472656, + 139.5430450439453 + ], + [ + 322.036865234375, + 153.06585693359375 + ], + [ + 315.2794189453125, + 168.8430633544922 + ], + [ + 312.77484130859375, + 171.50608825683594 + ] + ] +} \ No newline at end of file diff --git a/002557/lang.txt b/002557/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..242ccc8de81788a4a92873740dee5ebdb22933a6 --- /dev/null +++ b/002557/lang.txt @@ -0,0 +1 @@ +put eggplant on plate diff --git a/002557/object.ply b/002557/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..43d4ea167b5a7d1fb946e57328fa4f0c20cad348 Binary files /dev/null and b/002557/object.ply differ diff --git a/002564/data.json b/002564/data.json new file mode 100644 index 0000000000000000000000000000000000000000..c2a4dac955f4abec897966fa8d31075e06413852 --- /dev/null +++ b/002564/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 9, + "action_end": 21, + "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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.18803400000000003, + 0.972894, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 2.9770474974100125e-10, + 3.82872053505956e-10, + -3.8970625337864107e-11, + 5.313674903988285e-08, + 6.497900598692307e-08, + -5.047249465774485e-07, + 1.0 + ], + [ + 0.008263520254560397, + 0.0001407973962007647, + 0.003780828770843875, + -0.034561524159636946, + 0.0006550747896932218, + 0.08997822446040545, + 1.0 + ], + [ + 0.00610984035645018, + -0.004211732011800529, + -0.004030684571759056, + -0.007868211695181204, + -0.03257524241121738, + 0.06626336266724962, + 1.0 + ], + [ + 0.0016987680576485698, + -0.00025462274736000323, + -0.0034709449467834608, + 0.012065353012108055, + -0.027563297695037903, + 0.002974837718206562, + 1.0 + ], + [ + 0.0049886645666339935, + 0.002500828215391028, + -0.008465597014218923, + 0.017043378345033333, + -0.036471611319312876, + -0.05123418143230105, + 1.0 + ], + [ + 0.009078795849545962, + 0.0003670458662533155, + -0.006075890734559865, + -0.007067603566695381, + -0.023368393003642133, + -0.02679815207156541, + 1.0 + ], + [ + 0.00513027243459846, + -0.0033110535172997876, + -0.005967394255591882, + -0.004498668256826246, + -0.02212181740615044, + -0.011483684138895991, + 1.0 + ], + [ + 0.0009254942426840107, + -0.0018732780347633787, + -0.0073772080128248554, + -0.016650585106320184, + -0.009641567024462946, + 0.010442747468151747, + 1.0 + ], + [ + 0.0021194332698849516, + 0.00197915142241685, + -0.008559814409058075, + -0.015853072699843984, + -0.014161796869735576, + 0.004087174800488495, + 1.0 + ], + [ + 0.0021298760900662073, + 0.0010871044474944774, + -0.008336310419502049, + -0.0241105938312453, + -0.006418580011529524, + 0.007741980651293031, + 1.0 + ], + [ + -0.00021684441466535143, + 0.001288879826831922, + -0.0023652153310002545, + -0.008885680547224582, + 0.005473322922704025, + -0.0014765839724897982, + 0.0 + ], + [ + -0.0018971262438607917, + 0.005633571741841356, + 0.016776149102765328, + 0.029204093845396652, + 0.0475809036104071, + -0.016645653629227455, + 0.0 + ], + [ + -0.0017610320870784513, + 0.008578443518251606, + 0.026414282891136284, + 0.032375613967444844, + 0.06572899106787167, + -0.01303148757290366, + 0.0 + ], + [ + -0.005566926914795656, + 0.007430875071175791, + 0.022062304744632964, + 0.054791525099652766, + 0.033877645207419156, + 0.013482000151191664, + 0.0 + ], + [ + -0.013863425251507966, + 0.00856998193631181, + 0.010455512065552227, + 0.03734926566871076, + -0.0009176136986449499, + 0.024217657079604965, + 0.0 + ], + [ + -0.015420292320726336, + 0.004055072221523584, + 0.0047997310387172185, + 0.013952674129974356, + -0.006009976540560245, + 0.026833699409004493, + 0.0 + ], + [ + -0.01652821489423284, + 0.003069220404472231, + 0.00902915759667508, + 0.015489969525593604, + 0.00708260312224811, + 0.026628238383535563, + 0.0 + ], + [ + -0.013700276017432456, + 0.0011849832113738773, + -0.0005715475924693084, + -0.004913665160716856, + -0.00017643850485499107, + 0.020426449620561917, + 0.0 + ], + [ + -0.012672380766577562, + 0.006477153070660241, + -0.001798514374692528, + -0.016329817648080613, + 0.0015774456809540141, + 0.006227479635746182, + 0.0 + ], + [ + -0.013490476364797277, + 0.009178372636156937, + -0.009810040672902878, + 0.0018814870575612386, + 0.0019962632830494926, + -0.0061611417634432454, + 0.0 + ], + [ + -0.008445522758030566, + 0.0048169652271828345, + -0.013510735051434283, + -0.05193600223139169, + -0.009444061104387193, + -0.01065819732404262, + 0.18803400000000003 + ], + [ + -0.005018782512638265, + -0.009716181248806646, + -0.010957570791486557, + -0.01026390284061445, + -0.02286635011602846, + 0.007473670841238293, + 0.972894 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 320.06781005859375, + 109.890869140625 + ], + [ + 319.93035888671875, + 111.03936767578125 + ], + [ + 318.91265869140625, + 130.52427673339844 + ], + [ + 324.2701721191406, + 124.70297241210938 + ], + [ + 325.683837890625, + 123.4194107055664 + ], + [ + 325.7835693359375, + 125.75557708740234 + ], + [ + 328.9708251953125, + 130.38131713867188 + ], + [ + 334.7653503417969, + 141.70742797851562 + ], + [ + 338.282958984375, + 140.48768615722656 + ], + [ + 341.8697509765625, + 145.78073120117188 + ], + [ + 346.2510986328125, + 146.5526123046875 + ], + [ + 345.9857177734375, + 142.8353271484375 + ], + [ + 346.96514892578125, + 141.36541748046875 + ], + [ + 333.556640625, + 134.05084228515625 + ], + [ + 322.8121032714844, + 120.55487060546875 + ], + [ + 312.47589111328125, + 116.68310546875 + ], + [ + 301.379638671875, + 103.64335632324219 + ], + [ + 292.1285400390625, + 108.73110961914062 + ], + [ + 281.8592224121094, + 101.63179016113281 + ], + [ + 269.4206237792969, + 112.83190155029297 + ], + [ + 251.1937713623047, + 117.97036743164062 + ], + [ + 236.65736389160156, + 136.89523315429688 + ], + [ + 225.83255004882812, + 155.79559326171875 + ], + [ + 229.16473388671875, + 163.94305419921875 + ] + ], + "depth_max": 1.434789776802063, + "depth_min": 0.6582323312759399, + "intrinsic": [ + [ + 531.3563842773438, + 0.0, + 259.0 + ], + [ + 0.0, + 532.142578125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.4939914510468952e-05, + -8.323208021465689e-05, + -3.0528091883752495e-05 + ], + [ + -2.494084219506476e-05, + 1.0, + -1.114570568461204e-05, + -6.23275809630286e-07 + ], + [ + 8.323180372826755e-05, + 1.1147781151521485e-05, + 1.0, + 3.994171493104659e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 349.75, + 166.25 + ], + [ + 350.0832214355469, + 166.52613830566406 + ], + [ + 349.7828674316406, + 166.79974365234375 + ], + [ + 350.0102844238281, + 167.09320068359375 + ], + [ + 350.06927490234375, + 167.00897216796875 + ], + [ + 349.740234375, + 166.59808349609375 + ], + [ + 349.5653991699219, + 166.380859375 + ], + [ + 348.3825988769531, + 166.12612915039062 + ], + [ + 347.24859619140625, + 165.9364013671875 + ], + [ + 343.6170654296875, + 166.5919647216797 + ], + [ + 349.24224853515625, + 166.36209106445312 + ], + [ + 350.73040771484375, + 165.42306518554688 + ], + [ + 351.2191467285156, + 165.2662811279297 + ], + [ + 335.3641357421875, + 159.55929565429688 + ], + [ + 322.00042724609375, + 147.05328369140625 + ], + [ + 311.74591064453125, + 143.054931640625 + ], + [ + 300.9962158203125, + 131.91529846191406 + ], + [ + 291.327880859375, + 138.21212768554688 + ], + [ + 281.58819580078125, + 130.9119873046875 + ], + [ + 268.98907470703125, + 142.5161895751953 + ], + [ + 251.61434936523438, + 148.36227416992188 + ], + [ + 238.7584991455078, + 166.29310607910156 + ], + [ + 230.17953491210938, + 177.87893676757812 + ], + [ + 230.22235107421875, + 199.43572998046875 + ] + ] +} \ No newline at end of file diff --git a/002564/lang.txt b/002564/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..242ccc8de81788a4a92873740dee5ebdb22933a6 --- /dev/null +++ b/002564/lang.txt @@ -0,0 +1 @@ +put eggplant on plate diff --git a/002564/object.ply b/002564/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..2262e297085fcbc2e9bb17cf8ddbca312c49e6d4 Binary files /dev/null and b/002564/object.ply differ diff --git a/002578/FAIL b/002578/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/002578/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/002601_v2/data.json b/002601_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..9f5bf9b062a85ff98a24df6b786628433cc99306 --- /dev/null +++ b/002601_v2/data.json @@ -0,0 +1,531 @@ +{ + "action_start": 8, + "action_end": 20, + "object_name": "blue object", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.954823, + 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": [ + [ + -8.326672684688674e-17, + -1.3877787807814457e-17, + 0.0, + -1.9981411781291601e-07, + 1.2604206134507624e-07, + -7.737163765064453e-07, + 1.0 + ], + [ + 0.025591552426506597, + 0.006273148053832209, + 0.017703790315735865, + -0.0013314548738059045, + -0.03958816444879517, + 0.016219248839475307, + 1.0 + ], + [ + 0.026792577091968056, + 0.0050707609802671805, + 0.014767492575765567, + 0.020836102201682007, + -0.03218725722624044, + 0.010823415074753196, + 1.0 + ], + [ + 0.026487253734011618, + 0.006326565744270984, + 0.01874264911823066, + 0.01632216851024098, + -0.04222714411264479, + 0.0066483223598103195, + 1.0 + ], + [ + 0.02035445133859476, + 0.015176645188778315, + 0.017566940472063072, + 0.041359359225569554, + -0.009888870290373747, + 0.02317876017079702, + 1.0 + ], + [ + 0.006399618297663945, + 0.014549725731930169, + 0.013443133493508452, + -0.007138857655180723, + -0.022648371539797655, + 0.0265300274277663, + 1.0 + ], + [ + 0.0073968594940103105, + 0.00650255181445783, + -0.008310873589539386, + 0.0010691371342267453, + 0.01932698548084422, + 0.020268388547052985, + 1.0 + ], + [ + 0.00870449933543993, + -0.002756620910697255, + -0.03414831611419597, + -0.01688689244846802, + 0.09431240331376405, + -0.013301587848058388, + 1.0 + ], + [ + 0.005389836289819816, + -0.0019865528179437986, + -0.023998656115768124, + 0.004167083055590797, + 0.06586587717497056, + -0.007121643066339537, + 0.954823 + ], + [ + 0.0015000504844381313, + -0.0021439939621252235, + -0.00245333505939703, + -0.002270994792838514, + 0.0035937279542212646, + -0.0032205092747907595, + 0.0 + ], + [ + 6.56830755074167e-05, + -0.0018713236433614278, + 0.008682173533449897, + -0.00885682914141286, + -0.015980720967398433, + 0.0010605451759095597, + 0.0 + ], + [ + 0.0010869827340581617, + -0.002508654753920314, + 0.008314064681191918, + -0.002850413118735766, + -0.009280800285741898, + 0.011960567229911893, + 0.0 + ], + [ + 0.008674293016618151, + -0.0303320087452546, + 0.025809600460028254, + -0.023479679259895733, + -0.04607283982917538, + -0.0375783574877916, + 0.0 + ], + [ + 0.003092866236659164, + -0.04377590175209109, + 0.01724973583819049, + -0.018598670840693582, + -0.032027357422860565, + -0.0640602974108927, + 0.0 + ], + [ + -0.006617253489697161, + -0.057048912244153135, + 0.0045361625321107685, + -0.00016213206713690942, + -0.015724789092232096, + -0.0940246154232342, + 0.0 + ], + [ + -0.007465131843312045, + -0.05961542283684994, + -0.020857197893046936, + 0.010704656818500968, + 0.023147974097269892, + -0.06388475928264763, + 0.0 + ], + [ + 0.0015353462814345908, + -0.04008038008907195, + -0.03158198420771527, + 0.036336458238257804, + 0.019931182046235254, + -0.004595776724542676, + 0.0 + ], + [ + 0.01092067784013473, + -0.013712317061740809, + -0.04094584415123537, + 0.01442304157085007, + 0.022982635912557007, + 0.02452729284779273, + 0.0 + ], + [ + 0.009539160406854597, + -0.002748579846184915, + -0.03821616752111753, + 0.01647076850703249, + 0.005955598329799189, + 0.019968718034302616, + 0.0 + ], + [ + -0.00026132849261645275, + 0.000747951899104024, + -0.02138436640946057, + 0.0059472454597549506, + 0.03947704317487247, + 0.013164348036485217, + 0.0 + ], + [ + -0.003688231075946624, + 0.000586909416179851, + -0.00872139304625389, + 0.0032278591439727877, + 0.034393718408206805, + 0.0038371545346139917, + 0.0 + ], + [ + -0.0036106279861827795, + -0.0021041176694290564, + 0.02171264577736386, + -0.015111437066959965, + -0.006385021241824848, + 0.004523123491807366, + 1.0 + ], + [ + -0.0020340007727454035, + -0.00041255829742221917, + 0.03533409909288231, + -0.012794684668107176, + -0.034063984196845094, + -0.017878358619869056, + 1.0 + ], + [ + -0.00851412674300317, + 0.002458768788892604, + 0.037687664482236, + -0.00680202573684836, + -0.03212537346853637, + 0.004899173931885771, + 1.0 + ], + [ + -0.007971731890465406, + 0.006045097641492081, + 0.009125954165604334, + -0.00626492945218074, + 0.02490378279391545, + -0.02602961817362652, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 96.86418151855469, + 166.8720703125 + ], + [ + 97.49187469482422, + 169.63955688476562 + ], + [ + 108.6277084350586, + 154.331298828125 + ], + [ + 129.5447235107422, + 112.70726776123047 + ], + [ + 147.85011291503906, + 73.46536254882812 + ], + [ + 150.4234619140625, + 33.7218132019043 + ], + [ + 159.09344482421875, + 16.862985610961914 + ], + [ + 151.10968017578125, + 13.029788970947266 + ], + [ + 147.87457275390625, + 27.211570739746094 + ], + [ + 163.17739868164062, + 48.804039001464844 + ], + [ + 165.18887329101562, + 43.09376525878906 + ], + [ + 164.35231018066406, + 40.39988327026367 + ], + [ + 164.0313720703125, + 40.12055206298828 + ], + [ + 179.52313232421875, + 48.12310028076172 + ], + [ + 232.4451141357422, + 31.022417068481445 + ], + [ + 282.2934265136719, + 39.63018798828125 + ], + [ + 337.90386962890625, + 84.63215637207031 + ], + [ + 388.980224609375, + 138.04855346679688 + ], + [ + 412.946044921875, + 199.97802734375 + ], + [ + 402.3199768066406, + 238.50582885742188 + ], + [ + 396.558349609375, + 261.5815124511719 + ], + [ + 396.17926025390625, + 263.605712890625 + ], + [ + 393.36212158203125, + 270.8314514160156 + ], + [ + 404.39703369140625, + 241.6458740234375 + ], + [ + 408.23858642578125, + 206.56900024414062 + ], + [ + 413.1840515136719, + 191.45545959472656 + ] + ], + "depth_max": 2.097769260406494, + "depth_min": 0.26778286695480347, + "intrinsic": [ + [ + 472.1925048828125, + 0.0, + 259.0 + ], + [ + 0.0, + 471.8984680175781, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.559937951853499e-05, + -4.528281351667829e-06, + -5.8081335737369955e-05 + ], + [ + -4.559964872896671e-05, + 1.0, + -5.929010876570828e-05, + -3.27666311932262e-05 + ], + [ + 4.525577878666809e-06, + 5.929031249252148e-05, + 1.0, + -2.302122811670415e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 25 + ], + "object_trajectory": [ + [ + 167.5, + 53.500003814697266 + ], + [ + 168.86279296875, + 54.37453079223633 + ], + [ + 169.05934143066406, + 54.21148681640625 + ], + [ + 169.26168823242188, + 53.805301666259766 + ], + [ + 169.19638061523438, + 54.66522216796875 + ], + [ + 167.8958740234375, + 55.14442443847656 + ], + [ + 168.26791381835938, + 54.72011947631836 + ], + [ + 167.85470581054688, + 55.39615249633789 + ], + [ + 166.86453247070312, + 55.994895935058594 + ], + [ + 166.476318359375, + 57.41019821166992 + ], + [ + 165.7448272705078, + 57.56406784057617 + ], + [ + 163.1882781982422, + 56.60524368286133 + ], + [ + 164.07315063476562, + 52.05815124511719 + ], + [ + 179.449951171875, + 58.1343994140625 + ], + [ + 222.36407470703125, + 45.675811767578125 + ], + [ + 268.452392578125, + 58.38312530517578 + ], + [ + 318.3507080078125, + 105.3889389038086 + ], + [ + 368.5856018066406, + 156.3757781982422 + ], + [ + 394.373291015625, + 216.95474243164062 + ], + [ + 399.31024169921875, + 247.4575958251953 + ], + [ + 392.26116943359375, + 272.9512634277344 + ], + [ + 387.5326843261719, + 279.0360107421875 + ], + [ + 386.7641296386719, + 284.18499755859375 + ], + [ + 393.2827453613281, + 276.0937805175781 + ], + [ + 393.8777160644531, + 275.644287109375 + ], + [ + 394.87701416015625, + 276.5845642089844 + ] + ] +} \ No newline at end of file diff --git a/002601_v2/lang.txt b/002601_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2c93459c72ea768ed64548ea8342c0877ee672ea --- /dev/null +++ b/002601_v2/lang.txt @@ -0,0 +1 @@ +move the blue object to the middle of the table diff --git a/002601_v2/object.ply b/002601_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..f64bfe0d3bdc6f4863aad379fc8f4ebec7c3fa1a Binary files /dev/null and b/002601_v2/object.ply differ diff --git a/002605/FAIL b/002605/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/002605/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/002620_v2/data.json b/002620_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..79c40fea7f79ec7e5fb88e09bd15e4c7c985360d --- /dev/null +++ b/002620_v2/data.json @@ -0,0 +1,513 @@ +{ + "action_start": 8, + "action_end": 17, + "object_name": "yellow object", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.969719, + 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": [ + [ + 1.5893375504560936e-10, + 2.526742981512342e-10, + -1.5616050119682257e-11, + -1.4765597930379987e-07, + 1.7163647164800633e-07, + -4.492580874853796e-07, + 1.0 + ], + [ + -0.016347765114608503, + 0.0237024115004162, + 0.006768568479828624, + 0.02394540702243331, + -0.040272727329930987, + 0.0552560092646232, + 1.0 + ], + [ + -0.014214693351650487, + 0.018461106131341887, + 0.0014110264345336965, + 0.009900415362022465, + -0.01223002282130247, + 0.01676617430996218, + 1.0 + ], + [ + -0.016371551470056755, + 0.014425952442235282, + 0.0017026418457710968, + 0.019790794451417026, + -0.013062848475966816, + 0.002497663041384682, + 1.0 + ], + [ + -0.006917559598451251, + 0.00810914894937878, + -0.016191962086947162, + 0.014693192830544407, + 0.03001192032955545, + -0.003496088869603612, + 1.0 + ], + [ + -0.003328473501957918, + -0.003944426483659211, + -0.02614299972288612, + 0.0019266780921301883, + 0.06947318255719706, + -0.03549979224223703, + 1.0 + ], + [ + -0.000993640022484088, + -0.0036459193171675536, + -0.02453547187587799, + 0.015001600307992429, + 0.07443231528986007, + -0.02526748287817176, + 1.0 + ], + [ + -0.0052476674691521175, + -0.0018083909069746135, + -0.012590590659493427, + 0.014553253387030275, + 0.04716473372915413, + -0.013123343503120633, + 1.0 + ], + [ + -0.0053105456119596495, + 0.00010915900296322445, + -0.001368267372629895, + 0.002097463641944379, + 0.030398470852585683, + -0.01364783467134081, + 0.969719 + ], + [ + -0.0004438135266719434, + 0.003202037406693836, + 0.0013388413491809206, + 0.010866216922589449, + 0.002691217648325003, + 0.004068628518029859, + 0.0 + ], + [ + 0.005313643485845121, + -0.00029774599114248956, + 0.0029185999578846735, + 0.0030975448467929862, + -0.01432754863074976, + 0.011806901227926965, + 0.0 + ], + [ + 0.007434581710665522, + -0.003901980870856067, + 0.00935066228341883, + -0.0031971006839003726, + -0.0216286769552409, + 0.00046028461646424335, + 0.0 + ], + [ + 0.0282176173257655, + -0.01453555940900686, + 0.025383660229576922, + -0.050522278962690424, + -0.09742060112359871, + 0.03259727187631521, + 0.0 + ], + [ + 0.0319926847043841, + -0.014792294020011726, + 0.007092745831708755, + -0.056060648317914026, + -0.05364012290255078, + 0.002943517497730896, + 0.0 + ], + [ + 0.022442019360651155, + -0.0044964215224541915, + -1.41038757828435e-05, + -0.013031921086497096, + 0.003609336541928602, + 0.005283999409015139, + 0.0 + ], + [ + 0.012797810216646721, + 0.009684076301634204, + -0.010627066749701423, + 0.02886067814837133, + 0.027743968918720215, + 0.031302883448621956, + 0.0 + ], + [ + 0.007416779045060662, + 0.009827385745071679, + -0.010293396631340008, + 0.03918692742615173, + 0.02353114366763628, + 0.024916508811854747, + 0.0 + ], + [ + 0.0012614098190008582, + 0.0065387331969351675, + -0.007114094696351023, + 0.02661825431928901, + 0.02238956918384672, + 0.012267232849847268, + 0.0 + ], + [ + -0.004221257926062205, + -0.0008873363826167602, + -0.0023300659848589644, + 0.008713733964982599, + 0.02943789648514465, + -0.0054414321372910765, + 1.0 + ], + [ + -0.00011919893961714889, + -0.009847174927149774, + 0.01813787386953447, + -0.014126727682994531, + -0.020141885889494508, + 0.0027103197516639443, + 1.0 + ], + [ + 0.00019812804210933566, + -0.011717306031282265, + 0.03369642436610991, + -0.02689990913663102, + -0.08240275021124009, + 0.013248140237299533, + 1.0 + ], + [ + -0.002620695442864751, + -0.0010768401179395287, + 0.02358571439590404, + -0.011881314265779975, + -0.05428332240630193, + 0.026059268901981354, + 1.0 + ], + [ + -0.004305569846083546, + 0.007940907565689645, + 0.0024477260704155943, + 0.012130533899617674, + 0.03338683495311956, + 0.0002807565587692045, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 530.8245239257812, + 179.6890411376953 + ], + [ + 528.6654663085938, + 183.40419006347656 + ], + [ + 481.7774658203125, + 219.39108276367188 + ], + [ + 455.5979919433594, + 199.02894592285156 + ], + [ + 422.64007568359375, + 202.8765869140625 + ], + [ + 403.08349609375, + 210.85165405273438 + ], + [ + 397.29547119140625, + 238.6880340576172 + ], + [ + 388.6745300292969, + 265.277099609375 + ], + [ + 385.0621337890625, + 282.75390625 + ], + [ + 383.11871337890625, + 288.0683898925781 + ], + [ + 380.48193359375, + 286.84423828125 + ], + [ + 384.974365234375, + 279.7052307128906 + ], + [ + 393.39801025390625, + 268.25439453125 + ], + [ + 429.0836486816406, + 237.27508544921875 + ], + [ + 470.0541687011719, + 210.55551147460938 + ], + [ + 489.7783203125, + 202.62918090820312 + ], + [ + 487.00457763671875, + 202.41319274902344 + ], + [ + 469.68603515625, + 196.6481170654297 + ], + [ + 462.1374206542969, + 203.65939331054688 + ], + [ + 457.94256591796875, + 205.32711791992188 + ], + [ + 463.7266540527344, + 199.72769165039062 + ], + [ + 482.8512878417969, + 192.11849975585938 + ], + [ + 508.78460693359375, + 158.23231506347656 + ], + [ + 502.60736083984375, + 151.65560913085938 + ], + [ + 496.4741516113281, + 147.96630859375 + ] + ], + "depth_max": 2.440119981765747, + "depth_min": 0.16749152541160583, + "intrinsic": [ + [ + 448.4710998535156, + 0.0, + 259.0 + ], + [ + 0.0, + 447.62371826171875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -1.8674991224543191e-06, + -2.733205838012509e-05, + -3.270518209319562e-05 + ], + [ + 1.8678772448765812e-06, + 1.0, + 1.3838208360539284e-05, + -4.8252317355945706e-05 + ], + [ + 2.733203291427344e-05, + -1.3838259292242583e-05, + 1.0, + 4.126486601307988e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24 + ], + "object_trajectory": [ + [ + 373.5, + 305.0000305175781 + ], + [ + 373.7433166503906, + 305.29425048828125 + ], + [ + 373.5558166503906, + 305.4749450683594 + ], + [ + 373.8660888671875, + 304.847900390625 + ], + [ + 373.3752136230469, + 304.9418640136719 + ], + [ + 373.75592041015625, + 304.95855712890625 + ], + [ + 373.5543518066406, + 305.2257995605469 + ], + [ + 373.28302001953125, + 305.2342529296875 + ], + [ + 373.19720458984375, + 304.5709533691406 + ], + [ + 373.419189453125, + 304.3408203125 + ], + [ + 373.1184997558594, + 304.1559753417969 + ], + [ + 376.1678466796875, + 296.8863525390625 + ], + [ + 385.10284423828125, + 285.25201416015625 + ], + [ + 421.2262268066406, + 251.9844970703125 + ], + [ + 462.9022216796875, + 227.2910919189453 + ], + [ + 482.642822265625, + 218.3992919921875 + ], + [ + 478.05438232421875, + 219.17684936523438 + ], + [ + 461.30914306640625, + 213.70094299316406 + ], + [ + 453.3573303222656, + 219.2825927734375 + ], + [ + 449.152587890625, + 220.19332885742188 + ], + [ + 446.7659606933594, + 222.49452209472656 + ], + [ + 446.8749084472656, + 222.14358520507812 + ], + [ + 446.761474609375, + 222.10736083984375 + ], + [ + 446.836669921875, + 221.7713623046875 + ], + [ + 446.9879150390625, + 222.14157104492188 + ] + ] +} \ No newline at end of file diff --git a/002620_v2/lang.txt b/002620_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..4c49c61e387bd10c3ff6934b5bdd5914e4ebb207 --- /dev/null +++ b/002620_v2/lang.txt @@ -0,0 +1 @@ +move yellow object and place it infront of the drawer diff --git a/002620_v2/object.ply b/002620_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..7bbdceb32437048b2350a90ea839f9798fd4131c Binary files /dev/null and b/002620_v2/object.ply differ diff --git a/002640_v2/data.json b/002640_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..14f1510aa56969333f8f677aa8a4f77cf2443ba6 --- /dev/null +++ b/002640_v2/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 8, + "action_end": 16, + "object_name": "sushi", + "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, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + -6.938893903907228e-18, + 0.0, + -6.222051225279912e-08, + 3.5002287906105363e-07, + -7.33200746581225e-07, + 1.0 + ], + [ + 0.0013511924254518415, + 0.02032217641259801, + 0.03314859506480383, + -0.06754956515827348, + -0.05519947359572272, + 0.0579338809166912, + 1.0 + ], + [ + 0.0028815872300185785, + 0.0209906423527932, + 0.03057465392955138, + -0.03817370360872323, + -0.060930054666430866, + 0.06757787560353314, + 1.0 + ], + [ + 0.0025331399553487066, + 0.02072658337045285, + 0.025968252349116885, + -0.029169688519602926, + -0.06384338054442644, + 0.0513288887213144, + 1.0 + ], + [ + 0.007703089609752467, + 0.020525231530848682, + 0.0014070947794773483, + -0.004255469448384605, + 0.0014060745824214815, + 0.05424381170389957, + 1.0 + ], + [ + 0.012914435358086174, + 0.012054110952607423, + -0.01867290052973089, + 0.007871257891948149, + 0.03345213606100049, + 0.027258040177787272, + 1.0 + ], + [ + 0.013315612848410652, + 0.006792884406727623, + -0.020056702700121908, + 0.011222773660800356, + 0.03808868549425935, + 0.037382667679065854, + 1.0 + ], + [ + 0.009396558579033931, + 0.002859598284617841, + -0.017886621374057714, + 0.018023524843049022, + 0.04672966180206483, + 0.011673515456013141, + 1.0 + ], + [ + -0.0013240532572185715, + -0.0005083857244557316, + -0.008750986028891563, + 0.01818067170345478, + 0.0357028285502465, + 0.001838075989025074, + 1.0 + ], + [ + -0.001471803554316864, + -0.005131869551457981, + 0.007783519084534958, + 0.014865771058535177, + 0.0008246646426814492, + -0.01115692777097884, + 0.0 + ], + [ + 0.0028039589120861796, + -0.006448396257937236, + 0.020961705168597744, + -0.010878555783302712, + -0.04264589006284021, + 0.01297745438085924, + 0.0 + ], + [ + 0.01825267926382612, + -0.030161456848244055, + 0.04958492490895395, + -0.042433935731710434, + -0.06434235352194967, + -0.021465780377941963, + 0.0 + ], + [ + 0.018363420951370946, + -0.04144311850449589, + 0.03783841471501781, + -0.025160807762529165, + 0.00526114226592506, + -0.021856054382895774, + 0.0 + ], + [ + 0.020620631083029972, + -0.044488566929939535, + 0.017956192162645407, + -0.022142838787031556, + -0.017840436501935338, + -0.040679173001848735, + 0.0 + ], + [ + 0.01742941919976493, + -0.03547030571970923, + -0.003945377210408135, + 0.005458301578593881, + 0.009835110512563512, + -0.05155039522049104, + 0.0 + ], + [ + 0.00706890392763726, + -0.01761553673819244, + -0.015399403282685034, + 0.02228028598631126, + 0.03729031735467803, + -0.03350908931417607, + 0.0 + ], + [ + 0.007399871939735736, + -0.014261925918525417, + -0.015300058171372838, + 0.0263566912927095, + 0.038224263044893944, + -0.030217429426352676, + 0.0 + ], + [ + 0.0010550626547192188, + 0.0021789766759057333, + 0.005232023910918801, + 0.006649267321643153, + -7.259455058543445e-06, + 0.00773435271281076, + 1.0 + ], + [ + -0.0024796716499634885, + 0.009143600053537954, + 0.02911655619543818, + -0.012627833857848613, + -0.04159291813911321, + 0.03516366263999755, + 1.0 + ], + [ + -0.004024137833909536, + 0.00752464180969073, + 0.033796423402445014, + -0.040348179935998145, + -0.0639035131172388, + 0.021362418646995687, + 1.0 + ], + [ + -0.008395372083602137, + 0.008420368355676791, + 0.022952030233972104, + -0.01747998466158989, + -0.04246653636760961, + 0.002212969452238208, + 1.0 + ], + [ + -0.011970633921039697, + 0.012529243825489422, + 0.006068199102250926, + 0.014872681243003652, + 0.00820598733436233, + -0.019099908535663644, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 357.57122802734375, + 294.7813720703125 + ], + [ + 357.6914978027344, + 294.91693115234375 + ], + [ + 326.5177001953125, + 284.10736083984375 + ], + [ + 310.24249267578125, + 227.207275390625 + ], + [ + 288.4637756347656, + 192.25222778320312 + ], + [ + 277.73907470703125, + 173.53424072265625 + ], + [ + 264.80548095703125, + 176.9938507080078 + ], + [ + 267.20806884765625, + 186.31552124023438 + ], + [ + 266.7489013671875, + 194.2355499267578 + ], + [ + 264.3892517089844, + 201.9486083984375 + ], + [ + 266.472900390625, + 205.69979858398438 + ], + [ + 277.0987548828125, + 192.40341186523438 + ], + [ + 305.866943359375, + 141.3626251220703 + ], + [ + 379.0564270019531, + 96.917236328125 + ], + [ + 446.64813232421875, + 78.32595825195312 + ], + [ + 518.2525024414062, + 88.85386657714844 + ], + [ + 545.8181762695312, + 113.6872329711914 + ], + [ + 557.384521484375, + 113.39041137695312 + ], + [ + 562.7296142578125, + 121.28474426269531 + ], + [ + 558.8917236328125, + 122.90350341796875 + ], + [ + 569.5574951171875, + 76.9161376953125 + ], + [ + 562.798095703125, + 31.9814453125 + ], + [ + 551.6742553710938, + 29.358919143676758 + ], + [ + 539.0521850585938, + 25.027435302734375 + ] + ], + "depth_max": 2.430342197418213, + "depth_min": 0.18571172654628754, + "intrinsic": [ + [ + 422.4917297363281, + 0.0, + 259.0 + ], + [ + 0.0, + 422.2737731933594, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -5.461895125336014e-05, + -8.663204789627343e-05, + -4.316506237955764e-05 + ], + [ + 5.461409818963148e-05, + 1.0, + -5.603405588772148e-05, + -4.02576697524637e-05 + ], + [ + 8.663510379847139e-05, + 5.602932651527226e-05, + 1.0, + 7.235939847305417e-08 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 259.5, + 211.50001525878906 + ], + [ + 259.78485107421875, + 211.69631958007812 + ], + [ + 259.1741638183594, + 211.56610107421875 + ], + [ + 259.2943115234375, + 211.74197387695312 + ], + [ + 259.7421875, + 211.78421020507812 + ], + [ + 259.7489318847656, + 211.64495849609375 + ], + [ + 260.21453857421875, + 211.6427001953125 + ], + [ + 260.95208740234375, + 211.7583770751953 + ], + [ + 258.1373596191406, + 207.4718017578125 + ], + [ + 264.12994384765625, + 212.05812072753906 + ], + [ + 261.4029541015625, + 213.1492156982422 + ], + [ + 271.25341796875, + 205.17257690429688 + ], + [ + 298.7722473144531, + 163.5268096923828 + ], + [ + 366.75543212890625, + 120.6363296508789 + ], + [ + 428.39056396484375, + 96.42504119873047 + ], + [ + 498.34625244140625, + 108.21847534179688 + ], + [ + 526.2039794921875, + 131.56480407714844 + ], + [ + 533.7313232421875, + 128.50624084472656 + ], + [ + 542.4713745117188, + 128.4942169189453 + ], + [ + 539.6889038085938, + 126.69023895263672 + ], + [ + 540.6412963867188, + 127.7001953125 + ], + [ + 540.302978515625, + 128.07020568847656 + ], + [ + 540.463134765625, + 127.8427963256836 + ], + [ + 540.6527709960938, + 127.84553527832031 + ] + ] +} \ No newline at end of file diff --git a/002640_v2/lang.txt b/002640_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..b8b3fa571f9cfabb42c63111fc13c01d2252262b --- /dev/null +++ b/002640_v2/lang.txt @@ -0,0 +1 @@ +put the sushi on top of the drawer diff --git a/002640_v2/object.ply b/002640_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..ea505e59dc0a96a9499a4bd8f0e7fad35a459098 Binary files /dev/null and b/002640_v2/object.ply differ diff --git a/002648/FAIL b/002648/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/002648/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/002651/data.json b/002651/data.json new file mode 100644 index 0000000000000000000000000000000000000000..3e2fe6e7c49b3fba775bf2c1b6c91b3d29795197 --- /dev/null +++ b/002651/data.json @@ -0,0 +1,458 @@ +{ + "action_start": 9, + "action_end": 18, + "object_name": "green squash", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.21343100000000004, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.07374800000000004, + 0.965324, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 5.5434656864861154e-11, + 1.0495646018959803e-10, + -1.4433486350551306e-10, + -1.4543996096041238e-07, + -1.0467804351886831e-07, + -9.927604130982273e-08, + 1.0 + ], + [ + 0.016123801028835427, + 0.006989632001971509, + -0.0022247039178735634, + -0.008874929543561361, + -0.01852708678606675, + -0.0323657097563383, + 1.0 + ], + [ + 0.0162020495459973, + 0.0041778510283662015, + -0.007384392427901926, + -0.004444799197371619, + -0.03163205976383191, + -0.022051326896193966, + 1.0 + ], + [ + 0.0096406296338859, + 0.0028586399868549897, + -0.008002168138807483, + -0.011486716127482434, + -0.016346546276358308, + -0.012818506666555152, + 1.0 + ], + [ + 0.00766729134854921, + 0.004688884889770033, + -0.005627205771127103, + -0.008355766841540579, + -0.011975368489317207, + -0.019953445335708943, + 1.0 + ], + [ + 0.00791349513057471, + 0.0038392171166291324, + -0.013153004086964362, + -0.007531614111953857, + -0.01830416499716955, + -0.010850274109942572, + 1.0 + ], + [ + 0.008826273605620605, + 0.005026966553877264, + -0.011481645753931582, + -0.018972370173528222, + -0.009299549106211275, + -0.014582089843321499, + 1.0 + ], + [ + 0.004042307662988298, + 0.002589918396663204, + -0.0070970602282846434, + -0.017453185093835914, + -0.003263286950605175, + 0.00420576443660795, + 1.0 + ], + [ + 0.00023029714337763352, + -0.000518479014255904, + -0.007219404712493251, + -0.034421089747949475, + -0.01263355653009099, + 0.01723310111049308, + 1.0 + ], + [ + -0.001579243096613614, + -0.0009139664667700206, + -0.002770266225249514, + -0.04036132718271047, + 0.017345886570705658, + 0.030908814777558108, + 0.21343100000000004 + ], + [ + -0.0010817926537483036, + -0.0004992780093401789, + 0.0017309917174608176, + -0.029559280985935323, + 0.015799757877235508, + 0.007019701541296344, + 0.0 + ], + [ + -0.00012150179658287907, + -0.005088632146317935, + 0.016552196011463804, + 0.06758151920865478, + -0.0045313481908522725, + 0.007850506757043494, + 0.0 + ], + [ + -0.0063684289204051225, + -0.013605861233080828, + 0.025173514358017717, + 0.009392953002478091, + 0.017824349277609515, + 0.03250461832303924, + 0.0 + ], + [ + -0.018233645867247072, + -0.015939156741345526, + 0.015531444943644356, + -0.011862563622563802, + 0.01597357270246932, + 0.060196473752724126, + 0.0 + ], + [ + -0.02043450099047739, + -0.018163959685172003, + 0.0022053784215263633, + -0.01713742364677238, + -0.0027306931648853217, + 0.08539048328285354, + 0.0 + ], + [ + -0.019366374698844502, + -0.008682419936200045, + 0.0036455517219316363, + 0.0046061165372404895, + 0.00041539633907289975, + 0.06391154822018354, + 0.0 + ], + [ + -0.009771589442254647, + -0.008458284324397984, + 0.008669139381953683, + 0.030948162674464916, + 0.0037409120085036655, + 0.03140514693081696, + 0.0 + ], + [ + -0.004258070605633879, + -0.009873250271576019, + -0.007025070790373553, + -0.020974843913499196, + -0.02264960829516363, + 0.007677007004180226, + 0.07374800000000004 + ], + [ + 0.001857841447641062, + -0.003911227332969225, + -0.0044894921002053695, + -0.01831164796568468, + -0.024947392557494626, + -0.017433113458227935, + 0.965324 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 471.05816650390625, + 31.926467895507812 + ], + [ + 470.9264221191406, + 31.935401916503906 + ], + [ + 465.0083312988281, + 52.50944519042969 + ], + [ + 469.77484130859375, + 53.0562744140625 + ], + [ + 464.3253173828125, + 54.19501876831055 + ], + [ + 468.6405944824219, + 60.32524108886719 + ], + [ + 462.9075012207031, + 61.14237976074219 + ], + [ + 457.05780029296875, + 75.37183380126953 + ], + [ + 459.2962341308594, + 81.37486267089844 + ], + [ + 453.52783203125, + 84.62698364257812 + ], + [ + 448.1233825683594, + 93.03672790527344 + ], + [ + 449.53546142578125, + 93.87408447265625 + ], + [ + 448.27294921875, + 88.82865905761719 + ], + [ + 445.15728759765625, + 67.1648178100586 + ], + [ + 470.77410888671875, + 54.07571029663086 + ], + [ + 474.5103454589844, + 92.723876953125 + ], + [ + 489.3240966796875, + 76.40731048583984 + ], + [ + 496.7887878417969, + 89.4378433227539 + ], + [ + 501.4320068359375, + 94.1878433227539 + ], + [ + 511.0872497558594, + 99.16254425048828 + ], + [ + 509.73004150390625, + 109.96379089355469 + ], + [ + 509.6293640136719, + 109.20832824707031 + ] + ], + "depth_max": 1.6990721225738525, + "depth_min": 0.11877404898405075, + "intrinsic": [ + [ + 510.4913024902344, + 0.0, + 259.0 + ], + [ + 0.0, + 511.09552001953125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.206060450291261e-06, + -6.441574805648997e-05, + -1.86492943612393e-05 + ], + [ + -5.210674316913355e-06, + 1.0, + -7.162336987676099e-05, + 5.305128070176579e-06 + ], + [ + 6.441536970669404e-05, + 7.162370457081124e-05, + 1.0, + -2.7849459002027288e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21 + ], + "object_trajectory": [ + [ + 431.5, + 102.25000762939453 + ], + [ + 432.0264892578125, + 102.45808410644531 + ], + [ + 431.6164855957031, + 102.77916717529297 + ], + [ + 431.6984558105469, + 102.37450408935547 + ], + [ + 431.53546142578125, + 102.57638549804688 + ], + [ + 431.5285949707031, + 102.67384338378906 + ], + [ + 431.60247802734375, + 102.74209594726562 + ], + [ + 431.42041015625, + 102.54450225830078 + ], + [ + 431.4775695800781, + 102.4552001953125 + ], + [ + 430.4652099609375, + 101.25918579101562 + ], + [ + 430.05517578125, + 101.85334777832031 + ], + [ + 431.55572509765625, + 102.86885833740234 + ], + [ + 430.69378662109375, + 100.1258316040039 + ], + [ + 429.23101806640625, + 85.58528900146484 + ], + [ + 449.89678955078125, + 64.66449737548828 + ], + [ + 454.6601257324219, + 105.63252258300781 + ], + [ + 465.7893371582031, + 91.62845611572266 + ], + [ + 471.33642578125, + 103.00489044189453 + ], + [ + 475.1236267089844, + 108.69215393066406 + ], + [ + 485.4561767578125, + 113.90741729736328 + ], + [ + 483.29595947265625, + 138.88223266601562 + ], + [ + 513.943603515625, + 172.3746337890625 + ] + ] +} \ No newline at end of file diff --git a/002651/lang.txt b/002651/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..893f1294566f069e91b66d995c1944eba962ea18 --- /dev/null +++ b/002651/lang.txt @@ -0,0 +1 @@ +put green squash in pot or pan diff --git a/002651/object.ply b/002651/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..57cf1159b6a22cb43d007351dd916d9e7db46315 Binary files /dev/null and b/002651/object.ply differ diff --git a/002656_v2/data.json b/002656_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..bfa5c50f19a2e9c21fbad7cd81e19998ce8a7e68 --- /dev/null +++ b/002656_v2/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 11, + "action_end": 21, + "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, + 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": [ + [ + -3.517309221656717e-10, + -1.2131157189898545e-11, + -1.4141950110957424e-10, + 2.1579403099494706e-07, + 4.5624038690897857e-07, + -1.4609015517588446e-08, + 1.0 + ], + [ + 0.025840580881682174, + -0.03922680346968346, + 0.0063012300360765355, + -0.01168292778062261, + -0.04439670318829722, + -0.032196265428996694, + 1.0 + ], + [ + 0.02696443042354163, + -0.044945557923027596, + 0.005389885107061801, + 0.005714588939010324, + 0.004564246625387342, + -0.021228919752185636, + 1.0 + ], + [ + 0.02239429405310489, + -0.03571226807201122, + -0.003404239291214327, + -0.010313795900560824, + 0.021251672956321757, + -0.009998602379567663, + 1.0 + ], + [ + 0.014795970441432604, + -0.021510587329606923, + -0.003278604238498059, + -0.01010430388437909, + -0.0020366483888888203, + 0.006641119758745812, + 1.0 + ], + [ + 0.01007306608485159, + -0.012995651087653756, + -0.00959652477418161, + -0.011297363929872782, + 0.002831765322633612, + 0.016243531272063835, + 1.0 + ], + [ + 0.0005113485119113137, + 0.0003783311706525849, + -0.015141988274139949, + 0.031162073375958107, + 0.018502385675030254, + 0.012226964151346222, + 1.0 + ], + [ + -0.002179456037123273, + 0.008919951628980086, + -0.013040560286839795, + 0.022533859584280762, + 0.015928239873029805, + 0.059373461444689656, + 1.0 + ], + [ + 0.003136661331522572, + 0.0009775382499949553, + -0.005676560761746906, + 0.012963252282819023, + -0.01674387983475977, + 0.0564385868364131, + 1.0 + ], + [ + 0.002021879401519877, + -0.00022060625357817054, + -0.005692459295699011, + -0.01248914633608493, + -0.012078138650769274, + 0.033129375915341736, + 1.0 + ], + [ + -0.0015720550082070628, + 0.0015877007740840582, + -0.0019577367964917977, + -0.004098662630188146, + -0.001049113977814273, + 0.0029097703079709373, + 1.0 + ], + [ + -0.003662313272461859, + 0.009268505553280182, + -0.005268060507903127, + 0.0061632402739793864, + 0.008882588093794363, + 0.0005049600416404758, + 1.0 + ], + [ + -0.0015874474265555882, + 0.005217092629213174, + -0.001194642640506418, + -0.009397374104629782, + -0.007867682560138681, + -0.005495343069261936, + 0.0 + ], + [ + -0.003985602873961491, + 5.672630529401923e-05, + 0.012001871318143077, + -0.003992776658899606, + -0.017066418976673572, + -0.015330139342113067, + 0.0 + ], + [ + -0.014482040407571506, + -0.0032362161589400973, + 0.008885689601676489, + -0.0008302906015057996, + -0.01624291727902476, + -0.045283237184022634, + 0.0 + ], + [ + -0.02519304444007331, + 0.002361781797033821, + 0.014801392902839806, + -0.011730438429692746, + -0.019024979646676397, + -0.04277901207424526, + 0.0 + ], + [ + -0.030008566305024076, + -0.00012255589932819166, + 0.009115568118512558, + -0.0174401282991449, + -0.014121171859706941, + -0.040626607194223334, + 0.0 + ], + [ + -0.03922423685478155, + -0.0035050140648186096, + -0.009146903277920185, + 0.011676987764633195, + 0.016861995467529405, + -0.04896151796054967, + 0.0 + ], + [ + -0.03466211897762306, + -0.0005453524064983756, + -0.017579000508925892, + 0.025036985927750336, + 0.023001470345284363, + -0.05343526915212154, + 0.0 + ], + [ + -0.02061730703048198, + 0.004352113844623973, + -0.017793833212010054, + 0.019161478309876027, + 0.03916122341397512, + -0.016723634418085262, + 0.0 + ], + [ + -0.008820610791397898, + 0.004637320043430565, + -0.01270657151775488, + 0.02521144361759568, + 0.036424868335558025, + -0.0023108690292293795, + 0.0 + ], + [ + -0.0028714044031319386, + 0.0023244569779125035, + -0.008706880790443365, + 0.0041068349374296, + 0.034581125155023436, + 0.00915438649892194, + 0.0 + ], + [ + -0.001489615131498423, + -0.002557155845769196, + 0.0030369202483801904, + -0.021927251540778302, + 0.02968181694105839, + 0.00726466584945633, + 1.0 + ], + [ + 0.0013144788864953572, + -0.005859579720219971, + 0.02813000997555589, + -0.06193634299431414, + -0.0222251253553139, + -0.00018075167403202813, + 1.0 + ], + [ + -0.0001439442479058417, + -0.004206058267868046, + 0.039277204213529066, + -0.02951411198573863, + -0.05511004965122382, + -0.02221611771696308, + 1.0 + ], + [ + -0.0030492027655806275, + 0.0009832900835134578, + 0.009076141847574562, + 0.015883135892703702, + -0.010836522388969764, + -0.023129399515121385, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 61.276885986328125, + 62.2900390625 + ], + [ + 61.55625915527344, + 63.46420669555664 + ], + [ + 75.5065689086914, + 81.2721939086914 + ], + [ + 150.24998474121094, + 87.47903442382812 + ], + [ + 220.52203369140625, + 83.15919494628906 + ], + [ + 246.60752868652344, + 95.93788146972656 + ], + [ + 277.56005859375, + 101.3060302734375 + ], + [ + 281.02606201171875, + 114.59001159667969 + ], + [ + 274.9433288574219, + 127.36454772949219 + ], + [ + 272.20751953125, + 131.5013885498047 + ], + [ + 272.8172912597656, + 133.70729064941406 + ], + [ + 273.5924072265625, + 140.45401000976562 + ], + [ + 271.68414306640625, + 143.90286254882812 + ], + [ + 260.5299377441406, + 143.19784545898438 + ], + [ + 254.48715209960938, + 144.70567321777344 + ], + [ + 249.18115234375, + 154.4097900390625 + ], + [ + 239.3668975830078, + 150.39605712890625 + ], + [ + 208.83998107910156, + 145.44912719726562 + ], + [ + 185.50047302246094, + 166.8349151611328 + ], + [ + 152.53192138671875, + 204.8757781982422 + ], + [ + 124.9478759765625, + 239.50111389160156 + ], + [ + 109.13338470458984, + 253.63357543945312 + ], + [ + 103.68873596191406, + 262.0218200683594 + ], + [ + 102.5350341796875, + 271.0995788574219 + ], + [ + 104.82278442382812, + 263.5211181640625 + ], + [ + 103.31571197509766, + 222.3475341796875 + ], + [ + 93.53084564208984, + 199.6982879638672 + ], + [ + 92.43896484375, + 199.65505981445312 + ] + ], + "depth_max": 2.400726795196533, + "depth_min": 0.3750624358654022, + "intrinsic": [ + [ + 440.538818359375, + 0.0, + 259.0 + ], + [ + 0.0, + 440.3821716308594, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -3.3667816751403734e-05, + -1.956692176463548e-05, + -3.675457992358133e-05 + ], + [ + 3.366611053934321e-05, + 1.0, + -8.710099064046517e-05, + -1.9192539184587076e-05 + ], + [ + 1.9569853975553997e-05, + 8.71003358042799e-05, + 1.0, + 3.691315941978246e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 288.0, + 151.0 + ], + [ + 288.32794189453125, + 150.98280334472656 + ], + [ + 288.37664794921875, + 151.0521697998047 + ], + [ + 288.15814208984375, + 151.25975036621094 + ], + [ + 287.80023193359375, + 150.94873046875 + ], + [ + 288.25323486328125, + 151.55413818359375 + ], + [ + 288.1563415527344, + 151.62637329101562 + ], + [ + 288.139404296875, + 152.02969360351562 + ], + [ + 286.02105712890625, + 151.77059936523438 + ], + [ + 263.46142578125, + 152.76565551757812 + ], + [ + 257.62921142578125, + 150.39549255371094 + ], + [ + 270.64593505859375, + 153.05712890625 + ], + [ + 274.0518493652344, + 153.12261962890625 + ], + [ + 258.94207763671875, + 148.82484436035156 + ], + [ + 254.27880859375, + 148.21371459960938 + ], + [ + 248.56654357910156, + 157.94744873046875 + ], + [ + 239.01358032226562, + 152.52310180664062 + ], + [ + 209.36965942382812, + 147.47425842285156 + ], + [ + 185.77947998046875, + 166.1141357421875 + ], + [ + 152.72129821777344, + 203.76437377929688 + ], + [ + 126.23275756835938, + 240.54541015625 + ], + [ + 112.43115997314453, + 256.143310546875 + ], + [ + 107.78358459472656, + 264.3951110839844 + ], + [ + 108.63591003417969, + 268.80426025390625 + ], + [ + 128.76609802246094, + 271.162841796875 + ], + [ + 152.4298553466797, + 266.5779113769531 + ], + [ + 165.3494415283203, + 264.5439147949219 + ], + [ + 175.92138671875, + 261.986083984375 + ] + ] +} \ No newline at end of file diff --git a/002656_v2/lang.txt b/002656_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..c19bfee35bbbc5db338ec9ccde6ef8a065693669 --- /dev/null +++ b/002656_v2/lang.txt @@ -0,0 +1 @@ +move the orange object to the bottom of the table diff --git a/002656_v2/object.ply b/002656_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..bafeae475b8007635c3737aa7a4a44e57b4739c6 Binary files /dev/null and b/002656_v2/object.ply differ diff --git a/002676/data.json b/002676/data.json new file mode 100644 index 0000000000000000000000000000000000000000..bfe1e99c49947ff378bebeee2ca21ad0da508936 --- /dev/null +++ b/002676/data.json @@ -0,0 +1,458 @@ +{ + "action_start": 10, + "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, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.09597100000000003, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -9.282050128511798e-11, + 8.691306008223876e-11, + 9.043928106411414e-11, + 2.671949606691072e-08, + 2.305101361818749e-08, + -1.2213829223868717e-07, + 1.0 + ], + [ + 0.0020505674894340242, + 0.002290887122300772, + 0.011578672989581748, + 0.0255266019772384, + -0.01600585713414182, + 0.07141927365181248, + 1.0 + ], + [ + 0.004085258618917342, + 0.002312374715920412, + 0.004133073767325045, + 0.013130799048238842, + -0.027716881743329744, + 0.05675737305474782, + 1.0 + ], + [ + 0.0030519852154992366, + 0.004577054393241853, + 0.0005046457675455807, + 0.03272222517036262, + -0.024070628151969455, + 0.044235098132697055, + 1.0 + ], + [ + -0.0005602968868158031, + 0.00601127838761667, + -0.005921175412158239, + 0.03677981856932591, + -0.07192385200344471, + 0.03889418133434542, + 1.0 + ], + [ + 0.0009124992118480224, + 0.004341906720420008, + -0.0065151729995396035, + 0.029444632350121663, + -0.039117187366165034, + 0.012017457626723457, + 1.0 + ], + [ + 6.948441989718113e-05, + 0.003026416750135652, + -0.012535822871541036, + -0.005247141567214576, + -0.0316620746906395, + -0.003064842464889894, + 1.0 + ], + [ + 0.00031038961723606207, + 0.006544792577393932, + -0.008911382614341185, + 0.012775441663558281, + -0.02866266363645588, + -0.005804274072316862, + 1.0 + ], + [ + 0.003687180146560637, + 0.004747607672199339, + -0.008358066812494229, + -0.015345643471761742, + -0.031027613962060146, + 0.0029744104230176698, + 1.0 + ], + [ + 0.002184006888777734, + -0.0015048437477258036, + -0.008652360211373951, + -0.010016949579277337, + -0.030264830262397416, + 0.014505876849379465, + 1.0 + ], + [ + -0.0007434603794457817, + -0.0007337028019642755, + -0.007424805597887291, + -0.0048887317417450745, + -0.023559808163371262, + 0.008198050091336246, + 1.0 + ], + [ + -0.003805980099746309, + -0.0008120714793311001, + 0.006178541725977517, + 0.011051560572488291, + 0.029198038970787894, + -0.002021254277159868, + 0.0 + ], + [ + -0.007868440485346517, + -0.001690115068410214, + 0.029046868524036287, + 0.026867593309288354, + 0.08839688120642335, + 0.007330105070854034, + 0.0 + ], + [ + -0.0034528341861867207, + 0.0038746748887643068, + 0.034523928376422895, + 0.014288723654262212, + 0.0787148363895424, + -0.00035020604058701307, + 0.0 + ], + [ + 0.02105094646112121, + 0.012479202758525376, + 0.01713750012296006, + 0.08797203832944243, + -0.008762954193218883, + -0.004624646474112533, + 0.0 + ], + [ + 0.03442832286502162, + 0.019866628893009886, + 0.0018372735776021887, + 0.06272589607424557, + -0.05194191223401711, + -0.059108464917366155, + 0.0 + ], + [ + 0.02480527229180368, + 0.009513211913949104, + -0.009748737350319253, + 0.01201738709259265, + -0.0624935529743324, + -0.050530785228836084, + 0.0 + ], + [ + 0.00871641556116498, + -0.00594426141572002, + -0.014489365616284902, + -0.024958775783349, + -0.041062342346588385, + -0.03466125507598242, + 0.09597100000000003 + ], + [ + -0.0008973273702898021, + -0.00796645080695918, + 0.0026973310296546787, + 0.0338600399068448, + -0.0167903901685179, + -0.00790219473388804, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 35.68824768066406, + 148.6249237060547 + ], + [ + 35.45216751098633, + 148.4773406982422 + ], + [ + 36.73851776123047, + 156.72630310058594 + ], + [ + 30.02511978149414, + 155.06622314453125 + ], + [ + 29.860780715942383, + 151.83160400390625 + ], + [ + 31.806970596313477, + 145.28204345703125 + ], + [ + 35.41923141479492, + 153.03887939453125 + ], + [ + 35.02103805541992, + 156.3093719482422 + ], + [ + 36.224937438964844, + 164.19180297851562 + ], + [ + 35.25075149536133, + 169.90252685546875 + ], + [ + 38.271060943603516, + 178.21829223632812 + ], + [ + 39.63864517211914, + 182.98239135742188 + ], + [ + 38.46525573730469, + 187.85182189941406 + ], + [ + 32.08436584472656, + 195.77569580078125 + ], + [ + 18.529436111450195, + 165.93582153320312 + ], + [ + 5.686279296875, + 124.74935913085938 + ], + [ + 14.169035911560059, + 82.30131530761719 + ], + [ + 27.114025115966797, + 75.97421264648438 + ], + [ + 42.294586181640625, + 73.29173278808594 + ], + [ + 52.3690185546875, + 80.43783569335938 + ], + [ + 59.11452865600586, + 96.99266052246094 + ], + [ + 63.46235656738281, + 90.54893493652344 + ] + ], + "depth_max": 1.4993778467178345, + "depth_min": 0.6189400553703308, + "intrinsic": [ + [ + 521.4054565429688, + 0.0, + 259.0 + ], + [ + 0.0, + 522.0473022460938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.0102603230043314e-05, + -9.726533608045429e-05, + -1.2696044905169401e-05 + ], + [ + -2.0106994270463474e-05, + 1.0, + -4.514030661084689e-05, + 1.7317419406026602e-05 + ], + [ + 9.726442658575252e-05, + 4.514226384344511e-05, + 1.0, + 5.612284439848736e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21 + ], + "object_trajectory": [ + [ + 23.0, + 188.5 + ], + [ + 23.49444580078125, + 188.85232543945312 + ], + [ + 23.384258270263672, + 188.86618041992188 + ], + [ + 23.554000854492188, + 188.64157104492188 + ], + [ + 23.58255386352539, + 188.56723022460938 + ], + [ + 22.93370246887207, + 188.45535278320312 + ], + [ + 22.92431640625, + 188.59495544433594 + ], + [ + 23.093582153320312, + 188.36013793945312 + ], + [ + 23.176416397094727, + 187.7510986328125 + ], + [ + 22.337013244628906, + 187.17507934570312 + ], + [ + 22.59318733215332, + 185.93960571289062 + ], + [ + 23.378772735595703, + 188.95986938476562 + ], + [ + 25.821157455444336, + 187.49566650390625 + ], + [ + 20.484058380126953, + 192.59625244140625 + ], + [ + 7.659196853637695, + 173.27999877929688 + ], + [ + -3.622380495071411, + 135.64120483398438 + ], + [ + 6.474096775054932, + 101.78369140625 + ], + [ + 17.442195892333984, + 97.62127685546875 + ], + [ + 33.06626510620117, + 97.99421691894531 + ], + [ + 41.473915100097656, + 96.9133529663086 + ], + [ + 49.85291290283203, + 108.9907455444336 + ], + [ + 53.73082733154297, + 109.11373138427734 + ] + ] +} \ No newline at end of file diff --git a/002676/lang.txt b/002676/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..893f1294566f069e91b66d995c1944eba962ea18 --- /dev/null +++ b/002676/lang.txt @@ -0,0 +1 @@ +put green squash in pot or pan diff --git a/002676/object.ply b/002676/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..0c1f4ffda0ae3e3265aa68c4fababed6f575bd6b Binary files /dev/null and b/002676/object.ply differ diff --git a/002678_v2/data.json b/002678_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..6a274ded22b7efee83a6c06a947d6a5438d48c60 --- /dev/null +++ b/002678_v2/data.json @@ -0,0 +1,476 @@ +{ + "action_start": 7, + "action_end": 16, + "object_name": "thing", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.996581, + 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": [ + [ + 3.021293770721911e-10, + 7.024561071711233e-10, + 5.650714202110052e-10, + 5.725363006444986e-07, + -8.145996776334198e-08, + 1.0778195748066754e-06, + 1.0 + ], + [ + 0.010885213321250808, + 0.02872348720479294, + 0.00015377412320502493, + -9.250527086786312e-05, + -0.013348724283770685, + 0.07622714184693967, + 1.0 + ], + [ + 0.005623741900334378, + 0.03957612806225594, + -0.008683156200604142, + -0.02777922055973443, + -0.01719811264173526, + 0.07312067487072203, + 1.0 + ], + [ + -0.0001179775090605073, + 0.03900419067061128, + -0.01298636280831171, + 0.03194830435591469, + 0.005672277347261368, + 0.05804070846883878, + 1.0 + ], + [ + -0.0032625384615523334, + 0.01839800628806254, + -0.007908566844557763, + 0.042103729152179366, + 0.02073898760368699, + 0.004567891006988366, + 1.0 + ], + [ + 0.0006357741815020135, + 0.00357361238453735, + -0.01192579726754825, + 0.013635585756616064, + 0.032505725605508136, + 0.007367435090261032, + 1.0 + ], + [ + 0.006383033085876677, + -0.008475540770849777, + -0.009415404602966807, + -0.009065674158178065, + 0.009644977904913546, + -0.009960325568694478, + 1.0 + ], + [ + 0.004425799382467233, + -0.0041204858239271835, + -0.00808161613015174, + 0.0050653938944799646, + 0.017112460037094854, + -0.0018298465215570597, + 0.996581 + ], + [ + 0.0024116295426265255, + -0.002544359534489282, + 0.007435067272258648, + 0.0074217819683232425, + -0.011298193116602294, + -0.009088976999659793, + 0.0 + ], + [ + 0.0032577370998675415, + -0.004653991969515325, + 0.011633703870900373, + 0.0074779971087071346, + -0.01840603197711123, + -0.02075801908898859, + 0.0 + ], + [ + -0.003912420260470839, + -0.009579819913398041, + 0.015046342359047536, + -0.00015350562713812907, + -0.022325412679099235, + -0.014811369551915272, + 0.0 + ], + [ + -0.01776601882050849, + -0.02161839593894524, + 0.01778286198337828, + -0.028239579649348333, + -0.03366071971053226, + -0.004979557145704486, + 0.0 + ], + [ + -0.03589336964244316, + -0.030154964770012588, + 0.0016683814938265526, + -0.021091767236629994, + 0.014751666443710704, + -0.055013632280257144, + 0.0 + ], + [ + -0.029371895624865252, + -0.02496171343686812, + -0.005013956549309098, + -0.00884366745849627, + 0.017902774725904524, + -0.05724417704272827, + 0.0 + ], + [ + -0.021708945958657244, + -0.022655507141935968, + -0.01220682027815255, + -0.01817270029317981, + 0.018273491858646053, + -0.06144457978827963, + 0.0 + ], + [ + -0.008010045065287241, + -0.013637774689467627, + -0.01797548734356165, + -0.005333742753640104, + 0.05952865834641075, + -0.06552693219162282, + 0.0 + ], + [ + -0.005128263375351078, + -0.003445187231550198, + -0.016810669945836, + -0.021132335188376452, + 0.05490024063549032, + -0.0077867442690267505, + 0.0 + ], + [ + -4.446921083639532e-05, + -0.001092606285752834, + -0.00726994939818712, + -0.005152591283594161, + 0.028834857450101926, + 0.004527196302350475, + 1.0 + ], + [ + -0.0010008185589890917, + -0.0019713790751766658, + 0.008183016932072004, + 0.0014074442676223018, + -0.006858601969588497, + -0.0074372471559806756, + 1.0 + ], + [ + -0.003784803199199799, + -0.0014745280434409896, + 0.02224639079476774, + -0.007409759612228549, + -0.058976278331981616, + -0.010606505119196401, + 1.0 + ], + [ + -0.0010717532777816396, + -0.0022889733926466094, + 0.013212460034833638, + 0.0036732502716886016, + -0.03721394108139652, + -0.022544204980104232, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 225.27870178222656, + 105.67003631591797 + ], + [ + 225.50930786132812, + 109.79780578613281 + ], + [ + 218.06187438964844, + 115.37356567382812 + ], + [ + 187.1243896484375, + 100.67489624023438 + ], + [ + 145.4188995361328, + 97.48593139648438 + ], + [ + 122.19438171386719, + 98.85011291503906 + ], + [ + 118.7376937866211, + 109.53358459472656 + ], + [ + 123.2196044921875, + 120.09929656982422 + ], + [ + 135.9476776123047, + 127.36980438232422 + ], + [ + 139.2428436279297, + 127.77684020996094 + ], + [ + 141.5566864013672, + 125.78649139404297 + ], + [ + 149.47052001953125, + 114.69462585449219 + ], + [ + 148.50604248046875, + 107.82847595214844 + ], + [ + 143.9774169921875, + 123.21487426757812 + ], + [ + 138.85987854003906, + 157.9915313720703 + ], + [ + 140.49734497070312, + 194.8794708251953 + ], + [ + 147.4728240966797, + 222.29928588867188 + ], + [ + 149.519775390625, + 247.12547302246094 + ], + [ + 149.6123504638672, + 257.5632019042969 + ], + [ + 152.94534301757812, + 263.2007141113281 + ], + [ + 154.01251220703125, + 240.02459716796875 + ], + [ + 149.41098022460938, + 226.76675415039062 + ], + [ + 148.87281799316406, + 223.79306030273438 + ] + ], + "depth_max": 2.4373583793640137, + "depth_min": 0.39708808064460754, + "intrinsic": [ + [ + 451.2166442871094, + 0.0, + 259.0 + ], + [ + 0.0, + 450.4609069824219, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -1.8156082660425454e-05, + -2.9560103939729743e-05, + -3.068666410399601e-05 + ], + [ + 1.815321229514666e-05, + 1.0, + -9.716305794427171e-05, + -5.686311851604842e-06 + ], + [ + 2.9561870178440586e-05, + 9.716251952340826e-05, + 1.0, + 4.046297544846311e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 22 + ], + "object_trajectory": [ + [ + 120.0, + 137.5 + ], + [ + 120.33438110351562, + 137.59788513183594 + ], + [ + 120.25809478759766, + 137.610595703125 + ], + [ + 120.22257995605469, + 137.6834716796875 + ], + [ + 120.33442687988281, + 137.6780242919922 + ], + [ + 120.15643310546875, + 137.66441345214844 + ], + [ + 119.80023193359375, + 137.74176025390625 + ], + [ + 119.82889556884766, + 137.9281005859375 + ], + [ + 129.5902862548828, + 136.0858612060547 + ], + [ + 138.69992065429688, + 137.16802978515625 + ], + [ + 142.7713165283203, + 137.82421875 + ], + [ + 151.6675262451172, + 128.95509338378906 + ], + [ + 152.00975036621094, + 124.50137329101562 + ], + [ + 148.84727478027344, + 142.0194091796875 + ], + [ + 143.6292724609375, + 178.1414794921875 + ], + [ + 144.1119842529297, + 213.080078125 + ], + [ + 148.6746368408203, + 240.29495239257812 + ], + [ + 149.33251953125, + 263.47491455078125 + ], + [ + 148.622314453125, + 271.42108154296875 + ], + [ + 153.98416137695312, + 293.28643798828125 + ], + [ + 152.43807983398438, + 295.69879150390625 + ], + [ + 152.2762908935547, + 295.68865966796875 + ], + [ + 152.26564025878906, + 295.76806640625 + ] + ] +} \ No newline at end of file diff --git a/002678_v2/lang.txt b/002678_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..ab1595dcc9255b55c54d25edbec09bd88e4b04ed --- /dev/null +++ b/002678_v2/lang.txt @@ -0,0 +1 @@ +move the thing to the left side of the drawer diff --git a/002678_v2/object.ply b/002678_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..ac725508068773495e30d927ad304bf0152149ed Binary files /dev/null and b/002678_v2/object.ply differ diff --git a/002694/FAIL b/002694/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/002694/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/002697_v2/data.json b/002697_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..f91462db474c1c0c952095d80eb7795abb22a771 --- /dev/null +++ b/002697_v2/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 7, + "action_end": 16, + "object_name": "yellow duck", + "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, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.2481515820894629e-11, + -3.2449601339301637e-10, + 5.589359530766558e-11, + 1.1751809335552176e-07, + -4.723499858959213e-07, + 5.657319830385347e-07, + 1.0 + ], + [ + -0.03324148128226628, + -0.02668981045120758, + 0.016690062583460827, + -0.013387856627278344, + -0.040151754545733866, + -0.051122543163908074, + 1.0 + ], + [ + -0.026834979182899787, + -0.03779773029397393, + 0.007024835102871475, + -0.05188552162115884, + -0.01321662024295227, + -0.0908233698712738, + 1.0 + ], + [ + -0.02687287076053324, + -0.03247200600692096, + 0.0014402832898219031, + -0.030334398435746382, + 0.0027344179569524503, + -0.07286364373491572, + 1.0 + ], + [ + -0.023717144179594807, + -0.031242661582664144, + -0.013332478799971334, + 0.007656421947992492, + 0.038443806548415456, + -0.06619980862959343, + 1.0 + ], + [ + -0.0066459663982123, + -0.0314187537183859, + -0.02801932641826585, + 0.030396107045070075, + 0.016230351811169084, + -0.04594728588206828, + 1.0 + ], + [ + 0.0015305011309333094, + -0.014585310251131613, + -0.030859589312238325, + 0.06412145573176346, + 0.04752460395937106, + -0.0003296473030567914, + 1.0 + ], + [ + 0.0021560923477046134, + -0.003463456309369249, + -0.024191965251763682, + 0.038967821547731325, + 0.0625581881422622, + -0.005367474058154775, + 1.0 + ], + [ + 0.000964756196797617, + 0.00355869862437265, + 0.0015920362036792703, + 0.02028910767868962, + 0.006064110964550431, + 0.017013616099322892, + 0.0 + ], + [ + 0.0042846604453225245, + 0.002810385391215482, + 0.029246340881957867, + -0.01901323490117974, + -0.04973762837292726, + 0.019143666638415106, + 0.0 + ], + [ + 0.01268433058017246, + -0.006524071681798402, + 0.039210062191533154, + -0.045956628675364174, + -0.07971428568109334, + 0.014849632512095253, + 0.0 + ], + [ + 0.024544216657165885, + -0.021584864709211733, + 0.03102122312827124, + -0.09413709207627714, + -0.04640799289766586, + -0.006026316710083804, + 0.0 + ], + [ + 0.02836403946990329, + -0.020968473969287908, + 0.016082420659626617, + -0.06190308436412281, + -0.04539848190429642, + 0.0009012449960105126, + 0.0 + ], + [ + 0.018577674651065468, + -0.016191984735601243, + 0.0006900623611710288, + -0.00855372777207262, + -0.02275123886857502, + 0.018206408744788218, + 0.0 + ], + [ + 0.013994151572276958, + -0.009616662792517746, + -0.009061260418476352, + 0.017240900338926467, + 0.0045699196691988886, + 0.02186269022476529, + 0.0 + ], + [ + 0.014366372615226164, + 0.003027794375081898, + -0.009809479973602792, + 0.03347328876734775, + -0.0034856709886579833, + 0.049908546278970914, + 0.0 + ], + [ + 0.014035261995935966, + 0.01119129140746531, + -0.006095693360833543, + 0.029835372857244767, + -0.0014417034063489975, + 0.035850596312802095, + 0.0 + ], + [ + 0.004859318257497358, + 0.005157696155458559, + 0.008968749993901112, + -0.015504684555761256, + 0.0034360717660781447, + 0.013113784257977618, + 1.0 + ], + [ + -0.00409936144917411, + -0.0021610402873076286, + 0.02308078485978783, + -0.020366807841885066, + -0.0322940302540291, + -0.03224372030388351, + 1.0 + ], + [ + -0.005532268700282117, + 0.007323173867454444, + 0.031886020788713235, + 5.868243578242596e-05, + -0.030960352221081528, + 0.018254262812910173, + 1.0 + ], + [ + -0.00450841696552462, + 0.015936261873956886, + 0.019154208415650492, + 0.005827311523416523, + -0.013001214793434763, + 0.04170375623464931, + 1.0 + ], + [ + -0.003314039718593731, + 0.017937726940734457, + 0.0056826160585841945, + 0.02270698310893247, + -0.0001973437481648089, + 0.03692151688118999, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 126.00367736816406, + 52.79783248901367 + ], + [ + 126.49159240722656, + 54.92058563232422 + ], + [ + 125.11918640136719, + 102.13300323486328 + ], + [ + 119.03518676757812, + 92.4952621459961 + ], + [ + 126.17084503173828, + 122.65000915527344 + ], + [ + 133.31121826171875, + 166.56167602539062 + ], + [ + 156.59255981445312, + 227.32557678222656 + ], + [ + 178.84085083007812, + 270.0440673828125 + ], + [ + 188.71864318847656, + 303.21087646484375 + ], + [ + 188.48182678222656, + 300.9135437011719 + ], + [ + 189.17556762695312, + 285.0246887207031 + ], + [ + 196.5, + 236.20321655273438 + ], + [ + 222.94070434570312, + 191.76361083984375 + ], + [ + 278.4002685546875, + 143.46041870117188 + ], + [ + 320.45703125, + 135.84814453125 + ], + [ + 344.80169677734375, + 139.71670532226562 + ], + [ + 356.92596435546875, + 146.0702362060547 + ], + [ + 357.25250244140625, + 144.63389587402344 + ], + [ + 358.0646667480469, + 132.6968994140625 + ], + [ + 355.50341796875, + 124.52600860595703 + ], + [ + 363.64801025390625, + 88.67868041992188 + ], + [ + 348.6370849609375, + 45.760311126708984 + ], + [ + 321.7938537597656, + 34.33484649658203 + ], + [ + 307.64471435546875, + 30.87966537475586 + ] + ], + "depth_max": 2.258729934692383, + "depth_min": 0.3257448077201843, + "intrinsic": [ + [ + 450.28057861328125, + 0.0, + 259.0 + ], + [ + 0.0, + 449.2757568359375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -3.2596155961073237e-06, + -5.8507968788035214e-05, + -1.6469921320094727e-05 + ], + [ + 3.2586444831395056e-06, + 1.0, + -1.6593314285273664e-05, + -3.177391045028344e-05 + ], + [ + 5.850801971973851e-05, + 1.6593125110375695e-05, + 1.0, + -1.4341329006128944e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 174.0, + 304.0 + ], + [ + 174.3485565185547, + 304.2400817871094 + ], + [ + 174.28253173828125, + 304.256591796875 + ], + [ + 174.26937866210938, + 304.1680908203125 + ], + [ + 174.25900268554688, + 304.1588134765625 + ], + [ + 174.200439453125, + 304.1784362792969 + ], + [ + 174.130126953125, + 304.1837158203125 + ], + [ + 174.10910034179688, + 304.1297607421875 + ], + [ + 173.7267608642578, + 303.7647705078125 + ], + [ + 173.79171752929688, + 303.4776916503906 + ], + [ + 173.90907287597656, + 297.706787109375 + ], + [ + 183.13902282714844, + 268.1690673828125 + ], + [ + 214.77833557128906, + 228.3404998779297 + ], + [ + 261.2908935546875, + 189.0793914794922 + ], + [ + 305.8164367675781, + 176.1757049560547 + ], + [ + 330.22760009765625, + 181.9082794189453 + ], + [ + 338.76422119140625, + 183.5412139892578 + ], + [ + 339.82977294921875, + 179.93212890625 + ], + [ + 340.30419921875, + 167.88148498535156 + ], + [ + 339.31268310546875, + 169.9131622314453 + ], + [ + 339.88134765625, + 198.53614807128906 + ], + [ + 341.5413818359375, + 200.36273193359375 + ], + [ + 341.4886779785156, + 200.3693084716797 + ], + [ + 340.8671569824219, + 200.24530029296875 + ] + ] +} \ No newline at end of file diff --git a/002697_v2/lang.txt b/002697_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..a77adcdd3ab64e9c8f1fbbfa1cb0cefa582c082c --- /dev/null +++ b/002697_v2/lang.txt @@ -0,0 +1 @@ +put the yellow duck in the drawer diff --git a/002701_v2/FAIL b/002701_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/002701_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/002704/FAIL b/002704/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/002704/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/002718_v2/data.json b/002718_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..05b2f18a8f5cdd0604efd450a6554c6bc0219cc3 --- /dev/null +++ b/002718_v2/data.json @@ -0,0 +1,476 @@ +{ + "action_start": 7, + "action_end": 17, + "object_name": "pink toy", + "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, + 0.40634899999999996, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.1102230246251565e-16, + 1.734723475976807e-18, + -1.3877787807814457e-17, + 1.0266974837201378e-06, + 1.1720784703351441e-07, + 3.168289866083518e-07, + 1.0 + ], + [ + 0.02562304709667801, + 0.010587858843945345, + -0.0023419916214745123, + -0.01818118171187004, + 0.04364117417615173, + 0.022772651934778263, + 1.0 + ], + [ + 0.028895588680282802, + 0.0043873915064087735, + -0.002015626095167866, + -0.030703753361364803, + 0.0063824420930967294, + 0.02000906074407557, + 1.0 + ], + [ + 0.030042709274163526, + 0.0009022299977158692, + -0.008243304871169824, + -0.012895865894187964, + -0.009056866022545226, + 0.011429844968106041, + 1.0 + ], + [ + 0.019908442037054552, + 0.0019989224109766487, + -0.013996746185719375, + 0.018966535640268355, + -0.015016048017831869, + 0.005686835928400962, + 1.0 + ], + [ + 0.007631201743190763, + 0.003512492863504687, + -0.019257955840976393, + 0.04540158081288048, + -0.006261340514751339, + 0.013839313691856894, + 1.0 + ], + [ + 0.0035433461838720315, + 0.004301800475643196, + -0.01977375052201486, + 0.03669748222554311, + 0.007116012304628048, + 0.013226330576817172, + 1.0 + ], + [ + -0.0017513327276834079, + 0.0019096471565598072, + -0.015274336426688444, + 0.009825540443071682, + 0.03217549805863252, + 0.011959022355674259, + 1.0 + ], + [ + -0.001281493113285459, + 7.482855423249224e-05, + 0.003043910645847331, + -0.004798942247674853, + -0.0037546758026359667, + 0.001802445615522906, + 0.0 + ], + [ + -0.0008172516798632956, + -0.0029691220684225222, + 0.019728431949449066, + -0.01757019843579381, + -0.03717876289823168, + -0.000993805874146285, + 0.0 + ], + [ + -0.0026144989552045472, + -0.01128064086358263, + 0.034717818478798415, + -0.026912628611928925, + -0.05808657820684858, + -0.0010231237117862592, + 0.0 + ], + [ + -0.005829537508037497, + -0.016275068547294377, + 0.03307576561933627, + -0.04287131449937326, + -0.03570788824639896, + -0.0023061559373451276, + 0.0 + ], + [ + -0.009368906297823942, + -0.034181768889229816, + 0.0377953568948973, + -0.04091366596419366, + -0.06428353362734555, + -0.04869653719352222, + 0.0 + ], + [ + -0.010546862851678218, + -0.039783860798098154, + 0.0145403899309023, + 0.0001786605923444264, + -0.019515799935294988, + -0.09611651810901642, + 0.0 + ], + [ + -0.014606184353581686, + -0.032015156034151775, + -0.0014693510522116038, + -0.004828753060508713, + -0.0012125984475450217, + -0.0889392266531694, + 0.0 + ], + [ + -0.015138376039130652, + -0.03221111133866844, + -0.01314031615408498, + 0.03545399801703038, + 0.03017056315170126, + -0.09986710170112977, + 0.0 + ], + [ + -0.010747519403842887, + -0.014296285833867259, + -0.014333161055035806, + 0.014491130643606093, + 0.04898547672939919, + -0.047461037082740604, + 0.0 + ], + [ + -0.008504152067239035, + -0.002006503787678804, + -0.004282730249386996, + 0.009894072426302318, + 0.021859408628748914, + -0.010568867028669484, + 0.40634899999999996 + ], + [ + -0.0015011361029912962, + 0.004735559291320801, + 0.011532496699019956, + -0.008144826050488116, + -0.0071180405765544855, + 0.053695744365101244, + 1.0 + ], + [ + -0.001851323053952525, + 0.008545383511702295, + 0.025703457464211557, + -0.032623494275177196, + -0.03474516780528507, + 0.0597925636391744, + 1.0 + ], + [ + -0.004004112320351139, + 0.012436466660081594, + 0.023651826539153403, + -0.0005157660386753805, + -0.03708131779011358, + 0.03196109580301308, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 332.2843322753906, + 86.05252075195312 + ], + [ + 331.9945068359375, + 89.36773681640625 + ], + [ + 342.21875, + 101.20339965820312 + ], + [ + 346.7818298339844, + 80.50576782226562 + ], + [ + 363.1556396484375, + 75.18374633789062 + ], + [ + 367.6150207519531, + 79.94766998291016 + ], + [ + 361.0253601074219, + 96.47413635253906 + ], + [ + 357.1981201171875, + 111.76658630371094 + ], + [ + 350.564697265625, + 126.38567352294922 + ], + [ + 350.8158264160156, + 129.73162841796875 + ], + [ + 350.9656982421875, + 129.35067749023438 + ], + [ + 360.8383483886719, + 110.03016662597656 + ], + [ + 378.9725036621094, + 71.39814758300781 + ], + [ + 407.1490783691406, + 44.43849182128906 + ], + [ + 460.165283203125, + 24.033008575439453 + ], + [ + 500.42047119140625, + 59.31428146362305 + ], + [ + 526.3796997070312, + 80.43063354492188 + ], + [ + 565.3272705078125, + 127.63470458984375 + ], + [ + 552.1768188476562, + 141.15451049804688 + ], + [ + 548.9200439453125, + 147.45223999023438 + ], + [ + 559.34521484375, + 124.57252502441406 + ], + [ + 552.817138671875, + 64.11585235595703 + ], + [ + 550.902587890625, + 56.02497863769531 + ] + ], + "depth_max": 2.3433213233947754, + "depth_min": 0.13982464373111725, + "intrinsic": [ + [ + 428.2896728515625, + 0.0, + 259.0 + ], + [ + 0.0, + 427.6264343261719, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -3.7960158806527033e-05, + -8.61812659422867e-05, + -3.919975279131904e-05 + ], + [ + 3.795460725086741e-05, + 1.0, + -6.440415018005297e-05, + -8.878564585756976e-06 + ], + [ + 8.618371066404507e-05, + 6.440087599912658e-05, + 1.0, + 2.1473077140399255e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 22 + ], + "object_trajectory": [ + [ + 349.5000305175781, + 143.25001525878906 + ], + [ + 349.94927978515625, + 143.8335723876953 + ], + [ + 350.21453857421875, + 144.2787322998047 + ], + [ + 350.0662841796875, + 143.37576293945312 + ], + [ + 357.63916015625, + 138.69479370117188 + ], + [ + 357.84161376953125, + 138.69992065429688 + ], + [ + 350.2129211425781, + 143.37271118164062 + ], + [ + 349.4515686035156, + 143.60073852539062 + ], + [ + 346.67529296875, + 150.2208251953125 + ], + [ + 345.73187255859375, + 150.65310668945312 + ], + [ + 342.5770263671875, + 150.9541778564453 + ], + [ + 350.7467956542969, + 133.7646484375 + ], + [ + 368.11590576171875, + 97.06729125976562 + ], + [ + 394.5714111328125, + 73.66777038574219 + ], + [ + 445.9582824707031, + 55.178226470947266 + ], + [ + 480.80194091796875, + 91.4576416015625 + ], + [ + 504.5193176269531, + 113.56210327148438 + ], + [ + 537.5775146484375, + 159.13104248046875 + ], + [ + 528.3880615234375, + 170.55874633789062 + ], + [ + 527.10791015625, + 176.4356689453125 + ], + [ + 532.4771118164062, + 169.6580352783203 + ], + [ + 542.2940673828125, + 162.34266662597656 + ], + [ + 543.0233154296875, + 162.56015014648438 + ] + ] +} \ No newline at end of file diff --git a/002718_v2/lang.txt b/002718_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..7e273d19a1d997f5947c6d15ea14163e48b14cc9 --- /dev/null +++ b/002718_v2/lang.txt @@ -0,0 +1 @@ +put the pink toy on the top of the drawer diff --git a/002718_v2/object.ply b/002718_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..6a4534810ca1a4205c225d4215208264ab69d3d3 Binary files /dev/null and b/002718_v2/object.ply differ diff --git a/002739/FAIL b/002739/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/002739/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/002742_v2/data.json b/002742_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..60fdd1a5c1f4992745771399c96ecb6f8a8e83af --- /dev/null +++ b/002742_v2/data.json @@ -0,0 +1,476 @@ +{ + "action_start": 9, + "action_end": 16, + "object_name": "yellow duck", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.982173, + 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, + 0.0, + 0.0, + -5.201494377310364e-08, + -8.72908836394715e-08, + 3.8198249100504225e-07, + 1.0 + ], + [ + 0.0002240082736140181, + 0.03591423268754906, + 0.0036935434997023286, + -0.0013104124896638587, + -0.004376122218969531, + 0.07568516037846096, + 1.0 + ], + [ + 0.0008929553663472589, + 0.03886028774708358, + 0.00041059212970236125, + 0.0038214227854951057, + 0.006484317633120423, + 0.08467246786560817, + 1.0 + ], + [ + -0.008877036777443004, + 0.047703680006637196, + -0.016137970988525818, + 0.02292899494120039, + 0.02404148728693358, + 0.08660956615037572, + 1.0 + ], + [ + -0.017391187142127285, + 0.02889230349539547, + -0.03177131606931602, + -0.016929998653904824, + 0.03457176942619014, + 0.05990778482400815, + 1.0 + ], + [ + -0.010776876721429796, + 0.004012991625571949, + -0.02031150280748044, + -0.018284150756702016, + -0.013483208626804896, + 0.019018444802992338, + 1.0 + ], + [ + -0.012183192003686116, + -0.004373802322908765, + -0.019303070719626107, + 0.016729424930422558, + 0.05235751767758453, + 0.002329175873262045, + 1.0 + ], + [ + -0.0077704563620216716, + 0.0037139252634675046, + -0.01806431231646951, + 0.013627803387952423, + 0.06144469043800841, + 0.008219827707554724, + 1.0 + ], + [ + 0.003478382464922297, + 0.005934360184634779, + -0.011116128085590657, + 0.022542755839809428, + 0.036509164885674454, + 0.02678178458410161, + 1.0 + ], + [ + 0.004775993980845411, + 0.0009130459459615325, + -0.002793613407463174, + 0.021275551988104165, + 0.03340575794880295, + 0.00989230059303759, + 0.982173 + ], + [ + 0.006223139515498327, + -0.005759380737869996, + 0.009352641015718845, + 0.006179598695642577, + -0.03026831428800027, + -0.023309414685633075, + 0.0 + ], + [ + 0.03096397072207485, + -0.01944747957173483, + 0.024513105937662278, + -0.016815307217032255, + -0.09799843882777945, + -0.06270838740253085, + 0.0 + ], + [ + 0.04447081800727007, + -0.025069939097807317, + 0.020866906424525097, + -0.02140901383769298, + -0.07482154815291774, + -0.06465984839595457, + 0.0 + ], + [ + 0.03812003838317396, + -0.024282608759389965, + 0.004973055802745721, + -0.028747915565361135, + -0.0423948768546835, + -0.057289840329147954, + 0.0 + ], + [ + 0.029963078728609316, + -0.019343824098855426, + -0.0004072382224934862, + -0.012572301227171264, + -0.003678784200649132, + -0.057059704929990844, + 0.0 + ], + [ + 0.013526270160451437, + -0.0075775555337161404, + -0.0053967205012606725, + -0.002606366439841744, + 0.010365668100125836, + -0.025510887153287743, + 0.0 + ], + [ + 0.001769268658479095, + -0.0018357176832674363, + -0.010607655916719597, + 0.003602310475958409, + 0.021250744945381563, + -0.0016253332297015012, + 0.0 + ], + [ + -0.0018366460653230776, + -0.0006201042206402871, + -0.0016778745676386056, + 0.0069658255276017775, + 0.009902771764633238, + -0.005493932641087002, + 1.0 + ], + [ + 0.001012138482753444, + -0.006296119440995333, + 0.016605606339812604, + 0.015958081455584146, + -0.027647402636808083, + -0.018353122787435092, + 1.0 + ], + [ + -0.0018887943659812167, + -0.00645501339714576, + 0.027042239357083615, + 0.0016888194059873208, + -0.06185063202106147, + -0.011563884306443383, + 1.0 + ], + [ + -0.006804762003107145, + -0.003254955872849935, + 0.02914962407611442, + 0.010055521475981764, + -0.05828786030096364, + -0.006587493684042317, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 315.2489013671875, + 154.76870727539062 + ], + [ + 314.35333251953125, + 158.33468627929688 + ], + [ + 297.207275390625, + 157.77566528320312 + ], + [ + 240.54415893554688, + 133.7870330810547 + ], + [ + 182.28761291503906, + 126.02042388916016 + ], + [ + 134.30984497070312, + 149.9765625 + ], + [ + 105.845458984375, + 181.9383087158203 + ], + [ + 99.01123809814453, + 216.84841918945312 + ], + [ + 88.52192687988281, + 236.1119384765625 + ], + [ + 86.60311126708984, + 251.28781127929688 + ], + [ + 90.71463012695312, + 246.9576873779297 + ], + [ + 100.96696472167969, + 244.4841766357422 + ], + [ + 131.66738891601562, + 217.40045166015625 + ], + [ + 192.02499389648438, + 170.1664276123047 + ], + [ + 245.91796875, + 148.98226928710938 + ], + [ + 291.6590270996094, + 140.78518676757812 + ], + [ + 316.0831298828125, + 144.06695556640625 + ], + [ + 316.98974609375, + 150.0198974609375 + ], + [ + 317.9302978515625, + 159.80450439453125 + ], + [ + 321.1883544921875, + 162.38409423828125 + ], + [ + 335.73004150390625, + 140.2115936279297 + ], + [ + 336.357177734375, + 109.98171997070312 + ], + [ + 344.11566162109375, + 101.78878021240234 + ] + ], + "depth_max": 2.0060179233551025, + "depth_min": 0.37241724133491516, + "intrinsic": [ + [ + 420.7310485839844, + 0.0, + 259.0 + ], + [ + 0.0, + 420.0471496582031, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -8.45133326947689e-05, + -8.139499550452456e-05, + -1.8263732272316702e-05 + ], + [ + 8.451152825728059e-05, + 1.0, + -2.2194473785930313e-05, + -1.9771279767155647e-05 + ], + [ + 8.139687270158902e-05, + 2.21875925490167e-05, + 1.0, + 4.4387212255969644e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 22 + ], + "object_trajectory": [ + [ + 78.5, + 265.5 + ], + [ + 79.2352523803711, + 265.48883056640625 + ], + [ + 79.18586730957031, + 265.57611083984375 + ], + [ + 79.25996398925781, + 265.6062316894531 + ], + [ + 79.42015075683594, + 265.68035888671875 + ], + [ + 79.07860565185547, + 265.5579833984375 + ], + [ + 78.98725891113281, + 265.6346435546875 + ], + [ + 79.2485580444336, + 265.3958435058594 + ], + [ + 71.32225036621094, + 266.6231994628906 + ], + [ + 71.22911071777344, + 267.756103515625 + ], + [ + 70.38958740234375, + 265.646240234375 + ], + [ + 79.46115112304688, + 268.4348449707031 + ], + [ + 110.05028533935547, + 247.31100463867188 + ], + [ + 173.548583984375, + 202.42446899414062 + ], + [ + 229.9552001953125, + 179.40377807617188 + ], + [ + 276.8503723144531, + 169.19647216796875 + ], + [ + 300.20196533203125, + 173.10406494140625 + ], + [ + 300.67291259765625, + 178.0694580078125 + ], + [ + 301.1952209472656, + 181.81797790527344 + ], + [ + 292.3400573730469, + 220.5625457763672 + ], + [ + 292.1942138671875, + 221.22921752929688 + ], + [ + 292.2554626464844, + 221.3246307373047 + ], + [ + 292.23388671875, + 221.4933624267578 + ] + ] +} \ No newline at end of file diff --git a/002742_v2/lang.txt b/002742_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..44e7aa5ba6110ef59ef45b3d341baa9d066f03e2 --- /dev/null +++ b/002742_v2/lang.txt @@ -0,0 +1 @@ +move the yellow duck to the middle of the table diff --git a/002742_v2/object.ply b/002742_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..71b5833aa64ca1eedeb5d2b88ae60385ea9d7da8 Binary files /dev/null and b/002742_v2/object.ply differ diff --git a/002748_v2/FAIL b/002748_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/002748_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/002750/FAIL b/002750/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/002750/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/002761_v2/data.json b/002761_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..c3f6529b6decdd41e6f17f11316bfff963ef9e81 --- /dev/null +++ b/002761_v2/data.json @@ -0,0 +1,604 @@ +{ + "action_start": 11, + "action_end": 22, + "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, + 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": [ + [ + -2.562219880708483e-10, + -2.1922547110975188e-10, + -3.0594618505297433e-10, + 6.900493909758751e-07, + 3.299989475965085e-11, + 2.7105351331742053e-07, + 1.0 + ], + [ + 0.023799002257359703, + 0.03462961591387341, + -0.0050260196822015935, + -0.0003529861004470812, + 0.0022552655909371597, + 0.07181124932368937, + 1.0 + ], + [ + 0.022467159119449298, + 0.03037697051324463, + -0.008193473093011244, + -0.025843732135088185, + 0.000902769243535672, + 0.07312713471663375, + 1.0 + ], + [ + 0.025381569158361927, + 0.026073519196192094, + -0.011125867085528596, + -0.005854656520621068, + -0.029834135657141943, + 0.026090385897176837, + 1.0 + ], + [ + 0.022195938260007153, + 0.011781574905627305, + -0.019369998491219703, + 0.010711110600964774, + 0.007592388155803509, + 0.013961900602560261, + 1.0 + ], + [ + 0.01670570489840545, + 0.011298497537198277, + -0.01649147793178743, + 0.014359589223360496, + 0.014053769099132888, + 0.021957770287653937, + 1.0 + ], + [ + 0.016579084489711793, + 0.014771302413207397, + -0.019180370604037794, + 0.007066768345636426, + 0.005498639237409338, + 0.040680558312556125, + 1.0 + ], + [ + 0.013917602279094776, + 0.011056387658497539, + -0.02539853978925377, + -0.016104842459735064, + 0.00033127655779230896, + 0.034551483180691595, + 1.0 + ], + [ + 0.009392399243770333, + 0.00791735486740561, + -0.02158340811088716, + 0.004054877068398783, + 0.06076359282914839, + 0.019527064785634006, + 1.0 + ], + [ + 0.007445399859510871, + -0.00026230598920566617, + -0.017070443723028225, + 0.008764786013855825, + 0.040848432786373234, + 0.000714886354991391, + 1.0 + ], + [ + 0.008292159500865814, + -0.004365284033631199, + -0.013620234790883503, + -0.0062107346393046005, + 0.0005356651009424226, + 0.008436364061380482, + 1.0 + ], + [ + 0.0041775755173568685, + -0.0015930650970759769, + -0.0064383728570228385, + -0.0013877692622968672, + 0.003620972859976518, + -0.0018047548068556248, + 1.0 + ], + [ + -0.0028394396412427247, + 0.0016256301636211855, + 0.009899535259425992, + 0.009863993337232785, + -0.02172437907555352, + -0.004625108915036565, + 0.0 + ], + [ + -0.012740578923804202, + 0.00044014682422913523, + 0.024027826966002225, + 0.005028738552044986, + -0.038657228918299716, + 0.0029372248830118537, + 0.0 + ], + [ + -0.0318509271069487, + 0.00020457599952784442, + 0.017750017658352137, + -0.008591469103891133, + -0.036354113913175126, + 0.02244595744307862, + 0.0 + ], + [ + -0.05092710776381604, + 0.002024858577318007, + 0.004848982030104341, + 0.005666991605176256, + 0.02399885580868071, + 0.016194607405964827, + 0.0 + ], + [ + -0.06229143717253843, + 0.001503453483261124, + -0.0066868234461361295, + -0.02763114600196474, + -0.0025154586681642595, + 0.025127288478222206, + 0.0 + ], + [ + -0.048969867419610846, + 0.00970124526470981, + -0.012738996713942685, + 0.003910785634687751, + 0.023578768507927093, + 0.02867188759169738, + 0.0 + ], + [ + -0.026327003450882236, + 0.013129544654067012, + -0.014545572491599656, + 0.026868856933290594, + 0.03928512989869603, + 0.027194787813262726, + 0.0 + ], + [ + -0.005679555037070877, + 0.007648554466782344, + -0.015233818675708395, + 0.03384126349020397, + 0.015404124709260883, + 0.015936038437687813, + 0.0 + ], + [ + 0.012997683346892386, + 0.0033551110211356774, + -0.0099617493207634, + 0.012393444363531805, + 0.005179755296585927, + 0.0002625669870738646, + 0.0 + ], + [ + 0.011131117520422867, + 0.0012869398619932762, + -0.005831200244330346, + 0.0032440901597892784, + 0.00991860852350662, + -0.004307849599905614, + 0.0 + ], + [ + 0.001232591949304196, + -0.003077840217424785, + -0.006540035001927793, + -0.012880935884589335, + 0.03393069881771182, + -0.005110754746415024, + 0.0 + ], + [ + -0.002735525463125388, + -0.004633291942540328, + 0.003472294738493663, + -0.022600792767336803, + 0.021254615862469534, + -0.009760848499511332, + 1.0 + ], + [ + -0.004199896420162413, + -0.0001563784042503541, + 0.013834528088570818, + -0.027942491813121407, + 0.008914566393421322, + -0.0016350913835902067, + 1.0 + ], + [ + -0.0010587032377931405, + -2.3679294213332924e-05, + 0.018486730944013395, + 0.012529097432220321, + -0.020723804144860268, + 0.003912613417583173, + 1.0 + ], + [ + -0.0016203208721081996, + -0.001686360436548899, + 0.021548187253645067, + 0.007233463513529848, + -0.03762210241715433, + -0.007372746096078126, + 1.0 + ], + [ + -0.0025149240335495815, + 0.0002497750766659555, + 0.021508682452670957, + 0.04814582340547186, + 5.1630409049550964e-05, + -0.051077794909983126, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 540.141357421875, + 121.22396850585938 + ], + [ + 535.787353515625, + 129.58868408203125 + ], + [ + 500.97052001953125, + 127.76200866699219 + ], + [ + 446.23846435546875, + 96.00028228759766 + ], + [ + 420.4257507324219, + 82.020751953125 + ], + [ + 402.2250671386719, + 87.46427917480469 + ], + [ + 400.77105712890625, + 100.66787719726562 + ], + [ + 388.31378173828125, + 104.96123504638672 + ], + [ + 377.28240966796875, + 119.83154296875 + ], + [ + 366.3479309082031, + 137.8735809326172 + ], + [ + 365.254150390625, + 149.21466064453125 + ], + [ + 365.58709716796875, + 161.36924743652344 + ], + [ + 367.71868896484375, + 163.24884033203125 + ], + [ + 365.89581298828125, + 168.002197265625 + ], + [ + 359.4388427734375, + 158.62545776367188 + ], + [ + 349.7826232910156, + 150.86660766601562 + ], + [ + 322.18310546875, + 160.45880126953125 + ], + [ + 289.01287841796875, + 196.0716094970703 + ], + [ + 227.19174194335938, + 240.49258422851562 + ], + [ + 188.24293518066406, + 269.2017517089844 + ], + [ + 172.3347930908203, + 280.9771728515625 + ], + [ + 178.37545776367188, + 285.012451171875 + ], + [ + 187.17616271972656, + 279.77191162109375 + ], + [ + 191.303955078125, + 283.9638977050781 + ], + [ + 193.67149353027344, + 288.8634033203125 + ], + [ + 193.1973876953125, + 287.87371826171875 + ], + [ + 191.18165588378906, + 266.05902099609375 + ], + [ + 185.8966064453125, + 246.93637084960938 + ], + [ + 184.00807189941406, + 219.2518310546875 + ], + [ + 184.1333465576172, + 215.56430053710938 + ] + ], + "depth_max": 1.851070761680603, + "depth_min": 0.191642165184021, + "intrinsic": [ + [ + 433.77618408203125, + 0.0, + 259.0 + ], + [ + 0.0, + 433.22589111328125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -4.688587796408683e-05, + -0.00012489968503359705, + -1.3254248187877238e-07 + ], + [ + 4.687908585765399e-05, + 1.0, + -5.4383057431550696e-05, + -2.5486926460871473e-05 + ], + [ + 0.00012490224617067724, + 5.437719664769247e-05, + 1.0, + 4.3037449358962476e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 29 + ], + "object_trajectory": [ + [ + 366.5, + 178.75001525878906 + ], + [ + 366.6146545410156, + 178.94708251953125 + ], + [ + 366.6888122558594, + 178.9965057373047 + ], + [ + 366.62945556640625, + 178.9434814453125 + ], + [ + 366.7503967285156, + 178.92332458496094 + ], + [ + 366.64532470703125, + 178.83938598632812 + ], + [ + 366.7714538574219, + 178.9370574951172 + ], + [ + 366.744384765625, + 178.93466186523438 + ], + [ + 366.6473693847656, + 178.92218017578125 + ], + [ + 366.7556457519531, + 179.22462463378906 + ], + [ + 366.3384704589844, + 179.2113037109375 + ], + [ + 365.9178771972656, + 179.1495819091797 + ], + [ + 365.749755859375, + 179.15086364746094 + ], + [ + 360.57623291015625, + 177.45687866210938 + ], + [ + 353.1750793457031, + 170.76007080078125 + ], + [ + 344.720947265625, + 157.72982788085938 + ], + [ + 316.7618408203125, + 167.70199584960938 + ], + [ + 282.95111083984375, + 205.23489379882812 + ], + [ + 219.14251708984375, + 248.39720153808594 + ], + [ + 180.84295654296875, + 277.8110656738281 + ], + [ + 166.19662475585938, + 290.0791320800781 + ], + [ + 172.14056396484375, + 292.4700012207031 + ], + [ + 182.1582489013672, + 286.6850280761719 + ], + [ + 186.56150817871094, + 291.1080627441406 + ], + [ + 190.11285400390625, + 296.9041748046875 + ], + [ + 191.07736206054688, + 299.8850402832031 + ], + [ + 184.93899536132812, + 296.48211669921875 + ], + [ + 188.8888702392578, + 296.3817138671875 + ], + [ + 188.60321044921875, + 295.9034729003906 + ], + [ + 188.58291625976562, + 295.890380859375 + ] + ] +} \ No newline at end of file diff --git a/002761_v2/lang.txt b/002761_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2295fa8f89614ae81a949ab862c9f9f38aef6a98 --- /dev/null +++ b/002761_v2/lang.txt @@ -0,0 +1 @@ +moved the green object to the lower side of the table diff --git a/002761_v2/object.ply b/002761_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..369fc8ab041ad6979e5e5d9864ca2dd63018f568 Binary files /dev/null and b/002761_v2/object.ply differ diff --git a/002785/FAIL b/002785/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/002785/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/002858_v2/data.json b/002858_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..7a92c4da030020203a7ca5091af0da5b5dfe7310 --- /dev/null +++ b/002858_v2/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 10, + "action_end": 22, + "object_name": "orange 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, + 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": [ + [ + 6.148581643827811e-11, + -3.1466575178829004e-10, + 6.424793336234913e-10, + -3.964397226783485e-08, + -1.406229943345105e-07, + -7.069939708802518e-07, + 1.0 + ], + [ + 0.021771505300031302, + -0.014765580432582415, + 0.013631125072265465, + -0.021810450765537958, + -0.0571654760610402, + -0.05437989758691357, + 1.0 + ], + [ + 0.02168502261741162, + -0.01269209287467031, + 0.00935432368604279, + 0.003992802982388923, + -0.02086930367720866, + -0.03555080450780157, + 1.0 + ], + [ + 0.010769456683806966, + -0.003777677699902074, + 0.009555228559123316, + 0.009457102510536152, + -0.025394947941908066, + -0.00468819897977876, + 1.0 + ], + [ + 0.010823185191819795, + -0.007444532495371817, + 0.0076537965371635125, + -0.007196215894644754, + -0.04200376492135821, + -0.022160076311250384, + 1.0 + ], + [ + 0.01571717667814193, + -0.015893574633434396, + -0.0018022855838592117, + -0.00570560309326357, + -0.014050082214318095, + -0.05270629214566799, + 1.0 + ], + [ + 0.013601554216580158, + -0.013636573127006373, + -0.008571358931916143, + 0.014314194721250256, + 0.0009226470919575518, + -0.02670199054586103, + 1.0 + ], + [ + 0.005671844990590591, + -0.0007434633874881386, + -0.011716631288134244, + 0.013971983667344133, + 0.018926421026101887, + 0.0025995949003043625, + 1.0 + ], + [ + -0.0008091600290521805, + 0.001252229412249558, + -0.01600558199834115, + -0.01445737317649331, + 0.042894186570715434, + 0.018354797035840708, + 1.0 + ], + [ + -0.006180198497657163, + -0.0005133534289730908, + -0.01646191367198855, + -0.05186025592101448, + 0.05093880138330733, + 0.02472804865647454, + 1.0 + ], + [ + -0.005582792842015738, + 0.0018965427790763184, + -0.020191790722625252, + -0.06695533853581549, + 0.05570881880226032, + 0.026793355193020632, + 1.0 + ], + [ + -0.001611580063246132, + 0.004341841208339954, + -0.001788433934880318, + -0.00706741855859003, + -0.011581741442698424, + 0.016310419345444693, + 0.0 + ], + [ + 0.002852127205963728, + 0.00486798446893768, + 0.016903117615682875, + 0.014479704643770361, + -0.0356985967772176, + -0.011804028303020239, + 0.0 + ], + [ + 0.0033408329677734327, + 0.0023377509732668525, + 0.029075789035240412, + 0.016549342116868475, + -0.07861517766483545, + -0.034575548887587536, + 0.0 + ], + [ + -0.00336008033118812, + -0.001255269311560732, + 0.03191260631402374, + 0.01719617063597738, + -0.08257234262639085, + -0.038539874364574664, + 0.0 + ], + [ + -0.014857906520706232, + -0.0020125399302405277, + 0.020922405863753518, + 0.0037517131719842487, + -0.05661843304466901, + -0.029514680332250826, + 0.0 + ], + [ + -0.02855404360725916, + -0.00939820035397209, + 0.007492441089458887, + 0.006550243762570195, + 0.006086821057062891, + -0.04670118258797302, + 0.0 + ], + [ + -0.035201918984534175, + -0.008114054727166212, + -0.015353843731050254, + 0.012251694084707818, + 0.06840380327647362, + -0.03318712526145898, + 0.0 + ], + [ + -0.029739620559701974, + -0.001958483303764996, + -0.030786809906114015, + 0.03518314585715449, + 0.08319033448973218, + -0.008711945072974304, + 0.0 + ], + [ + -0.013658947192744353, + -0.0020045986060750237, + -0.025298622308217833, + 0.02903148490391318, + 0.06895601216592266, + -0.0012076331087981932, + 0.0 + ], + [ + 0.0011577281764475478, + -0.000799516786933639, + -0.025798650007014673, + 0.008523473657562274, + 0.013477032754530577, + 0.0004792946542436369, + 0.0 + ], + [ + 0.0021380038221968933, + -0.006053036446709605, + -0.0337024014516011, + 0.001169617677437603, + 0.06162126225438886, + -0.02957813683940245, + 0.0 + ], + [ + -0.0026195168689507886, + -0.003072847272869068, + -0.017909489947032353, + -0.0004417052517035455, + 0.036022791854053916, + -0.016128515917192197, + 0.0 + ], + [ + -0.002652897696157369, + -0.0010230870531216674, + 0.012385795430422656, + -0.006024807163717792, + -0.03539538852051343, + -0.017489358942837447, + 1.0 + ], + [ + 0.00010886871695628408, + -0.0014193799472206788, + 0.03032395888950769, + -0.007286930917095267, + -0.0607076395232059, + -0.012453500408125647, + 1.0 + ], + [ + -0.001520919715668284, + -0.003927036483838029, + 0.02822448204433564, + -0.012338219863003968, + -0.0499883316575366, + -0.004097148729013469, + 1.0 + ], + [ + -0.0050770609840211645, + -0.0018795565549929111, + 0.008683382226405849, + 0.0003093172610535916, + 0.014647176521710924, + 0.01707802167226659, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 197.1515655517578, + 135.81451416015625 + ], + [ + 197.24295043945312, + 142.11474609375 + ], + [ + 222.1358184814453, + 134.60304260253906 + ], + [ + 260.2576599121094, + 118.95350646972656 + ], + [ + 275.50982666015625, + 100.97879791259766 + ], + [ + 288.20208740234375, + 87.65217590332031 + ], + [ + 320.357421875, + 93.95704650878906 + ], + [ + 342.9926452636719, + 101.50569152832031 + ], + [ + 350.81793212890625, + 111.4461898803711 + ], + [ + 351.72406005859375, + 130.069580078125 + ], + [ + 355.958984375, + 146.04920959472656 + ], + [ + 352.4551696777344, + 154.89553833007812 + ], + [ + 348.57464599609375, + 157.56304931640625 + ], + [ + 346.7960205078125, + 154.8382568359375 + ], + [ + 342.5457458496094, + 136.50991821289062 + ], + [ + 333.71795654296875, + 98.97904968261719 + ], + [ + 326.5968017578125, + 82.84671020507812 + ], + [ + 311.9913635253906, + 82.01278686523438 + ], + [ + 295.0911560058594, + 114.36921691894531 + ], + [ + 265.45941162109375, + 176.17910766601562 + ], + [ + 248.93861389160156, + 215.36305236816406 + ], + [ + 247.80661010742188, + 251.6170654296875 + ], + [ + 255.81088256835938, + 284.7139892578125 + ], + [ + 260.8369445800781, + 302.2064208984375 + ], + [ + 259.7890625, + 304.9925231933594 + ], + [ + 264.55926513671875, + 281.1776123046875 + ], + [ + 263.28302001953125, + 260.8650817871094 + ], + [ + 262.29339599609375, + 256.25189208984375 + ] + ], + "depth_max": 2.3102924823760986, + "depth_min": 0.3268362581729889, + "intrinsic": [ + [ + 430.92529296875, + 0.0, + 259.0 + ], + [ + 0.0, + 430.5542907714844, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.478442421415821e-05, + -8.509867620887235e-05, + -4.7862515202723444e-05 + ], + [ + -7.478541374439374e-05, + 1.0, + -1.1668866136460565e-05, + -4.604407513397746e-05 + ], + [ + 8.509780309395865e-05, + 1.167522987088887e-05, + 1.0, + 1.097654239856638e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 363.25, + 168.00001525878906 + ], + [ + 363.5459289550781, + 168.03802490234375 + ], + [ + 363.45263671875, + 168.08859252929688 + ], + [ + 363.5342102050781, + 168.3258819580078 + ], + [ + 363.5153503417969, + 168.18801879882812 + ], + [ + 363.50091552734375, + 168.1192626953125 + ], + [ + 363.2502746582031, + 168.02943420410156 + ], + [ + 363.1514892578125, + 168.10069274902344 + ], + [ + 363.0840148925781, + 168.33087158203125 + ], + [ + 363.0854797363281, + 175.64295959472656 + ], + [ + 364.94732666015625, + 174.9704132080078 + ], + [ + 362.84478759765625, + 173.99771118164062 + ], + [ + 357.82208251953125, + 173.50006103515625 + ], + [ + 353.00640869140625, + 172.4767303466797 + ], + [ + 343.76312255859375, + 162.94100952148438 + ], + [ + 338.0958251953125, + 136.10507202148438 + ], + [ + 329.5124206542969, + 120.72657775878906 + ], + [ + 314.8307189941406, + 123.22467803955078 + ], + [ + 300.0515441894531, + 157.26626586914062 + ], + [ + 264.97222900390625, + 217.85650634765625 + ], + [ + 243.3079376220703, + 235.99880981445312 + ], + [ + 241.89427185058594, + 267.87237548828125 + ], + [ + 249.33837890625, + 300.71893310546875 + ], + [ + 254.82955932617188, + 316.01861572265625 + ], + [ + 251.87619018554688, + 319.24017333984375 + ], + [ + 254.57095336914062, + 321.4305419921875 + ], + [ + 254.86924743652344, + 322.18365478515625 + ], + [ + 254.97723388671875, + 322.2918701171875 + ] + ] +} \ No newline at end of file diff --git a/002858_v2/lang.txt b/002858_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..e27237596e8574a77c48f5b49d0c5516d586bfbd --- /dev/null +++ b/002858_v2/lang.txt @@ -0,0 +1 @@ +take the orange toy out of the drawer and put it on the bottom middle of the table diff --git a/002858_v2/object.ply b/002858_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..a55639cca1d30c4a9a01f960b3578dd545c0de66 Binary files /dev/null and b/002858_v2/object.ply differ diff --git a/002908/data.json b/002908/data.json new file mode 100644 index 0000000000000000000000000000000000000000..339aae5b8e0b3da3ef6b1e87f70951fb681719b8 --- /dev/null +++ b/002908/data.json @@ -0,0 +1,476 @@ +{ + "action_start": 8, + "action_end": 19, + "object_name": "pan", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.990965, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.274481, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + -4.336808689942018e-19, + 1.3877787807814457e-17, + -1.1950873801227098e-07, + -6.369001641917513e-08, + -1.1261502943393168e-08, + 1.0 + ], + [ + -0.0027392631485091967, + -0.003045364460502166, + 0.007544675090210326, + 0.027976128342596156, + 0.021361533651323022, + -0.14989197714846308, + 1.0 + ], + [ + -0.002452309212219783, + -0.005490645965538769, + -0.0008500055110809979, + 0.01103815368789921, + 0.016659853432554845, + -0.11619773430117382, + 1.0 + ], + [ + -0.0040543905998071395, + -0.008456556256575863, + -0.014778283500808065, + 0.03175526686861689, + -0.02998180355647094, + -0.06315442201510184, + 1.0 + ], + [ + -0.0054861881308529425, + -0.007307056093312525, + -0.013849168031116348, + 0.019251975591441404, + -0.017874241354409032, + -0.036525778635471996, + 1.0 + ], + [ + -0.0051608933099795695, + -0.0011496231357704181, + -0.012199010980014413, + -0.01685988644061077, + -0.012168103049031029, + -0.028311941642431174, + 1.0 + ], + [ + -0.0033014914839236964, + 0.0006773688904936903, + -0.007292077893474948, + -0.008358072256347283, + 0.003681120001691953, + 0.005864574978586798, + 1.0 + ], + [ + -0.004098015826359602, + 0.0011634389512048121, + -0.011143193542788778, + 0.002277177894163577, + -0.021153285143862683, + 0.0005404930131695788, + 1.0 + ], + [ + -0.0019696324762286943, + 0.00246195273535018, + -0.007479465956287557, + -0.017453512020123917, + -0.018199339594497554, + 0.00413777356729872, + 0.990965 + ], + [ + -0.00024327567629520153, + 0.0019053844381337372, + -0.0030714736840720108, + -0.015653000588438114, + -0.008454216197462077, + 0.006158482331875031, + 0.0 + ], + [ + 0.0014860423107764809, + -0.0004929066363639628, + 0.003057559180475155, + 0.002145384958556001, + 0.004888953844724025, + 7.883474564772177e-05, + 0.0 + ], + [ + 0.0023109645729491035, + 0.0052797996806237014, + 0.010814957999547396, + -0.019693575319839167, + 0.016045777407618093, + -0.019560881242356755, + 0.0 + ], + [ + 0.012424573797202576, + 0.009911269001935778, + 0.008659912721079558, + 0.07564872858646007, + -0.02226152441196694, + -0.06842991458885375, + 0.0 + ], + [ + 0.021277583478383627, + 0.021262694795785554, + -0.0043705625470068215, + 0.08135638317393652, + -0.014036364315515177, + -0.028970559008398705, + 0.0 + ], + [ + 0.015420671439293265, + 0.02540458394925256, + 0.0080495260720649, + 0.061254804757023336, + -0.00021812357685929725, + 0.0013519057459390868, + 0.0 + ], + [ + 0.013159903886906632, + 0.012899463196452557, + 0.0011649500465230785, + 0.062279442392976544, + -0.006854996668837465, + -0.021695619875363985, + 0.0 + ], + [ + 0.021175289122719432, + 0.015703600462128046, + -0.0067892653827807126, + 0.025618649331349014, + -0.022656446776893418, + -0.05429409130738706, + 0.0 + ], + [ + 0.017899042235702045, + 0.00965729973600886, + -0.0062593138908910405, + -0.010130254641867896, + -0.016963505519259688, + -0.05658098866949067, + 0.0 + ], + [ + 0.0034268185940565243, + -0.002372705104039162, + -0.020164482866930233, + -0.007229658490408349, + -0.03722967615367347, + -0.02144794884722344, + 0.0 + ], + [ + -0.010249829884097783, + -0.00635296120269703, + -0.018368240365714102, + -0.07755840771869577, + -0.03428121960655901, + -0.009527336947256828, + 0.274481 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 302.06976318359375, + 234.00799560546875 + ], + [ + 302.0099182128906, + 234.1936798095703 + ], + [ + 299.63531494140625, + 242.24264526367188 + ], + [ + 296.17578125, + 248.0609893798828 + ], + [ + 308.9755859375, + 250.77162170410156 + ], + [ + 314.9535827636719, + 275.1151123046875 + ], + [ + 316.62060546875, + 298.49310302734375 + ], + [ + 320.24005126953125, + 315.92645263671875 + ], + [ + 318.595458984375, + 326.6602478027344 + ], + [ + 314.2779235839844, + 345.79248046875 + ], + [ + 310.3816833496094, + 350.145751953125 + ], + [ + 306.72198486328125, + 352.4952392578125 + ], + [ + 299.18695068359375, + 349.6248779296875 + ], + [ + 292.5193786621094, + 329.93450927734375 + ], + [ + 290.58941650390625, + 301.9664306640625 + ], + [ + 285.5535888671875, + 274.7075500488281 + ], + [ + 275.11474609375, + 259.824951171875 + ], + [ + 272.60589599609375, + 227.72003173828125 + ], + [ + 268.7939758300781, + 212.97283935546875 + ], + [ + 278.460205078125, + 205.52816772460938 + ], + [ + 280.7878723144531, + 220.22720336914062 + ], + [ + 278.5540771484375, + 239.34817504882812 + ], + [ + 287.4199523925781, + 241.26422119140625 + ] + ], + "depth_max": 1.5889670848846436, + "depth_min": 0.21990862488746643, + "intrinsic": [ + [ + 531.0241088867188, + 0.0, + 259.0 + ], + [ + 0.0, + 532.2632446289062, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.7318670112872496e-05, + -8.358833292732015e-05, + -1.2449241694412194e-05 + ], + [ + -4.7325727791758254e-05, + 1.0, + -8.44712121761404e-05, + 1.8384598661214113e-05 + ], + [ + 8.358433115063235e-05, + 8.447517029708251e-05, + 1.0, + -5.301610508468002e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 22 + ], + "object_trajectory": [ + [ + 389.0, + 343.5000305175781 + ], + [ + 389.1272888183594, + 343.6224365234375 + ], + [ + 388.86334228515625, + 343.6902160644531 + ], + [ + 388.9546813964844, + 343.7414245605469 + ], + [ + 388.84735107421875, + 343.8548889160156 + ], + [ + 388.85858154296875, + 343.811279296875 + ], + [ + 388.89044189453125, + 343.73486328125 + ], + [ + 388.9192199707031, + 343.75732421875 + ], + [ + 389.0116271972656, + 343.56292724609375 + ], + [ + 389.34503173828125, + 343.37139892578125 + ], + [ + 389.3663024902344, + 343.21832275390625 + ], + [ + 382.63641357421875, + 344.7007751464844 + ], + [ + 373.3811340332031, + 348.88568115234375 + ], + [ + 366.52252197265625, + 354.6025085449219 + ], + [ + 361.7882080078125, + 329.5395812988281 + ], + [ + 341.4462890625, + 297.3021240234375 + ], + [ + 327.25933837890625, + 268.1004333496094 + ], + [ + 335.2287902832031, + 255.83004760742188 + ], + [ + 326.8822021484375, + 243.9340057373047 + ], + [ + 329.3719177246094, + 239.32827758789062 + ], + [ + 335.47113037109375, + 255.0384063720703 + ], + [ + 323.6963195800781, + 285.0235595703125 + ], + [ + 317.4810485839844, + 290.9183349609375 + ] + ] +} \ No newline at end of file diff --git a/002908/lang.txt b/002908/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..670c0bf736c9f3dabe427958c8a0939c94ace00d --- /dev/null +++ b/002908/lang.txt @@ -0,0 +1 @@ +put pan in sink diff --git a/002925/data.json b/002925/data.json new file mode 100644 index 0000000000000000000000000000000000000000..331f71cef3c14cb317ac0db8531bd5fb70e57307 --- /dev/null +++ b/002925/data.json @@ -0,0 +1,421 @@ +{ + "action_start": 7, + "action_end": 16, + "object_name": "pan", + "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, + 0.5352870000000001, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 4.6561282607271437e-10, + 4.7686785076273e-10, + -2.133584350860751e-10, + 8.30611570681904e-07, + -8.438443660632793e-07, + -5.66800248744848e-09, + 1.0 + ], + [ + 0.015126934322787056, + 0.0014987347629019376, + 0.025149576508599683, + -0.08290553071089754, + -0.008667204779688086, + -0.1559215785027262, + 1.0 + ], + [ + 0.006153378573394874, + -0.010777874220712386, + 0.01452687710538604, + -0.026379549505879372, + -0.01950339081827472, + -0.14710311626706848, + 1.0 + ], + [ + -0.00042466600828372503, + -0.015295259769301336, + -9.06709083491053e-06, + 0.0030220009117070293, + 0.030922821885630954, + -0.09860843108695544, + 1.0 + ], + [ + -0.0040983803108328165, + -0.00858104286613047, + -0.018346907031617107, + -0.006279133087448497, + -0.02636222191244826, + -0.06128659885127632, + 1.0 + ], + [ + -0.0005088446088433729, + -0.0019805108187129494, + -0.022552576170223423, + 0.023455913607498272, + -0.023367874018363335, + -0.08325963448546118, + 1.0 + ], + [ + 0.0021818488307606687, + 0.003354414071718881, + -0.01842909777573387, + -0.043359139435326995, + -0.03212373525538264, + -0.04771466982383503, + 1.0 + ], + [ + 0.003710262269618847, + 0.0018416939711279334, + -0.01374200027481657, + -0.024691931826886344, + -0.03375438417384922, + -0.03654608549845261, + 1.0 + ], + [ + 0.004675112215779653, + -0.0010980863597166296, + -0.009924104145539861, + -0.011246936413952018, + -0.012769272820013427, + 0.004239529660581905, + 0.0 + ], + [ + 0.0035359258063653587, + 0.000429779757707624, + -0.0009069216935865664, + -0.00919897950044138, + 0.0012024926920493405, + -0.010569047876266155, + 0.0 + ], + [ + 0.0007044613294693303, + 0.006782427844311517, + 0.007215969156139446, + 0.039196434223966806, + 0.00408110678472615, + -0.001554839504231708, + 0.0 + ], + [ + 0.00473351624107865, + 0.03578819066711583, + 0.016719332266223876, + 0.1331351744457359, + 0.013336293597955476, + -0.06050798535348686, + 0.0 + ], + [ + -0.0023960443390748654, + 0.0394136252610011, + 0.0015443288848734213, + 0.10171943704840129, + 0.0012697991467189528, + -0.0250207663339467, + 0.0 + ], + [ + 0.004955907091884093, + 0.037857387105866995, + -0.003975133836189386, + 0.08337655461436462, + -0.007068447077595275, + 0.036193306408741854, + 0.0 + ], + [ + 0.00487903045122684, + 0.021545280107670248, + -0.010809748728989092, + 0.041452660373335136, + -0.018443763135531612, + 0.050796934438259875, + 0.0 + ], + [ + 0.006001268557634332, + 0.020719329915206086, + -0.01968043988249913, + 0.007308308688402583, + -0.04991563222512761, + 0.006606638368899676, + 0.0 + ], + [ + 0.0005793148184012886, + 0.003672216736128761, + -0.014466289503084578, + 0.0035505996560758475, + -0.052649076581725046, + -0.019106231434587385, + 0.5352870000000001 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 471.4415588378906, + 213.9060516357422 + ], + [ + 471.2984924316406, + 214.23260498046875 + ], + [ + 468.6465148925781, + 229.58937072753906 + ], + [ + 474.8147277832031, + 192.89346313476562 + ], + [ + 505.68212890625, + 183.34783935546875 + ], + [ + 525.8229370117188, + 184.90115356445312 + ], + [ + 529.0020141601562, + 214.1842041015625 + ], + [ + 521.5000610351562, + 242.1780242919922 + ], + [ + 520.3041381835938, + 262.68463134765625 + ], + [ + 513.0531616210938, + 267.39532470703125 + ], + [ + 514.35986328125, + 276.13104248046875 + ], + [ + 513.931884765625, + 273.13995361328125 + ], + [ + 501.1901550292969, + 270.863525390625 + ], + [ + 454.4637756347656, + 238.7891387939453 + ], + [ + 420.2776794433594, + 218.41650390625 + ], + [ + 379.06573486328125, + 201.1092071533203 + ], + [ + 369.072509765625, + 191.80047607421875 + ], + [ + 343.16748046875, + 205.3385772705078 + ], + [ + 341.21710205078125, + 215.02076721191406 + ], + [ + 341.86285400390625, + 212.42091369628906 + ] + ], + "depth_max": 1.6019154787063599, + "depth_min": 0.3642095923423767, + "intrinsic": [ + [ + 544.14990234375, + 0.0, + 259.0 + ], + [ + 0.0, + 544.618896484375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.4888034608447924e-05, + -9.827898611547425e-05, + -1.7750411643646657e-05 + ], + [ + -4.4895339669892564e-05, + 1.0, + -7.4313698860351e-05, + 5.791614967165515e-06 + ], + [ + 9.827565372688696e-05, + 7.431810809066519e-05, + 1.0, + -6.772628694307059e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 19 + ], + "object_trajectory": [ + [ + 575.25, + 265.5 + ], + [ + 575.321533203125, + 265.574951171875 + ], + [ + 575.264892578125, + 265.74725341796875 + ], + [ + 575.2705078125, + 265.55792236328125 + ], + [ + 575.2498168945312, + 265.5345764160156 + ], + [ + 575.4320068359375, + 265.6241455078125 + ], + [ + 575.2958984375, + 265.6904296875 + ], + [ + 575.6265869140625, + 265.7436218261719 + ], + [ + 575.5719604492188, + 265.9214782714844 + ], + [ + 574.66162109375, + 265.7851257324219 + ], + [ + 574.7881469726562, + 265.5267028808594 + ], + [ + 570.8427734375, + 263.2953796386719 + ], + [ + 552.2581176757812, + 259.1835021972656 + ], + [ + 516.908203125, + 242.49688720703125 + ], + [ + 488.09808349609375, + 227.08151245117188 + ], + [ + 442.06829833984375, + 209.34657287597656 + ], + [ + 438.03057861328125, + 206.13572692871094 + ], + [ + 410.753173828125, + 215.45797729492188 + ], + [ + 387.12945556640625, + 219.15972900390625 + ], + [ + 370.3777160644531, + 233.64834594726562 + ] + ] +} \ No newline at end of file diff --git a/002925/lang.txt b/002925/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..670c0bf736c9f3dabe427958c8a0939c94ace00d --- /dev/null +++ b/002925/lang.txt @@ -0,0 +1 @@ +put pan in sink diff --git a/002936_v2/FAIL b/002936_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/002936_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/002939/FAIL b/002939/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/002939/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/002954/data.json b/002954/data.json new file mode 100644 index 0000000000000000000000000000000000000000..411a5a216f0bb4d8f8c5f24bd671d7eae9bcc6d1 --- /dev/null +++ b/002954/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 13, + "action_end": 22, + "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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.37753400000000004, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 7.313255556695708e-11, + 1.578798203283327e-10, + -7.139989988136364e-11, + -2.2772764466788722e-08, + 2.7113720214842387e-08, + 3.0557542281400515e-07, + 1.0 + ], + [ + 0.025831739294443157, + -0.03210217214719144, + 0.02263063915690741, + -0.016855861032708613, + 0.01181505434327984, + -0.061764358924465176, + 1.0 + ], + [ + 0.02315728844074527, + -0.03584689372511432, + 0.020221195470252994, + 0.03668130917289286, + 0.0007999325361887183, + -0.10906625125880304, + 1.0 + ], + [ + 0.018527538282053224, + -0.034544649477381506, + 0.014103420763933144, + 0.005238461961664254, + -0.03652278021337671, + -0.23209030168866332, + 1.0 + ], + [ + 0.02255226263421073, + -0.030841994596216945, + 0.0007782867995784482, + 0.05300114973338789, + -0.0914225168443938, + -0.12324410410899275, + 1.0 + ], + [ + 0.021938066124224442, + -0.023580636947196032, + -0.008903347362003558, + -0.03605068682508163, + -0.04394234958259771, + -0.010615555515603286, + 1.0 + ], + [ + 0.01603574505016825, + -0.013648591579703582, + -0.009690379530179039, + 0.016919079096415116, + -0.03581294961555901, + -0.05326745558162461, + 1.0 + ], + [ + 0.012028587843408545, + -0.0024550190491377764, + -0.005806088148406344, + -0.033148258787672545, + -0.0008991208811267166, + -0.007267742680203995, + 1.0 + ], + [ + 0.003634938458724757, + -0.0077371165056374855, + -0.006733258965157481, + -0.03776528865537886, + 0.003966252488137482, + -0.0032193096078196566, + 1.0 + ], + [ + -0.002378226060019306, + -0.0011909904781417444, + -0.007634964328880063, + -0.017122842755149463, + -0.019402196521038403, + -0.006303135539661888, + 1.0 + ], + [ + -0.0006678506936742545, + -0.00870530664903705, + -0.005589013898540808, + 0.0035070514342210608, + -0.015300974416659468, + 0.0063155562132979496, + 1.0 + ], + [ + -0.0005444432356279671, + 0.0017849651311986486, + -0.007846968456683603, + -0.0206753296745456, + -0.009043003464820074, + -0.005154033500032065, + 1.0 + ], + [ + -0.0006888974514004387, + -0.0017243418249625886, + -0.012180276036530623, + -0.0352159448541869, + -0.01736697463179114, + 0.009618455617315988, + 1.0 + ], + [ + -0.001276712822559145, + 0.00383115247403968, + -0.013960767568849217, + -0.009516060203172801, + -0.018449683347347524, + 0.006942180917612828, + 1.0 + ], + [ + 0.002785507494960038, + 0.0006676535315518171, + -0.003455995589984698, + -0.0400653731589311, + 0.0076973265767867, + 0.049450424021381084, + 0.0 + ], + [ + -0.0007773904592388581, + -0.005776489017916973, + 0.01659142536579785, + 0.03320009252495901, + 0.03763930760555189, + 0.014290676085307465, + 0.0 + ], + [ + -0.005912036632261086, + -0.006225270711772916, + 0.02803064121386933, + 0.029645014873209353, + 0.03977273747369212, + 0.04527619849062865, + 0.0 + ], + [ + -0.015141556356876251, + -0.009169869653983791, + 0.026837091345305084, + 0.03347135805885695, + 0.013337199631055074, + 0.09263766953908043, + 0.0 + ], + [ + -0.023435986414470533, + -0.015806602902444386, + 0.00363501089818305, + 0.028750869263611235, + 0.0181675051869255, + 0.08738683395356153, + 0.0 + ], + [ + -0.027958474579797277, + -0.015562642089482439, + -0.008407415745050162, + -0.019720223622666743, + 0.0008848750112881228, + 0.13765162859323482, + 0.0 + ], + [ + -0.021149825620074003, + 0.002667588678064464, + -0.0019617723230482276, + 0.013545553141980615, + 0.04967162727362442, + 0.0892228371475535, + 0.0 + ], + [ + -0.011373191353987622, + -0.004017998361135408, + -0.009681033620623745, + -0.015290284461102473, + 0.02437992311458703, + 0.03445671583683829, + 0.0 + ], + [ + -0.006036214163466669, + -0.0016168025774407763, + -0.0006802971059830243, + -0.03634496694294683, + 0.018117966150987125, + 0.011649103743350483, + 0.37753400000000004 + ], + [ + 0.0014488525761188198, + -0.0038179448763321355, + -0.0003855225251903696, + -0.0036500304164276036, + -0.01704410931869608, + 0.009521224998780737, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 138.93087768554688, + 167.93301391601562 + ], + [ + 138.9322509765625, + 167.77529907226562 + ], + [ + 140.97357177734375, + 177.02467346191406 + ], + [ + 193.05593872070312, + 157.15875244140625 + ], + [ + 250.3296356201172, + 144.6753387451172 + ], + [ + 296.4815368652344, + 136.38302612304688 + ], + [ + 349.1103820800781, + 134.59918212890625 + ], + [ + 382.92559814453125, + 131.601806640625 + ], + [ + 405.74114990234375, + 144.2478485107422 + ], + [ + 417.02685546875, + 145.66644287109375 + ], + [ + 420.98944091796875, + 150.9368438720703 + ], + [ + 423.29229736328125, + 155.60739135742188 + ], + [ + 428.9105224609375, + 160.19912719726562 + ], + [ + 430.9906311035156, + 173.87953186035156 + ], + [ + 427.23272705078125, + 188.45211791992188 + ], + [ + 423.17724609375, + 197.0968017578125 + ], + [ + 421.94097900390625, + 196.3631134033203 + ], + [ + 415.82196044921875, + 197.28640747070312 + ], + [ + 428.2040100097656, + 186.43209838867188 + ], + [ + 444.00921630859375, + 161.72158813476562 + ], + [ + 456.6097412109375, + 179.89263916015625 + ], + [ + 462.8912048339844, + 214.91998291015625 + ], + [ + 449.23516845703125, + 227.76821899414062 + ], + [ + 443.06494140625, + 249.52362060546875 + ], + [ + 447.62127685546875, + 254.05096435546875 + ], + [ + 450.9539794921875, + 252.27001953125 + ], + [ + 450.840087890625, + 253.11241149902344 + ], + [ + 450.8338928222656, + 253.16983032226562 + ] + ], + "depth_max": 1.6858172416687012, + "depth_min": 0.3854180574417114, + "intrinsic": [ + [ + 509.2298278808594, + 0.0, + 259.0 + ], + [ + 0.0, + 508.94000244140625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.388793553924188e-05, + -0.0001143836198025383, + -9.120300092035905e-06 + ], + [ + -6.388939073076472e-05, + 1.0, + -1.2717476238321979e-05, + 2.5654535420471802e-06 + ], + [ + 0.00011438280489528552, + 1.2724784937745426e-05, + 1.0, + 3.709849261213094e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 432.25, + 200.25 + ], + [ + 432.5330810546875, + 200.3020477294922 + ], + [ + 432.672607421875, + 200.1570587158203 + ], + [ + 432.6590576171875, + 200.1898651123047 + ], + [ + 432.6570129394531, + 200.07420349121094 + ], + [ + 432.6710510253906, + 200.35787963867188 + ], + [ + 433.3314208984375, + 200.2186279296875 + ], + [ + 433.25653076171875, + 200.87132263183594 + ], + [ + 433.12384033203125, + 201.3359375 + ], + [ + 433.23199462890625, + 201.36648559570312 + ], + [ + 433.2219543457031, + 201.5423126220703 + ], + [ + 432.9091491699219, + 201.3363494873047 + ], + [ + 432.3251953125, + 201.19129943847656 + ], + [ + 431.0502624511719, + 201.58152770996094 + ], + [ + 429.17535400390625, + 202.65182495117188 + ], + [ + 428.3064270019531, + 202.84349060058594 + ], + [ + 424.78570556640625, + 202.5613555908203 + ], + [ + 417.8062744140625, + 205.35733032226562 + ], + [ + 427.9782409667969, + 196.5730438232422 + ], + [ + 443.3498229980469, + 172.1941375732422 + ], + [ + 454.892578125, + 189.25283813476562 + ], + [ + 458.17010498046875, + 222.94009399414062 + ], + [ + 445.0811462402344, + 233.3399200439453 + ], + [ + 439.313232421875, + 255.79055786132812 + ], + [ + 442.4012145996094, + 263.1667175292969 + ], + [ + 423.0091552734375, + 318.26068115234375 + ], + [ + 415.3180847167969, + 331.90240478515625 + ], + [ + 428.85504150390625, + 335.11810302734375 + ] + ] +} \ No newline at end of file diff --git a/002954/lang.txt b/002954/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..6a398d6f4e36170da05a42d2eed1b0e122c68b1f --- /dev/null +++ b/002954/lang.txt @@ -0,0 +1 @@ +put pear in bowl diff --git a/002954/object.ply b/002954/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..295af85f3005cc8ebc2cd83e8b1f7b4aabd16d32 Binary files /dev/null and b/002954/object.ply differ diff --git a/002956/FAIL b/002956/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/002956/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/002958/FAIL b/002958/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/002958/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/002973/data.json b/002973/data.json new file mode 100644 index 0000000000000000000000000000000000000000..a1fc4c264955ccf5eeac98c63e450c35c24d8382 --- /dev/null +++ b/002973/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 12, + "action_end": 22, + "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, + 0.915018, + 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": [ + [ + 1.890820833239104e-11, + 5.377917278170941e-10, + -5.760322774328586e-12, + 2.4924325673464177e-08, + 5.6452144578051727e-08, + 7.974233456913874e-08, + 1.0 + ], + [ + -0.0003561318346434472, + 0.04088615892782009, + 0.006609519613654927, + 0.000531089508590983, + -0.030137910049244945, + 0.006203712582534295, + 1.0 + ], + [ + -0.0014552304056035248, + 0.040036508741059115, + 0.01190932063354884, + 0.06533564200715652, + -0.01783296859769074, + 0.020338044939429277, + 1.0 + ], + [ + 0.006153716842861701, + 0.05297481738770679, + 0.013483753319175687, + 0.09745103251122678, + -0.08192840970485042, + 0.12154567292718947, + 1.0 + ], + [ + 0.014544074665298279, + 0.06198823170949001, + 0.0006006287479114747, + 0.1528570205892326, + -0.114479638384457, + 0.07128057101037555, + 1.0 + ], + [ + 0.015865090685105665, + 0.048604531915202476, + -0.0007233711178896984, + 0.021936300219162857, + -0.08181456486901324, + 0.024692453923918535, + 1.0 + ], + [ + 0.020044509589748072, + 0.016262947942050604, + -0.0172332752871453, + -0.03124981383124512, + -0.08217958696854463, + 0.02037864723001573, + 1.0 + ], + [ + 0.017493586959087704, + 0.01246946275182284, + -0.008932829101389095, + -0.027350870708815648, + -0.029818947168611144, + -0.020572762020410664, + 1.0 + ], + [ + 0.009055871749175826, + 0.005484605088028893, + -0.011602451511346215, + -0.01360407526128983, + -0.014991152560415765, + -0.021126215420300343, + 1.0 + ], + [ + 0.005576742327223827, + 0.011182495173313156, + -0.007826556206287985, + -0.007552793745685277, + -0.006413244233331029, + -0.030002261909310223, + 1.0 + ], + [ + 0.0006072460173630057, + 0.010626641296266254, + -0.009278727170740714, + 0.0005359617546931263, + 0.005563260066903928, + -0.03683008951470164, + 1.0 + ], + [ + 0.002134508160146653, + 0.007181036818611125, + -0.008167742135412707, + -0.01670805026196862, + 0.009007110377665505, + -0.02128938702018502, + 1.0 + ], + [ + 0.0033241432676634486, + 0.00503587166684627, + -0.006797394355009048, + -0.010661645474514194, + -8.936192793353409e-05, + -0.0039004697753469916, + 0.915018 + ], + [ + 0.004057591265586025, + 0.0013925966396212408, + -0.0010747171677747622, + -0.020010398763410514, + 0.012003773318041203, + -0.0047683705361627315, + 0.0 + ], + [ + 0.001634154260855003, + -0.012065516003470306, + 0.006198992591310772, + -0.006913026607505101, + 0.015743409737386232, + 0.017060587917020958, + 0.0 + ], + [ + -0.011015551216502106, + -0.03904825710697993, + 0.03720202599073513, + -0.1500179007361555, + 0.16698042207320024, + -0.08291525602781091, + 0.0 + ], + [ + -0.015187835586373932, + -0.04996064525153435, + 0.023784854725250663, + -0.0296620714510741, + 0.019890202049481373, + -0.0984384736823686, + 0.0 + ], + [ + -0.018208999459562336, + -0.047471552375573045, + 0.019905906913206046, + -0.0412912181259817, + 0.016066222934244916, + 0.016597333194515236, + 0.0 + ], + [ + -0.009465280457156333, + -0.03927999902172107, + 0.00296319199246739, + 0.07144761981469715, + -0.10215179948180439, + -0.01609274209565453, + 0.0 + ], + [ + 0.001725924010233193, + -0.035870445185302476, + -0.003662219044225923, + 0.01584078079073801, + -0.06568726083163333, + -0.02602631896715136, + 0.0 + ], + [ + 0.010671537163982392, + -0.013726502053411763, + -0.002332122226925637, + 0.028538238749911547, + -0.05715153047758783, + -0.06147539171498196, + 0.0 + ], + [ + 0.01701451854612146, + 0.0006396763472092531, + -0.0029362549930974924, + 0.007849576478707763, + -0.03075320681969561, + -0.035248916749023335, + 0.0 + ], + [ + 0.014989180347353304, + 0.008719983657596575, + -0.010026931622131294, + -0.02788100475223762, + -0.008488243164012933, + -0.04262352030013306, + 0.0 + ], + [ + 0.01100252686130182, + 0.003393795649893866, + -0.014236196938890833, + 0.006789302262220084, + -0.014940674050772759, + -0.03480959354266454, + 1.0 + ], + [ + 0.005851955197239744, + 0.0027731783050323963, + -0.0010266417417299778, + 0.008703077125012565, + -0.003814826580906634, + -0.007433694149745854, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 502.9477233886719, + 160.18800354003906 + ], + [ + 502.9421081542969, + 160.3268280029297 + ], + [ + 492.19573974609375, + 180.53591918945312 + ], + [ + 427.560546875, + 167.36453247070312 + ], + [ + 385.068359375, + 123.31294250488281 + ], + [ + 329.2097473144531, + 94.9721450805664 + ], + [ + 285.6813659667969, + 69.21016693115234 + ], + [ + 236.69070434570312, + 44.83808135986328 + ], + [ + 245.01351928710938, + 69.64569091796875 + ], + [ + 242.76104736328125, + 59.14910125732422 + ], + [ + 243.13076782226562, + 75.46257781982422 + ], + [ + 242.54067993164062, + 76.4923095703125 + ], + [ + 230.16656494140625, + 80.8882827758789 + ], + [ + 231.8129425048828, + 84.53778076171875 + ], + [ + 232.67709350585938, + 83.78556060791016 + ], + [ + 231.03076171875, + 80.09510803222656 + ], + [ + 234.71481323242188, + 83.95542907714844 + ], + [ + 264.89874267578125, + 70.649658203125 + ], + [ + 305.6953125, + 54.262611389160156 + ], + [ + 347.6658935546875, + 50.56978225708008 + ], + [ + 388.733154296875, + 70.19477844238281 + ], + [ + 431.74951171875, + 88.05316162109375 + ], + [ + 450.4254455566406, + 77.51348114013672 + ], + [ + 456.94708251953125, + 84.99952697753906 + ], + [ + 445.282958984375, + 86.95413208007812 + ], + [ + 441.1773681640625, + 97.48681640625 + ], + [ + 444.0140075683594, + 89.62760162353516 + ], + [ + 443.6578369140625, + 90.12260437011719 + ] + ], + "depth_max": 1.6832797527313232, + "depth_min": 0.5815848112106323, + "intrinsic": [ + [ + 520.7920532226562, + 0.0, + 259.0 + ], + [ + 0.0, + 521.4367065429688, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -2.9846476081729634e-06, + -0.0001013017536024563, + -3.345242475916166e-06 + ], + [ + 2.9806608381477417e-06, + 1.0, + -3.935524364351295e-05, + -5.090454578748904e-06 + ], + [ + 0.00010130187001777813, + 3.9354938053293154e-05, + 1.0, + 1.718128078209702e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 233.25, + 90.0 + ], + [ + 233.70318603515625, + 90.25852966308594 + ], + [ + 233.99029541015625, + 90.20962524414062 + ], + [ + 233.76724243164062, + 90.28313446044922 + ], + [ + 233.5851287841797, + 90.291015625 + ], + [ + 233.3459930419922, + 90.30265808105469 + ], + [ + 233.2666778564453, + 90.27374267578125 + ], + [ + 233.4283447265625, + 90.32806396484375 + ], + [ + 233.3809051513672, + 90.3248519897461 + ], + [ + 232.7364501953125, + 90.674560546875 + ], + [ + 232.63296508789062, + 90.56095886230469 + ], + [ + 232.93882751464844, + 90.92630767822266 + ], + [ + 232.4735870361328, + 91.38694763183594 + ], + [ + 231.58053588867188, + 92.33594512939453 + ], + [ + 230.8458251953125, + 91.94606018066406 + ], + [ + 230.39291381835938, + 90.52320861816406 + ], + [ + 233.441162109375, + 93.98934936523438 + ], + [ + 264.9678955078125, + 83.63505554199219 + ], + [ + 305.31817626953125, + 67.40501403808594 + ], + [ + 346.5978698730469, + 63.726654052734375 + ], + [ + 387.20294189453125, + 81.72562408447266 + ], + [ + 431.0802307128906, + 98.43016052246094 + ], + [ + 448.9927673339844, + 91.97508239746094 + ], + [ + 454.45086669921875, + 95.28009033203125 + ], + [ + 441.49932861328125, + 100.70486450195312 + ], + [ + 446.9652099609375, + 121.63973236083984 + ], + [ + 447.89483642578125, + 140.04470825195312 + ], + [ + 444.1779479980469, + 143.71136474609375 + ] + ] +} \ No newline at end of file diff --git a/002973/lang.txt b/002973/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..6a398d6f4e36170da05a42d2eed1b0e122c68b1f --- /dev/null +++ b/002973/lang.txt @@ -0,0 +1 @@ +put pear in bowl diff --git a/002973/object.ply b/002973/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..6761545972a31677aa7f8df2104f686ad6649f03 Binary files /dev/null and b/002973/object.ply differ diff --git a/002973_v2/FAIL b/002973_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/002973_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/002975/FAIL b/002975/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/002975/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/002990/data.json b/002990/data.json new file mode 100644 index 0000000000000000000000000000000000000000..ed5af1f1bdf2b731256abd2a23e22021d7a321b9 --- /dev/null +++ b/002990/data.json @@ -0,0 +1,531 @@ +{ + "action_start": 12, + "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, + 0.15311399999999997, + 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": [ + [ + 6.20842821597023e-11, + -1.0663545046973866e-10, + 1.3077539051664644e-11, + 6.079088228132313e-07, + 2.0426315716518402e-07, + 2.781888779110954e-07, + 1.0 + ], + [ + 0.007297562636157273, + -0.03669191618645895, + 0.004488129895269727, + 0.03042749663135515, + -0.013435486401869043, + 0.06643478833214231, + 1.0 + ], + [ + 0.0033640128635677446, + -0.03880503278909442, + 0.000701357146034226, + -0.0018286681305194428, + -0.015996063967038555, + 0.05581853417637344, + 1.0 + ], + [ + 0.00027584463115626345, + -0.03833026879834067, + -0.005152877493894023, + -0.023014106972357874, + -0.020693220806219676, + 0.11270581536942172, + 1.0 + ], + [ + -0.004532058171201336, + -0.03522292481526702, + -0.009496531928580756, + -0.04555065650006804, + -0.012402807556515735, + 0.060409458937059075, + 1.0 + ], + [ + -0.0038772527930426848, + -0.019764154838319795, + -0.004524529917254563, + -0.03815612786357771, + -0.003789926545253387, + 0.06963850959814187, + 1.0 + ], + [ + -0.007357989057220571, + -0.011955743158701487, + -0.0009826352574085345, + -0.011498286784162662, + 0.022448689891278663, + 0.1586521366228175, + 1.0 + ], + [ + -0.009544107131672086, + -0.0007588072836166027, + -0.0004369372489153728, + -0.03283409148027846, + -0.009404729992371512, + 0.09225876838366938, + 1.0 + ], + [ + -0.007099503811593744, + -0.0033132129289596343, + -0.010226754503341831, + -0.06121604895299062, + -0.009396929126421304, + 0.04114103706039732, + 1.0 + ], + [ + -0.003350774540843704, + 0.0007370003199041013, + -0.013508731946421104, + -0.004029507962006883, + -0.021598166998529126, + 0.05373021679459144, + 1.0 + ], + [ + -0.0029327508019501014, + 0.006915140681146289, + -0.008940549161561076, + -0.00582765683438853, + -0.033637526309276446, + 0.018478379482610684, + 1.0 + ], + [ + -0.005204427558644753, + 0.006368158004311453, + -0.006508959622717268, + -0.02364588393518403, + -0.02309113618214867, + -0.0019255060760847266, + 1.0 + ], + [ + -0.000128116668450029, + 0.0027841065830125356, + -0.007156755734763182, + -0.04502049880463165, + -0.02105341566437401, + 0.002121241220930422, + 0.15311399999999997 + ], + [ + 0.0020321260220050874, + 0.002274776146675074, + -0.00656441014600339, + -0.0202586202748551, + -0.016147829240905603, + -0.005441580152450663, + 0.0 + ], + [ + 0.00182417009816227, + 0.0007116887412916863, + -0.0006110729409064888, + 0.0031600877044900624, + -0.006408949858874012, + 0.0014919423702055355, + 0.0 + ], + [ + -0.0048856940160934, + 0.006907184477392331, + 0.046945306464398755, + 0.07547895827172371, + 0.06758138887924683, + 0.005652792203879586, + 0.0 + ], + [ + -0.008981950394846172, + 0.034954421690034966, + 0.04489120673136491, + 0.09086964419241664, + 0.0775395345855979, + -0.03056275645753053, + 0.0 + ], + [ + -0.004702584882306238, + 0.03874797581797111, + 0.014312241996582209, + 0.031862248961771034, + 0.014899291678611783, + -0.05905063724982364, + 0.0 + ], + [ + -0.007829130385041683, + 0.04676850180008805, + -0.007540357318675112, + 0.0521353560897046, + -0.02896088409432673, + -0.10170994468034832, + 0.0 + ], + [ + -0.004370442420378373, + 0.03085638729512253, + -0.012798196756574273, + 0.02106257527536437, + -0.020474587800566314, + -0.09073850080991662, + 0.0 + ], + [ + 0.000999942345869087, + 0.01909474219743483, + -0.01573278877254669, + 0.0031218653476126385, + -0.05184643795332748, + -0.06982885366631089, + 0.0 + ], + [ + 0.007400222867460615, + 0.009552012811947619, + -0.00824368722322813, + -0.006523570824565554, + -0.045997654120846006, + -0.05136811335234812, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 208.96047973632812, + 47.70332717895508 + ], + [ + 208.92694091796875, + 47.39985656738281 + ], + [ + 209.5899200439453, + 68.37332153320312 + ], + [ + 261.50433349609375, + 75.12407684326172 + ], + [ + 304.3799133300781, + 90.02354431152344 + ], + [ + 344.8345947265625, + 99.42558288574219 + ], + [ + 388.62835693359375, + 122.81733703613281 + ], + [ + 399.4320068359375, + 130.1568145751953 + ], + [ + 411.07135009765625, + 152.5849609375 + ], + [ + 409.5206298828125, + 167.70578002929688 + ], + [ + 403.8703308105469, + 188.59783935546875 + ], + [ + 396.85638427734375, + 203.7200469970703 + ], + [ + 384.25262451171875, + 212.17108154296875 + ], + [ + 373.58819580078125, + 216.4630126953125 + ], + [ + 371.4281311035156, + 221.51124572753906 + ], + [ + 374.5946044921875, + 221.36065673828125 + ], + [ + 371.4276123046875, + 220.90966796875 + ], + [ + 354.61981201171875, + 167.92996215820312 + ], + [ + 322.841796875, + 104.07447814941406 + ], + [ + 265.70928955078125, + 83.34302520751953 + ], + [ + 211.58853149414062, + 70.53726959228516 + ], + [ + 178.7327423095703, + 76.73198699951172 + ], + [ + 164.5289306640625, + 83.9118423461914 + ], + [ + 161.99691772460938, + 88.41548919677734 + ], + [ + 162.1587677001953, + 87.80561828613281 + ], + [ + 162.45608520507812, + 87.34310913085938 + ] + ], + "depth_max": 1.6944843530654907, + "depth_min": 0.5596962571144104, + "intrinsic": [ + [ + 513.9208984375, + 0.0, + 259.0 + ], + [ + 0.0, + 514.4495849609375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.6423598935944028e-05, + -0.00010121729428647086, + -1.4365399692906067e-05 + ], + [ + -1.642426104808692e-05, + 1.0, + -6.544839834532468e-06, + -1.0266643585055135e-05 + ], + [ + 0.00010121719242306426, + 6.546501936099958e-06, + 1.0, + 4.605929279932752e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 25 + ], + "object_trajectory": [ + [ + 372.5, + 222.25001525878906 + ], + [ + 372.81475830078125, + 222.45909118652344 + ], + [ + 372.5997619628906, + 222.6169891357422 + ], + [ + 372.6989440917969, + 222.14712524414062 + ], + [ + 372.7276916503906, + 222.95506286621094 + ], + [ + 372.8840026855469, + 222.35934448242188 + ], + [ + 372.53582763671875, + 222.34066772460938 + ], + [ + 372.58001708984375, + 222.44239807128906 + ], + [ + 372.37042236328125, + 222.68748474121094 + ], + [ + 372.39019775390625, + 223.07180786132812 + ], + [ + 372.451904296875, + 223.59005737304688 + ], + [ + 373.0399475097656, + 224.1169891357422 + ], + [ + 373.61505126953125, + 223.91162109375 + ], + [ + 371.4881286621094, + 228.0615234375 + ], + [ + 368.27496337890625, + 229.74305725097656 + ], + [ + 371.0608215332031, + 229.9213409423828 + ], + [ + 368.3679504394531, + 230.40121459960938 + ], + [ + 351.5144348144531, + 182.31149291992188 + ], + [ + 320.58367919921875, + 122.2070083618164 + ], + [ + 265.5574035644531, + 101.96630859375 + ], + [ + 210.33392333984375, + 88.433837890625 + ], + [ + 179.0946502685547, + 91.55677795410156 + ], + [ + 165.7503662109375, + 97.2444076538086 + ], + [ + 169.69183349609375, + 130.4176025390625 + ], + [ + 163.48934936523438, + 145.8012237548828 + ], + [ + 162.91665649414062, + 145.7154998779297 + ] + ] +} \ No newline at end of file diff --git a/002990/lang.txt b/002990/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..6a398d6f4e36170da05a42d2eed1b0e122c68b1f --- /dev/null +++ b/002990/lang.txt @@ -0,0 +1 @@ +put pear in bowl diff --git a/002990/object.ply b/002990/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..123e4d5dc35771b1346a9447046c4283b7bc930a Binary files /dev/null and b/002990/object.ply differ diff --git a/003033/data.json b/003033/data.json new file mode 100644 index 0000000000000000000000000000000000000000..698d575a5b321a60bf69711d1d948be694d702e2 --- /dev/null +++ b/003033/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 11, + "action_end": 22, + "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, + 0.6251530000000001, + 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, + 0.0, + -2.615032429042412e-07, + -2.5176177465168084e-07, + -2.57126667590661e-07, + 1.0 + ], + [ + -0.011948144050310583, + -0.040229595126094725, + 0.021615579698058454, + 0.04289782789278793, + 0.00032117167832374486, + 0.15238371735379375, + 1.0 + ], + [ + -0.018623330550958384, + -0.04724309232110213, + 0.010915541415126774, + -0.013035146557077522, + 0.016071364580919532, + 0.16024558989964643, + 1.0 + ], + [ + -0.021508052560774038, + -0.04360328229111987, + -0.009790177632647196, + 0.0052916449726908, + -0.00989556610040125, + 0.1683825138028493, + 1.0 + ], + [ + -0.01887067145287219, + -0.018963941432843898, + -0.016518415252619642, + -0.004953997832217483, + -0.0012327729097372662, + 0.11590692381961087, + 1.0 + ], + [ + -0.01124679106062243, + -0.017228256069949516, + -0.01528129512777919, + -0.007676182233202394, + 0.0010823998518738858, + 0.11664285747817217, + 1.0 + ], + [ + -0.013570673943477551, + -0.005398291203898099, + -0.015821048485924874, + 0.003025299665527699, + 0.004666811184007635, + 0.09639786730788291, + 1.0 + ], + [ + -0.006531154503153391, + 0.004265161459712327, + -0.014127216824747102, + -0.0037183777225162596, + -0.032053345936796346, + 0.12388343299089438, + 1.0 + ], + [ + 0.001788425626963741, + 0.007738548159142614, + -0.011351064317632144, + -0.02189344534995587, + -0.06352367199758999, + 0.18544751045877678, + 1.0 + ], + [ + 0.00453263671224402, + 0.012934323025554216, + -0.009750636010966651, + -0.028067444876214247, + -0.06118827047990318, + 0.15688651544698015, + 1.0 + ], + [ + -4.968341002287158e-05, + 0.006626585659667852, + -0.012249758813517926, + -0.023218369319823975, + -0.03536360072908588, + 0.001025571313555071, + 1.0 + ], + [ + 0.0030271208745003553, + 0.0005698002533504783, + -0.017388464130153842, + -0.013609329539852265, + -0.008530641232948544, + -0.04379871391072389, + 0.6251530000000001 + ], + [ + 0.00290629751497129, + -0.0030560862989537224, + 0.0033493257831529143, + -0.016608597265824566, + 0.04071005871367879, + -0.02685929097245408, + 0.0 + ], + [ + 0.0017954154787690468, + 0.004349347869947909, + 0.021344482279663724, + 0.03677025563746996, + 0.047960125766196036, + -0.02208886344019131, + 0.0 + ], + [ + 0.010905087155136328, + 0.005411048749975181, + 0.030827922820206063, + -0.000494983153889705, + 0.03729579145397567, + -0.03384840459505875, + 0.0 + ], + [ + 0.018079343557646343, + -0.005911197281952701, + 0.026921441191998772, + 0.0964653210598239, + -0.10652106287284152, + -0.2271404346066071, + 0.0 + ], + [ + 0.027067637252317034, + -0.0032892390666041035, + 0.017410400075619434, + 0.05703168818241531, + -0.0903143331883091, + -0.21267398948756028, + 0.0 + ], + [ + 0.02968369127670467, + 0.0002883793815625993, + 0.001232854897592825, + 0.08104510503175154, + -0.09029886235499683, + -0.12039996344017202, + 0.0 + ], + [ + 0.031403590276944726, + -0.0014957859561637067, + 0.0037349320063422287, + 0.043647306835262634, + -0.06873236249745465, + -0.13024292577225532, + 0.0 + ], + [ + 0.022234252857352643, + -0.00793862412718435, + -0.0010115843107632166, + 0.035253916254696815, + -0.052744070032649665, + -0.08021312723105213, + 0.0 + ], + [ + 0.017052419729050694, + -0.011954658429299839, + 0.0007431888214685239, + 0.05201786858377681, + -0.048618148443350925, + -0.04955275095467317, + 0.0 + ], + [ + 0.012543681286846853, + -0.007996481247142063, + 0.0013512084288168635, + 0.01065472562128615, + -0.04159322056381178, + -0.045415163052402306, + 0.0 + ], + [ + 0.022102468897964522, + -0.005580465322870135, + -0.002981035052316283, + 0.026667875594920034, + -0.08696782652364067, + -0.02488772282462981, + 0.0 + ], + [ + 0.021823117465511965, + -0.0001494406137966843, + 0.0041704929731878615, + -0.005493295147956317, + -0.07089766643221716, + -0.01722840437849171, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 169.73052978515625, + 61.68106460571289 + ], + [ + 169.73033142089844, + 61.74964904785156 + ], + [ + 172.24700927734375, + 84.79127502441406 + ], + [ + 203.49713134765625, + 92.73214721679688 + ], + [ + 247.7960205078125, + 101.39553833007812 + ], + [ + 289.59185791015625, + 143.51437377929688 + ], + [ + 284.6149597167969, + 180.20408630371094 + ], + [ + 303.2721252441406, + 215.66510009765625 + ], + [ + 293.50311279296875, + 237.36764526367188 + ], + [ + 286.63916015625, + 258.656494140625 + ], + [ + 275.93853759765625, + 258.8648681640625 + ], + [ + 262.45245361328125, + 254.0592041015625 + ], + [ + 265.55712890625, + 259.5099182128906 + ], + [ + 258.033203125, + 247.83128356933594 + ], + [ + 258.2073059082031, + 249.19151306152344 + ], + [ + 260.79290771484375, + 245.9619140625 + ], + [ + 263.0514831542969, + 211.76495361328125 + ], + [ + 299.447021484375, + 171.77786254882812 + ], + [ + 307.5479736328125, + 149.14553833007812 + ], + [ + 334.36383056640625, + 121.37590789794922 + ], + [ + 354.5724792480469, + 108.74156188964844 + ], + [ + 382.2154846191406, + 102.37260437011719 + ], + [ + 406.701416015625, + 100.47016906738281 + ], + [ + 415.694580078125, + 95.98028564453125 + ], + [ + 428.94091796875, + 94.80866241455078 + ], + [ + 441.303466796875, + 85.99382019042969 + ], + [ + 441.8170166015625, + 76.09659576416016 + ], + [ + 441.43084716796875, + 84.26264953613281 + ] + ], + "depth_max": 1.5304495096206665, + "depth_min": 0.4560149610042572, + "intrinsic": [ + [ + 520.90869140625, + 0.0, + 259.0 + ], + [ + 0.0, + 521.1475219726562, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.0188959751976654e-05, + -0.00010260515409754589, + -2.7820195100503042e-05 + ], + [ + -2.018693703575991e-05, + 1.0, + 1.9711073036887683e-05, + -1.8811731933965348e-05 + ], + [ + 0.00010260554699925706, + -1.9709003026946448e-05, + 1.0, + 2.1736996131949127e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 275.5, + 290.2500305175781 + ], + [ + 275.59033203125, + 290.25494384765625 + ], + [ + 275.59442138671875, + 290.1617431640625 + ], + [ + 275.7634582519531, + 290.01910400390625 + ], + [ + 275.566650390625, + 290.438720703125 + ], + [ + 275.44989013671875, + 290.4440612792969 + ], + [ + 275.5284729003906, + 290.4952087402344 + ], + [ + 275.74090576171875, + 290.7475891113281 + ], + [ + 269.1536560058594, + 294.3838195800781 + ], + [ + 269.2507629394531, + 294.68865966796875 + ], + [ + 276.10418701171875, + 291.9908142089844 + ], + [ + 275.54498291015625, + 291.1407775878906 + ], + [ + 273.646728515625, + 291.0191955566406 + ], + [ + 270.7005615234375, + 270.3921203613281 + ], + [ + 270.75714111328125, + 267.3052978515625 + ], + [ + 272.52105712890625, + 264.06182861328125 + ], + [ + 273.4428405761719, + 230.79623413085938 + ], + [ + 303.19970703125, + 196.46994018554688 + ], + [ + 307.9156494140625, + 172.66650390625 + ], + [ + 332.18084716796875, + 145.729248046875 + ], + [ + 350.76214599609375, + 133.4512939453125 + ], + [ + 375.181396484375, + 124.68319702148438 + ], + [ + 401.4185791015625, + 120.75086975097656 + ], + [ + 410.1109924316406, + 115.10009002685547 + ], + [ + 422.85205078125, + 112.03900146484375 + ], + [ + 435.5341491699219, + 123.28500366210938 + ], + [ + 450.3663024902344, + 121.58943176269531 + ], + [ + 453.8589782714844, + 121.64435577392578 + ] + ] +} \ No newline at end of file diff --git a/003033/lang.txt b/003033/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..b41538a9ae876935340de7733b6591cede6def29 --- /dev/null +++ b/003033/lang.txt @@ -0,0 +1 @@ +put pepper in pan diff --git a/003033/object.ply b/003033/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..58abece41130d8f8e6677b3938b7bf938e25ae4b Binary files /dev/null and b/003033/object.ply differ diff --git a/003048/FAIL b/003048/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f1fa61eaac4c0a91180b93b56955ff62e306ff97 --- /dev/null +++ b/003048/FAIL @@ -0,0 +1 @@ +Detect gripper centers fail diff --git a/003068/data.json b/003068/data.json new file mode 100644 index 0000000000000000000000000000000000000000..9591be18b5e463fbbc3b9f34cc1e44d02cdfa542 --- /dev/null +++ b/003068/data.json @@ -0,0 +1,403 @@ +{ + "action_start": 5, + "action_end": 14, + "object_name": "pepper", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 0.994628, + 0.646398, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.21929200000000004, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 3.9285280584167026e-10, + 3.5614469706679586e-11, + -2.3913446917100956e-10, + -2.554228042801212e-08, + 7.943365851846988e-07, + -3.525403598060749e-07, + 1.0 + ], + [ + -0.001347310908071775, + -0.002765168716412275, + -0.008547550242677573, + -0.013899276587130666, + -0.022809418003131736, + 0.030502090557070295, + 1.0 + ], + [ + -0.0034343128106527065, + -0.000393827817401278, + -0.006631901150350256, + -0.010696156066659435, + -0.015681194851021808, + 0.024413042118153566, + 1.0 + ], + [ + -0.004701100663566382, + -0.0003873602805365903, + -0.01021619981722962, + -0.00983933495981269, + -0.02442047432899716, + 0.028446781184902493, + 1.0 + ], + [ + -0.002825783654024694, + -0.0012615656298612943, + -0.005276736619613205, + 0.0010659005494845727, + -0.01726590706366511, + 0.020859706995257542, + 0.994628 + ], + [ + -0.0014201842090136862, + 0.0007452377118394374, + -0.007347521284612255, + -0.023046498069611523, + -0.014921789179036533, + 0.03706867796655123, + 0.646398 + ], + [ + 0.0019748490100406357, + -0.0017890985122645808, + 0.0010849116831874155, + 0.006354607154173154, + 0.0016157023212450528, + 0.019746277018561444, + 0.0 + ], + [ + 0.0025781648249697253, + -0.005666032812165191, + 0.017387223899027276, + -0.00918849015827706, + 0.02737977147913107, + 0.00897697466567669, + 0.0 + ], + [ + -0.00145802560114619, + -0.0014368658198975065, + 0.024091340363063186, + 0.06881190965070517, + -0.003376951249302701, + 0.0073901045887369825, + 0.0 + ], + [ + 0.005901727219832953, + 0.010268928641942981, + 0.04442678213962813, + 0.06986817580918969, + 0.030869797752459693, + -0.020332276801622542, + 0.0 + ], + [ + 0.020802472316571313, + 0.015176030037972382, + 0.016923767695412102, + 0.052215283112725094, + -0.02986338959149682, + -0.07166510957852268, + 0.0 + ], + [ + 0.02701384210436847, + 0.017838706714690067, + -0.004031477034711503, + 0.030428741922927757, + -0.058665767283787695, + -0.08419237491288349, + 0.0 + ], + [ + 0.01963286317080759, + 0.014327869073769532, + -0.009750621379513574, + -0.006652976953062026, + -0.02265124333804184, + -0.056830832559858005, + 0.0 + ], + [ + 0.008956633289183946, + 0.012563593145351673, + -0.013401498121320105, + -0.018026710502918222, + -0.025466210914723, + -0.05343237673352908, + 0.0 + ], + [ + 0.000452167090777722, + 0.004663165805134959, + -0.010328969875113905, + -0.015713226121957708, + -0.021644930252987915, + -0.012084905723031385, + 0.21929200000000004 + ], + [ + 0.00019327016053466428, + 0.000265635803003528, + -0.0051068628321082055, + -0.045432729318949906, + -0.028810009548329237, + -0.006567883045008775, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 392.33941650390625, + 276.2554931640625 + ], + [ + 392.1859436035156, + 276.21759033203125 + ], + [ + 387.5721435546875, + 286.4034423828125 + ], + [ + 385.2813720703125, + 297.1137390136719 + ], + [ + 383.31011962890625, + 304.02899169921875 + ], + [ + 379.6354064941406, + 323.1708984375 + ], + [ + 381.4883117675781, + 329.28155517578125 + ], + [ + 380.3837890625, + 339.2425231933594 + ], + [ + 378.795166015625, + 337.42864990234375 + ], + [ + 386.4352722167969, + 327.16473388671875 + ], + [ + 396.589111328125, + 301.9759826660156 + ], + [ + 406.86297607421875, + 244.42630004882812 + ], + [ + 398.7745361328125, + 195.79681396484375 + ], + [ + 391.32269287109375, + 177.88613891601562 + ], + [ + 383.5993347167969, + 166.00189208984375 + ], + [ + 376.9573974609375, + 167.51925659179688 + ], + [ + 373.812255859375, + 175.92892456054688 + ], + [ + 370.263671875, + 183.2808837890625 + ], + [ + 370.8082580566406, + 182.30923461914062 + ] + ], + "depth_max": 1.4858183860778809, + "depth_min": 0.3315623700618744, + "intrinsic": [ + [ + 543.9522705078125, + 0.0, + 259.0 + ], + [ + 0.0, + 544.6320190429688, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -4.606941729434766e-06, + -0.00011277147132204846, + -8.486156730214134e-06 + ], + [ + 4.601781711244257e-06, + 1.0, + -4.5755070459563285e-05, + -1.1252265721850563e-05 + ], + [ + 0.00011277167504886165, + 4.575455386657268e-05, + 1.0, + 2.139120624633506e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18 + ], + "object_trajectory": [ + [ + 393.25, + 351.25 + ], + [ + 393.44818115234375, + 351.38006591796875 + ], + [ + 393.32293701171875, + 351.3797607421875 + ], + [ + 392.78662109375, + 351.15045166015625 + ], + [ + 392.7257385253906, + 351.525390625 + ], + [ + 392.7021789550781, + 351.8785705566406 + ], + [ + 392.5640563964844, + 354.41571044921875 + ], + [ + 388.24774169921875, + 363.87493896484375 + ], + [ + 391.1409606933594, + 360.28948974609375 + ], + [ + 396.8702697753906, + 358.67242431640625 + ], + [ + 408.04779052734375, + 340.2413330078125 + ], + [ + 411.2528076171875, + 281.26812744140625 + ], + [ + 406.92242431640625, + 233.98121643066406 + ], + [ + 395.97344970703125, + 209.7671661376953 + ], + [ + 388.27520751953125, + 197.38037109375 + ], + [ + 381.64971923828125, + 191.65328979492188 + ], + [ + 378.23040771484375, + 202.49282836914062 + ], + [ + 372.4429016113281, + 214.39759826660156 + ], + [ + 371.037109375, + 213.011962890625 + ] + ] +} \ No newline at end of file diff --git a/003068/lang.txt b/003068/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..a563677ccf03c7248659514c35a38423471b4c1d --- /dev/null +++ b/003068/lang.txt @@ -0,0 +1 @@ +put pepper in pot or pan diff --git a/003068/object.ply b/003068/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..aa0869e7181ea71fc492744a85f67f867fb6efb5 Binary files /dev/null and b/003068/object.ply differ diff --git a/003069_v2/FAIL b/003069_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/003069_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/003070_v2/FAIL b/003070_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/003070_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/003113_v2/FAIL b/003113_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f1fa61eaac4c0a91180b93b56955ff62e306ff97 --- /dev/null +++ b/003113_v2/FAIL @@ -0,0 +1 @@ +Detect gripper centers fail diff --git a/003126/FAIL b/003126/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/003126/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/003127/data.json b/003127/data.json new file mode 100644 index 0000000000000000000000000000000000000000..f3a4c4bcd253a86079772595dbb6b545deead1e5 --- /dev/null +++ b/003127/data.json @@ -0,0 +1,403 @@ +{ + "action_start": 4, + "action_end": 13, + "object_name": "pepper", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 0.900122, + 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": [ + [ + -3.854860874952237e-12, + 8.939878004543544e-11, + -3.004298129716254e-10, + -2.3815743519127102e-07, + 9.782783456920279e-08, + -1.8204906437274054e-07, + 1.0 + ], + [ + 0.0003169721786526192, + 0.00839088088130803, + -0.014752302016995698, + -0.03396306069814406, + -0.0193667402811266, + 0.004656997119870885, + 1.0 + ], + [ + 0.002316848436064445, + 0.00719627300683591, + -0.011494689423112277, + -0.02200710642498177, + -0.010961107231033175, + 0.0015836354674115382, + 1.0 + ], + [ + 0.0030836175603533578, + 0.006986477154734855, + -0.010134917869703178, + -0.02353479896218644, + -0.005235371143884745, + 0.007737739334244453, + 1.0 + ], + [ + 0.0037610416157712323, + 0.0035063253949047246, + -0.00794120106633823, + 0.003413884070904052, + -0.020176401802729393, + 0.004427778346402058, + 0.900122 + ], + [ + 0.005731578000172488, + -0.0007368716775831285, + 0.003243455502916318, + -0.028762581548556328, + -0.004541099487027399, + -0.015989288249487216, + 0.0 + ], + [ + 0.0038320435008511455, + -0.012398956214947382, + 0.02273596360821467, + 0.044764135848459626, + 0.005142657160867943, + 0.00024152846984454028, + 0.0 + ], + [ + -0.0006477617404208602, + -0.0018504680044642563, + 0.023501628141779186, + 0.06780281346557296, + -0.010859486879441332, + -4.577944178904717e-06, + 0.0 + ], + [ + 0.0028915948279106263, + -0.0066122284657667285, + 0.032331678229905084, + 0.08056290827252488, + -0.008480410129290508, + 0.01333790100081324, + 0.0 + ], + [ + 0.0022766538224530675, + -0.01390355297498308, + 0.021543275463961883, + 0.006263068762600715, + -0.0022957079719247175, + 0.0296596955284439, + 0.0 + ], + [ + -0.007252361999346368, + -0.03383530620224337, + 0.0023405770376302842, + -0.06177761464847396, + 0.007904428910936852, + 0.06013746697977343, + 0.0 + ], + [ + -0.016077529075023744, + -0.02498466764761005, + -0.004149287558153261, + -0.02924301270630309, + 0.016089319716859514, + 0.045981105303340965, + 0.0 + ], + [ + -0.020191210051621222, + -0.013585517638151232, + -0.011676891210315704, + -0.01874262789756925, + 0.000651347509829016, + 0.015076261309100898, + 0.0 + ], + [ + -0.006377314759611341, + -0.006998702146181486, + -0.011290597728023002, + -0.008080092169747897, + -0.011160560934267615, + -0.008813052953452288, + 0.0 + ], + [ + 0.0009382880257798321, + 0.0038219312394758044, + -0.007538034112358122, + 0.004903814647828135, + -0.03363455141960075, + -0.035607884949710136, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 183.74972534179688, + 171.34727478027344 + ], + [ + 183.9508819580078, + 171.9549560546875 + ], + [ + 185.20361328125, + 181.95989990234375 + ], + [ + 179.80482482910156, + 196.36932373046875 + ], + [ + 177.06903076171875, + 197.75230407714844 + ], + [ + 183.75128173828125, + 195.63494873046875 + ], + [ + 187.67161560058594, + 190.89706420898438 + ], + [ + 188.2664337158203, + 184.7805633544922 + ], + [ + 186.86767578125, + 193.503662109375 + ], + [ + 186.9982147216797, + 166.15106201171875 + ], + [ + 198.96295166015625, + 140.00645446777344 + ], + [ + 213.9891357421875, + 119.73826599121094 + ], + [ + 251.43902587890625, + 127.20460510253906 + ], + [ + 267.81982421875, + 153.46087646484375 + ], + [ + 259.83544921875, + 191.32449340820312 + ], + [ + 263.90277099609375, + 213.95223999023438 + ], + [ + 266.85858154296875, + 221.67489624023438 + ], + [ + 267.46124267578125, + 220.08370971679688 + ], + [ + 267.9901123046875, + 221.19473266601562 + ] + ], + "depth_max": 1.430116057395935, + "depth_min": 0.4012448489665985, + "intrinsic": [ + [ + 520.1751708984375, + 0.0, + 259.0 + ], + [ + 0.0, + 520.9882202148438, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.1363322957768105e-05, + -0.00011124055890832096, + -3.7246078136377037e-05 + ], + [ + -2.1370171452872455e-05, + 1.0, + -6.15439930697903e-05, + -8.962597348727286e-06 + ], + [ + 0.00011123924923595041, + 6.154636503197253e-05, + 1.0, + -4.233436266076751e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18 + ], + "object_trajectory": [ + [ + 222.0, + 210.75 + ], + [ + 222.45953369140625, + 210.7826690673828 + ], + [ + 222.4164581298828, + 210.78404235839844 + ], + [ + 221.76370239257812, + 210.4954376220703 + ], + [ + 225.23175048828125, + 211.12045288085938 + ], + [ + 245.21128845214844, + 208.70985412597656 + ], + [ + 251.00546264648438, + 205.4835205078125 + ], + [ + 252.67861938476562, + 190.24237060546875 + ], + [ + 253.56146240234375, + 202.3336181640625 + ], + [ + 255.85073852539062, + 179.15293884277344 + ], + [ + 264.3710021972656, + 156.79676818847656 + ], + [ + 278.7217712402344, + 138.26144409179688 + ], + [ + 310.5023193359375, + 144.43728637695312 + ], + [ + 300.2970886230469, + 164.3760986328125 + ], + [ + 303.3090515136719, + 194.72793579101562 + ], + [ + 306.893310546875, + 215.85081481933594 + ], + [ + 309.309326171875, + 251.87472534179688 + ], + [ + 310.9707946777344, + 257.4233703613281 + ], + [ + 312.3084716796875, + 262.0874328613281 + ] + ] +} \ No newline at end of file diff --git a/003127/lang.txt b/003127/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..a563677ccf03c7248659514c35a38423471b4c1d --- /dev/null +++ b/003127/lang.txt @@ -0,0 +1 @@ +put pepper in pot or pan diff --git a/003127/object.ply b/003127/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..74868fb854eed452e25bc4cea01aff9a4f3ac2fc Binary files /dev/null and b/003127/object.ply differ diff --git a/003128/data.json b/003128/data.json new file mode 100644 index 0000000000000000000000000000000000000000..c5231316813c914b6f86772c65dfeb6b94ed86df --- /dev/null +++ b/003128/data.json @@ -0,0 +1,403 @@ +{ + "action_start": 4, + "action_end": 14, + "object_name": "pepper", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 0.832479, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.152625, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.8918534233923765e-11, + 2.709931515298969e-10, + 9.845610438041774e-12, + -1.668455998956779e-07, + -4.2626797194104965e-08, + -4.147414646313544e-07, + 1.0 + ], + [ + 0.00484576420259103, + -0.002180201135767966, + -0.009779591100617678, + -0.006764596902912956, + -0.005628531982129804, + -0.02179218934843621, + 1.0 + ], + [ + -0.00016364106510446952, + -0.002036025428456073, + -0.00995368256913582, + -0.02091855409010939, + -0.008552736646947957, + -0.010666164783433999, + 1.0 + ], + [ + 0.0037274897077504976, + 0.0011210682317080445, + -0.01120739451885934, + -0.017948115415952492, + -0.013383075085840352, + -0.016357615816542787, + 1.0 + ], + [ + 0.006493449289250608, + -0.0004663919135250924, + -0.009440263438628797, + -0.015183458887010462, + -0.01107848607717956, + -0.0035637707613253677, + 0.832479 + ], + [ + 0.0015521402804317685, + -0.00248558070043893, + -0.004563810984635246, + -0.009742921989771074, + -0.008424210331418063, + 0.0007298203485703273, + 0.0 + ], + [ + 0.00037920069781266497, + 0.010004652801371326, + 0.02059280526185843, + 0.019718249351760222, + 0.03926329152491998, + -0.027867039351053384, + 0.0 + ], + [ + -0.00811963769600188, + 0.01643240073776686, + 0.05218984779306927, + 0.06323514413911326, + 0.10463141920284993, + -0.0005425865498389679, + 0.0 + ], + [ + -0.020683957727543445, + 0.00488174278061743, + 0.04334666458167044, + 0.05819445541790037, + 0.08748615421993311, + 0.04898403707183516, + 0.0 + ], + [ + -0.03336537545672874, + 0.00504706124954414, + 0.016411065183679963, + 0.058447114270890214, + 0.06507183058213956, + 0.06415600785572743, + 0.0 + ], + [ + -0.024877085119432985, + 0.0016805415705879977, + 0.00369390359178369, + 0.042286421657022226, + 0.045412099032653246, + 0.11688797754120013, + 0.0 + ], + [ + -0.016732702916169795, + -0.0025264255726023706, + -0.0001477975459177605, + -0.01280662465237825, + -0.02794812993808455, + 0.0829067594154819, + 0.0 + ], + [ + -0.011961066385952901, + 0.0007172273374139605, + -0.015264725820360814, + -0.029073723860151317, + -0.031901829138796835, + 0.03391826936040608, + 0.0 + ], + [ + -0.008930837785511292, + 0.010032354202599913, + -0.01833188796254656, + -0.00965845266249649, + -0.03924975799676077, + -0.01090814760370701, + 0.0 + ], + [ + -0.012558118908374938, + 0.014277936163220872, + -0.021989031719207422, + 0.04050239215581159, + -0.011646985139562534, + -0.015753027652760612, + 0.152625 + ], + [ + -0.002857240348991208, + 0.01185937993155564, + -0.01078192085760063, + 0.002903933530921359, + -0.03712832440583046, + -0.019842793577827495, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 447.5555419921875, + 161.44009399414062 + ], + [ + 447.3006896972656, + 162.7352294921875 + ], + [ + 444.6198425292969, + 174.69361877441406 + ], + [ + 447.70947265625, + 182.77182006835938 + ], + [ + 452.01171875, + 190.5209197998047 + ], + [ + 456.98046875, + 200.1416015625 + ], + [ + 461.7144775390625, + 195.53489685058594 + ], + [ + 457.907470703125, + 194.73057556152344 + ], + [ + 440.8852233886719, + 184.8860321044922 + ], + [ + 432.74072265625, + 128.37860107421875 + ], + [ + 421.44476318359375, + 86.48561096191406 + ], + [ + 414.23724365234375, + 79.23475646972656 + ], + [ + 400.5414123535156, + 94.40637969970703 + ], + [ + 393.7752380371094, + 106.43763732910156 + ], + [ + 384.6109924316406, + 144.65328979492188 + ], + [ + 354.70281982421875, + 174.76979064941406 + ], + [ + 335.3571472167969, + 202.65707397460938 + ], + [ + 311.7574768066406, + 204.28062438964844 + ], + [ + 312.61871337890625, + 209.6277313232422 + ] + ], + "depth_max": 1.426882266998291, + "depth_min": 0.5431636571884155, + "intrinsic": [ + [ + 520.6895141601562, + 0.0, + 259.0 + ], + [ + 0.0, + 521.3511352539062, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.164575511822477e-05, + -8.552968938602135e-05, + -1.628688369237352e-05 + ], + [ + -4.16456168750301e-05, + 1.0, + 1.6204551229748176e-06, + -5.482793312694412e-06 + ], + [ + 8.552976214559749e-05, + -1.616893086975324e-06, + 1.0, + 4.877278843196109e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18 + ], + "object_trajectory": [ + [ + 465.5, + 201.75 + ], + [ + 465.5982360839844, + 201.97666931152344 + ], + [ + 465.7615966796875, + 201.68748474121094 + ], + [ + 465.59564208984375, + 201.59719848632812 + ], + [ + 466.38275146484375, + 202.7860107421875 + ], + [ + 467.4796142578125, + 204.70416259765625 + ], + [ + 481.05462646484375, + 203.84498596191406 + ], + [ + 482.31243896484375, + 204.6009063720703 + ], + [ + 459.2132873535156, + 200.59796142578125 + ], + [ + 452.1895446777344, + 147.00039672851562 + ], + [ + 447.6274108886719, + 113.95399475097656 + ], + [ + 438.5169372558594, + 108.41340637207031 + ], + [ + 430.93798828125, + 126.322265625 + ], + [ + 425.511962890625, + 130.5877685546875 + ], + [ + 417.9945373535156, + 170.6221160888672 + ], + [ + 383.2471923828125, + 195.6498260498047 + ], + [ + 356.2667236328125, + 214.47512817382812 + ], + [ + 332.2579040527344, + 246.06857299804688 + ], + [ + 333.1339416503906, + 246.31991577148438 + ] + ] +} \ No newline at end of file diff --git a/003128/lang.txt b/003128/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..a563677ccf03c7248659514c35a38423471b4c1d --- /dev/null +++ b/003128/lang.txt @@ -0,0 +1 @@ +put pepper in pot or pan diff --git a/003128/object.ply b/003128/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..bd3a16dc4c6fde403548f1c99cf933a6c9516423 Binary files /dev/null and b/003128/object.ply differ diff --git a/003186_v2/data.json b/003186_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..4507d567278b2a2648ea7dedd4594756cfd40df3 --- /dev/null +++ b/003186_v2/data.json @@ -0,0 +1,548 @@ +{ + "action_start": 5, + "action_end": 15, + "object_name": "red figure", + "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, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 2.757892247906568e-10, + 2.324997139258045e-11, + -8.183938249306522e-11, + 4.232326411120064e-07, + 6.318122128595093e-08, + -5.060371707226596e-07, + 1.0 + ], + [ + 0.012816373754302501, + 0.024945464517235935, + 0.02968003309351194, + 0.0042336740633298516, + 0.014353510802895725, + -0.07734899707336436, + 1.0 + ], + [ + 0.015503157240767201, + 0.022249248488573084, + 0.01615882599708771, + 0.019337506690295835, + 0.010503999366121102, + -0.06591380900455457, + 1.0 + ], + [ + 0.015881831935277424, + 0.020031588457438493, + 0.014375697674109476, + 0.004936409020200439, + -0.0017530814931299883, + -0.024081976196326405, + 1.0 + ], + [ + 0.01968586641603931, + 0.020452569659602404, + -0.0029540894809349516, + 0.1249328358381594, + 0.0012147098003616747, + -0.03707478066421257, + 1.0 + ], + [ + 0.018544199988471427, + 0.018638324818674917, + -0.006224191702272633, + 0.08837432748241895, + -0.08971877718248908, + 0.05905698524215365, + 1.0 + ], + [ + 0.019132911316859874, + 0.018398459384693755, + 0.0053857778014841096, + 0.013415228991288953, + -0.02597134011828106, + 0.07715726054995412, + 1.0 + ], + [ + 0.01765116222486729, + 0.01945449237576813, + 0.00806483362182299, + -0.04061466600195647, + -0.015174156088046283, + 0.06538135181564349, + 1.0 + ], + [ + 0.010642349232204862, + 0.007849056346887456, + -0.009524859048436238, + -0.00786218915254431, + 0.02293065816904973, + 0.018828839078188192, + 1.0 + ], + [ + 0.0021497229077770408, + -0.004620724309190305, + -0.017906934589686334, + 0.011989851927611003, + 0.05036813685460028, + -0.014132593392400007, + 1.0 + ], + [ + -0.005646725525622176, + -0.02048023027519416, + -0.020051833333757728, + 0.0016955197508554645, + 0.04482917013994703, + -0.05512623522375216, + 1.0 + ], + [ + -0.0013664766162008735, + -0.025520079714105026, + -0.002416280052335594, + -0.029414805733926113, + -0.006466549330525269, + -0.04916402686326534, + 1.0 + ], + [ + 0.0036221099143186053, + -0.006344672315756111, + -0.0033298917351669583, + -0.10703154845774823, + -0.05347033187153148, + 0.06538506841654085, + 0.0 + ], + [ + -0.0005592294602393411, + 0.001729513602122812, + 0.004241079144263842, + -0.014238166044091905, + -0.0059822794494915465, + -0.0024141153749017903, + 0.0 + ], + [ + -0.002858832568345626, + -0.0018766176587213523, + 0.016254370951429425, + -0.022977423749247133, + -0.020860581988511855, + -0.010122283000631923, + 0.0 + ], + [ + 0.0015869794093539835, + -0.008753981631506702, + 0.021821192159317753, + -0.04486115195214709, + -0.025652624171075535, + 0.006963530923209791, + 0.0 + ], + [ + 0.006812754138497745, + -0.028522009268543896, + 0.015336097467542685, + 0.001999916145899249, + -0.07202616836460535, + 0.0111454363404772, + 0.0 + ], + [ + 0.0015207678112796885, + -0.03862235317288984, + 0.0043527386638611, + -0.012694623889956558, + -0.019789242526437933, + -0.034588995874079695, + 0.0 + ], + [ + 0.0003584794694065918, + -0.04589269674961616, + -0.014512581587895187, + -0.05217413882112995, + -0.003446723231637092, + -0.03817989365119237, + 0.0 + ], + [ + 0.00458300853880933, + -0.04114806316896345, + -0.012408467802182632, + -0.00842411669956537, + 0.02331567552263377, + -0.018889920247270726, + 0.0 + ], + [ + 0.011336624239309978, + -0.02357701776682347, + -0.01131650666470492, + -0.05661069193425208, + -0.0030009370017228614, + 0.003878194981162466, + 0.0 + ], + [ + 0.014399648950998545, + -0.020492480429434617, + -0.004374143878118547, + -0.02799049676263879, + 0.001530038241019525, + -0.00523312345683244, + 0.0 + ], + [ + 0.005192866212067659, + -0.0070516254694447805, + -0.0004786763404539818, + 0.021188580484851543, + -0.0038119720665184126, + 0.03327519174986209, + 1.0 + ], + [ + -0.008374031421134132, + 0.017348651411267478, + 0.00294815863192327, + 0.025904699564188952, + -0.009023078502701965, + 0.0010172136146424015, + 1.0 + ], + [ + -0.004695989443111115, + 0.03232583712214174, + 0.010239367287293785, + -0.007799109505633037, + 0.0026202931815019286, + 0.02960149752399101, + 1.0 + ], + [ + -0.010988519216819759, + 0.03880276572649524, + 0.04267832553500573, + -0.020402586126966823, + -0.01746080914423259, + 0.04169655268391221, + 1.0 + ], + [ + -0.020288278418622685, + 0.06383362190212585, + 0.03894498340242501, + 0.2166754367019118, + 0.07489827221227259, + 0.1642535427823079, + 1.0 + ], + [ + -0.025108529298279114, + 0.06236614335720354, + 0.01423015894618282, + 0.3806935613232854, + 0.06534782629959496, + 0.26934134834792567, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 51.421180725097656, + 217.36114501953125 + ], + [ + 55.47071838378906, + 200.60569763183594 + ], + [ + 57.235206604003906, + 174.88067626953125 + ], + [ + 58.754478454589844, + 176.51583862304688 + ], + [ + 63.88151931762695, + 191.9239501953125 + ], + [ + 83.32158660888672, + 218.7864990234375 + ], + [ + 101.37434387207031, + 234.20957946777344 + ], + [ + 117.35627746582031, + 231.42189025878906 + ], + [ + 111.50127410888672, + 231.05471801757812 + ], + [ + 109.98224639892578, + 231.08865356445312 + ], + [ + 109.71333312988281, + 207.48544311523438 + ], + [ + 116.54539489746094, + 192.83865356445312 + ], + [ + 163.0201416015625, + 196.39649963378906 + ], + [ + 198.33193969726562, + 221.8141632080078 + ], + [ + 258.1383056640625, + 259.87872314453125 + ], + [ + 290.0394287109375, + 259.859130859375 + ], + [ + 325.94329833984375, + 272.3954772949219 + ], + [ + 335.8956298828125, + 274.808837890625 + ], + [ + 326.55499267578125, + 278.2650146484375 + ], + [ + 279.8013000488281, + 258.218017578125 + ], + [ + 224.52529907226562, + 199.9538116455078 + ], + [ + 154.0777130126953, + 140.04742431640625 + ], + [ + 104.34451293945312, + 116.1728286743164 + ], + [ + 88.85175323486328, + 111.76221466064453 + ] + ], + "depth_max": 2.4728381633758545, + "depth_min": 0.3859732449054718, + "intrinsic": [ + [ + 510.6702575683594, + 0.0, + 259.0 + ], + [ + 0.0, + 510.3360290527344, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.648720202269033e-05, + -9.258899808628485e-05, + 6.169246262288652e-06 + ], + [ + -7.648238533874974e-05, + 1.0, + 5.200555096962489e-05, + -0.00010303490853402764 + ], + [ + 9.25929780350998e-05, + -5.199847146286629e-05, + 1.0, + 4.380721293273382e-06 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 115.25, + 235.25003051757812 + ], + [ + 115.5489730834961, + 235.4181365966797 + ], + [ + 108.27262115478516, + 232.58985900878906 + ], + [ + 107.8148193359375, + 232.43548583984375 + ], + [ + 108.13409423828125, + 232.29103088378906 + ], + [ + 117.40208435058594, + 237.1481170654297 + ], + [ + 122.7288589477539, + 242.87515258789062 + ], + [ + 137.15859985351562, + 245.01849365234375 + ], + [ + 142.00540161132812, + 249.84584045410156 + ], + [ + 143.19110107421875, + 252.44039916992188 + ], + [ + 144.5036163330078, + 229.71286010742188 + ], + [ + 153.53504943847656, + 213.44284057617188 + ], + [ + 202.00396728515625, + 220.73362731933594 + ], + [ + 236.16879272460938, + 241.88784790039062 + ], + [ + 285.3984680175781, + 276.5940856933594 + ], + [ + 317.74462890625, + 275.0770568847656 + ], + [ + 350.93109130859375, + 287.0133361816406 + ], + [ + 361.5699768066406, + 288.884521484375 + ], + [ + 365.03887939453125, + 311.6177978515625 + ], + [ + 357.1805419921875, + 331.53802490234375 + ], + [ + 360.02618408203125, + 326.76116943359375 + ], + [ + 359.07684326171875, + 326.8393859863281 + ], + [ + 358.7021789550781, + 327.20672607421875 + ], + [ + 358.08343505859375, + 327.4341735839844 + ] + ] +} \ No newline at end of file diff --git a/003186_v2/lang.txt b/003186_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..3ba437a8984d8cc44950abd655497e5f7b575d52 --- /dev/null +++ b/003186_v2/lang.txt @@ -0,0 +1 @@ +remove the red figure from the cloth to the wooden surface diff --git a/003186_v2/object.ply b/003186_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..543b4ef63c796f4a17bd441b8034f7b207fdd925 Binary files /dev/null and b/003186_v2/object.ply differ diff --git a/003198_v2/data.json b/003198_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..3813a1d99889bc85086a9202b58746faa2552ad3 --- /dev/null +++ b/003198_v2/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 11, + "action_end": 20, + "object_name": "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, + 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, + -1.3877787807814457e-17, + 0.0, + -2.3748806321081748e-07, + -4.983518716417245e-07, + 9.592797529166817e-08, + 1.0 + ], + [ + -0.010357977908446392, + -0.005491324670571097, + -0.015815831404767722, + 0.05506654066186549, + -0.014321524866586013, + -0.01364683243193914, + 1.0 + ], + [ + -0.014322266135699813, + -0.006631344474341661, + -0.011866094862523241, + 0.04618137260060963, + -0.013617012050533749, + -0.03589457683054194, + 1.0 + ], + [ + -0.015285199081332523, + -0.005668984133019753, + -0.009844149979566522, + 0.04998199850498531, + -0.02805736416627932, + -0.03079767978594729, + 1.0 + ], + [ + -0.009464319469665083, + -0.005837986947673305, + -0.013172839122279234, + 0.03731452767807479, + -0.013821026625926342, + -0.024987506953228555, + 1.0 + ], + [ + -0.0055945201959910484, + -0.006972598028585512, + -0.017563521587834488, + 0.032274588501728804, + -0.004124048994455849, + -0.016859269234923428, + 1.0 + ], + [ + -0.0031067481091907045, + -0.008896540969290573, + -0.019371763803604017, + 0.03973098502828535, + -0.0014805331443035025, + -0.013211702371633873, + 1.0 + ], + [ + -0.0026792589672666733, + -0.0020663144664905472, + -0.01363265942220989, + -0.0010496421625089784, + -0.008291475885959505, + 0.021621811595116194, + 1.0 + ], + [ + -0.003112440850819659, + -0.0033603431497004586, + -0.008994218966532547, + 0.02170250441363922, + 0.016210333471515175, + -0.00879767498650327, + 1.0 + ], + [ + -0.003963992840293501, + -0.0010183434989071809, + -0.00803000995057912, + 0.016741541629014946, + 0.008047480016772886, + -0.011035450030844888, + 1.0 + ], + [ + -0.0024581799369007007, + -0.0012129295685571508, + -0.00818076672186005, + 0.011280635702562996, + 0.005055886177465742, + -0.003036527581464973, + 1.0 + ], + [ + -0.00037891166075523786, + -0.00028908375007287435, + -0.007887582901407316, + -0.002527649953248299, + 0.011498877148049877, + 0.007346579157149352, + 1.0 + ], + [ + -0.0010633856164548317, + 0.002826947848755576, + -0.0008701210377495411, + -0.020738982552110947, + -0.00969506834778931, + 0.02642099458894486, + 0.0 + ], + [ + -0.005401140928924186, + 0.00107990912273713, + 0.006531925141405885, + -0.020018573017403604, + -0.008718378723482294, + -0.010542858182315422, + 0.0 + ], + [ + -0.008060580042732107, + 0.007103169828238581, + 0.015521544548959942, + -0.041274979011959055, + -0.030747194869041528, + -0.03274332128659775, + 0.0 + ], + [ + -0.007646038071188993, + 0.016688517984406986, + 0.02197595420894132, + -0.06657514163222454, + -0.046016729882235714, + 0.007842925001939664, + 0.0 + ], + [ + 0.0010152038307897904, + 0.0226989440603259, + 0.013124634247098414, + -0.03061804844754642, + -0.03165358900035314, + 0.05593363476700878, + 0.0 + ], + [ + 0.010011644677596632, + 0.022880690435680584, + -0.009544797180272548, + 0.020654341967914786, + 0.01574135026307985, + 0.07493714264233722, + 0.0 + ], + [ + 0.011936891837428854, + 0.016367060021365943, + -0.016248278412310385, + 0.03612041086205145, + 0.024816766546653154, + 0.058247730177295357, + 0.0 + ], + [ + 0.007692783478169457, + 0.009004306239785397, + -0.012803110715848456, + 0.030845779069123, + 0.01970042577722939, + 0.0323644634337601, + 0.0 + ], + [ + 0.00034644026986987986, + 0.002070721671796699, + -0.012438372506124059, + 0.02295556971668857, + 0.024006515669808628, + 0.00010347778468589348, + 0.0 + ], + [ + -0.006307674111947881, + -0.0018991575313103554, + -0.001696701219625116, + 0.002171770618139921, + 0.0020418066807605067, + 0.007918813931151505, + 1.0 + ], + [ + -0.004535671117875312, + -0.003044190319476489, + 0.006497555012932494, + -0.0061792078531919155, + -0.01548747584090764, + -0.02070061038606167, + 1.0 + ], + [ + -0.003321546879424153, + -0.002879447500173493, + 0.013729012549877757, + -0.020226082650744482, + -0.02854246344424808, + -0.025771590241047044, + 1.0 + ], + [ + -0.0024239109687694826, + -0.002104503453482301, + 0.024292483480349812, + -0.004940153019656873, + -0.02822107471017837, + -0.0761094578480597, + 1.0 + ], + [ + -0.007117359376910826, + 0.014187329823793005, + 0.02997049107675485, + 0.027388113097029886, + 0.06224238899373497, + -0.08638302697102515, + 1.0 + ], + [ + -0.012051706820971286, + 0.01996730075222504, + 0.04278925161604521, + 0.0033985175884641674, + 0.06282005446509777, + -0.015663468799407977, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 267.48974609375, + 176.36083984375 + ], + [ + 268.24664306640625, + 188.1713409423828 + ], + [ + 268.412353515625, + 234.56460571289062 + ], + [ + 262.1728210449219, + 259.11505126953125 + ], + [ + 254.98504638671875, + 294.43505859375 + ], + [ + 250.39822387695312, + 322.0666809082031 + ], + [ + 253.85696411132812, + 346.8494873046875 + ], + [ + 263.2293701171875, + 379.49737548828125 + ], + [ + 266.6636962890625, + 401.30230712890625 + ], + [ + 269.5059509277344, + 414.06964111328125 + ], + [ + 267.25091552734375, + 429.6426086425781 + ], + [ + 265.93951416015625, + 442.3533935546875 + ], + [ + 269.33819580078125, + 451.163818359375 + ], + [ + 267.99969482421875, + 455.1593017578125 + ], + [ + 258.00433349609375, + 457.87335205078125 + ], + [ + 240.5556640625, + 450.49639892578125 + ], + [ + 207.27093505859375, + 424.4523620605469 + ], + [ + 174.66220092773438, + 399.35400390625 + ], + [ + 161.62217712402344, + 381.7759704589844 + ], + [ + 159.04562377929688, + 376.63421630859375 + ], + [ + 159.4918212890625, + 376.84808349609375 + ], + [ + 157.1619873046875, + 387.093017578125 + ], + [ + 157.85797119140625, + 388.178466796875 + ], + [ + 154.04605102539062, + 392.756591796875 + ], + [ + 154.8804473876953, + 386.0087890625 + ], + [ + 146.4776611328125, + 370.2969970703125 + ], + [ + 116.4388427734375, + 333.9033508300781 + ], + [ + 77.4528579711914, + 282.102783203125 + ], + [ + 67.40948486328125, + 264.7110900878906 + ] + ], + "depth_max": 2.2114365100860596, + "depth_min": 0.18239228427410126, + "intrinsic": [ + [ + 551.7562255859375, + 0.0, + 259.0 + ], + [ + 0.0, + 551.5262451171875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.748030136805028e-05, + -5.247538138064556e-05, + 1.021432581183035e-05 + ], + [ + -6.747937004547566e-05, + 1.0, + 1.7631908121984452e-05, + -3.970518446294591e-05 + ], + [ + 5.247656736173667e-05, + -1.7628366549615748e-05, + 1.0, + 6.850590580143034e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 275.75, + 427.75 + ], + [ + 276.2377014160156, + 428.12994384765625 + ], + [ + 275.76531982421875, + 428.57720947265625 + ], + [ + 275.6727600097656, + 428.3756103515625 + ], + [ + 275.7530517578125, + 428.3518981933594 + ], + [ + 275.9374084472656, + 428.36773681640625 + ], + [ + 276.0880126953125, + 428.4494323730469 + ], + [ + 276.3994445800781, + 428.66302490234375 + ], + [ + 276.6826171875, + 428.4300231933594 + ], + [ + 277.0998229980469, + 428.70709228515625 + ], + [ + 277.7249755859375, + 429.23931884765625 + ], + [ + 278.1557922363281, + 431.29364013671875 + ], + [ + 276.9814758300781, + 431.7599792480469 + ], + [ + 269.1907653808594, + 433.116455078125 + ], + [ + 260.30340576171875, + 436.91534423828125 + ], + [ + 248.03765869140625, + 426.6486511230469 + ], + [ + 223.90054321289062, + 409.88812255859375 + ], + [ + 191.11676025390625, + 385.5005798339844 + ], + [ + 176.54571533203125, + 366.9645690917969 + ], + [ + 175.26235961914062, + 360.6764221191406 + ], + [ + 171.12937927246094, + 360.21337890625 + ], + [ + 168.65902709960938, + 369.67181396484375 + ], + [ + 170.07748413085938, + 370.3694763183594 + ], + [ + 170.26971435546875, + 371.5657958984375 + ], + [ + 171.37548828125, + 370.12371826171875 + ], + [ + 165.13580322265625, + 371.60784912109375 + ], + [ + 164.43643188476562, + 371.74176025390625 + ], + [ + 165.50442504882812, + 370.841796875 + ], + [ + 165.66278076171875, + 370.63189697265625 + ] + ] +} \ No newline at end of file diff --git a/003198_v2/lang.txt b/003198_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..8cf97d377d6fd4ba2d76816da0e1307af3ce1ea2 --- /dev/null +++ b/003198_v2/lang.txt @@ -0,0 +1 @@ +put the figure to the top of the fabric diff --git a/003198_v2/object.ply b/003198_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..672520d6446c7b316ac0a193aef3e2fb81e61123 Binary files /dev/null and b/003198_v2/object.ply differ diff --git a/003219/FAIL b/003219/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/003219/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/003220_v2/FAIL b/003220_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/003220_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/003223/FAIL b/003223/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/003223/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/003236_v2/FAIL b/003236_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/003236_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/003249/FAIL b/003249/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/003249/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/003249_v2/FAIL b/003249_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/003249_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/003252/FAIL b/003252/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/003252/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/003297_v2/FAIL b/003297_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/003297_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/003310_v2/FAIL b/003310_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/003310_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/003334/FAIL b/003334/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/003334/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/003334_v2/data.json b/003334_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..6b3a3f9f09f94a4d00d5d0ef21d2e6cd8ee909fc --- /dev/null +++ b/003334_v2/data.json @@ -0,0 +1,733 @@ +{ + "action_start": 17, + "action_end": 28, + "object_name": "dice", + "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, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.3406899201928724e-10, + -1.1788631876230582e-10, + -1.4891826660701213e-10, + 3.3659237294116674e-07, + -2.54640434912071e-07, + 7.576978061971668e-08, + 1.0 + ], + [ + 0.028177967700369025, + -0.014091503047510109, + -0.03512395874217561, + 0.0671691567156367, + -0.05026811357515918, + -0.015502460562966652, + 1.0 + ], + [ + 0.009345872149994827, + -0.01515054144489543, + -0.027391119442997602, + 0.016840028631475063, + -0.22425153943908746, + 0.0439572120616806, + 1.0 + ], + [ + 0.02303865010445058, + -0.0024776170258698008, + -0.02372215430361088, + 0.017881509999142006, + -0.08563410266253416, + 0.03367261312967801, + 1.0 + ], + [ + 0.027133802024865095, + 0.0020781938683501096, + -0.015301324593526427, + -0.0223056571454813, + -0.04429745216875284, + 0.06741687319314145, + 1.0 + ], + [ + 0.02503778337809301, + 0.00028320857162435903, + -0.005267386647727829, + -0.052871202080753604, + -0.018129035177612128, + 0.07442665730359445, + 1.0 + ], + [ + 0.027319187983399745, + -0.0013490278419998024, + -0.002782578469157332, + -0.04084946933681361, + -0.00018518395372763954, + 0.07572593264847671, + 1.0 + ], + [ + 0.016882655377459838, + -0.005553010209962059, + -0.0021443359934416317, + -0.028374105588832802, + -0.00034444126792393024, + 0.026012967738367827, + 1.0 + ], + [ + 0.014820321591689167, + -0.011220954557285417, + 0.0019611348090561864, + -0.006949008219236983, + -0.026281992303712847, + 0.00892832687009609, + 1.0 + ], + [ + 0.014630162034099614, + -0.010798113525847128, + -0.005000101396838291, + -0.008388584333212374, + 0.008656153667183504, + 0.0218346966893055, + 1.0 + ], + [ + 0.01284415632330771, + -0.008774609197637617, + -0.009324009340718267, + 0.0012879529128134563, + 0.018186780771735064, + 0.013489477425940135, + 1.0 + ], + [ + 0.013741774838392118, + -0.005858548496173191, + -0.009111116497312749, + -0.004469968322845029, + 0.004282103371175794, + 0.01752533361319079, + 1.0 + ], + [ + 0.011454651614304423, + -0.001700755958980102, + -0.010839114076805614, + 0.004921876630232913, + 0.014566894908415354, + 0.01964106850363962, + 1.0 + ], + [ + 0.009915121919702341, + -0.00111917853994703, + -0.008208487967907893, + 0.01002881359479491, + 0.002072338484435148, + 0.022643610806830798, + 1.0 + ], + [ + 0.0048531003606552825, + -0.0011736559337127694, + -0.003266658156262675, + -0.007358996846865502, + 0.00768757866576761, + 0.017599827195984487, + 1.0 + ], + [ + 0.002944907806901098, + -0.0006820972796140051, + -0.003447644329954133, + -0.005564634309105603, + 0.005055224340059263, + 0.012884694283457265, + 1.0 + ], + [ + 0.001978415072945383, + 0.002055085645668267, + -0.006301273412494604, + 0.0042021941307229995, + 0.0125633135266614, + 0.010129510049114453, + 1.0 + ], + [ + 0.0005394235576728912, + 0.00737197283512489, + -0.007843763573576613, + 0.021111178074974046, + 0.02723349648326329, + 0.005992186510528569, + 1.0 + ], + [ + -0.0020213748754228655, + 0.007523471453067643, + -0.0074172897135922206, + 0.0018031701747515945, + 0.030778028378651172, + -0.004326723477575577, + 0.0 + ], + [ + -0.003664206753498267, + 0.0036624256630881646, + 0.0038624431096443562, + -0.0024139501850925695, + 0.0005446556149358644, + -0.012877258155789701, + 0.0 + ], + [ + -0.0035881018123946617, + 0.004800698154986918, + 0.0165625225865689, + -0.027602740982834682, + -0.028625944608218726, + -0.005148114529212998, + 0.0 + ], + [ + -0.005430483559890009, + 0.01625666163425485, + 0.02416399319455948, + -0.05152917804381476, + -0.049889682721646046, + 0.012002579991823891, + 0.0 + ], + [ + -0.009244813371487581, + 0.026765297454058687, + 0.00761090230450881, + -0.02687096891263168, + 0.0016873543482880985, + 0.02058036482350293, + 0.0 + ], + [ + -0.008063160454626794, + 0.03389032622126957, + -0.004807740441357455, + 0.026327442484111098, + 0.014789279154987909, + 0.016336884136487415, + 0.0 + ], + [ + -0.010171147742391529, + 0.030442361101796347, + -0.007067458127662879, + 0.033153435652688225, + 0.007195809393968231, + 0.005830931665339299, + 0.0 + ], + [ + -0.015752971103999147, + 0.02079657720007768, + -0.00874484558183311, + 0.050980366539482, + -0.0022520317705197377, + -0.015062140321112631, + 0.0 + ], + [ + -0.015228764667671535, + 0.010065230893091963, + -0.010047449415608659, + 0.05926542362631464, + 0.019922746201451475, + -0.020503513992131704, + 0.0 + ], + [ + -0.00974521705902548, + 0.01125764009995453, + 0.00030385011051767274, + 0.02816459218159246, + 0.001139337890075074, + 0.0046106592392115035, + 0.0 + ], + [ + -0.0025066202755100186, + 0.009415658052230519, + -0.005486213503559864, + 0.017758880016926562, + 0.018782970231835085, + 0.020955389947346904, + 0.0 + ], + [ + -0.0002142141354767313, + 0.0018102626743256578, + -0.004534193416262211, + 0.010017692275254548, + 0.026140750009767223, + 0.021224025853713673, + 1.0 + ], + [ + 0.00032810142215272675, + -0.0024747329880133034, + 0.0019753503980003556, + -0.007971437128869075, + 0.0014305575728004618, + -0.008470624361265862, + 1.0 + ], + [ + -0.0012936118193631052, + -0.003325894759653669, + 0.007498238342232483, + -0.007823717139423108, + 0.022728996336477545, + -0.020168635222723903, + 1.0 + ], + [ + -0.0012429614380337628, + -0.004068002081647273, + 0.023426586675284015, + 0.057360092390695915, + 0.04828315564106698, + -0.030807064161124283, + 1.0 + ], + [ + -0.005675350779730692, + -0.010819781236370701, + 0.04540933702236216, + -0.02141754149253198, + 0.02873823418439366, + -0.021148183445450105, + 1.0 + ], + [ + -0.01326959954375817, + -0.015895427595379874, + 0.06112731590569445, + -0.024356952046182406, + 0.023691733835620284, + -0.10007693339310447, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 51.15152359008789, + 240.96388244628906 + ], + [ + 15.915319442749023, + 240.28050231933594 + ], + [ + 91.4988021850586, + 265.23919677734375 + ], + [ + 142.43478393554688, + 313.93475341796875 + ], + [ + 206.56341552734375, + 337.83087158203125 + ], + [ + 245.86300659179688, + 327.2489318847656 + ], + [ + 277.0060729980469, + 316.269287109375 + ], + [ + 311.37249755859375, + 292.60150146484375 + ], + [ + 338.1643371582031, + 282.1737060546875 + ], + [ + 358.38726806640625, + 267.1690368652344 + ], + [ + 392.3594970703125, + 268.79180908203125 + ], + [ + 415.38531494140625, + 273.63238525390625 + ], + [ + 433.4957275390625, + 276.93560791015625 + ], + [ + 446.67864990234375, + 282.17987060546875 + ], + [ + 452.25592041015625, + 285.5657653808594 + ], + [ + 458.774658203125, + 286.52716064453125 + ], + [ + 461.78765869140625, + 287.93560791015625 + ], + [ + 458.04833984375, + 295.09552001953125 + ], + [ + 446.7897033691406, + 301.152099609375 + ], + [ + 437.7091979980469, + 297.87957763671875 + ], + [ + 434.5615539550781, + 296.004638671875 + ], + [ + 425.75238037109375, + 292.2671813964844 + ], + [ + 405.485595703125, + 257.4562683105469 + ], + [ + 370.68212890625, + 238.9871826171875 + ], + [ + 322.9848327636719, + 232.5400390625 + ], + [ + 279.2461853027344, + 234.02920532226562 + ], + [ + 240.37005615234375, + 244.50660705566406 + ], + [ + 214.6124725341797, + 257.66717529296875 + ], + [ + 190.42623901367188, + 259.33404541015625 + ], + [ + 182.70777893066406, + 256.49249267578125 + ], + [ + 175.64744567871094, + 263.55999755859375 + ], + [ + 175.052490234375, + 267.291748046875 + ], + [ + 175.14736938476562, + 266.850830078125 + ], + [ + 177.84344482421875, + 242.8634796142578 + ], + [ + 175.62750244140625, + 192.18026733398438 + ], + [ + 172.86514282226562, + 125.22779083251953 + ], + [ + 171.56460571289062, + 108.69064331054688 + ] + ], + "depth_max": 1.7693034410476685, + "depth_min": 0.213114395737648, + "intrinsic": [ + [ + 571.3350830078125, + 0.0, + 259.0 + ], + [ + 0.0, + 570.3851318359375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.901217365229968e-05, + -2.028049129876308e-05, + 2.9798389732604846e-05 + ], + [ + -1.901124596770387e-05, + 1.0, + 4.57265559816733e-05, + -5.563288141274825e-05 + ], + [ + 2.0281360775697976e-05, + -4.572617035591975e-05, + 1.0, + 6.759395910194144e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36 + ], + "object_trajectory": [ + [ + 449.25, + 313.75 + ], + [ + 449.3245849609375, + 313.8369140625 + ], + [ + 449.39453125, + 313.9638366699219 + ], + [ + 449.5281677246094, + 314.00347900390625 + ], + [ + 449.5771484375, + 313.88848876953125 + ], + [ + 449.590087890625, + 314.04193115234375 + ], + [ + 449.7765197753906, + 313.7884521484375 + ], + [ + 449.7099609375, + 313.95709228515625 + ], + [ + 449.55029296875, + 314.2537841796875 + ], + [ + 449.7488708496094, + 314.2287902832031 + ], + [ + 449.72821044921875, + 314.1848449707031 + ], + [ + 449.944091796875, + 313.8506164550781 + ], + [ + 449.660888671875, + 314.3248291015625 + ], + [ + 449.468017578125, + 314.3170166015625 + ], + [ + 449.6971130371094, + 314.47119140625 + ], + [ + 449.8453369140625, + 314.5977783203125 + ], + [ + 449.56280517578125, + 314.5945739746094 + ], + [ + 449.5008239746094, + 314.5899658203125 + ], + [ + 443.8060302734375, + 313.3866882324219 + ], + [ + 433.16558837890625, + 310.09698486328125 + ], + [ + 429.37274169921875, + 308.237060546875 + ], + [ + 420.7110595703125, + 305.47637939453125 + ], + [ + 404.19439697265625, + 274.97393798828125 + ], + [ + 370.8466796875, + 254.8342742919922 + ], + [ + 323.89703369140625, + 246.97305297851562 + ], + [ + 280.609375, + 248.271484375 + ], + [ + 242.18556213378906, + 258.2252502441406 + ], + [ + 216.0724639892578, + 271.0726623535156 + ], + [ + 192.3361358642578, + 272.4566345214844 + ], + [ + 184.06248474121094, + 269.7413330078125 + ], + [ + 181.31082153320312, + 285.6911926269531 + ], + [ + 179.98695373535156, + 286.99200439453125 + ], + [ + 179.78619384765625, + 287.4652099609375 + ], + [ + 180.06826782226562, + 287.09661865234375 + ], + [ + 180.24884033203125, + 286.64697265625 + ], + [ + 179.9463348388672, + 286.5268249511719 + ], + [ + 180.15895080566406, + 286.30389404296875 + ] + ] +} \ No newline at end of file diff --git a/003334_v2/lang.txt b/003334_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..804b0720f01c0346d9e8517c538c1ac75753acfe --- /dev/null +++ b/003334_v2/lang.txt @@ -0,0 +1 @@ +picked the dice from the table to the cloth diff --git a/003334_v2/object.ply b/003334_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..d2a553f74f0a673ae0e1c6e7ea519dbdc9fdd38c Binary files /dev/null and b/003334_v2/object.ply differ diff --git a/003336_v2/data.json b/003336_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..4b7a3ba8547cbd59ef6e190a0a45ed72bb78f2fd --- /dev/null +++ b/003336_v2/data.json @@ -0,0 +1,806 @@ +{ + "action_start": 15, + "action_end": 33, + "object_name": "blue 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, + 0.932112, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + [ + -6.882233671845484e-11, + -1.2607474092485305e-10, + 1.233012303369918e-10, + -5.533849917723899e-07, + 1.0643491490042722e-07, + 2.793247764859634e-07, + 1.0 + ], + [ + 0.02734034409837488, + -0.012159337893542628, + -0.025236804932727647, + -0.02024891517595748, + -0.06373559553144101, + 0.1320823371875524, + 1.0 + ], + [ + 0.020186850080300744, + 0.0011100527868219672, + -0.013259635705572342, + 0.013011176594795181, + 0.006266252039572823, + 0.10617660923696182, + 1.0 + ], + [ + 0.010198695262745139, + 0.006568638000977456, + -0.008894490059402224, + 0.07827692892873686, + 0.10197816159826543, + -0.10361523772736884, + 1.0 + ], + [ + -0.0018730604209208912, + 0.004739245733694261, + -0.007660304195733686, + -0.010485008835141245, + 0.12028210484342887, + -0.09582583005564989, + 1.0 + ], + [ + -0.007165984455962171, + -0.0003537606646346683, + -0.009353892927796315, + -0.05149756722606958, + 0.09282102382638939, + -0.08670010471274384, + 1.0 + ], + [ + -0.005715603391226343, + -0.003765777612775599, + -0.009996104980601911, + -0.0074653076398785035, + 0.009814618423615076, + -0.048599181912965486, + 1.0 + ], + [ + -0.00573795870436028, + -0.0024999721710823666, + -0.007606747119028229, + -0.003034191571289067, + 3.5229823353358384e-05, + -0.031100086193665437, + 1.0 + ], + [ + -0.006089508273739219, + -0.002480197504818267, + -0.005422251778001902, + 0.016064297615601544, + -0.04610615865776306, + -0.03077896065661816, + 1.0 + ], + [ + 0.0005767990735944806, + -0.002803334207433561, + -0.0016667616932966867, + -0.014767397707438228, + -0.023842312021826698, + -0.01431957930881988, + 1.0 + ], + [ + 0.0023275415510808917, + -0.004042351734098212, + -0.0021252879560944987, + -0.012636328807604414, + -0.02228612598275164, + -0.01250481279253675, + 1.0 + ], + [ + 0.0021725200832126146, + -0.0034639097809834526, + -0.0009778001940195652, + -0.010930397742327468, + -0.004081419306965265, + -0.004730791496306397, + 1.0 + ], + [ + -0.0009119442366181119, + -0.004668769087196434, + -0.004706729231089682, + -0.0013731712853114293, + 0.008839008234313992, + -0.0037601079200634178, + 1.0 + ], + [ + 0.0009417133392188859, + -0.005154787285086858, + -0.005636360431873655, + 0.005624257218443204, + -0.005699760598169503, + -0.0005454680335059646, + 1.0 + ], + [ + 0.003927200798232222, + -0.0018708982590959211, + -0.004942321055353027, + 0.008872906096804299, + -0.013920132936372311, + 0.01396219814673314, + 1.0 + ], + [ + 0.004524921708308982, + 0.0028289388184585887, + -0.004305869143484464, + 0.017766957318998272, + -0.012859330768555385, + 0.021514168726748058, + 0.932112 + ], + [ + 0.0036378665486163086, + 0.003430670175283472, + -0.001803501864145518, + 0.004702441126878363, + -0.024923501412155755, + 0.024199861047618572, + 0.0 + ], + [ + 0.0022598384240202773, + 0.0028096622325102863, + 0.001009778694605154, + -0.0034565553040818387, + -0.024620097940467635, + 0.015739070347014477, + 0.0 + ], + [ + 0.0009027979604686043, + 0.0021922448788017704, + 0.0027625576017318854, + -0.005428278342910004, + -0.0003571799772011388, + 0.008882736135462404, + 0.0 + ], + [ + 0.0026148957224982894, + 0.0023353784060163654, + 0.017180286232563118, + -0.03656308383758742, + -0.014356020605074796, + 0.03445266189249939, + 0.0 + ], + [ + 0.010417491332361528, + 0.010794134761268281, + 0.02437251406598575, + -0.07677252984010564, + -0.022454924041884847, + 0.0848906852792581, + 0.0 + ], + [ + 0.017396528812750944, + 0.015900636298061502, + 0.01909496267315862, + -0.08121652902714585, + 0.010246818622714886, + 0.10319404213098059, + 0.0 + ], + [ + 0.02925471955314457, + 0.021662199238247894, + 0.013492048645888696, + -0.043706777445206055, + -0.01788152299648099, + 0.1250816548481916, + 0.0 + ], + [ + 0.03046180514849678, + 0.021952648742775707, + -0.0007002893620555173, + -0.00924411602320212, + -0.019603942928856852, + 0.10539107651502433, + 0.0 + ], + [ + 0.030309070810301375, + 0.025468622194527717, + -0.000447147332703568, + -0.0044423850616816815, + -0.02514740057150788, + 0.1235416178427218, + 0.0 + ], + [ + 0.01800609374330453, + 0.014964051648865863, + -0.011742878701070825, + 0.011639936937321215, + 0.020327273997211015, + 0.060630600363886386, + 0.0 + ], + [ + 0.008490542178371974, + 0.015521616554591527, + -0.010210659203318997, + 0.03560716200378129, + 0.017632301792437636, + 0.04984087040334914, + 0.0 + ], + [ + -0.00019943094030006048, + 0.012477720885535934, + 0.0037632603292870326, + 0.024718821996652693, + 0.0024641878884447163, + 0.050364010331564214, + 0.0 + ], + [ + -0.0006755475622697849, + 0.0038206816107983627, + 0.00044332470024510684, + 0.021581915717145978, + 0.013506170503899616, + 0.017460537747890494, + 0.0 + ], + [ + -0.0011549267847967282, + 0.0046371635997497634, + -0.0038509505888943557, + 0.017514407822970254, + 0.006108292095665261, + 0.014302935457280778, + 0.0 + ], + [ + -0.0047534468147063524, + 0.0014625303544760632, + -0.006648233042408996, + 0.010415439152769958, + 0.021611445192487037, + -0.011679066410404988, + 0.0 + ], + [ + -0.005399080810177148, + 0.0011415578793519676, + 0.0031661906668474377, + -0.00300021302033675, + -0.011651312553832342, + -0.01177793745785758, + 0.0 + ], + [ + -0.00200363608573223, + -0.0004164105816783781, + -0.011668562143653388, + -0.004566274250354284, + 0.029828884719966583, + -0.008590530319528944, + 0.0 + ], + [ + -0.002077850336622278, + 0.00011404838023808261, + -0.011079169914434236, + 0.006436016826435534, + 0.023205729793015356, + -0.010920955516389714, + 0.0 + ], + [ + -0.0006112406199731413, + -0.0005708411996645235, + -0.001166089409095586, + 0.003398248092835786, + -0.008040547056054273, + 0.023947012952907836, + 1.0 + ], + [ + 0.0005745661280540104, + -0.001772093060787669, + 0.008015438982458128, + -0.0019535884770042, + -0.00025843879697715706, + 0.0071585894047741586, + 1.0 + ], + [ + -0.0008785055853037238, + -0.007453675409067911, + 0.01912268024640712, + -0.006679899518552188, + -0.01785949911014407, + -0.0067403074979212425, + 1.0 + ], + [ + -0.006176665785826985, + -0.00795066542601082, + 0.03529616563508958, + -0.020804568225336818, + -0.05006305934091093, + 0.03354510150445708, + 1.0 + ], + [ + -0.012606628588271496, + 0.004651325806031031, + 0.0480870851579529, + -0.008258387207946161, + -0.07726794232825603, + 0.10560040719881035, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 254.37722778320312, + 203.39486694335938 + ], + [ + 255.28573608398438, + 208.18768310546875 + ], + [ + 298.4698181152344, + 237.39617919921875 + ], + [ + 325.509521484375, + 240.4279327392578 + ], + [ + 333.49298095703125, + 238.693603515625 + ], + [ + 337.946044921875, + 245.6907958984375 + ], + [ + 317.95819091796875, + 260.2728271484375 + ], + [ + 317.03375244140625, + 270.69390869140625 + ], + [ + 313.66302490234375, + 290.474853515625 + ], + [ + 308.9776306152344, + 315.40728759765625 + ], + [ + 313.541748046875, + 316.18707275390625 + ], + [ + 317.2037353515625, + 319.0478515625 + ], + [ + 322.45062255859375, + 320.34564208984375 + ], + [ + 329.10235595703125, + 323.34918212890625 + ], + [ + 337.59564208984375, + 330.663818359375 + ], + [ + 344.14654541015625, + 335.52740478515625 + ], + [ + 344.97344970703125, + 335.8087158203125 + ], + [ + 344.261962890625, + 335.78936767578125 + ], + [ + 346.4101867675781, + 333.96502685546875 + ], + [ + 345.75787353515625, + 332.09881591796875 + ], + [ + 335.1606140136719, + 323.9110412597656 + ], + [ + 331.0704650878906, + 279.3995361328125 + ], + [ + 323.46893310546875, + 223.81951904296875 + ], + [ + 317.36688232421875, + 179.2413330078125 + ], + [ + 317.9820251464844, + 152.74900817871094 + ], + [ + 308.203369140625, + 130.82528686523438 + ], + [ + 300.0482177734375, + 133.2264404296875 + ], + [ + 295.6680908203125, + 136.1295623779297 + ], + [ + 282.11651611328125, + 131.12290954589844 + ], + [ + 275.80841064453125, + 130.31838989257812 + ], + [ + 272.94287109375, + 127.20653533935547 + ], + [ + 271.11700439453125, + 128.29275512695312 + ], + [ + 270.356201171875, + 141.13906860351562 + ], + [ + 265.6772766113281, + 142.81814575195312 + ], + [ + 264.733154296875, + 154.40670776367188 + ], + [ + 265.0459289550781, + 164.07127380371094 + ], + [ + 263.73388671875, + 165.85064697265625 + ], + [ + 263.53668212890625, + 164.72634887695312 + ], + [ + 264.5712890625, + 121.18769073486328 + ], + [ + 254.04574584960938, + 64.4585189819336 + ], + [ + 250.58016967773438, + 51.21665954589844 + ] + ], + "depth_max": 1.7907272577285767, + "depth_min": 0.1338762491941452, + "intrinsic": [ + [ + 517.1640014648438, + 0.0, + 259.0 + ], + [ + 0.0, + 516.8826904296875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.8552111214376055e-05, + -3.250827285228297e-05, + 1.9414832422626205e-05 + ], + [ + -1.855164191510994e-05, + 1.0, + 1.4485433894151356e-05, + -6.591300189029425e-05 + ], + [ + 3.2508542062714696e-05, + -1.4484829989669379e-05, + 1.0, + 5.908417733735405e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 40 + ], + "object_trajectory": [ + [ + 338.5, + 366.75 + ], + [ + 338.572265625, + 366.69390869140625 + ], + [ + 338.85601806640625, + 366.9775085449219 + ], + [ + 338.5137023925781, + 366.6885986328125 + ], + [ + 338.4698486328125, + 366.88482666015625 + ], + [ + 338.49505615234375, + 366.8379821777344 + ], + [ + 338.79193115234375, + 366.7305908203125 + ], + [ + 338.95831298828125, + 366.4202880859375 + ], + [ + 338.5201721191406, + 366.9349670410156 + ], + [ + 338.4286193847656, + 367.2186584472656 + ], + [ + 338.1991271972656, + 367.017578125 + ], + [ + 338.24310302734375, + 366.6888732910156 + ], + [ + 338.0486755371094, + 366.5946044921875 + ], + [ + 338.2528076171875, + 366.9355773925781 + ], + [ + 338.9580993652344, + 367.09625244140625 + ], + [ + 338.9057312011719, + 367.09417724609375 + ], + [ + 344.3501281738281, + 373.8556823730469 + ], + [ + 344.1376953125, + 363.7525329589844 + ], + [ + 346.8923645019531, + 362.97125244140625 + ], + [ + 346.2107238769531, + 361.635986328125 + ], + [ + 337.0062255859375, + 355.67791748046875 + ], + [ + 352.2011413574219, + 314.17645263671875 + ], + [ + 347.2789611816406, + 264.9791259765625 + ], + [ + 340.3511962890625, + 221.23069763183594 + ], + [ + 335.0867919921875, + 195.08078002929688 + ], + [ + 326.00933837890625, + 170.2843017578125 + ], + [ + 311.87506103515625, + 165.02105712890625 + ], + [ + 304.6514892578125, + 166.8743896484375 + ], + [ + 290.0909118652344, + 161.1182403564453 + ], + [ + 285.5014343261719, + 164.06971740722656 + ], + [ + 281.01007080078125, + 161.35397338867188 + ], + [ + 279.1034851074219, + 162.11830139160156 + ], + [ + 277.82183837890625, + 174.35096740722656 + ], + [ + 273.6107482910156, + 175.578369140625 + ], + [ + 272.2864074707031, + 186.52719116210938 + ], + [ + 276.4410400390625, + 200.80442810058594 + ], + [ + 275.9176330566406, + 201.6297607421875 + ], + [ + 276.10955810546875, + 200.9046173095703 + ], + [ + 277.5957336425781, + 198.15750122070312 + ], + [ + 277.557861328125, + 197.60121154785156 + ], + [ + 275.0791931152344, + 196.6061553955078 + ] + ] +} \ No newline at end of file diff --git a/003336_v2/lang.txt b/003336_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..d8e44d7540f3df846679d6be49d3911b9e126d47 --- /dev/null +++ b/003336_v2/lang.txt @@ -0,0 +1 @@ +move the blue figure on the top of the cloth diff --git a/003336_v2/object.ply b/003336_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..d27b2a119d02dd6c46fe4c847cca2c2451ffc6a8 Binary files /dev/null and b/003336_v2/object.ply differ diff --git a/003360/FAIL b/003360/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/003360/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/003376/FAIL b/003376/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/003376/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/003386_v2/FAIL b/003386_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/003386_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/003401_v2/FAIL b/003401_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/003401_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/003415_v2/data.json b/003415_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..a356d12874be5d9b61eeba2a041703e37fb8aa54 --- /dev/null +++ b/003415_v2/data.json @@ -0,0 +1,641 @@ +{ + "action_start": 5, + "action_end": 20, + "object_name": "silver pot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.29645900000000003, + 0.0, + 0.0, + 0.0, + 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": [ + [ + -1.744185351704175e-10, + 1.8357630693355276e-10, + -2.058140047278556e-10, + 2.0064314497637136e-07, + -3.6299493529133397e-07, + 1.0840318066004263e-07, + 1.0 + ], + [ + -0.0037623174306649076, + 0.010239207442215029, + -0.011040533288876955, + 0.00444871521132888, + 0.014395535535909554, + -0.014048197742900252, + 1.0 + ], + [ + -0.0026647979538679256, + 0.0066358362237773985, + -0.009763249653653605, + 0.015505904700660137, + -0.006081450151748032, + -0.034227949418630804, + 1.0 + ], + [ + -0.0005397996572999442, + 0.006997479827055023, + -0.007341175297236935, + 0.0032535505404343184, + 0.005799621294506735, + -0.012738395701451655, + 1.0 + ], + [ + 0.001311099024694784, + 0.0028074617698829046, + -0.014197880169063301, + -0.0008807227370403541, + 0.03720384128813291, + -0.016221694092078687, + 1.0 + ], + [ + 0.0007206372231045033, + 0.00021919932574306078, + -0.009631139954752739, + 0.00905521663267406, + 0.03019445663320592, + -0.028826293052908826, + 0.29645900000000003 + ], + [ + 0.0010980271430406918, + -0.0016283921499875564, + -0.0005167359057450006, + 0.0015416216543939804, + -0.008324915201325164, + -0.009419233863036154, + 0.0 + ], + [ + 9.234864464063852e-05, + 0.0003558767052661421, + 0.00021149878856707022, + 0.004404233039072731, + 0.0019271376992076544, + -0.0011711857925191108, + 0.0 + ], + [ + -0.00035306487789232843, + 0.0008908922560080107, + 0.0003211801655057592, + 0.0056198712031587765, + 2.081993434695497e-05, + 0.0033752998317128488, + 0.0 + ], + [ + 0.0003023230752625672, + 0.0027814777256651713, + 0.00741884777469971, + 0.014494213390577163, + -0.010421666229040685, + 0.009213491033781355, + 0.0 + ], + [ + 0.002408683431149916, + 0.006079675554971478, + 0.012305891280630612, + 0.016415729798034493, + -0.022738944981804437, + 0.02845007780347616, + 0.0 + ], + [ + 0.001868695285187294, + 0.003594846741336366, + 0.02056555433550561, + 0.004118310192213766, + -0.022789537742169706, + 0.030709065593426083, + 0.0 + ], + [ + 0.000307635516755278, + -0.005233634392211181, + 0.020880534063142428, + 0.01487331661786012, + -0.033579194353559425, + -0.003456350456541039, + 0.0 + ], + [ + -0.0026051479603309557, + -0.022813925898489698, + 0.017526716195073677, + -0.0038046406124716894, + -0.035917870013521334, + -0.06879984918740834, + 0.0 + ], + [ + -0.001816438700307732, + -0.04136753065745133, + 0.003965502626128395, + -0.015129428747099898, + -0.016771937722881804, + -0.13459339026237957, + 0.0 + ], + [ + -0.006635896959766574, + -0.041711945375340155, + -0.005831708976905409, + -0.016336001410806208, + 0.006983895420558655, + -0.12964485610606533, + 0.0 + ], + [ + -0.011680595590210896, + -0.03437777331195316, + -0.012759278191275022, + -0.024797798548318532, + 0.020079124191262416, + -0.11772963172414548, + 0.0 + ], + [ + -0.013146017209564764, + -0.025515701092944376, + -0.01855040725067296, + -0.04146689402553321, + 0.03664108710901274, + -0.09265278174054763, + 0.0 + ], + [ + -0.008466324318621876, + -0.01353904390225684, + -0.021280978009067045, + 0.022186440184366517, + 0.02383646974494524, + -0.04829703434890295, + 0.0 + ], + [ + -0.001173889815897916, + -0.0018403400619037003, + -0.013099160913597266, + 0.014285133785679527, + -0.009323198213866225, + -0.007904070288441456, + 0.0 + ], + [ + 0.0006023265669231614, + 0.00019933902468050047, + -0.006685941560331511, + 0.022549118064152784, + -0.006752512840511303, + -0.0015510314640452792, + 0.0 + ], + [ + 0.0012440617541394916, + 0.004133826228207599, + 0.0021595324450677834, + 0.03346117808816091, + -0.007668515526714381, + 0.04178013893982632, + 1.0 + ], + [ + 0.0018107915345202952, + 0.0017793324730930316, + 0.0013900239627480174, + -0.0004050611721226227, + -0.006826495939040037, + 0.015842799396510017, + 1.0 + ], + [ + 0.002247501000228802, + 0.007303189428479712, + -0.0007920472251051608, + 0.028279131297231315, + -0.012387641274987172, + 0.026120882466512254, + 1.0 + ], + [ + 0.001475035375856415, + 0.0022100144662401677, + 0.0022059465494925455, + -0.00041483634815623347, + -0.0021827684235167814, + 0.007217399938891445, + 1.0 + ], + [ + 0.0006701513796607272, + 0.0006190015697989382, + 0.00632494915259342, + -0.009551242788678213, + 0.005053205843278149, + -0.00325944061660587, + 1.0 + ], + [ + -0.0007488573703462176, + 0.0011704994640438088, + 0.02294446544088022, + -0.04354097584298077, + -0.012699859288967276, + 0.006660382869010623, + 1.0 + ], + [ + 4.5741004034649535e-05, + 0.003007362747586853, + 0.036087917481803566, + -0.07429347169404381, + -0.049454748485763665, + 0.021589344414154738, + 1.0 + ], + [ + -0.0017314467028092528, + 0.007167493845994098, + 0.012688996043365153, + -0.04745544905112795, + -0.040945271029107236, + 0.05145932805883317, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 231.36196899414062, + 177.80606079101562 + ], + [ + 231.6309051513672, + 182.3548126220703 + ], + [ + 229.0140380859375, + 200.26296997070312 + ], + [ + 215.2152099609375, + 208.13742065429688 + ], + [ + 206.93795776367188, + 214.30545043945312 + ], + [ + 207.02734375, + 228.15899658203125 + ], + [ + 204.26541137695312, + 231.69326782226562 + ], + [ + 201.76751708984375, + 229.18946838378906 + ], + [ + 199.15557861328125, + 227.8290252685547 + ], + [ + 196.80213928222656, + 225.34194946289062 + ], + [ + 196.0023193359375, + 224.6015625 + ], + [ + 193.69784545898438, + 219.28070068359375 + ], + [ + 191.72854614257812, + 195.0814971923828 + ], + [ + 183.25009155273438, + 174.95880126953125 + ], + [ + 201.57275390625, + 154.29840087890625 + ], + [ + 237.48776245117188, + 168.1398162841797 + ], + [ + 294.2877197265625, + 201.5146484375 + ], + [ + 324.819580078125, + 237.7709503173828 + ], + [ + 358.75360107421875, + 290.62738037109375 + ], + [ + 369.7623291015625, + 332.46551513671875 + ], + [ + 371.326171875, + 346.9945068359375 + ], + [ + 369.9400939941406, + 349.3979187011719 + ], + [ + 364.36444091796875, + 350.0146789550781 + ], + [ + 364.70751953125, + 354.80596923828125 + ], + [ + 356.7606201171875, + 347.2646789550781 + ], + [ + 354.6681823730469, + 347.34246826171875 + ], + [ + 354.99554443359375, + 343.253173828125 + ], + [ + 357.40081787109375, + 320.071533203125 + ], + [ + 353.33367919921875, + 278.1728210449219 + ], + [ + 341.2779541015625, + 252.37437438964844 + ], + [ + 338.2524719238281, + 247.76583862304688 + ], + [ + 337.5096435546875, + 247.55215454101562 + ] + ], + "depth_max": 1.8154445886611938, + "depth_min": 0.164984792470932, + "intrinsic": [ + [ + 419.341796875, + 0.0, + 259.0 + ], + [ + 0.0, + 420.2386779785156, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.0265683714533225e-06, + -6.776944792363793e-05, + -2.4315622795256786e-05 + ], + [ + -6.032253622834105e-06, + 1.0, + -8.388949208892882e-05, + -7.266138709383085e-06 + ], + [ + 6.776893860660493e-05, + 8.388989954255521e-05, + 1.0, + 8.958742546383291e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 31 + ], + "object_trajectory": [ + [ + 141.5, + 205.00001525878906 + ], + [ + 141.90274047851562, + 205.42030334472656 + ], + [ + 141.85781860351562, + 205.2661895751953 + ], + [ + 141.912353515625, + 205.09014892578125 + ], + [ + 142.2830810546875, + 204.99388122558594 + ], + [ + 141.95144653320312, + 205.127685546875 + ], + [ + 141.9847412109375, + 203.8686065673828 + ], + [ + 145.50660705566406, + 205.70346069335938 + ], + [ + 150.8453826904297, + 203.71170043945312 + ], + [ + 155.6674346923828, + 200.23284912109375 + ], + [ + 156.02330017089844, + 200.0252227783203 + ], + [ + 156.32411193847656, + 199.25416564941406 + ], + [ + 154.2512664794922, + 184.4520263671875 + ], + [ + 144.20462036132812, + 163.9768524169922 + ], + [ + 160.33424377441406, + 140.80445861816406 + ], + [ + 196.8026123046875, + 150.94793701171875 + ], + [ + 243.53399658203125, + 186.13632202148438 + ], + [ + 277.4452209472656, + 223.11996459960938 + ], + [ + 310.9026184082031, + 270.715576171875 + ], + [ + 331.25555419921875, + 295.663818359375 + ], + [ + 333.2442932128906, + 306.0455322265625 + ], + [ + 331.03826904296875, + 302.31207275390625 + ], + [ + 320.95953369140625, + 310.4898376464844 + ], + [ + 317.299560546875, + 309.419677734375 + ], + [ + 317.11822509765625, + 310.2274169921875 + ], + [ + 316.6972961425781, + 310.5306396484375 + ], + [ + 316.21783447265625, + 311.4407653808594 + ], + [ + 315.8302917480469, + 314.50335693359375 + ], + [ + 319.6820983886719, + 312.2353515625 + ], + [ + 327.88671875, + 297.5455322265625 + ], + [ + 313.97442626953125, + 303.6478271484375 + ], + [ + 314.60003662109375, + 303.59930419921875 + ] + ] +} \ No newline at end of file diff --git a/003415_v2/lang.txt b/003415_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..137cc1c3d3eac5a3012d98a9e3fec3471eb9fccc --- /dev/null +++ b/003415_v2/lang.txt @@ -0,0 +1 @@ +move the silver pot in bottom of the table diff --git a/003445_v2/FAIL b/003445_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/003445_v2/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/003459/data.json b/003459/data.json new file mode 100644 index 0000000000000000000000000000000000000000..848dd4c34d609d9285470352e6a0862dd5ca9f80 --- /dev/null +++ b/003459/data.json @@ -0,0 +1,403 @@ +{ + "action_start": 4, + "action_end": 15, + "object_name": "sweet potato", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 0.157509, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.8058609999999999, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.6101675548441108e-10, + -2.1269999650463944e-11, + 2.242621921499932e-10, + 5.709156803252033e-08, + 5.00502167546606e-08, + -1.3895489663793776e-07, + 1.0 + ], + [ + 0.009425108934731197, + 0.0039004933442662454, + -0.013624078813255641, + -0.025254397246992282, + -0.013968163664309328, + -0.014967784575265958, + 1.0 + ], + [ + 0.003891950703129532, + 0.002802763385081307, + -0.010369450301671752, + -0.0198933543420117, + -0.00632881554407689, + -0.007913604833833692, + 1.0 + ], + [ + 0.0007897939693572997, + 0.0027957374462878465, + -0.012287277113379302, + -0.018320814686317466, + -0.012497617453406948, + -0.010420630478421646, + 1.0 + ], + [ + 0.0017397435420359875, + 0.0025784916495854987, + -0.003333316117658639, + 0.0032068681201846334, + -0.01671726834575252, + -0.0059238534591699085, + 0.157509 + ], + [ + 0.0056421965590716106, + 0.0007684514420668864, + 0.011432490933560377, + 0.02678749232954768, + -0.010320340434264256, + -0.008809881252291355, + 0.0 + ], + [ + 0.0030531817428927632, + 0.0006810717037686875, + 0.02800811586560268, + 0.07244497932894722, + -0.014434536999084542, + -0.004148223921607759, + 0.0 + ], + [ + -0.0013192778632631352, + 0.006609450967310214, + 0.03160390229858845, + 0.07639021670133939, + -0.0027408435831813966, + 0.00876946578433861, + 0.0 + ], + [ + -0.012141161641267328, + 0.0059928529576804, + 0.0197859604336413, + 0.045106277712302086, + 0.0037434909398493693, + 0.028341109873635105, + 0.0 + ], + [ + -0.023573387629909015, + 0.0035981614845358445, + 0.007604754081245418, + 0.002029680404366518, + 0.021491153093531674, + 0.0518579473451701, + 0.0 + ], + [ + -0.02624922172542843, + 0.0008104638363169575, + -3.646582853272795e-05, + 0.006604034075785575, + -0.005176684310356751, + 0.055673532256430285, + 0.0 + ], + [ + -0.022275370540569883, + 0.0013799995967795353, + -0.005789898209114297, + -0.01914356282346996, + -0.006798671591678686, + 0.04584446077764117, + 0.0 + ], + [ + -0.010744562984722927, + 0.0009888605157504365, + -0.010512215983205106, + -0.024214429277785835, + -0.012946892746533687, + 0.020387069940970094, + 0.0 + ], + [ + -0.005059788658955788, + 0.003144748864707933, + -0.01820998974923159, + -0.0389236031252315, + -0.04092479325076486, + 0.006126542182974838, + 0.0 + ], + [ + 0.0015738872405418047, + 0.004105976462831437, + -0.016283021697898234, + -0.02393913643821927, + -0.03827600554531964, + -0.009598002194111775, + 0.0 + ], + [ + 0.003922110964063585, + 0.003250258886193888, + -0.003784769937567281, + -0.0055163366494972955, + -0.02017770075209698, + -0.02328956042866017, + 0.8058609999999999 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 360.1424560546875, + 103.96114349365234 + ], + [ + 360.07916259765625, + 104.11373901367188 + ], + [ + 356.33306884765625, + 125.15796661376953 + ], + [ + 359.83966064453125, + 140.89080810546875 + ], + [ + 358.50347900390625, + 143.84786987304688 + ], + [ + 362.4324645996094, + 147.5040283203125 + ], + [ + 363.2008361816406, + 147.64027404785156 + ], + [ + 363.44775390625, + 147.29074096679688 + ], + [ + 350.6518249511719, + 128.99624633789062 + ], + [ + 350.029052734375, + 87.5426025390625 + ], + [ + 336.99658203125, + 67.90951538085938 + ], + [ + 320.353271484375, + 68.01536560058594 + ], + [ + 304.5059814453125, + 82.10430908203125 + ], + [ + 290.7110290527344, + 99.55201721191406 + ], + [ + 286.10540771484375, + 122.59639739990234 + ], + [ + 273.90008544921875, + 143.56622314453125 + ], + [ + 272.96240234375, + 149.81924438476562 + ], + [ + 271.3004150390625, + 148.0083465576172 + ], + [ + 271.9834899902344, + 146.9829864501953 + ] + ], + "depth_max": 1.7689247131347656, + "depth_min": 0.5418644547462463, + "intrinsic": [ + [ + 513.6922607421875, + 0.0, + 259.0 + ], + [ + 0.0, + 514.4389038085938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.4309460311778821e-05, + -5.0843547796830535e-05, + -1.618434180272743e-05 + ], + [ + -1.4311248378362507e-05, + 1.0, + -3.5160504921805114e-05, + -1.651163984206505e-05 + ], + [ + 5.0843045755755156e-05, + 3.516123251756653e-05, + 1.0, + -1.2243435776326805e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18 + ], + "object_trajectory": [ + [ + 365.5, + 149.0 + ], + [ + 365.4156494140625, + 149.33395385742188 + ], + [ + 365.142822265625, + 149.96231079101562 + ], + [ + 364.15435791015625, + 150.1460418701172 + ], + [ + 362.14984130859375, + 150.4329376220703 + ], + [ + 362.007080078125, + 150.85906982421875 + ], + [ + 361.53857421875, + 151.0286407470703 + ], + [ + 364.7179870605469, + 153.16400146484375 + ], + [ + 352.9942626953125, + 138.08209228515625 + ], + [ + 353.6969299316406, + 98.3365249633789 + ], + [ + 341.37841796875, + 81.11097717285156 + ], + [ + 323.8625793457031, + 82.1519546508789 + ], + [ + 305.61126708984375, + 96.36334228515625 + ], + [ + 293.2220458984375, + 114.35319519042969 + ], + [ + 288.6102600097656, + 136.55352783203125 + ], + [ + 277.35308837890625, + 156.45143127441406 + ], + [ + 275.3547668457031, + 161.3012237548828 + ], + [ + 271.6029052734375, + 156.6313018798828 + ], + [ + 283.0625, + 172.6451416015625 + ] + ] +} \ No newline at end of file diff --git a/003459/lang.txt b/003459/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a7a514e97db0da65c4c505d25e593ea8195b68a --- /dev/null +++ b/003459/lang.txt @@ -0,0 +1 @@ +put sweet potato in pan which is on stove diff --git a/003459/object.ply b/003459/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..5682f9e4c074038a66e1d5f0aa32f14fca6c90f7 Binary files /dev/null and b/003459/object.ply differ diff --git a/003460/data.json b/003460/data.json new file mode 100644 index 0000000000000000000000000000000000000000..0c266010c4fd7acdc25002e2822ef91fa3e8b375 --- /dev/null +++ b/003460/data.json @@ -0,0 +1,458 @@ +{ + "action_start": 6, + "action_end": 17, + "object_name": "sweet potato", + "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, + 0.009523999999999977, + 0.05103800000000003, + 0.17582399999999998, + 0.606349, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 3.768860223907211e-10, + -3.600495240493884e-10, + 1.3320081149181817e-11, + -2.226315256626243e-08, + 3.955048162728098e-08, + -6.200330790167289e-07, + 1.0 + ], + [ + 0.009190613170263151, + 0.0022474879804840224, + -0.012772699997272915, + -0.01577880960284128, + -0.014885691263465001, + -0.013476540439249798, + 1.0 + ], + [ + 0.005948862361009222, + 0.0026344492804595385, + -0.01250797532726082, + -0.018027200893667154, + -0.008923037664403022, + -0.011000461555324883, + 1.0 + ], + [ + -0.0025423354342525295, + 0.0004801082562883391, + -0.010843694135250437, + -0.021527373480103647, + 0.002208312581960788, + -0.0013295287368347108, + 1.0 + ], + [ + 0.0014901654764791772, + 0.004628339620323128, + -0.008600237690751356, + -0.008016405310203898, + -0.002970653964616641, + -0.010639470298102067, + 1.0 + ], + [ + 0.0029517042676733274, + 0.0011747829429303459, + -0.008773179152195516, + -0.027329298284401508, + -0.004136371485773951, + -0.0025864019753890372, + 1.0 + ], + [ + 0.0014242005012253811, + 0.0007346398929531442, + -0.006345842311650564, + -0.014318005065092353, + -0.004721344145576557, + 0.009498206899661965, + 1.0 + ], + [ + 0.0018173215465817072, + -0.00036834562284864154, + 0.00271880770437943, + 0.0073317877181130475, + -0.009291140355283193, + 0.0032505276520723007, + 0.0 + ], + [ + 0.006751803651966537, + 0.0003919901645720984, + 0.020213976614921535, + 0.04057313520899625, + -0.01560426628333715, + -0.03277782476386547, + 0.0 + ], + [ + 0.008319770130209514, + 0.008405216411683673, + 0.03005951181663075, + 0.07743661383147137, + -0.02288157253624989, + -0.053547869994145646, + 0.0 + ], + [ + 0.0004236610585506284, + 0.01457528247885102, + 0.027206895713609184, + 0.04462246873570253, + -0.007227127157014862, + -0.03978371580836563, + 0.0 + ], + [ + -0.011598307453547119, + 0.01237246044726819, + 0.013792841694125077, + 0.049392142431466037, + 0.01911620426691091, + 0.030336869390095108, + 0.0 + ], + [ + -0.02083262240910272, + 0.012452175535662593, + 0.009445919095197056, + 0.04244441796340324, + 0.011035363957445508, + 0.04822467101939972, + 0.0 + ], + [ + -0.018859363908320714, + 0.011177049491672537, + -0.00487618579996571, + -0.011468241110999996, + -1.9396382705450943e-05, + 0.03884032219129575, + 0.0 + ], + [ + -0.017022258202706586, + 0.008117345219409336, + -0.012121424825617011, + -0.018330030000377816, + -0.00127022318851711, + 0.029410174119439227, + 0.009523999999999977 + ], + [ + -0.011126462434342288, + 0.008698765899011057, + -0.014599633479714408, + -0.024771680693481457, + -0.012501289079313254, + 0.010907094019666075, + 0.05103800000000003 + ], + [ + -0.00550722802269954, + 0.008019434524681762, + -0.013883163993680281, + -0.023360055483505483, + -0.0331515558683279, + -0.00041704901344070657, + 0.17582399999999998 + ], + [ + 0.001344922983347041, + 0.0022487721740471894, + -0.010179129936646741, + -0.014809454162625064, + -0.026897847860316005, + -0.01613883061152281, + 0.606349 + ], + [ + 0.005310508436108252, + 5.846845400406253e-05, + -0.004836044619789925, + -0.011428184096194349, + -0.02654635840546932, + -0.030589149940939385, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 393.7562255859375, + 112.27540588378906 + ], + [ + 393.7658996582031, + 112.744384765625 + ], + [ + 391.4056396484375, + 126.85714721679688 + ], + [ + 397.01953125, + 144.27047729492188 + ], + [ + 390.48126220703125, + 151.58682250976562 + ], + [ + 392.4815673828125, + 155.96719360351562 + ], + [ + 386.9603271484375, + 159.59474182128906 + ], + [ + 385.442626953125, + 169.66546630859375 + ], + [ + 383.64697265625, + 172.0643768310547 + ], + [ + 382.44287109375, + 169.44288635253906 + ], + [ + 381.0906982421875, + 160.8907470703125 + ], + [ + 380.99432373046875, + 125.2171630859375 + ], + [ + 378.904052734375, + 95.44612121582031 + ], + [ + 360.14093017578125, + 77.31559753417969 + ], + [ + 338.39361572265625, + 70.37769317626953 + ], + [ + 310.9544677734375, + 86.96903228759766 + ], + [ + 290.8028564453125, + 109.25218200683594 + ], + [ + 272.6873779296875, + 130.84164428710938 + ], + [ + 262.48748779296875, + 141.7750244140625 + ], + [ + 264.7872314453125, + 140.1646728515625 + ], + [ + 268.8673095703125, + 142.31411743164062 + ], + [ + 268.95556640625, + 142.53427124023438 + ] + ], + "depth_max": 1.7801295518875122, + "depth_min": 0.5544938445091248, + "intrinsic": [ + [ + 515.242919921875, + 0.0, + 259.0 + ], + [ + 0.0, + 515.8701782226562, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.7716279873857275e-05, + -4.6165441744960845e-05, + -1.0733454473665915e-05 + ], + [ + -2.7717884222511202e-05, + 1.0, + -3.4726515877991915e-05, + -1.6651754776830785e-05 + ], + [ + 4.616448131855577e-05, + 3.472779644653201e-05, + 1.0, + 1.7279162420891225e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21 + ], + "object_trajectory": [ + [ + 382.75, + 167.75001525878906 + ], + [ + 383.078369140625, + 168.14208984375 + ], + [ + 382.5109558105469, + 168.0701446533203 + ], + [ + 382.14093017578125, + 168.09677124023438 + ], + [ + 381.5246276855469, + 168.10372924804688 + ], + [ + 381.48797607421875, + 168.25045776367188 + ], + [ + 381.1242980957031, + 168.65390014648438 + ], + [ + 380.931396484375, + 169.21414184570312 + ], + [ + 379.6742858886719, + 175.70022583007812 + ], + [ + 378.6522216796875, + 175.47235107421875 + ], + [ + 376.21868896484375, + 172.5467987060547 + ], + [ + 376.2060241699219, + 149.57061767578125 + ], + [ + 371.1734924316406, + 124.06049346923828 + ], + [ + 357.878173828125, + 105.74258422851562 + ], + [ + 336.8412780761719, + 98.7171859741211 + ], + [ + 314.4857177734375, + 113.2452163696289 + ], + [ + 296.2542724609375, + 134.38504028320312 + ], + [ + 279.70703125, + 153.01646423339844 + ], + [ + 269.0904541015625, + 162.6419677734375 + ], + [ + 270.427734375, + 160.79989624023438 + ], + [ + 274.94451904296875, + 163.96974182128906 + ], + [ + 276.0521240234375, + 166.15187072753906 + ] + ] +} \ No newline at end of file diff --git a/003460/lang.txt b/003460/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a7a514e97db0da65c4c505d25e593ea8195b68a --- /dev/null +++ b/003460/lang.txt @@ -0,0 +1 @@ +put sweet potato in pan which is on stove diff --git a/003460/object.ply b/003460/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..f2c0cc16d164c2cbc6feb1395171ae892341c19e Binary files /dev/null and b/003460/object.ply differ diff --git a/003468/FAIL b/003468/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/003468/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/003472/data.json b/003472/data.json new file mode 100644 index 0000000000000000000000000000000000000000..47228d06f74161b2a0f75701ae91f9e07d3e0243 --- /dev/null +++ b/003472/data.json @@ -0,0 +1,403 @@ +{ + "action_start": 4, + "action_end": 13, + "object_name": "sweet potato", + "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, + 0.171917, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 5.551115123125783e-17, + 0.0, + 0.0, + 5.224401381196831e-09, + 2.6863306537360903e-08, + -1.632860801929157e-07, + 1.0 + ], + [ + 0.0015488530874913364, + 0.007282100903953925, + -0.012717533974282241, + -0.03051446070100205, + -0.014143541193674556, + 0.010998016082081482, + 1.0 + ], + [ + 0.000765384395863683, + 0.002793013079549274, + -0.014165457468836629, + -0.013692145696665525, + -0.026570589499144766, + -0.002737783718963883, + 1.0 + ], + [ + -0.0008254718406467687, + -0.001944064931949735, + -0.011337035948834458, + -0.00376146835115539, + -0.022316091021713884, + 0.006426411123852053, + 1.0 + ], + [ + -0.0011182909186354395, + -0.0037768033089786435, + -0.008184878808423869, + -0.0049412374210309916, + -0.018824028975956624, + 0.007333774166576597, + 1.0 + ], + [ + 0.00029618229048716804, + -0.007788806588048772, + -0.007417552603386595, + 0.006044407077601511, + -0.026900755870589238, + 0.020162633192013057, + 0.0 + ], + [ + 0.002947297195057874, + 0.003184152991167706, + 0.006723785527145563, + 0.02332436531107393, + -0.0026757367372966705, + -0.025781478816785015, + 0.0 + ], + [ + 0.001146328313990086, + 0.007556350905940652, + 0.02918830878522323, + 0.05024603423408976, + 0.023598164464954555, + -0.02296934982846553, + 0.0 + ], + [ + 0.007702237325459049, + 0.011704572652354785, + 0.031775736836775884, + 0.0521411064672819, + 0.02390564960347897, + -0.04096462407327996, + 0.0 + ], + [ + 0.017265142290817492, + 0.005226329611330113, + 0.020461267212003018, + 0.03382243198248922, + -0.017912475002243407, + -0.0488746675651282, + 0.0 + ], + [ + 0.01985956468759681, + 0.003572123691760007, + 0.0012276862546626022, + 0.009888099854975333, + -0.053794450668329934, + -0.05648223702463437, + 0.0 + ], + [ + 0.01837081586466044, + 0.0013264762815057424, + -0.012177349782706307, + 0.00042346352411574815, + -0.04647906675426841, + -0.027846901298554053, + 0.0 + ], + [ + 0.010712042116280351, + 0.0029345430246005, + -0.004692697238008706, + 0.010236204920275271, + -0.019489387410987307, + -0.031098675226893486, + 0.0 + ], + [ + 0.002180739283992539, + 0.00047851994164863076, + -0.005120463036512091, + -0.0092299433210495, + -0.0027567456366792377, + -0.0158486866213452, + 0.171917 + ], + [ + -0.0018942286931928343, + -0.0035540864126739485, + -0.0026501895250624213, + -0.01761284701807403, + -0.008183255058090033, + 3.3328285469798337e-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 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 222.0072021484375, + 206.09249877929688 + ], + [ + 222.12356567382812, + 206.0672607421875 + ], + [ + 224.7930450439453, + 218.68255615234375 + ], + [ + 220.2967987060547, + 226.98651123046875 + ], + [ + 222.81842041015625, + 243.42202758789062 + ], + [ + 225.2357940673828, + 255.44247436523438 + ], + [ + 224.59725952148438, + 265.23004150390625 + ], + [ + 227.56483459472656, + 268.13092041015625 + ], + [ + 225.93429565429688, + 267.1436767578125 + ], + [ + 212.91220092773438, + 224.33840942382812 + ], + [ + 208.45083618164062, + 181.18190002441406 + ], + [ + 218.941162109375, + 141.9360809326172 + ], + [ + 233.3544158935547, + 132.8114471435547 + ], + [ + 246.01177978515625, + 141.54611206054688 + ], + [ + 252.69125366210938, + 138.75799560546875 + ], + [ + 255.61050415039062, + 139.25579833984375 + ], + [ + 257.8905029296875, + 137.04127502441406 + ], + [ + 258.18377685546875, + 137.93927001953125 + ], + [ + 258.2873229980469, + 137.90052795410156 + ] + ], + "depth_max": 1.7222903966903687, + "depth_min": 0.33184877038002014, + "intrinsic": [ + [ + 516.654052734375, + 0.0, + 259.0 + ], + [ + 0.0, + 517.0418090820312, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.499095302890055e-05, + -3.624995588324964e-05, + -1.0366472452005837e-05 + ], + [ + -4.499194255913608e-05, + 1.0, + -2.733267319854349e-05, + -1.6650450561428443e-05 + ], + [ + 3.6248722608434036e-05, + 2.7334303013049066e-05, + 1.0, + 1.9960771169280633e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18 + ], + "object_trajectory": [ + [ + 234.0, + 279.0 + ], + [ + 234.19412231445312, + 279.0662841796875 + ], + [ + 233.83653259277344, + 279.2841796875 + ], + [ + 233.84747314453125, + 279.6202392578125 + ], + [ + 233.063720703125, + 279.8165283203125 + ], + [ + 233.16749572753906, + 280.3394470214844 + ], + [ + 234.55809020996094, + 282.31585693359375 + ], + [ + 237.11483764648438, + 281.90240478515625 + ], + [ + 234.30941772460938, + 282.98870849609375 + ], + [ + 218.77101135253906, + 241.68991088867188 + ], + [ + 212.72152709960938, + 202.401611328125 + ], + [ + 222.11880493164062, + 163.7860870361328 + ], + [ + 235.96981811523438, + 152.3406219482422 + ], + [ + 247.08926391601562, + 157.19625854492188 + ], + [ + 251.99169921875, + 153.04095458984375 + ], + [ + 254.98123168945312, + 153.869384765625 + ], + [ + 258.8826904296875, + 156.9242401123047 + ], + [ + 269.93310546875, + 173.40850830078125 + ], + [ + 271.36724853515625, + 179.63052368164062 + ] + ] +} \ No newline at end of file diff --git a/003472/lang.txt b/003472/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a7a514e97db0da65c4c505d25e593ea8195b68a --- /dev/null +++ b/003472/lang.txt @@ -0,0 +1 @@ +put sweet potato in pan which is on stove diff --git a/003472/object.ply b/003472/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..2e9c1af7741aa7a2b840cf0471d6898f6b368e91 Binary files /dev/null and b/003472/object.ply differ diff --git a/003480_v2/FAIL b/003480_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/003480_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/003484_v2/FAIL b/003484_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/003484_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/003496_v2/FAIL b/003496_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/003496_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/003524/FAIL b/003524/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/003524/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/003596_v2/FAIL b/003596_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/003596_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/003636_v2/FAIL b/003636_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/003636_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/003640/data.json b/003640/data.json new file mode 100644 index 0000000000000000000000000000000000000000..8f17da4b0ab1100fa8fd3d689b37283980f6aa21 --- /dev/null +++ b/003640/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 14, + "action_end": 26, + "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, + 0.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.264117144295085e-10, + -7.012837532904825e-11, + -1.6750708459190022e-10, + -3.3971392386073323e-07, + -8.147656318339268e-07, + 1.6629592479670123e-07, + 1.0 + ], + [ + 0.01577140834314328, + -0.022687429643681867, + 0.024628781303219195, + 0.06490247184675153, + -0.03140061517900614, + -0.036916404892256276, + 1.0 + ], + [ + 0.0347507342549091, + -0.0360309275584198, + 0.02704142107350875, + 0.057893666476769, + -0.04284597436184345, + 0.03110041856113515, + 1.0 + ], + [ + 0.032303772991737034, + -0.021117477266540147, + 0.009447582756726663, + 0.003947594828754507, + -0.09283021290932014, + -0.04148225209594792, + 1.0 + ], + [ + 0.04172224595761481, + -0.017796614759933445, + -0.0017670708297813642, + -0.02647884136054044, + -0.09864345839071062, + -0.03894993728761632, + 1.0 + ], + [ + 0.034331859269731924, + -0.015188945805491683, + -0.008472157906551148, + -0.014827276612944765, + -0.08255460252496614, + -0.03899132785987537, + 1.0 + ], + [ + 0.022396476102638896, + -0.008974153052350144, + -0.014752671062527131, + -0.053722874682274324, + -0.0872988534158647, + -0.03250911994542804, + 1.0 + ], + [ + 0.010773200772393854, + -0.007029987992232659, + 0.0018709596818884955, + 0.0175508966092813, + -0.03238352711743588, + -0.0030978048184023593, + 1.0 + ], + [ + 0.011132181051773604, + -1.4707114250653297e-05, + -0.0037951007762180716, + -0.0033163556638333303, + -0.023433655646685477, + -0.040701128128459885, + 1.0 + ], + [ + 0.010870006638247554, + -0.0008344970461728262, + 0.013491353225343006, + 0.019252041367187955, + -0.008893931894786187, + -0.0067310140932455576, + 1.0 + ], + [ + 0.010637244659323974, + -0.002271491356948226, + -0.0008337464697703439, + -0.01934370299115098, + -0.02550394610169884, + -0.026156243664242563, + 1.0 + ], + [ + 0.010587914956096178, + -0.0007888735555485211, + -0.00862492750563136, + -0.016303167988276523, + -0.030457885190483605, + -0.032262328106212095, + 1.0 + ], + [ + 0.0068726342076482205, + 0.0020178392625268583, + -0.009453388091454129, + -0.014500039900962974, + -0.006355042180790145, + -0.029940031604581516, + 1.0 + ], + [ + 0.005663740078451829, + 0.004219513669246271, + -0.009195291006794372, + -0.01684826249558853, + -0.012161630148071013, + -0.030763237436536296, + 1.0 + ], + [ + 0.0025037045101872213, + 0.004158516167027318, + -0.00558457142795591, + -0.016974782096721687, + 0.01227825981246763, + -0.02612446148906223, + 1.0 + ], + [ + 0.0030068491059622726, + -0.0017097359711556546, + -0.004602296877985718, + -0.026612340412259874, + -0.0007626469196140048, + 0.0007272023235288201, + 0.0 + ], + [ + -0.001279672115013064, + -0.0031565022664471823, + 0.00816273733243656, + 0.0121016960365075, + 0.015240009706764375, + 0.02246152320726618, + 0.0 + ], + [ + -0.003932502965057039, + -0.0014703325997757616, + 0.019006406265113244, + 0.023100121500799556, + 0.026030694579045194, + 0.027922391093861784, + 0.0 + ], + [ + -0.0021526187052091084, + 0.0004988762196618812, + 0.020680154789563737, + 0.04809425353058781, + 0.00428028726133015, + 0.042823158894257855, + 0.0 + ], + [ + -0.006424993786944833, + 0.003824603986631689, + 0.011071679734765784, + 0.03679083071783501, + -0.004717708825152275, + 0.05256787181708781, + 0.0 + ], + [ + -0.02174088083464093, + 0.015934524320267908, + 0.011888653240746477, + 0.0684469475939867, + 0.045024879344656606, + 0.047923538060390555, + 0.0 + ], + [ + -0.023198617417058642, + 0.020864168639911057, + 0.0008982198985135539, + 0.07016761336205862, + 0.0437308206182281, + 0.0392176248332704, + 0.0 + ], + [ + -0.015735503093028735, + 0.017048022576315647, + -0.013160576548444158, + 0.012075813535671717, + 0.034909203693345395, + 0.008458152632122908, + 0.0 + ], + [ + -0.0013749327964522884, + 0.00308039680874201, + -0.01599580103061321, + -0.022346489846664843, + 0.010410289731666845, + -0.0027782521744560483, + 0.0 + ], + [ + 0.0010476221917877782, + -0.0008617035019134814, + -0.002509851201679389, + 0.0006923815888784716, + 0.009149529902457437, + 0.005361386756954049, + 0.0 + ], + [ + -0.008394383271737582, + -0.0038902038493203728, + -0.01970208229921714, + -0.031279780028454364, + 0.05344754843346902, + 0.004067887197810234, + 0.0 + ], + [ + -0.005453462536588016, + 0.00035876646655127326, + -0.014526063718853378, + -0.02630155445768922, + 0.011910266900326448, + -0.023509022251803322, + 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": [ + [ + 134.64581298828125, + 194.38525390625 + ], + [ + 134.5848388671875, + 194.306396484375 + ], + [ + 139.4757537841797, + 204.4385528564453 + ], + [ + 188.90158081054688, + 183.12887573242188 + ], + [ + 257.0505065917969, + 144.16163635253906 + ], + [ + 286.3194580078125, + 114.36888885498047 + ], + [ + 337.8119812011719, + 108.17961883544922 + ], + [ + 359.2000732421875, + 107.46007537841797 + ], + [ + 379.53179931640625, + 120.88835144042969 + ], + [ + 390.2423095703125, + 108.87645721435547 + ], + [ + 405.0002136230469, + 108.51641845703125 + ], + [ + 411.521728515625, + 85.54988861083984 + ], + [ + 419.3511047363281, + 97.7668228149414 + ], + [ + 423.87384033203125, + 97.88333892822266 + ], + [ + 423.4719543457031, + 103.02723693847656 + ], + [ + 418.35784912109375, + 112.77928924560547 + ], + [ + 417.7347106933594, + 107.48763275146484 + ], + [ + 416.2853698730469, + 111.897705078125 + ], + [ + 414.0193176269531, + 110.56958770751953 + ], + [ + 414.8716125488281, + 109.12653350830078 + ], + [ + 415.523193359375, + 95.22355651855469 + ], + [ + 415.8436279296875, + 76.0659408569336 + ], + [ + 391.23712158203125, + 64.69468688964844 + ], + [ + 372.5450439453125, + 70.57984924316406 + ], + [ + 343.4006652832031, + 90.15684509277344 + ], + [ + 340.8402404785156, + 93.43742370605469 + ], + [ + 340.9898681640625, + 93.3614501953125 + ], + [ + 342.50384521484375, + 102.20570373535156 + ], + [ + 340.8124694824219, + 123.66588592529297 + ] + ], + "depth_max": 1.6899261474609375, + "depth_min": 0.14430007338523865, + "intrinsic": [ + [ + 527.6409912109375, + 0.0, + 259.0 + ], + [ + 0.0, + 528.311767578125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.211613486404531e-05, + -0.0001061128277797252, + -1.9246659576310776e-05 + ], + [ + -4.211876876070164e-05, + 1.0, + -2.480253897374496e-05, + -1.6491454516653903e-05 + ], + [ + 0.00010611178004182875, + 2.480700823070947e-05, + 1.0, + 2.7143314582644962e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 430.0, + 107.00000762939453 + ], + [ + 430.18670654296875, + 107.27251434326172 + ], + [ + 430.2118225097656, + 107.07627868652344 + ], + [ + 430.28729248046875, + 107.15910339355469 + ], + [ + 430.3029479980469, + 107.0301513671875 + ], + [ + 430.3482360839844, + 107.08705139160156 + ], + [ + 430.4449157714844, + 107.1935806274414 + ], + [ + 430.29345703125, + 107.38215637207031 + ], + [ + 430.2114562988281, + 107.36658477783203 + ], + [ + 430.04034423828125, + 107.27943420410156 + ], + [ + 429.8388977050781, + 107.35733032226562 + ], + [ + 429.7568054199219, + 107.5335922241211 + ], + [ + 432.67230224609375, + 108.49435424804688 + ], + [ + 431.98297119140625, + 104.89114379882812 + ], + [ + 430.9214172363281, + 105.23526000976562 + ], + [ + 429.02532958984375, + 107.07466888427734 + ], + [ + 426.65423583984375, + 107.37852478027344 + ], + [ + 425.5871276855469, + 108.24596405029297 + ], + [ + 423.702880859375, + 107.61810302734375 + ], + [ + 423.7415466308594, + 108.05975341796875 + ], + [ + 419.17144775390625, + 97.40135192871094 + ], + [ + 414.95892333984375, + 85.11518096923828 + ], + [ + 398.9322814941406, + 73.90894317626953 + ], + [ + 374.0607604980469, + 78.18199157714844 + ], + [ + 347.1549987792969, + 94.58442687988281 + ], + [ + 342.3078918457031, + 98.22106170654297 + ], + [ + 341.7840270996094, + 98.14619445800781 + ], + [ + 343.80267333984375, + 108.4368896484375 + ], + [ + 344.01019287109375, + 127.67871856689453 + ] + ] +} \ No newline at end of file diff --git a/003640/lang.txt b/003640/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2dcec07a73efbfc9b570f02f0fe721202d4b5441 --- /dev/null +++ b/003640/lang.txt @@ -0,0 +1 @@ +take broccoli out of pan diff --git a/003640/object.ply b/003640/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..c9c7aadac33a0bbb4d7595c40fe4a6eb8567ebf7 Binary files /dev/null and b/003640/object.ply differ diff --git a/003647_v2/data.json b/003647_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..21ea3c335da8a4000826db66af6296d89d03d697 --- /dev/null +++ b/003647_v2/data.json @@ -0,0 +1,714 @@ +{ + "action_start": 10, + "action_end": 24, + "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, + 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, + 1.8387399707576433e-07, + -3.1793009802193956e-07, + 7.996190467206249e-07, + 1.0 + ], + [ + -0.01971413660979937, + 0.005256311330495089, + 0.005832950710910667, + 0.03370101333595754, + -0.05052477203030793, + 0.009001984291781851, + 1.0 + ], + [ + -0.023753270897277023, + 0.012435839633435614, + 0.0029041283119908626, + -0.011783489362270614, + -0.03170198747246749, + 0.034555690865841114, + 1.0 + ], + [ + -0.01966426819767314, + 0.010179022986054581, + 0.01039072827012976, + 0.017334090806870546, + -0.03571654282278251, + 0.026736127663337397, + 1.0 + ], + [ + -0.02007740664735963, + 0.0159179436601585, + 0.004736416239998598, + 0.022069054738998662, + -0.04244076839095041, + 0.06072518128103854, + 1.0 + ], + [ + -0.010486275469058948, + 0.01815242926024624, + -0.0076494809149066645, + 0.011529476447244105, + 0.021387354526636034, + 0.06339181603708992, + 1.0 + ], + [ + -0.0020894009624618515, + 0.01691349307747546, + -0.0156712320242393, + 0.02672728373060112, + 0.05662796487745125, + 0.054655300559822206, + 1.0 + ], + [ + 0.002274083923169079, + 0.011554667175349836, + -0.01378949873463832, + -0.00531932209184674, + 0.026532278151417805, + 0.024922070098945915, + 1.0 + ], + [ + 0.000435249523885628, + 0.011651642636368954, + -0.0136566609007936, + -0.01725534427354321, + -0.008967750440598377, + 0.02894017276230596, + 1.0 + ], + [ + 0.011460952599286978, + 0.0009638199553493182, + -0.017837934932106357, + -0.003612306081064504, + 0.01728436951087235, + -0.03558473015685913, + 1.0 + ], + [ + 0.008195609456649322, + -0.005490909688344883, + -0.009395371709743293, + 0.01135030855592733, + 0.030465536812018783, + -0.017927351542210798, + 1.0 + ], + [ + 0.004250545941871187, + -0.0039580117237135795, + -0.0048501133243133, + 0.02887112736417583, + 0.020426567160295252, + -0.0005357354025686227, + 0.0 + ], + [ + 0.0001293330350361499, + -0.0016500125125743573, + 0.0003383362792513271, + 0.008761292932711334, + 0.0045939350630718025, + -0.0005615030396082894, + 0.0 + ], + [ + -6.799971941129357e-05, + -0.0006277934983126912, + 0.0009647156849540315, + 0.010460453121862117, + 0.008120680431357134, + 0.00042154616750979615, + 0.0 + ], + [ + 0.0027966005107379344, + -0.003594324719784714, + 0.00753321395571869, + -0.0057449008115220525, + -0.004200206041661713, + -0.009314205137205687, + 0.0 + ], + [ + 0.006961049945669706, + -0.0028735134697606413, + 0.013807455993610575, + -0.0018524143716062876, + -0.012009716173515933, + 0.0001833967556082055, + 0.0 + ], + [ + 0.026092025696747345, + -0.004030397733151864, + 0.023301032540423948, + -0.020692983640635657, + -0.044779409172929455, + -0.013517126964824816, + 0.0 + ], + [ + 0.0380958727378497, + -0.010713042858216254, + 0.022734583403671446, + -0.011996746659628585, + -0.044385860153948006, + -0.023386457184564977, + 0.0 + ], + [ + 0.03614681635775646, + -0.014466795137272892, + 0.01179102469853495, + -0.005299119093690913, + -0.02233914230652211, + -0.03400746210973215, + 0.0 + ], + [ + 0.03431611843622101, + -0.013877024486187689, + 0.0009784541373557554, + -0.002165377929250092, + -0.008715154425854375, + -0.037270284713264726, + 0.0 + ], + [ + 0.030507579086073267, + -0.017376429020758255, + -0.012035002627431818, + 0.0020458253425248625, + 0.029502052532140673, + -0.04678467410518279, + 0.0 + ], + [ + 0.020358882324732486, + -0.011519530982936566, + -0.01799109614905025, + -0.009566035215307602, + 0.03708356930247641, + -0.04410795224655771, + 0.0 + ], + [ + 0.015189706521044677, + -0.007990522675741518, + -0.01754379096481281, + 0.003096374177512101, + 0.027202112742354498, + -0.036172677107179335, + 0.0 + ], + [ + 0.00825858061713347, + -0.005363821918791978, + -0.01364130338474558, + 0.005223046230866629, + 0.029283757386781146, + -0.022575074686558, + 0.0 + ], + [ + -0.0008189994806079293, + -0.0010192466530390965, + -0.0008695434021592809, + -0.0009797979237394748, + 0.010576122007000375, + -0.006881016301934795, + 0.0 + ], + [ + -0.007573773314345333, + 0.00025264309258013484, + 0.008219492314048999, + 0.0024038192563321397, + -0.006816773976620389, + 0.006159619168680627, + 1.0 + ], + [ + -0.002678098728420397, + -0.0002026782849658959, + 0.005332167739696212, + 0.005020706859615584, + -0.007862303989929213, + 0.00011382982460574782, + 1.0 + ], + [ + -0.0021248980062820166, + 0.0013622671579405499, + 0.0059683376042060764, + 0.0012082890135264213, + -0.007567237749306717, + 0.007339155326438264, + 1.0 + ], + [ + -0.00025878938244910943, + 0.00036895198364425563, + 0.009402779149553599, + -0.00041557616736372457, + -0.016390839508901262, + 0.003401853293760956, + 1.0 + ], + [ + -0.0027106764892513846, + 0.0026136734918282, + 0.016223564446750643, + 0.00017690982184683188, + -0.048614179709570396, + 0.009774825443454371, + 1.0 + ], + [ + -0.01415864881820661, + 0.005702652513946027, + 0.0252524109210324, + 0.003156192238692066, + -0.06492452835430247, + 0.009912373548917656, + 1.0 + ], + [ + -0.023545687655690983, + 0.0065291686675081895, + -0.0014114884821727972, + 0.012079106573398652, + 0.023692181722901735, + -0.020011925065056422, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 544.97607421875, + 220.64907836914062 + ], + [ + 542.8046875, + 226.3326416015625 + ], + [ + 513.690185546875, + 255.38705444335938 + ], + [ + 493.2840270996094, + 269.2318115234375 + ], + [ + 465.0904541015625, + 274.6728210449219 + ], + [ + 432.04656982421875, + 284.5561218261719 + ], + [ + 405.4823303222656, + 297.22857666015625 + ], + [ + 375.36968994140625, + 296.60308837890625 + ], + [ + 357.50213623046875, + 305.66400146484375 + ], + [ + 339.212158203125, + 316.4117126464844 + ], + [ + 339.38787841796875, + 327.5909423828125 + ], + [ + 347.94366455078125, + 323.7302551269531 + ], + [ + 357.4075012207031, + 325.5262451171875 + ], + [ + 357.1654052734375, + 324.4006652832031 + ], + [ + 359.8095703125, + 325.20513916015625 + ], + [ + 362.8282470703125, + 322.664306640625 + ], + [ + 370.01702880859375, + 311.60943603515625 + ], + [ + 397.88397216796875, + 274.20794677734375 + ], + [ + 435.81610107421875, + 208.39674377441406 + ], + [ + 467.782470703125, + 177.87770080566406 + ], + [ + 497.4173889160156, + 154.17352294921875 + ], + [ + 529.8675537109375, + 150.22964477539062 + ], + [ + 550.0262451171875, + 160.02244567871094 + ], + [ + 557.0827026367188, + 168.80734252929688 + ], + [ + 563.2352905273438, + 173.3603973388672 + ], + [ + 565.2725219726562, + 171.40521240234375 + ], + [ + 555.5332641601562, + 193.75189208984375 + ], + [ + 555.1258544921875, + 202.6541748046875 + ], + [ + 555.5316162109375, + 199.41259765625 + ], + [ + 559.221435546875, + 187.11148071289062 + ], + [ + 556.4322509765625, + 179.54473876953125 + ], + [ + 558.6087036132812, + 156.20452880859375 + ], + [ + 557.8955078125, + 154.18991088867188 + ], + [ + 551.9849853515625, + 161.0447998046875 + ], + [ + 551.429931640625, + 161.9516143798828 + ], + [ + 551.4705200195312, + 161.70790100097656 + ] + ], + "depth_max": 1.8855741024017334, + "depth_min": 0.09256923943758011, + "intrinsic": [ + [ + 543.6594848632812, + 0.0, + 259.0 + ], + [ + 0.0, + 542.7603149414062, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.156568269943818e-05, + 7.99221161287278e-05, + 9.758306987350807e-06 + ], + [ + -6.156342715257779e-05, + 1.0, + -2.8153379389550537e-05, + 4.411024747241754e-06 + ], + [ + -7.992384780663997e-05, + 2.8148459023213945e-05, + 1.0, + 4.1836785385385156e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 35 + ], + "object_trajectory": [ + [ + 349.0, + 323.0 + ], + [ + 349.1392822265625, + 322.98797607421875 + ], + [ + 349.38140869140625, + 322.93975830078125 + ], + [ + 349.33209228515625, + 323.25469970703125 + ], + [ + 349.42523193359375, + 323.384521484375 + ], + [ + 349.09893798828125, + 323.2613220214844 + ], + [ + 349.2061462402344, + 323.45062255859375 + ], + [ + 349.27276611328125, + 323.2987060546875 + ], + [ + 349.43182373046875, + 323.52032470703125 + ], + [ + 349.6258850097656, + 323.5133056640625 + ], + [ + 349.6478271484375, + 324.9939270019531 + ], + [ + 350.4743347167969, + 325.4482727050781 + ], + [ + 357.5084228515625, + 326.7201843261719 + ], + [ + 361.5996398925781, + 328.55810546875 + ], + [ + 364.1246032714844, + 331.4578552246094 + ], + [ + 366.1717834472656, + 329.43115234375 + ], + [ + 372.88629150390625, + 320.7926025390625 + ], + [ + 399.0882568359375, + 288.01385498046875 + ], + [ + 430.1207580566406, + 236.29421997070312 + ], + [ + 463.5535888671875, + 205.7930450439453 + ], + [ + 491.08013916015625, + 186.33998107910156 + ], + [ + 520.53662109375, + 181.70697021484375 + ], + [ + 541.8895263671875, + 191.4537353515625 + ], + [ + 548.7324829101562, + 200.07379150390625 + ], + [ + 556.5371704101562, + 196.08486938476562 + ], + [ + 558.342041015625, + 194.0049591064453 + ], + [ + 556.0128173828125, + 193.8806915283203 + ], + [ + 556.124755859375, + 194.0654296875 + ], + [ + 556.4506225585938, + 193.8833770751953 + ], + [ + 558.22802734375, + 193.30526733398438 + ], + [ + 559.0205688476562, + 194.75314331054688 + ], + [ + 558.3271484375, + 193.8834991455078 + ], + [ + 558.1766357421875, + 193.3029327392578 + ], + [ + 558.13818359375, + 193.76417541503906 + ], + [ + 558.27783203125, + 193.59078979492188 + ], + [ + 558.4203491210938, + 193.71157836914062 + ] + ] +} \ No newline at end of file diff --git a/003647_v2/lang.txt b/003647_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..75e716a41f24e686d8e16e07c1582fb846452100 --- /dev/null +++ b/003647_v2/lang.txt @@ -0,0 +1 @@ +move the carrot to the top middle table diff --git a/003647_v2/object.ply b/003647_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..8fd48a6e14c9a833d25bb0a7add1d24c80947aaa Binary files /dev/null and b/003647_v2/object.ply differ diff --git a/003650/FAIL b/003650/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/003650/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/003686_v2/FAIL b/003686_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/003686_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/003704/FAIL b/003704/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/003704/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/003707_v2/FAIL b/003707_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/003707_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/003712_v2/data.json b/003712_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..c9c8cff15227508f8cc192e31004fc15751f178b --- /dev/null +++ b/003712_v2/data.json @@ -0,0 +1,659 @@ +{ + "action_start": 8, + "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, + 0.0, + 0.0, + 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": [ + [ + 5.551115123125783e-17, + 0.0, + 1.3877787807814457e-17, + -1.8575987662633564e-07, + 2.749374807803516e-07, + 2.9325587215320452e-08, + 1.0 + ], + [ + -0.01874360670186964, + -0.007619063388089015, + -0.009707016889636752, + -0.018509805777662695, + 0.0401664777900885, + -0.011499018345750296, + 1.0 + ], + [ + -0.019107761727362726, + -0.010257153845902409, + -0.01098318996864843, + -0.012716374298904053, + 0.049334314844115906, + -0.02632664413522387, + 1.0 + ], + [ + -0.026627588833303295, + -0.009131364183996918, + -0.0121299790273122, + 0.020742967764539422, + 0.049248771360086166, + -0.030575031945306315, + 1.0 + ], + [ + -0.01905985198383059, + -0.010155789548247598, + -0.025386186144603445, + 0.033445554214926634, + 0.08586844354664619, + -0.06315563547473751, + 1.0 + ], + [ + -0.005973859577311613, + -0.0013689694364025368, + -0.018058597530846453, + 0.01748154147648537, + 0.04457921535877848, + -0.007291351907976527, + 1.0 + ], + [ + 0.005018373654591457, + 0.004218282367885531, + -0.008201449606566467, + 0.02059252898277881, + 0.017912411101363417, + 0.0219214446968665, + 1.0 + ], + [ + 0.001711082720535162, + 0.009031900331158527, + -0.0023589555261531274, + 0.012463718723726588, + 0.010800193646775829, + 0.035478616625646935, + 1.0 + ], + [ + 0.0007128936842867861, + 0.009699998093859963, + -0.006967205407749819, + 0.01874295797345217, + 0.023847956727571992, + 0.03098264892902102, + 1.0 + ], + [ + -0.0006391516516594531, + 0.0006030039934330628, + -0.003240715528731114, + 0.013675223954030875, + 0.019959097510004433, + -0.006029731667067011, + 0.0 + ], + [ + 0.0013852229543017125, + -0.0027308581615028277, + 0.0031273985550496824, + -0.00405369998103863, + -0.019017517222393143, + -0.01274621981877694, + 0.0 + ], + [ + 0.00027763276212527943, + -0.002817908380050485, + 0.007370219008024436, + -0.010536862391742473, + -0.02140518780593365, + -0.007620764476656542, + 0.0 + ], + [ + -0.0012603589117469172, + 0.0005575943073296147, + 0.012502711672024897, + -0.009053883504275892, + -0.030757680587684858, + 0.0005788800762598505, + 0.0 + ], + [ + -0.0005375127966867344, + 0.02171058760627636, + 0.0122804249480414, + 0.010407643535086995, + -0.038637994878572265, + 0.08331518589365244, + 0.0 + ], + [ + 0.00411256778769209, + 0.034501457817240976, + 0.0075269094035132905, + -0.011743206254457962, + -0.015975573305776966, + 0.13788477462870813, + 0.0 + ], + [ + 0.016680786127254654, + 0.039360244496164154, + 0.003091687613141346, + -0.00804250079987379, + -0.018058678511835707, + 0.1399013286771994, + 0.0 + ], + [ + 0.023514918160115417, + 0.03476792497300832, + 0.007103558581170816, + -0.0004537515658215836, + -0.0355726927908074, + 0.11786103036607731, + 0.0 + ], + [ + 0.015197522772263439, + 0.032580052842540064, + -0.002406955281299278, + -0.000610900120816598, + -0.011404636157191131, + 0.0984086452260693, + 0.0 + ], + [ + 0.0064230475807515175, + 0.029368584732829585, + -0.01192107845380301, + 0.013656465174924238, + 0.0272772739850115, + 0.08612644569474853, + 0.0 + ], + [ + 0.0040648794849929, + 0.01910833194729669, + -0.014835714151801585, + 0.008311084892891731, + -0.00031136555549449087, + 0.04147587451515537, + 0.0 + ], + [ + 0.006818783748764878, + 0.013972470920946903, + -0.016452337365940317, + -0.01636322867065625, + 0.030258910223591576, + 0.01993614543522852, + 0.0 + ], + [ + 0.00978235247799003, + 0.0013471038136518704, + -0.006773246712934508, + -0.014378902945886904, + -0.0004030143005131974, + -0.01717573701846788, + 0.0 + ], + [ + 0.005487760699161515, + -0.0009962209568563918, + -0.001089908785013636, + -0.004008231324165554, + -0.006492594052872211, + -0.006346215109549563, + 0.0 + ], + [ + -0.0021032611255984435, + -0.0012394400910790138, + 0.004317507630507226, + -0.010795634960531602, + -0.005025827451377755, + 0.036489513890393045, + 1.0 + ], + [ + 0.0011761006180162625, + -0.001837005497027533, + 0.0059325970935465745, + 0.009541742649478407, + -0.00643905035292209, + -0.012466905363257187, + 1.0 + ], + [ + 9.881593482446993e-05, + -0.0021183335251505064, + 0.005706535346503315, + 0.012375684245290394, + -0.004470099366104932, + -0.005106640419385599, + 1.0 + ], + [ + 0.0006325588636149626, + -0.00023594031119492098, + 0.01417976536498202, + 0.025292560209324126, + -0.019069703148906925, + -0.017899061026784527, + 1.0 + ], + [ + 0.0013231029380693649, + -0.0016360272022494238, + 0.02840853435024268, + 0.038579398980925356, + -0.07085131664404708, + 2.79451341136184e-05, + 1.0 + ], + [ + 0.00033880272296687997, + -0.007016814425166107, + 0.010189945496499896, + 0.0019692179891850833, + -0.03777102781197273, + -0.03183848050674517, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 479.5704345703125, + 97.80584716796875 + ], + [ + 478.0418701171875, + 104.47611236572266 + ], + [ + 464.94500732421875, + 149.32730102539062 + ], + [ + 469.8858642578125, + 183.90704345703125 + ], + [ + 466.2351989746094, + 219.591796875 + ], + [ + 472.3973388671875, + 251.7305908203125 + ], + [ + 466.2276306152344, + 276.051025390625 + ], + [ + 462.79656982421875, + 273.6176452636719 + ], + [ + 452.585693359375, + 283.7454833984375 + ], + [ + 439.428466796875, + 285.69195556640625 + ], + [ + 434.47467041015625, + 283.3870849609375 + ], + [ + 434.13397216796875, + 280.10748291015625 + ], + [ + 438.59283447265625, + 282.14422607421875 + ], + [ + 438.56231689453125, + 275.822265625 + ], + [ + 428.7273864746094, + 261.2760925292969 + ], + [ + 386.09033203125, + 233.2559814453125 + ], + [ + 351.2459411621094, + 203.27783203125 + ], + [ + 317.55072021484375, + 167.41368103027344 + ], + [ + 300.23443603515625, + 148.99343872070312 + ], + [ + 268.2973937988281, + 145.55108642578125 + ], + [ + 253.03384399414062, + 150.01303100585938 + ], + [ + 246.85394287109375, + 159.5516357421875 + ], + [ + 245.4324951171875, + 160.22927856445312 + ], + [ + 248.69891357421875, + 157.36239624023438 + ], + [ + 250.3868408203125, + 157.86318969726562 + ], + [ + 250.6108856201172, + 159.4332275390625 + ], + [ + 248.59422302246094, + 160.35960388183594 + ], + [ + 249.77008056640625, + 149.02752685546875 + ], + [ + 250.84767150878906, + 126.4200439453125 + ], + [ + 252.6576385498047, + 107.19251251220703 + ], + [ + 252.80567932128906, + 109.14598846435547 + ], + [ + 252.93609619140625, + 110.11375427246094 + ], + [ + 252.84596252441406, + 109.65443420410156 + ] + ], + "depth_max": 1.750879168510437, + "depth_min": 0.3868589699268341, + "intrinsic": [ + [ + 416.87786865234375, + 0.0, + 259.0 + ], + [ + 0.0, + 417.90667724609375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -0.00010100707004312426, + -0.00014785653911530972, + 5.08659468323458e-07 + ], + [ + 0.0001009991392493248, + 1.0, + -5.360858267522417e-05, + -6.779040268156677e-05 + ], + [ + 0.00014786195242777467, + 5.359364513424225e-05, + 1.0, + 1.281470940739382e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 32 + ], + "object_trajectory": [ + [ + 446.5, + 279.0 + ], + [ + 446.9348449707031, + 279.22174072265625 + ], + [ + 446.8826904296875, + 279.0609130859375 + ], + [ + 446.99493408203125, + 278.8786315917969 + ], + [ + 446.8251953125, + 278.8726806640625 + ], + [ + 447.04571533203125, + 278.9875183105469 + ], + [ + 446.3219299316406, + 279.35986328125 + ], + [ + 443.85546875, + 277.3309326171875 + ], + [ + 439.8072814941406, + 277.26373291015625 + ], + [ + 442.68310546875, + 276.98089599609375 + ], + [ + 438.0308837890625, + 275.4211120605469 + ], + [ + 435.10076904296875, + 274.8645935058594 + ], + [ + 437.16009521484375, + 275.5 + ], + [ + 436.7068176269531, + 271.640380859375 + ], + [ + 429.84454345703125, + 261.321533203125 + ], + [ + 396.11785888671875, + 243.54461669921875 + ], + [ + 367.60589599609375, + 216.6248321533203 + ], + [ + 340.0333557128906, + 184.9501953125 + ], + [ + 323.95819091796875, + 170.45677185058594 + ], + [ + 300.7172546386719, + 167.2017822265625 + ], + [ + 282.7803039550781, + 166.24176025390625 + ], + [ + 280.10992431640625, + 173.31442260742188 + ], + [ + 278.2528991699219, + 172.44801330566406 + ], + [ + 276.351806640625, + 169.21182250976562 + ], + [ + 274.5476989746094, + 168.38226318359375 + ], + [ + 277.985107421875, + 167.71429443359375 + ], + [ + 273.8040466308594, + 167.21868896484375 + ], + [ + 271.3255615234375, + 164.4920654296875 + ], + [ + 273.83984375, + 166.20533752441406 + ], + [ + 271.72515869140625, + 165.2167205810547 + ], + [ + 272.19140625, + 164.45864868164062 + ], + [ + 271.5510559082031, + 164.3207550048828 + ], + [ + 271.3536071777344, + 163.99069213867188 + ] + ] +} \ No newline at end of file diff --git a/003712_v2/lang.txt b/003712_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..5b8117fdd009c43a3b66f0f3d2730e0bf9dfbabb --- /dev/null +++ b/003712_v2/lang.txt @@ -0,0 +1 @@ +moved the red object from the top of the purple cloth to the upper left corner of the table diff --git a/003712_v2/object.ply b/003712_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..7fef53b9b895b13a330d74dddf334df61481508b Binary files /dev/null and b/003712_v2/object.ply differ diff --git a/003717/FAIL b/003717/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/003717/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/003723_v2/FAIL b/003723_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/003723_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/003740_v2/FAIL b/003740_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/003740_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/003754_v2/FAIL b/003754_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/003754_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/003756_v2/data.json b/003756_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..ada7ae76c5cc3bfcc3b256b69ad20ac5394a0c23 --- /dev/null +++ b/003756_v2/data.json @@ -0,0 +1,623 @@ +{ + "action_start": 7, + "action_end": 20, + "object_name": "blue spatula", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.520879, + 0.0, + 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": [ + [ + 2.404627885699284e-10, + -5.671049740918477e-11, + -2.209806643227452e-10, + -5.656989192832963e-07, + 1.4521209306707808e-07, + 7.383034729876009e-07, + 1.0 + ], + [ + -0.010105534440521619, + 0.024612839411515167, + 0.003968746477263724, + -0.0006380768374086142, + -0.004237053978319297, + 0.03754088429575153, + 1.0 + ], + [ + -0.006342879164349113, + 0.018510522973409466, + 0.008357501219471233, + 0.017299140982631234, + -0.010181113620014, + 0.03185846620600284, + 1.0 + ], + [ + -0.0030500275969573554, + 0.018460821644640836, + 0.002154471641841099, + 0.014674709275887887, + -0.0008975521175853225, + 0.014820726476957907, + 1.0 + ], + [ + 0.007148396689075326, + 0.008531142709322209, + -0.013436085873057606, + 0.0033347821894754875, + 0.05062521920462125, + 0.0005043248189783286, + 1.0 + ], + [ + 0.012699652293608421, + 0.0036755808890761178, + -0.02079538006904354, + -0.037308946419832775, + 0.028390268248153005, + -0.0766970863179386, + 1.0 + ], + [ + 0.011022953066303187, + -0.002333088352123201, + -0.013454858577142301, + -0.013704890363978492, + 0.02889282993281354, + -0.08182402321863737, + 1.0 + ], + [ + 0.006577830826249381, + -0.0018449989954121733, + -0.009300111104774408, + -0.011377659144361705, + 0.008731682746510849, + -0.03370152851379018, + 0.520879 + ], + [ + 0.0002876612234765652, + -0.002925010025614124, + -0.0028111335867314997, + -0.007418618954755569, + -0.007974987467498874, + -0.011143124797788255, + 0.0 + ], + [ + -0.0017362296141078537, + -0.0019529478803026086, + -0.0017840819416499992, + -0.0015317995505471874, + 0.0005535356564217982, + 0.002239285327376434, + 0.0 + ], + [ + -0.0029212718891701295, + -0.001063489967822774, + 0.00415768721113908, + -0.002348826531534003, + -0.005841615487231371, + 0.012257051617414427, + 0.0 + ], + [ + -0.006193641275818562, + -0.0017097316086766637, + 0.016353341527986693, + -0.01991796681328417, + -0.016080039129943834, + 0.05538875073234985, + 0.0 + ], + [ + -0.013481170074481602, + 0.008069842323844126, + 0.02253183855372124, + -0.06333954885453515, + -0.025778949621481816, + 0.2182484010561021, + 0.0 + ], + [ + -0.015946524814372337, + 0.023138649796122505, + 0.020997732655744367, + -0.00028675270121341896, + -0.058242762241703036, + 0.1644647746852087, + 0.0 + ], + [ + -0.0060813182522801434, + 0.02776947553727964, + 0.0020927010202957848, + 0.015733152553274152, + 0.01739676701401203, + 0.07391514475837084, + 0.0 + ], + [ + 0.0008971569172608329, + 0.036973757837231266, + -0.009273866473563597, + 0.025405301398784632, + 0.0715826905584537, + 0.037934867075446035, + 0.0 + ], + [ + 0.0038020954050996814, + 0.031091045494523753, + -0.012046407918986, + 0.023703229755894884, + 0.049834392721422746, + -0.03218188983586799, + 0.0 + ], + [ + 0.0031535908124242784, + 0.017842465182849016, + -0.007304333358523908, + 0.014535712133149513, + 0.019946934332405533, + -0.0284353400740539, + 0.0 + ], + [ + 0.006297334717199149, + 0.005112879175310586, + -0.012421164544213353, + 0.001955469845097371, + 0.01962971629291544, + -0.054703612119949944, + 0.0 + ], + [ + 0.007517425208375478, + 0.0032450539893774943, + -0.017989104960768804, + -0.005515605653873976, + 0.004716170624889089, + -0.06678436307089824, + 0.0 + ], + [ + 0.005265026982142318, + 0.0029710040048102626, + -0.008906192015666385, + -0.015663838937149392, + 0.01052121039398078, + -0.0028888542060728265, + 0.0 + ], + [ + 0.0014178575168903862, + -0.002771688362125574, + -0.0002887016688306876, + -0.02353879865584295, + -0.0009369449501545553, + -0.0019671338375630057, + 1.0 + ], + [ + -0.0010441091069091912, + -0.0028335037383922235, + 0.004415451618524441, + 0.017465601222668627, + -0.0021401373200196413, + 0.021169800614849535, + 1.0 + ], + [ + -0.0011368069087636101, + -0.002280871476240093, + 0.002261909782198517, + 0.002931306515195237, + 0.0053387905894745355, + 0.0003618034222621215, + 1.0 + ], + [ + -0.0006474829088662093, + -0.003088303296067074, + 0.015215654695847937, + 0.021919748987425866, + -0.01180016520246464, + 0.024600669518966833, + 1.0 + ], + [ + 0.0001873114041015811, + -0.0017813728176263866, + 0.02244643316864444, + 0.020332291703037682, + -0.028395528744865298, + 0.02197242287360839, + 1.0 + ], + [ + 0.0003565639119560149, + -0.003553201295353331, + 0.02247231768641053, + 0.013632494681726753, + -0.040075058170855535, + 0.008357347496117436, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 312.3274841308594, + 308.25897216796875 + ], + [ + 310.8404541015625, + 313.4829406738281 + ], + [ + 282.03558349609375, + 320.8074645996094 + ], + [ + 260.5023498535156, + 311.90740966796875 + ], + [ + 226.99598693847656, + 299.7885437011719 + ], + [ + 220.82171630859375, + 301.5286865234375 + ], + [ + 230.77232360839844, + 306.1392822265625 + ], + [ + 244.2109375, + 306.7569885253906 + ], + [ + 251.46548461914062, + 308.22198486328125 + ], + [ + 252.53036499023438, + 304.27520751953125 + ], + [ + 253.72393798828125, + 303.9100646972656 + ], + [ + 253.29562377929688, + 305.19378662109375 + ], + [ + 249.18519592285156, + 312.9797668457031 + ], + [ + 234.246826171875, + 304.4613342285156 + ], + [ + 190.49249267578125, + 289.8875427246094 + ], + [ + 150.42459106445312, + 278.681640625 + ], + [ + 115.0929183959961, + 266.19464111328125 + ], + [ + 89.58648681640625, + 257.8780822753906 + ], + [ + 75.89946746826172, + 252.11956787109375 + ], + [ + 75.98736572265625, + 254.29258728027344 + ], + [ + 84.731201171875, + 263.5423583984375 + ], + [ + 89.6524658203125, + 253.9716796875 + ], + [ + 88.25028991699219, + 252.62741088867188 + ], + [ + 90.2801513671875, + 253.1700439453125 + ], + [ + 91.74505615234375, + 255.447021484375 + ], + [ + 93.22265625, + 264.8133850097656 + ], + [ + 87.34898376464844, + 240.01475524902344 + ], + [ + 81.25032043457031, + 222.07159423828125 + ], + [ + 79.89570617675781, + 213.1653594970703 + ], + [ + 80.49127197265625, + 213.52725219726562 + ], + [ + 79.8088150024414, + 212.8964080810547 + ] + ], + "depth_max": 1.525941014289856, + "depth_min": 0.23727957904338837, + "intrinsic": [ + [ + 406.7238464355469, + 0.0, + 259.0 + ], + [ + 0.0, + 408.06378173828125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -6.427081098081544e-05, + 5.312827488523908e-05, + -3.6441488191485405e-05 + ], + [ + 6.427577318390831e-05, + 1.0, + -9.34981435420923e-05, + -5.457615407067351e-05 + ], + [ + -5.3122264944249764e-05, + 9.350156324217096e-05, + 1.0, + 6.567821401404217e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30 + ], + "object_trajectory": [ + [ + 268.0, + 323.75 + ], + [ + 267.75653076171875, + 324.6103210449219 + ], + [ + 267.4666442871094, + 324.1965026855469 + ], + [ + 267.79241943359375, + 323.5906677246094 + ], + [ + 268.16571044921875, + 324.0073547363281 + ], + [ + 267.75335693359375, + 324.2980041503906 + ], + [ + 267.0932922363281, + 323.94342041015625 + ], + [ + 267.07855224609375, + 323.68182373046875 + ], + [ + 260.6113586425781, + 320.0696105957031 + ], + [ + 259.70379638671875, + 320.7996826171875 + ], + [ + 260.9430847167969, + 320.89154052734375 + ], + [ + 260.3792724609375, + 321.5043640136719 + ], + [ + 255.57456970214844, + 329.0355529785156 + ], + [ + 242.80548095703125, + 320.033935546875 + ], + [ + 210.2553253173828, + 305.31884765625 + ], + [ + 177.07595825195312, + 292.3186340332031 + ], + [ + 141.90548706054688, + 279.5849914550781 + ], + [ + 116.48387145996094, + 269.95330810546875 + ], + [ + 101.6415023803711, + 264.61260986328125 + ], + [ + 99.79074096679688, + 267.2999267578125 + ], + [ + 105.44222259521484, + 276.42181396484375 + ], + [ + 106.6888656616211, + 268.17724609375 + ], + [ + 105.56549072265625, + 264.0059509277344 + ], + [ + 105.65138244628906, + 261.5514831542969 + ], + [ + 106.42227172851562, + 260.80694580078125 + ], + [ + 105.76010131835938, + 262.1931457519531 + ], + [ + 107.56712341308594, + 259.1572265625 + ], + [ + 107.82633972167969, + 257.87835693359375 + ], + [ + 106.75149536132812, + 259.6025390625 + ], + [ + 107.76885223388672, + 257.1830749511719 + ], + [ + 106.71304321289062, + 259.23577880859375 + ] + ] +} \ No newline at end of file diff --git a/003756_v2/lang.txt b/003756_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..bbf933f69fd86f9b6f4eae345ab8dad8af538e42 --- /dev/null +++ b/003756_v2/lang.txt @@ -0,0 +1 @@ +move the blue spatula to the left middle side diff --git a/003756_v2/object.ply b/003756_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..bd7f229a45f8db140eae2e624787df3c9b706dfd Binary files /dev/null and b/003756_v2/object.ply differ diff --git a/003808/FAIL b/003808/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/003808/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/003813_v2/FAIL b/003813_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/003813_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/003838/data.json b/003838/data.json new file mode 100644 index 0000000000000000000000000000000000000000..7b405bdc3f5422ff6253b3c60b824d8e6f42a40c --- /dev/null +++ b/003838/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 16, + "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, + 0.30989, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.443956, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.1102230246251565e-16, + -1.474514954580286e-17, + -1.3877787807814457e-17, + -7.095675668995194e-07, + 5.458178577229149e-07, + -1.0018570822808588e-07, + 1.0 + ], + [ + -0.006085538912507349, + -0.008332350499654466, + 0.02966415077108632, + 0.0287246870777966, + -0.06714495020566222, + 0.007465356921491981, + 1.0 + ], + [ + -0.008485975171565463, + -0.008048821363392848, + 0.019236131528168943, + 0.013534379129570909, + 0.019651272160553727, + 0.05267880546839377, + 1.0 + ], + [ + -0.021983388903349055, + -0.011595444523324998, + 0.01258013008622022, + 0.01527601321221267, + 0.035498517843900554, + 0.11968669166846439, + 1.0 + ], + [ + -0.028763007130857, + -0.01192580575075727, + -0.009798292272264697, + -0.009881092617533243, + 0.04268054659607791, + 0.07585354203112173, + 1.0 + ], + [ + -0.01876934405975944, + -0.011910098529565392, + -0.01611798296570105, + -0.01658812052362252, + 0.00047343200306127154, + 0.04458849757792819, + 1.0 + ], + [ + -0.008847472066077167, + -0.006685772736841657, + -0.01452903003484024, + -0.0203408164602352, + 0.007770648988675937, + 0.006393570362168386, + 1.0 + ], + [ + -0.0036151693821828146, + -0.004581315883193243, + -0.015162977593986077, + -0.00773552732255643, + -0.0384895111303052, + -0.011903422368549837, + 1.0 + ], + [ + -0.008578304227173317, + -0.0057466117512412485, + -0.01912961709159186, + -0.005050945625477435, + -0.034308390690671306, + -0.002544496026010398, + 1.0 + ], + [ + -0.00568455194318529, + -0.004334559149210354, + -0.014750480994495982, + -0.020281811499118032, + -0.017982306969598114, + 0.01306531796126913, + 1.0 + ], + [ + -0.0020773204264913636, + -0.001692166131646189, + -0.011308823051725439, + -0.02246484560424387, + -0.014026373207555919, + -0.0007517608206592983, + 1.0 + ], + [ + -0.0007463661948287903, + -0.000439830977795555, + -0.008794512321142381, + -0.022349648212281702, + -0.010717946902051453, + -0.006787850408709558, + 1.0 + ], + [ + -0.0006536970838597056, + 0.0037314386359787594, + -0.012215591367403217, + -0.006100476372697724, + -0.01595373235227994, + -0.008380262246343945, + 1.0 + ], + [ + -0.0018399097103949102, + 0.0014025789223494622, + -0.009788486316831373, + -0.03110032849646486, + -0.008474896801121316, + 0.004011526140145995, + 1.0 + ], + [ + -0.0022765504383632784, + 0.0005868643799689238, + -0.007749284404065079, + -0.004876206762380933, + -0.0075648870055462, + 0.00947901778164387, + 1.0 + ], + [ + -0.0010051694035108638, + 0.000997279618969664, + -0.005753977892010893, + -0.004313885393481993, + -0.007784685624576102, + 0.009827878715856015, + 1.0 + ], + [ + -0.0030588768598814042, + -0.0011350464951792663, + -0.004792810136336596, + -0.011167583348781132, + 0.00865279185397197, + 0.027332109245714036, + 0.30989 + ], + [ + -0.0025710549211631073, + -0.004282874246890556, + 0.0009168565057813458, + 0.009864211894430906, + 0.012043602478951126, + 0.02722221373335427, + 0.0 + ], + [ + 0.0015121141022960416, + -0.000528336479548891, + 0.006228877302445699, + 0.004812473079037782, + 0.003874659524016125, + -0.008941383519658945, + 0.0 + ], + [ + 0.0031018591656157557, + 0.0032038816249881225, + 0.011966712779477678, + 0.007862515334004666, + 0.013977026867493966, + 0.0006875965100162465, + 0.0 + ], + [ + 0.0033797989103847292, + 0.007710460810282774, + 0.02297741205858818, + 0.013751930439885892, + 0.029620144972182634, + 0.01062929957236555, + 0.0 + ], + [ + 0.0029886274537078705, + 0.005728876281040247, + 0.019972495586083657, + 0.02913643951434427, + 0.0019379891308348239, + 0.01693275905857932, + 0.0 + ], + [ + 0.0040218362558662735, + 0.003504681242464662, + 0.010742690363971123, + 0.017348783136042566, + 0.00584808186069603, + 0.0025557379793388294, + 0.0 + ], + [ + 0.01754518229088267, + 0.025382506525568324, + 0.02163060056488874, + 0.08134221501091636, + 2.0026334197617846e-05, + -0.056318305537594336, + 0.0 + ], + [ + 0.030148440308308017, + 0.03655623166973415, + 0.01372387604386921, + 0.06925647675927624, + -0.02399026225208291, + -0.11236811103201867, + 0.0 + ], + [ + 0.02622200105907671, + 0.024833778070160982, + 0.010017770180897764, + 0.04940996862840096, + -0.011625533048322414, + -0.08341051560697413, + 0.0 + ], + [ + 0.027799627125803195, + 0.02624345508311103, + -0.015619689468005682, + 0.05760517338675891, + -0.10666465217492017, + -0.12606674989022204, + 0.0 + ], + [ + 0.018803830783736708, + 0.02020702342504325, + -0.0193324190323957, + -0.035280537890672745, + -0.03693892246335286, + -0.06602545419948183, + 0.0 + ], + [ + 0.015821632069574487, + 0.01829927436405135, + -0.011020296067580287, + 0.02423251598727253, + -0.05232984954066306, + -0.0546101405089043, + 0.0 + ], + [ + 0.010052661551383124, + 0.019095973310470304, + -0.0037368865541164836, + 0.05678681639111424, + -0.04387564258695862, + -0.03167109760703198, + 0.0 + ], + [ + 0.00823868610983769, + 0.014970269970071226, + -0.0035245816797905283, + 0.050581505058784955, + -0.036073467479151994, + -0.030963358711897135, + 0.0 + ], + [ + 0.003358143185119511, + 0.007417289939411251, + -0.00453092882329463, + -0.006910267994201605, + -0.02712216906043627, + -0.029637544256200413, + 0.443956 + ], + [ + -0.0023784556055191364, + 0.005598381382418707, + -0.0022197918642109793, + 0.0005766444768731731, + -0.0018710347106965018, + -0.015252729398627615, + 1.0 + ], + [ + -0.0063141202532691065, + 0.001693842730971895, + 0.0019782854625347915, + 0.012912030448118035, + -0.0020006680038060446, + 0.006572664353886512, + 1.0 + ], + [ + -0.003282291618770916, + 0.00040160131298880297, + 0.007518679735772069, + -0.0027547997693846012, + 0.032238656494418545, + 0.006092505767204104, + 1.0 + ], + [ + -0.0022660549525777562, + -0.007192192464066355, + 0.013428091717041228, + 0.008700171073379254, + 0.017125185715696333, + 0.020575738576909745, + 1.0 + ], + [ + -0.007257869753653612, + -0.02026605094338954, + 0.014573489107437616, + -0.043209740845583086, + 0.05568342562988072, + 0.035075723064217336, + 1.0 + ], + [ + -0.011363795807256771, + -0.02727008194701519, + 0.016824149474000023, + -0.021500070669325775, + 0.044105579402372586, + 0.061681684691263075, + 1.0 + ] + ], + "gripper_centers": [ + [ + 373.084228515625, + 148.53656005859375 + ], + [ + 371.81927490234375, + 154.32882690429688 + ], + [ + 365.3026123046875, + 151.49032592773438 + ], + [ + 380.773193359375, + 135.6356201171875 + ], + [ + 385.49627685546875, + 130.33274841308594 + ], + [ + 377.847900390625, + 158.0103759765625 + ], + [ + 381.49566650390625, + 206.13796997070312 + ], + [ + 383.9100646972656, + 243.36306762695312 + ], + [ + 379.0062255859375, + 269.59185791015625 + ], + [ + 379.9125061035156, + 307.298828125 + ], + [ + 384.2492980957031, + 332.3404541015625 + ], + [ + 385.2762145996094, + 346.3255615234375 + ], + [ + 385.80413818359375, + 359.3804626464844 + ], + [ + 381.549072265625, + 373.7601623535156 + ], + [ + 379.8468017578125, + 382.552734375 + ], + [ + 379.1610107421875, + 383.680419921875 + ], + [ + 380.4115905761719, + 387.64019775390625 + ], + [ + 380.44091796875, + 394.0538330078125 + ], + [ + 384.6679382324219, + 394.2979736328125 + ], + [ + 381.51397705078125, + 396.1239013671875 + ], + [ + 377.35089111328125, + 389.324951171875 + ], + [ + 367.23583984375, + 371.20635986328125 + ], + [ + 363.6197509765625, + 342.7020568847656 + ], + [ + 362.0723876953125, + 323.5762023925781 + ], + [ + 350.4932861328125, + 273.4569091796875 + ], + [ + 333.9571228027344, + 204.20892333984375 + ], + [ + 313.42498779296875, + 154.00289916992188 + ], + [ + 315.78204345703125, + 136.56976318359375 + ], + [ + 272.763916015625, + 137.2647705078125 + ], + [ + 294.41021728515625, + 135.1459197998047 + ], + [ + 288.86883544921875, + 127.12043762207031 + ], + [ + 287.25567626953125, + 125.00174713134766 + ], + [ + 278.34515380859375, + 123.91275787353516 + ], + [ + 278.2942810058594, + 123.15528106689453 + ], + [ + 270.936279296875, + 124.60015869140625 + ], + [ + 265.00823974609375, + 134.04806518554688 + ], + [ + 254.97695922851562, + 123.56153869628906 + ], + [ + 261.13104248046875, + 114.44334411621094 + ] + ], + "depth_max": 1.4536542892456055, + "depth_min": 0.14648574590682983, + "intrinsic": [ + [ + 506.1166076660156, + 0.0, + 259.0 + ], + [ + 0.0, + 505.8872375488281, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.569794949318748e-05, + -0.00011154993990203366, + -1.4585093595087528e-05 + ], + [ + -1.570521817484405e-05, + 1.0, + -6.517793372040614e-05, + 2.679224962776061e-06 + ], + [ + 0.00011154892126796767, + 6.517967995023355e-05, + 1.0, + -2.2808271751273423e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 366.25, + 408.0 + ], + [ + 366.4177551269531, + 407.9879455566406 + ], + [ + 366.5039367675781, + 407.8641357421875 + ], + [ + 366.48040771484375, + 407.95953369140625 + ], + [ + 366.5223693847656, + 408.06549072265625 + ], + [ + 366.5047912597656, + 407.9337158203125 + ], + [ + 366.3363342285156, + 407.96026611328125 + ], + [ + 366.40643310546875, + 408.0845031738281 + ], + [ + 366.4551086425781, + 408.02490234375 + ], + [ + 366.64434814453125, + 408.0293884277344 + ], + [ + 366.6375732421875, + 408.37872314453125 + ], + [ + 366.855712890625, + 408.3175964355469 + ], + [ + 367.1433410644531, + 408.2572937011719 + ], + [ + 366.97882080078125, + 408.37994384765625 + ], + [ + 366.80462646484375, + 408.2203063964844 + ], + [ + 363.84796142578125, + 400.10205078125 + ], + [ + 369.7696228027344, + 402.19476318359375 + ], + [ + 377.0024108886719, + 403.7455139160156 + ], + [ + 376.7791442871094, + 411.6968688964844 + ], + [ + 374.9493408203125, + 413.4530029296875 + ], + [ + 369.098388671875, + 408.0028076171875 + ], + [ + 361.4139099121094, + 389.538330078125 + ], + [ + 357.50885009765625, + 359.5271911621094 + ], + [ + 355.5505676269531, + 339.5607604980469 + ], + [ + 347.55047607421875, + 281.8412170410156 + ], + [ + 325.91656494140625, + 213.9933319091797 + ], + [ + 302.33477783203125, + 161.94300842285156 + ], + [ + 302.69720458984375, + 141.99664306640625 + ], + [ + 296.2748718261719, + 149.03582763671875 + ], + [ + 287.6995544433594, + 137.46009826660156 + ], + [ + 282.6896667480469, + 130.46177673339844 + ], + [ + 280.7767333984375, + 127.52241516113281 + ], + [ + 275.53619384765625, + 129.3507843017578 + ], + [ + 281.3710021972656, + 152.20416259765625 + ], + [ + 297.66973876953125, + 160.871826171875 + ], + [ + 299.09942626953125, + 164.61538696289062 + ], + [ + 300.01275634765625, + 162.74058532714844 + ], + [ + 299.88592529296875, + 162.1476593017578 + ] + ] +} \ No newline at end of file diff --git a/003838/lang.txt b/003838/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2dcec07a73efbfc9b570f02f0fe721202d4b5441 --- /dev/null +++ b/003838/lang.txt @@ -0,0 +1 @@ +take broccoli out of pan diff --git a/003838/object.ply b/003838/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..05243f0284753602df321df684296a5c7459e976 Binary files /dev/null and b/003838/object.ply differ diff --git a/003840_v2/FAIL b/003840_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/003840_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/003873/data.json b/003873/data.json new file mode 100644 index 0000000000000000000000000000000000000000..85c49154f6c68a5214ad0c470c225c70cbd74b43 --- /dev/null +++ b/003873/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 14, + "action_end": 26, + "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, + 0.910134, + 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": [ + [ + 4.1931441652209855e-10, + -3.364629130864216e-10, + -5.124628291164335e-10, + -5.696742152789002e-07, + -4.835687095323908e-07, + 6.841681548718884e-07, + 1.0 + ], + [ + 0.004497693216762355, + -0.027854939002802698, + 0.049343224047642804, + 0.03476516668895464, + 0.0480433823077278, + 0.019531543166328828, + 1.0 + ], + [ + 0.007902854716390961, + -0.04039079301186865, + 0.04087860994968551, + -0.015202912939130207, + 0.020555287460659447, + 0.008007389704977226, + 1.0 + ], + [ + 0.008751217103386, + -0.047778767941984934, + 0.027108068749198896, + -0.03740192984992589, + -0.027973701280410632, + 0.019369777901126754, + 1.0 + ], + [ + 0.008949289261050708, + -0.05134084695701485, + 0.006613369732346289, + 0.01315807876524357, + -0.0441073927525816, + -0.020623927472647546, + 1.0 + ], + [ + 0.009000577150955757, + -0.04609468583327961, + -0.003531666372763559, + -0.006803930798615513, + -0.023688379685098997, + -0.023043799109729743, + 1.0 + ], + [ + 0.008697887777493252, + -0.04211818491375564, + -0.0023734648310332895, + -0.05398343195559541, + 0.01644959240936964, + -0.030436317016185967, + 1.0 + ], + [ + 0.00973239410795218, + -0.024717900434129567, + -0.008842583857215425, + -0.014008532788912183, + -0.0058670600295436266, + -0.03559867024531087, + 1.0 + ], + [ + 0.006477852624016123, + -0.02104114133472583, + -0.007374938647382895, + -0.010197184508284714, + -0.027144835290942252, + -0.01755367694646906, + 1.0 + ], + [ + 0.0008744840387352459, + -0.02023806021560408, + -0.018404703392817634, + -0.04187696023344621, + -0.030009388585368713, + 0.05120869727738466, + 1.0 + ], + [ + -0.004196018066446816, + 7.597992302810219e-05, + -0.013544679421362171, + -0.014233735717302048, + 0.003977037421144887, + 0.028778689642899685, + 1.0 + ], + [ + -0.0018727118858213876, + 0.012470681656564037, + -0.011775254832429999, + -0.006615652293797029, + -0.01098657631575175, + 0.014178928808317066, + 1.0 + ], + [ + -0.002003074098683555, + 0.006093657956131815, + -0.001345117264643536, + -0.04527492550490731, + -0.009898288310894364, + 0.03736362840298808, + 1.0 + ], + [ + -0.001114452533885757, + 3.6850714432629106e-05, + -0.0020786761469147874, + -0.0209322674611071, + 0.010360480630906093, + 0.02593286247206792, + 1.0 + ], + [ + 0.0017167347870106209, + 0.002729946646310627, + 0.00015256741236004123, + -0.0375854516104923, + 0.017396213903557854, + 0.009774803299216563, + 0.910134 + ], + [ + 0.002204377056238438, + -0.0004348431719472523, + 0.0006791878556489245, + -0.012193509631426644, + 0.011351588233403872, + 0.0024081180250815856, + 0.0 + ], + [ + 0.0013469325172108526, + -0.0001596420530096121, + 0.00035900695124541776, + 0.0055358759611097265, + -0.004325802557182097, + -0.0017602465164226473, + 0.0 + ], + [ + 0.0003250472055700282, + -0.0010062037145419922, + 6.136534546495598e-05, + 0.0036725854550175257, + -0.0066248995352413175, + 0.001899691901739052, + 0.0 + ], + [ + 0.00029064837710746083, + -4.254704544737198e-06, + 0.00038947187452760546, + -0.00832313007683127, + -0.002017513356437775, + -0.0009638451281457476, + 0.0 + ], + [ + 0.009335802965297624, + 0.019824145021631462, + 0.02158761648996852, + 0.03995914068595049, + 0.03405724870373415, + -0.02596572207601053, + 0.0 + ], + [ + 0.005927514626622721, + 0.029830789909815025, + 0.010970548458431893, + 0.06203652636684678, + 0.014871967767286554, + -0.042182817952820265, + 0.0 + ], + [ + 0.00911783458744786, + 0.025307995955482526, + -0.00035153303050478035, + 0.020740229491092117, + -0.011288280430459895, + -0.04932138768748086, + 0.0 + ], + [ + 0.011236551462164346, + 0.020297861094152714, + -0.006959727385930356, + 0.005398408921434068, + -0.030609778788672545, + -0.045390202775220975, + 0.0 + ], + [ + 0.00792053964225975, + -0.0022265118540929635, + -0.006673917530711629, + -0.011820605257256074, + -0.030868976839296822, + -0.01400261440448115, + 0.0 + ], + [ + 0.005115537813108251, + -0.009860026845835826, + -0.00654455005031071, + -0.0197836460047593, + -0.02537763672993063, + -0.003209473961553082, + 0.0 + ], + [ + 0.0029918822920664834, + -0.010587522246588259, + -0.009994813223048155, + -0.023095049627156358, + -0.02536372813857941, + -0.011355762166685105, + 0.0 + ], + [ + 0.002371154055099467, + 0.001160474462723729, + -0.00606792940585392, + 3.737303528693022e-05, + 0.00936947826130621, + -0.015415409968396214, + 0.0 + ], + [ + 0.0005570540195228846, + -0.0005274064581556603, + -0.001941539020629296, + -0.0010849651976835935, + -0.011606782534649945, + -0.0011695391864463564, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 131.51943969726562, + 201.2081298828125 + ], + [ + 131.41241455078125, + 201.21353149414062 + ], + [ + 131.2723388671875, + 214.076416015625 + ], + [ + 166.8417510986328, + 172.25833129882812 + ], + [ + 206.14451599121094, + 141.7886962890625 + ], + [ + 273.11968994140625, + 122.16365051269531 + ], + [ + 353.73974609375, + 134.33132934570312 + ], + [ + 421.60467529296875, + 146.54879760742188 + ], + [ + 497.2786865234375, + 167.37265014648438 + ], + [ + 531.739013671875, + 189.17835998535156 + ], + [ + 568.7918090820312, + 208.18756103515625 + ], + [ + 585.0450439453125, + 235.19459533691406 + ], + [ + 576.9136352539062, + 252.69515991210938 + ], + [ + 552.543701171875, + 271.30963134765625 + ], + [ + 537.2019653320312, + 277.33648681640625 + ], + [ + 540.3736572265625, + 280.47637939453125 + ], + [ + 532.055419921875, + 273.59442138671875 + ], + [ + 530.725341796875, + 273.535888671875 + ], + [ + 530.7269897460938, + 272.2294616699219 + ], + [ + 530.3563842773438, + 271.3153076171875 + ], + [ + 532.6746826171875, + 269.06903076171875 + ], + [ + 514.22314453125, + 221.2001495361328 + ], + [ + 481.36737060546875, + 191.89773559570312 + ], + [ + 446.4861145019531, + 170.80032348632812 + ], + [ + 434.808349609375, + 154.67324829101562 + ], + [ + 440.9419250488281, + 148.2303009033203 + ], + [ + 454.5353088378906, + 155.30743408203125 + ], + [ + 465.62567138671875, + 170.45947265625 + ], + [ + 463.78179931640625, + 182.0959014892578 + ] + ], + "depth_max": 1.8073636293411255, + "depth_min": 0.28231045603752136, + "intrinsic": [ + [ + 502.0338134765625, + 0.0, + 259.0 + ], + [ + 0.0, + 501.83172607421875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 9.8232994787395e-05, + -7.729979552095756e-05, + -2.2788830392528325e-05 + ], + [ + -9.823426080401987e-05, + 1.0, + -1.6407275325036608e-05, + 4.102379534742795e-06 + ], + [ + 7.729818025836721e-05, + 1.641486960579641e-05, + 1.0, + -3.324534191051498e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 519.5, + 307.25 + ], + [ + 519.8131713867188, + 307.4301452636719 + ], + [ + 520.0076293945312, + 307.653564453125 + ], + [ + 520.0523681640625, + 307.5352783203125 + ], + [ + 519.9280395507812, + 307.5454406738281 + ], + [ + 520.0823974609375, + 307.3468017578125 + ], + [ + 520.4334716796875, + 307.3399353027344 + ], + [ + 520.6157836914062, + 307.535888671875 + ], + [ + 520.1727294921875, + 307.8758544921875 + ], + [ + 520.204833984375, + 307.77178955078125 + ], + [ + 519.964111328125, + 308.02484130859375 + ], + [ + 519.8489990234375, + 307.8764953613281 + ], + [ + 519.8077392578125, + 307.97686767578125 + ], + [ + 519.814453125, + 308.6497497558594 + ], + [ + 519.985107421875, + 308.5914306640625 + ], + [ + 520.1557006835938, + 308.3938293457031 + ], + [ + 519.7489624023438, + 308.30291748046875 + ], + [ + 519.4928588867188, + 308.1711120605469 + ], + [ + 519.793701171875, + 308.9349670410156 + ], + [ + 519.3369750976562, + 308.64984130859375 + ], + [ + 520.7037353515625, + 307.2642822265625 + ], + [ + 498.60870361328125, + 271.10858154296875 + ], + [ + 472.7832336425781, + 242.36965942382812 + ], + [ + 442.4337463378906, + 220.55882263183594 + ], + [ + 434.9164733886719, + 203.14389038085938 + ], + [ + 440.77392578125, + 199.3633270263672 + ], + [ + 451.9300231933594, + 201.77891540527344 + ], + [ + 463.4990234375, + 215.56369018554688 + ], + [ + 460.67535400390625, + 226.1259307861328 + ] + ] +} \ No newline at end of file diff --git a/003873/lang.txt b/003873/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..bed03068e775b49ca8bd183fe7e2570e3357f057 --- /dev/null +++ b/003873/lang.txt @@ -0,0 +1 @@ +take carrot off plate diff --git a/003873/object.ply b/003873/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..9d9ca3e7820f023d10514623209f5cf3d4e13ed2 Binary files /dev/null and b/003873/object.ply differ diff --git a/003918_v2/data.json b/003918_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..9e0a62fbf1a367426891866b57ac26f38511925a --- /dev/null +++ b/003918_v2/data.json @@ -0,0 +1,604 @@ +{ + "action_start": 10, + "action_end": 22, + "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, + 0.845666, + 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": [ + [ + 6.507211436357352e-10, + -2.917402222579746e-10, + 3.644990281825855e-10, + -6.050986499429595e-07, + -2.5882460176721687e-07, + 5.7658911263701e-08, + 1.0 + ], + [ + -0.001333000988464672, + 0.03800926975466556, + 0.0009233430066193371, + -0.012763757788136631, + 0.0026798260921693747, + 0.06005958369722444, + 1.0 + ], + [ + 0.002423501590860244, + 0.036514949756794694, + 0.0024249143875737234, + 0.009324337029237701, + -0.008822376590257695, + 0.05151827856721959, + 1.0 + ], + [ + -0.0016011547217231747, + 0.03619333148524012, + -0.002355657671126124, + 0.04013013056197296, + -0.019285232368440163, + 0.02702355312589508, + 1.0 + ], + [ + -0.007036632443612856, + 0.04265906553471549, + -0.005928301799848212, + 0.01403668906762042, + -0.015601346586166907, + 0.053192939965114504, + 1.0 + ], + [ + -0.010739254000209808, + 0.029580881103675974, + -0.0016083672251950426, + 0.01319270420790529, + -0.021460366209170762, + 0.027937623988533476, + 1.0 + ], + [ + -0.0052673810029574275, + 0.030805922050794826, + -0.0045663521138796515, + -0.03702592497912362, + -0.0020044447634009, + 0.05575621643712184, + 1.0 + ], + [ + -0.0017357139557996337, + 0.014489016616371447, + -0.00863911788300431, + -0.04263493233376982, + 0.020128843675869135, + 0.03636264041415778, + 1.0 + ], + [ + -0.0038246592773392707, + 0.003577593744878732, + -0.011774209962479118, + 0.0013406647944536707, + 0.02630459944625213, + 0.02074079887197132, + 1.0 + ], + [ + 0.004160627286083185, + -0.0012778999784239797, + -0.01324744157811246, + 0.010913651592719556, + 0.035150337001826966, + 0.00809322266459165, + 1.0 + ], + [ + 0.0027215712643933743, + -0.0033953514470311807, + -0.008216865224433198, + 0.020464084017963863, + 0.02474692601101729, + -0.008682773098567078, + 0.845666 + ], + [ + -0.0021339240024565442, + -0.0014292815756880572, + -0.005972864972096155, + 0.016453469083639153, + 0.019801717811184415, + -0.002509436288110255, + 0.0 + ], + [ + -0.006196821360173188, + -0.0006840770960925557, + -0.0004989890791340795, + 0.025192543306587246, + 0.013747842586379672, + -0.008776483575697798, + 0.0 + ], + [ + -0.002261593256103256, + -0.003863609382738137, + 0.004860603328420088, + 0.01390708000537564, + -0.006761059565648433, + -0.02290174950754792, + 0.0 + ], + [ + 0.0014231746991975602, + -0.011638895774679608, + 0.020285445482620984, + 0.03209679875234167, + -0.007547913069392287, + -0.0031362767883139787, + 0.0 + ], + [ + 0.011513378497992166, + -0.023457949402231115, + 0.020642657330802817, + 0.02189551829690706, + -0.022455348440802794, + -0.02197412887290806, + 0.0 + ], + [ + 0.03335943660820423, + -0.05146600257073353, + 0.011065730945358218, + -0.039554563393790265, + -0.052705112305820076, + -0.09904468408395714, + 0.0 + ], + [ + 0.03291874582663712, + -0.047258219280417735, + -0.00414502844031206, + -0.03113282680994753, + -0.009467866186211494, + -0.09380574903002997, + 0.0 + ], + [ + 0.019024255824997616, + -0.025270088607148605, + -0.009856194968570056, + -0.020493122975281247, + 0.013361499624477417, + -0.04316587047555405, + 0.0 + ], + [ + 0.014648482426125542, + -0.016345374375437795, + -0.01254086767688696, + -0.006861408005132485, + 0.027998640744885128, + -0.03216075775341562, + 0.0 + ], + [ + 0.012019910767070985, + -0.010038864684738793, + -0.012008456786866288, + -0.00166413846454674, + 0.020885070629776577, + -0.013965354225987603, + 0.0 + ], + [ + 0.009026918995380218, + -0.007914867327475074, + -0.005190639341098244, + -0.002079455951509132, + 0.002143941649469416, + -0.029394576975033303, + 0.0 + ], + [ + 0.005662539470052519, + -0.00623936434725085, + -0.0017142134701954512, + 0.005158511843088522, + -0.001143352519557618, + -0.02331754633821058, + 0.0 + ], + [ + 0.0004179713730980694, + 0.001655058396283493, + 0.0067291769893133915, + -0.008674922841791787, + -0.0015704900561151292, + 0.012326673340922118, + 1.0 + ], + [ + -0.00035080178450891397, + -0.000910573189636596, + 0.01624466184013814, + -0.03681568176106401, + -0.029122361083048914, + 0.008111645438511, + 1.0 + ], + [ + -0.005216385018613656, + -0.0010748147598769534, + 0.020974241807650063, + -0.00930543401398809, + -0.0338528172226793, + 0.004583490434039382, + 1.0 + ], + [ + -0.009436389726451833, + 0.002452404355949546, + 0.014413476045614493, + 0.007286976386297358, + -0.01564994904594127, + -0.0014894713126495705, + 1.0 + ], + [ + -0.007087623694726097, + 0.0050877028667458135, + 0.007300440093044508, + 0.0035139040638438447, + -0.009814824443740206, + -0.0017487388937418552, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 440.4679260253906, + 156.14517211914062 + ], + [ + 439.5973205566406, + 159.01791381835938 + ], + [ + 414.4039611816406, + 172.4486846923828 + ], + [ + 342.420166015625, + 152.47103881835938 + ], + [ + 313.50518798828125, + 146.37057495117188 + ], + [ + 256.5233154296875, + 135.1721954345703 + ], + [ + 206.71102905273438, + 133.5309600830078 + ], + [ + 172.98683166503906, + 126.43340301513672 + ], + [ + 138.13616943359375, + 131.19985961914062 + ], + [ + 138.99652099609375, + 142.1744384765625 + ], + [ + 137.25445556640625, + 156.01271057128906 + ], + [ + 145.148193359375, + 166.5115203857422 + ], + [ + 149.65585327148438, + 170.09751892089844 + ], + [ + 145.51206970214844, + 175.7523193359375 + ], + [ + 138.22268676757812, + 179.25741577148438 + ], + [ + 143.79220581054688, + 165.10414123535156 + ], + [ + 169.35702514648438, + 153.10203552246094 + ], + [ + 221.00875854492188, + 127.07084655761719 + ], + [ + 307.5965881347656, + 119.73505401611328 + ], + [ + 367.4094543457031, + 127.2292251586914 + ], + [ + 380.6524353027344, + 135.16049194335938 + ], + [ + 406.8111877441406, + 143.25375366210938 + ], + [ + 415.5840148925781, + 142.5568389892578 + ], + [ + 421.0653991699219, + 138.861328125 + ], + [ + 431.4790344238281, + 144.27635192871094 + ], + [ + 437.4324645996094, + 148.41554260253906 + ], + [ + 442.54486083984375, + 129.5836944580078 + ], + [ + 442.330078125, + 109.03675079345703 + ], + [ + 438.30133056640625, + 105.02760314941406 + ], + [ + 436.8013610839844, + 102.60548400878906 + ] + ], + "depth_max": 1.9348334074020386, + "depth_min": 0.20249684154987335, + "intrinsic": [ + [ + 555.2005004882812, + 0.0, + 259.0 + ], + [ + 0.0, + 553.71337890625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.320622221915983e-05, + 0.00016769491776358336, + -3.081789691350423e-05 + ], + [ + -5.318871990311891e-05, + 1.0, + -0.0001043706142809242, + 8.374550816370174e-06 + ], + [ + -0.0001677004765952006, + 0.0001043616866809316, + 1.0, + 0.0001078863424481824 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 29 + ], + "object_trajectory": [ + [ + 70.75, + 174.25 + ], + [ + 69.50245666503906, + 175.94418334960938 + ], + [ + 69.41215515136719, + 175.9880828857422 + ], + [ + 71.05995178222656, + 174.34027099609375 + ], + [ + 71.08726501464844, + 174.39907836914062 + ], + [ + 71.04088592529297, + 174.45632934570312 + ], + [ + 70.94686889648438, + 174.5883331298828 + ], + [ + 70.87336730957031, + 174.63307189941406 + ], + [ + 70.95946502685547, + 174.69569396972656 + ], + [ + 71.081298828125, + 174.69346618652344 + ], + [ + 69.17292785644531, + 176.13241577148438 + ], + [ + 69.50639343261719, + 176.46485900878906 + ], + [ + 69.38142395019531, + 176.39068603515625 + ], + [ + 60.36444854736328, + 176.80770874023438 + ], + [ + 56.59857940673828, + 176.5015411376953 + ], + [ + 66.88661193847656, + 178.56591796875 + ], + [ + 86.94440460205078, + 163.65505981445312 + ], + [ + 141.82571411132812, + 140.8553466796875 + ], + [ + 222.305419921875, + 128.3763427734375 + ], + [ + 283.416748046875, + 135.57847595214844 + ], + [ + 299.4356384277344, + 141.81094360351562 + ], + [ + 325.52362060546875, + 147.11883544921875 + ], + [ + 334.81427001953125, + 139.7870330810547 + ], + [ + 341.32275390625, + 134.68328857421875 + ], + [ + 350.52325439453125, + 136.07313537597656 + ], + [ + 350.5922546386719, + 136.85952758789062 + ], + [ + 349.8448791503906, + 136.67059326171875 + ], + [ + 349.265380859375, + 136.6202392578125 + ], + [ + 348.9379577636719, + 136.4876251220703 + ], + [ + 348.88226318359375, + 136.3189697265625 + ] + ] +} \ No newline at end of file diff --git a/003918_v2/lang.txt b/003918_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..c65d6e3d0bdc6e38f1e1f6a80b1da4a4990bd6d8 --- /dev/null +++ b/003918_v2/lang.txt @@ -0,0 +1 @@ +move silver pot from bottom left of the table to top middle of the table diff --git a/003922_v2/data.json b/003922_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..b3d9d6846f1b34a117d08f01194c1ceaac5b1123 --- /dev/null +++ b/003922_v2/data.json @@ -0,0 +1,623 @@ +{ + "action_start": 8, + "action_end": 23, + "object_name": "can", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.504518, + 0.0, + 0.0, + 0.0, + 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, + -1.3877787807814457e-17, + -4.450970549508241e-08, + -2.377380826734056e-08, + 7.31450624383729e-08, + 1.0 + ], + [ + -0.008773803096394694, + -0.02573034018137148, + 0.0033374260627411917, + 0.022191381727641846, + -0.02206838115001987, + -0.07817559399865144, + 1.0 + ], + [ + -0.005410534260221422, + -0.022102353094179877, + 0.007166292109510239, + -0.002939131641172315, + -0.02924880443374219, + -0.06259411493195521, + 1.0 + ], + [ + -0.010121133592426057, + -0.03830884315236585, + 0.0034167359065392505, + -0.02528485817811978, + -0.015205823509308252, + -0.10251877903115761, + 1.0 + ], + [ + -0.013690629675347121, + -0.030986710714017804, + -0.010730852847701686, + -0.0020513922396011024, + 0.02160490183932742, + -0.08808271242431047, + 1.0 + ], + [ + -0.012492625280561609, + -0.01257991622653909, + -0.009624525034486103, + 0.005189937011063118, + 0.0018596795932935555, + -0.029121864367216987, + 1.0 + ], + [ + -0.005009154582118036, + -0.006391922995429289, + -0.005455004354585041, + 0.02696610961865529, + -0.00888705036000279, + -0.006690233459734544, + 1.0 + ], + [ + -0.0011120676074888869, + -0.0016040796019816672, + -0.0070052992852181195, + 0.009687028114498225, + 0.0068352281027556135, + 0.003504945856217119, + 1.0 + ], + [ + 0.001009062450135545, + 0.0012654793385361712, + -0.008743326609944924, + 0.011661443059056795, + 0.00944037258718021, + 0.009013730719541865, + 0.504518 + ], + [ + 0.0012477774050664858, + 0.00321366634588989, + -0.009088029552577634, + 0.012714631268010436, + 0.015956195792135627, + 0.012299007287678323, + 0.0 + ], + [ + 0.0004584001185053421, + 0.00264578883263053, + -0.005994688892536383, + 0.019042036089840307, + 0.011390573250441242, + 0.009309081816853366, + 0.0 + ], + [ + 0.0001706428742238031, + 0.0019621451417360936, + -0.005533019991081495, + 0.013051739666938733, + 0.007243964226788003, + 0.001641035917073782, + 0.0 + ], + [ + 0.001359665643587693, + 0.001071240684588859, + 0.013184334681606354, + -0.01695481814613197, + -0.0074489718634086, + -0.0028228833157464307, + 0.0 + ], + [ + 0.004223410464730792, + -0.0008289317050929196, + 0.03104227866995414, + -0.04273904117293677, + -0.05219264563305668, + -0.013587163289876384, + 0.0 + ], + [ + 0.008920666762968876, + 0.00889209874541512, + 0.037362077622244305, + -0.08200582652091985, + -0.06161400654406722, + 0.021587772556876824, + 0.0 + ], + [ + 0.01555127854027366, + 0.02054867414940907, + 0.031443514209496606, + -0.05613069721497245, + -0.04509126607276604, + 0.04605788137506078, + 0.0 + ], + [ + 0.02513066281244619, + 0.0403198603269229, + 0.010835446181800129, + 0.00236260277050846, + -0.01668940940819433, + 0.10281999572225511, + 0.0 + ], + [ + 0.020527600088168396, + 0.053718990847262366, + -0.0023673452612255064, + 0.029226702472563326, + 0.0028421520684102767, + 0.12929064748053137, + 0.0 + ], + [ + 0.012286901156283447, + 0.05545867010571017, + -0.009202338110605751, + 0.034893226493443376, + 0.021551393912859, + 0.10530127953629227, + 0.0 + ], + [ + 0.003397443163661751, + 0.04849355107492657, + -0.016344396568990532, + 0.023424757231208754, + 0.03652916600777596, + 0.08530991618423003, + 0.0 + ], + [ + 0.0005665222222002719, + 0.026613327651135055, + -0.020680664738645507, + 0.011379695915352844, + 0.020657679238925912, + 0.04312273698411121, + 0.0 + ], + [ + 0.003728542454257522, + 0.01358369511945548, + -0.02440840029778446, + 0.01918616546316841, + 0.04046553545851164, + 0.023700543713672882, + 0.0 + ], + [ + 0.0033710511283484013, + 0.0011444458510942723, + -0.01735655307212995, + -0.004009277432248641, + 0.023325943909057616, + 0.0028480844202931443, + 0.0 + ], + [ + 0.001860870365474887, + -0.0009733295312275292, + -0.00512072153816958, + 0.009711849557648424, + 0.023517324870217234, + -0.004727134350189335, + 0.0 + ], + [ + -0.002136886783915881, + 0.0014170356072764623, + 0.016700970059816737, + 0.006980868475055977, + -0.03910525262148425, + -0.010725500557282566, + 1.0 + ], + [ + -0.0040529043804813925, + -0.001785923003598866, + 0.02371013124040003, + 0.013698870708530346, + -0.03677188007421889, + -0.016749157316526174, + 1.0 + ], + [ + -0.0019888625680936634, + -0.0016861606655767802, + 0.0110116859993864, + -0.003012669133329395, + -0.007828155486853314, + -0.019958237538860335, + 1.0 + ], + [ + 0.0008614921338194748, + -0.004661202783755786, + 0.00462451796091809, + 0.008184501073305492, + 0.02168732953644025, + -0.03438372908018492, + 1.0 + ], + [ + 0.0014810688606122224, + -0.0005989166063081197, + -0.004242283344762135, + 0.0143414000112003, + 0.033517730305604634, + -0.0787635201796285, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 337.5907897949219, + 96.9840087890625 + ], + [ + 337.8125305175781, + 104.38697814941406 + ], + [ + 344.16961669921875, + 135.3016357421875 + ], + [ + 388.63775634765625, + 145.05911254882812 + ], + [ + 404.4141845703125, + 149.68087768554688 + ], + [ + 451.15594482421875, + 191.08677673339844 + ], + [ + 459.7942199707031, + 227.08111572265625 + ], + [ + 467.6634216308594, + 234.53912353515625 + ], + [ + 470.7145080566406, + 237.78297424316406 + ], + [ + 467.1020202636719, + 241.11593627929688 + ], + [ + 460.59832763671875, + 240.83587646484375 + ], + [ + 461.3992004394531, + 234.38638305664062 + ], + [ + 458.1015930175781, + 227.4354705810547 + ], + [ + 464.44366455078125, + 234.71737670898438 + ], + [ + 456.20135498046875, + 230.7125244140625 + ], + [ + 472.3146667480469, + 180.87521362304688 + ], + [ + 452.01123046875, + 118.85470581054688 + ], + [ + 419.062255859375, + 54.769775390625 + ], + [ + 366.3096923828125, + 31.814422607421875 + ], + [ + 310.84246826171875, + 20.182893753051758 + ], + [ + 264.1439514160156, + 24.87466812133789 + ], + [ + 227.22178649902344, + 40.045799255371094 + ], + [ + 221.54888916015625, + 62.7470588684082 + ], + [ + 227.38931274414062, + 82.83998107910156 + ], + [ + 225.64309692382812, + 81.03265380859375 + ], + [ + 227.4158477783203, + 81.62001037597656 + ], + [ + 218.7138214111328, + 73.80845642089844 + ], + [ + 217.14308166503906, + 49.01926040649414 + ], + [ + 215.44464111328125, + 49.010921478271484 + ], + [ + 217.3327178955078, + 42.73052215576172 + ], + [ + 220.019287109375, + 41.10084533691406 + ] + ], + "depth_max": 1.8816136121749878, + "depth_min": 0.4368407428264618, + "intrinsic": [ + [ + 495.00408935546875, + 0.0, + 259.0 + ], + [ + 0.0, + 494.4342041015625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.5825167287839577e-05, + 8.925608563004062e-05, + -3.0757655622437596e-05 + ], + [ + -3.5820918128592893e-05, + 1.0, + -4.7656852984800935e-05, + -1.042156418407103e-05 + ], + [ + -8.925778820412233e-05, + 4.765365883940831e-05, + 1.0, + -1.7461672541685402e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30 + ], + "object_trajectory": [ + [ + 420.0, + 268.2500305175781 + ], + [ + 420.2774353027344, + 268.2877502441406 + ], + [ + 420.29339599609375, + 268.2655334472656 + ], + [ + 420.30157470703125, + 268.3990478515625 + ], + [ + 420.26190185546875, + 268.48699951171875 + ], + [ + 420.1414489746094, + 268.3807067871094 + ], + [ + 420.1951904296875, + 268.40716552734375 + ], + [ + 420.1217956542969, + 268.5003662109375 + ], + [ + 420.1540222167969, + 268.41119384765625 + ], + [ + 419.96990966796875, + 268.43255615234375 + ], + [ + 419.7845458984375, + 268.48443603515625 + ], + [ + 419.7522277832031, + 266.9891662597656 + ], + [ + 422.8231506347656, + 263.0950622558594 + ], + [ + 422.578369140625, + 262.66949462890625 + ], + [ + 418.9290466308594, + 265.90435791015625 + ], + [ + 430.6536865234375, + 219.22994995117188 + ], + [ + 415.4876708984375, + 162.75416564941406 + ], + [ + 386.46929931640625, + 101.75997161865234 + ], + [ + 338.1180725097656, + 77.58012390136719 + ], + [ + 284.0994873046875, + 64.02958679199219 + ], + [ + 238.5839080810547, + 66.98467254638672 + ], + [ + 203.9037322998047, + 80.06137084960938 + ], + [ + 198.87628173828125, + 100.89391326904297 + ], + [ + 199.18255615234375, + 116.36160278320312 + ], + [ + 198.18182373046875, + 114.21142578125 + ], + [ + 197.63438415527344, + 114.39938354492188 + ], + [ + 197.45034790039062, + 115.01771545410156 + ], + [ + 197.54815673828125, + 115.32949829101562 + ], + [ + 197.7099609375, + 115.25135040283203 + ], + [ + 197.61322021484375, + 115.13028717041016 + ], + [ + 197.63294982910156, + 115.32108306884766 + ] + ] +} \ No newline at end of file diff --git a/003922_v2/lang.txt b/003922_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..149df8b43400ac69b73c19a39c4a3fc5968c2556 --- /dev/null +++ b/003922_v2/lang.txt @@ -0,0 +1 @@ +move the can to the upper left side of the table diff --git a/003924/data.json b/003924/data.json new file mode 100644 index 0000000000000000000000000000000000000000..bcdbab893d7dda0345ed01a8c20a2760b9ca79a6 --- /dev/null +++ b/003924/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 24, + "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, + 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 + ], + "gripper_actions": [ + [ + 2.7755575615628914e-17, + 1.3877787807814457e-17, + -1.3877787807814457e-17, + 6.418572028992911e-07, + -1.279663164596201e-07, + -9.991051287359954e-08, + 1.0 + ], + [ + 0.009723800272252114, + 0.0037254157866249225, + -0.003871327160587315, + 0.1330831746306893, + -0.05486978592323699, + -0.36359369227385047, + 1.0 + ], + [ + 0.008634423221688808, + 0.0018250095767014494, + 0.00589895961639772, + 0.0499212580292807, + 0.03343842395248247, + -0.3133059194485704, + 1.0 + ], + [ + 0.007404358568705749, + -0.006647509425440474, + 0.0019099918325302528, + 0.019908597107292467, + 0.051603434958152505, + -0.35156904723442817, + 1.0 + ], + [ + 0.007524007761291862, + -0.01745944296100705, + 0.0015158679019842691, + 0.02544392509057413, + 0.06345515582530102, + -0.3399798177282156, + 1.0 + ], + [ + 0.005996078135195315, + -0.015949079301892315, + 0.004413309897100759, + -0.0004240560886449383, + 0.12109280275175638, + -0.26979947583413283, + 1.0 + ], + [ + 0.0055946644164074355, + -0.02446285146055264, + 0.010736667380678439, + 0.050027436718833446, + 0.13172968557886636, + -0.0078110060932895424, + 1.0 + ], + [ + 0.00825719218499743, + -0.015194193970521179, + 0.0068405609966864095, + 0.05796127476643585, + 0.01771769168654917, + 0.07876668015330596, + 1.0 + ], + [ + 0.009552803204454063, + -0.013824105058808017, + -0.0005195684394607436, + -0.05483837023784493, + -0.05758312145863117, + -0.04500653759788153, + 1.0 + ], + [ + 0.007336650651358689, + -0.013063364892285937, + 0.0015823405448003036, + 0.00545459798298904, + -0.1000499529633586, + -0.16999818605177336, + 1.0 + ], + [ + 0.00873059328459691, + -0.003540251118260375, + -0.005923286043864273, + -0.018154590034950804, + -0.009169697369557084, + -0.19423878830164382, + 1.0 + ], + [ + 0.007450429849431173, + -0.0015877110269497605, + -0.00553050579533243, + -0.029438622143249212, + 0.08415983716644328, + -0.1390051935379268, + 1.0 + ], + [ + 0.0103728267613995, + -0.006090196029505862, + -0.00544082152453057, + 0.014168195131604592, + 0.012086187211105732, + -0.06283987298933146, + 1.0 + ], + [ + 0.007147548796819114, + -0.003521304241792842, + 0.0004237192908799897, + 0.024943610634280106, + 0.023120165194039543, + -0.03401686468586112, + 1.0 + ], + [ + 2.3995317446345865e-05, + -0.008318947463033303, + 0.0012396524844544843, + 0.0023749864997120924, + -0.01659789911533068, + 0.013449632802717588, + 1.0 + ], + [ + -0.005165730003122815, + 0.0032856138354100187, + -0.0034244994709509285, + 0.003574532775897307, + -0.005162556621706332, + 0.1437849326903915, + 1.0 + ], + [ + 0.0012479795445293762, + -0.003447212089220445, + -0.002673686272798237, + -0.016594784436358548, + -0.0032201808828642717, + 0.03398506942460164, + 1.0 + ], + [ + 0.0043546679861237725, + -0.009609308517085753, + -0.0026087613006247623, + -0.016319934666026076, + -0.004568039068206269, + -0.01646292411386545, + 1.0 + ], + [ + -0.0003229079583495498, + -0.012618944528691403, + -0.00776941258436116, + -0.021300347611868647, + -0.03406045904725813, + -0.04649703430527244, + 1.0 + ], + [ + 0.0009126139005344869, + -0.0084672681747274, + -0.002512348420948829, + 0.0023756274852815523, + -0.012657616867824885, + -0.09707962471538147, + 1.0 + ], + [ + 0.002092805935982267, + -0.013054419550721112, + -0.005612000816540785, + -0.02551271543188235, + 0.024247749553989173, + 0.006630010133397736, + 1.0 + ], + [ + 0.004864820716603657, + -0.011872768210581294, + -0.002680810945670478, + -0.0003017977379874203, + -0.00037092765766560915, + -0.009623538492848732, + 1.0 + ], + [ + 0.0029365864943273756, + -0.007737507227683418, + -0.006488639245882145, + 0.0017364157918342386, + 0.011869889696924605, + -0.017117079894612457, + 1.0 + ], + [ + -0.0009082435135634448, + -0.005802602444723498, + -0.012792685046364563, + -0.03395001008638048, + -0.0073585575027696245, + -0.001795641525298248, + 1.0 + ], + [ + -0.0026122118126193916, + 0.0036760900365893634, + -0.013458756406593796, + -0.03975323579030078, + -0.011465583485764225, + 0.01963064641813224, + 1.0 + ], + [ + 0.002362760173915901, + 0.003955633508723244, + -0.002138692899393786, + -0.021237964231115583, + 0.009952551660913224, + 0.004792110518955581, + 0.0 + ], + [ + 0.0014427953487401446, + -0.0008781633243151454, + 0.005347999950705687, + 0.00412702658113175, + 0.012702804048740083, + 0.016790077307489874, + 0.0 + ], + [ + -0.0016581706765263493, + -0.005746929923427721, + 0.01652133188998016, + 0.024195147746218875, + -0.009275556540770943, + 0.055969900342643986, + 0.0 + ], + [ + -0.005951791312257704, + -0.001994443099133311, + 0.025405548038546725, + -0.003936667403192644, + -0.06103377641410214, + 0.11141357777681425, + 0.0 + ], + [ + -0.016528983109253048, + 0.007385085550721551, + 0.021864037879350755, + 0.04122461843141202, + -0.0690118873633824, + 0.11689523576489716, + 0.0 + ], + [ + -0.027247424292415334, + 0.011761225127270264, + 0.009463845144217567, + 0.009965296093776508, + -0.01639506240295009, + 0.1379897538260455, + 0.0 + ], + [ + -0.02836461766340992, + 0.023296095270667172, + -0.013053359284821722, + -0.0014359851285015298, + -0.034187614838681255, + 0.1106813407029121, + 0.0 + ], + [ + -0.014638031933697837, + 0.021183075577600817, + -0.030821563306420552, + -0.07509346674826382, + 0.011470987265192035, + 0.06922425614666769, + 0.0 + ], + [ + -0.00756038249000901, + 0.009370732459775738, + -0.03366801819135494, + -0.035689837038993526, + 0.014002765807993476, + 0.0388035855998454, + 0.0 + ], + [ + -0.0035026471149543215, + 0.005092411071583463, + -0.029629969497402445, + -0.0032206187419819322, + -0.003693146560897452, + 0.02901493860020885, + 0.0 + ], + [ + 0.0017928143203843339, + -0.00020581279380636752, + -0.006393333500537434, + -0.02621891824610947, + 0.0058679367627180274, + -0.011958825947744762, + 1.0 + ], + [ + 0.002558173897681787, + -0.006888324122675257, + 0.022586082992461048, + 0.09171241235984615, + 0.018096180234019266, + -0.01723181771135064, + 1.0 + ], + [ + 0.0016353913459468683, + -0.003792045646591309, + 0.02635242931448114, + 0.08379010213403804, + 0.009030827182553137, + -0.00682123855750823, + 1.0 + ] + ], + "gripper_centers": [ + [ + 167.74603271484375, + 190.34384155273438 + ], + [ + 168.34083557128906, + 197.2268524169922 + ], + [ + 253.43026733398438, + 192.3062744140625 + ], + [ + 248.72738647460938, + 190.55465698242188 + ], + [ + 244.01043701171875, + 188.02947998046875 + ], + [ + 249.69920349121094, + 186.7955322265625 + ], + [ + 256.34722900390625, + 184.47055053710938 + ], + [ + 273.02984619140625, + 172.82913208007812 + ], + [ + 324.6417541503906, + 168.42160034179688 + ], + [ + 342.0925598144531, + 163.85189819335938 + ], + [ + 349.4593811035156, + 166.110595703125 + ], + [ + 389.24993896484375, + 172.49713134765625 + ], + [ + 387.537841796875, + 170.9011688232422 + ], + [ + 387.53570556640625, + 163.29544067382812 + ], + [ + 407.9073486328125, + 165.95376586914062 + ], + [ + 419.2014465332031, + 168.16815185546875 + ], + [ + 416.1155700683594, + 176.87124633789062 + ], + [ + 418.31451416015625, + 178.79074096679688 + ], + [ + 423.37286376953125, + 178.32528686523438 + ], + [ + 439.0310974121094, + 186.10276794433594 + ], + [ + 459.8602600097656, + 196.2060089111328 + ], + [ + 470.0003356933594, + 211.353515625 + ], + [ + 486.2237548828125, + 211.24002075195312 + ], + [ + 503.71197509765625, + 225.5785369873047 + ], + [ + 516.0458374023438, + 237.29336547851562 + ], + [ + 507.20709228515625, + 248.77847290039062 + ], + [ + 503.09332275390625, + 250.02639770507812 + ], + [ + 504.8000793457031, + 249.6862030029297 + ], + [ + 499.1054382324219, + 245.688720703125 + ], + [ + 517.1344604492188, + 225.69522094726562 + ], + [ + 517.699951171875, + 215.32778930664062 + ], + [ + 493.7538757324219, + 217.99441528320312 + ], + [ + 445.7979736328125, + 249.53106689453125 + ], + [ + 389.22943115234375, + 295.2716369628906 + ], + [ + 359.1016845703125, + 327.72509765625 + ], + [ + 361.7109375, + 351.8916015625 + ], + [ + 354.68231201171875, + 343.14984130859375 + ], + [ + 358.46728515625, + 353.4911193847656 + ] + ], + "depth_max": 1.3560155630111694, + "depth_min": 0.24839027225971222, + "intrinsic": [ + [ + 505.9181823730469, + 0.0, + 259.0 + ], + [ + 0.0, + 505.85784912109375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.8227186450967565e-05, + -3.624869714258239e-05, + -2.406273597443942e-05 + ], + [ + -3.822877260972746e-05, + 1.0, + -4.3854390241904184e-05, + -3.777047459152527e-05 + ], + [ + 3.6247023672331125e-05, + 4.385577267385088e-05, + 1.0, + -1.5122604054340627e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 494.5, + 257.7500305175781 + ], + [ + 494.6321105957031, + 257.97412109375 + ], + [ + 494.6893615722656, + 258.0598449707031 + ], + [ + 494.56658935546875, + 257.9916076660156 + ], + [ + 494.6769104003906, + 258.0385437011719 + ], + [ + 494.5198974609375, + 257.8975524902344 + ], + [ + 494.5650329589844, + 257.80474853515625 + ], + [ + 494.52587890625, + 257.77581787109375 + ], + [ + 494.9208984375, + 257.8643798828125 + ], + [ + 494.87353515625, + 257.8321228027344 + ], + [ + 494.8536376953125, + 257.8738098144531 + ], + [ + 495.28662109375, + 258.0986633300781 + ], + [ + 495.44781494140625, + 257.9656066894531 + ], + [ + 495.21038818359375, + 258.0564880371094 + ], + [ + 495.5858459472656, + 258.04351806640625 + ], + [ + 495.5135498046875, + 258.1152038574219 + ], + [ + 495.5910949707031, + 258.32562255859375 + ], + [ + 495.56719970703125, + 258.1709289550781 + ], + [ + 495.7020263671875, + 258.27703857421875 + ], + [ + 495.8800354003906, + 258.3238220214844 + ], + [ + 495.6196594238281, + 258.247314453125 + ], + [ + 495.9255676269531, + 258.33978271484375 + ], + [ + 496.3909912109375, + 258.384521484375 + ], + [ + 496.85040283203125, + 258.18572998046875 + ], + [ + 496.8504943847656, + 258.12310791015625 + ], + [ + 497.6824951171875, + 258.0899963378906 + ], + [ + 498.7964782714844, + 258.07342529296875 + ], + [ + 496.738037109375, + 259.21307373046875 + ], + [ + 491.4103088378906, + 256.5412292480469 + ], + [ + 501.08056640625, + 227.23489379882812 + ], + [ + 490.7984924316406, + 214.05555725097656 + ], + [ + 460.2239990234375, + 245.68145751953125 + ], + [ + 442.1299133300781, + 248.54469299316406 + ], + [ + 415.26837158203125, + 279.73193359375 + ], + [ + 392.870849609375, + 327.174560546875 + ], + [ + 395.03759765625, + 347.79412841796875 + ], + [ + 391.7049560546875, + 335.10797119140625 + ], + [ + 388.5461120605469, + 338.0875549316406 + ] + ] +} \ No newline at end of file diff --git a/003924/lang.txt b/003924/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..bed03068e775b49ca8bd183fe7e2570e3357f057 --- /dev/null +++ b/003924/lang.txt @@ -0,0 +1 @@ +take carrot off plate diff --git a/003944/data.json b/003944/data.json new file mode 100644 index 0000000000000000000000000000000000000000..811769b454e2e3746b753f644b27c5cc4c551e62 --- /dev/null +++ b/003944/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 12, + "action_end": 27, + "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, + 0.0, + 0.0, + 0.0, + 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": [ + [ + 1.6518000856002857e-10, + -7.05953351332056e-11, + 5.633354893674891e-12, + 1.7157690422708948e-08, + 7.081578920067075e-08, + 8.26728406717343e-08, + 1.0 + ], + [ + 0.003422922130571826, + -0.010172270708763809, + 0.012565018288128865, + 0.0026295437539086176, + 0.050044885344275224, + 0.13505688917566364, + 1.0 + ], + [ + 0.005550777232616794, + -0.013703354045957586, + 0.01385363985940924, + 0.04152939628739231, + 0.009249025758755115, + 0.13365022455720235, + 1.0 + ], + [ + 0.01801962715091271, + -0.019068492101479373, + 0.01341909505532074, + -0.02324854241099623, + 0.031705885453180094, + 0.15259517408642706, + 1.0 + ], + [ + 0.027997611737157396, + -0.013006491304565299, + 0.0020245586549075822, + 0.003421123823965906, + -0.013835635564505738, + -0.0032597708858323644, + 1.0 + ], + [ + 0.02649319642860734, + -0.012505760427070592, + -0.005586444023591125, + 0.05802686827237563, + -0.10073821240513284, + 0.037313209442050056, + 1.0 + ], + [ + 0.014720081217276637, + -0.008846076177125777, + -0.00969266659995903, + -0.03763003049005784, + -0.016435087583549106, + -0.03648220172386214, + 1.0 + ], + [ + 0.005320104722239871, + -0.007544921820681364, + -0.014025553517531486, + -0.00846184492904603, + -0.028159871156841577, + -0.0060092726631536105, + 1.0 + ], + [ + 0.004715837292053493, + -0.0016546693544452688, + -0.014855115344522538, + -0.018897049294309437, + -0.023444300796809845, + 0.0046481343318280095, + 1.0 + ], + [ + 0.0026309494727596028, + 0.0005231788089530039, + -0.014543610940411178, + -0.0033931882457388734, + 0.0006594189800259473, + 0.018433910670331146, + 1.0 + ], + [ + 0.003241158853777404, + 0.002998174125288742, + -0.02164626962738589, + -0.01826351968292464, + -0.05107004856756529, + -0.013721010617378558, + 1.0 + ], + [ + 0.0035444986374352228, + 0.00022082885973009198, + -0.007330572803894056, + -0.0286697100501313, + -0.00179068947363085, + -0.0002014235640757415, + 1.0 + ], + [ + 0.014267564948454603, + -0.0011192247094216658, + -0.0005447850248251479, + -0.00333637133169702, + -0.0029983063846391127, + -0.003880399489043467, + 1.0 + ], + [ + 0.005719695811568226, + -0.004319515053869537, + 0.0027310270161643273, + 0.005467572066823377, + 0.02174154550717633, + 0.02781878292479288, + 0.0 + ], + [ + -0.00025901372365078057, + -0.004637024749610271, + 0.008011527981205992, + 0.020774066828769058, + 0.019987472555880775, + 0.021876726065108834, + 0.0 + ], + [ + -0.0019229119475712708, + -0.00242709436262927, + 0.005289855175221812, + 0.0034357111492229818, + 0.002754616994308853, + 0.0018790401964259898, + 0.0 + ], + [ + -0.0062079039954860415, + -0.0030036359183379354, + 0.015034408809023236, + -0.011679917398396336, + 0.015358996266750982, + 0.020583728646182332, + 0.0 + ], + [ + -0.011287112254802611, + -0.002323958968001416, + 0.022101405290446827, + -0.022468315072453313, + 0.05139159367115574, + 0.11733677675156438, + 0.0 + ], + [ + -0.021366206449098424, + 0.0013449933668144148, + 0.010217212152357744, + -0.0697481507024282, + 0.12904282641580891, + 0.24310835795549732, + 0.0 + ], + [ + -0.024175603832738646, + 0.0013924473768135437, + 0.001203593166086328, + -0.034818490623694576, + 0.03125516655276748, + 0.25380063986592116, + 0.0 + ], + [ + -0.02358010217985168, + 0.00027451559559474314, + -0.006659835703523076, + 0.05575696712174602, + -0.02667450422493675, + 0.1654249421387446, + 0.0 + ], + [ + -0.020704245426652168, + -0.002294948011593464, + -0.00527707898698547, + 0.03400325941221232, + 0.02750932810412211, + 0.10888607769340405, + 0.0 + ], + [ + -0.01272012071782841, + -0.002927079947610753, + -0.008071031464618794, + 0.053097025443696155, + 0.011656225131580246, + -0.0045427984434527075, + 0.0 + ], + [ + -0.00999015867261771, + -0.0021506142164467758, + -0.01412199368502269, + 0.06439713801997601, + 0.0063419238105393815, + 0.02884287840800656, + 0.0 + ], + [ + -0.007835218966334406, + 0.007337682024418583, + -0.015332897786840757, + 0.01374329747379357, + -0.02676582036124128, + 0.008892299113939862, + 0.0 + ], + [ + -0.006158255643252675, + 0.002562119115259387, + -0.012136385297383208, + -0.004263359992379849, + -0.025878836499760124, + 0.009251422701805673, + 0.0 + ], + [ + -0.0016972511839232485, + 0.0007840780912788739, + -0.009412809490593019, + -0.005266236370831938, + -0.02170010945542333, + -0.008660532811588262, + 0.0 + ], + [ + 0.004822883514812276, + 0.003498770584473891, + 0.0028519897261766354, + 0.021264112579699564, + 0.00019720014160661713, + -0.037630648518581625, + 0.0 + ], + [ + 0.00590146167885186, + 0.0037159111559340423, + 0.007005345297741144, + 0.03068473850455872, + -0.001373116934078277, + -0.03605250435509291, + 1.0 + ], + [ + 0.006651312650731489, + 0.0006924719325527642, + 0.009534303994190217, + 0.024426159147512828, + -0.01293031195378298, + -0.021383783903389273, + 1.0 + ], + [ + 0.005307810386486617, + -0.0012532023198385126, + 0.01198303438551978, + 0.01125132720143707, + 0.011848665586568202, + -0.016245965110720472, + 1.0 + ], + [ + 0.008171889870223187, + 0.00416704806597766, + 0.018740272637721746, + -0.004830422028998902, + 0.032588267935177766, + -0.05172147794538594, + 1.0 + ], + [ + 0.006053452733145143, + 0.0025473947221166422, + 0.01191062583551497, + 0.011820079718353412, + 0.0048581471752114, + -0.0825873025879715, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 203.57586669921875, + 204.5822296142578 + ], + [ + 203.12088012695312, + 208.8507537841797 + ], + [ + 201.24832153320312, + 212.4403839111328 + ], + [ + 224.63040161132812, + 198.19009399414062 + ], + [ + 260.64508056640625, + 170.97360229492188 + ], + [ + 298.550048828125, + 148.27340698242188 + ], + [ + 339.2119140625, + 137.28286743164062 + ], + [ + 376.73956298828125, + 146.21652221679688 + ], + [ + 381.8196716308594, + 150.27841186523438 + ], + [ + 385.56243896484375, + 162.74073791503906 + ], + [ + 390.8665466308594, + 180.31134033203125 + ], + [ + 394.1396484375, + 202.85061645507812 + ], + [ + 397.3203125, + 212.20721435546875 + ], + [ + 398.2690734863281, + 206.22769165039062 + ], + [ + 401.23138427734375, + 199.72833251953125 + ], + [ + 403.300048828125, + 194.0445556640625 + ], + [ + 411.2353820800781, + 197.16355895996094 + ], + [ + 410.5704040527344, + 202.27651977539062 + ], + [ + 412.39068603515625, + 175.10528564453125 + ], + [ + 411.8863220214844, + 173.43060302734375 + ], + [ + 388.5086364746094, + 170.96875 + ], + [ + 351.8990478515625, + 186.59669494628906 + ], + [ + 363.228271484375, + 221.9921112060547 + ], + [ + 344.1208801269531, + 245.43301391601562 + ], + [ + 336.998291015625, + 269.14129638671875 + ], + [ + 335.9212951660156, + 302.2707824707031 + ], + [ + 312.6631164550781, + 315.82159423828125 + ], + [ + 312.2099914550781, + 325.4046325683594 + ], + [ + 311.63983154296875, + 323.8829345703125 + ], + [ + 311.48779296875, + 309.68670654296875 + ], + [ + 312.0597229003906, + 294.1689453125 + ], + [ + 314.40032958984375, + 279.9052734375 + ], + [ + 324.7000427246094, + 257.5441589355469 + ], + [ + 330.1112976074219, + 231.89126586914062 + ], + [ + 329.3863525390625, + 228.22068786621094 + ], + [ + 329.41912841796875, + 228.15814208984375 + ], + [ + 329.18768310546875, + 228.07562255859375 + ], + [ + 329.2074890136719, + 227.96371459960938 + ] + ], + "depth_max": 1.4678999185562134, + "depth_min": 0.2996993362903595, + "intrinsic": [ + [ + 497.8284912109375, + 0.0, + 259.0 + ], + [ + 0.0, + 498.0769958496094, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.144974460970843e-06, + -7.213449134724215e-05, + -1.562482793815434e-05 + ], + [ + -7.145874860725598e-06, + 1.0, + -1.2479925317165907e-05, + -2.11756178032374e-05 + ], + [ + 7.213440403575078e-05, + 1.2480440091167111e-05, + 1.0, + -3.138189640594646e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 401.0, + 208.25 + ], + [ + 401.063720703125, + 208.23220825195312 + ], + [ + 401.1730041503906, + 208.26205444335938 + ], + [ + 401.50872802734375, + 208.47164916992188 + ], + [ + 401.8529052734375, + 208.2936553955078 + ], + [ + 401.845703125, + 208.4328155517578 + ], + [ + 401.35833740234375, + 208.345703125 + ], + [ + 401.16253662109375, + 208.4974822998047 + ], + [ + 400.80419921875, + 208.30934143066406 + ], + [ + 407.2511291503906, + 211.70687866210938 + ], + [ + 407.12762451171875, + 211.42298889160156 + ], + [ + 407.0921936035156, + 211.52023315429688 + ], + [ + 407.02874755859375, + 212.01806640625 + ], + [ + 398.34429931640625, + 217.64390563964844 + ], + [ + 407.27935791015625, + 216.43724060058594 + ], + [ + 408.3267822265625, + 216.4811248779297 + ], + [ + 410.3968200683594, + 215.41534423828125 + ], + [ + 409.82635498046875, + 220.74899291992188 + ], + [ + 414.76129150390625, + 202.2904815673828 + ], + [ + 422.0981750488281, + 203.06582641601562 + ], + [ + 409.56414794921875, + 201.17091369628906 + ], + [ + 381.604736328125, + 219.80889892578125 + ], + [ + 394.4344177246094, + 256.510498046875 + ], + [ + 375.64617919921875, + 279.6535949707031 + ], + [ + 371.901123046875, + 301.08514404296875 + ], + [ + 368.72332763671875, + 332.74688720703125 + ], + [ + 352.9148254394531, + 342.7828369140625 + ], + [ + 352.8377685546875, + 353.4331359863281 + ], + [ + 350.53436279296875, + 350.80816650390625 + ], + [ + 348.6517028808594, + 361.7480163574219 + ], + [ + 370.3754577636719, + 369.9568176269531 + ], + [ + 374.1059875488281, + 380.32501220703125 + ], + [ + 373.85919189453125, + 379.4552307128906 + ], + [ + 376.58270263671875, + 368.96820068359375 + ], + [ + 367.07659912109375, + 368.5067138671875 + ], + [ + 366.4788513183594, + 368.6619873046875 + ], + [ + 366.65045166015625, + 369.0885009765625 + ], + [ + 367.1405029296875, + 368.8963623046875 + ] + ] +} \ No newline at end of file diff --git a/003944/lang.txt b/003944/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..bed03068e775b49ca8bd183fe7e2570e3357f057 --- /dev/null +++ b/003944/lang.txt @@ -0,0 +1 @@ +take carrot off plate diff --git a/003944/object.ply b/003944/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..9e705a0d2050391898b587ca75a53f577784dd08 Binary files /dev/null and b/003944/object.ply differ diff --git a/003964/FAIL b/003964/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/003964/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/003993_v2/FAIL b/003993_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/003993_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004028/FAIL b/004028/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/004028/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/004035/FAIL b/004035/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/004035/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/004040_v2/FAIL b/004040_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/004040_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/004067/FAIL b/004067/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/004067/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/004069/FAIL b/004069/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/004069/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/004074/data.json b/004074/data.json new file mode 100644 index 0000000000000000000000000000000000000000..f8235b6a5dad28d554f47c2b60a3f98bad72e66b --- /dev/null +++ b/004074/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 12, + "action_end": 27, + "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, + 0.13821700000000003, + 0.0, + 0.010989000000000027, + 0.0, + 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": [ + [ + 2.7531507629241503e-10, + -2.4380669705337255e-10, + 1.834659368871172e-10, + 1.0649997680919033e-08, + -5.096110907473586e-07, + 4.933860879175022e-07, + 1.0 + ], + [ + 0.003966111166756159, + -0.011898938439405038, + 0.008532472238166736, + 0.06592565898453515, + -0.020371758664106145, + -0.146278305350968, + 1.0 + ], + [ + 0.009512957747997208, + -0.011713251045504053, + 0.013378937409038824, + 0.07300601493638183, + -0.005473305340520125, + -0.15815190580880267, + 1.0 + ], + [ + -0.00030137938647983864, + -0.01583159956124229, + 0.004024684473000917, + -0.03253877877407472, + 0.009543979910350003, + -0.10711354899469999, + 1.0 + ], + [ + -0.005853701307164644, + -0.016694470846294204, + -0.012971985473558198, + -0.05652076070894057, + -0.013429409584692562, + -0.06298395984396715, + 1.0 + ], + [ + -0.004824343301386036, + -0.004311402200703446, + -0.015961977557984952, + -0.04574919400673178, + 0.0369154072529948, + -0.027055199115418475, + 1.0 + ], + [ + 0.002564791454974069, + 0.003407033817202365, + -0.017540553042877896, + 0.009386455562455192, + -0.01667347984875578, + -0.03222573214767774, + 1.0 + ], + [ + 0.007390600847897555, + 0.0007759133877165703, + -0.011133756097207945, + 0.022300100882424092, + -0.013036709381634344, + -0.03138653204714543, + 1.0 + ], + [ + 0.001170397925407407, + 2.7544501648088526e-05, + -0.016697860497886796, + 0.0013491016962954233, + -0.03647237411846366, + -0.02469055113031654, + 1.0 + ], + [ + 0.002469323173672544, + -0.0012572903127414103, + -0.005797295855372649, + 2.6861327085315344e-05, + 0.01493171335836547, + -0.009476637178765639, + 1.0 + ], + [ + 0.009098659349543542, + -0.002954357140934699, + -0.013407842725266635, + -0.01144612876132338, + -0.00493147394539201, + -0.017176863332523114, + 1.0 + ], + [ + 0.012250318575110913, + 0.0018072315175928083, + -0.007041757179082411, + -0.02575849272665135, + 0.004252524733196227, + -0.02509724451367891, + 1.0 + ], + [ + 0.008060977009157533, + 0.0043132317387940405, + -0.0011055707715617452, + 0.01033960257219732, + 0.005441372201226678, + -0.009813389533834073, + 0.13821700000000003 + ], + [ + 0.001746155070551647, + -0.001856573697007119, + 0.00727435771169279, + 0.018054224331985436, + 0.003797175666974289, + -0.0010958035515017657, + 0.0 + ], + [ + -0.009194040317587249, + -0.006959216416438027, + 0.004505897493707561, + -0.018916442434764896, + 0.006741969816319341, + 0.04407805434502868, + 0.010989000000000027 + ], + [ + -0.006348808368269621, + -0.008753450716636454, + 0.009312778588365142, + -0.01054325970962786, + 0.04050657941635449, + 0.04788088273868363, + 0.0 + ], + [ + 0.0004149781287571819, + -0.009211247012751, + 0.026982598527654892, + -0.013411266511347148, + 0.03680870316708901, + 0.06630389805189797, + 0.0 + ], + [ + -0.0010164526661654016, + -0.011691628995954675, + 0.015404655587505159, + 0.006174395644208712, + 0.03461550990615455, + 0.08354231181732305, + 0.0 + ], + [ + 0.007057440647058599, + -0.012077685044646319, + 0.0034201449869844525, + 0.01741111267893675, + -0.014352255796432437, + 0.04027031933875177, + 0.0 + ], + [ + 0.01976968768316323, + -0.01550052369138364, + -0.009865983970027345, + 0.006553016224739624, + -0.0066818299694249095, + 0.02317552097936066, + 0.0 + ], + [ + 0.019774862386352454, + -0.009253469705298178, + -0.015881698731864333, + -0.009899434014693027, + 0.004900359865107014, + -0.013662033887649075, + 0.0 + ], + [ + 0.022935817602360853, + -0.0061295074911417065, + -0.01614324310819562, + 0.022698796308508358, + 0.03893371345025948, + 0.050230829473568786, + 0.0 + ], + [ + 0.014113242531330839, + -0.0006644142544186583, + -0.013837631812449937, + 0.03509128440561574, + 0.022158821753769313, + 0.05221393969680461, + 0.0 + ], + [ + 0.005980351077441937, + -0.00047763269400038274, + -0.007131976049769801, + 0.0010447043878715418, + -0.001769706796247948, + 0.010785474664647826, + 0.0 + ], + [ + -0.002933810948931803, + -0.004264378498007256, + 0.005236252504658149, + 0.014509778540340353, + -0.010711198571671268, + 0.03701879482301688, + 0.0 + ], + [ + -0.005618707065464634, + -0.007392155579740937, + 0.009125250916218797, + 0.01189141484368243, + 0.005496292322220341, + 0.034288263730551966, + 0.0 + ], + [ + 0.001063390213194626, + -0.010299521658970003, + 0.013213445281322116, + 0.009409994804079861, + 0.008153874078833598, + 0.027747060110313665, + 0.0 + ], + [ + -0.0034157479546350067, + -0.006932654219887766, + 0.004493387935380167, + -0.0037829139772052045, + -0.0015866798592491407, + 0.024468934645728902, + 0.0 + ], + [ + -0.005864478966466913, + -0.003795586382005573, + 0.0012415855024969294, + 0.0001841849624318714, + -0.03064659548235099, + 0.0006351402541278912, + 1.0 + ], + [ + -0.003289820652585762, + 0.0009785598647069627, + 0.004326229493251517, + -0.010141778691083871, + -0.024092128979000232, + -0.01982822408585579, + 1.0 + ], + [ + -0.0007615978845410543, + 0.004435870884683724, + 0.016554549777854637, + 0.03526574490384703, + -0.029118824572127944, + -0.01554743562212829, + 1.0 + ], + [ + -0.0016415482181429408, + 0.0006947826570852383, + 0.01785934873014533, + 0.011591509128404572, + 0.00511634772244826, + -0.019063854118430153, + 1.0 + ], + [ + -0.014547045302352457, + 0.0011673592610448036, + 0.006980714288681855, + 0.01980113485044004, + 0.0029929725747346986, + -0.023735262804010355, + 1.0 + ], + [ + -0.007803119790928792, + -0.0004204650154632436, + 0.002325719185689301, + -0.01185855759149687, + -0.03285259588652111, + -0.0542420421918137, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 140.6714630126953, + 149.42428588867188 + ], + [ + 141.47549438476562, + 154.15911865234375 + ], + [ + 148.46234130859375, + 161.233154296875 + ], + [ + 176.21046447753906, + 143.09674072265625 + ], + [ + 193.9907684326172, + 142.2740478515625 + ], + [ + 205.53021240234375, + 170.67547607421875 + ], + [ + 214.24024963378906, + 183.7353515625 + ], + [ + 205.46368408203125, + 207.59445190429688 + ], + [ + 210.20736694335938, + 215.4511260986328 + ], + [ + 219.547607421875, + 236.135986328125 + ], + [ + 222.04019165039062, + 243.3390655517578 + ], + [ + 242.70272827148438, + 246.46807861328125 + ], + [ + 247.0933074951172, + 248.5947265625 + ], + [ + 248.38572692871094, + 237.47348022460938 + ], + [ + 244.8993682861328, + 236.29226684570312 + ], + [ + 247.31427001953125, + 237.43853759765625 + ], + [ + 256.01983642578125, + 233.7899627685547 + ], + [ + 260.800048828125, + 213.11663818359375 + ], + [ + 271.9468688964844, + 194.19723510742188 + ], + [ + 287.6735534667969, + 191.82484436035156 + ], + [ + 320.8487548828125, + 184.4906768798828 + ], + [ + 353.2032470703125, + 195.00973510742188 + ], + [ + 372.1593322753906, + 196.56198120117188 + ], + [ + 380.88812255859375, + 199.18359375 + ], + [ + 386.1553955078125, + 194.115966796875 + ], + [ + 387.72833251953125, + 193.93869018554688 + ], + [ + 391.4527893066406, + 197.40548706054688 + ], + [ + 402.67352294921875, + 204.0791015625 + ], + [ + 415.87017822265625, + 207.09909057617188 + ], + [ + 415.94110107421875, + 201.96142578125 + ], + [ + 410.79254150390625, + 202.76296997070312 + ], + [ + 411.6378479003906, + 185.20309448242188 + ], + [ + 405.49774169921875, + 171.98150634765625 + ], + [ + 399.04229736328125, + 162.13079833984375 + ], + [ + 396.55078125, + 166.61436462402344 + ], + [ + 396.7413024902344, + 164.08465576171875 + ], + [ + 396.85076904296875, + 164.50941467285156 + ], + [ + 396.88787841796875, + 164.2605743408203 + ] + ], + "depth_max": 1.4911296367645264, + "depth_min": 0.37017300724983215, + "intrinsic": [ + [ + 521.3402099609375, + 0.0, + 259.0 + ], + [ + 0.0, + 521.4506225585938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.8477879823185503e-05, + -8.161186997313052e-05, + -1.1751247257052455e-05 + ], + [ + -2.84807501884643e-05, + 1.0, + -3.518272205838002e-05, + -5.408680408436339e-06 + ], + [ + 8.161086589097977e-05, + 3.518504308885895e-05, + 1.0, + -3.1101517379283905e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 230.0, + 252.75001525878906 + ], + [ + 230.23529052734375, + 253.021484375 + ], + [ + 230.48849487304688, + 253.1490936279297 + ], + [ + 230.4652557373047, + 252.95849609375 + ], + [ + 230.48170471191406, + 252.7760467529297 + ], + [ + 230.12570190429688, + 253.12132263183594 + ], + [ + 229.93702697753906, + 253.19784545898438 + ], + [ + 225.1409454345703, + 255.97293090820312 + ], + [ + 224.99270629882812, + 255.9341583251953 + ], + [ + 225.04116821289062, + 256.0086364746094 + ], + [ + 224.8297882080078, + 255.8849334716797 + ], + [ + 224.96844482421875, + 255.68630981445312 + ], + [ + 225.29745483398438, + 255.1668243408203 + ], + [ + 226.83401489257812, + 249.7848358154297 + ], + [ + 224.4872283935547, + 248.02011108398438 + ], + [ + 226.18951416015625, + 251.06427001953125 + ], + [ + 225.60646057128906, + 252.10546875 + ], + [ + 230.4652862548828, + 237.18873596191406 + ], + [ + 240.87594604492188, + 224.60919189453125 + ], + [ + 257.28533935546875, + 222.07785034179688 + ], + [ + 290.5336608886719, + 215.11289978027344 + ], + [ + 323.5231628417969, + 224.70697021484375 + ], + [ + 341.5206298828125, + 223.91726684570312 + ], + [ + 352.5032043457031, + 224.26490783691406 + ], + [ + 358.5783996582031, + 219.91244506835938 + ], + [ + 360.9528503417969, + 220.30792236328125 + ], + [ + 365.66314697265625, + 224.28517150878906 + ], + [ + 376.4294128417969, + 231.0348663330078 + ], + [ + 389.5274353027344, + 233.70237731933594 + ], + [ + 398.1971740722656, + 248.52703857421875 + ], + [ + 404.40045166015625, + 237.25027465820312 + ], + [ + 418.1012268066406, + 247.98220825195312 + ], + [ + 426.38433837890625, + 253.77403259277344 + ], + [ + 425.7876892089844, + 252.25100708007812 + ], + [ + 426.1331481933594, + 251.61277770996094 + ], + [ + 423.62530517578125, + 250.1664276123047 + ], + [ + 425.0842590332031, + 249.92218017578125 + ], + [ + 425.02130126953125, + 250.34117126464844 + ] + ] +} \ No newline at end of file diff --git a/004074/lang.txt b/004074/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..bed03068e775b49ca8bd183fe7e2570e3357f057 --- /dev/null +++ b/004074/lang.txt @@ -0,0 +1 @@ +take carrot off plate diff --git a/004074/object.ply b/004074/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..84a25904329c4992485941b90028954124432370 Binary files /dev/null and b/004074/object.ply differ diff --git a/004098_v2/data.json b/004098_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..4e733dc165f596e1214f66fef5d23fe8b7fe3340 --- /dev/null +++ b/004098_v2/data.json @@ -0,0 +1,769 @@ +{ + "action_start": 11, + "action_end": 32, + "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, + 0.837363, + 0.409524, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.27228300000000005, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.6175294437204002e-10, + -1.062252924510787e-10, + 2.865872261725855e-10, + -2.854665401370536e-07, + -3.8389839551259654e-07, + 4.710492585433578e-08, + 1.0 + ], + [ + 0.02488155655650215, + -0.02029228136346961, + -0.0009338326428462995, + -0.0011478940236857547, + -0.012437235632974573, + -0.021232275329115573, + 1.0 + ], + [ + 0.025434711474424443, + -0.022549879958408584, + -0.0016994698090337101, + 0.010592103779468382, + -0.02207585624580703, + 0.018935428053902654, + 1.0 + ], + [ + 0.037432661751941765, + -0.028307291429666356, + 0.005684875989339019, + -0.001142967538982952, + -0.01591562432495854, + -0.032272706722442264, + 1.0 + ], + [ + 0.03259846154016022, + -0.019659624423049485, + 0.00869690281163038, + -0.018545816246749097, + -0.028004832243164572, + -0.01755207732199567, + 1.0 + ], + [ + 0.016410736501044465, + -0.010082566633887256, + -0.0030677116063775045, + -0.026978258149420776, + 0.00039596374908973386, + 0.006414189493464571, + 1.0 + ], + [ + 0.0035839985228615645, + -0.0038003879735351055, + -0.007768369908552314, + -0.008385650769726905, + 0.017063275252019817, + 0.006081096828816631, + 1.0 + ], + [ + -0.004224044455161835, + -0.002475931378537067, + -0.007732839270016681, + 0.002346786514068777, + 0.0189201639443046, + -0.0049661315033261155, + 1.0 + ], + [ + -0.002241955611146096, + -0.0022087199957115562, + -0.010657921354647465, + 0.010737371605893234, + 0.029634935803510093, + -0.006235453345799708, + 1.0 + ], + [ + 0.002770215554106892, + 0.0021074841688888853, + -0.006102357778257107, + 0.004283972911625531, + 0.009990346739686387, + 0.00862288653934773, + 1.0 + ], + [ + 0.0009004129440637332, + 0.0031170619157804107, + -0.005366686375008992, + 0.004811752733549654, + 0.01588778728457184, + 0.008671714980487024, + 0.837363 + ], + [ + -0.0012532070838539577, + 0.0012944953513542926, + -0.0017682911699241563, + 0.013517506753477473, + 0.008422852599589012, + -0.004840127156260991, + 0.409524 + ], + [ + -0.003236313537466895, + -0.0007112467913007736, + -0.005217631531861069, + 0.008328013606369445, + 0.01573400944577607, + -0.007961377396632685, + 0.0 + ], + [ + -0.0007369863449870895, + -0.0006238529111918696, + -0.0027251178885963276, + 0.0009077750094469249, + 0.00776067082920386, + -0.004616314031362846, + 0.0 + ], + [ + 0.005587569471491749, + -0.0013114291492744914, + 0.011443257417517824, + -0.023334068230687205, + -0.03148888079954841, + -0.0014591481553416611, + 0.0 + ], + [ + 0.011299996451961614, + -0.0016574500800561574, + 0.024695203217669354, + -0.03895952256147612, + -0.07207120908903888, + -0.003016755970603776, + 0.0 + ], + [ + 0.0014578353211779915, + 0.0075307025633249945, + 0.025342704684251996, + -0.028846580678619182, + -0.07133637263111679, + 0.01801121843811717, + 0.0 + ], + [ + -0.012672554040643158, + 0.012310037288080996, + 0.0015552425595116853, + -0.004414023910643528, + 0.003633057436416712, + 0.019852120681582153, + 0.0 + ], + [ + -0.023710025920385513, + 0.023541594045402993, + -0.003495076581069942, + 0.008398907386625985, + 0.021706989000808894, + 0.03709967356729266, + 0.0 + ], + [ + -0.022745395580688776, + 0.021451795214, + -0.004398392475390908, + 0.01885577051215131, + 0.019490650511918464, + 0.02691861859161677, + 0.0 + ], + [ + -0.029987549562788984, + 0.028427502498806198, + -0.005848353611928633, + 0.024774522821417354, + 0.027912228358394485, + 0.04477489005958686, + 0.0 + ], + [ + -0.017347096752665714, + 0.0214949083282871, + -0.0007543461318280514, + 0.02346061058516959, + 0.009009677424943456, + 0.027913035860992464, + 0.0 + ], + [ + -0.013075350970695898, + 0.021942669402495105, + -0.0005970277380827615, + -0.003819870924193005, + 0.005731833957490892, + 0.04351614513202416, + 0.0 + ], + [ + -0.008407181890968896, + 0.016023085627260417, + -0.005734507821384002, + -0.0031598745818022834, + 0.014615027876686438, + 0.036273780298077735, + 0.0 + ], + [ + -0.004547837776469943, + 0.012988438447577938, + -0.003603469627377953, + 0.009292426814169924, + 0.017831667673739237, + 0.024490992329986076, + 0.0 + ], + [ + -0.0012905863559210529, + 0.008245727461550612, + -0.002148913579883713, + 0.0035526336975981784, + 0.007896168387194875, + 0.011654503385657227, + 0.0 + ], + [ + 1.3872838983575164e-05, + 0.006130166138438198, + -0.0041888243236996026, + 0.00044221038756656956, + 0.013688607479817564, + 0.00381820115876536, + 0.0 + ], + [ + -0.001117727664936785, + 0.0013402205077477913, + -0.0031943624720489755, + -0.0027323046707450754, + 0.008398543978968503, + -0.0020709939725258347, + 0.0 + ], + [ + -0.0004548039351723876, + -0.002817886096203176, + -0.0038588330842952295, + -0.013022849607314198, + 0.005194325064472655, + -0.008850315165171815, + 0.0 + ], + [ + 0.0027207074291369926, + -0.004084987112327798, + 0.0021413298976848683, + -0.007980714008318415, + -0.013823659962371553, + -0.01170709822994363, + 0.0 + ], + [ + 0.003646342902519528, + -0.005605658026074434, + 0.0017396559870541534, + -0.010511926664048628, + -0.014679106501069955, + -0.01599598280331329, + 0.0 + ], + [ + 0.001648319999599357, + -0.003041771865895354, + -0.0006534153372651647, + -0.005048892521667054, + -0.007353246167674735, + -0.007137543151118743, + 0.0 + ], + [ + 0.0004799474018475913, + -0.001300868854208631, + 0.0003770990180261141, + -0.00693213565887685, + -0.004534890047344684, + -0.0022951117120238534, + 0.27228300000000005 + ], + [ + 0.000836794555248821, + -0.0014442828218849124, + 0.005103152992451551, + 0.0054618658836404314, + -0.008666067422416483, + -0.015941702991644043, + 1.0 + ], + [ + 0.0003477199929384778, + -0.00624002607044169, + 0.016882456233528922, + 0.01254373953199039, + -0.0469699468566196, + -0.041562554272386726, + 1.0 + ], + [ + -0.001556243235793675, + -0.0076991340822863685, + 0.011142821083007085, + 0.011935585142357272, + -0.033669693692212885, + -0.06107698442293601, + 1.0 + ], + [ + 0.00013216373776325785, + -0.0029079838900230165, + 0.00043874927408807385, + 0.00816183418210141, + 0.017919552099625598, + -0.033408203621058806, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 196.3185577392578, + 180.99349975585938 + ], + [ + 196.7419891357422, + 183.11334228515625 + ], + [ + 221.88571166992188, + 191.17489624023438 + ], + [ + 266.9632873535156, + 178.2359619140625 + ], + [ + 326.6492919921875, + 160.98951721191406 + ], + [ + 376.06024169921875, + 135.18356323242188 + ], + [ + 396.35003662109375, + 124.2956771850586 + ], + [ + 403.1994934082031, + 128.89292907714844 + ], + [ + 404.99871826171875, + 135.82269287109375 + ], + [ + 408.861572265625, + 147.96707153320312 + ], + [ + 406.5127258300781, + 158.12353515625 + ], + [ + 405.1559753417969, + 163.45022583007812 + ], + [ + 401.7655944824219, + 165.841064453125 + ], + [ + 400.0574645996094, + 164.86685180664062 + ], + [ + 400.0938720703125, + 165.04627990722656 + ], + [ + 400.765869140625, + 164.58541870117188 + ], + [ + 412.9639587402344, + 159.664794921875 + ], + [ + 411.95037841796875, + 128.19113159179688 + ], + [ + 391.9222106933594, + 109.09603118896484 + ], + [ + 359.08392333984375, + 126.29395294189453 + ], + [ + 311.32843017578125, + 132.9244842529297 + ], + [ + 269.2241516113281, + 147.7560272216797 + ], + [ + 223.9669189453125, + 153.74659729003906 + ], + [ + 191.70652770996094, + 155.28192138671875 + ], + [ + 164.71182250976562, + 161.59829711914062 + ], + [ + 142.27146911621094, + 161.06512451171875 + ], + [ + 133.26817321777344, + 160.89456176757812 + ], + [ + 126.81836700439453, + 164.53579711914062 + ], + [ + 124.13063049316406, + 167.39724731445312 + ], + [ + 124.41358947753906, + 169.50039672851562 + ], + [ + 127.72196960449219, + 169.14256286621094 + ], + [ + 132.82608032226562, + 170.69415283203125 + ], + [ + 136.00418090820312, + 168.7146759033203 + ], + [ + 137.49368286132812, + 168.174072265625 + ], + [ + 141.97906494140625, + 169.1573028564453 + ], + [ + 147.97808837890625, + 150.86436462402344 + ], + [ + 149.34962463378906, + 140.63427734375 + ], + [ + 153.4961700439453, + 139.64559936523438 + ], + [ + 153.41726684570312, + 139.87718200683594 + ] + ], + "depth_max": 1.9617831707000732, + "depth_min": 0.24849367141723633, + "intrinsic": [ + [ + 536.0084838867188, + 0.0, + 259.0 + ], + [ + 0.0, + 534.5473022460938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.12099063093774e-05, + 0.00017499036039225757, + -5.018494903197279e-06 + ], + [ + -7.119380461517721e-05, + 1.0, + -9.20386883080937e-05, + 1.4510278560919687e-05 + ], + [ + -0.00017499690875411034, + 9.202623186865821e-05, + 1.0, + 4.379858182801399e-06 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 38 + ], + "object_trajectory": [ + [ + 431.0, + 193.75 + ], + [ + 431.1125183105469, + 194.06869506835938 + ], + [ + 431.0970458984375, + 193.98141479492188 + ], + [ + 431.0263671875, + 193.98715209960938 + ], + [ + 430.972900390625, + 193.9021453857422 + ], + [ + 431.0062561035156, + 193.94081115722656 + ], + [ + 430.92755126953125, + 193.92788696289062 + ], + [ + 431.05963134765625, + 193.95594787597656 + ], + [ + 430.8907775878906, + 194.0016326904297 + ], + [ + 430.7850341796875, + 193.8584747314453 + ], + [ + 430.70147705078125, + 193.91639709472656 + ], + [ + 430.720703125, + 193.9750213623047 + ], + [ + 430.2734375, + 193.60919189453125 + ], + [ + 425.8330993652344, + 191.98646545410156 + ], + [ + 425.6039733886719, + 191.9934844970703 + ], + [ + 426.867919921875, + 191.6334686279297 + ], + [ + 440.6057434082031, + 185.0631103515625 + ], + [ + 443.7281494140625, + 152.94517517089844 + ], + [ + 425.52239990234375, + 133.74423217773438 + ], + [ + 396.3143310546875, + 150.06283569335938 + ], + [ + 351.523681640625, + 157.50111389160156 + ], + [ + 308.7257080078125, + 170.4840087890625 + ], + [ + 268.1339111328125, + 176.02134704589844 + ], + [ + 234.7974395751953, + 179.81158447265625 + ], + [ + 208.33905029296875, + 184.66070556640625 + ], + [ + 185.80499267578125, + 184.9867401123047 + ], + [ + 177.743896484375, + 185.1110076904297 + ], + [ + 171.3457489013672, + 186.61972045898438 + ], + [ + 168.85836791992188, + 187.90060424804688 + ], + [ + 168.6468963623047, + 188.05780029296875 + ], + [ + 171.5830078125, + 187.7568359375 + ], + [ + 177.3516845703125, + 189.69821166992188 + ], + [ + 180.034912109375, + 188.7589874267578 + ], + [ + 181.5927734375, + 188.53469848632812 + ], + [ + 181.8962860107422, + 187.59539794921875 + ], + [ + 182.70596313476562, + 186.65725708007812 + ], + [ + 183.0916748046875, + 186.76475524902344 + ], + [ + 183.65138244628906, + 186.78762817382812 + ], + [ + 183.61822509765625, + 186.8898162841797 + ] + ] +} \ No newline at end of file diff --git a/004098_v2/lang.txt b/004098_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..60078164c2ba9e0a27a7ab4d307c6ce5d185797f --- /dev/null +++ b/004098_v2/lang.txt @@ -0,0 +1 @@ +put the lid on the silver pot diff --git a/004100_v2/FAIL b/004100_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/004100_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/004117/FAIL b/004117/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/004117/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/004121/data.json b/004121/data.json new file mode 100644 index 0000000000000000000000000000000000000000..423143bafebfbbd07fcbf020e0155ccecf90d1b4 --- /dev/null +++ b/004121/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 12, + "action_end": 23, + "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, + 0.5882780000000001, + 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": [ + [ + 2.3488258560355746e-10, + 1.0167731240295907e-10, + -2.711666724497519e-10, + 3.0255954864713543e-07, + -7.064431899971044e-07, + 4.35814932256458e-07, + 1.0 + ], + [ + 0.029618458040060608, + 0.00021436920872616727, + 0.010776198078576757, + 0.003928971747485478, + -0.019603386004263302, + 0.023175907893064125, + 1.0 + ], + [ + 0.02897638375273845, + -0.0021845049151832316, + 0.004245407883775601, + -0.00027519835309678666, + -0.03058151251324405, + 0.002916809496021398, + 1.0 + ], + [ + 0.03388586216204803, + -0.005930667436018236, + 0.002003735250648217, + -0.00038222745928094337, + -0.05559780935797407, + -0.0023457441863182797, + 1.0 + ], + [ + 0.03386313559926085, + -0.005897028271432368, + -0.0024029499675772836, + 0.0029895832246777986, + -0.052064676428469917, + -0.026681152446236058, + 1.0 + ], + [ + 0.035558959245013955, + -0.0048948295094117245, + -0.0014564162775600187, + 0.018175907703342205, + -0.02882770471736575, + -0.041169624208139625, + 1.0 + ], + [ + 0.027949284690577225, + 0.0008977765982836616, + -0.007135991821689905, + 0.01738318644424906, + -0.017357636418690595, + -0.0312112754197347, + 1.0 + ], + [ + 0.020941343023062498, + 0.011123125782846632, + -0.013151120730699309, + 0.0049327412060711255, + -0.0009085924652987243, + -0.032559352610368096, + 1.0 + ], + [ + 0.005648814911946964, + 0.00988430071299276, + -0.009437010667820017, + -0.03346588123838222, + 0.027346047677250684, + -0.024406573497540014, + 1.0 + ], + [ + -0.0015753463402847223, + 0.007047139332478608, + -0.015881578248960568, + -0.020723721505562686, + -0.017371041663308946, + -0.02667853269414813, + 1.0 + ], + [ + -0.002502528397440862, + 0.002028376711148548, + -0.008055426384642447, + -0.029885636264615295, + 0.010205612310795385, + -0.024767611965662573, + 1.0 + ], + [ + -0.004126773246529658, + -0.0006048823032902967, + -0.009501788261267102, + -0.016951691870151313, + 0.0006424271133935445, + -0.024710719892896728, + 1.0 + ], + [ + -0.0050586948116516095, + -0.0004779668037491469, + -0.005446029811379906, + -0.00920463281016465, + -0.0030804359639219968, + -0.0015761217207865658, + 0.5882780000000001 + ], + [ + -0.005953870992661647, + -0.0029937686538330788, + -0.005960149257119511, + -0.002406577040658646, + -0.008973752449786994, + 0.012032138480279425, + 0.0 + ], + [ + 0.0023036817575839974, + -0.003276525319668905, + 0.003238340292871983, + 0.014059413914278675, + -0.017619441361531946, + -0.006377971666882255, + 0.0 + ], + [ + 0.005632871017498264, + -0.005343104324196948, + 0.011880981455080604, + 0.0047990436242937905, + 0.010227940992011414, + -0.014056341202264233, + 0.0 + ], + [ + -1.289564570672308e-05, + -0.006083025943887377, + 0.019955258884162587, + 0.02927771052472278, + -0.01394018008778813, + -0.0018840208185074397, + 0.0 + ], + [ + -0.006386507360636673, + -0.00435584062165096, + 0.024344478382953234, + 0.029225595582885205, + -0.005511842057992469, + 0.005937861815176258, + 0.0 + ], + [ + -0.021656863541542004, + -0.006221630269953857, + 0.021064869582258824, + 0.04366093446211787, + 0.025150211770252416, + 0.07237677697247287, + 0.0 + ], + [ + -0.029759480647298053, + -0.0010809415948865517, + -0.0015437088632744844, + -0.02335178908129303, + 0.041231702430961734, + 0.07476002661860884, + 0.0 + ], + [ + -0.023889641805668937, + -0.0041299493133260395, + -0.014716127331043216, + -0.03766696482265397, + 0.00879487882148965, + 0.04452366855789562, + 0.0 + ], + [ + -0.01544922941217619, + -0.0024339609314892874, + -0.02495941260689477, + -0.04284784443604606, + -0.014401054432739972, + 0.0037503032954035137, + 0.0 + ], + [ + -0.009448248237311385, + -0.00603088619361479, + -0.017116773774984106, + -0.0390584016443814, + -0.01044471246523444, + 0.00039236237521722073, + 0.0 + ], + [ + -0.009435042997261722, + -0.005158294976057451, + -0.012491591564260371, + -0.02203526022445241, + -0.03603054678996361, + -0.0019132120156796536, + 0.0 + ], + [ + 0.0012639250749476583, + -7.43276447438268e-05, + -0.010331838334263696, + -0.0406331965728944, + -0.0519102236581841, + 0.007675845028287589, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 332.49212646484375, + 252.9438018798828 + ], + [ + 332.49090576171875, + 253.14602661132812 + ], + [ + 332.864990234375, + 258.8306579589844 + ], + [ + 363.7392578125, + 211.2069091796875 + ], + [ + 391.79742431640625, + 182.07955932617188 + ], + [ + 424.142578125, + 155.79380798339844 + ], + [ + 453.9398193359375, + 136.0107879638672 + ], + [ + 480.9167785644531, + 121.0771255493164 + ], + [ + 487.48675537109375, + 118.15596008300781 + ], + [ + 473.98858642578125, + 119.87030029296875 + ], + [ + 460.8416748046875, + 121.67756652832031 + ], + [ + 450.759765625, + 135.77166748046875 + ], + [ + 447.889892578125, + 141.52432250976562 + ], + [ + 442.32989501953125, + 153.6514434814453 + ], + [ + 442.2047119140625, + 155.74412536621094 + ], + [ + 444.89080810546875, + 157.2081298828125 + ], + [ + 445.0581359863281, + 157.06072998046875 + ], + [ + 449.8783264160156, + 155.28749084472656 + ], + [ + 461.5551452636719, + 156.25244140625 + ], + [ + 472.3975830078125, + 133.49954223632812 + ], + [ + 485.54046630859375, + 116.70173645019531 + ], + [ + 468.3814697265625, + 141.34274291992188 + ], + [ + 453.15106201171875, + 177.48863220214844 + ], + [ + 438.6655578613281, + 220.7672882080078 + ], + [ + 440.57989501953125, + 275.70654296875 + ], + [ + 439.1470642089844, + 272.45440673828125 + ], + [ + 440.7896728515625, + 279.34735107421875 + ], + [ + 440.17852783203125, + 279.1923828125 + ] + ], + "depth_max": 1.708031415939331, + "depth_min": 0.3199182450771332, + "intrinsic": [ + [ + 502.61846923828125, + 0.0, + 259.0 + ], + [ + 0.0, + 502.8117370605469, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.555984898819588e-05, + -0.00012080380838597193, + -1.668378354224842e-05 + ], + [ + -5.556371615966782e-05, + 1.0, + -3.1963427318260074e-05, + 5.235278877080418e-07 + ], + [ + 0.00012080203305231407, + 3.197013575118035e-05, + 1.0, + 1.4632752936449833e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 451.5, + 205.25001525878906 + ], + [ + 451.6824035644531, + 205.4529571533203 + ], + [ + 451.39849853515625, + 205.6341552734375 + ], + [ + 455.88751220703125, + 190.79762268066406 + ], + [ + 455.6353454589844, + 190.89413452148438 + ], + [ + 466.3701171875, + 188.22921752929688 + ], + [ + 473.6025390625, + 178.5890350341797 + ], + [ + 486.359619140625, + 179.89892578125 + ], + [ + 486.443359375, + 179.87997436523438 + ], + [ + 473.72607421875, + 178.398193359375 + ], + [ + 473.9734191894531, + 178.35952758789062 + ], + [ + 474.1383361816406, + 178.710205078125 + ], + [ + 466.41558837890625, + 188.7803497314453 + ], + [ + 465.46258544921875, + 189.8880157470703 + ], + [ + 464.9051513671875, + 190.5173797607422 + ], + [ + 464.26043701171875, + 190.61598205566406 + ], + [ + 464.50274658203125, + 190.59274291992188 + ], + [ + 465.7037353515625, + 191.8149871826172 + ], + [ + 472.99517822265625, + 192.44151306152344 + ], + [ + 481.80303955078125, + 174.45550537109375 + ], + [ + 494.73577880859375, + 162.3345184326172 + ], + [ + 491.81658935546875, + 182.9792938232422 + ], + [ + 480.9886474609375, + 210.34579467773438 + ], + [ + 482.6938171386719, + 244.91555786132812 + ], + [ + 468.50830078125, + 277.68646240234375 + ], + [ + 472.1239013671875, + 292.0107421875 + ], + [ + 482.5592041015625, + 311.2442932128906 + ], + [ + 482.3133544921875, + 311.1561279296875 + ] + ] +} \ No newline at end of file diff --git a/004121/lang.txt b/004121/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f4fc3a9bdaad8d2b87e88da3fe081d3d5cb5f6bb --- /dev/null +++ b/004121/lang.txt @@ -0,0 +1 @@ +take lid off pot or pan diff --git a/004138/FAIL b/004138/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/004138/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/004141_v2/data.json b/004141_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..208062957fc97bd2b89ffafe40a104dbd23fbe72 --- /dev/null +++ b/004141_v2/data.json @@ -0,0 +1,604 @@ +{ + "action_start": 7, + "action_end": 20, + "object_name": "pot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.334066, + 0.0, + 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, + 1.8191998147221723e-07, + -2.0178484550711905e-07, + 2.0149284570670226e-07, + 1.0 + ], + [ + 0.01228097178322446, + 0.028431892327927717, + -0.00016598391520271372, + 0.006111144711199794, + -0.010655829974655816, + 0.05874268893013749, + 1.0 + ], + [ + 0.006623335015790599, + 0.022400567452118058, + -0.00615543967071501, + 0.015630818762235373, + 0.007566026342768536, + 0.02877008687510482, + 1.0 + ], + [ + 0.006615704876637873, + 0.024250383722992465, + -0.0026353262124255566, + 0.014899946980691754, + -0.004777400242434623, + 0.029332543115374154, + 1.0 + ], + [ + 0.0012490839582135482, + 0.01457403843455624, + -0.0005126073664193584, + 0.0111161463937856, + 0.001840681268521725, + 0.024089978736017682, + 1.0 + ], + [ + -0.0008059504469512535, + 0.003788810796610108, + -0.00959058197004533, + 0.0074791882003452485, + 0.038271928834461504, + 0.008863734441464306, + 1.0 + ], + [ + -0.0019940658619386764, + 0.0016951188374985313, + -0.01128611369494257, + -0.0021752812276201235, + 0.014645273218723562, + 0.025231493981385775, + 1.0 + ], + [ + 0.0004938492200674549, + -0.0014680967979553428, + -0.0037917931909294267, + 0.0033125435547504047, + 0.013852691216363738, + -0.0004121396122304805, + 0.334066 + ], + [ + -0.0015104004391592873, + -0.001523776959320447, + -0.0033922623001522434, + 0.0015447401002285064, + 0.005928164727276572, + 0.008575066578925735, + 0.0 + ], + [ + -0.0005663711248276027, + -0.001831845567145586, + 0.0001373400322734475, + 0.013511199442700716, + 0.016295712795237505, + -0.004167379555312899, + 0.0 + ], + [ + 0.0014313548737002746, + 0.0011233183010307055, + 0.00982607838075391, + -0.005235478075994731, + -0.024888329113441396, + -0.003382310019172359, + 0.0 + ], + [ + 0.00243847991621432, + 0.006992876482004959, + 0.019197499063652347, + 0.006904451633134299, + -0.04202767397547026, + 0.022549944007238837, + 0.0 + ], + [ + -0.0006769937726500697, + 0.014169189120178852, + 0.023778859232735344, + 0.01789537517742469, + -0.052846582098524955, + 0.030020582615032054, + 0.0 + ], + [ + -0.004666146674974003, + 0.017293142236996746, + 0.00972481485603248, + 0.004867774368830996, + -0.0158171859630461, + 0.02841968777904157, + 0.0 + ], + [ + -0.009324729696018885, + 0.022520573777337613, + -0.0035337741650132565, + 0.000314400429697756, + 0.010140058731089113, + 0.059770959979534515, + 0.0 + ], + [ + -0.003979060821834579, + 0.013161680689875666, + -0.006625257873835361, + -0.004892173486245319, + 0.016990104697129117, + 0.0397994027122953, + 0.0 + ], + [ + 0.0016298216646397634, + 0.012681767175685976, + -0.011007069156737492, + 0.005217148620446325, + 0.025705368847878333, + 0.022397920835744625, + 0.0 + ], + [ + -0.0013173271523481134, + 0.011210506031726658, + -0.004005963505902127, + 0.005119321526172809, + 0.007743375005221043, + 0.031412697707391586, + 0.0 + ], + [ + -0.009789470988467996, + 0.015783174246576298, + -0.009881933094930469, + -0.01175014972279522, + 0.024160481059655684, + 0.0594187485917923, + 0.0 + ], + [ + -0.0017956806775665246, + 0.0017727682601422212, + -0.0023811834183893113, + -0.002852105946128307, + 0.017529784844615936, + 0.0065453097544599746, + 0.0 + ], + [ + -0.0032089486625722086, + -0.0008339578039781304, + -0.0046593867223051755, + -0.02074546968453383, + 0.011977353722859532, + 0.0016037867748289357, + 0.0 + ], + [ + 0.002938504816582088, + -0.0032667070324722547, + -0.000873877618778808, + -0.024825712711317425, + -0.006237606438366934, + -0.031162717792379824, + 1.0 + ], + [ + 0.0043753158171978, + -0.008669832395931276, + 0.008155802045291746, + 0.008625545859853192, + -0.02583083377672922, + -0.03931781559915221, + 1.0 + ], + [ + 0.005181400679205306, + -0.008645090655266308, + 0.005485278783080062, + 0.010549595752842623, + -0.0030900907302510057, + -0.06527832365868734, + 1.0 + ], + [ + 0.0029538844724785185, + -0.004278752531374455, + 0.008044671023788363, + 0.02951200160945599, + -0.02225107677801113, + -0.057234747847041835, + 1.0 + ], + [ + 0.0006593972458610597, + -0.002039732815256795, + 0.0019710791401689534, + 0.008760293975410612, + -0.0045348025323278356, + -0.01267767729274921, + 1.0 + ], + [ + 0.0007053363631612242, + -0.0023832115727144, + 0.005835050460646876, + 0.019223990705670848, + -0.008167584998616051, + -0.01732597293209655, + 1.0 + ], + [ + 0.0013810047335011677, + -0.0035690516474249506, + 0.000792728540034579, + -0.020877921594312822, + -0.028418169775380028, + -0.02098593963769893, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 416.889404296875, + 147.6033172607422 + ], + [ + 416.33477783203125, + 151.20254516601562 + ], + [ + 404.7834167480469, + 164.47720336914062 + ], + [ + 368.6075744628906, + 144.96441650390625 + ], + [ + 356.7109680175781, + 143.36956787109375 + ], + [ + 327.55511474609375, + 129.58468627929688 + ], + [ + 323.88128662109375, + 141.93479919433594 + ], + [ + 322.6861267089844, + 147.1702880859375 + ], + [ + 320.9781188964844, + 154.96693420410156 + ], + [ + 318.90899658203125, + 154.4892578125 + ], + [ + 319.178955078125, + 153.1285400390625 + ], + [ + 316.4772033691406, + 152.79794311523438 + ], + [ + 314.4241638183594, + 145.0762939453125 + ], + [ + 304.5181579589844, + 120.76792907714844 + ], + [ + 287.7392578125, + 102.0079345703125 + ], + [ + 258.4160461425781, + 102.90715026855469 + ], + [ + 233.7340087890625, + 102.44905090332031 + ], + [ + 224.89999389648438, + 100.66670227050781 + ], + [ + 213.2071075439453, + 105.07376098632812 + ], + [ + 197.97406005859375, + 107.08394622802734 + ], + [ + 173.95254516601562, + 113.32374572753906 + ], + [ + 175.85580444335938, + 113.98492431640625 + ], + [ + 183.34405517578125, + 119.07237243652344 + ], + [ + 187.28048706054688, + 125.07695007324219 + ], + [ + 205.52975463867188, + 126.4453125 + ], + [ + 215.890625, + 121.52003479003906 + ], + [ + 214.45352172851562, + 106.19696044921875 + ], + [ + 219.58111572265625, + 109.83709716796875 + ], + [ + 224.80377197265625, + 109.15120697021484 + ], + [ + 225.2151336669922, + 105.253173828125 + ] + ], + "depth_max": 1.9077924489974976, + "depth_min": 0.5621547102928162, + "intrinsic": [ + [ + 553.6858520507812, + 0.0, + 259.0 + ], + [ + 0.0, + 552.3684692382812, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.644972745561972e-05, + 0.0001394166611135006, + -1.6527874322491698e-05 + ], + [ + -6.644033419433981e-05, + 1.0, + -6.730495806550607e-05, + -2.358022356929723e-06 + ], + [ + -0.00013942114310339093, + 6.729569577146322e-05, + 1.0, + -4.4730531953973696e-06 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 29 + ], + "object_trajectory": [ + [ + 277.5, + 152.5 + ], + [ + 277.6685791015625, + 152.82638549804688 + ], + [ + 277.61187744140625, + 152.83863830566406 + ], + [ + 277.83697509765625, + 152.7979278564453 + ], + [ + 277.8684997558594, + 152.7705078125 + ], + [ + 278.1011047363281, + 152.8682098388672 + ], + [ + 278.19110107421875, + 152.75680541992188 + ], + [ + 278.1161193847656, + 152.89935302734375 + ], + [ + 278.00054931640625, + 152.97903442382812 + ], + [ + 277.9603576660156, + 153.03160095214844 + ], + [ + 275.9549560546875, + 152.5682830810547 + ], + [ + 274.4585876464844, + 153.27581787109375 + ], + [ + 271.942138671875, + 150.58665466308594 + ], + [ + 262.3713073730469, + 140.73687744140625 + ], + [ + 245.73585510253906, + 125.27352142333984 + ], + [ + 217.7885284423828, + 127.368896484375 + ], + [ + 194.22048950195312, + 128.29498291015625 + ], + [ + 184.43402099609375, + 127.46814727783203 + ], + [ + 173.21533203125, + 131.49024963378906 + ], + [ + 158.2899627685547, + 135.36380004882812 + ], + [ + 136.84689331054688, + 141.06431579589844 + ], + [ + 138.6758575439453, + 141.79623413085938 + ], + [ + 146.38941955566406, + 142.80923461914062 + ], + [ + 151.05825805664062, + 144.28005981445312 + ], + [ + 151.96810913085938, + 145.24652099609375 + ], + [ + 152.01791381835938, + 145.6099853515625 + ], + [ + 151.98231506347656, + 145.61795043945312 + ], + [ + 151.81845092773438, + 145.8196258544922 + ], + [ + 151.8602752685547, + 145.71315002441406 + ], + [ + 151.74447631835938, + 145.7808074951172 + ] + ] +} \ No newline at end of file diff --git a/004141_v2/lang.txt b/004141_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..90ba3ee53a2462259f8940aaed4870e0bf3d2ded --- /dev/null +++ b/004141_v2/lang.txt @@ -0,0 +1 @@ +move the pot to the left side of the table diff --git a/004142/data.json b/004142/data.json new file mode 100644 index 0000000000000000000000000000000000000000..c8964716e1f5deb67c90a68abc67ccd9b6f48eb3 --- /dev/null +++ b/004142/data.json @@ -0,0 +1,513 @@ +{ + "action_start": 10, + "action_end": 20, + "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, + 0.18998800000000005, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5655680000000001, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.57082596929925e-10, + 1.914665995195186e-11, + -1.1339512662189577e-11, + 3.941098498682254e-08, + 2.374440192211906e-07, + 7.80279063282394e-07, + 1.0 + ], + [ + 0.034263307730429654, + -0.01866422626435121, + -0.006773619471580061, + -0.04973496120875098, + -0.04653601916445977, + -0.013976623094435514, + 1.0 + ], + [ + 0.03820923654913916, + -0.02074966022820994, + 0.0035912489723774477, + -0.03492504459945989, + -0.01454903846154379, + -0.05148845053766583, + 1.0 + ], + [ + 0.03659145451171081, + -0.017044917042911258, + 0.003323219036922953, + -0.059339652398552455, + -0.004479771283700666, + -0.07784300845752255, + 1.0 + ], + [ + 0.02970893100034211, + -0.016757440335651692, + -0.013827752187279024, + -0.0586048440003686, + -0.052462597314171834, + -0.05869078841684138, + 1.0 + ], + [ + 0.028571764750144335, + -0.012303832122492336, + -0.015224188931398097, + -0.03249823278965078, + -0.038696938196585526, + -0.051579874127176475, + 1.0 + ], + [ + 0.012371700849451828, + -0.012089286944186248, + -0.022447968449854236, + -0.02611129630229408, + -0.04667658414363806, + 0.007821349789324616, + 1.0 + ], + [ + 0.0071398432680387924, + -0.01001822870824863, + -0.01083132297230835, + -0.030730766182225915, + -0.03114314222491929, + 0.005144586082501418, + 1.0 + ], + [ + 0.006005822356811408, + -0.008241509392896612, + -0.007584267573801748, + -0.022495571961297194, + -0.012210142348023907, + -0.006792203323089511, + 1.0 + ], + [ + 0.003422025093910208, + 0.0008395462618122906, + -0.006545045214634469, + 0.0034973828655550376, + 0.01630224498627624, + -0.015580471047611417, + 1.0 + ], + [ + 0.0011469079101172897, + 0.004122826153509868, + -0.004703541131634709, + 0.041871637196960854, + 0.016418877849591614, + 0.006362743512878349, + 0.18998800000000005 + ], + [ + 0.0005754959638576973, + 0.0011591584882639644, + 0.004627492191614381, + 0.015502039844020597, + 0.007793246157783137, + 2.0708602699542745e-05, + 0.0 + ], + [ + 0.0009256979595889669, + 0.002791026951906625, + 0.0068588728916670685, + 0.016041181160393145, + 0.006743909986040131, + -0.011304043212465467, + 0.0 + ], + [ + 0.0016331072868196461, + 0.004576555169066132, + 0.024360153070256803, + 0.09208542600082209, + -0.006083987942239032, + -0.0401017341941274, + 0.0 + ], + [ + -0.009594154107116115, + -0.0008115976420793591, + 0.03328974160883632, + 0.15430120774921827, + -0.01204377935062434, + 0.013770007302370983, + 0.0 + ], + [ + -0.022257945547461355, + 0.00921451162712017, + -0.00022149183896611607, + 0.012677954713079547, + 0.0333232912200795, + 0.04610058455952392, + 0.0 + ], + [ + -0.032624660654859916, + 0.031051696230588205, + -0.013302952886731015, + 0.023784705541688028, + 0.047001932740476135, + -0.024261004095719494, + 0.0 + ], + [ + -0.01918425126499218, + 0.01826162406303486, + -0.014799645084363003, + -0.00011201098778491917, + 0.007424694582347768, + -0.020454496196168993, + 0.0 + ], + [ + -0.011084137714851727, + 0.008248663967376696, + -0.01307101643571694, + -0.010622456844956519, + -0.022530765203021583, + 0.008128725842430776, + 0.0 + ], + [ + -0.0011726209765637874, + 0.007861095500509147, + -0.014598066830488171, + -0.02937317603503852, + -0.016689158280547775, + -0.016538421626996938, + 0.0 + ], + [ + 0.0011301399591424621, + -9.549639073344607e-05, + -0.011300297791307909, + -0.04077110099412779, + -0.033970426484859, + -0.035874879726321494, + 0.5655680000000001 + ], + [ + 0.002088387435610295, + 0.0008058851388517765, + -0.001992024446678023, + -0.01632335729862919, + -0.02307138249204584, + -0.013111473165217352, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 268.9233093261719, + 175.48809814453125 + ], + [ + 268.88134765625, + 175.81507873535156 + ], + [ + 278.3447265625, + 185.88021850585938 + ], + [ + 347.2165222167969, + 174.91998291015625 + ], + [ + 408.2395935058594, + 148.23782348632812 + ], + [ + 455.9852294921875, + 130.60279846191406 + ], + [ + 486.7715148925781, + 138.14703369140625 + ], + [ + 506.9615173339844, + 149.50830078125 + ], + [ + 526.036865234375, + 163.5015411376953 + ], + [ + 539.074951171875, + 174.201171875 + ], + [ + 540.8118896484375, + 190.216796875 + ], + [ + 543.8732299804688, + 185.57052612304688 + ], + [ + 536.9010009765625, + 181.40707397460938 + ], + [ + 532.0811157226562, + 183.74261474609375 + ], + [ + 531.08935546875, + 174.65228271484375 + ], + [ + 528.50927734375, + 155.07015991210938 + ], + [ + 562.0906982421875, + 135.9699249267578 + ], + [ + 527.0999755859375, + 142.6510772705078 + ], + [ + 470.1680908203125, + 167.6491241455078 + ], + [ + 426.15533447265625, + 183.61526489257812 + ], + [ + 415.5875244140625, + 207.96701049804688 + ], + [ + 396.9959716796875, + 214.0863037109375 + ], + [ + 401.7153015136719, + 219.3836669921875 + ], + [ + 399.0955810546875, + 215.85955810546875 + ], + [ + 399.8857116699219, + 215.74722290039062 + ] + ], + "depth_max": 1.6448044776916504, + "depth_min": 0.41262978315353394, + "intrinsic": [ + [ + 512.0396118164062, + 0.0, + 259.0 + ], + [ + 0.0, + 512.2147216796875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -4.420618097356055e-06, + -9.524948836769909e-05, + -1.9673814676934853e-05 + ], + [ + 4.422573965712218e-06, + 1.0, + 2.0529676476144232e-05, + -2.4110933736665174e-05 + ], + [ + 9.524940105620772e-05, + -2.0530100300675258e-05, + 1.0, + 6.637295882683247e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24 + ], + "object_trajectory": [ + [ + 520.75, + 201.25001525878906 + ], + [ + 521.02490234375, + 201.423095703125 + ], + [ + 520.9638671875, + 201.50750732421875 + ], + [ + 521.0360107421875, + 201.40304565429688 + ], + [ + 521.0957641601562, + 201.3426971435547 + ], + [ + 521.2958374023438, + 201.27964782714844 + ], + [ + 521.3313598632812, + 201.34829711914062 + ], + [ + 521.1908569335938, + 201.44822692871094 + ], + [ + 521.3494873046875, + 201.45347595214844 + ], + [ + 521.3394775390625, + 201.48245239257812 + ], + [ + 521.7705078125, + 202.38433837890625 + ], + [ + 522.4822387695312, + 202.35708618164062 + ], + [ + 522.8160400390625, + 201.84353637695312 + ], + [ + 524.4868774414062, + 203.68214416503906 + ], + [ + 521.0007934570312, + 195.302734375 + ], + [ + 519.7430419921875, + 176.70193481445312 + ], + [ + 530.511962890625, + 164.20091247558594 + ], + [ + 509.5753173828125, + 168.39390563964844 + ], + [ + 463.1413269042969, + 189.93673706054688 + ], + [ + 426.64697265625, + 208.65663146972656 + ], + [ + 414.31878662109375, + 226.41177368164062 + ], + [ + 403.9617614746094, + 232.8068389892578 + ], + [ + 406.1558837890625, + 250.51995849609375 + ], + [ + 405.0105285644531, + 249.67083740234375 + ], + [ + 404.9520568847656, + 249.6522674560547 + ] + ] +} \ No newline at end of file diff --git a/004142/lang.txt b/004142/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f4fc3a9bdaad8d2b87e88da3fe081d3d5cb5f6bb --- /dev/null +++ b/004142/lang.txt @@ -0,0 +1 @@ +take lid off pot or pan diff --git a/004159/FAIL b/004159/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/004159/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/004163/FAIL b/004163/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/004163/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/004166_v2/data.json b/004166_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..6c949368d3e0eddca580ab82a66bbb5e6f5321c8 --- /dev/null +++ b/004166_v2/data.json @@ -0,0 +1,513 @@ +{ + "action_start": 6, + "action_end": 17, + "object_name": "red tomato", + "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, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 3.276035553945178e-10, + -2.365926898839632e-12, + -1.7888766856710703e-10, + -3.354038497996222e-08, + 7.246316199833356e-07, + 3.1654763399659806e-07, + 1.0 + ], + [ + -0.00038830793215577364, + 0.0015297532477557552, + -0.001688987107658052, + -0.010481333643421794, + -0.004714184238032632, + 0.0010896786365636132, + 1.0 + ], + [ + -0.0008939338296024557, + 0.0007519048823594332, + -0.0016433246099765847, + -0.004398492214611586, + 0.00022458963011808269, + 0.0039096769162917985, + 1.0 + ], + [ + -0.0028326583216318757, + 0.0020228010026921983, + -0.005684355445971484, + 0.003221821740947433, + 0.01705175012048732, + 0.005651165040701806, + 1.0 + ], + [ + -0.004592744594585196, + 0.01194746767629945, + -0.006688726375150292, + 0.022791015449303873, + 0.026454446442430446, + 0.030263019970650864, + 1.0 + ], + [ + -0.0021801876402983145, + 0.009599746781715365, + -0.009095082674929096, + 0.018769346126241655, + 0.026072870601912115, + 0.01534001109682261, + 1.0 + ], + [ + -0.0002747510921069507, + 0.004972139797128336, + -0.0003333398553161254, + -0.005831301443814989, + 0.0025006717766670543, + 0.018458660243523793, + 1.0 + ], + [ + -0.00044963909498851873, + 0.0007484068341840067, + -0.0008364225003469131, + -0.005702970746218439, + 0.0002795552288221104, + 0.007015200920861713, + 0.0 + ], + [ + -2.264171567123441e-06, + -8.955427463780419e-05, + 0.003164387149751112, + -0.004114505000222457, + -0.010539657358467236, + 0.00799725975268599, + 0.0 + ], + [ + 0.012468637071348265, + -0.006568091698014908, + 0.02492290309979202, + -0.02189112862021383, + -0.07183188346203438, + 0.0005110388229458176, + 0.0 + ], + [ + 0.021840373330916485, + -0.02311476815265784, + 0.04234041598018834, + -0.005987464484166091, + -0.12615921084434883, + -0.03318103557337588, + 0.0 + ], + [ + 0.002977138357842135, + -0.03325352976245258, + 0.02730273441605416, + -0.042939540892988695, + -0.08035558420519226, + -0.07039885017179054, + 0.0 + ], + [ + -0.015389815688864328, + -0.034712472183637245, + -9.516783831586828e-05, + -0.02771504524957359, + 0.005169411481359223, + -0.09476469350916904, + 0.0 + ], + [ + -0.01542764775229749, + -0.022047759971757654, + -0.012697695961104039, + 0.0225108307759362, + 0.02914994987350388, + -0.06299427470799727, + 0.0 + ], + [ + -0.007216957364826304, + -0.009292988561822303, + -0.031161512469558714, + 0.027594538784828027, + 0.04448320421999055, + -0.04457714533588258, + 0.0 + ], + [ + -0.0030803346890998506, + -0.012864784391046597, + -0.027919856858260747, + 0.00024396082339074755, + 0.048230829646169704, + -0.061059523359479194, + 0.0 + ], + [ + -0.0016029824161217232, + -0.005719781651163151, + -0.018216390828160914, + -0.008695345030731964, + 0.041917260277085824, + -0.03234484043494224, + 0.0 + ], + [ + -0.0005870043767011723, + -0.0015332050545540724, + -0.014819550611264581, + 0.01896655962671224, + 0.03923366291687503, + -0.02232192182595115, + 0.0 + ], + [ + 0.0014127031829009873, + -0.0012725509916019263, + 0.006684180888022868, + -0.0032431445298269734, + -0.015591133696960089, + -0.006873512645314312, + 1.0 + ], + [ + 0.002963104857994392, + 0.0015760253963468113, + 0.014872408947127956, + 0.01012540289835282, + -0.03769398737918005, + 0.006456850159173859, + 1.0 + ], + [ + 0.003473028929281252, + 0.002537120065515628, + 0.02836088833342272, + -0.015491881467661507, + -0.04809139484215913, + 0.0323185678453522, + 1.0 + ], + [ + 0.002776863645084837, + 0.004437068263281895, + 0.020503803544902277, + -0.01095651592100715, + -0.027721954040086674, + 0.03630567745945771, + 1.0 + ], + [ + 0.00014917054172891575, + 0.005299941723107025, + 0.004632948456876826, + 0.017766653149354317, + 0.0006430138623683573, + 0.015011633319997518, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 222.64100646972656, + 149.07180786132812 + ], + [ + 222.96139526367188, + 153.4735107421875 + ], + [ + 221.19082641601562, + 163.80233764648438 + ], + [ + 219.45892333984375, + 164.41693115234375 + ], + [ + 218.46347045898438, + 166.79452514648438 + ], + [ + 212.67652893066406, + 176.49142456054688 + ], + [ + 198.39602661132812, + 182.49008178710938 + ], + [ + 189.83380126953125, + 182.81578063964844 + ], + [ + 187.60072326660156, + 182.25390625 + ], + [ + 188.33340454101562, + 182.93869018554688 + ], + [ + 195.5550537109375, + 173.3892059326172 + ], + [ + 205.99981689453125, + 122.18122100830078 + ], + [ + 245.95579528808594, + 80.68751525878906 + ], + [ + 270.0882263183594, + 90.1965103149414 + ], + [ + 292.3892517089844, + 124.90322875976562 + ], + [ + 303.327392578125, + 166.52235412597656 + ], + [ + 315.7266845703125, + 210.39208984375 + ], + [ + 323.39202880859375, + 238.059814453125 + ], + [ + 326.406005859375, + 256.5236511230469 + ], + [ + 328.9173583984375, + 262.2361145019531 + ], + [ + 325.58831787109375, + 255.29608154296875 + ], + [ + 329.9731140136719, + 224.22671508789062 + ], + [ + 330.1415710449219, + 193.44651794433594 + ], + [ + 323.45074462890625, + 181.52281188964844 + ], + [ + 322.0899658203125, + 180.96414184570312 + ] + ], + "depth_max": 1.8722302913665771, + "depth_min": 0.2946450412273407, + "intrinsic": [ + [ + 550.91748046875, + 0.0, + 259.0 + ], + [ + 0.0, + 549.9024658203125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.35623762011528e-05, + 0.0001753755350364372, + -2.6596535462886095e-05 + ], + [ + -7.35517533030361e-05, + 1.0, + -6.059335282770917e-05, + -7.247512257890776e-06 + ], + [ + -0.0001753799879224971, + 6.0580448916880414e-05, + 1.0, + -1.8765822460409254e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24 + ], + "object_trajectory": [ + [ + 216.75, + 198.25 + ], + [ + 216.9064483642578, + 198.29632568359375 + ], + [ + 215.91363525390625, + 198.7220001220703 + ], + [ + 218.6192169189453, + 204.52285766601562 + ], + [ + 218.3210906982422, + 205.10595703125 + ], + [ + 215.32943725585938, + 203.46878051757812 + ], + [ + 198.36325073242188, + 204.05870056152344 + ], + [ + 189.82427978515625, + 202.34710693359375 + ], + [ + 190.55996704101562, + 202.74046325683594 + ], + [ + 192.43008422851562, + 199.503173828125 + ], + [ + 199.04827880859375, + 189.8784942626953 + ], + [ + 209.02784729003906, + 150.250244140625 + ], + [ + 246.0283203125, + 109.95970153808594 + ], + [ + 266.64117431640625, + 119.27452087402344 + ], + [ + 284.1268310546875, + 153.6610107421875 + ], + [ + 297.79595947265625, + 198.02328491210938 + ], + [ + 303.3482666015625, + 234.55880737304688 + ], + [ + 316.1273193359375, + 256.84222412109375 + ], + [ + 317.038330078125, + 275.0539855957031 + ], + [ + 311.36724853515625, + 290.62445068359375 + ], + [ + 271.0841064453125, + 297.73785400390625 + ], + [ + 258.223876953125, + 287.8095703125 + ], + [ + 273.6912841796875, + 298.8639221191406 + ], + [ + 275.3598327636719, + 305.7386474609375 + ], + [ + 262.6708679199219, + 278.6771545410156 + ] + ] +} \ No newline at end of file diff --git a/004166_v2/lang.txt b/004166_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..ac613232c3d685e3c6135e952e06be2963c5bf16 --- /dev/null +++ b/004166_v2/lang.txt @@ -0,0 +1 @@ +put the red tomato below the lower right side of the silver pot diff --git a/004166_v2/object.ply b/004166_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..84b4490e4bba4c2a1181d0a084e2bf21076138cb Binary files /dev/null and b/004166_v2/object.ply differ diff --git a/004170_v2/FAIL b/004170_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004170_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004178_v2/FAIL b/004178_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/004178_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/004195/FAIL b/004195/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/004195/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/004233_v2/FAIL b/004233_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/004233_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/004237/data.json b/004237/data.json new file mode 100644 index 0000000000000000000000000000000000000000..ca3259d15615dda2830e6e256ebaa6c30321efc6 --- /dev/null +++ b/004237/data.json @@ -0,0 +1,659 @@ +{ + "action_start": 14, + "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, + 0.356777, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.254945, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.1794937249121062e-10, + -1.614863243126763e-10, + -4.863675157062985e-10, + 3.5198123923660224e-07, + 2.486579815569181e-07, + -1.5077998890118208e-07, + 1.0 + ], + [ + -0.0008612903165243768, + 0.00887076993890069, + 0.0023745553267747743, + -0.10418810528307053, + 0.03156056272274762, + -0.25631527094424483, + 1.0 + ], + [ + 0.0027445847008414903, + 0.010965637502132398, + -0.002053056403299669, + -0.0753545847191002, + -0.04983778250966195, + -0.3005411598738061, + 1.0 + ], + [ + -0.026385285408276782, + -0.09368210209320475, + 0.012629994897136482, + -0.0859876090484906, + -0.010068051738990362, + -0.30362441680062807, + 1.0 + ], + [ + -0.003822128737438091, + -0.07310900735446774, + -0.00047077135875261966, + -0.014859465327698496, + -0.028240111114680843, + -0.4508309856163851, + 1.0 + ], + [ + -0.014174794404862301, + -0.04141232056298809, + 0.0025393510964565325, + -0.0029324374198175887, + -0.03593229085135298, + -0.4539086781903966, + 1.0 + ], + [ + -0.0118989485735371, + -0.01811101787767655, + -0.0040974952109406465, + -0.013322768224515669, + 0.057117269344846885, + -0.3602822723824291, + 1.0 + ], + [ + -0.013103496745320214, + -0.0030859493924205728, + -0.011492922655825993, + 0.007615539948679121, + 0.030545686998588797, + -0.19925625175873146, + 1.0 + ], + [ + -0.002879344709788567, + 0.004045726945543365, + -0.012916213164421361, + 0.030516144295690918, + 0.008155351152047383, + -0.04575756963012207, + 1.0 + ], + [ + -0.0005636433166937294, + 0.00951464554030148, + -0.01152947874860108, + 0.030506185548650346, + -0.007841331281252677, + -0.019784289569874595, + 1.0 + ], + [ + 0.0006590705879936931, + 0.010088426438300109, + -0.016204613109119026, + 0.03481078229005711, + 0.006510799703608361, + -0.0018796577449936207, + 1.0 + ], + [ + -0.0007366974497914625, + 0.007111599524589982, + -0.017091058469844378, + 0.045534110472209836, + -0.0053839502020482976, + -0.008882682037181188, + 1.0 + ], + [ + -0.0008427526694733956, + 0.0019541854137428254, + -0.018268977733809307, + 0.028809892444738472, + 0.010202532927060031, + -0.008662504280436129, + 1.0 + ], + [ + -0.004551605140478893, + -0.004562186254882401, + -0.01159604128840379, + 0.021649308145554776, + 0.0056936408492036265, + -0.004110144704371063, + 1.0 + ], + [ + -0.00027978054321509127, + -0.0018189634882623323, + -0.0047820390868868155, + 0.017464899178587092, + -0.012388287604924518, + 0.030570644237856548, + 0.356777 + ], + [ + 0.0020130472640728925, + 0.0012445178713328016, + 0.005901252559918782, + -0.020974736955732078, + -0.01070837849728145, + 0.0006209438580881836, + 0.0 + ], + [ + 0.00731663532478935, + 0.002154390238010265, + 0.012229717953990197, + -0.01849143663498794, + -0.024008008397447333, + 0.022567400509612028, + 0.0 + ], + [ + 0.011419566552989285, + 0.0024499667478391773, + 0.026029585504780822, + -0.03422840581547482, + -0.05234516831199408, + 0.04521345115705557, + 0.0 + ], + [ + 0.01791387501891656, + 0.012540887827499696, + 0.03306065067716395, + -0.03619801029448213, + -0.07564844851992314, + 0.11094576488888064, + 0.0 + ], + [ + 0.013159362429684573, + 0.025212076955543616, + 0.024340841355445855, + -0.023630668594624895, + -0.05588636612019956, + 0.1515832252929566, + 0.0 + ], + [ + -0.005302728920312694, + 0.04068453862986362, + 0.006326844972807749, + 0.05739903523356364, + -0.02172003783434972, + 0.0659567028897488, + 0.0 + ], + [ + -0.01271482264857482, + 0.03598220200906203, + -0.005003189033847014, + -0.02243276849636771, + 0.03583103602405074, + 0.0016900942323638455, + 0.0 + ], + [ + -0.009475044468326449, + 0.021922644887600026, + -0.006653362063566259, + -0.01244859395635895, + 0.006706785902530275, + -0.02489759059850653, + 0.0 + ], + [ + -0.0027383478621771096, + 0.01626402105538266, + -0.004512818495565729, + 0.004379987906188475, + 0.011267872729938027, + -0.00011612711133272472, + 0.0 + ], + [ + -0.0016756023172259382, + 0.008857798411819023, + -0.010483844684837887, + 0.018681449870727194, + 0.009833953399460506, + 0.015254539438714665, + 0.0 + ], + [ + -0.002237113924225459, + 0.004419955278388427, + -0.00406708001217293, + 0.0481898684173239, + -0.002459788010533553, + -0.022166286381902524, + 0.254945 + ], + [ + 0.0015416979032524813, + 0.0031441062492320038, + 0.0004983252452624987, + -0.026207619022636613, + 0.03560500660765141, + 0.023619390145052564, + 1.0 + ], + [ + 0.00540546219030269, + -0.008714927810689166, + 0.016783331198214624, + -0.029811478260444932, + -0.022227849736782365, + 0.01578981618968519, + 1.0 + ], + [ + 0.012056894309493665, + -0.02242371859263595, + 0.024089920366869313, + -0.03381173462230066, + -0.029372030188099994, + -0.0011045288434362716, + 1.0 + ], + [ + 0.015922252402622072, + -0.028113388730709038, + 0.022767466480446086, + -0.048054919393598176, + 0.0014159504115942969, + 0.017312151630749062, + 1.0 + ], + [ + 0.008265010507977066, + -0.013703990059617269, + 0.00783386955180293, + 0.0356151828740249, + 0.04271393564608449, + -0.030952279542712565, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 203.52499389648438, + 105.79585266113281 + ], + [ + 203.85838317871094, + 111.16484069824219 + ], + [ + 210.72543334960938, + 123.50985717773438 + ], + [ + 187.04498291015625, + 117.47486877441406 + ], + [ + 184.20675659179688, + 138.2596893310547 + ], + [ + 275.16815185546875, + 164.6276092529297 + ], + [ + 290.2289123535156, + 189.90882873535156 + ], + [ + 334.54248046875, + 220.05413818359375 + ], + [ + 292.69219970703125, + 241.33065795898438 + ], + [ + 290.4340515136719, + 268.3628845214844 + ], + [ + 302.3227844238281, + 285.35638427734375 + ], + [ + 289.71099853515625, + 295.24127197265625 + ], + [ + 258.29571533203125, + 296.10845947265625 + ], + [ + 255.3974151611328, + 309.1484680175781 + ], + [ + 258.3021545410156, + 315.97247314453125 + ], + [ + 265.143798828125, + 312.11907958984375 + ], + [ + 268.3787536621094, + 311.07562255859375 + ], + [ + 267.702392578125, + 314.56036376953125 + ], + [ + 272.79803466796875, + 278.75634765625 + ], + [ + 266.80718994140625, + 220.98818969726562 + ], + [ + 246.87310791015625, + 174.3057861328125 + ], + [ + 207.35025024414062, + 156.34542846679688 + ], + [ + 151.54913330078125, + 143.83482360839844 + ], + [ + 96.88473510742188, + 148.6273193359375 + ], + [ + 85.88075256347656, + 150.59841918945312 + ], + [ + 67.46035766601562, + 156.91110229492188 + ], + [ + 62.2337646484375, + 162.04440307617188 + ], + [ + 60.68391799926758, + 170.48974609375 + ], + [ + 63.12334442138672, + 162.13577270507812 + ], + [ + 88.36834716796875, + 135.08547973632812 + ], + [ + 126.10311889648438, + 86.43964385986328 + ], + [ + 155.208251953125, + 71.99949645996094 + ], + [ + 175.10496520996094, + 68.07117462158203 + ] + ], + "depth_max": 2.0361592769622803, + "depth_min": 0.19861212372779846, + "intrinsic": [ + [ + 568.8978271484375, + 0.0, + 259.0 + ], + [ + 0.0, + 568.0367431640625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 0.00012443438754417002, + -0.000128888466861099, + 2.692413909244351e-05 + ], + [ + -0.00012444172170944512, + 1.0, + -5.6810331443557516e-05, + -2.585646325314883e-05 + ], + [ + 0.00012888139463029802, + 5.682637129211798e-05, + 1.0, + -3.223749081371352e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 32 + ], + "object_trajectory": [ + [ + 274.0, + 335.75 + ], + [ + 274.08441162109375, + 335.71728515625 + ], + [ + 273.9632568359375, + 335.7460632324219 + ], + [ + 273.8125915527344, + 335.71087646484375 + ], + [ + 274.0455017089844, + 335.8106994628906 + ], + [ + 273.7449035644531, + 335.71795654296875 + ], + [ + 273.4176025390625, + 335.6875 + ], + [ + 272.74993896484375, + 335.325439453125 + ], + [ + 272.57879638671875, + 335.20843505859375 + ], + [ + 272.3089599609375, + 335.0426330566406 + ], + [ + 272.4222106933594, + 335.13275146484375 + ], + [ + 272.2259216308594, + 335.24530029296875 + ], + [ + 272.8100280761719, + 336.22625732421875 + ], + [ + 273.9220886230469, + 335.9337158203125 + ], + [ + 273.76043701171875, + 335.48614501953125 + ], + [ + 274.59625244140625, + 331.9102478027344 + ], + [ + 273.928466796875, + 327.5610046386719 + ], + [ + 271.8387756347656, + 334.75262451171875 + ], + [ + 277.26483154296875, + 310.0153503417969 + ], + [ + 272.1434326171875, + 261.9557800292969 + ], + [ + 256.98748779296875, + 218.15087890625 + ], + [ + 221.45751953125, + 180.25579833984375 + ], + [ + 173.8555908203125, + 170.4610595703125 + ], + [ + 131.49725341796875, + 177.64865112304688 + ], + [ + 122.92768859863281, + 179.5924072265625 + ], + [ + 102.72891235351562, + 182.73301696777344 + ], + [ + 98.35728454589844, + 190.56805419921875 + ], + [ + 94.23673248291016, + 233.1527099609375 + ], + [ + 87.55494689941406, + 256.4275207519531 + ], + [ + 86.19197082519531, + 257.5522766113281 + ], + [ + 82.76779174804688, + 256.37261962890625 + ], + [ + 83.1070327758789, + 257.0699157714844 + ], + [ + 84.00592041015625, + 259.15216064453125 + ] + ] +} \ No newline at end of file diff --git a/004237/lang.txt b/004237/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2a54d1c3e4ece32d78772c0149fbedd236ea75cc --- /dev/null +++ b/004237/lang.txt @@ -0,0 +1 @@ +put banana in pot cardboard fence diff --git a/004237/object.ply b/004237/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..a2672bef538f3e77f4c46fbdbb66c82bda456cda Binary files /dev/null and b/004237/object.ply differ diff --git a/004251_v2/FAIL b/004251_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004251_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004254/data.json b/004254/data.json new file mode 100644 index 0000000000000000000000000000000000000000..dd98655ca0c86e01588c10727bc2dd75361851a0 --- /dev/null +++ b/004254/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 9, + "action_end": 21, + "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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.953602, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.744038329893783e-11, + 2.3017972250460872e-10, + 1.4645498702670068e-10, + -4.813830108110777e-07, + 3.7063216469658675e-08, + 5.3740023943943146e-08, + 1.0 + ], + [ + -0.0054631350646877075, + 0.007320536087954105, + 0.006138253637163166, + -0.08637377603624553, + -0.13171994614583163, + 0.22610511467855296, + 1.0 + ], + [ + -0.007134047805676891, + 0.009544568695393524, + -0.009378659592900601, + -0.029154875288592487, + 0.011171929630394381, + 0.19538906635278536, + 1.0 + ], + [ + -0.0013723138333052165, + 0.009943234305497761, + -0.009526923466085718, + -0.006848534483435078, + -0.023210974957477197, + 0.1313807429290042, + 1.0 + ], + [ + 0.0014964091397655088, + 0.00815242909641048, + -0.009224204160678345, + -0.023585736999405697, + -0.01658842426297781, + 0.1687802405662804, + 1.0 + ], + [ + -0.004192459268377857, + 0.0031816139003329746, + -0.018654474735807697, + -0.029362668315644297, + -0.0017867122601661438, + 0.10037061299118386, + 1.0 + ], + [ + -0.005783812573756764, + -9.681665954847096e-05, + -0.015009263134993178, + -0.008694951949470321, + 0.0316077005142733, + 0.023985107653637414, + 1.0 + ], + [ + -0.002851961633140776, + -0.0018944126694862562, + -0.004910136895922526, + -0.022277511985617785, + 0.01761237380232642, + 0.017301240621089228, + 1.0 + ], + [ + -0.003277000927367102, + 0.0005425446216517082, + -0.015778026706465987, + 0.01881712124430494, + 0.03617770215088265, + 0.0005417850176373213, + 1.0 + ], + [ + -0.0026136502705892406, + 0.0012908317262110003, + -0.013053473682664636, + 0.026399679918934122, + 0.011088048357650667, + -0.013318451448990812, + 1.0 + ], + [ + -0.002031154425744086, + -0.000760817039288153, + 0.0004097828040513247, + -0.009135599478009584, + -0.021738510522810013, + -0.008182292372888816, + 0.0 + ], + [ + 0.0004024561782010605, + -0.0010567772615461268, + 0.005584042055915939, + -0.012418187386209202, + -0.014664260245039999, + -0.012557800278060445, + 0.0 + ], + [ + 0.004105119502213372, + -0.0017161699181589274, + 0.009997942144509178, + -0.0177013021562582, + -0.014812077285983487, + 0.013487699675091818, + 0.0 + ], + [ + 0.0055752859076594885, + -0.008181512135032903, + 0.022150289177218882, + -0.010623528504452239, + -0.018515288559908014, + 0.008100895398398504, + 0.0 + ], + [ + 0.007460859001540476, + -0.01022304090717957, + 0.02719791282872086, + -0.035283346677754464, + -0.022533063075672738, + 0.015426376891562966, + 0.0 + ], + [ + 0.008179025876432433, + -0.013605476056902016, + 0.027679745856755915, + -0.02427263048374929, + -0.0291032518071302, + 0.002219107585083472, + 0.0 + ], + [ + 0.007025117812705428, + -0.02846006570967166, + 0.011846166795671298, + -0.05746921121027488, + 0.0216690210286451, + 0.016260732211888014, + 0.0 + ], + [ + 0.005383653986179571, + -0.029874258882811824, + -0.0013769553939555063, + -0.0013360382168937615, + 0.030397238976917308, + -0.020803483651869698, + 0.0 + ], + [ + 0.0043784461774245, + -0.031396564533849286, + -0.011248312116581588, + 0.003586581769477591, + 0.02173774976107975, + -0.025782610510071958, + 0.0 + ], + [ + 0.006129428736508902, + -0.023795458296463706, + -0.007960338990881333, + 0.027408538750124552, + 0.009774596954809782, + -0.01636087324106983, + 0.0 + ], + [ + 0.005821597154116731, + -0.012493451958407124, + -0.01050884105947382, + 0.009952672817290334, + 0.03630656673542803, + 0.011656762995462767, + 0.0 + ], + [ + 0.0008724442299802293, + 0.0020057944704302434, + -0.010387413287064093, + 0.04880249106860397, + -0.008205250562768138, + -0.027924840764947303, + 0.953602 + ], + [ + -0.0038372402944384376, + 0.008010629333338667, + -0.006828584088597343, + 0.02690712674838518, + -0.003280795656927156, + -0.0023244679059086005, + 1.0 + ], + [ + -0.0019234493546056441, + 0.004607765578697335, + 0.014453723748594903, + -0.027619662303564232, + -0.023873708040016893, + -0.014627484685388544, + 1.0 + ], + [ + 0.00266208369434473, + 0.001410227911479817, + 0.032976113453283766, + -0.05333558285093514, + -0.05708790527791496, + 0.010379953922399822, + 1.0 + ], + [ + 0.0017739320182054152, + 0.00506984789123543, + 0.03171866730039445, + -0.040306339144604825, + -0.008798344733653063, + -0.008128987522744524, + 1.0 + ], + [ + -0.005317122343961089, + 0.010514023574659203, + 0.01431621230855315, + 0.02702199398883978, + 0.03264176992119825, + -0.07964257062725284, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 190.66012573242188, + 78.45238494873047 + ], + [ + 193.19671630859375, + 85.95520782470703 + ], + [ + 200.79135131835938, + 107.41815948486328 + ], + [ + 160.6385498046875, + 103.61155700683594 + ], + [ + 150.26190185546875, + 108.28787231445312 + ], + [ + 157.7327880859375, + 120.60689544677734 + ], + [ + 149.79922485351562, + 142.25616455078125 + ], + [ + 142.296875, + 165.220947265625 + ], + [ + 146.3502960205078, + 169.26046752929688 + ], + [ + 143.32852172851562, + 185.10867309570312 + ], + [ + 143.56134033203125, + 189.80270385742188 + ], + [ + 148.41033935546875, + 187.37753295898438 + ], + [ + 153.52450561523438, + 192.009521484375 + ], + [ + 153.60472106933594, + 196.79434204101562 + ], + [ + 150.11636352539062, + 176.41683959960938 + ], + [ + 159.90972900390625, + 141.99557495117188 + ], + [ + 170.7298583984375, + 108.50160217285156 + ], + [ + 195.82904052734375, + 95.1375503540039 + ], + [ + 241.64840698242188, + 96.67475891113281 + ], + [ + 291.6579895019531, + 105.50685119628906 + ], + [ + 328.41485595703125, + 129.86080932617188 + ], + [ + 355.1358642578125, + 150.0166778564453 + ], + [ + 356.002685546875, + 154.9869384765625 + ], + [ + 342.86859130859375, + 163.78134155273438 + ], + [ + 338.1719665527344, + 166.98211669921875 + ], + [ + 331.4658203125, + 128.0382080078125 + ], + [ + 324.7234191894531, + 81.32547760009766 + ], + [ + 304.47979736328125, + 55.46852111816406 + ], + [ + 297.3194885253906, + 53.884620666503906 + ] + ], + "depth_max": 2.753530263900757, + "depth_min": 0.5277605056762695, + "intrinsic": [ + [ + 560.2359008789062, + 0.0, + 259.0 + ], + [ + 0.0, + 560.4044799804688, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.543799438280985e-05, + -8.708670065971091e-05, + 6.781153388146777e-06 + ], + [ + -7.544225809397176e-05, + 1.0, + -4.901373904431239e-05, + -1.4881459719617851e-05 + ], + [ + 8.70829971972853e-05, + 4.9020309234037995e-05, + 1.0, + -4.430405169841833e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 165.5, + 206.25 + ], + [ + 165.69085693359375, + 206.43206787109375 + ], + [ + 165.81942749023438, + 206.1572265625 + ], + [ + 167.25872802734375, + 206.24505615234375 + ], + [ + 167.61654663085938, + 206.37722778320312 + ], + [ + 168.18768310546875, + 206.3993377685547 + ], + [ + 168.5003662109375, + 206.36465454101562 + ], + [ + 167.50662231445312, + 210.2706298828125 + ], + [ + 168.45132446289062, + 210.27130126953125 + ], + [ + 170.93006896972656, + 205.406494140625 + ], + [ + 171.4696044921875, + 206.64544677734375 + ], + [ + 172.91665649414062, + 206.5693817138672 + ], + [ + 172.70359802246094, + 217.5695343017578 + ], + [ + 172.14405822753906, + 215.50047302246094 + ], + [ + 171.30921936035156, + 204.59967041015625 + ], + [ + 182.2270965576172, + 170.6490936279297 + ], + [ + 191.86859130859375, + 140.50772094726562 + ], + [ + 217.94142150878906, + 122.7790298461914 + ], + [ + 263.8880920410156, + 128.60313415527344 + ], + [ + 310.99444580078125, + 140.430419921875 + ], + [ + 344.9201354980469, + 163.79330444335938 + ], + [ + 367.8431396484375, + 180.22967529296875 + ], + [ + 346.52191162109375, + 226.15292358398438 + ], + [ + 346.8351745605469, + 240.02700805664062 + ], + [ + 352.6144714355469, + 234.0581512451172 + ], + [ + 339.35223388671875, + 237.6558380126953 + ], + [ + 341.4427185058594, + 232.12271118164062 + ], + [ + 341.35137939453125, + 232.43392944335938 + ], + [ + 341.7096862792969, + 231.31617736816406 + ] + ] +} \ No newline at end of file diff --git a/004254/lang.txt b/004254/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2a54d1c3e4ece32d78772c0149fbedd236ea75cc --- /dev/null +++ b/004254/lang.txt @@ -0,0 +1 @@ +put banana in pot cardboard fence diff --git a/004254/object.ply b/004254/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..a49aed411ea0e922612efbc85f61bf1d17a4eba1 Binary files /dev/null and b/004254/object.ply differ diff --git a/004260_v2/data.json b/004260_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..9f8fc362d3e0d345a95cebbec6931a070b4d8b24 --- /dev/null +++ b/004260_v2/data.json @@ -0,0 +1,696 @@ +{ + "action_start": 9, + "action_end": 24, + "object_name": "blue thing", + "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, + 0.546764, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 2.8674840280018543e-11, + -5.846734207892723e-11, + -3.378924917640802e-11, + 3.640941948310193e-07, + 1.0746805115886785e-07, + -9.231204382995762e-08, + 1.0 + ], + [ + -0.0099970787246913, + 0.028415101265610282, + 0.0008682731036592992, + -0.03561760042050756, + -0.027590109512552214, + 0.12298405912299483, + 1.0 + ], + [ + -0.00924816297914327, + 0.026221189829829336, + -0.004492896877775918, + -0.00904923154281773, + -0.005765574855226726, + 0.11205862400351076, + 1.0 + ], + [ + -0.008372642823276266, + 0.02677876258274793, + -0.002666595933129453, + -0.0012158456168122882, + -0.000708248613664488, + 0.07852533263955871, + 1.0 + ], + [ + -0.009058332729347696, + 0.03150838421505081, + -0.010322612260712658, + 0.0045694710238192385, + 0.01060080137106639, + 0.05708158335166959, + 1.0 + ], + [ + -0.002377702532593562, + 0.019261260232916272, + -0.01143773001228559, + 0.00029766142688275355, + 0.003209472524919461, + 0.028907233290342706, + 1.0 + ], + [ + 0.006890430462361069, + 0.0011180094642128935, + -0.007755322492055877, + 0.009872302091534285, + -0.045737424489716176, + -0.0218443736322885, + 1.0 + ], + [ + 0.00722397752376841, + -0.002573143943159828, + -0.007392355772719805, + -0.007907453297736221, + -0.032255334689231724, + -0.023333725321954595, + 1.0 + ], + [ + 0.006042565169796288, + -0.0018820732879675783, + -0.0033108606509148816, + -7.3823837092958296e-06, + -0.013653634132646853, + -0.02309120726790216, + 1.0 + ], + [ + 0.0012268271308455425, + 0.000545584516678993, + -0.007754509532949221, + -0.007532874995004631, + 0.022709843627147334, + 0.010617217513539386, + 1.0 + ], + [ + -0.001053189725744863, + 5.6125186930877646e-05, + -0.0067319842053760875, + -0.0294624961895474, + 0.026130385999143555, + 0.019270100734070574, + 0.0 + ], + [ + 0.0017269119323098936, + -0.002625652668867967, + -0.0035710598352166195, + 0.014732027870940956, + 0.031022121483611727, + -0.0016773658749961193, + 0.0 + ], + [ + -0.0007675418146599888, + -0.0003886651274126185, + -0.0002014066799624903, + -0.001289092585006313, + -0.002302460352001146, + 0.007260382885063848, + 0.0 + ], + [ + -0.0023488502053876092, + 0.00010683390841179086, + 0.013483943819137548, + 0.00030169593145050824, + 0.055302545842188376, + 0.03744245752195468, + 0.0 + ], + [ + 0.0033262710118450167, + -0.005674906963361898, + 0.03328409892375189, + 0.02401852836563004, + -0.032241065262809995, + 0.03730787503822318, + 0.0 + ], + [ + 0.01244817883885374, + -0.01763599885001116, + 0.04091087357641193, + 0.010319119356022356, + -0.04440418427016079, + -0.015339288425898122, + 0.0 + ], + [ + 0.02207759119779401, + -0.029083610302165164, + 0.007044811392237213, + -0.021606401893215426, + -0.08323447766801648, + -0.05213595666526615, + 0.0 + ], + [ + 0.02479756129461569, + -0.028827779870035042, + -0.007138896614668946, + -0.008035602916736783, + -0.055637474653477126, + -0.05515772043526591, + 0.0 + ], + [ + 0.01688319513772213, + -0.026218919848735922, + -0.014288760840008734, + -0.007002608848160815, + -0.013549633456884782, + -0.04552169408197006, + 0.0 + ], + [ + 0.012925503383295012, + -0.021001855714223597, + -0.01847196753325326, + -0.022501714964669798, + 0.009817281656549331, + -0.06517391959110815, + 0.0 + ], + [ + 0.008783576686986316, + -0.010379635782733945, + -0.025545433080721023, + -0.029785149120504457, + 0.021532516823955017, + -0.015342014354085118, + 0.0 + ], + [ + 0.007329637628337493, + -0.008955789365879797, + -0.009868524911152737, + 0.012911073361436959, + 0.012511905514373046, + -0.042585085144987905, + 0.0 + ], + [ + 0.0033163704191457866, + -0.003141572561881925, + -0.008970852186397298, + -0.005003654950582073, + 0.021168314068073645, + -0.02398035521071936, + 0.0 + ], + [ + 0.00020405215114144282, + 0.0004853647047493165, + -0.0007811328765781611, + 0.003391911669516742, + 0.02808326998424916, + -0.016132130176855573, + 0.0 + ], + [ + 9.275209049253164e-06, + -0.00046381507601716415, + -0.0019593790242056347, + -0.0004400199529088122, + 0.012224914746165565, + -0.006530766921643798, + 0.546764 + ], + [ + -0.00242783733106966, + 0.004389717907606172, + -0.001764262945350082, + 0.042173705109414386, + 0.02768772773475003, + 0.03480176329812027, + 1.0 + ], + [ + -0.001881075669508625, + 0.0037928810317700845, + -0.0014347375686142548, + 0.0011795071371919533, + 0.009457568642370875, + 0.024565526464475865, + 1.0 + ], + [ + -0.0003099769231292848, + 0.000193154623081504, + 0.0010954896468317633, + 0.009564724983546656, + 0.0006345943100272162, + 0.005195417509276632, + 1.0 + ], + [ + -0.0018826112204719525, + 0.0015114066677466079, + 0.012710776706445829, + 0.01601492696928288, + -0.023651955040064215, + 0.01941501358705024, + 1.0 + ], + [ + 0.00026916627948786465, + 0.0016427648156394428, + 0.029806931395061655, + -0.026009271577258682, + -0.06468343279061944, + 0.029542506051425495, + 1.0 + ], + [ + -0.004451890741242914, + -0.0017100728024856057, + 0.027414889507579462, + 0.019731426365192595, + -0.06624512643554789, + -0.012884446984096617, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 235.74269104003906, + 212.63204956054688 + ], + [ + 235.73329162597656, + 216.1190185546875 + ], + [ + 225.94882202148438, + 224.25601196289062 + ], + [ + 178.40310668945312, + 221.84078979492188 + ], + [ + 145.13441467285156, + 218.796630859375 + ], + [ + 117.78211212158203, + 224.98593139648438 + ], + [ + 90.5063705444336, + 229.29180908203125 + ], + [ + 92.7558822631836, + 229.31576538085938 + ], + [ + 102.77668762207031, + 230.0916748046875 + ], + [ + 107.69041442871094, + 230.6324920654297 + ], + [ + 110.89786529541016, + 240.85885620117188 + ], + [ + 114.77217102050781, + 244.8841094970703 + ], + [ + 115.09660339355469, + 243.4132080078125 + ], + [ + 115.09519958496094, + 242.99290466308594 + ], + [ + 111.22584533691406, + 242.98757934570312 + ], + [ + 107.1427993774414, + 226.93231201171875 + ], + [ + 122.1769790649414, + 180.67335510253906 + ], + [ + 164.38291931152344, + 158.07717895507812 + ], + [ + 196.00445556640625, + 155.80606079101562 + ], + [ + 248.73455810546875, + 173.29539489746094 + ], + [ + 276.73590087890625, + 186.56491088867188 + ], + [ + 300.3589172363281, + 206.39834594726562 + ], + [ + 306.6859130859375, + 219.59078979492188 + ], + [ + 319.2666320800781, + 225.23678588867188 + ], + [ + 318.1407470703125, + 223.28616333007812 + ], + [ + 317.7615661621094, + 227.81350708007812 + ], + [ + 312.69635009765625, + 228.75735473632812 + ], + [ + 310.3974609375, + 230.46157836914062 + ], + [ + 308.6841125488281, + 230.466064453125 + ], + [ + 303.5381774902344, + 230.8612060546875 + ], + [ + 307.13934326171875, + 202.8906707763672 + ], + [ + 300.384033203125, + 180.55836486816406 + ], + [ + 300.89422607421875, + 173.71218872070312 + ], + [ + 300.98846435546875, + 173.88504028320312 + ], + [ + 301.04339599609375, + 173.17050170898438 + ] + ], + "depth_max": 1.5520962476730347, + "depth_min": 0.3932322859764099, + "intrinsic": [ + [ + 519.1714477539062, + 0.0, + 259.0 + ], + [ + 0.0, + 518.6763305664062, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 0.00010108194692293182, + -0.00011179481953149661, + -3.917205049219774e-06 + ], + [ + -0.00010109013965120539, + 1.0, + -7.33405104256235e-05, + -2.5354289391543716e-05 + ], + [ + 0.00011178739805473015, + 7.335181726375595e-05, + 1.0, + -3.375071537448093e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 34 + ], + "object_trajectory": [ + [ + 114.0, + 241.75 + ], + [ + 114.34510803222656, + 241.96449279785156 + ], + [ + 114.60649108886719, + 241.9387664794922 + ], + [ + 114.21299743652344, + 242.12417602539062 + ], + [ + 114.46786499023438, + 242.13958740234375 + ], + [ + 114.5077896118164, + 242.167236328125 + ], + [ + 114.40013122558594, + 241.9022979736328 + ], + [ + 114.15811920166016, + 241.88018798828125 + ], + [ + 114.44454956054688, + 241.89279174804688 + ], + [ + 114.4244384765625, + 241.9252471923828 + ], + [ + 114.58387756347656, + 242.38710021972656 + ], + [ + 114.25428771972656, + 243.6866455078125 + ], + [ + 114.68135833740234, + 243.32965087890625 + ], + [ + 115.34449768066406, + 243.3845672607422 + ], + [ + 113.36628723144531, + 244.70794677734375 + ], + [ + 112.4044189453125, + 232.41744995117188 + ], + [ + 119.7261734008789, + 189.17030334472656 + ], + [ + 154.78253173828125, + 166.57408142089844 + ], + [ + 187.81307983398438, + 164.89913940429688 + ], + [ + 227.49981689453125, + 185.95790100097656 + ], + [ + 250.32723999023438, + 195.49191284179688 + ], + [ + 269.5267639160156, + 212.888916015625 + ], + [ + 274.4462890625, + 222.36380004882812 + ], + [ + 287.2464599609375, + 227.92178344726562 + ], + [ + 288.1572265625, + 227.51516723632812 + ], + [ + 289.0751647949219, + 232.33151245117188 + ], + [ + 289.0602722167969, + 235.99932861328125 + ], + [ + 290.552978515625, + 237.04312133789062 + ], + [ + 290.6619567871094, + 237.4375 + ], + [ + 291.9691162109375, + 237.846435546875 + ], + [ + 292.2215881347656, + 237.8599853515625 + ], + [ + 286.05712890625, + 235.5154266357422 + ], + [ + 293.34735107421875, + 238.30819702148438 + ], + [ + 289.2352600097656, + 235.53366088867188 + ], + [ + 288.2007141113281, + 235.57901000976562 + ] + ] +} \ No newline at end of file diff --git a/004260_v2/lang.txt b/004260_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..1c3fdd141019a9eee4e6b5cfac2b0fc80a698bb2 --- /dev/null +++ b/004260_v2/lang.txt @@ -0,0 +1 @@ +move the blue thing at the center of the table near the purple spoon and the towel diff --git a/004260_v2/object.ply b/004260_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..1d6b58a68714ae2b0e0807220c125a67343b55f6 Binary files /dev/null and b/004260_v2/object.ply differ diff --git a/004269_v2/FAIL b/004269_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004269_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004279_v2/data.json b/004279_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..33bd30b3ce12cf125f6daa70d9a31e232599b7e8 --- /dev/null +++ b/004279_v2/data.json @@ -0,0 +1,824 @@ +{ + "action_start": 11, + "action_end": 29, + "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, + 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": [ + [ + -6.980588329597026e-10, + 5.074214104450192e-10, + 1.4342330795225067e-10, + -4.585663324850971e-07, + -1.5594781399678662e-07, + -8.211660210092382e-07, + 1.0 + ], + [ + -0.001182728719759496, + 0.024796318084468666, + 0.0053831227256080985, + -0.03312671499247308, + -0.023481718833332877, + 0.07457738640794243, + 1.0 + ], + [ + -0.00470953058878637, + 0.03506701057683283, + -0.0025588173056080576, + 0.013582926589578492, + 0.012398040188832685, + 0.13141335606346924, + 1.0 + ], + [ + -0.006221463444031572, + 0.03708983523349822, + -0.0028976511072804356, + 0.020383368392370208, + 0.0006061114021193449, + 0.11307989258101951, + 1.0 + ], + [ + -0.007905854735961726, + 0.03170599881311009, + -0.003536256740572355, + 0.044748362051063695, + 0.006748979528514926, + 0.08306647028007531, + 1.0 + ], + [ + -0.0052450876233381405, + 0.0308517873837483, + -0.00844601044775875, + 0.02181596007957059, + 0.017053345427733648, + 0.10910318497436525, + 1.0 + ], + [ + -0.003000788777473895, + 0.015514096442585813, + -0.01590503562058384, + 0.01973630964691917, + 0.036637351576182614, + 0.05468449080435045, + 1.0 + ], + [ + -0.0019238501216211068, + 0.007149095652272161, + -0.01723915406395066, + -0.004775048619137809, + 0.04017186260099933, + 0.02746301820503192, + 1.0 + ], + [ + -0.00029503773440181513, + 0.0020156264043489913, + -0.00999811676652232, + -0.016547169512083185, + 0.03856162895022167, + 0.030463823493740078, + 1.0 + ], + [ + -0.0006972155800240021, + -2.3464300227662993e-05, + -0.01072195781513113, + -0.01720497132267423, + 0.01684403354682572, + -0.002759815094423974, + 1.0 + ], + [ + 0.0021066546325209656, + -0.0016663269474803816, + -0.00911304363028567, + 0.0016180165290137123, + 0.014779620364865907, + 0.007709494859818004, + 1.0 + ], + [ + 0.001523288089380681, + -0.0015727028177730806, + -0.0034191753438073402, + 0.006812069452034421, + 0.00029880518876970334, + -0.004558312449703735, + 1.0 + ], + [ + -0.0015313579154537238, + 0.0018524462447946782, + 0.004129500072741654, + 0.007362559611594536, + -0.0385968113298444, + 0.010883067853684668, + 0.0 + ], + [ + 0.00028657096312795227, + 0.0023386393517799003, + 0.0036929686268038914, + -0.021959936348799163, + -0.0019338831746766785, + -0.0035420264286135207, + 0.0 + ], + [ + -1.3564242598018694e-05, + 0.0013267603487239071, + 0.0009308059338598747, + -0.0008652660256191326, + -0.004065995859754998, + 0.00731074596920852, + 0.0 + ], + [ + 0.001080030641029961, + -0.00037473478131352933, + -0.0024685047353810163, + -0.0022284176005203504, + 0.008867655691845493, + -0.0072121961135708235, + 0.0 + ], + [ + 5.113224280023365e-05, + 0.0018458881517700726, + 0.00022708262626680922, + 0.004649735713890504, + -0.0038606102296907287, + 0.007626702947878011, + 0.0 + ], + [ + 0.002329476763406557, + 0.002921822517919989, + 0.004936560524225551, + 0.007162623060652218, + -0.004786090102357422, + 0.007537233493859855, + 0.0 + ], + [ + 0.007354699035479639, + -0.0010290413303833679, + 0.017634562406894636, + 0.006196311653802374, + -0.03112902117128393, + -0.005502157140933, + 0.0 + ], + [ + 0.007410864261470529, + -0.0047323798196258204, + 0.023348165299969442, + 0.003984828165885617, + -0.041966249198489486, + -0.008021771117193542, + 0.0 + ], + [ + 0.010917264422053763, + -0.014932222081123353, + 0.02186004362604374, + -0.017057456053451915, + -0.03529337856158451, + -0.019961606493765358, + 0.0 + ], + [ + 0.014434876686849896, + -0.02617919602871177, + 0.015962104985892983, + -0.007636925985401859, + -0.03081049247000778, + -0.021921061267491364, + 0.0 + ], + [ + 0.012785424447131821, + -0.027652030565566477, + 0.004829287413283485, + 0.003671067067992073, + -0.008262180091172196, + -0.012460131518751017, + 0.0 + ], + [ + 0.011951734332116437, + -0.024680064848929414, + -0.0013548022427615353, + -0.004876686378133251, + 0.005231927728964604, + -0.013647803787830155, + 0.0 + ], + [ + 0.01567705974338157, + -0.02965365370955227, + -0.011269288353198743, + 0.00849450917817603, + 0.017264521389559667, + -0.033970577773005266, + 0.0 + ], + [ + 0.011359850429425777, + -0.013411948599017686, + -0.015476594996998369, + 0.014811379801176252, + 0.020709794889941405, + -0.036322001226364184, + 0.0 + ], + [ + 0.008473607806440464, + -0.01169204308073745, + -0.012907885555768217, + 0.015465359103650147, + 0.0037208014494513617, + -0.059110977134284724, + 0.0 + ], + [ + 0.007483946635371108, + -0.00945610045563991, + -0.009534611218833148, + 0.021934369591213664, + 0.024810205272749634, + -0.06117488426212646, + 0.0 + ], + [ + 0.0009297860167271077, + -0.008297086352264088, + -0.008037855850240323, + -0.00021153987601720442, + 0.017659820239502008, + -0.043170375013344524, + 0.0 + ], + [ + -0.0014163443024950428, + -0.002399558736610574, + -0.006329085466539349, + -0.005637876666337759, + 0.02261877917259742, + -0.013690709476057007, + 0.0 + ], + [ + 0.0008327427475887661, + 0.0036714967163500173, + -0.005296398551294166, + 0.012251733937063669, + 0.02908933565277401, + 0.005727826769617612, + 1.0 + ], + [ + -0.0012122506674956401, + 0.0015133986460339477, + -0.0011533463522994175, + -0.0015269266344357616, + 0.00457861089062548, + 0.012527932220452257, + 1.0 + ], + [ + -0.002917126444492102, + 0.0019779624884620206, + -0.002246522303626512, + -0.017185530597281087, + 0.015467679313449823, + 0.013817091716952785, + 1.0 + ], + [ + 6.405729860858855e-05, + 0.0028181303431948773, + 0.00165697292551251, + -0.0005841801855671755, + -0.006687098391790893, + 0.005111888146405091, + 1.0 + ], + [ + -8.567277921706085e-05, + 0.003520370633428971, + 0.01325172735773008, + -0.03207325933535252, + -0.009910323539349723, + -0.0031733401833723435, + 1.0 + ], + [ + -0.0028914073172496835, + 0.003595282760792212, + 0.02222600110739069, + -0.03327030690562803, + -0.022842238203316264, + -0.0035678490146524777, + 1.0 + ], + [ + -0.008251125118025837, + 0.005763179620444189, + 0.02639026969331859, + -0.015484562512397465, + -0.043495073227006055, + -0.004836126645045277, + 1.0 + ], + [ + -0.009786668586793557, + 0.0027153231627308483, + 0.011879635180530056, + 0.005564588433299072, + 0.005095089694649254, + -0.02087656012501963, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 453.89276123046875, + 259.0766906738281 + ], + [ + 453.38299560546875, + 260.1165771484375 + ], + [ + 437.0180969238281, + 278.6981201171875 + ], + [ + 376.3733215332031, + 259.1065368652344 + ], + [ + 327.431640625, + 254.71109008789062 + ], + [ + 288.4228515625, + 252.48870849609375 + ], + [ + 249.47499084472656, + 245.8699951171875 + ], + [ + 225.9097137451172, + 251.59335327148438 + ], + [ + 215.7027587890625, + 267.0833740234375 + ], + [ + 212.99127197265625, + 280.2433166503906 + ], + [ + 214.7577667236328, + 288.5038757324219 + ], + [ + 215.77435302734375, + 296.75994873046875 + ], + [ + 215.38583374023438, + 297.7643127441406 + ], + [ + 215.24588012695312, + 299.9888000488281 + ], + [ + 218.33509826660156, + 300.0415954589844 + ], + [ + 212.90692138671875, + 301.22210693359375 + ], + [ + 210.99847412109375, + 298.4256896972656 + ], + [ + 211.2340545654297, + 296.7368469238281 + ], + [ + 210.49774169921875, + 294.16058349609375 + ], + [ + 208.90457153320312, + 281.3675842285156 + ], + [ + 209.8810272216797, + 255.7236328125 + ], + [ + 226.959228515625, + 232.8840789794922 + ], + [ + 266.630126953125, + 209.0738983154297 + ], + [ + 298.0565185546875, + 199.8364715576172 + ], + [ + 338.2572021484375, + 197.71029663085938 + ], + [ + 381.350341796875, + 204.40744018554688 + ], + [ + 421.5606689453125, + 224.28895568847656 + ], + [ + 430.4605712890625, + 234.7189178466797 + ], + [ + 447.39630126953125, + 244.98245239257812 + ], + [ + 452.30426025390625, + 250.20668029785156 + ], + [ + 456.5603332519531, + 257.13592529296875 + ], + [ + 457.96026611328125, + 261.3956604003906 + ], + [ + 456.00262451171875, + 263.7197570800781 + ], + [ + 459.18182373046875, + 266.1890869140625 + ], + [ + 451.6192321777344, + 265.8699951171875 + ], + [ + 447.88140869140625, + 267.8750915527344 + ], + [ + 445.5606689453125, + 242.96014404296875 + ], + [ + 440.652099609375, + 221.62142944335938 + ], + [ + 432.7421569824219, + 209.33380126953125 + ], + [ + 432.11395263671875, + 208.06443786621094 + ], + [ + 431.90179443359375, + 208.074462890625 + ], + [ + 431.9841613769531, + 207.5238037109375 + ] + ], + "depth_max": 1.5248829126358032, + "depth_min": 0.20806454122066498, + "intrinsic": [ + [ + 520.52685546875, + 0.0, + 259.0 + ], + [ + 0.0, + 519.2210083007812, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.0196362381975632e-05, + 2.5289689347118838e-06, + 4.62871503259521e-06 + ], + [ + -1.0196209586865734e-05, + 1.0, + -6.056379424990155e-05, + -5.948300895397551e-06 + ], + [ + -2.5295864816143876e-06, + 6.056376514607109e-05, + 1.0, + -1.1736196029232815e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 41 + ], + "object_trajectory": [ + [ + 190.00001525878906, + 299.0 + ], + [ + 190.43600463867188, + 299.23883056640625 + ], + [ + 190.4502410888672, + 299.0584716796875 + ], + [ + 190.56463623046875, + 299.3408203125 + ], + [ + 190.47027587890625, + 299.2178955078125 + ], + [ + 190.31802368164062, + 299.3126220703125 + ], + [ + 190.37359619140625, + 299.3056640625 + ], + [ + 190.34010314941406, + 299.4041748046875 + ], + [ + 190.47203063964844, + 299.4342346191406 + ], + [ + 190.27178955078125, + 299.4192199707031 + ], + [ + 190.43359375, + 299.428466796875 + ], + [ + 190.63816833496094, + 299.4566650390625 + ], + [ + 190.6332244873047, + 299.5931091308594 + ], + [ + 190.06900024414062, + 299.6400451660156 + ], + [ + 188.39649963378906, + 299.1836242675781 + ], + [ + 176.72763061523438, + 300.45965576171875 + ], + [ + 173.5896453857422, + 300.1571044921875 + ], + [ + 174.42843627929688, + 298.4013366699219 + ], + [ + 174.13853454589844, + 296.7770690917969 + ], + [ + 177.21002197265625, + 289.84881591796875 + ], + [ + 186.18875122070312, + 275.39056396484375 + ], + [ + 205.69735717773438, + 256.9827880859375 + ], + [ + 237.83872985839844, + 238.1690673828125 + ], + [ + 266.5457763671875, + 227.45323181152344 + ], + [ + 301.08868408203125, + 223.79373168945312 + ], + [ + 339.1922607421875, + 227.9052734375 + ], + [ + 380.78375244140625, + 243.2681121826172 + ], + [ + 391.11572265625, + 250.47488403320312 + ], + [ + 406.0044250488281, + 258.9029235839844 + ], + [ + 410.47186279296875, + 263.14080810546875 + ], + [ + 411.6374206542969, + 268.8729553222656 + ], + [ + 411.5494384765625, + 273.4879150390625 + ], + [ + 406.93359375, + 275.8556823730469 + ], + [ + 405.50494384765625, + 276.32806396484375 + ], + [ + 405.0164794921875, + 277.2619934082031 + ], + [ + 404.22119140625, + 277.55242919921875 + ], + [ + 404.19061279296875, + 276.5888977050781 + ], + [ + 404.3980712890625, + 275.53515625 + ], + [ + 404.6595764160156, + 275.760009765625 + ], + [ + 404.50714111328125, + 275.8543701171875 + ], + [ + 404.85302734375, + 276.53265380859375 + ], + [ + 404.4460754394531, + 276.36871337890625 + ] + ] +} \ No newline at end of file diff --git a/004279_v2/lang.txt b/004279_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..dc2d9e2f6c2fe1bc6d8b6b1010601a160705a13d --- /dev/null +++ b/004279_v2/lang.txt @@ -0,0 +1 @@ +move the silver pot to the right side diff --git a/004304_v2/FAIL b/004304_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/004304_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/004324/data.json b/004324/data.json new file mode 100644 index 0000000000000000000000000000000000000000..d91b42dee4b7bf06fca38702f929f15d9208243a --- /dev/null +++ b/004324/data.json @@ -0,0 +1,568 @@ +{ + "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, + 0.8744810000000001, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.830769, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.235258562104491e-10, + -3.10560521743497e-10, + -5.750162151985094e-10, + -4.0483301426080963e-07, + -6.62897792877745e-08, + 5.021908428458615e-08, + 1.0 + ], + [ + -0.02956818217949253, + 0.016744590820526872, + -0.0023587491386540954, + -0.00104605388655412, + -0.03452726950399171, + -0.03149033311908553, + 1.0 + ], + [ + -0.02023455438897126, + 0.027636478154235183, + -0.0025860942986467433, + 0.001465026534343956, + -0.0105937095633592, + -0.02346039688845499, + 1.0 + ], + [ + -0.009200114520512725, + 0.023241046981383733, + -0.0056889948479756924, + 0.020136260110170244, + -0.006204656399701318, + -0.021184064707441087, + 1.0 + ], + [ + -0.003316641879954979, + 0.013246613124963738, + -0.017126248557889356, + 0.026221063167776816, + 0.003609517013150544, + -0.03233866543336069, + 1.0 + ], + [ + -9.21037898659327e-05, + 0.00610248748200207, + -0.018190036956544635, + -0.021474859453839194, + 0.07305404264466236, + -0.05664063387846863, + 1.0 + ], + [ + 0.001003304658006604, + 0.0032065625218547916, + -0.0047655958106491494, + 0.016313001787266967, + -0.016863722560048505, + -0.016975688605026233, + 1.0 + ], + [ + -0.0030025795459394378, + 0.0031705062417388755, + -0.007058719284547835, + 0.01598405732428702, + -0.003571147218722893, + -0.023936941650556924, + 1.0 + ], + [ + 0.0004001744987778, + 0.00016226175678157873, + 0.0014041213499487067, + -0.004851955905788756, + -0.007116752810686306, + 0.007742062983643557, + 0.8744810000000001 + ], + [ + 0.0018614092649443803, + 0.0011627076666724245, + -0.0018152171692010048, + -0.003399899762148252, + -0.010889883168518676, + 0.021257394822938216, + 0.0 + ], + [ + 0.0011037570762404136, + -0.00013561276328981353, + 0.002842451621215731, + 0.010960407157725413, + -0.012641260983743612, + 0.023194302400835788, + 0.0 + ], + [ + 0.0026365147912385534, + 0.0003421404153029217, + 0.002250961827791269, + 0.01622894531863802, + -0.010538579311649978, + 0.030048263996841646, + 0.0 + ], + [ + 0.005353024113914806, + -0.007093226564024918, + 0.010559635451618025, + -0.0037634178111330035, + -0.019358510337813117, + 0.021232605074357674, + 0.0 + ], + [ + 0.012955453108452308, + -0.02145774364767855, + 0.020669199730279204, + -0.02925626666167294, + -0.017349666889642987, + 0.030931036892008688, + 0.0 + ], + [ + 0.018887680882848923, + -0.02621155711660652, + 0.01156855067223271, + -0.030615761456143177, + 0.009771288450678582, + 0.016128537332755113, + 0.0 + ], + [ + 0.024735974671096478, + -0.028933176470206712, + -0.00012983465564018332, + -0.0053135491692537845, + 0.000837945650693748, + -0.012342729858352209, + 0.0 + ], + [ + 0.02501532192080419, + -0.012304449808466443, + -0.008213356009556944, + 0.025811260774770507, + -0.014543377891195527, + -0.011430510902179855, + 0.0 + ], + [ + 0.008101819991658765, + 0.004863826292062383, + -0.008310571588146277, + 0.011007366490066674, + 0.004388724060687417, + 0.01553533502200211, + 0.0 + ], + [ + -0.003972637571341087, + 0.005374049168742442, + -0.0060909273043591936, + 0.024251574923305833, + -0.004949743752748976, + -0.005851113293450972, + 0.0 + ], + [ + -0.0037498405898028775, + 0.005234873108293549, + -0.0020771152988834293, + 0.005701206199764349, + 0.00853571477041483, + -0.0027086615214238267, + 0.0 + ], + [ + -0.0016999957664765586, + 0.0033125439056095746, + -0.0006756576436842687, + 0.0055181618532522325, + 0.0032165450026272603, + 0.0027339479533606873, + 0.0 + ], + [ + -0.0011112054555305062, + -0.0026353585474351657, + -0.00042432845208661973, + 0.015898378298729532, + 0.03494520685063325, + 0.014715263383574189, + 0.830769 + ], + [ + 0.0006254931479161008, + 0.000910287193423084, + 0.005342317128393406, + 0.002209185283145481, + -0.008563174668966373, + 0.007833705340401391, + 1.0 + ], + [ + -0.0019751744228701518, + -0.0015438873177383901, + 0.015022344189542, + -0.021316544776398407, + -0.012078001722183637, + -0.002550221424112035, + 1.0 + ], + [ + -0.0016932190792701696, + -0.00967906169516533, + 0.03484505839289859, + -0.06810450027086686, + -0.03671870447641201, + -0.0019224879212254946, + 1.0 + ], + [ + -0.0015641044169660834, + -0.01020698859430182, + 0.026197704388306875, + -0.043604400434704975, + -0.002719706542848494, + -0.018532773032882168, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 363.22760009765625, + 188.21621704101562 + ], + [ + 361.46905517578125, + 193.8136749267578 + ], + [ + 332.4197692871094, + 237.3939666748047 + ], + [ + 268.5438537597656, + 240.68670654296875 + ], + [ + 219.7877197265625, + 242.52651977539062 + ], + [ + 211.754150390625, + 252.17970275878906 + ], + [ + 202.89825439453125, + 274.3310241699219 + ], + [ + 201.35360717773438, + 271.102294921875 + ], + [ + 199.82199096679688, + 276.8342590332031 + ], + [ + 198.70396423339844, + 276.003662109375 + ], + [ + 198.318603515625, + 273.168212890625 + ], + [ + 193.24020385742188, + 272.977783203125 + ], + [ + 188.92556762695312, + 271.7048034667969 + ], + [ + 192.48550415039062, + 268.957763671875 + ], + [ + 221.0060272216797, + 244.086669921875 + ], + [ + 267.24615478515625, + 217.46224975585938 + ], + [ + 323.04449462890625, + 207.08425903320312 + ], + [ + 371.83734130859375, + 207.12326049804688 + ], + [ + 382.40655517578125, + 207.37509155273438 + ], + [ + 362.48736572265625, + 203.4362030029297 + ], + [ + 352.6259765625, + 209.83157348632812 + ], + [ + 351.2814636230469, + 211.91004943847656 + ], + [ + 346.2049560546875, + 213.8433837890625 + ], + [ + 346.3824462890625, + 213.78524780273438 + ], + [ + 346.3965759277344, + 215.74224853515625 + ], + [ + 360.3244323730469, + 176.96295166015625 + ], + [ + 374.1280517578125, + 145.3834228515625 + ], + [ + 376.04833984375, + 136.51063537597656 + ] + ], + "depth_max": 1.7658920288085938, + "depth_min": 0.38695216178894043, + "intrinsic": [ + [ + 558.4319458007812, + 0.0, + 259.0 + ], + [ + 0.0, + 558.3065185546875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 8.118732512230054e-05, + -7.48507009120658e-05, + -7.478261068172287e-06 + ], + [ + -8.11917198006995e-05, + 1.0, + -5.8769117458723485e-05, + -2.6971891202265397e-05 + ], + [ + 7.48459278838709e-05, + 5.877519288333133e-05, + 1.0, + 1.660263842495624e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 143.5, + 265.0 + ], + [ + 143.8573760986328, + 265.26934814453125 + ], + [ + 143.38125610351562, + 265.64337158203125 + ], + [ + 143.30731201171875, + 265.7623291015625 + ], + [ + 143.21182250976562, + 265.98565673828125 + ], + [ + 142.57525634765625, + 266.0295715332031 + ], + [ + 141.2525177001953, + 266.9991455078125 + ], + [ + 142.32705688476562, + 266.94989013671875 + ], + [ + 144.973388671875, + 265.4251708984375 + ], + [ + 145.2193145751953, + 265.4989929199219 + ], + [ + 145.57554626464844, + 265.96746826171875 + ], + [ + 147.50094604492188, + 270.462158203125 + ], + [ + 143.44027709960938, + 276.6038513183594 + ], + [ + 147.9376678466797, + 279.17401123046875 + ], + [ + 170.1603240966797, + 259.72998046875 + ], + [ + 204.58462524414062, + 242.93167114257812 + ], + [ + 256.4382629394531, + 232.08502197265625 + ], + [ + 303.4188232421875, + 227.89654541015625 + ], + [ + 314.0332946777344, + 225.99313354492188 + ], + [ + 295.7852783203125, + 221.7567596435547 + ], + [ + 287.6173095703125, + 227.1746826171875 + ], + [ + 286.13226318359375, + 229.06549072265625 + ], + [ + 280.49945068359375, + 237.26551818847656 + ], + [ + 282.7933349609375, + 237.98150634765625 + ], + [ + 283.2480773925781, + 238.38360595703125 + ], + [ + 283.6232604980469, + 238.935302734375 + ], + [ + 283.47021484375, + 239.08363342285156 + ], + [ + 283.70379638671875, + 239.45965576171875 + ] + ] +} \ No newline at end of file diff --git a/004324/lang.txt b/004324/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..7896894fb7d0e82303aaa4d736b4b6fc0f85e6b5 --- /dev/null +++ b/004324/lang.txt @@ -0,0 +1 @@ +put bowl on plate diff --git a/004342_v2/FAIL b/004342_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004342_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004344_v2/FAIL b/004344_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004344_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004352_v2/FAIL b/004352_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004352_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004364/FAIL b/004364/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/004364/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/004408_v2/FAIL b/004408_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/004408_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/004413_v2/FAIL b/004413_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004413_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004444/data.json b/004444/data.json new file mode 100644 index 0000000000000000000000000000000000000000..5bbf70ca4b64ffb987a19c6514298cd474bab99e --- /dev/null +++ b/004444/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, + 0.82149, + 0.0, + 0.0, + 0.0, + 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": [ + [ + -2.2327018012191502e-10, + 9.220004967835926e-11, + -3.404727125233542e-10, + 8.426303709394573e-08, + 1.0815957457805985e-07, + -4.349548978991927e-07, + 1.0 + ], + [ + 0.015978350078020842, + -0.0019366325791952514, + -0.004883593151221735, + 0.006905917230405887, + -0.04021955147691488, + 0.036832076190212934, + 1.0 + ], + [ + 0.011865332776563764, + -0.0010013579344608312, + -0.003283091936414441, + 0.004914603971606352, + -0.018861136810715485, + 0.02101462765535855, + 1.0 + ], + [ + 0.0065641041980280534, + -0.000667759312439304, + -0.0017859934051183968, + 0.0021497091274030418, + -0.01514581678478581, + 0.006256565478836838, + 1.0 + ], + [ + 0.0034091748956416867, + -0.006322228000960495, + -0.00558147258057097, + 0.00577486048971596, + -0.0033450231453663417, + -0.0015043559836467552, + 1.0 + ], + [ + -0.0007192624800492209, + -0.006419568445785496, + -0.009604070215545525, + 0.027898538720336562, + 0.006834795210734483, + 0.005387233276455039, + 1.0 + ], + [ + 0.003203371164522739, + -0.0035853590799345206, + -0.013355118413953072, + 0.03199664022967606, + -0.02039459012712519, + 0.007935697782918114, + 1.0 + ], + [ + 0.002811979949601362, + 0.001326476634577002, + -0.006035004716216295, + 0.018947831325262527, + 0.0044643781586678755, + 0.016818606018384696, + 0.82149 + ], + [ + 0.0019494214608857252, + 0.005077791954439928, + 0.004848973611221547, + -0.010499388484703354, + 0.0009798066837265976, + 0.015661893222011246, + 0.0 + ], + [ + 0.006550075459433813, + 0.03002485012546392, + 0.03152442222161361, + -0.05550927616029649, + 0.006074588074774246, + 0.018191062409928713, + 0.0 + ], + [ + 0.016090178960219692, + 0.041952332215212544, + 0.01443474447877769, + -0.03646819304319887, + 0.08874295493182208, + 0.0037357429882631295, + 0.0 + ], + [ + 0.005011533983353578, + 0.03718127156755592, + 0.004309320527234407, + -0.005768693430541414, + -0.013329783014185406, + -0.013434210772139086, + 0.0 + ], + [ + 0.0004173335364725528, + 0.031664447233664426, + -0.0015529546199556446, + 0.027684603644035667, + -0.0134743953999998, + 0.022733073506443713, + 0.0 + ], + [ + 0.0016523220297658958, + 0.02064608518352229, + -0.006217708640363209, + 0.028620100482970923, + -0.004803972557286006, + 0.008389871764024961, + 0.0 + ], + [ + 0.003559416335197352, + 0.010750152403412774, + -0.004235302267299013, + 0.015578993132208846, + 0.00782026936310045, + 0.0010233842699533713, + 0.0 + ], + [ + -0.003479290106998212, + 0.0005429646649965647, + -0.016885807683076633, + 0.04117511781881377, + -0.010540290436191181, + 0.010135078708497917, + 0.0 + ], + [ + -0.005433836119943192, + -0.001847815422799437, + -0.015061254908456695, + 0.031233918139889454, + -0.006012532693440549, + 0.016313960614246444, + 0.0 + ], + [ + 0.002585823300732759, + -0.0006974303597910569, + -0.010890118420091507, + 0.02335354808868945, + -0.006771814339666342, + 0.0015040370026181311, + 0.0 + ], + [ + 0.008217453700957389, + -0.0007656788780094348, + -0.0023826300101247137, + 0.003415936210809, + -0.006644566479552513, + 0.0219431875052256, + 0.0 + ], + [ + 0.012149091410516066, + -0.00046658420146206137, + 0.006143854923628631, + -0.014696053263851417, + -0.008843326035195453, + 0.034869264886776344, + 0.0 + ], + [ + 0.007962682101907537, + 0.0033313105988104497, + -0.00308592509010048, + 0.017798726906434543, + 0.003465488759033608, + 0.028756511046344187, + 0.0 + ], + [ + -0.0009051435704600652, + 0.0029357915952516744, + -0.0031504978373609925, + 0.008996039412760195, + 0.024421345540578735, + -0.0007281296206919337, + 0.0 + ], + [ + -0.006145040820509817, + 0.0006120401426782662, + -0.011299767137359749, + 0.016447487314147413, + 0.07003123704849828, + -0.04479935820022268, + 0.0 + ] + ], + "gripper_centers": [ + [ + 284.03167724609375, + 217.98692321777344 + ], + [ + 283.3545227050781, + 228.22332763671875 + ], + [ + 290.24560546875, + 227.75225830078125 + ], + [ + 298.73577880859375, + 218.365234375 + ], + [ + 303.3392333984375, + 217.95875549316406 + ], + [ + 311.3193054199219, + 223.8837890625 + ], + [ + 323.18115234375, + 233.6630859375 + ], + [ + 328.77691650390625, + 247.49478149414062 + ], + [ + 331.637939453125, + 246.44174194335938 + ], + [ + 331.77325439453125, + 246.24136352539062 + ], + [ + 307.1755065917969, + 212.956298828125 + ], + [ + 255.2097625732422, + 141.74880981445312 + ], + [ + 211.0233612060547, + 122.1991958618164 + ], + [ + 181.7530517578125, + 112.85420227050781 + ], + [ + 161.84716796875, + 113.11189270019531 + ], + [ + 151.52313232421875, + 115.81685638427734 + ], + [ + 147.81854248046875, + 130.00613403320312 + ], + [ + 147.40582275390625, + 150.11878967285156 + ], + [ + 154.5398406982422, + 153.96530151367188 + ], + [ + 168.135009765625, + 149.98631286621094 + ], + [ + 176.68775939941406, + 153.80877685546875 + ], + [ + 173.53659057617188, + 145.1064453125 + ], + [ + 171.37539672851562, + 147.8262176513672 + ] + ], + "depth_max": 1.5730481147766113, + "depth_min": 0.2677026093006134, + "intrinsic": [ + [ + 575.2066040039062, + 0.0, + 259.0 + ], + [ + 0.0, + 575.698486328125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.640827551658731e-05, + -6.70010776957497e-05, + 2.0047946236445569e-07 + ], + [ + -2.641289211169351e-05, + 1.0, + -6.88787258695811e-05, + -5.4362080845749006e-06 + ], + [ + 6.699925870634615e-05, + 6.888050120323896e-05, + 1.0, + -2.593411954876501e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 22 + ], + "object_trajectory": [ + [ + 324.0, + 254.75003051757812 + ], + [ + 325.42230224609375, + 251.2811737060547 + ], + [ + 328.76507568359375, + 251.14907836914062 + ], + [ + 344.6760559082031, + 252.62269592285156 + ], + [ + 345.0594482421875, + 251.41928100585938 + ], + [ + 342.9365234375, + 249.45584106445312 + ], + [ + 347.9088134765625, + 252.41241455078125 + ], + [ + 350.86346435546875, + 251.5548095703125 + ], + [ + 351.6014404296875, + 250.41348266601562 + ], + [ + 351.7125549316406, + 251.6907958984375 + ], + [ + 325.8725280761719, + 222.02032470703125 + ], + [ + 274.3877868652344, + 151.55117797851562 + ], + [ + 226.5208740234375, + 127.09556579589844 + ], + [ + 196.01353454589844, + 119.65458679199219 + ], + [ + 174.7393341064453, + 117.96882629394531 + ], + [ + 163.85916137695312, + 120.53776550292969 + ], + [ + 160.9888916015625, + 133.417724609375 + ], + [ + 161.32237243652344, + 153.28359985351562 + ], + [ + 167.2661590576172, + 156.2781219482422 + ], + [ + 181.3404541015625, + 152.87158203125 + ], + [ + 189.35690307617188, + 155.00059509277344 + ], + [ + 187.7046661376953, + 146.50933837890625 + ], + [ + 185.06033325195312, + 149.40121459960938 + ] + ] +} \ No newline at end of file diff --git a/004444/lang.txt b/004444/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2c08817e81d47514f9fb4baa0398b5527e297dc3 --- /dev/null +++ b/004444/lang.txt @@ -0,0 +1 @@ +put cap on container diff --git a/004444/object.ply b/004444/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..38956df387d8bc8e5fd981e411b9f0f060d00417 Binary files /dev/null and b/004444/object.ply differ diff --git a/004449/FAIL b/004449/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/004449/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/004508_v2/FAIL b/004508_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004508_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004519/data.json b/004519/data.json new file mode 100644 index 0000000000000000000000000000000000000000..8d421047c80fafa5f3d8c910f01502c7a30a22a3 --- /dev/null +++ b/004519/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 10, + "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, + 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": [ + [ + -4.04498767814232e-10, + 1.381325609450812e-11, + 2.287429967662291e-10, + -9.673345666339795e-08, + -1.3341111036556566e-08, + 3.39563278118826e-08, + 1.0 + ], + [ + -0.015370192771919144, + -0.03463247688551252, + -0.008105867602286293, + -0.0011306761379428851, + 0.0037919278366432543, + -0.029178198635714706, + 1.0 + ], + [ + -0.018973024313713838, + -0.04128867556892732, + -0.006285225461172425, + 0.025890672541160564, + -0.00957450491863638, + -0.040249744936983044, + 1.0 + ], + [ + -0.02225324333726625, + -0.05015203926654192, + -0.008245859706933062, + -0.08895653853638445, + 0.031247529070410163, + -0.10639168306979513, + 1.0 + ], + [ + -0.01272325441839392, + -0.038621604830931536, + -0.011170289651583287, + -0.07618841215870316, + 0.03319064086245467, + -0.04645356022148969, + 1.0 + ], + [ + -0.0003537274419853631, + -0.017412115623034255, + -0.02112207021172645, + 0.019425131146067455, + 0.02008372754329797, + 0.003857730359491906, + 1.0 + ], + [ + 0.0023333975275737495, + -0.009534456200698017, + -0.01902711934507792, + -0.0015262584564059872, + -0.016169371692246234, + -0.004252520912278029, + 1.0 + ], + [ + 0.0023874115742774926, + -0.002661812599528024, + -0.018269888653893555, + 0.004475029744148319, + 0.002319591329369684, + -0.029964122949474595, + 1.0 + ], + [ + 0.0008036352773213296, + 0.002220528695119156, + -0.011892229528224905, + 0.003493885459537852, + 0.025245131490930273, + -0.0006513529407010358, + 1.0 + ], + [ + 0.001370460597754225, + 0.0026437084447304415, + -0.008303943184071277, + -0.012907017962477566, + 0.03567199039504058, + 0.006391971676052099, + 1.0 + ], + [ + 0.00133842387409705, + 0.0028262225500552407, + -0.007590509327171831, + 0.0023027270667237833, + 0.023382255653766188, + 0.01475250451101466, + 1.0 + ], + [ + 0.0007431876009644511, + 0.003916680790603977, + -0.0025104888458702774, + -0.0019348011388424643, + -0.002921295639820985, + 0.011321517916942657, + 0.0 + ], + [ + -0.0032556776486991623, + 0.004563233659024862, + 0.010529663934083392, + -0.0050799441566313445, + -0.023640271352486943, + 0.008167065309839029, + 0.0 + ], + [ + -0.003264603701123747, + 0.008160231848027416, + 0.02644511986081879, + 0.012201160912471185, + -0.06388390422669965, + -0.00134924722889854, + 0.0 + ], + [ + 0.012714390109990509, + 0.001782481201076394, + 0.04229282946712635, + -0.009747357473476072, + -0.08572246080255742, + 0.021200289709560123, + 0.0 + ], + [ + 0.029856114796309813, + -0.0015418946880833527, + 0.026602523414611272, + -0.036631966225111695, + -0.06483267164592077, + 0.08851162446589858, + 0.0 + ], + [ + 0.03094103073406479, + 0.0021276766007025036, + 0.0019292967327246419, + -0.008427567575226858, + -0.011138314591235262, + 0.05529222691201795, + 0.0 + ], + [ + 0.02289778510880358, + 0.0018641692572977375, + -0.015678759865050185, + 0.033302267479556565, + 0.015448946624292135, + 0.028175489662419253, + 0.0 + ], + [ + 0.019382860493131815, + 0.006210281787263586, + -0.014801507852642296, + 0.0250164007452849, + 0.013317942519949371, + 0.042643528461919565, + 0.0 + ], + [ + 0.008209269961461707, + 0.009256913434051522, + -0.007030936275363997, + -0.001250873935951979, + 0.019224722244155317, + 0.04425196758562149, + 0.0 + ], + [ + -0.0009212184352954123, + 0.00539735035089851, + -0.003939436306694764, + 0.0001748016122712382, + 0.03681795146554312, + 0.03863619959341424, + 1.0 + ], + [ + -0.004885761850502435, + 0.0003393941985242316, + -0.0027410752517446554, + 0.000808644136384673, + 0.02401148230335239, + -0.010308787902021546, + 1.0 + ], + [ + -0.003453166211543568, + 0.0014605348517197185, + 0.002806969814155978, + -0.005828998276842361, + 0.009615231719780003, + -0.0015477268341792822, + 1.0 + ], + [ + -0.004616878671981239, + -0.005637912717068445, + 0.03379228150694608, + -0.03720539843541102, + -0.03490821357853343, + 0.003044003684790138, + 1.0 + ], + [ + -0.007630108566824556, + -0.007633827126771044, + 0.043245318805150965, + -0.010894728028706526, + -0.06572660038514651, + -0.012238164259212404, + 1.0 + ], + [ + -0.010149083985673324, + 0.001214128038589328, + 0.02202218668117742, + -0.018535705783537092, + 0.019936381630176882, + -0.036412551110430375, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 160.01031494140625, + 60.92676544189453 + ], + [ + 159.88218688964844, + 65.54354858398438 + ], + [ + 160.43719482421875, + 101.47572326660156 + ], + [ + 222.78077697753906, + 147.95758056640625 + ], + [ + 269.1741638183594, + 198.13055419921875 + ], + [ + 307.67352294921875, + 247.88717651367188 + ], + [ + 352.61602783203125, + 289.5116882324219 + ], + [ + 371.09515380859375, + 320.8714294433594 + ], + [ + 373.2939758300781, + 337.2120361328125 + ], + [ + 374.683349609375, + 349.9674072265625 + ], + [ + 373.0010681152344, + 364.795166015625 + ], + [ + 365.424560546875, + 367.5122375488281 + ], + [ + 367.54254150390625, + 364.6011962890625 + ], + [ + 355.967041015625, + 363.3703308105469 + ], + [ + 342.79638671875, + 343.94720458984375 + ], + [ + 338.8499755859375, + 294.91351318359375 + ], + [ + 364.6664123535156, + 227.21778869628906 + ], + [ + 386.2659912109375, + 183.5359344482422 + ], + [ + 395.583984375, + 168.39498901367188 + ], + [ + 404.26336669921875, + 169.87123107910156 + ], + [ + 405.680419921875, + 172.0087890625 + ], + [ + 385.0498962402344, + 170.73895263671875 + ], + [ + 371.87890625, + 169.71107482910156 + ], + [ + 376.52490234375, + 172.74215698242188 + ], + [ + 377.39886474609375, + 167.9267120361328 + ], + [ + 378.5975646972656, + 113.73190307617188 + ], + [ + 385.0439453125, + 78.30752563476562 + ], + [ + 391.7646789550781, + 71.99201965332031 + ] + ], + "depth_max": 2.936342477798462, + "depth_min": 0.13944362103939056, + "intrinsic": [ + [ + 539.4622802734375, + 0.0, + 259.0 + ], + [ + 0.0, + 539.0370483398438, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.57847010390833e-05, + -8.978817641036585e-05, + 3.366157034179196e-05 + ], + [ + -7.578759687021375e-05, + 1.0, + -3.2234420359600335e-05, + -1.0856577318918426e-05 + ], + [ + 8.978573168860748e-05, + 3.22412233799696e-05, + 1.0, + -3.440606451476924e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 361.25, + 370.2500305175781 + ], + [ + 361.124755859375, + 370.72161865234375 + ], + [ + 361.200439453125, + 370.74713134765625 + ], + [ + 361.1485290527344, + 371.3625793457031 + ], + [ + 361.262451171875, + 371.4162902832031 + ], + [ + 360.8594055175781, + 370.7030029296875 + ], + [ + 360.91009521484375, + 370.8978576660156 + ], + [ + 361.187744140625, + 370.4342956542969 + ], + [ + 361.3180236816406, + 370.2327880859375 + ], + [ + 360.98187255859375, + 369.40423583984375 + ], + [ + 359.623779296875, + 372.2627258300781 + ], + [ + 355.31390380859375, + 365.940185546875 + ], + [ + 362.11712646484375, + 364.750732421875 + ], + [ + 353.8811950683594, + 365.2163391113281 + ], + [ + 339.4200439453125, + 348.3704528808594 + ], + [ + 336.94622802734375, + 303.6800842285156 + ], + [ + 354.7791748046875, + 240.66802978515625 + ], + [ + 374.14385986328125, + 201.4173126220703 + ], + [ + 380.0486755371094, + 188.44744873046875 + ], + [ + 387.80340576171875, + 186.67559814453125 + ], + [ + 388.198486328125, + 191.9373779296875 + ], + [ + 360.0521240234375, + 208.05303955078125 + ], + [ + 357.02130126953125, + 228.65957641601562 + ], + [ + 363.9432678222656, + 226.2136688232422 + ], + [ + 368.51580810546875, + 219.42713928222656 + ], + [ + 374.5355224609375, + 217.1632080078125 + ], + [ + 373.50384521484375, + 217.55638122558594 + ], + [ + 373.34423828125, + 218.2568359375 + ] + ] +} \ No newline at end of file diff --git a/004519/lang.txt b/004519/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..684b93deadfe2c05262f6ae2f078964eb6251839 --- /dev/null +++ b/004519/lang.txt @@ -0,0 +1 @@ +put carrot in pot cardboard fence diff --git a/004519/object.ply b/004519/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..9109f3a1f8eb71aeb820bcdcbee0979b091ca397 Binary files /dev/null and b/004519/object.ply differ diff --git a/004532/data.json b/004532/data.json new file mode 100644 index 0000000000000000000000000000000000000000..defdc71d4fb48772fd35c2c68f2b35929c83014a --- /dev/null +++ b/004532/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 10, + "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, + 1.0, + 0.940659, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.21977999999999998, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -4.730697500399117e-10, + 2.144007194004871e-12, + -2.0561889690906554e-10, + 1.2895897631590023e-07, + 6.567779827200789e-07, + 7.22672421116213e-08, + 1.0 + ], + [ + 0.008018722408847795, + -0.022338089146179865, + 0.012219434051856229, + -0.06006323472097662, + 0.019626479930854923, + -0.0029376696869591185, + 1.0 + ], + [ + 0.013653494123904986, + -0.026213277917294997, + 0.006955293659610853, + -0.07321497147120679, + 0.0396915079081795, + -0.029507879476112914, + 1.0 + ], + [ + 0.013393634164258483, + -0.023028504723324683, + -0.0012321207732176598, + -0.02831168456882674, + -0.021235412918229293, + -0.040188336857609766, + 1.0 + ], + [ + 0.013263215235492343, + -0.021270667651141224, + -0.017013821206271443, + -0.03305559697732633, + -0.02063790350602018, + -0.05691999876771236, + 1.0 + ], + [ + 0.007974776382062121, + -0.010860747231180082, + -0.01717236667505946, + 0.0074556378396385264, + -0.0002542077271365793, + -0.07006040838383032, + 1.0 + ], + [ + 0.007403139255143909, + -0.004419738273902959, + -0.01904666564052499, + 0.024171844435134537, + 0.00487350472472903, + -0.06276503305291992, + 1.0 + ], + [ + 0.0009566102886399697, + 0.0012579521536699879, + -0.01258951895042039, + 0.02560685052792126, + 0.007758852201813376, + -0.012922808501008293, + 1.0 + ], + [ + 0.0006633002371770891, + 0.002586826102822508, + -0.009078252552219293, + 0.011271366147183564, + 0.025489541275738083, + -0.003283481308160579, + 1.0 + ], + [ + 0.0014880365884792912, + 0.0030363859232167226, + -0.008889129594321348, + 0.010825933639003442, + 0.026188451922560193, + 0.00014926725337977898, + 1.0 + ], + [ + -0.0029622474885419026, + 0.0007262784498148472, + -0.0054061373404332945, + 0.01264590372429564, + 0.0058695316793322535, + -0.009466053234020947, + 0.940659 + ], + [ + -0.003343048657280745, + -0.0005976802188060668, + 0.0033927706016243253, + -0.014526854020046675, + -0.007916052893803678, + -0.008825698224760146, + 0.0 + ], + [ + -0.0035944904121552046, + -0.0008507017168203701, + 0.020415821688637103, + -0.03924389952098864, + -0.022980414210295987, + 0.00562822652666651, + 0.0 + ], + [ + 0.001072763874139404, + 0.006131079811272714, + 0.027046520884784403, + -0.020137704113558547, + -0.05860914683566875, + 0.025670730594834202, + 0.0 + ], + [ + 0.01316174835675471, + 0.02190069483437079, + 0.03407056187446618, + -0.001402843104136193, + -0.10456667056784041, + 0.09162458218274376, + 0.0 + ], + [ + 0.01676137445544401, + 0.03171293175279266, + 0.009170164826752633, + 0.06269347606124216, + -0.08608882346632787, + 0.12880580838032943, + 0.0 + ], + [ + 0.01612822231306632, + 0.03624266064184054, + -0.004083869144986096, + 0.035497095244418304, + 0.0023035526426032813, + 0.1364811086573315, + 0.0 + ], + [ + 0.005728713717969125, + 0.015712517419079433, + -0.014640977278687448, + 0.033351078548604106, + 0.03059663414608346, + 0.037634448338828716, + 0.0 + ], + [ + -0.000212892475652815, + 0.0035237869755848222, + -0.01541418837282249, + 0.040359415883835945, + 0.03452425434662407, + -0.0034877424587935954, + 0.0 + ], + [ + 0.0006491542496090963, + 0.0016569453229846876, + -0.005021619777440034, + 0.020486239390625115, + 0.00802119490089465, + 0.010647188759245111, + 0.21977999999999998 + ], + [ + 0.004938124461982996, + 0.0019807482947403338, + -0.0028354422991233447, + -0.002405230231320961, + 0.008565401756521271, + 0.03001935556416908, + 1.0 + ], + [ + 0.00294867727862852, + 0.0014354245969860069, + 0.001185485700193084, + -0.0037007292666862406, + 4.396200318357036e-05, + 0.012975959144971674, + 1.0 + ], + [ + -0.0016974490708034917, + -0.006428035400129803, + 0.013540999246519587, + -0.02077050249156208, + -0.018902816301662018, + -0.011971194237483176, + 1.0 + ], + [ + -0.004775101844351093, + -0.012761525250976402, + 0.0253005071657883, + -0.04662162239753267, + -0.019141192702015624, + -0.012960392592163887, + 1.0 + ], + [ + -0.0050847256101165805, + -0.012059072711269006, + 0.02379407791903098, + -0.045452881134340754, + 0.00031015157833887646, + -0.021034770149288038, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 144.532470703125, + 173.65179443359375 + ], + [ + 144.03224182128906, + 177.53761291503906 + ], + [ + 152.6471405029297, + 181.51629638671875 + ], + [ + 207.522705078125, + 168.1788330078125 + ], + [ + 245.96145629882812, + 164.50608825683594 + ], + [ + 285.2886047363281, + 181.83265686035156 + ], + [ + 317.1079406738281, + 200.3745574951172 + ], + [ + 328.4173583984375, + 216.64834594726562 + ], + [ + 329.2157897949219, + 228.06063842773438 + ], + [ + 326.3717346191406, + 238.71803283691406 + ], + [ + 327.90545654296875, + 243.4357147216797 + ], + [ + 329.95770263671875, + 243.1617431640625 + ], + [ + 335.6770324707031, + 245.98233032226562 + ], + [ + 327.0036926269531, + 251.3934326171875 + ], + [ + 325.1087646484375, + 218.61756896972656 + ], + [ + 305.26043701171875, + 177.6148681640625 + ], + [ + 272.55584716796875, + 132.34811401367188 + ], + [ + 248.2232666015625, + 98.38533020019531 + ], + [ + 220.58685302734375, + 99.95633697509766 + ], + [ + 203.26470947265625, + 114.33802795410156 + ], + [ + 171.7722625732422, + 103.89391326904297 + ], + [ + 223.2562255859375, + 127.18052673339844 + ], + [ + 220.63140869140625, + 122.25697326660156 + ], + [ + 220.66830444335938, + 123.30352783203125 + ], + [ + 222.1737518310547, + 109.49945831298828 + ], + [ + 225.1334991455078, + 82.22312927246094 + ], + [ + 229.2119598388672, + 70.28711700439453 + ], + [ + 229.53225708007812, + 70.35126495361328 + ] + ], + "depth_max": 2.9415526390075684, + "depth_min": 0.4569677710533142, + "intrinsic": [ + [ + 555.6788330078125, + 0.0, + 259.0 + ], + [ + 0.0, + 555.8311157226562, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 0.00011051834735553712, + -8.531090861652046e-05, + -5.665665867127245e-06 + ], + [ + -0.00011052318586735055, + 1.0, + -5.662281910190359e-05, + -1.0251279491058085e-05 + ], + [ + 8.530465129297227e-05, + 5.6632252380950376e-05, + 1.0, + -2.558167398092337e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 323.75, + 257.0 + ], + [ + 323.97015380859375, + 256.9684143066406 + ], + [ + 323.7997131347656, + 257.2132873535156 + ], + [ + 323.55389404296875, + 257.9615173339844 + ], + [ + 322.7118225097656, + 258.19427490234375 + ], + [ + 322.57940673828125, + 258.6611633300781 + ], + [ + 322.5986328125, + 259.3624267578125 + ], + [ + 321.7161865234375, + 260.48712158203125 + ], + [ + 321.7030944824219, + 259.4268798828125 + ], + [ + 321.8709716796875, + 259.2321472167969 + ], + [ + 322.5376281738281, + 258.506591796875 + ], + [ + 322.6600036621094, + 258.496826171875 + ], + [ + 332.2622985839844, + 262.1432800292969 + ], + [ + 324.6463623046875, + 268.8640441894531 + ], + [ + 321.85162353515625, + 237.810302734375 + ], + [ + 303.7662353515625, + 196.93772888183594 + ], + [ + 273.1734313964844, + 152.43153381347656 + ], + [ + 249.38966369628906, + 117.68917846679688 + ], + [ + 224.70025634765625, + 118.6624984741211 + ], + [ + 208.1036834716797, + 131.10130310058594 + ], + [ + 217.95248413085938, + 138.0846405029297 + ], + [ + 220.31454467773438, + 155.96896362304688 + ], + [ + 227.56227111816406, + 169.4407958984375 + ], + [ + 232.09466552734375, + 171.3998260498047 + ], + [ + 234.41046142578125, + 171.6505889892578 + ], + [ + 236.33428955078125, + 170.0023651123047 + ], + [ + 237.17581176757812, + 170.6182403564453 + ], + [ + 237.88040161132812, + 170.09329223632812 + ] + ] +} \ No newline at end of file diff --git a/004532/lang.txt b/004532/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..684b93deadfe2c05262f6ae2f078964eb6251839 --- /dev/null +++ b/004532/lang.txt @@ -0,0 +1 @@ +put carrot in pot cardboard fence diff --git a/004532/object.ply b/004532/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..9eb35ede4e839a747cd916a755a5243d554e34a8 Binary files /dev/null and b/004532/object.ply differ diff --git a/004589/data.json b/004589/data.json new file mode 100644 index 0000000000000000000000000000000000000000..b9eca96110a0a521e8c1561c40b9672a67f4bb2d --- /dev/null +++ b/004589/data.json @@ -0,0 +1,659 @@ +{ + "action_start": 13, + "action_end": 25, + "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, + 0.502564, + 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": [ + [ + -3.8177633276959e-10, + -3.878447563110399e-11, + 9.226561181741033e-11, + -1.2684598301241762e-07, + 5.756297389832541e-07, + -1.0840895083325428e-07, + 1.0 + ], + [ + -0.002396244759945765, + -0.008758330657623034, + -0.004457977052391766, + -0.0877069183793424, + 0.12074229719558872, + -0.3466715525287441, + 1.0 + ], + [ + -0.017916129621797006, + -0.003922299089982578, + -0.015152512941840265, + 0.002007921051069662, + 0.006307730981668374, + -0.4272795274744677, + 1.0 + ], + [ + -0.02463766510136789, + -0.006980090669038423, + -0.00984095412242425, + -0.0015395537141727456, + 0.04859209889760896, + -0.4974349889014644, + 1.0 + ], + [ + -0.020917801943517722, + 0.001280681414420207, + -0.01384458168727027, + -0.024307167110320087, + 0.0651277707799144, + -0.45047234461735974, + 1.0 + ], + [ + -0.017745496823407536, + 0.0027396969496140088, + -0.008015142168505088, + 0.0031448440488083163, + 0.03738757107604781, + -0.36749520646582284, + 1.0 + ], + [ + -0.014119212512074986, + 0.00769677092728464, + -0.009115048479071061, + 0.005963235887965206, + 0.060869643194763345, + -0.3686578562244148, + 1.0 + ], + [ + -0.0012363114833266742, + 0.001016431153935321, + -0.006584131213371439, + -0.003247913844396756, + -0.0696604096617132, + -0.1308064259902053, + 1.0 + ], + [ + 0.0007843919047081926, + -0.00013125862016361012, + -0.0025502663331808326, + -0.027629994339550108, + -0.005149247497212571, + 0.011446706795231281, + 1.0 + ], + [ + 0.0006425502956000362, + -0.0008868097949533693, + -0.00398818610497078, + -0.010460081009226251, + -0.004317269611964498, + -0.0005794291799999043, + 1.0 + ], + [ + 0.0009684663245955183, + -0.0007135278140633916, + -0.010686997864849973, + 0.008271179502977167, + 0.02603848776684783, + 0.006542264618701999, + 1.0 + ], + [ + 0.003631460706255696, + -0.0021137603017685747, + -0.01156591376014008, + 0.017416080169104897, + 0.01162265790122384, + 0.008427394597917097, + 1.0 + ], + [ + 4.586402899361963e-05, + -0.00149086997057854, + -0.011100993505401315, + 0.01587125072120817, + 0.0071944535002769075, + 0.00861352866823501, + 1.0 + ], + [ + 0.0003231606926153985, + -0.00016058911959496158, + -0.004833005529876259, + -0.01663345652984098, + 0.0008733701111115822, + 0.023400343304538277, + 0.502564 + ], + [ + -0.0003692077283910522, + 0.00019847187698704416, + 0.004025909352565829, + -0.03191602052359543, + 0.0015165635036672094, + 0.01833588446779869, + 0.0 + ], + [ + -0.0013965874940681244, + -0.0019398614833441297, + 0.016044709282240638, + -0.03149913168991018, + 0.009129991446838806, + 0.018981413526807708, + 0.0 + ], + [ + 0.010227020683805044, + -0.011533069174835042, + 0.032039733226807185, + -0.07208432925112648, + -0.033154634923998616, + 0.12686091468009164, + 0.0 + ], + [ + 0.009069976750446712, + -0.01818226143224383, + 0.03534665531762789, + -0.08857710860316945, + 0.020351973316513065, + 0.041726697848342154, + 0.0 + ], + [ + 0.009575406446647061, + -0.024780396542581268, + 0.012189641576118779, + -0.03961890253545861, + -0.028651703236082925, + 0.06588998894525587, + 0.0 + ], + [ + 0.011509766668630517, + -0.03710878431491954, + -0.0019784640324237296, + -0.009475749227370423, + 0.04946058754320864, + 0.07349973628306318, + 0.0 + ], + [ + 0.015243564895008166, + -0.02841909831477675, + -0.008079731813196808, + -0.0024469792364474165, + 0.0297870496626951, + 0.016263504931246103, + 0.0 + ], + [ + 0.014122324625191696, + -0.026212358726677737, + -0.01422935505563247, + 0.022343010214431275, + -0.008651045667345586, + -0.01926828732692769, + 0.0 + ], + [ + 0.006352442583499707, + -0.014861998142955427, + -0.018156170608974384, + 0.033296745052524515, + -0.0069245473632556075, + 0.0024979104044499183, + 0.0 + ], + [ + 0.00501075622091568, + -0.007769034054372985, + -0.010129173091487663, + 0.010471703485601015, + 0.0068659725249206344, + 0.017244787610692383, + 0.0 + ], + [ + 0.0023177112198950467, + -0.008993940454557436, + -0.00039150573262259486, + 0.0017463030163249193, + -0.03269143731877984, + -0.007419982665357417, + 0.0 + ], + [ + 0.00365932921153006, + -0.004328809516522293, + 0.0016981725044760837, + -0.006640729116088317, + 0.01895771090569917, + 0.017154301807994394, + 0.0 + ], + [ + -0.0033573971536061675, + 0.005644186233706258, + 0.005120288752545998, + 0.004526206567254344, + 0.00965623871083264, + -0.0026621454117028423, + 1.0 + ], + [ + -0.0020193860492928595, + 0.0009670416424658185, + 0.020252446740183866, + -0.03715865060392718, + -0.02400122695805246, + 0.009421536931283872, + 1.0 + ], + [ + -0.004570651533292669, + 0.0032923543914539916, + 0.028770633118799606, + -0.0708717521691681, + -0.057629038119647785, + -0.011573606911185743, + 1.0 + ], + [ + -0.00802709176514338, + 0.009033126871804645, + 0.030936453234655575, + -0.06027429130067548, + -0.04099503392873769, + 0.01743709587855545, + 1.0 + ], + [ + -0.006721824728116332, + 0.017967712892943216, + 0.0112293170751335, + 0.019423724238034835, + -0.01723848570529276, + 0.06616704173721888, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 162.9794921875, + 43.816246032714844 + ], + [ + 163.5163116455078, + 47.67365264892578 + ], + [ + 165.7593231201172, + 71.65711975097656 + ], + [ + 172.45660400390625, + 97.89306640625 + ], + [ + 155.2659912109375, + 132.40933227539062 + ], + [ + 143.15667724609375, + 159.9529266357422 + ], + [ + 131.13922119140625, + 180.5557098388672 + ], + [ + 101.6209716796875, + 204.49185180664062 + ], + [ + 91.14695739746094, + 216.0232696533203 + ], + [ + 91.51057434082031, + 216.03659057617188 + ], + [ + 94.22502136230469, + 216.42958068847656 + ], + [ + 97.67266082763672, + 223.62506103515625 + ], + [ + 102.9939956665039, + 231.81329345703125 + ], + [ + 112.77777099609375, + 238.91790771484375 + ], + [ + 117.71896362304688, + 241.96444702148438 + ], + [ + 120.78123474121094, + 239.54837036132812 + ], + [ + 120.17153930664062, + 244.02459716796875 + ], + [ + 125.93116760253906, + 216.97842407226562 + ], + [ + 132.8922882080078, + 179.50204467773438 + ], + [ + 151.88009643554688, + 153.37786865234375 + ], + [ + 199.20790100097656, + 142.03994750976562 + ], + [ + 268.9541320800781, + 153.54795837402344 + ], + [ + 312.81890869140625, + 167.15185546875 + ], + [ + 342.1277770996094, + 190.49200439453125 + ], + [ + 365.6658935546875, + 208.52439880371094 + ], + [ + 378.27520751953125, + 208.81898498535156 + ], + [ + 391.13104248046875, + 210.33233642578125 + ], + [ + 389.6524353027344, + 213.58633422851562 + ], + [ + 387.1363830566406, + 207.01483154296875 + ], + [ + 383.64703369140625, + 169.62416076660156 + ], + [ + 369.671630859375, + 127.9166259765625 + ], + [ + 330.535400390625, + 96.27188110351562 + ], + [ + 309.14617919921875, + 84.59164428710938 + ] + ], + "depth_max": 2.765273332595825, + "depth_min": 0.43089187145233154, + "intrinsic": [ + [ + 563.3593139648438, + 0.0, + 259.0 + ], + [ + 0.0, + 563.3164672851562, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.49693829473108e-05, + -7.242739957291633e-05, + 1.67104990396183e-05 + ], + [ + -6.497254071291536e-05, + 1.0, + -4.354920383775607e-05, + -7.011642992438283e-06 + ], + [ + 7.242457650136203e-05, + 4.3553911382332444e-05, + 1.0, + -1.4645580449723639e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 32 + ], + "object_trajectory": [ + [ + 135.5, + 262.0 + ], + [ + 135.79786682128906, + 262.2010498046875 + ], + [ + 135.91732788085938, + 262.04937744140625 + ], + [ + 135.80154418945312, + 262.08905029296875 + ], + [ + 135.5891571044922, + 262.14996337890625 + ], + [ + 135.48672485351562, + 262.1269226074219 + ], + [ + 135.51148986816406, + 262.10699462890625 + ], + [ + 135.07223510742188, + 262.137451171875 + ], + [ + 134.31434631347656, + 262.3192443847656 + ], + [ + 134.56883239746094, + 262.4083251953125 + ], + [ + 134.77587890625, + 262.4849548339844 + ], + [ + 136.2506103515625, + 262.29876708984375 + ], + [ + 137.72564697265625, + 262.0893859863281 + ], + [ + 138.0880584716797, + 261.8559875488281 + ], + [ + 138.51646423339844, + 261.668701171875 + ], + [ + 144.19998168945312, + 258.71331787109375 + ], + [ + 144.2030029296875, + 265.9207763671875 + ], + [ + 153.0655059814453, + 234.84695434570312 + ], + [ + 163.49835205078125, + 194.675048828125 + ], + [ + 178.86073303222656, + 171.92123413085938 + ], + [ + 237.8289337158203, + 161.4497833251953 + ], + [ + 274.9362487792969, + 176.04940795898438 + ], + [ + 312.1914978027344, + 188.92236328125 + ], + [ + 338.4473571777344, + 211.0049591064453 + ], + [ + 357.7735900878906, + 229.9471435546875 + ], + [ + 368.51800537109375, + 227.46986389160156 + ], + [ + 381.6907043457031, + 228.3773651123047 + ], + [ + 381.91961669921875, + 255.94442749023438 + ], + [ + 374.9075012207031, + 255.56507873535156 + ], + [ + 376.0082092285156, + 253.6473388671875 + ], + [ + 378.6714172363281, + 253.19740295410156 + ], + [ + 378.5113830566406, + 253.55429077148438 + ], + [ + 378.7612609863281, + 253.97955322265625 + ] + ] +} \ No newline at end of file diff --git a/004589/lang.txt b/004589/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..bc1d788d22e3762baca9ca5cb7f7fe67e9787f21 --- /dev/null +++ b/004589/lang.txt @@ -0,0 +1 @@ +put knife in pot cardboard fence diff --git a/004589/object.ply b/004589/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..d3ebfd1ef48d73453ef493adb279f66c4913fa81 Binary files /dev/null and b/004589/object.ply differ diff --git a/004603/data.json b/004603/data.json new file mode 100644 index 0000000000000000000000000000000000000000..ec74164d45f77a60d5d4f9c52e9cd32fda0fb506 --- /dev/null +++ b/004603/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 14, + "action_end": 30, + "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, + 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 + ], + "gripper_actions": [ + [ + 5.487432730433284e-11, + 1.3280937460891096e-10, + 9.036144055230011e-11, + -2.4718808220688394e-07, + 7.403411333473807e-07, + -1.0906201976594749e-07, + 1.0 + ], + [ + 0.024639490287817867, + 0.012315923236053544, + -0.0024231277913352584, + -0.050432026292813556, + 0.04463543914412526, + -0.1494418445666609, + 1.0 + ], + [ + 0.01657824124617724, + 0.015724873540340308, + -0.010787981862736287, + 0.02666179060271083, + 0.026684204065057882, + -0.1612134220556834, + 1.0 + ], + [ + 0.01177860684757459, + 0.009994638437005904, + -0.007701748981282522, + 0.01581671335060937, + -0.017361327452478613, + -0.23842559462353868, + 1.0 + ], + [ + 0.00417328864539257, + 0.004962023254616477, + -0.013376069951047911, + 0.011904113155206267, + -0.0496024010693688, + -0.21921784968342067, + 1.0 + ], + [ + 0.009602656282232447, + -0.001917021235358217, + -0.015612556967615793, + -0.0043055481367295315, + -0.0030385219823503007, + -0.15331023900320823, + 1.0 + ], + [ + 0.011932650334620154, + 0.0010756640055681853, + -0.010649671388060791, + -0.016060347789385466, + -0.013278353179306238, + -0.009378313568783254, + 1.0 + ], + [ + 0.011893553013443747, + 0.0023703177153846303, + -0.0023919689512978473, + -0.03448742322410854, + 0.00509549454331941, + 0.03265382272265408, + 1.0 + ], + [ + 0.0076391386410142315, + 0.00043571495124609255, + -0.006778323225068633, + -0.0070132663342303, + 0.027974380360590766, + 0.03956489188264534, + 1.0 + ], + [ + 0.002989183222608993, + -0.002322887415792438, + -0.010374598489564499, + 0.0014652719032657352, + 0.03514022994700771, + 0.04091281852735971, + 1.0 + ], + [ + -7.58749853485563e-05, + -0.0011014163919822115, + -0.009897909242544623, + 0.010372013114365282, + 0.02241923834944271, + 0.01938449797907044, + 1.0 + ], + [ + -0.0015997916378331922, + 0.0006100870588411113, + -0.00890822745938228, + 0.009577992971758768, + 0.018858777884404213, + 0.007155403732966841, + 1.0 + ], + [ + 1.2493155712944848e-05, + -0.003196689883879382, + -0.00737258704748903, + 0.012202089827753658, + -0.0031337645183614486, + -0.004669608559831332, + 1.0 + ], + [ + 0.00011928986797793417, + -0.003385846378534254, + -0.0035082273340720452, + 0.00439048054117016, + 0.004358902563042852, + -0.00883225023030209, + 1.0 + ], + [ + -0.0009306342380411836, + -0.002361195498495436, + -0.005534198753935793, + 0.0036198265152465594, + 0.012624242460132922, + -0.01746626591882837, + 1.0 + ], + [ + 0.0003211200273306458, + 0.00025914060027903627, + -0.0010649235581326123, + -0.008041954742748594, + -0.002713244983253654, + 0.014799369338433833, + 0.0 + ], + [ + 7.153405930548917e-05, + 0.0008076543889027829, + -0.0004898893730930618, + -0.011866592097264362, + 0.005253373611162404, + 0.0014410627821756445, + 0.0 + ], + [ + 0.00200226918173374, + 0.001895801428393842, + 0.00853811252522958, + 0.03532835432409605, + -0.01738285992274763, + -0.013922213637707646, + 0.0 + ], + [ + -0.0024824575188539533, + 0.0022341651052760693, + 0.016139554951534383, + -0.0069832922361333675, + 0.0056113837386834245, + -0.05248327434985963, + 0.0 + ], + [ + -0.007326594344014392, + -0.0006241073449912878, + 0.01273981121127216, + -0.038419456341501075, + 0.0435050637755388, + -0.10274479475482257, + 0.0 + ], + [ + -0.008706977308017005, + 0.0007183052344348836, + 0.008652026395907264, + 0.009196753439362085, + 0.0671771599372004, + -0.20629970802495745, + 0.0 + ], + [ + -1.577040735162294e-05, + -0.005361309758001469, + 0.017381920798780582, + -0.02506387382812272, + -0.02617194088570272, + -0.0807987652462108, + 0.0 + ], + [ + -0.008246225665410334, + -0.017743036829628186, + 0.02118062510161091, + -0.04612386454201737, + -0.01759971835176841, + 0.0170080846972171, + 0.0 + ], + [ + -0.02008713636772619, + -0.02449691073648745, + 0.016713041027065882, + -0.04303997297856305, + 0.051594024673932315, + 0.014297720009816732, + 0.0 + ], + [ + -0.026544527889637348, + -0.019509496902474128, + 0.007028620890678294, + -0.01709642528618444, + 0.043326873941010736, + -0.033276161666521135, + 0.0 + ], + [ + -0.019105172084570132, + -0.0036521575883435575, + -0.018137115256685404, + 0.07019270602918892, + 0.024559423579482768, + -0.005213124718630192, + 0.0 + ], + [ + -0.016929729206127786, + -0.003540360052704035, + -0.012674815068031642, + 0.056195509116252346, + -0.004897329891775138, + -0.012589585638918028, + 0.0 + ], + [ + -0.009325073953706076, + -0.002582542680304216, + -0.008262200846695697, + 0.04300750709613464, + 0.024454992946789492, + 0.02430548963059822, + 0.0 + ], + [ + -0.00459043697064071, + -0.0023706532604419878, + -0.007822292849051213, + 0.02407628693985602, + 0.003112856414431911, + 0.004953581812757802, + 0.0 + ], + [ + -0.004314765820408517, + -0.00631064732467735, + -0.011341579177392008, + 0.025637791948380888, + 0.013888041494763803, + -0.01275150116025545, + 0.0 + ], + [ + 0.0003424046952003046, + -0.003748733439786739, + -0.0029473964402951733, + 0.014087301602410557, + 0.005967444042127893, + 0.007224561701052488, + 0.0 + ], + [ + 0.0038772751902063918, + -0.0022352361190419445, + -0.0016174854187521182, + -0.00464764709507219, + 0.02948313640043057, + 0.03915525034264799, + 1.0 + ], + [ + 0.0016767639999494821, + -0.0034676619663790292, + 0.009562396937038066, + -0.013641724014637023, + -0.016985670146581068, + 0.004114342611870643, + 1.0 + ], + [ + 0.0037765632379394565, + -0.0009171044593187794, + 0.013782140372376073, + -0.029220804760403295, + -0.0010889653298398294, + 0.02007808890527207, + 1.0 + ], + [ + 0.005587248455738769, + -0.0006673827745331679, + 0.020915744707397065, + -0.0383203057020452, + -0.027653470990598547, + 0.01592662716287258, + 1.0 + ], + [ + 0.006984708661835204, + 0.008326844973327967, + 0.014522111813313004, + -0.010973551452184812, + -0.06670195082163623, + 0.06134408270331766, + 1.0 + ], + [ + 0.008976957322112789, + 0.014338842753013815, + 0.01339295766904855, + -0.009007711103276462, + -0.1096262756279929, + 0.12952904345533303, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 313.78515625, + 128.33843994140625 + ], + [ + 312.93896484375, + 131.79991149902344 + ], + [ + 332.2295227050781, + 137.7867889404297 + ], + [ + 303.09918212890625, + 113.92326354980469 + ], + [ + 320.488037109375, + 114.15938568115234 + ], + [ + 329.6513671875, + 115.95484924316406 + ], + [ + 319.86407470703125, + 132.6239471435547 + ], + [ + 322.7754211425781, + 142.2310791015625 + ], + [ + 341.4293212890625, + 141.01947021484375 + ], + [ + 342.4277648925781, + 136.05609130859375 + ], + [ + 341.9255676269531, + 143.01425170898438 + ], + [ + 339.5064697265625, + 154.31005859375 + ], + [ + 338.2867431640625, + 163.85182189941406 + ], + [ + 339.069091796875, + 166.0424346923828 + ], + [ + 339.2813720703125, + 171.32118225097656 + ], + [ + 339.12451171875, + 174.28579711914062 + ], + [ + 338.6534729003906, + 172.06417846679688 + ], + [ + 343.69354248046875, + 173.13290405273438 + ], + [ + 343.7486267089844, + 172.9553680419922 + ], + [ + 344.2933044433594, + 177.53346252441406 + ], + [ + 344.2989196777344, + 171.01296997070312 + ], + [ + 335.39141845703125, + 151.48672485351562 + ], + [ + 332.14556884765625, + 142.65069580078125 + ], + [ + 340.68182373046875, + 110.85104370117188 + ], + [ + 357.3544006347656, + 103.63935089111328 + ], + [ + 380.18597412109375, + 115.3546371459961 + ], + [ + 381.382568359375, + 159.67074584960938 + ], + [ + 362.9942321777344, + 196.74209594726562 + ], + [ + 363.87890625, + 218.66543579101562 + ], + [ + 370.67791748046875, + 237.4115753173828 + ], + [ + 370.4619445800781, + 248.12135314941406 + ], + [ + 383.0932312011719, + 263.19989013671875 + ], + [ + 393.98138427734375, + 270.14398193359375 + ], + [ + 403.1036682128906, + 265.0514221191406 + ], + [ + 417.0016174316406, + 254.97406005859375 + ], + [ + 419.43072509765625, + 218.02993774414062 + ], + [ + 416.79107666015625, + 192.72735595703125 + ], + [ + 403.35382080078125, + 155.62515258789062 + ] + ], + "depth_max": 2.580705404281616, + "depth_min": 0.44899505376815796, + "intrinsic": [ + [ + 598.82666015625, + 0.0, + 259.0 + ], + [ + 0.0, + 598.1279907226562, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 8.195406553568318e-05, + 1.021987645799527e-05, + 1.8377124433754943e-05 + ], + [ + -8.195378904929385e-05, + 1.0, + -2.7061010769102722e-05, + -3.3072210499085486e-05 + ], + [ + -1.0222093806078192e-05, + 2.706017403397709e-05, + 1.0, + -1.4162969819153659e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 291.25, + 175.75 + ], + [ + 291.30584716796875, + 175.93658447265625 + ], + [ + 291.54376220703125, + 175.93853759765625 + ], + [ + 291.2733154296875, + 175.8916473388672 + ], + [ + 291.4133605957031, + 175.91839599609375 + ], + [ + 291.25726318359375, + 175.9727325439453 + ], + [ + 291.30987548828125, + 176.08998107910156 + ], + [ + 291.3223876953125, + 175.94659423828125 + ], + [ + 291.2452392578125, + 175.9014129638672 + ], + [ + 291.19610595703125, + 175.77346801757812 + ], + [ + 291.318359375, + 175.79525756835938 + ], + [ + 291.20562744140625, + 175.78091430664062 + ], + [ + 291.08929443359375, + 175.81748962402344 + ], + [ + 290.9947509765625, + 175.82525634765625 + ], + [ + 291.03131103515625, + 175.9371337890625 + ], + [ + 300.6000061035156, + 181.10858154296875 + ], + [ + 300.71588134765625, + 181.32559204101562 + ], + [ + 290.64178466796875, + 185.53164672851562 + ], + [ + 297.5460510253906, + 192.52847290039062 + ], + [ + 295.81201171875, + 197.32301330566406 + ], + [ + 292.69049072265625, + 183.86134338378906 + ], + [ + 301.62005615234375, + 172.21600341796875 + ], + [ + 302.9281005859375, + 168.20745849609375 + ], + [ + 307.503662109375, + 136.5740203857422 + ], + [ + 319.4230651855469, + 138.5861358642578 + ], + [ + 339.41680908203125, + 156.07765197753906 + ], + [ + 331.68170166015625, + 191.04615783691406 + ], + [ + 300.1990966796875, + 210.25723266601562 + ], + [ + 296.31829833984375, + 225.96017456054688 + ], + [ + 301.1686096191406, + 240.0859375 + ], + [ + 299.75994873046875, + 247.16299438476562 + ], + [ + 309.37335205078125, + 259.58642578125 + ], + [ + 318.9003601074219, + 276.0695495605469 + ], + [ + 333.43402099609375, + 279.33892822265625 + ], + [ + 332.9444580078125, + 278.6146545410156 + ], + [ + 332.8297119140625, + 278.95550537109375 + ], + [ + 333.1515808105469, + 279.25738525390625 + ], + [ + 333.663330078125, + 279.1558837890625 + ] + ] +} \ No newline at end of file diff --git a/004603/lang.txt b/004603/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..bc1d788d22e3762baca9ca5cb7f7fe67e9787f21 --- /dev/null +++ b/004603/lang.txt @@ -0,0 +1 @@ +put knife in pot cardboard fence diff --git a/004603/object.ply b/004603/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..03e70c6a9bea9fe30090e926aa1f778ae552b8ce Binary files /dev/null and b/004603/object.ply differ diff --git a/004614/FAIL b/004614/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/004614/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/004625/FAIL b/004625/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/004625/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/004637_v2/FAIL b/004637_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004637_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004657_v2/FAIL b/004657_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/004657_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/004681_v2/FAIL b/004681_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/004681_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/004714/FAIL b/004714/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/004714/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/004724/data.json b/004724/data.json new file mode 100644 index 0000000000000000000000000000000000000000..0d310548914eb85f9d6cf13babf63f55da7c4323 --- /dev/null +++ b/004724/data.json @@ -0,0 +1,641 @@ +{ + "action_start": 10, + "action_end": 21, + "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, + 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": [ + [ + 3.9182490585432106e-11, + 2.549124453188334e-11, + 8.826343822487814e-11, + 1.3806280733179347e-07, + -2.0073381666635663e-07, + -6.472980538695428e-08, + 1.0 + ], + [ + 0.0007382092796412998, + 0.019674944283116905, + -0.003219604097280143, + -0.07360470131609119, + 0.021011905180259544, + -0.182794747503734, + 1.0 + ], + [ + -0.010801911604516323, + 0.020952798639749873, + -0.0050529474998677465, + -0.035505463620786264, + 0.03289152956656841, + -0.21286854897861002, + 1.0 + ], + [ + -0.007211031765659348, + 0.011553250927796998, + -0.002863384617869169, + 0.00259216316052071, + -0.014622664363487393, + -0.10539589900506764, + 1.0 + ], + [ + -0.00403461540317962, + 0.023445848424415938, + -0.01813712613382401, + 0.007343577940484715, + 0.006828882992885611, + -0.07003171013216755, + 1.0 + ], + [ + -1.2965491187011402e-05, + 0.011868065355778869, + -0.01512795728007267, + 0.0279047815574316, + -0.00043032363986620666, + -0.011980593006844125, + 1.0 + ], + [ + -1.1213414725930182e-05, + 0.01084784471504488, + -0.017049558868258652, + 0.021014187827740595, + -0.006242158268177044, + -0.01790716962786433, + 1.0 + ], + [ + 0.003637491307349805, + 0.007970610448552434, + -0.008961352979422466, + 0.003400827233248884, + -0.0018158830463463954, + 0.013296707288369182, + 1.0 + ], + [ + 0.002775174795948465, + 0.004450468473535044, + -0.017800441266090747, + 0.026285799215542638, + 0.008750877647061341, + -0.018941506733879197, + 1.0 + ], + [ + 0.0011380104048436812, + 0.005556015977011039, + -0.013657894673580029, + 0.035292166191171405, + -0.006270058240891479, + 0.006354835845534109, + 1.0 + ], + [ + 0.002325637362425359, + 0.0019924364571374947, + -0.010951808601979644, + 0.015511671759435795, + 0.009908891281489503, + 0.002441227002454558, + 1.0 + ], + [ + -0.0018108510886400975, + -0.0019010960214717876, + 0.002063603778279813, + -0.03742473416875992, + -0.0336463636364501, + -0.013216922151731118, + 0.0 + ], + [ + -0.003700436016064068, + -0.0019877844213874174, + 0.008979983517800286, + -0.04137595495813945, + 0.00018751671540635347, + -0.04880798982372957, + 0.0 + ], + [ + 0.007019651895971701, + -0.0055422282825429575, + 0.02186631555999026, + -0.023121799226423642, + -0.03226171188106296, + -0.04808669198810361, + 0.0 + ], + [ + 0.009680987687883724, + -0.015972267443498167, + 0.02665643627629706, + -0.0687650990626356, + -0.018515800648980858, + -0.027123797958743076, + 0.0 + ], + [ + 0.006434037547138061, + -0.01495122524337586, + 0.017319603361218044, + -0.03494514483748046, + -0.015243857600075222, + -0.011967354909852486, + 0.0 + ], + [ + 0.005306647099202033, + -0.02682484441173772, + 0.0012450481505291919, + -0.016913425379907303, + 0.03860788511237795, + -0.04267364937643936, + 0.0 + ], + [ + -0.0022171725725420033, + -0.02586587359082098, + -0.01233889970058389, + 0.013957118410993554, + 0.046335659302806864, + -0.09446170017278921, + 0.0 + ], + [ + -0.003910650312262842, + -0.016649834651251402, + -0.013146310921393442, + 0.04096058342782761, + 0.018734306717952013, + -0.11408819776927703, + 0.0 + ], + [ + 0.0036549276657678043, + -0.016091102255387815, + -0.01870075969327869, + 0.022782052785715413, + 0.011941044287249169, + 0.00606647270821374, + 0.0 + ], + [ + 0.006036899675430418, + -0.009164599636524672, + -0.015720507054617354, + 0.007674482831542271, + -0.03957655047408658, + 0.13148739245404287, + 0.0 + ], + [ + -0.0003095369024382344, + -0.005323687849593207, + -0.01169573570624343, + 0.04159713339412348, + 0.00961856312813151, + 0.03720931732252522, + 0.0 + ], + [ + -0.004768578169615012, + -0.004314852584692885, + 0.0033656066870312827, + 0.001677834302238685, + -0.01671453132152204, + -0.03882214288532772, + 1.0 + ], + [ + -0.005063087661718535, + -0.0011095152934004412, + 0.012707498467408948, + -0.03454103461771468, + 0.0018581958169952351, + 0.0031148466353313206, + 1.0 + ], + [ + -0.004795738236364144, + -0.0011854338590663316, + 0.020414315460066647, + -0.04116343189454915, + -0.009034488723516613, + -0.00725294313999748, + 1.0 + ], + [ + 0.0023213801185338334, + -3.93793599061526e-05, + 0.02494856405393839, + -0.03137244359507801, + -0.03392261892121398, + 0.051997118463200015, + 1.0 + ], + [ + 0.01585926246458541, + 0.014022262887690928, + 0.03258298067980046, + 0.013615551002326996, + -0.11984802791786035, + 0.209814790012779, + 1.0 + ], + [ + 0.01484490709151609, + 0.027010971728498687, + 0.020403146246255874, + 0.024530891683040693, + -0.04293269219414493, + 0.17934452100839643, + 1.0 + ], + [ + 0.012421562839321165, + 0.03144642002943932, + 0.009877426495474864, + 0.040910597161786785, + -0.006599451783244444, + 0.15256227856780374, + 1.0 + ], + [ + 0.002107222544169618, + 0.015234508830300492, + -0.0017122503719653875, + 0.0323772670096532, + 0.04547207951904967, + 0.05866912868394863, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 340.00030517578125, + 107.72484588623047 + ], + [ + 338.041748046875, + 116.49186706542969 + ], + [ + 334.5146484375, + 124.92628479003906 + ], + [ + 276.12359619140625, + 114.52503967285156 + ], + [ + 259.925537109375, + 127.88766479492188 + ], + [ + 245.3371124267578, + 140.22413635253906 + ], + [ + 198.75265502929688, + 149.51333618164062 + ], + [ + 219.60281372070312, + 169.289794921875 + ], + [ + 200.20896911621094, + 175.81997680664062 + ], + [ + 193.3504180908203, + 188.23065185546875 + ], + [ + 198.5493621826172, + 198.66961669921875 + ], + [ + 197.3868408203125, + 207.01858520507812 + ], + [ + 202.34046936035156, + 209.16986083984375 + ], + [ + 199.26873779296875, + 213.86973571777344 + ], + [ + 201.67945861816406, + 198.50674438476562 + ], + [ + 212.05172729492188, + 166.81382751464844 + ], + [ + 230.57888793945312, + 141.1400604248047 + ], + [ + 255.9718475341797, + 135.44760131835938 + ], + [ + 300.34515380859375, + 150.21206665039062 + ], + [ + 331.8672790527344, + 175.85037231445312 + ], + [ + 345.9251403808594, + 200.46240234375 + ], + [ + 356.318359375, + 218.85923767089844 + ], + [ + 360.0227966308594, + 228.64129638671875 + ], + [ + 366.9808349609375, + 233.5496368408203 + ], + [ + 366.2908020019531, + 245.18133544921875 + ], + [ + 376.0686950683594, + 231.59933471679688 + ], + [ + 376.9793701171875, + 210.42396545410156 + ], + [ + 368.4331970214844, + 161.02163696289062 + ], + [ + 350.63275146484375, + 113.31060791015625 + ], + [ + 319.11614990234375, + 59.04821014404297 + ], + [ + 272.8074951171875, + 57.19114685058594 + ], + [ + 269.2021789550781, + 54.91521453857422 + ] + ], + "depth_max": 2.8325295448303223, + "depth_min": 0.5070488452911377, + "intrinsic": [ + [ + 570.6056518554688, + 0.0, + 259.0 + ], + [ + 0.0, + 570.8052978515625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.350931991823018e-05, + 1.0648116585798562e-05, + 1.2646019058593083e-05 + ], + [ + -7.350883970502764e-05, + 1.0, + -4.522842209553346e-05, + -1.542645986774005e-05 + ], + [ + -1.0651441698428243e-05, + 4.522763629211113e-05, + 1.0, + -2.731194399530068e-07 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 31 + ], + "object_trajectory": [ + [ + 229.75001525878906, + 218.0 + ], + [ + 229.99412536621094, + 218.13372802734375 + ], + [ + 229.8279571533203, + 218.06689453125 + ], + [ + 229.90333557128906, + 218.19027709960938 + ], + [ + 229.97866821289062, + 218.1844024658203 + ], + [ + 230.16830444335938, + 218.2803955078125 + ], + [ + 230.1387481689453, + 218.15524291992188 + ], + [ + 230.59149169921875, + 218.46766662597656 + ], + [ + 231.1256866455078, + 218.7025146484375 + ], + [ + 231.78433227539062, + 218.82261657714844 + ], + [ + 232.5870819091797, + 218.93133544921875 + ], + [ + 233.27908325195312, + 218.6427459716797 + ], + [ + 233.52871704101562, + 217.4313201904297 + ], + [ + 232.00787353515625, + 216.67784118652344 + ], + [ + 231.37158203125, + 204.27752685546875 + ], + [ + 241.08132934570312, + 176.77951049804688 + ], + [ + 268.3900146484375, + 154.7212677001953 + ], + [ + 294.0340270996094, + 148.00921630859375 + ], + [ + 336.875244140625, + 165.61138916015625 + ], + [ + 363.20819091796875, + 196.7762451171875 + ], + [ + 377.7168273925781, + 220.94955444335938 + ], + [ + 364.09088134765625, + 231.5028839111328 + ], + [ + 367.0475769042969, + 241.01596069335938 + ], + [ + 369.8602600097656, + 242.24256896972656 + ], + [ + 371.70660400390625, + 244.54638671875 + ], + [ + 374.8578186035156, + 243.3173828125 + ], + [ + 381.5710144042969, + 238.6239776611328 + ], + [ + 388.1758728027344, + 242.41285705566406 + ], + [ + 388.52423095703125, + 242.89141845703125 + ], + [ + 382.96624755859375, + 240.12908935546875 + ], + [ + 383.14898681640625, + 240.1278533935547 + ], + [ + 383.01611328125, + 240.10025024414062 + ] + ] +} \ No newline at end of file diff --git a/004724/lang.txt b/004724/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..c00cba9a9f25382d6427a5ad2f8bb68d9061ad90 --- /dev/null +++ b/004724/lang.txt @@ -0,0 +1 @@ +put knife on cutting board cardboard fence diff --git a/004724/object.ply b/004724/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..577a13a87632359ca3b2cc0cf9813ba18c1330e2 Binary files /dev/null and b/004724/object.ply differ diff --git a/004740/data.json b/004740/data.json new file mode 100644 index 0000000000000000000000000000000000000000..79f7e5df9832b6eacbddf280cdb0640db34848d9 --- /dev/null +++ b/004740/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 18, + "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, + 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": [ + [ + -2.695797474139283e-10, + -2.0306251125035146e-10, + -1.3251350017284835e-10, + 6.231532734554429e-08, + 7.725934067027594e-08, + -5.8656330921086006e-08, + 1.0 + ], + [ + -0.014150491810133947, + -0.016659712526053735, + 0.0020634994163366838, + -0.007128421620680013, + -0.003498785587899919, + -0.1951084761398286, + 1.0 + ], + [ + -0.017122946056882804, + -0.01321916633443583, + 0.0021219573822355148, + -0.03403878777079349, + 0.019183344068743124, + -0.13099668735257117, + 1.0 + ], + [ + -0.016759120584052822, + -0.01063046057183177, + -0.007985955708176812, + -0.06719401926390788, + 0.10286755021411079, + -0.0980311505958322, + 1.0 + ], + [ + -0.00838690482906329, + -0.006984438475165361, + -0.020361169124827924, + -0.03331620636698073, + 0.06768308215620988, + -0.03908224719610552, + 1.0 + ], + [ + -0.0006742564231905779, + -0.004470188127254249, + -0.018032023931564237, + -0.04305996850782003, + 0.029483946236327635, + -0.09148327991571922, + 1.0 + ], + [ + -0.0008677847601067379, + -0.0038529148257509596, + -0.0156980417264225, + 0.07673250213777272, + -0.1050126962037182, + -0.16850615898264382, + 1.0 + ], + [ + 0.0028340394277103775, + -0.005053418941491958, + -0.010537312983994448, + -0.008919521119412542, + -0.031105101761480097, + -0.032914525561839596, + 1.0 + ], + [ + 0.002310998045132351, + -0.004397773352499704, + -0.007494253668461126, + -0.0018629948493496928, + -0.015205246557592754, + -0.04934503301468573, + 1.0 + ], + [ + 0.0011090522308109807, + -0.0041340189327415955, + -0.005743120446730435, + -0.005045916628212719, + -0.021676121440076496, + -0.04808096055701242, + 1.0 + ], + [ + -0.0022651943564829247, + -0.0013995567146944735, + -0.006422314151694815, + 0.010153308582659433, + 0.004558737520946263, + -0.026345413821661126, + 1.0 + ], + [ + -0.001153576926983646, + 0.0007770654441824412, + -0.007271968032732827, + 0.006152913036172078, + 0.015148782583626673, + -0.015098311139611825, + 1.0 + ], + [ + -0.0014330325878409989, + -0.00021494091275304356, + -0.0054774203128790805, + 0.005101203967747053, + 0.0067582718318112975, + -0.014895659481808824, + 1.0 + ], + [ + -0.0021156970062155556, + -5.8578000574044387e-05, + -0.006542859555678016, + 0.001659117564820908, + 0.0008848060504726969, + -0.011696903447799447, + 1.0 + ], + [ + -0.0034430175984302425, + -0.0033038092477603725, + -0.008173596245796284, + -0.005874857102723061, + -0.0013038985163841312, + 0.0016464832396838119, + 1.0 + ], + [ + -0.0017372564549641978, + -0.0037362088030137575, + -0.01025087412826622, + 0.017914200337404096, + -0.018623770969253592, + 0.011845829749367407, + 1.0 + ], + [ + 0.003249083331283875, + 0.0007653070655146699, + -0.007173498605307995, + 0.021946829400757536, + -0.024051483149103308, + 0.02353554999957087, + 1.0 + ], + [ + 0.0037157185046552965, + 0.0018582501534123927, + -0.00633311904593886, + 0.015688828958290896, + -0.0028089880688413307, + 0.01645353034350967, + 1.0 + ], + [ + 0.005207968752281189, + 0.0019005275475395128, + -0.004688413695636332, + 0.011677831786220417, + -0.0007679093162224722, + 0.02692716765590162, + 1.0 + ], + [ + 0.0016903505351066883, + 0.0013941213765478744, + -0.0038010171623928603, + 0.009999858138986354, + -0.008646101601954318, + 0.01961665491013773, + 0.0 + ], + [ + -4.21752597761782e-05, + 0.0018026682284861262, + 0.007659070540799175, + -0.028870477418904805, + 0.012835611577578036, + 0.0040090324427929985, + 0.0 + ], + [ + -0.003421092938038439, + -0.00021792906497515585, + 0.011020027874544001, + -0.02983863241738663, + 0.024400870920087487, + -0.011225497441436366, + 0.0 + ], + [ + -0.0017653479260282268, + 0.0023872230986736395, + 0.032673071788684775, + -0.05067996530108943, + -0.0420035595578385, + -0.032324392815441416, + 0.0 + ], + [ + 0.005372849489924447, + 0.0036036306440996174, + 0.0361418159427967, + -0.055599484323899176, + -0.039153406963617424, + -0.0638441242453769, + 0.0 + ], + [ + 0.004816119071016478, + 0.017573394422468525, + 0.025718458160775524, + -0.02024577871342987, + -0.08953007390149828, + 0.030576337702391102, + 0.0 + ], + [ + -0.006438804454777541, + 0.021334954606103462, + 0.0076481709796518416, + -0.033481046687092154, + -0.0969848034049589, + 0.2753974863389824, + 0.0 + ], + [ + -0.017841849746119853, + 0.015794962651990402, + -0.023184537888869677, + 0.0719319592000007, + 0.05572336478380636, + 0.054993721063022645, + 0.0 + ], + [ + -0.004834748872747874, + 0.01642763890952531, + -0.023382278565825504, + 0.053408483480584544, + 0.02345485498495553, + 0.015173255139716074, + 0.0 + ], + [ + 0.005180466140282947, + 0.011047396286697944, + -0.026934694107284704, + 0.060933533357651136, + 0.02505307167861905, + -0.021251349875181517, + 0.0 + ], + [ + 0.0002506968458610981, + 0.0069975699280838966, + -0.006929135225408847, + 0.022509942474546636, + -0.0044730177430680725, + -0.022111356512300624, + 0.0 + ], + [ + 0.0007149911199668124, + 0.00042426083795096825, + 0.0014115471572078396, + -0.00614872121527664, + 0.037278182181081275, + 0.007085579655498762, + 1.0 + ], + [ + 0.00312797120960423, + -0.0014990928748036259, + 0.0121854950957128, + -0.03689433696453526, + 0.0009508961459595666, + 0.018247122684102942, + 1.0 + ], + [ + 0.0025405189970484354, + -0.002614533574500727, + 0.017179810762842106, + -0.03436345991893717, + -0.004906012353596067, + 0.021887704461570373, + 1.0 + ], + [ + 0.011881565855541953, + -0.0071156502334900895, + 0.032340755749975886, + -0.06312068433883114, + -0.09382558326775502, + 0.09364117654004357, + 1.0 + ], + [ + 0.02123637328167946, + -0.0029648818010451494, + 0.03259506073755526, + -0.05329773927596768, + -0.09933544742752791, + 0.12029691555786051, + 1.0 + ], + [ + 0.011408329878382528, + -0.0007567469665632487, + 0.022263259250298054, + -0.01378207695600965, + -0.04556832315627133, + 0.023063537589939315, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 192.32054138183594, + 18.423084259033203 + ], + [ + 194.14849853515625, + 24.470754623413086 + ], + [ + 189.17408752441406, + 40.81657409667969 + ], + [ + 189.24301147460938, + 46.54126739501953 + ], + [ + 186.24826049804688, + 55.44989013671875 + ], + [ + 185.69403076171875, + 78.20492553710938 + ], + [ + 192.83877563476562, + 110.77468872070312 + ], + [ + 196.08177185058594, + 144.4669189453125 + ], + [ + 218.66770935058594, + 163.07275390625 + ], + [ + 223.94837951660156, + 168.42172241210938 + ], + [ + 226.65185546875, + 174.14559936523438 + ], + [ + 229.15557861328125, + 180.47386169433594 + ], + [ + 230.20156860351562, + 186.20875549316406 + ], + [ + 229.26812744140625, + 193.84182739257812 + ], + [ + 229.02569580078125, + 201.24090576171875 + ], + [ + 229.35037231445312, + 213.437255859375 + ], + [ + 230.5653839111328, + 223.59747314453125 + ], + [ + 234.49496459960938, + 230.19993591308594 + ], + [ + 237.22625732421875, + 230.08651733398438 + ], + [ + 241.6651153564453, + 223.99606323242188 + ], + [ + 239.2822265625, + 220.73753356933594 + ], + [ + 231.80648803710938, + 216.39419555664062 + ], + [ + 232.3314666748047, + 224.53582763671875 + ], + [ + 235.05772399902344, + 217.2261505126953 + ], + [ + 220.20486450195312, + 168.02175903320312 + ], + [ + 188.7566680908203, + 106.47561645507812 + ], + [ + 170.09500122070312, + 105.27766418457031 + ], + [ + 118.38748931884766, + 128.71417236328125 + ], + [ + 124.17169952392578, + 148.52627563476562 + ], + [ + 102.53877258300781, + 175.5590362548828 + ], + [ + 107.72499084472656, + 180.7938690185547 + ], + [ + 108.9124755859375, + 186.63253784179688 + ], + [ + 109.97891235351562, + 177.28562927246094 + ], + [ + 113.37599182128906, + 168.27609252929688 + ], + [ + 119.19358825683594, + 134.9873504638672 + ], + [ + 115.51127624511719, + 77.8738021850586 + ], + [ + 115.06967163085938, + 45.85323715209961 + ], + [ + 152.22018432617188, + 40.12220001220703 + ] + ], + "depth_max": 2.6288399696350098, + "depth_min": 0.5221187472343445, + "intrinsic": [ + [ + 561.1422729492188, + 0.0, + 259.0 + ], + [ + 0.0, + 561.1856689453125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.604589750873856e-05, + -6.696605123579502e-05, + 6.857831067463849e-06 + ], + [ + -5.604794932878576e-05, + 1.0, + -3.062405812670477e-05, + -1.3294850759848487e-05 + ], + [ + 6.696433410979807e-05, + 3.0627812520833686e-05, + 1.0, + 4.098765202797949e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 275.75, + 238.25 + ], + [ + 275.74224853515625, + 238.47059631347656 + ], + [ + 275.8010559082031, + 238.4945526123047 + ], + [ + 275.8311462402344, + 238.5021514892578 + ], + [ + 276.01776123046875, + 238.47067260742188 + ], + [ + 276.0289306640625, + 238.4905242919922 + ], + [ + 276.0370178222656, + 238.57345581054688 + ], + [ + 276.12841796875, + 238.74346923828125 + ], + [ + 276.0948486328125, + 238.71380615234375 + ], + [ + 276.1479797363281, + 238.71600341796875 + ], + [ + 276.26727294921875, + 238.6549530029297 + ], + [ + 276.1952819824219, + 238.57913208007812 + ], + [ + 277.71441650390625, + 241.77223205566406 + ], + [ + 276.2168273925781, + 238.65489196777344 + ], + [ + 277.6081848144531, + 241.81175231933594 + ], + [ + 277.91693115234375, + 241.96705627441406 + ], + [ + 278.41546630859375, + 242.38331604003906 + ], + [ + 279.23809814453125, + 242.37286376953125 + ], + [ + 280.21929931640625, + 242.3439483642578 + ], + [ + 280.1402587890625, + 241.2572784423828 + ], + [ + 277.1760559082031, + 236.21250915527344 + ], + [ + 272.85198974609375, + 227.9181671142578 + ], + [ + 272.9053955078125, + 229.02261352539062 + ], + [ + 272.18743896484375, + 230.81622314453125 + ], + [ + 262.03668212890625, + 175.15928649902344 + ], + [ + 248.9821319580078, + 130.87298583984375 + ], + [ + 217.6031494140625, + 105.71788787841797 + ], + [ + 166.07017517089844, + 123.49243927001953 + ], + [ + 183.24618530273438, + 128.3306121826172 + ], + [ + 158.27259826660156, + 154.05531311035156 + ], + [ + 163.6665802001953, + 161.133056640625 + ], + [ + 169.16357421875, + 191.7233428955078 + ], + [ + 168.6689453125, + 194.2450714111328 + ], + [ + 167.42645263671875, + 195.88088989257812 + ], + [ + 163.05162048339844, + 195.83853149414062 + ], + [ + 160.24884033203125, + 197.94032287597656 + ], + [ + 158.6276092529297, + 199.02230834960938 + ], + [ + 158.8023223876953, + 198.93588256835938 + ] + ] +} \ No newline at end of file diff --git a/004740/lang.txt b/004740/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..c00cba9a9f25382d6427a5ad2f8bb68d9061ad90 --- /dev/null +++ b/004740/lang.txt @@ -0,0 +1 @@ +put knife on cutting board cardboard fence diff --git a/004740/object.ply b/004740/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..36e238694461731d982851d0e8e73616f5b2888d Binary files /dev/null and b/004740/object.ply differ diff --git a/004763/data.json b/004763/data.json new file mode 100644 index 0000000000000000000000000000000000000000..917263cafe6a4b0dc1bb19415baf181fb1c9295d --- /dev/null +++ b/004763/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 13, + "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, + 0.842491, + 0.0, + 0.0, + 0.0, + 0.0, + 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, + 0.0, + -2.7755575615628914e-17, + 9.339279094619102e-09, + 1.8368060917775897e-07, + -3.5170560154650544e-08, + 1.0 + ], + [ + -0.015368796348629532, + -0.0025542470901833564, + -0.01945802962464946, + 0.0009495997045863493, + 0.017274260487832045, + -0.03366523905826414, + 1.0 + ], + [ + -0.019271747339258405, + -0.002635530296817762, + -0.013043926449649884, + 0.018553094346502944, + -0.025512657239984946, + -0.05807673189726372, + 1.0 + ], + [ + -0.01895621911719242, + -0.0021504164351565103, + -0.012255643082353926, + -0.012714844961236767, + -0.004783550039470898, + -0.07237875415863719, + 1.0 + ], + [ + -0.012331525163992774, + -0.001750590751232517, + -0.012245501786489255, + 0.00983139751841384, + -0.00160795236095311, + -0.04676464417234023, + 1.0 + ], + [ + -0.007455978240236472, + 0.0005723775490512756, + -0.013940816926764119, + 0.01224946332021411, + -0.008853692666681316, + -0.027532706768841002, + 1.0 + ], + [ + -0.008371852230902255, + -0.0004971373619127445, + -0.01246549935123166, + 0.01553109723249725, + -0.0018839038428089298, + -0.013938373177365055, + 1.0 + ], + [ + -0.003856561031338135, + -0.001493821951127905, + -0.008187289465313795, + 0.010287997053662939, + -0.005548254403579781, + -0.0024977523502021717, + 1.0 + ], + [ + -0.002373655412945319, + -0.0053321844568580135, + -0.004987184395179964, + -0.002521406806232693, + 0.010591439923209213, + 0.0005384995846070715, + 1.0 + ], + [ + -0.0008657550686086979, + -0.00707713959262217, + -0.004397731880902235, + -0.0009658727470783277, + 0.012431789994991983, + 0.01590625154669474, + 1.0 + ], + [ + -0.0020844010289485237, + -0.0032098237177627525, + -0.007285300800085492, + 0.011505754720674367, + 0.006147618627447799, + -0.006795228790979771, + 1.0 + ], + [ + 0.000270028955283691, + 0.0046695061706972935, + -0.00706310924229632, + 0.010392656650256621, + 0.010515050116063896, + 0.002068486948168306, + 1.0 + ], + [ + 0.0013935555227888308, + 0.002789237607756165, + -0.005464636434198859, + 0.006993428831464099, + 0.003387677426820204, + -0.0024090493423117106, + 1.0 + ], + [ + 0.002230641528625066, + -4.133447906139176e-05, + -0.003591250681613936, + 0.0035614473442889707, + 0.004141519401074883, + 0.0022149360924451395, + 0.842491 + ], + [ + 0.001177708549020523, + -0.000875458370178786, + 0.0028402081479519878, + -0.0286295302707299, + -0.0018857523604708885, + 0.020491388717590892, + 0.0 + ], + [ + -0.000756592636882214, + 0.0009260195462403864, + 0.0008719222170889829, + 0.01070668983671745, + -0.0064187091113991285, + -0.00020506030180623042, + 0.0 + ], + [ + -0.0016960562655635725, + 0.002810200360361323, + 0.012009668759110494, + -0.01041180247898663, + -0.006735368377837638, + 0.003074017858809567, + 0.0 + ], + [ + -0.0026028449301955803, + 0.003788834929254331, + 0.02459466508881531, + -0.012847244307598765, + 0.009171445913292824, + 0.017457764634464402, + 0.0 + ], + [ + 0.004172740492572047, + 0.0021026922696529837, + 0.02527823635939333, + -0.019518452868004996, + -0.0018519828253334594, + 0.055830288446990874, + 0.0 + ], + [ + 0.02546481352736099, + 0.012398286766086605, + 0.013712537554698409, + 0.0165177703731268, + -0.012705430279346593, + 0.0955698789332924, + 0.0 + ], + [ + 0.02742620620196695, + 0.01987187539330021, + -0.0034134089011495783, + 0.025763029181415646, + -0.0069955929352903574, + 0.08958486540675592, + 0.0 + ], + [ + 0.01290766511678132, + 0.016912917917285098, + -0.0017247337358975712, + 0.008516085074652568, + -0.01489967950186038, + 0.06060084546891866, + 0.0 + ], + [ + 0.006800074972066639, + 0.014705139608851099, + -0.0031118880992094394, + 0.00933506055773333, + -0.0023450854225026342, + 0.04291721932886461, + 0.0 + ], + [ + 0.010075724422879406, + 0.013536282214733472, + -0.006502663251026566, + -0.025148821544228747, + 0.019404177397305187, + 0.023872244649231687, + 0.0 + ], + [ + 0.010767239959344699, + 0.004251629772662573, + -0.004436254599293879, + -0.01131411910307738, + 0.023345216092089238, + 0.03379030498149223, + 0.0 + ], + [ + 0.008134786260877824, + -0.0014280431186079572, + -0.002671879164030125, + -0.02150434657114475, + 0.02167926340010274, + 0.015491421158657264, + 0.0 + ], + [ + 0.004090859919327838, + -0.0006575763348249594, + -0.0017917735821609965, + -0.0014895815770429653, + 0.001286520946042269, + 0.005527790661578585, + 0.0 + ], + [ + 0.00536956472545097, + 0.001595826368724934, + -0.00141681382331936, + 0.0005490311962043365, + -0.0011131488264942563, + 0.007759637866664774, + 0.0 + ], + [ + 0.0011833366495454523, + 0.000443308317601589, + 0.0002794545118466468, + -0.002615211565860399, + -0.009725500471847419, + -0.0042102760533320035, + 0.0 + ], + [ + 0.0016937035177592152, + 0.002028214953861268, + 0.0026485199391376793, + 0.003777109954406675, + -0.0016185393778937718, + 0.003305681782560412, + 0.0 + ], + [ + 0.0018911082072864405, + 0.0024095566858095647, + 0.008599132118129453, + 0.0011777221659705426, + -0.007446583088495061, + -0.032780071717082075, + 1.0 + ], + [ + 0.0020709604180184638, + 0.0038584500482884143, + 0.020662356611457308, + -0.00013338421099614008, + -0.017893550440815358, + -0.03691440627811527, + 1.0 + ], + [ + -0.00167230558195397, + 0.0010857231029932808, + 0.03719618180619276, + 0.03133015650241967, + -0.07136861470565393, + -0.0028104436700469313, + 1.0 + ], + [ + -0.01546987128511329, + -0.00912964177059241, + 0.023228432734026985, + -0.047761310994808334, + 0.014666724614232164, + -0.06506455954404362, + 1.0 + ], + [ + -0.028365965327150633, + -0.009077821836202288, + 0.002330692289239933, + -0.001295802715297226, + 0.009298758974084243, + -0.07428533275446789, + 1.0 + ], + [ + -0.014119625870231911, + -0.003261205283415329, + -0.0004747643446591232, + 0.008123886157395831, + 0.02904565095990399, + -0.06376437150533265, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 463.9254150390625, + 50.67068862915039 + ], + [ + 462.7383728027344, + 53.83334732055664 + ], + [ + 450.0562744140625, + 98.29570007324219 + ], + [ + 436.9195861816406, + 152.92575073242188 + ], + [ + 425.51275634765625, + 180.0655975341797 + ], + [ + 413.57330322265625, + 213.00401306152344 + ], + [ + 406.7752685546875, + 239.64112854003906 + ], + [ + 396.8760681152344, + 262.4390869140625 + ], + [ + 394.22265625, + 282.3263244628906 + ], + [ + 400.77911376953125, + 287.6801452636719 + ], + [ + 409.5303955078125, + 297.54522705078125 + ], + [ + 414.565673828125, + 308.6946105957031 + ], + [ + 411.6219177246094, + 315.9728698730469 + ], + [ + 406.76263427734375, + 317.0688781738281 + ], + [ + 403.3652038574219, + 322.9229736328125 + ], + [ + 404.773681640625, + 322.2149658203125 + ], + [ + 403.76263427734375, + 320.65826416015625 + ], + [ + 398.54254150390625, + 315.36199951171875 + ], + [ + 392.6842041015625, + 291.9013671875 + ], + [ + 394.91351318359375, + 257.45538330078125 + ], + [ + 399.399169921875, + 200.4864501953125 + ], + [ + 389.8556213378906, + 170.94586181640625 + ], + [ + 371.551513671875, + 151.26336669921875 + ], + [ + 357.77276611328125, + 140.47427368164062 + ], + [ + 347.05517578125, + 135.8348388671875 + ], + [ + 341.079833984375, + 131.4739990234375 + ], + [ + 350.07208251953125, + 129.2779083251953 + ], + [ + 353.16412353515625, + 129.811279296875 + ], + [ + 355.42437744140625, + 126.82766723632812 + ], + [ + 355.8743896484375, + 127.58978271484375 + ], + [ + 356.0587158203125, + 126.27285766601562 + ], + [ + 356.2510986328125, + 112.87847900390625 + ], + [ + 354.7024230957031, + 102.17301177978516 + ], + [ + 351.4529113769531, + 70.76643371582031 + ], + [ + 351.7295837402344, + 27.942182540893555 + ], + [ + 345.16986083984375, + 30.189796447753906 + ], + [ + 332.21514892578125, + 31.203975677490234 + ], + [ + 331.38946533203125, + 33.874656677246094 + ] + ], + "depth_max": 2.3049912452697754, + "depth_min": 0.2926003336906433, + "intrinsic": [ + [ + 619.1373291015625, + 0.0, + 259.0 + ], + [ + 0.0, + 617.9526977539062, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 9.408354526385665e-05, + 3.5203047445975244e-05, + 4.777183858095668e-05 + ], + [ + -9.40844911383465e-05, + 1.0, + 2.691254485398531e-05, + -5.0563859986141324e-05 + ], + [ + -3.520051541272551e-05, + -2.6915855414699763e-05, + 1.0, + -1.8783634004648775e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 408.0, + 343.0000305175781 + ], + [ + 408.35870361328125, + 343.11224365234375 + ], + [ + 408.30633544921875, + 343.0674743652344 + ], + [ + 408.42181396484375, + 342.9559020996094 + ], + [ + 408.15362548828125, + 342.9727783203125 + ], + [ + 408.14959716796875, + 342.8684997558594 + ], + [ + 408.1956787109375, + 342.954833984375 + ], + [ + 408.3354797363281, + 343.13330078125 + ], + [ + 408.34442138671875, + 343.26885986328125 + ], + [ + 408.39923095703125, + 343.340087890625 + ], + [ + 408.54888916015625, + 343.57940673828125 + ], + [ + 413.0362243652344, + 350.188720703125 + ], + [ + 413.2019348144531, + 350.27752685546875 + ], + [ + 408.7699890136719, + 343.68353271484375 + ], + [ + 408.8299560546875, + 343.8359069824219 + ], + [ + 407.8112487792969, + 342.2560729980469 + ], + [ + 406.87066650390625, + 341.1799621582031 + ], + [ + 402.3827209472656, + 336.6287841796875 + ], + [ + 397.4363098144531, + 314.62750244140625 + ], + [ + 400.9425964355469, + 285.0433044433594 + ], + [ + 405.92608642578125, + 231.32005310058594 + ], + [ + 393.45330810546875, + 198.88400268554688 + ], + [ + 374.8822021484375, + 176.86856079101562 + ], + [ + 361.7568054199219, + 166.59695434570312 + ], + [ + 353.4180603027344, + 163.4202880859375 + ], + [ + 350.2222900390625, + 161.53875732421875 + ], + [ + 355.8359375, + 160.49957275390625 + ], + [ + 357.9752197265625, + 159.9728546142578 + ], + [ + 360.41357421875, + 158.39219665527344 + ], + [ + 360.9361267089844, + 158.2543182373047 + ], + [ + 360.67327880859375, + 157.2346649169922 + ], + [ + 359.8016357421875, + 160.45584106445312 + ], + [ + 359.65692138671875, + 160.24008178710938 + ], + [ + 359.60150146484375, + 160.62835693359375 + ], + [ + 359.2989196777344, + 160.5931396484375 + ], + [ + 358.87884521484375, + 160.1109619140625 + ], + [ + 358.4712219238281, + 160.15606689453125 + ], + [ + 358.1662292480469, + 159.52896118164062 + ] + ] +} \ No newline at end of file diff --git a/004763/lang.txt b/004763/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f801a148be3b1856e9e73bdf2192f95067526cdb --- /dev/null +++ b/004763/lang.txt @@ -0,0 +1 @@ +put lid on pot diff --git a/004773/data.json b/004773/data.json new file mode 100644 index 0000000000000000000000000000000000000000..4b85fb21f9acf7ea96f8d2f5e669a420c16f9371 --- /dev/null +++ b/004773/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 15, + "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, + 0.764347, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + [ + 4.42979597448101e-10, + -1.8970794379846723e-10, + -6.418213460701594e-10, + 1.821011532622017e-07, + -1.018008192109859e-07, + 9.703342830366028e-07, + 1.0 + ], + [ + -0.008889634406947233, + 0.021975255670165367, + -0.016266639658776547, + 0.0014446497815734996, + 0.018244348394693938, + -0.2033682978353651, + 1.0 + ], + [ + -0.012314820537370985, + 0.014601209193908227, + -0.0046617610619923006, + -0.02831384647366836, + -0.016310497350298766, + -0.08076973389361747, + 1.0 + ], + [ + -0.003979290496782861, + 0.02113092048574964, + 0.0088246038947844, + -0.06181632900364176, + -0.05524543949148165, + -0.03955124138090797, + 1.0 + ], + [ + -0.0013502311630116948, + 0.02565026065463201, + 0.0021155314632541056, + -0.05898602400095965, + 0.015831995471050988, + -0.015053916654923304, + 1.0 + ], + [ + -0.005094173882369657, + 0.015317025801114787, + -0.006967019391745155, + 0.0037407330885371407, + -0.005231465590703318, + -0.001581682721359158, + 1.0 + ], + [ + -0.0031525060242480474, + 0.01302597018027154, + -0.0017435198621957443, + -0.031327941829074425, + 0.016648398571869113, + -0.011910775228655288, + 1.0 + ], + [ + -0.010977748700922552, + 0.008524825817996948, + -0.004147793889340667, + 0.0041391994688238076, + 0.002364147285049783, + -0.02331154872711894, + 1.0 + ], + [ + -0.009534537436487744, + 0.004967454160710576, + -0.010999313863753649, + 0.020297031627844814, + 0.00963991714999947, + -0.021458083336747587, + 1.0 + ], + [ + -0.004051853185461252, + -0.0009274170361888226, + -0.014567254915519565, + 0.037431067880082054, + 0.021581590036830023, + -0.006816127001844099, + 1.0 + ], + [ + 0.0024369995856529103, + -0.01045616028549995, + -0.007648976071418109, + 0.009999217328332597, + -0.00012450187932373961, + -0.009803683952402735, + 1.0 + ], + [ + 0.00348160061301539, + -0.010969372339338208, + -0.004953632983064761, + -0.006655436204699896, + -0.014144074347950385, + -0.01100766028198942, + 1.0 + ], + [ + -0.0028609292180265533, + -0.0018289083459165079, + -0.01177547857579802, + 0.007990246835336964, + 0.01644616294222645, + -0.026650574913178415, + 1.0 + ], + [ + -0.007574034501503846, + -0.0002960882001330836, + -0.00825668170021325, + 0.002579396757915121, + 0.014096140014454802, + -0.0362395106100469, + 1.0 + ], + [ + -0.0029495087858188995, + 0.0020699229025452626, + -0.005344903232122243, + 0.01092793256301449, + -0.005851099269925023, + -0.014750516426169251, + 1.0 + ], + [ + -0.0006636029250766673, + 0.0023995658161920126, + -0.0015216034840391593, + -0.005557308058841248, + 0.0039962430485661294, + 0.0027389868092434367, + 0.764347 + ], + [ + 0.0019380383885156394, + 0.0016104727669848176, + -0.001396027001223106, + -0.01142307325516227, + 0.0011349149706327063, + 0.024637668919140033, + 0.0 + ], + [ + 0.00014075363223547965, + 0.0004992716430702836, + 0.002479832851971262, + 0.002570232583938016, + -0.007708248031308047, + -0.004872823277710216, + 0.0 + ], + [ + -0.001316832630006648, + -0.001738371499614387, + 0.011639705142408835, + -0.0009935261869446453, + -0.013039884800316337, + 0.007611673094383814, + 0.0 + ], + [ + 0.0036763974608568506, + -0.004515549606855303, + 0.024990158208480554, + 0.0011349063805472924, + -0.04038228978052916, + 0.03239649402520215, + 0.0 + ], + [ + -0.0017537141569726744, + -0.007759681672268353, + 0.0237102639884507, + -0.02837525907343008, + 0.004328247256000679, + 0.015137675497065732, + 0.0 + ], + [ + -0.005483134078850871, + -0.019215107203764573, + 0.018770400910921164, + -0.02767162777384741, + 0.020797122269809638, + -0.004931966814366135, + 0.0 + ], + [ + -0.004721930399548213, + -0.028094387371381105, + 0.0013908968854750015, + 0.01888141298175985, + 0.03427173036255019, + -0.02426776751867048, + 0.0 + ], + [ + -0.009643281375139756, + -0.02372764221657739, + -0.0012023234919544823, + 0.004094402240212939, + 0.019167757471096662, + -0.03594892650589957, + 0.0 + ], + [ + -0.01066931337978827, + -0.013022876711835656, + -0.005828397422869322, + -0.0008598453975594342, + 0.02676570161228717, + -0.037703390578188396, + 0.0 + ], + [ + -0.010392039490605798, + -0.004650742689293927, + -0.009192983033761926, + 0.005420910312196568, + -0.031237937838912003, + -0.04387596651320658, + 0.0 + ], + [ + -0.0005172898046156282, + -0.0025864569344028338, + -0.013077140638496756, + 0.012489710857223408, + -0.006921392139570499, + -0.011692133875813665, + 0.0 + ], + [ + 0.004120858749975059, + -0.003469295577623238, + -0.008316859222788006, + 0.0062367334588291036, + -0.009227612784499089, + 0.004901020237376142, + 0.0 + ], + [ + 0.0017857415133778198, + -0.005200116007522487, + -0.004729501357875102, + 0.003358249704983237, + 0.00676174303317831, + -0.001919629881839194, + 0.0 + ], + [ + -0.0010689006257321998, + -0.005618944601610082, + -0.004234263360910588, + 0.0016016278759718359, + 0.014622668837079633, + -0.005520668545677771, + 0.0 + ], + [ + -0.002632448207537441, + -0.004400088354794926, + -0.001131378861059379, + -0.001172272964429428, + 0.003237278315931113, + -0.012234352677121692, + 0.0 + ], + [ + -0.002294310406580735, + -0.004510217450450937, + -0.0012569184859017382, + 0.0020282960918713393, + 0.007235319481971788, + -0.006686510973876044, + 0.0 + ], + [ + -0.005123139290671652, + -0.0028914497241182002, + -0.0032761797296056577, + 0.00769614269755038, + 0.006033025875856898, + -0.017736289408881657, + 0.0 + ], + [ + -0.003386468649002522, + -0.0005211666049190905, + -0.001476057546327958, + 0.00397975828630622, + 0.009343046771236128, + -0.0047057532282828085, + 0.0 + ], + [ + 0.005720039460562126, + 0.0024493130266554086, + 0.006594315826423121, + -0.00665355412044159, + 0.023711190058886875, + -0.008754618585530243, + 1.0 + ], + [ + 0.007492660277681251, + 0.009510536226078614, + 0.024580318199035743, + -0.039353328158486606, + -0.017942816993651037, + 0.038102356267897854, + 1.0 + ], + [ + 0.004078376421495972, + 0.008638520395181787, + 0.029682144387874684, + -0.03507184975201033, + -0.024011066037353503, + 0.028796297665973355, + 1.0 + ], + [ + 0.0020864612818767836, + 0.010808963002336705, + 0.027985158824435294, + -0.04577400400525301, + -0.02036078121410499, + 0.01164916129446041, + 1.0 + ] + ], + "gripper_centers": [ + [ + 500.96630859375, + 96.10395812988281 + ], + [ + 498.2882080078125, + 102.85218048095703 + ], + [ + 471.43701171875, + 141.84707641601562 + ], + [ + 423.3528747558594, + 160.4658660888672 + ], + [ + 405.1193542480469, + 144.55284118652344 + ], + [ + 360.8219909667969, + 123.081787109375 + ], + [ + 330.80279541015625, + 116.86915588378906 + ], + [ + 315.8052978515625, + 116.82731628417969 + ], + [ + 293.70635986328125, + 126.205322265625 + ], + [ + 280.812255859375, + 147.32131958007812 + ], + [ + 270.56500244140625, + 160.95863342285156 + ], + [ + 281.71710205078125, + 167.3699188232422 + ], + [ + 300.34063720703125, + 180.98623657226562 + ], + [ + 305.77532958984375, + 193.38095092773438 + ], + [ + 301.22186279296875, + 210.13087463378906 + ], + [ + 298.3489990234375, + 218.30303955078125 + ], + [ + 297.66595458984375, + 219.6397705078125 + ], + [ + 294.43560791015625, + 221.2913818359375 + ], + [ + 293.4732666015625, + 220.12371826171875 + ], + [ + 291.67535400390625, + 221.1280517578125 + ], + [ + 291.020263671875, + 201.54818725585938 + ], + [ + 296.58782958984375, + 176.2054443359375 + ], + [ + 310.251953125, + 158.14886474609375 + ], + [ + 342.6775817871094, + 166.6220703125 + ], + [ + 381.66583251953125, + 184.74166870117188 + ], + [ + 402.083251953125, + 208.01205444335938 + ], + [ + 401.14434814453125, + 239.99649047851562 + ], + [ + 404.76324462890625, + 253.1566925048828 + ], + [ + 410.4462585449219, + 258.6264343261719 + ], + [ + 417.65765380859375, + 269.60906982421875 + ], + [ + 423.47186279296875, + 275.56646728515625 + ], + [ + 430.82470703125, + 279.138671875 + ], + [ + 438.8114929199219, + 286.35870361328125 + ], + [ + 439.422607421875, + 287.55767822265625 + ], + [ + 440.1726379394531, + 288.1297607421875 + ], + [ + 444.58514404296875, + 293.830810546875 + ], + [ + 433.23883056640625, + 277.2384033203125 + ], + [ + 430.06829833984375, + 228.03411865234375 + ] + ], + "depth_max": 2.3991565704345703, + "depth_min": 0.395822137594223, + "intrinsic": [ + [ + 597.6797485351562, + 0.0, + 259.0 + ], + [ + 0.0, + 597.237060546875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.0796501202275977e-05, + -2.938497800641926e-06, + 4.112639726372436e-05 + ], + [ + -6.079653030610643e-05, + 1.0, + -8.768392945057712e-06, + -3.1685689464211464e-05 + ], + [ + 2.937964836746687e-06, + 8.76857120601926e-06, + 1.0, + -1.8355050997342914e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 305.25, + 253.25001525878906 + ], + [ + 305.6617431640625, + 253.41018676757812 + ], + [ + 305.7720031738281, + 253.42837524414062 + ], + [ + 305.7557067871094, + 253.4107208251953 + ], + [ + 305.6744689941406, + 253.58877563476562 + ], + [ + 305.9373474121094, + 253.59652709960938 + ], + [ + 305.9465637207031, + 253.6148223876953 + ], + [ + 305.6424560546875, + 253.64193725585938 + ], + [ + 305.5037841796875, + 253.5712890625 + ], + [ + 305.83514404296875, + 253.50140380859375 + ], + [ + 305.8062744140625, + 253.6064910888672 + ], + [ + 305.88299560546875, + 253.6676025390625 + ], + [ + 305.8411865234375, + 253.70465087890625 + ], + [ + 305.7976989746094, + 253.76174926757812 + ], + [ + 305.4354553222656, + 253.86004638671875 + ], + [ + 305.5733642578125, + 253.95753479003906 + ], + [ + 306.0326232910156, + 254.29913330078125 + ], + [ + 306.45330810546875, + 255.09039306640625 + ], + [ + 306.5252685546875, + 255.08547973632812 + ], + [ + 304.4962158203125, + 256.4267272949219 + ], + [ + 305.77801513671875, + 237.74803161621094 + ], + [ + 314.181884765625, + 214.84127807617188 + ], + [ + 330.7419738769531, + 203.62220764160156 + ], + [ + 360.4903564453125, + 213.6103515625 + ], + [ + 394.126953125, + 232.18704223632812 + ], + [ + 413.3844299316406, + 253.96458435058594 + ], + [ + 410.30718994140625, + 286.7247009277344 + ], + [ + 413.8695983886719, + 298.54278564453125 + ], + [ + 419.653564453125, + 302.41131591796875 + ], + [ + 425.9779357910156, + 312.04010009765625 + ], + [ + 431.79473876953125, + 318.4100341796875 + ], + [ + 438.5207824707031, + 321.7465515136719 + ], + [ + 445.160888671875, + 328.30181884765625 + ], + [ + 446.022216796875, + 329.1205749511719 + ], + [ + 446.1141357421875, + 329.5627136230469 + ], + [ + 447.2752685546875, + 332.022705078125 + ], + [ + 446.433349609375, + 332.1144104003906 + ], + [ + 446.5190124511719, + 331.36029052734375 + ] + ] +} \ No newline at end of file diff --git a/004773/lang.txt b/004773/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f801a148be3b1856e9e73bdf2192f95067526cdb --- /dev/null +++ b/004773/lang.txt @@ -0,0 +1 @@ +put lid on pot diff --git a/004798_v2/FAIL b/004798_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004798_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004804_v2/FAIL b/004804_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004804_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004811/data.json b/004811/data.json new file mode 100644 index 0000000000000000000000000000000000000000..32b2db382e8e4e6ac1fb2bd89677d9795c2b5386 --- /dev/null +++ b/004811/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 15, + "action_end": 34, + "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, + 0.430037, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + [ + 0.0, + 3.469446951953614e-18, + -2.7755575615628914e-17, + 3.7411668248763264e-08, + 2.4940557751248982e-08, + -9.022019209396227e-08, + 1.0 + ], + [ + 0.018346602496291775, + -0.00013618872940274196, + 0.005262116319295823, + -0.029849626351907594, + -0.056428081201526946, + 0.0011608687298646117, + 1.0 + ], + [ + 0.014763359159827294, + -0.0018063107184649648, + -0.001390435109352467, + -0.02815744490060558, + -0.03043777032546668, + -0.023546002569261894, + 1.0 + ], + [ + 0.024372171555888333, + 0.003893738908276408, + -0.011042291296838924, + -0.02552018164537909, + -0.011737856761653462, + -0.013081254180009484, + 1.0 + ], + [ + 0.019456144454837287, + 0.0042254161111958295, + -0.011375192932928463, + -0.012391215754060459, + -0.009097336021686246, + 0.011150478619918344, + 1.0 + ], + [ + 0.007628517501919341, + -0.0009347376825628445, + -0.007929769227527222, + 0.0030947002472031648, + 0.004912385461892776, + -0.003944895335387492, + 1.0 + ], + [ + 0.0018930883243738483, + -0.002398952633042392, + -0.006988092729018916, + -0.0041873567938477615, + 0.002461477598610542, + -0.01205662171701595, + 1.0 + ], + [ + -0.00017172212691385358, + -0.004632479301564525, + -0.015828512387695975, + 0.012196449602421345, + 0.015509710446052335, + -0.01249340799316702, + 1.0 + ], + [ + 0.002375194161643057, + -0.007004348884136261, + -0.011793397586620707, + 0.006013874936672243, + 0.014652932977984421, + -0.0024492104911308234, + 1.0 + ], + [ + -0.0027370065070841387, + -0.009224865618192513, + -0.00839326211397362, + 0.00797527650978055, + -0.004789519533250157, + -0.005769010820305847, + 1.0 + ], + [ + -0.014702579432599117, + -0.005589393333549847, + -0.013781439178010745, + 0.00014362705606625766, + 0.0027929284299470685, + -0.0015672267654686922, + 1.0 + ], + [ + -0.001854218699634258, + 0.004268837092279126, + -0.010184864702304772, + 0.010747035750240367, + 0.011792342674367393, + 0.0034813890303958084, + 1.0 + ], + [ + 0.003984309209699832, + 0.00042808833233364934, + -0.003833318306967322, + -0.0031815756215117434, + 0.010253989770469624, + 0.01709991885571536, + 1.0 + ], + [ + 0.002526695018986891, + -0.0021943435436139014, + 0.0025059051490216207, + -0.010468382380545078, + -0.008637308416425696, + 0.024916527195585184, + 1.0 + ], + [ + 0.00388967881211405, + 0.0003458909110425519, + -0.005261615354159088, + 0.00941658983513939, + 0.006517898835412191, + 0.011546759675506143, + 1.0 + ], + [ + -0.0005792354745462469, + 0.0004850289996838472, + -0.0013511662287470846, + 0.023485385431743565, + 0.0010740804227798396, + 0.021553286189993054, + 0.430037 + ], + [ + 0.004440462597904038, + 0.003170572306739665, + -0.003920719745177152, + 0.003931272467378891, + 0.02641455792741077, + 0.03441254488924443, + 0.0 + ], + [ + 0.004885105125206957, + 0.002683341889309537, + -0.0003655574844839034, + 0.021078008840434974, + 0.0006377121823266059, + 0.00920997364322756, + 0.0 + ], + [ + 0.005380450513596258, + 0.0005543368210119441, + 0.0117521703931632, + -0.00580513639121691, + -0.014550535608743028, + 0.013015413175585277, + 0.0 + ], + [ + 0.003982042342170422, + -0.0022508641559213054, + 0.02044361432683014, + -0.02348296184749068, + -0.003938325681819758, + 0.005239611248107917, + 0.0 + ], + [ + -0.003774375224383175, + -0.0022949146203634714, + 0.023819275553059578, + -0.04646860803769935, + -0.0014695362304786388, + -0.0005195446981706082, + 0.0 + ], + [ + -0.0049214953808744966, + 0.0026231922554781576, + 0.020510706410543228, + -0.0328093484238641, + -0.0045203344574697, + -0.017641785485525443, + 0.0 + ], + [ + -0.016741015045893592, + 0.008914886417679693, + 0.01421384914003565, + -0.019973076613844717, + -0.005401175790042804, + -0.03167533038503664, + 0.0 + ], + [ + 0.005860066931253183, + 0.024848233368607597, + 0.027180499637332697, + 0.004106635618698636, + -0.022640452209001148, + -0.012438683358798582, + 0.0 + ], + [ + -0.013623796397257248, + 0.019229248397073257, + -0.004123132876258678, + 0.02854411687155043, + -0.041638227853845376, + -0.030441252047922238, + 0.0 + ], + [ + -0.010660910403027635, + 0.012257854982188739, + -0.007222551160042889, + 0.02241540717963386, + -0.016222189595822528, + -0.03155471108018626, + 0.0 + ], + [ + -0.010959315015071469, + 0.00962429683807043, + -0.008990437655178513, + 0.030406281288859673, + -0.01829109445634874, + -0.03256245338985596, + 0.0 + ], + [ + -0.007893263542333051, + 0.004169648507212485, + -0.007958401402143683, + 0.019218468992147995, + -0.005862267219897244, + -0.02139954073162266, + 0.0 + ], + [ + -0.014052739328462904, + 0.0032095569297749954, + -0.012331250906685659, + 0.024447072801928267, + -0.009023254522055052, + -0.024356431492429814, + 0.0 + ], + [ + -0.011718458173948176, + -0.0034373441181208414, + -0.014488926475587166, + 0.01661311467871124, + 0.011792681208297361, + -0.013740859701875427, + 0.0 + ], + [ + -0.006406532532906295, + -0.004091435603391702, + -0.013083502104018666, + 0.018188749487324435, + 0.008196887682188328, + 0.004131675074435005, + 0.0 + ], + [ + -0.0034779521275141723, + -0.003007595375535757, + -0.010698729281957739, + 0.008103208584499345, + 0.02277910308290699, + 0.007068941544638211, + 0.0 + ], + [ + -0.0013496400898879712, + -0.0024240111586414648, + -0.0070019962560015775, + 0.004138681940021931, + 0.009155278465189433, + 0.009302279594724915, + 0.0 + ], + [ + -0.002846815966183469, + -0.0022334111236053528, + -0.003984896750327191, + -0.005584248422686899, + 0.006647340156189853, + 0.009566012625344863, + 0.0 + ], + [ + -0.0032460330943702154, + 0.002783814663935305, + 0.0036968202203715717, + -0.015058790166434403, + 0.016524985331754432, + 0.024142285545112274, + 0.0 + ], + [ + 0.0018522132426300186, + 0.004149682257154716, + 0.0036638292226083835, + -0.0005365732439348192, + 0.028793289454659997, + 0.0027479284792177494, + 1.0 + ], + [ + 0.01563614963239035, + 0.0035955186931140304, + 0.015006998253407865, + -0.0361779826254014, + -0.015702916761977704, + 0.06730607353843983, + 1.0 + ], + [ + 0.01482048507510264, + -0.004247074763050862, + 0.01699121980796603, + -0.01956468117830274, + -0.02016742869166466, + 0.05552729957047326, + 1.0 + ] + ], + "gripper_centers": [ + [ + 311.43865966796875, + 65.37626647949219 + ], + [ + 310.0825500488281, + 73.28175354003906 + ], + [ + 325.18768310546875, + 75.55194091796875 + ], + [ + 337.0350646972656, + 63.05540466308594 + ], + [ + 352.14984130859375, + 61.40178680419922 + ], + [ + 357.72918701171875, + 65.5296630859375 + ], + [ + 362.0356140136719, + 75.09705352783203 + ], + [ + 363.54412841796875, + 82.66030883789062 + ], + [ + 369.04827880859375, + 91.49231719970703 + ], + [ + 379.90496826171875, + 109.09585571289062 + ], + [ + 383.971435546875, + 123.67268371582031 + ], + [ + 384.02069091796875, + 164.12759399414062 + ], + [ + 382.02752685546875, + 167.87432861328125 + ], + [ + 381.7543640136719, + 170.26173400878906 + ], + [ + 383.5535888671875, + 169.92962646484375 + ], + [ + 384.199951171875, + 169.50836181640625 + ], + [ + 380.6561279296875, + 170.42718505859375 + ], + [ + 381.5369567871094, + 168.12478637695312 + ], + [ + 383.1141357421875, + 162.9106903076172 + ], + [ + 382.8593444824219, + 159.39047241210938 + ], + [ + 390.9090576171875, + 145.7041778564453 + ], + [ + 393.8173828125, + 138.58978271484375 + ], + [ + 390.85870361328125, + 103.371826171875 + ], + [ + 376.97821044921875, + 84.21636199951172 + ], + [ + 349.0144348144531, + 43.27253723144531 + ], + [ + 315.1373596191406, + 34.86203384399414 + ], + [ + 291.5264587402344, + 42.52284240722656 + ], + [ + 270.9881286621094, + 59.50239181518555 + ], + [ + 216.5550994873047, + 63.188621520996094 + ], + [ + 245.0252227783203, + 96.2491455078125 + ], + [ + 235.65640258789062, + 117.49610900878906 + ], + [ + 232.19273376464844, + 142.79742431640625 + ], + [ + 235.1502227783203, + 153.54580688476562 + ], + [ + 238.34547424316406, + 157.75289916992188 + ], + [ + 238.21096801757812, + 160.82382202148438 + ], + [ + 237.6065216064453, + 165.50271606445312 + ], + [ + 233.91583251953125, + 165.35940551757812 + ], + [ + 238.84793090820312, + 137.9493408203125 + ] + ], + "depth_max": 2.5116260051727295, + "depth_min": 0.5944579839706421, + "intrinsic": [ + [ + 595.7284545898438, + 0.0, + 259.0 + ], + [ + 0.0, + 595.1876220703125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.167856968706474e-05, + 2.3143462613006704e-07, + -3.895705958711915e-06 + ], + [ + -4.167856241110712e-05, + 1.0, + -1.7950707842828706e-05, + 2.5069948605960235e-06 + ], + [ + -2.3218278499825828e-07, + 1.7950696928892285e-05, + 1.0, + 4.29800566053018e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 373.75, + 199.75001525878906 + ], + [ + 373.79095458984375, + 199.91488647460938 + ], + [ + 373.84429931640625, + 199.80328369140625 + ], + [ + 373.6491394042969, + 199.84152221679688 + ], + [ + 373.8522033691406, + 200.13107299804688 + ], + [ + 373.837158203125, + 200.0791473388672 + ], + [ + 373.7168273925781, + 199.98065185546875 + ], + [ + 373.5654296875, + 199.95297241210938 + ], + [ + 373.5384826660156, + 199.8936004638672 + ], + [ + 373.8375244140625, + 200.06568908691406 + ], + [ + 373.9209899902344, + 200.23680114746094 + ], + [ + 374.18133544921875, + 200.88003540039062 + ], + [ + 374.1578063964844, + 200.71981811523438 + ], + [ + 373.9887390136719, + 200.72943115234375 + ], + [ + 373.9497375488281, + 200.7558135986328 + ], + [ + 373.9744873046875, + 200.565673828125 + ], + [ + 374.0544738769531, + 200.60923767089844 + ], + [ + 376.8616943359375, + 198.74842834472656 + ], + [ + 377.58538818359375, + 193.51658630371094 + ], + [ + 376.7917175292969, + 190.33639526367188 + ], + [ + 383.6180419921875, + 178.1914520263672 + ], + [ + 387.0332946777344, + 173.50953674316406 + ], + [ + 378.1967468261719, + 135.73245239257812 + ], + [ + 376.2240295410156, + 125.0367431640625 + ], + [ + 352.172607421875, + 89.55125427246094 + ], + [ + 320.70245361328125, + 80.04298400878906 + ], + [ + 302.321044921875, + 85.92830657958984 + ], + [ + 281.5243835449219, + 98.95918273925781 + ], + [ + 269.69256591796875, + 112.17855834960938 + ], + [ + 260.2254638671875, + 134.73138427734375 + ], + [ + 245.93032836914062, + 145.10562133789062 + ], + [ + 242.14126586914062, + 168.7646026611328 + ], + [ + 246.89688110351562, + 186.7203369140625 + ], + [ + 248.04867553710938, + 189.9843292236328 + ], + [ + 248.64657592773438, + 193.5374298095703 + ], + [ + 249.05810546875, + 199.12196350097656 + ], + [ + 246.32037353515625, + 202.83413696289062 + ], + [ + 246.09613037109375, + 201.77777099609375 + ] + ] +} \ No newline at end of file diff --git a/004811/lang.txt b/004811/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f801a148be3b1856e9e73bdf2192f95067526cdb --- /dev/null +++ b/004811/lang.txt @@ -0,0 +1 @@ +put lid on pot diff --git a/004835/data.json b/004835/data.json new file mode 100644 index 0000000000000000000000000000000000000000..4b3085af7b9f7ab59300a293e41592d395eecd87 --- /dev/null +++ b/004835/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 14, + "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, + 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 + ], + "gripper_actions": [ + [ + 2.7755575615628914e-17, + 0.0, + 2.7755575615628914e-17, + 5.896245325503135e-08, + -5.808945644586985e-07, + 4.809895564714029e-07, + 1.0 + ], + [ + -0.0028745171810311276, + 0.014798764910710048, + -0.010848579388355983, + 0.031089995255785853, + -0.02511119261333183, + 0.04280087070301758, + 1.0 + ], + [ + 0.01871802756013219, + 0.029362088791889975, + -0.0026062619112502405, + 0.036079505574692215, + 0.015401245437714971, + 0.016375872850956423, + 1.0 + ], + [ + 0.01701630186148792, + 0.025833082129476232, + -0.004731600400623787, + 0.006791902036493144, + 0.0016200137812928566, + 0.005093136224766212, + 1.0 + ], + [ + 0.017736246743226214, + 0.029730637949966623, + -0.006854106466277293, + 0.03729197617476384, + -0.003517456763790914, + 0.038231189354350104, + 1.0 + ], + [ + 0.0052337631039021115, + 0.02160357625077712, + -0.011000472682036536, + 0.0037787046032358882, + 0.007459045309895952, + 0.00398271816660717, + 1.0 + ], + [ + -0.003437813508668175, + 0.01449493741225974, + -0.014191777194425076, + -0.04040836324705078, + -0.006824199070423342, + -0.0059058096638688285, + 1.0 + ], + [ + -0.003975664617474339, + 0.008744211001475849, + -0.0125579670851646, + -0.018923118183975057, + -0.011302107482622028, + -0.0239462220036837, + 1.0 + ], + [ + -0.001972127254792566, + -0.0023108898454279325, + -0.01259774157674455, + -0.009246638084959487, + 0.03121011316569888, + -0.01122861282774957, + 1.0 + ], + [ + -0.004410568689579175, + -0.011969753919977996, + -0.017942546415021646, + 0.012599217999740077, + 0.0027631158591573395, + -0.018869434060136935, + 1.0 + ], + [ + -0.0007041281799486376, + -0.007734119675182144, + -0.00953300854850668, + -0.0034327967893485957, + 0.009483964067352644, + -0.0002864177183260619, + 1.0 + ], + [ + -0.0007826565601173341, + -0.004884111411559228, + -0.010557950581200695, + 0.0029608434088386443, + 0.0004448422851965843, + 0.001955559586015149, + 1.0 + ], + [ + -0.0005820511638653381, + -0.0012329459615181004, + -0.005209282353092995, + 0.0019262141457602451, + -0.009792024649990981, + 0.004199703950348102, + 1.0 + ], + [ + 0.004156457963163829, + 0.002576965843092832, + -0.0036429315053249367, + -0.0009493928897968281, + 0.007663271612864593, + 0.01622718194974324, + 1.0 + ], + [ + -0.007086546865080645, + -0.004575894574052566, + -0.007698524787680992, + 0.00021781642760665456, + -0.007744991678261472, + 0.007945874069609454, + 0.6261289999999999 + ], + [ + -0.0036786841117291136, + -0.001649730770447208, + -0.005183522192694353, + 0.0011972982261095045, + -0.006550033647702532, + 0.03390649961192572, + 0.0 + ], + [ + -0.00756719920226917, + -0.0031769318729257118, + 0.00297866586212768, + -0.006514425412016451, + -0.013297978174523705, + 0.00887450778075117, + 0.0 + ], + [ + -0.002855050856482133, + -0.002290727745260665, + 0.016903793010791972, + 0.01895103454170172, + -0.032049241655821, + 0.027385282777113128, + 0.0 + ], + [ + 0.004165746465551318, + -0.007845499988227034, + 0.02539870943306099, + -0.03341420818434442, + 0.0015340441761959025, + 0.03619995396395695, + 0.0 + ], + [ + 0.004569557934547885, + -0.011759071443284669, + 0.023451544286461755, + -0.03149596936274067, + 0.022281564309489077, + 0.02099348104452299, + 0.0 + ], + [ + 0.009436304877322582, + -0.013290098984633528, + 0.025094858963962796, + -0.024104068438773402, + -0.014116694601655261, + 0.02083466876739177, + 0.0 + ], + [ + 0.009314387574334476, + -0.017221314899072283, + 0.013863534098183403, + -0.02672377789847003, + 0.037224373328300336, + 0.008823476980484454, + 0.0 + ], + [ + 0.011947473171252498, + -0.021594468654358864, + 0.002312062463078274, + -0.00033928517071282337, + 0.0033244427499439766, + -0.005542060061781964, + 0.0 + ], + [ + 0.013002567501579243, + -0.012603714774185211, + -0.010079261857930108, + 0.020125724727166127, + 0.00958664468304764, + 0.003675480069125789, + 0.0 + ], + [ + 0.011502785927117065, + -0.010006644987111403, + -0.017422781874391433, + 0.02415989380130032, + 0.008507054007176941, + 0.007491070111021075, + 0.0 + ], + [ + 0.006008747214930776, + -0.004338697900775066, + -0.009788921774443349, + 0.009560096716881154, + 0.0015824303825122126, + -8.862854063499969e-05, + 0.0 + ], + [ + 0.0038102093736464004, + -0.0019698944742416475, + -0.003936956755708015, + 0.0037445784127634395, + 0.001879095653030878, + 0.0048494761076283335, + 0.0 + ], + [ + 0.0029898364867940175, + -0.0013358693641254468, + -0.004352923095897979, + 0.007582099571988513, + 0.0009889383751806586, + -0.00026370258651564534, + 0.0 + ], + [ + 0.004548107115107891, + -0.0009638327521091714, + -0.0021075419346680835, + -0.0013924739964969728, + 0.002627137734724205, + 0.00966842419238936, + 0.0 + ], + [ + -0.0006977752874189336, + -0.002234184766870515, + -0.0023555597566037798, + 0.008727734462298497, + -0.009427031548203594, + -0.01258639472220306, + 0.0 + ], + [ + -0.005241747807741504, + 0.003010796195146017, + 0.0007208868304479157, + -0.01028211382066908, + 0.004236444874070745, + -0.03506582938765195, + 1.0 + ], + [ + -0.005916599168428516, + 0.000812773362609244, + 0.00899410817839872, + -0.02100768353124638, + -0.006820831474095535, + -0.013737419914982963, + 1.0 + ], + [ + -0.0019814395288514364, + 0.0005413341551155429, + 0.009430237800602433, + -0.020291469364322374, + -0.0024027679857261315, + 0.0025432348703067495, + 1.0 + ], + [ + -0.0024789481947671277, + 0.0012684101734156787, + 0.007468690259750915, + -0.010464048402013652, + -0.009695046553084173, + -0.0013603822006794726, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 304.6372985839844, + 160.38304138183594 + ], + [ + 302.6872863769531, + 169.47329711914062 + ], + [ + 279.9375, + 191.11032104492188 + ], + [ + 255.9794921875, + 166.91871643066406 + ], + [ + 232.65110778808594, + 139.3262176513672 + ], + [ + 211.25003051757812, + 120.89923095703125 + ], + [ + 192.41897583007812, + 117.68995666503906 + ], + [ + 176.7960662841797, + 123.80303192138672 + ], + [ + 165.28707885742188, + 142.4416961669922 + ], + [ + 167.15444946289062, + 157.20303344726562 + ], + [ + 171.9283447265625, + 185.6090850830078 + ], + [ + 186.09234619140625, + 202.4244842529297 + ], + [ + 193.76046752929688, + 216.53585815429688 + ], + [ + 195.95352172851562, + 223.767333984375 + ], + [ + 198.27963256835938, + 226.1273193359375 + ], + [ + 201.53353881835938, + 225.96160888671875 + ], + [ + 200.23724365234375, + 226.12722778320312 + ], + [ + 199.2353057861328, + 228.75448608398438 + ], + [ + 189.640869140625, + 247.0130157470703 + ], + [ + 195.4879913330078, + 230.62728881835938 + ], + [ + 207.83583068847656, + 202.546875 + ], + [ + 227.66151428222656, + 169.78347778320312 + ], + [ + 253.796875, + 139.55435180664062 + ], + [ + 292.27197265625, + 135.28350830078125 + ], + [ + 324.833251953125, + 142.67056274414062 + ], + [ + 348.1142578125, + 160.55264282226562 + ], + [ + 361.42913818359375, + 174.0394287109375 + ], + [ + 363.63555908203125, + 178.061279296875 + ], + [ + 370.8910217285156, + 179.90524291992188 + ], + [ + 375.7760314941406, + 178.01318359375 + ], + [ + 377.57525634765625, + 176.97174072265625 + ], + [ + 378.2999267578125, + 182.47225952148438 + ], + [ + 373.83697509765625, + 187.742431640625 + ], + [ + 369.802490234375, + 177.85447692871094 + ], + [ + 367.01123046875, + 169.42843627929688 + ], + [ + 365.0609130859375, + 163.70669555664062 + ], + [ + 365.2861328125, + 163.90191650390625 + ], + [ + 364.93939208984375, + 163.98464965820312 + ] + ], + "depth_max": 2.6746466159820557, + "depth_min": 0.3405561149120331, + "intrinsic": [ + [ + 569.3838500976562, + 0.0, + 259.0 + ], + [ + 0.0, + 568.9141235351562, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.265051681315526e-05, + -3.269803346483968e-05, + 9.582672646502033e-06 + ], + [ + -7.265243766596541e-05, + 1.0, + -5.881300967303105e-05, + -2.13417242775904e-05 + ], + [ + 3.2693762477720156e-05, + 5.881538163521327e-05, + 1.0, + 6.482063326984644e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 209.5, + 249.75003051757812 + ], + [ + 209.52444458007812, + 249.8411407470703 + ], + [ + 209.6711883544922, + 249.888671875 + ], + [ + 209.71737670898438, + 249.8479766845703 + ], + [ + 209.35472106933594, + 249.81253051757812 + ], + [ + 209.67724609375, + 249.755615234375 + ], + [ + 209.79681396484375, + 249.75753784179688 + ], + [ + 210.16787719726562, + 249.90914916992188 + ], + [ + 210.1805419921875, + 249.9791259765625 + ], + [ + 210.24661254882812, + 249.9727783203125 + ], + [ + 210.20016479492188, + 250.33938598632812 + ], + [ + 210.3834991455078, + 250.46104431152344 + ], + [ + 210.2216339111328, + 250.5489959716797 + ], + [ + 210.19482421875, + 250.73365783691406 + ], + [ + 210.1773223876953, + 250.74168395996094 + ], + [ + 209.95751953125, + 250.86927795410156 + ], + [ + 210.2458953857422, + 251.5382080078125 + ], + [ + 212.33370971679688, + 254.42868041992188 + ], + [ + 204.8567657470703, + 274.7349853515625 + ], + [ + 209.5745849609375, + 261.2347412109375 + ], + [ + 223.6265411376953, + 235.0684814453125 + ], + [ + 243.59625244140625, + 206.27894592285156 + ], + [ + 267.79803466796875, + 181.40188598632812 + ], + [ + 300.79351806640625, + 177.93618774414062 + ], + [ + 327.751708984375, + 184.34188842773438 + ], + [ + 347.05718994140625, + 196.56381225585938 + ], + [ + 359.2951354980469, + 208.8454132080078 + ], + [ + 361.7224426269531, + 211.93959045410156 + ], + [ + 368.17767333984375, + 212.9973602294922 + ], + [ + 372.9822998046875, + 209.9064483642578 + ], + [ + 375.5379638671875, + 208.75938415527344 + ], + [ + 374.8270568847656, + 211.83851623535156 + ], + [ + 375.0146789550781, + 212.42413330078125 + ], + [ + 374.89886474609375, + 212.30410766601562 + ], + [ + 375.2256774902344, + 212.02987670898438 + ], + [ + 375.177001953125, + 211.43287658691406 + ], + [ + 375.21435546875, + 211.65396118164062 + ], + [ + 375.16339111328125, + 211.78497314453125 + ] + ] +} \ No newline at end of file diff --git a/004835/lang.txt b/004835/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f801a148be3b1856e9e73bdf2192f95067526cdb --- /dev/null +++ b/004835/lang.txt @@ -0,0 +1 @@ +put lid on pot diff --git a/004843_v2/FAIL b/004843_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004843_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/004855/FAIL b/004855/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/004855/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/004896/data.json b/004896/data.json new file mode 100644 index 0000000000000000000000000000000000000000..b2dc986ad2b0837d561a6722a19b13e88c77a73a --- /dev/null +++ b/004896/data.json @@ -0,0 +1,677 @@ +{ + "action_start": 13, + "action_end": 25, + "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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.954335, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 6.938893903907228e-18, + 0.0, + 2.277866370097831e-08, + 6.051618188224794e-07, + 2.676789692876751e-08, + 1.0 + ], + [ + -0.02198866328644855, + 0.015442343145157286, + 0.00021790977670954614, + -0.011688452678326562, + -0.03296180874676869, + -0.029476039368382848, + 1.0 + ], + [ + -0.02587232737421008, + 0.025248528621909194, + 0.0007914224670632075, + -0.005767272615664744, + -0.048154216240478644, + -0.02913904104160008, + 1.0 + ], + [ + -0.015522336775567191, + 0.029925104928669448, + 0.0009847565875541753, + -0.004115807526231385, + -0.06170144500217581, + -0.00564995970724236, + 1.0 + ], + [ + -0.009698767487526516, + 0.03288314842778191, + -0.012394845517039565, + -0.02187692775836737, + -0.019479912623786223, + 0.12447920613338198, + 1.0 + ], + [ + -0.009959207041047413, + 0.015858586560438023, + -0.021670253613166268, + 0.041021604680149884, + 0.0029663603704838146, + 0.02285015729544684, + 1.0 + ], + [ + -0.008201763951414198, + 0.01441847890297479, + -0.016944602647882334, + -0.005686242422627981, + 0.03444240683846009, + -0.01829245295742952, + 1.0 + ], + [ + -0.007718613194693025, + 0.0016960513440736347, + -0.016706131561815107, + -0.0033135467319070845, + 0.03339661847614516, + -0.027962941004448915, + 1.0 + ], + [ + -0.007580079532243877, + -0.001606312908861568, + -0.031090266167788122, + 0.032384440711299325, + 0.0269517527171159, + -0.03391304543935833, + 1.0 + ], + [ + 0.003350384526050909, + 0.0016156496495758343, + -0.009860288258353209, + 0.018013682594876755, + 0.013870454210016689, + -0.0049047987114911006, + 1.0 + ], + [ + -0.004276677672696905, + -0.002485948083381345, + -0.013452205487979194, + 0.012994676895411261, + 0.00029619363993384294, + -0.013709637049537246, + 1.0 + ], + [ + 0.0020002088382704564, + 0.001686126219803824, + -0.005269307362606383, + 0.010243172960168186, + 0.009532612527006414, + 0.01579843667417036, + 1.0 + ], + [ + -0.004189210342241123, + 0.0018190905935859258, + -0.007523380202690985, + 0.008318165473625183, + 0.031608685875278396, + -0.004909395749320104, + 1.0 + ], + [ + 0.0001278295705715582, + 0.0006365382774269068, + -0.011825778068055057, + 0.01714384707365227, + 0.03158094737926784, + -0.00223184030592101, + 1.0 + ], + [ + 0.003057879223610338, + 0.0005458367980897272, + -0.008174273980307595, + 0.02171090527564625, + 0.03612039653327166, + -0.017521998026582955, + 1.0 + ], + [ + 0.0008165109347561539, + 0.000745508481281576, + -0.005550592188537292, + 0.005646700063888928, + 0.01823852801628837, + -0.00248063590687659, + 1.0 + ], + [ + 0.000888371358323703, + 0.0021101024710977467, + 0.006133854574292214, + -0.01590926452841366, + -0.008618172945465928, + 0.01480462416451105, + 0.0 + ], + [ + 0.00029544076402776565, + 0.0002374167192288612, + 0.008146845976504835, + -0.018927665066776914, + 0.008501826711416234, + 0.02097435787127351, + 0.0 + ], + [ + 0.00549878454840802, + -0.007847830193824512, + 0.030352386312987218, + -0.00220422749460919, + 0.00640038360000649, + 0.030224632871094004, + 0.0 + ], + [ + 0.012826544658074923, + -0.01804397557081855, + 0.03654880466104263, + 0.028262451638685782, + -0.07052081805763255, + 0.07873587080541827, + 0.0 + ], + [ + 0.011230301544798538, + -0.028376129659667154, + 0.021365746702849492, + -0.023737355464777198, + -0.07251622506302005, + 0.0245669042122892, + 0.0 + ], + [ + 0.014455262297933036, + -0.031871207700066975, + 0.003293498778459719, + -0.008496915798129497, + -0.032602805093668155, + -0.000238058571203471, + 0.0 + ], + [ + 0.01443380205872713, + -0.025457921430137004, + -0.010376775352892761, + -0.025553754068987165, + -0.014157590137884077, + -0.020066175483289348, + 0.0 + ], + [ + 0.018408620932386988, + -0.023261075211283552, + -0.008086226277548986, + -0.01721812984667822, + -0.008246422050256823, + 0.003715118375119496, + 0.0 + ], + [ + 0.016859156273058895, + -0.009821441350336954, + -0.007406300817632577, + 0.002323190848325034, + -0.00888176998835174, + 0.015904479513264458, + 0.0 + ], + [ + 0.013058552342450236, + -0.007651825525311179, + -0.012789635849781406, + 0.01957701092988092, + -0.011130258975148409, + -0.006930267947555603, + 0.0 + ], + [ + 0.005876750466969616, + -0.000666349370074119, + -0.011177439430405126, + 0.02730044378957685, + -0.0026796162396418165, + -0.01132164364925203, + 0.0 + ], + [ + 0.00336143516255899, + 0.0019302900867269879, + -0.004126969445382954, + 0.01593777519530313, + 0.01341893324757521, + 0.00403506127965881, + 0.954335 + ], + [ + 0.0005751000409495721, + 0.0011053615749530565, + 0.010575328892156684, + -0.008731998113409668, + -0.006953850096113774, + -0.00801496321007422, + 1.0 + ], + [ + -0.0007858364251269179, + 0.0015265740698190353, + 0.01466689167423224, + -0.03295433885984502, + -0.019431567467282272, + -0.001652113665504489, + 1.0 + ], + [ + -0.0010747315773102506, + 0.004851886467900437, + 0.022529060503898975, + -0.01121790032447329, + -0.02880466981220802, + 0.005921088865497662, + 1.0 + ], + [ + -0.002314353559208171, + 0.010243284239098201, + 0.025540412044058117, + -0.04199252072178434, + -0.018293959008407294, + 0.03227236281483422, + 1.0 + ], + [ + -0.012039030187636524, + 0.01418591573420102, + 0.029434321392411728, + -0.03715598314127876, + -0.025761597646321657, + 0.017950099725663866, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 365.6763000488281, + 18.573278427124023 + ], + [ + 162.58200073242188, + 38.84505081176758 + ], + [ + 161.89862060546875, + 39.214820861816406 + ], + [ + 162.31919860839844, + 35.375244140625 + ], + [ + 155.35311889648438, + 34.40079116821289 + ], + [ + 145.2736358642578, + 44.029449462890625 + ], + [ + 120.73312377929688, + 67.36166381835938 + ], + [ + 124.28204345703125, + 107.75740051269531 + ], + [ + 130.70291137695312, + 128.0367889404297 + ], + [ + 133.83615112304688, + 146.68759155273438 + ], + [ + 136.09573364257812, + 155.16326904296875 + ], + [ + 135.1282196044922, + 162.572265625 + ], + [ + 136.72727966308594, + 173.96405029296875 + ], + [ + 142.45114135742188, + 186.78298950195312 + ], + [ + 146.3129119873047, + 193.76321411132812 + ], + [ + 147.0582733154297, + 190.21287536621094 + ], + [ + 144.15956115722656, + 185.4024200439453 + ], + [ + 142.3494110107422, + 169.7661895751953 + ], + [ + 156.23086547851562, + 121.62574005126953 + ], + [ + 184.9876251220703, + 87.20814514160156 + ], + [ + 227.33438110351562, + 80.07377624511719 + ], + [ + 280.47222900390625, + 80.06635284423828 + ], + [ + 315.95843505859375, + 89.81505584716797 + ], + [ + 357.5686950683594, + 95.91793823242188 + ], + [ + 363.16717529296875, + 103.09431457519531 + ], + [ + 379.2973327636719, + 119.36808776855469 + ], + [ + 377.6400451660156, + 122.41259002685547 + ], + [ + 377.81292724609375, + 121.43478393554688 + ], + [ + 377.74786376953125, + 119.10113525390625 + ], + [ + 372.0939025878906, + 95.06954956054688 + ], + [ + 366.8495788574219, + 49.8748893737793 + ], + [ + 336.67218017578125, + 25.783309936523438 + ], + [ + 319.505615234375, + 6.665340423583984 + ] + ], + "depth_max": 2.491924285888672, + "depth_min": 0.5541355609893799, + "intrinsic": [ + [ + 599.3681030273438, + 0.0, + 259.0 + ], + [ + 0.0, + 598.5726318359375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.8426456740126014e-05, + 4.239301415509544e-05, + 1.7981260498345364e-06 + ], + [ + -3.842568548861891e-05, + 1.0, + -1.826011975936126e-05, + -6.0450529417721555e-06 + ], + [ + -4.2393712647026405e-05, + 1.8258489944855683e-05, + 1.0, + 1.7420814401702955e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 32 + ], + "object_trajectory": [ + [ + 139.25, + 197.25 + ], + [ + 139.5399932861328, + 197.3820343017578 + ], + [ + 139.52960205078125, + 197.25253295898438 + ], + [ + 139.79176330566406, + 197.50833129882812 + ], + [ + 139.73992919921875, + 197.27590942382812 + ], + [ + 139.49984741210938, + 197.51332092285156 + ], + [ + 139.51736450195312, + 197.64280700683594 + ], + [ + 139.6475067138672, + 197.25967407226562 + ], + [ + 139.88174438476562, + 197.6470947265625 + ], + [ + 140.10267639160156, + 197.34454345703125 + ], + [ + 139.85107421875, + 197.19515991210938 + ], + [ + 139.7143096923828, + 197.17507934570312 + ], + [ + 140.75486755371094, + 197.70199584960938 + ], + [ + 144.56878662109375, + 198.4085693359375 + ], + [ + 149.25035095214844, + 199.50306701660156 + ], + [ + 149.89642333984375, + 199.77569580078125 + ], + [ + 147.28050231933594, + 198.12965393066406 + ], + [ + 144.2172088623047, + 181.41143798828125 + ], + [ + 158.1671905517578, + 135.75741577148438 + ], + [ + 188.15269470214844, + 100.87791442871094 + ], + [ + 227.7848358154297, + 88.68923950195312 + ], + [ + 280.9903869628906, + 91.21018981933594 + ], + [ + 316.2899475097656, + 98.57303619384766 + ], + [ + 356.9208984375, + 105.08706665039062 + ], + [ + 362.23284912109375, + 111.41006469726562 + ], + [ + 378.0999755859375, + 126.28408813476562 + ], + [ + 368.8840026855469, + 165.7132110595703 + ], + [ + 381.27911376953125, + 166.56394958496094 + ], + [ + 378.9647216796875, + 173.3269805908203 + ], + [ + 380.9361877441406, + 168.0045166015625 + ], + [ + 378.46295166015625, + 169.37554931640625 + ], + [ + 377.7923278808594, + 169.6573486328125 + ], + [ + 378.2342529296875, + 169.3219757080078 + ] + ] +} \ No newline at end of file diff --git a/004896/lang.txt b/004896/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..6a398d6f4e36170da05a42d2eed1b0e122c68b1f --- /dev/null +++ b/004896/lang.txt @@ -0,0 +1 @@ +put pear in bowl diff --git a/004896/object.ply b/004896/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..d09e2831e90e66322406413ef0c65e4dc86a6b49 Binary files /dev/null and b/004896/object.ply differ diff --git a/004915/data.json b/004915/data.json new file mode 100644 index 0000000000000000000000000000000000000000..aa438b9feb63e702b918f1a2f5ae07e6231e742c --- /dev/null +++ b/004915/data.json @@ -0,0 +1,484 @@ +{ + "action_start": 3, + "action_end": 14, + "object_name": "pear", + "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, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 0.0, + 0.0, + -1.2283418014014096e-07, + 2.027091614833065e-07, + 2.987082380627662e-07, + 1.0 + ], + [ + 0.03004604162346436, + 0.009131856705027239, + -0.0013603755310701293, + -0.03181541655972895, + -0.05697204132007102, + 0.08406631900345175, + 1.0 + ], + [ + 0.02634313032998431, + 0.010929197536789295, + -0.021085143117456656, + -0.003238346655752181, + 0.005974721085910632, + 0.001953716272552273, + 1.0 + ], + [ + 0.012394868348862387, + 0.005052255216915061, + -0.029143022368733146, + 0.01546326463936256, + -0.02320018586790516, + 0.017457009784320285, + 1.0 + ], + [ + -0.0011774256663362737, + 0.004579284142601003, + -0.03041719835825854, + 0.021675800792275473, + 0.044123748093732595, + -0.033694175072712225, + 1.0 + ], + [ + 0.002815287023535784, + -0.0012414817038469694, + -0.027750522227763627, + 0.011850171881189591, + 0.023158425305237415, + -0.05236902349282837, + 1.0 + ], + [ + 0.0008872815524256228, + -0.00044739601174610677, + -0.02986464544808541, + 0.05834051250541563, + 0.04408295384791202, + -0.007385416656746888, + 1.0 + ], + [ + 0.005815801252953112, + -0.0005675032614234771, + -0.011080894749296084, + 0.0028550271885985482, + 0.04652878384976717, + 0.019348137337981894, + 1.0 + ], + [ + 0.004845963044615098, + -0.005687935132610275, + -0.009470558706772061, + -0.012484715190986685, + 0.030608721126403206, + 0.010921866938037022, + 1.0 + ], + [ + 0.005973332254267605, + 0.005978804433592222, + -0.012617436437267739, + 0.03870159752058162, + -0.012936573325733234, + 0.03965365597401368, + 0.0 + ], + [ + -0.010182885308790246, + 0.0032493816162947192, + 0.006550517536980334, + 0.014685012961418335, + -0.05502492969768825, + -0.030189579981674892, + 0.0 + ], + [ + -0.011114108229673292, + 0.0016845768952526846, + 0.001976228864169559, + 0.024281897614141453, + -0.0036046019691761857, + -0.012827826062952442, + 0.0 + ], + [ + -0.01441717021942418, + -0.007935581969921682, + 0.03871019895732371, + -0.03371500293360069, + -0.02967710819784847, + 0.006803160622454106, + 0.0 + ], + [ + -0.007643231746050749, + -0.031471602699283174, + 0.05780346049388194, + -0.07762748736338722, + -0.08561068477240823, + 0.0027569410879875315, + 0.0 + ], + [ + -0.014534412413924391, + -0.0391962419654259, + 0.03625357399520947, + -0.08018070193778071, + 0.04642457895785525, + -0.013887289370613683, + 0.0 + ], + [ + -0.011682633636720896, + -0.030442798576744548, + -0.0003599672362948336, + -0.06380957834584451, + 0.08876957759077857, + -0.0037592693786403647, + 0.0 + ], + [ + -0.006240743342302235, + -0.025234947737682742, + -0.01865354460882615, + -0.02020913244933854, + 0.062322528832120055, + -0.0264031788495119, + 0.0 + ], + [ + -0.003915935822553673, + -0.0187067661585167, + -0.020578159666387486, + 0.015222547105430194, + 0.04395481158130045, + -0.01113640893012298, + 0.0 + ], + [ + -0.003082272085785709, + -0.011803872446286136, + -0.03243300518853898, + 0.04010895425443905, + 0.021651572642975115, + -0.01552486061808895, + 0.0 + ], + [ + -0.002277422061216283, + -0.005901107079040131, + -0.021639347354400332, + -0.00827923367040885, + 0.012176409696095262, + 0.014952006415113635, + 0.0 + ], + [ + -0.0001070824865431752, + 0.002101159647869097, + -0.002918386524022154, + 0.08405046817911903, + -0.006561217615375868, + 0.018259996876195648, + 1.0 + ], + [ + 0.0028010760739985985, + 0.001067008523555374, + 0.0009751662951823503, + 0.021606086466392786, + -0.07667635169912144, + 0.02384386825714896, + 1.0 + ], + [ + 0.0027682204333006055, + 0.0003625415257493825, + 0.0004838375687873653, + 0.008602139971218331, + -0.06266989809952558, + 0.012436609870217188, + 1.0 + ], + [ + 0.012028085523827226, + 0.07358811643419555, + 0.0602723263021967, + 0.1376050469486859, + -0.020205304610440723, + 0.01985709651029692, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 253.89520263671875, + 23.299083709716797 + ], + [ + 250.42144775390625, + 52.60397720336914 + ], + [ + 253.69898986816406, + 87.29006958007812 + ], + [ + 266.521240234375, + 118.07565307617188 + ], + [ + 269.26971435546875, + 122.46910858154297 + ], + [ + 272.2816162109375, + 128.27830505371094 + ], + [ + 269.796875, + 132.00830078125 + ], + [ + 258.2250671386719, + 141.11544799804688 + ], + [ + 252.75128173828125, + 124.99468994140625 + ], + [ + 252.4839324951172, + 72.18572235107422 + ], + [ + 278.35845947265625, + 34.34373474121094 + ], + [ + 316.31536865234375, + 33.17826843261719 + ], + [ + 348.53839111328125, + 45.479408264160156 + ], + [ + 378.379150390625, + 94.58196258544922 + ], + [ + 394.0551452636719, + 145.697509765625 + ], + [ + 402.4415283203125, + 189.51502990722656 + ], + [ + 397.211669921875, + 199.22903442382812 + ], + [ + 398.62860107421875, + 211.57205200195312 + ], + [ + 396.7401428222656, + 206.24649047851562 + ], + [ + 374.11077880859375, + 153.28321838378906 + ], + [ + 338.6629638671875, + 102.12218475341797 + ] + ], + "depth_max": 2.4821932315826416, + "depth_min": 0.5360739827156067, + "intrinsic": [ + [ + 593.9066772460938, + 0.0, + 259.0 + ], + [ + 0.0, + 593.1126098632812, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.569955439772457e-05, + 2.2219401216716506e-05, + 1.2111377145629376e-07 + ], + [ + -6.56994670862332e-05, + 1.0, + -4.049057679367252e-06, + -1.5607907698722556e-05 + ], + [ + -2.2219666789169423e-05, + 4.047597940370906e-06, + 1.0, + 3.3369360608048737e-07 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 20 + ], + "object_trajectory": [ + [ + 272.0, + 142.5 + ], + [ + 271.2466125488281, + 142.44259643554688 + ], + [ + 271.64825439453125, + 142.88229370117188 + ], + [ + 271.38238525390625, + 142.12588500976562 + ], + [ + 271.736083984375, + 141.2872314453125 + ], + [ + 273.91973876953125, + 141.06219482421875 + ], + [ + 272.4896240234375, + 139.58206176757812 + ], + [ + 260.550048828125, + 148.71524047851562 + ], + [ + 256.44854736328125, + 130.41009521484375 + ], + [ + 258.9561462402344, + 84.26264953613281 + ], + [ + 285.7325744628906, + 45.616294860839844 + ], + [ + 316.5535888671875, + 47.02046585083008 + ], + [ + 350.5282897949219, + 69.29202270507812 + ], + [ + 378.146484375, + 117.73188018798828 + ], + [ + 388.9184265136719, + 160.63792419433594 + ], + [ + 394.7576904296875, + 197.52584838867188 + ], + [ + 384.9700012207031, + 249.2207489013672 + ], + [ + 398.6400146484375, + 256.3631286621094 + ], + [ + 379.5071105957031, + 250.6900634765625 + ], + [ + 380.5821838378906, + 245.96231079101562 + ], + [ + 381.89495849609375, + 245.84982299804688 + ] + ] +} \ No newline at end of file diff --git a/004915/lang.txt b/004915/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..6a398d6f4e36170da05a42d2eed1b0e122c68b1f --- /dev/null +++ b/004915/lang.txt @@ -0,0 +1 @@ +put pear in bowl diff --git a/004915/object.ply b/004915/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..6c5ce800a086ec30423d9e0555ee99bcc420ae92 Binary files /dev/null and b/004915/object.ply differ diff --git a/004943/data.json b/004943/data.json new file mode 100644 index 0000000000000000000000000000000000000000..87febd2c262f66d8addfedabd04e29e47ba1f37b --- /dev/null +++ b/004943/data.json @@ -0,0 +1,623 @@ +{ + "action_start": 13, + "action_end": 22, + "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, + 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": [ + [ + -7.613520924820705e-11, + -9.063164108091826e-11, + 1.0050589527299536e-10, + -1.5636588265294975e-07, + -4.921220400354759e-07, + -5.846310476688315e-07, + 1.0 + ], + [ + 0.01721957941463481, + 0.008044795096985469, + 0.003781004715984443, + -0.11989536587545399, + 0.05207214194878326, + 0.28925840438621314, + 1.0 + ], + [ + 0.01669595627003978, + 0.003293843019874454, + 0.0012036699850461463, + -0.021921420602467944, + 0.004698193745915334, + 0.2908737438222813, + 1.0 + ], + [ + 0.02629196145341306, + 0.014321274576678672, + -0.004086530596989921, + -0.0043828496855588045, + -0.08264488564297408, + 0.378063234896054, + 1.0 + ], + [ + 0.020241444003402248, + 0.007696408248045378, + -0.009748768920011336, + 0.03427010401288223, + -0.03614575944596674, + 0.4338033587939569, + 1.0 + ], + [ + 0.009783701261999095, + -0.0032268115097756345, + -0.012702670267916147, + 0.007393326230055503, + 0.007836946171109757, + 0.2888208259108997, + 1.0 + ], + [ + 0.004591139351262596, + -0.008573404994105832, + -0.009268088073603895, + -0.03981559020715226, + 0.029290362129252488, + 0.026853860299531292, + 1.0 + ], + [ + 0.0045430070045408555, + -0.013731034330876357, + -0.0033315878332574184, + -0.030118211006934282, + -0.06280837525749317, + -0.022306752087486968, + 1.0 + ], + [ + 0.004210806565765002, + -0.009479389594808735, + -0.006377301912808969, + 0.0231016106265605, + -0.05866472522834808, + -0.001673011968146316, + 1.0 + ], + [ + 0.008592847298227346, + -0.0010023828242789745, + -0.014366670062580023, + 0.01925017528987742, + -0.002871123790919257, + 0.0037009163753640387, + 1.0 + ], + [ + 0.005903432723677715, + 0.0021388870314428543, + -0.01409405041665325, + 0.03975230337319271, + -0.014793335316915074, + -0.009938639550178948, + 1.0 + ], + [ + -0.0005599355958155194, + 0.004665388511187668, + -0.007867728318372846, + 0.005243061261696562, + 0.005674823946622063, + 0.004439125774468627, + 1.0 + ], + [ + -0.011308691977040264, + -0.001334841491390737, + -0.00894086756043777, + 0.005400061151263617, + 0.021273340637518425, + -0.0304380874468937, + 1.0 + ], + [ + -0.0055834676188981636, + -0.0006650118558799711, + -0.010638868788771506, + 0.01002089738497772, + 0.007839815516648916, + -0.01579711070435205, + 1.0 + ], + [ + -0.005597809137692145, + 0.0011835658303412377, + -0.005186278317917528, + 0.008292239963450658, + -0.009582329464639454, + -0.014123022264082536, + 0.0 + ], + [ + -0.0012876799263502048, + -0.00016423498004441983, + 0.013374178804977118, + 0.0031435757926149563, + -0.006527098014492721, + -0.010043385572388864, + 0.0 + ], + [ + 0.0016542529551911156, + 0.00014537528166660985, + 0.014767646811895678, + 0.010570544832407507, + 0.009653668838608532, + -0.005482457108223083, + 0.0 + ], + [ + -0.0027726095362656245, + -0.009512973039797368, + 0.019530892510700063, + -0.01552501899209585, + -0.003306669246282868, + -0.022602672903802197, + 0.0 + ], + [ + -0.006824315363041067, + -0.018917909773066566, + 0.020724138581477897, + -0.03175643301191091, + 0.013150676930598189, + -0.015052687809042849, + 0.0 + ], + [ + -0.0085044644716879, + -0.02758603671898971, + 0.016317584216652463, + -0.039184680221482984, + -0.0006056320100445938, + -0.02747227916290054, + 0.0 + ], + [ + -0.009884091220799418, + -0.03199239660829421, + 0.003467287498678265, + -0.04911757418430683, + 0.07814595625414875, + -0.05174795146392534, + 0.0 + ], + [ + -0.010312122844681915, + -0.03211784452409702, + 0.004065903619951905, + -0.06554579651642081, + 0.059562194736176105, + -0.035496685545035, + 0.0 + ], + [ + -0.0020541455497526395, + -0.016118821053642457, + -0.015122420414542675, + -0.010025372556164725, + 0.05324235707600164, + -0.020073204391159852, + 0.0 + ], + [ + -0.004689800672792482, + -0.00457981003154569, + -0.006759860091449438, + 0.024284881351391507, + 0.030200121086835858, + -0.05360273503083533, + 1.0 + ], + [ + -0.0051591170215294635, + 0.01293464759590845, + 0.0014993081637496852, + 0.007697897854958809, + -0.029814809780116774, + -0.0338215872724408, + 1.0 + ], + [ + -0.0036382587917699327, + 0.018123940339838093, + 0.015373819712973427, + 0.0263726984165519, + -0.038839675378387076, + -0.02088131331596934, + 1.0 + ], + [ + 0.005968219488354604, + 0.039959038476242104, + 0.03381721997229967, + 0.06782221339267669, + -0.03290093571086519, + -0.0047478306670296, + 1.0 + ], + [ + 0.008231250181497202, + 0.036087323193464985, + 0.03582309347618701, + 0.0054941995357294824, + -0.02910356975795782, + 0.02172699392437536, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 53.89054870605469, + 145.31814575195312 + ], + [ + 55.17537307739258, + 150.33465576171875 + ], + [ + 69.0325927734375, + 143.95156860351562 + ], + [ + 68.66158294677734, + 122.30237579345703 + ], + [ + 79.03153991699219, + 106.06946563720703 + ], + [ + 81.83687591552734, + 102.92493438720703 + ], + [ + 98.92637634277344, + 113.30560302734375 + ], + [ + 117.20574951171875, + 122.60133361816406 + ], + [ + 135.29150390625, + 127.27711486816406 + ], + [ + 149.92681884765625, + 142.993896484375 + ], + [ + 166.53219604492188, + 139.99578857421875 + ], + [ + 174.26251220703125, + 152.14291381835938 + ], + [ + 174.9742889404297, + 156.16189575195312 + ], + [ + 170.77182006835938, + 176.15536499023438 + ], + [ + 167.95477294921875, + 182.13551330566406 + ], + [ + 164.68670654296875, + 185.37831115722656 + ], + [ + 164.0894317626953, + 186.09793090820312 + ], + [ + 158.02362060546875, + 192.72886657714844 + ], + [ + 154.63262939453125, + 172.725341796875 + ], + [ + 162.42398071289062, + 155.9934844970703 + ], + [ + 177.55934143066406, + 147.46595764160156 + ], + [ + 203.29010009765625, + 153.23275756835938 + ], + [ + 235.10546875, + 172.58499145507812 + ], + [ + 256.77984619140625, + 191.17832946777344 + ], + [ + 262.78106689453125, + 210.16094970703125 + ], + [ + 250.0461883544922, + 220.12525939941406 + ], + [ + 217.78564453125, + 198.6076202392578 + ], + [ + 168.09593200683594, + 138.9417724609375 + ], + [ + 122.01683044433594, + 56.00187683105469 + ], + [ + 98.90034484863281, + 47.06756591796875 + ], + [ + 100.59654998779297, + 46.86982727050781 + ] + ], + "depth_max": 1.8732593059539795, + "depth_min": 0.5654973983764648, + "intrinsic": [ + [ + 578.2822265625, + 0.0, + 259.0 + ], + [ + 0.0, + 578.1500244140625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 9.590110130375251e-05, + -3.968431337852962e-05, + 1.205882290378213e-05 + ], + [ + -9.59034005063586e-05, + 1.0, + -5.7967892644228414e-05, + -1.9724293451872654e-05 + ], + [ + 3.967875454691239e-05, + 5.797169797006063e-05, + 1.0, + 2.101342579408083e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30 + ], + "object_trajectory": [ + [ + 170.0, + 167.75 + ], + [ + 170.2923126220703, + 168.15277099609375 + ], + [ + 170.2081298828125, + 168.1405029296875 + ], + [ + 169.9802703857422, + 168.53396606445312 + ], + [ + 170.22984313964844, + 168.61544799804688 + ], + [ + 170.08676147460938, + 168.89675903320312 + ], + [ + 170.31106567382812, + 169.37242126464844 + ], + [ + 170.18905639648438, + 169.4294891357422 + ], + [ + 169.95782470703125, + 167.85516357421875 + ], + [ + 169.62306213378906, + 167.69712829589844 + ], + [ + 169.68966674804688, + 167.54025268554688 + ], + [ + 170.08493041992188, + 167.76380920410156 + ], + [ + 170.5246124267578, + 168.56289672851562 + ], + [ + 167.4237823486328, + 174.9659423828125 + ], + [ + 162.4900360107422, + 181.4934844970703 + ], + [ + 160.63290405273438, + 183.5757598876953 + ], + [ + 160.52015686035156, + 183.27664184570312 + ], + [ + 156.76922607421875, + 188.18240356445312 + ], + [ + 157.56643676757812, + 171.02528381347656 + ], + [ + 164.00875854492188, + 154.16744995117188 + ], + [ + 178.03404235839844, + 146.62582397460938 + ], + [ + 202.61416625976562, + 152.2533721923828 + ], + [ + 231.8680419921875, + 169.40499877929688 + ], + [ + 255.3152313232422, + 189.28195190429688 + ], + [ + 257.63720703125, + 274.0302429199219 + ], + [ + 243.0718994140625, + 276.81365966796875 + ], + [ + 262.5032958984375, + 269.5263671875 + ], + [ + 274.6429138183594, + 269.6976318359375 + ], + [ + 272.57275390625, + 275.6416015625 + ], + [ + 270.7469177246094, + 277.4533996582031 + ], + [ + 271.6446838378906, + 276.31561279296875 + ] + ] +} \ No newline at end of file diff --git a/004943/lang.txt b/004943/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..6a398d6f4e36170da05a42d2eed1b0e122c68b1f --- /dev/null +++ b/004943/lang.txt @@ -0,0 +1 @@ +put pear in bowl diff --git a/004943/object.ply b/004943/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..db20811947f75e86161efb99c8c87353f73b09cb Binary files /dev/null and b/004943/object.ply differ diff --git a/004971/data.json b/004971/data.json new file mode 100644 index 0000000000000000000000000000000000000000..28288ea6f116ca0950cd18717201dbf71c410977 --- /dev/null +++ b/004971/data.json @@ -0,0 +1,623 @@ +{ + "action_start": 12, + "action_end": 23, + "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, + 0.0, + 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": [ + [ + 2.2422030898638923e-10, + 1.5069008540979922e-10, + -1.1278589173713272e-10, + -4.8761419125307864e-08, + -3.647746471495872e-07, + -3.838155652623016e-07, + 1.0 + ], + [ + -0.002512976189130489, + 0.02292101677430468, + -0.001108903456455368, + 0.014208642924701228, + -0.026840213261746772, + -0.14656345291206235, + 1.0 + ], + [ + -0.00415789033980582, + 0.02301163882940826, + 0.0017154369541733938, + -0.05383852118189692, + 0.07849219534460619, + -0.11722431469331512, + 1.0 + ], + [ + -4.8536734528231706e-05, + 0.028600835127181992, + -0.005418106865535635, + -0.04789500253383609, + -0.018987258433013715, + -0.03801909147454013, + 1.0 + ], + [ + -0.003362741682512632, + 0.020459654618259937, + -0.014344979948265571, + -0.01500012626683571, + 0.046433162178534194, + -0.04137127293310618, + 1.0 + ], + [ + -0.0134238539363849, + 0.007222615546515765, + -0.018323147922083324, + 0.013322714296159244, + -0.01570768413827825, + -0.05466019610703512, + 1.0 + ], + [ + -0.0016169238874248482, + 0.0056351064405550655, + -0.015245212977240893, + 0.018024786247576734, + 0.007105977562157737, + -0.008818223127562377, + 1.0 + ], + [ + 0.0017037398344532662, + 0.0016492970736011192, + -0.012966653410651716, + 0.008251442678727973, + -0.019051754190024597, + 0.001531042040595144, + 1.0 + ], + [ + 0.003693773714331078, + 0.003085010420002837, + -0.012737527196662213, + 0.021987671126171844, + -0.007932705164078003, + -0.004360030976440628, + 1.0 + ], + [ + 0.005790003186231213, + 0.00014580225673155311, + -0.009208099623196235, + 0.018468471284357035, + -0.016006515024094135, + -0.0002000905223067429, + 1.0 + ], + [ + 0.0030418023564617036, + 0.0013938090959740301, + -0.0033024195896380407, + 0.008208581485108661, + -0.0015152514895671665, + 0.006223246448465155, + 1.0 + ], + [ + 0.0011678790823695662, + 0.0007982204850678909, + -0.012421862216244757, + 0.02428006473206595, + 0.0009832692511788168, + 0.0054225152566974655, + 1.0 + ], + [ + 0.0024259769520708074, + -0.00046320370076569084, + -0.011589216432141527, + 0.026751917343158804, + 0.0044297336537750176, + 0.020999700965635235, + 1.0 + ], + [ + 0.0030157036155161465, + -0.0010978292482597962, + -0.006539935954874933, + -0.0029312614271507524, + 0.015617046536746174, + 0.024278745275853053, + 0.0 + ], + [ + 0.0035898354056810022, + -0.0010180191364942692, + 0.009631891744474676, + -0.01073403477091631, + -0.015783099830150003, + 0.009119848314619513, + 0.0 + ], + [ + 0.004660302113045217, + -0.002981866635299646, + 0.016379629996710377, + -0.007642314027960526, + -0.027878591757287602, + 0.029184191511333748, + 0.0 + ], + [ + 0.002304273608666335, + -0.01451365021922943, + 0.030430578629458162, + -0.022694781205827592, + -0.04286839549040291, + 0.029802648385708775, + 0.0 + ], + [ + -0.0002472924166070367, + -0.029681937124761, + 0.0307158899781364, + -0.03723035867402068, + -0.010984797626970898, + 0.023352647090441808, + 0.0 + ], + [ + -0.009730862598255563, + -0.03746488462008868, + 0.02001279068682111, + -0.03292736622408918, + 0.025292512295595843, + 0.016999608962966702, + 0.0 + ], + [ + -0.006217619250467765, + -0.029575934245360744, + -0.0006312744230495826, + 0.002111630319657389, + 0.018712895554729155, + 0.004961659920053097, + 0.0 + ], + [ + -0.006960126442497883, + -0.03375531929151118, + -0.010974243242544965, + 0.014427367749176426, + 0.0073505392971539565, + 0.007144954318263649, + 0.0 + ], + [ + -0.006175508381412537, + -0.026144428714760443, + -0.022730266181324524, + 0.01855488643693335, + -0.014302689319007973, + -0.0038323405112517315, + 0.0 + ], + [ + -0.004657441780051785, + -0.015093121693571566, + -0.019201769015622178, + 0.01389986523987387, + 0.004374029351861069, + -0.0022066033696344915, + 0.0 + ], + [ + -0.005797736192603792, + -0.0014227889025862092, + -0.0071407712118551625, + 0.013635892121262401, + -0.006426618147091115, + -0.009018658613827306, + 0.0 + ], + [ + -0.0012337337290219963, + 0.011190582675762591, + 0.005646965006352776, + -0.019572788163539925, + 0.0037061495241821505, + -0.002212910949373393, + 1.0 + ], + [ + 0.003269915849683863, + 0.005596307518559527, + 0.005699369921158132, + -0.012002731525160425, + 0.013276426278688021, + 0.022119170440136435, + 1.0 + ], + [ + 0.006891816388942679, + 0.0033297608249059675, + 0.02084728756515742, + -0.01636597043724124, + 0.015433160588555917, + 0.018043942057568495, + 1.0 + ], + [ + 0.007980585955084246, + 0.01784563099316774, + 0.04366444875261587, + -0.019974254979751648, + -0.03370979713858941, + 0.04812507512828116, + 1.0 + ], + [ + 0.017172266453565038, + 0.030052411416514657, + 0.011043190420300483, + 0.05665252715700524, + -0.0173047646994012, + 0.09499048093615424, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 147.58660888671875, + 123.87240600585938 + ], + [ + 148.0908203125, + 128.5252685546875 + ], + [ + 140.6327362060547, + 132.35301208496094 + ], + [ + 86.09378051757812, + 127.05765533447266 + ], + [ + 68.1125717163086, + 112.14472961425781 + ], + [ + 36.44610595703125, + 126.3740234375 + ], + [ + 38.10331726074219, + 146.47882080078125 + ], + [ + 15.36569595336914, + 170.47003173828125 + ], + [ + 30.863021850585938, + 182.91305541992188 + ], + [ + 35.83295822143555, + 194.33389282226562 + ], + [ + 41.80290985107422, + 201.0371551513672 + ], + [ + 47.654117584228516, + 203.0734100341797 + ], + [ + 49.99108123779297, + 212.41513061523438 + ], + [ + 57.52043914794922, + 219.41514587402344 + ], + [ + 59.492210388183594, + 220.6258544921875 + ], + [ + 62.70663070678711, + 220.25775146484375 + ], + [ + 66.51679992675781, + 214.9236602783203 + ], + [ + 65.32540893554688, + 182.67172241210938 + ], + [ + 76.40392303466797, + 154.73724365234375 + ], + [ + 96.4052734375, + 143.61245727539062 + ], + [ + 127.22549438476562, + 156.27130126953125 + ], + [ + 165.57980346679688, + 195.66482543945312 + ], + [ + 212.47988891601562, + 250.87301635742188 + ], + [ + 231.0463104248047, + 288.1909484863281 + ], + [ + 235.232666015625, + 309.5972900390625 + ], + [ + 226.0323944091797, + 312.6270751953125 + ], + [ + 209.64944458007812, + 294.1973876953125 + ], + [ + 218.0780487060547, + 267.966064453125 + ], + [ + 196.91165161132812, + 194.8557586669922 + ], + [ + 157.09849548339844, + 134.44639587402344 + ], + [ + 150.748046875, + 128.06265258789062 + ] + ], + "depth_max": 1.4035284519195557, + "depth_min": 0.26207640767097473, + "intrinsic": [ + [ + 570.6471557617188, + 0.0, + 259.0 + ], + [ + 0.0, + 570.669677734375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 0.00011507556337164715, + -8.549269114155322e-05, + 1.937442721100524e-05 + ], + [ + -0.00011508161696838215, + 1.0, + -7.088048732839525e-05, + -2.406999556114897e-05 + ], + [ + 8.548452751711011e-05, + 7.089032442308962e-05, + 1.0, + -3.927110810764134e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30 + ], + "object_trajectory": [ + [ + 51.75, + 229.75001525878906 + ], + [ + 50.64281463623047, + 228.80224609375 + ], + [ + 52.09864044189453, + 229.09713745117188 + ], + [ + 51.98350143432617, + 229.69314575195312 + ], + [ + 51.50144577026367, + 229.2119903564453 + ], + [ + 51.0947265625, + 228.20216369628906 + ], + [ + 51.851806640625, + 228.56991577148438 + ], + [ + 51.71075439453125, + 229.4034423828125 + ], + [ + 51.43125915527344, + 229.54296875 + ], + [ + 51.337921142578125, + 229.59771728515625 + ], + [ + 50.96223068237305, + 230.41513061523438 + ], + [ + 55.46000289916992, + 230.76211547851562 + ], + [ + 57.55824661254883, + 234.0419921875 + ], + [ + 58.35945129394531, + 239.79457092285156 + ], + [ + 58.46141815185547, + 238.8849639892578 + ], + [ + 58.97572708129883, + 242.67343139648438 + ], + [ + 61.86988067626953, + 238.2772216796875 + ], + [ + 64.10327911376953, + 211.43563842773438 + ], + [ + 74.60260772705078, + 186.4342041015625 + ], + [ + 95.18377685546875, + 170.8593292236328 + ], + [ + 121.7019271850586, + 187.10031127929688 + ], + [ + 160.92140197753906, + 220.29473876953125 + ], + [ + 205.77293395996094, + 275.2563171386719 + ], + [ + 227.1724090576172, + 304.77313232421875 + ], + [ + 227.91229248046875, + 331.7225341796875 + ], + [ + 231.41009521484375, + 363.9103088378906 + ], + [ + 241.87548828125, + 364.4822082519531 + ], + [ + 240.3373565673828, + 355.39031982421875 + ], + [ + 247.52536010742188, + 361.16796875 + ], + [ + 246.6534423828125, + 360.9624938964844 + ], + [ + 246.72776794433594, + 363.8241882324219 + ] + ] +} \ No newline at end of file diff --git a/004971/lang.txt b/004971/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..353f9b38595efd2a9fb0dad17a3d7a2368415e1c --- /dev/null +++ b/004971/lang.txt @@ -0,0 +1 @@ +put potato in pot cardboard fence diff --git a/004971/object.ply b/004971/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..70d7da20fc66a8104ae1c6e84d0c20b32b282d34 Binary files /dev/null and b/004971/object.ply differ diff --git a/004979/FAIL b/004979/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/004979/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/004985_v2/FAIL b/004985_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/004985_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/005002_v2/FAIL b/005002_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/005002_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/005005/data.json b/005005/data.json new file mode 100644 index 0000000000000000000000000000000000000000..4fb6e61a995a2d75449fc082811fafd14570f85d --- /dev/null +++ b/005005/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 12, + "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, + 0.0, + 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": [ + [ + -1.3480927485431948e-10, + 5.901032093524883e-11, + -2.2411766886776263e-11, + 1.2554610499484235e-07, + 1.4004611791216214e-07, + 5.648604757109691e-07, + 1.0 + ], + [ + 0.00226730143736642, + 0.016522652038929123, + -0.00271646137985157, + 0.019655939026829414, + 0.005425553322247643, + -0.2237112753085529, + 1.0 + ], + [ + 0.0019211403467150612, + 0.02083319299160156, + 0.005000602137343754, + -0.031850822040645654, + 0.052206135747098995, + -0.16320761366448622, + 1.0 + ], + [ + -0.007495100246737912, + 0.02013575353605074, + -0.011354911240568685, + -0.023156074956102998, + 0.018082284231533078, + -0.2537350137003882, + 1.0 + ], + [ + -0.0072846429310617355, + 0.017373357465806913, + -0.01919339157045699, + -0.027005734538622962, + 0.031119336671990776, + -0.13203358992714903, + 1.0 + ], + [ + -0.01311586491079797, + 0.008812431590036779, + -0.018564047750111695, + 0.002267058892391902, + 0.00825155995660431, + -0.06189247295777441, + 1.0 + ], + [ + -0.00762354766345838, + 0.0014347368638723546, + -0.01524867027893008, + 0.036698937491546776, + -0.02128946541569574, + -0.016729766998180767, + 1.0 + ], + [ + -0.006740295137512398, + -0.003974636120715178, + -0.016807361417946365, + 0.004731004886425492, + -0.00571060339114142, + -0.012396475915483233, + 1.0 + ], + [ + -0.003915384686524859, + -0.007937913595793988, + -0.012996594535231776, + 0.0096772143563433, + 0.029155140963246774, + 0.022230186739387772, + 1.0 + ], + [ + -0.0010528160405896825, + -0.002820394487178593, + -0.007718939779181581, + 0.006959114965130639, + -0.00016596893213521735, + 0.011825985082472065, + 1.0 + ], + [ + -0.0022320332315453884, + -0.0008783695371098049, + -0.015972518168636304, + 0.01484673246930985, + -0.011019371090045742, + -0.006400766276959123, + 1.0 + ], + [ + -0.0018506353880440862, + -0.0028322982639032573, + -0.007191768914906152, + 0.002924114714407784, + -0.007418338959537536, + 0.0009718729960273899, + 1.0 + ], + [ + 0.0024093768027012297, + 0.002016914252846183, + -0.00534308223400364, + 0.010706050539868138, + -0.005271125884905487, + 0.0053775366729245985, + 1.0 + ], + [ + 0.0031894173614376575, + 0.0011031671346487665, + -0.000762937478407458, + -0.01200563422940855, + 0.010348547252989443, + 0.005416558245834975, + 0.0 + ], + [ + 0.003858713638339728, + 0.002265231771904616, + 0.019017430786979907, + -0.004798749864735664, + -0.08744215911515472, + 0.0552989762979034, + 0.0 + ], + [ + 0.0025532017020777342, + -0.0037478519946149147, + 0.03947262422984208, + -0.05685808676268013, + 0.009588592067636953, + 0.026203774929573147, + 0.0 + ], + [ + 0.01233888712211409, + -0.026635844775514964, + 0.03654169505794738, + -0.0526180040307556, + -0.04171275596854969, + 0.078594704345429, + 0.0 + ], + [ + 0.01815018981450947, + -0.035966614401299835, + 0.00874069543959513, + -0.026026457338501164, + -0.005341685493331295, + 0.05678791857726344, + 0.0 + ], + [ + 0.008609603554657758, + -0.033801258331843005, + -0.012011024470020823, + -0.014364898775099584, + 0.05429589915066765, + 0.0168544348034911, + 0.0 + ], + [ + 0.004985058959093541, + -0.021358725371924233, + -0.012554494572663083, + 0.0032111655111151816, + 0.014289837458707906, + 0.006892606865375026, + 0.0 + ], + [ + 0.006180165601807064, + -0.02721342801421715, + -0.010509706996699272, + -0.010534234951603291, + 0.026815190463185933, + 0.007900259241346793, + 0.0 + ], + [ + 0.00412460049694216, + -0.008718030832241042, + -0.0030302828197778797, + -0.00581826194097414, + 0.02676813863872682, + 0.008333602601186117, + 0.0 + ], + [ + 0.0023027943078082203, + -0.0032393810666560274, + -0.006121953159810581, + 0.015801659743087546, + 0.01963795300957866, + -0.006073857684595038, + 1.0 + ], + [ + 0.00020727186474148174, + 0.0005141968109789938, + 0.0010760135549278543, + -0.029347721259430276, + -0.003558320782407657, + 0.007185065203730007, + 1.0 + ], + [ + 0.0014277566119640928, + 0.010093466523796855, + 0.017867567450741022, + -0.004216972262702937, + -0.03965431763150853, + 0.026693107285821836, + 1.0 + ], + [ + -0.000389121770412143, + 0.015071460479991916, + 0.0382740664960709, + 0.006684545057981983, + -0.033991161321394486, + 0.07048925892182474, + 1.0 + ], + [ + 0.004012693055969546, + 0.027448667274660107, + 0.029543533029493085, + 0.007881972523160767, + -0.09721957432521008, + 0.20000766128480973, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 216.4016876220703, + 156.07168579101562 + ], + [ + 218.79908752441406, + 165.35302734375 + ], + [ + 213.16319274902344, + 170.5618438720703 + ], + [ + 178.634521484375, + 149.67672729492188 + ], + [ + 154.7458038330078, + 148.56175231933594 + ], + [ + 128.12112426757812, + 158.17074584960938 + ], + [ + 97.38734436035156, + 194.51547241210938 + ], + [ + 87.89985656738281, + 226.20797729492188 + ], + [ + 91.55270385742188, + 252.3238525390625 + ], + [ + 98.30858612060547, + 275.5168762207031 + ], + [ + 125.01335906982422, + 290.0357666015625 + ], + [ + 126.1837158203125, + 305.25421142578125 + ], + [ + 131.65118408203125, + 313.35601806640625 + ], + [ + 134.80516052246094, + 318.15411376953125 + ], + [ + 133.6287078857422, + 310.4681396484375 + ], + [ + 135.4788818359375, + 303.8682861328125 + ], + [ + 108.98126983642578, + 270.30975341796875 + ], + [ + 128.5832977294922, + 221.57867431640625 + ], + [ + 184.2255096435547, + 197.40846252441406 + ], + [ + 248.7235107421875, + 215.52981567382812 + ], + [ + 293.784423828125, + 245.07655334472656 + ], + [ + 332.9447937011719, + 260.7107849121094 + ], + [ + 371.478759765625, + 278.7768859863281 + ], + [ + 372.0771484375, + 280.6029968261719 + ], + [ + 376.4942626953125, + 283.5133056640625 + ], + [ + 371.7026062011719, + 273.27825927734375 + ], + [ + 346.9681091308594, + 215.47500610351562 + ], + [ + 311.7974853515625, + 164.21102905273438 + ], + [ + 274.1737976074219, + 138.4574432373047 + ] + ], + "depth_max": 2.443298578262329, + "depth_min": 0.337512344121933, + "intrinsic": [ + [ + 555.3778686523438, + 0.0, + 259.0 + ], + [ + 0.0, + 555.30908203125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 9.914983093040064e-05, + -4.1966082790168e-05, + 1.1987623111053836e-05 + ], + [ + -9.915416740113869e-05, + 1.0, + -0.00010327156633138657, + -1.757684731273912e-05 + ], + [ + 4.1955845517804846e-05, + 0.00010327572817914188, + 1.0, + -4.589750460581854e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 138.5, + 340.0000305175781 + ], + [ + 135.82647705078125, + 337.5755920410156 + ], + [ + 135.8206787109375, + 337.41534423828125 + ], + [ + 135.71148681640625, + 337.38104248046875 + ], + [ + 135.75372314453125, + 337.4158630371094 + ], + [ + 135.83607482910156, + 337.1381530761719 + ], + [ + 135.47821044921875, + 337.1358947753906 + ], + [ + 138.52761840820312, + 339.102294921875 + ], + [ + 138.1083984375, + 338.89312744140625 + ], + [ + 138.89044189453125, + 338.88763427734375 + ], + [ + 138.35629272460938, + 339.1597595214844 + ], + [ + 131.09259033203125, + 334.7189636230469 + ], + [ + 130.1729736328125, + 330.7332458496094 + ], + [ + 130.98736572265625, + 332.4654541015625 + ], + [ + 128.5675811767578, + 324.62725830078125 + ], + [ + 125.04717254638672, + 323.6533203125 + ], + [ + 114.9059066772461, + 293.26019287109375 + ], + [ + 124.47303771972656, + 254.62681579589844 + ], + [ + 177.45831298828125, + 229.52359008789062 + ], + [ + 239.00222778320312, + 246.79220581054688 + ], + [ + 277.90234375, + 267.3670959472656 + ], + [ + 311.7484130859375, + 280.46258544921875 + ], + [ + 351.37451171875, + 295.8302307128906 + ], + [ + 358.1463928222656, + 340.9653015136719 + ], + [ + 362.96563720703125, + 342.8121337890625 + ], + [ + 368.4762878417969, + 350.8106384277344 + ], + [ + 375.5561828613281, + 355.56292724609375 + ], + [ + 376.9419250488281, + 355.17962646484375 + ], + [ + 377.82916259765625, + 353.42462158203125 + ] + ] +} \ No newline at end of file diff --git a/005005/lang.txt b/005005/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..353f9b38595efd2a9fb0dad17a3d7a2368415e1c --- /dev/null +++ b/005005/lang.txt @@ -0,0 +1 @@ +put potato in pot cardboard fence diff --git a/005005/object.ply b/005005/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..713d911239bbb46a79d685d2da9f55eb87b97e8f Binary files /dev/null and b/005005/object.ply differ diff --git a/005010/data.json b/005010/data.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3a7c2869a1ed1eff6108adc1963bf1fdc4cff8 --- /dev/null +++ b/005010/data.json @@ -0,0 +1,678 @@ +{ + "action_start": 16, + "action_end": 26, + "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, + 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": [ + [ + -7.886191699668643e-11, + 1.248400272046979e-10, + 3.526091363337258e-10, + -3.0792724110090066e-07, + -8.739742132127826e-08, + 1.033004069780503e-07, + 1.0 + ], + [ + -0.002769649418125908, + -0.02012136151001484, + 0.002524517083160524, + 0.0700499829326447, + -0.05655770563870788, + 0.256949924603123, + 1.0 + ], + [ + 0.007652516644251789, + -0.016907282817203856, + 0.005510821206591576, + -0.03470299367737434, + -0.07429912503590239, + 0.3270004128355521, + 1.0 + ], + [ + 0.007536453370060786, + -0.009675768354265535, + 0.020138139058487756, + -0.05861292810499193, + 0.015476840005395523, + 0.2343701140288358, + 1.0 + ], + [ + 0.00565924218842323, + -0.02331657203569583, + -0.0040027046709560365, + -0.039576497198459626, + 0.02134856267746097, + 0.1882695432913635, + 1.0 + ], + [ + -0.002572131090009089, + -0.019272104940510154, + -0.00578474236066219, + -0.04138087624484663, + 0.005915121951022614, + 0.07088491118228467, + 1.0 + ], + [ + -0.006531249522354177, + -0.022860503836644654, + -0.00796180188704447, + -0.034216235192893414, + -0.004759145973527763, + 0.03703355138399721, + 1.0 + ], + [ + -0.002962929245875323, + -0.02015083230776288, + -0.01420279689528002, + -0.04413778795697196, + -0.03631337979906332, + 0.018536741115286595, + 1.0 + ], + [ + -0.0008135809637306313, + -0.019131688600136275, + -0.014509388066799689, + -0.04221514361716663, + -0.03527590405126137, + 0.030691597072102318, + 1.0 + ], + [ + 0.004110235507704507, + -0.011837018509592491, + 0.0020336833361031745, + -0.018530457360393368, + -0.006291378765186025, + 0.037564008558593286, + 1.0 + ], + [ + 0.003260215091232199, + -0.011476892277262334, + -0.0110150946558355, + -0.004334194173641011, + 0.02277346068009132, + 0.014907983075041608, + 1.0 + ], + [ + 0.004403561004011625, + -0.008684697523128497, + -0.009581966851418787, + 0.008856982318068135, + -0.02607839345471634, + 0.013741931186122432, + 1.0 + ], + [ + 0.005836028929544268, + -0.006895478285309169, + -0.010255413030648725, + 0.012270396100780507, + -0.010447894055117786, + 0.0040496014319486495, + 1.0 + ], + [ + 0.0018229737246953093, + -0.007482967901752416, + -0.003361145598039718, + 0.005520619913750442, + -0.016632168616962133, + -0.0021342365239915323, + 1.0 + ], + [ + 0.007252386755934037, + -0.0059728329220352094, + -0.009471236281274758, + 0.013469557666208797, + -0.0019370114202188107, + 0.010494125951857215, + 1.0 + ], + [ + 0.004360335112716274, + -0.003764506980376628, + -0.011343706258695277, + 0.02245099453983969, + 0.008694526520886505, + -0.005088011286505958, + 1.0 + ], + [ + -0.001588898880512446, + -0.006236361001388024, + -0.011044342268364121, + 0.029908276857193758, + -0.0014838473291956906, + -0.014765127838600754, + 1.0 + ], + [ + -0.004673216538297276, + -0.00015513721510791723, + -0.004142504312424037, + 0.008714496000666727, + 5.883202985560075e-05, + -0.004019671830657581, + 0.0 + ], + [ + -0.0037052479890909984, + 0.011047227591121311, + 0.01512928614928005, + -0.012741077452389895, + -0.004384636299761262, + 0.016109159848091033, + 0.0 + ], + [ + -0.0059225195229125616, + 0.01760207436144938, + 0.025269005174423466, + -0.033856605878375634, + 0.0023114766264255293, + 0.014317056741202948, + 0.0 + ], + [ + -0.00956606834233048, + 0.018278739756839593, + 0.032621362934237425, + -0.035700733281620385, + -0.01599938130546752, + 0.010344048470587446, + 0.0 + ], + [ + -0.010485396890559384, + 0.024117144799130012, + 0.02516573378477288, + -0.027141281499038803, + -0.039990755547460156, + -0.001351970552111714, + 0.0 + ], + [ + -0.016319219366075666, + 0.029372223674970457, + 0.008134275944904526, + -0.00662559723707275, + 0.022138667714315458, + -0.01591706413541664, + 0.0 + ], + [ + -0.011215321302021075, + 0.01669208222138825, + -0.009340496230255194, + 0.08279861554410468, + 0.10581027981409377, + -0.0369762494700555, + 0.0 + ], + [ + -0.009555319454661787, + 0.0035555939511088906, + -0.02470178330796674, + 0.07679911624803384, + 0.01851369944405166, + -0.08206964606685326, + 0.0 + ], + [ + -0.0031561892274360737, + 0.0019314297080502071, + -0.007491820775032951, + -0.005412122478618756, + 0.011447119291707969, + 0.002068920068402479, + 0.0 + ], + [ + -0.005279924287352522, + -0.006043060999224581, + -0.0032291048197083533, + 0.020164189525473553, + -0.007438467728391279, + -0.04662461113076671, + 0.0 + ], + [ + -0.0007702918300061812, + 0.00017453453307795033, + 0.0027861633042573913, + 0.0024396763383897936, + -0.0048572268702829335, + 0.0036786324557973285, + 1.0 + ], + [ + 0.0005823234032986124, + -0.003904561963500131, + 0.004717345361779465, + 0.007376433533394566, + -0.011180211258837605, + 0.016780312790344785, + 1.0 + ], + [ + 0.004798893665578063, + -0.0026539688545979337, + 0.016923511390345737, + 0.010878159076055865, + -0.00926678110487604, + 0.0279704825217484, + 1.0 + ], + [ + 0.0126959870466887, + 0.0015914406408447067, + 0.022162265333788428, + -0.007523406578173749, + 0.000362709985890311, + 0.03479082695225156, + 1.0 + ], + [ + 0.01166491822139265, + 0.006261637844081949, + 0.00799632209914429, + 0.027300079893239675, + -0.0019514774805296062, + 0.02649166545084518, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 171.83181762695312, + 129.1876220703125 + ], + [ + 173.17364501953125, + 137.14276123046875 + ], + [ + 173.85391235351562, + 165.7996063232422 + ], + [ + 233.76393127441406, + 160.66439819335938 + ], + [ + 222.7715606689453, + 138.31817626953125 + ], + [ + 247.04522705078125, + 126.77914428710938 + ], + [ + 297.708984375, + 141.42581176757812 + ], + [ + 297.16748046875, + 166.44741821289062 + ], + [ + 330.607666015625, + 207.38626098632812 + ], + [ + 361.62493896484375, + 233.56674194335938 + ], + [ + 369.7718505859375, + 232.4288330078125 + ], + [ + 387.81292724609375, + 238.75094604492188 + ], + [ + 405.99639892578125, + 248.7091064453125 + ], + [ + 414.19952392578125, + 256.0455627441406 + ], + [ + 423.16400146484375, + 253.13157653808594 + ], + [ + 429.37176513671875, + 276.12939453125 + ], + [ + 443.95953369140625, + 281.5502624511719 + ], + [ + 445.361083984375, + 279.767333984375 + ], + [ + 451.45196533203125, + 276.9737854003906 + ], + [ + 453.5702209472656, + 282.17938232421875 + ], + [ + 436.6010437011719, + 287.2209167480469 + ], + [ + 401.60235595703125, + 239.41184997558594 + ], + [ + 356.9716796875, + 203.33242797851562 + ], + [ + 312.12249755859375, + 186.93527221679688 + ], + [ + 251.40859985351562, + 187.86692810058594 + ], + [ + 256.57562255859375, + 222.20249938964844 + ], + [ + 252.47406005859375, + 235.55198669433594 + ], + [ + 244.38919067382812, + 249.78688049316406 + ], + [ + 251.5625762939453, + 257.58831787109375 + ], + [ + 249.72018432617188, + 252.90757751464844 + ], + [ + 252.48886108398438, + 242.07679748535156 + ], + [ + 265.5557556152344, + 199.90626525878906 + ], + [ + 268.4928283691406, + 163.9965057373047 + ], + [ + 266.7007141113281, + 160.40594482421875 + ] + ], + "depth_max": 2.2659246921539307, + "depth_min": 0.29482385516166687, + "intrinsic": [ + [ + 556.1239624023438, + 0.0, + 259.0 + ], + [ + 0.0, + 555.6732788085938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 0.00010131463932339102, + -5.0774124247254804e-05, + 1.3246648450149223e-05 + ], + [ + -0.00010131906310562044, + 1.0, + -8.70714575285092e-05, + -2.5722427380969748e-05 + ], + [ + 5.0765305786626413e-05, + 8.707659435458481e-05, + 1.0, + -3.7414938560687006e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33 + ], + "object_trajectory": [ + [ + 449.5, + 276.75 + ], + [ + 449.400390625, + 276.7589111328125 + ], + [ + 449.7317199707031, + 276.7269592285156 + ], + [ + 449.8582458496094, + 276.7139892578125 + ], + [ + 449.8608093261719, + 276.9566345214844 + ], + [ + 449.6708984375, + 277.0483093261719 + ], + [ + 449.83343505859375, + 277.0567932128906 + ], + [ + 450.08544921875, + 276.8821105957031 + ], + [ + 449.84173583984375, + 276.8787841796875 + ], + [ + 450.0517272949219, + 276.7937927246094 + ], + [ + 457.444580078125, + 277.3775634765625 + ], + [ + 450.3123474121094, + 276.8567810058594 + ], + [ + 451.1333923339844, + 275.73773193359375 + ], + [ + 451.7225341796875, + 274.659423828125 + ], + [ + 454.382568359375, + 271.91278076171875 + ], + [ + 450.8362731933594, + 294.2826232910156 + ], + [ + 451.8293151855469, + 292.685302734375 + ], + [ + 455.5150146484375, + 290.07421875 + ], + [ + 454.2607727050781, + 289.5897216796875 + ], + [ + 452.9663391113281, + 290.12432861328125 + ], + [ + 440.49896240234375, + 297.20648193359375 + ], + [ + 412.5891418457031, + 251.10873413085938 + ], + [ + 368.8721923828125, + 212.89697265625 + ], + [ + 327.10528564453125, + 197.4060516357422 + ], + [ + 266.38525390625, + 201.78514099121094 + ], + [ + 268.86151123046875, + 236.09188842773438 + ], + [ + 263.2716369628906, + 248.94911193847656 + ], + [ + 256.7226867675781, + 263.835693359375 + ], + [ + 261.25421142578125, + 296.6591796875 + ], + [ + 260.33734130859375, + 301.484375 + ], + [ + 251.39138793945312, + 297.08673095703125 + ], + [ + 239.28578186035156, + 308.1419372558594 + ], + [ + 230.7225341796875, + 310.5634765625 + ], + [ + 228.5555419921875, + 303.73785400390625 + ] + ] +} \ No newline at end of file diff --git a/005010/lang.txt b/005010/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..353f9b38595efd2a9fb0dad17a3d7a2368415e1c --- /dev/null +++ b/005010/lang.txt @@ -0,0 +1 @@ +put potato in pot cardboard fence diff --git a/005010/object.ply b/005010/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..c5cef5ce33532c1a07a98feaf03413d2f03b8ab7 Binary files /dev/null and b/005010/object.ply differ diff --git a/005032/FAIL b/005032/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/005032/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/005065_v2/FAIL b/005065_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/005065_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/005070_v2/FAIL b/005070_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/005070_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/005075_v2/FAIL b/005075_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/005075_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/005089/data.json b/005089/data.json new file mode 100644 index 0000000000000000000000000000000000000000..a6211d507a9098597f10d3d81ff7cb5c171fd389 --- /dev/null +++ b/005089/data.json @@ -0,0 +1,586 @@ +{ + "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, + 0.15775300000000003, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.763126, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.7755575615628914e-17, + -1.3877787807814457e-17, + -1.3877787807814457e-17, + -2.3926107836746717e-07, + 5.925512923840584e-07, + -1.1161619275058072e-07, + 1.0 + ], + [ + 0.010570156027954164, + 2.9718268764557243e-05, + 0.015039198972197923, + -0.03798961020200605, + -0.09603252437203497, + -0.03582544525722446, + 1.0 + ], + [ + 0.01774851250393769, + -0.0020111265012561982, + 0.005067378339094562, + -0.090276813092172, + 0.034021210920430665, + -0.06763255693593877, + 1.0 + ], + [ + 0.019048935755883623, + 0.0004013397310535516, + -0.0033549803021359487, + -0.040187693054395277, + 0.01758535477887599, + -0.0038031272946048526, + 1.0 + ], + [ + 0.016689818656340116, + -0.003530863157824589, + -0.012791539793971296, + 0.02225230946942875, + 0.015480976445961981, + 0.0035100307624870712, + 1.0 + ], + [ + 0.009510308052590066, + -0.003330035490378261, + -0.008706902469090727, + 0.027755039578809402, + -0.028359318508035615, + -0.017411923282690492, + 1.0 + ], + [ + 0.00461223329280791, + -0.007368477492960407, + -0.0143262562223547, + -0.0027004729172395514, + -0.011136024973728929, + -0.018029261501240904, + 1.0 + ], + [ + 0.0004705290265481499, + -0.010973379876104826, + -0.011884942346610257, + 0.009248408775379007, + -0.031015286244788855, + -0.0564731114015817, + 1.0 + ], + [ + 0.0025771319145584393, + -0.001321261746779337, + -0.013714971839590445, + 0.015003074087509423, + -0.011022186087019404, + -0.02832263287449149, + 1.0 + ], + [ + 0.003027579309966444, + -0.0012373710016813852, + -0.00816570622114117, + 0.05408284950261707, + -0.01922725575137987, + -0.03858379270803564, + 1.0 + ], + [ + 0.010902210555386926, + 0.003880633289122193, + -0.008772203555384335, + -0.003975038795091952, + -0.01044839703773039, + 0.013682256180482463, + 0.15775300000000003 + ], + [ + -0.0005724851043689139, + 0.0012575732031259862, + 0.007013834135453584, + 0.0035059725949163657, + -0.00020542731832644647, + -0.01239350141294356, + 0.0 + ], + [ + -0.001993268120813907, + 0.0007919271818150816, + 0.016572661313931588, + -0.011734007212716684, + -0.045213875877315464, + 0.014968505627302044, + 0.0 + ], + [ + -0.005321230201418725, + -9.645363216829322e-05, + 0.03550469753174681, + -0.022754279694670403, + -0.02656918838348163, + 0.016316664187301582, + 0.0 + ], + [ + -0.009604646815808693, + -0.007588975974772705, + 0.02207793078066507, + -0.015742921712966443, + -0.006631290131016051, + -0.0038084548437751094, + 0.0 + ], + [ + -0.017104856357704146, + -0.015051650889058136, + 0.010107341698427225, + -0.04660315676754313, + 0.05556138405728911, + -0.04094380394840546, + 0.0 + ], + [ + -0.025676466259828, + -0.017223918509058654, + -0.012732975578074818, + -0.002144772449256386, + 0.07274331727060923, + -0.03993537737017158, + 0.0 + ], + [ + -0.01783318117721322, + -0.017612131510644655, + -0.016567100589173017, + 0.025703070370102003, + 0.03136680150685893, + -0.03250492852482599, + 0.0 + ], + [ + -0.015523928581877233, + -0.010051942189861988, + -0.010173725297186478, + 0.003914568697633458, + 0.0005005356931248859, + -0.03346041861615176, + 0.0 + ], + [ + -0.009424291779565636, + -0.007513380773777129, + -0.008534520977318764, + 0.01606392287119917, + -0.0005410444141347615, + -0.019247025518160658, + 0.0 + ], + [ + -0.00337598194442959, + 4.085462148762167e-05, + -0.00611812998424862, + 0.017144073616587815, + -0.007851475954849719, + -0.004792492174953516, + 0.0 + ], + [ + 0.004776366806162224, + 0.004171702336140171, + -0.006317030320164965, + 0.03124571218475904, + -0.011602857850105794, + 0.025062643741439287, + 0.763126 + ], + [ + 0.0022304105465401347, + 0.002600834147012933, + -0.004966963165456535, + 0.006310728211536781, + -0.004303356780617166, + -0.014207978098408802, + 1.0 + ], + [ + 0.000591828458089777, + 0.00034349262399758704, + 0.006186359254288572, + -0.014331000380918028, + -0.008695321712028838, + -0.0012890312775585967, + 1.0 + ], + [ + 0.00346998446188157, + -0.0012533241592318708, + 0.020721854935199728, + -0.026505055617381576, + -0.01684010478415266, + 0.012209718663795378, + 1.0 + ], + [ + 0.005196034632327151, + 0.0004468073664124564, + 0.0348753380181527, + -0.04756880697309068, + -0.013507888697710089, + 0.028404894210357853, + 1.0 + ], + [ + 0.003333403619075165, + 0.0046947509298132135, + 0.017526219449986724, + 0.0013346953104588794, + 0.00924336131391272, + 0.02508731294869171, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 196.1080322265625, + 187.5190887451172 + ], + [ + 195.77249145507812, + 189.71673583984375 + ], + [ + 205.50738525390625, + 194.9447021484375 + ], + [ + 219.6161651611328, + 162.43319702148438 + ], + [ + 229.72958374023438, + 147.94259643554688 + ], + [ + 240.5453643798828, + 142.6367645263672 + ], + [ + 257.839599609375, + 153.1328887939453 + ], + [ + 280.7648010253906, + 160.18836975097656 + ], + [ + 288.0154113769531, + 176.72203063964844 + ], + [ + 296.9545593261719, + 186.90927124023438 + ], + [ + 298.54998779296875, + 197.1708221435547 + ], + [ + 301.4830627441406, + 200.92672729492188 + ], + [ + 308.188232421875, + 196.04864501953125 + ], + [ + 304.87005615234375, + 198.99282836914062 + ], + [ + 298.4751892089844, + 171.83396911621094 + ], + [ + 288.46417236328125, + 142.2552490234375 + ], + [ + 286.4018249511719, + 131.94192504882812 + ], + [ + 292.3349609375, + 168.94119262695312 + ], + [ + 301.5523986816406, + 205.7489776611328 + ], + [ + 309.3641357421875, + 248.26318359375 + ], + [ + 306.3560791015625, + 269.3736572265625 + ], + [ + 309.12066650390625, + 288.4930419921875 + ], + [ + 310.10577392578125, + 284.46484375 + ], + [ + 309.8070068359375, + 285.77740478515625 + ], + [ + 309.21270751953125, + 288.8453369140625 + ], + [ + 313.66497802734375, + 273.3310546875 + ], + [ + 319.81988525390625, + 228.80706787109375 + ], + [ + 309.11181640625, + 194.8072967529297 + ], + [ + 306.4329833984375, + 190.35418701171875 + ] + ], + "depth_max": 2.847409248352051, + "depth_min": 0.28366056084632874, + "intrinsic": [ + [ + 555.9979858398438, + 0.0, + 259.0 + ], + [ + 0.0, + 556.09521484375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.625319267390296e-05, + -9.869447239907458e-05, + 5.8054829423781484e-06 + ], + [ + -7.625953730894253e-05, + 1.0, + -6.42428349237889e-05, + -7.444587936333846e-06 + ], + [ + 9.868956840364262e-05, + 6.425036553991958e-05, + 1.0, + -3.6857763916486874e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 293.0, + 211.00001525878906 + ], + [ + 293.140869140625, + 211.34573364257812 + ], + [ + 293.12786865234375, + 211.52430725097656 + ], + [ + 292.989501953125, + 211.25079345703125 + ], + [ + 292.7123107910156, + 211.11550903320312 + ], + [ + 292.38232421875, + 210.89027404785156 + ], + [ + 292.47711181640625, + 210.96365356445312 + ], + [ + 292.1601257324219, + 211.5427703857422 + ], + [ + 292.1321105957031, + 211.63784790039062 + ], + [ + 292.06451416015625, + 211.82818603515625 + ], + [ + 292.3218078613281, + 212.58934020996094 + ], + [ + 298.70526123046875, + 215.14479064941406 + ], + [ + 305.0118408203125, + 216.5164031982422 + ], + [ + 301.190185546875, + 220.24264526367188 + ], + [ + 295.77423095703125, + 193.86331176757812 + ], + [ + 286.64923095703125, + 164.96424865722656 + ], + [ + 285.3580627441406, + 157.85227966308594 + ], + [ + 288.9011535644531, + 196.8863067626953 + ], + [ + 295.3306884765625, + 235.1200408935547 + ], + [ + 301.2707824707031, + 276.8877868652344 + ], + [ + 299.4828186035156, + 298.2485046386719 + ], + [ + 298.0576171875, + 311.4038391113281 + ], + [ + 305.27178955078125, + 317.20306396484375 + ], + [ + 308.38812255859375, + 324.36492919921875 + ], + [ + 308.92596435546875, + 329.97259521484375 + ], + [ + 310.9628601074219, + 329.5862121582031 + ], + [ + 311.761474609375, + 328.632080078125 + ], + [ + 311.58612060546875, + 329.81597900390625 + ], + [ + 311.91583251953125, + 329.3106689453125 + ] + ] +} \ No newline at end of file diff --git a/005089/lang.txt b/005089/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..97c041551690e8b21234f1330fbee9cce6a19789 --- /dev/null +++ b/005089/lang.txt @@ -0,0 +1 @@ +put sushi in pot cardboard fence diff --git a/005089/object.ply b/005089/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..8be4428eb509689109c89a6a6235aa563672c751 Binary files /dev/null and b/005089/object.ply differ diff --git a/005116/data.json b/005116/data.json new file mode 100644 index 0000000000000000000000000000000000000000..0ddc9daed25cb7db88b7b6d83ecc8580c58f31fc --- /dev/null +++ b/005116/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, + 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 + ], + "gripper_actions": [ + [ + -1.5189027813278244e-10, + -3.204293774761169e-11, + 9.910076925745415e-11, + -2.5570184494979166e-07, + -4.0581913929058637e-07, + -1.471482504636923e-07, + 1.0 + ], + [ + 0.0019045964040349805, + -0.01294683242865688, + 0.012167134531541196, + -0.07145624446953566, + -0.0381907867279497, + 0.08390814764651239, + 1.0 + ], + [ + 0.003910512720072978, + -0.018521086553340574, + 0.01208620780498064, + -0.027616845510521456, + 0.0005927860202433702, + 0.025847925947532473, + 1.0 + ], + [ + 0.013265770699236235, + -0.02653482726793993, + 0.0023096104729888323, + 0.005626147416828821, + -0.12000700341590634, + 0.2759224373844336, + 1.0 + ], + [ + 0.004735398900801935, + -0.03066677916472453, + -0.010797237148537323, + 0.0329129240042904, + -0.040885881604846366, + 0.2740021012022482, + 1.0 + ], + [ + 0.007070492923944377, + -0.013731943797285984, + -0.004161689394116555, + -0.12518754151554506, + 0.031565307489802866, + 0.1410568267176637, + 1.0 + ], + [ + 0.006885707329293694, + -0.01110654460431255, + -0.0036595483539634405, + -0.06046195429965161, + -0.0015144007782920698, + 0.044249715110068207, + 1.0 + ], + [ + 0.008719698280193311, + -0.00811687968496818, + -0.005460543206825083, + -0.07098002934446193, + -0.029170267692936024, + 0.07189019873560905, + 1.0 + ], + [ + 0.012167729042190267, + -0.0037443902060410733, + -0.00699998105606961, + -0.04817149830959459, + -0.028608167377807834, + 0.11170969126222342, + 1.0 + ], + [ + 0.014053934565657844, + -0.0005844784872801288, + -0.003265963605567232, + -0.01776612132133799, + -0.010013414468609552, + 0.17145221846825842, + 1.0 + ], + [ + 0.00771843277654094, + 0.00014129588739570167, + -0.004769894557551765, + -0.01292717362824543, + 0.045315390768964625, + 0.11409084196475543, + 1.0 + ], + [ + 0.0036456266036087315, + -0.0038439817767181366, + -0.008229215461568865, + 0.015700798870773545, + 0.04771613975637608, + 0.03818378672643167, + 1.0 + ], + [ + 0.0033399273285087405, + -0.003662577610279296, + -0.008113789389097327, + 0.006244359056269902, + 0.0018703196194929544, + 0.009387884813832547, + 1.0 + ], + [ + 0.003463458477772241, + -0.0021393631510219537, + -0.007416960042747021, + 0.0013500427321656917, + 0.014023220892218613, + -0.00791875840834344, + 1.0 + ], + [ + 0.0032297502297322644, + -0.002481200978694663, + -0.010337263001702426, + 0.013601447977184022, + 0.018270284371722224, + -0.023672596955080494, + 1.0 + ], + [ + 0.0003714831628641724, + 0.000199437035099264, + -0.00793735567135276, + 0.005144001907206347, + 0.03124093717942089, + -0.006797903541609355, + 1.0 + ], + [ + -0.0015341512128608792, + -6.33198909206871e-05, + -0.0011183645798038232, + 0.004978238924454489, + 0.011267270941771683, + -0.018700061097225128, + 0.0 + ], + [ + -0.0019578729496017022, + 0.001972437198508023, + 0.0010318294561571413, + 0.0027537989900832953, + -0.004910440111729383, + -0.002288503401603008, + 0.0 + ], + [ + -0.007332276572051766, + 0.009358738386068488, + 0.016320591883726886, + -0.001106857811527696, + -0.02126825137750312, + 0.0054022681286575195, + 0.0 + ], + [ + -0.02069546903940611, + 0.011685164045427715, + 0.03227831938190295, + -0.007259534524411874, + -0.023132283401802043, + -0.07379047955500728, + 0.0 + ], + [ + -0.02231485003441508, + 0.015286284765397003, + 0.01436150129519085, + -0.03143075004510151, + -0.010213046835893538, + -0.02641224642695156, + 0.0 + ], + [ + -0.025000959035128556, + 0.01908416933037624, + 0.010753303988122728, + 0.0008287057721669845, + 0.00742290347310811, + -0.029010092797172243, + 0.0 + ], + [ + -0.018693716212086486, + 0.018760691832737455, + 0.0027656327065028324, + -0.002188274239132651, + 0.03016858404616503, + -0.015660898056240765, + 0.0 + ], + [ + -0.010726984024814923, + 0.013521864192835034, + -0.01388802237523934, + 0.014876977184559033, + -0.008648219001077132, + 0.043552816004439464, + 0.0 + ], + [ + -0.003308896101189701, + 0.008743008447493442, + -0.023474867690335605, + 0.05641157585649083, + 0.03022928610307941, + -0.005969475385623733, + 0.0 + ], + [ + -0.002983253328072616, + 0.0029320877552674735, + -0.014093046159288816, + 0.01570188076920738, + 0.03198331675802867, + -0.02720048056475003, + 0.0 + ], + [ + 0.00045134621601097824, + -0.001422705996984755, + -0.004621851263130812, + 0.011915614521382368, + -0.0014306973428540705, + -0.014645978478862622, + 0.0 + ], + [ + 0.0024761885537331607, + 0.0011022198595215804, + -0.006017147678877233, + 0.008880286607908005, + 0.009615884286025285, + 0.011706803903933026, + 0.0 + ], + [ + 0.0005568707228383873, + 0.0011761531265947062, + -0.0018872835091158016, + -0.009663670420032243, + 0.018304191310232042, + 0.023918203639022043, + 0.0 + ], + [ + 0.00024455054977406965, + 0.00012343545177125048, + -0.00015329324976177255, + -0.004467504443465891, + -0.002961425602381354, + 0.005313917952188497, + 1.0 + ], + [ + 0.0006776123133264977, + -0.002293960367329484, + 0.0002479381751852791, + 0.0013703626884871715, + -0.0008400566618427408, + -0.0015102355168594725, + 1.0 + ], + [ + 0.0005970916744809929, + -0.0023045655413326677, + 0.010404426536199926, + -0.00046132011919028935, + -0.053812684885805054, + 0.005074759395615391, + 1.0 + ], + [ + -1.1655605127280921e-05, + -0.004516071574762512, + 0.023589710430310384, + -0.02999500155334739, + -0.05453049583240664, + 0.007327163652018173, + 1.0 + ], + [ + 0.0022878149118619184, + -0.003565833469628743, + 0.03735903878589206, + -0.0363545931554685, + -0.05285859527756463, + 0.026780488212817356, + 1.0 + ], + [ + 0.0036917333775366157, + -0.0011615461551306022, + 0.021119407034544055, + -0.03246725577351113, + -0.011822165705353164, + -0.005453110392339109, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 121.9755859375, + 192.97727966308594 + ], + [ + 122.40442657470703, + 200.66455078125 + ], + [ + 133.1896209716797, + 204.2078857421875 + ], + [ + 151.76292419433594, + 195.53167724609375 + ], + [ + 192.3611602783203, + 189.20938110351562 + ], + [ + 240.44351196289062, + 201.67138671875 + ], + [ + 275.95489501953125, + 216.18487548828125 + ], + [ + 289.6927490234375, + 211.86888122558594 + ], + [ + 322.5306396484375, + 221.6922607421875 + ], + [ + 335.08453369140625, + 218.4674835205078 + ], + [ + 339.630615234375, + 204.39703369140625 + ], + [ + 342.16436767578125, + 199.84725952148438 + ], + [ + 340.54058837890625, + 203.77310180664062 + ], + [ + 346.8553466796875, + 212.9075927734375 + ], + [ + 355.20513916015625, + 221.39846801757812 + ], + [ + 356.8653259277344, + 228.4463348388672 + ], + [ + 358.4194030761719, + 234.25265502929688 + ], + [ + 359.8207092285156, + 233.89016723632812 + ], + [ + 359.4592590332031, + 234.98597717285156 + ], + [ + 352.3763732910156, + 232.31375122070312 + ], + [ + 336.0721740722656, + 211.6077880859375 + ], + [ + 287.748291015625, + 196.960205078125 + ], + [ + 240.6845703125, + 195.38230895996094 + ], + [ + 196.24864196777344, + 198.20877075195312 + ], + [ + 162.13482666015625, + 217.10321044921875 + ], + [ + 151.97244262695312, + 241.83181762695312 + ], + [ + 149.08578491210938, + 261.4449768066406 + ], + [ + 148.5594482421875, + 265.64947509765625 + ], + [ + 152.83633422851562, + 271.53057861328125 + ], + [ + 153.56585693359375, + 277.4226379394531 + ], + [ + 155.90200805664062, + 277.6636657714844 + ], + [ + 157.74301147460938, + 276.5809326171875 + ], + [ + 160.0982666015625, + 269.3827209472656 + ], + [ + 160.82833862304688, + 250.8709716796875 + ], + [ + 153.22488403320312, + 208.56809997558594 + ], + [ + 148.8460693359375, + 172.60328674316406 + ], + [ + 146.1282958984375, + 166.9510498046875 + ] + ], + "depth_max": 2.714731454849243, + "depth_min": 0.4079505503177643, + "intrinsic": [ + [ + 543.8091430664062, + 0.0, + 259.0 + ], + [ + 0.0, + 543.9113159179688, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.60201146476902e-05, + -6.382391438819468e-05, + 1.6771537048043683e-07 + ], + [ + -7.602466939715669e-05, + 1.0, + -7.131633174140006e-05, + -2.4943183234427124e-05 + ], + [ + 6.38184865238145e-05, + 7.132117752917111e-05, + 1.0, + -3.792608913499862e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36 + ], + "object_trajectory": [ + [ + 346.0, + 259.0000305175781 + ], + [ + 346.34332275390625, + 259.145263671875 + ], + [ + 346.4010009765625, + 259.0649719238281 + ], + [ + 346.1948547363281, + 259.16998291015625 + ], + [ + 346.36505126953125, + 259.2761535644531 + ], + [ + 346.3808288574219, + 259.113525390625 + ], + [ + 346.4921875, + 259.1318359375 + ], + [ + 346.5615539550781, + 259.1591491699219 + ], + [ + 346.5137939453125, + 259.1667785644531 + ], + [ + 352.20074462890625, + 253.2270050048828 + ], + [ + 352.24639892578125, + 253.12124633789062 + ], + [ + 346.7189025878906, + 259.08489990234375 + ], + [ + 346.6635437011719, + 258.8533935546875 + ], + [ + 346.51605224609375, + 258.59527587890625 + ], + [ + 346.00518798828125, + 258.42474365234375 + ], + [ + 346.1690368652344, + 257.99432373046875 + ], + [ + 346.60418701171875, + 257.48748779296875 + ], + [ + 344.99932861328125, + 258.37396240234375 + ], + [ + 349.42913818359375, + 253.66275024414062 + ], + [ + 345.0770263671875, + 254.40687561035156 + ], + [ + 335.9996337890625, + 230.37503051757812 + ], + [ + 294.1730041503906, + 221.3459014892578 + ], + [ + 245.3009796142578, + 219.88414001464844 + ], + [ + 200.21893310546875, + 224.449462890625 + ], + [ + 168.37042236328125, + 245.80868530273438 + ], + [ + 156.541015625, + 263.87603759765625 + ], + [ + 156.84117126464844, + 275.5189208984375 + ], + [ + 155.65151977539062, + 279.3827819824219 + ], + [ + 159.41085815429688, + 284.90283203125 + ], + [ + 162.56857299804688, + 290.992431640625 + ], + [ + 176.27963256835938, + 288.9432678222656 + ], + [ + 172.4833526611328, + 307.7993469238281 + ], + [ + 173.3059844970703, + 308.0617980957031 + ], + [ + 172.9148712158203, + 307.5581359863281 + ], + [ + 172.9754638671875, + 307.4432373046875 + ], + [ + 173.2860565185547, + 307.50469970703125 + ], + [ + 173.4119873046875, + 307.3506774902344 + ] + ] +} \ No newline at end of file diff --git a/005116/lang.txt b/005116/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..97c041551690e8b21234f1330fbee9cce6a19789 --- /dev/null +++ b/005116/lang.txt @@ -0,0 +1 @@ +put sushi in pot cardboard fence diff --git a/005116/object.ply b/005116/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..1873f339043063c7012067cccf53bc9167d1d307 Binary files /dev/null and b/005116/object.ply differ diff --git a/005140_v2/FAIL b/005140_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/005140_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/005151/data.json b/005151/data.json new file mode 100644 index 0000000000000000000000000000000000000000..ab589a5190da18cba995f0084b15075640459215 --- /dev/null +++ b/005151/data.json @@ -0,0 +1,696 @@ +{ + "action_start": 11, + "action_end": 26, + "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, + 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": [ + [ + 9.291545310929905e-11, + -1.6495262447624448e-10, + -4.807899911529745e-11, + -5.639073071359138e-07, + 1.743439356497098e-07, + -6.38436764613255e-07, + 1.0 + ], + [ + 0.004584127134266258, + 0.02594284021007924, + 0.004319760013695134, + -0.05567416711673443, + -0.017727771659476397, + 0.06278042612745392, + 1.0 + ], + [ + 0.008854564083552813, + 0.030958922181780202, + -0.0029397788595713625, + -0.044664487533506804, + -0.06438967670233992, + 0.11659734968090368, + 1.0 + ], + [ + 0.010510443490154453, + 0.029875409271700515, + -0.008357106214557514, + 0.010134065819702404, + -0.02914173534988703, + 0.08068212607285591, + 1.0 + ], + [ + 0.015985833451101106, + 0.019463782763938217, + -0.014665447184717087, + 0.0015463521672166264, + -0.010089527057031202, + 0.09721330549748858, + 1.0 + ], + [ + 0.012409902952994045, + 0.004287543822838871, + -0.016422566957908127, + 0.005462687802429431, + 0.011871297947418674, + 0.03311633535295368, + 1.0 + ], + [ + 0.00414307836463268, + 0.0017285619399680235, + -0.01560577417552364, + 0.0004325232107848349, + 0.035403967266367756, + 0.013513461019763676, + 1.0 + ], + [ + 0.0005892905248073288, + -0.0031685871725479486, + -0.01349388341461527, + -0.028473014702850706, + 0.032482554212142446, + -0.012140766328285561, + 1.0 + ], + [ + 0.0013733890346376287, + -0.006179480406748886, + -0.0055445891613187595, + -0.04545691291131778, + 0.03357600018896967, + -0.002735458780432397, + 1.0 + ], + [ + -0.00019595235009584044, + -0.0043680940469520285, + -0.0068738620889282655, + -0.023628823552106458, + 0.020543433272347523, + 0.003224597127393328, + 1.0 + ], + [ + 0.0014930882202816576, + 7.972722785438979e-05, + -0.014287220722897953, + 0.012671401902943313, + 0.046460544373373734, + 0.00870936711285566, + 1.0 + ], + [ + 0.0011787513884072287, + 0.0016996006127870666, + -0.00863134418532607, + 0.022161247873928588, + 0.00038959241895235064, + -0.018014659511311783, + 1.0 + ], + [ + 0.00014130619512053855, + 0.0003854651105866663, + -0.0024796694558052376, + 0.0004475394042100319, + -0.013503213804814828, + -0.013866615451413818, + 0.0 + ], + [ + -0.005026621045690849, + -0.0026451328727487983, + 0.013175330218621224, + -0.015837598733934255, + -0.027478830007949328, + -0.01767724836953535, + 0.0 + ], + [ + -0.005309672400579113, + -0.004031971153755004, + 0.016903448312272085, + 0.030286252912820073, + -0.05790280464728215, + -0.03674768478739961, + 0.0 + ], + [ + -0.010619714129534552, + -0.01984421425378939, + 0.033353210344835515, + -0.02566572512290826, + -0.03741633935014759, + -0.038705227616767666, + 0.0 + ], + [ + -0.011997512000064103, + -0.021999761871134282, + 0.017480920535043083, + -0.03958628505499202, + 0.004667108308364748, + -0.03671042848557129, + 0.0 + ], + [ + -0.027781288213095612, + -0.028390031883928468, + 0.010810288776363794, + -0.032737713441595796, + 0.04937238392612924, + -0.08417114785198607, + 0.0 + ], + [ + -0.02408348671694832, + -0.01875349108771884, + -0.008923512604427822, + -0.007380718557341589, + 0.07098602405444082, + -0.09057878516050921, + 0.0 + ], + [ + -0.015452228103876864, + -0.009204361716758255, + -0.011767691957430909, + 0.026753499243706597, + -0.0016182283495965912, + -0.06109448898718599, + 0.0 + ], + [ + -0.00898643463480836, + -0.004076614164988711, + -0.012526397701269232, + 0.008287548352562167, + 0.03277643014716114, + -0.0360094948019081, + 0.0 + ], + [ + -0.004037784055831689, + -0.004479554014948161, + -0.008791550300068951, + 0.013012777813866729, + -0.011702001411380315, + -0.024919776427303038, + 0.0 + ], + [ + -0.0021696410285805823, + -0.003811483327868323, + -0.011216967767302632, + 0.015267199430452813, + 0.0048740035993636716, + -0.009515381369296467, + 0.0 + ], + [ + -0.0016599140647519939, + -0.002815242223332307, + -0.007271869148341534, + 0.014443183243333137, + -0.015154939377676103, + -0.015782519180701934, + 0.0 + ], + [ + -0.0013888302410188236, + -0.0002386631053070817, + -0.006554587999914152, + 0.012509215722214065, + -0.010160021472036736, + -0.0029829760340702753, + 0.0 + ], + [ + -0.00323427366773954, + -2.4039495182006515e-05, + -0.008146347412655061, + 0.011941761926560511, + 0.01424652575364252, + -0.0028303290198133913, + 0.0 + ], + [ + -0.0006436942474859209, + 4.2251442477135755e-05, + -0.003934532199637339, + 0.007310020639879849, + 0.006463000807772355, + -0.002097768180139153, + 0.0 + ], + [ + 0.0013362762892305535, + -0.0017981020021887156, + -6.027632686960577e-05, + 0.014079836953778634, + 0.024588377035003307, + -0.01612842105208975, + 1.0 + ], + [ + 0.0010740371167071716, + 0.0001567047452679356, + 0.0017372423755355783, + 0.003159797965582496, + -0.00272261285796084, + 0.006367553484155697, + 1.0 + ], + [ + 0.0012002301232345025, + -0.000437115795959871, + 0.014594161302631845, + -0.015202082090613458, + -0.02706760696032633, + -0.00442308382327362, + 1.0 + ], + [ + 0.0033929838974334214, + -0.002997764784594565, + 0.030550505894733095, + -0.039115929617768955, + -0.06886344685517706, + 0.007622485597019905, + 1.0 + ], + [ + 0.00714350389084889, + 0.004584650439889399, + 0.037264706246561, + -0.06622029900150897, + -0.05358306875258526, + 0.04333204152518076, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 278.57952880859375, + 129.0034942626953 + ], + [ + 277.72894287109375, + 132.98696899414062 + ], + [ + 270.87506103515625, + 135.17398071289062 + ], + [ + 206.71005249023438, + 113.41641235351562 + ], + [ + 185.36016845703125, + 106.30532836914062 + ], + [ + 183.29254150390625, + 105.55482482910156 + ], + [ + 176.6922607421875, + 113.38143920898438 + ], + [ + 182.66819763183594, + 127.53772735595703 + ], + [ + 190.33236694335938, + 147.8404998779297 + ], + [ + 197.05938720703125, + 153.54266357421875 + ], + [ + 205.68524169921875, + 163.6685791015625 + ], + [ + 208.50283813476562, + 171.48733520507812 + ], + [ + 208.31105041503906, + 178.49942016601562 + ], + [ + 206.012451171875, + 178.46343994140625 + ], + [ + 207.6376953125, + 180.10296630859375 + ], + [ + 207.32347106933594, + 173.68576049804688 + ], + [ + 203.87411499023438, + 148.00628662109375 + ], + [ + 215.47708129882812, + 140.2864990234375 + ], + [ + 225.1355438232422, + 155.74330139160156 + ], + [ + 230.64186096191406, + 195.8013916015625 + ], + [ + 230.98391723632812, + 233.36817932128906 + ], + [ + 230.1502685546875, + 257.109619140625 + ], + [ + 229.9551239013672, + 276.19830322265625 + ], + [ + 238.77377319335938, + 293.47802734375 + ], + [ + 241.0128173828125, + 304.9403076171875 + ], + [ + 240.91851806640625, + 315.4591064453125 + ], + [ + 239.17063903808594, + 327.4320983886719 + ], + [ + 239.5929412841797, + 330.00177001953125 + ], + [ + 240.85592651367188, + 339.8560791015625 + ], + [ + 242.0359649658203, + 339.68011474609375 + ], + [ + 243.42575073242188, + 328.85601806640625 + ], + [ + 249.10931396484375, + 294.0555114746094 + ], + [ + 238.7936553955078, + 233.79669189453125 + ], + [ + 227.22274780273438, + 226.2218780517578 + ], + [ + 237.13992309570312, + 229.95465087890625 + ] + ], + "depth_max": 2.2437360286712646, + "depth_min": 0.2514609396457672, + "intrinsic": [ + [ + 557.9141845703125, + 0.0, + 259.0 + ], + [ + 0.0, + 557.6875610351562, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.521034422097728e-05, + -6.72635724185966e-05, + 2.300045161973685e-05 + ], + [ + -7.521454972447827e-05, + 1.0, + -6.253541505429894e-05, + -3.372939318069257e-05 + ], + [ + 6.725887214997783e-05, + 6.254047912079841e-05, + 1.0, + -1.3392955224844627e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 34 + ], + "object_trajectory": [ + [ + 213.5, + 192.0 + ], + [ + 213.88368225097656, + 192.16213989257812 + ], + [ + 213.7405242919922, + 192.24832153320312 + ], + [ + 213.69496154785156, + 192.20660400390625 + ], + [ + 213.7193603515625, + 192.095703125 + ], + [ + 213.63186645507812, + 191.78717041015625 + ], + [ + 210.3290557861328, + 194.82644653320312 + ], + [ + 210.3879852294922, + 194.97686767578125 + ], + [ + 210.32421875, + 195.16510009765625 + ], + [ + 210.18569946289062, + 195.345947265625 + ], + [ + 210.0557098388672, + 195.208251953125 + ], + [ + 210.03976440429688, + 195.28147888183594 + ], + [ + 211.01345825195312, + 195.3719482421875 + ], + [ + 210.76808166503906, + 195.75103759765625 + ], + [ + 212.52783203125, + 194.92381286621094 + ], + [ + 211.86927795410156, + 188.00750732421875 + ], + [ + 210.2500457763672, + 177.2023162841797 + ], + [ + 222.48196411132812, + 171.2816619873047 + ], + [ + 224.51690673828125, + 185.67404174804688 + ], + [ + 229.0491943359375, + 216.76324462890625 + ], + [ + 220.97003173828125, + 258.190185546875 + ], + [ + 223.70437622070312, + 279.23162841796875 + ], + [ + 223.308837890625, + 298.7828674316406 + ], + [ + 228.23541259765625, + 315.44451904296875 + ], + [ + 231.2275848388672, + 326.9477844238281 + ], + [ + 234.93014526367188, + 336.2011413574219 + ], + [ + 229.8543701171875, + 348.8658142089844 + ], + [ + 230.03515625, + 350.7891540527344 + ], + [ + 223.88284301757812, + 356.2447204589844 + ], + [ + 220.7682647705078, + 357.33026123046875 + ], + [ + 218.9310302734375, + 355.16619873046875 + ], + [ + 220.77273559570312, + 354.78387451171875 + ], + [ + 221.51065063476562, + 356.5836181640625 + ], + [ + 221.3121337890625, + 358.0002136230469 + ], + [ + 221.87899780273438, + 358.6894836425781 + ] + ] +} \ No newline at end of file diff --git a/005151/lang.txt b/005151/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..97c041551690e8b21234f1330fbee9cce6a19789 --- /dev/null +++ b/005151/lang.txt @@ -0,0 +1 @@ +put sushi in pot cardboard fence diff --git a/005151/object.ply b/005151/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..a11e5fa89b5c25729c488e661bcdc83e2918fe20 Binary files /dev/null and b/005151/object.ply differ diff --git a/005171_v2/data.json b/005171_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..dac10a2c5d425b7ef992e636ddd4c9f05fdbf26a --- /dev/null +++ b/005171_v2/data.json @@ -0,0 +1,897 @@ +{ + "action_start": 22, + "action_end": 37, + "object_name": "yellow 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, + 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": [ + [ + -4.973704781363608e-11, + 5.042464709670291e-11, + 3.2107094760647215e-12, + -7.026449763508253e-08, + 3.12830002494873e-08, + 3.8038840325685354e-07, + 1.0 + ], + [ + 0.03126199684402478, + 0.02714252403447933, + -0.009594222193747254, + 0.02034049064016839, + -0.018825329417532576, + 0.1072681524199453, + 1.0 + ], + [ + 0.029687104505612016, + 0.02223862142134736, + -0.019817028399932407, + 0.044626078781284446, + 0.008732392253432714, + 0.10247813656461413, + 1.0 + ], + [ + 0.025389430010099273, + 0.02367187936955661, + -0.021677642947616788, + 0.05860236428405906, + 0.013924788530243589, + 0.08541652763586709, + 1.0 + ], + [ + 0.024130182417801377, + 0.030602520263984058, + -0.020391030317019804, + 0.02557548763379292, + 0.0190295562493978, + 0.1002050445784055, + 1.0 + ], + [ + 0.01988234311160106, + 0.025067035201049664, + -0.013938337187406419, + 0.021594363401846967, + -0.003233138983179506, + 0.0899779169108942, + 1.0 + ], + [ + 0.014299807030833112, + 0.025003996604678294, + -0.011867305157130303, + -0.02812063859922256, + -0.02451411136502378, + 0.061382676834894075, + 1.0 + ], + [ + 0.009389585178613408, + 0.026980336829523582, + -0.007596102445595693, + -0.042407392328589914, + -0.04277179473108711, + 0.019866885710377404, + 1.0 + ], + [ + 0.019688226298003708, + 0.021626417436281103, + -0.009718247530277418, + -0.0363657648383317, + -0.07913068105584833, + -0.004006481310933928, + 1.0 + ], + [ + 0.03166227455556786, + 0.005806253687143492, + -0.013671841276137381, + 0.018184036755878506, + -0.03796375048134988, + 0.025029874069847018, + 1.0 + ], + [ + 0.02826403499924235, + -0.0007163079625144841, + -0.02294987401752073, + 0.00509567105781304, + 0.014528155646247957, + 0.015498778987470463, + 1.0 + ], + [ + 0.026786587747793134, + 0.0031955822414589663, + -0.014835057370309462, + 0.03356940016659974, + 0.048600267092478, + 0.06897811442769604, + 1.0 + ], + [ + 0.013244935480094144, + 0.004215034993898803, + 0.002398464819864679, + 0.06834067236798028, + 0.012808747937428498, + 0.2774495012129882, + 1.0 + ], + [ + 0.0018001778534078583, + -0.0018086196496478468, + 0.009476899354238857, + -0.0029397050641536216, + -0.014375027052608418, + 0.263313100567539, + 1.0 + ], + [ + -0.005938904879688955, + 0.00730185951229359, + -0.0013073942433664831, + 0.017069207251429547, + 0.005462870885381356, + 0.13491818576825734, + 1.0 + ], + [ + -0.005733559443178604, + 0.010409898879576357, + -0.004075945885314083, + 0.009296222717043015, + -0.02143875565805059, + 0.09116206840703245, + 1.0 + ], + [ + -0.005827329285814309, + 0.020141863212245675, + -0.016667671541841497, + -0.02233625783129765, + -0.010615309983122182, + -0.0021006069418860575, + 1.0 + ], + [ + -0.0016121805412440682, + 0.013365724867145323, + -0.01098894312163648, + -0.05512843991831811, + -0.024419063917653177, + -0.009727555757548578, + 1.0 + ], + [ + 0.004031915794598162, + 0.003605937589739594, + -0.01160795172179388, + -0.00190254900628087, + -0.007893266430074859, + -0.03340743138721118, + 1.0 + ], + [ + 0.005976220161293677, + 0.0013445868815257223, + -0.0047311177257215314, + -0.015152590690989063, + -0.053902866107136335, + -0.061302263542008746, + 1.0 + ], + [ + 0.00766521137092252, + -0.0043184546050711314, + 0.0017948980791978736, + -0.0049530202511911545, + -0.04524323951726423, + -0.01923252054604644, + 1.0 + ], + [ + 0.0039131542945035624, + -0.001869618295601727, + 0.004843994138747577, + 0.0222964397782699, + -0.01923879978088284, + 0.0003160286799481096, + 1.0 + ], + [ + -0.0020357183718940908, + 0.005764973132129536, + -0.007247517848399105, + -0.008622508476922343, + 0.029697301916643826, + 0.05566334044389703, + 1.0 + ], + [ + -0.0005528148130384825, + 0.005092461469997811, + -0.010769683998962132, + -0.012162247713246616, + 0.038234488626489344, + 0.042615007715788314, + 1.0 + ], + [ + 0.0006855970529247579, + 0.003925887349446433, + -0.006516825200564198, + -0.0047600465731203745, + 0.0212159877538579, + 0.016305256280601366, + 1.0 + ], + [ + -0.0004268638422046389, + 0.003317974020884351, + -0.0018355181222709078, + 0.0007310077160239864, + 0.011558176749485758, + 0.0003012145792305531, + 0.0 + ], + [ + 0.0015092735489652953, + -0.004963252647501026, + 0.008033183281895704, + 0.04414707116623749, + -0.0012377297597954712, + -0.03768391530048001, + 0.0 + ], + [ + 0.0036353265024328674, + -0.013876961404743288, + 0.011151199991903435, + 0.06996341292547938, + -0.01403919861583021, + -0.11822409002874484, + 0.0 + ], + [ + 0.007244241409348096, + -0.03450230587803935, + 0.023609490147040606, + 0.17103686296519927, + -0.03291442083752856, + -0.17499891398952638, + 0.0 + ], + [ + 0.004533511579355998, + -0.022745490317051087, + 0.014971619065641234, + 0.15249372827467836, + -0.03267093145816581, + -0.11274589672140392, + 0.0 + ], + [ + -0.0009487316353614106, + 0.004186182533583632, + 0.0030181043829215076, + 0.15222756702725543, + -0.006331495328475949, + 0.03224981420369689, + 0.0 + ], + [ + -0.00043247736240992207, + 0.014922023498733838, + -0.0077894613388749465, + 0.08418357431087586, + 0.012390384928658776, + 0.09242568817788346, + 0.0 + ], + [ + -0.0005004651559732953, + 0.0172319224556694, + -0.005276449242217998, + 0.057626961044011306, + 0.001504117958681051, + 0.1080918212997532, + 0.0 + ], + [ + 0.0012032833533583975, + 0.014955782296087128, + -0.010992327721941631, + -0.07265858103335533, + 0.03368295055485072, + 0.07849284700087901, + 0.0 + ], + [ + 0.002162727464158243, + 0.015036711235363709, + -0.011886250292095793, + -0.025184432116658436, + 0.02661476266781822, + 0.0655893671772735, + 0.0 + ], + [ + 0.00234875454945771, + 0.011445940961927914, + -0.0118456858870355, + -0.015689675634872134, + 0.027081749532814715, + 0.05078756538438421, + 0.0 + ], + [ + -0.0006538777178556332, + 0.006585617874743155, + -0.009471662527591258, + 0.026601579662976382, + 0.03690287603294701, + 0.017209718561845486, + 0.0 + ], + [ + -0.00014073490435406733, + 0.0012574721019215362, + -0.008173042278888761, + 0.060043676263284905, + 0.053320451736434044, + -0.006187311612989999, + 0.0 + ], + [ + 0.00016986306761979098, + 0.0009491185963506066, + -0.007798360678173036, + -0.02656012082052271, + 0.04619321729937235, + 0.0021661029290421852, + 0.0 + ], + [ + -0.0017272185713824162, + -0.0028760896371556877, + -0.0038515065641360063, + -0.1488216810854068, + -0.03712853884093389, + 0.053110112019493644, + 0.0 + ], + [ + 0.004989813071318627, + -0.017180762091986768, + 0.009907059022786387, + 0.010454281149917736, + -0.024596971934834688, + -0.07505426734769888, + 1.0 + ], + [ + 0.005193391643765866, + -0.020374197316862325, + 0.01876357808551165, + -0.12681736930738258, + -0.07434694742418808, + -0.09587329797991129, + 1.0 + ], + [ + -0.0014929409249910264, + -0.018040131209315524, + 0.025702911002338503, + -0.04518202656406187, + -0.08063034488262823, + -0.06183377346490089, + 1.0 + ], + [ + -0.005021376868354854, + -0.020869998456677086, + 0.037457203250480714, + -0.17403555829428355, + -0.06883360600103429, + -0.09297560346429425, + 1.0 + ], + [ + -0.014377525852624529, + -0.013563504203965071, + 0.03707107322926629, + -0.2248533759478928, + 0.05627096113182322, + -0.1468968630796352, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 219.6185760498047, + 209.14883422851562 + ], + [ + 233.79388427734375, + 203.1927947998047 + ], + [ + 229.53025817871094, + 213.16761779785156 + ], + [ + 212.0103302001953, + 223.26193237304688 + ], + [ + 203.03671264648438, + 220.96510314941406 + ], + [ + 186.20578002929688, + 220.34219360351562 + ], + [ + 173.87823486328125, + 212.8449249267578 + ], + [ + 167.24444580078125, + 211.4578399658203 + ], + [ + 176.32577514648438, + 210.5516815185547 + ], + [ + 207.41546630859375, + 220.93443298339844 + ], + [ + 228.1026153564453, + 226.1239776611328 + ], + [ + 235.40679931640625, + 217.99392700195312 + ], + [ + 235.11502075195312, + 204.72683715820312 + ], + [ + 229.3140106201172, + 204.13368225097656 + ], + [ + 222.04690551757812, + 203.82864379882812 + ], + [ + 201.86798095703125, + 216.2898712158203 + ], + [ + 183.68789672851562, + 230.00192260742188 + ], + [ + 183.70669555664062, + 242.30186462402344 + ], + [ + 194.2498016357422, + 240.55531311035156 + ], + [ + 199.8658447265625, + 240.08584594726562 + ], + [ + 199.43243408203125, + 241.15475463867188 + ], + [ + 195.6124725341797, + 238.07298278808594 + ], + [ + 195.56640625, + 248.48826599121094 + ], + [ + 195.51072692871094, + 250.03463745117188 + ], + [ + 192.18016052246094, + 250.03384399414062 + ], + [ + 190.42897033691406, + 248.45986938476562 + ], + [ + 201.75389099121094, + 255.35911560058594 + ], + [ + 221.85101318359375, + 255.35208129882812 + ], + [ + 255.35977172851562, + 245.75222778320312 + ], + [ + 257.8233642578125, + 241.2650146484375 + ], + [ + 245.55882263183594, + 236.294189453125 + ], + [ + 238.3662109375, + 242.30615234375 + ], + [ + 233.31651306152344, + 245.11293029785156 + ], + [ + 219.3158721923828, + 251.3175506591797 + ], + [ + 216.82229614257812, + 257.6536865234375 + ], + [ + 211.46678161621094, + 257.4281005859375 + ], + [ + 205.21575927734375, + 257.2797546386719 + ], + [ + 208.42774963378906, + 266.3294677734375 + ], + [ + 213.33120727539062, + 281.0415344238281 + ], + [ + 207.62347412109375, + 286.3670349121094 + ], + [ + 231.26072692871094, + 278.86895751953125 + ], + [ + 235.61593627929688, + 255.9937744140625 + ], + [ + 252.32066345214844, + 230.56503295898438 + ], + [ + 241.4692840576172, + 194.18435668945312 + ], + [ + 226.88027954101562, + 182.41128540039062 + ] + ], + "depth_max": 1.4803211688995361, + "depth_min": 0.14041708409786224, + "intrinsic": [ + [ + 533.7672119140625, + 0.0, + 259.0 + ], + [ + 0.0, + 534.624267578125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -4.525204985839082e-06, + 8.015393541427329e-05, + -7.5407829172036145e-06 + ], + [ + 4.5337419578572735e-06, + 1.0, + -0.00010651181946741417, + 4.284678652766161e-06 + ], + [ + -8.015345520107076e-05, + 0.00010651218326529488, + 1.0, + 4.807414370588958e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 44 + ], + "object_trajectory": [ + [ + 195.5, + 277.25 + ], + [ + 195.92776489257812, + 277.370361328125 + ], + [ + 195.9276580810547, + 277.1091613769531 + ], + [ + 195.6760711669922, + 277.50921630859375 + ], + [ + 195.6819610595703, + 277.2775573730469 + ], + [ + 195.50697326660156, + 277.5625305175781 + ], + [ + 195.16134643554688, + 277.598876953125 + ], + [ + 195.17144775390625, + 277.1470031738281 + ], + [ + 194.9798583984375, + 277.3774719238281 + ], + [ + 195.37484741210938, + 277.38665771484375 + ], + [ + 195.3253631591797, + 277.4194641113281 + ], + [ + 195.4323272705078, + 277.30694580078125 + ], + [ + 195.4286651611328, + 277.2704772949219 + ], + [ + 195.3297119140625, + 277.5722961425781 + ], + [ + 195.0218505859375, + 277.70867919921875 + ], + [ + 195.0733642578125, + 277.70452880859375 + ], + [ + 195.11199951171875, + 277.4804382324219 + ], + [ + 195.1770782470703, + 277.464599609375 + ], + [ + 195.18846130371094, + 277.64141845703125 + ], + [ + 195.16859436035156, + 277.358642578125 + ], + [ + 195.191162109375, + 277.4346008300781 + ], + [ + 195.2738037109375, + 277.74249267578125 + ], + [ + 195.75973510742188, + 277.6764831542969 + ], + [ + 195.39468383789062, + 277.9490661621094 + ], + [ + 194.7747802734375, + 278.64996337890625 + ], + [ + 194.08450317382812, + 277.7909851074219 + ], + [ + 199.57171630859375, + 282.01556396484375 + ], + [ + 222.51744079589844, + 272.7669677734375 + ], + [ + 255.59719848632812, + 261.9123229980469 + ], + [ + 241.3627471923828, + 262.08697509765625 + ], + [ + 228.36048889160156, + 254.085205078125 + ], + [ + 216.32286071777344, + 258.1846618652344 + ], + [ + 210.99130249023438, + 262.1968688964844 + ], + [ + 201.4055633544922, + 271.4550476074219 + ], + [ + 198.93966674804688, + 277.91204833984375 + ], + [ + 190.62818908691406, + 276.6100769042969 + ], + [ + 178.597900390625, + 276.2099304199219 + ], + [ + 175.15606689453125, + 273.994384765625 + ], + [ + 176.093505859375, + 271.3697814941406 + ], + [ + 168.12979125976562, + 281.428466796875 + ], + [ + 173.2921600341797, + 286.9436340332031 + ], + [ + 173.75668334960938, + 286.8740539550781 + ], + [ + 175.0693817138672, + 287.62567138671875 + ], + [ + 174.5771484375, + 286.8873291015625 + ], + [ + 174.77317810058594, + 286.5914306640625 + ] + ] +} \ No newline at end of file diff --git a/005171_v2/lang.txt b/005171_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2dc22d18515ece850d8a214e6c2c14d8c8afba80 --- /dev/null +++ b/005171_v2/lang.txt @@ -0,0 +1 @@ +move the yellow block into another surface diff --git a/005171_v2/object.ply b/005171_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..53cb2a9b8e4c989dd7a936d9980ac229cfdf4770 Binary files /dev/null and b/005171_v2/object.ply differ diff --git a/005193/data.json b/005193/data.json new file mode 100644 index 0000000000000000000000000000000000000000..76da3f1f38a8cb88af095350c82e7b2fdd4001d1 --- /dev/null +++ b/005193/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 9, + "action_end": 20, + "object_name": "bowl", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.729182, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.935775, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 2.5628088540230465e-10, + 2.642168081545826e-11, + -2.4817257970877193e-10, + 2.4166627614296144e-07, + -4.884135625717591e-07, + -2.292099355661844e-08, + 1.0 + ], + [ + 0.009510104354603144, + -0.009934568545037561, + 0.00438294179647479, + -0.022861205226006185, + -0.024545889072993845, + 0.24319916313213863, + 1.0 + ], + [ + 0.010713518882048967, + -0.007539052858914194, + 0.0023570970292925153, + -0.03559890994403684, + 0.003039642202685305, + 0.14675919715105584, + 1.0 + ], + [ + 0.009824871062700413, + -0.008654127673844884, + -0.0032773761966194068, + -0.015006326922170606, + -0.010198853392902284, + 0.07801597686326424, + 1.0 + ], + [ + 0.003742181115010512, + -0.00935437425322466, + -0.009608696498462986, + 0.010279289720170733, + -0.02202380899783394, + 0.061506997601621136, + 1.0 + ], + [ + -0.00466536995218364, + -0.0036879680510781, + -0.002783975599268164, + -0.0043640453937424046, + -0.005016909971237229, + -0.006293516378151535, + 1.0 + ], + [ + 0.00026141905218296513, + -0.0034855399739885384, + -0.008870484196916995, + -0.010289736493926614, + 0.005530343789358757, + 0.01823233890662135, + 1.0 + ], + [ + 0.0028890941422557437, + -0.0053041660724971185, + -0.009767628431516524, + 0.006070771733061763, + 0.004637102829369401, + 0.04433252767792544, + 1.0 + ], + [ + -0.002026821044517624, + -0.006735875130670747, + -0.004959633524074657, + -0.020073533850549715, + 0.024397455345401477, + 0.04679493921315836, + 1.0 + ], + [ + -0.0022601272151884233, + -0.0019412096004209622, + -0.0039265961114767385, + -0.010102749831655393, + 0.007069147581609646, + 0.011827912189136435, + 0.729182 + ], + [ + 0.001080298455514328, + 0.002387641184523899, + 2.2718607676545932e-05, + -0.006944714915161559, + -0.01694899023090703, + 0.0005419737475952507, + 0.0 + ], + [ + 0.0014314778616089652, + 0.0016059632695228296, + -0.0003174750558314031, + 0.012270421072776127, + 0.007691063175856657, + 0.00806470628006282, + 0.0 + ], + [ + -0.00024898116089172584, + -0.0016364141870523555, + 0.003330334037866296, + 0.007015639200622498, + -0.011418340373650651, + -0.014369854273905303, + 0.0 + ], + [ + -0.0010055156558600453, + -0.001557642398189174, + 0.012683420125169069, + -0.007321607394777289, + -0.018749128105788323, + 0.005231689898506384, + 0.0 + ], + [ + -0.007186697476560033, + -7.062627666906685e-05, + 0.012694326246392301, + -0.009574247136432582, + -0.01969667343811799, + 0.001165781188745257, + 0.0 + ], + [ + -0.019637293555748003, + 0.0016304906800904823, + 0.004709089738035747, + -0.009529963588884367, + 0.0071963171489248644, + -0.030202114722849095, + 0.0 + ], + [ + -0.023414322844804103, + 0.0028714112511348117, + 0.0008490580093311224, + -0.011480468422318235, + 0.02709831052919639, + -0.024271792754464314, + 0.0 + ], + [ + -0.016061315477777394, + 0.006007985678558918, + -0.004256889165809061, + 0.006285646618248743, + 0.007462477988516412, + -0.01591045237659795, + 0.0 + ], + [ + -0.00815603967928874, + 0.007919912531243675, + -0.011394844009589518, + 0.021173390338784747, + 0.02374820261325497, + 0.00508719087470087, + 0.0 + ], + [ + -0.00470133110667903, + 0.004860109241555451, + -0.009299569052860931, + 0.017457975864855833, + 0.004123274665842938, + 0.0030390443839384156, + 0.0 + ], + [ + -0.002451610566448964, + 0.0016083131014891575, + -0.0030086592845489646, + 0.005416600555343312, + 0.01667804271589829, + 0.005633098651868467, + 0.935775 + ], + [ + -0.0006703303885957912, + -0.0011995454507017014, + 0.0035552520284604025, + -0.011220675743968863, + -0.0011692160420959563, + -0.006774605998839308, + 1.0 + ], + [ + 0.00043743212554267497, + -0.0013002288696764772, + 0.006137999133906443, + -0.01138230246362317, + -0.004622465057999869, + -0.004616340900643607, + 1.0 + ], + [ + 0.003388158504190969, + -0.002068063498648305, + 0.014115433595161896, + -0.01718649452821714, + -0.02442477097695763, + -0.015811082210143195, + 1.0 + ], + [ + 0.0034273038763552033, + 0.0005109822055967758, + 0.014238094346195433, + -0.011376036259753778, + -0.032154479282847724, + -0.022173343192711175, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 330.5919189453125, + 200.87142944335938 + ], + [ + 329.1322326660156, + 207.71641540527344 + ], + [ + 334.2630615234375, + 209.0128173828125 + ], + [ + 367.3536376953125, + 201.72035217285156 + ], + [ + 380.5057373046875, + 195.9905242919922 + ], + [ + 382.2066345214844, + 204.86972045898438 + ], + [ + 398.544189453125, + 213.414794921875 + ], + [ + 404.8292236328125, + 218.43650817871094 + ], + [ + 397.02093505859375, + 230.34593200683594 + ], + [ + 398.10064697265625, + 235.52337646484375 + ], + [ + 403.265869140625, + 239.57945251464844 + ], + [ + 413.7290344238281, + 240.91629028320312 + ], + [ + 413.5064392089844, + 242.91372680664062 + ], + [ + 412.27581787109375, + 242.8951416015625 + ], + [ + 412.0779113769531, + 244.14508056640625 + ], + [ + 412.31683349609375, + 232.07357788085938 + ], + [ + 399.2762756347656, + 243.17425537109375 + ], + [ + 382.6220703125, + 259.683837890625 + ], + [ + 362.9028015136719, + 280.5577087402344 + ], + [ + 350.9354248046875, + 294.2455139160156 + ], + [ + 341.418212890625, + 303.20770263671875 + ], + [ + 338.4434814453125, + 307.0085754394531 + ], + [ + 338.1160888671875, + 309.1634826660156 + ], + [ + 334.7247619628906, + 312.088623046875 + ], + [ + 335.73583984375, + 300.9053649902344 + ], + [ + 340.6915283203125, + 279.9111022949219 + ], + [ + 340.492919921875, + 276.7001953125 + ], + [ + 340.2283630371094, + 276.7386779785156 + ] + ], + "depth_max": 1.5627425909042358, + "depth_min": 0.2969406545162201, + "intrinsic": [ + [ + 574.89013671875, + 0.0, + 259.0 + ], + [ + 0.0, + 574.6825561523438, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.097459896001965e-05, + -8.187567436834797e-05, + 5.9956150835205335e-06 + ], + [ + -4.0981070924317464e-05, + 1.0, + -7.908744009910151e-05, + -1.916013570735231e-05 + ], + [ + 8.187242929125205e-05, + 7.909080159151927e-05, + 1.0, + -3.669024590635672e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 370.0, + 264.5 + ], + [ + 369.6997985839844, + 266.2576599121094 + ], + [ + 370.8902893066406, + 264.923095703125 + ], + [ + 375.8850402832031, + 275.02496337890625 + ], + [ + 377.37774658203125, + 261.3136901855469 + ], + [ + 375.82489013671875, + 274.69378662109375 + ], + [ + 375.8941955566406, + 275.05712890625 + ], + [ + 375.9129333496094, + 274.95147705078125 + ], + [ + 375.586669921875, + 275.22332763671875 + ], + [ + 375.60980224609375, + 275.49957275390625 + ], + [ + 375.6521301269531, + 275.3517761230469 + ], + [ + 372.426025390625, + 264.3801574707031 + ], + [ + 371.08746337890625, + 267.93621826171875 + ], + [ + 365.6994934082031, + 266.4540100097656 + ], + [ + 363.29034423828125, + 266.5718688964844 + ], + [ + 360.415283203125, + 259.4833984375 + ], + [ + 347.65728759765625, + 269.0575866699219 + ], + [ + 328.1772766113281, + 284.9713134765625 + ], + [ + 309.3878173828125, + 303.0251770019531 + ], + [ + 296.4276123046875, + 315.24615478515625 + ], + [ + 288.77032470703125, + 323.3243408203125 + ], + [ + 287.3173828125, + 332.4459228515625 + ], + [ + 288.67547607421875, + 338.4660339355469 + ], + [ + 292.18701171875, + 340.96026611328125 + ], + [ + 296.0289306640625, + 350.43096923828125 + ], + [ + 296.3370361328125, + 351.52935791015625 + ], + [ + 292.86895751953125, + 338.3398742675781 + ], + [ + 296.4286193847656, + 350.6123046875 + ] + ] +} \ No newline at end of file diff --git a/005193/lang.txt b/005193/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..747e0a4aef4969d84eadf9310657cc2cdc11703d --- /dev/null +++ b/005193/lang.txt @@ -0,0 +1 @@ +take bowl off plate diff --git a/005215/FAIL b/005215/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/005215/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/005242_v2/FAIL b/005242_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..aaf6c42c619234f9c8379cbcf60a65cd17ba1254 --- /dev/null +++ b/005242_v2/FAIL @@ -0,0 +1 @@ +Too large intersection between gripper and object mask diff --git a/005245_v2/data.json b/005245_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..ac1f0963f1be3f6cca21f19406fef6ea5258380e --- /dev/null +++ b/005245_v2/data.json @@ -0,0 +1,733 @@ +{ + "action_start": 13, + "action_end": 29, + "object_name": "blue curl 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, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 0.0, + -2.7755575615628914e-17, + -1.13291093069025e-07, + -1.086990487714187e-07, + -2.855001280374512e-08, + 1.0 + ], + [ + 0.027127405133522617, + 0.012106760076638794, + -0.02868811300427848, + -0.00034683441091544985, + -0.0002299170949749977, + 0.08250301863754418, + 1.0 + ], + [ + 0.019667958349807918, + 0.0062629699611939154, + -0.01866582657162713, + -0.00872423229532931, + 0.0016323166442906642, + 0.07072400637482501, + 1.0 + ], + [ + 0.018592016218818175, + 0.003996165215240287, + -0.020298186904637888, + -0.01921409712988006, + -0.00023268760450761863, + 0.057988798030538025, + 1.0 + ], + [ + 0.017241887516257992, + 0.008901990689438774, + -0.022626563946885114, + -0.00241634204831067, + -0.020626520133759332, + 0.10177720275705063, + 1.0 + ], + [ + 0.012989582019146961, + 0.010244433303257243, + -0.02405850048972194, + -0.018646575491860804, + -0.020084059027503823, + 0.08972235361154575, + 1.0 + ], + [ + 0.012522336856237326, + 0.01043591059072422, + -0.019806670751993327, + -0.0117121986763446, + -0.026984879197097824, + 0.0762659538081823, + 1.0 + ], + [ + 0.011415759821328919, + 0.0069016909977857865, + -0.015429628371568596, + -0.009174261072078098, + -0.03531301323948922, + 0.05273954442803307, + 1.0 + ], + [ + 0.011162438305394012, + -0.00023211537180064384, + -0.011922007097368265, + -0.019475534483733715, + -0.04457292039947539, + 0.04900145980582306, + 1.0 + ], + [ + 0.014141058123485872, + -0.0016055809087383507, + -0.013203292576618605, + 0.006081329131981897, + -0.04117208826622808, + 0.03692858846791297, + 1.0 + ], + [ + 0.012490207185454683, + 0.0007502561253430115, + -0.013150476243611764, + 0.0379612373739588, + 0.0029584871512274274, + 0.013580025699018634, + 1.0 + ], + [ + 0.010113085808415967, + 0.003672710102829678, + -0.010332867537356058, + 0.035033054906090384, + 0.045944258057934374, + -0.0055405184902803765, + 1.0 + ], + [ + 0.004423349199348059, + 0.002193710033806924, + -0.010431024641351427, + 0.043135123408139124, + 0.0206050075648438, + -0.022622259362482515, + 1.0 + ], + [ + 0.003159372354329726, + 0.00222615281142427, + -0.009422229059554046, + 0.025931968049917122, + 0.01856126241212959, + -0.026085216650077837, + 1.0 + ], + [ + 0.0009708912594643127, + 0.003241473492722219, + -0.0025985012445653884, + 0.00019905418884851224, + 0.016572003868989427, + 0.003318146481435351, + 0.0 + ], + [ + 0.000291609843223517, + 0.001256291988686195, + 0.006667542590855386, + -0.02116359900056235, + 0.006668544110826344, + -0.011393445954421514, + 0.0 + ], + [ + 0.010039076301668226, + -0.000890568201612367, + 0.022164729293030337, + -0.03829073429486765, + -0.004802737789984959, + -0.023366422969015865, + 0.0 + ], + [ + 0.019705634497848012, + -0.001267981773653358, + 0.017861106313144415, + -0.029230021686039928, + -0.013037793278872585, + -0.02307154999898755, + 0.0 + ], + [ + 0.01946672157675744, + 0.001054551864955497, + 0.007250082434726052, + 0.016998201263671936, + -0.005722775971150056, + -0.03441876513111646, + 0.0 + ], + [ + 0.01577401273537893, + -0.0008266235213063786, + -0.0031172374675723577, + 0.046303331128698236, + 0.007679565229431944, + -0.06644792136112859, + 0.0 + ], + [ + 0.013079122597665471, + 0.0014757976272498224, + -0.010405412125490357, + 0.08527078816931152, + 0.034830538089622214, + -0.09495041349315583, + 0.0 + ], + [ + 0.006955748874062195, + 0.0023185194596447717, + -0.007831783762628872, + 0.047884951246944626, + -0.0007708843585537869, + -0.07365856287697581, + 0.0 + ], + [ + 0.013126858466654345, + 0.004170036225329243, + -0.005603718324272075, + -0.0016797580807180633, + -0.005258413044481496, + -0.026826043471966134, + 0.0 + ], + [ + 0.008200624741751927, + 0.004045612396470659, + -0.0023380694666610066, + -0.004584757076595698, + 0.007566812358305432, + 0.019962048200944413, + 0.0 + ], + [ + 0.0033529888951445708, + 0.006797985250650972, + -0.0013403860263894798, + -0.014707399583706622, + 0.007227455669623525, + 0.0219855180408861, + 0.0 + ], + [ + -0.0016105401286024001, + 0.005116814449493232, + -0.0018807582787003993, + -0.012196795300738845, + 0.013707679155315993, + 0.001952369737531931, + 0.0 + ], + [ + -0.004431594763892488, + 0.0015360974698045565, + -0.001464157146782035, + -0.013015932679875549, + 0.011810597094764159, + -0.0058729709127911004, + 0.0 + ], + [ + -0.005161313376297216, + -0.0015029621140109362, + -0.0016922008918668525, + -0.016477674771475083, + 0.007592847623921018, + -0.012157442243725336, + 0.0 + ], + [ + -0.0030310091424496366, + -0.0012528515690528458, + 0.0011459738312110182, + -0.01818397987082739, + 0.0009057893158638702, + -0.002641124648450443, + 0.0 + ], + [ + -0.0009152302577078997, + -0.0005290125586739358, + -0.0015912618885594206, + -0.013064113309673074, + -0.004497191676850901, + 0.0044601049850233505, + 0.0 + ], + [ + 2.881736675547364e-05, + -0.00012456552160348966, + -0.0008327225825593039, + -0.00713927711053176, + -0.005450448074787459, + 0.0049949199376061815, + 1.0 + ], + [ + 0.0006963592163055643, + 0.0009704176766444361, + 8.285185783291418e-05, + 0.0026488315510090157, + -0.015178935850106932, + -0.002821589235452232, + 1.0 + ], + [ + -0.0006771543904171007, + 0.0038803773488011034, + 0.013677375862092932, + -0.013018794277563226, + -0.01244404466102296, + 0.015396713199996704, + 1.0 + ], + [ + -0.004227958683374222, + 0.011033382172098816, + 0.039698205442722796, + -0.03994903924701246, + -0.04513989256936226, + 0.05162982068432445, + 1.0 + ], + [ + -0.014262109147517354, + 0.019663517916711823, + 0.05774138540238951, + -0.07177937387656913, + -0.10962923742237375, + 0.08323615792594408, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 189.94906616210938, + 228.67828369140625 + ], + [ + 114.15235900878906, + 212.2903594970703 + ], + [ + 242.0450897216797, + 269.14910888671875 + ], + [ + 265.7977294921875, + 280.73223876953125 + ], + [ + 288.06524658203125, + 302.462158203125 + ], + [ + 291.82012939453125, + 318.08306884765625 + ], + [ + 290.5433654785156, + 337.6182861328125 + ], + [ + 288.5753173828125, + 348.4402770996094 + ], + [ + 290.7030029296875, + 353.5711669921875 + ], + [ + 298.5714111328125, + 357.9791564941406 + ], + [ + 307.73046875, + 361.2318115234375 + ], + [ + 317.0330505371094, + 376.30169677734375 + ], + [ + 321.6642150878906, + 375.47796630859375 + ], + [ + 322.13330078125, + 379.8924865722656 + ], + [ + 322.33795166015625, + 385.51806640625 + ], + [ + 329.165771484375, + 379.6544494628906 + ], + [ + 326.7463073730469, + 377.92608642578125 + ], + [ + 331.3005065917969, + 358.2026062011719 + ], + [ + 346.05810546875, + 319.69091796875 + ], + [ + 353.3519287109375, + 292.8989562988281 + ], + [ + 364.815185546875, + 284.9444885253906 + ], + [ + 373.60540771484375, + 289.4417419433594 + ], + [ + 375.05828857421875, + 292.86505126953125 + ], + [ + 381.33966064453125, + 291.091064453125 + ], + [ + 382.2030944824219, + 288.0130310058594 + ], + [ + 376.7440185546875, + 282.2814636230469 + ], + [ + 370.40692138671875, + 282.01702880859375 + ], + [ + 367.372314453125, + 281.97149658203125 + ], + [ + 366.97662353515625, + 289.73992919921875 + ], + [ + 368.42633056640625, + 294.9224548339844 + ], + [ + 367.95611572265625, + 296.0037841796875 + ], + [ + 364.9696960449219, + 298.4610595703125 + ], + [ + 365.6820068359375, + 301.16278076171875 + ], + [ + 363.9925231933594, + 297.26409912109375 + ], + [ + 347.97027587890625, + 260.98883056640625 + ], + [ + 321.6953125, + 201.98193359375 + ], + [ + 290.426025390625, + 182.40354919433594 + ] + ], + "depth_max": 2.244088888168335, + "depth_min": 0.24047012627124786, + "intrinsic": [ + [ + 529.9854125976562, + 0.0, + 259.0 + ], + [ + 0.0, + 530.5697021484375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -3.279923112131655e-05, + 9.802630665944889e-05, + 1.220592821482569e-05 + ], + [ + 3.2804120564833283e-05, + 1.0, + -4.990174056729302e-05, + -1.3339592442207504e-05 + ], + [ + -9.802467684494331e-05, + 4.990495654055849e-05, + 1.0, + 4.320421430747956e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36 + ], + "object_trajectory": [ + [ + 363.5, + 400.5000305175781 + ], + [ + 363.59307861328125, + 400.67529296875 + ], + [ + 363.81756591796875, + 400.7095947265625 + ], + [ + 363.54705810546875, + 400.431640625 + ], + [ + 363.63092041015625, + 400.6273498535156 + ], + [ + 363.48779296875, + 400.556640625 + ], + [ + 363.7557373046875, + 400.6242370605469 + ], + [ + 363.6761779785156, + 400.6801452636719 + ], + [ + 363.69647216796875, + 400.74365234375 + ], + [ + 363.9618225097656, + 400.7961730957031 + ], + [ + 363.9749755859375, + 400.6286315917969 + ], + [ + 363.99249267578125, + 400.9901428222656 + ], + [ + 364.0338134765625, + 400.75286865234375 + ], + [ + 363.5726013183594, + 401.00860595703125 + ], + [ + 363.0960388183594, + 401.3120422363281 + ], + [ + 361.7754821777344, + 400.1134338378906 + ], + [ + 360.7364501953125, + 400.1173095703125 + ], + [ + 365.7116394042969, + 380.73834228515625 + ], + [ + 380.5291442871094, + 345.1048278808594 + ], + [ + 387.615478515625, + 319.463623046875 + ], + [ + 396.6837158203125, + 313.0415344238281 + ], + [ + 400.67535400390625, + 319.87420654296875 + ], + [ + 400.0039367675781, + 324.9010009765625 + ], + [ + 405.5287780761719, + 327.3689880371094 + ], + [ + 405.9384765625, + 324.0133056640625 + ], + [ + 400.97515869140625, + 312.81365966796875 + ], + [ + 394.51446533203125, + 312.8792419433594 + ], + [ + 392.30413818359375, + 312.5159606933594 + ], + [ + 392.6212158203125, + 320.84423828125 + ], + [ + 394.05181884765625, + 329.4823303222656 + ], + [ + 394.32855224609375, + 330.65179443359375 + ], + [ + 391.54669189453125, + 333.7159423828125 + ], + [ + 400.190185546875, + 326.9080810546875 + ], + [ + 400.24176025390625, + 327.3736267089844 + ], + [ + 399.6674499511719, + 327.1958923339844 + ], + [ + 399.5249938964844, + 327.60565185546875 + ], + [ + 400.0664978027344, + 327.41778564453125 + ] + ] +} \ No newline at end of file diff --git a/005245_v2/lang.txt b/005245_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..b79cb4ac491024f6487ee0056d0a28dc937a3a5d --- /dev/null +++ b/005245_v2/lang.txt @@ -0,0 +1 @@ +move a blue curl block from a cup to the top a cube diff --git a/005245_v2/object.ply b/005245_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..5647088a152ca874815dfc9314bb3dff134c1c36 Binary files /dev/null and b/005245_v2/object.ply differ diff --git a/005275_v2/data.json b/005275_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..d81ab0c481b2802e8e442cc4fd4f79671193bbb1 --- /dev/null +++ b/005275_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 17, + "action_end": 41, + "object_name": "wood elongated pyramid", + "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, + 0.0, + 0.0, + 0.49694799999999995, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.5102386008436497e-10, + 7.018130521174726e-11, + -1.6263219937417972e-11, + -3.3839001240470005e-07, + -2.9140589031726086e-08, + 2.866266918650911e-07, + 1.0 + ], + [ + -0.015893514243395857, + -0.0037106303367035742, + 0.00018867241366020415, + 0.03696999908784029, + -0.006508249331159871, + -0.11340358473139425, + 1.0 + ], + [ + -0.011712601780410725, + 0.004008311083283728, + 0.007292016974474416, + 0.034303155173017824, + -0.037997944706732914, + -0.0950516151276231, + 1.0 + ], + [ + -0.011702755806645537, + 0.0026213318900799726, + 0.009512571481168377, + 0.01574479257647686, + 0.011485720138143227, + -0.19274459738375763, + 1.0 + ], + [ + -0.0025356719759583868, + 0.006452572727868908, + -0.0072242387775360226, + 0.07736995930713784, + 0.03734793494030408, + -0.15755428581979175, + 1.0 + ], + [ + 0.003945487588557117, + 0.008339907815780423, + -0.00836025249863901, + 0.02146092584671752, + 0.04506962090840512, + -0.07786032881359478, + 1.0 + ], + [ + 0.0016655303002661714, + 0.0028408060487574716, + -0.011350170296101893, + 0.016027526409034012, + 0.00406614073150624, + -0.0736060593176305, + 1.0 + ], + [ + 0.0009216334558413974, + 0.0025202676209354347, + -0.004129217347189379, + 0.00793473507384322, + 0.0028055079283407364, + -0.0071470639816279494, + 1.0 + ], + [ + -0.0013506907063658424, + 0.01695958848835613, + 0.019808560794444117, + -0.03312874742881882, + -0.03483396032101653, + 0.1311025964060133, + 1.0 + ], + [ + -0.004458685448055999, + 0.01609213095740103, + 0.015218644314739516, + -0.030169328753211204, + -0.024913664480471234, + 0.10379487888022941, + 1.0 + ], + [ + -0.007775475856781733, + 0.016513545713468525, + 0.01682396965890255, + -0.015680674100131766, + -0.005376610289649049, + 0.17554295454978172, + 1.0 + ], + [ + -0.007086320956775305, + 0.005838416746396152, + 0.0017890653079427402, + -0.020502114443349293, + 0.013346979563174507, + 0.037477558653230617, + 1.0 + ], + [ + -0.002153135920709204, + 0.008770408903268856, + -0.005907933846899999, + 0.00916362273636029, + 0.015074280955051454, + 0.042876089545809466, + 1.0 + ], + [ + 0.003455364237901437, + 0.01097219675834643, + -0.017577097356773666, + 0.026037670640070322, + 0.014921728295364403, + 0.036035186070603735, + 1.0 + ], + [ + 0.0060040124587849575, + 0.004556212778759727, + -0.008194510727305863, + -0.00412746700511505, + 0.010510272039550659, + 0.02200760767126724, + 1.0 + ], + [ + 0.005830187189553471, + 0.0057833459464086134, + -0.011262492354188101, + -0.023519709160870872, + 0.004236358338635509, + 0.033934685379954234, + 1.0 + ], + [ + 0.00364890193071149, + 0.008300075734059553, + -0.007834113147947859, + 0.005940118498735528, + 0.02115381059350451, + 0.013553294185178503, + 1.0 + ], + [ + -0.0007320881618369524, + 0.00386467047096295, + -0.0033123820419912065, + -0.003702652238887895, + 0.021343579810737857, + 0.009370782344008753, + 1.0 + ], + [ + -0.002039929478319713, + 0.0010590020096685193, + -0.007478886647783565, + -0.0010909227301383955, + 0.027881044534560574, + 0.00847859092791565, + 0.0 + ], + [ + -0.0001984938076966536, + -0.001643107614702377, + -0.000493144661573729, + 0.0013727306160057396, + 0.004324051894560511, + -0.008900756876573565, + 0.0 + ], + [ + 0.0045015417721478435, + -0.007105023761486251, + 0.013451419791250469, + -0.02681851819191946, + -0.017112673960730553, + -0.010657906078720601, + 0.0 + ], + [ + 0.012269373382904125, + -0.018915957716395815, + 0.016617042790569768, + -0.05191851503240153, + -0.03302374619503819, + -0.020928305047075213, + 0.0 + ], + [ + 0.01598586575756966, + -0.020895793276305252, + 0.01714809880477242, + -0.009619420826504181, + -0.02409124781488045, + -0.025807098629353473, + 0.0 + ], + [ + 0.00754898016041694, + -0.020065821852766674, + 0.004531785066856187, + 0.01625605535836733, + 0.005920926849756755, + -0.026373031648906364, + 0.0 + ], + [ + 0.0023593267185150757, + -0.022141207608061014, + 0.003055264957372593, + 0.016304583382858832, + -0.010572443132442308, + -0.049611336167154206, + 0.0 + ], + [ + -0.00046894645170553195, + -0.024291705692596283, + 0.00843114592821946, + -0.015623472768354078, + -0.013022490485306267, + -0.05423976291705952, + 0.0 + ], + [ + -0.0008845747501388668, + -0.010585465696613172, + -0.003885884074885028, + -0.022662120056877202, + 0.01953486065475034, + -0.016459960548257595, + 0.0 + ], + [ + -0.00036170527197754154, + -0.0055957372010597695, + 0.0015446556218517218, + -0.007753413509199308, + 0.008044522907833258, + -0.006817412248355486, + 0.0 + ], + [ + 0.0007373564719555525, + 0.0016266164773110214, + -0.006541755286661795, + 0.003050623601246849, + 0.01393644152820382, + 0.007511733496219451, + 0.0 + ], + [ + -0.00014636074743518135, + 0.003437545645893103, + -0.008048584777376272, + 0.01263984443536897, + 0.010191768511160226, + 0.0015452376514551432, + 0.0 + ], + [ + -0.0005972377625372838, + 0.003836024648648212, + -0.005457831825967825, + 0.018943616135592103, + 0.005036679108014855, + -0.001530821310166688, + 0.0 + ], + [ + -0.0013604862860078781, + 0.005296538261061523, + -0.004103607612495383, + 0.011368779169291838, + 0.000358700501225016, + -0.005538581134236705, + 0.0 + ], + [ + -0.002245174325636534, + 0.0008879078500067805, + -0.0022709130411184553, + -0.007002390375330162, + 0.009254865296800273, + -0.004510376115178154, + 0.0 + ], + [ + -0.0015323508108936457, + -0.0033545319012852626, + 0.0019579723400076007, + -0.0030164071962939013, + -0.005588247615365487, + -0.005803851313094906, + 0.0 + ], + [ + 0.0007555530073922734, + -0.0024309984624104053, + -0.0014277561209436532, + 0.0019643992227733483, + 0.0006945939239691942, + 0.0007628362957652043, + 0.0 + ], + [ + 0.0015545334248479037, + 0.0011041312968000094, + -0.006264923443249332, + 0.005670210344698378, + 0.009765761826321375, + 0.009421470378201475, + 0.0 + ], + [ + 0.0008819833184824932, + -0.0005789267235455642, + -0.002148501039360255, + 0.005138620020939451, + -0.007864048971290177, + 0.008724999915205369, + 0.0 + ], + [ + 0.00046953323626319765, + -0.0022108635057185577, + -0.0007250158219141434, + -0.012316606488825809, + -0.0020215692348229198, + 0.008826898862792398, + 0.0 + ], + [ + 0.0011388311828196551, + -0.004330783905020175, + 0.0001288733789418517, + -0.00013403100637006, + -0.003606144153991827, + -0.0007095697446230018, + 0.0 + ], + [ + 0.0010199528796658863, + -0.0031416578824486896, + -0.0005819529143773691, + -0.0031116264829578358, + -0.006469871357668527, + 0.0005894079454855704, + 0.0 + ], + [ + 0.00042189365228434417, + -0.0008595791810095399, + -0.003434714740379541, + -0.002034486616506119, + 0.004206449585509793, + 0.0023019921652947316, + 0.0 + ], + [ + -0.00017778286278241628, + 0.0017672227370651161, + -0.0070110019519563915, + 0.0043017253434293355, + 0.006369544236131674, + 0.015578156773716772, + 0.49694799999999995 + ], + [ + 0.0003090449747434887, + 0.0032096877205162466, + -0.0012245249851557255, + 0.005557337061412839, + 0.007475714032986614, + 0.007574064079659766, + 1.0 + ], + [ + 0.00023422676234668982, + 0.004622544302279041, + 0.0017255913524999132, + -0.011858751177689761, + 0.013510873521185103, + 0.013082359617674658, + 1.0 + ], + [ + 0.0003640109393112656, + 0.0009412453641480245, + 0.0072285400367258675, + -0.01579778478756386, + -0.004995727612926378, + 0.000645005989730422, + 1.0 + ], + [ + 0.0010489516097566542, + 0.00020204118879160737, + 0.017877537685750657, + -0.029161452521219607, + -0.02459268221748488, + -0.002441842534658968, + 1.0 + ], + [ + -0.0019100125341679486, + 0.0012498496967317252, + 0.02695574713190845, + -0.034731673126882225, + -0.04447161011167466, + 0.010197605504519197, + 1.0 + ], + [ + -0.004564207141961485, + 0.007186764154300224, + 0.031701434700492276, + -0.010982702658991057, + -0.066963914215587, + -0.02444832693320207, + 1.0 + ] + ], + "gripper_centers": [ + [ + 273.7674560546875, + 211.96771240234375 + ], + [ + 276.001708984375, + 222.7389373779297 + ], + [ + 267.974365234375, + 261.85888671875 + ], + [ + 262.20123291015625, + 254.398681640625 + ], + [ + 250.5052032470703, + 248.00360107421875 + ], + [ + 243.7826385498047, + 246.13040161132812 + ], + [ + 242.42950439453125, + 244.14968872070312 + ], + [ + 243.27603149414062, + 248.6728515625 + ], + [ + 243.46548461914062, + 249.90304565429688 + ], + [ + 232.3883056640625, + 241.6873321533203 + ], + [ + 202.77301025390625, + 233.18618774414062 + ], + [ + 190.9637908935547, + 225.5200653076172 + ], + [ + 172.7268829345703, + 220.8969268798828 + ], + [ + 163.82986450195312, + 214.03868103027344 + ], + [ + 160.094970703125, + 213.5688018798828 + ], + [ + 161.91873168945312, + 226.81846618652344 + ], + [ + 165.6373291015625, + 230.2554931640625 + ], + [ + 166.1873016357422, + 235.66845703125 + ], + [ + 162.33645629882812, + 237.61190795898438 + ], + [ + 158.19390869140625, + 241.31414794921875 + ], + [ + 157.88131713867188, + 243.96322631835938 + ], + [ + 161.54737854003906, + 246.1815185546875 + ], + [ + 170.3842010498047, + 239.5626983642578 + ], + [ + 199.63172912597656, + 231.503662109375 + ], + [ + 222.05210876464844, + 212.02743530273438 + ], + [ + 218.90249633789062, + 220.02281188964844 + ], + [ + 235.0166015625, + 216.48802185058594 + ], + [ + 270.2264099121094, + 213.0628662109375 + ], + [ + 270.2779541015625, + 213.64195251464844 + ], + [ + 270.88165283203125, + 214.45858764648438 + ], + [ + 268.6573791503906, + 213.29409790039062 + ], + [ + 266.69036865234375, + 214.27499389648438 + ], + [ + 265.4901428222656, + 216.67369079589844 + ], + [ + 265.0123291015625, + 218.13815307617188 + ], + [ + 265.07275390625, + 224.81918334960938 + ], + [ + 265.0007019042969, + 225.80435180664062 + ], + [ + 263.19647216796875, + 225.91868591308594 + ], + [ + 263.7453308105469, + 232.1021270751953 + ], + [ + 264.8970947265625, + 232.67300415039062 + ], + [ + 266.0888366699219, + 234.69183349609375 + ], + [ + 274.95208740234375, + 236.28787231445312 + ], + [ + 274.98291015625, + 236.31069946289062 + ], + [ + 274.8164978027344, + 235.75057983398438 + ], + [ + 274.16082763671875, + 244.10716247558594 + ], + [ + 275.3808288574219, + 243.1510009765625 + ], + [ + 276.77874755859375, + 237.10589599609375 + ], + [ + 274.11456298828125, + 232.1775665283203 + ], + [ + 270.053955078125, + 222.7263946533203 + ] + ], + "depth_max": 1.834952473640442, + "depth_min": 0.16334588825702667, + "intrinsic": [ + [ + 535.6126098632812, + 0.0, + 259.0 + ], + [ + 0.0, + 536.9091796875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -2.8435237254598178e-05, + 2.1003044821554795e-05, + -9.854136806097813e-06 + ], + [ + 2.8436328648240305e-05, + 1.0, + -5.196413258090615e-05, + -3.168231341987848e-05 + ], + [ + -2.1001567802159116e-05, + 5.1964729209430516e-05, + 1.0, + -5.522600986296311e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 157.5, + 275.5 + ], + [ + 157.548095703125, + 275.6470947265625 + ], + [ + 157.8647918701172, + 276.15606689453125 + ], + [ + 157.94699096679688, + 276.21954345703125 + ], + [ + 157.58395385742188, + 276.1634521484375 + ], + [ + 157.53286743164062, + 276.5196533203125 + ], + [ + 157.75238037109375, + 276.3674011230469 + ], + [ + 157.84774780273438, + 276.7227478027344 + ], + [ + 157.71536254882812, + 276.67608642578125 + ], + [ + 157.76553344726562, + 276.7010498046875 + ], + [ + 157.67755126953125, + 276.61187744140625 + ], + [ + 157.5689239501953, + 276.48779296875 + ], + [ + 157.63125610351562, + 276.60400390625 + ], + [ + 157.5533905029297, + 276.39825439453125 + ], + [ + 157.59310913085938, + 276.52886962890625 + ], + [ + 157.81614685058594, + 276.34039306640625 + ], + [ + 157.66796875, + 276.8340759277344 + ], + [ + 157.8963623046875, + 276.3855285644531 + ], + [ + 157.17543029785156, + 277.09747314453125 + ], + [ + 157.27932739257812, + 277.599365234375 + ], + [ + 157.24803161621094, + 277.34521484375 + ], + [ + 160.0745849609375, + 279.14642333984375 + ], + [ + 174.94728088378906, + 281.2204284667969 + ], + [ + 198.47161865234375, + 274.37255859375 + ], + [ + 223.49574279785156, + 263.899658203125 + ], + [ + 238.38436889648438, + 268.65264892578125 + ], + [ + 256.80572509765625, + 263.7581787109375 + ], + [ + 267.8811340332031, + 263.86279296875 + ], + [ + 267.6480407714844, + 264.6797790527344 + ], + [ + 265.74163818359375, + 267.3345947265625 + ], + [ + 266.1424560546875, + 263.4246826171875 + ], + [ + 262.96746826171875, + 264.1669006347656 + ], + [ + 262.16741943359375, + 265.378173828125 + ], + [ + 261.4878234863281, + 266.7465515136719 + ], + [ + 261.3398742675781, + 271.03778076171875 + ], + [ + 260.5863342285156, + 273.25323486328125 + ], + [ + 259.06915283203125, + 273.5922546386719 + ], + [ + 258.8230285644531, + 275.65533447265625 + ], + [ + 260.5533447265625, + 276.6748046875 + ], + [ + 263.0524597167969, + 278.361083984375 + ], + [ + 270.90478515625, + 278.0938720703125 + ], + [ + 271.39569091796875, + 278.6689453125 + ], + [ + 270.4940185546875, + 271.3359680175781 + ], + [ + 270.0931396484375, + 271.2509765625 + ], + [ + 270.7863464355469, + 273.46533203125 + ], + [ + 271.6220703125, + 273.4882507324219 + ], + [ + 271.71551513671875, + 273.2117004394531 + ], + [ + 273.1592712402344, + 273.550048828125 + ] + ] +} \ No newline at end of file diff --git a/005275_v2/lang.txt b/005275_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..6d3fa94424bade030314f79ae8bc6f95cba9ba40 --- /dev/null +++ b/005275_v2/lang.txt @@ -0,0 +1 @@ +move the wood elongated pyramid on top of the yellow cube diff --git a/005275_v2/object.ply b/005275_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..eaa0bd3ab2da1993d00bd5ac98a84d3b4d48656a Binary files /dev/null and b/005275_v2/object.ply differ diff --git a/005286_v2/FAIL b/005286_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/005286_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/005326/FAIL b/005326/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/005326/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/005346_v2/FAIL b/005346_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/005346_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/005390_v2/data.json b/005390_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..8a44177887dd6a5bfc48861a4410cd46e25c3d55 --- /dev/null +++ b/005390_v2/data.json @@ -0,0 +1,806 @@ +{ + "action_start": 12, + "action_end": 29, + "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, + 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, + -2.0816681711721685e-17, + -2.5788008246026496e-07, + -8.593604920632263e-07, + 2.778511650060054e-07, + 1.0 + ], + [ + -0.005984882808031333, + 0.031694944305433875, + 0.005016414729611854, + 0.04099349198418421, + -0.02154568278111966, + 0.12059239818967533, + 1.0 + ], + [ + -0.006706331868192028, + 0.03210464988110935, + -0.001618527132918178, + 0.015626898079979332, + 0.02012597622957264, + 0.1609746612173647, + 1.0 + ], + [ + -0.01555902934121317, + 0.028117802887874882, + 0.00024199663450925196, + 0.03287322008772324, + -0.0050011727654941255, + 0.1742331395415603, + 1.0 + ], + [ + -0.030454800412373806, + 0.01898305424781152, + -0.0017538667720804826, + -0.010613423411774186, + 0.003513550062122963, + 0.17320084000320368, + 1.0 + ], + [ + -0.024828955473480907, + 0.012469145359980727, + 0.0022133056857876927, + -0.02838049626724442, + 0.018023788704838433, + 0.1299940261783058, + 1.0 + ], + [ + -0.022026476263682093, + 0.01945180951084849, + -0.001192768263617465, + -0.06644860683465359, + -0.013223708187117204, + 0.15060507716195892, + 1.0 + ], + [ + -0.014393980526792638, + 0.024003884905895362, + -0.015699728515117826, + 0.04584982242050955, + 0.02657020777056319, + 0.121662943262921, + 1.0 + ], + [ + -0.006289133630765498, + 0.004030291246033102, + -0.02102832415286946, + -0.02042322732611417, + 0.016737118753697034, + 0.004490147059522298, + 1.0 + ], + [ + 0.00238261357251221, + -0.003154715394531188, + -0.013390209850442814, + -0.012716863133574811, + 0.016376411509212048, + -0.036356634062115145, + 1.0 + ], + [ + -0.00037966932772612316, + -0.0019011685868287331, + -0.01301963386396442, + 0.0009883425164171295, + 0.024101421428198943, + -0.019076618593221635, + 1.0 + ], + [ + 0.0022876220600616948, + -0.004632074865366681, + -0.007522906988235152, + -0.009549467559044853, + 0.0042567277416170925, + -0.029050956336095186, + 1.0 + ], + [ + 0.002557394912497124, + -0.004786304617479115, + -0.0074015739757493145, + -0.008930899365435957, + -0.0007126679012143505, + -0.02363707806261783, + 1.0 + ], + [ + 0.0014054773268393772, + -0.0015379096136130532, + -0.0005422529695953485, + 0.01413083196658182, + 0.0028456792305667027, + -0.019049762443112073, + 0.0 + ], + [ + 0.00027612458198955636, + 0.0009685977111412725, + -0.001232974405470745, + 0.007991827594519763, + -0.014602765834325555, + 0.004573660631738317, + 0.0 + ], + [ + -0.0006447898653021145, + -0.001418221404863973, + 0.0012290563770164832, + 0.029610909092109474, + -0.012385316764934767, + 0.011967115122364832, + 0.0 + ], + [ + 0.0012723955273615806, + -0.003714667601079691, + 0.0038198672639862125, + 0.019880854116120283, + -0.02419713512935508, + 0.0029894890694120717, + 0.0 + ], + [ + 0.0020698764422532046, + -0.0034814557814365488, + 0.010293066311924705, + -0.015917055428488272, + -0.05099343701947896, + 0.0007670934532697243, + 0.0 + ], + [ + 0.002431846970526258, + -0.004216097651617207, + 0.01161736795893267, + -0.04262357123775865, + -0.010005081043459855, + -0.009779032142661298, + 0.0 + ], + [ + 0.00029741008104422484, + -0.009557680078432745, + 0.023246195576413244, + 0.00036053069980834514, + -0.05158946224087683, + -0.013931097508197184, + 0.0 + ], + [ + -0.004321799627501288, + -0.02261859944746758, + 0.02064937100225123, + 0.002140131027809271, + -0.04450110941814311, + -0.03104195707179524, + 0.0 + ], + [ + -0.006463704717068586, + -0.03911536878299662, + 0.005718438305263741, + -0.06268455149898984, + -0.020257877007534997, + -0.09916349655695665, + 0.0 + ], + [ + -0.010584030244396941, + -0.037191644694539325, + -0.006291460296044063, + -0.03248507341314487, + 0.03177047912137792, + -0.11183403778556064, + 0.0 + ], + [ + -0.0077465355163567895, + -0.03303089487577092, + -0.014209015624977832, + -0.03236141151349238, + 0.036493476601578895, + -0.1029945106560098, + 0.0 + ], + [ + -0.008517575295366009, + -0.019891068224310263, + -0.016815398629837365, + -0.008047417305583986, + 0.029746606115729282, + -0.04137800573460658, + 0.0 + ], + [ + -0.0020418014904487747, + -0.00857605778807552, + -0.020663419651839626, + 0.034065406195934664, + 0.02103568558102754, + -0.018670872418913808, + 0.0 + ], + [ + 0.0006673810407545888, + -0.0036300115667405597, + -0.012059219513685354, + 0.02954864778475133, + 0.010413543432028433, + -0.0041826679579800375, + 0.0 + ], + [ + 0.002687960881863044, + -0.0065093496003751534, + -0.010155252288620752, + 0.01664530198402485, + 0.012096458556318457, + -0.04355873033552437, + 0.0 + ], + [ + 0.0026941183402430513, + -0.0005246597704251753, + -0.007317858693315115, + 0.02619072013476606, + 0.0038697342392953016, + -0.012802748731805421, + 0.0 + ], + [ + 0.0024482792635755757, + 0.0031542476467670486, + -0.00016741937650396194, + -0.027763511904210194, + -0.006967470564746452, + 0.04110278152275552, + 0.0 + ], + [ + 0.0020131152775001437, + 0.0009143930145016112, + 0.0024126785727479026, + -0.012327333868145256, + 0.004911980063523281, + 0.022037920196198234, + 1.0 + ], + [ + 0.002126285015282836, + 0.0012573519937247347, + 0.0031360172490241187, + -0.0005379046348292547, + -0.00833942656944498, + -0.005176577802305121, + 1.0 + ], + [ + 0.004090035242451495, + 0.008680541823099738, + 0.010100645594429192, + -0.007548312810997316, + -0.03172092228607563, + 0.029024628326993315, + 1.0 + ], + [ + 0.0036137764131168038, + 0.006860758134370922, + 0.01717707734139025, + -0.007841590287982222, + -0.049145190106068666, + 0.01013678744220086, + 1.0 + ], + [ + 0.005050577754524915, + 0.007304351328889375, + 0.030245806574226333, + 0.004027972256294168, + -0.04411323905590886, + -0.015690994361481296, + 1.0 + ], + [ + 0.009917078441201488, + 0.00994458064169701, + 0.028548074149467022, + 0.016865682321993567, + -0.06921175045708265, + -0.0054978403893800746, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 300.81011962890625, + 130.21835327148438 + ], + [ + 300.8550109863281, + 137.55758666992188 + ], + [ + 287.63189697265625, + 146.71864318847656 + ], + [ + 251.2493896484375, + 143.32603454589844 + ], + [ + 208.13255310058594, + 147.4819793701172 + ], + [ + 164.848876953125, + 159.27542114257812 + ], + [ + 131.0324249267578, + 166.88638305664062 + ], + [ + 106.75312805175781, + 175.6139678955078 + ], + [ + 58.12841796875, + 182.8618621826172 + ], + [ + 54.186492919921875, + 204.992431640625 + ], + [ + 57.139732360839844, + 218.68759155273438 + ], + [ + 58.889404296875, + 230.08819580078125 + ], + [ + 70.96484375, + 238.11317443847656 + ], + [ + 76.62040710449219, + 242.72962951660156 + ], + [ + 83.97106170654297, + 244.2785186767578 + ], + [ + 87.35902404785156, + 243.09326171875 + ], + [ + 85.50331115722656, + 242.53829956054688 + ], + [ + 86.80879211425781, + 241.6861572265625 + ], + [ + 91.57780456542969, + 241.6231689453125 + ], + [ + 93.76981353759766, + 234.5325927734375 + ], + [ + 83.91705322265625, + 227.92770385742188 + ], + [ + 95.02071380615234, + 209.51864624023438 + ], + [ + 121.47267150878906, + 216.1483154296875 + ], + [ + 152.19317626953125, + 244.54403686523438 + ], + [ + 181.7344970703125, + 280.619873046875 + ], + [ + 202.43316650390625, + 317.97491455078125 + ], + [ + 217.61126708984375, + 347.3849792480469 + ], + [ + 227.73190307617188, + 358.7742919921875 + ], + [ + 235.1207733154297, + 365.614990234375 + ], + [ + 239.87197875976562, + 369.83795166015625 + ], + [ + 244.98391723632812, + 366.271240234375 + ], + [ + 244.28460693359375, + 371.8231201171875 + ], + [ + 244.27442932128906, + 374.8649597167969 + ], + [ + 230.64559936523438, + 357.38629150390625 + ], + [ + 223.572998046875, + 334.50701904296875 + ], + [ + 210.86622619628906, + 297.941650390625 + ], + [ + 201.01846313476562, + 262.5446472167969 + ], + [ + 208.21961975097656, + 249.88633728027344 + ], + [ + 208.0761260986328, + 250.34121704101562 + ], + [ + 207.85488891601562, + 250.14089965820312 + ], + [ + 207.72962951660156, + 250.65830993652344 + ] + ], + "depth_max": 1.3082005977630615, + "depth_min": 0.27174174785614014, + "intrinsic": [ + [ + 528.560791015625, + 0.0, + 259.0 + ], + [ + 0.0, + 528.8341674804688, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.265805910108611e-05, + -7.96230960986577e-06, + 1.0162892067455687e-05 + ], + [ + -4.2658452002797276e-05, + 1.0, + -4.898351107840426e-05, + -6.188464794831816e-06 + ], + [ + 7.960219591041096e-06, + 4.898385304841213e-05, + 1.0, + 1.4129223927739076e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 40 + ], + "object_trajectory": [ + [ + 77.25, + 213.25001525878906 + ], + [ + 77.48348999023438, + 213.53106689453125 + ], + [ + 77.3976058959961, + 213.43763732910156 + ], + [ + 77.59002685546875, + 213.56930541992188 + ], + [ + 77.58415985107422, + 213.49710083007812 + ], + [ + 77.83565521240234, + 213.5580291748047 + ], + [ + 78.30673217773438, + 213.193359375 + ], + [ + 78.33172607421875, + 213.3062286376953 + ], + [ + 77.91905212402344, + 213.7974853515625 + ], + [ + 78.02046966552734, + 214.03366088867188 + ], + [ + 78.33207702636719, + 214.33673095703125 + ], + [ + 79.0074462890625, + 214.62513732910156 + ], + [ + 79.76734924316406, + 214.74574279785156 + ], + [ + 80.3359375, + 214.83555603027344 + ], + [ + 81.38311767578125, + 214.74977111816406 + ], + [ + 83.17992401123047, + 213.9107666015625 + ], + [ + 92.31074523925781, + 210.09390258789062 + ], + [ + 93.82119750976562, + 210.37852478027344 + ], + [ + 105.42115783691406, + 214.0029754638672 + ], + [ + 114.31713104248047, + 217.42550659179688 + ], + [ + 115.52622985839844, + 203.7802276611328 + ], + [ + 120.6541748046875, + 204.96707153320312 + ], + [ + 153.84568786621094, + 210.6792449951172 + ], + [ + 188.75648498535156, + 228.25473022460938 + ], + [ + 220.29080200195312, + 261.5881042480469 + ], + [ + 243.72666931152344, + 294.1767578125 + ], + [ + 254.99752807617188, + 321.3691101074219 + ], + [ + 259.6669616699219, + 330.42578125 + ], + [ + 264.407470703125, + 324.8489685058594 + ], + [ + 270.56817626953125, + 321.7389831542969 + ], + [ + 266.7415466308594, + 313.9710693359375 + ], + [ + 278.87457275390625, + 318.38983154296875 + ], + [ + 275.96343994140625, + 318.9623107910156 + ], + [ + 276.111083984375, + 318.498291015625 + ], + [ + 267.1636047363281, + 334.7788391113281 + ], + [ + 263.9102478027344, + 333.80889892578125 + ], + [ + 262.0780029296875, + 333.891845703125 + ], + [ + 261.3732604980469, + 334.4952392578125 + ], + [ + 260.9986877441406, + 334.3126220703125 + ], + [ + 261.05706787109375, + 334.53594970703125 + ], + [ + 268.91815185546875, + 317.8783874511719 + ] + ] +} \ No newline at end of file diff --git a/005390_v2/lang.txt b/005390_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..307100e7ae1ab1846b0ad3e7310911a3d08005ca --- /dev/null +++ b/005390_v2/lang.txt @@ -0,0 +1 @@ +move the silver pot to the bottom right side of the stove diff --git a/005423_v2/FAIL b/005423_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/005423_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/005427_v2/data.json b/005427_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..bad8c00b642ba2ee83c24235e8c3b8e4f01da938 --- /dev/null +++ b/005427_v2/data.json @@ -0,0 +1,714 @@ +{ + "action_start": 12, + "action_end": 26, + "object_name": "green 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, + 0.6532359999999999, + 0.0, + 0.0, + 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, + 0.0, + 0.0, + 5.051645605635541e-07, + 2.4620857962617775e-07, + 3.628933802828034e-07, + 1.0 + ], + [ + 0.011810079519343875, + 0.019519329876282243, + 0.000430799979006663, + 0.03461426759305086, + 0.0011447601481554682, + 0.03903582888131321, + 1.0 + ], + [ + 0.010039860269505041, + 0.023036180200139034, + 0.0021389712549601814, + 0.00614717898443411, + -0.006835017613926041, + 0.048100761974812875, + 1.0 + ], + [ + 0.012692425834340826, + 0.03446001955062457, + -0.004853941698318397, + 0.003096157567755077, + 0.027095163667402247, + 0.06190002623963703, + 1.0 + ], + [ + 0.017151784146872573, + 0.03122435762245277, + -0.003383809273371001, + 0.020879891764528015, + 0.006217504526397987, + 0.054621848933781594, + 1.0 + ], + [ + 0.015075180354994833, + 0.02981444028684489, + -0.006889780338034793, + -0.01318059144949761, + 0.017597867635211886, + 0.08438669264651381, + 1.0 + ], + [ + 0.010590074727153898, + 0.021324946962901506, + -0.011098582591273748, + -0.0004381113044308014, + 0.015835215729358754, + 0.06101270806707518, + 1.0 + ], + [ + 0.009575338241660125, + 0.012292130859342734, + -0.009472622505027034, + 0.00861999198261448, + 0.010628925458664793, + 0.021486283722759205, + 1.0 + ], + [ + 0.006160128482897709, + 0.010151641305785775, + -0.0060778593696355285, + 0.01522144311943462, + 0.0012042167948444862, + 0.02217026240455338, + 1.0 + ], + [ + 0.0013729364433784363, + 0.00875779767899168, + -0.009819305782525063, + 0.00910789007209593, + 0.004847048510409305, + 0.032542542932871114, + 1.0 + ], + [ + 0.00042414696567405485, + -0.0024082803759974264, + -0.009724836811353301, + 0.0009858270657856672, + 0.012433631750582024, + -0.0017992894240805991, + 1.0 + ], + [ + -0.000688200532220018, + -0.0005901162611361421, + -0.007469197957305836, + 0.013589311846233533, + 0.02084278627855288, + -0.0027589808479236274, + 1.0 + ], + [ + -0.0018449051188751953, + 0.00037196781382367594, + -0.00736723896923715, + 0.017905306736638784, + 0.020309440404681463, + -0.03014377538652835, + 0.6532359999999999 + ], + [ + -0.0011051448541067876, + -0.0009329532844752908, + -0.002989024834446629, + 0.002007763973977213, + -0.002904708776163839, + 0.008079250716231253, + 0.0 + ], + [ + 0.00010746941509698349, + -0.003938649217503407, + 0.0058030868178340425, + -0.03744827848701686, + -0.020811223414595566, + 0.009324531572076702, + 0.0 + ], + [ + -0.002149180007910756, + -0.008357533966585562, + 0.0019781392082280844, + -0.025561804638930232, + -8.12065432350552e-05, + -0.0023182542456196874, + 0.0 + ], + [ + -0.005838506416636913, + -0.007045282825894353, + 0.017351098489732444, + -0.05727397772317934, + -0.046536641061526336, + 0.0330239413900044, + 0.0 + ], + [ + -0.009613695858333715, + -0.006452989036238491, + 0.02607167470003824, + -0.006422883605646018, + -0.017215098228303808, + 0.07225587765602007, + 0.0 + ], + [ + -0.0178058790595369, + -0.0012428221504719589, + 0.016989389673611723, + 0.009184947844498137, + -0.01652255994969731, + 0.14775733902512767, + 0.0 + ], + [ + -0.018698277487515125, + 0.0008567855935663338, + 0.007982042930329121, + 0.028067199483047013, + -0.017622053718266455, + 0.2536547757485463, + 0.0 + ], + [ + -0.011678785929821411, + -0.0005153458445410486, + -0.01253313809645723, + -0.012730482543806128, + 0.0007092004506869807, + 0.15388232686284645, + 0.0 + ], + [ + -0.01550512297627904, + 0.0029590788592022133, + -0.009576740531331403, + -0.016245158843200137, + -0.008210695459799354, + 0.13834771157079556, + 0.0 + ], + [ + -0.005026054789579626, + 0.00023019806722562874, + -0.018619453409175424, + -0.0063521587644857, + 0.0011395812145333132, + 0.08681440619752484, + 0.0 + ], + [ + -0.003224653611268169, + 0.003047661917478253, + -0.015563426829883723, + -0.027583226095349356, + 0.04318258924331223, + 0.02906620535231954, + 0.0 + ], + [ + 0.002189534459392961, + -0.0037816472336911072, + -0.012431737968873539, + 0.005255294707686016, + 0.052720371588243685, + -0.011987786523902103, + 0.0 + ], + [ + 0.002824037288536918, + -0.0009428040973103319, + -0.007979072137836898, + -0.00915494717785338, + 0.020862113689337613, + -0.014311567643367466, + 0.0 + ], + [ + -0.0007658614101660466, + 0.0007083615680556626, + -0.0032395818146839055, + -0.008798088129280268, + 0.020048213315152098, + -0.0059155656156600275, + 0.0 + ], + [ + 0.000254360724484759, + -0.00024316301225038583, + 0.0007622312494444984, + -0.018428851077273278, + 0.019531102167815777, + -0.0021942102314390453, + 1.0 + ], + [ + 0.00032591553251859473, + -0.0016845636148065044, + 0.003159583000516008, + 0.004860368528432709, + 0.004544038484289464, + 0.007047535551580978, + 1.0 + ], + [ + 0.0002949805914070902, + 0.0013722841530270091, + 0.0034868962177438036, + 0.007262567689075992, + -0.00026048401808109446, + -0.009697694513176935, + 1.0 + ], + [ + 0.005049482262507843, + -0.001723294648769351, + 0.018534435368114305, + 0.007707294356336933, + -0.05955846260397066, + -0.013133428192335608, + 1.0 + ], + [ + 0.006020369778699242, + -0.0011264303291137617, + 0.02911492122676912, + 0.05957465736720919, + -0.06997317505693819, + -0.045222133521167336, + 1.0 + ], + [ + 0.0001139857485709106, + 0.002248056319333183, + 0.029504901020474872, + 0.06075198548405982, + -0.02982891594263828, + 0.010098130860557622, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 448.0760498046875, + 277.32275390625 + ], + [ + 446.3793029785156, + 281.63409423828125 + ], + [ + 430.603515625, + 282.0013122558594 + ], + [ + 401.9239807128906, + 256.1141357421875 + ], + [ + 371.03363037109375, + 235.4996795654297 + ], + [ + 338.98431396484375, + 209.36032104492188 + ], + [ + 312.5752258300781, + 191.75595092773438 + ], + [ + 289.6792907714844, + 184.66969299316406 + ], + [ + 281.6471862792969, + 185.10678100585938 + ], + [ + 277.403564453125, + 185.71310424804688 + ], + [ + 270.0968322753906, + 187.427490234375 + ], + [ + 266.8120422363281, + 194.08731079101562 + ], + [ + 265.1600341796875, + 200.67141723632812 + ], + [ + 262.7423095703125, + 206.08087158203125 + ], + [ + 265.0103759765625, + 208.84225463867188 + ], + [ + 265.53765869140625, + 209.9082794189453 + ], + [ + 269.4462890625, + 212.41445922851562 + ], + [ + 276.47088623046875, + 220.6217041015625 + ], + [ + 274.3127746582031, + 201.0833740234375 + ], + [ + 260.79864501953125, + 191.0311279296875 + ], + [ + 252.62017822265625, + 192.51239013671875 + ], + [ + 245.93492126464844, + 214.27255249023438 + ], + [ + 240.44406127929688, + 242.42999267578125 + ], + [ + 235.1184539794922, + 250.051513671875 + ], + [ + 235.39810180664062, + 267.93951416015625 + ], + [ + 231.80886840820312, + 282.8047790527344 + ], + [ + 238.99053955078125, + 287.3471984863281 + ], + [ + 241.00363159179688, + 288.68914794921875 + ], + [ + 242.63046264648438, + 288.69580078125 + ], + [ + 240.73631286621094, + 290.525146484375 + ], + [ + 239.40548706054688, + 290.00048828125 + ], + [ + 238.75936889648438, + 275.4296569824219 + ], + [ + 246.45455932617188, + 238.93206787109375 + ], + [ + 239.2989501953125, + 218.96978759765625 + ], + [ + 236.44100952148438, + 207.3538055419922 + ], + [ + 236.13079833984375, + 208.3357391357422 + ] + ], + "depth_max": 1.4272211790084839, + "depth_min": 0.3990055322647095, + "intrinsic": [ + [ + 520.8826904296875, + 0.0, + 259.0 + ], + [ + 0.0, + 521.435302734375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -7.175957762228791e-06, + 2.5761444703675807e-05, + -7.430902769556269e-06 + ], + [ + 7.177750376285985e-06, + 1.0, + -6.958964513614774e-05, + 9.749633136379998e-06 + ], + [ + -2.5760946300579235e-05, + 6.95898343110457e-05, + 1.0, + 2.7145590138388798e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 35 + ], + "object_trajectory": [ + [ + 263.25, + 204.5 + ], + [ + 263.6484680175781, + 204.83612060546875 + ], + [ + 263.61602783203125, + 204.86106872558594 + ], + [ + 263.5072021484375, + 204.9584503173828 + ], + [ + 263.4920349121094, + 204.9625701904297 + ], + [ + 263.6560974121094, + 204.88226318359375 + ], + [ + 263.7709045410156, + 204.9861602783203 + ], + [ + 263.7599182128906, + 204.75759887695312 + ], + [ + 263.6438293457031, + 204.84970092773438 + ], + [ + 264.0408935546875, + 204.71624755859375 + ], + [ + 264.6072998046875, + 204.45889282226562 + ], + [ + 264.6029052734375, + 204.81661987304688 + ], + [ + 264.6965026855469, + 204.69090270996094 + ], + [ + 264.79010009765625, + 204.97109985351562 + ], + [ + 270.39141845703125, + 205.2496337890625 + ], + [ + 272.1300048828125, + 206.7843475341797 + ], + [ + 275.6665344238281, + 208.92718505859375 + ], + [ + 282.1280822753906, + 217.5419158935547 + ], + [ + 280.33917236328125, + 199.05323791503906 + ], + [ + 268.093994140625, + 189.41590881347656 + ], + [ + 257.9905090332031, + 189.84034729003906 + ], + [ + 248.53785705566406, + 209.8204345703125 + ], + [ + 240.5493621826172, + 237.1392822265625 + ], + [ + 235.31507873535156, + 244.9528350830078 + ], + [ + 236.62750244140625, + 263.58111572265625 + ], + [ + 233.79612731933594, + 279.6768493652344 + ], + [ + 239.2341766357422, + 284.3413391113281 + ], + [ + 240.39010620117188, + 286.76910400390625 + ], + [ + 239.32289123535156, + 290.464599609375 + ], + [ + 229.86631774902344, + 298.3876647949219 + ], + [ + 232.03469848632812, + 297.1207275390625 + ], + [ + 228.8433837890625, + 297.5662841796875 + ], + [ + 227.50830078125, + 297.0965576171875 + ], + [ + 228.23516845703125, + 296.76922607421875 + ], + [ + 226.8202362060547, + 297.359130859375 + ], + [ + 227.76043701171875, + 296.5464172363281 + ] + ] +} \ No newline at end of file diff --git a/005427_v2/lang.txt b/005427_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..aebcaffbfb3acf31e5027f5f493849a2f2628351 --- /dev/null +++ b/005427_v2/lang.txt @@ -0,0 +1 @@ +move green spatula to the bottom left of the burner diff --git a/005427_v2/object.ply b/005427_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..4f1032a8f929697488068ca09475c1e03d0e439d Binary files /dev/null and b/005427_v2/object.ply differ diff --git a/005458/FAIL b/005458/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..aaf6c42c619234f9c8379cbcf60a65cd17ba1254 --- /dev/null +++ b/005458/FAIL @@ -0,0 +1 @@ +Too large intersection between gripper and object mask diff --git a/005458_v2/FAIL b/005458_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/005458_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/005460_v2/data.json b/005460_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..66e6afdc1cbd1daba8597f428f1cbf756461df2f --- /dev/null +++ b/005460_v2/data.json @@ -0,0 +1,659 @@ +{ + "action_start": 9, + "action_end": 22, + "object_name": "monkey doll", + "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, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -9.044681670289378e-12, + 3.7335823321882344e-10, + 4.427178207366822e-10, + -8.284160109602855e-07, + -6.57240473893616e-08, + -2.1728315669626496e-07, + 1.0 + ], + [ + -0.014946557100799479, + 0.0043405165810989355, + -0.005107695253658284, + -0.002909451956594584, + 0.026531707289044453, + 0.005932375085304603, + 1.0 + ], + [ + -0.009638859858515869, + 0.0017741254614705437, + -0.01325191444780574, + 0.05462946026764817, + 0.02308965006068948, + -0.008394656681806395, + 1.0 + ], + [ + -0.009339921922022348, + 0.00486613688418594, + -0.01426589057534923, + 0.042237425679560396, + 0.027677305033061515, + 0.012070655382205985, + 1.0 + ], + [ + 0.0027739902740004097, + 0.005137334562227869, + -0.0239965510949523, + 0.06558178229180936, + 0.040934301255949566, + 0.004012933268927765, + 1.0 + ], + [ + 0.008810075771760795, + -0.00041660207817656447, + -0.013511163959059547, + 0.01770407562295557, + 0.028987279858960047, + 0.006655001911314664, + 1.0 + ], + [ + 0.008206957371538148, + -0.0008973039638703884, + -0.00641162223201118, + 0.0019400972958313028, + 0.026114425176329115, + 0.018567750857852672, + 1.0 + ], + [ + 0.006699758618147839, + 0.0022310328077549957, + -0.002259689161612749, + -0.03374680078364077, + 0.0044961210336637745, + 0.020181458319299315, + 1.0 + ], + [ + 0.00631759931143791, + 0.004663328560985891, + 0.001496857686470194, + -0.12418158351033534, + 0.05530022774361808, + 0.008678687185500866, + 1.0 + ], + [ + -0.0011553670669888216, + 0.0017515828220352747, + -0.0008369677625739494, + -0.12309047713319356, + 0.03130956800511829, + -0.010396448670063787, + 1.0 + ], + [ + -0.005427584132860236, + 0.0033365561130327126, + -0.0010764121476072724, + -0.08259735236852904, + 0.012560574804758695, + 0.002110200851157177, + 0.0 + ], + [ + -0.004206826755546511, + 0.0006612835876085577, + -0.0027975607536852402, + -0.009827807277335494, + 0.003632940470732765, + -0.011877698893729069, + 0.0 + ], + [ + -0.006248767362186769, + -0.0031025616547585844, + -0.0017071373520540362, + 0.005496405187708688, + 0.0024521451317956566, + -0.02722994497403536, + 0.0 + ], + [ + -0.0061771543919736105, + -0.009674785769481331, + 0.004199624133650069, + 0.019153448471308957, + -0.046922053891817334, + -0.04024481130835404, + 0.0 + ], + [ + -0.004039370639691314, + -0.022025663475104457, + 0.02156617146650976, + 0.010405157506356658, + -0.06699499394421966, + -0.03732972183058095, + 0.0 + ], + [ + 0.0006799311970840938, + -0.029292630896019772, + 0.03115699657419467, + -0.03205457221557958, + -0.09047391573271311, + 0.08783085828919802, + 0.0 + ], + [ + -0.001164929443180529, + -0.041295748720766995, + 0.012212106465485643, + -0.04961718927100273, + 0.023028606498006685, + 0.04921386364255828, + 0.0 + ], + [ + 0.0031184287864810534, + -0.04075836744338658, + -0.0006060549581001703, + -0.006412873573372883, + 0.02571682946407359, + 0.00807716308464853, + 0.0 + ], + [ + 0.007067159524848071, + -0.04332373784763563, + -0.014608575459469413, + 0.004332434069848365, + 0.03946080111332748, + -0.040976103975463155, + 0.0 + ], + [ + 0.010701275682521771, + -0.04678345590244323, + -0.01684780389390922, + 0.019983248290732378, + 0.007646965996234106, + -0.08434303639065811, + 0.0 + ], + [ + 0.006963131526064925, + -0.029053879833352936, + -0.013254386865272916, + 0.0007439917337022186, + 0.0024272216469655443, + -0.09513668054923628, + 0.0 + ], + [ + 0.0020799992567194225, + -0.004734797521919416, + -0.013840411156328072, + 0.010451258240067247, + 0.010842198111369107, + -0.023719585536847578, + 0.0 + ], + [ + -0.0032285552717127297, + 0.004237703230727724, + -0.010127623596126852, + 0.013633255200943975, + -0.01886327351818949, + 0.015298556076796857, + 0.0 + ], + [ + -0.00016113477421900169, + 0.00661786225120381, + -0.005254064860747601, + 0.018538789000446042, + -0.016833173308587586, + 0.0006450850649352909, + 1.0 + ], + [ + 0.0004917874104338471, + 0.001556858977711191, + 0.006299985405078829, + -0.008488529264644686, + -0.02347896863410813, + -0.0006629015819200423, + 1.0 + ], + [ + 0.0050380747570663575, + 0.005645162906587245, + 0.010791811528621801, + -0.028798979335788403, + -0.01167350982422278, + 0.020844705080239057, + 1.0 + ], + [ + 0.004605912957223374, + 0.00022411974126599482, + 0.012461428107913614, + -0.01850091940715193, + -0.02013066005802009, + -0.004959742203027853, + 1.0 + ], + [ + 0.004519939017508107, + 0.0021176979362222473, + 0.024455547981227364, + -0.03907954568496292, + -0.032167744363606345, + -0.014411342654866051, + 1.0 + ], + [ + 0.0028072051321265945, + 0.004482262771678541, + 0.03429835796166451, + -0.036569840433737705, + -0.05754483167019125, + -0.00038470999387907383, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 48.63188552856445, + 155.42037963867188 + ], + [ + 48.55881118774414, + 156.46084594726562 + ], + [ + 50.395652770996094, + 180.05760192871094 + ], + [ + 39.52652359008789, + 205.81089782714844 + ], + [ + 30.976821899414062, + 225.3076171875 + ], + [ + 28.20208168029785, + 226.21011352539062 + ], + [ + 38.9746208190918, + 262.27166748046875 + ], + [ + 48.96327590942383, + 263.6630859375 + ], + [ + 55.297508239746094, + 258.61895751953125 + ], + [ + 61.46942901611328, + 246.98019409179688 + ], + [ + 63.0728645324707, + 241.1571502685547 + ], + [ + 60.393089294433594, + 237.18234252929688 + ], + [ + 55.55205535888672, + 238.68026733398438 + ], + [ + 57.28865432739258, + 247.3376922607422 + ], + [ + 56.72282409667969, + 254.31582641601562 + ], + [ + 58.02550506591797, + 270.4124450683594 + ], + [ + 64.02217864990234, + 246.40744018554688 + ], + [ + 93.69920349121094, + 236.91578674316406 + ], + [ + 148.5595245361328, + 249.4490509033203 + ], + [ + 214.45162963867188, + 276.9449768066406 + ], + [ + 284.97442626953125, + 317.5455322265625 + ], + [ + 337.00531005859375, + 351.7728576660156 + ], + [ + 362.0201110839844, + 372.853271484375 + ], + [ + 359.306884765625, + 375.18743896484375 + ], + [ + 354.0268859863281, + 383.3696594238281 + ], + [ + 346.27294921875, + 386.6271667480469 + ], + [ + 338.18701171875, + 376.2191467285156 + ], + [ + 338.318603515625, + 360.44683837890625 + ], + [ + 336.913330078125, + 331.3999328613281 + ], + [ + 332.0323486328125, + 291.1934509277344 + ], + [ + 325.07476806640625, + 269.1357116699219 + ], + [ + 324.9093933105469, + 268.8910827636719 + ], + [ + 325.7435302734375, + 268.9846496582031 + ] + ], + "depth_max": 1.2830243110656738, + "depth_min": 0.14004214107990265, + "intrinsic": [ + [ + 518.2992553710938, + 0.0, + 259.0 + ], + [ + 0.0, + 518.0567626953125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.0593164158053696e-05, + -3.8155634683789685e-05, + 2.1760304662166163e-05 + ], + [ + -4.059363709529862e-05, + 1.0, + -1.235394120158162e-05, + 8.708715313332505e-07 + ], + [ + 3.815513264271431e-05, + 1.2355489161564037e-05, + 1.0, + -1.765655179042369e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 32 + ], + "object_trajectory": [ + [ + 71.25, + 252.75 + ], + [ + 71.77498626708984, + 252.98828125 + ], + [ + 71.68370056152344, + 253.0298309326172 + ], + [ + 71.62358856201172, + 252.9334716796875 + ], + [ + 71.61468505859375, + 252.99972534179688 + ], + [ + 71.66973114013672, + 253.05953979492188 + ], + [ + 68.55418395996094, + 256.6332702636719 + ], + [ + 67.61021423339844, + 254.50303649902344 + ], + [ + 67.98503112792969, + 251.2481689453125 + ], + [ + 72.87217712402344, + 240.62454223632812 + ], + [ + 75.16191864013672, + 236.739501953125 + ], + [ + 74.1344223022461, + 241.97744750976562 + ], + [ + 68.76651763916016, + 250.2303009033203 + ], + [ + 66.60177612304688, + 257.5854797363281 + ], + [ + 64.32032012939453, + 263.1593322753906 + ], + [ + 73.0738525390625, + 286.10675048828125 + ], + [ + 89.84912109375, + 267.851318359375 + ], + [ + 120.06608581542969, + 263.83935546875 + ], + [ + 164.6983642578125, + 279.10101318359375 + ], + [ + 222.27679443359375, + 302.79656982421875 + ], + [ + 267.1842956542969, + 338.86517333984375 + ], + [ + 305.96044921875, + 367.91802978515625 + ], + [ + 329.00042724609375, + 387.0267333984375 + ], + [ + 327.6264953613281, + 388.2242126464844 + ], + [ + 328.0008544921875, + 390.50146484375 + ], + [ + 334.5249328613281, + 380.6707458496094 + ], + [ + 336.20184326171875, + 370.6924743652344 + ], + [ + 341.86492919921875, + 383.11566162109375 + ], + [ + 342.0294494628906, + 385.8121032714844 + ], + [ + 339.71551513671875, + 386.6575012207031 + ], + [ + 339.7055969238281, + 386.533203125 + ], + [ + 339.9828186035156, + 386.6540222167969 + ], + [ + 339.74700927734375, + 386.5693359375 + ] + ] +} \ No newline at end of file diff --git a/005460_v2/lang.txt b/005460_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..5118099549f3e33849ab6cf8f467c316137b0834 --- /dev/null +++ b/005460_v2/lang.txt @@ -0,0 +1 @@ +put the monkey doll at the bottom right corner of the stove diff --git a/005460_v2/object.ply b/005460_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..1d131240693236675f0de5537145e75c4aa35ea1 Binary files /dev/null and b/005460_v2/object.ply differ diff --git a/005467/data.json b/005467/data.json new file mode 100644 index 0000000000000000000000000000000000000000..3c4a15741279059cd5fbd8cbd3ce0d339348b8fb --- /dev/null +++ b/005467/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 18, + "action_end": 32, + "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, + 1.0, + 1.0, + 0.41685000000000005, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.874725, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 5.551115123125783e-17, + -1.734723475976807e-18, + 1.3877787807814457e-17, + 2.8691203009173004e-07, + -2.079551045252134e-07, + -1.992481959101711e-07, + 1.0 + ], + [ + -0.009689469535725304, + 0.005371858610715527, + 0.018865627387958606, + -0.021297797918277225, + -0.014229168274547888, + 0.07080177861717872, + 1.0 + ], + [ + -0.005775142762359409, + 0.012307427792079273, + 0.015083931393953628, + -0.012518994418895256, + -0.03632863110530011, + 0.126397913120196, + 1.0 + ], + [ + -0.0013724761422950205, + 0.020550841763350036, + 0.00442121022748071, + -0.015736031461450434, + -0.04708384157232684, + 0.22902453287430855, + 1.0 + ], + [ + -0.0005458060295664424, + 0.02494086928439815, + -0.001944664680046948, + 0.061067782147438125, + -0.05604101409801012, + 0.1902036951786786, + 1.0 + ], + [ + 0.006016427924008028, + 0.022462039594103853, + -0.0028654933472265776, + -0.06468999146015857, + -0.05493633022108969, + 0.2661808937392791, + 1.0 + ], + [ + 0.006382001125928793, + 0.014997244768629764, + -0.009899381066427113, + -0.0396239397030828, + -0.0034843456887327165, + 0.20599324742953312, + 1.0 + ], + [ + 0.010514918361485381, + 0.011427677338022052, + -0.010745802218686235, + -0.0731258618604755, + -0.0778547508045342, + 0.2246839066992577, + 1.0 + ], + [ + 0.0103348598581528, + 0.004019847664506276, + -0.0077013512612232465, + -0.08058481131482123, + 0.021773065137535415, + 0.11365667242547205, + 1.0 + ], + [ + 0.006089887338516287, + -0.0003530588685054792, + -0.0008684867497442406, + -0.03786398189706523, + -0.013965332701234413, + 0.05117383574212391, + 1.0 + ], + [ + 0.005711530404916065, + -0.0013793938296619568, + -0.0006811322251210478, + -0.015121580209420074, + 0.006561635657096209, + 0.01077968595800258, + 1.0 + ], + [ + 0.00866884520222655, + 0.005896413416263208, + -0.005346348925985095, + -0.011980305465912796, + 0.014397923732385558, + 0.016895772271563102, + 1.0 + ], + [ + 0.008145254543660163, + 0.0019778626750962813, + -0.01399795862775273, + -0.027338996263385346, + 0.04932979816144332, + -0.012710179507266413, + 1.0 + ], + [ + 0.0027703417908246375, + -0.0064526427150703725, + -0.020940730612743486, + 0.01691906328966333, + 0.04130229592383725, + -0.04321769811945843, + 1.0 + ], + [ + 0.002945007508114772, + -0.0014585542529413353, + -0.0076323599382466245, + -0.0012930532072905562, + 0.019460251239073367, + -0.0055801217093290915, + 1.0 + ], + [ + 0.0008427960110999888, + -0.0008097984834970484, + -0.006756566016834567, + 0.005402699584887136, + 0.007830224641128203, + -0.006777666818134494, + 1.0 + ], + [ + -0.000394364926658064, + -0.0014631554187661544, + -0.009500411924584222, + 0.009220888002223517, + 0.018381779761611143, + -0.011768443561836109, + 1.0 + ], + [ + -0.0019628473090059773, + -0.00015127973084536062, + -0.005057756980196171, + 0.007998102144403798, + 0.010254651338249585, + -0.011958588217980456, + 1.0 + ], + [ + -0.0011819504530896086, + 0.0021000012988477423, + -0.0012022495047899137, + 0.025159378490726192, + -0.000390874282243348, + -0.0015200437011257029, + 0.41685000000000005 + ], + [ + -0.0006619628434033076, + 0.0037533744790501644, + 0.0029359991450693713, + 0.00966906452806158, + -0.004897993733485719, + 0.012807753249631789, + 0.0 + ], + [ + 0.0007569447798287943, + 0.0021559881174830764, + 0.011766302284384272, + 0.01833172669629111, + -0.02320993053884837, + 0.014822022318491272, + 0.0 + ], + [ + 0.000916448200517006, + 0.002618591186745317, + 0.018706754091817913, + 0.03481499577491723, + -0.04547926050851913, + 0.025928174987342883, + 0.0 + ], + [ + -0.0005853607017062834, + -0.003926706150285314, + 0.026379379967554968, + -0.018441900626364967, + -0.03560269495559315, + -0.014463981190257394, + 0.0 + ], + [ + -0.002443391929031591, + -0.01030819916644804, + 0.021333920020211866, + -0.02116188158420427, + -0.03095042171258766, + -0.021278437114114562, + 0.0 + ], + [ + -0.028935208140116797, + -0.03584881918633451, + 0.007339692663291195, + -0.05732423862611769, + 0.011670147709937106, + -0.14596772357571003, + 0.0 + ], + [ + -0.03174530430893174, + -0.02433557794704594, + -0.007078995820462633, + 0.0029162141453393906, + 0.01481537738708795, + -0.1157633942221683, + 0.0 + ], + [ + -0.028678394017952302, + -0.011817112551299268, + -0.017254007904565466, + 0.004562303736600074, + 0.04196492095882721, + -0.09586564488397543, + 0.0 + ], + [ + -0.009031768360113879, + 0.00029818109505232865, + -0.02436218872496379, + 0.015783864211375506, + 0.06858840684962446, + -0.08411586721831638, + 0.0 + ], + [ + -0.01092206250654007, + 0.002951666525778898, + -0.023888647482323624, + 0.03525462988790297, + 0.009101100012399332, + -0.12159985358371452, + 0.0 + ], + [ + -0.006047505148681687, + 0.0031185092819926777, + -0.01980709365521962, + 0.031226293138937582, + 0.020970158876405527, + -0.042529582425209655, + 0.0 + ], + [ + -0.00460476074511787, + 0.001645873967581979, + -0.01091056336611046, + 0.02442158029730237, + 0.004551889667742808, + -0.021291915996040845, + 0.0 + ], + [ + 0.0009027528218064629, + 0.001314364991919545, + -0.0032721160223951745, + 0.008290781587663333, + 0.003028675495520751, + 0.0052499525905584585, + 0.0 + ], + [ + 0.00301998174459997, + 0.0028116218209185, + 0.000718188759704242, + 0.013384112797249196, + 0.016788452921461295, + 0.013096392109804816, + 0.874725 + ], + [ + 0.004087915902429268, + 0.0022952213088788115, + 0.011193934385303372, + -0.012479014268692124, + -0.039267502576540166, + 0.032997386861117174, + 1.0 + ], + [ + 0.0056548026078718505, + 0.0006903265168864692, + 0.027237186340679814, + -0.011272237517107021, + -0.0775831483113579, + 0.049667957611125885, + 1.0 + ], + [ + 0.004197405828337969, + -0.0025923007169471463, + 0.037643108073736095, + -0.05011584226535186, + -0.04541423198022507, + 0.02620910868453626, + 1.0 + ], + [ + 0.007410139949356437, + 0.005568128906192349, + 0.02820347426300658, + -0.04133999385876412, + -0.0030915704331119388, + 0.03565673333734866, + 1.0 + ], + [ + 0.010210935567766893, + 0.006402468471784745, + 0.018915988817939336, + 0.0030601638302985355, + 0.021524930608850072, + -0.06225038758450024, + 1.0 + ] + ], + "gripper_centers": [ + [ + 314.6282653808594, + 108.3332290649414 + ], + [ + 314.26373291015625, + 113.06623077392578 + ], + [ + 311.2774353027344, + 121.32980346679688 + ], + [ + 292.46258544921875, + 96.00215911865234 + ], + [ + 261.0643310546875, + 82.76539611816406 + ], + [ + 221.1628875732422, + 77.65869140625 + ], + [ + 206.498291015625, + 70.03600311279297 + ], + [ + 172.58810424804688, + 72.00147247314453 + ], + [ + 167.94915771484375, + 77.73710632324219 + ], + [ + 181.932861328125, + 84.15499877929688 + ], + [ + 176.9462127685547, + 77.93159484863281 + ], + [ + 178.90472412109375, + 76.32679748535156 + ], + [ + 186.10720825195312, + 76.01927947998047 + ], + [ + 192.20416259765625, + 82.1283950805664 + ], + [ + 193.9468231201172, + 102.9769287109375 + ], + [ + 213.70095825195312, + 115.78565979003906 + ], + [ + 223.59588623046875, + 123.61368560791016 + ], + [ + 216.1634521484375, + 131.72837829589844 + ], + [ + 212.81857299804688, + 132.24066162109375 + ], + [ + 212.974853515625, + 133.70724487304688 + ], + [ + 212.61203002929688, + 133.79476928710938 + ], + [ + 212.87998962402344, + 134.09115600585938 + ], + [ + 175.2366943359375, + 113.9648666381836 + ], + [ + 201.54873657226562, + 91.35618591308594 + ], + [ + 209.92202758789062, + 74.83358001708984 + ], + [ + 201.94448852539062, + 71.38414764404297 + ], + [ + 220.519775390625, + 103.30189514160156 + ], + [ + 219.33139038085938, + 153.69937133789062 + ], + [ + 197.97174072265625, + 188.53778076171875 + ], + [ + 198.54852294921875, + 231.07110595703125 + ], + [ + 192.81765747070312, + 260.94757080078125 + ], + [ + 187.47230529785156, + 276.6530456542969 + ], + [ + 186.98179626464844, + 279.7527160644531 + ], + [ + 186.54501342773438, + 280.2008056640625 + ], + [ + 190.63023376464844, + 276.867919921875 + ], + [ + 183.32232666015625, + 249.67010498046875 + ], + [ + 177.94564819335938, + 203.06253051757812 + ], + [ + 174.73516845703125, + 153.98931884765625 + ] + ], + "depth_max": 2.79982852935791, + "depth_min": 0.33658912777900696, + "intrinsic": [ + [ + 562.9992065429688, + 0.0, + 259.0 + ], + [ + 0.0, + 563.1405639648438, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.5036438677925617e-05, + -7.107828878361033e-06, + 1.1128940968774259e-05 + ], + [ + -4.5036751544103026e-05, + 1.0, + -4.39056457253173e-05, + -1.668381446506828e-05 + ], + [ + 7.105851636879379e-06, + 4.3905965867452323e-05, + 1.0, + 1.607455124030821e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 219.25, + 148.75 + ], + [ + 219.6572265625, + 148.96629333496094 + ], + [ + 219.55813598632812, + 149.00125122070312 + ], + [ + 219.54092407226562, + 148.96377563476562 + ], + [ + 219.54083251953125, + 149.09381103515625 + ], + [ + 219.6634521484375, + 148.98670959472656 + ], + [ + 219.55838012695312, + 149.07095336914062 + ], + [ + 219.64089965820312, + 148.935546875 + ], + [ + 219.7737274169922, + 149.041015625 + ], + [ + 219.78350830078125, + 148.89344787597656 + ], + [ + 220.14630126953125, + 149.00244140625 + ], + [ + 220.11219787597656, + 149.00355529785156 + ], + [ + 219.75086975097656, + 148.95216369628906 + ], + [ + 219.59275817871094, + 149.0618438720703 + ], + [ + 219.9166717529297, + 148.8867645263672 + ], + [ + 220.25747680664062, + 148.6868896484375 + ], + [ + 220.83753967285156, + 148.51918029785156 + ], + [ + 220.3641815185547, + 149.73284912109375 + ], + [ + 220.15560913085938, + 150.80453491210938 + ], + [ + 219.34625244140625, + 152.44418334960938 + ], + [ + 217.94931030273438, + 153.83111572265625 + ], + [ + 218.163818359375, + 153.5783233642578 + ], + [ + 216.59555053710938, + 148.63328552246094 + ], + [ + 215.52964782714844, + 125.6718978881836 + ], + [ + 219.9621124267578, + 103.68668365478516 + ], + [ + 221.31842041015625, + 107.2737045288086 + ], + [ + 232.130126953125, + 137.95541381835938 + ], + [ + 224.8065185546875, + 186.1104736328125 + ], + [ + 203.0000457763672, + 211.6455535888672 + ], + [ + 197.58128356933594, + 256.08099365234375 + ], + [ + 189.40843200683594, + 283.4446105957031 + ], + [ + 183.94496154785156, + 294.2203063964844 + ], + [ + 182.29747009277344, + 295.34796142578125 + ], + [ + 180.79229736328125, + 295.215087890625 + ], + [ + 180.15443420410156, + 294.2014465332031 + ], + [ + 179.12054443359375, + 295.250244140625 + ], + [ + 176.77294921875, + 294.34576416015625 + ], + [ + 175.99208068847656, + 291.60235595703125 + ] + ] +} \ No newline at end of file diff --git a/005467/lang.txt b/005467/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..bdbf9938a87b593324b7f7ad19f55f2c28d21d36 --- /dev/null +++ b/005467/lang.txt @@ -0,0 +1 @@ +take sushi out of pot cardboard fence diff --git a/005467/object.ply b/005467/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..72eb14d949d78390a67630f664cc6e4b5d2690c0 Binary files /dev/null and b/005467/object.ply differ diff --git a/005505_v2/data.json b/005505_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..eb76e73f9e33347a1ac8b473efff49ceb5853734 --- /dev/null +++ b/005505_v2/data.json @@ -0,0 +1,604 @@ +{ + "action_start": 8, + "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, + 0.0, + 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": [ + [ + 4.9176773764258996e-11, + 5.512024170428731e-11, + -4.7015558113372435e-11, + -1.465407930826113e-07, + -2.25315038059851e-07, + -3.455259583971358e-07, + 1.0 + ], + [ + 0.0006751587561714678, + -0.02665087427681076, + -0.00023773946826741166, + 0.014135944288835776, + -0.00672681916529886, + -0.06623212835598367, + 1.0 + ], + [ + 0.0005265523004772121, + -0.029420492031870596, + 0.00046970388437425625, + -0.04671730643284762, + -0.03191117601638071, + -0.04592390364392556, + 1.0 + ], + [ + -0.0048319128512116505, + -0.03551717497288037, + 0.00239495454811621, + -0.017104602197950017, + -0.0475208286173606, + -0.04452357525686514, + 1.0 + ], + [ + -0.005515164931333971, + -0.042813043687320876, + -0.007966942985551242, + -0.026427203167099074, + -0.012514381602876504, + -0.08809441379717452, + 1.0 + ], + [ + -0.001874209565956353, + -0.04057015441157484, + -0.015942995438195467, + -0.046850652595552454, + 0.041050777004789735, + -0.07138542163880267, + 1.0 + ], + [ + 0.0011005865573924245, + -0.03030879417814321, + -0.0189245982300746, + -0.02477881658916508, + 0.043348351181172556, + -0.08029593908368018, + 1.0 + ], + [ + 0.002801867228580779, + -0.009540154222141654, + -0.01780014251841376, + 0.02871533584651282, + 0.057298486152386176, + -0.0213751379446155, + 1.0 + ], + [ + 0.0011221448392363387, + 7.72106728862687e-05, + -0.009601109218402536, + -0.007560049822408482, + 0.031039267960233017, + 0.010028455960831031, + 1.0 + ], + [ + 0.0033554668215206584, + -0.0010274256452388608, + -0.008414556609669967, + -0.008499793684843496, + 0.02030644802370895, + -0.020594825399246272, + 0.0 + ], + [ + 0.0008929320673986552, + 0.002684826650651076, + 0.002532265291179156, + -0.00489610150768258, + -0.00591242680654886, + 0.002675877533317965, + 0.0 + ], + [ + 0.000934516434834165, + 0.0076356648501321595, + 0.013590115121627933, + 0.011214507450451624, + -0.025763488092078204, + -0.010988714591190994, + 0.0 + ], + [ + 0.010407316730134064, + 0.0070367710602765865, + 0.01764667380375159, + -0.010024628148768682, + -0.003907777325144215, + -0.08656776168440426, + 0.0 + ], + [ + 0.024600335286373953, + 0.016295168021393067, + 0.02412689263441687, + 0.00811593326107314, + -0.039870946515061866, + -0.05742858851075432, + 0.0 + ], + [ + 0.028396524761864717, + 0.0068118596869839315, + 0.010371347142205965, + 0.012195962181204069, + 0.003152018590529581, + -0.09402816247163666, + 0.0 + ], + [ + 0.030687524752896322, + 0.004560737169983259, + 0.00736230322354689, + 0.01798179526762357, + -0.008376509047040456, + -0.09188311661555684, + 0.0 + ], + [ + 0.02479157384763031, + -0.001464504505540934, + -0.0052859327448801785, + 0.025664117410920992, + 0.017844887319546244, + -0.10560370356023693, + 0.0 + ], + [ + 0.014452044729207802, + -0.0014264789298385622, + -0.015872465327438343, + 0.021941168790459868, + 0.021759364781076238, + -0.13948420957611132, + 0.0 + ], + [ + 0.008237124568037324, + -0.004752387554003465, + -0.013520484562719662, + -0.009822146888917723, + -0.00772894219635048, + -0.09732906491197925, + 0.0 + ], + [ + 0.004007397707493421, + -0.003199799395734254, + -0.009916428222335176, + -0.004807787640494906, + 0.010453903861140824, + -0.05872506019615476, + 0.0 + ], + [ + 0.0008287491751291509, + -0.0014907065682396303, + -0.008500780393806903, + 0.020736364703444202, + 0.009028935364523412, + -0.038004027846839906, + 0.0 + ], + [ + -0.002263853650137815, + 0.0013923848801110292, + 0.0031671744128180697, + 0.025181285560738367, + 0.016634491548223124, + 0.028595624545393637, + 1.0 + ], + [ + -0.0012736718713271533, + 4.656642530779381e-05, + 0.00475047923795777, + -0.016109035348267402, + -0.006758177876149688, + 0.014444554515296684, + 1.0 + ], + [ + -0.0011089022646972313, + 0.003625059649377489, + 0.012984678891569682, + -0.010177501046711048, + -0.02118079466800288, + 0.02326017000574421, + 1.0 + ], + [ + -0.0005699016210894414, + 0.004972334975860748, + 0.021789775939490223, + -0.017670549834099027, + -0.0524257258371164, + 0.023631290085625884, + 1.0 + ], + [ + -0.004467697992855846, + 0.005719921803067289, + 0.024434357965895402, + -0.007508991036061874, + -0.059011885433897356, + -0.010339728297785487, + 1.0 + ], + [ + -0.006755077953292166, + 0.005730576562001932, + 0.017865700487038602, + 0.027366068091886717, + -0.05178637883313296, + -0.032404783291343116, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 174.35769653320312, + 105.78130340576172 + ], + [ + 175.0126953125, + 110.27163696289062 + ], + [ + 186.69366455078125, + 136.34019470214844 + ], + [ + 230.92144775390625, + 146.86085510253906 + ], + [ + 261.9664306640625, + 160.05941772460938 + ], + [ + 310.9444274902344, + 186.24212646484375 + ], + [ + 365.3898620605469, + 217.01121520996094 + ], + [ + 397.9776611328125, + 259.29461669921875 + ], + [ + 418.09832763671875, + 285.2080383300781 + ], + [ + 419.80267333984375, + 296.2374267578125 + ], + [ + 425.6969909667969, + 296.43798828125 + ], + [ + 426.99822998046875, + 294.06341552734375 + ], + [ + 419.88775634765625, + 291.54791259765625 + ], + [ + 412.32464599609375, + 268.1493835449219 + ], + [ + 411.50091552734375, + 217.28233337402344 + ], + [ + 419.90423583984375, + 159.1732177734375 + ], + [ + 437.13848876953125, + 135.531005859375 + ], + [ + 445.7670593261719, + 116.85714721679688 + ], + [ + 449.5833740234375, + 125.72065734863281 + ], + [ + 453.3452453613281, + 138.20135498046875 + ], + [ + 455.91339111328125, + 145.58717346191406 + ], + [ + 457.45355224609375, + 150.26376342773438 + ], + [ + 464.53436279296875, + 157.62689208984375 + ], + [ + 465.9643249511719, + 156.16836547851562 + ], + [ + 462.17120361328125, + 160.78424072265625 + ], + [ + 458.1870422363281, + 143.59397888183594 + ], + [ + 453.5511169433594, + 111.04020690917969 + ], + [ + 448.2548828125, + 90.15354919433594 + ], + [ + 447.7974853515625, + 82.33360290527344 + ], + [ + 447.62225341796875, + 81.38642883300781 + ] + ], + "depth_max": 1.523106336593628, + "depth_min": 0.08460252732038498, + "intrinsic": [ + [ + 521.5317993164062, + 0.0, + 259.0 + ], + [ + 0.0, + 522.33837890625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.928121673699934e-05, + -5.258861347101629e-05, + -4.141197223361814e-06 + ], + [ + -1.928313031385187e-05, + 1.0, + -3.640136128524318e-05, + 1.6474541553179733e-06 + ], + [ + 5.2587914979085326e-05, + 3.6402372643351555e-05, + 1.0, + -6.315849532256834e-06 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 29 + ], + "object_trajectory": [ + [ + 396.25, + 297.7500305175781 + ], + [ + 396.5466003417969, + 297.8057556152344 + ], + [ + 396.577392578125, + 297.9688720703125 + ], + [ + 396.53948974609375, + 297.9184265136719 + ], + [ + 396.2441101074219, + 297.7651672363281 + ], + [ + 396.2730407714844, + 297.8334655761719 + ], + [ + 396.2897033691406, + 297.53399658203125 + ], + [ + 396.0116882324219, + 298.1790771484375 + ], + [ + 396.7731628417969, + 298.95428466796875 + ], + [ + 399.6941833496094, + 299.58453369140625 + ], + [ + 408.32049560546875, + 296.56488037109375 + ], + [ + 409.9689025878906, + 294.25762939453125 + ], + [ + 401.98974609375, + 290.7952575683594 + ], + [ + 392.9754943847656, + 268.6831359863281 + ], + [ + 391.9163818359375, + 217.18333435058594 + ], + [ + 400.550048828125, + 160.0564422607422 + ], + [ + 417.444580078125, + 135.30010986328125 + ], + [ + 424.0579528808594, + 119.7586898803711 + ], + [ + 429.6109619140625, + 127.76708221435547 + ], + [ + 434.5483093261719, + 140.05862426757812 + ], + [ + 438.1204833984375, + 148.7498321533203 + ], + [ + 440.55084228515625, + 153.83163452148438 + ], + [ + 446.2109375, + 160.81259155273438 + ], + [ + 448.1468811035156, + 162.79815673828125 + ], + [ + 446.9689636230469, + 163.6675567626953 + ], + [ + 447.5724182128906, + 167.85972595214844 + ], + [ + 447.76019287109375, + 167.64764404296875 + ], + [ + 448.63653564453125, + 167.25588989257812 + ], + [ + 448.1927795410156, + 167.17628479003906 + ], + [ + 447.76898193359375, + 167.3057861328125 + ] + ] +} \ No newline at end of file diff --git a/005505_v2/lang.txt b/005505_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..27fcb72aa9f6dc197a89d760360e09f63ec74adb --- /dev/null +++ b/005505_v2/lang.txt @@ -0,0 +1 @@ +move the corn to the top right side of the stove diff --git a/005505_v2/object.ply b/005505_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..7a46d3af6e6f7eb139c9c02b94ac515b6b122a78 Binary files /dev/null and b/005505_v2/object.ply differ diff --git a/005507/data.json b/005507/data.json new file mode 100644 index 0000000000000000000000000000000000000000..3edfaf8ed2a2a2fba0240c6d999ef35bc715a8d2 --- /dev/null +++ b/005507/data.json @@ -0,0 +1,733 @@ +{ + "action_start": 15, + "action_end": 29, + "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, + 0.7020759999999999, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.875214, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 9.76385639006594e-12, + 1.3770096087689643e-10, + 1.3281642452511733e-10, + -8.528508214708169e-08, + 3.427599989382972e-07, + -6.312949980269447e-07, + 1.0 + ], + [ + -0.026087597599970536, + -0.003987975604202405, + 0.016399546533806833, + -0.04792960550065196, + -0.0346656057344721, + 0.06000681362686731, + 1.0 + ], + [ + -0.023275046398639865, + -0.00030164176093174476, + 0.017879193781754205, + -0.05294040788832469, + -0.06004185916775975, + 0.05007156152364579, + 1.0 + ], + [ + -0.022855839129373168, + 2.348105836499567e-05, + 0.003284326610335453, + -0.02016360637284809, + 0.004239732115489214, + 0.08668113131525824, + 1.0 + ], + [ + -0.0184062123264373, + -0.007276636185168304, + -0.014082957210646244, + 0.03445830356645442, + 0.09211791474749446, + 0.12732225938144978, + 1.0 + ], + [ + -0.007937521782038937, + -0.005809843070251886, + -0.01183117838907348, + -0.03397643519618615, + 0.06602062114203898, + 0.13721049002098712, + 1.0 + ], + [ + -0.003417707188447916, + -0.007182765167948086, + -0.01347107065545837, + -0.03984340871012856, + 0.053246083983949824, + 0.07216874291801725, + 1.0 + ], + [ + -0.0018197143976867447, + -0.003871080188004153, + -0.012008291145608169, + -0.02601563042196881, + -0.0024696397928224184, + 0.026537803956727297, + 1.0 + ], + [ + 0.0015936114103934085, + 0.0007069310739657338, + -0.010550928599661488, + -0.010310214815916981, + 0.0028872844970785224, + 0.01332542535472183, + 1.0 + ], + [ + -0.00216678537621412, + -0.002062157276007885, + -0.007364235710986204, + -0.03782185603952092, + 0.009862670169650454, + -0.013906499862226746, + 1.0 + ], + [ + -0.0016447054375055281, + 0.00011135159028288072, + -0.007876653700515351, + 0.014713643198135711, + 0.015143250357071973, + 0.02527742795615227, + 1.0 + ], + [ + -0.0010838598529587795, + 0.0004687524528159612, + -0.006164275058701832, + 0.01599853705365703, + 0.006541049306533266, + -0.006111833961895955, + 1.0 + ], + [ + 0.0007438055449139891, + 0.0030744007576417806, + -0.0063014605981012925, + 0.01801767002228033, + 0.005371486345166355, + -0.0006600233280210489, + 1.0 + ], + [ + -0.0012045392026673873, + 0.0005898154141638079, + -0.00841383145780332, + 0.01735218634102485, + 0.006225906011978592, + -0.01433902349224345, + 1.0 + ], + [ + 0.00014297994581594087, + -0.0003391413183338049, + -0.00927387127272115, + 0.017724918280579628, + 0.01748334708465943, + -0.003964672566464411, + 1.0 + ], + [ + 0.001620766115233152, + 0.0013274367592222072, + -0.005714376402590517, + 0.022410187015574456, + -0.016994426371138207, + -0.0013769147780043275, + 0.7020759999999999 + ], + [ + 0.0018742870314412685, + -0.0015179908709243642, + 0.004840451629966578, + -0.011473449777136659, + -0.006724036878773532, + -0.006094329535122711, + 0.0 + ], + [ + 0.0019209016520137234, + 0.0001270331732100803, + 0.011461688557267608, + -0.0059773733884572414, + -0.02688786227988335, + 0.012531141945466482, + 0.0 + ], + [ + 0.0031179236829999846, + -0.0002915864083437615, + 0.025146722734828826, + -0.025907493146530746, + -0.06839198753707694, + 0.019032981986466135, + 0.0 + ], + [ + 0.0021829143008072482, + 0.006977252952387724, + 0.032078773725077586, + -0.03073626941488413, + -0.10497231822853687, + 0.015572012250550566, + 0.0 + ], + [ + 0.00019206653517056527, + 0.015473272918420336, + 0.03209528766271642, + -0.01412932549745611, + -5.554098182129224e-05, + 0.03924849348159352, + 0.0 + ], + [ + 0.005086691817488914, + 0.03254149831907409, + -0.003479522439988919, + 0.041755092602261755, + 0.13591058492795471, + -0.0006907233880924083, + 0.0 + ], + [ + 0.012435221249469691, + 0.035576865881579996, + -0.009277629601274928, + 0.07311955907659858, + 0.04107394208665456, + 0.02850868137371098, + 0.0 + ], + [ + 0.006705181543767869, + 0.03129995582094601, + -0.009234602400253297, + 0.046057940513626924, + 0.03672767683324673, + 0.044604543260458415, + 0.0 + ], + [ + -0.006672616818394261, + 0.01916416099088733, + -0.016154244368299445, + 0.026591800347389165, + 0.04883567959085833, + -0.019276510785058036, + 0.0 + ], + [ + -0.003853924860322655, + 0.018345734314566597, + -0.019709515658104235, + 0.015768415894588175, + 0.028516574473119165, + 0.0073680172196548014, + 0.0 + ], + [ + -0.0038284380915254435, + 0.004805819548659579, + -0.018955325142816004, + 0.03302008269903311, + 0.019482079213576618, + -0.03201950090841284, + 0.0 + ], + [ + 0.003594407765378227, + 0.0015467256374437355, + -0.0075696187658232245, + -0.005308938188747061, + -0.012811283558414658, + 0.012682317030551301, + 0.0 + ], + [ + 0.0027630705469557926, + 0.003170569043701249, + -0.008253928664759373, + 0.014374687187875492, + 0.007016000020965785, + -0.004796829159791077, + 0.0 + ], + [ + 0.0021853849153068983, + 0.0029587679736178263, + 0.0018894260499971623, + 0.007410896360902979, + 0.008239952614102515, + 0.025520076754194588, + 0.875214 + ], + [ + 0.0018002099554964568, + 0.002023447228052755, + 0.004962190083183646, + -0.011418967096822424, + -0.0032437580441203777, + 0.008013196112775216, + 1.0 + ], + [ + 0.002095002802109891, + 0.0013225909927394586, + 0.015099711370885519, + -0.017292656001271268, + -0.027328610754958738, + -0.0005922143512409684, + 1.0 + ], + [ + 0.0005010035779736688, + -0.0051785260261291155, + 0.042753197656344416, + -0.03785715641535021, + -0.028139473898588122, + -0.006953849333118625, + 1.0 + ], + [ + -0.0013332566737312979, + -0.014451368679633009, + 0.04171896078957805, + -0.04169682329673052, + -0.032024555991623606, + -0.016144052897365983, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 364.8837585449219, + 117.81053161621094 + ], + [ + 364.48828125, + 121.44317626953125 + ], + [ + 353.061767578125, + 154.31863403320312 + ], + [ + 343.1011047363281, + 145.01025390625 + ], + [ + 322.84906005859375, + 149.76785278320312 + ], + [ + 296.38262939453125, + 169.63629150390625 + ], + [ + 322.05584716796875, + 205.2476348876953 + ], + [ + 317.328369140625, + 224.6658477783203 + ], + [ + 323.45953369140625, + 246.37652587890625 + ], + [ + 328.5379638671875, + 261.74530029296875 + ], + [ + 334.18560791015625, + 275.38726806640625 + ], + [ + 331.6414794921875, + 281.49249267578125 + ], + [ + 325.7433776855469, + 289.1783752441406 + ], + [ + 323.0391540527344, + 294.0618896484375 + ], + [ + 319.41314697265625, + 302.3286437988281 + ], + [ + 320.76263427734375, + 313.32342529296875 + ], + [ + 320.7120361328125, + 315.76641845703125 + ], + [ + 321.5901794433594, + 315.8924255371094 + ], + [ + 321.47332763671875, + 311.2047119140625 + ], + [ + 326.9595947265625, + 284.0943603515625 + ], + [ + 324.478515625, + 246.02578735351562 + ], + [ + 299.5867919921875, + 200.24838256835938 + ], + [ + 271.5498046875, + 164.8929443359375 + ], + [ + 226.17018127441406, + 147.37965393066406 + ], + [ + 201.59423828125, + 140.17459106445312 + ], + [ + 170.7534942626953, + 147.99050903320312 + ], + [ + 154.8732452392578, + 162.05084228515625 + ], + [ + 140.64532470703125, + 184.64385986328125 + ], + [ + 145.1296844482422, + 194.26593017578125 + ], + [ + 146.80938720703125, + 202.31703186035156 + ], + [ + 143.9902801513672, + 202.30331420898438 + ], + [ + 145.3351287841797, + 196.18545532226562 + ], + [ + 146.8394317626953, + 191.83457946777344 + ], + [ + 138.56639099121094, + 151.96963500976562 + ], + [ + 124.52156066894531, + 98.35287475585938 + ], + [ + 122.58656311035156, + 82.69265747070312 + ], + [ + 122.60203552246094, + 82.36080932617188 + ] + ], + "depth_max": 2.727830410003662, + "depth_min": 0.2419697493314743, + "intrinsic": [ + [ + 550.4000854492188, + 0.0, + 259.0 + ], + [ + 0.0, + 550.4951171875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.190508869010955e-05, + -5.352471998776309e-05, + 2.32401453104103e-05 + ], + [ + -3.1908399250824004e-05, + 1.0, + -6.179195042932406e-05, + -8.662744221510366e-06 + ], + [ + 5.352274820324965e-05, + 6.179365300340578e-05, + 1.0, + -2.71780118055176e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36 + ], + "object_trajectory": [ + [ + 347.25, + 324.0 + ], + [ + 347.377685546875, + 324.0978088378906 + ], + [ + 347.42156982421875, + 324.2255859375 + ], + [ + 347.3788146972656, + 324.29669189453125 + ], + [ + 347.26580810546875, + 324.29986572265625 + ], + [ + 347.4014587402344, + 324.29217529296875 + ], + [ + 347.5518493652344, + 324.36749267578125 + ], + [ + 347.53875732421875, + 324.1839904785156 + ], + [ + 347.5108642578125, + 324.054931640625 + ], + [ + 347.4511413574219, + 323.9962158203125 + ], + [ + 347.6075134277344, + 324.1109619140625 + ], + [ + 347.67303466796875, + 324.2607727050781 + ], + [ + 347.49493408203125, + 324.4706726074219 + ], + [ + 347.6865539550781, + 324.73284912109375 + ], + [ + 346.8005065917969, + 324.6498107910156 + ], + [ + 349.2008361816406, + 325.4555969238281 + ], + [ + 340.187744140625, + 328.84735107421875 + ], + [ + 339.9100646972656, + 332.0555419921875 + ], + [ + 341.54522705078125, + 328.79302978515625 + ], + [ + 346.9134216308594, + 302.37725830078125 + ], + [ + 347.4314270019531, + 270.3783874511719 + ], + [ + 325.6105651855469, + 230.61436462402344 + ], + [ + 294.28192138671875, + 198.56707763671875 + ], + [ + 259.164794921875, + 174.39199829101562 + ], + [ + 233.42922973632812, + 169.57708740234375 + ], + [ + 200.12847900390625, + 176.12522888183594 + ], + [ + 182.79017639160156, + 190.29849243164062 + ], + [ + 166.5774688720703, + 216.25723266601562 + ], + [ + 171.6187744140625, + 220.38912963867188 + ], + [ + 172.33714294433594, + 228.63185119628906 + ], + [ + 171.66668701171875, + 232.30308532714844 + ], + [ + 173.57534790039062, + 230.41299438476562 + ], + [ + 174.12039184570312, + 230.6478271484375 + ], + [ + 173.71578979492188, + 229.68276977539062 + ], + [ + 173.43829345703125, + 229.86582946777344 + ], + [ + 173.33436584472656, + 229.87472534179688 + ], + [ + 173.18353271484375, + 229.9084930419922 + ] + ] +} \ No newline at end of file diff --git a/005507/lang.txt b/005507/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..bdbf9938a87b593324b7f7ad19f55f2c28d21d36 --- /dev/null +++ b/005507/lang.txt @@ -0,0 +1 @@ +take sushi out of pot cardboard fence diff --git a/005507/object.ply b/005507/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..a97e14454d14a2547a3f3b36b167a26853e38496 Binary files /dev/null and b/005507/object.ply differ diff --git a/005510/FAIL b/005510/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..aaf6c42c619234f9c8379cbcf60a65cd17ba1254 --- /dev/null +++ b/005510/FAIL @@ -0,0 +1 @@ +Too large intersection between gripper and object mask diff --git a/005515_v2/FAIL b/005515_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/005515_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/005524/data.json b/005524/data.json new file mode 100644 index 0000000000000000000000000000000000000000..9e6c7f752f5f03bfac5f582a04455ace0d4e2631 --- /dev/null +++ b/005524/data.json @@ -0,0 +1,696 @@ +{ + "action_start": 15, + "action_end": 27, + "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, + 0.41685000000000005, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.21391899999999997, + 0.619048, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + -8.673617379884035e-19, + 0.0, + 4.034837711409876e-07, + -8.430044274233995e-08, + 3.847089950464e-07, + 1.0 + ], + [ + -0.0089182115521802, + 0.007572197159593615, + 0.016338454890702778, + -0.07068380042543393, + 0.04807401620206262, + -0.1093818470513695, + 1.0 + ], + [ + -0.013886408625943536, + 0.009627734933735928, + 0.011865270166468739, + -0.05562933131545249, + 0.02028644628289791, + -0.08454455102814273, + 1.0 + ], + [ + -0.019305622617412643, + 0.011541416171178443, + 0.0012523291921132523, + 0.01917180178185265, + -0.04117013398948571, + -0.08601926038367003, + 1.0 + ], + [ + -0.020148644858605735, + 0.009052766712986823, + -0.006359453357943634, + 0.06295676597336482, + -0.061118222008226405, + -0.03149035519718601, + 1.0 + ], + [ + -0.013811782634986391, + 0.004298581605994067, + 0.0005297045966963093, + 0.032303589268680585, + -0.047395182603778424, + -0.012602660725405413, + 1.0 + ], + [ + -0.005193272672854687, + 0.0010267270851254603, + -0.012237553016554145, + 0.015177768142351172, + 0.03188397801109509, + 9.694150662448686e-05, + 1.0 + ], + [ + -0.0012930717960081828, + -0.00037094778765001807, + -0.016673078679525014, + 0.017440130618994184, + 0.05247619887947562, + -0.005141090275186194, + 1.0 + ], + [ + 0.0004239554217998487, + -9.696726534871858e-05, + -0.01042654887808972, + 0.02558374282982441, + -0.0018077465939281931, + 0.004885392770800422, + 1.0 + ], + [ + -0.003903625408403555, + -0.0004240627151583312, + -0.010503852624512103, + 0.009251700889851366, + 0.036348929057496496, + -0.0052943386569843575, + 1.0 + ], + [ + -0.0035726002351254005, + -0.0013361736899614174, + -0.0059244754496637145, + 0.01909750794679229, + 0.0024632539197249445, + -0.004672233185176134, + 1.0 + ], + [ + -0.0028324933195145174, + 0.0013352346038582388, + -0.0059107942357331245, + 0.01535363904152046, + 0.005988705253851455, + -0.0006419129450127685, + 1.0 + ], + [ + -0.0008197478210347497, + 0.00017586287283745394, + -0.008570239195398198, + 0.02095554393226897, + -0.006740600728249997, + -0.004952004500965042, + 1.0 + ], + [ + 0.0028142714542989666, + 0.0009129481048494939, + -0.010087917453305315, + 0.02198273200991491, + 0.00819177745226986, + 0.002891746018367364, + 1.0 + ], + [ + 0.00016717984787625872, + 0.0009105618762778114, + -0.0060473925001406255, + 0.010263863434452345, + 0.015456739049078206, + 0.0001678824213304436, + 1.0 + ], + [ + -0.0004984236507987738, + 0.0011369487580039153, + 0.0023641005965665506, + -0.01094055314520571, + -0.009289222302345152, + -0.006392510466104712, + 0.41685000000000005 + ], + [ + 0.000698743353644421, + 0.00337610298759726, + 0.013550772320313606, + -0.01091456578172126, + 0.013741116633660778, + -0.0136377585766993, + 0.0 + ], + [ + 0.0028657045462358866, + 0.004279511618488732, + 0.022124755915103725, + -0.022544293103346536, + -0.044529553925749005, + 0.010239902472004894, + 0.0 + ], + [ + 0.010470135979176176, + -0.006596220190817889, + 0.0326312290943546, + -0.018253536323086395, + -0.1182344889034316, + 0.07235904747713673, + 0.0 + ], + [ + 0.01868858725027972, + -0.019421100917911424, + 0.011390302404218913, + -0.03797411988347877, + 0.02667292335002016, + 0.049651561986856455, + 0.0 + ], + [ + 0.025376168201987487, + -0.026070258008776506, + -0.013790403305723578, + -0.002723765991058637, + 0.033040529877343135, + 0.038815685231704006, + 0.0 + ], + [ + 0.015076839485990645, + -0.022711009752161143, + -0.011082570124731572, + -0.04452445494825549, + 0.009654348300801242, + 0.06750320204829163, + 0.0 + ], + [ + 0.007563311142713858, + -0.01667304515972755, + -0.01052742829866185, + -0.012275296584610086, + -0.008086070708318505, + 0.07495995934682849, + 0.0 + ], + [ + 0.005853879802035722, + -0.007874999461405349, + -0.009472481432440269, + -0.023377739288856513, + -0.04247497349095417, + 0.13855339963946445, + 0.0 + ], + [ + 0.00218163439749125, + -0.002638065681201382, + -0.010319867520849152, + 0.015436584976265032, + 0.006041267131006879, + 0.007696789132765125, + 0.0 + ], + [ + 0.0025207190090710263, + -0.002812302842145821, + -0.009964938155162046, + 0.011133913091482601, + 0.01588436915467124, + 0.0035765683477018643, + 0.0 + ], + [ + -0.0014112016621620205, + -0.001367371147579087, + -0.007028638836388157, + 0.03018872011380403, + 0.02103722346956306, + -0.019556965670242187, + 0.21391899999999997 + ], + [ + -0.002222191498325643, + 0.0007627628410121975, + -0.0003045937736037181, + -0.00035342204987685746, + 0.019843667705717615, + -0.01926452342909841, + 0.619048 + ], + [ + -0.001310381395194904, + 0.0018106678056799483, + 0.008524939561236344, + -0.01920050892380109, + 0.009735114278588902, + -0.006110909912824196, + 1.0 + ], + [ + -0.0011003069972894686, + 0.0036207192052517823, + 0.01515696116470026, + -0.004242517136908573, + -0.01982686698618719, + -0.006151679417038961, + 1.0 + ], + [ + -6.93585149778575e-05, + 0.004872436976014673, + 0.027807294444291794, + -0.014346147250629073, + -0.041805376641330015, + -0.01156770586299027, + 1.0 + ], + [ + -0.0019625258650018407, + 0.0026962793759761766, + 0.034040634559778675, + -0.051938953084140004, + -0.04378159614296824, + -0.012597003745906494, + 1.0 + ], + [ + -0.0035311113521121484, + 0.007648440858603382, + 0.025673800897421842, + -0.029233764082949573, + -0.017583322293238054, + -0.03205395615531534, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 328.05865478515625, + 143.7144775390625 + ], + [ + 327.1309509277344, + 150.95068359375 + ], + [ + 327.5318603515625, + 162.00390625 + ], + [ + 299.8084411621094, + 158.0009765625 + ], + [ + 257.10882568359375, + 148.0182342529297 + ], + [ + 237.00807189941406, + 165.57156372070312 + ], + [ + 215.2083740234375, + 181.13792419433594 + ], + [ + 200.21701049804688, + 188.9053955078125 + ], + [ + 202.57485961914062, + 207.5399932861328 + ], + [ + 209.32821655273438, + 223.26780700683594 + ], + [ + 209.84005737304688, + 236.32162475585938 + ], + [ + 206.0684814453125, + 249.19265747070312 + ], + [ + 208.4910888671875, + 256.88958740234375 + ], + [ + 205.1635284423828, + 266.1752624511719 + ], + [ + 206.58267211914062, + 274.5722961425781 + ], + [ + 205.977783203125, + 279.2989807128906 + ], + [ + 206.57144165039062, + 279.5997619628906 + ], + [ + 205.05364990234375, + 278.38427734375 + ], + [ + 200.2078094482422, + 253.72970581054688 + ], + [ + 189.2034149169922, + 214.80368041992188 + ], + [ + 211.561279296875, + 174.72073364257812 + ], + [ + 268.2099304199219, + 174.99761962890625 + ], + [ + 324.72808837890625, + 187.1752166748047 + ], + [ + 354.5461730957031, + 202.27249145507812 + ], + [ + 370.566162109375, + 206.9881591796875 + ], + [ + 370.6297912597656, + 215.23974609375 + ], + [ + 373.8416748046875, + 230.66265869140625 + ], + [ + 376.0284729003906, + 240.076904296875 + ], + [ + 375.2239990234375, + 245.2979736328125 + ], + [ + 377.4300842285156, + 246.33795166015625 + ], + [ + 375.3057861328125, + 246.76113891601562 + ], + [ + 373.4734191894531, + 217.75274658203125 + ], + [ + 371.1119384765625, + 179.43093872070312 + ], + [ + 359.7718811035156, + 135.5200653076172 + ], + [ + 343.97930908203125, + 118.53788757324219 + ] + ], + "depth_max": 2.5969479084014893, + "depth_min": 0.40582069754600525, + "intrinsic": [ + [ + 554.8754272460938, + 0.0, + 259.0 + ], + [ + 0.0, + 554.9308471679688, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.7362151235574856e-05, + -3.6981553421355784e-05, + 9.868424967862666e-06 + ], + [ + -4.736418850370683e-05, + 1.0, + -5.504404543899e-05, + -1.1734178769984283e-05 + ], + [ + 3.6978948628529906e-05, + 5.5045798944775015e-05, + 1.0, + -3.25362452713307e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 34 + ], + "object_trajectory": [ + [ + 207.25, + 291.25 + ], + [ + 207.5615997314453, + 291.38494873046875 + ], + [ + 207.31134033203125, + 291.4757385253906 + ], + [ + 207.71360778808594, + 291.381591796875 + ], + [ + 207.60284423828125, + 291.4360046386719 + ], + [ + 207.5188751220703, + 291.6252746582031 + ], + [ + 207.3338623046875, + 291.4691467285156 + ], + [ + 207.14340209960938, + 291.4104919433594 + ], + [ + 207.05062866210938, + 291.37969970703125 + ], + [ + 207.05345153808594, + 291.7254638671875 + ], + [ + 206.5362548828125, + 292.09716796875 + ], + [ + 206.09075927734375, + 292.3795166015625 + ], + [ + 205.5960693359375, + 292.36407470703125 + ], + [ + 205.9264678955078, + 294.36199951171875 + ], + [ + 205.71080017089844, + 295.17999267578125 + ], + [ + 204.9197235107422, + 293.2469177246094 + ], + [ + 200.8600311279297, + 291.1171875 + ], + [ + 195.92385864257812, + 289.73834228515625 + ], + [ + 188.37197875976562, + 267.5328369140625 + ], + [ + 190.99139404296875, + 237.14071655273438 + ], + [ + 205.71229553222656, + 212.11651611328125 + ], + [ + 250.06430053710938, + 207.9173583984375 + ], + [ + 304.2799072265625, + 219.509033203125 + ], + [ + 334.2734069824219, + 230.02279663085938 + ], + [ + 351.00537109375, + 227.14303588867188 + ], + [ + 352.9886474609375, + 236.4404754638672 + ], + [ + 355.869873046875, + 251.79148864746094 + ], + [ + 357.869140625, + 259.8671875 + ], + [ + 357.25885009765625, + 264.9293212890625 + ], + [ + 357.6029052734375, + 263.1518859863281 + ], + [ + 366.5848388671875, + 265.7679443359375 + ], + [ + 365.66705322265625, + 265.0499267578125 + ], + [ + 366.00506591796875, + 263.4161376953125 + ], + [ + 365.9199523925781, + 262.592529296875 + ], + [ + 365.9295654296875, + 262.9809875488281 + ] + ] +} \ No newline at end of file diff --git a/005524/lang.txt b/005524/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..bdbf9938a87b593324b7f7ad19f55f2c28d21d36 --- /dev/null +++ b/005524/lang.txt @@ -0,0 +1 @@ +take sushi out of pot cardboard fence diff --git a/005524/object.ply b/005524/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..666181bb54e0a8df692d28aa678f78149da4ac73 Binary files /dev/null and b/005524/object.ply differ diff --git a/005538/object.ply b/005538/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..f10e89720139786f3ef42d66a9552e71b423a157 Binary files /dev/null and b/005538/object.ply differ diff --git a/005541/data.json b/005541/data.json new file mode 100644 index 0000000000000000000000000000000000000000..33ae0be14dce5fb9ab86486e0b1fda98d832f418 --- /dev/null +++ b/005541/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 18, + "action_end": 33, + "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, + 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 + ], + "gripper_actions": [ + [ + -1.1923503850930217e-10, + -3.20226387073852e-10, + -7.031503157506336e-11, + 3.418640822918737e-07, + -2.2481805363795843e-07, + 7.660301826862609e-07, + 1.0 + ], + [ + -0.002891419897785935, + -0.01460760528559693, + 0.015132142707721168, + -0.02577435372111713, + -0.0030354410422419064, + 0.021854599348407784, + 1.0 + ], + [ + -0.004490109876614745, + -0.023610803629289634, + 0.023063923835903687, + -0.03818499618735193, + 0.020658914778657986, + 0.032725150413128117, + 1.0 + ], + [ + -9.84953799313959e-05, + -0.024792683479857802, + 0.00785763919171445, + -0.053924137600191976, + 0.026252509486869975, + 0.035421645981542745, + 1.0 + ], + [ + -0.0021547528768840196, + -0.039900397150113745, + -0.00024002278753962325, + -0.047250053712533, + 0.022782247067189176, + 0.06019683577119965, + 1.0 + ], + [ + 4.385005525062158e-05, + -0.028481329603739322, + -0.0004922237620293424, + -0.07235640698990314, + 0.0013210822611654828, + 0.0480072572698882, + 1.0 + ], + [ + 0.005057589192393019, + -0.03258265740596617, + -0.0021894569354610482, + -0.04999350179550751, + -0.057366339779865085, + 0.05011058193315152, + 1.0 + ], + [ + 0.006328402179493486, + -0.010874450027760371, + -0.009732592390106543, + 0.03041845348245939, + -0.05986618786657419, + 0.04356232266539897, + 1.0 + ], + [ + 0.009312262048004644, + -0.0034791959810437437, + -0.010081168947382965, + 0.009658975505433966, + -0.0289731253289173, + 0.04327297926574675, + 1.0 + ], + [ + 0.009196437577584482, + -0.0006418607547959074, + -0.005668527543176136, + 0.008674792046666352, + -0.028207278264149527, + 0.040562008181919934, + 1.0 + ], + [ + 0.010622461494540714, + 0.007843520673251038, + 0.0002688695576485156, + -0.014348550732421195, + -0.0069565505545924194, + 0.06304809304572896, + 1.0 + ], + [ + 0.005781530912196353, + 0.0006450247023149433, + -0.0118954283928107, + 0.011203110211227711, + 0.037158197823713816, + 0.01120759537337242, + 1.0 + ], + [ + 1.307318378512834e-05, + -0.0013725612227893508, + -0.00551180952603364, + -0.010479747706947432, + 0.018191927559583827, + 0.0004040856854356131, + 1.0 + ], + [ + -0.00016318309156854172, + 0.0015659774867808132, + -0.007151301766417359, + -0.025624303847977155, + -0.006587541201765037, + -0.0110407880381955, + 1.0 + ], + [ + 0.004419411287746922, + -0.0007822821352462608, + -0.009658406287309969, + -0.008874926042645245, + 0.02752226305019075, + 0.002704939243466132, + 1.0 + ], + [ + 0.0012004231401875898, + -0.0009598820477150771, + -0.009374147636473533, + 0.011584988191809586, + 0.01239593184136713, + -0.002463762896301103, + 1.0 + ], + [ + -0.0005960231159259366, + 0.00118236902181941, + -0.007277491148800948, + 0.012674415829194046, + -0.004215547408398696, + -0.0017558143143235035, + 1.0 + ], + [ + 0.00026020910271867814, + 0.0004192721869546029, + -0.008207009291017482, + 0.02342751614660964, + 0.012286777582454821, + -0.011846170645312121, + 1.0 + ], + [ + -8.031415301124056e-05, + -0.0002482166161820176, + -0.001959379416943182, + 0.008547649310975824, + -0.00022886462163745064, + -0.006045186586681153, + 1.0 + ], + [ + 0.0008387609307064503, + -0.0006799843670934752, + 0.0018800816657237457, + -0.0036412975022867586, + -0.011877584892092941, + 0.00502932859496221, + 0.0 + ], + [ + 0.00040002228034641263, + 0.00032127801766441977, + 0.004289599734452611, + -0.028298231050231923, + 0.01720320463561912, + -0.0006954398889646381, + 0.0 + ], + [ + 0.0009080637000176139, + -0.0023798545859155668, + 0.016827003589797423, + -0.023557122348179877, + 0.01227403438785135, + -0.017318847157873966, + 0.0 + ], + [ + 0.004448653243167455, + 0.0003480539556581855, + 0.03736227936859661, + -0.067580784192895, + -0.04116645295484111, + 0.021523054677111665, + 0.0 + ], + [ + 0.002707430472975947, + 0.0033753013061159493, + 0.036687735600386046, + -0.021928596787022237, + -0.032224523010081184, + 0.03721515529104543, + 0.0 + ], + [ + -0.010478040251378717, + 0.01110190569512303, + 0.024714636566325193, + -0.018969790926594485, + 0.019202721991120383, + -0.011506320789850139, + 0.0 + ], + [ + -0.021349588682679277, + 0.026272433022648457, + 0.0013148410831971546, + 0.04377923731916293, + 0.12036963275903813, + -0.04115247725291207, + 0.0 + ], + [ + -0.011817885348106016, + 0.03332550351375123, + -0.015430016695799076, + 0.052258653585299325, + -0.011795498916606225, + 0.02625540923997966, + 0.0 + ], + [ + -0.005488242162710322, + 0.025890789442585414, + -0.022413174122906443, + 0.022965937446309266, + 0.025849205011879504, + -0.004364083668595379, + 0.0 + ], + [ + 0.0012982202315834912, + 0.016822860963739757, + -0.028528345759823104, + 0.008888244344863933, + -0.011621669710388778, + 0.07521671601963523, + 0.0 + ], + [ + -0.0010982641424673867, + 0.0002710838338904481, + -0.02063692157573775, + 0.01915456866274572, + -0.019801685468061953, + 0.07233250841445958, + 0.0 + ], + [ + -0.0035227212509578165, + -0.010933880680966707, + -0.022674886800967853, + -0.0032034805345874037, + 0.026982243870207076, + 0.06362431390642528, + 0.0 + ], + [ + -0.00019165840131507572, + -0.006910287575571286, + -0.011123126665248811, + -0.0017958608849146175, + 0.013413645608265377, + 0.014321015008961538, + 0.0 + ], + [ + 0.004037965668492405, + -0.0030205361040767167, + -0.00541843458591235, + 0.00021568913186591305, + 0.0033822015659032752, + 0.015773504033115716, + 0.0 + ], + [ + 0.0013721975359102245, + 0.0013317522472867382, + -0.0015079245535699962, + 0.010434364498024602, + 0.006338811241683782, + -0.00011231248126997517, + 0.0 + ], + [ + 0.00039992851102085836, + 0.007851143993362161, + 0.005773760529058427, + 0.00646944175629748, + 0.022405880748592948, + 0.03517555482899811, + 1.0 + ], + [ + 0.004535329035787072, + 0.0070603057774794725, + 0.017331289658678257, + -0.03235017266536906, + 0.006539310294268519, + 0.005438582290067231, + 1.0 + ], + [ + 0.005676087587276973, + 0.0007064032701761258, + 0.038422777660893366, + -0.023227561607914036, + -0.041925749589125226, + 0.0034946749305476412, + 1.0 + ], + [ + 0.00019805593325072923, + -0.006731614480380253, + 0.037222291759036415, + -0.031221382478757897, + -0.03251991453576786, + -0.030581790034479032, + 1.0 + ] + ], + "gripper_centers": [ + [ + 133.64630126953125, + 171.76638793945312 + ], + [ + 133.97354125976562, + 176.65328979492188 + ], + [ + 137.20130920410156, + 185.1387939453125 + ], + [ + 154.49383544921875, + 173.74371337890625 + ], + [ + 182.80783081054688, + 167.3282470703125 + ], + [ + 228.43861389160156, + 178.6275177001953 + ], + [ + 295.5478210449219, + 194.05894470214844 + ], + [ + 318.7817077636719, + 200.72227478027344 + ], + [ + 370.1282958984375, + 226.94239807128906 + ], + [ + 367.62713623046875, + 219.92930603027344 + ], + [ + 373.720947265625, + 221.08168029785156 + ], + [ + 382.8671875, + 220.8050537109375 + ], + [ + 372.42572021484375, + 222.48255920410156 + ], + [ + 372.6181335449219, + 227.95156860351562 + ], + [ + 382.7773132324219, + 229.66085815429688 + ], + [ + 378.9612121582031, + 245.26638793945312 + ], + [ + 376.79144287109375, + 252.4223175048828 + ], + [ + 376.8106994628906, + 252.48828125 + ], + [ + 373.2254943847656, + 259.4305725097656 + ], + [ + 374.572265625, + 260.85980224609375 + ], + [ + 376.3571472167969, + 260.14044189453125 + ], + [ + 377.4351806640625, + 264.8974304199219 + ], + [ + 382.08099365234375, + 256.6168518066406 + ], + [ + 393.4324645996094, + 211.30999755859375 + ], + [ + 387.443359375, + 157.17306518554688 + ], + [ + 374.22015380859375, + 121.58665466308594 + ], + [ + 329.5983581542969, + 110.93397521972656 + ], + [ + 270.15771484375, + 124.37879943847656 + ], + [ + 221.95233154296875, + 135.43887329101562 + ], + [ + 204.73507690429688, + 171.45941162109375 + ], + [ + 196.14047241210938, + 194.7052764892578 + ], + [ + 207.372802734375, + 225.9915771484375 + ], + [ + 228.2511444091797, + 242.2377471923828 + ], + [ + 235.76185607910156, + 250.7193145751953 + ], + [ + 233.07545471191406, + 252.95510864257812 + ], + [ + 230.35690307617188, + 246.77191162109375 + ], + [ + 221.15792846679688, + 227.85079956054688 + ], + [ + 207.79595947265625, + 185.9270477294922 + ] + ], + "depth_max": 2.830841064453125, + "depth_min": 0.38618355989456177, + "intrinsic": [ + [ + 551.5675048828125, + 0.0, + 259.0 + ], + [ + 0.0, + 551.271240234375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 8.343823719769716e-05, + -9.129050158662722e-05, + 8.318605978274718e-06 + ], + [ + -8.344465459231287e-05, + 1.0, + -7.037469185888767e-05, + 4.582520887197461e-06 + ], + [ + 9.128461533691734e-05, + 7.038230251055211e-05, + 1.0, + -3.328369712107815e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 403.25, + 262.0000305175781 + ], + [ + 403.4112243652344, + 262.3698425292969 + ], + [ + 403.39141845703125, + 262.4575500488281 + ], + [ + 403.36053466796875, + 262.3780822753906 + ], + [ + 403.4134521484375, + 262.39947509765625 + ], + [ + 403.4396057128906, + 262.3822326660156 + ], + [ + 403.55474853515625, + 262.588134765625 + ], + [ + 403.4773254394531, + 262.4707946777344 + ], + [ + 403.5160217285156, + 262.4160461425781 + ], + [ + 403.68365478515625, + 262.4995422363281 + ], + [ + 403.74493408203125, + 262.50103759765625 + ], + [ + 403.6480712890625, + 262.48931884765625 + ], + [ + 403.5255432128906, + 262.2265930175781 + ], + [ + 403.3856506347656, + 262.1628112792969 + ], + [ + 403.29400634765625, + 261.9866638183594 + ], + [ + 403.43780517578125, + 261.9071350097656 + ], + [ + 403.27496337890625, + 261.990966796875 + ], + [ + 404.6654968261719, + 261.0757751464844 + ], + [ + 398.91436767578125, + 265.374755859375 + ], + [ + 398.2270202636719, + 265.5838928222656 + ], + [ + 395.221435546875, + 269.8218078613281 + ], + [ + 396.25994873046875, + 276.28521728515625 + ], + [ + 401.3083801269531, + 269.5002136230469 + ], + [ + 414.03814697265625, + 225.8084259033203 + ], + [ + 407.3708190917969, + 172.52249145507812 + ], + [ + 395.6596374511719, + 135.26876831054688 + ], + [ + 348.8348693847656, + 127.79933166503906 + ], + [ + 287.2266845703125, + 139.95599365234375 + ], + [ + 242.02279663085938, + 151.4130401611328 + ], + [ + 221.47389221191406, + 181.5386962890625 + ], + [ + 215.22698974609375, + 205.6798095703125 + ], + [ + 230.74081420898438, + 239.10768127441406 + ], + [ + 246.20753479003906, + 252.29136657714844 + ], + [ + 257.6180419921875, + 263.5979309082031 + ], + [ + 250.84242248535156, + 262.6223449707031 + ], + [ + 253.28814697265625, + 261.9275207519531 + ], + [ + 252.4363250732422, + 262.7914123535156 + ], + [ + 252.36474609375, + 261.884765625 + ] + ] +} \ No newline at end of file diff --git a/005541/lang.txt b/005541/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..bdbf9938a87b593324b7f7ad19f55f2c28d21d36 --- /dev/null +++ b/005541/lang.txt @@ -0,0 +1 @@ +take sushi out of pot cardboard fence diff --git a/005541/object.ply b/005541/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..454837d4356838aebf2566f1083e43210565bc9a Binary files /dev/null and b/005541/object.ply differ diff --git a/005545_v2/FAIL b/005545_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/005545_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/005555/FAIL b/005555/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..12cce8a603c327d6a0a6f65ea8c6628a5ec55c6b --- /dev/null +++ b/005555/FAIL @@ -0,0 +1 @@ +Too few valid images after filtering diff --git a/005614_v2/data.json b/005614_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..876bc5e8d39574b049e22330440bf55e3ab46de0 --- /dev/null +++ b/005614_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 12, + "action_end": 39, + "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, + 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, + 0.997802, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + -2.7755575615628914e-17, + 6.938893903907228e-18, + -1.1256993794621507e-07, + -1.2838294162617796e-07, + 4.6756728727273757e-07, + 1.0 + ], + [ + -0.0021601464291187145, + -0.012131735266214805, + 0.002047353451128456, + 0.014159270409361586, + -0.014961990332953019, + 0.01447411979051218, + 1.0 + ], + [ + 0.0004000171601174496, + -0.012439951848815911, + 0.0023956412402623556, + 0.009192444839313316, + -0.018795277120471236, + 0.042623474038669625, + 1.0 + ], + [ + 0.001018274755172105, + -0.026956968525216285, + -0.002584123230679379, + -0.05758303105834452, + -0.029026082757415264, + 0.1449210050887634, + 1.0 + ], + [ + 0.0015427810863105074, + -0.043590918625275366, + -0.007219437615577931, + -0.018339067443198718, + 0.02103761675907101, + 0.10865303536300569, + 1.0 + ], + [ + -0.009000830279906058, + -0.033046698181855724, + -0.009812857495996287, + -0.05403472171736739, + -0.01230464210593296, + 0.11629844391640264, + 1.0 + ], + [ + -0.007028302923321628, + -0.02657144862194387, + -0.00922652964680774, + 0.001425238360257385, + 0.011779732274190966, + 0.09280511824265672, + 1.0 + ], + [ + 0.0006577341356712174, + -0.01855545367376541, + -0.009827271289687576, + -0.026271777149205817, + 0.03451633586348739, + 0.04773970318520435, + 1.0 + ], + [ + 0.008143702545130915, + -0.019015144322244867, + -0.012990280285117776, + -0.019054587612057604, + 0.016919813375101497, + 0.04783661283188616, + 1.0 + ], + [ + 0.00963520263466433, + -0.01687284361096008, + -0.011997469048745244, + -0.006111407566984315, + 0.00851188013140337, + 0.02553153679242165, + 1.0 + ], + [ + 0.006576722998732243, + -0.008810935240313254, + -0.014342947729400594, + -0.015703909798962613, + 0.02054259315827744, + 0.01915709360110389, + 1.0 + ], + [ + 0.005963172727235733, + -0.0026651518560033283, + -0.013645439321035128, + 0.023892934765274303, + 0.015568646764458051, + -0.0027550440023759457, + 1.0 + ], + [ + -0.0005650634908282992, + 0.004163733681366244, + -0.007178306822741731, + 0.022136106566044405, + 0.005146949320020494, + 0.006383644405148781, + 1.0 + ], + [ + -0.0024421657991304246, + 0.005756742546925847, + -0.006155940020066135, + 0.0194780806741645, + 0.00884057371085355, + 0.004595299839114558, + 0.0 + ], + [ + -0.0003353344719581042, + 0.0009087522246175872, + 0.0009163862585207586, + 0.011693909240423852, + -0.0037211671129121888, + -0.005501735792044268, + 0.0 + ], + [ + -0.00424369782579509, + -0.005436000194171814, + 0.0073720669283789675, + -0.026458625073468668, + -0.005684710623128646, + 0.007102018485018984, + 0.0 + ], + [ + -0.007338695059075084, + -0.006187187469479535, + 0.010303792152766035, + -0.034000072089381154, + 0.0011776149882641617, + 0.0017758557834023974, + 0.0 + ], + [ + -0.009933139705299687, + -0.003937741742977174, + 0.009931212835183272, + -0.02841784646729618, + 0.0073033285681186515, + 0.0004948384113829732, + 0.0 + ], + [ + -0.013217054979897114, + 0.004284904661305461, + 0.01612186008262577, + -0.053033778515912955, + -0.011426742762848415, + 0.04847547183210969, + 0.0 + ], + [ + -0.009453592163869484, + 0.00753475438653714, + 0.019821206106634584, + -0.052245077800034234, + -0.0068831575424854905, + 0.04633517999409795, + 0.0 + ], + [ + -0.010237041288818277, + 0.017926029504605603, + 0.010962574097044526, + -0.04387205944636305, + 0.02014836336574344, + 0.08086407494903788, + 0.0 + ], + [ + 0.00026506206388052234, + 0.021365278687064983, + 0.008490005334093133, + -0.0029247456263137004, + -0.01547883889920095, + 0.05741391474173845, + 0.0 + ], + [ + 0.003942602338517315, + 0.021150995499672146, + 0.00866340647082866, + -0.018699596238661468, + -0.019594812936030867, + 0.06949423346468216, + 0.0 + ], + [ + 0.003037796405772397, + 0.016345076427080246, + 0.0016967674798230963, + -0.017619612895559127, + 0.006028410433904054, + 0.05361163792203991, + 0.0 + ], + [ + -0.0021378244306980987, + 0.006846779139785793, + -0.009880428847125634, + -0.006955345231797457, + 0.025464465598555093, + 0.009614870297650825, + 0.0 + ], + [ + -7.850853206634034e-05, + 0.001811581961984502, + -0.009248627410292531, + -0.038322218366459736, + 0.013524701587488013, + 0.031365832903217046, + 0.0 + ], + [ + 0.005722690730907282, + -0.0017096940444695126, + -0.015917960827940773, + -0.05776959449486557, + 0.04380305068045152, + -0.006625427859932548, + 0.0 + ], + [ + 0.006361502953194126, + 0.008390422296964784, + -0.011213132300579787, + -0.001285591466897575, + 0.03471404290495997, + 0.007294800489746492, + 0.0 + ], + [ + 0.005514417990739567, + 0.012815491641899109, + -0.007815568846588187, + 0.0030938385287104437, + 0.027970009517512388, + 0.02850717865774212, + 0.0 + ], + [ + 0.006457957071477977, + 0.015004016447114046, + -0.0009690182790121488, + 0.013457115696670796, + -0.0005971006712031304, + 0.03572555100115843, + 0.0 + ], + [ + 0.006080110102625796, + 0.01898022920670208, + 0.003357868907685215, + 0.01643596682884362, + -0.00524169183905931, + 0.05446074261292208, + 0.0 + ], + [ + 0.0030229842172281862, + 0.017588969075396796, + 0.0037089228418762527, + -0.0009545556263421866, + -0.008892435602962028, + 0.06152072940831072, + 0.0 + ], + [ + 0.00439695513744931, + 0.012356078454693484, + 0.00036018771584227574, + 0.009491396793514767, + 0.009209223647442427, + 0.020219815595445972, + 0.0 + ], + [ + -0.0029278488888002663, + 0.024847451783316807, + -0.00708493281286144, + -0.003910594397986334, + 0.0036810598374138826, + 0.03817308539067439, + 0.0 + ], + [ + 0.0054700386447476546, + 0.006760412072540439, + -2.0744445313955473e-05, + 0.015250300606660007, + 0.0035294932355040237, + 0.023475882559463014, + 0.0 + ], + [ + 0.0029491499595230564, + 0.005313331426335027, + 0.0011244288882503485, + 0.016518460016920547, + -0.010670702829122395, + -0.0044321576331612135, + 0.0 + ], + [ + -0.0004204905268372361, + -0.009358946585914185, + 0.0022754560780093164, + 0.01577298696321459, + -0.013301276266420657, + -0.026949894519383618, + 0.0 + ], + [ + -0.007416373972704726, + -0.015706898764329624, + 0.0005244251472208902, + 0.004148288190810027, + 0.008126853079352037, + -0.03656369186002338, + 0.0 + ], + [ + -0.003183101340807293, + -0.012213547986044015, + -0.008678009978483368, + 0.017162146804039075, + -0.002814406903037406, + -0.045228982989801124, + 0.0 + ], + [ + 0.0028405047008320805, + -0.004814709381074644, + -0.007525369921757154, + 0.011167091590377518, + -0.02401467779542777, + -0.05225511143707499, + 0.997802 + ], + [ + 0.0005508245518698329, + -0.005898124126383533, + -0.0014629847960740683, + 0.005865971555456019, + -0.00531723861998116, + -0.017147037715131725, + 1.0 + ], + [ + 0.0006316969400900208, + -0.0036987601001882003, + 0.0010186607642134748, + -0.008691262497794932, + -0.008950053215248457, + -0.0018708674418651979, + 1.0 + ], + [ + 0.010213880155196198, + 0.001666272457124876, + 0.024139906327675688, + 0.05521047880736273, + -0.054987280015142276, + -0.07016036714263948, + 1.0 + ], + [ + 0.011715144704343816, + 0.003848433562162301, + 0.03555043522117117, + 0.12922837670298226, + -0.020925602540178216, + -0.08571679136977171, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 149.82040405273438, + 195.27572631835938 + ], + [ + 150.6006317138672, + 199.41464233398438 + ], + [ + 154.78836059570312, + 221.45236206054688 + ], + [ + 168.4250030517578, + 222.06243896484375 + ], + [ + 193.75523376464844, + 240.59234619140625 + ], + [ + 238.5089569091797, + 252.23207092285156 + ], + [ + 271.61846923828125, + 284.556396484375 + ], + [ + 306.40875244140625, + 307.5135498046875 + ], + [ + 328.1163330078125, + 330.63616943359375 + ], + [ + 357.29931640625, + 343.3765563964844 + ], + [ + 384.7018737792969, + 352.4288635253906 + ], + [ + 401.17919921875, + 361.0401916503906 + ], + [ + 403.7892150878906, + 368.1810607910156 + ], + [ + 400.6989440917969, + 371.8430480957031 + ], + [ + 406.4424133300781, + 369.8321533203125 + ], + [ + 403.74151611328125, + 368.05987548828125 + ], + [ + 403.72039794921875, + 369.48187255859375 + ], + [ + 393.7975769042969, + 386.5711669921875 + ], + [ + 399.8592834472656, + 391.67547607421875 + ], + [ + 396.7249755859375, + 394.81268310546875 + ], + [ + 378.4356689453125, + 379.11431884765625 + ], + [ + 349.9586181640625, + 366.5883483886719 + ], + [ + 323.8450927734375, + 346.2658996582031 + ], + [ + 295.2729797363281, + 322.7119140625 + ], + [ + 276.1423034667969, + 306.9210205078125 + ], + [ + 266.39617919921875, + 306.13653564453125 + ], + [ + 264.44049072265625, + 312.5923767089844 + ], + [ + 271.5975341796875, + 322.41180419921875 + ], + [ + 271.2179870605469, + 321.0113220214844 + ], + [ + 263.2975158691406, + 317.86834716796875 + ], + [ + 249.55007934570312, + 304.6554260253906 + ], + [ + 236.28834533691406, + 287.1165771484375 + ], + [ + 220.33270263671875, + 272.9192810058594 + ], + [ + 207.5725860595703, + 264.440673828125 + ], + [ + 195.726806640625, + 257.4400634765625 + ], + [ + 170.0311737060547, + 252.96849060058594 + ], + [ + 170.65499877929688, + 248.10366821289062 + ], + [ + 172.81539916992188, + 252.24575805664062 + ], + [ + 187.51986694335938, + 272.37213134765625 + ], + [ + 199.31845092773438, + 281.822021484375 + ], + [ + 207.37652587890625, + 288.59375 + ], + [ + 209.53408813476562, + 293.0203552246094 + ], + [ + 217.1546173095703, + 296.92462158203125 + ], + [ + 216.41757202148438, + 279.6373291015625 + ], + [ + 222.82565307617188, + 246.78736877441406 + ], + [ + 225.9923858642578, + 233.865234375 + ], + [ + 225.85951232910156, + 232.84170532226562 + ], + [ + 226.3902587890625, + 232.1315155029297 + ] + ], + "depth_max": 1.302887201309204, + "depth_min": 0.331243634223938, + "intrinsic": [ + [ + 517.3326416015625, + 0.0, + 259.0 + ], + [ + 0.0, + 517.4374389648438, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.308264058432542e-05, + -4.423597420100123e-05, + 4.89393642055802e-07 + ], + [ + -3.3084044844144955e-05, + 1.0, + -3.181917418260127e-05, + 6.885202310513705e-06 + ], + [ + 4.423491918714717e-05, + 3.1820636650081724e-05, + 1.0, + -8.866382268024608e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 392.75, + 365.7500305175781 + ], + [ + 392.8170166015625, + 365.86456298828125 + ], + [ + 392.982421875, + 365.8669738769531 + ], + [ + 392.7828063964844, + 365.7781677246094 + ], + [ + 392.9808654785156, + 366.1289978027344 + ], + [ + 392.9970397949219, + 366.1588134765625 + ], + [ + 395.5846862792969, + 361.78076171875 + ], + [ + 395.8583984375, + 362.1849060058594 + ], + [ + 395.9561767578125, + 363.0613708496094 + ], + [ + 392.7286376953125, + 366.52587890625 + ], + [ + 392.8742370605469, + 366.69873046875 + ], + [ + 392.67431640625, + 366.5400695800781 + ], + [ + 393.44000244140625, + 367.2513122558594 + ], + [ + 393.681396484375, + 367.586669921875 + ], + [ + 394.7864074707031, + 368.17095947265625 + ], + [ + 396.78656005859375, + 368.75042724609375 + ], + [ + 397.28497314453125, + 370.71038818359375 + ], + [ + 389.54541015625, + 390.64849853515625 + ], + [ + 397.2018737792969, + 395.6580810546875 + ], + [ + 397.61083984375, + 397.73846435546875 + ], + [ + 383.3941345214844, + 383.0672912597656 + ], + [ + 358.4398193359375, + 370.72674560546875 + ], + [ + 331.68035888671875, + 350.1741027832031 + ], + [ + 303.9599304199219, + 329.71795654296875 + ], + [ + 288.6993408203125, + 315.8743591308594 + ], + [ + 277.7369384765625, + 315.5000915527344 + ], + [ + 275.9479675292969, + 321.65130615234375 + ], + [ + 282.6063537597656, + 327.4549560546875 + ], + [ + 280.78369140625, + 326.11895751953125 + ], + [ + 272.5211181640625, + 322.873779296875 + ], + [ + 259.53314208984375, + 310.1150207519531 + ], + [ + 247.26683044433594, + 292.12640380859375 + ], + [ + 232.04415893554688, + 282.88824462890625 + ], + [ + 219.5296630859375, + 271.4311218261719 + ], + [ + 209.1365966796875, + 266.2141418457031 + ], + [ + 185.16416931152344, + 261.09490966796875 + ], + [ + 184.0420379638672, + 257.02874755859375 + ], + [ + 186.4583740234375, + 261.1444396972656 + ], + [ + 198.79371643066406, + 281.1463317871094 + ], + [ + 206.6833038330078, + 287.23468017578125 + ], + [ + 219.43240356445312, + 300.33819580078125 + ], + [ + 220.17562866210938, + 298.22454833984375 + ], + [ + 221.0267333984375, + 299.3684387207031 + ], + [ + 217.9599151611328, + 300.04095458984375 + ], + [ + 215.0924072265625, + 302.2655334472656 + ], + [ + 215.8094482421875, + 302.74383544921875 + ], + [ + 216.0047149658203, + 302.7569274902344 + ], + [ + 216.1796112060547, + 302.8954772949219 + ] + ] +} \ No newline at end of file diff --git a/005614_v2/lang.txt b/005614_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..552e3cc608d5776031cd2836d553df864f811d83 --- /dev/null +++ b/005614_v2/lang.txt @@ -0,0 +1 @@ +moved the blue fork to the left burner diff --git a/005614_v2/object.ply b/005614_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..eff8d60e359c51e0535694aaa66d698de6f1bcec Binary files /dev/null and b/005614_v2/object.ply differ diff --git a/005621/FAIL b/005621/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/005621/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/005623_v2/FAIL b/005623_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/005623_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/005640_v2/FAIL b/005640_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/005640_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/005642_v2/FAIL b/005642_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/005642_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/005651_v2/FAIL b/005651_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/005651_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/005673/data.json b/005673/data.json new file mode 100644 index 0000000000000000000000000000000000000000..557e83385f119f6c93edfd3c22bed8434fdbef0d --- /dev/null +++ b/005673/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 11, + "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, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5125759999999999, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -4.783986540246588e-10, + -9.256961863712831e-11, + -8.540923523980837e-11, + -1.5851802326458212e-07, + 1.7788463143900795e-08, + -2.7664036745392945e-09, + 1.0 + ], + [ + 0.01465208485304309, + 0.006098447456943004, + -0.007782713511615885, + -0.00956194907932918, + -0.06664590313290086, + 0.048234941206289336, + 1.0 + ], + [ + 0.0113945109318348, + 0.004200039952618209, + -0.0032423764554363743, + 0.027747848781528583, + -0.046454983704197234, + 0.007379094395219784, + 1.0 + ], + [ + 0.010869712827796196, + 0.0019880369578630236, + -0.008791384670772728, + 0.007572275610758567, + -0.053563552858539865, + 0.030700039847881406, + 1.0 + ], + [ + 0.006684796482592792, + 0.002717100494689373, + -0.009402088761258406, + 0.002481725356510247, + -0.0474547694313871, + 0.0202585681448073, + 1.0 + ], + [ + 0.003674909777119817, + 0.0017772385644686806, + -0.007535939770355021, + -0.0064675599049008785, + -0.02488079814954587, + 0.01284949368684601, + 1.0 + ], + [ + 0.001179415251973015, + -0.0003375357008657265, + -0.005288180778083046, + -0.015888151301407374, + -0.00866215184924641, + 0.008720273121095246, + 1.0 + ], + [ + 0.00358773785527694, + 0.00050456095022125, + -0.009373523546995208, + -0.013264210154683927, + -0.012621560110462289, + -0.005868326655017904, + 1.0 + ], + [ + 0.0021993260632230394, + 0.002393753678278182, + -0.005839183372865757, + -0.01429133708832614, + -0.0013237978941619145, + -0.004783859432607035, + 1.0 + ], + [ + 0.0018407280129866255, + -0.0007717630757619054, + -0.007329692523653106, + -0.009464539452767607, + -0.013675591422784655, + 0.00403348411072712, + 1.0 + ], + [ + 0.005787316516794538, + -0.0003367773702796367, + -0.00873935800741988, + -0.010500430768154951, + -0.01649414835617267, + -0.0036767451919514286, + 1.0 + ], + [ + 0.003988422339095576, + 0.003611933433641093, + -0.0074930066979515195, + -0.006061497296892269, + -0.00471243783488642, + -0.017147166554324737, + 1.0 + ], + [ + 0.0011237350870573204, + -0.003359649870121856, + -0.006910769064020467, + -0.013973527840322335, + -0.003673356179230309, + 0.04622762132577929, + 0.0 + ], + [ + -0.0016218515694826352, + -0.0018801641723791285, + -0.0009616631729248886, + -0.03062246208776724, + 0.008814813204795949, + 0.015590773207550312, + 0.0 + ], + [ + -0.009201025078257652, + -0.007954004028397438, + 0.011865320929186105, + -0.026965397431429974, + 0.0498960055417243, + 0.008585020025252313, + 0.0 + ], + [ + -0.015803885844130505, + -0.014770963441106455, + 0.018345014751894317, + -0.01027947797897984, + 0.058471502100779484, + 0.03791809401410625, + 0.0 + ], + [ + -0.022557798865736, + -0.007479817709103859, + 0.019401938561679846, + -0.01223203942382405, + 0.06397703463429921, + 0.038975319000116956, + 0.0 + ], + [ + -0.02421292659735147, + -0.00864224193491328, + 0.006063895294101691, + -0.031540077536887604, + 0.04302828189049954, + 0.027556685784538838, + 0.0 + ], + [ + -0.019097941193598478, + -0.012125417417149648, + -0.0028200449066856093, + -0.023799296357010148, + 0.01563647285866677, + 0.025427175170853744, + 0.0 + ], + [ + -0.009171219636033456, + -0.001680505701912846, + -0.001207642800173915, + -0.06310936001230683, + 0.005628207891188113, + -0.014208689818109188, + 0.5125759999999999 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 226.13946533203125, + 55.72886276245117 + ], + [ + 226.20555114746094, + 55.854949951171875 + ], + [ + 227.16932678222656, + 72.07732391357422 + ], + [ + 238.17515563964844, + 78.67478942871094 + ], + [ + 239.40028381347656, + 78.18963623046875 + ], + [ + 244.14239501953125, + 75.88728332519531 + ], + [ + 246.67262268066406, + 75.98991394042969 + ], + [ + 253.02789306640625, + 87.32804870605469 + ], + [ + 255.32545471191406, + 93.97793579101562 + ], + [ + 259.8491516113281, + 104.63782501220703 + ], + [ + 268.87127685546875, + 120.68606567382812 + ], + [ + 271.1737060546875, + 125.84185791015625 + ], + [ + 276.2044677734375, + 135.9184112548828 + ], + [ + 277.0397033691406, + 142.78408813476562 + ], + [ + 271.6962890625, + 140.71495056152344 + ], + [ + 271.1650695800781, + 141.23876953125 + ], + [ + 265.2451171875, + 147.67556762695312 + ], + [ + 258.900390625, + 132.82615661621094 + ], + [ + 262.53082275390625, + 127.37559509277344 + ], + [ + 248.24935913085938, + 136.45159912109375 + ], + [ + 239.01669311523438, + 157.1835174560547 + ], + [ + 242.82949829101562, + 165.54254150390625 + ], + [ + 233.49285888671875, + 164.70596313476562 + ], + [ + 237.30845642089844, + 165.07040405273438 + ] + ], + "depth_max": 1.440962791442871, + "depth_min": 0.6727162599563599, + "intrinsic": [ + [ + 565.928955078125, + 0.0, + 259.0 + ], + [ + 0.0, + 566.353759765625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.7628559362492524e-05, + -5.1790229917969555e-05, + 1.2208506632305216e-05 + ], + [ + -1.7629923604545183e-05, + 1.0, + -2.6310517569072545e-05, + -3.8981554098427296e-05 + ], + [ + 5.178976425668225e-05, + 2.6311430701753125e-05, + 1.0, + 8.44498754304368e-06 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 268.25, + 135.00001525878906 + ], + [ + 268.77520751953125, + 134.95692443847656 + ], + [ + 268.75518798828125, + 134.8791961669922 + ], + [ + 268.6207580566406, + 135.0448455810547 + ], + [ + 268.5649719238281, + 135.07130432128906 + ], + [ + 268.67010498046875, + 135.072998046875 + ], + [ + 268.2818908691406, + 135.0269775390625 + ], + [ + 268.0195007324219, + 135.26443481445312 + ], + [ + 267.4977111816406, + 135.40171813964844 + ], + [ + 266.935546875, + 135.807373046875 + ], + [ + 266.33428955078125, + 135.86929321289062 + ], + [ + 268.5295715332031, + 136.4652099609375 + ], + [ + 275.2327880859375, + 138.645263671875 + ], + [ + 279.1654968261719, + 141.59471130371094 + ], + [ + 276.53826904296875, + 138.94985961914062 + ], + [ + 275.7400817871094, + 138.27804565429688 + ], + [ + 269.94085693359375, + 145.68797302246094 + ], + [ + 261.58270263671875, + 132.36012268066406 + ], + [ + 264.7413024902344, + 126.85165405273438 + ], + [ + 250.04510498046875, + 137.95103454589844 + ], + [ + 241.53866577148438, + 159.05812072753906 + ], + [ + 245.91844177246094, + 166.50894165039062 + ], + [ + 252.15805053710938, + 160.99107360839844 + ], + [ + 252.2151336669922, + 164.1979522705078 + ] + ] +} \ No newline at end of file diff --git a/005673/lang.txt b/005673/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..5774cbfc6674e8862f74b27a10458ec4b56ddb86 --- /dev/null +++ b/005673/lang.txt @@ -0,0 +1 @@ +put carrot in pot or pan diff --git a/005673/object.ply b/005673/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..757807d8a1f13a9e63de2218e5de76cf30bc5b4c Binary files /dev/null and b/005673/object.ply differ diff --git a/005674_v2/FAIL b/005674_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/005674_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/005690_v2/FAIL b/005690_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/005690_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/005693/FAIL b/005693/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/005693/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/005698_v2/FAIL b/005698_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/005698_v2/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/005716/data.json b/005716/data.json new file mode 100644 index 0000000000000000000000000000000000000000..17a31018057389547f4b590515b802ee4b8c6e05 --- /dev/null +++ b/005716/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 16, + "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, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.892064, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 2.037282009759167e-10, + -2.2585683323583794e-11, + -4.55745597510715e-11, + 1.4571485506318462e-07, + 9.258558581317438e-08, + 2.244407080906732e-07, + 1.0 + ], + [ + -0.011924067997813703, + -0.02919243107057798, + 0.016626896246262082, + 0.002068594023352455, + -0.01402169479391242, + 0.010046756254214514, + 1.0 + ], + [ + -0.009710659363420526, + -0.03429387542080839, + 0.027314880654430992, + 0.015029208616875175, + -0.0031930415226719125, + -0.010970253474349443, + 1.0 + ], + [ + -0.01032199046718435, + -0.025636518147322485, + 0.02557866508046254, + -0.002058192614454879, + 0.036390454778979446, + 0.013826596523047713, + 1.0 + ], + [ + -0.007602589803007265, + -0.03356184716456624, + 0.025707792522681648, + -0.014935674628183225, + 0.01694362009013768, + -0.0278640506221435, + 1.0 + ], + [ + -0.0007601923750127915, + -0.022676365559117395, + 0.007937595229645877, + -0.04792653053142974, + -0.007066601712202575, + -0.03637392748086843, + 1.0 + ], + [ + -0.005138762992769219, + -0.016883172414133576, + -0.0001541535750218953, + -0.013732509685998325, + -0.006357478217991694, + -0.023173705253330325, + 1.0 + ], + [ + -0.009168426904558491, + -0.015245039568920944, + -0.010067783180615644, + -0.010731456295078944, + -0.00682839895552021, + -0.01207052542431634, + 1.0 + ], + [ + -0.012803664360340361, + -0.0055044833716413315, + -0.01500794371372377, + -0.016708520155966723, + -0.003829791442389997, + -0.014014921116786497, + 1.0 + ], + [ + -0.013557095043616296, + 0.001036722312569802, + -0.017335369823889585, + 0.00721862342752486, + -0.013611299438900874, + 0.004491656867981256, + 1.0 + ], + [ + -0.0020899162419815154, + 0.001460798866199776, + -0.009855100695220317, + -0.004088617908103643, + -0.01807807369236246, + -0.013208406361836723, + 1.0 + ], + [ + 0.005070332618063472, + -0.0010019505950502744, + -0.0017136725058183797, + -0.00474667818727824, + -0.008651934112652238, + -0.013183437206777348, + 1.0 + ], + [ + 0.006555913909917943, + -0.00410367834362263, + 0.0006397275013768078, + -0.006923395320369095, + -0.012897843148386073, + -0.006246398931095706, + 1.0 + ], + [ + 0.0069246927013666415, + -0.004615342754768475, + -0.0008841509122590116, + -0.012974958700805657, + -0.010626468028229795, + -0.0031947552730639053, + 1.0 + ], + [ + 0.004435118840871388, + -0.0038160908800236263, + -0.004683407482338274, + -0.020123975746175936, + -0.009155853654361765, + -0.0012406188821765026, + 1.0 + ], + [ + 0.003954087430417141, + -0.001628146741041104, + -0.005958543563416234, + -0.028434479020410675, + 0.0026722538028053026, + 0.0004279844550824136, + 1.0 + ], + [ + 0.0017169465029960862, + -0.00024638978378226095, + -0.006985219155422703, + -0.03371659928567722, + 0.000557336092390752, + 0.007980366708621147, + 1.0 + ], + [ + 0.0005647246768077929, + 0.0007887481629603593, + -0.005760999799519134, + -0.020982341335183636, + 0.005947935467529887, + 0.011020729555274986, + 0.0 + ], + [ + -3.69866330115487e-05, + 0.0016569547422775784, + -0.0008271325565958401, + -0.0034171319448166866, + 0.008866487246298646, + 0.0026159802761262277, + 0.0 + ], + [ + -0.0012919945656060805, + 0.0020246021931908074, + 0.0017291242850635408, + 0.006563729566124739, + 0.0041659381824656104, + 0.005518859945415075, + 0.0 + ], + [ + 0.012382390130915355, + 0.017355119689790026, + 0.015998040309780276, + 0.057214305746738754, + 0.0046951081816733594, + -0.03467494308724726, + 0.0 + ], + [ + 0.038161078634011136, + 0.03210583325167007, + 0.024958375454664387, + 0.10890712809141907, + -0.01522981540053067, + -0.076627090754921, + 0.0 + ], + [ + 0.033948005583691876, + 0.03282588011069565, + 0.0031884812182883943, + 0.05821052511180698, + -0.03660630377401318, + -0.0963918162241441, + 0.0 + ], + [ + 0.02959341622954409, + 0.02591622033616301, + -0.0067501886709085, + 0.02891481605512529, + -0.03408948561887498, + -0.10043774874838028, + 0.0 + ], + [ + 0.015432762178191173, + 0.019985946964609452, + -0.012061001995031406, + 0.018613993228527078, + -0.050765858064684595, + -0.0674332437835629, + 0.0 + ], + [ + 0.005479210546773028, + 0.010071920714062044, + -0.009483989364456845, + -0.015171933500570585, + -0.022603186678973132, + -0.036042938429686554, + 0.0 + ], + [ + 0.0010586767049330925, + 0.0005622798166282361, + -0.004410450475498519, + -0.018803053743216835, + -0.03763553009742452, + -0.027992089031795425, + 0.892064 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 205.50357055664062, + 131.87461853027344 + ], + [ + 205.42318725585938, + 131.86180114746094 + ], + [ + 204.78311157226562, + 149.69265747070312 + ], + [ + 211.03280639648438, + 164.91244506835938 + ], + [ + 248.86636352539062, + 148.94955444335938 + ], + [ + 265.5024108886719, + 142.1527862548828 + ], + [ + 284.234130859375, + 126.3895492553711 + ], + [ + 329.5010986328125, + 139.0500946044922 + ], + [ + 318.806884765625, + 128.76702880859375 + ], + [ + 353.7279052734375, + 172.26197814941406 + ], + [ + 337.1858825683594, + 198.7882843017578 + ], + [ + 317.2229309082031, + 233.60775756835938 + ], + [ + 318.8045959472656, + 242.57571411132812 + ], + [ + 322.7742919921875, + 240.15304565429688 + ], + [ + 330.7564697265625, + 232.98878479003906 + ], + [ + 340.86346435546875, + 233.38845825195312 + ], + [ + 352.0049743652344, + 240.01278686523438 + ], + [ + 363.6734313964844, + 244.08460998535156 + ], + [ + 367.3482971191406, + 247.84396362304688 + ], + [ + 364.5227966308594, + 251.53256225585938 + ], + [ + 364.2329406738281, + 251.30194091796875 + ], + [ + 355.9871826171875, + 241.66073608398438 + ], + [ + 347.7174072265625, + 206.50262451171875 + ], + [ + 347.75927734375, + 139.490478515625 + ], + [ + 340.0102233886719, + 102.8809585571289 + ], + [ + 330.66473388671875, + 84.61299133300781 + ], + [ + 322.0709228515625, + 83.96266174316406 + ], + [ + 321.40093994140625, + 85.76781463623047 + ], + [ + 321.52093505859375, + 84.30891418457031 + ] + ], + "depth_max": 1.5494457483291626, + "depth_min": 0.3840321898460388, + "intrinsic": [ + [ + 559.1450805664062, + 0.0, + 259.0 + ], + [ + 0.0, + 559.649658203125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.953172927140258e-05, + -7.563086546724662e-05, + 3.06416186504066e-05 + ], + [ + -3.953722261940129e-05, + 1.0, + -7.261313294293359e-05, + -2.5710156478453428e-05 + ], + [ + 7.562799873994663e-05, + 7.26161160855554e-05, + 1.0, + -3.894618203048594e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 353.0, + 276.0 + ], + [ + 353.36474609375, + 276.10040283203125 + ], + [ + 353.4530944824219, + 275.9149475097656 + ], + [ + 353.3206481933594, + 275.86444091796875 + ], + [ + 353.3149108886719, + 275.88262939453125 + ], + [ + 353.35040283203125, + 275.7003479003906 + ], + [ + 353.1560974121094, + 275.81219482421875 + ], + [ + 353.1079406738281, + 275.3735046386719 + ], + [ + 353.2501525878906, + 275.4256896972656 + ], + [ + 353.2115478515625, + 275.53387451171875 + ], + [ + 353.38690185546875, + 275.3607482910156 + ], + [ + 353.53369140625, + 275.4346923828125 + ], + [ + 353.3203125, + 276.00482177734375 + ], + [ + 353.1898193359375, + 276.0875549316406 + ], + [ + 353.07293701171875, + 275.9287109375 + ], + [ + 353.0350646972656, + 275.2685241699219 + ], + [ + 352.76470947265625, + 275.32855224609375 + ], + [ + 353.8685302734375, + 275.410400390625 + ], + [ + 354.0759582519531, + 275.9141540527344 + ], + [ + 353.41131591796875, + 275.7628173828125 + ], + [ + 352.34552001953125, + 276.07550048828125 + ], + [ + 342.8234558105469, + 267.51800537109375 + ], + [ + 338.2258605957031, + 244.3739013671875 + ], + [ + 339.9283752441406, + 180.23745727539062 + ], + [ + 330.8750305175781, + 145.26898193359375 + ], + [ + 323.19384765625, + 125.75718688964844 + ], + [ + 316.9599914550781, + 123.19013977050781 + ], + [ + 317.68951416015625, + 123.69775390625 + ], + [ + 323.6112060546875, + 124.51910400390625 + ] + ] +} \ No newline at end of file diff --git a/005716/lang.txt b/005716/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..c24584c8c56c187b2f64cc463e33549d4bcb895b --- /dev/null +++ b/005716/lang.txt @@ -0,0 +1 @@ +put corn on plate diff --git a/005716/object.ply b/005716/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..b2c65f98e679babfadab21b30b1974cf5ed42048 Binary files /dev/null and b/005716/object.ply differ diff --git a/005761/data.json b/005761/data.json new file mode 100644 index 0000000000000000000000000000000000000000..d26ffd67e42487608e22e78a381d69c3f10e2923 --- /dev/null +++ b/005761/data.json @@ -0,0 +1,439 @@ +{ + "action_start": 5, + "action_end": 17, + "object_name": "knife", + "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, + 0.971429, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.0279044282412997e-10, + -8.442076204762117e-11, + -9.173764525804984e-11, + -2.771628349008783e-07, + 3.38819788448033e-08, + 9.995313789906245e-08, + 1.0 + ], + [ + 0.0017688737837744106, + -0.001015387002137394, + -0.0147964349429318, + -0.007264428366459473, + -0.02166499093577611, + 0.010846550471775983, + 1.0 + ], + [ + 0.0009799955264009896, + 0.0033680503435440656, + -0.006841292599498942, + -0.012990455988175038, + 0.005390400839682314, + -0.0030887042591914065, + 1.0 + ], + [ + 0.0008326394493915756, + 0.0023313571290187185, + -0.00968427383723601, + -0.020406905942564484, + -0.00950862907126201, + -0.008912586703870158, + 1.0 + ], + [ + -0.0016650207607847856, + -0.0002342675602675648, + -0.00993385931108258, + -0.03211712907094304, + 0.0016413959368422252, + -0.00011224901186860502, + 1.0 + ], + [ + -0.00326504253237761, + -0.00040517615789043004, + -0.007594754712980944, + -0.014149485125141203, + -0.00014521198311610877, + 0.006553815809139606, + 1.0 + ], + [ + -0.0009568557487638907, + 0.00010285599232430498, + -0.006284968264403373, + -0.02909036261107202, + 0.0033748632742545514, + 0.022970073709120954, + 0.0 + ], + [ + 0.0015369248443604933, + -0.0008514687583595221, + -0.0015106941926287289, + -0.003409689981082866, + -0.00041632605675049906, + 0.016410929453930745, + 0.0 + ], + [ + 0.004374770188690702, + 0.0006656355700025429, + 0.004907987148749142, + 0.012600589327817935, + -0.002225569168775847, + -0.006316048014023708, + 0.0 + ], + [ + 0.003154242901496962, + 7.708642325582327e-05, + 0.0093758393425661, + 0.0215300373182988, + 0.00683758349850934, + -0.009028394567511675, + 0.0 + ], + [ + 0.01141146961351544, + 0.005589759457594157, + 0.015221793400594864, + 0.06712637723942848, + -0.017483274872627703, + -0.019493700435518024, + 0.0 + ], + [ + 0.023330201132229, + 0.013726731275469861, + 0.007153798378822556, + 0.04062650274053932, + -0.03474738920198188, + -0.05235380768758887, + 0.0 + ], + [ + 0.028252799679227142, + 0.013464755829126873, + 0.004720784182432568, + 0.03780164847505904, + -0.0357154741696639, + -0.059806271405374915, + 0.0 + ], + [ + 0.028213078357337495, + 0.013617831251620707, + -0.0027830214315455737, + 0.018114067536502784, + -0.029717792549996135, + -0.06007767068646312, + 0.0 + ], + [ + 0.021943532837022883, + 0.018182598222143978, + 0.001429061985181633, + 0.006549391519975349, + 0.006818911496303174, + -0.06698116357916556, + 0.0 + ], + [ + 0.013742117483868665, + 0.01600309883932157, + 0.0063338717365169425, + 0.027786705887055053, + 0.002906910675030673, + -0.043481877341260806, + 0.0 + ], + [ + 0.012340651029492111, + 0.013162626487076341, + 0.0032658482104611156, + 0.028808764683442095, + -0.015053286766378265, + -0.03914944456191792, + 0.0 + ], + [ + 0.006184848074105853, + 0.007679481379892401, + -0.0035385508430482993, + 0.0012980700105106816, + -0.043495977707333586, + -0.06397705379251072, + 0.971429 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 417.704833984375, + 289.3992614746094 + ], + [ + 417.6948547363281, + 289.424072265625 + ], + [ + 410.916259765625, + 301.24542236328125 + ], + [ + 408.68359375, + 320.0094909667969 + ], + [ + 408.536376953125, + 327.8785705566406 + ], + [ + 401.4597473144531, + 336.6620788574219 + ], + [ + 398.365478515625, + 349.3167724609375 + ], + [ + 404.84002685546875, + 350.438720703125 + ], + [ + 399.33514404296875, + 345.90716552734375 + ], + [ + 397.7083740234375, + 340.8793640136719 + ], + [ + 399.2311706542969, + 340.115478515625 + ], + [ + 397.08184814453125, + 339.685791015625 + ], + [ + 406.6656799316406, + 299.9140625 + ], + [ + 412.96978759765625, + 265.557373046875 + ], + [ + 411.0454406738281, + 225.0568389892578 + ], + [ + 417.22088623046875, + 203.6722869873047 + ], + [ + 406.0968322753906, + 178.61123657226562 + ], + [ + 391.9681396484375, + 148.8077850341797 + ], + [ + 390.0177001953125, + 142.48019409179688 + ], + [ + 398.7461242675781, + 135.0924072265625 + ], + [ + 390.2250671386719, + 131.4822540283203 + ] + ], + "depth_max": 1.5045331716537476, + "depth_min": 0.15641547739505768, + "intrinsic": [ + [ + 531.800048828125, + 0.0, + 259.0 + ], + [ + 0.0, + 531.6267700195312, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -2.2291685581876663e-06, + -0.0001686044706730172, + 4.9336686060996726e-05 + ], + [ + 2.2121826077636797e-06, + 1.0, + -0.00010074501915369183, + -4.261934373062104e-05 + ], + [ + 0.00016860470350366086, + 0.00010074464080389589, + 1.0, + -9.897458949126303e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 20 + ], + "object_trajectory": [ + [ + 404.0, + 393.2500305175781 + ], + [ + 404.164794921875, + 393.4660339355469 + ], + [ + 403.4698486328125, + 392.51312255859375 + ], + [ + 402.2569580078125, + 391.0863342285156 + ], + [ + 401.9660339355469, + 390.06561279296875 + ], + [ + 401.4410705566406, + 389.239501953125 + ], + [ + 401.2595520019531, + 389.2976379394531 + ], + [ + 401.3240661621094, + 390.4253845214844 + ], + [ + 400.40362548828125, + 389.197509765625 + ], + [ + 395.3245849609375, + 384.75604248046875 + ], + [ + 394.7798156738281, + 383.0729064941406 + ], + [ + 390.51300048828125, + 382.31488037109375 + ], + [ + 395.8519287109375, + 356.6435241699219 + ], + [ + 393.9129638671875, + 330.2677307128906 + ], + [ + 392.1289367675781, + 292.9966735839844 + ], + [ + 402.60430908203125, + 268.12164306640625 + ], + [ + 401.0661926269531, + 242.32456970214844 + ], + [ + 384.12738037109375, + 220.4908905029297 + ], + [ + 378.2100524902344, + 215.36065673828125 + ], + [ + 364.6233215332031, + 220.4766845703125 + ], + [ + 351.9891662597656, + 217.8155517578125 + ] + ] +} \ No newline at end of file diff --git a/005761/lang.txt b/005761/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..b0b4d76b41e2620dca35ff0157704569806de878 --- /dev/null +++ b/005761/lang.txt @@ -0,0 +1 @@ +put knife on cutting board diff --git a/005780_v2/FAIL b/005780_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/005780_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/005787/data.json b/005787/data.json new file mode 100644 index 0000000000000000000000000000000000000000..fd3f1ae81afd95200e242041981bf4111eb03e2d --- /dev/null +++ b/005787/data.json @@ -0,0 +1,549 @@ +{ + "action_start": 13, + "action_end": 21, + "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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.59243, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.474797837301537e-10, + 1.1208760308800692e-10, + -1.2097310653214066e-10, + 4.606304045851088e-08, + -6.094086233287269e-07, + -6.59399592409754e-07, + 1.0 + ], + [ + 0.021231182158048867, + -0.02820742380897641, + 0.014659546528975165, + 0.01673381337904008, + -0.009268355876944802, + -0.11533632250266497, + 1.0 + ], + [ + 0.027467797022557583, + -0.02396139113402833, + 0.010387907743453037, + 0.013046285640788958, + -0.04471869139287004, + -0.1102910995600414, + 1.0 + ], + [ + 0.03109237247595803, + -0.013928226776692816, + 0.007939625892589286, + -0.0004136758582715929, + -0.04387318602604136, + -0.06733729829470848, + 1.0 + ], + [ + 0.030830919024589343, + -0.004484677937857531, + -0.0021809318177215403, + 0.00707422946941507, + -0.04584147092996195, + -0.07906965399443559, + 1.0 + ], + [ + 0.020083438912520013, + -0.0003097166687330635, + -0.006855132034424685, + -0.01758097212256523, + -0.04329797052669532, + -0.051815992821872194, + 1.0 + ], + [ + 0.013771888316479575, + 0.0028139410735477065, + -0.011140253209823842, + -0.027447171596096605, + -0.013745119654270823, + -0.0389009540826373, + 1.0 + ], + [ + 0.0008734282862409848, + 0.006327226147014021, + -0.01380480196326922, + -0.010201231458078207, + -0.0014750583368224434, + -0.021860923981605093, + 1.0 + ], + [ + -0.003594555560598789, + 0.007610071135783273, + -0.005121414430610302, + 0.017222337704929827, + 0.00012930390501010873, + -0.01269191574783418, + 1.0 + ], + [ + -0.003674847858947561, + 0.005820222193116731, + -0.007195821630376548, + 0.003835773982822085, + -0.007770798543205341, + -0.016524821712404547, + 1.0 + ], + [ + -0.0032664998786486876, + 0.0015684476064359854, + -0.010046178457540703, + -0.014740973831454007, + -0.017002846741208343, + -0.013224143214615786, + 1.0 + ], + [ + 0.003968154619594155, + -0.0027897873253788993, + -0.0071630974263814165, + -0.03288749627598661, + -0.014424936262224575, + -0.02520291296914083, + 1.0 + ], + [ + 0.00500569777746912, + -0.003549601499798674, + -0.008847090239453681, + -0.022892989557260397, + 0.0018499590048805191, + -0.0071449202371349375, + 1.0 + ], + [ + 0.003251878716291068, + -0.0006816417446377926, + -0.011389128327657642, + -0.02200050854296703, + -0.005678969080573132, + -0.0017698098019327236, + 1.0 + ], + [ + 0.0015229495916925795, + -0.0038164300653977246, + -0.003692841728955336, + -0.022934067121376862, + 0.010375207152290398, + 0.03325978239776362, + 0.0 + ], + [ + -0.0008112419995614517, + -0.00022523061266248312, + 0.017811905229047277, + 0.03284433802891653, + 0.030305820889720433, + 0.012611621948577768, + 0.0 + ], + [ + -0.008174559857676567, + -0.011593975011123414, + 0.04541749682409843, + 0.05858717003551225, + 0.050300558564344906, + 0.05543795584287845, + 0.0 + ], + [ + -0.015438489005609735, + -0.027831550342027223, + 0.026558152793553395, + -0.010643425588266775, + 0.04272755339372913, + 0.06099765606605254, + 0.0 + ], + [ + -0.00939160843763942, + -0.03088978134872539, + 0.005642897204814021, + 0.014997444380072937, + 0.0051655412182272185, + 0.012245386639353137, + 0.0 + ], + [ + -0.012594395950370207, + -0.031019217554914737, + -0.004672464294904477, + -0.05192982151307853, + 0.020044806050673755, + 0.08372952176593065, + 0.0 + ], + [ + -0.014280273667174603, + -0.016249619561912197, + -0.014539377590883792, + -0.03312983122009613, + 0.011564754482416697, + 0.037091713809543125, + 0.0 + ], + [ + -0.010705722730576961, + -0.003752544967959695, + -0.006726074169848134, + -0.006811061844104774, + 0.013175881957722648, + 0.008198946610141767, + 0.59243 + ], + [ + 0.0010852734015355803, + 0.0011880945135740867, + -0.003279324653915547, + -0.013724768523105295, + -0.031850230319058, + 0.026262841561084802, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 211.33126831054688, + 109.47614288330078 + ], + [ + 211.25355529785156, + 109.41064453125 + ], + [ + 211.33741760253906, + 121.21126556396484 + ], + [ + 247.65463256835938, + 103.93035125732422 + ], + [ + 322.01611328125, + 94.745361328125 + ], + [ + 344.40899658203125, + 69.36404418945312 + ], + [ + 372.888671875, + 56.65110397338867 + ], + [ + 397.2535705566406, + 59.85917663574219 + ], + [ + 405.483154296875, + 67.2791748046875 + ], + [ + 396.69830322265625, + 68.94640350341797 + ], + [ + 382.9360046386719, + 71.7124252319336 + ], + [ + 372.93634033203125, + 81.68264770507812 + ], + [ + 372.29400634765625, + 94.87632751464844 + ], + [ + 376.0400085449219, + 103.85267639160156 + ], + [ + 375.5667724609375, + 114.5565185546875 + ], + [ + 376.8223571777344, + 127.35533142089844 + ], + [ + 376.16815185546875, + 126.38803100585938 + ], + [ + 371.97222900390625, + 119.18241882324219 + ], + [ + 374.549072265625, + 92.03672790527344 + ], + [ + 414.1232604980469, + 67.7993392944336 + ], + [ + 459.3631591796875, + 79.4044418334961 + ], + [ + 496.46148681640625, + 111.40843200683594 + ], + [ + 498.61212158203125, + 138.68678283691406 + ], + [ + 493.615966796875, + 157.2581024169922 + ], + [ + 494.3858947753906, + 158.5833740234375 + ], + [ + 495.0400695800781, + 157.68035888671875 + ], + [ + 494.98089599609375, + 157.78436279296875 + ] + ], + "depth_max": 1.7599437236785889, + "depth_min": 0.6100549101829529, + "intrinsic": [ + [ + 565.5195922851562, + 0.0, + 259.0 + ], + [ + 0.0, + 565.5650634765625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.0947225493728183e-05, + -1.2564973985718098e-05, + 8.158807759173214e-06 + ], + [ + -2.0947902157786302e-05, + 1.0, + -5.384240284911357e-05, + -4.833214916288853e-06 + ], + [ + 1.2563846212287899e-05, + 5.384266478358768e-05, + 1.0, + 2.2583397367270663e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 26 + ], + "object_trajectory": [ + [ + 370.0, + 138.00001525878906 + ], + [ + 370.99530029296875, + 138.2744140625 + ], + [ + 371.01971435546875, + 137.91461181640625 + ], + [ + 370.90966796875, + 137.8120880126953 + ], + [ + 371.4964599609375, + 137.81008911132812 + ], + [ + 371.26849365234375, + 137.6664276123047 + ], + [ + 371.4417724609375, + 136.97500610351562 + ], + [ + 371.71441650390625, + 138.08828735351562 + ], + [ + 371.2747497558594, + 138.5153350830078 + ], + [ + 371.64288330078125, + 139.23085021972656 + ], + [ + 371.13409423828125, + 139.01406860351562 + ], + [ + 370.9693908691406, + 139.0889892578125 + ], + [ + 370.63763427734375, + 139.0753631591797 + ], + [ + 370.2282409667969, + 139.175537109375 + ], + [ + 371.29962158203125, + 139.17416381835938 + ], + [ + 382.107177734375, + 139.89511108398438 + ], + [ + 377.55084228515625, + 138.6375274658203 + ], + [ + 375.5854187011719, + 134.07496643066406 + ], + [ + 376.9215087890625, + 113.93495178222656 + ], + [ + 405.80084228515625, + 86.75553131103516 + ], + [ + 445.853515625, + 97.87708282470703 + ], + [ + 482.0796203613281, + 129.82925415039062 + ], + [ + 492.5841979980469, + 157.640380859375 + ], + [ + 489.6651306152344, + 176.26727294921875 + ], + [ + 488.21868896484375, + 196.15147399902344 + ], + [ + 485.05706787109375, + 192.33213806152344 + ], + [ + 489.2134094238281, + 185.77731323242188 + ] + ] +} \ No newline at end of file diff --git a/005787/lang.txt b/005787/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..6068ad6a118d2a1d2495708d8b26935f905a67cd --- /dev/null +++ b/005787/lang.txt @@ -0,0 +1 @@ +put lemon on plate diff --git a/005787/object.ply b/005787/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..de68eebe4d562f372f1b37c8d0b7e2fe163b186d Binary files /dev/null and b/005787/object.ply differ diff --git a/005787_v2/data.json b/005787_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..195458de27caf900ed6bcc47fc36c9a94fa5220f --- /dev/null +++ b/005787_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 11, + "action_end": 27, + "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, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + [ + -8.047107424857813e-10, + -2.860461017356597e-10, + -2.0723416038759268e-10, + 2.522371021538183e-07, + 9.63410966438811e-08, + -4.54880456059277e-07, + 1.0 + ], + [ + 0.004751356781221794, + -0.007038895683154411, + 0.00404112741558503, + 0.0017375575243935575, + -0.016758093297794367, + 0.046410767741580886, + 1.0 + ], + [ + 0.007380102182801829, + -0.009969001869979559, + 0.0072784678823387405, + -0.020159770590886007, + -0.05189135168712794, + 0.09154991067660709, + 1.0 + ], + [ + 0.009529184439262428, + -0.015555468507753897, + 0.0069315563305409195, + -0.04001280074340379, + -0.0717398590411884, + 0.21691780939830888, + 1.0 + ], + [ + 0.013112804818749157, + -0.014454271546527266, + 0.004493162504256909, + -0.07266159082722848, + -0.05398069134434365, + 0.18318047139848503, + 1.0 + ], + [ + 0.013076025974369465, + -0.009088724466115528, + -0.003569527852080992, + -0.09030372412522522, + 0.001129515568080306, + 0.1071144613607235, + 1.0 + ], + [ + 0.013279209964687122, + -0.0009662078212397118, + -0.009434907297191111, + -0.06844496848251264, + -0.05273818717702405, + 0.027242744064053064, + 1.0 + ], + [ + 0.01020865703671886, + 0.0018333293730417657, + -0.012818061190982985, + -0.026183050408082685, + 0.036622318817656103, + -0.010505161530392514, + 1.0 + ], + [ + 0.011903508968377108, + -0.001194696799080193, + -0.012824822469254149, + -0.004320040893134996, + 0.03389666703931159, + -0.026784359625973374, + 1.0 + ], + [ + 0.008063010265294657, + 0.000468980472353997, + -0.012493462124233232, + -0.024326252540397476, + 0.038852434541475814, + -0.02982776382690605, + 1.0 + ], + [ + 0.0037761055491200013, + -0.0009697498730692825, + -0.011762435864880356, + 0.01118743813330727, + 0.025737955119090578, + -0.02534336553271843, + 1.0 + ], + [ + 0.0010365993533695272, + -0.0035217900063253815, + -0.010406274801006733, + 0.008482667895612923, + 0.042816778118365345, + -0.028375122058320674, + 1.0 + ], + [ + -0.00031757691212103145, + -0.0021226997490417093, + -0.00334708011546515, + 0.011731555203908867, + 0.005807109038941537, + -0.017051273625628974, + 0.0 + ], + [ + -0.0022356396956495495, + -0.002601682476397117, + 0.00091343526575903, + -0.016070689429143078, + -0.00617050623110876, + 0.0015491860530700528, + 0.0 + ], + [ + -0.0007598041936093258, + 7.369655159983335e-05, + 0.003670386875041995, + 0.005271054081371466, + -0.010810209524588402, + -0.012609149197853064, + 0.0 + ], + [ + 1.623823766633281e-05, + 0.004072125940013889, + 0.014300827116643442, + 0.01940074138163957, + -0.02958311024617758, + -0.028681913831728592, + 0.0 + ], + [ + -0.0033842580884277385, + 0.011308581450491302, + 0.024100785577322426, + 0.035180170523900364, + -0.039759349348493706, + -0.04258290851103416, + 0.0 + ], + [ + -0.005319611990155848, + 0.016070140803200433, + 0.017884613989572293, + 0.04323444973313043, + -0.010135650884871365, + -0.03325473418417586, + 0.0 + ], + [ + -0.011727614939860465, + 0.02872644330294219, + 0.021183033847080632, + 0.05024548559118489, + 0.017851740124459038, + -0.05720814759047759, + 0.0 + ], + [ + -0.012847735347213118, + 0.02661979506650835, + 0.006419726932222189, + 0.0411546420873452, + 0.013449675085832698, + -0.007609708880259641, + 0.0 + ], + [ + -0.00545987742377485, + 0.030112487089295172, + -0.002788033148401717, + 0.0327426697986811, + 0.010786671943703046, + 0.011669297078589642, + 0.0 + ], + [ + 0.005449895987916065, + 0.02521444798446134, + -0.010282042663383187, + -0.0016279806726524852, + 0.03598044646467593, + 0.00879104104881233, + 0.0 + ], + [ + 0.014119351061103624, + 0.02644661195826975, + -0.015824463487927792, + 0.012925079200836707, + -0.02273592542801348, + -0.026563020113685477, + 0.0 + ], + [ + 0.010498861426724071, + 0.02454034797986135, + -0.013935213781650121, + 0.004821421506321236, + 0.019448587667595545, + 0.011313384951802936, + 0.0 + ], + [ + 0.006599281117047884, + 0.01765947147589124, + -0.016743017593097466, + -0.03108736897423652, + 0.023329753806935114, + 0.025801947686009904, + 0.0 + ], + [ + 0.0029068362502155942, + 0.004209477722518423, + -0.010598904626047033, + -0.02720516938166508, + 0.017424072505512974, + -0.007518884385917364, + 0.0 + ], + [ + -4.471459936206124e-06, + -0.0032176699958996746, + -0.008494632086617002, + -0.03417922299502408, + 0.027665282158096036, + -0.010416847769342426, + 0.0 + ], + [ + 1.3630471255576815e-06, + -0.003195652171719632, + -0.006494235848404022, + -0.018367579057721326, + 0.01622956533050285, + -0.01175941844452761, + 0.0 + ], + [ + -4.41798307735386e-05, + -0.002846945872029827, + 0.0017174331125460601, + -0.007232835806370036, + 0.01725961895266898, + -0.006749526480640788, + 1.0 + ], + [ + -0.0026640320702311926, + -0.001602094501567175, + 0.009248829759592805, + 0.010936592268495497, + 0.001150765098801502, + 0.005764105452912445, + 1.0 + ], + [ + -0.002307368523834674, + -0.0005309057496571679, + 0.012540843911042605, + 0.012228711736953937, + -0.017581963712530797, + 0.008424943841713235, + 1.0 + ], + [ + -0.0031678982893133534, + -0.0020961788479766374, + 0.02028570133118071, + 0.011599871748976455, + -0.03670835821169988, + 0.016882052636424564, + 1.0 + ], + [ + -0.0003917495383988223, + -0.0021518968757881507, + 0.02141832070536989, + 0.02177231151641738, + -0.04801297173047559, + 0.0012734616957824543, + 1.0 + ], + [ + 0.0, + 0.0, + 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 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 302.06573486328125, + 169.26315307617188 + ], + [ + 301.664794921875, + 173.15087890625 + ], + [ + 301.54608154296875, + 184.44235229492188 + ], + [ + 317.8956298828125, + 173.92800903320312 + ], + [ + 341.2999572753906, + 162.26165771484375 + ], + [ + 369.6910705566406, + 147.78855895996094 + ], + [ + 391.63482666015625, + 141.8170166015625 + ], + [ + 401.39404296875, + 146.10574340820312 + ], + [ + 403.4244689941406, + 144.69625854492188 + ], + [ + 408.7264404296875, + 153.13006591796875 + ], + [ + 415.2471923828125, + 165.001953125 + ], + [ + 410.9559326171875, + 172.55767822265625 + ], + [ + 411.00103759765625, + 179.17022705078125 + ], + [ + 414.3515930175781, + 183.01986694335938 + ], + [ + 416.9146728515625, + 183.28529357910156 + ], + [ + 417.440185546875, + 183.97427368164062 + ], + [ + 414.8564453125, + 186.05642700195312 + ], + [ + 409.46759033203125, + 162.62747192382812 + ], + [ + 402.0555725097656, + 142.45791625976562 + ], + [ + 368.98760986328125, + 114.92568969726562 + ], + [ + 331.0599365234375, + 97.57711791992188 + ], + [ + 301.7635192871094, + 95.88462829589844 + ], + [ + 266.36956787109375, + 88.65150451660156 + ], + [ + 249.45547485351562, + 93.62345886230469 + ], + [ + 233.95672607421875, + 96.77421569824219 + ], + [ + 220.9254150390625, + 101.81956481933594 + ], + [ + 214.21266174316406, + 116.43161010742188 + ], + [ + 219.0487060546875, + 119.86929321289062 + ], + [ + 221.9432830810547, + 127.08643341064453 + ], + [ + 221.1396484375, + 125.79264831542969 + ], + [ + 220.2589111328125, + 124.98737335205078 + ], + [ + 218.390625, + 128.61517333984375 + ], + [ + 213.42100524902344, + 120.13517761230469 + ], + [ + 206.7161865234375, + 90.7564697265625 + ], + [ + 204.9742431640625, + 80.22620391845703 + ], + [ + 206.89646911621094, + 80.09912872314453 + ], + [ + 206.8860321044922, + 79.67059326171875 + ], + [ + 207.01229858398438, + 80.32856750488281 + ], + [ + 206.91795349121094, + 79.8884506225586 + ], + [ + 206.97726440429688, + 80.13336944580078 + ], + [ + 206.86102294921875, + 80.07606506347656 + ], + [ + 206.960205078125, + 80.12919616699219 + ], + [ + 206.98292541503906, + 79.98832702636719 + ], + [ + 206.97897338867188, + 80.12086486816406 + ], + [ + 206.924560546875, + 80.02776336669922 + ], + [ + 206.91366577148438, + 80.15167999267578 + ], + [ + 206.96878051757812, + 80.1014175415039 + ], + [ + 206.84689331054688, + 80.01033020019531 + ] + ], + "depth_max": 1.4938523769378662, + "depth_min": 0.534898042678833, + "intrinsic": [ + [ + 525.4246826171875, + 0.0, + 259.0 + ], + [ + 0.0, + 526.1166381835938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.2858488844358362e-05, + -5.7394190662307665e-05, + -4.060979335918091e-05 + ], + [ + -1.2862973562732805e-05, + 1.0, + -7.812862168066204e-05, + -4.804020136361942e-06 + ], + [ + 5.739318658015691e-05, + 7.812936382833868e-05, + 1.0, + -1.2771574802172836e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 407.75, + 184.5 + ], + [ + 408.1871337890625, + 185.21127319335938 + ], + [ + 409.2237854003906, + 185.77210998535156 + ], + [ + 409.3746032714844, + 186.11753845214844 + ], + [ + 409.5423278808594, + 186.058837890625 + ], + [ + 409.73040771484375, + 186.13192749023438 + ], + [ + 411.2027282714844, + 187.05810546875 + ], + [ + 412.10400390625, + 187.7852783203125 + ], + [ + 411.2456970214844, + 187.26797485351562 + ], + [ + 410.6269836425781, + 186.62380981445312 + ], + [ + 410.8628845214844, + 186.39352416992188 + ], + [ + 410.41949462890625, + 186.07203674316406 + ], + [ + 410.98822021484375, + 186.46246337890625 + ], + [ + 414.396728515625, + 184.4348602294922 + ], + [ + 416.52838134765625, + 184.1314697265625 + ], + [ + 416.515625, + 184.5047149658203 + ], + [ + 413.554931640625, + 186.22140502929688 + ], + [ + 408.6312561035156, + 164.91366577148438 + ], + [ + 402.7369079589844, + 147.69900512695312 + ], + [ + 365.30859375, + 129.189208984375 + ], + [ + 322.7383728027344, + 111.05912780761719 + ], + [ + 300.30133056640625, + 109.08614349365234 + ], + [ + 266.86627197265625, + 98.31302642822266 + ], + [ + 248.06594848632812, + 100.48211669921875 + ], + [ + 239.72683715820312, + 104.68231964111328 + ], + [ + 233.158935546875, + 114.87419128417969 + ], + [ + 225.6444549560547, + 128.8514404296875 + ], + [ + 230.4675750732422, + 132.86732482910156 + ], + [ + 236.72537231445312, + 136.3477783203125 + ], + [ + 233.13314819335938, + 130.8034210205078 + ], + [ + 233.36061096191406, + 133.45578002929688 + ], + [ + 232.32192993164062, + 131.47686767578125 + ], + [ + 228.35780334472656, + 132.42947387695312 + ], + [ + 225.35220336914062, + 124.59461212158203 + ], + [ + 225.14002990722656, + 124.65673065185547 + ], + [ + 226.9118194580078, + 124.34852600097656 + ], + [ + 227.570556640625, + 125.10401916503906 + ], + [ + 227.28518676757812, + 124.61682891845703 + ], + [ + 228.10577392578125, + 125.79096221923828 + ], + [ + 227.89248657226562, + 125.65864562988281 + ], + [ + 228.24261474609375, + 126.05716705322266 + ], + [ + 228.39915466308594, + 125.28126525878906 + ], + [ + 228.555908203125, + 125.4950180053711 + ], + [ + 228.5214385986328, + 125.90573120117188 + ], + [ + 228.58859252929688, + 125.05543518066406 + ], + [ + 228.69053649902344, + 126.3624038696289 + ], + [ + 228.4837646484375, + 126.05364990234375 + ], + [ + 228.43026733398438, + 125.45579528808594 + ] + ] +} \ No newline at end of file diff --git a/005787_v2/lang.txt b/005787_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..e0faf3c32aeda0562f2701a5d18318c730ed2ffd --- /dev/null +++ b/005787_v2/lang.txt @@ -0,0 +1 @@ +move the yellow thing to the upper left of the stove diff --git a/005787_v2/object.ply b/005787_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..bb7525742c04c7dfae2e85102c9fd40f73ec41e8 Binary files /dev/null and b/005787_v2/object.ply differ diff --git a/005811_v2/data.json b/005811_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..44a7d908df480dd1292350262f7f5aeb174815f9 --- /dev/null +++ b/005811_v2/data.json @@ -0,0 +1,843 @@ +{ + "action_start": 10, + "action_end": 26, + "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, + 0.109402, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.20830300000000002, + 1.0, + 1.0, + 1.0, + 1.0, + 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": [ + [ + -5.895217647378104e-11, + -1.3103686191673347e-10, + -3.6627817445733513e-10, + 2.2313382159840345e-07, + -5.7270961790409286e-08, + 6.363435751586979e-07, + 1.0 + ], + [ + 0.020399953541880234, + -0.01223129052830172, + 0.01884227181640362, + 0.14572706355790285, + 0.045756757172692786, + -0.03609101041735732, + 1.0 + ], + [ + 0.013882345312874578, + -0.0077393558239567915, + 0.010345263062294746, + 0.009592373564023733, + -0.009643253604724789, + -0.03972461555631455, + 1.0 + ], + [ + 0.021683095801977192, + -0.02086764202268651, + 0.005016236854922029, + -0.019617489840401726, + -0.023778923991444226, + -0.09034071207483074, + 1.0 + ], + [ + 0.02682942859086429, + -0.01883792966592678, + -0.012693473086590343, + -0.05613597333018426, + 0.008068118139133378, + -0.11236091641506266, + 1.0 + ], + [ + 0.017880482047542723, + -0.008638330255639051, + -0.01573111913652918, + -0.01809472896521652, + 0.03133949608064099, + -0.08763411692645957, + 1.0 + ], + [ + 0.015855515369958995, + -0.012405210715614338, + -0.016186149984025844, + -0.010536988548901319, + 0.022805170860533686, + -0.0960324749772742, + 1.0 + ], + [ + 0.013840723434414115, + -0.015084885623254926, + -0.01270603108456432, + -0.02930064903186574, + 0.010278561318309988, + -0.0716931879922105, + 1.0 + ], + [ + 0.00951178385731205, + -0.010379209665765401, + -0.006708364125216776, + -0.009031057582238704, + -0.008238604700048424, + -0.04133147038812689, + 1.0 + ], + [ + 0.006359477737742314, + -0.007195276631173073, + -0.008335365658021808, + -0.012180427764341114, + 0.00960673193249153, + -0.01926646687412435, + 1.0 + ], + [ + 0.0006426155102519648, + -0.002522463968444147, + -0.011349747440407634, + 0.015775760559468128, + 0.011898701823425582, + -0.0017412879142537628, + 0.109402 + ], + [ + -0.0025153226505774673, + 0.0026010246851418534, + -0.004805917570481771, + 0.014870353446705021, + 0.0015749160485807607, + 0.025804717661415608, + 0.0 + ], + [ + -0.001175846262977398, + 0.003183901804900316, + 0.0015006406831705905, + -0.00898465279799079, + -0.0009511305994404034, + 0.01851648854790092, + 0.0 + ], + [ + -0.002765011582411603, + 0.009361348276585024, + 0.012067898562732242, + -0.004154758397563261, + -0.01465036963088747, + 0.029086208856668645, + 0.0 + ], + [ + 0.00169577253196318, + 0.016251358332614943, + 0.021864011848312673, + -0.011815790946183563, + -0.04800693436303259, + 0.052925061599066944, + 0.0 + ], + [ + 0.00469536583419955, + 0.03063457440499638, + 0.02895420090776773, + 0.00034831616101369385, + -0.06757168858997867, + 0.08268078537055938, + 0.0 + ], + [ + -0.002948251768934318, + 0.03862264943435481, + 0.01361896653836231, + -0.0018020257501846864, + -0.031516547238979634, + 0.11845091776350314, + 0.0 + ], + [ + -0.011091537647145766, + 0.0429286969534558, + 0.002691118106473586, + -0.015020829993385991, + 0.004768988895906293, + 0.15219932012513018, + 0.0 + ], + [ + -0.013643413727805032, + 0.03246182491000461, + 0.0009201574683967706, + 0.007983783928144894, + -0.0036623365350249397, + 0.1054695118458373, + 0.0 + ], + [ + -0.016136415379409852, + 0.03043153909299562, + -0.010762973973826431, + 0.02767778917704013, + 0.031701693460467605, + 0.09524839065115591, + 0.0 + ], + [ + -0.001974520171285299, + 0.010791460246985143, + -0.017093731823218758, + 0.010375466717262392, + 0.037981146309917446, + 0.030207690741904377, + 0.0 + ], + [ + -0.005408537667152213, + 0.006341883628122352, + -0.011863654378226153, + 0.01745734114948274, + 0.045737361972951224, + 0.022789144508382805, + 0.0 + ], + [ + -0.00548401934536763, + 0.0038215884573382652, + -0.012808335295512306, + -0.0068057536524859874, + 0.034663894484263554, + 0.028864341712476132, + 0.0 + ], + [ + -0.0023075897287644365, + 0.0002076130262461673, + -0.005584359520260651, + 0.002617001105001977, + 0.012576007179468338, + 0.006753050681374618, + 0.0 + ], + [ + 0.0011264582655698963, + -0.0017321217790376986, + -0.009756404436918501, + 0.002596436840971918, + 0.04576085296192609, + 0.008567637004927336, + 0.0 + ], + [ + -0.00016143450699840356, + -0.0006064430992419323, + -0.0018063434896989708, + 0.0007693772294619749, + -0.006217079019924783, + 0.012002621200899897, + 0.0 + ], + [ + -0.00022681392839113412, + -0.0006248744967549125, + -0.002529326450220519, + -0.016194137494590664, + 0.012590370716772164, + 0.006519498925890442, + 0.20830300000000002 + ], + [ + 0.0007801129325550327, + -0.0013609019783958343, + 0.007970888574654379, + -0.0001934393572789906, + -0.016295397154267807, + 0.012860255542592574, + 1.0 + ], + [ + 0.0014536675696459334, + -0.0016385477928825831, + 0.012938967842310786, + 0.014039542044041608, + -0.009811162141894194, + 0.0032510102466422517, + 1.0 + ], + [ + 0.0016014382075655864, + -0.0011536793657251354, + 0.009988612924079304, + 0.002824691877343079, + -0.01385700345797313, + 0.010236032372662372, + 1.0 + ], + [ + 0.002898046762684514, + -0.0017859145777303076, + 0.01923920977456742, + 0.013615397401743409, + -0.031569416298335394, + -0.004035089480605933, + 1.0 + ], + [ + 0.0003054898060910749, + -0.0019196205355445917, + 0.02444488739605196, + 0.034029501081847977, + -0.0717146832184376, + 0.004289411978085429, + 1.0 + ], + [ + 0.0, + 0.0, + 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 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 283.41925048828125, + 179.1822967529297 + ], + [ + 283.45733642578125, + 185.20574951171875 + ], + [ + 290.48614501953125, + 171.4965057373047 + ], + [ + 327.2929382324219, + 145.57315063476562 + ], + [ + 351.56878662109375, + 130.5299072265625 + ], + [ + 395.76678466796875, + 130.00453186035156 + ], + [ + 416.1086730957031, + 139.52105712890625 + ], + [ + 431.85382080078125, + 154.13241577148438 + ], + [ + 461.47491455078125, + 166.05526733398438 + ], + [ + 469.51806640625, + 171.85597229003906 + ], + [ + 484.06463623046875, + 176.0937957763672 + ], + [ + 483.8848876953125, + 182.19358825683594 + ], + [ + 484.3348693847656, + 181.53570556640625 + ], + [ + 484.5743713378906, + 181.5211181640625 + ], + [ + 483.67523193359375, + 182.7086181640625 + ], + [ + 470.2047424316406, + 184.27740478515625 + ], + [ + 444.51043701171875, + 137.77854919433594 + ], + [ + 399.5490417480469, + 106.7024154663086 + ], + [ + 354.52130126953125, + 100.44562530517578 + ], + [ + 300.1954040527344, + 91.22224426269531 + ], + [ + 264.2555847167969, + 98.85549926757812 + ], + [ + 236.2730255126953, + 100.98439025878906 + ], + [ + 233.3666229248047, + 114.65542602539062 + ], + [ + 232.60728454589844, + 127.66780090332031 + ], + [ + 230.76390075683594, + 134.08047485351562 + ], + [ + 227.17701721191406, + 151.41033935546875 + ], + [ + 227.3965301513672, + 154.8008270263672 + ], + [ + 228.4569854736328, + 154.65975952148438 + ], + [ + 228.59603881835938, + 154.62351989746094 + ], + [ + 227.068603515625, + 154.09274291992188 + ], + [ + 223.80441284179688, + 149.1590576171875 + ], + [ + 227.84689331054688, + 124.77913665771484 + ], + [ + 228.304931640625, + 94.02603149414062 + ], + [ + 226.15530395507812, + 80.52447509765625 + ], + [ + 226.33453369140625, + 79.19656372070312 + ], + [ + 226.41896057128906, + 80.290771484375 + ], + [ + 226.20664978027344, + 79.6900634765625 + ], + [ + 226.271728515625, + 79.80274963378906 + ], + [ + 226.42257690429688, + 79.76731872558594 + ], + [ + 226.29324340820312, + 79.81341552734375 + ], + [ + 226.15020751953125, + 79.89993286132812 + ], + [ + 226.17752075195312, + 79.74227905273438 + ], + [ + 226.391357421875, + 79.84425354003906 + ] + ], + "depth_max": 1.512561321258545, + "depth_min": 0.13295599818229675, + "intrinsic": [ + [ + 532.0563354492188, + 0.0, + 259.0 + ], + [ + 0.0, + 532.5365600585938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.839327705965843e-05, + 1.481258004787378e-05, + -2.5740822820807807e-05 + ], + [ + -1.839200376707595e-05, + 1.0, + -8.58875282574445e-05, + 9.986911209125537e-06 + ], + [ + -1.4814158930676058e-05, + 8.588725177105516e-05, + 1.0, + -2.4115237465593964e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 39, + 42 + ], + "object_trajectory": [ + [ + 474.75, + 192.25001525878906 + ], + [ + 475.1883544921875, + 191.99014282226562 + ], + [ + 475.201904296875, + 192.62965393066406 + ], + [ + 474.82989501953125, + 192.2523193359375 + ], + [ + 474.7325439453125, + 192.50601196289062 + ], + [ + 474.7713623046875, + 192.53981018066406 + ], + [ + 475.22161865234375, + 192.26126098632812 + ], + [ + 474.97650146484375, + 192.81405639648438 + ], + [ + 475.39251708984375, + 192.9145050048828 + ], + [ + 475.992431640625, + 194.313232421875 + ], + [ + 481.19232177734375, + 193.95556640625 + ], + [ + 489.1341552734375, + 192.49325561523438 + ], + [ + 490.47998046875, + 191.02859497070312 + ], + [ + 491.0460205078125, + 190.6724853515625 + ], + [ + 490.29766845703125, + 192.3220977783203 + ], + [ + 477.7152099609375, + 194.9081268310547 + ], + [ + 450.74114990234375, + 150.36837768554688 + ], + [ + 405.9480895996094, + 117.14722442626953 + ], + [ + 361.7285461425781, + 111.79258728027344 + ], + [ + 308.43499755859375, + 104.45407104492188 + ], + [ + 273.95574951171875, + 110.4432601928711 + ], + [ + 243.5813446044922, + 113.06462860107422 + ], + [ + 240.22488403320312, + 127.56693267822266 + ], + [ + 238.2700958251953, + 141.30343627929688 + ], + [ + 237.39459228515625, + 148.02426147460938 + ], + [ + 234.73426818847656, + 165.52928161621094 + ], + [ + 234.76528930664062, + 167.6446990966797 + ], + [ + 235.62123107910156, + 167.75344848632812 + ], + [ + 238.4015655517578, + 166.43020629882812 + ], + [ + 239.37596130371094, + 165.72500610351562 + ], + [ + 237.9850311279297, + 167.2495880126953 + ], + [ + 234.35702514648438, + 168.16004943847656 + ], + [ + 239.14013671875, + 162.8726806640625 + ], + [ + 242.46910095214844, + 163.38735961914062 + ], + [ + 236.72711181640625, + 164.4581298828125 + ], + [ + 234.76467895507812, + 162.51168823242188 + ], + [ + 238.69444274902344, + 162.21006774902344 + ], + [ + 234.65232849121094, + 163.33248901367188 + ], + [ + 235.48133850097656, + 164.8988037109375 + ], + [ + 239.20277404785156, + 163.82879638671875 + ], + [ + 233.80587768554688, + 163.4818572998047 + ], + [ + 237.46046447753906, + 163.57899475097656 + ], + [ + 234.8425750732422, + 164.54278564453125 + ] + ] +} \ No newline at end of file diff --git a/005811_v2/lang.txt b/005811_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..979df5f8f7f2a499d86412b74330ace0b0fdbc3f --- /dev/null +++ b/005811_v2/lang.txt @@ -0,0 +1 @@ +put the yellow object on the left burner diff --git a/005811_v2/object.ply b/005811_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..d51f31132f241144e53870c5a38b7863245e6e55 Binary files /dev/null and b/005811_v2/object.ply differ diff --git a/005819/data.json b/005819/data.json new file mode 100644 index 0000000000000000000000000000000000000000..995841e7f0ec849f374bf83ef974a5663e74b941 --- /dev/null +++ b/005819/data.json @@ -0,0 +1,439 @@ +{ + "action_start": 8, + "action_end": 16, + "object_name": "pear", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.9428570000000001, + 0.08547000000000005, + 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": [ + [ + 2.36585195878547e-10, + -5.381567413920152e-11, + -4.991413116162136e-10, + -1.0881710886807696e-07, + -4.4690098989728275e-07, + 6.473246950100542e-08, + 1.0 + ], + [ + 0.003011748419522897, + -0.00260002568219711, + -0.005687565319070359, + -0.00940154603874813, + -0.01449938010609368, + 0.009293712637146793, + 1.0 + ], + [ + 0.0024597061665223574, + -0.006206544644788661, + -0.010236703796780017, + -0.013165326421698114, + -0.024539433345289283, + 0.006657582344484232, + 1.0 + ], + [ + 0.00027104007377870554, + -0.0038775206628464676, + -0.008176808177459804, + -0.03383815658689809, + -0.020812403225609268, + 0.011492350061209793, + 1.0 + ], + [ + -0.004647809307527895, + -0.0035449591436062106, + -0.005885489508199698, + -0.014957016498517689, + -0.0011092391669095445, + -0.0008984221604012592, + 1.0 + ], + [ + -0.006354642179820791, + 0.0018968948723236123, + -0.007621516945202106, + -0.020746135127558428, + -0.011839343054151878, + -0.010156647655271996, + 1.0 + ], + [ + -0.0024165350686515263, + 0.002242428780935446, + -0.007156536073556083, + -0.004041036361755394, + -0.01831217642025988, + -0.005826414466076934, + 1.0 + ], + [ + -0.0007955877986564608, + 0.0019941674980310103, + -0.004551377291313399, + 0.0199746850618959, + -0.008774715622748201, + -0.0036611294747829317, + 0.9428570000000001 + ], + [ + 0.0008509288497376977, + 0.003151497089921046, + -0.0001549518085626339, + 0.011231584980375313, + -0.007767589438928648, + -0.0035868283800422466, + 0.08547000000000005 + ], + [ + 0.0013615927895612168, + -0.0016088791653945667, + 0.0014064265183617725, + 0.0019992914014888685, + -0.0010617458676432827, + 0.008160711749756511, + 0.0 + ], + [ + -0.007018201112692357, + 0.010021485886209436, + 0.011956472775128683, + 0.037948258777728755, + 0.046045214158895904, + -0.006250961633063492, + 0.0 + ], + [ + -0.012590022999135975, + 0.018077400662149537, + 0.007207086356624939, + 0.05031824556687375, + 0.0408545052069799, + -0.026000106354062705, + 0.0 + ], + [ + -0.007912829596708415, + 0.01667312299620924, + 0.0026669093208203792, + 0.04607333216706114, + 0.019609193224528147, + -0.008676804392611637, + 0.0 + ], + [ + -0.005120310525346061, + 0.018429882428614014, + -0.0042950711226416305, + 0.045726530249810125, + 0.015522611126882163, + -0.01186288207129994, + 0.0 + ], + [ + -0.0031152520234419834, + 0.015464694348222285, + -0.010894603589755858, + 0.013153533442141124, + 0.0030807683568718795, + -0.010472015024703797, + 0.0 + ], + [ + -0.006314831695624579, + 0.008769608769085044, + -0.00798610526718306, + 0.04975773814795571, + -0.0010909599901815004, + -0.003498808304469352, + 0.0 + ], + [ + -0.0007559951426497902, + 0.006534116129248753, + -0.0030307630136211794, + 0.0034033916781309936, + -0.005961443503652346, + -0.023709111785463064, + 0.0 + ], + [ + 0.002924673620315621, + -0.0036288012451646022, + 0.0006800359791935273, + -0.007573750052492754, + -0.00672601021469881, + -0.008881835051895118, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 477.00946044921875, + 147.3331298828125 + ], + [ + 477.1451721191406, + 147.43789672851562 + ], + [ + 471.03851318359375, + 163.80018615722656 + ], + [ + 473.97735595703125, + 169.320556640625 + ], + [ + 478.0435485839844, + 184.73049926757812 + ], + [ + 486.7816162109375, + 196.05862426757812 + ], + [ + 482.0564880371094, + 209.74752807617188 + ], + [ + 475.19952392578125, + 232.09182739257812 + ], + [ + 473.4365234375, + 234.95846557617188 + ], + [ + 471.2863464355469, + 232.63604736328125 + ], + [ + 470.0069580078125, + 230.90234375 + ], + [ + 470.04730224609375, + 230.59405517578125 + ], + [ + 455.0674743652344, + 227.8656005859375 + ], + [ + 423.02825927734375, + 221.272216796875 + ], + [ + 394.50146484375, + 210.6807098388672 + ], + [ + 367.0882873535156, + 210.70765686035156 + ], + [ + 340.23504638671875, + 214.32876586914062 + ], + [ + 315.79107666015625, + 221.0462188720703 + ], + [ + 318.68994140625, + 221.56703186035156 + ], + [ + 319.1669921875, + 220.98707580566406 + ], + [ + 321.31085205078125, + 221.08636474609375 + ] + ], + "depth_max": 1.4652179479599, + "depth_min": 0.5691508054733276, + "intrinsic": [ + [ + 649.0985717773438, + 0.0, + 259.0 + ], + [ + 0.0, + 648.5848388671875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.646929589100182e-05, + 2.3347405658569187e-05, + 3.294297493994236e-05 + ], + [ + -7.646859739907086e-05, + 1.0, + -2.9901637390139513e-05, + -2.8375579859130085e-05 + ], + [ + -2.334969030926004e-05, + 2.989985114254523e-05, + 1.0, + -5.483398126671091e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 20 + ], + "object_trajectory": [ + [ + 470.2500305175781, + 236.75001525878906 + ], + [ + 470.19879150390625, + 236.7585906982422 + ], + [ + 470.4072265625, + 237.09600830078125 + ], + [ + 469.8677062988281, + 236.85964965820312 + ], + [ + 469.8414001464844, + 236.60488891601562 + ], + [ + 470.2351989746094, + 237.06800842285156 + ], + [ + 470.20648193359375, + 237.32046508789062 + ], + [ + 470.6831970214844, + 239.08753967285156 + ], + [ + 470.77734375, + 240.5093994140625 + ], + [ + 469.8750915527344, + 240.17552185058594 + ], + [ + 468.8155517578125, + 239.13665771484375 + ], + [ + 468.51898193359375, + 238.33004760742188 + ], + [ + 452.27484130859375, + 237.76446533203125 + ], + [ + 422.535400390625, + 230.92205810546875 + ], + [ + 391.29339599609375, + 227.71060180664062 + ], + [ + 372.3551025390625, + 225.07171630859375 + ], + [ + 323.4347229003906, + 259.1158447265625 + ], + [ + 292.00885009765625, + 272.65875244140625 + ], + [ + 286.8444519042969, + 271.72442626953125 + ], + [ + 286.4556884765625, + 270.05035400390625 + ], + [ + 285.77044677734375, + 272.1292724609375 + ] + ] +} \ No newline at end of file diff --git a/005819/lang.txt b/005819/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..6a398d6f4e36170da05a42d2eed1b0e122c68b1f --- /dev/null +++ b/005819/lang.txt @@ -0,0 +1 @@ +put pear in bowl diff --git a/005819/object.ply b/005819/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..e01453cf8009dd305575c61695d115ceb830f7a8 Binary files /dev/null and b/005819/object.ply differ diff --git a/005828_v2/FAIL b/005828_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/005828_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/005829_v2/FAIL b/005829_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/005829_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/005831/FAIL b/005831/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/005831/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/005845/data.json b/005845/data.json new file mode 100644 index 0000000000000000000000000000000000000000..8c2f6477a963901f6a3a250e3b417e3b18747dc3 --- /dev/null +++ b/005845/data.json @@ -0,0 +1,439 @@ +{ + "action_start": 7, + "action_end": 17, + "object_name": "pear", + "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, + 0.9037850000000001, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -9.732092909331413e-11, + -1.0018015583757034e-10, + 3.6824876481489355e-11, + -5.196505921424251e-08, + -3.9259449614586826e-08, + 4.044683226462838e-07, + 1.0 + ], + [ + 0.00469957669627874, + 0.004876777387895978, + -0.010215893466911777, + -0.0030544371693336484, + -0.04174421044535836, + -0.05108333104314156, + 1.0 + ], + [ + 0.006937047007281261, + 0.008813587469643488, + -0.00899946192968129, + 0.01007563690780881, + -0.029842021380246487, + -0.03231832667467889, + 1.0 + ], + [ + 0.008669223194222864, + 0.002380216396780821, + -0.005341152960909146, + 0.0004651798942155329, + -0.023403797343345478, + -0.015662174476945925, + 1.0 + ], + [ + 0.005961280465254237, + 0.0035295484288628415, + -0.008445936871386298, + -0.028570414112225988, + -0.026316205672892924, + -0.020342964567776973, + 1.0 + ], + [ + -0.0008249266899688079, + 0.00027149009636368016, + -0.0067428835996743985, + -0.04193616429406299, + -0.03742986085072749, + -0.005439983840726974, + 1.0 + ], + [ + 0.0021434477126483498, + -0.0011681388751276917, + -0.006741008983609562, + -0.045118765762773384, + -0.007462670824066648, + -0.02039268118912559, + 1.0 + ], + [ + 0.007735717098119765, + 0.001929725753845965, + -0.00894112874099176, + -0.02861174946419916, + -0.011049657173461859, + -0.025688269844281738, + 1.0 + ], + [ + 0.011522911712654238, + 0.002013522180272384, + 0.0020218375261726595, + -0.008343939692154936, + 0.003036440707217388, + 0.0008069312031963203, + 0.0 + ], + [ + -0.001975095731606591, + -0.0027075363090684895, + 0.0027551537889789956, + 0.007095981510525306, + 0.02867442057541065, + 0.00523336328010814, + 0.0 + ], + [ + -0.010731501318513359, + 0.004115381946097438, + 0.02008384655383025, + 0.07241862643223387, + 0.10415010568216378, + 0.028157451245560305, + 0.0 + ], + [ + -0.025673817760910767, + 0.01772662493332504, + 0.00915918789008132, + 0.06648021139003434, + 0.005298219302636508, + -0.012973875689334703, + 0.0 + ], + [ + -0.016059956733531777, + 0.020802880170239568, + 0.012031393288028398, + 0.05566418027453685, + 0.027276503868849996, + -0.00590221300740634, + 0.0 + ], + [ + -0.006373808229012068, + 0.025837003217828072, + 0.007621024651373265, + 0.002156971365658391, + 0.011446345714516725, + -0.028762672282921682, + 0.0 + ], + [ + 0.003247721116082236, + 0.026798653547755652, + 0.005087835865099054, + 0.03300773137682606, + -0.008283364283263808, + -0.055287783973119155, + 0.0 + ], + [ + 0.007044803182469583, + 0.018969199603614713, + 0.005717439449645832, + 0.03655924889592798, + -0.006324254494949959, + -0.04204225070862477, + 0.0 + ], + [ + 0.002667006985647369, + 0.015752290756485616, + -0.0006772813576882558, + 0.012919349609493834, + 0.0008257135349656895, + -0.05062148486476026, + 0.0 + ], + [ + 0.0008424493002765487, + 0.0041483627611939786, + -0.007315072759879054, + 0.0008956245114659144, + -0.03361771290324407, + -0.02319262009122108, + 0.9037850000000001 + ], + [ + 0.00316964709248041, + -0.0016129403584969407, + -0.006239838364160047, + -0.03920467055295271, + -0.0242573116211565, + -0.00014656421369199518, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 517.074951171875, + 184.38926696777344 + ], + [ + 517.0523681640625, + 184.21978759765625 + ], + [ + 507.35577392578125, + 201.498046875 + ], + [ + 502.94061279296875, + 212.30213928222656 + ], + [ + 491.8409729003906, + 208.83792114257812 + ], + [ + 482.84771728515625, + 204.805908203125 + ], + [ + 484.4481201171875, + 209.61717224121094 + ], + [ + 481.7951965332031, + 222.260498046875 + ], + [ + 487.2539978027344, + 220.72027587890625 + ], + [ + 481.566162109375, + 232.9593505859375 + ], + [ + 483.636962890625, + 217.58441162109375 + ], + [ + 477.36614990234375, + 217.02883911132812 + ], + [ + 467.75262451171875, + 205.34689331054688 + ], + [ + 440.485595703125, + 204.968994140625 + ], + [ + 421.949462890625, + 192.98281860351562 + ], + [ + 381.63336181640625, + 170.90362548828125 + ], + [ + 339.2723693847656, + 150.39849853515625 + ], + [ + 333.3460693359375, + 131.41796875 + ], + [ + 322.3961181640625, + 122.64190673828125 + ], + [ + 308.0133361816406, + 123.98593139648438 + ], + [ + 324.0319519042969, + 128.22000122070312 + ] + ], + "depth_max": 1.3445061445236206, + "depth_min": 0.5236961841583252, + "intrinsic": [ + [ + 606.1447143554688, + 0.0, + 259.0 + ], + [ + 0.0, + 606.0963134765625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.466974784620106e-05, + -1.7448546714149415e-05, + -2.7508749553817324e-05 + ], + [ + -7.466999522875994e-05, + 1.0, + -1.3995462722959928e-05, + -3.5873952583642676e-05 + ], + [ + 1.744750261423178e-05, + 1.3996765119372867e-05, + 1.0, + 5.67663082620129e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 20 + ], + "object_trajectory": [ + [ + 491.25, + 225.75 + ], + [ + 491.94940185546875, + 229.59617614746094 + ], + [ + 491.4636535644531, + 225.90969848632812 + ], + [ + 492.257080078125, + 229.187744140625 + ], + [ + 491.97467041015625, + 228.75936889648438 + ], + [ + 490.62310791015625, + 229.06488037109375 + ], + [ + 490.76806640625, + 229.23004150390625 + ], + [ + 489.94769287109375, + 227.72528076171875 + ], + [ + 489.6131591796875, + 227.83868408203125 + ], + [ + 480.9678039550781, + 230.46392822265625 + ], + [ + 477.2491455078125, + 225.2461700439453 + ], + [ + 463.8467712402344, + 225.1265869140625 + ], + [ + 461.08990478515625, + 214.79275512695312 + ], + [ + 434.81671142578125, + 215.97027587890625 + ], + [ + 417.2217712402344, + 202.3333740234375 + ], + [ + 387.24224853515625, + 187.26564025878906 + ], + [ + 342.1856994628906, + 167.21408081054688 + ], + [ + 333.0203552246094, + 146.34059143066406 + ], + [ + 321.83905029296875, + 137.97634887695312 + ], + [ + 303.61566162109375, + 153.98416137695312 + ], + [ + 297.254638671875, + 186.7031707763672 + ] + ] +} \ No newline at end of file diff --git a/005845/lang.txt b/005845/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..6a398d6f4e36170da05a42d2eed1b0e122c68b1f --- /dev/null +++ b/005845/lang.txt @@ -0,0 +1 @@ +put pear in bowl diff --git a/005845/object.ply b/005845/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..d66933036fb46870699046c5befb12b132c4be3b Binary files /dev/null and b/005845/object.ply differ diff --git a/005849_v2/data.json b/005849_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..6278e4938120e30eb9e6f8fb4f9649aa6a845b1a --- /dev/null +++ b/005849_v2/data.json @@ -0,0 +1,733 @@ +{ + "action_start": 10, + "action_end": 26, + "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, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + [ + -3.384856284149862e-10, + 8.355945241289575e-10, + -3.2894270640682066e-10, + 5.881895983926473e-07, + 2.933890186848482e-07, + 1.8143921165954227e-07, + 1.0 + ], + [ + -0.010111936584042913, + 0.02084275111569621, + 0.010756542295223923, + 0.0032859898471093033, + -0.025387164752199227, + 0.05825707756614193, + 1.0 + ], + [ + -0.010428129975600442, + 0.02558854201899711, + 0.010952401022799763, + -0.06617843914861912, + -0.04377556316681245, + 0.11013389236708523, + 1.0 + ], + [ + -0.015540567171641595, + 0.03500233778601812, + 0.006088078668518876, + -0.004727850847273777, + -0.01781725837910844, + 0.11305167389683336, + 1.0 + ], + [ + -0.018111426322890978, + 0.03508763297626419, + -0.007427547483578961, + -0.03784051237018842, + 0.001244492472439045, + 0.11345053175273014, + 1.0 + ], + [ + -0.016407781323090287, + 0.04407795338271324, + -0.013671965253484075, + 0.056247130898862255, + 0.04136128866907876, + 0.16924006796620897, + 1.0 + ], + [ + -0.010831074840997601, + 0.018079300873437024, + -0.01497485453774014, + -0.016744453752156857, + -0.006824098636362009, + 0.11046775285766859, + 1.0 + ], + [ + -0.004422757231042518, + 0.004979956867479041, + -0.021830652254664337, + 0.05318125193556139, + 0.08085442548983278, + 0.04835016571020485, + 1.0 + ], + [ + 0.0002214467712803314, + 0.004142455988587104, + -0.022125243279898815, + -0.00847508324137168, + 0.040477950383507204, + 0.014936778538582048, + 1.0 + ], + [ + -0.001195559817727232, + 0.002066316236293969, + -0.02010533670623011, + -0.025559047947128682, + 0.037830933604522346, + 0.025807930424622712, + 1.0 + ], + [ + -0.0005111294753879503, + 0.0016837446991135874, + -0.010348266541241258, + -0.026928755663836727, + 0.010969783791102148, + 0.013199142453497919, + 1.0 + ], + [ + -0.00033155643079191277, + 0.0011919517680380881, + -0.0038062754419981096, + -0.015032851057248548, + -0.018980974720657715, + 0.0020230449735646927, + 0.0 + ], + [ + 0.00040819986322432333, + -0.000480304840248455, + -0.00027479901732871143, + -0.0052432244174982785, + -0.005472848206678618, + -0.01076642566837483, + 0.0 + ], + [ + 0.0002981436206025423, + 0.0005806991604021816, + 9.824192693033869e-05, + -0.0068055505548605824, + -0.00543970989570194, + 0.0009294570290980365, + 0.0 + ], + [ + 0.00033011357561635313, + -0.0005018367086359055, + -0.0006529900199172575, + 0.004980563709854661, + 0.004740521660609159, + -0.0060399024421127715, + 0.0 + ], + [ + -0.000360738806843508, + 0.0007817254915866989, + 0.004259618092429902, + 0.00039796232196672815, + -0.005997150445349751, + -0.0010225472196301012, + 0.0 + ], + [ + 0.0013535505978392592, + -0.0023464245793474447, + 0.012549277367994563, + 0.0039605824943514415, + -0.022463068025129065, + -0.007918508265155272, + 0.0 + ], + [ + 0.0033417800367597783, + -0.004931516213976667, + 0.018567174709341907, + 0.009027520403636484, + -0.04034095308557488, + -0.005755001187157711, + 0.0 + ], + [ + 0.007083788320935203, + -0.008164762643778536, + 0.027063294176548548, + 0.0369102356489184, + -0.06583356969025504, + -0.023835866051292044, + 0.0 + ], + [ + 0.013731071392151406, + -0.0166578948645016, + 0.014826325805824131, + -0.0025877324135800015, + -0.073260852110391, + -0.02796084435532997, + 0.0 + ], + [ + 0.016702127953025003, + -0.029550197313123874, + -0.004009878057122329, + -0.042395132460382, + -0.06829051375414537, + 0.03176343840878771, + 0.0 + ], + [ + 0.02400249342274674, + -0.028120052873405008, + -0.007296485950310488, + -0.029808495346266273, + -0.007126565114972883, + 0.0017638289343170788, + 0.0 + ], + [ + 0.024250189413177803, + -0.018059474923099603, + -0.012605672205560081, + -0.032177978004106225, + 0.005698465706164642, + -0.02863985245408675, + 0.0 + ], + [ + 0.015069213034081763, + -0.0044262146302200545, + -0.011098491791284845, + 0.012880809457849965, + 0.01734509571995885, + 0.002817864671207003, + 0.0 + ], + [ + 0.013008862427992707, + -0.0016434414878792117, + -0.01196022630411233, + 0.0012832719448164103, + 0.016889335352569843, + -0.0025887029982931734, + 0.0 + ], + [ + 0.005535375457263736, + -0.0044267879017208245, + -0.004426477005477828, + 0.005180150181157914, + 0.01213980489751904, + -0.011447868244650664, + 0.0 + ], + [ + -0.00010633433136464365, + -0.005719127106270469, + -0.004305911214448909, + 0.0298324730253592, + 0.02695760025849145, + -0.041650529220023394, + 0.0 + ], + [ + -0.0037340274208010893, + -0.0027444904742443908, + -0.0005312524568797999, + -0.011215578034340666, + 0.023353913143795795, + -0.032653556988183556, + 1.0 + ], + [ + -0.0016435312860439977, + -0.000697380745329, + 0.0015304744098836465, + -0.004284047824030006, + 0.00861500868562218, + -0.006821867797969089, + 1.0 + ], + [ + -0.0018936633492611654, + 0.0007470857951365137, + 0.003436770305909569, + -0.005820818786104542, + -0.006738885553849102, + 0.009515067347060209, + 1.0 + ], + [ + 0.0028663605455512275, + -0.0016436096231145993, + 0.012743540552211231, + 0.054718372578287475, + -0.010915222953729535, + -0.01913552657225005, + 1.0 + ], + [ + 0.0028983484562131734, + 0.0008960334366895193, + 0.017973068308605074, + -0.005021787127571993, + -0.031380392855133755, + -0.009407591641606742, + 1.0 + ], + [ + 0.0006695923770222434, + -0.00149737143985807, + 0.022580012715759715, + -0.012742450597815633, + -0.007499542374434725, + -0.023189743128761212, + 1.0 + ], + [ + -0.006378155161684551, + -0.0012135956235789862, + 0.030013242608888796, + -0.00575867138784161, + -0.039510400697744, + 0.010642618372745227, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 452.3782653808594, + 120.10296630859375 + ], + [ + 451.0106506347656, + 127.11466217041016 + ], + [ + 430.3450012207031, + 152.8804931640625 + ], + [ + 387.0057067871094, + 131.2869415283203 + ], + [ + 334.86517333984375, + 120.15763854980469 + ], + [ + 264.4532470703125, + 123.50392150878906 + ], + [ + 210.0335693359375, + 135.6384735107422 + ], + [ + 183.4634552001953, + 154.60794067382812 + ], + [ + 165.14889526367188, + 171.9300994873047 + ], + [ + 170.3227081298828, + 197.2910919189453 + ], + [ + 174.34873962402344, + 220.71751403808594 + ], + [ + 176.73239135742188, + 227.62554931640625 + ], + [ + 177.8606719970703, + 224.07754516601562 + ], + [ + 173.66323852539062, + 223.3568878173828 + ], + [ + 175.6154022216797, + 222.11508178710938 + ], + [ + 177.51075744628906, + 218.12872314453125 + ], + [ + 184.1180877685547, + 213.816650390625 + ], + [ + 176.71231079101562, + 214.0035858154297 + ], + [ + 170.88014221191406, + 205.21725463867188 + ], + [ + 178.59149169921875, + 178.2312469482422 + ], + [ + 201.01547241210938, + 158.0916748046875 + ], + [ + 241.5806427001953, + 158.7838134765625 + ], + [ + 291.6526184082031, + 160.78530883789062 + ], + [ + 332.71051025390625, + 164.25204467773438 + ], + [ + 353.38922119140625, + 168.82168579101562 + ], + [ + 361.15423583984375, + 171.45236206054688 + ], + [ + 368.07208251953125, + 175.0188751220703 + ], + [ + 375.00665283203125, + 180.39297485351562 + ], + [ + 376.71978759765625, + 185.7872314453125 + ], + [ + 375.98150634765625, + 189.02032470703125 + ], + [ + 371.51141357421875, + 188.00401306152344 + ], + [ + 363.6830139160156, + 190.72193908691406 + ], + [ + 372.7041015625, + 169.92214965820312 + ], + [ + 378.72650146484375, + 148.34536743164062 + ], + [ + 379.5110168457031, + 109.93522644042969 + ], + [ + 380.1673583984375, + 97.0579833984375 + ], + [ + 380.97320556640625, + 95.81773376464844 + ] + ], + "depth_max": 1.5020394325256348, + "depth_min": 0.4002271592617035, + "intrinsic": [ + [ + 528.8935546875, + 0.0, + 259.0 + ], + [ + 0.0, + 529.3217163085938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -1.9110306311631575e-05, + -1.1148811609018594e-05, + 8.857521606842056e-06 + ], + [ + 1.9109607819700614e-05, + 1.0, + -6.265591218834743e-05, + 1.0030940757133067e-05 + ], + [ + 1.1150008504046127e-05, + 6.2655693909619e-05, + 1.0, + 2.2050589905120432e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36 + ], + "object_trajectory": [ + [ + 173.0, + 203.75 + ], + [ + 173.27720642089844, + 203.9115753173828 + ], + [ + 173.39297485351562, + 203.83331298828125 + ], + [ + 173.19898986816406, + 204.099853515625 + ], + [ + 173.13348388671875, + 204.1253662109375 + ], + [ + 173.11328125, + 204.0975341796875 + ], + [ + 172.74569702148438, + 204.15411376953125 + ], + [ + 172.9440155029297, + 204.10462951660156 + ], + [ + 173.0770263671875, + 204.15235900878906 + ], + [ + 173.480712890625, + 204.2109375 + ], + [ + 173.49093627929688, + 204.41090393066406 + ], + [ + 174.69212341308594, + 204.5438232421875 + ], + [ + 174.25445556640625, + 204.66213989257812 + ], + [ + 176.44610595703125, + 202.89500427246094 + ], + [ + 179.95745849609375, + 198.80885314941406 + ], + [ + 181.53262329101562, + 195.59207153320312 + ], + [ + 182.29458618164062, + 194.049072265625 + ], + [ + 181.7904815673828, + 193.3464813232422 + ], + [ + 176.57290649414062, + 198.89537048339844 + ], + [ + 186.15158081054688, + 172.72103881835938 + ], + [ + 199.06936645507812, + 150.04200744628906 + ], + [ + 217.44422912597656, + 143.52505493164062 + ], + [ + 256.72015380859375, + 144.5189666748047 + ], + [ + 292.78924560546875, + 148.22610473632812 + ], + [ + 309.40997314453125, + 151.49029541015625 + ], + [ + 309.09619140625, + 154.31182861328125 + ], + [ + 321.61846923828125, + 159.24853515625 + ], + [ + 325.380615234375, + 161.2200164794922 + ], + [ + 332.80517578125, + 166.0813446044922 + ], + [ + 332.523193359375, + 166.94573974609375 + ], + [ + 332.2356262207031, + 166.814453125 + ], + [ + 332.3122253417969, + 166.83392333984375 + ], + [ + 332.5273742675781, + 166.9182586669922 + ], + [ + 332.6876220703125, + 166.4939727783203 + ], + [ + 333.44219970703125, + 166.61419677734375 + ], + [ + 333.62640380859375, + 166.7078857421875 + ], + [ + 333.5541076660156, + 166.7301025390625 + ] + ] +} \ No newline at end of file diff --git a/005849_v2/lang.txt b/005849_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f1083a3b81bb0ec630bf557b241574842915255b --- /dev/null +++ b/005849_v2/lang.txt @@ -0,0 +1 @@ +move the silver pot on the upper middle of the stove diff --git a/005907_v2/FAIL b/005907_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/005907_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/005911_v2/data.json b/005911_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..5584ea2eb53556a36588943be070589103ac3832 --- /dev/null +++ b/005911_v2/data.json @@ -0,0 +1,714 @@ +{ + "action_start": 11, + "action_end": 25, + "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, + 0.0, + 0.0, + 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": [ + [ + 4.0952058411036774e-10, + -3.950775748218227e-10, + -3.911780205312354e-10, + -7.247042367511909e-07, + -2.462679681018048e-07, + 8.181998940144863e-07, + 1.0 + ], + [ + -0.009098450543379488, + 0.003457734012774029, + -0.003120909802148353, + 0.024892000983435376, + -0.011528763585589177, + -0.015568679562955306, + 1.0 + ], + [ + -0.01383507617942259, + -0.0011174375200252093, + -0.007912004500544731, + 0.04138251175925068, + -0.011891478419598686, + -0.03302555129225782, + 1.0 + ], + [ + -0.01326097339069321, + 0.00512142884297178, + -0.00847361292575017, + 0.08232768895315398, + -0.011860521322046945, + -0.03555667138877031, + 1.0 + ], + [ + -0.00937920730205033, + 0.008111647154486035, + -0.018023346569970594, + 0.03311694888066304, + -0.003886988261355073, + 0.013781533609307272, + 1.0 + ], + [ + 0.009621415985463955, + 0.008389705392582748, + -0.015259775854310365, + 0.054431793313427033, + 0.028907500210921807, + -0.028548011452925768, + 1.0 + ], + [ + 0.014122904211299525, + 0.01353116519009416, + -0.010595195258993204, + -0.009724041804139091, + -0.008761671946921516, + 0.0030055320955392896, + 1.0 + ], + [ + 0.010480077433851265, + 0.006661900267024026, + -0.009550797939754122, + 0.02383556604993861, + 0.01643375343083767, + -0.010169708773967324, + 1.0 + ], + [ + 0.004291640464182678, + 0.012295837697419681, + -0.00377916641378678, + 0.003398098902398571, + 0.0024442965111894648, + 0.011235557752502436, + 1.0 + ], + [ + 0.0026439412020655695, + 0.007625591681201804, + -0.010303536117246192, + -0.015299433054117805, + 0.02557795062169926, + 0.0005645438544301087, + 1.0 + ], + [ + 0.0013513777885788558, + 0.006162047600452011, + -0.008197440059271949, + -0.02226259132660055, + 0.04052645274818029, + 0.027551088876828812, + 1.0 + ], + [ + -0.004589520786506707, + 0.006139096780131012, + -0.0061180184155848125, + -0.03173976980796995, + 0.02621101518503807, + 0.034633075596475674, + 1.0 + ], + [ + -0.002598976989802382, + 0.001929397921516432, + -0.0016237607715539962, + -0.04115443034026816, + 0.0015906793234232292, + 0.01369967996847539, + 0.0 + ], + [ + -0.0008967174586755333, + 0.0002831544260715607, + 0.0009648133764412342, + -0.004999484477834804, + 0.0019496947613060183, + 0.0016120342666026163, + 0.0 + ], + [ + -0.0020129242377783796, + -0.004744327830408734, + 0.003651851562813155, + 0.004599510360112007, + 0.009101805265439975, + -0.007960549108288483, + 0.0 + ], + [ + -0.0020551224443402516, + -0.006577729243399458, + 0.015361897755336508, + 0.013816529808054532, + -0.03964500263677183, + -0.009251643178418282, + 0.0 + ], + [ + -0.00042113585535052955, + -0.003247084306765541, + 0.041852908930146905, + 0.01828594544093305, + -0.0835478025505445, + 0.025494347261822196, + 0.0 + ], + [ + 0.009915717684844005, + -0.02609185449182999, + 0.03821047107320956, + 0.021263764669284264, + -0.05223445951765816, + -0.0889636805622886, + 0.0 + ], + [ + 0.032103752869034996, + -0.04566789656452679, + 0.004673667052438123, + -0.005562046777243985, + 0.02360039997444695, + -0.2081703124164183, + 0.0 + ], + [ + 0.035893172488786707, + -0.039032136018706316, + -0.005416789483362168, + -0.03147526730058194, + 0.021551452034661446, + -0.21183253206946318, + 0.0 + ], + [ + 0.02261256266904943, + -0.02661987731512264, + -0.008166561372402521, + -0.017419050518704807, + 0.00356938128866845, + -0.12131409531199303, + 0.0 + ], + [ + 0.013822042549066105, + -0.013749602867035596, + -0.01631944465133102, + -0.02356335129423848, + 0.03327406948418951, + -0.08591077940071352, + 0.0 + ], + [ + 0.006512796086818151, + -0.011180410377576645, + -0.023303425204925704, + 0.045567406315561144, + 0.029143552344393902, + -0.04315368244233926, + 0.0 + ], + [ + 0.005288588506305758, + -0.005474418222215893, + -0.021845059242265534, + -0.007925367638336926, + 0.039698984937149975, + -0.053601536291766165, + 0.0 + ], + [ + -0.002385275790799002, + 0.00019657537259590296, + -0.009702978806561579, + -0.004692568739112914, + 0.014787313084141936, + -0.008321175917483164, + 0.0 + ], + [ + -0.005245532987915746, + -0.0035002054529620075, + -0.004354710043677743, + 0.005141926689102703, + 0.009456218694932786, + -0.010749931437883766, + 0.0 + ], + [ + -0.0024200363538850467, + 0.001389474395330631, + -0.00048309473941067493, + 0.00018171561318929368, + 0.010010107154437124, + 0.010330959352131776, + 1.0 + ], + [ + 0.00038038714028226783, + 0.005007345453044633, + 0.0023212165111150575, + -0.008028934575834304, + 0.0028625034594695945, + 0.02196267732834752, + 1.0 + ], + [ + 0.001813587732599986, + 0.0025114142120551686, + 0.006761353154466451, + -0.02502467417087035, + -0.012786913301777203, + 0.011164175171660086, + 1.0 + ], + [ + -0.0010308270816339338, + 0.0013966847757353046, + 0.01755701914051177, + -0.0398650302996479, + 0.027731943547407035, + 0.016894603328267956, + 1.0 + ], + [ + 0.00039145342279528483, + -0.002604585754671297, + 0.023715881730491255, + -0.038096222086769556, + -0.03565806079610666, + 0.007374638986544768, + 1.0 + ], + [ + 0.002530622160422824, + -0.002318933975367303, + 0.019079412089096345, + -0.0036772161837974036, + -0.04844007420040121, + -0.006121727352876123, + 1.0 + ], + [ + -0.000878454932422057, + -0.0017211806829473958, + 0.01657567036666845, + -0.01797474263332841, + -0.03972112340726117, + -0.027081165377343994, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 283.619384765625, + 139.1553497314453 + ], + [ + 283.9696044921875, + 141.91180419921875 + ], + [ + 274.8372497558594, + 169.56243896484375 + ], + [ + 261.7679138183594, + 191.61111450195312 + ], + [ + 252.60470581054688, + 208.16741943359375 + ], + [ + 240.4467010498047, + 230.30697631835938 + ], + [ + 237.73330688476562, + 237.52420043945312 + ], + [ + 240.50982666015625, + 234.13070678710938 + ], + [ + 233.42819213867188, + 231.17184448242188 + ], + [ + 238.1463165283203, + 229.85665893554688 + ], + [ + 230.43646240234375, + 230.74215698242188 + ], + [ + 229.4159393310547, + 235.48146057128906 + ], + [ + 225.77163696289062, + 237.71826171875 + ], + [ + 221.55995178222656, + 238.57440185546875 + ], + [ + 218.20040893554688, + 237.78575134277344 + ], + [ + 217.22628784179688, + 239.7449493408203 + ], + [ + 214.83810424804688, + 246.14492797851562 + ], + [ + 214.70201110839844, + 212.46536254882812 + ], + [ + 220.66339111328125, + 173.63812255859375 + ], + [ + 281.9923095703125, + 150.35975646972656 + ], + [ + 354.4844970703125, + 152.33279418945312 + ], + [ + 395.9227600097656, + 155.62857055664062 + ], + [ + 430.42071533203125, + 168.59393310546875 + ], + [ + 432.99468994140625, + 188.2848663330078 + ], + [ + 450.300048828125, + 214.2970428466797 + ], + [ + 450.2284240722656, + 224.3889923095703 + ], + [ + 449.5709228515625, + 225.32138061523438 + ], + [ + 446.3329772949219, + 231.64512634277344 + ], + [ + 446.0269470214844, + 231.97100830078125 + ], + [ + 444.9791259765625, + 232.5863037109375 + ], + [ + 436.90985107421875, + 235.11459350585938 + ], + [ + 441.6251220703125, + 209.72531127929688 + ], + [ + 446.65911865234375, + 182.59445190429688 + ], + [ + 449.2095031738281, + 174.325927734375 + ], + [ + 453.392822265625, + 159.1939697265625 + ], + [ + 453.82208251953125, + 159.80404663085938 + ] + ], + "depth_max": 1.5002163648605347, + "depth_min": 0.19434890151023865, + "intrinsic": [ + [ + 518.3267822265625, + 0.0, + 259.0 + ], + [ + 0.0, + 518.894775390625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.68984500609804e-06, + 9.838455298449844e-06, + 1.0863177521969192e-05 + ], + [ + -7.68925019656308e-06, + 1.0, + -6.0383645177353173e-05, + 4.561174137052149e-06 + ], + [ + -9.838919140747748e-06, + 6.038357241777703e-05, + 1.0, + -3.359802212798968e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 35 + ], + "object_trajectory": [ + [ + 222.25, + 239.75001525878906 + ], + [ + 223.1629180908203, + 240.5769805908203 + ], + [ + 223.4152069091797, + 240.56500244140625 + ], + [ + 223.431884765625, + 240.6652374267578 + ], + [ + 223.92396545410156, + 241.1324462890625 + ], + [ + 225.10206604003906, + 241.44891357421875 + ], + [ + 225.89865112304688, + 241.33615112304688 + ], + [ + 227.34718322753906, + 241.33294677734375 + ], + [ + 231.21649169921875, + 240.5015106201172 + ], + [ + 235.15347290039062, + 238.89479064941406 + ], + [ + 232.41940307617188, + 239.70745849609375 + ], + [ + 228.5700225830078, + 241.59901428222656 + ], + [ + 226.68203735351562, + 241.5384063720703 + ], + [ + 223.423095703125, + 243.1553497314453 + ], + [ + 221.66746520996094, + 243.89486694335938 + ], + [ + 220.44720458984375, + 245.039306640625 + ], + [ + 216.635986328125, + 249.49569702148438 + ], + [ + 218.0688018798828, + 223.8771209716797 + ], + [ + 224.79257202148438, + 189.38539123535156 + ], + [ + 276.9336853027344, + 182.72134399414062 + ], + [ + 346.08636474609375, + 174.63778686523438 + ], + [ + 367.9314270019531, + 175.8961639404297 + ], + [ + 392.84423828125, + 184.59228515625 + ], + [ + 418.0050964355469, + 190.68905639648438 + ], + [ + 414.49676513671875, + 206.28329467773438 + ], + [ + 419.08203125, + 213.71878051757812 + ], + [ + 425.1168212890625, + 215.37322998046875 + ], + [ + 434.0611572265625, + 230.61328125 + ], + [ + 436.04400634765625, + 229.07748413085938 + ], + [ + 435.1212158203125, + 225.86581420898438 + ], + [ + 426.35760498046875, + 222.95669555664062 + ], + [ + 428.18536376953125, + 236.92779541015625 + ], + [ + 437.2542724609375, + 236.4052734375 + ], + [ + 428.4903564453125, + 235.12278747558594 + ], + [ + 428.9129638671875, + 235.23707580566406 + ], + [ + 427.7635192871094, + 235.9368896484375 + ] + ] +} \ No newline at end of file diff --git a/005911_v2/lang.txt b/005911_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..a556a7eb8c69dff5bdbcba859d224846be791016 --- /dev/null +++ b/005911_v2/lang.txt @@ -0,0 +1 @@ +move the corn to the upper right of the stove diff --git a/005911_v2/object.ply b/005911_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..dcca5caf1b2e25fb22252d751a22534918994290 Binary files /dev/null and b/005911_v2/object.ply differ diff --git a/005915/data.json b/005915/data.json new file mode 100644 index 0000000000000000000000000000000000000000..ca7ad45ff333cc51581e8aadcb4e436805a4a661 --- /dev/null +++ b/005915/data.json @@ -0,0 +1,458 @@ +{ + "action_start": 6, + "action_end": 18, + "object_name": "pot or pan", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.30940199999999995, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.043955999999999995, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.0315423515372402e-10, + 1.9209495105698693e-10, + 3.3646224695260685e-11, + -7.32659838510432e-08, + -1.9587091674376955e-07, + 1.1059295292279634e-07, + 1.0 + ], + [ + -0.0003238931761768704, + -0.0009624367159244973, + -0.017752832707646854, + 0.026601134847883127, + -0.038613029589554745, + -0.022806025893642348, + 1.0 + ], + [ + -0.0012968191511859295, + -0.007218222488859449, + -0.013792930582901972, + -0.008513712439732524, + -0.028112472817146114, + 0.007708263730587137, + 1.0 + ], + [ + 0.0036332099261005835, + -0.005323606720883112, + -0.012134673715079619, + 0.032430164522884566, + -0.04454808763624677, + -0.003795019947970825, + 1.0 + ], + [ + 0.0028701498799796055, + 0.0007728944611702926, + -0.013975501446546149, + -0.016297734733463864, + -0.006968895544305803, + 0.007715566537307037, + 1.0 + ], + [ + 0.000600606081353261, + 0.0006861399858183181, + -0.010372827944720886, + -0.01727068327955779, + -0.0007567630282821421, + 0.004015864981690265, + 1.0 + ], + [ + 0.0002857392685925997, + -0.0011096757945976699, + -0.006458380890422104, + -0.021585323026738108, + 0.007222665252865996, + 0.014423831440618849, + 0.30940199999999995 + ], + [ + 0.0011429450566403099, + -0.0016111515853894365, + -0.0068124805355744, + -0.008001828688548469, + -0.017856962775604595, + 0.02288591407316457, + 0.0 + ], + [ + 0.0022862045651436125, + 0.0005549165664727462, + 0.004230472727222795, + 0.009315751448468525, + -0.0008484441670408759, + -0.0025360750547606336, + 0.0 + ], + [ + -0.0019330959059217778, + -0.003835287573522389, + 0.0044833007956896626, + 0.009240801137653572, + -0.006591489841452514, + 0.006448013676237873, + 0.0 + ], + [ + 0.0039055566321704316, + -0.009226359367161069, + 0.008473405028668925, + 0.012700937090188104, + -0.008221120865460863, + 0.013691036620879123, + 0.0 + ], + [ + 0.005882416351999764, + -0.02130044929848718, + 0.003962820720155143, + -0.018562226662339438, + -0.016244799098745728, + 0.033540884712957776, + 0.0 + ], + [ + 0.0035273292267008483, + -0.023604561991714235, + 0.004590827290773862, + -0.023525880780496593, + 0.003120114656342945, + 0.03876272910072731, + 0.0 + ], + [ + 0.0030910988269398088, + -0.02778253348080867, + 8.410078275743194e-05, + -0.06230526880838422, + -0.00038125244180005867, + 0.05531549505229744, + 0.0 + ], + [ + 0.0024012261907047083, + -0.017912060604692054, + -0.014202754877715502, + -0.06080306552521404, + -0.029883713228176068, + 0.024666738708423418, + 0.0 + ], + [ + 0.009494665220309229, + -0.011104020025619263, + -0.008611675552300684, + -0.04375628179865468, + -0.027590200209842684, + 0.005127861701017629, + 0.0 + ], + [ + 0.005916916012589812, + -0.00963213144593153, + -0.009316761345497054, + -0.011159244937136692, + -0.015548041314461492, + 0.01551287044627177, + 0.0 + ], + [ + -0.006078125156327718, + -0.008727309625325252, + -0.0061846297631880515, + -0.02924494474687734, + 0.016730807410135225, + 0.05049279694926979, + 0.0 + ], + [ + 0.0014779178027861106, + -0.004336525322853738, + -0.005989472509794071, + -0.0530106025741087, + 0.011837107175462196, + 0.0037018344610395097, + 0.043955999999999995 + ], + [ + 0.0023913828344486743, + -0.0010201248167127641, + -0.001798518079607906, + -0.03987770996636966, + 0.0035051418216536516, + -0.001831076194756255, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 55.02067565917969, + 36.819210052490234 + ], + [ + 54.99526596069336, + 36.84796905517578 + ], + [ + 59.39640808105469, + 58.52458953857422 + ], + [ + 65.86641693115234, + 79.44180297851562 + ], + [ + 78.50886535644531, + 106.65589904785156 + ], + [ + 87.90824890136719, + 119.92507934570312 + ], + [ + 100.62544250488281, + 124.62483215332031 + ], + [ + 103.86226654052734, + 135.0009002685547 + ], + [ + 103.677978515625, + 138.9587860107422 + ], + [ + 103.78952026367188, + 144.14208984375 + ], + [ + 94.92054748535156, + 145.32115173339844 + ], + [ + 94.90185546875, + 148.65390014648438 + ], + [ + 119.783935546875, + 141.68740844726562 + ], + [ + 137.9501953125, + 142.61021423339844 + ], + [ + 156.85235595703125, + 144.88125610351562 + ], + [ + 201.72848510742188, + 161.5125732421875 + ], + [ + 221.94046020507812, + 174.47039794921875 + ], + [ + 228.11505126953125, + 176.07479858398438 + ], + [ + 248.92047119140625, + 186.6983184814453 + ], + [ + 259.56298828125, + 204.0837860107422 + ], + [ + 262.22564697265625, + 216.695556640625 + ], + [ + 270.8269348144531, + 212.17913818359375 + ] + ], + "depth_max": 1.507498025894165, + "depth_min": 0.27438995242118835, + "intrinsic": [ + [ + 567.8838500976562, + 0.0, + 259.0 + ], + [ + 0.0, + 568.4320068359375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.588326166616753e-05, + -2.9832544896635227e-05, + 8.069398973020725e-06 + ], + [ + -5.588369822362438e-05, + 1.0, + -1.4524604011967313e-05, + -2.3278911612578668e-05 + ], + [ + 2.9831733627361245e-05, + 1.4526272025250364e-05, + 1.0, + -1.6164512999239378e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21 + ], + "object_trajectory": [ + [ + 54.25, + 129.00001525878906 + ], + [ + 54.574363708496094, + 129.5047607421875 + ], + [ + 54.688419342041016, + 129.42286682128906 + ], + [ + 54.43124771118164, + 129.72752380371094 + ], + [ + 65.37287139892578, + 129.31314086914062 + ], + [ + 65.07736206054688, + 129.6086883544922 + ], + [ + 65.00267791748047, + 129.509033203125 + ], + [ + 64.97293853759766, + 129.6547393798828 + ], + [ + 64.72291564941406, + 129.5556640625 + ], + [ + 64.27645874023438, + 129.79910278320312 + ], + [ + 60.59166717529297, + 132.581298828125 + ], + [ + 59.08077621459961, + 135.24508666992188 + ], + [ + 80.82720947265625, + 129.31051635742188 + ], + [ + 86.77056884765625, + 131.8486328125 + ], + [ + 100.313232421875, + 136.43093872070312 + ], + [ + 142.49095153808594, + 154.86231994628906 + ], + [ + 146.80130004882812, + 163.9557647705078 + ], + [ + 154.61341857910156, + 168.0469207763672 + ], + [ + 173.9584197998047, + 178.52804565429688 + ], + [ + 182.71620178222656, + 198.6467742919922 + ], + [ + 188.07476806640625, + 213.66998291015625 + ], + [ + 207.71067810058594, + 233.7228240966797 + ] + ] +} \ No newline at end of file diff --git a/005915/lang.txt b/005915/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..814694ed864505867bcdf03014c81ddb80a01a98 --- /dev/null +++ b/005915/lang.txt @@ -0,0 +1 @@ +put pot or pan in sink diff --git a/005927/FAIL b/005927/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/005927/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/005936/FAIL b/005936/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/005936/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/005939/FAIL b/005939/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/005939/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/005948/data.json b/005948/data.json new file mode 100644 index 0000000000000000000000000000000000000000..f753aff9cc2c8bfc78af43cc46d08605870b214b --- /dev/null +++ b/005948/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 5, + "action_end": 19, + "object_name": "pot or pan", + "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, + 0.42075700000000005, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 2.03526639985796e-10, + -1.260670040581502e-10, + 1.3632567297250375e-11, + 2.0439305357771247e-07, + 2.1822081016233302e-07, + 6.725874148863691e-07, + 1.0 + ], + [ + 0.0055189996708246425, + 0.0015190001812678613, + -0.012346600002180408, + -0.010573494236367853, + -0.02164150948363799, + -0.001285929686373655, + 1.0 + ], + [ + 0.005166199942826022, + 0.0024335043841150414, + -0.016230404451662878, + -0.026549778460027873, + -0.026351518588720597, + 0.002720786224204961, + 1.0 + ], + [ + 0.006747772948587749, + -0.001638449412409218, + -0.017527105293844394, + -0.009733160582701761, + -0.028528709932983648, + 0.0015360793101441392, + 1.0 + ], + [ + 0.006090489483406597, + 0.0017997361912435242, + -0.016708584166823567, + -0.02442566272248358, + -0.00879156239739384, + -0.004750997920236135, + 1.0 + ], + [ + 0.0013138223564894969, + 0.002627736366024029, + -0.01328639816603508, + -0.030330231800368694, + -0.003902169587549211, + 0.0036446390287078263, + 1.0 + ], + [ + -0.0016303257759080203, + 0.001108876569647789, + -0.007866073763401406, + -0.01713696033042704, + 0.0027656709309028015, + 0.010975477440213963, + 0.0 + ], + [ + -0.0008611204405711281, + -0.0013251381732898582, + 0.0002651276490241161, + 0.00013256375901550636, + 0.0009697039930895228, + 0.005582756205560408, + 0.0 + ], + [ + 0.002251604742951885, + -0.0006843776381254205, + 0.001718753454452264, + -0.006958735064116002, + 0.003277153129606313, + 0.008590497832630483, + 0.0 + ], + [ + 0.005709097168108357, + 0.005362131346735292, + 0.017746064742963363, + 0.0113944304314363, + 0.0058947957746735506, + 0.016691185339643408, + 0.0 + ], + [ + 0.006796162914567194, + 0.016282232699463217, + 0.02490434143282104, + 0.028434142295469346, + 0.011664292869360158, + -0.0010854497960416918, + 0.0 + ], + [ + 0.007482546793146777, + 0.016357493257287234, + 0.01741406829226603, + 0.016245388158096636, + 0.01160295904177223, + -0.015339956006824888, + 0.0 + ], + [ + 0.010123384580448813, + 0.02059322856314006, + 0.009643184956518211, + 0.0357687667359751, + -0.019098487449169924, + -0.036317902279147586, + 0.0 + ], + [ + 0.022081997636145295, + 0.018771156022557585, + 0.004784016385599971, + 0.0005769173828975731, + -0.00702043863737271, + -0.017806137166193413, + 0.0 + ], + [ + 0.01697506374757124, + 0.01256985509386327, + -0.00518250800598298, + 0.020393917596282767, + -0.025274673444240545, + -0.02355125063043831, + 0.0 + ], + [ + 0.010665296377878941, + 0.014027351286564394, + -0.0028350267204950708, + -0.003857433896394914, + -0.004297285428018025, + -0.016766556945467536, + 0.0 + ], + [ + 0.007279977987987629, + 0.012283390735506803, + -0.010126570108696623, + -0.0047900439476822486, + -0.02692810927516633, + -0.01321041683615953, + 0.0 + ], + [ + 0.004975540762470587, + 0.011896508154383326, + -0.0003968040515698046, + 0.02325011307318912, + -0.012692041578623282, + -0.029081870459097027, + 0.0 + ], + [ + 0.004844674238421998, + 0.008723212819274621, + -0.0022577066305186355, + -0.00586142410232061, + 0.0016092915057062927, + -0.03469247032466631, + 0.0 + ], + [ + -9.330663537254758e-05, + 0.002538680430580746, + -0.00581946060767867, + 0.002084897926391557, + -0.030793029946877496, + -0.02115379613733697, + 0.42075700000000005 + ], + [ + 0.0005215535617679179, + 0.0011262527799760502, + 0.0016488839222833507, + -0.021534536410493552, + 0.00726699248703144, + -0.018600375307914294, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 367.7828369140625, + 236.37957763671875 + ], + [ + 367.85345458984375, + 236.40138244628906 + ], + [ + 364.41119384765625, + 249.09317016601562 + ], + [ + 369.5393981933594, + 264.44903564453125 + ], + [ + 365.97314453125, + 278.67364501953125 + ], + [ + 371.30950927734375, + 295.91619873046875 + ], + [ + 378.44207763671875, + 309.76470947265625 + ], + [ + 372.4089050292969, + 319.03021240234375 + ], + [ + 367.8835144042969, + 326.6510009765625 + ], + [ + 365.6207580566406, + 328.2505187988281 + ], + [ + 359.0989990234375, + 330.7841491699219 + ], + [ + 364.74859619140625, + 301.62530517578125 + ], + [ + 354.77947998046875, + 259.71185302734375 + ], + [ + 322.1702880859375, + 206.01626586914062 + ], + [ + 319.57513427734375, + 166.51019287109375 + ], + [ + 312.3910217285156, + 129.90667724609375 + ], + [ + 309.47613525390625, + 119.92501068115234 + ], + [ + 305.032470703125, + 109.90226745605469 + ], + [ + 296.69183349609375, + 110.69920349121094 + ], + [ + 285.64984130859375, + 99.2796630859375 + ], + [ + 278.029052734375, + 97.61898803710938 + ], + [ + 279.79833984375, + 92.57699584960938 + ], + [ + 284.3582763671875, + 97.86073303222656 + ], + [ + 286.2378234863281, + 99.8916015625 + ] + ], + "depth_max": 1.6987930536270142, + "depth_min": 0.16629604995250702, + "intrinsic": [ + [ + 548.778564453125, + 0.0, + 259.0 + ], + [ + 0.0, + 549.5559692382812, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 0.00010040877532446757, + -9.935902198776603e-05, + 1.480786522733979e-06 + ], + [ + -0.00010041204950539395, + 1.0, + -3.299489981145598e-05, + -1.4823023775534239e-05 + ], + [ + 9.935570415109396e-05, + 3.3004875149345025e-05, + 1.0, + 2.8093845685361885e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 479.75, + 345.2500305175781 + ], + [ + 479.9969787597656, + 345.53045654296875 + ], + [ + 479.8568115234375, + 345.5920104980469 + ], + [ + 479.94927978515625, + 345.62054443359375 + ], + [ + 479.8086853027344, + 345.66204833984375 + ], + [ + 479.8785095214844, + 345.6456604003906 + ], + [ + 480.1224365234375, + 345.67901611328125 + ], + [ + 479.8686828613281, + 345.3875427246094 + ], + [ + 479.9198303222656, + 345.2827453613281 + ], + [ + 480.0892333984375, + 345.2919921875 + ], + [ + 479.0742492675781, + 346.9921569824219 + ], + [ + 470.43792724609375, + 312.376220703125 + ], + [ + 460.6039733886719, + 275.95550537109375 + ], + [ + 438.8899841308594, + 229.2025909423828 + ], + [ + 419.4707336425781, + 191.40762329101562 + ], + [ + 413.8507995605469, + 162.15194702148438 + ], + [ + 405.4902648925781, + 150.63064575195312 + ], + [ + 397.7592468261719, + 141.2355194091797 + ], + [ + 388.2684631347656, + 139.83352661132812 + ], + [ + 375.7802429199219, + 129.84727478027344 + ], + [ + 368.0005187988281, + 127.0586166381836 + ], + [ + 364.33843994140625, + 129.13198852539062 + ], + [ + 362.68798828125, + 139.15196228027344 + ], + [ + 361.77728271484375, + 140.33181762695312 + ] + ] +} \ No newline at end of file diff --git a/005948/lang.txt b/005948/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..59758eeb6d73b5b34528f00c9acc06ed95b86995 --- /dev/null +++ b/005948/lang.txt @@ -0,0 +1 @@ +put pot or pan on stove diff --git a/005948_v2/FAIL b/005948_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/005948_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/005968_v2/data.json b/005968_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..c28375e3b3c3e88ef0486f55763ce68087cf70a9 --- /dev/null +++ b/005968_v2/data.json @@ -0,0 +1,641 @@ +{ + "action_start": 9, + "action_end": 22, + "object_name": "yellow brush", + "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, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 9.669526290778663e-11, + -8.228472417326493e-11, + -5.980616002432271e-11, + 2.017568341469015e-07, + 8.188645043682577e-07, + -4.386187345069068e-07, + 1.0 + ], + [ + -0.0035709672081017385, + 0.01355480554465744, + 0.00011225954293425655, + -0.07863744572872143, + -0.009075736208135355, + 0.08061817342216354, + 1.0 + ], + [ + -0.006246115955863163, + 0.01702823618133402, + 0.0035488645036016175, + -0.010485517583501691, + -0.05160258843150255, + 0.10652302018018092, + 1.0 + ], + [ + -0.011715979770391238, + 0.018997146183180318, + -0.00553788341918135, + 0.02127185493024358, + -0.041937730736572885, + 0.11206812755092613, + 1.0 + ], + [ + -0.01765468188954139, + 0.018546088101295072, + -0.006814702157260974, + 0.014584059949807996, + -0.02279068785577673, + 0.11863221225218512, + 1.0 + ], + [ + -0.006908297513936956, + 0.021754277136792954, + -0.01081645802513971, + 0.02751211798334406, + 0.033620916397291645, + 0.0848451195991068, + 1.0 + ], + [ + -0.0013033445459294246, + 0.016374511407932085, + -0.00544653139939022, + 0.01139939950495343, + 0.007584122247682071, + 0.0372987379902403, + 1.0 + ], + [ + 0.005280360885142277, + 0.013229618239830362, + -0.014052820716176265, + 0.00861429807233406, + 0.03047720963821568, + -0.0022185535497303253, + 1.0 + ], + [ + -0.00039061079469240867, + 0.007343604065550735, + -0.0068458053073337105, + 0.005852176287828608, + 0.0032075022424096467, + 0.010383481536567719, + 1.0 + ], + [ + 0.000659458421803566, + 0.002710622644014782, + -0.011816777379075306, + -0.005268418096199742, + 0.012666796224693291, + -0.015327572764404813, + 1.0 + ], + [ + 0.0017788576496113873, + -0.00017322835382083124, + -0.008337603048436067, + 0.02066158294017701, + -0.014944954251409114, + -0.020710124161276388, + 0.0 + ], + [ + -0.0002634323185805032, + 0.00018292833542157827, + 0.00026208541060132595, + 0.02728983614024949, + 0.009591880904874592, + 0.0034618020055820343, + 0.0 + ], + [ + -0.0012565020507852853, + 0.0025990628723217557, + 0.000596748245697401, + -0.0010495879987017331, + 0.005349706445781493, + 0.0019324529623624444, + 0.0 + ], + [ + 0.0019981868302404726, + 0.00084884454760914, + 0.007066292929498695, + -0.011499767396680785, + -0.019607818287683383, + -0.026711828962712465, + 0.0 + ], + [ + 0.003050565094625979, + -0.005222036500820648, + 0.011961540370065533, + -0.028689467027845108, + -0.020145993629649868, + -0.03225059212508943, + 0.0 + ], + [ + 0.012004128311328827, + -0.020782092478380393, + 0.012504664915117723, + -0.03518613533491169, + -0.03602222271661836, + -0.057720545369569526, + 0.0 + ], + [ + 0.013939520100768626, + -0.034227558785380405, + 0.020088444692360423, + 0.02615593425674333, + -0.03570546191546313, + -0.09214332830019353, + 0.0 + ], + [ + 0.018239565506856403, + -0.04635960755234689, + 0.011919599022940555, + -0.0008405207795332655, + -0.04309542010202867, + -0.1238678701694515, + 0.0 + ], + [ + 0.022469836082206207, + -0.04687881857452055, + -0.002881299814831609, + -0.022600418232103462, + 0.010837747422555374, + -0.15535661429945294, + 0.0 + ], + [ + 0.011828454821979417, + -0.03477728428041713, + -0.009820312911336976, + 0.004025983550178357, + 0.013207655120969745, + -0.11101460050971611, + 0.0 + ], + [ + -0.0001537840466842022, + -0.024072258802242622, + -0.016175888743031427, + 0.015611100990619233, + 0.031422534718362496, + -0.07600568500208757, + 0.0 + ], + [ + -0.0044263080215904416, + -0.01160466942557422, + -0.015638010175605496, + 0.03125417857194512, + 0.02944242129856787, + -0.046251436890560875, + 0.0 + ], + [ + -0.0014015985014558252, + 0.0016770532415793932, + -0.010229081547862458, + 0.016566655379821223, + 0.02508093046608032, + 0.004912945973402197, + 0.0 + ], + [ + 0.00038278833760191366, + 0.008572272838170053, + 4.873623033134489e-05, + 0.010052154371035243, + 0.0054327394757169144, + 0.03321533698521461, + 1.0 + ], + [ + -0.00016782509201318518, + 0.0006771521133801667, + 0.0026582859939530135, + -0.00137540152133718, + -0.0028024133254052654, + -0.001519747264447262, + 1.0 + ], + [ + -0.0029798939082063547, + 0.000503913593764102, + 0.009815671984493728, + -0.022855823679637614, + -0.015356823393979709, + 0.0016173707878501984, + 1.0 + ], + [ + -0.0012684102796846064, + -0.001607532931649766, + 0.014173400399008558, + -0.015255080861054052, + -0.027398368524906333, + -0.024774415417136816, + 1.0 + ], + [ + -6.472693376363692e-05, + -0.0017228658222112059, + 0.023947652605623947, + -0.02395022797986776, + -0.04682610016712698, + -0.02624563193613231, + 1.0 + ], + [ + -0.0032126360935176845, + 0.003786718628901002, + 0.025387979370449718, + -0.01497757559208522, + -0.04737986322801933, + 0.0185005965652461, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 261.23553466796875, + 167.83944702148438 + ], + [ + 261.69439697265625, + 176.4263153076172 + ], + [ + 254.14727783203125, + 181.63075256347656 + ], + [ + 225.47732543945312, + 184.32650756835938 + ], + [ + 191.86050415039062, + 190.05599975585938 + ], + [ + 156.15499877929688, + 202.48512268066406 + ], + [ + 123.0257339477539, + 209.21722412109375 + ], + [ + 104.9996337890625, + 220.166015625 + ], + [ + 98.7951889038086, + 225.05288696289062 + ], + [ + 95.19121551513672, + 230.89967346191406 + ], + [ + 94.16827392578125, + 234.80661010742188 + ], + [ + 98.62203979492188, + 229.67544555664062 + ], + [ + 103.60637664794922, + 225.25906372070312 + ], + [ + 104.21139526367188, + 222.68460083007812 + ], + [ + 102.97315216064453, + 221.70237731933594 + ], + [ + 98.61106872558594, + 225.60972595214844 + ], + [ + 108.09493255615234, + 220.47674560546875 + ], + [ + 156.72332763671875, + 200.99847412109375 + ], + [ + 201.53102111816406, + 191.2416534423828 + ], + [ + 285.34344482421875, + 186.55618286132812 + ], + [ + 342.423583984375, + 207.40528869628906 + ], + [ + 383.1671142578125, + 239.31805419921875 + ], + [ + 397.46258544921875, + 261.9679260253906 + ], + [ + 400.40582275390625, + 270.62811279296875 + ], + [ + 397.9438781738281, + 274.57366943359375 + ], + [ + 387.3574523925781, + 270.8806457519531 + ], + [ + 386.7851867675781, + 274.03326416015625 + ], + [ + 391.9246520996094, + 258.79364013671875 + ], + [ + 395.1955871582031, + 239.13458251953125 + ], + [ + 392.34033203125, + 210.95565795898438 + ], + [ + 387.7420349121094, + 200.63803100585938 + ], + [ + 387.2132873535156, + 202.00804138183594 + ] + ], + "depth_max": 1.45603346824646, + "depth_min": 0.42765551805496216, + "intrinsic": [ + [ + 518.6886596679688, + 0.0, + 259.0 + ], + [ + 0.0, + 519.4292602539062, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 9.96763446892146e-07, + -1.7939766621566378e-05, + 6.2527283262170386e-06 + ], + [ + -9.98189079837175e-07, + 1.0, + -7.947562698973343e-05, + -1.0181257493968587e-05 + ], + [ + 1.793968658603262e-05, + 7.947564154164866e-05, + 1.0, + -2.804823816404678e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 31 + ], + "object_trajectory": [ + [ + 99.5, + 263.25 + ], + [ + 99.95933532714844, + 263.24755859375 + ], + [ + 100.09242248535156, + 263.3666687011719 + ], + [ + 99.89559936523438, + 263.2473449707031 + ], + [ + 99.78597259521484, + 263.324951171875 + ], + [ + 99.68310546875, + 263.2974548339844 + ], + [ + 99.96320343017578, + 263.5969543457031 + ], + [ + 99.8766860961914, + 263.1785888671875 + ], + [ + 100.10411071777344, + 263.2901611328125 + ], + [ + 99.97679138183594, + 263.165771484375 + ], + [ + 101.64344024658203, + 262.07708740234375 + ], + [ + 103.0139389038086, + 258.626708984375 + ], + [ + 100.72762298583984, + 248.0679168701172 + ], + [ + 104.98886108398438, + 243.00482177734375 + ], + [ + 104.52506256103516, + 246.44412231445312 + ], + [ + 102.84613800048828, + 244.85752868652344 + ], + [ + 110.39903259277344, + 246.8778533935547 + ], + [ + 152.84580993652344, + 230.91680908203125 + ], + [ + 207.2120819091797, + 222.5913543701172 + ], + [ + 278.8660888671875, + 221.8277130126953 + ], + [ + 331.20404052734375, + 240.5600128173828 + ], + [ + 364.1232604980469, + 271.5435791015625 + ], + [ + 379.64508056640625, + 291.76910400390625 + ], + [ + 382.09588623046875, + 298.894775390625 + ], + [ + 382.39434814453125, + 301.79620361328125 + ], + [ + 382.47784423828125, + 300.4846496582031 + ], + [ + 382.41705322265625, + 299.71759033203125 + ], + [ + 383.2895812988281, + 298.9131774902344 + ], + [ + 383.67022705078125, + 298.0294189453125 + ], + [ + 383.58428955078125, + 297.4991455078125 + ], + [ + 383.83349609375, + 297.503662109375 + ], + [ + 384.295166015625, + 297.38775634765625 + ] + ] +} \ No newline at end of file diff --git a/005968_v2/lang.txt b/005968_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..479de2f6e7251ed1b1e2fe2f0f6cf5d172a7b1b7 --- /dev/null +++ b/005968_v2/lang.txt @@ -0,0 +1 @@ +move the yellow brush to the right burner diff --git a/005968_v2/object.ply b/005968_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..310df77d61008a71f0628bf367ec6cfac5431137 Binary files /dev/null and b/005968_v2/object.ply differ diff --git a/006006_v2/data.json b/006006_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..1787fb707af8a038f0751f3790ebc3dd9a27cbd7 --- /dev/null +++ b/006006_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 13, + "action_end": 36, + "object_name": "blue brush", + "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, + 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, + -6.938893903907228e-18, + 2.7755575615628914e-17, + -8.803545721357641e-07, + 4.2734369512796865e-07, + -1.0172832746522457e-07, + 1.0 + ], + [ + -0.004914508637407, + -0.004637101093433155, + 0.0021610156365016175, + -0.04452065196978018, + -0.005085498819602451, + -0.0610438474567814, + 1.0 + ], + [ + -0.0074439563292205135, + 0.004278932128115948, + -0.00811953819406308, + -0.05974978944457475, + -0.00258210654733278, + 0.033513691248571814, + 1.0 + ], + [ + -0.001570115666946481, + -0.005639110758704911, + -0.015654144233233108, + -0.04980889056938214, + -0.006908106221621063, + -0.06599153322502785, + 1.0 + ], + [ + 0.002586962514169955, + -0.018931390160760724, + -0.007584903226555861, + -0.024366635650045532, + 0.005631577576939951, + -0.10444580744792926, + 1.0 + ], + [ + -0.002915914276550746, + -0.013096135639997408, + 0.0008822518248107619, + -0.0028897347020181304, + -0.014965953120658217, + -0.0384416212675447, + 1.0 + ], + [ + -0.020205402018371676, + -0.015667252987853014, + -0.0013395295630892062, + 0.03552232196612785, + -0.000521503437901899, + -0.045210344601305075, + 1.0 + ], + [ + -0.02544006844590485, + -0.003345072780441334, + -0.0018854119047386902, + 0.08025876606777389, + 0.00518231504907118, + -0.12824151957830815, + 1.0 + ], + [ + -0.0203770434922661, + -0.004707349155462011, + -0.011002971341290024, + 0.017885100864214475, + 0.0073446258971037225, + -0.11840180539909394, + 1.0 + ], + [ + -0.008940465878066794, + -0.0028969306716050414, + -0.017102486080845886, + -0.00712584441512536, + 0.039039224767878404, + -0.07179401461156823, + 1.0 + ], + [ + -0.00673093698244942, + -0.011771400552889711, + -0.0197408181304837, + 0.0020610044371787463, + 0.011912836490329346, + -0.10894066143533969, + 1.0 + ], + [ + 0.002231991683389112, + -0.015411551861135589, + -0.013469369694636517, + 0.03051028053548901, + -0.012946568221373233, + -0.059551918985065115, + 1.0 + ], + [ + 0.0045749020141396535, + -0.014149391694789154, + -0.011394235397420016, + -0.009655984513802309, + -0.015610429446698795, + -0.03419552667780616, + 1.0 + ], + [ + 0.012958683120834091, + -0.0067736368568698455, + -0.009420162361241512, + 0.0013584542026596014, + -0.019069147538188384, + 0.018411816547587872, + 1.0 + ], + [ + 0.008947861469470408, + -0.0007136157688839226, + -0.002904489848009272, + -0.004465314760441048, + -0.004136504885828071, + 0.04148223305990518, + 0.0 + ], + [ + 0.0001120098129703817, + 0.0007796269943433423, + 0.00608766081537955, + -0.022524447759999205, + -0.01018025255642232, + 0.019794470361269956, + 0.0 + ], + [ + -0.004412031420530371, + 0.00034946241250841115, + 0.0134465764995206, + -0.02256605216080353, + 0.03976282583337434, + 0.04430718843378906, + 0.0 + ], + [ + -0.007798988787421857, + -0.004016527088974493, + 0.01995648964809376, + 0.01583984241012047, + 0.06648405957435555, + 0.12854203708266115, + 0.0 + ], + [ + -0.008017299575879211, + -0.004552168869118665, + 0.015272875902331486, + -0.007833475667487813, + 0.024318157825871267, + 0.17137887370841284, + 0.0 + ], + [ + -0.00720724246250104, + -0.01940463032014988, + 0.011564107246746521, + -0.06676750653949583, + 0.13656526267796443, + 0.3156889845217573, + 0.0 + ], + [ + -0.0014808394563973204, + -0.01725641718545869, + 0.00707625340480381, + -0.04074930804416313, + 0.11326154199142079, + 0.36030868774319286, + 0.0 + ], + [ + 0.010067977939290318, + -0.005494140883286923, + -0.002253564746306079, + -0.04555977044084225, + 0.11611158677655678, + 0.30842862953904143, + 0.0 + ], + [ + 0.02199545776610351, + 0.001306991216901733, + -0.008717045224796584, + -0.01841826583449095, + 0.04874739054295432, + 0.1467624889606129, + 0.0 + ], + [ + 0.023523909414333077, + 0.019338295256962984, + -0.011493791728153194, + -0.021025647363937847, + 0.018432662362905024, + 0.10393273863605607, + 0.0 + ], + [ + 0.024835465357353093, + 0.013735935100515836, + -0.01572094836208803, + -0.008718692904739101, + 0.0276127222597636, + 0.07032491769741404, + 0.0 + ], + [ + 0.02036312239952509, + 0.012540847045546116, + -0.005341392952485535, + 0.0003208729749110231, + -0.009344804351383186, + 0.04986990279449096, + 0.0 + ], + [ + 0.0227999413967917, + 0.02229903291299144, + 0.003047689813937708, + 0.02101531803510903, + -0.03396029393493054, + 0.08283923708388566, + 0.0 + ], + [ + 0.024452941466979627, + 0.027250300013824866, + 0.0044076578722197085, + 0.013341898636839477, + -0.03006657779782968, + 0.09420828254034055, + 0.0 + ], + [ + 0.013613020406550103, + 0.027613647183540785, + 0.010470779847678295, + 0.01979704481521222, + -0.021909884391363123, + 0.1073738412388336, + 0.0 + ], + [ + 0.0052139270585152, + 0.018130594121509518, + 0.002748817929038229, + -0.003065699760539424, + 0.0023479281403335135, + 0.071662649822702, + 0.0 + ], + [ + 0.00012162081526079227, + 0.009246021272282731, + 0.00026967080606127986, + -0.0003358154908504113, + -0.001438941089867872, + 0.04212803786702715, + 0.0 + ], + [ + -0.01760701684563626, + -0.015026671426165948, + -0.00538148613745764, + -0.0018300344474576121, + 0.029081252393394742, + -0.04344579486531992, + 0.0 + ], + [ + -0.011443482610704436, + -0.02439902423096181, + 0.0004939804429109629, + 0.04716270460525317, + -0.0115828903583652, + -0.13685716871749962, + 0.0 + ], + [ + -0.009643089650421433, + -0.017798481078732553, + 0.0032174862388785336, + 0.08351999077611101, + -0.034450852725532256, + -0.11387754534287518, + 0.0 + ], + [ + 0.0009202937443049675, + -0.011922885918241383, + -0.004539285662688505, + 0.026280062789494123, + 0.002561271276196988, + -0.07143964365458286, + 0.0 + ], + [ + 0.004944048073215523, + -0.0056390954652961525, + -0.016059781566710684, + 0.06062164806494496, + 0.01351774238334503, + -0.06578326488846409, + 0.0 + ], + [ + 0.0024936992587152873, + 0.0027654523090814356, + -0.015480777114077214, + 0.06717284530212748, + 0.016571218886182553, + -0.025194065081079513, + 0.0 + ], + [ + 0.0006090496087938768, + 0.0030666889936338884, + -0.004190502266277742, + 0.00038574022718199157, + 0.02516459599106711, + -0.0012962650400946563, + 1.0 + ], + [ + 0.0021529465293834704, + -0.004402660054183549, + 0.011308105968352807, + 0.0032402582951334604, + -0.01685003199512594, + -0.001982045401405875, + 1.0 + ], + [ + 0.0032971918580200765, + -0.0038480531670450277, + 0.016495856524380778, + -0.0218930265584595, + -0.0387670100313898, + -0.04314908982109638, + 1.0 + ], + [ + 0.004047143391527397, + 0.004460978267373884, + 0.032826730665399456, + 0.03716734851131871, + -0.06007777153937231, + -0.08206071835933747, + 1.0 + ], + [ + -0.0009299030533194141, + 0.008704358057531895, + 0.032655541985221914, + 0.08986430470261261, + -0.06638918170379694, + -0.03260168212093708, + 1.0 + ], + [ + -0.003218442069597316, + 0.0033733253298877316, + 0.007920218255743586, + 0.025099753653954445, + -0.008938496052528567, + -0.017771593201270197, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 288.1331481933594, + 61.38439178466797 + ], + [ + 287.9765319824219, + 68.28086853027344 + ], + [ + 295.24200439453125, + 86.56291198730469 + ], + [ + 290.03314208984375, + 104.34017944335938 + ], + [ + 280.9678649902344, + 118.62260437011719 + ], + [ + 295.77264404296875, + 124.00688934326172 + ], + [ + 320.8589782714844, + 140.66796875 + ], + [ + 321.85662841796875, + 164.74891662597656 + ], + [ + 321.1976623535156, + 188.27761840820312 + ], + [ + 308.17669677734375, + 219.71446228027344 + ], + [ + 302.15850830078125, + 246.759765625 + ], + [ + 298.7549133300781, + 282.3656921386719 + ], + [ + 314.42303466796875, + 301.06427001953125 + ], + [ + 332.4178161621094, + 315.936767578125 + ], + [ + 343.61700439453125, + 321.6102294921875 + ], + [ + 352.00872802734375, + 310.70904541015625 + ], + [ + 355.4451904296875, + 305.5738220214844 + ], + [ + 352.23321533203125, + 305.698974609375 + ], + [ + 379.376220703125, + 305.23382568359375 + ], + [ + 365.4823913574219, + 282.9637145996094 + ], + [ + 388.89886474609375, + 281.11181640625 + ], + [ + 420.99896240234375, + 277.4400939941406 + ], + [ + 441.70196533203125, + 271.33966064453125 + ], + [ + 447.6596984863281, + 257.36334228515625 + ], + [ + 442.23846435546875, + 242.10562133789062 + ], + [ + 420.42657470703125, + 227.88613891601562 + ], + [ + 423.5166320800781, + 217.45687866210938 + ], + [ + 406.76776123046875, + 193.356201171875 + ], + [ + 382.86846923828125, + 167.0452880859375 + ], + [ + 361.7257385253906, + 138.54421997070312 + ], + [ + 340.39697265625, + 120.38638305664062 + ], + [ + 329.7414855957031, + 116.7862548828125 + ], + [ + 330.37890625, + 137.68020629882812 + ], + [ + 330.35272216796875, + 155.869873046875 + ], + [ + 351.97064208984375, + 174.005615234375 + ], + [ + 368.82305908203125, + 177.65403747558594 + ], + [ + 367.86602783203125, + 180.96307373046875 + ], + [ + 378.943115234375, + 193.1060791015625 + ], + [ + 384.188232421875, + 196.143310546875 + ], + [ + 388.9364013671875, + 193.91458129882812 + ], + [ + 385.0015869140625, + 191.74581909179688 + ], + [ + 381.26226806640625, + 176.02125549316406 + ], + [ + 380.3484802246094, + 125.01695251464844 + ], + [ + 382.60791015625, + 106.52818298339844 + ], + [ + 381.108642578125, + 108.29840087890625 + ], + [ + 380.50921630859375, + 107.30894470214844 + ], + [ + 379.9837646484375, + 107.55559539794922 + ], + [ + 379.6867980957031, + 107.51722717285156 + ] + ], + "depth_max": 1.5146397352218628, + "depth_min": 0.35530275106430054, + "intrinsic": [ + [ + 531.1004028320312, + 0.0, + 259.0 + ], + [ + 0.0, + 531.5805053710938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -1.572286055306904e-05, + -2.8531836505862884e-05, + 1.1585875654418487e-06 + ], + [ + 1.5721456293249503e-05, + 1.0, + -4.921081927022897e-05, + 1.1181782610947266e-05 + ], + [ + 2.8532611395348795e-05, + 4.921036816085689e-05, + 1.0, + -2.044077518803533e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 353.5, + 317.7500305175781 + ], + [ + 353.5614929199219, + 318.04559326171875 + ], + [ + 353.6116027832031, + 318.0186767578125 + ], + [ + 353.5347595214844, + 318.0289306640625 + ], + [ + 353.6469421386719, + 317.8255310058594 + ], + [ + 353.7479553222656, + 317.9037780761719 + ], + [ + 353.7419738769531, + 317.9927978515625 + ], + [ + 353.92999267578125, + 317.8987731933594 + ], + [ + 353.8219299316406, + 317.9665222167969 + ], + [ + 353.7080078125, + 317.8316650390625 + ], + [ + 353.52392578125, + 317.8475036621094 + ], + [ + 353.6567077636719, + 317.7992248535156 + ], + [ + 353.94921875, + 317.94390869140625 + ], + [ + 354.66943359375, + 318.17529296875 + ], + [ + 358.25927734375, + 322.77716064453125 + ], + [ + 363.07257080078125, + 317.95819091796875 + ], + [ + 375.1915283203125, + 317.154052734375 + ], + [ + 372.91021728515625, + 320.7864074707031 + ], + [ + 372.0080871582031, + 307.78424072265625 + ], + [ + 373.6455383300781, + 301.0781555175781 + ], + [ + 390.4501953125, + 298.4337158203125 + ], + [ + 418.24957275390625, + 298.1267395019531 + ], + [ + 441.9571838378906, + 292.5693359375 + ], + [ + 447.79248046875, + 274.92431640625 + ], + [ + 442.2249755859375, + 262.0414733886719 + ], + [ + 427.6802978515625, + 248.0527801513672 + ], + [ + 428.0959167480469, + 235.77371215820312 + ], + [ + 420.5310363769531, + 215.5446319580078 + ], + [ + 405.66546630859375, + 187.279296875 + ], + [ + 385.808349609375, + 163.30645751953125 + ], + [ + 373.37945556640625, + 144.8414306640625 + ], + [ + 357.9152526855469, + 141.72866821289062 + ], + [ + 361.2412109375, + 162.2865753173828 + ], + [ + 359.406494140625, + 178.60726928710938 + ], + [ + 369.8740539550781, + 191.42349243164062 + ], + [ + 378.7137451171875, + 197.51654052734375 + ], + [ + 378.8282775878906, + 201.34115600585938 + ], + [ + 383.7988586425781, + 208.2813262939453 + ], + [ + 385.2222900390625, + 208.54177856445312 + ], + [ + 386.7347106933594, + 213.44314575195312 + ], + [ + 386.47003173828125, + 212.31927490234375 + ], + [ + 383.59979248046875, + 204.85275268554688 + ], + [ + 386.4904479980469, + 210.31988525390625 + ], + [ + 383.3883972167969, + 203.56361389160156 + ], + [ + 383.42449951171875, + 202.7169647216797 + ], + [ + 386.4154357910156, + 209.515380859375 + ], + [ + 386.25250244140625, + 209.162353515625 + ], + [ + 386.50787353515625, + 209.41949462890625 + ] + ] +} \ No newline at end of file diff --git a/006006_v2/lang.txt b/006006_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..29aae5973843602dff6b2208eb79d295394bba7c --- /dev/null +++ b/006006_v2/lang.txt @@ -0,0 +1 @@ +Moved the blue brush to the top of the table diff --git a/006006_v2/object.ply b/006006_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..59d0d861a6930818a435b1c32600f25aa536abcc Binary files /dev/null and b/006006_v2/object.ply differ diff --git a/006017/data.json b/006017/data.json new file mode 100644 index 0000000000000000000000000000000000000000..363ae250a319aac893be79347d3f0914cdee09f5 --- /dev/null +++ b/006017/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 11, + "action_end": 18, + "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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.299389, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 2.7755575615628914e-17, + -2.7755575615628914e-17, + 0.0, + 9.576613650861952e-07, + 3.3698284250406394e-07, + -8.374961115256283e-07, + 1.0 + ], + [ + 0.000739241445695149, + 0.005257727296514483, + -0.017100923278960276, + -0.04006811878660625, + -0.0026805048832620735, + -0.005910972270934521, + 1.0 + ], + [ + -0.010001627472135094, + 0.005397261970786799, + -0.014030746592859189, + -0.01117645571341512, + -0.006236902218962454, + 0.004975685346623811, + 1.0 + ], + [ + -0.00041312986563035725, + 0.0024460997709665755, + -0.008811565480510944, + -0.015525649588329303, + -0.001632515308173652, + -0.0014955106000923025, + 1.0 + ], + [ + 0.005256611353243401, + 0.004444012595431507, + -0.002831649251320352, + -0.007528255531317456, + -0.004853431017995922, + -0.011952110101580683, + 1.0 + ], + [ + 0.007852151404200924, + 0.0022231999070033287, + 0.001684855926173609, + 0.0034536173269280766, + -0.009058588484796216, + -0.013290339310411795, + 1.0 + ], + [ + 0.006137277122362922, + 0.0017796543366272732, + -0.0010592412819469335, + -0.00034638603334817797, + -0.0008438163324718962, + -0.011688103138100394, + 1.0 + ], + [ + 0.0035418312210341862, + 0.0031752409420557487, + -0.0012347161455045635, + 0.0034610010771766466, + -0.0035412829722505997, + -0.006821398766214068, + 1.0 + ], + [ + 0.005437948087000655, + 0.006769013976143851, + -0.004581378290287236, + -0.0076748415650752695, + 0.0011857427173959745, + -0.012550366769471608, + 1.0 + ], + [ + 0.00036771593442919137, + 0.005252577293656663, + -0.007876344038948463, + -0.017561000493062612, + -0.005125375563698966, + -0.006908245697149905, + 1.0 + ], + [ + -0.0013153499664273482, + 0.0008952530589103336, + -0.006061388379203107, + -0.02067719705957905, + 0.0044561465859540425, + 0.007233552619059704, + 1.0 + ], + [ + -0.0033502702023646136, + -0.0016409638749407818, + -0.003116043259970905, + -0.01747842777929627, + 0.011925171556123661, + 0.008700709051441885, + 1.0 + ], + [ + -0.0011151322995185398, + -0.0024109050304078894, + -0.004663027989105898, + 0.01049777957619943, + -0.02288967574549824, + 0.01663342853123673, + 0.0 + ], + [ + 0.0038841699820463538, + -0.005304018702331742, + 0.004116367152256554, + -0.011578492551047752, + 0.015695549544037395, + 0.007602721295425878, + 0.0 + ], + [ + 0.007417377860468144, + -0.027070489278069487, + 0.012055061819869846, + -0.015213770628439005, + -0.004071747878388223, + 0.04348115362564236, + 0.0 + ], + [ + 0.012120537943153875, + -0.025407864779701944, + 0.014753973630222439, + 5.1351549113649675e-05, + -0.0034161328295042076, + 0.012156492840282565, + 0.0 + ], + [ + 0.015273919524508184, + -0.025985442998055372, + 0.014808258501601154, + 0.00698494901290593, + -0.022378115290551157, + -0.002341245722714234, + 0.0 + ], + [ + 0.00942328746832033, + -0.008664706551420848, + -0.0101346966294086, + 0.001377348868563327, + -0.0644256171282606, + -0.027901442590305053, + 0.0 + ], + [ + 0.004088850911705688, + -0.005238340701582946, + -0.007328952029602952, + -0.040137406333828535, + -0.051955207267741665, + -0.043859106397113816, + 0.299389 + ], + [ + 0.010568681388474499, + -0.004575581262910064, + -0.008310816564300633, + -0.07779506186453378, + -0.05989381492571014, + -0.04695326096693984, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 170.43817138671875, + 152.67950439453125 + ], + [ + 170.45632934570312, + 152.64317321777344 + ], + [ + 172.73333740234375, + 166.5680389404297 + ], + [ + 174.6715087890625, + 184.96652221679688 + ], + [ + 159.7958984375, + 206.20425415039062 + ], + [ + 163.34239196777344, + 211.84564208984375 + ], + [ + 162.12258911132812, + 215.3760986328125 + ], + [ + 166.80978393554688, + 203.39529418945312 + ], + [ + 170.1435089111328, + 200.8705291748047 + ], + [ + 174.4300079345703, + 198.7267608642578 + ], + [ + 174.7308349609375, + 194.53529357910156 + ], + [ + 170.41197204589844, + 201.54238891601562 + ], + [ + 170.06576538085938, + 206.8662872314453 + ], + [ + 169.97509765625, + 206.9127960205078 + ], + [ + 170.7714385986328, + 206.5569305419922 + ], + [ + 171.9093475341797, + 210.2032470703125 + ], + [ + 207.39784240722656, + 216.3487548828125 + ], + [ + 252.47433471679688, + 204.49468994140625 + ], + [ + 281.07965087890625, + 193.9988250732422 + ], + [ + 308.1845703125, + 199.60845947265625 + ], + [ + 307.9722900390625, + 197.6141357421875 + ], + [ + 327.9109802246094, + 203.66046142578125 + ], + [ + 326.2785949707031, + 201.62164306640625 + ], + [ + 326.396240234375, + 201.83828735351562 + ] + ], + "depth_max": 1.8502925634384155, + "depth_min": 0.4417479932308197, + "intrinsic": [ + [ + 613.9109497070312, + 0.0, + 259.0 + ], + [ + 0.0, + 613.9930419921875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.849826316582039e-05, + 2.026317270065192e-05, + -3.033283974218648e-06 + ], + [ + -3.849779750453308e-05, + 1.0, + -2.302849134139251e-05, + -1.8509774236008525e-05 + ], + [ + -2.0264060367480852e-05, + 2.3027712813927792e-05, + 1.0, + 2.5548695703037083e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 167.25, + 211.50001525878906 + ], + [ + 167.50222778320312, + 211.72340393066406 + ], + [ + 167.40576171875, + 211.75918579101562 + ], + [ + 167.44834899902344, + 211.54783630371094 + ], + [ + 167.77557373046875, + 211.82550048828125 + ], + [ + 167.8931427001953, + 211.5363006591797 + ], + [ + 167.69273376464844, + 212.10598754882812 + ], + [ + 167.03912353515625, + 212.10609436035156 + ], + [ + 166.92149353027344, + 212.90097045898438 + ], + [ + 166.79989624023438, + 213.75010681152344 + ], + [ + 166.00941467285156, + 214.3858642578125 + ], + [ + 165.55313110351562, + 215.6513671875 + ], + [ + 165.22573852539062, + 216.8762664794922 + ], + [ + 165.739501953125, + 217.27880859375 + ], + [ + 167.809814453125, + 221.8302764892578 + ], + [ + 167.3743896484375, + 220.51473999023438 + ], + [ + 199.7810821533203, + 226.79937744140625 + ], + [ + 239.41749572753906, + 221.92788696289062 + ], + [ + 266.784423828125, + 208.99288940429688 + ], + [ + 296.67138671875, + 210.74758911132812 + ], + [ + 296.2321472167969, + 210.25558471679688 + ], + [ + 291.4256591796875, + 210.5983428955078 + ], + [ + 289.6435852050781, + 217.6256103515625 + ], + [ + 295.0013122558594, + 224.20947265625 + ] + ] +} \ No newline at end of file diff --git a/006017/lang.txt b/006017/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..5c429b9109559f498333fe43e9af4fbb706100ff --- /dev/null +++ b/006017/lang.txt @@ -0,0 +1 @@ +put potato in pot or pan diff --git a/006017/object.ply b/006017/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..34e02cc0e460f667eb6f7ec1247f5b16cd15a24f Binary files /dev/null and b/006017/object.ply differ diff --git a/006023/data.json b/006023/data.json new file mode 100644 index 0000000000000000000000000000000000000000..d5e6264302bf9089da9d9b2fd233bf315efc9fbb --- /dev/null +++ b/006023/data.json @@ -0,0 +1,549 @@ +{ + "action_start": 10, + "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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.749206, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -3.680510340942078e-10, + -6.953194964243181e-11, + 6.582095979368319e-13, + 1.0657540668595967e-08, + -5.054397606090437e-08, + -7.667982880350505e-07, + 1.0 + ], + [ + 0.0048502155981723916, + 0.003687101454173225, + -0.02747947156131121, + -0.017501102100150722, + -0.051613015383460165, + -0.03371712241293781, + 1.0 + ], + [ + 0.015299245519402815, + 0.0010448400714109796, + -0.023302081368001597, + 0.017300146918672186, + -0.029561453274543133, + -0.07704590023454111, + 1.0 + ], + [ + 0.01231444508361379, + 0.009154368151741093, + -0.014189773403665552, + 0.054449610665869876, + 0.0018078944168306139, + -0.13045404708930242, + 1.0 + ], + [ + 0.009538650247601699, + 0.00892322760235565, + -0.011732350989012564, + 0.0005845419023353367, + -0.011474585736100992, + -0.046846098757014565, + 1.0 + ], + [ + 0.014438494631317633, + 0.008263480232231765, + -0.015708485635991774, + -0.02972691162223844, + -0.028810235272393764, + -0.009259597290344073, + 1.0 + ], + [ + 0.015527825237439452, + 0.008005140610965578, + -0.014697890698542538, + -0.014329954958294986, + -0.029444557886170813, + -0.01674068274662587, + 1.0 + ], + [ + 0.01173367941932335, + 0.00885412553709175, + -0.007231950559234798, + -0.006363560395297066, + 0.0014107558262973206, + -0.015517512339128441, + 1.0 + ], + [ + 0.0063241902241431, + 0.004452869860070083, + -0.011312451597184178, + -0.018301033387842138, + -0.01213466620294059, + -0.0071404697165673055, + 1.0 + ], + [ + 6.17508707629888e-05, + -0.005170712164056429, + -0.0072015193492539, + -0.003304082259195297, + -0.007936743055502236, + 0.03133567709286137, + 1.0 + ], + [ + -0.0013986983462775382, + -0.003076511240853924, + -0.000303207850787815, + 0.0009744678531216832, + 0.010079718172045768, + 0.02327867495293709, + 1.0 + ], + [ + -0.00838004829891581, + -0.00964563879072472, + 0.005877722244178901, + 0.0021703137784069098, + 0.008858036822382223, + 0.060256346611392245, + 0.0 + ], + [ + -0.005685826632207458, + -0.002316333168894444, + 0.003392531160406595, + -0.014636141815090136, + 0.014239553300813343, + 0.007077199452076383, + 0.0 + ], + [ + -0.006811316599357575, + -0.0045818642995143904, + 0.02900469234952087, + 0.05478120418989991, + 0.04000785032373168, + 0.018970672129666303, + 0.0 + ], + [ + -0.010791662472260155, + -0.004786244643020687, + 0.04291649355126538, + 0.04443016970873678, + 0.01447442682064983, + 0.038009317083427176, + 0.0 + ], + [ + -0.01899847183250908, + -4.461883277524781e-05, + 0.03632095155761702, + 0.04791276155576888, + -0.003591297994121572, + 0.04295193416724762, + 0.0 + ], + [ + -0.025523172879231226, + 0.022675546821690984, + 0.013421091738128606, + 0.04508267824980254, + -0.028609063575675043, + 0.0515526435617031, + 0.0 + ], + [ + -0.017553570080681036, + 0.031049793951732726, + -0.0003502184991371199, + 0.005227310599968373, + -0.007636072993434902, + -0.01161956035151045, + 0.0 + ], + [ + 0.0044428916258706375, + 0.025540169412116814, + 0.0015761205788977842, + 0.029708994909952616, + -0.0005937332156564845, + -0.017778936706847104, + 0.0 + ], + [ + 0.009821667622166574, + 0.017691459501081974, + -0.0017690835484208758, + -0.0019591229871724733, + 0.009618282580780202, + -0.004293681299478337, + 0.0 + ], + [ + 0.002879729285668098, + 0.013768640280555411, + -0.007486492593145558, + -0.014305382061079253, + 0.0014708522815602455, + -0.002743948411222666, + 0.0 + ], + [ + -0.0006382802347880689, + 0.00034922268068823814, + -0.0063860161472809665, + -0.009972287120141287, + -0.004184984045806091, + 0.0028581115657804303, + 0.749206 + ], + [ + -0.006019608022797995, + -0.006797940937831787, + -0.0023661069931694492, + 0.002220612981533075, + 0.004809349266959161, + 0.03225080270552412, + 1.0 + ], + [ + -0.004128719677128079, + -0.0036362268555245603, + -0.0013836263071513241, + -0.003518689667307424, + -0.01883127004965091, + 0.0038056664318843777, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 284.32379150390625, + 150.25221252441406 + ], + [ + 284.29595947265625, + 150.25946044921875 + ], + [ + 283.34234619140625, + 165.42578125 + ], + [ + 288.0572204589844, + 197.13592529296875 + ], + [ + 289.475341796875, + 212.13319396972656 + ], + [ + 294.70989990234375, + 210.82615661621094 + ], + [ + 300.87664794921875, + 211.55645751953125 + ], + [ + 298.611328125, + 215.14913940429688 + ], + [ + 305.11865234375, + 215.81678771972656 + ], + [ + 311.989990234375, + 213.38784790039062 + ], + [ + 313.0403747558594, + 222.94473266601562 + ], + [ + 312.3174743652344, + 227.5108642578125 + ], + [ + 311.89019775390625, + 227.68414306640625 + ], + [ + 305.06683349609375, + 239.9720458984375 + ], + [ + 302.3194580078125, + 244.5244140625 + ], + [ + 299.4906921386719, + 213.41165161132812 + ], + [ + 304.0152893066406, + 181.12428283691406 + ], + [ + 297.9349365234375, + 157.67031860351562 + ], + [ + 248.87823486328125, + 151.8040313720703 + ], + [ + 197.94137573242188, + 151.22036743164062 + ], + [ + 170.42794799804688, + 126.3268051147461 + ], + [ + 179.01202392578125, + 121.32829284667969 + ], + [ + 166.79791259765625, + 123.81565856933594 + ], + [ + 155.11941528320312, + 121.92994689941406 + ], + [ + 157.63185119628906, + 131.42886352539062 + ], + [ + 168.32009887695312, + 150.5404052734375 + ], + [ + 165.48074340820312, + 150.0339813232422 + ] + ], + "depth_max": 1.7975285053253174, + "depth_min": 0.2505330443382263, + "intrinsic": [ + [ + 620.5703735351562, + 0.0, + 259.0 + ], + [ + 0.0, + 619.7232666015625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.115408617304638e-05, + 1.3373212823353242e-05, + -5.535467607842293e-06 + ], + [ + -3.1153344025369734e-05, + 1.0, + -5.566956315306015e-05, + 6.185725396790076e-06 + ], + [ + -1.3374946320254821e-05, + 5.5669148423476145e-05, + 1.0, + 3.9198603190016e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 26 + ], + "object_trajectory": [ + [ + 299.5, + 227.25001525878906 + ], + [ + 299.6019592285156, + 227.36302185058594 + ], + [ + 299.6953125, + 227.23703002929688 + ], + [ + 299.6247863769531, + 227.51589965820312 + ], + [ + 299.6072692871094, + 227.25942993164062 + ], + [ + 299.53424072265625, + 227.29348754882812 + ], + [ + 299.6075134277344, + 227.03265380859375 + ], + [ + 298.84259033203125, + 227.76889038085938 + ], + [ + 297.642578125, + 228.68299865722656 + ], + [ + 302.16558837890625, + 227.06275939941406 + ], + [ + 304.9992370605469, + 231.05714416503906 + ], + [ + 306.1407470703125, + 231.3629913330078 + ], + [ + 306.14837646484375, + 232.66639709472656 + ], + [ + 304.8299560546875, + 241.24008178710938 + ], + [ + 301.0636901855469, + 245.26084899902344 + ], + [ + 301.86578369140625, + 221.8426513671875 + ], + [ + 300.28948974609375, + 193.5424346923828 + ], + [ + 297.4716796875, + 173.36708068847656 + ], + [ + 252.91796875, + 166.971923828125 + ], + [ + 202.52066040039062, + 165.11807250976562 + ], + [ + 173.95480346679688, + 143.48953247070312 + ], + [ + 179.9278564453125, + 137.46070861816406 + ], + [ + 167.8553009033203, + 141.7148895263672 + ], + [ + 155.75314331054688, + 154.86465454101562 + ], + [ + 157.5135955810547, + 160.69964599609375 + ], + [ + 166.62060546875, + 179.45465087890625 + ], + [ + 165.5584259033203, + 184.46885681152344 + ] + ] +} \ No newline at end of file diff --git a/006023/lang.txt b/006023/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..458c9c858572f4651232771e7e5b07ce6e5173d3 --- /dev/null +++ b/006023/lang.txt @@ -0,0 +1 @@ +put potato on plate diff --git a/006023/object.ply b/006023/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..e8bc454e95d6e0b1e384b58cc26fcbc2807b921c Binary files /dev/null and b/006023/object.ply differ diff --git a/006027/FAIL b/006027/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/006027/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/006030_v2/data.json b/006030_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..9d4ce59dc7dc8ca8799508afdc017bb5508ef288 --- /dev/null +++ b/006030_v2/data.json @@ -0,0 +1,714 @@ +{ + "action_start": 10, + "action_end": 26, + "object_name": "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, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + [ + -6.479267122827537e-11, + -5.94763613359639e-11, + -1.4808154702450338e-12, + -5.391197373364046e-08, + -1.0167892967721297e-07, + 3.514057569631852e-07, + 1.0 + ], + [ + 0.008175155654294997, + 0.01662070404996875, + 0.0024446218300900185, + 0.0009078822080041951, + -0.003210409230709747, + 0.04807518542288559, + 1.0 + ], + [ + 0.006634389366519722, + 0.02587358126921724, + 0.004618024159665626, + -0.0630368245657712, + -0.0330558794819578, + 0.13545919192591876, + 1.0 + ], + [ + 0.011576926487998962, + 0.024310465004088483, + 0.0049897720600499545, + -0.015857577202848323, + -0.046019290138315176, + 0.12008938815462702, + 1.0 + ], + [ + 0.007386272827405893, + 0.030556622796546695, + -0.006220598183061629, + -0.0030325529738639023, + -0.0006008289947293533, + 0.11008865978098917, + 1.0 + ], + [ + 0.010481909817065427, + 0.01874709693502058, + -0.01684261198643576, + 0.01769112455406039, + 0.002786986199405989, + 0.14033508219349436, + 1.0 + ], + [ + 0.0011182757861767922, + 0.009149057815560024, + -0.009994716751759752, + -0.004266779231889075, + -0.014242557526630064, + 0.15741115914527526, + 1.0 + ], + [ + 0.001260165957184145, + 0.007363644429380173, + -0.009165104216837049, + -0.02957530872850275, + -0.0324535391800128, + 0.09758649713031523, + 1.0 + ], + [ + 0.005100844906008262, + 0.00495652167225058, + -0.004493926819717976, + -0.0002778301771723909, + 0.007112942675552477, + 0.03798601075200324, + 1.0 + ], + [ + 0.0034648515336200836, + 0.007961564261503573, + -0.008298816707532852, + 0.001958076755909216, + 0.015832647298448098, + 0.010382571928927635, + 1.0 + ], + [ + 0.004891135248269063, + 0.008009562429366984, + -0.00615694576621224, + 0.00463161875001401, + 0.008242180369207316, + -0.00619967026741186, + 1.0 + ], + [ + 0.005435599322008544, + 0.0015205414218304736, + -0.009217846657104303, + 0.03585559433758336, + 0.07384531470453949, + -0.013194234973728765, + 0.0 + ], + [ + 0.0009044432148925807, + -0.00187806151677547, + -0.0027278741337286565, + -0.0014894687492467038, + 0.01750907722491639, + -0.0019761036730815418, + 0.0 + ], + [ + 0.0026799576015022475, + -0.003234139784632717, + 0.0013813074871363538, + -0.011052202220626877, + -0.005853462417668126, + -0.015387405047033807, + 0.0 + ], + [ + 0.003899541207255497, + -0.004170117725029815, + 0.006498806940549318, + -0.002345948400333006, + -0.011737760871145508, + -0.030041889466556938, + 0.0 + ], + [ + 0.0051718736134024335, + -0.007383114333948421, + 0.011983526872628117, + -0.0024708158566030306, + -0.037039186926113986, + -0.0417086720589829, + 0.0 + ], + [ + 0.0036610680338091117, + -0.012025917977083994, + 0.030695475604107347, + -0.010953164858506413, + -0.04263116185228119, + -0.08407798584164632, + 0.0 + ], + [ + -0.004874510899551154, + -0.01199435235660723, + 0.026440513484542058, + 0.030785918253445864, + -0.001518257063354978, + -0.05875997720124135, + 0.0 + ], + [ + -0.01533227614896937, + -0.02487878473986907, + 0.023456212136320598, + 0.05533705679475689, + 0.0042101585925924875, + -0.06491481696132291, + 0.0 + ], + [ + -0.017185537789289718, + -0.05277273563299455, + 0.0068140413756763996, + -0.0069124047584599845, + -0.01747840498185127, + -0.12309410977055793, + 0.0 + ], + [ + -0.012283994249121744, + -0.05903518313456241, + -0.013078882926511978, + -0.04114162139860371, + 0.014311237275139834, + -0.20744723198090242, + 0.0 + ], + [ + -0.01978415510840864, + -0.04870557822215896, + -0.022686160026335958, + 0.01386040680443854, + 0.041271627282448, + -0.12940876572594381, + 0.0 + ], + [ + -0.011218651237777544, + -0.02973084977904471, + -0.028459815644182485, + 0.013875221424869874, + 0.040373186687440187, + -0.13827502825279417, + 0.0 + ], + [ + -0.0047787648721934195, + -0.013072281429596773, + -0.025572692125959147, + 0.04153364726241538, + 0.043636896157164276, + -0.0763012549593515, + 0.0 + ], + [ + 0.006636220412531313, + -0.003626375951432226, + -0.016656822424395104, + 0.022044307206061473, + 0.02804994004695657, + -0.0022765439057403905, + 0.0 + ], + [ + 0.005024812339094353, + -0.003785227751313257, + -0.013885554209627225, + 0.0513830583285256, + 0.0434192203996232, + -0.04636727053809738, + 0.0 + ], + [ + 0.004828331009009923, + -0.0043780416668265515, + -0.00633943767547617, + -0.025240305270311597, + 0.02283686635866551, + -0.022523184813293375, + 0.0 + ], + [ + 0.001915546594147166, + 0.001353033408635386, + 0.002330801205213194, + -0.006810305585285304, + 0.0022646645772948144, + 0.006622591420053223, + 1.0 + ], + [ + 0.0019066558807941947, + 0.0012822316747857082, + 0.004915985268744327, + -0.008793561722212073, + -0.009739253509547813, + 0.013761303518664985, + 1.0 + ], + [ + 0.0018720703522765447, + 0.0029049029398506496, + 0.005843660425928254, + -0.01879072917718069, + -0.010762891464580898, + 0.027040563206436954, + 1.0 + ], + [ + 0.001670257073330017, + 0.0012089310731857802, + 0.009645680261562383, + -0.013236358840488517, + -0.014135759431709917, + 0.011572606705958062, + 1.0 + ], + [ + 0.003227061598929548, + 0.0015862447193894236, + 0.019038524445510737, + -0.02997515718407722, + -0.023221697931245747, + 0.00435281283821026, + 1.0 + ], + [ + 0.0025684736265439434, + 0.002603971169162861, + 0.026681898835125742, + -0.03133026148553846, + -0.04935890358079933, + 0.02256461715839207, + 1.0 + ], + [ + 0.0011626009712258356, + 0.0066056148446582905, + 0.017173880673573894, + 0.02453386929402804, + -0.02171402617391032, + 0.0005328503588983399, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 263.5391845703125, + 135.0550994873047 + ], + [ + 263.6257019042969, + 141.26968383789062 + ], + [ + 260.75634765625, + 143.9018096923828 + ], + [ + 238.8622589111328, + 127.14784240722656 + ], + [ + 213.914794921875, + 108.88200378417969 + ], + [ + 194.1427764892578, + 101.60570526123047 + ], + [ + 171.13934326171875, + 109.18836212158203 + ], + [ + 171.56959533691406, + 119.47695922851562 + ], + [ + 170.81524658203125, + 124.18521118164062 + ], + [ + 163.00393676757812, + 125.20957946777344 + ], + [ + 164.60069274902344, + 127.39801025390625 + ], + [ + 165.81747436523438, + 132.13966369628906 + ], + [ + 160.5408935546875, + 127.74729919433594 + ], + [ + 160.9780731201172, + 126.88676452636719 + ], + [ + 161.13697814941406, + 126.4367446899414 + ], + [ + 162.2585906982422, + 126.14759826660156 + ], + [ + 166.86375427246094, + 125.49251556396484 + ], + [ + 183.63270568847656, + 112.22982025146484 + ], + [ + 186.14566040039062, + 81.72266387939453 + ], + [ + 195.4173583984375, + 72.38066101074219 + ], + [ + 228.22186279296875, + 72.2609634399414 + ], + [ + 269.06768798828125, + 104.30213928222656 + ], + [ + 311.866943359375, + 164.0150146484375 + ], + [ + 343.5788879394531, + 219.08746337890625 + ], + [ + 358.9573974609375, + 258.1578369140625 + ], + [ + 360.41802978515625, + 280.2609558105469 + ], + [ + 369.6915283203125, + 284.3292236328125 + ], + [ + 383.08795166015625, + 279.361083984375 + ], + [ + 385.99560546875, + 292.1972961425781 + ], + [ + 382.4566650390625, + 293.8577575683594 + ], + [ + 377.6983642578125, + 291.102783203125 + ], + [ + 377.88812255859375, + 274.5603942871094 + ], + [ + 379.46527099609375, + 257.8677062988281 + ], + [ + 377.35430908203125, + 226.62823486328125 + ], + [ + 374.06866455078125, + 197.99559020996094 + ], + [ + 374.541015625, + 194.50369262695312 + ] + ], + "depth_max": 1.5182433128356934, + "depth_min": 0.383719265460968, + "intrinsic": [ + [ + 515.4667358398438, + 0.0, + 259.0 + ], + [ + 0.0, + 516.23388671875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.1736748496768996e-05, + -5.26327385159675e-05, + -1.3669259715243243e-05 + ], + [ + -3.173917139065452e-05, + 1.0, + -4.598211307893507e-05, + -3.1174274681688985e-06 + ], + [ + 5.263127604848705e-05, + 4.5983786549186334e-05, + 1.0, + 2.2642190742772073e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 35 + ], + "object_trajectory": [ + [ + 180.25, + 144.50001525878906 + ], + [ + 183.01626586914062, + 148.70355224609375 + ], + [ + 183.9532470703125, + 149.40164184570312 + ], + [ + 179.46644592285156, + 147.8016357421875 + ], + [ + 178.49314880371094, + 144.69918823242188 + ], + [ + 178.49827575683594, + 147.36141967773438 + ], + [ + 182.38197326660156, + 148.410888671875 + ], + [ + 183.80926513671875, + 149.09645080566406 + ], + [ + 177.5362548828125, + 147.20590209960938 + ], + [ + 178.01126098632812, + 147.3920440673828 + ], + [ + 179.2752685546875, + 147.985107421875 + ], + [ + 178.6092529296875, + 149.49490356445312 + ], + [ + 175.68992614746094, + 144.08555603027344 + ], + [ + 174.66371154785156, + 142.95022583007812 + ], + [ + 174.96109008789062, + 142.69976806640625 + ], + [ + 175.71371459960938, + 142.51576232910156 + ], + [ + 178.06362915039062, + 144.38551330566406 + ], + [ + 194.59515380859375, + 137.16336059570312 + ], + [ + 195.32928466796875, + 107.8236083984375 + ], + [ + 201.4603271484375, + 104.11866760253906 + ], + [ + 227.65530395507812, + 109.34601593017578 + ], + [ + 266.0378723144531, + 140.8690643310547 + ], + [ + 305.1485595703125, + 190.62928771972656 + ], + [ + 330.2828369140625, + 243.74269104003906 + ], + [ + 342.3072204589844, + 282.7447509765625 + ], + [ + 343.84649658203125, + 300.83160400390625 + ], + [ + 351.7254638671875, + 301.60906982421875 + ], + [ + 365.3103332519531, + 297.2294921875 + ], + [ + 365.1616516113281, + 310.9480285644531 + ], + [ + 365.2952880859375, + 313.7600402832031 + ], + [ + 361.1332092285156, + 317.6600036621094 + ], + [ + 358.7483215332031, + 317.68084716796875 + ], + [ + 357.87548828125, + 316.1893310546875 + ], + [ + 364.73974609375, + 307.0089111328125 + ], + [ + 364.64837646484375, + 307.54412841796875 + ], + [ + 363.9449157714844, + 305.9731140136719 + ] + ] +} \ No newline at end of file diff --git a/006030_v2/lang.txt b/006030_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..cede1189f6b82bab5e3ca7d3fb9f05c4a6cb8d99 --- /dev/null +++ b/006030_v2/lang.txt @@ -0,0 +1 @@ +move the white object to the bottom right of the stove diff --git a/006030_v2/object.ply b/006030_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..8ca531749febf5e1fd7a7319bc8840009299d27f Binary files /dev/null and b/006030_v2/object.ply differ diff --git a/006068_v2/FAIL b/006068_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/006068_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/006083/data.json b/006083/data.json new file mode 100644 index 0000000000000000000000000000000000000000..81143c4d75a9b7c01269421fb0c17690fa9f5a89 --- /dev/null +++ b/006083/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 15, + "action_end": 23, + "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, + 0.950916, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -7.957129399827068e-11, + 2.1497276181392522e-11, + -1.8255282875634382e-10, + -6.323163586180873e-08, + -2.8206450954715944e-08, + -3.5047225893717795e-09, + 1.0 + ], + [ + -0.0026469357426677775, + -0.009420693834368582, + 0.04775936198873496, + 0.05571321111421474, + 0.017896905115493144, + -0.010965296836028126, + 1.0 + ], + [ + -0.007248306619727862, + -0.02141577013833465, + 0.03623132886893131, + 0.04287999025350804, + 5.947077310193218e-06, + 0.027688466535302995, + 1.0 + ], + [ + -0.016829208544414942, + -0.027856332180612314, + 0.007863833755662374, + -0.043655622191198534, + 0.010249637913163648, + 0.009114979937587682, + 1.0 + ], + [ + -0.011149098326218299, + -0.021779693615777043, + -0.0022829203595834957, + -0.03904068769331308, + -0.000254969149974105, + 0.01871490542832734, + 1.0 + ], + [ + -0.010851198283631458, + -0.01898550851636214, + -0.000404573165723246, + -0.013593910329916099, + -0.02069578690439859, + 0.019714052066545234, + 1.0 + ], + [ + -0.004764892788506003, + -0.01786825806058979, + 0.0031003517167713934, + -0.005914791292081932, + -0.01816621302020334, + 0.014166961802306775, + 1.0 + ], + [ + -0.00031656546229091864, + -0.01046997840668515, + -0.010634962946910076, + -0.028723994550186694, + -0.0025473455281371116, + 0.015732733331265767, + 1.0 + ], + [ + 0.008685040246375952, + 0.003022139026331739, + -0.01451545584263228, + -0.03596398792332343, + 0.004632083612225882, + 0.0011107049297604374, + 1.0 + ], + [ + 0.0049506940622842666, + 0.003624429526642183, + -0.008605252937038413, + 0.0017609531163950958, + 0.007192989568041092, + 0.008332130586553708, + 1.0 + ], + [ + -0.001595818676124905, + 0.004462043769378504, + -0.011538058565192445, + -0.004182186293600694, + 0.007145733019039781, + 0.01299368607960218, + 1.0 + ], + [ + 0.008034283595746594, + -0.0013929187045588886, + -0.0019480999313334219, + -0.02264520564548021, + -0.00011207130028250308, + 0.01049043811293741, + 1.0 + ], + [ + 0.0006713300341642525, + -0.0021357997973569538, + -0.009774689802339094, + -0.02440697689284153, + -0.008395761279618512, + 0.0013004024298101386, + 1.0 + ], + [ + -0.0030155338747288596, + 0.001599810862327477, + -0.008164763816396421, + -0.005684904011346972, + -0.007323279073697267, + 0.008045530784099003, + 1.0 + ], + [ + -0.007553277201015007, + 0.0016295027240335758, + -0.0036831714590232004, + 0.008367373878689249, + 0.0007824414855243989, + 0.017918902760334057, + 1.0 + ], + [ + -0.009709970768210618, + 0.0030001841084466904, + -0.0058453714316047956, + 0.008919558881282555, + -0.016963925037904032, + 0.01262594564369906, + 1.0 + ], + [ + -0.0040345783696514315, + 0.001778091815694471, + -0.009075095353015313, + 0.01552641340175672, + -0.021291620322114038, + 0.027756215619914808, + 0.0 + ], + [ + 0.008072913491441125, + 0.008921589775555204, + 0.002998784412522163, + 0.002146890421434812, + -0.006170582249772102, + -0.027616175209086196, + 0.0 + ], + [ + 0.028585034811696608, + 0.029751697208172702, + 0.013542126814417528, + 0.09784257867169827, + -0.04093173605616495, + -0.10079380978588919, + 0.0 + ], + [ + 0.048051825660315906, + 0.043233918112140585, + 0.005732481388998879, + 0.15164152335310585, + -0.09162285175954044, + -0.10423787236840064, + 0.0 + ], + [ + 0.04287327838334176, + 0.022347420385152094, + -0.0009833567821382339, + -0.03868025580168501, + -0.01662535644501786, + -0.06925302716726754, + 0.0 + ], + [ + 0.02576874031981624, + 0.007898968710942263, + -0.005269154569919235, + -0.019025121863635402, + -0.008944002565364127, + -0.0504609154811598, + 0.0 + ], + [ + 0.008635735781012677, + 0.0031343346963885604, + -0.0015500116757275473, + -0.008986726782499017, + -0.018679928931813472, + -0.02557200604296727, + 0.0 + ], + [ + 0.0013682006828522053, + 5.023429836575888e-05, + 0.003536828239204391, + -0.005896711637653177, + -0.0011315880320229346, + -0.0450636389443539, + 0.950916 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 261.1041259765625, + 165.82565307617188 + ], + [ + 261.06903076171875, + 165.8009796142578 + ], + [ + 257.44091796875, + 181.30059814453125 + ], + [ + 255.67466735839844, + 144.22706604003906 + ], + [ + 290.1112060546875, + 122.75238800048828 + ], + [ + 313.1732482910156, + 134.010986328125 + ], + [ + 306.4451904296875, + 153.44979858398438 + ], + [ + 338.78375244140625, + 171.00033569335938 + ], + [ + 363.0848388671875, + 185.05538940429688 + ], + [ + 370.2457275390625, + 196.08392333984375 + ], + [ + 370.247802734375, + 206.70187377929688 + ], + [ + 356.6478576660156, + 209.41407775878906 + ], + [ + 358.9516906738281, + 216.57257080078125 + ], + [ + 366.885009765625, + 222.3542938232422 + ], + [ + 371.9186096191406, + 224.9416046142578 + ], + [ + 363.43939208984375, + 240.23410034179688 + ], + [ + 351.5739440917969, + 253.46670532226562 + ], + [ + 341.6481628417969, + 261.279296875 + ], + [ + 343.1817626953125, + 260.75958251953125 + ], + [ + 338.30450439453125, + 245.41903686523438 + ], + [ + 313.63690185546875, + 193.2568359375 + ], + [ + 310.4898376464844, + 143.12924194335938 + ], + [ + 326.1196594238281, + 120.29165649414062 + ], + [ + 326.3048095703125, + 107.98318481445312 + ], + [ + 331.4656066894531, + 103.86506652832031 + ], + [ + 337.3084411621094, + 102.25820922851562 + ], + [ + 337.18792724609375, + 102.3052978515625 + ], + [ + 336.941650390625, + 102.32984924316406 + ] + ], + "depth_max": 1.7890822887420654, + "depth_min": 0.47168341279029846, + "intrinsic": [ + [ + 542.363525390625, + 0.0, + 259.0 + ], + [ + 0.0, + 542.646484375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.9866030419943854e-05, + -8.638018334750086e-05, + 1.0018129614763893e-05 + ], + [ + -3.987148011219688e-05, + 1.0, + -6.307463627308607e-05, + -1.5433473890880123e-05 + ], + [ + 8.637766586616635e-05, + 6.30780850769952e-05, + 1.0, + -1.685954885033425e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 351.75, + 274.0000305175781 + ], + [ + 352.7242736816406, + 274.4124755859375 + ], + [ + 353.13922119140625, + 274.40338134765625 + ], + [ + 352.93798828125, + 274.573974609375 + ], + [ + 353.0140686035156, + 274.59954833984375 + ], + [ + 353.05108642578125, + 274.8523864746094 + ], + [ + 353.17572021484375, + 274.83367919921875 + ], + [ + 353.0708923339844, + 275.3942565917969 + ], + [ + 353.1107177734375, + 275.3537292480469 + ], + [ + 352.8720703125, + 275.370849609375 + ], + [ + 352.98583984375, + 275.5556640625 + ], + [ + 352.7762451171875, + 275.4358215332031 + ], + [ + 352.79962158203125, + 275.5872497558594 + ], + [ + 352.9541015625, + 275.2438049316406 + ], + [ + 353.00018310546875, + 274.85723876953125 + ], + [ + 352.4548034667969, + 275.09515380859375 + ], + [ + 349.1169738769531, + 275.1842956542969 + ], + [ + 332.6543884277344, + 268.7718811035156 + ], + [ + 337.01397705078125, + 271.0133056640625 + ], + [ + 330.6820983886719, + 257.51947021484375 + ], + [ + 310.8819885253906, + 210.54904174804688 + ], + [ + 305.18658447265625, + 162.0146942138672 + ], + [ + 318.7191467285156, + 138.58834838867188 + ], + [ + 318.27874755859375, + 125.83106231689453 + ], + [ + 323.7474365234375, + 120.86117553710938 + ], + [ + 329.6960144042969, + 121.68744659423828 + ], + [ + 330.3122863769531, + 122.8586654663086 + ], + [ + 330.5654296875, + 123.48651885986328 + ] + ] +} \ No newline at end of file diff --git a/006083/lang.txt b/006083/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..458c9c858572f4651232771e7e5b07ce6e5173d3 --- /dev/null +++ b/006083/lang.txt @@ -0,0 +1 @@ +put potato on plate diff --git a/006083/object.ply b/006083/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..9bfa71a4170576120442300e918fb0c6e21a0003 Binary files /dev/null and b/006083/object.ply differ diff --git a/006087/data.json b/006087/data.json new file mode 100644 index 0000000000000000000000000000000000000000..37d8f567fc84052ce9ba39550d6fb99943b06ca9 --- /dev/null +++ b/006087/data.json @@ -0,0 +1,586 @@ +{ + "action_start": 15, + "action_end": 27, + "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, + 0.0, + 0.0, + 0.776801, + 1.0 + ], + "gripper_actions": [ + [ + 1.1174922098788898e-11, + -1.7680805344116868e-10, + -9.043467363856195e-11, + 2.7141828649978825e-07, + 2.6446271234547707e-07, + -2.0557385552520806e-08, + 1.0 + ], + [ + 0.02500791675459116, + 0.01236467175063919, + -0.011869477809541534, + 0.02108055242626333, + -0.07984705022571348, + -0.033052718746904346, + 1.0 + ], + [ + 0.02367157972831893, + 0.008121406567378682, + -0.0012718624649423887, + 0.03162909181634658, + -0.040743018775044604, + -0.02898601118725943, + 1.0 + ], + [ + 0.03370074676686574, + 0.018263773616366323, + 0.0004358969692725284, + 0.009348282903382958, + -0.01978943228219831, + -0.06363849051969318, + 1.0 + ], + [ + 0.030876646129492313, + 0.015573727634670742, + 9.343614766905983e-05, + -0.0318993942715314, + -0.0073000354349603705, + -0.050630149951373486, + 1.0 + ], + [ + 0.030008581344222518, + 0.00982189403056061, + -0.010229984905540446, + 0.014909832131423589, + -0.05100372675780782, + -0.059508304172441726, + 1.0 + ], + [ + 0.02843638720013736, + 0.006766228586679517, + -0.009416360621505818, + -0.01642679611838122, + -0.015967150765188082, + -0.04239407249980759, + 1.0 + ], + [ + 0.023118419211354158, + 0.0021962726993616233, + -0.014146710419664477, + -0.00935897707850221, + -0.024962629876329592, + -0.04959791081832009, + 1.0 + ], + [ + 0.028691382572417656, + 0.0010360638314402815, + -0.00975027555049944, + -0.022983323927815616, + -0.006850271001663944, + -0.03009894082143668, + 1.0 + ], + [ + 0.016160252100541894, + 8.846968248873988e-05, + -0.008668928839990896, + -0.020640273390565036, + -0.004404407741137962, + -0.01527513982190111, + 1.0 + ], + [ + 0.005513228786234725, + 0.001091380037387929, + -0.009454040633938385, + -0.013735875075776099, + -0.0056015542069219855, + -0.0045887941465076005, + 1.0 + ], + [ + -0.002145222150563897, + 0.002716736874491976, + 0.0006667839554379065, + 0.0065254573191329225, + 0.0011785330352731833, + -0.00111077583158786, + 1.0 + ], + [ + -0.004730953183263664, + -0.00044490449100823004, + 0.004480340749311581, + 0.0013323048176773892, + 0.012283857934119695, + 0.010622836644591363, + 1.0 + ], + [ + -0.005275365244747532, + 0.002193985014578889, + 0.0006154755110228706, + 0.00018331469806090797, + -0.0014997474428094294, + -0.0012758936020788572, + 1.0 + ], + [ + -0.006988546682319019, + 0.0005588728926772812, + -0.001663347694042274, + -0.010741896083004267, + 0.0066590914332753165, + -0.0013065539326265524, + 1.0 + ], + [ + -0.008775848035188882, + 0.0021302516586808318, + -0.003774660965129609, + -0.002484082723244004, + -0.0029236799188035573, + 0.005416263806945153, + 1.0 + ], + [ + -0.004608080241158552, + 0.001419075155917382, + -0.002813914582816074, + 0.02046718013522461, + -0.008949174557766443, + 0.02050161871187022, + 0.0 + ], + [ + -0.005311349854153824, + -0.004158075966396238, + 0.0077007697772599835, + 0.0044608591391298155, + 0.01934301828181813, + 0.011296214005103286, + 0.0 + ], + [ + -0.018000847661747033, + -0.0007654026431279382, + 0.01404820245544334, + 0.018484502501493333, + 0.012727832464852979, + 0.05034902715681914, + 0.0 + ], + [ + -0.028888105005719034, + -0.0005223994966860046, + 0.014495349202355387, + 0.027835272012508662, + 0.03275790955191037, + 0.07478144085771271, + 0.0 + ], + [ + -0.03320314875545399, + 0.0025054137688466233, + -0.008640349034523785, + -0.009893441963100802, + 0.03612078680616726, + 0.09588546856425362, + 0.0 + ], + [ + -0.024975406403125955, + -0.007030184434035205, + -0.015996876882026487, + -0.07464672606059772, + 0.012857844051171475, + 0.04488834605801056, + 0.0 + ], + [ + -0.016941295565854275, + -0.004028790711550087, + -0.018828894348971885, + -0.04679250868829411, + 0.0426585642345221, + 0.041479420451255015, + 0.0 + ], + [ + -0.018386712381400216, + 0.007883797787916987, + -0.01852048555617873, + 0.02326029299025845, + -0.005992551727874233, + -0.02154933553071977, + 0.0 + ], + [ + -0.006037677855961543, + 0.010626055191911482, + -0.007881266937372209, + 0.04729581871577188, + -0.004809294677006985, + -0.0022075218768557473, + 0.0 + ], + [ + 0.007372480309768947, + 0.009053395829060978, + -0.003594929054786867, + 0.030422677756056955, + 0.007413877098682617, + 0.003138006456788363, + 0.0 + ], + [ + 6.103349634078992e-06, + 0.0010962126695219926, + 0.004701287536192922, + -0.04283612188941985, + 0.021838895664943597, + 0.013622376925177206, + 0.0 + ], + [ + -0.00120659057753697, + -0.0021651810565809504, + 9.460556268712367e-05, + -0.030624093046015616, + -0.02284876922687641, + -0.008069849483059138, + 0.776801 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 263.8339538574219, + 175.77267456054688 + ], + [ + 263.6930236816406, + 176.05746459960938 + ], + [ + 266.12628173828125, + 182.89649963378906 + ], + [ + 272.0791320800781, + 173.0865478515625 + ], + [ + 287.87152099609375, + 146.51516723632812 + ], + [ + 300.99847412109375, + 116.78466796875 + ], + [ + 306.57244873046875, + 90.52703857421875 + ], + [ + 318.8945617675781, + 84.78614044189453 + ], + [ + 341.38031005859375, + 81.11959075927734 + ], + [ + 353.3675842285156, + 83.578125 + ], + [ + 367.72894287109375, + 83.71052551269531 + ], + [ + 376.56072998046875, + 83.20701599121094 + ], + [ + 378.5545349121094, + 90.77713012695312 + ], + [ + 374.46527099609375, + 90.7506332397461 + ], + [ + 368.5278015136719, + 93.6014404296875 + ], + [ + 365.615478515625, + 104.1690444946289 + ], + [ + 360.5809326171875, + 109.46412658691406 + ], + [ + 350.6087646484375, + 113.74102783203125 + ], + [ + 342.7930603027344, + 117.82647705078125 + ], + [ + 337.9868469238281, + 109.00516510009766 + ], + [ + 326.28228759765625, + 101.54114532470703 + ], + [ + 310.71014404296875, + 100.53672790527344 + ], + [ + 295.8126220703125, + 130.01092529296875 + ], + [ + 284.04449462890625, + 168.13958740234375 + ], + [ + 273.08221435546875, + 194.92820739746094 + ], + [ + 249.98654174804688, + 223.38819885253906 + ], + [ + 233.8606414794922, + 220.76275634765625 + ], + [ + 234.5275115966797, + 211.55860900878906 + ], + [ + 237.39002990722656, + 208.81527709960938 + ] + ], + "depth_max": 1.805262804031372, + "depth_min": 0.28913789987564087, + "intrinsic": [ + [ + 543.3314819335938, + 0.0, + 259.0 + ], + [ + 0.0, + 544.0767822265625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.5600256524048746e-05, + -5.5562533816555515e-05, + 3.0888986657373607e-06 + ], + [ + -3.560569166438654e-05, + 1.0, + -9.787145245354623e-05, + -8.807130143395625e-06 + ], + [ + 5.555904863285832e-05, + 9.787343151401728e-05, + 1.0, + -1.1351608009135816e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 360.75, + 121.0 + ], + [ + 360.8222351074219, + 121.18526458740234 + ], + [ + 360.12744140625, + 122.09832763671875 + ], + [ + 360.09674072265625, + 121.74822235107422 + ], + [ + 357.2933044433594, + 116.87692260742188 + ], + [ + 368.3757629394531, + 104.79528045654297 + ], + [ + 360.7208251953125, + 106.51596069335938 + ], + [ + 364.1612548828125, + 110.454345703125 + ], + [ + 361.503662109375, + 104.38200378417969 + ], + [ + 363.3662109375, + 110.1961669921875 + ], + [ + 369.099853515625, + 110.87864685058594 + ], + [ + 370.16534423828125, + 110.13667297363281 + ], + [ + 370.29400634765625, + 110.03874206542969 + ], + [ + 369.83038330078125, + 109.93297576904297 + ], + [ + 368.4134521484375, + 110.52195739746094 + ], + [ + 365.4528503417969, + 112.2854995727539 + ], + [ + 357.36456298828125, + 113.18888854980469 + ], + [ + 349.9471740722656, + 115.57123565673828 + ], + [ + 343.814208984375, + 116.96337890625 + ], + [ + 341.4435119628906, + 110.97992706298828 + ], + [ + 329.70855712890625, + 104.36866760253906 + ], + [ + 314.7323303222656, + 104.0381088256836 + ], + [ + 301.2742919921875, + 132.3825225830078 + ], + [ + 290.12823486328125, + 169.97886657714844 + ], + [ + 279.2630310058594, + 198.0674591064453 + ], + [ + 254.97515869140625, + 224.47573852539062 + ], + [ + 238.83680725097656, + 222.0005645751953 + ], + [ + 239.42071533203125, + 213.22091674804688 + ], + [ + 241.73263549804688, + 209.55113220214844 + ] + ] +} \ No newline at end of file diff --git a/006087/lang.txt b/006087/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..458c9c858572f4651232771e7e5b07ce6e5173d3 --- /dev/null +++ b/006087/lang.txt @@ -0,0 +1 @@ +put potato on plate diff --git a/006087/object.ply b/006087/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..9b823cbc27ac1b8f474d8fcc74754dfcca19da33 Binary files /dev/null and b/006087/object.ply differ diff --git a/006095_v2/FAIL b/006095_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/006095_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/006151/FAIL b/006151/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..aaf6c42c619234f9c8379cbcf60a65cd17ba1254 --- /dev/null +++ b/006151/FAIL @@ -0,0 +1 @@ +Too large intersection between gripper and object mask diff --git a/006181/data.json b/006181/data.json new file mode 100644 index 0000000000000000000000000000000000000000..fac291db1cc81f38c0d073a177aec8e3bfdf93a0 --- /dev/null +++ b/006181/data.json @@ -0,0 +1,476 @@ +{ + "action_start": 9, + "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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.275946, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 8.126721517953683e-11, + -1.1978931735434628e-10, + 4.968993133624977e-10, + -2.7131569426140836e-07, + -1.842710045261757e-07, + -3.923620095275644e-07, + 1.0 + ], + [ + 0.005108428735039805, + -0.004164394091580752, + -0.011109839695960855, + -0.0021798260899772615, + -0.019609121445456318, + 0.0025248810022644426, + 1.0 + ], + [ + 0.00629574819391876, + -0.000631506884615031, + -0.010434932210966155, + -0.005750942460475232, + -0.01610886949579414, + 0.0036082906564205565, + 1.0 + ], + [ + 0.01194613446220888, + 0.0013238295984379159, + -0.006337132228763975, + -0.008959124120587195, + -0.005893255512779716, + 0.0059791155594971085, + 1.0 + ], + [ + 0.010316624899755433, + 0.00012554730831566135, + -0.004810874598352222, + -0.027846384071422644, + -0.002488589517165847, + -0.003325770965794095, + 1.0 + ], + [ + 0.0004479594877298543, + -0.003000250447061273, + -0.008882186614196971, + -0.025868059118950446, + -0.009092153717377932, + 0.005159831424938033, + 1.0 + ], + [ + -0.0028697701617959037, + 0.0005702370180127453, + -0.004249114703980747, + -0.006548942894449221, + -0.006659502079471082, + 0.0010068809955833132, + 1.0 + ], + [ + -0.0039834320575610205, + 0.0025874640661506243, + -0.0005657737085375814, + -0.002731790918773519, + 0.00296034831280463, + -0.000968564198844305, + 1.0 + ], + [ + -0.005589661038418292, + -0.0014614674557367133, + -0.0014798218299858917, + -0.0034655970674729334, + -0.002701768176594183, + 0.00890817828849775, + 1.0 + ], + [ + -0.0034735884955039986, + 0.0023251263047771795, + -0.0022201835431401237, + -0.008174101970031517, + -0.0006597934152739999, + -0.002049648382496961, + 1.0 + ], + [ + 0.00013732289490703264, + 0.000568118574185518, + -0.004604825615749757, + -0.00016531930342932944, + -0.0037488068084386562, + 0.00873720996766832, + 0.0 + ], + [ + 0.0008185342824948427, + -0.0003406996195922038, + 0.004772728362105058, + 0.006606336100264641, + 0.00919244885416715, + -0.005217129346332058, + 0.0 + ], + [ + -0.0035125696118759597, + 0.0013912073359727967, + 0.017780942053755543, + 0.04291897595545586, + 0.018972505369260814, + 0.018154269714023903, + 0.0 + ], + [ + -0.0038499913703289312, + 0.014987282997444673, + 0.027707612512838313, + 0.06913181368805166, + 0.023572077660405148, + 0.010353117891735195, + 0.0 + ], + [ + 0.004114657136508659, + 0.017624208566399985, + 0.022184374984077368, + 0.05500770713207689, + 0.011972234578263803, + -0.009239172271729098, + 0.0 + ], + [ + 0.0006002750031008364, + 0.024112746577740353, + 0.0023526686032754873, + 0.04860977685870113, + -0.02487587995252039, + -0.02336699362493396, + 0.0 + ], + [ + 0.011654915960502221, + 0.021449499497794334, + -0.0029270898724507582, + 0.026180902756367815, + -0.035619304254043936, + -0.046656986285908364, + 0.0 + ], + [ + 0.013905767615699338, + 0.018837252004833605, + -0.0033689780030097816, + -0.003344175692169718, + -0.013321953570348209, + -0.03981637170587122, + 0.0 + ], + [ + 0.009892838757321498, + 0.009203253487220668, + -0.005147240502480124, + -0.013824129433551572, + -0.019032864550153964, + -0.03146217102210867, + 0.275946 + ], + [ + 0.007265148577972669, + 0.0005734881594201061, + -0.005192144015287073, + -0.02652732981610488, + -0.02115263846736539, + -0.030636088554848052, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 406.03546142578125, + 145.09613037109375 + ], + [ + 405.910400390625, + 145.26153564453125 + ], + [ + 400.2731628417969, + 162.50750732421875 + ], + [ + 404.6552429199219, + 171.12664794921875 + ], + [ + 408.5384521484375, + 179.99600219726562 + ], + [ + 417.03436279296875, + 189.39862060546875 + ], + [ + 423.5963134765625, + 184.01803588867188 + ], + [ + 421.3134765625, + 185.45094299316406 + ], + [ + 418.8719177246094, + 193.31985473632812 + ], + [ + 414.0411071777344, + 201.380615234375 + ], + [ + 406.2297668457031, + 216.60009765625 + ], + [ + 403.1337890625, + 223.08612060546875 + ], + [ + 403.01123046875, + 224.2015380859375 + ], + [ + 397.5451965332031, + 222.43637084960938 + ], + [ + 393.9665832519531, + 190.5797119140625 + ], + [ + 388.3702087402344, + 162.20166015625 + ], + [ + 375.1207580566406, + 120.93833923339844 + ], + [ + 341.44915771484375, + 96.07865905761719 + ], + [ + 323.7190856933594, + 76.56443786621094 + ], + [ + 315.7197265625, + 73.27798461914062 + ], + [ + 309.6346130371094, + 72.73306274414062 + ], + [ + 313.3794860839844, + 74.78085327148438 + ], + [ + 314.863525390625, + 74.30337524414062 + ] + ], + "depth_max": 1.4398658275604248, + "depth_min": 0.6161555051803589, + "intrinsic": [ + [ + 575.2427978515625, + 0.0, + 259.0 + ], + [ + 0.0, + 575.4493408203125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.708291064365767e-05, + -7.11845132173039e-05, + 1.8536404240876436e-05 + ], + [ + -5.708542084903456e-05, + 1.0, + -3.530040703481063e-05, + -2.3259108274942264e-05 + ], + [ + 7.118250505300239e-05, + 3.530446701915935e-05, + 1.0, + -1.641387279960327e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 22 + ], + "object_trajectory": [ + [ + 400.75, + 222.25 + ], + [ + 400.7392883300781, + 222.3953094482422 + ], + [ + 400.58612060546875, + 222.53622436523438 + ], + [ + 400.6708679199219, + 222.2333526611328 + ], + [ + 400.274169921875, + 222.72640991210938 + ], + [ + 400.38604736328125, + 223.1471405029297 + ], + [ + 400.2957458496094, + 223.62059020996094 + ], + [ + 400.3003845214844, + 223.93157958984375 + ], + [ + 401.2893371582031, + 223.86190795898438 + ], + [ + 402.84197998046875, + 223.8328857421875 + ], + [ + 402.9914245605469, + 224.7967071533203 + ], + [ + 405.2106018066406, + 226.32876586914062 + ], + [ + 405.70819091796875, + 227.07864379882812 + ], + [ + 400.2356262207031, + 226.54486083984375 + ], + [ + 396.82574462890625, + 194.35186767578125 + ], + [ + 389.882080078125, + 164.95542907714844 + ], + [ + 376.71368408203125, + 127.66673278808594 + ], + [ + 343.5202941894531, + 98.52543640136719 + ], + [ + 324.4300537109375, + 79.23886108398438 + ], + [ + 316.50115966796875, + 75.20724487304688 + ], + [ + 309.2042541503906, + 74.40776062011719 + ], + [ + 307.2760925292969, + 76.8077163696289 + ], + [ + 303.80352783203125, + 77.66926574707031 + ] + ] +} \ No newline at end of file diff --git a/006181/lang.txt b/006181/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..720496d53662f62b9ff90cf9fcb334cef8cbbeb3 --- /dev/null +++ b/006181/lang.txt @@ -0,0 +1 @@ +put strawberry in pot diff --git a/006181/object.ply b/006181/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..361951533e8dc5322265fcdfebeb83b870bf10d6 Binary files /dev/null and b/006181/object.ply differ diff --git a/006182_v2/FAIL b/006182_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/006182_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/006184_v2/FAIL b/006184_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/006184_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/006185/FAIL b/006185/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/006185/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/006203/data.json b/006203/data.json new file mode 100644 index 0000000000000000000000000000000000000000..8851aea50ce49e0de7fabb6d94e201ac63d9568e --- /dev/null +++ b/006203/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, + 0.950672, + 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": [ + [ + 2.155844780471483e-09, + -1.4454127582330667e-09, + 1.3322097626444762e-09, + -1.0957923637831457e-07, + 7.784643309113712e-07, + 8.593999652211538e-07, + 1.0 + ], + [ + 0.007767030637265027, + -0.0014379086428575154, + -0.009819438708273467, + -0.002078222794399548, + 0.0017941062160039462, + 0.025710894933394526, + 1.0 + ], + [ + 0.0015600242927560903, + 7.903913010274405e-05, + -0.013230690893077574, + -0.00010868967642076112, + 0.00040959101797432537, + 0.011258608253266737, + 1.0 + ], + [ + 0.0019432233322683734, + 0.0027669002024105736, + -0.008279881730799854, + -0.004595214043974771, + -0.00474215817282198, + -0.0028511903198681935, + 1.0 + ], + [ + 0.0007963665023645872, + 3.805354427230401e-05, + -0.009445967633476327, + -0.0006358750680172455, + -0.0191189015941539, + -0.007081736768782489, + 1.0 + ], + [ + 0.003154482407351056, + 0.0035771693729933496, + -0.00994107249831376, + -0.002369420298224275, + -0.0250719933675104, + -0.012119018921447578, + 1.0 + ], + [ + 0.002285915065730837, + 1.9803874356773277e-05, + -0.008101686947684032, + -0.0010607502630315363, + -0.013266441181151192, + 0.009692461350504058, + 0.950672 + ], + [ + -0.0016387556689624327, + -0.0046281614146169645, + 0.0011097470486443467, + -0.003915875661421332, + 0.006907783083650207, + 0.01881867353927348, + 0.0 + ], + [ + -0.0046503247514985135, + -0.005282815253441573, + 0.01797757466010147, + 0.007586085315420794, + 0.03532731212243233, + 0.03011477260050052, + 0.0 + ], + [ + -0.005744014782483542, + 0.00661624059415095, + 0.04108640416573042, + 0.07047243126683184, + 0.04511452907849333, + 0.0017007667743077362, + 0.0 + ], + [ + 0.00027535608857587324, + 0.007985927019239912, + 0.036286649516550584, + 0.051644238367944025, + -0.027526605120116687, + -0.0001556851763535176, + 0.0 + ], + [ + 0.014262685961063504, + 0.01777496874433675, + 0.045517658482725806, + 0.0719887578477245, + -0.025865626821968565, + -0.02237427044632474, + 0.0 + ], + [ + 0.02318879200346391, + 0.03483506777829104, + 0.028040278726774816, + 0.04015606637152068, + -0.011258916562733515, + -0.12042830359969435, + 0.0 + ], + [ + 0.01676173392495156, + 0.018959790282342005, + 0.018639024667302134, + 0.01616286514551543, + 0.022871203954204226, + -0.08314009136805442, + 0.0 + ], + [ + 0.0075809596310235094, + 0.018283196060872833, + 0.005714929512302139, + 0.00829092710338062, + 0.005920800848893906, + -0.06688910742523171, + 0.0 + ], + [ + 0.0037684639373397055, + 0.007824789725548974, + 0.0017675859099755276, + -0.026420309537790718, + -0.0006729420738172526, + -0.02644769757196418, + 0.0 + ], + [ + -0.0012650142749295323, + 0.009855667034004298, + -0.010594045907101085, + -0.019472582074418272, + -0.03696065706701646, + -0.06903303020334163, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 351.01171875, + 313.1445617675781 + ], + [ + 351.0386962890625, + 313.07012939453125 + ], + [ + 348.6649475097656, + 320.01611328125 + ], + [ + 353.34716796875, + 325.61090087890625 + ], + [ + 352.8517150878906, + 336.28729248046875 + ], + [ + 355.1403503417969, + 342.157958984375 + ], + [ + 356.4635009765625, + 345.98504638671875 + ], + [ + 355.34814453125, + 349.10699462890625 + ], + [ + 350.6706237792969, + 353.1729431152344 + ], + [ + 349.7345886230469, + 355.01458740234375 + ], + [ + 353.0968933105469, + 353.77044677734375 + ], + [ + 350.0035705566406, + 316.2064208984375 + ], + [ + 340.7376708984375, + 276.0126953125 + ], + [ + 347.0010070800781, + 218.39720153808594 + ], + [ + 323.8380432128906, + 137.4563446044922 + ], + [ + 305.1162109375, + 83.99629974365234 + ], + [ + 316.85174560546875, + 72.92025756835938 + ], + [ + 295.4949951171875, + 62.02067565917969 + ], + [ + 288.81280517578125, + 73.14056396484375 + ], + [ + 287.2673034667969, + 72.37956237792969 + ], + [ + 287.9453125, + 72.89617156982422 + ] + ], + "depth_max": 1.3081461191177368, + "depth_min": 0.4616980254650116, + "intrinsic": [ + [ + 643.6724243164062, + 0.0, + 259.0 + ], + [ + 0.0, + 642.9554443359375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.456180901499465e-05, + 3.930515958927572e-06, + -5.36859579369775e-06 + ], + [ + -7.456172170350328e-05, + 1.0, + -2.2805445041740313e-05, + -9.84379857982276e-06 + ], + [ + -3.932215804525185e-06, + 2.280515036545694e-05, + 1.0, + 3.911946259904653e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 20 + ], + "object_trajectory": [ + [ + 342.0000305175781, + 366.25 + ], + [ + 341.2967529296875, + 364.9842529296875 + ], + [ + 341.8853454589844, + 366.3527526855469 + ], + [ + 341.88525390625, + 366.0836181640625 + ], + [ + 341.8330078125, + 365.8762512207031 + ], + [ + 341.96795654296875, + 366.0809631347656 + ], + [ + 342.1054382324219, + 365.8739318847656 + ], + [ + 342.1492919921875, + 366.0364685058594 + ], + [ + 341.6103210449219, + 365.5124816894531 + ], + [ + 341.347900390625, + 368.15045166015625 + ], + [ + 343.0821533203125, + 367.7353515625 + ], + [ + 337.9470520019531, + 332.42803955078125 + ], + [ + 327.07647705078125, + 292.4402770996094 + ], + [ + 330.322021484375, + 236.30914306640625 + ], + [ + 303.6595153808594, + 154.63665771484375 + ], + [ + 287.70941162109375, + 98.45079803466797 + ], + [ + 297.90130615234375, + 85.67095947265625 + ], + [ + 276.53192138671875, + 75.85903930664062 + ], + [ + 270.4456787109375, + 111.75555419921875 + ], + [ + 256.5957946777344, + 123.8683090209961 + ], + [ + 260.4151611328125, + 136.7296600341797 + ] + ] +} \ No newline at end of file diff --git a/006203/lang.txt b/006203/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..720496d53662f62b9ff90cf9fcb334cef8cbbeb3 --- /dev/null +++ b/006203/lang.txt @@ -0,0 +1 @@ +put strawberry in pot diff --git a/006203/object.ply b/006203/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..4dcfa898be39c02dec389954c1946b925ac170ff Binary files /dev/null and b/006203/object.ply differ diff --git a/006241_v2/data.json b/006241_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..41a6801a43198d99401d050879a503d6eb596a3f --- /dev/null +++ b/006241_v2/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 8, + "action_end": 26, + "object_name": "white thing", + "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, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 2.2279555977888776e-10, + 7.55497886473222e-11, + 3.07046332803651e-11, + -7.427901538536357e-08, + -3.341209752040886e-07, + -6.350992329319659e-07, + 1.0 + ], + [ + -0.01446866052647, + -0.00812001409396819, + -0.0009175846931148146, + 0.050846848591552994, + -0.03768215305656012, + -0.08811387005932664, + 1.0 + ], + [ + -0.008664786829253646, + -0.006623188147015346, + 0.0019288429783893696, + 0.026521570286645407, + -0.040896448494720475, + -0.04445727415958281, + 1.0 + ], + [ + -0.0063652986447108595, + -0.006480628832479601, + -0.0037653759238177736, + 0.02450855764634041, + -0.014265755021228229, + -0.024689834866799078, + 1.0 + ], + [ + -0.001877910418641604, + -0.007212357119429552, + -0.0187061059824067, + 0.04705220283323557, + 0.016240547197679686, + -0.011138338788920097, + 1.0 + ], + [ + -0.0020771886114284988, + -0.004991577247518211, + -0.017689170886620614, + 0.03910280951461351, + 0.01662240505903027, + -0.004331978559838714, + 1.0 + ], + [ + -0.004474971640381298, + -0.00753579339404413, + -0.0152113366277518, + 0.032582265144166254, + 0.029808478613889158, + -0.007618770869731351, + 1.0 + ], + [ + -0.0024180483699589306, + -0.003998578979658413, + -0.009629786875229626, + 0.00816488172053628, + 0.020207166794697428, + -0.004869043250980686, + 1.0 + ], + [ + 0.0006730750051778811, + 0.002346725051614748, + -0.0014032351378190158, + -0.01643279934414312, + 0.008556819506826081, + 0.024869587504251743, + 1.0 + ], + [ + 0.0012997168089562139, + 0.004384194728361102, + -0.0007038518520753531, + -0.02026285634387564, + -0.005240685093318196, + 0.02946917996300864, + 0.0 + ], + [ + 0.0005043477477154057, + 0.0025403544770731395, + 0.001152550495771211, + 0.0025487145679892412, + 0.0010268179559175103, + -0.009081308209877816, + 0.0 + ], + [ + 0.0018150771089894824, + 0.0030458258615475436, + 0.011793824573603028, + -0.0071231995230639274, + -0.014364914981124213, + -0.004569784448055297, + 0.0 + ], + [ + 0.002416790718678341, + -0.00020978306110992773, + 0.019632520406094665, + -0.014798039687486511, + -0.0341212836008531, + -0.004436745718246345, + 0.0 + ], + [ + 0.004448868658608829, + -0.005925498404594623, + 0.028191077686239033, + -0.044163948583032644, + -0.02774847551265465, + 0.000660933372505632, + 0.0 + ], + [ + 0.007746688156092085, + -0.0141501932610196, + 0.028555002195641402, + -0.049114463256795665, + -0.013730864919116475, + 0.003822167026903407, + 0.0 + ], + [ + 0.011528651613676694, + -0.024250389322319404, + 0.027293190941974188, + -0.042842509804740914, + -0.00801327295905887, + -0.0142288770107696, + 0.0 + ], + [ + 0.01382598659608869, + -0.024193537391037447, + 0.010890825740666743, + 0.0009734087309858176, + 0.008496762379033284, + -0.02218279078929562, + 0.0 + ], + [ + 0.014757729889139759, + -0.022021867340932033, + -0.0013171418203924146, + 0.005047787693394154, + 0.020106414191057555, + -0.01730113150230944, + 0.0 + ], + [ + 0.01596819529938126, + -0.022007460230378736, + -0.0018158471687159117, + 0.016891988664869684, + 0.008352279597242192, + -0.008545114840912077, + 0.0 + ], + [ + 0.0194770899337951, + -0.014222273136930282, + -0.009632837691223112, + 0.02381441811948264, + -0.0003835915999345768, + 0.01344073838208968, + 0.0 + ], + [ + 0.018915051887544998, + -0.006973657668063921, + -0.013716504003184471, + 0.015349894220679996, + 0.01798111068291571, + 0.02439296605491297, + 0.0 + ], + [ + 0.018525918052088253, + -0.0020941086057424396, + -0.007076315257686039, + 0.010332761672699317, + -0.008745898015594743, + 0.02291425348214792, + 0.0 + ], + [ + 0.011596391356633318, + 0.0006305862640910362, + -0.00456754779248808, + -0.004219861110641379, + 0.005222375546831888, + 0.01816670753555577, + 0.0 + ], + [ + 0.0005270130519345329, + 0.002247571988025575, + -0.009293837553322123, + 0.00266659993581448, + 0.015097939445662983, + -0.0017541489785675287, + 0.0 + ], + [ + -0.005248704949309013, + 0.0016898881061702467, + -0.0069513850864817844, + -0.00901281613049993, + 0.016657057657908328, + -0.0007208635142310259, + 0.0 + ], + [ + -0.006584435299918923, + 0.0009809936696129895, + -0.004445378088270419, + -9.62128689006419e-05, + 0.005543618965471331, + -0.004490495790645015, + 0.0 + ], + [ + -0.006641999747325489, + 0.0041291434823498355, + -0.0083247911798391, + 0.014276449963886469, + 0.0010582302657849822, + 0.011630945179929231, + 0.0 + ], + [ + -0.003442863422020548, + 0.003487814685615917, + -0.002635869265478666, + 0.012532707646379534, + -0.00353660352178554, + 0.016047851485681254, + 1.0 + ], + [ + -0.0036243091857340315, + 0.0030099177734682417, + 0.010139737952991099, + -0.006857447000437182, + -0.017962756240905913, + -0.004847452770657544, + 1.0 + ], + [ + -0.001383095704523607, + 0.009423305782121513, + 0.03153218147521086, + -0.04266673391750217, + -0.06308882561828114, + 0.017294945344118066, + 1.0 + ], + [ + -0.0032418344419780087, + 0.014262539436449194, + 0.03190740012988777, + -0.0582029029118971, + -0.06322229795008515, + 0.011666203544419338, + 1.0 + ], + [ + -0.006198507884880078, + 0.031420612656627156, + 0.02027719911697537, + -0.03042254316760619, + -0.012955688090972884, + 0.02464340310028251, + 1.0 + ], + [ + -0.0029159744279084743, + 0.04354071210571983, + -0.0035235761822690614, + 0.027259724500848424, + 0.003985388303058931, + 0.05106813081395674, + 1.0 + ], + [ + 0.0009411094629568906, + 0.04391360905247635, + -0.020630886783213925, + 0.0327478633409196, + 0.031732094082819066, + 0.04394468929332148, + 1.0 + ], + [ + 0.0016064494639572713, + 0.02807889780844204, + -0.02218292792096621, + 0.07757878867796812, + 0.022775248072996915, + -0.0020694485214290074, + 1.0 + ], + [ + 0.005922729060406917, + 0.019290670073194724, + -0.01652094068750873, + 0.12553571691161683, + 0.07653163121441406, + -0.12325786518669901, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 150.8678741455078, + 105.56779479980469 + ], + [ + 151.95632934570312, + 111.8798828125 + ], + [ + 151.46322631835938, + 143.29701232910156 + ], + [ + 146.62672424316406, + 148.2355499267578 + ], + [ + 147.92074584960938, + 161.40794372558594 + ], + [ + 161.14553833007812, + 188.2412567138672 + ], + [ + 170.8706512451172, + 214.18572998046875 + ], + [ + 180.9534149169922, + 237.4930877685547 + ], + [ + 186.7263946533203, + 253.17037963867188 + ], + [ + 189.4888916015625, + 258.02862548828125 + ], + [ + 183.31410217285156, + 254.19247436523438 + ], + [ + 179.97610473632812, + 251.96104431152344 + ], + [ + 174.72259521484375, + 245.59474182128906 + ], + [ + 173.76805114746094, + 220.68301391601562 + ], + [ + 171.85482788085938, + 185.43255615234375 + ], + [ + 176.27000427246094, + 147.433837890625 + ], + [ + 211.4678192138672, + 109.32137298583984 + ], + [ + 251.5126190185547, + 77.1205825805664 + ], + [ + 300.92132568359375, + 75.66802978515625 + ], + [ + 349.874755859375, + 75.21477508544922 + ], + [ + 387.78240966796875, + 82.39046478271484 + ], + [ + 413.90582275390625, + 88.74960327148438 + ], + [ + 427.50531005859375, + 88.7292709350586 + ], + [ + 436.40814208984375, + 89.0339126586914 + ], + [ + 436.5551452636719, + 96.9743881225586 + ], + [ + 435.4568786621094, + 106.95732116699219 + ], + [ + 425.76007080078125, + 124.69294738769531 + ], + [ + 418.6925354003906, + 140.49652099609375 + ], + [ + 410.9849853515625, + 147.18130493164062 + ], + [ + 408.97998046875, + 138.5517578125 + ], + [ + 390.9696350097656, + 101.98225402832031 + ], + [ + 374.1395263671875, + 56.0677375793457 + ], + [ + 328.3055725097656, + 18.2056941986084 + ], + [ + 273.23724365234375, + -2.4986371994018555 + ], + [ + 210.12185668945312, + 5.715985298156738 + ], + [ + 177.63137817382812, + 32.5799674987793 + ], + [ + 166.96029663085938, + 42.43218994140625 + ], + [ + 164.9593048095703, + 47.649497985839844 + ] + ], + "depth_max": 1.864069938659668, + "depth_min": 0.321387380361557, + "intrinsic": [ + [ + 518.735107421875, + 0.0, + 259.0 + ], + [ + 0.0, + 517.538330078125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.907752296887338e-05, + 4.6657507482450455e-05, + -1.439743209630251e-05 + ], + [ + -7.907545659691095e-05, + 1.0, + -4.416650699567981e-05, + -1.5435707609867677e-05 + ], + [ + -4.666100358008407e-05, + 4.416281444719061e-05, + 1.0, + -2.327658876311034e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 183.75, + 274.25 + ], + [ + 184.00146484375, + 274.2806396484375 + ], + [ + 184.05960083007812, + 274.40673828125 + ], + [ + 183.95285034179688, + 274.2354431152344 + ], + [ + 184.07489013671875, + 274.3684387207031 + ], + [ + 183.970703125, + 274.3850402832031 + ], + [ + 183.95150756835938, + 274.5168762207031 + ], + [ + 184.001708984375, + 274.4766845703125 + ], + [ + 184.0155792236328, + 274.6721496582031 + ], + [ + 184.13311767578125, + 274.56561279296875 + ], + [ + 184.0958251953125, + 274.8796081542969 + ], + [ + 186.48794555664062, + 274.022216796875 + ], + [ + 181.61148071289062, + 269.4771728515625 + ], + [ + 175.1813201904297, + 246.1357421875 + ], + [ + 183.74038696289062, + 215.254150390625 + ], + [ + 189.00755310058594, + 181.42449951171875 + ], + [ + 227.06494140625, + 157.65579223632812 + ], + [ + 263.7049255371094, + 131.35186767578125 + ], + [ + 307.7074279785156, + 128.11093139648438 + ], + [ + 353.3892822265625, + 128.2356719970703 + ], + [ + 386.2925109863281, + 133.37521362304688 + ], + [ + 408.8048095703125, + 149.48060607910156 + ], + [ + 419.4512939453125, + 146.12826538085938 + ], + [ + 427.44146728515625, + 145.10057067871094 + ], + [ + 427.2692565917969, + 152.0521697998047 + ], + [ + 423.6552734375, + 156.30223083496094 + ], + [ + 413.988525390625, + 171.10723876953125 + ], + [ + 407.2615966796875, + 180.25135803222656 + ], + [ + 404.13409423828125, + 179.3287353515625 + ], + [ + 406.333740234375, + 185.56617736816406 + ], + [ + 414.99591064453125, + 182.238525390625 + ], + [ + 415.6335754394531, + 181.2284698486328 + ], + [ + 415.41229248046875, + 181.03421020507812 + ], + [ + 415.70172119140625, + 180.682861328125 + ], + [ + 415.73516845703125, + 180.56170654296875 + ], + [ + 415.6611328125, + 180.72064208984375 + ], + [ + 412.89971923828125, + 181.29541015625 + ], + [ + 416.0382385253906, + 180.1378173828125 + ] + ] +} \ No newline at end of file diff --git a/006241_v2/lang.txt b/006241_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..d0b8a75855b414aeacfef6652a16cae88e8287ee --- /dev/null +++ b/006241_v2/lang.txt @@ -0,0 +1 @@ +move the white thing and put it in the drawer diff --git a/006241_v2/object.ply b/006241_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..70a7ca8d0fc5e46b36548f85bfde536d028e7eb2 Binary files /dev/null and b/006241_v2/object.ply differ diff --git a/006243/FAIL b/006243/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/006243/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/006258/FAIL b/006258/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/006258/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/006260/data.json b/006260/data.json new file mode 100644 index 0000000000000000000000000000000000000000..2bcd167c84040b62db098b3db82cda9b67853ba2 --- /dev/null +++ b/006260/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 14, + "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, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "gripper_actions": [ + [ + 7.172040739078511e-11, + 2.4933509423785694e-10, + -2.4317058089362575e-10, + -4.0753892335433465e-07, + -1.7553264302129368e-07, + 4.793287077861236e-07, + 1.0 + ], + [ + 0.006598767195123478, + 0.0014999416260413345, + -0.000698772945951498, + 0.011987544265282484, + 0.0017679796618059128, + 0.1290790095462082, + 1.0 + ], + [ + 0.0009021413392573119, + 0.0020881212854405307, + -0.006152045037029749, + -0.043628170850132486, + -0.0029121065979578523, + 0.05208490283668321, + 1.0 + ], + [ + 0.01806992458364645, + 0.005986133705996932, + -0.002357735468965186, + -0.009492902768040115, + -0.037903549302482686, + 0.08245779102342615, + 1.0 + ], + [ + 0.005680759435129218, + 0.005105449957455974, + -0.009907147496741736, + 0.008708910242869254, + -0.04743069407833141, + 0.0500755165429083, + 1.0 + ], + [ + 0.005474335285265364, + 0.0071474473438726815, + -0.006359467434587721, + 0.011514579504626397, + -0.01555046212778194, + 0.028653132561085138, + 1.0 + ], + [ + 0.0007099219191478712, + 0.00013205892772225059, + -0.0038016804625315703, + 0.008827465961744446, + 0.007889044556899132, + 0.045376456849608504, + 1.0 + ], + [ + -0.0068913305628616195, + -0.0037186715686205463, + -0.0032866545982075737, + 0.019695898778140705, + 0.014478068236503444, + 0.04125229273909566, + 1.0 + ], + [ + -0.003945080345596652, + 0.004078641405294639, + -0.006849506487255706, + 0.003703236746648391, + -0.005580687769424274, + 0.0022599048280551666, + 1.0 + ], + [ + -8.4528671187023e-06, + 0.0026273226362812097, + -0.006916362943722866, + 0.007945662954369546, + -0.0208950954600193, + 0.01674581241842362, + 1.0 + ], + [ + 0.00017447995677777328, + 0.000867818061929454, + -0.008225274578573263, + -0.0070788573176801565, + -0.012167755821296611, + 0.023760207300347672, + 1.0 + ], + [ + -0.003616313101904911, + 0.0018926661446245219, + -0.005468879764885186, + -0.008849868790674377, + -0.003888216195058207, + 0.017858851328290723, + 1.0 + ], + [ + 5.949640181107663e-05, + 0.002740968429147894, + -0.007661801148694698, + -0.013876492394378537, + -0.01742076440856857, + -0.0003113743178318758, + 1.0 + ], + [ + 0.00010710713023015517, + 0.0018021375271475848, + -0.0048827109965349225, + -0.011386023926518597, + -0.006752034940218238, + 0.0012621356111989345, + 1.0 + ], + [ + -0.0007312716746460945, + 0.0032899186497550026, + -0.005415807423971394, + -0.011669095715841906, + -0.012504432841761311, + 0.0016047409279769036, + 1.0 + ], + [ + 0.0014507324313741132, + 0.0006213517485459674, + -0.003958303351083672, + -0.00646496354862694, + -0.006392271224665003, + 0.01328560781905776, + 0.0 + ], + [ + 8.044973701976099e-05, + -0.0007451664536008429, + -0.0009522653487379785, + -0.012570792030996987, + -0.00794413898036201, + 0.005020572878231654, + 0.0 + ], + [ + 0.0014103207850985067, + -0.004285823522964138, + 0.006345722695982534, + 0.060575146363236965, + -0.05603690745778718, + -0.07364977174788558, + 0.0 + ], + [ + 0.006635180125057372, + -0.006531749249591337, + 0.03160184668223178, + 0.002642851294162309, + 0.007125584062927967, + -0.22620114200040276, + 0.0 + ], + [ + 0.018869547869885595, + -0.009924365890763745, + 0.02853363390501183, + 0.02935825329246467, + 0.010738669154291341, + -0.13212311833925378, + 0.0 + ], + [ + 0.029888954286344416, + -0.02114292517923065, + 0.002741583396719663, + -0.02779399512486637, + -0.00013387380016770814, + -0.16659307876145305, + 0.0 + ], + [ + 0.023859309310718668, + -0.030081635164648568, + -0.004955796727209041, + 0.061454380491457114, + -0.036240396186389356, + -0.06745624166609157, + 0.0 + ], + [ + 0.029442569133940943, + -0.03289232042993652, + 0.0031455518545108196, + -0.014304881829153192, + -0.02860782502009195, + 0.005945383396594749, + 0.0 + ], + [ + 0.030728658304766454, + -0.017321785269647748, + -0.0006157907044281874, + 0.01242179653825928, + -0.038014828305369404, + -0.005497151106583384, + 0.0 + ] + ], + "gripper_centers": [ + [ + 172.17730712890625, + 129.89395141601562 + ], + [ + 172.2510223388672, + 129.89137268066406 + ], + [ + 171.32208251953125, + 141.81871032714844 + ], + [ + 175.61123657226562, + 141.884033203125 + ], + [ + 183.5075225830078, + 151.07821655273438 + ], + [ + 187.9013671875, + 138.02035522460938 + ], + [ + 194.24691772460938, + 136.36346435546875 + ], + [ + 189.6768798828125, + 143.88055419921875 + ], + [ + 185.29336547851562, + 148.99359130859375 + ], + [ + 182.88888549804688, + 154.96917724609375 + ], + [ + 184.88265991210938, + 161.375244140625 + ], + [ + 180.89694213867188, + 168.75326538085938 + ], + [ + 183.7505645751953, + 177.17010498046875 + ], + [ + 179.003662109375, + 183.78994750976562 + ], + [ + 177.78762817382812, + 191.1937255859375 + ], + [ + 177.65016174316406, + 193.8722381591797 + ], + [ + 173.32528686523438, + 201.5908203125 + ], + [ + 174.96356201171875, + 202.6743621826172 + ], + [ + 175.32244873046875, + 202.31338500976562 + ], + [ + 176.4044189453125, + 205.01223754882812 + ], + [ + 183.71029663085938, + 167.25267028808594 + ], + [ + 205.06121826171875, + 134.5224609375 + ], + [ + 267.48431396484375, + 114.65848541259766 + ], + [ + 307.1772155761719, + 119.33738708496094 + ] + ], + "depth_max": 1.3636465072631836, + "depth_min": 0.6137101054191589, + "intrinsic": [ + [ + 657.0288696289062, + 0.0, + 259.0 + ], + [ + 0.0, + 656.0882568359375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 8.805919787846506e-05, + 5.432327452581376e-05, + 8.959066690295003e-06 + ], + [ + -8.80584993865341e-05, + 1.0, + -1.2740445527015254e-05, + -9.520333151158411e-06 + ], + [ + -5.432439502328634e-05, + 1.2735661584883928e-05, + 1.0, + 5.68957366340328e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 186.75, + 200.75001525878906 + ], + [ + 186.82614135742188, + 201.19598388671875 + ], + [ + 186.8316650390625, + 201.3425750732422 + ], + [ + 186.98822021484375, + 201.04959106445312 + ], + [ + 186.89337158203125, + 200.77316284179688 + ], + [ + 186.7581787109375, + 199.61976623535156 + ], + [ + 186.52410888671875, + 199.04539489746094 + ], + [ + 186.19956970214844, + 198.5771484375 + ], + [ + 185.52708435058594, + 204.53924560546875 + ], + [ + 185.20550537109375, + 204.70021057128906 + ], + [ + 185.2354278564453, + 204.6091766357422 + ], + [ + 184.8019256591797, + 204.15634155273438 + ], + [ + 184.69044494628906, + 203.97337341308594 + ], + [ + 184.00852966308594, + 203.62213134765625 + ], + [ + 181.7650604248047, + 203.67361450195312 + ], + [ + 180.7029266357422, + 202.08047485351562 + ], + [ + 169.9517364501953, + 207.0637664794922 + ], + [ + 165.744140625, + 206.7261199951172 + ], + [ + 166.49966430664062, + 205.96104431152344 + ], + [ + 167.88168334960938, + 208.85243225097656 + ], + [ + 180.1313018798828, + 170.33221435546875 + ], + [ + 199.83053588867188, + 133.32752990722656 + ], + [ + 254.238525390625, + 127.33235168457031 + ], + [ + 293.48504638671875, + 129.5878143310547 + ] + ] +} \ No newline at end of file diff --git a/006260/lang.txt b/006260/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..272b39e5cf14c2638c6610dac0f4e40aa4aafaf1 --- /dev/null +++ b/006260/lang.txt @@ -0,0 +1 @@ +put sushi on plate diff --git a/006260/object.ply b/006260/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..d203282f62054bb69070edf1cc30a735b0d0e3d2 Binary files /dev/null and b/006260/object.ply differ diff --git a/006271/FAIL b/006271/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/006271/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/006298/FAIL b/006298/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/006298/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/006300/data.json b/006300/data.json new file mode 100644 index 0000000000000000000000000000000000000000..5e69af6318a0132e81e187e98868781efdaf9811 --- /dev/null +++ b/006300/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 13, + "action_end": 19, + "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, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.29645900000000003, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.1175702857867407e-10, + 7.784115019227045e-11, + -2.867055204358593e-11, + 3.0373682514520195e-07, + -2.2917758645256496e-07, + 1.0569595985002242e-06, + 1.0 + ], + [ + 0.001554833789673249, + -0.009160944634143936, + -0.0020239857761948504, + -0.03331356276249395, + -0.023662026976953698, + -0.0014226763564833846, + 1.0 + ], + [ + 0.004227069077179957, + -0.008583623604458829, + 0.0011530131794873222, + -0.045038462510473665, + -0.008797190759843308, + -0.011626995144902235, + 1.0 + ], + [ + 0.002279757309761099, + -0.010487873230168254, + -0.005532244232856073, + -0.033424098772045815, + -0.017994905706955267, + -0.0003532063811993335, + 1.0 + ], + [ + 0.0008449996698399742, + -0.006707400102044528, + -0.011268456172558644, + -0.019195499896421973, + -0.031823732041439026, + -0.010653757944087263, + 1.0 + ], + [ + -0.0016399744006788952, + -0.00837245956324724, + -0.010973722364455471, + -0.0342901751107266, + -0.013058963064240222, + 0.009570552564945227, + 1.0 + ], + [ + -0.002756715851359559, + -0.0037580156664264452, + -0.007833246656075807, + -0.018327591591753546, + -0.004032280156144089, + 0.002848932001943322, + 1.0 + ], + [ + -0.000820643239809099, + -0.0012336416804876876, + -0.011410799856945292, + -0.021283804959994487, + -0.02003981644155849, + 0.00044272175693516085, + 1.0 + ], + [ + -0.0004146169691537638, + -0.0007113719104495098, + -0.00905683287049023, + -0.03341156341099344, + -0.01712338712397345, + -0.00021624152966524818, + 1.0 + ], + [ + 0.0025597176949071487, + 0.0007289869748128008, + -0.004166652008231783, + -0.01421816434521551, + -0.006581659468990471, + 0.00600187915045606, + 1.0 + ], + [ + 0.0008728504731154441, + -0.002679969577729993, + -0.006107230383462135, + -0.01982434984771124, + -0.014789343426436752, + 0.006404748838349659, + 1.0 + ], + [ + 0.0019993819520342793, + 0.0010107766720603567, + -0.009099997750734154, + -0.013850364022078423, + -0.02071429482212395, + -0.0014135099301671732, + 1.0 + ], + [ + -0.00019736993183264162, + -0.0013635589983220509, + -0.008137201086865088, + -0.015984563918112163, + -0.014228688272270543, + 0.005932777155412206, + 1.0 + ], + [ + -0.005950888547123084, + -0.004725262154053833, + -0.0030713232759872235, + -0.010114254709026365, + -0.0023056476908337093, + 0.016940534099707267, + 1.0 + ], + [ + -0.005515137328712977, + -0.0035708825320849708, + -0.0037927682278346975, + 0.0013943524080574684, + -0.0004312691726487259, + 0.02877199119531946, + 0.0 + ], + [ + 0.001204092210700558, + 0.0037110946322644056, + 0.003588618056722606, + 0.01334085285732174, + 0.0016683875357967341, + -0.00821240358750226, + 0.0 + ], + [ + 0.00393806600332855, + 0.01895429377870593, + 0.019696958536257067, + 0.03520187743635379, + 0.041184644884408185, + -0.04604264568503021, + 0.0 + ], + [ + 0.0021424736798974497, + 0.020995086573985716, + 0.022505054328489704, + 0.07168208002274974, + 0.03952380203855583, + -0.04511140877184639, + 0.0 + ], + [ + -0.0028087518805537115, + 0.02168416956080682, + -1.5614289080229105e-05, + 0.08854009287373497, + -0.016493747076486712, + -0.06686353332363855, + 0.0 + ], + [ + 0.002220808902658522, + 0.014657491915114965, + -0.009579212485021804, + 0.10394851515981741, + -0.06386821271056287, + -0.06882713366940271, + 0.29645900000000003 + ], + [ + 0.0018198524779637348, + 0.0012739929305863873, + -0.004760000760556819, + 0.039626865075586964, + -0.04167850645594699, + -0.019295990514507717, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 137.13255310058594, + 105.224609375 + ], + [ + 137.08740234375, + 105.29414367675781 + ], + [ + 138.40528869628906, + 116.1161880493164 + ], + [ + 147.94741821289062, + 124.98893737792969 + ], + [ + 160.0978240966797, + 127.7379379272461 + ], + [ + 178.07073974609375, + 135.5291748046875 + ], + [ + 189.1660919189453, + 151.43206787109375 + ], + [ + 197.99908447265625, + 168.9272918701172 + ], + [ + 205.31967163085938, + 180.82752990722656 + ], + [ + 211.4200439453125, + 195.41310119628906 + ], + [ + 211.1894989013672, + 206.13595581054688 + ], + [ + 214.8482666015625, + 208.6273651123047 + ], + [ + 216.84426879882812, + 211.36231994628906 + ], + [ + 215.11021423339844, + 218.439208984375 + ], + [ + 212.7926788330078, + 225.16490173339844 + ], + [ + 209.62081909179688, + 226.71014404296875 + ], + [ + 201.87110900878906, + 234.50030517578125 + ], + [ + 199.95237731933594, + 235.58370971679688 + ], + [ + 194.9768829345703, + 220.15093994140625 + ], + [ + 170.67901611328125, + 179.25735473632812 + ], + [ + 151.06729125976562, + 174.144287109375 + ], + [ + 139.13558959960938, + 179.6070098876953 + ], + [ + 141.287841796875, + 183.29347229003906 + ], + [ + 140.7313232421875, + 183.07908630371094 + ] + ], + "depth_max": 1.543805718421936, + "depth_min": 0.5202003121376038, + "intrinsic": [ + [ + 546.3696899414062, + 0.0, + 259.0 + ], + [ + 0.0, + 546.8427734375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.7109006876125932e-05, + -5.212772884988226e-05, + 1.6762898667366244e-05 + ], + [ + -1.7109661712311208e-05, + 1.0, + -1.2566830264404416e-05, + -2.320673593203537e-05 + ], + [ + 5.2127510571153834e-05, + 1.2567721569212154e-05, + 1.0, + -2.5696381271700375e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 219.75001525878906, + 248.5 + ], + [ + 219.8817138671875, + 248.7237091064453 + ], + [ + 219.65052795410156, + 248.4566650390625 + ], + [ + 219.6617431640625, + 248.51666259765625 + ], + [ + 219.81915283203125, + 248.6328125 + ], + [ + 219.68002319335938, + 248.277099609375 + ], + [ + 219.76824951171875, + 248.55841064453125 + ], + [ + 219.74969482421875, + 248.27420043945312 + ], + [ + 219.64573669433594, + 248.13536071777344 + ], + [ + 219.5950927734375, + 248.19485473632812 + ], + [ + 219.28125, + 248.20062255859375 + ], + [ + 219.421875, + 247.97940063476562 + ], + [ + 219.9267578125, + 247.66744995117188 + ], + [ + 219.25253295898438, + 247.63018798828125 + ], + [ + 218.4799346923828, + 247.71923828125 + ], + [ + 218.73715209960938, + 249.16481018066406 + ], + [ + 213.63345336914062, + 250.9681854248047 + ], + [ + 211.337890625, + 252.71005249023438 + ], + [ + 204.2294921875, + 247.95361328125 + ], + [ + 181.2591094970703, + 216.6653289794922 + ], + [ + 158.93516540527344, + 208.12222290039062 + ], + [ + 145.185546875, + 202.52037048339844 + ], + [ + 80.25724792480469, + 198.99169921875 + ], + [ + 81.7794189453125, + 198.77938842773438 + ] + ] +} \ No newline at end of file diff --git a/006300/lang.txt b/006300/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..0854e419104fb75149055fbcd623d9b8f3c8bc0a --- /dev/null +++ b/006300/lang.txt @@ -0,0 +1 @@ +put sweet potato in pot diff --git a/006300/object.ply b/006300/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..9872c892f2ffa4e0d408c7d616580d03e8eb56ff Binary files /dev/null and b/006300/object.ply differ diff --git a/006314_v2/FAIL b/006314_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/006314_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/006317_v2/FAIL b/006317_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/006317_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/006324/FAIL b/006324/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/006324/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/006327_v2/data.json b/006327_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..3bf9e3f937e8236009fc8eb4b9a17f9a6914d793 --- /dev/null +++ b/006327_v2/data.json @@ -0,0 +1,916 @@ +{ + "action_start": 11, + "action_end": 29, + "object_name": "orange 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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.20024399999999998, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 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": [ + [ + 5.216239107319609e-10, + 2.2206415005443514e-10, + 2.479478566908e-10, + -2.6227216392761886e-07, + 6.074450370274537e-07, + 6.442720393111539e-07, + 1.0 + ], + [ + 0.0030869037915489117, + -0.0006740319790195736, + -0.01153595494897841, + -0.0029477174651588237, + 0.02237869144237049, + -0.021427865801711996, + 1.0 + ], + [ + 0.0030011509011276805, + -0.0007450489342742533, + -0.015632426688752865, + -0.02179006011354748, + 0.022076142585534076, + -0.033122797698807376, + 1.0 + ], + [ + 0.0012001169945792811, + -0.0011937632094612075, + -0.012690821546820774, + -0.0065876942584584975, + 0.008882693820597046, + -0.03361031623105708, + 1.0 + ], + [ + 0.0009277898620528857, + 0.00012777052106108027, + -0.010969315138620983, + 0.0022173469261692496, + 0.0068147654244074, + -0.02624395975804282, + 1.0 + ], + [ + 0.0011764291911098845, + -0.0003184478320244046, + -0.009047590605533562, + 0.0008874195627131544, + 0.004000987469176027, + -0.029960343786580405, + 1.0 + ], + [ + 0.0010580633580440368, + -0.00039330090386827197, + -0.005812255283234105, + 0.0072102724671223575, + -0.008090531811892397, + -0.025412904439634423, + 1.0 + ], + [ + 0.0021293249359362054, + 0.0005167748458810096, + -0.004371556184882441, + 0.0048229823111841765, + -0.009505993685964963, + -0.032461347126186625, + 1.0 + ], + [ + 0.00171886633996865, + 0.0011712187964730888, + -0.005630816984814532, + 0.0059474422683186276, + -0.009561272094538909, + -0.03897521164568847, + 1.0 + ], + [ + 0.0019115305290566265, + 0.0015186201906025798, + -0.006430133687584508, + 0.0029490221474548035, + -0.0004395786698204297, + -0.022125041822586827, + 1.0 + ], + [ + 0.0016517774135288987, + 0.0013988377662935434, + -0.005833266929427261, + -0.000786893867644728, + -0.002176292035096103, + 0.0008365297240556437, + 1.0 + ], + [ + 0.001014473568248575, + 0.0004775354357440722, + -0.005982836220550861, + 0.0011125248920157932, + 0.006718713833004851, + -0.0023802741943833015, + 1.0 + ], + [ + 0.0010083169646661894, + 0.002528661914501157, + -0.004455143786838242, + 0.00265686711703825, + 0.01312361001287379, + 0.014920823670001014, + 0.0 + ], + [ + -0.0006092317173010398, + 0.00169325973380115, + 0.0016911785583877056, + 0.002435987236964331, + -0.004248080037573784, + -0.002746117974798036, + 0.0 + ], + [ + -0.001899113890012183, + -0.0007212295770721447, + 0.010701607953908551, + -0.009763921474054736, + -0.020391626492134936, + -0.007825869086149842, + 0.0 + ], + [ + -0.002539763038574172, + -0.0005635319986850365, + 0.020751429375781776, + -0.020400061305902172, + -0.04021859975777542, + -0.0006079353963459767, + 0.0 + ], + [ + -0.004216028315991327, + 0.00018418768012475918, + 0.024131746188670658, + -0.030780442797351794, + -0.048211660325681305, + 0.0006714041144560096, + 0.0 + ], + [ + -0.0048336826962380175, + 0.0018541676056465853, + 0.01777812680599708, + -0.02286730149607118, + -0.03543555865121704, + 0.006856919654005182, + 0.0 + ], + [ + -0.0040321844492159364, + 0.004340076208037254, + 0.00752118270737917, + -0.016552256162576752, + -0.01977036119261837, + 0.016179008821405973, + 0.0 + ], + [ + -0.002708966926457501, + 0.016050591867962934, + 0.0059645255284622445, + 0.007051913580911698, + -0.012886486540639619, + 0.03951781314180522, + 0.0 + ], + [ + -0.0014245358037023315, + 0.02597835014071632, + 0.006400143714497958, + 0.01984683052148941, + -0.012113262241182575, + 0.06937153357093626, + 0.0 + ], + [ + -0.0014022239559530192, + 0.030853859913876257, + -0.001231433435968543, + 0.026604218754902383, + 0.01164145390075857, + 0.09299065521321215, + 0.0 + ], + [ + -0.0009017247363220238, + 0.03808743887037573, + -0.004048807150632078, + 0.0010961445775096836, + 0.01974110065235026, + 0.11334436046323, + 0.0 + ], + [ + 0.000511120187107611, + 0.035310397468030275, + -0.010533057470001134, + 0.013542483622406423, + 0.02788054137616206, + 0.11145226076703896, + 0.0 + ], + [ + 0.0026925458901269905, + 0.03012687865205871, + -0.017183302117000393, + 0.01580139637385281, + 0.022196607191771422, + 0.10184853403826119, + 0.0 + ], + [ + 0.0026044224608255673, + 0.023870244036641897, + -0.016912381666708345, + 0.02636989137311842, + 0.008741782000840293, + 0.08156177702451495, + 0.0 + ], + [ + 0.007795605074055217, + 0.015595120862337497, + -0.020652776291290892, + 0.03739734100801498, + 0.00058600901371497, + 0.04627886056156735, + 0.0 + ], + [ + 0.007334986688767586, + 0.006422744885152404, + -0.015183229745103735, + 0.014281342452216487, + 0.008971460828288563, + 0.016759857668127584, + 0.0 + ], + [ + 0.0046194626223524105, + 0.008182080078027593, + -0.011285317949577253, + 0.01925065664117926, + 0.021940636851067015, + 0.01796879613371774, + 0.0 + ], + [ + -0.0003577382958436237, + 0.005001814317563413, + -0.008811362096903683, + 0.002340714773036816, + 0.028172318338820695, + 0.0025646521814790654, + 0.20024399999999998 + ], + [ + -0.0010415883389325864, + -0.0005894673034232412, + -6.609391869778769e-05, + 0.0076817935792641845, + 0.011029421331623154, + 0.0026298034486573196, + 1.0 + ], + [ + -0.0010281323743072113, + -0.0033505715416412563, + 0.009578599555307044, + 0.004673585747137122, + -0.012822612019335138, + -0.00871586471994797, + 1.0 + ], + [ + -0.004820133825735762, + -0.003086132959858656, + 0.015216586764013565, + -0.03262067856423019, + 0.006413979912771277, + 0.0013706483555204255, + 1.0 + ], + [ + -0.011032510500110448, + -0.008419521992047319, + 0.01778131264398147, + -0.052352837347380804, + 0.03451639468616191, + -0.03858334035748756, + 1.0 + ], + [ + -0.0055325533083177, + -0.01906117326463108, + 0.004719351572869797, + -0.02775359966346175, + 0.018328803298289394, + -0.046124646769546127, + 1.0 + ], + [ + -0.0026697173270185948, + -0.031037967824882162, + 0.0036861986788060824, + -0.011981444765513247, + 0.007958364079775616, + -0.08763888364549567, + 1.0 + ], + [ + -0.004393150420378078, + -0.031427273064208616, + 0.004751392906402002, + -0.007734324340314316, + -0.015145966453368761, + -0.08677338616132159, + 1.0 + ], + [ + -0.004888584325130507, + -0.029876037989089776, + 0.010269983202418329, + 0.007881230962564103, + -0.022811781628365436, + -0.07978975206077316, + 1.0 + ], + [ + -0.011545864222500757, + -0.019684544514412344, + 0.007458162044745101, + -0.0011849234095201357, + -0.010043424469622548, + -0.050303301851472686, + 1.0 + ], + [ + -0.01950877353191452, + -0.01756779366759889, + 0.0032865986297717226, + -0.01523255815969023, + -0.004801319332569609, + -0.05859951693205761, + 1.0 + ], + [ + -0.018243160926505658, + -0.017855155844620038, + -0.004428153125300316, + -0.007986584562541215, + 0.013953976803847485, + -0.06205383781623877, + 1.0 + ], + [ + -0.014522031596377327, + -0.018688425095986727, + -0.00981704199861995, + -0.025799745040465828, + 0.020572834721412192, + -0.06593786777274681, + 1.0 + ], + [ + -0.009757929861771347, + -0.019401582806532307, + -0.008615003098562946, + -0.03163309636530555, + 0.013171710076649563, + -0.06751002770376702, + 1.0 + ], + [ + -0.007879047178711546, + -0.01555920873877114, + -0.009733002560872714, + -0.04313150759434244, + 0.015613967040833369, + -0.05857118997665197, + 1.0 + ], + [ + -0.003049362833029673, + -0.010889697941882964, + -0.0038422883508548444, + 0.01233661300208856, + 0.037032910577829654, + -0.024304405347321745, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 279.9300537109375, + 106.52510833740234 + ], + [ + 280.09649658203125, + 110.28633880615234 + ], + [ + 285.61175537109375, + 127.43174743652344 + ], + [ + 295.6241455078125, + 151.11366271972656 + ], + [ + 294.5475769042969, + 167.53335571289062 + ], + [ + 296.4135437011719, + 181.81930541992188 + ], + [ + 300.23956298828125, + 192.8478546142578 + ], + [ + 300.99237060546875, + 198.05477905273438 + ], + [ + 302.83099365234375, + 202.95135498046875 + ], + [ + 304.311279296875, + 207.57249450683594 + ], + [ + 307.66748046875, + 212.24716186523438 + ], + [ + 307.5933837890625, + 219.43922424316406 + ], + [ + 307.68975830078125, + 220.42190551757812 + ], + [ + 310.4690856933594, + 219.47598266601562 + ], + [ + 310.4780578613281, + 216.02716064453125 + ], + [ + 303.1979064941406, + 213.79222106933594 + ], + [ + 295.5052490234375, + 195.94378662109375 + ], + [ + 287.6164245605469, + 177.98512268066406 + ], + [ + 276.4407043457031, + 161.43505859375 + ], + [ + 265.5984191894531, + 146.27291870117188 + ], + [ + 239.05673217773438, + 137.657958984375 + ], + [ + 203.08291625976562, + 128.2349395751953 + ], + [ + 162.3111572265625, + 111.96858978271484 + ], + [ + 120.10619354248047, + 103.77767944335938 + ], + [ + 81.27128601074219, + 104.19612121582031 + ], + [ + 59.09532165527344, + 114.41230010986328 + ], + [ + 44.710777282714844, + 126.8402099609375 + ], + [ + 42.111228942871094, + 141.90328979492188 + ], + [ + 46.98796463012695, + 154.156982421875 + ], + [ + 48.330543518066406, + 161.52450561523438 + ], + [ + 47.3105583190918, + 166.52877807617188 + ], + [ + 46.30072021484375, + 168.11976623535156 + ], + [ + 49.261173248291016, + 169.7161407470703 + ], + [ + 50.00156784057617, + 164.46249389648438 + ], + [ + 47.53476333618164, + 150.8798065185547 + ], + [ + 43.77021789550781, + 143.56336975097656 + ], + [ + 58.52192687988281, + 150.92782592773438 + ], + [ + 76.78662109375, + 159.3949432373047 + ], + [ + 100.98982238769531, + 160.2791748046875 + ], + [ + 107.34141540527344, + 169.37107849121094 + ], + [ + 104.8600082397461, + 191.3424072265625 + ], + [ + 104.86192321777344, + 220.74200439453125 + ], + [ + 113.04949951171875, + 259.89715576171875 + ], + [ + 129.48818969726562, + 296.5809326171875 + ], + [ + 143.9590606689453, + 332.22344970703125 + ], + [ + 159.1482696533203, + 349.2396240234375 + ], + [ + 160.25921630859375, + 350.20245361328125 + ] + ], + "depth_max": 1.964798927307129, + "depth_min": 0.19521783292293549, + "intrinsic": [ + [ + 466.77984619140625, + 0.0, + 259.0 + ], + [ + 0.0, + 466.7148742675781, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.122905607393477e-05, + -4.1961677197832614e-05, + -1.4446977729676291e-06 + ], + [ + -2.1230151105555706e-05, + 1.0, + -2.61384884652216e-05, + -3.272059984738007e-06 + ], + [ + 4.1961124225053936e-05, + 2.6139379770029336e-05, + 1.0, + 2.2075077140470967e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 39, + 42, + 46 + ], + "object_trajectory": [ + [ + 313.0, + 232.25001525878906 + ], + [ + 313.1645812988281, + 232.33328247070312 + ], + [ + 313.5235290527344, + 232.16012573242188 + ], + [ + 313.50457763671875, + 232.12109375 + ], + [ + 313.4638977050781, + 232.44825744628906 + ], + [ + 313.04638671875, + 232.5922088623047 + ], + [ + 313.29217529296875, + 232.14923095703125 + ], + [ + 313.44281005859375, + 231.90061950683594 + ], + [ + 313.10223388671875, + 231.7935333251953 + ], + [ + 312.2843933105469, + 233.16477966308594 + ], + [ + 310.4967041015625, + 231.69625854492188 + ], + [ + 308.3094787597656, + 231.33828735351562 + ], + [ + 307.473876953125, + 231.2674560546875 + ], + [ + 306.02264404296875, + 233.6260986328125 + ], + [ + 305.2196960449219, + 238.6267852783203 + ], + [ + 298.9948425292969, + 239.36021423339844 + ], + [ + 292.527587890625, + 226.58493041992188 + ], + [ + 284.05877685546875, + 211.07220458984375 + ], + [ + 274.37994384765625, + 198.90200805664062 + ], + [ + 267.1077880859375, + 188.08456420898438 + ], + [ + 243.644775390625, + 176.856201171875 + ], + [ + 209.70156860351562, + 169.01669311523438 + ], + [ + 174.1105194091797, + 152.30218505859375 + ], + [ + 135.9514923095703, + 143.18603515625 + ], + [ + 96.66483306884766, + 141.02569580078125 + ], + [ + 72.60388946533203, + 150.99749755859375 + ], + [ + 60.02415466308594, + 159.21609497070312 + ], + [ + 58.49638366699219, + 171.9187774658203 + ], + [ + 60.85658645629883, + 181.26495361328125 + ], + [ + 60.36771774291992, + 187.6396942138672 + ], + [ + 58.55119323730469, + 191.5086669921875 + ], + [ + 60.49227523803711, + 196.91964721679688 + ], + [ + 59.510520935058594, + 200.1090850830078 + ], + [ + 61.644287109375, + 197.81661987304688 + ], + [ + 61.87153625488281, + 197.81942749023438 + ], + [ + 60.661888122558594, + 200.6136474609375 + ], + [ + 60.84384536743164, + 200.5867156982422 + ], + [ + 61.759517669677734, + 197.45657348632812 + ], + [ + 60.67711639404297, + 200.21243286132812 + ], + [ + 62.88224411010742, + 199.04222106933594 + ], + [ + 64.15855407714844, + 201.72122192382812 + ], + [ + 70.74896240234375, + 206.2390899658203 + ], + [ + 69.5506820678711, + 204.20828247070312 + ], + [ + 66.64300537109375, + 202.98672485351562 + ], + [ + 69.02522277832031, + 200.08294677734375 + ], + [ + 55.06320571899414, + 195.58547973632812 + ], + [ + 55.929290771484375, + 195.5564727783203 + ] + ] +} \ No newline at end of file diff --git a/006327_v2/lang.txt b/006327_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..d34abf7d2bd7deddf313c2af9f53b4c9423b1a25 --- /dev/null +++ b/006327_v2/lang.txt @@ -0,0 +1 @@ +Take the orange thing out of the drawer diff --git a/006327_v2/object.ply b/006327_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..910105ba182beb1fec35721a0d17b1867390bee1 Binary files /dev/null and b/006327_v2/object.ply differ diff --git a/006332_v2/data.json b/006332_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..b6b23de7aa33ead365c4eb19958bc8d4c47b629b --- /dev/null +++ b/006332_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 18, + "action_end": 37, + "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, + 0.02344299999999999, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + [ + 3.293162409434558e-10, + 1.0303399106126321e-10, + -4.3461019505475207e-10, + -9.742006601331163e-09, + -8.119534086399277e-08, + 3.4513434874676756e-07, + 1.0 + ], + [ + 0.01377259764454361, + -0.012698645213005687, + -0.005224453012854555, + 0.0244184652277328, + 0.05546286702240756, + -0.10404714248943778, + 1.0 + ], + [ + 0.011467309462677433, + -0.0192600001553828, + -0.0148229282360543, + 0.07693185218074315, + 0.02626495873470335, + -0.08818272012913311, + 1.0 + ], + [ + 0.008754835516368437, + -0.01908074303883523, + -0.008261465044948985, + 0.013611793707880654, + -0.026666120304015616, + -0.06746845784439082, + 1.0 + ], + [ + 0.006321759324169923, + -0.017304894054142858, + -0.006771565976823851, + 0.0035131282963768136, + -0.05840562071894356, + -0.036192670604301244, + 1.0 + ], + [ + 0.0051690731151231295, + -0.016248530105634026, + -0.001831872557990541, + 0.007075204543152513, + -0.033551477320049344, + -0.03374668443756855, + 1.0 + ], + [ + 0.007915558421401264, + -0.015174488042562773, + 0.0006870523796708439, + -0.002650260680914459, + -0.036486390809559024, + -0.028103460556502046, + 1.0 + ], + [ + 0.008736638866915059, + -0.010661440688303006, + -0.004252104854547981, + 0.004555780864042891, + -0.009622508700988788, + -0.011788573959493238, + 1.0 + ], + [ + 0.010010172129865658, + -0.005293322863440517, + -0.0018252926118922097, + 0.00969247520174424, + -0.007547436920311038, + -0.0071047176011415775, + 1.0 + ], + [ + 0.010601330820933591, + -0.0008789488521087907, + -0.002248327969007355, + 0.004583377950482577, + -0.01222039069711474, + 0.006545361656474151, + 1.0 + ], + [ + 0.008283505277247194, + -0.00012771595994864882, + -0.001677713945892445, + 0.004297728178128698, + -0.010365888868274326, + -0.00021655579719876385, + 1.0 + ], + [ + 0.0055841906193320745, + 0.00010603270856204827, + -0.003137510405496327, + 0.004510986212772971, + -0.009246447959396295, + 0.009623432791596805, + 1.0 + ], + [ + 0.00387628054651723, + 0.00023372946511435178, + -0.004240605902300902, + 0.011934335864952506, + 0.0012644201267781733, + 0.004750689759397955, + 1.0 + ], + [ + 0.0018541054474497942, + -0.0003095047168528986, + -0.0063473282274166196, + 0.010162196266387933, + 0.007477574254174601, + -0.0005470833721643128, + 1.0 + ], + [ + 0.0010622441851295683, + 0.0003592744743479148, + -0.007969066658190124, + 0.01061130438781297, + 0.009029961466249228, + 0.0034234927893208255, + 1.0 + ], + [ + 0.0017203035058225846, + -0.0002222462307638895, + -0.006570911676876394, + 0.010792834579766366, + 0.00729986851089307, + 0.0005823354132513037, + 1.0 + ], + [ + 0.001070711459039364, + -0.0002146343913137505, + -0.005878680683495358, + 0.006177921932459259, + 0.00824870604584723, + 0.0009320359612036703, + 1.0 + ], + [ + 0.0007827336005640229, + 0.002410817425217898, + -0.005659342858505272, + 0.003426326483769352, + 0.01107728915936785, + 0.00420300132935202, + 1.0 + ], + [ + -0.001099203027393969, + 0.003546381525220299, + -0.004862767181305922, + -0.006569122322834078, + 0.013818718971835104, + 0.007551205066471272, + 0.02344299999999999 + ], + [ + -0.0015944565262138721, + 0.0021420401704493885, + 0.002586354969122167, + -0.007475453450045286, + 0.00039164463113149545, + 0.010124782629877817, + 0.0 + ], + [ + -0.0048387833024368665, + 0.0010736273435233978, + 0.008390850033140187, + -0.013568811446289537, + 0.0033667352056541795, + -0.014452930525533474, + 0.0 + ], + [ + -0.006649850189511808, + -0.0005827567465201133, + 0.01590380262045515, + -0.02594684310888117, + -0.014077679769218993, + -0.01019586200296434, + 0.0 + ], + [ + -0.010511092317560422, + 0.0019352307922903267, + 0.025013895299443638, + -0.07088819146557793, + 0.017960153365960612, + -0.0014064392655462779, + 0.0 + ], + [ + -0.006123764498608519, + 0.012090172856248416, + 0.01428858681406641, + -0.02243828723016551, + 0.016207573569339082, + 0.05783768021020868, + 0.0 + ], + [ + -0.0004485651420627623, + 0.022915683846599394, + 0.009795733309466287, + -0.036110232008941284, + 0.015688372416662745, + 0.10562270532988342, + 0.0 + ], + [ + 0.0034398125106826494, + 0.027051724190670756, + 0.01217668748509615, + -0.05082957317859157, + 0.016246115811263572, + 0.1021480109024911, + 0.0 + ], + [ + 0.003945750661867142, + 0.023196556095271652, + 0.015335548741658475, + -0.04321224472971456, + -0.0012108091424431872, + 0.09193199995100687, + 0.0 + ], + [ + 0.0013602430741183613, + 0.029656273355582144, + 0.019576861360213554, + -0.043602192163940935, + -0.014838207496468756, + 0.12321434108489628, + 0.0 + ], + [ + -0.0006851806602642951, + 0.021204763964132088, + 0.006910277293228545, + -0.014383460500540872, + -0.008673979273209002, + 0.08871948052746534, + 0.0 + ], + [ + 0.0024941498819831542, + 0.020115655264897992, + 0.0035227070054482668, + -0.011838744467531725, + -0.027704487238933383, + 0.1566181075703578, + 0.0 + ], + [ + 0.0044852175907788006, + 0.011291988267553406, + -0.007686526628195883, + 0.011470689438369363, + -0.023057362524462627, + 0.12144584117706973, + 0.0 + ], + [ + 0.008475736938332257, + 0.01324566867567517, + -0.008905215075594247, + -0.0007826423404897098, + 0.003245530403781895, + 0.09422252703336406, + 0.0 + ], + [ + 0.006299222502361701, + 0.011361190380460018, + -0.006032658876713726, + 0.012939458370696776, + -0.008596966832929695, + 0.07213631245525125, + 0.0 + ], + [ + 0.0028966484044602447, + 0.008135109532758533, + -0.005804112815838508, + 0.051401917581802604, + -0.01142025930951057, + 0.07403092910363598, + 0.0 + ], + [ + -0.00073911344739086, + 0.007996555406589154, + -0.0043337317890616844, + 0.0016723705647417259, + -0.004463904577047998, + 0.07032214489824946, + 0.0 + ], + [ + -0.003066681574527552, + 0.004940354984280651, + -0.005649665255135758, + -0.005020035254919685, + 0.007935209651230775, + 0.03527648669381444, + 0.0 + ], + [ + -0.004476286188214218, + 0.003741236383336774, + -0.0070314622684402445, + -0.014862672408489227, + 0.014962481087149477, + 0.047421290970862985, + 0.0 + ], + [ + -0.001092113943681805, + 0.001979624711628325, + -0.004248409688219171, + -0.0023164285790201198, + 0.010959442311229844, + 0.007879681242621563, + 0.0 + ], + [ + 0.000802483670152232, + 0.00038351463109206896, + -9.340172459305907e-05, + -0.009137121056815177, + 0.006618997304440725, + -0.019814577215124744, + 1.0 + ], + [ + 0.0036661285483726713, + -0.0006805557064872986, + 0.004231179868873919, + 0.013781231077825251, + -0.008475230368974249, + -0.07827627880094225, + 1.0 + ], + [ + 0.0029758392558598135, + -0.00026081316256118536, + 0.006673226127590595, + 0.005246358476923784, + 0.005782178546454846, + -0.05501406468260628, + 1.0 + ], + [ + 9.415645268961992e-05, + -0.0017899889358872073, + 0.014419785800790855, + -0.011947858194675297, + 0.03554484572173519, + -0.03653456106918134, + 1.0 + ], + [ + -0.002392140447174229, + -0.0027181746211683705, + 0.008127244337234635, + -0.008153155720355394, + 0.041511638773221296, + -0.013175972101510969, + 1.0 + ], + [ + -0.007254259819965969, + -0.0037458502405880306, + 0.009278996597891262, + 0.0016231258178851901, + 0.04055361269187851, + -0.002935468666133167, + 1.0 + ], + [ + -0.008225745552088826, + -0.004909446227104208, + 0.008441305167197516, + 0.005647104713629092, + -0.008986625543651173, + 9.930231988257393e-05, + 1.0 + ], + [ + -0.008778188156945366, + -0.00516858332307682, + 0.007585734140666933, + 0.02177129864374042, + -0.007040962871581185, + -0.009171320240112156, + 1.0 + ], + [ + -0.0068485066712623555, + -0.006333695487890645, + 0.010928304716139148, + 0.029594440091170692, + -0.00918551134692919, + -0.02954748600535312, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 212.81349182128906, + 242.81671142578125 + ], + [ + 213.70706176757812, + 247.8966827392578 + ], + [ + 247.34402465820312, + 254.139892578125 + ], + [ + 294.375244140625, + 267.1970520019531 + ], + [ + 334.50311279296875, + 284.9269104003906 + ], + [ + 368.74066162109375, + 300.8150634765625 + ], + [ + 396.4211120605469, + 315.04473876953125 + ], + [ + 427.9871826171875, + 316.460693359375 + ], + [ + 453.3074035644531, + 318.30023193359375 + ], + [ + 472.6034240722656, + 311.77227783203125 + ], + [ + 483.0176086425781, + 304.26141357421875 + ], + [ + 490.3489990234375, + 299.7305603027344 + ], + [ + 492.14093017578125, + 296.6273193359375 + ], + [ + 495.63592529296875, + 296.5647888183594 + ], + [ + 493.63177490234375, + 303.1041259765625 + ], + [ + 492.2550048828125, + 309.77294921875 + ], + [ + 492.55572509765625, + 315.036865234375 + ], + [ + 490.8705749511719, + 321.3123779296875 + ], + [ + 488.6207580566406, + 324.88262939453125 + ], + [ + 484.8836669921875, + 318.8619689941406 + ], + [ + 481.02545166015625, + 315.0975646972656 + ], + [ + 479.71551513671875, + 317.838134765625 + ], + [ + 477.72265625, + 306.5167541503906 + ], + [ + 470.16009521484375, + 288.6444091796875 + ], + [ + 452.19085693359375, + 268.1458435058594 + ], + [ + 420.305908203125, + 245.07632446289062 + ], + [ + 378.9564208984375, + 215.880126953125 + ], + [ + 343.97686767578125, + 196.1094970703125 + ], + [ + 301.661865234375, + 156.45376586914062 + ], + [ + 265.642333984375, + 137.1582794189453 + ], + [ + 239.1584930419922, + 118.81867980957031 + ], + [ + 224.31634521484375, + 111.88102722167969 + ], + [ + 216.2789306640625, + 114.54690551757812 + ], + [ + 209.53790283203125, + 118.11332702636719 + ], + [ + 195.60928344726562, + 116.18694305419922 + ], + [ + 189.75486755371094, + 122.75408172607422 + ], + [ + 184.30294799804688, + 129.71499633789062 + ], + [ + 177.97775268554688, + 140.25750732421875 + ], + [ + 176.1028289794922, + 146.9923095703125 + ], + [ + 181.26181030273438, + 152.1308135986328 + ], + [ + 188.60247802734375, + 150.59625244140625 + ], + [ + 190.9351806640625, + 140.04629516601562 + ], + [ + 183.91070556640625, + 118.90953826904297 + ], + [ + 178.97821044921875, + 106.7078628540039 + ], + [ + 172.4815673828125, + 104.55519104003906 + ], + [ + 168.95382690429688, + 94.34349060058594 + ], + [ + 163.34571838378906, + 89.02854919433594 + ], + [ + 159.31463623046875, + 81.47238159179688 + ] + ], + "depth_max": 1.8381352424621582, + "depth_min": 0.25159555673599243, + "intrinsic": [ + [ + 483.9562683105469, + 0.0, + 259.0 + ], + [ + 0.0, + 483.03497314453125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.144526898628101e-05, + 1.0361515705881175e-05, + -3.810019188676961e-05 + ], + [ + -7.144484698073938e-05, + 1.0, + -4.043989974888973e-05, + -5.2714607591042295e-05 + ], + [ + -1.0364404261054005e-05, + 4.043915760121308e-05, + 1.0, + -4.161045217188075e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 482.25, + 314.75 + ], + [ + 482.78094482421875, + 314.6910705566406 + ], + [ + 483.041748046875, + 314.8828125 + ], + [ + 482.98883056640625, + 314.85418701171875 + ], + [ + 483.12518310546875, + 314.72174072265625 + ], + [ + 483.10504150390625, + 314.9365234375 + ], + [ + 482.91278076171875, + 314.8802795410156 + ], + [ + 483.07647705078125, + 314.8770446777344 + ], + [ + 482.0260009765625, + 314.9145812988281 + ], + [ + 480.615478515625, + 314.8572692871094 + ], + [ + 480.51434326171875, + 314.40765380859375 + ], + [ + 480.52496337890625, + 313.77044677734375 + ], + [ + 480.79376220703125, + 313.22662353515625 + ], + [ + 481.016357421875, + 313.064208984375 + ], + [ + 481.4360656738281, + 312.9769287109375 + ], + [ + 481.60626220703125, + 313.220458984375 + ], + [ + 482.00897216796875, + 313.19598388671875 + ], + [ + 481.93890380859375, + 313.1947326660156 + ], + [ + 481.3819580078125, + 313.6741027832031 + ], + [ + 481.1135559082031, + 318.58746337890625 + ], + [ + 486.2875671386719, + 321.3521728515625 + ], + [ + 485.3280029296875, + 325.4390563964844 + ], + [ + 487.605712890625, + 314.93353271484375 + ], + [ + 472.55328369140625, + 301.6435546875 + ], + [ + 457.1805114746094, + 286.3087158203125 + ], + [ + 454.47802734375, + 263.1686096191406 + ], + [ + 420.6509704589844, + 233.79397583007812 + ], + [ + 371.21356201171875, + 215.8664093017578 + ], + [ + 316.83837890625, + 180.48817443847656 + ], + [ + 283.65899658203125, + 162.24884033203125 + ], + [ + 258.4637756347656, + 142.7102813720703 + ], + [ + 242.388427734375, + 135.9580078125 + ], + [ + 236.30679321289062, + 136.09381103515625 + ], + [ + 228.17185974121094, + 136.6058807373047 + ], + [ + 214.8583221435547, + 136.08749389648438 + ], + [ + 218.63243103027344, + 133.52606201171875 + ], + [ + 212.9250946044922, + 141.1566619873047 + ], + [ + 207.57081604003906, + 150.6208953857422 + ], + [ + 205.0117645263672, + 158.3817138671875 + ], + [ + 212.13296508789062, + 173.11557006835938 + ], + [ + 215.6181640625, + 178.9586639404297 + ], + [ + 209.57040405273438, + 184.19053649902344 + ], + [ + 211.2958221435547, + 181.93893432617188 + ], + [ + 211.60548400878906, + 181.74891662597656 + ], + [ + 211.84988403320312, + 182.0753631591797 + ], + [ + 212.1148223876953, + 181.73171997070312 + ], + [ + 211.51206970214844, + 181.92953491210938 + ], + [ + 210.75555419921875, + 182.46047973632812 + ] + ] +} \ No newline at end of file diff --git a/006332_v2/lang.txt b/006332_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..8ad8a52c34d8ead6b34d4bb67ab118b271108de7 --- /dev/null +++ b/006332_v2/lang.txt @@ -0,0 +1 @@ +take the banana and place it inside the drawer diff --git a/006348/FAIL b/006348/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/006348/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/006366_v2/data.json b/006366_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..8aa82a56022d145a892da10782797075460ab93b --- /dev/null +++ b/006366_v2/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 7, + "action_end": 17, + "object_name": "toy 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, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 2.057859438409082e-11, + -1.8050934358360138e-10, + 8.286968333770517e-11, + 3.2154394734433756e-07, + 3.5135001538248655e-08, + -2.457900107744426e-07, + 1.0 + ], + [ + 0.0020851509593691753, + -0.02239522640904218, + 0.034825664406505724, + -0.03694765143934204, + -0.0927010484295349, + -0.009427968047161107, + 1.0 + ], + [ + 0.0062557549313905225, + -0.033694061045241676, + 0.0340623407700697, + -0.05445051892506458, + -0.08272212493710186, + -0.06319382935065598, + 1.0 + ], + [ + 0.0049263978644929485, + -0.03798724522533639, + 0.015005446984440396, + -0.0445425408803324, + -0.0366157735057093, + -0.09520459387714766, + 1.0 + ], + [ + 0.004988649525096478, + -0.040698031847656246, + -0.009547559652931109, + -0.0072670490295908986, + 0.03024006625595169, + -0.11055180837251082, + 1.0 + ], + [ + 0.010426907387447615, + -0.025972449457032174, + -0.011957162585617798, + 0.029803574092010208, + 0.029165111537584748, + -0.04367880359433152, + 1.0 + ], + [ + 0.01237288128461378, + -0.015381675726145905, + -0.01357684595032041, + 0.04296132593775226, + 0.011882578864956672, + -0.00250201418966877, + 1.0 + ], + [ + 0.005495966084417492, + 0.006205372716166585, + -0.01670132219065326, + 0.030762073942731085, + 0.0477012538768731, + 0.020290633075107017, + 1.0 + ], + [ + 0.0013608990695660461, + 0.010931559105752511, + 0.006099261269894601, + -0.002604659369073513, + -0.01697121471433732, + 0.025820357604240212, + 0.0 + ], + [ + 0.000969355788725812, + 0.01943940957756142, + 0.013316044080036255, + -0.015367047918728127, + -0.027029016285291006, + 0.05192606032223613, + 0.0 + ], + [ + -0.0036756903883282677, + 0.04499139567370013, + 0.007979503401617905, + -0.024376685933330047, + -0.0018790906255187713, + 0.10610950365218559, + 0.0 + ], + [ + -0.021137809902247395, + 0.06211139530517751, + -0.0010181243902286363, + 0.05503301931090959, + -0.024964602848409678, + 0.022594637804109467, + 0.0 + ], + [ + -0.02013370203591275, + 0.06473346042083501, + -0.020830592601140285, + 0.04278196946373543, + 0.011321447702463239, + 0.03288867911269435, + 0.0 + ], + [ + -0.01656728716069994, + 0.06961694191772433, + -0.02735643345170352, + 0.06450411133995179, + 0.0004724663769778268, + 0.07508604018260637, + 0.0 + ], + [ + -0.007834238791095238, + 0.06480422621524468, + -0.02720028714652578, + 0.03570436553466343, + 0.011181464737574587, + 0.0637527820961079, + 0.0 + ], + [ + 0.00048126087344335655, + 0.03409780549751554, + -0.046946950893923076, + -0.052545138312358824, + 0.04788801329274799, + -0.024243996238758878, + 0.0 + ], + [ + 0.0025180329683114344, + 0.0016768284271859168, + -0.036438097267162926, + -0.006789769881479286, + 0.04647276581372208, + -0.05246882165227103, + 0.0 + ], + [ + -0.003173977651541371, + 0.003665149182311034, + -0.003862048887537821, + -0.0017332585922495989, + -0.005990851749351908, + -0.013560627050653836, + 0.0 + ], + [ + -0.004059392622189295, + 0.004500047535787005, + 0.03050522945463579, + 0.02735392575668094, + -0.0432336445693449, + 0.028142482873926088, + 1.0 + ], + [ + 0.0036933377126971423, + 0.0014307251674068044, + 0.03732511542181574, + -0.046321417563739524, + -0.028548310891440633, + 0.07977354149692976, + 1.0 + ], + [ + 0.004837982929173035, + -0.0063601217645163355, + 0.02181953274900659, + 0.005933234428955448, + -0.0009450293376294268, + 0.005618032150942977, + 1.0 + ], + [ + -0.001846520863771517, + -0.0026950979933559605, + -0.0017051247669207653, + 0.034386094995938726, + 0.06168242561432858, + -0.02956189797332582, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 275.4146728515625, + 78.20591735839844 + ], + [ + 276.10125732421875, + 84.6905746459961 + ], + [ + 290.0150451660156, + 82.15672302246094 + ], + [ + 321.9210510253906, + 44.69569396972656 + ], + [ + 375.736083984375, + 16.09972381591797 + ], + [ + 429.78955078125, + 17.3535099029541 + ], + [ + 485.1680603027344, + 48.2541389465332 + ], + [ + 509.083984375, + 62.715003967285156 + ], + [ + 520.8270263671875, + 85.7093276977539 + ], + [ + 505.6430969238281, + 85.12226867675781 + ], + [ + 479.51190185546875, + 74.61024475097656 + ], + [ + 436.7322082519531, + 44.697425842285156 + ], + [ + 359.8533630371094, + 42.922401428222656 + ], + [ + 285.7569580078125, + 49.76823806762695 + ], + [ + 213.04991149902344, + 81.7401351928711 + ], + [ + 162.8863525390625, + 99.70408630371094 + ], + [ + 135.59986877441406, + 140.33084106445312 + ], + [ + 131.58267211914062, + 158.51556396484375 + ], + [ + 133.77294921875, + 152.92782592773438 + ], + [ + 130.72328186035156, + 160.27810668945312 + ], + [ + 120.2389144897461, + 145.26007080078125 + ], + [ + 109.12728118896484, + 110.8830337524414 + ], + [ + 112.9791259765625, + 107.76760864257812 + ], + [ + 119.41219329833984, + 107.8458480834961 + ] + ], + "depth_max": 1.9798564910888672, + "depth_min": 0.47960856556892395, + "intrinsic": [ + [ + 454.43914794921875, + 0.0, + 259.0 + ], + [ + 0.0, + 453.6751403808594, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.243351966375485e-05, + -2.3594147933181375e-05, + -2.7265965400147252e-05 + ], + [ + -3.24342108797282e-05, + 1.0, + -2.9378265026025474e-05, + -3.783484498853795e-05 + ], + [ + 2.3593194782733917e-05, + 2.9379029001574963e-05, + 1.0, + 2.4634649889776483e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 517.75, + 81.25000762939453 + ], + [ + 518.0888061523438, + 81.12798309326172 + ], + [ + 518.2312622070312, + 81.21503448486328 + ], + [ + 518.1101684570312, + 81.32733154296875 + ], + [ + 518.3909912109375, + 81.07654571533203 + ], + [ + 518.5447387695312, + 80.92060089111328 + ], + [ + 518.8165893554688, + 79.54468536376953 + ], + [ + 519.8251953125, + 77.64556884765625 + ], + [ + 522.381591796875, + 77.77305603027344 + ], + [ + 515.8561401367188, + 79.02937316894531 + ], + [ + 488.0238342285156, + 69.57273864746094 + ], + [ + 444.53607177734375, + 49.17858123779297 + ], + [ + 379.07318115234375, + 38.35826110839844 + ], + [ + 313.11376953125, + 45.961204528808594 + ], + [ + 232.4503631591797, + 81.9692611694336 + ], + [ + 188.2322540283203, + 91.29315948486328 + ], + [ + 167.5836944580078, + 130.32998657226562 + ], + [ + 166.4361572265625, + 147.36590576171875 + ], + [ + 162.9141845703125, + 145.29843139648438 + ], + [ + 163.97555541992188, + 143.20077514648438 + ], + [ + 164.3748016357422, + 145.87973022460938 + ], + [ + 159.1732635498047, + 145.71139526367188 + ], + [ + 159.1846923828125, + 145.3010711669922 + ], + [ + 157.46572875976562, + 146.46119689941406 + ] + ] +} \ No newline at end of file diff --git a/006366_v2/lang.txt b/006366_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..7c049c79d3c009ba32f6cea79210d0a9ba286d70 --- /dev/null +++ b/006366_v2/lang.txt @@ -0,0 +1 @@ +move the toy banana to the left middle of the table diff --git a/006366_v2/object.ply b/006366_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..a88eab2ab54a5425e4c88e332676afab57785bf9 Binary files /dev/null and b/006366_v2/object.ply differ diff --git a/006368_v2/FAIL b/006368_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/006368_v2/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/006384/data.json b/006384/data.json new file mode 100644 index 0000000000000000000000000000000000000000..e24680ae2d29453ed0a0c60c606a3eda32c62178 --- /dev/null +++ b/006384/data.json @@ -0,0 +1,458 @@ +{ + "action_start": 6, + "action_end": 17, + "object_name": "carrot", + "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, + 0.36239299999999997, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.4226197997402323e-10, + -2.8395405644865424e-10, + 1.5835058264634938e-10, + -4.2110793799514955e-07, + -3.298039111796005e-07, + -3.7693279847959446e-07, + 1.0 + ], + [ + -0.00345543958054495, + 0.0008699355270898254, + -0.027290558019258337, + -0.007272244202707292, + 0.009903206931161933, + 0.04748495704271357, + 1.0 + ], + [ + -0.007977640131472868, + 0.002461146825453678, + -0.02711537479512882, + -0.047432141115714456, + -0.03745015968539651, + 0.03697460536674786, + 1.0 + ], + [ + -0.008790249994803101, + 0.0048554641889790185, + -0.022845304776822783, + -0.010557317186305006, + -0.04112470291547198, + 0.012612986960387314, + 1.0 + ], + [ + -0.0017746556938729452, + 0.003950487073173579, + -0.009718786399679658, + -0.030703663892262766, + -0.02728481509990239, + -0.0015310218773888732, + 1.0 + ], + [ + 0.0026251777963353373, + 0.000996364332544394, + -0.01103475599056497, + -0.047107009533762005, + -0.04478612661260553, + -0.009293508172992347, + 1.0 + ], + [ + 0.003989783596128393, + -0.004668079028536262, + -0.012872673792491351, + -0.044587606674724195, + -0.04625830561055569, + 0.010037136979193152, + 1.0 + ], + [ + 0.0014390145848258706, + -0.0047001638583662065, + -0.005072969574529455, + -0.019050335693744893, + -0.007230734323940139, + 0.015494301624681383, + 0.0 + ], + [ + -0.0028458152276335247, + -0.003980454272083748, + 0.0045587076032584245, + 0.002333833239513653, + 0.007944493805126514, + 0.01510681057941359, + 0.0 + ], + [ + -0.004444585615615976, + 0.006005701597629226, + 0.01841822180558459, + 0.06462360657185602, + 0.04766233659291889, + -0.011075479833225009, + 0.0 + ], + [ + 0.0021973601368605322, + 0.02393993579365526, + 0.027089931308547997, + 0.09739812258755344, + 0.05367136243464679, + -0.04505014402635322, + 0.0 + ], + [ + 0.009359404327972248, + 0.029514999739112934, + 0.010706966582340868, + 0.10186167173243527, + -0.030047509791421144, + -0.049362146277308845, + 0.0 + ], + [ + 0.009888221970923539, + 0.03008326475481259, + -0.0019222757033709736, + 0.019882086764199253, + -0.04951637573447881, + -0.05505530767453937, + 0.0 + ], + [ + 0.01091325463010584, + 0.03601207202841046, + -0.0032784221236822064, + 0.03916074257061604, + -0.020792792502499734, + -0.08216894117528233, + 0.0 + ], + [ + 0.01713629679687323, + 0.024213103734731678, + 0.0010921976129934369, + 0.020975899064219553, + -0.033394181327757996, + -0.06579137123478342, + 0.0 + ], + [ + 0.01728736994701241, + 0.0173428978036973, + 0.0009600516377074597, + 0.02844343014372795, + -0.01820473314649187, + -0.06832755856586759, + 0.0 + ], + [ + 0.009470532655534436, + 0.012813156620248428, + -0.0012382489837125116, + 0.02842205719474755, + -0.02905444837014838, + -0.07097090560584599, + 0.0 + ], + [ + 0.0063759083883875856, + 0.009163501615368205, + -0.0003470091301788075, + -0.035846046619357315, + -0.017058941793658022, + -0.07413164385320054, + 0.36239299999999997 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 310.99066162109375, + 84.40876770019531 + ], + [ + 309.88787841796875, + 92.69820404052734 + ], + [ + 304.611328125, + 143.5702362060547 + ], + [ + 293.5472412109375, + 197.27447509765625 + ], + [ + 277.0032653808594, + 234.787841796875 + ], + [ + 270.3809814453125, + 249.25111389160156 + ], + [ + 270.6834716796875, + 257.24365234375 + ], + [ + 279.1351318359375, + 266.21160888671875 + ], + [ + 285.74761962890625, + 270.3502197265625 + ], + [ + 285.98583984375, + 276.23565673828125 + ], + [ + 271.1960754394531, + 260.218994140625 + ], + [ + 253.24819946289062, + 212.80239868164062 + ], + [ + 221.38534545898438, + 178.49560546875 + ], + [ + 191.15621948242188, + 158.02069091796875 + ], + [ + 165.970458984375, + 137.27944946289062 + ], + [ + 152.6491241455078, + 110.08723449707031 + ], + [ + 155.23046875, + 95.20320892333984 + ], + [ + 152.27792358398438, + 86.3887710571289 + ], + [ + 139.25048828125, + 79.63377380371094 + ], + [ + 138.25363159179688, + 82.11664581298828 + ], + [ + 139.06629943847656, + 81.39697265625 + ], + [ + 138.48709106445312, + 81.04629516601562 + ] + ], + "depth_max": 1.833627462387085, + "depth_min": 0.2924012243747711, + "intrinsic": [ + [ + 518.9061889648438, + 0.0, + 259.0 + ], + [ + 0.0, + 519.193115234375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -4.553126927930862e-06, + -7.121096859918907e-05, + 8.763108780840412e-06 + ], + [ + 4.553851795208175e-06, + 1.0, + 1.018494731397368e-05, + -6.921474778209813e-06 + ], + [ + 7.121092494344339e-05, + -1.0185271094087511e-05, + 1.0, + -2.631171628308948e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21 + ], + "object_trajectory": [ + [ + 272.0, + 293.0 + ], + [ + 272.22491455078125, + 292.8153381347656 + ], + [ + 272.3297119140625, + 292.8865966796875 + ], + [ + 272.3271484375, + 292.5076599121094 + ], + [ + 272.2315979003906, + 292.8555603027344 + ], + [ + 271.78118896484375, + 293.11993408203125 + ], + [ + 272.5223388671875, + 293.07806396484375 + ], + [ + 272.7189636230469, + 292.8965759277344 + ], + [ + 272.97412109375, + 293.01361083984375 + ], + [ + 273.85943603515625, + 302.89837646484375 + ], + [ + 257.4755859375, + 290.0777893066406 + ], + [ + 236.1201171875, + 249.57339477539062 + ], + [ + 208.4667510986328, + 212.40313720703125 + ], + [ + 181.69149780273438, + 188.62399291992188 + ], + [ + 157.15914916992188, + 174.54949951171875 + ], + [ + 146.34121704101562, + 147.08848571777344 + ], + [ + 156.32652282714844, + 135.5450897216797 + ], + [ + 152.82493591308594, + 126.67668151855469 + ], + [ + 153.98716735839844, + 119.8277587890625 + ], + [ + 145.0423583984375, + 141.0862579345703 + ], + [ + 155.98782348632812, + 144.44613647460938 + ], + [ + 153.85311889648438, + 148.6353759765625 + ] + ] +} \ No newline at end of file diff --git a/006384/lang.txt b/006384/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..4eaef1bd41497a34a472bf655452e411a70d9e9f --- /dev/null +++ b/006384/lang.txt @@ -0,0 +1 @@ +put carrot in bowl diff --git a/006384/object.ply b/006384/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..2e09c7f9d3e7dacc928711081b9ff72e33514929 Binary files /dev/null and b/006384/object.ply differ diff --git a/006386_v2/data.json b/006386_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..46da10b6635acbab2fd94f673942a70515890010 --- /dev/null +++ b/006386_v2/data.json @@ -0,0 +1,513 @@ +{ + "action_start": 7, + "action_end": 18, + "object_name": "tomato", + "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, + 0.6522589999999999, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.7755575615628914e-17, + 0.0, + 1.3877787807814457e-17, + 2.996399674301874e-07, + 5.507213788352273e-07, + 1.6037078954493144e-08, + 1.0 + ], + [ + 0.02588222727023956, + -0.04050181147014509, + 0.0032109891363701487, + -0.05638945175361244, + -0.04957641908783518, + -0.0457729613975481, + 1.0 + ], + [ + 0.02739940577862149, + -0.03990487061393802, + -0.0023818024332808857, + -0.022182071595090322, + -0.03331704477544613, + -0.028976103399126377, + 1.0 + ], + [ + 0.02015036504989126, + -0.023970859006400877, + -0.006141455577648114, + 0.028722737436876353, + 0.01193898739520327, + 0.00533700428764399, + 1.0 + ], + [ + 0.014840915001661736, + -0.004602998442061704, + -0.02048401521639076, + 0.049229380648407005, + 0.06551579382458439, + 0.073241999700428, + 1.0 + ], + [ + 0.009550658944580903, + -0.004201199441649789, + -0.023997755208420075, + 0.022358729801929815, + 0.056380138203695876, + 0.015635160286661936, + 1.0 + ], + [ + 0.004251773028467409, + -0.005396898663293015, + -0.010852946850913585, + 0.005863170112967019, + 0.019313586511650837, + -0.001669295953159778, + 1.0 + ], + [ + -0.005877623054383052, + -0.0029256235099365535, + -0.000716666949037395, + -0.011046372691278599, + -0.007578120578915771, + -0.0029433945778529515, + 1.0 + ], + [ + -0.005367160344228128, + -0.0033606300842277184, + 0.00990218659462036, + -0.018795825040979923, + -0.044073069088394035, + -0.015705081446255282, + 0.0 + ], + [ + 0.00045074870002159706, + -0.0024921234838007136, + 0.006289530990828865, + -0.0009866918600947509, + -0.03335994873237482, + -0.00971954909197284, + 0.0 + ], + [ + 0.0008136832917811088, + -0.004806565737931111, + 0.014284910748444159, + -0.013321644415096166, + -0.04475818402774957, + -0.026717596376822396, + 0.0 + ], + [ + 0.00897921395077017, + -0.025574415561049196, + 0.04190861289545281, + -0.03542882031966381, + -0.10122779703293519, + -0.1051970044613792, + 0.0 + ], + [ + 0.016755347013983124, + -0.02972506294868746, + 0.03217020244148698, + -0.009418950425667236, + -0.07403870608393141, + -0.12899332107265002, + 0.0 + ], + [ + 0.02168173480823271, + -0.028922953797430966, + 0.010949682495266733, + 0.020440589391896465, + -0.02301128412481787, + -0.09113151508255307, + 0.0 + ], + [ + 0.021067955230863633, + -0.022550852087966197, + 0.00017387157005790965, + 0.0313439401768417, + -0.0022956496168635926, + -0.07628086811851356, + 0.0 + ], + [ + 0.015205253093834303, + -0.012486110931957159, + 0.0018849016798345164, + 0.004052058595966196, + 0.020576025231186224, + -0.061119962389764665, + 0.0 + ], + [ + 0.0008371145389644008, + -0.0010559114455002405, + -0.006191269302254776, + 0.013229382689223565, + 0.018655842515934214, + -0.018546142005959988, + 0.0 + ], + [ + -0.00036313279451694047, + 0.001758778591788801, + -0.0021592738795124244, + 0.010663599672978648, + 0.009435593042943346, + 0.0022551010168955664, + 0.0 + ], + [ + 0.0021329005630638664, + 0.0022698640491619626, + 0.000679120506601183, + -0.026544438193354784, + 0.02442296136118346, + 0.00818205097101276, + 0.6522589999999999 + ], + [ + 0.0034944148790490015, + 9.713586218405845e-05, + -0.001613470528312927, + 0.027001397473191777, + -0.0028802339900042733, + 0.03102400009038492, + 1.0 + ], + [ + -0.018382290246803823, + 0.003641787331987542, + 0.0324106137577265, + -0.05232131964093238, + -0.002125245542246364, + -0.00022969880226678243, + 1.0 + ], + [ + -0.013727760365448649, + 0.009255040127716982, + 0.018714194811934037, + -0.00905095775797915, + -0.006058333768893485, + 0.03155264835792169, + 1.0 + ], + [ + -0.01093819678001845, + 0.008563541305992725, + 0.006540354173105556, + 0.0019688222734210665, + 0.022454932636505345, + 0.06420761907034574, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 41.9312744140625, + 161.2994384765625 + ], + [ + 42.74013900756836, + 166.23764038085938 + ], + [ + 70.06941986083984, + 172.3459930419922 + ], + [ + 148.0635223388672, + 167.54229736328125 + ], + [ + 206.65122985839844, + 168.58258056640625 + ], + [ + 233.69082641601562, + 176.28321838378906 + ], + [ + 252.47178649902344, + 196.02838134765625 + ], + [ + 259.8267517089844, + 208.96966552734375 + ], + [ + 266.1239318847656, + 215.38360595703125 + ], + [ + 264.9772644042969, + 221.536865234375 + ], + [ + 263.50469970703125, + 213.59275817871094 + ], + [ + 265.01336669921875, + 202.9482421875 + ], + [ + 283.0562744140625, + 176.7604522705078 + ], + [ + 327.85894775390625, + 129.111572265625 + ], + [ + 382.70819091796875, + 94.1316909790039 + ], + [ + 437.1327819824219, + 86.25874328613281 + ], + [ + 470.8470764160156, + 77.90158081054688 + ], + [ + 477.736328125, + 81.6159896850586 + ], + [ + 474.7801513671875, + 82.31550598144531 + ], + [ + 479.82659912109375, + 83.25747680664062 + ], + [ + 478.64007568359375, + 82.67770385742188 + ], + [ + 480.19110107421875, + 80.69537353515625 + ], + [ + 469.0015869140625, + 34.22422409057617 + ], + [ + 449.58892822265625, + 28.062660217285156 + ], + [ + 444.2168273925781, + 27.756858825683594 + ] + ], + "depth_max": 2.2019550800323486, + "depth_min": 0.45787134766578674, + "intrinsic": [ + [ + 476.5122375488281, + 0.0, + 259.0 + ], + [ + 0.0, + 475.8646240234375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.614947127061896e-05, + -8.240976967499591e-06, + -1.0906153875112068e-05 + ], + [ + -3.614980596466921e-05, + 1.0, + -4.075891774846241e-05, + -2.7296566258883104e-05 + ], + [ + 8.23950358608272e-06, + 4.075921606272459e-05, + 1.0, + -2.148842395399697e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24 + ], + "object_trajectory": [ + [ + 270.5, + 222.25 + ], + [ + 270.77301025390625, + 222.4243621826172 + ], + [ + 270.7960510253906, + 222.26895141601562 + ], + [ + 270.81719970703125, + 222.27215576171875 + ], + [ + 270.6570739746094, + 222.2696990966797 + ], + [ + 270.5714111328125, + 222.39984130859375 + ], + [ + 269.4237976074219, + 222.4359130859375 + ], + [ + 257.33740234375, + 220.879150390625 + ], + [ + 262.7119140625, + 225.99530029296875 + ], + [ + 265.76910400390625, + 224.98809814453125 + ], + [ + 264.65008544921875, + 216.62977600097656 + ], + [ + 266.68243408203125, + 206.5033721923828 + ], + [ + 283.763671875, + 180.12841796875 + ], + [ + 328.12554931640625, + 132.715087890625 + ], + [ + 380.92864990234375, + 97.89195251464844 + ], + [ + 436.86102294921875, + 90.62004089355469 + ], + [ + 470.4579772949219, + 82.09952545166016 + ], + [ + 476.23046875, + 86.2823486328125 + ], + [ + 473.7326354980469, + 87.25061798095703 + ], + [ + 478.14208984375, + 87.7278060913086 + ], + [ + 477.4825744628906, + 82.40926361083984 + ], + [ + 485.1101989746094, + 74.68795013427734 + ], + [ + 508.7166748046875, + 91.8163833618164 + ], + [ + 497.8438415527344, + 83.00570678710938 + ], + [ + 511.9339599609375, + 84.51638793945312 + ] + ] +} \ No newline at end of file diff --git a/006386_v2/lang.txt b/006386_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..64999ebc528e5c80d40ede698221fd68138d0049 --- /dev/null +++ b/006386_v2/lang.txt @@ -0,0 +1 @@ +put the tomato on top of the drawer diff --git a/006386_v2/object.ply b/006386_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..40c9cd3932129809a534a9dcc63c919fc56153ec Binary files /dev/null and b/006386_v2/object.ply differ diff --git a/006397_v2/data.json b/006397_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..70ff689b4bcdb11c76ca9cfdfe37c67510532f57 --- /dev/null +++ b/006397_v2/data.json @@ -0,0 +1,549 @@ +{ + "action_start": 8, + "action_end": 20, + "object_name": "pink toy", + "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 + ], + "gripper_actions": [ + [ + 1.3933088016671036e-10, + 2.001122600958638e-10, + 6.561305943009188e-10, + 1.4840982443616777e-07, + -4.218000767875435e-07, + 1.5931102891298204e-07, + 1.0 + ], + [ + 0.02996119919555451, + 0.03334410916271717, + 0.008185233688017851, + -0.03425021056283582, + -0.02797136136755593, + 0.03685599732881704, + 1.0 + ], + [ + 0.02313319209443765, + 0.02567419408135703, + 0.000201906520738232, + 0.015421068556567477, + -0.039441389311359806, + 0.023348962069110683, + 1.0 + ], + [ + 0.027164140541613035, + 0.043847782997249396, + -0.01132224752915878, + 0.0572582041752916, + -0.021626306464377142, + -0.002778247180753611, + 1.0 + ], + [ + 0.009249887217391839, + 0.017239189755335255, + -0.012256518221406665, + 0.06236587780395804, + 0.017881180850721712, + -0.024984254889146126, + 1.0 + ], + [ + 0.00879287391698641, + 0.009360263848292277, + -0.02289136676012732, + 0.0005992937297798032, + 0.05972435458829197, + -0.0256556286161678, + 1.0 + ], + [ + -0.0011858022132025803, + 0.0002739051492931799, + -0.018796016837564773, + -0.001915673279535281, + 0.05289829701369957, + -0.025485822789623587, + 1.0 + ], + [ + -0.0028420997862875774, + -0.001884312026128987, + -0.017450069208419017, + 5.281364374555243e-05, + 0.05415036685750288, + 0.00847835586789798, + 1.0 + ], + [ + -0.00017243985254877803, + -0.0017890876589232718, + -0.005070131865033762, + 0.0026506231118817725, + 0.01870857476436395, + 0.017151043597706712, + 1.0 + ], + [ + -3.375296774410508e-06, + -0.002240161238131866, + 0.0067578197797374395, + 0.0026076263991280384, + -0.02121443420881539, + 0.01043268947926602, + 0.0 + ], + [ + -0.00018509777695779883, + -0.002622596607184613, + 0.00984710469445002, + 0.00023175055994270364, + -0.02578492556364571, + 0.0002746643855548618, + 0.0 + ], + [ + -0.0031479422871472096, + -0.003086978580141675, + 0.008854081966780631, + -0.011211846830638668, + -0.010560811306382884, + 0.004208684628188189, + 0.0 + ], + [ + -0.0044394811364882325, + -0.02197998680765967, + 0.04313275834990191, + -0.0283476987040653, + -0.05360709369251274, + 0.04287027121310492, + 0.0 + ], + [ + -0.0027936046488371002, + -0.04614238437781104, + 0.051065340773689405, + -0.019820564093801663, + -0.102974750766249, + -0.011353941287104935, + 0.0 + ], + [ + -0.007560479741770265, + -0.04607720342460303, + 0.016961410405638006, + -0.004921272241690192, + -0.03781349229913598, + -0.04912395900023934, + 0.0 + ], + [ + -0.00325496394570568, + -0.0484677281373901, + -0.0005936675657617352, + 0.021291488570115355, + 0.009686216999190983, + -0.10419189267059092, + 0.0 + ], + [ + -0.009354035270814354, + -0.03590350206489641, + -0.005224933030635925, + 0.037586778431972265, + 0.02687214084947045, + -0.08021446380686058, + 0.0 + ], + [ + -0.011665185216503338, + -0.01504208870121905, + -0.01939647832581562, + -0.004904697463327689, + 0.06293775913658371, + -0.009670587691761545, + 0.0 + ], + [ + -0.012744457983716095, + -0.0004652241810772194, + -0.018153677515001715, + -0.006861831992234469, + 0.05567217976224184, + 0.008235296400166776, + 0.0 + ], + [ + -0.016705154666987243, + -0.0015738132945174697, + -0.013529025071193149, + 0.0022863904009292097, + 0.05053975030436012, + -0.0020181040563165917, + 0.0 + ], + [ + -0.010842664479524977, + -0.0035055166737609188, + -0.017439538465103863, + 0.006283367038345466, + 0.05446403629855331, + 0.005293475432096874, + 0.0 + ], + [ + 0.0012801770031925508, + 0.0008623275834294467, + 0.0012933693616801606, + 0.01377967085126954, + -0.018643736545012116, + 0.05526122161021932, + 1.0 + ], + [ + 0.0033285151708291605, + 0.0001235804309515677, + 0.020031152805095154, + 0.009980132387549252, + -0.06581324015294647, + 0.018222607313506327, + 1.0 + ], + [ + -0.0011502879130858568, + 0.0029333110830701975, + 0.025024762197259964, + -0.0004050745908645152, + -0.06840500469509087, + 0.009711431702591557, + 1.0 + ], + [ + -0.002119954653218681, + 0.0028157272181148912, + 0.011963251321077839, + -0.05613770373586765, + 0.00026094338080022075, + -0.05798502174843425, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 173.9354248046875, + 89.74356842041016 + ], + [ + 175.14056396484375, + 94.14239501953125 + ], + [ + 182.9853973388672, + 79.40866088867188 + ], + [ + 163.1481475830078, + 53.23744201660156 + ], + [ + 160.2049560546875, + 41.90189743041992 + ], + [ + 140.0338592529297, + 44.59621810913086 + ], + [ + 143.7075958251953, + 58.29960250854492 + ], + [ + 145.53134155273438, + 79.54537963867188 + ], + [ + 151.89608764648438, + 102.22152709960938 + ], + [ + 151.81553649902344, + 101.95700073242188 + ], + [ + 151.7235870361328, + 102.20813751220703 + ], + [ + 153.25177001953125, + 103.32032775878906 + ], + [ + 153.3287353515625, + 101.30235290527344 + ], + [ + 153.96217346191406, + 73.80364227294922 + ], + [ + 174.27008056640625, + 25.426433563232422 + ], + [ + 204.5232696533203, + 12.670273780822754 + ], + [ + 254.76666259765625, + 19.41166877746582 + ], + [ + 289.941162109375, + 33.459068298339844 + ], + [ + 316.5909423828125, + 67.59722900390625 + ], + [ + 313.9533386230469, + 101.04225158691406 + ], + [ + 303.9981384277344, + 136.29052734375 + ], + [ + 297.08056640625, + 157.34561157226562 + ], + [ + 300.02117919921875, + 159.8328399658203 + ], + [ + 298.27288818359375, + 148.68218994140625 + ], + [ + 296.5181884765625, + 114.0756607055664 + ], + [ + 296.353515625, + 95.04367065429688 + ], + [ + 287.5978698730469, + 87.69498443603516 + ] + ], + "depth_max": 2.3170700073242188, + "depth_min": 0.3125079572200775, + "intrinsic": [ + [ + 471.824951171875, + 0.0, + 259.0 + ], + [ + 0.0, + 470.128662109375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.225099862902425e-05, + -8.420380618190393e-05, + -3.262111931690015e-05 + ], + [ + -3.2253232348011807e-05, + 1.0, + -2.6516318030189723e-05, + -2.2623256882070564e-05 + ], + [ + 8.420294761890545e-05, + 2.6519031962379813e-05, + 1.0, + 5.1388338761171326e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 26 + ], + "object_trajectory": [ + [ + 145.75, + 112.75 + ], + [ + 151.13565063476562, + 113.59487915039062 + ], + [ + 148.381103515625, + 117.01712036132812 + ], + [ + 138.26458740234375, + 112.23774719238281 + ], + [ + 138.2926483154297, + 112.31672668457031 + ], + [ + 138.3227081298828, + 112.22682189941406 + ], + [ + 131.08175659179688, + 117.3581771850586 + ], + [ + 131.57469177246094, + 121.76803588867188 + ], + [ + 134.43994140625, + 115.44279479980469 + ], + [ + 134.14903259277344, + 115.48126220703125 + ], + [ + 138.99501037597656, + 116.06015014648438 + ], + [ + 146.64712524414062, + 117.75309753417969 + ], + [ + 152.629150390625, + 117.3999252319336 + ], + [ + 158.0194549560547, + 95.59993743896484 + ], + [ + 175.68080139160156, + 55.000205993652344 + ], + [ + 204.3789520263672, + 30.886825561523438 + ], + [ + 246.0308074951172, + 43.59162902832031 + ], + [ + 287.0353698730469, + 68.11795043945312 + ], + [ + 309.8260803222656, + 98.97098541259766 + ], + [ + 312.06402587890625, + 128.95462036132812 + ], + [ + 297.5032958984375, + 160.78831481933594 + ], + [ + 289.3850402832031, + 182.00921630859375 + ], + [ + 289.162841796875, + 184.68771362304688 + ], + [ + 301.9496765136719, + 199.28482055664062 + ], + [ + 298.5283508300781, + 190.25131225585938 + ], + [ + 295.72369384765625, + 189.11778259277344 + ], + [ + 294.1233215332031, + 186.91488647460938 + ] + ] +} \ No newline at end of file diff --git a/006397_v2/lang.txt b/006397_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..578d076ae9687aaad07df3eff24066e31f59607d --- /dev/null +++ b/006397_v2/lang.txt @@ -0,0 +1 @@ +put the pink toy in the drawer diff --git a/006397_v2/object.ply b/006397_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..c4d5372cb4ac84ba6bead4c321acc2213761191d Binary files /dev/null and b/006397_v2/object.ply differ diff --git a/006422/FAIL b/006422/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/006422/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/006425_v2/data.json b/006425_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..51dde509a29c9fe7f3610e32fa21123a1fc258fc --- /dev/null +++ b/006425_v2/data.json @@ -0,0 +1,458 @@ +{ + "action_start": 7, + "action_end": 14, + "object_name": "blue toy", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.363858, + 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, + 1.3877787807814457e-17, + -1.0769450486353475e-07, + -7.168265481250099e-08, + -3.88557755188347e-08, + 1.0 + ], + [ + 0.014646682585242321, + 0.018004325617475336, + 0.0009090462071063704, + -0.0023710873181820627, + -0.031958621233998424, + 0.023875669855807642, + 1.0 + ], + [ + 0.01874168810460669, + 0.020820651237447974, + 0.0006287129546741765, + 0.009506632881511061, + -0.01797695031672377, + 0.036472925611699535, + 1.0 + ], + [ + 0.018347841369377116, + 0.014618015002867094, + -0.007961870375157026, + 0.00018676098156061608, + -0.01962891576099512, + 0.026208966950523445, + 1.0 + ], + [ + 0.011850629447357597, + 0.0008465938402030526, + -0.02095446294117312, + 0.006097181737246762, + 0.043745994230342505, + -0.009540877848731841, + 1.0 + ], + [ + 0.0062557954522593495, + -0.002073700457962291, + -0.022284282138044315, + 0.010801687724031893, + 0.026546688077349515, + 0.003196139321895678, + 1.0 + ], + [ + 0.00391769749742471, + 0.0007182044522618114, + -0.020320585323690625, + -0.006050670883522741, + 0.04097455429138502, + 0.009999316112832654, + 1.0 + ], + [ + 1.970072147372548e-05, + -0.0007151001102227716, + -0.005208029996631006, + -0.006707536650915469, + 0.011301668199374976, + 0.0013763981859548262, + 0.363858 + ], + [ + -0.00016750370279305926, + 0.0012405450845777433, + 0.010908154695157355, + 0.004047049326281641, + -0.021050938289670952, + 0.008524979954847689, + 0.0 + ], + [ + -0.005033413980749024, + 0.015534833880645277, + 0.027985893966312507, + 0.010590543129994875, + -0.05662456725929675, + 0.04729641127237429, + 0.0 + ], + [ + -0.004965023642481803, + 0.030544943112242956, + 0.029405637599040975, + 0.008850039007322136, + -0.06668642879561244, + 0.06367253674580305, + 0.0 + ], + [ + -0.0031854968100977765, + 0.03624960573840802, + 0.006829134161700945, + 0.015778104754490523, + -0.01056049204155549, + 0.055109426875334884, + 0.0 + ], + [ + -0.0066818247358600424, + 0.028612538020922867, + -0.012911854808175624, + -0.007327998522617351, + 0.030654834328754984, + 0.05489017982819925, + 0.0 + ], + [ + 0.0012573854463657774, + 0.012620549122971447, + -0.02478484569988805, + -0.009175415967515388, + 0.06988241302265562, + 0.01821017305516156, + 0.0 + ], + [ + 0.002199322752926114, + 0.0072839479820913655, + -0.02633993594045632, + -0.02288063206154155, + 0.05100490850092971, + -0.005619402123436906, + 0.0 + ], + [ + 0.0002749343435494711, + 0.0013339528587043015, + -0.0035799861372565293, + -0.026808634088640114, + 0.004871838675948146, + -0.006973682192503013, + 1.0 + ], + [ + -0.0003103161517669095, + -0.008375431621931273, + 0.018902303809016606, + 0.008424477353508044, + -0.02084134579333969, + -0.02348120393061104, + 1.0 + ], + [ + 0.0034127258475196154, + -0.010075351976688796, + 0.03696249789539609, + 0.022047117835297125, + -0.07457073694907727, + -0.037966737153724985, + 1.0 + ], + [ + 0.002021345379499051, + -0.013552439056862431, + 0.03377231800558054, + 0.017985803128843545, + -0.05108698142744725, + -0.06674302031103556, + 1.0 + ], + [ + -0.0034150440047786557, + -0.012560050895408237, + 0.012968542615748757, + 0.007408793930909817, + -0.003915621413541778, + -0.07013914785350546, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 198.46963500976562, + 139.48382568359375 + ], + [ + 200.20401000976562, + 147.04586791992188 + ], + [ + 201.64891052246094, + 143.57598876953125 + ], + [ + 189.9180145263672, + 122.65835571289062 + ], + [ + 187.64566040039062, + 114.16865539550781 + ], + [ + 190.96702575683594, + 121.46005249023438 + ], + [ + 203.34783935546875, + 139.5126495361328 + ], + [ + 212.505126953125, + 161.2219696044922 + ], + [ + 213.3116455078125, + 164.97756958007812 + ], + [ + 213.9311065673828, + 164.56671142578125 + ], + [ + 207.42312622070312, + 151.12184143066406 + ], + [ + 169.98272705078125, + 116.72572326660156 + ], + [ + 131.5582275390625, + 90.04717254638672 + ], + [ + 95.4244384765625, + 87.0765380859375 + ], + [ + 81.9415512084961, + 108.02680969238281 + ], + [ + 93.11385345458984, + 134.9056396484375 + ], + [ + 95.08333587646484, + 135.62025451660156 + ], + [ + 95.70870971679688, + 138.54586791992188 + ], + [ + 93.60023498535156, + 116.93257141113281 + ], + [ + 86.30316162109375, + 71.24676513671875 + ], + [ + 91.59215545654297, + 57.84727478027344 + ], + [ + 92.54348754882812, + 52.15910720825195 + ] + ], + "depth_max": 1.9694852828979492, + "depth_min": 0.49960994720458984, + "intrinsic": [ + [ + 474.48394775390625, + 0.0, + 259.0 + ], + [ + 0.0, + 473.73211669921875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.353657691855915e-05, + -2.7671536372508854e-05, + -1.3494207451003604e-05 + ], + [ + -2.3538374080089852e-05, + 1.0, + -6.494989793282002e-05, + -2.804319592542015e-06 + ], + [ + 2.7670008421409875e-05, + 6.49505527690053e-05, + 1.0, + 3.2163115974981338e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21 + ], + "object_trajectory": [ + [ + 224.0, + 192.25 + ], + [ + 224.25131225585938, + 192.7673797607422 + ], + [ + 224.357177734375, + 192.7803955078125 + ], + [ + 218.97003173828125, + 191.80838012695312 + ], + [ + 219.0384063720703, + 191.63111877441406 + ], + [ + 219.05044555664062, + 191.57664489746094 + ], + [ + 224.3242950439453, + 192.37191772460938 + ], + [ + 227.6021270751953, + 192.5220489501953 + ], + [ + 230.9599609375, + 188.891357421875 + ], + [ + 228.4027557373047, + 189.22064208984375 + ], + [ + 221.31512451171875, + 177.67431640625 + ], + [ + 186.67257690429688, + 145.28933715820312 + ], + [ + 149.52127075195312, + 118.12504577636719 + ], + [ + 114.61811828613281, + 119.55050659179688 + ], + [ + 100.10855102539062, + 135.43435668945312 + ], + [ + 109.1484146118164, + 159.48153686523438 + ], + [ + 112.03168487548828, + 159.4580078125 + ], + [ + 114.7202377319336, + 159.68959045410156 + ], + [ + 111.07592010498047, + 161.39593505859375 + ], + [ + 108.36231994628906, + 162.8168182373047 + ], + [ + 108.39796447753906, + 162.75186157226562 + ], + [ + 108.48880767822266, + 162.89854431152344 + ] + ] +} \ No newline at end of file diff --git a/006425_v2/lang.txt b/006425_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..361e72d8c01f50353a3ccddc0e311b04fefbe5bf --- /dev/null +++ b/006425_v2/lang.txt @@ -0,0 +1 @@ +move the blue toy to the right side of the table diff --git a/006425_v2/object.ply b/006425_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..3aee81fbfd579f24f31138c6f16afd8bdc768dd4 Binary files /dev/null and b/006425_v2/object.ply differ diff --git a/006452_v2/data.json b/006452_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..4f63fb87180d70e547d1e2bff1fa0d93b425da4f --- /dev/null +++ b/006452_v2/data.json @@ -0,0 +1,549 @@ +{ + "action_start": 9, + "action_end": 20, + "object_name": "yellow thing", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.473993, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.09548199999999996, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 4.910751250086776e-10, + 5.151244014678369e-11, + 8.211487045883814e-14, + -4.1483013240563117e-08, + -3.5690326708806037e-07, + 2.7484884354290173e-07, + 1.0 + ], + [ + 0.004776272949523153, + 0.05037956488935564, + -0.0018382448372121218, + -0.03626472632290191, + -0.00610721189474106, + 0.07423002794837578, + 1.0 + ], + [ + 0.010125671571847183, + 0.05606499944984031, + 0.0007851293881247501, + 0.03450114898446905, + 0.0032900908176563847, + 0.08064223362818818, + 1.0 + ], + [ + 0.0027819284734860172, + 0.049098738740601194, + 0.0030869874667835973, + 0.03522842571598878, + 0.010038679403999072, + 0.058292481447333844, + 1.0 + ], + [ + 0.0021432902643200302, + 0.034430755289152265, + -0.00884119932685537, + 0.05050933193233165, + 0.015681654240846343, + 0.01950663481369826, + 1.0 + ], + [ + 0.002798526794408507, + 0.023027756052431403, + -0.01224715842866031, + 0.05299074986952015, + 0.02634933643505291, + 0.008477652585186138, + 1.0 + ], + [ + -0.00482293015650348, + 0.018451093040593336, + -0.024455580578621794, + 0.04569180936649071, + 0.01189136688787308, + 0.05546761663779221, + 1.0 + ], + [ + 0.0035598480406449085, + 0.010669501409989901, + -0.026818125268878168, + 0.04703601748186517, + 0.027697589626778492, + 0.06959748827537462, + 1.0 + ], + [ + 0.0028580900401133924, + 0.005103825170859666, + -0.017659995575913773, + 0.005527967854382906, + 0.046245799354543767, + 0.01760430293993186, + 1.0 + ], + [ + 0.0005474565067705162, + -0.0005382176771161484, + -0.01061102714537403, + -0.013887661101229944, + 0.006629840790155373, + 0.026078947317840665, + 0.473993 + ], + [ + 0.004984711446384904, + -0.006292806988126232, + 0.009201369013361188, + -0.002024429137706158, + -0.03695145593067994, + -0.001567906439741163, + 0.0 + ], + [ + 0.004158401885326624, + -0.0061896965322719155, + 0.006775093972800815, + -0.013586385876722814, + -0.038551063892131206, + -0.005969340616708702, + 0.0 + ], + [ + 0.002660903378353341, + -0.006365614703149836, + 0.004222609068248381, + -0.005231680642383813, + -0.01720036287774644, + -0.01446018037719866, + 0.0 + ], + [ + 0.001922055774226883, + -0.019797828845945387, + 0.02660288479697133, + -0.018077998205506318, + -0.04870595735828904, + -0.030846259151081606, + 0.0 + ], + [ + 0.010911251006860523, + -0.05633277809906326, + 0.05270835649234398, + -0.02225400911113515, + -0.1226867451972816, + -0.11100551919931961, + 0.0 + ], + [ + 0.009419782692614287, + -0.08472414760213573, + 0.03895476372064213, + -0.06207553560971018, + -0.08748852391993474, + -0.16428731336979527, + 0.0 + ], + [ + 0.008154787448855505, + -0.11163068160841032, + 0.0050615755414974845, + -0.09971272711246461, + 0.0110385678983382, + -0.16247880667991504, + 0.0 + ], + [ + 0.005655588217104712, + -0.1118902992405668, + -0.01701771096978008, + -0.05267922615901413, + 0.052769038828155805, + -0.12134942047909605, + 0.0 + ], + [ + 0.008277094387551032, + -0.09874056391394417, + -0.024727188652420393, + 0.0014222496676233613, + 0.07996307433063915, + -0.08715710064923071, + 0.0 + ], + [ + 0.008545262607857262, + -0.07430516862047798, + -0.012220583248901074, + 0.051157071073367075, + 0.03861044096238373, + -0.0687745492241642, + 0.0 + ], + [ + 0.0009536568845588955, + -0.0350263978311383, + -0.006308935422504394, + 0.017168741595164363, + 0.029568693552020534, + -0.02742542601738035, + 0.09548199999999996 + ], + [ + -0.0040665528198837175, + 0.0014178492245336127, + 0.01476871142643467, + 0.017216425630307917, + -0.014327895612335625, + 0.031907408921689494, + 1.0 + ], + [ + -0.002327194867719262, + 0.002040483205167573, + 0.02572776760832661, + -0.0141434165915657, + -0.024818490143533857, + 0.03175351674955382, + 1.0 + ], + [ + -0.006413400037072914, + 0.002926441073843128, + 0.020505515497153223, + -0.015822103716653775, + -0.025102792478493546, + 0.02324669393303121, + 1.0 + ], + [ + -0.011394771692950889, + 0.008086148994303044, + 0.018368721219730516, + 0.037500939272556884, + -0.02341666610116907, + 0.03187587334325849, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 277.9178161621094, + 106.42586517333984 + ], + [ + 278.4154052734375, + 110.03330993652344 + ], + [ + 256.2405700683594, + 113.28819274902344 + ], + [ + 176.1865692138672, + 87.43679809570312 + ], + [ + 154.54562377929688, + 68.3110122680664 + ], + [ + 98.19261932373047, + 63.728607177734375 + ], + [ + 91.50575256347656, + 69.0471420288086 + ], + [ + 83.09369659423828, + 85.31182861328125 + ], + [ + 74.9049301147461, + 112.63836669921875 + ], + [ + 78.06489562988281, + 135.49124145507812 + ], + [ + 81.40077209472656, + 143.86012268066406 + ], + [ + 87.65322875976562, + 144.3657989501953 + ], + [ + 93.0118408203125, + 144.17506408691406 + ], + [ + 96.9556884765625, + 136.98582458496094 + ], + [ + 94.79166412353516, + 123.08479309082031 + ], + [ + 126.31391143798828, + 79.49766540527344 + ], + [ + 164.17929077148438, + 29.39667510986328 + ], + [ + 207.38665771484375, + 15.454919815063477 + ], + [ + 267.9700927734375, + 24.250106811523438 + ], + [ + 329.34893798828125, + 57.37776184082031 + ], + [ + 398.1002502441406, + 95.95436096191406 + ], + [ + 452.3437194824219, + 104.53851318359375 + ], + [ + 467.3333740234375, + 108.43094635009766 + ], + [ + 467.8503112792969, + 110.197265625 + ], + [ + 471.2634582519531, + 77.66666412353516 + ], + [ + 467.27996826171875, + 49.85514831542969 + ], + [ + 463.2245178222656, + 35.46538543701172 + ] + ], + "depth_max": 2.197721004486084, + "depth_min": 0.5762506127357483, + "intrinsic": [ + [ + 470.6905822753906, + 0.0, + 259.0 + ], + [ + 0.0, + 470.0494079589844, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.119746103649959e-05, + 2.1387279048212804e-05, + -2.8302405553404242e-05 + ], + [ + -6.11964424024336e-05, + 1.0, + -4.789951708517037e-05, + -7.639887371624354e-06 + ], + [ + -2.1390213078120723e-05, + 4.789820741279982e-05, + 1.0, + 2.201543793489691e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 26 + ], + "object_trajectory": [ + [ + 111.25, + 138.25001525878906 + ], + [ + 111.51658630371094, + 138.39529418945312 + ], + [ + 111.42573547363281, + 138.40811157226562 + ], + [ + 111.4333724975586, + 138.5413055419922 + ], + [ + 111.57510375976562, + 138.56378173828125 + ], + [ + 111.55508422851562, + 138.5116729736328 + ], + [ + 111.54976654052734, + 138.4273223876953 + ], + [ + 111.43946838378906, + 138.41116333007812 + ], + [ + 111.06974792480469, + 138.86953735351562 + ], + [ + 110.7806625366211, + 139.29849243164062 + ], + [ + 108.3836669921875, + 140.9281768798828 + ], + [ + 106.7286148071289, + 140.17547607421875 + ], + [ + 111.56549072265625, + 140.12095642089844 + ], + [ + 119.51297760009766, + 134.575927734375 + ], + [ + 127.48554992675781, + 125.7734375 + ], + [ + 150.12777709960938, + 92.16563415527344 + ], + [ + 188.74911499023438, + 49.45521545410156 + ], + [ + 228.62159729003906, + 41.07323455810547 + ], + [ + 287.61309814453125, + 49.959266662597656 + ], + [ + 342.8686218261719, + 86.33007049560547 + ], + [ + 405.85968017578125, + 122.41163635253906 + ], + [ + 458.1744384765625, + 133.52407836914062 + ], + [ + 470.2112731933594, + 136.85690307617188 + ], + [ + 470.4280700683594, + 134.83255004882812 + ], + [ + 456.39117431640625, + 122.15866088867188 + ], + [ + 472.28131103515625, + 130.28497314453125 + ], + [ + 472.61614990234375, + 129.49081420898438 + ] + ] +} \ No newline at end of file diff --git a/006452_v2/lang.txt b/006452_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..00e33b18ee0c2e396c8417f19e9236a5940a9b72 --- /dev/null +++ b/006452_v2/lang.txt @@ -0,0 +1 @@ +take the yellow thing to the top of the drawer diff --git a/006452_v2/object.ply b/006452_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..ac6368381ce42d5a1ba5d5dae263f94dbecb130c Binary files /dev/null and b/006452_v2/object.ply differ diff --git a/006484_v2/data.json b/006484_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..85f8c27d39b8b4d156c9074f7cd4f79b6a564dbb --- /dev/null +++ b/006484_v2/data.json @@ -0,0 +1,403 @@ +{ + "action_start": 4, + "action_end": 13, + "object_name": "gray rabbit doll", + "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, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 8.47806269632656e-11, + 3.4342807764264904e-10, + 6.118598128157515e-10, + 1.7889981722536505e-07, + 1.9306795419628258e-07, + -8.299348032895487e-07, + 1.0 + ], + [ + 0.008365027601967445, + 0.012359620572334265, + -0.008627691679150243, + 0.05791637254839076, + 0.011309379980572335, + 0.031445023023980556, + 1.0 + ], + [ + 0.006819319310846339, + 0.010818857804339374, + -0.012666249332695959, + 0.020585371056062507, + 0.030244781752625526, + 0.03714311921816322, + 1.0 + ], + [ + 0.007561423629801833, + 0.006739251277739389, + -0.013515026744415959, + 0.007152551533972507, + 0.016610433410814196, + 0.020935358180730362, + 1.0 + ], + [ + 0.003701271850380383, + 5.5970908238944794e-05, + -0.015965965787314143, + -0.02973021405787173, + 0.0032029011666183495, + 0.03364283941833284, + 1.0 + ], + [ + -0.00043684533125215586, + -0.004981693880534738, + 0.0015897495400946926, + -0.022357375926007984, + -0.025186042911683484, + 0.009436866776827717, + 0.0 + ], + [ + 0.0018900121346842047, + -0.003893873554710242, + 0.01546898762535847, + 0.010821030050319314, + -0.036575317683380154, + -0.006843128966363685, + 0.0 + ], + [ + 0.003382119129947847, + -0.004610385869551342, + 0.02571102248763986, + 0.00156453882584374, + -0.052689307117035754, + -0.009945692028795314, + 0.0 + ], + [ + 0.008205750492370434, + -0.02793860951246044, + 0.05243479264113335, + -0.0014815938240052234, + -0.1015900472223714, + -0.054699262803031876, + 0.0 + ], + [ + -0.0009619950879133921, + -0.053414835702125976, + 0.02659428770018224, + -0.0746280080603407, + -0.07178947409076632, + -0.13541835119632417, + 0.0 + ], + [ + 0.00027631795631899436, + -0.062440354634050316, + -0.00981613476206833, + -0.012346879589537235, + 0.0045295544989741145, + -0.1630226628326768, + 0.0 + ], + [ + 0.0024759112186570342, + -0.05312789008620594, + -0.03053507002206471, + 0.024974803413658816, + 0.07335999005319288, + -0.11668259188666115, + 0.0 + ], + [ + -0.0020816851420271676, + -0.023902200946517193, + -0.04247142890347634, + 0.023652260191114317, + 0.10770116671901615, + -0.049678271342126976, + 0.0 + ], + [ + -0.0027762432377083646, + -0.008582313328792952, + -0.029284900679726583, + 0.011328669428065596, + 0.05135415276032707, + -0.007238948969456427, + 0.0 + ], + [ + -0.004364147143700092, + -0.0005528989293043518, + -0.006195948202297463, + 0.006734341604964564, + -0.025029937239304016, + 0.05402731239763733, + 1.0 + ], + [ + -0.0070351674772497486, + 0.004500900186441031, + 0.011229716710500513, + 0.04175076452846716, + -0.04079134904470444, + 0.014543106218323724, + 1.0 + ], + [ + -0.00963069046121462, + 0.003348949381947061, + 0.021958399656329168, + 0.00010210174735684089, + -0.02654585244429689, + 0.005672397440943081, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 197.82821655273438, + 80.54578399658203 + ], + [ + 198.90325927734375, + 83.35160064697266 + ], + [ + 196.99063110351562, + 103.78465270996094 + ], + [ + 195.5833282470703, + 109.12873840332031 + ], + [ + 199.60740661621094, + 117.45741271972656 + ], + [ + 207.01467895507812, + 132.4971160888672 + ], + [ + 209.480712890625, + 136.6660614013672 + ], + [ + 209.3627166748047, + 130.93441772460938 + ], + [ + 207.64767456054688, + 108.5411376953125 + ], + [ + 220.603759765625, + 57.425010681152344 + ], + [ + 259.7442626953125, + 21.155458450317383 + ], + [ + 322.17889404296875, + 24.03163719177246 + ], + [ + 388.0718078613281, + 70.31134033203125 + ], + [ + 441.851318359375, + 144.50393676757812 + ], + [ + 436.3093566894531, + 190.95199584960938 + ], + [ + 436.08868408203125, + 218.77450561523438 + ], + [ + 428.38922119140625, + 220.64759826660156 + ], + [ + 424.0377197265625, + 202.67727661132812 + ], + [ + 425.9660949707031, + 192.8950653076172 + ] + ], + "depth_max": 1.8539568185806274, + "depth_min": 0.3513670563697815, + "intrinsic": [ + [ + 470.1340637207031, + 0.0, + 259.0 + ], + [ + 0.0, + 470.2545471191406, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.885404294123873e-05, + -4.7413464926648885e-05, + -2.5307530449936166e-05 + ], + [ + -3.885661863023415e-05, + 1.0, + -5.4302188800647855e-05, + -1.4788211956329178e-05 + ], + [ + 4.741135489894077e-05, + 5.430403325590305e-05, + 1.0, + 1.5991268810466863e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18 + ], + "object_trajectory": [ + [ + 202.25, + 143.0 + ], + [ + 202.7265625, + 143.2483673095703 + ], + [ + 202.45455932617188, + 143.13963317871094 + ], + [ + 202.425048828125, + 143.17544555664062 + ], + [ + 202.61386108398438, + 143.25259399414062 + ], + [ + 200.77890014648438, + 157.48280334472656 + ], + [ + 198.51797485351562, + 159.90907287597656 + ], + [ + 197.3302001953125, + 157.50892639160156 + ], + [ + 200.20767211914062, + 142.6660919189453 + ], + [ + 214.60513305664062, + 104.07447814941406 + ], + [ + 248.12086486816406, + 71.55252075195312 + ], + [ + 302.8200988769531, + 80.32205963134766 + ], + [ + 362.7937927246094, + 122.02796936035156 + ], + [ + 390.6719665527344, + 128.0858612060547 + ], + [ + 398.9176330566406, + 133.8722381591797 + ], + [ + 401.07330322265625, + 134.668212890625 + ], + [ + 403.5999755859375, + 135.09310913085938 + ], + [ + 398.978515625, + 137.27035522460938 + ], + [ + 400.4386901855469, + 135.97341918945312 + ] + ] +} \ No newline at end of file diff --git a/006484_v2/lang.txt b/006484_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..614ec7ee0f1e0ba3ebdd7888cbb1e04ccc2acc69 --- /dev/null +++ b/006484_v2/lang.txt @@ -0,0 +1 @@ +take the gray rabbit doll out of the drawer and put it on the right bottom corner of the table diff --git a/006484_v2/object.ply b/006484_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..7992b480af5f44c82777e057a1067b3dd7b0c0f2 Binary files /dev/null and b/006484_v2/object.ply differ diff --git a/006490_v2/data.json b/006490_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..1f213f48d2af910a28fa1725c5e51ff79747d3c2 --- /dev/null +++ b/006490_v2/data.json @@ -0,0 +1,476 @@ +{ + "action_start": 6, + "action_end": 17, + "object_name": "rabbit", + "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, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + 0.0, + 0.0, + -1.1184946705832535e-07, + 1.8039154817867895e-07, + -2.8844523703538877e-08, + 1.0 + ], + [ + 0.015217424940217883, + -0.025106124005280755, + 0.003814682351155979, + -0.01583056070031558, + -0.005836023127447134, + -0.05772049134955601, + 1.0 + ], + [ + 0.018211768138864826, + -0.030377532058539908, + -0.0034985871715923905, + 0.004557549508126268, + 0.0007083806510345197, + -0.08507400993736623, + 1.0 + ], + [ + 0.012459678173457112, + -0.023867337015875605, + -0.005274435116511947, + 0.02091411225001389, + 0.014444468179428271, + -0.07131384491954063, + 1.0 + ], + [ + 0.0092039152750098, + -0.01347412823503686, + -0.019223679166493146, + 0.025404783627455095, + 0.04803296513802663, + -0.033874365707516986, + 1.0 + ], + [ + 0.005251970312989296, + -0.0039741930040879375, + -0.016433886875029363, + 0.029125629023710402, + 0.03716360372738611, + -0.011680370815250422, + 1.0 + ], + [ + -0.00025156369767248554, + 0.0015030085523950638, + -0.0072888558410381665, + 0.002956901819479538, + 0.019765688889574657, + -0.00028919658526873525, + 1.0 + ], + [ + -0.002307047754987246, + 0.002448098367172357, + -0.000623074123426201, + -0.016951159547889897, + 0.009504559737173375, + 0.008192431055963605, + 0.0 + ], + [ + -0.0011843270894231206, + 0.003429736561445079, + 0.012486431415687185, + -0.019602482285528695, + -0.016273343795140047, + 0.005628238156071112, + 0.0 + ], + [ + -0.0009040989808116184, + 0.00520311231332812, + 0.0176008430907061, + -0.02450059498252066, + -0.029658553035422336, + 0.0029519114529487876, + 0.0 + ], + [ + -0.0015743835497900593, + 0.005132381035018463, + 0.01667567389713999, + -0.023143757199598918, + -0.022821293319279738, + -0.005657202975215529, + 0.0 + ], + [ + -0.006396805038585696, + 0.011410448941175232, + 0.028842049261835534, + -0.01246594434515371, + -0.0528731549461509, + 0.003596923058820634, + 0.0 + ], + [ + -0.01842602945849381, + 0.030296958648498365, + 0.027043181358538226, + -0.03368968526522039, + -0.07615681361123333, + 0.06815636293549263, + 0.0 + ], + [ + -0.02850429468881288, + 0.05061621876685928, + -0.0017099950828202426, + -0.018654607761456814, + -0.016564367868249576, + 0.12875144829337118, + 0.0 + ], + [ + -0.02736091137225788, + 0.06026575271026677, + -0.040256463897982986, + 0.028785959783294776, + 0.07122741033527064, + 0.12199044448744768, + 0.0 + ], + [ + -0.00556630316868767, + 0.034278573326508396, + -0.03840180201773652, + 0.03066881433947099, + 0.007379285663900955, + 0.008751501412075377, + 0.0 + ], + [ + -0.00046074191695333333, + 0.013389547225085147, + -0.030858691933538795, + -0.006752399889210739, + 0.07742649907691389, + 0.0048230648420045695, + 0.0 + ], + [ + -0.006179496902062154, + 0.010893714754717398, + -0.017846676193991655, + -0.027478711266451253, + 0.04066809052703491, + 0.03466001283643698, + 0.0 + ], + [ + -0.0022207330337324638, + 0.002793880214247507, + 0.008525012058725183, + -0.019595341567248372, + 0.0001619620571550333, + 0.009359295272278275, + 1.0 + ], + [ + -0.006344393086257311, + -0.001575696163321455, + 0.028970878046419252, + 0.020294370465914695, + -0.03349586596072377, + -0.03523740478414812, + 1.0 + ], + [ + -0.008607947349710626, + 0.0013726059522400635, + 0.021289323340095888, + 0.023899236126766067, + -0.0350225097632507, + -0.015536306823738267, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 224.9642333984375, + 101.21052551269531 + ], + [ + 225.7291259765625, + 104.84298706054688 + ], + [ + 242.832763671875, + 118.07676696777344 + ], + [ + 295.009521484375, + 114.0746078491211 + ], + [ + 341.0213928222656, + 121.26216125488281 + ], + [ + 368.2760009765625, + 136.25765991210938 + ], + [ + 379.20684814453125, + 157.12799072265625 + ], + [ + 376.6417236328125, + 163.65626525878906 + ], + [ + 376.4592590332031, + 163.53250122070312 + ], + [ + 370.7469177246094, + 162.4606170654297 + ], + [ + 371.1748352050781, + 150.66668701171875 + ], + [ + 360.8121337890625, + 131.7882537841797 + ], + [ + 348.40325927734375, + 97.12106323242188 + ], + [ + 305.8291931152344, + 61.796138763427734 + ], + [ + 223.65118408203125, + 51.186676025390625 + ], + [ + 138.54708862304688, + 90.46209716796875 + ], + [ + 94.55644226074219, + 139.05377197265625 + ], + [ + 83.64320373535156, + 176.65199279785156 + ], + [ + 86.21600341796875, + 196.56344604492188 + ], + [ + 71.96404266357422, + 201.941162109375 + ], + [ + 69.13025665283203, + 184.4661407470703 + ], + [ + 48.283607482910156, + 160.05581665039062 + ], + [ + 44.04051971435547, + 152.347900390625 + ] + ], + "depth_max": 2.0945725440979004, + "depth_min": 0.5262267589569092, + "intrinsic": [ + [ + 483.6237487792969, + 0.0, + 259.0 + ], + [ + 0.0, + 483.1166076660156, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.179114330327138e-05, + -5.122265429235995e-05, + -1.9665385480038822e-05 + ], + [ + -4.1794242861215025e-05, + 1.0, + -6.0582886362681165e-05, + -4.901102329313289e-06 + ], + [ + 5.122012225911021e-05, + 6.0585025494219735e-05, + 1.0, + -8.536678251402918e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 22 + ], + "object_trajectory": [ + [ + 371.0, + 173.5 + ], + [ + 371.24310302734375, + 173.6026611328125 + ], + [ + 371.4410705566406, + 173.7486114501953 + ], + [ + 371.28094482421875, + 173.66004943847656 + ], + [ + 371.42822265625, + 173.54881286621094 + ], + [ + 370.9438171386719, + 173.3748779296875 + ], + [ + 369.892822265625, + 171.2720947265625 + ], + [ + 368.1219787597656, + 175.36328125 + ], + [ + 368.43902587890625, + 173.76348876953125 + ], + [ + 365.6080322265625, + 176.69326782226562 + ], + [ + 366.619140625, + 170.75485229492188 + ], + [ + 361.8609313964844, + 158.9356689453125 + ], + [ + 353.9191589355469, + 140.7911376953125 + ], + [ + 320.33404541015625, + 107.95285034179688 + ], + [ + 259.78692626953125, + 94.5055160522461 + ], + [ + 176.33889770507812, + 118.81896209716797 + ], + [ + 136.1670684814453, + 162.82278442382812 + ], + [ + 122.08341217041016, + 190.27601623535156 + ], + [ + 120.93891906738281, + 210.163330078125 + ], + [ + 110.442138671875, + 214.29736328125 + ], + [ + 114.70362854003906, + 234.38475036621094 + ], + [ + 113.24551391601562, + 236.33529663085938 + ], + [ + 113.02880859375, + 236.41073608398438 + ] + ] +} \ No newline at end of file diff --git a/006490_v2/lang.txt b/006490_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..5dd9c18f5984d1ecbd4d5e81e193cba96dd6141b --- /dev/null +++ b/006490_v2/lang.txt @@ -0,0 +1 @@ +move the rabbit outside the drawer to the left side of the table diff --git a/006490_v2/object.ply b/006490_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..c8ff51d87c80f8958a183d0514701478a6e2b301 Binary files /dev/null and b/006490_v2/object.ply differ diff --git a/006495_v2/data.json b/006495_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..2fb6ab1ef22f434a94fc52466d5b29d91833d0bb --- /dev/null +++ b/006495_v2/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 9, + "action_end": 17, + "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, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -9.874712159074761e-11, + -2.049667102710373e-10, + 5.867113045399108e-11, + 3.2803404369331696e-07, + -1.5507600570663967e-07, + 4.9604301806077745e-08, + 1.0 + ], + [ + -0.01001304263710423, + -0.04807404283563904, + 0.01800357041051432, + 0.013997492195828182, + -0.03526857190549346, + -0.09348535635003573, + 1.0 + ], + [ + -0.00837377040027909, + -0.06090536451374862, + 0.020855282105184194, + -0.0712469044904636, + -0.03385123920693481, + -0.11247015944555808, + 1.0 + ], + [ + -0.015155632155295085, + -0.0656616272746664, + 0.014834258213850239, + -0.05822512975789396, + 0.02674877343644033, + -0.1205903597899371, + 1.0 + ], + [ + -0.024900961613855244, + -0.0640562510406888, + -0.0004922009914176545, + -0.0052849625126834485, + 0.024215687278550307, + -0.1041716016000321, + 1.0 + ], + [ + -0.016008104104559884, + -0.04857381955343601, + -0.017486832694200483, + 0.03611670135119182, + 0.01813245463838845, + -0.08312348942245787, + 1.0 + ], + [ + -0.0035389835600776742, + -0.010399507472060199, + -0.02391841818086754, + 0.05511945400208464, + 0.013528658407771562, + -0.0033500809755084996, + 1.0 + ], + [ + 0.004860755328716576, + -0.001634030509414762, + -0.02578540053170683, + 0.04742282083186502, + 4.959123002120924e-05, + 0.027300415982172144, + 1.0 + ], + [ + 0.01096044811645605, + 0.00022794232050905167, + -0.02088901833647197, + 0.022911550743232204, + -0.011884345206831709, + 0.03169653212136218, + 1.0 + ], + [ + 0.01023086044642485, + 0.002328626305999927, + -0.009924540968836677, + -0.02042766852704096, + 0.019642536020605617, + 0.035717367816720004, + 1.0 + ], + [ + 0.0037337876178693274, + 0.0060817005900796126, + -0.008498222404462099, + 0.0011701687792426009, + 0.02279323418954956, + 0.0366226802270296, + 0.0 + ], + [ + 0.0027434684346265836, + 0.00876391710297714, + 0.009779396499437404, + -0.01543063639611571, + -0.0017460191323817316, + 0.029945695940591318, + 0.0 + ], + [ + 0.007688423901715147, + 0.016924931514740775, + 0.023130165856887153, + -0.01043771651737054, + -0.012612936384517447, + 0.032426247864915804, + 0.0 + ], + [ + 0.02639725159364359, + 0.036465572535658915, + 0.03665195627389588, + -0.029815774595336155, + -0.07466685809869131, + 0.05749876315778151, + 0.0 + ], + [ + 0.02577682183691621, + 0.02627572219282924, + 0.012753595942338762, + 0.008015795075084873, + -0.04549722630462398, + 0.01712640118106423, + 0.0 + ], + [ + 0.03277705975389145, + 0.03203400185226596, + -0.013527942993563746, + 0.022689211962955223, + -0.014016470812877024, + 0.07779857499367392, + 0.0 + ], + [ + 0.021612372328991214, + 0.017634872849059846, + -0.020919647159111057, + 0.026776146308253992, + -0.017956905087204676, + 0.056568584659680836, + 0.0 + ], + [ + 0.010589644821984046, + 0.009510950734647666, + -0.02091723429832281, + 0.04088689748378554, + 0.01575597304613722, + 0.024384474393160032, + 0.0 + ], + [ + -0.0011916006138188995, + 0.0004738469572297954, + 0.0017582570874678065, + 0.006396663988169583, + 0.006000939505066828, + 0.0017227125305613856, + 1.0 + ], + [ + 0.0006348954911513105, + -0.002692277926620107, + 0.022842209768870476, + 0.0016940893459449302, + -0.023838392545850264, + 0.02064070861179207, + 1.0 + ], + [ + -0.002645833821072252, + 0.0012670138746318504, + 0.03263018446422297, + 0.020060769137410974, + 0.0009413718753917716, + 0.014565854485069946, + 1.0 + ], + [ + -0.010576277419410529, + 0.0019567879409513877, + 0.025596651818282676, + -0.008673864028227153, + -0.008484961638073378, + 0.04475266640428479, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 66.44871520996094, + 102.93247985839844 + ], + [ + 67.24656677246094, + 104.92445373535156 + ], + [ + 82.30530548095703, + 148.12022399902344 + ], + [ + 117.99222564697266, + 125.54246520996094 + ], + [ + 129.58609008789062, + 129.21543884277344 + ], + [ + 169.1475067138672, + 149.130859375 + ], + [ + 209.64381408691406, + 201.1192626953125 + ], + [ + 247.14849853515625, + 252.9811553955078 + ], + [ + 256.6369934082031, + 281.141357421875 + ], + [ + 264.27301025390625, + 295.53985595703125 + ], + [ + 271.05731201171875, + 296.6163635253906 + ], + [ + 270.7421875, + 294.3935241699219 + ], + [ + 265.47406005859375, + 288.957763671875 + ], + [ + 253.37356567382812, + 266.4775390625 + ], + [ + 233.93093872070312, + 209.04904174804688 + ], + [ + 203.38693237304688, + 144.9352569580078 + ], + [ + 207.52206420898438, + 124.5003662109375 + ], + [ + 198.0606689453125, + 122.41383361816406 + ], + [ + 200.99832153320312, + 133.72628784179688 + ], + [ + 201.27427673339844, + 138.89483642578125 + ], + [ + 200.8389892578125, + 142.44189453125 + ], + [ + 193.6293487548828, + 113.39404296875 + ], + [ + 184.39007568359375, + 81.12984466552734 + ], + [ + 181.32760620117188, + 69.62076568603516 + ] + ], + "depth_max": 1.9888249635696411, + "depth_min": 0.2673918306827545, + "intrinsic": [ + [ + 475.48321533203125, + 0.0, + 259.0 + ], + [ + 0.0, + 474.9559326171875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.880666968645528e-05, + -3.0640985642094165e-05, + -5.028223313274793e-06 + ], + [ + -1.8808375898515806e-05, + 1.0, + -5.5692766181891784e-05, + -1.5042298400658183e-05 + ], + [ + 3.063993790419772e-05, + 5.5693340982543305e-05, + 1.0, + -2.6575135052553378e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 276.25, + 310.25 + ], + [ + 276.474853515625, + 310.28668212890625 + ], + [ + 276.4854431152344, + 310.302490234375 + ], + [ + 276.5010681152344, + 310.41632080078125 + ], + [ + 276.5567626953125, + 310.3827209472656 + ], + [ + 276.51812744140625, + 310.6433410644531 + ], + [ + 276.6583251953125, + 310.7144775390625 + ], + [ + 276.5956115722656, + 310.7642822265625 + ], + [ + 276.6021728515625, + 310.8191833496094 + ], + [ + 273.5577392578125, + 317.2964172363281 + ], + [ + 271.3567810058594, + 308.38214111328125 + ], + [ + 269.5000305175781, + 306.2365417480469 + ], + [ + 264.0057067871094, + 299.80596923828125 + ], + [ + 252.07470703125, + 279.138916015625 + ], + [ + 239.62808227539062, + 227.26113891601562 + ], + [ + 210.39126586914062, + 163.52359008789062 + ], + [ + 213.67303466796875, + 137.92547607421875 + ], + [ + 202.17398071289062, + 134.46421813964844 + ], + [ + 203.40707397460938, + 144.69906616210938 + ], + [ + 204.8742218017578, + 147.79684448242188 + ], + [ + 209.2852783203125, + 155.1503143310547 + ], + [ + 207.17758178710938, + 153.76535034179688 + ], + [ + 207.5489501953125, + 153.4271240234375 + ], + [ + 207.09506225585938, + 153.3111572265625 + ] + ] +} \ No newline at end of file diff --git a/006495_v2/lang.txt b/006495_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..95c80f497990e87106e0931d370003e17e266e98 --- /dev/null +++ b/006495_v2/lang.txt @@ -0,0 +1 @@ +take the blue toy and put it on the top left of the table diff --git a/006507_v2/data.json b/006507_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..af7e234b660ad7a18a3f90bd72da251649b16f48 --- /dev/null +++ b/006507_v2/data.json @@ -0,0 +1,513 @@ +{ + "action_start": 8, + "action_end": 17, + "object_name": "toy", + "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": [ + [ + 0.0, + 0.0, + 1.3877787807814457e-17, + -9.640895021840066e-08, + 2.0482014221928544e-08, + 7.553605254118149e-08, + 1.0 + ], + [ + 0.008419568173440972, + -0.027057232327375863, + 0.01583662844875592, + -0.014488425728943384, + -0.0449692222624262, + -0.05637296123308315, + 1.0 + ], + [ + 0.008481091233398685, + -0.02924155960479327, + 0.0075137921342774555, + -0.03970565769495133, + -0.0286151382047858, + -0.049607132344287534, + 1.0 + ], + [ + 0.008639578775020695, + -0.027061331537232017, + -0.0008848122336821834, + -0.015254250922218682, + -0.0021218456515819345, + -0.07995512218475503, + 1.0 + ], + [ + 0.0033730772515323526, + -0.025738905455412395, + -0.0049201629604935584, + 0.0006919587204231827, + 0.013132140292284312, + -0.0708731177580802, + 1.0 + ], + [ + -0.009972094244038832, + -0.004472138524813582, + -0.010805362119391461, + 0.01971723425366765, + 0.02680116248368448, + -0.005760342575270973, + 1.0 + ], + [ + -0.009082230582052986, + 0.00187687812102931, + -0.016259807600612856, + 0.023604044463112744, + 0.03315699336084892, + 0.0020974930754217133, + 1.0 + ], + [ + -0.00684427486759237, + -0.002913335150443945, + -0.015208956005334385, + 0.01379471440681283, + 0.04514022410795761, + -0.014337718022952663, + 1.0 + ], + [ + -0.0038850130961403107, + 0.00208203489314647, + -0.01445194675695004, + -0.013626954064686381, + 0.029486331601482528, + 0.021286907578905032, + 1.0 + ], + [ + -0.0006203601236955958, + 0.003449591739538016, + -0.005332372122051678, + -0.012573646116925697, + 0.003189832152623103, + 0.03325867421097435, + 0.0 + ], + [ + 0.00023843100389792093, + 0.0025148972692502353, + 0.0008256847171479401, + -0.004069682798541858, + -0.0014124182308761332, + 0.012853874990753971, + 0.0 + ], + [ + 0.00063983937693185, + -0.0006391610473027859, + 0.013848221461023694, + 0.001982523188093702, + -0.03761072571644955, + -0.005224289984223749, + 0.0 + ], + [ + 0.007260190863797755, + -0.014822987128229742, + 0.04535632550956192, + 0.015868748606762312, + -0.0788489654089884, + -0.016195687824853738, + 0.0 + ], + [ + 0.008017091757712147, + -0.042081428604459126, + 0.0470192197424551, + -0.04065311902125245, + -0.09066027299288956, + -0.07577670021715055, + 0.0 + ], + [ + 0.002545842164979717, + -0.043910483759514424, + 0.02734691591911495, + -0.00907747912558789, + -0.028636380690259155, + -0.09532487113617594, + 0.0 + ], + [ + -0.004608054996557642, + -0.04869803081208725, + 0.011814388582359447, + -0.05986557125982069, + 0.01410618644999395, + -0.1321081812263422, + 0.0 + ], + [ + -0.007757582787894457, + -0.022833315584116234, + -0.010664414187278828, + 0.0067885517941756335, + 0.04667331554438403, + -0.0369152271508377, + 0.0 + ], + [ + -0.0008767449296927521, + -0.0094388752630927, + -0.012040852005815353, + 0.01527223494533044, + 0.04749177529579962, + -0.013493509423583168, + 0.0 + ], + [ + 3.233385690548651e-05, + 0.0027141829169125414, + 0.00013409885542439715, + -0.007363952663795467, + 0.012723073375441428, + 0.026958219613624358, + 1.0 + ], + [ + -0.0016933880267597234, + 0.0020817184635522484, + 0.005701060154253437, + 0.004393291732570602, + 0.006868667333412825, + 0.010939574721353627, + 1.0 + ], + [ + -0.006133025424791605, + 0.0071832889599317, + 0.019683145194547697, + -0.013740902110343251, + -0.024586167145847288, + 0.028067261367556846, + 1.0 + ], + [ + -0.008808880049552159, + 0.008726348455077762, + 0.01896394433376894, + -0.0023903811496129483, + -0.04249542559989258, + 0.016733308825012894, + 1.0 + ], + [ + -0.006884088706174962, + 0.01776443389726906, + 0.004086844813313728, + 0.027667448223164748, + -0.006435755562449649, + 0.03837660089091537, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 189.1588134765625, + 82.39437866210938 + ], + [ + 190.13768005371094, + 88.9926528930664 + ], + [ + 200.59422302246094, + 108.62139892578125 + ], + [ + 242.40406799316406, + 101.27229309082031 + ], + [ + 266.828125, + 98.09526062011719 + ], + [ + 297.53369140625, + 104.96444702148438 + ], + [ + 317.7981262207031, + 128.9097900390625 + ], + [ + 308.1681823730469, + 145.21322631835938 + ], + [ + 308.3703918457031, + 151.02809143066406 + ], + [ + 309.3701171875, + 164.45565795898438 + ], + [ + 307.8675537109375, + 173.47662353515625 + ], + [ + 301.36358642578125, + 172.3193359375 + ], + [ + 301.26080322265625, + 172.79087829589844 + ], + [ + 299.1717224121094, + 145.9343719482422 + ], + [ + 334.8785095214844, + 95.94046020507812 + ], + [ + 388.66876220703125, + 66.85917663574219 + ], + [ + 454.028564453125, + 64.81025695800781 + ], + [ + 496.8821716308594, + 75.12953186035156 + ], + [ + 517.2139892578125, + 87.05062866210938 + ], + [ + 521.6028442382812, + 94.57645416259766 + ], + [ + 521.85693359375, + 93.5276870727539 + ], + [ + 519.2034912109375, + 91.18074035644531 + ], + [ + 505.8127136230469, + 47.60628890991211 + ], + [ + 491.01141357421875, + 29.364009857177734 + ], + [ + 464.0954284667969, + 35.76508331298828 + ] + ], + "depth_max": 2.1126880645751953, + "depth_min": 0.4712221324443817, + "intrinsic": [ + [ + 469.8468017578125, + 0.0, + 259.0 + ], + [ + 0.0, + 469.45770263671875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.047061131335795e-05, + -3.530893809511326e-05, + -2.8402859243215062e-05 + ], + [ + -5.047132435720414e-05, + 1.0, + -2.0273630070732906e-05, + -2.5496730813756585e-05 + ], + [ + 3.530791218508966e-05, + 2.027541268034838e-05, + 1.0, + 4.174549030722119e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24 + ], + "object_trajectory": [ + [ + 321.5, + 191.75001525878906 + ], + [ + 321.6964111328125, + 191.89810180664062 + ], + [ + 321.736572265625, + 191.9869384765625 + ], + [ + 321.6862487792969, + 192.0284423828125 + ], + [ + 321.58447265625, + 191.92196655273438 + ], + [ + 321.6330261230469, + 191.85415649414062 + ], + [ + 321.6813659667969, + 191.63031005859375 + ], + [ + 321.9394226074219, + 192.09371948242188 + ], + [ + 321.59814453125, + 193.3983917236328 + ], + [ + 311.2969055175781, + 188.19554138183594 + ], + [ + 305.5987243652344, + 189.45736694335938 + ], + [ + 301.170166015625, + 187.62713623046875 + ], + [ + 300.4404602050781, + 188.48580932617188 + ], + [ + 300.0728454589844, + 168.17776489257812 + ], + [ + 335.42999267578125, + 127.81985473632812 + ], + [ + 388.6496887207031, + 102.7227554321289 + ], + [ + 439.05078125, + 104.0835189819336 + ], + [ + 478.7062072753906, + 111.34002685546875 + ], + [ + 504.66644287109375, + 117.26463317871094 + ], + [ + 514.4422607421875, + 129.86300659179688 + ], + [ + 505.4895935058594, + 142.60049438476562 + ], + [ + 498.6745910644531, + 131.81277465820312 + ], + [ + 489.6297607421875, + 127.86076354980469 + ], + [ + 475.18927001953125, + 122.70223999023438 + ], + [ + 477.0213928222656, + 123.82557678222656 + ] + ] +} \ No newline at end of file diff --git a/006507_v2/lang.txt b/006507_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..1e056d93d3b88e541709718ff486fbdda8ffaf86 --- /dev/null +++ b/006507_v2/lang.txt @@ -0,0 +1 @@ +put the toy on top of the drawer diff --git a/006507_v2/object.ply b/006507_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..8b2fcf61e126402c49ae09f5343f7b16249c1b15 Binary files /dev/null and b/006507_v2/object.ply differ diff --git a/006513_v2/data.json b/006513_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..9c9a5468d4865948f0b0735c465c8ebab50ce1e8 --- /dev/null +++ b/006513_v2/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 9, + "action_end": 17, + "object_name": "blue toy", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.873016, + 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": [ + [ + -4.3205850008831703e-10, + -7.399933443785756e-11, + -1.368949537061681e-10, + 4.265004035650818e-08, + -4.6137044119371423e-07, + -3.0693129350151517e-07, + 1.0 + ], + [ + -0.024753864380684554, + 0.004494371970081706, + 0.0011847220472760572, + -0.004643437285939444, + -0.02896110500019921, + -0.03677934875768952, + 1.0 + ], + [ + -0.02871275664125772, + 0.006960548609798278, + 0.002712484798726343, + -0.014632325498403124, + -0.020028530974725133, + -0.0004866407247090568, + 1.0 + ], + [ + -0.026272901934327852, + 0.006352323370900359, + -0.004687784483845728, + 0.030254236891032744, + 0.031136174366962296, + -0.01460662095335962, + 1.0 + ], + [ + -0.017114832107677003, + 0.006370387261074917, + -0.012982611448068442, + 0.02503377129017868, + 0.06326252576047244, + -0.01542910545050927, + 1.0 + ], + [ + -0.01028088809485525, + 0.0035713212195320476, + -0.007765485411047851, + -0.005257852034850158, + 0.047688319336637155, + 0.006949093891093439, + 1.0 + ], + [ + -0.011328244771416557, + 0.005338569300281815, + -0.0004961159262021619, + 0.00669534677106684, + 0.05106581428659335, + 0.027661896746866536, + 1.0 + ], + [ + -0.0063624029453875075, + 0.0060470167900062155, + -0.0012334378149898365, + -0.004219480132572698, + 0.03398382333382135, + 0.030477683579177423, + 1.0 + ], + [ + -0.006998515549412027, + -0.0007488251877896812, + -0.008297434280467197, + 0.009392676216341152, + 0.06224921322974893, + -0.011674807664449872, + 1.0 + ], + [ + -0.0014269484860253423, + 0.002792307860756321, + -0.00553342671673606, + -0.006648154858267802, + 0.008029016962777157, + 0.013273998097238433, + 0.873016 + ], + [ + 0.0007260916567081166, + 0.0008238092071047032, + -0.004699082220247841, + -0.009105912906642425, + 0.0127088923230861, + 0.010873265873575727, + 0.0 + ], + [ + -0.0015713958310793752, + -0.0020696143482672735, + 0.003901796224618108, + -0.005078951128100609, + -0.014118740234039334, + 0.0005465137499456563, + 0.0 + ], + [ + -0.0013300631639602822, + -0.007306522103471269, + 0.007299465688339737, + -0.007890595680518505, + -0.029873073423548977, + -0.01713550982756731, + 0.0 + ], + [ + 0.0007535293803281329, + -0.02731325044159119, + 0.007564855026431255, + -0.019672333593199875, + -0.035884577716478495, + -0.09525540765860192, + 0.0 + ], + [ + 0.00038963078118173233, + -0.03888090354927448, + 0.002837456403565475, + -0.04884917108760497, + -0.018956310040662238, + -0.14660445838145258, + 0.0 + ], + [ + 0.002768728837273776, + -0.03364686565003794, + -0.0022908228413103665, + -0.018654365416955546, + -0.008086613409857878, + -0.12763195180992598, + 0.0 + ], + [ + 0.005363563991574144, + -0.026748064044793615, + -0.01967241076158768, + -0.07190224439460212, + 0.006505644238214651, + -0.11426599473514461, + 0.0 + ], + [ + 0.0014138261593869272, + -0.010624917408650153, + -0.01078837567023607, + -0.037301056993428616, + 0.006551259861357057, + -0.04607279390979834, + 0.0 + ], + [ + 0.0009951641423543711, + -0.0032182561654912484, + -0.004744554826918591, + 8.265296024142791e-05, + -0.002050161878203097, + -0.012317765943592298, + 1.0 + ], + [ + -0.0016944705106860247, + 0.00362797343433785, + 0.01524271013781289, + 0.01994056147494177, + -0.05047229868984351, + 0.01755234457417212, + 1.0 + ], + [ + -0.0054806920906101675, + 0.0075281473274575045, + 0.027250931104865258, + 0.040092305866468884, + -0.09836792736288495, + 0.031405068801380706, + 1.0 + ], + [ + -0.0037830040690221833, + 0.008832733164116396, + 0.01587046813364954, + 0.03847881588225492, + -0.044272849276641685, + 0.0678657465205857, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 143.08285522460938, + 101.81233978271484 + ], + [ + 144.20040893554688, + 105.95184326171875 + ], + [ + 148.78994750976562, + 142.17681884765625 + ], + [ + 114.92257690429688, + 152.44662475585938 + ], + [ + 83.85853576660156, + 169.33352661132812 + ], + [ + 65.5335464477539, + 189.09536743164062 + ], + [ + 56.702423095703125, + 196.53216552734375 + ], + [ + 45.71513748168945, + 203.4950408935547 + ], + [ + 33.9635124206543, + 213.68154907226562 + ], + [ + 28.400903701782227, + 221.28958129882812 + ], + [ + 27.286258697509766, + 228.231689453125 + ], + [ + 28.773406982421875, + 233.09078979492188 + ], + [ + 26.89103126525879, + 235.2511749267578 + ], + [ + 25.96238136291504, + 237.09776306152344 + ], + [ + 27.125720977783203, + 239.892822265625 + ], + [ + 56.519710540771484, + 248.24166870117188 + ], + [ + 89.70008087158203, + 262.984130859375 + ], + [ + 127.72900390625, + 280.76995849609375 + ], + [ + 151.03680419921875, + 296.87432861328125 + ], + [ + 157.06390380859375, + 301.9239196777344 + ], + [ + 158.89105224609375, + 299.9151611328125 + ], + [ + 136.38031005859375, + 277.46893310546875 + ], + [ + 116.65444946289062, + 262.3593444824219 + ], + [ + 110.00778198242188, + 256.1431884765625 + ] + ], + "depth_max": 1.938651204109192, + "depth_min": 0.367100328207016, + "intrinsic": [ + [ + 485.5611267089844, + 0.0, + 259.0 + ], + [ + 0.0, + 485.2258605957031, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.2143732571275905e-05, + 4.3606983126665e-06, + -1.9351376977283508e-05 + ], + [ + -4.214358705212362e-05, + 1.0, + -3.3452412026235834e-05, + -3.992900747107342e-05 + ], + [ + -4.362108029454248e-06, + 3.345223012729548e-05, + 1.0, + 9.017570846481249e-06 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 45.75, + 263.25 + ], + [ + 46.10859298706055, + 263.6500244140625 + ], + [ + 45.999629974365234, + 263.42474365234375 + ], + [ + 45.7976188659668, + 263.3580017089844 + ], + [ + 45.82509231567383, + 263.33807373046875 + ], + [ + 45.960296630859375, + 263.5144348144531 + ], + [ + 46.05167007446289, + 263.5803527832031 + ], + [ + 46.24585723876953, + 263.6642150878906 + ], + [ + 46.211151123046875, + 263.72503662109375 + ], + [ + 46.20341110229492, + 263.63446044921875 + ], + [ + 46.3739013671875, + 263.7719421386719 + ], + [ + 45.368499755859375, + 263.29351806640625 + ], + [ + 44.25778579711914, + 262.6519775390625 + ], + [ + 48.89854431152344, + 264.48345947265625 + ], + [ + 53.99679946899414, + 267.6917419433594 + ], + [ + 89.99913024902344, + 277.8287658691406 + ], + [ + 122.5426254272461, + 294.5239562988281 + ], + [ + 160.2784423828125, + 311.9292907714844 + ], + [ + 168.6946258544922, + 331.3802490234375 + ], + [ + 174.0352020263672, + 338.94683837890625 + ], + [ + 186.4313201904297, + 329.0298767089844 + ], + [ + 186.8204803466797, + 328.1468811035156 + ], + [ + 186.64849853515625, + 328.1227111816406 + ], + [ + 186.52313232421875, + 328.0019836425781 + ] + ] +} \ No newline at end of file diff --git a/006513_v2/lang.txt b/006513_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..9f5b9d9f83f7af9525e843ab3f491a90c105099e --- /dev/null +++ b/006513_v2/lang.txt @@ -0,0 +1 @@ +move the blue toy to the middle bottom of the table diff --git a/006513_v2/object.ply b/006513_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..8dab67c52893bf49fd0e15aed44e13b3878d5364 Binary files /dev/null and b/006513_v2/object.ply differ diff --git a/006520/data.json b/006520/data.json new file mode 100644 index 0000000000000000000000000000000000000000..8c36a585661e4cee43c945802a61cf0e0b33a050 --- /dev/null +++ b/006520/data.json @@ -0,0 +1,439 @@ +{ + "action_start": 10, + "action_end": 17, + "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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.977778, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.5057843860688536e-11, + 6.163347610055325e-12, + 2.6360862104279903e-10, + -6.6884636324096335e-09, + 1.8238534963196438e-08, + 4.3482738572430956e-08, + 1.0 + ], + [ + 0.0011626128634617539, + -0.05285399338589011, + 0.02059003961293558, + 0.039617677722390145, + -0.04691644293067574, + -0.020211814731160956, + 1.0 + ], + [ + 0.0014727820403694358, + -0.04180172413481592, + 0.020462746809095975, + 0.010314767091577887, + -0.028874829774989272, + -0.028925897658446276, + 1.0 + ], + [ + -0.003033580112816958, + -0.044327556085901734, + 0.0028963950437309316, + -0.005656965827530375, + -0.015395717585118818, + 0.02538877585944585, + 1.0 + ], + [ + -0.001844450588622648, + -0.02654026989481497, + -0.015910648191063137, + -0.03717317624568637, + -0.021431507920351672, + -0.01995756607916469, + 1.0 + ], + [ + 0.00142246699635451, + -0.010055459454994921, + -0.029954884019518374, + -0.04439356781190685, + -0.020926586507097344, + -0.020205591371645366, + 1.0 + ], + [ + 0.008158708355899158, + 0.0009877036301959227, + -0.020643958277237362, + -0.03456032558841348, + -0.016591629319873177, + -0.03105984465257337, + 1.0 + ], + [ + 0.0015983676408222736, + -0.00974834750147538, + -0.012268625747019563, + -0.012695475137781308, + -0.018558564920754975, + -0.014645985430231047, + 1.0 + ], + [ + 0.0037610491098058474, + -0.004154749492872853, + -0.01724784364530718, + -0.017119277701039808, + -0.008555323684671925, + -0.010127879944096831, + 1.0 + ], + [ + 0.004200596318874206, + 0.006154914173108372, + -0.016505510153005887, + -0.029390811328417005, + -0.01213567704137677, + -0.005353212413791165, + 1.0 + ], + [ + 0.004489326530162763, + -0.0048495546652151805, + -0.013435432381526967, + -0.016226540443717866, + -0.013337970086461242, + 0.0025397687100428873, + 1.0 + ], + [ + 0.0050063705913726, + -0.0033383234478301365, + -0.005514899893735423, + 0.006614647363140808, + -0.0006677919884364409, + 0.0367479665244111, + 0.0 + ], + [ + -0.0030448919171950917, + -0.015121788642764986, + 0.020565171135823845, + 0.014937676347192192, + 0.04112675746017554, + 0.046977599042132875, + 0.0 + ], + [ + -0.005811022581005354, + -0.04851728027420879, + 0.026796777584108273, + 0.03094495393038793, + 0.019413002383599123, + 0.057581573961279095, + 0.0 + ], + [ + -0.0048051132411881525, + -0.0335322331467572, + -0.003191780178973702, + -0.02331226947953301, + 0.01718181054993975, + 0.024064165534017076, + 0.0 + ], + [ + 0.005621123846087539, + -0.0016689327792197978, + -0.02704446934744914, + -0.06454596481458229, + -0.031849356093642464, + -0.0366466309087067, + 0.0 + ], + [ + 0.0034730424229716395, + -0.007490698145961205, + -0.020823685890157873, + -0.06137004041450979, + -0.026579310816299353, + -0.05755910708225661, + 0.0 + ], + [ + 0.0006425419367186436, + -0.0032331264900437306, + -0.0003824459197659044, + -0.014471181843357512, + 0.016191971801510094, + -0.013407493101902323, + 0.977778 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 110.45133209228516, + 72.8878173828125 + ], + [ + 111.4088363647461, + 82.98541259765625 + ], + [ + 169.2987060546875, + 86.45792388916016 + ], + [ + 209.7669677734375, + 66.0381088256836 + ], + [ + 279.04217529296875, + 90.04641723632812 + ], + [ + 305.7481689453125, + 126.77873229980469 + ], + [ + 324.68310546875, + 167.67547607421875 + ], + [ + 328.02581787109375, + 189.0028076171875 + ], + [ + 337.0799865722656, + 205.63845825195312 + ], + [ + 345.07269287109375, + 227.49620056152344 + ], + [ + 339.49627685546875, + 239.87844848632812 + ], + [ + 346.83868408203125, + 251.04013061523438 + ], + [ + 348.63970947265625, + 256.92987060546875 + ], + [ + 370.0638427734375, + 256.2492370605469 + ], + [ + 439.69439697265625, + 256.6427307128906 + ], + [ + 486.77850341796875, + 269.3831787109375 + ], + [ + 491.7980041503906, + 304.92901611328125 + ], + [ + 494.8370666503906, + 320.77789306640625 + ], + [ + 499.155517578125, + 326.8511962890625 + ], + [ + 499.2161560058594, + 326.8948059082031 + ], + [ + 499.0528259277344, + 326.7921142578125 + ] + ], + "depth_max": 1.8321541547775269, + "depth_min": 0.20593158900737762, + "intrinsic": [ + [ + 506.9393310546875, + 0.0, + 259.0 + ], + [ + 0.0, + 506.3535461425781, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.3230870283441618e-05, + -0.00011836602789117023, + 1.5253699530148879e-05 + ], + [ + -2.3226950361276977e-05, + 1.0, + 3.310770989628509e-05, + -2.142319135600701e-05 + ], + [ + 0.00011836679914267734, + -3.3104959584306926e-05, + 1.0, + -5.182890163268894e-06 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 20 + ], + "object_trajectory": [ + [ + 357.75, + 244.75001525878906 + ], + [ + 358.061767578125, + 244.7186737060547 + ], + [ + 358.1949157714844, + 244.63137817382812 + ], + [ + 358.1288146972656, + 245.12359619140625 + ], + [ + 357.91693115234375, + 245.14932250976562 + ], + [ + 357.9480895996094, + 245.0455780029297 + ], + [ + 358.04266357421875, + 244.8271942138672 + ], + [ + 358.270751953125, + 244.79937744140625 + ], + [ + 358.224853515625, + 244.893310546875 + ], + [ + 357.50006103515625, + 244.91172790527344 + ], + [ + 356.5404357910156, + 245.31455993652344 + ], + [ + 355.4683837890625, + 246.5701446533203 + ], + [ + 357.7496337890625, + 247.77664184570312 + ], + [ + 375.3070373535156, + 252.22323608398438 + ], + [ + 423.87652587890625, + 259.8885498046875 + ], + [ + 467.9893493652344, + 272.9715576171875 + ], + [ + 473.9201354980469, + 305.76837158203125 + ], + [ + 477.24932861328125, + 323.5392761230469 + ], + [ + 479.0496826171875, + 325.2747497558594 + ], + [ + 478.67608642578125, + 323.82501220703125 + ], + [ + 478.15380859375, + 323.3453674316406 + ] + ] +} \ No newline at end of file diff --git a/006520/lang.txt b/006520/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..614d590c437a935a87920ed8f920585955e7e433 --- /dev/null +++ b/006520/lang.txt @@ -0,0 +1 @@ +put pear on plate diff --git a/006520/object.ply b/006520/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..05d6ad0b29c879af365a86fcb8d5cd37800503e4 Binary files /dev/null and b/006520/object.ply differ diff --git a/006524_v2/FAIL b/006524_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/006524_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/006530/FAIL b/006530/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/006530/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/006541_v2/data.json b/006541_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..1c4e033edd045f8233934cf8b47ba313be609f9d --- /dev/null +++ b/006541_v2/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 9, + "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, + 0.12307699999999999, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5948720000000001, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.551115123125783e-17, + 1.734723475976807e-18, + -2.7755575615628914e-17, + 4.258559104540717e-08, + -1.8448724215941555e-07, + 1.1785103958104734e-08, + 1.0 + ], + [ + -0.0013009138148600274, + -0.035396526268282574, + -0.002111221710478714, + -0.005309755487400899, + 0.006865973982821786, + -0.0710790659549069, + 1.0 + ], + [ + 0.0039654198428820675, + -0.03879327392533046, + -0.00013435563419997298, + 0.000836512433979449, + -0.008545860765215789, + -0.07381196897667228, + 1.0 + ], + [ + 0.0018391610122100999, + -0.024931468375320766, + -0.007443907270106007, + 0.01409395248645869, + 0.00612430863862581, + -0.05548821212783336, + 1.0 + ], + [ + -0.0046729417559731035, + -0.0023459535385679797, + -0.017800284985783933, + 0.04108444855156362, + 0.04320476295766576, + -0.008156930538498558, + 1.0 + ], + [ + -0.0060716481736980965, + 0.01627316852270555, + -0.009626340838780223, + 0.041816490620830364, + 0.03138568423174381, + 0.030701453427440246, + 1.0 + ], + [ + -0.004033558880858046, + 0.00988466102559421, + -0.003680105890811837, + 0.009158978756121566, + 0.01140310002093508, + 0.022707189715245542, + 1.0 + ], + [ + -0.004019600982566207, + -0.0003236672026916271, + -0.00868630142297647, + 0.01538949422734007, + 0.022580950117660054, + -0.011545443782800915, + 1.0 + ], + [ + -0.004709525316404395, + -0.004149816956924526, + -0.011957326772900734, + -0.0023872029509655847, + 0.027623164657086027, + -0.008870018739908626, + 1.0 + ], + [ + -0.0014549826371600405, + -0.002942267091133599, + -0.00643785822266402, + -0.016279777094453655, + 0.0033173282333679795, + -0.00029975689673135566, + 0.12307699999999999 + ], + [ + 0.0018703452219701044, + 0.0034068544717623245, + 0.002939669472621278, + -0.010575366477919295, + -0.017415705213109582, + 0.008211986428933548, + 0.0 + ], + [ + 0.004890218590094475, + 0.01872581797530609, + 0.024723456985906764, + -0.004899189752482465, + -0.05972008757278056, + 0.03722478208144506, + 0.0 + ], + [ + 0.000905729390624388, + 0.044898136006051546, + 0.03018949155326751, + 0.0020337645200441414, + -0.06392057668903543, + 0.07135921764454708, + 0.0 + ], + [ + -0.006919763060050488, + 0.0534431565355252, + 0.009053113414729246, + 0.007271776835970111, + -0.012836950528423445, + 0.08097162930761356, + 0.0 + ], + [ + -0.01350201320381611, + 0.05757789867418573, + -0.010727855119976204, + 0.014239178907758525, + 0.023315151108381293, + 0.04797393981093466, + 0.0 + ], + [ + -0.01311946189379068, + 0.04228159276100235, + -0.016459102800960024, + 0.016833720652720853, + 0.024219297008023354, + 0.01560711350277068, + 0.0 + ], + [ + -0.0016411962267614266, + 0.014006100902747384, + -0.017122841520608376, + 0.02874681863955859, + 0.02767930414719745, + 0.002845510162788258, + 0.0 + ], + [ + 0.004956857132469655, + 0.004067419515359799, + -0.014929237357045655, + 0.007625703418936473, + 0.01500854256822356, + -0.000613992900957723, + 0.0 + ], + [ + 0.003531467305422392, + -0.0023979149687323453, + -0.005191220923345521, + -0.014273821353964305, + 0.0054758855515589615, + 0.006502735874989974, + 0.5948720000000001 + ], + [ + 0.0038470093250630444, + -0.00544167658986347, + 0.02444353593875225, + -0.01443185485631451, + -0.034340734061788315, + -0.007683600231301405, + 1.0 + ], + [ + 0.004748417866614368, + -0.0009097060104275578, + 0.03800995709782157, + -0.000657001805447727, + -0.06431095887112827, + -0.034636903986746695, + 1.0 + ], + [ + 0.0035218750839359214, + -0.0011263873836691307, + 0.015497425282866864, + -0.0010331363669391501, + -0.005011708279325967, + -0.040908972222666616, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 290.26617431640625, + 192.91175842285156 + ], + [ + 289.7865905761719, + 199.685546875 + ], + [ + 331.70367431640625, + 222.09104919433594 + ], + [ + 373.19873046875, + 242.33921813964844 + ], + [ + 411.0465393066406, + 257.4276123046875 + ], + [ + 421.549560546875, + 284.3267822265625 + ], + [ + 404.81982421875, + 296.1811218261719 + ], + [ + 382.6770935058594, + 300.04437255859375 + ], + [ + 378.15069580078125, + 306.3439025878906 + ], + [ + 377.668212890625, + 323.6225891113281 + ], + [ + 379.0284423828125, + 332.63433837890625 + ], + [ + 379.5841064453125, + 332.5528869628906 + ], + [ + 359.189697265625, + 306.7767639160156 + ], + [ + 322.951171875, + 264.9315185546875 + ], + [ + 241.23260498046875, + 224.83367919921875 + ], + [ + 173.86585998535156, + 213.34996032714844 + ], + [ + 126.96735382080078, + 225.96507263183594 + ], + [ + 87.75698852539062, + 240.19000244140625 + ], + [ + 93.99249267578125, + 254.12294006347656 + ], + [ + 96.85083770751953, + 255.5657958984375 + ], + [ + 102.52680969238281, + 245.97439575195312 + ], + [ + 99.60747528076172, + 207.88079833984375 + ], + [ + 95.65643310546875, + 176.18746948242188 + ], + [ + 94.45992279052734, + 174.09698486328125 + ] + ], + "depth_max": 2.0265796184539795, + "depth_min": 0.3977133333683014, + "intrinsic": [ + [ + 542.6005249023438, + 0.0, + 259.0 + ], + [ + 0.0, + 541.4533081054688, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.221833685529418e-05, + 0.00013658725947607309, + -2.4985378331621177e-05 + ], + [ + -3.220584039809182e-05, + 1.0, + -9.1463778517209e-05, + -1.7187321645906195e-06 + ], + [ + -0.00013659021351486444, + 9.145938383881003e-05, + 1.0, + 5.157286796020344e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 388.5, + 337.25 + ], + [ + 388.83349609375, + 337.2834777832031 + ], + [ + 388.84527587890625, + 337.240478515625 + ], + [ + 389.4771423339844, + 336.0428466796875 + ], + [ + 389.5719299316406, + 335.636962890625 + ], + [ + 389.8568115234375, + 335.2891845703125 + ], + [ + 389.8627624511719, + 335.1316223144531 + ], + [ + 389.6053466796875, + 335.3497009277344 + ], + [ + 389.49737548828125, + 335.6040344238281 + ], + [ + 389.08563232421875, + 335.98907470703125 + ], + [ + 390.13031005859375, + 337.07696533203125 + ], + [ + 392.17987060546875, + 337.4385070800781 + ], + [ + 371.6104736328125, + 313.7439270019531 + ], + [ + 336.3377380371094, + 271.7757568359375 + ], + [ + 255.98812866210938, + 230.696533203125 + ], + [ + 187.1397705078125, + 222.2967987060547 + ], + [ + 142.65347290039062, + 232.81149291992188 + ], + [ + 104.58357238769531, + 245.570068359375 + ], + [ + 109.60115051269531, + 260.1729431152344 + ], + [ + 112.33890533447266, + 260.4007873535156 + ], + [ + 113.19908142089844, + 255.59326171875 + ], + [ + 112.23776245117188, + 254.41371154785156 + ], + [ + 113.0196533203125, + 253.5428466796875 + ], + [ + 113.26459503173828, + 253.46885681152344 + ] + ] +} \ No newline at end of file diff --git a/006541_v2/lang.txt b/006541_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..c2597489df0726b7b10dc4075f7ae3b3c4482626 --- /dev/null +++ b/006541_v2/lang.txt @@ -0,0 +1 @@ +move the sushi onto the blue cloth at the bottom left edge of the table diff --git a/006541_v2/object.ply b/006541_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..ef00087153700b9cb97c84911c6fd5411076a302 Binary files /dev/null and b/006541_v2/object.ply differ diff --git a/006561_v2/FAIL b/006561_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/006561_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/006566_v2/FAIL b/006566_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/006566_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/006583/data.json b/006583/data.json new file mode 100644 index 0000000000000000000000000000000000000000..6988418f9727dfb10fb892215b0c46c48116d105 --- /dev/null +++ b/006583/data.json @@ -0,0 +1,476 @@ +{ + "action_start": 14, + "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, + 1.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "gripper_actions": [ + [ + -4.317274315823738e-11, + -9.997630501246135e-11, + -6.734884872017233e-11, + -5.55495008414806e-07, + -5.444145677626833e-07, + -1.711879898142912e-07, + 1.0 + ], + [ + 0.002994410695949301, + 0.02016758380851691, + 0.008576233545901119, + 0.06631519017965103, + -0.055555921036936, + 0.09299824610793254, + 1.0 + ], + [ + 0.000871794328287212, + 0.04418825153698558, + 0.026821837293484238, + 0.018267251360491957, + -0.014640130916853705, + 0.0989738601352768, + 1.0 + ], + [ + -0.013261179338042883, + 0.047583232426845215, + 0.007943277984596098, + 0.04838926286751088, + 0.038489848304472864, + -0.014996662110249876, + 1.0 + ], + [ + -0.0037319401477229064, + 0.04768748654331408, + -0.009784572680716086, + 0.03679029581523823, + -0.021724217413976003, + -0.007495817781122341, + 1.0 + ], + [ + 0.002536163607889136, + 0.03226333065323139, + -0.010237221186955095, + 0.11431866230934244, + -0.032914442393339474, + 0.025584773661650417, + 1.0 + ], + [ + 0.0012329912997573744, + 0.02224296790300017, + -0.007345099090819859, + -0.03275220867423007, + 0.04176844019552026, + 0.055675488745750075, + 1.0 + ], + [ + -0.0015349352998220156, + 0.020249279563000433, + -0.009273834306921705, + -0.02265737215339464, + -0.005465153988913465, + 0.0027371606556938284, + 1.0 + ], + [ + -0.0006085055302338382, + 0.0231007025554867, + -0.012251669805128748, + -0.012969842191767772, + 0.02449328032290895, + 0.018747604072087302, + 1.0 + ], + [ + -0.0003779104574244685, + 0.01767323810419394, + -0.0053345121453017424, + 0.059557496647792606, + 0.001069611910630911, + 0.016319316266211976, + 1.0 + ], + [ + -0.0020762125195276926, + 0.02515890766259435, + 0.0031331492464554966, + -0.03698755261026087, + 0.05962910932275593, + -0.01682546707385596, + 1.0 + ], + [ + -0.000752789397063719, + 0.018248750590593887, + -0.01411594399574044, + -0.0317748978857302, + -0.02454992928113696, + -0.016722431176067858, + 1.0 + ], + [ + -0.0072416221756916865, + 0.010708863104231997, + -0.012252996208088382, + -0.01696407572157387, + -0.013143541513484428, + 0.009661099580981627, + 1.0 + ], + [ + -0.00446555704454446, + 0.009062334795382543, + -0.010735633755291046, + 0.026627773054509956, + -0.030380695106267758, + 0.006504055666188519, + 1.0 + ], + [ + -0.0011866867460202657, + 0.0002766082195682362, + -0.014734966491365804, + -0.053671819218767916, + -0.03327548449280032, + 0.003982853982358536, + 1.0 + ], + [ + -0.0005472655056731335, + -0.0060800378083146756, + 0.000765285326475261, + -0.0937488778580393, + 0.007495683374229628, + 0.027959696859859183, + 0.0 + ], + [ + 0.0008462908825080107, + -0.014548177292336428, + 0.02183405575966632, + -0.005509197957890987, + 0.02890224433022903, + 0.03840674495332633, + 0.0 + ], + [ + -0.004172619628034863, + -0.04453763362377558, + 0.03329010688344643, + -0.025463796282225247, + 0.04859557538013402, + 0.016976036707790357, + 0.0 + ], + [ + -0.0018614734366767804, + -0.05474081157555857, + 0.008866831962466737, + -0.05054476096506478, + 0.014894993052192945, + 0.048032617661037794, + 0.0 + ], + [ + -0.0014388831981245187, + -0.05757249057213526, + 0.005008347569965474, + -0.08909396975570825, + -0.00933398525878037, + -0.025060313822537598, + 0.0 + ], + [ + -0.009904837300606817, + -0.0355930655147442, + -0.009726470291703454, + 0.02712978037565217, + -0.04097459568538249, + 0.01653836101404746, + 0.0 + ], + [ + -0.0041970197855104585, + -0.031102020781989502, + -0.0019441935470718569, + -0.05922601677208298, + -0.0034135217746227484, + 0.009626731753199294, + 0.0 + ], + [ + 0.012557797372370921, + -0.010058164937883198, + -0.004728242979834055, + 0.030038434327131512, + -0.0329168314055564, + -0.02212846200704847, + 0.0 + ] + ], + "gripper_centers": [ + [ + 448.7837219238281, + 278.50714111328125 + ], + [ + 447.7038879394531, + 281.64788818359375 + ], + [ + 428.78277587890625, + 280.48150634765625 + ], + [ + 379.70361328125, + 200.53224182128906 + ], + [ + 320.4198913574219, + 178.3021697998047 + ], + [ + 258.75250244140625, + 166.2444305419922 + ], + [ + 230.29586791992188, + 155.8152313232422 + ], + [ + 205.6256103515625, + 163.7582244873047 + ], + [ + 189.98202514648438, + 162.16354370117188 + ], + [ + 174.18716430664062, + 170.8265380859375 + ], + [ + 158.83981323242188, + 167.2506103515625 + ], + [ + 146.42776489257812, + 157.49978637695312 + ], + [ + 129.03390502929688, + 164.319091796875 + ], + [ + 118.57760620117188, + 169.76998901367188 + ], + [ + 110.4305191040039, + 184.57647705078125 + ], + [ + 113.58526611328125, + 199.33541870117188 + ], + [ + 115.21293640136719, + 208.11044311523438 + ], + [ + 114.97179412841797, + 208.85562133789062 + ], + [ + 136.73507690429688, + 176.61114501953125 + ], + [ + 169.58792114257812, + 174.69654846191406 + ], + [ + 213.090087890625, + 189.04185485839844 + ], + [ + 244.2998809814453, + 237.1279296875 + ], + [ + 274.49053955078125, + 262.1561584472656 + ] + ], + "depth_max": 1.8199535608291626, + "depth_min": 0.18984860181808472, + "intrinsic": [ + [ + 543.4000854492188, + 0.0, + 259.0 + ], + [ + 0.0, + 544.231201171875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.021716449642554e-05, + -9.414278611075133e-05, + 5.528554538614117e-06 + ], + [ + -4.0218008507508785e-05, + 1.0, + -8.933263416111004e-06, + -1.2788398635166232e-05 + ], + [ + 9.414242231287062e-05, + 8.937048733059783e-06, + 1.0, + 8.181434168363921e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 22 + ], + "object_trajectory": [ + [ + 127.0, + 211.75 + ], + [ + 127.12242126464844, + 212.0753936767578 + ], + [ + 127.11618041992188, + 212.08502197265625 + ], + [ + 127.13726806640625, + 211.98977661132812 + ], + [ + 127.15834045410156, + 211.9679412841797 + ], + [ + 127.18724060058594, + 212.0675048828125 + ], + [ + 125.27812194824219, + 211.75399780273438 + ], + [ + 126.2552490234375, + 212.00250244140625 + ], + [ + 127.19454956054688, + 211.98345947265625 + ], + [ + 127.20572662353516, + 211.9600830078125 + ], + [ + 127.2100830078125, + 212.10565185546875 + ], + [ + 127.09054565429688, + 212.13858032226562 + ], + [ + 126.82245635986328, + 213.107177734375 + ], + [ + 126.40632629394531, + 213.70809936523438 + ], + [ + 123.64956665039062, + 214.84130859375 + ], + [ + 122.50938415527344, + 215.796630859375 + ], + [ + 122.96682739257812, + 217.98712158203125 + ], + [ + 122.93621063232422, + 219.7000732421875 + ], + [ + 141.1905975341797, + 195.10679626464844 + ], + [ + 173.9895477294922, + 195.89926147460938 + ], + [ + 219.77955627441406, + 211.47174072265625 + ], + [ + 251.76507568359375, + 255.03509521484375 + ], + [ + 280.61419677734375, + 278.24603271484375 + ] + ] +} \ No newline at end of file diff --git a/006583/lang.txt b/006583/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..652ae88643137692180417c3667c2bda4d9b5c60 --- /dev/null +++ b/006583/lang.txt @@ -0,0 +1 @@ +put sushi in pot or pan diff --git a/006583/object.ply b/006583/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..77accd4be159015f06121fc15aedbcd42863e594 Binary files /dev/null and b/006583/object.ply differ diff --git a/006593/FAIL b/006593/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/006593/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/006647_v2/FAIL b/006647_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/006647_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/006653_v2/data.json b/006653_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..da81b698396a226eb2273e24a05ccc1f1bed0841 --- /dev/null +++ b/006653_v2/data.json @@ -0,0 +1,513 @@ +{ + "action_start": 8, + "action_end": 18, + "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, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + -2.6020852139652106e-18, + -6.938893903907228e-18, + 2.994966822703452e-08, + 1.5919892139032424e-07, + 8.568055768674466e-08, + 1.0 + ], + [ + -0.006628687363190056, + 0.0590998472178141, + -0.006646131997667955, + -0.0014162959510896714, + 0.006998553497957624, + 0.08361926845523555, + 1.0 + ], + [ + -0.005637649992366711, + 0.05858119449770863, + -0.009417743947474216, + 0.00966272237556526, + -0.010710601870533814, + 0.06081051356258164, + 1.0 + ], + [ + -0.01809044229861778, + 0.06456432171525392, + -0.010049617400068905, + 0.03557239214346032, + -0.022184622295283438, + 0.03187099660177046, + 1.0 + ], + [ + -0.017191653137026752, + 0.047470384451400977, + -0.010618629482213336, + 0.02108161774864457, + -0.02071003362812163, + -0.03929858954389895, + 1.0 + ], + [ + -0.01383957068038999, + 0.01924903369059719, + -0.006059608168763537, + 0.018469585652896355, + 0.010821530306827047, + -0.02791743843024151, + 1.0 + ], + [ + -0.012529276690473823, + 0.008407311158960235, + -0.006940916502085413, + -0.014508510053956184, + 0.035945237279361206, + -0.003105013158735464, + 1.0 + ], + [ + -0.00264326607101123, + -0.004300216492161391, + -0.005530342773076385, + -0.0023672745021951847, + 0.03242232728861305, + -0.005807970577195372, + 1.0 + ], + [ + -0.004564967366882722, + -0.007673472469959641, + -0.007062160630288507, + -0.013620125689768165, + 0.0347703601916096, + -0.0024390169756026044, + 1.0 + ], + [ + -0.00039699806926887793, + -0.003054790575078181, + -0.0037207730804983963, + 0.0022831227375422545, + 0.022421980054267602, + 0.0037221697299424997, + 0.0 + ], + [ + 0.0010179968401042294, + -0.0011531731217213903, + -0.0001812844610862667, + 0.004901525685531946, + 0.01268666934687863, + -0.0004607094654986319, + 0.0 + ], + [ + 0.011760065075404447, + -0.01397216428744355, + 0.025242781863558612, + 0.013045337879793515, + -0.039795708640866505, + 0.007505979825070006, + 0.0 + ], + [ + 0.01485141485061875, + -0.03349304433854816, + 0.0388806937035331, + 0.028941840428664746, + -0.09170279134255706, + -0.0037280961757491238, + 0.0 + ], + [ + 0.011519975708925767, + -0.05266061365096736, + 0.019480533797830206, + -0.02110605018537653, + -0.045118343591531974, + -0.02882408442332224, + 0.0 + ], + [ + 0.010312006448978561, + -0.045986866404291935, + -0.00680890052369907, + -0.012129799539426138, + -0.0026207799085309217, + -0.04937150701372401, + 0.0 + ], + [ + 0.004458817075993493, + -0.030105387437864756, + -0.017318142775040055, + -0.02243054663712717, + 0.03209726464790372, + -0.03564506454303503, + 0.0 + ], + [ + -0.0008134011255709339, + -0.01119510848793353, + -0.028022807831187366, + -0.012573895726070719, + 0.07476252091189207, + 0.001775426445083184, + 0.0 + ], + [ + -0.004284173387511803, + 0.00783476873842293, + -0.021305937853730934, + -0.0011083502851192712, + 0.04476939677582858, + 0.033069960862518066, + 0.0 + ], + [ + -0.0023474332230931094, + 0.0005958924788431949, + -0.01452917788890637, + -0.019173335860705656, + 0.03662447286577696, + -0.007741996545752934, + 0.0 + ], + [ + 0.0021492006412736075, + -0.0058657166700255, + 0.009559229499256937, + -0.010771041244815852, + -0.031399333179343306, + -0.038865180645940536, + 1.0 + ], + [ + 0.005501233071633416, + -0.0057031697828180215, + 0.03266586212323274, + -0.001222481323893007, + -0.053525211531349266, + -0.038633627036481856, + 1.0 + ], + [ + 0.005162958752601643, + -0.0003656781919893805, + 0.031191210941851275, + -0.01152662857148174, + -0.0734149912697457, + -0.00604590691285944, + 1.0 + ], + [ + -0.003333317748169362, + 0.001307660226649192, + 0.007408408514377442, + -0.025961836029867468, + 0.021873032847739053, + -0.030390525011187466, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 345.47430419921875, + 198.40472412109375 + ], + [ + 344.6712951660156, + 202.46832275390625 + ], + [ + 319.9128723144531, + 210.3994140625 + ], + [ + 239.21812438964844, + 197.54623413085938 + ], + [ + 191.06781005859375, + 200.91751098632812 + ], + [ + 134.08786010742188, + 210.70587158203125 + ], + [ + 91.41017150878906, + 216.399658203125 + ], + [ + 84.11866760253906, + 228.44631958007812 + ], + [ + 74.63961791992188, + 234.37059020996094 + ], + [ + 75.211181640625, + 242.4735870361328 + ], + [ + 80.94363403320312, + 245.21878051757812 + ], + [ + 80.69667053222656, + 243.88241577148438 + ], + [ + 87.76714324951172, + 244.35816955566406 + ], + [ + 116.99354553222656, + 211.7422637939453 + ], + [ + 170.7296600341797, + 193.53834533691406 + ], + [ + 215.94918823242188, + 201.0524444580078 + ], + [ + 267.5515441894531, + 217.61676025390625 + ], + [ + 284.13250732421875, + 258.2124328613281 + ], + [ + 284.58258056640625, + 281.24481201171875 + ], + [ + 279.5291748046875, + 289.64361572265625 + ], + [ + 283.32244873046875, + 289.4137878417969 + ], + [ + 289.81597900390625, + 270.77850341796875 + ], + [ + 294.472412109375, + 236.7294464111328 + ], + [ + 293.38189697265625, + 229.70050048828125 + ], + [ + 290.0430603027344, + 227.21743774414062 + ] + ], + "depth_max": 1.9444711208343506, + "depth_min": 0.3655449450016022, + "intrinsic": [ + [ + 556.5740966796875, + 0.0, + 259.0 + ], + [ + 0.0, + 555.3697509765625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.1559136510186363e-05, + 0.00013816627324558794, + -3.0456605600193143e-05 + ], + [ + -1.154603342001792e-05, + 1.0, + -9.483317262493074e-05, + -1.662221984588541e-05 + ], + [ + -0.0001381673791911453, + 9.483157191425562e-05, + 1.0, + 0.0001199130347231403 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24 + ], + "object_trajectory": [ + [ + 64.5, + 263.25 + ], + [ + 64.7055435180664, + 263.6158752441406 + ], + [ + 64.5535659790039, + 263.8295593261719 + ], + [ + 64.60714721679688, + 263.781005859375 + ], + [ + 64.11892700195312, + 263.55535888671875 + ], + [ + 64.19454956054688, + 263.3305358886719 + ], + [ + 64.43062591552734, + 263.278076171875 + ], + [ + 64.32151794433594, + 263.36602783203125 + ], + [ + 64.40351867675781, + 263.0982360839844 + ], + [ + 64.49241638183594, + 262.94586181640625 + ], + [ + 69.82259368896484, + 257.7323303222656 + ], + [ + 69.29315948486328, + 256.2247619628906 + ], + [ + 74.10582733154297, + 263.1860656738281 + ], + [ + 102.00750732421875, + 231.09707641601562 + ], + [ + 154.7047882080078, + 217.38839721679688 + ], + [ + 196.49432373046875, + 229.00872802734375 + ], + [ + 242.57582092285156, + 246.36524963378906 + ], + [ + 259.26141357421875, + 286.35302734375 + ], + [ + 262.9049377441406, + 303.753173828125 + ], + [ + 259.271728515625, + 312.4701232910156 + ], + [ + 259.9326171875, + 313.8187255859375 + ], + [ + 261.40557861328125, + 311.27496337890625 + ], + [ + 262.58209228515625, + 310.28668212890625 + ], + [ + 262.65325927734375, + 310.87298583984375 + ], + [ + 263.46221923828125, + 310.9100646972656 + ] + ] +} \ No newline at end of file diff --git a/006653_v2/lang.txt b/006653_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..e4423ef51eef1806bb8dc2a80661919028d1d395 --- /dev/null +++ b/006653_v2/lang.txt @@ -0,0 +1 @@ +take the blue spoon and place it in the middle of the table diff --git a/006653_v2/object.ply b/006653_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..b7e5fe5fcbb492ca0f48e650f61c01b14e12e7c0 Binary files /dev/null and b/006653_v2/object.ply differ diff --git a/006717_v2/FAIL b/006717_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/006717_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/006735/FAIL b/006735/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..aaf6c42c619234f9c8379cbcf60a65cd17ba1254 --- /dev/null +++ b/006735/FAIL @@ -0,0 +1 @@ +Too large intersection between gripper and object mask diff --git a/006765/FAIL b/006765/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/006765/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/006814_v2/FAIL b/006814_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/006814_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/006816_v2/FAIL b/006816_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/006816_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/006831_v2/FAIL b/006831_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/006831_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/006863_v2/data.json b/006863_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..3f0734968ec5cc2163e2bb4f288b5a423701c7d1 --- /dev/null +++ b/006863_v2/data.json @@ -0,0 +1,1099 @@ +{ + "action_start": 18, + "action_end": 41, + "object_name": "yellow 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, + 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, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.7142975927697535e-10, + 8.015672570138577e-10, + 1.1145698253223202e-10, + 1.955788550295987e-07, + -8.777999570941179e-09, + -2.7996598568755563e-07, + 1.0 + ], + [ + 0.0002723285735906078, + -0.008612503413557362, + 0.0059794576702490165, + 0.007386026598136971, + -0.05378094625255675, + -0.04847789733678384, + 1.0 + ], + [ + -0.001960412552802493, + -0.027225240396016995, + 0.007667235455431354, + -0.04734359390032181, + -0.0556044064362396, + -0.08771643652191023, + 1.0 + ], + [ + -0.0062941501474398365, + -0.03730891819310316, + 0.019338515969748796, + -0.018561837866103905, + -0.09118276318866837, + -0.11579711319326993, + 1.0 + ], + [ + -0.00855315150584851, + -0.010926332210387954, + 0.0016996965833483285, + -0.0018897842331221332, + -0.01575370098580436, + -0.024445960397428888, + 1.0 + ], + [ + -0.00025560125054602256, + -0.0027341893451980417, + -0.007085884462824543, + 0.015251525818136944, + 0.04111642384935581, + 0.027559991615800562, + 1.0 + ], + [ + 0.003903161005498479, + -0.0013775971742682747, + -0.005343026664461681, + 0.026323204248461064, + 0.023598407895941878, + 0.025990830394636042, + 1.0 + ], + [ + 0.011773729670349786, + 0.003764818212043934, + -0.014517098997220299, + 0.057542646163779056, + 0.02268421758848066, + 0.033674140660397395, + 1.0 + ], + [ + 0.020296358069245735, + 0.002094859417262951, + -0.013613626608506443, + 0.05961657068550726, + -0.01894645195046903, + 0.03456382356124892, + 1.0 + ], + [ + 0.017032149178372258, + 0.001963335208126235, + -0.006620913137401013, + 0.04101292537809608, + -0.05786578548831674, + 0.0733102687836291, + 1.0 + ], + [ + 0.005096177237088162, + -0.0055419741006756396, + -0.0002679806857594641, + -0.037451959190303585, + -0.07332340981289831, + 0.22227857609876694, + 1.0 + ], + [ + -0.004555142692283798, + -0.003096584966648358, + 0.0014675128242481739, + -0.09277656649568224, + -0.08031753772818777, + 0.15390241360214418, + 1.0 + ], + [ + -0.00652377082569755, + -0.007201035941919343, + 0.004492063986699046, + -0.10464875059389112, + -0.0840411685345161, + 0.3169762947210153, + 1.0 + ], + [ + -0.009693406400182791, + -0.0063020146665694055, + 0.0002375026140968503, + -0.09452160720656934, + -0.009866898677811325, + 0.4336179326800209, + 1.0 + ], + [ + 0.0001613088243259675, + -0.0018487920574887517, + -0.007326499925668646, + -0.028565892150057386, + 0.014264634220569717, + 0.35551274105675523, + 1.0 + ], + [ + 0.00925614898952587, + -0.002915211913560159, + -0.010632838651721786, + 0.05132209937007104, + 0.06772599092510373, + 0.11303588346949361, + 1.0 + ], + [ + 0.005921967054727639, + -0.005657973402999412, + -0.015099788778877493, + 0.03843027674474696, + 0.059320678540451775, + 0.0025441417982749663, + 1.0 + ], + [ + 0.0023719652393736634, + -0.0037008342965713717, + -0.017378919411460178, + -0.02146456767355617, + 0.03314086658791344, + -0.0086628176534412, + 1.0 + ], + [ + 0.002001622821322102, + 0.0006229383894258977, + -0.012365656444532438, + 0.0031370796165426837, + 0.049556531895435026, + -0.01251451174385032, + 1.0 + ], + [ + 0.0003008785294143501, + 0.006031242268760683, + -0.0017139119865818044, + -0.03240164145028255, + -0.004718690726973298, + -0.057747612394425524, + 0.0 + ], + [ + -0.0026423361573342796, + 0.0043491724329326915, + 0.008688152841925305, + -0.007808460364932122, + -0.012535192047067123, + -0.019275693837033567, + 0.0 + ], + [ + -0.005992603079357062, + 0.015724245199140133, + 0.024117151784736366, + -0.07358591494240932, + 0.07355531525493902, + -0.2507134324525382, + 0.0 + ], + [ + -0.01566345027593552, + 0.023143210556219013, + 0.0356918460786144, + 0.004338701020598453, + -0.042630346023323336, + -0.2592296274451437, + 0.0 + ], + [ + -0.012308570271604036, + 0.017583193881825568, + 0.01847909373610688, + -0.027151581314870887, + -0.03612778835205898, + -0.12149459084961492, + 0.0 + ], + [ + -0.007461688836587266, + 0.016764028207734212, + 0.006067063030318315, + -0.031840737336931955, + -0.012892501109055127, + -0.10205060064898615, + 0.0 + ], + [ + -0.0014280013821597048, + 0.009254134130708282, + 0.0006511474771919712, + 0.0073832131170956, + 0.01714512097723074, + -0.14010737469922394, + 0.0 + ], + [ + -0.0019286544898811098, + 0.01813465977003835, + -0.007049095578218423, + 0.048522708868716076, + 0.07827713988752184, + -0.07275027199421867, + 0.0 + ], + [ + -0.002545842005137966, + 0.016242755793156316, + -0.013745554592581852, + -0.009787564212390045, + 0.0859040712845172, + 0.018522290153994318, + 0.0 + ], + [ + 0.0007827212153022622, + -0.001092201123243916, + -0.0004609315736171793, + 0.007903638041501643, + -0.002197650253172462, + -0.0263932887086587, + 0.0 + ], + [ + 7.675513062016526e-05, + -0.005022760742981705, + -0.004829800096664491, + -0.007001338098130126, + -0.004894683529129805, + -0.05922154206956618, + 0.0 + ], + [ + -0.010095103186822385, + -0.009752612384988951, + 0.0009505220906471656, + -0.011699441664809778, + -0.011406072333069858, + -0.042656575829648, + 0.0 + ], + [ + -0.01403250172848397, + -0.006336763230057163, + 0.0013221500997019076, + -0.013029237727730611, + -0.02730688513623892, + -0.029545411930038897, + 0.0 + ], + [ + -0.0030829849107700813, + -0.0010532393085887493, + -0.006318288870726052, + -0.007651852369690462, + -0.040418459061412434, + -0.014465117137209122, + 0.0 + ], + [ + 0.0009155604189483024, + 0.002013805284719339, + -0.0024749456350473126, + 0.012009101646798812, + 0.004797276516507732, + 0.008913788604199028, + 0.0 + ], + [ + 0.0022761351482768477, + -0.0012071477791057161, + -0.005293163310963717, + 0.0053960206614003465, + -0.011983331292586136, + -0.030364392351870165, + 0.0 + ], + [ + 0.00939705707992805, + -0.0008081430028959308, + -0.016708962510843972, + 0.04948453332168263, + -0.011138174028856702, + -0.025980551385807148, + 0.0 + ], + [ + 0.0038194139648202174, + 0.0023910264698271955, + -0.012907771401669066, + 0.03999128818458383, + 0.12467775500430586, + 0.041188021899086505, + 0.0 + ], + [ + -0.000686849137418788, + -0.0011551851057206158, + -0.005196653140486472, + 0.001103950431322506, + 0.0395043820634533, + 0.009178244734389156, + 0.0 + ], + [ + -0.004423218432796527, + -0.006757624767639733, + -0.00965294192222374, + -0.014314162501347403, + 0.038623562434250705, + -0.013251336933192777, + 0.0 + ], + [ + 7.758499906568295e-05, + -0.0014743855961837776, + -0.00015550177188579026, + 0.0015025073749083998, + 0.003369974551814546, + -0.000733547017738953, + 0.0 + ], + [ + 0.0015681043630618174, + -0.0012689502724969465, + 0.002786087566745296, + -0.013314527385204543, + -0.03653687846000569, + -0.017884175614361956, + 0.0 + ], + [ + 3.8998505213660994e-05, + 0.000657880530270924, + 0.0009055575067214751, + -0.003448709766432067, + -0.0026578553482893364, + -0.003004272601909006, + 0.0 + ], + [ + -0.00048081571930697065, + 0.00026322936861644664, + 0.0002684627229799508, + 0.011317425357813467, + 0.026200219290470804, + 0.014177466275819332, + 1.0 + ], + [ + -0.0007434494996803598, + 0.0008027097102877995, + -0.00047567829662373967, + -0.020173757277317166, + 8.267795224819995e-05, + 0.021160830686109314, + 1.0 + ], + [ + 0.003613316018303059, + -0.0030492373262808042, + 0.005240207293018835, + -0.052892419435788984, + -0.05028801420378975, + 0.0005981069713357961, + 1.0 + ], + [ + 0.015097547459097915, + -0.0072618779438138326, + 0.03837944689390618, + -0.08644812573199875, + -0.136913486351558, + 0.03243658142326077, + 1.0 + ], + [ + 0.013146294285114657, + 0.001219733434934242, + 0.03919752148291612, + 0.012578522303138296, + -0.13297086997663482, + 0.006025038045035599, + 1.0 + ], + [ + 0.004565428882426781, + 0.0031648082827651497, + 0.03271054537161097, + 0.023851480113773384, + -0.1225465081489145, + -0.0027970461065504352, + 1.0 + ], + [ + -0.0008461334640002538, + -0.0003174378198287503, + 0.013950204151523482, + 0.04606690181263644, + -0.05399319893947265, + -0.0115385317935941, + 1.0 + ], + [ + -0.0005786472360845285, + -0.000439290026869113, + -0.001475053829349482, + 0.007913425569666557, + 0.012374597426085371, + -0.002774581662470445, + 1.0 + ], + [ + -0.0008914583104139284, + 0.0006793037035502519, + -0.002483209246593149, + 0.02819284606393933, + 0.021225859407148415, + -0.004421440964468234, + 1.0 + ], + [ + 0.005025769706991645, + 0.0005951037353046085, + -0.012336182349095753, + 0.016533937921427575, + 0.08906870505864607, + -0.009623290553473282, + 1.0 + ], + [ + 0.007297898296306338, + 0.0007596642458198022, + -0.012624419013056595, + 0.021015462351631563, + 0.11835519760918042, + 0.001354838084717285, + 1.0 + ], + [ + 0.0009605270184648296, + 0.0010297710621725298, + -0.005722889620362048, + 0.008727872800477798, + 0.057529268415984366, + 0.031243399224804867, + 1.0 + ], + [ + -7.902464614500948e-05, + 0.0003336715671010265, + -0.0008400185547606936, + 0.00558741963923616, + 0.006006424757618755, + 0.010242231456454816, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 226.88174438476562, + 64.45940399169922 + ], + [ + 227.4292755126953, + 69.5648422241211 + ], + [ + 232.1090850830078, + 96.66844177246094 + ], + [ + 251.3887939453125, + 102.86292266845703 + ], + [ + 281.54376220703125, + 93.48162078857422 + ], + [ + 305.1083068847656, + 88.77388763427734 + ], + [ + 298.6865234375, + 93.90065002441406 + ], + [ + 303.4540710449219, + 99.02455139160156 + ], + [ + 307.127685546875, + 107.70999145507812 + ], + [ + 317.1017761230469, + 114.93717956542969 + ], + [ + 326.43603515625, + 118.07037353515625 + ], + [ + 329.35443115234375, + 113.97242736816406 + ], + [ + 333.84228515625, + 136.20684814453125 + ], + [ + 336.32269287109375, + 135.06271362304688 + ], + [ + 334.31744384765625, + 137.9672393798828 + ], + [ + 325.00848388671875, + 140.7364959716797 + ], + [ + 337.0856018066406, + 139.73086547851562 + ], + [ + 345.0194396972656, + 152.73562622070312 + ], + [ + 351.1748962402344, + 168.78952026367188 + ], + [ + 355.82025146484375, + 173.06504821777344 + ], + [ + 363.03509521484375, + 168.6116943359375 + ], + [ + 359.28125, + 168.25555419921875 + ], + [ + 345.4593505859375, + 172.292724609375 + ], + [ + 309.025634765625, + 140.64930725097656 + ], + [ + 283.7965393066406, + 100.76681518554688 + ], + [ + 253.62303161621094, + 92.10637664794922 + ], + [ + 233.35108947753906, + 81.12409210205078 + ], + [ + 225.61123657226562, + 71.67619323730469 + ], + [ + 209.44625854492188, + 82.75068664550781 + ], + [ + 196.26861572265625, + 86.32357025146484 + ], + [ + 201.6614227294922, + 86.49761962890625 + ], + [ + 208.15911865234375, + 109.36865234375 + ], + [ + 207.0478515625, + 114.16416931152344 + ], + [ + 208.4964141845703, + 124.04924011230469 + ], + [ + 206.3112335205078, + 128.91439819335938 + ], + [ + 206.00997924804688, + 128.9571990966797 + ], + [ + 204.60543823242188, + 129.69937133789062 + ], + [ + 218.70680236816406, + 148.7925262451172 + ], + [ + 220.8220672607422, + 152.85293579101562 + ], + [ + 221.72323608398438, + 160.73687744140625 + ], + [ + 228.16571044921875, + 165.09014892578125 + ], + [ + 229.95814514160156, + 165.61053466796875 + ], + [ + 230.04295349121094, + 166.84600830078125 + ], + [ + 229.40750122070312, + 170.86175537109375 + ], + [ + 230.68711853027344, + 172.7674560546875 + ], + [ + 235.24441528320312, + 170.98434448242188 + ], + [ + 238.5049591064453, + 156.3509521484375 + ], + [ + 236.60195922851562, + 98.63020324707031 + ], + [ + 233.37612915039062, + 50.16313934326172 + ], + [ + 224.23387145996094, + 29.002727508544922 + ], + [ + 219.85450744628906, + 26.77460479736328 + ], + [ + 218.24664306640625, + 27.146602630615234 + ], + [ + 225.7020263671875, + 29.94379997253418 + ], + [ + 230.34254455566406, + 40.770755767822266 + ], + [ + 238.77406311035156, + 51.614036560058594 + ], + [ + 237.5093994140625, + 52.02193832397461 + ], + [ + 236.71243286132812, + 51.538482666015625 + ] + ], + "depth_max": 2.0348949432373047, + "depth_min": 0.4519750773906708, + "intrinsic": [ + [ + 543.943359375, + 0.0, + 259.0 + ], + [ + 0.0, + 542.73876953125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.6061140892561525e-05, + 0.00013117016351316124, + -2.9753018679912202e-05 + ], + [ + -4.604879723046906e-05, + 1.0, + -9.408293408341706e-05, + -1.719795363896992e-06 + ], + [ + -0.0001311744999838993, + 9.407689503859729e-05, + 1.0, + 4.846917727263644e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 46, + 49, + 52, + 56 + ], + "object_trajectory": [ + [ + 351.75, + 202.75001525878906 + ], + [ + 352.1708984375, + 203.16795349121094 + ], + [ + 351.82086181640625, + 202.88197326660156 + ], + [ + 351.578369140625, + 202.90037536621094 + ], + [ + 351.67083740234375, + 203.13742065429688 + ], + [ + 351.943115234375, + 202.99217224121094 + ], + [ + 351.9680480957031, + 202.86068725585938 + ], + [ + 352.3236999511719, + 203.31129455566406 + ], + [ + 351.4670715332031, + 203.07412719726562 + ], + [ + 351.4292297363281, + 202.99111938476562 + ], + [ + 351.38592529296875, + 203.3629913330078 + ], + [ + 351.3677673339844, + 203.33831787109375 + ], + [ + 351.41900634765625, + 203.37469482421875 + ], + [ + 350.8636474609375, + 203.1986846923828 + ], + [ + 351.247314453125, + 203.30941772460938 + ], + [ + 351.80426025390625, + 203.6226806640625 + ], + [ + 351.994140625, + 203.7469940185547 + ], + [ + 352.6740417480469, + 204.05157470703125 + ], + [ + 357.33013916015625, + 202.46875 + ], + [ + 358.69647216796875, + 200.3516845703125 + ], + [ + 374.7649230957031, + 194.6510009765625 + ], + [ + 370.44268798828125, + 193.4121856689453 + ], + [ + 348.5257568359375, + 196.35475158691406 + ], + [ + 300.88031005859375, + 159.67835998535156 + ], + [ + 269.7944641113281, + 125.47578430175781 + ], + [ + 237.9462890625, + 113.92953491210938 + ], + [ + 216.74380493164062, + 98.91401672363281 + ], + [ + 206.3823699951172, + 90.09104919433594 + ], + [ + 191.40951538085938, + 98.4743423461914 + ], + [ + 188.3927459716797, + 98.39569854736328 + ], + [ + 193.8192138671875, + 101.36795806884766 + ], + [ + 196.23304748535156, + 124.38764190673828 + ], + [ + 194.95294189453125, + 130.82894897460938 + ], + [ + 195.91641235351562, + 142.9726104736328 + ], + [ + 192.85794067382812, + 147.19000244140625 + ], + [ + 192.2631072998047, + 148.25030517578125 + ], + [ + 191.45814514160156, + 149.44485473632812 + ], + [ + 204.03982543945312, + 164.6563262939453 + ], + [ + 207.04611206054688, + 167.89352416992188 + ], + [ + 208.8784637451172, + 176.20465087890625 + ], + [ + 214.90895080566406, + 179.22479248046875 + ], + [ + 216.2829132080078, + 180.03131103515625 + ], + [ + 216.61346435546875, + 181.96615600585938 + ], + [ + 211.870361328125, + 191.5184326171875 + ], + [ + 211.98037719726562, + 191.517822265625 + ], + [ + 212.734619140625, + 191.06283569335938 + ], + [ + 215.33253479003906, + 189.27392578125 + ], + [ + 219.92739868164062, + 191.4409942626953 + ], + [ + 223.72183227539062, + 193.05410766601562 + ], + [ + 223.34268188476562, + 193.15597534179688 + ], + [ + 223.7066650390625, + 193.02442932128906 + ], + [ + 223.51806640625, + 193.345947265625 + ], + [ + 224.69601440429688, + 193.3212432861328 + ], + [ + 224.63519287109375, + 193.78855895996094 + ], + [ + 225.11923217773438, + 194.1387176513672 + ], + [ + 225.30755615234375, + 194.40757751464844 + ], + [ + 225.35360717773438, + 194.93560791015625 + ] + ] +} \ No newline at end of file diff --git a/006863_v2/lang.txt b/006863_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..1a9f0e6cfaafc58d3cca8d3c9f3a7d34a3b6dd16 --- /dev/null +++ b/006863_v2/lang.txt @@ -0,0 +1 @@ +move the yellow corn to the right side of the silver pot diff --git a/006863_v2/object.ply b/006863_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..3cec52025631335dd2261739a6b46d6a256d312c Binary files /dev/null and b/006863_v2/object.ply differ diff --git a/006868/FAIL b/006868/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/006868/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/006869/data.json b/006869/data.json new file mode 100644 index 0000000000000000000000000000000000000000..a103a11692e7aa9c9736c78be520dd4638a6535f --- /dev/null +++ b/006869/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 14, + "action_end": 30, + "object_name": "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, + 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 + ], + "gripper_actions": [ + [ + -2.2939150579048828e-11, + -2.4239145413051943e-10, + 1.3123238606915777e-11, + 4.4621851097421847e-07, + -3.6719041572488727e-08, + -7.056376984630704e-07, + 1.0 + ], + [ + -0.003453495566558329, + 0.012830655400278654, + -0.00938302382465675, + 0.011503719298784966, + -0.017457981740233927, + -0.1623534592283303, + 1.0 + ], + [ + 0.0026548775224769505, + 0.020890009927836156, + -0.011622943299118838, + 0.06649525329252111, + -0.004541743907898649, + -0.1472374227360556, + 1.0 + ], + [ + 0.0018156690875791859, + 0.017020073223190865, + -0.003442275814223586, + -0.0011937866101770728, + -0.058062997117543126, + -0.1436620589115151, + 1.0 + ], + [ + 0.006307149507082999, + 0.007668203511444691, + -0.01091003427664762, + -0.0011291473011775944, + 0.017582381893837918, + -0.11205744165356323, + 1.0 + ], + [ + -0.0005988202282185551, + 0.0034872281407697867, + -0.011691620656830382, + 0.02833544560219602, + -0.02748854597568645, + -0.08209463219212225, + 1.0 + ], + [ + -0.0019926772251303015, + 0.0017195530857572455, + -0.014664651144447718, + 0.024502845000384858, + 0.026320638167129148, + -0.02124267401546311, + 1.0 + ], + [ + -0.00965335973136583, + 0.0006427985544151475, + -0.010694350533008497, + 0.01744273596536202, + -0.0016650779895441819, + -0.03432448246806925, + 1.0 + ], + [ + -0.006558299144687585, + 0.005639318353375486, + -0.010454450662042987, + 0.020933228198591797, + -0.005254629892741778, + -0.04683981300650566, + 1.0 + ], + [ + 0.00018657401768951143, + 0.004125618316393269, + -0.013558167313610751, + 0.0371409943760152, + -0.027243328581791685, + 0.0026388476045690924, + 1.0 + ], + [ + 0.0010453758928850587, + 0.0002508563867949006, + -0.005281028376570528, + 0.001806227961373831, + 0.008626993223014277, + -0.012560850649054265, + 1.0 + ], + [ + 0.0027592503257013457, + -0.0015250850190075497, + -0.005603475751332989, + 0.01631959655301115, + -0.014116184143958734, + 0.0018825814774198052, + 1.0 + ], + [ + 0.001850667680352469, + -0.0017798537981018672, + -0.009894625675117327, + 0.0179558864208542, + 0.01215743251563387, + -0.0009485587264863014, + 1.0 + ], + [ + 0.0016322144874399425, + -0.0018830530418384173, + -0.004465868872913779, + -0.000902334372796691, + -0.0011489660828924212, + -0.0043529399753938075, + 1.0 + ], + [ + -0.0005266751285851745, + -0.001920744929411156, + -0.0023411355617308956, + 0.001753450102366369, + 0.0010006937355637696, + -0.0008067011476513004, + 1.0 + ], + [ + -0.0005510685186170816, + 0.00036944632688766174, + -0.0017708384302296681, + 0.00011690033958035325, + 0.010829918699737876, + -0.0005864467154596734, + 0.0 + ], + [ + 0.00014675820852733112, + 0.0010880538615652942, + -0.0007875435616577602, + -0.0035664318871736446, + 0.0072951780366429225, + 0.00599662297340896, + 0.0 + ], + [ + 0.0021836262229867898, + 0.0017861015507866593, + -0.002394769934672622, + 0.0060487044104698484, + 0.0033641210349841166, + 0.014487473154017884, + 0.0 + ], + [ + 0.0008545913547466921, + 0.004489031253893022, + 0.011518545864765549, + -0.004665443287397599, + 0.031035210771978804, + 0.039290614948611156, + 0.0 + ], + [ + 0.0002587878359616158, + 0.005917544812799408, + 0.018925461617101548, + -0.00014932262217518105, + -0.016563147298033976, + 0.04083815689664603, + 0.0 + ], + [ + 0.00025940813293956477, + -0.0012466183981108964, + 0.024145311477180346, + -0.002585218099530828, + -0.023360892346345873, + 0.07396263022099302, + 0.0 + ], + [ + 0.0037184871855958646, + -0.006993618596396117, + 0.011181984679710062, + -0.016128344035603363, + -0.03807709352116253, + 0.03322620524783115, + 0.0 + ], + [ + 0.0037547756546985056, + -0.020746811328438423, + 0.012791408009723844, + -0.052681129302469806, + -0.007919026068099215, + 0.015013868299597192, + 0.0 + ], + [ + 0.010116877568539018, + -0.026114346725745724, + 0.0036490982794707867, + -0.06364200699137663, + -0.00279990141251266, + -0.0022010381164521494, + 0.0 + ], + [ + 0.01560013454369702, + -0.022710615818402703, + -0.002294304012880423, + -0.05459278827457551, + -0.010128436042883028, + 0.04748369644253465, + 0.0 + ], + [ + 0.006818695360717053, + -0.01708194754225042, + -0.0024465314104764463, + -0.03919412708765927, + 0.01277492596442912, + 0.01719326086181672, + 0.0 + ], + [ + -0.0018465465993453556, + -0.005756028120318897, + -0.0103824505595215, + -0.007265867522065393, + -0.007371287879488931, + 0.01590952336534692, + 0.0 + ], + [ + -0.003254582600039413, + -0.00493929502353703, + -0.006835954883910311, + -0.022113065757710857, + -0.04828391556869401, + 0.01964387473193401, + 0.0 + ], + [ + -0.0037896260000765958, + -0.003904850628929632, + -0.0038458924829753854, + -0.02029710555951373, + -0.04635025540034374, + -0.0050862896080678685, + 0.0 + ], + [ + -7.505481823377735e-06, + -0.0052367421634978845, + -0.0053398535517870105, + -0.01870322988318555, + -0.024726296344488828, + 0.026612152369424692, + 0.0 + ], + [ + 0.0014448193640372309, + -0.004397845024514638, + 0.0009240630049834331, + -0.008864245564695887, + -0.007927808653302441, + 0.012635215214490344, + 0.0 + ], + [ + 0.0015579047545271618, + -0.0009404146443179606, + 0.003221562353955666, + -0.003455556277116906, + -0.0034356433853159, + 0.03217347541551069, + 1.0 + ], + [ + -0.0007577729540208522, + -2.408703832161574e-05, + 0.00023825230860483396, + 0.0011895914742820009, + -0.006287144372717234, + 0.023378011903568172, + 1.0 + ], + [ + -0.00026349393824454115, + 0.003181126188889785, + 0.009327608005159912, + -0.020239733568146113, + 0.024218711588587474, + 0.009164354427009108, + 1.0 + ], + [ + 0.0012434311979355184, + 0.010429291690564557, + 0.026933300720552878, + -0.03221895385791067, + 0.008587790032643443, + 0.01747078131495877, + 1.0 + ], + [ + 0.003180136243995879, + 0.015778357408463395, + 0.019316077720498436, + 0.020922327800316144, + 0.025159656717408628, + 0.02876219910868044, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 460.86468505859375, + 98.78401947021484 + ], + [ + 458.422119140625, + 108.1878433227539 + ], + [ + 447.5876770019531, + 137.81387329101562 + ], + [ + 415.7540283203125, + 133.2760009765625 + ], + [ + 387.7486877441406, + 134.05982971191406 + ], + [ + 370.59075927734375, + 129.98910522460938 + ], + [ + 367.36279296875, + 138.6763916015625 + ], + [ + 366.3861083984375, + 150.1868438720703 + ], + [ + 356.4690246582031, + 173.95628356933594 + ], + [ + 351.42767333984375, + 189.29776000976562 + ], + [ + 344.43182373046875, + 196.51498413085938 + ], + [ + 342.4072265625, + 205.83038330078125 + ], + [ + 341.4510498046875, + 207.06344604492188 + ], + [ + 340.52386474609375, + 219.27871704101562 + ], + [ + 344.7945251464844, + 228.84011840820312 + ], + [ + 347.5281066894531, + 228.89431762695312 + ], + [ + 348.51507568359375, + 226.15521240234375 + ], + [ + 348.32843017578125, + 226.42002868652344 + ], + [ + 349.4039611816406, + 222.74862670898438 + ], + [ + 348.5875244140625, + 221.96372985839844 + ], + [ + 346.4465026855469, + 217.78805541992188 + ], + [ + 341.2522888183594, + 193.09033203125 + ], + [ + 340.5458679199219, + 177.8848419189453 + ], + [ + 351.68896484375, + 172.44508361816406 + ], + [ + 392.22137451171875, + 161.0137939453125 + ], + [ + 437.0467529296875, + 148.30838012695312 + ], + [ + 462.046875, + 156.21353149414062 + ], + [ + 471.7418518066406, + 158.41177368164062 + ], + [ + 466.48382568359375, + 178.39488220214844 + ], + [ + 465.3111267089844, + 199.16490173339844 + ], + [ + 468.5268859863281, + 208.71095275878906 + ], + [ + 475.28765869140625, + 209.75369262695312 + ], + [ + 478.6492004394531, + 212.97337341308594 + ], + [ + 478.04681396484375, + 211.90005493164062 + ], + [ + 477.6228332519531, + 216.43035888671875 + ], + [ + 491.3759460449219, + 185.81307983398438 + ], + [ + 473.6540832519531, + 147.6479034423828 + ], + [ + 445.7969970703125, + 131.24044799804688 + ] + ], + "depth_max": 1.7089043855667114, + "depth_min": 0.563179075717926, + "intrinsic": [ + [ + 556.4425659179688, + 0.0, + 259.0 + ], + [ + 0.0, + 556.8143920898438, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -6.460888016590616e-06, + -7.915106834843755e-05, + 5.112575308885425e-06 + ], + [ + 6.456074970628833e-06, + 1.0, + -6.0811187722720206e-05, + 7.472530342056416e-06 + ], + [ + 7.915146125014871e-05, + 6.081067840568721e-05, + 1.0, + 1.94509448192548e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 342.75, + 236.25001525878906 + ], + [ + 343.0658264160156, + 236.1968231201172 + ], + [ + 343.0235290527344, + 236.21099853515625 + ], + [ + 342.9853515625, + 236.33306884765625 + ], + [ + 342.92755126953125, + 236.1859588623047 + ], + [ + 342.61883544921875, + 236.2489013671875 + ], + [ + 342.6459655761719, + 236.04611206054688 + ], + [ + 342.52374267578125, + 236.02796936035156 + ], + [ + 342.6440734863281, + 235.95840454101562 + ], + [ + 341.9681701660156, + 236.6033172607422 + ], + [ + 341.1316833496094, + 236.8861846923828 + ], + [ + 340.5648193359375, + 236.95504760742188 + ], + [ + 340.2103271484375, + 236.65472412109375 + ], + [ + 339.8121337890625, + 236.65567016601562 + ], + [ + 339.8213195800781, + 236.45111083984375 + ], + [ + 340.3321228027344, + 236.16424560546875 + ], + [ + 339.8114013671875, + 237.30931091308594 + ], + [ + 340.1717224121094, + 239.5320281982422 + ], + [ + 341.5556335449219, + 237.98863220214844 + ], + [ + 340.8685302734375, + 237.1456298828125 + ], + [ + 339.47955322265625, + 233.0057830810547 + ], + [ + 333.9996643066406, + 211.35958862304688 + ], + [ + 332.9441833496094, + 195.55062866210938 + ], + [ + 345.2828674316406, + 191.21702575683594 + ], + [ + 385.72747802734375, + 180.75299072265625 + ], + [ + 430.9474182128906, + 165.82736206054688 + ], + [ + 456.6354064941406, + 172.27853393554688 + ], + [ + 468.7281494140625, + 175.29165649414062 + ], + [ + 464.6771240234375, + 194.5786590576172 + ], + [ + 464.6087646484375, + 213.28305053710938 + ], + [ + 468.57989501953125, + 219.92210388183594 + ], + [ + 474.5907287597656, + 221.22262573242188 + ], + [ + 478.3455810546875, + 232.3441162109375 + ], + [ + 476.4736633300781, + 235.08468627929688 + ], + [ + 477.13604736328125, + 235.48568725585938 + ], + [ + 476.84381103515625, + 235.0233612060547 + ], + [ + 476.85430908203125, + 234.4658660888672 + ], + [ + 477.31756591796875, + 234.33592224121094 + ] + ] +} \ No newline at end of file diff --git a/006869/lang.txt b/006869/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..31fac5a5547a92d980e9a16de12d347faa8e3554 --- /dev/null +++ b/006869/lang.txt @@ -0,0 +1 @@ +put spoon in bowl sink diff --git a/006869/object.ply b/006869/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..82245a15d96b0a988a9614fca8d5372ea5d1cbf6 Binary files /dev/null and b/006869/object.ply differ diff --git a/006884/FAIL b/006884/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/006884/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/006885/FAIL b/006885/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/006885/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/006927_v2/FAIL b/006927_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/006927_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/006952/data.json b/006952/data.json new file mode 100644 index 0000000000000000000000000000000000000000..7bb96247805fb5b5cbf25e9870249c9f00e72adb --- /dev/null +++ b/006952/data.json @@ -0,0 +1,531 @@ +{ + "action_start": 9, + "action_end": 18, + "object_name": "blueberries", + "gripper_opens": [ + 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, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 3.6371855527406183e-10, + 2.44571154994766e-10, + 2.2380301778479605e-10, + 1.4229968261837848e-07, + -1.5940391043416228e-07, + 2.1999987630246079e-07, + 1.0 + ], + [ + 0.0007572171889171919, + -0.01940499579627375, + -0.015711969010481316, + -0.00946627635901979, + 0.0033047136760489264, + -0.04292571181746817, + 1.0 + ], + [ + 0.006704801727180243, + -0.01976760612506022, + -0.009913941290840417, + 0.002985978978344072, + -0.018959414487820354, + -0.016481767300219916, + 1.0 + ], + [ + 0.009607003574219564, + -0.018427692844041138, + -0.004268842329709789, + -0.011721862347383153, + -0.0405742536629016, + -0.027260053744057523, + 1.0 + ], + [ + 0.013347426618989189, + -0.011499840436647063, + -0.002588620943305142, + 0.02319232423153043, + -0.015529598818458293, + 0.019906813022284815, + 1.0 + ], + [ + 0.006718766024198741, + -0.0017412429210978547, + -0.009169699832154411, + 0.043936000245147246, + -0.005005031220808222, + 0.03293994388276078, + 1.0 + ], + [ + 0.005085536981331074, + -0.0025422958956879543, + -0.01065701117363222, + 0.02354222675901105, + 0.0037619829510276465, + 0.017081290409020608, + 1.0 + ], + [ + 0.008415706830530889, + -0.0038081109080157563, + -0.010317032354302837, + 0.015930734369161377, + -0.005833653189011099, + 0.03806429363631298, + 1.0 + ], + [ + 0.002800162450395882, + -0.0028470701300398887, + -0.003476837983064064, + -0.00020491687978305224, + -0.0078626226945891, + 0.012375001614508148, + 1.0 + ], + [ + 0.0014204418244544992, + 0.0005718171480119383, + -0.0031001971024956602, + 0.003199611842990431, + -0.006712707683883115, + -0.0041257406119677075, + 0.41098900000000005 + ], + [ + 0.004394196304599363, + -0.0007861457201042282, + 0.0035587941932126075, + -0.024438285600842644, + 0.004824021926294607, + 0.009697613301108033, + 0.0 + ], + [ + 0.004836160266466161, + 0.00057606038816925, + 0.0050459639428683326, + -0.025060582705158287, + -0.002863203033086645, + 0.029304314240431985, + 0.0 + ], + [ + 0.001436510720833506, + 0.010788709843238105, + 0.02156297245132922, + -0.03758257631947514, + -0.04289800908442363, + 0.037538052003084646, + 0.0 + ], + [ + -0.005525322591621917, + 0.018192112127734812, + 0.01739162523940321, + -0.028369995158661405, + -0.020500413010130624, + 0.023517388544166254, + 0.0 + ], + [ + -0.01193245557564021, + 0.02844045051228073, + 0.004136876293222975, + -0.003947134614627086, + 0.0386319665933833, + -0.001982200700119057, + 0.0 + ], + [ + -0.013123989920325208, + 0.022467147606470908, + -0.007930464850211136, + 0.014249320612146633, + 0.03636742349216293, + -0.026087914528353025, + 0.0 + ], + [ + -0.00929417386419723, + 0.014523797838115096, + -0.006382915675537004, + 0.02742588221883737, + 0.012746398859592082, + -0.02568693083094722, + 0.0 + ], + [ + -0.00926702652911121, + 0.008148817033309524, + -0.007678236925129825, + 0.002924382707817599, + 0.007642670139510373, + -0.011780680948693414, + 0.0 + ], + [ + -0.007825305988835907, + 0.0039209940492093, + -0.005517243635599009, + 0.05628249590290623, + -0.004834005676332955, + -0.017015061694569282, + 0.0 + ], + [ + -0.0006478531032946822, + 0.006163001179765898, + 0.007199881831662123, + 0.008224301626617834, + 0.010955615414611009, + 0.025518268558089884, + 1.0 + ], + [ + 0.003723831798582933, + -0.00058753951678156, + 0.0055755632852009535, + -0.003843957260040699, + 0.014113423862992932, + 0.006074264745061372, + 1.0 + ], + [ + 0.005270698518985206, + -0.0018060414540976566, + 0.01512157655727701, + -0.01389919625097385, + -0.022637654117073504, + 0.009376436241822592, + 1.0 + ], + [ + 0.0038799802669385874, + -0.005593898562755023, + 0.023053864902561994, + -0.039205240714002484, + -0.007021601840061366, + 0.005594977416280014, + 1.0 + ], + [ + 0.001127448093104444, + -0.003467256748335368, + 0.018628773586206064, + -0.010050960033350598, + -0.03643863890466739, + -0.03418744512638078, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 226.6676025390625, + 122.9962158203125 + ], + [ + 225.9651336669922, + 128.75619506835938 + ], + [ + 232.7724151611328, + 156.53465270996094 + ], + [ + 272.19183349609375, + 173.32522583007812 + ], + [ + 305.3705749511719, + 177.23648071289062 + ], + [ + 316.93267822265625, + 184.5789794921875 + ], + [ + 329.4498596191406, + 186.929931640625 + ], + [ + 337.45361328125, + 194.806884765625 + ], + [ + 339.7502136230469, + 196.24957275390625 + ], + [ + 349.2279052734375, + 201.35107421875 + ], + [ + 354.4486999511719, + 202.25997924804688 + ], + [ + 360.06365966796875, + 197.29718017578125 + ], + [ + 366.0826110839844, + 192.59573364257812 + ], + [ + 367.5456848144531, + 190.9722900390625 + ], + [ + 344.5494384765625, + 160.14141845703125 + ], + [ + 304.03973388671875, + 145.7587432861328 + ], + [ + 266.95477294921875, + 150.23223876953125 + ], + [ + 240.55174255371094, + 157.32183837890625 + ], + [ + 230.865478515625, + 168.8906707763672 + ], + [ + 221.77740478515625, + 182.25048828125 + ], + [ + 216.19195556640625, + 186.60006713867188 + ], + [ + 213.84323120117188, + 176.3505859375 + ], + [ + 215.12841796875, + 159.9462432861328 + ], + [ + 218.2079620361328, + 131.82232666015625 + ], + [ + 221.2039794921875, + 107.25706481933594 + ], + [ + 220.54876708984375, + 100.17545318603516 + ] + ], + "depth_max": 1.6410120725631714, + "depth_min": 0.4026062786579132, + "intrinsic": [ + [ + 541.454345703125, + 0.0, + 259.0 + ], + [ + 0.0, + 541.9268798828125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.774465065158438e-05, + -5.8685371186584234e-05, + -1.997068102355115e-05 + ], + [ + -2.7747239073505625e-05, + 1.0, + -4.40694966528099e-05, + -8.32827663543867e-06 + ], + [ + 5.868414882570505e-05, + 4.407112646731548e-05, + 1.0, + 2.4485303583787754e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 25 + ], + "object_trajectory": [ + [ + 349.5, + 214.75001525878906 + ], + [ + 349.7239990234375, + 215.016357421875 + ], + [ + 349.5389404296875, + 215.09722900390625 + ], + [ + 349.5506896972656, + 215.01150512695312 + ], + [ + 349.1011962890625, + 215.0680694580078 + ], + [ + 349.0372619628906, + 214.97409057617188 + ], + [ + 348.67620849609375, + 215.2792205810547 + ], + [ + 348.3355407714844, + 215.34471130371094 + ], + [ + 347.1995849609375, + 214.59812927246094 + ], + [ + 347.4294128417969, + 216.21775817871094 + ], + [ + 354.00299072265625, + 216.69699096679688 + ], + [ + 364.1451721191406, + 213.12416076660156 + ], + [ + 371.41680908203125, + 208.14028930664062 + ], + [ + 374.9483642578125, + 208.7274627685547 + ], + [ + 352.47894287109375, + 188.45135498046875 + ], + [ + 316.260498046875, + 171.02793884277344 + ], + [ + 279.3135681152344, + 175.86184692382812 + ], + [ + 253.56326293945312, + 175.02308654785156 + ], + [ + 243.91688537597656, + 185.8538360595703 + ], + [ + 234.7580108642578, + 198.95358276367188 + ], + [ + 239.10397338867188, + 212.27447509765625 + ], + [ + 240.5794677734375, + 217.77244567871094 + ], + [ + 239.5934600830078, + 217.846435546875 + ], + [ + 239.38604736328125, + 217.9592742919922 + ], + [ + 239.6487274169922, + 217.3533935546875 + ], + [ + 246.42010498046875, + 216.8522186279297 + ] + ] +} \ No newline at end of file diff --git a/006952/lang.txt b/006952/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..b1c7e52f423e585c9755dd4eb5f67fbff8a3e356 --- /dev/null +++ b/006952/lang.txt @@ -0,0 +1 @@ +take blueberries off plate sink diff --git a/006952/object.ply b/006952/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..16836507b379747523ed07691613cbb32c1afb70 Binary files /dev/null and b/006952/object.ply differ diff --git a/006955_v2/FAIL b/006955_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/006955_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/006971/data.json b/006971/data.json new file mode 100644 index 0000000000000000000000000000000000000000..9c4df362d71a325cb32ac189d8c680052ee851be --- /dev/null +++ b/006971/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 15, + "action_end": 31, + "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, + 0.906716, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + [ + -1.1190254278758971e-10, + 1.0696171726110038e-10, + -2.723973824281245e-11, + -1.7866076082487982e-07, + -4.6343211941111856e-08, + -5.447971400703016e-07, + 1.0 + ], + [ + -0.007475337031345675, + 0.036668752661088204, + 0.0063440915259712904, + -0.014034599865801342, + -0.019460678366044024, + -0.002456671740178813, + 1.0 + ], + [ + -0.009547435750549671, + 0.0316195154561693, + -0.0005752207912995758, + 0.02834102941392657, + 0.0056112363640259625, + 0.013419839963803448, + 1.0 + ], + [ + -0.009376247665839166, + 0.02992464531411787, + 0.0011981009626359507, + -0.007273221454244165, + -0.02325065463059827, + -0.010949915481042021, + 1.0 + ], + [ + -0.01087259447727984, + 0.01940358652067243, + -0.003839725099367912, + -0.009740805650642741, + -0.006614085776518611, + -0.02638273345510624, + 1.0 + ], + [ + -0.006404585712458055, + 0.010493910337863933, + -0.0037021000063572063, + -0.009443415578252201, + 0.01585774176743543, + 0.02892653277599223, + 1.0 + ], + [ + -0.0011401990082594016, + 0.011629125538928309, + -0.008158565754088479, + -0.009274692727036949, + -0.019869008617720608, + 0.04897825712623092, + 1.0 + ], + [ + -0.0006447062694525663, + 9.541357326239841e-05, + -0.010930766390601185, + 0.006653717043788163, + 0.023503526434688133, + 0.01702247139117762, + 1.0 + ], + [ + 0.0028045839553128005, + 0.0007795557000085801, + -0.008881095200900815, + 0.021891668921839195, + -0.01101743027526302, + 0.017904024212026914, + 1.0 + ], + [ + 0.0002567994777222804, + -0.0033912722344335844, + -0.011446810784665216, + 0.011694216925469396, + 0.009067187948467559, + -0.004098589663116729, + 1.0 + ], + [ + 0.0011852452579482198, + -0.002329312725739316, + -0.00906660807032194, + 0.013832055196894982, + -0.006228685652885864, + 0.012997878236528293, + 1.0 + ], + [ + -0.003050221752699922, + 0.0007572281780528212, + -0.006269694218734776, + 0.005234611706130582, + 0.006311940076019718, + -0.0007476529692433456, + 1.0 + ], + [ + -0.0009576667921311621, + 0.0004929952289409595, + -0.005896671951077849, + 0.016264886702203333, + -0.002387473404256236, + 0.0026171954288707177, + 1.0 + ], + [ + -0.001727365353732413, + 0.0018451663407586805, + -0.0030988165539094954, + 0.00048258791815399346, + 0.0047772029922001705, + 0.007332245261590426, + 1.0 + ], + [ + 0.0008250744403782706, + -0.00025913289100436276, + -0.010109772840888357, + 0.02439392996110871, + 0.0020005895434223758, + 0.003861862397025006, + 1.0 + ], + [ + -0.0005513509741712497, + -0.00032483908461096445, + -0.0019355856678319704, + -0.006559180944592796, + 0.020124010054694927, + 0.009478786037621027, + 0.906716 + ], + [ + -0.002456123183596337, + 0.0013898480980804734, + 0.0023771227595069354, + -0.0017837080347054546, + -0.0007561219232520121, + 0.0059041597202897965, + 0.0 + ], + [ + -0.0012110540786005597, + 0.0035085017159600523, + 0.004473529194560805, + 0.008471707914582401, + -0.0033934732982363316, + 0.012354874699405122, + 0.0 + ], + [ + 0.0022866335395850257, + 0.0018452799000986259, + 0.007945870078894437, + 0.0034471668193953027, + -0.018658608187251645, + 0.024119714460031333, + 0.0 + ], + [ + 0.004993034275187436, + -0.00499002247583967, + 0.02145888359208071, + -0.03936116037274721, + -0.030871864992868637, + 0.030338125186303636, + 0.0 + ], + [ + 0.0038949940271930106, + -0.009548031075260408, + 0.01649291303316377, + -0.028040627680194066, + -0.035483023257582916, + 0.009118823856225916, + 0.0 + ], + [ + 0.007642400904199265, + -0.012647130547587815, + 0.009950386714668708, + -0.03573237522528349, + -0.010791803788400724, + 0.03244916949769379, + 0.0 + ], + [ + 0.009854225287446783, + -0.03492141333631965, + 0.007406549112556858, + -0.055040063783398936, + 0.008002682287289599, + -0.004678149320987006, + 0.0 + ], + [ + 0.008285582801594193, + -0.03974852061934011, + 0.0008015546862557288, + -0.026080401721185142, + 0.014481596792355268, + -0.010000676935009122, + 0.0 + ], + [ + -0.0009154877857558974, + -0.032017764187382176, + -0.008267649932012039, + -0.017192862672717857, + 0.016530172841894945, + -0.01128097593563479, + 0.0 + ], + [ + -0.008689476858369904, + -0.023958158086978903, + -0.01177489606264829, + -0.004159752152676066, + 0.03659974086041066, + -0.020383990356007138, + 0.0 + ], + [ + -0.005873645998473231, + -0.01774841363745678, + -0.004978862042738459, + 0.008127403668521521, + -0.011103727466791865, + -0.027191361848538383, + 0.0 + ], + [ + 0.0002833431437881395, + -0.01958114353206962, + 0.007746511652259494, + -0.02716508593856724, + 0.003908942027014209, + 0.001991733648032845, + 0.0 + ], + [ + -0.0010204470654177067, + -0.00014162916220557265, + -0.008292103859508085, + 0.01514951183020761, + 0.021964274853138916, + 0.021430300840055396, + 0.0 + ], + [ + -0.011775249839520718, + 0.0042487470174995545, + -0.0077035606965855374, + 0.02295884946379558, + 0.007842915285754305, + -0.009861043546222052, + 0.0 + ], + [ + -0.012365895150989736, + 0.010107491410216371, + -0.005875950114729762, + 0.013586517852298478, + 0.010525011760670165, + -0.005437086615363766, + 0.0 + ], + [ + -0.00985332254416088, + 0.0033368834861202262, + -0.009074959718345505, + 0.026453381764025233, + 0.01131555402565905, + -0.02301391790048672, + 0.0 + ], + [ + -0.0015243646380568299, + 0.001201687761772624, + 0.0015405516910412653, + 0.0016426742868282352, + 0.013521425677550816, + -0.0014049485584001296, + 1.0 + ], + [ + -0.0006561430681091274, + 0.0008809274629806157, + -3.3872150405931094e-05, + 0.014733247845453492, + -8.989242728654652e-05, + -0.023735969445659272, + 1.0 + ], + [ + 3.1355897926022e-05, + 0.0017188230827893114, + 0.0032633314282976703, + -0.008547240052682679, + 0.005407121055336628, + -0.0010417720810247028, + 1.0 + ], + [ + 0.005539294937309702, + 0.002544153547638636, + 0.019541516679642122, + -0.0428310748685828, + -0.0071124639541297555, + 0.0019047025901515185, + 1.0 + ], + [ + 0.015380836292709366, + 0.005633083690338721, + 0.027746529149011656, + -0.04819931800798644, + -0.024563075989263022, + 0.02245564082980018, + 1.0 + ], + [ + 0.012020404689419006, + 0.007151951157608874, + 0.016649373575512848, + 0.00035023491855721444, + -0.015154646459270994, + -0.03714531105465201, + 1.0 + ] + ], + "gripper_centers": [ + [ + 445.862060546875, + 139.4807891845703 + ], + [ + 444.3719482421875, + 144.75946044921875 + ], + [ + 429.09844970703125, + 169.23965454101562 + ], + [ + 346.99737548828125, + 145.14712524414062 + ], + [ + 314.84552001953125, + 147.66014099121094 + ], + [ + 293.59332275390625, + 143.36737060546875 + ], + [ + 241.45887756347656, + 146.33770751953125 + ], + [ + 253.41110229492188, + 152.830810546875 + ], + [ + 239.6075897216797, + 149.67453002929688 + ], + [ + 230.42242431640625, + 160.0769500732422 + ], + [ + 239.15426635742188, + 173.869140625 + ], + [ + 244.68685913085938, + 182.88827514648438 + ], + [ + 246.50823974609375, + 191.64089965820312 + ], + [ + 244.18478393554688, + 196.0452117919922 + ], + [ + 243.1639404296875, + 200.33917236328125 + ], + [ + 246.12484741210938, + 202.99754333496094 + ], + [ + 251.2201690673828, + 214.6168212890625 + ], + [ + 247.75599670410156, + 216.38365173339844 + ], + [ + 248.0254364013672, + 216.96804809570312 + ], + [ + 245.02227783203125, + 217.74703979492188 + ], + [ + 244.10870361328125, + 207.23760986328125 + ], + [ + 245.8157501220703, + 183.0081787109375 + ], + [ + 251.09213256835938, + 170.4718017578125 + ], + [ + 279.226318359375, + 161.4985809326172 + ], + [ + 350.06134033203125, + 158.1779022216797 + ], + [ + 396.11627197265625, + 176.95960998535156 + ], + [ + 419.2690124511719, + 196.0252685546875 + ], + [ + 435.6615905761719, + 215.20046997070312 + ], + [ + 438.3359069824219, + 219.2685546875 + ], + [ + 447.80511474609375, + 211.6708526611328 + ], + [ + 433.205810546875, + 228.69215393066406 + ], + [ + 417.59100341796875, + 258.1044921875 + ], + [ + 408.97967529296875, + 272.6466064453125 + ], + [ + 401.48614501953125, + 269.79510498046875 + ], + [ + 398.4867858886719, + 267.5569763183594 + ], + [ + 398.07470703125, + 267.53564453125 + ], + [ + 403.6085205078125, + 260.0709533691406 + ], + [ + 422.3424987792969, + 226.88784790039062 + ] + ], + "depth_max": 3.020470380783081, + "depth_min": 0.4249390661716461, + "intrinsic": [ + [ + 531.4476928710938, + 0.0, + 259.0 + ], + [ + 0.0, + 531.904541015625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -1.8206759705208242e-05, + -4.7751047532074153e-05, + -2.3481688913307153e-06 + ], + [ + 1.8204831576440483e-05, + 1.0, + -4.041092688567005e-05, + -1.3552380551118404e-08 + ], + [ + 4.7751782403793186e-05, + 4.041006104671396e-05, + 1.0, + 4.425380757311359e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 245.5, + 222.75 + ], + [ + 246.12210083007812, + 223.0546417236328 + ], + [ + 246.11463928222656, + 223.05047607421875 + ], + [ + 245.97601318359375, + 223.0616912841797 + ], + [ + 245.84434509277344, + 222.878662109375 + ], + [ + 245.1063690185547, + 222.98744201660156 + ], + [ + 245.18057250976562, + 222.89105224609375 + ], + [ + 244.77357482910156, + 222.70709228515625 + ], + [ + 244.99798583984375, + 222.72833251953125 + ], + [ + 245.02883911132812, + 222.92831420898438 + ], + [ + 245.29734802246094, + 222.86114501953125 + ], + [ + 245.6710968017578, + 223.23684692382812 + ], + [ + 245.4842987060547, + 223.12841796875 + ], + [ + 245.42770385742188, + 222.8786163330078 + ], + [ + 244.34007263183594, + 222.76348876953125 + ], + [ + 243.42486572265625, + 221.55113220214844 + ], + [ + 246.1080322265625, + 222.5492401123047 + ], + [ + 247.6037139892578, + 224.5773468017578 + ], + [ + 248.05250549316406, + 225.17318725585938 + ], + [ + 246.67547607421875, + 225.61180114746094 + ], + [ + 242.32888793945312, + 218.76858520507812 + ], + [ + 246.7447509765625, + 200.67218017578125 + ], + [ + 249.25741577148438, + 187.79388427734375 + ], + [ + 276.51654052734375, + 180.22691345214844 + ], + [ + 346.7860107421875, + 179.10690307617188 + ], + [ + 390.46435546875, + 194.59132385253906 + ], + [ + 413.39080810546875, + 211.67510986328125 + ], + [ + 428.2254333496094, + 230.73387145996094 + ], + [ + 430.499755859375, + 234.56500244140625 + ], + [ + 440.1399230957031, + 228.57632446289062 + ], + [ + 425.3454895019531, + 245.29632568359375 + ], + [ + 410.6471862792969, + 270.96624755859375 + ], + [ + 402.2620849609375, + 276.112548828125 + ], + [ + 396.8992919921875, + 273.85211181640625 + ], + [ + 397.30133056640625, + 268.73089599609375 + ], + [ + 397.934326171875, + 267.96307373046875 + ], + [ + 401.66766357421875, + 269.0596008300781 + ], + [ + 401.3638916015625, + 269.3697509765625 + ] + ] +} \ No newline at end of file diff --git a/006971/lang.txt b/006971/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f0f8b461d7a38b4c1ed8c79432388d1457c6c609 --- /dev/null +++ b/006971/lang.txt @@ -0,0 +1 @@ +take corn out of bowl sink diff --git a/006971/object.ply b/006971/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..5595d07f55e80e9ab9b2c35c0873c236f705772d Binary files /dev/null and b/006971/object.ply differ diff --git a/006994/data.json b/006994/data.json new file mode 100644 index 0000000000000000000000000000000000000000..34164a9ad6b82bd5c4dae831170aa401a2667c44 --- /dev/null +++ b/006994/data.json @@ -0,0 +1,604 @@ +{ + "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, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.551115123125783e-17, + -2.7755575615628914e-17, + -2.0816681711721685e-17, + -3.655896951693864e-08, + 4.773987989265425e-07, + -2.9782026983909596e-07, + 1.0 + ], + [ + -0.0052937686880130674, + -0.0020410933851999213, + -0.0012056834813142063, + -0.0890250289285975, + 0.07443095904722388, + 0.05027328079244455, + 1.0 + ], + [ + -0.010001956803468603, + -0.0026869310533577523, + -0.005661256866071893, + -0.0856305195851466, + 0.08124115598588479, + 0.01782038257367679, + 1.0 + ], + [ + -0.006791255867504398, + -0.0013114653734515869, + -0.00949527253329692, + -0.002186770267036829, + 0.00010218135156923148, + -0.01912962676715454, + 1.0 + ], + [ + -0.0022391168307498988, + -0.0022360039970570136, + -0.011307626753238167, + 0.004066402727016681, + -0.014673755365644896, + -0.01511442651100832, + 1.0 + ], + [ + 0.001197485550380406, + -0.0021012500001183487, + -0.006182061332575119, + -0.001964510942157456, + -6.643001143942821e-06, + 0.0187480226566773, + 1.0 + ], + [ + 0.0008247709087833011, + -0.004252452891102286, + -0.005499614318655366, + 0.0016101337157177383, + 0.0020566340158850375, + 0.005501097723134437, + 1.0 + ], + [ + 0.003097591543632039, + -0.00288120890896041, + -0.007935927035553753, + 0.004443034853513034, + 0.006148801568626396, + 0.015107505980046267, + 1.0 + ], + [ + 0.0010264411407537866, + -0.002652719477693209, + -0.0050293473957274855, + 0.004976094099200166, + 0.006812691800886922, + 0.009682439285575087, + 1.0 + ], + [ + 0.00019651276055526745, + -0.0016803241459259557, + -0.0064613505347053965, + 0.01618427332411006, + 0.005084707036116581, + -0.0024541147202077366, + 1.0 + ], + [ + 0.0006336511197074235, + 9.946398301671072e-05, + -0.0037103855401330135, + 0.009224258477910691, + 0.0007730817222409441, + 0.004695524081874188, + 1.0 + ], + [ + 0.0002574833157866774, + 0.0011823488763052087, + -2.822135431235391e-05, + 0.0072616390842447694, + -0.008382117558971076, + -0.015683296031779436, + 0.0 + ], + [ + 0.0006590411165814936, + 0.004074544738077841, + 0.007300087188010821, + 0.03271668351707177, + -0.020572078346827893, + 0.017694974645347035, + 0.0 + ], + [ + 0.0038830559098625983, + 0.006749809552719213, + 0.015354581127824715, + -0.006765026898226417, + -0.00892677197186021, + 0.04849152504769863, + 0.0 + ], + [ + 0.004298815396151068, + 0.0018876383531940405, + 0.023009921524365592, + -0.014697298567872077, + -0.001395285245416889, + 0.032323429852772985, + 0.0 + ], + [ + 0.002097761193666725, + 0.001854820251767815, + 0.02503870743409483, + 0.009668278561804829, + -0.02566683568455574, + -0.001970815804007447, + 0.0 + ], + [ + 0.009823498352238669, + -0.021004386973628685, + 0.006540959063934003, + -0.016078140960271176, + 0.012662093038687547, + -0.005187185438845601, + 0.0 + ], + [ + 0.013724448481556462, + -0.015189654370406938, + -0.007177958071588018, + 0.0037659096239114824, + 0.01481816504262918, + 0.01605912339280406, + 0.0 + ], + [ + 0.014011854613248942, + -0.015968050694668372, + -0.012536595623599586, + -0.007311688192767744, + 0.021833509199274476, + 0.001526624056877606, + 0.0 + ], + [ + 0.0018596105137683727, + -0.01596470083650726, + -0.012476448600671763, + 0.018157340923439007, + -0.02756164827343509, + -0.019043941554128942, + 0.0 + ], + [ + 0.006508120122441341, + -0.00997182370927414, + -0.01513784024456721, + 0.017947062602788052, + 0.01958725883496368, + 0.0158543187963235, + 0.0 + ], + [ + 0.006811000438925963, + -0.0013164423377593727, + -0.01377574189806106, + 0.012901263622128798, + 0.023863688704417567, + 0.022480190467985876, + 0.0 + ], + [ + 0.00102135039890211, + -0.001840955974878905, + -0.007639093756503713, + 0.01255247572333595, + 0.011520595179098106, + -0.001219436634332979, + 0.0 + ], + [ + -0.003931139225973657, + 0.0011371151312436524, + 0.0014428529544006606, + 0.008554145966701733, + -0.0020920538587600153, + -0.007531527135682163, + 1.0 + ], + [ + -0.0007980265429411437, + 0.004410135418352085, + 0.010092539899456831, + -0.02135698236777493, + -0.006426559236647832, + -0.0011701294187493206, + 1.0 + ], + [ + 0.0009953792982453913, + 0.007774451297742086, + 0.019297797664465557, + -0.013814252866529942, + -0.02803246607274129, + -0.0028618381689036374, + 1.0 + ], + [ + 0.002671512809960419, + 0.005202018462411875, + 0.028491221395826924, + -0.04916522704195086, + -0.04495420553520808, + -0.05300522993244792, + 1.0 + ], + [ + 0.005418704223112858, + 0.009521601237322333, + 0.024562645638131507, + -0.02586237173642572, + -0.08321952062362618, + -0.01983664196433423, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 282.85394287109375, + 135.98831176757812 + ], + [ + 282.0816650390625, + 141.8150177001953 + ], + [ + 287.0447998046875, + 159.9293212890625 + ], + [ + 290.2352294921875, + 170.2412567138672 + ], + [ + 274.5420837402344, + 178.5496826171875 + ], + [ + 274.64776611328125, + 190.8297119140625 + ], + [ + 276.876708984375, + 200.67489624023438 + ], + [ + 280.5284729003906, + 203.440185546875 + ], + [ + 289.8961486816406, + 215.72235107421875 + ], + [ + 294.6608581542969, + 220.94366455078125 + ], + [ + 294.78009033203125, + 224.4622039794922 + ], + [ + 296.86956787109375, + 224.66690063476562 + ], + [ + 297.6069641113281, + 229.7484893798828 + ], + [ + 295.04095458984375, + 229.2960205078125 + ], + [ + 291.866943359375, + 228.30105590820312 + ], + [ + 293.56353759765625, + 198.46221923828125 + ], + [ + 288.0848388671875, + 170.43304443359375 + ], + [ + 291.7373352050781, + 145.4810791015625 + ], + [ + 334.672119140625, + 142.39657592773438 + ], + [ + 372.78631591796875, + 154.683349609375 + ], + [ + 383.548583984375, + 165.73651123046875 + ], + [ + 390.6474914550781, + 182.97933959960938 + ], + [ + 406.63934326171875, + 197.6722869873047 + ], + [ + 411.6070861816406, + 205.3205108642578 + ], + [ + 408.2789306640625, + 206.1117401123047 + ], + [ + 407.004638671875, + 213.1453094482422 + ], + [ + 405.420654296875, + 200.13796997070312 + ], + [ + 399.66290283203125, + 162.58059692382812 + ], + [ + 386.5513000488281, + 128.8707275390625 + ], + [ + 368.54156494140625, + 112.13137817382812 + ] + ], + "depth_max": 2.9849650859832764, + "depth_min": 0.13561506569385529, + "intrinsic": [ + [ + 538.4177856445312, + 0.0, + 259.0 + ], + [ + 0.0, + 539.003662109375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.07977711095009e-06, + -7.868650573072955e-05, + -1.9750295905396342e-06 + ], + [ + -5.083432370156515e-06, + 1.0, + -4.646275192499161e-05, + 3.938126610592008e-06 + ], + [ + 7.86862729000859e-05, + 4.646315210266039e-05, + 1.0, + 3.330154140712693e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 29 + ], + "object_trajectory": [ + [ + 309.25, + 235.75 + ], + [ + 309.26556396484375, + 235.87228393554688 + ], + [ + 309.5931396484375, + 236.24436950683594 + ], + [ + 309.41162109375, + 235.94906616210938 + ], + [ + 309.19989013671875, + 236.18655395507812 + ], + [ + 309.6844482421875, + 236.4119110107422 + ], + [ + 309.022705078125, + 236.7942352294922 + ], + [ + 308.75408935546875, + 236.92982482910156 + ], + [ + 308.5606689453125, + 237.4001922607422 + ], + [ + 308.73211669921875, + 237.76641845703125 + ], + [ + 307.8334655761719, + 238.11233520507812 + ], + [ + 308.07098388671875, + 237.37722778320312 + ], + [ + 302.00299072265625, + 239.27841186523438 + ], + [ + 298.7970275878906, + 239.15408325195312 + ], + [ + 296.2857666015625, + 238.00875854492188 + ], + [ + 297.4515686035156, + 213.80804443359375 + ], + [ + 292.98809814453125, + 186.3658447265625 + ], + [ + 295.75714111328125, + 161.26220703125 + ], + [ + 340.2903747558594, + 163.11260986328125 + ], + [ + 376.0232849121094, + 172.61526489257812 + ], + [ + 386.0487976074219, + 182.63873291015625 + ], + [ + 391.24578857421875, + 201.359375 + ], + [ + 407.38873291015625, + 214.05178833007812 + ], + [ + 410.4818420410156, + 221.9593963623047 + ], + [ + 406.628662109375, + 223.66932678222656 + ], + [ + 407.48101806640625, + 224.49273681640625 + ], + [ + 406.26239013671875, + 224.2713165283203 + ], + [ + 406.3131103515625, + 223.5284423828125 + ], + [ + 406.97161865234375, + 223.9868927001953 + ], + [ + 407.1463623046875, + 224.14222717285156 + ] + ] +} \ No newline at end of file diff --git a/006994/lang.txt b/006994/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f0f8b461d7a38b4c1ed8c79432388d1457c6c609 --- /dev/null +++ b/006994/lang.txt @@ -0,0 +1 @@ +take corn out of bowl sink diff --git a/006994/object.ply b/006994/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..9eb4e354edf9bded60bd0ba60ab13d26a5efe423 Binary files /dev/null and b/006994/object.ply differ diff --git a/007029/FAIL b/007029/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/007029/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/007045/FAIL b/007045/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/007045/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/007047_v2/FAIL b/007047_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/007047_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/007074_v2/data.json b/007074_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..1c165fd3a84fe23f10c2ba4513158f386953c33b --- /dev/null +++ b/007074_v2/data.json @@ -0,0 +1,714 @@ +{ + "action_start": 10, + "action_end": 26, + "object_name": "blue 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, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.3356654671170531e-10, + 3.253396441138534e-10, + -2.1745193146127662e-10, + -4.988160809668197e-07, + 3.07611952408287e-07, + -1.6193097483022928e-07, + 1.0 + ], + [ + -0.014293596943066533, + -0.026935373276670893, + 0.005319040878599357, + 0.011205098180894543, + 0.004072835407558475, + -0.08558742527166426, + 1.0 + ], + [ + -0.007052707277139025, + -0.029740296498750166, + 0.008609738759205059, + 0.058342187362434725, + -0.022977463556290045, + -0.1801909384710787, + 1.0 + ], + [ + -0.0023254723028873214, + -0.03630240446407389, + 0.009802467919845174, + -0.010874630402506105, + -0.034223198669812785, + -0.14007740456069, + 1.0 + ], + [ + -0.006177126393512755, + -0.061073069089273256, + 0.00956479265578087, + -0.04027546652575694, + -0.02662172776195057, + -0.18480460807228072, + 1.0 + ], + [ + -0.008237316119269589, + -0.04694521779412755, + -0.015566796034683625, + -0.0020075966682641415, + 0.013218619577789598, + -0.13167113342706924, + 1.0 + ], + [ + -0.0033927287818693586, + -0.02397947773092817, + -0.021507359267154212, + 0.056660417192827175, + 0.04391511341621127, + -0.08325609704042955, + 1.0 + ], + [ + 0.0007700609006870418, + -0.0033929718735858025, + -0.016596014496593217, + -0.0176066561919269, + 0.029115272597567833, + -0.034249898537598376, + 1.0 + ], + [ + 0.002810508811582735, + -0.003985912410986205, + -0.012445401164996945, + -0.028611328242584104, + 0.014111940124330794, + -0.03285219172185792, + 1.0 + ], + [ + 0.002978470352439533, + -0.002917958211134164, + -0.010145596891653064, + 0.014893948057145877, + -0.005176323704644854, + -0.03120821702311089, + 1.0 + ], + [ + 0.0015053005516251772, + -0.002007576813509826, + -0.010273892781456965, + -0.01769648351812205, + 0.007552827436347148, + -0.013610287851791072, + 1.0 + ], + [ + 0.0005229052376237164, + 0.003380746022299118, + -0.0058608522110871475, + -0.011385097377370946, + -0.00494674430199221, + 0.02696243035396963, + 0.0 + ], + [ + 0.0012955193778864116, + 0.004266863326071804, + 0.005078346735272748, + -0.013357025758595162, + -0.02542848731882738, + 0.024949025185512442, + 0.0 + ], + [ + 0.0010964278726049992, + 0.008908225816640726, + 0.0076436921452880885, + -0.022949866276686617, + -0.012261459553616872, + 0.04413482042910546, + 0.0 + ], + [ + 0.0026842587412510555, + 0.01537368033133072, + 0.015605980926778586, + -0.02897025459984736, + -0.0306219037919864, + 0.07197989009028481, + 0.0 + ], + [ + 0.009353351547714828, + 0.02247945845286624, + 0.017618343168036652, + -0.007126660615267364, + -0.045933102985891386, + 0.10835999305852197, + 0.0 + ], + [ + 0.0058340849150554375, + 0.043493586816960826, + 0.012503467070980372, + -0.009797610073149773, + -0.013226324651936197, + 0.16256145015260884, + 0.0 + ], + [ + -0.0045831553351189935, + 0.04314541938611146, + 0.00886684705109497, + -0.03958704111846917, + -0.027102298510704944, + 0.1727566716405479, + 0.0 + ], + [ + -0.01922867133992967, + 0.03520251932669374, + 0.009321973894342084, + 0.012856576165170589, + -0.04979819737964063, + 0.13157227111264164, + 0.0 + ], + [ + -0.02348217100027883, + 0.032271308560181886, + -0.004608308543487115, + 0.010893760635530658, + 0.026574146793362334, + 0.1291490658123899, + 0.0 + ], + [ + -0.00819422802347658, + 0.030693292651396836, + -0.020142668926019736, + 0.022291438109039444, + 0.051132744898091526, + 0.1282801228035891, + 0.0 + ], + [ + 0.005806265682833656, + 0.014167026807879679, + -0.009335870458494343, + -0.0036661579864741057, + 0.04296528438752839, + 0.056261267945837336, + 0.0 + ], + [ + -0.0017373935917542882, + 0.018388769180623293, + -0.011260074285590189, + -0.0091866765547537, + 0.05812075592566699, + 0.06868459845964754, + 0.0 + ], + [ + -0.0010710480813252987, + 0.009992549389201272, + -0.012397909774949466, + -0.03508694210735887, + 0.0382595689523217, + 0.047805692476272185, + 0.0 + ], + [ + 0.003798025076669931, + 0.006151872026012667, + -0.0028529049595609184, + -0.004638404416873379, + 0.007931015791706669, + 0.023360851832553202, + 0.0 + ], + [ + 0.002353787977778632, + 0.00458029260897691, + -0.003041505074410437, + -0.0044720142645099424, + 0.01238085227574049, + 0.01990647639698441, + 0.0 + ], + [ + -9.985665036921221e-05, + 0.005755889933496627, + -0.008069786092758461, + -0.0055222944881377, + 0.05298021910611948, + 0.05185499407689943, + 0.0 + ], + [ + 0.0015724717644306496, + -0.0021415087639871933, + -0.0017620438019258257, + -0.01129001515766075, + 0.04341908491778605, + -0.0024211257636896108, + 1.0 + ], + [ + 0.0011399611736626625, + -0.0023053440057143604, + 0.00232330481247558, + -0.0048616921798233645, + -0.009188897167559685, + -0.01157643543606244, + 1.0 + ], + [ + 0.0020631785719946727, + -0.004244298268386543, + 0.005132037446804573, + 0.005683021696079352, + -0.013952967726587915, + -0.02750568849458454, + 1.0 + ], + [ + 0.004102800495233705, + -0.00429914809146989, + 0.012247991697393682, + 0.030152009942707083, + -0.03567367670739979, + -0.03552065120774417, + 1.0 + ], + [ + 0.004610071013802675, + -0.001261780346998087, + 0.025564731021327433, + 0.055229427920806984, + -0.07766527247122212, + -0.02208651283464234, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 217.01173400878906, + 77.0576171875 + ], + [ + 217.34280395507812, + 81.55995178222656 + ], + [ + 217.8426513671875, + 123.66178894042969 + ], + [ + 244.69500732421875, + 130.09446716308594 + ], + [ + 273.65496826171875, + 139.7460174560547 + ], + [ + 319.17431640625, + 154.36444091796875 + ], + [ + 360.6405029296875, + 197.0907440185547 + ], + [ + 391.3141784667969, + 233.83741760253906 + ], + [ + 394.324462890625, + 257.78271484375 + ], + [ + 399.3446960449219, + 274.73785400390625 + ], + [ + 395.6288757324219, + 283.55535888671875 + ], + [ + 397.15557861328125, + 293.2544860839844 + ], + [ + 399.8440856933594, + 293.82470703125 + ], + [ + 394.622314453125, + 290.23736572265625 + ], + [ + 387.2194519042969, + 284.7044982910156 + ], + [ + 376.23919677734375, + 256.7735595703125 + ], + [ + 356.0008239746094, + 226.88516235351562 + ], + [ + 317.97027587890625, + 195.00466918945312 + ], + [ + 271.0273132324219, + 161.91339111328125 + ], + [ + 210.72525024414062, + 145.56838989257812 + ], + [ + 166.85723876953125, + 143.58509826660156 + ], + [ + 131.38717651367188, + 147.79798889160156 + ], + [ + 120.6588134765625, + 150.36380004882812 + ], + [ + 109.35774230957031, + 153.36146545410156 + ], + [ + 98.77523040771484, + 158.6855010986328 + ], + [ + 98.09716796875, + 158.6751251220703 + ], + [ + 97.89561462402344, + 158.78282165527344 + ], + [ + 95.21260070800781, + 159.76101684570312 + ], + [ + 92.86111450195312, + 159.88308715820312 + ], + [ + 91.50035095214844, + 161.58633422851562 + ], + [ + 92.03763580322266, + 163.3893280029297 + ], + [ + 97.97856140136719, + 159.67857360839844 + ], + [ + 97.95167541503906, + 140.2728271484375 + ], + [ + 96.79690551757812, + 129.78518676757812 + ], + [ + 96.69904327392578, + 129.15264892578125 + ], + [ + 96.87889862060547, + 129.7598114013672 + ] + ], + "depth_max": 1.3893874883651733, + "depth_min": 0.4334833025932312, + "intrinsic": [ + [ + 503.4429931640625, + 0.0, + 259.0 + ], + [ + 0.0, + 503.28863525390625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.7706683138385415e-05, + 6.259780639084056e-05, + -1.2388853065203875e-05 + ], + [ + -1.7702337572700344e-05, + 1.0, + -6.938415026525036e-05, + -8.871026693668682e-06 + ], + [ + -6.259902875171974e-05, + 6.9383044319693e-05, + 1.0, + 1.764110493240878e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 35 + ], + "object_trajectory": [ + [ + 405.25, + 303.0 + ], + [ + 405.3172607421875, + 302.9740905761719 + ], + [ + 405.1619567871094, + 302.9047546386719 + ], + [ + 405.1988830566406, + 303.10089111328125 + ], + [ + 405.08984375, + 303.0598449707031 + ], + [ + 405.0025939941406, + 302.81011962890625 + ], + [ + 404.91058349609375, + 302.2847900390625 + ], + [ + 404.998291015625, + 302.26788330078125 + ], + [ + 405.1893310546875, + 302.3919372558594 + ], + [ + 405.24249267578125, + 302.71942138671875 + ], + [ + 405.09747314453125, + 302.807373046875 + ], + [ + 405.4410095214844, + 303.4962158203125 + ], + [ + 405.966796875, + 304.0815124511719 + ], + [ + 408.20556640625, + 300.6151428222656 + ], + [ + 395.2916564941406, + 294.2060241699219 + ], + [ + 385.27972412109375, + 268.7330322265625 + ], + [ + 369.1470031738281, + 238.9342498779297 + ], + [ + 339.7596435546875, + 203.01431274414062 + ], + [ + 297.782958984375, + 167.17031860351562 + ], + [ + 239.46578979492188, + 152.44149780273438 + ], + [ + 197.28514099121094, + 146.92843627929688 + ], + [ + 157.7294921875, + 153.33425903320312 + ], + [ + 147.6036376953125, + 156.25509643554688 + ], + [ + 135.93421936035156, + 159.54603576660156 + ], + [ + 124.5278091430664, + 165.75357055664062 + ], + [ + 125.13542175292969, + 165.97372436523438 + ], + [ + 125.68495178222656, + 166.6501007080078 + ], + [ + 123.40304565429688, + 169.0822296142578 + ], + [ + 119.94544982910156, + 168.75209045410156 + ], + [ + 119.05123901367188, + 169.1468505859375 + ], + [ + 118.53924560546875, + 169.3968963623047 + ], + [ + 119.50772857666016, + 171.40411376953125 + ], + [ + 117.1447982788086, + 171.84068298339844 + ], + [ + 114.70698547363281, + 172.25579833984375 + ], + [ + 113.6488265991211, + 172.93353271484375 + ], + [ + 112.93958282470703, + 172.95489501953125 + ] + ] +} \ No newline at end of file diff --git a/007074_v2/lang.txt b/007074_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..82250db0d2bffabdcf797098241413c8b815eb38 --- /dev/null +++ b/007074_v2/lang.txt @@ -0,0 +1 @@ +move the blue object to the left near the wall diff --git a/007074_v2/object.ply b/007074_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..072b04326c34e1fc3550df83b3e11359c3decc03 Binary files /dev/null and b/007074_v2/object.ply differ diff --git a/007111/FAIL b/007111/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007111/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007114_v2/FAIL b/007114_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/007114_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/007124/FAIL b/007124/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007124/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007126_v2/FAIL b/007126_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007126_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007127/FAIL b/007127/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/007127/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/007132_v2/FAIL b/007132_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007132_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007133_v2/FAIL b/007133_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/007133_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/007137/FAIL b/007137/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007137/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007138_v2/FAIL b/007138_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/007138_v2/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/007150_v2/FAIL b/007150_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/007150_v2/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/007182/FAIL b/007182/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007182/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007185_v2/data.json b/007185_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..03a4ca955b854f1d4e35f245181a6c3d91588706 --- /dev/null +++ b/007185_v2/data.json @@ -0,0 +1,733 @@ +{ + "action_start": 14, + "action_end": 28, + "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, + 0.0, + 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, + -2.2781001231023767e-08, + 2.285228611136325e-07, + -2.432408521278694e-07, + 1.0 + ], + [ + -0.006705343481772652, + 0.012309944856686628, + 0.00884951996457324, + -0.0537411090717216, + 0.006569080643551667, + 0.05772226181414998, + 1.0 + ], + [ + 0.0006753712649089638, + 0.022238010633398413, + 0.010629342904265357, + -0.030035111981802306, + -0.014263268255387257, + 0.08171669434869364, + 1.0 + ], + [ + 0.003025004905275852, + 0.048465442711319556, + 0.002033831744273143, + -0.0037457693947580157, + -0.0030616433344685026, + 0.16061345518972978, + 1.0 + ], + [ + 0.013314543766514086, + 0.048735653558929073, + -0.005517043784619438, + 0.024254862683021395, + -0.027798901055547488, + 0.14238761115748988, + 1.0 + ], + [ + 0.014636548888326939, + 0.04251611893364997, + -0.009552768801658007, + 0.01228084526851447, + -0.02968943758667671, + 0.1027366244536496, + 1.0 + ], + [ + 0.008472975187218512, + 0.031654499615416845, + -0.009551141505614577, + 0.02564630375682166, + -0.004718586455582021, + 0.10167043036020136, + 1.0 + ], + [ + 0.007139933508151897, + 0.02038913515393849, + -0.007922416753354991, + 5.282432980322096e-05, + 0.005883265685254584, + 0.06256909404071928, + 1.0 + ], + [ + 0.0002582153746928939, + 0.013327715792399747, + -0.0015058859009299055, + 0.01745468493182656, + 0.010863079721939024, + 0.027321507603718074, + 1.0 + ], + [ + -0.004899717505935097, + 0.015295922809745288, + -0.0039758193020517085, + 0.0023248267995503833, + 0.011690713896266327, + 0.02320800827364298, + 1.0 + ], + [ + -0.0011184764475580256, + 0.010508564019603567, + -0.006089133426724916, + 0.020218481459692194, + 0.004967099608733466, + 0.008906964725405139, + 1.0 + ], + [ + -0.0013660934541424585, + 0.008543669690290273, + -0.00395724513991523, + 0.04453469016966889, + -0.004986235440169869, + -0.009904454291047624, + 1.0 + ], + [ + 0.0007461651966668148, + 0.006839693948307496, + -0.006753419510144222, + -0.02925545598904762, + -0.015593946087786472, + 0.0015498350457406312, + 1.0 + ], + [ + 0.0027884391366380656, + -0.002249507862415012, + -0.01044396814501368, + -0.013743153443092444, + 0.012222006660850767, + -0.034052187556534594, + 1.0 + ], + [ + -0.0019206545953060483, + 0.0018882598096174874, + -0.012502740502769321, + -0.025675147436618955, + 0.02093694743694266, + -0.0017808185145454783, + 1.0 + ], + [ + 0.0007908667678117043, + -0.003354137746699737, + -0.0031999024690975326, + -0.009134709193564128, + -0.014358665051352828, + -0.0109618303557751, + 0.0 + ], + [ + -0.0020475783166053474, + -0.004113690168417755, + 0.0005351448687504513, + 0.009304889574714427, + 0.0004990855544201698, + -0.012922283138685058, + 0.0 + ], + [ + -0.003503730508661651, + -0.005028985321094442, + 0.008327142105576453, + 0.013145958172561365, + -0.001643379093521564, + -0.017867857274856395, + 0.0 + ], + [ + -0.0006833673606958524, + -0.004888783826377141, + 0.018478703707138982, + 0.03126704329911847, + -0.013526327169360945, + -0.019511333370952014, + 0.0 + ], + [ + 0.00012956261576912986, + -0.010407598680678337, + 0.026769956681678482, + 0.005327294622707284, + -0.025825208747607943, + -0.04119195729475421, + 0.0 + ], + [ + 0.006067799116804107, + -0.02453355240392907, + 0.024481032094464117, + 0.006391726555744968, + -0.05650690669415455, + -0.07468330776225761, + 0.0 + ], + [ + 0.015939437230889975, + -0.04415185908975197, + 0.003337471725108801, + -0.035746386099103515, + -0.04543213367832225, + -0.11006002000628956, + 0.0 + ], + [ + 0.021106235530054196, + -0.0532572526394354, + -0.0059898940982580084, + -0.06175854450167716, + -0.02884940350055779, + -0.09545296672498339, + 0.0 + ], + [ + 0.025978914518214546, + -0.04043030919486476, + -0.010017530279782486, + -0.01835582028871842, + 0.002614776502646596, + -0.05246723622393568, + 0.0 + ], + [ + 0.021851345812402334, + -0.015237011099933334, + -0.008660165294955585, + -0.022330760031777416, + 0.023208522363203473, + -0.033889037284567894, + 0.0 + ], + [ + 0.015543040160802768, + -0.01011547838814039, + -0.011052173880277835, + -0.0007538603614496175, + 0.013658509050385492, + -0.01934277891978104, + 0.0 + ], + [ + 0.011969378299602096, + -0.011252197211097412, + -0.010640807336077626, + 0.0007695576481829086, + 0.011637958281097639, + -0.021225793065244435, + 0.0 + ], + [ + 0.0053847682739772695, + -0.014802293483769859, + -0.010112192169482136, + -0.011945510782052606, + 0.012898425074376758, + -0.045915067003312916, + 0.0 + ], + [ + 0.0026341285190599195, + -0.007090719941678574, + -0.009551029069961442, + -0.0029100918417746253, + 0.02374326324688573, + -0.02471737687345463, + 0.0 + ], + [ + 0.0015176027850398177, + -0.0025766375215274806, + -0.002850988994011778, + 0.01812591170646979, + 0.015258975293881878, + -0.02106725050740242, + 1.0 + ], + [ + -0.00048226658492528385, + 0.0018452033078831392, + 0.002252227975350518, + 0.003305749994896299, + 0.0009028603027665705, + 0.002804440172656503, + 1.0 + ], + [ + -0.0021667150646105804, + 0.006995613732866987, + 0.0070965240001247334, + 0.0038608465567033295, + -0.0031791197186599902, + 0.017812657955222234, + 1.0 + ], + [ + -0.0020656912541854866, + 0.006193768480452208, + 0.01919879611166499, + -0.010022124777610355, + -0.0006005278886939097, + -0.005443830843965689, + 1.0 + ], + [ + -0.005887934607684386, + 0.010994310927274563, + 0.02636149563973067, + 0.043935417760276374, + -0.042056302035060986, + 0.012075011774049313, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 372.91693115234375, + 274.5701904296875 + ], + [ + 370.86077880859375, + 278.87713623046875 + ], + [ + 351.897216796875, + 282.1186218261719 + ], + [ + 329.3890380859375, + 253.40296936035156 + ], + [ + 275.73272705078125, + 220.67584228515625 + ], + [ + 230.10140991210938, + 193.9311981201172 + ], + [ + 189.0920867919922, + 169.80029296875 + ], + [ + 159.45106506347656, + 156.9107666015625 + ], + [ + 141.19186401367188, + 149.71636962890625 + ], + [ + 131.1497039794922, + 144.70278930664062 + ], + [ + 114.22575378417969, + 142.85208129882812 + ], + [ + 101.92724609375, + 145.9159698486328 + ], + [ + 96.86103820800781, + 143.7455596923828 + ], + [ + 91.55888366699219, + 150.90594482421875 + ], + [ + 90.68310546875, + 157.15878295898438 + ], + [ + 95.30998992919922, + 167.74029541015625 + ], + [ + 96.30978393554688, + 164.39718627929688 + ], + [ + 94.483154296875, + 163.47723388671875 + ], + [ + 91.91705322265625, + 165.30752563476562 + ], + [ + 92.48008728027344, + 168.83358764648438 + ], + [ + 94.80807495117188, + 145.42999267578125 + ], + [ + 109.83544158935547, + 126.12735748291016 + ], + [ + 156.01889038085938, + 123.99061584472656 + ], + [ + 224.348876953125, + 139.16290283203125 + ], + [ + 289.9964294433594, + 161.88926696777344 + ], + [ + 341.79156494140625, + 173.44834899902344 + ], + [ + 352.0809326171875, + 171.51646423339844 + ], + [ + 375.7322998046875, + 185.8009033203125 + ], + [ + 387.369873046875, + 197.00555419921875 + ], + [ + 401.9175720214844, + 212.68699645996094 + ], + [ + 401.2027893066406, + 210.83465576171875 + ], + [ + 402.5037841796875, + 210.7622528076172 + ], + [ + 401.08013916015625, + 211.99636840820312 + ], + [ + 395.4009704589844, + 205.08799743652344 + ], + [ + 389.041748046875, + 160.1492919921875 + ], + [ + 389.55615234375, + 153.66905212402344 + ], + [ + 389.5271911621094, + 154.73434448242188 + ] + ], + "depth_max": 2.1741671562194824, + "depth_min": 0.3512304723262787, + "intrinsic": [ + [ + 449.068359375, + 0.0, + 259.0 + ], + [ + 0.0, + 448.78985595703125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.9443394194240682e-05, + -1.438425351807382e-05, + -3.9245343941729516e-05 + ], + [ + -1.9443816199782304e-05, + 1.0, + -2.9354017897276208e-05, + -4.798200461664237e-05 + ], + [ + 1.4383681445906404e-05, + 2.9354298021644354e-05, + 1.0, + 7.0443085860461e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36 + ], + "object_trajectory": [ + [ + 94.0, + 157.0 + ], + [ + 94.26498413085938, + 157.34808349609375 + ], + [ + 94.25202941894531, + 157.26446533203125 + ], + [ + 94.24244689941406, + 157.266357421875 + ], + [ + 94.28207397460938, + 157.15402221679688 + ], + [ + 94.09666442871094, + 157.13356018066406 + ], + [ + 94.09664916992188, + 157.0458221435547 + ], + [ + 93.84456634521484, + 157.1465606689453 + ], + [ + 94.05911254882812, + 157.13839721679688 + ], + [ + 94.35343170166016, + 157.15826416015625 + ], + [ + 94.51957702636719, + 157.08001708984375 + ], + [ + 94.07815551757812, + 156.64651489257812 + ], + [ + 94.46343231201172, + 157.04148864746094 + ], + [ + 94.47639465332031, + 157.56370544433594 + ], + [ + 94.4072265625, + 157.260009765625 + ], + [ + 94.54426574707031, + 157.93345642089844 + ], + [ + 95.95372772216797, + 157.88204956054688 + ], + [ + 99.81988525390625, + 157.57223510742188 + ], + [ + 98.52458953857422, + 160.31326293945312 + ], + [ + 98.06884765625, + 164.65185546875 + ], + [ + 101.1258773803711, + 143.9492950439453 + ], + [ + 114.23197937011719, + 124.52667999267578 + ], + [ + 161.4517822265625, + 124.07174682617188 + ], + [ + 228.77957153320312, + 139.17388916015625 + ], + [ + 292.6477966308594, + 159.6322479248047 + ], + [ + 342.9916076660156, + 168.88507080078125 + ], + [ + 354.7512512207031, + 167.52613830566406 + ], + [ + 377.22784423828125, + 181.94076538085938 + ], + [ + 389.5106201171875, + 193.2241973876953 + ], + [ + 403.3427734375, + 208.64950561523438 + ], + [ + 406.0144348144531, + 208.28598022460938 + ], + [ + 409.25677490234375, + 207.9202423095703 + ], + [ + 409.26959228515625, + 209.10768127441406 + ], + [ + 410.8370666503906, + 209.48814392089844 + ], + [ + 411.4287109375, + 210.4738006591797 + ], + [ + 411.6471862792969, + 209.92247009277344 + ], + [ + 411.5362854003906, + 210.1509246826172 + ] + ] +} \ No newline at end of file diff --git a/007185_v2/lang.txt b/007185_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..09bcfaee8878cd20ddedf9c0ab6151297f8c9d58 --- /dev/null +++ b/007185_v2/lang.txt @@ -0,0 +1 @@ +move thje red fork to the top side of the silver pot diff --git a/007185_v2/object.ply b/007185_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..2604ba5d00180584f22276c3d9767e0c1747abaf Binary files /dev/null and b/007185_v2/object.ply differ diff --git a/007206_v2/data.json b/007206_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..7014f5372588e15df47f491a0444e2c9e7b9852c --- /dev/null +++ b/007206_v2/data.json @@ -0,0 +1,678 @@ +{ + "action_start": 9, + "action_end": 24, + "object_name": "white mushroom", + "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, + 0.018803000000000014, + 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, + -1.1310599341883686e-07, + 1.079429631889338e-07, + -1.1814525976365613e-06, + 1.0 + ], + [ + -0.012435431529344398, + 0.0010361690430836512, + 0.0043316108366336925, + 0.030797118319738193, + 0.09508219562642091, + 0.020791244948039283, + 1.0 + ], + [ + -0.02249806777762614, + -0.004696694206959534, + 0.005141794827922264, + -0.01767557978048863, + -0.026277259314240655, + 0.05610443500923573, + 1.0 + ], + [ + -0.032316694009758506, + -0.020165988828953416, + 0.002580176415438548, + -0.003000779974850141, + -0.02038481832046892, + 0.008333719471644165, + 1.0 + ], + [ + -0.03708273706635995, + -0.020340213640700266, + -0.004140546808242274, + -0.0513028424387424, + 0.004803529244518704, + 0.04053375081615461, + 1.0 + ], + [ + -0.027369350584926344, + -0.02799038404258264, + -0.0051433159981734144, + -0.01545060702989352, + -0.01734993378718782, + -0.024398849766470394, + 1.0 + ], + [ + -0.007186420550144235, + -0.016752557513705794, + -0.01555458382620653, + -0.01483112380799152, + 0.050438071223560886, + -0.0386327163527727, + 1.0 + ], + [ + -0.005788237984545752, + -0.005755452939868552, + -0.009969090584876383, + -0.025689281283300607, + 0.03523166255163514, + -0.0050667673272409616, + 1.0 + ], + [ + 0.004527655772918637, + -0.0009352988847004702, + -0.009307112088749264, + 0.01366238307576866, + 0.028593540827933833, + -0.02168866809042391, + 1.0 + ], + [ + -0.002356187039879193, + 0.005484388005301089, + -0.0047375841918781345, + 0.028199711708309556, + 0.028147320151409045, + 0.03168725331016413, + 1.0 + ], + [ + -0.0009275562079698041, + -0.0017834812202667596, + -0.0008799645127830144, + 0.01697093251753913, + -0.01339751643837493, + -0.002728206179963569, + 0.0 + ], + [ + 0.0014820730886214994, + 0.0022238159803055213, + -0.0023539928945348065, + 0.0010181985810084966, + -0.00398536296777719, + 0.006790368470790023, + 0.0 + ], + [ + 0.000990297355547648, + 0.0028686241619102493, + -0.003054396549613661, + -0.00010356936362815973, + 0.005133171952599109, + 0.006605865874731219, + 0.0 + ], + [ + 0.0006480687186315726, + -0.00013438988538039265, + 0.0011303134840216986, + 0.00450567371351306, + -0.006381180934117706, + -0.0014850498982133477, + 0.0 + ], + [ + 0.0025771515772855524, + 0.00434360278025455, + 0.004999981187040009, + 0.00419968005493714, + -0.023095799898380957, + 0.013313190760309318, + 0.0 + ], + [ + 0.006305621337974993, + 0.00719533584350622, + 0.014025461123426071, + 0.022061781561655246, + -0.056755270280138326, + 0.023647124238221955, + 0.0 + ], + [ + 0.03280538500389518, + 0.00188331956435802, + 0.02919312603745885, + -0.0580164207433492, + -0.15560781138130172, + -0.02623717221546988, + 0.0 + ], + [ + 0.04931037052351939, + -0.015823598006608, + 0.014556348174569661, + -0.0290811985022672, + -0.02946209426586993, + -0.04662646493212479, + 0.0 + ], + [ + 0.0460086318917074, + -0.013956640286735544, + 0.0033949619257539476, + -0.04987880585133799, + -0.0646611360417571, + -0.05702134727669161, + 0.0 + ], + [ + 0.03457602622062589, + -0.0034620651498818485, + -0.002908294463536118, + -0.019419961758462907, + -0.013486307614910712, + -0.04755311187473328, + 0.0 + ], + [ + 0.02316959464700369, + -0.00120952157869008, + -0.009229672704171174, + 0.01440521722791468, + 0.01793413759979003, + -0.022698931738063602, + 0.0 + ], + [ + 0.010478001512183088, + -0.009954504232365836, + -0.015089848835345157, + 0.016616414939882772, + 0.03125307663061183, + -0.04021255704517761, + 0.0 + ], + [ + 0.003792080923196439, + -0.01518206435673584, + -0.00859427748601932, + 0.006127733048328835, + 0.020338424411990123, + -0.044609223877589754, + 0.0 + ], + [ + 0.0039060761999630267, + -0.010808071454067293, + -0.0035354458945918987, + 0.008140401065720632, + 0.004368248113738548, + -0.0398846527407392, + 0.0 + ], + [ + 0.0003131936785700784, + -0.0016773617628744533, + -0.005093443981418436, + 0.016324763867384164, + 0.02789030225340434, + -0.015328371438730065, + 0.018803000000000014 + ], + [ + 0.0005067439933583162, + 0.0003775850825944449, + -0.00014827117189381012, + 0.02793193730921569, + 0.019519893073973612, + -0.011040365601708376, + 1.0 + ], + [ + -0.0005384520958147676, + -0.0025399562404042376, + 0.008564778560693265, + 0.0025020694994477358, + -0.018664024130074255, + 0.008103869037312498, + 1.0 + ], + [ + -0.0012656875036207715, + -0.002481461271519325, + 0.01139255390841748, + 0.005462773903070561, + -0.02141615302813625, + 0.005521856933112267, + 1.0 + ], + [ + -0.0016407987227812781, + -0.0003403600248417134, + 0.024211616157590814, + -0.009438781961002127, + -0.05189880730612145, + 0.006458308753979354, + 1.0 + ], + [ + -0.007216293399647744, + 0.006583132211157902, + 0.021122067929779553, + -0.009013777087669974, + -0.04219418727177615, + 0.01243377242563125, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 253.60255432128906, + 65.61700439453125 + ], + [ + 252.48721313476562, + 74.90042114257812 + ], + [ + 239.44508361816406, + 93.29019165039062 + ], + [ + 231.38299560546875, + 109.853759765625 + ], + [ + 216.2472686767578, + 119.87252044677734 + ], + [ + 208.4472198486328, + 154.14256286621094 + ], + [ + 203.95230102539062, + 192.31369018554688 + ], + [ + 214.91915893554688, + 216.914794921875 + ], + [ + 224.86383056640625, + 241.552490234375 + ], + [ + 225.0565185546875, + 257.3095397949219 + ], + [ + 220.62875366210938, + 260.50421142578125 + ], + [ + 223.30397033691406, + 260.9232482910156 + ], + [ + 225.18844604492188, + 260.9170227050781 + ], + [ + 228.69155883789062, + 251.67298889160156 + ], + [ + 228.4098663330078, + 249.0478515625 + ], + [ + 227.3883056640625, + 246.57774353027344 + ], + [ + 221.413330078125, + 236.4628448486328 + ], + [ + 240.60504150390625, + 186.52499389648438 + ], + [ + 291.26690673828125, + 131.88616943359375 + ], + [ + 349.43829345703125, + 110.62295532226562 + ], + [ + 375.7652893066406, + 95.7376937866211 + ], + [ + 387.33203125, + 93.48426055908203 + ], + [ + 402.5146484375, + 106.40194702148438 + ], + [ + 418.8694152832031, + 127.29673767089844 + ], + [ + 430.1455383300781, + 131.27627563476562 + ], + [ + 435.05438232421875, + 131.45816040039062 + ], + [ + 434.98211669921875, + 131.9547119140625 + ], + [ + 434.776611328125, + 136.39578247070312 + ], + [ + 435.2676696777344, + 138.0053253173828 + ], + [ + 446.5398864746094, + 116.3375015258789 + ], + [ + 449.1351623535156, + 91.49796295166016 + ], + [ + 444.2892761230469, + 85.07535552978516 + ], + [ + 445.3582763671875, + 83.15643310546875 + ], + [ + 445.1057434082031, + 84.36471557617188 + ] + ], + "depth_max": 1.9004336595535278, + "depth_min": 0.21593961119651794, + "intrinsic": [ + [ + 514.7005615234375, + 0.0, + 259.0 + ], + [ + 0.0, + 514.271728515625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.453043195302598e-05, + 0.0001165705980383791, + -3.031636333616916e-05 + ], + [ + -5.4520256526302546e-05, + 1.0, + -8.72718810569495e-05, + 5.76781985728303e-06 + ], + [ + -0.00011657535651465878, + 8.726551459403709e-05, + 1.0, + 2.3705517378402874e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33 + ], + "object_trajectory": [ + [ + 211.25, + 292.5 + ], + [ + 211.64794921875, + 292.71075439453125 + ], + [ + 211.71636962890625, + 292.7437744140625 + ], + [ + 211.63580322265625, + 292.76812744140625 + ], + [ + 211.50155639648438, + 292.8992919921875 + ], + [ + 211.4345245361328, + 292.6601257324219 + ], + [ + 211.53121948242188, + 292.73858642578125 + ], + [ + 211.44309997558594, + 292.5977783203125 + ], + [ + 211.654052734375, + 292.48907470703125 + ], + [ + 211.9778289794922, + 292.6104736328125 + ], + [ + 211.0425262451172, + 294.013916015625 + ], + [ + 208.85736083984375, + 300.0278015136719 + ], + [ + 209.65919494628906, + 297.1634521484375 + ], + [ + 211.82907104492188, + 290.4614562988281 + ], + [ + 211.85421752929688, + 288.5282287597656 + ], + [ + 211.2852783203125, + 285.88177490234375 + ], + [ + 207.1781768798828, + 274.564453125 + ], + [ + 233.38131713867188, + 226.19131469726562 + ], + [ + 284.2034912109375, + 167.7609100341797 + ], + [ + 341.5675354003906, + 147.88624572753906 + ], + [ + 367.0495300292969, + 131.56640625 + ], + [ + 377.11346435546875, + 128.3970489501953 + ], + [ + 391.63116455078125, + 139.758056640625 + ], + [ + 407.8976745605469, + 159.14590454101562 + ], + [ + 417.4781799316406, + 163.1848907470703 + ], + [ + 422.32598876953125, + 164.4259796142578 + ], + [ + 419.7497253417969, + 167.52590942382812 + ], + [ + 419.74700927734375, + 169.3435821533203 + ], + [ + 420.1944580078125, + 171.84169006347656 + ], + [ + 423.9687805175781, + 165.69598388671875 + ], + [ + 424.9692077636719, + 165.15597534179688 + ], + [ + 424.9236145019531, + 165.57144165039062 + ], + [ + 425.05712890625, + 166.3141632080078 + ], + [ + 425.30548095703125, + 166.55035400390625 + ] + ] +} \ No newline at end of file diff --git a/007206_v2/lang.txt b/007206_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..49b7dbc3f88e81d045cf4a643f43aca8272f6173 --- /dev/null +++ b/007206_v2/lang.txt @@ -0,0 +1 @@ +move the white mushroom to the top right of the table diff --git a/007206_v2/object.ply b/007206_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..e6f62c274b90281f19624da3cf7e25261f48225c Binary files /dev/null and b/007206_v2/object.ply differ diff --git a/007208_v2/data.json b/007208_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..41132811525cc32687af1a9e652331d49e9cccdd --- /dev/null +++ b/007208_v2/data.json @@ -0,0 +1,733 @@ +{ + "action_start": 11, + "action_end": 27, + "object_name": "scoop", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.20122099999999998, + 0.0, + 0.0, + 0.0, + 0.0, + 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, + -1.3877787807814457e-17, + 0.0, + -4.166413963059168e-07, + -5.929069360164934e-07, + -2.929644625667488e-07, + 1.0 + ], + [ + -0.008823531294399611, + 0.03097396747176749, + 0.00272188064588777, + 0.06534393399828091, + -0.009022044506500033, + 0.02897354848812112, + 1.0 + ], + [ + -0.01605261084348175, + 0.04121232486254417, + 0.0074038891423705705, + 0.0683424350567738, + -0.0017547258964101858, + -0.0023470625860573416, + 1.0 + ], + [ + -0.020075531541109803, + 0.050671756025780716, + -0.0019492951789285007, + 0.0993393907633413, + 0.07925995316613957, + 0.055570067156228684, + 1.0 + ], + [ + -0.013062126536419139, + 0.03800754414816579, + -0.010118363108141668, + 0.09537673544801527, + 0.07271639888327908, + 0.004227434927695826, + 1.0 + ], + [ + 0.0037502674265474933, + 0.022920658475553253, + -0.012811166442748378, + 0.10840859351061455, + 0.0365940158996167, + -0.022347498084973775, + 1.0 + ], + [ + 0.005958031681198878, + 0.02572229503061106, + -0.027994699505259263, + -0.012704971986890497, + 0.04677497512321246, + 0.0059486947061598424, + 1.0 + ], + [ + 0.01260352498765649, + -0.006147566811559965, + -0.01653338679159405, + 0.0021363917745189265, + -0.010444797780226186, + -0.031272884884828246, + 1.0 + ], + [ + 0.0017815892509324416, + 0.005711266234669221, + -0.0106050842140325, + -0.0012177080340094787, + 0.023525132339489326, + 0.004494068744324244, + 1.0 + ], + [ + 0.004420272840663153, + -0.0021199522244387398, + -0.004002185831656298, + -0.0300556212106124, + -0.024282370551478607, + -0.036822999997941225, + 1.0 + ], + [ + 0.0012261725406669532, + -0.000654116242684577, + -0.0026852721960354264, + -0.011791070910416042, + 0.006377951039113039, + -0.006989639390529058, + 1.0 + ], + [ + 0.0022676611502487343, + -0.0012180546523155311, + -0.003568053565842527, + -0.017305573006642632, + 0.009098714825388874, + 0.004239866792458712, + 0.20122099999999998 + ], + [ + -0.0014938377713896167, + -0.0037152620350983517, + -0.0022118005238760743, + -0.02594595496888695, + -0.01059838588488428, + -0.017318247365996863, + 0.0 + ], + [ + -0.0007007206786240616, + -0.006469787601866422, + -0.003880113737047563, + -0.03270867693398558, + -0.017435065774489788, + -0.004469619009370347, + 0.0 + ], + [ + 0.001341253052079605, + -0.008930185386329906, + -0.003492490925261528, + 0.006951995947356104, + 0.01312752799401115, + -0.010930740119587036, + 0.0 + ], + [ + -0.0027307784160150728, + -0.007240396173784441, + 0.010365390588722573, + -0.008474395530747402, + -0.001876732299571406, + 0.05305773591582517, + 0.0 + ], + [ + -0.002259233308830183, + -0.003942982069589651, + 0.03800576275346471, + 0.04312704755637177, + -0.07767153755104937, + 0.11573299243099554, + 0.0 + ], + [ + 0.01573734338094271, + 0.009077379218515508, + 0.03939213266801581, + -0.027061460238565083, + -0.14842988145629207, + 0.23017863574742148, + 0.0 + ], + [ + 0.025805344195354157, + 0.009349311863978554, + 0.022562069941787874, + 0.0009145840696440845, + -0.11324958249920891, + 0.2961674545252571, + 0.0 + ], + [ + 0.019242256260870838, + 0.010423423692577871, + 0.00616630315844878, + -0.06166470483710473, + -0.05065646697837919, + 0.3534517835615784, + 0.0 + ], + [ + 0.019425654055223035, + 0.015040327814008658, + -0.0023023411687254913, + -0.1023343579715206, + -0.061452687154533045, + 0.4096314113959506, + 0.0 + ], + [ + 0.014198377272756774, + 0.011308462925171903, + -0.010914531770208291, + -0.02608138156469169, + -0.013967924361614877, + 0.3579404162298494, + 0.0 + ], + [ + 0.008695671235964014, + 0.011436042855725026, + -0.015166654464090476, + -0.05673193251762663, + 0.010616586110713717, + 0.275926004697043, + 0.0 + ], + [ + 0.019076362361225563, + 0.007722968353769455, + -0.01885963843414075, + -0.08707279193638645, + 0.00837225315738847, + 0.1450565435228811, + 0.0 + ], + [ + 0.01238757738036722, + 0.010471326663568259, + -0.01639247069574308, + -0.03833101564344385, + 0.04667564931346182, + 0.06784866906874493, + 0.0 + ], + [ + 0.012336405016542817, + 0.010789079223817305, + -0.011888329444898024, + -0.022666253798794746, + 0.016371435586808942, + 0.03220225426813122, + 0.0 + ], + [ + 0.011321585950111956, + -0.0029267835960731514, + -0.006868553765344836, + -0.008491425150588516, + 0.0009886579108689393, + -0.01752258860208896, + 0.0 + ], + [ + 0.006465299233799016, + -0.004233647332773927, + -0.007008343594914798, + -0.01757606908266313, + 0.008027630205826215, + -0.03732084193920923, + 0.0 + ], + [ + 0.0012074153929916287, + -0.0007630206752384516, + 0.005485443190891684, + -0.03134160094778797, + 0.021505755785509676, + -0.04577629493232926, + 1.0 + ], + [ + -0.0008938029348028453, + -0.002681589352550945, + 0.013588221109233974, + 0.009496950242476192, + -0.011898018963070911, + -0.0007573933538937402, + 1.0 + ], + [ + -0.0020868533514341037, + -0.0032698324886397956, + 0.01508570601351373, + 0.01647102904685375, + -0.029225359100435274, + -0.0019745504397302785, + 1.0 + ], + [ + -0.0015958366349749231, + 0.0009958230619649122, + 0.02204852354498213, + 0.02902267827866494, + -0.03900057451468815, + -0.013873820895837023, + 1.0 + ], + [ + -0.008053643048103798, + 0.0161593379501115, + 0.024256208845946287, + 0.08811511534741927, + 0.00015503597093668403, + -0.16260080632321142, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 398.0185241699219, + 209.2078857421875 + ], + [ + 395.510498046875, + 214.53143310546875 + ], + [ + 347.5626525878906, + 222.8280792236328 + ], + [ + 288.5810546875, + 199.8267059326172 + ], + [ + 203.71620178222656, + 173.2630615234375 + ], + [ + 154.60777282714844, + 166.10276794433594 + ], + [ + 113.63072204589844, + 163.909423828125 + ], + [ + 103.42059326171875, + 184.00865173339844 + ], + [ + 106.43907928466797, + 199.28860473632812 + ], + [ + 118.43119049072266, + 204.86190795898438 + ], + [ + 124.28688049316406, + 205.9487762451172 + ], + [ + 127.52210998535156, + 209.12411499023438 + ], + [ + 131.7256317138672, + 212.21343994140625 + ], + [ + 139.12078857421875, + 214.21530151367188 + ], + [ + 139.8617706298828, + 215.01979064941406 + ], + [ + 140.98175048828125, + 215.96572875976562 + ], + [ + 148.4161834716797, + 222.00997924804688 + ], + [ + 153.42236328125, + 201.58905029296875 + ], + [ + 155.7767791748047, + 140.4065704345703 + ], + [ + 162.35000610351562, + 83.60501098632812 + ], + [ + 159.66436767578125, + 60.89901351928711 + ], + [ + 151.91189575195312, + 39.96559143066406 + ], + [ + 145.14556884765625, + 38.81211853027344 + ], + [ + 146.48684692382812, + 50.62257385253906 + ], + [ + 149.22549438476562, + 61.18650436401367 + ], + [ + 157.39015197753906, + 74.61762237548828 + ], + [ + 157.11175537109375, + 81.06076049804688 + ], + [ + 160.61441040039062, + 84.12797546386719 + ], + [ + 165.9284210205078, + 87.96104431152344 + ], + [ + 172.1016387939453, + 86.11289978027344 + ], + [ + 171.83126831054688, + 83.90095520019531 + ], + [ + 170.73086547851562, + 80.53185272216797 + ], + [ + 168.84054565429688, + 52.146427154541016 + ], + [ + 156.44635009765625, + 27.89620018005371 + ], + [ + 153.55841064453125, + 22.06772232055664 + ], + [ + 153.3524932861328, + 21.69581413269043 + ], + [ + 153.51144409179688, + 21.872220993041992 + ] + ], + "depth_max": 2.04350209236145, + "depth_min": 0.24005170166492462, + "intrinsic": [ + [ + 514.3645629882812, + 0.0, + 259.0 + ], + [ + 0.0, + 513.8743896484375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.11546100419946e-05, + 0.00013826780195813626, + -2.198987567680888e-05 + ], + [ + -3.114475475740619e-05, + 1.0, + -7.127081335056573e-05, + -1.0512495464354288e-05 + ], + [ + -0.00013827001384925097, + 7.126650598365813e-05, + 1.0, + 5.8457269915379584e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36 + ], + "object_trajectory": [ + [ + 136.25, + 266.5000305175781 + ], + [ + 136.61375427246094, + 266.63519287109375 + ], + [ + 136.64120483398438, + 266.5877380371094 + ], + [ + 136.7071075439453, + 266.86236572265625 + ], + [ + 136.66543579101562, + 266.74652099609375 + ], + [ + 136.7115478515625, + 266.6210632324219 + ], + [ + 136.73040771484375, + 266.6759033203125 + ], + [ + 136.48794555664062, + 266.78045654296875 + ], + [ + 136.52984619140625, + 266.8057861328125 + ], + [ + 136.56585693359375, + 266.8989562988281 + ], + [ + 136.39889526367188, + 266.6996154785156 + ], + [ + 136.4450225830078, + 266.52716064453125 + ], + [ + 144.73074340820312, + 256.5207214355469 + ], + [ + 155.0135498046875, + 253.93060302734375 + ], + [ + 155.03749084472656, + 254.72988891601562 + ], + [ + 156.4334716796875, + 255.29734802246094 + ], + [ + 165.39846801757812, + 262.4471740722656 + ], + [ + 172.84593200683594, + 243.40591430664062 + ], + [ + 189.5115509033203, + 186.4527130126953 + ], + [ + 194.4998016357422, + 124.08866119384766 + ], + [ + 203.86329650878906, + 92.90228271484375 + ], + [ + 196.33416748046875, + 69.24180603027344 + ], + [ + 182.640380859375, + 63.49761199951172 + ], + [ + 179.8386993408203, + 70.26104736328125 + ], + [ + 176.61065673828125, + 77.95632934570312 + ], + [ + 178.40451049804688, + 90.19505310058594 + ], + [ + 177.5272216796875, + 95.28462219238281 + ], + [ + 179.9945068359375, + 98.10609436035156 + ], + [ + 181.802001953125, + 103.14198303222656 + ], + [ + 182.6678924560547, + 102.8193359375 + ], + [ + 184.71524047851562, + 103.28311157226562 + ], + [ + 183.69410705566406, + 104.14278411865234 + ], + [ + 184.59786987304688, + 99.76789855957031 + ], + [ + 183.60276794433594, + 97.80704498291016 + ], + [ + 183.81396484375, + 98.53923034667969 + ], + [ + 183.73501586914062, + 98.2460708618164 + ], + [ + 183.86288452148438, + 97.65420532226562 + ] + ] +} \ No newline at end of file diff --git a/007208_v2/lang.txt b/007208_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..c02096a75c1321e7ea4c7970d03b9175285afbf6 --- /dev/null +++ b/007208_v2/lang.txt @@ -0,0 +1 @@ +Moved the scoop to the left side of the cloth diff --git a/007208_v2/object.ply b/007208_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..3f9d054a50b236ba1e5f573424c61a7971f9731a Binary files /dev/null and b/007208_v2/object.ply differ diff --git a/007235_v2/FAIL b/007235_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/007235_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/007283_v2/FAIL b/007283_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/007283_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/007294_v2/FAIL b/007294_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007294_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007295_v2/FAIL b/007295_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/007295_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/007313/FAIL b/007313/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/007313/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/007348_v2/FAIL b/007348_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/007348_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/007353_v2/FAIL b/007353_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007353_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007364_v2/FAIL b/007364_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007364_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007365/FAIL b/007365/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/007365/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/007402/FAIL b/007402/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/007402/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/007430/FAIL b/007430/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007430/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007446_v2/FAIL b/007446_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/007446_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/007456/FAIL b/007456/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/007456/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/007484/data.json b/007484/data.json new file mode 100644 index 0000000000000000000000000000000000000000..5892a0f23fac712206f7622edebd06ab05886303 --- /dev/null +++ b/007484/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, + 0.936752, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.8459099999999999, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.0167056913322767e-10, + 3.040372233489852e-10, + 3.1948721446184436e-11, + -9.25658611511592e-08, + 1.3605468216105857e-07, + -1.4666967325661796e-08, + 1.0 + ], + [ + 0.005374272049449458, + 0.0029897140029291154, + -0.012607103880008325, + -0.013398471526798565, + -0.018052176427105753, + -0.004852484897539137, + 1.0 + ], + [ + 0.0029637396598811705, + 0.0002150825686335373, + -0.008074643501917084, + -0.013453876705131443, + 0.01436598236778749, + 0.014026813884653147, + 1.0 + ], + [ + -0.0029898778295756046, + -0.0016220792810321526, + -0.010251314654873639, + -0.020426407442955322, + 0.001342049527192683, + -0.0025919800946398223, + 1.0 + ], + [ + -0.001611924117358915, + 0.0008007706023715339, + -0.0074025155532936315, + -0.025409103145891353, + 0.015409835302005867, + -0.013493450616715981, + 1.0 + ], + [ + -0.0022606898529824726, + 1.2712859292805107e-05, + -0.007198885826844997, + -0.004724890088539239, + -0.007299995050039739, + -0.004107579749955435, + 1.0 + ], + [ + 0.00011494871292336284, + 0.002504830738213967, + -0.011161948540953703, + -0.018832006668192087, + 0.009307065109145135, + -0.0051654551674673865, + 1.0 + ], + [ + -0.002859286549139889, + 0.00048572193571192433, + -0.006137988408728812, + -0.007544165707494589, + -0.00380133422502148, + 0.0037596559237513803, + 1.0 + ], + [ + -0.0009416946658700465, + -0.001074488588345831, + -0.005345280541227751, + -0.010108570069109639, + 0.005679221251983543, + 0.006184512343864042, + 0.936752 + ], + [ + 0.0014241416186174527, + -0.0018125247929022931, + -0.002961929101966229, + -0.006507996360857113, + 0.024880214602001436, + 0.022841930406379725, + 0.0 + ], + [ + 0.0029976822142092074, + -0.001236290448435913, + -0.0005911673334405704, + 0.00039655774548087757, + 0.008549765784799818, + 0.013103472388985628, + 0.0 + ], + [ + -0.002294892592673098, + -0.0035238193981580995, + 0.005671295105803151, + 0.011354579420706879, + -0.003821779451620246, + 0.018877324365144846, + 0.0 + ], + [ + -0.0008445973188623279, + -0.0038540519258411033, + 0.01967880829159463, + 0.03135190488441225, + -0.043950358306618996, + 0.003023172430811405, + 0.0 + ], + [ + 0.014172378165183047, + -0.013629117540030967, + 0.02549820842747537, + 0.012213980201751198, + -0.03785498906349714, + -0.02356561408472189, + 0.0 + ], + [ + 0.011446109538834737, + -0.014577906703867792, + 0.012134952529437165, + 0.004720430921771389, + -0.05026562957412589, + -0.04110164347268855, + 0.0 + ], + [ + 0.012689675839617831, + -0.011011065009703988, + -0.0028950448642204585, + -0.03809724224386507, + -0.031704612658136073, + -0.07440420282914088, + 0.0 + ], + [ + -0.004745242368244362, + -0.01768964783147723, + -0.0052778509725878164, + -0.029389477435527816, + 0.024054500208818132, + -0.0026954340001715, + 0.0 + ], + [ + -0.019124107873287555, + -0.018126899322264037, + -0.0029556180651353625, + -0.018550923605065057, + -0.02437063052637191, + 0.031989804943165785, + 0.0 + ], + [ + -0.005238989994491183, + -0.017334427027552488, + 0.0038597745586524124, + -0.010377979661670799, + 0.05210916757077998, + -0.007074626639049036, + 0.0 + ], + [ + -0.011584880540451425, + -0.0024980265419067005, + -0.013234837477440864, + -0.017647325098348186, + -0.0035956912007702136, + 0.012510901053226678, + 0.0 + ], + [ + 0.0026234029544988935, + 0.006024837167220465, + -0.008593243447159366, + -0.028535273071332884, + 0.0225647700595061, + -0.026580775441962315, + 0.8459099999999999 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 290.87652587890625, + 122.13801574707031 + ], + [ + 290.6202392578125, + 122.06954956054688 + ], + [ + 293.54180908203125, + 135.83114624023438 + ], + [ + 297.0216064453125, + 151.79257202148438 + ], + [ + 301.29888916015625, + 162.26158142089844 + ], + [ + 299.9288330078125, + 181.02609252929688 + ], + [ + 298.196533203125, + 191.8001251220703 + ], + [ + 297.578125, + 203.56324768066406 + ], + [ + 292.6155700683594, + 217.29403686523438 + ], + [ + 291.7947082519531, + 229.04550170898438 + ], + [ + 292.13543701171875, + 228.68490600585938 + ], + [ + 292.7767333984375, + 225.65682983398438 + ], + [ + 294.37567138671875, + 223.3358154296875 + ], + [ + 295.3043212890625, + 229.62075805664062 + ], + [ + 303.32989501953125, + 207.4187774658203 + ], + [ + 339.4933166503906, + 167.07489013671875 + ], + [ + 370.38946533203125, + 150.968017578125 + ], + [ + 392.581787109375, + 157.67572021484375 + ], + [ + 422.829345703125, + 178.283447265625 + ], + [ + 440.9252624511719, + 213.12176513671875 + ], + [ + 465.1796875, + 228.07772827148438 + ], + [ + 456.1714172363281, + 259.91925048828125 + ], + [ + 450.66363525390625, + 251.6185760498047 + ], + [ + 452.0997619628906, + 252.43252563476562 + ] + ], + "depth_max": 2.1582608222961426, + "depth_min": 0.2994083762168884, + "intrinsic": [ + [ + 462.98388671875, + 0.0, + 259.0 + ], + [ + 0.0, + 462.29595947265625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -2.701073071875726e-06, + -8.981981227407232e-05, + -2.874279743991792e-06 + ], + [ + 2.7002274691767525e-06, + 1.0, + -9.41302005230682e-06, + -3.1024297641124576e-05 + ], + [ + 8.981984137790278e-05, + 9.412778126716148e-06, + 1.0, + 9.400987619301304e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 311.75, + 238.75 + ], + [ + 311.95086669921875, + 238.92922973632812 + ], + [ + 311.9974060058594, + 238.88272094726562 + ], + [ + 312.18017578125, + 238.6781005859375 + ], + [ + 312.03485107421875, + 238.78878784179688 + ], + [ + 311.5975036621094, + 238.93063354492188 + ], + [ + 311.5309143066406, + 239.111328125 + ], + [ + 311.21661376953125, + 239.00389099121094 + ], + [ + 310.78228759765625, + 238.99331665039062 + ], + [ + 309.8938293457031, + 239.33474731445312 + ], + [ + 308.75537109375, + 238.95547485351562 + ], + [ + 305.24139404296875, + 235.2632293701172 + ], + [ + 304.91070556640625, + 233.80960083007812 + ], + [ + 304.1412353515625, + 237.85195922851562 + ], + [ + 310.1183776855469, + 224.05615234375 + ], + [ + 340.5225524902344, + 190.81643676757812 + ], + [ + 366.80316162109375, + 175.6041717529297 + ], + [ + 387.94482421875, + 184.3014678955078 + ], + [ + 420.4490966796875, + 190.69776916503906 + ], + [ + 443.364013671875, + 234.34555053710938 + ], + [ + 462.98052978515625, + 235.88827514648438 + ], + [ + 455.1506652832031, + 267.2677001953125 + ], + [ + 463.67669677734375, + 301.3115539550781 + ], + [ + 470.2618103027344, + 305.627197265625 + ] + ] +} \ No newline at end of file diff --git a/007484/lang.txt b/007484/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..460c0f31b4dbb6631fb36ad01409918ef0e3861b --- /dev/null +++ b/007484/lang.txt @@ -0,0 +1 @@ +put carrot on plate diff --git a/007484/object.ply b/007484/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..f2be980c920f007c927a8246b0279080fdffa599 Binary files /dev/null and b/007484/object.ply differ diff --git a/007498_v2/FAIL b/007498_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007498_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007501/data.json b/007501/data.json new file mode 100644 index 0000000000000000000000000000000000000000..526d46d9efa3895d7e21c30ecf411368388e1109 --- /dev/null +++ b/007501/data.json @@ -0,0 +1,421 @@ +{ + "action_start": 6, + "action_end": 16, + "object_name": "carrot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.938706, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.41098900000000005, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.605346494100047e-10, + -1.8495207448898654e-10, + 4.739786341190211e-11, + -4.2603908033569125e-07, + 2.5300603834637617e-07, + -4.867986282773363e-08, + 1.0 + ], + [ + 0.00232841330638367, + -0.0008215900641683968, + -0.010202269503456152, + -0.019326280404649756, + 0.013107299998250754, + 0.0026407268091673446, + 1.0 + ], + [ + -0.001083122066352471, + 2.7869559692265e-05, + -0.008218227623875557, + -0.012838722849054037, + 0.006854995255092535, + 0.00541614708944929, + 1.0 + ], + [ + 0.0008040980556788813, + 0.0008035102097993106, + -0.005692015678511769, + -0.0026472467043959693, + 0.0057112859207296965, + -0.003782420787189419, + 1.0 + ], + [ + 0.003327537804309111, + 0.0034148380298320864, + -0.009345744858914914, + -0.009262861637894073, + 0.003139024602831744, + 0.001409801629259368, + 1.0 + ], + [ + 0.005051594511929658, + 0.0017297176153137708, + -0.006954086348004762, + -0.010167517135971225, + -0.010638949144434348, + -0.0003523208510817047, + 1.0 + ], + [ + 0.0043441594307111475, + 0.00011571104044394258, + -0.004617897237241195, + 0.0033538988645516175, + 0.003015610096122304, + 0.0018436817639050926, + 0.938706 + ], + [ + -0.0005562143861949087, + -0.0004826704691974805, + -0.0026246443955471183, + -0.013616780066359486, + 0.014574594325974955, + 0.008034404506255194, + 0.0 + ], + [ + -0.0056701589976609346, + -0.0012751254593484128, + 0.0013519339416384196, + -0.00935259300518335, + -0.003292453449902859, + 0.004920253746450534, + 0.0 + ], + [ + -0.0007767838690335149, + 0.0004817445388148292, + 0.0034001152790372746, + 0.006558393519308104, + 0.0016729890310546675, + -0.002834322643890858, + 0.0 + ], + [ + 0.0018345959447201299, + -0.0018350059960203398, + 0.01634497269389895, + 0.054108661204490524, + -0.013173801604851453, + -0.006513039763368332, + 0.0 + ], + [ + 0.00538993684687511, + -0.004048571630234796, + 0.020287257291229724, + 0.07244058115743389, + -0.009659282212920464, + -0.021580440932557694, + 0.0 + ], + [ + 0.002150931699960168, + -0.014838057416993162, + 0.008535813618496604, + -0.03936261691934326, + -0.01916627052288842, + -0.011371463454618617, + 0.0 + ], + [ + 0.0003571538936556484, + -0.020743452845383682, + -0.004429818775419703, + -0.06980678399480261, + 0.021091732493407185, + 0.002982450307319737, + 0.0 + ], + [ + -0.009997765785030477, + -0.01691421052555686, + -0.009356842964806905, + -0.08854761489916776, + 0.03228017455342569, + -0.015465323747095437, + 0.0 + ], + [ + -0.005353022310458255, + -0.008314419938516851, + -0.014709922248715313, + -0.055841433557159176, + 0.04155134714408962, + -0.004323919158757529, + 0.0 + ], + [ + -0.003498509784972681, + -0.0038195750956277127, + -0.008415523555601628, + -0.02593935194393302, + -0.011831109057507908, + 0.01699934327677552, + 0.41098900000000005 + ], + [ + 0.0017413943968954126, + 0.00010994365507930454, + -0.0038729028097752305, + -0.017475449543165978, + 0.013204920195683634, + -0.008695622432085794, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 316.5776062011719, + 107.6319351196289 + ], + [ + 316.41827392578125, + 107.40370178222656 + ], + [ + 316.0374450683594, + 121.41111755371094 + ], + [ + 322.6185302734375, + 131.61094665527344 + ], + [ + 321.1025695800781, + 144.2945556640625 + ], + [ + 324.1116943359375, + 154.728759765625 + ], + [ + 319.8655700683594, + 161.38963317871094 + ], + [ + 323.88287353515625, + 165.13868713378906 + ], + [ + 324.3733825683594, + 172.29534912109375 + ], + [ + 324.6703796386719, + 173.6260986328125 + ], + [ + 321.41009521484375, + 176.7811279296875 + ], + [ + 316.18023681640625, + 179.02108764648438 + ], + [ + 319.4241943359375, + 154.18795776367188 + ], + [ + 337.2763366699219, + 130.41702270507812 + ], + [ + 357.27630615234375, + 124.88237762451172 + ], + [ + 388.68267822265625, + 135.8675537109375 + ], + [ + 402.7119140625, + 162.0115203857422 + ], + [ + 410.933349609375, + 188.03884887695312 + ], + [ + 411.6763916015625, + 201.70016479492188 + ], + [ + 417.4153137207031, + 207.57437133789062 + ] + ], + "depth_max": 1.6057214736938477, + "depth_min": 0.2809123396873474, + "intrinsic": [ + [ + 465.1174621582031, + 0.0, + 259.0 + ], + [ + 0.0, + 464.5526428222656, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -1.608546699571889e-05, + -9.786031296243891e-05, + -5.034422429162078e-06 + ], + [ + 1.608592901902739e-05, + 1.0, + 4.736408300232142e-06, + -4.426391387823969e-05 + ], + [ + 9.786024020286277e-05, + -4.73798218081356e-06, + 1.0, + 7.915216701803729e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 19 + ], + "object_trajectory": [ + [ + 319.5, + 194.00001525878906 + ], + [ + 319.7322692871094, + 193.8352813720703 + ], + [ + 319.82672119140625, + 194.02078247070312 + ], + [ + 319.7821960449219, + 193.96697998046875 + ], + [ + 320.1610107421875, + 194.37728881835938 + ], + [ + 320.42974853515625, + 194.7291259765625 + ], + [ + 320.2575988769531, + 195.38388061523438 + ], + [ + 320.4384765625, + 196.09909057617188 + ], + [ + 321.04022216796875, + 195.85731506347656 + ], + [ + 327.3569030761719, + 197.29116821289062 + ], + [ + 320.2124938964844, + 205.7037811279297 + ], + [ + 318.0877380371094, + 203.60337829589844 + ], + [ + 318.249755859375, + 186.3699951171875 + ], + [ + 331.2946472167969, + 164.0554962158203 + ], + [ + 352.41571044921875, + 165.10047912597656 + ], + [ + 381.64453125, + 171.14447021484375 + ], + [ + 398.57427978515625, + 197.4954833984375 + ], + [ + 407.18548583984375, + 223.31787109375 + ], + [ + 408.666748046875, + 234.67153930664062 + ], + [ + 410.35498046875, + 253.65618896484375 + ] + ] +} \ No newline at end of file diff --git a/007501/lang.txt b/007501/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..460c0f31b4dbb6631fb36ad01409918ef0e3861b --- /dev/null +++ b/007501/lang.txt @@ -0,0 +1 @@ +put carrot on plate diff --git a/007501/object.ply b/007501/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..3f8bdc942e5d32346a00a70345e41d33a399aec4 Binary files /dev/null and b/007501/object.ply differ diff --git a/007503/data.json b/007503/data.json new file mode 100644 index 0000000000000000000000000000000000000000..4ca1b59399e7d9883c98850cb25a2018dd84a496 --- /dev/null +++ b/007503/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 11, + "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, + 0.926984, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.32381000000000004, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 1.945626992849725e-10, + 1.2030503676596638e-10, + 8.872461099151963e-11, + -4.437130311823876e-07, + -2.912677397808252e-07, + 4.84004567334054e-07, + 1.0 + ], + [ + -0.0007540303853667829, + -0.0019440142044134107, + -0.011746618069553072, + -0.026708300441980453, + -0.006711350332316673, + -0.0024062443976797707, + 1.0 + ], + [ + -0.0053739063700673495, + -0.0014963290025388418, + -0.009020646597849624, + -0.02365650426732448, + -0.0053678675617178685, + -0.0017465161319520535, + 1.0 + ], + [ + -0.0034134535070865224, + -0.0009381397769287828, + -0.005892080904339486, + -0.020160312334212865, + -0.004990688952839584, + -0.004675796185666154, + 1.0 + ], + [ + -0.0011353204885124202, + 0.0016004070856640573, + -0.007061905985375205, + -0.0102535546573829, + -0.00011819962743784334, + 0.00045385336843018143, + 1.0 + ], + [ + 0.007584903683317906, + 0.006002735030850394, + -0.005158425251542059, + -0.00023357320399522284, + 0.0161287540077096, + -0.010823143727242593, + 1.0 + ], + [ + 0.0058185405834328685, + 0.0041685376999198165, + -0.002348572829924761, + 0.008296446721391248, + 0.010932696821039535, + -0.006107732329163892, + 1.0 + ], + [ + -0.0009753343456518071, + 0.0005839807493610363, + -0.008621931423116819, + -0.025231153689177357, + 0.02205531332343009, + 0.004724310328241909, + 1.0 + ], + [ + -0.008622023565447029, + -0.0030621830933917696, + -0.0059477736821912375, + -0.01530369678691141, + -0.009446280849418044, + 0.01689271260112181, + 1.0 + ], + [ + 0.000628091806577219, + -0.0007353457721460746, + -0.005027352399889856, + -0.021419414860538638, + 0.009731670148532573, + -0.009699384015117394, + 1.0 + ], + [ + 0.0018474247646930175, + -0.0018692292802849828, + -0.004775369095521037, + -0.01104876168756043, + 0.005247265081318628, + -0.007586841989299246, + 1.0 + ], + [ + -0.001257332852097337, + -0.0003891358198389455, + -0.00839838843529031, + -0.014162077260547698, + 0.00528524075771393, + 0.0001851816581321714, + 0.926984 + ], + [ + -0.010226025838338954, + -0.0028433512387711357, + -0.0012395450469879499, + -0.0022477609304875, + -0.02663587659632679, + 0.02031729409211439, + 0.0 + ], + [ + -0.0014137068191710234, + 0.00017088855885359633, + -0.0007426949760293844, + -0.0072814910850644895, + -0.006901764990544109, + -0.006082877951772698, + 0.0 + ], + [ + 0.01273572499844744, + 0.0025468421129677607, + 0.006257479486710654, + 0.010525134709204343, + -0.011802741425790903, + -0.030950454793440243, + 0.0 + ], + [ + 0.020197245027999605, + -0.0002996543057101689, + 0.007023871787962821, + 0.008819294098566275, + -0.014927313221519318, + -0.0351163206437935, + 0.0 + ], + [ + 0.016049364767662916, + -0.0046587102205882525, + 0.0032916000249811617, + 0.0015310526545364148, + -0.027117340637947043, + -0.030373645263099124, + 0.0 + ], + [ + 0.016514682354528215, + -0.01162608684520526, + -0.00415789199353761, + -0.024448615388461055, + 0.01310896232623502, + -0.06359173813245184, + 0.0 + ], + [ + 0.002611689893132374, + -0.015381328479901028, + -0.01691384678347771, + -0.041507115628904384, + -0.01830153790936502, + -0.02710344884907005, + 0.0 + ], + [ + -0.0056739891630396, + -0.01180316327662597, + -0.008955380211864178, + -0.017090669643836123, + 0.025403608458352763, + 0.016007454065820614, + 0.0 + ], + [ + 0.0026989749182255163, + -0.0009329890176135863, + -0.008459031164889497, + -0.012197078419756629, + 0.019852990859312403, + -0.00984026887650409, + 0.0 + ], + [ + 0.008445595451106652, + 0.0022063609891100483, + -0.014292432690852244, + -0.02970908838505894, + 0.03108260783928776, + -0.028926561684406046, + 0.32381000000000004 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 291.0578918457031, + 76.89157104492188 + ], + [ + 290.8009338378906, + 76.94639587402344 + ], + [ + 291.4775390625, + 93.01858520507812 + ], + [ + 299.5517883300781, + 133.034912109375 + ], + [ + 292.5586853027344, + 155.35499572753906 + ], + [ + 289.95556640625, + 175.6331024169922 + ], + [ + 285.98748779296875, + 183.1629638671875 + ], + [ + 283.2200927734375, + 181.61192321777344 + ], + [ + 282.9927062988281, + 182.13111877441406 + ], + [ + 283.95025634765625, + 197.53213500976562 + ], + [ + 275.55560302734375, + 215.66903686523438 + ], + [ + 284.73968505859375, + 222.05197143554688 + ], + [ + 289.0475158691406, + 232.3284454345703 + ], + [ + 285.71246337890625, + 251.28909301757812 + ], + [ + 268.7529296875, + 264.8653564453125 + ], + [ + 271.36968994140625, + 265.1047668457031 + ], + [ + 288.13427734375, + 232.70361328125 + ], + [ + 312.2490234375, + 200.62889099121094 + ], + [ + 339.3245544433594, + 180.82373046875 + ], + [ + 378.91815185546875, + 184.34130859375 + ], + [ + 403.41064453125, + 215.29273986816406 + ], + [ + 419.12298583984375, + 235.30670166015625 + ], + [ + 423.022705078125, + 247.72576904296875 + ], + [ + 418.7879333496094, + 254.6673583984375 + ] + ], + "depth_max": 2.024282932281494, + "depth_min": 0.33091071248054504, + "intrinsic": [ + [ + 459.89581298828125, + 0.0, + 259.0 + ], + [ + 0.0, + 459.0663146972656, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -2.411173772998154e-05, + -0.00011214389087399468, + 5.430609235190786e-06 + ], + [ + 2.4110020603984594e-05, + 1.0, + -1.5305688066291623e-05, + -4.595867358148098e-05 + ], + [ + 0.00011214425467187539, + 1.530298322904855e-05, + 1.0, + 5.1536248065531254e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 297.75, + 266.5 + ], + [ + 298.0826110839844, + 266.506591796875 + ], + [ + 298.238037109375, + 266.563720703125 + ], + [ + 298.10345458984375, + 266.741943359375 + ], + [ + 297.3590087890625, + 267.51318359375 + ], + [ + 297.4725646972656, + 267.5439453125 + ], + [ + 297.7427673339844, + 267.4789733886719 + ], + [ + 297.98681640625, + 267.0108337402344 + ], + [ + 298.2071838378906, + 266.8480529785156 + ], + [ + 298.13299560546875, + 266.92156982421875 + ], + [ + 297.74267578125, + 267.1633605957031 + ], + [ + 297.88665771484375, + 267.1346435546875 + ], + [ + 297.8044128417969, + 267.447998046875 + ], + [ + 298.36859130859375, + 270.28485107421875 + ], + [ + 289.11798095703125, + 279.8426818847656 + ], + [ + 290.825439453125, + 281.26715087890625 + ], + [ + 304.2369079589844, + 256.0096130371094 + ], + [ + 326.7640380859375, + 225.18675231933594 + ], + [ + 351.6795959472656, + 203.9876708984375 + ], + [ + 390.218505859375, + 209.04736328125 + ], + [ + 411.00250244140625, + 237.74310302734375 + ], + [ + 425.51507568359375, + 256.9005432128906 + ], + [ + 429.1520690917969, + 268.6200866699219 + ], + [ + 425.9795227050781, + 275.0369873046875 + ] + ] +} \ No newline at end of file diff --git a/007503/lang.txt b/007503/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..460c0f31b4dbb6631fb36ad01409918ef0e3861b --- /dev/null +++ b/007503/lang.txt @@ -0,0 +1 @@ +put carrot on plate diff --git a/007520/data.json b/007520/data.json new file mode 100644 index 0000000000000000000000000000000000000000..fd03d74e02b28f2471b1f0bdf52a5bff604ab2b4 --- /dev/null +++ b/007520/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 7, + "action_end": 19, + "object_name": "carrot", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.790232, + 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": [ + [ + 4.425468325131021e-11, + -7.784260735999027e-11, + -1.9708318310662776e-11, + 2.712252386695696e-07, + -3.859210906006553e-07, + 9.267502161546723e-08, + 1.0 + ], + [ + -0.0019330902400681305, + -0.0066980655008924556, + -0.004189165902536707, + -0.0020659337209752208, + -0.008925020254241788, + -0.00930713222592342, + 1.0 + ], + [ + 0.00431785483867933, + -0.004044406897320316, + -0.010121561613804009, + 0.003256292695445375, + 0.0010547205398138007, + -0.012987440805078269, + 1.0 + ], + [ + -0.0009105576309274832, + -0.0006263362592628247, + -0.013345430764414523, + -0.004798932409005567, + 0.01362426992328765, + 0.02325765168479501, + 1.0 + ], + [ + -0.0035266547349124266, + 0.004497510555579315, + -0.009048530858645848, + -0.007378284779373466, + 0.013050970323525899, + 0.017608312981026417, + 1.0 + ], + [ + 0.00024269009055113977, + 0.004753329873767434, + -0.007591376755512344, + -0.0150072556348457, + 0.005270773248733909, + 0.013194715009573919, + 1.0 + ], + [ + 0.001261493728859031, + -0.001731629730307549, + -0.006133186924448614, + -0.01710193915445359, + 0.01653828703353343, + -0.0020333487309561245, + 1.0 + ], + [ + 0.0020300535439658207, + -0.0007887394324557623, + -0.008375147189562865, + -0.012878474715347355, + 0.00575297347354403, + 0.004274635133432061, + 0.790232 + ], + [ + -0.0038109594198643404, + -0.0020333534723766117, + -0.0021028678750970586, + -0.02168970993733483, + 0.030792682950381085, + 0.0008243463863548172, + 0.0 + ], + [ + -0.008382008552891507, + -0.0014096895840802204, + 0.0036336329225880454, + -0.0114871673662631, + 0.013632990796145491, + 0.00956992204812754, + 0.0 + ], + [ + -0.0008788508999867106, + -3.505946719427333e-05, + 0.0040015413591956706, + -0.0025098668645076334, + -0.01463130686652734, + -0.0057908596930043065, + 0.0 + ], + [ + 0.01195078688029566, + -0.001620740571052312, + 0.028060368260531904, + 0.05430288705588539, + -0.03641455792816861, + -0.01534056600575865, + 0.0 + ], + [ + 0.012083171906782458, + 0.0044921988125721235, + 0.02986524970954267, + 0.08387624828576933, + -0.034321645095438384, + -0.025181199639861217, + 0.0 + ], + [ + 0.01979113404612401, + 0.01803029241529483, + 0.013723158915844691, + 0.014310218166232075, + -0.038886293288270125, + -0.0105389408017971, + 0.0 + ], + [ + 0.016731969327007712, + 0.021770995129996876, + 0.010146996592919205, + 0.00042779195214550405, + -0.013514944768735467, + 0.02249238201013975, + 0.0 + ], + [ + 0.004261169748642546, + 0.017824180777532096, + 0.0007511520956514361, + -0.019366150417330866, + 0.006283213082147165, + 0.0425969990504984, + 0.0 + ], + [ + 0.006863942271326029, + 0.017106785703178626, + 0.00022744425413692704, + -0.01757500908172214, + -0.0416950097975929, + 0.01079730932964415, + 0.0 + ], + [ + 0.011077666038996514, + 0.00970489087341752, + 0.007684244950774882, + 0.005159769643691838, + -0.029873742140999183, + -0.009211710200283222, + 0.0 + ], + [ + 0.010446850207223413, + 0.006876134466144872, + 0.003697531405061044, + 0.00866090440071593, + 0.0033223562395330777, + -0.010388302488844087, + 0.0 + ], + [ + 0.0076130425143108305, + 0.0027750320030223534, + -0.001971829427021121, + -0.021458549571528856, + -0.007407009257534967, + -0.03322464716725298, + 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": [ + [ + 467.5152587890625, + 171.03060913085938 + ], + [ + 467.7224426269531, + 171.049072265625 + ], + [ + 463.3670349121094, + 182.5718994140625 + ], + [ + 473.891357421875, + 196.4765167236328 + ], + [ + 479.4765930175781, + 210.7314910888672 + ], + [ + 471.23480224609375, + 232.868408203125 + ], + [ + 465.24884033203125, + 249.98033142089844 + ], + [ + 454.36016845703125, + 254.9193572998047 + ], + [ + 460.61932373046875, + 265.78668212890625 + ], + [ + 455.66253662109375, + 274.32452392578125 + ], + [ + 458.057861328125, + 279.3978271484375 + ], + [ + 450.2786560058594, + 289.4855041503906 + ], + [ + 449.11956787109375, + 286.47509765625 + ], + [ + 467.5459899902344, + 237.84173583984375 + ], + [ + 481.45794677734375, + 173.75067138671875 + ], + [ + 470.2835693359375, + 119.51278686523438 + ], + [ + 444.5451354980469, + 75.79953002929688 + ], + [ + 413.243896484375, + 61.790611267089844 + ], + [ + 397.4130859375, + 49.89221954345703 + ], + [ + 389.7867431640625, + 32.68300247192383 + ], + [ + 387.9305419921875, + 25.981407165527344 + ], + [ + 389.018798828125, + 24.815977096557617 + ], + [ + 388.0721435546875, + 24.2763671875 + ], + [ + 389.14111328125, + 25.10219955444336 + ] + ], + "depth_max": 1.6793986558914185, + "depth_min": 0.2696824073791504, + "intrinsic": [ + [ + 480.2535705566406, + 0.0, + 259.0 + ], + [ + 0.0, + 478.5962829589844, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.7781123208114877e-05, + -0.0001093309692805633, + -1.3320824109541718e-05 + ], + [ + -2.7781698008766398e-05, + 1.0, + -5.2486716413113754e-06, + -8.406655979342759e-05 + ], + [ + 0.00010933082376141101, + 5.251708898867946e-06, + 1.0, + 8.868483564583585e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 442.25, + 314.5 + ], + [ + 442.40338134765625, + 314.83795166015625 + ], + [ + 442.4974060058594, + 315.08270263671875 + ], + [ + 442.381591796875, + 315.43133544921875 + ], + [ + 442.59332275390625, + 315.0333557128906 + ], + [ + 442.86553955078125, + 315.0990905761719 + ], + [ + 442.411376953125, + 315.3265380859375 + ], + [ + 442.5304870605469, + 315.2059326171875 + ], + [ + 442.77783203125, + 315.0458984375 + ], + [ + 445.8187255859375, + 316.3515930175781 + ], + [ + 452.1046447753906, + 322.94598388671875 + ], + [ + 443.1560363769531, + 329.8232421875 + ], + [ + 443.73980712890625, + 331.2781066894531 + ], + [ + 456.3185119628906, + 285.2059326171875 + ], + [ + 464.2967834472656, + 224.12661743164062 + ], + [ + 455.5875549316406, + 170.10401916503906 + ], + [ + 432.5052490234375, + 126.90650177001953 + ], + [ + 404.554931640625, + 111.35028076171875 + ], + [ + 390.2806396484375, + 97.84768676757812 + ], + [ + 383.73040771484375, + 78.02020263671875 + ], + [ + 381.0376281738281, + 64.3875961303711 + ], + [ + 382.0928039550781, + 61.885292053222656 + ], + [ + 379.119140625, + 87.37388610839844 + ], + [ + 365.3392333984375, + 101.8226318359375 + ] + ] +} \ No newline at end of file diff --git a/007520/lang.txt b/007520/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..460c0f31b4dbb6631fb36ad01409918ef0e3861b --- /dev/null +++ b/007520/lang.txt @@ -0,0 +1 @@ +put carrot on plate diff --git a/007520/object.ply b/007520/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..34127d1baae51a20d2df9c305cac0eb4c84eda47 Binary files /dev/null and b/007520/object.ply differ diff --git a/007550_v2/FAIL b/007550_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/007550_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/007570_v2/FAIL b/007570_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007570_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007604_v2/FAIL b/007604_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007604_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007614_v2/FAIL b/007614_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007614_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007621/data.json b/007621/data.json new file mode 100644 index 0000000000000000000000000000000000000000..e21ad2de0cc92872c2a2e8acfb41c2f947b47859 --- /dev/null +++ b/007621/data.json @@ -0,0 +1,458 @@ +{ + "action_start": 8, + "action_end": 17, + "object_name": "eggplant", + "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, + 0.00341899999999995, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -6.28809504465977e-11, + -7.672877611053508e-11, + -7.956008074572196e-11, + 1.388179625888193e-07, + -3.262980284896713e-07, + 3.3729102938512566e-07, + 1.0 + ], + [ + 0.0029690524583791955, + 0.002424295373049501, + -0.008230531408887742, + -0.010080142222296695, + 0.013478953925758284, + -0.00029747962587565405, + 1.0 + ], + [ + 0.0055087814390468726, + 0.0038559084963187273, + -0.01616431855124606, + -0.02619182489400847, + 0.013538785684738668, + 0.0006713042858289718, + 1.0 + ], + [ + 0.0035593714018850586, + 0.0018037981409794596, + -0.008682883296244864, + -0.004215093749086133, + 0.013001382494026388, + 0.010817207264364102, + 1.0 + ], + [ + 0.003799857624300934, + 0.002303986733430144, + -0.00888447609779798, + -0.014114175920005152, + 0.013739606746101425, + 0.0020111533371048266, + 1.0 + ], + [ + 0.0030690389093620263, + -0.0007207505467543146, + -0.011232187440228122, + -0.01845751358506123, + 0.022736836747201682, + -0.0001649317553302123, + 1.0 + ], + [ + 0.00168203414179538, + 0.003468546488279628, + -0.01128366955561537, + -0.016628392676045337, + 0.006358566167892195, + 0.013532247688097717, + 1.0 + ], + [ + -0.0016841333663495939, + 0.002729585448142821, + -0.011831133780844674, + -0.009090490714969889, + 0.02887641689157785, + 0.01842112702872414, + 1.0 + ], + [ + -0.000330133419972678, + 0.0037182181167275674, + -0.01076813891666245, + -0.014253619494546278, + 0.009543479437297912, + 0.0018125350644028115, + 1.0 + ], + [ + 0.0002375456433494072, + -0.0002154256015965278, + -0.010131981583563307, + -0.013423159377961614, + -0.001059853086614953, + -0.0001991909996265935, + 0.0 + ], + [ + 0.0033196352164025222, + -0.0051132757763732994, + 0.0025161869065941506, + 0.0083806335977471, + 0.00036760603103266036, + -0.01563553818146746, + 0.0 + ], + [ + -0.0021225158607504624, + -0.008380250698500943, + 0.032946146332423425, + 0.06974401308589437, + -0.011705060940584619, + -0.009386545322375161, + 0.0 + ], + [ + -0.00668851214275859, + 0.0011457302421880589, + 0.032194494753823855, + 0.057500400037448274, + -0.02752780911806759, + 0.02389194978535069, + 0.0 + ], + [ + -0.002131205435603273, + 0.009209036994281411, + 0.027368759985956753, + 0.05981735527936393, + -0.010373612549556755, + 0.021812567825469524, + 0.0 + ], + [ + 0.00539304054392839, + 0.016773861852253116, + 0.019870414554632593, + 0.04658993292049533, + -0.03898027021888097, + 0.01946499826065172, + 0.0 + ], + [ + 0.015290805459813511, + 0.03332043064368338, + 0.012383821192484518, + 0.023738753140032598, + -0.03827875276232926, + 0.020872779217901444, + 0.0 + ], + [ + 0.012795572334931893, + 0.03104295606254409, + 0.0010912692016530334, + -0.008966395706721947, + -0.04070783211642715, + 0.007890085136038092, + 0.0 + ], + [ + 0.005541094132528318, + 0.019847149480554306, + -0.005021008603320498, + -0.020598413386187182, + -0.010141173196275678, + 0.006813910158844333, + 0.00341899999999995 + ], + [ + 0.0034073858328080853, + 0.015377925054588645, + -0.011499739451258845, + -0.046204450063887445, + 0.03898460297923188, + -0.0035085690286897103, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 471.34552001953125, + 225.93051147460938 + ], + [ + 471.2218017578125, + 225.82070922851562 + ], + [ + 466.2911682128906, + 237.0711669921875 + ], + [ + 463.1022644042969, + 249.0562286376953 + ], + [ + 451.8040466308594, + 266.0830383300781 + ], + [ + 452.4891357421875, + 270.135009765625 + ], + [ + 450.0771484375, + 274.4019775390625 + ], + [ + 450.6876220703125, + 289.0426025390625 + ], + [ + 439.13641357421875, + 298.45068359375 + ], + [ + 432.1318664550781, + 312.40802001953125 + ], + [ + 423.8436279296875, + 317.9192810058594 + ], + [ + 425.5509948730469, + 316.2218017578125 + ], + [ + 432.1353454589844, + 313.85882568359375 + ], + [ + 443.412841796875, + 299.28973388671875 + ], + [ + 449.6404724121094, + 263.05706787109375 + ], + [ + 438.7896728515625, + 217.7714080810547 + ], + [ + 421.4766845703125, + 177.01553344726562 + ], + [ + 368.1343994140625, + 117.67878723144531 + ], + [ + 329.2070007324219, + 83.58838653564453 + ], + [ + 305.626953125, + 78.6497573852539 + ], + [ + 285.84918212890625, + 86.31043243408203 + ], + [ + 288.3446350097656, + 85.96102142333984 + ] + ], + "depth_max": 2.3573334217071533, + "depth_min": 0.2122454196214676, + "intrinsic": [ + [ + 473.2008361816406, + 0.0, + 259.0 + ], + [ + 0.0, + 472.4195556640625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -1.0999632650054991e-05, + -9.407052129972726e-05, + -4.986039130017161e-06 + ], + [ + 1.0995991033269092e-05, + 1.0, + -3.8711186789441854e-05, + -3.357750392751768e-05 + ], + [ + 9.407094330526888e-05, + 3.871015360346064e-05, + 1.0, + 7.474732410628349e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21 + ], + "object_trajectory": [ + [ + 457.5, + 322.5000305175781 + ], + [ + 457.7059020996094, + 322.79925537109375 + ], + [ + 457.58154296875, + 322.9759826660156 + ], + [ + 457.6135559082031, + 322.16522216796875 + ], + [ + 457.1299743652344, + 322.20843505859375 + ], + [ + 456.9721374511719, + 322.7513122558594 + ], + [ + 456.74310302734375, + 323.50946044921875 + ], + [ + 456.50189208984375, + 324.8881530761719 + ], + [ + 455.0300598144531, + 325.408935546875 + ], + [ + 450.3172302246094, + 325.74639892578125 + ], + [ + 439.4475402832031, + 330.9365234375 + ], + [ + 440.4322509765625, + 331.34771728515625 + ], + [ + 444.87774658203125, + 328.2467041015625 + ], + [ + 452.1419982910156, + 319.02716064453125 + ], + [ + 456.1799621582031, + 284.1804504394531 + ], + [ + 445.2546081542969, + 243.70498657226562 + ], + [ + 429.3122253417969, + 200.4331817626953 + ], + [ + 377.6434020996094, + 146.8248748779297 + ], + [ + 340.7097473144531, + 109.89482879638672 + ], + [ + 317.2326354980469, + 100.77297973632812 + ], + [ + 308.55853271484375, + 109.81473541259766 + ], + [ + 313.8875427246094, + 116.5313720703125 + ] + ] +} \ No newline at end of file diff --git a/007621/lang.txt b/007621/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..51031e5359f64e6112e760ba2ea59b70067281f4 --- /dev/null +++ b/007621/lang.txt @@ -0,0 +1 @@ +put eggplant into pot or pan diff --git a/007621/object.ply b/007621/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..cdf5de66ec40a116ec1926d5e6ea61fb2e3b1d16 Binary files /dev/null and b/007621/object.ply differ diff --git a/007640_v2/data.json b/007640_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..42c0409a8d0b57b726f5426e62120020b08c14f9 --- /dev/null +++ b/007640_v2/data.json @@ -0,0 +1,916 @@ +{ + "action_start": 15, + "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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.33138, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 7.085101949577677e-11, + 1.5280227950997816e-10, + -1.698363116808821e-10, + 5.643289539859376e-07, + 6.848187378397108e-07, + 6.013867697520376e-07, + 1.0 + ], + [ + 0.02234767768896989, + 0.019297054273273394, + -0.001875795109989059, + -0.01894580696576706, + -0.0427449695347444, + 0.10547230235684804, + 1.0 + ], + [ + 0.013439876947393625, + 0.013103384499623559, + -0.002581660254923429, + -0.003914454797197536, + -0.04705755470519503, + 0.08166983530885227, + 1.0 + ], + [ + 0.012776820543202116, + 0.01621825607664569, + 0.002275692532860696, + -0.0037638878133023435, + -0.04069194677698419, + 0.07980735025811608, + 1.0 + ], + [ + 0.01352272819434186, + 0.015349067020050983, + -0.004380306386358196, + -0.005724281720983619, + -0.029922864354563154, + 0.06686603500774248, + 1.0 + ], + [ + 0.013862595966759372, + 0.014505873312303096, + -0.006877078073342993, + 0.012817816801893528, + 0.01878295535254466, + 0.062527017053697, + 1.0 + ], + [ + 0.01565209612596108, + 0.0201703591366834, + -0.008329016140712783, + 0.027589694823117444, + 0.024103977736546465, + 0.06279063446132101, + 1.0 + ], + [ + 0.007471947134149948, + 0.016476012786915933, + -0.006363217089942336, + 0.026041747686287992, + 0.02662881938412752, + 0.042332784975128, + 1.0 + ], + [ + 0.003872626563612258, + 0.019087916800443486, + -0.007455911024597042, + 0.03099452476971326, + 0.0057201715890205125, + 0.056724830551467584, + 1.0 + ], + [ + 0.0024095004790720687, + 0.014143998106504407, + -0.00562101775284049, + 0.021602237418041858, + 0.004406709340525275, + 0.04691708350632933, + 1.0 + ], + [ + -0.0007945387863684261, + 0.014064906236875896, + -0.006958848730903189, + 0.019359685884752634, + -0.0057685560233892985, + 0.0663502784578985, + 1.0 + ], + [ + 0.0002366860871142462, + 0.009905068612093587, + -0.005585355471593903, + 0.007824080699404493, + -0.002564865216187504, + 0.04048138216438334, + 1.0 + ], + [ + -0.0029541517950162355, + 0.005813469415349853, + -0.0025300017414409404, + 0.007978590393225238, + 0.011514619288966627, + 0.03456017362358838, + 1.0 + ], + [ + -0.007736721356528586, + 0.004299606168108816, + -0.006643379045847206, + 0.006755904018094222, + 0.005608190966617666, + 0.028356823992433996, + 1.0 + ], + [ + -0.0007993846594052112, + 0.0005979761657292637, + -0.006139604858966058, + -0.01826934363961424, + -0.028596951277066768, + 0.020012151585123157, + 1.0 + ], + [ + 0.000698113601307393, + 0.0010516703807463001, + -0.0062483688738158155, + -0.026865933912043796, + -0.03871853176413346, + 0.04569642362026996, + 1.0 + ], + [ + -0.006791504057913567, + 0.0021999744689564504, + -0.011544743458634064, + -0.01698759753021953, + -0.003086729356704543, + 0.08663089694124061, + 0.0 + ], + [ + -0.004945352481414422, + -0.0003257395702262744, + -0.006784502001471154, + -0.0037112627838567108, + 0.015640142816645546, + 0.034712977375369165, + 0.0 + ], + [ + 0.000721125463782113, + -0.0008257905481524885, + 0.007837800924848246, + 0.0058580836962410935, + -0.01719715985701415, + 0.0058950694345791055, + 0.0 + ], + [ + 0.007753529107754398, + -0.002937796880446736, + 0.025064942895301208, + 0.0028693193973805538, + -0.07569487188461754, + -0.0055526056117778215, + 0.0 + ], + [ + 0.008317908447906253, + -0.006081375239634229, + 0.03158132682302139, + 0.0037058379984861506, + -0.09109301015200964, + -0.01863292500800522, + 0.0 + ], + [ + -0.000489960143899959, + -0.0025950874152552705, + 0.011066878879558387, + -0.005899350158435631, + -0.03442822568481785, + -0.008584547940160175, + 0.0 + ], + [ + -0.00929888017839825, + 0.004165332809289407, + 0.004434321190347923, + 0.004869164089433212, + 0.009083946631685045, + -0.0014872184435109853, + 0.0 + ], + [ + -0.01395162277438966, + 0.007731184090243093, + -0.0015003337486260565, + -0.002558107132554706, + 0.040453506509164225, + 0.022883260974408612, + 0.0 + ], + [ + -0.014207103795964293, + 0.008452975826966191, + 0.0012026228408746203, + -0.014291650902084377, + 0.026586159698545844, + 0.031252696381233055, + 0.0 + ], + [ + -0.009531092734092528, + 0.005063095362661946, + 0.002058630447094756, + -0.004002308942381239, + 0.011692978585354983, + 0.017031054956720543, + 0.0 + ], + [ + -0.005899753316429668, + 0.0006862053026624182, + -0.0015509247265480808, + 0.004001615640834004, + 0.009875414693669864, + -0.002735770064709464, + 0.0 + ], + [ + -0.004254464327407559, + -0.0009252913429955434, + -0.004951746838361082, + 0.00482374164962264, + 0.013203750152832754, + -0.004564973842769754, + 0.0 + ], + [ + 0.001061624567770425, + -0.0009473669484688363, + -0.006647942663947082, + 0.007138113944868469, + 0.012046497661163448, + -0.018657904782302257, + 0.0 + ], + [ + 0.0016328458938275059, + 0.002683419997962233, + -0.0037017986617090687, + 0.012160474218408397, + 0.0070420438307392235, + 0.0007856129426734142, + 0.0 + ], + [ + 0.0022941728151067986, + 0.0044914440442890835, + -0.002131357218072491, + 0.009331696981740073, + 0.004309142199592919, + 0.005743608489603088, + 0.0 + ], + [ + 0.0008352503253371557, + 0.004212051897959257, + -0.003656493370862657, + 0.0026821668035006104, + 0.010436934151970695, + 0.009094063294476637, + 0.0 + ], + [ + -0.0008081057169547212, + 0.001054559510472508, + -0.004829996557138713, + -0.00244683514233833, + 0.010787754896515777, + 0.0034946769991112225, + 0.0 + ], + [ + -0.0003954075609169938, + 0.00019970014201253772, + -0.002690594411476191, + 0.002680876366045566, + 0.005555571396197457, + -0.00022919871633853, + 0.0 + ], + [ + -0.00033617748108699663, + 0.0006375839788307636, + -0.004279953021683686, + 0.000409917416317923, + 0.008496839226936018, + 0.0027096357586776252, + 0.0 + ], + [ + -5.8878080757107654e-05, + 0.0013490913446217723, + -0.0028056601105640455, + 0.0017556860178541778, + 0.008263828448761107, + 0.0035925190230670857, + 0.0 + ], + [ + -0.0016344149953361198, + 0.0007739159718445909, + -0.003759172016123788, + -0.004693931561231352, + 0.013628636523863787, + 0.0036676425362511173, + 0.0 + ], + [ + -0.002809205047248464, + -0.0010933210829739415, + -0.002153091311642971, + -0.0036199870169568407, + 0.018090373008480133, + 0.0013091394658636714, + 0.0 + ], + [ + -0.00275729274061165, + -0.001981436231390604, + -0.0006186124250543434, + -0.009957260884392565, + 0.01971421937316419, + 0.018389986114960066, + 0.33138 + ], + [ + 0.0003871962828410347, + -0.0017065327476261383, + 0.00382715316804165, + -0.00100110394565828, + 0.0027505474194596084, + -0.004083444391626895, + 1.0 + ], + [ + 0.004098125019282695, + -0.0010845076548409438, + 0.008666954034968283, + 8.066855451472006e-05, + -0.03440700168300881, + -0.006365832799408683, + 1.0 + ], + [ + 0.011107079112176538, + -0.0005567970051245652, + 0.020699406398864542, + 0.01793751389964539, + -0.06694914009401394, + -0.033024743201524244, + 1.0 + ], + [ + 0.01302023629721133, + -0.005421495624145928, + 0.030730700170646316, + 0.017082191327414835, + -0.08738202917372949, + -0.02242687187230311, + 1.0 + ], + [ + 0.010430760401967665, + -0.013524069559039065, + 0.017395769942995604, + -0.008514084819118216, + 0.009531310677387859, + -0.046451936557992804, + 1.0 + ], + [ + 0.02695970904788736, + -0.03750172652497899, + -0.0035173819172399368, + -0.0640885322848995, + 0.08825074193667377, + -0.1973146780184897, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 309.779052734375, + 143.49240112304688 + ], + [ + 307.94976806640625, + 147.049072265625 + ], + [ + 315.54229736328125, + 151.27195739746094 + ], + [ + 307.00726318359375, + 127.34600067138672 + ], + [ + 298.30511474609375, + 109.17742919921875 + ], + [ + 290.843505859375, + 93.43269348144531 + ], + [ + 282.8031005859375, + 83.8023681640625 + ], + [ + 277.5076904296875, + 76.70046997070312 + ], + [ + 265.0424499511719, + 72.1316146850586 + ], + [ + 252.08267211914062, + 67.61399841308594 + ], + [ + 235.2274169921875, + 69.46533203125 + ], + [ + 222.5955810546875, + 71.3683853149414 + ], + [ + 207.44708251953125, + 78.28871154785156 + ], + [ + 200.60079956054688, + 76.67974853515625 + ], + [ + 193.3564910888672, + 75.59949493408203 + ], + [ + 188.70199584960938, + 83.65069580078125 + ], + [ + 190.5440216064453, + 91.84542846679688 + ], + [ + 184.09182739257812, + 101.18035125732422 + ], + [ + 179.3089599609375, + 110.07282257080078 + ], + [ + 178.39584350585938, + 110.88336181640625 + ], + [ + 179.99423217773438, + 106.64564514160156 + ], + [ + 185.69570922851562, + 67.75997924804688 + ], + [ + 189.6127166748047, + 42.31578826904297 + ], + [ + 186.71194458007812, + 38.16463851928711 + ], + [ + 164.93771362304688, + 39.390045166015625 + ], + [ + 144.1392822265625, + 45.49449920654297 + ], + [ + 122.229736328125, + 39.01697540283203 + ], + [ + 113.47338104248047, + 44.11699676513672 + ], + [ + 109.05207824707031, + 48.611812591552734 + ], + [ + 106.71922302246094, + 53.49634552001953 + ], + [ + 105.30192565917969, + 50.7255973815918 + ], + [ + 103.77837371826172, + 54.739654541015625 + ], + [ + 103.4212646484375, + 63.63074493408203 + ], + [ + 103.2097396850586, + 65.9326400756836 + ], + [ + 103.33256530761719, + 67.24600219726562 + ], + [ + 103.41888427734375, + 71.35919189453125 + ], + [ + 102.74703216552734, + 73.78614807128906 + ], + [ + 101.69216918945312, + 77.27899169921875 + ], + [ + 100.25213623046875, + 81.77503967285156 + ], + [ + 97.36070251464844, + 84.72278594970703 + ], + [ + 95.88227844238281, + 89.85287475585938 + ], + [ + 99.2274398803711, + 90.93937683105469 + ], + [ + 104.57479858398438, + 73.85987854003906 + ], + [ + 105.56529235839844, + 36.91233825683594 + ], + [ + 104.42355346679688, + -3.8292465209960938 + ], + [ + 144.14544677734375, + -30.31177520751953 + ], + [ + 184.95889282226562, + -19.58092498779297 + ] + ], + "depth_max": 2.3580679893493652, + "depth_min": 0.20634597539901733, + "intrinsic": [ + [ + 491.6582336425781, + 0.0, + 259.0 + ], + [ + 0.0, + 491.029052734375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -1.657008942856919e-05, + -0.00012139322643633932, + 1.9925477317883633e-05 + ], + [ + 1.6562160453759134e-05, + 1.0, + -6.531434337375686e-05, + -2.736379246925935e-05 + ], + [ + 0.00012139430327806622, + 6.531233520945534e-05, + 1.0, + -3.3836236980278045e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 39, + 42, + 46 + ], + "object_trajectory": [ + [ + 190.25, + 109.5 + ], + [ + 190.34304809570312, + 109.99281311035156 + ], + [ + 190.7933349609375, + 109.83355712890625 + ], + [ + 190.873046875, + 109.42793273925781 + ], + [ + 190.69375610351562, + 109.16482543945312 + ], + [ + 191.10504150390625, + 109.27440643310547 + ], + [ + 190.8594970703125, + 109.49629211425781 + ], + [ + 190.7510223388672, + 109.32096099853516 + ], + [ + 190.1814727783203, + 109.03339385986328 + ], + [ + 189.46197509765625, + 108.61552429199219 + ], + [ + 189.13461303710938, + 108.3690414428711 + ], + [ + 184.65586853027344, + 111.3693618774414 + ], + [ + 184.55386352539062, + 111.21392822265625 + ], + [ + 184.19793701171875, + 111.09152221679688 + ], + [ + 185.05577087402344, + 111.0051498413086 + ], + [ + 185.78143310546875, + 110.44950866699219 + ], + [ + 184.71450805664062, + 109.36875915527344 + ], + [ + 172.3688201904297, + 114.75918579101562 + ], + [ + 169.58718872070312, + 114.76641082763672 + ], + [ + 167.99395751953125, + 113.11103057861328 + ], + [ + 167.30999755859375, + 109.4838638305664 + ], + [ + 173.69886779785156, + 86.84495544433594 + ], + [ + 176.8052520751953, + 63.37327194213867 + ], + [ + 173.64352416992188, + 55.07361602783203 + ], + [ + 154.50067138671875, + 59.193241119384766 + ], + [ + 133.88795471191406, + 65.02893829345703 + ], + [ + 111.81582641601562, + 58.03541564941406 + ], + [ + 102.24923706054688, + 64.77325439453125 + ], + [ + 98.30213928222656, + 68.85565185546875 + ], + [ + 95.33003997802734, + 71.66427612304688 + ], + [ + 92.7493896484375, + 70.19597625732422 + ], + [ + 91.3542251586914, + 73.09872436523438 + ], + [ + 90.2266845703125, + 79.29304504394531 + ], + [ + 89.11036682128906, + 82.23887634277344 + ], + [ + 88.63397979736328, + 82.89505767822266 + ], + [ + 87.80821228027344, + 86.63003540039062 + ], + [ + 86.48866271972656, + 89.21922302246094 + ], + [ + 85.4173355102539, + 93.1595230102539 + ], + [ + 83.22413635253906, + 96.7139892578125 + ], + [ + 81.45468139648438, + 100.21188354492188 + ], + [ + 81.44447326660156, + 108.14614868164062 + ], + [ + 81.37004852294922, + 109.17108917236328 + ], + [ + 80.44447326660156, + 110.65953826904297 + ], + [ + 86.50997924804688, + 107.75037384033203 + ], + [ + 85.96734619140625, + 108.22857666015625 + ], + [ + 86.60517883300781, + 108.26783752441406 + ], + [ + 87.64035034179688, + 108.99894714355469 + ] + ] +} \ No newline at end of file diff --git a/007640_v2/lang.txt b/007640_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..90a4fb60a36de5490aba3dfebf4602a26194727b --- /dev/null +++ b/007640_v2/lang.txt @@ -0,0 +1 @@ +put the red arch on top of the green arch diff --git a/007640_v2/object.ply b/007640_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..87def0c2740a2355795a28b31dbed8641149d98a Binary files /dev/null and b/007640_v2/object.ply differ diff --git a/007672/FAIL b/007672/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/007672/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/007676/FAIL b/007676/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/007676/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/007709/data.json b/007709/data.json new file mode 100644 index 0000000000000000000000000000000000000000..4afe69a7dcfc2f3c9d3c55dc05f73f78e4f10f4d --- /dev/null +++ b/007709/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 9, + "action_end": 22, + "object_name": "spoon", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.300855, + 0.0, + 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": [ + [ + -1.624250733911481e-11, + 1.343549162373457e-10, + 3.149974725502602e-11, + 1.6196196144355865e-07, + 6.912761979313732e-08, + -6.312201816660883e-08, + 1.0 + ], + [ + 0.00034616048742583394, + 0.0012026540093962798, + -0.010000742646495586, + -0.030216278264791212, + -0.028247761881587334, + 0.062247537579322665, + 1.0 + ], + [ + 0.0041471696269725355, + -0.0005856457336180216, + -0.00916098668976005, + -0.016135696771395064, + 0.020181697314892902, + 0.004853522347223766, + 1.0 + ], + [ + 0.004865494372064294, + 0.000487430282478901, + -0.0074855222752029105, + -0.0036515922547115105, + 0.03250711498931984, + 0.025788675677819083, + 1.0 + ], + [ + 0.004410296013131532, + 6.500120575758824e-05, + -0.0036807977059050007, + -0.017017655194606764, + 0.03430438307372563, + 0.0009685869021237961, + 1.0 + ], + [ + -0.0011304880649498639, + -0.0020780581419991033, + -0.0069645915805919, + -0.017024190660228773, + 0.029781649599802985, + 0.0005963063437293767, + 1.0 + ], + [ + -0.0017991092745961723, + 0.0022141599036194903, + -0.0061318807014603405, + -0.014686695851920685, + 0.02954755004010038, + 0.0015527455053905874, + 1.0 + ], + [ + -0.0027221611867510875, + 0.001231006638603541, + -0.005122358282870207, + -0.010013822917588157, + 0.004588380404321935, + 0.005416122401054075, + 1.0 + ], + [ + 0.0007729519693492337, + 0.0014030115914127864, + -0.01115791071730951, + -0.022679039101796205, + 0.023308083319066943, + 0.001700317903981201, + 1.0 + ], + [ + -0.00030133564605314134, + -0.00027113905938676384, + -0.009337451056511542, + -0.012116280387003166, + 0.019469045997246727, + 0.0032314043777210556, + 0.300855 + ], + [ + 0.0007292186129977118, + -0.00036302500666335856, + -0.013074708162862027, + -0.01588650364490271, + 0.03180570967051937, + -0.01605670407033424, + 0.0 + ], + [ + -0.0009937483653071066, + -0.0031814159957858053, + 0.013042466264469636, + 0.026535027815916472, + -0.02472797365894589, + -0.003490242914655794, + 0.0 + ], + [ + 0.005084716456688371, + -0.0036160893794667595, + 0.02050770862197005, + 0.03722960105180882, + -0.017437836979095577, + -0.030939397537630524, + 0.0 + ], + [ + 0.004042108808059386, + -0.004860191291910724, + 0.029020563409033022, + 0.056056944723183406, + -0.03391391210133292, + -0.016195114938651948, + 0.0 + ], + [ + 0.0014230122124744837, + 0.0001351191947098658, + 0.021304485201669512, + 0.045227309797640634, + -0.03455912963842141, + -0.0036044670373160436, + 0.0 + ], + [ + 0.00334464286785624, + 0.006650566461680413, + 0.010996884929561454, + 0.02127706283154416, + -0.02398039828289021, + -0.014315657871022352, + 0.0 + ], + [ + -0.001334820089629568, + -0.004609523389507907, + 0.01855931764029843, + 0.02648426356942157, + -0.053915026181766336, + 0.0006273746087383777, + 0.0 + ], + [ + -0.010631657001834743, + -0.01577151854367506, + 0.010962503000649881, + -0.0268710776320152, + -0.007129919582244319, + -0.048301278050870325, + 0.0 + ], + [ + -0.020755798642152018, + -0.017797258593564694, + 0.0159807852491389, + -0.07004489932213949, + 0.07431119909922174, + -0.20654704460255896, + 0.0 + ], + [ + -0.022768159516989767, + -0.014618775549733093, + 0.0054045338664163445, + -0.038888618607769064, + 0.08271250262889598, + -0.15616350741347754, + 0.0 + ], + [ + -0.015602244077385585, + -0.013013950894272493, + -0.0032861909811962298, + -0.058033864548290195, + 0.08920711197614573, + -0.1180349477572107, + 0.0 + ], + [ + 1.114840202723344e-05, + -0.009835201625411731, + -0.012378067188824171, + -0.09002640421636056, + 0.08405398915798516, + -0.11994807710531322, + 0.0 + ], + [ + 0.00574453708576364, + -0.0066084234684664345, + -0.006571597660193246, + -0.035771107553748606, + 0.04930564894432907, + -0.0643323037391958, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 284.64447021484375, + 192.727783203125 + ], + [ + 284.59765625, + 192.6136474609375 + ], + [ + 285.47149658203125, + 205.46688842773438 + ], + [ + 287.79400634765625, + 217.78753662109375 + ], + [ + 292.2832946777344, + 230.75540161132812 + ], + [ + 297.3603210449219, + 235.8937530517578 + ], + [ + 301.19854736328125, + 237.459716796875 + ], + [ + 302.359619140625, + 245.91973876953125 + ], + [ + 298.4997253417969, + 250.94815063476562 + ], + [ + 297.3499755859375, + 254.4897003173828 + ], + [ + 296.17242431640625, + 256.8168029785156 + ], + [ + 297.493408203125, + 253.9500732421875 + ], + [ + 299.89306640625, + 252.61378479003906 + ], + [ + 301.10394287109375, + 251.71328735351562 + ], + [ + 304.9287109375, + 252.73162841796875 + ], + [ + 314.2728271484375, + 212.54371643066406 + ], + [ + 311.58502197265625, + 191.09710693359375 + ], + [ + 307.3729248046875, + 174.53599548339844 + ], + [ + 314.7044982910156, + 154.2263946533203 + ], + [ + 323.78131103515625, + 159.23599243164062 + ], + [ + 324.705810546875, + 152.6566619873047 + ], + [ + 330.4330139160156, + 174.24026489257812 + ], + [ + 343.16888427734375, + 194.871337890625 + ], + [ + 367.0123291015625, + 216.31622314453125 + ] + ], + "depth_max": 1.5997036695480347, + "depth_min": 0.30719268321990967, + "intrinsic": [ + [ + 468.0478515625, + 0.0, + 259.0 + ], + [ + 0.0, + 467.45318603515625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -2.7163740014657378e-05, + -9.338387462776154e-05, + 1.0419371392345056e-06 + ], + [ + 2.7162193873664364e-05, + 1.0, + -1.654555853747297e-05, + -2.0401908841449767e-05 + ], + [ + 9.338432573713362e-05, + 1.6543022866244428e-05, + 1.0, + 4.770035593537614e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 323.0, + 258.5 + ], + [ + 323.2181396484375, + 258.53662109375 + ], + [ + 323.0159912109375, + 261.972900390625 + ], + [ + 323.6468505859375, + 263.7236328125 + ], + [ + 324.895263671875, + 266.0081787109375 + ], + [ + 326.1427001953125, + 266.7335205078125 + ], + [ + 326.7134094238281, + 266.85467529296875 + ], + [ + 326.58184814453125, + 269.28704833984375 + ], + [ + 325.66473388671875, + 270.32171630859375 + ], + [ + 324.7853698730469, + 271.5958251953125 + ], + [ + 323.09674072265625, + 273.259033203125 + ], + [ + 322.19488525390625, + 273.5699157714844 + ], + [ + 322.89013671875, + 273.2382507324219 + ], + [ + 323.2152099609375, + 272.5113220214844 + ], + [ + 325.8426513671875, + 274.3902587890625 + ], + [ + 330.95574951171875, + 244.03610229492188 + ], + [ + 328.64605712890625, + 225.81765747070312 + ], + [ + 324.5199279785156, + 210.04623413085938 + ], + [ + 340.93939208984375, + 196.97080993652344 + ], + [ + 340.61810302734375, + 204.37350463867188 + ], + [ + 338.4805908203125, + 206.0431365966797 + ], + [ + 338.0058288574219, + 237.94390869140625 + ], + [ + 344.2107238769531, + 255.77288818359375 + ], + [ + 353.4459228515625, + 257.7230224609375 + ] + ] +} \ No newline at end of file diff --git a/007709/lang.txt b/007709/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..ea83757b692d7b8345887888eedabae133be3cb8 --- /dev/null +++ b/007709/lang.txt @@ -0,0 +1 @@ +put spoon in pot diff --git a/007709/object.ply b/007709/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..2b5cd76a7a9705955f9378064766105af99cc043 Binary files /dev/null and b/007709/object.ply differ diff --git a/007730_v2/FAIL b/007730_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/007730_v2/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/007757_v2/FAIL b/007757_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..8ebf23e91d4deb1e26c4281d014d242a6615eb27 --- /dev/null +++ b/007757_v2/FAIL @@ -0,0 +1 @@ +No valid action range found diff --git a/007765_v2/FAIL b/007765_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f1fa61eaac4c0a91180b93b56955ff62e306ff97 --- /dev/null +++ b/007765_v2/FAIL @@ -0,0 +1 @@ +Detect gripper centers fail diff --git a/007807_v2/FAIL b/007807_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/007807_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/007817_v2/FAIL b/007817_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/007817_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/007852_v2/FAIL b/007852_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/007852_v2/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/007914_v2/data.json b/007914_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..41e5462f494ed97f7edd5096169043fe6a78095a --- /dev/null +++ b/007914_v2/data.json @@ -0,0 +1,769 @@ +{ + "action_start": 10, + "action_end": 31, + "object_name": "white 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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.845421, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.0749179324420766e-12, + -5.5761978368096266e-11, + 1.1812328892801816e-11, + 6.851748045524927e-09, + -2.106010117572688e-08, + 2.2802477916056664e-10, + 1.0 + ], + [ + -0.00395647819637962, + 0.0019231217408031825, + -0.0020538827297286733, + -0.010839921884065793, + 0.002129266289446042, + -0.021979224127681142, + 1.0 + ], + [ + -0.004822161530850189, + 0.0020893774077083427, + -0.007792157484885667, + -0.00453004409864711, + 0.00882259601307896, + -0.026165440187881226, + 1.0 + ], + [ + -0.0035745373225614108, + -0.0004372639187644328, + -0.0010897380405433948, + -0.003763639645986205, + -0.014656925446822124, + -0.02086586888736621, + 1.0 + ], + [ + -0.0013903511423670745, + -0.001121518687964701, + -0.004635056021822265, + -0.00354383192359328, + -0.040630936039543875, + -0.0937404729430937, + 1.0 + ], + [ + -0.00035052137161045716, + -0.00720949110777859, + 0.0033808498727278813, + -0.024718767239913397, + -0.05582723613509936, + -0.10354494411413268, + 1.0 + ], + [ + 0.003061419857103842, + -0.0013051502647498658, + -0.0019488900680828675, + -0.019463672113744626, + -0.035375214706041574, + -0.035700977006350276, + 1.0 + ], + [ + 0.006353072147506467, + -0.0017078471730172795, + -0.005220440273357149, + -0.0007387910664896944, + -0.014660843965681784, + -0.021800054463969026, + 1.0 + ], + [ + 0.007687831726707006, + 0.0004749336633573381, + -0.013794668691169992, + 0.0024751169367401927, + 0.025703784730672353, + 7.712833279324108e-05, + 1.0 + ], + [ + 0.004008673033656596, + 0.0004288474105878237, + -0.01272300921594998, + 0.009050110888076448, + 0.036647996710557844, + -0.00046823385628098305, + 1.0 + ], + [ + -0.0012096297688007907, + -0.0023315563441476395, + -0.004968414918326246, + 0.010669914178804736, + 0.01101526357068666, + -0.010148709615277557, + 1.0 + ], + [ + -3.7647088527437145e-05, + -0.004907132822531884, + 0.00599254447596146, + -0.005468234570881958, + -0.02048038551618232, + -0.02761337879978468, + 0.0 + ], + [ + 0.005254208341988753, + -0.0031706820710696443, + 0.016752182586387866, + -0.019653328475944396, + -0.034354116524626714, + -0.010400827952917002, + 0.0 + ], + [ + 0.005764647588585192, + -0.0006751151885827644, + 0.014446192968419813, + -0.013256754798706376, + -0.027994701538656783, + 0.012502302791108704, + 0.0 + ], + [ + 0.018383422759535917, + -0.0009138388611359682, + 0.018887678393825928, + -0.033138645244753094, + -0.023007328917978454, + 0.05852617920700811, + 0.0 + ], + [ + 0.029276580900599647, + 7.3086182899057e-05, + 0.005461541353739302, + -0.01647863299428265, + -0.004266872876956943, + 0.1665722020955416, + 0.0 + ], + [ + 0.022047153149118204, + -0.0066805306617568755, + -0.006607691729534168, + -0.013525808155941902, + 0.002496167300958033, + 0.10990076325631937, + 0.0 + ], + [ + 0.017360162629261044, + -0.0012828452250377292, + -0.00732831536172214, + -0.002669108348617503, + 0.025768464291853508, + 0.04927541860316459, + 0.0 + ], + [ + 0.0043427668941937725, + 0.0010917923397064239, + -0.007222809369605274, + 0.011441756180093604, + 0.012094314831735745, + -0.018997069141064447, + 0.0 + ], + [ + -2.1421959133682833e-05, + -0.0004017435863351848, + -0.008013705885873149, + 0.025403932603375628, + 0.007679306967499515, + -0.06702692499018727, + 0.0 + ], + [ + 0.0016437479260213994, + 0.0036695342908657363, + -0.0023532417489560975, + 0.015044583090460402, + -0.0001401588766546136, + -0.019213952379392555, + 0.0 + ], + [ + 0.003277662174029472, + 0.002399966617114377, + -0.0006543375439278104, + -0.0009386215558902381, + -0.004829773547709315, + -0.021497526264159638, + 0.0 + ], + [ + 0.0032392060183230598, + 0.0009118973117551721, + -0.004374491574116242, + 0.007358292428982628, + -0.00038693532725944435, + -0.01034921715045343, + 0.0 + ], + [ + 0.005596720100185859, + 0.0019146483759240607, + -0.0014724272398732724, + 0.0033239723745089695, + -0.0009074071467695589, + -0.006617435082833184, + 0.0 + ], + [ + 0.004142233727896516, + 0.002881706788666172, + -0.00026141909707988464, + 0.004715087855156536, + -0.0047504041124870776, + -0.0024247031702378497, + 0.0 + ], + [ + 0.0026133352066686766, + 0.0036704204276050006, + 0.0002888988852672511, + -0.0014308742223451117, + -0.001665247228844942, + 0.005708897656304805, + 0.0 + ], + [ + 0.0002644975593746879, + 0.0025808930028281274, + -0.0006533844599033028, + 0.002658616608968595, + 0.0027448100688706946, + 0.00288176688134525, + 0.0 + ], + [ + -0.0005888799662737698, + 0.00087888658504158, + -0.0019196763949727996, + 0.0004431810600441401, + 0.005795539346038577, + -0.0010336459327416005, + 0.0 + ], + [ + -0.00038577071965700815, + 0.002750447646326648, + 0.0013377315817088425, + -0.0004372058594444575, + -0.0012839257039511083, + 0.004665026472121408, + 0.0 + ], + [ + -0.00035019524726304097, + 0.0021314856586970854, + -0.00022022912144564755, + 0.00014836627166497324, + 0.00064286035003074, + -0.0013294147290016795, + 0.0 + ], + [ + -0.0003944745770604885, + 0.0009989173076913743, + 4.706083979955089e-06, + -0.0003127026497922179, + 0.0024417767736364024, + 0.001087193446550686, + 0.0 + ], + [ + -0.0016894236097248494, + 0.0011963893573412598, + -6.186669891758423e-05, + 0.008549477824579236, + 0.009581426589638786, + 0.00397598408032799, + 0.845421 + ], + [ + -0.0029699453551956245, + -0.0015219396293693066, + -0.0001312136713698328, + 0.0039381572621821105, + 0.00445122773533297, + -0.007486270647893834, + 1.0 + ], + [ + -0.003431685953222796, + -0.0040724636403103864, + 0.010594400688138224, + -0.004065997133240494, + -0.019215503198174763, + -0.012964630068242737, + 1.0 + ], + [ + -0.005947238259324639, + 0.0011990424901007907, + 0.02550845963124486, + -0.017628246840548693, + -0.046713023618988235, + 0.01726542482005996, + 1.0 + ], + [ + -0.018745477849596348, + 0.008739988771958834, + 0.02949823439355663, + -0.008317288774754617, + -0.04169391617089284, + 0.039156107738480814, + 1.0 + ], + [ + -0.024578962444982977, + 0.005776323054230009, + 0.014275978724881372, + 0.016097779794353204, + 0.03902163042773328, + 0.054661244076757695, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 221.29722595214844, + 90.94816589355469 + ], + [ + 220.37274169921875, + 95.74015808105469 + ], + [ + 221.319091796875, + 109.63641357421875 + ], + [ + 216.535888671875, + 117.56784057617188 + ], + [ + 212.1444549560547, + 129.52737426757812 + ], + [ + 211.06271362304688, + 140.6233367919922 + ], + [ + 213.56690979003906, + 142.58673095703125 + ], + [ + 220.5185546875, + 140.9405517578125 + ], + [ + 224.45510864257812, + 137.63153076171875 + ], + [ + 227.101806640625, + 152.01388549804688 + ], + [ + 227.09716796875, + 159.90731811523438 + ], + [ + 227.5050048828125, + 164.50706481933594 + ], + [ + 232.94342041015625, + 168.45870971679688 + ], + [ + 236.50839233398438, + 160.44200134277344 + ], + [ + 243.1566619873047, + 137.93939208984375 + ], + [ + 255.00637817382812, + 102.8272705078125 + ], + [ + 269.567626953125, + 74.61646270751953 + ], + [ + 291.9938049316406, + 64.07413482666016 + ], + [ + 309.8724670410156, + 69.10517883300781 + ], + [ + 315.91876220703125, + 75.2862319946289 + ], + [ + 316.23583984375, + 78.1358871459961 + ], + [ + 318.3410949707031, + 80.46023559570312 + ], + [ + 318.0469970703125, + 83.37818908691406 + ], + [ + 318.96295166015625, + 88.41036987304688 + ], + [ + 320.78717041015625, + 88.46820831298828 + ], + [ + 323.12579345703125, + 82.78494262695312 + ], + [ + 324.12701416015625, + 85.18323516845703 + ], + [ + 325.04754638671875, + 82.49008178710938 + ], + [ + 325.07879638671875, + 81.79981231689453 + ], + [ + 324.71746826171875, + 81.999267578125 + ], + [ + 324.21551513671875, + 81.69402313232422 + ], + [ + 323.3475036621094, + 81.58069610595703 + ], + [ + 320.2643737792969, + 82.26683044433594 + ], + [ + 319.10430908203125, + 80.76765441894531 + ], + [ + 317.8074951171875, + 86.54686737060547 + ], + [ + 319.7391357421875, + 78.34568786621094 + ], + [ + 308.8424072265625, + 43.27177429199219 + ], + [ + 276.18341064453125, + 22.80681610107422 + ], + [ + 269.42840576171875, + 20.034500122070312 + ] + ], + "depth_max": 2.241175651550293, + "depth_min": 0.6040183901786804, + "intrinsic": [ + [ + 577.351806640625, + 0.0, + 259.0 + ], + [ + 0.0, + 576.4425659179688, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.046301182825118e-05, + 3.9664661017013714e-05, + 1.608099410077557e-05 + ], + [ + -4.0461134631186724e-05, + 1.0, + -4.7297817218350247e-05, + -2.0995390514144674e-05 + ], + [ + -3.9666574593866244e-05, + 4.729620923171751e-05, + 1.0, + 2.857018625945784e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 38 + ], + "object_trajectory": [ + [ + 231.0, + 191.00001525878906 + ], + [ + 230.96202087402344, + 191.42739868164062 + ], + [ + 230.71311950683594, + 191.85374450683594 + ], + [ + 230.3762969970703, + 192.10452270507812 + ], + [ + 230.27133178710938, + 192.2384033203125 + ], + [ + 230.2515411376953, + 192.514892578125 + ], + [ + 230.26007080078125, + 192.56666564941406 + ], + [ + 230.41107177734375, + 192.33006286621094 + ], + [ + 230.59988403320312, + 191.96856689453125 + ], + [ + 230.6228790283203, + 192.01339721679688 + ], + [ + 230.86026000976562, + 191.4725341796875 + ], + [ + 230.90380859375, + 191.0260772705078 + ], + [ + 230.58169555664062, + 191.1407928466797 + ], + [ + 230.91477966308594, + 185.5006561279297 + ], + [ + 229.1714630126953, + 172.4988555908203 + ], + [ + 239.3773193359375, + 143.89942932128906 + ], + [ + 262.0516357421875, + 110.859375 + ], + [ + 281.7099609375, + 99.28128814697266 + ], + [ + 298.7852478027344, + 100.55599212646484 + ], + [ + 304.7265930175781, + 105.73341369628906 + ], + [ + 303.54638671875, + 108.45802307128906 + ], + [ + 304.05255126953125, + 110.42283630371094 + ], + [ + 306.2181396484375, + 114.49516296386719 + ], + [ + 306.6856384277344, + 118.67466735839844 + ], + [ + 308.2459411621094, + 118.26802825927734 + ], + [ + 310.3015441894531, + 113.03292846679688 + ], + [ + 311.2039794921875, + 114.84706115722656 + ], + [ + 312.05621337890625, + 112.15922546386719 + ], + [ + 311.9273986816406, + 111.5813980102539 + ], + [ + 311.39654541015625, + 111.6057357788086 + ], + [ + 310.6792297363281, + 111.14859771728516 + ], + [ + 309.3794860839844, + 111.12934112548828 + ], + [ + 307.62371826171875, + 116.23516845703125 + ], + [ + 307.91632080078125, + 116.38077545166016 + ], + [ + 308.0394592285156, + 116.96170806884766 + ], + [ + 307.54107666015625, + 116.80693054199219 + ], + [ + 308.07879638671875, + 115.8726577758789 + ], + [ + 308.0428466796875, + 115.46330261230469 + ], + [ + 308.1272277832031, + 115.40478515625 + ] + ] +} \ No newline at end of file diff --git a/007914_v2/lang.txt b/007914_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..c9ea0aad3e6cd6ef23b03d016b9537542c828cc1 --- /dev/null +++ b/007914_v2/lang.txt @@ -0,0 +1 @@ +puting the white block to the left diff --git a/007914_v2/object.ply b/007914_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..6ba7120ccdd74c984794f4fcd8e6022987798e9d Binary files /dev/null and b/007914_v2/object.ply differ diff --git a/007915_v2/FAIL b/007915_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007915_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007917_v2/FAIL b/007917_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/007917_v2/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/007963/FAIL b/007963/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/007963/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/007974_v2/FAIL b/007974_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/007974_v2/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/007984/FAIL b/007984/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007984/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/007989/FAIL b/007989/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/007989/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/007998/FAIL b/007998/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/007998/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/008068/FAIL b/008068/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/008068/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/008081/FAIL b/008081/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/008081/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/008092_v2/FAIL b/008092_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/008092_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/008119_v2/data.json b/008119_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..8232302ac48b89ad37dc3f896d6c0ee0ec6c4320 --- /dev/null +++ b/008119_v2/data.json @@ -0,0 +1,769 @@ +{ + "action_start": 7, + "action_end": 26, + "object_name": "red circular object", + "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, + 0.0, + 0.0, + 0.0, + 0.927961, + 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": [ + [ + -2.6367547034666927e-10, + -1.2930281845235925e-11, + -1.8255567890701485e-10, + 2.0759985518286004e-08, + 1.7813087847964871e-07, + 7.043695198458025e-08, + 1.0 + ], + [ + 0.004842740041520022, + -0.027296555521394997, + 0.008108416662217038, + -0.08475140985525045, + -0.0928115527815179, + -0.11283253927941614, + 1.0 + ], + [ + 0.009387360823394919, + -0.024738838893688483, + 0.0013362776465191545, + -0.06480736716443301, + -0.0567198905953847, + -0.05351610532689428, + 1.0 + ], + [ + 0.007261019442795946, + -0.014131130596413174, + -0.002185098154203313, + 0.03253361934039778, + 0.018711344754245546, + -0.005056451806013274, + 1.0 + ], + [ + 0.010841883246285267, + -0.008497471191244471, + -0.015500649305506903, + 0.006149548208534228, + 0.023163544588985275, + -0.024551808771558964, + 1.0 + ], + [ + 0.01611497220714664, + 0.003979272681878365, + -0.02400143225275133, + -0.018704044026834003, + 0.04180173542193493, + 0.00732849579652309, + 1.0 + ], + [ + 0.003758491532477537, + 0.006610144725952394, + -0.007253997451493133, + -0.004822782059474915, + 0.00010181788681237153, + 0.023093601897639673, + 1.0 + ], + [ + 0.003976692601389775, + 0.0032046284854849727, + -0.004993077777885303, + -0.0054210046646912214, + 0.01135961152823263, + 0.020108065855826963, + 1.0 + ], + [ + 0.0008727726974054328, + 0.005098253491107332, + -0.0038355192084485942, + 0.005823137539426714, + 0.004234565948918896, + 0.02646461085146032, + 0.0 + ], + [ + -0.00026033215688453515, + 0.003831887464693609, + 0.004523109122211572, + 0.006482334318249991, + 0.001933010047838187, + 0.018460113187030166, + 0.0 + ], + [ + -0.0009101334940617156, + 0.011730761174332846, + 0.017701357653619226, + -0.0038400178425159388, + -0.02050460675768855, + 0.04074999764496543, + 0.0 + ], + [ + -0.0006269896402486541, + 0.03853706019694486, + 0.03418895254997564, + 0.01566764408573704, + -0.06768164509468917, + 0.14448547879001866, + 0.0 + ], + [ + -3.2475314095836705e-05, + 0.03785265211578217, + 0.01409906537394448, + -0.020148447707868614, + -0.049727108625943726, + 0.14637412328942626, + 0.0 + ], + [ + 0.003310563641376274, + 0.025742248708511196, + -0.012540811651521197, + -0.03485822211569577, + 0.03838396477398601, + 0.05981816789096354, + 0.0 + ], + [ + 0.005005005563640363, + 0.010094543079528272, + -0.016090653496669466, + 0.009025719742213162, + 0.03521629711677865, + 0.034979823055761215, + 0.0 + ], + [ + 0.008153813590611125, + 0.015734373550850597, + -0.014118243614960044, + 0.003132126968387641, + 0.012883935624908065, + 0.07439784135456474, + 0.0 + ], + [ + 0.0016762775280021458, + 0.01884210963535681, + -0.0012680291627662002, + -0.012803835770574288, + -0.013827531616180245, + 0.06286777976259014, + 0.0 + ], + [ + -0.00244778336686563, + 0.020174758046953185, + 0.009822233131367146, + -0.014345075490694236, + -0.04690712600104711, + 0.0660028795927911, + 0.0 + ], + [ + -0.007135738138260406, + 0.01987071370198494, + 0.013763092027246807, + -0.0023693305901707116, + -0.058501326347772636, + 0.08326145865751997, + 0.0 + ], + [ + -0.008677974056454818, + 0.008896644034930956, + -0.005469208742583789, + 0.0017404762664610213, + 0.041920708295634664, + 0.024584346520891958, + 0.0 + ], + [ + -0.009742888458081078, + -0.007978650631333933, + -0.0034511545244947164, + 0.029302504918749982, + 0.041343967764434754, + -0.011894641222381106, + 0.0 + ], + [ + -0.003461080759658064, + -0.01217031507888107, + -0.00701708670706476, + 0.016717585855179292, + 0.0637558466335904, + -0.026638445842214954, + 0.0 + ], + [ + -0.005372916814634421, + -0.008808147895109975, + -0.012052065701945357, + -0.021104469675208834, + 0.026071081657803315, + -0.022511430501251144, + 0.0 + ], + [ + -0.0027619117209622956, + -0.0011533306226722273, + -0.011460276038617837, + -0.041206787383141645, + -0.00893122413429378, + -0.006933326043299368, + 0.0 + ], + [ + 0.002436135040302767, + 0.002814856981925809, + -0.013277461729688772, + -0.03536479113193757, + -0.002110194320366884, + -0.01212071068766017, + 0.0 + ], + [ + 0.005780620141326909, + 0.007948358056147034, + -0.009290499884768495, + -0.017053268026289273, + -0.007883722071641812, + 0.012007872209857013, + 0.0 + ], + [ + 0.004788601423673378, + 0.0058394320512574205, + -0.00019685354302196797, + 0.008349375599146064, + 0.013215390130922636, + 0.012801684244755274, + 0.927961 + ], + [ + -0.0007393697498461749, + -0.002186521565406288, + 0.01843516305806559, + 0.0504734558469255, + -0.03566902873506207, + 0.01433632829959208, + 1.0 + ], + [ + 0.006178733416334403, + -0.008778502558991916, + 0.03411412249944063, + 0.07378551262058085, + -0.02654800101929069, + -0.006315421921654162, + 1.0 + ], + [ + -0.00015701832607145638, + -0.013276407565826126, + 0.029726317242934105, + 0.04616188955230775, + -0.00897612989315602, + -0.028928304401210178, + 1.0 + ], + [ + -0.0027056565601370486, + -0.02135637741679803, + 0.030470662759074882, + 0.03267013994226525, + -0.01016602343619222, + -0.08623700921618346, + 1.0 + ], + [ + -0.0038841417554866253, + -0.017302263653835144, + 0.009303042460996544, + -0.01162800443306181, + 0.03090305043051169, + -0.13099848199742606, + 1.0 + ], + [ + -0.0037247033055493595, + -0.01582952012828174, + -0.007057360116821343, + -0.05393541686328517, + -0.017141631176663053, + -0.1221298014813405, + 1.0 + ], + [ + 0.00033934992326878355, + -0.008923927094966968, + -0.006827564258531538, + -0.053094112807731575, + 0.023241382559078722, + -0.10472955196592801, + 1.0 + ], + [ + 0.0023153653400808105, + -0.0019388801978616988, + -0.005492178976540654, + -0.0004721866694932495, + 0.02303129473100161, + -0.01029587953268205, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 425.86871337890625, + 221.14736938476562 + ], + [ + 424.46539306640625, + 223.69308471679688 + ], + [ + 433.47430419921875, + 234.84878540039062 + ], + [ + 476.4444274902344, + 250.25387573242188 + ], + [ + 512.6785278320312, + 251.5108184814453 + ], + [ + 534.7388916015625, + 266.504150390625 + ], + [ + 545.41015625, + 281.6630554199219 + ], + [ + 538.35400390625, + 297.4114685058594 + ], + [ + 533.6275024414062, + 289.586669921875 + ], + [ + 531.5247802734375, + 287.2429504394531 + ], + [ + 527.1578369140625, + 283.47027587890625 + ], + [ + 518.1951904296875, + 279.1361083984375 + ], + [ + 492.3215637207031, + 240.57476806640625 + ], + [ + 445.6587829589844, + 181.99642944335938 + ], + [ + 397.960205078125, + 154.722900390625 + ], + [ + 371.8634338378906, + 161.61819458007812 + ], + [ + 365.6296691894531, + 174.40818786621094 + ], + [ + 348.0406494140625, + 168.9974822998047 + ], + [ + 327.05078125, + 156.5106201171875 + ], + [ + 300.3666687011719, + 139.28277587890625 + ], + [ + 275.2724609375, + 122.40890502929688 + ], + [ + 262.71636962890625, + 131.99920654296875 + ], + [ + 253.01002502441406, + 145.56683349609375 + ], + [ + 267.0013427734375, + 157.35643005371094 + ], + [ + 270.50872802734375, + 178.0435333251953 + ], + [ + 278.9525451660156, + 191.37075805664062 + ], + [ + 282.82818603515625, + 189.68446350097656 + ], + [ + 286.7531433105469, + 173.74412536621094 + ], + [ + 280.55828857421875, + 171.93057250976562 + ], + [ + 261.42645263671875, + 173.70330810546875 + ], + [ + 280.40032958984375, + 136.69784545898438 + ], + [ + 301.998291015625, + 109.25812530517578 + ], + [ + 323.6079406738281, + 96.032470703125 + ], + [ + 343.7593994140625, + 105.652099609375 + ], + [ + 356.463623046875, + 114.84146881103516 + ], + [ + 366.76715087890625, + 126.05279541015625 + ], + [ + 364.8187255859375, + 132.84674072265625 + ], + [ + 365.2193908691406, + 132.6961669921875 + ], + [ + 365.1106872558594, + 132.76165771484375 + ] + ], + "depth_max": 2.4026763439178467, + "depth_min": 0.333334743976593, + "intrinsic": [ + [ + 624.2805786132812, + 0.0, + 259.0 + ], + [ + 0.0, + 622.8402099609375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.462282620603219e-05, + -7.5374305197328795e-06, + -3.6553919926518574e-06 + ], + [ + -3.4623379178810865e-05, + 1.0, + -7.324634498218074e-05, + -3.156907951051835e-06 + ], + [ + 7.534894393756986e-06, + 7.324660691665486e-05, + 1.0, + 0.0001090030200430192 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 38 + ], + "object_trajectory": [ + [ + 539.0, + 314.25 + ], + [ + 539.3895263671875, + 314.1415100097656 + ], + [ + 539.5064086914062, + 314.519775390625 + ], + [ + 539.661865234375, + 314.6611633300781 + ], + [ + 538.851806640625, + 314.257568359375 + ], + [ + 538.6785888671875, + 313.662109375 + ], + [ + 539.3150024414062, + 314.3070068359375 + ], + [ + 539.9412231445312, + 314.0488586425781 + ], + [ + 532.66650390625, + 308.24847412109375 + ], + [ + 529.9144897460938, + 304.6109924316406 + ], + [ + 525.6336059570312, + 300.28668212890625 + ], + [ + 515.4926147460938, + 295.6345520019531 + ], + [ + 487.8307800292969, + 258.9931640625 + ], + [ + 445.6579895019531, + 198.45721435546875 + ], + [ + 400.20428466796875, + 171.53668212890625 + ], + [ + 372.47149658203125, + 176.3349609375 + ], + [ + 364.0628662109375, + 188.22122192382812 + ], + [ + 346.04107666015625, + 182.3263702392578 + ], + [ + 325.01263427734375, + 169.5123291015625 + ], + [ + 300.53973388671875, + 153.28729248046875 + ], + [ + 274.7734375, + 135.99526977539062 + ], + [ + 263.91552734375, + 146.58572387695312 + ], + [ + 253.2640380859375, + 158.61427307128906 + ], + [ + 264.3875427246094, + 170.7981719970703 + ], + [ + 267.1315612792969, + 190.9728546142578 + ], + [ + 275.4947509765625, + 205.56027221679688 + ], + [ + 278.90625, + 202.6109619140625 + ], + [ + 285.528564453125, + 185.65440368652344 + ], + [ + 281.05096435546875, + 186.04617309570312 + ], + [ + 258.6779479980469, + 192.74801635742188 + ], + [ + 258.89398193359375, + 192.951416015625 + ], + [ + 258.7817687988281, + 193.15464782714844 + ], + [ + 259.18450927734375, + 193.73110961914062 + ], + [ + 259.0073547363281, + 193.981689453125 + ], + [ + 259.1120300292969, + 193.7796630859375 + ], + [ + 259.50164794921875, + 193.83340454101562 + ], + [ + 259.2251892089844, + 193.84523010253906 + ], + [ + 259.5433654785156, + 193.95082092285156 + ], + [ + 259.19390869140625, + 193.9221954345703 + ] + ] +} \ No newline at end of file diff --git a/008119_v2/lang.txt b/008119_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..731dfec4ca1a09f2fc6e912e04c8a94f5c5e542a --- /dev/null +++ b/008119_v2/lang.txt @@ -0,0 +1 @@ +move the red circular object to the middle of the table. diff --git a/008119_v2/object.ply b/008119_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..970bc05eac8b7c9ce70b6616b95e72df875fefd4 Binary files /dev/null and b/008119_v2/object.ply differ diff --git a/008125_v2/data.json b/008125_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..2c5cf838ab81b71d1241d379987017e079ec236a --- /dev/null +++ b/008125_v2/data.json @@ -0,0 +1,751 @@ +{ + "action_start": 5, + "action_end": 23, + "object_name": "circle block", + "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, + 1.0 + ], + "gripper_actions": [ + [ + -1.8336188123413422e-10, + 3.7194068484847076e-10, + 2.2883361872061414e-11, + 3.3804950992141875e-08, + 3.7518159272633293e-07, + -3.603946087996369e-07, + 1.0 + ], + [ + 0.005936723621001894, + -0.019391937495025848, + -0.011758745298590084, + 0.008723909757702457, + 0.032845234589351416, + -0.033671036723704716, + 1.0 + ], + [ + 0.0027603415114644814, + -0.008057617484469239, + -0.019462446892656693, + -0.010868067957497651, + -0.01758480865526062, + -0.00442885963516549, + 1.0 + ], + [ + 0.005311689290027399, + -0.004480103378633452, + -0.022118771542874074, + -0.06067473395568926, + 0.008885592982848294, + -0.016688346464711658, + 1.0 + ], + [ + 0.001709811806415884, + -0.002432587522236164, + -0.010523798665501953, + -0.00806906498938299, + 0.018805362297723355, + 0.016022344842261567, + 1.0 + ], + [ + -0.0039054496975567954, + -0.0032452713856221897, + -0.010525724654124526, + 0.022094854960488908, + 0.004086902127306122, + 0.10513669226643589, + 1.0 + ], + [ + -0.0011845772183829428, + -0.0017392900838439302, + -0.004205803002267819, + -0.0024046796703239164, + -0.011972840601265447, + 0.04460356161549077, + 0.0 + ], + [ + -0.0036405107565068984, + -0.0013820391490013025, + 0.005357536785266525, + -0.0022088880843394477, + -0.02876249048349325, + 0.03651270208065236, + 0.0 + ], + [ + -0.0032134409362950533, + 0.004540209621197084, + 0.022038570626805854, + 0.01464860924780808, + -0.04357718038767078, + 0.04850446713906626, + 0.0 + ], + [ + 0.0022452595818045484, + 0.01605090951559394, + 0.03490275129809351, + 0.02765896371713011, + -0.07611560678236262, + 0.04066293546576934, + 0.0 + ], + [ + 0.0019979192650746436, + 0.02333690538224705, + 0.024287809827574003, + 0.039472653549562677, + -0.04394520668007715, + 0.038751805255105, + 0.0 + ], + [ + 0.0004328609901752545, + 0.015634023581164357, + -0.0008081145645023879, + -0.0026601801595489303, + 0.002884483411841898, + 0.023756511848231743, + 0.0 + ], + [ + 0.002698258955513677, + 0.022453974156494992, + -0.004024030454438804, + 0.01555766968495732, + 0.0055150977721925495, + 0.019485939262652498, + 0.0 + ], + [ + 0.006087458029530313, + 0.032196433157882016, + -0.0017147797177456542, + -0.012896391473850825, + -0.02051213574007626, + 0.057663230299974354, + 0.0 + ], + [ + 0.001783347143886893, + 0.021343156414546482, + -0.006925987671404232, + -0.03810315864392883, + 0.0011969193790620797, + 0.06492908077757088, + 0.0 + ], + [ + 0.0034182319161731867, + 0.01689000555150992, + -0.008013179196629, + -0.05097864332193582, + -0.01203467477224707, + 0.06793484759631165, + 0.0 + ], + [ + 0.003411768614933086, + 0.016069582501134536, + -0.0006842658256081546, + 0.017339345062977858, + -0.0067862475849225995, + 0.04510321608298538, + 0.0 + ], + [ + 0.0022822782921846363, + 0.010772561414625223, + -0.00464593620287778, + 0.010578753845358727, + 0.01197500951141274, + 0.029691806337502392, + 0.0 + ], + [ + 0.0010671795045287813, + 0.008739534882804767, + -0.006710437310731086, + 0.002028758887634182, + 0.02245131961654116, + 0.034855638946574896, + 0.0 + ], + [ + -0.002514090308993522, + 0.006563830466054077, + -0.014516984735681374, + 0.006441759542602742, + 0.04578287924369141, + 0.049870386761426654, + 0.0 + ], + [ + -0.0034890767973525527, + 0.0012629804829835112, + -0.01199068573764936, + -0.05292544915009681, + -0.012453790471082013, + 0.03133582670015546, + 0.0 + ], + [ + -0.005467926872215589, + -0.002594188817884119, + -0.007823682661525118, + -0.034940000163956784, + 0.0049040171476686985, + 0.02323184325347173, + 0.0 + ], + [ + -0.004695652045692389, + -0.004524552143832683, + -0.0077616918497175336, + -0.02522160257029854, + 0.017494958526696577, + 0.017802165439476648, + 0.0 + ], + [ + 0.0002718919825769883, + -0.0008705336202640135, + -5.6932213451980906e-05, + -0.0013298475417959394, + -0.0018312948280420325, + 0.007071311438328137, + 0.0 + ], + [ + 0.011528979082492619, + -0.0065373023406463115, + 0.021954960300257124, + 0.06925288268357262, + -0.007702322270272313, + -0.09535045478504128, + 1.0 + ], + [ + 0.020306634396558998, + -0.016179588718213705, + 0.06034537576345268, + 0.15243183975690172, + -0.07290041622399186, + -0.17086474654315353, + 1.0 + ], + [ + 0.012070169594685376, + -0.018722654754601206, + 0.05360875027400467, + 0.07116964645041705, + -0.022699215225248787, + -0.07574629794234149, + 1.0 + ], + [ + 0.0010877816029407628, + -0.024333993252620686, + 0.03081420997259332, + 0.0344293681311336, + -0.020530657726749155, + -0.10453271264022604, + 1.0 + ], + [ + -0.003307318114628033, + -0.018292221747585866, + 0.002443210383782188, + -0.06248325744910897, + 0.020731620521874397, + -0.08384634051725237, + 1.0 + ], + [ + -0.0010668733102214278, + 0.0007150115649403183, + -0.01754248298399569, + -0.054221581051143435, + 0.049552039040852695, + -0.004545672902438954, + 1.0 + ], + [ + -0.003815714806901016, + -0.001062904769028275, + -0.01920691710717648, + -0.05215404719192409, + 0.05692968510376208, + -0.004626422527093079, + 1.0 + ], + [ + 0.0011543321171434973, + -0.0031158984837740336, + -0.015391608209011226, + -0.024352981412635623, + 0.04895710356479348, + -0.014799801094065446, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 341.788818359375, + 137.34030151367188 + ], + [ + 340.34222412109375, + 140.76602172851562 + ], + [ + 336.6389465332031, + 158.11080932617188 + ], + [ + 363.8380126953125, + 185.88796997070312 + ], + [ + 370.2823181152344, + 207.21136474609375 + ], + [ + 377.469482421875, + 227.50885009765625 + ], + [ + 376.11737060546875, + 229.04397583007812 + ], + [ + 376.0062255859375, + 226.1888427734375 + ], + [ + 376.43292236328125, + 225.36862182617188 + ], + [ + 363.306396484375, + 240.40029907226562 + ], + [ + 359.78472900390625, + 212.84400939941406 + ], + [ + 350.15203857421875, + 179.80477905273438 + ], + [ + 332.141357421875, + 148.81942749023438 + ], + [ + 308.3565673828125, + 137.18746948242188 + ], + [ + 286.99658203125, + 127.94699096679688 + ], + [ + 256.07659912109375, + 112.28308868408203 + ], + [ + 240.37042236328125, + 115.71029663085938 + ], + [ + 223.98876953125, + 111.68711853027344 + ], + [ + 214.86058044433594, + 103.40962219238281 + ], + [ + 207.0479736328125, + 107.1644515991211 + ], + [ + 200.96998596191406, + 113.2249755859375 + ], + [ + 199.3186798095703, + 127.29437255859375 + ], + [ + 192.2952423095703, + 133.85455322265625 + ], + [ + 192.7030029296875, + 135.99951171875 + ], + [ + 192.55975341796875, + 135.84507751464844 + ], + [ + 193.58554077148438, + 137.4971923828125 + ], + [ + 195.50328063964844, + 121.6380615234375 + ], + [ + 236.39669799804688, + 58.93424987792969 + ], + [ + 261.07757568359375, + 22.884723663330078 + ], + [ + 285.82952880859375, + 14.02567195892334 + ], + [ + 300.86590576171875, + 20.265392303466797 + ], + [ + 313.8531494140625, + 31.95766830444336 + ], + [ + 310.6120300292969, + 47.27391052246094 + ], + [ + 312.2981872558594, + 64.60603332519531 + ], + [ + 312.2591857910156, + 65.25641632080078 + ], + [ + 312.07958984375, + 64.91909790039062 + ], + [ + 312.1983642578125, + 64.81254577636719 + ], + [ + 311.9851989746094, + 64.9928207397461 + ] + ], + "depth_max": 2.6317667961120605, + "depth_min": 0.4083670973777771, + "intrinsic": [ + [ + 605.8960571289062, + 0.0, + 259.0 + ], + [ + 0.0, + 604.822509765625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.407142402371392e-05, + -3.645127435447648e-05, + -3.7511799746425822e-06 + ], + [ + -7.407315570162609e-05, + 1.0, + -4.754377732751891e-05, + -2.5618694053264335e-05 + ], + [ + 3.644775279099122e-05, + 4.754647670779377e-05, + 1.0, + 9.861578291747719e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 37 + ], + "object_trajectory": [ + [ + 387.75, + 248.0 + ], + [ + 387.3109130859375, + 248.28517150878906 + ], + [ + 387.286376953125, + 248.3408203125 + ], + [ + 387.4656982421875, + 248.28604125976562 + ], + [ + 387.15972900390625, + 248.25396728515625 + ], + [ + 386.720947265625, + 247.90496826171875 + ], + [ + 385.5250549316406, + 247.2015838623047 + ], + [ + 384.01025390625, + 242.96304321289062 + ], + [ + 383.7927551269531, + 241.42697143554688 + ], + [ + 368.6409606933594, + 258.5950927734375 + ], + [ + 363.994873046875, + 228.205078125 + ], + [ + 354.79852294921875, + 196.2725067138672 + ], + [ + 339.13787841796875, + 165.42593383789062 + ], + [ + 314.59429931640625, + 152.88226318359375 + ], + [ + 294.94696044921875, + 143.1610870361328 + ], + [ + 265.39227294921875, + 127.10687255859375 + ], + [ + 248.2127685546875, + 128.41453552246094 + ], + [ + 233.47874450683594, + 124.01583099365234 + ], + [ + 224.09954833984375, + 115.32852172851562 + ], + [ + 214.1656494140625, + 118.38906860351562 + ], + [ + 208.40554809570312, + 124.81993865966797 + ], + [ + 205.5801544189453, + 138.16629028320312 + ], + [ + 199.4532928466797, + 144.25772094726562 + ], + [ + 198.4146728515625, + 146.01950073242188 + ], + [ + 198.3040771484375, + 146.3731231689453 + ], + [ + 197.74737548828125, + 147.80184936523438 + ], + [ + 196.20111083984375, + 148.8256378173828 + ], + [ + 195.78103637695312, + 148.95265197753906 + ], + [ + 195.31101989746094, + 148.8927764892578 + ], + [ + 195.5516815185547, + 149.0372314453125 + ], + [ + 195.64149475097656, + 149.33216857910156 + ], + [ + 195.78001403808594, + 148.93516540527344 + ], + [ + 196.0579833984375, + 149.3069305419922 + ], + [ + 197.60580444335938, + 150.0091094970703 + ], + [ + 197.66131591796875, + 149.830078125 + ], + [ + 196.02890014648438, + 149.1892852783203 + ], + [ + 197.62368774414062, + 149.67869567871094 + ], + [ + 197.92422485351562, + 149.72793579101562 + ] + ] +} \ No newline at end of file diff --git a/008125_v2/lang.txt b/008125_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..fc892bf39792deabf67906777966152191740dd2 --- /dev/null +++ b/008125_v2/lang.txt @@ -0,0 +1 @@ +put the circle block in the middle of table diff --git a/008125_v2/object.ply b/008125_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..b8548bdbc24782bf24c895c9b3445dd80addc1b7 Binary files /dev/null and b/008125_v2/object.ply differ diff --git a/008126_v2/data.json b/008126_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..1a810b2a112a2f856990d2d69e75d063fa857399 --- /dev/null +++ b/008126_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 17, + "action_end": 34, + "object_name": "tall 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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + [ + 1.4777140622257434e-10, + 1.640095559363175e-10, + -3.733156839214047e-11, + 2.375259246572604e-07, + -4.91600237133307e-08, + -7.003303374305721e-07, + 1.0 + ], + [ + 0.009853487697318641, + -0.01104060882853243, + 0.0022279846633563583, + 0.016258986912848373, + 0.0184809159403109, + -0.07879345716648972, + 1.0 + ], + [ + 0.0036445723686251985, + -0.014161555669645824, + 0.0010650048501773673, + 0.005129222982833356, + -0.010231242069775562, + -0.050855525196895277, + 1.0 + ], + [ + 0.0064480577832550234, + -0.023037049127065057, + -0.004170321862835669, + -0.03592256827055014, + -0.01837546069211043, + -0.06969628690017353, + 1.0 + ], + [ + 0.0061704436015430075, + -0.02052899037116404, + -0.004492088645331294, + -0.022776447789652467, + 0.0016422448249251208, + -0.07258372843315838, + 1.0 + ], + [ + 0.0033643249954132814, + -0.012849143501023971, + -0.0023271614155350173, + -0.02372106285640162, + -0.012185371739550286, + -0.03367708168016298, + 1.0 + ], + [ + -0.0033493818562058686, + -0.013924262415389764, + -0.006434935612157036, + -0.0243689984768827, + 0.01479053252314158, + -0.032276566824571785, + 1.0 + ], + [ + -0.006141646345248497, + -0.008452328699493184, + -0.004315403549606883, + -0.015167554707702107, + 0.028671051379968962, + -0.004821314306260219, + 1.0 + ], + [ + -0.011525187621237831, + -0.014867726791189556, + 0.0065438419705622225, + -0.009023179242895535, + 0.012577530948699714, + -0.019900799324572404, + 1.0 + ], + [ + -0.016865530008477236, + -0.017936623886516533, + -0.005969923478917907, + -0.023404315686375254, + 0.043084823314624154, + -0.017704476353564133, + 1.0 + ], + [ + -0.0031471235360197025, + -0.005110504826138951, + 0.0011650288372875434, + 0.023771416742256104, + 0.00831394016354097, + -0.0028990974376112153, + 1.0 + ], + [ + 0.0022842636978785413, + -0.004656963247309312, + 0.0017020776856582487, + 0.0017643355005437843, + -0.039398549901342776, + -0.0025529936919863622, + 1.0 + ], + [ + 0.010387012568218112, + -0.005932092806214401, + -0.006542306616325155, + 0.004086988284305078, + -0.051120527592119644, + 0.006847988117154042, + 1.0 + ], + [ + 0.009727817187689891, + -0.002445849126769359, + -0.005984413506919722, + 0.009542571327792973, + -0.0395876050861723, + 0.02538092930755478, + 1.0 + ], + [ + 0.0034226801041336574, + -0.0037800663879724306, + -0.011082702510858286, + 0.00808007510149222, + 0.01500444255165231, + -0.007188909545720852, + 1.0 + ], + [ + 0.004715941875310936, + -0.00415494666493188, + -0.012060007534622622, + -0.004312631239672508, + 0.02584157646005817, + -0.008142243396855093, + 1.0 + ], + [ + 0.00021129025093596931, + -0.00020968380300505352, + -0.007516224186826931, + 0.007607985428301779, + 0.03234956833872287, + 0.01585218938328566, + 1.0 + ], + [ + 0.0007393389148749874, + -0.0027257995639228816, + -0.002793081728086025, + -0.0015490315757371153, + 0.004213713896688309, + 0.008986282888509634, + 1.0 + ], + [ + -0.0015354630619241472, + 0.0003860207966356749, + -0.0027178346315818933, + -0.017513449129702846, + -0.014651720482182872, + 0.024545139499995292, + 0.0 + ], + [ + -0.008366667419880458, + 0.016942715564852134, + 0.016435501275829538, + 0.0057465905958976994, + -0.03755208932747427, + 0.0966443968419562, + 0.0 + ], + [ + -0.006713330193919231, + 0.03840478517572542, + 0.03375782625014267, + 0.023861551439202197, + -0.089019749049249, + 0.21786194749598867, + 0.0 + ], + [ + 0.010515895192977909, + 0.03802065870821672, + 0.026444406551371785, + 0.02831964022320422, + -0.12124679629534887, + 0.09233312054675699, + 0.0 + ], + [ + 0.008463953789989542, + 0.031504389217216835, + -0.00964894752546222, + -0.00915659376741862, + 0.04835878153593022, + -0.013080540269333599, + 0.0 + ], + [ + 0.008331731086428207, + 0.016005699583222795, + -0.017889343601856178, + -0.0012386036371587266, + 0.06298895405786993, + -0.027288248046152912, + 0.0 + ], + [ + 0.007954216451823815, + 0.016517167664128637, + -0.012391149241331778, + 0.021099866568725922, + -0.014486357258696491, + -0.0010778552622067012, + 0.0 + ], + [ + 0.009258736416487834, + 0.02138889597855686, + -0.006440736092468771, + 0.004633495391480283, + -0.012346979804000626, + 0.023108646186376234, + 0.0 + ], + [ + 0.004309085254960543, + 0.023080344868806252, + 0.0057180521423186165, + -0.015993058315494222, + -0.04755436312795158, + 0.08217566776546596, + 0.0 + ], + [ + 0.0026861625053416494, + 0.015352845764896927, + 0.008805727368138574, + -0.001322225824060025, + -0.051031069695368525, + 0.07567123853940319, + 0.0 + ], + [ + -0.0021534166242692665, + 0.00720377981967045, + -0.0017155355142927098, + 0.006504581992341892, + -0.012617799528978346, + 0.0676387451238387, + 0.0 + ], + [ + 5.163871440305723e-05, + 0.007985187077820671, + -0.002041578767016411, + 0.01672153768790637, + 0.03372335012336618, + 0.016864079244161414, + 0.0 + ], + [ + 0.004247903971745681, + 0.013974358319976718, + -0.008446192923775346, + -0.003134286177325925, + 0.04340008358882295, + -0.031479145752850324, + 0.0 + ], + [ + -0.0008049500307573121, + 0.013576897435304033, + -0.011134806159786875, + -0.02205945085851909, + 0.02917862426317975, + 0.038350603206750586, + 0.0 + ], + [ + -0.0035960093789856318, + 0.004950368507648656, + -0.008346537399782583, + -0.03834469974288677, + 0.05047405573544186, + 0.10603520770467956, + 0.0 + ], + [ + -0.006078160537716981, + 0.004276933644242503, + -0.0036170981207612266, + -0.015971640399421852, + 0.04252830500090753, + 0.06536302924986104, + 0.0 + ], + [ + -0.0015725997606839681, + 0.00042846379918107247, + -0.0006369127510806177, + -0.01828485489156782, + -0.005880448817742656, + 0.01788339959859613, + 0.0 + ], + [ + 0.0029452181535321587, + -0.006327979146042911, + 0.009440304036842456, + 0.02297441364634256, + -0.020255309868408927, + -0.05856903106655344, + 1.0 + ], + [ + 0.007340631290851718, + -0.017883250965786468, + 0.03668550955137949, + 0.05121249496924533, + -0.04947893492055315, + -0.16785977791228526, + 1.0 + ], + [ + 0.008018728643936657, + -0.030916736219372215, + 0.022748858166929106, + 0.0314135249300739, + -0.024407511259538217, + -0.12568673041605488, + 1.0 + ], + [ + -0.0013019708178588218, + -0.0200153769810381, + 0.01249346125749537, + 0.03615795608137797, + -0.00401289082473903, + -0.11882358060332497, + 1.0 + ], + [ + -0.002927645789772282, + -0.011437078604188564, + 0.002002151000421226, + -0.02237736295002057, + -0.0006552191652956729, + -0.07573151136306518, + 1.0 + ], + [ + -0.0012423238645741796, + -0.006500548231698003, + -0.01088873255925231, + -0.04138880380813432, + 0.05324167119779617, + -0.039272568981808524, + 1.0 + ], + [ + -0.00175628224434915, + 0.0015468035443144401, + -0.007827654424309355, + -0.012498045453948026, + 0.05322606044346773, + 0.0017974339643577445, + 1.0 + ], + [ + -0.00027183822492632403, + 0.0025133991651329346, + -0.004568126030567651, + -0.007786172318926675, + 0.04452657363266075, + -0.007422091040250109, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 311.8732604980469, + 64.75926208496094 + ], + [ + 311.37689208984375, + 68.00125122070312 + ], + [ + 309.34124755859375, + 82.71403503417969 + ], + [ + 322.95281982421875, + 81.35676574707031 + ], + [ + 350.24884033203125, + 87.21147155761719 + ], + [ + 381.9586486816406, + 98.0832748413086 + ], + [ + 410.64990234375, + 114.65496063232422 + ], + [ + 422.6567077636719, + 117.60236358642578 + ], + [ + 438.9733581542969, + 134.55465698242188 + ], + [ + 439.14141845703125, + 147.64599609375 + ], + [ + 457.52545166015625, + 172.5164031982422 + ], + [ + 466.6333923339844, + 191.7020263671875 + ], + [ + 470.13909912109375, + 195.5418243408203 + ], + [ + 480.3914489746094, + 192.86692810058594 + ], + [ + 495.1117248535156, + 189.3795623779297 + ], + [ + 495.606201171875, + 199.60348510742188 + ], + [ + 496.435302734375, + 218.47854614257812 + ], + [ + 494.419189453125, + 229.2276611328125 + ], + [ + 494.60382080078125, + 232.63487243652344 + ], + [ + 500.3597412109375, + 231.47091674804688 + ], + [ + 496.00836181640625, + 233.86309814453125 + ], + [ + 465.55499267578125, + 212.6470184326172 + ], + [ + 423.7008056640625, + 150.96978759765625 + ], + [ + 390.1500244140625, + 113.71841430664062 + ], + [ + 361.5107421875, + 109.02548217773438 + ], + [ + 352.1756591796875, + 122.97099304199219 + ], + [ + 339.39837646484375, + 114.71768188476562 + ], + [ + 319.5046691894531, + 105.49259185791016 + ], + [ + 296.12652587890625, + 91.01406860351562 + ], + [ + 287.36907958984375, + 83.64224243164062 + ], + [ + 278.5002746582031, + 83.78414916992188 + ], + [ + 273.8599853515625, + 73.20155334472656 + ], + [ + 261.69097900390625, + 79.36141967773438 + ], + [ + 246.11276245117188, + 88.09495544433594 + ], + [ + 241.3639373779297, + 91.73411560058594 + ], + [ + 238.53807067871094, + 91.21134948730469 + ], + [ + 236.51800537109375, + 92.61943817138672 + ], + [ + 237.00035095214844, + 86.35658264160156 + ], + [ + 255.57174682617188, + 42.16847229003906 + ], + [ + 298.6607666015625, + 36.369110107421875 + ], + [ + 310.4893798828125, + 29.890033721923828 + ], + [ + 315.30755615234375, + 36.15520095825195 + ], + [ + 317.6199645996094, + 50.774776458740234 + ], + [ + 317.3116760253906, + 55.15364074707031 + ], + [ + 317.0523681640625, + 59.3135871887207 + ], + [ + 316.8907165527344, + 59.392120361328125 + ], + [ + 317.0115966796875, + 59.13477325439453 + ], + [ + 316.7972412109375, + 59.21038818359375 + ] + ], + "depth_max": 2.6832869052886963, + "depth_min": 0.4484037160873413, + "intrinsic": [ + [ + 597.5726928710938, + 0.0, + 259.0 + ], + [ + 0.0, + 596.251220703125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 9.266786219086498e-05, + -3.653894964372739e-05, + 6.5692966018104926e-06 + ], + [ + -9.266834240406752e-05, + 1.0, + -1.3163747098587919e-05, + -4.06335893785581e-05 + ], + [ + 3.653772728284821e-05, + 1.316713314736262e-05, + 1.0, + 8.995322423288599e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 484.0, + 252.75001525878906 + ], + [ + 484.1776123046875, + 253.1430206298828 + ], + [ + 484.1376953125, + 253.16384887695312 + ], + [ + 484.1248779296875, + 252.89288330078125 + ], + [ + 484.08172607421875, + 252.92434692382812 + ], + [ + 484.34442138671875, + 252.80886840820312 + ], + [ + 484.5433654785156, + 253.18130493164062 + ], + [ + 484.4876708984375, + 253.09393310546875 + ], + [ + 484.46923828125, + 252.81260681152344 + ], + [ + 484.3785400390625, + 253.05320739746094 + ], + [ + 484.3795166015625, + 253.3606414794922 + ], + [ + 484.4814453125, + 253.69949340820312 + ], + [ + 484.3343505859375, + 253.15133666992188 + ], + [ + 484.3577880859375, + 253.3690643310547 + ], + [ + 484.3419494628906, + 253.46072387695312 + ], + [ + 484.1580810546875, + 253.01644897460938 + ], + [ + 484.77349853515625, + 253.16018676757812 + ], + [ + 485.47027587890625, + 253.927001953125 + ], + [ + 485.9415283203125, + 254.59988403320312 + ], + [ + 492.962890625, + 255.63629150390625 + ], + [ + 489.5827331542969, + 255.2526397705078 + ], + [ + 459.61962890625, + 235.5235137939453 + ], + [ + 420.6780700683594, + 174.86512756347656 + ], + [ + 388.6474304199219, + 136.67156982421875 + ], + [ + 359.8343505859375, + 133.33245849609375 + ], + [ + 350.4776916503906, + 145.1393585205078 + ], + [ + 337.7142333984375, + 136.83509826660156 + ], + [ + 319.86944580078125, + 126.2793197631836 + ], + [ + 296.2449951171875, + 111.8086929321289 + ], + [ + 286.21319580078125, + 102.65724182128906 + ], + [ + 277.60028076171875, + 102.74125671386719 + ], + [ + 272.1415100097656, + 94.00492858886719 + ], + [ + 260.45263671875, + 98.20421600341797 + ], + [ + 243.86920166015625, + 106.18707275390625 + ], + [ + 237.77696228027344, + 108.95321655273438 + ], + [ + 234.56173706054688, + 108.10552215576172 + ], + [ + 231.78692626953125, + 108.218505859375 + ], + [ + 231.50628662109375, + 107.88880920410156 + ], + [ + 231.60768127441406, + 107.64393615722656 + ], + [ + 231.26971435546875, + 107.79645538330078 + ], + [ + 231.31214904785156, + 108.2332992553711 + ], + [ + 230.66444396972656, + 108.41114807128906 + ], + [ + 230.84288024902344, + 108.27665710449219 + ], + [ + 230.81480407714844, + 108.20512390136719 + ], + [ + 231.21826171875, + 108.22950744628906 + ], + [ + 230.95556640625, + 108.50639343261719 + ], + [ + 230.73504638671875, + 108.15084838867188 + ], + [ + 231.0923309326172, + 108.42611694335938 + ] + ] +} \ No newline at end of file diff --git a/008126_v2/lang.txt b/008126_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..9518bf38b929093862ae63d0a2d30f325bb99b20 --- /dev/null +++ b/008126_v2/lang.txt @@ -0,0 +1 @@ +put the tall cylinder beside the short cylinder diff --git a/008126_v2/object.ply b/008126_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..030c4a5c6895e5912f183f7baeb864563a0d76f8 Binary files /dev/null and b/008126_v2/object.ply differ diff --git a/008203_v2/data.json b/008203_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..969d99b1efa2396eac752202115fcc1263e7afc7 --- /dev/null +++ b/008203_v2/data.json @@ -0,0 +1,879 @@ +{ + "action_start": 23, + "action_end": 34, + "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, + 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, + 1.0 + ], + "gripper_actions": [ + [ + 2.7755575615628914e-17, + -1.3877787807814457e-17, + -1.3877787807814457e-17, + 7.176653216429681e-07, + -9.605946464756272e-07, + -3.412090875697841e-07, + 1.0 + ], + [ + 0.007145217625370959, + 0.017898460565819223, + 0.0008032828976874962, + -0.07909873513941393, + 0.05051805196117996, + 0.21028910200663148, + 1.0 + ], + [ + 0.0021848046052245496, + 0.021173698977957622, + 0.0015308406766612465, + -0.037209081305052356, + 0.03976730527638848, + 0.12100100184669213, + 1.0 + ], + [ + 0.001720349360161244, + 0.008731992983120392, + 0.00554275359250056, + 0.008314821954434394, + 0.013521525070820014, + 0.10408024207242307, + 1.0 + ], + [ + 0.00174471546602592, + 0.002989751341184614, + 0.005402148524201733, + 0.00840375668391684, + 0.02944410704758463, + 0.06434169044603069, + 1.0 + ], + [ + 0.0005483756516303229, + 0.0028258413842704444, + 0.005670619869798124, + 0.02097689300335489, + 0.029968845333594264, + 0.051805043441149216, + 1.0 + ], + [ + -0.001716062960360032, + 0.0010346609804240611, + 0.011627757929413618, + 0.09418462022386265, + 0.049523919032905685, + 0.20310425250483338, + 1.0 + ], + [ + -0.0009456851912529596, + 0.005549887594252314, + 0.00653098190743398, + 0.020206037471020254, + 0.016695726816118927, + 0.13857573818340188, + 1.0 + ], + [ + -0.009432008018150972, + 0.010711851183033912, + 0.003391060733104287, + -0.011429449606524662, + 0.014876867542135554, + 0.12462329518986819, + 1.0 + ], + [ + -0.01665391799452004, + 0.012329126374256927, + 0.006115288378636591, + -0.014271635587918911, + 0.01019455972874102, + 0.06155755921426456, + 1.0 + ], + [ + -0.011319127415600705, + 0.007493314338984924, + 0.004204298364977127, + 0.017312917287768837, + -0.04092233123755658, + -0.028988304246002763, + 1.0 + ], + [ + 0.004909322749057005, + 0.007247655377763857, + -0.00587696170464963, + -0.006237580151710479, + -0.022956612107236516, + -0.022629886898419632, + 1.0 + ], + [ + 0.011243727664355746, + 0.004954918536131078, + -0.012174291518061542, + -0.04580008778397141, + -0.029563412121457078, + -0.00796491645081622, + 1.0 + ], + [ + 0.017268129387816605, + -0.0011391347467139337, + -0.006939741908101121, + -0.01937149787317511, + -0.03418164845085872, + -0.01041802992356359, + 1.0 + ], + [ + 0.012280026091439022, + 0.0012862346493041554, + -0.005029346188953329, + -0.008013284164763221, + 0.006740209111987197, + 0.004258617657916781, + 1.0 + ], + [ + 0.003336929401590333, + 0.0019116007030593163, + -0.006594616059572664, + -0.011297397719073845, + 0.02396964023121147, + 0.017957894936341375, + 1.0 + ], + [ + 0.0002638110417288453, + 0.0018293042848628455, + -0.0045193809342878866, + -0.004222080868338546, + 0.03366107391238276, + 0.0008922377760497453, + 1.0 + ], + [ + -0.002161711385567422, + 0.0027690769769673864, + -0.0017633190774465762, + 0.00042130114998682045, + 0.021035742042040402, + 0.005627113495899423, + 1.0 + ], + [ + 0.0003404386311227081, + 0.0017963963025047292, + -0.006508252891053876, + -0.003317274488127185, + 0.023286349515706146, + 0.005790508671091469, + 1.0 + ], + [ + 0.003246366345139584, + 0.0023651391111096927, + -0.0025520149252157287, + 0.001897812545482796, + 0.017120038444853915, + 0.01250002448107551, + 1.0 + ], + [ + 0.0035853179345639585, + 0.005983122796438031, + -0.005684282538117022, + -0.0017948747725452018, + 0.06498685940715568, + 0.028492595068653644, + 1.0 + ], + [ + 0.004076714554187899, + 0.002714408877634014, + -0.006546107169617912, + -0.01950867252260631, + 0.023227402075113035, + 0.01443342887550062, + 1.0 + ], + [ + -0.000937742639319783, + 0.002953448031148869, + -0.003616967562039497, + -0.029306603238463718, + 0.02832378438929065, + 0.03625987703719386, + 1.0 + ], + [ + -0.00397264869545455, + 0.0021458878799459798, + -0.0020896785158600883, + -0.013870991995708406, + 0.017722325017690062, + 0.018217160577312992, + 1.0 + ], + [ + -0.0031282436273789016, + 0.0021107467664831393, + -0.0018086820581652702, + -0.004111215173223124, + -0.02552947488612795, + -0.011340706415416455, + 0.0 + ], + [ + -0.0012837307862137437, + -0.007230373442071535, + 0.003908631528663317, + 0.032899388933800996, + -0.01164960350783695, + -0.053187873630008396, + 0.0 + ], + [ + -0.0008469460105724469, + -0.011194697305861706, + 0.010093032921836706, + 0.02446031707449794, + -0.02319135808888551, + -0.08649658544630275, + 0.0 + ], + [ + -0.002585090712695415, + -0.023723070340941614, + 0.014817172575846499, + 0.058540565301521574, + -0.011218197784755898, + -0.16654379943519693, + 0.0 + ], + [ + -0.014724831806173427, + -0.027430196332937234, + -0.004737218932446191, + -0.03093817380297862, + 0.004766884608683018, + -0.17038071715269704, + 0.0 + ], + [ + -0.02380658044432976, + -0.022511487871843032, + -0.00919869440837609, + -0.03258496115380111, + 0.07806809164192262, + -0.11656325117791855, + 0.0 + ], + [ + -0.02463241351154488, + -0.004874883931308582, + -0.004313304776802626, + -0.013701217762236087, + 0.038927595280701825, + 0.004135971607226356, + 0.0 + ], + [ + -0.007492894221546226, + 0.0073296040632239295, + -0.0020404418606547875, + 0.004009770904603985, + 0.007728739846586594, + 0.04611046272233005, + 0.0 + ], + [ + -0.0014830847979303285, + 0.009477660695783693, + 0.0007354438871382402, + 0.010565014432624293, + -0.005256735575326332, + 0.05545937220740402, + 0.0 + ], + [ + 0.004688382768088972, + 0.004432158199031186, + -0.005027048045325416, + 0.015394748208462896, + -0.010523070636410394, + -0.005863843911650457, + 0.0 + ], + [ + 0.008768921997498236, + -0.0016508273629891115, + -0.005780989108307863, + -0.009937799738802489, + -0.007926063088295285, + -0.03579627361649208, + 0.0 + ], + [ + 0.004061480660174838, + -0.0019101545933299588, + 0.0013675081108730919, + -0.0027393971339376433, + -0.017837770104126967, + -0.007143165000670858, + 1.0 + ], + [ + 0.002733987344675115, + -0.003202794070758401, + -0.00046767936976410684, + -0.014695783603855646, + -0.022562762269566765, + -0.011483211575573402, + 1.0 + ], + [ + 0.0010924611118928174, + -0.0026726155808937946, + 0.0006422996596215369, + 0.0034066530297842765, + -0.002461817579641345, + -0.007495474095724782, + 1.0 + ], + [ + 0.0018927178682221213, + -0.002010409211162356, + 0.0034268319374469586, + -0.007480702601906562, + -0.03363626676537556, + -0.014176038752012905, + 1.0 + ], + [ + 0.01850735736100484, + -0.009064097502950341, + 0.01644759748427338, + 0.05631520449833745, + -0.17479126948282567, + -0.2017847450195622, + 1.0 + ], + [ + 0.027427189747359026, + -0.018908817756058058, + 0.015644336875618878, + 0.053951630094793805, + -0.15861693764750728, + -0.2065449310888411, + 1.0 + ], + [ + 0.01318094898864744, + -0.01552950133061222, + 2.5909764467563212e-05, + -0.0065441128723512185, + -0.05886773672643966, + -0.1266669635065626, + 1.0 + ], + [ + 0.0011246278515620878, + 0.0018365739123696462, + -0.012079418582046184, + -0.03103591880368689, + 0.057639797118177176, + -0.051721100440577365, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 477.9828796386719, + 268.55694580078125 + ], + [ + 472.68267822265625, + 275.345458984375 + ], + [ + 471.2948303222656, + 281.1137390136719 + ], + [ + 425.14886474609375, + 245.37274169921875 + ], + [ + 408.63482666015625, + 237.08721923828125 + ], + [ + 403.4151611328125, + 231.46713256835938 + ], + [ + 402.17144775390625, + 216.52894592285156 + ], + [ + 397.1534729003906, + 193.67086791992188 + ], + [ + 392.5755310058594, + 175.33462524414062 + ], + [ + 389.2179870605469, + 174.46197509765625 + ], + [ + 355.43731689453125, + 166.66378784179688 + ], + [ + 319.3583679199219, + 161.97926330566406 + ], + [ + 303.81732177734375, + 161.58950805664062 + ], + [ + 306.3299255371094, + 160.30117797851562 + ], + [ + 312.86846923828125, + 168.43331909179688 + ], + [ + 333.0078125, + 164.06552124023438 + ], + [ + 334.1214904785156, + 166.96812438964844 + ], + [ + 331.658935546875, + 172.2153778076172 + ], + [ + 330.9710998535156, + 173.9073944091797 + ], + [ + 326.68133544921875, + 176.83724975585938 + ], + [ + 326.52972412109375, + 180.54222106933594 + ], + [ + 324.78497314453125, + 176.93980407714844 + ], + [ + 322.53778076171875, + 178.32025146484375 + ], + [ + 318.51629638671875, + 183.20849609375 + ], + [ + 311.6933898925781, + 181.8965301513672 + ], + [ + 306.8811340332031, + 186.44216918945312 + ], + [ + 303.13885498046875, + 187.0758514404297 + ], + [ + 309.28570556640625, + 181.41571044921875 + ], + [ + 332.7489013671875, + 183.65634155273438 + ], + [ + 362.4480285644531, + 219.21539306640625 + ], + [ + 371.84918212890625, + 267.2438049316406 + ], + [ + 356.9479675292969, + 308.856689453125 + ], + [ + 340.47979736328125, + 324.5959777832031 + ], + [ + 330.7633361816406, + 325.1302185058594 + ], + [ + 326.3684997558594, + 314.0321044921875 + ], + [ + 330.090087890625, + 316.87579345703125 + ], + [ + 337.415283203125, + 311.1931457519531 + ], + [ + 342.5349426269531, + 310.49420166015625 + ], + [ + 343.9852294921875, + 309.3448791503906 + ], + [ + 348.24658203125, + 305.4298400878906 + ], + [ + 365.969970703125, + 284.2770690917969 + ], + [ + 409.0517883300781, + 260.94781494140625 + ], + [ + 463.1848449707031, + 253.9801025390625 + ], + [ + 475.10125732421875, + 272.4805908203125 + ], + [ + 476.8498229980469, + 282.7370300292969 + ] + ], + "depth_max": 1.9394196271896362, + "depth_min": 0.2617954611778259, + "intrinsic": [ + [ + 615.2828369140625, + 0.0, + 259.0 + ], + [ + 0.0, + 612.945068359375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.965916691115126e-05, + -1.986608731385786e-05, + 2.6213851015199907e-05 + ], + [ + -6.966020009713247e-05, + 1.0, + -5.226532448432408e-05, + -1.2587820492626633e-05 + ], + [ + 1.986244933505077e-05, + 5.226670691627078e-05, + 1.0, + 0.00010580275557003915 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 44 + ], + "object_trajectory": [ + [ + 306.75, + 214.00001525878906 + ], + [ + 306.7648620605469, + 214.211181640625 + ], + [ + 306.1854553222656, + 214.22488403320312 + ], + [ + 306.00927734375, + 214.4221954345703 + ], + [ + 306.04742431640625, + 214.42201232910156 + ], + [ + 305.4635009765625, + 214.69692993164062 + ], + [ + 305.76763916015625, + 214.83419799804688 + ], + [ + 305.958740234375, + 214.6737060546875 + ], + [ + 306.1290588378906, + 214.4475555419922 + ], + [ + 306.447265625, + 214.37054443359375 + ], + [ + 306.30621337890625, + 214.43768310546875 + ], + [ + 306.3088073730469, + 214.50343322753906 + ], + [ + 306.0591125488281, + 214.3785858154297 + ], + [ + 306.33013916015625, + 214.3866424560547 + ], + [ + 305.74517822265625, + 214.71490478515625 + ], + [ + 306.9313049316406, + 214.379638671875 + ], + [ + 306.371826171875, + 214.49655151367188 + ], + [ + 306.298583984375, + 215.00917053222656 + ], + [ + 306.2347106933594, + 214.92892456054688 + ], + [ + 306.38653564453125, + 215.27554321289062 + ], + [ + 306.75946044921875, + 214.53109741210938 + ], + [ + 306.6700439453125, + 214.89784240722656 + ], + [ + 306.8064270019531, + 215.08583068847656 + ], + [ + 306.960205078125, + 215.44142150878906 + ], + [ + 306.9733581542969, + 215.66558837890625 + ], + [ + 307.629150390625, + 215.51528930664062 + ], + [ + 304.1041564941406, + 215.14898681640625 + ], + [ + 307.45355224609375, + 210.67327880859375 + ], + [ + 324.7038269042969, + 215.56272888183594 + ], + [ + 348.994873046875, + 252.72195434570312 + ], + [ + 351.69189453125, + 302.0596008300781 + ], + [ + 336.3875732421875, + 344.2218017578125 + ], + [ + 322.10498046875, + 359.1046142578125 + ], + [ + 312.75634765625, + 360.4239501953125 + ], + [ + 309.80242919921875, + 350.5635070800781 + ], + [ + 312.8744812011719, + 351.7179870605469 + ], + [ + 313.7876281738281, + 357.963623046875 + ], + [ + 302.0704650878906, + 364.3292236328125 + ], + [ + 295.15032958984375, + 362.99298095703125 + ], + [ + 295.36358642578125, + 362.7379150390625 + ], + [ + 294.6263732910156, + 364.19879150390625 + ], + [ + 295.40313720703125, + 363.3945617675781 + ], + [ + 295.2295837402344, + 363.0998229980469 + ], + [ + 295.32440185546875, + 363.2927551269531 + ], + [ + 295.7982482910156, + 364.0105895996094 + ] + ] +} \ No newline at end of file diff --git a/008203_v2/lang.txt b/008203_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..91f7d89a76f57654d8d834c85e6b98a0123640ba --- /dev/null +++ b/008203_v2/lang.txt @@ -0,0 +1 @@ +move the red cube off the green rectangle block and put in the bottom part of the table diff --git a/008203_v2/object.ply b/008203_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..0e200540862f51342f84d3bbd3e7f1f47a812b3e Binary files /dev/null and b/008203_v2/object.ply differ diff --git a/008221_v2/FAIL b/008221_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/008221_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/008243_v2/FAIL b/008243_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/008243_v2/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/008257_v2/FAIL b/008257_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/008257_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/008300_v2/FAIL b/008300_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/008300_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/008355_v2/FAIL b/008355_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/008355_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/008500_v2/FAIL b/008500_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/008500_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/008503_v2/FAIL b/008503_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/008503_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/008525_v2/data.json b/008525_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..047db6d16c697ad9a927da8961af4fad1b3375cc --- /dev/null +++ b/008525_v2/data.json @@ -0,0 +1,824 @@ +{ + "action_start": 9, + "action_end": 29, + "object_name": "blue 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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.871307, + 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": [ + [ + -3.035102724702199e-10, + -6.324770984722505e-10, + 7.161606307981572e-10, + -7.551144117070193e-07, + 4.399697846645619e-07, + 1.6830591761892765e-07, + 1.0 + ], + [ + -0.002809746339084318, + 0.01973759189227646, + -0.008053398232650263, + 0.05100793247985692, + 0.05124839951611792, + -0.037769761075994696, + 1.0 + ], + [ + -0.0021698531031181245, + 0.011994709216426466, + -0.010454019051739996, + 0.08080877310174453, + 0.05531773406655418, + -0.041351778898249016, + 1.0 + ], + [ + -0.004881936232759954, + 0.014082165777692252, + -0.009992746185150767, + 0.04690201111671658, + 0.038986115153115945, + -0.026636391957234273, + 1.0 + ], + [ + -0.000898670565111559, + 0.011460055389501608, + -0.013793366139548846, + 0.04118773906771984, + 0.04253327188854234, + -0.014253276596254746, + 1.0 + ], + [ + 0.004963784718039876, + 0.010789294534263513, + -0.018712225766460713, + 0.005431548720029615, + 0.05178296288513055, + -0.009726596220907956, + 1.0 + ], + [ + 0.008416812129997453, + 0.00773979338718981, + -0.014536851391057058, + -0.0031148044964840337, + 0.030325300733062645, + -0.0009472519132978731, + 1.0 + ], + [ + 0.004875798268350107, + -0.0007659640056487324, + -0.013342458642001363, + -0.06932926280582023, + -0.013228750647190765, + -0.04520886384877891, + 1.0 + ], + [ + 0.002553409968058473, + -0.00497470323441105, + -0.008266993458222738, + -0.05358704187982167, + -0.011157655333598053, + -0.03516271679817791, + 1.0 + ], + [ + 0.0014290455820824, + -0.007080678892400889, + -0.0033298375772122073, + -0.030777200447737026, + -0.006182551983153776, + -0.02071051724250809, + 1.0 + ], + [ + -0.0009537305644764515, + -0.002928623870297988, + -0.0012080281831857893, + 0.013885819689225715, + -0.013120135710886582, + 0.010181781709366585, + 0.0 + ], + [ + -0.000610397425809428, + -0.00010379187093703668, + 0.004018115648803396, + 0.007414487419111975, + -0.015471439160054128, + 0.007734084674747321, + 0.0 + ], + [ + -0.0007954870862044161, + 0.001114359262247372, + 0.007815075820399316, + 0.011631578636566465, + -0.010226456364304238, + 0.009725057679811196, + 0.0 + ], + [ + -0.0044988879752507205, + 0.005741723205585067, + 0.015400205427558331, + 0.011536444570072035, + -0.03196394541414539, + 0.0172712639881867, + 0.0 + ], + [ + -0.004837392599990165, + 0.012001347493488777, + 0.018799419937100922, + 0.016694064584281486, + -0.015294243250034515, + 0.022337997248612237, + 0.0 + ], + [ + -0.0070331653736787625, + 0.011206788897534799, + 0.022370753398253583, + -0.009416109505239623, + -0.00571208962384092, + -0.04327981923086421, + 0.0 + ], + [ + -0.014212904474137311, + 0.014218011311984996, + 0.020200329494750764, + -0.0024596307195035973, + 0.007207577170711853, + -0.04433646928950588, + 0.0 + ], + [ + -0.017924706115994338, + 0.017753439756424447, + 0.015282730140477305, + -0.01006446976700187, + 0.01856163364337999, + -0.02435718608961044, + 0.0 + ], + [ + -0.0224734310499366, + 0.0201065986287304, + 0.01326814589883897, + 0.05037472637474168, + -0.034901467042686124, + 0.056854010820197975, + 0.0 + ], + [ + -0.018363771802599405, + 0.01675735905551799, + 0.0006191328882712288, + 0.029504283005371775, + 0.01049153224213612, + 0.06130840375576285, + 0.0 + ], + [ + -0.013671117440695935, + 0.01167546042916015, + -0.0026986356259209865, + 0.0174957984143999, + 0.0019723019127426264, + 0.015454638547386098, + 0.0 + ], + [ + -0.0030973836953732126, + 0.002334758552228852, + -0.011322617365046334, + 0.04880171191546932, + 0.06814663385930723, + -0.01429663785231671, + 0.0 + ], + [ + 0.003289117127586283, + 0.007214796835681381, + -0.007423608990469219, + 0.005081923695860342, + 0.03944664614389795, + 0.008716049666188747, + 0.0 + ], + [ + 0.011129365250267864, + 0.007401048132784804, + -0.00864832235165272, + -0.010557347185324906, + 0.015095497253093355, + -0.011169159573067218, + 0.0 + ], + [ + 0.007817250729494574, + 0.007801124425066058, + -0.006573036928109524, + -0.006237078508675999, + 0.011588386742026084, + 0.0025795358543845666, + 0.0 + ], + [ + 0.005305856583062762, + 0.007683499578587577, + 7.931242182292186e-05, + -0.0018693043095157752, + -0.015787255520579264, + 0.01064141742098325, + 0.0 + ], + [ + 0.0008228385491920731, + 0.0017890370760872965, + -0.007832583728839285, + 0.0032677025597924146, + 0.031813320579420434, + 0.008043725804638368, + 0.0 + ], + [ + -0.0005316108391806851, + 0.0011417096763408074, + -0.003176630487838686, + -0.0027875940438660774, + 0.00480668566201617, + 0.0006365433464179937, + 0.0 + ], + [ + 0.001870987173861749, + -0.002423389515535959, + -0.0054097825129392485, + -0.007768911745180204, + 0.009348755692558771, + -0.012991342741841229, + 0.0 + ], + [ + 0.0008934171411085767, + -0.0048337387607927385, + 0.001577242308957505, + 0.006013030153040226, + -0.002163364340505594, + 0.006430712726802382, + 0.871307 + ], + [ + 0.0005566663058906296, + -0.0021639902434373165, + 0.00011240005438307998, + 0.006301673662426912, + 0.019225779731347734, + -0.010999956141059985, + 1.0 + ], + [ + 0.00045003742465793417, + -0.0017970598436533453, + 0.0018928766006955783, + 0.005466267669574764, + 0.0038050280396765717, + 0.001463089504212179, + 1.0 + ], + [ + 0.0006405297718103942, + -0.002378356360009562, + 0.006048149447568582, + -0.0005110185233813795, + -0.015811718124700242, + -0.0009412596570699766, + 1.0 + ], + [ + 0.00015667211497716327, + -0.004093470663981122, + 0.01435879739137981, + -0.003984483965536773, + -0.042509198257671486, + 0.005431997705515912, + 1.0 + ], + [ + -0.0020134533138931876, + -0.0030189856838222506, + 0.019885641172878263, + -0.008251962560818622, + -0.07334514722372305, + 0.01997689325578155, + 1.0 + ], + [ + -0.001502338806224024, + -0.0014807456799376673, + 0.00852556514183278, + -0.011999593580893465, + -0.02982335758180318, + 0.010969939238488786, + 1.0 + ], + [ + -0.0017702647881563394, + -0.0016719308907684194, + 0.011070934862137616, + 0.0033233052191762864, + -0.029031466840962385, + 0.008074932865760111, + 1.0 + ], + [ + -0.0029516845284073834, + -0.001457151744539656, + 0.016945294843641517, + 0.008941253372593091, + -0.044791346742409, + 0.010751724583160581, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 543.4099731445312, + 111.48065948486328 + ], + [ + 540.690185546875, + 116.53423309326172 + ], + [ + 528.258544921875, + 139.6577606201172 + ], + [ + 497.7956237792969, + 143.26559448242188 + ], + [ + 481.235595703125, + 151.45594787597656 + ], + [ + 455.09295654296875, + 158.56039428710938 + ], + [ + 440.43316650390625, + 174.37692260742188 + ], + [ + 426.1723937988281, + 187.02908325195312 + ], + [ + 431.5293273925781, + 189.53289794921875 + ], + [ + 430.76580810546875, + 202.23733520507812 + ], + [ + 439.94635009765625, + 203.56532287597656 + ], + [ + 438.8230285644531, + 205.47976684570312 + ], + [ + 437.79833984375, + 207.37237548828125 + ], + [ + 434.588134765625, + 207.48880004882812 + ], + [ + 424.572265625, + 207.1956787109375 + ], + [ + 423.2553405761719, + 182.255126953125 + ], + [ + 418.70782470703125, + 163.53152465820312 + ], + [ + 395.86224365234375, + 136.5403594970703 + ], + [ + 370.6287536621094, + 112.56566619873047 + ], + [ + 319.39581298828125, + 94.55625915527344 + ], + [ + 283.7450866699219, + 91.51339721679688 + ], + [ + 245.30039978027344, + 100.05622863769531 + ], + [ + 222.97805786132812, + 104.27655029296875 + ], + [ + 214.7933349609375, + 118.70567321777344 + ], + [ + 222.365234375, + 123.10556030273438 + ], + [ + 227.53269958496094, + 120.50648498535156 + ], + [ + 227.9176025390625, + 112.04985809326172 + ], + [ + 220.49520874023438, + 111.32240295410156 + ], + [ + 221.64697265625, + 110.72684478759766 + ], + [ + 222.087158203125, + 110.92823791503906 + ], + [ + 223.28369140625, + 110.24105072021484 + ], + [ + 223.78443908691406, + 109.8985595703125 + ], + [ + 225.7302703857422, + 112.27252197265625 + ], + [ + 225.557373046875, + 113.45689392089844 + ], + [ + 226.4407501220703, + 112.25174713134766 + ], + [ + 232.1021728515625, + 98.10475158691406 + ], + [ + 231.06060791015625, + 75.21917724609375 + ], + [ + 228.98580932617188, + 66.3416976928711 + ], + [ + 223.89175415039062, + 52.443580627441406 + ], + [ + 219.08192443847656, + 37.82093811035156 + ], + [ + 219.16233825683594, + 37.87078857421875 + ], + [ + 219.12277221679688, + 37.86027526855469 + ] + ], + "depth_max": 2.2954041957855225, + "depth_min": 0.4553773105144501, + "intrinsic": [ + [ + 610.660400390625, + 0.0, + 259.0 + ], + [ + 0.0, + 609.44580078125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.1401463527581654e-05, + -3.443487730692141e-05, + -2.471625521138776e-05 + ], + [ + -2.14016927202465e-05, + 1.0, + -6.611132903344696e-06, + 7.759641448501498e-06 + ], + [ + 3.443473906372674e-05, + 6.611870048800483e-06, + 1.0, + 5.346906982595101e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 41 + ], + "object_trajectory": [ + [ + 412.0, + 214.75001525878906 + ], + [ + 412.4273376464844, + 214.5733184814453 + ], + [ + 412.2792663574219, + 214.86241149902344 + ], + [ + 412.3114929199219, + 214.79742431640625 + ], + [ + 411.8927001953125, + 214.87213134765625 + ], + [ + 411.9770812988281, + 214.85113525390625 + ], + [ + 411.94036865234375, + 215.4191436767578 + ], + [ + 411.5933532714844, + 215.98147583007812 + ], + [ + 414.00518798828125, + 216.43182373046875 + ], + [ + 411.77838134765625, + 216.3192138671875 + ], + [ + 414.23895263671875, + 217.0772705078125 + ], + [ + 420.08282470703125, + 219.71829223632812 + ], + [ + 428.8341064453125, + 223.31236267089844 + ], + [ + 424.8355712890625, + 223.97381591796875 + ], + [ + 415.2754821777344, + 224.67137145996094 + ], + [ + 412.45062255859375, + 200.2046356201172 + ], + [ + 406.0422668457031, + 180.6818084716797 + ], + [ + 381.258056640625, + 153.67758178710938 + ], + [ + 352.0107116699219, + 132.19235229492188 + ], + [ + 298.39288330078125, + 118.49466705322266 + ], + [ + 262.3681945800781, + 116.05905151367188 + ], + [ + 224.6027374267578, + 126.47673034667969 + ], + [ + 204.78988647460938, + 137.71336364746094 + ], + [ + 197.6785888671875, + 150.92684936523438 + ], + [ + 204.48944091796875, + 152.37525939941406 + ], + [ + 210.0365447998047, + 141.54669189453125 + ], + [ + 209.67164611816406, + 133.30482482910156 + ], + [ + 206.52484130859375, + 130.606689453125 + ], + [ + 206.49563598632812, + 131.6868133544922 + ], + [ + 206.46847534179688, + 132.021240234375 + ], + [ + 208.5875244140625, + 131.03396606445312 + ], + [ + 209.40003967285156, + 131.88711547851562 + ], + [ + 219.18359375, + 134.6259002685547 + ], + [ + 223.21511840820312, + 133.63934326171875 + ], + [ + 223.07919311523438, + 135.3902587890625 + ], + [ + 224.0880126953125, + 129.17953491210938 + ], + [ + 224.40438842773438, + 128.34132385253906 + ], + [ + 224.32899475097656, + 127.8658218383789 + ], + [ + 224.21408081054688, + 127.34265899658203 + ], + [ + 224.23165893554688, + 127.20053100585938 + ], + [ + 223.83648681640625, + 126.7856216430664 + ], + [ + 223.86065673828125, + 126.49250793457031 + ] + ] +} \ No newline at end of file diff --git a/008525_v2/lang.txt b/008525_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..bde5a3986954b91b9d53a84851ea2ce9ee72b2c2 --- /dev/null +++ b/008525_v2/lang.txt @@ -0,0 +1 @@ +put the blue object in the drawer diff --git a/008525_v2/object.ply b/008525_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..4ea7465b2002327f65c25e142871e0426c001dfd Binary files /dev/null and b/008525_v2/object.ply differ diff --git a/008556_v2/FAIL b/008556_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/008556_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/008565_v2/FAIL b/008565_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/008565_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/008660_v2/FAIL b/008660_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/008660_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/008682_v2/data.json b/008682_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..e21ba34c6aa9015b811068f7b60010cb6dc08950 --- /dev/null +++ b/008682_v2/data.json @@ -0,0 +1,769 @@ +{ + "action_start": 18, + "action_end": 31, + "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, + 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, + 0.0, + -2.7755575615628914e-17, + -6.856402846677041e-08, + -2.159840105544559e-07, + -7.656170373826075e-07, + 1.0 + ], + [ + 0.015901108540883946, + -0.023482229562413373, + 0.007607913501344404, + -0.002932356660248198, + -0.00020947995679642826, + -0.08616068589208171, + 1.0 + ], + [ + 0.011883112135750107, + -0.03717443083217929, + 0.012067949745772438, + -0.012032368580280808, + -0.0011741035873251483, + -0.10408708628773813, + 1.0 + ], + [ + 0.008236114735039934, + -0.04152265819649556, + 0.012150308320656084, + -0.008715464492686729, + -0.009604833106887494, + -0.1332374593747277, + 1.0 + ], + [ + 0.0012165529406196751, + -0.04259920996471199, + -0.00581568343553468, + -0.007127711874268361, + 0.025993753629088193, + -0.1538986862007343, + 1.0 + ], + [ + -0.0004932715165125723, + -0.024624973008644142, + -0.022361769862477315, + 0.01182672625586005, + 0.018724101256559596, + -0.147364464963701, + 1.0 + ], + [ + -0.0032857131713186494, + -0.024578214149022316, + -0.033259269900190236, + 0.04457777509290672, + 0.018775107487317904, + -0.1452244361391176, + 1.0 + ], + [ + -0.00194110722010582, + -0.028495983164795805, + -0.01872512353603062, + 0.04281832012278142, + 0.01262654005649215, + -0.10610378455935682, + 1.0 + ], + [ + -0.0062063350848343135, + -0.02678006833251964, + -0.01625161483542202, + 0.037070290430574304, + 0.0205299999047118, + -0.06622810514890548, + 1.0 + ], + [ + -0.008896319945326248, + -0.009080512320080406, + -0.015458242524534135, + 0.02204703090467396, + 0.03659191666797836, + -0.005423412852715663, + 1.0 + ], + [ + -0.011159662482945698, + 0.010494626740156027, + -0.010063267964946346, + 0.002178130634245626, + 0.036810800999765726, + 0.014040238041282497, + 1.0 + ], + [ + -0.006888610722421029, + 0.01904222024126384, + -0.01267472520860289, + 0.035685786827536294, + 0.03850206771272088, + 0.010134539607008594, + 1.0 + ], + [ + -0.004853349346077757, + 0.011502395388400977, + -0.010798967690000098, + 0.041743512042143875, + 0.03296058746983644, + -0.01321484179062747, + 1.0 + ], + [ + 0.0038916503142165104, + -0.001524120225653472, + -0.008779051176345566, + 0.016574705334026763, + 0.007731610993315601, + -0.03141089870889974, + 1.0 + ], + [ + 0.0086266213187432, + -0.0029462363617187154, + -0.0060070918909353455, + -0.009395799914677311, + -0.0025612041069822257, + -0.003949848767596003, + 1.0 + ], + [ + 0.0034797351927974285, + -0.007283046138352928, + -0.00469731300190078, + -0.010751236831567798, + -0.009966439622365169, + -0.018892709428125334, + 1.0 + ], + [ + 0.0007967767836914719, + -0.0030618783756586887, + -0.0068901284141319775, + 0.011651207402691176, + 0.014535004732681881, + -0.0036157424057503013, + 1.0 + ], + [ + -0.005173204504766632, + 0.0013245118886355406, + -0.005156769445663189, + 0.014565465677427803, + 0.02522607768196087, + -0.003015888703970868, + 1.0 + ], + [ + -0.010084848713407812, + 0.0020027000841331966, + -0.0021860150894344177, + 0.011005326145556896, + 0.023567044978924825, + -0.013010519005211283, + 1.0 + ], + [ + -0.0018820632484797817, + 0.0018582494933324367, + -0.00045310627623365313, + -0.009487214303980862, + 0.013836819955615089, + 0.006260541798012503, + 0.0 + ], + [ + 0.0010613486058914379, + -0.0002915884648607564, + 0.002113551910101319, + -0.00314346902959967, + 0.005167339819836992, + -0.0030124197435092035, + 0.0 + ], + [ + 0.007438334413710751, + -0.00476666379807833, + 0.01702676022749458, + -0.03769134011714188, + -0.03324808063531624, + 0.019057719682379907, + 0.0 + ], + [ + 0.0394163914704069, + -0.012991001321516246, + 0.04208535102403881, + -0.0828070068618637, + -0.10447351363567269, + 0.09906778454876412, + 0.0 + ], + [ + 0.04126716196129673, + -0.01620193528245502, + 0.02452771184786134, + -0.07457460147838861, + -0.054041333920509464, + 0.09720607441081548, + 0.0 + ], + [ + 0.037054783205550446, + -0.013885952651893768, + 0.01073737932905909, + -0.029679150374519934, + -0.01840286093457206, + 0.10816229756699103, + 0.0 + ], + [ + 0.040088974991118353, + 0.00547328974943867, + -0.004862148117891402, + -0.0038875916878969995, + -0.006501564925259969, + 0.17180425672914257, + 0.0 + ], + [ + 0.029247623746751827, + 0.0074135245475547284, + -0.017827698888270765, + 0.006027432530672201, + -0.012238436403338538, + 0.1352410427930695, + 0.0 + ], + [ + 0.020782390785216542, + -0.0006085915734663078, + -0.01815087738615631, + 0.0063785413257820885, + 0.0030862157633982455, + 0.07480194859835317, + 0.0 + ], + [ + 0.006260651146215823, + -0.005142607855057296, + -0.01818976395994825, + -0.016464045613888863, + 0.026295273004160805, + -0.004871210003389827, + 0.0 + ], + [ + -0.0047805887487827325, + -0.006869128539223779, + -0.01849053310358612, + 0.001799710345138731, + 0.03837517341554272, + -0.03423016973478873, + 0.0 + ], + [ + -0.0050454478316286355, + 0.004236123023029309, + -0.008482556355592252, + 0.026671940142472202, + 0.018983975131517068, + -0.0029925692698506076, + 0.0 + ], + [ + -0.0024058489110665437, + 0.005729552447885089, + 0.0032784565891967096, + 0.03071792649143106, + -0.0005027294179256611, + 0.02059656187895253, + 0.0 + ], + [ + -0.0020231490730569512, + 0.0013875731229152782, + 0.014029501862443616, + -0.01360965093489094, + -0.023067952805360687, + 0.012446533079412628, + 1.0 + ], + [ + -0.00226020584905684, + -0.0002461999256801045, + 0.022560595042287825, + -0.01547835395079197, + -0.042736893275858105, + 0.01676562724399802, + 1.0 + ], + [ + -0.003939958218946105, + 0.0006674622127205571, + 0.019660906148832053, + -0.029634226432878382, + -0.038123628739412004, + 0.022760810858405447, + 1.0 + ], + [ + -0.005531271687986894, + 0.002612306725009339, + 0.017851052927076227, + -0.002186785479222833, + -0.0307332500996611, + 0.00844815980865962, + 1.0 + ], + [ + -0.005556234959672057, + 0.0031690825991805283, + 0.009907404799745168, + -0.003105678871861969, + -0.01562933901490792, + -0.007674074822894189, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 162.83163452148438, + 23.368480682373047 + ], + [ + 162.6762237548828, + 27.210086822509766 + ], + [ + 188.7483673095703, + 29.099262237548828 + ], + [ + 237.4506378173828, + 24.398414611816406 + ], + [ + 299.02734375, + 23.360288619995117 + ], + [ + 367.7716064453125, + 27.976947784423828 + ], + [ + 425.6944274902344, + 59.98103332519531 + ], + [ + 447.6214294433594, + 121.98619079589844 + ], + [ + 482.7489013671875, + 174.78045654296875 + ], + [ + 523.1255493164062, + 223.00308227539062 + ], + [ + 538.2062377929688, + 270.1270751953125 + ], + [ + 516.3040161132812, + 301.5335693359375 + ], + [ + 495.16552734375, + 319.48480224609375 + ], + [ + 463.213623046875, + 319.24810791015625 + ], + [ + 464.4644775390625, + 326.1892395019531 + ], + [ + 470.357666015625, + 328.07232666015625 + ], + [ + 473.85015869140625, + 329.7178955078125 + ], + [ + 475.644775390625, + 335.2355041503906 + ], + [ + 473.0677185058594, + 338.1676330566406 + ], + [ + 464.8448486328125, + 346.161865234375 + ], + [ + 459.0894775390625, + 349.84735107421875 + ], + [ + 459.4722900390625, + 351.12213134765625 + ], + [ + 465.854248046875, + 347.99627685546875 + ], + [ + 529.3560791015625, + 288.6588439941406 + ], + [ + 576.818603515625, + 210.8638916015625 + ], + [ + 624.385498046875, + 164.74452209472656 + ], + [ + 648.2330322265625, + 142.57223510742188 + ], + [ + 626.463623046875, + 130.82403564453125 + ], + [ + 603.5771484375, + 139.968994140625 + ], + [ + 622.58154296875, + 156.00543212890625 + ], + [ + 600.602783203125, + 179.89132690429688 + ], + [ + 600.5801391601562, + 180.0258026123047 + ], + [ + 598.989990234375, + 179.73455810546875 + ], + [ + 585.3489990234375, + 189.05026245117188 + ], + [ + 587.43017578125, + 182.05735778808594 + ], + [ + 594.66552734375, + 158.182373046875 + ], + [ + 595.5750122070312, + 139.81341552734375 + ], + [ + 595.2178955078125, + 131.39715576171875 + ], + [ + 596.5161743164062, + 121.89207458496094 + ] + ], + "depth_max": 2.8035855293273926, + "depth_min": 0.07008110731840134, + "intrinsic": [ + [ + 580.6611938476562, + 0.0, + 259.0 + ], + [ + 0.0, + 579.5061645507812, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.860097346361727e-05, + -3.7384230381576344e-05, + -5.399572728492785e-06 + ], + [ + -6.860081339254975e-05, + 1.0, + 4.091850769327721e-06, + -5.220908860792406e-06 + ], + [ + 3.73845141439233e-05, + -4.089285994268721e-06, + 1.0, + 1.057278859661892e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 38 + ], + "object_trajectory": [ + [ + 471.5, + 372.0000305175781 + ], + [ + 471.7868957519531, + 372.05718994140625 + ], + [ + 471.70526123046875, + 372.054931640625 + ], + [ + 471.71771240234375, + 372.1082763671875 + ], + [ + 471.79180908203125, + 372.13555908203125 + ], + [ + 471.92816162109375, + 372.1193542480469 + ], + [ + 471.58526611328125, + 372.21795654296875 + ], + [ + 471.62939453125, + 372.39788818359375 + ], + [ + 471.1794738769531, + 372.361328125 + ], + [ + 471.78973388671875, + 371.90106201171875 + ], + [ + 471.87530517578125, + 372.15435791015625 + ], + [ + 471.89892578125, + 371.9576110839844 + ], + [ + 471.3961486816406, + 371.31036376953125 + ], + [ + 471.0, + 371.3708801269531 + ], + [ + 470.05035400390625, + 371.5074157714844 + ], + [ + 469.9095458984375, + 371.97900390625 + ], + [ + 463.4609680175781, + 371.52197265625 + ], + [ + 461.70367431640625, + 370.437744140625 + ], + [ + 461.009521484375, + 370.6789245605469 + ], + [ + 462.74151611328125, + 373.70745849609375 + ], + [ + 461.4000244140625, + 374.1878662109375 + ], + [ + 461.8108215332031, + 376.6282653808594 + ], + [ + 470.1158447265625, + 371.1684875488281 + ], + [ + 529.3072509765625, + 318.82757568359375 + ], + [ + 589.6474609375, + 240.48428344726562 + ], + [ + 631.07373046875, + 198.201904296875 + ], + [ + 646.7969970703125, + 174.22705078125 + ], + [ + 632.673828125, + 155.39923095703125 + ], + [ + 627.7227172851562, + 160.53390502929688 + ], + [ + 628.6658935546875, + 175.49325561523438 + ], + [ + 620.7357177734375, + 194.2528839111328 + ], + [ + 620.3616333007812, + 194.38406372070312 + ], + [ + 617.892333984375, + 193.96144104003906 + ], + [ + 604.626708984375, + 198.39039611816406 + ], + [ + 601.4819946289062, + 200.06130981445312 + ], + [ + 601.9669189453125, + 201.27101135253906 + ], + [ + 603.566162109375, + 200.7581787109375 + ], + [ + 604.4430541992188, + 200.85166931152344 + ], + [ + 602.2416381835938, + 204.75689697265625 + ] + ] +} \ No newline at end of file diff --git a/008682_v2/lang.txt b/008682_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..1adf84bebe96f0f84df4a30939fb3dc6ef01a16c --- /dev/null +++ b/008682_v2/lang.txt @@ -0,0 +1 @@ +move the red fork to the right diff --git a/008682_v2/object.ply b/008682_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..b8a4dd71e2108f7c37e4c514c342c5e614d759a2 Binary files /dev/null and b/008682_v2/object.ply differ diff --git a/008721_v2/FAIL b/008721_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/008721_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/008768_v2/data.json b/008768_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..d2fbad757e4dd803b1639a48e189dcaa038deea9 --- /dev/null +++ b/008768_v2/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 8, + "action_end": 20, + "object_name": "red 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 + ], + "gripper_actions": [ + [ + -1.4863721364832827e-10, + -9.168985015683973e-11, + 3.666576907541963e-10, + -2.7201486648180164e-07, + -3.842475884321021e-07, + 6.827318782875287e-09, + 1.0 + ], + [ + 0.012106117514284642, + 0.014914527801675487, + 0.03644685769581614, + -0.025458425267720082, + -0.041087610615021884, + 0.002609470613029637, + 1.0 + ], + [ + 0.004739738581258313, + 0.014562282415811534, + 0.028751778808634634, + -0.004350107750784514, + -0.04574369962235896, + -0.031909936202606196, + 1.0 + ], + [ + 0.0021312482942133504, + 0.02309313696486036, + 0.0228804311389357, + 0.009044792016618846, + -0.02151205410148055, + -0.026063632782384567, + 1.0 + ], + [ + -0.005671332874261581, + 0.02886965023731798, + 0.012720021245193495, + 0.046736114138140765, + 0.00025234274566005607, + -0.052287897829781424, + 1.0 + ], + [ + -0.0052786909582493435, + 0.018318257907850174, + -0.017212914972456868, + 0.05133215523448602, + 0.04643910399217545, + -0.018708998014227787, + 1.0 + ], + [ + -0.0001109681805153695, + 0.003791600206602845, + -0.035155979925919977, + -0.002997358726407836, + 0.06947462979135315, + -0.009650166578216485, + 1.0 + ], + [ + -0.0006237410776761543, + -0.010588063505591376, + -0.025904020564248252, + -0.04265345129235193, + 0.04896644358813112, + -0.009762431329633964, + 1.0 + ], + [ + -0.001112407332906462, + -0.0005205294680270048, + -0.023811241787532328, + 0.016911850612273745, + 0.03985165943813666, + -0.0019935700831515725, + 1.0 + ], + [ + 0.0005382956608114275, + 0.006098875092502037, + -0.00626929423337135, + 0.025622483967946207, + 0.0035178298795946446, + 0.02352622424296731, + 0.0 + ], + [ + 0.0017760407716212456, + 0.006695906951681166, + 0.023556209866699714, + 0.007986233026035041, + -0.03813415313543744, + 0.05154288812304249, + 0.0 + ], + [ + -0.002528224860555317, + 0.011556051051358792, + 0.026921118695590197, + -0.018597848388742864, + -0.02334163918333284, + 0.08435795850541476, + 0.0 + ], + [ + -2.2656512765450998e-05, + 0.018353066964628365, + 0.033709399644248975, + -0.02890758692555885, + -0.040139092064468425, + 0.0748977063806643, + 0.0 + ], + [ + -0.006796072590048163, + 0.03066897147585827, + 0.033320847227704446, + 0.008411290892007987, + -0.02183965491584266, + 0.05645459449615109, + 0.0 + ], + [ + -0.009068441692534679, + 0.03887637643571107, + 0.02311061397713278, + 0.0009513978722637484, + -0.017060009660821423, + 0.03885094255080637, + 0.0 + ], + [ + -0.003236348307803727, + 0.03112734407467855, + 0.011811004943280148, + 0.02882207151840695, + -0.01046206638364317, + 0.009345150699783677, + 0.0 + ], + [ + -0.004577768926395609, + 0.023364279423684575, + 0.0015378880886925544, + 0.029608041659993437, + 0.017232148192993853, + -0.024995591246985995, + 0.0 + ], + [ + -0.007992100097955146, + 0.019822925255148366, + -0.00820381874157225, + 0.024183712614700127, + 0.027047469736054867, + -0.026537688926481475, + 0.0 + ], + [ + -0.007516559668322986, + 0.014636107123865802, + -0.010190751029100525, + 0.016489365018002092, + 0.03984989604463421, + -0.00480805826402216, + 0.0 + ], + [ + -0.006809030532835547, + 0.009465639868242809, + -0.011562913564109087, + -0.006060166379888995, + 0.03725969262441525, + 0.002787909432467599, + 0.0 + ], + [ + -0.003852320918067087, + 0.0011445417166599525, + -0.008692862679456112, + -0.020335292933748274, + 0.021417210710439605, + 0.01456017056687031, + 0.0 + ], + [ + -0.002054240909614702, + -0.00506527902016618, + 0.0071308650528107, + -0.020261410290499396, + -0.01486886035984078, + -0.023732767053990866, + 1.0 + ], + [ + 0.0011065972009504654, + -0.007257404273159795, + 0.027443093679916528, + -0.014560603235917709, + -0.058029435587991715, + -0.016889616521815136, + 1.0 + ], + [ + 0.005756426198643083, + -0.011823929533129135, + 0.02899298249914821, + 0.000741199055750893, + -0.06822915288802338, + -0.00869622951981992, + 1.0 + ], + [ + 0.003238674734500957, + -0.013657778026504058, + 0.014205960555518898, + -0.006709788847576247, + -0.0206234492934701, + -0.013891780495594943, + 1.0 + ], + [ + -0.0005561897166614926, + -0.011101554093664645, + -0.0028404889553750867, + 0.0027710843989683202, + 0.028954042681426685, + -0.026800048645404976, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 564.9967041015625, + 271.86602783203125 + ], + [ + 565.0428466796875, + 271.9586181640625 + ], + [ + 563.5612182617188, + 272.11114501953125 + ], + [ + 539.6527099609375, + 232.97372436523438 + ], + [ + 534.1351318359375, + 197.14022827148438 + ], + [ + 500.91217041015625, + 158.28775024414062 + ], + [ + 476.370849609375, + 141.10531616210938 + ], + [ + 460.23760986328125, + 163.69602966308594 + ], + [ + 455.178466796875, + 203.75294494628906 + ], + [ + 454.1570739746094, + 220.8599090576172 + ], + [ + 452.11395263671875, + 215.21469116210938 + ], + [ + 452.1728210449219, + 209.27630615234375 + ], + [ + 438.1759033203125, + 212.82183837890625 + ], + [ + 424.1080627441406, + 170.34510803222656 + ], + [ + 393.0386657714844, + 124.68846893310547 + ], + [ + 345.27679443359375, + 80.10285186767578 + ], + [ + 288.5319519042969, + 45.015769958496094 + ], + [ + 262.577880859375, + 31.274738311767578 + ], + [ + 230.36695861816406, + 23.672698974609375 + ], + [ + 208.15695190429688, + 25.67618179321289 + ], + [ + 190.914306640625, + 34.782596588134766 + ], + [ + 129.700439453125, + 18.78138542175293 + ], + [ + 181.89727783203125, + 41.99156188964844 + ], + [ + 185.87762451171875, + 45.03608322143555 + ], + [ + 128.51193237304688, + 13.60434341430664 + ], + [ + 165.2725830078125, + 10.092133522033691 + ], + [ + 171.70599365234375, + 9.670841217041016 + ], + [ + 176.31356811523438, + 10.155683517456055 + ] + ], + "depth_max": 2.9637906551361084, + "depth_min": 0.11001057177782059, + "intrinsic": [ + [ + 625.8742065429688, + 0.0, + 259.0 + ], + [ + 0.0, + 624.9428100585938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + -2.023457273025997e-05, + -2.1667225155397318e-05, + -5.8155601436737925e-05 + ], + [ + 2.0233494069543667e-05, + 1.0, + -4.976527998223901e-05, + -1.1905417522939388e-05 + ], + [ + 2.1668232875526883e-05, + 4.976484342478216e-05, + 1.0, + 1.661556598264724e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 466.5, + 220.25 + ], + [ + 465.9375915527344, + 221.0545654296875 + ], + [ + 465.7912902832031, + 220.9874267578125 + ], + [ + 465.26080322265625, + 220.87579345703125 + ], + [ + 465.001220703125, + 220.9407958984375 + ], + [ + 465.3401794433594, + 220.7642822265625 + ], + [ + 464.22119140625, + 221.38705444335938 + ], + [ + 463.66497802734375, + 221.7147674560547 + ], + [ + 461.755615234375, + 222.36770629882812 + ], + [ + 460.6224365234375, + 222.1134796142578 + ], + [ + 459.14166259765625, + 222.7616424560547 + ], + [ + 458.09344482421875, + 217.46292114257812 + ], + [ + 443.1617736816406, + 221.12155151367188 + ], + [ + 427.8548583984375, + 179.59051513671875 + ], + [ + 399.2007141113281, + 147.95985412597656 + ], + [ + 355.51287841796875, + 104.04884338378906 + ], + [ + 301.33056640625, + 66.92961120605469 + ], + [ + 274.48974609375, + 53.338836669921875 + ], + [ + 244.09591674804688, + 40.94786071777344 + ], + [ + 221.5203857421875, + 46.180694580078125 + ], + [ + 225.56878662109375, + 36.10741424560547 + ], + [ + 218.80218505859375, + 40.5396842956543 + ], + [ + 217.3767852783203, + 41.70249557495117 + ], + [ + 200.83522033691406, + 66.3843994140625 + ], + [ + 202.5156707763672, + 66.41140747070312 + ], + [ + 204.54290771484375, + 65.04826354980469 + ], + [ + 206.1060791015625, + 65.19348907470703 + ], + [ + 206.07093811035156, + 64.99026489257812 + ] + ] +} \ No newline at end of file diff --git a/008768_v2/lang.txt b/008768_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..d26d6654ad489eaa15d244345b86f746cea96d05 --- /dev/null +++ b/008768_v2/lang.txt @@ -0,0 +1 @@ +put the red object on the top of the drawer diff --git a/008768_v2/object.ply b/008768_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..86bac5648e3db916ebfd2727bf06fbcf6ed50346 Binary files /dev/null and b/008768_v2/object.ply differ diff --git a/008781_v2/FAIL b/008781_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/008781_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/008784_v2/FAIL b/008784_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..0192bd4e949d38b505325c5ce32db3d4a1e22f43 --- /dev/null +++ b/008784_v2/FAIL @@ -0,0 +1 @@ +First frame gripper mask parse failed diff --git a/008819_v2/data.json b/008819_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..0781b37a074177a4f4a9330774ee925fb0680b73 --- /dev/null +++ b/008819_v2/data.json @@ -0,0 +1,494 @@ +{ + "action_start": 9, + "action_end": 17, + "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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.24371200000000004, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -1.426964657547103e-10, + 3.470790738147045e-10, + 2.388276520992605e-10, + -3.836394642383013e-07, + 2.750463776502341e-07, + 6.183897250793938e-08, + 1.0 + ], + [ + -0.03801639604155299, + 0.030602547667142002, + -0.006335255267219425, + -0.035573449418937114, + -0.011189490673107759, + 0.08975082685485311, + 1.0 + ], + [ + -0.03130843267070099, + 0.03266549122327195, + -0.013067180513076676, + 0.015875333152632717, + 0.03542246279768689, + 0.06548871926353901, + 1.0 + ], + [ + -0.03668356427985414, + 0.03295007712885213, + -0.024519456215457897, + 0.047712431447823236, + 0.034246965388533626, + 0.027672572764534182, + 1.0 + ], + [ + -0.023989128898697754, + 0.02697885240186786, + -0.03282798713393503, + 0.027435003217246862, + -0.003621295042068076, + 0.005577499636118015, + 1.0 + ], + [ + -0.00419604900991874, + 0.013297150578932757, + -0.024997302102924585, + 0.02253341543816496, + 0.030785824170611188, + 0.0034981521786822552, + 1.0 + ], + [ + 0.0044571831075292945, + 0.019598186284302585, + -0.027833354030480748, + 0.019854820481364183, + 0.04489540890401756, + -0.0040434450549363685, + 1.0 + ], + [ + 0.0019386139024833438, + 0.014742706534712005, + -0.02057756318138876, + -0.007124237933635337, + 0.0535576694939742, + -0.007447469867310891, + 1.0 + ], + [ + -0.004358960973292858, + 0.0011577031102294882, + -0.01950304265931245, + -0.008588461753474195, + 0.06276675875315713, + -0.004143025107646898, + 1.0 + ], + [ + -0.0037494524964029885, + -0.005065579290707153, + -0.011465442163909378, + -0.023446736372414356, + 0.029911974429792623, + 0.011565835393461144, + 1.0 + ], + [ + -0.0004920844177584982, + -0.0037862524260858232, + 0.0023204992048240494, + -0.004040745624974118, + 0.013743977152423063, + -0.006555327229252287, + 0.0 + ], + [ + 0.012137127538098397, + -0.0005171047423561392, + 0.04970258505494428, + 0.03342483348363262, + -0.06530124725565666, + -0.00467730801315283, + 0.0 + ], + [ + 0.017607615438846647, + -0.0010898338713255379, + 0.06468252101827733, + -0.00016735824270915946, + -0.0719177761594784, + 0.03499131625820578, + 0.0 + ], + [ + 0.03505604406563398, + 0.005205341663679849, + 0.05952275091939373, + -0.007993710895007293, + -0.07794659472479377, + 0.04961621497264699, + 0.0 + ], + [ + 0.05524580007080082, + 0.00859320591553378, + 0.029417588664131702, + 0.0005891932957941359, + -0.03166674150271941, + 0.00804013055594276, + 0.0 + ], + [ + 0.03243033533527695, + 0.01509704845982919, + -0.007346061117979141, + -0.014313757178374404, + -0.009773445398677518, + 0.014542911549607788, + 0.0 + ], + [ + 0.005042002507836374, + 0.016117296509070705, + -0.02474115330476337, + -0.0027010561651008465, + 0.0623664926749161, + 0.012539512811665486, + 0.0 + ], + [ + -0.004237181759431663, + 0.005602345900094674, + -0.02722157180239701, + -0.04685512923952022, + 0.05704447105171917, + 0.015432275569819518, + 0.24371200000000004 + ], + [ + 0.0027754437159889234, + -0.004205876644545414, + 0.003751506348432687, + -0.022658933480642473, + -0.008657048566946018, + 0.002424575173194854, + 1.0 + ], + [ + 0.00824690888892643, + -0.007700971142844543, + 0.036168159949219666, + -0.0015866869172423185, + -0.0625740542126228, + -0.031766651515451584, + 1.0 + ], + [ + -0.0039172601924608585, + -0.012970410688847911, + 0.04233434256016502, + -0.02702503647462906, + -0.07499009245545524, + -0.06319344882164413, + 1.0 + ], + [ + -0.014837521291540479, + -0.015038899442741588, + 0.019770680637002713, + -0.021696461628158446, + -0.009835699228365948, + -0.04075219424279453, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 464.916748046875, + 23.99078941345215 + ], + [ + 462.30206298828125, + 28.129383087158203 + ], + [ + 426.69287109375, + 68.25833129882812 + ], + [ + 330.01800537109375, + 82.79307556152344 + ], + [ + 245.3427276611328, + 126.78147888183594 + ], + [ + 171.75779724121094, + 184.99562072753906 + ], + [ + 137.89663696289062, + 224.8433380126953 + ], + [ + 131.53909301757812, + 239.94102478027344 + ], + [ + 125.2493896484375, + 260.97979736328125 + ], + [ + 122.26014709472656, + 276.7750244140625 + ], + [ + 125.78446197509766, + 289.82080078125 + ], + [ + 124.484619140625, + 296.72467041015625 + ], + [ + 111.9743881225586, + 267.180908203125 + ], + [ + 107.7573471069336, + 209.65640258789062 + ], + [ + 113.5345687866211, + 102.28623962402344 + ], + [ + 133.5929412841797, + 5.435353755950928 + ], + [ + 160.00125122070312, + -26.734073638916016 + ], + [ + 185.46728515625, + -25.897167205810547 + ], + [ + 186.38949584960938, + 5.24835729598999 + ], + [ + 188.72439575195312, + 19.601858139038086 + ], + [ + 157.04629516601562, + 16.653364181518555 + ], + [ + 199.65478515625, + -14.181836128234863 + ], + [ + 204.60342407226562, + -37.6011848449707 + ], + [ + 208.21429443359375, + -53.951881408691406 + ] + ], + "depth_max": 3.164339303970337, + "depth_min": 0.4293123185634613, + "intrinsic": [ + [ + 592.2376708984375, + 0.0, + 259.0 + ], + [ + 0.0, + 591.6759033203125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.1888710256898776e-05, + -3.634574750321917e-05, + 1.8035043467534706e-06 + ], + [ + -4.188988168607466e-05, + 1.0, + -3.227636989322491e-05, + -1.782521212589927e-05 + ], + [ + 3.6344394175102934e-05, + 3.2277890568366274e-05, + 1.0, + 2.69758947979426e-06 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 23 + ], + "object_trajectory": [ + [ + 124.75, + 296.0000305175781 + ], + [ + 125.02780151367188, + 296.0600891113281 + ], + [ + 124.9468765258789, + 296.03643798828125 + ], + [ + 124.95793914794922, + 296.0836486816406 + ], + [ + 125.04608154296875, + 296.17437744140625 + ], + [ + 125.04243469238281, + 296.033203125 + ], + [ + 125.09515380859375, + 296.1093444824219 + ], + [ + 125.15873718261719, + 296.09912109375 + ], + [ + 124.99551391601562, + 296.2752990722656 + ], + [ + 123.94856262207031, + 293.421875 + ], + [ + 120.39558410644531, + 288.051513671875 + ], + [ + 124.97966766357422, + 294.5709533691406 + ], + [ + 116.02056884765625, + 272.3011474609375 + ], + [ + 111.7735824584961, + 216.6328125 + ], + [ + 121.07037353515625, + 116.4320297241211 + ], + [ + 138.5434112548828, + 10.42920970916748 + ], + [ + 176.66236877441406, + -6.889705657958984 + ], + [ + 190.4929962158203, + -7.6073222160339355 + ], + [ + 190.58071899414062, + 13.543763160705566 + ], + [ + 190.37644958496094, + 25.10236358642578 + ], + [ + 200.85418701171875, + 28.502384185791016 + ], + [ + 201.4624481201172, + 26.94683074951172 + ], + [ + 201.62649536132812, + 26.889686584472656 + ], + [ + 201.4483642578125, + 26.676551818847656 + ] + ] +} \ No newline at end of file diff --git a/008819_v2/lang.txt b/008819_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2a080a3b306b2056e84d9baccd1db7e661e9a7e7 --- /dev/null +++ b/008819_v2/lang.txt @@ -0,0 +1 @@ +put the object on the top of the drawer diff --git a/008819_v2/object.ply b/008819_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..7c289b9e4843c98fc085740cccf9ccf2ea76797c Binary files /dev/null and b/008819_v2/object.ply differ diff --git a/008837_v2/FAIL b/008837_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/008837_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/008843_v2/FAIL b/008843_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/008843_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/008876_v2/FAIL b/008876_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/008876_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/008887_v2/FAIL b/008887_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/008887_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/008893_v2/FAIL b/008893_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/008893_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/008905_v2/FAIL b/008905_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/008905_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/008987_v2/data.json b/008987_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..a457c01ba2e292e25727f13f32c4f522ab413c1e --- /dev/null +++ b/008987_v2/data.json @@ -0,0 +1,403 @@ +{ + "action_start": 5, + "action_end": 12, + "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, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -4.4244052865849426e-12, + 3.658447850218849e-11, + 6.269441910067286e-11, + -1.8555267693807844e-07, + 2.7133114416735095e-07, + -1.4175697171633935e-07, + 1.0 + ], + [ + 0.0021360416096982693, + 0.011151853752043743, + -0.006955039784537015, + -0.007701700247382921, + -0.01824502199141998, + 0.026483829855734126, + 1.0 + ], + [ + 0.004230027358847421, + 0.012568611975222403, + -0.006667261598804684, + -0.0013397821479869388, + -0.03722649669163257, + 0.020743360420382186, + 1.0 + ], + [ + 0.004842482650685931, + 0.015757513630958876, + -0.013244689766666637, + -0.0009964812344421738, + -0.026235490991589866, + 0.030685438027368832, + 1.0 + ], + [ + 0.0005570162514243471, + 0.012487474199831289, + -0.015491157030655263, + -0.026460877186072082, + 0.010623966333569818, + 0.018763396973813844, + 1.0 + ], + [ + -0.005304587837924035, + -0.0007650406322212144, + -0.014178300123441824, + -0.008154634924153364, + 0.03242593539240829, + -0.008432446067402628, + 1.0 + ], + [ + -0.00294584425843486, + -0.005725118826354431, + -0.007624719166215252, + -0.006512711643675327, + 0.019050399402984815, + -0.014673689019165595, + 0.0 + ], + [ + 0.0065468710888321735, + -0.007154709758788874, + 0.014552749109180967, + 0.0025167647440145465, + -0.03355709844816194, + -0.02694616635102796, + 0.0 + ], + [ + 0.009705039664929305, + -0.029493336681760567, + 0.027615486149039255, + 0.01652845023518987, + -0.06301844038186388, + -0.07788957622551587, + 0.0 + ], + [ + -0.0037147328807827784, + -0.037850682340784404, + 0.01184071697763596, + -0.00261898005711292, + -0.018755161919087847, + -0.057545108537248264, + 0.0 + ], + [ + -0.015518200831599993, + -0.026678607044669393, + -0.01596748426597176, + -0.031097826105093807, + 0.04502356448422357, + -0.02667151607031549, + 0.0 + ], + [ + -0.008491732100122051, + -0.005283049768467899, + -0.01476452791722061, + 0.003007231995941674, + 0.04088108464079284, + 0.0005887046311561592, + 0.0 + ], + [ + -0.00394649648767037, + 0.00027522498437969334, + -0.009157653555242791, + 0.0016966388013623245, + 0.0378810628796455, + 0.010102205088264978, + 0.0 + ], + [ + 0.0017886908457352968, + -0.001256904045559875, + 0.00447250906702603, + 0.0016124574127813762, + -0.009163292467748906, + 0.0023119613488208897, + 1.0 + ], + [ + 0.006378081617486486, + -0.002103804138698895, + 0.025975894480727374, + -0.00727934841224913, + -0.07159573230343085, + 0.01584322639759692, + 1.0 + ], + [ + 0.0034096399789464993, + 0.002944320059443447, + 0.03374550723236542, + 0.008050354943752287, + -0.08328889966182045, + 0.028585056259652623, + 1.0 + ], + [ + -0.002494154872143217, + 0.007206014375476742, + 0.009745446449457766, + 0.024091316549766144, + -0.006587174702442381, + 0.005988712748971364, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 368.17242431640625, + 125.53878784179688 + ], + [ + 367.7060852050781, + 128.80718994140625 + ], + [ + 365.1490478515625, + 154.03662109375 + ], + [ + 355.42974853515625, + 147.2613067626953 + ], + [ + 342.890380859375, + 154.58837890625 + ], + [ + 330.8157043457031, + 165.8052978515625 + ], + [ + 317.9817199707031, + 179.9783935546875 + ], + [ + 320.1192626953125, + 184.33132934570312 + ], + [ + 320.681396484375, + 184.13319396972656 + ], + [ + 325.61798095703125, + 181.70651245117188 + ], + [ + 372.7347412109375, + 167.14453125 + ], + [ + 399.93280029296875, + 185.7362060546875 + ], + [ + 406.5186462402344, + 207.2408905029297 + ], + [ + 405.38726806640625, + 219.72634887695312 + ], + [ + 404.6015319824219, + 223.8610076904297 + ], + [ + 405.20849609375, + 222.02688598632812 + ], + [ + 411.9610595703125, + 185.66360473632812 + ], + [ + 410.6059875488281, + 155.3126220703125 + ], + [ + 408.35491943359375, + 155.98995971679688 + ] + ], + "depth_max": 1.7557718753814697, + "depth_min": 0.2242724597454071, + "intrinsic": [ + [ + 539.2863159179688, + 0.0, + 259.0 + ], + [ + 0.0, + 539.8560180664062, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 7.302072845050134e-06, + -7.221580744953826e-05, + 4.843272563448409e-06 + ], + [ + -7.304270638996968e-06, + 1.0, + -3.043145807168912e-05, + 3.694032784551382e-06 + ], + [ + 7.221558917080984e-05, + 3.043198557861615e-05, + 1.0, + -1.5394834917970002e-07 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18 + ], + "object_trajectory": [ + [ + 323.75, + 186.50001525878906 + ], + [ + 323.867431640625, + 187.0230255126953 + ], + [ + 330.433837890625, + 181.55062866210938 + ], + [ + 330.8393859863281, + 181.54537963867188 + ], + [ + 332.18927001953125, + 180.41018676757812 + ], + [ + 324.38238525390625, + 186.34872436523438 + ], + [ + 328.3360290527344, + 182.19805908203125 + ], + [ + 327.22662353515625, + 184.27877807617188 + ], + [ + 322.06353759765625, + 193.57508850097656 + ], + [ + 329.4214782714844, + 192.5330810546875 + ], + [ + 366.3053894042969, + 195.4006805419922 + ], + [ + 394.81304931640625, + 212.39187622070312 + ], + [ + 402.92071533203125, + 223.15147399902344 + ], + [ + 401.489013671875, + 233.564208984375 + ], + [ + 400.03814697265625, + 230.4463653564453 + ], + [ + 399.7857360839844, + 232.7805633544922 + ], + [ + 405.1302490234375, + 228.3737335205078 + ], + [ + 406.82952880859375, + 227.1982421875 + ], + [ + 403.3161315917969, + 223.03457641601562 + ] + ] +} \ No newline at end of file diff --git a/008987_v2/lang.txt b/008987_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..adb43631717ce5f033f84a07785bdd95be26d4a3 --- /dev/null +++ b/008987_v2/lang.txt @@ -0,0 +1 @@ +Put a corn on the burner. diff --git a/008987_v2/object.ply b/008987_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..da8f29425120c49c09bbafc43803b8821017cfe6 Binary files /dev/null and b/008987_v2/object.ply differ diff --git a/009035_v2/data.json b/009035_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..699139cf69416454f61d4e35281f8ad6fd2f7c3d --- /dev/null +++ b/009035_v2/data.json @@ -0,0 +1,549 @@ +{ + "action_start": 11, + "action_end": 19, + "object_name": "yellow 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, + 0.7323569999999999, + 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": [ + [ + -3.9837516618845825e-10, + 1.90985144365996e-11, + 6.028833543503254e-10, + 6.135532580296192e-07, + 4.014730515311157e-07, + 6.74909545511616e-08, + 1.0 + ], + [ + -0.004805508022900806, + -0.01645059729911697, + -0.002689191716351791, + -0.03567221443122642, + -0.018334494274817776, + 0.005946512024763348, + 1.0 + ], + [ + -0.010388189797861769, + -0.007965669593407394, + 0.0005571867280954601, + -0.013138315284181322, + -0.008575832884367177, + 0.0058757589785541865, + 1.0 + ], + [ + -0.0039729748163594425, + -0.017768885929311848, + -0.011560912395140698, + -0.033955687636895215, + -0.03044442867921705, + 0.005110662685881751, + 1.0 + ], + [ + 0.011459845734710428, + -0.020372651941988822, + -0.008595410117591837, + 0.003941385584124661, + 0.016025462591990856, + 0.01386942124202839, + 1.0 + ], + [ + 0.006738203303052359, + -0.0005430213460462727, + -0.010536599960690504, + 0.03793146366562102, + 0.029880104448776385, + 0.05496017792943023, + 1.0 + ], + [ + -0.0029764924801957693, + 0.007370693865682578, + -0.015027803371988648, + 0.02121914412050194, + 0.04139524489589807, + 0.03259794129966187, + 1.0 + ], + [ + -0.0027566021259536333, + 0.011008286216341664, + -0.014170779822478602, + 0.0395777714977273, + 0.028460174309939468, + 0.032999873863681424, + 1.0 + ], + [ + -0.005140062045832894, + 0.007640176967251623, + -0.010218442653530129, + 0.00722812987892128, + 0.01762305549556416, + 0.028878450967551858, + 1.0 + ], + [ + -0.004677852808883831, + -0.005714766327751183, + -0.009186327833878797, + -0.020182543617584602, + 0.006331092953814524, + 0.024151126677674863, + 1.0 + ], + [ + 8.39625777038222e-06, + -0.004875963456147202, + -0.0036617301839002303, + -0.009525111310725552, + 0.007040386666389173, + -0.0027823576182634206, + 1.0 + ], + [ + 0.0006490610570727418, + 0.0010446292721926103, + -0.0009438089067569551, + 0.006415846968034474, + 0.0027571932526137886, + -0.006629115141728717, + 0.7323569999999999 + ], + [ + -7.65827369528238e-05, + 0.006260905283563059, + 0.002410042012247579, + 0.0037792561408334672, + 0.0013231051784610658, + 0.0073920161642336436, + 0.0 + ], + [ + 0.007793834371770614, + 0.010322130843031864, + 0.0161321413140256, + 0.016046041465992766, + -0.04092669977981786, + -0.002320102904749288, + 0.0 + ], + [ + 0.022346692171876403, + 0.019065352673366325, + 0.03212349786818142, + 0.027562291716703803, + -0.0906489611731398, + 0.017118574756102192, + 0.0 + ], + [ + 0.028666193237356585, + 0.031126024180863687, + 0.008659696258066316, + 0.000936203786353102, + -0.03959107030992896, + 0.04857452523851347, + 0.0 + ], + [ + 0.013113185950368922, + 0.03192935912855211, + -0.00879996119229953, + -0.011802384105487567, + 0.012352742528298025, + 0.06139474963020302, + 0.0 + ], + [ + 0.0019485983504892168, + 0.029368708564435353, + -0.019159360953521345, + -0.028688678794137907, + 0.031600238369341095, + 0.06206590673158186, + 0.0 + ], + [ + -0.007256262396918678, + 0.012419738088929974, + -0.022687089851372962, + -0.005006025128599593, + 0.0718657321771473, + -0.00013235953815909012, + 0.0 + ], + [ + -0.0038650496858588235, + 0.0017018450371371618, + -0.012237913718262034, + -0.032588175077125456, + 0.015710461044271505, + 0.00990701669394424, + 0.0 + ], + [ + 0.0025938809957494757, + -0.018076019105337196, + 0.006342396048706803, + -0.024454770100965265, + -0.03670679903930496, + -0.03428543256749173, + 1.0 + ], + [ + 0.008437930804500282, + -0.023796140331931864, + 0.03401937908815172, + 0.019884158353284546, + -0.06448769213717946, + -0.07653228572128576, + 1.0 + ], + [ + -0.0005390217587725177, + -0.021868213857958396, + 0.0397254669270323, + 0.03238183104801992, + -0.052072124430520256, + -0.06236623558194919, + 1.0 + ], + [ + -0.014361191388218841, + -0.012603409264120347, + 0.020451991016103968, + 0.02188798275293798, + -0.007381213316822656, + -0.02715337186853081, + 1.0 + ], + [ + -0.01419107575914852, + -0.0102675317677842, + 0.0023359382254905907, + 0.043320673074755296, + 0.035453527264927696, + -0.06435873478091045, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 356.30633544921875, + 86.73725891113281 + ], + [ + 356.1157531738281, + 91.43693542480469 + ], + [ + 354.5409851074219, + 118.90830993652344 + ], + [ + 361.85546875, + 142.24221801757812 + ], + [ + 366.5468444824219, + 147.94850158691406 + ], + [ + 390.69915771484375, + 161.61358642578125 + ], + [ + 414.05072021484375, + 171.9376678466797 + ], + [ + 407.3742370605469, + 180.01327514648438 + ], + [ + 396.79852294921875, + 198.18751525878906 + ], + [ + 392.7453308105469, + 206.81362915039062 + ], + [ + 389.800048828125, + 217.34686279296875 + ], + [ + 390.4767150878906, + 220.41212463378906 + ], + [ + 389.24212646484375, + 224.24244689941406 + ], + [ + 388.26983642578125, + 224.36917114257812 + ], + [ + 386.39849853515625, + 222.46954345703125 + ], + [ + 383.92193603515625, + 196.69207763671875 + ], + [ + 372.0052795410156, + 142.6891632080078 + ], + [ + 354.4831237792969, + 113.0210952758789 + ], + [ + 324.0968322753906, + 120.00050354003906 + ], + [ + 301.2567443847656, + 128.75462341308594 + ], + [ + 291.47686767578125, + 144.8083038330078 + ], + [ + 295.52874755859375, + 152.25421142578125 + ], + [ + 298.138671875, + 159.18260192871094 + ], + [ + 329.3724365234375, + 118.13835144042969 + ], + [ + 347.80743408203125, + 97.18461608886719 + ], + [ + 339.930419921875, + 93.37031555175781 + ], + [ + 350.74560546875, + 100.86708068847656 + ] + ], + "depth_max": 1.7339022159576416, + "depth_min": 0.15976876020431519, + "intrinsic": [ + [ + 537.4368896484375, + 0.0, + 259.0 + ], + [ + 0.0, + 537.7421875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.893925390410004e-06, + -0.00010649559408193454, + 2.1255127649055794e-06 + ], + [ + -5.8973964769393206e-06, + 1.0, + -3.259128425270319e-05, + 1.7824640963226557e-07 + ], + [ + 0.00010649540490703657, + 3.259190998505801e-05, + 1.0, + -2.2100681235315278e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 26 + ], + "object_trajectory": [ + [ + 396.25, + 229.25001525878906 + ], + [ + 396.67242431640625, + 229.42047119140625 + ], + [ + 396.5706787109375, + 230.09329223632812 + ], + [ + 396.47503662109375, + 230.50262451171875 + ], + [ + 396.2671813964844, + 230.81045532226562 + ], + [ + 396.01275634765625, + 230.8349151611328 + ], + [ + 395.4151916503906, + 230.75164794921875 + ], + [ + 395.6370849609375, + 230.56007385253906 + ], + [ + 394.97052001953125, + 231.2082977294922 + ], + [ + 390.875732421875, + 230.6939239501953 + ], + [ + 386.602783203125, + 229.20632934570312 + ], + [ + 388.16131591796875, + 230.41012573242188 + ], + [ + 388.39385986328125, + 230.6250457763672 + ], + [ + 387.18292236328125, + 230.61126708984375 + ], + [ + 384.85174560546875, + 228.91830444335938 + ], + [ + 381.3985595703125, + 203.00082397460938 + ], + [ + 372.24310302734375, + 149.80706787109375 + ], + [ + 355.7706604003906, + 118.27696228027344 + ], + [ + 324.8248596191406, + 123.65750122070312 + ], + [ + 301.40374755859375, + 134.38931274414062 + ], + [ + 292.6785888671875, + 149.90284729003906 + ], + [ + 296.4287414550781, + 147.38662719726562 + ], + [ + 298.37274169921875, + 146.50469970703125 + ], + [ + 299.3990173339844, + 146.49966430664062 + ], + [ + 299.3102722167969, + 145.9778594970703 + ], + [ + 299.3199768066406, + 146.07760620117188 + ], + [ + 299.47735595703125, + 146.0255584716797 + ] + ] +} \ No newline at end of file diff --git a/009035_v2/lang.txt b/009035_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..06ee446e6eba06ef8bd8608672c1695ff86342bf --- /dev/null +++ b/009035_v2/lang.txt @@ -0,0 +1 @@ +moved the yellow pepper between the left burners diff --git a/009035_v2/object.ply b/009035_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..8e29139176b384f7aea405cc33cc74d849c40b9c Binary files /dev/null and b/009035_v2/object.ply differ diff --git a/009082_v2/FAIL b/009082_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/009082_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/009107_v2/data.json b/009107_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..ceb6ef33511af193ad2a1c47a65db4d80345595e --- /dev/null +++ b/009107_v2/data.json @@ -0,0 +1,659 @@ +{ + "action_start": 12, + "action_end": 23, + "object_name": "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, + 0.738706, + 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, + 1.6402873078740166e-07, + -1.1988004736882313e-07, + -6.844822709360933e-07, + 1.0 + ], + [ + 0.023074023572175473, + -0.01703449111142087, + -0.0003105425727102651, + 0.002482114706267409, + -0.01657612523569554, + -0.040965139487313666, + 1.0 + ], + [ + 0.024008852615083898, + -0.016926590620937543, + -0.0013150321657002112, + -0.012861120905817121, + -0.01631684534543629, + -0.024148522647337765, + 1.0 + ], + [ + 0.03256474701322337, + -0.017155735598942914, + 0.0021340487413760434, + -0.01706845867624196, + -0.08621468787822825, + 0.007487867729949726, + 1.0 + ], + [ + 0.03679965602394525, + -0.01591217019939771, + -0.0008755992051863865, + 0.006839441617436879, + -0.07387260174500025, + 0.0636912317369807, + 1.0 + ], + [ + 0.03643763417903251, + -0.010915326814486898, + -0.008692020546783412, + -0.028526045495340404, + -0.042817761621209746, + 0.056635491317492466, + 1.0 + ], + [ + 0.027609104490954828, + -0.006409663134558513, + -0.008100493962222188, + -0.003584709750569483, + -0.03192538972361271, + -0.007524018150887356, + 1.0 + ], + [ + 0.01882094657972294, + 0.002294545053246541, + -0.0003544924930579743, + 0.034633632795877035, + -0.04249908775545909, + 0.023302156772405828, + 1.0 + ], + [ + 0.0115011033031443, + 0.0062878945456426305, + 0.003941860830743303, + 0.007144441044552031, + -0.004267128517497183, + 0.009962016233627054, + 1.0 + ], + [ + 0.004095032417941291, + 0.0026691127688450653, + -0.0026275825574190274, + -0.005491893649311697, + -0.005353950945573074, + 0.027376086907641994, + 1.0 + ], + [ + 0.0022536444127678745, + -0.0036122423350124083, + -0.0043809970413213346, + 0.0004657069773572788, + 0.01509766645238328, + -0.00629048997701247, + 1.0 + ], + [ + 0.0020362367748045784, + -0.0037449079287724396, + -0.006432807442924029, + 0.00442023049815597, + -0.0038271423616575823, + -0.0021859731407857, + 1.0 + ], + [ + -0.005926666496278377, + 0.0005318756448124684, + -0.018204181908407738, + -0.009778824534163861, + 0.04319593155077346, + -0.006239372068497671, + 1.0 + ], + [ + -0.002701469760096553, + 0.0018183693797013054, + -0.0016862392948983895, + 0.003974416452976715, + -0.004924482188502001, + -0.005226830750620529, + 0.0 + ], + [ + -0.0004377550642671313, + 0.0009411013060543413, + 0.004503380343924904, + 0.011736373224167177, + -0.0007353551174032044, + -0.017071504631262512, + 0.0 + ], + [ + -0.0031307482771127937, + 0.0023193359855539983, + 0.0088462979232476, + 0.0008088831060177419, + 0.0008317361841239703, + -0.007144770296558239, + 0.0 + ], + [ + 0.0028822120085555403, + 0.021886743959691715, + 0.01378079873563461, + 0.010430631387589985, + -0.03426428560610845, + 0.036615350830993904, + 0.0 + ], + [ + 0.009020228378389172, + 0.04063169523236087, + 0.009411392970415263, + -0.006091371941244954, + -0.04141302934196477, + 0.07383011375064434, + 0.0 + ], + [ + 0.010034498620327958, + 0.050629532290547084, + 0.00690332103512515, + 0.004921925695701083, + -0.013464132615749438, + 0.0794834652414451, + 0.0 + ], + [ + 0.00592565414518198, + 0.04342489816981136, + 0.00021430640638427437, + -0.013098415573046526, + -0.002959987574001017, + 0.07541312806095996, + 0.0 + ], + [ + 0.00020316930398633914, + 0.03277142796526203, + -0.002920138446401088, + -0.012766300390164515, + -0.005076686389056698, + 0.05924589879994629, + 0.0 + ], + [ + -0.00910158050092491, + 0.015435461654495747, + -0.008890173289220923, + 0.00027344463849173194, + 0.03228005295996171, + 0.016230605766946953, + 0.0 + ], + [ + -0.0049400375195933766, + 0.0010057682025202408, + -0.0036663874512463286, + -0.012239527726710083, + 0.01836407119817007, + -0.00010147213477667884, + 0.0 + ], + [ + -0.003179294591730053, + -0.007332750513936365, + 0.005043688799188834, + -0.0010127204769259923, + 0.005946851222448853, + -0.0241277305750919, + 0.738706 + ], + [ + 0.005739477942612647, + -0.018537504588375192, + 0.011825661651845046, + -0.006350482405523884, + -0.02813556085214486, + -0.03947678780957918, + 1.0 + ], + [ + -0.0033069057246126743, + -0.017636528425914594, + 0.023970261926947095, + 0.012020815876605567, + -0.032357535781135184, + -0.050960171405631347, + 1.0 + ], + [ + -0.028320829310173767, + -0.016946166938779456, + 0.02393435174172042, + 0.05290183626932568, + 0.044936741024981165, + -0.09887894737260713, + 1.0 + ], + [ + -0.03938379129910391, + -0.025027590046816622, + 0.0011066804682335063, + -0.012671750183891137, + 0.07038778112931612, + -0.08487800866936067, + 1.0 + ], + [ + -0.038727467679459504, + -0.009115101618399069, + -0.006812831261402036, + 0.04888551449157459, + 0.09648329367774622, + -0.044148948953508564, + 1.0 + ], + [ + -0.030459809818412287, + -0.014420962336030158, + -0.0068982079782751934, + -0.00158717302434038, + 0.020615289499573804, + -0.021576011003203156, + 1.0 + ], + [ + -0.01786885434386265, + -0.00952726559677805, + -0.0036102178967189896, + -0.002987588587407182, + 0.011629350559075175, + -0.032746983201807384, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 239.66818237304688, + 158.47280883789062 + ], + [ + 239.32400512695312, + 165.6334228515625 + ], + [ + 246.93875122070312, + 169.72482299804688 + ], + [ + 292.441650390625, + 164.71475219726562 + ], + [ + 323.33184814453125, + 152.0458526611328 + ], + [ + 359.18951416015625, + 135.0480499267578 + ], + [ + 392.5406494140625, + 127.38095092773438 + ], + [ + 409.1005859375, + 123.92410278320312 + ], + [ + 422.1051025390625, + 118.23042297363281 + ], + [ + 426.02423095703125, + 108.53616333007812 + ], + [ + 428.7357177734375, + 103.93147277832031 + ], + [ + 428.35107421875, + 106.50517272949219 + ], + [ + 427.031494140625, + 112.67991638183594 + ], + [ + 425.1500244140625, + 120.39629364013672 + ], + [ + 429.85589599609375, + 127.5094223022461 + ], + [ + 432.9068298339844, + 128.3678741455078 + ], + [ + 429.71563720703125, + 130.8907928466797 + ], + [ + 428.2916259765625, + 133.2412872314453 + ], + [ + 417.69036865234375, + 121.754638671875 + ], + [ + 370.04180908203125, + 81.70407104492188 + ], + [ + 326.657958984375, + 62.88191223144531 + ], + [ + 307.38250732421875, + 60.598243713378906 + ], + [ + 283.01531982421875, + 62.02581024169922 + ], + [ + 271.757080078125, + 63.731781005859375 + ], + [ + 275.6085205078125, + 75.71851348876953 + ], + [ + 275.4190979003906, + 77.93270874023438 + ], + [ + 274.9889831542969, + 72.67156982421875 + ], + [ + 282.9151306152344, + 50.76947784423828 + ], + [ + 287.1473388671875, + 46.99050521850586 + ], + [ + 272.4259033203125, + 67.94951629638672 + ], + [ + 266.80126953125, + 91.06278991699219 + ], + [ + 261.1517028808594, + 107.07095336914062 + ], + [ + 259.2517395019531, + 113.64806365966797 + ] + ], + "depth_max": 1.74469792842865, + "depth_min": 0.21983931958675385, + "intrinsic": [ + [ + 544.2677612304688, + 0.0, + 259.0 + ], + [ + 0.0, + 544.8126831054688, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.0956184269161895e-05, + -3.961212860303931e-05, + 8.296177838928998e-06 + ], + [ + -1.0957128324662335e-05, + 1.0, + -2.3847904230933636e-05, + 2.5325709884782555e-06 + ], + [ + 3.96118666685652e-05, + 2.384833715041168e-05, + 1.0, + 5.530395355890505e-06 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 32 + ], + "object_trajectory": [ + [ + 464.5, + 140.25001525878906 + ], + [ + 464.55413818359375, + 140.52523803710938 + ], + [ + 464.5538330078125, + 140.3968505859375 + ], + [ + 464.6799011230469, + 140.20411682128906 + ], + [ + 464.6881103515625, + 140.14292907714844 + ], + [ + 464.8621520996094, + 139.92774963378906 + ], + [ + 465.3547668457031, + 140.1264190673828 + ], + [ + 466.0762939453125, + 139.91690063476562 + ], + [ + 467.058837890625, + 138.68560791015625 + ], + [ + 464.4920349121094, + 134.14703369140625 + ], + [ + 465.4212646484375, + 133.07196044921875 + ], + [ + 465.36456298828125, + 133.05081176757812 + ], + [ + 464.19427490234375, + 133.8306884765625 + ], + [ + 462.29095458984375, + 136.57510375976562 + ], + [ + 461.54840087890625, + 138.61083984375 + ], + [ + 465.4653015136719, + 142.2714385986328 + ], + [ + 466.6078186035156, + 152.04852294921875 + ], + [ + 466.3395690917969, + 158.451904296875 + ], + [ + 455.77093505859375, + 148.85089111328125 + ], + [ + 421.4755554199219, + 114.1572036743164 + ], + [ + 379.04595947265625, + 93.4887466430664 + ], + [ + 353.32904052734375, + 91.32383728027344 + ], + [ + 334.29132080078125, + 89.72251892089844 + ], + [ + 327.46124267578125, + 90.62354278564453 + ], + [ + 328.50506591796875, + 95.54019165039062 + ], + [ + 328.4490966796875, + 97.5249252319336 + ], + [ + 329.5365905761719, + 96.61968231201172 + ], + [ + 330.8697204589844, + 96.6528091430664 + ], + [ + 328.44671630859375, + 97.78764343261719 + ], + [ + 327.81884765625, + 97.95066833496094 + ], + [ + 346.4730224609375, + 101.89968872070312 + ], + [ + 356.9953308105469, + 99.45927429199219 + ], + [ + 347.70574951171875, + 98.14363861083984 + ] + ] +} \ No newline at end of file diff --git a/009107_v2/lang.txt b/009107_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..b8e8ab68db0cbb38cd2f953ed9345f04f6be6c4d --- /dev/null +++ b/009107_v2/lang.txt @@ -0,0 +1 @@ +move the pot to the top left burner diff --git a/009130_v2/data.json b/009130_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..a4ca90db7cb2b7c04d9e3767ec7f736ba8405359 --- /dev/null +++ b/009130_v2/data.json @@ -0,0 +1,568 @@ +{ + "action_start": 10, + "action_end": 19, + "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, + 0.796581, + 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, + -1.3877787807814457e-17, + 6.938893903907228e-18, + -4.0370563468514855e-08, + -5.068466198786485e-07, + 2.4012514996913036e-07, + 1.0 + ], + [ + 0.009415296736756174, + 0.015157026486488742, + 0.0016351670163828047, + 0.0325260073945388, + 0.010094843255535484, + 0.051493899272756244, + 1.0 + ], + [ + 0.027249023981593568, + 0.01713616009346643, + 0.004987561808900368, + 0.020718656828156122, + -0.005374899099214675, + 0.03553311490926619, + 1.0 + ], + [ + 0.02194511710670982, + 0.01998619072077744, + -0.005288345082642001, + 0.015640008691374666, + -0.021463827798766363, + 0.07117984392918845, + 1.0 + ], + [ + 0.010459667922895655, + 0.02488304467707172, + -0.0008713165385612846, + 0.026309074948623785, + 0.003626616820176858, + 0.07357773617460975, + 1.0 + ], + [ + 0.004512593032561019, + 0.01824474902727518, + -0.011820142181330883, + 0.01693938921752017, + 0.0013480544468697027, + 0.06419371302212973, + 1.0 + ], + [ + 0.0026745500941109945, + 0.011889473938928079, + -0.013720064623971656, + 0.007396438291795046, + 0.00829504191550571, + 0.026564848979804347, + 1.0 + ], + [ + -0.0008810903586932706, + 0.004190910614969769, + -0.01259204014999006, + 0.018299991897945893, + 0.03572068429895335, + 0.010365382982231754, + 1.0 + ], + [ + -0.0014557521767357695, + -0.006784403457085794, + -0.017373637843711147, + -0.03393223689105074, + 0.03303451102433167, + 0.007542962916709174, + 1.0 + ], + [ + 0.0034039868504781023, + -0.009600767173526203, + -0.008816139156076305, + -0.02647640255975432, + 0.01259523529319497, + -0.009384288992987357, + 1.0 + ], + [ + 0.005375316942838382, + -0.009914202548571081, + -0.00526431909553924, + 0.016301039038347457, + -0.012116768188207968, + -0.040247778938557834, + 0.796581 + ], + [ + 0.005299689041902089, + -0.005198920850149787, + 0.011535649802533098, + -0.008347977771033042, + -0.0111984166334146, + -0.015162055286492487, + 0.0 + ], + [ + 0.005007247561018446, + 0.007103032139283351, + 0.01776750939177716, + 0.020333020778459377, + -0.04057775833162109, + -0.030493636942407774, + 0.0 + ], + [ + -0.005189283322716343, + 0.03145869758284349, + 0.032126961993484804, + 0.051938016603846886, + -0.06091732945325307, + -0.04480854166258826, + 0.0 + ], + [ + -0.029188854860427216, + 0.04586471181721712, + 0.008130872629597954, + 0.018866851721204093, + -0.031782474164155736, + 0.05724405665900764, + 0.0 + ], + [ + -0.023053772662419925, + 0.03727377936035477, + 0.002289789304985225, + 0.00433527908423712, + 0.0421155458704828, + 0.07414965793441793, + 0.0 + ], + [ + -0.01828661323269326, + 0.028774708123434134, + -0.01290195519880032, + 0.01382162339926972, + 0.044995649386844465, + 0.050853223285597236, + 0.0 + ], + [ + -0.01116439130960395, + 0.014064021763069368, + -0.015856300251197983, + -0.026934391464605408, + 0.032747916890778536, + -0.0005654643731209852, + 0.0 + ], + [ + -0.0059520491223984395, + 0.005111892922583627, + -0.01503010770755774, + -0.024211300193865398, + 0.052117404039993744, + 0.01378992623282787, + 0.0 + ], + [ + -0.0014039256798103472, + 0.0031530340496943865, + -0.012229203188831247, + -0.03576221514728748, + 0.00830080488167094, + 0.013023565290514308, + 0.0 + ], + [ + 0.005337239694037654, + -0.007094967019180443, + 0.0025963751220009733, + 0.009915727839573842, + -0.01466946311141929, + -0.02405556749618991, + 1.0 + ], + [ + 0.01055419963506865, + -0.015373266590022, + 0.0314292687870063, + 0.034216291546477394, + -0.06563636514138226, + -0.03399653476538794, + 1.0 + ], + [ + 0.001024773966134096, + -0.015571291659781467, + 0.032064322937399206, + 0.029162566485570467, + -0.01826252007652846, + -0.05257208861119562, + 1.0 + ], + [ + -0.003156775483577401, + -0.023031807903061113, + 0.015188141259520439, + -0.01179950010156679, + -0.04702042709728138, + -0.03595357191598938, + 1.0 + ], + [ + -0.004807749090797397, + -0.019836240839085, + -0.003278136935070562, + -0.039548202799719975, + 0.020460385963255036, + -0.06638650586307171, + 1.0 + ], + [ + -0.0022583055553277998, + -0.011259641921691571, + -0.009342235351863347, + 0.03382354241776711, + 0.07459875031694048, + -0.10564568596673028, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 457.5497131347656, + 168.79833984375 + ], + [ + 455.1372985839844, + 175.5514373779297 + ], + [ + 445.58544921875, + 191.19430541992188 + ], + [ + 442.8812255859375, + 163.60348510742188 + ], + [ + 432.5834045410156, + 144.69723510742188 + ], + [ + 412.854248046875, + 133.17453002929688 + ], + [ + 394.8410339355469, + 127.65674591064453 + ], + [ + 380.54986572265625, + 140.58111572265625 + ], + [ + 373.2201843261719, + 145.31898498535156 + ], + [ + 373.8570251464844, + 158.74569702148438 + ], + [ + 378.43206787109375, + 169.84657287597656 + ], + [ + 379.6165466308594, + 169.06011962890625 + ], + [ + 384.6025695800781, + 166.18731689453125 + ], + [ + 386.8133239746094, + 165.89544677734375 + ], + [ + 381.50421142578125, + 159.48594665527344 + ], + [ + 352.955322265625, + 121.58147430419922 + ], + [ + 280.2445983886719, + 120.35783386230469 + ], + [ + 246.97021484375, + 124.69403076171875 + ], + [ + 224.97906494140625, + 125.52617645263672 + ], + [ + 211.01947021484375, + 144.78097534179688 + ], + [ + 212.91278076171875, + 153.36383056640625 + ], + [ + 211.6791229248047, + 154.32537841796875 + ], + [ + 211.89675903320312, + 162.11952209472656 + ], + [ + 219.82696533203125, + 122.03890991210938 + ], + [ + 238.8399658203125, + 108.283203125 + ], + [ + 246.78443908691406, + 108.80491638183594 + ], + [ + 259.6109924316406, + 118.44453430175781 + ], + [ + 270.985107421875, + 120.23176574707031 + ] + ], + "depth_max": 1.7168793678283691, + "depth_min": 0.20383155345916748, + "intrinsic": [ + [ + 550.2216186523438, + 0.0, + 259.0 + ], + [ + 0.0, + 550.7118530273438, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 5.395540938479826e-06, + -9.990957914851606e-05, + 7.734928658464924e-06 + ], + [ + -5.397580025601201e-06, + 1.0, + -2.0407724150572903e-05, + -5.668653102475218e-07 + ], + [ + 9.990946273319423e-05, + 2.0408262571436353e-05, + 1.0, + -9.024131031765137e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27 + ], + "object_trajectory": [ + [ + 359.25, + 159.00001525878906 + ], + [ + 359.2681884765625, + 159.31216430664062 + ], + [ + 359.2159118652344, + 158.99069213867188 + ], + [ + 359.421142578125, + 159.11209106445312 + ], + [ + 359.39361572265625, + 158.97488403320312 + ], + [ + 359.3898620605469, + 159.2308807373047 + ], + [ + 359.52984619140625, + 159.46646118164062 + ], + [ + 359.9932556152344, + 159.8669891357422 + ], + [ + 360.0935363769531, + 160.4519805908203 + ], + [ + 361.9867248535156, + 162.90036010742188 + ], + [ + 372.3193359375, + 165.98736572265625 + ], + [ + 376.5316162109375, + 168.5565643310547 + ], + [ + 381.76953125, + 166.10147094726562 + ], + [ + 384.6402587890625, + 165.11154174804688 + ], + [ + 379.98828125, + 160.0917510986328 + ], + [ + 352.2005310058594, + 122.57511901855469 + ], + [ + 280.0415344238281, + 120.3145751953125 + ], + [ + 246.07138061523438, + 124.02105712890625 + ], + [ + 224.1326904296875, + 123.54759216308594 + ], + [ + 211.29196166992188, + 143.16549682617188 + ], + [ + 212.94979858398438, + 151.82981872558594 + ], + [ + 209.54896545410156, + 147.814208984375 + ], + [ + 211.5731658935547, + 151.0124969482422 + ], + [ + 207.10205078125, + 140.90972900390625 + ], + [ + 206.29949951171875, + 140.2019500732422 + ], + [ + 206.0265655517578, + 140.42861938476562 + ], + [ + 205.876220703125, + 140.09056091308594 + ], + [ + 205.84353637695312, + 139.88095092773438 + ] + ] +} \ No newline at end of file diff --git a/009130_v2/lang.txt b/009130_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f54fd91b549bd45668023e391016457d0303bba8 --- /dev/null +++ b/009130_v2/lang.txt @@ -0,0 +1 @@ +move the red object to the lower left burner diff --git a/009130_v2/object.ply b/009130_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..5d96d000879ed12c323b3d6cf1afffc73863c6ae Binary files /dev/null and b/009130_v2/object.ply differ diff --git a/009193_v2/FAIL b/009193_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/009193_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/009204_v2/FAIL b/009204_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/009204_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/009207_v2/FAIL b/009207_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/009207_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/009255_v2/FAIL b/009255_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/009255_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/009332_v2/FAIL b/009332_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/009332_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/009332_v2/data.json b/009332_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..eea2cf7b71ba46c1e4d811472c16a0d0c9711eb1 --- /dev/null +++ b/009332_v2/data.json @@ -0,0 +1,586 @@ +{ + "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, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 0.0, + -6.938893903907228e-18, + -5.204170427930421e-18, + 1.5177816097449017e-07, + 5.08584312686258e-07, + 1.8549265875869737e-07, + 1.0 + ], + [ + 0.005289042388946008, + 0.035644859216188735, + 0.0055360294351252445, + 0.025884395698273513, + 0.01366170629202958, + 0.06118696867694668, + 1.0 + ], + [ + 0.004630908385506172, + 0.03322510398929894, + 0.00424521741872015, + -0.010414119665019326, + -0.0285328067112238, + 0.06807258369891131, + 1.0 + ], + [ + 0.004543834125269763, + 0.03247681454113249, + 0.009892738805531128, + 0.028128222592855422, + -0.008812712079705888, + 0.04392285095365491, + 1.0 + ], + [ + -0.0006230998144389766, + 0.02139234430505471, + -0.0015390115964848562, + -0.002528635703657303, + 0.000145212311538891, + 0.03418362518249278, + 1.0 + ], + [ + 0.0018878585897609268, + 0.014106952702331005, + -0.006652107931379228, + -0.00796763722835991, + 0.04941612799449724, + 0.025603133973025584, + 1.0 + ], + [ + -0.002086152254646534, + 0.01942393709620152, + -0.00397408950925883, + 0.015620460260405492, + 0.010144646728583884, + 0.036354289024790994, + 1.0 + ], + [ + -0.006238920494502531, + 0.012844353335804803, + -0.005613056696911124, + 0.007839966302533806, + 0.037934527716045746, + 0.03223391645233752, + 1.0 + ], + [ + -0.0018675240858793685, + 0.005425276560807574, + -0.004222580633284578, + -0.01475763106672369, + -0.007290805636134257, + 0.004958192112069469, + 1.0 + ], + [ + -0.0021133017891565853, + -0.0028884323171569914, + -0.0063419407772348155, + -0.011650422507623293, + 0.037599200543270324, + -0.008694051992131522, + 1.0 + ], + [ + 0.0005004751462500123, + -0.004892208306243845, + -0.007461073690814113, + -0.009471140161783756, + 0.0005549226299839675, + -0.010174346378109654, + 0.0 + ], + [ + 0.0014825854687542939, + -0.005044850149915292, + -0.0046117847096374676, + 0.001362147617057378, + 0.007445101677054957, + -0.010488969497646128, + 0.0 + ], + [ + 0.003087211278418822, + -0.013843750548297867, + 0.012053545451890645, + 0.020832879977290057, + -0.0441227192016335, + -0.03672885229937537, + 0.0 + ], + [ + 0.016245269172063648, + -0.03134982644278028, + 0.03062087632379649, + 0.030899621197472953, + -0.09822721583755034, + -0.08527925470090682, + 0.0 + ], + [ + 0.003964088561864976, + -0.05441996180572575, + 0.019594915151109865, + 0.022889442661593845, + -0.0370326684805689, + -0.07245777717262382, + 0.0 + ], + [ + -0.013416829574942002, + -0.04816940348023738, + -0.010034997023942178, + -0.0036635034296583252, + 0.061566202518855605, + -0.02109559208525689, + 0.0 + ], + [ + -0.009227088307339926, + -0.031474696699149415, + -0.013124119751393007, + -0.025967380737080367, + 0.028418040616682495, + -0.048934951229896564, + 0.0 + ], + [ + -0.008000914685619698, + -0.027137243937818772, + -0.011795359385059994, + -0.0011560239117778268, + 0.02052820924053257, + -0.05548888364130964, + 0.0 + ], + [ + 0.0066446372057104575, + -0.021648663750826524, + -0.011234272837502203, + 0.004529876907362815, + 0.019458125230019368, + -0.03275062810368246, + 0.0 + ], + [ + 0.010996089502151363, + -0.002796363344684012, + -0.01784282392906938, + -0.012989310035811504, + 0.03271724086219324, + 0.003864088885365781, + 0.0 + ], + [ + -0.000998226203181185, + 0.005017259388056681, + -0.004600516089529917, + -0.001952898152140496, + 0.044879767132459635, + 0.0319890041076949, + 0.0 + ], + [ + 0.003083032949951381, + -0.009615426407817814, + -0.00974435154403928, + -0.020749637568227026, + -0.027093428202632535, + 0.02429371904648335, + 1.0 + ], + [ + -0.0061648733931093935, + -0.0011359538392737888, + 0.0361141602345319, + 0.006479242206017539, + -0.039696154493235096, + 0.042208675384216736, + 1.0 + ], + [ + -0.007400140304430924, + -0.0045653123114176054, + 0.02138081499850394, + -0.04528319684702963, + -0.052550961171807097, + 0.028619718755036914, + 1.0 + ], + [ + -0.01266117157683494, + -0.003771457338528423, + 0.014586544848478444, + -0.03744335020315394, + -0.015775846502802417, + -0.008375423388321404, + 1.0 + ], + [ + -0.006867663821723269, + -0.0026670257990526816, + 0.004184359334965738, + -0.0385403291755021, + -0.013579575503538008, + -0.072489608719223, + 1.0 + ], + [ + -0.011572158200078508, + 0.004948920295257206, + -0.0008599405241073868, + 0.23395317715371808, + -0.0047397777205305195, + 0.05829361715658603, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 343.81256103515625, + 170.44937133789062 + ], + [ + 341.7523193359375, + 178.294189453125 + ], + [ + 335.8005065917969, + 183.40245056152344 + ], + [ + 307.4895324707031, + 159.61651611328125 + ], + [ + 275.67138671875, + 145.81619262695312 + ], + [ + 255.50608825683594, + 128.148193359375 + ], + [ + 240.23651123046875, + 131.50555419921875 + ], + [ + 232.74581909179688, + 131.93165588378906 + ], + [ + 211.8380889892578, + 131.94813537597656 + ], + [ + 203.70086669921875, + 137.28152465820312 + ], + [ + 202.38938903808594, + 144.64501953125 + ], + [ + 202.4267578125, + 146.67648315429688 + ], + [ + 200.996337890625, + 143.2626953125 + ], + [ + 200.54296875, + 143.43890380859375 + ], + [ + 212.4393310546875, + 154.84085083007812 + ], + [ + 263.556396484375, + 135.52972412109375 + ], + [ + 306.9149475097656, + 147.03077697753906 + ], + [ + 340.1114501953125, + 183.56491088867188 + ], + [ + 356.3731689453125, + 208.9311065673828 + ], + [ + 385.3124084472656, + 217.21206665039062 + ], + [ + 402.96380615234375, + 230.80764770507812 + ], + [ + 405.82684326171875, + 229.88308715820312 + ], + [ + 405.16522216796875, + 227.85928344726562 + ], + [ + 402.02410888671875, + 226.83966064453125 + ], + [ + 406.3292236328125, + 228.26226806640625 + ], + [ + 409.37725830078125, + 217.38172912597656 + ], + [ + 411.888916015625, + 217.6709442138672 + ], + [ + 387.3687438964844, + 215.89999389648438 + ], + [ + 397.7992858886719, + 222.4901580810547 + ] + ], + "depth_max": 1.7043153047561646, + "depth_min": 0.1016058623790741, + "intrinsic": [ + [ + 545.0811157226562, + 0.0, + 259.0 + ], + [ + 0.0, + 545.483642578125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.0219842554070055e-05, + -0.00010066272807307541, + 7.99858844402479e-06 + ], + [ + -2.022236367338337e-05, + 1.0, + -2.505960401322227e-05, + -1.4623119568568654e-06 + ], + [ + 0.00010066221875604242, + 2.5061637643375434e-05, + 1.0, + -1.5951660316204652e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 28 + ], + "object_trajectory": [ + [ + 208.0, + 150.75 + ], + [ + 208.4316864013672, + 150.6923065185547 + ], + [ + 209.25131225585938, + 152.83148193359375 + ], + [ + 208.37208557128906, + 150.55630493164062 + ], + [ + 208.20281982421875, + 150.7493896484375 + ], + [ + 208.95892333984375, + 152.7836151123047 + ], + [ + 208.8709259033203, + 152.97544860839844 + ], + [ + 208.56222534179688, + 153.29957580566406 + ], + [ + 207.8680419921875, + 151.0422821044922 + ], + [ + 213.86309814453125, + 149.94085693359375 + ], + [ + 213.6064910888672, + 149.90682983398438 + ], + [ + 213.20774841308594, + 150.15060424804688 + ], + [ + 211.07733154296875, + 150.89430236816406 + ], + [ + 210.00665283203125, + 151.3427276611328 + ], + [ + 218.25320434570312, + 159.69961547851562 + ], + [ + 247.99183654785156, + 154.5800323486328 + ], + [ + 286.72686767578125, + 167.908447265625 + ], + [ + 319.2486877441406, + 202.91836547851562 + ], + [ + 334.6547546386719, + 224.65565490722656 + ], + [ + 365.2342834472656, + 231.8285675048828 + ], + [ + 383.44110107421875, + 243.60752868652344 + ], + [ + 388.1695556640625, + 242.08070373535156 + ], + [ + 389.4500732421875, + 239.47311401367188 + ], + [ + 389.57763671875, + 240.18206787109375 + ], + [ + 389.980712890625, + 238.9060516357422 + ], + [ + 391.035400390625, + 237.34645080566406 + ], + [ + 391.71063232421875, + 238.15969848632812 + ], + [ + 390.0140380859375, + 239.9625701904297 + ], + [ + 389.40863037109375, + 234.53416442871094 + ] + ] +} \ No newline at end of file diff --git a/009332_v2/lang.txt b/009332_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..3a20e0e66238c370ef70cebb77f5a5f3c013d589 --- /dev/null +++ b/009332_v2/lang.txt @@ -0,0 +1 @@ +picked up the blue fork and moved it to the bottom right burner diff --git a/009332_v2/object.ply b/009332_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..dcb863e52afdf533598ecac434570582b5b8d6b0 Binary files /dev/null and b/009332_v2/object.ply differ diff --git a/009348_v2/FAIL b/009348_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/009348_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/009380_v2/data.json b/009380_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..b32e03a4c44cbbec79f973e0c9af999296a33cd7 --- /dev/null +++ b/009380_v2/data.json @@ -0,0 +1,659 @@ +{ + "action_start": 14, + "action_end": 24, + "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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.40512800000000004, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -2.40362951764439e-10, + 3.365175638148088e-10, + -3.569050948878938e-10, + 4.168940148515848e-07, + -3.645488880837243e-07, + 2.12296167721405e-07, + 1.0 + ], + [ + 0.0032503980811832145, + 0.00165126025449433, + 0.011937961677511075, + 0.010515690876184904, + -0.021643947880318908, + 0.005708743968422974, + 1.0 + ], + [ + 0.004595166892303049, + -0.0007780026637076443, + 0.009194853324588902, + 0.006270122582361678, + -0.01732961305748396, + -0.007444373145815081, + 1.0 + ], + [ + 0.009340931159569743, + -0.0042104788281396854, + 0.0164369637682353, + 0.016660777526944098, + -0.05036717330980506, + -0.019478037338072993, + 1.0 + ], + [ + 0.007215857766148026, + -0.008154313031165428, + 0.019665295149884188, + 0.004931307757859417, + -0.05432198925978247, + -0.017957164855796202, + 1.0 + ], + [ + 0.008339459549845163, + -0.011281057107070197, + 0.016328852860832802, + 0.013874653370151016, + -0.041281632352217455, + -0.03512343775387886, + 1.0 + ], + [ + 0.002228818405205002, + -0.013488663968894976, + 0.004205661585771077, + 0.006641726280567936, + -0.009578530693046417, + -0.03938635721565244, + 1.0 + ], + [ + -0.0022369413965596663, + -0.02395388839182372, + -0.009727251922682707, + 0.002695357631922918, + 0.023229738417290854, + -0.051296512847780265, + 1.0 + ], + [ + -0.008009510571983014, + -0.03919484823299399, + -0.018381438248198715, + -0.007316369040735046, + 0.04489112880866631, + -0.07177309009527295, + 1.0 + ], + [ + -0.008841429755541641, + -0.03803217320973881, + -0.016896242912940344, + -0.007248006805357194, + 0.0549348727513768, + -0.05005391371803831, + 1.0 + ], + [ + -0.0100491808862605, + -0.03211321615913525, + -0.010256320476606498, + -0.01613665485038197, + 0.029801136975437792, + -0.035770924042848276, + 1.0 + ], + [ + -0.00127668368508016, + -0.020898652762381363, + -0.013976439662901439, + -0.005984260534932429, + 0.041468993336826486, + -0.010038724961453813, + 1.0 + ], + [ + 0.0037480421601936986, + -0.003546466059945772, + -0.015283255492901979, + -0.0022920622802537326, + 0.042300211335411335, + 0.012347799230217395, + 1.0 + ], + [ + 0.003933576682736195, + -0.0013065480451520724, + -0.006363856209415243, + -0.009611168389502083, + 0.018299652024150872, + 0.009011315720062673, + 1.0 + ], + [ + 0.0011984086724403098, + -0.0004507845314728892, + -0.01297716845490416, + -0.00881840679758572, + 0.03729422571726877, + 0.005837415704914828, + 1.0 + ], + [ + -0.002645954830173769, + 0.0070783150794540275, + -0.008323444678053182, + -0.0036286845103420955, + 0.014242687153045748, + 0.01360926652650211, + 0.0 + ], + [ + -0.003404370106697918, + 0.008784562348841164, + 0.004245182351618408, + 0.026046330150406024, + -0.02723505982072601, + -0.009378510687582072, + 0.0 + ], + [ + 0.0031036061943143234, + 0.003498059255165771, + 0.007923655376426909, + 0.01144128148375328, + -0.10280441071107337, + -0.021163108581592486, + 0.0 + ], + [ + 0.020624718683655008, + -0.006286814057353742, + 0.015952352731134236, + 0.0104878915374223, + -0.1255753683415695, + -0.021480801874993963, + 0.0 + ], + [ + 0.031051251731334217, + -0.007434902447025003, + 0.005460718534963618, + 0.013844817558054579, + -0.04956947366459032, + -0.04248393060168007, + 0.0 + ], + [ + 0.023637182982191363, + 0.003853139907899412, + 0.0007580014053576584, + 0.0069443525344037894, + -0.024777239761969008, + 0.002851933657213489, + 0.0 + ], + [ + 0.01967969209804915, + 0.006227799642274099, + -0.004264784674794287, + -0.015810438419585734, + -0.009064981214161754, + 0.008416208306623929, + 0.0 + ], + [ + 0.015665825724714366, + 0.0032542429707002087, + -0.010706369731867352, + -0.0019661930969605778, + 0.02126506132082168, + 0.007962118940013363, + 0.0 + ], + [ + 0.010038592670048696, + 0.0024661807450450865, + -0.010704988467226485, + -0.003069483522002826, + 0.02202017148391081, + 0.0065316018007036325, + 0.0 + ], + [ + 0.003070978392601953, + 0.007328430329927299, + -0.006905192053312581, + 0.007643506532506173, + 0.02651279858470068, + 0.008660444568309594, + 0.40512800000000004 + ], + [ + -0.0030372685054658732, + 0.0025467529757704777, + 0.0056972778407389305, + -0.0048933905935442685, + -0.0030676821116426174, + 0.010737200251399496, + 1.0 + ], + [ + -0.010538306832813593, + -0.0017530656570733175, + 0.017706478656240518, + -0.01639545465155037, + -0.03129890210660518, + -0.005575113281356619, + 1.0 + ], + [ + -0.01915221539767703, + -0.004225665867682204, + 0.022674869320099274, + -0.028412167989058316, + -0.0464806041287479, + -0.006914005223429731, + 1.0 + ], + [ + -0.02771396116475766, + -0.0012351366495656595, + 0.014801359166549476, + -0.026893079926667177, + 0.0016702302445273287, + -0.004419032798062369, + 1.0 + ], + [ + -0.030688547085087836, + 0.002424175658418043, + 0.00015259871184926388, + -0.014049148807755754, + 0.04377051306802987, + 0.004156224059623795, + 1.0 + ], + [ + -0.025217807886618426, + 0.0067328476307278035, + -0.008553640803394831, + 0.02116915804897554, + 0.06789678853559078, + 0.003955269813733285, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 207.2541046142578, + 125.12838745117188 + ], + [ + 206.99246215820312, + 128.77859497070312 + ], + [ + 206.60260009765625, + 128.57867431640625 + ], + [ + 206.18873596191406, + 129.25973510742188 + ], + [ + 207.68215942382812, + 129.67416381835938 + ], + [ + 218.29820251464844, + 116.50308990478516 + ], + [ + 229.45266723632812, + 92.51850891113281 + ], + [ + 242.41928100585938, + 86.90321350097656 + ], + [ + 260.20947265625, + 99.7940673828125 + ], + [ + 286.9954833984375, + 133.86231994628906 + ], + [ + 324.246337890625, + 170.93011474609375 + ], + [ + 346.994140625, + 194.4433135986328 + ], + [ + 373.58599853515625, + 207.7890625 + ], + [ + 384.5953063964844, + 217.94390869140625 + ], + [ + 387.6258239746094, + 225.04318237304688 + ], + [ + 390.1995849609375, + 234.99722290039062 + ], + [ + 389.33551025390625, + 238.31253051757812 + ], + [ + 389.3560791015625, + 237.82968139648438 + ], + [ + 383.7368469238281, + 239.38453674316406 + ], + [ + 381.35614013671875, + 230.02178955078125 + ], + [ + 397.89422607421875, + 197.06585693359375 + ], + [ + 412.18804931640625, + 177.98495483398438 + ], + [ + 423.7608947753906, + 168.52859497070312 + ], + [ + 431.6353759765625, + 170.54275512695312 + ], + [ + 436.1121826171875, + 172.45668029785156 + ], + [ + 435.85626220703125, + 170.43609619140625 + ], + [ + 433.89593505859375, + 168.90133666992188 + ], + [ + 425.39447021484375, + 175.8931121826172 + ], + [ + 420.14813232421875, + 179.37176513671875 + ], + [ + 414.7289733886719, + 169.46926879882812 + ], + [ + 395.8620910644531, + 176.66329956054688 + ], + [ + 376.0406188964844, + 190.85427856445312 + ], + [ + 367.674560546875, + 197.94973754882812 + ] + ], + "depth_max": 1.7206677198410034, + "depth_min": 0.18167829513549805, + "intrinsic": [ + [ + 557.25537109375, + 0.0, + 259.0 + ], + [ + 0.0, + 557.87353515625, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.216266122763045e-05, + -6.363059947034344e-05, + 7.318059942917898e-06 + ], + [ + -3.21641746268142e-05, + 1.0, + -2.377685632382054e-05, + 4.183733835816383e-06 + ], + [ + 6.362982821883634e-05, + 2.3778900867910124e-05, + 1.0, + -2.6623751182341948e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 32 + ], + "object_trajectory": [ + [ + 405.75, + 243.75001525878906 + ], + [ + 406.0321350097656, + 243.48226928710938 + ], + [ + 406.3447265625, + 243.65377807617188 + ], + [ + 406.315185546875, + 243.70950317382812 + ], + [ + 405.7921142578125, + 244.1030731201172 + ], + [ + 406.2665710449219, + 243.89805603027344 + ], + [ + 405.9420166015625, + 244.13412475585938 + ], + [ + 406.5764465332031, + 243.95260620117188 + ], + [ + 406.8211669921875, + 242.92665100097656 + ], + [ + 406.4944152832031, + 243.06936645507812 + ], + [ + 407.4901123046875, + 242.6529083251953 + ], + [ + 406.2881774902344, + 244.30545043945312 + ], + [ + 405.86572265625, + 244.5872802734375 + ], + [ + 401.3885803222656, + 245.16488647460938 + ], + [ + 393.26141357421875, + 243.3634033203125 + ], + [ + 392.2662048339844, + 242.22283935546875 + ], + [ + 387.0390319824219, + 244.01527404785156 + ], + [ + 386.7825927734375, + 241.56399536132812 + ], + [ + 379.5024108886719, + 244.74310302734375 + ], + [ + 378.5312805175781, + 235.5525360107422 + ], + [ + 394.8311462402344, + 204.3590850830078 + ], + [ + 409.0046081542969, + 187.80776977539062 + ], + [ + 418.5835876464844, + 181.02369689941406 + ], + [ + 424.8170471191406, + 181.58560180664062 + ], + [ + 430.4916076660156, + 183.87710571289062 + ], + [ + 428.4406433105469, + 181.4989471435547 + ], + [ + 427.194580078125, + 179.66009521484375 + ], + [ + 425.21710205078125, + 181.80479431152344 + ], + [ + 424.8283996582031, + 180.5533447265625 + ], + [ + 426.64251708984375, + 176.99656677246094 + ], + [ + 439.12530517578125, + 166.33470153808594 + ], + [ + 442.4327697753906, + 164.11907958984375 + ], + [ + 441.4210510253906, + 164.62522888183594 + ] + ] +} \ No newline at end of file diff --git a/009380_v2/lang.txt b/009380_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..826a913f051fb5a3d6c4208f09c5758ffee24a4b --- /dev/null +++ b/009380_v2/lang.txt @@ -0,0 +1 @@ +move the corn to the upper right burner diff --git a/009380_v2/object.ply b/009380_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..35af7125ef7589642c0eaa6266fab8274e11de68 Binary files /dev/null and b/009380_v2/object.ply differ diff --git a/009384_v2/data.json b/009384_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..cc3ed9bd516d3d04209f6e280f639a60f0d696ab --- /dev/null +++ b/009384_v2/data.json @@ -0,0 +1,788 @@ +{ + "action_start": 15, + "action_end": 28, + "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, + 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 + ], + "gripper_actions": [ + [ + 0.0, + -6.938893903907228e-18, + -2.7755575615628914e-17, + -5.100253156697457e-07, + 3.3762596409028536e-07, + -2.1658323345998744e-07, + 1.0 + ], + [ + 0.015458628406078756, + -0.020113346451220433, + -0.00451469997987318, + 0.047008168116994625, + 0.052741506465863515, + -0.048933881948221146, + 1.0 + ], + [ + 0.015288568059602381, + -0.016391492159013983, + -0.010701133898134773, + 0.020043074567123193, + 0.03719358655223343, + -0.03972008287175733, + 1.0 + ], + [ + 0.013621025534756248, + -0.016095251601124322, + -0.021095542761127108, + -0.012153261891983312, + 0.02424161218056631, + -0.05255743996990738, + 1.0 + ], + [ + 0.00915903546876956, + -0.004520488135727941, + -0.02283911386446528, + 0.0031336462923487562, + 0.027160223048621764, + 0.0008932522483273916, + 1.0 + ], + [ + 0.005691075800242917, + 0.007494354118833992, + -0.014504795491857802, + 0.0011121278354680128, + 0.011295019964132093, + 0.03580623651960067, + 1.0 + ], + [ + 0.0034193846021962626, + 0.007565063689884594, + -0.0021827709222138614, + -0.0030325075253742444, + -0.0036687535998980924, + 0.02573654833378177, + 1.0 + ], + [ + 0.002290421883052507, + 0.006286756481196589, + 0.005969605491836845, + 0.0037023779513694565, + -0.011099892100755534, + 0.017259166607584423, + 1.0 + ], + [ + 0.006023526323303607, + 0.004248841030323763, + 0.013841054980833795, + -0.001961813528268065, + -0.031795433798505246, + 0.009995247354363192, + 1.0 + ], + [ + 0.004635176757011972, + 0.004804616061468191, + 0.02197775529655356, + 0.02136440131647719, + -0.039735048625598006, + 0.009111306281281081, + 1.0 + ], + [ + 0.0017848433183110246, + 0.005447608463002738, + 0.014475025205770799, + 0.009460864846852669, + -0.028331676297063287, + 0.021636702558514177, + 1.0 + ], + [ + 2.2610072058670827e-05, + 0.004798715132180921, + -0.008577647532956053, + -0.014321058465358376, + 0.02523251426219126, + 0.014518572717223791, + 1.0 + ], + [ + -0.0026480370608067405, + -0.0006153445067882783, + -0.014955518155458066, + -0.0201309940582827, + 0.04818866253430115, + 0.0032823172232638396, + 1.0 + ], + [ + -0.0031492525407413874, + -0.0006233256149581617, + -0.017203574012942827, + -0.025216211987947625, + 0.05654738951944179, + 0.0015383234281300454, + 1.0 + ], + [ + -0.004879345839993943, + -0.0029996524091317166, + -0.010385807494105857, + -0.020609138312755484, + 0.03862308488756364, + -0.006666909889305305, + 1.0 + ], + [ + -0.0022997812097915182, + -0.0042084113218013326, + -0.0060769336529957405, + -0.0025613696228800895, + 0.021685341516372234, + -0.018855767928856588, + 1.0 + ], + [ + -0.0016323400114607312, + -0.002373689002701936, + -0.005649942153242805, + -0.0004573913442795622, + 0.018192702112767148, + -0.024389230008386553, + 0.0 + ], + [ + 0.0012331057333770934, + -0.003287747836819569, + -0.0005244324493746955, + 0.0019574193314851342, + 0.02157129994384808, + -0.04890946599935928, + 0.0 + ], + [ + 0.0059200768592559405, + -0.003947360171640855, + 0.004581341131970354, + 0.003676346541268466, + -0.008304921229498094, + -0.04772049425901973, + 0.0 + ], + [ + 0.007950050620836924, + -0.008209447095365627, + 0.013026537132876631, + -0.007035118746210346, + -0.06718084199252172, + 0.009043837241238688, + 0.0 + ], + [ + 0.020794367646630896, + -0.010421024159466233, + 0.020126722531445856, + -0.04463795881736237, + -0.1457963322404119, + 0.07139797493147049, + 0.0 + ], + [ + 0.024607519172744174, + -0.007719350823858929, + 0.007094012781000868, + -0.011172803731600988, + -0.06716869978812871, + 0.05411407422032166, + 0.0 + ], + [ + 0.019275183901126147, + -0.003523199107890197, + -0.0006928912358077077, + 0.009531023435829287, + -0.024828320740519105, + 0.010672476960779536, + 0.0 + ], + [ + 0.018223861376697903, + 0.0008927089570935449, + -0.0022429447253249626, + 0.013871971406662137, + -0.0299434652514185, + 0.007292836239588726, + 0.0 + ], + [ + 0.019473521991960396, + 0.0035609377237453676, + -0.007330863535452779, + 0.024803557190665092, + -0.01567528331781426, + 0.008495528326824481, + 0.0 + ], + [ + 0.018368589055700046, + 0.0010108138219797613, + -0.011033170255944115, + 0.01752001411690482, + -0.012870990212380876, + 0.011654682525841113, + 0.0 + ], + [ + 0.017013218846678835, + 4.8806876749026874e-05, + -0.010895958860752675, + -0.004786937146652044, + -0.0036087405680044755, + 0.006603191725359885, + 0.0 + ], + [ + 0.013069427794611288, + -4.2388036862892053e-05, + -0.005313574169479758, + -0.00036324315990697147, + -0.0005790954428000865, + -0.0015583022243958664, + 0.0 + ], + [ + 0.003644778463556042, + 0.00010482737669100482, + 0.001820884003693471, + -0.007316426505065637, + 0.0030009271936074695, + 0.00031790938980485014, + 0.0 + ], + [ + -0.005503338690997173, + -0.004348141343594667, + 0.0015591703741326124, + -0.005326816253164355, + -0.006005723142527683, + 0.001472114503013609, + 1.0 + ], + [ + -0.008250657941752504, + 0.0014312357077605996, + 0.010956103058825425, + 0.007558996890460861, + -0.013744411977556503, + -0.005864753118543883, + 1.0 + ], + [ + -0.013864457814525388, + 0.0031022481082709852, + 0.017250256691385663, + -0.007028178514523283, + -0.049495841436561674, + 0.006584797517344207, + 1.0 + ], + [ + -0.019956124761177196, + 0.0020298165059674123, + 0.016556144518983594, + -0.0077265030505730475, + -0.02419305606788855, + 0.0004515059905662586, + 1.0 + ], + [ + -0.03866192181567307, + 0.002067792546949849, + 0.013623368532083839, + -0.016161090627757096, + 0.019281303509117068, + -0.0015583310196907124, + 1.0 + ], + [ + -0.037369734597939075, + 0.002386906050732421, + 0.006112235610201459, + -0.008943728662705331, + 0.04594542499576866, + -0.004414396797860123, + 1.0 + ], + [ + -0.030049906768031154, + 0.0034546714856488903, + -0.0009869921892560578, + 0.014392866658695509, + 0.05233678285780545, + -0.01048201156135025, + 1.0 + ], + [ + -0.02223465530646268, + 0.002134079483278631, + -0.0062138892948070505, + 0.02667172424662804, + 0.07267145533413549, + -0.015111179018692042, + 1.0 + ], + [ + -0.016251454073783533, + 0.0011538798682277536, + -0.009299380497530181, + 0.00831118723954439, + 0.08864557120296725, + -0.040410673348090405, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 310.53509521484375, + 188.97137451171875 + ], + [ + 310.5873718261719, + 192.42181396484375 + ], + [ + 310.87493896484375, + 202.49171447753906 + ], + [ + 351.53192138671875, + 208.73263549804688 + ], + [ + 373.6523132324219, + 219.18618774414062 + ], + [ + 392.3837890625, + 238.75775146484375 + ], + [ + 393.4638977050781, + 249.25564575195312 + ], + [ + 394.2565002441406, + 243.5784912109375 + ], + [ + 393.9404296875, + 242.3998260498047 + ], + [ + 391.60711669921875, + 239.7578125 + ], + [ + 384.976318359375, + 224.16102600097656 + ], + [ + 386.14801025390625, + 199.41140747070312 + ], + [ + 382.26654052734375, + 196.04420471191406 + ], + [ + 378.12408447265625, + 202.62960815429688 + ], + [ + 378.1707458496094, + 221.5932159423828 + ], + [ + 375.4062194824219, + 236.42684936523438 + ], + [ + 375.6939697265625, + 242.13916015625 + ], + [ + 373.17926025390625, + 239.8941650390625 + ], + [ + 368.485107421875, + 239.42474365234375 + ], + [ + 366.2464599609375, + 238.65542602539062 + ], + [ + 366.0597229003906, + 238.58428955078125 + ], + [ + 393.5107727050781, + 222.38516235351562 + ], + [ + 423.071044921875, + 201.51507568359375 + ], + [ + 434.5809631347656, + 175.76699829101562 + ], + [ + 441.2359619140625, + 172.10247802734375 + ], + [ + 446.95098876953125, + 164.88284301757812 + ], + [ + 450.0970153808594, + 166.59991455078125 + ], + [ + 456.82489013671875, + 161.02879333496094 + ], + [ + 460.1908874511719, + 156.75558471679688 + ], + [ + 467.62530517578125, + 151.1455078125 + ], + [ + 470.8249816894531, + 149.68182373046875 + ], + [ + 468.5318603515625, + 149.9269256591797 + ], + [ + 459.337158203125, + 171.55703735351562 + ], + [ + 452.83770751953125, + 166.33026123046875 + ], + [ + 445.10015869140625, + 167.491455078125 + ], + [ + 432.51361083984375, + 170.21817016601562 + ], + [ + 414.26202392578125, + 184.81813049316406 + ], + [ + 395.9285888671875, + 202.0614776611328 + ], + [ + 384.83856201171875, + 216.02975463867188 + ], + [ + 384.1087646484375, + 217.3199920654297 + ] + ], + "depth_max": 1.7393931150436401, + "depth_min": 0.22108681499958038, + "intrinsic": [ + [ + 551.5413818359375, + 0.0, + 259.0 + ], + [ + 0.0, + 552.0310668945312, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.8989317797822878e-05, + -5.5862274166429415e-05, + 5.335714376997203e-06 + ], + [ + -2.8990951250307262e-05, + 1.0, + -2.927446985268034e-05, + 1.1340094715706073e-05 + ], + [ + 5.5861422879388556e-05, + 2.92760905722389e-05, + 1.0, + -2.672190748853609e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 39 + ], + "object_trajectory": [ + [ + 367.5000305175781, + 249.50001525878906 + ], + [ + 367.5214538574219, + 249.69210815429688 + ], + [ + 367.58587646484375, + 249.55145263671875 + ], + [ + 367.41619873046875, + 249.40951538085938 + ], + [ + 367.21240234375, + 249.67034912109375 + ], + [ + 366.84466552734375, + 250.25079345703125 + ], + [ + 366.62188720703125, + 251.17422485351562 + ], + [ + 366.6811828613281, + 250.7883758544922 + ], + [ + 366.76800537109375, + 250.14662170410156 + ], + [ + 366.41455078125, + 249.1315155029297 + ], + [ + 367.5094299316406, + 249.58657836914062 + ], + [ + 367.8940734863281, + 249.3125762939453 + ], + [ + 367.59783935546875, + 249.7952423095703 + ], + [ + 367.66119384765625, + 249.7699737548828 + ], + [ + 367.7720642089844, + 249.74327087402344 + ], + [ + 367.6348571777344, + 250.02175903320312 + ], + [ + 367.2398986816406, + 250.46072387695312 + ], + [ + 366.65960693359375, + 250.77349853515625 + ], + [ + 365.1036682128906, + 251.45851135253906 + ], + [ + 367.4705505371094, + 248.86984252929688 + ], + [ + 367.60137939453125, + 249.04180908203125 + ], + [ + 389.192626953125, + 238.07098388671875 + ], + [ + 415.13092041015625, + 217.6441192626953 + ], + [ + 427.2508850097656, + 192.68284606933594 + ], + [ + 434.5100402832031, + 187.70172119140625 + ], + [ + 438.6553649902344, + 180.69888305664062 + ], + [ + 441.9219055175781, + 181.59567260742188 + ], + [ + 449.7911682128906, + 176.95518493652344 + ], + [ + 454.46881103515625, + 171.52745056152344 + ], + [ + 460.93975830078125, + 165.2081756591797 + ], + [ + 464.73272705078125, + 159.1278533935547 + ], + [ + 463.3297119140625, + 162.3970489501953 + ], + [ + 464.44903564453125, + 166.72457885742188 + ], + [ + 465.072998046875, + 164.40924072265625 + ], + [ + 464.29803466796875, + 164.93603515625 + ], + [ + 462.8133239746094, + 164.36679077148438 + ], + [ + 461.44366455078125, + 163.25897216796875 + ], + [ + 468.84429931640625, + 154.3275146484375 + ], + [ + 470.12109375, + 155.23919677734375 + ], + [ + 470.2606201171875, + 155.07962036132812 + ] + ] +} \ No newline at end of file diff --git a/009384_v2/lang.txt b/009384_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..1e26b18291fcd24aa986b844bb9f8222d0e50523 --- /dev/null +++ b/009384_v2/lang.txt @@ -0,0 +1 @@ +move the red fork to the top right burner diff --git a/009384_v2/object.ply b/009384_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..db0a2eb532fe5e210c4e6a100b312d756e6a1d22 Binary files /dev/null and b/009384_v2/object.ply differ diff --git a/009397_v2/data.json b/009397_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..905394900128b666f7a0d7c63fe41f449057a856 --- /dev/null +++ b/009397_v2/data.json @@ -0,0 +1,623 @@ +{ + "action_start": 10, + "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, + 0.0, + 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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + -7.727644635302511e-10, + -3.876648793643689e-10, + 8.910475517154293e-10, + 1.0351251755352588e-07, + 2.6696179610447104e-07, + 4.2068317871829703e-07, + 1.0 + ], + [ + 0.02001681090403662, + -0.004520591853869608, + -0.0036047620744121336, + -0.021247035832122625, + -0.025980154125109494, + -0.08806582065098315, + 1.0 + ], + [ + 0.029345871067681162, + 0.012412470396733738, + 0.038566041024770174, + 0.051929299876603066, + -0.14591890421789636, + -0.020432317534933495, + 1.0 + ], + [ + 0.01415051588551125, + 0.02677750880902849, + 0.01990500412713351, + 0.02381285459854659, + -0.06656337950445812, + 0.044435099894734334, + 1.0 + ], + [ + -0.001662591071929287, + 0.02432359008664406, + 0.011198072031703591, + 0.011529671929399753, + -0.0355441824836404, + 0.06786043545637054, + 1.0 + ], + [ + 0.006392116085792043, + 0.016335702510865954, + 0.0010615843936096839, + 0.01620050249376769, + -0.03610678890033828, + 0.03469390018240673, + 1.0 + ], + [ + 0.0056667313891152205, + 0.02011973332976648, + -0.011871360232160996, + 0.020965958695894234, + -0.00441436793369371, + 0.04339766333167039, + 1.0 + ], + [ + 0.006771481178077743, + 0.01413505507321608, + -0.017450396485048793, + -0.0029049067957377366, + 0.015247285082116606, + 0.02765632837214693, + 1.0 + ], + [ + 0.01167709888629781, + 0.005833317277236738, + -0.016447060886141437, + -0.008589363082246747, + 0.02399857177261151, + 0.01029397874758417, + 1.0 + ], + [ + 0.008598133807132091, + 0.003205287490487596, + -0.009460530827926524, + -0.006924650191010776, + 0.013531539708435878, + 0.009838079147418853, + 1.0 + ], + [ + 0.002480658041706718, + 0.0015140067488139952, + -0.0067340795244784715, + -0.008659733666338836, + 0.009158277987094532, + -0.0029435539522391896, + 0.0 + ], + [ + 0.0016853082447920165, + -0.0020124990764216477, + 0.003168726173467133, + 0.01304682098920345, + -0.00034638854373456886, + -0.014330860462321047, + 0.0 + ], + [ + 0.002667388504408452, + -0.0007566672817568842, + 0.004531349718204354, + 0.013577172492195245, + -0.0035937003922226637, + -0.021010903810585874, + 0.0 + ], + [ + 0.003490717971983026, + -0.0010155503582096326, + 0.004930156854150082, + 0.012563128109847048, + -0.004745130353036673, + -0.023955523581862502, + 0.0 + ], + [ + 0.007764846300859718, + -0.011304148733835756, + 0.017218573999909996, + 0.02425103439709876, + -0.028182724827687557, + -0.06440184915591923, + 0.0 + ], + [ + 0.01297681388989741, + -0.038779192388695705, + 0.027709431552630014, + 0.047605380783964826, + -0.048478771142022356, + -0.1211059846269485, + 0.0 + ], + [ + 0.0045221588350728426, + -0.05301736679554146, + 0.012858602346228801, + 0.029351530223909048, + -0.02674881086431334, + -0.1106873966179689, + 0.0 + ], + [ + -0.00442686101992279, + -0.042866794409615855, + -0.003764658235865543, + 0.010330898559793977, + 0.012845004079435837, + -0.06621618830875402, + 0.0 + ], + [ + -0.008077651817103959, + -0.03335518475710311, + -0.019787423740020068, + 0.001920418167605353, + 0.055045709108962934, + -0.04536254785793656, + 0.0 + ], + [ + -0.007205695458995409, + -0.024075210412322436, + -0.0247978124642648, + -0.021286791008942776, + 0.05468762961928274, + -0.039049685236328825, + 0.0 + ], + [ + -0.0064831484909075865, + -0.014054460194734997, + -0.02912342771993403, + -0.028086172632618863, + 0.07882328676058661, + -0.010478784090280087, + 0.0 + ], + [ + -0.01579749373050754, + 0.004133585846322889, + -0.027821577385987308, + -0.008777909459686874, + 0.08977047611158091, + 0.02908444184131439, + 0.0 + ], + [ + -0.010186140998306059, + 0.0018832768341727826, + -0.007296942694046259, + -0.002229107051536572, + 0.03554744510170569, + 0.01600469094068178, + 0.0 + ], + [ + -0.003401360099758166, + -0.0034806463377395416, + 0.022177760010106642, + 0.002715971133789568, + -0.03653007853862698, + 0.024404280011217548, + 1.0 + ], + [ + 0.004080815955143091, + -0.002469436486202646, + 0.04063301948862445, + -0.017438596914522007, + -0.08183812829423952, + 0.03964538078019882, + 1.0 + ], + [ + 0.00047936526940495217, + 0.003904763267202821, + 0.022619208162480163, + -0.027649534636758413, + -0.03254469659607267, + 0.043448529919215155, + 1.0 + ], + [ + -0.0031786642437940937, + 0.0066663646916469005, + 0.0017302654120237093, + -0.051461870422867186, + -0.0005530873373181093, + 0.0036669541141755597, + 1.0 + ], + [ + -0.0006884538949082364, + -0.00307727741532194, + 0.0001395596023763498, + -0.004233070333899429, + 0.005459596440230569, + -0.014618644498571594, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 311.0835876464844, + 232.49623107910156 + ], + [ + 309.46258544921875, + 242.167724609375 + ], + [ + 308.10711669921875, + 247.80740356445312 + ], + [ + 316.2500915527344, + 243.21273803710938 + ], + [ + 324.2865905761719, + 219.394287109375 + ], + [ + 329.69976806640625, + 166.9075469970703 + ], + [ + 295.4466247558594, + 155.57589721679688 + ], + [ + 280.18450927734375, + 134.58023071289062 + ], + [ + 272.6458740234375, + 119.91189575195312 + ], + [ + 258.9355773925781, + 131.99557495117188 + ], + [ + 259.0969543457031, + 139.58155822753906 + ], + [ + 262.5435791015625, + 148.47227478027344 + ], + [ + 264.5469665527344, + 146.11651611328125 + ], + [ + 263.52374267578125, + 147.67254638671875 + ], + [ + 260.6895751953125, + 146.6418914794922 + ], + [ + 253.1522216796875, + 143.1314697265625 + ], + [ + 263.62322998046875, + 142.76675415039062 + ], + [ + 277.31219482421875, + 127.19380950927734 + ], + [ + 341.96319580078125, + 119.91813659667969 + ], + [ + 385.4781799316406, + 132.9350128173828 + ], + [ + 420.5455627441406, + 154.65020751953125 + ], + [ + 448.341796875, + 184.69406127929688 + ], + [ + 455.1609191894531, + 221.96951293945312 + ], + [ + 464.81146240234375, + 234.6876220703125 + ], + [ + 462.94171142578125, + 234.03533935546875 + ], + [ + 455.86187744140625, + 240.74488830566406 + ], + [ + 438.5678405761719, + 262.4388122558594 + ], + [ + 455.8279724121094, + 216.5655059814453 + ], + [ + 456.859375, + 225.33523559570312 + ], + [ + 451.8720397949219, + 226.28012084960938 + ], + [ + 452.38043212890625, + 226.70553588867188 + ] + ], + "depth_max": 1.701697587966919, + "depth_min": 0.09389687329530716, + "intrinsic": [ + [ + 547.8386840820312, + 0.0, + 259.0 + ], + [ + 0.0, + 548.23876953125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.168387047480792e-05, + -0.00011531531345099211, + 6.511153515020851e-06 + ], + [ + -3.169064439134672e-05, + 1.0, + -5.875102579011582e-05, + 1.4940179426048417e-05 + ], + [ + 0.00011531344352988526, + 5.875467832083814e-05, + 1.0, + -6.232616578927264e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30 + ], + "object_trajectory": [ + [ + 222.0, + 138.25 + ], + [ + 222.42337036132812, + 138.19882202148438 + ], + [ + 222.45826721191406, + 138.26283264160156 + ], + [ + 222.27972412109375, + 138.23609924316406 + ], + [ + 222.2078857421875, + 138.27120971679688 + ], + [ + 222.16146850585938, + 138.34165954589844 + ], + [ + 222.37644958496094, + 138.478515625 + ], + [ + 222.515869140625, + 138.47825622558594 + ], + [ + 222.34423828125, + 138.64532470703125 + ], + [ + 222.57847595214844, + 138.71824645996094 + ], + [ + 222.34945678710938, + 138.88595581054688 + ], + [ + 222.33761596679688, + 138.996337890625 + ], + [ + 222.4866943359375, + 138.643798828125 + ], + [ + 222.4716033935547, + 138.75624084472656 + ], + [ + 221.80950927734375, + 138.8081817626953 + ], + [ + 216.30667114257812, + 140.1267547607422 + ], + [ + 217.28175354003906, + 138.25845336914062 + ], + [ + 235.96084594726562, + 131.6717529296875 + ], + [ + 292.7205505371094, + 119.01309967041016 + ], + [ + 332.0523681640625, + 126.00796508789062 + ], + [ + 364.1444091796875, + 142.7080078125 + ], + [ + 389.4079895019531, + 170.82101440429688 + ], + [ + 397.82366943359375, + 200.13482666015625 + ], + [ + 402.3126525878906, + 202.0481414794922 + ], + [ + 402.8363952636719, + 201.88864135742188 + ], + [ + 403.13934326171875, + 212.1015167236328 + ], + [ + 377.8988342285156, + 228.58230590820312 + ], + [ + 379.1136474609375, + 228.88430786132812 + ], + [ + 378.31524658203125, + 229.14053344726562 + ], + [ + 378.8538818359375, + 229.50357055664062 + ], + [ + 379.43853759765625, + 229.36068725585938 + ] + ] +} \ No newline at end of file diff --git a/009397_v2/lang.txt b/009397_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..5921aee2a1459cc34516a25b72c27a2ff6eddeb5 --- /dev/null +++ b/009397_v2/lang.txt @@ -0,0 +1 @@ +moves the silver pot to the bottom right burner diff --git a/009478_v2/data.json b/009478_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..07e82500be2e9373df919e43caa23f6d222feeb6 --- /dev/null +++ b/009478_v2/data.json @@ -0,0 +1,513 @@ +{ + "action_start": 8, + "action_end": 17, + "object_name": "blue spoon", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.01831499999999997, + 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": [ + [ + -3.9758679681867193e-10, + -1.882978217793152e-10, + -5.394347260545551e-10, + 7.366724332902054e-07, + -4.146447701175656e-07, + 2.1225188235085186e-07, + 1.0 + ], + [ + 0.002455189713312045, + -0.03940680166993028, + -0.004434834541438566, + -0.006813232411937877, + -0.011347041762876785, + -0.03209152263458801, + 1.0 + ], + [ + 0.002171167708330368, + -0.032304839953549824, + -0.005472532906885055, + -0.011159100464190838, + -0.018646004278116433, + -0.016764271423032575, + 1.0 + ], + [ + 0.0034680920965244333, + -0.03467628900238942, + -0.00911116736572005, + -0.012321744464020365, + -0.021716251429604982, + 0.007215217766912494, + 1.0 + ], + [ + 0.01503584254908541, + -0.023738171573797325, + -0.012990194842615089, + -0.013876202817337467, + -0.02137209463427907, + 0.024102520353984767, + 1.0 + ], + [ + 0.01779331214993024, + -0.0033826567848005765, + -0.005832650893295881, + 0.00927388581392186, + -0.023046815870262194, + 0.035663332495816005, + 1.0 + ], + [ + 0.00901811942909675, + -0.0010648931986652066, + -0.008004268604657925, + 0.002997144967687875, + -0.015193321091478196, + 0.03771878544405292, + 1.0 + ], + [ + 0.005749830693655367, + 0.004359612022536589, + -0.012719600828916652, + 0.04064951701249399, + 0.008409248377348057, + 0.020762747511749217, + 1.0 + ], + [ + -0.002464723620141218, + 0.011204778597251653, + -0.007148515081824371, + 0.042230774774356404, + 0.02212466685913718, + 0.01556933935679279, + 0.01831499999999997 + ], + [ + -0.0038786966895379416, + 0.0037652999629893763, + 0.0020628912954839124, + 0.030219428436911548, + 0.013359169406668918, + -0.01110421572812904, + 0.0 + ], + [ + 0.0035810228879131767, + -0.003765818328774288, + 0.009833042935018337, + 0.023801582339226468, + -0.014609898349656904, + -0.05537628516402798, + 0.0 + ], + [ + 0.01501710505787296, + 0.0005637889391764456, + 0.020314966917141544, + 0.020448158275875594, + -0.057033049342011796, + -0.033748683568356086, + 0.0 + ], + [ + 0.02114630952705915, + 0.01716661754617543, + 0.01774257126750172, + 0.011494678827903771, + -0.05314230952091075, + 0.03355046171542005, + 0.0 + ], + [ + 0.016581813024713343, + 0.020197107005706955, + 0.007204577059573161, + -0.006411563389235335, + -0.022100625307531895, + 0.05360271541600476, + 0.0 + ], + [ + 0.01360874491902142, + 0.013779343251423215, + -0.0043012859510942305, + -0.012129079434047191, + 0.0023151657217750678, + 0.03833324918746583, + 0.0 + ], + [ + 0.012812056250226633, + 0.009134170377831485, + -0.015851668517912254, + -0.00432242432927064, + 0.039061250836849686, + 0.030013949475961078, + 0.0 + ], + [ + 0.010008753375214618, + 0.010409401967632952, + -0.01872767666600758, + -0.00789237986979944, + 0.0376437421306767, + 0.011702950524915757, + 0.0 + ], + [ + -0.000727031711636239, + 0.001993603925957786, + -0.010721982502937214, + -0.00262736565211639, + 0.028103642725317016, + -0.011239125891926363, + 0.0 + ], + [ + -0.005601146533188883, + 0.0009217493734335336, + 0.0006384499779839986, + 0.009295683741237546, + 0.015260281498807583, + -0.03345873732970732, + 1.0 + ], + [ + -0.004092066256664972, + -0.0017231642146365994, + 0.02572412530001208, + 0.007119394782135946, + -0.07119072085907101, + -0.025213462062961517, + 1.0 + ], + [ + -0.011546175540000703, + -0.002206649054444662, + 0.03747545257635236, + -0.0040416766569794736, + -0.08028722055441104, + -0.010965150502191554, + 1.0 + ], + [ + -0.018833381432030727, + 0.0006581629150015228, + 0.015247118163785222, + -0.03403081440508193, + -0.01264867256931329, + -0.002385422251506158, + 1.0 + ], + [ + -0.028301172758955384, + 0.004938027650473992, + -0.00310386465169943, + -0.02863019931356512, + 0.06418025796029762, + 0.009420346574294507, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 253.6396484375, + 110.43836212158203 + ], + [ + 253.89633178710938, + 114.26871490478516 + ], + [ + 263.3192443847656, + 147.21359252929688 + ], + [ + 315.40618896484375, + 175.54373168945312 + ], + [ + 342.17938232421875, + 191.7560272216797 + ], + [ + 381.830322265625, + 196.482421875 + ], + [ + 399.47723388671875, + 201.3369598388672 + ], + [ + 404.4637756347656, + 195.10433959960938 + ], + [ + 401.1778869628906, + 203.01463317871094 + ], + [ + 403.8612060546875, + 198.57888793945312 + ], + [ + 401.42791748046875, + 195.36720275878906 + ], + [ + 401.1346435546875, + 194.35623168945312 + ], + [ + 400.1219177246094, + 192.53477478027344 + ], + [ + 406.56646728515625, + 170.7286376953125 + ], + [ + 413.42266845703125, + 137.2562713623047 + ], + [ + 394.9132080078125, + 117.11880493164062 + ], + [ + 388.3132629394531, + 121.77555847167969 + ], + [ + 391.0849609375, + 132.89752197265625 + ], + [ + 381.86944580078125, + 132.73963928222656 + ], + [ + 379.42755126953125, + 137.8180389404297 + ], + [ + 373.6099853515625, + 146.26747131347656 + ], + [ + 371.7950134277344, + 137.06704711914062 + ], + [ + 371.8459167480469, + 99.95217895507812 + ], + [ + 348.95196533203125, + 116.56517028808594 + ], + [ + 337.6346435546875, + 122.93977355957031 + ] + ], + "depth_max": 1.774535894393921, + "depth_min": 0.17791648209095, + "intrinsic": [ + [ + 543.1522827148438, + 0.0, + 259.0 + ], + [ + 0.0, + 544.0511474609375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.2386782802641392e-05, + -3.841650686808862e-05, + 1.4141822248348035e-05 + ], + [ + -2.238681190647185e-05, + 1.0, + -7.138359592318011e-07, + 1.966042873391416e-06 + ], + [ + 3.841649231617339e-05, + 7.146958864723274e-07, + 1.0, + 7.109742000466213e-06 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24 + ], + "object_trajectory": [ + [ + 408.5, + 209.25001525878906 + ], + [ + 408.80731201171875, + 209.92791748046875 + ], + [ + 408.8034362792969, + 209.95053100585938 + ], + [ + 408.9336242675781, + 209.3959197998047 + ], + [ + 409.1728515625, + 209.57852172851562 + ], + [ + 408.56378173828125, + 209.79026794433594 + ], + [ + 408.2913513183594, + 210.1501007080078 + ], + [ + 408.1744384765625, + 209.91799926757812 + ], + [ + 407.01611328125, + 211.31649780273438 + ], + [ + 405.6670837402344, + 213.0580596923828 + ], + [ + 396.43304443359375, + 211.65350341796875 + ], + [ + 394.4170227050781, + 211.63848876953125 + ], + [ + 392.1387939453125, + 210.10572814941406 + ], + [ + 397.860107421875, + 189.15084838867188 + ], + [ + 403.27081298828125, + 156.90213012695312 + ], + [ + 387.6846008300781, + 135.4768829345703 + ], + [ + 382.114501953125, + 139.83615112304688 + ], + [ + 385.8724365234375, + 148.7137451171875 + ], + [ + 377.33953857421875, + 149.48739624023438 + ], + [ + 376.87335205078125, + 152.966552734375 + ], + [ + 378.76861572265625, + 152.7584686279297 + ], + [ + 378.7438049316406, + 153.64649963378906 + ], + [ + 381.43878173828125, + 152.34527587890625 + ], + [ + 382.3658142089844, + 151.83367919921875 + ], + [ + 382.29156494140625, + 151.17092895507812 + ] + ] +} \ No newline at end of file diff --git a/009478_v2/lang.txt b/009478_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..a9d7055f0e91e92a522cfeb9ca1a7171109af868 --- /dev/null +++ b/009478_v2/lang.txt @@ -0,0 +1 @@ +moved the blue spoon to the upper centre of the stove diff --git a/009478_v2/object.ply b/009478_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..eebb6f16b59be7d088f5f9579179cc6f27c3cfab Binary files /dev/null and b/009478_v2/object.ply differ diff --git a/009544_v2/FAIL b/009544_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..311a53f08c27fb0d805de2a34b6b42f99761fcf6 --- /dev/null +++ b/009544_v2/FAIL @@ -0,0 +1 @@ +No valid gripper range found diff --git a/009560_v2/data.json b/009560_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..6860eeba863cb9e5e6f9a1557dec82b8cc7735df --- /dev/null +++ b/009560_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 12, + "action_end": 30, + "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, + 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, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + 3.4561237205466e-10, + -6.499681348692832e-11, + -6.268252653041095e-10, + -3.928707132723259e-07, + -1.1391302334115353e-08, + 8.108171683582548e-07, + 1.0 + ], + [ + 0.0003376854655509076, + -0.006954436231885797, + 0.001639847763543964, + -0.05608831719163283, + 0.0009580115029680352, + 0.08961797590232556, + 1.0 + ], + [ + -0.0014707025241788019, + -0.006763262336902567, + 0.0015154511617633745, + -0.03005668342407641, + -0.0063427154202102065, + 0.04099935321570745, + 1.0 + ], + [ + -0.002426084857429456, + -0.0030143253747471482, + 0.0058716975756430215, + -0.01004029393230274, + -0.02433050192759989, + 0.0403818148838248, + 1.0 + ], + [ + -0.000105057323507185, + -0.009408288327086567, + -0.004018112135069543, + 0.0037349827031975705, + -0.0018552424798919675, + 0.011927141434952599, + 1.0 + ], + [ + 0.0030848271185264786, + -0.014312817956114943, + -0.002549514196977548, + 0.019467110712529535, + 0.016697192526675085, + -0.01164091251766534, + 1.0 + ], + [ + 0.0028945899642499606, + -0.013830202819214682, + 0.0038818807261358154, + -0.008217429956697974, + -0.032217366192737136, + 0.013084705362116084, + 1.0 + ], + [ + 0.0005834857826310658, + -0.012123689199120102, + -6.473230464471014e-05, + 0.04226945323960798, + 0.009327397307244412, + -0.005371820657362936, + 1.0 + ], + [ + -0.0013999235329650306, + -0.006747485389821145, + -0.0053824309690534144, + 0.022243482431036802, + 0.029059765960197458, + 0.030776194556742437, + 1.0 + ], + [ + -0.002104559743092871, + 0.0007128144586746044, + -0.00880834389982895, + -0.0001966860339457697, + 0.031020010050782205, + 0.04651391376498776, + 1.0 + ], + [ + -0.002896450249872118, + 0.007894786204596937, + -0.011551484124275077, + -0.0008592488070353688, + 0.05076990821840063, + 0.03159143073807125, + 1.0 + ], + [ + -0.004940853455349836, + 0.00861919413526277, + -0.006152378526544579, + -0.006293855339008102, + 0.031972436914446664, + 0.038325124213497444, + 1.0 + ], + [ + -0.005164305152913273, + 0.004452895504489185, + -0.0027727603288575896, + -0.006331161363634937, + 0.014792834781082767, + 0.014539449603369684, + 1.0 + ], + [ + -0.000154479687778597, + 0.0008038986049651586, + -0.004739654864068684, + -0.01758483213074196, + -0.017223250789701983, + -0.0066773765085861424, + 0.0 + ], + [ + 0.0014164279502054122, + -0.0009791130301396445, + -0.0004590891803014155, + -0.001366559381697426, + -0.011284949395347165, + -0.004782803911816545, + 0.0 + ], + [ + 0.0011786054121964984, + -0.002744710394011307, + 0.000810373420398039, + -0.007062138335980932, + -0.007878795347882519, + -0.01020012937109741, + 0.0 + ], + [ + 0.0014140043294777471, + 0.0038696236667486172, + 0.016832090774513295, + -0.00616769751922114, + -0.04988616637066439, + -0.0013123995644660036, + 0.0 + ], + [ + 0.013780346354308748, + 0.017131070202790755, + 0.03993972944059567, + 0.01771804401731113, + -0.11789384699251376, + -0.006259635927423609, + 0.0 + ], + [ + 0.0023773767804435297, + 0.03252335428131098, + 0.01955797276393164, + 0.017487698084373077, + -0.05473820770591881, + 0.026502555985556935, + 0.0 + ], + [ + -0.002684800698563028, + 0.024562032266626496, + -0.0034022396128001384, + -0.0016594309962854738, + 0.031538154529517956, + 0.07196865908236466, + 0.0 + ], + [ + -0.003378052949289112, + 0.019030911734341717, + -0.006473243137333218, + -0.009013825819228483, + 0.015548216108471728, + 0.15541453920717535, + 0.0 + ], + [ + -0.0016089187319415221, + 0.021176802819852743, + -0.0011721429721091303, + -0.01954914545550892, + 0.008985743601525365, + 0.18535823254151287, + 0.0 + ], + [ + -0.0005811723235034094, + 0.0132685280294121, + 0.005765053455573349, + -0.016820985153571905, + -0.009951421988075219, + 0.11882041736782076, + 0.0 + ], + [ + -0.001254883842944976, + 0.012593118755236929, + 0.006186572916801289, + -0.03129283432125459, + -0.023711815644381105, + 0.07203708732099656, + 0.0 + ], + [ + -0.004190410961850521, + 0.00913801732397911, + 0.0003134934676518458, + -0.02107480426636237, + -0.002967973309869619, + 0.0365180956307573, + 0.0 + ], + [ + -0.008363689039588396, + 0.004484803720620205, + -0.007600858750059045, + -0.012003445979715305, + 0.02953292248400273, + 0.018674451897543427, + 0.0 + ], + [ + -0.005239923009931424, + -0.001090682753305476, + -0.009054727548931343, + -0.011650499294039635, + 0.028098856888777928, + -0.010318625515894754, + 0.0 + ], + [ + -0.0025602378015470717, + -0.0017434122319384595, + -0.0038804517051911624, + -0.008269347176903375, + 0.017089357205483314, + 0.006541500615106355, + 0.0 + ], + [ + -0.0016470053200219326, + -0.0021737500931999607, + -0.0029627791680291726, + -0.019128294236685297, + 0.0136605235806917, + 0.03131595477311889, + 0.0 + ], + [ + 0.0003545338560725364, + -0.00231533548630584, + -0.005466559609780042, + -0.030880940841025103, + 0.016156229474547108, + 0.02976812802872785, + 0.0 + ], + [ + -0.0016603972735141637, + 0.0006018085926556543, + -0.006247812575689057, + -0.03069801940593913, + 0.01410434392381067, + 0.027416647883102916, + 0.0 + ], + [ + -0.000959355936370393, + 0.0003483254240997796, + -0.0031651986986453995, + -0.025024844079663273, + 0.011211989401354119, + 0.029538165926830534, + 1.0 + ], + [ + 0.002666636964487462, + -0.00016916264993404803, + 0.003862394572737904, + 0.008213046431875084, + -0.003650937519861628, + -0.011694219438209162, + 1.0 + ], + [ + 0.005844680885178283, + -0.0007661191482137668, + 0.006140456219310024, + 0.010976649421391321, + -0.030023379320271895, + -0.020509794186293364, + 1.0 + ], + [ + 0.010767356408785095, + -0.003761384459621965, + 0.01753923169660073, + 0.06162547738421218, + -0.01669443398634954, + -0.07258601783947084, + 1.0 + ], + [ + 0.00873968046759327, + -0.004149177637779312, + 0.02385736629874321, + 0.10183408713186957, + -0.007951689656489059, + -0.07514646707068658, + 1.0 + ], + [ + 0.006249579824058216, + -0.008434103288772116, + 0.007953508538342834, + 0.06331615268705598, + 0.08662480010300046, + -0.10712862236707646, + 1.0 + ], + [ + 0.007601846545999658, + -0.019947320118894024, + -0.0016006040620457906, + 0.029271703092793148, + 0.08061180485880924, + -0.1594358016285877, + 1.0 + ], + [ + 0.0038423455909611937, + -0.03135813318487854, + -0.005685871678680357, + -0.010088223859920855, + -0.016023649093583843, + -0.2350370760882346, + 1.0 + ], + [ + -0.0011942270828345092, + -0.029464441671272545, + -0.009978177231567145, + -0.027363542671617964, + 0.0018389591927908738, + -0.12138532423109552, + 1.0 + ], + [ + -0.006501216498438822, + -0.016563567678506586, + -0.011458654133617588, + -0.0874849413625518, + -0.038876157212094704, + -0.05108872637333918, + 1.0 + ], + [ + -0.0010213058823155263, + 0.0011355854695202228, + -0.005005620243208039, + -0.005485607294296057, + -0.022438114169177077, + 0.00817321721495973, + 1.0 + ], + [ + 0.00896188817565785, + 0.0033317840546508992, + -0.0019200482528661106, + 0.03810058584432778, + -0.051705042241197846, + -0.020323777438646135, + 1.0 + ], + [ + 0.013596595986824278, + 0.0008890670042444315, + -0.004460777519717379, + 0.06560945534873375, + -0.05772337146024072, + -0.10100812808413608, + 1.0 + ], + [ + 0.008847703319437017, + -0.004641431387263001, + -0.008094609494988067, + 0.030459224051295593, + -0.006464493598189466, + -0.09623908872987341, + 1.0 + ], + [ + 0.0022356254452376434, + -0.004714934905459073, + -0.01195045726333406, + -0.03529866431273199, + 0.02304153094587684, + -0.06334923446459875, + 1.0 + ], + [ + 0.004392865541648527, + -0.005010677398457508, + -0.013446440943463811, + -0.008932546934818238, + 0.06185364220230199, + -0.10444106973090252, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 509.22735595703125, + 269.008056640625 + ], + [ + 506.8121337890625, + 271.6590270996094 + ], + [ + 506.3245849609375, + 286.86529541015625 + ], + [ + 516.2479858398438, + 298.18817138671875 + ], + [ + 516.520751953125, + 305.67584228515625 + ], + [ + 520.034912109375, + 300.9073791503906 + ], + [ + 534.7137451171875, + 302.6191711425781 + ], + [ + 560.8646240234375, + 317.2288513183594 + ], + [ + 577.4627685546875, + 316.26531982421875 + ], + [ + 590.231689453125, + 333.33740234375 + ], + [ + 590.3360595703125, + 341.0555725097656 + ], + [ + 589.317626953125, + 357.30413818359375 + ], + [ + 580.9279174804688, + 372.22760009765625 + ], + [ + 564.022705078125, + 376.15423583984375 + ], + [ + 559.9561157226562, + 383.06170654296875 + ], + [ + 557.90869140625, + 384.9678955078125 + ], + [ + 557.990478515625, + 385.40289306640625 + ], + [ + 557.7852172851562, + 381.9194641113281 + ], + [ + 565.884521484375, + 345.1715087890625 + ], + [ + 555.7847900390625, + 279.4910888671875 + ], + [ + 507.0785217285156, + 240.79913330078125 + ], + [ + 465.73211669921875, + 241.62818908691406 + ], + [ + 435.59942626953125, + 232.31619262695312 + ], + [ + 402.8979187011719, + 220.01473999023438 + ], + [ + 385.9228210449219, + 202.58358764648438 + ], + [ + 367.8914794921875, + 190.37022399902344 + ], + [ + 348.3811950683594, + 197.12796020507812 + ], + [ + 336.51617431640625, + 207.60403442382812 + ], + [ + 336.669921875, + 215.22396850585938 + ], + [ + 337.4568176269531, + 219.62062072753906 + ], + [ + 342.4839172363281, + 229.49725341796875 + ], + [ + 338.8822021484375, + 233.12872314453125 + ], + [ + 335.3365783691406, + 242.48019409179688 + ], + [ + 333.05718994140625, + 243.012451171875 + ], + [ + 335.835205078125, + 234.15887451171875 + ], + [ + 337.23388671875, + 209.46121215820312 + ], + [ + 360.87457275390625, + 187.0025634765625 + ], + [ + 388.439208984375, + 157.86688232421875 + ], + [ + 420.84991455078125, + 166.61874389648438 + ], + [ + 468.9041748046875, + 193.96726989746094 + ], + [ + 510.6754455566406, + 230.2311248779297 + ], + [ + 537.7418823242188, + 270.95233154296875 + ], + [ + 530.78271484375, + 290.479248046875 + ], + [ + 529.973876953125, + 284.4537353515625 + ], + [ + 530.49560546875, + 273.6741943359375 + ], + [ + 541.2027587890625, + 273.86602783203125 + ], + [ + 543.9346923828125, + 288.1104736328125 + ], + [ + 551.5045166015625, + 300.44561767578125 + ] + ], + "depth_max": 2.26485013961792, + "depth_min": 0.18018513917922974, + "intrinsic": [ + [ + 608.1058349609375, + 0.0, + 259.0 + ], + [ + 0.0, + 606.165771484375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.7049427191959694e-05, + 8.998373232316226e-05, + -2.340811442991253e-05 + ], + [ + -3.7043133488623425e-05, + 1.0, + -6.994161230977625e-05, + -2.3730115572107024e-05 + ], + [ + -8.998632256407291e-05, + 6.993827992118895e-05, + 1.0, + 4.57008536614012e-06 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 554.5, + 399.25 + ], + [ + 554.739990234375, + 399.29620361328125 + ], + [ + 555.3087768554688, + 399.6971130371094 + ], + [ + 555.0671997070312, + 399.5283203125 + ], + [ + 555.111572265625, + 399.8486022949219 + ], + [ + 555.6163940429688, + 399.5713806152344 + ], + [ + 556.1254272460938, + 399.3748779296875 + ], + [ + 555.6026611328125, + 399.2938232421875 + ], + [ + 555.1572875976562, + 399.44183349609375 + ], + [ + 554.6890869140625, + 400.0219421386719 + ], + [ + 554.6251831054688, + 399.86529541015625 + ], + [ + 554.4654541015625, + 400.7291564941406 + ], + [ + 555.3641967773438, + 399.6886291503906 + ], + [ + 554.0565185546875, + 399.46771240234375 + ], + [ + 548.488525390625, + 399.4576110839844 + ], + [ + 547.6957397460938, + 398.1267395019531 + ], + [ + 547.209716796875, + 396.85992431640625 + ], + [ + 545.8206787109375, + 393.0048828125 + ], + [ + 555.142578125, + 355.5002136230469 + ], + [ + 547.54736328125, + 303.5909423828125 + ], + [ + 504.4212646484375, + 264.0727844238281 + ], + [ + 461.75274658203125, + 265.0234375 + ], + [ + 432.98797607421875, + 255.423095703125 + ], + [ + 402.5072021484375, + 243.2611846923828 + ], + [ + 384.85162353515625, + 227.62252807617188 + ], + [ + 369.4089050292969, + 215.92381286621094 + ], + [ + 353.8330383300781, + 221.47769165039062 + ], + [ + 342.5904541015625, + 233.71627807617188 + ], + [ + 342.072265625, + 241.08749389648438 + ], + [ + 342.7861022949219, + 245.39430236816406 + ], + [ + 348.3216247558594, + 253.3712615966797 + ], + [ + 346.9496765136719, + 257.632568359375 + ], + [ + 345.27667236328125, + 261.1146240234375 + ], + [ + 344.626708984375, + 261.8507995605469 + ], + [ + 346.6494140625, + 259.7013854980469 + ], + [ + 348.78875732421875, + 258.7116394042969 + ], + [ + 355.640869140625, + 256.00653076171875 + ], + [ + 356.7152404785156, + 256.6622009277344 + ], + [ + 355.5317077636719, + 256.878662109375 + ], + [ + 356.08837890625, + 257.1671447753906 + ], + [ + 355.8707275390625, + 257.2506103515625 + ], + [ + 355.7673034667969, + 256.8293762207031 + ], + [ + 355.7569580078125, + 256.86767578125 + ], + [ + 355.74365234375, + 257.1997375488281 + ], + [ + 355.7422180175781, + 256.6831359863281 + ], + [ + 355.44549560546875, + 257.4950866699219 + ], + [ + 355.9457702636719, + 257.4425964355469 + ], + [ + 355.30535888671875, + 257.4576721191406 + ] + ] +} \ No newline at end of file diff --git a/009560_v2/lang.txt b/009560_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..11d12a5acee4fc22bfdfec96b433201323764f7e --- /dev/null +++ b/009560_v2/lang.txt @@ -0,0 +1 @@ +take the green block and put top of red block diff --git a/009560_v2/object.ply b/009560_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..8d46102723c319d6b6d53208eea7d2bf25017c19 Binary files /dev/null and b/009560_v2/object.ply differ diff --git a/009606_v2/data.json b/009606_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..b7d15403fc7053eda4d4719ca3e7c533e9700f15 --- /dev/null +++ b/009606_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 20, + "action_end": 40, + "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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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, + 0.0, + 1.3877787807814457e-17, + 1.354465143738487e-07, + -5.11694939997188e-08, + 6.17549930595932e-09, + 1.0 + ], + [ + 0.0024273163834759304, + -0.004012699825653568, + 0.0037660885427435314, + -0.024983545747852946, + -0.013966602309375733, + -0.022464232362491295, + 1.0 + ], + [ + 0.003766426226134212, + -0.001873512523934237, + 0.0057439738039593985, + -0.02911848317656029, + -0.016223935891698314, + -0.005313482625079655, + 1.0 + ], + [ + 0.0007126901845315725, + 0.00015118828742367862, + 0.012419829259506937, + -0.02797673071661774, + -0.05036545947817817, + 0.011946438423429984, + 1.0 + ], + [ + 0.0016449254716234818, + -0.012733337430152078, + 0.01305150513290862, + 0.017272338479409077, + -0.04097751715986318, + -0.024559955306593904, + 1.0 + ], + [ + -0.00021384310480693225, + -0.01806840429064295, + 0.0070161802032076, + 0.03313253287589859, + 0.0054769899313818335, + -0.04269688412087595, + 1.0 + ], + [ + -0.0006249051996145005, + -0.021172402759099526, + 0.0036089105321730486, + 0.0033173993556972663, + -0.006579434328602833, + -0.04371423308326828, + 1.0 + ], + [ + -0.005797193103152798, + -0.013763176073274888, + -0.0037032217096057696, + -0.008179570927574115, + 0.014370441218444621, + -0.020259320503392138, + 1.0 + ], + [ + -0.0015067689686152907, + -0.00380711958754118, + -0.011016735725442955, + -0.022185046581870656, + 0.03646886886489243, + 0.015069781396564402, + 1.0 + ], + [ + 0.0005474089754153866, + -0.0020898959794152516, + -0.006217629816946624, + -0.018882576439935683, + 0.024566463843106675, + 0.008253636050977162, + 1.0 + ], + [ + 0.004555966180840754, + 2.4847305783448626e-05, + -0.008977515469055009, + -0.01706965253039463, + 0.02959508205962872, + 0.038337009765658715, + 1.0 + ], + [ + 0.004648198804568959, + 0.0024959097513126416, + -0.0051813627789531885, + -0.02105112132448049, + 0.020977589720174515, + 0.06028800073118286, + 1.0 + ], + [ + 0.002584111268414846, + 0.003162450262097133, + -0.005148407019928303, + -0.017937925742656412, + -0.00039141957350733884, + 0.07504661680154642, + 1.0 + ], + [ + 0.0021095897432781285, + 0.0025066984195494524, + -0.0037448017893457197, + -0.0018923012467852091, + 0.024054181807221867, + 0.08057506270789938, + 1.0 + ], + [ + 7.316518316768938e-05, + 0.0014958413191801245, + -0.003274980132403016, + 0.00688985222703133, + 0.012583345305134885, + 0.08087439067987376, + 1.0 + ], + [ + -0.0004964651422624256, + -0.002043607740854908, + -0.003740187846932752, + -0.006727453460485988, + 0.013350150912154241, + 0.007670634490220571, + 1.0 + ], + [ + -0.0004213617406769177, + -0.0010324977109347488, + -0.002304004790742803, + -0.00510708972861798, + 0.006885276632123972, + 0.007611351297853664, + 1.0 + ], + [ + -0.00043228247242843576, + -0.0001777919179168086, + -0.0017347042139621571, + -0.005047199180242396, + 0.0037359232962041536, + 0.006941519442059904, + 1.0 + ], + [ + -2.8306360434382505e-05, + 0.0009185030074819467, + -0.004607332958984217, + -0.007616605590850453, + 0.008006955745130209, + 0.006252506111263476, + 1.0 + ], + [ + -0.00012146558840681054, + 0.001896464733039921, + -0.005751797292740682, + -0.009561329794312972, + 0.012777656626515534, + 0.008907513404648312, + 1.0 + ], + [ + -3.803054827627994e-05, + 0.0022743039083842898, + -0.006105508430923404, + -0.009704552314241563, + 0.004375929936912417, + 0.0017538149891164255, + 1.0 + ], + [ + 0.0005767647473467474, + 0.000657793855472516, + -0.0010198068955596246, + -0.006300686521636245, + -0.004096186358967676, + -0.021156107696970048, + 0.0 + ], + [ + -0.000502931993854705, + -0.000984080892620448, + 0.002011755421351305, + 0.0010607491094475653, + -0.005140131188245149, + -0.010449886290672205, + 0.0 + ], + [ + 8.733727051207785e-05, + -0.0019295235893450335, + 0.002497316865255478, + -0.0007654008156740878, + -0.004475666041742982, + -0.016214038369259783, + 0.0 + ], + [ + -0.0002062540527148493, + 0.0022584560629715367, + 0.010354457018698485, + 0.012718891150149715, + -0.024241972227383533, + 0.0005793668024512787, + 0.0 + ], + [ + 0.005852934140094912, + 0.01546045388991632, + 0.012936267261639461, + 0.011941613082254431, + -0.024860935402330784, + 0.03334833085267144, + 0.0 + ], + [ + 0.006072390079082779, + 0.015313985244946954, + 0.012134363019429162, + 0.023896669445550498, + -0.03608340912706314, + 0.023157781303607454, + 0.0 + ], + [ + 0.002215208161656823, + 0.01628171624094231, + 0.001539044418657251, + 0.010928636872728057, + 0.0020050756035034046, + 0.01971330077827765, + 0.0 + ], + [ + 0.00044496430973106627, + 0.028494348464809013, + 0.00012352680174750053, + 0.03537402458334246, + 0.004252365147930521, + 0.016754507494043416, + 0.0 + ], + [ + 0.00409288098937266, + 0.024698857734096774, + -0.0016713002939987703, + 0.0022970803579829267, + -0.00038989136548626366, + 0.030304445198633758, + 0.0 + ], + [ + 0.0037815277453132623, + 0.02044733763877364, + -0.0036930805969797448, + -0.005576940550902761, + 9.126569618191464e-05, + 0.03510451394001567, + 0.0 + ], + [ + -0.0008575485071358746, + 0.018215668178049847, + -0.005972291911858468, + -0.0183889268970579, + -0.001635726811792277, + 0.04555133750017969, + 0.0 + ], + [ + -0.005232729269232406, + 0.02017659867254539, + -0.014484465448251146, + -0.027558081130736677, + 0.019503647339155918, + 0.0590536938222539, + 0.0 + ], + [ + -0.005658750607969387, + 0.01075965419864804, + -0.018581207656586954, + -0.01233553255675855, + 0.027394374043129128, + 0.051034185389390765, + 0.0 + ], + [ + -0.0036791630445006107, + 0.0023774991525012668, + -0.02182872024764454, + -0.00624357694019894, + 0.008993875358593589, + 0.03700526091828174, + 0.0 + ], + [ + -0.0024448275197841984, + 0.0008643045649085745, + -0.018709373161771868, + 0.006454858080026827, + 0.025597202080837492, + 0.013625438072903727, + 0.0 + ], + [ + 0.0032476129419513056, + -0.0054915774377573105, + -0.016262571129907366, + 0.00039085720865380543, + 0.014188705036334556, + -0.008846418971648253, + 0.0 + ], + [ + 0.0021984083618930006, + -0.005611889205201958, + -0.01796961314453511, + -0.007748091689095545, + 0.02608386780442807, + -0.004743861954123198, + 0.0 + ], + [ + 0.003988906238316214, + 0.004188426504349568, + -0.009008615654949223, + -0.01852949436411983, + 0.01726855372298239, + -0.011229432149169187, + 0.0 + ], + [ + 0.0012849390395391347, + 0.0043974910041330376, + -0.0031024554907183375, + -0.004562707620814931, + 0.0024552906289398257, + 0.01622580742613357, + 0.0 + ], + [ + 0.0015009725897025539, + 0.0008249549630436753, + 0.0008256573219526872, + -0.0055559145740633345, + -0.009775809132166498, + 0.013732336103946795, + 0.0 + ], + [ + 0.0015792239881096126, + -0.00013759775437258842, + 0.011297402519485427, + 0.004219599362049041, + -0.0300778107387976, + 0.034733949360495536, + 1.0 + ], + [ + 0.004448586891022843, + 0.002641633993557206, + 0.037389587180483394, + 0.047374735674329115, + -0.07663527983534105, + 0.03431891377878259, + 1.0 + ], + [ + 0.005008556857320934, + 0.004028686833971468, + 0.0414307189240123, + 0.043338543822684934, + -0.07696558910345742, + 0.0022157807112288853, + 1.0 + ], + [ + -0.003096621470674854, + -0.005570136980960235, + 0.03517401430419418, + 0.08270851197003352, + -0.01677438484544752, + -0.05896479230473579, + 1.0 + ], + [ + 0.008919060270527301, + -0.02322470803992934, + 0.015699086591222156, + 0.03403829231388803, + 0.006107030942950119, + -0.16662457602728362, + 1.0 + ], + [ + 0.012271520220692111, + -0.02910593482430763, + 0.0001045545950867921, + 0.016161988072124912, + 0.01905215845574323, + -0.12981130998014917, + 1.0 + ], + [ + 0.003034237452785915, + -0.023912449851735126, + -0.00013751026073602346, + 0.0024286731272599752, + 0.007529634967465231, + -0.06640182687290457, + 1.0 + ] + ], + "gripper_centers": [ + [ + 454.7789306640625, + 198.75241088867188 + ], + [ + 452.05810546875, + 202.72451782226562 + ], + [ + 451.0007019042969, + 213.3233642578125 + ], + [ + 457.0191345214844, + 216.13002014160156 + ], + [ + 466.9670715332031, + 209.8018035888672 + ], + [ + 472.87994384765625, + 183.91098022460938 + ], + [ + 503.65155029296875, + 173.97802734375 + ], + [ + 539.219970703125, + 179.240234375 + ], + [ + 565.7936401367188, + 200.13125610351562 + ], + [ + 576.982177734375, + 220.300048828125 + ], + [ + 582.9017333984375, + 237.60690307617188 + ], + [ + 586.2537231445312, + 251.5050811767578 + ], + [ + 586.8419189453125, + 266.9607849121094 + ], + [ + 580.9586791992188, + 259.1794128417969 + ], + [ + 577.4501953125, + 259.41107177734375 + ], + [ + 572.0963134765625, + 265.22039794921875 + ], + [ + 571.62451171875, + 266.87506103515625 + ], + [ + 570.865234375, + 273.96319580078125 + ], + [ + 570.4138793945312, + 277.78558349609375 + ], + [ + 568.921142578125, + 281.8668212890625 + ], + [ + 563.9962158203125, + 287.8555908203125 + ], + [ + 560.588134765625, + 289.17205810546875 + ], + [ + 557.431884765625, + 294.1048583984375 + ], + [ + 557.90673828125, + 293.0180969238281 + ], + [ + 557.3839111328125, + 293.08343505859375 + ], + [ + 555.893310546875, + 292.7657470703125 + ], + [ + 548.2677001953125, + 278.4266357421875 + ], + [ + 531.9578857421875, + 238.4401092529297 + ], + [ + 513.9636840820312, + 218.02023315429688 + ], + [ + 485.0362854003906, + 195.3590545654297 + ], + [ + 448.2383728027344, + 164.20013427734375 + ], + [ + 416.86285400390625, + 147.7515869140625 + ], + [ + 388.2580871582031, + 139.6663055419922 + ], + [ + 354.5050048828125, + 143.58413696289062 + ], + [ + 319.9693298339844, + 161.1644287109375 + ], + [ + 309.4833984375, + 185.90463256835938 + ], + [ + 303.8406677246094, + 212.01492309570312 + ], + [ + 304.03662109375, + 226.43592834472656 + ], + [ + 304.00372314453125, + 245.91015625 + ], + [ + 306.83251953125, + 257.31158447265625 + ], + [ + 309.8332214355469, + 256.62152099609375 + ], + [ + 311.4544677734375, + 256.8724060058594 + ], + [ + 314.24383544921875, + 254.18319702148438 + ], + [ + 312.7639465332031, + 219.22857666015625 + ], + [ + 307.7844543457031, + 183.60806274414062 + ], + [ + 302.2418212890625, + 134.59329223632812 + ], + [ + 339.4100036621094, + 111.46086120605469 + ], + [ + 384.91082763671875, + 104.501953125 + ] + ], + "depth_max": 2.0293502807617188, + "depth_min": 0.2771351933479309, + "intrinsic": [ + [ + 596.346923828125, + 0.0, + 259.0 + ], + [ + 0.0, + 594.885986328125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.171083855908364e-05, + 8.266697113867849e-05, + -4.382563929539174e-06 + ], + [ + -4.1704664909048006e-05, + 1.0, + -7.46025689295493e-05, + -3.367654062458314e-05 + ], + [ + -8.267008524853736e-05, + 7.459912012564018e-05, + 1.0, + -1.4761639249627478e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 568.75, + 297.7500305175781 + ], + [ + 569.341064453125, + 297.9295349121094 + ], + [ + 569.6810913085938, + 298.326904296875 + ], + [ + 570.3638916015625, + 298.7427673339844 + ], + [ + 570.0338134765625, + 299.1092834472656 + ], + [ + 570.1384887695312, + 299.0638732910156 + ], + [ + 569.9019775390625, + 298.8199768066406 + ], + [ + 569.7003784179688, + 299.0634765625 + ], + [ + 570.2705688476562, + 298.869140625 + ], + [ + 570.0991821289062, + 298.63433837890625 + ], + [ + 570.1495361328125, + 298.29998779296875 + ], + [ + 570.2770385742188, + 298.6583251953125 + ], + [ + 570.3115234375, + 298.6953430175781 + ], + [ + 569.7235107421875, + 298.74652099609375 + ], + [ + 569.5961303710938, + 298.64276123046875 + ], + [ + 569.5123291015625, + 298.9181213378906 + ], + [ + 569.5921630859375, + 298.87823486328125 + ], + [ + 569.6673583984375, + 298.968505859375 + ], + [ + 569.7222290039062, + 299.0199890136719 + ], + [ + 569.7379150390625, + 298.951416015625 + ], + [ + 569.322998046875, + 299.1665344238281 + ], + [ + 568.2572631835938, + 299.20245361328125 + ], + [ + 558.7588500976562, + 297.18194580078125 + ], + [ + 558.14111328125, + 296.51727294921875 + ], + [ + 557.1941528320312, + 296.72222900390625 + ], + [ + 555.67138671875, + 296.17901611328125 + ], + [ + 548.0184326171875, + 282.3879699707031 + ], + [ + 533.2218017578125, + 243.95590209960938 + ], + [ + 514.7230834960938, + 222.4725799560547 + ], + [ + 485.71026611328125, + 199.6658172607422 + ], + [ + 449.12371826171875, + 167.65823364257812 + ], + [ + 417.5184020996094, + 151.2632293701172 + ], + [ + 387.6688232421875, + 143.50119018554688 + ], + [ + 356.46832275390625, + 148.47760009765625 + ], + [ + 322.3639831542969, + 165.9744873046875 + ], + [ + 311.10174560546875, + 191.50526428222656 + ], + [ + 305.86627197265625, + 216.5874786376953 + ], + [ + 305.7999572753906, + 231.09144592285156 + ], + [ + 306.11798095703125, + 249.83103942871094 + ], + [ + 309.19488525390625, + 260.71136474609375 + ], + [ + 311.8954772949219, + 259.5418701171875 + ], + [ + 313.9568176269531, + 259.7123718261719 + ], + [ + 314.75653076171875, + 259.3458251953125 + ], + [ + 314.45166015625, + 258.78875732421875 + ], + [ + 314.53118896484375, + 258.3553466796875 + ], + [ + 315.1448669433594, + 258.1943664550781 + ], + [ + 315.5325622558594, + 257.909423828125 + ], + [ + 315.62030029296875, + 258.0890808105469 + ] + ] +} \ No newline at end of file diff --git a/009606_v2/lang.txt b/009606_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..3cfd323ea7e7315623cf552d81db85a6d3af6863 --- /dev/null +++ b/009606_v2/lang.txt @@ -0,0 +1 @@ +move the red hexagon to the right side of the table. diff --git a/009621_v2/FAIL b/009621_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..aaf6c42c619234f9c8379cbcf60a65cd17ba1254 --- /dev/null +++ b/009621_v2/FAIL @@ -0,0 +1 @@ +Too large intersection between gripper and object mask diff --git a/009659_v2/data.json b/009659_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..71fdc283e2ee08a63b50a1be9b3126bab4d24fb6 --- /dev/null +++ b/009659_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 18, + "action_end": 43, + "object_name": "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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + [ + -2.7147506465041715e-11, + -1.6185079665387292e-10, + -7.948600111440385e-11, + 3.5138739435072325e-07, + 3.028225680015367e-07, + 5.1791728724974954e-08, + 1.0 + ], + [ + 0.012554076380657864, + 0.012604313180462394, + -0.00839182279158699, + -0.024976031078091546, + -0.012039120121458446, + -0.002169686374383761, + 1.0 + ], + [ + 0.010048019984306489, + 0.010167019922854834, + -0.007791378240865048, + -0.008520108529763622, + 0.0057947389367201995, + 0.008979278041387232, + 1.0 + ], + [ + 0.005973054719726756, + 0.0036702429394686042, + -0.002930966604797535, + -0.0054032859146564095, + -0.00961687331403774, + 0.002927128094723024, + 1.0 + ], + [ + 0.002265668919266328, + 0.0009984766901970574, + -0.004589626439662349, + -0.0035957353542268454, + 0.007670342400410303, + -0.01266118219665519, + 1.0 + ], + [ + -0.0012468376413218296, + -0.005389571296346533, + -0.0029791066636565035, + -0.004632511915804188, + 0.0022643873063123696, + -0.02538066642657076, + 1.0 + ], + [ + -0.0029777888756961635, + -0.006206249357101928, + -0.008384905337293372, + -0.0062182750934129056, + 0.015260837831462884, + -0.016752713988206124, + 1.0 + ], + [ + -0.0008734355621244361, + -0.0016587281042332036, + -0.007601002831870951, + 0.015956103387620567, + 0.013997722284388439, + 0.011215667851294842, + 1.0 + ], + [ + 0.0012481367374077013, + 0.0004308401181397914, + -0.005338038294396808, + 0.0006027938287353167, + 0.00066275990743941, + 0.015606614938295169, + 1.0 + ], + [ + 0.0006554028485335484, + 0.003229717120752512, + -0.0043258159697819615, + 0.0038529104747974945, + 0.004310724755346959, + 0.01781148036292982, + 1.0 + ], + [ + -0.00043563535331681, + 0.0028413676088495377, + -0.00023581846781070212, + 0.004454283235323523, + -0.001709686786043606, + 0.007633982246019167, + 1.0 + ], + [ + -3.976642763897642e-05, + -0.000610993180076673, + 0.0003748830662717931, + 0.007214241035042457, + -0.0032387121982582314, + 0.0011453064979796137, + 1.0 + ], + [ + -0.000930147058109454, + -0.002360197162169189, + 0.0013943473092644307, + 0.002911694763617003, + -0.0037551983769660486, + -0.0029755024754911127, + 1.0 + ], + [ + 0.00013096498971276738, + -0.0008905336371765743, + -0.0013186505269030709, + 0.0039288269021961345, + 0.0036156030070546847, + -0.00167414595978759, + 1.0 + ], + [ + 4.8825684686892856e-05, + 0.0007774325013172809, + -0.0013350092778831417, + 9.47419759007751e-05, + 0.0015935731080657211, + 0.007023752086367436, + 1.0 + ], + [ + -0.00044321518130957527, + -0.0004835344510304568, + -0.0032290138753040022, + -0.0009077418695253378, + 0.006042412763224989, + 0.006010442036929639, + 1.0 + ], + [ + -0.0005691078369595148, + -0.0015953176645376738, + -0.004706097441842187, + 0.003986965192750068, + 0.015633965073075413, + 0.004325286221965338, + 1.0 + ], + [ + -0.00035822837902355076, + -0.0009975431525000508, + -0.0029334654750440003, + 0.0028608267046314312, + 0.005097520560204701, + 0.0042270917700871265, + 1.0 + ], + [ + -0.00015930708176031816, + -0.003452880269791264, + -0.0036141088226068555, + 0.014378248901451568, + 0.008001001871163588, + -0.0014016145549700385, + 1.0 + ], + [ + -0.00017169963382701603, + -0.000562663203132488, + -0.002733982168644799, + -0.017569249436774407, + 0.0010735294956435754, + 0.004790330357434173, + 0.0 + ], + [ + -0.00030106892394560214, + 0.0031163574694316187, + 0.008479224018395418, + -0.017208847017812813, + -0.027265457250551003, + 0.021474076407838105, + 0.0 + ], + [ + 0.0009848989845179235, + 0.0035842955794337314, + 0.026691970897847406, + -0.0008529937060332989, + -0.054435951980699504, + 0.021760177907489717, + 0.0 + ], + [ + 0.004770254037026689, + 0.0014180265268196324, + 0.047082451468215894, + 0.0011731867610689116, + -0.07564506590493639, + 0.03234751193072321, + 0.0 + ], + [ + -0.0011326244653168671, + -0.00910650405116098, + 0.036822604853516815, + 0.003928591545912454, + -0.01851770216194984, + 0.020498095040940675, + 0.0 + ], + [ + -0.013037199948625289, + -0.01617595713037262, + 0.0162352867649432, + -0.034763097909256, + 0.03338632462068498, + -0.06033935227644643, + 0.0 + ], + [ + -0.009108006570626881, + -0.008013734746374603, + 0.005898384257067915, + -0.031941742726552265, + 0.024498460787133036, + -0.038878397468437784, + 0.0 + ], + [ + 0.0006151508160259223, + -0.0031311822705978216, + -0.0003841213301892382, + -0.01402963161260411, + -0.0002733633019867494, + -0.050273611332830405, + 0.0 + ], + [ + -0.0016350286338320252, + -0.010770323513240868, + -0.00025010726842432385, + 0.016272445463068018, + 0.002649003354881192, + -0.0406396968198762, + 0.0 + ], + [ + -0.0009882012561924225, + -0.009556944748512809, + -0.0006434292548844339, + 0.011649065431285882, + -0.002104058250921695, + -0.039941723565443135, + 0.0 + ], + [ + -0.002151499522756617, + -0.011964370800854371, + -0.0008479763348066133, + 0.040060619405240624, + 0.001500883084831737, + -0.03438136579492906, + 0.0 + ], + [ + -0.04117332496921233, + -0.015036005824546322, + 0.008415516770078096, + -0.005410313722082871, + 0.007808913886449527, + -0.027398521488388453, + 0.0 + ], + [ + -0.005562282954662934, + -0.017263574523575242, + 0.0013416656868172755, + -0.008071363898632458, + -0.007007628030842335, + -0.03529069347631305, + 0.0 + ], + [ + -0.013468042340351094, + -0.0053497260546818345, + -0.003922888606110397, + -0.0034590466990973207, + -0.014241611161792886, + -0.014408614474270007, + 0.0 + ], + [ + -0.006960735581175437, + -0.008192135204947049, + -0.002833110692773172, + 0.0016469201742849817, + 0.004838788215044876, + -0.025336436880082164, + 0.0 + ], + [ + 0.0010961212332646075, + -0.003829544489873965, + -0.00047620753005152283, + 0.006078401822423261, + -0.003610448907531507, + -0.0013630823737487913, + 0.0 + ], + [ + 0.004469270336279502, + -0.007175130266520294, + -0.008032052672210174, + 0.012173887915625951, + 0.010635754971947525, + -0.032080518863297054, + 0.0 + ], + [ + 0.005670405773556736, + -0.0011224698400082514, + -0.00403844846333401, + 0.0032103891981900726, + 0.0016901430302779376, + -0.008964975211348467, + 0.0 + ], + [ + 0.006081411542035481, + -0.0036603987442582198, + -0.0038513882618058104, + 0.008161750599863422, + 0.00039170585881700954, + -0.02096359491278376, + 0.0 + ], + [ + 0.0023846772011523742, + 5.0062159489654146e-05, + -0.0021423645375395484, + 0.0023630718651008443, + 0.004194155928607183, + 0.0021454745724098136, + 0.0 + ], + [ + 0.0035410395696450214, + -0.0005250871751301678, + -0.0014660558035024945, + 0.0020271179072701806, + -0.00033829037022417373, + -0.0009443507828326238, + 0.0 + ], + [ + 0.0036194599332971256, + 0.0009939214451586131, + -0.0018477209986854787, + 0.003285489650185479, + 0.0053736377210552725, + 0.007372630632357369, + 0.0 + ], + [ + 0.005643486911057788, + -0.002144387272954698, + -0.002506611906157516, + 0.01185654673922642, + 0.001598383773963309, + -0.006861419541210373, + 0.0 + ], + [ + 0.0055864801704365585, + -0.0012630812783454015, + -0.004469985690482486, + 0.009973649280575788, + 0.004283554754576323, + -0.011169336206662288, + 0.0 + ], + [ + 0.0028737193820968787, + -6.955468778363505e-05, + -0.003557459179268363, + 0.01149038036528167, + 0.00617642104751946, + -0.003471984985577547, + 0.0 + ], + [ + 0.0005093939459760999, + 0.002828109084701075, + 0.000603251049092382, + -0.012522845428212623, + 0.009649555816631152, + 0.006987835875098388, + 1.0 + ], + [ + -0.0013546446614622343, + 0.004235135996063379, + 0.004998971372061303, + -0.01685832346443868, + -0.004729765745834768, + 0.024794436184677495, + 1.0 + ], + [ + -0.0008348870093836669, + 0.00496141686108266, + 0.009218777315649046, + -0.019114084604430957, + -0.018380914319155495, + 0.03073739586090893, + 1.0 + ], + [ + -0.0020737260565271143, + 0.010490692513029032, + 0.017084053079456207, + -0.054017461941801785, + -0.045372735782524556, + 0.0327307573864782, + 1.0 + ] + ], + "gripper_centers": [ + [ + 290.96331787109375, + 190.2116241455078 + ], + [ + 289.6690673828125, + 195.61183166503906 + ], + [ + 293.0846862792969, + 207.74754333496094 + ], + [ + 291.93115234375, + 201.03744506835938 + ], + [ + 291.17083740234375, + 199.5723114013672 + ], + [ + 293.38616943359375, + 197.1568603515625 + ], + [ + 292.5941467285156, + 202.1192626953125 + ], + [ + 292.65826416015625, + 206.02877807617188 + ], + [ + 289.9570617675781, + 216.30752563476562 + ], + [ + 289.318115234375, + 221.5367889404297 + ], + [ + 289.3504943847656, + 225.74337768554688 + ], + [ + 288.63226318359375, + 229.10638427734375 + ], + [ + 287.9969482421875, + 228.45782470703125 + ], + [ + 287.89508056640625, + 228.8271484375 + ], + [ + 285.99713134765625, + 230.4291534423828 + ], + [ + 285.69110107421875, + 230.203369140625 + ], + [ + 285.8420715332031, + 229.94784545898438 + ], + [ + 284.5863037109375, + 235.70480346679688 + ], + [ + 284.83636474609375, + 236.21241760253906 + ], + [ + 285.00531005859375, + 236.35589599609375 + ], + [ + 286.620361328125, + 235.69883728027344 + ], + [ + 290.1486511230469, + 237.52720642089844 + ], + [ + 297.0702209472656, + 239.88980102539062 + ], + [ + 298.1500244140625, + 198.431396484375 + ], + [ + 298.1572265625, + 156.08383178710938 + ], + [ + 297.5901794433594, + 132.1541748046875 + ], + [ + 306.2671813964844, + 130.8490753173828 + ], + [ + 306.2415771484375, + 131.27978515625 + ], + [ + 312.28619384765625, + 133.8246307373047 + ], + [ + 330.7519226074219, + 144.55184936523438 + ], + [ + 340.0731506347656, + 151.10107421875 + ], + [ + 341.17181396484375, + 177.14877319335938 + ], + [ + 334.8835754394531, + 195.20736694335938 + ], + [ + 344.810302734375, + 218.46812438964844 + ], + [ + 337.9510498046875, + 235.69541931152344 + ], + [ + 344.9061584472656, + 246.05349731445312 + ], + [ + 354.74871826171875, + 252.81170654296875 + ], + [ + 363.9149169921875, + 264.1038513183594 + ], + [ + 373.07269287109375, + 263.6156921386719 + ], + [ + 381.6181640625, + 263.742431640625 + ], + [ + 384.0155029296875, + 262.9678039550781 + ], + [ + 387.9151916503906, + 262.5201110839844 + ], + [ + 391.8828125, + 259.43743896484375 + ], + [ + 396.2884521484375, + 257.86956787109375 + ], + [ + 401.19036865234375, + 255.5067138671875 + ], + [ + 401.9837646484375, + 257.4337158203125 + ], + [ + 404.78466796875, + 260.508544921875 + ], + [ + 405.239013671875, + 256.45184326171875 + ] + ], + "depth_max": 1.6122536659240723, + "depth_min": 0.3644507825374603, + "intrinsic": [ + [ + 609.9346313476562, + 0.0, + 259.0 + ], + [ + 0.0, + 608.0877685546875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.2054024157114327e-05, + 9.121206676354632e-05, + -1.931857332237996e-05 + ], + [ + -2.2049302060622722e-05, + 1.0, + -5.178287028684281e-05, + -3.4523971407907084e-05 + ], + [ + -9.121320181293413e-05, + 5.1780862122541294e-05, + 1.0, + -7.42218253435567e-06 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 306.5, + 238.50001525878906 + ], + [ + 306.6021423339844, + 239.05526733398438 + ], + [ + 307.2997741699219, + 239.42718505859375 + ], + [ + 306.9151306152344, + 239.4649658203125 + ], + [ + 306.7979736328125, + 239.62232971191406 + ], + [ + 306.92681884765625, + 239.5505828857422 + ], + [ + 306.8662109375, + 239.86859130859375 + ], + [ + 307.1136474609375, + 240.17568969726562 + ], + [ + 306.7773742675781, + 240.1356658935547 + ], + [ + 306.6067199707031, + 239.61045837402344 + ], + [ + 306.7503356933594, + 239.369140625 + ], + [ + 306.2451171875, + 238.98928833007812 + ], + [ + 305.3931884765625, + 238.38180541992188 + ], + [ + 304.86065673828125, + 238.2059326171875 + ], + [ + 304.38934326171875, + 237.9536895751953 + ], + [ + 304.0174560546875, + 237.61331176757812 + ], + [ + 303.55853271484375, + 237.0794677734375 + ], + [ + 302.6055908203125, + 236.29502868652344 + ], + [ + 302.2796630859375, + 236.10195922851562 + ], + [ + 302.2904052734375, + 235.82113647460938 + ], + [ + 302.94525146484375, + 235.5125732421875 + ], + [ + 306.369384765625, + 236.52352905273438 + ], + [ + 311.98138427734375, + 236.87515258789062 + ], + [ + 313.40875244140625, + 202.43048095703125 + ], + [ + 307.2190246582031, + 178.129638671875 + ], + [ + 311.7348327636719, + 150.69386291503906 + ], + [ + 318.85113525390625, + 152.0530548095703 + ], + [ + 318.8756103515625, + 153.7366180419922 + ], + [ + 324.0, + 155.58265686035156 + ], + [ + 342.8463134765625, + 161.76426696777344 + ], + [ + 349.47265625, + 166.84979248046875 + ], + [ + 350.3114929199219, + 187.3518524169922 + ], + [ + 345.836181640625, + 201.54043579101562 + ], + [ + 351.44244384765625, + 220.5787353515625 + ], + [ + 342.51312255859375, + 236.4698486328125 + ], + [ + 351.56512451171875, + 245.2218017578125 + ], + [ + 358.2805480957031, + 253.72122192382812 + ], + [ + 365.7086181640625, + 262.7203369140625 + ], + [ + 374.692138671875, + 262.9459228515625 + ], + [ + 384.7766418457031, + 265.9684143066406 + ], + [ + 389.896484375, + 266.6860046386719 + ], + [ + 394.0684509277344, + 267.2779846191406 + ], + [ + 399.3191833496094, + 265.4302978515625 + ], + [ + 403.80816650390625, + 264.63275146484375 + ], + [ + 408.29681396484375, + 264.13763427734375 + ], + [ + 410.92706298828125, + 264.62451171875 + ], + [ + 412.5309753417969, + 265.7663269042969 + ], + [ + 413.7100830078125, + 264.92620849609375 + ] + ] +} \ No newline at end of file diff --git a/009659_v2/lang.txt b/009659_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..57d58b72516a4545f0e62b5dda5b925c569cdc49 --- /dev/null +++ b/009659_v2/lang.txt @@ -0,0 +1 @@ +move the block with a punch hole on top of the tower diff --git a/009659_v2/object.ply b/009659_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..bc2c1ba0405178857f8fab1a7ffe53a3f6d75920 Binary files /dev/null and b/009659_v2/object.ply differ diff --git a/009678_v2/data.json b/009678_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..0344ca9c049688a814445a1f4bd1f84f45e1e64a --- /dev/null +++ b/009678_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 17, + "action_end": 42, + "object_name": "blue 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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + [ + -3.075995014256705e-11, + -3.499908696191767e-11, + -3.7573208433450134e-11, + -2.0830514351661913e-07, + -1.729001297601564e-08, + -4.106203074600256e-08, + 1.0 + ], + [ + 0.008129813902923833, + -0.016356669796174526, + 0.0018925967467205845, + 0.002320319491200586, + -0.016975018430866937, + -0.0596248092287236, + 1.0 + ], + [ + 0.012272028560610604, + -0.019116416136905942, + 0.0007668614218463987, + -0.0014238709577911852, + -0.008771332303786678, + -0.07873480042095717, + 1.0 + ], + [ + 0.008072145689769494, + -0.014943950212439563, + -0.006722925105745667, + -0.016912239955746228, + 0.0005137424953589585, + -0.05722778541238361, + 1.0 + ], + [ + 0.00345853676019231, + -0.0098883444845147, + -0.01363117121881878, + -0.020134419452630746, + 0.01148522355448077, + -0.030523686901690352, + 1.0 + ], + [ + 0.0029120086176520066, + -0.0071401936382686215, + -0.015377296863755566, + -0.016981079404539332, + 0.015328901425458806, + -0.022726250455613068, + 1.0 + ], + [ + 0.005476625320983752, + -0.0013956921633667824, + -0.01381996375769784, + 0.0009988599179270733, + -0.00011969194155675942, + 0.00544338864523262, + 1.0 + ], + [ + 0.0020572265289069414, + 0.0063544353654662045, + -0.00643643944106953, + 0.006319360809440914, + 0.006625458880706551, + 0.019579989054761555, + 1.0 + ], + [ + -0.00010137735741427845, + 0.008858332882181894, + -0.0022942782974814946, + 0.016830480172875077, + -0.01763900656054343, + 0.03294060449771396, + 1.0 + ], + [ + 0.002953251363861986, + 0.007264008059921542, + -0.0021291845168464676, + 0.02769524105311609, + -0.006554156525985332, + 0.021868218164201474, + 1.0 + ], + [ + 0.003268374906616689, + 0.0039028987472522064, + -0.003007482178131647, + 0.00911978469929879, + -0.021390758073530344, + 0.02956623081131525, + 1.0 + ], + [ + 0.006100672539777141, + -0.0007361168320007272, + -0.007510956038020912, + -0.03539559727248646, + 0.003870188827407101, + -0.0034333834869817157, + 1.0 + ], + [ + 0.006440522495294587, + -0.0028613133342373642, + -0.0030110130524215253, + -0.02067229834681, + -0.000871081964884367, + -0.0019304773555231325, + 1.0 + ], + [ + 0.007277098145992866, + -0.005681993502925295, + -0.00037806811134160484, + -0.006759127608351159, + -0.009706008074416841, + -0.013719777766619385, + 1.0 + ], + [ + 0.004910908094656774, + -0.0012411376893903953, + -0.005238249992837351, + -0.005096180318104173, + 0.010932010995128102, + -0.007532040579730492, + 1.0 + ], + [ + 0.002687433616671897, + 0.0033503090438813943, + -0.006594456969907365, + -0.0019174325772784665, + 0.00966105916232534, + 0.010557674691246218, + 1.0 + ], + [ + 0.002890635029069555, + 0.002563137185736239, + -0.007668522803122583, + -0.005932918655015508, + 0.011754792355011298, + 0.012770660110219366, + 1.0 + ], + [ + 0.0030500483450761062, + 0.001014706021458922, + -0.005913769597982231, + -0.0008522490864824034, + 0.015259850194758126, + 0.006222655960461517, + 1.0 + ], + [ + 0.0010612321558814974, + 0.0013518066484100033, + -0.004162398155414374, + 0.009470521816580046, + 0.0021046102837257055, + 0.014679153554596615, + 0.0 + ], + [ + 0.00035118214326124164, + 0.00036052950654796856, + -0.0024659146119046255, + 0.0029041434076572795, + 0.0038902147578025194, + 0.0024498081632202138, + 0.0 + ], + [ + 0.0003731482875747316, + 0.0011056725157960884, + 0.0019156769526877575, + 0.0007869597889589078, + -0.00719804570624553, + 0.006536205758865736, + 0.0 + ], + [ + -0.0036075299948463146, + 0.0032515852384071287, + 0.012405569198986312, + -0.005026515212695096, + -0.0253599550806432, + 0.03239500198929409, + 0.0 + ], + [ + -0.004475137938294571, + 0.005099014143637823, + 0.0356362379507568, + -0.0060955779496621836, + -0.0871600019869779, + 0.05758213204299443, + 0.0 + ], + [ + -0.005285738232209569, + 0.008896465881149701, + 0.0475134748465271, + -0.00729753753195229, + -0.05663613585269756, + 0.034688707970275595, + 0.0 + ], + [ + -0.014577891346295502, + 0.014286949140151287, + 0.03555059708898881, + -0.0002855905055759566, + -0.019841063405251533, + 0.031233642810240023, + 0.0 + ], + [ + -0.018038493041209636, + 0.020890548401099204, + 0.02843692773965839, + -0.009893488190906852, + -0.010020143101737374, + 0.07046223354793589, + 0.0 + ], + [ + -0.013582671362772913, + 0.02047785979673828, + 0.018568575771089918, + -0.004106821113728293, + -0.0027356708868294297, + 0.03303470645543786, + 0.0 + ], + [ + -0.013178582102804537, + 0.011857884647249593, + 0.004405499632763599, + 0.01993733425226719, + 0.031208081065271245, + 0.021125830473297334, + 0.0 + ], + [ + -0.008353765948853675, + 0.0083878132188241, + -0.0049032782383823525, + -0.0026214151317474183, + 0.009062484130541386, + 0.01646600432181028, + 0.0 + ], + [ + 0.0035105200858224495, + 0.004140572332874029, + -0.015612407640557796, + 0.0015819184061207142, + 0.023868008301195096, + -0.03573965858674449, + 0.0 + ], + [ + 0.0021253079720512658, + 0.006006792985755104, + -0.011549291271218842, + 0.016476856332090447, + 0.02398109482141434, + -0.002666702264427225, + 0.0 + ], + [ + 0.002610503849187179, + 0.004646625349443206, + -0.006516380583374282, + 0.00442767883183711, + 0.010677412722339555, + -0.00014403792890769202, + 0.0 + ], + [ + 0.0014412297455511924, + 0.003434958981754917, + -0.0047342946233400185, + -0.0034296957849695078, + 0.008977665228967128, + -0.0008334378121538549, + 0.0 + ], + [ + -0.0012905718874335337, + 0.004184095527346325, + -0.0020659776034685773, + -0.0011552114940947592, + 0.0038265975076397646, + 0.003761397506755035, + 0.0 + ], + [ + -0.0038654876639917513, + 0.005874000852248002, + -0.005609369661817909, + -0.011845676848847892, + 0.01443721454175155, + -0.001350643774450026, + 0.0 + ], + [ + -0.007537620671742129, + 0.004578363341098155, + -0.004619878840665087, + -0.014239831579670011, + 0.015007903890281796, + 0.01856138771882999, + 0.0 + ], + [ + -0.0002913761675709947, + 0.00018157480804893364, + -0.0034919725014348757, + -0.010831990969386335, + 0.009961958731807762, + -0.00414882937077933, + 0.0 + ], + [ + 0.0016309274692215825, + -0.0010865204524479026, + 0.0007932918864703986, + 0.0025003455136369374, + -0.00564221052914937, + -0.005952092063851617, + 0.0 + ], + [ + 0.002877175381329339, + -0.004863777192174321, + 0.0035883715266609717, + 0.007897718563338166, + -0.008759780864944416, + -0.014093455300999879, + 0.0 + ], + [ + 0.004679009890449809, + -0.006870406606345435, + -0.0017021799620735578, + 0.0018717562491300708, + -0.0036698006352104567, + -0.02568141410710057, + 0.0 + ], + [ + -0.00010446200369218506, + -0.004355728245335491, + -0.005286304633001032, + -0.005018041825149352, + 0.018721667545960625, + -0.008156990238148119, + 0.0 + ], + [ + 0.0002768488310123385, + -0.002141742969580439, + -0.0008660968391700219, + 0.0001723064758672965, + 0.0045051960189983085, + 0.00017218054935542494, + 0.0 + ], + [ + -0.0003553174996748232, + -2.7790094544080657e-05, + -0.0004321181696503862, + -0.0006745141932628094, + 0.004849746880584598, + 0.004180046168796371, + 0.0 + ], + [ + -0.00020379885705379408, + 0.0013894567502725462, + -0.0004519394556985329, + -0.0013556545696726395, + 0.011788090624575706, + 0.012898076286528266, + 1.0 + ], + [ + -0.0002238931308241321, + 0.0006432291287818241, + 0.0004825199092745591, + -0.003138011545513674, + 0.000691391503837808, + 0.014992038350008225, + 1.0 + ], + [ + -0.001339931525327076, + -0.0006477487203329288, + 0.004806648729258622, + 0.0006409557483707129, + -0.003245737328090844, + 0.011818633352259815, + 1.0 + ], + [ + 0.0013271930312433178, + -0.002341396859981127, + 0.02627844501573734, + 0.028874229845588496, + -0.08219318249595117, + 0.019220318205357054, + 1.0 + ], + [ + 0.0031459293532881127, + -0.008615322549527895, + 0.024539033215630807, + 0.031414800906712365, + -0.04932046604296755, + -0.028561679392348875, + 1.0 + ] + ], + "gripper_centers": [ + [ + 403.467041015625, + 167.0551300048828 + ], + [ + 400.6675109863281, + 174.6254119873047 + ], + [ + 406.545166015625, + 182.10415649414062 + ], + [ + 451.76336669921875, + 189.00148010253906 + ], + [ + 486.294677734375, + 197.69126892089844 + ], + [ + 501.587158203125, + 221.98057556152344 + ], + [ + 506.148193359375, + 243.0919952392578 + ], + [ + 507.5439453125, + 258.22064208984375 + ], + [ + 506.06353759765625, + 266.44293212890625 + ], + [ + 502.1241455078125, + 267.3245544433594 + ], + [ + 495.119873046875, + 266.67529296875 + ], + [ + 489.2279968261719, + 262.9820251464844 + ], + [ + 489.8784484863281, + 263.7945251464844 + ], + [ + 489.5613098144531, + 267.06793212890625 + ], + [ + 500.67071533203125, + 259.8514099121094 + ], + [ + 504.291015625, + 262.4283142089844 + ], + [ + 503.0982666015625, + 270.2855529785156 + ], + [ + 501.5406494140625, + 272.8863220214844 + ], + [ + 495.7369689941406, + 274.004150390625 + ], + [ + 492.65325927734375, + 271.04541015625 + ], + [ + 490.122802734375, + 270.21142578125 + ], + [ + 490.2314453125, + 270.4059143066406 + ], + [ + 489.32574462890625, + 271.1498107910156 + ], + [ + 484.2391357421875, + 261.72259521484375 + ], + [ + 494.3406982421875, + 202.7364959716797 + ], + [ + 485.7611389160156, + 148.29998779296875 + ], + [ + 460.0453796386719, + 100.49075317382812 + ], + [ + 415.0393371582031, + 52.946922302246094 + ], + [ + 374.39404296875, + 37.90599822998047 + ], + [ + 351.9453125, + 41.48462677001953 + ], + [ + 330.05413818359375, + 46.382415771484375 + ], + [ + 325.3097839355469, + 58.929874420166016 + ], + [ + 318.7606201171875, + 70.06330108642578 + ], + [ + 315.25823974609375, + 73.43123626708984 + ], + [ + 310.47589111328125, + 77.00785827636719 + ], + [ + 298.934814453125, + 81.12028503417969 + ], + [ + 283.5182189941406, + 94.97865295410156 + ], + [ + 276.3182678222656, + 98.16856384277344 + ], + [ + 275.98028564453125, + 97.98907470703125 + ], + [ + 276.1681213378906, + 98.06908416748047 + ], + [ + 277.7171630859375, + 97.0238037109375 + ], + [ + 292.92559814453125, + 106.99259948730469 + ], + [ + 292.7899169921875, + 108.99427795410156 + ], + [ + 294.2520751953125, + 109.74756622314453 + ], + [ + 294.65057373046875, + 110.53379821777344 + ], + [ + 296.0841064453125, + 115.31599426269531 + ], + [ + 295.3058166503906, + 115.99040222167969 + ], + [ + 297.2105712890625, + 95.84718322753906 + ] + ], + "depth_max": 1.6762276887893677, + "depth_min": 0.09256316721439362, + "intrinsic": [ + [ + 593.7208862304688, + 0.0, + 259.0 + ], + [ + 0.0, + 592.0418090820312, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.9479744625859894e-05, + 7.579759403597564e-05, + -6.958456651773304e-06 + ], + [ + -2.9475986593752168e-05, + 1.0, + -4.9608359404373914e-05, + -1.963292743312195e-05 + ], + [ + -7.579904922749847e-05, + 4.960612568538636e-05, + 1.0, + 4.608124072547071e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 488.75, + 280.5 + ], + [ + 488.6885070800781, + 280.7472229003906 + ], + [ + 488.5137634277344, + 280.939208984375 + ], + [ + 488.48583984375, + 280.7560119628906 + ], + [ + 488.39508056640625, + 280.94122314453125 + ], + [ + 488.2022705078125, + 280.8012390136719 + ], + [ + 488.59320068359375, + 281.04754638671875 + ], + [ + 488.3047790527344, + 280.8658142089844 + ], + [ + 488.19500732421875, + 281.26556396484375 + ], + [ + 488.078125, + 281.15484619140625 + ], + [ + 488.095458984375, + 280.98699951171875 + ], + [ + 487.7752685546875, + 280.80328369140625 + ], + [ + 487.9368896484375, + 280.8848876953125 + ], + [ + 488.6104736328125, + 281.1201171875 + ], + [ + 488.1915588378906, + 281.4891357421875 + ], + [ + 488.5677490234375, + 281.5307922363281 + ], + [ + 488.9561767578125, + 281.04144287109375 + ], + [ + 490.11224365234375, + 278.389404296875 + ], + [ + 494.63897705078125, + 279.6004943847656 + ], + [ + 496.136474609375, + 279.6153564453125 + ], + [ + 496.5605163574219, + 278.28955078125 + ], + [ + 494.7981872558594, + 275.2676086425781 + ], + [ + 493.9575500488281, + 274.0569763183594 + ], + [ + 489.69720458984375, + 263.0234069824219 + ], + [ + 501.8350524902344, + 206.07284545898438 + ], + [ + 493.08404541015625, + 149.18191528320312 + ], + [ + 461.6055603027344, + 98.92444610595703 + ], + [ + 414.1509704589844, + 51.64283752441406 + ], + [ + 374.8780517578125, + 32.8269157409668 + ], + [ + 353.7558288574219, + 39.549156188964844 + ], + [ + 336.1775207519531, + 49.47488784790039 + ], + [ + 331.4873046875, + 64.4729232788086 + ], + [ + 324.60308837890625, + 74.64692687988281 + ], + [ + 320.0836181640625, + 78.27853393554688 + ], + [ + 315.0209045410156, + 80.72430419921875 + ], + [ + 303.4245910644531, + 86.38619995117188 + ], + [ + 287.54107666015625, + 97.03604125976562 + ], + [ + 281.6457824707031, + 100.28399658203125 + ], + [ + 281.74847412109375, + 100.36268615722656 + ], + [ + 282.7467956542969, + 100.57627868652344 + ], + [ + 284.2239990234375, + 99.63529968261719 + ], + [ + 297.0859375, + 108.61267852783203 + ], + [ + 297.66778564453125, + 111.70281219482422 + ], + [ + 297.86834716796875, + 111.43788146972656 + ], + [ + 301.28045654296875, + 113.63563537597656 + ], + [ + 310.56439208984375, + 115.80755615234375 + ], + [ + 311.1047058105469, + 116.58026123046875 + ], + [ + 311.44671630859375, + 116.6352767944336 + ] + ] +} \ No newline at end of file diff --git a/009678_v2/lang.txt b/009678_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..fd7b5f0df74d9475a415a805a87ab30128b918d5 --- /dev/null +++ b/009678_v2/lang.txt @@ -0,0 +1 @@ +put the blue triangle on top of the green cube diff --git a/009678_v2/object.ply b/009678_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..af3dbdcacd43b69353a5c239124194734c2718e2 Binary files /dev/null and b/009678_v2/object.ply differ diff --git a/009693_v2/data.json b/009693_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..b08cf145a8ebebd7d0cec84a8eaa4aaad7dbe888 --- /dev/null +++ b/009693_v2/data.json @@ -0,0 +1,879 @@ +{ + "action_start": 12, + "action_end": 30, + "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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.13455399999999995, + 1.0, + 1.0, + 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": [ + [ + -1.4678985804650324e-10, + -9.80065473221714e-11, + 7.913095179112872e-11, + 3.262190471912735e-07, + 3.019176663387295e-07, + 1.0991002416581969e-07, + 1.0 + ], + [ + 0.007666678717422715, + 0.0108138030283782, + 0.007291596142457141, + 0.001532251427792286, + 0.005203453577296608, + -3.9206732919112645e-05, + 1.0 + ], + [ + 0.0038070933850730126, + 0.015763848595227933, + 0.005024766845284065, + 0.000610816187301258, + -0.01396929723445163, + 0.028434474193855367, + 1.0 + ], + [ + -0.001547821932115112, + 0.016554521415602104, + 0.01129245970368914, + 0.020594838758386403, + 0.0013905970222808696, + 0.012505745439451006, + 1.0 + ], + [ + -0.015569407670953883, + 0.027887717740601274, + 0.003184127362904937, + -0.017607403045040555, + 0.01020437087733262, + 0.0337687989666274, + 1.0 + ], + [ + -0.007274473497765832, + 0.006807220677942708, + -0.004352844208100393, + -0.013344160217614176, + 0.02436698705684753, + -0.006330824954825035, + 1.0 + ], + [ + -0.005309839940851158, + 0.010204561953695217, + -0.0007602345728108251, + -0.028652385772811047, + -0.0006987378186979236, + -0.0025375516533803774, + 1.0 + ], + [ + -0.003836458096687423, + 0.0029977731962279753, + -0.006029345532364783, + -0.008871593330820934, + 0.014503235760834702, + -0.005072053015317474, + 1.0 + ], + [ + 8.429520295222259e-05, + 0.0023984648731680425, + -0.006370845183121379, + -0.003939385937007961, + 0.030687080177957033, + 0.004994478971716238, + 1.0 + ], + [ + 0.0019045795208181282, + 0.001673472958811404, + -0.0049791924120694, + -0.020886339944281178, + 0.005881935747066963, + -0.00019534389899018145, + 1.0 + ], + [ + 0.001228980864797058, + -0.0026696434823664916, + -0.009723755060843275, + -0.0239748163019554, + 0.0283110313378236, + -0.018346166130886975, + 1.0 + ], + [ + 0.0009883323278704892, + -0.0008877276341292505, + -0.010966221593619277, + -0.011738965256432891, + 0.039300184442157236, + -0.004412861668995605, + 1.0 + ], + [ + -0.001391629356830515, + -0.0007060448443409854, + -0.005728466845255589, + -0.0028597602049662595, + 0.022304453125658426, + 0.01118842024239147, + 1.0 + ], + [ + -4.5951103555263995e-05, + -0.001797046945394976, + 0.00014554710217275224, + -0.0021062412929687556, + -0.00839388248464115, + 0.007514967680230781, + 0.0 + ], + [ + 0.0010135560781062147, + -0.0017774480949779136, + 0.005714652930805766, + 0.017113151818439712, + -0.006118253063079447, + -0.004960632034212877, + 0.0 + ], + [ + 0.007195322453512842, + -0.01070417940223785, + 0.02143852912672127, + 0.04796361144949778, + -0.06265617033765959, + -0.019859767664801214, + 0.0 + ], + [ + 0.012818888831477138, + -0.025931893189312095, + 0.013568482815515634, + 0.03322955825955581, + -0.03578878301575721, + -0.046084322069824664, + 0.0 + ], + [ + 0.01267351729850158, + -0.02680899923966446, + -0.0063141974802126966, + -0.014288443000884674, + 0.02747274619605135, + -0.06197485627874523, + 0.0 + ], + [ + 0.00488184943495884, + -0.019083519643808576, + -0.02221227309682891, + -0.03599306173573994, + 0.05264112457104986, + -0.013228257810511339, + 0.0 + ], + [ + -0.001914920099905848, + -0.009271442091072363, + -0.02692576608939555, + -0.04518091946254854, + 0.04453778747528506, + 0.008142696092570297, + 0.0 + ], + [ + 0.001305808557243715, + -0.0036424338093998115, + -0.011966219192401886, + -0.018094847973697665, + 0.016304021200566805, + -0.004997070730236195, + 0.0 + ], + [ + 0.001164564085200992, + -0.0016439444293032818, + -0.007213890930870007, + -0.011957954115374723, + 0.002118625227078654, + -0.0014156486310419939, + 0.0 + ], + [ + 0.0020791059466287454, + -0.0005776075292441285, + -0.004124872587094569, + 0.0004065241458323666, + -0.006271986401556642, + 0.006129334973902694, + 0.0 + ], + [ + 0.0012047094039861483, + -0.00025577316861376265, + 0.00015331615696222156, + 0.005752232234760274, + -0.017072891961551512, + 0.001125981474784152, + 0.0 + ], + [ + 0.0018001463829142583, + 0.0005998070639422481, + -5.8739844171096234e-05, + -0.0047458448745839946, + -0.015296338708553228, + 0.006325517949181862, + 0.0 + ], + [ + -0.0005258487393891009, + 0.00167454941605083, + -0.0034180632711307557, + -0.010080705745576686, + -0.008931644888709239, + 0.004998817840742093, + 0.0 + ], + [ + -0.0006640852174669698, + 0.0004643585758456886, + -0.003806584970116267, + 0.00099959548806602, + 0.00610995883788662, + 0.0022098142690303566, + 0.0 + ], + [ + -0.0027638750212987673, + -0.000995636588374274, + -0.0027069145415833246, + -0.0016797733932670954, + 0.0029218411859670565, + -0.0032161707186462865, + 0.0 + ], + [ + -0.0009769426894398192, + -0.00041956734809463214, + -0.00237005642797105, + 0.0014440464167180507, + 0.0022804982177649885, + -0.0015508082089214273, + 0.0 + ], + [ + -2.45223806982775e-07, + -0.0014985069159804826, + -0.0040292860166445815, + 0.004158205745744176, + 0.009706038330305942, + -0.005576474874484926, + 0.0 + ], + [ + 0.0013690841590270342, + -0.0008244737936954766, + -0.0011470456041884763, + 0.0011362798418543293, + 0.005251970674479113, + -0.005025065861121798, + 0.13455399999999995 + ], + [ + -0.0012240986127761144, + 0.0009622865350275844, + 0.0033646404366651783, + 0.009985001472669227, + -0.01586030140049033, + 0.05266599490144296, + 1.0 + ], + [ + 2.8601732560584736e-05, + 0.0015260665619771102, + 0.007766213943126592, + 0.007768279793265128, + -0.026578818825893438, + 0.018780519687593717, + 1.0 + ], + [ + -8.271428099276834e-05, + 0.0007301932994561305, + 0.006179910737728271, + 0.013190452605419211, + -0.008442576062936287, + 0.013152896468664042, + 1.0 + ], + [ + -0.0017426376713546299, + 0.0043283147484705214, + 0.026725007952431275, + 0.016776150792864857, + -0.0624514654144012, + 0.0259286786633968, + 1.0 + ], + [ + 0.0013112335864622904, + -0.001616457807037272, + 0.03279025544040717, + 0.0033035581221632876, + -0.052136916708700735, + -0.023914835813310976, + 1.0 + ], + [ + -0.007586399872844818, + 0.0035145870553176806, + 0.020005426983538743, + 0.007380765044416546, + -0.012544686806403861, + -0.02968748204156109, + 1.0 + ], + [ + -0.0032088826829696493, + 0.009474659413425304, + 0.0030975392073585295, + 0.0048988469333884925, + -0.005541312801285035, + -0.0051242210895174785, + 1.0 + ], + [ + -0.008220332378764017, + 0.01694765857312157, + 0.0029174458007741044, + 0.0014090435397198133, + -0.024760143572834965, + 0.03546475406038606, + 1.0 + ], + [ + -0.004230144196238406, + 0.012678633279922268, + -0.006208807679894152, + -0.0009358754498623535, + 0.007280843313420756, + 0.03917702459943697, + 1.0 + ], + [ + -0.002358280053900763, + 0.0076119324526752186, + -0.008383992543542357, + -0.0018274731186427356, + 0.012331245599139411, + 0.029317482733028484, + 1.0 + ], + [ + -0.0005029183232344581, + 0.0020226461871706986, + -0.005237166478287925, + 0.00029770347020445623, + 0.011966716947990282, + -0.006217543613621239, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 501.9914855957031, + 132.78265380859375 + ], + [ + 497.4888916015625, + 139.81837463378906 + ], + [ + 496.46173095703125, + 143.82659912109375 + ], + [ + 478.6690368652344, + 121.58036804199219 + ], + [ + 456.954345703125, + 105.29666137695312 + ], + [ + 424.147216796875, + 85.34976959228516 + ], + [ + 377.2680969238281, + 72.49006652832031 + ], + [ + 369.98773193359375, + 81.98771667480469 + ], + [ + 346.7408447265625, + 86.45589447021484 + ], + [ + 345.45965576171875, + 89.9512939453125 + ], + [ + 344.0269775390625, + 90.72413635253906 + ], + [ + 341.9164123535156, + 103.14216613769531 + ], + [ + 343.984130859375, + 118.81149291992188 + ], + [ + 343.74383544921875, + 127.72691345214844 + ], + [ + 344.646728515625, + 128.9746856689453 + ], + [ + 344.0111999511719, + 128.320068359375 + ], + [ + 342.128173828125, + 115.98004150390625 + ], + [ + 390.3847961425781, + 89.82925415039062 + ], + [ + 441.9343566894531, + 88.64376831054688 + ], + [ + 479.5167236328125, + 128.76437377929688 + ], + [ + 487.56951904296875, + 160.6769561767578 + ], + [ + 487.75738525390625, + 193.06674194335938 + ], + [ + 490.3438415527344, + 201.1717071533203 + ], + [ + 490.0835266113281, + 205.9959716796875 + ], + [ + 490.827392578125, + 206.20956420898438 + ], + [ + 489.7583923339844, + 207.9864044189453 + ], + [ + 487.9895324707031, + 214.58816528320312 + ], + [ + 486.7669677734375, + 216.73281860351562 + ], + [ + 484.186767578125, + 222.06922912597656 + ], + [ + 482.262939453125, + 225.04225158691406 + ], + [ + 482.2315673828125, + 225.1465606689453 + ], + [ + 480.18731689453125, + 230.33157348632812 + ], + [ + 480.9612731933594, + 230.2530517578125 + ], + [ + 476.94573974609375, + 234.73675537109375 + ], + [ + 478.61175537109375, + 223.96783447265625 + ], + [ + 476.3886413574219, + 209.92112731933594 + ], + [ + 486.27667236328125, + 166.93089294433594 + ], + [ + 496.45953369140625, + 135.99571228027344 + ], + [ + 495.6241760253906, + 118.57356262207031 + ], + [ + 481.3187561035156, + 122.07768249511719 + ], + [ + 452.14666748046875, + 113.22913360595703 + ], + [ + 429.9967041015625, + 121.91593933105469 + ], + [ + 418.42437744140625, + 127.29267883300781 + ], + [ + 417.3160400390625, + 127.07064819335938 + ], + [ + 417.30316162109375, + 127.09668731689453 + ] + ], + "depth_max": 1.596672773361206, + "depth_min": 0.5321888327598572, + "intrinsic": [ + [ + 592.7437744140625, + 0.0, + 259.0 + ], + [ + 0.0, + 591.0526733398438, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.6603017835877836e-05, + 5.87429094593972e-05, + -3.763431232073344e-05 + ], + [ + -4.660014383262023e-05, + 1.0, + -4.8953024816000834e-05, + -4.8747911932878196e-05 + ], + [ + -5.8745186834130436e-05, + 4.89502890559379e-05, + 1.0, + 9.9653461802518e-06 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 44 + ], + "object_trajectory": [ + [ + 343.25, + 146.0 + ], + [ + 343.7376403808594, + 146.01882934570312 + ], + [ + 343.7541198730469, + 146.20367431640625 + ], + [ + 343.684326171875, + 146.1956329345703 + ], + [ + 343.6809997558594, + 146.2651824951172 + ], + [ + 343.6101989746094, + 146.28103637695312 + ], + [ + 343.8794250488281, + 146.37066650390625 + ], + [ + 343.79425048828125, + 146.23013305664062 + ], + [ + 344.0770263671875, + 145.95108032226562 + ], + [ + 343.7492370605469, + 145.87484741210938 + ], + [ + 343.84808349609375, + 145.67044067382812 + ], + [ + 345.27764892578125, + 141.41384887695312 + ], + [ + 345.0072021484375, + 141.6472930908203 + ], + [ + 344.764892578125, + 141.71871948242188 + ], + [ + 345.253173828125, + 141.91375732421875 + ], + [ + 344.3408508300781, + 142.2870635986328 + ], + [ + 340.4530944824219, + 136.6070556640625 + ], + [ + 379.4698486328125, + 111.04171752929688 + ], + [ + 430.662109375, + 107.95469665527344 + ], + [ + 469.13092041015625, + 146.75985717773438 + ], + [ + 473.74481201171875, + 176.7459716796875 + ], + [ + 475.66961669921875, + 207.09600830078125 + ], + [ + 470.0196228027344, + 213.67691040039062 + ], + [ + 470.32598876953125, + 217.79116821289062 + ], + [ + 471.175537109375, + 217.66683959960938 + ], + [ + 471.64013671875, + 220.01747131347656 + ], + [ + 468.9943542480469, + 226.26156616210938 + ], + [ + 475.4286193847656, + 230.291015625 + ], + [ + 472.1759033203125, + 235.7819366455078 + ], + [ + 476.3422546386719, + 235.7032012939453 + ], + [ + 475.7156066894531, + 235.80712890625 + ], + [ + 473.77685546875, + 240.8071746826172 + ], + [ + 473.0511474609375, + 241.7613983154297 + ], + [ + 473.63494873046875, + 241.7813262939453 + ], + [ + 473.5380554199219, + 241.8385772705078 + ], + [ + 473.5399169921875, + 241.7859344482422 + ], + [ + 473.7154235839844, + 241.75962829589844 + ], + [ + 474.22271728515625, + 241.90676879882812 + ], + [ + 473.9011535644531, + 241.8134765625 + ], + [ + 473.40948486328125, + 241.52415466308594 + ], + [ + 473.77960205078125, + 241.99734497070312 + ], + [ + 473.4667053222656, + 241.68565368652344 + ], + [ + 473.19000244140625, + 241.78543090820312 + ], + [ + 473.6578674316406, + 241.462646484375 + ], + [ + 473.79998779296875, + 241.84083557128906 + ] + ] +} \ No newline at end of file diff --git a/009693_v2/lang.txt b/009693_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..e6aa6944bf62e13f8f48db74764bb961244074dd --- /dev/null +++ b/009693_v2/lang.txt @@ -0,0 +1 @@ +Put the blue cube on top of the red cube diff --git a/009693_v2/object.ply b/009693_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..74ebae7a1be75bfe09aa7d308ef8e667296210d8 Binary files /dev/null and b/009693_v2/object.ply differ diff --git a/009779_v2/FAIL b/009779_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/009779_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/009783_v2/data.json b/009783_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..866c795260e4a8c226651b7004506c0d39f08ab6 --- /dev/null +++ b/009783_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 16, + "action_end": 34, + "object_name": "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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + [ + 5.562078575493956e-11, + 2.920206437773132e-10, + 2.0819398982574455e-10, + 4.0016003160989396e-07, + -8.336001630656413e-08, + 1.99860038995318e-07, + 1.0 + ], + [ + 0.015526138904234488, + -0.008492744426405924, + 0.016012307676993326, + 0.06917649771221446, + 0.01420431943501003, + -0.2705516834214074, + 1.0 + ], + [ + 0.013366572862394122, + -0.004208043051516064, + 0.010599161194396127, + 0.05562608638703131, + 0.019048728003237196, + -0.20427106911141524, + 1.0 + ], + [ + 0.007492317745940114, + -0.001321958909281688, + 0.000977692296153597, + 0.0006457286008545966, + 0.024197791768043788, + -0.15859356917588532, + 1.0 + ], + [ + 0.015301873096807528, + -0.0019608041632658, + -0.005881446978423181, + -0.06160814717472712, + 0.049796025164251995, + -0.2825614617186818, + 1.0 + ], + [ + 0.011417069629030774, + -0.0006840937624793091, + -0.004788692745338705, + -0.029641737224984522, + 0.02957548495705702, + -0.1863043711016032, + 1.0 + ], + [ + 0.011125833318325618, + -0.007239402863685327, + 0.0030710859030552845, + -0.027067104684847826, + 0.0025937765225156795, + -0.14484140550010272, + 1.0 + ], + [ + 0.004695665460971277, + -0.002979518589657351, + -0.004170679143069261, + -0.0013366590715051592, + 0.015413044726143502, + -0.07842430003769535, + 1.0 + ], + [ + 0.000762654616022429, + 0.000909081487827668, + -0.006344206421979394, + -0.013764117344217784, + 0.0021333575957965646, + -0.01980792668863873, + 1.0 + ], + [ + -0.0005630829040917384, + -0.0032261587758808203, + -0.005452218620016866, + -0.015764387409784007, + -0.010153281375838, + -0.04559822028857961, + 1.0 + ], + [ + -0.0008819701917176515, + -0.000990306227673739, + -0.006677189106098429, + 0.011442783725869697, + 0.004935036493252968, + 0.0035483097519397396, + 1.0 + ], + [ + 0.0010654824901812354, + 0.0005085029653284657, + -0.004019107171854212, + -0.003413867746800154, + -0.014175639201272709, + 0.0014445174550169848, + 1.0 + ], + [ + 0.00296035629787611, + 0.0006414517355042672, + -0.011769364504770029, + -0.00557074122913495, + 0.011814937376412968, + -0.00480338992648779, + 1.0 + ], + [ + 0.0016236795139779048, + -0.0014533755350659974, + -0.005430153220539968, + -0.008078870728370345, + 0.006201239935475981, + 0.0001005466538358384, + 1.0 + ], + [ + 0.0012467100900916406, + -0.004818456995720548, + -0.004602409997291347, + -0.005092209989444114, + 0.01456504065045071, + -0.012265549837956278, + 1.0 + ], + [ + 2.276643055848515e-05, + -0.0033086749436886664, + -0.0023603534883220277, + -0.000912006729323757, + 0.004828891454727777, + -0.0006621650772585752, + 1.0 + ], + [ + 0.002393314107148381, + -0.0013078278136733857, + -0.0048242071381745175, + -0.003785087739565236, + 0.010017218702609352, + -0.00461873702540019, + 1.0 + ], + [ + 0.0001397947670584987, + 0.002006929692289939, + -0.004812322358029055, + -0.013247514815175986, + -0.0007497296025198327, + 0.030604706688512652, + 0.0 + ], + [ + -0.00035334499579531276, + 0.0029556261366966937, + -0.002305888055931089, + -0.01174933791887072, + -0.002196065808568428, + 0.02319738164302057, + 0.0 + ], + [ + -0.001394110299341389, + 0.002723656772849288, + 0.00013897776161911801, + -0.001526978806477562, + -0.001033720627350546, + 0.01643177936863476, + 0.0 + ], + [ + -0.0014614841290853664, + -0.005555176012738833, + 0.022169138181274896, + 0.013684245191911557, + -0.04475133335771872, + -0.014264488992147571, + 0.0 + ], + [ + -0.00715510826464405, + -0.00524109975165651, + 0.035464300442466776, + 0.03485689026509647, + -0.05937307966612654, + -0.005591413416651182, + 0.0 + ], + [ + -0.009501676451044494, + 0.005251471864623723, + 0.016038068908382785, + 0.00527840770496995, + -0.029224062689178164, + 0.027994309419995665, + 0.0 + ], + [ + -0.012042840820849054, + 0.00023251425674697748, + 0.010108279771690265, + -0.02641891673963348, + 0.03745124150850502, + 0.019353096164628738, + 0.0 + ], + [ + -0.013452979002948062, + -0.007210918841436861, + 0.0032059081734558265, + 0.0019836535483264447, + 0.03906430858736745, + -0.01002569171330812, + 0.0 + ], + [ + -0.014464657091912858, + 0.0023975303297391042, + -0.007659030053584592, + 0.003929040466388297, + 0.05566386319776568, + 0.03311187066344805, + 0.0 + ], + [ + -0.008547158183865422, + 0.0008159045595967683, + -0.0055327361286821725, + 0.009884510261638127, + 0.012116287468542946, + 0.01659167305438298, + 0.0 + ], + [ + -0.00185847140969142, + -0.003274225806265435, + -0.007239299118595881, + -0.011139525033155928, + 0.04266184008171019, + -0.005278999059145392, + 0.0 + ], + [ + -0.0010520581576364263, + -0.00622404581564439, + -0.0026667027364691773, + -0.0007607308310599204, + 0.018658541426844734, + -0.019816671180057324, + 0.0 + ], + [ + -0.00027062852297621287, + -0.004388631955457811, + -0.005273902491314264, + -0.005829585867001607, + 0.004485526436424081, + -0.010440737284688405, + 0.0 + ], + [ + -0.002725960507068581, + -0.003747891197187752, + -0.0071029558792202185, + -0.027895981247978197, + 0.007123337473600651, + -0.01693420771889381, + 0.0 + ], + [ + -0.003424129755182581, + 0.0007252219561665781, + -0.007045378775152808, + -0.0161227835882196, + 0.013606200130054097, + 0.007992537594898475, + 0.0 + ], + [ + -0.0009447985003486759, + 0.005223925635395435, + -0.005406953191720368, + -0.0039282522375058875, + 0.01188971558996795, + 0.028163036817203575, + 0.0 + ], + [ + -0.0012943483540942546, + 0.00486541291810267, + -0.003008267388491838, + -0.004385968415242466, + 0.006853575425230726, + 0.02405388426016373, + 0.0 + ], + [ + 0.000619009871900722, + 0.000631429793706631, + -0.0014352809778722248, + -0.0016408675183809645, + 0.0033256634516155895, + 0.006415243104413934, + 0.0 + ], + [ + 0.0013375442614210753, + 0.0008542686150613994, + -0.0003233954348413129, + 0.005749011171767331, + -0.004339853689136665, + 0.011817069208420187, + 1.0 + ], + [ + 0.0012258519405303758, + 0.0013350383184731474, + 0.0038330801804865033, + -0.0023461762256351496, + -0.01886037206089147, + 0.03404224028684299, + 1.0 + ], + [ + 0.00465290715488631, + 0.00019035136058516595, + 0.011260288843625912, + -0.002808200912651388, + -0.04150821323748084, + 0.01559333820681227, + 1.0 + ], + [ + 0.0077420150008959965, + -0.0005929791540512201, + 0.022464938114119447, + 0.010130422589605212, + -0.0585368451851956, + -0.0050666037360175475, + 1.0 + ], + [ + 0.0027900933901571223, + 0.0014798477289574632, + 0.02171754749482665, + 0.02329273831904397, + -0.057447978289083164, + -0.02427575222025749, + 1.0 + ], + [ + -0.0015451020881920852, + -0.001378530385432522, + 0.004759276658467107, + 0.0248478640250847, + 0.011837415144423968, + -0.04148866456051366, + 1.0 + ], + [ + -0.0031807428229929657, + -0.011069155804770366, + 0.004385458380531948, + 0.012061215250868302, + 0.007605877325625823, + -0.06497496876372756, + 1.0 + ], + [ + -0.012802268183732202, + -0.0026226716858489714, + -0.0016068634494372652, + 0.0007588130764292064, + 0.0194456076764357, + -0.02089540184515398, + 1.0 + ], + [ + -0.01314808893251146, + 0.007516392929673429, + -0.007991603190292254, + -0.010278128878222657, + -0.0013014516163945395, + 0.0043069081478007065, + 1.0 + ], + [ + -0.007141320989273614, + 0.004281455733554335, + -0.004976543882038789, + -0.004997762142217901, + 0.007582478272177495, + 0.006267547802955416, + 1.0 + ], + [ + -0.007436150173526557, + 0.002910002213067569, + -0.00030821067461089813, + -0.003791968592367245, + -0.0007628093240766274, + 0.011100707682823343, + 1.0 + ], + [ + -0.0026606137903130156, + -0.0003619691762581645, + -0.0017842531814554335, + -0.0018657751936704005, + 0.0003929201716207514, + -0.005227569540209064, + 1.0 + ], + [ + 0.0010699817986935256, + -0.004391103409791361, + -0.0038940877458092382, + 0.012757750775497356, + 0.012140906099346545, + -0.033274128811652544, + 1.0 + ] + ], + "gripper_centers": [ + [ + 285.33038330078125, + 165.87110900878906 + ], + [ + 283.7642517089844, + 171.86758422851562 + ], + [ + 285.07440185546875, + 169.94064331054688 + ], + [ + 314.36883544921875, + 152.51788330078125 + ], + [ + 330.77459716796875, + 146.153564453125 + ], + [ + 345.11053466796875, + 145.8125762939453 + ], + [ + 360.51934814453125, + 145.30519104003906 + ], + [ + 371.20147705078125, + 140.58973693847656 + ], + [ + 384.44732666015625, + 135.4938507080078 + ], + [ + 386.47747802734375, + 145.10885620117188 + ], + [ + 391.2899169921875, + 145.62197875976562 + ], + [ + 388.74468994140625, + 153.99334716796875 + ], + [ + 387.4487609863281, + 162.59005737304688 + ], + [ + 387.0247802734375, + 170.36663818359375 + ], + [ + 385.716064453125, + 184.1527099609375 + ], + [ + 388.44580078125, + 183.8798828125 + ], + [ + 392.82208251953125, + 194.78610229492188 + ], + [ + 395.6785583496094, + 194.73843383789062 + ], + [ + 396.81036376953125, + 200.3507080078125 + ], + [ + 399.0938720703125, + 200.63507080078125 + ], + [ + 399.50067138671875, + 200.6884002685547 + ], + [ + 396.6824035644531, + 202.89044189453125 + ], + [ + 395.78375244140625, + 179.31451416015625 + ], + [ + 398.2544860839844, + 151.32981872558594 + ], + [ + 394.5599365234375, + 143.50128173828125 + ], + [ + 389.69488525390625, + 145.3086395263672 + ], + [ + 380.3511962890625, + 155.0834503173828 + ], + [ + 367.2463684082031, + 175.44802856445312 + ], + [ + 363.2631530761719, + 183.1925048828125 + ], + [ + 362.771484375, + 184.5113067626953 + ], + [ + 374.5348815917969, + 195.13299560546875 + ], + [ + 379.3377380371094, + 198.0177459716797 + ], + [ + 379.5640563964844, + 210.42990112304688 + ], + [ + 377.3858337402344, + 221.1351776123047 + ], + [ + 377.08343505859375, + 223.70840454101562 + ], + [ + 375.97430419921875, + 224.87353515625 + ], + [ + 374.1708068847656, + 226.2685089111328 + ], + [ + 372.60980224609375, + 225.5856170654297 + ], + [ + 372.6968688964844, + 221.95367431640625 + ], + [ + 377.0276184082031, + 201.08486938476562 + ], + [ + 381.62567138671875, + 166.58349609375 + ], + [ + 380.28369140625, + 150.05960083007812 + ], + [ + 379.4804382324219, + 148.48727416992188 + ], + [ + 390.5072326660156, + 158.85455322265625 + ], + [ + 377.3513488769531, + 169.18569946289062 + ], + [ + 363.97662353515625, + 185.3352508544922 + ], + [ + 355.58319091796875, + 197.35000610351562 + ], + [ + 345.2613220214844, + 197.1011962890625 + ] + ], + "depth_max": 1.716698169708252, + "depth_min": 0.23156693577766418, + "intrinsic": [ + [ + 613.4144287109375, + 0.0, + 259.0 + ], + [ + 0.0, + 611.8136596679688, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 6.509021477540955e-05, + 0.00011563904263311997, + -2.1651361748808995e-05 + ], + [ + -6.50864458293654e-05, + 1.0, + -3.265135092078708e-05, + -3.3380933018634096e-05 + ], + [ + -0.00011564116721274331, + 3.264382394263521e-05, + 1.0, + -1.731325755827129e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 396.25, + 212.0 + ], + [ + 396.2839050292969, + 212.2771453857422 + ], + [ + 396.5021057128906, + 212.21759033203125 + ], + [ + 396.4356689453125, + 212.27874755859375 + ], + [ + 396.262939453125, + 212.3983154296875 + ], + [ + 396.693603515625, + 211.78582763671875 + ], + [ + 396.7981872558594, + 212.02078247070312 + ], + [ + 396.5096130371094, + 212.13446044921875 + ], + [ + 397.0240478515625, + 211.71435546875 + ], + [ + 396.9617614746094, + 211.78643798828125 + ], + [ + 396.8136901855469, + 211.63851928710938 + ], + [ + 396.6173095703125, + 211.93289184570312 + ], + [ + 396.1495056152344, + 212.22959899902344 + ], + [ + 395.948486328125, + 212.8033447265625 + ], + [ + 395.9001770019531, + 213.15142822265625 + ], + [ + 395.8636169433594, + 212.79737854003906 + ], + [ + 396.3265075683594, + 212.50047302246094 + ], + [ + 396.31195068359375, + 212.57643127441406 + ], + [ + 396.6238098144531, + 212.7814178466797 + ], + [ + 398.4996337890625, + 213.59744262695312 + ], + [ + 398.89898681640625, + 213.37489318847656 + ], + [ + 396.9979248046875, + 215.53262329101562 + ], + [ + 396.15484619140625, + 195.38058471679688 + ], + [ + 398.4027404785156, + 166.0706024169922 + ], + [ + 394.37396240234375, + 158.53396606445312 + ], + [ + 389.45220947265625, + 163.19125366210938 + ], + [ + 379.1308898925781, + 173.1260528564453 + ], + [ + 365.9555969238281, + 194.8197784423828 + ], + [ + 361.44989013671875, + 201.0099639892578 + ], + [ + 360.66314697265625, + 203.44607543945312 + ], + [ + 370.36553955078125, + 212.86045837402344 + ], + [ + 374.5023498535156, + 216.85116577148438 + ], + [ + 375.0948181152344, + 227.7622528076172 + ], + [ + 375.1973571777344, + 238.34310913085938 + ], + [ + 374.6569519042969, + 241.22470092773438 + ], + [ + 374.1473693847656, + 242.13421630859375 + ], + [ + 372.63836669921875, + 242.26364135742188 + ], + [ + 372.3401794433594, + 242.35525512695312 + ], + [ + 372.2939453125, + 242.4486541748047 + ], + [ + 371.89178466796875, + 241.9236297607422 + ], + [ + 371.36590576171875, + 241.5000762939453 + ], + [ + 371.7599792480469, + 241.59780883789062 + ], + [ + 371.46417236328125, + 241.822021484375 + ], + [ + 371.64300537109375, + 242.09609985351562 + ], + [ + 372.61602783203125, + 241.03932189941406 + ], + [ + 370.692626953125, + 242.34323120117188 + ], + [ + 371.4672546386719, + 241.8869171142578 + ], + [ + 370.3946533203125, + 241.68548583984375 + ] + ] +} \ No newline at end of file diff --git a/009783_v2/lang.txt b/009783_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..f4279014ea84f2bedbe6f1e543195023d3d00a97 --- /dev/null +++ b/009783_v2/lang.txt @@ -0,0 +1 @@ +put the cylinder on top of the white rectangular block diff --git a/009801_v2/data.json b/009801_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..bb9d1327743385e5dda63a74b6ec1be66e04f32d --- /dev/null +++ b/009801_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 12, + "action_end": 35, + "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, + 0.47960899999999995, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + [ + -3.200367748590338e-10, + -1.2473254373812637e-10, + -4.6720793900334456e-11, + 4.4055572859741825e-07, + -5.461973537073692e-07, + 2.123471375794345e-07, + 1.0 + ], + [ + -0.005037697310510264, + 0.009395059554900092, + -0.010083579098723455, + -0.023424196159935202, + 0.017831365713320033, + 0.07730744997517754, + 1.0 + ], + [ + -0.0022745686490240613, + 0.004221328273548083, + -0.0062661754864059005, + -0.00754396872514918, + 0.015585354504068822, + 0.024321764260551562, + 1.0 + ], + [ + -6.328960999696376e-06, + 0.0040467462673283335, + -0.009899640179289584, + -0.0009514089796838868, + 0.008415377318534522, + 0.02677888931699472, + 1.0 + ], + [ + 2.098046727685987e-05, + 0.0029586784754979285, + -0.011222076300317144, + 0.007926684831421475, + 0.01307105813760104, + 0.02545027327073186, + 1.0 + ], + [ + 0.002322195670955679, + 0.0035515784188614313, + -0.012359088519194227, + 0.012145582066535932, + 0.06924737932334558, + 0.07349289326991926, + 1.0 + ], + [ + 5.798578299989754e-05, + 0.006005166463471989, + -0.00296907592258272, + 0.006340048902413241, + 0.03936539723466499, + 0.07921021176323549, + 1.0 + ], + [ + 2.112267378404087e-05, + 0.006573815947397428, + 0.000707798386928242, + -0.008521593277526442, + 0.006319485033165576, + 0.07300998797423891, + 1.0 + ], + [ + 0.0010805656852459489, + 0.003468155219304256, + 0.0008945087085810719, + -0.0008808873506803202, + 0.0027199313372827604, + 0.015526929635432885, + 1.0 + ], + [ + -0.002986522403459674, + -0.0033173868926871103, + -0.003933636239877804, + -0.021801957476241578, + 0.010531827108705084, + -0.02506489778721202, + 1.0 + ], + [ + -0.006127623063901078, + -0.006204632979772154, + -0.006637094255355242, + -0.011606537664852474, + 0.020656155096114532, + -0.02625045360225554, + 1.0 + ], + [ + -0.006458845474139635, + -0.005565428773425855, + -0.004109419700262965, + -0.02062810102378471, + 0.013817359692084426, + -0.011536300507465682, + 1.0 + ], + [ + -5.4229810222350405e-05, + -0.0005203309112489299, + -0.0038939213557443253, + -0.014685360941343989, + -0.0022198788143194766, + 0.00048720436918431954, + 0.47960899999999995 + ], + [ + 0.0008470419792065698, + 0.0009147992139513922, + 0.0016362207550635508, + 0.002335122985173666, + -0.018405845603312335, + 0.011639568217064439, + 0.0 + ], + [ + 0.0039248034052126735, + -0.0003787468696551735, + 0.009885037042841615, + 0.005524451709181386, + -0.02861795594941718, + -0.0013471155693277979, + 0.0 + ], + [ + 0.011996718786501687, + -0.0007520392242214777, + 0.042769169538818055, + 0.048897119147564824, + -0.11552190623792838, + -0.017688455820785837, + 0.0 + ], + [ + 0.016453009038404964, + -0.007630234226016767, + 0.04209895300238862, + 0.038850043145254816, + -0.08976041695050509, + -0.07356602650213563, + 0.0 + ], + [ + 0.014383268249389652, + -0.025490447953473445, + 0.020477836267711963, + 0.015243726571748568, + -0.012378751529462025, + -0.15806841489034298, + 0.0 + ], + [ + 0.005393702845077841, + -0.029623366382220177, + 0.007404063422306387, + -0.004523788741690768, + -0.01911494204061225, + -0.11723886788607278, + 0.0 + ], + [ + -0.0028171827675652628, + -0.019672212734798675, + 0.00479071336986113, + -0.014444244612425203, + 0.01016633223484477, + -0.08112716412105542, + 0.0 + ], + [ + -0.003936436141633526, + -0.008894723521076273, + -0.004276231601676617, + -0.014140525827731145, + 0.025312032356220298, + -0.031561278472504874, + 0.0 + ], + [ + -0.006858626713921512, + -0.010058438375067473, + -0.008771624856478685, + 0.008010485287851282, + 0.05756506357854657, + -0.035132289686022944, + 0.0 + ], + [ + -0.0021610863803462332, + -0.009088342795975299, + -0.00425360415625918, + 0.04685805073342435, + 0.03574715135641018, + -0.01024293344824482, + 0.0 + ], + [ + 0.001610808160709909, + -0.0046014307243242986, + -0.007546410209261542, + 0.02096839219471895, + 0.02300381816136051, + -0.021095947581384614, + 0.0 + ], + [ + 0.0013974576675649941, + 0.0017125838523947834, + -0.004821366453107323, + 0.0026498903997241507, + 0.00953711649352911, + 0.009378585209261544, + 0.0 + ], + [ + 0.002552571472667492, + 0.003337909832048208, + -0.006704578020164248, + 0.002611923645174695, + 0.021667870268987918, + 0.01075287064910748, + 0.0 + ], + [ + -0.001102071644305147, + 0.007496835167115301, + -0.006546835480864072, + -0.007682477381172244, + 0.027790249262598363, + 0.028973758990189693, + 0.0 + ], + [ + -0.0005937684491384709, + 0.0032104517109754344, + -0.0024587207373908265, + -0.006898065037365883, + 0.009305956338742484, + 0.008147180866226626, + 0.0 + ], + [ + -0.0002815879047059766, + 0.001744513165620798, + -0.0012988513109006422, + -0.0027765614897760815, + 0.005374798051996716, + 0.007534060552308084, + 0.0 + ], + [ + 0.0005778234408657656, + 0.0020001835538442786, + -0.00016203918400548023, + -0.0035635722551187244, + -0.0015356952187579383, + 0.0052960548030560935, + 0.0 + ], + [ + -0.00019765007555444525, + -0.005641075008117294, + 0.0003521812903945071, + -0.0003261879123967958, + -0.002237847077596643, + -0.021365384772491565, + 0.0 + ], + [ + -0.00043274739771392845, + -0.0044204379529769605, + -0.00037583423642741087, + -0.0006810106047010909, + 0.0024728869864784134, + -0.015260049477043356, + 0.0 + ], + [ + -0.0001451985582902604, + -0.003190809202377687, + -0.002506341882136734, + 0.0016283535752199439, + 0.006315530397659972, + -0.008589039054460713, + 0.0 + ], + [ + 0.00047490001415137484, + -3.5939093746134576e-06, + -0.0009715298536931843, + 0.0035566386344201245, + -0.0010849855419713943, + 0.004223994684282932, + 0.0 + ], + [ + 0.00017025907135465035, + 0.0010017093874168104, + 0.00078091588798887, + 0.002508720062267776, + -0.0019003162293700455, + 0.006021887897123127, + 0.0 + ], + [ + 8.76949205611266e-05, + 0.0001965156032252835, + 0.000472390404134701, + 0.0040102813941830535, + -0.0009750720923614241, + 0.0008763947577327595, + 0.0 + ], + [ + 0.00036090075509381814, + -6.753865720861285e-05, + 0.0007986101292742215, + 0.007521349460627471, + 0.008196119378629244, + -0.011984912672436348, + 1.0 + ], + [ + 0.002111438715423186, + -0.00022244020979761414, + 0.003914682881071302, + -0.00930285230298905, + -0.015534482838872325, + -0.0011610999288724896, + 1.0 + ], + [ + 0.0009448505252604711, + 0.0037815173051580636, + 0.010793357311582721, + -0.008160470636801689, + -0.03108401802237531, + 0.01852426748261873, + 1.0 + ], + [ + 0.005770275206017694, + 0.01677982606531523, + 0.032292994918074844, + -0.023921705037750738, + -0.09737895483038866, + 0.09208604600801222, + 1.0 + ], + [ + 0.003997635069650535, + 0.01596227688488825, + 0.022139499079027694, + -0.013554354000495338, + -0.03670609443666103, + 0.050287945118927334, + 1.0 + ], + [ + 0.004565765173523584, + 0.019274784415291776, + -0.004370536328106744, + -0.012762263325331244, + 0.002007781466654375, + 0.03350544904315811, + 1.0 + ], + [ + 0.01039266069291589, + 0.027463396540267818, + -0.024897816496850078, + 0.01522970505311388, + -0.012881394209754718, + 0.03709556717632435, + 1.0 + ], + [ + 0.004186404280299483, + 0.01587312597336366, + -0.021796804266962094, + 0.0007729450794200774, + 0.009255398093624993, + 0.005488170687144036, + 1.0 + ], + [ + 0.0020913572849113327, + 0.00041531702304002487, + -0.02431598004945984, + 0.0031335285828155285, + -0.017989920886799, + 0.016388779642702713, + 1.0 + ], + [ + 0.0015432203030171232, + -0.002951240264223373, + -0.019323268654443004, + 0.015193158183397169, + -0.006835228279775365, + 0.011443462453783141, + 1.0 + ], + [ + 6.440800612084185e-05, + -0.0017272074470241275, + -0.0036444177617789425, + -0.010721277837805325, + -0.041987650819513174, + 0.006251374790157151, + 1.0 + ], + [ + -0.0005183464908099511, + -0.001579906383942009, + 0.0048708344091652755, + -0.004807400145441497, + -0.03416775090603977, + 0.021172602427043774, + 1.0 + ] + ], + "gripper_centers": [ + [ + 300.7452392578125, + 208.15902709960938 + ], + [ + 299.02032470703125, + 214.0363006591797 + ], + [ + 297.4476623535156, + 230.30462646484375 + ], + [ + 282.3260498046875, + 235.21365356445312 + ], + [ + 279.9046630859375, + 244.54554748535156 + ], + [ + 275.96630859375, + 252.3040313720703 + ], + [ + 272.1359558105469, + 264.84600830078125 + ], + [ + 269.8646240234375, + 266.6011657714844 + ], + [ + 261.7574768066406, + 261.93218994140625 + ], + [ + 255.4932098388672, + 256.06689453125 + ], + [ + 256.51348876953125, + 258.9877624511719 + ], + [ + 253.08197021484375, + 270.25408935546875 + ], + [ + 250.5767364501953, + 282.26214599609375 + ], + [ + 252.4085235595703, + 288.08612060546875 + ], + [ + 253.23114013671875, + 288.05694580078125 + ], + [ + 253.6424560546875, + 285.1732177734375 + ], + [ + 254.48220825195312, + 253.2620391845703 + ], + [ + 270.13970947265625, + 195.020751953125 + ], + [ + 305.9097595214844, + 161.75125122070312 + ], + [ + 313.24554443359375, + 134.4500274658203 + ], + [ + 396.6748046875, + 170.8114013671875 + ], + [ + 416.32708740234375, + 181.35504150390625 + ], + [ + 420.67108154296875, + 193.8858184814453 + ], + [ + 433.6347961425781, + 220.19662475585938 + ], + [ + 446.86370849609375, + 229.17640686035156 + ], + [ + 445.80255126953125, + 238.95526123046875 + ], + [ + 444.083740234375, + 245.3421630859375 + ], + [ + 443.38629150390625, + 254.31683349609375 + ], + [ + 436.2366943359375, + 248.6552734375 + ], + [ + 433.86761474609375, + 247.24658203125 + ], + [ + 432.02923583984375, + 246.25698852539062 + ], + [ + 430.88446044921875, + 245.8661346435547 + ], + [ + 429.33935546875, + 249.99786376953125 + ], + [ + 430.183837890625, + 251.89395141601562 + ], + [ + 430.5010681152344, + 257.5716552734375 + ], + [ + 430.8951721191406, + 257.6922607421875 + ], + [ + 430.5560607910156, + 257.35906982421875 + ], + [ + 426.6361083984375, + 256.779296875 + ], + [ + 431.7503356933594, + 253.0672149658203 + ], + [ + 431.85223388671875, + 251.18472290039062 + ], + [ + 436.3082580566406, + 224.82632446289062 + ], + [ + 422.12506103515625, + 161.76895141601562 + ], + [ + 395.73687744140625, + 127.49535369873047 + ], + [ + 364.2603454589844, + 127.83702087402344 + ], + [ + 335.2734680175781, + 144.08056640625 + ], + [ + 325.26031494140625, + 169.91873168945312 + ], + [ + 322.8370361328125, + 195.74807739257812 + ], + [ + 322.37152099609375, + 210.362060546875 + ] + ], + "depth_max": 1.6641548871994019, + "depth_min": 0.48463600873947144, + "intrinsic": [ + [ + 591.3231811523438, + 0.0, + 259.0 + ], + [ + 0.0, + 589.4047241210938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.404465678613633e-05, + 0.0001074015162885189, + -1.0478715012141038e-05 + ], + [ + -3.40394108206965e-05, + 1.0, + -4.884120789938606e-05, + -1.7200953152496368e-05 + ], + [ + -0.00010740317520685494, + 4.883755536866374e-05, + 1.0, + 1.4148228729027323e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 262.25, + 299.25 + ], + [ + 261.8572998046875, + 299.421142578125 + ], + [ + 262.21685791015625, + 299.3971862792969 + ], + [ + 261.74896240234375, + 299.45379638671875 + ], + [ + 261.6533508300781, + 299.1768798828125 + ], + [ + 261.9976806640625, + 299.2835388183594 + ], + [ + 262.2958068847656, + 299.3289794921875 + ], + [ + 263.7928466796875, + 301.1878356933594 + ], + [ + 263.3734130859375, + 301.170654296875 + ], + [ + 263.0995178222656, + 301.0535888671875 + ], + [ + 263.1813049316406, + 300.987060546875 + ], + [ + 263.0204772949219, + 300.90484619140625 + ], + [ + 261.7962951660156, + 301.47735595703125 + ], + [ + 261.48040771484375, + 301.6539306640625 + ], + [ + 259.2882995605469, + 302.5574645996094 + ], + [ + 259.1372375488281, + 299.46453857421875 + ], + [ + 259.3892822265625, + 270.6535339355469 + ], + [ + 275.4924621582031, + 214.30245971679688 + ], + [ + 311.28082275390625, + 179.1361083984375 + ], + [ + 361.41168212890625, + 177.09988403320312 + ], + [ + 396.916259765625, + 191.26841735839844 + ], + [ + 415.2186584472656, + 202.71942138671875 + ], + [ + 417.9828186035156, + 214.76058959960938 + ], + [ + 429.28936767578125, + 241.03060913085938 + ], + [ + 441.1752624511719, + 250.1995391845703 + ], + [ + 440.49102783203125, + 260.2292175292969 + ], + [ + 439.4764709472656, + 267.70477294921875 + ], + [ + 439.16217041015625, + 275.4859313964844 + ], + [ + 432.24853515625, + 270.38702392578125 + ], + [ + 429.955810546875, + 268.34527587890625 + ], + [ + 427.6277770996094, + 267.4938049316406 + ], + [ + 426.9512634277344, + 266.7951354980469 + ], + [ + 425.8087158203125, + 272.20269775390625 + ], + [ + 426.3365783691406, + 273.8915710449219 + ], + [ + 426.6612243652344, + 278.0677185058594 + ], + [ + 427.4306335449219, + 278.55596923828125 + ], + [ + 427.5932922363281, + 278.9092712402344 + ], + [ + 428.85845947265625, + 280.85693359375 + ], + [ + 430.1856689453125, + 281.0312194824219 + ], + [ + 430.52105712890625, + 280.7519226074219 + ], + [ + 430.89752197265625, + 280.72967529296875 + ], + [ + 431.32244873046875, + 280.98028564453125 + ], + [ + 431.4068908691406, + 280.82855224609375 + ], + [ + 431.65277099609375, + 280.6322937011719 + ], + [ + 432.1924133300781, + 280.52294921875 + ], + [ + 431.9894714355469, + 281.08941650390625 + ], + [ + 432.2325134277344, + 280.57598876953125 + ], + [ + 432.3976745605469, + 280.8953857421875 + ] + ] +} \ No newline at end of file diff --git a/009801_v2/lang.txt b/009801_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..68a7ed6e041d36448bc13ea9ce591a6c0561223b --- /dev/null +++ b/009801_v2/lang.txt @@ -0,0 +1 @@ +place green object on top of a rank diff --git a/009801_v2/object.ply b/009801_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..3d8b2769c167f270aebc330adcc32d4e46476a50 Binary files /dev/null and b/009801_v2/object.ply differ diff --git a/009828_v2/data.json b/009828_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..2ade9d69384d7d9ade54b8c3e4af5e1ff8e43f69 --- /dev/null +++ b/009828_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 19, + "action_end": 39, + "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, + 1.0, + 1.0, + 0.726252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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, + -1.3877787807814457e-17, + 1.3877787807814457e-17, + 3.163361689817509e-07, + 7.075705686759191e-07, + -7.98710641468322e-08, + 1.0 + ], + [ + 0.009616311279109446, + -0.02462512824581642, + 0.0038114323329461325, + 0.015295874050847464, + -0.010129766997337555, + 0.0037119541312555094, + 1.0 + ], + [ + 0.0037949000264797528, + -0.015018798164853901, + 0.007824478373186047, + 0.0035298152804157964, + -0.0479341766629625, + -0.053630691839681825, + 1.0 + ], + [ + -0.0014484717414560144, + -0.01570191244495165, + 0.0051369708058359165, + -0.0311022857703237, + -0.0402334329296972, + -0.03274566746122739, + 1.0 + ], + [ + -0.004434831887960955, + -0.017651027588065173, + 0.008035129388004311, + 0.013561708867787535, + -0.001415979466455584, + 0.03310050344081878, + 1.0 + ], + [ + 0.00016888158393141284, + -0.02101728314663146, + 0.00563706392016948, + 0.03980735170802333, + 0.01420725530925771, + 0.0709404472100543, + 1.0 + ], + [ + 0.00020141589066763332, + -0.012765329647005979, + -0.0012403662696823525, + 0.057057997805603104, + 0.001538240634707316, + 0.059076636421215925, + 1.0 + ], + [ + -0.0013037346788880022, + -0.00631187432329353, + -0.00843372957667915, + -0.008501450742642427, + 0.0046726873477901144, + 0.11626849957579286, + 1.0 + ], + [ + -0.0005187964558931446, + -0.0016554180389299292, + -0.009969874107663826, + -0.057081296237639974, + 0.012335635635207723, + 0.1528166135250325, + 1.0 + ], + [ + -0.0028141669708449113, + -0.003105590355849599, + -0.008039951542517937, + -0.04320710808686739, + -0.01465129337306177, + 0.14955643057461948, + 1.0 + ], + [ + -0.0005654939385654201, + -0.0032952592803124365, + -0.005324752110283645, + -0.03354004057929264, + -0.008281863596393121, + 0.10295089370456281, + 1.0 + ], + [ + -5.944982895073059e-05, + -0.0025446068674713496, + -0.0037658190813371073, + -0.02684301534625588, + 0.003055417767405173, + 0.06802900648191412, + 1.0 + ], + [ + -0.0007471166039847987, + -0.0014826644131349445, + -0.004155600065567394, + -0.025419466501916933, + 0.002171068743849179, + 0.059813504219953115, + 1.0 + ], + [ + 0.002152247640098248, + -0.008421111231747012, + -0.002944683343776927, + -0.028251572735258575, + -0.020326458154114314, + 0.07245103436381815, + 1.0 + ], + [ + 0.0023517350048599117, + -0.0060948085707545965, + -0.005206266864591767, + -0.01709824828447741, + -0.002053676409447488, + 0.05289941074216761, + 1.0 + ], + [ + 0.0025648792503368822, + -0.0016333894940322724, + -0.007057905218530919, + 0.00233557074434265, + 0.017048693190524013, + 0.011173249674945172, + 1.0 + ], + [ + -0.004431758449170153, + 0.0033577651951135767, + -0.005829684617208439, + 0.025581484918287198, + 0.03233561938507287, + 0.011972732356639516, + 1.0 + ], + [ + -0.006003236923148414, + 0.0026500924302665374, + -0.009151919256013247, + 0.010236037104177845, + 0.04175529642864265, + 0.0019938667748455596, + 1.0 + ], + [ + -0.0022919966247196832, + -0.00013895553331419452, + -0.004363563714648203, + 0.003578041927769065, + 0.014397955235618572, + 0.005426821449636213, + 1.0 + ], + [ + 0.0018058038492387851, + -0.0023184953140058667, + -0.0010790728692520943, + -0.001607029093376755, + -0.003466644387299601, + -0.003679004498041859, + 0.726252 + ], + [ + 0.0020842528650565906, + -0.0005906038875752861, + -0.0008655624092025541, + -0.02061151090598291, + -0.010492753409810214, + -0.01823095319299461, + 0.0 + ], + [ + 0.006475702673841788, + 0.0031664094459884495, + 0.009060986304323657, + 0.0004514645230760539, + -0.018985324050534127, + -0.03053442963595772, + 0.0 + ], + [ + 0.010671159090066329, + 0.010637151198752248, + 0.020206327483312768, + 0.02082483926847159, + -0.04460858901524818, + -0.07390082964231806, + 0.0 + ], + [ + 0.011946053801906442, + 0.030636319119284924, + 0.03695659705497825, + 0.020540764000275595, + -0.06669710302836343, + -0.15657839042211327, + 0.0 + ], + [ + -0.0048611326566807, + 0.03439574988978074, + 0.011583724603705305, + -0.009708595622051612, + -0.001876697375633924, + -0.07639597920617437, + 0.0 + ], + [ + -0.006111889064948084, + 0.029110560384390742, + -0.0050830380757201366, + -0.009951062132112927, + 0.04234051140098208, + -0.07530663099436145, + 0.0 + ], + [ + -0.00641282675109156, + 0.02117776188246041, + -0.0006519566449681713, + 0.011425346489521381, + 0.026757892966594622, + -0.07456613714048321, + 0.0 + ], + [ + -0.011714850440847135, + 0.01354761738576173, + -0.001977217918693097, + 0.044200257080857515, + 0.03630183861826205, + -0.07808858302092106, + 0.0 + ], + [ + -0.0065488189796971685, + 0.005267643963192341, + -0.002541934351978206, + 0.02911479664633548, + 0.016002058547446036, + -0.07580065423397707, + 0.0 + ], + [ + -0.000665304644798137, + -0.005107497545738304, + -0.0050967915613421705, + 0.05930137468577872, + -0.02785712318033277, + -0.12907606982628178, + 0.0 + ], + [ + 0.00361354699768629, + -0.007137707327353648, + -0.008375923693376489, + 0.014085810312068668, + -0.058217314143289726, + -0.1245553133811077, + 0.0 + ], + [ + 0.002179130757537784, + -0.0020708426711695607, + -0.0006016069918776401, + -0.021653846031570636, + -0.05636086959985088, + -0.03162501295220785, + 0.0 + ], + [ + 0.0016758667227986246, + -0.0014297569020572595, + 0.0028243407786477798, + 0.0034632496875557244, + -0.008570875090285401, + 0.005137141611809869, + 0.0 + ], + [ + 0.0032933166015433613, + 0.0019297273168005294, + 0.0010675041520489814, + 0.0007716231829788084, + -0.004205976288408743, + -0.0020043957006885367, + 0.0 + ], + [ + 0.0033921786706941903, + 0.005024053959394613, + 0.0014451047188800414, + 0.0005717628829428081, + -0.00766931860377291, + 0.011309735408953591, + 0.0 + ], + [ + 0.004186259513240753, + 0.0026346537927218194, + -0.0038018701623600687, + 0.004743411044675807, + 0.010465499957200157, + -0.00921009078261427, + 0.0 + ], + [ + 0.0020561826430904873, + 0.0016051038429414494, + -0.005259825936427501, + -0.001210238851817288, + 0.009538584449133665, + -0.0016282097144858158, + 0.0 + ], + [ + -0.0019029210319207457, + 0.0008654891401983639, + -0.004125259071458304, + -0.003938077964549508, + 0.0157370977763851, + 0.008192679306117013, + 0.0 + ], + [ + -0.0034491627179908946, + 0.0018650284078773616, + -0.0036265346714612484, + -0.0024114452537168517, + 0.010494988518713737, + 0.010949659327269231, + 0.0 + ], + [ + -0.0013038518327881388, + 8.963934001829377e-05, + -0.0029460504451998687, + -0.0071886864689909005, + 0.011735573889245543, + 0.0016804204159699405, + 0.0 + ], + [ + -0.002012409926897496, + 0.0009802952370754209, + -0.0011318807700338024, + -0.0075926021019994345, + 0.0233427635500063, + 0.016794491059250776, + 1.0 + ], + [ + -0.0008318418775815073, + -0.0013202852711291652, + 0.010142198555707096, + -0.011293618199234738, + -0.03182450908759789, + 0.012753380235092164, + 1.0 + ], + [ + 0.0006984755507901674, + -0.00489068082088507, + 0.027169015198343027, + 0.018435699561634197, + -0.064208073914167, + -0.0035885861346184344, + 1.0 + ], + [ + -0.0019086578221891304, + -0.007063877603419658, + 0.02777064899958906, + -0.017711490624441485, + -0.05751681222065597, + 0.005879383166132911, + 1.0 + ], + [ + -0.002967427073533535, + -0.009219549736301957, + 0.015798799289628185, + -0.018907632068453688, + -0.02856667433522817, + -0.04675569889900921, + 1.0 + ], + [ + -0.00641993872417046, + -0.017151042871939096, + -0.012130773354176519, + -0.04387029550316029, + 0.05305877290986798, + -0.07779792979751014, + 1.0 + ], + [ + -0.009574008996264427, + -0.0354936063237647, + -0.018208882930834558, + -0.044805594734189554, + 0.06456027834008127, + -0.10769484378399745, + 1.0 + ], + [ + -0.0023233104010180194, + -0.03087223067918067, + -0.02031028359268322, + -0.002763052366108325, + 0.05785690338608352, + -0.11252982534729693, + 1.0 + ] + ], + "gripper_centers": [ + [ + 312.67852783203125, + 93.34638977050781 + ], + [ + 310.933837890625, + 101.76316833496094 + ], + [ + 313.10882568359375, + 113.19393920898438 + ], + [ + 353.70001220703125, + 122.59181213378906 + ], + [ + 363.608154296875, + 120.13182067871094 + ], + [ + 387.0198059082031, + 121.18228912353516 + ], + [ + 404.60345458984375, + 127.15473937988281 + ], + [ + 442.577880859375, + 128.20425415039062 + ], + [ + 449.2897644042969, + 146.12403869628906 + ], + [ + 458.2911682128906, + 156.641357421875 + ], + [ + 469.05096435546875, + 175.516845703125 + ], + [ + 465.70025634765625, + 191.47116088867188 + ], + [ + 467.3201904296875, + 195.20909118652344 + ], + [ + 467.526123046875, + 200.86082458496094 + ], + [ + 470.56573486328125, + 205.98507690429688 + ], + [ + 476.704833984375, + 206.09303283691406 + ], + [ + 476.10455322265625, + 211.6186065673828 + ], + [ + 468.8211669921875, + 222.80288696289062 + ], + [ + 464.2049865722656, + 226.8780975341797 + ], + [ + 459.384765625, + 234.841552734375 + ], + [ + 460.53057861328125, + 235.31307983398438 + ], + [ + 461.994140625, + 236.3516845703125 + ], + [ + 465.18463134765625, + 234.5870361328125 + ], + [ + 470.4224853515625, + 218.32382202148438 + ], + [ + 465.8362121582031, + 182.28271484375 + ], + [ + 433.3692321777344, + 117.9906997680664 + ], + [ + 391.1260681152344, + 99.5204849243164 + ], + [ + 314.5055847167969, + 91.64321899414062 + ], + [ + 335.5402526855469, + 79.77041625976562 + ], + [ + 320.7589111328125, + 83.39473724365234 + ], + [ + 306.18792724609375, + 96.32628631591797 + ], + [ + 306.0578918457031, + 105.8033447265625 + ], + [ + 315.4630126953125, + 113.25109100341797 + ], + [ + 317.8888244628906, + 112.88035583496094 + ], + [ + 318.3506774902344, + 110.95024108886719 + ], + [ + 320.5768737792969, + 105.35723876953125 + ], + [ + 324.0193786621094, + 97.87684631347656 + ], + [ + 325.2589111328125, + 101.85052490234375 + ], + [ + 324.97442626953125, + 102.99153137207031 + ], + [ + 323.96282958984375, + 107.35212707519531 + ], + [ + 324.2977294921875, + 107.47893524169922 + ], + [ + 322.0211181640625, + 116.95384216308594 + ], + [ + 319.1871337890625, + 119.02017211914062 + ], + [ + 321.0103454589844, + 99.23529052734375 + ], + [ + 321.5040283203125, + 68.3476791381836 + ], + [ + 325.6703796386719, + 42.1756591796875 + ], + [ + 332.03948974609375, + 43.287662506103516 + ], + [ + 357.71343994140625, + 76.66659545898438 + ] + ], + "depth_max": 1.7567657232284546, + "depth_min": 0.5417670607566833, + "intrinsic": [ + [ + 588.5038452148438, + 0.0, + 259.0 + ], + [ + 0.0, + 586.82958984375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.874396836385131e-05, + 7.88662800914608e-05, + -2.0509600290097296e-05 + ], + [ + -4.8739944759290665e-05, + 1.0, + -5.1018359954468906e-05, + -3.675689367810264e-05 + ], + [ + -7.886876846896484e-05, + 5.101451461086981e-05, + 1.0, + 3.433111487538554e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 457.75, + 264.25 + ], + [ + 457.838623046875, + 264.55419921875 + ], + [ + 457.9193115234375, + 264.6081848144531 + ], + [ + 457.8230285644531, + 264.4124755859375 + ], + [ + 457.86700439453125, + 264.46075439453125 + ], + [ + 457.83526611328125, + 264.62994384765625 + ], + [ + 457.8084716796875, + 264.4698791503906 + ], + [ + 464.20306396484375, + 275.75079345703125 + ], + [ + 464.2332458496094, + 275.8646240234375 + ], + [ + 463.9512023925781, + 275.77484130859375 + ], + [ + 464.0547790527344, + 276.21820068359375 + ], + [ + 464.147216796875, + 276.2025146484375 + ], + [ + 464.2305908203125, + 276.25439453125 + ], + [ + 464.15350341796875, + 276.2939147949219 + ], + [ + 458.2865295410156, + 265.5650634765625 + ], + [ + 464.330810546875, + 276.54949951171875 + ], + [ + 464.97186279296875, + 276.7422180175781 + ], + [ + 460.22613525390625, + 266.60308837890625 + ], + [ + 461.56884765625, + 267.19879150390625 + ], + [ + 462.4079284667969, + 267.7866516113281 + ], + [ + 461.0412292480469, + 272.0645751953125 + ], + [ + 458.29937744140625, + 274.6730041503906 + ], + [ + 460.82940673828125, + 272.640380859375 + ], + [ + 462.7545166015625, + 256.9805603027344 + ], + [ + 454.9698181152344, + 224.3383026123047 + ], + [ + 422.7961120605469, + 164.85577392578125 + ], + [ + 380.31134033203125, + 150.6171417236328 + ], + [ + 341.8045349121094, + 135.20664978027344 + ], + [ + 314.7051696777344, + 130.4298095703125 + ], + [ + 304.33636474609375, + 125.71110534667969 + ], + [ + 287.45538330078125, + 136.90399169921875 + ], + [ + 287.0320739746094, + 145.96368408203125 + ], + [ + 293.68145751953125, + 153.29421997070312 + ], + [ + 296.5048828125, + 154.1243896484375 + ], + [ + 297.4484558105469, + 152.8118438720703 + ], + [ + 299.2727966308594, + 147.9612274169922 + ], + [ + 302.134521484375, + 144.42929077148438 + ], + [ + 302.1775207519531, + 147.10202026367188 + ], + [ + 303.1519775390625, + 150.32528686523438 + ], + [ + 302.592529296875, + 154.4675750732422 + ], + [ + 303.1702880859375, + 155.8899383544922 + ], + [ + 303.3172302246094, + 162.1512451171875 + ], + [ + 303.75323486328125, + 161.9165802001953 + ], + [ + 304.73455810546875, + 162.06578063964844 + ], + [ + 305.522705078125, + 160.4041748046875 + ], + [ + 307.89385986328125, + 161.7487030029297 + ], + [ + 308.7671813964844, + 162.38238525390625 + ], + [ + 309.01605224609375, + 161.9432373046875 + ] + ] +} \ No newline at end of file diff --git a/009828_v2/lang.txt b/009828_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..74ef9199d95afbe197e84a1bc672534f836d0826 --- /dev/null +++ b/009828_v2/lang.txt @@ -0,0 +1 @@ +Move the blue block on the top of rectangle block diff --git a/009828_v2/object.ply b/009828_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..470539f3d6c281b29b03177590b91d6aa077b3ef Binary files /dev/null and b/009828_v2/object.ply differ diff --git a/009876_v2/data.json b/009876_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..3a021a8c02bb147418d125a135bc48d9a5855543 --- /dev/null +++ b/009876_v2/data.json @@ -0,0 +1,788 @@ +{ + "action_start": 11, + "action_end": 26, + "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, + 0.0, + 0.0, + 0.0, + 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, + 6.071532165918825e-18, + 2.7755575615628914e-17, + -5.83820018431355e-07, + 1.0967999654965168e-07, + -4.578659853886967e-07, + 1.0 + ], + [ + -0.008518925450438974, + -0.003927405142532857, + 0.006645837398203874, + -0.010897125352559581, + -0.06085649818152329, + -0.009275621574486918, + 1.0 + ], + [ + -0.012602212438717009, + -0.005718392229082501, + 0.0015825806787429647, + 0.002580435478534533, + -0.009165907360296382, + 0.012019133542918952, + 1.0 + ], + [ + -0.01677021349331187, + -0.010171429147975936, + 0.002178290998718191, + -0.0052839032169351135, + 0.0012397209835191057, + 0.0008200120386130415, + 1.0 + ], + [ + -0.009639987879293266, + -0.012286503817869636, + -0.00939906509199323, + -0.039964864180375204, + 0.011345563842709253, + -0.01672383121843664, + 1.0 + ], + [ + -0.004175370017711677, + -0.007105368860915048, + -0.003841182251635905, + -0.0038311742915271376, + 0.008116632662363283, + -0.015127579898882259, + 1.0 + ], + [ + -0.0032079464199170626, + -0.001466582167006826, + -0.0024751527972237675, + -0.007532445444806586, + 0.006789498635918524, + 0.0017319279101256407, + 1.0 + ], + [ + -0.0005376383614717761, + 0.0016776605276693293, + -0.007777477597008933, + -0.00897408833630389, + 0.020879467330269182, + 0.0038321352340827796, + 1.0 + ], + [ + 0.0032607791316797696, + 0.0035705962522056336, + -0.00791607424281468, + -0.009772108516402112, + 0.01728663357078196, + 0.0022961413886682224, + 1.0 + ], + [ + 0.0038221629873469165, + 0.00035655190334538817, + -0.007853192511854554, + -0.015186430782591343, + 0.012852048598238824, + -0.0008980146052386382, + 1.0 + ], + [ + 0.0029731934101648594, + -0.0005506552552325752, + -0.009427750288745387, + -0.014410316748158066, + 0.024456093658756225, + -0.0049897504531412895, + 1.0 + ], + [ + 0.0012841037612920658, + 0.0022748159533007017, + -0.005912262072898758, + -0.0049563176647220925, + 0.01893154288902195, + 0.019225552942195908, + 1.0 + ], + [ + 0.0005419771525561612, + 0.00084581128046924, + -0.0035966861486015217, + -0.0029572364038309793, + 0.007149311067572336, + 0.017955240159509046, + 0.0 + ], + [ + -8.994472427195643e-05, + 8.937550518589576e-06, + -0.0013368227701440055, + -0.002454025656596271, + -0.00437806543930745, + 0.00112664111983851, + 0.0 + ], + [ + 0.0008630742538175695, + -0.0009252254787505826, + 0.0018033532030734545, + 0.001019929875362574, + -0.007272136115198985, + -0.008054943945665827, + 0.0 + ], + [ + 0.011942878971558407, + 0.0037419502466896765, + 0.023761806750727393, + 0.03832912268764083, + -0.05793491014714549, + -0.018437801880225552, + 0.0 + ], + [ + 0.01993145812566821, + 0.007920480208067737, + 0.02015698262363501, + 0.01223073191198685, + -0.05809355639224286, + 0.008443116085501785, + 0.0 + ], + [ + 0.00997410736591231, + 0.016100050359862672, + -0.0010016134357132694, + 0.002590714789126095, + -0.004626761967948527, + 0.0173452078765262, + 0.0 + ], + [ + 0.005728594627525063, + 0.02101384434239218, + -0.013676890073636247, + -0.005266285003916329, + 0.021262858056050687, + 0.03516729526026296, + 0.0 + ], + [ + 0.01025997840297993, + 0.014175232343045165, + -0.023847321119624856, + -0.04010955258880341, + 0.017577477351048146, + 0.018571757652562065, + 0.0 + ], + [ + 0.014376217202484665, + 0.010926152629046169, + -0.022213100101121208, + 0.014361728677029202, + -0.002107792095531811, + -0.03801125888399875, + 0.0 + ], + [ + 0.014916874647271372, + 0.008737934271305668, + -0.025298348788585764, + 0.010564394757482025, + 0.02230163793707753, + -0.07329204387389236, + 0.0 + ], + [ + 0.006313774432344932, + 0.0020449996559114246, + -0.016349400206821747, + -0.006558596437072522, + 0.03437014700468089, + -0.04697044165468535, + 0.0 + ], + [ + -0.0006050989137824647, + -0.00729659341969691, + -0.009676979761278688, + 0.004015642573557966, + 0.024018837796900172, + -0.060855137714470646, + 0.0 + ], + [ + -0.005082993943444969, + -0.006102221537982493, + -0.004411632015869419, + -0.011601298663243286, + 0.01617176395087455, + -0.025374128280497118, + 0.0 + ], + [ + -0.0011375625703076708, + -0.0017645388786876118, + 0.001768823451881024, + 0.0011649508790134838, + -0.004111232313223462, + -0.006910493194929811, + 0.0 + ], + [ + -0.0010527838437338621, + -0.0030447040567816233, + 0.002910685287296288, + 0.02369483784027056, + 0.014225209030228284, + -0.0006102714781038629, + 0.0 + ], + [ + 0.001728275323747086, + 0.0002942425607614929, + 0.01700546472903368, + 0.006319317288960919, + -0.06390190761231597, + 0.022681017093245156, + 1.0 + ], + [ + 0.00743638250558315, + 0.005875857390233462, + 0.029252033334067354, + 0.04542660904980063, + -0.057908124671957724, + 0.029329227047346588, + 1.0 + ], + [ + 0.0012675420303377427, + 0.006732817532009466, + 0.03037640714150969, + 0.038541582366623396, + -0.06628007518085767, + 0.0640500685955295, + 1.0 + ], + [ + 0.0027349720103669872, + 0.004214470666571851, + 0.04353026346301864, + 0.0662248100068998, + -0.10091755115898861, + 0.025382080866968967, + 1.0 + ], + [ + -0.0067327472307468494, + -0.00650221476660524, + 0.032112360040165266, + 0.04030918730205185, + -0.018636516378262184, + -0.024412992412587726, + 1.0 + ], + [ + -0.01763851908528724, + -0.01544787638459627, + 0.012119854705287925, + -0.021873348840956767, + -0.025444951808350446, + -0.015226340956665817, + 1.0 + ], + [ + -0.011734891051157048, + -0.016625849063422397, + -0.006016177005751688, + -0.06305878325725335, + 0.01718925213350322, + -0.010531608014775935, + 1.0 + ], + [ + -0.012050692596079715, + -0.007022513294707624, + -0.014359022286859563, + -0.03192729712128336, + 0.07903540794058705, + 0.014438424836449413, + 1.0 + ], + [ + -0.009535123756036101, + -0.0080831814496412, + -0.013561291890483107, + -0.023048958889829704, + 0.028727391541061572, + -0.005593847985047039, + 1.0 + ], + [ + -0.0034573134415514795, + -0.004595473091318975, + -0.011521099700585624, + -0.001545740031094374, + 0.011269655774344873, + -0.018787232899581636, + 1.0 + ], + [ + 0.0015105998370248952, + -0.0012162641614299682, + -0.00508159487902593, + -0.015271556727560354, + -0.014528909777677661, + -0.02975754202059015, + 1.0 + ], + [ + 0.0, + 0.0, + 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": [ + [ + 386.8194580078125, + 75.77102661132812 + ], + [ + 385.706787109375, + 79.25228118896484 + ], + [ + 379.7974853515625, + 100.93035888671875 + ], + [ + 368.365966796875, + 102.59371948242188 + ], + [ + 367.761474609375, + 117.94571685791016 + ], + [ + 371.425048828125, + 136.4467010498047 + ], + [ + 377.10430908203125, + 163.4095458984375 + ], + [ + 381.8333740234375, + 173.20143127441406 + ], + [ + 379.46142578125, + 181.9254913330078 + ], + [ + 383.3945617675781, + 185.47817993164062 + ], + [ + 386.2607116699219, + 196.1600341796875 + ], + [ + 388.93963623046875, + 204.3988037109375 + ], + [ + 386.5676574707031, + 217.25811767578125 + ], + [ + 382.34271240234375, + 220.47842407226562 + ], + [ + 383.1124267578125, + 220.08070373535156 + ], + [ + 383.2244873046875, + 219.85409545898438 + ], + [ + 383.5550537109375, + 210.11068725585938 + ], + [ + 396.8086242675781, + 164.0782012939453 + ], + [ + 406.8185119628906, + 126.63201141357422 + ], + [ + 380.41619873046875, + 115.57193756103516 + ], + [ + 356.2989807128906, + 124.93342590332031 + ], + [ + 347.7053527832031, + 143.13870239257812 + ], + [ + 350.71124267578125, + 153.0130615234375 + ], + [ + 352.18780517578125, + 169.04969787597656 + ], + [ + 351.6981506347656, + 178.95413208007812 + ], + [ + 351.16900634765625, + 178.8235626220703 + ], + [ + 350.846923828125, + 179.85061645507812 + ], + [ + 350.2677307128906, + 180.74798583984375 + ], + [ + 351.91497802734375, + 191.0015869140625 + ], + [ + 353.87713623046875, + 170.56561279296875 + ], + [ + 351.5744934082031, + 136.1280975341797 + ], + [ + 351.6485595703125, + 90.86155700683594 + ], + [ + 362.43145751953125, + 36.13353729248047 + ], + [ + 372.7096252441406, + 23.831825256347656 + ], + [ + 379.2319641113281, + 24.750534057617188 + ], + [ + 384.17791748046875, + 42.054168701171875 + ], + [ + 377.23187255859375, + 64.98887634277344 + ], + [ + 375.7274169921875, + 104.00960540771484 + ], + [ + 378.34210205078125, + 113.15126037597656 + ], + [ + 381.40576171875, + 115.6653060913086 + ] + ], + "depth_max": 1.7125335931777954, + "depth_min": 0.40668585896492004, + "intrinsic": [ + [ + 604.6090087890625, + 0.0, + 259.0 + ], + [ + 0.0, + 602.96044921875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.714950435096398e-05, + 0.00010322716843802482, + 4.513597559707705e-06 + ], + [ + -3.7146244721952826e-05, + 1.0, + -3.159615880576894e-05, + -2.9381280910456553e-05 + ], + [ + -0.00010322834714315832, + 3.159232437610626e-05, + 1.0, + -1.3986777048557997e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 39 + ], + "object_trajectory": [ + [ + 357.75, + 250.50001525878906 + ], + [ + 358.0346374511719, + 250.49969482421875 + ], + [ + 358.4189453125, + 250.46246337890625 + ], + [ + 358.24652099609375, + 250.73446655273438 + ], + [ + 358.2864990234375, + 250.80484008789062 + ], + [ + 358.4944152832031, + 250.77088928222656 + ], + [ + 358.5127258300781, + 250.83767700195312 + ], + [ + 358.3673400878906, + 250.75454711914062 + ], + [ + 358.7145080566406, + 251.08718872070312 + ], + [ + 358.86212158203125, + 250.9573974609375 + ], + [ + 359.0095520019531, + 250.6134033203125 + ], + [ + 358.1404113769531, + 250.4278564453125 + ], + [ + 360.5109558105469, + 251.5692138671875 + ], + [ + 363.21246337890625, + 252.11465454101562 + ], + [ + 369.8186340332031, + 254.0989227294922 + ], + [ + 372.5297546386719, + 254.45611572265625 + ], + [ + 373.6099853515625, + 245.61691284179688 + ], + [ + 381.140380859375, + 211.06748962402344 + ], + [ + 393.2269287109375, + 171.6187744140625 + ], + [ + 366.8164978027344, + 160.58798217773438 + ], + [ + 346.71136474609375, + 167.42837524414062 + ], + [ + 340.2722473144531, + 181.8694305419922 + ], + [ + 346.8116455078125, + 188.63482666015625 + ], + [ + 346.3758544921875, + 198.58309936523438 + ], + [ + 345.3690185546875, + 207.82086181640625 + ], + [ + 344.93450927734375, + 208.3094482421875 + ], + [ + 343.79815673828125, + 209.14913940429688 + ], + [ + 343.1263122558594, + 210.7932586669922 + ], + [ + 344.34844970703125, + 213.34576416015625 + ], + [ + 342.89422607421875, + 218.1698455810547 + ], + [ + 342.86822509765625, + 217.88168334960938 + ], + [ + 342.92486572265625, + 217.81146240234375 + ], + [ + 342.5331726074219, + 218.06597900390625 + ], + [ + 342.32855224609375, + 218.17332458496094 + ], + [ + 342.027099609375, + 217.52423095703125 + ], + [ + 341.6915283203125, + 217.45436096191406 + ], + [ + 341.8487243652344, + 217.41241455078125 + ], + [ + 342.0992431640625, + 217.46575927734375 + ], + [ + 341.95672607421875, + 217.10888671875 + ], + [ + 342.1466064453125, + 216.34609985351562 + ] + ] +} \ No newline at end of file diff --git a/009876_v2/lang.txt b/009876_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..c89d438a836efdfa4e58e16921337699bf68e36a --- /dev/null +++ b/009876_v2/lang.txt @@ -0,0 +1 @@ +put the yellow cube on top of the cube with hole in the middle diff --git a/009876_v2/object.ply b/009876_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..e814fd3c4fb252bacb7b3e9b02c3ff75e92055b7 Binary files /dev/null and b/009876_v2/object.ply differ diff --git a/009907_v2/FAIL b/009907_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..f2e9fab7bce75d6d8af2bc32c1d089061e1e9fe5 --- /dev/null +++ b/009907_v2/FAIL @@ -0,0 +1 @@ +Object mask too small diff --git a/009909_v2/data.json b/009909_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..1986804d7f03179e058a7fea251f9a7688d388d8 --- /dev/null +++ b/009909_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 19, + "action_end": 40, + "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, + 0.9663, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + [ + 1.267345672850695e-10, + -2.563792164678169e-10, + -1.069335175962749e-10, + 3.6123259220468026e-07, + 4.4806887982186143e-07, + 2.692210479723171e-07, + 1.0 + ], + [ + -0.002104584343910032, + 0.0047801527703936475, + 0.0061748077149661185, + -0.018154592708681458, + -0.02994021356908284, + 0.3790122087425348, + 1.0 + ], + [ + 0.0025282477956848903, + -0.0004737979294163405, + 0.010002441350010716, + -0.024301147254528237, + -0.07104584429736106, + 0.3380473744328873, + 1.0 + ], + [ + 0.00626945145245561, + -0.002049950925177001, + 0.005836856075288138, + -0.014249283003245135, + -0.03546118705758593, + 0.21014711061424488, + 1.0 + ], + [ + 0.009499413452911554, + 0.003120064808201893, + 0.0013156634534005895, + 0.0051837835130057845, + -0.05635981286764789, + 0.1313542514111365, + 1.0 + ], + [ + 0.01070827137470215, + 0.00907369935943848, + 0.0015198905586821798, + 0.0029683822500164354, + -0.07818721378354027, + 0.13621842630860198, + 1.0 + ], + [ + 0.006220874026206247, + 0.00903933746761148, + -0.0020742259017096087, + -0.03036176911085221, + -0.05524735039599006, + 0.13858124715076303, + 1.0 + ], + [ + 0.003054703359079647, + 0.01568688044592415, + -0.0007784650258670922, + -0.05105157363256913, + -0.02546733189864953, + 0.09208320505401554, + 1.0 + ], + [ + 0.00330252799935693, + 0.012831211176651192, + -0.0024870845119250307, + -0.040085712915378525, + 0.003251678202456555, + 0.0029565285522272543, + 1.0 + ], + [ + 0.0023374331660693803, + 0.011280888359574887, + -0.004872359922219099, + -0.04137049968577763, + 0.006664514600585532, + 0.03221083447543638, + 1.0 + ], + [ + 0.004969426848940639, + 0.003336679825109248, + -0.0023850130421224636, + -0.022290500422607558, + -0.0009289627311536684, + 0.012021788179759373, + 1.0 + ], + [ + 0.006546769704572963, + -0.0012006368461326689, + -0.004312012631263157, + -0.024041337787693372, + 0.021408405831418384, + 0.0014959287173721037, + 1.0 + ], + [ + 0.0030120382866253292, + -0.007741586657139629, + -0.0034386843193355, + -0.009785269658752623, + 0.022519817381732622, + 0.008432592066281209, + 1.0 + ], + [ + 0.00530849860683702, + -0.006277450540830792, + -0.007996708458851642, + -0.0411612394847063, + 0.019568057860832565, + -0.0005194709698156776, + 1.0 + ], + [ + 0.0035777102741274547, + 0.0009316847330273716, + -0.008148790296648278, + -0.08289667457832674, + -0.009338400296501445, + -0.03998162718307852, + 1.0 + ], + [ + -0.003136554177759321, + -0.0021125764868783923, + -0.006439170238434461, + -0.01555692578250569, + 0.020055250401840842, + 0.004553914481247994, + 1.0 + ], + [ + -0.003018532065168389, + -0.003185124293506962, + -0.0042723902172061845, + 0.00027250220306991406, + 0.030582194369657704, + -0.005956388900946706, + 1.0 + ], + [ + -0.0021832811916822625, + -0.0010497506215230035, + -0.0029939277286572807, + -0.01589607522480513, + 0.005491704725185161, + -0.0025836694564152934, + 1.0 + ], + [ + 0.0018023922443929918, + -0.0018619648726559794, + -0.0008427100446309482, + -0.006233560127198536, + 0.002842125064571819, + -0.009547861825149181, + 1.0 + ], + [ + 0.0029637863774149564, + -0.0022167478342389572, + -0.005745521622994659, + 0.01248500086425104, + 0.03212383817393875, + -0.01697803334581303, + 0.9663 + ], + [ + -0.00144622279357004, + 0.0006890694718639685, + -0.011236241400499114, + -0.0025722868086838807, + 0.04293786426272212, + -0.011593568289341273, + 0.0 + ], + [ + -0.0006239473343414015, + 0.003231352394233533, + -0.0011010646647261896, + -0.007280767224942833, + 0.004347689883165906, + -0.003583626045702429, + 0.0 + ], + [ + 0.002988935689707317, + -0.00065732924841083, + 0.0024976610913470115, + -0.0035409132853441733, + -0.00945389440355861, + 0.00509254180220914, + 0.0 + ], + [ + 0.0025386398984085234, + 0.0009259567132149224, + 0.006620073291520423, + 0.0044378566387175975, + -0.021844086981145556, + 0.011446468834488521, + 0.0 + ], + [ + 0.001159627171435751, + 0.0025223511495401467, + 0.01462080705393655, + 0.015799148081666454, + -0.03755267266137876, + 0.01509949321343628, + 0.0 + ], + [ + -0.007965911543578952, + 0.00034528967244917743, + 0.013335923144604522, + 0.020790703494292986, + -0.021059335078388086, + 0.01667341314870194, + 0.0 + ], + [ + -0.02771926212121356, + -0.0064888142282538384, + 0.004317558296377949, + 0.010613800764604742, + 0.015821259508395996, + 0.02694422135460616, + 0.0 + ], + [ + -0.04937145260125797, + -0.00956336175991783, + -0.018800010787919458, + -0.04134605348256494, + 0.08612173515996795, + 0.04432928918986394, + 0.0 + ], + [ + -0.024742510799317385, + -0.004590026072113063, + -0.0317250974493518, + 0.014668759541313553, + 0.07477012083156352, + -0.11941078007906918, + 0.0 + ], + [ + -0.0027548635167215785, + -0.0028852682127270893, + -0.01842946414947505, + 0.03240524491836018, + 0.006549580859532133, + -0.09682021375378741, + 0.0 + ], + [ + 0.017023223917610797, + 0.0009594186539007843, + -0.021908192134725932, + 0.013512435579819852, + -0.0161802058741419, + -0.04546093249398601, + 0.0 + ], + [ + 0.01544615367811733, + 0.010487707780416387, + -0.014032685213770588, + -0.007370677525553633, + -0.05407458658516588, + 0.05942157996284851, + 0.0 + ], + [ + 0.008660629241292628, + 0.016413619801951926, + -0.014427447598940532, + -0.017042798468743577, + -0.05869924403762073, + 0.12656903565262337, + 0.0 + ], + [ + -0.00604403573008333, + 0.014509049354848869, + -0.0029944466352723395, + -0.03155566496317958, + -0.03278909927421267, + 0.09201721352938774, + 0.0 + ], + [ + -0.016791790907346504, + 0.002315420764437805, + 0.008273882681558483, + 0.013389375716029252, + 0.01709917153451004, + 0.03861173606086181, + 0.0 + ], + [ + -0.010852575424827787, + -0.0034131778700018586, + -4.0651615797936136e-05, + 0.009065279489164278, + 0.017979439298595908, + -0.0286847799857412, + 0.0 + ], + [ + -0.0035287321014107476, + -0.005058256513586557, + -0.007620717646428958, + -0.011594312711353362, + -2.842879567634605e-06, + -0.058194343652589624, + 0.0 + ], + [ + -0.0012054959325292214, + 0.0007895017673220407, + -0.009708426686178669, + -0.008397576835286665, + -0.0007090442236453959, + -0.017217374774784036, + 0.0 + ], + [ + 0.004537739952802433, + 0.0027859459727475125, + -0.007441995187638786, + -0.019771004038848853, + -0.022335412145932668, + 0.01835257199349798, + 0.0 + ], + [ + 0.0039214596676832025, + -0.0002542491720849069, + -0.004031552843413364, + -0.0032495195973305277, + 0.01231658313163016, + 0.052154389866262925, + 0.0 + ], + [ + 0.002406396288159307, + -0.0008876136416053372, + -0.001984619439075937, + -0.004547125648334267, + 0.014804852320885239, + 0.05110213527117006, + 0.0 + ], + [ + 0.0008657393560492777, + -0.002110270097469249, + 0.001407599060041764, + -0.005304483682632075, + 0.00033928476922527405, + 0.03531229307711011, + 1.0 + ], + [ + 0.00578629940510747, + 0.00011276941054323177, + 0.008256311170161753, + 0.019760615163209514, + -0.00700286116764811, + -0.010750073689150916, + 1.0 + ], + [ + 0.008005068524921388, + 0.004681408732783622, + 0.024202004821795364, + 0.06296662969645674, + 0.0005710682606208632, + -0.07473503852752274, + 1.0 + ], + [ + 0.004166390768007705, + 0.001168160783955729, + 0.05413160012388665, + 0.11798305355943992, + 0.009175758654134185, + -0.08719975766044397, + 1.0 + ], + [ + -0.004292797803692822, + -0.0031205783882810537, + 0.04707993241269925, + 0.07624014105981672, + 0.01954897914950171, + -0.06579591659197086, + 1.0 + ], + [ + -0.004509844425074433, + 0.0012069380694894258, + 0.015459318776719605, + -0.03573669058074504, + 0.032210548455393395, + -0.30782536316282616, + 1.0 + ], + [ + 0.004128567431766622, + -0.001257206583039086, + 0.0028948004087022694, + -0.06668353924457947, + -0.005186255599871442, + -0.4254058034328122, + 1.0 + ] + ], + "gripper_centers": [ + [ + 455.99810791015625, + 93.0779800415039 + ], + [ + 455.3492736816406, + 95.95196533203125 + ], + [ + 451.0224304199219, + 110.5627212524414 + ], + [ + 452.93389892578125, + 107.69728088378906 + ], + [ + 454.83502197265625, + 92.39974212646484 + ], + [ + 455.52069091796875, + 80.92616271972656 + ], + [ + 455.92559814453125, + 66.73025512695312 + ], + [ + 458.98272705078125, + 60.54164505004883 + ], + [ + 445.3050537109375, + 59.1671257019043 + ], + [ + 420.93536376953125, + 46.8310546875 + ], + [ + 400.291015625, + 38.74544143676758 + ], + [ + 388.7781677246094, + 37.8554801940918 + ], + [ + 390.2896728515625, + 46.39707946777344 + ], + [ + 394.8134765625, + 50.928348541259766 + ], + [ + 402.706787109375, + 54.297550201416016 + ], + [ + 418.55950927734375, + 69.38583374023438 + ], + [ + 415.7751159667969, + 65.73387908935547 + ], + [ + 413.1871643066406, + 74.07563781738281 + ], + [ + 410.87103271484375, + 83.11302185058594 + ], + [ + 412.77142333984375, + 87.97066497802734 + ], + [ + 409.0305480957031, + 99.846923828125 + ], + [ + 408.625732421875, + 103.43545532226562 + ], + [ + 411.51361083984375, + 109.89633178710938 + ], + [ + 412.10870361328125, + 109.99040222167969 + ], + [ + 414.0417785644531, + 105.1092529296875 + ], + [ + 413.80865478515625, + 100.43001556396484 + ], + [ + 412.3773193359375, + 77.4669189453125 + ], + [ + 402.60498046875, + 63.86115646362305 + ], + [ + 375.6336975097656, + 95.53715515136719 + ], + [ + 332.2117919921875, + 166.345458984375 + ], + [ + 318.8272705078125, + 216.95701599121094 + ], + [ + 324.29412841796875, + 239.33770751953125 + ], + [ + 336.798583984375, + 249.95498657226562 + ], + [ + 339.8926086425781, + 246.00730895996094 + ], + [ + 315.0596618652344, + 243.2579345703125 + ], + [ + 290.62359619140625, + 247.35826110839844 + ], + [ + 275.17437744140625, + 253.3769989013672 + ], + [ + 271.88629150390625, + 264.393798828125 + ], + [ + 273.7659912109375, + 274.114990234375 + ], + [ + 278.55633544921875, + 283.67987060546875 + ], + [ + 277.3104248046875, + 284.0908203125 + ], + [ + 277.77752685546875, + 285.9019470214844 + ], + [ + 276.8305358886719, + 287.45404052734375 + ], + [ + 276.0998840332031, + 279.19000244140625 + ], + [ + 274.80303955078125, + 252.72756958007812 + ], + [ + 286.92486572265625, + 200.9742889404297 + ], + [ + 295.46380615234375, + 134.16209411621094 + ], + [ + 303.98260498046875, + 108.04916381835938 + ] + ], + "depth_max": 1.6955655813217163, + "depth_min": 0.35434579849243164, + "intrinsic": [ + [ + 596.2940673828125, + 0.0, + 259.0 + ], + [ + 0.0, + 595.1442260742188, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.102202026639134e-05, + 9.53857452259399e-05, + -3.1899329769657925e-05 + ], + [ + -3.101440233876929e-05, + 1.0, + -7.987090066308156e-05, + -1.57059621415101e-05 + ], + [ + -9.538821905152872e-05, + 7.98679466242902e-05, + 1.0, + -4.154053021920845e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 374.25, + 119.5 + ], + [ + 374.89141845703125, + 120.10355377197266 + ], + [ + 374.5224609375, + 120.11795043945312 + ], + [ + 374.2203674316406, + 120.06526184082031 + ], + [ + 374.4281005859375, + 120.17151641845703 + ], + [ + 374.9638671875, + 120.30813598632812 + ], + [ + 375.0491027832031, + 119.9097671508789 + ], + [ + 375.30841064453125, + 120.05046844482422 + ], + [ + 374.53631591796875, + 119.58914184570312 + ], + [ + 374.7635803222656, + 119.84616088867188 + ], + [ + 374.54681396484375, + 119.79327392578125 + ], + [ + 374.80511474609375, + 119.97468566894531 + ], + [ + 374.75860595703125, + 119.81132507324219 + ], + [ + 374.7997131347656, + 120.0504150390625 + ], + [ + 374.8896484375, + 120.18208312988281 + ], + [ + 375.00360107421875, + 120.40025329589844 + ], + [ + 374.8102111816406, + 120.61701202392578 + ], + [ + 374.41693115234375, + 120.14874267578125 + ], + [ + 374.5694580078125, + 120.1434097290039 + ], + [ + 374.567138671875, + 120.17979431152344 + ], + [ + 380.6377868652344, + 121.14912414550781 + ], + [ + 381.8795471191406, + 120.81085205078125 + ], + [ + 382.38372802734375, + 121.96903228759766 + ], + [ + 383.4659423828125, + 121.7708969116211 + ], + [ + 385.6719665527344, + 118.61164855957031 + ], + [ + 386.03265380859375, + 115.93018341064453 + ], + [ + 380.5259704589844, + 99.93184661865234 + ], + [ + 381.05731201171875, + 90.6744155883789 + ], + [ + 364.1087646484375, + 115.48860168457031 + ], + [ + 333.43255615234375, + 174.4652099609375 + ], + [ + 314.3946838378906, + 216.5093994140625 + ], + [ + 314.70904541015625, + 237.43482971191406 + ], + [ + 319.50323486328125, + 247.28878784179688 + ], + [ + 319.8315734863281, + 244.83383178710938 + ], + [ + 300.6244201660156, + 242.6511993408203 + ], + [ + 280.89105224609375, + 252.92990112304688 + ], + [ + 268.7944030761719, + 260.1785888671875 + ], + [ + 262.9960021972656, + 271.5364074707031 + ], + [ + 262.3014831542969, + 281.3197937011719 + ], + [ + 261.7607421875, + 290.66253662109375 + ], + [ + 258.2322998046875, + 292.711669921875 + ], + [ + 256.5121765136719, + 295.7872314453125 + ], + [ + 257.06500244140625, + 300.8958740234375 + ], + [ + 255.64883422851562, + 301.9053039550781 + ], + [ + 250.8192901611328, + 308.03533935546875 + ], + [ + 251.10768127441406, + 306.38592529296875 + ], + [ + 251.65078735351562, + 307.0443115234375 + ], + [ + 250.5814666748047, + 306.4952392578125 + ] + ] +} \ No newline at end of file diff --git a/009909_v2/lang.txt b/009909_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..c9c5de7b32391fc93ee024670f7c2595d93603c8 --- /dev/null +++ b/009909_v2/lang.txt @@ -0,0 +1 @@ +move the red arch from the top of the blue rectangle diff --git a/009910_v2/data.json b/009910_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..058bd76c5dec7d1ed28e1862150ea58cd0999e6d --- /dev/null +++ b/009910_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 13, + "action_end": 36, + "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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + [ + -4.949829990330556e-10, + 7.187837131050756e-11, + -1.6112044615157473e-09, + 1.0522409612270546e-07, + 6.379701296507648e-08, + 3.407728685577054e-08, + 1.0 + ], + [ + 0.004555042473383009, + 0.00880697720331217, + 0.008546898994317417, + -0.02730841465596801, + -0.0408709671485723, + 0.1492721988132404, + 1.0 + ], + [ + 0.004932887512923589, + 0.010965066404107701, + 0.011965438074433496, + 0.08688087902211654, + -0.018039968820733054, + 0.07407273320690348, + 1.0 + ], + [ + 0.005032020100524726, + 0.002237645428805385, + 0.010784044451298241, + -0.013590343715300796, + -0.03832468342302932, + 0.06484258140255564, + 1.0 + ], + [ + 0.016207305856332566, + 0.00259266607752745, + 0.01432607416153718, + -0.08249333288152674, + -0.07465120441383334, + 0.16263627912556228, + 1.0 + ], + [ + 0.014874838582758343, + 0.0028082128367087032, + 0.01827411272243354, + -0.04600028902529636, + -0.05997753176550988, + 0.13687153402624747, + 1.0 + ], + [ + 0.010481030880304054, + 0.006494770740496494, + -0.0023675270257848546, + -0.017445325636251115, + -0.011205978059073784, + 0.11765435939346011, + 1.0 + ], + [ + 0.006539316104377357, + 0.0013483345744076964, + -0.006742817899759279, + 0.02972649323324056, + 0.018891602994811938, + 0.07455435430462588, + 1.0 + ], + [ + -0.0013593281144032021, + -0.005942540073914727, + -0.008312248565129965, + 0.007558458876653065, + 0.037423795014298655, + -0.003814009662540798, + 1.0 + ], + [ + 0.0032097289309458987, + -0.01054720903350268, + -0.013622388412244835, + -0.01359301764605815, + 0.02935923852411046, + -0.019806721717051053, + 1.0 + ], + [ + 0.0029101992017797063, + -0.009841847448250257, + -0.011543280211991414, + -0.03671352650406236, + 0.032794728699020434, + -0.002669098920804484, + 1.0 + ], + [ + 0.0016818862286814285, + -0.00832654315870508, + -0.012917204822341863, + -0.02339748916487596, + 0.04522258504241682, + -0.0037691799071847883, + 1.0 + ], + [ + -0.0012442809186146708, + -0.0008249122629930307, + -0.011663403681180573, + -0.012310707273308217, + 0.037517545144785766, + 0.008093505971153433, + 1.0 + ], + [ + -0.00016519919956076157, + 0.00041174319388270764, + -0.008812385207988799, + 0.0011979475334213323, + 0.048401730172480326, + 0.008163482739036913, + 1.0 + ], + [ + -0.0027255430155815885, + 0.0033662465435825434, + -0.00575293095069028, + -0.01759588594919575, + 0.0018329845433376624, + 0.027034224946678474, + 0.0 + ], + [ + -0.0008114322826294207, + 0.002901909113413516, + -0.0007489028219841293, + -0.007015598601045429, + 0.0027584187912538553, + 0.0038577870126217093, + 0.0 + ], + [ + 0.0009609776294975947, + 0.0008886011282152502, + 0.002342360232988547, + -0.0101651798757711, + -0.01152074416021505, + -0.005598255289174631, + 0.0 + ], + [ + 0.0014839633226370053, + 0.0014856738719844637, + 0.007509699708837123, + -0.018526593256955926, + -0.01885639437000902, + 0.009387545863261806, + 0.0 + ], + [ + -0.002824998441279425, + 0.007139045398684174, + 0.014701986551568166, + 0.004554531808522602, + -0.041189905417582905, + 0.05538796987946546, + 0.0 + ], + [ + -0.002673663538059645, + 0.016346512117493425, + 0.01004958960263451, + -0.008503902480743054, + -0.04585652544432841, + 0.12069609868909338, + 0.0 + ], + [ + -0.009673930156048338, + 0.015456132963353322, + 0.0032372893705965577, + 0.017427532268585212, + -0.02014311459770915, + 0.1226112033769057, + 0.0 + ], + [ + -0.025714147976599766, + 0.006802461562183282, + -0.010614955279354701, + -0.02687917918831707, + 0.03703499494704801, + 0.12082910910877323, + 0.0 + ], + [ + -0.022392838231950374, + -0.005681620425963076, + -0.016793641145538676, + -0.06590308900247661, + 0.05746088570446955, + 0.026773367835835938, + 0.0 + ], + [ + -0.013554206799270607, + -0.01641949738237858, + -0.011971795521515297, + -0.032324905845860744, + 0.04197654404087943, + -0.03544133313373278, + 0.0 + ], + [ + 0.0030862347357974163, + -0.009030402938162213, + -0.01119211411543905, + -0.011519627509890034, + 0.0129707000319463, + -0.05386990735094975, + 0.0 + ], + [ + 0.006934662425571225, + -0.0036670841861057082, + -0.010865052766842714, + 0.020222843099229233, + 0.013951025736033624, + -0.053620974815122686, + 0.0 + ], + [ + 0.004116241408907095, + -0.0021615575965039414, + -0.007354865770675026, + -0.006593607816850281, + 0.014236520879282004, + -0.019548020354408623, + 0.0 + ], + [ + -0.002107144264389682, + 0.0008637596968280661, + -0.004388493124599088, + 0.005854276688793966, + 0.015467260806079717, + -0.0017251593159851972, + 0.0 + ], + [ + -0.0045681838076198356, + 0.003028683832797859, + -0.0007880554214258206, + 0.006694741416920957, + 0.005840900595366772, + 0.020334382744183418, + 0.0 + ], + [ + -0.006201725897204802, + 0.003557521151538983, + 0.003506090686903468, + 0.009577976024701423, + -0.005401660948506451, + 0.021886721691553347, + 0.0 + ], + [ + -0.005544705909355824, + -3.83101071620498e-06, + 0.002435077938026442, + 0.005610399840484139, + -0.019291904952798422, + -0.008040310870026894, + 0.0 + ], + [ + -0.0002828426575054721, + -0.0044675448346799835, + -0.0007137613963801304, + 0.006839824162757674, + -0.002827054542209649, + -0.029222094125139687, + 0.0 + ], + [ + 0.0015511005252589194, + -0.005084534200667342, + -0.0020139491877633614, + -0.016860101461631232, + -0.008119212267658668, + -0.013261413957693643, + 0.0 + ], + [ + 0.0007053954629558101, + -0.0022008626846738294, + -0.0023124408333138335, + -0.005531744288823748, + 0.0012930374849921213, + -0.003650214486702569, + 0.0 + ], + [ + 2.236206377659311e-05, + -0.0015207025575571, + -0.0033011785693419296, + 0.00031612191908770453, + 0.005250424624610117, + -0.002357836678494697, + 0.0 + ], + [ + -0.0038656072914202977, + 0.002362399407368194, + -0.0018337634848312814, + 0.0102084736759489, + 0.008853255969091424, + 0.01863897364969307, + 0.0 + ], + [ + -0.0018020643697697347, + 0.0027211913340468505, + -0.002295230173296872, + -0.003841295523259417, + 0.005424982438637425, + 0.00984295811581992, + 0.0 + ], + [ + 0.0011127751786522977, + 0.0014541303492478681, + 0.001992081631058365, + -0.001725900615526666, + 0.0023367868103608158, + -0.002449948357103147, + 1.0 + ], + [ + 0.006747044064669, + 0.004842253403238654, + 0.009505863498964796, + 0.015493723462339497, + -0.025200190381966414, + 0.0041556847798195845, + 1.0 + ], + [ + 0.011628558346841844, + 0.012872329481187411, + 0.016736292065560807, + 0.020469894616786933, + -0.05618518461266083, + 0.018196334092318186, + 1.0 + ], + [ + 0.012307693507328382, + 0.020527094570231653, + 0.03375911681308346, + 0.08447744085657861, + -0.05883515222923558, + -0.004660176382653252, + 1.0 + ], + [ + 0.012208120223224456, + 0.013846723209204556, + 0.02738185597301898, + 0.04943991018036433, + -0.025916805140840913, + -0.060920362468749524, + 1.0 + ], + [ + 0.007139978266274549, + 0.003496017216826755, + -0.0014139588755354149, + -0.040093029853623334, + 0.04653862170938219, + -0.24039581070105975, + 1.0 + ], + [ + 0.003530899005101673, + -0.0026010718163671856, + -0.004003390616695468, + -0.050220370665110384, + 0.014230674710639234, + -0.3369194021737109, + 1.0 + ], + [ + -0.00017827795658115209, + -0.007390720739151493, + -0.006821527235126121, + 0.04094873706166502, + 0.031053899545655565, + -0.32901825213758834, + 1.0 + ], + [ + 0.005071370855045776, + -0.010919356255741135, + -0.0037994316648721493, + 0.04557875362220781, + -0.021317869148028013, + -0.24617893059858947, + 1.0 + ], + [ + 0.0021351498775332156, + -0.011889787396100658, + 0.001716971522037286, + 0.023786018100760153, + -0.04451882784142023, + -0.12137553627023295, + 1.0 + ], + [ + 0.004565729651644035, + -0.015636629996798632, + -0.0036940888711494008, + -0.00380160545042668, + -0.020090520427778296, + -0.08510055880578553, + 1.0 + ] + ], + "gripper_centers": [ + [ + 393.509521484375, + 171.21148681640625 + ], + [ + 391.1279602050781, + 176.56704711914062 + ], + [ + 391.35919189453125, + 191.02304077148438 + ], + [ + 382.7939453125, + 171.9550018310547 + ], + [ + 383.6056213378906, + 149.41012573242188 + ], + [ + 388.17193603515625, + 134.39308166503906 + ], + [ + 398.3843994140625, + 92.421630859375 + ], + [ + 398.0949401855469, + 62.91823196411133 + ], + [ + 392.2294006347656, + 57.144248962402344 + ], + [ + 383.0416564941406, + 66.06492614746094 + ], + [ + 388.2724304199219, + 74.35255432128906 + ], + [ + 403.0473937988281, + 96.78611755371094 + ], + [ + 414.133056640625, + 125.13530731201172 + ], + [ + 419.5516662597656, + 147.37698364257812 + ], + [ + 418.3720703125, + 156.362548828125 + ], + [ + 422.603515625, + 160.16506958007812 + ], + [ + 423.89697265625, + 162.5777130126953 + ], + [ + 423.7521667480469, + 162.36074829101562 + ], + [ + 423.7301940917969, + 160.92166137695312 + ], + [ + 418.2555236816406, + 152.3093719482422 + ], + [ + 401.76483154296875, + 126.4103012084961 + ], + [ + 371.3072509765625, + 115.56298065185547 + ], + [ + 336.5776672363281, + 123.07100677490234 + ], + [ + 308.45135498046875, + 162.41078186035156 + ], + [ + 300.17755126953125, + 197.59803771972656 + ], + [ + 305.946044921875, + 210.63865661621094 + ], + [ + 316.2566833496094, + 235.89219665527344 + ], + [ + 324.65789794921875, + 240.14654541015625 + ], + [ + 324.65826416015625, + 242.15696716308594 + ], + [ + 323.3787841796875, + 243.12115478515625 + ], + [ + 314.5278625488281, + 254.00482177734375 + ], + [ + 308.4222412109375, + 255.8335723876953 + ], + [ + 307.3348388671875, + 254.3139190673828 + ], + [ + 313.35833740234375, + 256.24749755859375 + ], + [ + 318.0084533691406, + 255.90530395507812 + ], + [ + 318.0908203125, + 258.7649230957031 + ], + [ + 317.50286865234375, + 267.0174560546875 + ], + [ + 314.295654296875, + 272.69140625 + ], + [ + 312.0867614746094, + 277.32403564453125 + ], + [ + 311.8517761230469, + 271.6768798828125 + ], + [ + 313.14874267578125, + 242.34742736816406 + ], + [ + 306.11785888671875, + 188.80142211914062 + ], + [ + 301.0635681152344, + 120.47549438476562 + ], + [ + 308.10308837890625, + 94.0551528930664 + ], + [ + 318.5848388671875, + 95.60963439941406 + ], + [ + 319.5082092285156, + 101.83921813964844 + ], + [ + 329.31146240234375, + 116.59590148925781 + ], + [ + 352.14239501953125, + 123.54714965820312 + ] + ], + "depth_max": 1.8275936841964722, + "depth_min": 0.31299182772636414, + "intrinsic": [ + [ + 613.8069458007812, + 0.0, + 259.0 + ], + [ + 0.0, + 612.3392333984375, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.175873967440566e-05, + 0.00010331071825930849, + -6.462997589551378e-06 + ], + [ + -1.1753345461329445e-05, + 1.0, + -5.220320599619299e-05, + -1.8399085092823952e-05 + ], + [ + -0.00010331132943974808, + 5.220199091127142e-05, + 1.0, + -3.165787347825244e-07 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 400.75, + 182.00001525878906 + ], + [ + 400.5473937988281, + 182.19711303710938 + ], + [ + 409.4560546875, + 199.17039489746094 + ], + [ + 406.87078857421875, + 176.35650634765625 + ], + [ + 406.9283142089844, + 177.50216674804688 + ], + [ + 407.7505187988281, + 173.9028778076172 + ], + [ + 409.10040283203125, + 166.9488067626953 + ], + [ + 407.5327453613281, + 164.3921661376953 + ], + [ + 407.79656982421875, + 165.36521911621094 + ], + [ + 407.8622131347656, + 165.49449157714844 + ], + [ + 408.3320617675781, + 165.66165161132812 + ], + [ + 409.81768798828125, + 168.34405517578125 + ], + [ + 410.957763671875, + 176.09707641601562 + ], + [ + 411.66912841796875, + 176.08544921875 + ], + [ + 412.8342590332031, + 176.80441284179688 + ], + [ + 412.92010498046875, + 177.27685546875 + ], + [ + 412.4959716796875, + 177.05276489257812 + ], + [ + 412.5556640625, + 177.02159118652344 + ], + [ + 412.39532470703125, + 175.9183349609375 + ], + [ + 408.0296630859375, + 169.8511199951172 + ], + [ + 398.8260498046875, + 153.26394653320312 + ], + [ + 375.3414611816406, + 146.40017700195312 + ], + [ + 348.0809020996094, + 159.10794067382812 + ], + [ + 325.67266845703125, + 196.469970703125 + ], + [ + 316.17889404296875, + 229.78558349609375 + ], + [ + 319.2711486816406, + 239.11544799804688 + ], + [ + 323.3294982910156, + 260.6849670410156 + ], + [ + 327.85205078125, + 264.0238952636719 + ], + [ + 326.9361877441406, + 266.8416748046875 + ], + [ + 324.75885009765625, + 267.2799072265625 + ], + [ + 316.5060119628906, + 276.67962646484375 + ], + [ + 311.879638671875, + 279.4552307128906 + ], + [ + 310.9228515625, + 278.25439453125 + ], + [ + 314.84234619140625, + 280.7381591796875 + ], + [ + 318.06097412109375, + 281.8179931640625 + ], + [ + 317.33953857421875, + 285.0385437011719 + ], + [ + 314.89471435546875, + 292.44329833984375 + ], + [ + 311.3643798828125, + 297.7703857421875 + ], + [ + 309.5273132324219, + 304.286865234375 + ], + [ + 308.0370788574219, + 304.1307373046875 + ], + [ + 306.886474609375, + 294.3204345703125 + ], + [ + 302.61859130859375, + 288.548095703125 + ], + [ + 301.35296630859375, + 288.3298034667969 + ], + [ + 301.7701416015625, + 288.3563537597656 + ], + [ + 301.50445556640625, + 288.23480224609375 + ], + [ + 301.36322021484375, + 288.3013000488281 + ], + [ + 301.5077209472656, + 288.830810546875 + ], + [ + 301.48040771484375, + 287.9327392578125 + ] + ] +} \ No newline at end of file diff --git a/009910_v2/lang.txt b/009910_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..fb5ad8dec5a154f8ac119630a2b3d3426e64a983 --- /dev/null +++ b/009910_v2/lang.txt @@ -0,0 +1 @@ +move the blue rectangle to the top of the red arch diff --git a/009926_v2/FAIL b/009926_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..e6bfb76781fc452d32adcb34d17d9b60e918385c --- /dev/null +++ b/009926_v2/FAIL @@ -0,0 +1 @@ +Object movement too small diff --git a/010006_v2/FAIL b/010006_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/010006_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/010038_v2/data.json b/010038_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..47b47734d52d78a5affdc7a89d2ec57e02b555b0 --- /dev/null +++ b/010038_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 8, + "action_end": 30, + "object_name": "green cube", + "gripper_opens": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.895971, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + [ + 6.554023990190672e-11, + -1.3275094912224006e-10, + 1.8838700044376822e-10, + 1.1406005948342986e-07, + 3.5939059253381675e-07, + -2.888116725669882e-07, + 1.0 + ], + [ + -0.0031447927619838723, + 0.003173258238076862, + -0.014116981424594069, + -0.026417102343892464, + 0.04465513818056881, + 0.010036965400031038, + 1.0 + ], + [ + -0.001988197265200997, + 0.0005822700918421408, + -0.005918537492481626, + -0.00939555143779574, + 0.012868725959513709, + 0.006457539749018534, + 1.0 + ], + [ + -0.0003272334900081275, + 0.003054974532830032, + -0.008766853005024458, + -0.008313471215680743, + 0.019319291865096653, + 0.011967505438903977, + 1.0 + ], + [ + -0.003687931061251426, + 0.004815067039586993, + -0.007144565752294066, + -0.019508678274690945, + 0.03138785258790288, + 0.0346973594679223, + 1.0 + ], + [ + -0.0019145566327346542, + 0.0036503120009513806, + -0.006694744696689778, + -0.0031115665884019345, + 0.022140823409236458, + 0.014060874942925888, + 1.0 + ], + [ + -0.00026263714514696, + -2.604027096039796e-05, + -0.007856946310502606, + -0.008029373570510251, + 0.02463917830769924, + 0.0010962129043968457, + 1.0 + ], + [ + -0.0006581160786763851, + -0.0015749180609648666, + -0.005292566358195805, + -0.005783258348256325, + 0.013712731111110897, + -0.007682971612837713, + 1.0 + ], + [ + 0.0006636242647549695, + -0.003944051927257691, + -0.007093825528031991, + -0.010753065709461484, + 0.007085660781637898, + -0.009554142484365511, + 0.895971 + ], + [ + 0.0007002430512509372, + -0.0005367834029016832, + 0.0007742282803620062, + 0.0002492053766769086, + -0.013469482878551256, + 0.010339114193257523, + 0.0 + ], + [ + 0.0013670080579574195, + -0.0009256350617874859, + 0.012652269499348855, + 0.01631956645562012, + -0.03678909666263038, + 0.005459383619969828, + 0.0 + ], + [ + 0.003923853743236672, + -0.003815904795325134, + 0.03302362655694719, + 0.014049390572388671, + -0.07163503070979886, + -0.015208302094401221, + 0.0 + ], + [ + -0.001202321713629273, + -0.013693614045880279, + 0.053744442030872495, + 0.00608129675863159, + -0.030695730166834852, + -0.08838029863668936, + 0.0 + ], + [ + -0.0052939762462209106, + -0.016030018015593374, + 0.040047005598710814, + 0.017670524924775482, + -0.024849802950347118, + -0.08318807077298233, + 0.0 + ], + [ + -0.006025364840635594, + -0.025026199204758487, + 0.0231588739115679, + 0.009694112455594003, + -0.013742064984722017, + -0.09182050643844111, + 0.0 + ], + [ + 0.0018073478532351084, + -0.022021421630247003, + -0.0006186781731020996, + 0.018826611538433367, + 0.027873758538468883, + -0.08105102056503051, + 0.0 + ], + [ + -0.0051952503804177375, + -0.021666454994394152, + -0.0035721524901617674, + -0.010038513218274387, + 0.0219997667936143, + -0.06790030012576206, + 0.0 + ], + [ + 2.3988721743750663e-05, + -0.016422011502406672, + -0.013304905403644596, + -0.019873129742239936, + 0.0375741790706726, + -0.044242448927102745, + 0.0 + ], + [ + 0.004526800209422754, + -0.007874555424034991, + -0.013499979103477416, + -0.0054159992038819976, + 0.038574468047124263, + -0.022374740829906443, + 0.0 + ], + [ + 0.004822930476017007, + 0.0007483007121775222, + -0.009375976593990032, + -0.007989072486624345, + 0.027229282007074272, + 0.009293250187161605, + 0.0 + ], + [ + 0.0019388453616402956, + 0.0028491389083252494, + -0.008430421112872732, + -0.0017728909055600918, + 0.018428481995015556, + 0.014741224094042665, + 0.0 + ], + [ + 0.001066584653055258, + 0.0028995311051179633, + -0.004565830765358103, + -0.004738614501642402, + 0.009116111585680963, + 0.011068604177587224, + 0.0 + ], + [ + 0.0012390751834893687, + 0.0029760375113605415, + -0.005483040090322938, + 0.004696218466826979, + 0.013171231854127698, + 0.012830224360993634, + 0.0 + ], + [ + 0.0009121350337576994, + 0.004481975567329825, + -0.0036829923269615095, + 0.0019814319945251784, + 0.011475758983164797, + 0.013707953548440083, + 0.0 + ], + [ + 0.0012944180017239182, + 0.006608187923699719, + -0.003199220890710147, + 0.0128946229534318, + 0.001231551326455488, + 0.023004244179343613, + 0.0 + ], + [ + 0.00024295004884938853, + 0.0044775897178191346, + 0.00029430682754735815, + 0.005361485116542445, + -0.002911577680286997, + 0.016120928186706764, + 0.0 + ], + [ + -4.8860575739884116e-05, + 0.0006537475980133677, + -0.0005548810358343426, + 0.002775001124480832, + 0.0030277291754887406, + -0.0027552397275314756, + 0.0 + ], + [ + -0.0009688675729809249, + -0.003847125541885649, + -0.0006060976913266902, + -0.002757860413493701, + 0.006608455045869987, + -0.01508649907590111, + 0.0 + ], + [ + 0.0003443681339054261, + -0.004642105892974608, + 0.0025923267480070233, + -0.004447452138957112, + -0.008418960244603745, + -0.011844269258290947, + 0.0 + ], + [ + -0.0004647601800244483, + -0.0007957483726623964, + -0.0012097378855269458, + -0.001207741267742205, + 0.007179132793247958, + 0.0013126893556834442, + 0.0 + ], + [ + -0.000950277725782267, + 0.0014077289361059623, + -0.0029764057245995346, + -0.012623304344444924, + 0.011295179257992255, + 0.008323078827554897, + 0.0 + ], + [ + 0.0004919984406812627, + 0.003551213006884439, + -0.0006528185987484114, + -0.015310553266671795, + 0.027723902429911663, + 0.04098690447443172, + 1.0 + ], + [ + 0.0019301431670132319, + 0.004708172807592992, + 0.004441591030940023, + -0.0034384720490403657, + -0.012343302798020995, + 0.029644377365257355, + 1.0 + ], + [ + 0.004009457185283949, + 0.015143417470475016, + 0.021807433291269857, + -0.0021903574202628544, + -0.05874083346986077, + 0.06031107445511363, + 1.0 + ], + [ + 0.004772633341817045, + 0.021178274259182485, + 0.0344794716126271, + -0.002429196486996895, + -0.08762253344227891, + 0.08009295753798755, + 1.0 + ], + [ + -0.0038342290986557725, + 0.02578083519491008, + 0.02094753126251317, + -0.031058377446438735, + -0.04595000478800016, + 0.08466035996228888, + 1.0 + ], + [ + -0.009781147321750505, + 0.02211425251770425, + -0.02378852741453702, + -0.025599141083730455, + 0.054303535380824594, + 0.04163111329066295, + 1.0 + ], + [ + -0.008041580345251764, + 0.004483129331044083, + -0.027545591028295652, + 0.09328178360679272, + 0.06203279361069598, + 0.0008844576715404094, + 1.0 + ], + [ + 0.0023460105520922703, + -0.013687138985501543, + -0.007057583835918507, + 0.08788424266546128, + -0.009223753116156606, + -0.09321305175506948, + 1.0 + ], + [ + 0.006969998771740593, + -0.012782876132267987, + -0.002408255957497385, + 0.07190196603377434, + -0.04751279918055207, + -0.08638654748717747, + 1.0 + ], + [ + 0.0031464317788888474, + -0.00013381899137562825, + -0.005979246112230219, + -0.00750745607111119, + -0.07494574712218403, + 0.02999935510066247, + 1.0 + ], + [ + 0.003503995697037743, + 0.0066885816885041555, + -0.0048113562445500635, + -0.0436874496734737, + -0.06497518795981133, + 0.10334950128985636, + 1.0 + ], + [ + -0.0005379419827144516, + 0.009678151366031881, + 0.0012696780147377351, + -0.04864202658098898, + -0.040761899710600055, + 0.08014210832247315, + 1.0 + ], + [ + 0.0016068754130557639, + 0.008937150900904398, + -0.0015617600079880778, + -0.013382976006753002, + -0.021079571337852706, + 0.03426993694138119, + 1.0 + ], + [ + 0.0009049458831940083, + 0.005574433374866364, + -0.00979314633272485, + 0.019689025733642455, + 0.04457112125197769, + 0.015891898977332328, + 1.0 + ], + [ + 0.0013750974108099334, + -0.0036592447104306924, + -0.007710724842498684, + 0.036410746839165335, + 0.047052333097548346, + -0.04405211870657138, + 1.0 + ], + [ + 0.003099992171630206, + -0.002920150252887263, + -0.005337611334681663, + -0.014892875170835184, + 0.04290146907228544, + -0.030678246994803312, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 271.715576171875, + 40.75312042236328 + ], + [ + 271.8890380859375, + 43.49309158325195 + ], + [ + 271.1365661621094, + 68.08912658691406 + ], + [ + 270.9456787109375, + 84.18931579589844 + ], + [ + 271.16522216796875, + 88.73834228515625 + ], + [ + 270.67510986328125, + 100.02769470214844 + ], + [ + 259.3445739746094, + 106.72898864746094 + ], + [ + 257.43585205078125, + 119.38754272460938 + ], + [ + 256.6829833984375, + 125.79401397705078 + ], + [ + 256.79833984375, + 133.3369140625 + ], + [ + 259.0650939941406, + 137.73382568359375 + ], + [ + 259.44171142578125, + 138.6036376953125 + ], + [ + 259.9291076660156, + 114.96774291992188 + ], + [ + 259.1645812988281, + 71.73487091064453 + ], + [ + 275.98260498046875, + 20.084495544433594 + ], + [ + 295.27935791015625, + -38.18035888671875 + ], + [ + 323.4791259765625, + -46.747222900390625 + ], + [ + 361.5611572265625, + -31.22953987121582 + ], + [ + 397.3619079589844, + 16.967538833618164 + ], + [ + 417.7333679199219, + 30.44301986694336 + ], + [ + 421.95770263671875, + 41.27290725708008 + ], + [ + 424.87506103515625, + 52.19576644897461 + ], + [ + 426.37921142578125, + 55.90288543701172 + ], + [ + 424.88079833984375, + 65.53788757324219 + ], + [ + 423.392822265625, + 71.34407043457031 + ], + [ + 412.87359619140625, + 70.24134063720703 + ], + [ + 403.2402648925781, + 69.79935455322266 + ], + [ + 398.7979736328125, + 68.43763732910156 + ], + [ + 399.0011901855469, + 68.41180419921875 + ], + [ + 399.39288330078125, + 68.47665405273438 + ], + [ + 399.74505615234375, + 68.61314392089844 + ], + [ + 401.7353210449219, + 70.39323425292969 + ], + [ + 402.89117431640625, + 78.77275085449219 + ], + [ + 399.91790771484375, + 80.31326293945312 + ], + [ + 386.8094482421875, + 59.745811462402344 + ], + [ + 364.1854248046875, + 21.359636306762695 + ], + [ + 330.5318603515625, + 6.110712051391602 + ], + [ + 286.2820739746094, + 11.759221076965332 + ], + [ + 267.3183288574219, + 12.903875350952148 + ], + [ + 232.64398193359375, + 19.865840911865234 + ], + [ + 275.3475036621094, + 29.545562744140625 + ], + [ + 286.29718017578125, + 33.25974655151367 + ], + [ + 294.5479736328125, + 42.68537902832031 + ], + [ + 282.6094970703125, + 42.86969757080078 + ], + [ + 268.562744140625, + 32.93836975097656 + ], + [ + 261.55645751953125, + 31.444580078125 + ], + [ + 252.89517211914062, + 41.886531829833984 + ], + [ + 250.38685607910156, + 52.63716125488281 + ] + ], + "depth_max": 2.18953275680542, + "depth_min": 0.41029998660087585, + "intrinsic": [ + [ + 577.3064575195312, + 0.0, + 259.0 + ], + [ + 0.0, + 576.2013549804688, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.0218146750703454e-05, + 4.8010337195592e-05, + -1.1967959835601505e-05 + ], + [ + -4.021614950033836e-05, + 1.0, + -4.145882121520117e-05, + -2.905194924096577e-05 + ], + [ + -4.801200338988565e-05, + 4.145689308643341e-05, + 1.0, + 6.358868631650694e-06 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 272.75, + 144.25 + ], + [ + 273.2059326171875, + 144.14889526367188 + ], + [ + 272.8164367675781, + 144.54656982421875 + ], + [ + 272.73797607421875, + 144.64439392089844 + ], + [ + 272.72235107421875, + 144.31036376953125 + ], + [ + 272.7387390136719, + 144.01063537597656 + ], + [ + 272.4210205078125, + 144.11224365234375 + ], + [ + 275.20947265625, + 141.65606689453125 + ], + [ + 275.18701171875, + 141.4026336669922 + ], + [ + 274.7337951660156, + 142.0733184814453 + ], + [ + 273.8151550292969, + 141.5501708984375 + ], + [ + 271.4996643066406, + 141.0631561279297 + ], + [ + 270.06640625, + 120.89944458007812 + ], + [ + 270.66253662109375, + 80.77188110351562 + ], + [ + 287.16973876953125, + 28.069826126098633 + ], + [ + 308.13458251953125, + 4.155054092407227 + ], + [ + 333.5166320800781, + 1.534988522529602 + ], + [ + 367.7117614746094, + 9.659862518310547 + ], + [ + 397.54754638671875, + 24.592613220214844 + ], + [ + 417.4866027832031, + 42.50038528442383 + ], + [ + 419.1707763671875, + 60.384498596191406 + ], + [ + 422.0191650390625, + 75.63895416259766 + ], + [ + 423.6884765625, + 81.57162475585938 + ], + [ + 421.68072509765625, + 89.9153823852539 + ], + [ + 419.66888427734375, + 92.14964294433594 + ], + [ + 411.343994140625, + 91.5220947265625 + ], + [ + 403.6280212402344, + 89.8858642578125 + ], + [ + 397.1252136230469, + 91.36102294921875 + ], + [ + 399.3188781738281, + 88.91140747070312 + ], + [ + 399.8455505371094, + 89.26559448242188 + ], + [ + 400.7628479003906, + 91.78540802001953 + ], + [ + 402.981689453125, + 92.65961456298828 + ], + [ + 413.03753662109375, + 103.29486846923828 + ], + [ + 411.2260437011719, + 102.2947769165039 + ], + [ + 410.8919372558594, + 103.41242980957031 + ], + [ + 411.96893310546875, + 101.56123352050781 + ], + [ + 415.0312194824219, + 103.00570678710938 + ], + [ + 415.9876708984375, + 102.76325988769531 + ], + [ + 416.1642761230469, + 102.2876968383789 + ], + [ + 415.9186706542969, + 102.93029022216797 + ], + [ + 416.0981750488281, + 103.01248168945312 + ], + [ + 415.4871520996094, + 102.81446838378906 + ], + [ + 415.5328369140625, + 103.29251098632812 + ], + [ + 415.89727783203125, + 103.588623046875 + ], + [ + 416.0577392578125, + 103.04991912841797 + ], + [ + 415.86328125, + 103.68229675292969 + ], + [ + 415.65008544921875, + 102.76660919189453 + ], + [ + 415.1497802734375, + 102.19357299804688 + ] + ] +} \ No newline at end of file diff --git a/010038_v2/lang.txt b/010038_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..08134fe051376021b205afd84de705a11305757c --- /dev/null +++ b/010038_v2/lang.txt @@ -0,0 +1 @@ +put the green cube to the top of cylinder diff --git a/010038_v2/object.ply b/010038_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..91629693c1a6302908888e2c1487c4e450219ad9 Binary files /dev/null and b/010038_v2/object.ply differ diff --git a/010123_v2/FAIL b/010123_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/010123_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/010161_v2/data.json b/010161_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..53736eb4c413b23788a2ef78d0c114970e676771 --- /dev/null +++ b/010161_v2/data.json @@ -0,0 +1,843 @@ +{ + "action_start": 9, + "action_end": 31, + "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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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, + 4.214066208921909e-07, + 2.7977064931044805e-08, + -9.726627813052923e-08, + 1.0 + ], + [ + 0.0037861913487027, + -0.0029130416560744776, + -0.0050735774760109625, + -0.013208605730733456, + -0.01834315172372452, + -0.020577443548797245, + 1.0 + ], + [ + 0.0027785338374826107, + -0.0016012248698719506, + -0.004877930331456885, + 0.011671300438070256, + -0.009888251241070836, + 0.005924866867031465, + 1.0 + ], + [ + 0.0002772421777443024, + -0.0025509077614876835, + -0.00558039193336235, + -0.02139085554828521, + 0.0027501563958302958, + -0.011935842486355987, + 1.0 + ], + [ + -0.0015886480684816906, + 0.0015384826764354709, + -0.015148764747322192, + -0.04236783475442867, + 0.017762691716233563, + 0.012120051669571376, + 1.0 + ], + [ + -0.0024474050313540163, + 0.004250245023117036, + -0.009497742080099202, + -0.02444500849582971, + 0.014870871029551435, + 0.025989407796204934, + 1.0 + ], + [ + -4.253620548475001e-05, + 0.0009415665902969689, + -0.0061527644650665875, + -0.00575416581676667, + 0.008393287784630237, + 0.010937363320631551, + 1.0 + ], + [ + 0.003044272482587096, + -0.002730728642286795, + -0.00552421665111218, + -0.007094117693090538, + 0.0027152201306736156, + -0.004347925856174385, + 1.0 + ], + [ + 0.0040050261660691255, + -0.0061313754124521225, + -0.0024287917736981954, + -0.004767625287424473, + -0.0021983759493065455, + -0.01628180767353728, + 1.0 + ], + [ + 0.0027321256086707824, + -0.005975527644451112, + -0.006193769634778227, + -0.000618176352547552, + 0.011084605325027218, + -0.0060193314176326005, + 1.0 + ], + [ + -0.001469893308746334, + -0.0007109580197149912, + -0.005335292546190449, + 0.0035025813087504435, + 0.008493936058204147, + 0.0200618722348239, + 0.0 + ], + [ + 9.22586887311394e-06, + 0.014254753598635275, + 0.018391445934258722, + -0.0016711727260498592, + -0.03805386612713261, + 0.03361000164747368, + 0.0 + ], + [ + 0.006751583055813304, + 0.021354304579931857, + 0.01983056199552551, + -0.00790578313570371, + -0.026079412542814668, + 0.03617632750708209, + 0.0 + ], + [ + 0.00517676017369223, + 0.03404821199782572, + 0.03775179961012312, + 0.015243959109120781, + -0.04739767151215989, + 0.05591539972661165, + 0.0 + ], + [ + 0.008446086681556914, + 0.04107210762453371, + 0.054048326624709486, + -0.00228525189729895, + -0.08419936500556732, + 0.058590533078419584, + 0.0 + ], + [ + 0.0051679488864302126, + 0.024788375079226897, + 0.034854411837648466, + 0.020128151454358447, + -0.044739451914483454, + 0.0185148522360589, + 0.0 + ], + [ + 0.006885255103080745, + 0.0218541180712622, + 0.01780809353479612, + 0.007901471832631447, + -0.019206290253900218, + 0.021607050391924974, + 0.0 + ], + [ + 0.002814954269042047, + 0.017044882591919663, + 0.009342824911163033, + 0.002915569130061574, + -0.0018417881032011796, + 0.02623327761487855, + 0.0 + ], + [ + 0.0026895146538800097, + 0.013171347300882742, + -0.0009150917319951934, + -0.0033393951457542587, + 0.010702072410835933, + 0.019272483327391735, + 0.0 + ], + [ + 0.0064942300662068075, + 0.006830061624420569, + -0.004629523108971495, + 0.0002511383186217114, + 0.023969727223144544, + -0.004136436940887291, + 0.0 + ], + [ + 0.005529449510672246, + 0.0050517448044354665, + -0.009212781148570243, + -0.014607997871094418, + 0.017603019596776574, + -0.0009248495798866647, + 0.0 + ], + [ + 0.005262000279885548, + 0.004480300103861537, + -0.005268541321407361, + 0.011947573252005699, + 0.012257682597706522, + 0.012329482286462337, + 0.0 + ], + [ + 0.0037578930584777903, + 0.0056351296469296375, + -0.0022763214766407525, + 0.029198451166538526, + 0.0019004249333458114, + 0.03323997071451042, + 0.0 + ], + [ + 0.004564582032562325, + 0.0056363541725719946, + -0.0021389812174292533, + 0.0029120517264017696, + 0.018909605598060108, + 0.004240792141446854, + 0.0 + ], + [ + 0.004889778831950631, + 0.005248645491429768, + -0.0012788628866368668, + 0.007717526011754082, + 0.004340887047442563, + 0.010669589331831496, + 0.0 + ], + [ + 0.006749444397831261, + 0.0029230637480854166, + -0.0034506985862458317, + -0.006987445112734785, + 0.005391082205284151, + 0.0053741705833755945, + 0.0 + ], + [ + -0.0005828300652124252, + 0.004888389401344187, + -0.001575250488635077, + -0.019412505871319582, + -0.0075204709071012964, + 0.01663085109426825, + 0.0 + ], + [ + -0.00011528770348401274, + 0.0006299904753865881, + -0.0019651662874120013, + -0.006867556931855707, + 0.00421433124839796, + -0.0026364737581917276, + 0.0 + ], + [ + 0.0026912376896413015, + -0.0008024167593272402, + -0.0033300489113476384, + -0.01555164867914524, + 0.001597686258771013, + -0.004922182168774433, + 0.0 + ], + [ + 0.0032177009178169236, + 0.00033391554768812115, + -0.0001458054092770278, + -0.004447164151323166, + -0.0029469282065017715, + -0.0036557673936747337, + 0.0 + ], + [ + 0.004182545413687955, + -0.0032723257232307595, + -0.0033536118352991695, + -0.0002117293009552443, + 0.01071047021799541, + -0.011774586393186752, + 0.0 + ], + [ + 0.0008821358600452633, + -0.0004628895125921295, + -0.003970188707481476, + -0.006458116266248208, + 0.0084928520055588, + 0.0023601610490274335, + 0.0 + ], + [ + -0.0003454100151205064, + -0.00046860728959793874, + -0.002069927538558003, + -0.010641299461558071, + 0.0033634282112306605, + 0.015637773372900687, + 1.0 + ], + [ + 0.0005037922653006732, + -0.0024144768596975202, + -0.0010566569186975794, + -0.006107584682834371, + 0.0006117145220982766, + 0.009895485836006714, + 1.0 + ], + [ + -0.0027210503712822853, + -0.002633058326816956, + 0.012470737497777301, + 0.005245676846065038, + -0.02627562235252658, + -0.000558944191654365, + 1.0 + ], + [ + -0.007413581220822085, + -0.01307898290394885, + 0.028519337405943535, + 0.05006678971211236, + -0.026159994665680888, + -0.027246156754924745, + 1.0 + ], + [ + -0.020232901338552933, + -0.02432800150954765, + 0.021009699827817307, + 0.08721561091906538, + 0.02633049485911652, + -0.07111820244904297, + 1.0 + ], + [ + -0.021090369390575903, + -0.027760911776857362, + 0.0005171994991823026, + 0.035232336442601216, + 0.043348632634001384, + -0.03632750627341494, + 1.0 + ], + [ + -0.012920454229755907, + -0.023641080471378063, + -0.008936394331706426, + -0.022003025047276564, + -0.00034183017154130926, + -0.03536164930177901, + 1.0 + ], + [ + -0.008883967819091565, + -0.01006376700379059, + -0.021013344378239096, + -0.06227249591783332, + -0.0037919888161773107, + -0.01995694601698505, + 1.0 + ], + [ + 0.0054855143140567775, + 0.0043000205939257175, + -0.013633652057920193, + -0.055504944333157356, + 0.012809379962905912, + 0.0026467648455135297, + 1.0 + ], + [ + 0.009632443056671353, + -0.00035773539856374936, + -0.005880293955114385, + 0.05680947069865609, + -0.008215996164222788, + -0.04517786145108995, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 481.3500671386719, + 305.70233154296875 + ], + [ + 475.19012451171875, + 313.7091064453125 + ], + [ + 475.62890625, + 320.1296691894531 + ], + [ + 475.80029296875, + 324.29876708984375 + ], + [ + 479.90283203125, + 328.61737060546875 + ], + [ + 478.448486328125, + 348.4330749511719 + ], + [ + 468.09539794921875, + 363.65032958984375 + ], + [ + 460.03765869140625, + 366.6654052734375 + ], + [ + 459.1221618652344, + 373.48394775390625 + ], + [ + 462.2214050292969, + 374.3942565917969 + ], + [ + 469.2018737792969, + 373.1174011230469 + ], + [ + 470.1129455566406, + 373.00604248046875 + ], + [ + 469.07525634765625, + 374.0614013671875 + ], + [ + 452.8665771484375, + 345.84991455078125 + ], + [ + 419.685546875, + 283.86968994140625 + ], + [ + 390.4158935546875, + 211.61270141601562 + ], + [ + 343.093505859375, + 101.14396667480469 + ], + [ + 327.2357482910156, + 49.13398742675781 + ], + [ + 301.849365234375, + 23.801586151123047 + ], + [ + 285.3824462890625, + 16.680917739868164 + ], + [ + 275.21954345703125, + 16.499954223632812 + ], + [ + 276.99249267578125, + 18.73595428466797 + ], + [ + 273.5564880371094, + 23.093547821044922 + ], + [ + 273.219482421875, + 21.023984909057617 + ], + [ + 272.42193603515625, + 20.608718872070312 + ], + [ + 273.5609130859375, + 20.761934280395508 + ], + [ + 270.60638427734375, + 16.755199432373047 + ], + [ + 272.6788635253906, + 20.088302612304688 + ], + [ + 262.4549560546875, + 18.22933578491211 + ], + [ + 266.5411071777344, + 21.751480102539062 + ], + [ + 269.1784362792969, + 20.36525535583496 + ], + [ + 271.17694091796875, + 22.001558303833008 + ], + [ + 271.7646484375, + 24.647796630859375 + ], + [ + 275.188720703125, + 24.436452865600586 + ], + [ + 276.83404541015625, + 24.516666412353516 + ], + [ + 277.83575439453125, + 24.53578758239746 + ], + [ + 270.93218994140625, + 13.782052993774414 + ], + [ + 279.90203857421875, + -12.28480339050293 + ], + [ + 306.1427307128906, + -10.6331787109375 + ], + [ + 328.87725830078125, + 22.52117156982422 + ], + [ + 337.5025939941406, + 50.60396194458008 + ], + [ + 347.7217712402344, + 75.70817565917969 + ], + [ + 346.9579162597656, + 87.08428192138672 + ] + ], + "depth_max": 1.737834095954895, + "depth_min": 0.4056519865989685, + "intrinsic": [ + [ + 592.6849975585938, + 0.0, + 259.0 + ], + [ + 0.0, + 591.2971801757812, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 4.3124749936396256e-05, + 9.242722444469109e-05, + -1.3300749742484186e-05 + ], + [ + -4.3118419853271917e-05, + 1.0, + -6.848369957879186e-05, + -4.082653686054982e-05 + ], + [ + -9.243017848348245e-05, + 6.847971235401928e-05, + 1.0, + 1.3224114809418097e-05 + ] + ], + "selected_indexes": [ + 0, + 3, + 6, + 9, + 12, + 15, + 18, + 21, + 24, + 27, + 30, + 33, + 36, + 39, + 42 + ], + "object_trajectory": [ + [ + 458.5, + 400.5 + ], + [ + 458.87432861328125, + 400.5894470214844 + ], + [ + 458.3648376464844, + 400.7117004394531 + ], + [ + 458.73553466796875, + 400.4088439941406 + ], + [ + 458.951416015625, + 400.4900207519531 + ], + [ + 459.0160217285156, + 400.5296630859375 + ], + [ + 459.2296447753906, + 400.46875 + ], + [ + 459.0341491699219, + 400.3371276855469 + ], + [ + 459.2264099121094, + 400.3598937988281 + ], + [ + 458.60772705078125, + 400.2890319824219 + ], + [ + 458.2441101074219, + 400.5137023925781 + ], + [ + 458.5245666503906, + 400.7550048828125 + ], + [ + 457.1104736328125, + 400.7811279296875 + ], + [ + 448.31317138671875, + 376.67034912109375 + ], + [ + 411.3898010253906, + 314.1422119140625 + ], + [ + 392.30511474609375, + 248.17733764648438 + ], + [ + 349.1911926269531, + 136.71871948242188 + ], + [ + 332.1223449707031, + 88.46891784667969 + ], + [ + 302.6059875488281, + 43.278724670410156 + ], + [ + 294.135498046875, + 27.29262351989746 + ], + [ + 278.23712158203125, + 23.687952041625977 + ], + [ + 285.7038879394531, + 30.424785614013672 + ], + [ + 275.31793212890625, + 38.9327278137207 + ], + [ + 279.9638671875, + 36.61613082885742 + ], + [ + 278.8699645996094, + 35.85491180419922 + ], + [ + 278.86749267578125, + 37.00231170654297 + ], + [ + 276.9483337402344, + 28.504215240478516 + ], + [ + 277.3712158203125, + 35.24341583251953 + ], + [ + 269.86444091796875, + 33.17681884765625 + ], + [ + 273.119873046875, + 39.9316291809082 + ], + [ + 275.95465087890625, + 36.063133239746094 + ], + [ + 277.6480712890625, + 40.62982177734375 + ], + [ + 277.3692626953125, + 46.1396484375 + ], + [ + 281.43511962890625, + 50.9214973449707 + ], + [ + 282.2757873535156, + 50.050296783447266 + ], + [ + 282.35333251953125, + 49.50804901123047 + ], + [ + 285.9911804199219, + 47.699668884277344 + ], + [ + 285.1221618652344, + 47.970088958740234 + ], + [ + 284.62689208984375, + 47.87327194213867 + ], + [ + 283.75335693359375, + 48.2010612487793 + ], + [ + 283.376220703125, + 47.975608825683594 + ], + [ + 272.5439147949219, + 46.51946258544922 + ], + [ + 275.7806091308594, + 49.963687896728516 + ] + ] +} \ No newline at end of file diff --git a/010161_v2/lang.txt b/010161_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e18406d9c1016d419268484b83e78511d27c0b5 --- /dev/null +++ b/010161_v2/lang.txt @@ -0,0 +1 @@ +put the green triangle on top of the tower diff --git a/010161_v2/object.ply b/010161_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..621e1c7ffdf9334a3988b03eac37a761bfb5463a Binary files /dev/null and b/010161_v2/object.ply differ diff --git a/010164_v2/FAIL b/010164_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..dabf3d842e9df3da77c429c4d92c81aa4a666446 --- /dev/null +++ b/010164_v2/FAIL @@ -0,0 +1 @@ +Inconsistant moving trajectory between gripper and object diff --git a/010212_v2/data.json b/010212_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..54bb5dd89b6b7fc4fb463e52cad1b0a0efa0d6fb --- /dev/null +++ b/010212_v2/data.json @@ -0,0 +1,769 @@ +{ + "action_start": 7, + "action_end": 27, + "object_name": "blue arch", + "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, + 0.0, + 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": [ + [ + 5.551115123125783e-17, + -1.3877787807814457e-17, + -1.3877787807814457e-17, + 7.356297586301133e-08, + 3.6045836823324656e-07, + 2.147852194411506e-07, + 1.0 + ], + [ + -0.00543202634060902, + 0.002279437443637025, + -0.005842831454911129, + -0.01615066970010894, + 0.0011769071468903524, + 0.056731946387023016, + 1.0 + ], + [ + -0.0007662973245871063, + -3.533834478132436e-05, + -0.005311640393249897, + -0.01536432964028177, + 0.0036991621928429254, + 0.022518328835574943, + 1.0 + ], + [ + -0.0012972857795854886, + -0.0011521677327196028, + -0.00513950244622436, + -0.018802923538867245, + 0.0018808223356891797, + 0.03725429936435295, + 1.0 + ], + [ + 0.0032794375330940373, + -0.0031400230289890946, + -0.007926392539168874, + -0.03403058984914382, + -0.015793793545155903, + 0.03309461904929985, + 1.0 + ], + [ + 0.003948570379754324, + -0.0004532897192603691, + -0.007171417225651525, + -0.010864631559110756, + 0.008723162270867267, + 0.01056676457493645, + 1.0 + ], + [ + 0.0020466175149058408, + 0.0016548061265692915, + -0.005087671140695811, + -0.003425726577348615, + 0.0032139463533744266, + 0.00968514035080096, + 1.0 + ], + [ + 0.0028011686926638357, + 0.00043298162921359684, + -0.007929250718163229, + -0.004971063779764189, + 0.018085680924551064, + 0.002852662146289773, + 1.0 + ], + [ + 0.00010095731687770337, + -0.0002802576696367548, + -0.00522969350509276, + -0.005771488743404317, + 0.0002991600164610098, + -0.0006313783265021216, + 0.0 + ], + [ + 0.0049935453369257254, + -0.0014941665362738638, + 0.006116670571419928, + -0.021255951068076453, + -0.009997354279792186, + -0.022811690300634783, + 0.0 + ], + [ + 0.011766662858454124, + 0.005323371167439528, + 0.023791860639172532, + -0.018828228934874, + -0.05573653637759344, + -0.002251465286827307, + 0.0 + ], + [ + 0.014919170383299984, + 0.01783533189169731, + 0.0448620862526721, + 0.03818230077424067, + -0.05817493740877585, + 0.006027232176633179, + 0.0 + ], + [ + 0.012513458064386085, + 0.019704362647178925, + 0.02140397436068618, + 0.036868273757754214, + -0.018781738870061467, + 0.005140520841872954, + 0.0 + ], + [ + 0.0021119588943827594, + 0.014422055116639798, + -0.002000946883361332, + 0.007382703427131948, + 0.020743132278343276, + -0.0025482680281406164, + 0.0 + ], + [ + -0.004157153777574252, + 0.014398512938579008, + -0.010418877474761473, + -0.0008447152663757932, + 0.037921623399437956, + 0.009638004002391586, + 0.0 + ], + [ + -0.007798305254931359, + 0.008767821689117404, + -0.009584359904392839, + -0.005464020688037973, + 0.032565005951138336, + 0.005566318156576662, + 0.0 + ], + [ + -0.003964659102045187, + 0.002083516353981709, + -0.005770029886229988, + -0.009732395662028586, + -0.0028179152590447694, + 0.0031286716766635815, + 0.0 + ], + [ + 0.0011994885146009993, + 0.0004611085921837031, + -0.0028178685351746696, + -0.005619141014364275, + 0.005974001385416412, + -0.013411705488314501, + 0.0 + ], + [ + -0.0006133993337743004, + 0.00029447769830550155, + -0.008037366729387041, + -0.011043577230900119, + 0.013289508647957643, + 0.0004648494177751779, + 0.0 + ], + [ + 0.0010463541350868577, + 0.0015219429812447331, + -0.005922185187669349, + 0.012823848562246902, + 0.011648114190359918, + 0.01555245351035424, + 0.0 + ], + [ + -0.0013961756194629804, + 0.0026049804637132065, + -0.002495638219267002, + 0.0015211062416915207, + 0.004481570333998048, + 0.013001845138489506, + 0.0 + ], + [ + -0.0032682414417138927, + 0.0030686750026507146, + -0.0007504752556255628, + 0.002109565916231682, + -0.0006978550696517635, + 0.010220789037997701, + 0.0 + ], + [ + -0.003980918853511206, + 3.4360982068566e-05, + -0.0033972819281009314, + -0.004980007085497805, + 0.014624735179190506, + 0.002773392477541589, + 0.0 + ], + [ + -0.0032135992258441326, + 0.0011961530489053521, + -0.006388590200540736, + -0.012127213379905305, + 0.011148728558941315, + 0.011070117833468798, + 0.0 + ], + [ + 0.0036512495771203746, + -0.002461443887425023, + -0.0016796502437529948, + -0.01068194423123022, + -0.007208521767334307, + -0.005221845858636016, + 0.0 + ], + [ + 0.0035891531404351196, + -0.0017081991317914203, + -0.0010023157048435205, + -0.0036581102309926573, + -0.0012896255103400154, + -0.00721422385656184, + 0.0 + ], + [ + -0.00015935929270788352, + 0.0017640589000250794, + -0.005906040789579195, + -0.009345672480591764, + 0.010702295554367969, + 0.005993674540311999, + 0.0 + ], + [ + 0.0035414372904312152, + -0.0009242025625815411, + -0.0033907711173655555, + -0.012526766758251888, + 0.0009639723625670607, + 0.002353034390443789, + 0.0 + ], + [ + -0.00040794485116185664, + 0.0008525896345451022, + -0.0010841453787617944, + -0.009984438936681696, + 0.013080643678030164, + 0.02938283335549504, + 1.0 + ], + [ + -0.002019978200773598, + 0.00335149273228546, + 0.00997811485540908, + 0.014281799062192404, + -0.02901972500256435, + 0.02938164110738068, + 1.0 + ], + [ + 0.0067059340572454, + 0.003425416758546117, + 0.034777747172964966, + 0.0561080170430905, + -0.06971613366653319, + 0.009292460788932207, + 1.0 + ], + [ + 0.004933989751927159, + 5.911130201207218e-05, + 0.03261921925417914, + 0.05071887352030112, + -0.05801150237122409, + -0.025791949086844963, + 1.0 + ], + [ + -0.0001441459292341185, + -0.016756888342754128, + 0.023222461400826483, + 0.027477299262906128, + -0.007368785044930499, + -0.0587026798561819, + 1.0 + ], + [ + -0.007088954750080478, + -0.02436762846710844, + -0.00223482084940739, + 0.0030313202689216784, + 0.006170362176396618, + -0.057439764499312665, + 1.0 + ], + [ + 0.003653891683612187, + -0.028591352862249515, + -0.014793327213954793, + -0.030130973875812355, + 0.008500045658712187, + -0.05840202366979756, + 1.0 + ], + [ + 0.004736093869799007, + -0.016539111383945704, + -0.012616430697610814, + -0.020355972335952068, + 0.018089500221943996, + -0.04524973840841843, + 1.0 + ], + [ + 0.0013797391483350019, + -0.004999124113521547, + -0.016228091095463484, + -0.008706252995486951, + 0.028697565888198696, + -0.012570882693399454, + 1.0 + ], + [ + -0.0013155900391211839, + -0.003679758739771874, + -0.011505867173242396, + 0.010795846675768645, + 0.05091255273233292, + 0.032853997100839916, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 469.8554992675781, + 269.43182373046875 + ], + [ + 465.2890625, + 276.42718505859375 + ], + [ + 456.889404296875, + 292.575439453125 + ], + [ + 453.9454345703125, + 302.8538818359375 + ], + [ + 452.3936462402344, + 306.74664306640625 + ], + [ + 453.19073486328125, + 316.9924011230469 + ], + [ + 453.0846862792969, + 324.44183349609375 + ], + [ + 449.402099609375, + 329.39007568359375 + ], + [ + 445.6038513183594, + 332.14080810546875 + ], + [ + 446.67791748046875, + 333.2671203613281 + ], + [ + 452.151611328125, + 330.0546875 + ], + [ + 458.1940002441406, + 307.2791748046875 + ], + [ + 469.61383056640625, + 239.78128051757812 + ], + [ + 468.83990478515625, + 185.72972106933594 + ], + [ + 455.43670654296875, + 150.11013793945312 + ], + [ + 431.0164489746094, + 141.73501586914062 + ], + [ + 406.3310241699219, + 153.8934326171875 + ], + [ + 395.2406921386719, + 163.8297576904297 + ], + [ + 390.743896484375, + 169.29315185546875 + ], + [ + 392.3231506347656, + 177.37741088867188 + ], + [ + 388.77679443359375, + 182.3701629638672 + ], + [ + 386.05584716796875, + 186.072265625 + ], + [ + 378.7585144042969, + 191.85476684570312 + ], + [ + 371.63397216796875, + 197.5327606201172 + ], + [ + 370.5233154296875, + 202.62374877929688 + ], + [ + 369.8157653808594, + 204.154296875 + ], + [ + 370.8287658691406, + 208.76669311523438 + ], + [ + 372.8677978515625, + 211.6475372314453 + ], + [ + 373.54571533203125, + 214.1100311279297 + ], + [ + 373.3658142089844, + 215.15786743164062 + ], + [ + 366.936767578125, + 213.25067138671875 + ], + [ + 362.7008972167969, + 197.3199920654297 + ], + [ + 363.6603698730469, + 141.4832763671875 + ], + [ + 374.4732666015625, + 104.48080444335938 + ], + [ + 414.65142822265625, + 109.8225326538086 + ], + [ + 444.310302734375, + 127.6438217163086 + ], + [ + 486.3233337402344, + 165.92544555664062 + ], + [ + 498.24090576171875, + 188.50466918945312 + ], + [ + 494.5388488769531, + 212.92837524414062 + ] + ], + "depth_max": 1.67149019241333, + "depth_min": 0.2879687547683716, + "intrinsic": [ + [ + 601.6340942382812, + 0.0, + 259.0 + ], + [ + 0.0, + 600.0440673828125, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 3.3543314202688634e-05, + 3.349180406075902e-05, + 1.22485116662574e-05 + ], + [ + -3.354075306560844e-05, + 1.0, + -7.649205508641899e-05, + -3.390438359929249e-05 + ], + [ + -3.349437247379683e-05, + 7.64909345889464e-05, + 1.0, + 1.5427758626174182e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 38 + ], + "object_trajectory": [ + [ + 443.25, + 357.75 + ], + [ + 443.31439208984375, + 357.9413757324219 + ], + [ + 443.27423095703125, + 357.93359375 + ], + [ + 452.74853515625, + 368.79931640625 + ], + [ + 452.9449462890625, + 368.6209716796875 + ], + [ + 453.2948303222656, + 368.8035888671875 + ], + [ + 444.1741943359375, + 357.5390930175781 + ], + [ + 444.7554626464844, + 357.4172058105469 + ], + [ + 445.0654602050781, + 356.6622619628906 + ], + [ + 446.0003662109375, + 353.167236328125 + ], + [ + 451.2790832519531, + 348.2506103515625 + ], + [ + 459.3643798828125, + 326.404541015625 + ], + [ + 470.58868408203125, + 265.2297668457031 + ], + [ + 472.2835388183594, + 220.25735473632812 + ], + [ + 453.9480285644531, + 173.32554626464844 + ], + [ + 432.383544921875, + 165.90005493164062 + ], + [ + 415.57806396484375, + 183.81771850585938 + ], + [ + 403.70294189453125, + 193.13272094726562 + ], + [ + 400.16766357421875, + 197.1949005126953 + ], + [ + 400.49481201171875, + 205.67056274414062 + ], + [ + 397.7974853515625, + 211.20187377929688 + ], + [ + 395.11309814453125, + 215.42425537109375 + ], + [ + 386.59771728515625, + 220.61573791503906 + ], + [ + 380.5624694824219, + 225.33743286132812 + ], + [ + 379.42474365234375, + 230.08297729492188 + ], + [ + 379.3549499511719, + 231.71920776367188 + ], + [ + 379.9999084472656, + 235.16978454589844 + ], + [ + 381.7593994140625, + 238.04278564453125 + ], + [ + 382.260498046875, + 239.6595458984375 + ], + [ + 384.1947937011719, + 240.0401611328125 + ], + [ + 383.24432373046875, + 239.90463256835938 + ], + [ + 382.7344055175781, + 239.75897216796875 + ], + [ + 370.21734619140625, + 232.88821411132812 + ], + [ + 370.699951171875, + 232.9615478515625 + ], + [ + 370.5614929199219, + 232.5033416748047 + ], + [ + 370.4088439941406, + 232.4529571533203 + ], + [ + 371.1472473144531, + 232.9035186767578 + ], + [ + 370.9677734375, + 232.6241455078125 + ], + [ + 370.4903564453125, + 232.52305603027344 + ] + ] +} \ No newline at end of file diff --git a/010212_v2/lang.txt b/010212_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..b3bf624d5e01b2b67cbbde4e6493297dea2de489 --- /dev/null +++ b/010212_v2/lang.txt @@ -0,0 +1 @@ +put the blue arch on the top of green cube diff --git a/010262_v2/data.json b/010262_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..28ed041cd7060d6d66898c68ba4d25ae2d1cf011 --- /dev/null +++ b/010262_v2/data.json @@ -0,0 +1,824 @@ +{ + "action_start": 12, + "action_end": 29, + "object_name": "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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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, + 0.0, + 2.7755575615628914e-17, + -8.039819386726601e-08, + 2.2910067939593982e-07, + -9.146503161621046e-08, + 1.0 + ], + [ + 0.013151482886393895, + -0.00957357068842294, + -0.0021894839803875965, + 0.0002716198804102702, + 0.006674647083424268, + -0.040164736674257386, + 1.0 + ], + [ + 0.007408706991934577, + -0.006373867483374915, + -0.006307567876312453, + 0.006329727909956853, + 0.005314584520677852, + -0.018799082973916068, + 1.0 + ], + [ + 0.012118199591479972, + -0.0029753743362383456, + -0.01021163649653227, + -0.006949017578099924, + 0.008186787740169883, + -0.0056244566404890645, + 1.0 + ], + [ + 0.002203269452169143, + 0.0019529808304998772, + -0.0004515362682603469, + -0.0042722473538443495, + 0.003678412579965609, + 0.006500147748530025, + 1.0 + ], + [ + 0.00034432449892735084, + -0.004309681693065635, + -0.005149619687052118, + -0.00941583061234824, + 0.021912515871335702, + 0.0005939203347546556, + 1.0 + ], + [ + -0.0011960768804373245, + -0.009366081012092943, + 0.004805017567618128, + 0.0012359172851021832, + 0.01632401591856593, + -0.013071923349238701, + 1.0 + ], + [ + -0.0006713698440902194, + -0.010571844970114166, + -0.001973723059440935, + -0.0005166679431278177, + 0.013674568857602667, + -0.020673237450297376, + 1.0 + ], + [ + 0.00010483982642056633, + -0.004454165919964448, + -0.006143117626572894, + -0.0041596866046272685, + 0.021903640935945087, + -0.008000188847054425, + 1.0 + ], + [ + 0.0010672998522954225, + -0.0018559187620112438, + -0.006174049605555593, + -0.00584602493334962, + 0.01621093782850475, + 0.0056263233932846895, + 1.0 + ], + [ + 0.0007148915192501382, + 0.003295513297782035, + -0.011672687914695931, + 0.0038978833251318698, + 0.033450219845043004, + 0.020343900688387522, + 1.0 + ], + [ + 0.002324799137540301, + 0.0032483798108057516, + -0.004269788362156857, + -0.0026217229803469923, + 0.003848447033189737, + 0.015210312069329724, + 1.0 + ], + [ + 0.0016279290312283257, + 0.0004261726972730334, + -0.004280077214924717, + 0.007017331370445985, + 0.015827265486253784, + 0.018012658843555657, + 1.0 + ], + [ + 0.0006512339777399179, + 0.00022162337168642188, + 0.00028724823751837686, + -0.0059754493061539675, + -0.02571364009515948, + 0.015107609208726792, + 0.0 + ], + [ + -0.0011383723182900596, + 0.00144247133513295, + 0.005497821385626801, + -0.0013681962697475866, + -0.02093236196744835, + 0.012624849144035446, + 0.0 + ], + [ + -0.0014603613207405663, + 0.004469380401700668, + 0.021900126364290715, + 0.005175652195387941, + -0.06388915128159234, + 0.01406273389002343, + 0.0 + ], + [ + -0.001786087837141126, + 0.006799220818811014, + 0.024680702390626058, + 0.004531926684008146, + -0.058569132312715794, + 0.014197024797208371, + 0.0 + ], + [ + 0.00035976514716784536, + 0.016053042303764586, + 0.031396965090095694, + 0.0025354353994240073, + -0.0660501504389331, + 0.06207803055301437, + 0.0 + ], + [ + -0.007783440339823144, + 0.031330388893498234, + 0.019870885485517076, + 0.008622509682550739, + -0.024272722452556805, + 0.13235413007250632, + 0.0 + ], + [ + -0.005866582094531114, + 0.03525725375904803, + 0.008086744754974395, + -0.0035751033159376867, + 0.012093951668443738, + 0.3089504517037393, + 0.0 + ], + [ + -0.0057588430533076496, + 0.01669519667208321, + -0.002220819354514292, + -0.01143361368291175, + 0.056491236196004276, + 0.24748412736967743, + 0.0 + ], + [ + -0.011612963181273916, + 0.009822989430463974, + -0.004520664917382233, + -0.05480981966066701, + 0.01860133398931884, + 0.2358016278856421, + 0.0 + ], + [ + -0.0067940791611841855, + 0.00023766416634138365, + -0.012801154803511516, + -0.046954812418423746, + 0.02020707018556603, + 0.10745320133068077, + 0.0 + ], + [ + -0.0026966394709796726, + 0.0034368337118769673, + -0.011066497369623896, + -0.06351974959765545, + -0.005113150053690819, + 0.057787735200348085, + 0.0 + ], + [ + -0.0025504095231444757, + 0.003485583314828719, + -0.00468283902144101, + -0.021381572380304557, + -0.005011198544338374, + 0.016991210941482288, + 0.0 + ], + [ + 0.0021097886980908642, + 0.0026506988943398313, + -0.009478138246320184, + -0.03771142918358184, + -0.01293734174127143, + -0.010234818750088298, + 0.0 + ], + [ + 0.005537025160596759, + 0.0010548662524457533, + -0.002235788247117898, + -0.005296704272895705, + -0.008664817235097723, + -0.009428221292316297, + 0.0 + ], + [ + 0.006366866870148397, + -0.0017915413554776133, + -0.005627670304766241, + -0.014321804226963455, + 0.002532509516904776, + -0.018650530057501457, + 0.0 + ], + [ + 0.0022510849792870824, + -0.0005514969495282324, + -0.0045599064834798975, + -0.009039841534882593, + 0.010645950718867644, + -0.00015793730287200116, + 0.0 + ], + [ + 0.0006739184362756501, + -6.91139772686783e-05, + -0.003759154786832475, + -0.00974956547669645, + 0.007779839794401257, + 0.004567593992341284, + 0.0 + ], + [ + -0.0009924373696739153, + 0.0035776105936277808, + 0.005612855158447866, + 0.01669051829012378, + 0.026753774048784647, + 0.012703959076391134, + 1.0 + ], + [ + 0.003077367766181782, + 0.0031983341518168895, + 0.017874958546541808, + 0.04114472645680855, + -0.029301779878264263, + -0.0021387989020969092, + 1.0 + ], + [ + 0.00924353552057211, + 1.705342671345575e-05, + 0.01896882698468605, + 0.052795267738874746, + -0.014300927346019917, + -0.05011238811520191, + 1.0 + ], + [ + 0.009904217928964176, + -0.018192530018566785, + 0.009745605112462336, + 0.07204420405997479, + 0.07622473079565706, + -0.2157661148378961, + 1.0 + ], + [ + 0.009242966185999402, + -0.03891342756699049, + -0.002948648387168712, + 0.04801378952915004, + 0.054543329070741955, + -0.33325759785939163, + 1.0 + ], + [ + 0.0007050662516915329, + -0.04539467113941677, + -0.010695936793311434, + 0.013424269659958847, + -0.052484285809996985, + -0.3733049294086878, + 1.0 + ], + [ + 0.007228082992089574, + -0.01820069112690678, + -0.014482226262412828, + -0.0032782270591566053, + -0.030964931939719807, + -0.2665132071586893, + 1.0 + ], + [ + -0.004576525155027211, + -0.0035408796962828754, + -0.009630142894751226, + -0.0072926380424736545, + -0.002007662232882417, + -0.09196239966796207, + 1.0 + ], + [ + 0.0016776072255764718, + -0.0005729822725991374, + -0.002468843815511601, + -0.0031407756468203847, + -0.07076308436858482, + -0.038660381907367314, + 1.0 + ], + [ + 0.01686953628959159, + 0.0005994137258228116, + -0.005862738527286179, + 0.032308176034224347, + -0.05176203541117658, + 0.03590380736052645, + 1.0 + ], + [ + 0.008744522713611924, + -0.001833052269449048, + -0.0032009738312325925, + -0.0034349635172847793, + 0.017064184448203318, + 0.015078610950725038, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "gripper_centers": [ + [ + 407.29681396484375, + 153.83987426757812 + ], + [ + 404.8847961425781, + 158.60601806640625 + ], + [ + 405.55450439453125, + 170.65538024902344 + ], + [ + 429.6714172363281, + 172.61282348632812 + ], + [ + 439.3841552734375, + 179.31222534179688 + ], + [ + 444.5845947265625, + 183.76455688476562 + ], + [ + 448.34588623046875, + 184.8595428466797 + ], + [ + 450.3967590332031, + 188.19436645507812 + ], + [ + 468.30462646484375, + 192.21437072753906 + ], + [ + 480.5191650390625, + 206.02255249023438 + ], + [ + 480.49407958984375, + 216.13937377929688 + ], + [ + 479.3232421875, + 226.44070434570312 + ], + [ + 477.23443603515625, + 234.89376831054688 + ], + [ + 479.14044189453125, + 236.02279663085938 + ], + [ + 480.6177978515625, + 237.00265502929688 + ], + [ + 479.29437255859375, + 239.54290771484375 + ], + [ + 476.57940673828125, + 234.16671752929688 + ], + [ + 481.21514892578125, + 197.89492797851562 + ], + [ + 476.69903564453125, + 158.52880859375 + ], + [ + 451.6679382324219, + 107.62455749511719 + ], + [ + 388.6360168457031, + 66.29466247558594 + ], + [ + 342.5249938964844, + 50.66725540161133 + ], + [ + 316.97088623046875, + 64.37670135498047 + ], + [ + 287.614501953125, + 72.89856719970703 + ], + [ + 284.9763488769531, + 98.90914154052734 + ], + [ + 272.0115661621094, + 108.61080169677734 + ], + [ + 268.947509765625, + 109.98345184326172 + ], + [ + 267.6858215332031, + 118.23396301269531 + ], + [ + 271.6502685546875, + 125.71530151367188 + ], + [ + 276.40411376953125, + 130.5613555908203 + ], + [ + 277.7603759765625, + 130.95773315429688 + ], + [ + 275.4586181640625, + 129.65298461914062 + ], + [ + 271.2027587890625, + 118.13241577148438 + ], + [ + 266.17205810546875, + 82.59071350097656 + ], + [ + 284.5152587890625, + 51.05927276611328 + ], + [ + 340.66644287109375, + 58.35289764404297 + ], + [ + 418.91064453125, + 98.98433685302734 + ], + [ + 467.6109924316406, + 158.04298400878906 + ], + [ + 472.3133239746094, + 178.896240234375 + ], + [ + 462.93292236328125, + 198.39892578125 + ], + [ + 462.5327453613281, + 199.08004760742188 + ], + [ + 475.0060119628906, + 193.0754852294922 + ] + ], + "depth_max": 1.6249783039093018, + "depth_min": 0.5898721218109131, + "intrinsic": [ + [ + 603.5298461914062, + 0.0, + 259.0 + ], + [ + 0.0, + 601.6515502929688, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 2.7520225557964295e-05, + 8.710807014722377e-05, + 1.9488493308017496e-06 + ], + [ + -2.7515750844031572e-05, + 1.0, + -5.1388502470217645e-05, + -2.7681202482199296e-05 + ], + [ + -8.710948168300092e-05, + 5.138610868016258e-05, + 1.0, + 1.4822177035966888e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 41 + ], + "object_trajectory": [ + [ + 474.25, + 240.00001525878906 + ], + [ + 474.58154296875, + 240.00994873046875 + ], + [ + 474.5367736816406, + 239.89756774902344 + ], + [ + 474.7247314453125, + 239.82887268066406 + ], + [ + 474.599365234375, + 240.04071044921875 + ], + [ + 474.61865234375, + 240.047119140625 + ], + [ + 474.82342529296875, + 239.5802764892578 + ], + [ + 474.5892028808594, + 239.9425811767578 + ], + [ + 474.4544982910156, + 239.87109375 + ], + [ + 474.9097900390625, + 240.09475708007812 + ], + [ + 474.91021728515625, + 239.84912109375 + ], + [ + 474.71783447265625, + 239.59197998046875 + ], + [ + 474.8383483886719, + 239.2529754638672 + ], + [ + 474.50274658203125, + 239.9225616455078 + ], + [ + 476.0933532714844, + 239.24050903320312 + ], + [ + 478.87896728515625, + 240.52322387695312 + ], + [ + 476.0355224609375, + 234.99009704589844 + ], + [ + 482.4320983886719, + 198.16062927246094 + ], + [ + 479.02337646484375, + 156.99754333496094 + ], + [ + 453.5669860839844, + 105.4932861328125 + ], + [ + 390.75830078125, + 69.0969009399414 + ], + [ + 334.090087890625, + 54.74169158935547 + ], + [ + 306.0296630859375, + 70.62709045410156 + ], + [ + 283.5087585449219, + 88.8948745727539 + ], + [ + 281.7781677246094, + 114.56397247314453 + ], + [ + 271.4632568359375, + 122.27090454101562 + ], + [ + 268.9811706542969, + 125.28628540039062 + ], + [ + 264.6414794921875, + 130.72645568847656 + ], + [ + 268.10540771484375, + 136.99964904785156 + ], + [ + 271.7817687988281, + 140.7959747314453 + ], + [ + 272.81585693359375, + 141.84335327148438 + ], + [ + 271.563720703125, + 141.74526977539062 + ], + [ + 271.2467041015625, + 141.7587432861328 + ], + [ + 271.22479248046875, + 138.11105346679688 + ], + [ + 269.9850158691406, + 137.480712890625 + ], + [ + 270.0302734375, + 138.0230255126953 + ], + [ + 269.98236083984375, + 137.70730590820312 + ], + [ + 270.8883361816406, + 137.3361053466797 + ], + [ + 270.457763671875, + 137.30410766601562 + ], + [ + 270.5692443847656, + 137.33322143554688 + ], + [ + 271.1569519042969, + 137.19140625 + ], + [ + 270.571533203125, + 137.32962036132812 + ] + ] +} \ No newline at end of file diff --git a/010262_v2/lang.txt b/010262_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..43b52b8e5a6bea6706152645c7a467211759a29a --- /dev/null +++ b/010262_v2/lang.txt @@ -0,0 +1 @@ +place cube on top of yellow block diff --git a/010262_v2/object.ply b/010262_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..b96069fdff98a1164caa8adfc5cd441b8c1fd83f Binary files /dev/null and b/010262_v2/object.ply differ diff --git a/010291_v2/FAIL b/010291_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..85ba859da5eb8ab37d96f69171a3cf8c0dc36ee5 --- /dev/null +++ b/010291_v2/FAIL @@ -0,0 +1 @@ +Object bbox detection failed diff --git a/010304_v2/data.json b/010304_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..636d238440e8b280a0d32ae52418c3a4d4a7651d --- /dev/null +++ b/010304_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 20, + "action_end": 42, + "object_name": "yellow 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, + 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, + 0.98486, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "gripper_actions": [ + [ + -5.551115123125783e-17, + -1.734723475976807e-18, + 0.0, + -8.786906096439579e-08, + -3.595597536452325e-07, + -2.613048209765185e-07, + 1.0 + ], + [ + -8.049369339846457e-06, + 0.017775782323227567, + 0.00265974810985517, + -0.02157579759229296, + -0.0148886038870682, + 0.16284894038144646, + 1.0 + ], + [ + 0.003444246753742275, + 0.015802948715720404, + 0.005847653113724205, + -0.036687510391589497, + -0.08035081956170327, + 0.2742508658522068, + 1.0 + ], + [ + 0.002458829745317026, + 0.013175957227962026, + 0.008093613777757372, + 0.01491983863800628, + -0.01169888589691162, + 0.15132518229647285, + 1.0 + ], + [ + 0.00576668013445697, + 0.012448998345561457, + -0.0032647004847069366, + -0.07461139462079518, + 0.0027385289179460456, + 0.15890282115248822, + 1.0 + ], + [ + 0.003956554548387781, + 0.009865333130180759, + -0.002099829984716556, + 0.008350187907661118, + 0.07381593551586416, + 0.19996210852837382, + 1.0 + ], + [ + -0.0018624956063406084, + 0.00788161960050597, + 0.004847318261094691, + 0.03378386959902494, + -0.004643573103131525, + 0.17386132904478513, + 1.0 + ], + [ + -0.006901732561444829, + 0.009618728875078766, + 0.006396558426879251, + 0.004806472054176883, + -0.012625704828260441, + 0.1202191234532254, + 1.0 + ], + [ + -0.0074757129686711665, + 0.006323572931393712, + 0.0014608290528758533, + 0.010228856558823095, + 0.012641191500269707, + 0.05716289786415149, + 1.0 + ], + [ + -0.005816724934415485, + 0.005951251653106643, + -0.0009183659179834713, + -0.0025904559081328434, + -0.016503963765594546, + 0.035625098309465454, + 1.0 + ], + [ + -0.0012157832978829108, + 0.004965906256551703, + -0.00936104974105878, + -0.015709746021893848, + -0.0033197848106165727, + 0.04488163794642585, + 1.0 + ], + [ + 0.006391361738921353, + 0.0030766651354761226, + -0.01090662807374028, + -0.04591347133647547, + 0.026349708130766432, + 0.09622949740925903, + 1.0 + ], + [ + 0.004967285655096243, + 0.006517290466359557, + -0.005291043268897094, + -0.008669912725422405, + -0.004673339183048539, + 0.061148781656859934, + 1.0 + ], + [ + 0.004035492141962971, + 0.007090147971434924, + -0.005869512447802566, + -0.020857163745130736, + -0.020823532327447835, + 0.04563072932344178, + 1.0 + ], + [ + -0.0009023058625889924, + 0.006667092187281579, + -0.003951009342879258, + -0.012080120738763002, + 0.01023690206735502, + 0.008835778908121584, + 1.0 + ], + [ + -0.003706979798229426, + 0.002839014856705041, + -0.005667088566911824, + -0.010877087271383588, + 0.005108892659123253, + 0.011232450744819739, + 1.0 + ], + [ + 0.0010003246498539453, + -0.001046836255473721, + -0.005654858128464876, + -0.013775398629482797, + 0.0026003187650536896, + -0.003995893367607039, + 1.0 + ], + [ + 0.0019323737126446527, + -0.0013989740007017692, + -0.0007147906394254083, + 0.0037552187883030897, + -0.0008129535202301431, + -8.255033350561935e-05, + 1.0 + ], + [ + 0.0045101116599330915, + -0.00116677340942134, + -0.00101872819562758, + 0.0022969917701066425, + 0.0007994223715473621, + -0.013932810552854199, + 1.0 + ], + [ + 0.0031660586299146476, + -0.0005365545825192081, + -0.0015227312587394876, + 0.001272073647155969, + 0.002219666757567061, + -0.010845720803060899, + 1.0 + ], + [ + -0.0001699266716788106, + 0.000465555658715075, + -0.0034318156781553213, + 0.006072401538788998, + 0.016103022676314825, + -0.02200236879602656, + 1.0 + ], + [ + -0.002237832604140344, + -0.002769508489267214, + -0.0072580531393352035, + 0.0007500833671176694, + -0.01242106715834157, + -0.02967064925818426, + 0.0 + ], + [ + 0.005115591631208116, + -0.003164743021066535, + 0.008603553918396976, + 0.017299412733102888, + -0.022859295261509663, + -0.07032656670519585, + 0.0 + ], + [ + 0.0032261760942050577, + -0.005542901376626469, + 0.020912888669038135, + 0.0413696684147867, + -0.009602412958440632, + -0.0664140132383234, + 0.0 + ], + [ + 0.0031225483283826017, + -0.012612309623258655, + 0.01863377628278791, + 0.013588431518757573, + -0.05174943696129038, + -0.04915753630618613, + 0.0 + ], + [ + -0.0032204783298554474, + -0.02795830926535041, + 0.022315491172395757, + 0.01661708338721606, + -0.016876160612116622, + -0.0351546770910101, + 0.0 + ], + [ + -0.004585536261995482, + -0.04204866414332639, + 0.011845155266907284, + -0.029197244268348552, + -0.057969420866544774, + -0.009528556197396797, + 0.0 + ], + [ + -0.0033888688054195537, + -0.03370361262763671, + -0.008114611553903403, + -0.052041272305028245, + 0.004992833209529321, + -0.021393246891184558, + 0.0 + ], + [ + -0.007748452392733862, + -0.020409405439660314, + -0.010895919793848727, + -0.04499981138481185, + 0.01941232093059839, + 0.01302226654025363, + 0.0 + ], + [ + -0.0021753558453804223, + -0.015176013931537866, + -0.015602216468349514, + -0.04417951267403183, + 0.044290461539504444, + 0.005958096335911262, + 0.0 + ], + [ + 0.0003467873370605612, + -0.009665436973482672, + -0.007839095688005698, + -0.03107124763297399, + 0.012904571863420157, + -0.02210196235981919, + 0.0 + ], + [ + -0.005487612208944781, + -0.008976941968466892, + -0.0016716170939526792, + -0.008767380241523914, + 0.00018889203781065336, + -0.004940494165966449, + 0.0 + ], + [ + -0.005390483125560563, + -0.00710917663464463, + -0.0007571371357813633, + 0.005270744799564348, + 0.00890071411435547, + -0.0008625998712818082, + 0.0 + ], + [ + -0.007416437880876203, + -0.0021895956534224437, + 0.0027684897334141617, + 0.014596085519938356, + -0.0025188342395424867, + 0.019033079648312207, + 0.0 + ], + [ + -0.004706692764426479, + -0.001569650852477858, + -0.0008935559666869014, + 0.009702697430708323, + 0.01004237113025595, + 0.013592314029109953, + 0.0 + ], + [ + -0.003619134831556625, + 0.0003498557943082681, + -0.0035291459343239906, + 0.03544451366705638, + 0.034844151583035554, + 0.024553611666489235, + 0.0 + ], + [ + 0.00034933317099988814, + -0.0001866231939282037, + -0.0035658079146216742, + 0.04229425189914577, + 0.03815256503536297, + 0.019817347024897833, + 0.0 + ], + [ + -0.0025453819935709054, + -0.0012632441410897755, + -0.0036201260854030887, + 0.022830783629162833, + 0.004474375901524131, + 0.019882667811423636, + 0.0 + ], + [ + -0.0008936118701727835, + -0.002494397133465248, + -0.005405684600612359, + -0.01236242026219176, + -0.006286857578747903, + 0.014708108707773546, + 0.0 + ], + [ + -0.0002883941507432486, + 0.0013520137547808064, + -0.002522326445573153, + -0.018084974957536734, + -0.018137190075525233, + 0.005596195760681073, + 0.0 + ], + [ + -0.001916738231678622, + 0.0019528776215225752, + -0.000764380581608784, + 0.006336885740190379, + 0.01091293300691504, + 0.015917615038563808, + 0.0 + ], + [ + 0.000497874524799824, + -0.000552727417029289, + -0.004019047537931378, + -0.005497093482195936, + 0.006860816278678482, + -0.004115492440162546, + 0.0 + ], + [ + 0.0024720356705248137, + 0.00036623942641188234, + -0.0008466957456406549, + -0.01738433403430253, + 0.008369633399527265, + -0.02714597322738538, + 0.98486 + ], + [ + 0.003266653740774589, + 0.001270154060929854, + 0.002290117013305351, + 0.012797906436876297, + -0.005220985630527982, + -0.009675975900453125, + 1.0 + ], + [ + 0.0032495471313563062, + 0.0018251620573403182, + 0.009303627855251267, + 0.015447569758511677, + -0.021569220999214853, + -0.002874565515528138, + 1.0 + ], + [ + 0.013120442876559973, + 0.01677286944548549, + 0.0251025404764523, + 0.02057160992000506, + -0.04986304188915155, + -0.07294525735847934, + 1.0 + ], + [ + 0.022646979536718848, + 0.02182388496067618, + 0.024968469744950497, + 0.008279333096106916, + 0.012072236525562089, + -0.06773161645726287, + 1.0 + ], + [ + 0.01272147652019423, + 0.03622758098328738, + 0.007569515731742693, + -0.03634146168271917, + 0.028950986365652468, + -0.17621552453950662, + 1.0 + ] + ], + "gripper_centers": [ + [ + 393.33917236328125, + 133.53738403320312 + ], + [ + 391.69757080078125, + 136.8354949951172 + ], + [ + 387.2102355957031, + 153.33233642578125 + ], + [ + 356.98370361328125, + 146.67819213867188 + ], + [ + 340.8691101074219, + 127.0047607421875 + ], + [ + 330.31793212890625, + 119.87500762939453 + ], + [ + 309.7442626953125, + 104.22953796386719 + ], + [ + 301.5953369140625, + 103.24624633789062 + ], + [ + 288.7504577636719, + 97.77574157714844 + ], + [ + 269.3263854980469, + 83.06634521484375 + ], + [ + 258.49298095703125, + 88.82647705078125 + ], + [ + 244.93862915039062, + 90.878173828125 + ], + [ + 242.97572326660156, + 99.69052124023438 + ], + [ + 242.8820037841797, + 105.73776245117188 + ], + [ + 241.3335723876953, + 107.77674865722656 + ], + [ + 231.9474639892578, + 107.51521301269531 + ], + [ + 225.6161346435547, + 108.5807876586914 + ], + [ + 223.41712951660156, + 109.94269561767578 + ], + [ + 225.53665161132812, + 115.93521118164062 + ], + [ + 224.96104431152344, + 117.0106430053711 + ], + [ + 226.15216064453125, + 119.96527099609375 + ], + [ + 225.30508422851562, + 120.10741424560547 + ], + [ + 225.65206909179688, + 124.18537902832031 + ], + [ + 226.06427001953125, + 127.52024841308594 + ], + [ + 231.61102294921875, + 124.55027770996094 + ], + [ + 246.72787475585938, + 98.94793701171875 + ], + [ + 261.14471435546875, + 74.97406005859375 + ], + [ + 298.93096923828125, + 72.18597412109375 + ], + [ + 354.8082275390625, + 92.7799072265625 + ], + [ + 380.1211853027344, + 125.27184295654297 + ], + [ + 392.3355712890625, + 145.36383056640625 + ], + [ + 412.6404113769531, + 178.23497009277344 + ], + [ + 419.8086242675781, + 185.51199340820312 + ], + [ + 427.1044921875, + 206.1088409423828 + ], + [ + 428.2041931152344, + 218.58609008789062 + ], + [ + 427.583251953125, + 216.86351013183594 + ], + [ + 427.50750732421875, + 225.705078125 + ], + [ + 422.09466552734375, + 230.79635620117188 + ], + [ + 424.96636962890625, + 238.57225036621094 + ], + [ + 429.337158203125, + 240.48886108398438 + ], + [ + 427.4873962402344, + 250.1912841796875 + ], + [ + 426.5299072265625, + 254.6781768798828 + ], + [ + 425.94903564453125, + 254.73583984375 + ], + [ + 425.8946533203125, + 262.35589599609375 + ], + [ + 424.66107177734375, + 264.0369873046875 + ], + [ + 424.8451232910156, + 256.43206787109375 + ], + [ + 431.09344482421875, + 236.34901428222656 + ], + [ + 432.5626525878906, + 164.02310180664062 + ] + ], + "depth_max": 1.6600086688995361, + "depth_min": 0.29558897018432617, + "intrinsic": [ + [ + 603.3670043945312, + 0.0, + 259.0 + ], + [ + 0.0, + 601.7396850585938, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.5145437828323338e-05, + 6.784102879464626e-05, + -5.04949002788635e-06 + ], + [ + -1.5140671166591346e-05, + 1.0, + -7.025520608294755e-05, + -2.6504090783419088e-05 + ], + [ + -6.784209108445793e-05, + 7.025417289696634e-05, + 1.0, + -1.5202604117803276e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 232.25, + 144.75 + ], + [ + 232.466064453125, + 145.09927368164062 + ], + [ + 232.13040161132812, + 147.7820587158203 + ], + [ + 232.71914672851562, + 148.00765991210938 + ], + [ + 232.8028564453125, + 148.16183471679688 + ], + [ + 232.63888549804688, + 148.62644958496094 + ], + [ + 233.03765869140625, + 145.47105407714844 + ], + [ + 232.96229553222656, + 145.30096435546875 + ], + [ + 233.0494842529297, + 145.5416717529297 + ], + [ + 233.45819091796875, + 145.39097595214844 + ], + [ + 234.30029296875, + 145.79042053222656 + ], + [ + 234.45828247070312, + 145.34945678710938 + ], + [ + 234.98594665527344, + 146.11180114746094 + ], + [ + 234.64389038085938, + 146.09884643554688 + ], + [ + 235.24435424804688, + 146.43128967285156 + ], + [ + 235.48988342285156, + 146.63775634765625 + ], + [ + 235.64747619628906, + 146.0269317626953 + ], + [ + 235.52108764648438, + 146.47433471679688 + ], + [ + 235.57089233398438, + 146.90797424316406 + ], + [ + 236.4319305419922, + 146.88558959960938 + ], + [ + 237.07858276367188, + 146.56802368164062 + ], + [ + 236.1416473388672, + 146.46499633789062 + ], + [ + 237.5991973876953, + 146.2975616455078 + ], + [ + 233.27293395996094, + 152.47406005859375 + ], + [ + 236.60333251953125, + 151.22564697265625 + ], + [ + 250.56935119628906, + 129.68692016601562 + ], + [ + 267.94598388671875, + 108.28997802734375 + ], + [ + 304.699462890625, + 108.83820343017578 + ], + [ + 362.35809326171875, + 128.29006958007812 + ], + [ + 387.09539794921875, + 161.8477783203125 + ], + [ + 400.7738037109375, + 182.50184631347656 + ], + [ + 416.8163757324219, + 214.53549194335938 + ], + [ + 427.3396301269531, + 219.86788940429688 + ], + [ + 438.5835876464844, + 240.89364624023438 + ], + [ + 436.8973083496094, + 254.31532287597656 + ], + [ + 437.6600341796875, + 252.53543090820312 + ], + [ + 436.3959045410156, + 261.2249450683594 + ], + [ + 431.9030456542969, + 269.17449951171875 + ], + [ + 433.19189453125, + 274.8331604003906 + ], + [ + 437.5494689941406, + 276.6693115234375 + ], + [ + 437.1110534667969, + 287.6548156738281 + ], + [ + 435.816162109375, + 291.6017761230469 + ], + [ + 436.5993347167969, + 292.73046875 + ], + [ + 432.42523193359375, + 309.55035400390625 + ], + [ + 435.01336669921875, + 307.35284423828125 + ], + [ + 432.65618896484375, + 304.8450012207031 + ], + [ + 428.72564697265625, + 306.3743591308594 + ], + [ + 422.7972412109375, + 304.9775085449219 + ] + ] +} \ No newline at end of file diff --git a/010304_v2/lang.txt b/010304_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..aa24af29c66cb937d51793cab60a0f62d22c9ef4 --- /dev/null +++ b/010304_v2/lang.txt @@ -0,0 +1 @@ +put the yellow rectangular block on top of the tower on the right side of the table diff --git a/010304_v2/object.ply b/010304_v2/object.ply new file mode 100644 index 0000000000000000000000000000000000000000..e359e25b000de51d164d2ae5aeb8f5a7b8ed27c0 Binary files /dev/null and b/010304_v2/object.ply differ diff --git a/010316_v2/data.json b/010316_v2/data.json new file mode 100644 index 0000000000000000000000000000000000000000..74eb9bf29ad80395f15016e111d9b2ab88a065b4 --- /dev/null +++ b/010316_v2/data.json @@ -0,0 +1,934 @@ +{ + "action_start": 25, + "action_end": 38, + "object_name": "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, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.667643, + 0.0, + 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, + 0.0, + -1.3877787807814457e-17, + -4.860004883423962e-10, + 1.5031600337825812e-07, + 7.033000141676441e-09, + 1.0 + ], + [ + -0.0019718571978390997, + 0.005153948828100578, + 0.003672226250442903, + -3.0793626540408634e-05, + -0.005221807495486087, + 0.0029550459826943776, + 1.0 + ], + [ + 0.00210487850491875, + -5.8534498994244205e-05, + 0.003753866527984137, + 0.0035763694242134645, + -0.01673107055213647, + -0.008499300177094497, + 1.0 + ], + [ + 0.01182972173843988, + 0.0028854978311043823, + 0.018125425456777894, + 0.033656657434398184, + -0.057482513224688836, + -0.004101688232465808, + 1.0 + ], + [ + 0.014216230799784069, + 0.006317171171092022, + 0.022489060908850514, + 0.0339891914753932, + -0.07365750521425615, + 0.03197443599849125, + 1.0 + ], + [ + -0.010594924307028741, + 0.009677680162329937, + 0.011594628719791333, + 0.022973191404142994, + -0.013585834421639284, + 0.04779151340996735, + 1.0 + ], + [ + -0.017359449800998572, + 0.0005907614913897297, + -0.005354617297275183, + -0.034623497247129924, + 0.06030841773349814, + 0.004424614256597108, + 1.0 + ], + [ + -0.011882263023204664, + -0.000928458888418051, + -0.0034041944948899894, + -0.03602071911285896, + 0.05375113660739758, + -0.0008444846724761626, + 1.0 + ], + [ + -0.00802362907123072, + 0.0012864110883648878, + -0.0030247281717390717, + -0.018509926821931588, + 0.022567234029316815, + -0.0006433572135764398, + 1.0 + ], + [ + -0.003537361028943864, + 0.004174944802764891, + 0.0005882319401371017, + 0.002467371816261145, + 0.002742193998567875, + 0.004116486837184614, + 1.0 + ], + [ + -0.003578469262136841, + 0.005788944885870154, + -0.0006772268995144382, + -0.002665430808718571, + 0.0014344293598676414, + 0.018496606512410203, + 1.0 + ], + [ + -0.0006418115408214631, + 0.0008946656300665833, + -0.00043953555483314255, + -0.0030804373844763745, + 0.0010559508613942894, + -0.0006575861979353612, + 1.0 + ], + [ + 0.002393120880350902, + -0.0022470903342474216, + -0.002321022524609917, + -0.009354542192986865, + -0.006275280236678216, + -0.02093691085354631, + 1.0 + ], + [ + 0.01444906926276232, + 0.001384486406544913, + 0.003019004898282718, + -0.013183442627365026, + -0.05900278166449661, + -0.0156378907742373, + 1.0 + ], + [ + 0.0022003415329723275, + 0.0020506285182233432, + 0.009233593691892833, + 0.02462317812244269, + -0.019180352496206192, + 0.005886006443136998, + 1.0 + ], + [ + -0.016263202064980997, + 0.0046938318731174315, + -0.012939815382821906, + -0.027590602418353635, + 0.05924837168078618, + 0.04157714220464709, + 1.0 + ], + [ + -0.011749161447541179, + 0.005646500613210592, + -0.009371163614527028, + -0.03613666313784725, + 0.02980213012131714, + 0.04125205885209537, + 1.0 + ], + [ + -0.00828338811888174, + 0.0036261395126347615, + -0.0037008478834378022, + -0.014669265765775163, + 0.013823421836753513, + 0.024294858299573754, + 1.0 + ], + [ + -0.0022818228704770405, + 0.0022979667559258968, + -0.006109327593741359, + -0.019742887280634447, + 0.0007430210441953481, + 0.004930075650929918, + 1.0 + ], + [ + 0.001716654517265298, + 0.0022553743682989028, + -0.00828574180822221, + -0.03147261355407735, + -0.009721194058733425, + -0.006978629730520905, + 1.0 + ], + [ + 0.004790932221967387, + 0.002575217408646545, + -0.006134898073634085, + -0.015243513765335283, + -0.006125302459379296, + -0.002720961126606368, + 1.0 + ], + [ + 0.00789123473771594, + 0.002826470062509176, + -0.005549391965163811, + -0.010343481305608561, + -0.012360589950219563, + -0.007112388031306849, + 1.0 + ], + [ + 0.007743043423176055, + 0.00517181625909055, + -0.004406573147529583, + -0.0004479522929138839, + -0.0037243873301353652, + 0.002895615431214648, + 1.0 + ], + [ + 0.003741896965651137, + 0.00633136190372148, + -0.0045950371131480705, + -0.0076965355305017155, + 0.012000583423414743, + 0.008804255686138848, + 1.0 + ], + [ + -0.0012770697444945966, + 0.005356894844487287, + -0.007948120429943181, + -0.013620623882464527, + 0.023121549429028398, + 0.02081631206754001, + 1.0 + ], + [ + 0.001607275175176115, + 0.002136560196333563, + -0.0059077322147521455, + 0.003820788647042111, + 0.008923300309080673, + 0.014214273114392922, + 0.667643 + ], + [ + 0.0006090706298826631, + -0.0019520274342498325, + 0.001676134643003535, + 0.014335825458120928, + -0.022263427597218995, + -0.0041455407468861845, + 0.0 + ], + [ + 0.002766852378113721, + -0.006971216156619983, + 0.00590697572664152, + 0.00904312855498499, + -0.0104236733891442, + -0.024875905830529427, + 0.0 + ], + [ + 0.002821381529479472, + -0.009692578986942701, + 0.008555978828693495, + 0.018263260568724824, + -0.00962327824877136, + -0.031039221701469662, + 0.0 + ], + [ + 0.011449912167033977, + -0.015965873731773134, + 0.015646464403040933, + 0.027352247250752398, + -0.050985535900409044, + -0.05762055475422227, + 0.0 + ], + [ + 0.004695772393205677, + -0.015995083556870848, + 0.007000491830232311, + 0.004555271418026014, + -0.04113300038087031, + -0.04153378590645569, + 0.0 + ], + [ + -0.0031249380823168416, + -0.014427092216555838, + -0.018561031483743787, + -0.04256738466986515, + 0.03846945603694826, + -0.022471751849141054, + 0.0 + ], + [ + -0.0006969191446464795, + -0.0068304192168117325, + -0.023666617708656232, + -0.035497044977282975, + 0.05184209298036898, + -0.004923328331322984, + 0.0 + ], + [ + 0.0011983118257258285, + -0.005945941383281977, + -0.013319790503853304, + -0.02356583261318369, + 0.01991466510324318, + -0.010738155112440062, + 0.0 + ], + [ + 0.0016163343264604668, + -0.007817227041309235, + -0.014581384145903084, + 0.00243117164115178, + 0.003878010468331704, + -0.019481690906211085, + 0.0 + ], + [ + 0.006789173979596941, + -0.008000166049264408, + -0.014777671253169297, + -0.008854141842506182, + -0.0014345021251697815, + -0.023407178513507862, + 0.0 + ], + [ + 0.004385506155031971, + -0.004096283536649356, + -0.008688972656943045, + 0.008137954439698135, + -0.0055794808008984365, + -0.01766768278343522, + 0.0 + ], + [ + 0.004603179644730282, + -0.004179382297703184, + -0.008347457457190052, + -0.01111860110587757, + 0.013420983925607033, + -0.012512072194093123, + 0.0 + ], + [ + 0.004782185880795153, + -0.003102710366658823, + -0.003107629834328031, + 0.007073996259590016, + 0.0001688538620758593, + -0.008700005666381721, + 0.0 + ], + [ + -0.0010008861900349664, + 0.001277128273529625, + 0.0012121383201213302, + 0.0031437584879762713, + -0.00017585537022710133, + 0.03871749916115173, + 1.0 + ], + [ + -0.00013241573692396313, + 0.002120302053880904, + 0.019769360138141255, + 0.05006445591859026, + -0.03855311859187038, + 0.013946562664960542, + 1.0 + ], + [ + 0.0005756550792725967, + 0.0028066618949809073, + 0.03347153298022181, + 0.06611135757542144, + -0.06505762182749114, + -0.0005036796769921798, + 1.0 + ], + [ + 0.0041383227621829, + 0.004875959178046951, + 0.028862763914501016, + 0.038762525614730606, + -0.05293217739491911, + -0.038709098966065926, + 1.0 + ], + [ + 0.0006521348693250828, + 0.015772275293751727, + 0.018884382713239473, + 0.03616224550220865, + -0.004113473197999819, + -0.026061827886101625, + 1.0 + ], + [ + 0.00016546777725995332, + 0.01920270540864431, + 0.008098896037685044, + 0.0019165829973921708, + -0.011686075812572512, + 0.018330247935377506, + 1.0 + ], + [ + -0.004353903397946279, + 0.015111078540925825, + 0.0013371171719640113, + 0.011749342199860482, + 0.03286991356400168, + 0.00580915543351528, + 1.0 + ], + [ + -0.0036576069611484185, + 0.004310479116624032, + -0.005024480173607251, + 0.028410418415149234, + 0.06905848980900248, + -0.005009372485267973, + 1.0 + ], + [ + -0.0007690311711188169, + 0.0016947342951044823, + -0.001502846965104998, + 0.0074329723285303856, + 0.06412037033257821, + 0.008831419851752299, + 1.0 + ] + ], + "gripper_centers": [ + [ + 362.56353759765625, + 160.30340576171875 + ], + [ + 362.14013671875, + 160.8745574951172 + ], + [ + 357.0242614746094, + 174.94662475585938 + ], + [ + 356.094482421875, + 175.23460388183594 + ], + [ + 354.1490173339844, + 164.4654083251953 + ], + [ + 365.49505615234375, + 115.878662109375 + ], + [ + 363.61083984375, + 87.10456848144531 + ], + [ + 344.92742919921875, + 72.826416015625 + ], + [ + 329.50628662109375, + 97.36405944824219 + ], + [ + 318.92913818359375, + 101.01318359375 + ], + [ + 306.35418701171875, + 107.32072448730469 + ], + [ + 296.1572570800781, + 104.49905395507812 + ], + [ + 288.23321533203125, + 104.92247009277344 + ], + [ + 291.26678466796875, + 105.38314819335938 + ], + [ + 299.3000183105469, + 103.19818115234375 + ], + [ + 302.6811828613281, + 88.96141815185547 + ], + [ + 293.6903991699219, + 95.50572967529297 + ], + [ + 268.4045104980469, + 123.86040496826172 + ], + [ + 250.59591674804688, + 132.84359741210938 + ], + [ + 240.28643798828125, + 141.48094177246094 + ], + [ + 239.70660400390625, + 146.73837280273438 + ], + [ + 240.4095458984375, + 154.22079467773438 + ], + [ + 243.96820068359375, + 159.67987060546875 + ], + [ + 247.87158203125, + 162.81405639648438 + ], + [ + 248.30526733398438, + 158.4678497314453 + ], + [ + 240.45579528808594, + 162.19976806640625 + ], + [ + 236.6355743408203, + 163.94346618652344 + ], + [ + 238.57582092285156, + 162.40859985351562 + ], + [ + 236.39752197265625, + 161.5555419921875 + ], + [ + 241.7113037109375, + 157.44703674316406 + ], + [ + 265.16387939453125, + 146.26486206054688 + ], + [ + 293.4833984375, + 133.903564453125 + ], + [ + 314.9485778808594, + 141.10107421875 + ], + [ + 324.8717956542969, + 176.36936950683594 + ], + [ + 331.737548828125, + 203.03265380859375 + ], + [ + 339.4307861328125, + 223.744140625 + ], + [ + 352.031982421875, + 244.08299255371094 + ], + [ + 362.0421142578125, + 260.5751647949219 + ], + [ + 367.5104064941406, + 265.05792236328125 + ], + [ + 376.1429138183594, + 265.5367126464844 + ], + [ + 377.8939208984375, + 266.0177307128906 + ], + [ + 372.67645263671875, + 260.2371520996094 + ], + [ + 376.23980712890625, + 232.6260528564453 + ], + [ + 377.209228515625, + 201.02310180664062 + ], + [ + 378.66229248046875, + 167.54588317871094 + ], + [ + 373.61492919921875, + 151.02169799804688 + ], + [ + 342.86334228515625, + 132.25387573242188 + ], + [ + 327.3880920410156, + 119.1446533203125 + ] + ], + "depth_max": 1.7390358448028564, + "depth_min": 0.4226571321487427, + "intrinsic": [ + [ + 620.5782470703125, + 0.0, + 259.0 + ], + [ + 0.0, + 619.1063232421875, + 196.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "extrinsic": [ + [ + 1.0, + 1.7651245798333548e-05, + 9.753588528838009e-05, + -2.2596106646233238e-05 + ], + [ + -1.76464509422658e-05, + 1.0, + -4.917574187857099e-05, + -5.543768929783255e-05 + ], + [ + -9.753675840329379e-05, + 4.917401747661643e-05, + 1.0, + 2.5479479518253356e-05 + ] + ], + "selected_indexes": [ + 0, + 4, + 7, + 10, + 13, + 16, + 19, + 22, + 25, + 28, + 31, + 34, + 37, + 40, + 43, + 47 + ], + "object_trajectory": [ + [ + 257.25, + 218.25001525878906 + ], + [ + 257.35882568359375, + 218.28961181640625 + ], + [ + 257.34051513671875, + 218.29579162597656 + ], + [ + 257.3742980957031, + 218.33319091796875 + ], + [ + 257.2182922363281, + 218.3667755126953 + ], + [ + 257.38690185546875, + 218.56137084960938 + ], + [ + 257.3785400390625, + 218.4899139404297 + ], + [ + 257.40472412109375, + 218.3998565673828 + ], + [ + 257.275390625, + 218.53201293945312 + ], + [ + 257.3571472167969, + 218.52438354492188 + ], + [ + 257.492919921875, + 218.57217407226562 + ], + [ + 257.4229736328125, + 218.63148498535156 + ], + [ + 257.5309753417969, + 218.54568481445312 + ], + [ + 257.478271484375, + 218.6197052001953 + ], + [ + 257.4087219238281, + 218.63360595703125 + ], + [ + 257.32806396484375, + 218.4506378173828 + ], + [ + 257.39959716796875, + 218.53956604003906 + ], + [ + 257.40673828125, + 218.394775390625 + ], + [ + 257.3531494140625, + 218.51194763183594 + ], + [ + 257.31024169921875, + 218.574462890625 + ], + [ + 257.2957458496094, + 218.58985900878906 + ], + [ + 257.4305419921875, + 218.5251007080078 + ], + [ + 257.5596618652344, + 218.463134765625 + ], + [ + 257.67559814453125, + 218.57464599609375 + ], + [ + 257.8531494140625, + 218.3890838623047 + ], + [ + 257.59942626953125, + 218.57083129882812 + ], + [ + 257.7105712890625, + 218.4386749267578 + ], + [ + 258.7797546386719, + 217.43154907226562 + ], + [ + 258.3262634277344, + 216.98948669433594 + ], + [ + 259.64227294921875, + 215.4943389892578 + ], + [ + 265.205810546875, + 213.59463500976562 + ], + [ + 260.73114013671875, + 228.33108520507812 + ], + [ + 260.48785400390625, + 228.88140869140625 + ], + [ + 280.6673889160156, + 223.39501953125 + ], + [ + 284.1192321777344, + 239.04811096191406 + ], + [ + 286.45208740234375, + 244.15194702148438 + ], + [ + 288.9957275390625, + 248.46295166015625 + ], + [ + 266.27325439453125, + 252.66421508789062 + ], + [ + 266.30706787109375, + 252.44320678710938 + ], + [ + 266.2853698730469, + 252.36135864257812 + ], + [ + 266.415283203125, + 252.24998474121094 + ], + [ + 266.4127502441406, + 252.30615234375 + ], + [ + 266.36700439453125, + 252.21005249023438 + ], + [ + 266.15081787109375, + 252.20913696289062 + ], + [ + 266.1996154785156, + 252.5037841796875 + ], + [ + 266.1275634765625, + 252.3875732421875 + ], + [ + 266.05926513671875, + 252.58216857910156 + ], + [ + 266.3372802734375, + 252.4378204345703 + ] + ] +} \ No newline at end of file diff --git a/010316_v2/lang.txt b/010316_v2/lang.txt new file mode 100644 index 0000000000000000000000000000000000000000..ebbc256a8454047391f3eb8fb10d8aeb7ed05f80 --- /dev/null +++ b/010316_v2/lang.txt @@ -0,0 +1 @@ +move the cylinder to the middle of the table diff --git a/010366_v2/FAIL b/010366_v2/FAIL new file mode 100644 index 0000000000000000000000000000000000000000..aaf6c42c619234f9c8379cbcf60a65cd17ba1254 --- /dev/null +++ b/010366_v2/FAIL @@ -0,0 +1 @@ +Too large intersection between gripper and object mask