Upload folder using huggingface_hub (part 15)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- M&T/select_chemistry_tube/example53/output/operation_sequence.json +14 -0
- M&T/select_chemistry_tube/example54/env_config/env_config.json +171 -0
- M&T/select_chemistry_tube/example54/input/input.png +3 -0
- M&T/select_chemistry_tube/example54/input/input_mask.png +3 -0
- M&T/select_chemistry_tube/example54/input/instruction.txt +1 -0
- M&T/select_chemistry_tube/example54/output/operation_sequence.json +14 -0
- M&T/select_chemistry_tube/example55/env_config/env_config.json +137 -0
- M&T/select_chemistry_tube/example55/input/input.png +3 -0
- M&T/select_chemistry_tube/example55/input/input_mask.png +3 -0
- M&T/select_chemistry_tube/example55/input/instruction.txt +1 -0
- M&T/select_chemistry_tube/example55/output/operation_sequence.json +14 -0
- M&T/select_chemistry_tube/example56/env_config/env_config.json +171 -0
- M&T/select_chemistry_tube/example56/input/input.png +3 -0
- M&T/select_chemistry_tube/example56/input/input_mask.png +3 -0
- M&T/select_chemistry_tube/example56/input/instruction.txt +1 -0
- M&T/select_chemistry_tube/example56/output/operation_sequence.json +14 -0
- M&T/select_chemistry_tube/example57/env_config/env_config.json +171 -0
- M&T/select_chemistry_tube/example57/input/input.png +3 -0
- M&T/select_chemistry_tube/example57/input/input_mask.png +3 -0
- M&T/select_chemistry_tube/example57/input/instruction.txt +1 -0
- M&T/select_chemistry_tube/example57/output/operation_sequence.json +14 -0
- M&T/select_chemistry_tube/example58/env_config/env_config.json +137 -0
- M&T/select_chemistry_tube/example58/input/input.png +3 -0
- M&T/select_chemistry_tube/example58/input/input_mask.png +3 -0
- M&T/select_chemistry_tube/example58/input/instruction.txt +1 -0
- M&T/select_chemistry_tube/example58/output/operation_sequence.json +14 -0
- M&T/select_chemistry_tube/example59/env_config/env_config.json +137 -0
- M&T/select_chemistry_tube/example59/input/input.png +3 -0
- M&T/select_chemistry_tube/example59/input/input_mask.png +3 -0
- M&T/select_chemistry_tube/example59/input/instruction.txt +1 -0
- M&T/select_chemistry_tube/example59/output/operation_sequence.json +14 -0
- M&T/select_chemistry_tube/example6/env_config/env_config.json +171 -0
- M&T/select_chemistry_tube/example6/input/input.png +3 -0
- M&T/select_chemistry_tube/example6/input/input_mask.png +3 -0
- M&T/select_chemistry_tube/example6/input/instruction.txt +1 -0
- M&T/select_chemistry_tube/example6/output/operation_sequence.json +14 -0
- M&T/select_chemistry_tube/example60/env_config/env_config.json +137 -0
- M&T/select_chemistry_tube/example60/input/input.png +3 -0
- M&T/select_chemistry_tube/example60/input/input_mask.png +3 -0
- M&T/select_chemistry_tube/example60/input/instruction.txt +1 -0
- M&T/select_chemistry_tube/example60/output/operation_sequence.json +14 -0
- M&T/select_chemistry_tube/example61/env_config/env_config.json +171 -0
- M&T/select_chemistry_tube/example61/input/input.png +3 -0
- M&T/select_chemistry_tube/example61/input/input_mask.png +3 -0
- M&T/select_chemistry_tube/example61/input/instruction.txt +1 -0
- M&T/select_chemistry_tube/example61/output/operation_sequence.json +14 -0
- M&T/select_chemistry_tube/example62/env_config/env_config.json +137 -0
- M&T/select_chemistry_tube/example62/input/input.png +3 -0
- M&T/select_chemistry_tube/example62/input/input_mask.png +3 -0
- M&T/select_chemistry_tube/example62/input/instruction.txt +1 -0
M&T/select_chemistry_tube/example53/output/operation_sequence.json
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"skill_sequence": [
|
| 3 |
+
{
|
| 4 |
+
"name": "pick",
|
| 5 |
+
"params": {
|
| 6 |
+
"target_entity_name": 2
|
| 7 |
+
}
|
| 8 |
+
},
|
| 9 |
+
{
|
| 10 |
+
"name": "lift",
|
| 11 |
+
"params": {}
|
| 12 |
+
}
|
| 13 |
+
]
|
| 14 |
+
}
|
M&T/select_chemistry_tube/example54/env_config/env_config.json
ADDED
|
@@ -0,0 +1,171 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": {
|
| 3 |
+
"components": [
|
| 4 |
+
{
|
| 5 |
+
"name": "table",
|
| 6 |
+
"xml_path": "obj/meshes/table/table.xml",
|
| 7 |
+
"position": [
|
| 8 |
+
1.176869085739654e-10,
|
| 9 |
+
-3.1279395141971975e-11,
|
| 10 |
+
-8.472457072765578e-07
|
| 11 |
+
],
|
| 12 |
+
"orientation": [
|
| 13 |
+
0.9999999999999997,
|
| 14 |
+
-1.0518443219216308e-08,
|
| 15 |
+
-2.4953718720340683e-08,
|
| 16 |
+
-6.080801033395075e-12
|
| 17 |
+
],
|
| 18 |
+
"class": "Table",
|
| 19 |
+
"materials": [
|
| 20 |
+
"stone0"
|
| 21 |
+
]
|
| 22 |
+
},
|
| 23 |
+
{
|
| 24 |
+
"name": "chemistry_tube_stand",
|
| 25 |
+
"xml_path": "obj/meshes/tube/tube_container/tube_stand.xml",
|
| 26 |
+
"position": [
|
| 27 |
+
-0.1615992204174359,
|
| 28 |
+
0.0681721412185661,
|
| 29 |
+
0.7599988354255806
|
| 30 |
+
],
|
| 31 |
+
"orientation": [
|
| 32 |
+
0.9999999999999989,
|
| 33 |
+
-8.66832248141112e-09,
|
| 34 |
+
-2.4908454892736125e-08,
|
| 35 |
+
5.492660760298723e-10
|
| 36 |
+
],
|
| 37 |
+
"class": "TubeStand"
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"name": "FeCl3",
|
| 41 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 42 |
+
"position": [
|
| 43 |
+
-0.23952215180329095,
|
| 44 |
+
0.11810862207111684,
|
| 45 |
+
0.7591807317272337
|
| 46 |
+
],
|
| 47 |
+
"orientation": [
|
| 48 |
+
0.998385669283225,
|
| 49 |
+
0.0007820285150655529,
|
| 50 |
+
-0.05091990245219427,
|
| 51 |
+
-0.02515168653487562
|
| 52 |
+
],
|
| 53 |
+
"class": "ChemistryTube",
|
| 54 |
+
"solution": "FeCl3"
|
| 55 |
+
},
|
| 56 |
+
{
|
| 57 |
+
"name": "FeCl3_tag",
|
| 58 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 59 |
+
"position": [
|
| 60 |
+
-0.24159922550897983,
|
| 61 |
+
0.16817214286434784,
|
| 62 |
+
0.8599988297065629
|
| 63 |
+
],
|
| 64 |
+
"orientation": [
|
| 65 |
+
0.9999999999999989,
|
| 66 |
+
-8.66832248141112e-09,
|
| 67 |
+
-2.4908454892736125e-08,
|
| 68 |
+
5.492660760298723e-10
|
| 69 |
+
],
|
| 70 |
+
"class": "NameTag",
|
| 71 |
+
"content": "FeCl3"
|
| 72 |
+
},
|
| 73 |
+
{
|
| 74 |
+
"name": "CuCl2",
|
| 75 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 76 |
+
"position": [
|
| 77 |
+
-0.08160108795245696,
|
| 78 |
+
0.018170604372733372,
|
| 79 |
+
0.759215882267355
|
| 80 |
+
],
|
| 81 |
+
"orientation": [
|
| 82 |
+
0.9999995199423402,
|
| 83 |
+
-0.0006190715004552381,
|
| 84 |
+
0.0007579791030282409,
|
| 85 |
+
4.830368918719257e-05
|
| 86 |
+
],
|
| 87 |
+
"class": "ChemistryTube",
|
| 88 |
+
"solution": "CuCl2"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"name": "CuCl2_tag",
|
| 92 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 93 |
+
"position": [
|
| 94 |
+
-0.0815992253991271,
|
| 95 |
+
0.0681721430401132,
|
| 96 |
+
0.859998839410933
|
| 97 |
+
],
|
| 98 |
+
"orientation": [
|
| 99 |
+
0.9999999999999989,
|
| 100 |
+
-8.66832248141112e-09,
|
| 101 |
+
-2.4908454892736125e-08,
|
| 102 |
+
5.492660760298723e-10
|
| 103 |
+
],
|
| 104 |
+
"class": "NameTag",
|
| 105 |
+
"content": "CuCl2"
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"name": "K2CrO4",
|
| 109 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 110 |
+
"position": [
|
| 111 |
+
-0.16160948019460628,
|
| 112 |
+
0.11839341870516243,
|
| 113 |
+
0.7618524816396249
|
| 114 |
+
],
|
| 115 |
+
"orientation": [
|
| 116 |
+
0.9991520212073652,
|
| 117 |
+
0.0013427163856231206,
|
| 118 |
+
-0.004478520284148652,
|
| 119 |
+
-0.04090694911637755
|
| 120 |
+
],
|
| 121 |
+
"class": "ChemistryTube",
|
| 122 |
+
"solution": "K2CrO4"
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"name": "K2CrO4_tag",
|
| 126 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 127 |
+
"position": [
|
| 128 |
+
-0.16159922550898007,
|
| 129 |
+
0.16817214295223043,
|
| 130 |
+
0.8599988336919158
|
| 131 |
+
],
|
| 132 |
+
"orientation": [
|
| 133 |
+
0.9999999999999989,
|
| 134 |
+
-8.66832248141112e-09,
|
| 135 |
+
-2.4908454892736125e-08,
|
| 136 |
+
5.492660760298723e-10
|
| 137 |
+
],
|
| 138 |
+
"class": "NameTag",
|
| 139 |
+
"content": "K2CrO4"
|
| 140 |
+
}
|
| 141 |
+
],
|
| 142 |
+
"scene": {
|
| 143 |
+
"name": "lab_1",
|
| 144 |
+
"position": [
|
| 145 |
+
6.0,
|
| 146 |
+
2.0,
|
| 147 |
+
0.0
|
| 148 |
+
],
|
| 149 |
+
"orientation": [
|
| 150 |
+
1.0,
|
| 151 |
+
0.0,
|
| 152 |
+
0.0,
|
| 153 |
+
0.0
|
| 154 |
+
],
|
| 155 |
+
"floor_textures": [
|
| 156 |
+
"floorplane"
|
| 157 |
+
]
|
| 158 |
+
},
|
| 159 |
+
"instructions": [
|
| 160 |
+
"Take out the FeCl3 solution"
|
| 161 |
+
],
|
| 162 |
+
"conditions": {
|
| 163 |
+
"not_contain": {
|
| 164 |
+
"container": "chemistry_tube_stand",
|
| 165 |
+
"entities": [
|
| 166 |
+
"FeCl3"
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
}
|
| 171 |
+
}
|
M&T/select_chemistry_tube/example54/input/input.png
ADDED
|
Git LFS Details
|
M&T/select_chemistry_tube/example54/input/input_mask.png
ADDED
|
Git LFS Details
|
M&T/select_chemistry_tube/example54/input/instruction.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Take out the FeCl3 solution
|
M&T/select_chemistry_tube/example54/output/operation_sequence.json
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"skill_sequence": [
|
| 3 |
+
{
|
| 4 |
+
"name": "pick",
|
| 5 |
+
"params": {
|
| 6 |
+
"target_entity_name": 2
|
| 7 |
+
}
|
| 8 |
+
},
|
| 9 |
+
{
|
| 10 |
+
"name": "lift",
|
| 11 |
+
"params": {}
|
| 12 |
+
}
|
| 13 |
+
]
|
| 14 |
+
}
|
M&T/select_chemistry_tube/example55/env_config/env_config.json
ADDED
|
@@ -0,0 +1,137 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": {
|
| 3 |
+
"components": [
|
| 4 |
+
{
|
| 5 |
+
"name": "table",
|
| 6 |
+
"xml_path": "obj/meshes/table/table.xml",
|
| 7 |
+
"position": [
|
| 8 |
+
4.672107270825628e-10,
|
| 9 |
+
7.492802490169385e-11,
|
| 10 |
+
-8.47148612010072e-07
|
| 11 |
+
],
|
| 12 |
+
"orientation": [
|
| 13 |
+
0.9999999999999994,
|
| 14 |
+
-1.7160149613782388e-08,
|
| 15 |
+
4.538245675722763e-09,
|
| 16 |
+
-7.913224591557406e-11
|
| 17 |
+
],
|
| 18 |
+
"class": "Table",
|
| 19 |
+
"materials": [
|
| 20 |
+
"stone2"
|
| 21 |
+
]
|
| 22 |
+
},
|
| 23 |
+
{
|
| 24 |
+
"name": "chemistry_tube_stand",
|
| 25 |
+
"xml_path": "obj/meshes/tube/tube_container/tube_stand.xml",
|
| 26 |
+
"position": [
|
| 27 |
+
0.029751975513096784,
|
| 28 |
+
0.11157994578224274,
|
| 29 |
+
0.759998843503211
|
| 30 |
+
],
|
| 31 |
+
"orientation": [
|
| 32 |
+
0.9999999998583963,
|
| 33 |
+
5.6158521185197596e-08,
|
| 34 |
+
-2.2349934333050457e-08,
|
| 35 |
+
-1.682868363058566e-05
|
| 36 |
+
],
|
| 37 |
+
"class": "TubeStand"
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"name": "KMnO4",
|
| 41 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 42 |
+
"position": [
|
| 43 |
+
-0.1377552086429804,
|
| 44 |
+
0.16095581037721254,
|
| 45 |
+
0.7591074530369184
|
| 46 |
+
],
|
| 47 |
+
"orientation": [
|
| 48 |
+
0.9997489696863341,
|
| 49 |
+
-0.003732098347363622,
|
| 50 |
+
-0.0009620123335931649,
|
| 51 |
+
-0.022071329486671946
|
| 52 |
+
],
|
| 53 |
+
"class": "ChemistryTube",
|
| 54 |
+
"solution": "KMnO4"
|
| 55 |
+
},
|
| 56 |
+
{
|
| 57 |
+
"name": "KMnO4_tag",
|
| 58 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 59 |
+
"position": [
|
| 60 |
+
-0.1302446631297282,
|
| 61 |
+
0.2115853196727337,
|
| 62 |
+
0.8599988475833132
|
| 63 |
+
],
|
| 64 |
+
"orientation": [
|
| 65 |
+
0.9999999998583963,
|
| 66 |
+
5.6158521185197596e-08,
|
| 67 |
+
-2.2349934333050457e-08,
|
| 68 |
+
-1.682868363058566e-05
|
| 69 |
+
],
|
| 70 |
+
"class": "NameTag",
|
| 71 |
+
"content": "KMnO4"
|
| 72 |
+
},
|
| 73 |
+
{
|
| 74 |
+
"name": "CuCl2",
|
| 75 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 76 |
+
"position": [
|
| 77 |
+
0.029636071598639385,
|
| 78 |
+
0.06181641367101217,
|
| 79 |
+
0.7628846269568713
|
| 80 |
+
],
|
| 81 |
+
"orientation": [
|
| 82 |
+
0.9989646721052111,
|
| 83 |
+
0.0014395892144857254,
|
| 84 |
+
-0.004736995037569088,
|
| 85 |
+
-0.0452224761223403
|
| 86 |
+
],
|
| 87 |
+
"class": "ChemistryTube",
|
| 88 |
+
"solution": "CuCl2"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"name": "CuCl2_tag",
|
| 92 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 93 |
+
"position": [
|
| 94 |
+
0.0297519710429209,
|
| 95 |
+
0.11157993455061373,
|
| 96 |
+
0.8599988435032104
|
| 97 |
+
],
|
| 98 |
+
"orientation": [
|
| 99 |
+
0.9999999998583963,
|
| 100 |
+
5.6158521185197596e-08,
|
| 101 |
+
-2.2349934333050457e-08,
|
| 102 |
+
-1.682868363058566e-05
|
| 103 |
+
],
|
| 104 |
+
"class": "NameTag",
|
| 105 |
+
"content": "CuCl2"
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"scene": {
|
| 109 |
+
"name": "lab_1",
|
| 110 |
+
"position": [
|
| 111 |
+
2.0,
|
| 112 |
+
2.0,
|
| 113 |
+
0.0
|
| 114 |
+
],
|
| 115 |
+
"orientation": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0
|
| 120 |
+
],
|
| 121 |
+
"floor_textures": [
|
| 122 |
+
"floorplane"
|
| 123 |
+
]
|
| 124 |
+
},
|
| 125 |
+
"instructions": [
|
| 126 |
+
"Take out the KMnO4 solution"
|
| 127 |
+
],
|
| 128 |
+
"conditions": {
|
| 129 |
+
"not_contain": {
|
| 130 |
+
"container": "chemistry_tube_stand",
|
| 131 |
+
"entities": [
|
| 132 |
+
"KMnO4"
|
| 133 |
+
]
|
| 134 |
+
}
|
| 135 |
+
}
|
| 136 |
+
}
|
| 137 |
+
}
|
M&T/select_chemistry_tube/example55/input/input.png
ADDED
|
Git LFS Details
|
M&T/select_chemistry_tube/example55/input/input_mask.png
ADDED
|
Git LFS Details
|
M&T/select_chemistry_tube/example55/input/instruction.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Take out the KMnO4 solution
|
M&T/select_chemistry_tube/example55/output/operation_sequence.json
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"skill_sequence": [
|
| 3 |
+
{
|
| 4 |
+
"name": "pick",
|
| 5 |
+
"params": {
|
| 6 |
+
"target_entity_name": 2
|
| 7 |
+
}
|
| 8 |
+
},
|
| 9 |
+
{
|
| 10 |
+
"name": "lift",
|
| 11 |
+
"params": {}
|
| 12 |
+
}
|
| 13 |
+
]
|
| 14 |
+
}
|
M&T/select_chemistry_tube/example56/env_config/env_config.json
ADDED
|
@@ -0,0 +1,171 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": {
|
| 3 |
+
"components": [
|
| 4 |
+
{
|
| 5 |
+
"name": "table",
|
| 6 |
+
"xml_path": "obj/meshes/table/table.xml",
|
| 7 |
+
"position": [
|
| 8 |
+
6.021874574869822e-10,
|
| 9 |
+
-1.8528040463412263e-10,
|
| 10 |
+
-8.472573337759216e-07
|
| 11 |
+
],
|
| 12 |
+
"orientation": [
|
| 13 |
+
0.9999999999999991,
|
| 14 |
+
-1.4588473495702357e-08,
|
| 15 |
+
-2.692020013192888e-08,
|
| 16 |
+
-5.905400330826521e-11
|
| 17 |
+
],
|
| 18 |
+
"class": "Table",
|
| 19 |
+
"materials": [
|
| 20 |
+
"stone"
|
| 21 |
+
]
|
| 22 |
+
},
|
| 23 |
+
{
|
| 24 |
+
"name": "chemistry_tube_stand",
|
| 25 |
+
"xml_path": "obj/meshes/tube/tube_container/tube_stand.xml",
|
| 26 |
+
"position": [
|
| 27 |
+
-0.17652013715739784,
|
| 28 |
+
0.09466748584117886,
|
| 29 |
+
0.7599988297130081
|
| 30 |
+
],
|
| 31 |
+
"orientation": [
|
| 32 |
+
0.9999999999512682,
|
| 33 |
+
7.109837900388056e-09,
|
| 34 |
+
-3.9630120219487025e-08,
|
| 35 |
+
-9.872318713110622e-06
|
| 36 |
+
],
|
| 37 |
+
"class": "TubeStand"
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"name": "CuCl2",
|
| 41 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 42 |
+
"position": [
|
| 43 |
+
-0.09651211551088328,
|
| 44 |
+
0.04466479078691507,
|
| 45 |
+
0.7592158804526167
|
| 46 |
+
],
|
| 47 |
+
"orientation": [
|
| 48 |
+
0.9999995199453873,
|
| 49 |
+
-0.0006190713392031931,
|
| 50 |
+
0.0007579752306030789,
|
| 51 |
+
4.830343764624364e-05
|
| 52 |
+
],
|
| 53 |
+
"class": "ChemistryTube",
|
| 54 |
+
"solution": "CuCl2"
|
| 55 |
+
},
|
| 56 |
+
{
|
| 57 |
+
"name": "CuCl2_tag",
|
| 58 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 59 |
+
"position": [
|
| 60 |
+
-0.09652014509903015,
|
| 61 |
+
0.09466590484829546,
|
| 62 |
+
0.8599988360538159
|
| 63 |
+
],
|
| 64 |
+
"orientation": [
|
| 65 |
+
0.9999999999512682,
|
| 66 |
+
7.109837900388056e-09,
|
| 67 |
+
-3.9630120219487025e-08,
|
| 68 |
+
-9.872318713110622e-06
|
| 69 |
+
],
|
| 70 |
+
"class": "NameTag",
|
| 71 |
+
"content": "CuCl2"
|
| 72 |
+
},
|
| 73 |
+
{
|
| 74 |
+
"name": "K2CrO4",
|
| 75 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 76 |
+
"position": [
|
| 77 |
+
-0.25443260257372957,
|
| 78 |
+
0.14460283765564214,
|
| 79 |
+
0.7591833311149839
|
| 80 |
+
],
|
| 81 |
+
"orientation": [
|
| 82 |
+
0.9983841581298077,
|
| 83 |
+
0.0007847012008404698,
|
| 84 |
+
-0.05096253398326229,
|
| 85 |
+
-0.02512522973954602
|
| 86 |
+
],
|
| 87 |
+
"class": "ChemistryTube",
|
| 88 |
+
"solution": "K2CrO4"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"name": "K2CrO4_tag",
|
| 92 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 93 |
+
"position": [
|
| 94 |
+
-0.2565181706040992,
|
| 95 |
+
0.19466906397079112,
|
| 96 |
+
0.8599988247942457
|
| 97 |
+
],
|
| 98 |
+
"orientation": [
|
| 99 |
+
0.9999999999512682,
|
| 100 |
+
7.109837900388056e-09,
|
| 101 |
+
-3.9630120219487025e-08,
|
| 102 |
+
-9.872318713110622e-06
|
| 103 |
+
],
|
| 104 |
+
"class": "NameTag",
|
| 105 |
+
"content": "K2CrO4"
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"name": "CuSO4",
|
| 109 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 110 |
+
"position": [
|
| 111 |
+
-0.01092949362307233,
|
| 112 |
+
0.04536807251148095,
|
| 113 |
+
0.7769695185593188
|
| 114 |
+
],
|
| 115 |
+
"orientation": [
|
| 116 |
+
0.995826935876424,
|
| 117 |
+
0.006766705807581492,
|
| 118 |
+
-0.013164930597520207,
|
| 119 |
+
-0.09005337349510552
|
| 120 |
+
],
|
| 121 |
+
"class": "ChemistryTube",
|
| 122 |
+
"solution": "CuSO4"
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"name": "CuSO4_tag",
|
| 126 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 127 |
+
"position": [
|
| 128 |
+
-0.01652014511462438,
|
| 129 |
+
0.0946643252773014,
|
| 130 |
+
0.8599988423946239
|
| 131 |
+
],
|
| 132 |
+
"orientation": [
|
| 133 |
+
0.9999999999512682,
|
| 134 |
+
7.109837900388056e-09,
|
| 135 |
+
-3.9630120219487025e-08,
|
| 136 |
+
-9.872318713110622e-06
|
| 137 |
+
],
|
| 138 |
+
"class": "NameTag",
|
| 139 |
+
"content": "CuSO4"
|
| 140 |
+
}
|
| 141 |
+
],
|
| 142 |
+
"scene": {
|
| 143 |
+
"name": "lab_1",
|
| 144 |
+
"position": [
|
| 145 |
+
2.0,
|
| 146 |
+
2.0,
|
| 147 |
+
0.0
|
| 148 |
+
],
|
| 149 |
+
"orientation": [
|
| 150 |
+
1.0,
|
| 151 |
+
0.0,
|
| 152 |
+
0.0,
|
| 153 |
+
0.0
|
| 154 |
+
],
|
| 155 |
+
"floor_textures": [
|
| 156 |
+
"floorplane"
|
| 157 |
+
]
|
| 158 |
+
},
|
| 159 |
+
"instructions": [
|
| 160 |
+
"Take out the CuCl2 solution"
|
| 161 |
+
],
|
| 162 |
+
"conditions": {
|
| 163 |
+
"not_contain": {
|
| 164 |
+
"container": "chemistry_tube_stand",
|
| 165 |
+
"entities": [
|
| 166 |
+
"CuCl2"
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
}
|
| 171 |
+
}
|
M&T/select_chemistry_tube/example56/input/input.png
ADDED
|
Git LFS Details
|
M&T/select_chemistry_tube/example56/input/input_mask.png
ADDED
|
Git LFS Details
|
M&T/select_chemistry_tube/example56/input/instruction.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Take out the CuCl2 solution
|
M&T/select_chemistry_tube/example56/output/operation_sequence.json
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"skill_sequence": [
|
| 3 |
+
{
|
| 4 |
+
"name": "pick",
|
| 5 |
+
"params": {
|
| 6 |
+
"target_entity_name": 2
|
| 7 |
+
}
|
| 8 |
+
},
|
| 9 |
+
{
|
| 10 |
+
"name": "lift",
|
| 11 |
+
"params": {}
|
| 12 |
+
}
|
| 13 |
+
]
|
| 14 |
+
}
|
M&T/select_chemistry_tube/example57/env_config/env_config.json
ADDED
|
@@ -0,0 +1,171 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": {
|
| 3 |
+
"components": [
|
| 4 |
+
{
|
| 5 |
+
"name": "table",
|
| 6 |
+
"xml_path": "obj/meshes/table/table.xml",
|
| 7 |
+
"position": [
|
| 8 |
+
2.4756122953658733e-10,
|
| 9 |
+
-3.347134981405939e-10,
|
| 10 |
+
-8.474892665718716e-07
|
| 11 |
+
],
|
| 12 |
+
"orientation": [
|
| 13 |
+
0.9999999999999993,
|
| 14 |
+
-4.165623063433935e-09,
|
| 15 |
+
-1.6822955892308744e-08,
|
| 16 |
+
-9.417630399675833e-12
|
| 17 |
+
],
|
| 18 |
+
"class": "Table",
|
| 19 |
+
"materials": [
|
| 20 |
+
"stone4"
|
| 21 |
+
]
|
| 22 |
+
},
|
| 23 |
+
{
|
| 24 |
+
"name": "chemistry_tube_stand",
|
| 25 |
+
"xml_path": "obj/meshes/tube/tube_container/tube_stand.xml",
|
| 26 |
+
"position": [
|
| 27 |
+
-0.10788236445815592,
|
| 28 |
+
0.026649864848569155,
|
| 29 |
+
0.7599988428722229
|
| 30 |
+
],
|
| 31 |
+
"orientation": [
|
| 32 |
+
0.9999999998809035,
|
| 33 |
+
-7.580336664750659e-08,
|
| 34 |
+
-4.7248319356100645e-08,
|
| 35 |
+
1.5433272296073492e-05
|
| 36 |
+
],
|
| 37 |
+
"class": "TubeStand"
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"name": "KMnO4",
|
| 41 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 42 |
+
"position": [
|
| 43 |
+
-0.02789695005466678,
|
| 44 |
+
0.07664756525666053,
|
| 45 |
+
0.7592158848791584
|
| 46 |
+
],
|
| 47 |
+
"orientation": [
|
| 48 |
+
0.9999995199427847,
|
| 49 |
+
-0.0006190705342946616,
|
| 50 |
+
0.0007579793048580183,
|
| 51 |
+
4.83037045767e-05
|
| 52 |
+
],
|
| 53 |
+
"class": "ChemistryTube",
|
| 54 |
+
"solution": "KMnO4"
|
| 55 |
+
},
|
| 56 |
+
{
|
| 57 |
+
"name": "KMnO4_tag",
|
| 58 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 59 |
+
"position": [
|
| 60 |
+
-0.027885460600621928,
|
| 61 |
+
0.12665234928502606,
|
| 62 |
+
0.8599988352709461
|
| 63 |
+
],
|
| 64 |
+
"orientation": [
|
| 65 |
+
0.9999999998809035,
|
| 66 |
+
-7.580336664750659e-08,
|
| 67 |
+
-4.7248319356100645e-08,
|
| 68 |
+
1.5433272296073492e-05
|
| 69 |
+
],
|
| 70 |
+
"class": "NameTag",
|
| 71 |
+
"content": "KMnO4"
|
| 72 |
+
},
|
| 73 |
+
{
|
| 74 |
+
"name": "CuCl2",
|
| 75 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 76 |
+
"position": [
|
| 77 |
+
-0.2749845385079002,
|
| 78 |
+
-0.02404239857611366,
|
| 79 |
+
0.7591310753269258
|
| 80 |
+
],
|
| 81 |
+
"orientation": [
|
| 82 |
+
0.9997068818563609,
|
| 83 |
+
-0.003931886240802393,
|
| 84 |
+
-0.0026958161117957096,
|
| 85 |
+
-0.023736537555244432
|
| 86 |
+
],
|
| 87 |
+
"class": "ChemistryTube",
|
| 88 |
+
"solution": "CuCl2"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"name": "CuCl2_tag",
|
| 92 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 93 |
+
"position": [
|
| 94 |
+
-0.2678823738318337,
|
| 95 |
+
0.02664494136196134,
|
| 96 |
+
0.8599988277531335
|
| 97 |
+
],
|
| 98 |
+
"orientation": [
|
| 99 |
+
0.9999999998809035,
|
| 100 |
+
-7.580336664750659e-08,
|
| 101 |
+
-4.7248319356100645e-08,
|
| 102 |
+
1.5433272296073492e-05
|
| 103 |
+
],
|
| 104 |
+
"class": "NameTag",
|
| 105 |
+
"content": "CuCl2"
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"name": "FeCl3",
|
| 109 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 110 |
+
"position": [
|
| 111 |
+
-0.10784833022224435,
|
| 112 |
+
0.07685868330923658,
|
| 113 |
+
0.7612364521651415
|
| 114 |
+
],
|
| 115 |
+
"orientation": [
|
| 116 |
+
0.999236826775652,
|
| 117 |
+
0.0013070112880814492,
|
| 118 |
+
-0.005475297878634224,
|
| 119 |
+
-0.03865329028631956
|
| 120 |
+
],
|
| 121 |
+
"class": "ChemistryTube",
|
| 122 |
+
"solution": "FeCl3"
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"name": "FeCl3_tag",
|
| 126 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 127 |
+
"position": [
|
| 128 |
+
-0.1078854605625119,
|
| 129 |
+
0.12664987996145838,
|
| 130 |
+
0.8599988277114021
|
| 131 |
+
],
|
| 132 |
+
"orientation": [
|
| 133 |
+
0.9999999998809035,
|
| 134 |
+
-7.580336664750659e-08,
|
| 135 |
+
-4.7248319356100645e-08,
|
| 136 |
+
1.5433272296073492e-05
|
| 137 |
+
],
|
| 138 |
+
"class": "NameTag",
|
| 139 |
+
"content": "FeCl3"
|
| 140 |
+
}
|
| 141 |
+
],
|
| 142 |
+
"scene": {
|
| 143 |
+
"name": "lab_1",
|
| 144 |
+
"position": [
|
| 145 |
+
-4.0,
|
| 146 |
+
-2.5,
|
| 147 |
+
0.0
|
| 148 |
+
],
|
| 149 |
+
"orientation": [
|
| 150 |
+
1.0,
|
| 151 |
+
0.0,
|
| 152 |
+
0.0,
|
| 153 |
+
0.0
|
| 154 |
+
],
|
| 155 |
+
"floor_textures": [
|
| 156 |
+
"floorplane"
|
| 157 |
+
]
|
| 158 |
+
},
|
| 159 |
+
"instructions": [
|
| 160 |
+
"Take out the KMnO4 solution"
|
| 161 |
+
],
|
| 162 |
+
"conditions": {
|
| 163 |
+
"not_contain": {
|
| 164 |
+
"container": "chemistry_tube_stand",
|
| 165 |
+
"entities": [
|
| 166 |
+
"KMnO4"
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
}
|
| 171 |
+
}
|
M&T/select_chemistry_tube/example57/input/input.png
ADDED
|
Git LFS Details
|
M&T/select_chemistry_tube/example57/input/input_mask.png
ADDED
|
Git LFS Details
|
M&T/select_chemistry_tube/example57/input/instruction.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Take out the KMnO4 solution
|
M&T/select_chemistry_tube/example57/output/operation_sequence.json
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"skill_sequence": [
|
| 3 |
+
{
|
| 4 |
+
"name": "pick",
|
| 5 |
+
"params": {
|
| 6 |
+
"target_entity_name": 2
|
| 7 |
+
}
|
| 8 |
+
},
|
| 9 |
+
{
|
| 10 |
+
"name": "lift",
|
| 11 |
+
"params": {}
|
| 12 |
+
}
|
| 13 |
+
]
|
| 14 |
+
}
|
M&T/select_chemistry_tube/example58/env_config/env_config.json
ADDED
|
@@ -0,0 +1,137 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": {
|
| 3 |
+
"components": [
|
| 4 |
+
{
|
| 5 |
+
"name": "table",
|
| 6 |
+
"xml_path": "obj/meshes/table/table.xml",
|
| 7 |
+
"position": [
|
| 8 |
+
1.2306785698725428e-10,
|
| 9 |
+
-1.124932066061616e-09,
|
| 10 |
+
-8.462329081952305e-07
|
| 11 |
+
],
|
| 12 |
+
"orientation": [
|
| 13 |
+
0.9999999999999997,
|
| 14 |
+
-2.2529314924912184e-08,
|
| 15 |
+
1.2650114193473314e-08,
|
| 16 |
+
-5.277119251623048e-11
|
| 17 |
+
],
|
| 18 |
+
"class": "Table",
|
| 19 |
+
"materials": [
|
| 20 |
+
"stone2"
|
| 21 |
+
]
|
| 22 |
+
},
|
| 23 |
+
{
|
| 24 |
+
"name": "chemistry_tube_stand",
|
| 25 |
+
"xml_path": "obj/meshes/tube/tube_container/tube_stand.xml",
|
| 26 |
+
"position": [
|
| 27 |
+
0.08220813017515566,
|
| 28 |
+
0.14639591603460722,
|
| 29 |
+
0.7599988447763233
|
| 30 |
+
],
|
| 31 |
+
"orientation": [
|
| 32 |
+
0.9999999999966585,
|
| 33 |
+
-1.0483832464989202e-07,
|
| 34 |
+
1.2755797212939732e-08,
|
| 35 |
+
2.5830685186369453e-06
|
| 36 |
+
],
|
| 37 |
+
"class": "TubeStand"
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"name": "KMnO4",
|
| 41 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 42 |
+
"position": [
|
| 43 |
+
0.2479512180891416,
|
| 44 |
+
0.09689347522564015,
|
| 45 |
+
0.7775873411548837
|
| 46 |
+
],
|
| 47 |
+
"orientation": [
|
| 48 |
+
0.9933206843867531,
|
| 49 |
+
0.005269336084609298,
|
| 50 |
+
-0.013376341203469732,
|
| 51 |
+
-0.11448722881905414
|
| 52 |
+
],
|
| 53 |
+
"class": "ChemistryTube",
|
| 54 |
+
"solution": "KMnO4"
|
| 55 |
+
},
|
| 56 |
+
{
|
| 57 |
+
"name": "KMnO4_tag",
|
| 58 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 59 |
+
"position": [
|
| 60 |
+
0.24220813272412584,
|
| 61 |
+
0.14639676358420428,
|
| 62 |
+
0.8599988406943794
|
| 63 |
+
],
|
| 64 |
+
"orientation": [
|
| 65 |
+
0.9999999999966585,
|
| 66 |
+
-1.0483832464989202e-07,
|
| 67 |
+
1.2755797212939732e-08,
|
| 68 |
+
2.5830685186369453e-06
|
| 69 |
+
],
|
| 70 |
+
"class": "NameTag",
|
| 71 |
+
"content": "KMnO4"
|
| 72 |
+
},
|
| 73 |
+
{
|
| 74 |
+
"name": "I2",
|
| 75 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 76 |
+
"position": [
|
| 77 |
+
-0.08490821942023768,
|
| 78 |
+
0.0957057381067372,
|
| 79 |
+
0.7591292020763374
|
| 80 |
+
],
|
| 81 |
+
"orientation": [
|
| 82 |
+
0.9997072324842898,
|
| 83 |
+
-0.003918516064097148,
|
| 84 |
+
-0.0026378739387081566,
|
| 85 |
+
-0.023730490334997946
|
| 86 |
+
],
|
| 87 |
+
"class": "ChemistryTube",
|
| 88 |
+
"solution": "I2"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"name": "I2_tag",
|
| 92 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 93 |
+
"position": [
|
| 94 |
+
-0.07779186727160398,
|
| 95 |
+
0.14639511042035322,
|
| 96 |
+
0.8599988488582628
|
| 97 |
+
],
|
| 98 |
+
"orientation": [
|
| 99 |
+
0.9999999999966585,
|
| 100 |
+
-1.0483832464989202e-07,
|
| 101 |
+
1.2755797212939732e-08,
|
| 102 |
+
2.5830685186369453e-06
|
| 103 |
+
],
|
| 104 |
+
"class": "NameTag",
|
| 105 |
+
"content": "I2"
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"scene": {
|
| 109 |
+
"name": "lab_1",
|
| 110 |
+
"position": [
|
| 111 |
+
-4.0,
|
| 112 |
+
-2.5,
|
| 113 |
+
0.0
|
| 114 |
+
],
|
| 115 |
+
"orientation": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0
|
| 120 |
+
],
|
| 121 |
+
"floor_textures": [
|
| 122 |
+
"floorplane"
|
| 123 |
+
]
|
| 124 |
+
},
|
| 125 |
+
"instructions": [
|
| 126 |
+
"Take out the KMnO4 solution"
|
| 127 |
+
],
|
| 128 |
+
"conditions": {
|
| 129 |
+
"not_contain": {
|
| 130 |
+
"container": "chemistry_tube_stand",
|
| 131 |
+
"entities": [
|
| 132 |
+
"KMnO4"
|
| 133 |
+
]
|
| 134 |
+
}
|
| 135 |
+
}
|
| 136 |
+
}
|
| 137 |
+
}
|
M&T/select_chemistry_tube/example58/input/input.png
ADDED
|
Git LFS Details
|
M&T/select_chemistry_tube/example58/input/input_mask.png
ADDED
|
Git LFS Details
|
M&T/select_chemistry_tube/example58/input/instruction.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Take out the KMnO4 solution
|
M&T/select_chemistry_tube/example58/output/operation_sequence.json
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"skill_sequence": [
|
| 3 |
+
{
|
| 4 |
+
"name": "pick",
|
| 5 |
+
"params": {
|
| 6 |
+
"target_entity_name": 2
|
| 7 |
+
}
|
| 8 |
+
},
|
| 9 |
+
{
|
| 10 |
+
"name": "lift",
|
| 11 |
+
"params": {}
|
| 12 |
+
}
|
| 13 |
+
]
|
| 14 |
+
}
|
M&T/select_chemistry_tube/example59/env_config/env_config.json
ADDED
|
@@ -0,0 +1,137 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": {
|
| 3 |
+
"components": [
|
| 4 |
+
{
|
| 5 |
+
"name": "table",
|
| 6 |
+
"xml_path": "obj/meshes/table/table.xml",
|
| 7 |
+
"position": [
|
| 8 |
+
-1.4272437545168494e-10,
|
| 9 |
+
-3.644350947294111e-11,
|
| 10 |
+
-8.472414282214905e-07
|
| 11 |
+
],
|
| 12 |
+
"orientation": [
|
| 13 |
+
0.9999999999999994,
|
| 14 |
+
-6.5942941074192415e-09,
|
| 15 |
+
1.0450339718657525e-08,
|
| 16 |
+
1.3694050202235516e-11
|
| 17 |
+
],
|
| 18 |
+
"class": "Table",
|
| 19 |
+
"materials": [
|
| 20 |
+
"wood1"
|
| 21 |
+
]
|
| 22 |
+
},
|
| 23 |
+
{
|
| 24 |
+
"name": "chemistry_tube_stand",
|
| 25 |
+
"xml_path": "obj/meshes/tube/tube_container/tube_stand.xml",
|
| 26 |
+
"position": [
|
| 27 |
+
0.06538833711396547,
|
| 28 |
+
0.04290471425933826,
|
| 29 |
+
0.7599988429765959
|
| 30 |
+
],
|
| 31 |
+
"orientation": [
|
| 32 |
+
0.9999999999999999,
|
| 33 |
+
-3.3114892165384914e-09,
|
| 34 |
+
1.1121837610284343e-08,
|
| 35 |
+
1.010525730076767e-10
|
| 36 |
+
],
|
| 37 |
+
"class": "TubeStand"
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"name": "FeCl3",
|
| 41 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 42 |
+
"position": [
|
| 43 |
+
0.06528662074941766,
|
| 44 |
+
-0.006858811783035511,
|
| 45 |
+
0.7628885671303667
|
| 46 |
+
],
|
| 47 |
+
"orientation": [
|
| 48 |
+
0.9989622864862421,
|
| 49 |
+
0.0014414219415166004,
|
| 50 |
+
-0.004806409350694016,
|
| 51 |
+
-0.045267768998705014
|
| 52 |
+
],
|
| 53 |
+
"class": "ChemistryTube",
|
| 54 |
+
"solution": "FeCl3"
|
| 55 |
+
},
|
| 56 |
+
{
|
| 57 |
+
"name": "FeCl3_tag",
|
| 58 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 59 |
+
"position": [
|
| 60 |
+
0.06538833933833299,
|
| 61 |
+
0.042904714921636104,
|
| 62 |
+
0.8599988429765959
|
| 63 |
+
],
|
| 64 |
+
"orientation": [
|
| 65 |
+
0.9999999999999999,
|
| 66 |
+
-3.3114892165384914e-09,
|
| 67 |
+
1.1121837610284343e-08,
|
| 68 |
+
1.010525730076767e-10
|
| 69 |
+
],
|
| 70 |
+
"class": "NameTag",
|
| 71 |
+
"content": "FeCl3"
|
| 72 |
+
},
|
| 73 |
+
{
|
| 74 |
+
"name": "CuSO4",
|
| 75 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 76 |
+
"position": [
|
| 77 |
+
0.14538621693698722,
|
| 78 |
+
0.09290327903692655,
|
| 79 |
+
0.7592158821212543
|
| 80 |
+
],
|
| 81 |
+
"orientation": [
|
| 82 |
+
0.9999995199452311,
|
| 83 |
+
-0.000619070265557843,
|
| 84 |
+
0.0007579763090235444,
|
| 85 |
+
4.8303509646739065e-05
|
| 86 |
+
],
|
| 87 |
+
"class": "ChemistryTube",
|
| 88 |
+
"solution": "CuSO4"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"name": "CuSO4_tag",
|
| 92 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 93 |
+
"position": [
|
| 94 |
+
0.14538833931812245,
|
| 95 |
+
0.1429047149378045,
|
| 96 |
+
0.859998840534804
|
| 97 |
+
],
|
| 98 |
+
"orientation": [
|
| 99 |
+
0.9999999999999999,
|
| 100 |
+
-3.3114892165384914e-09,
|
| 101 |
+
1.1121837610284343e-08,
|
| 102 |
+
1.010525730076767e-10
|
| 103 |
+
],
|
| 104 |
+
"class": "NameTag",
|
| 105 |
+
"content": "CuSO4"
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"scene": {
|
| 109 |
+
"name": "lab_1",
|
| 110 |
+
"position": [
|
| 111 |
+
6.0,
|
| 112 |
+
2.0,
|
| 113 |
+
0.0
|
| 114 |
+
],
|
| 115 |
+
"orientation": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0
|
| 120 |
+
],
|
| 121 |
+
"floor_textures": [
|
| 122 |
+
"floorplane"
|
| 123 |
+
]
|
| 124 |
+
},
|
| 125 |
+
"instructions": [
|
| 126 |
+
"Take out the FeCl3 solution"
|
| 127 |
+
],
|
| 128 |
+
"conditions": {
|
| 129 |
+
"not_contain": {
|
| 130 |
+
"container": "chemistry_tube_stand",
|
| 131 |
+
"entities": [
|
| 132 |
+
"FeCl3"
|
| 133 |
+
]
|
| 134 |
+
}
|
| 135 |
+
}
|
| 136 |
+
}
|
| 137 |
+
}
|
M&T/select_chemistry_tube/example59/input/input.png
ADDED
|
Git LFS Details
|
M&T/select_chemistry_tube/example59/input/input_mask.png
ADDED
|
Git LFS Details
|
M&T/select_chemistry_tube/example59/input/instruction.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Take out the FeCl3 solution
|
M&T/select_chemistry_tube/example59/output/operation_sequence.json
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"skill_sequence": [
|
| 3 |
+
{
|
| 4 |
+
"name": "pick",
|
| 5 |
+
"params": {
|
| 6 |
+
"target_entity_name": 2
|
| 7 |
+
}
|
| 8 |
+
},
|
| 9 |
+
{
|
| 10 |
+
"name": "lift",
|
| 11 |
+
"params": {}
|
| 12 |
+
}
|
| 13 |
+
]
|
| 14 |
+
}
|
M&T/select_chemistry_tube/example6/env_config/env_config.json
ADDED
|
@@ -0,0 +1,171 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": {
|
| 3 |
+
"components": [
|
| 4 |
+
{
|
| 5 |
+
"name": "table",
|
| 6 |
+
"xml_path": "obj/meshes/table/table.xml",
|
| 7 |
+
"position": [
|
| 8 |
+
4.396028734238892e-10,
|
| 9 |
+
-3.8921536558653806e-10,
|
| 10 |
+
-8.475594817039942e-07
|
| 11 |
+
],
|
| 12 |
+
"orientation": [
|
| 13 |
+
0.9999999999999994,
|
| 14 |
+
-1.3456164233017148e-08,
|
| 15 |
+
1.3222248367404823e-08,
|
| 16 |
+
-1.0867984588164889e-10
|
| 17 |
+
],
|
| 18 |
+
"class": "Table",
|
| 19 |
+
"materials": [
|
| 20 |
+
"wood1"
|
| 21 |
+
]
|
| 22 |
+
},
|
| 23 |
+
{
|
| 24 |
+
"name": "chemistry_tube_stand",
|
| 25 |
+
"xml_path": "obj/meshes/tube/tube_container/tube_stand.xml",
|
| 26 |
+
"position": [
|
| 27 |
+
0.08555976853143593,
|
| 28 |
+
0.08717248306009298,
|
| 29 |
+
0.7599988433720013
|
| 30 |
+
],
|
| 31 |
+
"orientation": [
|
| 32 |
+
0.9999999998815051,
|
| 33 |
+
-8.480263822771822e-08,
|
| 34 |
+
-1.645689085899064e-08,
|
| 35 |
+
1.539421470038133e-05
|
| 36 |
+
],
|
| 37 |
+
"class": "TubeStand"
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"name": "CuSO4",
|
| 41 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 42 |
+
"position": [
|
| 43 |
+
0.1655449949413667,
|
| 44 |
+
0.03717020835975175,
|
| 45 |
+
0.7592158816159069
|
| 46 |
+
],
|
| 47 |
+
"orientation": [
|
| 48 |
+
0.9999995199468051,
|
| 49 |
+
-0.0006190715150689033,
|
| 50 |
+
0.0007579732243745479,
|
| 51 |
+
4.830330781523605e-05
|
| 52 |
+
],
|
| 53 |
+
"class": "ChemistryTube",
|
| 54 |
+
"solution": "CuSO4"
|
| 55 |
+
},
|
| 56 |
+
{
|
| 57 |
+
"name": "CuSO4_tag",
|
| 58 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 59 |
+
"position": [
|
| 60 |
+
0.16555976520187948,
|
| 61 |
+
0.08717496309492195,
|
| 62 |
+
0.8599988460048934
|
| 63 |
+
],
|
| 64 |
+
"orientation": [
|
| 65 |
+
0.9999999998815051,
|
| 66 |
+
-8.480263822771822e-08,
|
| 67 |
+
-1.645689085899064e-08,
|
| 68 |
+
1.539421470038133e-05
|
| 69 |
+
],
|
| 70 |
+
"class": "NameTag",
|
| 71 |
+
"content": "CuSO4"
|
| 72 |
+
},
|
| 73 |
+
{
|
| 74 |
+
"name": "FeCl3",
|
| 75 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 76 |
+
"position": [
|
| 77 |
+
0.007491037916073606,
|
| 78 |
+
0.13711766544945916,
|
| 79 |
+
0.7594067920615765
|
| 80 |
+
],
|
| 81 |
+
"orientation": [
|
| 82 |
+
0.9984159951196433,
|
| 83 |
+
0.0006202637875519811,
|
| 84 |
+
-0.05171509972516454,
|
| 85 |
+
-0.02215094631169632
|
| 86 |
+
],
|
| 87 |
+
"class": "ChemistryTube",
|
| 88 |
+
"solution": "FeCl3"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"name": "FeCl3_tag",
|
| 92 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 93 |
+
"position": [
|
| 94 |
+
0.005556686434774402,
|
| 95 |
+
0.1871700368988201,
|
| 96 |
+
0.8599988237785278
|
| 97 |
+
],
|
| 98 |
+
"orientation": [
|
| 99 |
+
0.9999999998815051,
|
| 100 |
+
-8.480263822771822e-08,
|
| 101 |
+
-1.645689085899064e-08,
|
| 102 |
+
1.539421470038133e-05
|
| 103 |
+
],
|
| 104 |
+
"class": "NameTag",
|
| 105 |
+
"content": "FeCl3"
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"name": "CuCl2",
|
| 109 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 110 |
+
"position": [
|
| 111 |
+
-0.08154259793743261,
|
| 112 |
+
0.03648025608588456,
|
| 113 |
+
0.759131088966565
|
| 114 |
+
],
|
| 115 |
+
"orientation": [
|
| 116 |
+
0.999706880916298,
|
| 117 |
+
-0.003931850391370644,
|
| 118 |
+
-0.0026957504147276604,
|
| 119 |
+
-0.023736590547244998
|
| 120 |
+
],
|
| 121 |
+
"class": "ChemistryTube",
|
| 122 |
+
"solution": "CuCl2"
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"name": "CuCl2_tag",
|
| 126 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 127 |
+
"position": [
|
| 128 |
+
-0.074440234684369,
|
| 129 |
+
0.08716757387186597,
|
| 130 |
+
0.8599988381062125
|
| 131 |
+
],
|
| 132 |
+
"orientation": [
|
| 133 |
+
0.9999999998815051,
|
| 134 |
+
-8.480263822771822e-08,
|
| 135 |
+
-1.645689085899064e-08,
|
| 136 |
+
1.539421470038133e-05
|
| 137 |
+
],
|
| 138 |
+
"class": "NameTag",
|
| 139 |
+
"content": "CuCl2"
|
| 140 |
+
}
|
| 141 |
+
],
|
| 142 |
+
"scene": {
|
| 143 |
+
"name": "lab_1",
|
| 144 |
+
"position": [
|
| 145 |
+
2.0,
|
| 146 |
+
2.0,
|
| 147 |
+
0.0
|
| 148 |
+
],
|
| 149 |
+
"orientation": [
|
| 150 |
+
1.0,
|
| 151 |
+
0.0,
|
| 152 |
+
0.0,
|
| 153 |
+
0.0
|
| 154 |
+
],
|
| 155 |
+
"floor_textures": [
|
| 156 |
+
"floorplane"
|
| 157 |
+
]
|
| 158 |
+
},
|
| 159 |
+
"instructions": [
|
| 160 |
+
"Take out the CuSO4 solution"
|
| 161 |
+
],
|
| 162 |
+
"conditions": {
|
| 163 |
+
"not_contain": {
|
| 164 |
+
"container": "chemistry_tube_stand",
|
| 165 |
+
"entities": [
|
| 166 |
+
"CuSO4"
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
}
|
| 171 |
+
}
|
M&T/select_chemistry_tube/example6/input/input.png
ADDED
|
Git LFS Details
|
M&T/select_chemistry_tube/example6/input/input_mask.png
ADDED
|
Git LFS Details
|
M&T/select_chemistry_tube/example6/input/instruction.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Take out the CuSO4 solution
|
M&T/select_chemistry_tube/example6/output/operation_sequence.json
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"skill_sequence": [
|
| 3 |
+
{
|
| 4 |
+
"name": "pick",
|
| 5 |
+
"params": {
|
| 6 |
+
"target_entity_name": 2
|
| 7 |
+
}
|
| 8 |
+
},
|
| 9 |
+
{
|
| 10 |
+
"name": "lift",
|
| 11 |
+
"params": {}
|
| 12 |
+
}
|
| 13 |
+
]
|
| 14 |
+
}
|
M&T/select_chemistry_tube/example60/env_config/env_config.json
ADDED
|
@@ -0,0 +1,137 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": {
|
| 3 |
+
"components": [
|
| 4 |
+
{
|
| 5 |
+
"name": "table",
|
| 6 |
+
"xml_path": "obj/meshes/table/table.xml",
|
| 7 |
+
"position": [
|
| 8 |
+
3.1339973454401853e-10,
|
| 9 |
+
-4.0718236476967474e-10,
|
| 10 |
+
-8.466157743376644e-07
|
| 11 |
+
],
|
| 12 |
+
"orientation": [
|
| 13 |
+
0.9999999999999996,
|
| 14 |
+
-1.9106366552253448e-08,
|
| 15 |
+
-7.08882966756456e-09,
|
| 16 |
+
-8.60677660866913e-12
|
| 17 |
+
],
|
| 18 |
+
"class": "Table",
|
| 19 |
+
"materials": [
|
| 20 |
+
"wood3"
|
| 21 |
+
]
|
| 22 |
+
},
|
| 23 |
+
{
|
| 24 |
+
"name": "chemistry_tube_stand",
|
| 25 |
+
"xml_path": "obj/meshes/tube/tube_container/tube_stand.xml",
|
| 26 |
+
"position": [
|
| 27 |
+
-0.04626213297952937,
|
| 28 |
+
0.1234989612515783,
|
| 29 |
+
0.7599988300947361
|
| 30 |
+
],
|
| 31 |
+
"orientation": [
|
| 32 |
+
0.9999999997192274,
|
| 33 |
+
-4.532204199187729e-08,
|
| 34 |
+
-5.880619130574756e-09,
|
| 35 |
+
-2.3696886729196687e-05
|
| 36 |
+
],
|
| 37 |
+
"class": "TubeStand"
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"name": "FeCl3",
|
| 41 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 42 |
+
"position": [
|
| 43 |
+
0.11944868537168427,
|
| 44 |
+
0.07404094223539177,
|
| 45 |
+
0.7775772607756607
|
| 46 |
+
],
|
| 47 |
+
"orientation": [
|
| 48 |
+
0.9940499668318541,
|
| 49 |
+
0.005650151658177006,
|
| 50 |
+
-0.013870162141064386,
|
| 51 |
+
-0.10789048998873546
|
| 52 |
+
],
|
| 53 |
+
"class": "ChemistryTube",
|
| 54 |
+
"solution": "FeCl3"
|
| 55 |
+
},
|
| 56 |
+
{
|
| 57 |
+
"name": "FeCl3_tag",
|
| 58 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 59 |
+
"position": [
|
| 60 |
+
0.11373786566486789,
|
| 61 |
+
0.12349138731226345,
|
| 62 |
+
0.8599988319768774
|
| 63 |
+
],
|
| 64 |
+
"orientation": [
|
| 65 |
+
0.9999999997192274,
|
| 66 |
+
-4.532204199187729e-08,
|
| 67 |
+
-5.880619130574756e-09,
|
| 68 |
+
-2.3696886729196687e-05
|
| 69 |
+
],
|
| 70 |
+
"class": "NameTag",
|
| 71 |
+
"content": "FeCl3"
|
| 72 |
+
},
|
| 73 |
+
{
|
| 74 |
+
"name": "K2CrO4",
|
| 75 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 76 |
+
"position": [
|
| 77 |
+
-0.21377913507411297,
|
| 78 |
+
0.17288080450869356,
|
| 79 |
+
0.7591061680008476
|
| 80 |
+
],
|
| 81 |
+
"orientation": [
|
| 82 |
+
0.9997492167036505,
|
| 83 |
+
-0.0037184194361211723,
|
| 84 |
+
-0.0009166779519133516,
|
| 85 |
+
-0.022064377599822823
|
| 86 |
+
],
|
| 87 |
+
"class": "ChemistryTube",
|
| 88 |
+
"solution": "K2CrO4"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"name": "K2CrO4_tag",
|
| 92 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 93 |
+
"position": [
|
| 94 |
+
-0.20625739459840015,
|
| 95 |
+
0.22350655320745672,
|
| 96 |
+
0.8599988191482133
|
| 97 |
+
],
|
| 98 |
+
"orientation": [
|
| 99 |
+
0.9999999997192274,
|
| 100 |
+
-4.532204199187729e-08,
|
| 101 |
+
-5.880619130574756e-09,
|
| 102 |
+
-2.3696886729196687e-05
|
| 103 |
+
],
|
| 104 |
+
"class": "NameTag",
|
| 105 |
+
"content": "K2CrO4"
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"scene": {
|
| 109 |
+
"name": "lab_1",
|
| 110 |
+
"position": [
|
| 111 |
+
6.0,
|
| 112 |
+
2.0,
|
| 113 |
+
0.0
|
| 114 |
+
],
|
| 115 |
+
"orientation": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0
|
| 120 |
+
],
|
| 121 |
+
"floor_textures": [
|
| 122 |
+
"floorplane"
|
| 123 |
+
]
|
| 124 |
+
},
|
| 125 |
+
"instructions": [
|
| 126 |
+
"Take out the FeCl3 solution"
|
| 127 |
+
],
|
| 128 |
+
"conditions": {
|
| 129 |
+
"not_contain": {
|
| 130 |
+
"container": "chemistry_tube_stand",
|
| 131 |
+
"entities": [
|
| 132 |
+
"FeCl3"
|
| 133 |
+
]
|
| 134 |
+
}
|
| 135 |
+
}
|
| 136 |
+
}
|
| 137 |
+
}
|
M&T/select_chemistry_tube/example60/input/input.png
ADDED
|
Git LFS Details
|
M&T/select_chemistry_tube/example60/input/input_mask.png
ADDED
|
Git LFS Details
|
M&T/select_chemistry_tube/example60/input/instruction.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Take out the FeCl3 solution
|
M&T/select_chemistry_tube/example60/output/operation_sequence.json
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"skill_sequence": [
|
| 3 |
+
{
|
| 4 |
+
"name": "pick",
|
| 5 |
+
"params": {
|
| 6 |
+
"target_entity_name": 2
|
| 7 |
+
}
|
| 8 |
+
},
|
| 9 |
+
{
|
| 10 |
+
"name": "lift",
|
| 11 |
+
"params": {}
|
| 12 |
+
}
|
| 13 |
+
]
|
| 14 |
+
}
|
M&T/select_chemistry_tube/example61/env_config/env_config.json
ADDED
|
@@ -0,0 +1,171 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": {
|
| 3 |
+
"components": [
|
| 4 |
+
{
|
| 5 |
+
"name": "table",
|
| 6 |
+
"xml_path": "obj/meshes/table/table.xml",
|
| 7 |
+
"position": [
|
| 8 |
+
1.3129134590809135e-10,
|
| 9 |
+
-1.086607352904857e-09,
|
| 10 |
+
-8.468196881506267e-07
|
| 11 |
+
],
|
| 12 |
+
"orientation": [
|
| 13 |
+
0.9999999999999999,
|
| 14 |
+
-1.4259277433336791e-08,
|
| 15 |
+
9.639251059085922e-09,
|
| 16 |
+
-3.7205757460575845e-11
|
| 17 |
+
],
|
| 18 |
+
"class": "Table",
|
| 19 |
+
"materials": [
|
| 20 |
+
"wood1"
|
| 21 |
+
]
|
| 22 |
+
},
|
| 23 |
+
{
|
| 24 |
+
"name": "chemistry_tube_stand",
|
| 25 |
+
"xml_path": "obj/meshes/tube/tube_container/tube_stand.xml",
|
| 26 |
+
"position": [
|
| 27 |
+
0.06173412258216772,
|
| 28 |
+
0.09223762536792394,
|
| 29 |
+
0.759998849232729
|
| 30 |
+
],
|
| 31 |
+
"orientation": [
|
| 32 |
+
0.9999999999966572,
|
| 33 |
+
-9.637282524409184e-08,
|
| 34 |
+
9.569191651624815e-09,
|
| 35 |
+
2.5837138225589777e-06
|
| 36 |
+
],
|
| 37 |
+
"class": "TubeStand"
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"name": "CuSO4",
|
| 41 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 42 |
+
"position": [
|
| 43 |
+
0.14172925175014095,
|
| 44 |
+
0.04223223666008838,
|
| 45 |
+
0.7592158834851074
|
| 46 |
+
],
|
| 47 |
+
"orientation": [
|
| 48 |
+
0.9999995199467258,
|
| 49 |
+
-0.0006190719225551426,
|
| 50 |
+
0.0007579729977197615,
|
| 51 |
+
4.83032932729808e-05
|
| 52 |
+
],
|
| 53 |
+
"class": "ChemistryTube",
|
| 54 |
+
"solution": "CuSO4"
|
| 55 |
+
},
|
| 56 |
+
{
|
| 57 |
+
"name": "CuSO4_tag",
|
| 58 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 59 |
+
"position": [
|
| 60 |
+
0.1417341244948881,
|
| 61 |
+
0.0922380580367054,
|
| 62 |
+
0.8599988477016165
|
| 63 |
+
],
|
| 64 |
+
"orientation": [
|
| 65 |
+
0.9999999999966572,
|
| 66 |
+
-9.637282524409184e-08,
|
| 67 |
+
9.569191651624815e-09,
|
| 68 |
+
2.5837138225589777e-06
|
| 69 |
+
],
|
| 70 |
+
"class": "NameTag",
|
| 71 |
+
"content": "CuSO4"
|
| 72 |
+
},
|
| 73 |
+
{
|
| 74 |
+
"name": "KMnO4",
|
| 75 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 76 |
+
"position": [
|
| 77 |
+
-0.10538221989543699,
|
| 78 |
+
0.041547495678741525,
|
| 79 |
+
0.7591292048619122
|
| 80 |
+
],
|
| 81 |
+
"orientation": [
|
| 82 |
+
0.9997072323860546,
|
| 83 |
+
-0.003918514861522777,
|
| 84 |
+
-0.002637859569478907,
|
| 85 |
+
-0.023730496269288418
|
| 86 |
+
],
|
| 87 |
+
"class": "ChemistryTube",
|
| 88 |
+
"solution": "KMnO4"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"name": "KMnO4_tag",
|
| 92 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 93 |
+
"position": [
|
| 94 |
+
-0.09826587550190748,
|
| 95 |
+
0.09223681785407102,
|
| 96 |
+
0.859998852294948
|
| 97 |
+
],
|
| 98 |
+
"orientation": [
|
| 99 |
+
0.9999999999966572,
|
| 100 |
+
-9.637282524409184e-08,
|
| 101 |
+
9.569191651624815e-09,
|
| 102 |
+
2.5837138225589777e-06
|
| 103 |
+
],
|
| 104 |
+
"class": "NameTag",
|
| 105 |
+
"content": "KMnO4"
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"name": "CuCl2",
|
| 109 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 110 |
+
"position": [
|
| 111 |
+
0.22747722865025413,
|
| 112 |
+
0.04273523441420218,
|
| 113 |
+
0.7775873367480096
|
| 114 |
+
],
|
| 115 |
+
"orientation": [
|
| 116 |
+
0.9933207392444862,
|
| 117 |
+
0.00526935560769538,
|
| 118 |
+
-0.013376479052092846,
|
| 119 |
+
-0.11448673585370396
|
| 120 |
+
],
|
| 121 |
+
"class": "ChemistryTube",
|
| 122 |
+
"solution": "CuCl2"
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"name": "CuCl2_tag",
|
| 126 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 127 |
+
"position": [
|
| 128 |
+
0.22173412449381996,
|
| 129 |
+
0.09223847143091686,
|
| 130 |
+
0.859998846170506
|
| 131 |
+
],
|
| 132 |
+
"orientation": [
|
| 133 |
+
0.9999999999966572,
|
| 134 |
+
-9.637282524409184e-08,
|
| 135 |
+
9.569191651624815e-09,
|
| 136 |
+
2.5837138225589777e-06
|
| 137 |
+
],
|
| 138 |
+
"class": "NameTag",
|
| 139 |
+
"content": "CuCl2"
|
| 140 |
+
}
|
| 141 |
+
],
|
| 142 |
+
"scene": {
|
| 143 |
+
"name": "lab_1",
|
| 144 |
+
"position": [
|
| 145 |
+
2.0,
|
| 146 |
+
2.0,
|
| 147 |
+
0.0
|
| 148 |
+
],
|
| 149 |
+
"orientation": [
|
| 150 |
+
1.0,
|
| 151 |
+
0.0,
|
| 152 |
+
0.0,
|
| 153 |
+
0.0
|
| 154 |
+
],
|
| 155 |
+
"floor_textures": [
|
| 156 |
+
"floorplane"
|
| 157 |
+
]
|
| 158 |
+
},
|
| 159 |
+
"instructions": [
|
| 160 |
+
"Take out the CuSO4 solution"
|
| 161 |
+
],
|
| 162 |
+
"conditions": {
|
| 163 |
+
"not_contain": {
|
| 164 |
+
"container": "chemistry_tube_stand",
|
| 165 |
+
"entities": [
|
| 166 |
+
"CuSO4"
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
}
|
| 171 |
+
}
|
M&T/select_chemistry_tube/example61/input/input.png
ADDED
|
Git LFS Details
|
M&T/select_chemistry_tube/example61/input/input_mask.png
ADDED
|
Git LFS Details
|
M&T/select_chemistry_tube/example61/input/instruction.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Take out the CuSO4 solution
|
M&T/select_chemistry_tube/example61/output/operation_sequence.json
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"skill_sequence": [
|
| 3 |
+
{
|
| 4 |
+
"name": "pick",
|
| 5 |
+
"params": {
|
| 6 |
+
"target_entity_name": 2
|
| 7 |
+
}
|
| 8 |
+
},
|
| 9 |
+
{
|
| 10 |
+
"name": "lift",
|
| 11 |
+
"params": {}
|
| 12 |
+
}
|
| 13 |
+
]
|
| 14 |
+
}
|
M&T/select_chemistry_tube/example62/env_config/env_config.json
ADDED
|
@@ -0,0 +1,137 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": {
|
| 3 |
+
"components": [
|
| 4 |
+
{
|
| 5 |
+
"name": "table",
|
| 6 |
+
"xml_path": "obj/meshes/table/table.xml",
|
| 7 |
+
"position": [
|
| 8 |
+
1.4255131811087151e-09,
|
| 9 |
+
-9.11879038992264e-10,
|
| 10 |
+
-8.471206785338325e-07
|
| 11 |
+
],
|
| 12 |
+
"orientation": [
|
| 13 |
+
0.9999999999999989,
|
| 14 |
+
-2.2082625286192855e-08,
|
| 15 |
+
-1.0719125829733687e-08,
|
| 16 |
+
-1.6753630360832208e-10
|
| 17 |
+
],
|
| 18 |
+
"class": "Table",
|
| 19 |
+
"materials": [
|
| 20 |
+
"stone0"
|
| 21 |
+
]
|
| 22 |
+
},
|
| 23 |
+
{
|
| 24 |
+
"name": "chemistry_tube_stand",
|
| 25 |
+
"xml_path": "obj/meshes/tube/tube_container/tube_stand.xml",
|
| 26 |
+
"position": [
|
| 27 |
+
-0.06773050360073136,
|
| 28 |
+
0.14276307758064294,
|
| 29 |
+
0.7599988390877433
|
| 30 |
+
],
|
| 31 |
+
"orientation": [
|
| 32 |
+
0.9999999998814221,
|
| 33 |
+
-8.699283230070643e-08,
|
| 34 |
+
-4.036971751868891e-08,
|
| 35 |
+
1.5399582348378615e-05
|
| 36 |
+
],
|
| 37 |
+
"class": "TubeStand"
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"name": "CuSO4",
|
| 41 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 42 |
+
"position": [
|
| 43 |
+
-0.14651980576603726,
|
| 44 |
+
0.09279742280957895,
|
| 45 |
+
0.7592076268160719
|
| 46 |
+
],
|
| 47 |
+
"orientation": [
|
| 48 |
+
0.99844659618188,
|
| 49 |
+
0.0012074775343768052,
|
| 50 |
+
-0.04445580747298197,
|
| 51 |
+
-0.033565127033096526
|
| 52 |
+
],
|
| 53 |
+
"class": "ChemistryTube",
|
| 54 |
+
"solution": "CuSO4"
|
| 55 |
+
},
|
| 56 |
+
{
|
| 57 |
+
"name": "CuSO4_tag",
|
| 58 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 59 |
+
"position": [
|
| 60 |
+
-0.14773051163699902,
|
| 61 |
+
0.14276063104590905,
|
| 62 |
+
0.8599988326288011
|
| 63 |
+
],
|
| 64 |
+
"orientation": [
|
| 65 |
+
0.9999999998814221,
|
| 66 |
+
-8.699283230070643e-08,
|
| 67 |
+
-4.036971751868891e-08,
|
| 68 |
+
1.5399582348378615e-05
|
| 69 |
+
],
|
| 70 |
+
"class": "NameTag",
|
| 71 |
+
"content": "CuSO4"
|
| 72 |
+
},
|
| 73 |
+
{
|
| 74 |
+
"name": "CuCl2",
|
| 75 |
+
"xml_path": "obj/meshes/tube/tube/tube.xml",
|
| 76 |
+
"position": [
|
| 77 |
+
-0.23483269990482958,
|
| 78 |
+
0.09207086482975468,
|
| 79 |
+
0.759131085544362
|
| 80 |
+
],
|
| 81 |
+
"orientation": [
|
| 82 |
+
0.999706877619365,
|
| 83 |
+
-0.003931826420661807,
|
| 84 |
+
-0.0026957220393884246,
|
| 85 |
+
-0.023736736595898048
|
| 86 |
+
],
|
| 87 |
+
"class": "ChemistryTube",
|
| 88 |
+
"solution": "CuCl2"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"name": "CuCl2_tag",
|
| 92 |
+
"xml_path": "obj/meshes/tube/nametag/nametag.xml",
|
| 93 |
+
"position": [
|
| 94 |
+
-0.22773051159905527,
|
| 95 |
+
0.14275816711273304,
|
| 96 |
+
0.8599988261698607
|
| 97 |
+
],
|
| 98 |
+
"orientation": [
|
| 99 |
+
0.9999999998814221,
|
| 100 |
+
-8.699283230070643e-08,
|
| 101 |
+
-4.036971751868891e-08,
|
| 102 |
+
1.5399582348378615e-05
|
| 103 |
+
],
|
| 104 |
+
"class": "NameTag",
|
| 105 |
+
"content": "CuCl2"
|
| 106 |
+
}
|
| 107 |
+
],
|
| 108 |
+
"scene": {
|
| 109 |
+
"name": "lab_1",
|
| 110 |
+
"position": [
|
| 111 |
+
2.0,
|
| 112 |
+
2.0,
|
| 113 |
+
0.0
|
| 114 |
+
],
|
| 115 |
+
"orientation": [
|
| 116 |
+
1.0,
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
+
0.0
|
| 120 |
+
],
|
| 121 |
+
"floor_textures": [
|
| 122 |
+
"floorplane"
|
| 123 |
+
]
|
| 124 |
+
},
|
| 125 |
+
"instructions": [
|
| 126 |
+
"Take out the CuSO4 solution"
|
| 127 |
+
],
|
| 128 |
+
"conditions": {
|
| 129 |
+
"not_contain": {
|
| 130 |
+
"container": "chemistry_tube_stand",
|
| 131 |
+
"entities": [
|
| 132 |
+
"CuSO4"
|
| 133 |
+
]
|
| 134 |
+
}
|
| 135 |
+
}
|
| 136 |
+
}
|
| 137 |
+
}
|
M&T/select_chemistry_tube/example62/input/input.png
ADDED
|
Git LFS Details
|
M&T/select_chemistry_tube/example62/input/input_mask.png
ADDED
|
Git LFS Details
|
M&T/select_chemistry_tube/example62/input/instruction.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
Take out the CuSO4 solution
|