├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── ablations ├── binary_output_gripper.py ├── collisions_phrase.py ├── collisions_section.py ├── define_annotate_functions.py ├── generation_execution_step_by_step.py ├── lower_gripper.py ├── number_trajectory_variable.py ├── numbers_output_trajectory.py ├── object_approach.py ├── object_part.py ├── section_headings.py ├── trajectory_chaining.py ├── trajectory_shape.py └── trajectory_step_by_step.py ├── api.py ├── assets ├── drop_ball_into_cup.png ├── move_banana_near_pear.png ├── move_lonely_object.png ├── pick_middle_fruit.png ├── pick_rightmost_can.png ├── place_apple_in_bowl.png ├── push_can_right.png ├── shake_mustard_bottle.png └── tasks.png ├── config.py ├── env.py ├── franka_robot ├── LICENSE.txt ├── meshes │ ├── collision │ │ ├── finger.obj │ │ ├── hand.obj │ │ ├── link0.obj │ │ ├── link1.obj │ │ ├── link2.obj │ │ ├── link3.obj │ │ ├── link4.obj │ │ ├── link5.obj │ │ ├── link6.mtl │ │ ├── link6.obj │ │ └── link7.obj │ └── visual │ │ ├── colors.png │ │ ├── finger.mtl │ │ ├── finger.obj │ │ ├── hand.mtl │ │ ├── hand.obj │ │ ├── link1.mtl │ │ ├── link1.obj │ │ ├── link2.mtl │ │ ├── link2.obj │ │ ├── link3.mtl │ │ ├── link3.obj │ │ ├── link4.mtl │ │ ├── link4.obj │ │ ├── link5.mtl │ │ ├── link5.obj │ │ ├── link6.mtl │ │ ├── link6.obj │ │ └── visualShapeBench.json_0.json └── panda.urdf ├── main.py ├── models.py ├── outputs ├── align_bottle_vertically.txt ├── draw_star.txt ├── knock_left_bottle.txt ├── move_lonely_object.txt ├── place_apple_in_bowl.txt ├── push_can_right.txt └── shake_mustard_bottle.txt ├── prompts ├── PROMPTS.md ├── error_correction_prompt.py ├── main_prompt.py ├── print_output_prompt.py ├── success_detection_prompt.py ├── task_failure_prompt.py └── task_summary_prompt.py ├── requirements.txt ├── robot.py ├── sawyer_robot ├── LICENSE ├── package.xml └── sawyer_description │ ├── meshes │ ├── sawyer_mp1 │ │ ├── l6.DAE │ │ └── l6.STL │ ├── sawyer_mp3 │ │ ├── l0.DAE │ │ ├── l0.STL │ │ ├── l1.DAE │ │ └── l1.STL │ └── sawyer_pv │ │ ├── base.DAE │ │ ├── base.STL │ │ ├── head.DAE │ │ ├── head.STL │ │ ├── l0.DAE │ │ ├── l0.STL │ │ ├── l1.DAE │ │ ├── l1.STL │ │ ├── l2.DAE │ │ ├── l2.STL │ │ ├── l3.DAE │ │ ├── l3.STL │ │ ├── l4.DAE │ │ ├── l4.STL │ │ ├── l5.DAE │ │ ├── l5.STL │ │ ├── l6.DAE │ │ ├── l6.STL │ │ ├── pedestal.DAE │ │ └── pedestal.STL │ └── urdf │ └── sawyer.urdf ├── utils.py └── ycb_assets ├── 002_master_chef_can.urdf ├── 002_master_chef_can └── google_16k │ ├── kinbody.xml │ ├── nontextured.ply │ ├── nontextured.stl │ ├── texture_map.png │ ├── textured.dae │ ├── textured.mtl │ ├── textured.obj │ └── textured_vhacd.obj ├── 003_cracker_box.urdf ├── 003_cracker_box └── google_16k │ ├── kinbody.xml │ ├── nontextured.ply │ ├── nontextured.stl │ ├── texture_map.png │ ├── textured.dae │ ├── textured.mtl │ ├── textured.obj │ └── textured_vhacd.obj ├── 004_sugar_box.urdf ├── 004_sugar_box └── google_16k │ ├── kinbody.xml │ ├── nontextured.ply │ ├── nontextured.stl │ ├── texture_map.png │ ├── textured.dae │ ├── textured.mtl │ ├── textured.obj │ └── textured_vhacd.obj ├── 005_tomato_soup_can.urdf ├── 005_tomato_soup_can └── google_16k │ ├── kinbody.xml │ ├── nontextured.ply │ ├── nontextured.stl │ ├── texture_map.png │ ├── textured.dae │ ├── textured.mtl │ ├── textured.obj │ └── textured_vhacd.obj ├── 006_mustard_bottle.urdf └── 006_mustard_bottle └── google_16k ├── kinbody.xml ├── nontextured.ply ├── nontextured.stl ├── texture_map.png ├── textured.dae ├── textured.mtl ├── textured.obj └── textured_vhacd.obj /.gitignore: -------------------------------------------------------------------------------- 1 | __pycache__/ 2 | images/ 3 | .DS_Store 4 | 0_VRDemoSettings.txt 5 | -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/johanndiep/language-models-trajectory-generators/HEAD/.gitmodules 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