Upload folder using huggingface_hub (part 16)

M&T/select_fruit/example53/output/operation_sequence.json

@@ -0,0 +1,16 @@
+{
+    "skill_sequence": [
+        {
+            "name": "pick",
+            "params": {
+                "target_entity_name": 2
+            }
+        },
+        {
+            "name": "place",
+            "params": {
+                "target_container_name": 1
+            }
+        }
+    ]
+}

M&T/select_fruit/example54/env_config/env_config.json

@@ -0,0 +1,133 @@
+{
+    "task": {
+        "components": [
+            {
+                "name": "table",
+                "xml_path": "obj/meshes/table/table.xml",
+                "position": [
+                    3.05939065747351e-10,
+                    4.682962531115214e-10,
+                    -7.58729546675177e-07
+                ],
+                "orientation": [
+                    1.0,
+                    -1.2010221282210656e-09,
+                    -1.6615073075218117e-10,
+                    -1.6825459821307117e-10
+                ],
+                "class": "Table",
+                "materials": [
+                    "stone0"
+                ]
+            },
+            {
+                "name": "plate_seen",
+                "xml_path": "obj/meshes/tablewares/plates/plate2/plate.xml",
+                "position": [
+                    -0.02765781479069515,
+                    0.22444953017845032,
+                    0.7633901404768663
+                ],
+                "orientation": [
+                    0.9998477433281997,
+                    2.004580273213399e-07,
+                    -1.7505100171552476e-06,
+                    0.017449646368977247
+                ],
+                "class": "Plate"
+            },
+            {
+                "name": "orange",
+                "xml_path": "obj/meshes/fruit/orange/orange_8/model.xml",
+                "position": [
+                    0.2747943387941133,
+                    -0.1758237889817594,
+                    0.793474257737531
+                ],
+                "orientation": [
+                    0.9985312487320636,
+                    0.009893273967827115,
+                    0.0012429882393174235,
+                    0.05325338877499031
+                ],
+                "class": "Fruit"
+            },
+            {
+                "name": "mango",
+                "xml_path": "obj/meshes/fruit/mango/mango_9/model.xml",
+                "position": [
+                    -0.28970522336364857,
+                    -0.19197056309728708,
+                    0.7965905535556586
+                ],
+                "orientation": [
+                    0.9905817798098586,
+                    0.13680746377159267,
+                    0.0002699905747310656,
+                    0.00560200590926593
+                ],
+                "class": "Fruit"
+            },
+            {
+                "name": "pear",
+                "xml_path": "obj/meshes/fruit/pear/pear_0/model.xml",
+                "position": [
+                    0.265862443679018,
+                    0.16136408370313107,
+                    0.7875069273460695
+                ],
+                "orientation": [
+                    0.9916042682899336,
+                    0.036819942565346125,
+                    -0.11178057200872102,
+                    0.05357584026474917
+                ],
+                "class": "Fruit"
+            },
+            {
+                "name": "apple",
+                "xml_path": "obj/meshes/fruit/apple/apple_13/model.xml",
+                "position": [
+                    -0.024245842741374233,
+                    -0.0804033355625239,
+                    0.7904497107536798
+                ],
+                "orientation": [
+                    0.9971445372849391,
+                    -0.01128046921202552,
+                    -0.0025369341456748613,
+                    0.07462631400721162
+                ],
+                "class": "Fruit"
+            }
+        ],
+        "scene": {
+            "name": "studyroom_0",
+            "position": [
+                -1.5,
+                -1.0,
+                0.0
+            ],
+            "orientation": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            "floor_textures": [
+                "floorplane"
+            ]
+        },
+        "instructions": [
+            "Put the orange into the plate_seen"
+        ],
+        "conditions": {
+            "contain": {
+                "container": "plate_seen",
+                "entities": [
+                    "orange"
+                ]
+            }
+        }
+    }
+}

M&T/select_fruit/example54/input/instruction.txt

@@ -0,0 +1 @@
+Put the orange into the plate_seen

M&T/select_fruit/example54/output/operation_sequence.json

@@ -0,0 +1,16 @@
+{
+    "skill_sequence": [
+        {
+            "name": "pick",
+            "params": {
+                "target_entity_name": 2
+            }
+        },
+        {
+            "name": "place",
+            "params": {
+                "target_container_name": 1
+            }
+        }
+    ]
+}

M&T/select_fruit/example55/env_config/env_config.json

@@ -0,0 +1,117 @@
+{
+    "task": {
+        "components": [
+            {
+                "name": "table",
+                "xml_path": "obj/meshes/table/table.xml",
+                "position": [
+                    3.598482361377308e-11,
+                    -2.9412656784033117e-10,
+                    -7.553477894142684e-07
+                ],
+                "orientation": [
+                    1.0,
+                    -4.124039944242281e-10,
+                    -3.9580213452113074e-10,
+                    -3.186715400105482e-11
+                ],
+                "class": "Table",
+                "materials": [
+                    "wood0"
+                ]
+            },
+            {
+                "name": "plate_seen",
+                "xml_path": "obj/meshes/tablewares/plates/plate_14/model.xml",
+                "position": [
+                    -0.2852922613460066,
+                    0.28913108337149945,
+                    0.7692472456215146
+                ],
+                "orientation": [
+                    0.9992868702920553,
+                    -0.0007703370597521341,
+                    0.0011858558991682663,
+                    -0.03773262763857618
+                ],
+                "class": "Plate"
+            },
+            {
+                "name": "pear",
+                "xml_path": "obj/meshes/fruit/pear/pear_1/model.xml",
+                "position": [
+                    0.2606267966658256,
+                    -0.16236282607622757,
+                    0.7876261741187686
+                ],
+                "orientation": [
+                    0.9978347725456213,
+                    0.0005686133551447104,
+                    0.0015302039284829086,
+                    0.06575029926636122
+                ],
+                "class": "Fruit"
+            },
+            {
+                "name": "apple",
+                "xml_path": "obj/meshes/fruit/apple/apple_0/model.xml",
+                "position": [
+                    -0.2099288634118354,
+                    -0.1771208240389806,
+                    0.7930047126051548
+                ],
+                "orientation": [
+                    0.9965775652016027,
+                    -0.01870084488795229,
+                    0.02383706026793195,
+                    -0.07691052915632143
+                ],
+                "class": "Fruit"
+            },
+            {
+                "name": "lemon",
+                "xml_path": "obj/meshes/fruit/lemon/lemon_16/model.xml",
+                "position": [
+                    0.2039826174612429,
+                    0.2744923209568382,
+                    0.7832104634015251
+                ],
+                "orientation": [
+                    0.9874043523992277,
+                    -0.06151766801875918,
+                    -0.12671431849352707,
+                    0.07205347231964195
+                ],
+                "class": "Fruit"
+            }
+        ],
+        "scene": {
+            "name": "studyroom_0",
+            "position": [
+                -1.0,
+                -1.0,
+                0.0
+            ],
+            "orientation": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            "floor_textures": [
+                "floorplane"
+            ]
+        },
+        "instructions": [
+            "Put the pear into the plate_seen"
+        ],
+        "conditions": {
+            "contain": {
+                "container": "plate_seen",
+                "entities": [
+                    "pear"
+                ]
+            }
+        }
+    }
+}

M&T/select_fruit/example55/input/instruction.txt

@@ -0,0 +1 @@
+Put the pear into the plate_seen

M&T/select_fruit/example55/output/operation_sequence.json

@@ -0,0 +1,16 @@
+{
+    "skill_sequence": [
+        {
+            "name": "pick",
+            "params": {
+                "target_entity_name": 2
+            }
+        },
+        {
+            "name": "place",
+            "params": {
+                "target_container_name": 1
+            }
+        }
+    ]
+}

M&T/select_fruit/example56/env_config/env_config.json

@@ -0,0 +1,133 @@
+{
+    "task": {
+        "components": [
+            {
+                "name": "table",
+                "xml_path": "obj/meshes/table/table.xml",
+                "position": [
+                    -8.890482275211337e-10,
+                    -1.4983845562134333e-09,
+                    -7.583593289541576e-07
+                ],
+                "orientation": [
+                    1.0,
+                    -3.7640755169465427e-10,
+                    -1.3646507852624325e-09,
+                    3.6431825952283956e-10
+                ],
+                "class": "Table",
+                "materials": [
+                    "stone0"
+                ]
+            },
+            {
+                "name": "plate_seen",
+                "xml_path": "obj/meshes/tablewares/plates/plate1/plate.xml",
+                "position": [
+                    -0.25726013797628905,
+                    0.26568471292135437,
+                    0.7600841624806233
+                ],
+                "orientation": [
+                    0.9989784965428846,
+                    2.241884857717798e-05,
+                    -1.479171978918288e-06,
+                    0.045188084050161434
+                ],
+                "class": "Plate"
+            },
+            {
+                "name": "apple",
+                "xml_path": "obj/meshes/fruit/apple/apple_10/model.xml",
+                "position": [
+                    0.2534004990894811,
+                    -0.17338397263278518,
+                    0.7909987903587962
+                ],
+                "orientation": [
+                    0.9974502329571525,
+                    0.0003391386600972108,
+                    0.004028451196690419,
+                    -0.07125089009723024
+                ],
+                "class": "Fruit"
+            },
+            {
+                "name": "peach",
+                "xml_path": "obj/meshes/fruit/peach/peach_7/peach.xml",
+                "position": [
+                    -0.21673633243391094,
+                    -0.15944190451673654,
+                    0.7912933041255676
+                ],
+                "orientation": [
+                    0.9952536827231516,
+                    -0.06148246220850569,
+                    0.01593081912610641,
+                    0.07373074574934477
+                ],
+                "class": "Fruit"
+            },
+            {
+                "name": "pear",
+                "xml_path": "obj/meshes/fruit/pear/pear_15/model.xml",
+                "position": [
+                    0.21531551909298438,
+                    0.2800220224865119,
+                    0.7895939561678653
+                ],
+                "orientation": [
+                    0.9732453431432325,
+                    -0.07242231077512058,
+                    0.21363379123576004,
+                    -0.04369341133670018
+                ],
+                "class": "Fruit"
+            },
+            {
+                "name": "lemon",
+                "xml_path": "obj/meshes/fruit/lemon/lemon_4/model.xml",
+                "position": [
+                    0.02134276987052783,
+                    0.008070848557050023,
+                    0.7886922319433223
+                ],
+                "orientation": [
+                    0.9989105300264262,
+                    -1.4869347169715738e-05,
+                    -0.009426999371131787,
+                    -0.045704315595847075
+                ],
+                "class": "Fruit"
+            }
+        ],
+        "scene": {
+            "name": "studyroom_0",
+            "position": [
+                0.0,
+                0.0,
+                0.0
+            ],
+            "orientation": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            "floor_textures": [
+                "floorplane"
+            ]
+        },
+        "instructions": [
+            "Put the apple into the plate_seen"
+        ],
+        "conditions": {
+            "contain": {
+                "container": "plate_seen",
+                "entities": [
+                    "apple"
+                ]
+            }
+        }
+    }
+}

M&T/select_fruit/example56/input/instruction.txt

@@ -0,0 +1 @@
+Put the apple into the plate_seen

M&T/select_fruit/example56/output/operation_sequence.json

@@ -0,0 +1,16 @@
+{
+    "skill_sequence": [
+        {
+            "name": "pick",
+            "params": {
+                "target_entity_name": 2
+            }
+        },
+        {
+            "name": "place",
+            "params": {
+                "target_container_name": 1
+            }
+        }
+    ]
+}

M&T/select_fruit/example57/env_config/env_config.json

@@ -0,0 +1,133 @@
+{
+    "task": {
+        "components": [
+            {
+                "name": "table",
+                "xml_path": "obj/meshes/table/table.xml",
+                "position": [
+                    -8.058983315173379e-10,
+                    -5.692975674880356e-10,
+                    -7.568010690728383e-07
+                ],
+                "orientation": [
+                    1.0,
+                    5.458837544759291e-10,
+                    -4.751653237382385e-10,
+                    -2.211899086748965e-10
+                ],
+                "class": "Table",
+                "materials": [
+                    "wood1"
+                ]
+            },
+            {
+                "name": "plate_seen",
+                "xml_path": "obj/meshes/tablewares/plates/plate_0/model.xml",
+                "position": [
+                    -0.20413696061600847,
+                    -0.17688172880946765,
+                    0.7763123999344981
+                ],
+                "orientation": [
+                    0.9988144836903218,
+                    0.0024480187990750797,
+                    0.0022087990256978727,
+                    -0.04856702153994003
+                ],
+                "class": "Plate"
+            },
+            {
+                "name": "pear",
+                "xml_path": "obj/meshes/fruit/pear/pear_17/model.xml",
+                "position": [
+                    0.2921821544327704,
+                    0.2584258703533571,
+                    0.7931742508705797
+                ],
+                "orientation": [
+                    0.9943784077388041,
+                    -0.04011034698937133,
+                    0.08375629959592903,
+                    -0.050868699268122014
+                ],
+                "class": "Fruit"
+            },
+            {
+                "name": "banana",
+                "xml_path": "obj/meshes/fruit/banana/banana_9/model.xml",
+                "position": [
+                    -0.29258116401366413,
+                    0.28536707275000806,
+                    0.7767044521235882
+                ],
+                "orientation": [
+                    0.9924896276741785,
+                    -0.02450048261077667,
+                    -0.11670561680772082,
+                    -0.02727387608203014
+                ],
+                "class": "Fruit"
+            },
+            {
+                "name": "mango",
+                "xml_path": "obj/meshes/fruit/mango/mango_15/model.xml",
+                "position": [
+                    0.27170123413010044,
+                    -0.17832143291016866,
+                    0.7862965828334553
+                ],
+                "orientation": [
+                    0.9808017054163657,
+                    -0.04449199370007571,
+                    0.1820169819394563,
+                    0.05402124984291485
+                ],
+                "class": "Fruit"
+            },
+            {
+                "name": "apple",
+                "xml_path": "obj/meshes/fruit/apple/apple_4/model.xml",
+                "position": [
+                    0.025359214649573962,
+                    0.07681184851217542,
+                    0.7900579911078148
+                ],
+                "orientation": [
+                    0.9987921503879964,
+                    0.0012993186274652263,
+                    0.0020586957531564657,
+                    0.04907457453938717
+                ],
+                "class": "Fruit"
+            }
+        ],
+        "scene": {
+            "name": "studyroom_0",
+            "position": [
+                -1.5,
+                1.0,
+                0.0
+            ],
+            "orientation": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            "floor_textures": [
+                "floorplane"
+            ]
+        },
+        "instructions": [
+            "Put the pear into the plate_seen"
+        ],
+        "conditions": {
+            "contain": {
+                "container": "plate_seen",
+                "entities": [
+                    "pear"
+                ]
+            }
+        }
+    }
+}

M&T/select_fruit/example57/input/instruction.txt

@@ -0,0 +1 @@
+Put the pear into the plate_seen

M&T/select_fruit/example57/output/operation_sequence.json

@@ -0,0 +1,16 @@
+{
+    "skill_sequence": [
+        {
+            "name": "pick",
+            "params": {
+                "target_entity_name": 2
+            }
+        },
+        {
+            "name": "place",
+            "params": {
+                "target_container_name": 1
+            }
+        }
+    ]
+}

M&T/select_fruit/example58/env_config/env_config.json

@@ -0,0 +1,117 @@
+{
+    "task": {
+        "components": [
+            {
+                "name": "table",
+                "xml_path": "obj/meshes/table/table.xml",
+                "position": [
+                    -4.187083049869771e-11,
+                    1.7045377820447985e-11,
+                    -7.582436800784276e-07
+                ],
+                "orientation": [
+                    1.0,
+                    -1.1364646311419317e-09,
+                    -1.0631339626704007e-09,
+                    -6.311862910547228e-12
+                ],
+                "class": "Table",
+                "materials": [
+                    "wood1"
+                ]
+            },
+            {
+                "name": "plate_seen",
+                "xml_path": "obj/meshes/tablewares/plates/plate_11/model.xml",
+                "position": [
+                    0.1996772334022135,
+                    -0.156332429122122,
+                    0.7679279985357411
+                ],
+                "orientation": [
+                    0.9976631654535943,
+                    -0.001706881030987908,
+                    -0.0010456802953773315,
+                    -0.06829495886945215
+                ],
+                "class": "Plate"
+            },
+            {
+                "name": "pear",
+                "xml_path": "obj/meshes/fruit/pear/pear_4/pear.xml",
+                "position": [
+                    -0.2526138977358823,
+                    0.27015941454117204,
+                    0.7928287756790048
+                ],
+                "orientation": [
+                    0.9999452175964163,
+                    0.00014389714097607476,
+                    9.831162311103156e-05,
+                    -0.010465726658652252
+                ],
+                "class": "Fruit"
+            },
+            {
+                "name": "kiwi",
+                "xml_path": "obj/meshes/fruit/kiwi/kiwi_1/model.xml",
+                "position": [
+                    0.28324150592492875,
+                    0.2628626419431076,
+                    0.7812976702819393
+                ],
+                "orientation": [
+                    0.9983375978108779,
+                    -0.0004247391125988054,
+                    -0.00016810867708818056,
+                    -0.0576353375401293
+                ],
+                "class": "Fruit"
+            },
+            {
+                "name": "orange",
+                "xml_path": "obj/meshes/fruit/orange/orange_3/model.xml",
+                "position": [
+                    -0.2884092949579674,
+                    -0.18287559461514702,
+                    0.793329179347659
+                ],
+                "orientation": [
+                    0.9993455601005953,
+                    0.010269107527085148,
+                    -0.006871028647701605,
+                    0.033996851371090805
+                ],
+                "class": "Fruit"
+            }
+        ],
+        "scene": {
+            "name": "studyroom_0",
+            "position": [
+                0.0,
+                0.0,
+                0.0
+            ],
+            "orientation": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            "floor_textures": [
+                "floorplane"
+            ]
+        },
+        "instructions": [
+            "Put the pear into the plate_seen"
+        ],
+        "conditions": {
+            "contain": {
+                "container": "plate_seen",
+                "entities": [
+                    "pear"
+                ]
+            }
+        }
+    }
+}

M&T/select_fruit/example58/input/instruction.txt

@@ -0,0 +1 @@
+Put the pear into the plate_seen

M&T/select_fruit/example58/output/operation_sequence.json

@@ -0,0 +1,16 @@
+{
+    "skill_sequence": [
+        {
+            "name": "pick",
+            "params": {
+                "target_entity_name": 2
+            }
+        },
+        {
+            "name": "place",
+            "params": {
+                "target_container_name": 1
+            }
+        }
+    ]
+}

M&T/select_fruit/example59/env_config/env_config.json

@@ -0,0 +1,117 @@
+{
+    "task": {
+        "components": [
+            {
+                "name": "table",
+                "xml_path": "obj/meshes/table/table.xml",
+                "position": [
+                    4.011587225841784e-10,
+                    -3.7013029209308975e-11,
+                    -7.550437566130477e-07
+                ],
+                "orientation": [
+                    1.0,
+                    -1.8115836397472003e-10,
+                    -1.0661040714727853e-10,
+                    6.780555666902269e-11
+                ],
+                "class": "Table",
+                "materials": [
+                    "stone0"
+                ]
+            },
+            {
+                "name": "plate_seen",
+                "xml_path": "obj/meshes/tablewares/plates/plate_13/model.xml",
+                "position": [
+                    0.03441500187527642,
+                    0.26456304763377037,
+                    0.7660882130196793
+                ],
+                "orientation": [
+                    0.9999782591327714,
+                    0.0003298510134914118,
+                    2.5230615531059026e-06,
+                    0.006585776623544702
+                ],
+                "class": "Plate"
+            },
+            {
+                "name": "orange",
+                "xml_path": "obj/meshes/fruit/orange/orange_11/model.xml",
+                "position": [
+                    -0.2631475186710437,
+                    -0.16432997414941033,
+                    0.7928928048516842
+                ],
+                "orientation": [
+                    0.9949985308986816,
+                    -0.03592835447916314,
+                    -0.09158253642364243,
+                    0.017312304182196182
+                ],
+                "class": "Fruit"
+            },
+            {
+                "name": "banana",
+                "xml_path": "obj/meshes/fruit/banana/banana_18/model.xml",
+                "position": [
+                    0.2485431459339703,
+                    -0.18384598729652407,
+                    0.7724518606371471
+                ],
+                "orientation": [
+                    0.995803086539939,
+                    -0.0036615091266374,
+                    -0.05987340949065889,
+                    -0.06912294137555872
+                ],
+                "class": "Fruit"
+            },
+            {
+                "name": "lemon",
+                "xml_path": "obj/meshes/fruit/lemon/lemon_7/model.xml",
+                "position": [
+                    -0.2614355324242878,
+                    0.16423497365948353,
+                    0.7909948017553926
+                ],
+                "orientation": [
+                    0.9987287041150562,
+                    -0.0006331068181617916,
+                    4.2104556011397746e-05,
+                    0.05040409685357149
+                ],
+                "class": "Fruit"
+            }
+        ],
+        "scene": {
+            "name": "studyroom_0",
+            "position": [
+                -1.0,
+                1.0,
+                0.0
+            ],
+            "orientation": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            "floor_textures": [
+                "floorplane"
+            ]
+        },
+        "instructions": [
+            "Put the orange into the plate_seen"
+        ],
+        "conditions": {
+            "contain": {
+                "container": "plate_seen",
+                "entities": [
+                    "orange"
+                ]
+            }
+        }
+    }
+}

M&T/select_fruit/example59/input/instruction.txt

@@ -0,0 +1 @@
+Put the orange into the plate_seen

M&T/select_fruit/example59/output/operation_sequence.json

@@ -0,0 +1,16 @@
+{
+    "skill_sequence": [
+        {
+            "name": "pick",
+            "params": {
+                "target_entity_name": 2
+            }
+        },
+        {
+            "name": "place",
+            "params": {
+                "target_container_name": 1
+            }
+        }
+    ]
+}

M&T/select_fruit/example6/env_config/env_config.json

@@ -0,0 +1,133 @@
+{
+    "task": {
+        "components": [
+            {
+                "name": "table",
+                "xml_path": "obj/meshes/table/table.xml",
+                "position": [
+                    1.9359524264426967e-10,
+                    5.425483485770032e-10,
+                    -7.556594700317435e-07
+                ],
+                "orientation": [
+                    1.0,
+                    -1.442324219560571e-11,
+                    -2.0335154242405484e-10,
+                    -1.5827799960375449e-10
+                ],
+                "class": "Table",
+                "materials": [
+                    "stone3"
+                ]
+            },
+            {
+                "name": "plate_seen",
+                "xml_path": "obj/meshes/tablewares/plates/plate_11/model.xml",
+                "position": [
+                    -0.26494766814162835,
+                    -0.19333857416309705,
+                    0.7679280063356201
+                ],
+                "orientation": [
+                    0.9985468968078753,
+                    -0.0016916047024273164,
+                    -0.001070249683191213,
+                    -0.05385246433087288
+                ],
+                "class": "Plate"
+            },
+            {
+                "name": "banana",
+                "xml_path": "obj/meshes/fruit/banana/banana_23/model.xml",
+                "position": [
+                    0.258694168083468,
+                    0.29105436910479143,
+                    0.77169529403403
+                ],
+                "orientation": [
+                    0.9915635380198001,
+                    -0.011123039549472066,
+                    -0.1270206993638035,
+                    0.0233188763444474
+                ],
+                "class": "Fruit"
+            },
+            {
+                "name": "orange",
+                "xml_path": "obj/meshes/fruit/orange/orange_5/model.xml",
+                "position": [
+                    0.208345075792329,
+                    -0.17081622468723803,
+                    0.7895027442479023
+                ],
+                "orientation": [
+                    0.9979795770137994,
+                    -0.00023465059151207043,
+                    -0.0077237328476284645,
+                    0.06306387835645506
+                ],
+                "class": "Fruit"
+            },
+            {
+                "name": "mango",
+                "xml_path": "obj/meshes/fruit/mango/mango_12/model.xml",
+                "position": [
+                    -0.2104975830733764,
+                    0.25287069217573954,
+                    0.7862979247568448
+                ],
+                "orientation": [
+                    0.990078616671778,
+                    0.09296845417066797,
+                    0.1006650303852724,
+                    -0.031108696468142762
+                ],
+                "class": "Fruit"
+            },
+            {
+                "name": "apple",
+                "xml_path": "obj/meshes/fruit/apple/apple_14/model.xml",
+                "position": [
+                    -0.00995789836308549,
+                    0.004339091456252812,
+                    0.7913175140628358
+                ],
+                "orientation": [
+                    0.9974057042449649,
+                    0.012201947658473818,
+                    0.018689754922302914,
+                    0.06843731930672112
+                ],
+                "class": "Fruit"
+            }
+        ],
+        "scene": {
+            "name": "studyroom_0",
+            "position": [
+                -1.5,
+                1.0,
+                0.0
+            ],
+            "orientation": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            "floor_textures": [
+                "floorplane"
+            ]
+        },
+        "instructions": [
+            "Put the banana into the plate_seen"
+        ],
+        "conditions": {
+            "contain": {
+                "container": "plate_seen",
+                "entities": [
+                    "banana"
+                ]
+            }
+        }
+    }
+}

M&T/select_fruit/example6/input/instruction.txt

@@ -0,0 +1 @@
+Put the banana into the plate_seen

M&T/select_fruit/example6/output/operation_sequence.json

@@ -0,0 +1,16 @@
+{
+    "skill_sequence": [
+        {
+            "name": "pick",
+            "params": {
+                "target_entity_name": 2
+            }
+        },
+        {
+            "name": "place",
+            "params": {
+                "target_container_name": 1
+            }
+        }
+    ]
+}

M&T/select_fruit/example60/env_config/env_config.json

@@ -0,0 +1,117 @@
+{
+    "task": {
+        "components": [
+            {
+                "name": "table",
+                "xml_path": "obj/meshes/table/table.xml",
+                "position": [
+                    -1.4096682143102492e-10,
+                    8.887743620354411e-11,
+                    -7.574608138392721e-07
+                ],
+                "orientation": [
+                    1.0,
+                    -8.462295689338666e-10,
+                    5.96732187372562e-10,
+                    5.574550648191155e-11
+                ],
+                "class": "Table",
+                "materials": [
+                    "stone4"
+                ]
+            },
+            {
+                "name": "plate_seen",
+                "xml_path": "obj/meshes/tablewares/plates/plate_11/model.xml",
+                "position": [
+                    -0.2825430823165208,
+                    -0.19261743835024,
+                    0.7679279932294312
+                ],
+                "orientation": [
+                    0.9975948299508597,
+                    -0.0015471574958023414,
+                    -0.0012700631173903603,
+                    0.06928599063790562
+                ],
+                "class": "Plate"
+            },
+            {
+                "name": "orange",
+                "xml_path": "obj/meshes/fruit/orange/orange_14/orange.xml",
+                "position": [
+                    0.2736906719980817,
+                    0.2752830809614031,
+                    0.792054311857573
+                ],
+                "orientation": [
+                    0.9984649984804719,
+                    0.0009625411222395902,
+                    0.002794165366279114,
+                    -0.05530744040258461
+                ],
+                "class": "Fruit"
+            },
+            {
+                "name": "pear",
+                "xml_path": "obj/meshes/fruit/pear/pear_1/model.xml",
+                "position": [
+                    0.23006614822648086,
+                    -0.18787387579473533,
+                    0.7876292546183383
+                ],
+                "orientation": [
+                    0.999831664850159,
+                    0.0007549912115614986,
+                    0.0016978794808971051,
+                    -0.01825346971120468
+                ],
+                "class": "Fruit"
+            },
+            {
+                "name": "lemon",
+                "xml_path": "obj/meshes/fruit/lemon/lemon_8/model.xml",
+                "position": [
+                    -0.19223360072141052,
+                    0.2916935237544636,
+                    0.7891967430349375
+                ],
+                "orientation": [
+                    0.9998194389664032,
+                    0.01753463778885651,
+                    -0.0070837488997631416,
+                    0.0018564600848548019
+                ],
+                "class": "Fruit"
+            }
+        ],
+        "scene": {
+            "name": "studyroom_0",
+            "position": [
+                -1.5,
+                1.0,
+                0.0
+            ],
+            "orientation": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            "floor_textures": [
+                "floorplane"
+            ]
+        },
+        "instructions": [
+            "Put the orange into the plate_seen"
+        ],
+        "conditions": {
+            "contain": {
+                "container": "plate_seen",
+                "entities": [
+                    "orange"
+                ]
+            }
+        }
+    }
+}

M&T/select_fruit/example60/input/instruction.txt

@@ -0,0 +1 @@
+Put the orange into the plate_seen

M&T/select_fruit/example60/output/operation_sequence.json

@@ -0,0 +1,16 @@
+{
+    "skill_sequence": [
+        {
+            "name": "pick",
+            "params": {
+                "target_entity_name": 2
+            }
+        },
+        {
+            "name": "place",
+            "params": {
+                "target_container_name": 1
+            }
+        }
+    ]
+}

M&T/select_fruit/example61/env_config/env_config.json

@@ -0,0 +1,133 @@
+{
+    "task": {
+        "components": [
+            {
+                "name": "table",
+                "xml_path": "obj/meshes/table/table.xml",
+                "position": [
+                    5.044431769337441e-10,
+                    -3.5061002907700067e-10,
+                    -7.555320550306042e-07
+                ],
+                "orientation": [
+                    1.0,
+                    1.267719789179159e-10,
+                    1.811251500045434e-10,
+                    -4.6539646308924824e-12
+                ],
+                "class": "Table",
+                "materials": [
+                    "wood0"
+                ]
+            },
+            {
+                "name": "plate_seen",
+                "xml_path": "obj/meshes/tablewares/plates/plate_11/model.xml",
+                "position": [
+                    0.13862479846138068,
+                    -0.16764988142381584,
+                    0.7679280072316406
+                ],
+                "orientation": [
+                    0.9988349815052194,
+                    -0.0016855409546687736,
+                    -0.0010797796836348537,
+                    -0.04821486025067284
+                ],
+                "class": "Plate"
+            },
+            {
+                "name": "banana",
+                "xml_path": "obj/meshes/fruit/banana/banana_23/model.xml",
+                "position": [
+                    -0.26150484420416614,
+                    0.26646155337072464,
+                    0.7718473548339272
+                ],
+                "orientation": [
+                    0.992003575430442,
+                    -0.01191654949737218,
+                    -0.12409087359559742,
+                    0.01970678237508222
+                ],
+                "class": "Fruit"
+            },
+            {
+                "name": "peach",
+                "xml_path": "obj/meshes/fruit/peach/peach_1/model.xml",
+                "position": [
+                    0.2853465891841839,
+                    0.2744297186673115,
+                    0.7897977525485849
+                ],
+                "orientation": [
+                    0.9997415658279665,
+                    -0.015885647968069717,
+                    -0.0019341902446649065,
+                    0.01614641299417563
+                ],
+                "class": "Fruit"
+            },
+            {
+                "name": "pear",
+                "xml_path": "obj/meshes/fruit/pear/pear_12/model.xml",
+                "position": [
+                    -0.2663552656735496,
+                    -0.15744989654691074,
+                    0.7893831488426224
+                ],
+                "orientation": [
+                    0.9936986045868393,
+                    -0.11156133972628807,
+                    0.002044151020598676,
+                    0.0106288365896833
+                ],
+                "class": "Fruit"
+            },
+            {
+                "name": "apple",
+                "xml_path": "obj/meshes/fruit/apple/apple_15/model.xml",
+                "position": [
+                    -0.02925658660884144,
+                    0.06150616909621303,
+                    0.7909808687320061
+                ],
+                "orientation": [
+                    0.9972764929067311,
+                    -0.003940004256351691,
+                    0.002995190033848332,
+                    -0.07358737594704873
+                ],
+                "class": "Fruit"
+            }
+        ],
+        "scene": {
+            "name": "studyroom_0",
+            "position": [
+                -1.5,
+                1.0,
+                0.0
+            ],
+            "orientation": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            "floor_textures": [
+                "floorplane"
+            ]
+        },
+        "instructions": [
+            "Put the banana into the plate_seen"
+        ],
+        "conditions": {
+            "contain": {
+                "container": "plate_seen",
+                "entities": [
+                    "banana"
+                ]
+            }
+        }
+    }
+}

M&T/select_fruit/example61/input/instruction.txt

@@ -0,0 +1 @@
+Put the banana into the plate_seen

M&T/select_fruit/example61/output/operation_sequence.json

@@ -0,0 +1,16 @@
+{
+    "skill_sequence": [
+        {
+            "name": "pick",
+            "params": {
+                "target_entity_name": 2
+            }
+        },
+        {
+            "name": "place",
+            "params": {
+                "target_container_name": 1
+            }
+        }
+    ]
+}

M&T/select_fruit/example62/env_config/env_config.json

@@ -0,0 +1,117 @@
+{
+    "task": {
+        "components": [
+            {
+                "name": "table",
+                "xml_path": "obj/meshes/table/table.xml",
+                "position": [
+                    -1.3231881291966393e-10,
+                    -3.311056783539665e-10,
+                    -7.556063860621744e-07
+                ],
+                "orientation": [
+                    1.0,
+                    -2.0556019116422764e-10,
+                    2.476711452670536e-10,
+                    5.75591192875512e-12
+                ],
+                "class": "Table",
+                "materials": [
+                    "wood2"
+                ]
+            },
+            {
+                "name": "plate_seen",
+                "xml_path": "obj/meshes/tablewares/plates/plate_10/model.xml",
+                "position": [
+                    0.2826500789336897,
+                    0.12665179512586366,
+                    0.7716232412369766
+                ],
+                "orientation": [
+                    0.9999292434905562,
+                    1.3942695496657752e-08,
+                    -6.3203673280523326e-09,
+                    -0.01189571403503536
+                ],
+                "class": "Plate"
+            },
+            {
+                "name": "banana",
+                "xml_path": "obj/meshes/fruit/banana/banana_12/model.xml",
+                "position": [
+                    -0.2703024673183471,
+                    -0.15819537150070384,
+                    0.7721888043717151
+                ],
+                "orientation": [
+                    0.9935274385308411,
+                    0.02534676082472537,
+                    -0.09855183496476035,
+                    0.050480753036357726
+                ],
+                "class": "Fruit"
+            },
+            {
+                "name": "apple",
+                "xml_path": "obj/meshes/fruit/apple/apple_0/model.xml",
+                "position": [
+                    -0.19045604231758478,
+                    0.2657960162858771,
+                    0.7930048262329857
+                ],
+                "orientation": [
+                    0.9992480879981679,
+                    -0.019937867000770982,
+                    0.02281431289937783,
+                    -0.024191883316399775
+                ],
+                "class": "Fruit"
+            },
+            {
+                "name": "kiwi",
+                "xml_path": "obj/meshes/fruit/kiwi/kiwi_2/model.xml",
+                "position": [
+                    0.08872807627954167,
+                    -0.14914210068854436,
+                    0.7852888869945597
+                ],
+                "orientation": [
+                    0.9673284848372113,
+                    -0.1665176853446304,
+                    0.18068993294333568,
+                    -0.06243885827706741
+                ],
+                "class": "Fruit"
+            }
+        ],
+        "scene": {
+            "name": "studyroom_0",
+            "position": [
+                0.0,
+                0.0,
+                0.0
+            ],
+            "orientation": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            "floor_textures": [
+                "floorplane"
+            ]
+        },
+        "instructions": [
+            "Put the banana into the plate_seen"
+        ],
+        "conditions": {
+            "contain": {
+                "container": "plate_seen",
+                "entities": [
+                    "banana"
+                ]
+            }
+        }
+    }
+}

M&T/select_fruit/example62/input/instruction.txt

@@ -0,0 +1 @@
+Put the banana into the plate_seen