Upload folder using huggingface_hub (part 12)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- Complex/take_chemistry_experiment/example53/output/operation_sequence.json +58 -0
- Complex/take_chemistry_experiment/example54/env_config/env_config.json +273 -0
- Complex/take_chemistry_experiment/example54/input/input.png +3 -0
- Complex/take_chemistry_experiment/example54/input/input_mask.png +3 -0
- Complex/take_chemistry_experiment/example54/input/instruction.txt +1 -0
- Complex/take_chemistry_experiment/example54/output/operation_sequence.json +58 -0
- Complex/take_chemistry_experiment/example55/env_config/env_config.json +239 -0
- Complex/take_chemistry_experiment/example55/input/input.png +3 -0
- Complex/take_chemistry_experiment/example55/input/input_mask.png +3 -0
- Complex/take_chemistry_experiment/example55/input/instruction.txt +1 -0
- Complex/take_chemistry_experiment/example55/output/operation_sequence.json +58 -0
- Complex/take_chemistry_experiment/example56/env_config/env_config.json +273 -0
- Complex/take_chemistry_experiment/example56/input/input.png +3 -0
- Complex/take_chemistry_experiment/example56/input/input_mask.png +3 -0
- Complex/take_chemistry_experiment/example56/input/instruction.txt +1 -0
- Complex/take_chemistry_experiment/example56/output/operation_sequence.json +58 -0
- Complex/take_chemistry_experiment/example57/env_config/env_config.json +273 -0
- Complex/take_chemistry_experiment/example57/input/input.png +3 -0
- Complex/take_chemistry_experiment/example57/input/input_mask.png +3 -0
- Complex/take_chemistry_experiment/example57/input/instruction.txt +1 -0
- Complex/take_chemistry_experiment/example57/output/operation_sequence.json +58 -0
- Complex/take_chemistry_experiment/example58/env_config/env_config.json +239 -0
- Complex/take_chemistry_experiment/example58/input/input.png +3 -0
- Complex/take_chemistry_experiment/example58/input/input_mask.png +3 -0
- Complex/take_chemistry_experiment/example58/input/instruction.txt +1 -0
- Complex/take_chemistry_experiment/example58/output/operation_sequence.json +58 -0
- Complex/take_chemistry_experiment/example59/env_config/env_config.json +239 -0
- Complex/take_chemistry_experiment/example59/input/input.png +3 -0
- Complex/take_chemistry_experiment/example59/input/input_mask.png +3 -0
- Complex/take_chemistry_experiment/example59/input/instruction.txt +1 -0
- Complex/take_chemistry_experiment/example59/output/operation_sequence.json +58 -0
- Complex/take_chemistry_experiment/example6/env_config/env_config.json +273 -0
- Complex/take_chemistry_experiment/example6/input/input.png +3 -0
- Complex/take_chemistry_experiment/example6/input/input_mask.png +3 -0
- Complex/take_chemistry_experiment/example6/input/instruction.txt +1 -0
- Complex/take_chemistry_experiment/example6/output/operation_sequence.json +58 -0
- Complex/take_chemistry_experiment/example60/env_config/env_config.json +239 -0
- Complex/take_chemistry_experiment/example60/input/input.png +3 -0
- Complex/take_chemistry_experiment/example60/input/input_mask.png +3 -0
- Complex/take_chemistry_experiment/example60/input/instruction.txt +1 -0
- Complex/take_chemistry_experiment/example60/output/operation_sequence.json +58 -0
- Complex/take_chemistry_experiment/example61/env_config/env_config.json +273 -0
- Complex/take_chemistry_experiment/example61/input/input.png +3 -0
- Complex/take_chemistry_experiment/example61/input/input_mask.png +3 -0
- Complex/take_chemistry_experiment/example61/input/instruction.txt +1 -0
- Complex/take_chemistry_experiment/example61/output/operation_sequence.json +58 -0
- Complex/take_chemistry_experiment/example62/env_config/env_config.json +239 -0
- Complex/take_chemistry_experiment/example62/input/input.png +3 -0
- Complex/take_chemistry_experiment/example62/input/input_mask.png +3 -0
- Complex/take_chemistry_experiment/example62/input/instruction.txt +1 -0
Complex/take_chemistry_experiment/example53/output/operation_sequence.json
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"skill_sequence": [
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"name": "place",
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"name": "pick",
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"name": "pour",
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"params": {
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"target_container_name": 1
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"name": "place",
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"params": {
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"target_container_name": 0
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"name": "pick",
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"params": {
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"target_entity_name": 5
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{
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"name": "pour",
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"params": {
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"target_container_name": 1
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{
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"name": "place",
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"params": {
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"target_container_name": 0
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}
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}
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]
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}
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Complex/take_chemistry_experiment/example54/env_config/env_config.json
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{
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"class": "TubeStand"
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"class": "NameTag",
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"content": "H2SO4"
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| 88 |
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| 90 |
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"class": "ChemistryTube",
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"solution": "Ba(NO3)2"
|
| 105 |
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| 106 |
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{
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| 107 |
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"name": "Ba(NO3)2_tag",
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| 108 |
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"xml_path": "obj/meshes/tube/nametag/nametag.xml",
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"class": "NameTag",
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"content": "Ba(NO3)2"
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| 135 |
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-0.021991891445527652
|
| 136 |
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],
|
| 137 |
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"class": "ChemistryTube",
|
| 138 |
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"solution": "CuSO4"
|
| 139 |
+
},
|
| 140 |
+
{
|
| 141 |
+
"name": "CuSO4_tag",
|
| 142 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 143 |
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"position": [
|
| 144 |
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-0.44336005575379256,
|
| 145 |
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|
| 146 |
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| 147 |
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| 148 |
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| 149 |
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0.9999999999996484,
|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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],
|
| 154 |
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"class": "NameTag",
|
| 155 |
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"content": "CuSO4"
|
| 156 |
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},
|
| 157 |
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{
|
| 158 |
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"name": "I2",
|
| 159 |
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"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 160 |
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"position": [
|
| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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| 168 |
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| 169 |
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|
| 170 |
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],
|
| 171 |
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|
| 172 |
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"solution": "I2"
|
| 173 |
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},
|
| 174 |
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{
|
| 175 |
+
"name": "I2_tag",
|
| 176 |
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"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 177 |
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"position": [
|
| 178 |
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-0.20336022303500934,
|
| 179 |
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|
| 180 |
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|
| 181 |
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| 182 |
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| 183 |
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| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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],
|
| 188 |
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"class": "NameTag",
|
| 189 |
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"content": "I2"
|
| 190 |
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},
|
| 191 |
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{
|
| 192 |
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"name": "K2CrO4",
|
| 193 |
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"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 194 |
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"position": [
|
| 195 |
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| 196 |
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| 197 |
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|
| 198 |
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| 199 |
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| 200 |
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| 201 |
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| 202 |
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| 203 |
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|
| 204 |
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],
|
| 205 |
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"class": "ChemistryTube",
|
| 206 |
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"solution": "K2CrO4"
|
| 207 |
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},
|
| 208 |
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{
|
| 209 |
+
"name": "K2CrO4_tag",
|
| 210 |
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"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 211 |
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"position": [
|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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"orientation": [
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| 217 |
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0.9999999999996484,
|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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],
|
| 222 |
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"class": "NameTag",
|
| 223 |
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"content": "K2CrO4"
|
| 224 |
+
}
|
| 225 |
+
],
|
| 226 |
+
"scene": {
|
| 227 |
+
"name": "lab_1",
|
| 228 |
+
"position": [
|
| 229 |
+
-4.0,
|
| 230 |
+
-2.5,
|
| 231 |
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0.0
|
| 232 |
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],
|
| 233 |
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"orientation": [
|
| 234 |
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1.0,
|
| 235 |
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0.0,
|
| 236 |
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0.0,
|
| 237 |
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0.0
|
| 238 |
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],
|
| 239 |
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"floor_textures": [
|
| 240 |
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"floorplane"
|
| 241 |
+
]
|
| 242 |
+
},
|
| 243 |
+
"instructions": [
|
| 244 |
+
"The reaction between H2SO4 solution and Ba(NO3)2 solution results in the formation of a solid precipitate."
|
| 245 |
+
],
|
| 246 |
+
"conditions": {
|
| 247 |
+
"substep_satisfy": [
|
| 248 |
+
{
|
| 249 |
+
"pour": {
|
| 250 |
+
"target_entity": "H2SO4"
|
| 251 |
+
}
|
| 252 |
+
},
|
| 253 |
+
{
|
| 254 |
+
"above": {
|
| 255 |
+
"target_entity": "H2SO4",
|
| 256 |
+
"platform": "flask"
|
| 257 |
+
}
|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"pour": {
|
| 261 |
+
"target_entity": "Ba(NO3)2"
|
| 262 |
+
}
|
| 263 |
+
},
|
| 264 |
+
{
|
| 265 |
+
"above": {
|
| 266 |
+
"target_entity": "Ba(NO3)2",
|
| 267 |
+
"platform": "flask"
|
| 268 |
+
}
|
| 269 |
+
}
|
| 270 |
+
]
|
| 271 |
+
}
|
| 272 |
+
}
|
| 273 |
+
}
|
Complex/take_chemistry_experiment/example54/input/input.png
ADDED
|
Git LFS Details
|
Complex/take_chemistry_experiment/example54/input/input_mask.png
ADDED
|
Git LFS Details
|
Complex/take_chemistry_experiment/example54/input/instruction.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
As part of today’s task, you are required to demonstrate the precipitation reaction in the chemistry lab. Please fetch the H2SO4 solution and Ba(NO3)2 solution, mix them carefully under controlled conditions, and observe the formation of a solid precipitate. This experiment will help in understanding the ionic bonding and reaction mechanisms.'
|
Complex/take_chemistry_experiment/example54/output/operation_sequence.json
ADDED
|
@@ -0,0 +1,58 @@
|
|
|
|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"skill_sequence": [
|
| 3 |
+
{
|
| 4 |
+
"name": "pick",
|
| 5 |
+
"params": {
|
| 6 |
+
"target_entity_name": 3
|
| 7 |
+
}
|
| 8 |
+
},
|
| 9 |
+
{
|
| 10 |
+
"name": "pour",
|
| 11 |
+
"params": {
|
| 12 |
+
"target_container_name": 1
|
| 13 |
+
}
|
| 14 |
+
},
|
| 15 |
+
{
|
| 16 |
+
"name": "place",
|
| 17 |
+
"params": {
|
| 18 |
+
"target_container_name": 0
|
| 19 |
+
}
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"name": "pick",
|
| 23 |
+
"params": {
|
| 24 |
+
"target_entity_name": 5
|
| 25 |
+
}
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"name": "pour",
|
| 29 |
+
"params": {
|
| 30 |
+
"target_container_name": 1
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"name": "place",
|
| 35 |
+
"params": {
|
| 36 |
+
"target_container_name": 0
|
| 37 |
+
}
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"name": "pick",
|
| 41 |
+
"params": {
|
| 42 |
+
"target_entity_name": 5
|
| 43 |
+
}
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"name": "pour",
|
| 47 |
+
"params": {
|
| 48 |
+
"target_container_name": 1
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"name": "place",
|
| 53 |
+
"params": {
|
| 54 |
+
"target_container_name": 0
|
| 55 |
+
}
|
| 56 |
+
}
|
| 57 |
+
]
|
| 58 |
+
}
|
Complex/take_chemistry_experiment/example55/env_config/env_config.json
ADDED
|
@@ -0,0 +1,239 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
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|
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|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": {
|
| 3 |
+
"components": [
|
| 4 |
+
{
|
| 5 |
+
"name": "table",
|
| 6 |
+
"xml_path": "obj/meshes/table/table.xml",
|
| 7 |
+
"position": [
|
| 8 |
+
-1.1501199026385629e-10,
|
| 9 |
+
-3.2227056181429104e-10,
|
| 10 |
+
-8.940995661847557e-07
|
| 11 |
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],
|
| 12 |
+
"orientation": [
|
| 13 |
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0.9999999999999992,
|
| 14 |
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|
| 15 |
+
-1.587356183132522e-08,
|
| 16 |
+
-4.639871456423935e-11
|
| 17 |
+
],
|
| 18 |
+
"class": "Table",
|
| 19 |
+
"materials": [
|
| 20 |
+
"stone"
|
| 21 |
+
]
|
| 22 |
+
},
|
| 23 |
+
{
|
| 24 |
+
"name": "flask",
|
| 25 |
+
"xml_path": "obj/meshes/tube/flask/flask.xml",
|
| 26 |
+
"position": [
|
| 27 |
+
0.22395269562125777,
|
| 28 |
+
0.12466678001233787,
|
| 29 |
+
0.7616099417727547
|
| 30 |
+
],
|
| 31 |
+
"orientation": [
|
| 32 |
+
0.9995520855255593,
|
| 33 |
+
-0.0003384682307047957,
|
| 34 |
+
-4.564059916685869e-06,
|
| 35 |
+
0.029925135587500422
|
| 36 |
+
],
|
| 37 |
+
"class": "CommonContainer"
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"name": "chemistry_tube_stand",
|
| 41 |
+
"xml_path": "obj/meshes/tube/tube_container/tube_stand.xml",
|
| 42 |
+
"position": [
|
| 43 |
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-0.2184911762771242,
|
| 44 |
+
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|
| 45 |
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|
| 46 |
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],
|
| 47 |
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"orientation": [
|
| 48 |
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|
| 49 |
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-4.580646083690279e-09,
|
| 50 |
+
-1.469709345941465e-08,
|
| 51 |
+
3.963182015460779e-06
|
| 52 |
+
],
|
| 53 |
+
"class": "TubeStand"
|
| 54 |
+
},
|
| 55 |
+
{
|
| 56 |
+
"name": "Pb(NO3)2",
|
| 57 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 58 |
+
"position": [
|
| 59 |
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-0.13849834139490672,
|
| 60 |
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|
| 61 |
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|
| 62 |
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],
|
| 63 |
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"orientation": [
|
| 64 |
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|
| 65 |
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|
| 66 |
+
0.0026310539958347015,
|
| 67 |
+
0.0001672409889185319
|
| 68 |
+
],
|
| 69 |
+
"class": "ChemistryTube",
|
| 70 |
+
"solution": "Pb(NO3)2"
|
| 71 |
+
},
|
| 72 |
+
{
|
| 73 |
+
"name": "Pb(NO3)2_tag",
|
| 74 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 75 |
+
"position": [
|
| 76 |
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-0.13849197185546272,
|
| 77 |
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| 78 |
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| 80 |
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| 81 |
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| 83 |
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|
| 84 |
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|
| 85 |
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],
|
| 86 |
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"class": "NameTag",
|
| 87 |
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"content": "Pb(NO3)2"
|
| 88 |
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},
|
| 89 |
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{
|
| 90 |
+
"name": "NaOH",
|
| 91 |
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"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 92 |
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"position": [
|
| 93 |
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|
| 94 |
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| 95 |
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| 96 |
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| 102 |
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|
| 103 |
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"class": "ChemistryTube",
|
| 104 |
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"solution": "NaOH"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"name": "NaOH_tag",
|
| 108 |
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"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 109 |
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|
| 110 |
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| 111 |
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| 115 |
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|
| 119 |
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| 120 |
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"class": "NameTag",
|
| 121 |
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"content": "NaOH"
|
| 122 |
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|
| 123 |
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{
|
| 124 |
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"name": "CuSO4",
|
| 125 |
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"xml_path": "obj/meshes/tube/tube/tube.xml",
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| 126 |
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| 136 |
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| 137 |
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"class": "ChemistryTube",
|
| 138 |
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"solution": "CuSO4"
|
| 139 |
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},
|
| 140 |
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{
|
| 141 |
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"name": "CuSO4_tag",
|
| 142 |
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"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 143 |
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"position": [
|
| 144 |
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| 145 |
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| 152 |
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|
| 153 |
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],
|
| 154 |
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"class": "NameTag",
|
| 155 |
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"content": "CuSO4"
|
| 156 |
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},
|
| 157 |
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{
|
| 158 |
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"name": "Ba(NO3)2",
|
| 159 |
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"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 160 |
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"position": [
|
| 161 |
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| 162 |
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| 164 |
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| 166 |
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| 169 |
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|
| 170 |
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],
|
| 171 |
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"class": "ChemistryTube",
|
| 172 |
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"solution": "Ba(NO3)2"
|
| 173 |
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},
|
| 174 |
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{
|
| 175 |
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"name": "Ba(NO3)2_tag",
|
| 176 |
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"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 177 |
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|
| 178 |
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| 179 |
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| 182 |
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| 183 |
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| 184 |
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|
| 186 |
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|
| 187 |
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],
|
| 188 |
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"class": "NameTag",
|
| 189 |
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"content": "Ba(NO3)2"
|
| 190 |
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}
|
| 191 |
+
],
|
| 192 |
+
"scene": {
|
| 193 |
+
"name": "lab_1",
|
| 194 |
+
"position": [
|
| 195 |
+
6.0,
|
| 196 |
+
2.0,
|
| 197 |
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0.0
|
| 198 |
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],
|
| 199 |
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"orientation": [
|
| 200 |
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1.0,
|
| 201 |
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0.0,
|
| 202 |
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0.0,
|
| 203 |
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0.0
|
| 204 |
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],
|
| 205 |
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"floor_textures": [
|
| 206 |
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"floorplane"
|
| 207 |
+
]
|
| 208 |
+
},
|
| 209 |
+
"instructions": [
|
| 210 |
+
"The reaction between Pb(NO3)2 solution and NaOH solution results in the formation of a white solid precipitate, Pb(OH)2."
|
| 211 |
+
],
|
| 212 |
+
"conditions": {
|
| 213 |
+
"substep_satisfy": [
|
| 214 |
+
{
|
| 215 |
+
"pour": {
|
| 216 |
+
"target_entity": "Pb(NO3)2"
|
| 217 |
+
}
|
| 218 |
+
},
|
| 219 |
+
{
|
| 220 |
+
"above": {
|
| 221 |
+
"target_entity": "Pb(NO3)2",
|
| 222 |
+
"platform": "flask"
|
| 223 |
+
}
|
| 224 |
+
},
|
| 225 |
+
{
|
| 226 |
+
"pour": {
|
| 227 |
+
"target_entity": "NaOH"
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
{
|
| 231 |
+
"above": {
|
| 232 |
+
"target_entity": "NaOH",
|
| 233 |
+
"platform": "flask"
|
| 234 |
+
}
|
| 235 |
+
}
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
}
|
| 239 |
+
}
|
Complex/take_chemistry_experiment/example55/input/input.png
ADDED
|
Git LFS Details
|
Complex/take_chemistry_experiment/example55/input/input_mask.png
ADDED
|
Git LFS Details
|
Complex/take_chemistry_experiment/example55/input/instruction.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
We are set to demonstrate a key chemical reaction for our upcoming lab review session. Could you please assist by accurately measuring and mixing Pb(NO3)2 solution with NaOH solution in order to observe the formation of the white solid precipitate, Pb(OH)2?'
|
Complex/take_chemistry_experiment/example55/output/operation_sequence.json
ADDED
|
@@ -0,0 +1,58 @@
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"skill_sequence": [
|
| 3 |
+
{
|
| 4 |
+
"name": "pick",
|
| 5 |
+
"params": {
|
| 6 |
+
"target_entity_name": 3
|
| 7 |
+
}
|
| 8 |
+
},
|
| 9 |
+
{
|
| 10 |
+
"name": "pour",
|
| 11 |
+
"params": {
|
| 12 |
+
"target_container_name": 1
|
| 13 |
+
}
|
| 14 |
+
},
|
| 15 |
+
{
|
| 16 |
+
"name": "place",
|
| 17 |
+
"params": {
|
| 18 |
+
"target_container_name": 0
|
| 19 |
+
}
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"name": "pick",
|
| 23 |
+
"params": {
|
| 24 |
+
"target_entity_name": 5
|
| 25 |
+
}
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"name": "pour",
|
| 29 |
+
"params": {
|
| 30 |
+
"target_container_name": 1
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"name": "place",
|
| 35 |
+
"params": {
|
| 36 |
+
"target_container_name": 0
|
| 37 |
+
}
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"name": "pick",
|
| 41 |
+
"params": {
|
| 42 |
+
"target_entity_name": 5
|
| 43 |
+
}
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"name": "pour",
|
| 47 |
+
"params": {
|
| 48 |
+
"target_container_name": 1
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"name": "place",
|
| 53 |
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"params": {
|
| 54 |
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"target_container_name": 0
|
| 55 |
+
}
|
| 56 |
+
}
|
| 57 |
+
]
|
| 58 |
+
}
|
Complex/take_chemistry_experiment/example56/env_config/env_config.json
ADDED
|
@@ -0,0 +1,273 @@
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
|
|
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|
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|
|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"task": {
|
| 3 |
+
"components": [
|
| 4 |
+
{
|
| 5 |
+
"name": "table",
|
| 6 |
+
"xml_path": "obj/meshes/table/table.xml",
|
| 7 |
+
"position": [
|
| 8 |
+
-2.9940760579941447e-10,
|
| 9 |
+
-2.1524632694936064e-10,
|
| 10 |
+
-8.943958611091242e-07
|
| 11 |
+
],
|
| 12 |
+
"orientation": [
|
| 13 |
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0.9999999999999981,
|
| 14 |
+
-4.0197435400263363e-08,
|
| 15 |
+
-2.2045009903693978e-08,
|
| 16 |
+
-2.5962638257980153e-11
|
| 17 |
+
],
|
| 18 |
+
"class": "Table",
|
| 19 |
+
"materials": [
|
| 20 |
+
"wood2"
|
| 21 |
+
]
|
| 22 |
+
},
|
| 23 |
+
{
|
| 24 |
+
"name": "flask",
|
| 25 |
+
"xml_path": "obj/meshes/tube/flask/flask.xml",
|
| 26 |
+
"position": [
|
| 27 |
+
0.1964512235360712,
|
| 28 |
+
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|
| 29 |
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|
| 30 |
+
],
|
| 31 |
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"orientation": [
|
| 32 |
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|
| 33 |
+
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| 223 |
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| 224 |
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| 226 |
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"scene": {
|
| 227 |
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"name": "lab_1",
|
| 228 |
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"position": [
|
| 229 |
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|
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|
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|
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|
| 242 |
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},
|
| 243 |
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"instructions": [
|
| 244 |
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|
| 245 |
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],
|
| 246 |
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|
| 247 |
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|
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|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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|
| 256 |
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| 257 |
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| 258 |
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},
|
| 259 |
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{
|
| 260 |
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|
| 261 |
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|
| 262 |
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|
| 263 |
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},
|
| 264 |
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{
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| 265 |
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|
| 266 |
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|
| 267 |
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|
| 268 |
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|
| 269 |
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}
|
| 270 |
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]
|
| 271 |
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}
|
| 272 |
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}
|
| 273 |
+
}
|
Complex/take_chemistry_experiment/example56/input/input.png
ADDED
|
Git LFS Details
|
Complex/take_chemistry_experiment/example56/input/input_mask.png
ADDED
|
Git LFS Details
|
Complex/take_chemistry_experiment/example56/input/instruction.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Prepare the laboratory for an upcoming educational demonstration. You are tasked with carrying out an experiment that involves neutralizing an acidic solution using Na2CO3 solution, then adding HCl solution to observe the formation of NaCl and CO2 gas. Begin by accurately measuring and mixing the solutions in the specified order to ensure a successful reaction.'
|
Complex/take_chemistry_experiment/example56/output/operation_sequence.json
ADDED
|
@@ -0,0 +1,58 @@
|
|
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|
|
|
|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"skill_sequence": [
|
| 3 |
+
{
|
| 4 |
+
"name": "pick",
|
| 5 |
+
"params": {
|
| 6 |
+
"target_entity_name": 3
|
| 7 |
+
}
|
| 8 |
+
},
|
| 9 |
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{
|
| 10 |
+
"name": "pour",
|
| 11 |
+
"params": {
|
| 12 |
+
"target_container_name": 1
|
| 13 |
+
}
|
| 14 |
+
},
|
| 15 |
+
{
|
| 16 |
+
"name": "place",
|
| 17 |
+
"params": {
|
| 18 |
+
"target_container_name": 0
|
| 19 |
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}
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"name": "pick",
|
| 23 |
+
"params": {
|
| 24 |
+
"target_entity_name": 5
|
| 25 |
+
}
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"name": "pour",
|
| 29 |
+
"params": {
|
| 30 |
+
"target_container_name": 1
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"name": "place",
|
| 35 |
+
"params": {
|
| 36 |
+
"target_container_name": 0
|
| 37 |
+
}
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"name": "pick",
|
| 41 |
+
"params": {
|
| 42 |
+
"target_entity_name": 5
|
| 43 |
+
}
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"name": "pour",
|
| 47 |
+
"params": {
|
| 48 |
+
"target_container_name": 1
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"name": "place",
|
| 53 |
+
"params": {
|
| 54 |
+
"target_container_name": 0
|
| 55 |
+
}
|
| 56 |
+
}
|
| 57 |
+
]
|
| 58 |
+
}
|
Complex/take_chemistry_experiment/example57/env_config/env_config.json
ADDED
|
@@ -0,0 +1,273 @@
|
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}
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],
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"scene": {
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| 227 |
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"name": "lab_1",
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| 228 |
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"position": [
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| 229 |
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-4.0,
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| 230 |
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-2.5,
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| 231 |
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],
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"orientation": [
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| 241 |
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]
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},
|
| 243 |
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"instructions": [
|
| 244 |
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"The reaction between Pb(NO3)2 solution and NaOH solution results in the formation of a white solid precipitate, Pb(OH)2."
|
| 245 |
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],
|
| 246 |
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"conditions": {
|
| 247 |
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| 248 |
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|
| 249 |
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| 250 |
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| 251 |
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}
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| 252 |
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},
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| 253 |
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{
|
| 254 |
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| 255 |
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|
| 256 |
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"platform": "flask"
|
| 257 |
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}
|
| 258 |
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},
|
| 259 |
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{
|
| 260 |
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"pour": {
|
| 261 |
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"target_entity": "NaOH"
|
| 262 |
+
}
|
| 263 |
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},
|
| 264 |
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{
|
| 265 |
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"above": {
|
| 266 |
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"target_entity": "NaOH",
|
| 267 |
+
"platform": "flask"
|
| 268 |
+
}
|
| 269 |
+
}
|
| 270 |
+
]
|
| 271 |
+
}
|
| 272 |
+
}
|
| 273 |
+
}
|
Complex/take_chemistry_experiment/example57/input/input.png
ADDED
|
Git LFS Details
|
Complex/take_chemistry_experiment/example57/input/input_mask.png
ADDED
|
Git LFS Details
|
Complex/take_chemistry_experiment/example57/input/instruction.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
We need to demonstrate a chemical reaction for the upcoming laboratory practical test. Could you assist me in setting up the experiment where Pb(NO3)2 solution reacts with NaOH solution to form the white solid precipitate, Pb(OH)2?'
|
Complex/take_chemistry_experiment/example57/output/operation_sequence.json
ADDED
|
@@ -0,0 +1,58 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"skill_sequence": [
|
| 3 |
+
{
|
| 4 |
+
"name": "pick",
|
| 5 |
+
"params": {
|
| 6 |
+
"target_entity_name": 3
|
| 7 |
+
}
|
| 8 |
+
},
|
| 9 |
+
{
|
| 10 |
+
"name": "pour",
|
| 11 |
+
"params": {
|
| 12 |
+
"target_container_name": 1
|
| 13 |
+
}
|
| 14 |
+
},
|
| 15 |
+
{
|
| 16 |
+
"name": "place",
|
| 17 |
+
"params": {
|
| 18 |
+
"target_container_name": 0
|
| 19 |
+
}
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"name": "pick",
|
| 23 |
+
"params": {
|
| 24 |
+
"target_entity_name": 5
|
| 25 |
+
}
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"name": "pour",
|
| 29 |
+
"params": {
|
| 30 |
+
"target_container_name": 1
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"name": "place",
|
| 35 |
+
"params": {
|
| 36 |
+
"target_container_name": 0
|
| 37 |
+
}
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"name": "pick",
|
| 41 |
+
"params": {
|
| 42 |
+
"target_entity_name": 5
|
| 43 |
+
}
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"name": "pour",
|
| 47 |
+
"params": {
|
| 48 |
+
"target_container_name": 1
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"name": "place",
|
| 53 |
+
"params": {
|
| 54 |
+
"target_container_name": 0
|
| 55 |
+
}
|
| 56 |
+
}
|
| 57 |
+
]
|
| 58 |
+
}
|
Complex/take_chemistry_experiment/example58/env_config/env_config.json
ADDED
|
@@ -0,0 +1,239 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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| 1 |
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|
| 190 |
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}
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| 191 |
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],
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| 192 |
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"scene": {
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| 193 |
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"name": "lab_1",
|
| 194 |
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"position": [
|
| 195 |
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2.0,
|
| 196 |
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2.0,
|
| 197 |
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|
| 198 |
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],
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| 199 |
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"orientation": [
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|
| 207 |
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]
|
| 208 |
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},
|
| 209 |
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"instructions": [
|
| 210 |
+
"The reaction between Pb(NO3)2 solution and NaOH solution results in the formation of a white solid precipitate, Pb(OH)2."
|
| 211 |
+
],
|
| 212 |
+
"conditions": {
|
| 213 |
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"substep_satisfy": [
|
| 214 |
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{
|
| 215 |
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|
| 216 |
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"target_entity": "Pb(NO3)2"
|
| 217 |
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}
|
| 218 |
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},
|
| 219 |
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{
|
| 220 |
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|
| 221 |
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|
| 222 |
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"platform": "flask"
|
| 223 |
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}
|
| 224 |
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},
|
| 225 |
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{
|
| 226 |
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"pour": {
|
| 227 |
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"target_entity": "NaOH"
|
| 228 |
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}
|
| 229 |
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},
|
| 230 |
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{
|
| 231 |
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"above": {
|
| 232 |
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"target_entity": "NaOH",
|
| 233 |
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"platform": "flask"
|
| 234 |
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}
|
| 235 |
+
}
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
}
|
| 239 |
+
}
|
Complex/take_chemistry_experiment/example58/input/input.png
ADDED
|
Git LFS Details
|
Complex/take_chemistry_experiment/example58/input/input_mask.png
ADDED
|
Git LFS Details
|
Complex/take_chemistry_experiment/example58/input/instruction.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Prepare for an upcoming demonstration in the chemistry lab. Could you assist by retrieving the necessary solutions of Pb(NO3)2 and NaOH to perform the experiment where their interaction leads to the formation of a white solid precipitate, Pb(OH)2?'
|
Complex/take_chemistry_experiment/example58/output/operation_sequence.json
ADDED
|
@@ -0,0 +1,58 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"skill_sequence": [
|
| 3 |
+
{
|
| 4 |
+
"name": "pick",
|
| 5 |
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"params": {
|
| 6 |
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"target_entity_name": 3
|
| 7 |
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}
|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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}
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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}
|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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},
|
| 27 |
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{
|
| 28 |
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"name": "pour",
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
+
{
|
| 34 |
+
"name": "place",
|
| 35 |
+
"params": {
|
| 36 |
+
"target_container_name": 0
|
| 37 |
+
}
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"name": "pick",
|
| 41 |
+
"params": {
|
| 42 |
+
"target_entity_name": 5
|
| 43 |
+
}
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"name": "pour",
|
| 47 |
+
"params": {
|
| 48 |
+
"target_container_name": 1
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"name": "place",
|
| 53 |
+
"params": {
|
| 54 |
+
"target_container_name": 0
|
| 55 |
+
}
|
| 56 |
+
}
|
| 57 |
+
]
|
| 58 |
+
}
|
Complex/take_chemistry_experiment/example59/env_config/env_config.json
ADDED
|
@@ -0,0 +1,239 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": {
|
| 3 |
+
"components": [
|
| 4 |
+
{
|
| 5 |
+
"name": "table",
|
| 6 |
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"xml_path": "obj/meshes/table/table.xml",
|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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"orientation": [
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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],
|
| 18 |
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"class": "Table",
|
| 19 |
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"materials": [
|
| 20 |
+
"stone0"
|
| 21 |
+
]
|
| 22 |
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},
|
| 23 |
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{
|
| 24 |
+
"name": "flask",
|
| 25 |
+
"xml_path": "obj/meshes/tube/flask/flask.xml",
|
| 26 |
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"position": [
|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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],
|
| 31 |
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"orientation": [
|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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],
|
| 37 |
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"class": "CommonContainer"
|
| 38 |
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},
|
| 39 |
+
{
|
| 40 |
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"name": "chemistry_tube_stand",
|
| 41 |
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"xml_path": "obj/meshes/tube/tube_container/tube_stand.xml",
|
| 42 |
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"position": [
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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],
|
| 47 |
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| 48 |
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| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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"class": "TubeStand"
|
| 54 |
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},
|
| 55 |
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{
|
| 56 |
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"name": "Na2CO3",
|
| 57 |
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"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 58 |
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"position": [
|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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| 65 |
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| 66 |
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|
| 67 |
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|
| 68 |
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],
|
| 69 |
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"class": "ChemistryTube",
|
| 70 |
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"solution": "Na2CO3"
|
| 71 |
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},
|
| 72 |
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{
|
| 73 |
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"name": "Na2CO3_tag",
|
| 74 |
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"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 75 |
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"position": [
|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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],
|
| 80 |
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| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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2.5075249145366355e-05
|
| 85 |
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],
|
| 86 |
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"class": "NameTag",
|
| 87 |
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"content": "Na2CO3"
|
| 88 |
+
},
|
| 89 |
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{
|
| 90 |
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"name": "HCl",
|
| 91 |
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"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 92 |
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"position": [
|
| 93 |
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|
| 94 |
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|
| 95 |
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|
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|
| 101 |
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|
| 102 |
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],
|
| 103 |
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|
| 104 |
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"solution": "HCl"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"name": "HCl_tag",
|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
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|
| 113 |
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|
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|
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|
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|
| 119 |
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],
|
| 120 |
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"class": "NameTag",
|
| 121 |
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"content": "HCl"
|
| 122 |
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},
|
| 123 |
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{
|
| 124 |
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"name": "K2CrO4",
|
| 125 |
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"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 126 |
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|
| 127 |
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|
| 128 |
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|
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|
| 130 |
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|
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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],
|
| 137 |
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"class": "ChemistryTube",
|
| 138 |
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"solution": "K2CrO4"
|
| 139 |
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},
|
| 140 |
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{
|
| 141 |
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"name": "K2CrO4_tag",
|
| 142 |
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"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
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|
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|
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|
| 151 |
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|
| 152 |
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|
| 153 |
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],
|
| 154 |
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"class": "NameTag",
|
| 155 |
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"content": "K2CrO4"
|
| 156 |
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},
|
| 157 |
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{
|
| 158 |
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"name": "AgNO3",
|
| 159 |
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"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 160 |
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|
| 161 |
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|
| 162 |
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| 169 |
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|
| 170 |
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],
|
| 171 |
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"class": "ChemistryTube",
|
| 172 |
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"solution": "AgNO3"
|
| 173 |
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},
|
| 174 |
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{
|
| 175 |
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"name": "AgNO3_tag",
|
| 176 |
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|
| 177 |
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"position": [
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| 178 |
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| 179 |
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| 183 |
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| 185 |
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|
| 186 |
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|
| 187 |
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],
|
| 188 |
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"class": "NameTag",
|
| 189 |
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"content": "AgNO3"
|
| 190 |
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}
|
| 191 |
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],
|
| 192 |
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"scene": {
|
| 193 |
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"name": "lab_1",
|
| 194 |
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"position": [
|
| 195 |
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6.0,
|
| 196 |
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2.0,
|
| 197 |
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0.0
|
| 198 |
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],
|
| 199 |
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"orientation": [
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| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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],
|
| 205 |
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"floor_textures": [
|
| 206 |
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"floorplane"
|
| 207 |
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]
|
| 208 |
+
},
|
| 209 |
+
"instructions": [
|
| 210 |
+
"Neutralize with Na2CO3 solution and HCl solution, producing NaCl and CO2 gas."
|
| 211 |
+
],
|
| 212 |
+
"conditions": {
|
| 213 |
+
"substep_satisfy": [
|
| 214 |
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{
|
| 215 |
+
"pour": {
|
| 216 |
+
"target_entity": "Na2CO3"
|
| 217 |
+
}
|
| 218 |
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},
|
| 219 |
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{
|
| 220 |
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"above": {
|
| 221 |
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"target_entity": "Na2CO3",
|
| 222 |
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"platform": "flask"
|
| 223 |
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}
|
| 224 |
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},
|
| 225 |
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{
|
| 226 |
+
"pour": {
|
| 227 |
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"target_entity": "HCl"
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
{
|
| 231 |
+
"above": {
|
| 232 |
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"target_entity": "HCl",
|
| 233 |
+
"platform": "flask"
|
| 234 |
+
}
|
| 235 |
+
}
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
}
|
| 239 |
+
}
|
Complex/take_chemistry_experiment/example59/input/input.png
ADDED
|
Git LFS Details
|
Complex/take_chemistry_experiment/example59/input/input_mask.png
ADDED
|
Git LFS Details
|
Complex/take_chemistry_experiment/example59/input/instruction.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
In preparation for an upcoming chemical analysis demonstration, your task is to perform the reaction where Na2CO3 solution neutralizes with HCl solution, producing NaCl and CO2 gas. Would you kindly retrieve the specified chemicals, accurately measure the required volumes, and safely combine them in a reaction flask to ensure the process is completed effectively?
|
Complex/take_chemistry_experiment/example59/output/operation_sequence.json
ADDED
|
@@ -0,0 +1,58 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
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|
|
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|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"skill_sequence": [
|
| 3 |
+
{
|
| 4 |
+
"name": "pick",
|
| 5 |
+
"params": {
|
| 6 |
+
"target_entity_name": 3
|
| 7 |
+
}
|
| 8 |
+
},
|
| 9 |
+
{
|
| 10 |
+
"name": "pour",
|
| 11 |
+
"params": {
|
| 12 |
+
"target_container_name": 1
|
| 13 |
+
}
|
| 14 |
+
},
|
| 15 |
+
{
|
| 16 |
+
"name": "place",
|
| 17 |
+
"params": {
|
| 18 |
+
"target_container_name": 0
|
| 19 |
+
}
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"name": "pick",
|
| 23 |
+
"params": {
|
| 24 |
+
"target_entity_name": 5
|
| 25 |
+
}
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"name": "pour",
|
| 29 |
+
"params": {
|
| 30 |
+
"target_container_name": 1
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"name": "place",
|
| 35 |
+
"params": {
|
| 36 |
+
"target_container_name": 0
|
| 37 |
+
}
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"name": "pick",
|
| 41 |
+
"params": {
|
| 42 |
+
"target_entity_name": 5
|
| 43 |
+
}
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"name": "pour",
|
| 47 |
+
"params": {
|
| 48 |
+
"target_container_name": 1
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"name": "place",
|
| 53 |
+
"params": {
|
| 54 |
+
"target_container_name": 0
|
| 55 |
+
}
|
| 56 |
+
}
|
| 57 |
+
]
|
| 58 |
+
}
|
Complex/take_chemistry_experiment/example6/env_config/env_config.json
ADDED
|
@@ -0,0 +1,273 @@
|
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|
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|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": {
|
| 3 |
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"components": [
|
| 4 |
+
{
|
| 5 |
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"name": "table",
|
| 6 |
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"xml_path": "obj/meshes/table/table.xml",
|
| 7 |
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"position": [
|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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],
|
| 12 |
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"orientation": [
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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],
|
| 18 |
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"class": "Table",
|
| 19 |
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"materials": [
|
| 20 |
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"wood2"
|
| 21 |
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]
|
| 22 |
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},
|
| 23 |
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{
|
| 24 |
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"name": "flask",
|
| 25 |
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"xml_path": "obj/meshes/tube/flask/flask.xml",
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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"class": "CommonContainer"
|
| 38 |
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},
|
| 39 |
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{
|
| 40 |
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|
| 41 |
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"xml_path": "obj/meshes/tube/tube_container/tube_stand.xml",
|
| 42 |
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| 43 |
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|
| 44 |
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| 46 |
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| 50 |
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| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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{
|
| 56 |
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|
| 57 |
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|
| 58 |
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| 59 |
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| 60 |
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| 61 |
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| 62 |
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| 67 |
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| 68 |
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| 69 |
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"class": "ChemistryTube",
|
| 70 |
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|
| 71 |
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|
| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 85 |
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| 86 |
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"class": "NameTag",
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| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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| 92 |
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| 102 |
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| 104 |
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|
| 105 |
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| 106 |
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|
| 107 |
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|
| 108 |
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|
| 119 |
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|
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
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|
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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| 190 |
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-2.5,
|
| 231 |
+
0.0
|
| 232 |
+
],
|
| 233 |
+
"orientation": [
|
| 234 |
+
1.0,
|
| 235 |
+
0.0,
|
| 236 |
+
0.0,
|
| 237 |
+
0.0
|
| 238 |
+
],
|
| 239 |
+
"floor_textures": [
|
| 240 |
+
"floorplane"
|
| 241 |
+
]
|
| 242 |
+
},
|
| 243 |
+
"instructions": [
|
| 244 |
+
"The reaction between BaCl2 solution and K2CrO4 solution results in the formation of a yellow solid precipitate, BaCrO4."
|
| 245 |
+
],
|
| 246 |
+
"conditions": {
|
| 247 |
+
"substep_satisfy": [
|
| 248 |
+
{
|
| 249 |
+
"pour": {
|
| 250 |
+
"target_entity": "BaCl2"
|
| 251 |
+
}
|
| 252 |
+
},
|
| 253 |
+
{
|
| 254 |
+
"above": {
|
| 255 |
+
"target_entity": "BaCl2",
|
| 256 |
+
"platform": "flask"
|
| 257 |
+
}
|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"pour": {
|
| 261 |
+
"target_entity": "K2CrO4"
|
| 262 |
+
}
|
| 263 |
+
},
|
| 264 |
+
{
|
| 265 |
+
"above": {
|
| 266 |
+
"target_entity": "K2CrO4",
|
| 267 |
+
"platform": "flask"
|
| 268 |
+
}
|
| 269 |
+
}
|
| 270 |
+
]
|
| 271 |
+
}
|
| 272 |
+
}
|
| 273 |
+
}
|
Complex/take_chemistry_experiment/example6/input/input.png
ADDED
|
Git LFS Details
|
Complex/take_chemistry_experiment/example6/input/input_mask.png
ADDED
|
Git LFS Details
|
Complex/take_chemistry_experiment/example6/input/instruction.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
In preparation for the upcoming demonstration of precipitation reactions, gather the required BaCl2 solution and K2CrO4 solution. Your task will be to carefully mix them under controlled conditions to observe the formation of the yellow solid precipitate, BaCrO4, which is crucial for the experiment’s success.'
|
Complex/take_chemistry_experiment/example6/output/operation_sequence.json
ADDED
|
@@ -0,0 +1,58 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"skill_sequence": [
|
| 3 |
+
{
|
| 4 |
+
"name": "pick",
|
| 5 |
+
"params": {
|
| 6 |
+
"target_entity_name": 3
|
| 7 |
+
}
|
| 8 |
+
},
|
| 9 |
+
{
|
| 10 |
+
"name": "pour",
|
| 11 |
+
"params": {
|
| 12 |
+
"target_container_name": 1
|
| 13 |
+
}
|
| 14 |
+
},
|
| 15 |
+
{
|
| 16 |
+
"name": "place",
|
| 17 |
+
"params": {
|
| 18 |
+
"target_container_name": 0
|
| 19 |
+
}
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"name": "pick",
|
| 23 |
+
"params": {
|
| 24 |
+
"target_entity_name": 5
|
| 25 |
+
}
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"name": "pour",
|
| 29 |
+
"params": {
|
| 30 |
+
"target_container_name": 1
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"name": "place",
|
| 35 |
+
"params": {
|
| 36 |
+
"target_container_name": 0
|
| 37 |
+
}
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"name": "pick",
|
| 41 |
+
"params": {
|
| 42 |
+
"target_entity_name": 5
|
| 43 |
+
}
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"name": "pour",
|
| 47 |
+
"params": {
|
| 48 |
+
"target_container_name": 1
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"name": "place",
|
| 53 |
+
"params": {
|
| 54 |
+
"target_container_name": 0
|
| 55 |
+
}
|
| 56 |
+
}
|
| 57 |
+
]
|
| 58 |
+
}
|
Complex/take_chemistry_experiment/example60/env_config/env_config.json
ADDED
|
@@ -0,0 +1,239 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
|
|
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|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": {
|
| 3 |
+
"components": [
|
| 4 |
+
{
|
| 5 |
+
"name": "table",
|
| 6 |
+
"xml_path": "obj/meshes/table/table.xml",
|
| 7 |
+
"position": [
|
| 8 |
+
-1.0008129043164585e-10,
|
| 9 |
+
-2.443747755477803e-10,
|
| 10 |
+
-8.944554364370897e-07
|
| 11 |
+
],
|
| 12 |
+
"orientation": [
|
| 13 |
+
0.9999999999999984,
|
| 14 |
+
-2.7681256852547364e-08,
|
| 15 |
+
-2.3903138383592965e-08,
|
| 16 |
+
-4.310372209411729e-11
|
| 17 |
+
],
|
| 18 |
+
"class": "Table",
|
| 19 |
+
"materials": [
|
| 20 |
+
"wood2"
|
| 21 |
+
]
|
| 22 |
+
},
|
| 23 |
+
{
|
| 24 |
+
"name": "flask",
|
| 25 |
+
"xml_path": "obj/meshes/tube/flask/flask.xml",
|
| 26 |
+
"position": [
|
| 27 |
+
0.19455257028031267,
|
| 28 |
+
0.11575933628876814,
|
| 29 |
+
0.7616099141693135
|
| 30 |
+
],
|
| 31 |
+
"orientation": [
|
| 32 |
+
0.9976075410649127,
|
| 33 |
+
-0.00033742551910692116,
|
| 34 |
+
2.8825339209318707e-05,
|
| 35 |
+
-0.0691308854531625
|
| 36 |
+
],
|
| 37 |
+
"class": "CommonContainer"
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"name": "chemistry_tube_stand",
|
| 41 |
+
"xml_path": "obj/meshes/tube/tube_container/tube_stand.xml",
|
| 42 |
+
"position": [
|
| 43 |
+
-0.2570991272346584,
|
| 44 |
+
0.11626194737373051,
|
| 45 |
+
0.7599986048903914
|
| 46 |
+
],
|
| 47 |
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"orientation": [
|
| 48 |
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0.999999999933346,
|
| 49 |
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-3.523948313243889e-08,
|
| 50 |
+
-2.7064249596501834e-08,
|
| 51 |
+
1.154582300994464e-05
|
| 52 |
+
],
|
| 53 |
+
"class": "TubeStand"
|
| 54 |
+
},
|
| 55 |
+
{
|
| 56 |
+
"name": "HCl",
|
| 57 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 58 |
+
"position": [
|
| 59 |
+
-0.09319109107444581,
|
| 60 |
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0.1649789874396284,
|
| 61 |
+
0.7593177815762217
|
| 62 |
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],
|
| 63 |
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"orientation": [
|
| 64 |
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0.9970671884982235,
|
| 65 |
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-0.003634553436987233,
|
| 66 |
+
-0.008820229090450951,
|
| 67 |
+
-0.07593428211521162
|
| 68 |
+
],
|
| 69 |
+
"class": "ChemistryTube",
|
| 70 |
+
"solution": "HCl"
|
| 71 |
+
},
|
| 72 |
+
{
|
| 73 |
+
"name": "HCl_tag",
|
| 74 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 75 |
+
"position": [
|
| 76 |
+
-0.09710144185484951,
|
| 77 |
+
0.21626564905826645,
|
| 78 |
+
0.8599986065028615
|
| 79 |
+
],
|
| 80 |
+
"orientation": [
|
| 81 |
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0.999999999933346,
|
| 82 |
+
-3.523948313243889e-08,
|
| 83 |
+
-2.7064249596501834e-08,
|
| 84 |
+
1.154582300994464e-05
|
| 85 |
+
],
|
| 86 |
+
"class": "NameTag",
|
| 87 |
+
"content": "HCl"
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"name": "NaOH",
|
| 91 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 92 |
+
"position": [
|
| 93 |
+
-0.3351878260684753,
|
| 94 |
+
0.06617847606286267,
|
| 95 |
+
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|
| 96 |
+
],
|
| 97 |
+
"orientation": [
|
| 98 |
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|
| 99 |
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0.00212650404102176,
|
| 100 |
+
-0.044440949950289146,
|
| 101 |
+
-0.053362409739736494
|
| 102 |
+
],
|
| 103 |
+
"class": "ChemistryTube",
|
| 104 |
+
"solution": "NaOH"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"name": "NaOH_tag",
|
| 108 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 109 |
+
"position": [
|
| 110 |
+
-0.33709913262626057,
|
| 111 |
+
0.11626010708988302,
|
| 112 |
+
0.8599986005601762
|
| 113 |
+
],
|
| 114 |
+
"orientation": [
|
| 115 |
+
0.999999999933346,
|
| 116 |
+
-3.523948313243889e-08,
|
| 117 |
+
-2.7064249596501834e-08,
|
| 118 |
+
1.154582300994464e-05
|
| 119 |
+
],
|
| 120 |
+
"class": "NameTag",
|
| 121 |
+
"content": "NaOH"
|
| 122 |
+
},
|
| 123 |
+
{
|
| 124 |
+
"name": "Pb(NO3)2",
|
| 125 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 126 |
+
"position": [
|
| 127 |
+
-0.2567380022050591,
|
| 128 |
+
0.06645808150509291,
|
| 129 |
+
0.7594122989391017
|
| 130 |
+
],
|
| 131 |
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"orientation": [
|
| 132 |
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0.9943170315779432,
|
| 133 |
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0.0021381451248848144,
|
| 134 |
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-0.016242540752854338,
|
| 135 |
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-0.10519148691479546
|
| 136 |
+
],
|
| 137 |
+
"class": "ChemistryTube",
|
| 138 |
+
"solution": "Pb(NO3)2"
|
| 139 |
+
},
|
| 140 |
+
{
|
| 141 |
+
"name": "Pb(NO3)2_tag",
|
| 142 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 143 |
+
"position": [
|
| 144 |
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-0.25709913264758966,
|
| 145 |
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0.11626195442156464,
|
| 146 |
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0.859998604890391
|
| 147 |
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],
|
| 148 |
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"orientation": [
|
| 149 |
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0.999999999933346,
|
| 150 |
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-3.523948313243889e-08,
|
| 151 |
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-2.7064249596501834e-08,
|
| 152 |
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1.154582300994464e-05
|
| 153 |
+
],
|
| 154 |
+
"class": "NameTag",
|
| 155 |
+
"content": "Pb(NO3)2"
|
| 156 |
+
},
|
| 157 |
+
{
|
| 158 |
+
"name": "BaCl2",
|
| 159 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 160 |
+
"position": [
|
| 161 |
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-0.17709362067787346,
|
| 162 |
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0.06625977569405923,
|
| 163 |
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|
| 164 |
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],
|
| 165 |
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"orientation": [
|
| 166 |
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|
| 167 |
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|
| 168 |
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0.0026310587913746823,
|
| 169 |
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0.00016724130916442973
|
| 170 |
+
],
|
| 171 |
+
"class": "ChemistryTube",
|
| 172 |
+
"solution": "BaCl2"
|
| 173 |
+
},
|
| 174 |
+
{
|
| 175 |
+
"name": "BaCl2_tag",
|
| 176 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 177 |
+
"position": [
|
| 178 |
+
-0.17709913266891877,
|
| 179 |
+
0.11626380175324626,
|
| 180 |
+
0.8599986092206058
|
| 181 |
+
],
|
| 182 |
+
"orientation": [
|
| 183 |
+
0.999999999933346,
|
| 184 |
+
-3.523948313243889e-08,
|
| 185 |
+
-2.7064249596501834e-08,
|
| 186 |
+
1.154582300994464e-05
|
| 187 |
+
],
|
| 188 |
+
"class": "NameTag",
|
| 189 |
+
"content": "BaCl2"
|
| 190 |
+
}
|
| 191 |
+
],
|
| 192 |
+
"scene": {
|
| 193 |
+
"name": "lab_1",
|
| 194 |
+
"position": [
|
| 195 |
+
2.0,
|
| 196 |
+
2.0,
|
| 197 |
+
0.0
|
| 198 |
+
],
|
| 199 |
+
"orientation": [
|
| 200 |
+
1.0,
|
| 201 |
+
0.0,
|
| 202 |
+
0.0,
|
| 203 |
+
0.0
|
| 204 |
+
],
|
| 205 |
+
"floor_textures": [
|
| 206 |
+
"floorplane"
|
| 207 |
+
]
|
| 208 |
+
},
|
| 209 |
+
"instructions": [
|
| 210 |
+
"Neutralize with HCl solution and NaOH solution, producing NaCl and H2O."
|
| 211 |
+
],
|
| 212 |
+
"conditions": {
|
| 213 |
+
"substep_satisfy": [
|
| 214 |
+
{
|
| 215 |
+
"pour": {
|
| 216 |
+
"target_entity": "HCl"
|
| 217 |
+
}
|
| 218 |
+
},
|
| 219 |
+
{
|
| 220 |
+
"above": {
|
| 221 |
+
"target_entity": "HCl",
|
| 222 |
+
"platform": "flask"
|
| 223 |
+
}
|
| 224 |
+
},
|
| 225 |
+
{
|
| 226 |
+
"pour": {
|
| 227 |
+
"target_entity": "NaOH"
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
{
|
| 231 |
+
"above": {
|
| 232 |
+
"target_entity": "NaOH",
|
| 233 |
+
"platform": "flask"
|
| 234 |
+
}
|
| 235 |
+
}
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
}
|
| 239 |
+
}
|
Complex/take_chemistry_experiment/example60/input/input.png
ADDED
|
Git LFS Details
|
Complex/take_chemistry_experiment/example60/input/input_mask.png
ADDED
|
Git LFS Details
|
Complex/take_chemistry_experiment/example60/input/instruction.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
In preparation for the upcoming titration experiment in the chemistry lab, your task, robotic arm, is to accurately measure and combine HCl solution with NaOH solution to execute a neutralization reaction that produces NaCl and H2O. This precise mixture is essential for the experiment’s success. Could you please handle the solutions with care and ensure the correct proportions are used?'
|
Complex/take_chemistry_experiment/example60/output/operation_sequence.json
ADDED
|
@@ -0,0 +1,58 @@
|
|
|
|
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|
|
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|
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|
|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"skill_sequence": [
|
| 3 |
+
{
|
| 4 |
+
"name": "pick",
|
| 5 |
+
"params": {
|
| 6 |
+
"target_entity_name": 3
|
| 7 |
+
}
|
| 8 |
+
},
|
| 9 |
+
{
|
| 10 |
+
"name": "pour",
|
| 11 |
+
"params": {
|
| 12 |
+
"target_container_name": 1
|
| 13 |
+
}
|
| 14 |
+
},
|
| 15 |
+
{
|
| 16 |
+
"name": "place",
|
| 17 |
+
"params": {
|
| 18 |
+
"target_container_name": 0
|
| 19 |
+
}
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"name": "pick",
|
| 23 |
+
"params": {
|
| 24 |
+
"target_entity_name": 5
|
| 25 |
+
}
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"name": "pour",
|
| 29 |
+
"params": {
|
| 30 |
+
"target_container_name": 1
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"name": "place",
|
| 35 |
+
"params": {
|
| 36 |
+
"target_container_name": 0
|
| 37 |
+
}
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"name": "pick",
|
| 41 |
+
"params": {
|
| 42 |
+
"target_entity_name": 5
|
| 43 |
+
}
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"name": "pour",
|
| 47 |
+
"params": {
|
| 48 |
+
"target_container_name": 1
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"name": "place",
|
| 53 |
+
"params": {
|
| 54 |
+
"target_container_name": 0
|
| 55 |
+
}
|
| 56 |
+
}
|
| 57 |
+
]
|
| 58 |
+
}
|
Complex/take_chemistry_experiment/example61/env_config/env_config.json
ADDED
|
@@ -0,0 +1,273 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
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|
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|
|
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|
|
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|
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|
|
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|
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|
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|
|
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|
|
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|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
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|
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|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
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|
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|
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|
|
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|
|
|
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|
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|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": {
|
| 3 |
+
"components": [
|
| 4 |
+
{
|
| 5 |
+
"name": "table",
|
| 6 |
+
"xml_path": "obj/meshes/table/table.xml",
|
| 7 |
+
"position": [
|
| 8 |
+
-3.0418828723989345e-10,
|
| 9 |
+
-2.0229689267705514e-10,
|
| 10 |
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-8.947315548292157e-07
|
| 11 |
+
],
|
| 12 |
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"orientation": [
|
| 13 |
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0.9999999999999991,
|
| 14 |
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|
| 15 |
+
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|
| 16 |
+
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|
| 17 |
+
],
|
| 18 |
+
"class": "Table",
|
| 19 |
+
"materials": [
|
| 20 |
+
"stone4"
|
| 21 |
+
]
|
| 22 |
+
},
|
| 23 |
+
{
|
| 24 |
+
"name": "flask",
|
| 25 |
+
"xml_path": "obj/meshes/tube/flask/flask.xml",
|
| 26 |
+
"position": [
|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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],
|
| 31 |
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"orientation": [
|
| 32 |
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|
| 33 |
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|
| 34 |
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1.2462521669111363e-05,
|
| 35 |
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-0.02004398597944768
|
| 36 |
+
],
|
| 37 |
+
"class": "CommonContainer"
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"name": "chemistry_tube_stand",
|
| 41 |
+
"xml_path": "obj/meshes/tube/tube_container/tube_stand.xml",
|
| 42 |
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"position": [
|
| 43 |
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-0.26618471797795457,
|
| 44 |
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|
| 45 |
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|
| 46 |
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],
|
| 47 |
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"orientation": [
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| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
+
-8.3816955685087e-07
|
| 52 |
+
],
|
| 53 |
+
"class": "TubeStand"
|
| 54 |
+
},
|
| 55 |
+
{
|
| 56 |
+
"name": "HCl",
|
| 57 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 58 |
+
"position": [
|
| 59 |
+
-0.3442361829257766,
|
| 60 |
+
0.08497304937873784,
|
| 61 |
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0.7594134316999729
|
| 62 |
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],
|
| 63 |
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"orientation": [
|
| 64 |
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0.9974118317267743,
|
| 65 |
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0.0018153494444040593,
|
| 66 |
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-0.043740851232383575,
|
| 67 |
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-0.057035781499884704
|
| 68 |
+
],
|
| 69 |
+
"class": "ChemistryTube",
|
| 70 |
+
"solution": "HCl"
|
| 71 |
+
},
|
| 72 |
+
{
|
| 73 |
+
"name": "HCl_tag",
|
| 74 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 75 |
+
"position": [
|
| 76 |
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-0.346184721301936,
|
| 77 |
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|
| 78 |
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|
| 79 |
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],
|
| 80 |
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"orientation": [
|
| 81 |
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0.9999999999996475,
|
| 82 |
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-4.9998481563659954e-08,
|
| 83 |
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-1.662051098434072e-08,
|
| 84 |
+
-8.3816955685087e-07
|
| 85 |
+
],
|
| 86 |
+
"class": "NameTag",
|
| 87 |
+
"content": "HCl"
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"name": "NaOH",
|
| 91 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 92 |
+
"position": [
|
| 93 |
+
-0.4337099450643126,
|
| 94 |
+
0.18442858570029996,
|
| 95 |
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|
| 96 |
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],
|
| 97 |
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"orientation": [
|
| 98 |
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0.999740407781506,
|
| 99 |
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-0.005911274165873942,
|
| 100 |
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0.0007259713637928103,
|
| 101 |
+
-0.021991972448638614
|
| 102 |
+
],
|
| 103 |
+
"class": "ChemistryTube",
|
| 104 |
+
"solution": "NaOH"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"name": "NaOH_tag",
|
| 108 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 109 |
+
"position": [
|
| 110 |
+
-0.426184553667912,
|
| 111 |
+
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|
| 112 |
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0.8599985884800397
|
| 113 |
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],
|
| 114 |
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"orientation": [
|
| 115 |
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0.9999999999996475,
|
| 116 |
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-4.9998481563659954e-08,
|
| 117 |
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-1.662051098434072e-08,
|
| 118 |
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-8.3816955685087e-07
|
| 119 |
+
],
|
| 120 |
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"class": "NameTag",
|
| 121 |
+
"content": "NaOH"
|
| 122 |
+
},
|
| 123 |
+
{
|
| 124 |
+
"name": "AgNO3",
|
| 125 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 126 |
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"position": [
|
| 127 |
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-0.18619162152783508,
|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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"orientation": [
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| 132 |
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| 133 |
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| 135 |
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|
| 136 |
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],
|
| 137 |
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"class": "ChemistryTube",
|
| 138 |
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"solution": "AgNO3"
|
| 139 |
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},
|
| 140 |
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{
|
| 141 |
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"name": "AgNO3_tag",
|
| 142 |
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|
| 143 |
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| 144 |
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| 145 |
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| 151 |
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| 152 |
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|
| 153 |
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| 154 |
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"class": "NameTag",
|
| 155 |
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"content": "AgNO3"
|
| 156 |
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|
| 157 |
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{
|
| 158 |
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"name": "CuSO4",
|
| 159 |
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"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 160 |
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|
| 161 |
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| 162 |
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| 170 |
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|
| 171 |
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"class": "ChemistryTube",
|
| 172 |
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"solution": "CuSO4"
|
| 173 |
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},
|
| 174 |
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{
|
| 175 |
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"name": "CuSO4_tag",
|
| 176 |
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"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 177 |
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|
| 178 |
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| 179 |
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| 183 |
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| 185 |
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| 186 |
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|
| 187 |
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],
|
| 188 |
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|
| 189 |
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"content": "CuSO4"
|
| 190 |
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|
| 191 |
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{
|
| 192 |
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"name": "FeCl3",
|
| 193 |
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"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 194 |
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| 195 |
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| 196 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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},
|
| 208 |
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{
|
| 209 |
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"name": "FeCl3_tag",
|
| 210 |
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"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 216 |
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| 217 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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],
|
| 222 |
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"class": "NameTag",
|
| 223 |
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"content": "FeCl3"
|
| 224 |
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}
|
| 225 |
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],
|
| 226 |
+
"scene": {
|
| 227 |
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"name": "lab_1",
|
| 228 |
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"position": [
|
| 229 |
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2.0,
|
| 230 |
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2.0,
|
| 231 |
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0.0
|
| 232 |
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],
|
| 233 |
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"orientation": [
|
| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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0.0
|
| 238 |
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],
|
| 239 |
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"floor_textures": [
|
| 240 |
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"floorplane"
|
| 241 |
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]
|
| 242 |
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},
|
| 243 |
+
"instructions": [
|
| 244 |
+
"Neutralize with HCl solution and NaOH solution, producing NaCl and H2O."
|
| 245 |
+
],
|
| 246 |
+
"conditions": {
|
| 247 |
+
"substep_satisfy": [
|
| 248 |
+
{
|
| 249 |
+
"pour": {
|
| 250 |
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"target_entity": "HCl"
|
| 251 |
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}
|
| 252 |
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},
|
| 253 |
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{
|
| 254 |
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"above": {
|
| 255 |
+
"target_entity": "HCl",
|
| 256 |
+
"platform": "flask"
|
| 257 |
+
}
|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"pour": {
|
| 261 |
+
"target_entity": "NaOH"
|
| 262 |
+
}
|
| 263 |
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},
|
| 264 |
+
{
|
| 265 |
+
"above": {
|
| 266 |
+
"target_entity": "NaOH",
|
| 267 |
+
"platform": "flask"
|
| 268 |
+
}
|
| 269 |
+
}
|
| 270 |
+
]
|
| 271 |
+
}
|
| 272 |
+
}
|
| 273 |
+
}
|
Complex/take_chemistry_experiment/example61/input/input.png
ADDED
|
Git LFS Details
|
Complex/take_chemistry_experiment/example61/input/input_mask.png
ADDED
|
Git LFS Details
|
Complex/take_chemistry_experiment/example61/input/instruction.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
In order to carry out an acid-base titration experiment for a chemistry lab practice, can you assist by precisely adding HCl solution to a NaOH solution until neutralization is achieved, resulting in the formation of NaCl and H2O?'
|
Complex/take_chemistry_experiment/example61/output/operation_sequence.json
ADDED
|
@@ -0,0 +1,58 @@
|
|
|
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|
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|
|
|
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|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"skill_sequence": [
|
| 3 |
+
{
|
| 4 |
+
"name": "pick",
|
| 5 |
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"params": {
|
| 6 |
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"target_entity_name": 3
|
| 7 |
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}
|
| 8 |
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},
|
| 9 |
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{
|
| 10 |
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"name": "pour",
|
| 11 |
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"params": {
|
| 12 |
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"target_container_name": 1
|
| 13 |
+
}
|
| 14 |
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},
|
| 15 |
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{
|
| 16 |
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"name": "place",
|
| 17 |
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"params": {
|
| 18 |
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"target_container_name": 0
|
| 19 |
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}
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"name": "pick",
|
| 23 |
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"params": {
|
| 24 |
+
"target_entity_name": 5
|
| 25 |
+
}
|
| 26 |
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},
|
| 27 |
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{
|
| 28 |
+
"name": "pour",
|
| 29 |
+
"params": {
|
| 30 |
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"target_container_name": 1
|
| 31 |
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}
|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
+
"name": "place",
|
| 35 |
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"params": {
|
| 36 |
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"target_container_name": 0
|
| 37 |
+
}
|
| 38 |
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},
|
| 39 |
+
{
|
| 40 |
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"name": "pick",
|
| 41 |
+
"params": {
|
| 42 |
+
"target_entity_name": 5
|
| 43 |
+
}
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"name": "pour",
|
| 47 |
+
"params": {
|
| 48 |
+
"target_container_name": 1
|
| 49 |
+
}
|
| 50 |
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},
|
| 51 |
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{
|
| 52 |
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"name": "place",
|
| 53 |
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"params": {
|
| 54 |
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"target_container_name": 0
|
| 55 |
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}
|
| 56 |
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}
|
| 57 |
+
]
|
| 58 |
+
}
|
Complex/take_chemistry_experiment/example62/env_config/env_config.json
ADDED
|
@@ -0,0 +1,239 @@
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
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|
|
|
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|
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|
|
|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
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|
|
|
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|
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|
|
|
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|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
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|
|
|
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|
|
|
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|
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|
|
|
|
|
|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
|
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|
|
|
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|
|
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|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": {
|
| 3 |
+
"components": [
|
| 4 |
+
{
|
| 5 |
+
"name": "table",
|
| 6 |
+
"xml_path": "obj/meshes/table/table.xml",
|
| 7 |
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"position": [
|
| 8 |
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|
| 9 |
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|
| 10 |
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| 11 |
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],
|
| 12 |
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"orientation": [
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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],
|
| 18 |
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"class": "Table",
|
| 19 |
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"materials": [
|
| 20 |
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"wood2"
|
| 21 |
+
]
|
| 22 |
+
},
|
| 23 |
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{
|
| 24 |
+
"name": "flask",
|
| 25 |
+
"xml_path": "obj/meshes/tube/flask/flask.xml",
|
| 26 |
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"position": [
|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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],
|
| 31 |
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"orientation": [
|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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],
|
| 37 |
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"class": "CommonContainer"
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"name": "chemistry_tube_stand",
|
| 41 |
+
"xml_path": "obj/meshes/tube/tube_container/tube_stand.xml",
|
| 42 |
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"position": [
|
| 43 |
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|
| 44 |
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|
| 45 |
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| 46 |
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],
|
| 47 |
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"orientation": [
|
| 48 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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"class": "TubeStand"
|
| 54 |
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},
|
| 55 |
+
{
|
| 56 |
+
"name": "Na2CO3",
|
| 57 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 58 |
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"position": [
|
| 59 |
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|
| 60 |
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|
| 61 |
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| 62 |
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],
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| 63 |
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"orientation": [
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| 64 |
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| 65 |
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| 66 |
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|
| 67 |
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|
| 68 |
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],
|
| 69 |
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"class": "ChemistryTube",
|
| 70 |
+
"solution": "Na2CO3"
|
| 71 |
+
},
|
| 72 |
+
{
|
| 73 |
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"name": "Na2CO3_tag",
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|
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|
| 208 |
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|
| 209 |
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|
| 210 |
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"Neutralize with Na2CO3 solution and HCl solution, producing NaCl and CO2 gas."
|
| 211 |
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],
|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
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|
| 217 |
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|
| 218 |
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| 219 |
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{
|
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| 223 |
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|
| 224 |
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},
|
| 225 |
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{
|
| 226 |
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| 227 |
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| 228 |
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}
|
| 229 |
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},
|
| 230 |
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{
|
| 231 |
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| 232 |
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|
| 233 |
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|
| 234 |
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}
|
| 235 |
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}
|
| 236 |
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]
|
| 237 |
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}
|
| 238 |
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}
|
| 239 |
+
}
|
Complex/take_chemistry_experiment/example62/input/input.png
ADDED
|
Git LFS Details
|
Complex/take_chemistry_experiment/example62/input/input_mask.png
ADDED
|
Git LFS Details
|
Complex/take_chemistry_experiment/example62/input/instruction.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
In preparation for the upcoming chemistry demonstration, your task is to automate the experiment where we neutralize Na2CO3 solution with HCl solution, resulting in the formation of NaCl and CO2 gas. Could you please fetch and accurately dispense the required solutions into the reaction vessel to initiate and complete this reaction effectively?'
|